Page 1 HS31 Series Servo System User Manual V1.1 2024.09...
Page 2 Thank you for purchasing HS31 series servo system developed by Shenzhen Hpmont Technology Co., Ltd.! This user manual describes how to use the HS31 series servo system correctly, and comprehensively introduces the mechanical installation, electrical installation, parameter setting, fault countermeasures, maintenance and other detailed information of the HS31 servo system.
Page 3 Version and Revision Records Time: 2024/9 Version: V1.1 Chapter Revised Contents • V1.1 version released...
Page 4: Table Of Contents
Contents Chapter 1 Safety Precautions ..................1 1.1 Safety Definition..................1 1.2 Safety Precautions ..................1 Chapter 2 Servo System ....................7 2.1 Motor ....................... 7 2.1.1 Model ......................7 2.1.2 Nameplate ....................7 2.2 Driver ....................... 8 2.2.1 Layout ......................8 2.2.2 Model ......................
Page 5 3.2.3 Install the Motor ..................22 Chapter 4 Electrical Installation .................. 23 4.1 System Components ................23 4.2 Connect Power Terminal ................24 4.2.1 Power Terminal Description ............... 24 4.2.2 Motor Cable Description ................25 4.2.2.1 Motor Cable Selection ..............25 4.2.2.2 Motor Cable Plug Description ............
Page 6 4.3.7.3 Collector Wiring ................45 4.3.8 Motor Brake Wiring ..................46 4.4 Connect the Communication Terminal ............48 4.4.1 Communication Terminal Description ............48 4.4.2 232 Communication Connection ..............48 4.4.3 CAN Communication Connection ............... 49 4.4.4 485 Communication Connection ..............50 4.5 Anti-interference Measures ..............
Page 7 6.3.3 Electronic Gear Ratio .................. 73 6.3.4 Position Command Filter ................75 6.3.5 Position Deviation Clear Function ............... 76 6.3.6 Positioning Completion/Approach Function ..........76 6.3.7 Frequency Division Output Function ............78 6.3.7.1 Function Description ................ 78 6.3.7.2 Arbitrary Frequency Division Output ..........79 6.3.8 Zero Point Return Function ................
Page 8 6.7.7 Identify Initial Angle ................. 114 6.7.8 Identify Inertia ..................114 6.7.9 Automatic Gain Adjustment ..............115 6.7.10 Encoder EEPROM Operation ..............115 Chapter 7 Parameter Description ................117 7.1 Description .................... 117 7.1.1 Bus Type Encoder..................117 7.1.2 Parameter Unit ..................117 7.1.3 Parameter Setting Mode [Set] ..............
Page 9 Chapter 9 Communication Protocol ................209 9.1 485/232 Communication ................. 209 9.1.1 Overview....................209 9.1.2 Protocol Functions ................... 210 9.1.3 Address Mapping ..................213 9.1.4 Application Examples ................215 9.2 CAN Communication Protocol ..............216 9.2.1 Communication Frame Structure .............. 216 9.2.2 Access Data Frame (ADF) .................
Page 10: Chapter 1 Safety Precautions
• When moving, please support the bottom of the driver to prevent injury to people or damage to the machine. • Do not drop more than the limit during transportation: M < 20kg, drop height 0.80m; 20kg ≤ M < 100kg, drop height 0.25m; M ≤ 100kg, drop height 0.10m. HS31 Series User Manual V1.1...
Page 11: Unpacking Inspection
• The mounting surface is flame retardant and strong enough to support the driver -10 - +60 ℃ , when the temperature exceeds 40 ℃ , the driver needs to be derated Use ambient temperature • For every 1 ℃ rise, derating is 2% HS31 Series User Manual V1.1...
Page 12: Wiring Requirements
• Do not bend or subject the cable to tension, as this may cause the cable to break. • For control cables and encoder cables (PG), please use multi-strand twisted cables and multi-core twisted overall shielded cables. HS31 Series User Manual V1.1...
Page 13: Operation
-20 - +60 ℃ , which can reach 70℃ in a short time (no more than 24h). The relative humidity should be kept at 5 - 95%. The storage time should not exceed 6 months. • Do not store multiple products stacked on top of each other. HS31 Series User Manual V1.1...
Page 14: Maintenance
• The insulation wrapping tapes of power cables and control cable terminals are not peeled off or broken. • Comprehensively clean the dust on the circuit boards and air ducts, preferably using a vacuum cleaner. HS31 Series User Manual V1.1...
Page 15 Chapter 1 Safety Precautions Shenzhen Hpmont Technology Co., Ltd. Scrap Disposal Warning • Burning the electrolytic capacitor inside the driver may explode. • Burning plastic parts produces toxic gases. • Please dispose of as industrial waste. HS31 Series User Manual V1.1...
Page 16: Chapter 2 Servo System
• A: General products Special requirements 2.1.2 Nameplate AC SERVO MOTOR Product model HSM-NE080-02430M17-2A2A N·m Motor parameter 0.75 2.39 220 3000 Motor code MOTOR CODE: 12310 Serial number She nzhe n Hpmo nt Technology Co., Ltd. HS31 Series User Manual V1.1...
Page 17: Driver
Driver ground terminal SizeA HS31-2S■■■-MP (1A6/3A1/5A5) Communication terminal Keypad Power indicator Power input terminal Brake resistor connection terminal Control terminal Nameplate Motor connection terminal Encoder connection terminal Manual QR code Driver ground terminal SizeC HS31-2S■■■-MP (012) HS31 Series User Manual V1.1...
Page 18 (even if the power input circuit is OFF, the internal capacitor of the driver may still have charge). Manual QR code Scan the QR code to get the user manual. We recommend using WeChat. HS31 Series User Manual V1.1...
Page 19: Model
• M: Magnetic encoder Encoder type • P: Pulse type Servo type 2.2.3 Nameplate Product model MODEL: HS31-2S5A5-M-P Input specification INPUT: 1PH 200-240V 7.5A 50/60Hz Output specification OUTPUT: 3PH 0-240V 5.5A Software version Version: 1.02 002 Serial number HS31 Series User Manual V1.1...
Page 20: Motor Cable
Code Description • HS: Servo system Product series • MOTP: Motor cable plug Cable plug type • P: Plastic plug (60/80 flange) Motor side plug • A: Aviation plug (130 flange) Plastic plug Aviation plug HS31 Series User Manual V1.1...
Page 21: Encoder Cable
• P: Plastic plug (60/80 flange) Motor side plug • A: Aviation plug (130 flange) • K7: Supports up to 7 pin signals Encoder plug pins • A23: Absolute magnetic encoder (17Bit) Encoder type Plastic plug Aviation plug HS31 Series User Manual V1.1...
Page 22: Technical Specification
• 0 - 50 ℃ : < ±0.1% Speed control range 1:5000 Bandwidth 1200Hz Command control method Internal register control Command filter method Low pass and S-curve smooth filters Torque limit Parameter setting method HS31 Series User Manual V1.1...
Page 23 Connect the driver and encoder, users need to wire by themselves Motor cable Connect the driver and motor Motor cable plug Connect the driver and motor, users need to wire by themselves Crystal plug terminal resistor CAN, 232 communication networking connection HS31 Series User Manual V1.1...
Page 24: Motor Specification
217.40 281.40 159.80 223.80 287.80 166.20 230.20 294.20 172.60 236.60 2.5.2.3 Motor Brake Action Schedule Motor Model Brake On Time (ms) Brake Release Time (ms) HSM-NE060 HSM-NE080 HSM-NE130 ( ≤ 6N·m) HSM-NE130 ( ≥ 7.7N·m) HS31 Series User Manual V1.1...
Page 25: Brake Resistor Selection
Minimum Resistance Built-in Recommended HS31-2S1A6-M-P* 50Ω 50 - 100Ω HS31-2S3A1-M-P* 40Ω 40 - 100Ω HS31-2S5A5-M-P 40Ω 50Ω/50W 40 - 100Ω HS31-2S012-M-P 20Ω 50Ω/80W 20 - 50Ω *: No built-in brake resistor, external connection is required. HS31 Series User Manual V1.1...
Page 26: Chapter 3 Mechanical Installation
• 9 < f ≤ 200Hz, acceleration 1m/s² Protection level IP20 Pollution degree Level 2 (dry, non-conductive dust contamination) 3.1.2 Driver Size See the figure below for driver size. 2-Ø5 Figure 3-1 Driver SizeA HS31-2S■■■-M-P (1A6/3A1/5A5) HS31 Series User Manual V1.1...
