Moons' M56S Series User Manual

Ac servo system, rs-485

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M56S Sseries

AC Servo System

RS-485 Type User Manual

SHANGHAI AMP&MOONS' AUTOMATION CO.,LTD.

Rev. 1.0

02/19/2024

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Page 1 M56S Sseries AC Servo System RS-485 Type User Manual SHANGHAI AMP&MOONS’ AUTOMATION CO.,LTD. Rev. 1.0 02/19/2024...
Page 2: Table Of Contents
M56S RS-485 Type User Manual Contents 1 Introduction ............................9 1.1 About this manual ........................9 1.2 M56 Series RS-485 Documentation ..................9 1.3 Safety .............................9 1.4 Safety sign ..........................9 1.5 Safety Precautions .......................10 1.5.1 Installation Precautions ....................10 1.5.2 Wiring ..........................10 1.5.3 Test run ........................11 1.6 Certiﬁed Speciﬁcations ......................
Page 3 M56S RS-485 Type User Manual 2.6.7 Regenerative resistor ....................39 2.6.8 Dynamic brake resistor ....................39 2.6.9 EMI ﬁlter ........................39 3 Installation............................40 3.1 Storage Conditions .......................40 3.1.1 Drive storage environment conditions .................40 3.1.2 Motor Storage Conditions ...................40 3.2 Installation Conditions ......................40 3.2.1 Driving environment conditions ...................40 3.2.2 The motor operation ambient conditions are as follows: ..........40 3.3 Drive installation space ......................41 3.4 Motor Installation ........................41...
Page 4 M56S RS-485 Type User Manual 4.5.5 Battery of Absolute Encoder ..................71 4.6 Electromagnetic Brake ......................72 4.6.1 Wiring Diagram ......................72 4.6.2 Precautions for the use of brake .................73 4.6.3 The Timing Charts of Electromagnetic Brake ..............73 4.7 Regeneration Resistor P2 ....................74 4.7.1 Calculation method of regenerative energy ..............74 4.7.2 Wiring a Regenerative Resistor ..................76 4.7.3 Parameter Settings for Regenerative Resistor ............76...
Page 5 M56S RS-485 Type User Manual 6.3 JOG Operation ........................112 6.4 Conﬁguration by Personal Computer ................. 112 7 Operation Mode and Functions ......................113 7.1 Input and Output Signal Settings ..................113 7.1.1 Input Signal Settings ....................113 7.1.2 Output Signal Settings ....................115 7.1.3 Servo On Setting .......................
Page 6 M56S RS-485 Type User Manual 7.4.5 Speed Limit in Torqur Control Mode ................172 7.4.6 Speed Limited Output(V-LTD) ...................174 7.4.7 Torque Reach Output ....................174 7.4.8 Torque Coincidence Output ..................175 7.4.9 Using Luna Software to Conﬁgurate Torque Control Mode ........176 7.5 Torque Limit ........................178 7.5.1 Torque Limit Methods ....................178 7.5.2 Torque Limit Sources ....................178 7.5.3 Torque Limited Output(T-LMT) ..................181...
Page 7 11.4 SCL Command Code ......................309 11.4.1 Command Code ......................309 11.4.2 I/O Code ........................310 11.5 Modbus Register Tabble of M56S Series................311 11.5.1 M56S Series General Purpose Registers ............... 311 11.5.2 M56S Series—P0 Group (PID) ................316 11.5.3 M56S Series—P1 Group (Conﬁguration) ..............319 11.5.4 M56S Series—P2 Group (Trajectory) ..............321...
Page 8 M56S RS-485 Type User Manual Disclaimer The information in this manual was accurate and reliable at the time of its publication. Shanghai Anpu Mingzhi Automation Equipment Co., Ltd. reserves the right to change the product speciﬁcations described in this manual at any time without prior notice. Trademark Rights All proper names mentioned in this manual are the trademarks of their respective owners.
Page 9: Introduction
To prevent hazards to people and damage to property, installation should only be performed by qualiﬁed personnel. M56S series AC servo products use dangerous voltage. The drive must be properly grounded. Before you install M56S series AC servo products, please read the product manual carefully.
Page 10: Safety Precautions
M56S RS-485 Type User Manual 1.5 Safety Precautions 1.5.1 Installation Precautions ◆ DO NOT subject the product to water, corrosive or ﬂammable gases, and combustibles. ◆ DO NOT use the motor in a place subject to excessive vibration or shock. ◆...
Page 11: Test Run
◆ Use servo motors with brakes on vertical loads to avoid equipment falling during alarm, failure, power failure. 1.6 Certiﬁed Speciﬁcations M56S series low voltage servo products are designed to meet the following standards. Drive Motor EN 60034-1...
Page 12: Replacement Of Parts
M56S RS-485 Type User Manual 1.7.2 Replacement of parts The components inside the servo products will wear and age over time, and the replacement time of the components varies according to the environmental conditions and usage methods. When replacement is required, please contact our company or our agent.Please do not disassemble and repair by yourself.
Page 13: Basic Information
M56S RS-485 Type User Manual 2 Basic Information 2.1 Product conﬁrmation Please refer to the following chapters to conﬁrm the model of the driver and the model of the servo motor. A complete operational servo should include the following components: •...
Page 14: Drive Model Description
M56S RS-485 Type User Manual 2.2.2 Drive model description M56S - 2 3A0 R F - *** ① ② ③ ④ ⑤ ⑥ M56S Series Current ① ③ Supply Voltage * Supply Rated Current Peak Current Rated ② Current Voltage...
Page 15 M56S RS-485 Type User Manual 2.2.3.2 AC220V Common Speciﬁcation Ambient temperature: 0°C ~ 55°C (If the ambient temperature of servo drive is higher than Temperature 45°C, please install the drive in a well-ventilated location) Storage temperature: -20°C ~ 65°C Humidity Both operating and storage : 10 ~ 85%RH or less Environment Derating is not required for altitudes not higher than 1000m...
Page 16 M56S RS-485 Type User Manual 2.2.3.3 AC400V Electrical Speciﬁcations three-phase 400V rated AC servo drives ■ Drive Model M56S-313ARF M56S-317ARF M56S-321ARF M56S-326ARF Main Circuit Three-phase, AC380 ~ 480V±10%，50/60Hz Control Circuit Single-phase, AC380 ~ 480V±10%，50/60Hz Continuous Power Output A(rms) Maximum Output 42.5 52.5 A(rms)
Page 17: Regeneration Resistor Specification
M56S RS-485 Type User Manual 2.2.4 Regeneration resistor speciﬁcation When the output torque of the motor shaft is opposite to the direction of rotation, the energy is fed back from the motor load end to the drive bus capacitor, which makes the bus voltage increase. When it reaches the braking voltage point, the energy can only be consumed by the regeneration resistor, otherwise it will damage the servo drive.
Page 18: Dimensions Of The Driver (Unit: Mm)
M56S RS-485 Type User Manual 2.2.5 Dimensions of the driver (Unit: mm) (100/200W models) M56S-21A8R ◆ □ Ø5 Ø5 Ø5 Ø5 35.5 35.5 (400W models) M56S-23A0R ◆ Ø5.2 □ 35.5 Ø5.2 Ø5.2 35.5 Ø5.2 49.5 49.5 7.5 Ø5.2 49.5 7.5 Ø5.2 (750W models) M56S-24A5R ◆...
Page 19 M56S RS-485 Type User Manual 57.5 176.5 (3.0kW models) M56S-313ARF □ Ø5.2 57.5 176.5 Ø5.2 173.4 (5.0kW models) M56S-317ARF 173.4 □ (6.0kW models) M56S-321ARF 2-Ø5.3 (7.5kW models) M56S-326ARF 2-Ø5.3 2-5.3 230.2 2-5.3 230.2 Rev. 1.0 400-820-9661 02/19/2024...
Page 20: Motor Model Introduction
M56S RS-485 Type User Manual 2.3 Motor model introduction 2.3.1 Motor nameplate description Model Number Model No：SM3L-042AXNDV Input INPUT：3ØAC 208-240V DC Source：320V Rated Current RATED CURRENT：1.2A Output Power RATED OUTPUT：100W Output Torque RATED TORQUE：0.32N·m Rated Speed RATED SPEED：3000rpm Max. Speed MAX.
Page 21: 40Mm Frame Low Inertia
M56S RS-485 Type User Manual 2.3.3 □40mm Frame Low Inertia □ Speciﬁcation Type* SM3L - 042A◇□D△ Rated Output Power watts Rated Speed 3000 Max.Speed 6000 Rated Torque N·m 0.32 Peak Torque N·m 1.28 Rated Current A (rms) Peak Current A (rms) Voltage Constant ±5% V (rms) / K rpm 16.8...
Page 22: 40Mm Frame High Inertia
M56S RS-485 Type User Manual 2.3.4 □40mm Frame High Inertia □ Speciﬁcation Type** SM3H - 041A◇□P△ SM3H - 042A◇□P△ Rated Output Power watts Rated Speed 3000 3000 Max.Speed 6000 6000 Rated Torque N·m 0.16 0.32 Peak Torque N·m 0.64 1.28 Rated Current A (rms) Peak Current...
Page 23: 60Mm Frame Low Inertia
M56S RS-485 Type User Manual 2.3.5 □60mm Frame Low Inertia □ Speciﬁcation Type** SM3L - 061A◇□P△ SM3L - 062A◇□P△ Rated Output Power watts Rated Speed 3000 3000 Max.Speed 6000 6000 Rated Torque N·m 0.64 1.27 Peak Torque N·m Rated Current A (rms) Peak Current A (rms)
Page 24: 60Mm Frame High Inertia
M56S RS-485 Type User Manual 2.3.7 □60mm Frame High Inertia □ Speciﬁcation Type** SM3H - 061A◇□P△ SM3H - 062A◇□P△ Rated Output Power watts Rated Speed 3000 3000 Max.Speed 6000 6000 Rated Torque N·m 0.64 1.27 Peak Torque N·m 2.24 4.445 Rated Current A (rms) Peak Current...
Page 25: 80Mm Frame Low Inertia
M56S RS-485 Type User Manual 2.3.8 □80mm Frame Low Inertia □ Speciﬁcation Type** SM3L - 083A◇□P△ SM3L - 084A◇□P△ Rated Output Power watts 1000 Rated Speed 3000 3000 Max.Speed 6000 6000 Rated Torque N·m Peak Torque N·m Rated Current A (rms) Peak Current A (rms) Voltage Constant ±5%...
Page 26: 80Mm Frame High Inertia
M56S RS-485 Type User Manual 2.3.9 □80mm Frame High Inertia □ Speciﬁcation Type** SM3H - 083A◇□P△ Rated Output Power watts Rated Speed 3000 Max.Speed 6000 Rated Torque N·m Peak Torque N·m Rated Current A (rms) Peak Current A (rms) 16.7 Voltage Constant ±5% V (rms) / K rpm 32.3...
Page 27: 100Mm Frame Low Inertia
M56S RS-485 Type User Manual 2.3.10 □100mm Frame Low Inertia SM3L-042 (100Watts) □ Speciﬁcation DC Bus: 320VDC (230VAC) 1.2 Amps SM3L - SM3L - SM3L - SM3L - Type** 102A◇□U△ 103A◇□U△ 104A◇□U△ 105A◇□U△ Rated Output Power watts 1000 1500 2000 2500 Rated Speed 3000...
Page 28: 130Mm Frame Medium Inertia
M56S RS-485 Type User Manual 2.3.11 □130mm Frame Medium Inertia □ Speciﬁcation Type** SM3M - 132A◇□U△ SM3M - 133A◇□U△ SM3M - 134A◇□U△ Rated Output Power watts 1000 1500 2000 Rated Speed 2000 2000 2000 Max.Speed 3000 3000 3000 Rated Torque N·m 4.77 7.16...
Page 29: 130Mm Frame Medium Inertia
M56S RS-485 Type User Manual SM3M-062 (400Watts) - 2.8 Amps DC Bus: 320VDC (230VAC) 2.3.12 □130mm Frame Medium Inertia □ Speciﬁcation Type** SM3M - 135Y◇□M△ Rated Output Power watts 3000 Rated Speed 2000 3,000 6,000 Max.Speed 3000 Speed (rpm) Rated Torque N·m 14.3 Max.
Page 30: 130Mm Frame High Inert
M56S RS-485 Type User Manual 2.3.13 □130mm Frame High Inert □ Speciﬁcation Type** SM3H - 132A◇□U△ SM3H - 133A◇□U△ SM3H - 134A◇□U△ Rated Output Power watts 1300 1800 Rated Speed 1500 1500 1500 Max.Speed 3000 3000 3000 Rated Torque N·m 5.39 8.34 11.5...
Page 31: 180Mm Frame High Inert
M56S RS-485 Type User Manual SM3H-061 (200Watts) SM3H-062 (400Watts) DC Bus: 320VDC (230VAC) 1.7 Amps DC Bus: 320VDC (230VAC) 2.8 Amps 2.3.14 □180mm Frame High Inert □ Speciﬁcation Type** SM3H - 182Y◇□U△ SM3H - 183Y◇□U△ Rated Output Power watts 2900 4400 Rated Speed 1500...
Page 32: 180Mm Frame High Inert
Max. Intermittent Torque M56S RS-485 Type User Manual Max. Continuous Torque SM3H-083 (750Watts) DC Bus: 320VDC (230VAC) 4.5 Amps 2.3.15 □180mm Frame High Inert □ Speciﬁcation Type** SM3H - 184Y◇□U△ SM3H - 185Y◇□U△ Rated Output Power watts 5500 7500 Rated Speed 1500 1500 Max.Speed...
Page 33: Motor General Specifications
M56S RS-485 Type User Manual 2.4 Motor General Speciﬁcations Encoder Type 26-bit, 21-bit, 17-bit Multi-turn Absolute Encoder Insulation class Class F (155℃) Protection level IP67 ( Except transﬁxion part of shaft ) Installation indoor installation, avoiding direct sunlight, corrosive and ﬂammable gas conditions Ambient Working temperature: 0℃~ 40℃...
Page 34: Servo Drive And Motor Selection Reference Information Sheet
M56S RS-485 Type User Manual 2.5 Servo Drive and Motor Selection Reference Information Sheet Servo Drives 50pin 焊接型I/O连接器 M56S-21A8RD M56S-23A0RD M56S-24A5RD RS-485 M56S-21A8RF M56S-23A0RF M56S-24A5RF Matching Motors Motor Frame Size & Power Frame 40, 100W Frame 60, 200W Frame 60, 400W Frame 80, 750W SM3L-042A◇ND△...
