Coolmay C600S Manual
  1. Manuals
  2. Brands
  3. Coolmay Manuals
  4. Controller
  5. C600S
  6. Manual

Coolmay C600S Manual

Hide thumbs
Table of Contents

Advertisement

Quick Links

Download this manual
1

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the C600S and is the answer not in the manual?

Questions and answers

Subscribe to Our Youtube Channel

Related Manuals for Coolmay C600S

Summary of Contents for Coolmay C600S

  • Page 2 Safety Caution Before product storage, installation, wiring, operation, inspection or maintenance, the user must be familiar and comply with the following important matters to ensure to use the product safely . Danger Misoperation would cause danger and personal injury. Attention Misoperation may cause danger, personal injury and damage the equipment.
  • Page 3 The U、V、W motor output terminal and the motor wiring terminal must be  connected one-to-one correspondence, otherwise the motor may cause equipment losing and casualties caused by the over speed vehicle. Please fasten the power supply and motor output terminals, otherwise it may ...

  • Page 4: Table Of Contents

    C600S AC Servo Drive Manual CONTENT Chapter 1 Product Inspection And Installation ............1 1.1 Product Inspection ..................1 1.2 Product Front Panel ..................2 1.3 Product Installation ..................3 1.3.1 Servo Drive Installation ..............3 1.3.2 Environment Condition For Installation ........4 1.3.3 Servo Motor Installation ..............
  • Page 5 C600S AC Servo Drive Manual 4.4.6 Motor Brake Connection ..............26 4.5 CN1 Encoder Signal Terminal ..............27 4.5.1 CN1 Terminal Introduction ............27 4.5.2 Terminal Signal Introduction ............28 4.6 Anti-jamming Countermeasures of Power Wiring ........28 4.6.1 Wiring Examples Of Anti-Jamming And Ground Handling ..29 4.6.2 How To Use A Noise Filter ............
  • Page 6 C600S AC Servo Drive Manual 6.6 Encoder Selection ..................54 6.7 How To Reset Default Parameters ............. 54 Chapter 7 Parameters ....................55 7.1 FA Group ....................55 7.2 F3 Group Parameters For Multifunctional Terminals ........77 7.2.1 Parameter Table ................77 7.2.2 DI Function Explanation ..............79 7.2.3 DO Function Explanation ...............

  • Page 7: Chapter 1 Product Inspection And Installation

    However, the servo motor with holding brake is unable to rotate directly. If there is any break down item or abnormal phenomenon mentioned above, please contact with the dealer immediately. If there is any discrepancy, please contact the purchasing agents. www.coolmay.com...

  • Page 8: Product Front Panel

    Applicable types：C600S-40，C600S-75 ① ② ③ ④ ⑤ ⑥ ⑦ ⑧ Pic 1.1 C600S Front Panel Introduction Item Terminal Introduction Input and output control signal terminals, see silk screen for details. ① RS-485 communication terminal. ② ③ Encoder signal terminal, connected with motor encoder.

  • Page 9: Product Installation

    Cooling  The servo drive adopts natural cooling mode and forced heat dissipation mode. Installation considerations  Prevent dust or iron chips from entering the servo drive when installing the electrical controlling cabinet. www.coolmay.com...

  • Page 10: Environment Condition For Installation

    Storage temperature: -40 to 50℃; Storage humidity: less than 93% (no condense).  Vibration: less than 0.5G.  Preventive measure shall be taken against raindrop or moist environment.  Avoid direct sunlight.  Preventive measure shall be taken against corrosion by oil mist and salinity.  www.coolmay.com...

  • Page 11: Servo Motor Installation

    The motor rotating direction description in this handbook is defined as facing the shaft of the servo motor, if the rotating shaft is in counterclockwise direction will be called as positive direction, or in clockwise as reversal direction. Pic1.4 Motor Rotation Direction www.coolmay.com...

  • Page 12: Chapter 2 Servo Specifications

    Chapter 2 Servo Specifications Chapter 2 Servo Specifications 2.1 Servo Drive Specification Model C600S-40 C600S-75 Power 0.05KW~0.4KW 0.75KW~1KW Main 1 phase AC220V-15%~+10% 50/60Hz Circuit Control 0： Position. 1： Speed. 2： Torque. 3： Position and speed. 4： Position and torque. 5： Speed...

  • Page 13: Servo Drive Naming Rule

    ③ ② ① Serial No. Definition ① Coolmay technology C600 series servo driver S: Simple servo, can be adapted to 17-bit absolute encoder ② The specific power of the servo below 1KW, 40:50W~400W; 75:400W~750W ③ Servo Motor Naming Rule CN7J ②...

  • Page 14: Servo Motor And Matched Servo Drive List

    Chapter 2 Servo Specifications Servo Motor And Matched Servo Drive List Power Speed Matched Flange Model Encoder (RPM) Drive 60mm CN7J-060430A3KUAA 3000 C600S-40 17 bit single CN7J-060430A3KVBA 3000 turn absolute CN7J-080830A3KUAA 3000 encoder 80mm C600S-75 CN7J-080830A3KVBA 3000...

