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KCFA SV-X5 Series Instruction Manual

Pulse servo drive
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SV-X5-Series
Pulse Servo
Drive
Instruction Manual
June 2024 V1.00
Version:ATC/MMXC032410

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Summary of Contents for KCFA SV-X5 Series

  • Page 1 SV-X5-Series Pulse Servo Drive Instruction Manual June 2024 V1.00 Version:ATC/MMXC032410...

  • Page 2: Table Of Contents

    ※ Contents Preface About the instruction manual ........................5 Confirmations during unpacking ......................5 Safety precautions ............................5 Chapter 1 Model introduction, selection and installation About the drive ..........................10 1.1.1 Drive model ................................10 1.1.2 Part names ................................11 1.1.3 Basic specifications ..............................
  • Page 3 Instructions for using the CN6 interface（user I/O）............55 Instructions for using the CN7 interface (encoder connection) ......... 62 2.10 Timing diagram ..........................63 Chapter 3 Panel display and operation Panel display and key description ....................67 Display description .......................... 68 JOG and parameter identification ....................
  • Page 4 Chapter 6 Tuning Gain tuning ............................108 6.1.1 Overall description ..............................108 Automatic gain tuning........................109 Adaptive filter ..........................111 6.3.1 Function description ............................111 Manual gain tuning ........................112 6.4.1 Overall description ..............................112 6.4.2 Tuning in the position mode ..........................113 6.4.3 Tuning in the speed mode ..........................113 6.4.4 Gain switching function ............................113 6.4.5...

  • Page 5: Preface

    ※ Preface Thank you for using this product. This manual provides information about the SV-X5 series drives and motors. Incorrect use and handling will not fully utilize the product's performance and may lead to accidents and a shortened product life. Please read this manual carefully and use the product correctly.
  • Page 6 Installation and wiring Do not connect the motor directly to a commercial power. Otherwise, it may cause fire or malfunction. Do not place any combustibles near the servo motor and drive. Otherwise, it may cause a fire. Please place the drive within a protective case, and leave specified clear- Otherwise, it may cause an electric shock, fire, or ances between the drive and control enclosure walls or other equipment.
  • Page 7 Installation and wiring Please install the servo motor and drive following the combinations Otherwise, it may cause fire or malfunction. specified in this instruction. Otherwise, it may cause an electric shock or Do not touch the connector terminals directly. malfunction. Do not block the intake and let any foreign materials enter into the Otherwise, it may cause an electric shock or fire.
  • Page 8 Maintenance and inspection Please contact HCFA for further instructions on removal, installation, and Otherwise, it may cause malfunction. repair. Do not turn on and off the main circuit power switch too frequently. Otherwise, it may cause malfunction. Do not touch the heat sink and regenerative resistor of the motor and drive because their temperatures may be high while power is on or for Otherwise, it may cause burns or electric shock.

  • Page 9: Chapter 1 Model Introduction, Selection And Installation

    Chapter 1 Model introduction, selection and installation About the drive ..........................10 1.1.1 Drive model ................................10 1.1.2 Part names ................................11 1.1.3 Basic specifications ..............................12 1.1.4 Overload detection characteristics ........................17 1.1.5 Drive dimension ............................... 18 About the motor ..........................19 1.2.1 Motor model ................................19 1.2.2 Motor part names ..............................

  • Page 10: About The Drive

    1.1 About the drive 1.1.1 Drive model Drive nameplate Model identification...

  • Page 11: Part Names

    ◆ Function table for each model Model SV-X5EA SV-X5FA SV-X5EB SV-X5FB SV-X5EN SV-X5FN Function Analog input Available 2 channel Unavailable Unavailable Unavailable 2 channel Pulse input Available Available Unavailable Unavailable Unavailable Unavailable Pulse frequency division output Available Available Unavailable Unavailable Unavailable Available Z-phase collector output Available Available Unavailable...

  • Page 12: Basic Specifications

    ◆ Drive model with a power of 1.5KW~2.5KW 1.1.3 Basic specifications ◆ Specifications for a drive with an input power supply of 220V Item Specifications Model name SV-X5FAxxxA-A Power 100W 200W 400W 750W 1.5KW 2.5KW W（mm） Dimension H（mm） D（mm） Weight（kg） Single-phase 200~240 50/60Hz ( for drive model with power less than 1.5 kW) Voltage input Single/three-phase 200~240V 50/60Hz ( for drive model with power larger than 1.5 kW) ◆...
  • Page 13 5.8m/s2 (0.6G) or less, 10~60Hz (no continuous operation allowed at frequency of Vibration resonance) Insulation withstand voltage Between power terminals and FG terminals: AC1,500 V for 1 min Control type Sine-wave three-phase PWM converter Encoder feedback Support 17bit (131072 resolution)/23bit (8388608 resolution) serial encoder 8 inputs (DC24V optoisolator) Input Switch according to control mode function...
  • Page 14 Speed instruction Input voltage -10V to +10V (maximum speed at ±10V) input Four options: (1) Forward and reverse internal torque limit with factory default setting. Set P03.09 and P03.10 positive and negative torque limit respectively. (2) Positive and negative external torque limit. Set P03.11 and P03.12 positive and negative torque limitation respectively.
  • Page 15 The functions listed above are not included in some models of the drive, please refer to "1.1.1 Drive model" to confirm the model before use. Refer to the following table for using pulse instruction input Parameter Minimum necessary time margin （t1、t2、t3、t4、t5、t6） P00.07/ P00.27 Logic...
  • Page 16 ambient temperature efficiency of the drive.

  • Page 17: Overload Detection Characteristics

    1.1.4 Overload detection characteristics For the SV-X5 series drive, if the torque of the motor drive surpasses the value specified in the overload detection charac- teristics mentioned below, the protector will trigger, resulting in an overload abnormality alarm and an emergency stop of the...

  • Page 18: Drive Dimension

    1.1.5 Drive dimension 100W/200W/400W Power input rating: 220V：100W/200W/400W 750W/1KW Power input rating: 220V：750W/1KW 1.5KW/2KW/2.5KW Power input rating: 220V：1.5KW/2KW/2.5KW...

  • Page 19: About The Motor

    1.2 About the motor 1.2.1 Motor model Motor nameplate Model identification...

  • Page 20: Motor Part Names

    1.2.2 Motor part names...

  • Page 21: Basic Specifications

    1.2.3 Basic specifications AC200V~240V Item Unit Specifications Voltage DC280V Motor model MH005A MH010A MA020A MH020A MA040A MH040A (SV-X6 □□□□□ -****） High inertia High inertia Low inertia High inertia Low inertia High inertia Mounting flange dimension w/o brake 0.33 0.45 0.87 1.28 1.22 Weight w/ brake...
  • Page 22 Operating & Storage atmosphere Indoors (no direct sunlight) , free from corrosive gas, flammable gas, oil mist, dust and dirt Heat resistance rating Class B Insulation resistance DC1000V-5MΩ or more Insulation withstand voltage AC1500V for 1 minute Altitude Less above 1000m Vibration rating V15 (JEC2121) Vibration resistance...
  • Page 23 AC200V~240V Item Unit Specifications Voltage DC280V MM100A MM100B Motor model MA075A MH075A MH100C MH100A medium medium ﹙ SV-X6 □□□□□ -****） low inertia high inertia high inertia high inertia inertia inertia Mounting flange dimension 2.25 2.25 2.68 4.67 6.29 Weight brake w/ brake 3.01 3.01...
  • Page 24 Ambient storage tempera- Maximum temperature:80℃ for 72 hours ture Ambient storage 20 ～ 85%RH (with no condensation) humidity Operating & Storage atmo- Indoors (no direct sunlight) , free from corrosive gas, flammable gas, oil mist, dust and dirt sphere Heat resistance rating Class B Insulation resistance DC1000V-5MΩ...
  • Page 25 AC200V~240V Item Unit Specifications Voltage DC280V MM150B MG085A MG130A MG180A Motor model MH150A MM200A medium Large torque Large torque Large torque ﹙ SV-X6 □□□□□ -****） high inertia high inertia inertia at low speed at low speed at low speed Mounting flange dimension 7.37 6.98 4.67...

  • Page 26: Allowable Load Of The Output Shaft

    -20℃～ 65℃ (with no condensation) Ambient storage temperature Maximum temperature:80℃ for 72 hours Ambient storage 20 ～ 85%RH (with no condensation) humidity Operating & Storage atmo- Indoors (no direct sunlight) , free from corrosive gas, flammable gas, oil mist, dust and dirt sphere Heat resistance rating Class B...

