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Xinje DS5L1 Series User Manual

Xinje DS5L1 Series User Manual

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DS5L1
series servo driver
User manual
WUXI XINJE ELECTRIC CO., LTD.
Data No. SC5 05 20240104 1.4.4

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  • Page 1 DS5L1 series servo driver User manual WUXI XINJE ELECTRIC CO., LTD. Data No. SC5 05 20240104 1.4.4...

  • Page 3: Declaration Of Liability

    Basic explanation  Thank you for purchasing Xinje DS5L1 series servo driver products.  This manual mainly introduces the product information of DS5L1 series servo driver and MS series servo motor.  Before using the product, please read this manual carefully and connect the wires on the premise of fully understanding the contents of the manual.

  • Page 4: Safety Precautions

    Safety Precautions Be sure to review this section carefully before use this product. In precondition of security, wire the product correctly. Before using this product, please read this part carefully and operate after fully understanding the use, safety and precautions of the product. Please connect the product correctly on the premise of paying great attention to safety.

  • Page 5: Operation Cautions

    Operation Cautions 1. Do not touch the rotating part of the motor after the driver is running. There is a danger of injury. 2. Please pay attention to the test run of the motor once, do not connect the motor with the machine, there is the possibility of injury.

  • Page 7: Table Of Contents

    2.2.2 Installation cautions ........................16 2.2.3 Installation environment ........................17 2.3 S ......................... 18 ERVO CABLE INSTALLATION 2.3.1 Cable selection ..........................18 2.3.2 Xinje cable specification ........................19 2.4 S ........................21 ERVO DRIVER DIMENSION 2.5 S ........................23 ERVO MOTOR DIMENSION 3 SERVO SYSTEM WIRING ........................
  • Page 8 5 OPERATION OF SERVO SYSTEM ....................... 53 5.1 C ..................53 ONTROL MODE SELECTION AND SWITCHING 5.1.1 Control mode selection ........................53 5.1.2 Control mode switching ........................54 5.2 B ........................55 ASIC FUNCTION SETTING 5.2.1 Jog operation ...........................55 5.2.2 Servo enable setting .........................56 5.2.3 Rotation direction switching ......................57 5.2.4 Stop mode ............................
  • Page 9 8.3 C ........................188 OMMUNICATION PROTOCOL 8.3.1 Character structure ........................188 8.3.2 Communication data structure ...................... 188 8.4 C ......................... 190 OMMUNICATION EXAMPLE 8.4.1 Communication with Xinje PLC ....................190 APPENDIX ..............................191 1. G ......................191 PPENDIX ROUP PARAMETERS 2. UX-XX ..................209...

  • Page 10: Confirmation On Product Arrival

    Is the motor code the same with the Check the motor code marked on the nameplates of the code in drive? servomotor and the parameter U3-70 on the servo drive. If any of the above is faulty or incorrect, contact Xinje or an authorized distributor.

  • Page 11: Selection Of Servo System

    1.1 Selection of servo driver 1.1.1 Model name 1.1.2 Description of each part 1.1.3 Performance specification Servo unit DS5L1 series servo driver Applicable encoder Standard: 17-bit/23-bit communication encoder DS5L1-2□P□-PTA: single phase AC200-240V, 50/60Hz Input power supply DS5L1-4□P□-PTA: three phase AC380-440V, 50/60Hz...

  • Page 12: Servo Motor Selection

    Using temperature -10～+40 ℃ Storage temperature -20～+60 ℃ Using Environment condition Below 90% RH (no condensation) humidity Vibration resistance 4.9m/s Structure Pedestal installation 1.2 Servo motor selection 1.2.1 Model name...

  • Page 13: Description Of Each Part

    Note: At present, only the combination of CS, CM, TL and T is selected for the type of encoder. Standard type 1: 80 flange and below amp plug. Standard type 2: 80 flange and below small aviation plug. 1.2.2 Description of each part Encoder frame flange...

  • Page 14: Axial Force And Radial Force

    1.2.3 Axial force and radial force Base no. 40ST 60ST 80ST 100ST 110ST 130ST 180ST 220ST/265ST Axial 147N ≤200N 250N 300N 400N ≤500N force Radial 245N 392N 500N 500N 600N 800N 1000N force...

  • Page 15: Cable Selection

    Power cable  Brake cable explanation  For 80 and below flange motors with suffix S01, the brake cable model shall be selected:  CB-P03-length. The standard wiring length of Xinje is 3m, 5m, 8m, 12m, 16m and 20m. ...

  • Page 16: Description Of Each Part

    1.3.2 Description of each part Encoder cable  (1) Pin definition of encoder on servo driver side Pin definition Connector appearance Definition 485-A 485-B (2) Cable connection of encoder on motor side Motor model Connector Pin definition Name Battery + Battery - Shielding wire...
  • Page 17 Battery box description: 1) The encoder including the cable definition of battery +, battery- is for the absolute motor, and the non-absolute motor cable has no such pin. 2) Only the cable of absolute value motor has external battery box, which contains a 3.6V/2.7Ah large capacity battery, and has the function of replacing batteries when power on.
  • Page 18 Pin definition Motor model Connector Name Name MS6-40 base B3 motor Forward outlet reverse outlet (user’s view) Pin definition Motor model Connector Name MS6-60, 80 base B3 motor Forward outlet reverse outlet (user’s view) Name MS6-100, 130 base non medium inertia brake motor MS5G-130 base medium inertia brake motor...

  • Page 19: Selection Of Other Accessories

    no BK pins. 1.4 Selection of other accessories 1.4.1 Selection of regenerative resistance When the servo motor is driven by the generator mode, the power returns to the servo amplifier side, which is called regenerative power. The regenerated power is absorbed by charging the smooth capacitor of the servo amplifier.

  • Page 20: Installation Of Servo System

    Installation of servo system 2.1 Servo driver installation 2.1.1 Installation site Please install it in the installation cabinet without sunshine or rain.  Do not use this product near corrosive and flammable gas environments such as hydrogen sulfide,  chlorine, ammonia, sulfur, chlorinated gas, acid, alkali, salt, etc. Do not install in high temperature, humidity, dust, metal dust environment;...

  • Page 21: Servo Motor Installation

    at least 50mm above and below each servo drive. Install cooling fans above the servo drives to avoid excessive temperature rise and to maintain even temperature inside the control panel. Environmental Conditions in the Control Panel  Servo driver working ambient Temperature: -10~40 ℃ ...

  • Page 22: Installation Cautions

    2.2.2 Installation cautions Item Description ◆ Before installation, please wipe the "rust-proof agent" of the extension end Antirust treatment of the servo motor shaft, and then do the relevant rust-proof treatment. ◆ It is forbidden to impact the extension end of the shaft during installation, otherwise the internal encoder will be broken.

  • Page 23: Installation Environment

    When using in places where water droplets are dropping, please use it on the basis of confirming the protection level of servo motor. (except for the shaft-through part) When oil droplets will drip into the shaft-through part, please specify the servo motor with oil seal. water Conditions for use of servo motors with oil seals: solutions...

  • Page 24: Servo Cable Installation

    If the cable is used in general occasions, please select the cable from other manufacturers (2.3.2 specifications of Xinje cable) in strict accordance with the specifications given by Xinje. If the cable is used in unconventional occasions, please select the cable according to the actual working conditions to be superior to the existing specifications of Xinje.

  • Page 25: Xinje Cable Specification

    Select cables (special cables) that meet the use conditions.  2.3.2 Xinje cable specification 1. Material composition of Xinje cable Cross section of cable (encoder, power cable), corresponding introduction of wire skin material, wire diameter, wire core material shielding material, etc.
  • Page 26 2. Cable diameter specification Encoder cable diameter Power cable diameter Whole Whole Length Base cable Single cable diameter cable Single cable Type Type diameter diameter diameter (mm (mm) (mm) Normal Normal / 80 and without 5.8/6.4 High 7.2/7.0 4*0.75mm² below battery flexibility box/with...

  • Page 27: Servo Driver Dimension

    2.4 Servo driver dimension DS5L1-20P1-PTA, DS5L1-20P2-PTA, DS5L1-20P4-PTA Unit: mm  174.6 DS5L1-20P7-PTA Unit: mm  43.25...
  • Page 28 DS5L1-21P0-PTA, DS5L1-41P0-PTA, DS5L1-41P5-PTA Unit: mm  174.6 DS5L1-21P5-PTA, DS5L1-22P3-PTA, DS5L1-22P6-PTA,  DS5L1-42P3-PTA, DS5L1-43P0-PTA Unit: mm 190.3...

