T6 AC Servo Full Manual
T6 AC Servo Full Manual
T6 AC Servo Full Manual
Preliminary Version
Introduction
Thanks for purchasing STEPPERONLINE T6-series AC servo drives; this instruction manual
provides knowledge and attention for using this drive.
Incorrect operation may cause unexpected accident, please read this manual carefully before using product.
We reserve the right to modify equipment and documentation without prior notice.
We won’t undertake any responsibility with customer’s any modification of product, and the warranty of
product will be cancel at the same time.
Safety Items
T6 Series servo drive should be mounted in cover type control box during operating. The mounting of drive, wiring
and motor should be under the regulations of EN 61800-5-1.
Safety items indicate a potential for personal injury or equipment damage if the recommended precautions and
safe operating practices are not followed.
The following safety-alert symbols are used on the drive and in the documentation:
!
Caution
Indicates something that must be done.
!
Warning
Indicates something that must not be done.
Protective Earth
Safety precautions
! Warning
Warning
The design and manufacture of product doesn’t use in mechanic and system which have a threat to operator.
The safety protection must be provided in design and manufacture when using this product to prevent
incorrect operation or abnormal accident.
Acceptance
!
Caution
Caution
The product which is damaged or have fault is forbidden to use.
Transportation
!
Caution
Caution
The storage and transportation must be in normal condition.
Don’t stack too high, prevent falling.
The product should be packaged properly in transportation,
Don’t hold the product by the cable, motor shaft or encoder while transporting it.
The product can’t undertake external force and shock.
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User manual of T6 AC Servo
Installation
!
Caution
Caution
Servo Drive and Servo Motor:
Don’t install them on inflammable substance or near it to preventing fire hazard.
Avoid vibration, prohibit direct impact.
Don’t install the product while the product is damaged or incomplete.
Servo Drive:
Must install in control cabinet with sufficient safeguarding grade.
Must reserve sufficient gap with the other equipment.
Must keep good cooling condition.
Avoid dust, corrosive gas, conducting object, fluid and inflammable ,explosive object from invading.
Servo Motor:
Installation must be steady, prevent drop from vibrating.
Prevent fluid from invading to damage motor and encoder.
Prohibit knocking the motor and shaft, avoid damaging encoder.
The motor shaft can’t bear the load beyond the limits.
Wiring
!
Warning
Warning
The workers of participation in wiring or checking must possess sufficient ability do this job.
The wiring and check must be going with power off after 10 minutes
Ground the earth terminal of the motor and drive without fail.
The wiring should be connected after servo drive and servo motor installed correctly
After correctly connecting cables, insulate the live parts with insulator.
!
Caution
Caution
The wiring must be connected correctly and steadily, otherwise servo motor may run incorrectly, or damage
the equipment.
Servo motor U, V, W terminal should be connected correctly, it is forbidden to connect them directly to AC
power.
We mustn’t connect capacitors, inductors or filters between servo motor and servo drive.
The wire and temperature-resistant object must not be close to radiator of servo drive and motor.
The freewheel diode which connect in parallel to output signal DC relay mustn’t connect reversely.
Using
!
Caution
Caution
Install a emergency stop protection circuit externally, the protection can stop running immediately to prevent
accident happened and the power can be cut off immediately.
The run signal must be cut off before resetting alarm signal, just to prevent restarting suddenly.
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User manual of T6 AC Servo
Fault Processing
!
Warning
Warning
The high voltage also will contain in several minutes even if the servo drive is powered off, please don’t touch
terminal strip or separate the wiring.
The workers of participation in wiring or checking must possess sufficient ability do this job.
!
Caution
Caution
The reason of fault must be figured out after alarm occurs, reset alarm signal before restart.
Keep away from machine, because of restart suddenly if the drive is powered on again after momentary
interruption(the design of the machine should be assured to avoid danger when restart occurs)
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User manual of T6 AC Servo
Table of Contents
目录
User Manual of T6 Series AC Servo ............................................................................................................................................1
Introduction ....................................................................................................................................................................................... 2
Safety Items .......................................................................................................................................................................................2
Safety precautions ...........................................................................................................................................................................2
Acceptance ........................................................................................................................................................................................2
Transportation .................................................................................................................................................................................. 2
Fault Processing .............................................................................................................................................................................. 4
T6 series function guidance ......................................................................................................................................................... 7
Chapter 1 Introduction ................................................................................................................................................................... 8
1.1 Product Introduction ........................................................................................................................................................... 8
1.2 Inspection of product .......................................................................................................................................................... 8
2. Type meaning ........................................................................................................................................................................ 8
1.3 Pulse Control for T6-D/RS AC Servo Drives .................................................................................................................. 9
Chapter 2 Product Specification ................................................................................................................................................10
2.1 Drive Technical Specification ..........................................................................................................................................10
2.2 Accessory selection .......................................................................................................................................................... 11
1. Motor cable: ......................................................................................................................................................................... 11
2. Encoder cable: .....................................................................................................................................................................11
3. Brake cable (if necessary): ................................................................................................................ 错误!未定义书签。
5. Communication cable .........................................................................................................................错误!未定义书签。
Chapter 3 Installation ....................................................................................................................................................................12
3.1 Storage and Installation Circumstance ..........................................................................................................................12
3.2 Servo Drive Installation .................................................................................................................................................... 12
3.3 Servo Motor Installation ................................................................................................................................................... 13
Chapter 4 Wiring ............................................................................................................................................................................ 14
4.1 Wiring .................................................................................................................................................................................. 14
4.1.1 Wire Gauge .....................................................................................................................................................................14
4.1.2 Position Control Mode ...................................................................................................................................................16
4.2 Drive Terminals Function .................................................................................................................................................16
4.2.3 Encoder Input Port-CN3 Terminal ...............................................................................................................................17
4.2.5 Encoder output Port-CN6 Terminal ............................................................................................................................ 18
4.2.6 Power Port ...................................................................................................................................................................... 18
4.3 I/O Interface Principles .....................................................................................................................................................19
4.3.2 Switch Output Interface ................................................................................................................................................ 21
4.3.3 Pulse Input Interface ..................................................................................................................................................... 22
4.4 Brake wiring ........................................................................................................................................................................25
Chapter 5 Parameter ..................................................................................................................................................................... 26
5.1 Parameter List ................................................................................................................................................................... 26
5.2 Parameter Function .......................................................................................................................................................... 33
5.2.1【Class 0】Basic Setting .............................................................................................................................................. 33
Chapter 6 Alarm and Processing ...............................................................................................................................................70
6.1 Alarm List ........................................................................................................................................................................... 70
6.2 Alarm Processing Method ............................................................................................................................................... 71
6.3 Alarm clear ......................................................................................................................................................................... 78
Chapter 7 Display and Operation .............................................................................................................................................. 79
7.1 Introduction ........................................................................................................................................................................ 79
7.2 Panel Display and Operation .......................................................................................................................................... 80
7.2.1 Panel Operation Flow Figure ....................................................................................................................................... 80
7.2.2 Drive Operating Data Monitor ...................................................................................................................................... 81
7.2.3 Auxiliary Function .......................................................................................................................................................... 84
7.2.4 Saving parameter .......................................................................................................................................................... 84
7.2.5 Abnormal Alarm ............................................................................................................................................................. 85
7.3 Trial Run ............................................................................................................................................................................. 85
7.3.1 Inspection Before trial Run ...........................................................................................................................................85
7.3.2 Timing chart on power-up .............................................................................................................................................86
7.3.3 Timing chart on fault ......................................................................................................................................................86
7.3.4 Trial Run by operation interface .................................................................................................................................. 86
Chapter 8 Application Case ........................................................................................................................................................ 88