  • Page 27: N-T Characteristics Chart

    1.2.5 N-T characteristics chart MM005A MM010A MA020A、MH020A...
  • Page 28 MA040A、MH040A MA075A、MH075A MA0100A、MH0100A...
  • Page 29 MA0150A、MH0150A MA0200A...

  • Page 30: Encoder Specifications

    1.2.6 Encoder specifications Item Specifications Note SV- □□□□□□□□ -***N SV- □□□□□□□□ -***A Model name — ﹙ 17bit） ﹙ 17bit） Supply voltage VCC DC4.5V ～ 5.5V 5% or less External power supply BAT — DC2.4V ～ 5.5V External capacitor CAP — DC2.4V ～ 5.5V Supply voltage VCC current consumption Typ 160mA Powe surges excluded External power supply BAT current...

  • Page 31: Motor Dimension

    1.2.8 Motor dimension MH005A High inertia MH010A High inertia...
  • Page 32 MH020A High inertia MA020A High inertia...
  • Page 33 MH040A High inertia MA040A High inertia...
  • Page 34 MH075A High inertia MA075A High inertia...
  • Page 35 MH100A High inertia MM100A High inertia...
  • Page 36 MH150A High inertia MM200A High inertia...

  • Page 37: External Regenerative Resistor Selection

    1.3 External regenerative resistor selection (1) Regenerative resistor value configuration For X5 drives with the power of 100W~1KW, customers have the option to include a regenerative resistor when purchas- ing. The size of the resistor is configured based on specific requirements. Power 100W 200W 400W 750W Regenerative resistance value 50Ω...

  • Page 38: Matching Models For Drives And Motors

    1.4 Matching models for drives and motors Motor frame number Power supply input Capacity Servo motor model (Flange dimension Drive model rating High inertia MH005A SV-X5 □□ 005A-A High inertia MH010A 100W SV-X5 □□ 010A-A Flat type MQ010A Low inertia MA020A 200W High inertia MH020A SV-X5 □□...

  • Page 39: Selection Of Peripheral Cables And Connector Accessories

    1.5 Selection of peripheral cables and connector accessories （1）Voltage input class 220V: 750W or less Item Application Name Note Drive and motor power connector Connection cable -CAB-PWR75A-0.5M Length: 0.5 m Connection cable -CAB-PWR75A-1.5M Length: 1.5 m Drive and motor power connection cable Connection cable -CAB-PWR75A-3M Length: 3 m Connection cable -CAB-PWR75A-5M Length: 5 m Connection cable -CAB-PWR75A-10M Length: 10 m Encoder cable terminal...

  • Page 40: Circuit Breaker Selection

    （3）Voltage input class 380V：2KW～7.5KW Item Application Name Note Drive and motor power connector PWR-CON 2KW Connection cable -CAB-PWR400C-0.5M Length: 0.5 m Connection cable -CAB-PWR400C-1.5M Length: 1.5 m Drive and motor power connection cable Connection cable -CAB-PWR400C-3M Length: 3 m Connection cable -CAB-PWR400C-5M Length: 5 m Connection cable -CAB-PWR400C-10M Length: 10 m Brake connector...

  • Page 41: Installation Of The Drive And Motor

    1.6 Installation of the drive and motor 1.6.1 Installation environment Please ensure an installation environment that meets the following conditions as follow. 1. Install the equipment in a place out of direct sunlight. 2. The drive must be installed in a control cabinet. 3. Free from water, oil (cutting oil, oil mist), and moisture. 4.

  • Page 42: Other Precautions

    Figure Mounting clearance diagram • The drive can be installed only in the vertical direction. During installation, use two M5 screws to fix the drive with an output power of 750W or less. Use three M5 screws each to secure the drive with an output power of 1kW or more and the main drive when installing them.

  • Page 43: Chapter 2 Motor And Drive Wiring Instructions

    Chapter 2 Motor and drive wiring instructions System wiring diagram ........................44 Description of motor connector interface ................47 Description of drive connector interface ................. 50 Instructions for using the CN1 interface (the second encoder connection) ....51 Instructions for using the CN2 interface（STO function） ..........52 Instructions for using the CN3 interface（USB connection interface）...

  • Page 44: System Wiring Diagram

    2.1 System wiring diagram ◆ System wiring diagram for a drive with a power of 100W~1KW [Points for correct wiring] • The power supply is connected to L1 and L2, please use the single-phase AC220V. • Please use a twisted-pair shielded cable if the I/O cable is longer than 50cm. • The encoder cable should be shorter than 20m.
  • Page 45 ◆ System wiring diagram for a drive with a power of 1.5KW~2.5KW [Points for correct wiring] • The power supply is connected to L1 and L2, please use the single-phase AC220V. • Main power supply L1/L2/L3, can be connected to three-phase AC220V or single-phase AC220V. • Please use a twisted-pair shielded cable if the I/O cable is longer than 50cm. •...
  • Page 46 Item Description In order to comply with European EC standards, select the appropriate device for each specification and Peripheral device composition set it according to the diagrams above. The drive can be installed in a pollution degree 2 or pollution degree 1 environment according to Installation environment IEC60664-1.

  • Page 47: Description Of Motor Connector Interface

    2.2 Description of motor connector interface ◆ Motor connector terminal arrangement and wiring color coding Voltage input class 220V (750W or less) Figure Motor connector and pin arrangement (50~750W) Table List of cables（750W or less） Name Cable Motor power input AWG18 Brake（Note 1） AWG22 Encoder (incremental) Power supply: AWG22 Encoder (absolute) Signal: AWG24 Note 1: Applicable to motors with brakes.
  • Page 48 Table For motor with the power of 750W or less 名称 端子号码 信号名 内容 配线色别 Motor power U-phase output Motor power V-phase output White Motor power input Motor power W-phase output Black Motor housing grounding Green BRK ＋ Brake power supply DC24 V Yellow Brake (※1) BRK-...
  • Page 49 Table List of cables（1kW or more） Name Cable Motor power input AWG19 Brake（Note 1） AWG21 Encoder (incremental) AWG24 Encoder (absolute) Note: Applicable to motors with brakes. Table For motor power with the power of 1 kW or more Name Terminal No. Signal name Description Note...

  • Page 50: Description Of Drive Connector Interface

    2.3 Description of drive connector interface Before using, confirm the model number of the drive. Standard type drive has fewer functions than full-function type and lacks certain interfaces corresponding to some functions. ◆ Connector interface definition for a drive with a power of 100W~1KW ◆ Connector interface definition for a drive with a power of 1.5KW~2.5KW Note: CN1 and CN2 are not available for X5EA standard drive.

  • Page 51: Instructions For Using The Cn1 Interface (The Second Encoder Connection)

    2.4 Instructions for using the CN1 interface (the second encoder con- nection) The second encoder is only available for X5FA (X5 pulse series full-function model), which has the second encoder inter- face for connecting to an external displacement sensor, mainly for full closed-loop function and gantry synchronization. ◆ CN1 interface diagram ◆...

  • Page 52: Instructions For Using The Cn2 Interface（Sto Function

    2.5 Instructions for using the CN2 interface（STO function） ◆ STO wiring instructions Safe Torque Off (STO) is a safety function that prevents the drive from transferring energy to the motor to generate cur- rent. A safety bypass plug is supplied as standard. When the safety function is not used, please short-circuit the safety bypass plug as required, otherwise the drive panel will display "sto".
  • Page 53 ◆ STO function block diagram The external power supply must be a 24V DC power source. ◆ Instructions for using the STO function STO1 status STO2 status STO_OUT status Drive panel status Closed Closed o ry Closed Open Open Open Open Closed ◆ STO safety precautions When using the STO function, ensure that the safety requirements of the system are met. The following safety consider- ations should be taken into account for STO function actions: If an external force is applied along the vertical shaft, the motor will rotate.

  • Page 54: Instructions For Using The Cn3 Interface（Usb Connection Interface

    2.6 Instructions for using the CN3 interface（USB connection inter- face） This interface is used for connecting the drive to the computer, and the host device software [HSC-Studio] can be used to operate the drive for trial operation, parameter adjustment, waveform acquisition and other operations. Name Symbol Terminal No...

