Page 1: M5-N Series Servo System
Document Version: V1.0 Archive Date: 2024/08/15 Shenzhen Megmeet Electrical Co., Ltd. provides professional technical support for our customers. You can contact the local branch office or customer service center, or directly contact the company headquarters. Shenzhen Megmeet Electrical Co., Ltd.
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 motor, otherwise, the motor may drop and cause human injury or property damage.
Page 5: Table Of Contents
Contents M5-N Series Servo System ............................1 Chapter 1 M5-N Servo System Selection ........................9 1.1 Servo motor and drive model ..........................9 1.1.1 Servo motor model ..........................9 1.1.2 Servo motor nameplate ........................9 1.1.3 Servo drive model ..........................10 1.1.4 Servo drive nameplate ........................10 1.1.5 The name and introduction of each part of the servo drive ..............
Page 6 3.2.2 Installation environment requirements ....................40 3.3 System wiring diagram ..........................41 3.4 Recommended specifications for circuit breakers and fuses ..............45 3.5 Related specifications of braking resistor ....................45 Chapter 4 Wiring of Servo System ..........................47 4.1 Servo drive main circuit connection ......................47 4.1.1 Main circuit specifications ........................
Page 7 7.2.1 M5-N communication specifications ....................72 7.2.2 EtherCAT network reference model ....................73 7.2.3 EtherCAT network state machine ...................... 74 7.2.4 Process data PDO ..........................75 7.2.5 Mailbox data SDO ..........................76 7.2.6 Distributed clock (DC) .........................76 7.3 CiA402 device control (device profile) ......................77 7.3.1 CoE state machine ..........................
Page 8 Index 2007h(P07): Torque control parameters ..................156 Index 2008h(P08): Gain parameters ......................158 Index 2009h(P09): Adjustment parameters ....................160 Index 200Ah(P10): Fault and protection parameters ................163 Index 200Bh(P11): Display parameters ....................172 Index 200Ch(P12): Servo positioning parameters ...................176 Index 2011h(P17): EtherCAT communication parameters ..............180 Index 2012h(P18): Advanced parameters ....................182 Index 2014h(P20): Bus configuration group parameters .................182 Index 2017h(P23): Special function parameters ..................184...
Page 9: Chapter 1 M5-N Servo System Selection
Chapter 1 M5-N Servo System Selection 1.1 Servo motor and drive model 1.1.1 Servo motor model Fig.1-1 M5-N servo motor model 1.1.2 Servo motor nameplate SPM-SC80401MAK-L SPM-SC80401MAK-ST1-L SPM-SC80401MAK-L SPM-SC80401MAK-ST1-L Fig.1-2 M5-N servo motor nameplate...
Page 10: Servo Drive Model
1.1.3 Servo drive model Fig.1-3 M5-N servo drive model 1.1.4 Servo drive nameplate Fig.1-4 M5-N servo drive nameplate...
Page 11: The Name And Introduction Of Each Part Of The Servo Drive
1.1.5 The name and introduction of each part of the servo drive ① ② ③ ④ ⑤ ⑥ ⑦ ⑧ ⑨ ⑩ Fig.1-5 Schematic diagram of each part of M5-N servo drive (SIZE A) Table 1-1 Description of each part of M5-N servo drive (SIZE A) Name Description STO safety function interface, used for external safety function signal input.
Page 12 Name Description L1, L2 Main power Main power supply input, single-phase 220V. supply input ○ — , P DC bus DC bus terminals for common bus connection terminals P, PB Main circuit Brake resistor Braking resistor wiring terminals, connect between P and PB for external ⑨...
Page 13 Table 1-2 Description of each part of M5-N servo drive (SIZE B) Name Description STO safety function interface, used for external safety function signal input. ① STO safety function interface Connect the USB of the computer through this port, you can adjust the ②...
Page 14 Fig.1-7 Schematic diagram of each part of M5-N servo drive (SIZE D) Table 1-3 Description of each part of M5-N servo drive (SIZE D) Name Description 5-digit 8-segment digital tube for status monitoring, parameter display and LED digital tube ① setting Operation keys 5 keys for parameter adjustment and display status switching, etc.
Page 15: Servo System Configuration Specifications
Name Description Motor ground terminal Connect the USB of the computer through this port, then you can adjust the Type-C USB communication ⑥ parameters of the drive and debug the performance. port CN3, CN4 Two RJ45 ports for EtherCAT communication ⑦...
Page 16: Applicative Cables And Models
Rated Max. Rated Motor Power Matching Drive Voltage speed speed Motor model torque frame drive model SIZE (rpm) (rpm) (N·m) number 3000 1300 SPM-SC*1313M**-W 8.34 M5-NS012A 220 V 2000 4000 1100 SPM-SC*1311M**-W 5.39 M5-NS7R6A 220 V 3000 5000 1700 SPM-SC*1317M**-W 5.399 M5-NS012A 3000...
Page 17 Fig.1-9 Encoder cable model description The configuration for servo motor wiring is shown in the following table. Table 1-5 Servo system cable options Motor Power cable Encoder cable Brake cable SPM-**40******-L With battery: SPL-E01-M5-XX-X SPM-**60******-L SPL-MA04-M5-XX-X SPL-B01-XX-X Without battery: SPL-E05-M5-XX-X SPM-**80******-L SPM-**40******-ST1-L Without brake:...
Page 18: Chapter 2 Servo System Specifications
Chapter 2 Servo System Specifications 2.1 Servo drive standard specifications 2.1.1 Servo drive electrical specifications Table 2-1 Drive list and electrical specifications Voltage Rated input Rated output Max. output Braking Model SIZE Phase class current (A) resistor current (A) current (A) No built-in M5-NS1R6A SIZE A...
