1. Manuals
  2. Brands
  3. WEIHONG Manuals
  4. Controller
  5. VT320E
  6. Instruction manual

WEIHONG VT320E Instruction Manual

Follow-up controller
Hide thumbs
Table of Contents

Advertisement

Quick Links

Download this manual
Preface
Preface
First of all, thank you for choosing the VT320E follow-up controller developed by Weihong!
This manual introduces the use of VT320E servo controller in detail, including functional characteristic, installation instruction,
operation method, etc.
Before installing and using this product, please read this manual carefully, which will help you quickly become familiar with the
product and use it better.
In order to continue to provide more professional products, we will continue to upgrade product functions. The information
provided is subject to change without prior notice. If you have any questions about product use or have any suggestions about
our products and services, please feel free to contact us.
Contact Us:
Company Name: Shanghai Weihong Electronic Technology Co., Ltd.
Headquarters address: No. 1590, Huhang Highway, Fengxian District, Shanghai
Post code: 201401
Tel: 400-882-9188
Fax: 021-33587519
E-mail: weihong@weihong.com.cn
Official website:
http://www.weihong.com.cn
Modify Record:
V ER S IO N
D ATE
D ES CR IPTIO N
R1
2023.09.27
VT320E 1st version established.

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the VT320E and is the answer not in the manual?

Questions and answers

Subscribe to Our Youtube Channel

Related Manuals for WEIHONG VT320E

Summary of Contents for WEIHONG VT320E

  • Page 1 Preface First of all, thank you for choosing the VT320E follow-up controller developed by Weihong! This manual introduces the use of VT320E servo controller in detail, including functional characteristic, installation instruction, operation method, etc. Before installing and using this product, please read this manual carefully, which will help you quickly become familiar with the product and use it better.

  • Page 2: Safety Instruction

    Safety Instruction Safety Instruction Before using this control system, please read this manual carefully before performing related operations. Read this manual and user safety instructions carefully, and take necessary safety precautions. If users have other needs, please contact our company. Working Environment Requirement Please store and use this product under the following environmental conditions.
  • Page 3 The modification of parameters must be within the allowable range of the system (including mechanical and servo drive). Exceeding the allowable range may cause system instability or damage the machine. Precautions for Use: Before power on, make sure the switch is in the off position to avoid unexpected start up. In order to avoid or reduce the effect of electromagnetic interference to follow-up controller.

  • Page 4: Product Introduction

    Product Introduction Product Introduction VT320E is a slave controller that supports EtherCAT communication and is used as a slave station in the EtherCAT bus communication system. VT320E uses a reliable closed-loop control method and greatly improves the sampling rate, so it has good dynamic response performance and ultra-high positioning accuracy.

  • Page 5: Technical Features

    For connecting pre-capacitor amplifier SE001. interface miniUSB Used to connect and debug the host computer. Technical Features The technical features of VT320E are as follows. ITEM D ES CR IPTIO N Power input 24VDC±10%, 0.5A (output port closed), with anti-reverse connection protection.
  • Page 6 ITEM D ES CR IPTIO N Channel number: 4 Maximum switching frequency: 1kHz Digital output port Support maximum sink current input:100mA Maximum leakage current:100μA Brake port Output voltage: 24VDC@1A(max) Working Environment Requirement Please store and use this product under the following environmental conditions. ITEM R EQ U IR EMENT ℃～...
  • Page 7 System Connection and Interface Description System Connection and Interface Description VT320E external device is as follows. Precapacitor Amplifier Interface The sensor M16 interface is as follows. See the following table for the pin number definition of the sensor M16 interface: PIN NO.

  • Page 8: Input/Output Interface

    Servo Drive Interface The following is a three-row DB15 servo drive interface. For the pin number definition of the three-row DB15 servo drive interface, please refer to the following table: PIN NO. D EFINITIO N PIN NO. D EFINITIO N A + (encoder A-phase positive) SON (servo enable signal) A - (encoder A-phase negative)
  • Page 9 The pin number definition of the input/output interface is shown in the following table: PIN NO. D EFINITIO N PIN NO. D EFINITIO N Output 0 reserved Input 0 upper limit Output 1 reserved Input 1 emergency stop Output 2 reserved Input 2 lower limit Output 3 reserved Input 3 reserved...

