Page 1: M5-N Series Servo System
Document Version: V1.0 Archive Date: 2023/12/14 BOM Code: Shenzhen Megmeet Electric Co., Ltd. provides full technical support for our customers,customers can contact local Megmeet offices or customer service centers, or directly contact Megmeet headquarters. Shenzhen Megmeet Electric Co., Ltd. All rights reserved. The contents in this document are subject to change without notice.
Page 2 The relevant precautions during the installation, wiring, parameter setting, troubleshooting and daily maintenance will be detailed in this manual. To ensure the correct installation and operation of the M5-N series servo system as well as its high performance, please read carefully this user manual before installing the equipment. This manual shall be kept properly and delivered to the actual users of the drive.
Page 3 Safety Precautions Operation without following instructions can cause death or severe personal injury. Operation without following instructions can cause medium or slight personal injury or damage to the product and other equipment. Please install the product on the incombustible materials (e.g., metal), otherwise, fire may be caused. ◆...
Page 4 Do not install the product in the place exposed to direct sunlight, otherwise, property damage may be ◆ caused. Cable lugs must be firmly connected to the terminals of main circuit, otherwise, property damage may ◆ be caused. When removing the servo motor, we can not just pull the cable or hold the rotating shaft to pull the ◆...
Page 5: Table Of Contents
Contents M5-N Series Servo System .......................1 Chapter 1 M5-N Servo System Selection ................. 8 1.1 Servo motor and drive model ..........................8 1.2 Servo system configuration specifications ....................12 1.3 Applicative cables and models ........................12 Chapter 2 Servo System Specifications ..................15 2.1 Servo drive standard specifications ......................
Page 6 6.1 Check before running ............................39 6.2 Commissioning .............................. 39 6.3 Electronic gear ...............................40 6.4 Brake settings ..............................44 6.4.1 Servo motor brake wiring diagram .......................... 44 6.4.2 Brake timing ................................44 6.4.3The brake timing when the servo motor is stationary ....................44 6.4.4 The brake timing when the servo motor is rotating ....................
Page 7 Index 2008h(P08): Gain parameters ..........................129 Index 2009h(P09): Adjustment parameters ........................131 Index 200Ah(P10): Fault and protection parameters ..................... 135 Index 200Bh(P11): Display parameters ......................... 143 Index 200Ch(P12): Servo positioning parameters ......................147 Index 2011h(P17): EtherCAT communication parameters .................... 150 Index 2012h(P18): Advanced parameters ........................153 Index 2014h(P20): Bus configuration group parameters ....................
Page 8: Chapter 1 M5-N Servo System Selection
Chapter 1 M5-N Servo System Selection Chapter 1 M5-N Servo System Selection Servo motor and drive model 1．Servo motor model Fig.1-1 M5-N servo motor model 2．Servo motor nameplate SPM-SC80401MAK-L SPM-SC80401MAK-L Fig.1-2 M5-N servo motor nameplate...
Page 9 Chapter 1 M5-N Servo System Selection 3．Servo drive model Fig.1-3 M5-N servo drive model 4．Servo drive nameplate Fig.1-4 M5-N servo drive nameplate...
Page 10 Chapter 1 M5-N Servo System Selection 5．The name and introduction of each part of the servo drive ② ③ ④ ① ⑤ ⑥ ⑦ ⑧ ⑨ Fig.1-5 Schematic diagram of each part of M5-N servo drive (SIZEA) Table 1-1 Description of each part of M5-N servo drive (SIZEA) Name Description CN3, CN4...
Page 11 Chapter 1 M5-N Servo System Selection Brake resistor braking resistors. wiring terminal U, V, W Servo motor Servo motor UVW power terminal power terminals Motor ground terminal. Power ground terminal. ⑨ Ground terminal ② ③ ④ ① ⑤ ⑥ ⑦ ⑨...
Page 12: Servo System Configuration Specifications
Chapter 1 M5-N Servo System Selection Bus power indicator that the capacitor of the bus is charged. Do not touch the power terminal even if the main power supply is cut off to avoid electric shock. L1, L2, L3 Main power supply input, three-phase 220V. Main power supply input ○...
Page 13 Chapter 1 M5-N Servo System Selection Fig.1-8 Encoder cable model description Servo system cable options and their descriptions are shown in Table 1-4 and Table 1-5. Table 1-4 Servo system cable options Name Model Appearance servo system SPL-MZ01--M5-xx-x motor power cable 60/80 servo system...
Page 14 Chapter 1 M5-N Servo System Selection Table 1-5 Cable description Cable Model Name Description diameter Main motor SPL-MZ01-M5-xx-x Main motor cable, motor side Amp female connector 0.25 cable (40 base) Main motor SPL-MA04-M5-xx-x cable (60/80 Main motor cable, motor side Amp female connector 0.75 base) Multi-turn...
Page 15: Chapter 2 Servo System Specifications
Chapter 2 Servo System Specifications Chapter 2 Servo System Specifications Servo drive standard specifications 2.1.1 Servo drive electrical specifications Table 2-1 Drive list and electrical specifications Voltage level 220V Model M5-NS1R6A M5-NS2R8A M5-NS5R5A M5-NS7R6A Power level 200W 400W 750W Outline SIZE A SIZE B Phase...
Page 16 Support MODBUS communication protocol, only M5-P, M5-C series support Support CANopen communication protocol, follow CiA402 profile, only M5-C series support Support CoE and SoE communication protocol, follow CiA402 profile, only M5-N series EtherCAT support Connect the computer and the servo drive to debug and adjust the servo...
Page 17: Servo Motor Standard Specifications
Chapter 2 Servo System Specifications Torque control ±1% accuracy Performance Frequency 3kHz characteristics Control input Zero speed clamp, torque command symbol input, etc. Control output Speed arrival etc. Speed limit function The speed limit value can be set according to the parameters Servo motor standard specifications 2.2.1 Servo motor basic specifications Table 2-3 General basic specifications of servo motors...
Page 18: Servo Drive Dimensions
Chapter 2 Servo System Specifications Servo drive dimensions 1．SIZE A (Applicable drive: M5-NS1R6A, M5-NS2R8A) Fig.2-1 Dimensions for servo drive of SIZE A 2．SIZE B (Applicable drive: M5-NS5R5A, M5-NS7R6A) Fig.2-2 Dimensions for servo drive of SIZE B...
Page 19: Servo Motor Dimensions And Interface Definition
Chapter 2 Servo System Specifications Servo motor dimensions and interface definition 1. 40 base medium inertia servo motor (1) Dimensions Fig.2-3 Dimensions for 40 base medium inertia servo motor Table 2-5 Dimensions for 40 base medium inertia servo motor Model L(mm) SPM-SC*0401M**-L 67.7(95)
Page 20 Chapter 2 Servo System Specifications 2. 60 base medium inertia servo motor (1) Dimensions Fig.2-5 Dimensions for 60 base medium inertia servo motor Table 2-6 Dimensions for 60 base medium inertia servo motor Model L(mm) SPM-SC*0602M**-L 71.8(101) SPM-SC*0604M**-L 88.8(118.1) Note: Dimensions in parentheses is the dimension of the motor with brake. (2) Interface definition Motor connection specifications...