  • Page 55: Instructions For Using The Cn6 Interface（User I/O

    — RS485+ RS485+ signal from the host device RS485- RS485- signal from the host device — 2.8 Instructions for using the CN6 interface（user I/O） ◆ User I/O （CN6） interface description...
  • Page 56 Name Terminal No. Signal name Description DO4+ Digital signal output + DO3- Digital signal output - DO3+ Digital signal output + DO2- Digital signal output - DO2+ Digital signal output + DO1- Digital signal output - DO1+ Digital signal output + Digital signal input Digital signal input Digital signal input...
  • Page 57 ◆ User I/O （CN6） wiring instructions Pulse instruction differential input...
  • Page 58 Pulse instruction 24V open collector input Note: The 24V collector pulse input wiring for the X5E(F)A user IO has one more pin 12 (CC_D) than that of the X2E. This pin needs to be connected to 24V for 24V collector NPN wiring and 0V for 24V collector PNP wiring.
  • Page 59 Analog instruction inputs Note 1) The control power supply output (24V, G24V) can be used as a power supply for I/O (COM+, COM-) with the maximum output current is 150mA. Use an external independent power supply when driving outputs such as relays and brakes. Note 2) When driving inductive loads such as relays, please connect a protection circuit (continuity diode).
  • Page 60 The specific connection ways are as follows: Note 4) Termination resistors need to be connected to the differential signal connection terminals for differential pulse output. Note 5) The shield of the connection cable between the drive and the host device needs to be connected to the drive housing and the host device housing respectively.
  • Page 61 Note 8) For pulse instruction 5V open collector input, it can be received by 5V differential with 300Ω external resistor, there are two cases, one is NPN type and the other is PNP type according to the way of pulse generation. Note: ※The DI function can be flexibly configured by function code, DI is by default valid when it is conducted, and its positive and negative logic can be modified by function code.

  • Page 62: Instructions For Using The Cn7 Interface (Encoder Connection)

    2.9 Instructions for using the CN7 interface (encoder connection) The interface is used for connecting the drive to the motor encoder. When using, the cable should be 30cm away from the main circuit wiring. ◆ CN7 interface diagram： ◆ CN7 pin diagram： ◆ CN7 pin definition： Encoder power supply 5V output Signal ground Encoder Encoder signal: data input/output Encoder signal: data input/output...

  • Page 63: Timing Diagram

    2.10 Timing diagram ◆ When the power is ON (timing of receiving servo enable signal) P06.26=0～2 (not to hold DB during power-on) P06.26=3～5 (hold DB during power-on) ◆ Servo-enabling on/off action during motor rotation P06.26=0 ﹙coast to stop, remain free） The timing of " Holding brake release signal" during the servo OFF is related to the setting of servo parameter P04.52 and P04.53 and the running speed of the motor, see the parameter description for details, and the minimum value is 5ms.
  • Page 64 P06.26=1/2 ﹙quick stop, remain free） The timing of " Holding brake release signal" during the servo OFF is related to the motor running speed, see the parame- ter description for details, and the minimum value is 4ms. DB stop P06.26=3 ﹙DB stop，hold DB） The timing of "...
  • Page 65 P06.27=1/2 ﹙quick stop, remain free） The timing of the "Holding brake release signal" during the faulty stop is related to the motor running speed, see the pa- rameter description for details, and the minimum value is 2ms. P06.27=3 ﹙DB stop, hold DB） The timing of the "Holding brake release signal"...

  • Page 66: Chapter 3 Panel Display And Operation

    Chapter 3 Panel display and operation Panel display and key description ....................67 Display description .......................... 68 JOG and parameter identification ....................70 3.3.1 JOG operation and display ..........................70 3.3.2 Key operation and display for parameter identification ................70...

  • Page 67: Panel Display And Key Description

    3.1 Panel display and key description MODE key: Generally, it is used to exit the panel display of a higher level and return to the panel display of a lower level; if the current panel display is already zero level, press the MODE key to enter the panel display of the first level. SET key: Generally, it is used to enter into the panel display of memory, or to confirm the parameter modification.

  • Page 68: Display Description

    3.2 Display description After powering up, the panel will show , which indicates initialization is in progress. The contents of the level 0 panel are displayed thereafter. ◆ Level 0 panel display: When a fault occurs: The level-0 panel blinks to display the error or alarm code. For example: Alarm display: , warning display.
  • Page 69 ◆ Level 3 panel display： Take P01.00 as an example. Displays the parameter value determined by the group number and offset, Take P01.00 for an example, the display shows . The specific value is determined by the properties of each parameter value. If the parameter value can be modified, the rightmost bit blinks after entering, and if other digits need to be modified, shift them with the SHIFT key.

  • Page 70: Jog And Parameter Identification

    3.3 JOG and parameter identification 3.3.1 JOG operation and display （1）Before entering the JOG interface page To access the JOG interface page, go to P20.00. The servo drive should be disabled at this time. First, press the key to lo- cate P20.00, then press the SET key to enter the JOG page and display the setting value of the speed (value of P03.04). When each parameter is a factory parameter, the display is as follows.

  • Page 71: Chapter 4 Control Function

    Chapter 4 Control function Position control mode ........................72 Speed control mode ........................76 Torque control mode ........................79 Motion control function ......................... 81 4.4.1 Internal position instructions ..........................81 4.4.2 Interrupt positioning .............................. 84 4.4.3 Homing ..................................87 Full closed-loop control ......................... 90...

  • Page 72: Position Control Mode

    4.1 Position control mode ◆ Overview Position control is performed based on position instructions from the host device (e.g. pulse input) or servo internal posi- tion instructions, and the basic functions during position control are explained below. Figure Basic function block diagram of position control function ◆...

  • Page 73: Electronic Gear

    Relevant parameters: 0: Pulse instruction 1: Step value setting Position instruction source 2: Internal position instruction 3: High-speed pulse instruction 0: Direction + Pulse, positive logic. (default) Pulse train form 1: Direction + Pulse, negative logic 2: Phase A (pulse) + Phase B (sign), quadrature pulse, 4x frequency, positive logic 3: Phase A + Phase B, quadrature pulse, 4x frequency, negative High-speed pulse train pattern...
  • Page 74 Relevant parameters: Position instruction smoothing filter 0.0ms ～ 6553.5 ms Position instruction FIR filter 0.0ms ～ 128.0 ms Position instruction FIR filter 2 0.0ms ～ 128.0 ms Pulse division output function The pulse division output function can convert the rotary position of the motor into AB-phase orthogonal pulses and out- put them to the host device.
  • Page 75 range, and digital signals COIN and NEAR are output in response. Relevant parameters: Positioning completion range 1P ～ 65535P 0: If the absolute value of the position deviation is less than the positioning completion range (P04_47), the COIN signal is output; 1: If the absolute value of the position deviation is less than the positioning completion range (P04_47) and the position instruction is 0, the COIN signal is output;...

  • Page 76: Speed Control Mode

    4.2 Speed control mode ◆ Overview Speed control is performed based on speed instructions from the host device (e.g. analog input) or servo internal speed instructions, and the basic functions during speed control are explained below. Figure Basic function block diagram of speed control mode ◆...
  • Page 77 AI1 input filtering time 0.0ms ～ 6553.5ms AI2 minimum input -10.00V ～ 10.00V Setting value corresponding to the AI2 minimum -100.0% ～ 100.0% input AI2 maximum input -10.00V ～ 10.00V Setting value corresponding to the AI2 maximum -100.0% ～ 100.0% input AI2 zero-point fine tuning -500mV ～...
  • Page 78 Relevant parameters: Speed specified value arrival 10rpm ～ 9000rpm Speed acceleration and deceleration function There are two groups of acceleration/deceleration time. When an internal multi-stage speed instruction is used, select the acceleration/deceleration time of Group 1 or Group 2. When the acceleration/deceleration time is set to 10ms, it indicates the time of acceleration from 0rpm to 1000rpm or deceleration from 1000rpm to 0rpm is 10ms.

  • Page 79: Torque Control Mode

    4.3 Torque control mode ◆ Overview Torque control is performed according to the given torque instruction (analog or internal torque setting), and a speed-lim- iting function must be added to limit the speed of the motor to a certain range for practical applications. Figure Basic function block diagram of torque control ◆...
  • Page 80 Relevant parameters: 0-Forward and reverse internal speed limits P03.27、28 Speed limit source selection under torque control 1-SPL Internal positive speed limit 0rpm-9000rpm Internal negative speed limit 0rpm-9000rpm The analog parameters are the same as for speed control.

