Page 1 DF3E series servo driver User manual Wuxi Xinje Electric Co., Ltd. Data No. SF3 01 20210607 1.0 - 1 -...
Page 2 Basic explanation ⚫ Thank you for purchasing Xinje DF3E series servo driver products. ⚫ This manual mainly introduces the product information of DF3E series servo driver and MF series servo motor. ⚫ Before using the product, please read this manual carefully and connect the wires on the premise of fully understanding the contents of the manual.
Page 3 Safety Precautions PrePrecaPrecautio Be sure to review this section carefully before use this product. In precondition of security, wire the product correctly. Before using this product, please read this part carefully and operate after fully understanding the use, safety and precautions of the product. Please connect the product correctly on the premise of paying great attention to safety.
Page 4 5. Wiring, please ensure that the encode line, power line is loose, do not tighten, lest cable damage. Operation Cautions 1. Do not touch the rotating part of the motor after the driver is running. There is a danger of injury. 2.
Page 5: Table Of Contents
2.3.2 Xinje cable specification · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · ·...
Page 6 4.4.1 Speed mode general control · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · 50 4.4.2 Speed control (internal speed) ·...
Page 7 6.1 A · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · 134 LARM CODE LIST 6.2 A ·...
Page 8: Confirmation On Product Arrival
Is the motor code the same with the Check the motor code marked on the nameplates of the code in drive? servomotor and the parameter U3-70 on the servo drive. If any of the above is faulty or incorrect, contact Xinje or an authorized distributor.
Page 9: Selection Of Servo System
Type C-EtherCAT CN4: power supply input Power cable output DIP switch Note: this driver has no panel, so it can't operate the panel. It needs to connect the cable of Xinje servo DB9 with USB, and use the Xinje servo software.
Page 10: Performance Specification
Upper right alarm err indicator: after alarm, red is always on; Red flashing, need to power on again; ➢ Lower right can communication indicator: green flashing after CAN communication. 1.1.3 Performance specification Servo unit DF3E series servo driver Applicable encoder Standard: 17-bit communication encoder Input power supply DF3E-□□□□: single phase DC48V...
Page 11: Servo Motor Selection
1.2 Servo motor selection 1.2.1 Model name MF3S – 60 C S 30 B Z 1 –5 04 Display Base No. Encoder type Series Inertia Display Display Encoder resolution 40 flange Magnetic encoder Single turn 17 bits MF3S Low inertia 60 flange Multi-turn 17 bits MF3G...
Page 12: Cable Selection
6-core waterproof small aviation 0.75 plug 4-core small aviation plug ◼ Brake cable explanation ➢ The cable model for motor/brake motor: CB-P03-length (common material) /CBT-P03-length (high flexible material). ➢ The standard wiring length of Xinje cable is 1m, 2m, 3m and 5m.
Page 13: Description Of Each Part
1.3.2 Description of each part ◼ Encoder cable (1) Pin definition of encoder on servo driver side Pin definition Connector appearance Definition 485+ 485- (2) Cable connection of encoder on motor side Pin definition Connector pins Suitable model Definition Battery + Battery - Shielded cable 485+...
Page 14 (2) Power cable connection on motor side Pin definition Connector pins Suitable model Definition 60 flange Definition 80 flange (3) Brake cable connection Pin definition Connector pins Suitable model Definition Motor with brake Brake pins: The cable including BK pin is used for the brake motor. The cable of the non-brake motor has no BK pin.
Page 15: Selection Of Other Accessories
1.4 Selection of other accessories 1.4.1 Selection of regenerative resistance When the servo motor is driven by the generator mode, the power returns to the servo amplifier side, which is called regenerative power. The regenerated power is absorbed by charging the smooth capacitor of the servo amplifier.
Page 16: Installation Of Servo System
Installation of servo system 2.1 Servo driver installation 2.1.1 Installation site ➢ Please install it in the installation cabinet without sunshine or rain. ➢ Do not use this product near corrosive and flammable gas environments such as hydrogen sulfide, chlorine, ammonia, sulfur, chlorinated gas, acid, alkali, salt, etc.
Page 17 ◼ Servo Drive Orientation Install the servo drive perpendicular to the wall so the front panel containing connectors faces outward. ◼ Cooling As shown in the figure above, allow sufficient space around each servo drive for cooling by cooling fans or natural convection.
Page 18: Servo Motor Installation
2.2 Servo motor installation MF series servomotors can be installed either horizontally or vertically. The service life of the servomotor can be shortened or unexpected problems might occur if it is installed incorrectly or in an inappropriate location. Follow these installation instructions carefully. CAUTION 1．...
Page 19 Item Description ◆ When the pulley is installed on the servo motor shaft with keyway, the screw hole is used at the end of the shaft. In order to install the pulley, the double-headed nails are inserted into the screw holes of the shaft, the washer is used on the surface of the coupling end, and the pulley is gradually locked with the nut.
Page 20: Installation Environment
If the cable is used in general occasions, please select the cable from other manufacturers (2.3.2 specifications of Xinje cable) in strict accordance with the specifications given by Xinje. If the cable is used in unconventional occasions, please select the cable according to the actual working conditions to be superior to the existing specifications of Xinje.
Page 21: Xinje Cable Specification
40mm diameter galvanized steel pipe; ⚫ If the customer makes the wire by himself, the cable specification please refer to chapter 2.3.2 Xinje cable specification, the welding reliability shall be ensured when making the wire to avoid false welding, bridge connection, wrong welding, missing welding, etc., and the continuity of both ends of the cable can be tested after the welding is completed.
Page 22 Cross section of cable (encoder, power cable), corresponding introduction of wire skin material, wire diameter, wire core material shielding material, etc. 2. Cable diameter specification Cable type Encoder cable Power cable Power 100W 4*0.2mm² +2*0.3mm² 4*1.5mm² 200W 4*0.2mm² +2*0.3mm² 4*1.5mm² 400W 4*0.2mm²...
Page 23 Fixed Bending installation radius Note: D represents the finished product cable diameter.
Page 24: Servo Driver Dimension
2.4 Servo driver dimension DF3E-0103, DF3E-0410, DF3E-0720 Unit: mm Frame installtion Right Installation hole Left Front ? 4.7 ? 4.3 166.5 187.9 ? 4.3 ? 4.7 36.9 101.5 6.95 28.3 18.95 74.1 2.5 Servo motor dimension ◼ 60 series motor without brake installation dimensions Unit: mm ◼...
Page 25 ◼ 80 series motor without brake installation dimensions Unit: mm ∅ 90 4- ∅ 6.5 15.5 0 -0.1 35±0.5 □ 80 Motor model Inertia Matched driver MF3S-80CS/CM30B2-507 Low inertia MF3S series ◼ 80 series motor with brake installation dimensions Unit: mm ∅...
Page 26: Wiring Of Servo System
Wiring of servo system Servo driver interface wiring recommended wire, as shown in the following table: Grould cable Power cable UVW power Encoder cable Servo driver model diameter cable diameter diameter diameter mm² mm² mm² mm² DF3E-0410 0.2（9芯） DF3E-0720 0.2（7芯） Note: (1) Please do not cross power wires and signal wires from the same pipeline, nor tie them together.
Page 27: Cn4 Terminals
3.1.2 CN4 terminals ◼ DF3E-0410/0720 According to the order from top to bottom, the main circuit terminal functions are as follows: Terminal Function Explanation Power supply input of DC+, DC- DC24V-70V main circuit Motor connection U, V, W, PE Connect to the motor RB+/DC+ terminal Connect regenerative resistor between...
