Preface

Preface
We appreciate very much for your purchasing of Shihlin servo products. This manual will be a
helpful instruction to install, wire, inspect, and operate your Shihlin servo drive and motor.
Before using the servo drive and motor, please read this user manual to prevent from electric
shock, fire, and injury.
In this manual, the safety instruction levels are classified into "DANGER" and "CAUTION".
It indicates that incorrect operation may cause hazardous
conditions, resulting in death or injury.
It indicates that incorrect operation may cause hazards,
resulting in injury to person or damage to the product.
Note that the CAUTION level may lead to a serious consequence by cases. Be sure to follow
the instructions of both levels to keep personnel safety well.
What must not be done and what must be done are indicated by the following marks:
: It indicates what must not be done. For example, “No Fire” is marked as
: It indicates what must be done. For example, grounding is marked as
.
.
In this manual, instructions at a lower level than the above, instructions for other functions, and
so on are classified into "NOTE".
After reading this user manual , always keep it accessible to the operator.
i
1. To prevent electric shock, please confirm the following:
Operate the power switches with dry hand to prevent an electric shock.
Before wiring or inspection, switch power off and wait for more than 10 minutes. Then,
confirm if the power indicator is off or the voltage is safe with voltage meter. Otherwise, you
may get an electric shock.
Connect the servo drive and motor to ground.
Do not attempt to wire the servo drive and motor until they have been installed. Otherwise,
you may get an electric shock.
The cables should not be damaged, stressed, loaded, or pinched. Otherwise, you may get
an electric shock.
2. To prevent fire, note the following:
Install the servo drive, motor and regenerative brake resistor in a clean and dry location
free from corrosive and inflammable gases or liquids. Otherwise a fire may be caused.
Don’t try to operate the servo drive or motor which has become faulty. Otherwise, a large
current flow may cause a fire.
Do not connect a commercial power supply to the U, V, W terminals of drive. Otherwise a
fire may be caused and the servo drive will be damaged.
When an external regenerative brake resistor is used, check the specification
recommended. Otherwise, a regenerative brake transistor fault or the like may overheat
the regenerative brake resistor, causing a fire.
3. To prevent injury, note the following:
The proper voltage specified in this manual should be applied to each terminal, Otherwise,
a burst, damage, etc. may occur.
Connect the terminals correctly to prevent a burst, damage, etc.
Ensure that polarity (+,-) is correct. Otherwise, a burst, damage, etc. may occur.
Ensure that all screws, connectors and wire terminations are fixed on the power supply,
servo drive and motor to prevent from a burst, damage, or personal injury.
Don’t touch either the drive heat sink or the motor during operation because they may
become hot and cause personnel burnt.
Don’t approach or touch any rotating parts (e.g. shaft) as the motor is running. Otherwise, it
may cause serious personnel injury.
ii
4. Other instructions
The following instructions should also be fully noted. Improper operation may cause a damage,
fault, injury or electric shock, etc.
(1) Delivering and installation
Delivery the products correctly according to their weights.
It is not allowed to stack the products in excess of the specified layers.
Do not carry the motor by the cables, shaft or encoder.
Do not hold the front cover to transport the drive. Otherwise, it may be dropped.
The servo drive and motor must be installed in the specified direction.
Inside control box, preserve enough space between the servo drive and other equipment.
Provide adequate protection to prevent screws and other conductive matter, oil and other
combustible matter from entering the servo drive.
Do not drop or strike servo drive or servo motor. Keep from all impact loads.
Use the servo drive and servo motor under the specified environmental conditions.
Firmly attach the servo motor. Otherwise, it may come off during operation.
For safety of personnel, always cover the rotating and moving parts.
Never impact the servo motor or shaft, especially when coupling the servo motor to the
machine. The encoder may become faulty.
Do not subject the servo motor shaft to more than the permissible load. Otherwise, the
shaft may be broken.
When the equipment has been stored for an long period time, consult Shihlin.
(2) Wiring
In order to prevent from fire or other accidents, please use the cable specified in this user
manual to wire the servo equipment.
Wire the servo drive correctly and firmly. Otherwise, the motor will run improperly.
Do not install a power capacitor, surge absorber or noise filter between the servo motor
and servo drive.
Do not connect AC power directly to the servo motor. Otherwise, it results in damage of
servo motor.
The surge absorbing diode installed on the DC output signal relay must be wired in the
specified direction. Otherwise, the emergency stop and other protective circuits may not
operate.
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(3) Trial run
The initial trial run for servo motor should be operated under idle conditions (separate the
motor from its couplings and belts).
Before trial run, check if the parameters are set properly. Otherwise it will cause some
unexpected operation.
The parameter settings must not be changed excessively. To adjust the parameters setting
gradually to meet your demand operation.
Ensure to perform trial run before your normal operation to prevent unexpected accident.
(4) Duty operation
Set an external emergency stop circuit. It could stop operation immediately as unexpected
accidents occurred.
Before resetting an alarm, make sure that the run signal is off to prevent a sudden restart.
Use a noise filter to minimize the influence of electromagnetic interference, which may be
caused by electronic equipment used near the servo drive.
Do not mismatch the servo drive and motor in capacity.
The electromagnetic brake on the servo motor is designed to hold the motor shaft and
should not be used for ordinary braking.
For heavy duty case (e.g. where a huge load inertia or short acceleration/deceleration time
setting), the external regenerated brake resistor is necessary.
(5) Maintenance and Inspection
Ensure that the power indicator is off before maintenance or inspection performed.
