Moons' M2DV-1D82D User Manual
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Moons' M2DV-1D82D User Manual

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M2 Series AC Servo
User Manual
SHANGHAI AMP&MOONS' AUTOMATION CO.,LTD.

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  • Page 1 M2 Series AC Servo User Manual SHANGHAI AMP&MOONS’ AUTOMATION CO.,LTD.

  • Page 2: Table Of Contents

    M Series AC Servo User Manual Content 1 Introduction ..........................8 1.1 About This Manual ......................8 1.2 Documentation Set for M2 series AC servo ..............8 1.3 Safety ..........................8 1.4 Safety Symbols .........................8 1.5 Safety Instructions ......................9 1.6 Standards Compliance ......................9 2. Product Description ........................10 2.1 Unpacking Check ......................10 2.2 Servo Drive Model Introduction ..................10 2.2.1 Drive Name Plate Description ................10...
  • Page 3 M Series AC Servo User Manual 4.1.4 Wiring Methods For Power supply P1 ..............29 4.1.4.1 Single-Phase Power Supply Connection (AC220V) ........29 4.1.4.2 Three-Phase Power Supply Connection (AC220V) ........30 4.2 Wiring to the Connector, P2 ....................31 4.2.1 Motor Power Cable Configuration .................31 4.2.2 Motor Power Cable Connector Specifications ............31 4.2.3 Wiring Diagram Of Motor Extend Cable ..............32 4.3 Encoder Connector CN3 ....................32...
  • Page 4 M Series AC Servo User Manual 4.9.2 STO Input/Output Signals ..................55 4.9.2.1 STO Internal Circuit Diagram ................55 4.9.2.2 CN5 Connector diagram ................55 4.9.2.3 STO Signal Definition ..................56 4.9.2.4 STO Connection Diagrams ................56 4.10 EMC Control ........................57 4.10.1 Noise filter ......................57 4.10.2 Recommended EMI noise filter ................58 4.10.3 Clamp noise filter for cable ...................58 4.10.4 Recommended clamp noise filter .................58...
  • Page 5 M Series AC Servo User Manual 7.1.4 Global Gain Switch Function ..................78 7.1.5 Control Mode Switch ....................79 7.1.6 Drive On Fault Output ....................80 7.1.7 Motor Brake Control ....................81 7.1.8 Servo Ready Output ....................82 7.2 Position Mode .........................82 7.2.1 Digital Pulse Position Mode Connection Diagram ..........83 7.2.2 Input Pulse Type And Input Noise Filter ..............83 7.2.2.1 Input Pulse Type Setting ................84 7.2.2.2 Input Noise Filter Setting ................84...
  • Page 6 M Series AC Servo User Manual 7.5 Position Table Mode Instruction ..................110 7.5.1 Linear motion ......................110 7.5.1.1 Linear Motion Software Configuration ............110 7.5.1.2 Basic Configuration ..................112 7.5.1.3 Homing settings: ..................112 7.5.1.4 Print ......................113 7.5.1.5 Position Definition ..................113 7.5.1.6 Simulate ......................
  • Page 7 M Series AC Servo User Manual 10.1 Drive Alarm List ......................165 11. STO function .........................169 11.1 Operation and maintenance procedures ..............169 11.1.1 The replacement of components ................169 11.1.2 Prevent hazardous event ..................169 11.1.3 Maintenance procedures of STO faults or failures ..........169 11.1.4 Commissioning and testing ................169 11.2.

  • Page 8: Introduction

    M Series AC Servo User Manual 1 Introduction 1.1 About This Manual This manual describes the M2 Servo Drive. It provides the information required for installation, configuration and basic operation of the M2 series AC servo drive. This document is intended for persons who are qualified to transport, assemble, commission, and maintain the equipment described herein.

  • Page 9: Safety Instructions

    M Series AC Servo User Manual 1.5 Safety Instructions Installation DO NOT subject the product to water, corrosive or flammable gases, and combustibles. DO NOT use the motor in a place subject to excessive vibration or shock. Never connect the motor directly to the AC power supply. DO NOT use cables soaked in water or oil.

  • Page 10: Product Description

    M Series AC Servo User Manual 2. Product Description 2.1 Unpacking Check Please refer to this section to confirm the model of servo drive and servo motor . A complete and workable AC servo system should include the following parts: 1.

  • Page 11: Drive Model Description

    M Series AC Servo User Manual 2.2.2 Drive Model Description □ □ □ □ M2DV Customized Specification(If Applicable) M2 Series AC Servo Drive Communication Configuration Description Communication Type Basic Type - - - Current Continuous Boost Q Type RS-232 Code Current (RMS) Current (RMS) Q Type(Modbus/RTU Type)

  • Page 12: Drive Specification

    M Series AC Servo User Manual 2.2.3 Drive specification Main Circuit Single/3-phase, 200 - 240V ±10%, 50/60Hz 200W Control Circuit Single phase, 200 - 240V ±10%, 50/60Hz Main Circuit Single/3-phase, 200 - 240V ±10%, 50/60Hz Input 400W Power Control Circuit Single phase, 200 - 240V ±10%, 50/60Hz Main Circuit Single/3-phase, 200 - 240V ±10%, 50/60Hz...

  • Page 13: Drive Dimensions (Unit: Mm)

    M Series AC Servo User Manual 2.2.4 Drive Dimensions (Unit: mm) 2.2.4.1 50W 100W 200W Type 2.2.4.2 400W Type 2.2.4.3 750W Type Rev. 1.1 400-820-9661 9/13/2021...

  • Page 14: Servo Motor Model Introduction

    M Series AC Servo User Manual 2.3 Servo Motor Model Introduction 2.3.1 Motor Name Plate Description AC SERVO MOTOR Model NO. Model NO.SM0602AE2-KCD-NNV15 Ser NO. 12110027 Series NO. Rated Torque Rated Torque 1.27N ·m Input 3ØAC 220V 2.8A Input Current Output 400W Output Power...

  • Page 15: Motor Specification And Dimension

    M Series AC Servo User Manual 2.3.3 Motor Specification And Dimension 2.3.3.1 □40mm Specification and Dimension □ 40mm Series UL File E465363 Insulation Class Class B(130℃) IP65 (except shaft through hole and cable end IP rating connetor) Indoors, free from direct sunlight, corrosive gas, Installation location inflammable gas Ambient temperature...
  • Page 16 M Series AC Servo User Manual □ 40mm Dimension 1) Motor Dimensions – No Brake: mm 2) Motor Dimensions – Brake: mm 0.04 A 0.04 Oil seal Oil seal +0.20 +0.20 - 0.13 - 0.13 25 1 L1 1 25 1 L1 1 0.04 A 0.04...

  • Page 17: 60Mm Specification And Dimension

    M Series AC Servo User Manual 2.3.3.2 □60mm Specification and Dimension □ 60mm Series UL File E465363 Insulation Class Class B(130℃) IP65(except shaft through hole and cable end IP rating connetor) Indoors, free from direct sunlight, corrosive gas, Installation location inflammable gas Ambient temperature Operating 0 to 40°C, Storage -20 to 65°C...
  • Page 18 M Series AC Servo User Manual □ 60mm Dimension 1) Motor Dimensions – No Brake: mm 2) Motor Dimensions – Brake: mm 0.04 A 0.04 A 50 h7 - 0.025 0.04 A 50 h7 - 0.025 0.04 A 22.5 oil seal 0.300 0.118 0.300...

  • Page 19: 80Mm Specification And Dimension

    M Series AC Servo User Manual 2.3.3.3 □80mm Specification and Dimension □ 80mm Series UL File E465363 Insulation Class Class B(130℃) IP65(except shaft through hole and cable end IP rating connetor) Indoors, free from direct sunlight, corrosive gas, Installation location inflammable gas Ambient temperature Operating 0 to 40°C, Storage -20 to 65°C...
  • Page 20 M Series AC Servo User Manual □ 80mm Dimension 1) Motor Dimensions – No Brake: mm 2) Motor Dimensions – Brake: mm 0.04 A 0.04 A 70 h7 70 h7 - 0.03 - 0.03 0.04 A 0.04 A 19 h6 19 h6 - 0.013 - 0.013...