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User manual of T6 AC Servo
8.1 Position Control ................................................................................................................................................................. 88
1. Cconnect terminal CN1. ..................................................................................................................................................... 90
3. Power on the drive. ............................................................................................................................................................. 90
8.2 Multi-turn absolute encoder .............................................................................................................................................95
8.2.1 Parameters setting ........................................................................................................................................................ 95
8.2.2 Read absolute position ................................................................................................................................................. 96
8.2.3 Alarm ............................................................................................................................................................................... 96
8.3 Security Features .............................................................................................................................................................. 97
8.3.1 Speed limit ...................................................................................................................................................................... 97
8.3.2 BRK-OFF output ............................................................................................................................................................ 98
8.3.3 Servo stop mode ............................................................................................................................................................99
8.3.4 Emergency stop function ..............................................................................................................................................99
8.4 Inertia ratio identification .................................................................................................................................................. 99
8.5 Vibration Suppression .................................................................................................................................................... 101
1. Set Pr2.00=1 ...................................................................................................................................................................... 101
5. Saving parameters setting. .............................................................................................................................................. 101
8.6 Third gain switching ........................................................................................................................................................ 103
8.7 Friction torque compensation ........................................................................................................................................104
8.8 Regenerative resister setting ........................................................................................................................................ 104
8.9 Velocity Control ............................................................................................................................................................... 105
8.9.4 Speed coincidence output (V-COIN) ........................................................................................................................ 108
Chapter 9 Pr-Mode .......................................................................................................................................................................110
9.1 Overview ...........................................................................................................................................................................110
9.1.1 Main function ................................................................................................................................................................ 110
9.1.2 Installation wiring ......................................................................................................................................................... 111
9.2 Pr-Mode Parameters ...................................................................................................................................................... 113
9.2.1 8th parameters specification ...................................................................................................................................... 113
9.3 Pr-Mode motion control ..................................................................................................................................................115
9.3.1 Homing .......................................................................................................................................................................... 115
9.3.2 Position limit and E-stop ............................................................................................................................................. 117
9.3.3 JOG ................................................................................................................................................................................117
9.3.4 Path Motion ...................................................................................................................................................................118
9.4 Execute movement of Pr-Mode .................................................................................................................................... 120
1. Check the wirings. .............................................................................................................................................................120
5.Test run ............................................................................................................................................................................. 122
2. Enable drive. ...................................................................................................................................................................... 127
9.5 Operation examples ....................................................................................................................................................... 129
9.5.1 Execute movement by digital signal ......................................................................................................................... 129
Chapter 10 Order Guidance ...................................................................................................................................................... 138
10.1 Capacity Selection ........................................................................................................................................................ 138
1) Calculate Inertia of Load and Torque ............................................................................................................................ 138
2) Identify Mechanical Gear Ratio .......................................................................................................................................138
10.2 Electronic Gear Ratio ................................................................................................................................................... 138
Appendix ........................................................................................................................................................................................ 139
A、Modbus Communication ................................................................................................................................................ 139
1、Terminal resistance .........................................................................................................................................................143
2、Wiring error .......................................................................................................................................................................143
3、Signal interference .......................................................................................................................................................... 144
A.4.2 Problem solving procedure ............................................................................................................................................144
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User manual of T6 AC Servo
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User manual of T6 AC Servo
Chapter 1 Introduction
1.1 Product Introduction
T6/ELM Series AC servo products are cost-effective AC digital servo which is designed mainly for position high
accurate control, power range up to 1kw, which can provide a perfect solution for different applications,
performance with easy tuning process.
2. Type meaning
NO Details
① Series T6:Servo drive series
② Power 400: 400W 750: 750W 1000:1000W
③ Command source RS:RS485
3. Accessory list
1. User manual
2. Power connector
3. Control signal terminal CN1 (6 pin)
4. Digital input/output terminal CN2(10 pin)
5. 1 press rod with plastic terminal
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User manual of T6 AC Servo
Pulse-controlled versions of servo motors can rotate in both directions. This means a controller needs to provide,
at a minimum, two control signals to the drive. There are two ways to provide these signals: “Step/Direction mode”
or “CW/CCW mode” or “clockwise/counterclockwise mode”. Both modes require two control signals from the
controller to the drive. Max. frequency for both input mode signal is 500kHz(Differential), 300kHz(Single-ended).
In step/direction mode, one control signal is a pulse train or “step” signal. The other signal is a directional input. If
the directional input is on, and a pulsed signal is present on the step input, the motor rotates clockwise.
Conversely, if the direction signal is off and a pulsed signal is present on the step input, the motor rotates the
other direction, or counterclockwise. The pulse train is always on the same input no matter what direction is
desired.
Our T6-D/RS series AC servo drives also provide CW/CCW mode for a more flexible setup, both signals are a
pulse train. Only one input at a time will have a frequency, so if the CW pulse train is present, the motor rotates
CW. If the CCW pulse train is present, the motor rotates CCWs. Which input receives the pulse train depends on
the desired direction.
Please refer to Pr0.06 and Pr0.07 in Chapter 5 for details on setting up pulse direction and input mode.
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User manual of T6 AC Servo
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User manual of T6 AC Servo
Table 2.2 Drive Specification B
5V differential,0~500kHz
Maximum frequency of pulse input
24Vsingle-ended,0~200kHz
2. Encoder cable:
CEST1M5
CEST1M5-2
CEAST1M5-2
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User manual of T6 AC Servo
Chapter 3 Installation
3.1 Storage and Installation Circumstance
Table 3.1 Servo Drive, Servo Motor Storage Circumstance Requirement
Item T6 series drive Servo motor
Temperature -20-80℃ -25-70℃
Humility Under 90%RH (free from condensation) Under 80%RH(free from condensation)
Atmospheric Indoor(no exposure)no corrosive gas or Indoor(no exposure)no corrosive gas or
environment flammable gas, no oil or dust flammable gas, no oil or dust
Altitude Lower than 1000m Lower than 2500m
Vibration Less than 0.5G (4.9m/s ) 10-60Hz (non-continuous working)
2
Install in vertical position, and reserve enough space around the servo drive for ventilation.
The user may install the product in the mode of bottom plate installation or panel installation, and the installation
direction is perpendicular to the installation face. In order to ensure good heat dissipation conditions, at least
10MM of installation space should be set aside in the actual installation.
When mounting drives compactly, consider installation tolerances and leave at least 1MM between each two
drives. Use it below 75% of the actual load rate.
Installation diagram as follow:
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User manual of T6 AC Servo
Notice
Don’t hold the product by the cable, motor shaft or encoder while transporting it.
No knocking motor shaft or encoders, prevent motor by vibration or shock.
The motor shaft can’t bear the load beyond the limits.
Motor shaft does not bear the axial load, radial load, otherwise you may damage the motor.
Use a flexible with high stiffness designed exclusively for servo application in order to make a radial
thrust caused by micro misalignment smaller than the permissible value.
Install must be steady, prevent drop from vibrating.
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User manual of T6 AC Servo
Chapter 4 Wiring
! Warning
Warning
The workers of participation in wiring or checking must possess sufficient ability do this job.
The wiring and check must be going with power off after five minutes.
Caution
Ground the earth terminal of the motor and drive without fail.
The wiring should be connected after servo drive and servo motor installed correctly
4.1 Wiring
4.1.1 Wire Gauge
(1)Power supply terminal TB
● Diameter:
Table 4.1 Power wiring specification
Wire diameter (mm2/AWG)
Drive
L1.L2.L3 P+.BR U.V.W PE
T6-400RS 1.3/AWG16 2.1/AWG14 1.3/AWG16 2.1/AWG14
T6-750RS 1.3/AWG16 2.1/AWG14 1.3/AWG16 2.1/AWG14
T6-1000RS 2.1/AWG14 2.1/AWG14 2.1/AWG14 2.1/AWG14
● Grounding: The grounding wire should be as thick as possible, drive servo motor the PE terminal point ground,
ground resistance <100 Ω.
●Use noise filter to remove external noise from the power lines and reduce an effect of the noise generated by the
servo drive.
● Install fuse (NFB) promptly to cut off the external power supply if drive error occurs.
(3)Regenerative resister
When the torque of the motor is opposite to the direction of rotation (common scenarios such as deceleration,
vertical axis descent, etc.), energy will feedback from the load to the drive. At this time, the energy feedback is
first received by the capacitor in the drive, which makes the voltage of the capacitor rise. When it rises to a certain
voltage value, the excess energy needs to be consumed by the regenerative resistance
The recommended regenerative resistance specifications for the T6 series are as follows:
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User manual of T6 AC Servo
Table 4.2 Regenerative resistance specification sheet
Attention
Match the colors of the motor lead wires to those of the corresponding motor output terminals (U.V.W)
Never start nor stop the servo motor with this magnetic contactor.