Page 21 Chapter 2 Servo System Specifications 3. 80 base medium inertia servo motor (1) Dimensions Fig.2-7 Dimensions for 80 base medium inertia servo motor Table 2-7 Dimensions for 80 base medium inertia servo motor Model L(mm) SPM-SC*0807M**-L 90.9(121.9) SPM-SC*0810M**-L 103.9(134.9) Note: Dimensions in parentheses is the dimension of the motor with brake. (2) Interface definition Motor connection specifications...
Page 22: Chapter 3 Installation Description
Chapter 3 Installation Description Chapter 3 Installation Description Servo drive installation 3.1.1 Installation site Installed in a cabinet free from direct sunlight or water droplets and rain  Avoid installing in dusty, metal powder, high temperature or humid places  It is strictly forbidden to install in places with corrosive or flammable and explosive gases ...
Page 23 Chapter 3 Installation Description SIZEB:Actual load ratio ≤80%). When installing multiple servo drives side by side, it is recommended to leave a spacing of more than 20mm on both sides of the horizontal installation (required for heat dissipation) and a spacing of more than 50mm on both sides of the vertical installation.
Page 24: Servo Motor Installation
Chapter 3 Installation Description Servo motor installation 3.2.1 Installation site It is strictly forbidden to install in places with corrosive or flammable and explosive gases  In places with metal powder, grinding fluid, oil mist, cutting, etc., please choose a motor with oil seal ...
Page 25: System Wiring Diagram
Chapter 3 Installation Description System wiring diagram Fig.3-3 Single-phase 220V servo system wiring diagram...
Page 26 Chapter 3 Installation Description Fig.3-4 Three-phase 220V servo system wiring diagram Note: Single-phase 220V system wiring is only applicable to 220V drive models of M5-NS5R5A and below Three-phase 220V system wiring is only applicable to 220V drive models of M5-NS5R5A and above System wiring should pay attention to: Make sure the power specifications and wiring of L1, L2, L3 are correct to avoid damage and danger to the ...
Page 27: Recommended Specifications For Circuit Breakers And Fuses
Chapter 3 Installation Description When using an external braking resistor, you need to disconnect the shorting piece between PB and IR,  and connect the resistor between P and PB; if you use an internal braking resistor, you can directly short-circuit PB and IR.
Page 28: Chapter 4 Wiring Of Servo System
Chapter 4 Wiring of Servo System Chapter 4 Wiring of Servo System This chapter introduces the wiring and cable connection of servo drive, as well as the issues needing attention. Do not open the cover until the power supply of the servo drive is completely disconnected for at least ◆...
Page 29: Servo Drive Main Circuit Connection
Name and function of servo drive main circuit terminals are as shown in Table 4-1, the cable specification is as shown in Table 4-2. Table 4-1 Name and function of M5-N series drive main circuit terminals Terminal name Terminal symbol...
Page 30: Servo Motor Encoder Signal Connection (Cn2)
Chapter 4 Wiring of Servo System Servo motor encoder signal connection (CN2) Fig.4-1 Servo motor encoder signal connection diagram The motor encoder interface of the M5-N servo drive supports absolute encoder, and the interface signals are defined in the table 4-3. Table 4-3 Encoder port definition Connection port: CN2, 1394 interface...
Page 31: Control Signal Interface Definition
Chapter 4 Wiring of Servo System Control signal interface definition The control signal includes digital input and digital output. The signal connection mode is DB15, and the drive end is a DB15 female seat. Fig.4-2 Control signal terminal definition diagram The control signal definitions are shown in the following table Table 4-4 Control signal definition table...
Page 32 DO3- 1. Digital input circuit M5-N series servo has 5 DI terminals in total. The DI common terminal can be connected to power supply or ground, and supports dry contact input, NPN input and PNP input. M5-N series servo does not provide 24 power supply to the outside, and the connection of DI uses external power supply.
Page 33 Chapter 4 Wiring of Servo System (3) PNP (source) mode The external controller is the PNP common emitter output, the wiring mode is as shown in Fig. 4-5. Fig.4-5 DI terminal PNP connection mode Note: The NPN and PNP modes of multiple DI terminals of the same drive cannot be mixed. 2.
Page 34 Chapter 4 Wiring of Servo System (3) Source (PNP) output When the controller input is a source input, the wiring mode is as shown in Fig.4-8. Fig.4-8 DO terminal source (PNP) output wiring mode...
Page 35: Communication Port Wiring
Chapter 4 Wiring of Servo System Communication port wiring M5-N series servo supports EtherCAT communication. The communication ports are CN3 and CN4, where CN3(IN) is connected to the host controller, and CN4(OUT) is connected to the next slave. Fig.4-9 Communication interface connection diagram Table 4-6 Communication port signal definition table Pin No.
Page 36: Chapter 5 Operation Panel
Chapter 5 Operation Panel Chapter 5 Operation Panel Interface introduction M5-N servo drive operating interface consists of five LED digital tube and 5 keys, it can be used for working status display and parameter settings. Interface appearance as shown in the figure below. Fig.5-1 Interface appearance Interface key functions as shown in the table below.
Page 37: Working Status Display
Chapter 5 Operation Panel Working status display M5-N servo drive can display the following several working status. Table 5-2 Servo drive function status and display LED display graphics Status description Symbol Power on initialization state, indicate that the system is at start or “rst”...
Page 38: Parameter Value Display
Chapter 5 Operation Panel 6. In the parameter setting level 1 menu, press ▼/▲ key to select the required parameter group and parameter serial number. 7. In the parameter setting level 1 menu, press the SET key to enter parameter setting level 2 menu to display the current value of the parameters.
Page 39: Chapter 6 Commissioning Instructions
Chapter 6 Commissioning Instructions Chapter 6 Commissioning Instructions Check before running Disconnect the servo motor from the load, the coupling connected to the motor shaft, and other related components. To prevent potential risks, check that the servo motor can work properly without load, and then connect the load.
Page 40: Electronic Gear
Chapter 6 Commissioning Instructions Electronic gear The use of "electronic gear" function, movement of the workpiece corresponding to the unit command pulse can be set to any value. In the system control,you can need not consider the mechanical reduction ratio and the number of encoder pulse.
Page 41 Chapter 6 Commissioning Instructions Fig.6-2 Electronic gear ratio function diagram Encoder resolution P05.05 When P05.05 is not 0, the electronic gear ratio , at this time, electronic gear ratio 1, electronic gear ratio 2, electronic gear ratio 3, and electronic gear ratio 4 are invalid. 2) Related function codes a.