  • Page 21: Servo Drive And Servo Motor Combinations

    M Series AC Servo User Manual 2.4 Servo Drive and Servo Motor Combinations 100W 200W 400W 750W Specificatioon Motor Model Numbers SM0401AE4-KCD- SM0402AE4-KCD- SM0601AE4-KCD- SM0602AE4-KCD- SM0803AE4-KCD- Without Brake 2500ppr Increment NNV09 NNV09 NNV09 NNV09 NNV09 Encoder SM0401AE4-KCD- SM0402AE4-KCD- SM0601AE4-KCD- SM0602AE4-KCD- SM0803AE4-KCD- (9PIN AMP connector) With Brake...

  • Page 22: System Configuration

    M Series AC Servo User Manual 2.5 System Configuration AC Power Non Fuse Breaker LED Display The 5 digit,7 segment LED displays the diver status and faults. Operation Panel Function keys are used to perform status Line Filter display,monitor and diagnostic,function (optional) and parameter setting.

  • Page 23: Installation

    M Series AC Servo User Manual 3. Installation 3.1 Storage Conditions Some Storage suggestions are followed: • Correctly packaged and store in a clean and dry ,avoid direct sunlight • Store within an ambient temperature range of -20℃ to +65℃ •...

  • Page 24: Drive Dimensions (Unit: Mm)

    M Series AC Servo User Manual 3.3 Drive Dimensions (Unit: mm) 3.3.1 50W 100W 200W Type Ø5 35.5 3.3.2 400W Type Ø5 49.5 3.3.3 750W Type 57.5 Rev. 1.1 400-820-9661 9/13/2021...

  • Page 25: Installation Space

    M Series AC Servo User Manual 3.4 Installation Space • Incorrect installation may result in a drive malfunction or premature failure of the drive and or motor. Please follow the guidelines in this manual when installing the servo drive and motor. •...

  • Page 26: Motor Installation

    M Series AC Servo User Manual 3.5 Motor Installation • DO NOT strike the motor when mounting as the motor shaft or encoder may be damaged. • DO NOT use cables soaked in water or oil. • Avoid a stress application to the cable outlet and connecting portion by bending. •...

  • Page 27: Connections And Wiring

    M Series AC Servo User Manual 4. Connections and Wiring 4.1 Connecting to Peripheral Devices 4.1.1 System Configuration AC Power Non Fuse Breaker LED Display The 5 digit,7 segment LED displays the diver status and faults. Operation Panel Function keys are used to perform status Line Filter display,monitor and diagnostic,function (optional)

  • Page 28: Servo Drive Connectors And Terminals

    M Series AC Servo User Manual 4.1.2 Servo Drive Connectors and Terminals Terminal Identification Description Details L1、L2、L3 Used to connect three-phase AC main circuit power L1C、L2C Used to connect single-phase AC for control circuit power Used to connect servo motor Terminal Wire color Description...

  • Page 29: Wiring Methods For Power Supply P1

    M Series AC Servo User Manual 4.1.4 Wiring Methods For Power supply P1 220V AC servo drive supports single phase or three phase wiring method. Three phase wiring method for 750W or above drives is recommended. 4.1.4.1 Single-Phase Power Supply Connection (AC220V) MCCB E_stop P_off...

  • Page 30: Three-Phase Power Supply Connection (Ac220V)

    M Series AC Servo User Manual 4.1.4.2 Three-Phase Power Supply Connection (AC220V) MCCB P_off E_stop P_on MC Alarm Alm_R M2 Servo Drive Yellow Blue Yellow/Green Ground Encoder Encoder Use external regeneration resistor Alm_R 24VDC Use Internal regeneration resistor Note: Symbol Description MCCB Circuit Breaker...

  • Page 31: Wiring To The Connector, P2

    M Series AC Servo User Manual 4.2 Wiring to the Connector, P2 4.2.1 Motor Power Cable Configuration P2 interface of the drive Connector of Motor Power Connector of extension cable the motor lead wire Signal Colour Yellow Blue Yellow/Green NOTE: Please refer to section 4.2.2 Motor Power Cable Connector Specifications for details 4.2.2 Motor Power Cable Connector Specifications ◆...

  • Page 32: Wiring Diagram Of Motor Extend Cable

    M Series AC Servo User Manual 4.2.3 Wiring Diagram Of Motor Extend Cable Housing: 172159-1(AMP) Terminal: 170362-1(AMP) NOTE: Ensure U/V/W is following the order of RED/YELLOW/BULE. Wrong connections will cause motor stop rotation, or wrong rotary directions. 4.3 Encoder Connector CN3 4.3.1 Motor Encoder Feedback Cable Configuration CN3 interface of the drive Connector of Encoder...

  • Page 33: The Layout Of Cn3 Connector

    M Series AC Servo User Manual 4.3.2 The Layout of CN3 Connector View B View A Pin NO. Symbol Description Encoder A+ Encoder B+ Encoder Z+ Hall U+ Hall W+ Hall U- Hall W- Encoder +5V Encoder power supply +5V Encoder +5V Encoder power supply +5V Encoder A-...

  • Page 34: Specifications Of Encoder Connector

    M Series AC Servo User Manual 4.3.4 Specifications of Encoder Connector A. 9 PIN AMP Connector PIN Assignment View A PIN# Signal Colour U+/A+ Blue V+/B+ Green W+/Z+ Yellow U-/A- Yellow/Black V-/B- Green/Black W-/Z- Yellow/Black Black Shield Shield NOTE: The HALL signal U/V/W ONLY appears for 1.5 second after encoder powered on, it will then covert to A/B/Z signals.

  • Page 35: Wiring Diagram Of Motor Encoder Extend Cable

    M Series AC Servo User Manual 4.3.5 Wiring Diagram of Motor Encoder Extend Cable A. Diagram of 9PIN Encoder Cable Connect to drive Connect to Motor View A Drive Side Housing for the motor Signal Colour 3M 26PIN AMP 172161-1 A+/U+ Blue B+/V+...

  • Page 36: Electromagnetic Brake

    M Series AC Servo User Manual 4.4 Electromagnetic Brake When motor drives the vertical axis, brake should be used to hold and prevent the work (moving load) from falling by gravity while the power to servo is shut off. NOTE: only use servo motor brake for holding the stalling status, i.e. motor is in disable or power off.

  • Page 37: The Timing Charts Of The Electromagnetic Brake

    M Series AC Servo User Manual 4.4.3 The Timing Charts Of The Electromagnetic Brake In order to prevent damage to the brake, there are delay sequences during the brake operation. Please be cautious with brake operation sequence. Servo-on In Put Motor Active Brake Signal Brake Action...

  • Page 38: Regenerative Resister

    M Series AC Servo User Manual 4.5 Regenerative Resister In M2 series AC servo drives, there is a pre-installed 40W (M2DV-4D5 model: 60W) regeneration resistor. In some applications, the pre-installed regeneration resistor might not be enough to absorb all foldback current.

  • Page 39: Connect To Host Computer, Cn1

    M Series AC Servo User Manual 4.7 Connect to Host Computer, CN1 Port CN1 is used to connect drive with PC. Use M servo suite software to set control mode, change parameter values, and use auto-tuning function and so on. Symbol Function +5V Power Supply...
  • Page 40 M Series AC Servo User Manual Analog Input ANA1 Speed Command PULSH1 DGND PULSH2 High Speed Pulse Input ANA2 Torque Command SIGNH1 DGND SIGNH2 37 Y1+ Alarm Output 36 Y1- STEP/CW Position Motor Brake Command Control Output 10 Y2- DIR/CCW 40 Y5+ Servo Ready Output 41 Y5-...