Cable must be fixed steadily, avoid closing to radiator and motor to prevent reducing the properties of heat
insulation
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User manual of T6 AC Servo
5 DIR+ 5V direction+
6 DIR- Direction-
1 VCC5V
2 GND
3 BAT+
CN3 4 BAT-
5 SD+
6 SD-
Shell PE
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User manual of T6 AC Servo
3,11 / /
4,12 / /
CN4
5,13 / /
CN5
6,14 TXD RS232 transmit
PE PE ground
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User manual of T6 AC Servo
External
Br regenerative resistor External regenerative resistor terminal
terminal
N DC bus - terminal Drive DC bus - terminal
When using external resistors, the values of resistance and power are selected as follows:
Drive Resistor(Ω) Power(W)
Notes
T6-400 ≥ 40 100
Notes 1 Connect the drive to the ground end (PE) of the motor and connect it to the earth
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User manual of T6 AC Servo
Set SI input function allocation.
This parameter use 16 binary system to set up the values,
For the function number, please refer to the following Figure.
Setup value
Signal name Symbol
Normally open Normally closed
Invalid - 00h Do not setup
Positive direction over-travel
POT 01h 81h
inhibition
Negative direction over-travel
NOT 02h 82h
inhibition
Servo-ON input SRV-ON 03h 83h
Alarm clear input A-CLR 04h Do not setup
Control mode switching input C-MODE 05h 85h
Gain switching input GAIN 06h 86h
Deviation counter clear input CL 07h Do not setup
Command pulse inhibition input INH 08h 88h
Electronic gear switching input 1 DIV1 0Ch 8Ch
Electronic gear switching input 2 DIV2 0Dh 8Dh
Selection 1 input of internal
INTSPD1 0Eh 8Eh
command speed
Selection 2 input of internal
INTSPD2 0Fh 8Fh
command speed
Selection 3 input of internal
INTSPD3 10h 90h
command speed
Speed zero clamp input ZEROSPD 11h 91h
Speed command sign input VC-SIGN 12h 92h
Torque command sign input TC-SIGN 13h 93h
Forced alarm input E-STOP 14h 94h
Note:
Normally open means input signal comes from external controller or component, for
example: PLC.
Normally closed means input signal comes from drive internally.
Don’t setup to a value other than that specified in the table .
Don’t assign specific function to 2 or more signals. Duplicated assignment will cause
Err21.0 I/F input multiple assignment error 1or Err21.1 I/F input multiple assignment error
2
(1) The user provide the external power supply . However, if current polarity connects reversely, servo drive is
damaged.
(2) The output of the form is open-collector, the maximum voltage is 25V, and maximum current is 50mA.
Therefore, the load of switch output signal must match the requirements. If you exceed the requirements or output
directly connected with the power supply, the servo drive is damaged.
(3) If the load is inductive loads relays, etc., there must be anti-parallel freewheeling diode across the load. If the
freewheeling diode is connected reversely, the servo drive is damaged.
(4) Pin7、Pin8 and Pin6:Single-ended output;
Pin9、Pin10:Differential output.
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User manual of T6 AC Servo
Assign functions to SO outputs.
This parameter use 16 binary system do setup
For the function number, please refer to the following Figure.
Signal name Symbol Setup value
Invalid - 00h
Alarm output Alm 01h
Servo-Ready output S-RDY 02h
Eternal brake release signal BRK-OFF 03h
Positioning complete output INP 04h
At-speed output AT-SPPED 05h
Zero-speed detection output ZSP 07h
Velocity coincidence output V-COIN 08h
Positional command ON/OFF
P-CMD 0Bh
output
Speed command ON/OFF output V-CMD 0Fh
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User manual of T6 AC Servo
Vcc =12V, R = 1K, 0.25W; Vcc =24V, R = 2K, 0.25W
Figure 4-6 24V Single-ended Pulse Signal(Pin1、Pin4、Pin2、Pin6 of CN1 Terminal)
(1) In order to transmit pulse data correctly, we recommend using the differential drive mode.
(2) The differential drive mode, AM26LS31, MC3487 or similar RS422 line drive.
(3) Using of single-ended drive will cause reduction of the operation frequency. The value of the resistance R
depends on pulse input circuit and the external voltage, while drive current should be at the range of 10 - 15mA
and the maximum voltage is no more than 25V .
Recommendation:
VCC = 24V, R = 1.3 to 2KΩ;
VCC = 12V, R = 510 ~ 820Ω;
VCC = 5V, R = 82 ~ 120Ω.
(4) The user provides external power supply for single-ended pulse signal. However, the wrong connection of
pulse polarity will cause servo drive damaged.
(5) The form of pulse input is the following form 4.9 below, while the arrows indicate the count.
The form of pulse input timing parameter is the following form 4.10 below. The 4 times pulse frequency ≤ 500kH if
2-phase input form is used.
Figure 4-7 pulse + direction input interface timing (the maximum of pulse frequency: 500KHZ)
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User manual of T6 AC Servo
Name Command Pulse Rotational Direction
Mode P
Setup
Pr0.06* Range 0~1 Unit — Default 0
Data Type 16bit Access R/W Address 000DH
Repower o
Set command pulse input rotate direction, command pulse input type
Name Command Pulse Input Mode Setup Mode P
Positive Negative
Pr0.06 Pr0.07 Command Pulse Format Signal Direction Direction
Command Command
0 90 phase difference
Pulse
0 or 2 2-phase pulse(A phase +B
sign
phase)
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User manual of T6 AC Servo
Chapter 5 Parameter
5.1 Parameter List
Notes: The parameters like Pr0.01*, which contain’ *’ means that the new value of this parameters will valid after
power is restarted!
Parameter
Mode Communication
Number
Default Repo
Name
Classify
P V T Access Add
Type
51 — O O O 32bit R/W
index 0049H 0x0067
Mapping parameter 3 0049 0x0068
52 — O O O 32bit R/W
index 0049H 0x0069
53 Mapping parameter 4 0049 — O O O 32bit R/W 0x006A
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User manual of T6 AC Servo
index 0049H 0x006B
Mapping parameter 5 0049 0x006C
54 — O O O 32bit R/W
index 0049H 0x006D
Mapping parameter 6 0049 0x006E
55 — O O O 32bit R/W
index 0049H 0x006F
Mapping parameter 7 0049 0x0070
56 — O O O 32bit R/W
index 0049H 0x0071
Mapping parameter 8 0049 0x0072
57 — O O O 32bit R/W
index 0049H 0x0073
Parameter
Mode Communication
Number
Default
Classify
Name Repower
value Data
NO
P V T Access Address
Type
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User manual of T6 AC Servo
Parameter Number
Classify Mode Communication
Default
Name Repower Data
NO
value P V T Access Address
Type
Adaptive filter
00 0 — O O — 16bit R/W 0201H
mode setup
1st notch
01 2000 — O O O 16bit R/W 0203H
frequency
1st notch width
02 2 — O O O 16bit R/W 0205H
selection
1st notch depth
03 0 — O O O 16bit R/W 0207H
selection
2nd notch
04 2000 — O O O 16bit R/W 0209H
frequency
Vibration Restrain Function
selection
3rd notch
07 2000 — O O O 16bit R/W 020FH
frequency
3rd notch width 16bit
08 2 — O O O R/W 0211H
selection
3rd notch depth 16bit
09 0 — O O O R/W 0213H
selection
1st damping 16bit
14 0 — O — — R/W 021DH
frequency
2nd damping
16 0 — O — — 16bit R/W 0221H
frequency
Positional
22 command smooth 0 O O — — 16bit R/W 022DH
filter
Positional