Page 27: Install The Driver
Air outlet Air outlet Air outlet Air outlet ≥50mm ≥10mm ≥20 ≥20 ≥50mm Air inlet Air inlet Air inlet Air inlet Figure 3-3 Driver installation space HS31 Series User Manual V1.1...
Page 28 Use spring washers combination screws to secure the driver, see the table below. Tighten the combination screw clockwise. Figure 3-5 Installing the driver Table 3-2 Screw specifications Size SizeA SizeC Combination screw M4 × 2 M4 × 3 specifications Tightening torque 1.2 - 1.5N·m 1.2 - 1.5N·m HS31 Series User Manual V1.1...
Page 29: Install The Motor
Use ambient Less than 80%RH, no frost humidity Protection level IP65 Insulation class Class F 3.2.2 Motor Size Model (HSM-NE060) Length L (mm) HSM-NE060-00630M17-2B2A 82.5 HSM-NE060-00630M17-2B6A 109.5 HSM-NE060-01330M17-2B2A 99.5 HSM-NE060-01330M17-2B6A 126.5 M4x10 -0.1 29.1 4-Ø5.5 Ø70 HS31 Series User Manual V1.1...
Page 30 Shenzhen Hpmont Technology Co., Ltd. Chapter 3 Mechanical Installation Model (HSM-NE080) Length L (mm) HSM-NE080-02430M17-2A2A 109.5 HSM-NE080-02430M17-2A5A 154.6 M5x12 21.5 29.1 -0.2 4-Ø6.5 Ø90 Model (HSM-NE130) Length L (mm) HSM-NE130-08415M17-2A2A HSM-NE130-08415M17-2A5A HSM-NE130-09615M17-2A2A HSM-NE130-09615M17-2A5A M6x20 18.5 -0.1 4-Ø8.5 Ø145 HS31 Series User Manual V1.1...
Page 31: Install The Motor
Do not “overbend” the cables or apply “tension” to them, especially the control cables. The core wire of the control cables is 0.2mm , so please do not pull them too tight when wiring (using). HS31 Series User Manual V1.1...
Page 32: Chapter 4 Electrical Installation
Chapter 4 Electrical Installation 4.1 System Components Communication terminal Connect PLC, driver, PC Single phase 220V Power filter Control cable User-configurable Contactor Encoder cable Brake resistor Motor cable Driver ground terminal Figure 4-1 Servo system composition HS31 Series User Manual V1.1...
Page 33: Connect Power Terminal
• When connecting an external brake resistor, first remove the default ○ + and C. short-circuit and then connect the resistor between P • HS31-2S1A6-MP and HS31-2S3A1-MP do not have built-in brake resistors. If necessary, please connect an external brake resistor. HS31 Series User Manual V1.1...
Page 34: Motor Cable Description
HS-MOT1-01-L10-P4-  HSM-NE080- HS31-2S5A5-M-P 02430M17-2A  A HSM-NE130- HS-MOT1-02-L03-A5-  08415M17-2A  A HS31-2S012-M-P HS-MOT1-02-L05-A5-  HS-MOTP-A 1.5mm HSM-NE130- HS-MOT1-02-L10-A5-  09615M17-2A  A 4.2.2.2 Motor Cable Plug Description HS-MOTP-P Figure 4-3 Connect the motor cable HS31 Series User Manual V1.1...
Page 35 Chapter 4 Electrical Installation Shenzhen Hpmont Technology Co., Ltd. Table 4-2 Motor cable plug definition (motor side) Plug Pin Definition HS-MOTP-A Figure 4-4 Connect the motor cable Table 4-3 Motor cable plug definition (motor side) Plug Pin Definition HS31 Series User Manual V1.1...
Page 36: Encoder Cable Description
01330M17-2B  A K7-A23 HS-ENC1-A23-L10-P-  diameter ≥ HSM-NE080- 0.13mm HS31-2S5A5-M-P 02430M17-2A  A • Twisted HSM-NE130- shielded pair HS-ENC1-A23-L03-A-  08415M17-2A  A HS-ENCP1-A- cable HS31-2S012-M-P HS-ENC1-A23-L05-A-  K7-A23 HSM-NE130- HS-ENC1-A23-L10-A-  09615M17-2A  A HS31 Series User Manual V1.1...
Page 37: Encoder Cable Plug Description
Shenzhen Hpmont Technology Co., Ltd. 4.2.3.2 Encoder Cable Plug Description Figure 4-5 Connect the encoder cable Driver Side Table 4-4 Encoder cable plug definition (driver side) Plug Pin Definition 5V power supply Data signal 1394-6P plug Shell Shield HS31 Series User Manual V1.1...
Page 38 Table 4-5 Encoder cable plug definition (motor side) Plug Pin Definition 2, 3 Unused 4, 6 D-, D+ Motor Side (HS-ENCP1-A-K7-A23) Table 4-6 Encoder cable plug definition (motor side) Plug Pin Definition 2, 3 Unused 4, 6 D-, D+ HS31 Series User Manual V1.1...
Page 39: Power Terminal Wiring
Wiring terminal (plug type, 4pin) SizeC driver Recommended wiring steps: Using a wiring tool, insert the power cables into the wiring terminal. Insert the wiring terminals into the power terminals of the driver. Figure 4-7 Wiring using wiring terminal HS31 Series User Manual V1.1...
Page 40: Power Terminal Wiring (Without Brake Resistor)
HS31-2S1A6-MP and HS31-2S3A1-MP do not have a built-in brake resistor. ○ If you need to use a brake resistor, first remove the shorting piece between P + and D, ○ and then connect the resistor between P + and C. HS31 Series User Manual V1.1...
Page 41: Connect Control Terminal
1, 26 • F03.00 - F03.04 set function DO5+, DO5- 28, 27 5V power supply, maximum output current +5V, GND 15, 16 200mA Power supply 24V power supply, maximum output current +24V, COM 17, 14 200mA HS31 Series User Manual V1.1...
Page 42 OCZ +, GND 44, 29 division PAO+, PAO-, GND 21, 22, 16 output Frequency division differential output PBO +, PBO-, GND 25, 23, 16 • Maximum output frequency: 2MHz PZO+, PZO-, GND 13, 24, 16 HS31 Series User Manual V1.1...
Page 43: Io Adapter Board Terminal Description (Optional)
Low speed pulse direction, connected to quadrature B input SIGN+, SIGN- Pulse • Collector: Maximum input frequency 200kHz • Differential: Maximum input frequency 500kHz Low speed pulse command, connected to quadrature A PULS+, PLUS- input HS31 Series User Manual V1.1...
Page 44: Control Terminal Wiring
Wiring steps: The control cable is connected to the IO adapter board. Plug the IO adapter board into the driver and fix the IO adapter board with screws. Figure 4-14 Wiring using IO adapter board HS31 Series User Manual V1.1...
Page 45: Control Terminal Wiring Example
PULS+ 100Ω OCZ+ PULS PULS- A phase 2kΩ SIGN+ 100Ω SIGN Pulse position SIGN- B phase command HPULS+ HPULS 100Ω HPULS- A phase HSIGN+ HSIGN 100Ω HSIGN- B phase Figure 4-15 Position control mode wiring HS31 Series User Manual V1.1...
Page 46: Pulse Input Wiring
HPULS+, HPULS-, Differential command (connect to quadrature A input) • Input voltage 5V • Maximum input frequency: 1MHz High speed pulse direction 42, 40 HSIGN+, HSIGN-, (connect to quadrature B • Minimum pulse width: 0.5us input) HS31 Series User Manual V1.1...
Page 47: Differential Wiring
PULS- 43 SIGN+ 100Ω SIGN- 39 Figure 4-16 Low speed pulse input wiring High Speed Pulse Input External controller Driver HPULS+ 100Ω HPULS- 36 HSIGN+ 100Ω HSIGN- 40 Figure 4-17 High speed pulse input wiring HS31 Series User Manual V1.1...
Page 48: Open Collector Wiring
External controller Driver power supply PULLHI 2kΩ PULS+ 100Ω PULS- 2kΩ SIGN+ 100Ω SIGN- External controller Driver PULS+ 100Ω PULS- PULLHI 2kΩ SIGN+ 100Ω SIGN- 2kΩ Figure 4-18 Wiring when using the internal 24V power supply HS31 Series User Manual V1.1...
Page 49 External controller Driver PULLHI 2kΩ PULS+ 100Ω PULS- 2kΩ SIGN+ 100Ω SIGN- External controller Driver PULS+ 100Ω PULS- PULLH I 2kΩ SIGN+ 100Ω SIGN- 39 2kΩ Figure 4-19 Wiring when using external power supply, internal resistor HS31 Series User Manual V1.1...