  • Page 15: Chapter 3 Drive And Motor Dimension

    Chapter 3 Drive And Motor Dimension 3.1 Drive Dimension Pic 3.1 C600S-40/C600S-75 Series Dimension Drawing  The base of the C600S-40 does not have a cooling fan. 3.2 Motor Dimension Installation dimensions of 60 frame motor (see Figure 3.2 and table 3-1) ●...
  • Page 16 Chapter 3 Drive And Motor Dimension Pic 3.2 60 motor and tables 3-1 CN7J-060430A3KUAA CN7J-060430A3KVBA Model L（mm) Installation dimensions of 80 base motor (see Figure 3.3 and table 3-2) ● Pic 3.3 80 motor and tables 3-2 CN7J-080830A3KUAA HN7J-080830A3KVBA Model L（mm)

  • Page 17: Chapter 4 Drive System Wiring And Introduction

    Chapter 4 Drive System Wiring And Introduction Chapter 4 Drive System Wiring And Introduction 4.1 Servo System Wiring 4.1.1 Servo Drive Wiring Pic 4.1 Servo System Wiring 4.1.2 Wiring Introduction Wiring Notes: The control cable length should be less than 3 meters and the encoder cable length 20 ...

  • Page 18: Electric Wire Specifications

    Chapter 4 Drive System Wiring And Introduction However, by exchanging three-phase terminal cannot cause the motor to reverse; this point is different with asynchronous motor. Earthed wiring must be reliable with a single-point connection.  Pay attention to the correct direction of freewheel diode which is connected with the delay ...

  • Page 19: Servo Driver Terminals Introduction

    Chapter 4 Drive System Wiring And Introduction 4.2 Servo driver terminals Introduction Pic 4.2 C600S terminal pin distribution diagram  The above picture shows the pins arrangement of the drive.

  • Page 20: Main Circuit Terminal

    Chapter 4 Drive System Wiring And Introduction 4.3 Main Circuit Terminal 4.3.1 Main Circuit Terminal Introduction Pic 4.3 Main Circuit Terminal Terminal Name Symbol Detailed Explanation Connect to external AC power supply ,1 phase Main Power Supply L1、L2 220VAC -15%~+10%，50/60Hz. When use the built-in resistor,please connect P and D.

  • Page 21: Regeneration Resistance Connection

    Chapter 4 Drive System Wiring And Introduction 4.3.2 Regeneration Resistance Connection If use the built-in resistor, please connect P and D( a 4 pins connector for built-in resistor has been set by factory, so you can insert it to the terminal directly), as picture A showed. When an external regeneration resistance is connected to the servo drive, the short circuit between terminal P and D must be disconnected.

  • Page 22: Control Signal Terminal

    Chapter 4 Drive System Wiring And Introduction Control Signal Terminal Terminal Introduction 4.4.1 The control signal terminals provide the signals needed to connect to the higher-level controller, using bent press-on double-row 3.5mm pitch terminals, and the signals include: 4 programmable input terminals ...
  • Page 23 Chapter 4 Drive System Wiring And Introduction Signal name Silk Terminal Function screen silk screen signal Power Internal isolation 24V power output output PULS+ High-speed photoelectric isolation input, parameter FA14 setting working PULS- mode: SIGN+ Pulse + direction  CCW/CW pulses ...

  • Page 24: Position Instruction Input Signal

    Chapter 4 Drive System Wiring And Introduction Pic 4.5 CN1 Terminal 4.4.3 Position Instruction Input Signal Signal Name Function High speed photo isolation input. Termina Silk Working mode is set by parameter FA14: l silk screen Pulse+direction. screen signal  CCW/CW pulse.
  • Page 25 Chapter 4 Drive System Wiring And Introduction Input Circuit Of Pulse Instruction Diagram 1） When it is differential mode: 2）When it is collector open mode: A） For internal 24V power sources: Common Anode Connection, for example: Mitsubishi PLC.  Common Cathode Connection, for example: Siemens PLC. ...
  • Page 26 Chapter 4 Drive System Wiring And Introduction B）For external power supply: Case 1: To use internal resistance of the drive (recommended ). Common Anode Connection：   Common Cathode Connection: Case 2: To use external resistance of the drive. Common Anode Connection： ...