Page 19 EtherCAT Support CoE and SoE communication protocol, in compliance with CiA402 profile Connect the computer and the servo drive to debug and adjust the servo Button 5 buttons LED display 5 8-segment LED display Power indicator CHARGE lamp STO safety General safety STO function, optional function The host computer issues an action command, drives the motor to run, estimates and...
Page 20: Servo Motor Standard Specifications
Temperature 25±25 ℃: below 0.5% (at rated speed) variation rate Speed control range 1~5000 Speed loop response 2.8 kHz characteristics Soft start time 0~6000ms Control input Internal speed command selection 1/2/3, zero speed clamp, etc. Control output Speed arrival etc. Torque control ±1% accuracy...
Page 21: Servo Motor Rated Specifications
2.2.2 Servo motor rated specifications Table 2-4 Servo motor standard specifications Rated Rated Rated Max. Rated Peak Rated Peak Rotor inertia Motor model voltage power speed speed torque torque current current kg·m (kW) (rpm) (rpm) (N·m) · SPM-SC*045AM**-L 3000 6000 0.16 0.48 0.93...
Page 22: Servo Drive Dimensions
2.3 Servo drive dimensions 1. SIZE A Fig.2-1 Dimensions for servo drive of SIZE A 2. SIZE B Fig.2-2 Dimensions for servo drive of SIZE B...
Page 23: Servo Motor Dimensions And Interface Definition
3. SIZE D Fig.2-3 Dimensions for servo drive of SIZE D 2.4 Servo motor dimensions and interface definition 2.4.1 40 base medium inertia motor 2.4.1.1 L series (1) Dimensions Fig.2-4 Dimensions for 40 base medium inertia servo motor (L series) Table 2-5 Dimensions for 40 base medium inertia servo motor (L series) Model L (mm)
Page 24 (2) Interface definition Motor power terminal definition Signal Motor brake terminal definition Signal Absolute encoder terminal definition Signal E- (Battery-) E+ (Battery+)
Page 25: Base Medium Inertia Motor
2.4.1.2 ST1-L series (1) Dimensions Fig.2-5 Dimensions for 40 base medium inertia servo motor (ST1-L series) Table 2-6 Dimensions for 40 base medium inertia servo motor (ST1-L series) Model L (mm) SPM-SC*045AM**-ST1-L 56 (84) SPM-SC*0401M**-ST1-L 67.7 (95) Note: Dimensions in parentheses are dimensions for motors with brakes. (2) Interface definition Power cable (without brake) Power cable (with brake)
Page 26 Fig.2-6 Dimensions for 60 base medium inertia servo motor (L series) Table 2-7 Dimensions for 60 base medium inertia servo motor (L series) Model L (mm) SPM-SC*0602M**-L 71.8 (101.2) SPM-SC*0604M**-L 88.8 (118.2) Note: Dimensions in parentheses are dimensions for motors with brakes. (2) Interface definition Motor power terminal definition Signal...
Page 27 Absolute encoder terminal definition Signal E- (Battery-) E+ (Battery+) 2.4.2.2 ST1-L series (1) Dimensions Fig.2-7 Dimensions for 60 base medium inertia servo motor (ST1-L series) Table 2-8 Dimensions for 60 base medium inertia servo motor (ST1-L series) Model L (mm) SPM-SC*0602M**-ST1-L 71.8 (101.2) SPM-SC*0604M**-ST1-L...
Page 28 (2) Interface definition Power cable (without brake) Power cable (with brake) Encoder cable Shield Red Black Blue Yellow Brown White Black White Black White Blue Blue Note: Y-G in the figure means the yellow-green color. The cable color is only for reference. Use the corresponding cable according to its actual definition.
Page 29: Base Medium Inertia Motor
(2) Interface definition Power cable (without brake) Power cable (with brake) Encoder cable Shield Red Black Blue Yellow Brown White Black White Black White Blue Blue Note: Y-G in the figure means the yellow-green color. The cable color is only for reference. Use the corresponding cable according to its actual definition.
Page 30 (2) Interface definition Motor power terminal definition Signal Motor brake terminal definition Signal Absolute encoder terminal definition Signal E- (Battery-) E+ (Battery+)
Page 31 2.4.3.2 ST1-L series (1) Dimensions Fig.2-10 Dimensions for 80 base medium inertia servo motor (ST1-L series) Table 2-11 Dimensions for 80 base medium inertia servo motor (ST1-L series) Model L (mm) SPM-SC*0807M**-ST1-L 90 (121.9) SPM-SC*0810M**-ST1-L 103.9 (134.9) Note: Dimensions in parentheses are dimensions for motors with brakes. (2) Interface definition Power cable (without brake) Power cable (with brake)
Page 32 2.4.3.3 ST4-L series (1) Dimensions Fig.2-11 Dimensions for 80 base medium inertia servo motor (ST4-L series) Table 2-12 Dimensions for 80 base medium inertia servo motor (ST4-L series) Model L (mm) SPM-SC*0807M**-ST4-L 95.7 (126.7) Note: Dimensions in parentheses are dimensions for motors with brakes. (2) Interface definition Power cable (without brake) Power cable (with brake)
Page 33: Base Medium Inertia Motor
2.4.4 130 base medium inertia motor (1) Dimensions Fig.2-12 Dimensions for 130 base medium inertia servo motor Table 2-13 Dimensions for 130 base medium inertia servo motor Model L (mm) SPM-SE*1311M**-W 135 (187) SPM-SE*1317M**-W 152.5 (204) SPM-SC*1317M**-W 135 (187) SPM-TE*1311M**-W 135 (187) SPM-TE*1317M**-W 152.5 (204)
Page 34 (2) Interface definition Motor power terminal definition (without brake) Signal Motor power terminal definition (with brake) Signal...