  • Page 29: Servo Motor Dimension

    2.5 Servo motor dimension 40 series motor installation dimensions Unit: mm  15.5 -0.1 25±0.5 LA±1 Inertia Motor model With Normal level brake MS5S-40ST-C□00330□□-20P1-S01/S02 89.5 inertia 25±0.50 M3 - 6H 6.2 0 -0.1 LA±1 Inertia Motor model With level Normal brake High MS6H-40C□30B□1-20P1...
  • Page 30 60 series motor installation dimensions Unit: mm  30±0.5 11 0 -0.1 LA±1 Inertia Motor model Series With level Normal brake MS5S-60ST-C□00630□□-20P2-S01/S02 inertia MS5S-60ST-C□01330□□-20P4-S01/S02 MS5H-60ST-C□00630□□-20P2-S01/S02 High series inertia MS5H-60ST-C□01330□□-20P4-S01/S02 MS-60STE-T01330-20P4-D01 4- ∅ 5.5 ∅ 70 M5深8 11 0.0 -0.1 30±0.5 LA±1 Inertia Motor model...
  • Page 31 brake High MS6H-60□□30B□3-20P2 76.4 99.15 inertia MS6S-60□□30B□3-20P4 98.4 121.15 inertia High MS6H-60□□30B□3-20P4 98.4 121.15 inertia 4- ∅5.5 ∅70 4.2 8 11 0 -0.1 LA±1 Inertia Motor model With Normal level brake High MS6H-60CM30B□4-20P4 80.2 106.95 inertia 80 series motor installation dimensions Unit: mm ...
  • Page 32 0.06 A 0.02 A □ 80 15.5 0.04 A LA±1 Motor model With Inertia level Normal brake MS6S-80C□30B□□1/2-20P7 Low inertia MS6S-80C□20B□□1/2-20P7 MS6H-80C□30B□□1/2-20P7 High inertia MS6H-80C□20B□□1/2-20P7 MS6S-80TL30B1-20P7 Low inertia 4-Ø6.50 0.06 A 0.02 A Ø90 15.5 0.04 A LA±1 Inertia Motor model With Normal level...
  • Page 33 100 series motor installation dimensions Unit: mm  4- ∅9 0.1 A Ø115 0.03 A □ 100 0.06 A LA±1 Motor model Inertia level With Normal brake MS6S-100C□30B2-21P5 154.5 MS6S-100C□30B□2-21P0 138.5 Low inertia MS6S-100TL30B□2-21P0 144.2 169.7 110 series motor installation dimensions Unit: mm ...
  • Page 34 0.02 A 0.02 A 4- ∅ 9 贯穿 ∅ 130 2 : 1 39.5 M5 15 42.5 0.05 A □ 110 15.5 LA±1 Inertia Motor model With level Normal brake Medium MS6G-110CS□30B□2-21P5 132.5 inertia MS6G-110TL30B2-□1P5 130 series motor installation dimensions Unit: mm ...
  • Page 35 LA±1 Motor model Inertia level With Normal brake MS-130ST-T10015B□-21P5 MS-130STE-T15015G□-22P3 MS-130STE-T07730B□-22P4 MS-130ST-T10025B□-22P6 MS-130ST-TL10030□□-43P0 18.5 0 -0.1 57±0.5 12.5 a130 LA±1 Inertia Motor model With level Normal brake MS5G-130STE-C□06025B□-21P5-S01 123.5 153.5 Medium inertia MS5G-130STE-C□10015B□-21P5-S01 146.5 176.5 4- ∅ 9 0.1 A ∅...
  • Page 36 LA±1 Inertia Motor model With level Normal brake MS6H-130C□15B□2-42P3 195.6 225.6 MS6H-130TL15B□2-22P3 211.6 241.6 MS6H-130TL15B□2-42P3 211.6 241.6 4- ∅9 110.9 ∅ 145 1.5 : 1 M6 - 6H 18 0 -0.1 □ 130 55±0.5 LA±1 Inertia Motor model With level Normal brake MS6G-130C□25B□2-□1P0...
  • Page 37 30 0 -0.1 79±0.5 a180 LA±1 Motor model Inertia level With Normal brake MS5G-180ST-TL19015□□-42P9-S01 Medium inertia MS5G-180ST-TL28015□□-44P4-S01 37 0 -0.1 a180 113±0.5 LA±1 Motor model Inertia level With Normal brake MS5G-180ST-TL35015□□-45P5-S01 Medium inertia MS5G-180ST-TL48015□□-47P5-S01 0.1 A 0.08 A 0.03 A □...
  • Page 38 0.1 A 0.08 A 0.03 A □ 180 LA±1 Motor model Inertia level With Normal brake MS6H-180C□15B□2-45P5 MS6H-180TL15B□2-45P5 High inertia MS6H-180C□15B□2-47P5 MS6H-180TL15B□2-47P5 0.1 A 0.08 A 0.03 A □ 180 LA±1 Motor model Inertia level With Normal brake MS6H-180CS/CM15E□2-45P5 High inertia MS6H-180CS/CM15E□2-47P5 220 series motor installation dimensions Unit: mm...

  • Page 39: Servo System Wiring

    0.12 A 0.03 A 0.08 A ◻ 220 LA±1 Motor model Inertia level With Normal brake Medium MS5G-220STE-□□40015B-422P0-S01 inertia Servo system wiring Servo driver interface wiring recommended wire, as shown in the following table: Ground cable Power cable Power cable Encoder cable Driver model diameter...

  • Page 40: Main Circuit Wiring

    of the servo driver, a large charging current (charging time of 0.2 seconds) will flow through when the power supply is ON. Therefore, if the ON/OFF power supply is frequently used, the performance of the main circuit components in the servo driver will be degraded. 3.1 Main circuit wiring 3.1.1 Servo driver terminal arrangement ...

  • Page 41: Main Circuit Terminal

    3.1.2 Main circuit terminal DS5L1-20P1-PTA, DS5L1-20P2-PTA, DS5L1-20P4-PTA  Terminal Function Explanation Power supply input of Single phase AC 200~240V, 50/60Hz main circuit Vacant terminal ● Connect the motor U, V, W, Motor terminals Note: the ground wire is on the terminal, please check it before power on! External regenerative Connect regenerative resistor between P+...

  • Page 42: Cn0, Cn2 Terminal

    DS5L1-41P0-PTA, DS5L1-41P5-PTA, DS5L1-42P3-PTA, DS5L1-43P0-PTA  Terminal Function Explanation Power supply input of R, S, T Three phase AC380~440V, 50/60Hz main circuit Internal regenerative Short P+ and D, disconnect P+ and C resistor P+, D, C External regenerative Connect regenerative resistor between P+ resistor and C, disconnect P+ and D, P0-25= power value, P0-26= resistor value...

  • Page 43: Communication Port

    Description RS232 send RS232 receive RS232 signal ground Driver side-5-pin trapezoidal Note: Please use the dedicated cable provided by XINJE interface company. RS232 port default communication parameters: baud rate 19200bps, data bit is 8-bit, stop bit is 1-bit, even parity.

  • Page 44: Pulse Signal

    once the pulse terminal is powered on. 3.2.2 Pulse signal Instruction Option Meaning P-input signal D-input signal Chapter form CW/CCW dual-pulse mode P0-10 AB phase mode A phase B phase 5.3.2.2 xxx□ Pulse+direction mode pulse direction Collector open circuit type (24V voltage) input signal is P+ 24V/D+ 24V Differential mode (5V voltage) input signal is P+5V/D+5V The wiring diagram of P + D, CW, CCW and AB phase interface circuit is as follows: Adjusting the dial switch can switch the pulse signal voltage.

  • Page 45: Input Signal

    (4) If the controller is Xinje PLC, the rated current of the pulse output port is 50mA. According to this data, it can be judged that one pulse theoretically can drive at most five servos. It is recommended not to exceed 3.

  • Page 46: So Output Signal

    Current: DC 50mA (maximum) 3.2.4 SO output signal Type Output terminal Function Optocoupler output SO1~SO3 Multifunctional output terminal Defaulted assignment of output terminals Terminal COIN/positioning Function ALM/alarm Not distribute completion Optocoupler type Relay type Servo driver upper device Servo driver upper device +24 V +24 V...

  • Page 47: Operate Panel

    Operate panel 4.1 New servo debugging process The debugging sequence of the new machine is shown in the following flowchart: 4.1.1 Wiring inspection before power on and confirmation of surrounding environment 1. Confirm whether the power cables, encoder cables, and motor of the servo driver and servo motor are connected properly, and whether there is a short circuit in the power supply.

  • Page 48: Empty Shaft Trial Operation And Debugging

    4.1.3 Empty shaft trial operation and debugging When the servo motor is separated from the machinery, try to use trial operation mode at low speed to confirm whether the servo motor rotates correctly. It can be operated through panel speed mode for open-loop and closed-loop jog, or through servo upper computer software XinjeServo Tuner for jog.

  • Page 49: Confirmation Of Motor Rotation Direction

    ① Jog speed P3-18: Determine the operating speed of The screen is mainly divided into 5 setting modules: ② Jog run: closed-loop jog operation; the motor in the jog mode; ③ Test run: open-loop jog operation; ④ Start: Enable the jog mode; ⑤...

  • Page 50: Button Operation

    STA/ESC Short press: state switch, state return Short Press: The display data increases Long press: The display data increases continuously Short Press: The display data decreases Long press: The display data decreases continuously Short press: shift; ENTER Long press: Set and view parameters. The panel will be self-checked, and all the display digital tubes and five decimal points will be lit for one second at the same time.

  • Page 51: Status Display Content

    No operation Press STA/ESC Press INC for three times to show P3-00 Press ENTER, the last 0 will flash Press INC for 9 times Long press ENTER to show the value of P3-09 Press INC, DEC, ENTER increase decrease or shift, after changing, long press ENTER to confirm Note: When the setting parameter exceeds the range that can be set, the driver will not accept the...

  • Page 52: Zero Clamp（/Zclamp

    setting mode efect 0: Normal display, power on displays 'bb' or 'run' Panel 1: Panel display U0-00 value when Power P8-25 display power on, speed feedback, unit once setting again 2: Panel display U0-07 value when power on, torque feedback, unit% Speed torque control mode ...

  • Page 53: Group U Monitor Parameter

    Positioning completion position, turn on the light. Location Completion Width: P5-00 (Unit: Instruction Pulse) （/COIN） In position control, when the given position is the same as the actual P5-36 position, turn on the light. Near （/NEAR） Near signal width: P5-06 When the motor speed is higher than the rotating speed, turn on the P5-40 lamp.
  • Page 54 U0-22 input signal 2 distribution  Segment Segment Description Description code code /C-SEL control mode selection /ZCLAMP zero clamp /INHIBIT instruction pulse /G-SEL gain switch prohibition /CLR pulse clear /CHGSTP change step /I-SEL inertia switching Reserved Reserved Reserved Note: When reading through communication, the binary numbers read from right to left correspond to the position of /C-SEL, /ZCLAMP, 0 means that the position signal is not input, 1 means that the position signal has input.
  • Page 55 Warn (/WARN) Output near (/NEAR) Note: When reading through communication, the binary numbers read from right to left correspond to the position of /COIN_HD, /COIN, 0 means that the position signal is not output, 1 means that the position signal has output. Example: 0x0001 means /COIN_HD has output, 0x0201 means /COIN_HD and /NEAR has output.

  • Page 56: Group F Auxiliary Function Parameters

    U4-19 display 0x0001 0x0002 0x0003 0x0004 Note: U4-19 displays the software effective status of the SO terminal, which means that only after the corresponding terminal's function is set, the output high level of the terminal will be displayed on U4-19. For example, SO1 does not have any functional allocation, and even if the hardware sets SO1 to the high-level, the 0 bit of U4-19 will not display 1 (firmware 3790 and higher supported).

