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D200 Series Servo Drives

User Manual
Data version V1.2

Archive date 2024-01-15

Enterprise Standards

Copyright, all rights reserved. Contents are subject to change without prior notice.

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Table of contents

Chapter 1 Overview .................................................................................................................. 9

1.1 Ratings and Specifications of the Servo Unit................................................... 9 1.2

Dimensions......................................................................................................... 9 1.3
Basic Specifications.................................................................................................. 12 1.4
Position Control Specifications.................................................................................. 13 1.5
Maintenance and Inspection of the Servo Unit.................................................. 14

Chapter 2 Panel Operation..................................................................................14

2.1 Names and Functions of Panel Operator Buttons..................................14 2.2 Status

Display..........................................................................................15 2.3 Operation
Examples of Auxiliary Functions (Fnÿÿ)............15 2.4 Parameter Writing Methods in This
Manual.................................................16 2.5 Monitor Display (Unÿÿ
ÿ)................................................................18 Chapter 3 Wiring and

Connections...................................................................19

3.1 Names and functions of main circuit terminals..................................................19 3.1.1

Servo unit main circuit wire size..................................................................19 3.1.2
General precautions when wiring..................................................................20 3.1.3
Design of power-on sequence.................................................................20 3.2
Connection of input and output signals.................................................................20 3.3
Connection example of position control:................................................................23 3.4
Terminal arrangement of encoder connector (CN3)................................................24 3.5
Connection of regenerative resistor.................................................................25 3.6
Setting the capacity of regenerative resistor.......................................................25 3.7
Countermeasures against noise and higher harmonics..................................................25
3.7.1 Noise and its countermeasures..................................................................25
3.7.2 Precautions when connecting noise filter.................................................27 3.7.3
Connection of DC Reactor for Harmonic Suppression..................................28

Chapter 4 Trial Operation..................................................................................................30

4.1 Inspection and precautions before trial operation...................................30 4.2 Origin

search positioning (Fn003)............................................................30 4.3 Trial operation of
the servo motor alone according to the host command........30 4.4 Trial operation during
position control....................................................32 4.5 Trial operation after mechanically
connecting the servo motor to the machine........32 4.6 Trial operation of the servo motor
with a brake...................................................33

Chapter 5 Operation ..................................................................................................34

5.1 Choice of control method..................................................................34

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5.2 Basic Operation Function Settings..................................................................34

5.2.1 Servo ON.........................................................................................................34
5.2.2 Selection of Motor Rotation Direction..................................................35 5.2.3
Overtravel..................................................................................................35 5.2.4
Brake..................................................................................................38 5.2.5 Brake
Connection and Definition Allocation..................................39 5.2.6 How to Stop the
Motor When the Servo is OFF or an Alarm Occurs........42 5.2.7 Operation During
Momentary Power Failure..................................................44 5.2.8 Torque Limitation
Function During Main Circuit Power Supply Undervoltage........45 5.3 Encoder
Pulse Output..................................................................................46 5.4 Position
Control (Pulse Train Command).............................................47 5.4.1 Basic Settings
of Position Control........................................................47 5.4.2 5.4.3 Setting the
number of electronic teeth.................................................. 49 5.4.4 Smoothing
function........................................................................... 51 5.4.5 Output of
positioning completion signal.................................................. 52 5.4.6 Output of
positioning proximity signal.................................................. 53 5.4.7 Command
pulse prohibition function.................................................. 54 5.5 Speed control
(internal setting speed control) operation example.................. 54 5.6 Backup of
absolute encoder setting value.................................................. 56 5.7 When the
encoder battery alarm (AE.08) is displayed.................................... 56 5.7.1 Setting
(initialization) of the absolute encoder.................................... 57 5.7.2 Setting the
upper limit value of the multi-rotation number of revolutions.................. 58 5.7.3
When the upper limit value of the multi-rotation number of revolutions does not
match the alarm (A.CC0)...................................................................................................
59 5.8 Rotation Detection Output Signal (/TG0N)..................................................59
5.9 Servo Ready Output Signal (/S-RDY)......................................................60

Chapter 6 Adjustment ..................................................................................................61

6.1 About Adjustment..................................................................................61 6.2 Basic

Adjustment Procedures...........................................................................61 6.3 Safety
Precautions During Adjustment............................................................62 Chapter 7

Auxiliary Functions (FN Port)............................................................65

7.1 Auxiliary Function List..................................................................65 7.2 Origin

Search Positioning (Fn003)............................................................65 7.3 Program J0G
Run (Fn004)...........................................................................66

Chapter 8 Monitoring Display (UN Portal).................................................................. 71

Chapter 9 Full Closed - Loop Control..................................................................................72

9.1 When displaying an alarm..................................................................................73

9.1.1 Alarm list..........................................................................................73

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9.1.2 Causes of alarms and solutions.................................................. 76 9.2

Methods for determining the causes of faults and solutions.................................. 78

Chapter 10 Appendix ..................................................................................................84

10.1 Auxiliary functions and parameter list..................................Error! Bookmark not

defined. 10.2 Parameter list..........................................................................................84

Chapter 11 Communication ..........................................................................................101

11.1 Communication Parameters..................................................................101 11.2

Communication Protocol...........................................................................101 11.3
Communication Data Structure........................................................................101 11.4
Communication Error Handling..................................................................104 11.5
Communication Address..................................................................................105

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Please read beforehand

This manual explains the information required for the design and maintenance of the D200 series servo units.

When designing and maintaining, be sure to refer to this manual and perform the work correctly.

Please keep this manual in a safe place so that you can refer to it whenever you need it.

In addition to this manual, please read the related materials shown on the next page according to your purpose of use.

ÿ Basic terms used in this manual

Unless otherwise specified, this manual uses the following terms.

Basic term meaning

Servo motor D200 series 100W-15000W servo motor

Servo drive servo motor and servo amplifier matching

The servo system is a complete servo control system consisting of a servo driver, a host device and peripheral devices.

parameter Switch or data value set in the servo unit

Pulse type or analog

The interface specifications of the servo unit are pulse sequence command type and analog command.

ÿ About important instructions

Instructions that require special attention are marked with the following symbols.

· Indicates particularly important matters in the instructions. Also indicates a minor event such as an alarm, but not enough to cause damage to the device.

Important notes.

ÿ Writing Rules for This Manual

In this manual, inverted signal names (signals that are valid at L level) are indicated by adding a (/) before the signal name.

<Example> S-0N is written as <Example>/S-0N.

ÿ Safety related marking instructions

This manual uses the following symbols based on safety-related content. The instructions for safety symbols are important and must be read carefully.

obey.

Danger indicates that incorrect use may cause dangerous situations resulting in personal injury or death.

Caution indicates that incorrect use may lead to dangerous situations, causing minor or moderate personal injury or damage to the equipment.

make

These are matters described in the notes, which may sometimes lead to serious accidents depending on the specific circumstances.

Caution means prohibition (absolutely not to do it). For example, when fireworks are strictly prohibited, it is indicated as.

Mandatory means mandatory (must be done). For example, when grounding, it is expressed as.

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ÿ Storage and transportation

Notice

Do not store or install the product in the following environments. Otherwise, it may cause fire, electric shock or damage to the product.

· Locations exposed to direct sunlight ·

Locations where the ambient temperature exceeds the storage or installation temperature requirements

· Places where relative humidity exceeds the storage and setting humidity conditions

· Places with large temperature differences and condensation

· Places with corrosive gases and flammable gases

· Places with a lot of dust, dirt, salt and metal powder

· Locations where water, oil, and chemicals are likely to splash on the

device · Locations where vibration or impact may be transmitted to the device

Do not hold the cables, motor shaft or detector to carry it. Doing so may result in injury or malfunction.

· Do not stack too many products together. (Please follow the instructions.) Otherwise, it may cause injury or malfunction. · When it is necessary to disinfect or

kill insects on wooden materials used for packaging (including wooden frames, plywood, and shelves), be sure to use fumigation to

External methods.

Example: Heat treatment (core temperature of the material is above 56°C, treatment time is above 30 minutes) In addition, when

treating, please treat the packaging material before packaging, rather than treating the entire material after packaging.

When fumigated wood materials are used to package electrical products (single units or products installed on machinery), the packaging materials will

Gases and vapors may cause fatal damage to electronic products. In particular, halogen disinfectants (fluorine, chlorine, bromine, iodine, etc.) can cause corrosion to the interior of the container.

ÿ Installation

Notice

Do not use this product in places where it may be splashed with water, in environments prone to corrosion, or near flammable gases and combustibles.

It may cause electric shock or fire.

Do not sit on this product or place heavy objects on it. Doing so may result in injury or malfunction.

Do not block the air inlet and outlet. Do not allow foreign matter to enter the product. Otherwise, aging of internal components may cause malfunction or fire.

disaster.

Please be sure to follow the installation direction requirements. Otherwise, it may cause malfunction.

During installation, please ensure that there is a specified distance between the servo unit and the inner surface of the control cabinet and other equipment. Otherwise, it may cause fire or

Fault.

Do not apply excessive impact. Doing so may cause malfunction.

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ÿ Wiring

Notice

Please wire correctly and reliably. Otherwise, it may cause motor out of control, personal injury or machine failure.

Do not connect commercial power to the servo unit's servo motor connection terminals U, V, and W. Doing so may result in injury or fire.

Please connect the power terminal and the motor terminal firmly. Otherwise, it may cause a fire.

Do not use the same conduit for the main circuit cable and the input/output signal cable/encoder cable, and do not tie them together.

When using, the main circuit cable and the input and output signal lines should be separated by more than 30mm.

Please use twisted-pair wires or multi-core twisted-pair shielded wires for input and output signal wires and encoder cables.

Wiring length of input and output signal line: Maximum 3m; Encoder cable: Maximum 20m.

Even if the power is turned off, there will still be high voltage inside the servo unit, so please do not touch the power terminals for a while (5 minutes).

Make sure the CHARGE indicator goes out before wiring and checking.

When wiring the main circuit terminal block, please observe the following precautions.

If the main circuit terminal is a connector, please remove the connector from the servo unit body before wiring.

·Please insert one wire into one wire socket of the terminal block connector.

When inserting the wire, do not allow the burrs on the core wire to short-circuit with adjacent wires.

Do not install batteries on both sides of the battery unit of the host controller or encoder cable. If you install them on both sides at the same time, there will be a gap between the batteries.

This will form a loop and is very dangerous.

Please use the specified power supply voltage. Otherwise it may cause fire or malfunction.

When using the machine under poor power supply conditions, please ensure that the input power is within the specified voltage fluctuation range. Otherwise, the machine may malfunction.

The device is damaged.

Please install safety devices such as circuit breakers to prevent external wiring short circuits. Otherwise, fire may occur.

Please take appropriate shielding measures when using in the following places.

•When interference occurs due to static electricity, etc.

· Places where strong electric or magnetic fields are generated

•Places where radiation may be emitted

·A place with a power line nearby. Otherwise it may cause damage to the machine.

When connecting the battery, please pay attention to the polarity. Otherwise, the battery, servo unit and servo motor may be damaged or exploded.

· Please have professional technicians perform wiring or inspection work.

ÿ Operation

Notice

To prevent accidents, please test run the servo motor alone (with the machine not connected to the servo motor's drive shaft).

Failure to do so may result in injury.

When the device is installed on a matching machine and starts running, please set the parameters that match the machine in advance.

Otherwise, it may cause the machine to lose control or malfunction.

Do not frequently turn the power on/off. Since the servo unit power supply has capacitors, a large amount of charge will flow when the power is turned off.

Therefore, if the power supply is frequently turned on/off, the performance of the main circuit components inside the servo unit will be degraded.

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When performing J0G operation using auxiliary function Fn002 or "origin search operation" using Fn003, the forward side overtravel and reverse side

The emergency stop function caused by side overtravel is invalid.

When using a servo motor on a vertical axis, please install a safety device to prevent the workpiece from falling in the event of an alarm, overtravel, etc.

When overtravel occurs, set the machine to stop at zero position. Otherwise, the workpiece may fall in the overtravel state.

When the adjustment-free function is not used, be sure to set the correct moment of inertia ratio. If the moment of inertia ratio is set incorrectly, it may cause

Mechanical vibration.

When the power is on or just disconnected, the heat sink, regenerative resistor, motor, etc. of the servo unit may be at high temperature.

Do not touch. Doing so may result in burns.

Extreme parameter adjustments

· Changing the settings will cause the servo system to become unstable. Please do not perform such operations. Otherwise, it will cause mechanical damage.

When an alarm occurs, please reset the alarm and restart the operation after eliminating the cause and ensuring safety. Otherwise, personal injury and machine failure may occur.

mechanical damage, fire, or injury.

Do not use the brake of a servo motor with a brake for braking. Otherwise, it may cause malfunction.

Please use the servo motor and servo unit in the specified combination. Otherwise, it may cause fire or failure.

ÿ Maintenance and inspection

Notice

Do not disassemble the servo unit. Otherwise it may cause electric shock or injury.

Do not change the wiring while the power is on. Otherwise it may cause electric shock or injury.

When replacing a servo unit, please copy the parameters of the servo unit to be replaced to the new servo unit, and then restart the operation.

It will cause mechanical damage.

ÿ Abandoned

Notice

Please dispose of this product as general industrial waste.

ÿ General Notes

Please pay attention when using.

·For detailed description, some illustrations in this manual are drawn without the outer cover or safety protection body.

Be sure to install the outer cover or safety protection body to its original position as specified, and then operate it according to the instructions in the user manual.

The illustrations in this manual are representative and may differ from the product you receive.

Due to product improvements, specification changes, and to improve the ease of use of this manual, we will make changes to this manual from time to time.

Later, the document number of this manual will be updated and it will be issued as a revised edition.

If you need to order this manual due to damage or loss, please contact our agent or the nearest branch listed on the back cover.

Inform the document number.

·For products modified by customers themselves, our company does not provide any quality guarantee.

, our company is not responsible.

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D200 Series Servo Drive Chapter 1 Overview

Chapter 1 Overview

1.1 Ratings and specifications of servo units

The ratings and specifications of the servo unit are shown below.

Rated value of D200 type (AC220V)

D200 type (AC 220V) 100W 400W 750W 1KW 1.5KW 2.0KW

2 Continuous output current [Arms] 2A 3.5A 5.0A 5.5A 7.6A 9.5A

20V Maximum output current [Arms] 6A 10.5A 15A 16.5A 22.8A 26A
+10%
lose AC 200ÿ230 V
-15%
Two-phase

enter 220V main circuit 50/60Hz

electricity

source Overvoltage level III

1.2 Dimensions

100W~400W servo drive dimensions

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Chapter 1 Overview D200 Series Servo Drive

600W~1000W servo drive dimensions

1500W~2300W servo drive dimensions

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D200 Series Servo Drive Chapter 1 Overview

3000W—4500W servo drive dimensions

5000W—7500W servo drive dimensions

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Chapter 1 Overview D200 Series Servo Drive

1.3 Basic Specifications

The basic specifications of the servo unit are shown below.

220V uses two-phase or three-phase full-wave rectification

Control method
IGBT PWM control sine wave current drive mode

Serial encoder: 17-bit (incremental/absolute), 23-bit incremental/absolute

feedback
value

Ambient temperature/storage temperature Ambient temperature: 0ÿ+55ÿ, Storage temperature: -10ÿ45ÿ

Ambient humidity/storage humidity below 90%RH (no freezing or condensation)

Vibration resistance/shock resistance: 4.9m/s2 /19.8m/ s2

Protection level: IP1x, cleanliness level: 2

use But it should be

condition Protection class/cleanliness In an environment without corrosive gas or flammable gas

In an environment without water, oil or chemical splash

In an environment with less dust, dirt, salt and metal powder

Altitude Below 1000m

other No static interference, strong electric field, strong magnetic field, radiation, etc.

structure Base mounting type*1

Speed control range 1:5000

Load Wave
0ÿ100% load: ±0.01% or less (at rated speed)
Momentum

Speed Wave Voltage Wave

Rated voltage ±10%:0% (at rated speed)
Movement*2
performance Momentum

Temperature Wave

25±25ÿ: ±0.1% or less (at rated speed)

Momentum

Soft start time setting 0ÿ10s(Acceleration and deceleration can be set separately)

Phase A, Phase B, Phase C: Linear drive output

Encoder frequency division pulse output
Frequency division pulse number: can be set arbitrarily

aisle
7Ch
enter number

Output The following signal assignments and positive/negative logic changes can be made:
Sequence input
Signal Servo 0N (/SV-0N), P action (/P-C0N), alarm reset (/ALM-RST)
Signal
Function , Forward drive prohibited (P-0T), Reverse drive prohibited (N-0T), Forward

Side torque limit (/P-CL), reverse side torque limit (/N-CL), internal setting

Speed switching (/SPD-D, /SPD-A, /SPD-B), control mode switching

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D200 Series Servo Drive Chapter 1 Overview

(/C-SEL), zero position fixation (/ZCLAMP), command pulse prohibition

(/INHIBIT), gain switch (/G-SEL)

fixed
Servo alarm (ALM)
Output

aisle
4CH

number

The following signal assignments and positive/negative logic changes can be made:
Sequential control output

Positioning completed (/C0IN), speed detection (/V-CMP), servo motor

Signal
Spin

Function Servo ready (/S-RDY), torque limit detection

Output (/CLT), speed limit detection (/VLT), brake interlock (/BK)

Warning (/XARN), Near (/NEAR)

Display functions CHARGE, 7-segment LED 5-digit

Dynamic brake (DB) Action when main power is OFF, servo alarm, servo is OFF, overtravel (0T) (optional)

Regeneration Built-in regenerative resistor or external regenerative resistor (optional)

When P-0T or N-0T input is activated, the dynamic brake stops by running stop (DB).
Overtravel prevention (0T) function
Deceleration stop or free run stop

Protection function Overcurrent, overvoltage, undervoltage, overload, regeneration failure, etc.

Accessibility Gain adjustment, alarm recording, J0G operation, origin search, etc.

*1: Models include shelf-mounted type and duct ventilation type (optional)

*2: The speed fluctuation rate is defined by the following formula.

Speed fluctuation rate = (no-load speed - full-load speed) / rated speed × 100%

In fact, voltage changes and temperature changes will cause amplifier deviations and calculation resistor values to change, and this influence will be reflected through the speed.

The speed change is expressed as a ratio of the rated speed, which is caused by voltage change and temperature change.

Speed volatility.

1.4 Position control specifications

The specifications of the servo unit's position control are shown below.

Control method overview and specifications

Feedforward 0ÿ100% (setting unit: 1%) 0ÿ1073741824

compensation Positioning completion width setting command unit (setting unit: command unit) Select any of the following: Sign + pulse

sequence, CW + CCW pulse

lose Input pulse type sequence, 90° phase difference two-phase pulse (A phase + B
Position Control
enter instruction phase)

letter pulse Input pulse shape supports bus drive and open collector

Number Symbol + pulse sequence, CW pulse + CCW pulse sequence: 4Mpps 90° phase
Maximum input pulse frequency*
difference two-phase pulse × 1: 1Mpps

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Chapter 1 Overview D200 Series Servo Drive

90ÿ phase difference two-phase pulse × 2 times: 1Mpps 90ÿ

phase difference two-phase pulse × 4 times: 1Mpps Open

collector: 200kpps Clear deviation

Clear signal pulse, open collector

ÿWhen the duty ratio deviates, the frequency will decrease.

1.5 Maintenance and inspection of servo unit

The following describes the maintenance and inspection of the servo unit.

(1) Servo unit inspection

The servo unit does not require daily inspection, but the following items need to be inspected at least once a year.

Inspection items Inspection interval Inspection guidelines Troubleshooting

Appearance inspection No garbage, dust, oil stains, etc. Please wipe with a cloth or clean with an air gun
At least once a year
Loosening of screws Terminal blocks and connector mounting screws must not be loose. Please tighten them further.

(2) General standards for replacing servo unit parts

The electrical and electronic components inside the servo unit will be subject to mechanical wear and aging. To prevent and maintain the servo unit, please refer to the following table.

The standard replacement years are used as an approximate standard for replacement. When replacing, please contact our agency or branch. We will investigate and

Determine if parts need to be replaced.

When a servo unit is returned to our company for replacement, the parameters will be restored to the factory settings.

Please make sure to back up the parameters and reset the parameters before use.

important

Chapter 2 Panel Operation

2.1 Names and functions of the panel operator buttons

The panel operator consists of a panel operator display and panel operator keys.

Perform auxiliary functions and monitor the status of the servo unit.

The names and functions of the panel operator buttons are as follows.

Key map Name function

MODE function key switches basic modes: status display, auxiliary function, parameter setting, monitoring

Pressing the UP key increases the set

UP key
value. It acts as the forward start key when the auxiliary function mode JOG is

running. Pressing the DOWN key decreases

DOWN key
the set value. It acts as the reverse start key when the auxiliary function mode JOG is running.

Shift key Press this key to shift the selected digit (the decimal point of the digit flashes) one digit to the left.

Press this key to display the settings and set values of each parameter, enter the parameter setting state and clear the alarm.
SET Setting key

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D200 Series Servo Drive Chapter 2 Panel Operation

2.2 Status Display

The following table shows how to determine the status display.

Bit data abbreviations

Abbreviations meaning

Indicates the servo OFF state in base block (servo motor is not powered).

Indicates the servo 0N status during operation (servo motor power-on status).

Indicates that the forward drive prohibition state input signal (P-0T) is in an open circuit state.

Abbreviations Meaning: Abbreviations meaning

Servo OFF in base blocking Indicates that reverse drive status input is prohibited

Status (servo motor is not powered) The signal (N-0T) is in open circuit state.

Indicates the servo 0N status during operation Indicates that the safety function is activated, the servo

(Servo motor powered on) The element is in hardware base locked state.

Status display example: Running

The servo 0N status indicates that it is in the motorless mode test.

status.

Indicates that forward drive state input is prohibited The displayed changes due to motor and servo

Signal (P-0T) is open circuit The status of the element varies.

Flashes to show alarm in alarm state

serial number.

2.3 Operation examples of auxiliary functions (Fnÿÿÿ)

Display the operating steps of the software version.

Operation steps Instructions Display after key operation

1 Please press the MODE function key to select the auxiliary function mode MODE

2 Please press the SET button SET

Operation in JOG mode.

