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Moons' MDX+ RC Series MDXR42J RC 000 Series Hardware Manual

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MDX+RC Series
CANopen/RS485/Pulse
DC Servo System
Hardware Manual
920-0167 RevB
1/6/2025

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Summary of Contents for Moons' MDX+ RC Series MDXR42J RC 000 Series

  • Page 1 MDX+RC Series CANopen/RS485/Pulse DC Servo System Hardware Manual 920-0167 RevB 1/6/2025...

  • Page 2: Table Of Contents

    MDX+CANopen/RS485/Pulse Hardware Manual Contents 1 Introduction ............................ 5 1.1 About this Manual ......................5 1.2 Documentation Set for MDX+ R/C Series Servo Motor ........... 5 1.3 Safety ..........................5 1.4 Safety Symbols ....................... 5 1.5 Safety Precautions ......................6 1.6  Certified Specifications ....................7 1.7 Maintenance and Inspection ....................
  • Page 3 MDX+CANopen/RS485/Pulse Hardware Manual 6 Trial Run ............................54 6.1 Inspection Before Trial Run ................... 54 6.2 Trial Run Procedure ....................... 54 6.3  Configuration by PC ...................... 55 7 Control Modes and Functions ...................... 56 7.1 I/O Signal Setting ......................56 7.2 Position Control Mode ....................71 7.3 Velocity Control Mode ....................

  • Page 4: Customer Service

    MDX+CANopen/RS485/Pulse Hardware Manual Disclaimer The information in this manual is accurate and reliable during its release. Applied Motion Products has the right to change the product specifications described in this manual without notice.  Right of Trade Mark All proprietary names mentioned in this manual are trademarks of their respective owners. Customer Service Applied Motion Products undertakes to provide quality customer service and support for all our products.

  • Page 5: Introduction

    MDX+CANopen/RS485/Pulse Hardware Manual 1 Introduction 1.1 About this Manual This manual describes the MDX+ Servo motor. It provides the information required for installation, configuration and basic operation of the MDX+  series motor. This document is intended for persons who are qualified to transport, assemble, commission, and  maintain the equipment described herein. 1.2 Documentation Set for MDX+ R/C Series Servo Motor This manual is part of a documentation set. The entire set consists of the following: •...

  • Page 6: Safety Precautions

    MDX+CANopen/RS485/Pulse Hardware Manual 1.5 Safety Precautions 1.5.1 Storage Note the following when storing: ◆ Put this motor in the packaging box and store it in a dry, dust-free place away from direct sunlight. ◆ Storage environment temperature is between -20 ºC to +65 ºC ◆...

  • Page 7: Certified Specifications

    MDX+CANopen/RS485/Pulse Hardware Manual 1.6 Certified Specifications MDX+Series servo products are designed to meet the following standards. Drive Motor EN 55011 EN 55014-1 EN 61800-3 EN 55014-2 Directive EN 6100-3-2 EN 6100-3-3 EN 60034-1 EN 61800-5-1 EN 60034-5 UL61800-5-2(SIL 3) Functional Safety (STO) IEC61508 ISO13849-1(PL e) UL 1004-1 UL Standard UL 61800-5-1...

  • Page 8: Product Introduction

    MDX+CANopen/RS485/Pulse Hardware Manual 2 Product Introduction 2.1 Unpacking Check Refer to the following chapters to confirm the motor model.  A complete and operable servo system should include the following parts: • Power cable for motor power supply (sold separately for IP65 models) • Connector for I/O port (standard for IP20 models, sold separately for IP65 models) • 3m communication cable for COM1 and COM2 ports, used for CANopen or RS485 communication (standard for IP20 models, sold separately for IP65 models.) 2.2 Part Numbering System MDX R 6 1 G N L RC A 000...

  • Page 9: Mdx+ Drive Specifications

    MDX+CANopen/RS485/Pulse Hardware Manual 2.3 MDX+ Drive Specifications 2.3.1 40mm Specification MDXR42J□◇RC★000 MDXT42J□◇RC★000 Model IP20 IP65 IP Level Rated Output Power (3000rpm) 100W 100W Input voltage range 24V ~ 60VDC Main Power Recommended input voltage 24VDC Auxiliary Power Input voltage range 24VDC±10% Insulation withstand voltage Primary to earth: withstand 500 VDC, 1 min ◆...
  • Page 10 MDX+CANopen/RS485/Pulse Hardware Manual 2.3.2 60mm Specification Model MDXR61G□◇RC★000 MDXR62G□◇RC★000 MDXT61G□◇RC★000 MDXT62G□◇RC★000 IP20 IP65 IP Level Rated Output Power (3000rpm) 200W 400W 200W 400W Input voltage range 24V ~ 60VDC Main Power Recommended input 48VDC voltage Auxiliary Power Input voltage range 24VDC±10% Insulation withstand voltage Primary to earth: withstand 500 VDC, 1 min ◆...
  • Page 11 MDX+CANopen/RS485/Pulse Hardware Manual 2.3.3 80mm Specification MDXR82G□◇RC★000 MDXT82G□◇RC★000 Model IP20 IP65 IP Level Rated Output Power (3000rpm) 550W 550W Input voltage range 24V ~ 60VDC Main Power Recommended input voltage 48VDC Auxiliary Power Input voltage range 24VDC±10% Insulation withstand voltage Primary to earth: withstand 500 VDC, 1 min ◆...

  • Page 12: 40Mm Motor Specification

    MDX+CANopen/RS485/Pulse Hardware Manual 2.4 40mm Motor Specification 2.4.1 IP20 Type ● Frame Size: 40mm ● Power Rating: 100W ● 6 Digital Inputs ● 3 Digital Outputs ● 1 Analog Inputs MDXR42J ★RC: 000 Model □ Recommended Input Voltage Rated Output Power (@ 3,000 RPM) Rated Speed 3000 Max.
  • Page 13 MDX+CANopen/RS485/Pulse Hardware Manual 2.4.2 IP65 Type ● Frame Size: 40mm ● Power Rating: 100W ● 4 Digital Inputs ● 2 Digital Outputs ● 1 Analog Inputs Model MDXT42J □ ★RC:000 Recommended Input Voltage Rated Output Power (@ 3,000 RPM) Rated Speed 3000 Max. Speed 4000 Rated Torque N·m 0.32...

  • Page 14: 60Mm Motor Specification

    MDX+CANopen/RS485/Pulse Hardware Manual 2.5 60mm Motor Specification 2.5.1 IP20 Type ● Frame Size: 60mm ● Power Rating: 200W, 400W ● 6 Digital Inputs ● 3 Digital Outputs ● 1 Analog Inputs Model MDXR61G RC★000 MDXR62G RC★000 □◇ □◇ Recommended Input Voltage Rated Output Power (@ 3,000 RPM) Rated Speed 3000 3000...
  • Page 15 MDX+CANopen/RS485/Pulse Hardware Manual 2.5.2 IP65 Type ● Frame Size: 60mm ● Power Rating: 200W, 400W ● 4 Digital Inputs ● 2 Digital Outputs ● 1 Analog Inputs Model MDXT61G RC★000 MDXT62G RC★000 □◇ □◇ Recommended Input Voltage Rated Output Power (@ 3,000 RPM) Rated Speed 3000 3000 Max.

  • Page 16: 80Mm Motor Specification

    MDX+CANopen/RS485/Pulse Hardware Manual 2.6 80mm Motor Specification 2.6.1 IP20 Type ● Frame Size: 80mm ● Power Rating: 550W ● 6 Digital Inputs ● 3 Digital Outputs ● 1 Analog Inputs MDXR82G RC★000 Model □◇ Recommended Input Voltage Rated Output Power (@ 3,000 RPM) Rated Speed 3000 Max. Speed 3900 Rated Torque N·m...
  • Page 17 MDX+CANopen/RS485/Pulse Hardware Manual 2.6.2 IP65 Type ● Frame Size: 80mm ● Power Rating: 550W ● 4 Digital Inputs ● 2 Digital Outputs ● 1 Analog Inputs Model MDXT82G RC★000 □◇ Recommended Input Voltage Rated Output Power (@ 3,000 RPM) Rated Speed 3000 Max. Speed 3900 Rated Torque N·m Peak Torque...

  • Page 18: Brake Specifications

    MDX+CANopen/RS485/Pulse Hardware Manual 2.7  Brake Specifications The motor brake is used to prevent the motor from rotating when the brake is power off. A common  application of a motor brake is a veritcal application. Because the mechanism driven by the motor can be moved by gravity, it is necessary to have a holding brake that will activate should the motor fail. The holding brake will prevent the load from falling, avoiding damage to personnel or equipment.

  • Page 19: Installation

    MDX+CANopen/RS485/Pulse Hardware Manual 3 Installation 3.1 Storage Conditions Note the following when storing: • Correctly packaged and stored in a clean and dry place, avoid direct sunlight • Store within an ambient temperature range of -20ºC~+70ºC • Store within a relative humidity rang of 10% to 85% and non-condensing •...
  • Page 20 MDX+CANopen/RS485/Pulse Hardware Manual 3.3.2 Precautions for Using Motors in Oil and Water Environments • Do not allow oil or water to enter the motor • Do not put the cable in water or oil • Since the the mounting face of the motor is not designed with IP65 protection, make sure that no water or oil intrudes from such parts •...

  • Page 21: Wiring

    MDX+CANopen/RS485/Pulse Hardware Manual 4 Wiring 4.1 IP20 Type System Configuration 4.1.1 40mm Motor AC Power Power 24VDC Power Supply 24VDC Power Supply USB-Mini Configuration Cable USB Communication (software configuration) Regeneration Clamp (Recommended) Ordering Information P/N: RC880 I/O Cable (Required for STO Models) PLC,Sensor,I/O P/N: 1664-X00 Host Communication Cable P/N: 3004-313...