Page 35: Base Medium Inertia Motor
Absolute encoder terminal definition Signal E- (Battery-) E+ (Battery+) 2.4.5 180 base medium inertia motor (1) Dimensions Fig.2-13 Dimensions for 180 base medium inertia servo motor Table 2-14 Dimensions for 180 base medium inertia servo motor Model L (mm) SPM-TD61829M*K-W 205 (252) Note: Dimensions in parentheses are dimensions for motors with brakes.
Page 36 (2) Interface definition Motor power terminal definition (without brake) Signal Motor power terminal definition (with brake) Signal Absolute encoder terminal definition Signal...
Page 37 Absolute encoder terminal definition Signal E- (Battery-) E+ (Battery+)
Page 38: Chapter 3 Installation Description
Chapter 3 Installation Description 3.1 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 39 When SIZE A and SIZE B are installed in compact sizes, consider the installation error. The spacing between them must be at least 2mm. In this case, the actual load ratio needs to be derated. (SIZE A:Actual load ratio ≤ 70%.
Page 40: Servo Motor Installation
Clearance for side-by-side installation Clearance for compact installation Fig.3-2 SIZE B servo installation diagram 3.2 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 41: System Wiring Diagram
3.3 System wiring diagram Fig.3-3 SIZE A single-phase 220 V servo system wiring diagram...
Page 42 Fig.3-4 SIZE B three-phase 220 V servo system wiring diagram...
Page 43 Fig.3-5 SIZE D single/three-phase 220 V servo system wiring diagram...
Page 44 Fig.3-6 SIZE D three-phase 380 V servo system wiring diagram Follow the below instructions for system wiring:  Make sure the power specifications and wiring of L1, L2, L3 are correct to avoid damage and danger to the drive.  Make sure the motor output U, V, W phase sequence wiring is correct, otherwise it may cause abnormal motor rotation.
Page 45: Recommended Specifications For Circuit Breakers And Fuses
 It is strictly forbidden to directly use the electromagnetic contactor for the operation and shutdown of the motor. The motor is a large inductance device, and the instantaneous high voltage generated may break down the contactor and other components. ...
Page 46 Note: 1. PB-IR are short-circuited upon delivery, and the internal braking resistor is used by default. 2. When braking capacity of internal braking resistor is insufficient, disconnect the PB-IR, connect external braking resistor between PB and P. 3. For external braking resistor, please contact our technical support. 4.
Page 47: Chapter 4 Wiring Of Servo System
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 48: Main Circuit Cable Dimensions
Note: PB and IR are short-circuited upon delivery for the drive with built-in resistor. 4.1.2 Main circuit cable dimensions Recommended main circuit cable dimensions of servo drive are shown in the table below. Table 4-2 Recommended main circuit cable of M5-N series drive Power supply Power output Grounding...
Page 49: Servo Motor Encoder Signal Connection (Cn2)
(0.75mm (0.75mm (0.75mm (0.75mm 18AWG 18AWG 18AWG 18AWG M5-NS012A (0.75mm (0.75mm (0.75mm (0.75mm 15AWG 15AWG 15AWG 15AWG M5-NS016A (1.5mm (1.5mm (1.5mm (1.5mm 18AWG 18AWG 18AWG 18AWG M5-NT3R5A (0.75mm (0.75mm (0.75mm (0.75mm SIZE D 18AWG 18AWG 18AWG 18AWG M5-NT5R4A (0.75mm (0.75mm (0.75mm (0.75mm 18AWG...
Page 50: Control Signal Interface Definition
Power ground Reserved Reserved Serial data signal Shell Shield 4.3 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.
Page 51: Digital Input And Output Signals
DO3- 4.3.1.1 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 provides internal 24 V power output.
Page 52 Fig.4-4 DI terminal dry contact connection mode (using the external power) (2) NPN (drain) mode The external controller is the NPN common emitter output, the wiring mode is as shown in Fig.4-5 and Fig.4-6. Fig.4-5 DI terminal NPN connection mode (using the internal 24 V power of servo drive) Fig.4-6 DI terminal NPN connection mode (using the external power) (3) PNP (source) mode...
Page 53 Fig.4-8 DI terminal PNP connection mode (using the external power) Note: The NPN and PNP modes of multiple DI terminals of the same drive cannot be mixed. 4.3.1.2 Digital output circuit The DO terminal is a double-ended output, which can have various output modes. Taking DO1 as an example, the interface circuits of DO1-DO3 are the same.
Page 54 Fig.4-11 DO terminal source (PNP) output wiring mode...
Page 55: Communication Port Wiring
4.4 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.4-12 Communication interface connection diagram Table 4-6 Communication port signal definition table Pin No.
Page 56: Sto Port Wiring
4.5 STO port wiring The M5-N series servo supports the STO safety function, with the corresponding port CN6. 4.5.1 Terminal layout and definitions Fig.4-13 STO terminal wiring diagram Table 4-7 STO terminal definitions table Definition Description STO reference ground +24V...
Page 57 (2) Example of external 24 V connection (3) Example of internal 24 V connection (4) Example of shorting STO circuit (when STO is not used) Note: 1. When you do not use the STO function, connect STO1 and STO2 to 24 V as shown in the above figure to run the servo drive normally.
Page 58: Chapter 5 Operation Panel
Chapter 5 Operation Panel 5.1 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 59 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” reset state “nrd” Start or reset is completed, the servo is not yet ready Servo system self-detection normal, wait for the host to give a “rdy”...
Page 60: Working Status Display And Parameter Setting Flowchart
5.3 Working status display and parameter setting flowchart Fig.5-2 Working status display and parameter setting flowchart 1. After the servo drive power on initialization is completed, enter the working status display menu, if the servo system self-detection is normal, it will display "rdy". 2.
Page 61 example, to display -21474836.48, can be divided into [-21], [4748], [36.48] three pages, as shown in the figure below. Fig.5-3 Parameter page display logic If the parameter value can be modified currently, press ▶ key to select the number of digits to be modified. If the parameter value can not be modified currently, at this time can only press ▶...