Page 42 Chapter 6 Commissioning Instructions For an incremental encoder, encoder resolution = encoder lines * 4, for example, the resolution of a 2500-line incremental encoder is 2500*4=10000. b. Electronic gear ratio switching setting When P05.05 is 0, the electronic gear ratio switching function can be used. It should be determined whether it is necessary to switch among 4 sets of electronic gear ratios according to the mechanical operation, and the electronic gear ratio switching conditions should be set.
Page 43 Chapter 6 Commissioning Instructions d. Calculate the electronic gear ratio If the reduction ratio of the motor shaft and load shaft is m/n (i.e. the motor rotate m circle, load rotate n circle), × Encoder resolution P05.08 then: the displacement for load shaft rotate a circle（command unit） P05.09 Electronic gear ratio= The setting example is as follows...
Page 44: Brake Settings
Chapter 6 Commissioning Instructions Brake settings 6.4.1 Servo motor brake wiring diagram The brake signal connection has no polarity. The customer needs to prepare a 24V power supply. The standard connection of the brake signal BK and the brake power supply is as follows: Fig.6-3 Brake wiring diagram Note: It is best not to share the power supply with other electrical appliances to prevent the brake from...
Page 45 Chapter 6 Commissioning Instructions Note: ● After the brake output is set from OFF to ON, within the time set by P02.10, do not enter the speed / position / torque command, which will cause the command loss or operational errors; ●...
Page 46: The Brake Timing When The Servo Motor Is Rotating
Chapter 6 Commissioning Instructions c. From the brake output is set to ON to input command, the time interval should be more than the value set by P02.10; d. When the servo motor is stationary (motor speed is lower than P02.12), servo enable OFF, meanwhile brake output is set to OFF, you can set delay by P02.11 for the motor into a non-conducting state after the brake output is set to OFF.
Page 47 Chapter 6 Commissioning Instructions Fig.6-5 The brake timing when the servo motor is rotating As shown in Fig. 6-5, the brake function when the servo motor is rotating as follows: a. Servo enable is ON, the brake output is set to ON, meanwhile the motor enter into the power-on state; b.
Page 48: Servo Drive Fault Status Brake Timing
Chapter 6 Commissioning Instructions Servo OFF brake P02.13 command waiting 1~30000ms Immediate During running time 6.4.5 Servo drive fault status brake timing When a drive failure occurs, the motor immediately enter into the non-conductive state, meanwhile the brake output change from ON to OFF, the brake close.
Page 49: Chapter 7 Ethercat Communication
File over EtherCAT (FoE) The slave only needs to support the most suitable application protocol. M5-N drive bus function introduction M5-N series servo drivers implement EtherCAT communication (real-time Ethernet communication) and CANopen Drive Profile (CiA402) in its application layer. 7.2.1 M5-N communication specifications...
Page 50: Ethercat Network Reference Model
7.2.2 EtherCAT Network reference model Multiple kinds of application protocols are available for EtherCAT communication.The IEC 61800-7 (CiA 402)-CANopen motion control profile is used for M5-N series servo drives. The following figure shows the EtherCAT communication structure at CANopen application layer.
Page 51: Ethercat Network State Machine
Chapter 7 EtherCAT Communication The process data object (PDO) consists of objects in the object dictionary that can be mapped to by PDO. The contents of the PDO data are defined by the PDO map. While PDO data is read and written periodically and does not need to look up an object dictionary, mailbox communication (SDO) is aperiodic and looks up an object dictionary when reading and writing them.
Page 52: Process Data Pdo
The CoE protocol defines the PDO mapping object list of the Sync Manager using data objects 1C10h to 1C2Fh. Multiple PDOs can be mapped to different sub-indexes. The M5-N series servo drive supports assignment of four RPDO and four TPDO, as described in the following table.
Page 53: Mailbox Data Sdo
Chapter 7 EtherCAT Communication 6064 (Position actual value) 606C (Velocity actual value) 6041 (Status word) TPDO3 1A02h 6064 (Position actual value) 6041 (Status word) TPDO4 1A03h 6064 (Position actual value) 6077 (Torque actual value) 7.2.4.3 PDO configuration PDO mapping parameters contain indicators of the process data for PDOs, including the index, sub-index and mapping object length.
Page 54: Distributed Clock (Dc)
The DC enables all EtherCAT devices to use the same system time and allows synchronous execution of slave tasks. A slave can generate synchronous signals according to the synchronized system time. The M5-N series servo drive supports the DC synchronization mode. The synchronization cycle is determined by SYNC0. The cycle range varies with the operation mode, the typical synchronization cycle is 250us, 500us, 1ms, and 2ms.
Page 55 Chapter 7 EtherCAT Communication After the drive is powered on, the drive is initialized and goes to the SWITCH_ON_DISABLED state. In this case, you can configure the working mode of the drive while the main power is still off. After State Transition 2, 3, and 4, enter OPERATION ENABLE. At this point, the main power is on, and the drive controls the motor according to the configured working mode.
Page 56: Object Dictionary
Chapter 7 EtherCAT Communication Received Shut Down command Received Disable Voltage command Received Quick Stop or Disable Voltage command Received Quick Stop command Received Quick Stop or Disable Voltage command Drive error, automatic switch Drive error response complete, automatic switch Received Fault Reset command Received Enable Operation command 7.3.2 Object dictionary...
Page 57 Chapter 7 EtherCAT Communication Bit15~Bit11 Bit10~Bit9 Bit8 Bit7 Bit6~Bit4 Bit3 Bit2 Bit1 Bit0 Manufacture Fault Operation mode Enable Quick Enable Switch Reserved Halt specific reset specific operation stop voltage (In the table above, O: Optional; M: Mandatory.) The control commands consisting of Bit0~Bit3 and Bit7 of the control word are used to switch the state machine. The following table describes the defined control commands.
Page 58 Chapter 7 EtherCAT Communication Description Ready to switch on Switched on Operation enabled Fault Voltage enabled Quick stop Switch on disabled Warning Manufacturer specific Remote Target reached Internal limit active 12~13 Operation mode specific 14~15 Manufacturer specific Bit0~Bit3, Bit5, and Bit6 in the status word are used to indicate the state of the drive, as shown in the following table.
Page 59: Common Conversion Factor
Chapter 7 EtherCAT Communication 7.3.4 Common conversion factor User units and motor units internally controlled by the drive are often inconsistent. To facilitate the unification of units, the CiA 402 device specification provides a set of conversion factors for converting user units and motor units.
Page 60: Bus Operation Mode
Chapter 7 EtherCAT Communication Therefore, the numerator 6093-1h=8388608 and the denominator 6093-2h=5000 can be set. 7.3.4.2 Speed factor 1 (6095h) The actual meaning of speed factor 1 is: when the load speed is 1 user unit, the corresponding motor speed (unit: rpm).
Page 61: Profile Position Mode
Chapter 7 EtherCAT Communication Operation mode related objects are shown in the following table below, where 6060h is used to set the operation mode of the drive and 6061h is used to display the current operation mode of the drive. Index Object Code Name...