Page 28: Communication Port
RS232 ground Driver side -5-pin trapezoidal Note: please use the special cable provided interface by Xinje company. RS232 port default communication parameters: baud rate 19200bps, data bit is 8-bit, stop bit is 1-bit, even parity. Modbus station no. Default Parameter...
Page 29: Classification And Function Of Cn0 Signal Terminals
(3) The servo pulse input port is on at 10mA. (4) If the controller is Xinje PLC and the rated current of pulse output port is 50mA, according to this data, it can be judged that theoretically one pulse can drive five servos at most. It is recommended that the maximum number should not be more than 3.
Page 30: So Output Signal
Note: the maximum allowable voltage and current capacity of open collector output circuit are as follows: Voltage: DC 30V (maximum) Current: DC 50mA (maximum) 3.2.2.1 SI input signal (with brake) Please use a relay or an open collector transistor circuit to connect. When using relay connection, please select the relay for small current.
Page 31: Operation Of Servo System
Operation of servo system 4.1 Control mode selection and switching 4.1.1 Control mode selection Servo can combine two control modes and switch between them. By switching freely between mode 1 and mode 2 through the / C-SEL signal, more complex control requirements can be satisfied. User parameter Control mode Reference...
Page 32: Basic Function Setting
Inching operation can be carried out by panel group F parameters or our upper computer debugging software xinje servo tuner. Inching operation can be divided into two modes: inching operation and trial operation. Inching operation is closed-loop control, trial operation is open-loop control, and general steps are trial operation first, and then inching operation.
Page 33: Servo Enable Setting
The steps of inching through Xinje servo tuner Open the software XinjeServo Tuner, set the jog speed P3-18, select test run/jog run button, click ON. Then click forward or reverse button to run. 4.2.2 Servo enable setting The servo enable signal effectively represents that the servo motor is powered on. When the servo enable signal is invalid, the motor cannot operate without power.
Page 34: Stop Mode
Mode Forward running Reverse running P0-05 setting Standard setting CCW is forward P0-05=0 Reverse mode CW is forward P0-05=1 4.2.4 Stop mode Servo shutdown can be divided into inertia shutdown and deceleration shutdown according to the shutdown mode. The following explains the servo shutdown mode. Shutdown Inertia stop Deceleration stop...
Page 35 stops in deceleration mode. (2) Stop mode in case of over travel The overtravel prevention function of servo unit refers to the safety function that the servo motor is forced to stop by inputting the signal of limit switch when the movable part of the machine exceeds the designed safe moving range.
Page 36: Power-Off Brake
receiving instructions. The deceleration stops 2, after stopping, the overrun direction does not receive instructions. Alarm (E-260) Note: (1) When P0-28 = 0/2, the motor starts to decelerate and stop after receiving the overtravel stop signal, and the braking torque is P3-32 when decelerating stop, and the stop timeout also plays a role in the overtravel process. (2) During position control, when the motor is stopped by over travel signal, there may be position deviation pulse.
Page 37 Low voltage servo driver Motor with brake Power supply Intermediate relay +24VS GNDS Note: (1) The excitation voltage of the power-off brake is 24V. (2) If the holding brake current is more than 50mA, please transfer it through the relay to prevent terminal burnt out due to excessive current.
Page 38: Braking Setting
Servo on lag Servo off advance P5-07 holding brake open P5-07 lock Note: the setting made here is the time when TGON of rotation detection is invalid when the motor is stopped. ② Abnormal state holding brake timing When the alarm/power supply interruption occurs, the motor quickly becomes non energized. During the time from gravity or inertia to the brake action, the machine will move.
Page 39 ◼ Related parameter Setting Effe Parameter Meaning Default setting Unit Modify range ctive Power protection mode of discharge resistance once 0 - cumulative discharge P0-24 Servo bb time 1 - average power mode 1 Power value of discharge P0-25 Set as model 1~65535 Servo bb resistance...
Page 40: Position Control
4.3 Position control 4.3.1 General position control 4.3.1.1 Electronic gear ratio 1. Overview The so-called "electronic gear" function has two main applications: (1) Determine the number of command pulses needed to rotate the motor for one revolution to ensure that the motor speed can reach the required speed.
Page 41 (denominator) low bit*1 once Group 2 Electronic gear ratio Servo bb P0-95 1～65535 (denominator) high bit*10000 once Note: (1) P0-11~P0-14 is all about the parameters of electronic gear ratio, P0-11, P0-12 is group 1, P0-13, P0-14 is group 2, but the priority of P0-11 and P0-12 is higher than that of P0-13 and P0-14. Only when P0-11 and P0-12 are set to 0, the ratio of electronic gear P0-13 and P0-14 will take effect.
Page 42 pulses Confirm 1 command unit: 0.001mm 1 command unit: 0.1° 1 command unit: 0.02mm command unit Calculate the 6mm/0.001mm=6000 360/0.1=3600 314mm/0.02mm=15700 command amount of 1 revolution of load shaft Calculate the M =6000/(1/1)=6000 M=3600/(3/1)=1200 M=15700/(2/1)=7850 pulse number revolution of motor shaft Set pulses per P0-11=6000 P0-11=1200...
Page 43 P5-01 setting Content Diagram absolute deviation is below P5-00, the COIN signal will output. After instruction finished, deviation is below P5-00 and COIN signal is output. P5-01 setting Content Diagram /S-ON Signal status When ｜U0-08｜ instruction ends P5-00 Pulse offset motor speed is under the rotation...
Page 44 instruction, absolute deviation value under P5-00, it outputs COIN signal. COIN maintains P5-02 time, COIN-HOLD signal is output. 2. Description of positioning completion width (1) The positioning completion width P5-00 changes proportionally due to the change of electronic gear ratio, and the factory default is 11 command units.
Page 45 2. Description of approach signal output (1) The approach signal output width P5-06 changes proportionally due to the change of the electronic gear ratio. The default setting is 50 command units. The following table is an example: Number of The near signal output width P5-06 changes command pulses Near signal output width proportionally with the number of command pulses...
Page 46 /INHIBIT signal is from ON→OFF, continue external pulse Pause pulse command running from the pulse command received after position control reception OFF. 4.3.1.5 Offset clear（/CLR） Position offset=(position command – position feedback)(encoder unit) The position deviation clearing function means that the driver can clear the position deviation when the servo is off or the /CLR signal is received.
Page 47 4.3.1.7 Position command filter ◼ Related parameters Default Parameter Meaning Unit Range Change Effective setting Position command Servo P1-24 acceleration and deceleration 0.1ms 0～65535 At once filtering time Position command smoothing Servo P1-25 0.1ms 0～65535 At once filtering time Position command acceleration and Position command smoothing filter deceleration filter Command pulse...
Page 48 Parameter Signal Default Meaning Modify reverse direction input signal from SI1. Related parameter setting: Default Parameter Meaning Unit Range Change Effective setting P4-00 Z phase signal Servo 0～f At once n.xxx□ numbers The speed hitting the Servo At once P4-01 0～65535 proximity switch The speed leaving...
Page 49: Position Control (External Pulse Command)
4.3.2 Position control (external pulse command) Parameter Overview Reference chapter P0-01 control mode selection Set to 6: external pulse mode 4.3.2.1 P0-10 pulse instruction form Set the pulse form 4.3.2.2 0-CW/CCW 1-AB 2-P+D P0-11 Motor pulse numbers per rotation*1 Setting of command pulse number required 4.3.2.2 P0-12 Motor pulse numbers per for one revolution of motor...