Page 62: Chapter 6 Commissioning Instructions
Chapter 6 Commissioning Instructions 6.1 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 63: Electronic Gear
6.3 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. 1)Electronic gear ratio setting method is as follows: Fig.6-1 Electronic gear ratio setting process The electronic gear ratio parameter function is shown as follows:...
Page 64 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 65 2.For the serial absolute encoder, the encoder resolution =2 , n is the number of bits of the encoder, and the standard absolute encoder number of M5 is 23 bits, so the resolution of the encoder is 2 =8388608. For an incremental encoder, encoder resolution = encoder lines * 4, for example, the resolution of a 2500-line incremental encoder is 2500*4=10000.
Page 66: Brake Settings
Use mechanical parameters, pulse equivalent, calculate the number of position command required by load shaft rotate a circle. For example, the ball screw pitch is 5mm, pulse equivalent is 0.001mm, then: The displacement for load shaft rotate a circle (command bits) = 5mm / 0.001mm = 5000 d.
Page 67: Brake Timing
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 malfunctioning due to voltage or current reduction due to the work of other electrical appliances. 6.4.2 Brake timing For servo motor with brake, a DO terminal of servo drive shall be configured to function 18 (brake output signal) and determine the valid logic of DO terminal.
Page 68 Fig.6-4 The brake timing when the servo motor is stationary As shown in Fig.6-4, the brake function when the servo motor is stationary 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 69: The Brake Timing When The Servo Motor Is Rotating
Delay from brake outputting P02.10 ON signal to 20~500ms Immediate During running command received Delay from brake outputting OFF P02.11 signal to motor 1~1000ms Immediate During running power-off in the standstill state 6.4.4 The brake timing when the servo motor is rotating When the servo motor is rotating, should pay attention to matters: ●...
Page 70 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 71: Servo Drive Fault Status Brake Timing
Function Name Setting range Default value Effective time Property code value 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 72: Chapter 7 Ethercat Communication
The slave only needs to support the most suitable application protocol. 7.2 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 73: 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 74: Ethercat Network State Machine
7.2.3 EtherCAT network state machine EtherCAT state machine is used to describe the state and state changes of the slave application. State change requests are usually initiated by the master station and responded to by the slave station. The EtherCAT state machine must support the following four states and coordinate the states between the master and slave application program during initialization and operation.
Page 75: 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 76: Mailbox Data Sdo
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. The sub-index 0 indicates the number (n) of mapping objects in the PDO, and the maximum length of each PDO is 4*n bytes. One or multiple objects can be mapped simultaneously. Sub-indexes 1 to n indicate the mapping content, as defined below: …...
Page 77: Cia402 Device Control (Device Profile)
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 78 Status name Status description Not Ready to Switch On The drive is in the process of initializing. Drive initialization is complete. Switch On Disabled Drive parameters are configurable. The drive can be powered on; Ready to Switch On Drive parameters are configurable. The drive is powered on.
Page 79: Object Dictionary
Received Fault Reset command Received Enable Operation command 7.3.2 Object dictionary The object dictionary is the most important part of the device specification. It is an ordered set of parameters and variables, containing all parameters of device description and device network state. A set of objects that can be accessed through a network in an ordered, predefined manner.
Page 80 Shutdown 2,6,8 Switch on Switch on Disable voltage 7,9,10,12 Quick stop 7,10,11 Disable operation Enable operation 4,16 Fault reset (In the table above, the bit marked "X" can be ignored.) Bit4~Bit6 and Bit8 of the control word are defined differently in different control modes. Operation mode Profile Cyclic...
Page 81: Common Conversion Factor
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. Bit value (binary) State xxxx xxxx x0xx 0000 Not ready to switch on...
Page 82: Bus Operation Mode
The gear ratio is composed of the numerator 6091-1h and the denominator 6091-2h, through which a relation between the load displacement (user unit) and the motor displacement (motor unit) can be formulated as below: Motor encoder resolution 6091 − 1h Gear ratio factor 6091h = Load shaft resolution 6091 −...
Page 83: Profile Position Mode
6061h Modes of operation display INT8 The following table lists the values and meanings of the two objects. Value Description Profile Position Mode Profile Velocity Mode Profile Torque Mode Homing Mode Cyclic Synchronous Position Mode Cyclic Synchronous Velocity Mode Cyclic Synchronous Torque Mode 7.4.1 Profile Position Mode This mode is mainly used for point-to-point positioning.
Page 84 Object Index Name Type Attr. Unit Code mapping unit 607Eh Polarity UINT8 RPDO Reference 607Fh Max profile velocity UINT32 RPDO unit/s 6080h Max motor speed UINT32 RPDO Reference 6081h Profile velocity UINT32 RPDO unit/s Reference 6083h Profile acceleration UINT32 RPDO unit/s Reference 6084h...
Page 85 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 acknowledge The target position cannot be updated No position deviation Following error...
Page 86: Profile Velocity Mode
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 87 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 6063h Position actual value* (motor unit) INT32 TPDO Reference...
Page 88 Status word in Profile Velocity Mode (PV) : Bit15~Bit13 Bit12 Bit11 Bit10 Bit9~Bit0 Speed Target reached Status word description in Profile Velocity Mode (PV) : Value Description Target speed not reached Target reached Target speed reached Speed is not equal to 0 Speed Speed is equal to 0 7.4.2.3 Function description...
Page 89: Profile Torque Mode
• Speed arrival judgment: When the deviation between the feedback speed 606Ch and the target speed 60FFh is less than 606Dh, and the time reaches 606Eh, it indicates that the speed has arrived, and the bit10 of the status word 6041h is set to 1; •...
Page 90 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 Encoder 6063h Position actual value* (motor unit) INT32 TPDO unit...