Operation steps Instructions Display after key operation

Please press the MODE button and then press the UP button or DOWN button.
1 MODE
Select the auxiliary function you want to operate FN002

2 Please press the SET key to enter the JOG operation SET

3 Please press the MODE function key to enter the servo ON state MODE

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Chapter 2 Panel Operation D7 Series Servo Drive

Indication Factory
Indication Indication
When a parameter is changed, the parameter
setting (motor is
powered on) of the change will be effective only after the power
software isis reset
reconnected
( Fn018 or
) . the
Indication of the

can"minimum effective
be set in the time" setting
parameter that (motor is
Please press the UP key or DOWN key, the motor will start
powered
unit (setting on ). "Setting
unit)" refers to the scale of the

setting value after the change,

Please press the SET key to return to Fn002 display SET
the parameter will be effective only

after the power is reconnected or

the software is reset (Fn018). 5 Indicates the parameter range
that can be set. * In order to initialize

the operation with different user

parameter setting values. The maximum Display after key operation
value can also be set when the parameter range is set larger.

Press the MODE key and then press the UP key or DOWN key to
1

select the auxiliary function you want to operate FN005

2 Please press the setting key to enter the parameter initialization operation

Please press the setting key (for more than 1 second) until the display

3
flashes "done", indicating that the user parameter setting value

initialization has been successfully completed.

2.4 Parameter Writing Methods in This Manual

The following describes how to write the parameters used in this manual.

(1) Parameters of "Numerical Setting Type"

This parameter can be used to control

Speed: Speed control, internal setting speed control

Position: Position control

Torque: Torque control

Emergency stop torque Speed Position Torque

Setting units Factory

Pn406 Setting range Effective time category
settings

After reconnecting the set up

0ÿ400% 1% 400%
power

"Setting" indicates the basic setting parameters

required for operation. "Tuning" indicates the

parameters for adjusting the servo

performance. (Note) Under factory settings,

parameters of the "Tuning" category are not

displayed. For the display method of tuning

parameters , refer to "(3) Display method of tuning parameters".

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D200 Series Servo Drive Chapter 2 Panel Operation

(2) "Function selection" parameter writing method

parameter meaning Effective time category

Input the forward drive prohibition signal from CN1-42

n.2ÿÿÿ
(P-0T). [Factory setting] The
Pn50A After reconnecting the power set up
forward drive prohibition signal (P-0T) is invalid, and
n.8ÿÿÿ
the forward drive can be always enabled.

Example of writing Pn000

No. 0

No. 1

No. 2

No. 3

Writing method meaning

Pn000.0 or n. ÿ ÿ ÿ x Indicates the value of the 0th bit of parameter (Pn000).

Pn000.1 or n.ÿÿxÿ Indicates the value of the first digit of parameter (Pn000).

Pn000.2 or n.ÿxÿÿ Indicates the value of the second digit of parameter (Pn000).

Pn000.3 or nxÿÿ Indicates the value of the third digit of parameter (Pn000).

(3) How to display tuning parameters

Only the setting parameters are displayed at the factory. To display the tuning parameters, change the following parameters.

Function selection application switch B

parameter meaning Effective time category

n.ÿÿÿ0 Only the setting parameters [factory settings] are displayed.

Pn0
Show all parameters [but only for user level 1] Set after turning the power on again
0B n.ÿÿÿ1
ÿ

parameter meaning Display method Setting method

For setting Parameters required for setting

Displays individual setting parameters in factory default state
parameter number

Servo gain You can use auxiliary functions (Fn) etc.

For tuning By setting Pn00B.0
Necessary for adjustment and tuning By paying attention to the parameter numbers, almost all settings can be realized
parameter show
parameter Certainly

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Chapter 2 Panel Operation D7 Series Servo Drive

2.5 Monitoring display (Unÿÿÿ)

Monitor (display) the command value set in the servo unit, the status of the input and output signals, and the internal status of the servo unit.

The panel operator displays a number beginning with Un.

Display example (motor speed)

The following takes the motor speed (Un000) as an example to illustrate the operation method of monitoring display.

step Panel display after operation Keys used operate

Steps

1 Press the M0DE/SET key to select the monitor display

MODE/SET DATA/

If the parameter number displayed is not Un000, then

2
Press UP or D0WN key to display "Un000"
MODE/SET DATA/

3 Press SET key to display the motor speed

MODE/SET DATA/

4 Press the SET key again to return to the display of step 1.

MODE/SET DATA/

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D200 Series Servo Drive Chapter 3 Wiring and Connections

Chapter 3 Wiring and Connections

3.1 Names and functions of main circuit terminals

The names, functions and specifications of the main circuit terminals are shown below.

Terminal marking name Function, Rating

Two-phase L1, L2; 200ÿ230V(+10%,-10%),(50/60Hz)

L1, L2, L3 Main circuit power input terminals
Three-phase 200ÿ230V(+10%,-10%),(50/60Hz)

When the regenerative power processing capacity is insufficient, connect an external regenerative resistor between P+/C

Device (optional).
P+ and C External regenerative resistor connection terminals
When the capacity of the built-in regenerative resistor is insufficient, open the circuit between P+ and D.

(Remove the wiring) and connect an external regenerative resistor between P+/C.

Can receive pulse and direction signals from the host computer and output alarm, arrival and other signals
CN2 input and output signal port
To the host computer.

CN3 encoder line interface Communicate with the motor encoder via the encoder line.

U, V, W servo motor connection terminals are used to connect to the servo motor.

Ground terminal Connect to the power ground terminal and motor ground terminal for grounding.

ÿ1. P+ and D are short-circuited when shipped from the factory.

3.1.1 Servo unit main circuit wire size

The sizes of wires used in the servo unit main circuit are as follows.

·These are specifications when the ambient temperature is 40°C and the rated current flows through a 3-wire harness.

Please use a voltage-resistant wire of 600V or above for the main circuit.

When bundling wires and placing them in a hard PVC pipe or metal tube, please consider the attenuation factor of the allowable current of the wires.
Heavy

want When the ambient temperature (temperature inside the cabinet) is high, please use heat-resistant wires. Generally, PVC wires age quickly.

It cannot be used again within a short period of time.

(1) Types of wires

Please use the following types of wires for the main circuit.

Wire type
Allowable conductor temperature (ÿ)
mark name

PVC —General PVC wire

IV 600VPVC wire Special 60

HIV heat-resistant PVC wire 75

The relationship between the wire diameter and the allowable current for three wires is shown in the following table. Do not use more than the values shown in the table.

conductor Allowable current at different ambient temperatures (A)

Nominal cut
AWG gauge Composition (root resistance
area
grid /mm 2ÿ (Oh 30ÿ 40ÿ 50ÿ
(mm 2ÿ
/in the)

20 0.5 19/0.18 39.5 6.6 5.6 4.5

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19 0.75 30/0.18 26.0 8.8 7.0 5.5

18 0.9 37/0.18 24.4 9.0 7.7 6.0

16 1.25 50/0.18 15.6 12.0 11.0 8.5

14 2.0 7/0.6 9.53 23 20 16

(Note) The above are reference values for 600V special heat-resistant PVC wire (HIV).

3.1.2 General precautions when wiring

Please use a wiring circuit breaker (QF) or fuse to protect the power line.

This servo unit is directly connected to the commercial power supply without using a transformer for insulation.

To prevent any mixed contact between the system and the outside world, be sure to use a wiring circuit breaker (QF) or fuse.

The servo unit does not have a built-in ground short-circuit protection circuit.

To build a safer system, please configure a leakage circuit breaker for overload and short circuit protection, or connect it to the wiring circuit breaker.

important
Circuit breaker combination, install leakage circuit breaker for ground short circuit protection.

Please avoid frequent 0N/0FF power supply.

Since the power supply of the servo unit has a capacitor, a large charging current will flow when the power supply is 0N.

If the power supply is frequently turned on and off, the performance of the main circuit components inside the servo unit will be degraded.

In order to use the servo system safely and stably, please observe the following precautions when wiring:

When designing and configuring the system, please keep the cables as short as possible.

When wiring the main circuit, please observe the following precautions.

For input/output signal cables and encoder cables, please use twisted-pair wires or multi-core twisted-pair overall shielded wires.

The maximum length of the input and output signal cables is 3m, and the maximum length of the encoder cables is 20m.

When connecting the ground wire, please observe the following precautions.

Please use thick wire (2.0mm2 or more) for the grounding cable.

It is recommended to use a grounding resistance of less than 100ÿ.

· Single-point grounding is required.

When the servo motor and the machine are insulated from each other, ground the servo motor directly.

The core wire of the signal cable is only 0.2mm or 0.3mm, which is very thin. Please be careful when using it and do not bend or tighten it.

3.1.3 Design of power-on sequence control

When designing the power-on sequence, please consider the following points.

Please design the power-on sequence as follows: After outputting the "servo alarm" signal, the main circuit power supply should be in the OFF state.

After the control power is turned on, the ALM signal (1Ry: 0FF) is output for a maximum of 5.0 seconds. Please take this into consideration when designing the power-on sequence control.

In addition, please use a relay to cut off the main circuit power supply of the servo unit.

Control power supply

Max. 5.0s

Servo alarm (ALM) output signal

3.2 Connection of input and output signals

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The names and functions of the input/output signal (CN2) terminals, the terminal arrangement, and wiring examples for various control methods are shown below.

1 DO4+ Digital output 4 (+) 16 SG GND 31 SREF+ Speed input+

2 DO3- Digital output 3 (-) 17 +24V 24V output (+) 32 SREF- Speed input -

3 DO3+ Digital output 3 (+) 18 TREF+ Torque input + 33 DI5 Digital input 5

4 DO2- Digital output 2 (-) 19 SG GND 34 DI3 Digital input 3

Open collector instruction

5 DO2+ Digital output 2 (+) 20 TREF- Torque input- 35 PL
With power input

6 DO1- Digital output 1(-) 21 OA+ Frequency division output A+ 36

7 DO1+ Digital output 1 (+) 22 OA- Frequency division output A- 37 SIGN Command sign input (+)

8 DI4 Digital Input 4 23 OB- Frequency Division Output B- 38

9 DI1 Digital input 1 24 0Z- Frequency division output Z- 39 /SIGN Command sign input (-)

10 DI2 Digital input 2 25 OB+ Frequency division output B+ 40

11 COM+ External 24V power input 26 DO4- Digital output 4 (-) 41 PULS Command pulse input (+)

12 DI7 Digital input 7 27 DO5- Digital output 5 (-) 42

13 0Z+ Frequency division output Z+ 28 DO5+ Digital output 5 (+) 43 /PULS Command pulse input (-)

14 24V-GND 24V output (-) 29 SG GND 44

15 30 DI6 Digital input 6

Port DI1 input signal selection (CN2-9), detailed description of Pn50A is as follows:

Port DI1 input signal selection (C

Pn50A n.0000ÿn.1F21 --

n.0000 Immediately 1
N2-9ÿ

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n.×××ÿ: Port DI1 input signal inversion [0] Signal not

inverted [1] Signal inverted

n.××ÿ×: Port DI1 input

signal status [0] Input signal status controlled by external

IO [1] The signal is always fixed as valid [2] The

signal is always fixed as invalid n.ÿÿ××: Port

DI1 input signal selection

ÿ00ÿServo enable (S-ON) ÿ01ÿ

Control mode switch (C-MOD) ÿ02ÿZero speed

disable (ZCLAMP) ÿ03ÿForward drive

disable (POT) ÿ04ÿNegative drive disable

(NOT) ÿ05ÿDeviation counter clear (CLR)

ÿ06ÿAlarm clear (A-RST) ÿ07ÿPulse input

disable (INHIBIT) ÿ08ÿForward torque

limit (PCL) ÿ09ÿNegative torque limit (NCL) ÿ0Aÿ

Gain switch (GAIN) ÿ0BÿCommand

inversion (CMDINV) ÿ0CÿCommand pulse

multiplication (DIV) ÿ0DÿInternal

command speed selection 0 (INSPD0)

ÿ0EÿInternal command speed selection 1

(INSPD1) ÿ0FÿInternal command torque selection 0

(INTor0) ÿ10ÿInternal command torque selection 1

(INTor1) ÿ12ÿZero origin sensor input ÿ13ÿZero start

signal, from 0 to 1. Always keep 1. If 0, the motor stops.

ÿ15ÿInternal position start signal ÿ18ÿ

Switch between electronic gear ratio and second electronic gear ratio ÿ19ÿInternal position pause

signal ÿ1AÿInternal position stop signal

Pn50B Port DI2 input signal selection (CN2-10) is the same as Pn50A.

Pn50C Port DI3 input signal selection (CN2-34) is the same as Pn50A. Note that the default signal is inverted.

Pn50D Port DI4 input signal selection (CN2-8) is the same as Pn50A. Note that the default signal is inverted.

Pn50E The input signal selection of port DI5 (CN2-33) is the same as Pn50A.

Pn50F The input signal selection of port DI6 (CN2-30) is the same as Pn50A.

Pn510 Port DI7 input signal selection (CN2-12) is the same as Pn50A.

Port DO1 output signal configuration (CN2-7, CN2-6), for detailed description, please refer to Pn512 as shown below:

Port DO1 output signal configuration (C

Pn512 n.0000ÿn.0E01
--

n.0000 Immediately 1
N2-7ÿCN2-6ÿ

n.×××ÿ: Port DO1 output signal inversion

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ÿ0ÿSignal is not inverted

ÿ1ÿSignal inversion

n.××ÿ×: reserved

n.×ÿ××: Port DO1 output signal selection

ÿ0ÿAlarm signal output (ALM)

ÿ1ÿPositioning completed (COIN): Output after the position deviation is less than the value of PN522

ÿ2ÿZ pulse collector signal (CZ);

ÿ3ÿServo ready output (S-RDY)

ÿ4ÿWarning output (WARN)

ÿ5ÿExternal brake release signal (BK)

ÿ6ÿConsistent speed output (VCMP)

ÿ7ÿMotor rotation detection (TGON)

ÿ8ÿTorque limit signal (TLC)

ÿ9ÿSpeed limit signal (VLC)

[A] Positioning approaching (NEAR): Output after the position deviation is less than the value of PN524

ÿBÿDB brake output signal (DB)

ÿCÿTorque reached (TREACH): Output after the torque feedback reaches the value of PN4A8

n.ÿ×××: reserved

Pn513 Port DO2 output signal configuration (CN2-5, CN2-4)

Pn514 Port DO3 output signal configuration (CN2-3, CN2-2)

Pn515 Port DO4 output signal configuration (CN2-1, CN1-26)

The dual RJ45 terminals of the servo drive are 485 protocol communication ports, and CN3 and CN4 of general products.

The parts are connected together, and their interface definitions are shown in the following table.

Communication signal connector pin definition:

Pins Signal
definition Terminal pinout
Number name

2 none none

RS485
4
+ RS485 communication terminal

RS485 mouth

5
-

8 GND land

shell ON shield

3.3 Connection example of position control:

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3.4 Terminal Arrangement of Encoder Connector (CN3)

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1PG5V PG power supply +5V 2 PG 0V PG power supply 0V

Battery (+) Battery(-)

3 ONE(ÿ) 4 ONE(-)
(When it is an absolute encoder) (When it is an absolute encoder)

5 Ps PG serial signal input (+) 6 /Ps PG serial signal input (-)

Shell shielding

3.5 Connection of regenerative resistor

When connecting an external regenerative resistor, you need to first remove the short-circuit between P+ and D, and then connect P+ and C. If you do not remove the short-circuit, the driver will

Fault.

3.6 Setting the regenerative resistor capacity

When connecting an external regenerative resistor, be sure to set the regenerative resistor capacity using the regenerative resistor capacity adjustment parameter (Pn600).

Danger

If the setting is set to "0" while an external regenerative resistor is connected, the "Regenerative Overload Alarm (A.320)" may not be detected. If the "Regenerative

Overload Alarm (A.320)" cannot be detected normally, the external regenerative resistor may be damaged, resulting in personal injury.

, fire and other accidents, so be sure to set an appropriate value.

Regeneration resistor capacity

Factory setting Reconnect the power

Pn60 Setting range Setting units
Certainly source
0
0ÿMaximum applicable motor for servo unit 10 in 0 unnecessary

capacity

The regenerative resistor capacity should be set to a value that matches the allowable capacity of the external regenerative resistor to be connected.

The cooling condition of the regenerative resistor varies.

When using natural convection cooling: Set to less than 20% of the regenerative resistor capacity (W).

When using forced air cooling: Set to less than 50% of the regenerative resistor capacity (W).

(Example) When the capacity of the self-cooling external regenerative resistor is 100X, the setting value is 100W×20% =20W, so Pn600 should be set to 2

(Setting unit: 10W).

(Note) 1. If the setting value is inappropriate, "Regeneration overload alarm (A.320)" will be displayed.

2. The factory setting "0" is the setting value when using the servo unit's built-in regenerative resistor.

When using an external regenerative resistor at normal rated load, the temperature of the resistor will reach 200ÿÿ300ÿ.

For the load characteristics of resistors, please consult the manufacturer.

important
To ensure safety, it is recommended to use an external regenerative resistor with a temperature control switch.

3.7 Noise and Harmonic Countermeasures

The following describes measures to counter noise and harmonics.

3.7.1 Noise and its countermeasures

Since the main circuit of the servo unit uses high-speed switching elements, when wiring and grounding the servo unit periphery,

May be affected by noise from switching components.

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Since the servo unit is an industrial device, no radio interference protection measures are taken. When using it near residential areas or when there

is a concern about radio interference, please connect a noise filter to the input side of the main circuit cable.
important

To prevent noise, you can take the following noise countermeasures as needed.

Please install the input command device and noise filter as close to the servo unit as possible.

·Be sure to connect a surge suppressor to the coil of a relay, solenoid, or electromagnetic contactor.

When wiring, the main circuit cable (motor main circuit cable) and the input and output signal wires should be separated by more than 30cm.

—sleeve or bundle together.

Do not use the same power source as welding machines, electric spark machines, etc. Even if they are not from the same power source, if there is a high-frequency generator nearby,

Please connect a noise filter to the input side of the main circuit cable. For the connection method of the noise filter, refer to "(1) Noise

filter".

Please perform proper grounding. For more information about grounding, refer to "(2) Proper grounding".

(1) Noise filter

Connect the noise filter in a suitable place to avoid the adverse effect of noise on the servo unit.

The following is an example of wiring that takes noise countermeasures into consideration.

ÿ1. For the wires connected to the housing, please use thick wires of 3.5 mm2 or more (flat braided copper wire is more

suitable). ÿ2. For the wiring, please use twisted-pair wires as much as possible.

ÿ3. Regarding the use of noise filters, please follow the precautions in "3.7.2 Precautions when connecting noise filters".

(2) Proper grounding

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To prevent malfunctions due to noise, the following describes appropriate grounding methods.

Grounding of the motor frame

When the servo motor is mechanically grounded, the switching interference current will flow out from the power unit of the servo unit through the parasitic capacitance of the

servo motor. To prevent this phenomenon, be sure to connect the motor frame terminal (FG) of the servo motor and the ground terminal of the servo unit. In addition, the ground

terminal "" must be grounded.

When noise occurs in the input/output signal cable

When noise occurs in the input/output signal cable, the 0V line (sG) of the input/output signal cable should be connected at a single point.

When the motor main circuit wiring sleeve is equipped with a metal sleeve, be sure to implement single-point grounding for the metal sleeve and the grounding box.

3.7.2 Precautions when connecting a noise filter

1. Precautions when installing and wiring noise filters

Please separate the input wiring from the output wiring. In addition, do not use the same tube for input and output wiring, and do not bundle them.

together.

The ground wire of the noise filter should be set separately from the output wiring. In addition, the ground wire should not be connected to the output wiring of the noise filter or other signal lines.

Use the same casing for the wires and do not bundle them together.

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Connect the noise filter's ground wire to the ground plate alone. Do not connect other ground wires.

If there is a noise filter inside the control cabinet, please connect the ground wire of the noise filter and the ground wires of other devices in the control cabinet to the control cabinet.

The grounding is then carried out on the grounding plate of the cabinet.

3.7.3 Connection of DC reactor for high-order harmonic suppression

When high-order harmonic countermeasures are required, a DC reactor for suppressing high-order harmonics can be connected to the servo unit.

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The following shows how to connect a DC reactor.

DC Reactor

Three-phase input

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Chapter 4 Trial Run D200 Series Servo Drive

Chapter 4 Trial Run

4.1 Inspection and precautions before trial operation

To ensure safe and correct test run, please check and confirm the following items in advance.

(1) Status of the servo motor

Check and confirm the following items. If any problems are found, please handle them properly before trial operation.

· Check whether the settings, wiring and connections are correct.

Check whether the fastening parts are loose.

(Note) If the motor has an oil seal, check whether the oil seal is damaged. 2 Check whether the motor oil has been applied. 2 Check whether the motor oil has been applied.

Check the motor maintenance and inspection instructions.

(2) Status of the servo unit

Check and confirm the following items. If any problems are found, please handle them properly before trial operation.

· Check whether the settings, wiring and connections are correct.

Is the power supply voltage to the servo unit normal?

4.2 Origin search positioning (Fn003)

Origin search is a function to determine the origin pulse (Z phase) position of the incremental encoder and stop at that position.

This function is used when the motor shaft and mechanical position need to be positioned.

Origin search can be performed under the following conditions.

·S-0N is not input. ·Parameter

Pn50A.1ÿ7. The motor speed during

execution is 60min -1.

Please perform the origin search with the coupling disconnected.

When performing origin search, prohibiting forward drive (P-0T) and prohibiting reverse drive (N-0T) are invalid.
important

4.3 Test run the servo motor according to the host command

When performing a test run of the servo motor alone according to the host command, please confirm the following items.

Confirm whether the servo motor movement command and input/output signal input from the host device to the servo unit are set correctly.

Confirm whether the wiring between the host device and the servo unit is correct and whether the polarity setting is correct.

·Confirm whether the servo unit operation settings are correct.

The test run is carried out in the following order.

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Confirm the inspection and precautions before trial operation

Preparation
Confirm the connection and status of the input signal circuit

Trial

When testing with speed control When testing with position control

operation under various control modes

When testing with position control

Test

run

Perform a test run with the machine and servo motor combined

Official operation

when used in combination with a machine

(Note) 1. When origin search positioning is required, please refer to "Origin search positioning (Fn003)". 2.

For the trial run of the servo motor with brake, please refer to "Trial run of the servo motor with brake".

Notice

When testing the servo motor according to the host command, in order to prevent accidents, please make sure that the servo motor is in the no-load state (disconnect the coupling).

The servo motor is in a single state (without joints and belts) for trial operation

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4.4 Trial run during position control

The following describes the test run method for position control.

Steps.

step
operate Reference Project

1 Set the command pulse form according to the pulse output form of the upper pulse commander.

Assuming the command unit, set the electronic gear ratio according to the host device.
2
The electronic gear ratio is set through Pn20E and Pn210. 3 Turn on

the main circuit power supply of the servo unit. 4 Set the

servo 0N (/S-0N) input signal to 0N.