Page 50: Position Control (Internal Command)
2. set the pulse instruction form Parameter Meaning setting Meaning Change Effective Pulse CW, CCW mode P0-10 command AB phase Servo bb At once n.xxx□ form Pulse + direction (defaulted) 3. Details of pulse command P0-10.0 Forward rotation Reverse rotation 0: CW/CCW 1: AB 2: P+D...
Page 51 4.3.3.1 Internal position mode Setting Parameter Meaning Change Effective value Position control by preset values of internal P0-01 Servo bb At once registers in servo units 4.3.3.2 Internal position mode setting Default Suitable Parameter Function Unit modify Effective setting mode Internal position —...
Page 52 After the drive output 1-segment position After the drive output 1-segment position command, it will not wait for the completion of command, it will not wait for the completion of motor positioning, and start the next position motor positioning, but pass the adjust time, and command at once.
Page 53 n.xx□x Description positioning completion and positioning approach signal are all effective. 4. When the servo enable is off during a certain section of operation, the motor stops according to the servo off shutdown mode. After the shutdown, the positioning is invalid. 5.
Page 54 according to the servo off shutdown mode. After the shutdown, the positioning is invalid. 5. The adjustment time is not valid in this mode. 6. Before using this mode, p5-35 terminals need to be allocated first, but not when using this mode.
Page 55 5. Segment number selection terminal logic is voltage level valid. Input high voltage level is valid, input low voltage level is invalid. The following input signal can switch the segment 1 to 3 or 1 to 8: Parameter Signal name Default Suitabl Setting range...
Page 56 2. In formula P4-10+(n-1)*7, n is the segment no. of internal position; the range is 1~35. Segment 1~12 can be set through the operate panel, segment 13~35 needs to write in parameters through communication (RS232 or RS485). 3. In the relative positioning mode, if the pulse high bit is set to 9999, the pulse low bit is set to 9999, or the pulse high bit is set to - 9999, the pulse low bit is set to - 9999, and P4-03.3 = 1 (do not wait for the positioning to complete), the infinite pulse mode is entered.
Page 57 P4-08=2 1≤P4-08≤P4-04 P4-04=4 P4-08=0 P4-08=8 P4-04=4 P4-08>P4-04 P4-03.1=1 P4-08=2 1≤P4-08≤P4-04 P4-04=4 4.3.3.4 Change step signal (/CHGSTP) Parameter Name Setting Meaning Range Range: 0000-0014. Change Defaulted is not distribute to input Distribute input P5-35 step signal n.0000 terminal. Refer to chapter 4.4.3. terminal through P5-35.
Page 58: Speed Mode General Control
If this parameter is set to a certain segment number, this segment position will be executed without step change signal. Communication can be used to modify parameters. For example: to execute the second segment position, set F2-09 = 0, and then F2-09 = 02. 4.3.3.7 Motion start signal (/MRUN) Parame Signal...
Page 59 When zero clamping is used, the current speed must be less than zero clamping speed to make the motor shaft clamped; When the zero clamping function is started, the motor changes from speed mode to position mode. At this time, if the motor shaft is rotated and released again, it will return to its original position. However, when the motor shaft is rotated in speed mode, it will not return to its original position because there is no position feedback.
Page 60: Speed Control (Internal Speed)
4.4.1.4 Speed command filter ◼ Related parameter Default Modify Effective Parameter Meaning Unit Range setting Speed command filter P1-22 0～1 Servo bb At once selection Speed command filter P1-23 0.1ms 0～65535 Servo bb At once time P1-22 Contents First-order Inertial Filter Smooth filter Position command acceleration and Smooth filter of position instruction...
Page 61 Servo unit /SPD-D /SPD-A Input Servo motor /SPD-B Speed selection SPEED1 P3-05 SPEED2 P3-06 SPEED3 P3-07 No need external speed or Run the motor pulse generator at set speed User parameter ◼ Related parameter Defaulted Parameter Meaning Unit Range Modify Effective setting Internal speed 1...
Page 62 2. Terminal effectiveness description The following table takes /SPD-D as an example, /SPD-A, /SPD-B signals are the same. Parameter setting Signal/SPD-D terminal input status Signal/SPD-D terminal logic P5-27=n.0000 No need external terminal input SI□ terminal no signal input P5-27=n.000□ Invalid SI□...
Page 63: Speed Control (Pulse Frequency Command)
4.4.3 Speed control (pulse frequency command) Reference Parameter Overview chapter P0-01 Control mode selection Set to 7: external pulse speed mode 4.4.3.1 P0-10 Pulse command form Set pulse form 4.3.2.2 0-CW/CCW 1-AB 2-P+D P0-15 Command pulse frequency at Determine the linear relationship between the 4.4.3.3 rated speed command pulse frequency and the speed...
Page 64: Torque Control
4.5 Torque control Reference Parameter Overview chapter P0-01 Control mode selection Set to 1: internal torque mode 4.5.1.1 P3-33 Internal torque command The given value is the percentage of rated 4.5.1.2 torque P3-16 Internal forward speed limit of Speed limit in torque mode 4.4.2.1 torque control P3-17 Internal reverse speed limit of...
Page 65: Bus Control
4-bit hexadecimal. The object dictionary of CoE (CANopen over EtherCAT) specified in CiA402 and the object dictionary of DF3E series servo are as follows: Object dictionary specified by CiA402 Object dictionary of DF3E series Index Content Index Content...
Page 66 Object Read/ Index Name Data type index type write mapping Standard Error Field UINT32 Standard Error Field UINT32 Standard Error Field UINT32 1005 COB-ID SYNC UINT32 1006 Communication Cycle Period UINT32 1007 Sync Windows Length UINT32 1008 Manufacturer Device Name STRING 1009 Manufacturer Hardware Version...
Page 67 Object Read/ Index Name Data type index type write mapping 5. maPPed object UINT32 6. maPPed object UINT32 7. maPPed object UINT32 8. maPPed object UINT32 RECORD 2. receive PDO maPPing 1. maPPed object UINT32 2. maPPed object UINT32 3. maPPed object UINT32 1601 4.
Page 68 Object Read/ Index Name Data type index type write mapping 3. maPPed object UINT32 4. maPPed object UINT32 5. maPPed object UINT32 6. maPPed object UINT32 7. maPPed object UINT32 8. maPPed object UINT32 RECORD 2. transmit PDO maPPing 1. maPPed object UINT32 2.
Page 69 Object dictionary index Corresponding panel parameters 2101 P1-01 …… …… 2142 P1-66 2200 P2-00 2201 P2-01 Group P2 parameters …… …… 2255 P2-85 2300 P3-00 2301 P3-01 Group P3 parameters …… …… 232D P3-45 2500 P5-00 2501 P5-01 Group P5 parameters ……...
Page 70 Index Sub- Type Name/Description DateType Access PDO Op-mode Index 「Disable operation」, default value is 1, refer to chapter 4.6.2.5 605Dh Halt option code Set the motor deceleration stop mode when receiving command 「Halt」, default value is 1, refer to chapter 2-5 605Eh Fault reaction option code Set the motor stop mode when alarm occurs.
Page 71 Index Sub- Type Name/Description DateType Access PDO Op-mode Index DC bus voltage of servo driver, the unit is 0.001V. 607Ah Target Position The user's target position when the servo driver is in PP mode, the unit is the command unit, which is only valid in PP mode. 607Eh Polarity User instruction polarity, which has 8 bits, is shown in the following...