Page 62 Chapter 7 EtherCAT Communication 6066h Following error window time UINT16 RPDO Command 6067h Position window UINT32 RPDO unit 6068h Position window time UINT16 RPDO Command 607Ah Target position INT32 RPDO unit 607Eh Polarity UINT8 RPDO Command 607Fh Max profile velocity UINT32 RPDO unit...
Page 63 Chapter 7 EtherCAT Communication Status word in Profile Position Mode (PP) : Bit15~Bit14 Bit13 Bit12 Bit11 Bit10 Bit9~Bit0 Following Set-point Target reached error acknowledge Status word description in Profile Position Mode (PP) : Value Description Target position not reached Target reached Target position reached The target position can be updated Set-point...
Page 64: Profile Velocity Mode
Chapter 7 EtherCAT Communication Value Description Torque Torque instruction positive logic BIT5 instruction Torque instruction inverse logic polarity Speed Speed instruction positive logic BIT6 instruction Speed instruction inverse logic polarity Position Position instruction positive logic BIT7 instruction Position instruction inverse logic polarity 7.4.1.4 Basic configuration The following table describes the basic configuration of objects in Profile Position Mode (PP).
Page 65 Chapter 7 EtherCAT Communication Command 6064h Position actual value INT32 TPDO unit 6069h Velocity sensor actual value INT32 TPDO 606Bh Velocity actual value INT32 TPDO Command 606Ch Velocity actual value INT32 TPDO unit/s 606Dh Velocity window UINT16 RPDO 606Eh Velocity window time UINT16 RPDO 606Fh...
Page 66 Chapter 7 EtherCAT Communication 7.4.2.3 Function description • Control mode: set P02.00 = 8; • Running mode: Set 6060h = 3; • Target speed setting: Use 60FFh to set the target speed of the user unit, if necessary, set the speed factor 6095h;...
Page 67: Profile Torque Mode
Chapter 7 EtherCAT Communication 7.4.2.4 Basic configuration The following table describes the basic object configurations in Profile Velocity Mode (PV). RPDO object TPDO object Note Control word 6040h Status word 6041h Required Target speed 60FFh Required Speed actual value Optional 606Ch Optional, you can configure it as an SDO Other object...
Page 68 Chapter 7 EtherCAT Communication 6070h Velocity threshold time UINT16 RPDO 6071h Target torque INT16 RPDO 6072h Max Torque UINT16 RPDO 6074h Torque demand INT16 TPDO 6077h Torque actual value INT16 TPDO 607Eh Polarity UINT8 RPDO Command 607Fh Max profile velocity UINT32 RPDO unit/s...
Page 69 Chapter 7 EtherCAT Communication torque limiting 60E1h smaller value to set the positive and negative torque limiting value, or set the internal torque limiting channel, then the torque limiting is set according to the function code object dictionary 2006.0Fh(P06.14 positive torque limit value) and 2006.10h(P06.15 reverse torque limit value). •...
Page 70: Homing Mode
Chapter 7 EtherCAT Communication 7.4.4 Homing Mode The M5-N drive supports Homing Mode. In this mode, the drive returns to the specified position according to the set homing mode, homing speed, and homing offset. 7.4.4.1 Common object The following table lists the objects related to this mode. Object Index Name...
Page 71 Chapter 7 EtherCAT Communication Value Description 0->1 Start the Homing Homing start Homing in progress 1->0 End the Homing Status word in Homing: Bit15~Bit14 Bit13 Bit12 Bit11 Bit10 Bit9~Bit0 Homing error Homing attained Target reached Status word bit description in Homing : Value Description Target position not reached...
Page 72 Other object parameter. Homing Mode 7.4.4.5 To support more applications, the M5-N series servo system supports CANopen CiA402 Homing Mode 1-35. 0x6098 = 1  Reverse, negative limit switch as deceleration point and Z signal as home The current position of the motor is where the negative limit switch is invalid. When the homing is started, the negative limit switch is at a low level, and reverse high-speed returns to home.
Page 73 Chapter 7 EtherCAT Communication 0x6098 = 2  Forward, positive limit switch as deceleration point and Z signal as home The current position of the motor is where the positive limit switch is invalid. When the homing is started, the positive limit switch is at a low level, and forward high-speed returns to home.
Page 74 Chapter 7 EtherCAT Communication Forward, home switch as deceleration point and Z signal as home The current position of the motor is between the negative limit switch and the home switch. When the homing is started, the home switch is at a low level, and forward high-speed returns to home. After encountering the rising edge of the home switch, it runs at a high-speed in the reverse direction, when it encounters the falling edge of the home switch, and then run at low speed in the reverse direction, and stop at the rising edge of the Z signal.
Page 75 Chapter 7 EtherCAT Communication The current position of the motor is where the home switch is valid. When the homing is started, the home switch is at a high level, and reverse high-speed returns to home. After encountering the falling edge of the home switch, it runs at a high-speed in the forward direction, after encountering the rising edge of the home switch, it will find the rising edge of the Z signal at a forward low speed and stop.
Page 76 Chapter 7 EtherCAT Communication 0x6098 = 5  Reverse, home switch as deceleration point and Z signal as home The current position of the motor is between the positive limit switch and the home switch. When the homing is started, the home switch is at a low level, and reverse high-speed returns to home. After encountering the rising edge of the home switch, it will run forward at high speed.
Page 77 Chapter 7 EtherCAT Communication The current position of the motor is between the positive limit switch and the home switch. When the homing is started, the home switch is at a low level, and reverse high-speed returns to home. After encountering the rising edge of the home switch, it will run reverse at low speed, and stop when encountering the rising edge of Z signal.
Page 78 Chapter 7 EtherCAT Communication The current position of the motor is where the home switch is valid. When the homing is started, the home switch is at a high level, and reverse high-speed returns to home. After encountering the falling edge of the home switch, it runs at a low-speed in the reverse direction, and stop at the rising edge of the Z signal.
Page 79 Chapter 7 EtherCAT Communication 0x6098 = 8  Forward, home switch as deceleration point and Z signal as home The current position of the motor is between the negative limit switch and the home switch. When the homing is started, the home switch is at a low level, and forward high-speed returns to home. After encountering the rising edge of the home switch, it will run at low speed in the forward direction, and stop at the rising edge of the Z signal.
Page 80 Chapter 7 EtherCAT Communication 0x6098 = 9  Forward, home switch as deceleration point and Z signal as home The current position of the motor is between the negative limit switch and the home switch. When the homing is started, the home switch is at a low level, and forward high-speed returns to home. After encountering the falling edge of the home switch, it will run reverse at high speed, and when it encounters the rising edge of the home switch, it will run reverse at low speed, and stop at the rising edge of the Z signal.