  • Page 27: Digital Quantity Input And Output Signal

    Chapter 4 Drive System Wiring And Introduction  Common Cathode Connection:  How to calculate the value of resistanceR1： VCC-1.5 =10mA R1+240 Table 4-1 R1 Recommendation VCC Voltage Power 2.4KΩ 0.5W 1.5KΩ 0.5W 4.4.4 Digital Quantity Input And Output Signal Signal Name Function Introduction...
  • Page 28 Chapter 4 Drive System Wiring And Introduction inhibition mode) and non-position mode ,please connect 24 V to pin PULS- In position mode 7, DI5 to pin21, DI6 to pin 22. Or SIGN- (internal position to connect 0 V to pin7, DI5 to 5 mode) and PULS+ pin ,DI6 to pin 6.
  • Page 29 Chapter 4 Drive System Wiring And Introduction B) For external 24V power supply: 2）When the upper device is collector open output： A) For internal 24V power supply: B) For external 24V power supply:...
  • Page 30 Chapter 4 Drive System Wiring And Introduction Note： Do not support PNP mixed with NPN input.  Output Circuit Of Digital Quantity Diagram  For DO1 as an example(the DO1~DO4 interface circuit is the same)： 1) When the upper device is relay input：...

  • Page 31: Analog Instruction Signal

    Chapter 4 Drive System Wiring And Introduction 2) When the upper device is optocoupler input: Be sure to connect a continuation diode when the upper device is a relay,  otherwise it may damage DO ports or cause strong signal interference. The maximum allowable voltage and current capacity of the optocoupler ...

  • Page 32: Motor Brake Connection

    Chapter 4 Drive System Wiring And Introduction of zero bias in the analog input is normal and can be compensated by parameters. 1） When it is analog differential input: Servo Drive 2）When it is analog single-end input: Servo Drive 4.4.6 Motor Brake Connection The brake lock is the mechanism that prevents the servo motor shaft from moving when the servo drive is in non-enabled state, so that the motor keeps the position locked and the moving part of the machinery will not move because of itself or external force.

  • Page 33: Cn1 Encoder Signal Terminal

    Chapter 4 Drive System Wiring And Introduction Pic 4.6 Brake Signal Connection The brake mechanism built into the servo motor is a fixed special mechanism  of non-electric action type, which can not be used for braking purposes. Only when the servo motor is kept in a stop state can it work.

  • Page 34: Terminal Signal Introduction

    Chapter 4 Drive System Wiring And Introduction Pic 4.7 CN1 Incremental Encoder Signal Terminal 4.5.2 Terminal Signal Introduction Signal Name Pin No. Introduction Use 5V power supply (Provided by servo driver). If the cable is longer than 20m and prevent Encoder Signal Power encoder from voltage dropping down, it is better Supply...

  • Page 35: Wiring Examples Of Anti-Jamming And Ground Handling

    Chapter 4 Drive System Wiring And Introduction 1） Install the upper device and a noise filter near the servo drive. 2） Install a surge suppressors on coils of relays, solenoids, electromagnetic contacts. 3） Separate high and low voltage cables away minimum at 30 cm. 4）...

  • Page 36: How To Use A Noise Filter

    Chapter 4 Drive System Wiring And Introduction 2. Ground handling To avoid electromagnetic interference problems, please ground as below. 1) Grounding of servo motor housing Please connect the grounding terminal of the servo motor with the grounding terminal PE of the servo driver and ground the PE terminal reliably to reduce the potential electromagnetic interference problem.
  • Page 37 Chapter 4 Drive System Wiring And Introduction The ground wire of the noise filter is separated from its output power cord.  Pic 4.14 Diagram Of Separating Cables Between Ground And Output Line Of Noise Filter Noise filters need to use a thick cable as short as possible to ground separately, and do not ...
  • Page 38 Chapter 4 Drive System Wiring And Introduction Pic 4.16 Ground Connection Handling Of Noise Filter...

  • Page 39: Chapter 5 Running Mode And Controlling Wiring

    Chapter 5 Running Mode And Controlling Wiring Chapter 5 Running Mode And Controlling Wiring According to the command mode and operation characteristics of a servo drive, it can be divided into three operation modes: position control operation mode, speed control operation mode and torque control operation mode.

  • Page 40: Position Control Mode

    Chapter 5 Running Mode And Controlling Wiring 5.1 Position Control Mode 5.1.1 Position Mode Introduction Pic 5.1 Position Mode Diagram The main steps for position mode are as follows: 1) Correctly connect the main circuit and the power supply , as well as the motor power cable and encoder cable.
  • Page 41 Chapter 5 Running Mode And Controlling Wiring Pic 5.2 Position Mode Wiring The internal +24v power supply voltage range is 20v~28v, and the maximum  working current is 100mA. If an external 24V power supply is used, please connect the external power supply +24v to DM and the external power supply 0V to 0V. A power supply for DO output should be prepared by customers.