Page 72: Cia402 Motion Control Explanation
Index Sub- Type Name/Description DateType Access PDO Op-mode Index 60C5h Max Acceleration PP,PV,HM The maximum allowable acceleration speed of servo motor during acceleration, the unit is command unit/s2, it is valid in PP, PV and HM modes. The default value is 4294967295. 60C6h Max Deceleration PP,PV,HM...
Page 73 Power off or reset Start 0: After the control power is put into operation (Auto skip 0) Not ready to switch on (initialization Unsettled state) 1: After initialization (Auto skip 1) Switch on 15: fault reset Disabled Fault (initialization (alarm state) completed state) Shutdown: 2 7: disable voltage...
Page 74 PDS conversion Event Action detected. Disable voltage Receiving Disable voltage command. Nothing special. Receiving Quick stop command. Shutdown When the power supply is on, it receives Driving function is ineffective. the shutdown command. Disable voltage Receiving Disable voltage command. Driving function is ineffective. Disable voltage Receiving Disable voltage command.
Page 75 Fault reaction active Fault (alarm) judgement xxxx xxxx x0xx 1000 b Fault Fault (alarm) status The PDS state machine of DF3E series servo can be monitored through U0-99, and the specific meaning can be referred to the following table: U0-99 Description 0x01...
Page 76 U0-99 Description 0x40 FAULT REACTION ACTIVE 0x80 FAULT bit4 (voltage enabled): at 1, indicates that the power supply voltage is applied to the PDS. bit5 (quick stop): at 0, indicates PDS receives quick stop requirements. The bit logic of quick stop is effective under 0.
Page 77 No mode changed/No mode assigned (No control mode change/no control mode assignment) Profile position mode (Profile position control mode) Profile velocity mode (Profile speed control mode) Torque profile mode (Profile torque control mode) Homing mode (origin reset position mode) 7~127 Reserved 4.6.2.5 Selection code (deceleration stop time setting) PDS is a motor deceleration stop method in operation enabled state (servo enable is on) when the main power...
Page 78 Quick stop option code (605Ah) The motor deceleration stop mode when PDS command「Quick Stop」is receiving. Index Sub- Name/Description Range Date Access Index Type mode 605Ah Quick stop option code Sets the timing of Quick stop. It is different according to the definition of control mode.
Page 79 Shutdown option code (605Bh) The motor stop mode when receiving PDS command ｢Shutdown｣,「Disable voltage」. Index Sub- Name/Description Range Date Access Index Type mode 605Bh Shutdown option code Set the time sequence of ｢Shutdown｣, 「Disable voltage」 . It is different according to the definition of control mode.
Page 80 definition of control mode. The setting is prohibited except the following values. Value Definition Stop at once, PDS state migrates to Switch on. The control mode is PP, PV: motor stop through 0x6084 (Profile deceleration), PDS state migrates to Switch on. The control mode is HM: motor stop through 0x609Ah (Homing acceleration), PDS state migrates to Switch on.
Page 81 The PDS status after stop is Operation enabled. Fault reaction option code (605Eh) Set the motor stop method when the alarm occurs. Index Sub- Name/Description Range Date Access Index Type mode 605Eh Fault reaction option code Set the time sequence when the alarm occurs. It is different according to the definition of control mode.
Page 82: Cia402 Motion Control Mode
4.6.3 CIA402 motion control mode 4.6.3.1 PP mode PP (Profile position control mode) is a position control mode in which the target position, target speed, acceleration and deceleration are specified, and the position command is generated inside the servo driver. 1.
Page 83 Bit4-6 (operation mode specific): Name Value Definition new set-point 0 -> 1 Trigger the positioning action start and setting value update. Get a new position decision task (607Ah (Target position), 6081h (Profile velocity) change set immediately Complete the currently running positioning action. Interrupt the current positioning action and start the downward positioning action immediately absolute/ relative...
Page 84 4. PP control mode action explanation The working principles of object dictionary 0x607a, 0x6081, 0x6083 and 0x6084 are as follows: The relative mode or absolute mode can be determined by bit6 (absolute / relative) of 6040h (control word). Action 1: set-point ①...
Page 85 < handshaking procedure for the single set-point method > 5. Operation examples Taking the low-voltage servo of Xinje DF3E as an example, the configuration and control process of PP mode are introduced. Please refer to Appendix 10 for the specific usage method of servo software.
Page 86 TxPDO (monitor parameters): RxPDO (control parameters): ② Download configuration, slave station state machine automatically switches from PreOp to OP state, SDO and PDO can receive and send messages at this time. XDPPro software can monitor or modify the mapping of object dictionary. The specific correspondence is as follows: ③...
Page 87 4.6.3.2 PV mode PV (Profile speed control mode) is a speed control mode that specifies the target speed, acceleration and deceleration, and generates position command action in the servo driver. 1. Related object PV control mode related object (command・setting type) Register Explanation Unit...
Page 88 5. Operation example Taking Xinje DF3E low-voltage servo as an example, the configuration and control process of PV mode are briefly introduced. The specific use method of servo software is shown in Appendix 10.
Page 89 RxPDO (control parameters): ② Download configuration, slave station state machine automatically switches from PreOp to OP state, SDO and PDO can receive and send messages at this time. XDPPro software can monitor or modify the mapping of object dictionary. The specific correspondence is as follows: ③...
Page 90 4.6.3.3 TQ mode TQ (Profile torque control mode) is a torque control mode in which the target torque, acceleration and deceleration are specified and the position command is generated inside the servo driver. 1. Related parameters TQ control mode related object (command・setting type) Register Explanation Unit...
Page 91 5. Operation example Taking Xinje DF3E low-voltage servo as an example, the configuration and control process of TQ mode are briefly introduced. The specific use method of servo software is shown in Appendix 10.
Page 92 TxPDO (monitor parameters): RxPDO (control parameters): ② Download configuration, slave station state machine automatically switches from PreOp to OP state, SDO and PDO can receive and send messages at this time. XDPPro software can monitor or modify the mapping of object dictionary. The specific correspondence is as follows:...
Page 93 ③ First, set P0-00 to 1 to start CiA402 motion control function, then modify D6257 (6060h is 4) to TQ mode. After setting torque and torque slope parameters through D6258 (6071h), modify D6256 (control word 6040h is 0x06→0x07→0x0F) to enable the slave station, start to run in speed mode. Other parameters are monitored through D6000-D6008.
Page 94 2. Control word (6040h) <HM control mode function > Index Sub- Name/Description Range Date Access Index Type mode 6040h Controlword 0~65535 RxPDO Set the control command of servo driver such as PDS state transition. Bit information r = reserved (No correspondence) fr = fault reset oms = operation mode specific eo = enable operation...
Page 95 It is detected that the return to zero action is abnormal and has stop 4. Return to origin mode (6098h) At present, DF3E series servo supports 1-14, 17-30, 33, 34, 35 and 37 homing modes. ◼ Mode 1: When using this method 1, if the reverse limit switch is not triggered, the initial moving direction is left. The origin position is at the first Z phase pulse one the right side of the position where negative limit switch becomes invalid.
Page 96 6099h-01h 6099h-02h Index Pulse Home Switch Negative direction Positive direction Homing on positive home switch and index pulse ◼ Mode 5, 6: Using method 5 or 6, the initial direction of movement depends on the state of the origin switch. The origin position is on the reverse side of the origin switch or on the initial detected z-phase position in the forward direction.
Page 97 switch. 6099h-01h 6099h-02h Index Pulse Home Switch Positive Limit Negative direction Positive direction Homing on home switch and index pulse – positive initial motion 6099h-01h 6099h-02h Index Pulse Home Switch Negative Limit Negative direction Positive direction Homing on home switch and index pulse – Negative initial motion ◼...
