Automation Technology iSV2-CAN Series User Manual
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Automation Technology iSV2-CAN Series User Manual

Integrated servo motor
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User Manual Of iSV2-CAN Series
Integrated Servo Motor
Version 0.4
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Summary of Contents for Automation Technology iSV2-CAN Series

  • Page 1 User Manual Of iSV2-CAN Series Integrated Servo Motor Version 0.4...

  • Page 2: Introduction

    Introduction Thanks for purchasing our integrated servo motor, this instruction manual provides knowledge and attention for using this motor. Incorrect operation may cause unexpected accident, please read this manual carefully before using product.  We reserve the right to modify equipment and documentation without prior notice. ...
  • Page 3 Wiring Warning  The workers of participation in wiring or checking must possess sufficient ability do this job.  Ground the earth terminal of the motor and drive without fail.  The wiring should be connected after servo drive and servo motor installed correctly. ...

  • Page 4: Table Of Contents

    Table of Contents Introduction ................................2 Chapter 1 Introduction............................7 1.1 Product Introduction ..........................7 1.1.1 Specification and feature ......................7 1.1.2 Part Numbering Information ....................... 8 1.2 Inspection of product ..........................8 Chapter 2 Installation ............................9 2.1 Storage and Installation Circumstance ....................9 2.2 Servo Drive Installation..........................
  • Page 5 5.3 NMT ..............................54 5.3.1 NMT services ..........................55 5.3.1 NMT error control ........................55 5.4 SDO ..............................57 5.5 PDO ..............................58 5.6 SYNC ..............................59 5.7 EMCY ..............................59 Chapter 6 Trial Run ............................61 6.1 Inspection Before trial Run ........................61 6.2 iSV2-CAN motion control procedure ....................
  • Page 6 6.10.1 On-line inertia ratio identification ................... 92 6.10.2 Motion Studio inertia ratio identification ................92 6.11 Vibration Suppression......................... 93 6.12 Friction torque compensation ......................95 6.13 Regenerative resister setting ....................... 95 Chapter 7 Alarm and Processing ........................97 7.1 Alarm List ............................. 97 7.2 Alarm Processing Method ........................

  • Page 7: Chapter 1 Introduction

    Chapter 1 Introduction 1.1 Product Introduction iSV2-CAN integrated servo is a special motion control product designed for machines and applications that request a best balance between outstanding and reasonable cost. Based on CIA DS 301+DSP 402 sub-protocol, it can be seamlessly connected to the controller/drive that supports this standard protocol.

  • Page 8: Part Numbering Information

    Features Drive model iSV2-CAN6020* iSV2-CAN6040* iSV2-CAN8075* Modes of operation Profile Position/Profile Velocity/Profile Torque Command source Over the Network 4 programmable single-end inputs(24V); Inputs/Outputs 2 programmable single-end outputs. √ Brake Output (24vdc) Feedback Supported 17bit Incremental Communication CANopen , RS-232 for tuning 1.1.2 Part Numbering Information iSV2- CAN 6040 V48 G H : Motor without brake, G: Motor with brake...

  • Page 9: Chapter 2 Installation

    Chapter 2 Installation 2.1 Storage and Installation Circumstance Table 2.1 Servo Motor Storage Circumstance Requirement Item iSV2 series motor Temperature -20-80℃ Humility Under 90%RH (free from condensation) Atmospheric environment Indoor(no exposure)no corrosive gas or flammable gas, no oil or dust Altitude Lower than 1000m Vibration...

  • Page 10: Chapter 3 Wiring

    Chapter 3 Wiring Warning  The workers of participation in wiring or checking must possess sufficient ability do this job.  The wiring and check must be going with power off after five minutes. Caution  Ground the earth terminal of the motor and drive without fail. ...
  • Page 11 iSV2-CAN6040V48* iSV2-CAN8075V48* Method for select regenerative resistance specification  Firstly, use the built-in resistance of the drive to run for a long time to see if it can meet the requirements: ensure that the drive temperature d33<60℃, the braking circuit does not alarm (Regeneration load factor d14<80), and the drive does not report overvoltage error ...

  • Page 12: Wiring

    3.1.2 Wiring DC Power Supply CAN*2 Regenerative resistor 270Ω 270Ω 24Vdc COM_IN （output） 4.7K 12~24Vdc （input） 4.7K 4.7K 4.7K COM_OUT RS232 Figure 3.1 Position Control Mode Wiring Notes: 1. 4 digital inputs DI3~DI6, support NPN and PNP connection, recommend 12~24V input signal. 2.

  • Page 13: Drive Terminals Function

    3.2 Drive Terminals Function Port Function Control Signal Port Power Port RS232 Communication Port CAN Communication Port CAN slave axis ID CAN Baud rate \ Terminal resistance SW1~4 3.2.1 Control Signal Port-CN1 Terminal Table 3.1 Signal Explanation of Control Signal Port-CN1 Signal Detail Input...

