ABB E530-PT User Manual
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ABB E530-PT User Manual

ABB E530-PT User Manual

Servo system
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ABB SERVO PRODUCTS
E530-PT servo system
User's manual

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Summary of Contents for ABB E530-PT

  • Page 1 — ABB SERVO PRODUCTS E530-PT servo system User's manual...
  • Page 3 User's manual E530-PT servo system Safety instructions Installation Wiring Commissioning Parameter 3AXD50000942800 Rev D EN EFFECTIVE: 2024-11-15...

  • Page 5: Table Of Contents

    Table of contents Table of contents Safety instructions 1.1 Contents of this chapter ............11 1.2 Use of warnings and notes .
  • Page 6 Table of contents 3.8 CE marking ..............54 3.8.1 Compliance with EN 61800-3 .
  • Page 7 5.8 PLC wiring example ............140 5.8.1 Analog input signals wiring between AC500-eCo Motion PLC and E530-PT . 140 5.8.2 Digital input signals wiring between AC500-eCo Motion PLC and E530-PT .
  • Page 8 Table of contents 7.5 Speed control (S) ............194 7.5.1 Speed command setting .
  • Page 9 Table of contents 9.4.2 Inertia identification ........... 270 9.4.3 Gain parameters tuning .
  • Page 10 Providing feedback on ABB Drives manuals ........

  • Page 11: Safety Instructions

    Safety instructions Safety instructions 1.1 Contents of this chapter This chapter contains the safety instructions which you must obey when installing, operating and servicing the drive. If you ignore the safety instructions, injury, death or damage can occur. Read the safety instructions before you work on the unit.

  • Page 12: General Safety In Installation, Start-Up And Maintenance

    Safety instructions 1.3 General safety in installation, start-up and maintenance These instructions are for all personnel that install and operate the drive, motor and their cables. WARNING! Obey these instructions. If you ignore them, injury or death, or damage to the equipment can occur. •...
  • Page 13 Safety instructions • Make sure the safety circuits connected to the drive (for example, emergency stop) have been validated. • Beware of hot air exiting from the air outlets. Do not cover the air inlet and outlet when the drive runs. •...

  • Page 14: Electrical Safety In Installation, Start-Up And Maintenance

    Safety instructions 1.4 Electrical safety in installation, start-up and maintenance ■ 1.4.1 Precautions before electrical work These electrical safety precautions are for all personnel who do work on the drive, motor cable or motor. WARNING! Obey these instructions. If you ignore them, injury or death, or damage to the equipment can occur.
  • Page 15 Safety instructions • Do not solder the exposed wires. Do not solder the exposed wires. Solder will shrink over time, potentially causing loose connections. Use crimp connections whenever possible. • Ensure the servo drive system is firmly grounded and the reliability of the equipment .

  • Page 16: Additional Instructions And Notes

    Safety instructions ■ 1.4.2 Additional instructions and notes WARNING! Obey these instructions. If you ignore them, injury or death, or damage to the equipment can occur. If you are not a qualified electrical professional, do not do installation or maintenance work. •...

  • Page 17: General Safety In Operation

    Motor over speed causes overvoltage that can damage or destroy the capacitors in the intermediate circuit of the drive. WARNING! Obey these instructions. If you ignore the safety instructions, injury or death, or damage to the equipment can occur. ABB is not liable for any related damages. 111111 When P08.15 = 1, the drive can reset the fault at any time (without breaking the...
  • Page 18 Safety instructions...

  • Page 19: Introduction To The Manual

    The chapter contains a list of related manuals and a flowchart for installation and commissioning. 2.2 Applicability This manual is applicable to E530-PT servo system. 2.3 Target readers This manual is intended for people who install, operate and do maintenance and wiring for the drive and motor.

  • Page 20: Contents Of This Manual

    Introduction to the manual 2.5 Contents of this manual The manual consists of the following chapters: Safety instructions • (page 11) provides safety instructions that you must obey, when you install, operate and do maintenance work on the drive. Introduction to the manual •...

  • Page 21: List Of Related Manuals

    Document You can find manuals and other product documents in PDF format in library on the Internet or scan the QR code on the back cover to open the ABB motion control material database. Document library on the Internet For manuals not available in the and ABB motion control material database, contact your local ABB representative.

  • Page 22: Quick Installation And Start-Up Flowchart

    Introduction to the manual 2.7 Quick installation and start-up flowchart Task Identify drive, motor and cable Production Information (page 25) information. Plan the installation. Installing the drive (page 64) Check the whether the ambient Installing the motor (page 63) conditions, installation site and other Technical data (page 43) technical data meet the requirement.

  • Page 23: Terms And Abbreviations

    Introduction to the manual 2.8 Terms and abbreviations Term/ Description Abbreviation Electromagnetic Compatibility Programmable logic controller Input / Output IGBT Insulated gate bipolar transistor; a voltage-controlled semiconductor type widely used in inverters due to their easy controlling and high switching frequency. Parameter User-adjustable operation instruction to the drive, or signal measured or calculated by the drive.
  • Page 24 Introduction to the manual...

  • Page 25: Product Information

    E530-PT servo drive is an IP20/open type cabinet mounted drive for controlling AC servo motors. E530-PT servo drive has three frame sizes, F2, F3 and F4. Frame sizes F2 and F3 are used for 1-phase 220V power supply. Frame size F4 can be used for both 1- phase 220V and 3-phase 220V power supply.

  • Page 26: Scope Of Delivery

    E530-PT0S-1KW0-1 E530-PT0S-2KW0-2 40 x 175 x 150 60 x 175 x 150 80 x 175 x 175 Dimensions (W*H*D, mm) (W*H*D, mm) (W*H*D, mm) 2. E530-PT servo drive quick installation guide Code Language Quantity Sizes Description 3AXD50000942763 Chinese one-page, both-side...
  • Page 27 1. Model information label Description Drive type Serial number QR code (ABB servo website) 2. Type designation label Before installation and operation on the drive, check the information on the type designation label to ensure that the drive type is correct.
  • Page 28 Product information Description S/N=serial number of format MYYWWXXXXX, where M: Manufacturer designation YY: Year of manufacture: 22, 23, 24, …for year 2022, 2023, 2024… WW: Week of manufacture: 01, 02, 03, …for week 1, week 2, week 3... XXXXX: Running number that starts each week. The type designation shows the specifications and configuration of the drive.

  • Page 29: Motor

    Product information  3.3.2 Motor Check whether the motor type and data match the order when unpacking. Rated power Flange size Motor without Type code Motor with brake (kW) (mm) brake DSM04L-0KWA-302... 0.05 DSM04L-0KW1-302... DSM06L-0KW2-302... DSM06L-0KW4-302... DSM06M-0KW4-302... DSM08L-0KW8-302... 0.75 DSM08M-0KW8-302... 0.75 DSM13H-0KW9-152...
  • Page 30 Product information Description Valid markings Degree of protection QR code (production serial number) The type designation shows the specifications and configuration of the motor. The table below presents the type code digits. Not all codes are available for all types, refer to servo drive system ordering information, available on request. Type code example: DSM06L-0KW2-302-S1NA0 Code Description...
  • Page 31 Product information China energy efficiency label The motor is labeled with China energy efficiency label, which indicates the energy efficiency grade and related performance of the motor. Note: Only the motors with flange size 80mm and 130mm have China energy efficiency label.

  • Page 32: System Combination Table

    **: Motor with oil seal needs to be derated to 90%. Note: Except for the optimal match above, the high-power servo drives can automatically recognize and match the small-power motors in E530-PT servo system. Please contact ABB Technical Support for such requirements.

  • Page 33: Interface Introduction

    Product information 3.5 Interface introduction This section shows the layout of power interfaces and control interfaces of the drive and motor. Wiring For more information on wiring, see section (page  3.5.1 Drive interface Frame size F2 and F3 Modbus TCP communication and PC tool Input power supply and brake connector (RJ 45) resistor terminals...

  • Page 34: Motor Interface

    Product information Frame size F4 The interface layout of frame size F4 differs from frame size F2 and F3. The power supply cable is connected to the drive by U-type clamps, specifically for the heavy current servo drive. Modbus TCP communication and Input power supply, motor power and PC tool connector (RJ 45) brake resistor connection terminals...
  • Page 35 Product information Motor (50W~750W) The motor (50W~750W) has a motor power connector, an encoder connector, a brake connector, a power cable and an encoder cable, as shown in the table below. Encoder connector Motor power connector Shaft Flange Brake device (motor with brake only) Motor (0.85kW~2kW) The motor (0.85kW~2kW) has a motor power connector, an encoder connector and a brake connector, as shown in the table below.

  • Page 36: Accessories

    Product information 3.6 Accessories This section describes accessories and options that may be required for servo drive system. All accessories and options described below need to be ordered separately. 3.6.1 Cable  This section describes the motor cable, encoder cable, I/O control cable and communication cable.
  • Page 37 Requirement. S= Standard Reserved. The motor cable for the E530-PT drive needs to be ordered separately. You can either: • Order the ABB motor cable, as shown in the table below. Or Motor cable connector • order only the connector (see ) and make the cable by yourself.
  • Page 38 The encoder cables are numbered in the same way as the motor cables, see Motor cable section for details. The encoder cable for E530-PT drive needs to be ordered separately. You can either: • Order the ABB encoder cable, as shown in the table below. Or 3.6.2 Connector •...
  • Page 39 Product information Selecting encoder cable battery Refer to the following table to select the appropriate battery: Battery type spec Ratings Remarks Parameters Battery output voltage (V) Battery capacity (mAh) 2700 Battery warning voltage (V) 3.15 Alarm code A2014 Battery fault voltage (V) Alarm code F2010 Normal operation, Recommended...

  • Page 40: Communication Cable

    Product information I/O control cables and connectors Figure Type Description OPT-IO44N-10 IO 44-pin connector, 10/package IO signal cable, 0.5m, 1/package. 0.5m The following IO adapter board OPT-IO44C-05 (OPT-IO44A) is required. IO signal cable, 1m, 1/package. OPT-IO44C-10 The following IO adapter board (OPT-IO44A) is required.

  • Page 41: Connector

    Product information  3.6.2 Connector Encoder connector at the drive side Figure Type Description Encoder connector at drive side, CNS-ENC-10 10/package Encoder connector at the motor side Figure Type Description Motor power: ≤750W, CBL-ENC-AMP-08 Type: AMP 9P, 10/package Battery case (without battery) for multi-turn absolute encoder cable, 1 /package CBL-MTB-CAS-01...

  • Page 42: Fuse

    E530-PT0S-1KW0-1 C10G20 E530-PT0S-1KW5-2 C10G25 E530-PT0S-2KW0-2 C10G25  3.6.4 Circuit breaker It is recommended to use ABB circuit breaker. The types are shown in the table below: Drive type Circuit breaker type Frame size E530-PT0S-0KW2-1 S201M - B6NA E530-PT0S-0KW4-1 S201M - B6NA...

  • Page 43: Emc Filter

    Sanbaode 1&2  3.6.8 Fan Contact your local ABB representative to order or replace the fan. 3.7 Technical data The technical data includes the technical specifications of the drive, motor and cable, including the ratings, sizes and technical requirements.

  • Page 44: Technical Data Of Servo Drive

    Installation altitude (m) Derating of 1% for every 100 meters of altitude from 1000 m to 2000 m. Air pressure range 86 kPa ~ 106 kPa. Contact ABB if out of Air pressure (kPa) the range. Comply with IEC 60721-3-3: 2002, class 3M1.
  • Page 45 Product information Operation Not permitted Free Storage/ 76 cm fall Transportation Degree of protection IP20 Protective class Protective class I Pollution degree According to IEC/EN 60664-1: Overvoltage category 1 - phase AC 220V: category II (IEC/EN 60664-1); 3 - phase AC 220V: category III (IEC/EN 60664-1) Network type TT/TN Overload capacity...
  • Page 46 Product information Analog input 2 AI Communication method Modbus TCP Cooling method Natural cooling/cooling fan Supported (the drive should be derated; Frame size F4 drive Side-by-side installation does not support side-by-side installation). Certifications For 2 kW drive with 1-phase 220 V input, the rated output of motor torque will be derated to 80%.
  • Page 47 Product information Fuse Do not use the fuse with the rated current higher than the value specified in the table below. Input Min. short- Drive type Frame size Bussmann type current circuit current E530-PT0S-0KW2-1 5 kA C10G10 E530-PT0S-0KW4-1 5 kA C10G10 E530-PT0S-0KW8-1 5 kA...

  • Page 48: Technical Data Of Servo Motor

    Product information  3.7.2 Technical data of servo motor General technical data Motor type Permanent magnet synchronous AC servo motor Flange size 40 x 40mm, 60 x 60mm, 80x 80mm, 130 x 130mm Relative humidity 20 ~ 80% (RH) Installation Below 1000m altitude (m) Thermal class...
  • Page 49 Product information Specific technical data Flange size 40 mm 60 mm 80 mm 06L- 04L- 04L- 06L- 06M- 08L- 08M- Motor type 0KW2 0KWA- 0KW1- 0KW4- 0KW4 0KW8- 0KW8 DSM... -302 -302 -302 Rated torque M (Nm) 0.16 0.32 0.64 1.27 1.27 2.39...
  • Page 50 Product information Output derating The rated output of the motor will be reduced under certain conditions, so derating is needed. When there are multiple derating factors (e.g., high altitude and high temperature), derating is accumulated. • High temperature derating Derating is not needed for ambient temperature below 40°C. For ambient temperature between 40°C and 60°C, the derating is 2% for every 1°C increase.
  • Page 51 Product information Speed-torque curve...
  • Page 52 Product information Continuous operation Peak operation...

  • Page 53: Technical Data Of Cables

    Product information  3.7.3 Technical data of cables Terminal data of power cable L1, L2, L3, P, R, C, N terminals Minimum (single/ Maximum (single/ Type Tightening torque multiple strands) multiple strands) N·m lbf·in 1-phase/3-phase U = 200...240 V E530-PT0S-0KW2-1 0.75 E530-PT0S-0KW4-1 0.75...

  • Page 54: Ce Marking

    The CE mark is attached to the drive to indicate that the drive complies with the European Low Voltage, EMC and RoHS Directives. The EU Declaration of Conformity is published on the ABB website. 3.8.1 Compliance with EN 61800-3 ...

  • Page 55: Compliance With The European Low Voltage Directive

    The drive compliance with the European EMC Directive has been verified according to standard EN 61800- 3:2004+A1:2012). The EMC Directive defines the requirements for immunity and emissions of electrical equipment used within the European Union. Declaration of Conformity is published on the ABB website. ...

  • Page 56: Materials

    IEC 62635 guidelines. To aid recycling, plastic parts are marked with an appropriate identification code. Contact your local ABB distributor for further information on Disposal environmental aspects and recycling instructions for professional recyclers.
  • Page 57 The WEEE Directive defines the regulated disposal and recycling of waste electric and electronic equipment, see the E530-PT servo drive recycling 3AXD50001137052 [English] instructions and environmental information ( ) for the details.

  • Page 58: Function List

    Product information 3. 10 Function list 3.10.1 Control mode overview  Control mode Description External pulse input position control Fixed position control Speed control Torque control  3.10.2 Control functions overview Description Control Function mode Position control is the control in which the controller PTI;FP inputs an external position command into the servo 7.4 Position...