The host device outputs a low-speed pulse command at an easily identifiable motor rotation amount (e.g. 1 revolution).
5
(Note) For safety reasons, please set the command pulse speed to about 100 min-1 for the motor speed. Confirm the

number of command pulses input to the servo unit based on the change in the input command pulse counter before and after
6
the command is issued. 7 Confirm the

actual rotation amount of the motor based on the change in the feedback pulse counter before and after the command is issued. Confirm

whether the values of steps 6 and 7 satisfy the following formula.

8
Un00D=Un00C×(Pn20E/Pn210ÿ

9 Check whether the servo motor rotates in the command direction.

Input pulse commands from the host device to make the motor run at a constant speed with a large rotation
10
amount. (Note) For safety reasons, please set the command pulse speed to about 100min-1.

Check the command pulse speed input to the servo unit using the input command pulse speed (Un007 [min -1]). <Supplement> Calculate Un007

[20-bit

encoder] using the following formula.

11

12 Check the motor speed (Un000 [min -1]). 13 Check that the

values in steps 11 and 12 (Un007 and Un000) are consistent.

14 Stop pulse command and turn servo OFF. So far, the test run is over.

4.5 Test run after mechanical connection of the servo motor to the machine

The following describes the test run method after the servo motor is mechanically connected to the machine.

The following description will be given using the case where the process has been completed as an example.

Danger

If an operation error occurs when the machine and servo motor are connected, it may not only cause damage to the machine, but may also cause human

Personal injury accidents.

During the trial operation of the servo motor alone, the overtravel signal (P-0T, N-0T) is set to 0FF.

(P-0TÿN-0Tÿÿ
important

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step
operate Reference Project

Turn on the main circuit power supply and set the safety function, overtravel, brake and other protection functions. (Note) When using a servo motor

with a

1 brake, before confirming the brake action, please implement measures to prevent the machine from falling naturally or vibrating due to external forces,

and confirm that the servo motor and brake actions are normal. 2 Set the necessary parameters according to the control method used. When the power

supply is OFF,

connect the servo motor and the machine through a coupling, etc.

How to stop the motor

After confirming that the servo unit is servo OFF, turn on the power of the machine (host device). And confirm again whether the protection function set
when the servo is OFF
4 in step 1 is working normally. (Note) To prevent abnormalities in the following
or an alarm occurs
operations, please put the equipment in an emergency stop state.
Law.

Perform a test run of

Perform a trial run of the servo motor unit according to the upper command. Confirm that the trial run result is the same as that of the servo motor the servo motor unit
5
unit. Confirm that the settings of the command unit, etc. are consistent with the machine. according to the host

command.

Confirm that the parameter settings match the control modes again, and then confirm whether the servo motor operation meets the mechanical action
6
specifications. Adjust the servo

gain as needed to improve the servo motor response characteristics. (Note) During the trial run, the servo

motor and the machine may not be compatible. Please fully implement
7

Grinding

Combined operation.

8 At this point, the trial run is complete. Please record the set parameters for future maintenance.

4.6 Trial run of servo motor with brake

Please observe the following precautions when conducting a trial run of a servo motor with a brake.

When testing a servo motor with a brake, be sure to take measures to prevent the machine from falling off naturally before confirming the brake action.

Or measures to prevent vibration caused by external forces.

When testing a servo motor with a brake, first check that the servo motor and the machine are separated.

Verify the operation of the servo motor and brake. If there is no problem, connect the servo motor and the machine and perform the operation again.

Test run.

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Chapter 4 Trial Run D200 Series Servo Drive

Chapter 5 Operation

5.1 Choice of control method

The control methods that can be used in the servo unit are as follows.

The control mode is selected through Pn000.

Parameter Number Name Setting range unit Factory default effective time

Pn000 Function selection basic switch n.0000~00C1 n.0000 Restart power

n.×××ÿ: Rotation direction selection 0: CCW

direction is the forward direction; 1: CW

direction is the forward direction (reverse mode); n.××ÿ×: Control

mode rotation 0: Position control; 1: Speed

control (analog

command) 2: Torque control 3: Internal speed

control; 4: Internal

speed control <-> speed control

(analog command) 5: Internal speed control <-> position control 6: Internal

speed control <-> torque control 8: Position control

<-> torque control n.×ÿ××: Reserved parameters

n.ÿ×××: Reserved parameters

5.2 Setting of basic operation functions

The following describes the settings for operating basic functions.

5.2.1 Servo ON

Set the servo ON signal (/S-ON) used to control the servo motor power on/off.

(1) Signal setting

kind Signal
set up meaning
kind name

ON Make the servo 0N (power on) and enter the operational state.
Input /S-0N External enable or forced enable
OFF Make the servo OFF (power off) and enter an inoperable state.

/S-0N Input connector pin numbers can be freely assigned.

Please input the position command after connecting the servo ON signal to start or stop the servo motor. If you input the command first and then start or

stop the motor by connecting or disconnecting the servo ON signal and AC power, the internal components may age and cause motor failure.
important

(2) Setting to always keep the servo ON

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By setting Pn50A.2 and Pn50A.3, the servo motor can always be in the servo 0N state.

parameter meaning Effective time category

n.00ÿÿ Input /S-0N signal from CN2-9. [Factory setting]

Pn50A Set after turning the power on again
n.ÿÿ1ÿ Fix the /S-0N signal to always be "valid".

If the servo 0N is set to always be valid, when the servo unit main circuit power is 0N, it will enter the operational state (power-on state). When the position

command is input, the servo motor or mechanical system may have unexpected actions, so be sure to take
important
Safety measures.

Even if the system enters an inoperable state (power-off state) due to an alarm, it will automatically return to normal as long as the alarm is reset.

Operational state (power-on state. If the alarm reset is executed during command input, the servo motor or mechanical system may

meaning

Therefore, please be sure to set it to servo 0.

5.2.2 Selection of motor rotation direction

The rotation direction of the servo motor can be changed (switched) through Pn000. At this time, the rotation direction (+, -) of the axis will be reversed, but the programming

The polarity of the output signals from the servo unit, such as encoder pulse output and analog monitoring signal, will not change.

By selecting the rotation direction through this parameter, the polarity of the command pulse and command voltage input to the servo unit can be kept unchanged.

Make the polarity and rotation direction consistent.

ÿ The "forward direction" in the standard setting is "counterclockwise" when viewed from the load side of the servo motor.

Parameter Number Name Setting range unit Factory default effective time

Pn000 Function selection basic switch 0 n.0000~00C1 n.0000 Restart power

n.×××ÿ: Rotation direction selection 0: CCW

direction is the forward direction; 1: CW

direction is the forward direction (reverse mode); n.××ÿ×: Control

mode rotation 0: Position control; 1: Speed

control (analog

command) 2: Torque control 3: Internal speed

control; 4: Internal

speed control <-> speed control

(analog command) 5: Internal speed control <-> position control 6: Internal

speed control <-> torque control 8: Position control <-

> torque control n.×ÿ××: Reserved parameters

n.ÿ×××: Reserved parameters

5.2.3 Overtravel

The overtravel prevention function of the servo unit means that when the moving part of the machine exceeds the designed safe moving range, the limit switch is activated.

A safety function that forces the servo motor to stop.

Notice

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Installation of limit switches

In the case of linear drives, etc., always connect limit switches to prevent mechanical damage.

To prevent oxidation of the contacts, it is recommended to use "normally closed contacts" to ensure that a weak current always flows through the limit switch.

When the servo motor drives the vertical axis

If the workpiece is in the overtravel state, the workpiece may fall. To prevent the workpiece from falling, set the servo motor to enter zero after stopping.

For setting methods, refer to "(3) Selection of the motor stop method when the overtravel prevention function is activated"

(1) Signal setting

kind Signal
Connector Pin Number set up meaning
kind name

ON Positive rotation side can be driven (normal operation)

P-0T CN1-42

OFF Forward drive is prohibited (forward overtravel)

enter
ON Reverse side can be driven (normal operation)
N-0T CN1-43

OFF Reverse drive prohibited (reverse overtravel)

Even in the overtravel state, driving in the opposite direction is still allowed by inputting commands.

In position control, when the servo motor stops due to overtravel, the position deviation pulse remains unchanged.

Deviation pulse, need to input clear signal (CLR)

important

(2) Select whether to use the overtravel prevention function

Through Pn50A and Pn50B, you can choose to use or not use the overtravel prevention function.

When not in use, the forward and reverse drive sides of the servo motor are always in an operational state, so there is no need to input a signal for overtravel.

Number of wiring.

meaning Effective time category

Parameter n.2ÿÿÿ prohibits forward drive signal (P-0T) from CN1-42 input [factory setting].
Pn50A
n.8ÿÿÿThe forward drive prohibition signal is invalid, and the forward side drive is always allowed. Reconnect
set up
n.ÿÿÿ3 Input the prohibit reverse drive signal (N-0T) [factory setting] from CN1-43. After power
Pn50B
n.ÿÿÿ8 The reverse drive prohibition signal is invalid, and the reverse side drive is always allowed.

·P-0T, N-0T can freely assign input connector pin numbers. For details, please refer to "Assigning input signals to input terminals".

(3) Selection of motor stopping method when overtravel prevention function is activated

When overtravel occurs, select the stopping method of the servo motor through Pn001.

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How to stop the Effective

parameter Motor stopped state meaning category
motor time

n. ÿÿ Use DB (dynamic brake) to make the servo

00 Clothes

DB stop The motor stops rapidly and enters

n. ÿÿ
since

01
By free running, the
Free running state
servo motor

Free Shipping stop

n.
Koukouxing Stop, enter the non-powered state after stopping Again
02
stop Depend on

Running state. catch

set up

Pn001 Through the emergency stop torque (Pn40

Fixed

6) power

nÿÿÿ1
Zero position fixed state The servo motor decelerates and stops, and source

mouth

enters back

the zero position fixed state after stopping.

Slow down and stop

Through the emergency stop torque (Pn40

end
6)

n. ÿÿ2 The servo motor slows down and stops, and

Free running state
mouth then

enters the free running state without power supply.

state.

·Cannot decelerate to stop during torque control. With the setting of Pn001.0, the servo motor is stopped by DB or free running, and all enter the free running state after

stopping.

For the method of stopping the motor when the servo is turned off or an alarm occurs, refer to the method of stopping the motor when the servo is turned off or an alarm occurs.

(4) Setting of emergency stop torque value

Set the emergency stop torque value when overtravel occurs.

Parameter No. Emergency Stop Torque Speed Position

Setting range unit Factory value effective time category

Pn406

0ÿ400 1% 400% Immediately effective settings

The setting unit is the percentage of the rated torque. (The rated torque of the servo motor is 100%)

The factory setting is "400%". This is a sufficiently large value to ensure that the servo motor outputs the maximum torque.

The maximum effective emergency stop torque is limited to the maximum torque of the servo motor.

(5) Terminology

ÿ Dynamic brake (DB) is a common

stopping method for servo motors. It can stop the servo motors in an emergency by short-circuiting the servo motor's electrical circuit.

The circuit of the dynamic brake is built into the servo unit.

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ÿ Free-run stop is a method of

stopping the motor naturally by the friction resistance of the motor when it rotates without braking. ÿ

Deceleration stop is a

method of stopping the motor by using the deceleration (brake)

torque. ÿ Zero position fixed

state is a state of maintaining the zero position in the position loop.

5.2.4 Brakes

The brake is used to keep the position fixed when the power of the servo unit is off, so that the moving parts of the machine will not be moved due to their own weight or external forces.

The moving parts are built into the servo motor with brake.

It is used when the servo unit is used to control the vertical axis.

The brake built into the servo motor is a non-excitation type fixed brake and cannot be used for braking purposes.

important
Please use it only when keeping the servo motor stopped. · Please turn off

the servo while applying the brake.

The brake has an action delay time. Please refer to the figure below for the action 0N and 0FF time. If the brake interlock output is used, the action 0N,

0FF time is easier to grasp.

ÿ1. The servo 0N and brake power can be turned on at the same

time. ÿ2. The brake action delay time varies depending on the model. For details, refer to "Brake Action Delay Time" on the next page.

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ÿ3. Please allow at least 200ms between turning on the brake power and inputting the speed command.

ÿ4.t0 represents the motor stop time. For the calculation method of t0, please refer to "Calculation method of motor stop time" on the next page.

ÿ5. Be sure to turn off the brake power after the motor stops. Usually, set t0+t1 to about 1 to 2 seconds.

ÿ6. Please turn OFF "Servo ON" about 0.2 to 1.0 seconds after turning OFF the brake power.

Calculation method of motor stopping time

Calculation method using SI units Traditional calculation formula

2 2

t0 = (JM+JL)×NM×2ÿ(seconds) t0 = (GD M+ GD
L) × NM (seconds)

(TP+TLÿ60 375×(TP+TLÿ

JM : Rotor moment of inertia (kg·m 2) : GD 2 : Motor GD 2 (kgf·m 2)

M

JL Load moment of inertia (kg·m 2) GD 2 :Load moment of inertia GD 2 (kgf·m 2)

L

NM: Motor speed (min2 ) NM: Motor speed (r/min)

TP :Motor deceleration torque (N·m) TP :Motor deceleration torque (kgf·m)

TL :Load torque (N·m) TL :Load torque (kgf·m)

5.2.5 Brake connection and definition assignment

(1) Connection example

The following is an example of standard wiring for the brake signal (/BK) and brake power supply.

Output terminal number assigned by Pn512.2.

Parameter Number Name Setting range Unit factory value effective time

Port DO1 output signal configuration

Pn512 n.0000ÿn.0E01 -- n.0000 immediately 1

ÿCN2-7ÿCN2-6ÿ

n.×××ÿ: Port DO1 output signal inversion

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ÿ0ÿSignal not inverted ÿ1ÿ

Signal inverted n.××ÿ×:

Reserved n.×ÿ××: Port DO1

output signal selection ÿ0ÿAlarm signal output (ALM) ÿ1ÿ

Positioning completed (COIN): Output after

the position deviation is less than the value of PN522

ÿ2ÿZ pulse collector signal (CZ); ÿ3ÿServo ready

output (S-RDY) ÿ4ÿWarning output (WARN) ÿ5ÿ

External brake release signal (BK) ÿ6ÿ

Speed consistency output (VCMP) ÿ7ÿMotor rotation

detection (TGON) ÿ8ÿTorque limiting signal

(TLC) ÿ9ÿSpeed limiting signal (VLC) ÿAÿ

Positioning approaching (NEAR): Output after the

position deviation is less than the value of PN524

ÿBÿDB brake output signal (DB) ÿCÿTorque

reached (TREACH): Output after the torque feedback reaches the value of PN4A8

n.ÿ×××: reserved

The brake signal (/BK) cannot be used in the factory setting. The output signal needs to be allocated. Please refer to "Allocation of brake signal (/BK)" to

set it.

Important (2) The brake signal

controls the output signal of the brake. The brake signal is not assigned at the factory. Please refer to the "Distribution of brake signal (/BK)" for assignment.

match.

kind Signal
Connector Pin Number Output Status meaning
kind name

ON (closed) Release the brake

Unallocated (needs to be allocated
Input/BK
ÿ
OFF Starting brake

The /BK signal is not output in the overtravel state.

Important (3) Allocation of brake signal (/BK) The brake

signal (/BK) is not allocated at the factory. Please allocate it through Pn50F.

Connector pin terminal Effective

parameter meaning category
+ terminal - terminal time

nÿÿ0ÿ
- -

/BK signal is not used [factory setting].

mouth

Connect again
n. ÿ1ÿ CN2- CN2- Output from CN2-25/CN2-26/BK communication set up

Pn001
mouth 25 26 Number. Certainly

After power
n. ÿ2ÿ CN2- CN2- Output /BK signal from CN2-27/CN2-28

mouth 27 28 Number.

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n. ÿ3ÿ CN2- CN2- Output /BK signal from CN2-29/CN2-30

mouth 29 30 Number.

When multiple signals are assigned to the same output terminal, use the XOR logic output signal. To make only the /BK signal effective,

Assign other signals that share the same output terminal as the /BK signal to other output terminals, or set these signals to
important
is invalid.

(4) Brake signal (/BK) output time when the servo motor stops

The brake (/BK) signal is output when the /S-0N signal is OFF. By setting Pn506, the brake (/BK) signal can be changed from /S-0N signal OFF

The time until the motor is de-energized.

Parameter No. Brake Command-Servo 0FF Delay Time Speed Position Torque

Setting range unit Factory value effective time category

Pn506
0ÿ50 10ms 0 Immediately effective settings

When used on a vertical axis, the deadweight or external force of the mechanical moving part may cause the machine to move slightly.

The machine is in a non-energized state after the brake is applied to eliminate slight movement of the machine.

This parameter is used to set the time when the servo motor stops.

When an alarm occurs, the servo motor immediately enters a non-energized state regardless of the setting.

Due to weight or external force, the machine may move before the brake is applied.
important

(5) Brake signal (/BK) output time when the servo motor is rotating

When an alarm occurs during the rotation of the servo motor, the servo motor stops and the brake signal (/BK) is OFF.

The brake signal (/BK) can be adjusted by the servo OFF-brake command waiting time (Pn508) and the servo OFF-brake command output speed value (Pn507).

Output time.

(Note) When the alarm occurs, the stopping method is zero speed stop. After the motor is stopped by the zero speed command, follow (4) to stop the servo motor.

The brake signal (/BK) output time at this time".

Parameter number Brake command output speed value Speed Position Torque

Setting range unit Factory setting effective time category

Pn507
-1
0ÿ10000 1min 100 Immediately effective settings

Parameter number Servo 0FF-brake command waiting time speed position torque

Setting range unit Factory setting effective time category

Pn508
10ÿ100 10ms 50 Immediately effective settings

Brake action conditions when the servo motor is rotating

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The brake will be activated when any of the following conditions are

met: · After the motor enters the non-powered state, the servo motor speed is lower than the setting value

of Pn507 · After the motor enters the non-powered state, the setting time of Pn508 has passed

·Even if a value exceeding the maximum speed of the servo motor is set in Pn507, it will be limited to the maximum speed of the servo

motor. ·Do
important
not assign the motor rotation detection signal (/TG0N) and the brake signal (/BK) to the same terminal. If they are assigned to the same

terminal, the /TG0N signal will be 0N due to the falling speed of the vertical axis, and the brake may not work.

5.2.6 How to stop the motor when the servo is OFF or an alarm occurs

The following table shows how to stop the motor when the servo is OFF or an

alarm occurs. (1) How to stop the motor when

the servo is OFF The method to stop the motor when the servo is OFF is

selected

by Servo motor
parameter meaning category
Pn001.0. stopped state Effective time

The servo motor is stopped rapidly by DB

nÿ ÿÿÿ0 DB status retention (dynamic brake), and the DB state is maintained after

stopping [factory setting]. The

DB stop
servo motor is stopped rapidly by DB (dynamic
brake) when the
Pn001 nÿÿÿÿ1 Free running state servo motor is turned on again, and the free running state is entered after the non-set
power
supply is turned on after stopping.

The servo motor stops by free running, and

Free run stop Free
nÿÿÿÿ2 run state enters the free running state after stopping. (Note)
end
When Pn001=n.

ÿÿÿ0 is set, when the servo motor stops or rotates at a very low speed, it will be in the free running state.

(2) Motor stopping method when an alarm

occurs

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The motor stop method when an alarm occurs is selected by Pn001.0 and Pn00B.1.

Pn001.0 is used to select the motor stop method when the G1 alarm (DB stop alarm) occurs.

Pn00B.1 is used to select the motor stop method when a G2 alarm (zero speed stop alarm) occurs. (Note) Refer

to "Stop method when alarm occurs" in the "10.1.1 Alarm Overview" table to determine whether the alarm that occurred is G1 or G2. ÿ

Motor stop method when a G1 alarm (DB stop alarm) occurs The stop method for a

G1 alarm is the same as the motor stop method when (1) the servo is OFF.

Servo

Servo motor
parameter meaning category
motor stop stopped state Effective time

Law

Use DB (dynamic brake) to make the servo

n. ÿÿ The DB state
makes the servo motor stop rapidly, and maintains the
Port 0 hold
DB state after stopping
DB stop [factory setting]. The servo motor stops rapidly
in the free running state by using DB
n. ÿÿ (dynamic brake) again, and enters the free running state without power supply set up

Pn001 after stopping. The servo motor stops in the free

Port 1 state running state by free
running, and enters the free running
state without power
Free Shipping supply after stopping.
n.
Koukouxing
Port 2 state
stop

ÿ How to stop the motor when a G2 alarm (zero speed stop alarm) occurs

parameter Servo

Servo motor
illustrate category
Pn00B Pn001 motor stopped state Effective time

stopping method

Stop the servo motor by zero

nÿ ÿÿÿ0
DB status retention speed stop, and the motor will keep DB
[Factory settings] Reconnect
state after
nÿÿÿ0ÿ the set up

nÿÿÿÿ1 Zero speed stop stopping.

[Factory settings] power

back

nÿÿÿÿ2 state Entering the free-running state without power

By DB (Dynamic Brake)
nÿ ÿÿÿ0 The servo motor
is stopped rapidly by DB (dynamic brake),
[Factory settings] hold
and the servo motor is

DB stop kept in DB state after stopping. The servo motor is

stopped rapidly again by DB (dynamic brake), and set up

nÿÿÿ1ÿ nÿÿÿÿ1
the servo motor enters the free running state after stopping.

Free running stop

nÿÿÿÿ2

The free running state of electricity.

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(Note) The setting of Pn00B.1 is only valid in position control and speed control. In torque control, the setting of Pn00B.1 will be ignored and the setting of Pn001.0 will

be used.

DB (dynamic brake) is a function for emergency stop. If the power is turned OFF or

By starting and stopping the servo motor with the servo OFF, the DB circuit will frequently operate, which may cause aging of the internal components of the servo unit.

Please control the start and stop of the servo motor by executing the speed input command or position command.

When the main circuit power supply (L1, L2, L3) is OFF, the servo unit will be forced to stop in DB mode, which is different from the above parameters.

The settings are irrelevant.

When the main circuit power supply (L1, L2, L3) is OFF, if a free run stop is required instead of a DB stop, please disconnect the

Open the servo motor wiring (U, V, W) and design a separate sequential control circuit externally.
important

Regarding the stopping method when an alarm occurs, in order to minimize the inertial movement distance when an alarm occurs, the zero

The factory setting for the speed stop alarm is zero speed stop. However, depending on the application, DB stop is sometimes more suitable than zero speed stop.