  • Page 14: Power Port

    3.2.2 Power Port Signal Description Power Supply Input (Positive)24-60VDC recommended. Please leave reasonable reservation for voltage fluctuation and back-EMF during deceleration. Power Ground (Negative) Regenerative resistor + RBR+ Regenerative resistor - RBR- The recommend resistor for most application is 10Ω+/-5%, 100watt Leadshine can provide resistor: RXFB-1, Part num Code : 10100469 3.2.3 Communication Port...

  • Page 15: I/O Interface Principle

    CAN Baud rate Pr0.24 Default =1MHz 500 KHz 250 KHz 125 KHz If SW1 and SW2 OFF, then Pr0.24 valid If SW1 or SW2 ON, then these switch valid in higher priority than Pr0.24 SW3: CAN terminal resistor SW3=off，disconnect the terminal resistance SW3=on，connect the terminal resistance SW4：CAN Node-ID selection（High Bit）...
  • Page 16 Name Input selection DI5 Mode Pr4.04 — Range 0~00FFFFFFh Unit Default 0x01 Index 2404h Name Input selection DI6 Mode Pr4.05 — Range 0~00FFFFFFh Unit Default 0x02 Index 2405h Assign functions to digital inputs. This parameter use 16 binary system to set up the values, For the function number, please refer to the following table.
  • Page 17 Assign functions to digital outputs. For the function number, please refer to the following table. Setup value Signal name Symbol Normally open Normally closed — Master control output Do not setup Alarm output Servo-Ready output S-RDY BRK-OFF Eternal brake release signal Positioning complete output At-speed output AT-SPPED...

  • Page 18: Chapter 4 Parameter

    Chapter 4 Parameter 4.1 Parameter List 4.1.1 Drive Parameters (Group 2000h) Parameter Number CANopen Mode Name Parameters Address Classify 2000h Pr_000 MFC function control mode setup 2001h Pr_001 real-time auto-gain tuning 2002h Pr_002 selection of machine stiffness at real-time 2003h Pr_003 auto-gain tuning Inertia ratio...
  • Page 19 Parameter Number CANopen Mode Name Parameters Address Classify Torque feed forward filter 2113h Pr_113 Control switching mode 2115h Pr_115 Control switching level 2117h Pr_117 Control switch hysteresis 2118h Pr_118 Gain switching time 2119h Pr_119 Special register 2137h Pr_137 adaptive filter mode setup 2200h Pr_200 1st notch frequency...
  • Page 20 Parameter Number CANopen Mode Name Parameters Address Classify Main power off LV trip 2508h Pr_508 selection Main power off detection 2509h Pr_509 [Class 5] time Extended Dynamic braking mode 2510h Pr_510 Setup Torque setup for 2511h Pr_511 emergency stop Over-load level setup 2512h Pr_512 Over-speed level setup...

  • Page 21: Manufacturer Parameters (Group 5000H)

    Parameter Number CANopen Mode Name Parameters Address Classify Z signal duration time 2661h Pr_661 Overload warning 2662h Pr_662 threshold upper limit of multi - turn 2663h Pr_663 absolute position 4.1.2 Manufacturer Parameters (Group 5000h) Sub- Index Name Unit Default Details index RPDO length TPDO length...
  • Page 22 0：invalid； > 0：valid； PDO watchdog 5010 60000 Unit：ms； overtime Such as RPDO timeout alarm 818h, TPDO timeout alarm 819h Bit0：Abnormal signal protection 0：invalid； 1：valid Bit1：pull back if over travel while final stop 0：invalid； 1：valid Bit2/Bit3： Bit2 Bit3 Positive Negativ Feedback after limit e limit the homing process...

  • Page 23: Device Profile Parameters (Group 6000H)

    Internal position Pulse command Overload ratio 0.1% Discharge load rate 0.1% Inertia ratio Actual positive 0.1% torque limit value Actual negative 0.1% torque limit value U phase current 0.1% detect value W phase current 0.1% detect value SI input signal DO output signal Reserved 5502...
  • Page 24 0.1% 6071 Target torque -32768 32767 0.1% 6072 Max torque 3000 65535 0.1% 6073 Max current 0.1% 6074 Internal torque command 6075 Rated current mN.M 6076 Rated torque 0.1% 6077 Actual torque 6079 Bus voltage Command -214748 2147483 607A Target position unit 3648 Command...