Page 50 VCC - 1.5 ＝ 15mA R1 + 200 Table 4-10 Recommended R1 resistance VCC Voltage R1 Resistance R1 Power 1.5kΩ >0.5W 0.75kΩ >0.5W 1 23 The minimum voltage of the external power supply VCC is 5V. HS31 Series User Manual V1.1...
Page 51: Digital Input Wiring
Taking DI1 as an example, the wiring of DI2 - DI7 terminals is the same. Use the Driver's Internal 24V Power Supply Driver +24V power supply DICOM 4.7kΩ Relay Figure 4-21 Wiring when using the internal 24V power supply HS31 Series User Manual V1.1...
Page 52: Wiring When The External Controller Is Open Collector Output
4.7kΩ 4.7kΩ Figure 4-23 Wiring when using the internal 24V power supply Using External Power Supply Driver Driver External External +24VDC +24VDC DICOM DICOM 4.7kΩ 4.7kΩ Figure 4-24 Wiring when using the external power supply HS31 Series User Manual V1.1...
Page 53: Digital Output Wiring
The internal optocoupler output circuit of the driver allows: Maximum output voltage 30VDC, maximum output current 50mA. Driver External 5 - 30VDC Optocoupler DO1+ DO1- Figure 4-26 Wiring when the external controller is optocoupler input HS31 Series User Manual V1.1...
Page 54: Frequency Division Output Wiring
Figure 4-27 Differential wiring 4.3.7.3 Collector Wiring Taking A signal as an example, the wiring of B and Z signals is the same. Driver External 5 - 30VDC 0.5－2kΩ OCA+ 29 GND Figure 4-28 Collector wiring Control terminal HS31 Series User Manual V1.1...
Page 55: Motor Brake Wiring
The brake input signal needs to be connected to a 24V switch power supply. See the figure below for wiring. HS31 Contactor Power Single phase filter 220VAC L3/N Brake control relay DOx+ (BK+) +24V DOx- (BK-) +24V brake power supply Figure 4-30 Brake wiring HS31 Series User Manual V1.1...
Page 56 3. It is recommended to use brake cables with a diameter of 0.5mm or above. HS31 Series User Manual V1.1...
Page 57: Connect The Communication Terminal
Table 4-15 232 communication cable pin relationship Driver Communication Signal Communication Signal RS232-TXD PC-RXD RS232 RS232-RXD RS232 PC-TXD (CN3)* PE (shield layer) Shell PE (shield layer) Shell *: The driver supports RS232 for CN3 only. HS31 Series User Manual V1.1...
Page 58: Can Communication Connection
Table 4-16 Cable pin relationship for CAN communication Master PLC (HC10) Slave (HS31) Communication Signal Communication Signal CANH CANH CANL CANL (CN3, CN4) CGND CGND PE (shield layer) Shell PE (shield layer) Shell HS31 Series User Manual V1.1...
Page 59: Communication Connection
Table 4-17 Cable pin relationship for 485 communication Master PLC (HC10) Slave (HS31) Communication Signal Communication Signal RS485+ RS485+ RS485- RS485- (CN3, CN4) PE (shield layer) Shell PE (shield layer) Shell HS31 Series User Manual V1.1...
Page 60: Anti-Interference Measures
Table 4-18 Recommended power filter models Recommended Filter Model Driver Model Rated Input Current (SCHAFFNER) HS31-2S1A6-M-P 2.4A FN 2090-3-06 HS31-2S3A1-M-P 4.7A FN 2090-6-06 HS31-2S5A5-M-P 7.5A FN 2090-8-06 HS31-2S012-M-P 18.1A FN 2090-20-06 HS31 Series User Manual V1.1...
Page 62: Chapter 5 Keypad
Increase the current flashing bit setting value, long press to quickly increase Decrease the current flashing bit setting value, long press to quickly decrease Shift the selected flashing bit one place to the left Save settings or enter the next menu level HS31 Series User Manual V1.1...
Page 63: Display Mode Description
Figure 5-3 Special status display bb (idle status): Always on, indicating that the servo is ready and waiting for the enable signal. run (run status): Always on, indicating that the servo is enabled and in run status. HS31 Series User Manual V1.1...
Page 64: Parameter Display
High four bits (page 3) Display +1073741823 Disply the page of data Low four bits (page 1) Middle four bits (page 2) High four bits (page 3) Figure 5-5 Positive and negative data display operation HS31 Series User Manual V1.1...
Page 65: Fault Display
(from the 1st to the 10th time). Set F0b.11 = 1 to clear the fault record. HS31 Series User Manual V1.1...
Page 66: Chapter 6 Servo System Operation
Servo Trial Run and Run, section Confirm that the control mode of the servo system is 6.1.5 normal Set parameters and adjust Servo Stop, section 6.1.6 Set the stop mode, stop parameters and stop operation HS31 Series User Manual V1.1...
Page 67: Pre-Operation Check
The power input terminal is connected to power, the power indicator display no abnormality, and the keypad displays “bb”. At this time, the driver is in a runnable status, waiting for the servo enable signal. HS31 Series User Manual V1.1...
Page 68: Set The Brake
When the driver outputs the brake (BK) signal, the brake power is on, the motor lock is released, and the motor can rotate. When the BK signal is invalid, the brake power supply is disconnected, the brake is activated, and the motor is in a locked status. HS31 Series User Manual V1.1...
Page 69: Brake Sequence
[4] When the motor is stationary, the servo is turned OFF and the brake is turned OFF at the same time. After the brake output is turned OFF, the motor enters the non-powered status after the delay F00.23 (the motor is at zero speed during the delay). HS31 Series User Manual V1.1...
Page 70 • The F00.25 delay time has not yet arrived, but the motor has decelerated to F00.24. • F00.25 delay time has arrived. • After the brake output is OFF, the motor enters the non-powered status after a delay of F00.23 (the motor is stopped at zero speed during the delay). HS31 Series User Manual V1.1...
Page 71: Jog Running
• Set any DI terminal function, F02.00 - F02.06 = 8 (JOG-REV: Reverse jog), to confirm that the motor rotates in the reverse direction. If the machine direction is inconsistent with the motor rotation direction, invert F00.04 (rotation direction). Connect the motor shaft to the mechanical equipment. HS31 Series User Manual V1.1...
Page 72: Set Parameter
Without changing the input command polarity, set F00.04 to change the motor's rotation direction. The rotation direction of the motor on the shaft side shall prevail. F00.04 Rotation Direction Forward Reverse CCW direction is the forward direction CW direction is the forward direction HS31 Series User Manual V1.1...
Page 73: Servo Trial Run And Run
F02.00 = 1 F02.06 0: Low level is valid 1: High level is valid F02.30 - DI terminal logic 2: Rising edge is valid F02.36 3: Falling edge is valid 4: Rising and falling edges are valid HS31 Series User Manual V1.1...
Page 74: Servo Run
Set parameters according to different control modes. • See section 6.3 for position control, section 6.4 for speed control, section 6.5 for torque control, and section 6.6 for mixed control. Adjust so that the final effect meets the expected working conditions. HS31 Series User Manual V1.1...
Page 75: Servo Stop
Range Default 0: Low level is valid 1: High level is valid F02.30 - DI terminal logic 2: Rising edge is valid F02.36 3: Falling edge is valid 4: Rising and falling edges are valid HS31 Series User Manual V1.1...
Page 76: Select Control Mode
Control Mode Speed ↔ torque Invalid Speed control mode Valid Torque MOD-SEL1 Logic MOD-SEL2 Logic Control Mode Position ↔ speed Valid / (no influence) Position ↔ torque control Invalid Valid Speed mode Invalid Invalid Torque HS31 Series User Manual V1.1...
Page 77: Position Control Mode
23: Electronic gear selection (GEAR-SEL) F02.30 - F02.36 DI terminal logic F06.04 Set the number of pulses per revolution 6.3.3 F06.08/F06.12 Electronic gear ratio numerator 1/2 F06.10/F06.14 Electronic gear ratio denominator 1/2 F06.16 Electronic gear switching conditions HS31 Series User Manual V1.1...
Page 78 24: Terminal zero point reset enable (ORG- F02.00 - F02.06 ENA) Zero point return 6.3.8 25: The current DI edge position is zero (DI- ORG) 26: Origin switch (ORGP) F02.30 - F02.36 DI terminal logic HS31 Series User Manual V1.1...
Page 79: Position Command Input
Set the DI terminal to function No. 14, and then set the terminal logic (level valid is recommended). The DI terminal switches the direction of the position command. The terminal is invalid, it is in the forward direction. The terminal is valid, it is in the reverse direction. HS31 Series User Manual V1.1...