In these applications, please change the stop method to DB stop.

For example, when two drives are running together, if one of the axes has a zero speed stop alarm, it may cause the machine to fail.

damage.

<Term>

DB (Dynamic Brake)

It is a common stopping method to make the servo motor stop urgently. By short-circuiting the electrical circuit of the servo motor, the servo motor can be stopped urgently.

The circuit of the dynamic brake is built into the servo unit.

5.2.7 Operation during momentary power outage

When the voltage supply of the servo unit main circuit power supply is momentarily OFF, you can choose to continue to energize the motor or cut off the power supply.

Parameter No. Instantaneous stop holding time Speed Position Torque

Setting range unit Factory setting effective time category

Pn509

20ÿ1000 1ms 500 Immediately effective settings

The instantaneous power failure is detected by the time it takes for the main circuit power supply to go from 0N to 0FF. If the time to recover from 0FF to 0N is within the setting value of Pn509

If it is below the set value, the operation continues; if it is above the set value, the servo is turned off.

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·The holding time of the servo unit control power supply is about 100ms. The control power supply cannot be controlled during a momentary power failure. If the

operation steps are the same as the normal power OFF operation, the setting of Pn509 is invalid.

·The holding time of the main circuit power supply varies depending on the output of the servo unit. When the load of the servo motor is large and the "undervoltage
important

alarm (A.410)" occurs during a momentary power failure, this setting is invalid.

<Supplement>

When an uninterruptible power supply is used in the control power supply and the main circuit power supply, it can cope with momentary power failures of more than 1000ms.

5.2.8 Torque limit function when the main circuit power supply is undervoltage

This function detects an undervoltage warning when the main circuit power supply voltage is lower than 200 V and limits the output current. In this way, even if the power

supply voltage is insufficient, the machine can continue to operate without stopping due to an alarm and without the need for recovery work.

To realize this function, the following environmental conditions are

required. ·The control power is supplied by an uninterruptible power supply

(UPS). ·Please set the host controller and servo setting time so that when the main circuit power is restored, the output will not exceed the command acceleration.

When used for a vertical axis, do not limit

the torque below the holding torque .

(1) Execution method

This function can be executed by the host controller or the servo unit alone. ÿ When executed

by the host controller, the host controller limits

the torque after receiving the undervoltage warning. After receiving the undervoltage

warning release signal, the torque limit is controlled. ÿ When executed by the servo unit

alone, according to the undervoltage warning, the

torque limit is applied inside the servo unit. After receiving the undervoltage warning

release signal, the torque limit value is controlled inside the servo unit according to the set time. Use

Pn008.1 selects whether to execute by the host controller or by the servo unit alone. (2) Related parameters The related

parameters are as

follows. Parameters

meaning Effective time category

nÿ ÿÿ0ÿDo not detect main circuit undervoltage warning. [Factory setting] Detect main circuit

undervoltage warning, and execute torque limitation through the upper controller.
nÿÿÿ1ÿ After turning the power set up

Pn008 Detect main

on again
circuit undervoltage warning, and execute torque limitation through Pn424 and
nÿÿÿ2ÿ
Pn425 (executed by the servo unit alone).

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Parameter number Brake command output speed value Speed Position Torque

Setting range unit Factory setting effective time category

Pn424

0ÿ100 % 50 Immediately effective settings

Parameter number Servo 0FF-brake command waiting time speed position torque

Setting range unit Factory setting effective time category

Pn425

0ÿ1000 ms 100 Immediately effective settings

5.3 Encoder pulse output

The encoder pulse output is the feedback of the position. The encoder output is processed inside the servo unit and output to the outside in the form of pulses.

The signal and output phase are shown below.

(1) Signal

kind Signal
Connector Pin Number Output Status meaning
kind name

PA0 Encoder pulse output: Phase A

Encoder pulse output: /A It is divided by the encoder pulse number (Pn212)

/PA0
Mutually The output pulse of the motor rotating one circle is set, A

PB0 Phase A and phase B have a phase angle of 90 degrees

Encoder pulse output: B phase

Difference.

Encoder pulse output: /B

Output
/PB0
Mutually

Encoder pulse output: Z phase

AD0
*
The motor outputs one pulse every time it rotates one circle.
Encoder pulse output: /Z
/PZ0
Mutually*

ÿZ phase (origin pulse) is a signal that outputs one pulse every time the motor rotates one circle.

(2) Output phase shape

Forward rotation (Phase B leads by 90°) Reverse (Phase A leads by 90°)

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(Note) The pulse amplitude of phase Z (origin pulse) varies with the encoder frequency division pulse number (Pn212). It is the same as the amplitude of phase A.

In reverse mode (Pn000.0=1), the phase shape of the frequency division output is the same as the standard setting (Pn000.0=0).

When performing the mechanical origin return operation through the Z-phase pulse output of the servo unit, please run the servo motor for 2 turns first.

If this operation cannot be performed, please set the servo motor speed to below 600min-1 and then

important
When the speed is above 600 min-1, the Z-phase pulse may not be output correctly.

(3) Encoder pulse output setting

The setting method of encoder pulse output is as follows.

Encoder frequency division pulse number speed position torque

category
Pn212 Setting range Setting unit factory setting Effective time

16ÿ16384 1P/Rev 5.4 2500 Set after turning the power on again

Position control (pulse sequence command)

The position control (pulse sequence instruction) is explained below.

Position control (pulse sequence command) is selected through Pn000.

Parameter number meaning Effective time category

Pn000 n. Port 1 port control mode selection: position control (pulse sequence command) effective immediately set up

ÿ Control block diagram

The control block diagram for position control is shown below.

5.4.1 Basic settings for position control

The basic settings of position control (pulse sequence instructions) are explained below.

(1) Setting of pulse command input signal

Please set the pulse command input signal according to the specifications of the host device.

Signal connector pin number name

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Class Name

PULSE 41 Command pulse input +

/MONEY
43 Command pulse input -
S

enter
SIGN 37 Symbol Input+

/ SIG
39 Symbol Input -
N

Please use shielded cables for input and output signals, and ground both ends of the shielded cables.

Please connect the shielded wire on the servo unit side to the connector housing. Connect it to the frame ground wire (FG) with a connector.

(2) Command pulse signal form

The form of the command pulse signal is as follows.

Command pulse signal form Electrical specifications Remark

Symbol + pulse sequence

make

(SIGNÿPULS signal
SIGH
ÿ t1,t2,t3,t7ÿ0.025ÿs
At H level,
Maximum command frequency t4,t5,t6ÿ0.5ÿs
*
Forward command, in L
:4Mpps ÿÿ0.125ÿs
Level is reverse
(Open collector output T-ÿ=0.125ÿs
instruction.
hour

The maximum frequency is

200ippsÿ

CW pulse + CCW pulse

Maximum command frequency

*
t1,t2ÿ0.025ÿs
:4Mpps
t3ÿ0.5ÿs
(Open collector output
ÿÿ0.125ÿs
of
T-ÿ=0.125ÿs
The maximum frequency is

200ippsÿ

90. Phase difference two-phase pulse

rush

(Phase A + Phase B)
t1ÿ0.1ÿs
Maximum command frequency Multiplication mode by
*
t2ÿ0.1ÿs
:4Mpps Pn200.0 to set
ÿÿ0.5ÿs
(Open collector output Certainly.

T-ÿr=0.5ÿs
of

The maximum frequency is

200ippsÿ

ÿThe maximum command frequency (before multiplication) for each multiple is as follows.

×1 times: 1Mpps

×2 times: 1Mpps

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×4 times: 1Mpps (3)

Timing example of input and output signals The timing example of input and output signals is shown below.

(Note) 1. Please set the interval from servo 0N to input pulse input to be more than 40ms. If input is within 40ms, the servo unit may not receive the

command pulse (t3). 2. Please set the

clear signal 0N to more than 20ms (t7).

5.4.2 Clear input signal settings

Please set the clear input signal according to the specifications of the host

device. (1) Setting the clear input signal

type Signal
Connector Pin Number name
Name

CLR Clear Input

enter
/CLR Clear Input

<Supplement> When the external input clearing action is not required, no wiring is required. In this case, please set Pn200.2 = 0. (Position deviation is not

cleared) (2) Setting of clearing input signal form

· The deviation counter inside the servo unit is 0. ·

Position loop action is invalid.

(Note) If it is set to keep clearing state, the servo lock function is invalid. Therefore, the servo motor will be affected by the drift pulse in the speed loop.

And there is a slight rotation.

(3) Selection of clearing action

Depending on the status of the servo unit, you can choose when to clear the position deviation pulse. This is selected through Pn200.2.

Parameter number meaning Effective time category

When base block occurs (servo OFF and alarm is issued), position
nÿÿ0ÿÿ
deviation pulse is cleared [factory setting].

Pn200 The position deviation pulse is not cleared. When clearing, the position deviation Set after turning the power on again
nÿÿ1ÿÿ
pulse is cleared only by the CLR input signal.

n. ÿ2ÿÿ Clear position deviation pulse when alarm occurs.

5.4.3 Setting the number of electronic gears

(1) Encoder resolution

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Serial Encoder Specifications

mark Specification Encoder resolution

17-bit incremental type\absolute value 131072

23-bit incremental type 8388608

(2) Number of electronic teeth

The "electronic teeth number" is a function that allows you to arbitrarily set the amount of movement of the workpiece corresponding to one pulse of the input command from the host device.

"Command unit" refers to the minimum number of positions that the load is moved.

(3) Setting of electronic gear ratio

The electronic gear ratio is set via Pn20E and Pn210.

Electronic gear ratio (numerator) Position

category
Setting range Setting unit factory setting Effective time
Pn20E
1ÿ1073741824
-

4 Set after turning the power on again

(2 30ÿ

Electronic gear ratio (denominator) Position

category
Setting range Setting unit factory setting Effective time
Pn210
1ÿ1073741824
-

4 Set after turning the power on again

(2 30ÿ

When the mechanical reduction ratio between the motor shaft and the load side is n/m (the load shaft rotates n times when the motor rotates m times), the setting value of the electronic gear ratio is

It is obtained according to the following formula.

The setting range of electronic gear ratio is as follows.

0.001ÿElectronic gear ratio (B/A)ÿ1000

important
If the setting range is exceeded, a "parameter setting abnormality alarm" will occur and the servo unit will not operate normally.

(4) Steps for setting the electronic gear ratio

The setting value of the electronic gear ratio varies depending on the machine structure. Please set it according to the following steps.

step Setting content

Confirm mechanical specifications

1

Please confirm the machine's reduction ratio, ball screw pitch, pulley diameter, etc.

2 Confirm the encoder resolution

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Confirm the encoder resolution of the servo motor used.

Determine the command

3
unit Determine the command unit of the host device. Determine the command unit based on the mechanical specifications, positioning accuracy, etc.

Calculate the movement of the load shaft for one

4
rotation Based on the determined command unit, calculate the command unit required for each rotation of the load shaft.

Calculate the electronic gear

5
ratio Calculate the electronic gear ratio using the electronic gear ratio formula.

Set the
6
calculated value in parameters Pn20E and Pn210. (5) Calculation formula for

electronic gear ratio

The calculation formula of electronic gear ratio is as follows.

5.4.4 Smoothing function

This function filters the command pulse input to make the servo motor rotate more smoothly. This function is more effective in the following situations.

· When the host device that issues the command does not perform acceleration

or deceleration · When the command

pulse frequency is low · When the electronic gear ratio is

10 times or more (Note) This setting has no effect on the movement amount (number of command pulses).

(1) Related parameters

The setting values of filter related parameters are as follows.

Position command acceleration and deceleration time parameter position

category
Setting range Setting unit factory setting Effective time
Pn216
0ÿ65535
0.1ms 0 *(0.0msÿ Effective immediately set up
(0ÿ6553.5ms) Position

command moving average time position

category
Setting range Setting unit factory setting Effective time
Pn217
0ÿ10000
0.1ms 0 *(0.0msÿ Effective immediately set up
(0.0ÿ1000.0ms

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ÿWhen set to 0, the filter becomes invalid.

Even if Pn216 and Pn217 are changed during the motor rotation, the change will not be reflected. The change will be effective only when there is no command pulse input

and the motor is stopped.

Important

<Supplement>

The difference between the position command acceleration/deceleration time parameter (Pn216) and the position command moving average time (Pn217) is as follows.

Acceleration and deceleration filter Moving Average Filter

5.4.5 Output of positioning completion signal

During position control, a signal indicating that the servo motor has completed positioning.

When the difference between the command pulse number from the host device and the servo motor movement amount (position deviation pulse) is lower than the setting value of this parameter,

a positioning completion signal will be output.

It is used by the host device to confirm that positioning has been

completed. Signal type Output Status meaning

Connector Pin Number
name

0N (closed) Positioning completed

Output/C0IN
0FF (disconnected) Positioning not completed

·The output signal can be distributed to other output terminals through Pn50E. ·When used in

the factory setting state, the function will automatically change to /V-CMP in speed control and automatically change to constant in torque control.

When "0FF (disconnected)

Positioning completed amplitude position

category
Setting range Setting unit factory setting Effective time
Pn522
0ÿ1073741824
Command unit 7 Effective immediately set up
(2 30ÿ

·The setting unit is the command unit. The command unit depends on the command unit set in the number of electronic teeth. ·This

parameter setting has no effect on the final positioning accuracy.

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(Note) If the setting value is too large, the deviation during low-speed operation will become smaller, and the positioning signal may be output all the time. If the positioning

signal is output all the time, please reduce the setting value until the

signal is no

longer output. <Supplement> When the positioning completion amplitude is small and the position deviation is always small, the output time of the /C0IN signal can be

changed through Pn207.3.

Parameter number Name Content Effective time category

When the absolute value of the position deviation is lower than the positioning completion
nÿ0ÿÿÿ
range, the /C0IN signal is output.

/C0IN signal When the absolute value of the position deviation is lower than the After turning the
Pn207 n. 1 output set up
time positioning completion range and the position command becomes 0 after power on again

filtering, the /C0IN signal is output.

n. 2 mouth mouth mouth

Output /C0IN signal.

5.4.6 Output of positioning proximity signal

During position control, the host device receives the positioning approach signal before confirming the positioning completion signal, which is the action after positioning completion.

This signal is usually used together with the positioning completion signal.

type Signal Output meaning

Connector Pin Number
Name Status

Unallocated 0N (closed) Output when reaching the positioning completion approach point.
Output/NEAR
Need to allocate 0FF (disconnected) The positioning completion approach point has not

been reached. This output signal can be assigned to the output terminal through Pn512.

NEAR signal amplitude position

category
Setting range Setting unit factory setting Effective time
Pn524
0ÿ1073741824
Instruction unit 1073741824 Effective immediately set up
(2 30ÿ

·The setting unit is 1 command unit. The command unit depends on the command unit set in the number of electronic teeth. ·The signal is

output when the difference between the command pulse number of the host device and the movement amount of the servo motor (position deviation pulse) is lower than the set value.

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(Note) Normally, please set a value larger than the positioning completion width (Pn522).

5.4.7 Command pulse prohibition function

The command pulse prohibition function is to stop (prohibit) the command pulse input counting function during position control. When this function is effective,

The servo unit enters the servo lock state. <Term>

Servo lock:

The state in which the motor is stopped by the zero position command in the position loop.

Input signal setting ÿ

When the allocation of sequential control signals is factory set (Pn50A.0=0) To

enable the command pulse prohibition function, use the /S-ON signal.

type Signal Output meaning

Connector Pin Number
Name Status

0N (closed) turns the command pulse inhibit function to 0N and stops counting command pulses.
Input/S-ON
0FF (disconnected) Sets the command pulse disable function to 0FF and allows command pulse counting.

5.5 Speed Control (Internal Speed Control) Operation Example

The following is an example of operation under speed control (internal setting speed control).

The operation method when the soft start function is used in combination with speed control can reduce the impact when the speed is switched.

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When Pn000.1=5 (internal setting speed control ÿ position control), the soft start function only operates at the internal setting speed.

The soft start function is not available when pulse command is input.

If you switch to pulse command input at any speed from the 1st to 3rd speed during operation, the positioning completion signal (/C0IN) can be output and

the pulse command of the servo unit can be received. Therefore, please output the positioning completion signal before the servo unit outputs the pulse command.

After the signal is sent, a pulse command is output from the host

device. The following is an example of operation using internally set speed + soft start ÿ position control (pulse train command).

important

(Note)

1. The figure above is an example of using the soft start

function. 2. The value of t1 will not be affected by whether the soft start function is used. The maximum reading of /P-CL and /N-CL will produce

2ms delay.

3. Switching from speed to position After the motor is decelerated and stopped within the deceleration time set in Pn306, switch to position control. 4.

Switching from position to speed can be performed even when the motor is rotating.

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5.6 Backup of absolute encoder setting value

In order to save the position data of the absolute encoder, a battery unit needs to be installed.

prohibit

Do not install battery units on both sides of the host device and the servo unit. If you install them on both sides at the same time, short circuits will form between the batteries.

The battery unit should be installed on either side of the host device or the servo unit.

(1) When installing the battery on the servo unit 1. Open

the cover of the battery unit. 2. Install the

battery (JZSP-BA01) as shown in the figure.

Note: Please use Toshiba 3.6v, 200mAh equivalent batteries.

5.7 When the encoder battery alarm (AE.08) is displayed

When the battery voltage is below about 2.7V, "Encoder battery alarm (AE.08)" or "Encoder battery warning (A.930)" will be displayed. When the above alarm or warning

appears, please replace the battery according to the following steps. Use Pn008.0 to set

whether to display alarm (AE.08) or warning (A.930).

Parameter number content Effective time category

nÿ ÿÿÿ0 Display an alarm when the battery voltage drops (AE.08) [factory setting].
After turning the power on
Pn008 set up
nÿ ÿÿÿ1 A warning is displayed when the battery voltage is low (A.930). again

If Pn008.0 is set to 0, the alarm will be detected within 4 seconds after the power is turned on and the ALM signal changes from 0FF

to 0N. (Note) If the battery is removed after 4 seconds, the alarm will not be

displayed. If Pn008.0 is set to 1, the battery voltage will be monitored all the time.

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(1) Battery replacement steps 1.

Turn on only the control power of the servo unit. 2.

Replace the battery.

3. After replacing the battery, turn off the servo unit power to clear the "Encoder battery alarm (AE.08)" display. 4. Turn on the servo unit

power again. 5. Confirm that there is no error

display and the servo unit can operate normally.

If the battery is removed after the control power of the servo unit is turned off (including when the encoder cable is removed), the set absolute encoder

data will be lost.

important

5.7.1 Absolute encoder setting (initialization)

Notice

After the absolute encoder is initialized, the multi-rotation data will become 0 and the reference position of the mechanical system will also change.

If the machine is operated in this state, unexpected movements may occur, resulting in personal accidents or machine damage. Please operate the machine with caution.

The absolute encoder must be set (initialized) in the following situations. · When the machine is

started for the first time · When

the "Encoder backup alarm (A.810)" occurs · When the "Encoder

and verification alarm (A.820)" occurs · To set the multi-rotation data

of the absolute encoder to 0, use Fn008 to set (initialize). (1) Notes on setting

(initialization) · Encoder setting (initialization) operation

can only be performed in the servo OFF state. · "Encoder

backup alarm (A.810)" and "Encoder and verification alarm (A.820)" cannot be cleared by the alarm

reset (/ALM-RST) input signal of the servo unit. Be sure to set (initialize) using Fn008.

In addition, if an alarm (Aÿÿÿ) occurs in the encoder internal monitor, please turn off the power to clear the alarm. (2) Setting (initialization) procedure

The setting (initialization) procedure is as

follows.

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5.7.2 Setting the upper limit of the number of rotations

Notice

·Do not change the upper limit of the number of rotations except for special purposes. Changing this data without reason may cause danger.

The multi-rotation upper limit setting is a parameter for setting the upper limit of the encoder multi-rotation data when using an absolute encoder.

When the rotation data exceeds this setting, the encoder rotation will return to 0.

Multiple rotations upper limit speed position torque

category
Pn205 Setting range Setting unit factory setting Effective time

0ÿ65535 1Rev 65535 Set after turning the power on again

(Note) 1. This setting is only valid when using an absolute encoder.

2. The range of multi-rotation data varies depending on the setting of the multi-rotation number upper limit value.

Factory settings Non-factory settings

When the factory settings are changed to other settings, the data changes as shown below.

1. If the multi-rotation data is 0 and the servo motor rotates in the opposite direction, the multi-rotation data changes in the direction of the set value of Pn205.

2. If the multi-rotation data is the setting value of Pn205 and the servo motor rotates in the positive direction, the multi-rotation data changes toward 0.

Please set the value of "Required extra rotation - 1" in Pn205

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5.7.3 When the multi-rotation upper limit value inconsistency alarm (A.CC0) is displayed

When changing the set value of the upper limit of the number of rotations through Pn205, the alarm "Encoder upper limit value of multiple rotations is inconsistent

(A.CC0)" will be displayed.

show name Alarm code output meaning

AL01 AL02 AL03 The upper limits of the number of revolutions of the encoder and the servo unit
A. The upper limit of the number of rotations of the CC0 encoder is inconsistent
are inconsistent.

If an alarm is displayed, follow the steps below to make the upper limit of the number of multi-rotation turns inside the encoder consistent with the setting value of Pn205.

5.8 Rotation detection output signal (/TG0N)

Output signal showing that the servo motor is rotating at a speed higher than the Pn502 setting value. The signal status

can be confirmed through the panel operator or digital operator. When the rotation detection output signal

(/TG0N) is assigned to the same output terminal as the brake signal (/BK), the signal will be output in XOR logic. At this time, due to the falling speed of the vertical

axis, the /TG0N signal will be 0N (L level), and the /BK signal cannot be turned to 0FF (H level). Therefore, be sure to assign the /TG0N signal and the /BK signal

to different terminals.
important

(1) Signal specifications

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meaning
Type Signal Name Connector Pin Number Output Status

0N (Closed) The servo motor is rotating at a speed higher than the setting value of Pn502.
Output/TG0N
0FF (disconnected) The servo motor is rotating at a speed lower than the setting value of Pn502.

<Supplement>

The /TG0N signal can be distributed to other terminals via Pn50E.

(2) Related parameters

Set the condition range for outputting the /TG0N signal.

Rotation detection value speed position torque

category
Pn502 Setting range Setting unit factory setting Effective time

0ÿ10000 1min -1
20 Timely entry into force set up

5.9 Servo ready output signal (/S-RDY)

This is the output signal when the servo unit is in the servo 0N signal reception completed state (no servo alarm occurs when the main circuit power is 0N*).

