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Megmeet M6-N Series User Manual

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M6-N Series Servo System

User Manual
Document Version:
V1.0
Archive Date:
2023/07/06
BOM Code:
Shenzhen Megmeet Drive Technology Co., Ltd. provides full technical support for our
customers,customers can contact local Megmeet offices or customer service centers, or
directly contact Megmeet headquarters.
Shenzhen Megmeet Drive Technology Co., Ltd.
All rights reserved. The contents in this document are subject to change without notice.
Shenzhen Megmeet Drive Technology Co., Ltd.
Address: 5th Floor, Block B, Unisplendor Information Harbor, Langshan Rd., Science &
Technology Park, Nanshan District, Shenzhen, 518057, China
Website: www.megmeet-drivetech.com
Tel: +86-755-86600500
Fax: +86-755-86600562
Service Email: driveservice@megmeet.com
Customer Service Tel: +86-400-666-2163
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  • Page 1: M6-N Series Servo System

    V1.0 Archive Date: 2023/07/06 BOM Code: Shenzhen Megmeet Drive Technology Co., Ltd. provides full technical support for our customers,customers can contact local Megmeet offices or customer service centers, or directly contact Megmeet headquarters. Shenzhen Megmeet Drive Technology Co., Ltd. All rights reserved. The contents in this document are subject to change without notice.
  • Page 2 The relevant precautions during the installation, wiring, parameter setting, troubleshooting and daily maintenance will be detailed in this manual. To ensure the correct installation and operation of the M6-N series servo system as well as its high performance, please read carefully this user manual before installing the equipment. This manual shall be kept properly and delivered to the actual users of the drive.

  • Page 3: Safety Precautions

    Safety Precautions Operation without following instructions can cause death or severe personal injury. Operation without following instructions can cause medium or slight personal injury or damage to the product and other equipment. Please install the product on the incombustible materials (e.g., metal), otherwise, fire may be caused. ◆...
  • Page 4 Please install the drive on the place that can withstand the weight of the drive, otherwise, the drive may ◆ drop and cause human injury or property damage. Do not install the drive in the environment with water splash (e.g., near the water pipe), otherwise, you ◆...

  • Page 5: Table Of Contents

    Contents M6-N Series Servo System .......................1 Chapter 1 M6-N Servo System Selection ................8 1.1 Servo motor and drive model ..........................8 1.2 Servo system configuration specifications ....................11 1.3 Applicative cables and models ........................12 Chapter 2 Servo System Specifications ................16 2.1 Servo drive standard specifications ......................
  • Page 6 5.4 Parameter value display ..........................59 Chapter 6 Commissioning Instructions .................60 6.1 Check before running ............................60 6.2 Commissioning .............................. 60 6.3 Electronic gear ...............................61 6.4 Brake settings ..............................65 6.4.1Servo motor brake wiring diagram ........................... 65 6.4.2 Brake timing ................................65 6.4.3 The brake timing when the servo motor is stationary ....................65 6.4.4 The brake timing when the servo motor is rotating ....................
  • Page 7 P02: Basic control parameters ............................146 P03: Digital input and output terminal parameters ......................150 P05: Position control parameters ........................... 153 P06: Speed control parameters ............................157 P07: Torque control parameters ............................. 160 P08: Gain parameters ..............................161 P09: Adjustment parameters ............................164 P10: Fault and protection parameters ..........................

  • Page 8: Chapter 1 M6-N Servo System Selection

    Chapter 1 M6-N Servo System Selection Chapter 1 M6-N Servo System Selection Servo motor and drive model 1．Servo motor model Fig.1-1 M6-N servo motor model 2．Servo motor nameplate Fig.1-2 M6-N servo motor nameplate...

  • Page 9: Servo Drive Nameplate

    Chapter 1 M6-N Servo System Selection 3．Servo drive model Fig.1-3 M6-N servo drive model 4．Servo drive nameplate Fig.1-4 M6-N servo drive nameplate...
  • Page 10 Chapter 1 M6-N Servo System Selection 5．The name and introduction of each part of the servo drive ① ② ③ ④ ⑧ ⑤ ⑦ ⑥ Name Description Connect the USB of the computer through this port, you can adjust the Micro USB communication ①...

  • Page 11: Servo System Configuration Specifications

    Chapter 1 M6-N Servo System Selection DB15 female connector for connecting motor encoder ⑥ Encoder interface DB44 female connector, control IO interface, used to connect with external IO ⑦ and host controller Control IO interface CN1,CN2 Two RJ45 ports for EtherCAT communication ⑧...

  • Page 12: Applicative Cables And Models

    Chapter 1 M6-N Servo System Selection 3.High inertia motor series Table 1-3 High inertia servo motor configuration specification table Rated Maximum Rated Motor Power Matching drive Drive Voltage speed speed Motor model torque frame model SIZE (rpm) (rpm) (N.m) number SPM-SC*0604H**-M 1.27 M6-NS2R8AX...
  • Page 13 Chapter 1 M6-N Servo System Selection Length Name Model Appearance SPL-MD02-10 SPL-B01-03 60/80 motor SPL-B01-05 brake cable SPL-B01-10 SPL-B03-03 130/180 low inertia SPL-B03-05 motor brake cable SPL-B03-10 SPL-B02-03 130/180 medium inertia SPL-B02-05 motor brake cable SPL-B02-10 SPL-E01-03 60/80 servo system SPL-E01-05 absolute encoder...
  • Page 14 Chapter 1 M6-N Servo System Selection Length Name Model Appearance SPL-E12-10 SPL-E03-03 130/180 low inertia servo SPL-E03-05 system absolute encoder SPL-E03-10 cable SPL-E13-03 130/180 low inertia servo SPL-E13-05 system incremental encoder SPL-E13-10 cable Table 1-5 Cable description Cable Model Name Description Length diameter...
  • Page 15 Chapter 1 M6-N Servo System Selection Incremental encoder One end is a 3-row 15-core DB female cable SPL-E13-xx-x connector, and one end is a 15-core 3m/5m/10m — (130/180 low inertia aviation female connector (Xinfeng) base) One end is an AMP two-core female Brake cable (60 SPL-B01-xx-x connector.

  • Page 16: Chapter 2 Servo System Specifications

    Chapter 2 Servo System Specifications Chapter 2 Servo System Specifications Servo drive standard specifications 2.1.1 Servo drive electrical specifications 220V class drive list and electrical specifications Table 2-1 220V class drive list and electrical specifications Voltage level 220V Model NS1R6AX NS2R8AX NS5R5AX NS7R6BX...
  • Page 17 Chapter 2 Servo System Specifications 2.1.2 Servo drive basic specifications Table 2-3 Servo drive basic specifications Basic specifications Control mode IGBT, PWM control, sine wave current drive mode Absolute encoder Rotating motor Full-line/line-saving incremental encoder Linear motor Support incremental and absolute encoder Different functions 4 general inputs, optocoupler isolation, NPN and PNP inputs can be selected...

  • Page 18: Servo Motor Standard Specifications

    Chapter 2 Servo System Specifications Inertia identification Offline and online system inertia identification Torque observer Load torque observation and compensation Electronic cam 512 point electronic cam curve Friction Compensate system friction compensation Control input Deviation counter clearing, electronic gear switching, etc. Control output Positioning completed EtherCAT...

  • Page 19: Servo Motor Rated Specifications

    Chapter 2 Servo System Specifications 2.2.2 Servo motor rated specifications 1．Medium inertia series Table 2-5 Medium inertia series servo motor standard specifications Rated Rated Rated Maximum Rated Peak Rated Peak Rotor inertia Motor model voltage power speed speed torque torque current current kg.m...

  • Page 20: Servo Drive Dimensions

    Chapter 2 Servo System Specifications 3．High inertia series Table 2-7 High inertia series servo motor standard specifications Rated Rated Rated Maximum Rated Peak Rated Peak Rotor inertia Motor model voltage power speed speed torque torque current current kg.m (kW) (RPM) (RPM) (N.m) (N.m)
  • Page 21 Chapter 2 Servo System Specifications 2．SIZE B (Applicable drive:NS7R6AX, NS012AX, NT3R5AX, NT5R4AX, NT8R4AX, NT012AX) Fig. 2-2 Dimensions for servo drive of SIZE B 3．SIZE C (Applicable drive: NT017AX, NT021AX, NT026AX) Fig. 2-3 Dimensions for servo drive of SIZE C...