23 command FIR 0 O O — — 16bit R/W 022FH
filter
Parameter
Mode Communication
Number
Default
Classify
Name Repower
value Data
NO
P V T Access Address
Type
Velocity setup
00 internal /external 0 — — O — 16bit R/W 0301H
switching
Speed command
Speed, Torque Control
Speed command
03 0 — — O — 16bit R/W 0307H
reversal input
04 1st speed setup 0 — — O — 16bit R/W 0309H
05 2nd speed setup 0 — — O — 16bit R/W 030BH
06 3rd speed setup 0 — — O — 16bit R/W 030DH
07 4th speed setup 0 — — O — 16bit R/W 030FH
08 5th speed setup 0 — — O — 16bit R/W 0311H
09 6th speed setup 0 — — O — 16bit R/W 0313H
10 7th speed setup 0 — — O — 16bit R/W 0315H
11 8th speed setup 0 — — O — 16bit R/W 0317H
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User manual of T6 AC Servo
time setup
12 100 — — O — 16bit R/W 0319H
acceleration
time setup
13 100 — — O — 16bit R/W 031BH
deceleration
Sigmoid
acceleration
14 0 O — O — 16bit R/W 031DH
/deceleration time
setup
Speed zero-clamp
15 0 — — O — 16bit R/W 031FH
function selection
Speed zero-clamp
16 30 — — O — 16bit R/W 0321H
level
Torque command
17 0 — — — O 16bit R/W 0323H
selection
Torque command
18 0 — — — O 16bit R/W 0325H
direction selection
Torque command
19 30 — — — O 16bit R/W 0327H
input gain
Torque command
20 0 — — — O 16bit R/W 0329H
input reversal
21 Speed limit value 1 0 — — — O 16bit R/W 032BH
22 2nd torque limit 0 — O O O 16bit R/W 032DH
Maximum speed of
24 0 — O O O 16bit R/W 0331H
motor rotation
Synchronous
28 parameter setting 0 — O O O 16bit R/W 0339H
of gantry
Default
Name Repower Data
NO
Positioning O — —
31 10 — 16bit R/W 043FH
complete range
Positioning O — —
32 complete output 0 — 16bit R/W 0441H
setup
33 INP hold time 0 — O — — 16bit R/W 0443H
34 Zero-speed 50 — O O O 16bit R/W 0445H
Speed O —
35 coincidence 50 — 16bit R/W 0447H
range
36 At-speed 1000 — O — 16bit R/W 0449H
Mechanical brake O O O
37 0 — 16bit R/W 044BH
action at stalling
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User manual of T6 AC Servo
setup
Mechanical brake O O O
38 action at running 0 — 16bit R/W 044DH
setup
Brake action at O O O
39 30 — 16bit R/W 044FH
running setup
E-stop function O O O
43 0 — 16bit R/W 0457H
active
Parameter
Mode Communication
Number
Default
Classify
Name Reower
value Data
NO
P V T Access Address
Type
setup
【Class 5】
Over-speed level
13 0 — O O O 16bit R/W 051BH
setup
15 I/F reading filter 0 O O O O 16bit R/W 051FH
Counter clear up
17 3 — O — — 16bit R/W 0523H
input mode
Position setup unit
20 2 — O — — 16bit R/W 0529H
select
Selection of torque
21 0 — O O O 16bit R/W 052BH
limit
22 2nd torque limit 300 — O O O 16bit R/W 052DH
Torque limit
23 0 — O O O 16bit R/W 052FH
switching setup 1
Torque limit
24 0 — O O O 16bit R/W 0531H
switching setup 2
28 LED initial status 1 — O O O 16bit R/W 0539H
RS485 mode
29 21 — O O O 16bit R/W 053BH
selection
RS485 baud rate
30 2 — O O O 16bit R/W 053DH
setup
31 RS485 slave ID 1 — O O O 16bit R/W 053FH
Command pulse
32 0 — O — — 16bit R/W 0541H
input maximum
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User manual of T6 AC Servo
setup
Front panel lock
35 0 — O O O 16bit R/W 0547H
setup
Password for
36 opening group 7 0 — O O O 16bit R/W 0549H
parameter
Default
Name Repower Data
NO
Encoder zero
01 position 0 O O O O 16bit R/W 0603H
compensation
JOG trial run
03 0 — O — — 16bit R/W 0607H
command torque
JOG trial run
04 400 — O — — 16bit R/W 0609H
command speed
Position 3rd gain
05 0 — O — — 16bit R/W 060BH
valid time
Position 3rd gain
06 100 — O — — 16bit R/W 060DH
scale factor
Torque command
07 0 — O O O 16bit R/W 060FH
additional value
Positive direction
torque
08 0 — O O O 16bit R/W 0611H
compensation
value
Special Setup
【Class 6】
Negative direction
torque
09 0 — O O O 16bit R/W 0613H
compensation
value
Function
10 0 O O O O 16bit R/W 0615H
expansion setup
Current response
11 100 — O O O 16bit R/W 0617H
setup
Emergency stop
14 0 — O O O 16bit R/W 061DH
time at alarm
distance of trial
20 10 — O — — 16bit R/W 0629H
running
waiting time of trial
21 100 — O — — 16bit R/W 062BH
running
cycling times of
22 5 — O — — 16bit R/W 062DH
trial running
Acceleration of
25 200 — O — — 16bit R/W 0633H
trial running
Absolute multi-turn
63 position upper 0 O O O O 16bit R/W 067FH
bound
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Default
Classify
NO
P V T Access Address
Type
Software version 1
00 — O O O 16bit R 0B00H
(DSP)
Software version 2
01 — O O O 16bit R 0B01H
(CPLD)
Software version 3
02 — O O O 16bit R 0B02H
(other)
03 Error code — O O O 16bit R 0B03H
Factor of no-motor
04 — O O O 16bit R 0B04H
running
Drive operating
05 — O O O 16bit R 0B05H
state
Actual velocity
06 O O O 16bit R 0B06H
(unfiltered)
Actual torque
07 — O O O 16bit R 0B07H
feedback
Actual current
08 — O O O 16bit R 0B08H
feedback
Actual
09 velocity(After — O O O 16bit R 0B09H
filtering))
10 DC bus voltage — O O O 16bit R 0B0AH
11 Drive temperature — O O O 16bit R 0B0BH
Status Information
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Notes:
(1)The "O" in the repower bar indicates that the new value valid after repower, and the "-" indicates that the new
value valid immediately;
(2)The "O" in the mode bar indicates this parameter related to this mode,“—”indicates this parameter dose not
related to this mode;
(3)32bit data,high data in front, low data after.
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Name Control Mode Setup Mode P S T
Range 0~10 Unit — Default 0
Pr0.01*
Data Type 16bit Access R/W Address 0003H
Repower o
Set using control mode:
Setup Content When you set up the combination mode of 3.4.5, you
value 1st mode 2nd mode can select either the 1st or the 2nd with control mode
switching input(C-MODE).
0 Position -
When C-MODE is off, the 1st mode will be selected.
1 Velocity -
When C-MODE is on, the 2nd mode will be selected.
2 Torque -
3 Position Velocity
4 Position Torque
5 Velocity Torque
6 Pr-Mode -
7~10 Reserved
Caution: If pr0.02=1 or 2 , you can’t modify the values of Pr1.01 – Pr1.13, the values of them
depend on the real-time auto-gain tuning ,all of them are set by the drive itself
For Positioning mode (Pr0.02=2), it is usually for point to point movement. It is unavailable
to modify the value of Pr1.00- 1.14, just change the value of Pr0.03 ,then all values of
Pr1.00-1.14 will be changed
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Selection of machine stiffness at
Name Mode P S T
real- time auto-gain tuning
Pr0.03 Range 50 -81 Unit — Default 70
Data Type 16bit Access R/W Address 0007H
Repower -
You can set up response while the real-time auto-gain tuning is valid.
Notice: Lower the setup value, higher the velocity response and servo stiffness will be obtained. However,
when decreasing the value, check the resulting operation to avoid oscillation or vibration.
Control gain is updated while the motor is stopped. If the motor can’t be stopped due to excessively low
gain or continuous application of one-way direction command, any change made to Pr0.03 is not used for
update. If the changed stiffness setting is made valid after the motor stopped, abnormal sound or oscillation
will be generated. To prevent this problem, stop the motor after changing the stiffness setting and check
that the changed setting is enabled.