Page 80 (functions No. 3 - 6: Multi-segment command). The DI terminal settings are only valid when the multi-position function (function No. 20) is enabled. Sequential run (F09.01 = xx3x): The driver runs from the first segment to the Nth segment and then stops. HS31 Series User Manual V1.1...
Page 81 In position control mode, when F06.00 = 1 (position command source is internal multi- position), F09.01 = xx2x (DI terminal switches multi-position running) and the multi- position function (function No. 20) is enabled, the driver runs according to any position command set by the DI terminal. HS31 Series User Manual V1.1...
Page 82: Electronic Gear Ratio
L feedback P(P) gear ratio (encoder unit) Load speed： V Position command Encoder frequency： f(Hz) 17-bit encoder resolution： PG = 131072 (ppr) Figure 6-5 Relationship between position command, load displacement and electronic gear ratio HS31 Series User Manual V1.1...
Page 83 Select electronic gear ratio 1 or electronic gear ratio 2 according to the switching condition of F06.16. 0: The position command is 0 and Electronic gear ratio switches after 2ms F06.16 ○ switching conditions 1: Real-time switching HS31 Series User Manual V1.1...
Page 84: Position Command Filter
The filter time has no effect on the displacement (total number of position commands). Increasing the filter time will increase the response delay. Please set the filter time according to the actual situation. Position command Input command position Smooth filter Inertia filter Time t HS31 Series User Manual V1.1...
Page 85: Position Deviation Clear Function
Valid 0: Absolute value of position deviation < completion/approach threshold Positioning (F06.21/F06.22) completion/ F06.20 ○ 1: After the command is completed, the approach output absolute value of the position deviation condition < completion/approach threshold (F06.21/F06.22) HS31 Series User Manual V1.1...
Page 86 (POS-CMP) signal. When the absolute value of the position deviation ≥ F06.21, the POS-CMP signal is invalid and the servo is in the positioning completion process. HS31 Series User Manual V1.1...
Page 87: Frequency Division Output Function
• When the external controller needs to obtain the motor position information through the driver frequency division, it is recommended to use encoder feedback method (F00.05 = 0) as the output pulse source. HS31 Series User Manual V1.1...
Page 88: Arbitrary Frequency Division Output
F06.06 0 - 262143 (32 bit data) 2500 ○ revolution (before 4 times frequency) Electronic gear ratio × F06.12 numerator 2 (after 4 times frequency) 1 - 1,073,741,824 Electronic gear ratio × F06.14 denominator 2 HS31 Series User Manual V1.1...
Page 89 Phase A leads phase B by 90° Phase B leads phase A by 90° Phase A leads phase B by 90° Phase B leads phase A by 90° Phase A leads phase B by 90° HS31 Series User Manual V1.1...
Page 90: Zero Point Return Function
After zero point return is completed, d00.46 (current absolute position of the motor) is the same as F06.32 (mechanical origin offset). If the zero point is not found within the F06.29 time, the zero point return fails and the driver reports A104.0 warning (zero point return timeout warning). HS31 Series User Manual V1.1...
Page 91: Origin Homing Steps
(forward overtravel switch) in the forward direction at F06.27 speed. After encountering a rising edge, the motor continues to run. When encountering the origin signal (Z signal) for the first time, the motor moves the F06.32 offset (zero point) and then stops. HS31 Series User Manual V1.1...
Page 92 After encountering the falling edge, the motor searches for the rising edge of the origin signal (forward overtravel switch) in the forward direction at F06.27 speed. After encountering the rising edge, the motor moves the F06.32 offset (zero point) and then stops. HS31 Series User Manual V1.1...
Page 93 After encountering the falling edge, the motor searches for the rising edge of the origin signal (forward overtravel switch) in the forward direction at F06.27 speed. After encountering the rising edge, the motor moves the F06.32 offset (zero point) and then stops. HS31 Series User Manual V1.1...
Page 94 After encountering the falling edge, the motor searches for the rising edge of the origin signal (Z signal) in reverse at F06.27 speed. After encountering the rising edge, the motor moves the F06.32 offset (zero point) and then stops. HS31 Series User Manual V1.1...
Page 95 After encountering the rising edge, the motor searches for the rising edge of the origin signal (the other side of the Z signal) in the forward direction at F06.27 speed (low speed). After encountering the rising edge, the motor moves the F06.32 offset (zero point) and then stops. HS31 Series User Manual V1.1...
Page 96 Zero Origin signal point F06.26 F06.27 Trajectory Dec. point signal F06.32 -F06.27 Origin switch Origin signal Dec. point signal Trigger signal falling edge Z signal is valid Forward overtravel switch HS31 Series User Manual V1.1...
Page 97 (origin switch) in the forward direction at F06.27 speed (low speed). After encountering a rising edge, the motor continues to run. When encountering the origin signal (Z signal) for the first time, the motor moves the F06.32 offset (zero point) and then stops. HS31 Series User Manual V1.1...
Page 98: Electrical Homing Steps
The driver automatically changes continues to move the F06.32 offset and then the current absolute position of the motor stops. The current absolute position of the motor (d00.46) to F06.32. (d00.46) is F06.32. HS31 Series User Manual V1.1...
Page 99: Zero Point Return Working Sequence
• F06.24 = 7: The DI terminal needs to be set to function No. 25 (the current DI edge position is the zero point). When the terminal is valid, the current DI edge position is the zero point, and the motor uses this zero point for origin offset. HS31 Series User Manual V1.1...
Page 100: Parameter Setting
1: Enable origin homing immediately 2: Terminal enables origin homing Zero point F06.24 return enable × 3: Enable electrical homing immediately control 4: Terminal enables electrical homing 5: Start origin homing immediately after power on HS31 Series User Manual V1.1...
Page 101 Zero position 0: F06.32 is the coordinate after zero point offset and return. after encountering the limit to re- × F06.31 limit handling trigger the zero point return enable, reverse method to find the origin HS31 Series User Manual V1.1...
Page 102 -1,073,741,824 - +1,073,741,824 Zero position F06.32 × offset (32 bit data) Absolute -2,147,483,648 - +2,147,483,647 d00.46 position (command unit) counter HS31 Series User Manual V1.1...
Page 103: Speed Control Mode
15: Speed command direction switch (SPD- DIR) F02.30 - F02.36 DI terminal logic Speed pulse 6.4.2 F07.04 Speed command acceleration time F07.05 Speed command deceleration time F07.07 Maximum input pulse frequency F07.08 Speed pulse filter time HS31 Series User Manual V1.1...
Page 104 8: Speed arrived (SPD-CMP) DO output 6.4.5 F03.10 - F03.14 DO terminal logic function F07.13 Motor rotation speed threshold F07.14 Speed consistency signal threshold F07.15 Speed arrived signal threshold F07.16 Zero speed output signal threshold HS31 Series User Manual V1.1...
Page 105: Speed Command Input
2: Select group 2 (Acc. time F0A.53, Dec. F0A.03 ○ command Acc. time F0A.54) and Dec. time 3: Select group 3 (Acc. time F0A.55, Dec. time F0A.56) 4: Select group 4 (Acc. time F0A.57, Dec. time F0A.58) HS31 Series User Manual V1.1...
Page 106 If the terminal is valid, it is in the reverse direction. The actual speed command direction is related to F00.04 (rotation direction), the positive [+] and negative [-] speed command, and the speed command direction setting (functions No. 1 and 5). HS31 Series User Manual V1.1...
Page 107: Speed Command Limit
(F00.01). Ref. Code Function Range Default Valid F00.01 Maximum speed 1000 - 6000rpm 3000rpm × Forward speed ○ F07.11 0rpm - F00.01 3000rpm command limit Reverse speed ○ F07.12 0rpm - F00.01 3000rpm command limit HS31 Series User Manual V1.1...
Page 108: Zero Speed Clamp Function
Set the DI terminal to function No. 18, and then set the terminal logic (level valid is recommended). In speed control mode, when the DI terminal is valid, the zero speed clamp function is enabled. When the F07.10 setting conditions are met, the motor enters the zero speed clamp status. HS31 Series User Manual V1.1...
Page 109: Speed Related Do Output Function
○ DO terminal logic F03.14 1: Negative logic When the actual motor speed ≤ F07.16, the system considers the actual motor speed to be zero speed, and the driver outputs a zero speed (ZERO-SPD) signal. HS31 Series User Manual V1.1...
Page 110: Torque Control Mode
F08.06 Reverse torque limit 1 F08.07 Forward torque limit 2 F08.08 Reverse torque limit 2 DO terminal function F03.00 - F03.04 Torque speed 12: Speed limit (SPD-LT) 6.5.5 limit F03.10 - F03.14 DO terminal logic HS31 Series User Manual V1.1...