  • Page 57: Group F1

    4.2.7 Group F1 Function Function code Description code Description F1-00 Jog run F1-05 Software enable F1-01 Test run F1-06 Reset turns of absolute encoder F1-02 Current Sampling Zero-correction 1. Test run (F1-01) Before entering the test run mode, please confirm that the motor shaft is not connected to the machine! When the servo driver is connected to the non-original encoder or power cable, it should first enter the test run mode to verify that the encoder terminal or power terminal is connected correctly.
  • Page 58 4. Forced enable (F1-05) Signal Parameter Setting Meaning Change Effective name Not enable 1 （ default） I/O enable /S-ON Enable Servo Software enable P0-03 At once mode (F1-05 or communication) Fieldbus enable (the model which supports motion bus) Set P0-03=2 F1-05 = 0: cancel enable, enter bb status.

  • Page 59: Operation Of Servo System

    Operation of servo system 5.1 Control mode selection and switching 5.1.1 Control mode selection Servo can combine two control modes and switch between them. By switching freely between mode 1 and mode 2 through the / C-SEL signal, more complex control requirements can be satisfied. User parameter Control mode Reference...

  • Page 60: Control Mode Switching

    5.1.2 Control mode switching Control mode switching means that when the servo is enabled, that is, when the servo panel displays run, the working mode of the servo driver can be switched between mode 1 and mode 2 through the external input signal /C-CEL.

  • Page 61: Basic Function Setting

    Inching operation can be carried out by panel group F parameters or our upper computer debugging software xinje servo tuner. Inching operation can be divided into two modes: inching operation and trial operation. Inching operation is closed-loop control, trial operation is open-loop control, and general steps are trial operation first, and then inching operation.

  • Page 62: Servo Enable Setting

    ON/OFF: enable the jog mode. : forward run and reverse run. The steps of inching through Xinje servo tuner Open the software XinjeServo Tuner, set the jog speed P3-18, select test run/jog run button, click ON. Then click forward or reverse button to run.

  • Page 63: Rotation Direction Switching

    5.2.3 Rotation direction switching Related parameter  Default Parameter Meaning Unit Range Modify Effective setting Definition of rotation direction Power on P0-05 Servo bb 0- positive mode again 1- negative mode The user can change the rotation direction of servo motor through parameter P0-05. It is specified that the "forward rotation"...
  • Page 64 Shut down enable alarm Free running stop, maintain free running state after stop Not shut down enable alarm P0-29 Free running stop, maintain free running state after stop Deceleration braking stops, maintain free running state after stop Note: (1) Servo shut down enable stop mode (P0-27) When P0-27=0, if the servo OFF occurs, the motor starts to rely on free stop without any alarm;...
  • Page 65 Free running stops, maintain free running state after stop Free running stops, maintain DB status after stop Deceleration braking stops, maintain free running state after stop Deceleration braking stops and maintains DB status after stop DB stops and remains in free running state after stop DB stops, maintain DB status after stop Note: (1) Servo enable shut down stop mode (P0-27)
  • Page 66 Power on Enable DB stop 3. Stop mode in case of over travel The overtravel prevention function of servo unit refers to the safety function that the servo motor is forced to stop by inputting the signal of limit switch when the movable part of the machine exceeds the designed safe moving range.

  • Page 67: Power-Off Brake

    input SI□ terminal has signal P5-22/P5-23=n.001□ input No need to connect P5-22/P5-23=n.0010 external input SI□ terminal has signal P5-22/P5-23=n.000□ valid input SI□ terminal has no signal P5-22/P5-23=n.001□ input Parameter settings in forward limit signal /POT and reverse limit signal /NOT can not be set to the same terminal input at the same time.
  • Page 68 Related parameter  Default Parameter Meaning Unit Setting range Modify Effective setting P5-44 Brake interlock/BK n.0000 n.0000~n.00ff Anytime At once At once Servo OFF delay P5-07 0～65535 Servo bb time Brake command At once P5-08 20～10000 Servo bb output speed Brake command wait At once P5-09...
  • Page 69 the motor is in rotatable state Note: (1) When SO terminal is used to control holding brake, when servo enable is on, holding brake power is on and motor is in rotatable state; (2) If the motor fails to rotate during the debugging of the new machine, please confirm whether the holding brake is open.
  • Page 70 (4) Brake wiring When the power of the driver is below 750W, it can be directly connected through the SO terminal, as shown in the following figure: Set P5-44=0001 When the power of the driver is 750W or above, it needs to be connected through an intermediate relay, and the connection method is as follows: Set P5-44=0001 Note: It is recommended that the SO terminal and intermediate relay do not share the same switching...
  • Page 71 (6) Brake protection detection function (supported by firmware 3800 and higher) Default Setting Take Parameter Meaning Unit Modify setting range effect Brake protection detection P9-39 0: Not enabled Any time once 1: Enable Any time P9-40 Gravity load detection value 0~300 once Gravity load identification...

  • Page 72: Braking Setting

    5.2.6 Braking setting When the servo motor is driven by the generator mode, the power returns to the servo amplifier side, which is called regenerative power. Regenerative power is absorbed by charging the smoothing capacitor in the servo amplifier. After exceeding the rechargeable energy, the regenerative resistance is used to consume the regenerative power.

  • Page 73: Position Control

    2. Recommended brake resistance specification External External Minimum resistance regeneration regeneration Servo driver Built-in brake value resistance resistance model resistor (cannot be less than (recommended (recommended this value) resistance) power value) DS5L1-20P1-PTA 50Ω 50Ω-100Ω Above 200W DS5L1-20P2-PTA DS5L1-20P4-PTA 40Ω 40Ω-100Ω Above 500W DS5L1-20P7-PTA 80W50Ω...
  • Page 74 Encoder: 131072（17-bit） ball screw pitch: 6mm Do not change the electronic gear ratio Change the electronic gear ratio Without changing the ratio of the electronic By changing the electronic gear ratio, the gear to the motor, the rotating cycle is motor needs 6000 pulses to rotate one circle.
  • Page 75 (1) In step 6, the effective priority of the number of pulses per revolution is higher than the electronic gear ratio, that is, when P0-11 ~ P0-12 are all 0, P0-13 ~ P0-14 will take effect. In special cases, if the number of pulses per revolution is calculated as a decimal, the electronic gear ratio should be considered.
  • Page 76 Positioning completion signal (/COIN, /COIN_HD) 5.3.1.2 In position control, the signal indicating the completion of servo motor positioning is used when the command controller needs to complete positioning confirmation. Related parameters  Default Parameter Meaning Unit Range Change Effective setting Positioning Command Anytime...
  • Page 77 After instruction finished, deviation is below P5-00 and COIN signal is output. When instruction ends motor speed is under the rotation detection speed (P5-03) and absolute deviation is less than P5-00, COIN signal output. instruction, absolute deviation value under P5-00, it outputs COIN signal.
  • Page 78 2000 motor. (2) The positioning completion width can also be set separately, and its change will not affect the number of command pulses required for one revolution of the motor. 5.3.1.3 Positioning near signal (/NEAR) The servo motor is located near the positioning completion signal, so that the equipment can prepare the next action in advance.
  • Page 79 5.3.1.4 Command pulse prohibition (/INHIBIT) Position command prohibition, including internal and external position commands. Stop the function of command pulse input during position control. When the /INHIBIT signal is on, the pulse command is no longer counted. Related parameters  Signal Default Suitable...
  • Page 80 2. /CLR signal explanation Send the pulse to the servo, execute the /CLR input signal, the servo will lock the current pulse counts, then update the current position of the encoder to the position feedback in the control, at the same time, clear the intermediate quantity of the position loop, speed loop and current loop.
  • Page 81 5.3.1.8 Reference origin 1. Find the reference origin To find out the physical origin of working table and make it as the coordinates origin of point position control. Users can select finding reference origin at forward or reverse side. Function setting: Default Parameter Meaning...
  • Page 82 zero position after homing The speed hitting At once Servo P4-01 the proximity 0~65535 switch The speed leaving At once Servo P4-02 the proximity 0~65535 switch Note: P4-00.3 Automatic calibrate encoder zero position after homing (supported by firmware 3800 and later). Find reference origin diagram: /N-OT /P-OT...
  • Page 83 5.3.1.9 Homing function 1. Function overview The return to origin function refers to that when the servo enable is on in the position control mode, after the return to origin function is triggered, the servo motor will find the origin and complete the positioning function.
  • Page 84 Default Parameter Name Range Unit Meaning Effective time value Touch This parameter is only available for stop mode home mode 6 and 7 Servo Servo P9-17 homing 0~300% 100% The base value of the percentage is torque the rated torque threshold Touch stop mode...
  • Page 85 servo will find the number of Z phases (P9-11.0) first, and then execute the mechanical offset (P9-19, P9-20). If the number of Z phases (P9-11.0) is 0 and the mechanical offset (P9-19, P9-20) is not 0, the servo does not find the Z phase, but executes the mechanical offset (P9-19, P9-20). If the number of Z phases is not 0 but the mechanical offset is 0, the servo will find the Z phase (P9-11.0) without performing the mechanical offset.
  • Page 86 mechanical offset pulses and direction (either positive direction or negative direction), then the motor will stop. (c) Z phase number (P9-11.0) is 1 and mechanical offset (P9-19, P9-20) is 0: During the operation of continuing to search the rising edge of deceleration point (origin) signal at low speed P9-13 (homing low speed), continue to run after encountering the rising edge of deceleration point (origin) signal, and then find the first Z-phase signal and stop immediately.
  • Page 87 the set number of mechanical offset pulses and direction (either positive or negative direction), the motor will move a quantitative pulse (P9-19, P9-20) at the speed set by P9-12 (homing high speed), and then the motor will stop. (c) Z phase number (P9-11.0) is 1 and mechanical offset (P9-19, P9-20) is 0: In the process of forward acceleration or forward constant speed operation, continue to run after encountering the rising edge of the origin signal, and then find the first Z-phase signal and stop immediately.
  • Page 88 is completely stopped, the motor will move a quantitative pulse (P9-19, P9-20) at the speed set by P9-12 (homing high speed) according to the set number and direction of mechanical offset pulses (either positive direction or negative direction), then the motor stops. (c) Z phase number (P9-11.0) is 1 and mechanical offset (P9-19, P9-20) is 0: In the process of forward acceleration or forward constant speed operation, continue to run after encountering the rising edge of deceleration point (origin) signal, and then find the first Z-phase signal...
  • Page 89 (b) Z phase number (P9-11.0) is 0 and mechanical offset (P9-19, P9-20) is not 0: During the operation of continuing to search the rising edge of deceleration point (origin) signal at low speed -P9-13 (homing low speed), stop the machine immediately after encountering the rising edge of deceleration point (origin) signal.
  • Page 90 stopped, the motor will walk a quantitative pulse (P9-19, P9-20) at the speed P9-12 (homing high speed) according to the set number and direction of mechanical offset pulses (either positive direction or negative direction), and then stop the motor. (c) Z phase number (P9-11.0) is 1 and mechanical offset (P9-19, P9-20) is 0: During negative acceleration or negative constant speed operation, continue operation after encountering the rising edge of deceleration point (origin) signal, and then stop immediately after finding the first Z-phase signal.
  • Page 91 In the process of reverse acceleration or reverse constant speed operation, stop the machine immediately after encountering the rising edge of the deceleration point (origin) signal. After the motor is completely stopped, the motor will move a quantitative pulse (P9-19, P9-20) at the speed set by P9-12 (homing high speed) according to the set number and direction of mechanical offset pulses (either positive direction or negative direction), then the motor stops.
  • Page 92 high speed) according to the set number and direction of mechanical offset pulses (either positive direction or negative direction), then the motor stops. (2) When the motor starts to move, the Z signal is invalid or valid (P5-64 = 0-invalid, 1-valid), and the forward overtravel switch is triggered in the process (POT) (P5-22).
  • Page 93 (b) Mechanical offset (P9-19, P9-20) is not 0: In the process of positive acceleration or positive constant speed operation, stop the machine immediately when encountering the rising edge on the other side of the motor Z signal. After the motor is completely stopped, the motor will walk a quantitative pulse (P9-19, P9-20) at the speed set by P9-12 (homing high speed) according to the set number and direction of mechanical offset pulses (either positive direction or negative direction), then the motor stops.
  • Page 94 low speed -P9-13 (homing low speed). After encountering the falling edge of the forward overtravel switch signal, the next action of returning to the origin can be divided into four cases: (a) Z phase number (P9-11.0) is 0 and mechanical offset (P9-19, P9-20) is 0: Decelerate in the reverse direction (i.e.
  • Page 95 rising edge of POT during forward acceleration or forward constant speed operation. (b) Z phase number (P9-11.0) is 0 and mechanical offset (P9-19, P9-20) is not 0: Decelerate in reverse direction (i.e. restore the positive direction), search the rising edge of POT at low speed and positive direction with P9-13 (homing low speed).
  • Page 96 (b) Z phase number (P9-11.0) is 0 and mechanical offset (P9-19, P9-20) is not 0: Decelerate in the reverse direction (i.e. restore the reverse direction), and search for the rising edge of the reverse overtravel switch signal (NOT) at the reverse low speed -P9-13 (homing low speed). In the process of reverse acceleration or reverse constant speed operation, stop immediately when encountering the rising edge of NOT.
  • Page 97 (b) Z phase number (P9-11.0) is 0 and mechanical offset (P9-19, P9-20) is not 0: Decelerate in reverse direction (i.e. recover in reverse direction), search for the rising edge of NOT in reverse direction at low speed -P9-13 (homing low speed). During reverse acceleration or reverse constant speed operation, stop immediately when encountering the rising edge of NOT.
  • Page 98 (b) Z phase number (P9-11.0) is 0 and mechanical offset (P9-19, P9-20) is not 0: The servo motor stops immediately. After it stops completely, according to the set number of mechanical offset pulses, the motor reverse moves a quantitative pulse (P9-19, P9-20) at the speed set by -P9-12 (homing high speed), and then the motor stops.
  • Page 99 value of P9-16 (touch stop homing mode speed threshold), this state remains P9-18 (touch stop homing mode time threshold). After the set time, it is judged that the mechanical limit position is reached, and the next action of returning to the origin can be divided into four cases: (a) Z phase number (P9-11.0) is 0 and mechanical offset (P9-19, P9-20) is 0: Shut down immediately.