  • Page 41: Signals Description Of Connector Cn2

    M Series AC Servo User Manual 4.8.2 Signals Description of Connector CN2 4.8.2.1 The Layout of CN2 Connector B视图 A视图 4.8.2.2 Input Signals M2 series AC servo drive has 12 programmable digital inputs as well as 2 analog inputs. Each of the input can be specified with different function via parameter settings. The functions are as follows: •...
  • Page 42 M Series AC Servo User Manual ● Speed Selecting Input 3 in change Speed mode. ● General purpose input. X9-X12 COM point. PULSH1 High-speed pulse inputs (+5VDC line drive input).The max. input frequency is 2MHz. Three different pulse command can be selected: PULSH2 High-Speed ●...

  • Page 43: Inputs Function List

    M Series AC Servo User Manual 4.8.2.3 Inputs Function List Step ■ ■ CW Limit ● CCW Limit ● Start/Stop ▲▼ Direction ▲▼ Servo enable ● Alarm clear ● Speed selection 1,2,3 ▲ ▲ ▲ Global gain selection ■ Control mode selection ●...

  • Page 44: Outputs Function List

    M Series AC Servo User Manual 4.8.2.5 Outputs Function List Output Pin Alarm Output ● InPosition error ● Dynamical Position error ■ Tach Out ● Function Brake ● Torque Reach ● Servo Ready ● Velocity Reach ▲▼ General Output ● ●...
  • Page 45 M Series AC Servo User Manual D. Pulse Input Description STEP/DIR Pulse Input When both STEP and DIR input signal is ON, the motor will rotate in one direction When STEP input signal is ON, and DIR input signal is OFF, the motor will rotate in the opposite direction. *Direction signal (DIR) can be configured via M Servo Suite software.

  • Page 46: Analog Signal Input For Velocity And Torque Mode

    M Series AC Servo User Manual 4.8.3.2 Analog Signal Input For Velocity And Torque Mode M2 series AC servo drive has 2 single ended analog inputs and 1 differential analog input. The input voltage range is between -10V~+10V. Velocity and torque range can be configured via M servo suite software.

  • Page 47: High Speed Input Port X1,X2,X3,X4

    M Series AC Servo User Manual 4.8.3.3 High Speed Input Port X1,X2,X3,X4 A. High Speed Input Port M2 series AC servo drive has 4 Optically isolated high speed digital inputs X1 、 、 、 These inputs allow input voltage from 5VDC~24VDC with maximum current of 20mA, and up to 500KHz.
  • Page 48 M Series AC Servo User Manual B．High Speed Input Connection Diagram HOST controller 5-24VDC 5-24VDC HOST controller X1\2\3\4+ X1\2\3\4+ X1\2\3\4- X1\2\3\4- 0VDC 0VDC Host Sink Mode Host Sourcing Mode 5-24VDC X1\2\3\4+ X1\2\3\4+ +5-24VDC Power Output sensor X1\2\3\4- connection X1\2\3\4- Relay Or Switch 0VDC Sensor And Switch Connection NPN Sensor Connection...

  • Page 49: General Digital Input X5、 X6、 X7、 X8

    M Series AC Servo User Manual 4.8.3.4 General Digital Input X5、 X6、 X7、 X8 M2 series AC servo drive has 4 Optically isolated general digital inputs X5 X8. It allows input 、 、 、 voltage range 5VDC-24VDC, with maximum input current of 20mA up to 5KHz. Both single ended and differential signal is allowed.
  • Page 50 M Series AC Servo User Manual X5、 X6、 X7、 X8 Input Port Connection Diagram HOST controller 5-24VDC 5-24VDC HOST controller X5\6\7\8+ X5\6\7\8+ X5\6\7\8- X5\6\7\8- 0VDC 0VDC Host Sink Mode Host Sourcing Mode 5-24VDC X5\6\7\8+ X5\6\7\8+ +5-24VDC Power Output X5\6\7\8- sensor connection X5\6\7\8- Relay Or Switch...

  • Page 51: X9、 X10、 X11、 X12 Input With Common Com Port

    M Series AC Servo User Manual 4.8.3.5 X9、 X10、 X11、 X12 Input With Common Com Port M2 series AC drive also has 4 single ended optically isolated inputs connecting with single common node ‘COM’. They can be used with sourcing or sinking signals, 5-24V. This allows connection to PLCs, sensors, relays and mechanical switches.
  • Page 52 M Series AC Servo User Manual X9、 X10、 X11、 X12 Input Port Connection Diagram HOST controller 5-24VDC 5-24VDC HOST controller 1.5K X9\10\11\12- 1.5K X9\10\11\12- 1.5K 1.5K 0VDC 0VDC Host Sink Mode Host Sourcing Mode 5-24VDC 1.5K 1.5K +5-24VDC Output X9\10\11\12- 1.5K sensor Power...

  • Page 53: Cn2 Output Signal Specification

    M Series AC Servo User Manual 4.8.4 CN2 Output Signal Specification M2 series AC servo drive features 6 optically isolated digital outputs. They can be configured via M Servo Suite. Y1 Y6 are differential output signals, they can be used for both sourcing or sinking signals. 、...

  • Page 54: Y3、 Y4 Connection Examples

    M Series AC Servo User Manual 4.8.4.3 Y3、 Y4 Connection Examples 24VDC 42 Y3 43 Y4 OUT- 0VDC 4.8.5 Encoder Feedback Output M2 series AC servo drive can output encoder A/B/Z phase as differential output signals through line driver. The output signal is 5V, A/B signals are 10000 pulse/rev, Z signal is 1 pulse/rev. The host must use line receiver to receive the signals.

  • Page 55: Sto Connector

    M Series AC Servo User Manual 4.9 STO Connector On the M2AC series servo drives, the STO (Safe Torque Off) function is connected via port CN5. The STO function shuts off the motor current turning off the motor output torque by forcibly turning off the signal of the servo driver power transistor.

  • Page 56: Sto Signal Definition

    M Series AC Servo User Manual 4.9.2.3 STO Signal Definition Signal Symbol Description Control Mode When SF1 has no input signal, e.g. SF1+ the port is disconnected, SF1 will be Safety Input SF1 considered OFF. The upper half of the SF1- internal power transistor will be shut off.

  • Page 57: Emc Control

    M Series AC Servo User Manual 4.10 EMC Control The servo pack uses high-speed switching electronic components. Peripheral devices may receive switching noise. The servo pack uses microprocessor that may receive switching noise from peripheral devices. Follow the EMC specifications and measures described in this manual when installing and wiring.The servo pack conforms to relevant standard under：...

  • Page 58: Recommended Emi Noise Filter

    M Series AC Servo User Manual 4.10.2 Recommended EMI noise filter Specifications Manufacture M2-EMI10A 250VAC，10A 10ET1 250VAC，10A TYCO DF300-10A-01 250VAC，10A Dephir 4.10.3 Clamp noise filter for cable Install noise filters for signal lines to all cables(Power cable, motor cable, encoder cable and I/O signal cable) Signal cable Wind cables the 2-3 turns to form the signal noise filter.

  • Page 59: Display And Operation

    M Series AC Servo User Manual 5. Display and Operation 5.1 Description of Control Panel LED Display Set Key Mode Key Down Key Up Key Symbol Name Details The LCD display (5 digits, 7 segments) show the drive’s operating condition LED Display and warning codes, parameters and settings values.
  • Page 60 M Series AC Servo User Manual Control mode switch flowchart: Power On In factory default mode, it will display motor’s rotatory velocity.(*NOTE 1) The last dot shows whether the drive is enable or disable. Monitor Status Press SET key back Press any key to Monitor Status Monitor Parameters...

  • Page 61: Led Display Description

    M Series AC Servo User Manual 5.3 LED display description 5.3.1 Decimal Point And Negative Sign Description LED display Description Negative sign: when display value ≥-9999, the highest digit will show as ‘-’. i.e. , as ‘-9999’ When display value≤-10000, the negative sign will be shown, negative motor enable sign...