  • Page 42: Parameter Settings In Position Mode

    Chapter 5 Running Mode And Controlling Wiring 5.1.3 Parameter Settings In Position Mode Gain And Smooth Filter  Parameter Introduction Range Default Value Control mode Position Proportional Gain 1-1000 Position Command Smooth Filter FA19 0-1000×0.1ms FA100 Command Filter Selection Digital Input ...
  • Page 43 Chapter 5 Running Mode And Controlling Wiring Digital Output(DO)  Parameter Introduction Range Default Value Range of positioning completion FA16 0-3000 pulses Position deviation limit FA17 0-30000×100 pulses 6000 Position deviation error FA18 CWL,CCWL prohibited mode FA83 Hysteresis for position completion FA84 0-32767 Range for approach positioning...
  • Page 44 Chapter 5 Running Mode And Controlling Wiring F3-23 Digital Output DO4 function 0-99 Position Command Introduction Of Internal Position Pr Mode  Fr position command source creates position command. Register takes the 8 groups of parameters （F4-2，F4-3)-(F4-23，F4-24). And then can choose one of 8 groups to be position command to match with 1/O(CN1、POS0-POS2 and CTRG).
  • Page 45 Chapter 5 Running Mode And Controlling Wiring periodicity actions by the above table. For example, the position command F1=10 revolution, F2=20 revolution. F1 should be followed by Differences between F1 and F2 as below:...

  • Page 46: Speed Control Mode Wiring

    Chapter 5 Running Mode And Controlling Wiring 5.2 Speed Control Mode Wiring 5.2.1 Introduction Pic 5.3 Speed Control Mode The main steps to use the speed control mode are as follows: 1) correctly connect the servo main circuit and the power supply of the controller, as well as the motor cable and encoder cable.

  • Page 47: Speed Mode Wiring

    Chapter 5 Running Mode And Controlling Wiring 5.2.2 Speed Mode Wiring Pic5.4 Speed Mode Wiring...

  • Page 48: Parameter Settings In Speed Mode

    Chapter 5 Running Mode And Controlling Wiring 5.2.3 Parameter Settings In Speed Mode Parameter Introduction Range Default Value Control Mode Speed Proportional Gain 5-2000Hz Speed Integral Constant 1-1000ms Internal And External Speed FA22 Instruction Selection Internal Speed 1 -6000-6000r/min FA24 Internal Speed 2 -6000-6000r/min FA25...

  • Page 49: Torque Control Mode

    Chapter 5 Running Mode And Controlling Wiring Hysteresis For Zero Speed 0-1000r/min FA92 Detection 5.3 Torque Control Mode 5.3.1 Introduction Pic 5.5 Torque Control Mode The main steps to use the speed control mode are as follows: Correctly connect the servo main circuit and the power supply of the controller, as well as the motor cable and encoder cable.

  • Page 50: Torque Mode Wiring

    Chapter 5 Running Mode And Controlling Wiring whether the rotation direction and electronic gear ratio are normal, then make the gain adjustment. 5.3.2 Torque Mode Wiring Pic5.6 Torque Mode Wiring...

  • Page 51: Parameter Settings In Torque Mode

    Chapter 5 Running Mode And Controlling Wiring 5.3.3 Parameter Settings In Torque Mode The torque control mode needs to adjust parameters  Parameter Introduction Range Default Value Control mode Gain of analog torque command Set by yourself FA29 Selection for internal and external FA32 torque command Direction of analog torque command...

  • Page 52: Origin Regression Function And Relevant Parameters Introduction

    Chapter 5 Running Mode And Controlling Wiring 5.4 Origin Regression Function And Relevant Parameters Introduction 5.4.1 Relevant Parameter Settings Parameter Introduction Value Default Value Origin detector type or search direction F4-32 setting Set the model of short distance movement F4-33 to the origin Origin trigger start mode F4-34...

  • Page 53: Origin Regression Mode Introduction(Must Be In Internal Position Mode)

    Chapter 5 Running Mode And Controlling Wiring Origin Regression Mode Introduction(Must be in internal position mode) 5.4.2 A. Origin trigger start mode(F4-34) The origin trigger start mode is divide into two kinds of origin regression function. One is automatic performing and another is contacting trigger. Details as below: F4-34=0: close origin regression function.
  • Page 54 Chapter 5 Running Mode And Controlling Wiring F4-32=3: CCW direction finds the origin point and use ORGP(external detector input point) as the origin point reference. Then Z pulse of return search(F4-33=0) or do not return search(F4-33=1) can be set as the precise mechanical origin point. If do not use Z pulse as the mechanical origin point, the positive edge of ORGP can be also set as the mechanical origin point(F4-33=2).

  • Page 55: Pre-Operational Inspection

    Chapter 5 Running Mode And Controlling Wiring 5.5 Pre-operational Inspection Before connecting the load, the motor should be run for checking. Check and ensure before running:  1）There is no obvious damage to the appearance of the servo drive. 2）Wiring terminals are insulated. 3）There are no conductive objects, such as screws or metal plates, combustible objects inside the drive, and no conductive objects at the connection port.