Page 111: Torque Command Input
F02.00 - DI terminal × F02.06 function 11: Reverse external torque limit (N-CL) 0: Low level is valid F02.30 - ○ DI terminal logic 1: High level is valid F02.36 2: Rising edge is valid HS31 Series User Manual V1.1...
Page 112: Torque Speed Limit
1: Negative logic In the torque control mode, when the actual motor speed reaches the speed limit value, the driver outputs a speed limit (SPD-LT) signal, and limits the motor speed to the limit value. HS31 Series User Manual V1.1...
Page 113: Mixed Control Mode
2: Rising edge is valid × F02.36 3: Falling edge is valid 4: Rising and falling edges are valid Please set the driver parameters in different control modes according to the mechanical structure and indicators. HS31 Series User Manual V1.1...
Page 114: Auxiliary Function
• When the overload condition is reached, the driver reports E010.0 fault (driver overload). Unit: Unused Motor overload F0d.01 warning detection 20.0 - 500.0% 300.0% × level Overload warning F0d.02 0.0 - 60.0s 5.0s × detection time HS31 Series User Manual V1.1...
Page 115: Motor Stall Protection
In addition to the motor overspeed protection function, in speed and torque control modes, the driver can set speed limits to protect the motor and mechanical equipment respectively. Ref. Code Function Range Default Valid Motor overspeed F0d.19 0.0 - 300.0% 120.0% × detection value HS31 Series User Manual V1.1...
Page 116: Di Terminal Function
25: Take the current DI edge position as the origin (DI-ORG) 26: Origin switch (ORGP) DI7 terminal 27: DI emergency stop (DI-EMER) F02.06 × function 28: Gain switching selection (GAIN-SEL) 29: Control mode switch 2 (MOD-SEL2) HS31 Series User Manual V1.1...
Page 117: Di Terminal Logic
Valid Valid High > T Rising and falling edges are valid T (level holding time) description: • DI1 - DI2: High speed DI, T > 0.25ms. • DI3 - DI7: Normal DI, T > 3ms. HS31 Series User Manual V1.1...
Page 118: Do Terminal Function
16: Brake output (BK) F03.10 DO1 terminal logic ○ F03.11 DO2 terminal logic ○ 0: Positive logic F03.12 DO3 terminal logic ○ 1: Negative logic F03.13 DO4 terminal logic ○ F03.14 DO5 terminal logic ○ HS31 Series User Manual V1.1...
Page 119: Virtual Vdi Terminal Function
14: Position command direction function switch (POS-DIR) 15: Speed command direction switch VDI8 terminal F12.07 0000 × (SPD-DIR) function 16: Torque command direction switch VDI9 terminal (TOR-DIR) F12.08 0000 × function 17: Position deviation clear (POS-CLR) HS31 Series User Manual V1.1...
Page 120 F12.25 VDI10 terminal logic × F12.26 VDI11 terminal logic × F12.27 VDI12 terminal logic × F12.28 VDI13 terminal logic × F12.29 VDI14 terminal logic × F12.30 VDI15 terminal logic × F12.31 VDI16 terminal logic × HS31 Series User Manual V1.1...
Page 121: Virtual Vdo Terminal Function
VDO10 terminal 12: Speed limit (SPD-LT) ○ F12.41 function 13: Warning output (WARN) 14: Fault output (ALM) VDO11 terminal F12.42 ○ function 15: Torque arrived (TOR-CMP) 16: Brake output (BK) VDO12 terminal ○ F12.43 function HS31 Series User Manual V1.1...
Page 122 ○ F12.66 VDO10 terminal logic ○ F12.67 VDO11 terminal logic ○ F12.68 VDO12 terminal logic ○ F12.69 VDO13 terminal logic F12.70 VDO14 terminal logic ○ F12.71 VDO15 terminal logic ○ F12.72 VDO16 terminal logic ○ HS31 Series User Manual V1.1...
Page 123: Multi-Turn Encoder Function
Release the key after F20.11 (inertia identification value) is stable. Save identification value: Press SET key three times in succession, F05.02 saves the identification result (F20.11). HS31 Series User Manual V1.1...
Page 124: Automatic Gain Adjustment
Start reading parameters: Set F20.04 = 3, the driver starts writing motor parameters and loop parameters, and waits for the reading to end. Confirm that the parameter reading is successful: F20.04 = 0. If F20.04 = 3. Failed to read parameters. HS31 Series User Manual V1.1...
Page 126: Chapter 7 Parameter Description
7.1.5 Parameter Take Effect [Effect] R: After setting the parameters, the driver needs to be powered off and then powered on again for the parameter settings to be valid. Otherwise, the driver reports E055.0 fault. HS31 Series User Manual V1.1...
Page 127: D00: Monitoring Parameters
Pulse input frequency (32 bit data) d00.17 Bus voltage 0 - 999V d00.18 Output frequency 0.00 - 655.35Hz d00.20 Output current 0.01 - 99.00A d00.21 Output voltage 0 - 999V d00.28 Heatsink temperature value -40 - +125°C HS31 Series User Manual V1.1...
Page 128 (high 32 bit) d00.58, d00.60 are only used in absolute position linear mode (F00.30 = 1) or rotation detection mode (F00.30 = 2). -2,147,483,648 - Real-time pulse input +2,147,483,647 d00.68 command counter (command unit) HS31 Series User Manual V1.1...
Page 129 1: The terminal has output. Thousand Hundred Unit Bit15 Bit14 Bit13 Bit12 Bit11 Bit10 Bit9 Bit8 Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 DO9 DO8 DO7 DO6 DO5 DO4 DO3 DO2 DO1 1 23 HS31 Series User Manual V1.1...
Page 130: D01: Fault Monitoring Parameters
Servo working status 0 - 3 0: Servo is not ready. 1: Servo is ready. 2: Servo is in normal run status. 3: Servo is in faulty status. d01.15 Current fault code HS31 Series User Manual V1.1...
Page 131: D02: System Version Parameters
The minimum value of the d02.08 brake resistor allowed by the driver d02.09 Built-in brake resistor power d02.10 Built-in brake resistor value MCU software sub-version d02.11 number d02.12 FPGA software major version d02.13 FPGA software sub-version HS31 Series User Manual V1.1...
Page 132: F00: Basic Control Parameters
Control mode switching) or 29 (MOD-SEL2: Control mode switching 2), and then set the terminal logic. 3000 F00.01 Maximum rpm 1000 - 6000rpm × Set the maximum rpm of the servo system. F00.02 Maximum torque 100.0 - 350.0% 300.0% × Set the maximum torque of the servo system. HS31 Series User Manual V1.1...
Page 133 0: Encoder position information. 1: Pulse command. 2: Disable frequency division output. Frequency division × F00.06 0, 1 output pulse phase 0: Phase A leads phase B. 1: Phase B leads phase A. HS31 Series User Manual V1.1...
Page 134 Current output duty cycle value = (closed-loop caculation output current + previous output current) / rated current. Dec. time for decrease ○ F00.18 0 - 60000ms 25ms speed stop HS31 Series User Manual V1.1...
Page 135 For detailed instructions, see section 6.1.3 Set the Brake, page 59. F00.26 Brake protection fault 0, 1 × 0: Disable the function. 1: Enable the function. Absolute position × F00.30 0 - 2 detection system HS31 Series User Manual V1.1...
Page 136: F01: Motor Parameters
F01.31 Encoder cable number 2500ppr (32 bit data) × F01.35 Encoder type 0, 1 0: Single-turn encoder. 1: Multi-turn encoder. Power on and read the F01.37 0, 1 × encoder EEPROM 0: Enable. 1: Disable. HS31 Series User Manual V1.1...
Page 137: F02: Input Terminal Parameters
CMD0 Segment No. Segment 1 Segment 2 Segment 3 Segment 4 Segment 5 Segment 6 Segment 7 Segment 8 Segment 9 Segment 10 Segment 11 Segment 12 Segment 13 Segment 14 Segment 15 Segment 16 HS31 Series User Manual V1.1...
Page 138 • If the terminal is invalid, F08.06 limits the torque. If the terminal is valid, F08.08 limits the torque. 14: Position command direction switch (POS-DIR). • Set the DI terminal to function No. 14, and then set the terminal logic (level valid is recommended). HS31 Series User Manual V1.1...
Page 139 When the F07.10 setting conditions are met, the motor enters the zero speed clamp status. 19: Pulse command prohibited (PLSINHIBIT). • Set the DI terminal to function No. 19, and then set the terminal logic. HS31 Series User Manual V1.1...