  • Page 62: Jog Mode

    M Series AC Servo User Manual 5.3.5 Jog Mode LED display Description J—CW means motor rotating in CW direction under JOG mode J—CCW means motor rotating in CCW direction under JOG mode 5.3.6 Control Panel Lock LED display Description This means the key panel is locked. Press and hold for 1 second under status monitoring mode to lock.
  • Page 63 M Series AC Servo User Manual N mode selection and setting LED display Description Unit n-00 Motor Rotating Speed n-01 Position Error Pulse n-02 Pulse Counter counts n-03 Encode Counter counts n-04 Command Position Counter counts n-05 Drive Temperature x 0.1℃ n-06 DC Bus Voltage x0.1V...

  • Page 64: Function Mode Control

    M Series AC Servo User Manual 5.5 Function Mode Control In function mode (display F+ parameter number), you can select functions for preoperational mode, restart the drive, enable or disable the drive and so on. In status monitoring mode, press and hold 1 second will enter function control mode.

  • Page 65: Operation Flow Chart

    M Series AC Servo User Manual 5.5.2 Operation Flow Chart status monitoring selection press and hold MODE key for 1 second press and hold SET key F-00 point to point mode function selection mode ,motor rotate press 1 rev in CW direction ,motor rotate press 1 rev in CCW direction...

  • Page 66: Parameter Setting Mode

    M Series AC Servo User Manual 5.6 Parameter Setting Mode 5.6.1 Parameter Setting Description The parameter setting mode (P+parameter number) allows you to select, display and edit the required parameter. In function control mode, press and hold for 1 second to enter parameter setting mode. to select required parameter, and press to view or edit the parameter.

  • Page 67: Parameter Editing Examples

    M Series AC Servo User Manual 5.6.2 Parameter Editing Examples Press mode to First digit flash Second digit flashing shift flashing digit Press Press Press Press Press up or down to increase or decrease value Press SET key to enter parameter editing mode Press mode to First digit Second digit flashing...

  • Page 68: Control Panel Lock

    M Series AC Servo User Manual 5.7 Control Panel Lock In order to prevent faulty use on key panel, key panel lock is featured on all M2AC servo drives. When lock function is on, no function can be changed directly on drive’s control panel. Status monitoring Press and hold set key for 1 second...
  • Page 69 M Series AC Servo User Manual LED display Description LED display Description Drive over temperature CW limit is activated Internal voltage fault CCW limit is activated Over voltage Current limit Communication error Over current Parameter save failed Phase loss of the main circuit Bad hall sensor STO is activated Encoder error...

  • Page 70: Preoperational Mode

    M Series AC Servo User Manual 6. Preoperational mode When preoperational mode is operating, please disconnect servo motor from any mechanical system to prevent any damages and accidents. Please perform this operation under no load condition. 6.1 Inspection Before Trail Run In order to avoid any accidents and damages to servo drive and mechanical systems, we strongly recommend following safety checks before you turn on the drive.

  • Page 71: Motor Configuration Manually

    M Series AC Servo User Manual 6.3 Motor Configuration Manually Before JOG mode operation, M2 series AC servo drive requires motor configuration setup. For more details about how to configure your motor specification, please refer to chapter 2.3. 6.3.1 Use Drive Control Panel To Setup Motor information and LED display list: LED display Motor Model Number...

  • Page 72: Use Software To Config Motor

    M Series AC Servo User Manual 6.3.2 Use Software To Config Motor User can also use M Servo Suite to configure motor information step 1: Run M Servo Suite on PC, and select the correspondent communication port step 2: after successful connection, use the drive configuration page to setup Step 3: click on motor config to do motor selection as follows.

  • Page 73: Operations Of Jog Mode

    M Series AC Servo User Manual 6.4 Operations of JOG Mode Step LED display Description Press to switch the Monitor Status mode into the Drive Parameters Configuration mode Scroll key to select parameter P62 (SI) 、 Press key into value setting mode Scroll key to change values.

  • Page 74: Configuration By Personal Computer

    M Series AC Servo User Manual 6.5 Configuration by Personal Computer In order to ensure servo drive and motor meet your operation requirements, we strongly recommend customers to use “M servo suite” for following configuration setups: 1. Servo Motor model selection and configuration 2.

  • Page 75: Operation Mode Selection

    M Series AC Servo User Manual 7. Operation Mode Selection 7.1 General Function Setting 7.1.1 Drive Servo on settings To control servo motor enable/disable switch 1) servo on signal In default setting, servo ON signal configured as follows: Function Signal Name PIN (CN2) Condition Servo motor enable Servo ON...

  • Page 76: Alarm Reset

    M Series AC Servo User Manual 7.1.2 Alarm Reset It is used to clear drive warnings or faults, it can be set via P-63 (AI) Signal P-63 (AI) Function Name (CN2) During normal operation, input X4 must keep Open (HIGH). Change will ONLY be trigged at the change of signal.

  • Page 77: Cw/Ccw Limit

    M Series AC Servo User Manual 7.1.3 CW/CCW limit In order to prevent accidents that might be caused by mechanical layers moving out of range, it is highly necessary to set CW/CCW position limit by using external I/O switches. P-64 (DL) Description Condition Signal Name Function...

  • Page 78: Global Gain Switch Function

    M Series AC Servo User Manual Software Configuration In drive configuration page-----input& output X5/X6 to select correspondent functions 7.1.4 Global Gain Switch Function Use input X7 for global gain selection. When gain selection function is used, it helps the servo drive to run the motor with least time delay and as faithful as possible against the host command requirement.

  • Page 79: Control Mode Switch

    M Series AC Servo User Manual 7.1.5 Control Mode Switch M2 series AC servo drive allows to choose 2 types of control mode by using external input switch X8. The control mode can be configured via two parameters P-12 (CM) and P-13 (CN). In factory default mode, control mode switch function is disabled.

  • Page 80: Drive On Fault Output

    M Series AC Servo User Manual 7.1.6 Drive On Fault Output When warnings as below are shown, the drive will send “on fault” output and it will also disable the drive immediately. Warning list: over position error, encoder error, over temperature, over voltage, low voltage, internal voltage fault, STO warning, FPGA error, over current, over velocity limit, bad hall sensor.

  • Page 81: Motor Brake Control

    M Series AC Servo User Manual 7.1.7 Motor Brake Control Servo motor brake is only used for holding the stalling status when motor is disabled or power OFF. It ensures the motor’s mechanical layers will NOT move due to gravity or any other external forces. In order to prevent damage to the brake, there are delay sequences during the brake operation.

  • Page 82: Servo Ready Output

    M Series AC Servo User Manual 7.1.8 Servo Ready Output When servo drive is power on, if no warning has occurred, output Y5 will outputs “servo ready” signal. Servo ready function can be configured via M servo suite software, or by change parameters P-68 (MO) the third digit (from right to left) on the drive directly.

  • Page 83: Digital Pulse Position Mode Connection Diagram

    M Series AC Servo User Manual 7.2.1 Digital Pulse Position Mode Connection Diagram Differential Pulse Signal Analog Input Controller High Speed Differential Input PULSH1 High Speed Pulse Input ANA1 Speed Command PULSH2 PULSH1 DGND SIGNH1 PULSH2 ANA2 Torque Command SIGNH2 SIGNH1 DGND DGND 25...

  • Page 84: Input Pulse Type Setting

    M Series AC Servo User Manual 7.2.2.1 Input Pulse Type Setting CW direction setting value Parameter Pulse setting (decimal) Pules Pules X2 on Step & Direction Pules Pules X2 Off CW Pulse CW Pulse Pulse On X1 CCW Pulse CCW Pulse P-42 (SZ) CW/CCW Lower 8 bits...