  • Page 56: Chapter 6 Operation And Display

    Chapter 6 Operation And Display Chapter 6 Operation And Display 6.1 Drive Panel Introduction 6.1.1 Front Panel The panel consists of 5 digital LED and 4 buttons including 、SET to display 、 、 all system status and set parameters. The operation is hierarchical. button indicates “back”...

  • Page 57: Main Menu

    Chapter 6 Operation And Display 6.2 Main Menu The first layer is the main menu and has 8 operating modes in total. Press button to change the operation mode. Then press SET button to enter into the second layer and executes a concrete operation.

  • Page 58: Status Monitoring

    Chapter 6 Operation And Display 6.4 Status Monitoring The first layer is used to select the operation mode, there are 8 modes in total, use change the mode, press the SET key to enter the second layer of the selected mode, and press to return to the first layer from the second layer.
  • Page 59 Chapter 6 Operation And Display Input terminal Output terminal Line voltage:336V No.4 alarm Relay open Relay Uncharged Relay alarming Main circuit working normally Main circuit Uncharged Main circuit not enabled Main circuit alarming Line voltage normally Line voltage too low Line voltage alarming Absolute motor position876543210...

  • Page 60: Analog Quantity Zeroing Adjustment

    Chapter 6 Operation And Display Analog Quantity Zeroing Adjustment Using this function,the servo drive can check analog zero offset automatically and write the offset value into parameter FA39 or FA45. The operation has saved offset parameter to EEPROM, so it is unnecessary to write parameters again. Firstly choose analog zero adjustment mode “A-A0”...

  • Page 61: Chapter 7 Parameters

    The parameter is read-only and can not be modified. Table 80-130 selection The driver automatically identifies the motor model. Software The software version can be read but can’t be modified. version Table7-1 Drive C600S-40 C600S-75 40-00130 80-01330 40-00330 80-02430 60-00630 80-03230 Motor 60-01330...
  • Page 62 Chapter 7 Parameters Default Name Function Rang Value 0:Display motor speed. 1:Display the current position is 5-bit low. 2:Display the current position is 5-bit high. 3:Display position command. (command pulse accumulation) is 5-bit low. 4:Display position command. (command pulse accumulation) is 5-bit high. 5:Display position deviation is 5-bit low.
  • Page 63 Chapter 7 Parameters Default Name Function Rang Value To set control method: 0: position control mode 1: speed control mode Control 2: torque control mode mode 3:position + speed control mode selection 4:position + torque control mode 5:speed + torque control mode 6:encoder zeroing mode 1.Set the proportional gain of speed loop.
  • Page 64 Chapter 7 Parameters you need higher torque response frequency, it is recommended to increase the setting value. 1. To set the characters of speed detection filter. 2. The value is smaller, the cut-off frequency is lower and noise from the motor is smaller. If the load inertia is great, reducing the setting value is Speed recommended.
  • Page 65 Chapter 7 Parameters 1.Set the electric gear ratio for position command pulse. 2.In position control mode,it is convenient to match all kinds of pulse source through set the parameter FA12 and FA13, which helps to reach ideal control resolution(angle/pulse). 3. P×G=N×C×4 P: pulses of input command;...
  • Page 66 Chapter 7 Parameters Default Name Function Rang Value 1.Set the input mode of position command pulse. 2.To set one of 4 input modes: 0: Pulse+Direction. Input mode 1: CCW pulse/CW pulse. of position 2: phase A and phase B orthogonal input. command 3: Internal position input.
  • Page 67 Chapter 7 Parameters Default Name Function Rang Value 1.To filter the instruction pulse with exponential acceleration and deceleration, and the value represents the time constant. 2.The filter does not lose input pulses, but would occur command delay . Position 3.The filter applies in command 0-1000×0.
  • Page 68 Chapter 7 Parameters Default Name Function Rang Value In speed control mode, it sets the source of speed command. It means: 0: Analog Terminal AS+,AS- input analog speed command. 1:Internal speed command is decided by SF1 and SF2 of digital input(DI): DI Signal Speed Command Internal Speed1(FA24)