  • Page 25: Parameters Function

    60B8 Touch probe control word 65535 60B9 Touch probe statue word Touch probe 1 rising Command 60BA edge capture position unit Touch probe 1 falling edge capture Command 60BB position unit Touch probe 2 rising Command 60BC edge capture position unit Touch probe 2 falling edge capture Command...
  • Page 26 Set the bandwidth manually , 1.1Hz – 2000Hz 11-20000 MFC is used to enhance the performance of dynamic tracing for input command , make positioning faster , cut down the tracking error , run more smooth and steady . It is very useful for multi-axis synchronous movement and interpolation, the performance will be better.
  • Page 27 You an set up response while the real-time auto-gain tuning is valid. High Machine stiffness Servo gain High 81.80……………………………70.69.68…………………………51.50 Response High Notice: Lower the setup value, higher the velocity response and servo stiffness will be obtained. However, when decreasing the value, check the resulting operation to avoid oscillation or vibration. Control gain is updated while the motor is stopped.
  • Page 28 0: Incremental position mode: The encoder is used as a incremental encoder, and the position retentive at power failure is not supported. 1: Absolute position linear mode: The encoder is used as an absolute encoder, and the position retentive at power failure is supported.. It is applicable to the scenario where the travel range of device load is fixed and the encoder multi-turn data dose not overflow.

  • Page 29: Class 1】Gain Adjust

    Name Synchronous compensation time 2 Mode Pr0.26 Range 1~2000 Unit 0.1us Default Index 2026h Synchronous jitter compensation range, used in poor synchronization of the master station. Note：Valid after restart power. 【 】 4.2.2 Class 1 Gain Adjust Name 1st gain of position loop Mode Pr1.00 Range...
  • Page 30 Name 1st torque filter Mode Pr1.04 Range 0~2500 Unit 0.01ms Default Index 2104h Set the time constant of the first order hysteresis filter for the insertion of torque instruction. Vibration due to torsional resonance can be controlled. Name 2nd gain of position loop Mode Pr1.05 Range...
  • Page 31 Set the time constant of 1st delay filter which affects the input of speed feed forward. (usage example of velocity feed forward) The velocity feed forward will become effective as the velocity feed forward gain is gradually increased with the speed feed forward filter set at approx.50 (0.5ms). The positional deviation during operation at a constant speed is reduced as shown in the equation below in proportion to the value of velocity feed forward gain.
  • Page 32  Valid for position control.  Shift to the 2nd gain when the absolute value of the positional deviation exceeded (level + hysteresis)[pulse] previously with the 1st gain. Position deviation  Return to the 1st gain when the absolute value of the positional is large deviation was kept below (level + hysteresis)[r/min]previously during delay time with the 2nd gain.

  • Page 33: Class 2】Vibration Suppression

    Range 0~10000 Unit 0.1ms Default Index 2119h For position controlling: if the difference between 1st gain and 2nd gain is large, the increasing rate of position loop gain can be limited by this parameter. <Position gain switching time> Notice: when using position control, position loop gain rapidly changes, causing torque change and vibration.
  • Page 34 Not use Non-professional forbidden to use Name 1st notch frequency Mode Pr2.01 Range 50~2000 Unit Default 2000 Index 2201h Set the center frequency of the 1st notch filter Notice: the notch filter function will be invalidated by setting up this parameter to “2000”. Name 1st notch width selection Mode...

  • Page 35: Class 3】Velocity/ Torque Control

    Range 10~2000 Unit 0.1Hz Default Index 2214h 0: close Setup damping frequency, to suppress vibration at the load edge. Name 2nd damping frequency Mode Pr2.15 Range 10~2000 Unit 0.1Hz Default Index 2215h 0: close Setup damping frequency, to suppress vibration at the load edge. positional command smoothing Name Mode...

  • Page 36: Class 4】I/F Monitor Setting

    Range 0~10000 Unit Default Index 2313h (1000RPM) Set up acceleration/deceleration processing time in response to the speed command input. Set the time required for the speed command(stepwise input)to reach 1000r/min to Pr3.12 Acceleration time setup. Also set the time required for the speed command to reach from 1000r/min to 0 r/min, to Pr3.13 Deceleration time setup.
  • Page 37 Assign functions to digital inputs. This parameter use 16 binary system to set up the values, For the function number, please refer to the following table. Setup value Signal Symbol 0x60FD(bit) Normally Normally open closed — Invalid Do not setup ×...
  • Page 38 Name Positioning complete range Mode Pr4.31 Range 0~10000 Unit Default Index 2431h Setup the timing of positional deviation at which the positioning complete signal (INP1) is output. Positioning complete output Name Mode setup Pr4.32 Range Unit Default Index 2432h Select the condition to output the positioning complete signal (INP1). Setup value Action of positioning complete signal The signal will turn on when the positional deviation is smaller than Pr4.31 [positioning...
  • Page 39 The rotation speed (RPM) was used to set the output timing sequence of the zero speed detection output signal (ZSP). When the motor speed is lower than the setting speed of this parameter, zero speed detection signal (ZSP) is output. You can set up the timing to feed out the zero-speed detection output signal(ZSP or TCL) in rotate speed (r/min).
  • Page 40 Set the detection timing of the speed arrival output (AT-SPEED). When the motor speed exceeds this setup value, the speed arrive output (AT-SPEED) is output. Detection is associated with 10r/min hysteresis . Name Mechanical brake action at stalling setup Mode Pr4.37 Range 0~10000...