Page 35 M56S RS-485 Type User Manual Servo Drive 50pin 焊接型I/O连接器 RS-485 M56S-26A0RF M56S-210ARF M56S-213ARF Matching Motor Motor Frame Size & Power Frame 80, 1000W Frame 100, 2000W Frame 100, 1000W Frame 100, 1500W Frame 100, 2500W Frame 130, 850W Frame 130, 1300W Frame 130, 1800W Frame 130, 1000W Frame 130, 1500W...
Page 36: Matching Cable And Connector Accessories
M56S RS-485 Type User Manual 2.6 Matching Cable and Connector Accessories 2.6.1 Servo motor matching cable Common Type Flexible Type Length Motor Model 1* Description Model Model 2* (Unit: m) 2639-0100 2639-0100-C10 2639-0200 2639-0200-C10 2639-0300 2639-0300-C10 Encoder Cables 2639-0400 2639-0400-C10 With Battery 2639-0500 2639-0500-C10...
Page 37 M56S RS-485 Type User Manual Common Type Flexible Type Length Motor Model 1* Description Model Model 2* (Unit: m) 2642-0100 2642-0100-C10 SM3L-102A ◇□ U△ SM3L-103A ◇□ U△ 2642-0300 2642-0300-C10 Encoder Cables SM3L-104A ◇□ U△ 2642-0500 2642-0500-C10 With Battery SM3L-105A ◇□ U△ Absolute Encoder 2642-1000 2642-1000-C10...
Page 38 M56S RS-485 Type User Manual Common Type Flexible Type Length Motor Model 1* Description Model Model 2* (Unit: m) 1666-0100 1666-0100-C10 1666-0300 1666-0300-C10 1666-0500 1666-0500-C10 SM3H-182Y ◇ NU△ Motor Cables Standard SM3H-183Y ◇ NU△ 1666-1000 1666-1000-C10 1666-1500 1666-1500-C10 1666-2000 1666-2000-C10 1681-0100 1681-0100-C10 1681-0300...
Page 39: Driver Plug Kit
M56S RS-485 Type User Manual 2.6.2 Driver plug kit Name Description I/O Connector M2-50P CN2, 50pin Density IO connector Motor Encoder Connector MSOP-CN310P CN3, Driver side motor encoder connector Second encoder Connector MSOP-CN408P CN4, Full closed loop function encoder connector STO Function Connector STO Connector Kit CN5, STO Connector...
Page 40: Installation
M56S RS-485 Type User Manual 3 Installation 3.1 Storage Conditions 3.1.1 Drive storage environment conditions Please note the following when storing: • Correctly packaged and store in a clean and dry place, avoid direct sunlight • Store within an ambient temperature range of -10℃～+65℃ •...
Page 41: Drive Installation Space
M56S RS-485 Type User Manual 3.3 Drive installation space • When installing the drive, please reserve enough around space for the drive to ensure a good circulating cooling eﬀect. • Do not block the cooling holes of the drive. • To ensure the temperature in the cabinet, it is recommended to install a cooling fan in the cabinet. •...
Page 42: Precautions For The Use Of The Motor In The Oil And Water Environment
M56S RS-485 Type User Manual • When disassembling the pulley, please use professional tools such as pulley remover to prevent the bearing from being injured. • When connecting the shaft, make sure to achieve the required concentricity. If the concentricity is not good, it will produce vibration and damage the bearing and encoder.
Page 43: Motor Temperature Rise
M56S RS-485 Type User Manual 3.4.4 Motor temperature rise Servo motors are rated for continuous operation when mounted on a standard heat sink and in an ambient temperature of 40 °C. When the servo motor is installed in a small device, the temperature may rise signiﬁcantly due to the reduced heat dissipation area of the servo motor.
Page 44: System Configutation And Wiring
M56S RS-485 Type User Manual 4 System Conﬁgutation and Wiring 4.1 Electromagnetic compatibility (EMC) High-speed switching elements are used in the M56S series,whitch will produce high frequency interference during operation, and intefere with peripheral equipments through conduction or radiation. There is also a low voltage unit inside the servo drive, which is likely to be interfered by the noise of the drive's peripheral equipments.
Page 45 M56S RS-485 Type User Manual More measures are as follows 1) Remove the paint layer on the contact surface when the drive is mounted on a metal plate 2) Servo drive and EMI ﬁlter are mounted on the same metal plate. 3) Position the input noise ﬁlter as close to the drive as possible 4) Route the input wires and output wires separately, do not bundle them together 5) EMI ﬁlter should be well grounded.
Page 46: Groudinng
M56S RS-485 Type User Manual 4.1.2 Groudinng Well grounding treatment can give full play to the eﬀect of EMI ﬁlter and greatly reduce interference. • Must be parallel single-point grounding Correct Ground Wrong Ground EMI Filter EMI Filter AC220 AC220 Servo Drive Servo Drive Servo Drive Servo Drive...
Page 47: Emi Noise Filters
M56S RS-485 Type User Manual 4.1.4 EMI Noise Filters You must attach Noise Filters in appropriate places to protect the servo system from the adverse eﬀects of noise. NOTE: • Select a noise ﬁlter that matches the drive power • Separate input cables from output cabls. Do not place input cables and output lines in the same duct or bundle them together Correct Ground Wrong Ground...
Page 48: Ferrite Ring
M56S RS-485 Type User Manual 4.1.5 Ferrite Ring The Ferrite Ring is used to absorb the radiation interference of the wire. The ferrite ring has diﬀerent impedance characteristics at diﬀerent frequencies. Normally, the impedance is very small at low frequencies. When the signal frequency increases, the impedance of the ferrite ring rises sharply, which makes it easy for normal useful signals to pass through, and can eﬀectively suppress high frequencies.Use the ferrite ring to optimize signal transmission and suppress high-frequency noise, and reduce high-frequency interference in the power and signal cables.
Page 49: External Main Circuit Wiring
M56S RS-485 Type User Manual 4.2 External main circuit wiring 4.2.1 Main circuit wiring diagram 4.2.1.1 200/400/750W Type AC Power Non Fuse Breaker LED Display The 5 digit, 7 segment LED displays the drive status and faults. Operation Panel Function keys are used to perform status Line Filter display, monitor and diagnostic, (optional)
Page 50 M56S RS-485 Type User Manual 4.2.1.2 1.0/1.5/2.5/3kW Type AC Power Non Fuse Breaker LED Display The 5 digit, 7 segment LED displays the drive status and faults. Operation Panel Line Filter Function keys are used to perform status display, monitor and diagnostic, (optional) function and parameter setting.
Page 51 M56S RS-485 Type User Manual 4.2.1.3 5.0/6.0/7.5kW Type AC Power LED Display The 5 digit, 7 segment LED displays the drive status and faults. Non Fuse Operation Panel Breaker Function keys are used to perform status display, monitor and diagnostic, function and parameter setting.
Page 52: Servo Drive Connectors And Terminals (750W And Below Models)
M56S RS-485 Type User Manual 4.2.2 Servo Drive Connectors and Terminals (750W and below models) Connector Port Symbol Description L1、L2、L3 Main power supply, connect to single phase and 3-phase L1C、L2C Control power supply, connect to single phase Servo motor connector Symbol Color Description...
Page 53: Servo Drive Connectors And Terminals(5.0/6.0/7.5Kw Type)
M56S RS-485 Type User Manual 4.2.4 Servo Drive Connectors and Terminals(5.0/6.0/7.5kW Type) Connector Port Symbol Description R、S、T Used to connect three-phase AC main circuit power L1C、L2C Used to connect single-phase AC for control circuit power Ensure the circuit is closed between B2 and B3, Internal Resistor and the circuit is open between B1+ and B3.
Page 54: Connecting And Wiring Notes
M56S RS-485 Type User Manual 4.2.5 Connecting and Wiring Notes • Please ensure grounding wires are securely connected, wires with more than AWG 10(5.3mm2) on sectional area is recommended. • 请勿在端子台螺丝松动或者电缆线松动的情况下上电，容易引发火灾 • Grounding method must be single point grounding. • Ensure L1/L2/L3 and L1C/L2C are correctly wired, and voltage supplies are within the speciﬁcation range.(3kW and below models) •...
Page 55: Precautions For The Use Of Towline Cables
M56S RS-485 Type User Manual 4.2.6 Precautions for the use of towline cables When you need to move the motor cable or install the cable in a drag chain, please use a dedicated ﬂexible cable. Ordinary cables are easy to be damaged during repeated bending, causing the servo motor to fail to work normally.
Page 56: Recommended Wires
M56S RS-485 Type User Manual 4.2.7 Recommended Wires • The main circuit is recommended to use insulated wires with a withstand voltage of 600V and above 75°C. • Be sure to choose the corresponding allowable current cable to prevent the cable from overheating. Recommended wires for each part of the drive are as follows: Diameter of cable (AWG) Rated...
Page 57: Ground Wire Terminal
M56S RS-485 Type User Manual • Please use insulated pin terminals for power connectors P1 and P2 ◆ Crimp Type ◆ Sleeve Type ◆ Parallel Terminal • Please select the pin terminal according to the recommended wire Connector applicable wire type: AWG14～AWG18 The outer diameter of the wire for the connector: ø2.1～4.2mm 4.2.8 Ground wire terminal •...
Page 58: Drive Power Supply Interface
M56S RS-485 Type User Manual 4.3 Drive Power Supply Interface 220V AC servo drive supports single phase or three phase wiring method. Three phase wiring method for 1.5KW or above drives is recommended. 4.3.1 AC220V Single Phase Input (750W and below models) MCCB E_stop P_off...
Page 59: Ac220V Three Phase Input (750W And Below Models)
M56S RS-485 Type User Manual 4.3.2 AC220V Three Phase Input (750W and below models) MCCB P_off E_stop P_on MC Alarm Alm_R External regeneration resistor Use internal Servo Drive rengen. resistor Motor Yellow Blue YL/GN Alm_R Encoder Port 24VDC Note: Three-phase 220V is the line voltage Notes: Symbol Description...
Page 60: Ac220V Single Phase Input (1.0/1.5Kw Type)
M56S RS-485 Type User Manual 4.3.3 AC220V Single Phase Input (1.0/1.5kW Type) MCCB P_off E_stop P_on Alarm Alm_R External regeneration resistor Use internal rengen. resistor Servo Drive Dynamic brake resistor Yellow Blue Motor YL/GN Alm_R 24VDC Encoder Port Notes: Symbol Description Symbol Description...
Page 61: Ac220V Three Phase Input (1.0/1.5/2.5Kw Type)
M56S RS-485 Type User Manual 4.3.4 AC220V Three Phase Input (1.0/1.5/2.5kW Type) MCCB P_off E_stop P_on MC Alarm Alm_R External regeneration resistor Use internal rengen. resistor Servo Drive Dynamic brake resistor Yellow Blue Motor YL/GN Alm_R Encoder Port 24VDC Note: Three-phase 220V is the line voltage Notes: Symbol Description...
Page 62: Ac400V Three Phase (3Kw Type)
M56S RS-485 Type User Manual 4.3.5 AC400V Three Phase (3kW Type) MCCB P_off E_stop P_on MC Alarm Alm_R External regeneration resistor Use internal rengen. resistor Servo Drive Dynamic brake resistor Yellow Blue Motor YL/GN Alm_R Encoder Port 24VDC Note: Three-phase 400V is the line voltage Notes: Symbol Description...
Page 63: Ac400V Three Phase (5.0/6.0/7.5Kw Type)
M56S RS-485 Type User Manual 4.3.6 AC400V Three Phase (5.0/6.0/7.5kW Type) MCCB P_off E_stop P_on MC Alarm Alm_R Yellow Blue Servo Drive External regeneration resistor Use internal rengen. resistor Motor YL/GN Alm_R Encoder Port 24VDC Note: Three-phase 400V is the line voltage Notes: Symbol Description...
Page 64: P2--Connect Motor To Drive
M56S RS-485 Type User Manual 4.4 P2--Connect Motor to Drive 4.4.1 Motor Power Cable Conﬁguration Motor power output Fasten by a screwdriver Motor power connector holder 4.4.2 Deﬁnition of Motor Power Connector 4.4.2.1 PIN Assigenment for Frme 80mm and below Motor Model PIN.No Name...
Page 65 M56S RS-485 Type User Manual 4.4.2.3 PIN Assigenment for Frme 180mm Motor Model PIN.No Name Deﬁne Motor Connector for Motor Use ground wire U Phase SM3H-182Y◇□U△ V Phase SM3H-183Y◇□U△ SM3H-184Y◇□U△ W Phase SM3H-185Y◇□U△ Brake 1 电机抱闸1 Brake 2 电机抱闸2 ◇ Encoder Options，□ Brake Options，△ Oil Seal Options Rev.
Page 66: Motor Power Cable Connector Specifications
M56S RS-485 Type User Manual 4.4.3 Motor Power Cable Connector Speciﬁcations 4.4.3.1 Frame size 80mm and below Motor Power Cable Wiring Deﬁnition Plug connector E1006(KS) O-type plug connector SRA-51T-4(JST) Drive side Motor side Motor Model Item Color (JST)061JFAT-SBXGF-I DGFA4S-B1-00A(H) SM3L-042A◇□D△ Grounding Screw Yellow/Green SM3L-061A◇□P△...
Page 67 M56S RS-485 Type User Manual 4.4.3.3 Frame size 180mm Motor Power Cable Wiring Deﬁnition 100±5mm A View A View 电机侧对插连接器 Motor Model Drive side Item Color WS32K6TS Yellow SM3H-182Y◇□U△ Blue SM3H-183Y◇□U△ SM3H-184Y◇□U△ Grounding Screw Yellow/Green SM3H-185Y◇□U△ Brake 1 Brake 2 Black □Encoder Options ◇Brake Optionst △Oil seal Options NOTE: Ensure U/V/W is following the order of RED/YELLOW/BULE.
Page 68: Cn3--Encoder Connection
M56S RS-485 Type User Manual 4.5 CN3--Encoder Connection 4.5.1 Encoder Connection between Motor and Drive Fasten with a Screwdriver Drive CN3, Motor Encoder Interface Encoder Connector Interface 4.5.2 CN3-Encoder PIN Assignment 后视图前视图 PIN.No Symbol Description Encoder +5V Encoder Power +5V Encoder Power GND CLK- CLK- Signal...
Page 69: Motor Encoder Connector Specifications
M56S RS-485 Type User Manual 4.5.3 Motor Encoder connector speciﬁcations 4.5.3.1 Frame size 80mm and below motor encoder connector pin deﬁnition 编码器用连接器 Motor Model PIN.No Symbol Description SM3L-042AT□D△ SM3L-042AX□D△ Shield Shield GND SM3L-061AT□D△ SM3L-061AX□D△ SM3L-062AT□D△ SM3L-062AX□D△ Encoder Power 5V SM3L-083AT□D△ SM3L-083AX□D△...