  • Page 100: Position Control (External Pulse Command)

    forward and reverse torque limits P3-28 and P3-29 are smaller than 1.1 times of the set value of P9-17 (touch stop homing torque threshold), the torque limit is the set value of P3-28 and P3-29. Similarly, if the external forward and reverse torque limits P3-30 and P3-31 are enabled, the actual torque limit is the minimum of the internal torque limit, the external torque limit and 1.1 times of the P9-17 set value.

  • Page 101: Position Control (Internal Command)

    200K). When the input is less than 700K, the maximum filtering time F is recommended. When the input pulse frequency exceeds 1M, the filtering time should not be more than 7. Default Parameter Meaning Unit Range Change Effective setting Predistribution of P0-09.3 Re-power input pulse...
  • Page 102 Configuration pulse displacement, speed, acceleration and deceleration time of each segment P5-35 change step Common terminal function 5.3.3.4 signal/GHGSTP assignment 5.3.1.4 P5-32 pause present segment 5.3.3.5 signal /INHIBIT P5-31 jump present segment signal /Z-CLAMP P4-00 number of Z-phase signal Internal position back to 5.3.1.8 after leaving limit switch origin setting parameters...
  • Page 103 Note: Waiting mode refers to whether the driver waits for the motor to be positioned after outputing a position instruction in internal position mode. It takes effect in all Step-Changing modes. Waiting mode=0, adjust time =0ms Waiting mode =0, adjust time >0ms After the drive output 1-segment position After the drive output 1-segment position command, it will wait for the completion of...
  • Page 104 stops according to the servo off shutdown mode. After the shutdown, the positioning is invalid. 5. After each operation completion, positioning completion and positioning approach signal are all effective. 6. In this mode, the adjustment time of each period is valid. n.xx□x Description Take setting two segments as an example,...
  • Page 105 3: set segment no. Servo is ON, set parameter P2-09=0, then set the running segment. The motor will run through the setting segment. Refer to chapter 5.4.8. communica tion t1 = p4-16 in the figure. 1. /CHGSTP rising edge triggers the first segment and falling edge triggers the second segment.
  • Page 106 /PREFD /PREFC /PREFB /PREFA Segment no. 1 (segment 1 position) 2 (segment 2 position) 3 (segment 3 position) 4 (segment 4 position) 5 (segment 5 position) 6 (segment 6 position) 7 (segment 7 position) /PREFA(P5 8 (segment 8 position) -57) 9 (segment 1 position) /PREFB(P5 10 (segment 2 position)
  • Page 107 1: absolute positioning 0: relative positioning (take the reference origin as the absolute positioning origin) 2: Absolute positioning which servo enable can be cut off It takes U0-94~U0-97(relative encoder feedback which can be reset) as the absolute position. It will automatic reset the encoder feedback U0-94~U0-97 after homing or through F1-06=3 (zero point calibration).
  • Page 108 8. In the absolute positioning mode, the number of rotations of the motor is limited and cannot be unlimited. 9. At present, there are only two kinds of velocity in the internal position mode: step speed and slope speed. When the trapezoidal acceleration time and trapezoidal deceleration time are set to 0, it is in the form of step speed.
  • Page 109 P4-08=2 1≤P4-08≤P4-04 P4-04=4 When using skip current segment function, the SI terminal assigned by P5-31 needs rising edge trigger. 5.3.3.4 Change step signal (/CHGSTP) Parameter Name Setting Meaning Range Range: 0000-0014. Change Defaulted is not distribute to input Distribute input P5-35 step signal n.0000...
  • Page 110 5.3.3.7 Motion start signal (/MRUN) Signal Default Parameter Meaning Modify name setting Terminal output assigned by default. It is only valid in the internal Parameter range 0000-0014, Motion position mode, similar to the assigned to the output interface through parameter P5-50. When P5-50 start n.0000...

  • Page 111: Speed Control

    5.4 Speed control 5.4.1 Speed mode general control 5.4.1.1 Soft start Defaulted Parameter Meaning Unit Range Modify Effective setting Soft Start P3-09 0～65535 Servo bb At once Acceleration Time Soft Start P3-10 0～65535 Servo bb At once deceleration Time Soft start acceleration and deceleration time is suitable for mode 3/4/7. Smooth speed control can be carried out when step speed instruction is input or internal setting speed is selected.
  • Page 112 3. Parameter setting Default parameter Meaning Unit Range Change Effective setting 0～300 P3-13 Zero clamp speed Servo bb At once P3-12 Zero clamp mode 0～3 Servo bb At once P3-12 setting Contents ZCLAMP input signal is ON, forced speed command is 0, when the speed below P3-13, switch to position mode and the servo lock in this position.
  • Page 113 P1-22 Contents First-order Inertial Filter Smooth filter Position command acceleration and Smooth filter of position instruction deceleration filter 2. The firmware version 3770 and later Related parameters  Default Modify Effective Parameter Meaning Unit Range setting Speed command filtering P1-23 0.1ms 0~65535 Servo bb...

  • Page 114: Speed Control (Internal Speed)

    Note: The setting of the sliding average filtering time constant must meet the requirements, Ts<0.5 * Tacc, Ts<0.5*Tdec. Otherwise, excessive sliding average filtering time will result in an increase in deceleration time, which does not comply with the settings of P3-09 and P3-10. When P3-09 and P3-10 are set to 0, setting the sliding average filtering time will change the speed command into a trapezoidal acceleration/deceleration speed command.
  • Page 115 5.4.2.1 Internal speed mode Parameter Meaning Modify Effective value P0-01 Speed control: internal speed selection Servo bb At once Function: internal speed selection will set 3 motor speeds and select the speed by external signal. It is no need to configure external speed generator or pulse generator. Servo unit /SPD-D /SPD-A...
  • Page 116 P3-07：SPEED3 Note: (1) /SPD-D signal is direction control, input SI terminal can be changed according to P5-27. The validity of the terminal signal determines the direction of the motor. (2) The combination of /SPD-A and /SPD-B input terminal effectiveness determines the multi segment speed (3) 0/1 of the above table represent the validity of the signal.