  • Page 10: Power Interface

    NAME D ES CR IPTIO N Connect the IN of the next level EtherCAT slave station Power Interface The power terminal is a three-core terminal, which are +24V, 0V, and PE from left to right. NAME D ES CR IPTIO N +24V Connect to 24 V or positive terminal of DC power supply Connect to 0V/COM or negative terminal of DC power supply...

  • Page 11: Installation Precautions

    The metal structural parts of the machine tool and the shell of SE001 are the negative pole of the capacitor under test. In order to ensure the stable operation of the SE001 measurement circuit, the ground pin of the power interface of VT320E must be reliably connected to the metal structural parts of the machine tool (that is, it is well connected with the machine tool).
  • Page 12 The follow-up controller is installed in a guide rail type (DIN 35*7.5mm). To facilitate wiring, please leave 100mm space at the top, bottom, left and right, and keep it ventilated. The front view and side view of VT320E are as follows (unit: mm): The VT320E installation rails are as follows:...
  • Page 13 SE001 front view and rear view (dimension drawing) are as follows (unit: mm):...
  • Page 14 Overview Overview After the VT320E follow-up control system is correctly wired, debugging work is required before using the system. The basic debugging process includes: 1. According to the drive used, set the corresponding servo parameters. For details, please see Description of Select Different Drives.
  • Page 15 Set Mechanical Parameter Set Mechanical Parameter Setting the correct mechanical parameters is used to ensure that the machine tool's running direction, speed, etc. are consistent with the control direction, speed, etc. Avoid damage to the machine tool or unexpected situations caused by inconsistent axis directions, speeds, etc.
  • Page 16 Encoder Direction The direction of encoder pulse feedback. Brake Release Delay After the follow-up controller gives the servo enable signal, it delays the time to release the brake. Servo Type Classification Different servo, the control logic of zero-speed clamp, the logic of input and output signals and the system control parameters are different, so the corresponding servo type needs to be set.
  • Page 17 First enter the test mode and perform function testing of the servo analog quantity by setting Test_AVO (0x2400_0x01) When Test_AVO(0x2400_0x01) is set to , according to the servo direction setting, VT320E will move downward (positive direction) at a speed of 1/50 of the maximum speed for 1s When Test_AVO(0x2400_0x01) is set to...

  • Page 18: Operation Step

    After touching the upper limit switch, retract the distance and set this position as the machine Retract distance coordinate origin 2. Operate to execute the action of returning to machine origin. Motor Control Note: Quickly Set the Machine Origin: VT320E can operate SetZero (0x2100_0x04) to quickly set the current position as machine origin.
  • Page 19 Perform Servo Calibration Perform Servo Calibration The main function of servo calibration is to detect and compensate the zero drift voltage of the servo motor to ensure that the follow-up controller can accurately control the movement of the servo motor. Due to servo calibration, the motor may oscillate back and forth in a small amplitude.
  • Page 20 Perform Capacitance Calibration Perform Capacitance Calibration The main function of capacitance calibration is to detect and calibrate the distance between the precapacitance amplifier and the workpiece to ensure that the follow-up controller can accurately control the servo motor to follow. During capacitance calibration, the cutting head will first approach the workpiece slowly and then slowly lift up.
  • Page 21 PAR AME TER NAME D ES CR IPTIO N The stability of the calibration curve is automatically generated after the calibration is completed. When the stability is Stability Excellent or Good, the calibration result is considered to be good and can be followed normally. The smoothness of the calibration curve is automatically generated after the calibration is completed.
  • Page 22 Detect Follow and Lift Detect Follow and Lift After setting the correct mechanical parameter and completing servo calibration and capacitor calibration, you can turn on and off the follow-up by operating . Perform the switch follow action to verify whether the following function is normal. Motor Control ...