Page 81 Chapter 7 EtherCAT Communication The current position of the motor is where the home switch is valid. When the homing is started, the home switch is at a high level, and forward high-speed returns to home. After encountering the falling edge of the home switch, it runs at a high-speed in the reverse direction, after encountering the rising edge of the home switch, it will run reverse at low speed, and stop at the rising edge of the Z signal.
Page 82 Chapter 7 EtherCAT Communication The current position of the motor is between the positive limit switch and the home switch. When the homing is started, the home switch is at a low level, and forward high-speed returns to home. After encountering the rising edge of the positive limit switch, and it will run at high speed in the reverse direction.
Page 83 Chapter 7 EtherCAT Communication The current position of the motor is between the negative limit switch and the home switch. When the homing is started, the home switch is at a low level, and reverse high-speed returns to home. After encountering the rising edge of the negative limit switch , it will run at high speed in the forward direction.
Page 84 Chapter 7 EtherCAT Communication 0x6098 = 12  Reverse, home switch as deceleration point and Z signal as home The current position of the motor is between the positive limit switch and the home switch. When the homing is started, the home switch is at a low level, and reverse high-speed returns to home. After encountering the rising edge of the home switch, it will run reverse at low speed, and stop at the rising edge of the Z signal.
Page 85 Chapter 7 EtherCAT Communication 0x6098 = 13  Reverse, home switch as deceleration point and Z signal as home The current position of the motor is between the positive limit switch and the home switch. When the homing is started, the home switch is at a low level, and reverse high-speed returns to home. After encountering the falling edge of the home switch, it will run at high speed in the reverse direction.
Page 86 Chapter 7 EtherCAT Communication The current position of the motor is where the home switch is valid. When the homing is started, the home switch is at a high level, and reverse high-speed returns to home. After encountering the falling edge of the home switch, it runs at a high-speed in the forward direction, after encountering the rising edge of the home switch, it will find the rising edge of the Z signal at a forward low speed and stop.
Page 87 Chapter 7 EtherCAT Communication The current position of the motor is between the negative limit switch and the home switch. When the homing is started, the home switch is at a low level, and reverse high-speed returns to home. After encountering the rising edge of the negative limit switch , it will run at high speed in the forward direction.
Page 88 Chapter 7 EtherCAT Communication 0x6098 = 17  Reverse, negative limit switch as deceleration point and home The current position of the motor is where the negative limit switch is invalid. When the homing is started, the negative limit switch is at a low level, and reverse high-speed returns to home. After encountering the rising edge of the negative limit switch, it runs at a low-speed in the forward direction, and stop when encountering the falling edge of the negative limit switch.
Page 89 Chapter 7 EtherCAT Communication The current position of the motor is where the positive limit switch is valid. When the homing is started, the positive limit switch is at a high level, it runs at a low-speed in the reverse direction, and stop when encountering the falling edge of the positive limit switch.
Page 90 Chapter 7 EtherCAT Communication of the home switch. The current position of the motor is where the home switch is valid. When the homing is started, the home switch is at a high level, and reverse high-speed returns to home. After encountering the falling edge of the home switch, it runs at a low-speed in the forward direction, and stop when encountering the rising edge of the home switch.
Page 91 Chapter 7 EtherCAT Communication 0x6098 = 22  Reverse, home switch as deceleration point and home The current position of the motor is where the home switch is invalid. When the homing is started, the home switch is at a low level, it runs at a low-speed in the reverse direction, and stop when encountering the rising edge of the home switch.
Page 92 Chapter 7 EtherCAT Communication The current position of the motor is between the positive limit switch and the home switch. When the homing is started, the home switch is at a low level, it runs at a high-speed in the forward direction. After encountering the rising edge of the positive limit switch, it runs at a high-speed in the reverse direction, when encountering the rising edge of the home switch, it runs at a low-speed in the reverse direction, and stop when encountering the falling edge of the home switch.
Page 93 Chapter 7 EtherCAT Communication started, the home switch is at a low level, it runs at a low-speed in the reverse direction, and stop when encountering the rising edge of the home switch. The current position of the motor is between the positive limit switch and the home switch. When the homing is started, the home switch is at a low level, it runs at a low-speed in the forward direction.
Page 94 Chapter 7 EtherCAT Communication 0x6098 = 25  Forward, home switch as deceleration point and home The current position of the motor is between the negative limit switch and the home switch. When the homing is started, the home switch is at a low level, it runs at a high-speed in the forward direction. After encountering the falling edge of the home switch, it runs at a low-speed in the reverse direction, and stop when encountering the rising edge of the home switch.
Page 95 Chapter 7 EtherCAT Communication 0x6098 = 26  Forward, home switch as deceleration point and home The current position of the motor is between the negative limit switch and the home switch. When the homing is started, the home switch is at a low level, it runs at a high-speed in the forward direction. After encountering the rising edge of the home switch, it runs at a low-speed in the forward direction, and stop when encountering the falling edge of the home switch.
Page 96 Chapter 7 EtherCAT Communication The current position of the motor is where the home switch is valid. When the homing is started, the home switch is at a high level, it runs at a low-speed in the forward direction, and stop when encountering the falling edge of the home switch.
Page 97 Chapter 7 EtherCAT Communication The current position of the motor is where the home switch is valid. When the homing is started, the home switch is at a high level, it runs at a low-speed in the forward direction, and stop when encountering the falling edge of the home switch.
Page 98 Chapter 7 EtherCAT Communication falling edge of the home switch, it runs at a low-speed in the reverse direction, and stop when encountering the rising edge of the home switch. The current position of the motor is where the home switch is valid. When the homing is started, the home switch is at a high level, it runs at a high -speed in the forward direction, when encountering the falling edge of the home switch, it runs at a low-speed in the reverse direction, and stop when encountering the rising edge of the home switch.
Page 99 Chapter 7 EtherCAT Communication The current position of the motor is between the negative limit switch and the home switch. When the homing is started, the home switch is at a low level, it runs at a high-speed in the reverse direction. After encountering the rising edge of the negative limit switch, it runs at a low-speed in the forward direction, and stop when encountering the rising edge of the home switch.
Page 100 Chapter 7 EtherCAT Communication The current position of the motor is between the negative limit switch and the home switch. When the homing is started, the home switch is at a low level, it runs at a high-speed in the reverse direction. After encountering the rising edge of the negative limit switch, it runs at a high-speed in the forward direction, when encountering the rising edge of the home switch, it runs at a low-speed in the reverse direction, and stop when encountering the falling edge of the home switch.
Page 101 Chapter 7 EtherCAT Communication When the current position of the motor is at the Z signal, the homing enable is triggered, and the current position is immediately remembered as the origin position to stop. When there is no Z signal between the current position of the motor and the negative limit switch, reverse low speed returns to home, after encountering the rising edge of the negative limit switch, it runs at a low-speed in the forward direction.
Page 102: Cyclic Synchronous Position Mode
Chapter 7 EtherCAT Communication When there is no Z signal between the current position of the motor and the positive limit switch, forward low speed returns to home, after encountering the rising edge of the positive limit switch, it runs at a low-speed in the reverse direction.