Page 70: Encoder Wire Connection Definition
M56S RS-485 Type User Manual 4.5.4 Encoder Wire Connection Deﬁnition 4.5.4.1 Frame size 80mm and below encoder wire connection deﬁnitio MSOP-CN310P Battery Box (20-bit Absolute-Encoder for Motors) Front View of J1-side Drive side Motor side For motor encoder type Battery Signal Color VCC_GND...
Page 71: Battery Of Absolute Encoder
M56S RS-485 Type User Manual 4.5.5 Battery of Absolute Encoder When the SM3 series absolute encoder motor is used in a multi-turn absolute value system, it needs to use battery power to record multi-turn data when the drive is powered oﬀ. After power-on, the drive calculates the absolute position of the mechanical load through the absolute position of the encoder.
Page 72: Electromagnetic Brake
M56S RS-485 Type User Manual 4.6 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.
Page 73: Precautions For The Use Of Brake
M56S RS-485 Type User Manual 4.6.2 Precautions for the use of brake • The signal of the drive control brake can not directly drive the motor's brake. The external 24V power supply and relay must be provided. It is best to try a separate 24V power supply to prevent other equipment from causing abnormal power supply which will eventually cause the motor brake to malfunction.
Page 74: Regeneration Resistor P2
1) Calculate the energy E The following table shows the energy produced when the M56S series servo motor decelerates from 3000 rpm to 0 rpm without external load. Maximum energy Energy produced by...
Page 75 M56S RS-485 Type User Manual SM3H-132A**** 13.9 68.52 40.6 High Inertia 1300 SM3H-133A**** 19.4 95.64 40.6 1800 SM3H-134A**** 23.3 114.86 40.6 2) Calculate the energy E generated by the dragged load during deceleration. Assuming that the inertia of the load is N times the inertia of the motor, the energy generated when the dragged load is decelerated from 3000rpm to 0rpm is: =NxE If E...
Page 76: Wiring A Regenerative Resistor
M56S RS-485 Type User Manual 4.7.2 Wiring a Regenerative Resistor 在某些应用中，当内部吸收电阻无法吸收再生电动势时，为防止造成驱动器过压报警，需要外接功率更大的吸收电阻。 Using the build-in resistor Using external resistor Short-circuit the B2 and B3 of the drive's P2 connector Disconnect B2 and B3, and connect the resistor to B1+ and B2. Regenerative Resistor 4.7.3 Parameter Settings for Regenerative Resistor...
Page 77: Cn2 -Input/Output Signal Connection
M56S RS-485 Type User Manual 4.9 CN2 -Input/Output Signal Connection The CN2 port of the M56S series AC servo driver is used to connect input and output signals. 4.9.1 CN2 Input and Output Speciﬁcations CN2 Pin assignments are as follows.
Page 78: Cn2 Input And Output Signals Pin Diagram (-Rf )
M56S RS-485 Type User Manual 4.9.2 CN2 Input and Output Signals Pin Diagram (-RF ) Analog Output OPC1 Optocoupler input 2.2KΩ STEP+ 1KΩ 120Ω DGND STEP- Pulse Command 120Ω (500KHz or less pulse input) OPC2 1KΩ 2.2KΩ DGND DIR+ 120Ω DIR- Alarm Output 120Ω...
Page 79: Cn2 Input And Output Signals Pin Diagram (-Rd Type)
M56S RS-485 Type User Manual 4.9.3 CN2 Input and Output Signals Pin Diagram (-RD Type) OPC1 Optocoupler input Max.500KHZ 2.2KΩ STEP+ 120Ω STEP- Positon Command 120Ω Low-speed Alarm Output pulse signal input OPC2 2.2KΩ DIR+ 35 Y2+ 120Ω Brake Control Output DIR- 34 Y2- 120Ω...
Page 80: Cn2 Input And Output Pin Definition
M56S RS-485 Type User Manual 4.9.4 CN2 Input and Output Pin Deﬁnition 50Pin高密度连接器机型所支持的功能不同，输入输出引脚也有区别，具体引脚定义见表一和表二。 ◆ Table 1: -RF type pin deﬁnition Symbol Desription Symbol Desription Symbol Desription Pull-up for open OPC1 AIN2 Analog input 2 Digital output 2+ collector inpu-1 Pull-up for open Encoder's Z signal OPC2 Digital output 3-...
Page 81 M56S RS-485 Type User Manual 4.9.4.1 Position Pulse Command ◆ Open-collector Pulse Inputs (or Low-speed pulse signal input) CN2-Pin NO. Signals Description Wiring Method OPC1 When bit4 of P3-03 is set to "0", this low-speed pulse input is valid. The pulse position control mode will use this input as STEP+ Pulse command input position command reference.
Page 82 15,17,25 4.9.4.5 Digital Inputs The M56S series AC servo drive's 50Pin high-density connector type has 10 digital inputs. Each digital input can be conﬁgured to a speciﬁc function by parameters. ◆ Speciﬁc function signal: such as alarm reset, limit sensor input, enable input, etc.
Page 83 M56S RS-485 Type User Manual 4.9.4.6 Digital Output The M56S series AC servo drive's 50Pin high-density connector type has 6 digital outputs. Each digital output can be conﬁgured to a speciﬁc function by parameters. Default Settings Parameter Output Logic CN2-Pin NO.
Page 84: Position Pulse Signal Wiring Instructions
M56S RS-485 Type User Manual 4.9.5 Position Pulse Signal Wiring Instructions M56S series AC servo driver 50Pin high-density connector type has two pulse input sources: Low Speed Pulse Signal Input : STEP/DIR High Speed Pulse Signal Input : PULSH/SIGNH ◆ Low Speed Pulse Signal Input (Open-collector Pulse Inputs)
Page 85 M56S RS-485 Type User Manual A1----Low-speed pulse signal input STEP/DIR wiring method A. The source for the pulse input is open-collector NPN type B. The source for the pulse input is open-collector PNP type equipment,which uses external 24V power supply. equipment,which uses external 24V power supply.
Page 86 M56S RS-485 Type User Manual A2----High-speed pulse signal input STEP/DIR wiring method PULSH/SIGNH inputs can only be used with 5V line drivers signals. Do not use with 24V DC. Servo Drive Master/Controller Line driver output 20KΩ PULSH+ 2KΩ PULSH- 2KΩ 20KΩ...
Page 87: Cn2-Input And Output Signals Wiring Instructions
4.9.6 CN2-Input and Output Signals Wiring Instructions 4.9.6.1 Digital Inputs X1 ~ X10 The M56S series servo drives(-F&-R type) include 10 single-ended, optically isolated inputs that can be used with sourcing or sinking signals, 24 volts. This allows connection to PLCs, sensors, relays and mechanical switches.
Page 88 M56S RS-485 Type User Manual ◆ For 24VDC power signal Pulse input signal is valid: higher than 16V Pulse input signal is invalid: less than 8V Ther voltage of pulse signal input should be avoided to appear in the fuzzy area of above voltage, so as to avoid uncertain pulse input.
Page 89 M56S RS-485 Type User Manual 4.9.6.2 Digital Output Y1 ~ Y4 The M56S series servo drives include 6 diﬀerential, optically isolated outputs that can be used with sourcing or sinking signals. Rated Speciﬁcation :30VDC, 100mA. The internal circuit block diagram of Y1 ~ Y4 is as shown below.
Page 90 M56S RS-485 Type User Manual 4.9.6.3 Digital Output Y5 ~ Y6 The M56S series servo drives include two single-ended, optically isolated outputs that can be used with sourcing signals. Rated Speciﬁcation :30VDC, 100mA. The internal circuit block diagram of Y5 and Y6 is as shown below.
Page 91: Analog Signal Wiring Instructions
M56S RS-485 Type User Manual 4.9.7 Analog Signal Wiring Instructions 4.9.7.1 Analog Command Inputs The RS-485 model of M56S series servo drive includes two single-ended analog inputs, which can be used as speed command reference or torque command reference. CN2-PIN NO.
Page 92: Encoder Divied Output
M56S RS-485 Type User Manual 4.9.8 Encoder Divied Output The M56S series AC servo driver(-X &-N type) can output the encoder signal A-phase, B-phase, and Z-phase through the Line Driver diﬀerential mode, and the output speciﬁcation is 5V. Line Receiver must be used to receive the signal, and the transmission line should use twisted-pair shielded wires.
Page 93: Cn4-Second Encoder Input--Full-Closed Loop Control
M56S RS-485 Type User Manual 4.10 CN4-Second Encoder Input--Full-closed Loop Control The CN4 connector is used to connect externally installed encoders or scales for full-closed loop control of the servo drive. CN4：External Second Encoder Input Connector CN2-PIN NO. Signals Description 5V Power Supply Power supply for the second feedback signal 5V Power Supply GND...
Page 94: Cn5-Safrty Torque Off (Sto)
M56S RS-485 Type User Manual 4.11 CN5-Safrty Torque Oﬀ (STO) The M56S series AC servo drive has a safe torque oﬀ function, namely STO, and the signal connection input port is the CN5 of the drive. Safe Torque Oﬀ (Safe Torque Oﬀ) is a hardware-level safety protection function. When the STO function is working, the hardware circuit of the drive will be triggered to forcibly turn oﬀ...
Page 95: Sto Input And Output Signals
M56S RS-485 Type User Manual 4.11.2 STO Input and Output Signals ■ Internal Circuit Diagram ■ Input/Output Pin No. The model of housing and conductor is as follows: Name Vendor Housing 43025-1000 MOLEX Conductor 43030-0005 MOLEX ■ STO Signal Definition Signal Symbol Description...
Page 96 M56S RS-485 Type User Manual ■ STO Connection Diagrams ● Connection to safety switch Safety Switch Servo Drive Safety Input 1 Safety Input 2 Safety Output ● Safety light curtain connection Safety Light Curtain 24VDC Servo Drive 0VDC EDM Output Rev.
Page 97: Cn6,Cn7--Rs-485 Communication Port
The RS-485/RS-422 communication of M56S series AC servo supports half-duplex mode or full-duplex mode. The connection mode for host control can be point-to-point (one host to one M56S drive), or a multi-axis network (each can support up to 32 M56S drives).
Page 98 M56S RS-485 Type User Manual 4.12.2.2 RS-485 Half-duplex Mode The same cable is used for data transmission and reception in the RS-485 half-duplex mode. In this mode,he host must disable its transmitter before it can receive data. This must be done quickly before a drive begins to answer a query.
Page 99: Display And Touch Panel
M56S RS-485 Type User Manual 5 Display and Touch Panel 5.1 Description of Touch Panel LED Display MODE DOWN Function Description The LED displays (5 digits, 7 segments) show the drive’s operating condition and LED Display warning codes, parameters and settings values. Press and hold on mode button to switch LED display mode a).
Page 100: Switch The Display Mode
M56S RS-485 Type User Manual 5.2 Switch the Display Mode 1) Pressing MODE key and SET key can change display modes such as states monitoring, function control, parameters setting and etc. 2) If no warnings or faults has occur, the drive will not go into warning and fault display mode. 3) If any alarms are detected, the LED display on the drive will switch into alarm or fault display mode immediately.
Page 101: Led Display Description
Flag 3) Display of More Than 4 Digits Since the M56S series AC servo LED display panel has only 5 digits, when displaying data with more than 5 digits, the following method is used. Example: If want to show -1234567890...
Page 102: Other Display
M56S RS-485 Type User Manual 5.3.3 Other Display LED Display Description Means "SET". Press and hold SET key will conﬁrm and apply current parameter setting. This will eﬀect immediately. However, this change will not save to drive's Flash.After re-power on, the parameters will be restored to the last saved settings. Means"SAVED".
Page 103: States Monitor Motor
M56S RS-485 Type User Manual 5.4 States Monitor Motor How to monitor the state of drive. 1. Press and hold M key to switch the display mode to States Monitor Selection Mode. 2. Short press the "UP" and "DOWN" keys to switch a parameter. 3.
Page 104 M56S RS-485 Type User Manual n-States Display Symbol Description Unit Display example ◆ Display "r07" Alarm code n-10 Alarm History 3 ◆ Display "r07" Alarm code n-11 Alarm History 4 ◆ Display "r07" Alarm code n-12 Alarm History 5 ◆ Display "r07" Alarm code n-13 Alarm History 6 ◆...
Page 105: Function Mode
M56S RS-485 Type User Manual 5.5 Function Mode In Function Mode(display F+ parameter number), you can select a funtion that needs to be execute. 1. Press and hold M key to switch the display mode to Function Mode. 2. Short press the "UP" and "DOWN" keys to select a function. 3.
Page 106: Operation Flow Chart In Function Mode
M56S RS-485 Type User Manual 5.5.2 Operation Flow Chart in Function Mode Sellect States Monitor Short press F00FL: Point to point move Press S key for 1sec Enter into point to point Press M for 1sec Motor rotates 1 turn in CW move mode Short press Function Sellect...
Page 107: Parameter Setting Mode
M56S RS-485 Type User Manual 5.6 Parameter Setting Mode 5.6.1 How to Set parameters In Parameter Setting Mode(display P+ parameter number), you can select a parameter that needs to be change. 1). Short press M key to switch the digit to be change 2).
Page 108: Parameter Edit And Save Example
M56S RS-485 Type User Manual 5.6.2 Parameter Edit and Save Example A. Parameter Edt: 1) Short press M key to move the digit which needs to be change to high-order 2) Press and hold M key for 1 second to move the digit which needs to be change to low-order. 3) Press UP key to increase 4) Press DOWN key to decrease 5) Press and hold M key for 1 second to save the changes.
Page 109: Key Lock
M56S RS-485 Type User Manual 5.7 Key Lock To prevent misoperation by people who are not familiar with the servo drive, a key lock function is provided. When the keys are locked, parameters can not be changed by operation panel. States Monitor Press and hold S key 1 sec.
Page 110 M56S RS-485 Type User Manual Alarm Code Description Alarm Type Drive status after the alarm occurs Over speed Fault Servo oﬀ Limit switch trigger alarm Warning Does not change the current state Does not change the current state, the motor cannot Negative limit alarm Warning rotate negatively.
Page 111: Trial Operatio
M56S RS-485 Type User Manual 6 Trial Operatio Remove the load from the servo motor, including coupling on the shaft before trail operation. 6.1 Inspection Before Trail Operation To ensure the safety of servo drive and mechanical, it is strongly recommended to check the followings before the drive power on.
Page 112: Jog Operation
M56S RS-485 Type User Manual 6.3 JOG Operation Steps LED Display Description Press and Hold M key to Function Mode. Use UP and DOWN key to select F05ME function. This function could enable the drive. Press and hold S key, when the decimal point in the lower right corner of the LED panel is solid, that means the driver is enabled.