  • Page 23: Parameter Description

    Parameter Description Parameter Description 0x2100 Parameter Save (Save) Set Save to , VT320E performs the operation of writing parameters to FLASH once (the parameters are not lost after TRUE power failure) Restore Default Parameter (Restore) Set Restore to , and VT320E will perform the operation of restoring all parameters to factory default parameters once...
  • Page 24 Set the follow mode when VT320E follow ON, direct follow or pierce. One-stage Pierce Height (One-StagePierceHeight) The piercing height when performing the first level piercing. One-Stage Pierce Delay (One-StagePierceDelay) The time required to keep this height when first level piercing.
  • Page 25 Whether to Zero Return when Power On (HomeAfterPower) Set whether to automatically return to machine origin after power-on. Return to Berth after Zero Return (BerthAfterHome) Set whether to automatically return to the berth position after returning to machine origin. Zero Return Speed (HomingSpeed) Set the movement speed when returning to machine origin.
  • Page 26 The pulse number per revolution and pitch need to satisfy the formula: Pulse equivalent = pitch*1000/pulse number per revolution , which can be divisible to 1 decimal place to ensure that the speed is correct. Example: When the current pitch is 10mm, the pulse number per revolution should be set to 10000, 20000, 50000, 100000 to ensure normal speed.
  • Page 27 Follow-up Touch Part Delay (FollowTouchDelay) When the follow-up controller is in the follow-up state, if the duration of the touch part reaches this time, the touch part alarm will be displayed on the interface, and the input/output interface will output the alarm status. When this value is set to 0, the touch part alarm during follow-up will be disabled.
  • Page 28 Digital filter time of IO port. Follow-up Filter Time (FollowFilterTime) The filter time of the follow-up control output. 0x210B Controller Enable Switch (VT_Enable) As a slave controller, VT320E requires external control enable. VT320E can work normally only when the controller enable is valid.

  • Page 29: Function Introduction

    Edge Finding Function Edge Finding Function Function Introduction In the edge finding mode, according to the horizontal movement of the host computer, the characteristics of the capacitive sensor can be used to accurately find the out edge point of the relative workpiece, auxiliary the host computer to complete position judgment, and realize the function of tube positioning.
  • Page 30 3. VT320E collects the body capacitance after receiving the IO Cal Signal signal. 4. After collection success, output Capacitance Correction Successful, if collection fails, output Capacitance Correction Failed 5. After collection success, when the cutting head is at the berth position during the machining process, after VT320E receives...
  • Page 31 ON action. During the machining process, when the cutting head is at the berth position, if VT320E does not receive the IO Cal Signal signal input, the follow-up controller uses the previous compensation data or does not compensate for the capacitance.