  • Page 81: Motion Control Function

    4.4 Motion control function 4.4.1 Internal position instructions ◆ Instructions for use In the position control mode, the drive can be selected to give instructions internally in addition to the external pulse given instructions, and users can conveniently set the total number of instructions, the running speed, the acceleration and decelera- tion time.
  • Page 82 Segment No. DI function 6 DI function 7 DI function 8 DI function 9 DI function Internal position segment 1 Internal position segment 2 Internal position segment 3 Internal position segment 4 Internal position segment 5 Internal position segment 6 Internal position segment 7 Internal position segment 8 Internal position segment 9...
  • Page 83 ◆ Internal multi-segment position instruction execution flowchart: Figure Sequential execution of multiple segment positions Figure Random selection of execution of multiple segment positions ◆ Parameters To use the internal position instruction, the following parameters need to be configured: 0: Single operation 1: Cyclic operation 2: DI terminal switching operation Multi-segment preset position execution method 3: Communication switching operation 4: Single continuous operation...

  • Page 84: Interrupt Positioning

    0: Relative position instruction Position instruction type 1: Absolute position instruction 0: ms Waiting time unit 1: s The first segment displacement (32-bit) Unit: user instruction unit The first segment maximum speed Unit: RPM The first segment acceleration/deceleration time Unit: millisecond Waiting time after the first segment completed Unit is determined by P08.05 P08.06 to P08.10 is the number of position instruction pulses, running speed, acceleration/deceleration time, and wait time...
  • Page 85 ◆ nterrupt positioning execution process To use interrupt positioning, it is necessary to configure the following parameters and the DI interface, and if necessary, configure two DO function outputs, which can be used to monitor the process of Interrupt positioning. The number of position instructions and the acceleration/deceleration times for the interrupt positioning are configured using the 16th instruction pa- rameter of the internal position instruction, see the following table for the specific parameter configuration.
  • Page 86 ◆ Parameters for interrupt positioning configuration Unit: User instruction unit, which is used to set the length of The 16th segment displacement (32-bit) the interrupt positioning instruction Unit: RPM, which is used to set the running speed during The 16th segment maximum speed interrupt positioning. Unit: ms, which is used to set the acceleration and The 16th segment acceleration/deceleration time deceleration time during interrupt positioning.

  • Page 87: Homing

    4.4.3 Homing ◆ Instructions for use The servo drive is equipped with an internal homing function, which supports various ways for searching the origin in- dependently, and can work together with the upper device to realize the homing function. If the limit position is the origin, as shown in the figure below, the Z pulse signal can be searched according to actual need, and various ways of searching origin can be realized.
  • Page 88 ◆ Parameters To use the homing function, set the following parameters and DIDO functions. Use P08.88 to configure the startup method of homing, and use P08.89 to set the method of searching for the origin. During origin search, the limit position may be en- countered.
  • Page 89 0: Reverse to find Z-phase signal after encountering limit switch; 1: Forward to find Z-phase signal after encountering limit switch; 2: Not to find Z-phase signal after encountering limit switch; 3: Stop and output alarm after encountering limit switch, reverse to find Z -phase signal 4: Stop and output alarm after encountering limit switch, forward to...

  • Page 90: Full Closed-Loop Control

    4.5 Full closed-loop control X5 series drive, X5FA (X5 pulse full-function type) model has a second encoder interface and supports full closed-loop control mode, so please check the drive model before use. Full closed-loop control is a mode of control that involves detecting the position of the controlled object using a position detector, such as a grating, and then providing position information back to the servo for control.
  • Page 91 ① By calculating: External sensor pitch 1 = Lead / grating resolution Lead: If a screw is used, the lead is equal to one pitch. Grating resolution: Available from the grating instruction manual, or from the engineer who purchased the external sensor. External sensor reception method If AB orthogonal reception is used: External sensor pitch 2 = External sensor pitch 1 X 4...
  • Page 92 ◆ Functions related to full closed-loop control 1、Pulse output function Set P00.18 ( pulse output function selection ) to select either motor encoder division frequency output or external encoder pulse synchronous output, depending on the customer's requirements. For details, see "Pulse division output" in the section 5.4 of this manual.
  • Page 93 ◆ Relation diagram of 17-bit encoder motor parameters ◆ Configuration parameters related to full closed-loop control 0- Encoder division output Pulse output function 1- Synchronized output of pulse instruction selection 2- Pulse instruction interpolation output (gantry synchronization) 3- External encoder pulse synchronization output 0 ～ 100 (unit: 10ns) 250KHZ or less, recommended value: 40; 250K ～...

  • Page 94: Chapter 5 Application Function

    Chapter 5 Application function Stop protection function ....................... 95 5.1.1 Instantaneous power failure protection ......................95 5.1.2 Fault stop protection.............................. 95 5.1.3 Over-travel stop protection ..........................96 5.1.4 Stop protection deceleration time ........................96 Soft limit function ..........................96 Absolute system ..........................97 Pulse output function ........................

  • Page 95: Stop Protection Function

    5.1 Stop protection function The stop protection functions include instantaneous power failure protection, fault stop protection, and over-travel stop protection, which are not enabled by default. Users can turn on the corresponding protection function according to actual de- mands. 5.1.1 Instantaneous power failure protection When the machine is in normal operation, if a sudden power failure occurs in the factory, after the power failure protec- tion function is turned on, the servo can use the residual internal power to stop the motor quickly, so that the motor does not coast to stop and result in mechanism damages.

  • Page 96: Over-Travel Stop Protection

    Range Default Unit Effective Relevant mode P06.32 Stop by emergency stop torque 0 ～ 5000 1000 0.1% Immediate 0.0% to 300.0% (based on rated motor torque) 5.1.3 Over-travel stop protection The overtravel stop mode is used to meet the stopping needs of different situations. If a quick stop is required, it can be set to a zero-speed stop or stop by emergency stop torque.

  • Page 97: Absolute System

    P07.08 = "Hx 0000", soft limit is not enabled. P07.08 = "Hx 1000", soft limit detection is enabled immediately after power-on. P07.08 = "Hx 2000", soft limit detection is enabled after the homing is completed. P07.24 sets the value of the positive soft limit. P07.26 sets the value of the negative soft limit. Positive soft limit Range Default...

  • Page 98: Pulse Output Function

    If P06.47 is set to 2, it is necessary to set parameter P20.06 to "7" one time to initialize the encoder, and then reset with DI or clear the fault with P20.01 or re-power on the encoder, then the encoder can enter the "ok rdy" state. If the servo still reports fault No.
  • Page 99 （2）The positive direction of division frequency output pulse is set by P00.14. Range Default Unit Effective Relevant mode Pulse output positive direction P00.16 definition 0 ～ 1 Restart Set the phase sequence logic for the pulse output function. 0：CCW（Pulse output OUTA is ahead of OUTB when the motor rotation direction is CCW.） 1：CW（Pulse output OUTA is ahead of OUTB when the motor rotation direction is CW.）...

  • Page 100: Z-Phase Signal Output

    5.4.2 Z-phase signal output Generally, the Z-phase output pulse is shown below: P00.17 can set whether the Z-phase pulse is high or low when it arrives, the default is high. P04.57 can set the width of the Z-phase pulse when it arrives, the default is 0, and the width is the same as that of A. 5.4.3 Pulse synchronization output function Set P00.18 to 1 to achieve the function of synchronizing the pulses of multiple drives, in which the outputs of drives A and B are in line with the input pulses (no need to enable).

  • Page 101: Modbus Communication

    5.5 MODBUS communication Communication condition The following describes the wiring method between drives Electrical specifications EIA485 and the setting method for the communication address of each Asynchronous serial drive. Communication mode communication (half duplex) With multi-station communication, the host device, when Communication speed 2.4 kbps ～...

  • Page 102: Error Response Frame

    Modbus Start address of Start address of Data value Data value written Slave address CRC (L) CRC (H) instruction registers written (H) registers written (L) written (H) The request frame and response frame of the 06H command are identical. 3. Command for communication to write multiple consecutive 16-bit registers 10H The request frame format for the 10H command is shown in the following table (all data in the table are hexadecimal num- bers): Slave address...

  • Page 103: Control Di Functions By Communication

    18: The 32-bit function parameter must read the upper and lower 16 bits at one time, and it is not allowed to read only the lower 16 bits or the upper 16 bits. 19: The parameter written exceeds the upper and lower limits. 20: The user password has not been entered or has become invalid.

  • Page 104: Read Do Function By Communication

    BIT0 ～ BIT15 corresponds to DI 32 ～ 47 in the DI function definition P09.07 Communication control DI enabling setting 3 table respectively (Note 1). BIT0 ～ BIT15 corresponds to DI 48 ～ 63 in the DI function definition P09.08 Communication control DI enabling setting 4 table respectively (Note 2).