Page 140 Kvp1), F04.01 (speed loop integral time constant Tvi1), F04.20 (position loop proportional gain Kpp1), F04.34 (torque command filter time constant If the terminal is valid, select the group 2 parameters: F04.02 (speed loop HS31 Series User Manual V1.1...
Page 141 Valid Valid High > T Rising and falling edges are valid T (level holding time) description: • DI1 - DI2: High speed DI, T > 0.25ms. • DI3 - DI7: Normal DI, T > 3ms. HS31 Series User Manual V1.1...
Page 142: F03: Output Terminal Parameters
• When the actual motor speed ≥ the threshold value (F07.15), the system considers that the actual motor speed reaches the target value, and the driver outputs the speed arrived (SPD-CMP) signal. • When the actual motor speed < F07.15, the SPD-CMP signal is invalid. HS31 Series User Manual V1.1...
Page 143 • When the DO function is valid, the DO terminal outputs a low level (the optocoupler is turned on). 1: Negative logic. • When the DO function is valid, the DO terminal outputs a high level (the optocoupler is turned off). HS31 Series User Manual V1.1...
Page 144: F04: Loop Parameters
F04.08 - time lag F04.09), when it lasts for F04.07 time, it returns to the group 1 parameters. 4: Positioning completion. • Only valid in position control mode (other modes are fixed to the group 1 parameters). HS31 Series User Manual V1.1...
Page 145 Position loop gain ○ F04.23 0.0 - 1000.0ms 3.0ms switching time F04.23 is valid only when group 1 position gain is switched to group 2 position gain (group 2 position gain > group 1 position gain). HS31 Series User Manual V1.1...
Page 146 2 Current loop q-axis KI F04.42 0.00 - 5.00 1.00 ○ gain 2 d-axis voltage F04.48 decoupling 0.000 - 1.000 1.000 × proportional factor q-axis voltage × F04.49 decoupling 0.000 - 1.000 1.000 proportional factor HS31 Series User Manual V1.1...
Page 147: F05: Self-Adjustment Parameters
100 - 1000rpm 500rpm inertia identification Maximum speed time × F05.07 reached during offline 20 - 800ms 500ms inertia identification Waiting time after each F05.08 offline inertia 50 - 10000ms 800ms × identification HS31 Series User Manual V1.1...
Page 148: F06: Position Control Parameters
Smooth filter Please set the filter time according Inertia filter to the actual situation. Time t Set the number of 0 - 1,073,741,824 × F06.04 pulses per revolution (32 bit data) HS31 Series User Manual V1.1...
Page 149 2: Terminal clear. When the position deviation clear function (function No. 17) is valid, the DI terminal clears the position deviation. 1 - 1,073,741,824 Position deviation Depend F06.18 ○ threshold on HS31 (encoder/command unit) F06.34 sets the unit of F06.18 (encoder unit or command unit). HS31 Series User Manual V1.1...
Page 150 • After the servo enable signal is valid, the electrical homing is enabled immediately. After the homing is successful, F06.24 = 0. • If the zero return function is used again, F06.24 = 3 must be set again. 4: Terminal enables electrical homing. HS31 Series User Manual V1.1...
Page 151 Set the unit to F06.29. 0: The unit is 1ms. 1: The unit is 10ms. 2: The unit is 100ms. Mechanical origin ○ F06.31 offset and limit 0 - 3 handling method HS31 Series User Manual V1.1...
Page 152 Encoder multi-turn × F06.39 0 - 65535 data offset F06.39 ≠ 0, encoder multi-turn data = multi-turn data from the original encoder feedback - F06.39. F06.39 affects the multi-turn data of d00.31, d00.58 and d00.60. HS31 Series User Manual V1.1...
Page 153 0 - 429,4967,295 Multi-turn absolute F06.45 position offset (high 32 bit) F06.43, F06.45 are only used in absolute position linear detection mode (F00.30 = 1). Maximum position × F06.58 100 - 4000kHz 4000kHz pulse input frequency HS31 Series User Manual V1.1...
Page 154: F07: Speed Control Parameters
3: Reference speed ≤ F07.09, switch to position control mode fixed, reference speed > F07.09, resume run. Forward speed F07.11 3000rpm ○ command limit 0rpm - F00.01 Reverse speed ○ F07.12 3000rpm command limit In speed control mode, the driver can limit the size of the speed command: HS31 Series User Manual V1.1...
Page 155 (ZERO-SPD) signal. When the actual motor rpm > F07.16, the ZERO-SPD signal is invalid and the motor is in run status. HS31 Series User Manual V1.1...
Page 156: F08: Torque Control Parameters
Position control torque F08.20 0, 1 ○ limit working condition enable 0: Disable. 1: Enable. Torque command rise F08.22 0 - 60000ms × time Torque command F08.23 0 - 60000ms × falling time HS31 Series User Manual V1.1...
Page 157: F09: Multi-Position Parameters
0 - 60000 Multi-position 1 Acc. ○ F09.05 F09.01 thousand sets unit and Dec. time (ms or s) 0 - 60000 Waiting time after F09.06 multi-position 1 is ○ F09.01 thousand sets unit completed (ms or s) HS31 Series User Manual V1.1...
Page 158 0 - 60000 Multi-position 5 Acc. F09.25 ○ F09.01 thousand sets unit and Dec. time (ms or s) 0 - 60000 Waiting time after ○ F09.26 multi-position 5 is F09.01 thousand sets unit completed (ms or s) HS31 Series User Manual V1.1...
Page 159 Dec. time (ms or s) 0 - 60000 Waiting time after F09.46 multi-position 9 is ○ F09.01 thousand sets unit completed (ms or s) -1,073,741,824 - Multi-position 10 pulse +1,073,741,823 ○ F09.47 10000 number (command unit) HS31 Series User Manual V1.1...
Page 160 ○ F09.66 multi-position 13 is F09.01 thousand sets unit completed (ms or s) -1,073,741,824 - Multi-position 14 pulse +1,073,741,823 F09.67 10000 ○ number (command unit) Multi-position 14 F09.69 0rpm - F00.01 500rpm ○ running speed HS31 Series User Manual V1.1...
Page 161 F09.07 - F09.81 sets multi-position 2 - 15, same as multi-position 1 (F09.02 - F09.06). The Acc. and Dec. time is the time from 0 to 1000rpm. Loop mode start F09.82 0 - F09.00 × segment HS31 Series User Manual V1.1...
Page 162: F0A: Multi-Speed Parameters
4: Select group 4 (Acc. time F0A.57, Dec. time F0A.58). 0.0 - 6553.5 3rd speed command F0A.10 ○ running time F0A.50 sets unit (s or min) ○ F0A.11 4th speed command -F00.01 - +F00.01 0rpm HS31 Series User Manual V1.1...
Page 163 8th speed command Acc. ○ F0A.24 0 - 4 and Dec. time 0: The Acc./Dec. time is 0. 1: Select group 1 (Acc. time F0A.51, Dec. time F0A.52). 2: Select group 2 (Acc. time F0A.53, Dec. time F0A.54). HS31 Series User Manual V1.1...
Page 164 4: Select group 4 (Acc. time F0A.57, Dec. time F0A.58). 0.0 - 6553.5 12th speed command ○ F0A.37 running time F0A.50 sets unit (s or min) F0A.38 13th speed command -F00.01 - +F00.01 0rpm ○ HS31 Series User Manual V1.1...
Page 165 F0A.05 - F0A.49 sets the 2nd to 16th speed commands, the same as the first speed command (F0A.02 - F0A.04). F0A.50 Multi-speed running time 0, 1 × unit F0A.50: The running time of the 1st to 16th commands. 0: Seconds (s). HS31 Series User Manual V1.1...
Page 166 Multi-speed Acc. time 4 150ms × F0A.58 Multi-speed Dec. time 4 150ms F0A.51, F0A.53, F0A.55, and F0A.57 set the Acc. time from 0rpm to 1000rpm. F0A.52, F0A.54, F0A.56, and F0A.58 set the Dec. time from 1000rpm to 0rpm. HS31 Series User Manual V1.1...
Page 167: F0B: Auxiliary Function Parameters
Unlock the user password, and then set the password according to the steps for setting the user password. The keypad displays “P.Set”. Cancel user password: Unlock the user password, set F0b.20 = 00000, and the keypad displays “P.CLr“. HS31 Series User Manual V1.1...