  • Page 22: Ip65 Type System Configuration

    MDX+CANopen/RS485/Pulse Hardware Manual 4.1.3 80mm Motor AC Power USB-Mini Configuration Cable (Optional) USB Communication (software configuration) Host Communication Cable P/N: 3004-313 48VDC Power Supply RS-485, CANopen, Daisy Chain Communication Cable Controller P/N: 3004-310 (Alt P/N: 2111-300) Daisy chain to RS-485/CANopen device or use terminal resistor Regeneration...
  • Page 23 MDX+CANopen/RS485/Pulse Hardware Manual 4.2.2 60mm Motor AUX Power 24VDC (The motor with brake must be connected to an auxiliary power supply) Power Power Cable 24VDC Power Supply P/N: 3004-331 (Right Angle) P/N: 3004-332 (Straight) Host Communication Cable P/N: 3004-288 (Straight) RS-485, CANopen, P/N: 3004-385 (Right Angle) Controller...

  • Page 24: Emc Control

    MDX+CANopen/RS485/Pulse Hardware Manual 4.3 EMC Control MDX+ motor uses high-speed switching elements inside, which will produce high frequency or low-frequency interference during normal operation, and interfere with peripheral equipment through conduction or radiation. There is also a low-voltage unit inside the motor, which is likely to be interfered by the noise of the motor's peripheral equipment.

  • Page 25: External Circuit Wiring

    MDX+CANopen/RS485/Pulse Hardware Manual 4.4 External Circuit Wiring 4.4.1 Motor Connectors and Terminals Terminal Identification Description Main power input positive Main power input negative POWER AUX+ Auxiliary power +24V Required for models with brake AUX- Auxiliary power GND Used to connect external controllers Connect to PC COM1 / COM2 CANopen or Modbus communication port...

  • Page 26: Recommended Wires

    MDX+CANopen/RS485/Pulse Hardware Manual 4.4.4 Recommended Wires • Insulated wires with withstand voltage of 600V above 75°C are recommended for the main power circuit. • Be sure to choose the corresponding cable sizes to prevent the cable from overheating. Recommended wires for each part of the motor are as follows: Diameter of cables(AWG) Rated Connector...

  • Page 27: Choosing A Power Supply

    MDX+CANopen/RS485/Pulse Hardware Manual 4.5 Choosing a Power Supply The main considerations when choosing a power supply are the voltage and current requirements for the application. 4.5.1 Voltage The MDX+ motor is designed to give optimum performance between 24 and 48 Volts DC. Choosing the voltage depends on the performance needed and motor heating that is acceptable and/or does not cause a motor over-temperature.

  • Page 28: Main & Aux -- Wiring For Power Supply

    MDX+CANopen/RS485/Pulse Hardware Manual 4.6 Main & AUX -- Wiring for Power Supply The MDX+ series DC servo includes two power circuits: main power circuit and auxiliary power circuit (logic power), which can be connected according to application needs. Name Symbol Description Range Main Power V+, V- Main power supply input 20 ~ 60VDC When the main power supply is cut off, the following two ...

  • Page 29: Communication Port

    MDX+CANopen/RS485/Pulse Hardware Manual 4.7 Communication Port 4.7.1 USB -- PC Configuration Port The USB port is used for communication between the motor and PC. Using Luna software, you can modify parameters, perform online auto tuning and other operations. USB Mini B PIN No. Symbol Function USB POWER DATA-...
  • Page 30 MDX+CANopen/RS485/Pulse Hardware Manual ◆ IP65 Type (MDXT4) RS-485 CANopen RS485+ RS485- CAN_H CAN_L ◆ IP65 Type (MDXT6, MDXT8) RS-485 CANopen RS485+ RS485- CAN_H CAN_L 920-0167 RevB 1/6/2025...

  • Page 31: Ip20 Type -- Inputs And Outputs

    MDX+CANopen/RS485/Pulse Hardware Manual 4.8 IP20 Type -- Inputs and Outputs 4.8.1 Inputs and Outputs Definition I/O Diagram ◆ XCOM 2.4KΩ 2.4KΩ 2.4KΩ 12 Y2 2.4KΩ 2.4KΩ 11 Y3 2.4KΩ 2.4KΩ 2.4KΩ YCOM ZOUT+ X2_Opc+ 10Ω 2.2KΩ ZOUT- 10Ω 120Ω BOUT+ 10Ω 120Ω BOUT- X1_Opc+ 10Ω...

  • Page 32: I/O Pin Definition

    MDX+CANopen/RS485/Pulse Hardware Manual 4.8.2 I/O PIN Definition The I/O port of the motor is used to connect input and output signals. The pin definition is as  follows: 27 28 27 28 *STO2+ *STO2- *STO2+ *STO2- *STO1+ *STO1- *STO1+ *STO1- X2_Opc+ X1_Opc+ X2_Opc+ X1_Opc+ XCOM XCOM YCOM YCOM *EDM+ *EDM+ 40mm Frame Size 60/80mm Frame Size *Applicable only to models with STO functionality. Do not connect on models without STO. IP20 (MDXR4, MDXR6, MDXR8) Signal Function...

  • Page 33: Digital Signal Input

    MDX+CANopen/RS485/Pulse Hardware Manual 4.8.3 Digital Signal Input MDX+ IP20 type has 6 digital input signals, and each input signal can be configured with a specific  function through parameters as well as the logic of the input level (normally open/closed).  ◆ Specific function signals, such as alarm reset, limit switch, Homing switch input, Emergency stop, etc. See section 7.1 I/O Signal Setting for input functions and descriptions. ◆ General input signal, no specific function assigned, can be used as customer needs. Signal Default I/O-...
  • Page 34 MDX+CANopen/RS485/Pulse Hardware Manual ◆ Input Wiring A. The signal source is open collector NPN input B. The signal source is open collector PNP input (external  (external 24V power supply) 24V power supply) external 24VDC Controller external 24VDC Servo Drive X1_Opc+ Servo Drive Controller 2.2KΩ X1_Opc+ 2.2KΩ 120Ω 120Ω 120Ω X2_Opc+ 2.2KΩ 120Ω X2_Opc+ 120Ω 2.2KΩ...
  • Page 35 MDX+CANopen/RS485/Pulse Hardware Manual ◆ Pulse Input Mode Pulse/Direction Mode CW/CCW Mode When there is pulse input and the direction input is When there is a pulse signal Clockwise (CW) input, the  Closed, the motor rotates in one direction. motor rotates in one direction. When there is pulse input and the direction input is Open, When there is a pulse signal CounterClockwise (CCW) the motor rotates in the other direction.
  • Page 36 MDX+CANopen/RS485/Pulse Hardware Manual Digital Signal Input Wiring MDX+ IP20 type motor has 4 optically isolated single-ended inputs with a common COM point. Because these input circuits are optically isolated, they require a power supply. If it is connected to a PLC, you can use the power supply of the PLC; if it is connected to a relay or a mechanical switch, a 24VDC power supply is required.
  • Page 37 MDX+CANopen/RS485/Pulse Hardware Manual ◆ X3 ~ X6 Input connection Diagram A. Host Sink Mode B. Host Sourcing Mode 24VDC Controller Controller Servo Drive 24VDC XCOM 2.4KΩ Servo Drive X3/X4/X5/X6 2.4KΩ 2.4KΩ X3/X4/X5/X6 XCOM 2.4KΩ 0VDC 0VDC C. Connect to Relay or Switch(XCOM connect to +24V) D. Connect to Relay or Switch(XCOM connect to 0V) Servo Drive Servo Drive XCOM 2.4KΩ...

  • Page 38: Output Signal Wiring

    MDX+CANopen/RS485/Pulse Hardware Manual 4.8.6 Output Signal Wiring ◆ Y1 ~ Y3  Signal Diagram YCOM ◆ Y1 ~ Y3 Connection Diagram A. Connecting to PLC/Controller Controller Controller 24VDC 0VDC Servo Drive Servo Drive 24VDC Y1/ Y2 / Y3 Y1/ Y2 / Y3 YCOM YCOM 0VDC B. Connect to External Load Servo Drive Servo Drive 0VDC 24VDC...

  • Page 39: Analog Signal Input

    MDX+CANopen/RS485/Pulse Hardware Manual 4.8.7 Analog Signal Input The MDX+ IP20 has 1 single-ended analog input with a voltage range of -10V~+10V that can be used for analog velocity and torque control. The motor speed range and torque range, when using analog control, can be set through parameters.

  • Page 40: Ip65 Type -- Input And Output Interface

    MDX+CANopen/RS485/Pulse Hardware Manual 4.9 IP65 Type -- Input and Output Interface 4.9.1 Input and Output Interface Specification and Diagram Connector Definition: Input and Output specification: Type Description Input 2 Configurable Optically isolated  Inputs, 24VDC, 20mA Digital Signal Output 2 Configurable Optically isolated Outputs, max 30VDC, 20mA . 2 24V pulse input, Min. Pulse width 1us, Max. Pulse frequency 500KHz Input Pulse Signal Output 3 Line Driver Output: Encoder A±, B±, Z± frequency division output Analog 1 analog inputs, -10V~+10V, resolution 12bit Input...
  • Page 41 MDX+CANopen/RS485/Pulse Hardware Manual I/O Diagram ◆ 2.3KΩ 120Ω 12 Y2 2.3KΩ YCOM/EMD- 120Ω 2.4KΩ STO1+ 2.4KΩ 2.4KΩ 15 STO1- XCOM *STO 2.4KΩ 16 STO2+ *EDM+ 17 STO2- 75KΩ Analog Input 150KΩ *Applicable only to model with STO functionality. Do not connect on models without STO. 920-0167 RevB 1/6/2025...

  • Page 42: Digital Input Signal

    MDX+CANopen/RS485/Pulse Hardware Manual 4.9.2 Input and Output Pin Definition IP65 Type (MDXT4, MDXT6, MDXT8) Signal Function Signal Function Digital Input X1+ Digital Input X1- Digital Input X2+ Digital Input X2- Digital Input X3 Digital Input X4 XCOM Digital Input COM Port *EDM+ Safety Signal Output Digital Ground Analog Input Digital Output Y1...