  • Page 22: Servo Motor Dimensions And Interface Definition

    Chapter 2 Servo System Specifications Servo motor dimensions and interface definition 1. 60 base medium inertia servo motor (1) Dimensions Fig. 2-4 Dimensions for 60 base medium inertia servo motor Table 2-8 Dimensions for 60 base medium inertia servo motor Model L(mm) SPM-SC*0602M**-M...
  • Page 23 Chapter 2 Servo System Specifications (2) Interface definition Incremental full line encoder Incremental line-saving Motor connection specifications connection specifications encoder connection Signal Color specifications Signal Color Signal Color Yellow/Green Shell Shield Shell Shield Blue Blue Blue Blue/Black Blue/Black Black Green Green Green/Black Green/Black...
  • Page 24 Chapter 2 Servo System Specifications 2. 80 base medium inertia servo motor (1) Dimensions Fig. 2-6 Dimensions for 80 base medium inertia servo motor Table 2-9 Dimensions for 80 base medium inertia servo motor Model L(mm) SPM-SC*0807M**-M 138.5(174) SPM-SC*0810M**-M 153.5(189) Note: Dimensions in parentheses is the dimension of the motor with brake.
  • Page 25 Chapter 2 Servo System Specifications (2) Interface definition Incremental full line encoder Incremental line-saving Motor connection specifications connection specifications encoder connection Signal Color specifications Signal Color Signal Color Yellow/Green Shell Shield Shell Shield Blue Blue Blue Blue/Black Blue/Black Black Green Green Green/Black Green/Black...
  • Page 26 Chapter 2 Servo System Specifications 3. 130 base medium inertia servo motor (1) Dimensions Fig. 2-8 Dimensions for 130 base medium inertia servo motor Table 2-10 Dimensions for 130 base medium inertia servo motor Model L(mm) LR(mm) φS(mm) QK(mm) W(mm) T(mm) SPM-SD*1308M**-M1 145(178)
  • Page 27 Chapter 2 Servo System Specifications (2) Interface definition Incremental line-saving encoder Incremental full line encoder Absolute encoder connection specifications connection specifications connection specifications Signal Color Signal Color Signal Color Shell Shield Shield Shield Blue Black Blue/Black Black Green Green Green Green/Black Blue Blue...
  • Page 28 Chapter 2 Servo System Specifications 4. 180 base medium inertia servo motor (1) Dimensions Fig. 2-10 Dimensions for 180 base medium inertia servo motor Table 2-11 Dimensions for 180 base medium inertia servo motor Model L(mm) LL(mm) LR(mm) φS(mm) QK(mm) W(mm) SPM-TD*1829M**-M 255(303)
  • Page 29 Chapter 2 Servo System Specifications (2) Interface definition Incremental full line encoder Incremental line-saving encoder Absolute encoder connection specifications connection specifications connection specifications Signal Color Signal Color Signal Color Shield Shell Shield Shield Blue Blue/Black Black Black Green Green Green Green/Black Blue Blue...
  • Page 30 Chapter 2 Servo System Specifications 5. 60 base low inertia servo motor (1) Dimensions Fig. 2-12 Dimensions for 60 base low inertia servo motor Table 2-12 Dimensions for 60 base low inertia servo motor Model L(mm) SPM-SC*0602L**-M 96.8 (131.4) SPM-SC*0604L**-M 118.8 (153.4) Note: Dimensions in parentheses is the dimension of the motor with brake.
  • Page 31 Chapter 2 Servo System Specifications (2) Interface definition Incremental full line encoder Incremental line-saving Motor connection specifications connection specifications encoder connection Signal Color specifications Signal Color Signal Color Yellow/Green Shell Shield Shell Shield Blue Blue Blue Blue/Black Blue/Black Black Green Green Green/Black Green/Black...
  • Page 32 Chapter 2 Servo System Specifications 6. 80 base low inertia servo motor (1) Dimensions Fig. 2-14 Dimensions for 80 base low inertia servo motor Table 2-13 Dimensions for 80 base low inertia servo motor Model L(mm) SPM-SC*0807L**-M 127.7 (164.3) Note: Dimensions in parentheses is the dimension of the motor with brake.
  • Page 33 Chapter 2 Servo System Specifications (2) Interface definition Incremental full line encoder Incremental line-saving Motor connection specifications connection specifications encoder connection Signal Color specifications Signal Color Signal Color Yellow/Green Shell Shield Shell Shield Blue Blue Blue Blue/Black Blue/Black Black Green Green Green/Black Green/Black...
  • Page 34 Chapter 2 Servo System Specifications 7. 130 base low inertia servo motor (1) Dimensions Fig. 2-16 Dimensions for 130 base low inertia servo motor Table 2-14 Dimensions for 130 base low inertia servo motor Model L(mm) SPM-SD*1310L**-M 163 (196) SPM-SE*1310L**-M 151 (184) SPM-SD*1315L**-M 175 (205)
  • Page 35 Chapter 2 Servo System Specifications (2) Interface definition Incremental full line encoder Incremental line-saving encoder Absolute encoder connection specifications connection specifications connection specifications Signal Color Signal Color Signal Color Shield Shield Shell Shield Blue Black Black Blue/Black Green Green Green Blue Blue Green/Black...
  • Page 36 Chapter 2 Servo System Specifications 8. 60 base high inertia servo motor (1) Dimensions Fig. 2-18 Dimensions for 60 base high inertia servo motor Table 2-15 Dimensions for 60 base high inertia servo motor Model L(mm) SPM-SC*0604H**-K 118.5 (159) Note: Dimensions in parentheses is the dimension of the motor with brake.
  • Page 37 Chapter 2 Servo System Specifications (2) Interface definition Incremental full line encoder Incremental line-saving Motor connection specifications connection specifications encoder connection Signal Color specifications Signal Color Signal Color Yellow/Green Shell Shield Shell Shield Blue Blue Blue Blue/Black Blue/Black Black Green Green Green/Black Green/Black...
  • Page 38 Chapter 2 Servo System Specifications 9. 80 base high inertia servo motor (1) Dimensions Fig. 2-20 Dimensions for 80 base high inertia servo motor Table 2-16 Dimensions for 80 base high inertia servo motor Model L(mm) SPM-SC*0807H**-K 137.2 (174.2) Note: Dimensions in parentheses is the dimension of the motor with brake.
  • Page 39 Chapter 2 Servo System Specifications (2) Interface definition Incremental full line encoder Incremental line-saving Motor connection specifications connection specifications encoder connection Signal Color specifications Signal Color Signal Color Yellow/Green Shell Shield Shell Shield Blue Blue Blue Blue/Black Blue/Black Black Green Green Green/Black Green/Black...

  • Page 40: Chapter 3 Installation Description

    Chapter 3 Installation Description Chapter 3 Installation Description Servo drive installation 3.1.1 Installation site Installed in a cabinet free from direct sunlight or water droplets and rain  Avoid installing in dusty, metal powder, high temperature or humid places  It is strictly forbidden to install in places with corrosive or flammable and explosive gases ...
  • Page 41 Chapter 3 Installation Description Outlet Outlet Outlet Inlet Inlet Inlet Fig.3-1 SIZE A servo installation diagram SIZE B/C model installation requirements  Outlet Outlet Outlet Inlet Inlet Inlet Fig.3-2 SIZE B/C servo installation diagram...

  • Page 42: Servo Motor Installation

    Chapter 3 Installation Description 2. Side-by-side installation As shown in the above two pictures, because of their different heat dissipation methods, SIZE A can be completely installed side by side without leaving space between the two, while SIZE B/C needs to be separated by 40mm between the two.
  • Page 43 Chapter 3 Installation Description Fig.3-3 Single-phase 220V servo system wiring diagram...
  • Page 44 Chapter 3 Installation Description Fig.3-4 Three-phase 220V servo system wiring diagram...
  • Page 45 Chapter 3 Installation Description Fig.3-5 Three-phase 380V servo system wiring diagram...

  • Page 46: Recommended Specifications For Circuit Breakers And Fuses

    Chapter 3 Installation Description Note: Single-phase 220V system wiring is only applicable to 220V drive models of NS5R5AX and below Three-phase 220V system wiring is only applicable to 220V drive models of NS5R5AX and above System wiring should pay attention to: Make sure the power specifications and wiring of L1, L2, L3, L1C, L2C are correct to avoid damage and ...

  • Page 47: Related Specifications Of Braking Resistor

    Chapter 3 Installation Description Related specifications of braking resistor The related specifications of braking resistor are shown in the table below. Table 3-4 Related specifications of braking resistor Built-in braking resistor Minimum Max. braking specification allowable Servo drive model energy resistance of absorbed by Resistance...

  • Page 48: Chapter 4 Wiring Of Servo System

    Chapter 4 Wiring of Servo System Chapter 4 Wiring of Servo System This chapter introduces the wiring and cable connection of servo drive, as well as the issues needing attention. Do not open the cover until the power supply of the servo drive is completely disconnected for at least ◆...