Page 98 ◼ Mode 18 This method is similar to mode 2. The difference is that the location of origin detection is not Index pulse, but the location of Limit switch changed. (please refer to the figure below) When POT is not allocated, Homing error = 1. ◼...
Page 99 ◼ Mode 23, 24, 25, 26 This method is similar to mode 7, 8, 9, 10. The difference is that the detection position of the origin is not the Index pulse, but the changed position of the Home switch. (please refer to the figure below) When HOME, POT are not allocated, Homing error = 1.
Page 100 6099h-01h 6099h-02h Home Switch Negative Limit Negative direction Positive direction Homing on home switch and index pulse – Negative initial motion ◼ Mode 33, 34: Using method 33 or 34, the return to origin direction is negative or positive, respectively. The original position is located near the z-phase of the selected direction.
Page 101 5. Operation example Taking the connection of Xinje DF3E low-voltage servo as an example, the configuration and control process of HM mode are briefly introduced. The specific use method of servo software is shown in Appendix 10. Make terminal assignment. Modify P5-22, P5-23, P5-27 through the servo software or configure P-OT, N-OT, SPD-D signal for index 2516,2517,251B through SDO read-write command.
Page 102 ② Download configuration, slave station state machine automatically switches from PreOp to OP state, SDO and PDO can receive and send messages at this time. XDPPro software can monitor or modify the mapping of object dictionary. The specific correspondence is as follows: ③...
Page 103: Absolute Value System
4.7 Absolute value system 4.7.1 Absolute system setting In order to save the position data of absolute encoder, the battery unit needs to be installed. Install the battery on the battery unit of the encoder cable with the battery unit. If you do not use encoder cable with battery unit, please set P-79 to 1, that is, multi-loop absolute value encoder is used as incremental encoder.
Page 104: The Upper Limit Of Turns
(4) Close the cover of the battery unit (5) After replacing the battery, in order to remove the "Encoder Battery Alarm (E-222)" display, please do clear alarm twice (F0-00=1). (6) Connect the power supply of the servo unit again; (7) Make sure the error display disappears and the servo unit can operate normally. 4.7.3 The upper limit of turns The upper limit of rotating cycles can be used for position control of gyroscopes such as turntables.
Page 105: Read Absolute Position Through Communication
Because it can only rotate in one direction, after a certain period of time, the number of revolving cycles will always exceed the upper limit of absolute value encoder. Rotating Circle Resolution Servo motor (single-circle Serial Data Operation of overtime series data) Output range...
Page 106: Reset Absolute Position
If the position is read by XINJE HMI and the U0-57 (Modbus address is decimal 4153) double-word is read, the high-low byte exchange should be selected. If communicating with Xinje PLC, direct double-word reading is ok. ◼ 23-bit absolute value encoder, one-cycle pulse number is 8388608.
Page 107: Torque Limit
(b) Check the external mechanical structure and installation; (3) P0-74 the default value of locked rotor alarm time is as follows: Driver model P0-74 (/ms) default parameter DF3E-0410 3000 DF3E-0720 5000 P0-74 is 0, the anti-stall alarm is not opened by default, and users can configure it according to their own needs.
Page 108: Speed Limit
P3-29. No terminals are assigned by default. The parameter range is 0000-0014, which is assigned to the output interface through parameter P5-42. When set to 0002, the signal is output from the SO2 terminal. 4.8.3 Speed limit Default Parameter Meaning Unit Range Modify...
Page 109: Output Terminal Function
4.8.4.2 Output terminal distribution 1. Output signal distribution Parameter Parameter Meaning Set value Meaning Not distribute to terminal input n.0000 n. 0 Distribute output Output always open signal from terminal no. n.000x 0: NO signal P5-37～P5-53 1: NC signal Set the signal to be always valid n.0010 No meaning output always close signal from SOx...
Page 110 2. Related parameters Default Parameter Meaning Unit Range Modify Effective value Rotating detection P5-03 0～10000 Anytime At once speed /TGON If the speed of the servo motor exceeds the set value of P5-03, it is judged that the servo motor is rotating and the output of the rotation detection (/TGON) signal.
Page 111 speed related Default Suitable Parameter Signal Meaning Modify effective setting mode P5-45 /WARN n.0000 Warning output Anytime At once 1. No terminal output signal is assigned by default. The parameter range is 0000-0014, which is allocated to other output terminals through parameter P5-45. 2.
Page 112 4.8.5.7 User-defined output signal User can define 2 outputs. The defined method is SOx output when A>B or A<B. A is 9 activating conditions; B is user-defined comparison value. User-defined output 1: The trigger condition of user-defined output 1 Default trigger Trigger Unit Suitable...
Page 113: Input Terminal Function
Setting Default Suitable Function Change Effective value setting mode P5-14≥P5-15, SOx output P5-14＜P5-15, SOx output P5-14 absolute value ≥P5-15, SOx All the Anytime At once output modes P5-14 absolute value ＜ P5-15, SOx output User-defined output 2 hysteresis loop Unit Default setting Range Suitable mode...
Page 114 1. The parameter range is 0000-0014, which is allocated to other input terminals through parameter P5-24. 2. When an alarm occurs, find out the cause of the alarm and remove it, then clear the alarm by setting the signal to be effective. 3.
Page 115: Time Limit Curve Of Overload Protection
4.8.7 Time limit curve of overload protection The time limit curve of overload protection is only used for the judgment of alarm output and the protection of overload operation. It is recommended to use it within the continuous operation stage of torque speed curve. For the torque speed curve, please refer to appendix 8.
Page 116: Servo Gain Adjustment
Servo gain adjustment 5.1 Overview of servo gain adjustment 5.1.1 Overview and process The servo driver needs to drive the motor as fast and accurately as possible to track the instructions from the upper computer or internal settings. In order to meet this requirement, the servo gain must be adjusted reasonably. Servo gain factory value is adaptive mode, but different machines have different requirements for servo responsiveness;...
Page 117: The Difference Of These Adjustment Modes
5.1.2 The difference of these adjustment modes Adjustment modes are divided into adaptive and auto-tuning, and their control algorithms and parameters are independent. Among them, the auto-tuning mode is divided into three functions: fast adjustment, automatic adjustment and manual adjustment. The three functions are the same in essence but different in implementation. Refer to the corresponding chapters of each function.
Page 118 At anytime At once n.□□□1 Model loop turn on Taking DF3E series servo auto-tuning mode and using 750W servo 5 times load inertia as an example: ◼ Model loop function turns off (soft mode) Low Rigidity and Low Response High Rigidity and Medium Response...
Page 119: Torque Disturbance Observation
Phenomenon: Running jitter, slow Phenomenon: smooth Phenomenon: smooth response operation and slow response operation and fast response Note: The above curves only show the effect of the parameters, not the real running curves. 5.1.4 Torque disturbance observation Disturbance observer can reduce the influence of external disturbance on servo system and improve the anti-disturbance ability by detecting and estimating the external disturbance torque of the system and compensating the torque command.
Page 120: Operation Tool
➢ If the presumed inertia under default parameters runs jitter, indicating that the present load inertia is too large, please switch to large inertia mode (P2-03.3=1) and operate again. It is also possible to set the initial inertia to about twice the current one and execute again under larger loads. ➢...
Page 121 2. select jog setting or manual setting to configure the inertia estimation trip 3. Set the auto-tuning interface...