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Positive
Negative Direction
Pr0.06 Pr0.07 Command Pulse Format Signal Direction
Command
Command
90 phase difference
Pulse
0 or 2 2-phase pulse(A phase +B
sign
phase)
0 Positive direction pulse + Pulse
1
negative direction pulse sign
Pulse
3 Pulse + sign
sign
90 phase difference
Pulse
0 or 2 2 phase pulse(A phase +B
sign
phase)
Positive direction pulse + Pulse
1 1
negative direction pulse sign
Pulse
3 Pulse + sign
sign
Command pulse input signal allow largest frequency and smallest time width
Permissible Max. Smallest Time Width
PULS/SIGN Signal Input I/F Input Frequency t1 t2 t3 t4 t5 t6
Differential pulse 500kpps
Pulse signal 2 1 1 1 1 1
series
interface Single-ended pulse 200kpps 5 2.5 2.5 2.5 2.5 2.5
signal
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Pr0.09 Pr0.10 Command division/multiplication operation
1-10737 1-10737
41824 41824
1. Settings:
1)The drive input command pulse number is X
2)The pulse number of encoder after frequency division and frequency doubling is Y
3)The number of pulses per revolution of the motor encoder is Z
4)Number of turns of motor is W
2. Calculations:
1)Y=X* Pr0.09 / Pr0.10
2)17Bit encoder: Z=2^17 = 131072
23Bit encoder: Z=2^23 = 8388608
B phase
phase
1 Reversal A phase A phase
B
B phase
phase
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You can set up the time constant of the low pass filter (LPF) after the speed detection, in 32
steps (0 to 31).Higher the setup, larger the time constant you can obtain so that you can
decrease the motor noise, however, response becomes slow.
You can set the filter parameters through the loop gain, referring to the following table:
Setup Speed Detection Filter Setup Speed Detection Filter
Value Cut-off Frequency(Hz) Value Cut-off Frequency(Hz)
81 2500 65 750
80 2250 64 700
79 2100 63 650
78 2000 62 600
77 1800 61 550
76 1600 60 500
75 1500 59 450
74 1400 58 400
73 1300 57 350
72 1200 56 300
71 1100 55 250
70 1000 54 200
69 950 53 175
68 900 52 150
67 850 51 125
66 800 50 100
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Name position gain switching time Mode P
Range 0~10000 Unit 0.1ms Default 33
Pr1.19
Data Type 16bit Access R/W Address 0127H
Repower -
For position controlling: if the difference between 1st gain and 2nd gain is large, the increasing
rate of position loop gain can be limited by this parameter.
<Position gain switching time>
Notice: when using position control, position loop gain rapidly changes, causing torque change
and vibration. By adjusting Pr1.19 position gain switching time, increasing rate of the position
loop gain can be decreased and variation level can be reduced.
Example: 1st (pr1.00) <-> 2nd (Pr1.05)
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Name positional command FIR filter Mode P
Range 0~10000 Unit 0.1ms Default 0
Pr2.23
Data Type 16bit Access R/W Address 022FH
Repower o
Set up the time constant of the1st delay filter in response to the positional command.
When a square wave command for the target speed Vc is applied , set up the Vc arrival time
as shown in the figure below.
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Name time setup acceleration Mode S
Ms/
Range 0~10000 Unit (1000r/min)
Default 100
Pr3.12
Data Type 16bit Access R/W Address 0319H
Repower -
Name time setup deceleration Mode S
Ms/
Range 0~10000 Unit (1000r/min)
Default 100
Pr3.13
Data Type 16bit Access R/W Address 031BH
Repower -
Set up acceleration/deceleration processing time in response to the speed command input.
Set the time required for the speed command(stepwise input)to reach 1000r/min to Pr3.12
Acceleration time setup. Also set the time required for the speed command to reach from
1000r/min to 0 r/min, to Pr3.13 Deceleration time setup.
Assuming that the target value of the speed command is Vc(r/min), the time required for
acceleration/deceleration can be computed from the formula shown below.
Acceleration time (ms)=Vc/1000 *Pr3.12 *1ms
Deceleration time (ms)=Vc/1000 *Pr3.13 *1ms
Set S-curve time for acceleration/deceleration process when the speed command is applied.
According to Pr3.12 Acceleration time setup and Pr3.13 Deceleration time setup, set up sigmoid
time with time width centering the inflection point of acceleration/deceleration.
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Name Selection of torque command Mode T
Range 0、1、2 Unit Default 0
Pr3.17
Data Type 16bit Access R/W Address 0323H
Repower -
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Don’t setup to a value other than that specified in the table.
Don’t assign specific function to 2 or more signals. Duplicated assignment will cause
Err210 I/F input multiple assignment error 1or Err211 I/F input multiple assignment error 2
Pr-Mode related input setup as below:
Input
Setup value
Signal name Symbol
Normally open Normally closed
Trigger command CTRG 20h A0h
Homing signal HOME 21h A1h
Forced stop STP 22h A2h
Forward direction JOG JOG+ 23h A3h
Opposite direction JOG JOG- 24h A4h
Positive limit switch PL 25h A5h
Negative limit switch NL 26h A6h
Homing switch signal ORG 27h A7h
Road strength address 0 ADD0 28h A8h
Road strength address 1 ADD1 29h A9h
Road strength address 2 ADD2 2ah Aah
Road strength address 3 ADD3 2bh Abh
Note:
CTRG, HOME is edge triggered. the active duration must more than 1ms.
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Name INP hold time Mode P
Range 0~30000 Unit 1ms Default 0
Pr4.33
Data Type 16bit Access R/W Address 0443H
Repower -
Set up the hold time when Pr 4.32 positioning complete output setup=3
Setup
State of Positioning complete signal
value
The hold time is maintained definitely, keeping ON state until
0
next positional command is received.
ON state is maintained for setup time (ms) but switched to
1-30000 OFF state as the positional command is received during hold
time.
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Name Speed coincidence range Mode S
Range 10~2000 Unit r/min Default 50
Pr4.35
Data Type 16bit Access R/W Address 0447H
Repower -
Set the speed coincidence (V-COIN) output detection timing.
Output the speed coincidence (V-COIN) when the difference between the speed command and
the motor speed is equal to or smaller than the speed specified by this parameter.
Because the speed coincidence detection is associated with 10 r/min hysteresis, actual
detection range is as shown below.
Speed coincidence output OFF -> ON timing (Pr4.35 -10) r/min
Speed coincidence output ON -> OFF timing (Pr4.35 +10) r/min
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Mechanical brake action setting when
Name Mode P S T
stopping
Range 0~10000 Unit 1ms Default 0
Pr4.37
Data Type 16bit Access R/W Address 044BH
Repower -
Motor brake delay time setup, mainly used to prevent servo on “galloping “phenomenon.
Set up the time from when the brake release signal(BRK-OFF) turns off to when the motor is
de-energized (servo-free),when the motor turns to servo-off while the motor is at stall
Set up to prevent a micro-travel/drop of the
motor (work) due to the action delay
time(tb) of the brake.
Ni After setting up Pr4.37>=tb, then
compose the sequence so as the drive
turns to servo-off after the brake is
actually activated.
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Specify the status during deceleration and after stop, after servo-off.
Setup
Servo stop mode
value
When servo-disable signal active, servo-disable after the speed
0
reduced less than Pr4.39
When servo-disable signal active, servo-disable right away, motor
1
in free-run mode.
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You can select whether or not to activate Err0d.0 (main power under-voltage
protection)function while the main shutoff continues for the setup of Pr5.09(The main
power-OFF detection time).
Setup value Action of main power low voltage protection
When the main power is shut off during Servo-On,Err0d.0 will not
0 be triggered and the drive turns to Servo-OFF. The drive returns to
Servo-On again after the main power resumption.
When the main power is shut off during Servo-On, the drive will trip
1
due to Err0d.0
Caution: Err0d.0(main power under-voltage protection) is trigged when setup of Pr5.09 is
long and P-N voltage of the main converter falls below the specified value before detecting
the main power shutoff , regardless of the Pr5.08 setup.
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If the motor speed exceeds this setup value, Err1A.0 [over-speed protect] occurs.
The over-speed level becomes 1.2 times of the motor max, speed by setting up this to 0.
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Name RS485 slave axis ID Mode P S T
Range 0~127 Unit — Default 1
Pr5.31*
Data Type 16bit Access R/W Address 053FH
Repower -
During communication with the host (e.g. PC) to control multiple shafts, the shaft being
accessed by the host should be identified.
Note: when using RS232/RS485, the maximum valid value is 31.
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This three parameters may apply feed forward torque superposition directly to torque
command.
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DC bus voltage
Drive temperature
Over-load ratio(%)
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Bit SO output
0 SO1
1 SO2
2 SO3
Bit n=1, indicates SO(n+1)is at high level; Bitn=0,indacates SO(n+1)is at low level.