  • Page 49: Servo Drive Main Circuit Connection

    Name and function of servo drive main circuit terminals are as shown in Table 4-1, the cable specification is as shown in Table 4-2. Table 4-1 Name and function of M6-N series drive main circuit terminals Terminal name Terminal symbol...

  • Page 50: Servo Motor Encoder Signal Connection (Cn4)

    Chapter 4 Wiring of Servo System 18AWG 20AWG 18AWG 18AWG 18AWG NS7R6BX (0.75mm2) (0.5mm2) (0.75mm2) (0.75mm2) (0.75mm2) 15AWG 20AWG 15AWG 15AWG 15AWG NS7R6AX (1.5mm2) (0.5mm2) (1.5mm2) (1.5mm2) (1.5mm2) 15AWG 20AWG 15AWG 15AWG 15AWG NS012AX (1.5mm2) (0.5mm2) (1.5mm2) (1.5mm2) (1.5mm2) 15AWG 20AWG 15AWG 15AWG...
  • Page 51 Chapter 4 Wiring of Servo System The motor encoder interface of the M6-N servo drive supports t wo types of encoders: 23-bit multi-turn absolute encoder, incremental encoder. The two encoder interfaces are integrated into one DB15 port, and the interface signals are defined in the table 4-3 to Table 4-5.

  • Page 52: Control Signal Interface Definition

    Chapter 4 Wiring of Servo System Incremental differential B- signal Incremental differential Z- signal Phase differential U- signal Phase differential V- signal Phase differential W+ signal Phase differential W- signal Power ground Power +5V Shell Shield Control signal interface definition The control signal includes digital input and digital output.

  • Page 53: 1Digital Input And Output Signals

    DO5- 1. Digital input circuit M6-N series servo has 9 DI terminals in total. The DI common terminal can be connected to power supply or ground, and supports dry contact input, NPN input and PNP input. M6-N series servo does not provide 24 power supply to the outside, and the connection of DI uses external power supply.

  • Page 54: Digital Output Circuit

    Chapter 4 Wiring of Servo System Fig.4-3 DI terminal dry contact connection mode (2) NPN (drain) mode The external controller is the NPN common emitter output, the wiring mode is as shown in Fig. 4-4. Fig.4-4 DI terminal NPN connection mode (3) PNP (source) mode The external controller is the PNP common emitter output, the wiring mode is as shown in Fig.
  • Page 55 Chapter 4 Wiring of Servo System Fig.4-6 DO terminal connection relay wiring mode (2) Drain (NPN) output When the controller input is a drain input, the wiring mode is as shown in Fig.4-7. Fig.4-7 DO terminal drain (NPN) output wiring mode (3) Source (PNP) output When the controller input is a source input, the wiring mode is as shown in Fig.4-8.

  • Page 56: Communication Port Wiring

    Chapter 4 Wiring of Servo System Communication port wiring M6-N series servo supports EtherCAT communication. The communication ports are CN1 and CN2, where CN1(IN) is connected to the host controller, and CN2(OUT) is connected to the next slave. Fig.4-9 Communication interface connection diagram Table 4-8 Communication port signal definition table Pin No.

  • Page 57: Chapter 5 Operation Panel

    Interface introduction M6-N servo drive operating interface consists of five LED digital tube and 5 keys, it can be used for working status display and parameter settings. Interface appearance as shown in the figure below. MEGMEET ① ② MENU ⑤...

  • Page 58: Working Status Display

    Chapter 5 Operation Panel Working status display M6-N servo drive can display the following several working status. Table 5-2 Servo drive function status and display LED display graphics Status description Symbol Power on initialization state, indicate that the system is at start or “rst”...

  • Page 59: Parameter Value Display

    Chapter 5 Operation Panel 5. In the parameter setting level 1 menu, press ▶ key to move the cursor to the parameter group or parameter serial number. 6. In the parameter setting level 1 menu, press ▼/▲ key to select the required parameter group and parameter serial number.

  • Page 60: Chapter 6 Commissioning Instructions

    Chapter 6 Commissioning Instructions Chapter 6 Commissioning Instructions Check before running Disconnect the servo motor from the load, the coupling connected to the motor shaft, and other related components. To prevent potential risks, check that the servo motor can work properly without load, and then connect the load.

  • Page 61: Electronic Gear

    Chapter 6 Commissioning Instructions Configure two external DI terminals, set FunIN.17, FunIN.18 function, after set P06.05 jog speed, control jog running forward and reverse of the motor through DI state. Electronic gear The use of "electronic gear" function, movement of the workpiece corresponding to the unit command pulse can be set to any value.
  • Page 62 Chapter 6 Commissioning Instructions Fig.6-2 Electronic gear ratio function diagram Encoder resolution P05.05 When P05.05 is not 0, the electronic gear ratio , at this time, electronic gear ratio 1, electronic gear ratio 2, electronic gear ratio 3, and electronic gear ratio 4 are invalid. 2) Related function codes a.
  • Page 63 Chapter 6 Commissioning Instructions 2.For the serial absolute encoder, the encoder resolution =2 , n is the number of bits of the encoder, and the standard absolute encoder number of M6-N is 23 bits, so the resolution of the encoder is 2 =8388608.
  • Page 64 Chapter 6 Commissioning Instructions Use mechanical parameters, pulse equivalent, calculate the number of position command required by load shaft rotate a circle. For example, the ball screw pitch is 5mm, pulse equivalent is 0.001mm, then: The displacement for load shaft rotate a circle (command bits) = 5mm / 0.001mm = 5000 d.

  • Page 65: Brake Settings

    Chapter 6 Commissioning Instructions Brake settings 6.4.1Servo motor brake wiring diagram The brake signal connection has no polarity. The customer needs to prepare a 24V power supply. The standard connection of the brake signal BK and the brake power supply is as follows: Fig.6-3 Brake wiring diagram Note: It is best not to share the power supply with other electrical appliances to prevent the brake from...
  • Page 66 Chapter 6 Commissioning Instructions OFF, but within the time set by P02.11 , the motor is still powered on to prevent mechanical parts from moving gravity due to or external force. Fig.6-4 The brake timing when the servo motor is stationary As shown in Fig.6-4, the brake function when the servo motor is stationary as follows: a.

  • Page 67: The Brake Timing When The Servo Motor Is Rotating

    Chapter 6 Commissioning Instructions Function Name Setting range Default value Effective time Property code Delay from brake outputting P02.10 ON signal to 20~500ms Immediate During running command received Delay from brake outputting OFF P02.11 signal to motor 1~1000ms Immediate During running power-off in the standstill state 6.4.4 The brake timing when the servo motor is rotating...
  • Page 68 Chapter 6 Commissioning Instructions Fig.6-5 The brake timing when the servo motor is rotating As shown in Fig. 6-5, the brake function when the servo motor is rotating as follows: a. Servo enable is ON, the brake output is set to ON, meanwhile the motor enter into the power-on state; b.

  • Page 69: Servo Drive Fault Status Brake Timing

    Chapter 6 Commissioning Instructions value Servo OFF brake P02.13 command waiting 1~30000ms Immediate During running time 6.4.5 Servo drive fault status brake timing When a drive failure occurs, the motor immediately enter into the non-conductive state, meanwhile the brake output change from ON to OFF, the brake close.

  • Page 70: Chapter 7 Ethercat Communication

    File over EtherCAT (FoE) The slave only needs to support the most suitable application protocol. M6-N drive bus function introduction M6-N series servo drivers implement EtherCAT communication (real-time Ethernet communication) and CANopen Drive Profile (CiA402) in its application layer. 7.2.1 M6-N communication specifications...

  • Page 71: Ethercat Network Reference Model

    7.2.2 EtherCAT Network reference model Multiple kinds of application protocols are available for EtherCAT communication.The IEC 61800-7 (CiA 402)-CANopen motion control profile is used for M6-N series servo drives. The following figure shows the EtherCAT communication structure at CANopen application layer.

  • Page 72: Ethercat Network State Machine

    Chapter 7 EtherCAT Communication The process data object (PDO) consists of objects in the object dictionary that can be mapped to by PDO. The contents of the PDO data are defined by the PDO map. While PDO data is read and written periodically and does not need to look up an object dictionary, mailbox communication (SDO) is aperiodic and looks up an object dictionary when reading and writing them.

  • Page 73: Process Data Pdo

    The CoE protocol defines the PDO mapping object list of the Sync Manager using data objects 1C10h to 1C2Fh. Multiple PDOs can be mapped to different sub-indexes. The M6-N series servo drive supports assignment of four RPDO and four TPDO, as described in the following table.