  • Page 41: Class 5】Extended Setup

    Name E-stop function Mode Pr4.43 Range Unit Default Index 2443h 0：When E-STOP is effective, the servo will forced to STOP and servo-disabled, and alarm showing（Err570）. 1：When E-STOP is effective, the servo will forced to STOP and keep in servo-enable, no alarm showing. 【...
  • Page 42 Set up the torque limit at emergency stop When setup value is 0, the torque limit for normal operation is applied. Compared with the maximum torque 6072, the actual torque limit value is smaller one. Name Over-load level setup Mode Pr5.12 Range 0~115...
  • Page 43 You can select the type of data to be displayed on the front panel LED (7-segment) at the initial status after power-on. Setup Setup Setup content content content value value value Number of abnormal Positional command communication of Over-load factor deviation encoder Accumulated...

  • Page 44: Class 6】Special Setup

    When the duration of torque saturation reaches this value, the torque saturation signal will turn on. 1、Enable the torque saturation alarm, this parameter can be set to specify the output time of the torque saturation signal 2、Disable the torque saturation alarm, this parameter can be set to specify the output time after the torque limit arrives while the homing method is torque detection.
  • Page 45 These three parameters may apply feed forward torque superposition directly to torque command. Name Current response setup Mode Pr6.11 Range 50~100 Unit Default Index 2611h Set the effective value ratio of drive current loop related parameters. Setting of torque limit for zero Name Mode correction of encoder.

  • Page 46: Class 7】Factory Setting

    Name Mode of trial running Mode Pr6.26 — Range 0~32767 Unit Default Index 2626h 0：Normal trial run mode 1：Aging mode for manufacturers Name Frame error window time Mode Pr6.34 Range 0~32767 Unit Default Index 2634h Set the CANopen data frame error alarm detection window time Name Frame error window Mode...

  • Page 47: Parameters Function

    deactivated when the actual bus voltage is lower than Pr7.32 minus Pr7.33 Notice： Name Regenerative resistance control hysteresis Mode Pr7.33 1～50 Range Unit Default The external resistance is activated when the actual bus voltage is higher than Pr7.32 plus Pr7.33 and is deactivated when the actual bus voltage is lower than Pr7.32 minus Pr7.33 Notice：...
  • Page 48 5 ：Stop according to 6084h(Profile deceleration)，keeping Quick stop active 6 ：Stop according to 6085h(Quick stop deceleration)，keeping Quick stop active 7 ：Stop according to 60C6h(Max deceleration)，keeping Quick stop active HM Mode 0 ：Stop according to 3506h(Sequence at Servo-off)，keeping Switch on disabled 1 ：Stop according to 609Ah(Homing acceleration)，keeping Switch on disabled 2 ：Stop according to 6085h(Quick stop deceleration)，keeping Switch on disabled 3 ：Stop according to 60C6h(Max deceleration)，keeping Switch on disabled...
  • Page 49 6063H Encoder TPDO Access Mapping Mode Range Default unit Actual internal position value, Encoder unit Name Actual feedback position value Structure Type Dint 32 Index Command TPDO 6064H Access Mapping Mode Range Default unit Actual feedback position value, Command Unit. 6064H * gear ratio(Ref.
  • Page 50 If 2008H≠0, 6092H-01 does not take effect. Electronic gear ratio = Encoder resolution / 2008H. If 2008H = 0, 6092H-01 takes effect. If 6092H-01(Feed constant) is not equal to 608Fh(Position encoder resolution), then: Electronic gear ratio = Encoder resolution / 6092H-01 If 6092H-01(Feed constant) is equal to 608Fh(Position encoder resolution), then: Electronic gear ratio = 6091H-01 / 6091H-02 Name...
  • Page 51 signal Search the homing point in negative direction, deceleration point is homing switch, homing point is motor Z signal, the rising edge on the same side of homing switch must come before Z signal Search the homing point in negative direction, deceleration point is homing switch, homing point is motor Z signal on the other side of homing switch, the rising edge on the other side of homing switch must come before Z signal Search the homing point in negative direction, deceleration point is homing switch, homing...

  • Page 52: Chapter 5 Canopen

     Process or system time synchronization.  Error state supervision.  Control and monitoring of node states. iSV2-CAN series follow the communication rules:  Comply with CAN 2.0A standard  Comply with CANopen standard protocol DS 301 _V4.02  Comply with CANopen standard protocol DSP 402 _V2.01 5.2.1 CANopen frame...