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Save: save this error history record
Emergency: error, drive will stop immediately
Alarm clear: may through SI input/panel/configuration software remove alarm
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command command changes too violently or function
not
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Encoder damaged / replace the motor with a new one
Encoder measuring
/ replace the drive with a new one
circuit damaged
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(1) The front panel display rEAdY for about one second firstly after turning on the power of the drive. Then if no
abnormal alarm occurs, monitor mode is displayed with the value of initial parameter ; otherwise, abnormal alarm
code is displayed.
(2) (2) Press M key to switch the data monitor mode → parameter setting mode → auxiliary function mode →
EEPROM written mode.
(3) If new abnormal alarm occurs, the abnormal alarm will be displayed immediately in abnormal mode no matter
what the current mode is, press M key to switch to the other mode.
(4) (4) In data monitor mode, press or to select the type of monitor parameter; Press ENT to enter the
parameter type , then press to display the high 4 bits “H” or low 4 bits “L” of some parameter values.
(5) In parameter setting mode, press to select current editing bit of parameter No, press or to change current
editing bit of parameters No. Press ENT key to enter the parameter setting mode of corresponding parameters No.
Press to select current bit of parameter value when editing it, press or to change the value of the bit. Press
ENT to save it and switch to the interface of parameter No.
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“P xxx”
29 d29AS / d29AS / “n xxx”
Times of encoder Low-bit “L xxxx”
30 d30NS d30sE /
communication anomaly High -bit”H xxxx”
Accumulated operation Low-bit “L xxxx”
31 d31 tE d31tE /
time High -bit”H xxxx”
Automatic motor
32 d32Au d32Au / “r xxx”
identification
33 d33At Drive temperature d33At ℃ “th xxx”
34 d34 / d34 / “t xxx”
35 d35 SF / d35SF / “xxxxxx”
Instructions:
1、d01SP Motor speed
Drive display s 0 after power on, in disable state. While in enable state, display r 0. Motor speed display
r xxx. So users can distinguish in disable state or in enable state by display s 0 or r 0 .
2、d10 Io I/O signal status
The upper half of the nixie tube is valid, the lower half is invalid, the decimal point represents the input and output
state, lit represents the input, not bright represents the output
Input: , from low to high, the order is SI1, SI2…SI10. The next figue represents SI1、SI8、SI10 input are
valid, other inputs are invalid.
Output: , from low to high, the order is SO1, SO2…SO10. The next figue represents SO1 output are
valid, other inputs are invalid.
Users can choose to set the initial display state of power supply to any of the below:
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NOTE: Don’t turn off the power if EEPROM writing operation goes on, otherwise it may cause a writing wrong
data; If this happens, please reset all the parameters ,then do EEPROM writing operation again.
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Note: there are two kinds of trial run: trial run without load and trial run with load. The user needs to test the drive
without load for safety first.
Contact technical@stepperonline.com if you need more technical service.
No Item Content
1. Ensure the following terminals are properly wired and securely connected :
the input power terminals, motor output power terminal ,encoder input terminal
Inspection on CN2, control signal terminal CN1, communication terminal CN4(it is
1
wiring unnecessary to connect CN1 andCN4 in Jog run mode)
2.short among power input lines and motor output lines are forbidden , and no
short connected with PG ground.
1. The range of control power input r, t must be in the rated range.
Confirmation of 2. The range of the main power input R, S, T must be in the rated range.
2
power supply 3. Single phase 220VAC input is sufficient if the power of drive is no more
1.5kw.
Inspection without
4 The motor shaft must not be with a mechanical load.
load
Inspection on 1, all of the control switch must be placed in OFF state.
5
control signal 2, servo enables input Srv on must be in OFF state.
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◆ Wiring Diagram
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Figure 8-2 CN1 and CN2 Signal Wiring in Position Control Mode
◆Operation Steps
1. Cconnect terminal CN1.
2. Connect DC12V to 24V to digital input SI1 to ENABLE drive (the COM + and SI1).
3. Power on the drive.
4. Confirm the value of the parameters, and write to the EEPROM and turn off/on the power (of the drive)
5. Connect the Srv_on input to bring the drive to servo-on status and energize the motor.
6. Enter low-frequency pulse and direction signal to run the motor at low speed.
7. Check the motor rotational speed at monitor mode whether, ("d01SP " ),
Rotational speed is as per the setup or not, and
The motor stops by stopping the command (pulse) or not
if the motor does not run correctly, refer to the Factor of No-Motor running in data monitor mode
("d17Ch “).
The drive is widely used for precise positioning in position control mode.
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Repower o
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1-10737 1-10737
41824 41824
1. Settings:
1)The drive input command pulse number is X
2)The pulse number of encoder after frequency division and frequency doubling is Y
3)The number of pulses per revolution of the motor encoder is Z
4)Number of turns of motor is W
2. Calculations:
1)Y=X* Pr0.09 / Pr0.10
2)17Bit encoder: Z=2^17 = 131072
23Bit encoder: Z=2^23 = 8388608
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( 1 ) Firstly, select the multi-turns absolute encoder motor, install the battery, and confirm whether the drive
version supports multi-turns absolute encoder motor;
(2)Set Pr0.15=1 to open absolute encoder. If it is the first time of installation, the drive will alarm Err153. The
reason is that the multi-turn position is invalid due to the newly installed battery of the motor. At this time, it is
necessary to return to the home position of the machine and perform the multi-turn position reset operation (see
multi-turn position reset).
(3)When the absolute value origin is set and there is no battery fault, the alarm will be cancelled
(4)Finally, the user can read the absolute position, even if the power off the position will not lost.
Set Pr0.15=9: multi-turn zero clearing and reset multi-turn alarm, open multi-turn absolute function. It will become
1 when normal clearance, if it’s still 9 after 3seconds, please deal with according to 153 alarm processing.
Please remember to do mechanical homing.
8.2.3 Alarm
1、Introductions
The multi-turns absolute encoder alarm function can determine whether the absolute encoder is valid or not, such
as battery under voltage or power failure, encoder fault, etc., users can judge the absolute encoder alarm through
bus alarm output, IO alarm output, and drive operation panel alarm. At this time, the controller should stop
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operation immediately, and the absolute motion operation can only be carried out after the alarm is eliminated
2、Alarm output
Absolute encoder alarm can be displayed by the panel Err153, IO output alarm signal, or read alarm information
by communication
3、The drive sends an absolute encoder alarm Err153, the main situation is as follows:
(1)When the absolute encoder is used for the first time, absolute encoder alarm will be generated due to the
new battery of the motor. At this time, it is necessary to return to the home point and perform multi-turn zero
clearing operation
(2)When the battery under voltage is lower than 3.2v, absolute encoder alarm will be generated by the drive. At
this time, the alarm will be automatically eliminated after the battery is recharged by replacing the battery
(3)When the battery voltage is lower than 2.5v, or the battery has a power failure, the absolute encoder alarm
will be generated. Even if the battery is replaced, the alarm cannot be eliminated. At this time, the return to the
home point and multi-turn zero clearing operation should be performed
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Notice:
*1:The delay time between SRV_ON and BRK_OFF is less than 500ms;
*2:Time setting in Pr4.38;
*3:The delay time between the BRK_OFF signal output and the actual brake release action, which depends on
the hardware characteristics of the motor brake;
*4:The smaller value of Pr4.37 and Pr4.39;
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You can set up the ratio of the load inertia against the rotor(of the motor)inertia.
Pr0.04=( load inertia/rotate inertia)×100%
Notice:
If the inertia ratio is correctly set, the setup unit of Pr1.01 and Pr1.06 becomes (Hz). When the
inertia ratio of Pr0.04 is larger than the actual value, the setup unit of the velocity loop gain
becomes larger, and when the inertia ratio of Pr0.04 is smaller than the actual value, the setup
unit of the velocity loop gain becomes smaller..
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How to use:
1. Set Pr2.00=1
2. Decrease Pr0.03 to get higher stiffness, higher position loop gain and velocity loop gain. Decrease Pr0.03
gradually, while abnormal sound or oscillation occurred, decreases the current value by 2.
3. Execute movement by controller or Motion Studio, drive will record notch frequency automatically.
4. Upload the drive parameters, the record notch frequency saved in Pr2.07.
Read the value of Pr2.07, and set this value into Pr2.01. Then reset Pr2.07 to 2000.