ÿ When using an absolute encoder, in addition to the above state, it is also necessary to output an absolute value to the upper device when the SEN signal is 0N (H level).

The servo ready signal can be output only when the value data is ".

(1) Signal specifications

meaning
Type Signal Name Connector Pin Number Output Status

/S- 0N (closed) Servo is ready.

Output
R.D.Y. 0FF (disconnected) Not servo ready state.

<Supplement>

The /S-RDY signal can be distributed to other terminals via Pn50E.

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D200 Series Servo Drive Chapter 6 Adjustment

Chapter 6 Adjustment

6.1 About Adjustment

Adjustment (tuning) is a function to optimize the responsiveness of the servo unit. The

responsiveness depends on the servo gain set in the servo unit. The servo gain is

determined by combining multiple parameters (speed and position gain, filter, friction compensation, load moment of inertia ratio, etc.).

Therefore, the servo gain setting must take into account the balance between the setting values of each parameter.

Generally, for machines with high rigidity, the responsiveness can be improved by increasing the servo gain. However, for machines with low rigidity, when the servo gain is increased,

vibration may occur, and the responsiveness cannot be improved. In this case, the vibration can be suppressed by the various vibration suppression functions of the servo unit.

The factory setting of servo gain is a stable setting. The servo gain can be adjusted according to the status of the user's machine to further improve the response.

sex.

This section explains the following auxiliary functions related to adjustments.

Accessibility
Available control
related overview operate
methods
to adjustments

No adjustment required This function provides stable response regardless of the type of machine or load fluctuations,
Speed and position are controlled by the panel operator
(Fn200ÿ even without adjustment.

The servo unit's internal instructions automatically adjust the load inertia ratio, gain, and filter
Advanced Auto
while running automatically. Speed and position through digital operator
Tuning (Fn201)
Adjustment function.

Command input
The function of automatically adjusting the position while the machine is in operation by inputting the position
type advanced automatic Location Through digital operator
command from the host device.

tuning (Fn202)

Single parameter tuning Set the gain value and manually adjust the gain and filter. You can adjust the position and speed Via the panel operator
Speed, position
ÿ

Harmony (Fn203) gain, filter and friction compensation.

Type A anti-vibration
This function can effectively suppress vibrations between 100Hz and 1000Hz. Speed and position through digital operator
control function (Fn204)

Vibration suppression function

This function can suppress the residual vibration generated during positioning. Location Through digital operator
(Fn205ÿ

ÿ When operating via the panel operator, some functions will be restricted.

6.2 Basic adjustment steps

The following is a flowchart of the basic adjustment steps. Please make appropriate adjustments according to the status and operating conditions of the machine used.

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6.3 Safety precautions during adjustment

Notice

When making adjustments, be sure to observe the following points.

·When the servo is at 0N and the motor is rotating, do not touch the rotating part

of the motor. ·When the servo motor is running, make sure it can be stopped at any time.

·Make adjustments after confirming that the test run is normal. ·To

ensure safety, set a stop device on the machine side.

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(1) Overtravel setting

Please set the overtravel

setting. (2) Torque limit setting The

torque limit function calculates the torque required for the machine to operate and limits the output torque so that it does not exceed the value. It can reduce the impact when

the machine has interference or collision. If the torque is set to a value lower than the value required for operation, overshoot or vibration may occur.

The parameters of torque limit are "Forward torque limit (Pn402)" and "Reverse torque limit (Pn403). (3) Setting of position deviation

excessive alarm value The position deviation excessive

alarm is an effective protection function when using the servo drive for position control. When the motor action does not match the

command, by setting an appropriate position deviation excessive alarm value, the abnormal situation can be detected and the motor can be stopped. Position deviation refers

to the difference between the position command value and the actual position. The position

deviation can be expressed by the following relationship between the position loop gain and the motor speed.

(Note) Pn102: Position loop gain [0.1/s]

Position deviation excessive alarm value (Pn520) [Setting unit: 1 command unit]

The double underlined part "×(1.2ÿ2ÿ" is a surplus factor to avoid frequent occurrence of excessive position deviation alarms. As long as the above

relationship is maintained, the excessive position deviation alarm will not occur during normal operation. When the position deviation occurs

due to the motor action not matching the command, the abnormality will be detected and the motor will stop running. When the acceleration and deceleration of

the position command exceeds the tracking ability of the motor, the tracking lag will become larger, resulting in the position deviation not being able to meet the requirements.

Please reduce the acceleration and deceleration of the position command to a value that the motor can track, or increase the position deviation excessive alarm value.

ÿ Related parameters

Position deviation too large alarm value position

category
Setting range Setting unit factory setting Effective time
Pn520
1ÿ1073741823
1 command unit 5242880 Timely entry into force set up
(2 30-1) (4)

Setting of vibration detection function Please

set an appropriate value for the vibration detection function through the initialization of the detection value of vibration detection (Fn01B).

(5) Setting of excessive position deviation alarm value when servo is 0N

When the clearing action (Pn200.2) is set to a value other than "0", the position deviation will remain in the base block. In the base block,

When the motor rotates under the action of external force, if the servo is set to 0N, it returns to its original position so that the position deviation becomes 0.

ÿ Related parameters

Position deviation too large alarm value position

category
Setting range Setting unit factory setting Effective time
Pn520
1ÿ1073741823
1 command unit 5242880 Timely entry into force set up
(2 30-1ÿ

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Servo 0N position deviation excessive warning value position

category
Setting range Setting unit factory setting Effective time
Pn526
1ÿ1073741823
1 command unit 5242880 Timely entry into force set up
(2 30-1ÿ

Speed limit value position when servo is 0N

category
Pn529 Setting range Setting unit factory setting Effective time

1ÿ10000 1min -1
10000 Timely entry into force set up

When the servo is turned off with the position deviation accumulated, the "Speed limit value when servo is turned off (Pn529)" will be set to zero in order to make the position deviation zero.

The speed of the motor when returning is limited. The speed limit continues until the position deviation becomes 0.

ÿ Related Alerts

Alarm Code
Alert Name Alert content
Number

Position deviation when servo is 0N Start the motor without clearing the position deviation pulse in the servo OFF state.
A.C01
Too large alarm This alarm is displayed when the accumulation of deviation pulses becomes too large.

Speed limit when servo is 0N When the position deviation pulse is accumulated and the servo is 0N, the speed limit when the servo is 0N is

A.C02 The position deviation caused by The speed limit is executed by the control value (Pn529). At this time, the command pulse is input, and the limit is not

Big Alarm released. When the setting value of the position deviation excessive alarm value (Pn520) is exceeded, an alarm is displayed.

When the accumulated position deviation exceeds the "servo 0N position deviation excessive alarm value (Pn526)" when the servo is 0N, an alarm occurs.

For how to handle an alarm, refer to "Chapter 10 Troubleshooting".

(6) Setting the maximum position deviation between motor and load

It is used to prevent loss of control due to damage to the external scale, or to detect "slip" in the belt mechanism.

When using the servo unit in control mode, please refer to "Chapter 9 Full Closed Loop Control" to set the protection function.

ÿRelated parameters

Motor load position deviation too large detection value position

category
Pn51B Setting range Setting unit factory setting Effective time

1ÿ1073741824 1 instruction unit 1000 Timely entry into force set up

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Chapter 7 Accessibility (Fnÿÿÿ)

7.1 Auxiliary functions overview

Auxiliary functions refer to functions related to the operation and adjustment of the servo motor.

The number displayed on the panel operator is beginning with Fn.

The following table lists the accessibility features—overview and reference items.

FN Number Function References

Fn000 Display of alarm log

Fn001 Setting the rigidity level

Fn002 JOG operation mode

Fn003 Origin search positioning

Fn004 Program JOG operation

Fn005 Initialization of parameters

Fn006 Clearing alarm records

Fn008 Absolute encoder initialization

Fn009 Automatic adjustment of analog (speed / torque) command offset

Fn00A Manual adjustment of speed command offset

Fn00B Manual adjustment of torque command offset

Fn010 Parameter write prohibition setting

Fn011 Display motor model

Fn012 Display the software version of the servo drive

Fn018 Restore parameters to factory settings

Fn01B Initialize the detection value of vibration detection

Fn022 Adjust encoder information

Fn200 No adjustment value setting

Fn201 Advanced Auto-Tune

Fn202 Command input type advanced automatic tuning

Fn203 Single parameter tuning

Fn204 A-type anti-vibration control function

Fn205 Vibration suppression function

Fn206 EasyFFT

Fn207 Online vibration monitoring

7.2 Origin search positioning (Fn003)

The origin search is a function that stops after positioning at the origin pulse (Z phase) of the incremental encoder.

Notice

Please perform the origin search with the coupling disconnected.

When performing origin search, prohibiting forward drive (P-0T) and prohibiting reverse drive (N-0T) are invalid.

(1) Pre-operation settings

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To perform a search operation, the following settings must be made in advance.

·When the S-0N input signal is 0N, please switch it to 0FF.

· If Pn50A.1 is set to "1" (servo is always on "valid"), please change it to a value other than "1". (2) Operation

steps The

operation steps for origin search are as follows.

7.3 Program J0G Run (Fn004)

Program J0G operation is to set and execute the function of continuous operation determined by the pre-set operation mode, moving distance, moving speed, acceleration

and deceleration time, and repeated operation times. This function

is the same as J0G operation (Fn002). When setting, it is not connected to the host device. The action of the servo motor can be confirmed and the execution is simple.

positioning action.

(1) Pre-operation settings To

run the program J0G, the following settings must be made in advance.

·Please set the correct running distance and running speed based on the operating range and safe running speed of the machine used.

·Please

make the servo unit in the servo ready state.

When the S-0N input signal is 0N, please switch it to 0FF.

When Pn50A.1 is set to "1" (servo 0 is always "valid"), please change it to a value other than "1". (2) Notes and

additional matters

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(Note) Although the program J0G operation is under position control, the pulse input to the servo unit is prohibited (/INHIBIT).

The status of the command is reset and cannot be used.

<Supplement> · Functions used in position control such as position command filtering can be executed.

The overtravel prevention function takes effect.

When using an absolute encoder, the SEN signal is always valid, so it does not need to be input.

(3) Related parameters

The parameters that can be set when running program J0G are as follows.

Program J0G operation type switch speed position torque

category
Pn530 Setting range Setting unit factory setting Effective time

- -

0000 Timely entry into force set up

Program J0G moving distance speed position torque

category
Setting range Setting unit factory setting Effective time
Pn531
1ÿ1073741824
1 command unit 32768 Timely entry into force set up
ÿ2 30ÿ

Program J0G moving speed speed position torque

category
Pn533 Setting range Setting unit factory setting Effective time
-1
1ÿ10000 1min 500 Timely entry into force set up

Program J0G acceleration/deceleration time speed position torque

category
Pn534 Setting range Setting unit factory setting Effective time

2ÿ10000 1ms 100 Timely entry into force set up

Program J0G Waiting time Speed Position Torque

category
Pn535 Setting range Setting unit factory setting Effective time

0ÿ10000 1ms 100 Timely entry into force set up

Program J0G Movement times Speed Position Torque

category
Pn536 Setting range Setting unit factory setting 1 time Effective time

0ÿ1000 1 Timely entry into force set up

Parameter number meaning Factory settings

n. ÿÿÿ0 (waiting time Pn535ÿforward movement Pn531) × number of movements Pn536

n. ÿÿÿ1 (waiting time Pn535ÿreverse movement Pn531) × number of movements Pn536

(Waiting time Pn535 ÿ Forward movement Pn531) × Number of movements Pn536

n.ÿÿÿ2
(waiting time Pn535 ÿ reverse movement Pn531) × number of movements Pn536

Pn530 (waiting time Pn535 ÿ reverse movement Pn531) × number of movements Pn536 0
n.ÿÿÿ3
(Waiting time Pn535 ÿ Forward movement Pn531) × Number of movements Pn536

(Waiting time Pn535 ÿ Forward movement Pn531 ÿ Waiting time Pn535 ÿ Reverse transfer
n.ÿÿÿ4
Pn531) × number of moves Pn536

(Waiting time Pn535 ÿ Reverse movement Pn531 ÿ Waiting time Pn535 ÿ Forward transfer
n.ÿÿÿ5
Pn531) × number of moves Pn536

n.ÿÿÿ7 Set internal multi-speed through IO, up to 5 speeds

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(4) Setting method for unlimited operation

· When Pn530.0 = 0, 1, 4, 5, set the program J0G movement times (Pn536) to "0" to perform unlimited operation. · The program J0G

operation mode follows the setting of Pn530.0. In each operation mode, only the movement times are unlimited. · To end the

unlimited operation, press the M0DE/SET key to turn the servo OFF. (Note) When

Pn530.0 = 2, 3, unlimited operation cannot be performed.

When Pn530.0=0,1, it can only move continuously in one direction. Please pay full attention to the operating range.

(5) Program J0G operation mode

Program J0G operation mode example is shown below. The following assumes that the motor rotation direction is set to Pn000.0=1 (CCX direction is forward rotation).

direction).

Pn530.0=0 (waiting time Pn535ÿforward movement Pn531) × number of movements Pn536

Speed Lines

Servo motor

operating status

Pn530.0=1 (waiting time Pn535ÿreverse movement Pn531)×number of movements Pn536

Speed Lines

Servo motor

operating status

(Waiting time Pn535 ÿ forward movement Pn531) × number of movements Pn536

Pn530.0=2
(Waiting time Pn535 ÿ reverse movement Pn531) × number of movements Pn536

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Speed Lines

Servo Motor

Running status

(Waiting time Pn535 ÿ Reverse movement Pn531) × Number of movements Pn536

Pn530.0=3
(Waiting time Pn535 ÿ Forward movement Pn531) × Number of movements Pn536

Speed Lines

Servo Motor

Running status

(Note) When Pn530.0=3, unlimited operation is not possible.

(waiting time Pn535ÿforward movement Pn531ÿwaiting time Pn535ÿreverse movement Pn531) × number of movements
Pn530.0=4
Pn536

Speed Lines

Servo motor

operating status

(waiting time Pn535ÿreverse movement Pn531ÿwaiting time Pn535ÿforward movement Pn531) × number of movements
Pn530.0=5
Pn536

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Speed Lines

Servo Motor

Running status

(6) Operation steps

The operation steps for running program J0G are as follows.

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D200 Series Servo Drive Chapter 8 Monitoring Display (Unÿÿÿ)

Chapter 8 Monitoring Display (Unÿÿÿ)

Monitoring display refers to the command value set in the servo unit, the status of input and output signals, and the internal status of the servo unit.

The monitor display is shown below.

UnNumber Display Content unit

-1
Un000 Motor speed min

-1
Un001 Speed command min

Un002 Internal torque command (value relative to rated torque) %

Start from the origin

Un003 Rotation angle 1 (32-bit decimal display)
Number of pulses

Un004 Rotation angle 2 (angle from the origin (electrical angle)) you

Un005 Input signal monitoring

Un006 Output signal monitoring

-1
Un007 Input command pulse speed (valid only in position control) min

Un008 Deviation counter (position deviation) (valid only in position control) Command unit

Un009 Cumulative load factor (value when rated torque is 100%: displays effective torque for 10s period) %

Un00A Regeneration load factor (value when the processable regenerative power is 100%: display the regenerative power consumption in a 10s cycle) %

DB resistor power consumption (value when the processable electric energy during dynamic brake operation is 100%: displayed for 10s cycle)
And00B %

DB power consumption during the period)

Un00C Input command pulse counter (32-bit decimal display) Command unit

Un00D Feedback pulse counter (4 times the encoder pulse number increment data: 32-bit decimal display) Encoder pulse

External encoder
Un00E Full closed loop feedback pulse counter (4 times the number of full closed loop feedback pulses: 32-bit decimal display)
pulse

Un012 Total running time 100ms

Un013 Feedback pulse counter (32-bit decimal display) Command unit

Un014 Effective gain monitoring

Un015 Safety input and output signal monitoring

-1
Un020 Motor rated speed min

-1
Un021 Maximum motor speed min

Un140 Bus DC voltage V

UN180 encoder single turn value Unit32 1 encoder pulse

UN182 encoder multi-turn value Unite16 1 lap

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UN184 Motor absolute position lower 32 bits (encoder unit) int32

UN186 Motor absolute position lower 32 bits (encoder unit) int32

UN188 Motor absolute position lower 32 bits (user unit) int32

UN18A Motor absolute position high 32 bits (user unit) int32

Chapter 9 Alarm Codes and Processing

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D200 Series Servo Drive Chapter 9 Alarm Codes and Processing

9.1 When an alarm is displayed

This section explains how to handle an alarm when it is displayed.

"Causes of Alarms and Solutions" lists the causes of alarms and how to solve them.

9.1.1 Alarm Overview

The alert overview is shown below.

There are two methods to stop the motor when an alarm occurs:

Gr.1: The stopping method in case of alarm is determined by Pn001.0. The factory setting is dynamic brake (DB) stopping.

Gr.2: The stop method during alarm is determined by Pn00B.1. The factory setting is zero speed stop when the speed command is zero. During torque control,

Generally, the stop method of Gr.1 is used. By setting Pn00B.1 = 1, the same stop method as Gr.1 can be set.

This stop method can be used to prevent damage to the machine due to different stop methods when an alarm occurs when there are multiple motors.

alarm During alarm Alarm Reset Alarm code output

Alert Name Alert content
serial number Stop Attribute Is it possible AL01 AL02 AL03

Servo unit internal parameter data

A.020 Parameter and verification abnormality Gr.1 No
abnormal.

Servo unit internal parameter data

A.021 Parameter format error Gr.1 No
The format is abnormal.

Servo unit internal parameter data

A.022 System and verification abnormality Gr.1 No
abnormal.

Servo unit internal parameter data

A.023 Parameter password abnormality Gr.1 No
abnormal.

A.030 Main circuit detection unit fault Main circuit various detection data abnormal Gr.1

A.040 Parameter setting failure Out of setting range. Gr.1 No

H H H
Encoder frequency division pulse number (Pn212)
Frequency division pulse output setting
A.041 Does not meet the set range Gr.1 No
barrier

Or set conditions.

The combination of multiple parameters exceeds the setting

A.042 Parameter combination failure Gr.1 No
scope.

A.050 Combination error Outside the combined motor capacity range Gr.1

A.051 Product Not Supported Alert An unsupported product is connected. Gr.1 No

Auxiliary operation to energize the motor was performed

A.0b0 Servo 0N command invalid alarm After the function, the host device input Gr.1 Yes

Servo 0N command.

Power transistor overcurrent or heat dissipation

A.100 Overcurrent detection Gr.1 NoL H H
The film is overheated.

A.300 Regeneration failure Regeneration fault. Gr.1 Yes

A.320 Regeneration overload A regeneration overload has occurred. Gr.2 L L H

A.330 Main circuit power wiring fault Detected when the main circuit power is turned on. Gr.1

A.400 Overvoltage The DC voltage of the main circuit is abnormally high. Gr.1 Yes
H H L
A.410 Undervoltage The DC voltage of the main circuit is insufficient. Gr.2 Yes

alarm Alert Name Alarm content Alarm code output during alarm

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serial number Stop attribute bit AL01 AL02 AL03

A.510 Overspeed The motor speed exceeds the maximum Gr.1 Yes

speed. The motor speed exceeds the set

A.511 frequency division pulse output overspeed encoder frequency division pulse number (Pn212). Gr.1 Yes

limit. L H L

A.520 Vibration Alarm Abnormal vibration of the motor speed was Gr.1 Yes

detected. Vibration was detected during the

A.521 Auto-tune alarm Gr.1 Yes
adjustment-free

function auto-tuning. A.710 overload (momentary

maximum load) with a torque significantly exceeding Gr.2 Yes
the rated value was operated for several seconds to

several tens of seconds. A.720 overload (continuous

maximum load) with a torque exceeding the rated value Gr.1 Yes
was operated continuously.

Due to the DB (dynamic brake) operation, the

A.730
DB Overload rotation energy exceeds the capacity of the Gr.1 Yes L L L
A.731
DB resistor.

Inrush current limiting resistor

A.740 The main circuit power supply is connected at too high a frequency. Gr.1
overload

The temperature of the heat sink of the servo

A.7A0 Heat sink overheating Gr.2 Yes
unit exceeds 100°C.

The servo detects overtravel and

A.810 Overtravel alarm Can
an alarm is issued when Pn00D.3=2.

The encoder memory sum check result is

A.820 Encoder and Calibration Alarm Gr.1 No
abnormal.

The driver was operated for several to

Drive overload (momentary
A.830 several tens of seconds at a torque Can
overload)
significantly exceeding the rated value.

The driver is overloaded (the driver is continuously operated with a

A.840 Can
torque exceeding the rated value). The motor load exceeds the

set value when the collision protection

A.850 Motor collision error Can
is turned on.
H H H
The main circuit power supply has the
A.860 Main circuit power supply alarm Can
phenomenon of ONÿOFFÿON, and PN00D.0=0.

A.891 Encoder module error Encoder fault. Speed command Gr.1

input A/D converter fault. Speed

A.a10 Speed command A/D fault Gr.2 Yes

command A/D conversion data Speed command A/D conversion

A.a11 Gr.2 Yes
data is abnormal.

The A/D converter of the torque command

A.a20 Torque command A/D fault Gr.2 Yes
input is faulty.

A.a31 Current detection fault 1 U phase current detection circuit fault. Gr.1 No

A.a32 Current detection fault 2 V phase current detection circuit fault. Gr.1 No

alarm Alert Name Alarm content Alarm code output during alarm

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serial number Stop attribute bit AL01 AL02 AL03

A.a33 Current detection fault 3 Current detection circuit fault. A servo Gr.1 No

System Alarm unit internal program fault 0 has

A.aF0 Gr.1 No
0 (Scan C Failure) occurred.

System alarm 1 (CPU stack Servo unit internal program error 1 has
A. and F1 Gr.1 No
memory failure) occurred.

System alarm 2 (current control Servo unit internal program error 2 has H H H
A.aF2 Gr.1 No
processing unit program occurred.

failure) System Servo unit internal program error 3 has

A.aF3 Gr.1 No
alarm 3 (scan A occurred.

failure) System alarm 4 Servo unit internal program error 4 has

A.aF4 Gr.1 No
(CPU WDT failure) occurred.