  • Page 59: Declaration Of Conformity

    Product information Jog operation is the function of driving a servo motor at a preset jog speed without connecting a controller, 7.10 Jog in confirming the function of the servo drive, motor, and wiring. The home position reset function means that the PTI;FP servo drive controls the motor to run to the specified 7.11 Homing...
  • Page 60 Notwithstanding any other provision to the contrary, whether or not the Contract is terminated, ABB and its affiliates are not liable for damages and/or losses related to such security breaches, any unauthorized access, interference,...

  • Page 61: Installation

    Check whether the drive type on the package is the product you ordered before unpacking. After unpacking, check if there is anything missing or damage during transportation. In case of damage, contact your ABB supplier. Package contents: • Servo drive...

  • Page 62: Required Tools

    Installation 4.2.2 Required tools  To install the drive and motor, the following tools are needed: • Slot screwdriver for connecting F2/F3 terminals. • A drill and screws or bolts for mounting the drive and motor. • Wire stripper. • Tapeline and gradienter. •...
  • Page 63 Installation Item Description Routing As shown in the figure below, when wiring the servo drive, route the cable downward to prevent the liquid from flowing into the drive along the cable.

  • Page 64: Installing The Servo Drive

    Installation 4.3 Installing the servo drive  4.3.1 Installation direction E530-PT servo drive only supports vertical installation. Wrong installing direction may cause overheat and damage to the drive. Vertical installation Horizontal installation, not allowed Cabinet wall  4.3.2 Installation space...
  • Page 65 Installation Air outlet Air outlet Air outlet Air outlet Cabinet wall Cabinet wall 10 mm 10 mm 5 min 5 min 5 min 5 min 5 min 5 min 10 mm 10 mm 10 mm 10 mm Air inlet Air inlet Air inlet Air inlet...
  • Page 66 Installation The minimum clearances given for frame size F4: at least 40 mm space on the left side (for wiring), and 100 mm longitudinal space. Air outlet Air outlet Air outlet Cabinet wall 5 min 5 min 5 min 10 mm ≥...
  • Page 67 Installation As shown in the figure below, when a device with a depth of less than 166 mm is installed on the left side of the F4 drive module, if the device is located outside the wiring area, the spacing between it and the drive can be as low as 10 mm.

  • Page 68: Installation Steps

    Installation 4.3.3 Installation steps  Dimensions (mm) Hole distance (mm) Mounting screw M5 x2 M5 x3 M5 x4 Install the drive with screws to a suitable surface. Take F4 as an example, the installation steps are: Refer to , make 4.3.4 Dimensions and mounting holes marks onto the surface for the mounting holes.

  • Page 69: Dimensions And Mounting Holes

    Installation 4.3.4 Dimensions and mounting holes  • F2 (200w, 400w) 5 min Front view Rear view Basic dimensions/mm Number of screws/pcs Screw tightening torque/N.m Hole distance/mm...
  • Page 70 Installation • F3 (750W, 1kW) 5 min Front view Rear view Basic dimensions/mm Number of screws/pcs Screw tightening torque/N.m Hole distance/mm...
  • Page 71 Installation • F4 (1.5kW, 2kW) 5 min Front view Rear view Basic dimensions/mm Number of screws/pcs Screw tightening torque/N.m Hole distance/mm...

  • Page 72: Installing The Servo Motor

     4.4.1 Unpacking Before unpacking, verify if the motor and specifications on the package comply with your order. If there is any inconsistency, contact your local ABB representative. After unpacking, check the appearance of the whole machine and check whether the product has been damaged during transportation.
  • Page 73 Installation Power connection with brake (130 mm) 20 - 18P Motor side lead wire Signal Color of cable between color definition motor and drive White White Black Black Yellow/Green Yellow/Green Yellow Blue Yellow Brown Absolute encoder - Single-turn (40/60/80 mm) AMP - 9P Color of cable Motor side lead wire...
  • Page 74 Installation 20-bit/16-bit absolute encoder - multi-turn (130 mm) 20 - 29P Motor side lead wire Signal Color of cable between color definition motor and drive Green DATA+ Blue Yellow DATA- Blue/Black White Black+battery black Brown Black VBAT Green+battery red Shielding Shielding Shielding 23-bit/16-bit absolute encoder - multi-turn (40/60/80 mm)

  • Page 75: Precautions For Motor Installation

    Installation 4.4.3 Precautions for motor installation  Read these safety precautions thoroughly before using the motor! Cautions for unpacking After unpacking, confirm that the correct product has been shipped and there are no signs of damage. Safety notes on carrying and installation 1.
  • Page 76 Installation Safety notes on wiring Contact ABB if motor current exceeds more than 3 times the rated current, which can cause demagnetization of the motor magnets. Check the phase sequence of the motor, the cables and the brake voltage. Also carefully check the power and signal wires to the encoder.
  • Page 77 Installation This AC servomotor is designed to be controlled by a dedicated drive. Never connect it directly to a commercial power source (220 VAC 50/60 Hz etc.). Read the instruction manual carefully to properly use the motor. Make sure to use the motor within the specified conditions. Note that the specified motor temperature assumes that a radiator plate is attached to the motor.

  • Page 78: Motor Installation Steps

    Installation 4.4.4 Motor installation steps  Flange size (mm) Motor length without brake(mm) Motor length with brake (mm) Shaft length (mm) Length of stopper (mm) Pitch circle diameter Mounting hole diameter Diameter of stopper Screws Torque Motor type DSM04L-0KWA-302-xxxx0 78.5 40x40 Ø46 Ø4.5 Ø30 M4 x 4 2 Nm...
  • Page 79 Installation According to the hole dimensions (PCD, AJ) in the table, drill 1 shaft center hole and 4 screw mounting holes on the mounting plate: 1. Make holes in the mounting plate. 2. Screw the motor to the metal mounting surface. The installation plane material is aluminum alloy, and it is recommended to do black anodizing on the surface.

  • Page 80: Installation Dimensions

    Installation 4.4.5 Installation dimensions  DSM04L motor dimensions (flange 40, without brake) DSM04L motor dimensions (flange 40, with brake) Type code (TOL) (TOL) (without brake) (with brake) DSM04L-0KWA-302-xxxx0 78.5 8 (h6) 16 1.2 3 (h9) M3x8 DSM04L-0KW1-302-xxxx0 123.5 8 (h6) 16 1.2 3 (h9) M3x8 Type code...
  • Page 81 Installation DSM06L (06M) motor dimensions (flange 60, without brake) DSM06L (06M) motor dimensions (flange 60, with brake) Type code (without brake) (TOL) (TOL) (with brake) DSM06L-0KW2-302-TXXX0 30 14 (h6) 6.2 16.5 5(h9) M5X12 DSM06L-0KW2-302-SXXX0 30 14 (h6) 6.2 16.5 5(h9) M5X12 DSM06L-0KW4-302-TXXX0 30 14 (h6) 6.2 16.5...
  • Page 82 Installation DSM08L (08M) motor dimensions (flange 80, without brake) DSM08L (08M) motor dimensions (flange 80, with brake) Type code (TOL) (TOL) (without brake) (with brake) DSM08L-0KW8-302-TXXX0 145.5 35 19 (h6) 8.3 2.5 6(h9) M6X15 DSM08L-0KW8-302-SXXX0 147.5 35 19 (h6) 8.3 2.5 6(h9) M6X15 DSM08M-0KW8-302-TXXX0 35 19 (h6) 8.3...
  • Page 83 Installation DSM13M (13H) motor dimensions (flange 130, without brake) DSM13M (13H) motor dimensions (flange 130, with brake) Type code LG LK (without brake) (with brake) (TOL) (TOL) DSM13M-1KW0-202-XXXX0 22 (h6) 8(h9) M6X15 DSM13M-1KW5-202-XXXX0 22 (h6) 8(h9) M6X15 DSM13M-2KW0-202-XXXX0 22 (h6) 8(h9) M6X15 DSM13H-0KW9-152-XXXX0 22 (h6)
  • Page 84 Installation...

  • Page 85: Wiring

    Before operation, make sure that the power of the servo drive is disconnected. Wait 5 minutes after disconnecting the power before you start working. The wiring of the E530-PT servo system mainly includes the following three parts: • Main circuit wiring (page 89) •...

  • Page 86: System Structure

    5.2 System structure This section introduces the connection relationship between the components of the servo drive system, which is helpful to quickly understand the E530-PT series servo products. The power input and servo motor types of servo drives with different frame sizes are different. The typical system connection diagram is shown below.

  • Page 87: Frame Size F 4

    Wiring 5.2.2 Frame size F 4  External computer (To install Servo Composer) 220 V AC power supply PLC/Controller Fuse Breaker Filter Control cable (44-pin D-type connector, page Power cable, 3-phase (page Motor cable (page 94) Communication cable (RJ45, page Encoder cable (1394 connector, page System grounding busbar (page...

  • Page 88: Selecting The Cables

    Wiring 5.2.3 Selecting the cables  Dimension the supply (input power) and motor cables according to local regulations. • Current: the cable must be able to carry the drive load current. See the 3.7 Technical data chapter for the rated currents. •...

  • Page 89: Main Circuit Wiring

    5.3 Main circuit wiring Before wiring, check the insulation according to safety regulations. The main circuit of E530-PT servo drive is shown in the figure below, which consists of 3 parts: AC power input, motor power output and external brake resistor.

  • Page 90: Ac Input - L1/L2/L3

    U-type terminals. Power cable E530-PT servo drive supports 1-phase and 3-phase 220 V AC power supply input based on different frame sizes, as shown in the table below: Input power supply...
  • Page 91 Wiring AC input terminal Definition: AC power Terminals Description 1-phase 1-phase AC input L1, L2 3-phase AC input L1 3-phase 3-phase AC input L2 3-phase AC input L3 The wire size specification of the power cable is shown in the table below. For 3.7 Technical data more information, see L1, L2, L3, PE terminals...
  • Page 92 Wiring • Round-type crimp terminals Figure Name Dimensions (mm) ≤10 4.0~5.0 Recommended Suitable wire size terminal RNB 1.25-4 0.5~1.5 mm (AWG 22~16) RNB 2-4 1.5~2.5 mm (AWG 16~14) RNB 3.5-4 2.5~4 mm (AWG 14~12) RNB 5.5-4 4~6 mm (AWG 12~10) •...
  • Page 93 Wiring AC input wiring PE grounding point Fuse (page 3-phase/1-phase AC input terminals Circuit breaker (page Grounding screws Filter (page System grounding busbar...

  • Page 94: Motor Output - U/V/W

    Wiring 5.3.2 Motor output - U/V/W  Frame sizes F2 and F3 are connected to the motor using plug-in terminal blocks, as shown in the figure below. When wiring, directly insert the pin crimp terminal of the motor cable into the corresponding motor terminal jack. The motor interface of frame size F4 uses the barrier terminals on the front panel and the cables are connected to the barrier with the U-type terminals.
  • Page 95 Wiring Wire size of servo motor cable: U, V, W terminals Minimum wire size Maximum wire size Tightening torque (solid/stranded) (solid/stranded) Frame size N·m lbf·in F2/F3 0.75 1.4±0.2 12.39±1.8 Motor connection: Motor power terminals U, V, W Grounding screws Encoder cable (page 109)

  • Page 96: Motor Cable Information

    5.3.3 Motor cable information  The motor cable information supported by the E530-PT drive is described as follows, and the user can choose it according to the actual servo drive and motor type. Motor cables need to be purchased separately. For the ordering 3.6 Accessories...
  • Page 97 Wiring Cable type CBL-CxxA-73-1S0 Motor 50 W~750 W Flange size 40/60/80 mm Length 3/5/10/15/20/30 m Cable type AMP/6 wire, with brake Interface type Motor side Servo side * L = 3, 5, 10, 15, 20, 30 m available, dimensions in the drawing in mm Pin definition Servo side Number...
  • Page 98 Wiring Cable type CBL-PxxM-13-1S0 Motor Flange size 130 mm Length 3/5/10/15/20/30 m Cable type Military plug/4-wire, without brake Interface type Motor side Servo side * L = 3, 5, 10, 15, 20, 30 m available, dimensions in the drawing in mm Pin definition Wire Servo side...
  • Page 99 Wiring Cable type CBL-CxxM-35-1S0 Motor Flange size 130 mm Length 3/5/10/15/20/30 m Cable type Military plug/ 6 wire, with brake Interface type Motor side Servo side * L = 3, 5, 10, 15, 20, 30 m available, dimensions in the drawing in mm Pin definition Servo side Number...
  • Page 100 Wiring Cable type CBL-PxxM-20-2S0 Motor 0.85 kW/1.3 kW/1.5 kW/2 kW Flange size 130 mm Length 3/5/10/15/20/30 m Cable type Military plug/ 4 wire, without brake Interface type Motor side Servo side * L = 3, 5, 10, 15, 20, 30 m available, dimensions in the drawing in mm Pin definition Wire Servo side...
  • Page 101 Wiring Cable type CBL-CxxM-25-2S0 Motor 0.85 kW/1.3 kW/1.5 kW/2 kW Flange size 130 mm Length 3/5/10/15/20/30 m Cable type Military plug/ 6 wire, with brake Interface type Motor side Servo side * L = 3, 5, 10, 15, 20, 30 m available, dimensions in the drawing in mm Pin definition Servo side Number...

  • Page 102: Brake Resistor - P/R/C

    A dangerous voltage is present in the resistor circuit, even when the brake chopper is not operating. The brake resistor handles the energy generated by the motor, and E530-PT servo drive has an internal brake resistor (not supported in F2). When the internal brake resistor cannot meet the braking requirements, an external brake resistor can be connected.
  • Page 103 Wiring Terminals Description Internal brake resistor terminal Brake resistor common terminal Common DC bus negative terminal The wire size of the drive brake resistor cable is shown in the table below: P, C terminals Minimum wire size Maximum wire size Tightening torque (solid/stranded) (solid/stranded)
  • Page 104 Wiring A short-circuit connector is mounted between R terminal and C terminal. The brake resistor input terminals (P/R/C/N) of the frame size F4 are provided with a baffle to prevent the user from inserting the wrong short-circuit connector. • External brake resistor 1.

  • Page 105: Selecting The Brake Resistor

    Wiring 5.3.5 Selecting the brake resistor  Relevant specifications of brake resistor External brake Bus capacitor Internal brake resistor resistor Frame size storage Resistance Processable Min. Power (W) energy (J) power(W) resistance(Ω) (Ω) When the energy regenerated by the motor is higher than the energy consumed by the internal brake resistor, an external brake resistor is needed.
  • Page 106 Wiring Braking energy Braking energy E is the difference between the initial energy of the system (before deceleration) and the final energy of the system (after deceleration). If the system is brought to rest then the final energy is zero. The braking energy is calculated as follows, where E is the energy, J is the total inertia, n is the initial speed, and n...

  • Page 107: Common Dc Bus Wiring - P/N

     5.3.6 Common DC bus wiring - P/N The E530-PT Servo Drive supports common DC bus for the following applications: • The motor is continuously braked, the internal braking unit is not adequate and there are multiple servo drives but in different operating states (braking state and running state).
  • Page 108 Wiring Recommended circuit breaker and fuse types: Frame size Circuit breaker type Fuse type S201M - B6NA C10G10 S201M - B16NA C10G20 S201M - B16NA C10G25 Terminals P and N are used for the common DC bus connection of the servo drive and are defined in the table below.