  • Page 69 Chapter 7 Parameters Default Name Function Rang Value Internal 1.Set the internal speed 1. -6000- speed 2.In speed control mode(FA22=0), when SF1 and 6000 selection 1 SF2 are OFF, internal speed 1 is the speed command. r/min 1.Set the internal speed 2. Internal -6000- 2.In speed control mode(FA22=0), when SF1 is...
  • Page 70 Chapter 7 Parameters 1.The value is the percentage of rated torque. The limit is independent to direction and CW or CCW The alarm direction is protected. value of 1-300 2.When FA31＞9, motor torque＞FA30 and duration torque ＞FA31, the drive alarms and the code is Err-29. The overload motor stops working.
  • Page 71 Chapter 7 Parameters Internal Torque4(FA67) Note: 0=OFF, 1=ON The input direction of analog Reverse the input polarity of analog torque. torque command 1.The setting value is the percentage of rated torque.For example,it is set to 2 times of the rated Internal torque, the value is 200.
  • Page 72 Chapter 7 Parameters value is -100. 2.Only when the input terminal(RIL) of CW torque limit is ON is it valid. 3.When the limit is valid, the actual torque limit is the Minimum value of max overload capacity ,internal CCW torque limit and external CCW torque limit.
  • Page 73 Chapter 7 Parameters time constant Gain of analog Set the proportion for analog speed input voltage 10-3000 speed and actual motor running speed. r/min/v command Reverse the input polarity of analog speed. Direction 1. Set to 0 and analog speed command is positive,the of analog speed direction is CCW.
  • Page 74 Chapter 7 Parameters 3. The actual action time is the time it takes to drop from FA48 or current motor speed to FA49, and taking the minimum value. 1. It defines the speed value from motor current working cut-off to mechanical brake action (output terminal speed of the BRK from ON to OFF) during motor working.
  • Page 75 Chapter 7 Parameters 0, it means the input terminal dose not reverse. While it is 1, it means the terminal reverses. The binary digit represents the input terminals as following: 0: high level is active. 1: low level is active. 1.To reverse the output terminals.
  • Page 76 Chapter 7 Parameters 1:Soft reset is effective and the system will restart. Default Name Function Rang Value System Set to: alarm 0: System alarm clear is invalid. clear 1: System alarm clear is effective. 4: single-turn absolute encoder. determi Encoder 5: multi-turn absolute encoder.
  • Page 77 Chapter 7 Parameters 0: 8, N, 2 (MODBUS, RTU) 1：8，E，1 （MODBUS, RTU) 2：8，O，1 （MODBUS, RTU) parameter decide the communication MODBUS protocol. Value 8 represents the transmitted data protocol is 8 bits; N,E,O indicate odd or even: selection N: do not use this bit. E: it represents 1 is even bit.
  • Page 78 Chapter 7 Parameters electronic gear for position command pulse Default Name Function Rang Value numerator electronic Refers to parameter FA12. 0-32767 gear for position command pulse numerator electronic Refers to parameter FA12. 0-32767 gear for position command pulse Effective level of Set to: command 0:High level is positive direction.
  • Page 79 Chapter 7 Parameters pulse to avoid incorrect counting happening. If it goes wrong due to the incorrect counting, you can increase the value of this parameter properly. 4. After editing this parameter, please save it and recharge. Then it is effective. 1.To filtering the input SIGN signal.
  • Page 80 Chapter 7 Parameters counter is smaller than or equal to the setting value of this parameter, the digital output (DO) NEAR(approach position) is ON, otherwise is OFF. 3. The comparator has hysteresis function set by FA86. 4. Use this function in case that in near positioning, the host controller is accepting the NEAR signal to carry on the preparation to the next step.
  • Page 81 Chapter 7 Parameters 3. It has polarity setting function: FA91 FA89 Comparator >0 Torque without direction >0 Only detect positive speed <0 Only detect reversal speed 1.If the motor torque is bigger than FA90, the ATRQ( torque arrival) of digital output(DO) is ON, otherwise it is OFF.
  • Page 82 Chapter 7 Parameters encoder setting value 17. Please modify it carefully. resolution Motor 1-360 It is motor polarity. Please modify it carefully. polarity Motor Encoder zero bit and motor zero bias angle, 0-3600 1800 zero offset which is etermined by the motor. angle Maximum 5-90...