Page 122: Fast Adjustment
4. Click ok to start inertia identification. Note: (1) If the auto-tuning interface is closed directly, the driver only configures inertia ratio parameters. (2) The detailed steps of XinJeServo's presumptive inertia refer to XinJeServo's help document. 5.3 Fast adjustment 5.3.1 Overview Fast adjustment needs to set the load inertia first, and then turn off the adaptive function.
Page 123: Notes
3031 2709 2448 2357 2233 2122 1000 1989 1100 1872 1250 1768 1400 1591 1600 1383 1800 1201 2100 1043 2400 2700 3000 3400 1070 3800 1220 1110 4200 1370 1250 4600 1600 1450 5000 The rigidity level should be set according to the actual load. The larger the P-04 value, the greater the servo gain. If there is vibration in the process of increasing the rigidity level, it is not suitable to continue to increase.
Page 124: Auto-Tuning
set (refer to chapter 5.7 vibration suppression). ➢ Fast adjustment mode defaults to set a rigidity level. If the gain does not meet the mechanical requirements, please gradually increase or decrease the settings. ➢ At present, gain switching function is not supported, that is, the second gain parameters such as P1-05, P1-06, P1-07 are invalid.
Page 125: Internal Instruction Auto-Tuning Steps
5.4.4 Internal instruction auto-tuning steps 1. click auto-tuning on the XinJeServo software main interface 2. set the auto-tuning trip in jog mode or manually 3. set the auto-tuning interface...
Page 126 4. click ok to estimate the inertia. 5. set the auto-tuning parameters...
Page 127 Auto-tuning Description mode Make a soft gain adjustment. Besides gain adjustment, notch filter is automatically Soft adjusted. Fast Make special adjustment for positioning purpose. Besides gain adjustment, the model positioning loop gain and notch filter are automatically adjusted. In the use of positioning, we should pay attention to adjusting without overshoot. Fast Besides gain adjustment, the model loop gain and notch filter are automatically positioning...
Page 128 7. Wait for the end of the auto-tuning...
Page 129: External Instruction Auto-Tuning Steps
5.4.5 External instruction auto-tuning steps 1. Click auto-tuning on the main interface of XinJeServo software 2. Select jog or manual setting to configure the trip of inertia identification. 3. Set the auto-tuning interface...
Page 130 4. Click ok to start the inertia identification. 5. Configure the auto-tuning parameters Auto-tuning Description mode Make a soft gain adjustment. Besides gain adjustment, notch filter is automatically Soft adjusted. Rapid Make special adjustment for positioning purpose. Besides gain adjustment, the model positioning loop gain and notch filter are automatically adjusted.
Page 131 Rigid It is suitable for the adjustment of rigid body system and other mechanisms with higher connection rigidity. 6. Start auto-tune 7. Open the servo enable, then click ok.
Page 132 8. The upper device starts to send pulses, wait the completion of auto-tuning. 9. Auto-tuning is finished, click ok.
Page 133: Related Parameters
5.4.6 Related parameters The following parameters may be modified during auto-tuning. Do not change them manually during auto-tuning. The influence of numerical Parameter Name Property value on gain after auto-tuning P0-07 First inertia ratio P1-00 First speed loop gain Integral time constant of the first speed P1-01 loop P1-02...
Page 134: Manual Adjustment
5.5 Manual adjustment 5.5.1 Overview Position Speed control loop control loop Pulse Servo motor Speed Position Speed Torque instruction instruction error Current loop gain control Kv, instruction counter control filter Tf Current loop Speed loop Position loop encoder Upper device Servo unit Position control loop diagram (shut down the model loop) Pulse instruction...
Page 135: Gain Parameters For Adjustment
3. Reducing Integral Time Parameter of Speed Loop (P1-01) 4. Increasing the gain of position loop (P1-02) 5. Improving Model Loop Gain (P2-49) Reduce response, prevent vibration and overshoot 1. Reducing the Speed Loop Gain (P1-00) 2. Increasing Integral Time Constant of Speed Loop (P1-01) 3.
Page 136 ◼ Filter time constant of torque instruction When machine vibration may be caused by servo drive, it is possible to eliminate vibration by adjusting the filtering time parameters of the following torque instructions. The smaller the numerical value, the better the response control can be, but it is restricted by the machine conditions.
Page 137: Vibration Suppression
5.6 Vibration suppression 5.6.1 Overview The mechanical system has a certain resonance frequency. When the servo gain is increased, the continuous vibration may occur near the resonance frequency of the mechanical system. Generally in the range of 400Hz to 1000Hz, it caused the gain can not continue to increase. Vibration can be eliminated by automatically detecting or manually setting the vibration frequency.
Page 138: Vibration Suppression (Manual Setting)
5. set the filter width (to see resonance frequencies clearly), find the resonance frequency; 6. Notch parameters need to be set manually. Refer to 6.7.7 notch filter for details. As an example, through the analysis of mechanical characteristics, the resonance frequency is 328 Hz, and the third notch filter can be used.
Page 139 mechanical system Amplitude frequency characteristic Mechanical resonance frequency frequency Notch characteristics Notch width Notch depth frequency Principle diagram of notch filter The servo driver has five sets of notch filters, each with three parameters, notch frequency, notch attenuation and notch bandwidth. The first and second notches are set automatically, and the third, fourth and fifth are set manually.
Page 140 Anytime At once P2-73 First notch bandwidth 0～1000 Anytime At once P2-74 Second notch frequency 5000 50～5000 Anytime At once P2-75 Second notch attenuation 0.1dB 50～1000 Anytime At once P2-76 Second notch bandwidth 0～1000 Anytime At once P2-77 Third notch frequency 5000 50～5000 Anytime...
Page 141: Gain Adjustment
5.7 Gain adjustment 5.7.1 Load shaking The following causes cause load wobble: 1. The instruction is not smooth enough when the load inertia is too large. Countermeasure: (1) Use position instruction smoothing filter P1-25; (2) Optimizing the instructions of the upper device to reduce the acceleration of the instructions; (3) Replace the motor with greater inertia.
Page 142: Alarm
Alarm 6.1 Alarm code list Historical record: "√" means that historical alarms can be recorded; "○" is not recorded; The column that can be cleared: "√" represents the alarm that can be cleared; "○" represents the alarm that cannot be cleared. Property Servo Whether...
Page 143 Property Servo Whether Alarm Alarm status power on is Explanation Historical Can be code type code when needed to records cleared clear the alarming alarm Servo √ √ E-061 Motor overheating enable Servo Thermocouple √ √ E-063 disconnection alarm enable √...
Page 144: Analysis Of Alarm Types
Property Servo Whether Alarm Alarm status power on is Explanation Historical Can be code type code when needed to records cleared clear the alarming alarm ○ ○ E-310 Motor power mismatch Servo off √ ○ E-311 Motor code missing Servo off ○...
Page 145 Conflict of TREF or Parameter E-022 VREF Function P0-01=4, P3-00 set to 1 will alarm conflict Settings Error setting Sampling custom output trigger E-023 channel setting Check that the settings are correct channel data error monitoring channel (1) show E-024 immediately after Low voltage of power E-024 parameter lost...
Page 146 multimeter ˃ U0-05, the servo driver is faulty and needs to be sent back for maintenance. Driver power Driver power off Check the power supply E-041 down low voltage of low voltage of power grid when normal power grid when power on normal power on Voltage...
Page 147 P3-22. When the actual speed is larger than Parameter setting P3-21/P3-22, it will alarm. Main Code Description Reasons Solutions type type Analog Tref Analog Zero Please correct zero without analog E-092 Zero-Calibratio Calibration voltage n Over limit Operation Error E-093 Analog Vref Analog...