  • Page 105: Read Encoder Absolute Position

    The enable setting interface of the communication D0 function: Parameter No. Description Parameter value Each binary bit of this parameter represents a DO function. BIT0 is reserved. BIT1 ～ BIT15 corresponds to DO functions 1 ~ 15. P09.09 Communication reading DO enable setting 1 The value of the binary bit indicates whether the corresponding DO function of communication control is enabled: 0: Invalid...
  • Page 106 Modbus Slave address Byte count Bit 8~15 Bit 0~7 Bit 24~31 Bit 16~23 CRC (L) CRC (H) instruction （2) Request encoder single-turn position register value, address is P21.34, data is unsigned 32-bit, range is 0~131072 (the maximum value of the range is related to the number of motor encoder bits). The request frame format is as follows.

  • Page 107: Tuning

    Chapter 6 Tuning Gain tuning ............................108 6.1.1 Overall description ..............................108 Automatic gain tuning........................109 Adaptive filter ..........................111 6.3.1 Function description ............................111 Manual gain tuning ........................112 6.4.1 Overall description ..............................112 6.4.2 Tuning in the position mode ..........................113 6.4.3 Tuning in the speed mode ..........................113 6.4.4 Gain switching function ............................113 6.4.5...

  • Page 108: Gain Tuning

    6.1 Gain tuning 6.1.1 Overall description ◆ Purpose: Servo drives need to drive motors stably, quickly, and accurately, allowing the motor to faithfully track position, speed, or torque instructions with as little delay as possible. To achieve this, the gain of the servo drive control loop must be adjusted. See the example below: Figure Figure 6.1 Example of gain definition...

  • Page 109: Automatic Gain Tuning

    6.2 Automatic gain tuning Function description ◆ Overview: Automatic gain tuning means that with the rigidity level selection function (P00-03), the servo drive will automatically gen- erate a set of matched gain parameters to meet the needs of stability, accuracy, and speed. ◆...

  • Page 110: Relevant Parameters

    ◆ Relevant parameters: 0: Invalid; Real time auto-tuning 1: Standard auto-tuning Immediate Set at stop 2: Positioning mode Rigidity grade setting 0~31 Immediate Set at operation Inertia ratio 0~60.00 0.01 1.00 Immediate Set at operation ◆ Parameters that are updated automatically: As the rigidity level changes, the servo drive automatically calculates the gain parameters internally, thereby updating the following parameters.

  • Page 111: Adaptive Filter

    Position control 0~1000.0ms 0.1ms 5.0ms switching delay Position control 0~20000 (Unit: based on gain switching mode descrip- switching class tion) Position control 0~20000 (Unit: based on gain switching mode descrip- switching hystere- tion) Position gain 0~1000.0ms 0.1ms 3.3ms switching time 6.3 Adaptive filter 6.3.1 Function description...

  • Page 112: Manual Gain Tuning

    ◆ Relevant parameters: Function code Name Setting range The smallest unit Default setting 0: Adaptive is invalid, the 3rd and the 4th filters are function- ing but parameters are not updated; 1: One adaptive filter is valid. Only the 3rd filter is functioning with updated parameters.

  • Page 113: Tuning In The Position Mode

    6.4.2 Tuning in the position mode ◆ Procedures: 1. Set the correct load inertia value P00.04, or set it automatically with the load parameter self-learning function. 2. Set the following parameters to the default values shown in the table below: Real-time auto-tuning mode Speed feed-forward filtering time Position loop gain 1 40.0HZ Position control switching mode...
  • Page 114 2. Increase the gain of the whole timing to shorten the positioning time. 3. Switch gain according to external signals ◆ Gain switching example: ◆ Procedure: Here is an example of how to achieve high-response following during operation and low noise and vibration during stop. 1.
  • Page 115 SWITCH switching selection (P01.17) is set to 1 will the gain switching of groups 1 and 2 be carried out. Otherwise, the P/PI switching of the speed loop will be carried out. 2. The delay time only applies when the 2nd gain returns to the 1st gain. 3.

  • Page 116: Feedforward Function

    6.4.5 Feedforward function ◆ Overview: For position control, the desired speed control value can be calculated from the position control instruction, i.e. the speed feedforward. This is added to the speed instruction regulated according to the feedback to output the actual speed control in- struction.

  • Page 117: Mechanical Resonance Suppression

    6.4.6 Mechanical resonance suppression The mechanical system has a certain resonance frequency, when the servo gain is increased, it may resonate near the me- chanical resonance frequency, resulting in the gain not being able to continue to increase. There are two ways to suppress me- chanical resonance: 1. Torque instruction filter（P01.04，P01.09）...

  • Page 118: Low-Frequency Vibration Suppression

    Notch filter amplitude-frequency characteristics: ◆ The frequency domain response curve when the notch filter depth is set to 1 and 0, respectively: The role of the notch filter in servo control: 6.4.7 Low-frequency vibration suppression ◆ Overview: If the mechanical load at the end is long, vibration is likely to occur when the positioning stops, which can affect the posi- tioning effect.
  • Page 119 tude and positioning time. ◆ Procedure: Figure Figure Low-frequency vibration waveform during positioning control In practical applications, it is possible to encounter a situation where there is a long end mechanism on the actuating part and there is an obvious oscillation when the position instruction stops, which is reflected in the position control waveform with periodic vibration in the position deviation (or absolute position feedback), as shown in Figure 8.10.

  • Page 120: Inertia Identification

    6.5 Inertia identification 6.5.1 Self-learning of load parameters...

  • Page 121: Chapter 7 Parameters

    Chapter 7 Parameters List of parameters ..........................122 Parameter description .........................133 P00 Basic setting .................................133 P01 Gain tuning ...................................136 P02 Vibration suppression ..............................143 P03 Speed & torque control parameters ........................146 P04 Digital input and output ............................151 P05 Analog input and output ............................157 P06 Expansion parameters ..............................160 P07 Auxiliary function ................................166 P08 Internal position instruction .............................170 P09 Communication setting .............................179...

  • Page 122: List Of Parameters

    7.1 List of parameters Relevant mode: P: position control S: speed control T: torque control The symbol “●” indicates applicable in this mode; and “—” indicates inapplicable in this mode. Relevant mode Group No. Name Motor rotation positive direction definition ● ● ●...
  • Page 123 Relevant mode Group No. Name Torque feed-forward control selection ● ● Torque feed-forward gain ● ● Torque feed-forward filtering time ● ● DI function GAIN—SWITCH action switching selection ● ● — Position control switching mode ● ● Position control switching delay ●...
  • Page 124 Relevant mode Group No. Name The second notch filter depth ● ● ● The third notch filter frequency ● ● ● The third notch filter width ● ● ● The third notch filter depth ● ● ● The fourth notch filter width ●...

  • Page 125: Digital Input And Output

    Relevant mode Group No. Name Segment 2 speed ● Segment 3 speed ● Segment 4 speed ● Segment 5 speed ● Segment 6 speed — ● — Segment 7 speed ● Segment 8 speed ● Speed & Segment 9 speed ●...
  • Page 126 Relevant mode Group No. Name DO7 terminal logic level selection ● ● ● DO8 terminal logic level selection ● ● ● DO9 terminal logic level selection ● ● ● FunINL signal unassigned status (HEX) ● ● ● FunINH signal unassigned status (HEX) ●...
  • Page 127 Relevant mode Group No. Name Electronic gear numerator 2 (32-bit) ● Electronic gear numerator 3 (32-bit) ● Electronic gear numerator 4 (32-bit) ● Position deviation clearing function ● Electronic gear ratio switching delay ● Potential energy load torque compensation ● ●...
  • Page 128 Relevant mode Group No. Name Panel display option ● ● ● Panel monitoring parameter setting 1 ● ● ● Panel monitoring parameter setting 2 ● ● ● Panel monitoring parameter setting 3 ● ● ● Panel monitoring parameter setting 4 ●...
  • Page 129 Relevant mode Group No. Name The fifth segment maximum speed ● The fifth segment acceleration/deceleration time ● Waiting time after the fifth segment completed ● The sixth segment displacement (32-bit) ● The sixth segment maximum speed ● The sixth segment acceleration/deceleration time ●...

  • Page 130: Communication Setting

    Relevant mode Group No. Name Position instruction interrupt execution setting ● Homing start method ● Homing mode ● Limit switch and z-phase signal setting when homing ● Origin search high speed ● Internal position Origin search low speed ● instruction Acceleration/deceleration time during origin searching ●...
  • Page 131 相关模式 组号 名称 Motor model code (32-bit) ● ● ● 相关模式 组号 名称 Key JOG trial ● ● ● Fault reset ● ● ● Communication parameters ● ● ● Parameter identification function ● ● ● Key and Analog input automatic offset adjustment ●...
  • Page 132 相关模式 组号 名称 Version code 3 ● ● ● Product series code ● ● ● Fault record display ● ● ● Fault code ● ● ● Time stamp upon selected fault (32-bit) ● ● ● Current rotation speed of the selected fault ●...