  • Page 117: Speed Control (Pulse Frequency Command)

    5.4.3 Speed control (pulse frequency command) Reference Parameter Overview chapter P0-01 Control mode selection Set to 7: external pulse speed mode 5.4.3.1 P0-10 Pulse command form Set pulse form 5.3.2.2 0-CW/CCW 1-AB 2-P+D P0-15 Command pulse frequency at Determine the linear relationship between the 5.4.3.3 rated speed command pulse frequency and the speed...
  • Page 118 speed mode...

  • Page 119: Torque Control

    5.5 Torque control Reference Parameter Overview chapter P0-01 Control mode selection Set to 1: internal torque mode 5.5.2.1 P3-33 Internal torque command The given value is the percentage of rated 5.5.2.2 torque P3-16 Internal forward speed limit of Speed limit in torque mode 5.5.1.1 torque control P3-17 Internal reverse speed limit of torque...
  • Page 120 Internal Range: 0000-0014. Distribute to input terminal through P5-28. P5-28 speed n.0000 /SPD-A Internal Range: 0000-0014. Distribute to input terminal through P5-29. P5-29 speed n.0000 /SPD-B 1. Correlation between running speed and terminal signal Input signal Running speed SPD-D （P5-27） SPD-A（P5-28） SPD-B（P5-29）...

  • Page 121: Absolute Value System

    5.5.1.3 Speed reach signal output (/VLT) In torque mode, when the absolute value of the actual speed of the servo motor exceeds the speed limit value, it is considered that the actual speed of the servo motor is limited. At this time, the servo driver can output /VLT signal.
  • Page 122 (3) Take out the old battery, install the new one. (4) Close the cover of the battery unit (5) After replacing the battery, in order to remove the "Encoder Battery Alarm (E-222)" display, please do clear alarm twice (F0-00=1). (6) Connect the power supply of the servo unit again; (7) Make sure the error display disappears and the servo unit can operate normally.

  • Page 123: The Upper Limit Of Turns

    5.6.3 The upper limit of turns The upper limit of rotating cycles can be used for position control of gyroscopes such as turntables. For example, suppose there is a machine whose turntable moves only in one direction, as shown in the figure below.

  • Page 124: Clear Multi-Turn

    17 bits absolute value encoder, with 131072 pulses per revolution.   23 bits absolute value encoder, with 8388608 pulses per revolution. ① 0 is the positive direction of the encoder zero position. The current encoder value is First read the U0-60 (0x103C) value, ②...

  • Page 125: Absolute Value Homing Application

    5.6.7 Absolute value homing application Read the multi-turn absolute position through Xinje PLC, it can be read in four words. The following example is homing through multi-turn absolute encoder feedback. M1 is ON, memory the origin position. SM12 is ON, memory the real-time position. Read the encoder feedback of the passed...

  • Page 126: Absolute Value Function

    5.6.8 Absolute value function 1. Linear Load (P0-79=0) Parameter Function Unit Range U4-27 (-9999~9999)*1 Linear load position instruction Command U4-28 unit (-9999~9999)*10000 unit 2. Rotating load (P0-79=2) Default Effective Parameter Function Unit Range Suitable mode value time Absolute position rotation Encoder P9-33 mode...

  • Page 127: Auxiliary Functions

    Rotating loads require setting the absolute position rotation mode load pulse numbers per revolution, or the absolute position rotation mode gear ratio. Assuming the motor is a 17 bits magnetic encoder motor with a reduction ratio of 1:2 (the motor rotates twice and the load rotates once), and the absolute position rotation mode pulse numbers per turn are 131072*2, P9-34 can be set to 4, and P9-33/35/36 can be set to 0;...

  • Page 128: Torque Limit

    5.7.2 Torque limit 1. Internal torque limit Default Parameter Meaning Unit Range Modify Effective setting Internal Forward P3-28 0～300 Anytime At once torque limit Internal reverse 0～300 P3-29 Anytime At once torque limit 1. if this parameter value is less than external torque limit value, the final limit value is this parameter. 2.

  • Page 129: Speed Limit

    5.7.3 Speed limit Default Parameter Meaning Unit Range Modify Effective setting Forward max speed P3-14 4000 0～65535 Servo bb At once command limit Reverse max speed P3-15 4000 0～65535 Servo bb At once command limit Note: P3-14 and P3-15 are effective in all the modes. (for firmware 3770, this parameter cannot take effect in position mode).

  • Page 130: Output Terminal Function

    5.7.4.2 Output terminal distribution 1. Output signal distribution Parameter Parameter Meaning Set value Meaning Not distribute to terminal input n.0000 Output always open signal from n.000x P5-37～P5-53 Set the signal to be always valid n.0010 output always close signal from n.001x 2.
  • Page 131 2. Related parameters Default Parameter Meaning Unit Range Modify Effective value Rotating detection P5-03 0～10000 Anytime At once speed /TGON If the speed of the servo motor exceeds the set value of P5-03, it is judged that the servo motor is rotating and the output of the rotation detection (/TGON) signal.
  • Page 132 5.7.5.4 Warn output (/WARN) Set the alarm output threshold, when the current speed is higher than the warning speed, output / WARN. Default Parameter Meaning Unit Range Modify Effective value Forward warning Motor P3-19 0~65535 Servo bb At once speed related Reverse warning Motor...
  • Page 133 Encoder Z phase signal P5-48=n.0011 SO1 output P5-48=n.0001 SO1 output 5.7.5.7 User-defined output signal User can define 2 outputs. The defined method is SOx output when A>B or A<B. A is 9 activating conditions; B is user-defined comparison value. User-defined output 1: The trigger condition of user-defined output 1 Default Trigger condition...
  • Page 134 User-defined output 2: The trigger condition of user-defined output 2 Default Trigger trigger condition Unit Suitable mode Change Effective condition setting P5-14 below Related table: trigger All the modes Anytime At once optional trigger condition condition The comparison value for the trigger condition of user-defined output 2 Unit Default setting Range...

  • Page 135: Input Terminal Function

    5.7.5.8 Other SO terminal function Terminal name Description Chapter /COIN-HD Positioning completion hold 5.3.1.2 /COIN Positioning end 5.3.1.2 /CLT Torque limit detection 5.7.2 /VLT Speed limit detection 5.5.1.3 /MRUN Internal position mode motion start 5.3.2.7 /V-RDY Speed arriving signal 5.4.1.3 /PREFA Internal position selection signal 5.3.3.2...

  • Page 136: Time Limit Curve Of Overload Protection

    5.7.7 Time limit curve of overload protection The time limit curve of overload protection is only used for the judgment of alarm output and the protection of overload operation. It is recommended to use it within the continuous operation stage of torque speed curve.
  • Page 137 Applicable model (motor code) 5072 5872 9072 9872 Applicable model (motor code) 5033 9033 4031 4032 4042 5042 4044 5044 5078 5079 5077 5877 9077 9877...

  • Page 138: Servo Gain Adjustment

    Servo gain adjustment 6.1 Overview of servo gain adjustment 6.1.1 Overview and process The servo driver needs to drive the motor as fast and accurately as possible to track the instructions from the upper computer or internal settings. In order to meet this requirement, the servo gain must be adjusted reasonably.

  • Page 139: The Difference Of These Adjustment Modes

    6.1.2 The difference of these adjustment modes Adjustment modes are divided into adaptive and auto-tuning, and their control algorithms and parameters are independent. Among them, the auto-tuning mode is divided into three functions: fast adjustment, automatic adjustment and manual adjustment. The three functions are the same in essence but different in implementation.

  • Page 140: Operation Tool

    If the presumed inertia under default parameters runs jitter, indicating that the present load  inertia is too large, please switch to large inertia mode (P2-03.3=1) and operate again. It is also possible to set the initial inertia to about twice the current one and execute again under larger loads.
  • Page 141 mode (P2-03.3=1) to ensure the basic smooth operation of the servo and then identify the inertia! Servo entering parameter F0-07 in BB state: Press ENTER, servo is enabled: Press INC or DEC to run forward or reverse (select one of them): At this point, start action, under the condition of P-05 = 0 (initial positive direction), if press INC, then turn forward and then reverse;...
  • Page 142 ESC key to exit the auto-tuning interface to see if alarm there is an alarm. The driver alarms Driver has alarm, press ESC key to exit the in the process of Err-7 auto-tuning interface, check the alarm code, first Driver has alarm inertia solve the alarm and then make inertia estimation.
  • Page 143 3. Set the auto-tuning interface 4. Click ok to start inertia identification.

  • Page 144: Fast Adjustment

    Note: (1) If the auto-tuning interface is closed directly, the driver only configures inertia ratio parameters. (2) The detailed steps of XinJeServo's presumptive inertia refer to XinJeServo's help document. 6.3 Fast adjustment 6.3.1 Overview Fast adjustment needs to set the moment of inertia of load first, then turn off the adaptive function. If the inertia does not match, it will cause oscillation alarm.
  • Page 145 2893 2652 2448 2273 2122 1989 1872 1768 1675 1591 1414 1273 1157 1100 1061 1300 1500 1800 2100 2400 2700 3000 3100 1000 3200 Rigidity level  P2-35 P1-00 P1-01 P1-02 P2-49 P0-04 Torque Speed loop speed loop Position loop Model loop Rigidity level instruction...

  • Page 146: Notes

    2450 2450 6000 2500 2500 6000 2600 2600 6000 The rigidity level should be set according to the actual load. The larger the P-04 value, the greater the servo gain. If there is vibration in the process of increasing the rigidity level, it is not suitable to continue to increase.