Page 113: Operation Mode And Functions
M56S RS-485 Type User Manual 7 Operation Mode and Functions 7.1 Input and Output Signal Settings The input and output signals have pre-assigned functions, which can also be changed to other functions, including changing the input/output logic state, Functions and logic state can be changed by parameters as follows.
Page 114 M56S RS-485 Type User Manual 7.1.1.2 Input Signal Default Setting (50pin High-Density Connectors) There are 10 digital inputs in 50pin high-density type drive. Default settings of X1 to X10 are as follows. Default Settings CN2- Signal Input NO. Signal Description Parameter Command Input Logic...
Page 115: Output Signal Settings
M56S RS-485 Type User Manual 7.1.2 Output Signal Settings 7.1.2.1 Assignable Functions of Output Signal Assignable functions and output logic state list as follows.Parameters P5-12 ~ P5-17 deﬁne the functions of digital outputs Y1 to Y6. The function of digital output can be set by writing the corresponding values of the functions in the table below into above parameters.
Page 116: Servo On Setting
M56S RS-485 Type User Manual 7.1.3 Servo On Setting Set the digital input for controlling the motor enable or disable.In the default setting, the servo-on input signal is set by follows. Signal Input CN2- Setup Control Parameter Command Description Symbol Pin NO Value Mode...
Page 117: Cw, Ccw Limit
M56S RS-485 Type User Manual NOTE: When all digital inputs of the drive are not conﬁgured with the "Servo Enable" function, "Alarm Reset" can be used to enable the drive, as shown below: Closed A-CLR Open 1) At point A, the rising edge of A-CLR input clears the alarm.
Page 118: Gain Select(Gain Switch)
M56S RS-485 Type User Manual 7.1.6 Gain Select(Gain Switch) Use the Gain Select function to meet diﬀerent loads. 1) Increase gain can decrease and suppress vibration when doing position control. 2) Reduce the gain can decrease the setting time when motor is stopping. 3) When the motor is running, increasing the gain can get better command following performance.
Page 119 M56S RS-485 Type User Manual 3) External input signal switching Servo drive will switch the ﬁrst gain to the second gain, when the external input signal GAIN-SEL input is valid. Signal Type Signal Symbol Setup Value Input Logic Descripition The default is that the 1st Gain Group takes eﬀect. Closed When GAIN-SEL input is CLOSED, 2nd Gain Group takes eﬀect.
Page 120: Control Mode Select
M56S RS-485 Type User Manual 7.1.7 Control Mode Select In addition to position control, velocity control, and torque control, M56S series can also combine two control modes and switch these two modes. Switch the current control mode to another one by using external input signal which is called CM-SEL.
Page 121: Emergency Stop
M56S RS-485 Type User Manual ◆ How to set by using Luna software Directly select the desired control mode in control mode page. 7.1.8 Emergency Stop Emergency stop is a function to forcibly stop the servo motor rotating through an external digital input. The E-stop signal needs to be assigned to the digital input when using emergency stop function.
Page 122: Fault Output
M56S RS-485 Type User Manual 7.1.9 Fault Output When the drive fails, the drive will have a fault alarm output and the servo system will change from the enabled state to the disable state. To use this function, a digital output of the servo drive is conﬁgured as ALM function. Parameters P5-12 ~ P5-17 set the function of the digital output Y1 ~ Y6 of the drive.
Page 123: Warning Output
M56S RS-485 Type User Manual 7.1.10 Warning Output When a warning occurs, the drive will have a warning output and the servo system maintains current working status. To use this function, a digital output of the servo drive is conﬁgured as WARN function. Parameters P5-12 ~ P5-17 set the function of the digital output Y1 ~ Y6 of the drive.
Page 124: Motor Brake Release Control
M56S RS-485 Type User Manual 7.1.11 Motor Brake Release Control The motor brake is used to hold the shaft not rotating when the motor is diabled or power oﬀ. When motor drives the vertical axis, brake is be used to hold and prevent the work (moving load) from falling by gravity while the power or servo is shut oﬀ.
Page 125: Servo Ready Output
M56S RS-485 Type User Manual 7.1.12 Servo Ready Output When the servo drive is power on and there is no alarm, the drive 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 126: Servo-On Status Output
M56S RS-485 Type User Manual 7.1.13 Servo-on Status Output The Servo-on Status output signal reﬂects whether the servo motor is in enabled status. To use this function, a digital output of the servo drive is conﬁgured as SON-ST function. Parameters P5-12 ~ P5-17 set the function of the digital output Y1 ~ Y6 of the drive. Signal Signal Type Setup Value...
Page 127: Dynamic Position Output
M56S RS-485 Type User Manual 7.1.14 Dynamic Position Output Dynamic position following error output refers to the output of this signal when the diﬀerence between the motor actual position and the command position is greater than P5-38 Dynamic Follow Error Threshold during the motor is rotating.
Page 128: Rotation Limit Output
M56S RS-485 Type User Manual 7.1.15 Rotation Limit Output Rotation limit output refers to this output when the limit sensor of current rotation direction is touched or triggered when the motor is rotating, and the motor cannot continue to rotate in the same direction. There are two outputs of this function.
Page 129: Sequence Diagram
M56S RS-485 Type User Manual 7.1.16 Sequence diagram 7.1.16.1 Sequence Diagram When Power-on Contro Power (L1C,L2C) Done Initialization about Main Power (L1,L2,L3) 300ms Servo Ready Output about about (NOTE 1：) about 1ms Servo-on Input about 1ms Servo-on States Output about 2ms Motor Engaged Warning Output (NOTE 2：)
Page 130: Position Mode
◆ Position Control Method Position control is widely used in devices that require precise positioning. There are two position control methods in the M56S series servo system: Digital pulse command position mode and Internal command position mode. Set the following values to parameter P1-00 through the drive's LED operation panel of Luna Software, and the servo drive will work in the corresponding mode.
Page 131 M56S RS-485 Type User Manual ◆ Electronic Gear Ratio The Electronic Gear Ratio means that multiply the pulse command input by the electronic gear ratio as the position command in position mode. By using this function, you can easily set the motor speed and movement distance corresponding to the pulse input command.
Page 132 M56S RS-485 Type User Manual ◆ In Position Output In the position mode, use the In Position Output signal to indicate the current positioning status of the servo drive. When the diﬀerence between the total number of pulse commands received by the drive and the number of pulses actually moved by the servo motor, that is, the position following error is less than the parameter setting value, the positioning completion signal will be output.
Page 133: Wiring Diagram Of Digital Pulse Position Mode
M56S RS-485 Type User Manual 7.2.2 Wiring Diagram of Digital Pulse Position Mode Open-collector Optocoupler input,up to 500KHz Analog Output 2.2KΩ 24VDC STEP+ ANA1 1KΩ 120Ω STEP- DGND 120Ω Pulse Position Command (500KHz or less) ANA2 2.2KΩ 1KΩ DIR+ DGND 120Ω...
Page 134: Position Command Input Settings
M56S RS-485 Type User Manual 7.2.3 Position Command Input Settings When P1-00 is set to 7, which is digital pulse position mode, the followings need to be set. ◆ Pulse command input source ◆ Pulse command type ◆ Rotation direction setting ◆...
Page 135 M56S RS-485 Type User Manual 7.2.3.2 Input Pulse Type Setting ◆ Pulse type, Rotation direction, Valid Pulse Edge Setting Parameter P3-03 is used to set the input pulse type, rotation direction and pulse edge valid type. P3-03 Pulse input setting bit7 bit6 bit5...
Page 136 M56S RS-485 Type User Manual 7.2.3.3 Quick Setup for Input Pulse Type The following table lists the quick setup of parameter P3-03 based on the following conditions. ◆ Pulse command input source ◆ Pulse command type ◆ Rotation direction setting ◆...
Page 137 M56S RS-485 Type User Manual 7.2.3.4 Speciﬁcation of Pulse command The minimum pulse width of the input pulse should meet the following conditions. Low speed pulse input Line receiver input STEP+, STEP-, PULSH+,PULSH- DIR+, DIR- SIGN+,SIGN- Line Driver Open Collector Line Driver Min.
Page 138 M56S RS-485 Type User Manual 7.2.3.5 Pulse Input Noise Filter Using paratermer P3-02 Pulse Input Noise Filter to ﬁlte the input pulse signal to prevent it from being interfered and cause inaccurate positioning and other problems. This noise ﬁlter is a low-pass ﬁlter, and the unit is 0.1μs.
Page 139: Electronic Gear Ratio
M56S RS-485 Type User Manual 7.2.4 Electronic Gear Ratio M56S series servo drives have two electronic gearing systems, parameter P3-16 is used to switch this. Parameter P3-16 Description Instructions set value Set the required number of command pulses per revolution of motor.
Page 140: Calculation Example
M56S RS-485 Type User Manual Since the lead is 3mm, that is, for each turn of the motor, the mechanical moves 3mm. Moving 4mm requires a 4/3 turns. Calculate required pulses : If the pulses required per motor revolution is 1048576 pulses, 1048576 = 1398101.33333..
Page 141 M56S RS-485 Type User Manual 2) Calculate the electronic gear ratio according to the external input one pulse and the corresponding load travel distance ΔL(mm) According to Motor shaft turns X Mechanical transmission ratio = Ball screw turns ΔL When the external input one pulse and the load travel distance is ΔL , motor shaft turns That is ΔL...
Page 142: Command Smoothing Filter
M56S RS-485 Type User Manual 7.2.5 Command Smoothing Filter When the position command or speed command to the servo system changes suddenly, it is easy to cause the whole system to vibrate, and the running noise will also increase. Command Smoothing Filter is used to ﬁlter and smooth the position command or speed command, which can reduce the running transient of the motor and mechanical system and make the operation smoother.
Page 143 M56S RS-485 Type User Manual 7.2.5.2 Jerk Time Parameter P2-05 jerk time takes eﬀect in internal trajectory modes (position, speed, torque), analog position, analog speed, analog torque, or communication command control(SCL or Modbus etc.). The smoothing eﬀect of the Jerk Time to the input command is shown in the ﬁgure bellow. Speed ◆...
Page 144: Pulse Input Prohibition Function
M56S RS-485 Type User Manual 7.2.6 Pulse Input Prohibition Function The pulse command input prohibition function means that in the pulse position mode, an external digital input is used to stop the input pulse command counting. The drive will ignore the input pulses and will not rotate immediately. External pulse position command INHP input...
Page 145: In-Position Output Signal
M56S RS-485 Type User Manual 7.2.8 In-position Output Signal The In-position output signal is used to indicate current positioning status of the servo system in the position mode. When the position following error, which is the diﬀerence between input position command and the motor actual position feedback by motor encoder, is less than the set value of P5- 39, the In-position signal will output.
Page 146: Near Target Position Output
M56S RS-485 Type User Manual 7.2.9 Near Target Position Output Near target position, which is also called Position Consistent, is to output a signal(P-COIN) when the actual position of motor is equal to the position set by parameter P5-46. To use this function, one of the digital output of the servo drive is conﬁgured as P-COIN function. Signal Signal Type Setup Value...
Page 147: Gain Parameters In Position Mode
M56S RS-485 Type User Manual 7.2.10 Gain Parameters in Position Mode In position mode, reasonable gain parameters can make the servo system run more smoothly and accurately and excellent positioning performance. The following gain parameters take eﬀects in position mode and can be automatically adjusted using the Luna software, and can also be modiﬁed and ﬁne-tuned though software or LED operation panel.
Page 148: Using Luna Software To Configurate Position Control Mode
M56S RS-485 Type User Manual 7.2.11 Using Luna Software to Conﬁgurate Position Control Mode The position control mode can be easily conﬁgured using the Luna software. Step 1: Select Control Mode Step 2: Set Electronic Gear Ratio Step 3: Set Smoothing Filter Rev.
Page 149 M56S RS-485 Type User Manual Step 4: Set Input and Output Function Step 5: Gain Tuning Rev. 1.0 400-820-9661 02/19/2024...
Page 150: Velocity Mode
Torque limit output ◆ Velocity Control Mode Select There are three velocity control mode in M56S series, Analog Speed Mode, Command Speed Mode and Internal Multi-speed Mode. 1) Analog Speed Mode: -10 ~ +10Vdc external analog voltage input to control the motor speed.
Page 151: Wiring Diagram Of Speed Control Mode
M56S RS-485 Type User Manual 7.3.1 Wiring Diagram of Speed Control Mode Speed Command ANA1 Breake Release Output 3.3KΩ -10 ~ 10VDC DGND 35 Y2+ Torque Limit ANA2 Servo Ready Output 3.3KΩ 24VDC -10 ~ 10VDC 34 Y2- DGND Analog Input 37 Y3+ Fault Output XCOM...
Page 152: Related Parameters To Analog Speed Control
M56S RS-485 Type User Manual 7.3.2 Related Parameters to Analog Speed Control There are two -10 ~ +10Vdc analog inputs with 12bit revolution,each can be set low-pass ﬁlter, Oﬀset, Deadband,etc. AIN1 is used as speed reference and AIN2 is used as torque reference, Parameters Command Description Range...
Page 153: Analog Speed Mode Settings
M56S RS-485 Type User Manual 7.3.3 Analog Speed Mode Settings 7.3.3.1 Wiring Methods of Analog Input Signal Type Signals Pin No. Description Analog Input AIN1 Analog speed command ±10VDC ANA1 3.3K Ω Input DGND DGND GND of analog input 7.3.3.2 Source of Analog Speed Command The source of anlog speed command is set by parameter P4-11.
Page 154 M56S RS-485 Type User Manual 7.3.3.4 Analog Input Oﬀset When using the analog speed 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 drive.
Page 155 M56S RS-485 Type User Manual 7.3.3.5 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 drive side may be not absolutely zero, which makes the motor rotate at a very low speed.
Page 156 M56S RS-485 Type User Manual 7.3.3.7 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.
Page 157: Zero Speed Clamp
M56S RS-485 Type User Manual 7.3.4 Zero Speed Clamp In the speed control mode, when the Zero Speed Clamp input signal (ZCLAMP) is valid and the speed command is less than the set value of P5-42 (zero-speed judgment width), the servo motor will decelerate to zero and enters the zero-position lock state.
Page 158: Start/Stop Control And Direction Changing In Analog Speed Mode
M56S RS-485 Type User Manual 7.3.5 Start/Stop Control and Direction Changing in Analog Speed Mode 7.3.5.1 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"...
Page 159: Direction Control
M56S RS-485 Type User Manual 7.3.5.2 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 motor rotates the absolute value of speed command, and the direction is controlled by the input logic of SPD-DIR.