5. Saving parameters setting.
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You can control the speed by using the internal speed command set to the parameter. By using the internal speed
command selection 1, 2, 3(INTSPD 1, 2, 3), you can select best appropriate one
Speed setup, Internal /External
Name Mode S
switching
Range 0~3 Unit — Default 0
Pr3.00
Data Type 16bit Access R/W Address 0301H
Repower -
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This drive is equipped with internal speed setup function so that you can control the speed
with contact inputs only.
Setup Speed setup method
value
1 Internal speed command 1st to 4th speed(PR3.04-PR3.07)
Internal speed command 1st to 3rd speed (PR3.04-PR3.06),
2
Analog speed command(SPR)
3 Internal speed command 1st to 8th speed (PR3.04-PR3.11)
<relationship between Pr3.00 Internal/External switching speed setup and the internal
command speed selection 1-3 and speed command to be selected>
1st selection 2nd selection 3rd selection
Setu of internal of internal of internal
command command command selection of Speed
p command
value speed speed speed
(INTSPD1) (INTSPD2) (INTSPD3)
OFF OFF 1st speed
ON OFF 2nd speed
1 NO effect
OFF ON 3rd speed
ON ON 4th speed
OFF OFF 1st speed
ON OFF 2nd speed
2 OFF ON NO effect 3rd speed
Analog speed
ON ON command
The same as [Pr3.00=1] OFF 1st to 4th speed
OFF OFF ON 5th speed
3 ON OFF ON 6th speed
OFF ON ON 7th speed
ON ON ON 8th speed
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Repower -
Name 6th speed of speed setup Mode S
Range -10000~10000 Unit r /min Default 0
Pr3.09
Data Type 16bit Access R/W Address 0313H
Repower -
Name 7th speed of speed setup Mode S
Range -10000~10000 Unit r/min Default 0
Pr3.10
Data Type 16bit Access R/W Address 0315H
Repower -
Name 8th speed of speed setup Mode S
Range -10000~10000 Unit r/min Default 0
Pr3.11
Data Type 16bit Access R/W Address 0317H
Repower -
Set up internal command speeds, 1st to 8th
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This function can be configured by IO output function parameters, as described in IO Pr4.10 parameters. When
the speed difference meets the setting conditions, the corresponding output IO port set can output ON.
Among them, the in place signal of PV mode is synchronized with the v-coin signal
Because the speed coincidence detection is associated with 10 r/min hysteresis, actual
detection range is as shown below.
Speed coincidence output OFF -> ON timing (Pr4.35 -10) r/min
Speed coincidence output ON -> OFF timing (Pr4.35 +10) r/min
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Chapter 9 Pr-Mode
9.1 Overview
PR is uniaxial motion control function which is controlled by procedure software. Mainly uniaxial motion command
control, save the motion control function of the controller.
PTP
Motion controller /
Servo Driver
PLC positioning
Pulse+Direction
mode
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Execute movement
Execute movement by RS485 communication.
by RS485
1,9 RDO+(RS485+)
2,10 RDO-(RS485-)
3,11 /
4,12 /
CN4
5,13 /
CN5
6,14 TXD(RS232)
7,15 RXD(RS232)
8,16 GND(RS232
PE
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IO terminal wiring and parameter configuration:Newly added IO of PR on the base of standard IO Relevant
parameters:
Trigger Accomplish
command CTRG 20h A0h commands CMD_OK 20h A0h
Accomplish
Homing signal HOME 21h A1h path MC_OK 21h A1h
CTRG、HOME is edge trigging, but effective level need to last more than 1ms.
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RS485
Parameters Name Definition
address
The motion mode of Path0 motion
Bit0-3:TYPE:
0 No Action
1 position mode
2 velocity mode
3 homing mode
4 stop
Bit4: INS,
0 do not interrupt
1 interrupt(All interrupt now)
Bit5: OVLP,
Pr9.00 Path0 Mode 0X6200
0 do not overlap
1 overlap
Bit6-7:
0 absolute position
1 relative to command
2 relative to motor
Bit8-13:
0-15 Jump to the corresponding path
Bit14:JUMP:
0 do not jump
1 jump
Pr9.01 Path0 position H 0X6201
Pr9.02 Path0 position L 0X6202
Pr9.03 Path0 speed rpm 0X6203
Pr9.04 Path0 acceleration ms/1000rpm 0X6204
Pr9.05 Path0 deceleration ms/1000rpm 0X6205
Pr9.06 Path0 Pause time The pause of path, delay time parameter etc, 0X6206
Pr9.07 Special Parameters Path 0 is mapped to Pr8.02 parameters 0X6207
9.3.1 Homing
Homing method include homing with single turn Z signal detect、homing with limit switch detect、homing with
homing switch detect、homing with torque detect、set current position as homing position.
Related parameters:
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RS485
Parameters Name Definition
address
Pr-Mode control function
Bit0:0:CTRG rising edge trigger
CMD_OK and MC_OK Both of them can be used to represent action is complete,after the signal effective, there will have
a delay within 1 ms.
9.3.3 JOG
JOG
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Configuration software is used for drive parameter setting and save, debugging steps are:
1. Check the wirings.
2. Set the work mode to be PR mode(Pr0.01=6),Internal SERVO-enabled (Pr4.00=83),set the distribution
of IO register Pr4.00-Pr4.13) Confirm the running direction and so on.
3. Setting up the PR basic control parameters through upper computer's "Pr-Mode" interface. Include: trigger
setting, software limit, JOG function, homing function, e-stop function and so on.
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4. Setting up the PR positioning path parameters in configuration software " Pr-Mode " interface, include:
For the convenience of the positioning model expressing, use mnemonic symbol to express, such as:
_P, ABS, SJ1 means that path is position addressing, position value is absolute position, jump to No.1 path with
delay, and cannot interrupt running.
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! V, ABS , SJ1 means that path is speed running, jump to No.1 path with delay, and can interrupt running.
_HOME means that path is homing movement.
_END means that path is E-stop.
5.Test run
After confirming that the parameters are set correctly, the test begins. The interface is shown below
Click the number marked red in the figure and click start to run according to the speed in the path parameter
configuration diagram. Click the corresponding number and click to run at the configured speed. If not, check that
the parameters are set correctly
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IO terminal functional allocation table:
Input Output
set value set value
signal
Signal name Symbol Normally Normally Symbol Normally Normally
name
open close open close
A0h Accomplish
Trigger command CTRG 20h CMD_OK 20h A0h
commands
A1h Accomplish
Homing signal HOME 21h MC_OK 21h A1h
path
A2h Accomplish
Forced to stop STP 22h HOME_OK 22h A2h
homing
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Notes:The path 0 is invalid, so the path 0 cannot be triggered by the IO combined signal, so the IO combined
signal will trigger the motion from path 1 to path 15.
Notes 1:The path 0 is invalid, so the path 0 cannot be triggered by the IO combined signal. If users want to trigger
incremental position, the IO combined signal should be as follow:
Path X IO combined signal —> Path 0 IO combined signal —> Path Y IO combined signal, trigger incremental
position multiple times by these 3 steps.
Notes 2:If the IO combined trigger mode=2(Pr8.26=2), when the drive is powered on , the motion will be
triggered while the IO combined signal select path≠0.
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9.4.3.1 Parameters setting
Setup
Data bit Parity-check Stop bit
Value
0 8 Even Parity 2
Mode setup of RS485 1 8 Odd Parity 2
Pr5.29 communication
2 8 Even Parity 1
3 8 Odd Parity 1
4 8 None 1
5 8 None 2
Setup Setup
Baud rate Baud rate
value value
Baud rate setup of RS485 0 2400bps 4 38400bps
Pr5.30
communication 1 4800bps 5 57600bps
2 9600bps 6 115200bps
3 19200bps
(16bit,485 address..0x6002)
Write 0x1P, P path movement
Write 0x20, Homing
Write 0x21, set current position as homing position
Pr8.02 PR trigger
Write 0x40, e-stop
Read 0x00P, positioning finished, can receive new data
Read 0x10P, In operation
Read 0x20P, In positioning
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Parameters Name Definition RS485 address
The motion mode of Path0 motion
Bit0-3:TYPE:
0 No Action
1 position mode
2 velocity mode
3 homing mode
4 stop
Bit4: INS,
0 do not interrupt
1 interrupt(All interrupt now)
Bit5: OVLP,
Pr9.00 Path0 Mode 0X6200
0 do not overlap
1 overlap
Bit6-7:
0 absolute position
1 relative to command
2 relative to motor
Bit8-13:
0-15 Jump to the corresponding path
Bit14:JUMP:
0 do not jump
1 jump
Pr9.01 Path0 position H 0X6201
Pr9.02 Path0 position L 0X6202
Pr9.03 Path0 speed rpm 0X6203
Pr9.04 Path0 acceleration ms/1000rpm 0X6204
Pr9.05 Path0 deceleration ms/1000rpm 0X6205
Pr9.06 Path0 Pause time The pause of path, delay time parameter etc, 0X6206
Pr9.07 Special Parameters Path 0 is mapped to Pr8.02 parameters 0X6207
Set path 1~ path15 as same as path 0 .