  • Page 147: Auto-Tuning

    6.4 Auto-tuning 6.4.1 Overview Auto-tuning is divided into internal instruction auto-tuning and external instruction auto-tuning. Auto-tuning (internal instruction) refers to the function of automatic operation (forward and reverse reciprocating motion) of servo unit without instructions from the upper device and adjusting according to the mechanical characteristics in operation.

  • Page 148: Internal Instruction Auto-Tuning Steps

    6.4.4 Internal instruction auto-tuning steps Driver panel auto-tuning steps 1. The inertia identification is carried out, and the inertia estimation steps please refer to chapter 6.2.4 operation steps. 2. Enter F0-09, panel display is iat-； 3. Press ENTER, panel display is iat--, servo is in enabled status right now; 4.
  • Page 149 3. set the auto-tuning interface...
  • Page 150 4. click ok to estimate the inertia. 5. set the auto-tuning parameters Load type Description Fit for the adjustment of lower rigidity mechanism such as synchronous Synchronous belt belt mechanism. It is suitable for adjustment of higher rigidity mechanism such as ball Screw rod screw mechanism.
  • Page 151 In the use of positioning, we should pay attention to adjusting without Fast positioning overshoot. Besides gain adjustment, the model loop gain and notch filter (control overshoot) are automatically adjusted. 6. Start auto-tuning 7. Wait for the end of the auto-tuning...

  • Page 152: External Instruction Auto-Tuning Steps

    6.4.5 External instruction auto-tuning steps Driver panel auto-tuning steps 1. The inertia identification is carried out and the step of inertia estimation please refers to the driver panel inertia estimation (6.2.4 operation step) 2. Enter parameter F0-08, it will show Eat-（Exteral Refrence Auto-tuning） 3.
  • Page 153 2. Select jog or manual setting to configure the trip of inertia identification. 3. Set the auto-tuning interface 4. Click ok to start the inertia identification.
  • Page 154 5. Configure the auto-tuning parameters Auto-tuning mode Description Make a soft gain adjustment. Besides gain adjustment, notch filter is Soft automatically adjusted. Make special adjustment for positioning purpose. Besides gain adjustment, Rapid positioning the model loop gain and notch filter are automatically adjusted. In the use of positioning, we should pay attention to adjusting without Rapid positioning overshoot.
  • Page 155 with higher rigidity. 6. Start auto-tune 7. Open the servo enable, then click ok.

  • Page 156: Related Parameters

    8. The upper device starts to send pulses, wait the completion of auto-tuning. 9. Auto-tuning is finished, click ok. 6.4.6 Related parameters The following parameters may be modified during auto-tuning. Do not change them manually during auto-tuning. The influence of numerical Parameter Name Property...

  • Page 157: Manual Adjustment

    P2-64 Active vibration suppression filter time 1 P2-65 Active vibration suppression filter time 2 The second group of active vibration P2-66 damping Second group active vibration suppression P2-67 frequency First notch switch P2-69.0 Second notch switch P2-69.1 First notch frequency P2-71 First notch attenuation P2-72...

  • Page 158: Adjustment Steps

    Position control loop diagram (turn on the model loop) Servo unit consists of three feedback loops (current loop, speed loop and position loop) from inside to outside. The more inner loop, the more responsive it is. Failure to comply with this principle will result in poor response or vibration.

  • Page 159: Gain Parameters For Adjustment

    6.5.3 Gain parameters for adjustment The gain parameters that need to be adjusted: P1-00 Speed Loop Gain P1-01 Integral Time Constant of Speed Loop P1-02 position loop gain P2-35 Torque Instruction Filtering Time Constant P2-49 Model Loop Gain Speed loop gain ...

  • Page 160: Adaptive

    Filter time constant of torque instruction  When machine vibration may be caused by servo drive, it is possible to eliminate vibration by adjusting the filtering time parameters of the following torque instructions. The smaller the numerical value, the better the response control can be, but it is restricted by the machine conditions. When vibration occurs, the parameter is generally reduced, and the adjustment range is suggested to be 10-150.

  • Page 161: Inertia Mode And Related Parameters

    6.6.4 Inertia mode and related parameters The adaptive default parameter is defined as small inertia mode. If the load inertia far exceeds the allowable load inertia of the motor (such as 60 times inertia of the 60 motor), the adaptive large inertia mode can be turned on.

  • Page 162: Adaptive Parameters Effect

    5-10 times inertia Set P2-08=50, P2-12=40 Switch to adaptive large inertia mode or set P2-08=40, 10-20 times inertia P2-12=50, P2-07=50 Note: The large inertia parameters can still drive a smaller inertia load. For example, when the parameters of 50 times inertia are used in the mechanism of 20 times inertia, only the response will become worse.

  • Page 163: Vibration Suppression

    P1-07 Second position loop gain P2-49 Model loop gain P0-07 First inertia ratio P0-08 Second inertia ratio P5-33 /G-SEL gain switch Switch P5-36 /I-SEL inertia ratio switch 6.7 Vibration suppression 6.7.1 Overview The mechanical system has a certain resonance frequency. When the servo gain is increased, the continuous vibration may occur near the resonance frequency of the mechanical system.

  • Page 164: Vibration Suppression (Pc Software)

    The operation steps: 1. Enter F0-10 in auto-tuning mode, the panel shows vib-1 or enter F0-11, the panel shows vib-2; 2. Press ENTER, panel shows Son and flashes, turn on the enabler by manual; 3. After turn on the enabler, panel shows tune and flickers, enter auto-tuning process; 4.

  • Page 165: Vibration Suppression (Manual Setting)

    3. set the measure conditions, then click execute; 4. select amplitude and phase; 5. set the filter width (to see resonance frequencies clearly), find the resonance frequency; 6. Notch parameters need to be set manually. Refer to 6.7.7 notch filter for details. As an example, through the analysis of mechanical characteristics, the resonance frequency is 328 Hz, and the third notch filter can be used.
  • Page 166 1. F0-12, long press【ENTER】to enter quick FFT function, it will show “E_FFt”. 2. Press 【ENTER】 to enter torque setting interface, it will show the current setting torque, which is the value of P6-89. Press【 INC 】,【 DEC 】 to increase or decrease torque command. When increasing the torque command, it is recommended to increase it a little bit to avoid severe vibration of the equipment.

  • Page 167: Notch Filter

    6.7.7 Notch filter Notch filter can suppress mechanical resonance by reducing the gain at a specific frequency. After the notch filter is set correctly, the vibration can be effectively suppressed and the servo gain can be continuously increased. The principle diagram of notch filter is as follows: Principle diagram of notch filter The servo driver has five sets of notch filters, each with three parameters, notch frequency, notch attenuation and notch bandwidth.

  • Page 168: Gain Adjustment

    n.□□1□ Fifth notch on Default Parameter Meaning Unit Range Change Effective setting P2-71 First notch frequency 5000 50～5000 Anytime At once Anytime At once P2-72 First notch attenuation 0.1dB 50～1000 Anytime At once P2-73 First notch bandwidth 0～1000 Anytime At once 50～5000 P2-74 Second notch frequency...
  • Page 169 Self-tuning mode: Default Parameter Meaning Modify Effective setting n.□□□1 Soft n.□□□2 Fast positioning P2-02 n.□□□3 Any time At once Quick positioning (control n.□□□3 overshoot) Selection of self-tuning mode: (1) Soft (P2-02.0 = 1): This mode does not turn on the gain of the model loop, and the operation is soft. It is suitable for occasions with insufficient mechanical rigidity and low response requirements.

  • Page 170: Torque Disturbance Observation

    Model loop function turns off (soft mode)  Low Rigidity and Low Response High Rigidity and Medium Response Load inertia ratio P0-07: 500% speed loop gain P1-00: 200 speed loop gain P1-00: 800 speed loop integral P1-01: 3300 speed loop integral P1-01: 825 position loop gain P1-02: 200 position loop gain P1-02: 700 Phenomenon: Running jitter, slow response...

  • Page 171: Gain Adjustment Parameters

    Disturbance P2-41 0~100 Anytime At once observer gain 6.8.3 Gain adjustment parameters Default Parameter Meaning Unit Range Modify Effective setting <=20P7：300 Servo P1-00 First speed loop gain 0.1Hz 10~20000 At once >=21P0：200 Servo At once <=20P7： 2122 Integral time constant of the P1-01 0.01ms 15~51200 first velocity loop...
  • Page 172 (2) The definition of gain switching level threshold hysteresis: (3) The definition of position gain switching time: (4) Gain switching conditions: Gain switching condition Parameter Condition Diagram Notes P1-15 P1-16 P1-17 14.1 The first invalid invalid invalid gain fixed Switch the gain through G-SEL signal: Terminal G-SEL invalid, first group...
  • Page 173 Gain switching condition Parameter At the last first gain, when the absolute value of the speed command change rate exceeds (level + hysteresis) [10rpm/s], switch to the second gain. Speed At the last second gain, valid valid command valid when the absolute value of (10rpm/s) (10rpm/s) change rate...
  • Page 174 Gain switching condition Parameter the position command is in the state of 0 which remains in the waiting time P1-15, it returns to the first gain. Valid only in position mode (other modes are fixed as the first gain) At the last first gain, if the positioning is not completed, switch to the second gain.

  • Page 175: Gain Adjustment

    Gain switching condition Parameter the speed integral also returns to the integral time constant of the first speed loop (P1-02). 6.9 Gain adjustment 6.9.1 Load shaking The following causes cause load wobble: 1. The instruction is not smooth enough when the load inertia is too large. Countermeasure: (1) Use position instruction smoothing filter P1-25;...

  • Page 176: Alarm

    Alarm 7.1 Alarm code list Historical record: "√" means that historical alarms can be recorded; "○" is not recorded; The column that can be cleared: "√" represents the alarm that can be cleared; "○" represents the alarm that cannot be cleared. Property Servo Whether...
  • Page 177 E-100 Excessive position deviation √ √ Servo run External UVW Short Circuit Servo off Discovered E-110 √ √ Self-Inspection phase overcurrent Servo off E-112 √ √ protection phase overcurrent Servo off E-113 √ √ protection Power cable disconnection Servo off E-150 √...