A.C10 Prevention of loss of control detection Servo motor out of Gr.1 Yes
*1
A.C20 Phase False Detection control. Wrong phase detection. Gr.1 No

A.C22 Phase information is inconsistent*1 Phase information is inconsistent. Gr.1 No

A.C50 Magnetic pole detection failure*1 Magnetic pole detection failed. Gr.1 No

A.C51 Overtravel detected during magnetic pole detection*1 Overtravel signal Gr.1 detected during magnetic pole detection No Servo 0N in

the state where magnetic pole detection is not

A.C52 Magnetic pole detection not completed*1 Gr.1 No
completed.

Magnetic pole detection exceeds The moving range during magnetic pole detection
A.C53 Gr.1 No
the exceeds the set value (Pn48E).

active range A.C54 Magnetic pole detection failure 2 Magnetic pole detection failed. Gr.1 No

Encoder clear fault (the

upper limit of the number of revolutions
A.C80 of the multi-rotation Gr.1 No L H L
absolute encoder is set incorrectly.)

The encoder and servo unit cannot

A.C90 encoder communication failure Gr.1 No

Encoder communication position communicate. An error occurred in the

A.C91 Gr.1 No
data acceleration encoder position

abnormality Encoder data calculation. An error occurred in the

A.C92 Gr.1 No
communication timer fault communication timer between the encoder and servo unit.

A.CA0 Encoder parameter error The encoder parameters are destroyed. Gr.1 No

A.CB0 Encoder feedback check error and encoder communication content error. Gr.1 No The upper limit of the number of

rotations is inconsistent with the upper limit of the number of rotations of the
A.CC0 Gr.1 No
encoder and the servo unit. In the servo 0N state, the position

deviation exceeds the position deviation

A.D00 Position deviation is too large excessive alarm value. Gr.1 Yes

(Pn520ÿÿ L L H

Servo 0N position deviation

A.D01 The position deviation pulse accumulation is too large. Gr.1 Yes
excessive alarm

alarm Alert Name Alarm content Alarm code output during alarm

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serial number Stop attribute bit AL01 AL02 AL03

When the servo is turned on in the state of

position deviation pulse accumulation, the

position deviation alarm value
(PN529) is limited by the speed limit when the servo is
A.D02 turned on. At this time, if the Gr.2 Yes
command pulse is input, the limit is not released and the
L L H
position deviation alarm value (Pn520) is exceeded.

The deviation between the motor and

A.D10 The deviation between the motor and the load position is too large. Gr.2
the load

position is too large A.E00 Encoder overspeed Communication type multi-turn encoder overspeed error Can

A.E01 Encoder count error 2 Communication type multi-turn encoder count error Communication type Can

multi-turn encoder count overflow error.

A.E02 Encoder count overflow Can

Communication type multi-turn encoder multi-turn data

A.E07 Encoder multi-turn data error. Communication Can
type multi-

turn encoder battery voltage low alarm

A.E08 Encoder battery alarm Can

The motor load exceeds the maximum current

A.E09 Fabricated alarm for 600MS. The given speed is greater than 10 no

rpm and the feedback speed is less than 2

rpm. If the mechanical part is not stuck, the deviation between the given current and
A.E70 no
the actual current can be set to PN602 = 0000 to shield this alarm. Internal chip

communication error 2
A.E71 Internal chip communication error no

Communication encoder communication

A.E73 Encoder communication frame error 1 Can
frame error (driver end)

Communication encoder communication

A.E74 Encoder communication frame error 2 Can
frame error (encoder

end) A.E75 Encoder communication frame error 3 Communication encoder communication data error Yes

A.E80 Incremental encoder disconnection Incremental encoder cable disconnection A.E81 or No

Encoder count error 1 Communication encoder count error 1 Can

A.EB0 encoder error Communication type multi-turn encoder error Can

9.1.2 Causes of alarms and solutions

When a servo drive fails, the panel operator will display the alarm "A. ÿÿÿ or CPF ÿÿ". The causes and solutions to the alarm are

listed below. If the fault cannot be cleared after following the procedures in the table below, please contact our agent or the nearest branch.

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warn Warning code output

Warning Name Warning content

show AL01 AL02 AL03

A.900 Position deviation is too large A.901 H H H

Position deviation is too large when the servo is 0N The accumulated position deviation pulse exceeds the proportion H when the servo is 0N H H

Is the time before the overload alarm (A.710 or A.720) is reached

A.910 Overload L H H
Warning display. If the operation is continued, an alarm may occur.

Detects abnormal vibration of motor speed. Same as the detection value of A.520

A.911 Vibration The vibration detection switch (Pn310) is used to set the alarm. L H H

Report or warning.

It is the warning signal before the regeneration overload (A.320) alarm is reached.
A.920 Regeneration overload H L H
If the operation continues, an alarm may occur.

It is a warning before the DB overload (A.731) alarm is reached.

A.921 DB overload H L H
If the operation continues, an alarm may occur.

Absolute encoder battery

A.930 It is a warning display of low battery voltage of absolute encoder. L H
abnormal

Need to reconnect the power

A.941 A parameter change has occurred that requires a power cycle. H H L
Parameter changes

It is a warning before the undervoltage (A.410) alarm is reached.

A.971 Undervoltage warning L L L
If the operation continues, an alarm may occur.

warn Warning content reason Confirmation method Treatment measures

Set the power supply voltage to the specified

The power supply voltage is above the specification range. Measure the power supply voltage
Within the range

Change the regenerative resistor value and

born

Resistor capacity or servo unit

Regeneration overload warning External regenerative resistor value, servo amplifier Reconfirm the operating conditions and
Allow

Regeneration overload occurs Larger capacity or regenerative resistor capacity Capacity (Capacity Selection Software
A.920 Set the operation conditions again.
(A.320) before Insufficient or continuous regeneration state sigm_size+, etc.).
Item
warn
(Capacity Selection Software

sigm_size+, etc.).

Re-examine the system including

Continuously bear negative load, in continuous Check the servo in operation
servo, machinery, and operating conditions
Regeneration status Motor load
System.

Do not use external force to drive the

The motor is driven by an external force Confirm the operating environment.
machine

DB overload warning Try the following measures.

Become DB overloaded Reduce the servo motor

A.921 Power dissipation through DB resistor
(A.731) The rotational energy when DB stops exceeds make

(Un00B) Confirm the use of DB

Warning before Capacitance of DB resistor speed.
Use frequency.
Reduce the load moment of inertia

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Reduce the number of DB stops

The servo unit may be faulty . Repair or

Servo unit failure replace the servo unit.

Absolute encoder battery The battery connection is poor or not connected. Check the battery connection. Connect the battery correctly.

failure (battery voltage Replace the battery and reconnect the

The battery voltage is lower than the specified value
falls below the specified Measuring battery voltage control
(2.7Vÿ
value more than 4 power.
A.930
seconds after control
The servo unit may be faulty . Repair or
power is turned on) ÿ
-

Servo unit failure replace the servo unit.

When only an absolute
ÿ

encoder is connected, a

parameter change that

Changed parameters that require power cycle
-

A.941 requires power cycling is detected. Reconnect the power supply

Even

When the power supply voltage is AC200V, Regulate the supply voltage to positive

below 120V, the power supply voltage is Measuring supply voltage often

When using AC400V, the power supply voltage is Increase

reduced when running below 240V. Measure the power supply voltage the power supply capacity and

adjust the power supply voltage to the positive

often

Range. Changes stop instantly

A momentary power outage occurs Measuring supply voltage Save

Duration (Pn509) time adjustment

A.971 Undervoltage warning Festival

To a lower value.

Repair or replace the servo unit.

,make
The fuse of the servo unit is blown.
When using a servo unit, an AC/DC reactor

should be connected.

The servo unit may be faulty . Repair or

Servo unit failure replace the servo unit.

9.2 How to determine the cause of the fault and the solution

The causes and treatment measures of the faults that can be judged from the action and status of the servo motor are as follows. When checking

and handling the items in the bold box in the table below, be sure to cut off the power supply of the servo system before proceeding. Fault content

reason Confirmation method Treatment measures

Servo control power supply is not connected. Measure the voltage between the control power supply terminals and make the wiring correct so that the control power supply is 0N. Servo

main circuit power supply is not connected. Measure the voltage between the main circuit power supply terminals and make the wiring correct so that the main circuit power supply is 0N.

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There are some wiring errors and omissions in Check the connection status of the input/output Correctly wire the input and output terminals (CN2)

the electrical input and output terminal (CN2)

terminals (CN2). The servo motor and encoder are

not properly connected. Correct wiring
Confirm the wiring

status. The starter wire is off. The load on the servo motor is too high. Try to run it without load to confirm the Reduce the load, or replace it with a servo motor with a larger

load status. capacity to

distribute the input signal so that the speed/position command

No speed/position command is input. Check the allocation status of the input signal.
can be input correctly.

No motion control command is input. Check that the command input signal (Pn50A Enter motion control instructions correctly

to Pn50D) of the host device is Confirm the allocation of input signals (Pn50A~Pn50D)
Correctly allocate input signals (Pn50AÿPn50D)
incorrectly assigned. The encoder

type and parameter number (Pn002.2)

used are incorrectly set. Set according to the encoder used

Pn002.2

Confirm the parameters Pn50A.0 and Pn50A.1 Correctly set the parameters Pn50A.0 and Pn50A.1 to make
/S-0N input is 0FF
set up. the /S-0N input 0N

There is no servo 0N (sv 0N)

Confirm the command of the host device Give the servo 0N (sv 0N) command.

command. There is no sensor 0N (SENs Send instructions to the servo unit in the correct order
Confirm the command of the host device
0N)

command/P-C0N input function setting.

Check that the setting of parameter Pn000.1 is correct according to the function purpose. Error

When using an absolute encoder, set the SEN signal to 0 and

SEN input is 0FF confirm it by switching the SEN signal 0/0.

Incorrect command pulse mode Confirm the setting of parameter Pn200.0 and the Make the setting of parameter Pn200.0 and the form of

selection form of command pulse. command pulse consistent

Incorrect speed command input (in Confirm whether the control mode and input are
Correctly set the control mode and input method
speed control) Incorrect consistent between V-REF

torque command input (in torque and SG. Confirm whether the control mode and input
method are correct between V-REF and SG. Confirm whether
control) Incorrect the input is consistent.

command pulse input (in position Confirm the form and sign of the command pulse of
Correctly set the control mode and input method
control) Pn200.0 + pulse signal

Position deviation pulse clear Confirm the CLR or /CLR input signal
Set the CLR or /CLR input signal to 0FF
(CLR) input remains in 0N state. (CN1-14ÿ15ÿ

Forward drive (P-0T) and reverse drive

(N-0T) are prohibited. Input signal Confirm the P-0T or N-0T input signal and set the P-0T or N-0T input signal to 0N

remains in 0FF state

Fault content reason Confirmation method Treatment measures

Servo motor and servo unit failure Replace the servo unit

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Startup

(continued) The servo Servo motor wiring error confirmation wiring Correct wiring

motor stops after

Encoder wiring error Confirm wiring Correct wiring
running for

a moment. The The power line (U, V, W phase) and encoder connector Tighten the loose terminals or
The servo motor cable connection is bad.
rotation of the servo motor is unstable. connection may be unstable. Check the wiring. Check whether connectors, wire correctly, and set

The speed command input is incorrect the control mode and input are consistent between V-REF and the control mode correctly.

(in speed control) SG. Type and input method

The torque command input is incorrect Check whether the control mode and input are consistent Correctly set the control mode

The servo motor (in torque control). There between V-REF and SG. Type and input method

rotates without a is an offset in the speed command. Perform servo unit offset
The offset of the servo unit is improperly adjusted.
command Difference adjustment to

Incorrect command pulse input Confirm the command pulse shape and sign + pulse signal of correctly set the control mode.

(position control) Servo Pn200.0 Type and input method

unit failure Replace the servo unit

The setting of parameter Pn001.0 is incorrect. Check the setting value of parameter Pn001.0. Correctly set Pn001.0 Replace

the servo unit. Also confirm the moment

of inertia, speed, and DB usage frequency. To prevent
Dynamic brake disconnection, you can take measures to reduce the
DB resistor disconnected load state. It may be that the moment of inertia, speed, and DB
(DB) No action usage frequency is too high or the DB
resistor is disconnected.

DB circuit components are faulty,

DB drive circuit failure
replace the servo unit

Confirm the installation status of the servo motor and tighten the mounting screws again

Mechanical installation failure Check whether the coupling is eccentric. Align the coupling core. Check the balance of the

coupling. Keep the coupling balanced. If there is any abnormality, please contact our agent

or the nearest branch. Check whether

Bearing internal fault Check for sounds and vibrations near the bearings there is any abnormality in the moving

part of the

machine side. If there is any abnormality, please contact the machine.

Cooperate with the machine with vibration source

The servo motor

makes an abnormal sound Confirm whether the input/output signal cable meets the
specifications. Cable specifications: The
specifications of the twisted pair wire are wrong, and noise occurs. Use a
cable that meets the specifications or a twisted pair shielded wire (core wire is 0.12mm2 or more, tinned soft copper twisted wire)

Make sure that the length of the input/

Because the input and output signal cables are output signal cable is within 3m or the impedance is below several hundred ÿ.

too long, noise interference occurs Degree

Fault content
reason Confirmation method Treatment measures

The servo motor Due to the specifications of the encoder cable Confirm whether the encoder cable meets the specifications. Use one that meets the specifications.

makes an abnormal sound

Format error, noise interference occurred Cable specifications: twisted pair wire or twin cable

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Twisted shielded wire (core wire is 0.12mm2 or more, tinned soft

copper twisted wire)

Noise interference occurred because the Set the length of the encoder
Check the encoder cable length.
encoder cable was too long cable to within 20m. Replace the

encoder cable and change the

Noise interference occurs due to damage Check whether the encoder cable is clamped.
laying environment of the encoder cable.
to the encoder cable Whether the cladding is damaged.
Change the

encoder cable. Check whether

The encoder cable is too large. the encoder cable is laid in a high current environment to avoid being affected by the surge voltage of

Noise disturbance Wires are tied together or too close together. the high current wire.

The potential of FG changes due to the Make sure the servo motor side
equipment is properly grounded to prevent
influence of the equipment (welding machine, etc.)
on the servo motor side (forgetting to ground, incomplete
grounding). PG side FG shunt

The pulse calculation error of the servo Check whether the encoder is connected to the signal line. Wiring the encoder

unit caused by noise interference There is noise disturbance in the room. Take anti-interference measures

Check whether mechanical vibration occurs. Reduce mechanical vibration

The encoder is affected by excessive
Confirm the installation status of the servo motor (accuracy of the and improve the installation status of
vibration
installation surface, fixing status, eccentricity). the servo

Encoder failure motor. Replace the servo motor

Confirm the setting value of the speed loop gain (Pn100). Set the correct value of the
The setting value of speed loop gain
The speed loop gain (Pn100) Set the
(Pn100) is too high
factory setting is: Kv=40.0Hz. Confirm the setting correct

value of the position loop gain (Pn102). The factory setting value of the position loop gain
Frequency The setting value of position loop gain
is: (Pn102) Set the correct speed loop
is about 200ÿ (Pn102) is too high
Kp=40.0/s. Confirm the setting value of the speed loop integral
At 400 Hz, the
integral time parameter (Pn101). The factory time parameter
motor vibrates Speed loop integral time parameters
setting is: Ti=20.0ms.
The setting value of (Pn101) is incorrect
(Pn101) setting value Set the

correct moment of inertia ratio

Moment of inertia ratio (Pn103) Confirm the setting value of the moment of inertia ratio
(Pn103) setting value
The setting value is incorrect (Pn103)

Confirm the setting value of the speed loop gain (Pn100). Set the correct value of the
The setting value of speed loop gain
The speed loop gain (Pn100) Set the correct
(Pn100) is too high
factory setting is: Kv=40.0Hz. Confirm the setting value of

value of the position loop gain (Pn102). The factory setting the position loop gain (Pn102)
The setting value of position loop gain
The speed is: Set the correct value of the speed loop
(Pn102) is too high
overshoot is too large Kp=40.0/s. Confirm the setting value of the speed loop integral

when starting and stopping integral time parameter (Pn101). The factory time parameter (Pn101) Set the correct
Speed loop integral time parameters
setting is: Ti=20.0ms. value of the moment of inertia ratio
The setting value of (Pn101) is incorrect
(Pn103)

Moment of inertia ratio (Pn103)

Confirm the setting value of the moment of inertia ratio (Pn103)
The setting value is incorrect

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Using the Mode Switch Function

(Pn10CÿPn10Fÿ

Confirm whether the encoder cable meets the specifications. Cable

Due to the specifications of the encoder cable specifications: twisted-pair wire or twisted-pair shielded wire (core Use cables that meet the

Format error, noise interference occurred wire is 0.12mm2 or more, tinned soft copper twisted wire) specifications

The encoder cable is too long. Check the Set the encoder cable length to within
length of the encoder cable. Noise interference
occurs. 20m.

Replace the encoder cable and

Noise interference occurs due to damage Check if the encoder cable is clamped or the sheath is damaged.
change the laying environment of the
to the encoder cable
encoder cable

Change the laying environment of the

The encoder cable is too large. Check whether the encoder cable is bundled with high current encoder cable to avoid being affected by the surge

Absolute
Noise disturbance wires or too close to them. voltage of the high current wire. Ground the servo

encoder position
motor side equipment

deviation error
FG potential due to servo motor correctly to prevent the encoder cable

(power supply recorded Check the grounding status of the equipment on the servo motor
Changes due to the influence of side equipment from being affected by the surge voltage of the high current wire.

by the host device) side (forgot to ground, incomplete grounding)

(welding machine, etc.) PG side FG shunt
There is a deviation
The pulse calculation error of the servo Check whether there is noise interference between the Wiring the encoder
between the position at
unit caused by noise interference encoder and the signal line. Take anti-interference measures
OFF and the position
Check whether mechanical vibration occurs. And check the Reduce mechanical vibration
when the power is turned The encoder is affected by excessive
installation status of the servo motor (accuracy of the installation and improve the installation status of the
OFF again) vibration
surface, fixed status, eccentricity). servo motor.

Encoder fault Servo Replace the servo motor

unit fault (pulse does not change)

Replace the servo unit

Perform parity check on multi-

Confirm the error detection section of the host device
rotation data to ensure that the error

Use the host device to confirm whether the parity data has been detection unit of the host device works
Error in reading multi-rotation data of the
verified normally
host device
Take anti-interference measures
Check whether there is any noise interference on the cable
and perform parity check on multi-
between the servo unit and the host device.
rotation data again

Set the input signal to the correct

Confirm the voltage of the external power supply (+24V) for the
value using the external power supply
The forward/reverse drive prohibition input signal
Occurrence of super (+24V) so that the over-travel
signal is input (P-0T CN2-42 or CN2-7) or N-0T
Process limit switch can operate normally.
(CN2-43 or CN2-8) is H level) Confirm the operating status of the overtravel limit switch
(0T) (Exceeds

the area specified in

Confirm the wiring of the overtravel limit switch
the host device) Wiring of position switch.

Prohibit malfunction of forward/reverse Eliminate voltage fluctuations of

Confirm input signal with external power supply
drive signal. (P-0T or N-0T signal often changes external power supply (+24V) for input
Is there any fluctuation in the voltage of (+24V)
signals

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change) Check whether the overtravel limit switch is unstable Make the overtravel limit switch

stable and correct.

Check the wiring of the overtravel limit switch (whether

the cable is damaged, the tightening status of the screws, etc.) Wiring of position switch

If other signals are assigned to

Check if the P-0T signal is assigned to Pn50A.3, reassign the P-0T signal to

For parameters (Pn50A.3, Pn50A.3 this parameter. If other signals are

Pn50B.0) The forward/reverse drive prohibition assigned to

signal (P-0T/N-0T) assigned is wrong Pn50B.0, reassign the N-0T

Confirm whether the N-0T signal is assigned to signal to this parameter.

Pn50B.0

Select a servo motor stop

Confirm Pn001.0 when the servo is OFF.
method other than free run stop Select
Pn001.1
The servo motor stop method is selected a servo motor

incorrectly stop method other than free

Confirm Pn001.0 during torque control,
run stop If the 0T position is shorter than
Pn001.1
the inertia

amount, reset to an appropriate

position
Incorrect overtravel position Confirm the setting position of 0T

Position of overtravel limit switch Check if the position of 0TLs is higher than the inertial motion. Adjust 0TLs to the correct

Inappropriate Short line position

Check whether the encoder cable meets the specifications

Cable specifications: twisted-pair wire or twisted-pair shielded Use cables that meet the
Due to the specifications of the encoder cable
wire (core wire is 0.12mm2 or more, tinned soft copper twisted specifications
Format error, noise interference occurred
wire)

Noise interference occurred because Set the length of the encoder

Check the encoder cable length
the encoder cable was too long cable to within 20m. Replace the

encoder cable and change the

Noise interference occurs due to Check if the encoder cable is clamped or the sheath is
laying environment of the encoder
damage to the encoder cable damaged.
cable. Change
No alarm
the laying environment of the
occurred
The encoder cable is too large. Check whether the encoder cable is compatible with high current encoder cable to avoid being affected

Noise disturbance Wires are tied together or too close together by the surge voltage of the high current

wire.

FG potential due to servo motor Correctly ground the equipment on the

Check the grounding status of the equipment on the servo motor side.
Changes due to the influence of side equipment servo motor side to prevent current from being
State (forgot to ground, incomplete grounding)
(welding machine, etc.) diverted to the FG on the PG side.

The pulse calculation error of the servo Check whether the encoder is connected to the signal line. Wiring the encoder

unit caused by noise interference Take anti-interference

Noise
measures
disturbance
The encoder is subjected to excessive vibration Confirm whether mechanical

vibration occurs. And make sure to reduce the mechanical vibration.

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Impact Check the installation status of the servo motor (accuracy of the Improve the installation status of the

installation surface, fixing status, servo motor

Failure of the coupling between the machine eccentricity) Check whether the coupling between the and correctly fix the coupling

and the servo motor machine and the between the machine and the servo motor.

servo motor is misaligned. Check whether the input and output signal cables are
Since the input and output signals are
Meet the specifications. Cable specifications: twisted-pair wire Use cables that meet the
The cable specifications are incorrect and noise
or twisted-pair shielded wire (core wire is 0.12mm2 or specifications
interference occurs.
more, tinned soft copper twisted wire)

Keep the length of the input

Since the input and output signals are
Check the length of the input and output signal cables. and output signal cables within 3m.
The cable is too long and noise interference
Degree

occurs
Below 100ÿ

Encoder failure (pulse

Replace the servo unit
does not change) Servo

unit failure Replace the servo unit

and control the ambient

Ambient temperature is too high Measuring the ambient temperature of servo motors
temperature below

40°C.