  • Page 53: Canopen Objects

    Identifier （COB-ID） Bit number: Function code Node-ID COB-ID description Parallel to CAN, every node on a CANopen network must have a unique node-ID. The range of valid values comprises from 1 to 127. Zero is not allowed. Similarly, the priority is determined by the COB-ID and RTR bits. As expected, the RTR bit on the arbitration field is used to request information from a remote node.

  • Page 54: Nmt

     Device profile area (0x6000 to 0x9FFF): These objects are standardized device profile objects as defined in the DSP402 profile, which is the CANopen profile for servo drives. This chapter is focused on the Communication profile area. DS301 defines special objects for the communication profile, responsible of managing system elements related to CANopen communications.

  • Page 55: Nmt Services

    (performs the basic CANopen initializations), Reset application (in where all manufacturer-specific and standardized profile area parameters are set) and Reset communication (where the communication profile and parameters are set). At the end of initialization state the device sends a boot-up message and goes directly to Pre-Operational state. NMT state pre-operational In Pre-Operational state, the communication using SDO messages is possible.
  • Page 56 The NMT Master can monitor the communication status of each node using the Node Guarding protocol. During node guarding, a controller is polled periodically and is expected to respond with its communication state within a pre-defined time frame. Note that responses indicating an acceptable state will alternate between two different values due to a toggle bit in the returned value.

  • Page 57: Sdo

    Stopped Operational Pre-operational Example of NMT heartbeat: COB-ID(hex) Number of Bytes Data(hex) Description Node 5 sends a heartbeat indicating pre-operational state After producer heartbeat time, Node 5 sends again a heartbeat indicating pre-operational state Protocol life guarding In Life guarding protocol the NMT slave monitors the status of the NMT master. This protocol utilizes the objects Guard time (0x100C) and Life time factor (0x100D) to determine a "Lifetime"...

  • Page 58: Pdo

    A PDO communication parameter  A PDO mapping object iSV2-CAN series include 4 RPDO and 4 TPDO. Transmit PDO (TPDO) TPDOs are configured to send data from node to master after the occurrence of a trigger event or after a remote request by means of a RTR.

  • Page 59: Sync

    has changed or when the specified time (event-timer) has elapsed. PDO transmission is controlled by producer.  Remotely request: Message transmission is initiated on receipt of a RTR message. PDO transmission is driven by the PDO consumer.  Synchronously trigger: Message transmission is triggered by the reception of a certain number of SYNC objects (see TPDO1 definition for further information).
  • Page 60 Emergency error codes (Object 0x603F): Emergency error codes Description 0000H 8110H CAN bus over-run 8120H CAN in error passive mode 8130H Lifeguard error 8140H Recovered from CAN bus off 8141H CAN Bus off occurred 8150H Send COB-ID conflicts...

  • Page 61: Chapter 6 Trial Run

    Chapter 6 Trial Run Attention  Ground the earth terminal of the motor and drive without fail. the PE terminal of drive must be reliably connected with the grounding terminal of equipment.  The drive power need with isolation transformer and power filter in order to guarantee the security and anti-jamming capability.

  • Page 62: Cia 402 State Machine

    control word). H．When the drive is finished executing the movement (position motion/velocity motion), iSV2-CAN feeds back the position/speed to the master station for monitoring during the motion I．The master station sends commands for the next motion. 6.3 CIA 402 State Machine Control Main Enable...

  • Page 63: Common Functions For All Modes

    Parameters with the setting condition of ‘during running’can be set. The stop process is completed, and all the drive function are inhibited. Fault Parameter setting is allowed for users to eliminate faults. The conversion of CIA402 state machine is accomplished by the control word (6040h) of the iSV2-CAN servo system operated by the master station.

  • Page 64: Control Word

    Electronic gear ratio = encoder resolution / 6092h_01 2、If 6092h_01(Feed constant) is equal to 608Fh(Position encoder resolution), then: Electronic gear ratio = 6091h_01/6091h_02 Electronic gear ratio range is 1/1000~8000. Note: when the setting value exceeds this range, the error will be reported and automatically reset to the default value.

  • Page 65: Status Word

    6.4.5 Status Word Bit definition of Status Word 6041h. The binary representation of the statusword (6041) is as follows: Definition 15~14 Reserved 13~12 Mode specific Position limit active Target reached Remote Mode specific Reserved Switch on disabled Quick stop Voltage output Fault Operation enable Switch on...

  • Page 66: Drive Enable

    6.4.6 Drive Enable This section describes how to enable the drive by control word (6040h), how to view the drive enable states by status word (6041h) Steps： 1： Write 0 to the control word 6040h 2：Write 6 to the control word 6040h 3：Write 7 to the control word 6040h 4：Write F to the control word 6040h 6.5 Profile position mode...