  • Page 133: Parameter Description

    7.2 Parameter description P00 Basic setting Range Default Unit Effective Relevant mode Motor rotation positive P00.00 direction definition 0 ～ 1 Restart Set the relation between instruction direction and motor rotational direction: 0: When the instruction is positive, motor rotational direction is CCW (counterclockwise from facing the motor shaft) 1: When the instruction is positive, motor rotational direction is CW (clockwise from facing the motor shaft) Range Default...
  • Page 134 Range Default Unit Effective Relevant mode P00.04 Inertia ratio 0 ～ 6000 0.01 Immediate Set the ratio of load to motor inertia. 0 ～ 60.00 Range Default Unit Effective Relevant mode P00.05 Position instruction source 0 ～ 3 Restart Set the source of instruction for position control. 0: Pulse instruction 1: Step value instruction 2: Internal position control...
  • Page 135 Set the number of OUTA or OUTB pulses output per turn of the motor rotation. 16PPR ～ 65535PPR (calculate the number of lines according to the incremental photoelectric encoder) Range Default Unit Effective Relevant mode Pulse output positive P00.16 direction definition 0 ～...

  • Page 136: P01 Gain Tuning

    Range Default Unit Effective Relevant mode External resistor heating P00.24 time constant 1 ～ 30000 2000 0.1s Immediate Set the heating time constant of the energy consumption braking resistor. 0.1s ～ 3000.0s Range Default Unit Effective Relevant mode P00.25 Regenerative voltage point 0 ～...
  • Page 137 Range Default Unit Effective Relevant mode P01.02 Speed loop integral time 1 15 ～ 51200 3000 0.01ms Immediate Set the integration time of the speed loop controller. 0.15ms to 512.00ms. The smaller the setting value, the smaller the steady-state deviation. When the integration time is equal to 512.00, the integration is invalid.
  • Page 138 regulator). Speed feed-forward Range Default Unit Effective Relevant mode P01.11 control selection 0 ～ 2 Restart Set the speed feedforward selection for position control. 0: No speed feedforward 1: Internal speed feedforward Range Default Unit Effective Relevant mode P01.12 Speed feed-forward gain 0 ～...
  • Page 139 1: The second gain fixed (P01.05 to P01.09) 2: Group 1 and 2 gain switching using DI input (GAIN_SEL) or P/PI switching by the speed regulator. 3: Large torque instruction, torque instruction over level (P01.20) + hysteresis (P01.21) switches to the 2nd gain, and when the torque instruction is lower than level (P01.20) - hysteresis (P01.21) it returns to the 1st gain within the specified delay time.
  • Page 140 0: The first gain fixed (P01.00 ～ P01.04) 1: The second gain fixed (P01.05 to P01.09) 2: Group 1 and 2 gain switching using DI function 3 (GAIN_SEL) or P/PI switching by the speed regulator. 3: Large torque instruction, torque instruction over level (P01.25) + hysteresis (P01.26) switches to 2nd gain, and when the torque instruction is lower than level (P01.25) - hysteresis (P01.26) it returns to 1st gain within the specified delay time.
  • Page 141 Set the trigger level for gain switching during torque control. 0 to 20000 (Unit: according to the gain switching mode description), note that this parameter takes the value set in P01.30 as the lower limit. Range Default Unit Effective Relevant mode Torque control switching P01.30 hysteresis...
  • Page 142 Range Default Unit Effective Relevant mode Model tracking torque P01.46 compensation gain 2 0 ～ 10000 1000 Immediate Range Default Unit Effective Relevant mode P01.47 Model tracking gain 2 10 ～ 20000 Immediate Range Default Unit Effective Relevant mode Model tracking P01.48 compensation coefficient 2 500 ～...

  • Page 143: P02 Vibration Suppression

    P02 Vibration suppression Range Default Unit Effective Relevant mode Position instruction P02.00 smoothing filter 0 ～ 65535 0.1ms Immediate In position control mode, set the position instruction first-order low-pass filter time constant, and the filtering effect is shown below: Range Default Unit Effective Relevant mode Position instruction FIR...
  • Page 144 0: High rigidity load 1: Low rigidity load Range Default Unit Effective Relevant mode The first notch filter P02.04 frequency (manual) 50 ～ 5000 5000 Immediate Set the center frequency of the 1st notch filter. 50 to 5000Hz. This filter is not effective at 5000Hz. Range Default Unit...
  • Page 145 Range Default Unit Effective Relevant mode The fourth notch filter P02.13 frequency 50 ～ 5000 5000 Immediate Set the center frequency of the 4th notch filter (i.e., the second adaptive filter). 50 ～ 5000Hz. This filter is not effective at 5000Hz. Range Default Unit...

  • Page 146: P03 Speed & Torque Control Parameters

    Range Default Unit Effective Relevant mode Resonance point 1 P02.33 amplitude 0 ～ 1000 Display only Amplitude of the resonant frequency detected by the 1st adaptive filter Range Default Unit Effective Relevant mode Resonance point 2 P02.34 frequency 0 ～ 5000 5000 Display only Resonance frequency detected by the 2nd adaptive filter...
  • Page 147 the torque set by parameter P03.11 and P03.12 shall prevail; when this DI function is invalid, the torque limit set by parameter P03.09 and P03.10 shall prevail. 2: TLMTP is used as forward and reverse torque limit, and the input of analog AI1 or AI2 (AI1 or AI2 is selected by P05.16 and P05.17, and when selected at the same time, AI1 prevails) is used as the forward and reverse torque limitation value at the same time.
  • Page 148 Range Default Unit Effective Relevant mode P03.14 Acceleration time 1 0 ～ 65535 Immediate Acceleration and deceleration time to set the speed instruction from 0 to 1000rpm as shown below: Range Default Unit Effective Relevant mode P03.15 Deceleration time 1 0 ～...
  • Page 149 4: TQR + digital setting Torque instruction key set Range Default Unit Effective Relevant mode P03.25 value 0.1% Immediate -300.0% to 300.0% (based on rated motor torque) Speed limit source under Range Default Unit Effective Relevant mode P03.26 torque control 0 ～...
  • Page 150 Acceleration time number Range Default Unit Effective Relevant mode P03.34 for speed instruction from 0 ～ 1 Immediate segment 9 to 16 0: Acceleration Time 1 (P03.14) 1: Acceleration time 2 (P03.16) Deceleration time number Range Default Unit Effective Relevant mode P03.35 for speed instruction from 0 ～...

  • Page 151: P04 Digital Input And Output

    Range Default Unit Effective Relevant mode P03.45 Segment 10 speed -9000 ～ 9000 1rpm Immediate -9000rpm ～ 9000rpm Range Default Unit Effective Relevant mode P03.46 Segment 11 speed -9000 ～ 9000 1rpm Immediate -9000rpm ～ 9000rpm Range Default Unit Effective Relevant mode P03.47 Segment 12 speed...
  • Page 152 Range Default Unit Effective Relevant mode DI3 terminal function P04.03 selection 0 ～ 63 Restart Input function code: 0 ～ 63 0: No definition 1 ～ 63: Refer to the digital input (DI) function definition table, some DI functions are undefined and reserved. Range Default Unit...
  • Page 153 0: Low level is valid (closed) 1: High level is valid (open) Range Default Unit Effective Relevant mode P04.13 DI3 terminal logic selection 0 ～ 1 Restart Input polarity setting: 0 ～ 1 0: Low level is valid (closed) 1: High level is valid (open) Range Default Unit...
  • Page 154 Range Default Unit Effective Relevant mode DO1 terminal function P04.21 selection 0 ～ 31 Restart Input function code: 1 ～ 31 0: No definition 1 ～ 31: Refer to the digital output (DO) function definition table, some DO functions are undefined and reserved. Range Default Unit...
  • Page 155 0: Conduct when valid (normally-open contact) 1: Not to conduct when valid (normally-closed contact) Range Default Unit Effective Relevant mode DO4 terminal logic level P04.34 selection 0 ～ 1 Restart Output polarity setting: 0 ～ 1 0: Conduct when valid (normally-open contact) 1: Not to conduct when valid (normally-closed contact) Range Default...
  • Page 156 Range Default Unit Effective Relevant mode Positioning completion P04.47 range 1 ～ 65535 Immediate 1P ～ 65535P Range Default Unit Effective Relevant mode Positioning completion P04.48 output setting 0 ～ 7 Immediate 0: When the absolute value of position deviation is less than the positioning completion range (P04_47), output COIN sig- nal.