  • Page 32: Common Troubleshooting

    Possible Cause: When the No.8 pin ALM signal of the VT320E servo interface detects a servo alarm signal input, a servo alarm will be generated. Since the high/low level logic of the alarm is different for different servos, the "Servo Type" parameter must be set correctly.
  • Page 33 The status bar on the main page displays Cutting Head Capacitance Abnormally Increase. Possible Cause: The following reasons may cause an abnormal capacitance alarm on the VT320E: The nozzle, cutting head body and other components are loose. The temperature of the cutting head nozzle changes too much.
  • Page 34 The amplifier is damaged. There is a short circuit or open circuit in the connection between the follow-up controller, amplifier, and cutting head. Processing Method: Select the corresponding processing method based on different reasons. R E AS O N PR O CES S ING ME THO D The cutting head touch the workpiece Move the cutting head away from the workpiece.
  • Page 35 The status bar on the main page displays Body Capacitance Abnormal. Possible Cause: The following reasons may generate the body capacitance abnormal alarm on VT320E: The capacitive induction loop has device loose. The cutting head nozzle temperature changes too much.
  • Page 36 Soft Upper/Lower Limit Alarm Fault Phenomenon: The status bar on the main page displays Soft Limit Alarm. Possible Cause: The follow-up axis does not return to origin. Follow-up axis travel set wrong. Processing Method: Select the corresponding processing method based on different reasons. R E AS O N PR O CES S ING ME THO D The follow-up axis does not return to origin...
  • Page 37 The cutting head moves to the edge of the workpiece, and there have miss-part phenomenon. The workpiece surface is uneven. Processing Method: Select the corresponding processing method based on different reasons. R E AS O N PR O CES S ING ME THO D The cutting head moves to the edge of the Avoid moving the cutting head to the edge of the workpiece.
  • Page 38 R E AS O N PR O CES S ING ME THO D Parameter setting is 1. Reduce follow-up sensitivity, follow speed, and follow acceleration; 2. Improve vibration suppression unreasonable level. 1. Connect the device shell to the nearby ground pile; Poor grounding 2.
  • Page 39 VT320E Object Dictionary VT320E Object Dictionary Process Data ( Process Data ) Output P D O ( P LC to V T ) Output P D O ( P LC to V T ) IND E X D ATA PD O IND E X...
  • Page 40 V ALU E D ES CR IPTIO N Other value Invalid operation I nput P D O ( V T to P LC ) I nput P D O ( V T to P LC ) IND E X D ATA PD O IND E X O B JECT S U B - IND E X T YPE...
  • Page 41 IND E X D ATA PD O IND E X O B JECT S U B - IND E X T YPE O B JECT NAME D ES CR IPTIO N 0x1A04 CapZero 0x3004 0x05 Capacitance zero alarm 0x1A04 Bump 0x3004 0x06 Touch part alarm...
  • Page 42 IND E X D ATA PD O IND E X O B JECT S U B - IND E X T YPE O B JECT NAME D ES CR IPTIO N 0x1A07 Servo_RstALM 0x3007 0x03 Servo alarm clear 0x1A07 Servo_SON 0x3007 0x04 Servo enable...
  • Page 43 V ALU E D ES CR IPTIO N 0x05 Save FLASH failed Service Data ( Service Data ) Parameter Type D ata Parameter Type D ata O B JECT S U B - IND E X D ATA T YPE O B JECT NAME IND E X NO.
  • Page 44 IND E X D ATA O B JECT S U B - T YPE O B JECT NAME IND E X NO. AT TR IB U TE R EMAR K D ES CR IPTIO N Second level pierce 0x2102 Two-StagePierceHeight 0x09 Unit: um height...
  • Page 45 IND E X D ATA O B JECT S U B - T YPE O B JECT NAME IND E X NO. AT TR IB U TE R EMAR K D ES CR IPTIO N 0x2106 S-VGain 0x03 Speed gain Unit: r/min/V Pulse number per 0x2106...
  • Page 46 IND E X D ATA O B JECT S U B - T YPE O B JECT NAME IND E X NO. AT TR IB U TE R EMAR K D ES CR IPTIO N Miss-part alarm 0: Disable 0x2107 Miss-PartDetect 0x08 switch...
  • Page 47 IND E X D ATA O B JECT S U B - IND E X T YPE O B JECT NAME AT TR IB U TE R EMAR K D ES CR IPTIO N 0x2200 SampleValidValue 0x02 Calibration data valid value 0: Excellent 1: Good 0x2200...