Page 160: Zero Speed Detected Output
M56S RS-485 Type User Manual 7.3.6 Zero Speed Detected Output When the absolute value of motor actual speed is less than the set value of P5-42(zero-speed judgment width), the servo drive outputs the Zero Speed Detected(Z-SPD) signal. On the contrary, if the absolute value of motor actual speed is less than P5-42, the Z-SPD signal will not output.
Page 161: Velocity Reach Output
M56S RS-485 Type User Manual 7.3.7 Velocity Reach Output In speed control mode, the Velocity Reach Output, also know as At-speed(AT-SPD), which will be output when the ﬁltered motor actual speed exceeds P5-44 (Target Value of AT-speed Output), and the time exceeds P5-40 (counting time for positioning completion) .
Page 162: Velocity Coincidence Output
M56S RS-485 Type User Manual 7.3.8 Velocity Coincidence Output In speed mode, when the diﬀerence between the ﬁltered motor actual speed and the speed command, that is, the speed error is within the range of P5-43 (Speed Coincidence Width), and the duration time meets the set value of P5-40 (Time Constant of Motion Output Condition), then the Velocity Coincidence signal V-COIN is output.
Page 163: Gain Parameters And Speed Control Type In Speed Mode
M56S RS-485 Type User Manual 7.3.9 Gain parameters and Speed Control Type in Speed Mode There are two speed control types in the speed mode. 1. Detect the position errors in real-time 2. Speed control only(default setting) Related Parameters Parameter Command Description Unit Range...
Page 164: Using Luna Software To Configurate Speed Control Mode
M56S RS-485 Type User Manual 7.3.10 Using Luna Software to Conﬁgurate Speed Control Mode The speed control mode can be easily conﬁgured using the Luna software. Step 1: Select Control Mode Step 2: Set Smoothing Filter Step 3: Input and Output Conﬁgurations Rev.
Page 165 M56S RS-485 Type User Manual Step 4: Position Limit and Torque Limit Conﬁguration The torque limit function can also be used in speed mode. If an absolute encoder is used, the soft limit function can be used. Step 5: Gain Tuning Rev.
Page 166: Torque Mode
M56S RS-485 Type User Manual 7.4 Torque Mode 7.4.1 Torque Control Mode Instructions Torque control mode is used for precise torque control. There are two torque control mode in M56S series: Analog Torque Mode and Command Torque Mode. 1) Analog Torque Mode: -10 ~ +10Vdc external analog voltage input to control the motor torque. 2) Command Torque Mode: Use Q program commands to control the motor torque, or use Modbus commands to control the motor torque.
Page 167: Related Parameters To Analog Torque Control
M56S RS-485 Type User Manual 7.4.3 Related Parameters to Analog Torque Control There are two -10 ~ +10Vdc analog inputs with 12bit revolution,each can be set low-pass ﬁlter, Oﬀset, Deadband,etc. AIN1 is used as speed reference and AIN2 is used as torque reference, Parameters Command Description Range...
Page 168: Analog Torque Mode Settings
M56S RS-485 Type User Manual 7.4.4 Analog Torque Mode Settings When the control mode of torque mode is selected as analog control, i.e. P1-00=2. It is necessary to make relevant settings for analog input. 7.4.4.1 Wiring Methods of Analog Torque Command Input Analog Input Signal Type Signals...
Page 169 M56S RS-485 Type User Manual 7.4.4.3 Analog Input Oﬀset When using the analog speed 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 drive.
Page 170 M56S RS-485 Type User Manual 7.4.4.4 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 drive side may be not absolutely zero, which makes the motor rotate at a very low speed.
Page 171 M56S RS-485 Type User Manual 7.4.4.6 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.
Page 172: Speed Limit In Torqur Control Mode
M56S RS-485 Type User Manual 7.4.5 Speed Limit in Torqur Control Mode In torque mode, when the load connected to the motor is small but the torque command is too large, the motor may accelerate to a very high speed if the motor output speed is not limited, which may cause unexpected situations.
Page 173 M56S RS-485 Type User Manual 1) Seed Limit Source----Analog Input 1(P4-11 = 1) When the parameter P4-11 is set to 1, the analog input 1 is used as the speed limit source, the corresponding speed limit value at 10V is set by parameter P4-01 (AG). Motor Speed Motor Max.
Page 174: Speed Limited Output(V-Ltd)
M56S RS-485 Type User Manual 7.4.6 Speed Limited Output(V-LTD) V-LTD, speed limited output siganl, indicates that the motor speed is limited. Related Parameter Signal Signal Type Setup Value Signal Logic Instructions Symbol When the motor output speed is limited, the V-LTD signal will output, and Closed the output state is CLOSED.
Page 175: Torque Coincidence Output
M56S RS-485 Type User Manual 7.4.8 Torque Coincidence Output In torque mode, when the diﬀerence between the ﬁltered motor actual output torque and the torque command, that is, the torque error is within the range of P5-45 (Torque Reach Width), and the duration time meets the set value of P5-40 (Time Constant of Motion Output Condition), then the Torque Coincidence signal T-COIN is output.
Page 176: Using Luna Software To Configurate Torque Control Mode
M56S RS-485 Type User Manual 7.4.9 Using Luna Software to Conﬁgurate Torque Control Mode The torque control mode can be easily conﬁgured using the Luna software. Step 1: Select Control Mode Select control mode and set related parameters. Step 2: Set Smoothing Filter Rev.
Page 177 M56S RS-485 Type User Manual Step 3: Input and Outpu Conﬁgurations Step 4: Speed Limit Settings Step 5: Gain Tuning Rev. 1.0 400-820-9661 02/19/2024...
Page 178: Torque Limit
M56S RS-485 Type User Manual 7.5 Torque Limit Torque Limit Function is used to limit the motor output torque. This function is applicable in all control modes, such as Position Control, Speed Control and Torque Control, etc. 7.5.1 Torque Limit Methods Parameter P1-10 deﬁnes 6 kinds of torque limit methods which are shown as follows.
Page 179 M56S RS-485 Type User Manual 7.5.2.2 Limited by Parameter P1-06 in both Direction When P1-10 = 1, the positive direction torque and the negative torque is limited by P1-06. Related Parameters Parameter Command Description Unit Range Default Instructions Set up the ﬁrst limit value of the motor P1-06 1st Torque Limit 0~3000...
Page 180 M56S RS-485 Type User Manual 7.5.2.4 Limited by Digital Input----Method One When P1-10 = 3, the positive and negative torque limit is determined by the input logic state of Torque Limit Input function(TQ-LMT). ◆ When the TQ-LMT input is VALID, the positive and negative direction torque is limited by the set value of P1-06.
Page 181: Torque Limited Output(T-Lmt)
M56S RS-485 Type User Manual 7.5.2.6 Limited by Digital Input----Method Two When P1-10 = 5, the positive and negative torque limit is determined by the input logic state of Torque Limit Input function(TQ-LMT). ◆ When the TQ-LMT input is VALID, the positive direction torque is limited by the set value of P1-06, and negative direction torque is limited by the set value of P1-25.
Page 182: Encoder/Pulse Divided Output
M56S RS-485 Type User Manual 7.6 Encoder/Pulse Divided Output Encoder/Pulse Divided Output is a function that output the position information feedback by the encoder and the external position pulse command in a A/B quadrature line driver mode. Related Parameters Parameter Command Description Range P3-12...
Page 183: 脉冲分频输出模式设定
M56S RS-485 Type User Manual 7.6.2 Pulse Divided Output Settings. Parameter P3-12 is used to set the pulse output source, pulse output phase logic, Z pulse output polarity, and division ratio. The corresponding functions to each bit are as follows. P3-12 Pulse output settings bit7 bit6...
Page 184: Pulse Output Settings
M56S RS-485 Type User Manual 7.6.2.2 Pulse Output Settings Pulse Z pulse output P3-12 output Pulse output source phase Positive Direction Negative Direction Set Value polarity logic (Decimal) bit3 bit2 bit1 bit0 Phase A Phase A Phase B Phase B Main encoder Phase Z Phase Z...
Page 185: Pulse Output Gear Ratio
M56S RS-485 Type User Manual 7.6.3 Pulse Output Gear Ratio When the pulse output source is the motor encoder or second encoder, some applications where the number of output pulses per one motor revolution is not an integer, you can set the output gear ratio. Output counts per motor revolution(A and B are converted into 4 times the frequency.) P3-13 Pulses Output Gear Ratio - Numerator x 131072...
Page 186: Analog Output
The parameters are set as follows: P4-16 = 12000 P4-18 = 3 7.7.1 Analog Output Wiring Method ◆ M56S Series-RF Type Output Speciﬁcations: Voltage: -10 ~ +10V Maximum output capacity: 8mA The output impedance is 1 kOhm. Pay an attention to the input impedance of themeasuring instrument or the external circuit to be connected.
Page 187: Full Closed-Loop Control
M56S RS-485 Type User Manual 7.8 Full Closed-loop Control High precision positioning is possible with a full closed-loop position control, an external installed encoder is used to detect the position of the controlled machine and the machine's position information is fed back to the servo drive. Motor Encoder Feedback External Second Encoder Full Closed-loop Position Feedback...
Page 188: Full Closed-Loop Control Gain Tuning
M56S RS-485 Type User Manual 7.8.2 Full Closed-loop Control Gain Tuning 7.8.2.1 Tuning Step of Full Closed-loop Control Step 1: Complete the parameter settings without turning on the full closed-loop function. For detailed tuning method, please refer to Chapter 10. Servo Gain Tuning.
Page 189 M56S RS-485 Type User Manual Parameter Command Description Range Default Unit Instructions Proportional gain of speed loop in full closed-loop control mode. Thie parameter determines the responsiveness of speed loop. Higher set value can increase the Full Closed-loop Velocity P0-30 0 ~ 30000 0.1Hz speed loop responds.
Page 190: Full Closed-Loop Control Setting Steps
M56S RS-485 Type User Manual 7.8.3 Full Closed-loop Control Setting Steps After all the operations of Chapter 7.8.2, if the servo system can run normally without full closed-loop control function, the following setting steps can be applied to set the necessary parameters of full closed-loop control.
Page 191 M56S RS-485 Type User Manual Step 3: Set the pulses per user unit length (user unit) In full closed-loop control mode, the electronic gear ratio (P3-00 and P3-01) will be invalid, P3- 05(Command Pulses per revolution) will take eﬀect. Related Parameter Parameter Command Description Range...
Page 192 M56S RS-485 Type User Manual ◆ Use Luna software to conﬁrm the mechanical transimission ratio Method 1: 1) Disable the full-closed-loop control function, and make the motor rotate one revolution in Commissioning interface of the software. 2) Then check and record the number of Motor Encoder Position and the number of 2nd Encoder Position after the motor rotates once in Monitor interface of the software 3) Fill these two numbers into the above formula.
Page 193: Enable Full Closed-Loop Control Mode
M56S RS-485 Type User Manual Step 5: Full Closed-loop Hybrid Deviation Error Set the allowable deviation between the current position of motor encoder and external second encoder, and automatically clear the hybrid deviation whenever the motor's revolutions reaches the set value. Hybrid Deviation Hybrid deviation excess.
Page 194: Common Error And Trouble-Shooting In Full Closed-Loop Control Mode
M56S RS-485 Type User Manual 7.8.5 Common Error and Trouble-shooting in Full Closed-loop Control Mode Common alarms in full closed loop mode are as follows. Description Causes Measures Display 1. Check whether the set value of P3-09 and P3-10 are too small. Full closed-loop hybrid Full closed-loop hybrid 2.
Page 195: Dynamic Brake
U/V/W three-phase of the motor is short-circuited to make the motor stop at the fastest speed, thereby protecting the safety of equipment and people. There are build-in dynamic brake in the F type and X type of M56S series. •...
Page 196: Dynamic Braking Resistor Wiring Method
M56S RS-485 Type User Manual 7.9.1 Dynamic braking resistor wiring method For models of 750W and below that support the dynamic braking function, the driver has a built-in dynamic braking resistor and does not need to be connected externally. For models of 1kW and above that support the dynamic braking function, an external dynamic braking resistor is required.
Page 197: Dynamic Brake When Servo-Off
M56S RS-485 Type User Manual Related Parameters Parameter Command Description Range Default Unit Instructions As the speed is less than or equal to this P5-42 Zero Speed Width 0.1 ~ 2 set value, it is in the zero speed state. Select the action mode of the dynamic Dynamic Brake Sequence when Servo P1-29...
Page 198: Homing Mode
Home Oﬀset etc. Homing mode and the Home sensor signal are set by the controller which also controls execution of the generated motion proﬁle. The M56S series of AC servo drives supports 39 homing methods. There are three ways to start homing.
Page 199: Homing Function Instructions
M56S RS-485 Type User Manual 7.10.1 Homing Function Instructions Homing function is used to seek the mechanical home sensor and deﬁne the position relationship between the mechanical origin and mechanical zero. Mechanical Origin: A ﬁxed position on the machine that can be a switch sensor or the index signal of the motor encoder.
Page 200: Homing Methods Summary
M56S RS-485 Type User Manual 7.10.2 Homing Methods Summary Homing Method Motor Index Pulse Home Sensor Limit Switch Methods -4 & -3 Methods -2 & -1 √ Methods 1 & 2 √ √ Methods 3 to 6 √ √ Methods 7 to 14 √...
Page 201 M56S RS-485 Type User Manual 7.10.2.1 Method -4: Start in the negative direction, seek for the negative mechanical hard limit Motion Trajectory Offset Negative Mechanicl Hard Limit Start homing at the speed set by P2-24 in the negative direction, when the moving load is blocked by the negative mechanical hard limit, and the output torque of the motor is equal to the set current threshold(P1-08), than the motor stops and sets the encoder position to zero,the whole homing process has ﬁnished.
Page 202 M56S RS-485 Type User Manual 7.10.2.3 Method -2: Start in the negative direction, seek for the negative mechanical hard limit and motor index Motion Trajectory Offset Motor Index Negative Mechanicl Hard Limit Start homing at the speed set by P2-24 in the negative direction, when the moving load is blocked by the negative mechanical hard limit, and the output torque of the motor is equal to the set current threshold(P1-08), than the motor stops and turns back at the speed set by P2-25 for seeking encoder's index signal.
Page 203 M56S RS-485 Type User Manual 7.10.2.5 Method 1: Start in the negative direction, seek for the negative limit switch and Motor Index Motion Trajectory Motor Index Negative Limit Switch Signal Position A: The motor moves in the negative direction with a homing speed set by P2-24 as long as the Negative Limit Switch(NLS) remains invalid.
Page 204 M56S RS-485 Type User Manual 7.10.2.7 Method 3: Start Positive Homing for the Falling-edge of Home Sensor and Motor Index Motion Trajectory Motor Index Home Sensor Signal The initial direction of movement depends on the logic state of home sensor when start homing. Position A: If homing starts and the home sensor is invalid, the motor moves in the positive direction with a homing speed set by P2-24 as long as home sensor remains invalid.