  • Page 67: Statusword In Profile Position Mode

    Fault Change set Enable Quick Enable Switch Halt Abs / rel reset immediately set-point operation stop voltage If no positioning is in progress, the rising edge of bit 4 will start the positioning of the axis. In case a positioning is in progress, the definitions given in the following table shall be used. Change set Description immediately...

  • Page 68: Related Objects

    Following error 6.5.3 Related objects Object Dictionary Description Setup value Units 6060H Mode of operation 6040H Controlword 6041H Statusword 607AH Target position Pulse 6081H Profile velocity Pulse /s 6083H Profile acceleration Pulse /s 6084H Profile deceleration Pulse /s 6092H Feed constant 6.5.4 Example of profile position mode Command Function...

  • Page 69: Profile Velocity Mode

    6.6 Profile velocity mode Target velocity obtained from the command source is processed immediately on reception (system limits, etc.), and is delivered to the profiler afterwards. According to the predetermined parameters, the profiler generates and provides the control unit with the instantaneous target torque to be achieved. Upon reaching the target, a statusword is issued as a notification to other nodes.

  • Page 70: Related Objects

    Velocity is not equal 0 Velocity is 0 Velocity is equal 0 6.6.3 Related objects Object Dictionary Description Setup value Units 6060H Mode of operation 6040H Controlword 6041H Statusword 60FFH Target velocity Pulse /s 6083H Profile acceleration Pulse /s 6084H Profile deceleration Pulse /s 606CH...

  • Page 71: Profile Torque Mode

    6.7 Profile torque mode Target torque obtained from the command source is processed immediately on reception (system limits, etc.), and is delivered to the profiler afterwards. According to the predetermined parameters, the profiler generates and provides the control unit with the instantaneous target torque to be achieved. Upon reaching the target, a statusword is issued as a notification to other nodes.

  • Page 72: Related Objects

    Halt = 1: Axis has velocity 0 6.7.3 Related objects Object Dictionary Description Setup value Units 6060H Mode of operation 6040H Controlword 6041H Statusword 6071H Target torque 0.1% 6087H Torque change rate 0.1% /s 6080H Maximum motor speed r/min 6074H Torque demand 0.1% 6077H...

  • Page 73: Homing Mode

    6.8 Homing mode Typically, in a homing method there are two homing speeds: the faster speed is used to find the mechanical limit, and the slower speed is used to find the index pulse. There is a compromise between search speed and homing precision, due to maximum axis deceleration and inertia.

  • Page 74: Related Objects

    Homing Homing Target Description error attained reached Homing procedure is in progress Homing procedure is interrupted or not started Homing is attained but target is not reached Homing mode carried out successfully Homing error occurred; Homing mode carried out not successfully; Velocity is not zero Homing error occurred;...