  • Page 74: Pdo Configuration

    Chapter 7 EtherCAT Communication 6064 (Position actual value) 606C (Velocity actual value) 6041 (Status word) TPDO3 1A02h 6064 (Position actual value) 6041 (Status word) TPDO4 1A03h 6064 (Position actual value) 6077 (Torque actual value) 7.2.4.3 PDO configuration PDO mapping parameters contain indicators of the process data for PDOs, including the index, sub-index and mapping object length.

  • Page 75: Distributed Clock (Dc)

    The DC enables all EtherCAT devices to use the same system time and allows synchronous execution of slave tasks. A slave can generate synchronous signals according to the synchronized system time. The M6-N series servo drive supports the DC synchronization mode. The synchronization cycle is determined by SYNC0. The cycle range varies with the operation mode, the typical synchronization cycle is 250us, 500us, 1ms, and 2ms.
  • Page 76 Chapter 7 EtherCAT Communication As shown in the figure above, the state machine can be divided into three parts: Power Disabled, Power Enabled, and Fault . After the drive is powered on, the drive is initialized and goes to the SWITCH_ON_DISABLED state. In this case, you can configure the working mode of the drive while the main power is still off.

  • Page 77: Object Dictionary

    Chapter 7 EtherCAT Communication Received Quick Stop and Disable Voltage command Received Shut Down command Received Disable Voltage command Received Quick Stop or Disable Voltage command Received Quick Stop command Received Quick Stop or Disable Voltage command Drive error, automatic switch Drive error response complete, automatic switch Received Fault Reset command Received Enable Operation command...

  • Page 78: Control Word

    Chapter 7 EtherCAT Communication 7.3.3.1 Control word The bit definitions of the control word are shown in the following table. Bit15~ Bit11 Bit10~ Bit9 Bit8 Bit7 Bit6~ Bit4 Bit3 Bit2 Bit1 Bit0 Manufacture Fault Operation mode Enable Quick Enable Switch Reserved Halt specific...

  • Page 79: Status Word

    Chapter 7 EtherCAT Communication 7.3.3.2 Status word The bit definition of the status word is shown in the following table. Description Ready to switch on Switched on Operation enabled Fault Voltage enabled Quick stop Switch on disabled Warning Manufacturer specific Remote Target reached Internal limit active...

  • Page 80: Common Conversion Factor

    Chapter 7 EtherCAT Communication • Bit14 and Bit15 are defined by the manufacturer. 7.3.4 Common conversion factor User units and motor units internally controlled by the drive are often inconsistent. To facilitate the unification of units, the CiA 402 device specification provides a set of conversion factors for converting user units and motor units.

  • Page 81: Bus Operation Mode

    Chapter 7 EtherCAT Communication 7.3.4.2 Speed factor 1 (6095h) The actual meaning of speed factor 1 is: when the load speed is 1 user unit, the corresponding motor speed (unit: rpm). Speed factor 1 is composed of the numerator 6095-1h and the denominator 6095-2h. The proportional relationship between load speed (user unit) and motor speed (motor unit) can be established through the speed Speed factor 1 numerator (6095 −...

  • Page 82: Profile Position Mode

    Chapter 7 EtherCAT Communication Operation mode related objects are shown in the following table below, where 6060h is used to set the operation mode of the drive and 6061h is used to display the current operation mode of the drive. Index Object Code Name...

  • Page 83: Control Word And Status Word

    Chapter 7 EtherCAT Communication 6066h Following error window time UINT16 RPDO 6067h Position window UINT32 RPDO User unit 6068h Position window time UINT16 RPDO 607Ah Target position INT32 RPDO User unit 607Eh Polarity UINT8 RPDO 607Fh Max profile velocity UINT32 RPDO User unit 6080h...

  • Page 84: Function Description

    Chapter 7 EtherCAT Communication Status word description in Profile Position Mode (PP) : Value Description Target position not reached Target reached Target position reached The target position can be updated Set-point acknowledge The target position cannot be updated No position deviation Following error There is position deviation 7.4.1.3 Function description...

  • Page 85: Profile Velocity Mode

    Chapter 7 EtherCAT Communication RPDO object TPDO object Note Control word 6040h Status word 6041h Required Target position 607Ah Position feedback 6064h Required Profile speed 6081h Required Optional, you can configure it as an SDO Other object parameter, or use the default parameters of the drive.
  • Page 86 Chapter 7 EtherCAT Communication 6083h Profile acceleration UINT32 RPDO 6084h Profile deceleration UINT32 RPDO 6095h ARRAY Velocity factor 1 UINT32 RPDO 60FFh Target velocity INT32 RPDO User unit Note: The drive has defaulted the acceleration/deceleration, deceleration, maximum speed and speed factor of the speed curve through the functional parameters.

  • Page 87: Profile Torque Mode

    Chapter 7 EtherCAT Communication Value Description Torque Torque instruction positive logic BIT5 instruction Torque instruction inverse logic polarity Speed Speed instruction positive logic BIT6 instruction Speed instruction inverse logic polarity Position Position instruction positive logic BIT7 instruction Position instruction inverse logic polarity 7.4.2.4 Basic configuration The following table describes the basic object configurations in Profile Velocity Mode (PV).
  • Page 88 Chapter 7 EtherCAT Communication 6064h Position actual value INT32 TPDO User unit 6069h Velocity sensor actual value INT32 TPDO 606Bh Velocity actual value INT32 TPDO 606Ch Velocity actual value INT32 TPDO User unit 606Dh Velocity window UINT16 RPDO User unit 606Eh Velocity window time UINT16...
  • Page 89 Chapter 7 EtherCAT Communication • Speed limit setting: Set according to the maximum profile speed 607Fh and the maximum motor speed 6080h, if either is 0, set according to the function code object dictionary 2007.0Bh(P07.10 forward speed limit) and 2007.0Dh(P07.12 reverse speed limit). •...