  • Page 48 Note: Servo calibration result code description: V ALU E D ES CR IPTIO N 0x00 Servo calibration has not effective start 0x01 Normal calibration successful 0x03 The motor speed is greater than the zero-drift maximum speed 100r/min 0x04 Calibration time exceeds 4s, failure 0x07 Servo alarm 0x08...
  • Page 49 O B JECT S U B - IND E X D ATA IND E X T YPE O B JECT NAME AT TR IB U TE R EMAR K D ES CR IPTIO N Registration 0x2300 RegisterCode2 0x0B code Registration 0x2300 RegisterCode3 0x0C...
  • Page 50 Make sure that the shield layer of the control signal line is connected to the servo drive shell, and ensure that the servo drive is well grounded. Wise Servo In the Mechanical Parameter of VT320E, select Servo Type as 1: Yaskawa, Delta, and Wise series servo. Wise WSDA Series Servo Wiring Table:...
  • Page 51 Set V-REF as analog speed command input. | | Pr302 | 300 | Speed command input gain, corresponding to the speed gain of VT320E 300r/min/V. | | Pr315 | 2 | Turn on the zero-speed clamp function. | | Pr316 | 20000 | Set the zero-speed clamp value to （...
  • Page 52 ALRM servo alarm function, and the logic is normally closed (NC). | | Pr639 | 0 | When using SI1, this parameter needs to be set to 0. | ## Panasonic Servo In the Mechanical Parameter of VT320E, select Servo Type as 0: Panasonic and Mitsubishi series servo.
  • Page 53 ） 65793 Yaskawa Servo In the Mechanical Parameter of VT320E, select Servo Type as 1: Yaskawa, Delta, and Wise series servo. Yaskawa Σ Series Servo Wiring Table: V T3 2 0 E S IG NAL NAME V T3 2 0 E PIN NO.
  • Page 54 ALM logic is normally closed (NC) Delta A Series Servo In the Mechanical Parameter of VT320E, select Servo Type as 1: Yaskawa, Delta, and Wise series servo. Delta ASDA-A Series Servo Wiring Table: V T3 2 0 E S IG NAL NAME V T3 2 0 E PIN NO.
  • Page 55 R ECO MMEND ED T YPE V ALU E ME ANING P1-01 0002 The control mode must be set to speed control mode. P1-38 Set the zero-speed clamp value to maximum. P1-40 3000 The corresponding speed gain of VT320E is 300r/min/V.
  • Page 56 DO5 is set to ALRM servo alarm function, and the logic is normally closed (NC). Delta A2 Series Servo In the Mechanical Parameter of VT320E, select Servo Type as 1: Yaskawa, Delta, and Wise series servo. Delta ASDA-A2 Series Servo Wiring Table: V T3 2 0 E S IG NAL NAME V T3 2 0 E PIN NO.
  • Page 57 DO5 is set to ALRM servo alarm function, and the logic is normally closed (NC). Delta B2 Series Servo In the Mechanical Parameter of VT320E, select Servo Type as 1: Yaskawa, Delta, and Wise series servo. Delta ASDA-B2 Series Servo Wiring Table: V T3 2 0 E S IG NAL NAME V T3 2 0 E PIN NO.
  • Page 58 R ECO MMEND ED T YPE V ALU E ME ANING P1-01 0002 The control mode must be set to speed control mode. P1-38 Set the zero-speed clamp value to maximum. P1-40 3000 The corresponding speed gain of VT320E is 300r/min/V.
  • Page 59 DO5 is set to ALRM servo alarm function, and the logic is normally closed (NC). Delta B3 Series Servo ( M, F, E Models ) In the Mechanical Parameter of VT320E, select Servo Type as 1: Yaskawa, Delta, and Wise series servo. Delta ASDA-B3 Series Servo (M, F, E Models) Wiring Table: V T3 2 0 E S IG NAL NAME V T3 2 0 E PIN NO.
  • Page 60 DO2 is set to ALRM servo alarm function, and the logic is normally closed (NC). Delta E3 Series Servo In the Mechanical Parameter of VT320E, select Servo Type as 1: Yaskawa, Delta, and Wise series servo. Delta ASDA-E3 Series Servo Wiring Table: V T3 2 0 E S IG NAL NAME V T3 2 0 E PIN NO.
  • Page 61 P1-038 Set the zero-speed clamp value to maximum. P1-040 3000 The corresponding speed gain of VT320E is 300r/min/V. The output pulse number of the motor per revolution corresponds to the pulse parameter per P1-046 2500 revolution of VT320E, which is 10000.