  • Page 109: Encoder Wiring

    Encoder cables need to be purchased separately. For the ordering information, 3.6 Accessories It is recommended to purchase ABB prefabricated cables, and the length of user-made encoder cables should not exceed 30m. Note! Additional magnetic ring needs to be added to the encoder cable to comply with EMC testing requirements.
  • Page 110 Wiring Cable type CBL-FxxA-S1-3S0 Motor 50 W~750 W Flange size 40/60/80 mm Length 3/5/10/15/20/30 m Cable type Single-turn, AMP interface Interface type Motor side Servo side * L = 3, 5, 10, 15, 20, 30 m available, dimensions in the drawing in mm Pin Definition Motor side Wire core...
  • Page 111 Wiring Cable type CBL-FxxA-S2-3S0 Motor 50 W~750 W Flange size 40/60/80 mm Length 3/5/10/15/20/30 m Cable type Multi-turn, AMP interface, with battery Interface type Servo side Motor side * L = 3, 5, 10, 15, 20, 30 m available, dimensions in the drawing in mm Pin Definition Motor Wire core...
  • Page 112 Wiring Cable type CBL-FxxM-S1-3S0 Motor 0.85 kW~2 kW Flange size 130 mm Length 3/5/10/15/20/30 m Cable type Single-turn, Military plug Interface type Motor side Servo side * L = 3, 5, 10, 15, 20, 30 m available, dimensions in the drawing in mm Pin Definition Motor Wire core...
  • Page 113 Wiring Cable type CBL-FxxM-S2-3S0 Motor 0.85 kW~2 kW Flange size 130 mm Length 3/5/10/15/20/30 m Cable type Multi-turn, Military plug, with battery Interface type Motor side Servo side * L = 3, 5, 10, 15, 20, 30 m available, dimensions in the drawing in mm Pin Definition Motor Servo side...

  • Page 114: Control Signal Wiring

    Wiring 5. 5 Control signal wiring  5.5.1 Control signal interface E530-PT servo drive provides: • Pulse input (page • Digital inputs (page • Digital outputs (page • Analog inputs (page • Encoder frequency dividing output (page • Motor brake control output (page...
  • Page 115 Wiring D-type connector definition D-type connector Signal Description DO4+ Digital output 4+ DO3- Digital output 3- DO3+ Digital output 3+ DO2- Digital output 2- DO2+ Digital output 2+ DO1- Digital output 1- DO1+ Digital output 1+ Digital input 4 Digital input 1 Digital input 2 DI COM Digital input common terminal...
  • Page 116 Wiring OPT-IO44A Control cable adapter board (optional) For ease of wiring, the E530-PT servo drive can convert the 44 pin D type connector to a 44-channel terminal block connection using the dedicated control cable adapter board OPT-IO44A. E530-PT The specifications for control cables are shown in the table below.
  • Page 117 Control cables and control cable adapter plates are to be purchased separately, 3.6 Accessories for ordering information. It is recommended to purchase ABB prefabricated cables, and the length of user-made control cable should not exceed 3m. Selecting the control cables It is recommended to use shielded cables for control signals, and make a 360°...
  • Page 118 Wiring Routing the control cables Control signal Power cable Control signal Power cable Don't put the control signal and The control signal and power cable shall be put in separate power cable in a duct. ducts.

  • Page 119: Pulse Inputs

    Wiring 5.5.2 Pulse inputs  The E530-PT pulse input signals are described in the table below: Pulse channel Signal Motor type Pulse type (P04.01) (P04.00) PULSE+ • Pulse + direction (positive logic) 24 V low-speed PULSE- • Pulse + direction (negative logic)
  • Page 120 Wiring Single ended signal input - NPN connection Note! As shown in the figure above, when the pulse input frequency exceeds 100 kHz , it is necessary to connect an external resistor R (200~500 Ω, minimum power 5 W recommended ) to ensure signal quality.
  • Page 121 Wiring High-speed differential pulse input connection Controller Shielded ground...

  • Page 122: Digital Inputs

    Wiring 5.5.3 Digital inputs  The E530-PT servo drive provides 7 digital inputs, DI1~DI7, respectively, and supports both PNP and NPN wiring methods. Digital input PNP connection The digital input signal is a single-ended signal, where the user provides a 24 V DC power supply.
  • Page 123 7-channel digital input terminal, as shown in the figure below. User supply 24VDC E530-PT User supply The 7-channel digital input has the function code assigned by default in the factory to realize specific control functions. The function code is set by the...
  • Page 124 Wiring The function codes of digital input can be re-specified according to actual needs. All digital input function codes are defined as follows: DI function Signal Description code Function disabled Servo on FRST Fault reset Positive limit Negative limit EMGS Emergency stop JOGP Forward jog...

  • Page 125: Digital Outputs

    Start positioning in FP control mode 5.5.4 Digital outputs  E530-PT servo drive provides 6 digital output channels, DO1 ~ DO6 respectively. The digital output supports both PNP and NPN wiring methods, as shown in the figure below: Digital output PNP connection The digital output signal is double-ended output, and the user provides 24 V DC power supply.
  • Page 126 Wiring The signal definition of 6-channel digital output channels terminals: Signal definition Signal definition DO1+ DO4+ DO1- DO4- DO2+ DO5+ DO2- DO5- DO3+ DO6+ DO3- DO6- D-type connector definition For more control signal definition, see The 6-channel digital output channels are assigned function codes by default in the factory to achieve specific control functions.

  • Page 127: Analog Inputs

     5.5.5 Analog inputs The E530-PT servo drive provides 2 analog inputs with input voltage ranging from - 10 V to + 10 V and supports single-ended connection. The 2 channels external signals are connected to AI1 and AI2 respectively, and the common...

  • Page 128: Encoder Frequency Dividing Pulse Output

    Wiring 5.5.6 Encoder frequency dividing pulse output  The E530-PT supports 5 V DC differential signals(EA+/EA-, EB+/EB-, EZ+/EZ-) and open collector (Z pulses) encoder frequency dividing outputs. The 5 V DC differential pulse output is wired as follows: E530-PT Controller...

  • Page 129: Motor Brake Control Output

    5.5.7 Motor brake control output  The E530-PT servo drive is connected to a servo motor with a brake function. When the motor power is disconnected, the brake control circuit will lock the motor shaft to prevent the moving equipment from accidentally falling or moving.

  • Page 130: Modbus Tcp/Ip Wiring

    Wiring 5.6 Modbus TCP/IP wiring As shown in the figure below, the communication interface CN4 on the top of the servo drive is used for Ethernet or Modbus TCP/IP communication connections. Communication cables use standard CAT5e twisted shielded cables with RJ45 connectors.

  • Page 131: Typical Application Wiring

    Wiring 5.7 Typical application wiring  5.7.1 PTI control mode Note: [1] The user can specify the function of the digital input/output channels by parameters. The figure lists the common functions of the position mode. For 5.5.3 Digital inputs 5.5.4 the description of all digital channel functions, see Digital outputs Digital input channel function code for position mode:...
  • Page 132 Wiring DI function Signal definition Description code GEAR1 Electronic gear 1 GEAR2 Electronic gear 2 MSEL1 Control mode selection MSEL2 Control mode selection Origin signal Digital output channel function code for position mode: DO function Signal definition Description code SRDY Servo ready SVEN Servo enabled...

  • Page 133: Fp Control Mode

    Wiring 5.7.2 FP control mode  E530 servo drive ZSPD FAULT External PLC/ Differential Controller output Encoder Z pulse Collector open output Note: [1] The user can specify the function of the digital input/output channels by parameters. The figure lists the common functions of the fixed position mode. 5.5.3 Digital inputs For the description of all digital channel functions, see 5.5.4 Digital outputs...
  • Page 134 Wiring Digital input channel function code for fixed position mode: DI function Signal definition Description code Servo on FRST Fault reset Positive limit Negative limit EMGS Emergency stop Clearing position following error GAIN Gain switch MSEL1 Control mode selection MSEL2 Control mode selection Origin signal POS1...
  • Page 135 Wiring [4] * An asterisk indicates that the function assignment of the channel is not the default value and that the parameter values need to be reconfigured, as set out below: P09.20 • =28 (ORG) P09.22 • = 29 (POS1) P09.24 •...

  • Page 136: Speed Control Mode

    Wiring 5.7.3 Speed control mode  External PLC E530 servo drive AOUT Speed reference 0... ± 10V DC External PLC/ Differential Controller output Encoder Z pulse Collector open output Note: [1] The user can specify the function of the digital input/output channels by parameters.
  • Page 137 Wiring Signal DI function code Description definition SDIR Speed command direction selection in speed control ZCLMP Zero speed clamp MSEL1 Control mode selection MSEL2 Control mode selection TQL1 Torque limit source selection 1 TQL2 Torque limit source selection 2 Origin signal Digital output channel function code for speed mode: Signal DO function code...

  • Page 138: Torque Control Mode

    Wiring 5.7.4 Torque control mode  E530 servo drive External PLC Torque reference AOUT 0... ± 10V DC ZSPD FAULT FRST External PLC/ Differential Controller output Encoder Z pulse Collector open output Note: [1] The user can specify the function of the digital input/output channels by parameters.
  • Page 139 Wiring DI function Signal Description code definition MSEL2 Control mode selection SPL1 Speed limit source selection 1 SPL2 Speed limit source selection 2 Origin signal Digital output channel function code for torque mode: DO function Signal definition Description code SRDY Servo ready SVEN Servo enabled...

  • Page 140: Plc Wiring Example

    Wiring 5.8 PLC wiring example It is recommended that ABB AC500-eCo Motion PLC is used together with E530- PT servo system in order to achieve optimal functions. 5.8.1 Analog input signals wiring between AC500-eCo Motion PLC  and E530-PT AC500-eCo Motion PLC...

  • Page 141: Digital Input Signals Wiring Between Ac500-Eco Motion Plc And E530-Pt

    Wiring 5.8.2 Digital input signals wiring between AC500-eCo Motion PLC  and E530-PT AC500-eCo Motion PLC E530-PT...

  • Page 142: Single-Ended Pti Wiring Between Ac500-Eco Motion Plc And

    The AC500-eCo PLC supports 4 channels 200kHz pulse signal outputs, which are O0 (Dir) and O4 (Step), O1 and O5, O2 and O6, and O3 and O7. Take the first channel outputs O0 and O4 as an example, the wiring diagram with the E530-PT is shown below:...

  • Page 143: Connecting Digital Output Signals To The Ac500-Eco Motion Plc

    Wiring 5.8.4 Connecting digital output signals to the AC500-eCo Motion  AC500-eCo Motion PLC E530-PT...
  • Page 144 Wiring...

  • Page 145: Control Panel

    Control panel Control panel 6.1 Contents of this chapter This chapter describes how to operate the control panel including keys, LED display and running mode.

  • Page 146: Control Panel Overview

    Control panel 6.2 Control panel overview The control panel consists of five-digit LEDs, two status indicators and five keys and is used for data display, commissioning, diagnosis, parameter access and parameter settings. The control panel and the keys are illustrated as below. E530 Name Function...

  • Page 147: Led Status Indicators

    Control panel Short press: • The last digit blinking ◄◄ (shift) • Move among every digit to edit separately Long press (≥1s): • Change page to view the first 5 digits of a long value.  6.2.1 LED status indicators The LED status indicators (RUN and ERR) display the drive status.

  • Page 148: 7-Segment Led Display

    Control panel  6.2.2 7-segment LED display The numeric and alphabetic displays of the 7-segment LED display are defined as follows: Actual Actual Actual Actual display Data display Data display Data display Data...

  • Page 149: Numeric Display

    Control panel 6.3 Numeric display The numeration format of the control panel are as follows: Display format Range Description 16-bit: binary format 0~65535 This format data is unsigned digit. Some parameters read or write values by using a bit pattern. As shown on Bit value the left, one digit is divided into two blocks and each block is given a value from the sequence of binary type (0 or 1):...
  • Page 150 Control panel • -12345 is displayed as below. The first digit of LEDs indicates current page index. The highlight " " in front of a number indicates a negative number. Negative sign Minus number indicator First page indicator Second page indicator Display format Range Description...

  • Page 151: Operation Mode

    Control panel 6.4 Operation mode 6.4.1 Mode overview  The control panel contains four modes: • Status mode • Monitoring mode • Parameter mode • Auxiliary function mode The four display modes are switched cyclically by the M key: Power-up Booting up Status mode Monitoring mode...

  • Page 152: Status Mode

    Control panel  6.4.2 Status mode Status mode displays current servo drive status: Power-up Auto The servo status is described as follows: LED display Name Description Initialization The servo drive is initializing. Initialization done, but the drive is not ready because the Not Ready main power is not applied.
  • Page 153 Control panel Multiple faults or warnings. The current display is not the first fault code. Note: • Faults and warnings have the highest priority. Faults and warnings interrupt other operations and displayed on the panel. The priority of faults is higher than that of warnings.

  • Page 154: Monitoring Mode

    Control panel The example flow chart of fault and alarm is as follows: Auto Status mode Auto or Down key Auto or Up key Auto or Down key Auto or Up key Monitoring mode Auto or Down key Auto or Up key Auto or Down key Auto or Up key Auto or Up key...
  • Page 155 Control panel Note: • Parameter group dP0 displays as dP000~dP029 (Read only). • P01.18 is used to set the default 1st displayed monitoring signal. Parameter P01.18 Description d.p.0.0.0. Actual Speed d.p.0.0.1. Target Speed d.p.0.0.2. Actual Torque • Two ways of editing the parameter number are supported, one is to change the value of the lowest bit (label 1 in the figure above) by using the up/down keys;...

  • Page 156: Parameter Mode

    Control panel  6.4.4 Parameter mode This mode is used to view or edit parameter value. When user has edited parameter value and hold OK key for 1 second, the modified value will be saved to volatile memory automatically. Use the up and down keys (label 1 in the figure below) or shift key (label 2 in the figure below) to adjust the parameter value.
  • Page 157 Control panel Note: • Two ways of editing the parameter number are supported, one is to change the value of the lowest bit by the up/down key, while the other is to adjust it by pressing the shift key, and the editing bit will blink. •...

  • Page 158: Auxiliary Function Mode

    Control panel  6.4.5 Auxiliary function mode This mode is used to executing auxiliary function. Different functions have different operation steps. Auxiliary functions description are defined as follows, Description AFxxx LED display Auxiliary function Parameters manually save to 8.s.a.U.e. AF000 Save EEPROM.
  • Page 159 Control panel Overview of flow chart for auxiliary functions. Press the up and down keys to adjust Parameter mode Press the shift key to adjust Status mode Jog (AF001) function flowchart: Default parameters (AF003) flowchart: Progress bar Completed Errors...
  • Page 160 Control panel Note: The flowchart of AF000/AF002/AF005/AF006/AF011 is the same as AF003. System reset (AF004) function flowchart: DI forcing (AF007) and DO forcing (AF008) function flowchart: Auto Fault history (AF009) and warning history (AF010) function flowchart: Encoder multi-turn clear (AF012) and fault reset (AF013) function flowchart: Success Error...
  • Page 161 Control panel View the version (AF014) function flowchart:...
  • Page 162 Control panel...