  • Page 90: Homing Mode

    Chapter 7 EtherCAT Communication 7.4.4 Homing Mode The M6-N drive supports Homing Mode. In this mode, the drive returns to the specified position according to the set homing mode, homing speed, and homing offset. 7.4.4.1 Common object The following table lists the objects related to this mode. Object Index Name...
  • Page 91 Chapter 7 EtherCAT Communication 1->0 End the Homing Status word in Homing: Bit15~Bit14 Bit13 Bit12 Bit11 Bit10 Bit9~Bit0 Homing error Homing attained Target reached Status word bit description in Homing : Value Description Target position not reached Target reached Target position reached Unsuccessful Homing Homing attained Successful Homing...
  • Page 92 Chapter 7 EtherCAT Communication Homing Mode 7.4.4.5 To support more applications, the M6-N series servo system supports CANopen CiA402 Homing Mode 1-35. 0x6098 = 1  Reverse, negative limit switch as deceleration point and Z signal as home The current position of the motor is where the negative limit switch is invalid. When the homing is started, the negative limit switch is at a low level, and reverse high-speed returns to home.
  • Page 93 Chapter 7 EtherCAT Communication The current position of the motor is at the positive limit switch. When the homing is started, the positive limit switch is at a high level, and reverse high-speed returns to home. After encountering the falling edge of the positive limit switch, it runs at a low speed in the reverse direction, and stop when encountering the rising edge of the Z signal.
  • Page 94 Chapter 7 EtherCAT Communication The current position of the motor is where the home switch is valid. When the homing is started, the home switch is at a high level, and reverse high-speed returns to home. After encountering the falling edge of the home switch, it runs at a low-speed in the reverse direction, and stop at the rising edge of the Z signal.
  • Page 95 Chapter 7 EtherCAT Communication The current position of the motor is between the positive limit switch and the home switch. When the homing is started, the home switch is at a low level, and forward high-speed returns to home. After encountering the rising edge of the positive limit switch, and then run at high speed in the reverse direction.
  • Page 96 Chapter 7 EtherCAT Communication The current position of the motor is where the home switch is valid. When the homing is started, the home switch is at a high level, and forward high-speed returns to home. After encountering the falling edge of the home switch, it runs at a low-speed in the forward direction, and stop when encountering the rising edge of Z signal.
  • Page 97 Chapter 7 EtherCAT Communication it runs at a high-speed in the reverse direction, after encountering the rising edge of the home switch, it will find the rising edge of the Z signal at a reverse low speed and stop. 0x6098 = 7 ...
  • Page 98 Chapter 7 EtherCAT Communication The current position of the motor is between the positive limit switch and the home switch. When the homing is started, the home switch is at a low level, and forward high-speed returns to home. After encountering the rising edge of the positive limit switch, it will run reverse at high speed.
  • Page 99 Chapter 7 EtherCAT Communication The current position of the motor is where the home switch is valid. When the homing is started, the home switch is at a high level, and reverse high-speed returns to home. After encountering the falling edge of the home switch, it runs at a high-speed in the forward direction, after encountering the rising edge of the home switch, it will find the rising edge of the Z signal at a forward low speed and stop.
  • Page 100 Chapter 7 EtherCAT Communication 0x6098 = 9  Forward, home switch as deceleration point and Z signal as home The current position of the motor is between the negative limit switch and the home switch. When the homing is started, the home switch is at a low level, and forward high-speed returns to home. After encountering the falling edge of the home switch, it will run reverse at high speed, and when it encounters the rising edge of the home switch, it will run reverse at low speed, and stop at the rising edge of the Z signal.
  • Page 101 Chapter 7 EtherCAT Communication The current position of the motor is where the home switch is valid. When the homing is started, the home switch is at a high level, and forward high-speed returns to home. After encountering the falling edge of the home switch, it runs at a high-speed in the reverse direction, after encountering the rising edge of the home switch, it will run reverse at low speed, and stop at the rising edge of the Z signal.
  • Page 102 Chapter 7 EtherCAT Communication The current position of the motor is between the positive limit switch and the home switch. When the homing is started, the home switch is at a low level, and forward high-speed returns to home. After encountering the rising edge of the positive limit switch, and it will run at high speed in the reverse direction.
  • Page 103 Chapter 7 EtherCAT Communication The current position of the motor is between the negative limit switch and the home switch. When the homing is started, the home switch is at a low level, and reverse high-speed returns to home. After encountering the rising edge of the negative limit switch , it will run at high speed in the forward direction.
  • Page 104 Chapter 7 EtherCAT Communication 0x6098 = 12  Reverse, home switch as deceleration point and Z signal as home The current position of the motor is between the positive limit switch and the home switch. When the homing is started, the home switch is at a low level, and reverse high-speed returns to home. After encountering the rising edge of the home switch, it will run reverse at low speed, and stop at the rising edge of the Z signal.
  • Page 105 Chapter 7 EtherCAT Communication 0x6098 = 13  Reverse, home switch as deceleration point and Z signal as home The current position of the motor is between the positive limit switch and the home switch. When the homing is started, the home switch is at a low level, and reverse high-speed returns to home. After encountering the falling edge of the home switch, it will run at high speed in the reverse direction.
  • Page 106 Chapter 7 EtherCAT Communication The current position of the motor is where the home switch is valid. When the homing is started, the home switch is at a high level, and reverse high-speed returns to home. After encountering the falling edge of the home switch, it runs at a high-speed in the forward direction, after encountering the rising edge of the home switch, it will find the rising edge of the Z signal at a forward low speed and stop.
  • Page 107 Chapter 7 EtherCAT Communication The current position of the motor is between the negative limit switch and the home switch. When the homing is started, the home switch is at a low level, and reverse high-speed returns to home. After encountering the rising edge of the negative limit switch , it will run at high speed in the forward direction.
  • Page 108 Chapter 7 EtherCAT Communication 0x6098 = 17  Reverse, negative limit switch as deceleration point and home The current position of the motor is where the negative limit switch is invalid. When the homing is started, the negative limit switch is at a low level, and reverse high-speed returns to home. After encountering the rising edge of the negative limit switch, it runs at a low-speed in the forward direction, and stop when encountering the falling edge of the negative limit switch.
  • Page 109 Chapter 7 EtherCAT Communication The current position of the motor is where the positive limit switch is valid. When the homing is started, the positive limit switch is at a high level, it runs at a low-speed in the reverse direction, and stop when encountering the falling edge of the positive limit switch.
  • Page 110 Chapter 7 EtherCAT Communication of the home switch. The current position of the motor is where the home switch is valid. When the homing is started, the home switch is at a high level, and reverse high-speed returns to home. After encountering the falling edge of the home switch, it runs at a low-speed in the forward direction, and stop when encountering the rising edge of the home switch.
  • Page 111 Chapter 7 EtherCAT Communication 0x6098 = 22  Reverse, home switch as deceleration point and home The current position of the motor is where the home switch is invalid. When the homing is started, the home switch is at a low level, it runs at a low-speed in the reverse direction, and stop when encountering the rising edge of the home switch.
  • Page 112 Chapter 7 EtherCAT Communication The current position of the motor is between the positive limit switch and the home switch. When the homing is started, the home switch is at a low level, it runs at a high-speed in the forward direction. After encountering the rising edge of the positive limit switch, it runs at a high-speed in the reverse direction, when encountering the rising edge of the home switch, it runs at a low-speed in the reverse direction, and stop when encountering the falling edge of the home switch.
  • Page 113 Chapter 7 EtherCAT Communication started, the home switch is at a low level, it runs at a low-speed in the reverse direction, and stop when encountering the rising edge of the home switch. The current position of the motor is between the positive limit switch and the home switch. When the homing is started, the home switch is at a low level, it runs at a low-speed in the forward direction.
  • Page 114 Chapter 7 EtherCAT Communication 0x6098 = 25  Forward, home switch as deceleration point and home The current position of the motor is between the negative limit switch and the home switch. When the homing is started, the home switch is at a low level, it runs at a high-speed in the forward direction. After encountering the falling edge of the home switch, it runs at a low-speed in the reverse direction, and stop when encountering the rising edge of the home switch.
  • Page 115 Chapter 7 EtherCAT Communication 0x6098 = 26  Forward, home switch as deceleration point and home The current position of the motor is between the negative limit switch and the home switch. When the homing is started, the home switch is at a low level, it runs at a high-speed in the forward direction. After encountering the rising edge of the home switch, it runs at a low-speed in the forward direction, and stop when encountering the falling edge of the home switch.
  • Page 116 Chapter 7 EtherCAT Communication The current position of the motor is where the home switch is valid. When the homing is started, the home switch is at a high level, it runs at a low-speed in the forward direction, and stop when encountering the falling edge of the home switch.
  • Page 117 Chapter 7 EtherCAT Communication The current position of the motor is where the home switch is valid. When the homing is started, the home switch is at a high level, it runs at a low-speed in the forward direction, and stop when encountering the falling edge of the home switch.
  • Page 118 Chapter 7 EtherCAT Communication falling edge of the home switch, it runs at a low-speed in the reverse direction, and stop when encountering the rising edge of the home switch. The current position of the motor is where the home switch is valid. When the homing is started, the home switch is at a high level, it runs at a high -speed in the forward direction, when encountering the falling edge of the home switch, it runs at a low-speed in the reverse direction, and stop when encountering the rising edge of the home switch.
  • Page 119 Chapter 7 EtherCAT Communication The current position of the motor is between the negative limit switch and the home switch. When the homing is started, the home switch is at a low level, it runs at a high-speed in the reverse direction. After encountering the rising edge of the negative limit switch, it runs at a low-speed in the forward direction, and stop when encountering the rising edge of the home switch.
  • Page 120 Chapter 7 EtherCAT Communication The current position of the motor is between the negative limit switch and the home switch. When the homing is started, the home switch is at a low level, it runs at a high-speed in the reverse direction. After encountering the rising edge of the negative limit switch, it runs at a high-speed in the forward direction, when encountering the rising edge of the home switch, it runs at a low-speed in the reverse direction, and stop when encountering the falling edge of the home switch.
  • Page 121 Chapter 7 EtherCAT Communication When the current position of the motor is at the Z signal, the homing enable is triggered, and the current position is immediately remembered as the origin position to stop. When there is no Z signal between the current position of the motor and the negative limit switch, reverse low speed returns to home, after encountering the rising edge of the negative limit switch, it runs at a low-speed in the forward direction.

  • Page 122: Interpolated Position Mode

    Chapter 7 EtherCAT Communication When there is no Z signal between the current position of the motor and the positive limit switch, forward low speed returns to home, after encountering the rising edge of the positive limit switch, it runs at a low-speed in the reverse direction.
  • Page 123 Chapter 7 EtherCAT Communication 6093h ARRAY Position factor UINT32 RPDO 6063h Position actual value* INT32 TPDO 6064h Position actual value INT32 TPDO User unit 6065h Following error window UINT32 RPDO User unit 6066h Following error window time UINT16 RPDO 6067h Position window UINT32 RPDO...

  • Page 124: Function Description

    Chapter 7 EtherCAT Communication Description of control word bits in interpolated position mode (IP) : Value Description Disable interpolated position mode Enable interpolation mode Enable interpolated position mode Status word in interpolated position mode (IP) : Bit15~Bit13 Bit12 Bit11 Bit10 Bit9~Bit0 Interpolation mode active Target reached...