Page 103 Chapter 7 EtherCAT Communication Command 6067h Position window UINT32 RPDO unit 6068h Position window time UINT16 RPDO Command 607Ah Target position INT32 RPDO unit 607Eh Polarity UINT8 RPDO 6093h ARRAY Position factor UINT32 RPDO Command 60F4h Following error actual value INT32 TPDO unit...
Page 104: Cyclic Synchronous Velocity Mode
Chapter 7 EtherCAT Communication • Torque limiting setting: Select the torque limiting channel according to the function code object dictionary 2006.0Dh(P06.12 positive torque limiting channel) and 2006.0Eh(P06.13 negative torque limiting channel), the default bus torque limiting channel, use the maximum torque 6072h, positive torque limiting 60E0h, negative torque limiting 60E1h smaller value to set the positive and negative torque limiting value, or set the internal torque limiting channel, then the torque limiting is set according to the function code object dictionary 2006.0Fh(P06.14 •...
Page 105 Chapter 7 EtherCAT Communication Index Object Code Name Type Attr. Unit mapping 603Fh Error Code UINT16 TPDO 6040h Control word UINT16 RPDO 6041h Status word UINT16 TPDO 6060h Modes of operation INT8 RPDO 6061h Modes of operation display INT8 TPDO Command 606Ch Velocity actual value...
Page 106: Cyclic Synchronous Torque Mode
Chapter 7 EtherCAT Communication bus speed limiting, using the maximum profile speed 607Fh and the maximum motor speed 6080h setting, or set the internal speed limiting channel, then the speed limit is set according to the function code object dictionary 2007.0Bh(P07.10 forward speed limit) and 2007.0Dh(P07.12 reverse speed limit).
Page 107 Chapter 7 EtherCAT Communication 7.4.7.1 Common object The following table lists the objects related to this mode. Index Object Code Name Type Attr. Unit mapping 603Fh Error Code UINT16 TPDO 6040h Control word UINT16 RPDO 6041h Status word UINT16 TPDO 6060h Modes of operation INT8...
Page 108 Chapter 7 EtherCAT Communication Value Description Target torque not reached Target reached Target torque reached Torque instruction not followed Target torque ignored Torque instruction followed 7.4.7.3 Function description • Control mode: Set P02.00 = 8; • Running mode: Set 6060h = 10; •...
Page 109 Chapter 7 EtherCAT Communication bit10(target_reached) of the status word is immediately cleared when the difference between the actual torque feedback (6077h) and the torque reference value (2007.0Eh) is less than the torque arrival invalid value (2007.10h). 7.4.7.4 Basic configuration The following table describes the basic configuration of objects in Cyclic Synchronous Torque Mode (CST). RPDO object TPDO object Note...
Page 110: Chapter 8 Drive Parameter Object
Chapter 8 Drive Parameter Object Chapter 8 Drive Parameter Object M5-N Drive parameters The M5-N drive parameter object index is shown in the following table: Parameter Index Sub-index Note group 01h~ Number of parameters in Index of drive parameter =(2000h+ group number); 2000h this group Sub-index of the drive parameter = (the offset of the...
Page 111: Index 2001H(P01): Servo Motor Parameters
Chapter 8 Drive Parameter Object Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time Index 2001h(P01): Servo motor parameters 0: Motor parameters can be set 0x0001~0xFFFF: P01.00 Motor SN Immediate At stop Motor parameters are automatically set according to the number Depending...
Page 112 Chapter 8 Drive Parameter Object Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time N·M/A on model again Electrical constant Depending Power-on P01.15 0.01~650.00ms 0.01ms At stop on model again Mechanical Depending Power-on P01.16 0.01~650.00ms 0.01ms At stop constant Tm on model again...
Page 113: Index 2002H(P02): Basic Control Parameters
Chapter 8 Drive Parameter Object Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time Index 2002h(P02): Basic control parameters 0: Speed mode 1: Position mode 2: Torque mode 3: Speed mode ← → position mode ( 9th function switching) 4: Torque mode ←...
Page 114 Chapter 8 Drive Parameter Object Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time direction as the forward direction (reverse mode, B before A) P02.04 Reserved P02.05 Reserved P02.06 Reserved 0: Positive output (Z pulse is high level) Z pulse output During P02.07...
Page 115 Chapter 8 Drive Parameter Object Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time Minimum energy consumption Depending P02.14 resistor allowed by on model display drive Internal energy Depending P02.15 consumption on model display resistor power Internal energy Depending P02.16 consumption...
Page 116: Index 2003H(P03): Digital Input And Output Terminal Parameters
Chapter 8 Drive Parameter Object Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time initialization changing status 1: Clear fault memory information 2: Restore to leave-factory value 0: Switching display P11.00 1: Switching display P11.01 2: Switching display P11.02 LED display During...
Page 117 Chapter 8 Drive Parameter Object Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time operation reference switching 3 8: Multi-segment operation reference switching 4 9: Control mode switching 1 10: Control mode switching 2 11: Zero servo enable terminal 12: Pulse input disable...
Page 118 Chapter 8 Drive Parameter Object Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time direction switching 28: Multi-segment/ single-point position command enable 29: Position deviation counter is cleared 30: Interrupt positioning state release 31: Interrupt positioning prohibition 32: Home switch 33: Homing enable 34: Emergency stop...
Page 119 Chapter 8 Drive Parameter Object Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time Tens place of LED: BIT0: DI5 Binary setting: 0: Disabled 1: Enabled Virtual input During P03.14 Unit place of LED: Immediate terminal setting running BIT0~BIT3: DI1~DI4 Tens place of LED:...
Page 120: Index 2005H(P05): Position Control Parameters
Chapter 8 Drive Parameter Object Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time 17: Electrical homing completed 18: Brake output (brake output signal) 19: Torque arrival signal 20: FWD/REV indication terminal 21: Reserved 22: Positioning position arrival 1 23: Positioning position arrival 2 24: Positioning...
Page 121 Chapter 8 Drive Parameter Object Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time 0: Low-speed Pulse command terminal P05.01 input terminal Immediate At stop 1: High-speed selection terminal 0: A/B phase pulse Pulse command P05.02 1: PULS+SIGN Immediate At stop mode...
Page 122 Chapter 8 Drive Parameter Object Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time 1: Real-time switching 0: Clear position deviation when servo enable is OFF or stopped 1: Clear position deviation when the Position deviation servo enable is OFF P05.14 clearing method or a fault/alarm...
Page 123 Chapter 8 Drive Parameter Object Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time completed 1: Position deviation absolute value smaller than amplitude of positioning completed and position reference after filter being 0 2: Position deviation absolute value smaller than amplitude of positioning...
Page 124 Chapter 8 Drive Parameter Object Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time occurs, according to the time to slow down Absolute position rotation mode P05.25 1~65535 Immediate At stop mechanical gear ratio numerator Absolute position rotation mode P05.26 1~65535...