Page 148 decreasing in one direction (0-9999 cycle display). Disconnect the power supply of the driver and check the connection of Any phase in UVW the power cable. It is suggested that Power cable E-150 of driver, cable or the multimeter be used to test the disconnection motor broken condition.
Page 149 multiple mechanical wirings, Detection of servo wiring, the incorrect connection motor cable, encoder cable are of motor cable to correctly connected other shafts leads to corresponding shaft. incorrect wiring. Poor gain adjustment results motor vibration, back and Readjustment of gain parameters forth swing abnormal noise.
Page 150 supply of the driver, check the connection of the encoder cable, if there is cable loosening, it is recommended to use the multimeter to test the conduction condition; after eliminating errors, power on again Hot plugging is strictly prohibited, and special cables are required for tank chains.
Page 151 multi-turn absolute value servo encoder ADC sampling is out of range, some resistance and capacitance devices have problems or the signal consistency magnetic sensor is poor Generally, Power problem of the encoder encoder multi In the case of no battery, unplugging the itself, power E-227...
Page 152 forces mechanical installation; (2) Load inertia is (2) Increase the servo gain to improve large and the setting the anti-disturbance ability; of load inertia ratio (3) Acquisition speed curve analysis; is wrong or the gain When the first three peaks are is too small, which convergenced after pulse instruction leads...
Page 153 Main Description Reasons Solutions Code type type When On the premise that the driver and motor code is motor are matched and can be used read Read the motor code together, read the alarm shielding E-315 automatically, is 0 position of motor parameters through motor P0-53, and set the motor code parameter is 0...
Page 154: Appendix
Appendix Appendix 1. Group P parameters Modification and effective: “○” means modifying when servo OFF and take effect at once. “√” means modifying anytime and take effect at once. “●” means modifying when servo OFF and take effect when power on again. “△”...
Page 155 Suitable Reference Parameter Function Unit Default value Range Effective mode chapter 2-P+D Number of instruction pulses per cycle 0: Electronic gear ratio P0-11 ～ 0~999999 ○ Non-0: Number of 1 pul 10000 4.3.1.1 P0-12 command pulses required for motor rotation ○...
Page 156 Suitable Reference Parameter Function Unit Default value Range Effective mode chapter Read motor parameter alarm shield bit ● P0-53 1|3|5|6|7 0- not shield alarm shield alarm Fan switch ( P0-69.0) 0- Turn on the fan when the temperature greater than 45 ℃ and turn off the fan when less than 42 ℃...
Page 157 P1-XX: Suitable Reference Parameter Function Unit Default value Range Effective mode chapter √ P1-00 First speed loop gain 0.1Hz 10~20000 1|3|5|6|7 5.5.3 Integral Time Constant √ P1-01 0.01ms 9794 15~51200 1|3|5|6|7 5.5.3 of the First Speed Loop √ P1-02 First position loop gain 0.1/s 10~20000 1|3|5|6|7...
Page 158 Suitable Reference Parameter Function Unit Default value Range Effective mode chapter Gain of adaptive mode ○ P2-08 10~1000 1|3|5|6|7 speed observer (standard) Maximum Inertia Ratio of ○ P2-12 1~10000 1|3|5|6|7 Adaptive Mode (Standard) Inertia Identification and Internal Instruction √ P2-15 0.01r 1~3000 1|3|5|6|7...
Page 159 Suitable Reference Parameter Function Unit Default value Range Effective mode chapter √ P2-69.0 Notch filter 1 switch 1|3|5|6|7 5.4.6 √ P2-69.1 Notch filter 2 switch 1|3|5|6|7 5.4.6 √ P2-69.3 Notch filter 3 switch 1|3|5|6|7 √ Notch filter 4 switch P2-70.0 1|3|5|6|7 √...
Page 160 Suitable Reference Parameter Function Unit Default value Range Effective mode chapter ○ P3-09 Acceleration time 0~65535 4.4.1.1 ○ P3-10 Deceleration time 0~65535 4.4.1.1 Zero-speed clamping ○ P3-12 4.4.1.2 mode Zero-speed clamping ○ P3-13 0~300 4.4.1.2 speed Forward Maximum ○ Speed Instruction P3-14 4000 0~10000...
Page 161 Suitable Reference Parameter Function Unit Default value Range Effective mode chapter external forward √ P3-30 0~1000 1|3|5|6|7 4.8.2 torque limit external reverse torque √ P3-31 0~1000 1|3|5|6|7 4.8.2 limit √ P3-32 Brake torque 0~1000 1|3|5|6|7 4.2.4 √ P3-33 Preset torque -1000~1000 4.5.1.1 Anti blocking forward...
Page 162 Default Suitable Reference Parameter Function Unit Range Effective value mode chapter 0-wait positioning completion 1-not wait positioning completion ○ Valid segment number P4-04 0~35 4.3.3.2 Internal position mode start segment ○ P4-08 0~35 4.3.3.3 P4-10 ～ -327689999~ √ First segment pulse 1pul 4.4.3 327679999...
Page 163 Default Suitable Reference Parameter Function Unit Range Effective value mode chapter √ P5-19 Z phase output maintain time 1~65535 1|3|5|6|7 4.8.5.6 /S-ON: servo signal 00: Set the signal to be invalid all the time. 01: Input positive signal from SI1 terminal. 02: Input positive signal from SI2 terminal.
Page 164 Default Suitable Reference Parameter Function Unit Range Effective value mode chapter /ZCLAMP: zero position √ P5-31.0~1 0~ff 4.4.1.2 clamping √ P5-31.2 SI terminal filtering time 4.8.4.1 /INHIBIT: Instruction pulse √ P5-32.0~1 0~ff 5|6|7 4.3.1.4 prohibition √ P5-32.2 SI terminal filtering time 5|6|7 4.8.4.1 √...
Page 165 Default Suitable Reference Parameter Function Unit Range Effective value mode chapter selection signal C √ P5-59.2 SI terminal filtering time 4.8.4.1 /TRAJ-START: Motion start √ P5-61.0~1 0~ff trigger signal √ SI terminal filtering time P5-61.2 /SRDY: Output Conditions Selection 0: This terminal is turned on √...
Page 166 Default Reference Parameter Function Unit Range Effective Suitable mode value chapter 13 ： 3M 14 ： 4M 15 ： 5M 16 ： 6M RS485 stop bit 0 ： 2 bits ○ P7-01.2 Stop bit 1|3|5|6|7 2 ： 1 bit RS485 parity bit 0-no parity Parity ○...
Page 167 Default Reference Parameter Function Unit Range Effective Suitable mode value chapter 0F ： 576000 10 ： 768000 11 ： 1M 12 ： 2M 13 ： 3M 14 ： 4M 15 ： 5M 16 ： 6M RS232 stop bit 0 ： 2-bit ○...
Page 168: Monitoring Parameters
Appendix 2. UX-XX monitoring parameters U0-XX: Code Contents Unit servo motor speed U0-00 Input speed instruction U0-01 U0-02 Torque instruction % rated U0-03 Mechanical angle 1° U0-04 Electric angle 1° Bus voltage U0-05 IPM temperature U0-06 0.1℃ U0-07 Torque feedback % rated （0000～9999）*1 U0-08...
Page 169 Code Contents Unit U0-69 Communication encoder timeout counting U0-79 Encoder CRC error counting U0-80 Internal position mode error segment number U0-81 Internal position mode present segment number U0-82 Analog input V-REF initial value U0-83 Analog input T-REF initial value U0-88 Motor code reading status U0-89 Real-time speed feedback (displaying range -99.99~99.99rpm)
Page 170 Code Contents Unit out of factory date: month U2-05 out of factory date: day U2-06 U2-07 Firmware version Hardware version U2-08 Total running time (from the first time power on) hour U2-09 U2-10 Total running time (from the first time power on) minute Total running time (from the first time power on) second...