  • Page 125: Cyclic Synchronous Position Mode

    Chapter 7 EtherCAT Communication 7.4.6 Cyclic Synchronous Position Mode The principle of the Cyclic Synchronous Position Mode is similar to that of the interpolated position mode. In this mode, the master station completes the position command planning, and sends the planned target position to the slave station drive in a periodic synchronous manner.
  • Page 126 Chapter 7 EtherCAT Communication Description of status word bits in Cyclic Synchronous Position Mode (CSP) : Value Description Target position not reached Target reached Target position reached Position instruction not followed Target position ignored Position instruction followed No position deviation Following error There is position deviation 7.4.6.3 Function description...

  • Page 127: Cyclic Synchronous Velocity Mode

    Chapter 7 EtherCAT Communication 7.4.7 Cyclic Synchronous Velocity Mode In this mode, the master station periodically synchronizes the calculated target speed to the slave station drive, and the slave station drive executes the target speed given by the master station. The interpolation period is the same as the synchronization signal period.

  • Page 128: Cyclic Synchronous Torque Mode

    Chapter 7 EtherCAT Communication 7.4.7.3 Function description • Running mode: Set 6060h = 9; • Target speed setting: Use 60FFh to set the target speed of the user unit, if necessary, set the speed factor 6095h; • Running enable: Enable the drive to run through the control word 6040h; •...
  • Page 129 Chapter 7 EtherCAT Communication Index Object Code Name Type Attr. Unit mapping 603Fh Error Code UINT16 TPDO 6040h Control word UINT16 RPDO 6041h Status word UINT16 TPDO 6060h Modes of operation INT8 RPDO 6061h Modes of operation display INT8 TPDO 6063h Position actual value* INT32...
  • Page 130 Chapter 7 EtherCAT Communication • Target torque setting: 6071h is used to set the target torque of the user unit, unit 0.1%; • Speed limit setting: Set according to the maximum profile speed 607Fh and the maximum motor speed 6080h, if either is 0, set according to the function code object dictionary 2007.0Bh(P07.10 forward speed limit) and 2007.0Dh(P07.12 reverse speed limit).

  • Page 131: Chapter 8 Troubleshooting

    Chapter 8 Troubleshooting Chapter 8 Troubleshooting The drive has two protection levels: Fault and Alarm. When the drive fault or alarm occurs, the high byte of 0x603f is 0xff, and the low byte is the drive fault code or alarm code. For details, see P10.18. please refer to the bit7 of 0x6041 to determine whether it is a fault or alarm, bit7=1 indicates an alarm, otherwise fault.
  • Page 132 Chapter 8 Troubleshooting Fault code Fault type Fault cause Confirming method Solutions between P and PB. external braking resistor. External braking resistor value does not match (The resistance of the Select the appropriate braking Confirm the braking the external resistor is too resistor value according to operating resistor value.
  • Page 133 Chapter 8 Troubleshooting Fault code Fault type Fault cause Confirming method Solutions and deceleration time, reduce the load. Whether the fan is The fan is damaged. Replace the fan running when running The cable of the external Check the braking braking resistor is in poor resistor wiring according Rewire according to the correct...
  • Page 134 Chapter 8 Troubleshooting Fault code Fault type Fault cause Confirming method Solutions overload The load is too heavy. Confirm the overload The motor keeps output characteristic and Increase the drive, motor capacity, of effective torque higher operation instructions of reduce the load, increase the than the rated torque for a the servo drive or servo acceleration and deceleration time.
  • Page 135 Chapter 8 Troubleshooting Fault code Fault type Fault cause Confirming method Solutions unreliably connected, correct and reliable. cable. disconnected, etc. Check whether the Improper setting of fault P15.02 setting is too Set P15.02 correctly. parameters. short. The host device does not Confirm the host system Check whether the host device is work.
  • Page 136 Chapter 8 Troubleshooting Fault code Fault type Fault cause Confirming method Solutions conflict different functions. AI channel in the function conflicts. parameters. The control mode Parameter identification Confirm the setting of the Confirm the control mode Er.022 parameter setting is performed in non-VC control mode in the parameters.
  • Page 137 Chapter 8 Troubleshooting Fault code Fault type Fault cause Confirming method Solutions the motor side. Input reference is higher Confirm the input Reduce the input reference, or than the overspeed level. reference adjust the gain. Reduce the controller gain, adjust The motor speed Confirm the motor speed the servo gain, or adjust the...
  • Page 138 Chapter 8 Troubleshooting Fault code Fault type Fault cause Confirming method Solutions too small. Check whether P13.03 is In the full closed loop 2, and confirm whether When using the full-closed loop position mode, the Full closed loop the source of position function and the position command source of the position function...
  • Page 139 Chapter 8 Troubleshooting Fault code Fault type Fault cause Confirming method Solutions Er.047 Internal logic Er.048 ---------- ----------- Seek for service support error Er.049 ASIC initialization Abnormal ASIC Restart the drive, the fault cannot be Er.050 Restart the drive error communication reset, replace the drive.
  • Page 140 Chapter 8 Troubleshooting Fault code Fault type Fault cause Confirming method Solutions executed during homing search and returning to the homing operation. positioning. homing mode. The matching motor number An invalid motor number Reset after confirming the Correctly set the motor number Er.070 setting is invalid was set.
  • Page 141 Chapter 8 Troubleshooting Fault code Fault type Fault cause Confirming method Solutions encoder EEPROM, the EEPROM written in the encoder EEPROM has no parameters. EEPROM. Absolute encoder An error occurred when Power off and restart to EEPROM writing parameters to the Confirm the encoder type, replace Er.079 see if the parameters can...
  • Page 142 Chapter 8 Troubleshooting Alarm code Alarm type Alarm cause Confirming method Solutions vibrates and the sound is running. abnormal The servo drive or motor Check the motor model Set the correct motor model . model is set incorrectly. setting. Check the running Motor blocking occurs due to reference and the mechanical factors, resulting...
  • Page 143 Chapter 8 Troubleshooting Alarm code Alarm type Alarm cause Confirming method Solutions warning positive limit switch. is set with DI function negative command or rotate the motor to make the logic of the "positive limit switch" terminal Check whether the DI invalid.

  • Page 144: Chapter 9 Drive Parameter Object

    Chapter 9 Drive parameter object Chapter 9 Drive parameter object M6-N Drive parameters The M6-N drive parameter object index is shown in the following table: Parameter Index Sub-index Note group 01h~ Number of parameters in Index of drive parameter =(2000h+ group number); 2000h this group Sub-index of the drive parameter = (the offset of the...

  • Page 145: P01: Servo Motor Parameters

    Chapter 9 Drive parameter object Minimum Effective Sub-index Name Setting range Default value Property unit time servo drive P01: Servo motor parameters 0: Motor parameters can be set 0x0001~0xFFFF: Motor Motor SN Immediate At stop parameters are automatically set according to the number Depending Power-on Rated power...

  • Page 146: P02: Basic Control Parameters

    Chapter 9 Drive parameter object Minimum Effective Sub-index Name Setting range Default value Property unit time Electrical Depending Power-on 0.01~650.00ms 0.01ms At stop constant Te on model again Mechanical Depending Power-on 0.01~650.00ms 0.01ms At stop constant Tm on model again 0: Without brake Depending Brake function...
  • Page 147 Chapter 9 Drive parameter object Minimum Effective Sub-index Name Setting range Default value Property unit time 3: Speed mode ← → position mode ( 9th function switching) 4: Torque mode ← → position mode (9th function switching) 5: Speed mode ← → torque mode (9th function switching) 6: Speed mode ←...
  • Page 148 Chapter 9 Drive parameter object Minimum Effective Sub-index Name Setting range Default value Property unit time Output pulse 0: A before B During direction Immediate running 1: B before A selection 0: Positive output (Z pulse is high Z pulse output level) During polarity...
  • Page 149 Chapter 9 Drive parameter object Minimum Effective Sub-index Name Setting range Default value Property unit time consumption resistor allowed by drive Internal energy Depending consumption on model display resistor power Internal energy Depending consumption on model display resistor value 0: 0% 1: 25% Resistor heat During...

  • Page 150: P03: Digital Input And Output Terminal Parameters

    Chapter 9 Drive parameter object Minimum Effective Sub-index Name Setting range Default value Property unit time 2: Restore to leave-factory value 0: Switching display P11.00 1: Switching display P11.01 2: Switching display P11.02 LED display During parameter 3: Switching display P11.03 Immediate running selection...
  • Page 151 Chapter 9 Drive parameter object Minimum Effective Sub-index Name Setting range Default value Property unit time 19: Forward external torque limit 20: Reverse external torque limit 21: Multi-segment position reference 1 22: Multi-segment position reference 2 23: Multi-segment position reference 3 24: Multi-segment position reference 4 25: Multi-segment position...
  • Page 152 Chapter 9 Drive parameter object Minimum Effective Sub-index Name Setting range Default value Property unit time filtering time Reserved Binary setting: 0: Normal logical, enabled upon connection 1: Inverted logical, enabled upon disconnection Input terminal During Unit place of LED: Immediate enabled status running...