  • Page 85: Parameter P-43 (Sz) Setting

    M Series AC Servo User Manual 7.2.2.3 Parameter P-43 (SZ) Setting Parameter P-43 (SZ)’s higher 8 digit and lower 8 digit set the definition for input filter frequency and pulse type, the setting value are as shown in table below: Filter CW/CCW P-43 (SZ)

  • Page 86: Control Pulse Dividing Switch Function

    M Series AC Servo User Manual Software Configuration In software motor configuration page----control mode settings to select pulse input type and input filter type. 7.2.3 Control Pulse Dividing Switch Function X9 is used as control pulse dividing switch function. When this function is on, it will allow the drive to change the number to encoder counts for per motor revolution.

  • Page 87: Pulse Inhibition Function

    M Series AC Servo User Manual 7.2.4 Pulse Inhibition Function Pulse inhibition function use external input X10 in digital pulse position mode. When external input X10 is triggered, it will enforce the drive to stop receiving pulses input from any source, and stop the servo motor immediately.

  • Page 88: Jerk Smoothing Filter

    M Series AC Servo User Manual If no electronic greasing is used, the valuation will be as follows: Since the screw distance is 3mm, i.e. when motor rotate one rev, the working load will move 3mm. if moving distance 4mm is required, it is 4/3 of rev Pulse Count Requirement = 13333.33333…...

  • Page 89: In Position Error Output

    M Series AC Servo User Manual 7.2.7 In Position Error Output In position mode, using the “in position error output” function can help the user the define motors in position status. When the difference between drive’s total receiving pulse and motor’s actual rotating pulse count is within the in position error range, the drive will send out a motor in position signal.

  • Page 90: Software Configuration For Position Mode

    M Series AC Servo User Manual 7.2.9 Software Configuration For Position Mode The M servo suite can help you easily configured the drive and motor, as well as tuning parameters. Step Operation Description Configure motor Choose your motor number. Please refer to 2.3 motor number for details. Choose control mode In control mode, choose “Position”...

  • Page 91: Velocity Mode

    M Series AC Servo User Manual 7.3 Velocity Mode The velocity control mode is usually used on the applications of precision velocity control. For M2AC servo drives, they are 4 types of velocity control mode: fix speed mode, analog command mode, SCL control mode and multi velocity control mode.

  • Page 92: Velocity Mode Connection Diagram

    M Series AC Servo User Manual 7.3.1 Velocity Mode Connection Diagram Analog Input ANA1 Speed Command ±10VDC PULSH1 DGND PULSH2 ANA2 High Speed Pulse Input Torque Command ±10VDC SIGNH1 17 DGND SIGNH2 37 Y1+ Alarm Output 36 Y1- RUN/STOP Brake Control Output 10 Y2- Servo Ready 40 Y5+...

  • Page 93: Parameter Settings For Analog Velocity Control Mode

    M Series AC Servo User Manual 7.3.2 Parameter Settings For Analog Velocity Control Mode M2 series AC servo drive has 2 12bits analog AD converters. When single ended input signal is used, analog input 1 (ANA1) is used for velocity command, analog input 2 (ANA2) is used for rotating toque command.

  • Page 94: Analog Velocity Gain

    M Series AC Servo User Manual B. Differential Analog Input PIN type Signal PIN number Function ANA1 Analog velocity input for differential input signal Input ANA2 DGND Analog velocity input signal grounding (digital ground) Host controller Differential analog input D/A Output DGND DGND 7.3.3.2 Analog Velocity Gain...

  • Page 95: Analog Input Voltage Offset

    M Series AC Servo User Manual 7.3.3.3 Analog Input Voltage Offset In some cases, even when host controller set the analog command to 0V, the servo motor might still rotate slowly. This is caused by voltage bias from the analog voltage supply. M servo suite can automatically offset the analog voltage bias, or customers can manually tuning voltage offset value by change parameter P-52 (AV1) and P-53 (AV2).

  • Page 96: Analog Input Deadband

    M Series AC Servo User Manual 7.3.3.4 Analog Input Deadband In analog control model, even when the input voltage is 0V, it is almost impossible to ensure input voltage is absolute 0V due to external interferences. In some cases, it might cause motor turn slowly in either direction.

  • Page 97: Run/Stop And Direction Signal

    M Series AC Servo User Manual 7.3.3.5 Run/Stop And Direction Signal In analog velocity mode, external input X1 can set as run/stop switch, X2 can set as direction switch. Signal Name Signa Function Description X1+ (3) Closed Motor running, analog voltage value defines rotary velocity. Velocity mode When switch is open, Motor stops rotary regardless of X1- (4)

  • Page 98: Torque Limit

    M Series AC Servo User Manual 7.3.3.6 Torque Limit In single ended analog mode, analog input 2 (ANA2) can used to set motor’s output torque. Parameters Setting Data Default Parameter Name Unit Description Range value Analog input type P-55 (AS) Analog type 0: Single ended input 1: Differential input Analog input port 2 function setting:...

  • Page 99: Target Velocity Reach

    M Series AC Servo User Manual 7.3.3.7 Target Velocity Reach In velocity mode, when motor’s actual velocity and command velocity is the same, “velocity reach” signal can be sent by output Y4 . The second digit (from right to left) of parameter P-68 (MO) defines the output signal Y4. P-68 Signal Name Condition...

  • Page 100: Analog Input Filter

    M Series AC Servo User Manual 7.3.4 Analog Input Filter When analog input is used, there might be external interferences that affect the accuracy of the analog input voltage. In some cases will cause the motor to turn unexpectedly, or unstable torque output. Therefore, analog input filter is recommended.

  • Page 101: Software Configuration For Analog Velocity Mode

    M Series AC Servo User Manual 7.3.5 Software Configuration For Analog Velocity Mode The M servo suite can help you easily configure the drive and motor, as well as tuning the parameters. Step Operation Description Configure motor choose your motor number. Please refer to 2.3 motor number for details Choose control mode In control mode, choose “velocity”...

  • Page 102: Torque Mode

    M Series AC Servo User Manual 7.4 Torque Mode The torque mode is usually used on the applications of precision torque control. For M2 series AC servo drives, they are 2 types of torque control mode: analog input torque mode and SCL command mode. For analog command mode, torque is controlled by external voltage input.

  • Page 103: Analog Torque Mode Connection Diagram

    M Series AC Servo User Manual 7.4.1 Analog Torque Mode Connection Diagram Analog Input ANA1 Speed Command ±10VDC PULSH1 DGND PULSH2 ANA2 High Speed Pulse Input Torque Command ±10VDC SIGNH1 17 DGND SIGNH2 Alarm Output 37 Y1+ 36 Y1- RUN/STOP Brake Control Output 10 Y2- Servo Ready...

  • Page 104: Parameters For Analog Torque Mode

    M Series AC Servo User Manual 7.4.2 Parameters For Analog Torque Mode M2 series AC servo drive has two 12bits analog AD converters. When single end input signal is used, analog input 1 (ANA1) is used for velocity command, analog input 2 (ANA2) is used for rotating toque command.

  • Page 105: Analog Torque Gain

    M Series AC Servo User Manual B. Differential Analog Input Pin Type Signal Name Connector pin allocation Function ANA1 Analog torque input for differential input signal Input ANA2 DGND Analog torque input signal grounding Host controller Differential analog input D/A Output DGND DGND 7.4.3.2 Analog Torque Gain...

  • Page 106: Analog Input Offset

    M Series AC Servo User Manual 7.4.3.3 Analog Input Offset In some cases, even when host controller set the analog command to 0V, the servo motor might still rotate slowly. This is caused by voltage bias from the analog device. M servo suite can automatically offset the analog voltage bias, or customers can manually tuning the offset by change parameter P-53 (AV2).

  • Page 107: Run/Stop And Direction Signal

    M Series AC Servo User Manual 7.4.3.5 Run/Stop and Direction signal In analog torque mode, external input X1 can set as run/stop switch, X2 can set as direction switch. Signal Condition Function Description Name When motor running, analog voltage defines motor X1+ (3) Closed Torque mode run/...