  • Page 83: F3 Group Parameters For Multifunctional Terminals

    Chapter 7 Parameters which can add a programmable output and output differential signal (Z signal is as default). 7.2 F3 Group Parameters For Multifunctional Terminals 7.2.1 Parameter Table C series servo drives have 4 input terminals and 4 output terminals. The definition values can be set by F3 group parameters.( Low level is effective as default for input terminals).
  • Page 84 Chapter 7 Parameters Virtual input terminal control F3-30 The State value of virtual input F3-31 00000000-11111111 00000000 terminal 0：motor resolution displays increment. 1: motor resolution displays absolute position. F3-32 2: upper computer (FA11) Display mode of motor position, resolution displays instruction position, position increment.

  • Page 85: Di Function Explanation

    Chapter 7 Parameters Remark: 1. F3-30=0, the number of IO input is 4 decided by DI1~DI4 and the corresponding parameter F3-0~F3-3. 2. F3-30=1, the number of IO input is 8 decided by F3-31 and the corresponding parameter F3-38~F3-45. 3. F3-30=2, the number of IO input is 12 decided by DI1~DI4 and F3-31 and the corresponding parameter F3-0~F3-3 and F3-38~F3-45.
  • Page 86 Chapter 7 Parameters to modify FA20 if need to use this function: (1)：WhenFA20=0，the function of input inhibition is effective. Whether to inhibit is decided by FA83. (2)：When FA20=1, the function of input inhibition is not effective. Whether to inhibit is not decided by FA83 3.
  • Page 87 Chapter 7 Parameters OFF：Torque is not limited by parameter FA37 in CW direction. CW Torque ON ： Torque is limited by parameter FA37 in CW direction. Limitation Attention: Whether the TCW is effective or not, the torque is also limited by FA35 in CW direction. When it is satisfied with the followings, the function of zero speed clamping is open(speed is forced to zero):...
  • Page 88 Chapter 7 Parameters TRQ2 OFF TRQ1 OFF: internal torque1(FA64) TRQ2 OFF TRQ1 ON: internal torque2(FA65) TRQ2 ON TRQ1 OFF: internal torque3(FA66) TRQ2 ON TRQ1 ON: internal torque4(FA67) When FA4 is set to 3, 4, 5, it is in mix control mode. It can change control mode with this input terminal: (1)FA4=3, CMODE OFF, it is position control mode;...
  • Page 89 Chapter 7 Parameters Internal Position In internal position register mode, the motor will stop HOLD Control rotating if the signal is active(It can only work when Command Stops internal position mode FA-14=3). In internal position register mode, the signal will be triggered once the internal position register control Internal Position commands(POS0-2) are chosen, and then the motor will...

  • Page 90: Do Function Explanation

    Chapter 7 Parameters In internal position register mode,it needs to search Starting Origin SHOM for origin. The signal turns on and starts searching for Regression the origin function( Refer to the setting of F4-34). In internal position register mode,it needs to search Origin Of ORGP for origin.
  • Page 91 Chapter 7 Parameters ON : motor speed is higher than parameterFA28. Polarity function can be set referring to the explanation of FA28. OFF : motor torque is lower than parameter FA89; ON : motor torque is higher than parameter FA89. ATRQ Arrival Torque Polarity function can be set referring to the explanation...

  • Page 92: Di Forced Valid

    Chapter 7 Parameters Completion command doesn’t stop. ON: The signal outputs after the setting time of F4-1 when internal position command completes or internal position command stops. Forced Valid 7.2.4 DI There are 5 parameters( F3-15、F3-16、F3-17、F3-18、F3-19) in group F3 and they can force DI valid.

  • Page 93: F4 Group Parameters For Internal Position Command

    Chapter 7 Parameters Function NULL NULL NULL NULL NULL NULL ORGP SHOM Parameter Meaning: One of 5 parameters Corresponding Function Result Unplanned OFF（invalid） Already Planned It is up to signals Unplanned Or Already Planned ON（forced valid） Being planned means that the parameter has been selected by the input ...
  • Page 94 Chapter 7 Parameters command is completed (CMDOK), and then the internal position command triggered by the DI signal command trigger (CTRG) is accepted. The setting of position cycle Sets the number of position turns for the internal -30000- numbers for F4-2 position of the first segment.
  • Page 95 Chapter 7 Parameters position instruction 2 The move speed of 0-5000 internal To set the move speed of internal position instruction 2. 1000 F4-7 r/min position instruction 2 The position cycles of To set the position cycles of the third stage internal -30000- internal F4-8...
  • Page 96 Chapter 7 Parameters The pulse number 1. To set the position pulses of the 4 stage internal setting in position. +/-max. position loop F4-12 2. Internal position instruction 4=the position cnt/rev of internal cycles setting of the 4 internal position+the pulse position number setting of the 4 internal position.
  • Page 97 Chapter 7 Parameters The number of position cycles of To set the number of position cycles of the sixth -30000- F4-17 internal stage internal position. 30000 position instruction 6 The pulse number 1. To set the position pulses of the 6 stage internal setting in position.
  • Page 98 Chapter 7 Parameters The move speed of 0-5000 internal To set the move speed of internal position instruction 7. 1000 F4-22 r/min position instruction 7 The number of position cycles of To set the number of position cycles of the eighth -30000- F4-23 internal...
  • Page 99 Chapter 7 Parameters regression. 0: Find the reference origin and return to search for the Z phase pulse as the mechanical origin. Set the mode 1: Find the reference origin and keep forward for of short the Z phase pulse as the mechanical origin. distance 2: Find the rising edge of the detector ORGP as the F4-33...
  • Page 100 Chapter 7 Parameters The speed setting of To set the speed of origin regression in the second origin regress 1-500 stage of high speed. F4-37 in the first r/min stage of high speed(HSPD2) The cycle number of -30000- origin To set the cycle number of origin regression offset. F4-38 30000 regression...

  • Page 101: Chapter 8 Rs-485 Communication Function

    Chapter 8 RS-485 communication function Chapter 8 RS-485 communication function 8.1 Communication parameters With RS-485 serial communication function, using Modbus RTU protocol can realize many functions such as servo system parameter change and servo system status monitoring. Parameter Name Range Default value Drive ID number (station number) 1~254...