  • Page 153: P05: Position Control Parameters

    Chapter 9 Drive parameter object Minimum Effective Sub-index Name Setting range Default value Property unit time 12: Positioning close to 13: Position tolerance alarm 14: Homing 15: Homing completed 16: Electrical homing 17: Electrical homing completed 18: Brake output (brake output signal) 19: Torque arrival signal 20: FWD/REV indication terminal...
  • Page 154 Chapter 9 Drive parameter object Minimum Effective Sub-index Name Setting range Default value Property unit time 2: CW/CCW pulse 0: Positive logic Pulse Immediate At stop command logic 1: Inverse logic Reserved Pulses for one motor 0~8388608 P/r 1 P/r 10000 Immediate At stop...
  • Page 155 Chapter 9 Drive parameter object Minimum Effective Sub-index Name Setting range Default value Property unit time clearing 1: Clear position deviation when method the servo enable is OFF or a selection fault/alarm occurs 2: Clear position deviation when the servo enable is OFF or the external position deviation clear DI is valid Position...
  • Page 156 Chapter 9 Drive parameter object Minimum Effective Sub-index Name Setting range Default value Property unit time range unit Position close During 1~32767 command Immediate to signal width running unit Position error 1 encoder During detection 0~32767 20000 Immediate unit running range 0: Valid Position error...

  • Page 157: P06: Speed Control Parameters

    Chapter 9 Drive parameter object Minimum Effective Sub-index Name Setting range Default value Property unit time offset (upper 32 bits) The number of pulses for one revolution of the load in 1 encoder absolute 0~ 4294967295 Immediate At stop unit position rotation mode (lower 32...
  • Page 158 Chapter 9 Drive parameter object Minimum Effective Sub-index Name Setting range Default value Property unit time (auxiliary reference is not supported) Main reference During -6000.0~6000.0rpm 0.1rpm Immediate speed setting running 0: No auxiliary reference 1: Digital reference Auxiliary speed 2: AI1 analog reference During source Immediate...
  • Page 159 Chapter 9 Drive parameter object Minimum Effective Sub-index Name Setting range Default value Property unit time Reverse speed During 0.0~6000.0rpm 0.1rpm 6000.0 Immediate threshold running 0: Internal positive torque limit value 1: AI1 reference Positive torque Immediate At stop limit channel 2: AI2 reference 3: External negative torque limit value...

  • Page 160: P07: Torque Control Parameters

    Chapter 9 Drive parameter object Minimum Effective Sub-index Name Setting range Default value Property unit time function 1: Always enabled 2: Enabled under conditions (terminal enabled) Zero clamp During 0~6.000 0.001 1.000 Immediate gain running Zero clamp During 0.0~1000.0rpm 0.1 rpm Immediate starting speed running...

  • Page 161: P08: Gain Parameters

    Chapter 9 Drive parameter object Minimum Effective Sub-index Name Setting range Default value Property unit time command filter time constant Speed/torque 0.0%~400.0% initial torque 0.1% 100.0 Immediate At stop switching point Speed/torque 0~1000.0ms 0.1ms Immediate At stop switching delay 0: FWD speed limit value FWD speed 1: AI1 reference Immediate...
  • Page 162 Chapter 9 Drive parameter object Minimum Effective Sub-index Name Setting range Default value Property unit time output filter running time 1 Speed loop During proportional 0.1~5000.0Hz 0.1Hz 20.0 Immediate running gain 2 Speed loop During 0.00~10.000ms 0.01ms 1.00 Immediate integral time 2 running Position loop During...
  • Page 163 Chapter 9 Drive parameter object Minimum Effective Sub-index Name Setting range Default value Property unit time conditions Switch Gain switching according During 0~20000 Immediate hysteresis running conditions Position gain During 0~1000ms Immediate switching time running Speed During feedforward 0.00~64.00ms 0.01ms 0.05 Immediate running...

  • Page 164: P09: Adjustment Parameters

    Chapter 9 Drive parameter object Minimum Effective Sub-index Name Setting range Default value Property unit time P09: Adjustment parameters Offline inertia identification 0.01 0.00 Immediate At stop function Inertia identification 200~2000rpm 1rpm Immediate At stop maximum speed Inertia identification 10~1000ms Immediate At stop acceleration...
  • Page 165 Chapter 9 Drive parameter object Minimum Effective Sub-index Name Setting range Default value Property unit time 1: 3rd notch filter parameter adaptive result update 2: 3rd and 4th notch filter parameter adaptive results update 3: Automatically detect the mechanical resonance frequency, but do not set the relevant parameters of the notch filter 4: All 4 notch filter parameters...
  • Page 166 Chapter 9 Drive parameter object Minimum Effective Sub-index Name Setting range Default value Property unit time notch filter frequency Speed reference 10-4000Hz Immediate At stop notch filter width Reserved Resonance frequency 0~2000Hz Immediate At stop identification result Disturbance torque 0.0%~100.0% 0.1% Immediate At stop...
  • Page 167 Chapter 9 Drive parameter object Minimum Effective Sub-index Name Setting range Default value Property unit time offset (vertical axis mode) Viscous friction 0.1%/ compensation 0~1000.0 Immediate At stop 10000rpm gain Positive friction 0~50.0% Immediate At stop compensation Negative friction 0~50.0% 0.1% Immediate At stop...

  • Page 168: P10: Fault And Protection Parameters

    Chapter 9 Drive parameter object Minimum Effective Sub-index Name Setting range Default value Property unit time P10: Fault and protection parameters 0: Activate protection upon input and output phase loss 1: No protection upon input phase loss Action upon During Immediate phase loss running...
  • Page 169 Chapter 9 Drive parameter object Minimum Effective Sub-index Name Setting range Default value Property unit time protection detection enable 1: Enable motor stall over-temperature protection detection Stall over temperature 10~65535ms Immediate At stop protection time window Encoder 0: Not shielded multi-turn Immediate At stop...
  • Page 170 Chapter 9 Drive parameter object Minimum Effective Sub-index Name Setting range Default value Property unit time undervoltage Main circuit undervoltage 0~1000ms Immediate At stop torque limit release time 0: No abnormal record 1: Over-current 2: Main circuit overvoltage 3: Control circuit overvoltage 4: Motor blocked 5: The parameter is modified without power off...
  • Page 171 Chapter 9 Drive parameter object Minimum Effective Sub-index Name Setting range Default value Property unit time 25: Inverter module sampling disconnection protection 26: Reserved 27: Overspeed (the actual speed of the servo motor exceeds the overspeed fault threshold) 28: Runaway (reserved) 29: Main circuit undervoltage 30: Encoder multi-turn count error 31: Encoder multi-turn count...
  • Page 172 Chapter 9 Drive parameter object Minimum Effective Sub-index Name Setting range Default value Property unit time 54: Internal fault 54 55: Internal fault 55 56: Internal fault 56 57: Internal fault 57 58: Internal fault 58 59: Internal fault 59 60: Reserved 61: Abnormal electronic gear ratio 62: Interrupt positioning alarm...
  • Page 173 Chapter 9 Drive parameter object Minimum Effective Sub-index Name Setting range Default value Property unit time The bus voltage at the 0~999V display last fault V-phase current at the 0.0~999.9A 0.1A display last fault W-phase current at the 0.0~999.9A 0.1A display last fault D-axis current...
  • Page 174 Chapter 9 Drive parameter object Minimum Effective Sub-index Name Setting range Default value Property unit time the last fault DO1~DO4 display Tens place of LED: BIT0~BIT1: DO5~DO6 0~FFFFH Drive status at the last fault display (the same as P11.11) Temperature at -40.0℃~200.0℃...
  • Page 175 Chapter 9 Drive parameter object Minimum Effective Sub-index Name Setting range Default value Property unit time second fault (PUU unit) Unit place of LED: BIT0~BIT3: DI1~DI4 Tens place of LED: DI status at the second fault display BIT0~BIT3: DI5~DI8 Hundreds place of LED: BIT0~BIT1: DI9~DI10 Unit place of LED: BIT0~BIT3: DO status at...