  • Page 108: Torque Reach

    M Series AC Servo User Manual 7.4.3.7 Torque Reach In torque mode, when motor actual torque and command torque is the same, “torque reached” output signal can be sent via Y3 output. The first digit (from right to left) of parameter P-68 (MO) from the drive defines the output signal Y4. P-67 Signal Name Condition...

  • Page 109: Software Configuration For Analog Torque Mode

    M Series AC Servo User Manual 7.4.4 Software Configuration For Analog Torque Mode The M servo suite can help you easily configured the drive and motor, as well as tuning parameters. Step Operation Description Configure motor Choose your motor number. Please refer to 2.3 Motor number for details. Choose control mode In control mode, choose “torque”...

  • Page 110: Position Table Mode Instruction

    M Series AC Servo User Manual 7.5 Position Table Mode Instruction Position table mode allows Point-to-Point linear motion and Rotary motion without any external pulse input. Instead, position table mode uses Input port X7~X12 to configuredifferent positions command. Input X4 is the trigger for motion. Figure 7.5.1 Position table mode NOTE: Only -S type M2 series servo drive supports position table mode 7.5.1 Linear motion...
  • Page 111 M Series AC Servo User Manual 3) Select linear motion from “3. Control mode setting” as show in Figure 7.5.3Linear motion setting. Figure 7.5.3Linear motion setting 4) Click edit for detailed motion configurations, as shown inFigure 7.5.4Linear motion configuration. Figure 7.5.4Linear motion configuration Rev.

  • Page 112: Basic Configuration

    M Series AC Servo User Manual 7.5.1.2 Basic Configuration Point Counts: Select the number of position points. For M series servo drives, there are four selections: 7. 15. 31. 63number of position points. Position type: There are two types for point-to-point motion: Relative position; and absolutepositon. Example shown in Figure 7.5.5Relative position VS Absolute positon: Set P1position for 5revs, P2 position for 10revs, the difference between Relative position and absolute position are as shown in below:...

  • Page 113: Print

    M Series AC Servo User Manual 7.5.1.4 Print Click on “Print” to print out the configurations table, as shown in Figure 7.5.6 Print Position Table configuration below: Figure 7.5.6 Print Position Table configuration 7.5.1.5 Position Definition Positon Definition shows the detailed configurations for each position point, including velocity, acceleration and deceleration, position.

  • Page 114: Simulate

    M Series AC Servo User Manual M0(X7) ~ M5(X12)status: ’0’means input is closed; ’1’means input is Open. After the homing process, motor will move to corresponding position which selected by input M0(X7) ~ M5(X12), and triggered by X4 (position trigger)when it changesfrom ‘open’ to ‘close’. 5) Click ‘OK’...

  • Page 115: Rotary Motion

    M Series AC Servo User Manual 7.5.2 Rotary motion Rotary motion is highly suitable for dividing plate applications, system gearing reduction ratio can also be set based on the application. Settings such as number of division per revolution, motion profiles and homing profiles can also be set.

  • Page 116: Rotary Motion Input Definition

    M Series AC Servo User Manual Reduction ratio: Set mechanical gear box ratio Division Ratio: Divide one revolution into numbers of point with equal distance Rotary direction: Select the direction for rotary motion Rotary velocity, rotary acceleration, rotary deceleration: Set motor rotary velocity, rotary acceleration, and rotary deceleration values NOTE: the rotary are set based on Motor velocity/acceleration/deceleration.

  • Page 117: Parameters And Functions

    M Series AC Servo User Manual 8. Parameters and Functions 8.1 Parameter Category M2 series AC servo drive has 4 modes. type Function Example Details n---status monitoring Select LED monitoring status 5.4 status monitoring selection mode setting type F---Function mode Select drive function to 5.5 function mode control setting...

  • Page 118: Parameter List

    M Series AC Servo User Manual 8.2 Parameter List parameter Default Type LED display Function Unit number command value Global gain 1 10000 Global gain 2 12000 Proportion gain 6000 Deriv gain 2500 Damping gain 8000 Integrator gain Inertia Feedforward Constant Jerk Filter Frequency 5000 Velocity Loop Proportional Gain...
  • Page 119 M Series AC Servo User Manual Profile Point to point acceleration 100.00 rps/s Profile Point to point deceleration 100.00 rps/s Profile Point to point secondary velocity 2.000 Profile Jog mode speed 1 2.000 Profile Jog mode speed 2 10.000 Profile Jog mode speed 3 20.000 Profile...
  • Page 120 M Series AC Servo User Manual Analog Analog input2 offset 0.000 Analog Differential analog input offset 0.000 Analog Analog type Analog Analog input1 deadband Analog Analog input2 deadband Analog Differential analog deadband Analog Analog input low pass filter value Analog Analog threshold 0.000 Analog...
  • Page 121 M Series AC Servo User Manual CANopen Baudrate communication Regen resistor value Ω Regeneration Regen resistor continuous wattage Regeneration Regen resistor peak time 125.00 Regeneration Other Ripple range setting for velocity reach 0.000 Other Tach out counts Other Ripple range setting for torque reach 0.00 Other Parameter lock on the drive’s control panel...