Page 125: Index 2006H(P06): Speed Control Parameters
Chapter 8 Drive Parameter Object Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time after homing Software limit -2147483647~21474 P05.32 comman 2147483647 Immediate At stop maximum point 83647 d unit Software limit -2147483647~21474 P05.33 comman -2147483648 Immediate At stop minimum point 83647...
Page 126 Chapter 8 Drive Parameter Object Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time Maximum speed During P06.09 0.0~6000.0rpm 0.1rpm 6000.0 Immediate threshold running Forward speed During P06.10 0.0~6000.0rpm 0.1rpm 6000.0 Immediate threshold running Reverse speed During P06.11 0.0~6000.0rpm 0.1rpm...
Page 127: Index 2007H(P07): Torque Control Parameters
Chapter 8 Drive Parameter Object Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time control selection 1: Internal torque feedforward (Use the speed instruction as a source of torque feedforward signals. In position control mode, the speed instruction comes from the output of the position controller.)
Page 128 Chapter 8 Drive Parameter Object Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time Torque digital During P07.03 -400.0%~+400.0% 0.1% Immediate reference value running Torque reference P07.04 acceleration/ 0~6553.5ms 0.1ms Immediate At stop deceleration time Torque command P07.05 0~30.0ms 0.1ms...
Page 129: Index 2008H(P08): Gain Parameters
Chapter 8 Drive Parameter Object Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time Torque reached During P07.15 0.0~400.0% 0.1% 10.0 Immediate invalid value running Index 2008h(P08): Gain parameters Speed loop During P08.00 0.1~5000.0Hz 0.1Hz 20.0 Immediate proportional gain 1 running Speed loop...
Page 130 Chapter 8 Drive Parameter Object Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time high and low speed threshold 8: Position command 9: Positioning uncompleted 10: Position command + actual speed Gain switching During P08.10 0~1000ms Immediate delay time running Switch...
Page 131: Index 2009H(P09): Adjustment Parameters
Chapter 8 Drive Parameter Object Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time filter time) PDFF (pseudo-differentia l feedforward) During P08.19 control coefficient 0.0~100.0% 0.1% 100.0 Immediate running (in non-torque control mode, reserved) Index 2009h(P09): Adjustment parameters Offline inertia P09.00 identification...
Page 132 Chapter 8 Drive Parameter Object Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time self-adjustment mode, use the rigidity table to automatically adjust the gain parameters 2: Positioning mode, use the rigidity table to automatically adjust the gain parameters P09.07 Rigidity level...
Page 133 Chapter 8 Drive Parameter Object Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time Notch filter 2 P09.12 0~8000Hz Immediate At stop frequency P09.13 Notch filter 2 width 10~4000Hz Immediate At stop Notch filter 3 P09.14 0~8000Hz Immediate At stop frequency...
Page 134 Chapter 8 Drive Parameter Object Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time resonance running frequency filter setting Low frequency resonance position P09.28 1~1000P Immediate At stop deviation judgment threshold Torque command During P09.29 offset (vertical axis -300.00%~300.00% 0.01% 0.00...
Page 135: Index 200Ah(P10): Fault And Protection Parameters
Chapter 8 Drive Parameter Object Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time effective position Load moment of P09.38 0.00~120.00 0.01 1.00 Immediate At stop inertia ratio Index 200Ah(P10): Fault and protection parameters 0: Activate protection upon input and output phase loss 1: No protection upon...
Page 136 Chapter 8 Drive Parameter Object Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time selection (reserved) 0: Shielded motor stall over-temperature Stall over protection detection P10.09 temperature Immediate At stop protection enable 1: Enable motor stall over-temperature protection detection Stall over temperature...
Page 137 Chapter 8 Drive Parameter Object Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time P10.16 Reserved P10.17 Reserved 0: No abnormal record 1: Over-current 2: Main circuit overvoltage 3: Reserved 4: Motor blocked 5: Reserved 6: Phase loss on the input side 7: Phase loss on the output side...
Page 138 Chapter 8 Drive Parameter Object Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time error 23: Reserved 24: Reserved 25: Inverter module sampling disconnection protection 26: Reserved 27: Overspeed (the actual speed of the servo motor exceeds the overspeed fault threshold) 28~30: Reserved...
Page 139 Chapter 8 Drive Parameter Object Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time 46: Short circuit to ground at power-on 47: Reserved 48: Internal logic error 49: Internal logic error 50: EtherCAT initialization error (only supported by EtherCAT version) 51: EtherCAT parameter mapping...
Page 140 Chapter 8 Drive Parameter Object Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time 75: Absolute encoder battery undervoltage 76: Absolute encoder battery disconnection 77: The actual encoder type is inconsistent with that read by P01.00 78: Parameter not stored in EEPROM of absolute encoder 79: Absolute encoder...
Page 141 Chapter 8 Drive Parameter Object Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time feedback value at display the last fault Q-axis current P10.27 feedback value at 0.0~999.9A 0.1A display the last fault Speed at the last P10.28 -6000.0~6000.0rpm 0.1rpm...
Page 142 Chapter 8 Drive Parameter Object Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time the second fault Q-axis current P10.40 feedback value at 0.0~999.9A 0.1A display the second fault Speed at the P10.41 -6000.0~6000.0rpm 0.1rpm second fault display Encoder position feedback at the...
Page 143: Index 200Bh(P11): Display Parameters
Chapter 8 Drive Parameter Object Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time Q-axis current P10.53 feedback value at 0.0~999.9A 0.1A display the first fault Speed at the first P10.54 -6000.0~6000.0rpm 0.1rpm fault display Encoder position feedback at the -2147483648~21474 P10.55...
Page 144 Chapter 8 Drive Parameter Object Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time P11.07 Reserved P11.08 Reserved P11.09 Bus voltage 0~900V display P11.10 Reserved 0~FFFFH Bit 0: RUN/STOP Bit 1: REV/FWD Bit 2: Running at zero speed Bit 3: Accelerating Bit 4: Decelerating...
Page 145 Chapter 8 Drive Parameter Object Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time refreshed synchronously P11.14 Reserved P11.17 Motor encoder 0~4 times motor P11.18 counter value encoder lines -1 display P11.19 Reserved Number of input -2147483648~21474 P11.20 pulses 83647...
Page 146 Chapter 8 Drive Parameter Object Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time Absolute encoder P11.33 0~65535r rotation data display Load moment of P11.34 0.00~120.00 0.01 inertia ratio display Machine current absolute position (command unit) Absolute position = mechanical Comman P11.35...
Page 147: Index 200Ch(P12): Servo Positioning Parameters
Chapter 8 Drive Parameter Object Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time Encoder unit Rotating load In absolute position Comman P11.42 single-turn position rotation mode, the d unit display unit of position Mechanical angle command within one Encoder P11.43 (number of pulses...
Page 148 Chapter 8 Drive Parameter Object Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time 2: Forward, motor Z signal as deceleration point and home 3: Reverse, motor Z signal as deceleration point and home 4: Forward, home switch as deceleration point and Z signal as home...