  • Page 163: Control Functions

    This chapter introduces the control mode and common functions of the E530- PT servo drive. 7.2 Control mode E530-PT servo drive supports 11 control modes, including 4 basic control modes and 7 mixed control modes, which are selected by P01.00: Parameter...

  • Page 164: Common Functions

    Control functions 7.3 Common functions 7.3.1 Servo on sequence  The servo on sequence is as follows: Main power supply Soft start process ≥0 Servo ready (SRDY) ≥10ms Servo on (SON) Motor excitation Brake signal (BRK) Servo drive status Running Not running •...

  • Page 165: Motor Rotation Direction

    7.3.3 Motor brake control  When the E530-PT servo drive is not in a running state, the motor brake control can be used to prevent the servo motor shaft movement and keep the motor locked to ensure that all the motion parts of the machine will not move due to self weight or external force.

  • Page 166: Relevant Parameters

    Control functions Motor brake open sequence (BRK = 1) Servo ready (SRDY) >0 Servo on (SON) Motor excitation Brake signal ( BRK) Servo drive running state • T1 is the delay time between servo on and motor excitation, which is an internal fixed time of the drive •...
  • Page 167 Control functions When the servo is off and the motor is rotating, the brake close sequence diagram is as follows: Servo on (SON) Motor excitation Brake signal ( BRK) Zero speed stop Motor speed • After servo off, the servo drive starts to stop •...

  • Page 168: Servo Stop

    The servo stop function is used to stop the motor safely in case of abnormal conditions. E530-PT servo drive has two stop modes: • Coast to stop, which means the motor is decelerated to 0 freely under external forces (such as inertia and friction) after power supply from the servo drive is disconnected.
  • Page 169 Different stop modes can be selected for different faults. The faults of the E530-PT servo drive can be categorized into fault group 1 and fault group 2. The stop mode for each group can be set separately by the following parameters:...
  • Page 170 Control functions When using the overtravel function, assign the two DI terminals of the servo drive to POT and NOT signals to receive the level signal input from the limit switch, and set the input level logic when the DI terminals are active. Signal Signal name Function...

  • Page 171: Position Control

    Control functions 7.4 Position control Position control means that the servo drive receives a position command from the controller or an internal setpoint, and drives the motor to a designated position. There are two modes of position control according to the position command source the position command: •...
  • Page 172 Control functions Select the pulse input terminal The E530-PT servo drive provides two groups of pulse input terminals, supporting low-speed and high-speed pulse input signals respectively. The terminals are set by P04.00. Parameter Range Default Unit Description Sets the hardware input channel of the pulse input commands.
  • Page 173 Control functions Select pulse input type The E530-PT servo drive supports 3 pulse input types which can be selected by P04.01. Both positive logic and negative logic are supported by all the three pulse input types. • Pulse + direction (positive/negative logic) •...
  • Page 174 Control functions Relevant parameters Parameter Range Default Unit Description Sets the forward rotation direction of the motor. P01.01 0 ~ 1 0: Sets CCW direction as forward 1: Sets CCW direction as forward Sets the form of the pulse command. 0: Pulse + direction (positive logic) 1: Pulse + direction (negative logic) P04.01...

  • Page 175: Fixed Position Control (Fp)

    Control functions  7.4.2 Fixed position control (FP) In fixed position control mode, position command blocks (total 16 blocks) can be selected by DI function and operation is triggered by signal CTRG. Position, maximum speed, acceleration and deceleration time of the 16 blocks, and waiting time between each block can be set by the servo drive's control panel, the Servo Composer commissioning tool, or Modbus TCP/IP.

  • Page 176: Default Unit

    Control functions Relevant parameters Parameter Range Default Unit Description Sets the running mode of fixed position control. 0: Step running P07.00 0 ~ 3 1: Single cycle running 2: Multi-cycle running 3: DI trigger Sets the position command type of fixed position control.
  • Page 177 Control functions Acceleration/ FP block Position Speed Waiting Enable interruption Deceleration number command command time function (P07.06) command P07.07 P07.08 P07.09 P07.10 Bit 0 P07.11 P07.12 P07.13 P07.14 Bit 1 P07.15 P07.16 P07.17 P07.18 Bit 2 P07.19 P07.20 P07.21 P07.22 Bit 3 P07.23 P07.24...
  • Page 178 Control functions Step running (P07.00 = 0) • Running curve 1max 16max 2max 、V 、V : Maximum speed of block 1, 2, and 16. 1max 2max 16max 、S 、S : the position of block 1, block 2 and block 16. •...
  • Page 179 Control functions Single cycle running (P07.00 = 1) • Running curve 1max 16max 2max 、V 、V : the maximum speed of the position commands for 1max 2max 16max block 1, block 2 and block 16. : the position of block 1, block 2 and block 16. •...
  • Page 180 Control functions Multi-cycle running mode (P07.00 = 2) • Running curve 1max 16max 2max 、V 、V : the maximum speed of the position commands for 1max 2max 16max block 1, block 2 and block 16. : the position of block 1, block 2 and block 16. •...
  • Page 181 Control functions DI trigger mode (P07.00 = 3) • Running curve 1max 16max 2max 、V 、V : the maximum speed of the position commands for x max y max z max block x, block y and block z 、S 、S : the position of block x, block y and block z •...
  • Page 182 Control functions Position command block selection In DI trigger mode of FP control, the position command block number can be selected by signal POS1, POS2, POS3 and POS4. Assign the four DI inputs of the servo drive to POS1, POS2, POS3 and POS4, and set the input level logic when DI terminals are active.

  • Page 183: Electronic Gear Ratio

    Control functions  7.4.3 Electronic gear ratio In position control mode, the position of the load is set by the input position command (user command), and the actual position value comes from the position feedback (encoder command) of the motor. A proportional relationship between the position command and the motor feedback position is required for accurate position control of the load.
  • Page 184 Control functions The parameters should be set as follows: Encoder resolution P04.14 P04.16 P04.15 P04.14 P04.14 ≠0 ≠0 P04.17 P04.15 P04.18 P04.15 P04.19 P04.15 GEAR1+GEAR2 Note: When P04.14 ≠ 0, the electronic gear ratio is , and the electronic gear ratio relevant parameters （P04.15 ~ P04.19） are ineffective.
  • Page 185 Control functions Relevant parameters Parameter Range Default Unit Description Sets the number of input pulses per revolution of the motor. If the value is P04.14 0 ~ 1073741824 0 User equal to 0, the pulse input electronic unit gear ratio is effective. P04.15 1 ~ 1073741824 Sets the denominator of the pulse input...
  • Page 186 Control functions The electronic gear ratio can be switched when P04.14 = 0. The switching conditions are set by P04.21. When switching the electronic gear ratio, if the value changes a lot, the motor speed will fluctuate greatly. P04.14 GEAR1 GEAR2 Electronic gear ratio P04.16/P04.15...
  • Page 187 Control functions Electronic gear B/A = (1048576/36000) B/A = (1048576/80) × (1/1) ratio × (5/1) P04.16 = 65536 P04.16 = 32768 Parameter settings P04.15 = 5 P04.15 = 225...

  • Page 188: Position Smoothing

    Control functions  7.4.4 Position smoothing Position smoothing function can filter the position command after frequency dividing or frequency multiplication of the electronic gear ratio. The filter methods include first-order low-pass filter and average filter. You can filter the input position command when: •...

  • Page 189: Pulse Command Inhibited

    Control functions  7.4.5 Pulse command inhibited The pulse command inhibited function can mandatorily stop PTI input counter, so the servo drive will not respond to any PTI input command. PTI (pulse train input) Internal position command INHP Drive response PTI (pulse train input) Internal position command INHP...

  • Page 190: Clearing Position Following Error

    Control functions Signal Signal Function Effective Description type name code mode Sets the pulse command inhibited function. Level • Inactive: The drive responds to INHP effective pulse commands • Active: The drive does not respond to pulse commands  7.4.6 Clearing position following error Position following error is the accumulated error between position commands and position feedbacks.
  • Page 191 Control functions To use the in position/near the position signal, set the two DO outputs of servo drive to INP and NEAR signals, and set the output level logic when the DO terminals are active. Signal Signal Function Setting Description type name code...
  • Page 192 Control functions Note: • The value of P04.25 must be smaller than that of P04.26, otherwise, P04.25 will be set to be equal to P04.26 by the drive. • When servo off, INP and NEAR functions are inactive.

  • Page 193: Pto Function

    Control functions  7.4.8 PTO function The PTO (pulse train output) function is to transmit the position command pulses or the position feedback from the drive to a controller in A+B pulses, so as to realize the closed-loop control system at the controller side. When multiple servo drives operate synchronously, pulse command synchronous output mode is recommended;...

  • Page 194: Speed Control (S)

    Control functions 7.5 Speed control (S) Speed control mode is that the drive uses speed commands to control the motor speed. Speed commands mainly include analog signals and internal speed commands, and the commands come from the controller or the drive. Set P01.00 = 2, and the drive enters speed control mode.
  • Page 195 Control functions Speed source SPD3 SPD2 SPD1 External analog command AI1 Internal speed command 1 Internal speed command 2 Internal speed command 3 Internal speed command 4 Internal speed command 5 Internal speed command 6 Internal speed command 7 Note: Inactive= 0; active = 1 External analog command AI1 When using analog as the speed command source, the relationship between the analog voltage and the speed setpoint is as follows:...
  • Page 196 Control functions Internal speed command When the internal speed command is used as the speed command source, the seven speed groups can be set respectively by P05.02 ~ P05.08. Parameter Range Default Unit Description Sets the speed setpoint of P05.02 -6000 ~ 6000 internal speed command 1.

  • Page 197: Zero Speed Clamp

    Control functions The actual motor rotation direction is determined by the motor rotation direction setting (P01.01), the speed command direction and the speed command direction DI (SDIR). Actual motor Speed command P01.01 SDIR rotation direction Positive command Positive command Negative command Negative command Positive command Positive command...
  • Page 198 Control functions To use the zero speed clamp function, assign the ZCLMP signal to a DI terminal of the servo drive, and set the input level logic when the DI terminal is active. Signal Function Effective Signal name Description type code mode •...

  • Page 199: Ramp Function Generator

    Control functions  7.5.3 Ramp function generator If the acceleration and deceleration of speed command is sharp, the ramp function generator can be used to smooth it. In the speed control mode, sharp acceleration and deceleration can cause violent vibration of the motor. In this case, you need to profile the speed to increase the acceleration and deceleration time for a smooth speed change.
  • Page 200 Control functions T-curve and S-curve without and with profiling are shown below: T-curve The formula to calculate actual acceleration and deceleration time for the T- curve: • Acceleration time (ms) = speed command × P05.09/1000 • Deceleration time (ms) = speed command × P05.10/1000 S-curve The formula to calculate actual acceleration and deceleration time for the S- curve:...

  • Page 201: Zero Speed Reached

    Control functions  7.5.4 Zero speed reached The zero speed reached signal ZSPD can check the actual speed of the servo motor. • If the absolute value of the actual speed of the motor is less than the value set by P05.14, the zero speed reached signal ZSPD will be effective. •...

  • Page 202: Compare Speed Reached

    Control functions  7.5.5 Compare speed reached The compare speed reached signal SCMP can check whether the actual speed of the servo drive has reached the speed command. • When the absolute value of the difference between the two is less than the value set by P05.16, the actual speed of the motor has reached the speed command, and the SCMP signal is effective.
  • Page 203 Control functions To use the compare speed reached function, assign the SCMP signal to one DO terminal of the servo drive, and set the output level logic when the DO terminal is active. Signal Signal Function Effective Description type name code mode •...

  • Page 204: Target Speed Reached

    Control functions  7.5.6 Target speed reached The target speed reached signal SARR can check whether the actual speed of the motor arrives at the expected value. • When the actual speed of the motor exceeds the speed threshold set by P05.15, the target speed reached signal is effective;...
  • Page 205 Control functions To use the target speed reached function, assign the SARR signal to one DO terminal of the servo drive, and set the output level logic when the DO terminal is active. Signal Signal Function Effective Description type name code mode •...

  • Page 206: Torque Control (T)

    Control functions 7.6 Torque control (T) In torque control mode, the drive uses torque command to control the motor output torque. Set P01.00 = 3, and the drive enters torque control mode. The diagram of signal interaction between the drive and the external is as follows: 7.6.1 Torque command setting ...
  • Page 207 Control functions External analog command AI2 When using analog as the torque command source, the relationship between the analog voltage and the torque is as follows: Set the conversion coefficient between analog and torque by P06.00. Parameter Range Default Unit Description Sets the motor torque that P06.00...
  • Page 208 Control functions The actual motor rotation direction is determined by the motor rotation direction setting (P01.01), the torque command direction and the torque command direction DI (TDIR). Actual motor P01.01 Torque command type TDIR rotation direction Positive command Positive command Negative command Negative command Positive command...

  • Page 209: Torque Command Filter

    The servo drive can low-pass filter the torque command in all control modes, so as to smooth the torque command and reduce vibration. The E530-PT has two parameters for torque command low-pass filter, and the drive uses filter parameter 1 by default. The filter parameter 2 can be used when the gain switch function is active.
  • Page 210 Control functions Relevant parameters Parameter Range Default Unit Description Sets the reference of the target torque P06.14 0 ~ 300.0 reached command TARR (100% corresponds to the rated torque). Sets the target torque reached TARR P06.15 0 ~ 300.0 20.0 effective offset threshold (100% corresponds to the rated torque).

  • Page 211: Mixed Control

    The running mode of switching between different modes is called mixed control mode. The E530-PT can switch between the following 7 modes, which can be selected by P01.00 and DI input signal MSEL1 and MSEL2. • Pulse train input position control mode – Speed control mode •...

  • Page 212: Speed Limit

    Active 7.8 Speed limit The E530-PT has two speed limit modes: Maximum speed limit and Torque speed limit. The maximum speed limit is applicable to all control modes and is set by P05.17; The torque speed limit is only effective in the torque control mode and is used to limit the maximum speed of the motor.

  • Page 213: Internal Speed Limit

    Control functions Internal speed limit command 2 Internal speed limit command 3 Note: Inactive= 0; active = 1 7.8.3 Internal speed limit  By P06.08 ~ P06.13, the user can set the limits in positive and negative directions of the three groups of internal speed limits respectively. Parameter Range Default...

  • Page 214: Speed Limit Output

    Control functions  7.8.5 Speed limit output In torque mode, when the absolute speed of the motor exceeds the speed limit, the actual motor speed is limited, and the servo drive sends a DO signal to indicate the effective status of the speed limit function. Assign one DO output of the servo drive to SLMT signal, and set the output logic level when the DO terminal is active.

  • Page 215: Torque Limit

    Control functions 7.9 Torque limit The E530-PT has two torque limit modes: maximum torque limit and general torque limit. Both limit modes are available for all control modes, limiting the maximum torque of the motor under different operating conditions. The maximum torque limit is set by P06.18, while the general torque limit signal...

  • Page 216: External Analog Torque Limit

    Control functions P06.04 0 ~ 400.0 350.0 Sets the internal torque positive limit 2. P06.05 0 ~ 400.0 350.0 Sets the internal torque negative limit 2. P06.06 0 ~ 400.0 350.0 Sets the internal torque positive limit 3. P06.07 0 ~ 400.0 350.0 Sets the internal torque negative limit 3.