Page 91 Bit15~Bit13 Bit12 Bit11 Bit10 Bit9~Bit0 Target reached Status word description in Profile Torque Mode (PT) : Value Description Target torque not reached Target reached Target torque reached 7.4.3.3 Function description • Control mode: Set P02.00 = 8; • Running mode: Set 6060h = 4; •...
Page 92: Homing Mode
Value Description Speed Speed instruction positive logic BIT6 instruction Speed instruction inverse logic polarity Position Position instruction positive logic BIT7 instruction Position instruction inverse logic polarity • Torque arrival function: This function defines whether the actual torque feedback has reached the torque window. If the difference between the actual torque feedback of the drive (6077h) and the torque reference value (2007.0Eh) reaches the effective value (2007.0Fh), the bit10(target_reached) of the status word is set to 1.
Page 93 Reference 607Ch Home offset INT32 RPDO unit Reference 6099h ARRAY Homing speeds UINT32 RPDO unit/s Reference 609Ah Homing acceleration UINT32 RPDO unit/s Object description: • Homing method (6098h) M5-N drives support standard CiA 402 Mode 1-Mode 35. • Homing offset (607Ch) Number of offset pulses after the M5-N drive finds the origin.
Page 94 Optional, you can configure it as an SDO Other object parameter. 7.4.4.5 Homing mode 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...
Page 95 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 high-speed in the forward direction, after encountering the falling edge of the negative limit switch, it will run forward at low speed, and stop when encountering the rising edge of the Z signal.
Page 96 The current position of the motor is at the positive limit switch. When the homing is started, the positive limit switch is at a high level, and reverse high-speed returns to home. After encountering the falling edge of the positive limit switch, it runs at a low speed in the reverse direction, and stop when encountering the rising edge of the Z signal.
Page 97 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 98 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 then run at high speed in the reverse direction. After encountering the falling edge of the home switch, it will run forward at high speed, and when it encounters 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 99 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 low-speed in the forward direction, and stop when encountering the rising edge of Z signal.
Page 100 the rising edge of the Z signal at a reverse low speed and stop. 0x6098 = 7  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.
Page 101 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, it will run reverse at high speed. After encountering the falling edge of the home switch, it will run reverse at low speed, and stop when encountering the rising edge of Z signal.
Page 102 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 103 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 104 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 105 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. After encountering the rising edge of the home switch, it will run forward at high speed, and when it encounters the falling edge of the home switch, it runs at a low speed in the forward direction, and stop at the rising edge of the Z signal.
Page 106 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. After encountering the falling edge of the home switch, it will run forward at low speed, and stop at the rising edge of the Z signal.
Page 107 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 108 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 forward direction.
Page 109 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 110 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. After encountering the rising edge of the home switch, it will run reverse at high speed, when it encounters the falling edge of the home switch, it will run reverse at low speed, and stop at the rising edge of the Z signal.
Page 111 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 112 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 113 rising edge of the home switch, the reverse high-speed runs, and encountering the falling edge of the home switch, and then run at low speed in the forward 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.
Page 114 0x6098 = 22  Reverse, home switch as deceleration point and home The current position of the motor is between the home switch and the positive limit switch. When the homing is started, the home switch is at a low level, and the reverse high-speed returns to zero. After encountering the rising edge of the home switch, the forward high-speed runs, and encountering the falling edge of the home switch, and then run at low speed in the reverse direction, and stop when encountering the rising edge of the home switch.
Page 115 falling 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 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 116 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 the forward high-speed returns to zero. After encountering the rising edge of the home switch, the reverse high-speed runs, and encountering the falling edge of the home switch, and then run at low speed in the forward direction, and stop when encountering the rising edge of the home switch.
Page 117 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 118 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 119 0x6098 = 27  Reverse, home switch as deceleration point and 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, it runs at a high-speed in the reverse 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 120 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 121 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 zero. After encountering the falling edge of the home switch, it runs at a low speed in the reverse direction, and stops when it encounters the rising edge of the home switch.
Page 122 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. 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 reverse direction, when 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 123 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 124 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 125: Cyclic Synchronous Position Mode
0x6098 = 35  Take the current position as the home 7.4.5 Cyclic Synchronous Position Mode The principle of the Cyclic Synchronous Position Mode is similar to that of the interpolated position mode. In this mode, the master station completes the position command planning, and sends the planned target position to the slave station drive in a periodic synchronous manner.
Page 126 Index Object Code Name Type Attr. Unit mapping Reference 607Ah Target position INT32 RPDO unit 607Eh Polarity UINT8 RPDO 6091h ARRAY Gear ratio UINT32 RPDO Reference 60F4h Following error actual value INT32 TPDO unit 2014.0bh Data interpolation cycle UINT16 RPDO Note: P20.10 (2014.0bh) interpolation cycle is used only when the synchronous cycle is inconsistent with the data cycle, which is set as the data cycle in the unit of us.
Page 127 2007.0Bh(P07.10 forward speed limit) and 2007.0Dh(P07.12 reverse speed limit). In addition, you can set P20.19 (2014.14h) to specify the time during which the speed limit value is decelerated to zero. Function Minimum Default Effective Name Setting range Property Function unit value time code...
Page 128: Cyclic Synchronous Velocity Mode
RPDO object TPDO object Note parameter. 7.4.6 Cyclic Synchronous Velocity Mode In this mode, the master station periodically synchronizes the calculated target speed to the slave station drive, and the slave station drive executes the target speed given by the master station. The interpolation period is the same as the synchronization signal period.
Page 129 Value Description ignored Speed instruction followed 7.4.6.3 Function description • Running mode: Set 6060h = 9; • Target speed setting: Use 60FFh to set the target speed of the user unit, if necessary, set the gear ratio 6091h; • Running enable: Enable the drive to run through the control word 6040h; •...