  • Page 43: Input Signal Wiring

    MDX+CANopen/RS485/Pulse Hardware Manual 4.9.4 Input Signal Wiring Pulse Input Signal Wiring MDX+ IP65 has 2 high-speed input ports. ◆ 24V pulse input signal Max. Min. Pulse Signal Description frequency width ◆ Optocoupler input, supports: Pulse Input 1) High-speed differential pulse input, supports 24VDC 500KHz 1μs ◆ Support pulse & direction signals, CW/CCW signals, Pulse Direction Input A/B quadrature signals ◆...

  • Page 44: Digital Output Signal

    MDX+CANopen/RS485/Pulse Hardware Manual ◆ X3 ~ X4 Input connection Diagram A. Host SINK mode B. Host Sourcing mode Controller 24VDC Controller 24VDC Servo Drive XCOM 2.4KΩ Servo Drive X3/X4 2.4KΩ X3/X4 2.4KΩ XCOM 2.4KΩ 0VDC 0VDC C. Connect to Relay or Switch(XCOM connect to +24V) D. Connect to Relay or Switch(XCOM connect to 0V) Servo Drive Servo Drive XCOM 2.4KΩ...
  • Page 45 MDX+CANopen/RS485/Pulse Hardware Manual 4.9.6 Output Signal Wiring ◆ Y1 ~ Y2 Output Signal Diagram YCOM ◆ Y1 ~ Y2 Output Connection Diagram A. Connecting to PLC/Controller Controller Controller 24VDC 0VDC Servo Drive Servo Drive 24VDC Y1 / Y2 Y1/ Y2 YCOM YCOM 0VDC B. Connected to Resistor Load Servo Drive Servo Drive 24VDC 0VDC Y1 / Y2...
  • Page 46 MDX+CANopen/RS485/Pulse Hardware Manual 4.9.7 Analog Signal Input MDX+ IP65 motor has 1 single-ended analog inputs. The voltage range is -10V~+10V. The speed and torque range when operating in analog voltage control modes can be configured via  parameters I/O-PIN No Signal Description ◆ Analog Velocity Command -10V ~ +10V, -3000 ~ +3000rpm Analog Input Signal can be configured to change the setting range.

  • Page 47: Electromagnetic Brake

    MDX+CANopen/RS485/Pulse Hardware Manual 4.10 Electromagnetic Brake Servo motors are used in applications such as vertical axes. When the motor is disabled or powered off, to prevent the mechanical mechanism driven by the motor from falling due to gravity  and other reasons, it is necessary to use a servo motor with an electromagnetic brake. Note: The brake of the servo motor can only be used to maintain the position of the motor when the motor is not enabled or power-off.

  • Page 48: Safety Torque Off (Sto)

    MDX+CANopen/RS485/Pulse Hardware Manual 4.11 Safety Torque Off (STO) Several MDX+ models include a Safe Torque Off (STO) function. Safe Torque Off (Safe Torque Off) is a hardware-level safety protection function. When the STO  function is working, the hardware circuit of the motor will be triggered to forcibly turn off the power  stage, thereby preventing the motor from running. The motor will be disabled while the drive will remain powered on. When the STO function is triggered, the servo-ready signal is no longer active. the motor is disabled and the drive will output an alarm status relevant to the STO function.
  • Page 49 MDX+CANopen/RS485/Pulse Hardware Manual ■  STO Signal Definition Signal Symbol Description Control Mode When STO1 has no input signal, e.g. the port is disconnected, STO1 STO1+ Safety Input STO1 will be considered OFF. The STO function will be enabled, disabling the STO1- motor. When STO2 has no input signal, e.g. the port is disconnected, STO2 STO2+ Compatible with Safety Input STO2...

  • Page 50: Troubleshooting

    MDX+CANopen/RS485/Pulse Hardware Manual 5 Troubleshooting The red and green indicator lights are used to display the operating status and alarm codes. Status Run/Err L/A1 L/A2 5.1 Status LED Error Codes Errors are indicated by combinations of red and green flashes as shown below. This feature can be  disabled for certain warnings but not for faults. Refer to the software manual for details on masking warnings.

  • Page 51: Causes And Solutions Of Drive Alarms

    MDX+CANopen/RS485/Pulse Hardware Manual Causes and Solutions of Drive Alarms Alarm Reset Status Description Reason for alarm Solutions Method 1. Check whether the setting of parameter P3-04 (PF) "Position Fault Limit" is too small; 2. Whether the gain parameters are appropriate, Position Fault The position error exceeds the "position 3.
  • Page 52 MDX+CANopen/RS485/Pulse Hardware Manual Status Description Reason for alarm Approach Clear method 1. Motor failure; 1. Increase the power of the motor, extend 2. The motor is burned out; the acceleration and deceleration time, and 3. The load is too heavy, the effective  reduce the load; torque exceeds the rated torque, and the 5R1G Over current 2.
  • Page 53 MDX+CANopen/RS485/Pulse Hardware Manual Status Description Reason for alarm Approach Clear method 1. The functions of the I/O signals used in 1. Configure the relevant I/O signal functions  the Q program are non-universal functions; I/O signal used as general functions; 7R5G is not general 2. The functions of the I/O signals used Clear alarm 2.

  • Page 54: Trial Run

    MDX+CANopen/RS485/Pulse Hardware Manual 6 Trial Run 6.1 Inspection Before Trial Run In order to ensure the safety of the motor and mechanical structure, it is strongly recommended to check the following items before powering on the motor. 1) Wiring inspection Check whether the power input terminal Main, AUX, I/O, and communication terminal USB are correctly wired, whether the wiring is secure, whether there is a short circuit, and confirm the ...

  • Page 55: Configuration By Pc

    MDX+CANopen/RS485/Pulse Hardware Manual 6.3 Configuration by PC In order to ensure motor meets your operation requirements, we strongly recommend using "Luna Software" for following configuration setups:  1. Configure the control mode 2. Configure the encoder usage mode  3. Define motor's input/output function  4. Apply auto tuning function on PID parameters for optimized motor performance Connect to Personal Computer AC Power USB - Mini Configuration Cable USB Communication (software configuration)

  • Page 56: Control Modes And Functions

    MDX+CANopen/RS485/Pulse Hardware Manual 7 Control Modes and Functions 7.1 I/O Signal Setting Input and output signals can be assigned  pre-defined functions (e.g. CW/CCW limits, Fault  Output, In Position etc.), can be configured as general purpose and can have their logic state  configured according to application requirements. Parameters provided in this section's tables are  referencing the "Parameter Table" in the Luna configuration software. 7.1.1 Input Signal Configuration Assignable input functions The functions and logic that can be assigned to the input signal are listed below. Setup value and corresponding input logic state Signal Functions Symbol Valid when closed...
  • Page 57 MDX+CANopen/RS485/Pulse Hardware Manual 7.1.2 Output Signal Configuration Assignable output functions The functions and logic assignable to outputs are listed below: Logic and set value when output signal is valid Output when the Output when the Signal name Signal Symbol signal is valid signal is valid Closed Open...

  • Page 58: Alarm Reset

    MDX+CANopen/RS485/Pulse Hardware Manual 7.1.3 Servo Enable Servo Enable Input function (S-ON) is the enable/disable signal for energizing the motor windings.  If the motor is enabled, the user may execute motion at the motor. If the motor is disabled, the user cannot execute motion at the motor. Signal logic Type Signal name Setup value Signal logic Function Closed...

  • Page 59: Gain Select

    MDX+CANopen/RS485/Pulse Hardware Manual 7.1.5 CW, CCW Limit The CW Limit Input (CW-LMT) and CCW Limit Input (CCW-LMT) functions work with limit sensors  or switches to prevent the machine's movable parts from exceeding their allowed range, thereby avoiding accidents. Signal logic Type Signal name Setting Signal logic Function When the input state is CLOSED, the motor shows a Negative Limit Closed alarm, motor cannot continue rotating in negative direction.
  • Page 60 MDX+CANopen/RS485/Pulse Hardware Manual Tuning Parameters Parameter Command Description Class Defaults Unit P0-05 1st Position Loop Gain 0.1Hz P0-07 1st Position Loop Derivative Time Constant P0-08 1st Position Loop Derivative Filter 20000 0.1Hz P0-11 1st Velocity Command Gain 1st Gain Group 10000 0.01% P0-12...
  • Page 61 MDX+CANopen/RS485/Pulse Hardware Manual Auto switch mode P0-33 Switching condition 2nd Gain Group is met 1st Gain Group Delay time for switching from the P0-17 1st Gain Group to 2nd Gain Group P0-05 P0-38 P0-19 P0-07 P0-20 P0-08 P0-21 P0-33 P0-11 Switching condition P0-22 P0-12...

  • Page 62: Emergency Stop

    MDX+CANopen/RS485/Pulse Hardware Manual 7.1.7 Emergency Stop Emergency stop is a function that forcibly stops the operation of the servo motor through an external digital input signal. When using emergency stop, the signal E-STOP needs to be assigned to the digital input port. When the emergency stop input signal is valid, the motor controls the motor operation in the emergency stop mode set by P5-50.
  • Page 63 MDX+CANopen/RS485/Pulse Hardware Manual 7.1.8 Fault Error Output When a fault occurs, the motor will generate a fault error output, and the servo system will change from the enabled state to disabled state. Parameters P5-12 ~ P5-14 set the functions of the motor's digital output Y1 ~ Y3. To use this function, configure one of the motor's digital output as ...

  • Page 64: Warning Output

    MDX+CANopen/RS485/Pulse Hardware Manual 7.1.9 Warning Output When the motor generates the following types of abnormal warnings, a warning signal will be output. Parameters P5-12 ~ P5-14 set the functions of the motor's digital output Y1 ~ Y3. To use this function, configure one of the motor's digital output as WARN function. Type Abbreviation Value Logic Function The motor generates an abnormal warning and the output is Closed Closed status.