  • Page 217: Jog

    Control functions 7.10 Jog Jog function can manually control the motor operation. It can be enabled by the drive panel, DI terminals or the commissioning tool Servo Composer. Relevant parameters Parameter Range Default Unit Description Sets the drive jog speed. P05.01 6000 Sets the jog acceleration time constant of the...
  • Page 218 Control functions Relevant parameters Parameter Range Default Unit Description Sets the homing trigger method of the drive. 0: Homing disabled P07.80 0 ~ 2 1: Homing when the servo drive is enabled for the first time after it is energized 2: Homing is triggered by the DI signal SHOM Sets the homing method of the drive:...

  • Page 219: Homing Method

    • Torque time threshold (07.88): the holding time after reaching torque limit in torque homing method.  7.11.2 Homing method E530-PT drive has 44 homing methods. Method Description Method 1: Homing on negative limit switch and Z signal Method 2: Homing on positive limit switch and Z signal...
  • Page 220 Control functions Method Description Method 20: Homing on positive home switch Method 21: Homing on negative home switch Method 22: Homing on negative home switch Method 23: Homing on home switch Method 24: Homing on home switch Method 25: Homing on home switch Method 26: Homing on home switch Method 27: Homing on home switch Method 28: Homing on home switch...
  • Page 221 Control functions Method 1: Homing on negative limit switch and Z signal The load initially moves in the negative direction at the speed defined by P07.82. When it reaches the rising edge of the negative limit switch, it stops and starts to move in the positive direction at the speed defined by P07.83.
  • Page 222 Control functions Method 3: Homing on positive home switch and Z signal The initial movement direction depends on the state of the home switch. If the home switch is inactive, the initial direction is positive, otherwise it is negative. The initial speed follows P07.82. When the load reaches the position where the home switch changes state, it stops and starts to move in the reversed direction at the speed defined by P07.83.
  • Page 223 Control functions Method 5: Homing on negative home switch and Z signal The initial movement direction depends on the state of the home switch. If the home switch is active, the initial direction is positive, otherwise it is negative. The initial speed follows P07.82. When the load reaches the position where the home switch changes state, it stops and moves in the reversed direction at the speed defined by P07.83.
  • Page 224 Control functions Method 7: Homing on home switch and Z signal The home switch signal is a pulse signal in this method. The initial speed follows P07.82 and the initial movement direction is positive. When the load reaches the positive limit switch, it stops and starts to move in the negative direction. When the load reaches the falling edge of home switch in the negative direction, it starts to move at the speed defined by P07.83.
  • Page 225 Control functions starts to move at the speed defined by P07.83. When the first rising edge of Z signal appears in positive direction, the load stops. Method 9: Homing on home switch and Z signal The home switch signal is a pulse signal in this method. The initial speed follows P07.82 and the initial movement direction is positive.
  • Page 226 Control functions Method 10: Homing on home switch and Z signal The home switch signal is a pulse signal in this method. The initial speed follows P07.82 and the initial movement direction is positive. When the load reaches the positive limit switch, it stops and starts to move in the negative direction. When the load reaches the falling edge of home switch in the positive direction, it starts to move at the speed defined by P07.83.
  • Page 227 Control functions it starts to move at the speed defined by P07.83. When the first rising edge of Z signal appears in positive direction, the load stops. Method 12: Homing on home switch and Z signal The home switch signal is a pulse signal in this method. The initial speed follows P07.82 and the initial movement direction is negative.
  • Page 228 Control functions Method 13: Homing on home switch and Z signal The home switch signal is a pulse signal in this method. The initial speed follows P07.82 and the initial movement direction is negative. When the load reaches the negative limit switch, it stops and starts to move in the negative direction. When the load reaches the falling edge of home switch in the negative direction, it starts to move at the speed defined by P07.83.
  • Page 229 Control functions the negative limit switch, it stops and starts to move in the negative direction. When the load reaches the falling edge of home switch in the negative direction, it starts to move at the speed defined by P07.83. When the first rising edge of Z signal appears in negative direction, the load stops.
  • Page 230 Control functions Method 18: Homing on positive limit switch The load initially moves in the positive direction at the speed defined by P07.82. When it reaches the rising edge of the positive limit switch, it stops and starts to move in the negative direction at the speed defined by P07.83. When the falling edge of the positive limit switch appears, the load stops.
  • Page 231 Control functions Method 20: Homing on positive home switch The initial movement direction depends on the state of the home switch. If the home switch is inactive, the initial direction is positive, otherwise it is negative. The initial speed follows P07.82. If the initial direction is negative and there is a falling edge of the home switch, the load stops and starts to move in the positive direction at the speed defined by P07.83.
  • Page 232 Control functions Method 22: Homing on negative home switch The initial movement direction depends on the state of the home switch. If the home switch is active, the initial direction is positive, otherwise it is negative. The initial speed follows P07.82. If the initial direction is positive and there is a falling edge of the home switch, the load stops and starts to move in the negative direction at the speed defined by P07.83.
  • Page 233 Control functions Method 24: Homing on home switch The home switch signal is a pulse signal in this method. The load starts to move at the speed defined by P07.83 in positive direction. When it reaches the positive limit switch, it stops and starts to move in the negative direction. When there is a rising edge of the home switch, it stops.
  • Page 234 Control functions Method 26: Homing on home switch The home switch signal is a pulse signal in this method. The load starts to move at the speed defined by P07.83 in positive direction. When it reaches the positive limit switch, it stops and starts to move in the negative direction. When there is a falling edge of the home switch, it stops.
  • Page 235 Control functions Method 28: Homing on home switch The home switch signal is a pulse signal in this method. The load starts to move at the speed defined by P07.83 in negative direction. When it reaches the negative limit switch, it stops and starts to move in the negative direction. When there is a rising edge of the home switch, it stops.
  • Page 236 Control functions Method 30: Homing on home switch The home switch signal is a pulse signal in this method. The load starts to move at the speed defined by P07.83 in negative direction. When it reaches the negative limit switch, it stops and starts to move in the negative direction. When there is a falling edge of the home switch, it stops.
  • Page 237 Control functions Method 31: Reserved Method 32: Reserved Method 33: Homing on Z signal In this method, the load starts to move in the negative direction at the speed defined by P07.83. When the first rising edge of Z signal appears, it stops. Method 34: Homing on Z signal In this method, the load starts to move in the positive direction at the speed defined by P07.83.
  • Page 238 Control functions Method 35: Homing on current position (obsolete) This method is the same as method 37. It is still supported for compatibility. Method 36: Reserved Method 37: Homing on current position In this method, the current position shall be taken to be the home position. This mode does not require the drive to be enabled.
  • Page 239 Control functions Method 38: Reserved Method 39: Reserved Method 40: Reserved Method 41: Homing on mechanical limit The maximum torque limit is set by P07.87. The load moves in the positive direction at the speed defined by P07.83. When it reaches the positive mechanical limit, the torque increases until the maximum torque limit.
  • Page 240 Control functions Method 42: Homing on mechanical limit The maximum torque limit is set by P07.87. The load moves in the negative direction at the speed defined by P07.83. When it reaches the negative mechanical limit, the torque increases until the maximum torque limit. After the holding time set by P07.88, the current position will be set as the home position.
  • Page 241 Control functions Method 44: Homing on mechanical limit and Z signal The maximum torque limit is set by P07.87. The load moves in negative direction at the speed defined by P07.83. When it reaches the negative mechanical limit, the torque increases until the maximum torque limit. After the holding time set by P07.88, it moves in the positive direction at the speed defined by P07.83.

  • Page 242: Absolute Position System

    Control functions 7.12 Absolute position system The E530-PT uses the number of multiple turns and the data of single turn of the encoder to form an absolute position system. Absolute position system supports 20-bit single-turn and 16-bit/23-bit multi-turn encoders. The E530-PT absolute position system has three modes: •...

  • Page 243: Linear Mode

    Control functions  7.12.1 Linear mode This mode is mainly used when the traveling range of the load is limited and the multi-turn data of the encoder will not overflow, e.g., the lead screw structure. In this mode, if the multi-turn count overflows, the corresponding error alarm will be generated.

  • Page 244: Rotary Mode

    Control functions  7.12.2 Rotary mode This mode is used when the traveling range of the load is not limited, when the motor can run in one direction all the time, and even the multi-turn count overflow will not affect the motor running. Before operating in this mode, the user needs to set the number of pulses generated by the encoder when the mechanical load rotates one circle (maximum mechanical load position) .
  • Page 245 Control functions Rotation angle Rotation angle Rotation angle The actual mechanical position (user unit) is displayed by dP013. It is calculated by electronic gear Num/Den, and the calculation formula is as follows: dP013 = P × mech Relevant parameters Parameter Range Default Unit...

  • Page 246: Incremental Mode

    Control functions  7.12.3 Incremental mode This mode is used when the encoder provides single-turn data only. The position of the load after the initial homing is considered as the machine home position. The value of this absolute position is 0. The mechanical position (internal encoder unit) can be calculated by the increment (P ) of the mech...

  • Page 247: Multi-Turn Absolute Encoder Alarm Handling

    Control functions  7.12.5 Multi-turn absolute encoder alarm handling The E530-PT supports 20-bit and 23-bit multi-turn absolute encoders, and it can be set by P01.07. This section describes the alarm handling mechanism of the multi-turn absolute encoder. The alarm codes of the absolute encoders are listed in the table below. See 12.4.4 Alarm list...
  • Page 248 Control functions...

  • Page 249: Commissioning

    This may cause personal injury and device damage. • Preserve the parameters of the E530-PT drive before power off if they were modified, otherwise they will be restored to the previously preserved values.
  • Page 250 Commissioning The E530-PT drive supports commissioning by control panel directly or by a computer which has Servo Composer installed. Before using Servo Composer to proceed commissioning, read the relevant content of the online help file first to learn how to establish communication, modify parameters, monitor the servo, debug settings and conduct troubleshooting.

  • Page 251: Initial Commissioning

    Commissioning 8.2 Initial commissioning JOG can be used to confirm whether the servo can operate normally, whether there is abnormal noise or vibration during operation, and whether the running direction of the servo motor is correct. You may conduct jog operation directly by keys on the control panel.
  • Page 252 Commissioning Press and hold the Up key on the control panel Jog in different rotation to trigger the forward jog command Press and hold the Down key on the control directions panel to trigger the backward jog command If the motor rotates to the opposite direction, set P01.01 to execute forward command motor rotation direction switching.

  • Page 253: System Commissioning For Pulse Train Input Position Control Mode

    Commissioning 8.3 System commissioning for pulse train input position control mode In this mode, the pulse signals sent by the controller are received by-speed or low-speed pulse input interface of the drive. Operation steps Step Description Remarks Disconnect the power supply Connect the following signal wires properly: •...
  • Page 254 Commissioning • Number of input pulses per revolution P04.14 The setpoint is the number of command pulses required for the motor to rotate for one circle. If it is 0, the combined electronic gear of P04.15 ~ P04.19 will be used automatically.

  • Page 255: System Commissioning For Fixed Position Control Mode

    Commissioning 8.4 System commissioning for fixed position control mode In this mode, 16 built-in target positions are set, and then selected by DI signals to achieve multi-target autonomous positioning of the servo. Operation steps Step Description Remarks Disconnect the power supply Connect the following signal wires properly: Connect the control signal wires •...
  • Page 256 Commissioning DI recommended setpoint: • DI 1 function selection P09.16 = 1 : SON • DI 2 function selection P09.18 = 2 : FRST • DI 3 function selection P09.20 = 3 : POT • DI 4 function selection P09.22 = 4 : NOT •...
  • Page 257 Commissioning • Homing trigger method selection P07.80 = 2: Homing is triggered by the DI signal SHOM • Homing method P07.81 • The high-speed of searching for the home switch signal P07.82 • Set the homing relevant The low-speed of searching for the home parameters switch signal P07.83 •...

  • Page 258: System Commissioning For Speed Control Mode

    Commissioning 8.5 System commissioning for speed control mode In this mode, 7 built-in target speeds and 1 external analog value are set to control the maxi mun speed, and then selected by DI signals to achieve multi- speed block autonomous operation of the servo. Operation steps Step Description...
  • Page 259 Commissioning • AI1 speed/10V scaling P05.00 • Internal speed command 1 P05.02 … • Internal speed command 7 P05.08 Set the target speed related • Acceleration time of speed command parameters P05.09 • Deceleration time of speed command P05.10 • Zero speed clamp threshold P05.13 7.5 Speed control (S) See chapter...

  • Page 260: System Commissioning For Torque Control Mode

    Commissioning 8.6 System commissioning for torque control mode In this mode, 1 built-in target torque and 1 external analog value are set to control the max torque, and then make torque command selection by DI signals. Operation steps Step Description Remarks After disconnecting the power supply...
  • Page 261 Commissioning • AI controlled max torque value P06.00 • Internal torque command P06.01 • Positive speed limit 1 P06.08 • Negative speed limit 1 P06.09 Set the target torque related • Positive speed limit 1 P06.10 parameters • Negative speed limit 1 P06.11 •...
  • Page 262 Commissioning...

  • Page 263: Tuning

    The setting of load inertia ratio will affect the response of speed loop, and setting it properly can achieve better tuning effect. In the E530-PT servo system, the load inertia ratio can be manually set or automatically measured by the online inertia identification function.

  • Page 264: Auto Tuning

    9.3 Auto tuning The E530-PT servo gain can be set according to the rigidity table (P03.01). The rigidity tables includes 0 to 36 rigidity levels. When it is set to 36, it means that the rigidity of the system is at the maximum level and the bandwidth of the speed loop will reach 500 Hz.
  • Page 265 Tuning Parameter Name Description P02.00 Speed loop proportional gain (KVPROP1) P02.01 Speed loop integration time (KVINT1) P02.02 Position loop proportional gain (KPROP1) 9.5.1 Basic See chapter P02.03 Torque command filter time parameters for manual P02.04 2nd speed loop proportion gain (KVPROP2) tuning for details.
  • Page 266 Tuning • P03.00=3: applicable to trajectory mode positioning. The gravity and friction compensation of the torque feedforward are automatically set based on positioning mode (P03.00=2). The following gain parameters will be fixed after this parameter is set: Parameter Name Description P02.00 Speed loop proportional gain (KVPROP1) P02.01...
  • Page 267 Tuning The first gain Second gain P02.00 P02.01 P02.02 P02.03 P02.04 P02.05 P02.06 P02.07 Rigidity Position 2nd speed 2nd speed 2nd position level Speed loop Speed loop Torque 2nd torque loop loop loop loop P03.01 proportional integration command command proportional proportional integration proportional...

  • Page 268: One-Button Tuning Function

    Tuning 9.4 One-button tuning function The one-button tuning function uses parameterized design, and uses positioning mode to set the threshold parameters such as positioning time, overshoot and vibration amplitude by setting the related parameters such as positioning parameters, maximum speed, acceleration and deceleration time. The motor can run repeatedly at intervals, and gradually approach the maximum gain configurations of the mechanical working conditions.