Page 205 M56S RS-485 Type User Manual 7.10.2.9 Method 5: Start Negative Homing for the Falling-edge of Home Sensor and Motor Index Motion Trajectory Motor Index Home Sensor Signal The initial direction of movement depends on the logic state of home sensor when start homing. Position A: If homing starts and the home sensor is invalid, the motor moves in the negative direction with a homing speed set by P2-24 as long as home sensor remains invalid.
Page 206 M56S RS-485 Type User Manual 7.10.2.11 Method 7: Start Positive Homing, Seek for PLS, Falling-edge of Home Switch's Negative Side and Motor Index, Reverse on the PLS Motion Trajectory Motor Index Home Sensor Signal Positive Limit Switch Signal When using homing method 7, the initial direction of movement depends on the logic state of home sensor when start homing.
Page 207 M56S RS-485 Type User Manual 7.10.2.12 Method 8: Start Positive Homing, Seek for PLS, Raising-edge of Home Switch's Negative Side and Motor Index, Reverse on the PLS Motion Trajectory Motor Index Home Sensor Signal Positive Limit Switch Signal When using homing method 8, the initial direction of movement depends on the logic state of home sensor when start homing.
Page 208 M56S RS-485 Type User Manual 7.10.2.13 Method 9: Start Positive Homing, Seek for PLS, Raising-edge of Home Switch's Positive Side and Motor index, Reverse on the PLS Motion Trajectory Motor Index Home Sensor Signal Positive Limit Switch Signal When using homing method 9, the initial direction of movement depends on the logic state of home sensor when start homing.
Page 209 M56S RS-485 Type User Manual 7.10.2.14 Method 10: Start Positive Homing, Seek for PLS, Falling-edge of Home Switch's Positive Side and Motor Index, Reverse on the PLS Motion Trajectory Motor Index Home Sensor Signal Positive Limit Switch Signal When using homing method 10, the initial direction of movement depends on the logic state of home sensor when start homing.
Page 210 M56S RS-485 Type User Manual 7.10.2.15 Method 11: Start Negative Homing, Seek for NLS, Falling-edge of Home Switch's Positive Side and Motor Index, Reverse on the NLS Motion Trajectory Motor Index Home Sensor Signal Negative Limit Switch Signal When using homing method 11, the initial direction of movement depends on the logic state of home sensor when start homing.
Page 211 M56S RS-485 Type User Manual 7.10.2.16 Method 12: Start Negative Homing, Seek for NLS, Raising-edge of Home Switch's Positive Side and Motor Index, Reverse on the NLS Motion Trajectory Motor Index Home Sensor Signal Negative Limit Switch Signal When using homing method 12, the initial direction of movement depends on the logic state of home sensor when start homing.
Page 212 M56S RS-485 Type User Manual 7.10.2.17 Method 13: Start Negative Homing, Seek for NLS, Raising-edge of Home Switch's Negative Side and Motor Index, Reverse on the NLS Motion Trajectory Motor Index Home Sensor Signal Negative Limit Switch Signal When using homing method 13, the initial direction of movement depends on the logic state of home sensor when start homing.
Page 213 M56S RS-485 Type User Manual 7.10.2.18 Method 14: Start Negative Homing, Seek for NLS, Falling-edge of Home Switch's Negative Side and Motor Index, Reverse on the NLS Motion Trajectory Motor Index Home Sensor Signal Negative Limit Switch Signal When using homing method 14, the initial direction of movement depends on the logic state of home sensor when start homing.
Page 214 M56S RS-485 Type User Manual 7.10.2.19 Methods 15 and 16: Reserved 7.10.2.20 Method 17: Start Negative Homing, Seek for Negative Home Switch Motion Trajectory Negative Limit Switch Signal Method 17 is similar to method 1, except that the home position is not dependent on the motor index, it is dependent only on the NLS(Negative Limit Switch).
Page 215 M56S RS-485 Type User Manual 7.10.2.22 Method 19: Start Positive Homing for the Falling-edge of Home Sensor Motion Trajectory Home Sensor Signal Method 19 is similar to method 3, except that the home position is not dependent on the motor index, it is dependent only on the home sensor.
Page 216 M56S RS-485 Type User Manual status. 7.10.2.24 Method 21: Start Negative Homing for the Falling-edge of Home Sensor Motion Trajectory Home Sensor Signal Method 21 is similar to method 5, except that the home position is not dependent on the motor index, it is dependent only on the home sensor.
Page 217 M56S RS-485 Type User Manual status. 7.10.2.26 Method 23: Start Positive Homing, Seek for PLS, Falling-edge of Home Switch's Negative Side, Reverse on the PLS Motion Trajectory Home Sensor Signal Positive Limit Switch Signal Method 23 is similar to method 7, except that the home position is not dependent on the motor index, it is dependent only on the home sensor transitions and positive limit switch(PLS) transitions.
Page 218 M56S RS-485 Type User Manual 7.10.2.27 Method 24: Start Positive Homing, Seek for PLS, Raising-edge of Home Switch's Negative Side, Reverse on the PLS Motion Trajectory Home Sensor Signal Positive Limit Switch Signal Method 24 is similar to method 8, except that the home position is not dependent on the motor index, it is dependent only on the home sensor transitions and positive limite switch(PLS) transitions.
Page 219 M56S RS-485 Type User Manual 7.10.2.28 Method 25: Start Positive Homing, Seek for PLS, Raising-edge of Home Switch's Positive Side, Reverse on the PLS Motion Trajectory Home Sensor Signal Positive Limit Switch Signal Method 25 is similar to method 9, except that the home position is not dependent on the motor index, it is dependent only on the home sensor transitions and positive limit switch(PLS) transitions.
Page 220 M56S RS-485 Type User Manual 7.10.2.29 Method 26: Start Positive Homing, Seek for PLS, Falling-edge of Home Switch's Positive Side, Reverse on the PLS Motion Trajectory Home Sensor Signal Positive Limit Switch Signal Method 26 is similar to method 10, except that the home position is not dependent on the motor index, it is dependent only on the home sensor transitions and positive limit switch(PLS) transitions.
Page 221 M56S RS-485 Type User Manual 7.10.2.30 Method 27: Start Negative Homing, Seek for NLS, Falling-edge of Home Switch's Positive Side, Reverse on the NLS Motion Trajectory Home Sensor Signal Negative Limit Switch Signal Method 27 is similar to method 11, except that the home position is not dependent on the motor index, it is dependent only on the home sensor transitions and negative limit switch(NLS) transitions.
Page 222 M56S RS-485 Type User Manual 7.10.2.31 Method 28: Start Negative Homing, Seek for NLS, Raising-edge of Home Switch's Positive Side, Reverse on the NLS Motion Trajectory Home Sensor Signal Negative Limit Switch Signal Method 28 is similar to method 12, except that the home position is not dependent on the motor index, it is dependent only on the home sensor transitions and negative limit switch(NLS) transitions.
Page 223 M56S RS-485 Type User Manual 7.10.2.32 \Method 29: Start Negative Homing, Seek for NLS, Raising-edge of Home Switch's Negative Side, Reverse on the NLS Motion Trajectory Home Sensor Signal Negative Limit Switch Signal Method 29 is similar to method 13, except that the home position is not dependent on the motor index, it is dependent only on the home sensor transitions and negative limit switch(NLS) transitions.
Page 224 M56S RS-485 Type User Manual 7.10.2.33 Method 30: Start Negative Homing, Seek for NLS, Falling-edge of Home Switch's Negative Side, Reverse on the NLS Motion Trajectory Home Sensor Signal Negative Limit Switch Signal Method 30 is similar to method 14, except that the home position is not dependent on the motor index, it is dependent only on the home sensor transitions and negative limit switch(NLS) transitions.
Page 225 M56S RS-485 Type User Manual 7.10.2.34 Methods 31 and 32: Reserved. These two homing methods are reserved for future expansion of the homing mode. 7.10.2.35 Method 33: Start Negative Homing, Seek for First Motor Index Motion Trajectory Motor Index The motor moves in the negative direction with a homing speed set by P2-25 until the ﬁrst motor index pulse is detected, the motor stops, Homing has been ﬁnished.
Page 226: Internal Velocity Control
M56S RS-485 Type User Manual 7.11 Internal Velocity Control M56S series servo drive 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 driver, the speed mode can be controlled without analog input.
Page 227: Digital Inputs Settings
M56S RS-485 Type User Manual 7.11.2 Digital Inputs Settings When using the internal velocity mode, it is necessary to set the corresponding function for the digital inputs. Parameters P5-00 ~ P5-09 are used to set the functions of digital inputs X1 ~ X10. Setup value and corresponding input logic state of P5-00 ~ P5-09.
Page 228: Input Signal And 8-Segment Internal Speed Selection
M56S RS-485 Type User Manual 7.11.4 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...
Page 229 M56S RS-485 Type User 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 P2-10 to P2-17 Value of P1-11 Input logic of SPD-DIR...
Page 230: Parameter Settings
M56S RS-485 Type User Manual 8 Parameter Settings 8.1 Parameter Deﬁnitions The servo drive parameters are divided into six groups. Group Type Instruction Group 0: P0-XX PID parameters Set the gain parameters of the servo and related parameters Group 1: P1-XX Conﬁguration Set or conﬁgure various drive functions Group 2: P2-XX...
Page 231 M56S RS-485 Type User Manual Group 1: P1-XX: Conﬁgurations Parameter Command Description Default Range Unit Type Eﬀective Main Control Mode P1-00 1,2,7,11,15,21 immediately Eﬀective Secondary Control Mode P1-01 1,2,7,11,15,21 immediately Operation Mode When Power-up P1-02 8 ~ 10 Speed Control Clamp Mode P1-03 1 ~ 2 Full Closed-loop Control Switch...
Page 232 M56S RS-485 Type User Manual Group 2: P2-XX: Trajectory Parameter Command Description Default Range Unit Type P2-00 Max Velocity 0 ~ 100 P2-01 Max Brake Deceleration 3000 0.167 ~ 5000 rps/s P2-02 Jog Velocity -100 ~ 100 P2-03 Jog Acceleration 0.167 ~ 5000 rps/s P2-04...
Page 233 M56S RS-485 Type User Manual Group 3: P3-XX: Encoder & Step/Dir Parameter Command Description Default Range Unit Type P3-00 Electronic Gear Ratio - Numerator 32000 1 ~ 2147483647 P3-01 Electronic Gear Ratio - Denominator 32000 1 ~ 2147483647 P3-02 Pulse Input Noise Filter 0 ~ 32000 0.1μs P3-03...
Page 234 M56S RS-485 Type User Manual Group 5: P5-XX: I/O Conﬁguration Parameter Command Description Default Range Unit Type P5-00 Digital Input 1 Function 0 ~ 46 P5-01 Digital Input 2 Function 0 ~ 46 P5-02 Digital Input 3 Function 0 ~ 46 P5-03 Digital Input 4 Function 0 ~ 46...
Page 235: Parameter Description
M56S RS-485 Type User Manual 8.3 Parameter Description 8.3.1 Group P0-XX: PID Parameters Parameter Command Description Default Range Unit Contol mode P0-00 Tuning Mode Selection 0 ~ 2 The servo drive provides three gain tuning modes for gain parameters tuning. Set value Tuning Mode Description...
Page 236 M56S RS-485 Type User Manual Parameter Command Description Default Range Unit Contol mode P0-05 1st Position Loop Gain 0 ~ 20000 0.1Hz Set the rigidity gain of position control. 0 means not used, and 20000 means the proportional action is maximized. Increasing this parameter can improve the responsiveness of the system, reduce the position error, and shorten the positioning time.
Page 237 M56S RS-485 Type User Manual Parameter Command Description Default Range Unit Contol mode P0-09 Velocity Feedforward Gain 10000 -30000 ~ 3000 0.01% The value of the reference speed generated by the position loop calculation in the internal trajectory planning and the ratio of this parameter is added to the speed command generated by the position loop, which can reduce the position error and speed error and improve the response speed of the system.
Page 238 M56S RS-485 Type User Manual Parameter Command Description Default Range Unit Contol mode P0-12 1st Velocity Loop Gain 0 ~ 30000 0.1Hz The stiﬀness gain of the Velocity Loop in the PID control algorithm. The simplest part of the Velocity Loop is the proportional gain, or VP, term. The drive applies current to the motor in direct proportion to the error.
Page 239 M56S RS-485 Type User Manual Parameter Command Description Default Range Unit Contol mode P0-16 1st Torque Command Filter 1099 0 ~ 40000 0.1Hz Filter the command torque of Current Loop. The ﬁlter is a single-output low-pass ﬁlter, which is used to ﬁlter the output of the PID controller (that is, the reference current). When setting this value, consider the cutoﬀ...
Page 240 M56S RS-485 Type User Manual Parameter Command Description Default Range Unit Contol mode Full Closed-loop Position Loop Derivative P0-27 2000 0 ~ 30000 Time Constant Set the Derivative Time Constant of Position Loop in Full Closed-loop control mode. Refer to parameter P0-07. For the ﬁrst group/second group gain switching function, please refer to Chapter 7.1.6 Gain Switching.
Page 241 M56S RS-485 Type User Manual Parameter Command Description Default Range Unit Contol mode Gain Switch with Position Error Condition P0-34 0 ~ 2147483647 Pulses Change Gain switch condition: Absolute Position Following Error. When P0-33(Gain Swiching Method) is set to "1", this parameter is used to set the jugement condition for gain switch. If the absolute position following error is greater than the set value of P0-34, switch to 2nd Gain Group.
Page 242: Group P1-Xx: Configurations
M56S RS-485 Type User Manual 8.3.2 Group P1-XX: Conﬁgurations 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 drive. Setup Value Control Mode Control Signal Instruction Q program commands or Use communication commands to control the...
Page 243 M56S RS-485 Type User Manual Parameter Command Description Default Range Unit Contol mode P1-03 Speed Control Clamp Mode 1 ~ 2 You can chose to use the position loop in speed control mode or torque control mode. Setup Value Mode Description The position-loop takes eﬀect and the position error is detected in real time in Use the Position-loop...
Page 244 M56S RS-485 Type User Manual Parameter Command Description Default Range Unit Contol mode P1-09 Current Foldback Continuous Time 0 ~ 30000 The servo can provide overlaod torque for a short time, the maximum overload output torque is set by parameter P1-06, and the duration of overload torque output is by the parameter P1-09.
Page 245 M56S RS-485 Type User Manual Parameter Command Description Default Range Unit Contol mode P1-11 Rotational Direction Setup 0，1 Setup the relationship between the direction of command and direction of motor rotation Setup Value Rotation Direction Description Rotates Positive Direction at Clockwise Motor rotates CW in response to positive direction command (CW when viewed from load side shaft end) Rotates Positive Direction...