  • Page 178: Analysis Of Alarm Types

    7.2 Analysis of alarm types DS5 alarm code format is E-XX□, “XX” means main type, “□” means sub-type. Type Code Description Reasons Solutions EEEE (1) Stable power supply to ensure (1) Voltage fluctuation the stability of power supply EEEE of power supply is Communication voltage.
  • Page 179 ① Reduce the frequency of error chip abnormality manufacturer E-029 EEPROM write too ② frequently Pararmeter write in too parameter erasure; frequenctly Contact agents manufacturers Check the fluctuation of power grid, 220V driver normal voltage range 200V ~ 240V, 380V driver High voltage of power normal voltage range 360V ~ grid...
  • Page 180 Driver Internal measures the input value of the Sampling Circuit servo LN (R/S/T), which is 220V ± 10% of the normal value. If < 220V + 10% (380V + 10%), then check the supply voltage; if the supply voltage is normal, then servo state, monitoring...
  • Page 181 (2) To confirm whether the external force makes the motor rotate too fast, whether the pulse input frequency is too high, and whether the electronic gear ratio is too large. (1) Check the encoder cable or change a new one (2) Set the servo driver to BB state and the driver to U-10.
  • Page 182 should be operated on an empty shaft eliminate load problem. High-speed start-stop Increasing Acceleration instantaneous alarm Deceleration Time (1) Check the encoder cable or change a new one (2) Set the servo driver to BB state and the driver to U-10. Rotate the motor shaft slowly by Encoder problem hand to see if the value of U-10...
  • Page 183 (2) Measure whether there is a short circuit between UVW and PE of the motor. If there is a short circuit, replace the motor (3) UVW output measurement at driver side: measure UVW with multimeter (diode gear), black probe tests P+ and red probe tests UVW.
  • Page 184 increasing in one direction and decreasing in the other (0~9999 cycle display). Disconnect the power supply of driver check Any phase in UVW of connection of the power cable. It Power cable E-150 driver, cable or motor is suggested that the multimeter disconnection broken be used to test the...
  • Page 185 vibration, back forth swing abnormal noise. There are servo cross test or motor empty shaft on site, F1-01 trial operation, F1-00 jog run can Driver motor not rotate uniformly; hardware failure; Replace the new driver or motor and send the malfunction machine back to the manufacturer for repair.
  • Page 186 normal, then in servo BB state, monitor U0-05, voltage measured by the multimeter * 1.414 < U0-05 (within 10V error), then the servo driver is faulty and needs to be sent back for repair. Check if the motor matches Motor matching error correctly Check whether the value of U0-54 increases rapidly.
  • Page 187 using F0-79. When P0-79 is set to 1, it will be used as a single-loop absolute value motor, and the current position will not be remembered when power off. Encoder cable with battery box is not used for multi-turn absolute motor Generally, it is the ①...
  • Page 188 and displacement (user command through mechanism. sensor feedback resolution) exceeds the feedback of the grating ruler is (user command setting value of P9-02 directly from moving resolution) platform, and there will be errors exceeds in it after passing through the ②...
  • Page 189 braking torque is too (3) Increase braking torque P3-32. small. (1) Check the source of external force to see if there are any problems in mechanical installation; (2) Increase the servo gain to improve the anti-disturbance ability; (1) Oscillation caused by (3) Acquisition speed curve external forces analysis;...

  • Page 190: Modbus-Rtu Communication

    through p0-53, and set the motor code of P0-33 correctly. At this time, the motor parameters are in the driver, which work normally, but may affect some performance Motor code does Encoder hardware Contact manufacturer's E-314 match version is higher than technical support to update the software version driver firmware version...

  • Page 191: Communication Parameters

    3. PLC and servo communication (Servo driver and motor are all well grounded) (1) Best recommendation: hand in hand mode (2) General recommendation: branch structure Servo Servo Servo Servo slave master slave slave slave A B PE A B PE A B PE (3) Not recommended: star connection 8.2 Communication parameters...
  • Page 192 Default Parameter Meaning Range Modify Effective setting P7-00 RS485 station number 0~100 Servo bb At once Default Suitable Parameter Function Unit Modify Effective setting mode Communication n.2206 Servo bb At once setting Default Setting Range setting 0: no parity n.□xxx Parity bit 1: odd 2: even...
  • Page 193 configuration Default Parameter setting Function Range setting 0: no parity n.□xxx Parity bit 1: odd 2: even 0: 2-bit n.x□xx Stop bit 2: 1-bit 00：300 01：600 02：1200 03：2400 04：4800 05：9600 06：19200 07：38400 08：57600 09：115200 0A：192000 n.xx□□ Baud rate 0B：256000 0C：288000 0D：384000 0E：512000 0F：576000...

  • Page 194: Communication Protocol

    8.3 Communication protocol When communicating in a MODBUS network, this protocol determines that each controller needs to know their device address, identify messages sent by address, and decide what actions to take. If a response is needed, the controller generates the feedback and sends it out using Modbus protocol. In other networks, messages containing Modbus protocol are converted to frame or packet structure which can be used in this network.
  • Page 195 (3) Function code 03H: read register data For example: read the U0-05 register address H1005 (bus voltage). RTU mode: Inquiry information format Response message format Address Address Function code Function code register address Byte quantity register quantity Data content CRC CHECK Low CRC CHECK Low CRC CHECK High CRC CHECK High...

  • Page 196: Communication Example

    2. Parameter setting: the communication parameters of the driver and PLC are set in the same way, such as baud rate, parity, data bit, slave station, etc. the communication protocols of the Xinje PLC and servo are standard Modbus RTU, namely 19200bps, 1-8-1-even parity.

  • Page 197: Appendix

    Appendix Appendix 1. Group P parameters Modification and effective: “○” means modifying when servo OFF and take effect at once. “√” means modifying anytime and take effect at once. “●” means modifying when servo OFF and take effect when power on again. “△”...
  • Page 198 0~5000 First inertia ratio 1|3|5|6|7 6.2.1 P0-07 √ Forward Direction Input Pulse Instruction 0-Forward Pulse P0-09.0 ● 5.3.2 Counting 1-Reverse Pulse Counting Input pulse command P0-09.2 ● 5.3.2 filter time Default Suitable Reference Parameter Function Unit Range Effective value mode chapter Predistribution of input ○...
  • Page 199 free running state after stopping 1: Free stop, maintain DB status after stopping 2: Slow down and stop, maintain free running state after stopping 3: Slow down and stop, maintain DB status after stopping 4: DB stops and remains in free running state after stopping 5: DB stopped, maintain DB status after stopping...
  • Page 200 Open loop rotation speed 1|2|3|4|5|6| P0-55 (Supported in versions 1~65535 ● 3770 and up) Encoder communication attempts 1|2|3|4|5|6| 1~65535 ● P0-56 (Supported in versions 3770 and up) Number of consecutive error alarms for encoding P0-68 1|2|3|4|5|6| data update timing 0x05 0x01~0xFF ●...
  • Page 201 protection method 0-1 internal parameters 32-bit electronic gear ratio 1~9999 numerator. P0-92～ take effect when ○ 5.3.1.1 P0-93 0~65535 P0-11~P0-14 is 0. P0-92*1 + P0-93 *10000 32-bit electronic gear ratio 1~9999 denominator. P0-94～ take effect when ○ 5.3.1.1 P0-95 0~65535 P0-11~P0-14 is 0.
  • Page 202 Reference Parameter Function Unit Default value Range Effective Suitable mode chapter (Supported in versions 3770 and later) Position loop gain switching time P1-18 0~1000 √ 1|2|3|4|5|6|7 6.8.4 (Supported in versions 3770 and later) Speed Instruction Filter Selection 0-first order low pass P1-22 filter ○...
  • Page 203 during auto-tuning) 1- synchronous belt 2- screw rod 3-Rigid Connection Adaptive load type 0-Small Inertia Mode P2-03.3 ● 1|3|5|6|7 6.6.4 1-Large Inertia Mode 20P1/20P2/ 20P4/20P7： Adaptive mode speed 0.1Hz 1~65535 ○ 1|3|5|6|7 6.6.4 P2-05 loop gain (standard) >=21P5：200 Adaptive mode inertia 0~10000 ○...
  • Page 204 0-OFF 1-ON <=20P7： Model loop gain 0.1Hz 10~20000 3|5|6|7 6.5.3 P2-49 △ >=21P0： Active Vibration Suppression Switch √ 3|5|6|7 6.4.6 P2-60.0 0-OFF 1-ON Active Suppression Auto-tuning Switch 0-Active Vibration Suppression Configured √ 3|5|6|7 6.4.6 P2-60.1 auto-tuning 1- configure the Active Vibration Suppression when auto-tuning...
  • Page 205 Fifth notch frequency 5000 50~5000 √ 1|3|5|6|7 6.7.7 P2-83 Fifth notch attenuation P2-84 0.1dB 50~1000 √ 1|3|5|6|7 6.7.7 Fifth notch band width 0~1000 √ 1|3|5|6|7 6.7.7 P2-85 P3-XX： Suitable Reference Parameter Function Unit Default value Range Effective mode chapter V-REF Function Allocation 0-V-REF as Speed Instruction Input...
  • Page 206 forward warning speed 3000 0~10000 ○ 1|3|5|6|7 5.8.5.4 P3-19 reverse warning speed P3-20 3000 0~10000 ○ 1|3|5|6|7 5.8.5.4 forward alarming P3-21 4000 0~10000 ○ 1|3|5|6|7 speed reverse alarming speed 4000 0~10000 ○ 1|3|5|6|7 P3-22 T-REF Function Allocation 0 - Input as Torque Instruction 1 - As a necessary condition for limiting...
  • Page 207 Default Suitable Reference Parameter Function Unit Range Effective value mode chapter 1-prohibit Automatic calibration of encoder zero position after homing P4-00.3 ○ 5|6|10 5.3.1.8 0: No automatic calibration 1: Automatic calibration Speed of hitting the proximity switch P4-01 0~65535 ○ 5.3.1.8 Speed of leaving proximity switch P4-02...
  • Page 208 P5-XX： Default Suitable Reference Parameter Function Unit Range Effective value mode chapter Positioning completion Command P5-00 1~65535 √ 5.3.1.2 width/COIN unit Location Completion √ 5.3.1.2 P5-01 Detection Mode Location completion 0~65535 √ 5.3.1.2 P5-02 retention time Rotation Detection Speed 0~10000 √...
  • Page 209 Default Suitable Reference Parameter Function Unit Range Effective value mode chapter 02: Input positive signal from SI2 terminal. 03: Input positive signal from SI3 terminal. 04: Input positive signal from SI4 terminal. 10: Set the signal to always be "valid". 11: Inverse signal is input from SI1 terminal.
  • Page 210 Default Suitable Reference Parameter Function Unit Range Effective value mode chapter pulse prohibition P5-32.2 SI terminal filtering time √ 1|3|5|6|7 6.6.7 /CLR: pulse offset clear 0~ff √ 5.3.1.5 P5-34.0~1 SI terminal filtering time √ 5.7.4.1 P5-34.2 /CHGSTP: internal position mode change step 0~ff √...
  • Page 211 Default Suitable Reference Parameter Function Unit Range Effective value mode chapter P5-57.2 SI terminal filtering time √ 5.7.4.1 /PREFB: intenral position P5-58.0~1 0~ff √ 5.3.3.1 selection signal B SI terminal filtering time √ 5.7.4.1 P5-58.2 /PREFC: internal position 0~ff √ 5.3.3.1 P5-59.0~1 selection signal C...
  • Page 212 Default Reference Parameter Function Unit Range Effective Suitable mode value chapter 08：57600 09：115200 0A：192000 0B：256000 0C：288000 0D：384000 0E：512000 0F：576000 10：768000 11：1M 12：2M 13：3M 14：4M 15：5M 16：6M RS485 stop bit 0：2 bits P7-01.2 Stop bit ○ 1|2|3|4|5|6|7|8|9|10 2：1 bit RS485 parity bit 0：none Parity P7-01.3...
  • Page 213 Default Reference Parameter Function Unit Range Effective Suitable mode value chapter 0C：288000 0D：384000 0E：512000 0F：576000 10：768000 11：1M 12：2M 13：3M 14：4M 15：5M 16：6M RS232 stop bit 0：2 bits P7-11.2 Stop bit √ 1|2|3|4|5|6|7|8|9|10 2：1 bit RS232 parity bit 0：none Parity P7-11.3 √...
  • Page 214 Default Suitable Reference Parameter Function Unit Range Effective value mode chapter Touch stop homing speed 0~1000 P9-16 ○ 5.3.1.9 threshold Touch stop homing torque 0~300 P9-17 ○ 5.3.1.9 threshold Touch stop homing time 10~1500 P9-18 ○ 5.3.1.9 threshold Quantitative pulse number -9999~9999 P9-19 ○...