  • Page 269: Application Steps

    Tuning Application steps  9.4.1 One-button tuning has 4 steps: 1. Open the tuning page of the commissioning tool Servo Composer. 2. Set the target load type of the system, “point-to-point load” or “trajectory load”. The point-to-point load focuses on ensuring that the system meets the positioning time requirement and overshoot is accepted in the positioning process.

  • Page 270: Inertia Identification

    Tuning  9.4.2 Inertia identification Perform inertia identification during the acceleration and deceleration of the motion curve for more than four times to get the maximum and minimum inertia ratio. If the difference between the maximum value and minimum value is less than 100%, the inertia is considered stable.
  • Page 271 The response of each loop decreases from the inside out in order to achieve the optimal tuning effect. The current loop gain of E530-PT does not need manual tuning, users only need to tune the position loop gain, speed loop gain and other auxiliary gains.
  • Page 272 Tuning 3. Tune the position loop proportional gain (P02.02) The position loop proportional gain determines the upper frequency limit at which the position loop follows the position command change, i.e., the maximum position loop response frequency. If poor position following is detected in the position profile, you can increase setpoint to increase the position loop response, shorten the positioning time, and improve the anti- disturbance ability when the motor is static;...

  • Page 273: Feedforward Gain Parameters

    Tuning  9.5.2 Feedforward gain parameters Feedforward includes speed feedforward and torque feedforward: • Speed feedforward can increase the speed response and reduce position following error • Torque feedforward can increase the torque response and reduce speed/position following error The diagram of feedforward gain is shown below: Speed feedforward Speed feedforward is used in position control mode.
  • Page 274 Tuning Speed feedforward is set by two parameters: speed feedforward gain (P02.12) and speed feedforward filter time (P02.13). • Properly increasing the speed feedforward gain can improve the position response and shorten the positioning time, but setting it too large may cause overshoot, which will prolong the positioning time.

  • Page 275: Pseudo Differential Feedforward Control

    Tuning  9.5.3 Pseudo differential feedforward control You can adjust the speed loop control method by pseudo differential tuning control PDFF (P02.17). This parameter affects the speed loop response. The default proportional integral control is P02.17 = 100. If speed feedback overshoot is detected in the speed profile, you can reduce P02.17 to suppress speed overshoot, but if the pseudo differential feedforward is too small, position following error will be increased.

  • Page 276: Torque Disturbance Compensation

    When the motor runs continuously, if the external load changes greatly, the motor speed will fluctuate accordingly. The E530-PT drive has an internal load observer to monitor the change of the external load. The torque compensation is used to reduce the external disturbance.

  • Page 277: Friction Compensation

    Tuning  9.5.5 Friction compensation Friction compensation is a function to apply an additional value to the torque command, according to the characteristics of the system friction load, the change of the speed command, and the rotation direction of motor, so as to reduce the system friction.

  • Page 278: Speed Observer

    Tuning  9.5.6 Speed observer The speed observer can further increase the speed loop gain, shorten the positioning time, and automatically suppress high-frequency vibration if present, which are useful in the working conditions when the load characteristics and inertia do not change much. Speed observer can be used in position control mode and speed control mode.

  • Page 279: Gain Switch

    Tuning 9.6 Gain switch In manual gain mode, you can flexibly switch between the first gain and the second gain to meet different application requirements by internal state or external DI signal. Gain switch can be used in position control mode and speed control mode.
  • Page 280 Tuning Effective Parameter Name Description Range Unit Default mode P02.22 Gain Sets the 0 - Always use the Immediately switch condition for first gain condition gain switch 1 - Use DI signal to switch 2 - Switch according to torque command 3 - Switch according to speed command...
  • Page 281 Tuning Effective Parameter Name Description Range Unit Default mode P02.27 Active Displays the 0: The first gain gain group gain group group currently in 1: The second gain group Gain switch mode Gain switch can be performed by the signal GAIN, and the gain switch type can be set as speed loop P/PI or gain switch.
  • Page 282 Tuning Gain switch condition Control mode P02.22 Condition Description of switch process Gain group 1 -> Gain group 2 Switch to gain group 2 when the absolute value of torque command is greater than or equal to (gain switch level + gain switch level hysteresis) (%).
  • Page 283 Tuning Gain switch condition Control mode P02.22 Condition Description of switch process Gain group 1 -> Gain group 2 Switch to gain group 2 when the absolute value of position following error is greater than or equal to (gain switch level + gain switch level hysteresis) (pulse). Position Otherwise, stays at gain group 1.
  • Page 284 Tuning Note: P02.25 gain switch delay time is only effective when switching from the second gain to the first gain. The speed gain switches immediately. The position gain will change slowly according to P02.26. For the gain switch condition 5, the gain value will follow the speed command during the gradual switching process.

  • Page 285: Mechanical Vibration Suppression

    Tuning 9.7 Mechanical vibration suppression Every mechanical system has a vibration frequency. When the gain of the servo drive is high, the mechanical system may vibrate. In this case, it is difficult to increase the gain. There are two ways to suppress mechanical vibration: •...
  • Page 286 Tuning The E530-PT servo drive can set four notch filters, and each notch filter has 3 parameters: center frequency, depth factor and width factor. You can manually set every notch filter, or automatically set notch filter 3 and notch filter 4.

  • Page 287: Lfv Suppression At The Load End

    Tuning 9.8 LFV suppression at the load end LFV suppression is applicable to the load with long and heavy end. For these application types when the servo drive starts and stops, the positioning is difficult as the load may vibrate after the driven section becomes stationary. The vibration frequency is generally lower than 100Hz under this working condition.
  • Page 288 Tuning Parameters related to LFV suppression Parameter Name Description Sets the LFV suppression mode. LFV suppression P03.09 0: The vibration frequency is set manually mode 1: Filter 2 is set automatically, filter 1 is set manually LFV amplitude Sets the low-frequency vibration amplitude of the detection device considered by the drive.

  • Page 289: Modbus Communication Function

    Modbus communication function Modbus communication function 10.1 Contents of this chapter The chapter describes how the external device controls the drive by the communication network (fieldbus) with the embedded fieldbus interface.

  • Page 290: System Overview

    Modbus communication function 10.2 System overview E530-PT drive supports Modbus TCP communication function. Modbus TCP/IP is based on TCP/IP protocol, and shares the bottom four layers of OSI model with all Ethernet devices, which makes it fully compatible with existing Ethernet hardware.

  • Page 291: Connecting Communication

    Modbus communication function Modbus TCP protocol layers Modbus Application Layer Modbus On TCP Ethernet II/802.3 Ethernet Physical layer 10.3 Connecting communication 10.3.1 Communication port (CN4)  Through the CN4 RJ45 terminal on the upper end of the drive, communication connection between the drive and PC or PLC can be achieved by using standard network cables.

  • Page 292: Modbus Tcp Communication With Plc

    Modbus communication function  10.3.2 Modbus TCP communication with PLC • One to one connection schematic for communication with PLC AC500 eCo PLC • One to many connection schematic for communication with PLC AC500 eCo PLC...

  • Page 293: Setting Communication Parameters

    Modbus communication function 10.4 Setting communication parameters Effective Parameter Range Default Unit Description mode Modbus Data Endian Selection: 0: Word order: big endian; Byte order: big endian 1: Word order: big endian; Byte P11.01 0 ~ 3 order: little endian Re-powered 2: Word order: little endian;...
  • Page 294 Modbus communication function Transaction processing ID is used to match responses with requests while the client is sending messages; The ID of Modbus protocol is always 0; Length is the number of bytes contained in the data plus the sum of the length of the function code (1 byte) and the unit identifier (1 byte).

  • Page 295: Function Code

    Modbus communication function Modbus data interaction (exception response) Client Server Initial request Function code Data request Error detected during operation Initiate error feedback Exception function code Exception code Receive feedback  10.5.2 Function code The function codes of the drive are as follows: Function Name Description...
  • Page 296 Modbus communication function Example: request to read data from the holding registers of address 108 - 109. Ensure the address is even, and the number of registers read is even: Request Response Field Name (Hex) Field Name (Hex) Fuction Fuction Starting Address Hi Byte Count Starting Address Lo...

  • Page 297: Read The Values Of Multiple Input Registers - 0X04

    Modbus communication function  10.6.2 Read the values of multiple input registers - 0x04 This function code is used to read the contents of multiple continuous input registers in a remote device. The request PDU specifies the starting address of the registers and the number of the registers.

  • Page 298: Write Values To Multiple Holding Registers - 0X10

    Modbus communication function  10.6.3 Write values to multiple holding registers - 0x10 This function code is used to write to a block of continuous holding registers in a remote device. The request PDU specifies the starting address of the registers to be written to, the number of the registers, the length of bytes, and the corresponding values.

  • Page 299: Read And Writer Multiple Holding Registers - 0X17

    Modbus communication function  10.6.4 Read and writer multiple holding registers - 0x17 This function code is used to execute a combination of a read operation and a write operation in a MODBUS transaction. The write operation is executed prior to the read operation.
  • Page 300 Modbus communication function Example: starting from the register 4, read values of 6 registers, and then write 2 values to the registers starting from register 10. Ensure that the address is even and the number of the registers read is even: Request Response Field Name...

  • Page 301: Modbus Exception Response

    Modbus communication function  10.6.5 Modbus exception response When the client device sends a request to the server device, it needs a normal response. One of the following four events may occur for a client request: • If the server device receives the request without any communication error and can process the request normally, a normal response is returned.

  • Page 302: Access Drive Parameters

    2. Determine the final address according to the intergroup index The address of the intergroup indexed parameter needs to be calculated according to the starting address of the group. The E530-PT parameters all use 32-bit data format. Parameter address = starting address of the group + 2 * intergroup...

  • Page 303: Access Other Register Information

    E530-PT only supports even address access and operations. Odd address access is invalid. The number of register access must also be even.  10.7.3 Access other register information The E530-PT servo drive supports access to the following registers in addition to the drive parameters: Register Register...

  • Page 304: Selecting Big Endian Or Little Endian

    Modbus communication function 10.8 Selecting big endian or little endian The E530-PT drive provides the function of setting the big or little endian mode for Modbus registers. The P11.01 can be used to set the big or little endian mode.

  • Page 305: Parameter

    Parameter Parameter 11.1 Contents of this chapter This chapter describes all the parameters of the servo drive E530-PT. 11.2 Applicability The manual applies to the E530-PT servo drive control program V1.3 or later.

  • Page 306: Terms And Abbreviations

    Parameter 11.3 Terms and abbreviations Terms Definitions Parameter type, including format and length. • DEC-U32: decimal, unsigned, 32-bit • DEC-S32: decimal, signed, 32-bit • Type DEC-U16: decimal, unsigned, 16-bit • DEC-S16: decimal, signed, 16-bit • HEX: hexadecimal, unsigned, 16-bit • BIT: binary, unsigned, 16-bit Storage attribute of the parameter.

  • Page 307: Parameter Groups

    Parameter 11.5 Parameter groups Effective Parameter Mini Default Unit Type mode dP0 Monitoring 10000 DEC-S16 -10000 dP000 Description: Displays the actual speed of the motor. Actual speed Communication address: 3000H 3001H 10000 DEC-S16 -10000 dP001 Description: Displays the target speed of the motor. Target speed Communication address: 3002H 3003H -5000...
  • Page 308 Parameter Effective Parameter Mini Default Unit Type mode dP009 - 2147483648 2147483647 User unit DEC-S32 Position Description: Displays the actually received position command count. actual received target Communication address: 3012H 3013H command counter - 2147483648 2147483647 User unit DEC-S32 dP010 Description: Displays the cumulative position value feedback by the Position encoder.
  • Page 309 Parameter Effective Parameter Mini Default Unit Type mode -2147483648 2147483648 0.01 A DEC-U32 dP018 Description: Displays the equivalent value of the servo motor phase Motor phase current. current RMS Communication address: 3024H 3025H 2147483647 Pulse DEC-S32 dP019 Description: Displays the current mechanical angle of the motor, 0 Mechanical corresponds to the mechanical angle of 0 °.

  • Page 310: Basic

    Parameter Effective Parameter Mini Default Unit Type mode 4294967295 0.1 s DEC-U32 Immediately dP029 Description: Displays the accumulative value of the power on timer. Power on timer Communication address: 303AH 303BH 01 Basic DEC-U16 Re-powered Description: Sets the control mode of the drive. 0: P(PTI) 1: P(FP) 2: S...
  • Page 311 Parameter Effective Parameter Mini Default Unit Type mode DEC-U16 Re-powered Description: P01.04 Sets the stop mode when the fault group 2 is triggered. Stop mode of 0: Coast to stop fault group 2 1: Zero speed stop Communication address: 3108H 3109H DEC-U16 Re-powered Description: P01.05...
  • Page 312 Parameter Effective Parameter Mini Default Unit Type mode P01.10 20000 DEC-U16 Immediately Delay from Description: BRK output Sets that when the motor is static, the delay time from brake signal (BRK) OFF to motor OFF (motor brake closed) to motor de-excitation. de-energized Communication address: 3114H 3115H static...

  • Page 313: Gain

    Parameter Effective Parameter Mini Default Unit Type mode P01.16 65535 1000 joule DEC-U16 Immediately Single pulse Description: energy limit of Sets the single pulse energy limit of the external regenerative brake external resistor of the drive. regeneration Communication address: 3120H 3121H resistor P01.17 DEC-U16 Immediately...
  • Page 314 Parameter Effective Parameter Mini Default Unit Type mode P02.04 30000 0.1 Hz DEC-U16 Immediately 2nd speed Description: loop Sets the proportional gain of the 2nd speed loop. proportion gain Communication address: 3208H 3209H (KVPROP2) P02.05 51200 1600 0.01 ms DEC-U16 Immediately 2nd speed Description: loop...
  • Page 315 Parameter Effective Parameter Mini Default Unit Type mode 1000 0.1% DEC-U16 Immediately P02.12 Description: Speed feedforward Sets the speed feedforward gain value. gain Communication address: 3218H 3219H 65535 0.1 ms DEC-U16 Immediately P02.13 Description: Speed feedforward Sets the filter time constant of the speed feedforward gain. filter time Communication address: 321AH 321BH 1000...
  • Page 316 Parameter Effective Parameter Mini Default Unit Type mode 65535 0.01 ms DEC-U16 Immediately P02.20 Description: Torque disturbance Sets the filter time constant of the disturbance torque compensation compensation filter in a non-torque mode. filter time Communication address: 3228H 3229H DEC-U16 Immediately Description: P02.21 Sets the gain switch mode.
  • Page 317 Parameter Effective Parameter Mini Default Unit Type mode 10000 0.1 ms DEC-U16 Immediately P02.25 Description: Gain switch Sets the delay time from the second gain to the first gain in different delay time switch conditions. Communication address: 3232H 3233H 10000 0.1 ms DEC-U16 Immediately P02.26...