  • Page 122: Parameter Description

    M Series AC Servo User Manual 8.3 Parameter Description Data Range Default Unit Data type P-00 (KP) Global gain 1 0~32767 10000 ------ Sets or requests the servo control proportional gain term. Gain value is relative: “0” meaning no gain, “32767” meaning full gain.
  • Page 123 M Series AC Servo User Manual Data Range Default Unit Data type P-06 (KK) Inertia Feedforward Constant 0~32767 ------ The servo control inertia feed forward gain. Gain value is relative: “0” meaning no gain, “32767”meaning full gain. KK improves acceleration control by compensating for the load inertia. Without KK parameter, Inertia Feedforward Constant.
  • Page 124 M Series AC Servo User Manual Data Range Default Unit Data type P-08 (VP) Velocity Loop Proportional Gain 0~32767 15000 ------ The velocity-mode servo control Proportional gain term. Gain value is relative: 0 = no gain, 32767 = full gain. VP minimizes velocity error when in velocity mode 2. Data Range Default Unit...
  • Page 125 M Series AC Servo User Manual Data Range Default Unit Data type P-12 (CM) Main control mode 1~8，10~18，21，22，25 ------ Parameter P-12 (CM) is used to set drive’s control mode. Parameter mode list are as follows: Mode Control Signal P-12 (CM) Description SCL command mode SCL command...
  • Page 126 M Series AC Servo User Manual Data Range Default Unit Data type P-13 (CN) Secondary control mode 1~8，10~18，21，22，25 ------ Servo drive’s secondary control mode. Please refer to P-12 (CM) main control mode, and 7.1.5 control mode selection. Data Range Default Unit Data type P-14 (PM)
  • Page 127 M Series AC Servo User Manual Data Range Default Unit Data type P-18 (CP) Peak current Dependson motor model CM sets the peak (RMS) current setting of the servo drive. Peak current sets the maximum current that should be used with a given motor. When the motor position requires more than the continuous value, the peak current time calculation is done using I^2/T which integrates current values for more accurate modeling of drive and motor heating.
  • Page 128 M Series AC Servo User Manual both the last JA and JL values. This means that to have different jog accel and jog decel values, you should first send JA to set the jog accel and then send JL to set the jog decel. NOTE: if you need to view or set this value on drive’s control panel P-23 (JA), please refer to following calculation: LED display value =...
  • Page 129 M Series AC Servo User Manual The secondary speed for FC and FD moves. NOTE: if you need to view or set this value on drive’s control panel P-28 (VC), please refer to following calculation: LED display value = x 240 Where = is target velocity setting, Unit is rps (rev/sec) .
  • Page 130 M Series AC Servo User Manual Data Range Default Unit Data type P-35 (JC) Jog mode speed 7 0.025~100 The seventh speed used in velocity mode. This only applies to control modes 13, 14, 17, and 18. Data Range Default Unit Data type P-36 (JC)
  • Page 131 M Series AC Servo User Manual Data Range Default Unit Data type P-44 (PF) Position Fault limit 0~32000 2000 The Position Fault limit in encoder counts. This value defines the limit threshold, in encoder counts, reached between actual position and commanded position before the system produces a position fault error.
  • Page 132 M Series AC Servo User Manual Analog gain value used in analog velocity modes. The gain value is used to establish the relationship between the analog input and the motor speed. The units are 0.25 rpm. For example, if the analog input is scaled to 0 - 5 volt input and the gain is set to 2400, when 5 volts is read at the analog input the motor will spin at 10 rps.
  • Page 133 M Series AC Servo User Manual Data Range Default Unit Data type P-56 (AD) Analog input1 deadband 0~255 The analog deadband value of the analog input 1 in millivolts. The deadband value is the zone around the “zeroed”value of the analog input. This deadband defines the area of the analog input range that the drive should interpret as “zero”.
  • Page 134 M Series AC Servo User Manual Data Range Default Unit Data type P-61 (FA) Analog 1/2 function 00-33 Defines the function of the single analog input X1 and X2. It is defined by two digits, first from the right is X1, the other is X2 Bit1 analog input1 function Bit2 analog input2 function...
  • Page 135 M Series AC Servo User Manual Data Range Default Unit Data type P-64 (DL) End-of –travel limit Setting 1，2，3 CW and CCW end-of-travel limits are available on all drives and can be used to define the boundaries ofacceptable motion in a motor/drive system. For example, define inputs X5 and X6 as dedicated end-of-travel limits.
  • Page 136 M Series AC Servo User Manual In M servo suite parameter table section, it is divided into 4 parameters, GS represents bit 1, DS represents bit 2, MS represents bit 3. PI represents bit 4 Please also refer to 7.1.4 gain selection function, 7.1.5 control mode selection, 7.2.3 input electronic gearing selection, and 7.2.4 pulse inhibition function Data Range Default...
  • Page 137 M Series AC Servo User Manual 6: When the dynamical position error is within the range specified by PL command, output Y3 is closed. 7: When the dynamical position error is within the range specified by PL command, output Y3 is open. A:When the actual velocity reached the targeted velocity, output Y3 is closed.
  • Page 138 M Series AC Servo User Manual BD only takes effect if the BO command is set to 1 or 2. After a drive is enabled this is the time value that may delay a move waiting for the brake to disengage. When beginning a move the delay value must expire before a move can take place.
  • Page 139 M Series AC Servo User Manual Data Range Default Unit Data type P-74 (FI) Input X12 noise filter 0~32767 Applies a digital filter to the input X12. The digital input must be at the same level for the time period specified by the FI command before the input state is updated.
  • Page 140 M Series AC Servo User Manual The individual drive address character for multi-drop RS-485/MODBUS communications. This command is not required for single-axis (point-to-point) or RS-232 communications. Data Range Default Unit Data type P-80 (CO) CANopen Node ID 1~127 The CANopen NODE-ID forCANOpen type drives. Data Range Default Unit...
  • Page 141 M Series AC Servo User Manual 1 = 2 * pole pairs 2 = 4 * pole pairs 3 = 8 * pole pairs 4 = 16 * pole pairs 5 = 32 * pole pairs 6 = 64 * pole pairs 7 = 128 * pole pairs Data Range Default...
  • Page 142 M Series AC Servo User Manual Left Limit Origin Right Limit Seeking end-of-travel limit, parameter P-90(HA),P-93(HO),P-96(HV) Seeking homing switch, parameter P-91(HA),P-94(HO),P-97(HV) Feeding to homing switch, parameter P-92(HA),P-95(HO),P-98(HV) Data Range Default Unit Data type Accel of seeking homing switch P-92 (HA) during homing 0.167~5000 rps/s...
  • Page 143 M Series AC Servo User Manual In homing mode, after end of travel is reached, this sets the velocity rate for seeking the homing switch. Please refer to parameter P-91 (HA) Data Range Default Unit Data type Velocity of feeding to homing P-99 (HV) switch during homing 0.167~5000...

  • Page 144: Communication

    M Series AC Servo User Manual 9. Communication M2 series AC servo drive supports multiple communication interface. Model type Communication RS-232 RS-485 CANopen Ethernet 9.1 RS-232 communication For Q type drives, port CN6 is used for RJ-11 communication port, it is used for RS-232 communication. Customers can use serial communication command SCL to control the drive.

  • Page 145: Pin Definition

    M Series AC Servo User Manual 9.2.1 RS-485 PIN definition For RS-485 communication, customer can use the dual RJ45 on the side of the drive to build the daisy chain network system. Pin definitions as follows: Definition 4，5，7，8 9.2.2 RS-485 Connection Method RS-422/485 communication allows connection of more than one drive to a single host PC, PLC, HMI or other computer.

  • Page 146: Modbus/Rtu Communication

    M Series AC Servo User Manual Two-Wire Configuration In a 2-wire system, the host must disable its transmitter before it can receive data. This must be done quickly before a drive begins to answer a query. The M2 drive includes a transmit delay parameter that can be adjusted to compensate for a host that is slow to disable its transmitter.

  • Page 147: Communication Address

    M Series AC Servo User Manual 9.3.2 Communication Address In the network system, each drive requires a unique drive address. Only the drive with the matching address will responded to the host command. In ModBUS network, address “0” is the broadcast address. It cannot be used for individual drive’s address.

  • Page 148: M2 Series Ac Servo Drive Register Address And Function List

    M Series AC Servo User Manual 9.3.6 M2 Series AC Servo Drive Register Address And Function List: M2 Series Register Access Data Type Description SCL Register 40001 Read Only SHORT Alarm Code (AL) 40002 Read Only SHORT Status Code (SC) 40003 Read Only SHORT...
  • Page 149 M Series AC Servo User Manual 40037 Read Only SHORT Point-to-Point Move State 40038 Read Only SHORT Q Program Segment Number 40039 Read Only SHORT Reserved 40040 Read Only SHORT Phase Error 40041..42 LONG Position Offset 40043 SHORT Miscella neous Flags 40044 SHORT Current Command (GC)
  • Page 150 M Series AC Servo User Manual 40081..82 LONG User Defined Register 40083..84 LONG User Defined Register < 40085..86 LONG User Defined Register 40087..88 LONG User Defined Register > 40089..90 LONG User Defined Register 40091..92 LONG User Defined Register 40093..94 LONG User Defined Register 40095..96 LONG...
  • Page 151 M Series AC Servo User Manual 40123 SHORT X11 Input Filter 40124 SHORT X12 Input Filter 40125 SHORT Command Opcode 40126 SHORT Parameter 1 40127 SHORT Parameter 2 40128 SHORT Parameter 3 40129 SHORT Parameter 4 40130 SHORT Parameter 5 40131 SHORT Global Gain(KP)
  • Page 152 M Series AC Servo User Manual 40153 SHORT Electronic Ration Denominator(ED) 40154 Read Only SHORT Step Mode (SZ) 40155 SHORT Position Fault(PF) 40156 SHORT Dynamic Position Error Count(PL) 40157 SHORT In-Position Counts(PD) 40158 SHORT In-Position Timing(PE) 40159 SHORT Pulse Complete Timing(TT) 40160 SHORT Analog Velocity Gain(AG)
  • Page 153 M Series AC Servo User Manual 40183 SHORT Torque Value(TV) 40184 SHORT Parameters Lock(PK) 40185 SHORT Default Display(DD) 40186 SHORT Mask Alarm(MA) 40187 SHORT Homing Acceleration 1 40188 SHORT Homing Acceleration 2 40189 SHORT Homing Acceleration 3 40190 SHORT Homing Deceleration 1 40191 SHORT Homing Deceleration 2...

  • Page 154: Command Opcode Description

    M Series AC Servo User Manual 9.3.7 Command Opcode description Register 40125 is defined as command Opcode, when following command is entered into register, the drive will execute the corresponding operation. 1) SCL Command Encoding Table SCL Command Encoding Table Function Opcode Parameter 1...