Page 130: Cyclic Synchronous Torque Mode
7.4.6.4 Basic configuration The following table describes the basic object configurations in Cyclic Synchronous Velocity Mode (CSV). RPDO object TPDO object Note Control word 6040h Status word 6041h Required Target velocity 60FFh Required Speed actual value Optional 606Ch Optional, you can configure it as an SDO Other object parameter.
Page 131 Index Object Code Name Type Attr. Unit mapping 607Eh Polarity UINT8 RPDO Reference 607Fh Max profile velocity UINT32 RPDO unit/s 6080h Max motor speed UINT32 RPDO 60E0h FWD torque limit UINT16 RPDO 0.1% 60E1h REV torque limit UINT16 RPDO 0.1% 7.4.7.2 Control word and status word The control word under Cyclic Synchronous Torque Mode (CST) is the same as the standard definition.
Page 132 Function Minimum Default Effective Name Setting range Property Function unit value time code the maximum speed to zero Unit: ms • 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 133 Min. Function Setting Default Effective Name Property Function range value time unit code Rapid deceleration Slope for torque P20.18 slope for bus torque 0 to 65535 Immediately At stop down to 0 reference Unit: 0.01%/1ms Torque acceleration Acceleration and /deceleration slope deceleration slope P20.20 0 to 65535...
Page 134: Servo Drive Stop
7.5 Servo drive stop The stop mode includes coasting to stop and ramping to stop. In the running status, when the control word receives the “Shutdown” command, the drive will be stopped according to 605Bh. In the running status, when the control word receives the “Disable operation” command, the drive will be stopped according to 605Ch.
Page 135: Application Functions Of Servo Drive
Object Mapping Name Data type Attr. Unit Function dictionary type 0.1%/ 6087h Torque slope UINT16 RPDO Refer Homing 609Ah UINT32 RPDO ence acceleration unit/s 7.6 Application functions of servo drive 7.6.1 Touch probe function The M5 servo provides 2 touch probes, and records the position information of the positive edges and negative edges of the two probes.
Page 136: Input And Output Terminal 60Fdh/60Feh
negative edge 1 - Enable latching of touch probe 1 position at the negative edge 6–7 Reserved 0 - Disable touch probe 2 1 - Enable touch probe 2 0 - Touch probe 2 single latching 1 - Touch probe 2 continuous latching 0 - DI terminal to trigger touch probe 2 1 - Z signal to trigger touch probe 2 Reserved...
Page 137 (Digital 0 - Negative limit switch invalid inputs) 1 - Positive limit switch valid 0 - Positive limit switch invalid 1 - Home signal valid 0 - Home signal invalid 3–15 Reserved 1 - DI1 input valid 0 - DI1 input invalid 1 - DI2 input valid 0 - DI2 input invalid 1 - DI3 input valid...
Page 138: Slave Address Allocation
19 to 31 Reserved 0 to 15 Reserved 1 - DO1 output enabled 0 - DO1 output disabled 60FEh sub2 DO forced 1 - DO2 output enabled output 0 - DO2 output disabled enable 1 - DO3 output enabled 0 - DO3 output disabled 19 to 31 Reserved 0 - DO1 status unchanged after disconnection...
Page 139: Chapter 8 Drive Parameter Object
Chapter 8 Drive Parameter Object 8.1 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 parameter within this group + 1).
Page 140: Index 2001H(P01): Servo Motor Parameters
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 Model Power-on P01.01 Rated power...
Page 141 Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time N·M/A dependent again Electrical constant Model Power-on P01.15 0.01~650.00ms 0.01ms At stop dependent again Mechanical Model Power-on P01.16 0.01~650.00ms 0.01ms At stop constant Tm dependent again 0: Without brake Model P01.17 Brake function...
Page 142: Index 2002H(P02): Basic Control Parameters
Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time single-turn mode 2: Incremental position mode Others: Reserved 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 143 Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time selection direction as the running forward direction (A before B) 1: Take the CW direction as the forward direction (reverse mode, B before A) P02.04 Reserved P02.05 Reserved P02.06 Reserved 0: Positive output (Z...
Page 144 Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time value Servo OFF brake During P02.13 command waiting 1~30000ms Immediate running time Regenerative P02.14 resistor derating 0.5 to 1.0 Immediate At stop factor Power of built-in Model P02.15 regenerative dependent display...
Page 145: Index 2003H(P03): Digital Input And Output Terminal Parameters
Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time be changed 2: Only this function code can be changed 0: Parameter changing status 1: Clear fault memory Parameter information P02.22 Immediate At stop initialization 2: Restore to leave-factory value 3: Clear motor model 0: Switching display...
Page 146 Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time function selection switching 1 6: Multi-segment operation reference switching 2 7: Multi-segment 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...
Page 147 Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time 25: Multi-segment position reference 5 26: Speed command direction switching 27: Torque command direction switching 28: Multi-segment/ single-point position command enable 29: Position deviation counter is cleared 30: Interrupt positioning state release 31: Interrupt...
Page 148 Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time enabled status 0: Normal logical, running enabled upon connection 1: Inverted logical, enabled upon disconnection Unit place of LED: BIT0~BIT3: DI1~DI4 Tens place of LED: BIT0: DI5 Binary setting: 0: Disabled 1: Enabled Virtual input...
Page 149 Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time 12: Positioning close 13: Position tolerance alarm 14: Homing 15: Homing completed 16: Electrical homing 17: Electrical homing completed 18: Brake output (brake output signal) 19: Torque arrival signal 20: FWD/REV indication terminal...
Page 150: Index 2005H(P05): Position Control Parameters
Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time setting connection 1: Enabled upon disconnection Unit place of LED: BIT0~BIT3: DO1~DO4 Index 2005h(P05): Position control parameters 0: Pulse reference 1: Single point Position reference P05.00 position reference Immediate At stop mode...