  • Page 318: Auto-Tuning

    Parameter Effective Parameter Mini Default Unit Type mode 1000 1000 0.1% DEC-U16 Immediately P02.32 Description: Load inertia ratio damping Sets the load inertia ratio damping factor. factor Communication address: 3240H 3241H P02.33 3000 DEC-U16 Immediately Load inertia Description: ratio damp Sets the load inertia ratio damping switch threshold.
  • Page 319 Parameter Effective Parameter Mini Default Unit Type mode DEC-U16 Immediately Description: P03.01 Sets the rigidity level of the servo system. The higher the rigidity level is, Rigidity level the stronger the gain is, and the faster the response is. However, high selection rigidity will cause vibration.
  • Page 320 Parameter Effective Parameter Mini Default Unit Type mode 1000 1000 0.1 Hz DEC-U16 Immediately P03.11 Description: suppression 1 Sets the center frequency of the LFV suppression filter 1. frequency Communication address: 3316H 3317H DEC-U16 Immediately P03.12 Description: suppression 1 Sets the bandwidth of the LFV suppression filter 1. width Communication address: 3318H 3319H 1000...
  • Page 321 Parameter Effective Parameter Mini Default Unit Type mode 4000 4000 DEC-U16 Immediately P03.19 Description: Notch filter 2 Sets the center frequency of the notch filter 2 . frequency Communication address: 3326H 3327H DEC-U16 Immediately P03.20 Description: Notch filter 2 Sets the center frequency depth of the notch filter 2 . The greater the depth level setpoint, the less the notch depth.
  • Page 322 Parameter Effective Parameter Mini Default Unit Type mode DEC-U16 Immediately P03.27 Description: Notch filter 4 Sets the center frequency of the notch filter 4 . width level Communication address: 3336H 3337H 65535 0.1% DEC-U16 P03.31 Description: Identified adaptive filter The adaptive filter amplitude identified. amplitude Communication address: 333EH 333FH 65535...

  • Page 323: Position Control

    Parameter Effective Parameter Mini Default Unit Type mode 5000 25000 5000 DEC-U16 Immediately P03.38 Description: Initial inertia Sets the initial load inertial during inertia identification. ratio Communication address: 334CH 334DH 04 Position control DEC-U16 Re-powered Description: P04.00 Sets the hardware input channel of the pulse input commands. Pulse input channel 0: Low speed pulse port 24 V single end...
  • Page 324 Parameter Effective Parameter Mini Default Unit Type mode DEC-U16 Re-powered Description: P04.06 Sets the phase relationship between phase A and phase B. Pulse output 0: A leads B phase 1: B leads A Communication address: 340CH 340DH DEC-U16 Re-powered Description: P04.07 Sets the output level when the Z phase pulse is effective.
  • Page 325 Parameter Effective Parameter Mini Default Unit Type mode 1073741824 Pulse DEC-U32 Re-powered P04.14 Description: Number of Sets the number of input pulses per revolution of the motor. If the value is input pulses equal to 0, the pulse input electronic gear ratio is effective. per revolution Communication address: 341CH 341DH 1073741824...
  • Page 326 Parameter Effective Parameter Mini Default Unit Type mode DEC-U16 Re-enabled P04.21 Description: Electronic Sets the switch condition of the electronic gear ratio. gear ratio 0: Switch after the position command is 0 and lasts for 2.5 ms switch 1: Switch immediately condition Communication address: 342AH 342BH DEC-U16...
  • Page 327 Parameter Effective Parameter Mini Default Unit Type mode Pulse or 1073741824 60000 DEC-U32 Immediately user unit P04.26 Description: NEAR signal Sets the threshold of the position error absolute value when the servo threshold drive sets the "near the position" signal NEAR. Communication address: 3434H 3435H 30000 DEC-U16...

  • Page 328: Speed Control

    Parameter Effective Parameter Mini Default Unit Type mode DEC-U16 Immediately Description: Displays the electronic gear ratio that is currently effective. P04.32 0: Number of input pulses per revolution Active 1: Electronic gear ratio 1 electronic 2: Electronic gear ratio 2 gear group 3: Electronic gear ratio 3 4: Electronic gear ratio 4...
  • Page 329 Parameter Effective Parameter Mini Default Unit Type mode 6000 rpm/10 V DEC-U16 Re-enabled P05.00 Description: AI1 speed/10V Sets the motor speed that corresponds to 10 V at AI1. scaling Communication address: 3500H 3501H 6000 DEC-U16 Immediately P05.01 Description: Jog speed Sets the drive jog speed.
  • Page 330 Parameter Effective Parameter Mini Default Unit Type mode 65535 DEC-U16 Immediately P05.09 Description: Acceleration Sets the acceleration time constant of the speed command, i.e., the time of speed time required for the speed to change from 0 to 1000 rpm. command Communication address: 3512H 3513H 65535...

  • Page 331: Torque Control

    Parameter Effective Parameter Mini Default Unit Type mode 6000 1000 DEC-U16 Immediately Description: P05.15 In speed control mode, if the absolute value of the actual motor speed is SARR signal larger than the parameter value, the speed is considered to have reached output the expected value, and the servo drive sets the target speed reached threshold...
  • Page 332 Parameter Effective Parameter Mini Default Unit Type mode 4000 3500 0.1% DEC-U16 Immediately P06.04 Description: internal torque Sets the internal torque positive limit 2. positive limit 2 Communication address: 3608H 3609H 4000 3500 0.1% DEC-U16 Immediately P06.05 Description: Internal torque Sets the internal torque negative limit 2.

  • Page 333: Extension Control

    Parameter Effective Parameter Mini Default Unit Type mode 6000 3000 DEC-U16 Immediately P06.13 Description: Internal negative Sets the internal speed negative limit 3 in torque mode. speed limit 3 Communication address: 361AH 361BH 4000 0.1% DEC-U16 Immediately P06.14 Description: Setpoint for Sets the setpoint of the target torque reached command TARR (100% TARR corresponds to the rated torque).
  • Page 334 Parameter Effective Parameter Mini Default Unit Type mode DEC-U16 Re-enabled Description: P07.01 Sets the position command type of fixed position control. FP positioning 0: Relative position command mode selection 1: Absolute position command Communication address: 3702H 3703H DEC-U16 Re-enabled Description: P07.02 0: Edge trigger FP trigger...
  • Page 335 Parameter Effective Parameter Mini Default Unit Type mode 10000 DEC-U16 Immediately P07.09 Description: FP block 1 - Sets the acceleration time of block 1, i.e., the time required for the speed acc/dec time to change from 0 to 1000 rpm. Communication address: 3712H 3713H 60000 DEC-U16 Immediately...
  • Page 336 Parameter Effective Parameter Mini Default Unit Type mode 10000 DEC-U16 Immediately P07.17 Description: FP block 3 - Sets the acceleration time of block 3, i.e., the time required for the speed acc/dec time to change from 0 to 1000 rpm. Communication address: 3722H 3723H 60000 DEC-U16 Immediately...
  • Page 337 Parameter Effective Parameter Mini Default Unit Type mode 10000 DEC-U16 Immediately P07.25 Description: FP block 5 - Sets the acceleration time of block 5, i.e., the time required for the speed acc/dec time to change from 0 to 1000 rpm. Communication address: 3732H 3733H 60000 DEC-U16 Immediately...
  • Page 338 Parameter Effective Parameter Mini Default Unit Type mode 10000 DEC-U16 Immediately P07.33 Description: FP block 7 - Sets the acceleration time of block 7, i.e., the time required for the speed acc/dec time to change from 0 to 1000 rpm. Communication address: 3742H 3743H 60000 DEC-U16 Immediately...
  • Page 339 Parameter Effective Parameter Mini Default Unit Type mode 10000 DEC-U16 Immediately P07.41 Description: FP block Sets the acceleration time of block 9, i.e., the time required for the speed 9 - Acc/Dec to change from 0 to 1000 rpm. Time Communication address: 3752H 3753H 60000 DEC-U16 Immediately...
  • Page 340 Parameter Effective Parameter Mini Default Unit Type mode 10000 DEC-U16 Immediately P07.49 Description: FP block Sets the acceleration time of block 11, i.e., the time required for the speed 11 - acc/dec to change from 0 to 1000 rpm. time Communication address: 3762H 3763H 60000 DEC-U16 Immediately...
  • Page 341 Parameter Effective Parameter Mini Default Unit Type mode 10000 DEC-U16 Immediately P07.57 Description: FP block Sets the acceleration time of block 13, i.e., the time required for the speed 13 - acc/dec to change from 0 to 1000 rpm. time Communication address: 3772H 3773H 60000 DEC-U16 Immediately...
  • Page 342 Parameter Effective Parameter Mini Default Unit Type mode 10000 DEC-U16 Immediately P07.65 Description: FP block Sets the acceleration time of block 15, i.e., the time required for the speed 15 - acc/dec to change from 0 to 1000 rpm. time Communication address: 3782H 3783H 60000 DEC-U16 Immediately...
  • Page 343 Parameter Effective Parameter Mini Default Unit Type mode DEC-U16 Re-powered Description: Sets the homing method of the drive. P07.80 0: Homing disabled Homing trigger method 1: Homing when the servo drive is enabled for the first time after it is selection energized 2: Homing is triggered by the DI signal SHOM...

  • Page 344: Fault And Protection

    Parameter Effective Parameter Mini Default Unit Type mode Re-enabled 5000 0.1% DEC-U16 P07.87 Torque limit of Description: torque homing Sets the torque limit in torque homing method. method Communication address: 37AEH 37AFH P07.88 Re-enabled 65535 1000 DEC-U16 Time threshold Description: of torque Sets the maximum allowed homing time in torque homing method.
  • Page 345 Parameter Effective Parameter Mini Default Unit Type mode DEC-U16 Immediately P08.03 Motor overload Description: warning Sets the threshold of the motor overload warning. threshold Communication address: 3806H 3807H DEC-U16 Immediately Description: P08.04 Sets the status of the motor runaway protection function. Runaway 0: Disabled protection...
  • Page 346 Parameter Effective Parameter Mini Default Unit Type mode DEC-U16 Immediately P08.09 Description: Warning Sets the warning threshold of position following error in position control threshold of mode. A warning is triggered when the position following error is greater position than the threshold. The unit is selected by P04.24. following error Communication address: 3812H 3813H DEC-U16 Immediately...
  • Page 347 Parameter Effective Parameter Mini Default Unit Type mode DEC-U16 Immediately Description: Sets the fault reset condition. By default, the fault can only be reset when P08.15 servo off. Fault reset 0: Faults that can be reset when the drive is not enabled settings 1.5 General 1: Faults that can be reset at any time (select with caution, see...
  • Page 348 Parameter Effective Parameter Mini Default Unit Type mode -5000 5000 DEC-S16 Immediately P09.06 Description: AI2 offset Sets the voltage offset of analog input terminal AI2. Communication address: 390CH 390DH 5000 DEC-U16 Immediately P09.07 Description: AI2 dead band Sets the dead band width of the analog input terminal AI2. width Communication address: 390EH 390FH 65535...
  • Page 349 Parameter Effective Parameter Mini Default Unit Type mode 65535 10us DEC-U16 Re-powered P09.14 Description: DI7 filter time Sets the filter time constant of the digital input signal DI7. Communication address: 391CH 391DH DEC-U16 Re-powered Description: Sets the DI function of the terminal DI1. 0: Disable (function inactive);...
  • Page 350 Parameter Effective Parameter Mini Default Unit Type mode DEC-U16 Re-powered Description: Sets the input level logic of the DI1 terminal when the DI1 function is P09.17 active. DI1 active 0: high level active logic selection 1: low level active 2: always active 3: always inactive Communication address: 3922H 3923H DEC-U16 Re-powered...
  • Page 351 Parameter Effective Parameter Mini Default Unit Type mode DEC-U16 Re-powered P09.22 Description: DI4 function Sets the DI function of the terminal DI4. For detailed DI functions, see DI1 selection function parameters. Communication address: 392CH 392DH DEC-U16 Re-powered Description: Sets the input level logic of the DI4 terminal when the DI4 function is P09.23 active.
  • Page 352 Parameter Effective Parameter Mini Default Unit Type mode DEC-U16 Re-powered Description: Sets the input level logic of the DI6 terminal when the DI6 function is P09.27 active. DI6 active 0: high level active logic selection 1: low level active 2: always active 3: always inactive Communication address: 3936H 3937H DEC-U16 Re-powered...
  • Page 353 Parameter Effective Parameter Mini Default Unit Type mode DEC-U16 Re-powered Description: Sets the DO function of the terminal DO1. 0: Disable (function inactive). 1: SRDY (servo ready); 2: SVEN (servo enabled); 3: FAULT (fault); 4: WARN (warning); 5: BRK (motor brake); P09.34 6: ZSPD (zero speed reached);...
  • Page 354 Parameter Effective Parameter Mini Default Unit Type mode DEC-U16 Re-powered Description: Sets the output level logic of the DO2 terminal when the DO2 function is P09.37 active. DO2 active 0: high level active logic selection 1: low level active 2: always active 3: always inactive Communication address: 394AH 394BH DEC-U16 Re-powered...
  • Page 355 Parameter Effective Parameter Mini Default Unit Type mode DEC-U16 Re-powered P09.42 Description: DO5 function Sets the DO function of the terminal DO5. For detailed DO functions, see selection DO1 function parameters. Communication address: 3954H 3955H DEC-U16 Re-powered Description: Sets the input level logic of the DO5 terminal when the DO5 function is P09.43 active.