  • Page 62 DO5 is set to ALRM servo alarm function, and the logic is normally closed (NC). Mitsubishi Servo In the Mechanical Parameter of VT320E, select Servo Type as 0: Panasonic, Mitsubishi series servo. Mitsubishi MR-JE-_A Series Servo Wiring Table: V T3 2 0 E S IG NAL NAME V T3 2 0 E PIN NO.
  • Page 63 PD34 ALM logic is normally closed (NC). Schneider Servo In the Mechanical Parameter of VT320E, select Servo Type as 0: Panasonic, Mitsubishi series servo. Schneider Lexium 23D Series Servo Wiring Table: V T3 2 0 E S IG NAL NAME V T3 2 0 E PIN NO.
  • Page 64 3000 gain of VT320E is 300r/min/V. P1-46 2500 The corresponding to the pulse parameter per revolution of VT320E 10000. P2-10 The IN1 of the servo is changed to the SON function, and the logic is normally open (NO). P2-11 IN2 is not used.
  • Page 65 DO5 ALM, logic is normally closed (NC). Fuji Servo ALPHA5 Smart Plus In the Mechanical Parameter of VT320E, select Servo Type as 1: Yaskawa, Delta, and Wise series servo. Fuji ALPHA 5 Smart Plus Series Servo Wiring Table: V T3 2 0 E S IG NAL NAME V T3 2 0 E PIN NO.
  • Page 66 PA3_28 Set CONT3 to always valid, and the logic is normally closed (NC). Corresponds to the speed gain on VT320E (10.00V corresponds to servo motor rated speed), such as PA3_31 servo motor rated speed is 3000r/min, the corresponding speed gain of VT320E is 300r/min/V.
  • Page 67 PA3_28 Set CONT3 to always valid, and the logic is normally closed (NC). Corresponds to the speed gain on VT320E (10.00V corresponds to servo motor rated speed), such as PA3_31 servo motor rated speed is 3000r/min, the corresponding speed gain of VT320E is 300r/min/V.
  • Page 68 The OUT1 signal is assigned "Alarm Detection", and the logic is normally closed (NC). Hechuan X3E Series Servo In the Mechanical Parameter of VT320E, select Servo Type as 1: Yaskawa, Delta, and Wise series servo. Hechuan X3E Series Servo Wiring Table: V T3 2 0 E S IG NAL NAME V T3 2 0 E PIN NO.
  • Page 69 P05.16 Speed command mode. Inovance IS620P Series Servo In the Mechanical Parameter of VT320E, select Servo Type as 1: Yaskawa, Delta, and Wise series servo. Inovance IS620P Series Servo Wiring Table: V T3 2 0 E S IG NAL NAME V T3 2 0 E PIN NO.
  • Page 70 V T3 2 0 E S IG NAL NAME V T3 2 0 E PIN NO. D R IV E PIN NO. D R IV E S IG NAL NAME CAB LE R EQ U IR EMENT PAO- Twisted pair PBO+ Twisted pair PBO-...
  • Page 71 Set the zero speed fixed speed threshold to 6000rpm. Inovance SV610P Series Servo In the Mechanical Parameter of VT320E, select Servo Type as 1: Yaskawa, Delta, and Wise series servo. Inovance SV610 Series Servo Wiring Table: V T3 2 0 E S IG NAL NAME V T3 2 0 E PIN NO.
  • Page 72 H04-07 DO4 terminal logic is normally closed (NC), and outputs H high level when valid. H05-17 2500 The corresponding to the pulse parameter per revolution of VT320E 10000. H06-00 Select the speed control source as AI1. H06-02 Select the speed command source as the main speed command A source.
  • Page 73 In the Mechanical Parameter of VT320E, select Servo Type as 1: Yaskawa, Delta, and Wise series servo. Xinjie DS5F Series Servo Wiring Table: V T3 2 0 E S IG NAL NAME V T3 2 0 E PIN NO. D R IV E PIN NO.
  • Page 74 Set SO2 to /ALM signal, logic is normally closed (NC). Raynen RA1 Series Servo In the Mechanical Parameter of VT320E, select Servo Type as 1: Yaskawa, Delta, and Wise series servo. Raynen RA1 Series Servo Wiring Table: V T3 2 0 E S IG NAL NAME V T3 2 0 E PIN NO.
  • Page 75 Set the pulse output port. When the motor rotates 1 circle, the pulse number output by the pulse P0016 2500 output port. The corresponding to the pulse parameter per revolution of VT320E 10000. P0107 Set GDI1 to S-ON signal. P0108 Set GDI6 logic to normally open (NO).
  • Page 76 PAR AME TER R ECO MMEND ED T YPE V ALU E ME ANING P0601 AI1 is input as speed command. When the zero-position fixation signal is valid and the speed command is less than this value, the P061A 10000 motor shaft is locked.

Table of Contents