Page 151 Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time 0: Position command is 0, switch after 3ms Electronic gear duration P05.13 ratio switching Immediate At stop conditions 1: Real-time switching 0: Clear position deviation when servo enable is OFF or stopped 1: Clear position deviation when the...
Page 152 Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time complete output absolute value condition smaller than amplitude of positioning 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...
Page 153 Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time deceleration stop 0~3000ms When the PL During P05.24 Servo downtime Immediate (CCWL), NL (.CWL) running occurs, according to the time to slow down Absolute position rotation mode P05.25 1~65535 Immediate At stop...
Page 154: Index 2006H(P06): Speed Control Parameters
Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time setting 1: Enable software limit immediately after power-on 2: Enable soft limit after homing Software limit -2147483647~21474 P05.32 reference 2147483647 Immediate At stop maximum point 83647 unit Software limit -2147483647~21474 P05.33 reference...
Page 155 Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time Speed command During P06.07 0~65535ms 1000 Immediate acceleration time 1 running Speed command During P06.08 0~65535ms 1000 Immediate deceleration time 1 running Maximum speed During P06.09 0.0~6000.0rpm 0.1rpm 6000.0 Immediate threshold...
Page 156: Index 2007H(P07): Torque Control Parameters
Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time External negative During P06.17 0.0%~+400.0% 0.1% 100.0 Immediate torque limit value running 0: No torque feedforward 1: Internal torque feedforward (Use the speed instruction as a Torque During source of torque P06.18 feedforward...
Page 157 Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time 0: Switching directly Speed/torque 1: Switching once P07.02 switching mode Immediate At stop over the torque selection switching point Torque digital During P07.03 -400.0%~+400.0% 0.1% Immediate reference value running Torque reference P07.04...
Page 158: Index 2008H(P08): Gain Parameters
Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time Torque reached During P07.13 0.0~400.0% 0.1% Immediate reference value running Torque reached During P07.14 0.0~400.0% 0.1% 20.0 Immediate valid value running Torque reached During P07.15 0.0~400.0% 0.1% 10.0 Immediate invalid value running...
Page 159 Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time 4: Feedback speed 5: Speed command change rate 6: Position deviation 7: Speed command high and low speed threshold 8: Position command 9: Positioning uncompleted 10: Position command + actual speed Gain switching During...
Page 160: Index 2009H(P09): Adjustment Parameters
Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time gain During 0.1 ms P08.18 Encoder filter time 0.0 to 40.0 ms Immediate running 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...
Page 161 Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time manually 1: parameter 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 0~31...
Page 162 Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time frequency P09.11 Notch filter 1 width 10~4000Hz Immediate At stop 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...
Page 163: Index 200Ah(P10): Fault And Protection Parameters
Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time frequency Low frequency resonance During P09.27 0 to 20 Immediate frequency filter running setting Low frequency resonance position P09.28 0 to 100 P Immediate At stop deviation judgment threshold Torque command During...
Page 164 Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time output phase loss 3: No protection upon input and output 0: Activate protection Action upon and coast to stop During P10.01 communication Immediate running 1: Alarm and keep fault running 0: Activate protection...
Page 165 Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time temperature > 35℃, the fan runs; if < 30℃, the fan stops.) 3: Does not run 0: Shielded motor stall over-temperature Stall over protection detection P10.09 temperature Immediate At stop protection enable 1: Enable motor stall...
Page 166 Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time battery voltage. P10.15 Reserved 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 167 Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time operation 21: Reserved 22: Parameter setting 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 168 Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time 42: Reserved 43: External fault 44~45: Reserved 46: Short circuit to ground at power-on 47: Reserved 48: Internal logic error 49: Internal logic error 50: EtherCAT initialization error 51: EtherCAT parameter mapping error...
Page 169 Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time 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 EEPROM parameter write error 80: Reserved...
Page 170 Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time feedback value at display the last fault Q-axis current -1000.0 to 1000.0 A P10.27 feedback value at 0.1 A display the last fault Speed at the last P10.28 -6000.0~6000.0rpm 0.1rpm fault...
Page 171 Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time the second fault Q-axis current -1000.0 to 1000.0 A P10.40 feedback value at 0.1 A display the second fault Speed at the P10.41 -6000.0~6000.0rpm 0.1rpm second fault display Encoder position feedback at the -2147483648~21474...
Page 172: Index 200Bh(P11): Display Parameters
Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time Q-axis current -1000.0 to 1000.0 A P10.53 feedback value at 0.1 A 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 first fault...
Page 173 Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time P11.07 Reserved P11.08 Average load rate 0.0 to 400.0％Te 0.1% display P11.09 Bus voltage 0 to 800 V display P11.10 Reserved 0~FFFFH Bit 0: RUN/STOP Bit 1: REV/FWD Bit 2: Running at zero speed Bit 3: Accelerating...
Page 174 Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time The high-speed pulse output will not be 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...
Page 175 Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time hours hours display Module P11.31 -40.0℃~150.0℃ 0.1℃ temperature display Encoder P11.32 0~8388608 single-turn position display 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...
Page 176: Index 200Ch(P12): Servo Positioning Parameters
Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time (lower 32 bits) mode, the position within one revolution of the rotating load is Rotating load converted to the Encoder P11.41 single-turn position motor position of the unit display (upper 32 bits) motor side.
Page 177 Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time HomingStart signal input from DI 3: Homing enabled immediately upon power-on 4: Homing performed immediately 5: Electrical homing started 6: Current position as the home 0: Forward, home switch as deceleration point and home...
Page 178 Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time limit switch as deceleration point and home 8: Forward, positive limit switch as deceleration point and Z signal as home 9: Reverse, negative limit switch as deceleration point and Z signal as home 100+X: CiA402 homing mode X...