  • Page 65: Motor Brake Control

    MDX+CANopen/RS485/Pulse Hardware Manual 7.1.10 Motor Brake Control In order to maintain a fixed position when the motor power is OFF or the motor is disabled, a servo  motor with a brake needs to be used to ensure that the mechanical mechanism driven by the motor will not move due to its own weight or external force. Since the brake has an action delay when it works (brake or release), the timing sequence should  be calculated to avoid damage to brake. S_ON Signal Motor Enable Brake Signal...

  • Page 66: Servo Ready Output

    MDX+CANopen/RS485/Pulse Hardware Manual 7.1.11 Servo Ready Output When the motor is powered on and there is no alarm, the motor will output a Servo Ready signal, which means that the servo is ready for operation. Servo Ready refers to the situation that all of the following conditions are met.

  • Page 67: Motor Speed

    MDX+CANopen/RS485/Pulse Hardware Manual 7.1.13 Dynamic Position Error Output The dynamic position error output activates when the difference between the motor's actual  position and the commanded position exceeds the threshold set in P5-38 (Position Error Signal  Threshold) during motor operation. Type Signal name Setup Value Signal Logic Function When the dynamic position error exceeds the setting of P5-38, the DYM- Closed LMT signal is active, and the output state is CLOSED. When the dynamic position error does not exceed the setting of Open P5-38, the DYM-LMT signal is not active, and the output state is OPEN.
  • Page 68 MDX+CANopen/RS485/Pulse Hardware Manual 7.1.14 Software Limit Output Software limit output refers to the signal when the motor encounters or triggers the limit switch in the current direction of motion, and the motor cannot continue to run in the current direction. This output has two conditions: 1.

  • Page 69: Timing Diagram

    MDX+CANopen/RS485/Pulse Hardware Manual 7.1.15 Timing Diagram Timing chart for turning on the power Control Power (L1C,L2C) Done Initialization about Main Power (L1,L2,L3) about Signal Output Servo Ready Output about 300ms (Note: 1) about 1ms Servo ON Input about 1ms Servo ON States Output about 2ms Motor Engaged Warning Output...
  • Page 70 MDX+CANopen/RS485/Pulse Hardware Manual Timing chart when fault alarm occurs Fault Status No fault Output No Output Servo-on Status Output Engaged Not Engaged Motor Engaged Output No Output Servo Ready Output Output Fault Output No Output 920-0167 RevB 1/6/2025...

  • Page 71: Position Control Mode

    MDX+CANopen/RS485/Pulse Hardware Manual 7.2 Position Control Mode 7.2.1 Position Control Mode Configuration In the position control mode, position control is performed by the position command from the host controller. The following describes the basic settings for position control. Block diagram Servo Drive Position Command ( Pulse ) Pulse command Electronic Command...
  • Page 72 MDX+CANopen/RS485/Pulse Hardware Manual 7.2.2 Command Smoothing Filter Setting When the position command or speed command of the servo system changes significantly, it is  easy to cause the whole system to vibrate, and the system noise will also increase. Command filter  smooths the transition in position or speed caused by motion commands. This can reduce jitter and vibrations in the mechanical system. Related parameters Parameter Instruction Name Value range Defaults Unit Description Time constant for smoothing filtering in ...
  • Page 73 MDX+CANopen/RS485/Pulse Hardware Manual 7.2.3 In-Position Signal Output In position control mode, use the In-Position Output signal (IN-POS) to indicate the completion  of the servo motor's positioning. The IN-POS signal is activated when the absolute value of the position error—the difference between the position setpoint and actual positions—falls below the  threshold defined by parameter P5-39 for the duration specified by the timer in parameter P5-40. Signal Type Set value Signal logic Function name Positioning completed, IN-POS condition satisfied and signal is active. Output  Closed state is closed. Positioning not completed, IN-POS condition not satisfied and signal is inactive.  Open Output state is open.
  • Page 74 MDX+CANopen/RS485/Pulse Hardware Manual 7.2.4 Near Target Position Output The Near Target Position (P-COIN) signal indicates when the motor's actual position matches a  specified absolute position. This position is defined by parameter P5-46, which determines the  target position for the signal. Near Target Position Output P-COIN setting Signal Signal Type Set Value Function Name Logic When position is within 100 pulse of Near Target Position, P-COIN is active, and Closed output is closed.
  • Page 75 MDX+CANopen/RS485/Pulse Hardware Manual 7.2.5 Gain Parameter in Position Mode In position mode, application appropriate gain parameters can make the servo system run more smoothly and accurately, and have excellent positioning performance. The following gain parameters in position mode can be automatically adjusted using Luna. Parameter Command Parameter name...

  • Page 76: Velocity Control Mode

    MDX+CANopen/RS485/Pulse Hardware Manual 7.3 Velocity Control Mode 7.3.1 Velocity Control Mode Configuration Velocity control mode is used for precise speed control. ◆ Block diagram Servo Drives Speed command Instruction Instruction limit Smoothing Limit SPD-DIR Direction Switching Motor rotation direction switching ZCLAMP Zero Speed Clamp Zero speed clamp function Host Z-SPD Zero Speed Signal Output...
  • Page 77 MDX+CANopen/RS485/Pulse Hardware Manual 7.3.2 Zero Speed Clamp Function In velocity control mode, the Zero Speed Clamp function is used to maintain the shaft position when zero speed is desired. This is achieved by enabling the Position Control Loop in the servo system.
  • Page 78 MDX+CANopen/RS485/Pulse Hardware Manual 7.3.3 Start/Stop Control and Direction Changing in Analog Speed Mode Start and Stop Control The motor speed is determined by the actual analog input voltage in the analog speed mode. When the speed command is "zero", the motor keeps the speed at zero. You can also use the "Torque and Velocity Control" of input function to start and stop the motor ...

  • Page 79: Direction Control

    MDX+CANopen/RS485/Pulse Hardware Manual Direction Control In the speed mode, the motor rotation direction is usually determined by the sign of analong input voltage, or by the sign of speed command. If one of the digital inputs is set as Torque and Velocity Direction Switch(SPD-DIR) function, the speed command sign is ignored, and the direction is ...
  • Page 80 MDX+CANopen/RS485/Pulse Hardware Manual 7.3.4 Zero Speed Output When the absolute value of the actual speed of the motor is less than P5-42 (zero speed width),  and the duration reaches the set time of P5-40 , the motor outputs the zero-speed signal Z-SPD. If the absolute value of the actual speed of the motor is greater than P5-42, the zero-speed signal Z-SPD will not be output.
  • Page 81 MDX+CANopen/RS485/Pulse Hardware Manual 7.3.5 Velocity Reached Output In velocity control mode mode, when the absolute value of the actual motor speed exceeds P5- 44 (Velocity Reached Threshold), for the duration of time specified in P5-40, the velocity reached  signal AT-SPD will be output. If the actual speed of the motor after filtering does not exceed P5-44, the velocity reached signal  AT-SPD will not be output. AT-SPD output signal configuration When using the velocity reached output AT-SPD, a digital output pin needs to be assigned this function.
  • Page 82 MDX+CANopen/RS485/Pulse Hardware Manual 7.3.6 Velocity Coincidence (V-COIN) In velocity control mode, when the fluctuation of the actual velocity from the commanded velocity  is within the margins set by P5-43, for the duration of time specified by P5-40, then it is determined  that the actual speed of the motor is consistent with the commanded velocity and the velocity consistent signal, V-COIN, is active. If the actual velocity falls outside of P5-43, the velocity coincidence signal V-COIN will not be output.
  • Page 83 MDX+CANopen/RS485/Pulse Hardware Manual 7.3.7 Velocity Control Mode Methods In velocity control mode, there are two control types: 1. Position over time 2. Speed control only (default setting) Related parameters Value Parameter Instruction Name Defaults Unit Describe range Set the control type in speed mode P1-03 Jog Mode 1, 2...
  • Page 84 MDX+CANopen/RS485/Pulse Hardware Manual 7.3.8 Analog Speed Mode Settings Wiring Methods of Analog Input Signal Type Signals Pin No. Description Analog Input AIN1 Analog speed command ±10VDC 150KΩ 75KΩ Input DGND GND of analog input Source of Analog Speed Command The source of anlog speed command is set by parameter P4-11. Parameter Command Description...
  • Page 85 MDX+CANopen/RS485/Pulse Hardware Analog Input Offset When using the analog velocity mode, the servo motor may rotate slightly in some cases even if the input analog command is at 0 voltage. This is because there is a slight drift when analog signal is received by motor. The parameter P4-03 is used to eliminate this situation. You can use the Luna  software to automatically adjust the offset or manually modify these parameters.

  • Page 86: Analog Input Deadband

    MDX+CANopen/RS485/Pulse Hardware Manual Analog Input Deadband In analog control mode, due to some disturbances and other reasons, even if the command voltage is 0V, the input voltage on the motor side may be not absolutely zero, which makes the motor rotate at a very low speed. In order to eliminate this situation, setting a reasonable deadband can ensure that when the input voltage is within the deadband, it is regarded as 0V.
  • Page 87 MDX+CANopen/RS485/Pulse Hardware Acceleration Smoothing For Analog Speed Control Analog commands are generally step signals, for example, the analog input voltage changes from 1V to 5V, which can easily cause equipment vibration when motor speed changes. Acceleration smoothing filtering is to smooth the step speed command, that is, to control the accleration and  deceleration when target speed changes. Analog Command Motor Speed 1500...