Page 168: F0C: Communication Parameters
0 - 127 CAN communication F0c.10 ○ 0 is the broadcast address address F0c.20 CAN communication rate 0 - 6 ○ 0: 20kbps. 1: 50kbps. 2: 100kbps. 3: 125kbps. 4: 250kbps. 5: 500kbps. 6: 1Mbps. HS31 Series User Manual V1.1...
Page 169 CAN communication QDF3 F0c.40 FFFF ○ response value 2 PDO disconnection ○ F0c.41 0 - 5000ms detection time PDO disconnection F0c.42 0, 1 ○ processing method 0: Alarm A121.1, no stop. 1: Report fault E121.0 and stop. HS31 Series User Manual V1.1...
Page 170: F0D: Fault And Protection Parameters
< F0d.15, after a delay of F0d.16, the driver reports E014.0 fault (motor stall fault). The driver does not detect faults in any of the following conditions. • Torque control mode. • F0d.15 or F0d.16 = 0. HS31 Series User Manual V1.1...
Page 171 F0d.28 ≠ 0, the driver reports A026.2 warning, and after the warning lasts for F0d.28 time, the driver reports E026.3 fault (brake resistor overload fault), then stop and stops braking. Maximum continuous × F0d.29 0.00 - 30.00s 10.00s braking time HS31 Series User Manual V1.1...
Page 172: F0E: Usability Parameters
JOG speed command ○ F0E.03 0rpm - F00.01 100rpm setting value 0 - 60000ms JOG running Acc. and × F0E.04 100ms 0: The actual Acc. and Dec. Dec. time time is determined internally HS31 Series User Manual V1.1...
Page 173: F0F: Fault Stop Mode
0: Coast to stop fault E028.0: Parameter setting fault (no corresponding 0: Coast to stop encoder) Stay free status E028.1: Parameter setting Hundred fault (no corresponding 0: Coast to stop motor) Thousand 0: Coast to stop 1 23 HS31 Series User Manual V1.1...
Page 174 0: Coast to stop E009.0: Output short circuit Stay free status Hundred to ground (motor phase 0: Coast to stop current) E009.1: Output short circuit Thousand 0: Coast to stop to ground (DC bus voltage) 1 23 HS31 Series User Manual V1.1...
Page 175 Fault [Default] After Stop 5: Dynamic braking DB Unit stop 5: Dynamic braking DB stop Stay free status 5: Dynamic braking DB Hundred stop E007.0: Current detection Thousand 0: Coast to stop fault 1 23 HS31 Series User Manual V1.1...
Page 176 0: Coast to stop E002.0: Hardware 0: Coast to stop overcurrent Stay free status E002.1: U phase hardware Hundred 0: Coast to stop overcurrent E002.2: V phase hardware Thousand 0: Coast to stop overcurrent 1 23 HS31 Series User Manual V1.1...
Page 177 5: Dynamic braking DB Unit stop 0: Coast to stop E082.0: Angle identification Stay free status Hundred 0: Coast to stop fault E021.2: Encoder 5: Dynamic braking DB Thousand communication interference stop fault 1 23 HS31 Series User Manual V1.1...
Page 178 0: Coast to stop 0: Coast to stop E016.0: Motor out-of- 5: Dynamic braking DB Stay free status Hundred tolerance fault stop E016.1: Torque limit causes 5: Dynamic braking DB Thousand motor out-of-tolerance fault stop 1 23 HS31 Series User Manual V1.1...
Page 179 5: Dynamic braking DB Unit protection stop 5: Dynamic braking DB Stay free stop status Hundred E014.0: Motor stall fault 0: Coast to stop 5: Dynamic braking DB Thousand E012.0: Driver overheat fault stop 1 23 HS31 Series User Manual V1.1...
Page 180 Motor Stop Mode [Default] After Stop Unit 3: Decrease speed stop E025.2: Frequent 3: Decrease speed stop parameter storage fault Stay free status Hundred 3: Decrease speed stop Thousand 0: Coast to stop 1 23 HS31 Series User Manual V1.1...
Page 181 After Stop Unit 3: Decrease speed stop 5: Dynamic braking DB stop Stay free E005.0: Three phase status Hundred power input phase loss 5: Dynamic braking DB stop fault Thousand 3: Decrease speed stop 1 23 HS31 Series User Manual V1.1...
Page 182 33 Motor Status F0F.32 Fault Motor Stop Mode [Default] After Stop Unit 3: Decrease speed stop 3: Decrease speed stop Stay free status Hundred 3: Decrease speed stop Thousand 3: Decrease speed stop 1 23 HS31 Series User Manual V1.1...
Page 183 Fault Motor Stop Mode [Default] After Stop E026.4: Long-term Unit 3: Decrease speed stop braking fault Stay free 0: Coast to stop status Hundred 0: Coast to stop Thousand 0: Coast to stop 1 23 HS31 Series User Manual V1.1...
Page 184: F12: Virtual Di And Do Parameters
F12.57 - F12.72 set the VDO terminal logic, and F12.55 sets the VDO terminal level. See the table below for the setting relationship. F12.57 - F12.72 (VDO Terminal Logic) F12.55 (VDO Virtual Level) Valid High Output 1 when valid > T > T High Output 0 when valid Valid 1 23 HS31 Series User Manual V1.1...
Page 185 VDI5 terminal logic F12.21 VDI6 terminal logic 0, 1 ○ F12.22 VDI7 terminal logic ○ F12.23 VDI8 terminal logic ○ F12.24 VDI9 terminal logic ○ F12.25 VDI10 terminal logic ○ F12.26 VDI11 terminal logic ○ HS31 Series User Manual V1.1...
Page 186 5: Positioning completion (POS-CMP). 12: Speed limit (SPD-LT). 6: Servo enable (S-ENA). 13: Warning output (WARN). 14: Fault output (ALM). 16: Brake output (BK). 15: Torque arrived (TOR-CMP). F12.50 Whether to use VDI 0, 1 × HS31 Series User Manual V1.1...
Page 187 F12.57 - F12.72 set the VDO terminal logic, and F12.55 sets the VDO terminal level. See the table below for the setting relationship. F12.57 - F12.72 (VDO Terminal Logic) F12.55 (VDO Virtual Level) Valid High Output 1 when valid > T > T High Output 0 when valid Valid HS31 Series User Manual V1.1...
Page 188: F20: Operation Command Parameters
Keep pressing the up or down key, the motor automatically rotates forward and reverse and accelerate and decelerate. Release the key after F20.11 (inertia identification value) stabilizes. Press SET key three times in succession, and F05.02 saves the identification result (F20.11). HS31 Series User Manual V1.1...
Page 190: Chapter 8 Fault Or Warning Troubleshooting
E016.1 Torque limit causes motor out-of-tolerance fault Type 2 (resettable) E018.0 Encoder communication timeout fault Type 1 (non-resettable) E021.0 Encoder Z signal loss fault Type 1 (non-resettable) E021.2 Encoder communication interference fault Type 1 (non-resettable) HS31 Series User Manual V1.1...
Page 191 Type 2 (resettable) E080.0 Angle identification UVW phase sequence error Type 1 (resettable) E081.0 Runaway fault Type 1 (resettable) E081.1 FPGA internal speed measurement overflow fault Type 1 (resettable) E082.0 Angle identification fault Type 1 (resettable) HS31 Series User Manual V1.1...
Page 192: Warning Code
Type 3 (resettable) The servo is in power generation status for a long A108.0 Type 3 (resettable) time after power on A110.0 Emergency stop prompt Type 3 (resettable) A121.1 Communication connection interruption warning Type 3 (resettable) HS31 Series User Manual V1.1...
Page 193: Troubleshooting And Warning
3. The driver model or Consult our technical staff to see if the driver model Correctly set the driver motor code is set is set correctly. model. incorrectly. HS31 Series User Manual V1.1...
Page 194 Unplug the motor cable and set F0b.29 = 1. Re- 7. Driver fault. power on and the fault is still reported after Replace the driver. enabling. HS31 Series User Manual V1.1...
Page 195 Check whether the non-driver side and the driver Connect the power phase of the U/V/W main circuit input cable are in good condition and cables correctly or power cable of the driver connected tightly. replace them. is faulty. HS31 Series User Manual V1.1...
Page 196 3. The driver is short- Disconnect the motor cable and the driver, and Replace the driver. circuited to ground. measure whether there is a short circuit between the U/V/W terminal of the driver and the ground terminal PE. HS31 Series User Manual V1.1...
Page 197 • Torque command: d00.02 (reference torque during running. command). In the corresponding mode, check whether there is a stall situation where the running command is not 0 but the motor speed is 0. HS31 Series User Manual V1.1...
Page 198 • Torque command: d00.02 (reference torque during running. command). In the corresponding mode, check whether there is a stall situation where the running command is not 0 but the motor speed is 0. HS31 Series User Manual V1.1...