Page 171: Appendix 3. Modbus Address List
Appendix 3. Modbus address list 1. Address correspondence rules According to the description of servo MODBUS address allocation rules, the parameter addresses not involved in the follow-up refer to this address allocation rule. Parameter Modbus address Explanation groups Modbus address is added 1 in turn from 0x0000, for P0-00~P0-xx 0x0000~0x0063 example, Modbus address of P0-23 is 0x0017...
Page 172 Modbus address Modbus address Parameter Parameter Decimal Decimal P0-15 0x000F P0-32 0x0020 P0-16 0x0010 P0-33 0x0021 Modbus address Modbus address Parameter Parameter Decimal Decimal P1-00 0x0100 P1-15 0x010F P1-01 0x0101 P1-16 0x0110 P1-02 0x0102 P1-17 0x0111 P1-03 0x0103 P1-18 0x0112 P1-04 0x0104 P1-19...
Page 173 Modbus address Modbus address Parameter Parameter Decimal Decimal P4-00 0x0400 1024 P4-15 0x040F 1039 P4-01 0x0401 1025 P4-16 0x0410 1040 Modbus address Modbus address Parameter Parameter Decimal Decimal P5-00 0x0500 1280 P5-27 0x051B 1307 P5-01 0x0501 1281 P5-28 0x051C 1308 P5-02 0x0502 1282...
Page 174 ◼ Group U parameter address Modbus address Modbus address Parameter Parameter Decimal Decimal U0-00 0x1000 4096 U0-28 0x101C 4124 U0-01 0x1001 4097 U0-29 0x101D 4125 U0-02 0x1002 4098 U0-30 0x101E 4126 U0-03 0x1003 4099 U0-31 0x101F 4127 U0-04 0x1004 4100 U0-32 0x1020 4128...
Page 175 Decimal Decimal U1-16 0x1110 4368 U2-16 0x1210 4624 U1-17 0x1111 4369 U2-17 0x1211 4625 U1-18 0x1112 4370 U2-20 0x1214 4628 U1-19 0x1113 4371 U1-20 0x1114 4372 U1-21 0x1115 4373 U1-22 0x1116 4374 U1-23 0x1117 4375 U1-24 0x1118 4376 U1-25 0x1119 4377 Modbus address Modbus address...
Page 176: Q&A
Q8: What is the connection mode between PLC and servo? 1. NPN low-level output PLC: Y0 pulse connects P-, Y1 direction connects D-, +24V connects P+24, D+24. (Xinje PLC as an example) PNP high-level output PLC: Q0.0 pulse connects P+24, Q0.2 direction connects D+24, 0V connects P-, D-.
Page 177 Q9: The service life of tank chain? The bending resistance is 5 million times and the bending radius is 50 mm. Q10: How to connect bus control BD board and JA-NE-L? A-A1, B-B1, SG-SG when one axis running; the PLC BD board and the terminal resistor of the last JA-NE-L board of electrical connection should be ON when multi-axis running;...
Page 178: Appendix 5. General Debugging Steps
Appendix 5. General debugging steps 1. Before power on, carry out preliminary inspection according to the product inspection manual to confirm that there is no obvious damage to the equipment. 2. In the case of no obvious damage, connect the servo driver and the servo motor, and connect the power supply.
Page 179: Appendix 6. Application Example
Appendix 6. Application example Mode 6: Pulse instruction position mode Equipment introduction: This is a welder. Workpiece 1, 2, 3 are the object to be operated. 2 and 3 is fixed on B and A individually. A and B can whole move and be pushed by ball screw E and F. The screw pitch is 5mm. C and D is servo motor. G and H is reducer.
Page 180 Parameter setting Running mode: P0-01=6 Pulse command state: P0-10=2 Electronic gear ratio: P0-11=0 P0-12=0 P0-13=16384 P0-14=625 Forward torque limit: P3-28=150 Reverse torque limit: P3-29=150 Positioning finished width: P5-00=7 /S-ON: P5-20=0010 /CLR: P5-34=0001 /COIN: P5-38=0001 /CLT: P5-42=0002...
Page 181: Appendix 7. Servo General Mode Parameters
Appendix 7. Servo general mode parameters Appendix 7.1 Basic parameters Basic parameters Parameter Overview P0-03 enable mode Enable mode selection, generally P0-03 is default, P5-20 sets P5-20 servo ON signal /S-ON n.0010 as enable on after power on P0-04 Rigidity grade Adjust servo gain in auto-tuning fast adjustment mode P0-05 Definition of rotation direction Determine the motor direction, generally 0/1 by default...
Page 182: Appendix 7.4 Internal Torque Control General Parameters
acceleration and deceleration time of each section P5-35 step change signal /GHGSTP Common terminal function assignment P5-32 suspend the current signal /Inhibit P5-31 skip current segment No. /Z-Clamp P4-00 Number of Z-phase signals after leaving Internal position back to origin setting parameters limit switch P4-01 speed of collision with proximity switch P4-02 speed of leaving proximity switch...
Page 183 P0-15 Command pulse frequency at rated Determine the linear relationship between the command speed pulse frequency and the speed P0-16 Speed command pulse filtering time When the command pulse frequency is relatively low, setting this parameter properly can reduce the speed fluctuation...
Page 184: Appendix 8. Torque-Speed Characteristic Curve
Appendix 8. Torque-speed characteristic curve...
Page 185: Appendix 9. List Of Model Selection And Configuration
Appendix 9. List of model selection and configuration Cable Matched Motor model Encoder cable Power cable Brake cable accessories driver package CP(T)-SP-M-le CM(T)-P07-M-L MF3S-60CS/CM30B1-504 JAM-P9-P4 ngth ength DF3E-0410(Z) CP(T)-SP-M-L CM(T)-P07-M-L CB(T)-P03-L MF3S-60CS/CM30BZ1-504 JAM-P9-P4-P2 ength ength ength CP(T)-SP-M-L CM(T)-P07-M-L MF3S-80CS/CM30B2-507 JAM-P9-P4 ength ength DF3E-0720(Z)
Page 186: Appendix 10. Servo Software
Appendix 10. Servo software Appendix 10.1 Communication between servo software and servo driver The communication mode between the upper computer software and the servo driver is wired communication. The DB9 cable is connected to the computer (the laptop needs to add a USB convertor), and the other end is connected to the servo driver.
Page 187: Appendix 10.4 [Driver Communication] Interface
Appendix 10.4 [Driver communication] interface Area 1: drive information Area 2: motor information Note: if the servo motor is not connected, the information displayed in area 2 will be incomplete, and the motor model and motor code will not be displayed. Area 3: serial port configuration Click [serial port], pop up [connect servo] window, click drop down box to set the serial port number, baud rate, data bit and so on.
Page 188 Area 1 and area 2 display the correct information, and there is no prompt [no servo connection or servo not powered up], click OK to exit [communicate with drive], starts reading data at the same time. As shown in the following figure, the progress bar (data reading progress) is displayed in the lower right corner of the interface during data reading.
Page 189 WUXI XINJE ELECTRIC CO., LTD. 4th Floor Building 7,Originality Industry park, Liyuan Development Zone, Wuxi City, Jiangsu Province 214072 Tel: (510) 85134136 Wechat ID Fax: (510) 85111290 www.xinje.com...

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