  • Page 88: Torque Control Mode

    MDX+CANopen/RS485/Pulse Hardware Manual 7.4 Torque Control Mode 7.4.1 Commanded Torque Control Torque control mode is used for precise torque control. MDX+ Series support commanded torque mode. Command torque mode uses communication commands to control the motor. Parameter Command Value Control Mode Control Method Description ◆...
  • Page 89 MDX+CANopen/RS485/Pulse Hardware Manual 7.4.3 Rotation Direction Switch In torque mode, the rotation direction of the motor is usually determined by the positive or negative command torque value. When a digital input is set to SPD-DIR for torque and speed direction switching, the motor takes the absolute value of the command torque and determines the final ...
  • Page 90 MDX+CANopen/RS485/Pulse Hardware Manual 7.4.4 Velocity Limit Output In torque control mode, when the maximum velocity limit is reached, an output signal will be active notifying the user. The following are the parameters of this signal: Type Signal name Set value Signal logic Function The output speed of the motor is limited, the output signal, the output state is Closed...
  • Page 91 MDX+CANopen/RS485/Pulse Hardware Manual 7.4.6 Torque Coincidence Output When fluctuations of the actual torque from the target torque are within P5-45 for the duration  specified by P5-40, the actual torque is considered coincident with the target torque. The T-COIN  signal is active to notify users of this. If the torque fluctuation exceeds P5-45, the torque consistent signal T-COIN will not be active. Setting of torque coincidence signal T-COIN When using the torque coincidence output, T-COIN, the digital output pin needs to be assigned this function.

  • Page 92: Torque Limit

    MDX+CANopen/RS485/Pulse Hardware Manual 7.5 Torque Limit Torque limit is to limit the output torque of the servo motor. This function is applicable in all control modes, such as position, velocity, torque, etc. ◆ Torque limiting method Parameter P1-10 defines 6 torque limitation methods, each limitation method is as follows. P1-10 Forward torque limit source Reverse torque limit source Torque limit method OD[0x60E0]...
  • Page 93 MDX+CANopen/RS485/Pulse Hardware Manual Parameter based torque limits (same limit value for forward and reverse directions) When P1-10 = 1, the forward and reverse torque limits are determined by parameter P1-06. Related parameters Value Parameter Instruction Name Defaults Unit Description range P1-06 1st Torque Limit 0~3000 3000 0.1% 1st torque limit of the motor Note: If torque limits are set too low, there may be insufficient torque available for acceleration and deceleration.
  • Page 94 MDX+CANopen/RS485/Pulse Hardware Manual Torque limiting via TQ-LMT input (same limit value for forward and reverse directions) When P1-10 =3, the forward and reverse torque limit is determined by the logic state of the torque limit input TQ-LMT. • Users will need to configure the logic of the TQ-LMIT input according to their application (normally  open/closed). However, when the primary TQ-LMT logic state is established (Low), forward and  reverse torque limits are defined by P1-06. If the primary TQ-LMT logic state is not established  (High), forward and reverse torque limits are defined by P1-25. Related parameters Parameter Instruction Name Value range Defaults Unit Description P1-06 1st Torque Limit 0~3000...
  • Page 95 MDX+CANopen/RS485/Pulse Hardware Manual TQ-LMT input Low TQ-LMT input High Motor Maximum Torque Motor Maximum Torque P1-06 P1-25 Time Time -P1-06 -P1-25 Motor maximum torque Motor maximum torque When P1-10 = 3 and the TQ-LMT input is Low, the forward and When P1-10 = 3 and the TQ-LMT input is High, the forward and reverse torque limits are defined by P1-06.

  • Page 96: Encoder Feedback Output Function

    MDX+CANopen/RS485/Pulse Hardware Manual 7.5.2 Torque Limit Reached Output The Torque Limit Output (T-LMT) activates when the actual torque reaches the configured torque  limit for the specified direction Type Signal name Set value Signal logic Function The torque limit is reached, the signal is output, the state of the output is Closed closed. The torque limit is not reached, the signal is not output, the state of the Open output is open.
  • Page 97 MDX+CANopen/RS485/Pulse Hardware Manual 7.6.2 Pulse Frequency Division Output Mode Setting When using the encoder feedback output function, its important that users configure the sequence  of output phases ( A-leads-B or B-leads-A), the polarity of the Z index output and the frequency  division ratio (both numerator and denominator set individually). The frequency division ratio  impacts the pulses per revolution output by the motor. Use parameter P3-12 to set the output pulse source, output pulse phase, and Z pulse output polarity type. The functions corresponding to each bit are as follows. Parameter P3-12 Encoder Pulse Output Mode bit7 bit6...
  • Page 98 MDX+CANopen/RS485/Pulse Hardware Manual 7.6.3 Pulse Output Gear Ratio The pulse count per motor revolution for the MDX+ Series can be configured using parameters P3- 13 and P3-14. P3-13 Encoder Pulse Output Ratio - Numerator x 65535 Number of output pulses per revolution = P3-14 Encoder Pulse Output Ratio - Denominator Note: The number of output pulses per revolution refers to the frequency multiplied by 4 of the A/B phase Related parameters Value...

  • Page 99: Dynamic Braking

    MDX+CANopen/RS485/Pulse Hardware Manual 7.7 Dynamic Braking Dynamic braking can be used when a fault occurs. Dynamic braking is implemented by short circuiting the U/V/W phases of the motor. This brings the motor to a stop at the highest deceleration rate and is meant to protect personnel and equipment. Stopping without dynamic braking Stopping with dynamic braking Command Speed...

  • Page 100: Home Function

    MDX+CANopen/RS485/Pulse Hardware Manual 7.7.1 Dynamic Braking when Servo Off Various braking methods for when the Servo Off signal is trigered can be confirgured via P1-29.  See below chart for details. The chart details the various deceleration process as well as the state of the motor after deceleration has finished. Description Value Deceleration process After stop According to the setting of Remain in free spin parameter P2-01 According to the setting of Dynamic braking parameter P2-01...
  • Page 101 MDX+CANopen/RS485/Pulse Hardware Manual There are three ways to enable homing: 1. Return-To-Home Start Digital Input Function (S-HOM) Type Signal name Set value Signal logic Function The S-HOM function is activated on the rising edge of the signal and Closed initiates return to home motion. Open S-HOM function is not enabled Input...
  • Page 102 MDX+CANopen/RS485/Pulse Hardware Manual 7.8.1 Introduction to Homing Homing methods [P5-49] are used to find the desired "0" position for the application in relationship to  the mechanical system. An example being the desired "0" position on a linear actuator in relationship with one of the hard limits of the slide. The desired home position could very well be the same as a mechanical hard limit, a home sensor or the first index pulse of the motor encoder after offsetting a desired distance away from a mechanical ...
  • Page 103 MDX+CANopen/RS485/Pulse Hardware Manual Homing Method -4: Hard stop home in the positive direction with offset Movement Track Offset Positive Mechanical Hard Limit • Start the return at positive high speed, decelerate to stop when the mechanical hard limit meets the torque equal to the blocking force and the motor limit, run at the negative high speed by the distance of the origin offset P2-27, and the position of the motor is 0 after stop.
  • Page 104 MDX+CANopen/RS485/Pulse Hardware Manual Homing Method -1: Hard stop home in the negative direction, offset to encoder index (Z-Phase) Movement Track Offest Z-phase Signal Negative mechanical hard limit • Start the return at a negative high speed, decelerate and stop when the mechanical hard limit meets the torque limit of the blocking force and the motor limit, run at a positive low speed, stop at the first Z pulse, and run at a positive high-speed origin offset the distance of P2-27, ...
  • Page 105 MDX+CANopen/RS485/Pulse Hardware Manual Homing Method 2: Begin home in positive direction, dependent on positive position limit and encoder index (Z-Phase) Movement Track Z-phase Signal Positive Limit Signal • Homes to the first index CW after the CCW limit switch is reached Homing Method 3: Begin home in positive direction, depending on homing sensor falling edge and encoder index (Z-Phase) Movement Track Z-phase Signal...
  • Page 106 MDX+CANopen/RS485/Pulse Hardware Manual Homing Method 4: Begin home in positive direction, dependent on homing sensor rising edge and encoder index (Z-Phase) Movement Track Z-phase Signal Home Switch Signal • Homes to the first index CCW after the positive home switch changes state. The initial  direction of motion is dependent on the state of the home switch. Homing Method 5: Begin home in negative direction, dependent on homing sensor falling edge and encoder index (Z-Phase) Movement Track...
  • Page 107 MDX+CANopen/RS485/Pulse Hardware Manual Homing Method 6: Begin home in negative direction, dependent on homing sensor rising edge and encoder index (Z-Phase) Movement Track Z-phase Signal Home Switch Signal • Homes to the first index CW after the negative home switch changes state. The initial  direction of motion is dependent on the state of home switch. Homing Method 7: Begin home in positive direction, dependent on home sensor falling edge and encoder index (Z-Phase). If positive limit encountered first, begin motion in negative direction Movement Track Z-phase Signal...
  • Page 108 MDX+CANopen/RS485/Pulse Hardware Manual Homing Method 8: Begin home in positive direction, dependent on home sensor rising edge and encoder index (Z-Phase). If positive limit encountered first, begin motion in negative direction. Movement Track Z-phase Signal Home Switch Signal Positive Limit Switch Signal • Starts moving CCW (or CW if the home switch is active), and homes to the first index CCW  of the home switch transition. Homing Method 9: Begin home in positive direction dependent on home sensor rising edge and encoder index (Z-Phase). If positive limit encountered first, begin motion in negative direction Movement Track Z-phase Signal...
  • Page 109 MDX+CANopen/RS485/Pulse Hardware Manual Homing Method 10: Begin home in positive direction, dependent on home sensor falling edge and encoder index (Z-Phase). If positive limit encountered first, begin motion in negative direction. Movement Track Z-phase Signal Home Switch Signal Negative limit switch signal • Starts moving CCW and homes to the first index CCW of the home switch transition. Homing Method 11: Begin home in negative direction, dependent on home sensor falling edge and encoder index (Z-Phase). If negative limit encountered first, begin motion in positive direction.
  • Page 110 MDX+CANopen/RS485/Pulse Hardware Manual Homing Method 12: Begin home in the negative direction, dependent on rising edge of homing sensor and encoder index (A-Phase). If negative limit encountered first, begin motion in the  positive direction. Movement Track Z-Phase Signal Home Switch Signal Negative Limit Switch Signal • Starts moving CW (or CCW if the home switch is active), and homes to the first index CW of  the home switch transition. Homing Method 13: Begin home in the negative direction, dependent on rising edge of homing sensor and encoder index (A-Phase). If negative limit encountered first, begin motion in the ...
  • Page 111 MDX+CANopen/RS485/Pulse Hardware Manual Homing Method 14: Begin home in the negative direction, dependent on falling edge of homing sensor and encoder index (A-Phase). If negative limit encountered first, begin motion in the  positive direction. Movement Track Z-Phase Signal Home Switch Signal Negative Limit Switch Signal • Starts moving CW and homes to the first index CW of the home switch transition shown  above. Homing Method 15, 16 reserved Homing Method 17: Begin home in the negative direction.
  • Page 112 MDX+CANopen/RS485/Pulse Hardware Manual Homing Method 19: Begin home in the positive direction, dependent on falling edge of home sensor. Movement Track Home Switch Signal • Home to the home switch transition Homing Method 20: Begin home in positive direction, dependent on rising edge of home sensor. Movement Track Home Switch Signal •...
  • Page 113 MDX+CANopen/RS485/Pulse Hardware Manual Homing Method 21: Begin home in negative direction. Dependent on falling edge of home sensor. Movement Track Home Switch Signal • Home to the home switch transition. Homing Method 22: Begin home in negative direction. Dependent on rising edge of home sensor. Movement Track Home Switch Signal •...
  • Page 114 MDX+CANopen/RS485/Pulse Hardware Manual Homing Method 23: Begin home in positive direction. Dependent on falling edge of home sensor. If positive limit encountered first, begin motion in negative direction. Movement Track Home Switch Signal Positive limit switch signal • Home to the home switch transition shown above, and "bounce off" the CCW limit, if  required. Homing Method 24: Begin home in positive direction. Dependent on rising edge of home sensor. If positive limit encountered first, begin motion in negative direction Movement Track Home Switch Signal...
  • Page 115 MDX+CANopen/RS485/Pulse Hardware Manual Homing Method 25: Begin home in positive direction, dependent on rising edge of home sensor. If positive limit encountered first, begin motion in negative direction Movement Track Home Switch Signal Positive limit switch signal • Home to the home switch transition shown above, and "bounce off" the CCW limit, if  required. Homing Method 26: Begin home in positive direction, dependent on falling edge of home sensor. If positive limit encountered first, begin motion in negative direction.
  • Page 116 MDX+CANopen/RS485/Pulse Hardware Manual Homing Method 27: Begin home in the negative direction, dependent on the falling edge of the home sensor. If negative limit encountered first, begin motion in positive direction. Movement Track Home Switch Signal Negative limit switch signal • Home to the home switch transition shown above, and "bounce off" the CW limit, if required Homing Method 28: Begin home in the negative direction, dependent on the rising edge of the home sensor. If negative limit encountered first, begin motion in positive direction Movement Track Home Switch Signal...
  • Page 117 MDX+CANopen/RS485/Pulse Hardware Manual Homing Method 29: Begin home in the negative direction, dependent on the rising edge of the home sensor. If negative limit encountered first, begin motion in positive direction Movement Track Home Switch Signal Negative limit switch signal • Home to the home switch transition shown above, and "bounce off" the CW limit, if required. Return to homing mode 30: Begin home in the negative direction, dependent on the rising edge of the home sensor. If negative limit encountered first, begin motion in positive direction Movement Track Home Switch Signal...
  • Page 118 MDX+CANopen/RS485/Pulse Hardware Manual Homing Method 31, 32 reserved Homing Method 33: Negative return, looking for the first Z pulse signal Movement Track Z-Phase Signal • Homes to the next index pulse CW from the current position. If the CW limit is hit, the motor resets to the CCW limit, and continues searching for a limit in the CW direction Homing Method 34: forward return, look for the first Z pulse signal Movement Track...