  • Page 157: P05 Analog Input And Output

    Range Default Unit Effective Relevant mode Torque arrival detection P04.56 width 0 ～ 3000 0.1% Immediate 0.0% to 300.0% (based on motor rated torque) Range Default Unit Effective Relevant mode Z-phase pulse width P04.57 adjustment 0 ～ 100 Restart 0 ～ 100 Range Default Unit...
  • Page 158 Range Default Unit Effective Relevant mode P05.07 AI2 minimum input -1000 ～ 1000 -1000 0.01V Immediate The setting range is -10.00V to 10.00V. Note that this parameter takes the set value of P05.09 as the upper limit. Setting value Range Default Unit Effective...
  • Page 159 3: TLMTP, positive torque limit 4: TLMTN, negative steering limit 5: TFFD, Torque feed forward Range Default Unit Effective Relevant mode P05.17 AI2 function selection 0 ～ 5 Immediate 0 ～ 5 0: SPR, speed instruction 1: TQR, torque instruction 2: SPL, speed limit 3: TLMTP, positive torque limit 4: TLMTN, negative steering limit...

  • Page 160: P06 Expansion Parameters

    2: Torque instruction (1V/100%) 3: Position deviation (0.05V/1 instruction unit) 4: Position amplifier deviation (after electronic gear) (0.05V/1 encoder pulse unit) 5: Position instruction speed (1V/1000 rpm) 6: Positioning completion instruction (completed: 5V, not completed: 0V) 7: Speed feed-forward (1V/1000rpm) 8: Torque feed-forward (1V/100%) 9: Load rate (1V/100%) 10: Regenerative load rate (1V/100%)
  • Page 161 Range Default Unit Effective Relevant mode Position deviation clearing P06.06 function 0 ～ 3 Immediate 0: Position deviation pulses are cleared when the servo is OFF or when a malfunction occurs. 1: Position deviation pulse is cleared only when a malfunction occurs. 2: Position deviation pulse is cleared when the servo is OFF, a malfunction occurs, or the DI function (PERR_CLR) is active.
  • Page 162 Range Default Unit Effective Relevant mode The first type fault stop P06.18 selection 0 ～ 1 Restart 0 -coast to stop, remain free 1-DB stop, hold DB Range Default Unit Effective Relevant mode Parameter identification P06.19 rate 100 ～ 1000 Restart 100 ～...
  • Page 163 Range Default Unit Effective Relevant mode The second type fault stop P06.27 mode selection 0 ～ 5 Restart 0 -coast to stop, remain free 1- Zero speed stop, remain free 2-Stop by emergency stop torque, remain free 3-DB stop, hold DB 4-Zero speed stop, hold DB 5-Stop by emergency stop torque, hold DB Range...
  • Page 164 10% ～ 300% Undervoltage protection Range Default Unit Effective Relevant mode P06.36 point 50 ～ 130 Immediate 50% to 100% (100% corresponds to the default undervoltage point, 180V busbar voltage, P21.06 display value) Range Default Unit Effective Relevant mode P06.37 Over-speed fault point 50 ～...
  • Page 165 0 ～ 500 (Unit: 10ns) 0 ～ 500 (Unit: 10ns) Below 250KHZ, the recommended value is 40; 250K ~ 500K, the recommended value is 20; 500K ~ 1M, the recommended value is 10; Overlarge speed deviation Range Default Unit Effective Relevant mode P06.45 threshold...

  • Page 166: P07 Auxiliary Function

    Above 1M, the recommended value is 5; Above 2M, set to 0. P07 Auxiliary function Range Default Unit Effective Relevant mode P07.00 Panel display option 0000H ～ FFFFH Immediate Hexadecimal, from right to left: Digit 1: Display the setting at homepage of panel 0：Status display When set to 1 to 5, display the parameters set in P07.
  • Page 167 Set to 1, detection by hard limit torque limit; Set to 2, DI function or hard limit torque limit detection. Digit 4, soft limit detection setting: Set to 0, no soft limit detection; Setting to 1, soft limit detection starts at power-on; Setting to 2, the soft limit is detected only after the return to origin is completed.

  • Page 168: Manual Setting

    0： Follow the current operation direction 1： Decided by instruction sign Other digits are reserved. Range Default Unit Effective Relevant mode P07.17 Resolution 0 ～ 99 Immediate Divide a circle of corresponding pulses into 0 to 99 parts. Range Default Unit Effective Relevant mode...
  • Page 169 2: Er.040 is reported Digit 2: Fault Er.046, Er.047 reset 0: reset is not allowed; 1: reset is not allowed until 10 seconds after the alarm; Digit 3: DI DO monitoring display 0: in binary. 1: in hexadecimal Digit 4: AL.097 reset 0: reset 1: N Range...

  • Page 170: P08 Internal Position Instruction

    Range Default Unit Effective Relevant mode P07.26 Negative soft limit (32-bit) -2147483648 ～ -2147483648 Restart 2147483647 It is valid during reverse soft limit, position control, speed control, and torque control modes. Holding time of return Range Default Unit Effective Relevant mode P07.28 completion signal during 0 ～...
  • Page 171 The two parameters P08.01 and P08.02 constrain each other. Dealing of residual Range Default Unit Effective Relevant mode P08.03 segments after pausing 0 ～ 1 Immediate and restarting 0: Run the remaining segments 1: Run from the beginning again Range Default Unit Effective...
  • Page 172 0 ～ 65535ms Waiting time after Range Default Unit Effective Relevant mode P08.15 the second segment 0 ～ 65535 Immediate completed 0 ～ 65535ms/s. The specific unit is set by P08.05. Range Default Unit Effective Relevant mode The third segment P08.16 -1073741824 ～...
  • Page 173 Range Default Unit Effective Relevant mode The fifth segment P08.28 maximum speed 1 ～ 9000 1rpm Immediate 1 ～ 9000rpm The fifth segment Range Default Unit Effective Relevant mode P08.29 acceleration/deceleration 0 ～ 65535 Immediate time 0 ～ 65535ms Waiting time after the fifth Range Default Unit...
  • Page 174 A value between -1073741824 and 1073741824 can be set, and a positive setting indicates a positive position instruction, while a negative setting indicates a negative position instruction. Range Default Unit Effective Relevant mode The eighth segment P08.43 maximum speed 1 ～ 9000 1rpm Immediate 1 ～...
  • Page 175 Range Default Unit Effective Relevant mode Waiting time after the 10th P08.55 segment completed 0 ～ 65535 Immediate 0 ～ 65535ms/s. The specific unit is set by P08.05. Range Default Unit Effective Relevant mode The 11th segment P08.56 -1073741824 ～ displacement (32-bit) 10000 Immediate...
  • Page 176 1 ～ 9000rpm The 13th segment Range Default Unit Effective Relevant mode P08.69 acceleration/deceleration 0 ～ 65535 Immediate time 0 ～ 65535ms Range Default Unit Effective Relevant mode Waiting time after the 13th P08.70 segment completed 0 ～ 65535 Immediate 0 ～...
  • Page 177 Range Default Unit Effective Relevant mode The 16th segment P08.81 -1073741824 ～ displacement (32-bit) 10000 Immediate 1073741824 A value between -1073741824 and 1073741824 can be set, and a positive setting indicates a positive position instruction, while a negative setting indicates a negative position instruction. The 16th segment Range Default...
  • Page 178 6：Forward rotation to directly search for the nearest Z signal as the origin 7：Reverse rotation to directly search for the nearest Z signal as the origin 8：Directly use the current position as the origin Limit switch and z-phase Range Default Unit Effective Relevant mode...

  • Page 179: P09 Communication Setting

    After the homing process is started, the search for the origin begins at this speed unless a deceleration signal or an origin position signal is already present at the start. Range Default Unit Effective Relevant mode P08.93 Origin search low speed 1 ～...
  • Page 180 0：2400 1：4800 2：9600 3：19200 4：38400 5：57600 6：115200 Range Default Unit Effective Relevant mode P09.02 Modbus data format 0 ～ 3 Immediate 0：No parity, 2 stop bit 1：Even, 1 stop bit 2：Odd, 1 stop bit 3：No parity, 1 stop bit Range Default Unit Effective...