  • Page 176: P11: Display Parameters

    Chapter 9 Drive parameter object Minimum Effective Sub-index Name Setting range Default value Property unit time at the first fault display Q-axis current feedback value 0.0~999.9A 0.1A display at the first fault Speed at the -6000.0~6000.0rpm 0.1rpm first fault display Encoder position feedback at the...
  • Page 177 Chapter 9 Drive parameter object Minimum Effective Sub-index Name Setting range Default value Property unit time display D-axis current -100.0~+100.0%Ie 0.1% display Output torque -300.00~+300.00 Nm 0.01Nm display Output power 0~60000W display Average load 0.0~400.0% Te 0.1% rate display Bus voltage 0~900V display Control voltage...
  • Page 178 Chapter 9 Drive parameter object Minimum Effective Sub-index Name Setting range Default value Property unit time state The high-speed pulse output will display not be refreshed synchronously AI1 input -20.000~20.000V 0.001V voltage display AI2 input -20.000~20.000V 0.001V voltage display Input pulse 0~4000.0kpps 0.1kpps frequency...
  • Page 179 Chapter 9 Drive parameter object Minimum Effective Sub-index Name Setting range Default value Property unit time Position feedback (PUU -2147483648~2147483647 display unit) Position error pulse (PUU -2147483648~2147483647 display unit) Accumulated power-on 0 ~ maximum 65535 hours 1 hour display hours Accumulated 0 ~ maximum 65535 hours 1 hour...

  • Page 180: P12: Servo Positioning Parameters

    Chapter 9 Drive parameter object Minimum Effective Sub-index Name Setting range Default value Property unit time position (lower Encoder unit 32 bits) Absolute encoder Encoder absolute unit display position (upper 32 bits) Rotating load single-turn Encoder In the absolute position rotation position (lower unit display...
  • Page 181 Chapter 9 Drive parameter object Minimum Effective Sub-index Name Setting range Default value Property unit time upon power-on 4: Homing performed immediately 5: Electrical homing started 6: Current position as the home 0: Forward, home switch as deceleration point and home 1: Reverse, home switch as deceleration point and home 2: Forward, motor Z signal as...

  • Page 182: P17: Ethercat Communication Parameters

    Chapter 9 Drive parameter object Minimum Effective Sub-index Name Setting range Default value Property unit time curve selection High speed home 0.0~1000.0rpm 0.1rpm 100.0 Immediate At stop searching speed Low speed home 0.0~1000.0rpm 0.1rpm 10.0 Immediate At stop searching speed Home -1073741824~1073741824 Immediate...

  • Page 183: P18: Advanced Parameters

    Chapter 9 Drive parameter object Minimum Effective Sub-index Name Setting range Default value Property unit time EtherCAT bus Power-on 05h~0Eh output data 0~0xFFFF At stop again mapping EtherCAT bus Power-on 0Fh~18h input data 0~0xFFFF At stop again mapping Whether the EtherCAT 0: Do not store communication...
  • Page 184 Chapter 9 Drive parameter object Minimum Effective Sub-index Name Setting range Default value Property unit time 19 reference Internal During position -1073741824~1073741824 Immediate running 20 reference Internal During position -1073741824~1073741824 Immediate running 21 reference Internal During position -1073741824~1073741824 Immediate running 22 reference Internal During...
  • Page 185 Chapter 9 Drive parameter object Minimum Effective Sub-index Name Setting range Default value Property unit time 31 reference Internal During position -1073741824~1073741824 Immediate running 32 reference Internal position 17 acceleration During 0~65535ms Immediate running deceleration time Internal position 18 acceleration During 0~65535ms Immediate...
  • Page 186 Chapter 9 Drive parameter object Minimum Effective Sub-index Name Setting range Default value Property unit time deceleration time Internal position 23 acceleration During 0~65535ms Immediate running deceleration time Internal position 24 acceleration During 0~65535ms Immediate running deceleration time Internal position 25 acceleration During 0~65535ms...
  • Page 187 Chapter 9 Drive parameter object Minimum Effective Sub-index Name Setting range Default value Property unit time Internal position 29 acceleration During 0~65535ms Immediate running deceleration time Internal position 30 acceleration During 0~65535ms Immediate running deceleration time Internal position 31 acceleration During 0~65535ms Immediate...
  • Page 188 Chapter 9 Drive parameter object Minimum Effective Sub-index Name Setting range Default value Property unit time mode timer 21 Automatic During operation 0~600.00s 0.01s 1.00 Immediate running mode timer 22 Automatic During operation 0~600.00s 0.01s 1.00 Immediate running mode timer 23 Automatic During operation...
  • Page 189 Chapter 9 Drive parameter object Minimum Effective Sub-index Name Setting range Default value Property unit time speed Internal position 18 During 0.0rpm ~P05.17 0.1rpm 100.0 Immediate positioning running speed Internal position 19 During 0.0rpm ~P05.17 0.1rpm 100.0 Immediate positioning running speed Internal position 20...

  • Page 190: P20: Bus Configuration Group Parameter

    Chapter 9 Drive parameter object Minimum Effective Sub-index Name Setting range Default value Property unit time Internal position 27 During 0.0rpm ~P05.17 0.1rpm 100.0 Immediate positioning running speed Internal position 28 During 0.0rpm ~P05.17 0.1rpm 100.0 Immediate positioning running speed Internal position 29 During...

  • Page 191: Slave Station Address Assignment Function

    Chapter 9 Drive parameter object Minimum Effective Sub-index Name Setting range Default value Property unit time Master station configuration 0~65535 display address Interpolation Power-on 0~65535 At stop time again Torque unit Immediate At stop Speed unit Immediate At stop Slave station address assignment function When the master station automatically assigns the address of the slave station, P20.09(2014.0Ah) displays the address assigned by the master station.

  • Page 192: Chapter 10 Motor Number Quick Lookup Table

    Chapter 10 Motor Number Quick Lookup Table Chapter 10 Motor Number Quick Lookup Table The M6-N servo system needs to set the correct motor number in the P01.00 function code before running, otherwise it will not run normally, please find the motor number according to the following table. The medium inertia motor is divided into three sub-series M, P and N according to the design code.

  • Page 193: Medium Inertia P Series Motor Number

    Chapter 10 Motor Number Quick Lookup Table SPM-TD11322MAK-M 2254 SPM-TD11322MBK-M 225C SPM-TD51322MAK-M 2255 SPM-TD51322MBK-M 225D SPM-TD61829MAK-M 2261 SPM-TD61829MBK-M 2269 2900 SPM-TD11829MAK-M 2264 SPM-TD11829MBK-M 226C SPM-TD51829MAK-M 2265 SPM-TD51829MBK-M 226D SPM-TD61844MAK-M 2281 SPM-TD61844MBK-M 2289 4400 SPM-TD11844MAK-M 2284 SPM-TD11844MBK-M 228C SPM-TD51844MAK-M 2285 SPM-TD51844MBK-M 228D SPM-TD61855MAK-M 22A1...
  • Page 194 Chapter 10 Motor Number Quick Lookup Table SPM-SC10604MAK-N 3224 SPM-SC10604MBK-N 322C SPM-SC50604MAK-N 3225 SPM-SC50604MBK-N 322D SPM-SC60807MAK-N 3231 SPM-SC60807MBK-N 3239 SPM-SC10807MAK-N 3234 SPM-SC10807MBK-N 323C SPM-SC50807MAK-N 3235 SPM-SC50807MBK-N 323D SPM-SC60810MAK-N 3241 SPM-SC60810MBK-N 3249 1000 SPM-SC10810MAK-N 3244 SPM-SC10810MBK-N 324C SPM-SC50810MAK-N 3245 SPM-SC50810MBK-N 324D SPM-SD61308MAK-N 3251 SPM-SD61308MBK-N...

  • Page 195: Small Inertia Series Motor Number

    Chapter 10 Motor Number Quick Lookup Table 10.4 Small inertia series motor number Without brake With brake Power Inertia Voltage Motor Motor Motor model Motor model number number SPM-SC60602LAK-M 1111 SPM-SC60602LBK-M 1119 SPM-SC10602LAK-M 1114 SPM-SC10602LBK-M 111C SPM-SC50602LAK-M 1115 SPM-SC50602LBK-M 111D SPM-SC60604LAK-M 1121 SPM-SC60604LBK-M...

  • Page 196: Appendix 1 Warranty And Service

    (such as unsatisfactory performance and function), please contact your product agent or Shenzhen Megmeet Drive Technology Co., Ltd.. 2). In case of any abnormality, please timely contact your product provider or Shenzhen Megmeet Drive Technology Co., Ltd. for help.
  • Page 197 Parameter record table...
  • Page 198 Shenzhen Megmeet Drive Technology Co., Ltd. Shenzhen Megmeet Drive Technology Co., Ltd. M6-N Series Servo Drive Warranty Bill M6-N Series Servo Drive Warranty Bill Customer company: Customer company: Detailed address: Detailed address: Postal Code: Contact: Postal Code: Contact : Tel:...

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