  • Page 75: Homing Method

    Write control word as 0fH，state machine switching status 40 60 00 0f 00 00 00 Switched On->Operation Enable. Servo-Enabled 60 60 00 06 00 00 00 Write operation mode as 6H, homing mode 99 60 01 30 75 00 00 Write home speed-high speed as 7530H（180rpm, 10000p/r）...
  • Page 76 Method -3：Search the homing point with low speed positive direction, when the torque reached then change the motion direction, when the torque is gone then stop immediately. Start Position Stop Position High speed Low speed 6099h-01h 6099h-02h Method -2：Search the homing point with low speed negative direction, when the torque reached then reverse the direction, when the torque is gone and Z signal coming then stop immediately.
  • Page 77 High speed Low speed Start Position Stop Position 6099h-01h 6099h-02h Z signal NOT signal Method 2: If the positive limit switch is invalid, the motor will move in positive direction at high speed until the positive limit switch signal is valid. The motor stops and starts moving at low speed in negative direction. The motor stops after leaving the positive limit switch and the first encoder Z signal is valid, as shown in figure.
  • Page 78 High speed Low speed Start Position Stop Position 6099h-01h 6099h-02h Z signal HOME-SWITCH Method 4: If the homing switch is invalid, the motor will move in positive direction at low speed until the homing switch signal is valid. The motor stops after leaving the homing switch and the first encoder Z signal is valid, as shown in figure.
  • Page 79 High speed Low speed Start Position Stop Position 6099h-01h 6099h-02h Z signal HOME-SWITCH Method 6: If the homing switch is invalid, the motor will move in negative direction at low speed until the homing switch signal is valid. The motor stops after leaving the homing switch and the first encoder Z signal is valid, as shown in figure.
  • Page 80 High speed Low speed Start Position Stop Position 6099h-01h 6099h-02h Z signal HOME-SWITCH POT signal Method 8: If the homing switch and positive limit switch is invalid, the motor will move in positive direction at low speed. The motor stops after the homing switch valid and the first encoder Z signal is valid, as shown in figure. If the positive limit switch is invalid and motor stops at the homing switch position when it starts to move, the motor will move in negative direction at high speed until the homing switch signal is invalid.
  • Page 81 Method 9: If the homing switch and positive limit switch is invalid, the motor will move in positive direction at high speed until the homing switch invalid. Then the motor reverse the direction at low speed. The motor stops after the homing switch valid and the first encoder Z signal is valid, as shown in figure.
  • Page 82 High speed Low speed Start Position Stop Position 6099h-01h 6099h-02h Z signal HOME-SWITCH POT signal Method 11 If the homing switch and negative limit switch is invalid, the motor will move in negative direction at high speed until the homing switch signal is valid. Then the motor reverse the direction at low speed. The motor stops after leaving the homing switch and the first encoder Z signal is valid, as shown in figure.
  • Page 83 Method 12： If the homing switch and positive limit switch is invalid, the motor will move in negative direction at low speed. The motor stops after the homing switch valid and the first encoder Z signal is valid, as shown in figure. If the negative limit switch is invalid and motor stops at the homing switch position when it starts to move, the motor will move in positive direction at high speed until the homing switch signal is invalid.
  • Page 84 Start Position Stop Position High speed Low speed 6099h-01h 6099h-02h Z signal HOME-SWITCH NOT signal Method 14： If the homing switch and positive limit switch is invalid, the motor will move in negative direction at low speed. The motor stops after the homing switch invalid and the first encoder Z signal is valid, as shown in figure.
  • Page 85 Method 17： This method is similar to method 1 Start Position Stop Position High speed Low speed 6099h-01h 6099h-02h NOT signal Method 18： This method is similar to method 2 Start Position Stop Position High speed Low speed 6099h-01h 6099h-02h POT signal Method 19：...
  • Page 86 Method 21： This method is similar to method 5 Start Position Stop Postion High speed Low speed 6099h-01h 6099h-02h HOME-SWITCH Method 22： This method is similar to method 6 Start Position Stop Position High speed Low speed 6099h-01h 6099h-02h HOME-SWITCH Method 23：...
  • Page 87 Start Position Stop Position High speed Low speed 6099h-01h 6099h-02h HOME-SWITCH POT signal Method 25： This method is similar to method 9 Start Position Stop Position High speed Low speed 6099h-01h 6099h-02h HOME-SWITCH POT signal Method 26： This method is similar to method 10 Start Position Stop Position High speed...
  • Page 88 Method 27： This method is similar to method 11 Start Position Stop Position High speed Low speed 6099h-01h 6099h-02h HOME-SWITCH NOT signal Method 28： This method is similar to method 12 Start Position Stop Position High speed Low speed 6099h-01h 6099h-02h HOME-SWITCH NOT signal...
  • Page 89 Method 30： This method is similar to method 14 Start Position Stop Position High speed Low speed 6099h-01h 6099h-02h HOME-SWITCH NOT signal Method 33： The motor starts to move in a negative direction and stops when the Z signal is valid. If the positive/negative limit switch signal and homing switch is valid during the homing process, the status word (6041h) bit 13 will be valid, indicating that the homing error and the motor will stop immediately.

  • Page 90: Security Features

    6.9 Security Features 6.9.1 BRK-OFF output This function can be configured by set digital DO output functions allocation. refer to IO Pr4.10 parameter description. When the enable and time meet the set conditions, the digital output IO port can output ON. Name Mechanical brake action at stalling setup Mode...

  • Page 91: Servo Stop Mode

    SRV_ON BRK_OFF Motor power-on Release Brake Brake Brake action Pr4.39 Velocity Notice： *1：The delay time between SRV_ON and BRK_OFF is less than 500ms; *2：Time setting in Pr4.38; *3： The delay time between the BRK_OFF signal output and the actual brake release action, which depends on the hardware characteristics of the motor brake;...

  • Page 92: On-Line Inertia Ratio Identification

    You can set up the ratio of the load inertia against the rotor(of the motor)inertia. Pr0.04=( load inertia/rotate inertia)× 100% Notice: If the inertia ratio is correctly set, the setup unit of Pr1.01 and Pr1.06 becomes (Hz). When the inertia ratio of Pr0.04 is larger than the actual value, the setup unit of the velocity loop gain becomes larger, and when the inertia ratio of Pr0.04 is smaller than the actual value, the setup unit of the velocity loop gain becomes smaller.

  • Page 93: Vibration Suppression

    3、After finishing，Click“Write”to save the Inertia ratio identification result. 6.11 Vibration Suppression Specific resonance frequency can be obtained from PC configuration software according to waveform monitoring, and filter frequency can be set to effectively suppress the oscillation ripple of a certain frequency in the current instruction.
  • Page 94 Name Adaptive filter mode setup Mode Pr2.00 Range Unit Default Index 2200h Set up the resonance frequency to be estimated by the adaptive filter and the special the operation after estimation. Setup value Content Adaptive filter: invalid Parameters related to the 3rd and 4th notch filter hold the current value.