Page 246 M56S RS-485 Type User Manual Parameter Command Description Default Range Unit Contol mode P1-15 RS-485 Baud Rate 1 ~ 5 The baud rate that takes eﬀect after power-on in serial communication. This value will be saved immediately after being conﬁgured but will not take eﬀect immediately until the next power-on, so the host can conﬁgure this value at any time.
Page 247 M56S RS-485 Type User Manual Parameter Command Description Default Range Unit Contol mode P1-23 LED Default Display 0 ~ 20 Set the content displayed on the LED panel after the drive is power-on. Status Description Unit Motor Actual Speed Position Error Pulse Pulses Input Counter counts...
Page 248 M56S RS-485 Type User Manual Parameter Command Description Default Range Unit Contol mode P1-27 4th Torque Limit 3000 0 ~ 3000 0.1% Set up the fourth limit value of the motor output torque. Refer to Chapter 7.5 Torque Limit for more details. Parameter Command Description...
Page 249 M56S RS-485 Type User Manual Parameter Command Description Default Range Unit Contol mode Dynamic Brake Action Time during P1-31 0 ~ 30000 Deceleration of Servo Oﬀ This parameter sets the maximum braking time of dynamic brake during deceleration period after the sevro-oﬀ. When the deceleration time exceeds the setting of P1-31, even if the actual speed is still greater than the setting value of P5-42, the dynamic brake will stop working to protect the internal braking resistor.
Page 250 M56S RS-485 Type User Manual Parameter Command Description Default Range Unit Contol mode P1-33 Phase Lost Detect Switch 0 ~ 1 Drive's power supply phase loss detection switch. If this function is turned on, when it is detected that there is a phase loss in the power supply of the drive, an alarm of "Phase loss of main circuit"(Alarm code r19) will occur.
Page 251: Group P2-Xx: Trajectory
M56S RS-485 Type User Manual 8.3.3 Group P2-XX: Trajectory Parameter Command Description Default Range Unit Contol mode P2-00 Max Velocity 0 ~ 100 The maximum motor velocity in rev/sec. Used in all control mode to limit the maximumspeed of the drive. If the actual speed exceeds the set value of P2-00 for 400ms, an alarm of "Motor Over Speed"...
Page 252 M56S RS-485 Type User Manual Parameter Command Description Default Range Unit Contol mode P2-09 Point-to-Point Change Velocity 0 ~ 100 If the internal position control command which suppots point-to-point move with variable speed control, this parameter is used to set the speed of second stage.
Page 253 M56S RS-485 Type User Manual Parameter Command Description Default Range Unit Contol mode -2147483647 ~ P2-27 Homing Oﬀset pulses +2147483647 The oﬀset distance after homing is completed. Negative Limit Switch Home Sensor Positive Limit Switch Seek for limit switch P2-18(HA1),P2-24(HV1) Seek for home sensor P2-18(HA1),P2-24(HV1) Return to the home sensor...
Page 254: Group P3-Xx: Encoder & Step/Dir Configuration
M56S RS-485 Type User Manual 8.3.4 Group P3-XX: Encoder & Step/Dir Conﬁguration Parameter Command Description Default Range Unit Contol mode P3-00 Electronic Gear Ratio - Numerator 32000 0 ~ 131072 This parameter deﬁnes the numerator of Electronic Gear Ratio. Parameter Command Description Default...
Page 255: Rotation Direction
M56S RS-485 Type User Manual Parameter Command Description Default Range Unit Contol mode P3-03 Pules Input Setting 0 ~ 31 Parameter P3-03 is used to set the input pulse command source, pulse type, rotation direction and pulse edge valid type. P3-03 Pulse input setting bit7 bit6...
Page 256 ◆ Pulse input source Bit 4 of parameter P3-03 sets the input port for the position pulse command. There are variety input ports in M56S series, it is necessary to select the appropriate pulse input port according to the pulse type of the controller and the drive model.
Page 257 Unit Contol mode P3-03 Pules Input Setting 0 ~ 31 2) -X & -N Type (26-Pin CN2 Connector) of M56S series ◆ When bit4 = 0, Open-collector Pulse Inputs (or Low-speed pulse signal input) is selected. bit4 CN2-Pin NO. Signals...
Page 258 M56S RS-485 Type User Manual Parameter Command Description Default Range Unit Contol mode P3-03 Pules Input Setting 0 ~ 31 Quick setup for P3-03 Valid Parameter P3-03 Rotation Set value (Decimal) pulse Pulse command type direction Positive Negative edge Open- Line collector receiver...
Page 259 M56S RS-485 Type User Manual Parameter Command Description Default Range Unit Contol mode Position Error Limit P3-04 100000 0 ~ 2147483647 pulses During the movement, when the deviation between the target position and the actual position fed back by the encoder exceeds the set value of P3-04, an error "Position Following Error"...
Page 260 M56S RS-485 Type User Manual Parameter Command Description Default Range Unit Contol mode P3-10 Hybrid Deviation Fault Threshold 100000 0 ~ 2147483647 pulses Set the position following error alarm threshold in full closed-loop control mode. As the deviation between the current position of motor encoder and external second encoder is greater than the set value of P3-10, a full closed-loop hybrid deviation excess error will occur, will display on the drive's LED display panel.
Page 261 M56S RS-485 Type User Manual Parameter Command Description Default Range Unit Contol mode pulses/ P3-11 Second Encoder Resolution 10000 200 ~ 100000 user-unit The resolution of external second encoder or scale. A) For rotary encoder, enter the resolution of one revolution of the encoder; B) For linear scale, enter the number of pulses per moving user unit.
Page 262 M56S RS-485 Type User Manual Parameter Command Description Default Range Unit Contol mode P3-13 Pulses Output Gear Ratio - Numerator 10000 0 ~ 13107200 Set the numerator of pulse output division ratio Parameter Command Description Default Range Unit Contol mode P3-14 Pulses Output Gear Ratio - Denominator 131072...
Page 263 Unit Contol mode P3-16 Electronic Gearing Switch 0 ~ 1 M56S series servo drives have two electronic gearing systems, parameter P3-16 is used to switch this. Parameter P3-16 Description Instructions set value Set the required number of command pulses per revolution of motor.
Page 264: Group P4-Xx: Analog
M56S RS-485 Type User Manual 8.3.5 Group P4-XX: Analog Parameter Command Description Default Range Unit Contol mode P4-01 Analog Input Velocity Gain 0 ~ 100 rps/10V Scale factor value for motor speed and analog input. Set corresponding motor speed when the analog input voltage is 10VDC. Motor Speed 50rps P4-01 = 50rps...
Page 265 M56S RS-485 Type User Manual Parameter Command Description Default Range Unit Contol mode 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 "zeroed"value of the analog input. This deadband deﬁnes the area of the analog input range that the drive should interpret as "zero".
Page 266 M56S RS-485 Type User Manual Parameter Command Description Default Range Unit Contol mode P4-11 Velocity Limit Setting of Torque Control 0 ~ 1 In torque mode, when the load connected to the motor is small but the torque command is too large, the motor may accelerate to a very high speed if the motor output speed is not limited, which may cause unexpected situations.
Page 267: Group P5-Xx: Io Configuration
M56S RS-485 Type User Manual 8.3.6 Group P5-XX: IO Conﬁguration Parameter Command Description Default Range Unit Contol mode P5-00 Digital Input 1 Function 0 ~ 46 Parameter Command Description Default Range Unit Contol mode P5-01 Digital Input 2 Function 0 ~ 46 Parameter Command Description...
Page 268 M56S RS-485 Type User Manual Parameter Command Description Default Range Unit Contol mode P5-12 Digital Output 1 Function 0 ~ 34 Parameter Command Description Default Range Unit Contol mode P5-13 Digital Output 2 Function 0 ~ 34 Parameter Command Description Default Range Unit...
Page 269 M56S RS-485 Type User Manual Parameter Command Description Default Range Unit Contol mode Move Command Delay Time after Brake P5-24 0 ~ 32000 Release The parameter P5-24 sets the delay time for the ﬁrst movement after the drive is enabled. The brake must be released before a movements starts, since there is action time when the brake is released or braked, this parameter is set to ensure that the brake has been released successfully.
Page 270 M56S RS-485 Type User Manual Parameter Command Description Default Range Unit Contol mode P5-32 Digital Input 5 Filter 0 ~ 8000 Parameter Command Description Default Range Unit Contol mode P5-33 Digital Input 6 Filter 0 ~ 8000 Parameter Command Description Default Range Unit...
Page 271 M56S RS-485 Type User Manual Parameter Command Description Default Range Unit Contol mode P5-39 In-position Output Threshold 0 ~32000 pulses This parameter P5-39 sets the jugement condition of the In-position signal output. The In-position output signal is used to indicate current positioning status of the servo system in the position mode. When the position following error, which is the diﬀerence between input position command and the motor actual position feedback by motor encoder, is less than the set value of P5-39, the In-position signal will output.
Page 272 M56S RS-485 Type User Manual Parameter Command Description Default Range Unit Contol mode P5-42 Zero Speed Width 0.1 ~ 2 The paramter P5-42 sets the judgment condition whether the actual motor speed is zero. When the absolute value of motor actual speed is less than the set value of P5-42(zero-speed judgment width), the servo drive outputs the Zero Speed Detected(Z-SPD) signal.
Page 273 M56S RS-485 Type User Manual Parameter Command Description Default Range Unit Contol mode P5-45 Torque Arrival Width 0 ~ 3000 0.1% When the absolute value of the actual motor output torque exceeds the set value of P1-07(Target Torque Value when Torque Value Reached), and the torque ﬂuctuation is within the range of P5-45, the torque reach signal TQ-REACH will be output.
Page 274: Troubleshooting
M56S RS-485 Type User Manual 9 Troubleshooting 9.1 Alarm List Error Type Alarm Code Description Drive status after the alarm occurs Resettable Fault Warning Drive over temperature Fault Servo oﬀ Internal voltage error Fault Servo oﬀ Over-voltage Fault Servo oﬀ Fault Servo oﬀ...
Page 275 M56S RS-485 Type User Manual External encoder error Fault Servo oﬀ Memory error Fault Servo oﬀ Absolute encoder battery Warning Current state does not change. undervoltage Absolute position lost Warning Current state does not change. Absolute position overﬂow Warning Current state does not change. Motor over temperature Fault Servo oﬀ...
Page 276: Driver Alarm Causes And Measures
M56S RS-485 Type User Manual 9.2 Driver Alarm Causes and Measures Alarm Description Causes Measures Reset Method Code Temperature of the heat sink and power 1. Reduce the drive operating temperature and component of the drive exceeds the improve the cooling conditions; speciﬁed value.
Page 277 M56S RS-485 Type User Manual Alarm Description Causes Measures Reset Method Code DC bus voltage is too low (220V series: Measure input voltage below 90VDC) 1. Increase the power capacity. Change the 1. Power supply voltage is low. power supply; Instantaneous power failure has 2.
Page 278 M56S RS-485 Type User Manual Alarm Description Causes Measures Reset Method Code Regenerative energy has exceeded the capacity of regenerative resistor, 1. Internal resistor value is smaller than 1. Due to the large load inertia, the required, cannot absorb the regeneration regenerative energy during deceleration energy;...
Page 279 M56S RS-485 Type User Manual Alarm Description Causes Measures Reset Method Code 1. Check if the ambient temperature where the motor is installed is too high; 2. Reduce the ambient temperature of the motor and improve the cooling conditions; 3. Increase the capacity of the driver and motor, prolong the acceleration and deceleration time, and reduce the load;...
Page 280 M56S RS-485 Type User Manual Alarm Description Causes Measures Reset Method Code 1. Check whether the encoder wiring is in accordance with the correct deﬁnition The servo drive detected abnormality in 2. Check the connection between the encoder the communication with the encoder. cable and the driver and motor 1.
Page 281: Servo Gain Tuning
M56S RS-485 Type User Manual 10 Servo Gain Tuning Servo Gain Tuning is used to optimize the response of the servo system. It is required for the servo drive to control the motor in least time delay and as accurately as possible to follow the command of controller.
Page 282: What Is The Gain Tuning Mode
M56S RS-485 Type User Manual 10.1.2 What is the Gain Tuning Mode The servo drive provides three gain tuning modes for gain parameters tuning, which are set by parameter P0-00.。 Setup Value Tuning Mode Valid parameters Instructions P0-03 1st mechanical Stiﬀness Level The mechanical stiﬀness level are only set by P0-03 or P0- No tuning P0-04 2nd mechanical Stiﬀness Level...
Page 283: Required Motion Profile In Auto Tuning Mode
M56S RS-485 Type User Manual 10.2.1 Required Motion Proﬁle in Auto Tuning Mode In order to accurately complete the auto tuning, it's necessary to set reasonable motion trajectory including moving distance, travel speed, travel time, acceleration and deceleration and Interval time between two movements.
Page 284: Auto Tuning Flowchart
M56S RS-485 Type User Manual 10.2.2 Auto Tuning Flowchart You can perform the Auto Tuning through Luna software or operation panel of the drive. Auto Tuning With Controller Without Controller Set motion profile by Luna Set motion profile then Start Auto tuning Use Luna to Use touch panel to start Auto Tuning...
Page 285: Start Auto Tuning-- By Operation Panel
M56S RS-485 Type User Manual 10.2.3 Start Auto Tuning-- By Operation Panel Use the operation panel to start Auto Tuning: （1) Long press "MODE" key to switch to "Function Select Mode", which will display "F00FL". （2) Short press "UP" or "DOWN" key to select "F10AT" （3) Long press "SET"...
Page 286: Start Auto Tuning-- By Luna Software
M56S RS-485 Type User Manual 10.2.4 Start Auto Tuning-- By Luna software It's recommended to use Luna software to start Auto tuning. The operation steps are as follows. Step 1: Connection Wizard Select the drive that needs to be connented----Click "Next" button to establish communication with the drive. Step 2: Set the Conrol mode to Position Control Step 3: Select "Tuning"...
Page 287 M56S RS-485 Type User Manual Step 4: Select the tuning mode to "Auto Tuning" 1) 1st Mechanical Stiffness Level: Set the appropriate stiﬀness level. It's recommended to set to "5" when running for the ﬁrst time. 2) Lode Type Select the load type accoeding to the current mechanical structure. Load Type Description General Type...
Page 288 M56S RS-485 Type User Manual Step 5: Start the Auto Tuning After the above conﬁgurations are set, set the motion proﬁle that meets the following conditions, and then click the "Start Auto Tuning" button to start the tuning process. The source of motion command can be choose by "My own proﬁle"...