Page 149 Chapter 8 Drive Parameter Object Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time deceleration curve selection High speed home P12.05 0.0~1000.0rpm 0.1rpm 100.0 Immediate At stop searching speed Low speed home P12.06 0.0~1000.0rpm 0.1rpm 10.0 Immediate At stop searching speed Home...
Page 150: Index 2011H(P17): Ethercat Communication Parameters
Chapter 8 Drive Parameter Object Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time offset position segment. After the execution is completed, the position feedback 6064h = 607Ch 0: Receiving new positioning signal in the process of positioning, no response Positioning timing...
Page 151 Chapter 8 Drive Parameter Object Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time 3: Profile Velocity Mode 4: Profile Torque Mode 6: Homing Mode 8: Cyclic Synchronous Position Mode 9: Cyclic Synchronous Velocity Mode 10: Cyclic Synchronous Torque Mode 0x6040 Control...
Page 152 Chapter 8 Drive Parameter Object Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time P17.15 0x607E Polarity 0~65535 display 0x6081 Profile P17.16 0~2147483647 speed display 0x6041 Status P17.17 0~65535 word display 0x6061 Control P17.18 0~65535 mode display 0x6064 Position -2147483648~21474 P17.19...
Page 153: Index 2012H(P18): Advanced Parameters
Chapter 8 Drive Parameter Object Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time Index 2012h(P18): Advanced parameters P18.00 User password 1: VC 2: IF (P02.00 is invalid at this time, Drive operation P18.01 and the speed Immediate At stop mode...
Page 154: Slave Station Address Assignment Function
Chapter 8 Drive Parameter Object Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time Zero speed torque P20.11 0~65535 Immediate At stop limiter 0: The bus cannot Er.076 Fault reset reset 76 fault P20.13 Immediate At stop selection 1: The bus can reset 76 fault...
Page 155: Chapter 9 Troubleshooting
Chapter 9 Troubleshooting Chapter 9 Troubleshooting The drive has two protection levels: Fault and Alarm. When the drive fault or alarm occurs, the high byte of 0x603f is 0xff, and the low byte is the drive fault code or alarm code. For details, see P10.18. please refer to the bit7 of 0x6041 to determine whether it is a fault or alarm, bit7=1 indicates an alarm, otherwise fault.
Page 156 Chapter 9 Troubleshooting Fault code Fault type Fault cause Confirming method Solutions Measure the resistance If the resistor is open, replace the The braking resistor fails. between P and PB. external braking resistor. External braking resistor value does not match (The resistance of the Select the appropriate braking Confirm the braking...
Page 157 Chapter 9 Troubleshooting Fault code Fault type Fault cause Confirming method Solutions Whether the fan is The fan is damaged. Replace the fan running when running The cable of the external Check the braking braking resistor is in poor resistor wiring according Rewire according to the correct connection, becomes to the correct wiring...
Page 158 Chapter 9 Troubleshooting Fault code Fault type Fault cause Confirming method Solutions overload The load is too heavy. Confirm the overload The motor keeps output characteristic and Increase the drive, motor capacity, of effective torque higher operation instructions of reduce the load, increase the than the rated torque for a the servo drive or servo acceleration and deceleration time.
Page 159 Chapter 9 Troubleshooting Fault code Fault type Fault cause Confirming method Solutions The communication cable Check whether the Reconnect the communication is wired incorrectly or communication cable is cable, or replace the communication unreliably connected, correct and reliable. cable. disconnected, etc. Check whether the Improper setting of fault P15.02 setting is too...
Page 160 Chapter 9 Troubleshooting Fault code Fault type Fault cause Confirming method Solutions The temperature Inverter module sampling circuit is Seek for service support temperature abnormal. Er.025 sampling The temperature sensor disconnection or signal cable is Seek for service support protection abnormal.
Page 161 Chapter 9 Troubleshooting Fault code Fault type Fault cause Confirming method Solutions Use the speed change mode to run Encoder Check whether P11.33 The multi-turn count the motor to stagger the multi-turn Er.031 multi-turn count exceeds the maximum exceeds 65535. overflow position or shield the overflow number of encoder turns.
Page 162 Chapter 9 Troubleshooting Fault code Fault type Fault cause Confirming method Solutions Disconnect the UVW The power output cables from the motor, cables (UVW) of the and measure whether Connect the cables again or replace servo drive are short the motor UVW cables them.
Page 163 Chapter 9 Troubleshooting Fault code Fault type Fault cause Confirming method Solutions The ASIC The controller is not The controller programs The fault cannot be reset, and the Er.065 EEPROM was not programmed ASIC the EEPROM according controller programs the EEPROM programmed EEPROM to the description file...
Page 164 Chapter 9 Troubleshooting Fault code Fault type Fault cause Confirming method Solutions Absolute encoder EEPROM Er.084 ---------- ----------- Seek for service support parameter read error All the possible alarm types for M5-N are summarized as shown in table 9-2. Table 9-2 Alarm code table Alarm code Alarm type Alarm cause...
Page 165 Chapter 9 Troubleshooting Alarm code Alarm type Alarm cause Confirming method Solutions communication The communication cable is Check whether the Reconnect the communication wired incorrectly or communication cable is cable, or replace the communication unreliably connected, correct and reliable. cable. disconnected, etc.
Page 166 Chapter 9 Troubleshooting Alarm code Alarm type Alarm cause Confirming method Solutions Interrupt Enable interrupt positioning Check the servo Interrupt positioning operation in AL.062 positioning command at zero speed. operation status. non-zero speed state. warning When the operation is enabled, it will report low, and if it is not Absolute Absolute encoder battery...
Page 167: Appendix 1 Warranty And Service
(such as unsatisfactory performance and function), please contact your product agent or Shenzhen Megmeet Electric Co., Ltd.. 2) In case of any abnormality, please timely contact your product provider or Shenzhen Megmeet Electric Co., Ltd. for help.
Page 168 Parameter record table...
Page 169 Shenzhen Megmeet Electric Co., Ltd. Shenzhen Megmeet Electric Co., Ltd. M5-N Series Servo Drive Warranty Bill M5-N Series Servo Drive Warranty Bill Customer company: Customer company: Detailed address: Detailed address: Postal Code: Contact: Postal Code: Contact : Tel: Fax: Tel:...

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M5-ns1r6a M5-ns2r8a M5-ns5r5a M5-ns7r6a

Megmeet M5-N Series User Manual

Chapter 1 M5-N Servo System Selection

Chapter 2 Servo System Specifications

Chapter 3 Installation Description

Chapter 4 Wiring of Servo System

Chapter 5 Operation Panel

Chapter 6 Commissioning Instructions

Chapter 7 Ethercat Communication

Chapter 8 Drive Parameter Object

Chapter 9 Troubleshooting

Appendix 1 Warranty and Service

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