Servo motor over The surface of the servo motor is dirty Visually check if there is any dirt on the motor surface Dirt, dust, oil

hot wait.

Reduce the load or replace

The load on the servo motor is too Try running without load to confirm the load status.
with a servo motor with a larger
large
capacity

Chapter 10 Parameter Values and Settings

10.1 Parameters at a glance

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Parameter Number Name Setting range Unit factory value effective time word length

Pn000 Function selection basic switch 0 n.0000ÿ00C1 n.0000 Restart power 1

n.×××ÿ: Rotation direction selection 0:

CCW direction is the forward direction;

1: CW direction is the forward direction (reverse mode);

n.××ÿ×: Control mode selection 0:

Position control; 1:

Speed control (analog command) 2:

Torque control 3:

Internal speed control; 4:

Internal speed control <-> speed control (analog command) - refer to the description of

PN301 5: Internal speed control <-> position

control 6: Internal speed control <-> torque

control 8: Position control <-> torque

control n.×ÿ××: Reserved

parameters n.ÿ×××: Reserved parameters

Pn001 Function selection basic switch 1 n.0000~0122 n.0000 Restart power 1

n.×××ÿ: Stop method when SOFF and alarm occurs 0:

Stop the motor by DB (dynamic brake); 1: Stop the

motor by DB, and then release DB; 2: Do not

use DB, set the motor to free running state; n.××ÿ×:

Stop method when overtravel (OT) 0: DB stop or

free running stop (stop method is the same as Pn001.0); 1: Use the set torque

of Pn406 as the maximum value to decelerate and stop the motor, and then enter the servo lock state; 2:

Use the set torque of Pn406 as the maximum value to decelerate and stop the motor, and then enter the

free running state; n.×ÿ××: Selection of AC/DC

power input 0: AC power input: Input AC power from L1, L2, L3

terminals; 1: DC power input: Input DC power from between

L1 and L2; n.ÿ×××: Reserved parameters

Pn002 Function selection basic switch 2 n.0000ÿ1111 n.0100 Restart power 1

n.×××ÿ:

0: 17-bit communication encoder;

2: 23-bit communication line encoder;

n.××ÿ×:

Reserved

parameters n.×ÿ××: How to use the absolute

encoder 0: Use the absolute encoder as an absolute

encoder; 1: Use the absolute encoder as an incremental

encoder; n.ÿ×××: Encoder model

selection reserved parameters

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Parameter Number Name Setting range Unit factory value effective time word length

Pn008 Function selection basic opening 8 n.0000ÿ7121 b.0000 Restart power 1

n.×××ÿ: Alarm/warning selection when battery voltage is low

0: Set low battery voltage as an alarm (A.830);

1: Set low battery voltage as a warning (A.930);

n.××ÿ×: Function selection during undervoltage

0: No undervoltage warning is detected;

1: Detect undervoltage warning and execute torque limit through the host device;

2: Detect undervoltage warning and execute torque limit through Pn424 and Pn425 (executed on the servo unit alone);

n.×ÿ××: Warning detection selection

0: Detect warning;

1: No warning is detected;

n.ÿ×××: reservation parameters

Pn009 Function selection application switch 9 b.0000ÿ1111 b.3010 Re-power on 1

n.×××ÿ: reservation parameters

n.××ÿ×: Current control mode selection

0: Select current control mode 1;

1: Select current control mode 2;

n.×ÿ××: Speed detection method selection

0: Select speed detection 1;

1: Select speed detection 2;

n.ÿ×××: overload level

0~5: The larger the value, the longer the overload time;

Pn00B Function selection application switch B n.0000ÿ1111 n.0001 Restart power 1

n.×××ÿ: Panel parameter display selection

0: Only display the setting parameters;

1: Display all parameters;

n.××ÿ×: Warning stop method selection

0: Stop at zero speed;

1: DB stop or free running stop (the stop method is the same as Pn001.0);

n.×ÿ××: Three-phase input specification servo unit power input selection

0: Use a three-phase input specification servo unit with three-phase power input;

1: Use a three-phase input servo unit with single-phase power input;

n.ÿ×××: reserved

Pn00F Motor Model Selection According to the model settings Restart the power 1

Axis address selection (UART/USB

Pn010 1ÿ127 n.0001 Restart power
For communication)

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Parameter Number Name Setting range Unit factory value effective time word length

Pn011 RS485 communication function selection switch n.0000ÿ1096 n.0002 immediately 1

n.×××ÿ: RS485 communication rate

0ÿ2400bpsÿ

1ÿ4800bpsÿ

2ÿ9600bpsÿ

3ÿ19200bpsÿ

4ÿ38400bpsÿ

5ÿ57600bpsÿ

6ÿ115200bpsÿ

n.××ÿ×: communication protocol

0ÿ8ÿNÿ1ÿ

1ÿ8ÿNÿ2ÿ

2ÿ8ÿAndÿ1ÿ

3ÿ8ÿOÿ1ÿ

n.×ÿ××: reserved

n.ÿ×××: reserved

Pn013 Function selection switch n.0000ÿFFFF n.0000 Restart power 1

n.×××ÿ:485 communication format selection

0: RTU format;

1: ASCII format;

n.××ÿ×: communication protocol

n.×ÿ××: reserved

n.ÿ×××: reserved

Pn093 Temperature alarm setting value 0--1500 0.1 degree 1000 immediately 1

Pn100 1st speed loop gain 10ÿ20000 0.1Hz 40.0 Immediately 1

Determines the speed loop responsiveness characteristics.

In order to increase the position loop gain and improve the overall responsiveness of the servo system, the speed loop gain value must be increased.

If the setting is too large, it may cause vibration, so please pay attention when making changes.

Pn101 1st speed loop integral time constant 15ÿ51200 0.01ms 20.00 Immediately 1

Set the speed loop integral time constant.

The smaller the set value, the greater the integral action and the stronger the anti-disturbance ability, but an excessively large setting may cause vibration.

Pn102 1st position loop gain 10ÿ20000 0.1/s 40.0 Immediately 1

Determines the responsiveness characteristics of the position control system.

Setting a larger position loop gain value can shorten the positioning time.

However, if the setting is too large, it may cause vibration, so please be careful when making changes.

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Pn103 Moment of inertia ratio 0ÿ20000 1% 100 immediately 1

PN103 setting value = (load moment of inertia converted from motor shaft (JL) / servo motor rotor moment of inertia (JM)

ÿ×100ÿ%ÿ

Pn104 2nd speed loop gain 10ÿ20000 0.1Hz 40.0 Immediately 1

Pn105 2nd speed loop integral time constant 15ÿ51200 0.01ms 20.00 Immediately 1

Pn106 2nd position loop gain 10ÿ20000 0.1/s 40.0 Immediately 1

Pn109 Speed feedforward gain 0ÿ100 % 0 immediately 1

In the speed control command calculated based on the internal position command, the value multiplied by this parameter ratio is added to the value from

Speed command for position control processing.

Pn10A Speed feedforward filter 0ÿ6400 0.01ms 000.00 Immediately 1

Parameter Number Name Setting range Unit factory value effective time word length

Pn10B Gain application selection switch 0 n.0000ÿ0014 n.0000 immediately 1

n.×××ÿ: Mode switch selection

0: Take the internal torque command as the condition;

1: Take speed command as condition;

2: Based on acceleration;

3: Take the position deviation pulse as a bar;

4: No mode switch function;

n.××ÿ×: Speed loop control method

0: PI control;

1: IP control;

n.×ÿ××: reserved

n.ÿ×××: reserved

Pn10C Mode switch (torque command) 0ÿ400 1% 300 immediately 1

-1
Pn10D Mode switch (speed command) 0ÿ3000 1min 0 immediately 1

1min
Pn10E Mode switch (acceleration) 0ÿ30000 0 immediately 1

1/s

1 Instructions
Pn10F Mode switch (position deviation) 0ÿ10000 0 immediately 1

unit

Pn11F Position integral time parameter 0ÿ50000 0.1ms 0000.0 Immediately 1

Pn121 Friction compensation gain 10ÿ1000 1% 100 immediately 1

Pn122 2nd friction compensation gain 10ÿ1000 1% 100 immediately 1

Pn123 Friction compensation coefficient 0ÿ100 1% 0 immediately 1

Pn124 Friction compensation frequency correction -10000ÿ10000 0.1Hz 000.0 Immediately 1

Pn125 Friction compensation gain correction 1ÿ1000 1% 100 immediately 1

Pn131 Gain switching time 1 0~32767 1ms 0 immediately 1

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Pn132 Gain switching time 2 0~32767 1ms 0 immediately 1

Pn135 Gain switching waiting time 1 0~32767 1ms 0 immediately 1

Pn136 Gain switching waiting time 2 0~32767 1ms 0 immediately 1

Pn139 Gain application selection switch 1 n.0000ÿ0014 n.0000 immediately 1

n.×××ÿ:Gain switching selection switch

0: Manual gain switching; manually switch the gain through an external input signal (G-SEL).

1: Reserved;

2: Automatically switch to mode 1;

When the switching condition A is satisfied, the gain is automatically switched from the first gain to the second gain.

When the switching condition A is not satisfied, the second gain is automatically switched to the first gain.

Parameter Number Name Setting range Unit factory value effective time word length

--

Pn140 Model tracking control switch 0000ÿ1121 0100 Immediately 1

n.×××ÿ: Model tracking control selection

0: Do not use model following control.

1: Use model tracking control;

n.××ÿ×: Vibration suppression selection

0: No vibration suppression.

1: Add vibration suppression function to specific frequencies.

2: Add vibration suppression function to 2 different frequencies.

n.×ÿ××: Vibration suppression function adjustment selection

0: The vibration suppression function is not automatically adjusted by the auxiliary function.

1: The vibration suppression function is automatically adjusted by the auxiliary function.

n.ÿ×××: Speed feedforward (VFF)/torque feedforward selection

0: Do not use model tracking control and speed/torque feedforward at the same time.

1: Use model tracking control and speed/torque feedforward simultaneously.

Pn141 Model tracking control gain 10ÿ20000 0.1/s 50.0 Immediately 1

Pn142 Model tracking control gain correction 500ÿ2000 0.1% 100.0 Immediately 1

Model tracking control bias (positive

Pn143 0ÿ10000 0.1% 100.0 Immediately 1

Turn direction)

Model tracking control bias (reverse

Pn144 0ÿ10000 0.1% 100.0 Immediately 1

Turn direction)

Pn145 Vibration suppression 1 frequency A 10ÿ2500 0.1Hz 50.0 Immediately 1

Pn146 Vibration suppression 1 frequency B 10ÿ2500 0.1Hz 70.0 Immediately 1

Model tracking control speed feedforward

Pn147 0ÿ10000 0.1% 100.0 Immediately 1

compensate

Pn148 2nd model tracking control gain 10ÿ20000 0.1/s 50.0 Immediately 1

Second model tracking control gain compensation

Pn149 500ÿ2000 0.1% 100.0 Immediately 1

Compensation

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Pn14A Vibration suppression 2 frequency 10ÿ2000 0.1Hz 80.0 Immediately 1

Pn14B Vibration suppression 2 compensation 10ÿ1000 1% 100 immediately 1

Pn160 Anti-vibration control switch 0000ÿ0011 ÿ

0010 Re-power on 1

n.×××ÿ:A type anti-vibration control selection

0: Do not use type A vibration control.

1: Use type A anti-vibration control.

n.××ÿ×: A-type anti-vibration control adjustment selection

0: Type A vibration isolation control is not automatically adjusted by auxiliary functions.

1: Type A anti-vibration control is automatically adjusted by the auxiliary function.

n.×ÿ××: reserved

n.ÿ×××: reserved

Parameter Number Name Setting range Unit factory value effective time word length

Pn161 A type anti-vibration frequency 10ÿ20000 0.1Hz 100.0 Immediately 1

Pn162 A-type anti-vibration gain correction 1ÿ1000 1% 100 immediately 1

Pn163 A-type anti-vibration damping gain 0ÿ300 1% 0 immediately 1

A type anti-vibration filter time parameter 1

Pn164 -1000ÿ1000 0.01ms 00.00 Immediately 1

compensate

A type anti-vibration filter time parameter 2

Pn165 -1000ÿ1000 0.01ms 00.00 Immediately 1

compensate

Pn170 Adjustment-free switch 0000ÿ2401 --

1400 Immediately 1

n.×××ÿ:Adjustment-free selection

0: Disable the adjustment-free function

1: Enable the adjustment-free function

n.××ÿ×: reserved

n.×ÿ××: No adjustment value

0~4: Set the value without adjustment;

n.ÿ×××: No need to adjust the load value

0~2: Set the load value without adjustment;

Pn200 Position control function switch 0 n.0000~1232 n.0000 Restart power 1

n.×××ÿ: command pulse form

0: symbol + pulse;

1ÿCW+CCWÿ

2: Phase A + Phase B (4 times frequency);

n.××ÿ×: pulse signal inversion operation

0: PULS and SIGN are not negated;

1: PULS is not negated, SIGN is negated;

2: PULS is negated, SIGN is not negated;

3: PULS negation, SIGN negation;

n.×ÿ××: Pulse clearing action

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0: Clear position deviation pulse when servo is OFF or alarm

occurs 1: Do not clear position deviation pulse (can only be cleared by CLR

signal); 2: Clear position deviation pulse when

alarm occurs. n.ÿ×××: Pulse input channel

selection 0: PULS, SIGN input (low-speed pulse channel);

1: PULSH, SIGNH input (high-speed pulse channel);

Parameter Number Name Setting range Unit factory value effective time word length

Pn201 Position control function switch 1 n.0000~3177 n.0000 Restart power 1

n.×××ÿ: Low-speed pulse input channel filter level 0--7; the larger

the value, the longer the filter time and the lower the pulse input cut-off frequency. 0 means no filtering function. n.××ÿ×: Reserved

n.×ÿ××: Frequency-divided

pulse output logic inversion 0: Z phase feedback is not

inverted 1: Z phase feedback

is inverted 2: AB feedback

direction is inverted 3: AB and Z

phase feedback are inverted at the same

time n.ÿ×××: Frequency-divided Z pulse

extension 0--6: 0: no extension, 1-6 extension, the larger the value, the wider the extension

Pn202 Position control function switch 2 n.0000~2F31 n.0000 Restart power 1

n.×××ÿ:

0: Normal mode 1:

Zero return mode

n.××ÿ×: Reserved n.ÿÿ××: Origin

return mode selection 0x00-Reserved; 0x01: Reverse return

to zero, the

deceleration point is the reverse limit switch, the origin is the motor Z signal, and the reverse limit falling edge must be encountered before the Z signal is

encountered. 0x02: Forward return

to zero, the deceleration point is the forward limit switch, the origin is the motor Z signal, and the forward limit falling edge must be encountered before the Z signal

is encountered. 0x03: Forward return

to zero, the deceleration point is the origin switch, the origin is the motor Z signal, and the falling edge of the same side of the origin switch must be encountered

before the Z signal is encountered. 0x04:

Reverse return to zero, the deceleration point is the origin switch, the origin is the motor Z signal, and the rising edge of the same side of the origin switch must be

encountered before the Z signal is

encountered. 0x05: Reverse return to zero, the deceleration point is the origin switch, the origin is the motor Z signal, and the falling edge of the same side of the

origin switch must be encountered before

the Z signal is encountered. 0x06: Forward return to zero, the deceleration point is the origin switch, the origin is the motor Z signal, and the rising edge of the origin

switch on the same side must be encountered before encountering the Z signal.

0x08ÿ

0x09ÿ

0x0Bÿ

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0x11: Reverse return to zero, return to zero at high speed in the reverse direction, and after encountering the rising edge of the reverse limit switch, decelerate, reverse, and forward

Run at low speed and stop after encountering the falling edge of the reverse limit switch.

0x12: Forward return to zero, return to zero at high speed in the forward direction, and after encountering the rising edge of the forward limit switch, decelerate, reverse, reverse

Run at low speed and stop after encountering the falling edge of the positive limit switch.

0x21: Reverse return to zero, the origin is the motor Z signal

0x22: Return to zero in the positive direction, the origin is the motor Z signal

0x23: Take the current position as the mechanical origin, change the lowest value of PN601 from 0 to 1, and the setting is completed.

0x24: Forward return to zero, the deceleration point is the origin switch, encounter the origin switch from 0 to 1, decelerate, reverse, reverse operation

, when the origin switch changes from 1 to 0, stop.

0x25: Reverse return to zero, the deceleration point is the origin switch, encounter the origin switch from 0 to 1, decelerate, reverse, and run forward

, when the origin switch changes from 1 to 0, stop.

Pn20E Electronic gear ratio (numerator) 1ÿ1073741824 1 4 Restart the power 2

See PN210 instructions

Pn210 Electronic gear ratio (denominator) 0ÿ1073741824 1 1 Restart the power 2

1. When Pn210 is not 0, the electronic gear numerator = Pn20E, and the electronic gear denominator = Pn210;

2. When Pn210 is 0, the number of command pulses per rotation = Pn20E, which is equivalent to the number of command pulses per rotation of the motor.

The number is Pn20E.

In this mode, the drive will automatically calculate the electronic gear according to the encoder type.

Pn210 Instruction frequency division and multiplication processing

ÿ0 Pulse input Pn20E Pn210 Position instructions

=0 Pulse input encoder resolution Position instructions

Pn20E

Pn212 Encoder frequency division pulse number 16ÿ16384 1P/Rev 2500 Re-power on 2

1. Set the pulse output resolution by the number of output pulses per rotation of OA and OB. For example, if it is set to 1000

When the motor rotates one circle, the number of OA pulses output is 1000, and the number of OB pulses output is 1000.

2. When the value of Pn212 is set to more than 1/4 of the encoder resolution, its frequency division value is 1/4 of the encoder resolution. For example, when

using an encoder with a resolution of 131072, and Pn210 is set to a value greater than 32768, its frequency division pulse

The number is limited to 32768.

3. The Z pulse width of the communication encoder is one A pulse width, that is, the smaller the Pn212 value, the greater the OA width at the same speed.

The wider the width, the wider the Z pulse.

Position command acceleration and deceleration time parameter

Pn216 0ÿ32767 0.1ms 0000.0 After the motor stops
number

Pn217 Position command moving average time 0ÿ1000 0.1ms 0000.0 After the motor stops

Parameter Number Name Setting range Unit factory value effective time word length

0.01

V/Amount
Pn300 Speed command input gain
150 ÿ 3000 600 Immediately 1
Fixed speed

Degree

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-1
Pn301 Internal 1st speed -6000~6000 1min 100 immediately 1

1. Under internal speed control, the external input IO signals INSPD0 and INSPD1 are combined to select the internal speed in revolutions.

/min. The corresponding relationship is as follows.

INSPD0 INSPD1 Speed control command

Zero speed (PN000=0 Analog speed (P

invalid invalid
X0030ÿ N000=0X0040ÿ

efficient invalid Internal 1st speed (PN301)

Invalid Effective Internal 2nd speed (PN302)

Valid and effective Internal 3rd speed (PN303)

2. Internal multi-stage position first stage speed

3. Under torque control, the external input IO signals INTo0 and INTo1 are combined to select the torque command in thousandths.

1. The corresponding relationship is as follows.

INTor0 INTor1 Speed control command

invalid invalid External analog input

efficient invalid Internal torque 1 (PN301)

Invalid Effective Internal torque 2 (PN302)

Valid and effective Internal torque 3 (PN303)

4ÿ
Internal 2nd speed
-1
Pn302 -6000~6000 1min 200 immediately 1

Internal multi-stage position second stage speed

Internal 3rd speed

-1
Pn303 -6000~6000 1min 300 immediately 1

Internal multi-stage position 3rd stage speed

JOG speed
-1
Pn304 0ÿ6000 1min 500 immediately 1

Internal multi-stage position 4th stage speed

Pn305 Soft start acceleration time 0ÿ10000 1ms 0 immediately 1

Pn306 Soft start deceleration time 0ÿ10000 1ms 0 immediately 1

Pn307 Speed command filter time parameter 0ÿ65535 0.01ms 000.40 Immediately 1

Pn310 Vibration detection switch 0000ÿ0F02 -

0000 Immediately 1

n.×××ÿ: Vibration detection selection

0: No vibration detected;

1: Issue a warning after vibration is detected (A.911);

2: An alarm is issued after vibration is detected (A.520);

n.××ÿ×: reserved

n.ÿÿ××: reserved

Pn311 Vibration detection sensitivity 50ÿ500 1% 100 immediately 1

-1
Pn312 Vibration detection value 0ÿ5000 50min 50 immediately 1

Pn324 Moment of inertia identification start value 0ÿ20000 1% 300 immediately 1

0.1V/

Pn400 Torque command input gain 10ÿ100 Rated speed 30 immediately 1

Moment

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When the first stage torque command filter

Pn401 0ÿ32767 0.01ms 001.00 Immediately 1

Interval constant

Pn402 Forward torque limit 0ÿ300 1% 300 immediately 1

Pn403 Reverse side torque limit 0ÿ300 1% 300 immediately 1

Pn404 Forward side external torque limit 0ÿ400 1% 100 immediately 1

Pn405 Reverse side external torque limit 0ÿ400 1% 100 immediately 1

Pn406 Emergency stop torque limit 0ÿ400 1% 400 immediately 1

-1
Pn407 Speed limit during torque control 0ÿ5000 1min 1500 Immediately 1

Parameter Number Name Setting range Unit factory value effective time word length

Pn408 Torque function switch 0 0000ÿ1111 --

0000 Immediately 1

n.×××ÿ: Notch filter selection 1

0: The first stage notch filter is invalid.

1: Use the first stage notch filter.

n.××ÿ×: speed limit selection

0: Use the smaller value of the motor maximum speed or Pn407 in the speed limit value.

1: Use the smaller value of the overspeed detection speed or Pn407 in the speed limit value.

n.×ÿ××: Notch filter selection 2

0: The second stage notch filter is invalid.

1: Use the second stage notch filter.

n.ÿ×××: Friction compensation function selection

0: Do not use the friction compensation function.

1: Use the friction compensation function.