Implement choice and start of actions by write corresponding instructions into 0x6002 (Pr8.02), to select which path to
run.
This method adopt path0 to implement, path0 has 8 data in total, the last data Pr9.07 mapped to Pr8.02, write
0x10 to Pr8.02 can trigger path0 motion immediately.
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As below procedure:
1. Firstly, configure homing and path which need to run, set these parameters by communication or set these
parameters and save with upper computer. (Homing must be configured)
2. Enable drive.
3. Trigger fixed path by Pr8.02
4. Or write in immediate data into Pr9.00-9.07, set Pr9.07=0x10, implement immediately running path 0.
For example:
Order Sending orders (Master->Slave) Return command (Slave->Master)
1 ID Sub-station No. 0~31 ID Sub-station No. 0~31
2 FC Function code 0x10 FC Function code 0x10
3 0x62 0x62
ADDR Address ADDR Address
4 0x00 0x00
5 0x00 Actually written data 0x00
NUM1 Data quantity Word NUM
6 0x08 quantity 0x08
L
7 NUM2 Data quantity Byte 0x10 CRC check code
H
8-9 Pr9.00 Mode XXXX
10-11 Pr9.01 High position XXXX
12-13 Pr9.02 Low position XXXX
24 L
CRC Check code
25 H
Please refer to parameter specification for specific data setting.
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Notes: After the control parameter setting is completed, click the Download button of the toolbar to make the
parameters valid. Click Save button to save the parameter to drive permanently.
3、Setup path parameters, such as: Position mode, speed, ACC/DEC, etc.
Functional area: Read file, Upload, Download, save, etc.
Parameters setting area: Position mode, speed, ACC/DEC, etc.
Position symbol description area: Explains the meaning of the path position symbol.
Notes: After the path parameter setting is completed, click the Download button of the toolbar to make the
parameters valid. Click Save button to save the parameter to drive permanently.
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4、Debug homing process, path trigger motion, input and output, etc. Its debugging interface is shown as follow:
Notes 1: Before using IO CTRG edge signal trigger path motion, select path number by IO combined signal, and
then use IO CTRG edge signal to trigger the corresponding path motion
Notes 2: If IO combined trigger mode valid, the IO combined filtering time must be set to ensure that all the IO
combined signal changes finished within the filtering time range.
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(6)Homing
NO RS485 communication data frame Details
0 01 06 20 09 00 01 93 C8 Servo enable
1 01 06 60 0A 00 00 B7 C8 Homing Method
2 01 06 60 0F 00 64 A6 22 High speed for homing
3 01 06 60 10 00 1E 16 07 Low speed for homing
4 01 06 60 02 00 20 37 D2 Trigger Homing process
5 01 06 60 02 00 40 37 FA E-stop
7 01 06 20 09 00 00 52 08 Servo disable
24 L
CRC Check code
25 H
01 10 62 00 00 08 10 00 01 00 00 00 00 01 F4 00 64 00 64 00 00 00 10 A0 4A
The final analysis was performed at a speed of 500r/min, acceleration and deceleration time of 100ms, and the
position of absolute positioning 0 rotations.
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Homing mode:01 06 60 02 00 21 F6 12 (Back to origin high-speed, low-speed, and back to zero mode can be
set in the eighth set of parameters, using default values this time)
Caution:In Pr mode, the origin induction switch is connected to the drive, which is different from the impulse
control. Limited by conditions, only the current position can be demonstrated to the customer:Write 0x021,The
current location manually set to zero.。
The frame format function is:
01 slave ID 01
06 function code,write single data
NO Send Receive
1 ID Slave ID 0~31 ID Slave ID 0~31
2 FC Function code 0x06 FC Function code 0x06
3 H H
ADDR Address ADDR Address
4 L L
5 Data quantity H Actually written data H
DATA DATA
6 (Word) L quantity L
7 L L
CRC check code CRC check code
8 H H
60 02 register address,mapped to Pr8.02
00 21 the data write into the register,Write 0x021,The current location manually set to zero.
Write 0x01P,P section positioning
Write 0x020,homing
Write 0x021,set current position as homing point
Write 0x040,e-stop
F6 12 the verification code, do not have to directly input, click the corresponding send area verification button
automatically generated
After the current position is set to zero manually, you can click absolute positioning again to send it manually,
indicating that the current position is set to zero manually
JOG is IO input, there is no communication control method, you can push users to write relative positioning data
in real time, and trigger inching motion immediately instead.
E-stop: 01 06 60 02 00 40 37 FA
Servo enable: 01 06 20 09 00 01 93 C8
Servo disable: 01 06 20 09 00 00 52 08
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Appendix
A、Modbus Communication
There are two kinds of Modbus communication methods of drives: RS485 and RS232. RS232 belongs to
point-to-point communication, which is used for PC protocol and cannot realize multi-network. RS485 belongs to
a single master and multi slave communication mode and can realize multi network control.
A.1 Wiring
(1)The shorter the connection between each node is the better. The recommend connection should no more
than 3m;
(2)Connect one terminal resistor to each end of the node. The recommended resistance value is 120 ohms;
(3)Shielded twisted pair is recommended for RS485 communication wirings;
(4)Connect GND is essential for communication;
(5)When using the shield wire, the two ends of the shield should connect PE, not GND, otherwise the port will
be damaged;
(6)In order to reduce interference, RS485 communication cables should installed separately from other cables;
0 8 Even Parity 2
1 8 Odd Parity 2
2 8 Even Parity 1
3 8 Odd Parity 1
4 8 None 1
5 8 None 2
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Set up the communication baud rate of RS485.
Setup value Baud rate Setup value Baud rate
0 2400bps 4 38400bps
1 4800bps 5 57600bps
2 9600bps 6 115200bps
3 19200bps
1,9 RDO+(RS485+)
2,10 RDO-(RS485-)
3,11 /
4,12 /
CN4
5,13 /
CN5
6,14 TXD(RS232)
7,15 RXD(RS232)
8,16 GND(RS232
PE
The drive supports 16bit data read and write of Modbus-RTU protocol, and its function codes include 0x03, 0x06
and 0x10. 0x03 read data function code, 0x06 write single data function code and 0x10 write multiple data
function code.
Notes:1word=2byte=16bit
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[Send frame] 01 11 00 04 00 02 04 01 00 00 00 F3 A0
[Receive frame] 01 91 08 4C 56
Receive:CRC check error in the send data frame sent by the master station
[Send frame] 01 11 00 04 00 02 04 01 00 00 00 A2 65
[Receive frame] 01 91 01 8C 50
Receive:Function code error in the send data frame sent by the master station
1、Terminal resistance
The correct connection of terminal resistance is shown in the above figure, a 120 ohm terminal resistance need to
connect in the head end and the end of the communication bus.
2、Wiring error
Firstly, confirm that the signal line of RS485 is connected correctly. Secondly, confirm whether the communication
reference ground is connected correctly. If the node has no communication reference ground, it will be suspended,
as shown in figure above. The shielding is connected the same way.
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3、Signal interference
When there is an external interference signal in communication, magnetic rings can be placed at 1 and 2 in above
figure to suppress the incoming external interference signal into the bus.
When there is an internal interference signal in communication, magnetic rings can be placed at 1 and 2 in above
figure to suppress the incoming internal interference signal into the bus. Loop the UVW line around the magnetic
ring three times. Be careful not to connect PE to the magnetic ring.
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