  • Page 119: Internal Velocity Control

    MDX+CANopen/RS485/Pulse Hardware Manual 7.9 Internal Velocity Control MDX+ series motor supports setting 8 groups of internal speeds, and selects the corresponding speed group through the external digital inputs. Since the parameters are stored in the motor, the speed mode can be controlled without analog input. MDX+ Velocity Start Internal Speed Select Input 1...

  • Page 120: Digital Inputs Settings

    MDX+CANopen/RS485/Pulse Hardware Manual 7.9.2 Digital Inputs Settings When using the internal velocity mode, it is necessary to set the corresponding function for the digital inputs. Parameters P5-00 ~ P5-05 are used to set the functions of digital inputs X1 ~ X6. Setup value and corresponding input logic state of P5-00 ~ P5-05.
  • Page 121 MDX+CANopen/RS485/Pulse Hardware Manual 7.9.4 Input Signal and 8-Segment Internal Speed Selection The correspondences between the logic state of the speed selection input signal and the internal speed segments are as shown in the figure below. Speed +Speed 8 +Speed 7 +Speed 6 +Speed 5 +Speed 4 +Speed 3 +Speed 2 +Speed 1 -Speed 1...
  • Page 122 MDX+CANopen/RS485/Pulse Hardware Manual The actual rotation direction is determined by the parameters P1-11 (Rotational Direction Setup),  Speed Command, and the input logic of SPD-DIR. The detailed relationship is as follows. ◆ None of digital inputs is configured as SPD-DIR function command Parameter P1-11 motor Actual motor rotation torque(communication  Input logic of SPD-DIR rotation direction direction command) Positive Negative Input signal not used Positive Negative ◆ One of digital inputs is configured as SPD-DIR function: ...

  • Page 123: Parameter Setting

    MDX+CANopen/RS485/Pulse Hardware Manual 8 Parameter Setting 8.1 Parameter Classification The MDX+ series parameters are divided into six groups. Group Type Instruction Group 0: P0-XX PID Gain Parameters Set the gain parameters of the servo and related parameters Group 1: P1-XX Configuration Parameters Set or configure various motor functions ...
  • Page 124 MDX+CANopen/RS485/Pulse Hardware Manual P1-XX: Motor Configuration Parameter Function Defaults Range Unit Effective Command Effective  P1-00 Main Control Mode 1,2,7,11,15,21 immediately Effective  P1-01 Secondary Control Mode 1,2,7,11,15,21 immediately P1-02 Control Mode On Power Up 8 ~ 10, 13 P1-03 Jog Mode 1 ~ 2 P1-05 Current Command for Torque Control...
  • Page 125 MDX+CANopen/RS485/Pulse Hardware Manual P2-XX: Trajectory & Motion Profile Parameter Function Defaults Range Unit Effective Command P2-00 Maximum Velocity 0 ~ 100 P2-01 Maximum Acceleration/Deceleration 3000 0.167 ~ 5000 rps/s P2-02 Jog Velocity -100 ~ 100 P2-03 Jog Acceleration 0.167 ~ 5000 rps/s P2-04 Jog Deceleration...
  • Page 126 MDX+CANopen/RS485/Pulse Hardware Manual P5-XX Digital I/O Signal Parameters Parameter Function Defaults Range Unit Effective Command P5-00 Digital Input 1 Function 0 ~ 48 P5-01 Digital Input 2 Function 0 ~ 48 P5-02 Digital Input 3 Function 0 ~ 48 P5-03 Digital Input 4 Function 0 ~ 48 P5-04...