  • Page 215: Monitoring Parameters

    Appendix 2. UX-XX monitoring parameters U0-XX： Code Contents Unit servo motor speed U0-00 Input speed instruction U0-01 Torque instruction U0-02 % rated Mechanical angle U0-03 1° Electric angle U0-04 1° Bus voltage U0-05 IPM temperature U0-06 ℃ Torque feedback U0-07 % rated U0-08 Instruction...
  • Page 216 Xnet Communication Waiting for Synchronization Frame State U0-63 Receiving Data Frame Xnet Communication Waiting Data Frame State Interference U0-64 Xnet Communication Waiting for Data Frame Status Receive U0-65 Synchronized Frame Xnet communication CRC parity error U0-66 Xnet communication UART error U0-67 Xnet communication timeout counting U0-68...
  • Page 217 Recent 5th warning code U1-24 Recent 6th warning code U1-25 Recent 7th warning code U1-26 U2-XX： Code Contents Unit Power on times U2-00 U2-01 series Model (low 16-bit) U2-02 U2-03 Model (high 16-bit) out of factory date: year U2-04 U2-05 out of factory date: month U2-06 out of factory date: day...

  • Page 218: Appendix 3. Fx-Xx Auxiliary Function Parameters

    U4-18 SI terminal effective status (supported by 3790 and later versions) U4-19 SO terminal effective status (supported in 3790 and later versions) U4-20 （0000～65535）*1 U4-21 Rotating load single turn position （0000～65535）*2^16 Encoder pulse encoder unit U4-22 （0000～65535）*2^32 U4-23 （0000～65535）*2^64 U4-24 Rotating load single turn position （0000～9999）*1 Command unit...
  • Page 219 example, Modbus address of P6-05 is 0x0605 Modbus address is added 1 in turn from 0x0700, for P7-00~P7-xx 0x0700~0x0763 example, Modbus address of P7-11 is 0x070B The Modbus address starts from 0x0800 and increases by P8-00~P8-xx 0x0800~0x0863 1 in sequence. For example, the Modbus address corresponding to P8-25 is 0x019 The Modbus address starts from 0x0900 and increases by P9-00~P9-xx...
  • Page 220 Modbus address Modbus address Parameter Parameter Decimal Decimal P1-00 0x0100 P1-15 0x010F P1-01 0x0101 P1-16 0x0110 P1-02 0x0102 P1-17 0x0111 P1-03 0x0103 P1-18 0x0112 P1-04 0x0104 P1-19 0x0113 P1-05 0x0105 P1-20 0x0114 P1-06 0x0106 P1-21 0x0115 P1-07 0x0107 P1-22 0x0116 P1-08 0x0108 P1-23...
  • Page 221 Modbus address Modbus address Parameter Parameter Decimal Decimal P5-00 0x0500 1280 P5-27 0x051B 1307 P5-01 0x0501 1281 P5-28 0x051C 1308 P5-02 0x0502 1282 P5-29 0x051D 1309 P5-03 0x0503 1283 P5-30 0x051E 1310 P5-04 0x0504 1284 P5-31 0x051F 1311 P5-05 0x0505 1285 P5-32 0x0520...
  • Page 222 Modbus address Modbus address Parameter Parameter Decimal Decimal U0-03 0x1003 4099 U0-35 0x1023 4131 U0-04 0x1004 4100 U0-36 0x1024 4132 U0-05 0x1005 4101 U0-37 0x1025 4133 U0-06 0x1006 4102 U0-38 0x1026 4134 U0-07 0x1007 4103 U0-39 0x1027 4135 U0-08 0x1008 4104 U0-40 0x1028...

  • Page 223: Appendix 5. Q&A

    Modbus address Modbus address Parameter Parameter Decimal Decimal U1-20 0x1114 4372 U1-21 0x1115 4373 U1-22 0x1116 4374 U1-23 0x1117 4375 U1-24 0x1118 4376 U1-25 0x1119 4377 Modbus address Modbus address Parameter Parameter Decimal Decimal F0-00 0x2000 8192 F1-00 0x2100 8448 F0-01 0x2001 8193...
  • Page 224 Q9: What is the connection mode between PLC and servo? 1. NPN low-level output PLC: Y0 pulse connects P-, Y1 direction connects D-, +24V connects P+24, D+24. (Xinje PLC as an example) PNP high-level output PLC: Q0.0 pulse connects P+24, Q0.2 direction connects D+24, 0V connects P-,...

  • Page 225: Appendix 6. General Debugging Steps

    Q10: What is the external connection method and parameter setting of regenerative resistance? There are P+, D, C terminals on the servo interface. There are short connectors between P+ and C (using built-in resistor). When the built-in resistor specifications are insufficient, the external resistor should be replaced.
  • Page 226 C. jog run: Enter F1-00. Short press ENTER to enable the motor. In the enabled status, press INC for run forward, press DEC to run reverse. Press STATUS/ESC to exit. Four status when jog running: status Panel display status Panel display Idle Forward run enabled...

  • Page 227: Appendix 7. Application Example

    Appendix 7. Application example Mode 6: Pulse instruction position mode Equipment introduction: This is a welder. Workpiece 1, 2, 3 are the object to be operated. 2 and 3 is fixed on B and A individually. A and B can whole move and be pushed by ball screw E and F. The screw pitch is 5mm. C and D is servo motor.
  • Page 228 Parameter setting Running mode: P0-01=6 Pulse command state: P0-10=2 Electronic gear ratio: P0-11=0 P0-12=0 P0-13=16384 P0-14=125 Forward torque limit: P3-28=150 Reverse torque limit: P3-29=150 Positioning finished width: P5-00=7 /S-ON: P5-20=0010 /CLR: P5-34=0001 /COIN: P5-38=0001 /CLT: P5-42=0002...

  • Page 229: Appendix 8. Servo General Mode Parameters

    Appendix 8. Servo general mode parameters Appendix 8.1 Basic parameters Basic parameters Parameter Overview P0-03 enable mode Enable mode selection, generally P0-03 is default, P5-20 sets P5-20 servo ON signal /S-ON n.0010 as enable on after power on P0-04 Rigidity grade Adjust servo gain in auto-tuning fast adjustment mode P0-05 Definition of rotation direction Determine the motor direction, generally 0/1 by default...

  • Page 230: Appendix 8.3 Internal Position Mode General Parameters

    Appendix 8.3 Internal position mode general parameters Internal position mode general parameters Parameter Overview P0-01 control mode selection Set to 5: internal position mode P4-03 internal position setting mode Control mode setting of internal position mode: P4-04 number of effective segments including step change mode, positioning mode and P4-10 ~ P4-254 internal section 1 to section 35 adjustment time...

  • Page 231: Appendix 8.6 External Pulse Speed Control General Parameters

    /SPD-D If the direction changing is given through SI2 terminal, p5-27 can be set to n.0002. P3-09 soft start acceleration time Set acceleration and deceleration time in ms P3-10 soft start deceleration time Appendix 8.6 External pulse speed control general parameters External pulse speed control Parameter Overview...

  • Page 232: Appendix 9. Torque-Speed Characteristic Curve

    Appendix 9. Torque-speed characteristic curve...
  • Page 234 WUXI XINJE ELECTRIC CO., LTD. No.816, Jianzhu West Road, Binhu District, Wuxi City, Jiangsu Province, China 214072 Tel: (510) 85134136 Fax: (510) 85111290 Email: Fiona.xinje@vip.163.com www.xinje.com We chat ID...

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