Pn409 1st stage notch filter frequency 50ÿ5000 1Hz 5000 immediately 1

Pn40A 1st stage notch filter attenuation value 50ÿ1000 0.01 000.70 Immediately 1

Pn40B 1st stage notch filter depth 50ÿ5000 0.001 00.000 Immediately 1

Pn40C 2nd stage notch filter frequency 50ÿ5000 1Hz 5000 immediately 1

Pn40D 2nd stage notch filter Q value 50ÿ1000 0.01 000.70 Immediately 1

Pn40E 2nd stage notch filter depth 50ÿ5000 0.001 0 immediately 1

2nd stage 2nd torque command filter

Pn40F 100~5000 Hz 5000 immediately 1

Frequency

2nd stage 2nd torque command filter

Pn410 50~100 0.01 000.50 Immediately 1

Q value

1st stage 2nd torque command filter

Pn412 0~65535 0.01ms 001.00 Immediately 1

Time parameters

Pn415 Analog torque command filter time 0ÿ32767 0.01ms 000.00 Immediately 1

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parameter

Torque when main circuit voltage drops

Pn424 0~100 % 50 immediately 1

limit

Torque when main circuit voltage drops

Pn425 0~1000 ms 100 immediately 1

Restriction lifting time

Pn456 Scanning torque command amplitude 1ÿ400 1% 15 immediately 1

Torque amplitude (torque modulus

Pn4A8 1ÿ300 1% 0 immediately 1

Mode)

Parameter Number Name Setting range Unit factory value effective time word length

Pn460 Notch filter adjustment switch 1 0000ÿ0101 0101 Immediately 1

n.×××ÿ: Notch filter adjustment selection 1

0: The first stage notch filter is not automatically adjusted by the auxiliary function.

1: The first stage notch filter is automatically adjusted through the auxiliary function;

n.××ÿ×: reserved

n.×ÿ××: Notch filter adjustment selection 2

0: The second stage notch filter is not automatically adjusted by the auxiliary function. ;

1: The second stage notch filter is automatically adjusted by the auxiliary function.

n.ÿ×××: reserved

Port DI1 input signal selection

Pn50A n.0000ÿn.211F -- n.0000 immediately 1

ÿCN2-9ÿ

n.×××ÿ: Port DI1 input signal inversion

ÿ0ÿSignal is not inverted

ÿ1ÿSignal inversion

n.××ÿ×: port DI1 input signal status

ÿ0ÿInput signal status is controlled by external IO

ÿ1ÿSet the signal to be always valid

ÿ2ÿSet the signal to be invalid

n.ÿÿ××: Port DI1 input signal selection

ÿ00ÿServo enable (S-ON)

ÿ01ÿControl mode switching (C-MOD)

ÿ02ÿZero speed clamp (ZCLAMP)

ÿ03ÿForward drive inhibit (POT)

ÿ04ÿNegative drive prohibited (NOT)

ÿ05ÿDeviation counter clear (CLR)

ÿ06ÿAlarm clear (A-RST)

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ÿ07ÿPulse input inhibit (INHIBIT)

ÿ08ÿPositive torque limit (PCL)

ÿ09ÿNegative torque limit (NCL)

ÿ0AÿGain switching (GAIN)

ÿ0BÿCommand inversion (CMDINV)

ÿ0CÿCommand pulse frequency multiplication (DIV)

ÿ0DÿInternal command speed selection 0 (INSPD0)

ÿ0EÿInternal command speed selection 1 (INSPD1)

ÿ0FÿInternal command torque selection 0 (INTor0)

ÿ10ÿInternal command torque selection 1 (INTor1)

ÿ12ÿZero origin sensor input

ÿ13ÿReset to zero start signal, from 0 to 1. Keep 1. If 0, the motor stops.

ÿ15ÿInternal position start signal

ÿ18ÿSwitching between electronic gear ratio and second electronic gear ratio

ÿ19ÿInternal position pause signal

ÿ1AÿInternal position stop signal

Port DI2 input signal selection

Pn50B n.0000ÿn.211F -- n.0100 immediately 1

(CN2-10) Same Pn50A

Port DI3 input signal selection

Pn50C (CN2-34) Same Pn50A. n.0000ÿn.211F -- n.0320 immediately 1

Note that the default signal is negated.

Parameter Number Name Setting range Unit factory value effective time word length

Port DI4 input signal selection

Pn50D (CN2-8) Same Pn50A n.0000ÿn.211F -- n.0420 immediately 1

Note that the default signal is negated

Port DI5 input signal selection

Pn50E n.0000ÿn.211F -- n.0500 immediately 1

(CN2-33) Pn50A

Port DI6 input signal selection

Pn50F n.0000ÿn.211F -- n.0600 immediately 1

(CN2-30) Same Pn50A

Port DI7 input signal selection

Pn510 n.0000ÿn.211F n.0700 immediately 1

(CN2-12) Same Pn50A

Port DO1 output signal configuration

Pn512 n.0000ÿn.011F -- n.0000 immediately 1

ÿCN2-7ÿCN2-6ÿ

n.×××ÿ: Port DO1 output signal inversion

ÿ0ÿSignal is not inverted

ÿ1ÿSignal inversion

n.××ÿ×: reserved

n.×ÿ××: Port DO1 output signal selection

ÿ0ÿAlarm signal output (ALM)

ÿ1ÿPositioning completed (COIN): Output after the position deviation is less than the value of Pn522

ÿ2ÿZ pulse collector signal (CZ);

ÿ3ÿServo ready output (S-RDY)

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ÿ4ÿWarning output (WARN)

ÿ5ÿExternal brake release signal (BK)

ÿ6ÿConsistent speed output (VCMP)

ÿ7ÿMotor rotation detection (TGON)

ÿ8ÿTorque limit signal (TLC)

ÿ9ÿSpeed limit signal (VLC)

[A] Positioning approaching (NEAR): Output after the position deviation is less than the value of Pn524

ÿBÿDB brake output signal (DB)

ÿCÿTorque reached (TREACH): Output after the torque feedback reaches the value of Pn4A8

n.ÿ×××: reserved

Port DO2 output signal configuration

Pn513 n.0000ÿn.011F n.0300 immediately 1

ÿCN2-5ÿCN2-4ÿ

Same as above

Port DO3 output signal configuration

Pn514 n.0000ÿn.011F n.0500 immediately 1

ÿCN2-3ÿCN2-2ÿ

Same as above

Port DO4 output signal configuration

Pn515 n.0000ÿn.011F n.0200 immediately 1

ÿCN2-1ÿCN2-26ÿ

Same as above

-1
Pn501 Zero position fixed value 0~5000 1min 10 immediately 1

-1
Pn502 Rotation detection value 1ÿ6000 1min 20 immediately 1

Parameter Number Name Setting range Unit factory value effective time word length

-1
Pn503 Speed consistent signal output range 0ÿ100 1min 10 immediately 1

Brake command - Servo OFF delay

Pn506 0ÿ1000 1ms 0 immediately 1

Delay time

-1
Pn507 Brake command output speed value 0ÿ5000 1min 100 immediately 1

Servo OFF - brake command, etc.

Pn508 100ÿ5000 1ms 50 immediately 1

Waiting time

Pn509 Instantaneous stop holding time 20ÿ1000 1ms 500 immediately 1

Motor-load position deviation 1 Instructions

Pn51B 1ÿ1073741824 1000 Immediately 2
Too large value unit

Pn51E Position deviation too large warning value 10ÿ100 1% 80 immediately 1

1 Instructions

Pn520 Position deviation too large alarm value 1ÿ1073741824 one 50 immediately 2

Bit

1 Instructions

Pn522 Positioning completion width 1ÿ1073741824 one 7 immediately 2

Bit

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1 Instructions

Pn524 NEAR signal width 1ÿ1073741824 one 65535 immediately 2

Bit

1 Instructions
Position deviation is too large when servo is on
Pn526 1ÿ1073741824 one 50 immediately 2
Alarm value
Bit

Position deviation is too large when servo is on

Pn528 10ÿ100 1% 80 immediately 1

Warning value

-1
Pn529 Speed limit value when servo is ON 0ÿ10000 1min 10000 Immediately 1

Pn52B Overload warning value 5~100 % 20 immediately 1

Motor overload detection base current Motor stop

Pn52C 10~100 % 100 1

decline back

--

Pn52F Monitor display when power is on: 0000ÿ0FFF 0FFF Immediately 1

Pn560 Residual vibration detection amplitude 1ÿ3000 0.1% 40.0 Immediate 1

Pn561 Overshoot detection value 0ÿ100 1% 100 immediately 1

Pn600 Regeneration resistor capacity According to the model 1W 0 immediately 1

Pn602 Stall alarm function selection 0000 0001 Immediately

Pn603 Regeneration resistor value 1~2000 100mÿ 400 immediately 1

Pn530 Program JOG operation switch n.0000ÿn.0005 -- n.0000 immediately 1

n.×××ÿ: Program JOG operation parameters

ÿ0ÿÿwaiting time Pn535ÿforward movement Pn531ÿ×number of movements Pn536

ÿ1ÿÿwaiting time Pn535ÿreverse movement Pn531ÿ×number of movements Pn536

ÿ2ÿÿwaiting time Pn535ÿforward movement Pn531ÿ×number of movements Pn536ÿwaiting time Pn535ÿreverse movement

Pn531) × number of moves Pn536

ÿ3ÿÿwaiting time Pn535ÿreverse movement Pn531ÿ×number of movements Pn536ÿwaiting time Pn535ÿpositive transfer

Pn531) × number of moves Pn536

ÿ4ÿÿWaiting time Pn535ÿForward movement Pn531ÿWaiting time Pn535ÿReverse movement Pn531ÿ

× Number of moves Pn5A6

ÿ5ÿÿwaiting time Pn535ÿreverse movement Pn531ÿwaiting time Pn535ÿforward movement Pn531ÿ×movement times

Number Pn536

n.××ÿ×: reserved

n.×ÿ××: reserved

n.ÿ×××: reserved

Parameter Number Name Setting range Unit factory value effective time word length

1 Instructions

Pn531 Program JOG moving distance 1ÿ1073741824 32768 immediately 2

unit

Pn533 Program JOG moving speed 1ÿ10000 rpm 500 immediately 1

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Program JOG acceleration and deceleration time

Pn534 2ÿ10000 1ms 100 immediately 1

Internal multi-speed acceleration and deceleration time

Program JOG waiting time

Pn535 0ÿ10000 1ms 100 immediately 1

Internal multi-segment position waiting time

1. Program JOG movement times

2. Internal multi-stage position movement segment

Pn536 Number, the maximum value is 4 0ÿ1000 1 time 1 immediately 1

3. Analog speed mode

Clamping speed

Pn54D Fast return to zero speed 0ÿ3000 1min -1

200 immediately 1

Pn54E Slow return to zero speed 0ÿ3000 1min -1

10 immediately 1

0004: Online modification

Electronic gear ratio

Pn5D0 Customization Parameters 1 Restart the power supply

0005: Open the second

Electronic gear ratio

The second electronic gear ratio (numerator

Pn700 0ÿ1073741824 1 1 immediately

The second electronic gear ratio (denominator

Pn702 0ÿ1073741824 1 1 immediately

Internal multi-stage position 1st stage movement 1 Instructions

Pn704 1ÿ1073741824 32768 immediately 2
distance unit

Internal multi-stage position 2nd stage movement 1 Instructions

Pn706 1ÿ1073741824 32768 immediately 2
distance unit

Internal multi-stage position 3rd stage movement 1 Instructions

Pn708 1ÿ1073741824 32768 immediately 2
distance unit

Internal multi-stage position 4th stage movement 1 Instructions

Pn70A 1ÿ1073741824 32768 immediately 2
distance unit

Pn70C Multi-position function selection 0~0xFFFF 0 immediately 2

n.ÿÿÿ×:

The directions of the first 4 segments are reversed.

BIT corresponds to 4321 from left to right

n.××ÿ×:

BIT4: Pause signal trigger mode

0: Level trigger

1: Edge triggered

BIT5: Stop signal trigger mode

0: Level trigger

1: Edge triggered

BIT6: Position mode selection

0: relative position

1: Absolute position

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BIT7: Cycle mode

0: Single trigger

1: Continuous loop

n.×ÿ××:

BIT8: Function selection of NOT and POT

select

0: Standard function

1: Special features

n.ÿ×××: internal multi-stage

Setting selection

0: General position mode

1: Internal multi-segment position

1. Internal first multi-segment position, etc.

Waiting time
Pn70D 0ÿ10000 1ms 100 immediately 1

2. As brake opening delay

between

When waiting at the second internal multi-stage position

Pn70E 0ÿ10000 1ms 100 immediately 1

between

When waiting at the third internal multi-stage position

Pn70F 0ÿ10000 1ms 100 immediately 1

between

When waiting at the 4th internal multi-stage position

Pn710 0ÿ10000 1ms 100 immediately 1

between

PN711 09 Stall alarm time 0ÿ4000 1ms 600 immediately 1

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Chapter 11 Communications

11.1 Communication parameters

Axis address selection (UART/USB

Pn010 1ÿ127 n.0001 Restart power
For communication)

Pn011 RS485 communication function selection switch n.0000ÿ1096 n.0002 immediately 1

n.×××ÿ:RS485 communication

rate

0ÿ2400bpsÿ

1ÿ4800bpsÿ

2ÿ9600bpsÿ

3ÿ19200bpsÿ

4ÿ38400bpsÿ

5ÿ57600bpsÿ

6ÿ115200bpsÿ

n.××ÿ×: communication protocol

0ÿ8ÿNÿ1ÿ

1ÿ8ÿNÿ2ÿ

2ÿ8ÿAndÿ1ÿ

3ÿ8ÿOÿ1ÿ

n.×ÿ××: reserved

n.ÿ×××: reserved

11.2 Communication Protocol

When using the RS-485 serial communication interface, each servo drive must have its servo drive axis number set in the parameters in advance.

The host computer controls the corresponding servo drive according to the axis number. The communication method is to use MODBUS network communication, where

MODBUS can use the following two modes: ASCII (American Standard Code for information interchange)

mode or RTU (Remote Terminal Unit) mode.

11.3 Communication Data Structure

ÿCMD (command instruction) and DATA (data byte)

The format of the data byte depends on the instruction code. Commonly used instruction codes are shown in the following table.

Communication Commands

Order Command content illustrate

03H Read N words, N<=29 Standard 03 Commands

06H Write 1 Standard 06 Commands

10H word Write N words, N<=29 Standard 10 commands

Each 8-bit data is composed of two 4-bit hexadecimal bytes. For example, if you want to exchange the value 64H, you can directly

Transmit 1-byte data 64H.

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(1) Command code: 03H, read N words, N ÿ 29 For example: read 2 words

continuously from the starting address 0200H of the servo drive with station number 01H. Command

information

ADR 01H

CMD 03H

Starting data position 02H

(high first then low)

00H

Number of data 00H

words (high first then low)

02H

CRC Check Low C5H (low byte)

CRC Check High B3H (high byte)

Response information

ADR 01H

CMD 03H

Number
04H
of data (in bytes)

Starting data address 00H (high byte)

Contents of 0200H
B1H (low byte)

The second data address 1FH (high byte)

Contents of 0201H
40H (low byte)

CRC Check Low

A3H (low byte)

CRC Check High

D4H (high byte)

(2) Instruction code: 06H, write 1 word. For example: write 100

(0064H) to the starting address 0200H of the servo driver with station number 01H.

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Command information

ADR 01H

CMD 06H

Starting data address 02H

(High first, then low) 00H

Data content 00H

(High first, then low) 64H

CRC Check Low 89H

CRC Check High 99H

Response information

ADR 01H

CMD 06H

Starting data address 02H

(High first, then low) 00H

Data content 00H

(High first, then low) 64H

CRC Check Low 89H

CRC Check High 99H

(3) Instruction code: 10H, write N words, Nÿ29

For example: write 100 (0064H) and 102 (0066H) to the servo drive with axis number 01H, and the starting address is 0200H

Command information

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ADR 01H

CMD 10H

Starting data address 02H

(high first then low) 00H

Number of data words 00H

(high first then low) 02H

Number of data bytes 04H

Data 1 content 00H

(high first then low) 64H

Data 2 content 00H

(high first then low) 66H

CRC Check Low 2BH

CRC Check High 3AH

Response information:

ADR 01H

CMD 10H

Starting data address 02H

(high first then low) 00H

Number of data words 00H

(high first then low) 02H

CRC Check Low 40H

CRC Check High RTU 70H

mode uses CRC (CyclicalRedundancyCheck) error detection value. Step 1: A 16-bit register

with a content of FFFFH is called the CRC register. Step 2: XOR the first byte of the command information

with the low byte of the 16-bitsCRC register.

(Exclusive OR) operation and store the result back to the CRC register.

Step 3: Check the least significant bit (LSB) of the CRC register. If this bit is 0, shift it right by one bit. If this bit is 1, shift the

CRC register value right by one bit and then perform an exclusive OR operation with A001H.

Step 4: Return to step 3 until step 3 has been executed 8 times, then proceed to step 5. Step 5: Repeat steps 2

to 4 for the next byte of the instruction information until all byte groups have been

completely processed. At this time, the content of the CRC register is the CRC error detection

value.

Note: After calculating the CRC error detection value, in the command information, you must first fill in the low bit of the CRC, and then fill in the high bit of the CRC.

11.4 Communication Error Handling

During the communication process, errors may occur. Common sources of errors are as follows:

1. When reading or writing parameters, the data address

is incorrect; 2. When writing parameters, the data exceeds the maximum value of this parameter or is less than the

minimum value of this parameter; 3. Communication is disturbed, data transmission error

or checksum error. When the above communication errors occur, the operation of the drive is not affected, and the drive will feedback an error frame. The error frame

format is as follows:

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Host computer data frame:

start Slave station address command data address, information and other verification

Driver feedback error frame:

start Slave address Response code Error code check

Among

them, error frame response code = command + 80H; error code = 00H: communication is normal; = 01H/

31H: the drive cannot recognize the requested function; = 02H/32H: the data

address given in the request does not exist in the drive; = 03H/33H: the data given in the request is

not allowed in the drive (exceeds the maximum or minimum value of the parameter); = 04H/34H: the drive has started to execute the request,

but cannot complete the request; For example: the drive axis number is 03H, and the data 06H is written to

the parameter Pn004. Since the maximum and minimum values of the parameter Pn004 are both 0,

The written data will not be accepted, and the drive will return an error frame with an error code of 33H (exceeding the maximum or minimum value of the parameter). The

structure is as follows:

Host computer data frame:

start Slave station address command data address, information and other verification

03H 06H 0004H 0006H

Driver feedback error frame:

start Slave address Response code Error code check

03H 86H 33H

Note: If the slave address in the data frame sent by the host computer is 00H, it means that this frame data is broadcast data and the drive will not return

the frame.

11.5 Correspondence Address

Operation

Communication
Content related instructions Data Types (read and write

address hexadecimal
ÿ

For example, Pn005 corresponds to 0005H; For According to the parameter content, there are the

example, Pn101 corresponds to 0101H; For following

parameter example, Pn307 corresponds to 0307H; For data types: • Unsigned 16 (Uint16) • Readable
0000~0F00H
district example, Pn5A0 corresponds to 05A0H; The Signed 16 (int16) • Unsigned 32 bits Write

function is to read RAM or write RAM and EEPROM (Uint32) • Signed 32 bits (int32)

non-volatile memory.

1000~1F00H Temporary If the modified parameters need to be stored, the following data can be read according to the parameter content.

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Parameter For example, Pn005 has a corresponding address of Type: • Write

area 1005H; For example, Pn101 has a corresponding Unsigned 16 (Uint16) • Signed 16

address of 1101H; For example, Pn307 has a (int16) • Unsigned 32 bits (Uint32) •

corresponding address of 1307H; For example, Pn5A0 Signed 32 bits (int32)

has a corresponding address of 15A0H; The function is to read

or write RAM without modifying the data in EEPROM.

According to the monitoring content, there are

Corresponding to the data in the monitoring the

monitor table. For example, Un000 corresponds to following data types: • Unsigned 16
E000~E200H Readable
district E000H; For example, Un00A corresponds to (Uint16) • Signed 16 (int16) •

E00AH; For example, Un180 corresponds to E180H; Unsigned 32 bits (Uint32) • Signed 32 bits

(int32)

Note: 1.

If the addresses in the table above are continuous, continuous read/write operations can be performed. If the data of the continuous operation is not in the table,

the read/write data will be invalid. For example, there are only two data starting from 0x0630. When the continuous read data exceeds 2, the driver judges that the read data

is invalid and returns an error code.

2. When operating 32-bit data: when reading data, the lower 16 bits are in front and the higher 16 bits are in the back; when writing, use

The 0x10 command writes two consecutive words, with the lower 16 bits in front and the higher 16 bits in the back.

3. In normal mode, the motor position feedback, encoder multi-turn data, and encoder single-turn data all increase counterclockwise (from the motor axis) and

decrease clockwise.

4. Instructions for use of E188H and E18AH: Before use, you need to manually clear the absolute value data (Fn008). After execution, the E188H and E18AH data will

be automatically cleared; E188H and E18AH are the data after the electronic gear is calculated (in customer units). If the electronic gear is 20:1, the motor runs 50 turns (for

example, the motor pulse for 1 turn is 131072), the feedback data is 50*131072/20=327680, that is, the address E188H data is 0x00050000, and the address E18AH data is

0x00000000. 5. Clear the multi-turn encoder through 485, and write the value of address 0X1601 to 0X0001.

In the servo-enabled state, the multi-turn encoder is cleared, and the value of address 0X1601 is written to 0X0001.

The value of PN601 will immediately change to 0 when the key is pressed. You need to check the value of UN188 to confirm whether it has been cleared.

6. 485 alarm processing problem 1)

Alarm reading

01 03 E5 0A 00 01 CRC

2) Clear alarm records:

01 06 20 00 10 06 CRC

01 06 20 01 00 01 CRC

3) Alarm reset

01 06 20 00 20 01 CRC

01 06 20 01 00 01 CRC

7. When frequently modifying parameters, it is recommended to use the temporary parameter area address, otherwise the storage chip may be easily damaged.

11.6 Common Operations

Register setting:

Operation mode setting [setting value of 2000H]:

Settings content

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1006H Alarm record clear

2001H Alarm reset

Operation setting [setting value of 2001H]:

Settings content

0001H implement

Example: Alarm reset

1. Instruction information

ADR 01H

CMD 06H

Starting data address 20H

(High first, then low) 00H

Data content 20H

(High first, then low) 01H

CRC Check Low 5aH

CRC Check High 0aH

Response information

ADR 01H

CMD 06H

Starting data address 20H

(High first, then low) 00H

Data content 20H

(High first, then low) 01H

CRC Check Low 5aH

CRC Check High 0aH

2. Command information

ADR 01H

CMD 06H

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Starting data address 20H

(High first, then low) 01H

Data content 00H

(High first, then low) 01H

CRC Check Low 12H

CRC Check High 0aH

Response information

ADR 01H

CMD 06H

Starting data address 20H

(High first, then low) 01H

Data content 00H

(High first, then low) 01H

CRC Check Low 12H

CRC Check High 0aH

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