Page 179 Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time feedback 6064h = 607Ch 1: After finding the home, position feedback 6064h = current position + incremental displacement 607Ch 2: After finding the home, continue to execute the home offset position segment.
Page 180: Index 2011H(P17): Ethercat Communication Parameters
Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time Index 2011h(P17): EtherCAT communication parameters EtherCAT software P17.00 0.00 to 99.99 0.01 version number display 101: COE EtherCAT bus P17.01 102: SOE (reserved) subprotocol display Other: Reserved 1: INIT PRE-OPERATIONAL EtherCAT bus P17.02...
Page 181 Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time 0x607A Position -2147483648~21474 P17.06 reference 83647 display 0x60FF Speed -2147483648~21474 P17.07 reference 83647 display 0x6071 Torque P17.08 -32768～32767 reference display 0x60E0 Positive P17.09 0~65535 torque limiting display 0x60E1 Negative P17.00 0~65535 torque limiting...
Page 182: Index 2012H(P18): Advanced Parameters
Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time display Whether the 0: Do not store EtherCAT communication 1: Data written P17.24 write function code Immediate At stop through the EtherCAT parameters are bus is stored to the stored in the EEPROM of the drive EEPROM...
Page 183 Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time coefficient again Upper limit of P20.01 synchronization 0~65535 display coefficient P20.02 Reserved P20.07 Slave station axis Power-on P20.08 0~65535 At stop address again Master station P20.09 configuration 0~65535 display address Data interpolation...
Page 184: Index 2017H(P23): Special Function Parameters
Parameter Minimum Effective Sub-index Name Setting range Default value Property unit time Acceleration and deceleration slope P20.20 0 to 65535 Immediate At stop for bus torque reference P20.21 Reserved P20.29 Index 2017h(P23): Special function parameters P23.00 Reserved P23.05 Output torque filter P23.06 0 to 100.0 ms 0.1 ms...
Page 185: Cia402 Object Dictionary List
8.2 CiA402 object dictionary list Data Mapping Index Name Data type Permission Unit structure type 603Fh Error code UINT16 TPDO 6040h Control word UINT16 RPDO 6041h Status word UINT16 TPDO 605Ah Quick stop option code INT16 RPDO 605Bh Shutdown option code INT16 RPDO 605Ch...
Page 186 Data Mapping Index Name Data type Permission Unit structure type unit Reference 607Ch Home offset INT32 RPDO unit Reference 607Dh ARRAY Software position limit INT32 RPDO unit 607Eh Polarity UINT8 RPDO Reference 607Fh Max profile velocity UINT32 RPDO unit/s 6080h Max motor speed UINT32 RPDO...
Page 187 Data Mapping Index Name Data type Permission Unit structure type 60E1h REV torque limit UINT16 RPDO 0.1% Reference 60F4h Following error actual value INT32 TPDO unit 60FDh Digital inputs UINT32 TPDO 60FEh ARRAY Digital outputs UINT32 RPDO Reference 60FFh Target velocity INT32 RPDO unit/s...
Page 188: 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 189 Fault code Fault type Fault cause Confirming method Solutions External braking resistor value does not match (The resistance of the Select the appropriate braking Confirm the braking the external resistor is too resistor value according to resistor value. large, and the energy operating conditions and load.
Page 190 Fault code Fault type Fault cause Confirming method Solutions 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 wiring diagrams. loose or breaks. diagrams.
Page 191 Fault code Fault type Fault cause Confirming method Solutions The acceleration/ deceleration is too View inertia ratio, confirm Increase the acceleration and frequent or the load start-stop cycle deceleration time. inertia is too large. The gain adjustment is Observe whether the inappropriate, the rigidity motor vibrates and is too strong, the motor...
Page 192 Fault code Fault type Fault cause Confirming method Solutions The host device does not Confirm the host system Check whether the host device is work. signal working. The wirings or the plug-in Check whether the units of the control board control board cables and Check them and rewiring loosens.
Page 193 Fault code Fault type Fault cause Confirming method Solutions Confirm whether the overspeed threshold is appropriate (the overspeed threshold is set by P10.12, if P10.12 is equal to 0, the The actual speed of the overspeed threshold is Set the correct overspeed servo motor exceeds the 1.2 times the maximum threshold.
Page 194 Fault code Fault type Fault cause Confirming method Solutions Check whether the position deviation The position deviation Position deviation detection range P05.21 is Increase the position loop gain Er.032 exceeds the set value of is too large too small or whether the P08.02.
Page 195 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 196 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 according to the description file.
Page 197 Fault code Fault type Fault cause Confirming method Solutions Encoder seeking Er.081 ---------- ----------- Seek for service support origin error Absolute encoder EEPROM Er.084 ---------- ----------- Seek for service support parameter read error The U/V/W output cables Check the connection of Drive output and terminals of the drive Ensure the output cables are...
Page 198 Alarm code Alarm type Alarm cause Confirming method Solutions Check the running Motor blocking occurs due to reference and the mechanical factors, resulting actual motor speed by Eliminate mechanical factors. in very heavy load using the drive during running. debugging platform or the operation panel.
Page 199 Alarm code Alarm type Alarm cause Confirming method Solutions Check whether the DI terminal of group P03 Check the running mode, and under is set with DI function the premise of safety, give a Positive When P10.04=1, the drive negative command or rotate the AL.039 overtravel position exceeds the...
Page 200: Appendix 1 Warranty And Service
(such as unsatisfactory performance and function), please contact the distributor or Shenzhen Megmeet Electrical Co., Ltd. (2) In case of any abnormality, contact the distributor or Shenzhen Megmeet Electrical Co., Ltd. immediately for help. (3) During the warranty period, our company will repair any drive abnormality incurred due to the product manufacturing and design free of charge.
Page 201 Parameter recording table...
Page 203 Shenzhen Megmeet Electrical Co., Ltd. Shenzhen Megmeet Electrical 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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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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