  • Page 95: Friction Torque Compensation

    Name 2nd notch depth selection Mode Pr2.06 Range 0~99 Unit Default Index 2206h Set the depth of notch at the center frequency of the 2nd notch filter. Notice: Higher the setup, shallower the notch depth and smaller the phase delay you can obtain. 6.12 Friction torque compensation Torque command additional Name...
  • Page 96 Enable regenerative resistance discharge Notice： Name Regenerative resistance open threshold setting Mode Pr7.32 20～90 Range Unit Default The external resistance is activated when the actual bus voltage is higher than Pr7.32 plus Pr7.33 and is deactivated when the actual bus voltage is lower than Pr7.32 minus Pr7.33 Notice：...

  • Page 97: Chapter 7 Alarm And Processing

    Chapter 7 Alarm and Processing 7.1 Alarm List If an error has occurred, the red power LED will flash in a 5s cycle. When the fault is cleared the red power LED is always off. The following table shows the meaning of the error numbers. Time sequence Errors flashes...
  • Page 98 Table 7.1 Error Code List 603F(hex) 1001(hex) Configuration Content Error code Error register software 2211 Over-current 2212 Over-current of intelligent power module (IPM) 3150 Current detection circuit error 3151 Current detection circuit error 3153 Power line（U、V、W）break 3201 DC bus circuit error 3211 DC bus over-voltage 3221...

  • Page 99: Alarm Processing Method

    7702 Brake resistor error 8110 CAN bus over-run 8120 CAN in error passive mode 8130 Lifeguard error 8140 Recovered from CAN bus off. 8141 CAN Bus off occurred. 8150 ID error 8310 Motor over-load 8311 Drive over-load 8305 Torque saturation alarm 8401 Vibration is too large 8402...
  • Page 100 Main Extra Error Display:’ ”--“ ” code Content: current detection circuit error Cause Confirmation Solution Wiring error of motor output Check wiring of motor output Make sure motor U,V,W terminal wiring U,V,W terminal U,V,W terminal correctly Vdc/GND under-voltage Check the voltage of Make sure voltage of Vdc/GND in Vdc/GND terminal proper range...
  • Page 101 Main Extra Display: “ ” Error code Content: control power under-voltage Cause Confirmation Solution Vdc/GND under-voltage Check the voltage of Make sure voltage of Vdc/GND in proper range Vdc/GND terminal Drive inner fault replace the drive with a new one Main Extra Display: “...
  • Page 102 Cut off drive output wiring, make srv_on available and drive motor, Short of IGBT module replace the drive with a new one check whether over-current exists or Short of IGBT module replace the drive with a new one abnormal setting of control Modify the parameter Adjust parameter to proper range parameter...
  • Page 103 Main Extra Display: “ ” Error code Content: Leakage triode malfunction Cause Confirmation Solution Brake resistance short circuit repair Brake circuit failure IGBT damaged repair Main Extra Display: “ ” Error code Content: encoder line breaked Cause Confirmation Solution Encoder line disconnected check wiring if it steady or not Make encoder wiring steady Check encoder wiring if it is correct...
  • Page 104 circuit damaged Main Extra Display: “ ” Error code Content: position error over-large error Cause Confirmation Solution Unreasonable set of Check parameter Pr_014 value if it is too Enlarge the value of Pr_014 position error parameter small or not Check parameter Pr_100, Pr_105 value if Enlarge the value of Pr_100, Gain set is too small it is too small or not...
  • Page 105 Main Extra Display: “ ” Error code Content: Motor speed out of control Cause Confirmation Solution UVW connection UVW connection error error Encoder error Encoder error Replace motor Special function Set Pr1.37=4 Main Extra Display: “ ” Error code Content: Wrong pulse input frequency Cause Confirmation Solution...
  • Page 106 with two or more functions. Pr_411, Pr_412, Pr_413, if it is Pr_412,Pr_413 set correctly proper or not Check the value of Pr_410, Assure the value of Pr_410, The input signal aren’t Pr_411, Pr_412, Pr_413, if it is Pr_411,Pr_412,Pr_413 set assigned with any functions. proper or not correctly Main...

  • Page 107: Chapter 8 Product Accessory

    Chapter 8 Product Accessory 8.1 Accessory selection 1. Software configuration cable CABLE-PC-1 2. CAN communication cable CABLE-TX1M0-iSV2 CABLE-TX1M0-iSV2-LD2 CABLE-TX2M0-iSV2 CABLE-TX2M0-iSV2-LD2 3. Regenerative resistor(for application with big ACC and DEC ) 10Ω+/-5%, 100w RXFB-1, Part num Code : 10100469...

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Isv2-can6020Isv2-can6040Isv2-can8075

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