Page 289: Fine Tuning Mode
M56S RS-485 Type User Manual 10.3 Fine Tuning Mode Fine Tuning mode is suiteable for the following situations: 1) Errors alway occur in the auto tuning and cannot ﬁnish the tuning. 2) After auto tuning, even if optimize the stiﬀness level(P0-03) and the load inertia ratio(P0-02), the servo system response still cannot meet the requirements.
Page 290: Description For Gain Parameters
M56S RS-485 Type User Manual 10.3.3 Description for Gain Parameters The servo system consists of current loop, velocity loop and position loop. The more the inner control loop, the more it needs to improve its responsiveness. Failure to observe this principle can result in poor response or vibration.
Page 291: Gain Parameters For Velocity Loop
M56S RS-485 Type User Manual recommended starting value is 2000. When the set value of the derivative time constant (KD) is reasonable, the system's ability to suppress vibration is signiﬁcantly enhanced, and it tends to stabilize quickly. When the derivative time constant (KD) is set too small, the motion system will be too sensitive, easily vibrate and generate noise.
Page 292: Resonance Suppression
The machanical system has an inherent resonance frequency. If the whole system runs at this mechanical resonance frequency poit, vibration and nosie may be caused. M56S series provide 4 methods to suppress mechanical resonance. 1) Torque Command Filter 2) Notch Filters 3) End Eﬀector Suppress...
Page 293 This resonance frequency can be detected through open-loop mechanical analysis. If the resonance frequency drifts signiﬁcantly with time or due to other cause, using notch ﬁlter is not suggested. There are 4 notch ﬁlters in M56S series and each notch ﬁlter has three parameters, which are: • Center frequency of Notch Fitler •...
Page 294 M56S RS-485 Type User Manual ◆ Software settings for Adaptive Notch Filter Step 1: Open the "Anti-resonance" window, and than click "Upload" button. Step 2: Change the usage mode of "Notch Filter 3" to "Adaptive", and then click the "Download" button. Step 3: When the servo system is running, it will automatically detect resonance frequency and take effect to suppress.
Page 295: Mechanical Analysis And Manual Setting Of Notch Filtes
M56S RS-485 Type User Manual 10.4.3 Mechanical Analysis and Manual Setting of Notch Filtes Analyze Resonance Frequency To manually set the notch ﬁlter, it is necessary to detect the actual frequency when resonance occurs. You can use the "Mechanical Analysis" function in the Luna software. Test Type for Mechanical Analysis Test Type: Applicable load...
Page 296 M56S RS-485 Type User Manual Step 3 Click the "Start" button, the servo system starts the Mechanical Open-loop analysis and displays the result curve. Click the icon in the upper right corner of the drawing area to optimize the displayed curve. Step 4 Move the reference line in the "Magnitude_Phase Curve"...
Page 297 M56S RS-485 Type User Manual Step 5 Open the "Anti-Resonance" window, select "Use" and set approprate Bandwidth Level and Depth Level, and than click "Download" button to enable the notch ﬁlter. Note: 1) The mechanical open-loop analysis not include the servo control loop, even if the Notch Filter is set, the resonance frequency still can be detected when the open-loop analysis is performed again.
Page 298 M56S RS-485 Type User Manual 10.4.3.2 How to Analyze Resonance Frequency using Velocity Closed-loop Step 1 Before performing the Velocity Closed-loop Analysis, make sure that: • Servo system works well. • The gain parameters tuninng is completed. • The Control Mode is set to Command Velocity Mode •...
Page 299 M56S RS-485 Type User Manual Step 3 1) Click the "Start" button, the servo system starts the Velocity Closed-loop analysis and displays the result curve. 2) Click the icon in the upper right corner of the drawing area to optimize the displayed curve. 3) Move the reference line in the "Magnitude_Phase Curve"...
Page 300 M56S RS-485 Type User Manual Step 5 Perform Velocity Closed-loop analysis again to check the suppressed result. Rev. 1.0 400-820-9661 02/19/2024...
Page 301: End Effector Suppress
M56S RS-485 Type User Manual 10.5 End Eﬀector Suppress As shown in the ﬁgure below, the mechanical transmission part has a certain elasticity. For example, due to the long length of the end of the mechanical load and the hysteresis of the position control loop, it is easy to generate low-frequency vibration during running and stopping.
Page 302 M56S RS-485 Type User Manual Step 2: Set the Frequency and Enable the End Effector Suppress function Open the "Anti-resonance" window and click the tape of "End Eﬀector & Load Disturbance Suppress",and than enter the ﬂuctuation frequency measured in the ﬁrst step and check "Use", and than click "Download"...
Page 303: Load Disturbance Suppress
M56S RS-485 Type User Manual 10.6 Load Disturbance Suppress The servo system is disturbed by external factors, such as sudden changes in load or sudden changes in external forces or friction, which may cause servo system vibration easily and become unstable. The Load Disturbance Suppress function can eliminate such disturbances and improves system response.
Page 304: Modbus/Rtu Commucation
There are two types of communication methods for ModBUS, ASCII(American Standard Code for information interchange) mode and RTU(Remote Terminal Unit)mode, this is deﬁned based on diﬀerent bus modulation and demodulation methods. For M56S series AC servo drives, only ModBUS RTU is supported. 11.1 Modbus/RTU Conﬁgurations 11.1.1 Data Encode...
Page 305: Power-On Mode
M56S RS-485 Type User Manual 11.1.4 Power-on Mode Conﬁgure the operating mode of the drive after power on. Parameter P1-02(PM) is used to set it. The corresponding relationship between PM command parameter value and working mode in Modbus RTU communication mode is as follows: 8: After power on, the driver is in enable working mode.
Page 306 M56S RS-485 Type User Manual If communication error occurs, the data format returned by the exception is: 01 83 XX CRC_L CRC_H Where XX is, ◆ XX = 01H means does not support to read the function code 03H; ◆ XX = 02H means illegal register; ◆...
Page 307: Function Code 0X06: Write A Single Register
M56S RS-485 Type User Manual 11.3.2 Function Code 0x06: Write a Single Register Writes to a single holding register. When using a broadcast instruction, all slave devices on the bus perform the write operation to the same register. For example, write the motor running speed to the drive whose slave device address is 11. The register address is 40030.
Page 308: Function Code 0X10: Write Multiple Register
M56S RS-485 Type User Manual 11.3.3 Function Code 0x10: Write Multiple Register Write single or multiple holding registers, with a maximum of 50 registers allowed. When a broadcast command is used, the same registers of all slave devices on the bus perform to write operations. E.g.
Page 309: Scl Command Code
M56S RS-485 Type User Manual 11.4 SCL Command Code 11.4.1 Command Code Register 40125 is deﬁned as the operation code register. If write corresponding operation code to register 40125, then it operates the corresponding function of operation code. The operation code that supports is listed as below.
Page 310: I/O Code
M56S RS-485 Type User Manual 11.4.2 I/O Code The coding of digital input/output port and status is shown in the table below. Character Description 0x30 Z-phase signal for encoder ‘0’ 0x31 Digital Input/Output 1 ‘1’ 0x32 Digital Input/Output 2 ‘2’ 0x33 Digital Input/Output 3 ‘3’...
Page 311: Modbus Register Tabble Of M56S Series
M56S RS-485 Type User Manual 11.5 Modbus Register Tabble of M56S Series 11.5.1 M56S Series General Purpose Registers 11.5.1 M56S Series General Purpose Registers Register Access Data Type Units Description SCL Register 40001..002 Read Only LONG Alarm Code (AL) ——...
Page 312 M56S RS-485 Type User Manual 11.5.1 M56S Series General Purpose Registers Register Access Data Type Units Description SCL Register 40030 Read Only SHORT Q Program Line Number —— 40031 Read Only SHORT 0.1% Immediate Current Command (IC) 40032 Read Only SHORT 0.1%...
Page 313 M56S RS-485 Type User Manual 11.5.1 M56S Series General Purpose Registers Register Access Data Type Units Description SCL Register 40060 SHORT Internal Use 40061 SHORT pulses Internal Use 40062 SHORT Internal Use 40063 SHORT Internal Use —— 40064 SHORT Internal Use ——...
Page 314 M56S RS-485 Type User Manual 11.5.1 M56S Series General Purpose Registers Register Access Data Type Units Description SCL Register 40093..94 Read Only LONG Alarm Buﬀer 16 —— 40095..96 Read Only LONG Alarm Buﬀer 17 —— 40097..98 Read Only LONG Alarm Buﬀer 18 ——...
Page 315 M56S RS-485 Type User Manual 11.5.1 M56S Series General Purpose Registers Register Access Data Type Units Description SCL Register 40139..140 LONG User Register 4 —— 40141..142 LONG User Register 5 —— 40143..144 LONG User Register 6 —— 40145..146 LONG User Register 7 ——...
Page 316: M56S Series-P0 Group (Pid)
M56S RS-485 Type User Manual 11.5.2 M56S Series—P0 Group (PID) 11.5.2 M56S Series—P0 Group (PID) Register Access Data Type Units Range Description SCL Register 40177..178 LONG 0 ～ 2 Tuning Mode Selection (UM) 　 —— 40179..180 LONG 0 ～ 10 Load Type (LY) ——...
Page 317 M56S RS-485 Type User Manual 11.5.2 M56S Series—P0 Group (PID) Register Access Data Type Units Range Description SCL Register 2nd Position Loop Derivative Time Constant 40215..216 LONG 0 ～ 30000 　 (UD) 40217..218 LONG 0.1Hz 0 ～ 40000 2nd Position Loop Derivative Filter (UE) 　...
Page 318 M56S RS-485 Type User Manual 11.5.2 M56S Series—P0 Group (PID) Register Access Data Type Units Range Description SCL Register 40247..248 LONG 1/240rps 0 ～ 24000 Use Actual Speed as the Condition (VN) 　 40249..250 LONG 0.1% 0 ～ 3000 Use Actual Torque as the Condition (TN) 　...
Page 319: M56S Series-P1 Group (Configuration)
M56S RS-485 Type User Manual 11.5.3 M56S Series—P1 Group (Conﬁguration) 11.5.3 M56S Series—P1 Group (Conﬁguration) Register Access Data Type Units Range Description SCL Register 40261..262 LONG Reserved 　　　 40263..264 LONG 1,2,7,11,15,21 Main Control Mode (CM) —— 　 40265..266...
Page 320 M56S RS-485 Type User Manual 11.5.3 M56S Series—P1 Group (Conﬁguration) Register Access Data Type Units Range Description SCL Register Regeneration Resistor Wattage 40303..304 LONG 1 ～ 32000 　 (ZW) Regeneration Resistor Time 40305..306 LONG 0 ～ 8000 　 Constant (ZT) 40307..308...
Page 321: M56S Series-P2 Group (Trajectory)
M56S RS-485 Type User Manual 11.5.4 M56S Series—P2 Group (Trajectory) 11.5.4 M56S Series—P2 Group (Trajectory) Register Access Data Type Units Range Description SCL Register 40335..336 LONG 1/6(rps/s) 1 ～ 30000 Max Brake Deceleration (AM) 　 40337..338 LONG 1/240rps 0 ～ 24000 Max Velocity (VM) 40339..340...
Page 322 M56S RS-485 Type User Manual 11.5.4 M56S Series—P2 Group (Trajectory) Register Access Data Type Units Range Description SCL Register 40373..374 LONG 1/240rps -24000 ～ 24000 Internal Velocity Control: Speed 4 (JC4) 　 40375..376 LONG 1/240rps -24000 ～ 24000 Internal Velocity Control: Speed 5 (JC5) 　...
Page 323: M56S Series-P3 Group(Encoder & Step/Dir)
M56S RS-485 Type User Manual 11.5.5 M56S Series—P3 Group(Encoder & Step/Dir) 11.5.5 M56S Series—P3 Group(Encoder & Step/Dir) Register Access Data Type Units Range Description SCL Register 40399..400 LONG 1 ～ 2147483647 Electronic Gear Ratio – Numerator (EN) 　 —— 40401..402 LONG 1 ～...
Page 324: M56S Series-P4 Group(Analog)
M56S RS-485 Type User Manual 11.5.6 M56S Series—P4 Group(Analog) 11.5.6 M56S Series—P4 Group(Analog) Register Access Data Type Units Range Description SCL Register 40441..442 LONG Reserved 　　　 40443..444 LONG 1/240rps 0 ～ 24000 Analog Input Velocity Gain (AG) 40445..446 LONG 0.1%...
Page 325: M56S Series-P5 Group(I/O)
M56S RS-485 Type User Manual 11.5.6 M56S Series—P4 Group(Analog) Register Access Data Type Units Range Description SCL Register 40486 SHORT Reserved 　　　 40487 SHORT Reserved 　　　 40488 SHORT Reserved 　　　 40489 SHORT Reserved 　...
Page 326 M56S RS-485 Type User Manual 11.5.7 M56S Series—P5 Group(I/O) Register Access Data Type Units Range Description SCL Register 40518 SHORT Reserved 　　　 40519..520 LONG 0 ～ 36 Digital Output 1 Function (MO1) —— 40521..522 LONG 0 ～ 36 Digital Output 2 Function (MO2) ——...
Page 327 M56S RS-485 Type User Manual 11.5.7 M56S Series—P5 Group(I/O) Register Access Data Type Units Range Description SCL Register 40559..560 LONG 0 ～ 8000 Digital Input 7 Filter (FI7) 　 40561..562 LONG 0 ～ 8000 Digital Input 8 Filter (FI8) 　...
Page 328: Alarm Code And Status Code Of M56S
M56S RS-485 Type User Manual 11.6 Alarm Code and Status Code of M56S: 11.6.1 Servo M56S Drive Alarming Code (Main Code) Table Register Explanation Explanation Drive main Circuit Power Input Phase Loss Position Error out of Limit CCW Direction Limit Prohibited STO Prohibited CW Direction Limit Prohibited Reserve...
Page 329: Appendix 1: Led Display Character Comparison Table
M56S RS-485 Type User Manual 12 Appendix 1: LED Display character comparison table Rev. 1.0 400-820-9661 02/19/2024...
Page 330: Contact Us
13 Contact Us Customer Service Center +86-400-820-9661 MOONS’ Headquarter 168 Mingjia Road, Minhang District, Shanghai 201107, P.R. China MOONS’ Taicang No. 18 Yingang Rd, Fuqiao Town, Taicang City Jiangsu Province, 215434, P.R. China Domestic Office North America Beijing MOONS' INDUSTRIES (AMERICA), INC. (Chicago) Room 1206, Jing Liang Mansion, No.16 Middle Road of East,3rd Ring, 1113 North Prospect Avenue, Itasca, IL 60143，USA Chaoyang District, Beijing 100022, P.R.

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