Page 199 • Torque command: d00.02 (reference torque to mechanical factors. factors. command). In the corresponding mode, check whether there is a stall situation where the running command is not 0 but the motor speed is 0. HS31 Series User Manual V1.1...
Page 200 Correctly set and ensure 5. The input position d00.08 corresponding to the input position that the input command command exceeds F0d.19. command exceeds F0d.19. is within F0d.19. HS31 Series User Manual V1.1...
Page 201 HS31 Series User Manual V1.1...
Page 202 • If there is no alarm during the rotation process, but there is an alarm during normal servo running, there is a high possibility of interference. 3. Encoder internal After powering on again, the fault is still Replace the motor. counting fault. reported. HS31 Series User Manual V1.1...
Page 203 The parameters are not stored. If the fault is reported after 3. Parameter writing and repeated attempts, please reading faults occur. contact our customer service or replace the driver. HS31 Series User Manual V1.1...
Page 204 7. The capacity of the After powering on again, the driver still F0d.27 value. external brake resistor is report a fault at regular intervals. insufficient. Select an external brake resistor with a larger capacity. HS31 Series User Manual V1.1...
Page 205 Check whether F02.00 - F02.06 and to different function numbers and repeatedly assigned to F12.00 - F12.15 are set to the same non- power on again. multiple DI terminals. zero DI function number. Seek technical support. HS31 Series User Manual V1.1...
Page 206 Restore the parameters to factory 1. Parameter setting error. sure they are within the limit, and finally default (F0b.10), then power on check whether d01.12 and d01.13 are again. non-zero values. HS31 Series User Manual V1.1...
Page 207 After powering on again, the driver 3. Driver fault. Replace the driver. still reports a fault. HS31 Series User Manual V1.1...
Page 208 The encoder battery voltage was detected to be less than 3.1V. Cause Inspection Items Troubleshooting 1. The encoder battery is too Replace the battery with a new Measure the battery voltage. low. one of matching voltage. HS31 Series User Manual V1.1...
Page 209 Use an encoder cable with strong 2. The encoder Check whether there is any external anti-interference ability to communication is affected by power interference. eliminate external power supply external interference. interference. HS31 Series User Manual V1.1...
Page 210 UVW and the motor UVW do not match. Cause Inspection Items Troubleshooting After powering on several times, the Reconnect the cables and 1. Phase sequence does not driver still reports a fault during perform angle identification match. angle identification. again. HS31 Series User Manual V1.1...
Page 211 E082.0 fault still occurs. Re-power on and re-identify. 2. The encoder wiring is Check the encoder cable connection incorrect or there is significant and power on again to see if the interference. E082.0 fault still occurs. HS31 Series User Manual V1.1...
Page 212 Output pulse frequency (Hz) = motor the machine. speed (rpm) / 60 × F06.06 (number of encoder frequency division pulses) HS31 Series User Manual V1.1...
Page 213 Adjust the position of abnormality. 2. The mechanical equipment mechanical equipment. is in the reverse overtravel Check the position of the mechanical Replace the reverse overtravel position. equipment and whether the switch. overtravel switch is normal. HS31 Series User Manual V1.1...
Page 214 Check whether the direction of homing method, but the set ensure that the setting direction offset amount and the homing is consistent with the set is opposite to the homing homing direction to be offset. direction. consistent. HS31 Series User Manual V1.1...
Page 215 If the position command is not through the oscilloscope function of zero and the position feedback 7. Driver/motor fault. the host computer: Position is always zero, please replace command, position feedback, speed the driver/motor. command, and torque command. HS31 Series User Manual V1.1...
Page 216 PDO data frames. Replace the communication cable 1. The slave station is offline. Check whether the communication and tighten the connection. cable is disconnected and whether both ends of the cable are firmly connected. HS31 Series User Manual V1.1...
Page 218: Chapter 9 Communication Protocol
4, 5 RS485+, RS485- RS485 communication terminal RS232-TXD RS232 transmitter RS232-RXD RS232 receiver Ground Shell Shield *: Only CN3 supports RS232 communication. Transmission Mode RS485 interface: Asynchronous, half-duplex. Factory default format and baud rate: 8-N-2, 9600bps. HS31 Series User Manual V1.1...
Page 219: Protocol Format
• The data checking uses CRC-16, and the whole message is checked. 9.1.2 Protocol Functions Support Function Supported Function Function Code Read function and status parameter 0x03 Write single function or control parameter 0x06 Write multiple function or control parameters 0x10 HS31 Series User Manual V1.1...
Page 220 0x0000 - 0 - 247 0x06 range 0xFFFF 0xFFFF Response Register Register Address Code CRC Check Frame Address Content Data frame bytes Value or 0x0000 - 0x0000 - 1 - 247 0x06 range 0xFFFF 0xFFFF HS31 Series User Manual V1.1...
Page 221 0x17 Wrong number of registers in request frame 0x18 Information frame error (including information length, checking) 0x20 Parameters cannot be set 0x21 Parameters cannot be set during running 0x22 Parameters are password protected HS31 Series User Manual V1.1...
Page 222: Address Mapping
Motor electrical angle 0x3332 Position following error (32 bit) Input position command Mechanical absolute position (low 32 0x3308 0x3336 corresponding speed bit) Mechanical absolute position (high 32 0x3309 Position deviation number (32 bit) 0x3338 bit) HS31 Series User Manual V1.1...
Page 223 MCU software non-standard version 0x350a Built-in brake resistor value 0x3503 Driver model 0x350b Driver software subversion number 0x3504 Motor code 0x350c FPGA software main version 0x3506 Encoder version number 0x350d FPGA software sub-version 0x3507 Bus software version number HS31 Series User Manual V1.1...
Page 224: Application Examples
Register Content Checksum Bytes Response 0x02 0x03 0x02 0xff 0x6a 0x3d 0x9b frame 4. Slave 2 fault reset. Address Code Register Address Read Bytes Checksum Request/ 0x02 0x06 0x20 0x00 0x00 0x01 0x43 0xf9 Response frame HS31 Series User Manual V1.1...
Page 225: Can Communication Protocol
• 1011b: ADF answer frame • 0011b: QDRF (Quick Data Request Frame) • 0100b: QDAF (Quick Data Answer frame) Slave ID: CAN communication address of the slave device bit6 - 0 Data byte0 - 7 HS31 Series User Manual V1.1...
Page 226: Access Data Frame (Adf)
1100b 0x02 0x03 0x00 0x01 0x01 0x00 The slave station answers: bit10 - 7 bit6 - 0 byte0 byte1 byte2 byte3 byte4 byte5 Byte6 - 7 1011b 0x02 0x03 0x00 0x01 0x01 0x0B 0xB8 0x00 HS31 Series User Manual V1.1...
Page 227 Wrong number of registers in request frame 0x18 Information frame length error and checksum error 0x20 Parameters cannot be set 0x21 When the driver is running, the parameters cannot be set 0x22 Parameters are password protected HS31 Series User Manual V1.1...
Page 228: Quick Data Frame (Qdf)
Mapping Parameters Values of F0c.21 to F0c.40 (Register Addresses) Register address Register address (not stored in EEPROM) (stored in EEPROM) 00xy 80xy F00.xy 01xy 81xy F01.xy 02xy 82xy F02.xy 03xy 83xy F03.xy HS31 Series User Manual V1.1...
Page 229 CAN communication QDF1 response value 4 0007 F00.07 The QDRF and QDAF mapping table of the slave station is: QDRF Mapping Table QDAF Mapping Table Register Address Register Address F00.00 F00.04 F00.01 F00.05 F00.02 F00.06 F00.03 F00.07 HS31 Series User Manual V1.1...
Page 230 If the corresponding register values are 0x0000, 0x0001, 0x0000, 0x000F, the slave station sends the QDAF message: bit10 - 7 bit6 - 0 byte0 byte1 byte2 byte3 byte4 byte5 byte6 byte7 0100b 0x00 0x00 0x00 0x00 0x 01 0x00 0x 00 0x00 0x0F HS31 Series User Manual V1.1...
Page 231 Hpmont Group Company Shenzhen Hpmont Techmology Co., Ltd. Add: Building 28, Wangjingkeng Industry Park, Xili Town, Nanshan District, Shenzhen, China Tel: +86 755-26791688 Fax: +86 755-26558128 Email: marketing@hpmont.com HPMONT (Hong Kong) Co., Ltd. Add: Room 709, 7/F, Silvercord Tower 1, 30 Canton Road, Tsim Sha Tsui, -Kowloon. Hong...

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