  • Page 102: Parameter Writing And Reading

    Chapter 8 RS-485 communication function The number 8 represents that the transmitted data is 8 bits; The letters N, E and O represent parity bits, N represents not using this bit, E represents 1 even bit, and O represents 1 odd bit; The number 1 indicates that the end bit is 1, and the number 2 indicates that the end bit is 2.

  • Page 103: Status Monitoring

    Chapter 8 RS-485 communication function FA group parameter Instruction manual Communication Transformation serial number display value operation value constant 1.00 100x magnification 0100 (binary) 4(decimal) binary to decimal 8.3 Status monitoring The internal state quantity of the servo drive can be read out through the RS-485 communication port, but cannot be written.

  • Page 104: Parameter Temporary Storage And Temporary Storage Address

    Chapter 8 RS-485 communication function 1015H: Display relay pull-in status 1016H: Display Running status 1017H: Displays the external voltage status 1018H: Displays the absolute position value of 15bit~0bit 1019H: Display 31bit ~ 16bit of absolute position value 101AH: Display 47bit ~ 32bit of absolute position value 101BH: Display 63bit ~ 48bit of absolute position value 8.4 Parameter temporary storage and temporary storage address According to the use needs of customers, there is a need to constantly update parameter...

  • Page 105: Chapter 9 Error Code

    Chapter 9 Alarm processing method Chapter 9 Error Code Error Name Introduction Normal Over speed Motor speed over than the setting values. Main circuit over voltage The voltage of main circuit is too high. Main circuit under voltage The voltage of main circuit is too low. The value of position deviation counter is over than Position overshoot the setting value.
  • Page 106 Chapter 9 Alarm processing method AC input under voltage AC input under voltage. Over voltage when main circuit Over voltage when main circuit in powering up. in powering up Encoder communication fault Driver and encoder are not connected. Encoder communication After the encoder established the communication, abnormal there appears the interrupt and disconnection.

  • Page 107: Chapter 10 Alarm Processing Method

    Chapter 10 Alarm processing method Chapter 10 Alarm processing method Alarm Running state Reason Processing method name Appears 1. The control circuit board 1. Replace the servo when the is faulty. driver. control power 2. Encoder failure. 2. Replace the servo is turned on motor.
  • Page 108 Chapter 10 Alarm processing method Appears when the Circuit board failure. Replace the servo driver. control power is turned on 1. The power supply Appears voltage is too high. when the 2. The power supply Check the power supply. main power is voltage waveform is turned on abnormal.
  • Page 109 Chapter 10 Alarm processing method Alarm Running state Reason Processing method name Appears when the control Circuit board failure. Replace the servo driver. power is turned on Turn on the main power supply and control line, 1. Encoder zero point 1.
  • Page 110 Chapter 10 Alarm processing method amplificat during motor 2. The motor is 2. Replace the driver and operation mechanically stuck. motor with higher power. Saturation 3. Check the mechanical fault part of the load. Drive The CCW / CW drive inhibit inhibit input terminals are Check the wiring.
  • Page 111 Chapter 10 Alarm processing method Alarm Running Reason Processing method name state Appears when the control Circuit board failure. Replace the servo driver. power is turned on 1. Check the load. 2. Reduce the start and stop Operate in excess of the frequency.
  • Page 112 Chapter 10 Alarm processing method Alarm Running Reason Processing method name state 1. Replace the servo driver. 2. After repair, you must EEPRO The chip or circuit board reset the drive model (FA10) M error is damaged. and restore the default parameters.
  • Page 113 Chapter 10 Alarm processing method 4.Encoder interface circuit failure. Alarm Running Reason Processing method name state 1. The encoder UVW signal is damaged. 2. Encoder Z signal is damaged. Encoder 1. Replace the encoder. 3. Poor cable or shielding. 2. Check the encoder 4.
  • Page 114 Chapter 10 Alarm processing method check are all 0. into the encoder. error Alarm Running Reason Processing method name state Model The drive does not Use a matching motor. support this motor model. supported Need to The current motor is switch inconsistent with the Manually switch the model to...
  • Page 115 Chapter 10 Alarm processing method Alarm Running Reason Processing method name state Encoder The encoder gives an battery alarm when the battery voltage voltage is insufficient, and Replace the encoder battery insufficie the information is not lost, nt alarm but it needs to be replaced as soon as possible.
  • Page 116 Chapter 10 Alarm processing method Single The single turn position offset value stored by the position Power on again. driver exceeds the value encoder resolution. error The encoder continuously Encoder reports CF domain errors reports CF Reset the encoder. and needs to reset the error encoder.

  • Page 117: Attachment Version Change Record

    Attachment Version Change Record Attachment Version Change Record Version after Date Content of change change July 2022 V22.71  Release of the first edition Modify parameters: PA→FA; P1→F1; P2→F2; P3  →F2; P4→F4; P5→F5; P6→F6; P7→F7; P8→F8; and some related drawings Aug.

Table of Contents