  • Page 127: Parameter Description

    MDX+CANopen/RS485/Pulse Hardware Manual 8.3 Parameter Description 8.3.1 Group P0-XX: PID Gain Parameters Parameter Instruction Name Defaults Range Unit Control Modes P0-00 Tuning Mode 0 ~ 2 Set the parameter tuning method. Set value Parameter setting mode Description Note Set the gain value of servo system by In this mode, only modification of P0-03 is ...
  • Page 128 MDX+CANopen/RS485/Pulse Hardware Manual Parameter Instruction Name Defaults Range Unit Control Modes P0-05 1st Position Loop Gain 0 ~ 20000 0.1Hz Set the proportional gain for position control. 0 means not used, 20000 means the proportional effect is maximized. Increasing this  parameter can improve the responsiveness of the system, reduce the position error, and shorten the positioning time. When the proportional gain of the position loop is too small, the system response will be delayed and position errors will decrease slowly.
  • Page 129 MDX+CANopen/RS485/Pulse Hardware Manual Parameter Instruction Name Defaults Range Unit Control Modes P0-14 Acceleration Feedforward Gain 3000 0 ~ 20000 0.01% Acceleration feedforward gain in servo control. A value of 0 means that the feedforward is not used, and a value of 10000 means that the feedforward effect is maximized.
  • Page 130 MDX+CANopen/RS485/Pulse Hardware Manual Parameter Instruction Name Defaults Range Unit Control Modes P0-20 2nd Position Loop Derivative Filter 20000 0 ~ 40000 0.1Hz Set the position loop derivative low-pass filter for position control used by the 2nd gain group. 0 means no filtering effect. This filter is a one-pole, low-pass filter intended for attenuating high frequency oscillations. This value is a  constant that must be calculated from the desired roll off frequency. Parameter Instruction Name Defaults Range Unit Control Modes P0-21 2nd Velocity Command Gain 10000 -30000 ~ 30000 0.01% The velocity command from the position control loop is multiplied by the ratio of this parameter and used for the velocity control loop when the 2nd gain group is active.
  • Page 131 MDX+CANopen/RS485/Pulse Hardware Manual Parameter Instruction Name Defaults Range Unit Control Modes 2nd Command Torque Filter P0-24 1099 0 ~ 40000 0.1 Hz Frequency Command Torque Filter Frequency for the 2nd gain group. The filter is a single-output low-pass filter, which is used to low-pass filter  the output of the PID controller (that is, the reference current). System operation needs to be considered when setting this value. The smaller the value, the lower the filtering frequency and the more obvious the filtering effect. The default value of 1099 works for  most applications. This value can be modified in cases of motor vibrations or abnormal audible noise.  An example use case is when a system is prone to mechanical resonance. The low pass filter cutoff frequency can be set below the  resonance frequency of the system to prevent the motor control loop from exciting the system into its resonance frequency. In large inertia applications, increasing KP can help improve the system response but a KP value set too high can induce vibrations.
  • Page 132 MDX+CANopen/RS485/Pulse Hardware Manual Parameter Instruction Name Defaults Range Unit Control Modes Delay Time - 2nd Group Gains to P0-37 0 ~ 10000 1st Group Gains Parameter Instruction Name Defaults Range Unit Control Modes Delay Time - 1st Group Gains to P0-38 0 ~ 10000 2nd Group Gains...
  • Page 133 MDX+CANopen/RS485/Pulse Hardware Manual 8.3.2 Group P1-XX: Configuration Parameters Parameter Command Description Default Range Unit Contol mode P1-00 Main Control Mode 1,2,7,11,15,21 Parameter P1-00 is used to set the Main Control Mode of the motor. Setup Value Control Mode Control Signal Instruction Q program commands or Use communication commands to control Command Torque Mode Modbus commands...
  • Page 134 MDX+CANopen/RS485/Pulse Hardware Manual Parameter Instruction Name Defaults Range Unit Control Modes P1-06 1st Torque Limit 3000 0 ~ 3000 0.1% Sets the maximum peak current level for the servo motor when operating in Point-to-Point mode and Velocity Control Mode. Behaves as the first torque limit when operating in Torque Control. Parameter Instruction Name Defaults...
  • Page 135 MDX+CANopen/RS485/Pulse Hardware Manual Parameter Instruction Name Defaults Range Unit Control Modes P1-10 Torque Limit Method 0 ~ 3, 5 ~ 6 Parameter P1-10 defines 5 torque limit modes, each of which is as follows. Set value Forward direction Reverse direction Register Y Register Z Parameter P1-06 Parameter P1-06 Parameter P1-25 TQ-LMT input is Low: P1-06 TQ-LMT input is High: P1-26 If TQ-LMT input is Low: P1-06 If TQ-LMT input is Low: P1-25...
  • Page 136 MDX+CANopen/RS485/Pulse Hardware Manual Parameter Instruction Name Defaults Range Unit Control Modes P1-14 Transmit Delay 0 ~ 20 Sets or requests the time delay used by the motor when responding to a command that requests a response. Typically this is needed when using the 2-wire RS-485 interface (Half-duplex). Because the same wires are used for both receive and transmit a time delay is usually needed to allow transition time. The Host device’s RS-485 specification must be understood to determine the time delay needed.
  • Page 137 MDX+CANopen/RS485/Pulse Hardware Manual Parameter Instruction Name Defaults Range Unit Control Modes P1-25 2nd Torque Limit 3000 0 ~ 3000 0.1% Sets the second limit value of the motor output torque. Used according the parameter P1-10: Torque Limit Method. Refer to Chapter 7.5 Torque Limit Parameter...
  • Page 138 MDX+CANopen/RS485/Pulse Hardware Manual Parameter Instruction Name Defaults Range Unit Control Modes Dynamic Brake Action Time when P1-31 0 ~ 30000 Servo Off This parameter sets the longest action time of dynamic braking during deceleration when the servo is OFF. The deceleration process means that when the dynamic braking takes effect, the actual speed of the motor decelerates from the  speed when it takes effect to within the zero-speed threshold of parameter P5-42, or the deceleration time reaches the setting of P1- ◆...
  • Page 139 MDX+CANopen/RS485/Pulse Hardware Manual Parameter Instruction Name Defaults Range Unit Control Modes P1-34 Current Ramp Limit 1000 00 ~ 3000 0.1% Sets the allowable instantaneous change in current. If the motor current control loop suddendly demands a current value higher than the one set by this parameter, a Motor Collision Fault (7R4G) is triggered, disabling the motor.
  • Page 140 MDX+CANopen/RS485/Pulse Hardware Manual 8.3.3 Group P2-XX: Trajectory & Motion Profile Parameters Parameter Instruction Name Defaults Range Unit Control Modes P2-00 Maximum Velocity 0 ~ 100 Set the maximum running speed of the motor. If the actual speed goes above the limit set in P2-00, a "Motor Speed Exceeds Limit" fault (5R3G sequence) will activate, and the  motor will stop. Parameter Instruction Name Defaults Range Unit Control Modes P2-01 Maximum Acceleration/Deceleration 3000 0.167 ~ 5000...
  • Page 141 MDX+CANopen/RS485/Pulse Hardware Manual Deceleration rate used in point-to-point move commands in rev/sec/sec. Parameter Instruction Name Defaults Range Unit Contol mode P2-09 Velocity Change (Point-to-Point) 0 ~ 100 The internal position mode provides point-to-point positioning control with variable speed. This parameter sets the speed for the second stage of motion.
  • Page 142 MDX+CANopen/RS485/Pulse Hardware Manual Parameter Instruction Name Defaults Range Unit Control Modes P2-24 Homing Velocity 1 0.0042 ~ 100 Sets the velocity used in the first state of a homing operation. Parameter Instruction Name Defaults Range Unit Control Modes P2-25 Homing Velocity 2 0.0042 ~ 100 Sets the velocity used in the second stage of a homing operation. Parameter Instruction Name...
  • Page 143 MDX+CANopen/RS485/Pulse Hardware Manual 8.3.4 Group P3-XX: Encoder & Pulse/Dir Parameters Parameter Command Description Default Range Unit Contol mode P3-00 Electronic Gear Ratio - Numerator 32000 1 ~ 2147483647 This parameter defines the numerator of Electronic Gear Ratio. The electronic gear ratio is used to define the relationship between pulse input commands (STP/DIR and CW/CCW control modes)  and angular displacement of the motor shaft. Parameter Command Description Default Range Unit...
  • Page 144 MDX+CANopen/RS485/Pulse Hardware Manual Code Command Name Default Range Unit Control Modes pulses/ P3-05 Electronic Gearing 10000 200 ~ 131072 This parameter directly sets the number of counts per motor revolution. It is an alternative to the ratio constituted by parameters P3-00 and P3-01. The setting of P3-16 will switch between P3-05 and the combination of P3-0/P3-02.
  • Page 145 MDX+CANopen/RS485/Pulse Hardware Manual Code Command Name Default Range Unit Control Modes Encoder Pulse Output Ratio - P3-14 131072 0 ~ 13107200 Denominator Sets the denominator for the ratio defining the relationship between encoder output pulses per motor revolution. P3-13 Encoder Pulse Output Ratio - Numerator x 65535 Number of output pulses per revolution = P3-14 Encoder Pulse Output Ratio - Denominator Note: •...
  • Page 146 MDX+CANopen/RS485/Pulse Hardware Manual 8.3.5 Group P4-XX: Analog Input Parameters Parameter Command Description Default Range Unit Control Modes -2147483647 ~ P4-00 Analog Input Position Gain 8000 pulses/10V P +2147483647 The analog Input gain that relates to motor position when the drive is in analog position command mode. Gain value sets the commanded position when the analog input is at the configured full scale value of 10V.
  • Page 147 MDX+CANopen/RS485/Pulse Hardware Manual Parameter Command Description Default Range Unit Contol modes P4-05 Analog Input 1 Dead-band 0 ~ 255 The analog input deadband value of the analog input 1.  The deadband value is the zone around the "zero" value of the analog input. This deadband defines the area of the analog input  range that the motor should interpret as "zero". The deadband is an absolute value that in usage is applied to either side of the zero point.
  • Page 148 MDX+CANopen/RS485/Pulse Hardware Manual 8.3.6 Group P5-XX: Digital IO Signals Parameters Parameter Instruction Name Defaults Range Unit Control Modes P5-00 Digital Input 1 Function 0 ~ 48 Parameter Instruction Name Defaults Range Unit Control Modes P5-01 Digital Input 2 Function 0 ~ 48 Parameter Instruction Name Defaults...
  • Page 149 MDX+CANopen/RS485/Pulse Hardware Manual Parameter Instruction Name Defaults Range Unit Control Modes P5-13 Digital Output 2 Function 0 ~ 34 Parameters P5-12 ~P5-14 define the functions for digital output ports Y1 ~ Y3, respectively. The digital outputs can be assigned a  variety of functions and logic states, as outlined below. Logic and set value when output signal is valid Output when the signal Output when the signal Signal name Shorthand notation...
  • Page 150 MDX+CANopen/RS485/Pulse Hardware Manual Parameter Instruction Name Defaults Range Unit Control Modes P5-25 Servo Off Delay after Brake Applied 0 ~ 32000 Sets the time delay between brake engagement and motor disable. Brake engagement should occur before the motor is disabled. This ensures that the load is always under control by either the motor or the brake. S_ON Signal Energization of motor BRK Signal...
  • Page 151 MDX+CANopen/RS485/Pulse Hardware Manual Parameter Command Description Default Range Unit Contol Modes P5-33 Digital Input 6 Filter 0 ~ 8000 Parameter Instruction Name Defaults Range Unit Control Modes P5-38 Position Error Signal Threshold pulses 2147483647 In Position control mode, when an output is configured as DYM-LMT, parameter P5-38 defines the condition under which the signal  becomes active. This parameter not be confused with Position Fault Limit. 1500 Motor Speed P5-38...
  • Page 152 MDX+CANopen/RS485/Pulse Hardware Manual Parameter Instruction Name Defaults Range Unit Control Modes P5-42 Zero Speed Width 0.1 ~ 2 Sets the magnitude of a velocity window within which the motor will be considered at standstill. If the magnitude of the motor speed is within this window, the zero-speed signal, Z-SPD will be be output.
  • Page 153 MDX+CANopen/RS485/Pulse Hardware Manual Parameter Instruction Name Defaults Range Unit Control Modes P5-45 Torque Coincidence Width 0 ~ 3000 0.1% When operating in torque control, if the absolute value of the actual torque reaches the target torque (P1-07), remains within the  torque coincidence width (P5-45) for the amount of time specified by P5-40, the Torque Reached output signal (TQ-REACH) will be  output. If any of the above conditions is not satisfied, the TQ-REACH signal will not be output. Torque P5-45 P1-07 -P5-45 Time Torque reaches output Output No Output No Output Parameter Instruction Name Defaults Range Unit Control Modes -2147483647 ~...