  • Page 155: Function Code

    M Series AC Servo User Manual 2) Digital I/O Function Selection And I/O Status Character hex code ‘0’ 0x30 Index of encode ‘1’ 0x31 input 1 or output 1 ‘2’ 0x32 input 2 or output 2 ‘3’ 0x33 input 3 or output 3 ‘4’...

  • Page 156: Function Code 0X06, Writing Single Register

    M Series AC Servo User Manual 9.3.8.2 Function Code 0x06, Writing Single Register If we want to set motor rotary velocity 12.5 rps to drive node ID 11, the corresponding address is register 40030. The write in data value for the register will be 12.5 x 240 = 3000. In hexadecimal number, it is 12CH.

  • Page 157: Function Code 0X10, Writing Multiple Registers

    M Series AC Servo User Manual 9.3.8.3 Function Code 0X10, Writing Multiple Registers If we writing target distance 30000 into drive NODE-ID 10, the correspondent register address will be 40031. Transfer into hexadecimal, it is 7530h. Communication Details are as follows: Command Message (Master) Response Message (slave) Function...

  • Page 158: Modbus/Rtu Applications

    M Series AC Servo User Manual 9.3.9 Modbus/RTU Applications 9.3.9.1 Position Control 1.Target Profile Planning Target Unit Dec (Hex) Description command Value The unit for register 40028 is , when target rps/s 40028 600 (258h) acceleration is 100rps/s, the value will be 600 The unit for register 40029 is .
  • Page 159 M Series AC Servo User Manual 3. Sending Command First Step : Set acceleration register 40028 = 285h, deceleration register 40029 = 4B0h, velocity register 40030 = 960h, and target position 40031~40032 = 4E20h. Host Sending: 01 10 00 1B 00 05 0A 02 58 04 B0 09 60 00 00 4E 20 24 3B Rive Respond: 01 10 00 1B 00 05 70 0D...
  • Page 160 M Series AC Servo User Manual Second Step: Point To Point Motion Command Chapter 9.3.7 command Opode describes register 40125’s control code. From the SCL code list shows that for point to point position motion, it requires to write data 0x66 to register 40125. SCL Command Encoding Table Function Opcode...

  • Page 161: Jog Mode

    M Series AC Servo User Manual 9.3.9.2 JOG mode 1. JOG mode required parameters: Target Unit Dec (Hex) Description command Value The unit for register 40028 is , when target rps/s 40047 600 (258h) acceleration is 100rps/s, the value will be 600 The unit for register 40029 is .
  • Page 162 M Series AC Servo User Manual 3. Sending Command First Step: Set velocity mode acceleration register as 40047 = 258h, deceleration register as 40048 = 4B0h, and velocity register 40049 = 960h. Host Sending: 01 10 00 2E 00 03 06 02 58 04 B0 09 60 A0 9F Drive Reply: 01 10 00 2E 00 03 E0 01 Command Message (Master) Command Message (Slave)
  • Page 163 M Series AC Servo User Manual Starting message : Command Message (Master) Command Message (Slave) Function Data Number Of Bytes Function Data Number Of Bytes Slave Address Slave Address Function Code Function Code 00H (High) 00H (High) Starting Data Address Starting Data Address 7CH (Low) 7CH (Low)

  • Page 164: Canopen Communication

    M Series AC Servo User Manual 9.4 CANopen Communication For C type drive, port CN6 and CN7 uses standard RJ45 (8p8c) design, customers can use CAT wires to build daisy chain network. 9.4.1 RJ45(8p8c)Pin Definitions Pin definitions as follows： Definition CAN_H CAN_L 3，7...

  • Page 165: Trouble Shooting

    M Series AC Servo User Manual 10.Trouble Shooting 10.1 Drive Alarm List LED display Description Alarm type Drive status after alarm occurs Drive over temperature Fault Servo off Internal voltage fault Fault Servo off Over voltage Fault Servo off Fault Servo off Over current Fault...
  • Page 166 M Series AC Servo User Manual 10.2 Drive alarm reason and solutions LED display Description Alarm type Processing method Temperature of the heat sink or power 1. Improve the ambient temperature and device has been risen over the specified cooling condition. Drive over temperature.
  • Page 167 M Series AC Servo User Manual Please check motor velocity command if it is within the P-19 (VM) range. 1. Avoid high velocity command 2. Check the command pulse input frequency and Position error division/multiplication ratio. Motor rotary velocity exceeds parameter P-19 (VM) setting value.
  • Page 168 M Series AC Servo User Manual Revision History Document History Date Remarks v1.0 2014.10.31 Disclaimer The information in this manual was accurate and reliable at the time of its release. MOONS’ reserves the right to change the specifications of the product described in this manual without notice at any time. Trademarks All marks in this manual are the property of their respective owners Customer Service...

  • Page 169: Sto Function

    M Series AC Servo User Manual 11. STO function 11.1 Operation and maintenance procedures 11.1.1 The replacement of components The replacement of components with a limited life is different , Disassembling for inspection and repair should be carried out only by authorized dealers or service company. The Components as following: Components Standard replacement cycles /year Life time varies depending...

  • Page 170: The Implementation Of Safety Functional

    M Series AC Servo User Manual 11.2. The implementation of Safety Functional 11.2.1 Safety Functional Specification During the normally operation, if inspection the violation of limits, the STO off, the drive give alarm signal. 11.2.1.1 Safety input Signal STO Safety input Signal as following: Signal Symbol Pin No.

  • Page 171: Return Timing From Safety State

    M Series AC Servo User Manual 11.2.3.2 Return timing from safety state: Input coupler ON Safety input SF1 Input coupler OFF Safety input SF2 No energized Motor state ≤ 6ms Input coupler ON EDM State output coupler OFF output coupler ON(ready) Servo-Ready output (S-RDY) output coupler OFF...

  • Page 172: Safety Function Constraints

    M Series AC Servo User Manual 11.5. Safety function constraints 11.5.1 Failure rate The failure rates is calculation and estimated under the ambient 50℃. 11.5.2 Mission time and proof test proof test intervals: 20 years, as appropriate miss time: 20H each day, as appropriate 11.5.3 Testing, calibration or maintenance requirements The testing, calibration or maintenance requirements need profession person.

  • Page 173: The Installation And Commissioning Guidance

    M Series AC Servo User Manual damaged, or contact MOONS’. 11.6 The installation and commissioning guidance 11.6.1 Installation We have been making the best effort to ensure the highest quality .however application of exceptionally large external noise disturbance and EMC disturbance may result in unexpected action. It is highly recommended that you make a fail-safe design and secure the safety in the operative range.

  • Page 174: Commissioning

    M Series AC Servo User Manual necessary. 11.6.2 commissioning 1. Be sure the grounding terminal or grounding wire provided is fine. To avoid electric shock and malfunction. 2. Please use the STO safety-related function in Vibration-free place or the limited environment. 11.7.

  • Page 175: The Description Of The Safety Related Components

    M Series AC Servo User Manual determine the status (normal or abnormal) of safety input circuit and EDM output circuit., make sure the safety function normal. 11.7.4 The description of the safety related components 1.) The safety related components that will be used in the application, including software versions which including STO function abnormal alarm.

  • Page 176: Appendix

    M Series AC Servo User Manual Appendix Appendix 1：LED Character Reference Rev. 1.1 400-820-9661 9/13/2021...
  • Page 177 Headquarters SHANGHAI AMP&MOONS' AUTOMATION CO.,LTD. No. 168 Mingjia Road Industrial Park North Minhang District Shanghai 201107, P.R. China Tel: +86(0)21-5263 4688 Fax: +86(0)21-6296 8682 Web: www.moonsindustries.com E-mail: ama-info@moons.com.cn Shenzhen Branch Office Beijing Branch Office Room 2209, 22/F, Kerry Center,No. 2008 Renminnan Road Room 816, Tower B, China Electronics Plaza, 3 Danling Shenzhen 518001 P.

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