  • Page 181: P17 Expansion Position Control Function

    control of the corresponding DI function: 0: Not enabled; 1: enabled Refer to section 5.5.3 of this manual for detailed instructions. Range Default Unit Effective Relevant mode Communication DI P09.08 enabling setting 4 0000H ～ FFFFH Restart This parameter is displayed in hexadecimal form on the panel, where each binary bit indicates a DI function, BIT0 ～ BIT15 corresponds to DI functions 48 ～...
  • Page 182 2：External encoder is used as position feedback, the external encoder count is increased when the motor direction is CW. External encoder pitch Range Default Unit Effective Relevant mode P17.01 (32-bit) 0 ～ 1073741824 10000 Restart Set the number of feedback pulses from the external encoder for one revolution of the motor: 0 ～...

  • Page 183: P18 Motor Model

    -1073741824 ～ 1073741824 The value set by this parameter is output in comparison with the value of P21.07. Range Default Unit Effective Relevant mode The second position (32- P17.19 -1073741824 ～ bit) Immediate 1073741824 -1073741824 ～ 1073741824 The value set by this parameter is output in comparison with the value of P21.07. Range Default Unit...

  • Page 184: P20 Key And Communication Control Interface

    P20 Key and communication control interface Range Default Unit Effective Relevant mode P20.00 Key JOG trial 0 ～ 2000 Restart 0 ～ Rated speed of motor Range Default Unit Effective Relevant mode P20.01 Fault reset 0 ～ 9 Restart 0: No reset 1: Reset Range Default Unit Effective...
  • Page 185 4: Reserved 5: Encoder initial angle identification Range Default Unit Effective Relevant mode Analog input automatic P20.05 offset adjustment 0 ～ 2 Restart 0: No operation 1 ～ 2: AI1 ～ AI2 adjustment Range Default Unit Effective Relevant mode System initialization P20.06 function 0 ～...

  • Page 186: P21 Status Parameters

    0: No operation 1: Start homing P21 Status parameters Range Default Unit Effective Relevant mode P21.00 Servo status 0 ～ 65535 Display only Real-time display of the status of the drive. The following signs are available: rdy, run, Err.00 to 99 (fault), AL.00 to 99 (warning). Range Default Unit...
  • Page 187 Real-time display of the angle value of the motor's rotary axis 0.0 to 360.0 degrees Range Default Unit Effective Relevant mode Load inertia identification P21.11 value 0 ～ 65535 0.01 ㎏ c ㎡ Display only Real-time display of inertia value recognized online. The range is 0.01 ㎏...
  • Page 188 Real-time display of the status of DO1 to DO5 on the panel. If the third bit from the right of P07.21 is 0, when the DO interface is high level, the digital tube displays the upper half, and when it is low level, the lower half is displayed, and the sequence from right to left is DO1 to DO5. If the third bit from the right of P07.21 is 1, when the DI interface is high level, it is represented by a binary 1, and when it is low level, it is represented by a binary 0.
  • Page 189 Range Default Unit Effective Relevant mode P21.37 Version code 2 0 ～ 65535 0.01 Display only Display software version number. Range Default Unit Effective Relevant mode P21.38 Version code 3 0 ～ 65535 0.01 Display only Display software version number. Range Default Unit...

  • Page 190: Digital Input (Di) Function Definition Table

    The status of DO1 to DO9 when a fault occurs. When the current DI interface is high level, the digital tube displays the up- per half, and when it is low level, it displays the lower half. Range Default Unit Effective Relevant mode Customized software...
  • Page 191 MI_SEL1 Switching 16 operation instructions MI_SEL2 Switching 16 operation instructions Execute 16 position instructions or speed instructions by selecting them via DI terminal。 MI_SEL3 Switching 16 operation instructions MI_SEL4 Switching 16 operation instructions Switch between speed, position, and torque according to the MODE_SEL Switching 16 operation instructions selected control mode (3, 4, 5).

  • Page 192: Digital Input (Di) Function Definition Table

    Valid-Execute the step amount instruction STEP Position step enable Invalid-Instruction is zero as the positioning status Invalid - No effect FORCE_ERR Forced fault protection input Valid - Enter fault status Invalid - No effect Interrupt positioning execution Valid - When the value of parameter P08.86 is not 0, the position INTP_TRIG trigger signal instruction is triggered to interrupt the execution process, which...
  • Page 193 Signal to confirm speed limit during torque control Valid - Motor speed is limited V_LT Speed limit signal Invalid - Motor speed is not limited Brake release signal output: BKOFF Brake release signal output Valid - Release the brake, the motor shaft is free Invalid - Resume the brake, the motor shaft is locked The output signal is valid when the torque instruction value T_ARR...

  • Page 194: Chapter 8 Errors & Alarms And Troubleshooting

    Chapter 8 Errors & alarms and troubleshoot- Error and alarm code list ......................195 Error and alarm causes and handling measures ..............197...

  • Page 195: Error And Alarm Code List

    8.1 Error and alarm code list Error code Name Stop mode Reset (Y/N) Record memory (Y/N) Err.001 Abnormal system parameter Stop immediately Err.002 Product model selection fault Stop immediately Err.003 Parameter storage fault Stop immediately Err.004 FPGA fault Stop immediately Err.005 Product matching fault Stop immediately Err.006 Program error...
  • Page 196 Err.044 Main circuit input phase loss Configurable Err.045 Drive output phase loss Configurable Err.046 Overloaded drive Stop immediately Err.047 Overloaded motor Stop immediately Err.048 Electronic gear setting error Configurable Err.049 Overheated heat spreader Configurable Err.050 Abnormal pulse input Configurable Err.051 Overlarge full-loop position deviation Configurable Err.054...

  • Page 197: Error And Alarm Causes And Handling Measures

    8.2 Error and alarm causes and handling measures Error code and Cause Handling measure name 1. Instantaneous decrease in power voltage； 1. Ensure the power voltage is within the specified range. Restore the Err.001： 2. The range of some parameters has been parameters (P20.06 set to 1); Abnormal system changed after software updates, which makes the 2.
  • Page 198 rr.010： 1 Control chip initialization failure; 1. Check if the drive is installed and wired correctly; Hardware initializa- 2 Localized damage to the circuit board; 2. If the drive is damaged, please contact the manufacturer for repair. tion fault Err.011： 1.
  • Page 199 1. Power voltage decrease; 1. Increase the capacity of power voltage. Make sure input power is 2. Instantaneous power outage; Err.021： stable; 3. Under-voltage protection threshold (P06.36) is Under-voltage 2. Check whether the under-voltage protection threshold (P06.36) is too high; set too high.
  • Page 200 1、Cancel the gantry mode, check whether the two shafts are 1. The phase sequence of the two shafts of the running normally, and replace the correct wiring to make it normal. Err.030: gantry synchronization may be problematic. 2、Check the machinery, replace the parts, determine the correct Overlarge gantry 2.
  • Page 201 1. Check whether the three-phase power supply cable is well con- nected ( Note: Do not operate with the power supply on.); 1. Bad contact of the three-phase input cable; Err.044： 2. Measure the voltage of each phase of the three-phase power 2.
  • Page 202 1. Check if the fan operates normally, and replace the fan or drive if it is abnormal; 2. Measure the ambient temperature and improve the cooling 1. Faulty fan; conditions of the servo drive to reduce the ambient temperature; 2. Ambient temperature is too high; 3、Check if an overload fault has been reported before.
  • Page 203 1. The speed instruction exceeds the maximum 1. Reduce speed instruction; Err.068： speed setting; 2. Check the UVW phase sequence is correct; External overspeed 2. UVW phase sequence error; 3. Adjust the speed loop gain to reduce overshoot; (reserved) 3. Speed response is seriously overshoot; 4.
  • Page 204 The loaded operation exceeds the drive inverse time curve. The causes are as follows: 1. Confirm that the motor UVW wire and encoder wiring are correct; 1. The motor UVW cable or encoder cable is loose 2. Confirm that the motor is not blocked or driven by force, and or faulty;...
  • Page 205 Energy consumption braking power is overloaded: 1. Incorrect wiring or bad contact of the braking resistor; 2. Short connecting cable may be disconnected 1. Check if the resistor wiring is correct; when using an internal resistor; 2. Check if the internal resistor wiring is correct; AL.093：...
  • Page 206 Innovation Integrity Service HCFA HCFA_ATC Zhejiang Hechuan Technology Co., Ltd. No.9, Fucai Road, Longyou Industrial Zone, Quzhou City, Zhejiang Province, P.R. China R&D Center (Hangzhou) No. 299, Lixin Road, Qingshanhu Road, Lin'an District, Hangzhou City, Zhejiang Province, P.R. China 400 TEL - 400-012-6969 HCFA Official Website - www.hcfa.cn This manual may include information about other products, their names, trademarks, or registered trademarks, which are the property of other companies and not owned by HCFA.

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