  • Page 154: Servo Gain Setting

    MDX+CANopen/RS485/Pulse Hardware Manual 9 Servo Gain Setting Servo gain tuning is a function to optimize the response of the servo motor. In order to closely match the commanded motion, it might be necessary for users to adjust tuning parameters. The requirement to tune is based on operation performance requirements and load characteristics and should not be considered a blanket requirement for all applications.
  • Page 155 MDX+CANopen/RS485/Pulse Hardware Manual 9.1.2 Introduction to Parameter Tuning Mode There are three Tuning Modes. The desired tuning mode is selected by parameter P0-00. See below for details. Parameter Parameter tuning Accessible Tuning P0-00 Introduce mode Parameters set value When No Tuning is selected, the available P0-03 1st mechanical parameters for performance modification are limited. ...

  • Page 156: Tuning Mode

    MDX+CANopen/RS485/Pulse Hardware Manual 9.2 No-Tuning Mode "No Tuning" mode is the default setting for the servo upon leaving the factory. In this mode, the servo system is relatively stable with low mechanical stiffness, allowing it to be powered on and  operated immediately after installation, which satisfies most application requirements. Users can select an initial mechanical stiffness level to ensure normal servo movement and  gradually adjust it to meet specific application requirements. No Tuning mode Adjust P0-03 1st Mechanical Stiffness Level Does performance End of setting meet requirements? Save parameters Note in this mode:...

  • Page 157: Auto Tuning Mode

    MDX+CANopen/RS485/Pulse Hardware Manual 9.3 Auto Tuning Mode In "Auto-Tuning Mode," the servo system will automatically identify the external load inertia ratio, automatically select the appropriate mechanical Stiffness level, and automatically optimize and  adjust the following contents: • Gain (position loop, velocity loop) • Filter (torque filter)  The parameters in the table below are automatically adjusted and stored. Is manual modification allowed in      ...
  • Page 158 MDX+CANopen/RS485/Pulse Hardware Manual 9.3.2 Auto-Tuning Flowchart Users can perform automatic parameter tuning through Luna software or the operation panel on the driver. The flow chart of automatic tuning is as follows Auto Tunning There’s a host controller There is no host controller The host controller Use the software to plan plans the motion the trajectory and turn trajectory...
  • Page 159 MDX+CANopen/RS485/Pulse Hardware Manual 9.3.3 Start Auto-Tuning -- Software Operation On It is recommended that Luna software be used for auto tuning mode. The steps are as follows. Step 1: Use the connection wizard ---- select the drive to be connected ---- click "Next" to establish communication with the drive Step 2: Set the control mode to position control 920-0167 RevB...
  • Page 160 MDX+CANopen/RS485/Pulse Hardware Manual Step 3: Select the "Tuning" function in the device tree interface Step 4: In the interface window, set the parameter tuning mode to "Auto tuning" • First mechanical Stiffness grade: Set the appropriate first mechanical Stiffness level (P0-03), the general recommended value  is “5” when running for the first time • Load type According to the current load, select the corresponding load type Load type Description Normal load...
  • Page 161 MDX+CANopen/RS485/Pulse Hardware Manual Load Inertia Ratio If the current load inertia ratio is known it can be entered into "Load Inertia Ratio (P0-02)" to  improve system rigidity and expedite the autmatic tuning process. If the current load inertial ratio is unknown, it does not need to be entered as the system will automatically identify it. Motion Control Source •...

  • Page 162: Fine Tuning Mode

    MDX+CANopen/RS485/Pulse Hardware Manual • Complete automatic tuning After completion, the following dialog box will prompt. After confirming the upload, you can see that  the first mechanical Stiffness level and the load inertia ratio have been updated. • Error prompt If the Auto Tuning process cannot be completed, the following error message box may be displayed, which means: Error code Cause Measure Increase the initial stiffness  Positioning time out. and the value of Setting Time.
  • Page 163 MDX+CANopen/RS485/Pulse Hardware Manual 9.4.2 Parameters in Fine Tuning Mode Parameter Command Function Type P0-01 Load Type P0-02 Load Inertia Ratio P0-03 1st Mechanical Stiffness Level P0-04 2nd Mechanical Stiffness Level P0-05 1st Position Loop Gain First set of gains 1st Position Loop Derivative Time P0-07 Constant P0-08 1st Position Loop Derivative Filter P0-09...
  • Page 164 MDX+CANopen/RS485/Pulse Hardware Manual 9.4.3 Servo Tuning Guidelines A servo system is composed of current loop, speed loop and position loop. Each loop is composed of several parameters which can be modified to properly tune a servo system. If one parameter  is changed, other parameters also need to be re-adjusted. Ensure that while tuning, changes to parameters are gradual, about 5% at time.
  • Page 165 MDX+CANopen/RS485/Pulse Hardware Manual 9.4.4 Gain Parameter of Velocity Loop Velocity Loop Gain Parameter Instruction Name Defaults Range Unit Control Modes P0-12 1st Velocity Loop Gain 0 ~ 30000 0.1Hz Proportional gain term used to increase stiffness of motor response in direct proportion to the  velocity error. The larger the set value, the faster the speed loop response of the servo system. Setting the value too high will cause vibration.

  • Page 166: Resonance Suppression

    MDX+CANopen/RS485/Pulse Hardware Manual 9.5 Resonance Suppression The mechanical system has an inherent resonance frequency. If the whole system runs at this mechanical resonance frequency point, vibration and noise may be caused. MDX+ series provide 4 methods to suppress mechanical resonance. •...

  • Page 167: Notch Filters

    MDX+CANopen/RS485/Pulse Hardware Manual 9.5.2 Notch Filters Reducing the Torque Command Filter could solve vibrations due to resonance, but it also reduces the system response bandwidth and phase margin, thereby potentially causing instability during operation. In some case, it may cause a counter-action that the resonance may not be suppressed. If you know the system's resonance frequency, the notch filter can be used to suppress the ...
  • Page 168 MDX+CANopen/RS485/Pulse Hardware Manual Adaptive Notch Filter When there are resonance issues present in a servo system, using an adaptive notch filter is recommended. Scope of application and precautions: • Applicable to all control mode except Torque Mode Conditions may affect nomal operation of the Adaptive Notch Filter: • The resonance frequency is lower than 3 times the Velocity Loop Gain •...
  • Page 169 MDX+CANopen/RS485/Pulse Hardware Manual Step 2: Change the method of "Resonance Suppression Filter 3" to "Adaptive," and then click to download Step 3: After the download is complete, the MDX+ will automatically update these parameters when it is enabled and running. 9.5.3 Setting the Notch Filter Manually Analyze resonance frequencies To manually set the notch filter, it is necessary to measure the actual frequency when resonance ...
  • Page 170 MDX+CANopen/RS485/Pulse Hardware Manual Using Mechanical Open Loop Resonance Analysis Step 1 Before performing a mechanical open-loop analysis, ensure that • The drive has passed the trial operation described in Section 6 Trial Operation. • Servo system has completed parameter tuning •...
  • Page 171 MDX+CANopen/RS485/Pulse Hardware Manual Step 3 Click the "Start Analysis" button, the servo system starts the mechanical open-loop analysis and displays the resulting curve. Click the icon in the upper right corner of the drawing area to optimize the display curve. Step 4 Move the reference line in the "Magnitude and Phase Curves"...
  • Page 172 MDX+CANopen/RS485/Pulse Hardware Manual The reference line will update the Notch Filter Frequency (red square) in real time Click "Set to  Notch Filter 2" or "Set to Notch Filter 2" to set the center frequencies to be used by the notch filters. Step 5 On the Anti-Resonance interface, select "Use" to enable the corresponding resonance suppression filter, set the appropriate "Bandwidth Level" and "Depth Level," and click "Download" to set the  Notch Filters. Note: Because Mechanical Open Loop analysis does not include the closed loop of the servo controller, any previously downloaded Notch Filters will not be active during the analysis.
  • Page 173 MDX+CANopen/RS485/Pulse Hardware Manual The image below is the result viewed using the Velocity Closed Loop analysis. Using the Velocity Closed Loop Mode to Analyze Resonance Frequency Step 1 Before performing a velocity closed-loop analysis, make sure that: • The drive has completed the trial operation described in Section 6 Trial Run. •...
  • Page 174 MDX+CANopen/RS485/Pulse Hardware Manual Step 3 • Click the "Start Analysis" button, the servo system starts the speed closed-loop analysis, and the curve of the result is displayed. • Click the icon in the upper right corner of the graph area to optimize the display curve. •...
  • Page 175 MDX+CANopen/RS485/Pulse Hardware Manual Step 4 To set a notch filter, select the "Anti-Resonance" option in the device tree to the left of the Luna  Software. On the desired filter, select "Use" to enable the filter, set the appropriate Bandwidth Level  and Depth Level. Then click Download. Step 5 The below waveforms showcase the results of Velocity Closed Loop analysis 920-0167 RevB 1/6/2025...

  • Page 176: End Effector Vibration Suppression

    MDX+CANopen/RS485/Pulse Hardware Manual 9.6 End Effector Vibration Suppression Warning: do not use Jog when End Effector & Load Disturbance Supression is enabled As illustrated in the image below, mechanical loads can generate low-frequency vibrations during operation and when coming to a full stop. These low frequency vibrations are enerally within 100 Hz but can affect the positioning accuracy and settling time of the entire mechanism.
  • Page 177 MDX+CANopen/RS485/Pulse Hardware Step 2: Set and enable end vibration suppression Select the Anti-Resonance interface on Luna Software. Select the End Effector Suppression Tab,  enter the vibration frequency as measured in Step 1. Note: • Wrong vibration frequency will cause the end vibration suppression effect to become worse or even increase the vibration •...

  • Page 178: Contacting Applied Motion Products

    MDX+CANopen/RS485/Pulse Hardware 10 Contacting Applied Motion Products 18645 Madrone Pkwy. Morgan Hill, Ca 95037, USA 800-525-1609 | www.applied-motion,com 920-0167 RevB 1/6/2025...

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