  • Page 356: Virtual Di/Do

    Parameter Effective Parameter Mini Default Unit Type mode 10 Virtual DI/DO DEC-U16 Re-enabled Description: Sets the DI function of the terminal VDI1 (virtual input terminal 1). 0: Function inactive; 1: SON (servo on); 2: FRST (fault reset); 3: POT (positive overtravel limit); 4: NOT (negative limit);...
  • Page 357 Parameter Effective Parameter Mini Default Unit Type mode DEC-U16 Re-enabled Description: Sets the input level logic of the VDI1 terminal when the VDI1 function is P10.01 active. VDI1 active 0: high level active logic selection 1: low level active 2: always active 3: always inactive Communication address: 3A02H 3A03H DEC-U16...
  • Page 358 Parameter Effective Parameter Mini Default Unit Type mode DEC-U16 Re-enabled P10.06 Description: VDI4 function Sets the VDI function of the terminal VDI4. For detailed VDI functions, see selection VDI1 function parameters. Communication address: 3A0CH 390DH DEC-U16 Re-enabled Description: Sets the input level logic of the VDI4 terminal when the VDI4 function is P10.07 active.
  • Page 359 Parameter Effective Parameter Mini Default Unit Type mode DEC-U16 Re-enabled Description: Sets the input level logic of the VDI6 terminal when the VDI6 function is P10.11 active. VDI6 active 0: high level active logic selection 1: low level active 2: always active 3: always inactive Communication address: 3A16H 3A17H DEC-U16...
  • Page 360 Parameter Effective Parameter Mini Default Unit Type mode DEC-U16 Re-enabled P10.16 Description: VDI9 function Sets the VDI function of the terminal VDI7. For detailed VDI functions, see selection VDI1 function parameters. Communication address: 3A20H 3A21H DEC-U16 Re-enabled Description: Sets the input level logic of the VDI7 terminal when the VDI7 function is P10.17 active.
  • Page 361 Parameter Effective Parameter Mini Default Unit Type mode DEC-U16 Re-enabled Description: Sets the input level logic of the VDI11 terminal when the VDI11 function is P10.21 active. VDI11 active 0: high level active logic selection 1: low level active 2: always active 3: always inactive Communication address: 3A2AH 3A2BH DEC-U16...
  • Page 362 Parameter Effective Parameter Mini Default Unit Type mode DEC-U16 Re-enabled P10.26 Description: VDI14 function Sets the VDI function of the terminal VDI14. For detailed VDI functions, selection see VDI1 function parameters. Communication address: 3A34H 3A35H DEC-U16 Re-enabled Description: Sets the input level logic of the VDI14 terminal when the VDI14 function is P10.27 active.
  • Page 363 Parameter Effective Parameter Mini Default Unit Type mode DEC-U16 Re-enabled Description: Sets the input level logic of the VDI16 terminal when the VDI16 function is P10.31 active. VDI16 0: high level active active logic 1: low level active selection 2: always active 3: always inactive Communication address: 3A3EH 3A3FH 0xFFFF...
  • Page 364 Parameter Effective Parameter Mini Default Unit Type mode DEC-U16 Re-enabled Description: Sets the output level logic of the VDO terminal when the VDO1 function is P10.34 active. VDO1 active 0: high level active logic selection 1: low level active 2: always active 3: always inactive Communication address: 3A44H 3A45H DEC-U16...
  • Page 365 Parameter Effective Parameter Mini Default Unit Type mode DEC-U16 Re-enabled P10.39 Description: VDO4 function Sets the VDO function of the terminal VDO4. For detailed VDO functions, selection see VDO1 function parameters. Communication address: 3A4EH 3A4FH DEC-U16 Re-enabled Description: Sets the input level logic of the VDO4 terminal when the VDO4 function is P10.40 active.
  • Page 366 Parameter Effective Parameter Mini Default Unit Type mode DEC-U16 Re-enabled Description: Sets the input level logic of the VDO6 terminal when the VDO6 function is P10.44 active. VDO6 0: high level active active logic 1: low level active selection 2: always active 3: always inactive Communication address: 3A58H 3A59H DEC-U16...
  • Page 367 Parameter Effective Parameter Mini Default Unit Type mode DEC-U16 Re-enabled P10.49 Description: VDO9 function Sets the VDO function of the terminal VDO9. For detailed VDO functions, selection see VDO1 function parameters. Communication address: 3A62H 3A63H DEC-U16 Re-enabled Description: Sets the output level logic of the VDO9 terminal when the VDO9 function P10.50 is active.
  • Page 368 Parameter Effective Parameter Mini Default Unit Type mode DEC-U16 Re-enabled Description: Sets the input level logic of the VDO11 terminal when the VDO11 function P10.54 is active. VDO11 0: high level active active logic 1: low level active selection 2: always active 3: always inactive Communication address: 3A6CH 3A6DH DEC-U16...
  • Page 369 Parameter Effective Parameter Mini Default Unit Type mode DEC-U16 Re-enabled P10.59 Description: VDO14 Sets the VDO function of the terminal VDO14. For detailed VDO functions, function see VDO1 function parameters. selection Communication address: 3A76H 3A77H DEC-U16 Re-enabled Description: Sets the input level logic of the VDO14 terminal when the VDO14 function P10.60 is active.

  • Page 370: Communication

    Parameter Effective Parameter Mini Default Unit Type mode DEC-U16 Re-enabled Description: Sets the output level logic of the VDO16 terminal when the VDO16 P10.64 function is active. VDO16 0: high level active active logic 1: low level active selection 2: always active 3: always inactive Communication address: 3A80H 3A81H 0xFFFF...
  • Page 371 Parameter Effective Parameter Mini Default Unit Type mode DEC-U16 Re-powered P11.07 Description: IP address Sets the value of the IP address segment 4 of the drive. segment 4 Communication address: 3B0EH 3B0FH DEC-U16 Re-powered P11.08 Description: Netmask Sets the value of subnet mask segment 1 of the drive. segment 1 Communication address: 3B10H 3B11H DEC-U16 Re-powered...
  • Page 372 Parameter Effective Parameter Mini Default Unit Type mode DEC-U16 Re-powered P11.15 Description: Gateway Sets the value of the gateway segment 4 of the drive. segment 4 Communication address: 3B1EH 3B1FH...

  • Page 373: Fault Tracing

    Note: Follow the instructions carefully in this manual can prevent many faults of E530-PT. If there is any problem, also refer to the troubleshooting section in Servo Composer online help file. If the problem persists, contact ABB support.

  • Page 374: Run And Err Indicators

    Fault tracing  12.2.1 RUN and ERR indicators Run (green) Indicator Status Description Not powered on Slow blinking Ready to run Running ERR (red) Indicator Status Description No error Blinking Warning Fault Indicator state Blinking Slow blinking 12.2.2 Alarm display ...

  • Page 375: Diagnosis Process

    Fault tracing 6.2.2 7-segment LED For more information on 7-segment code display, refer to display 5 alarms can be displayed on the screen at most. Multiple alarm codes will scroll on the display at 1 second intervals in priority order. The user can use "Up▲" or "Down▼"...
  • Page 376 If the drive operates normally, but it cannot communicate with Servo Composer, check the following items: • The network cable between PC and the E530-PT is connected normally or not. Is the network cable connected to drive port CN4. • The network port of the PC has been correctly configured with TCP/IP protocol while supporting Servo Composer or not.

  • Page 377: Deep Diagnosis

    Fault tracing  12.3.2 Deep diagnosis After completing the operations above, if the problem persists, it would be necessary to perform further diagnosis by the Servo Composer commissioning tool. The diagnosis functions include: • Fault history snapshot - displays the drive key information for up to the last 5 faults/warnings occurred •...

  • Page 378: Alarm Handling

    Fault tracing  12.4.2 Alarm handling After alarms occur, the display screen of the drive will scroll with up to 5 error codes automatically. Check all alarm information and understand the complete status of the drive before troubleshooting. The alarm history information will be recorded into the fault list of the Servo Composer commissioning tool, as shown in the figure below.

  • Page 379: Fault Protection Actions

    (P08.15 = 0). WARNING! Obey these instructions. If you ignore the safety instructions, injury or death, or damage to the equipment can occur. ABB is not liable for any related damages.

  • Page 380: Alarm List

    Fault tracing  12.4.4 Alarm list The alarms occurring in a drive can be divided into the following categories according to the causes of errors: Data alarms • - The problems which occur when data or object types do not match the expectation of the firmware.
  • Page 381 Fault tracing Alarm Alarm Reset- Stop Name/description category code table mode F1000 Power unit overcurrent: overcurrent detected P01.03 in power unit hardware F1002 U-phase overcurrent: U-phase current exceeds P01.03 protection threshold F1003 V-phase overcurrent: V-phase current exceeds P01.03 protection threshold F1004 Output short circuit to ground P01.03...
  • Page 382 Fault tracing Alarm Alarm Stop Reset- Name/description category code table mode F4000 FPGA heartbeat lost P01.03 F4001 FPGA failed to start P01.03 FPGA alarms F4002 FPGA internal error P01.04 F4003 EEPROM access error P01.03 A5000 Positive hardware limit warning Yes * A5001 Negative hardware limit warning Yes *...
  • Page 383 Fault tracing Alarm Alarm Reset- Stop Name/description category code table mode F9000 System internal fault 1 F9001 System internal fault 2 F9002 System internal fault 3 Internal fault F9003 System internal fault 4 P01.03 F9004 System internal fault 5 F9005 System internal fault 6 F9006 System internal fault 7...

  • Page 384: Alarm Analysis And Troubleshooting

    Fault tracing  12.4.5 Alarm analysis and troubleshooting Data alarms Alarm code Cause Check What to do Firmware update. Read the product Perform a factory restore information to confirm operation and reboot by the need to update the Servo Composer or the firmware.
  • Page 385 Bad encoder Check the encoder cable Use ABB standard cables, connection. and make sure that the terminals, plugs and cable is not damaged and sockets for reliable...
  • Page 386 Fault tracing Hardware alarms Alarm code Cause Check What to do The motor cable is Check that the power Modify wiring with wired incorrectly or cable is wired correctly at good tightening has poor contact. both ends and that there measures.
  • Page 387 Fault tracing Alarm code Cause Check What to do Power cable wired Check that the power Modify wiring with incorrectly or poor cable is wired correctly at good tightening contact. both ends and that there measures. is no poor contact at the connections.
  • Page 388 Fault tracing Alarm code Cause Check What to do The power supply Measure and monitor the Replace or adjust the voltage exceeds the input supply voltage. input power supply. specification range. The power supply is Measure the input power Once setting the unstable or has been supply voltage, confirm surge suppression...
  • Page 389 Fault tracing Alarm code Cause Check What to do The supply voltage is Measure and monitor the Replace or adjust the below the input supply voltage. input power supply. specification range. There was a power Measure and monitor the Increase the input supply voltage drops input supply voltage.
  • Page 390 Fault tracing Alarm code Cause Check What to do Power cable wired Check that the power Modify wiring with incorrectly or poor cable is wired correctly at good tightening contact. both ends and that there measures. is no poor contact at the connections.
  • Page 391 Fault tracing Alarm code Cause Check What to do The power supply Measure and monitor the Replace or adjust the voltage exceeds the input supply voltage. input power supply. specification range. The regeneration Check the connection of Rewiring. resistor is not the internal or external connected.
  • Page 392 Fault tracing Alarm code Cause Check What to do Wrong UVW phase Check the power cable Rewiring. sequence in motor and motor cable to make wiring. sure the correct UVW matching. The protection Confirm that the Change the threshold (P08.07) is protection threshold protection threshold set incorrectly.
  • Page 393 Fault tracing Encoder alarms Alarm code Cause Check What to do Encoder cable or Check the wiring of the wiring does not encoder cable shield. F2000 Change wiring meet Check that the servo drive according to Encoder specifications. is reliably grounded. specifications for communicati- Check the encoder cables...
  • Page 394 Fault tracing Alarm code Cause Check What to do F2003 After multiple re- powering, if the alarm F2004 Encoder internal persists, then it is F2005 error possible that the encoder is faulty. F2006 Replace the motor. Battery connection Check the battery Connect the battery has poor contact connections.
  • Page 395 Fault tracing Alarm code Cause Check What to do When the servo is Confirm the motor speed Power up when the powered up, the at power-up. motor speed is below motor rotates at 200 rpm. more than 200rpm Damaged or faulty If the alarm persists F2013 encoder.
  • Page 396 Fault tracing Temperature protection alarms Alarm code Cause Check What to do Ambient Measure the ambient Improve heat temperature too temperature with a dissipation and reduce high. thermometer. ambient temperature. Servo drive fan Check that the fan runs Replace the fan or F3000 damaged.
  • Page 397 What to do F4000 FPGA heartbeat lost Try restoring the factory values and F4001 FPGA failed to start reapplying power, if the problem F4002 FPGA internal error persists, replace the servo drive or contact ABB technical support. F4003 EEPROM access error...
  • Page 398 Fault tracing Control function alarms Alarm code Cause Check What to do The POT (DI) View the parameter To ensure safety, you can signal is active. dP004 to monitor manually push the machinery or whether the POT is in an send a reverse command to A5000 effective state by Servo...
  • Page 399 Fault tracing Alarm code Cause Check What to do Power cable Check that the power Modify wiring with good wired incorrectly cable is wired correctly tightening measures. or poor contact. at both ends and that there is no poor contact at the connections.
  • Page 400 Fault tracing Alarm code Cause Check What to do Zero switch Check the status Replace the wiring or use signal is (POT/NOT/ORG) of the another signal for homing. abnormal or external zero switch of missing. the selected homing method. by Servo Composer or the panel, view the parameter dP004 and monitor the...
  • Page 401 Fault tracing Alarm code Cause Check What to do Power cable Check that the power Modify wiring with good wired incorrectly cable is wired correctly tightening measures. or poor contact. at both ends and that there is no poor contact at the connections.
  • Page 402 Fault tracing Alarm code Cause Check What to do Power wiring, Check the power and Rewire or replace cables with encoder wiring encoder wiring. tightening measures. error or poor contact. The motor has Check and confirm the Re-select the motor with the been in overload overload characteristics required overload...
  • Page 403 Fault tracing Alarm code Cause Check What to do Power wiring, Check the power and Rewire or replace cables with encoder wiring encoder wiring. tightening measures. error or poor contact. The motor has Check and confirm the Re-select the motor with the been in overload overload characteristics required overload...
  • Page 404 Fault tracing Alarm code Cause Check What to do Position By the Servo Composer, Consider changing method coordinate check if the actual P04.29 on how to make the system anomaly. motor position dP013 position software limit corresponds to the effective, or changing the mechanical position electronic gear ratio and re-do and confirm if it is back...
  • Page 405 Adjusting machinery. F6001 abnormality in jams, jolts, etc. Motor stall the machinery. The motor Check motor nameplate Contact ABB technical parameters are data and serial number. support. incorrect. Power wiring, Check the power and Rewire or replace cables encoder wiring encoder wiring.
  • Page 406 Fault tracing Alarm code Cause Check What to do Power wiring, Check the power and Rewire or replace cables encoder wiring encoder wiring. with tightening measures. error or poor contact. The motor has Check and confirm the Re-select the motor with been in overload overload characteristics the required overload...

  • Page 407: Internal Faults

    System internal fault 2 After multiple re-powering, if the F9002 System internal fault 3 problem persists, replace the F9003 System internal fault 4 servo drive or contact ABB F9004 System internal fault 5 technical support. F9005 System internal fault 6 F9006...
  • Page 408 Fault tracing...

  • Page 409: Maintenance

    Ignoring the safety instructions can cause injury or death. 13.3 Maintenance intervals If the drive is installed in a suitable environment, it requires very little maintenance. This table lists the routine maintenance intervals recommended by ABB. Maintenance Interval Instruction 13.6 Reforming...

  • Page 410: Heatsink

    Maintenance When the average operating temperature is not higher than 40 ° C (104 ° F), the maintenance interval for 13.5 Cooling fan F3 is 4 years, and for F4 is 5 years. Cooling fan change When the average operating temperature is higher than 40 °...

  • Page 411: Cooling Fan

    If the drive is operated in a critical part of a process, fan replacement is recommended once these symptoms start appearing. The cooling fan of E530-PT drive should not be replaced by the users. Contact ABB or authorized service center to replace and maintain the fan and its components.
  • Page 412 Maintenance 2. Use a slotted screwdriver to loosen the clip and remove the fan connector cover. 3. Unplug the fan connector and remove the fan. 4. Install the new fan in reverse order.

  • Page 413: Reforming The Capacitors

    Maintenance Note: 1. The air outlet direction, the fan label should be upward and visible after installed. 2. Make sure that the fan connector is properly inserted. Gently pull the fan cable and the connector should not be detached. 3. Make sure that the clip is properly fastened. 4.
  • Page 414 Maintenance...

  • Page 415: Further Information

    — Further information Product and service inquiries Address any inquiries about the product to your local ABB representative, quoting the type designation and serial number of the unit in question. Product training For information on ABB product training, navigate to new.abb.com/service/training.
  • Page 416 No.1 Block D, A-10 Jiuxianqiao Beilu, Chaoyang District, Beijing. Phone: +86 10 58217788 7*24 technical hotline: 400 810 8885 Website: https://new.abb.com/drives/zh/lv-ac-drive/servo-products ABB Drive ABB motion control ABB servo products official WeChat material database Chinese website © Copyright 2024 ABB. All rights reserved. Specifications subject to change without notice.

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