Only personnel who have been trained should conduct maintenance and inspection.
Do not try to disassemble the servo drive or motor which any fault occurred.
Do not connect or disconnect the servo drive with motor while power is still applied.
As power is still applied, not to touch any internal or exposed parts of servo drive and servo
motor to prevent electrical shock.
Some parts inside the servo drive are consumable and should be replaced periodically. For
parts replacement, please consult Shihlin.
NOTE : This manual may be revised without prior notice. Please consult our agent or
download the most updated version at http://www.seec.com.tw/en/ .
iv
1.
Production inspection and model descriptions...................................................................1
1.1 Summary .....................................................................................................................1
1.2 Inspection ....................................................................................................................1
1.3 Servo drive appearance and panel descriptions..........................................................5
1.4 Overview of servo drive operation modes ...................................................................6
2.
1.5 Recommended specifications for circuit breaker and fuse ..........................................6
Installation..........................................................................................................................7
2.1 Cautions and storage methods....................................................................................7
2.2 The environment conditions of installation...................................................................7
3.
2.3 Installation direction and space ...................................................................................7
Wiring and signals .............................................................................................................9
3.1. Connections between main power source and peripheral devices..............................9
3.1.1. Wiring diagram of peripheral devices(below 1KW) ...........................................9
3.1.2. Wiring diagram of peripheral devices(above 1.5KW)......................................10
3.1.3. Descriptions for drive’s connectors and terminals.......................................... 11
3.1.4. Wiring method of power source ......................................................................12
3.1.5. Lead wire connector specifications of motor U,V,W terminals ........................13
3.1.6. Lead wire connector specifications of encoder ...............................................14
3.1.7. Selection of wiring materials ...........................................................................15
3.2. Functional block diagram of Shihlin servo .................................................................16
3.3. CN1 I/O signal wires instruction ................................................................................18
3.3.1. CN1 terminal layout ........................................................................................18
3.3.2. Signal description of CN1 terminal..................................................................19
3.3.3. Interface wiring diagram .................................................................................28
3.3.4. User definition of DI/DO..................................................................................31
3.4. CN2 Encoder signal wiring and description ...............................................................32
3.5. CN3 communication port signal wiring and description .............................................33
3.6. CN4 USB communication port...................................................................................33
3.7. Standard wiring method.............................................................................................34
3.7.1. Wiring diagram of position control(Pr Mode)...................................................35
3.7.2. Wiring diagram of position control(Pt Mode)...................................................36
3.7.3. Wiring diagram of speed control(S Mode) ......................................................37
3.7.4. Wiring diagram of torque control(T Mode) ......................................................38
3.7.5. Wiring diagram with 1PG ................................................................................39
3.7.6. Wiring diagram with 10PG ..............................................................................40
3.7.7. Wiring diagram with 10GM .............................................................................41
3.7.8. Wiring diagram with 20GM .............................................................................42
3.7.9. Wiring diagram with FX3U ..............................................................................43
3.7.10.
Wiring diagram with QD75 ..................................................................44
v
4.
Panel display and operation ............................................................................................45
4.1. Panel components.....................................................................................................45
4.2. Display flowchart .......................................................................................................46
4.3. Status display ............................................................................................................47
4.4. Alarm display.............................................................................................................50
4.5. Diagnostic display .....................................................................................................51
4.5.1. Indication of external I/O signals.....................................................................52
4.5.2. DO forced output ............................................................................................53
4.5.3. JOG test .........................................................................................................54
4.5.4. Positioning test ...............................................................................................55
4.5.5. Automatic offset of analog command input.....................................................56
4.5.6. Inertia estimation ............................................................................................57
4.6. Parameter display .....................................................................................................58
5.
6.
Operation.........................................................................................................................59
5.1. Checklist before operation.........................................................................................59
5.2. Idle operation.............................................................................................................60
5.2.1. Idle JOG test...................................................................................................60
5.2.2. Idle positioning test .........................................................................................61
5.3. Tuning process ..........................................................................................................62
5.3.1. Abstract ..........................................................................................................62
5.3.2. Auto-gain tuning mode....................................................................................64
5.3.3. Manual gain tuning mode ...............................................................................68
5.4. Parameter setting and operation for position control mode .......................................70
5.5. Parameter setting and operation for speed control mode..........................................71
5.6. Parameter setting and operation for torque control mode .........................................73
Control function................................................................................................................74
6.1. Control mode option ..................................................................................................74
6.2. Torque control mode..................................................................................................75
6.2.1. Output proportion of maximum torque analog command................................75
6.2.2. Torque analog command offset.......................................................................76
6.2.3. Torque analog command smoothing...............................................................76
6.2.4. Torque limit of torque control mode.................................................................77
6.2.5. Speed limit of torque control mode .................................................................78
6.3. Speed control mode ..................................................................................................79
6.3.1. Selection of speed command .........................................................................79
6.3.2. Output speed of maximum speed analog command.......................................80
6.3.3. Speed analog command smoothing................................................................80
6.3.4. Torque limit of speed control mode .................................................................83
6.3.5. Adjustment of speed loop gain .......................................................................84
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6.3.6. Resonance suppression filter .........................................................................86
6.3.7. Gain switch function........................................................................................88
6.4. Position control mode ................................................................................................91
6.4.1. External pulse-train command(Pt mode) ........................................................91
6.4.2. Inner register command(Pr mode) ..................................................................93
6.4.3. Position command smoothing.........................................................................94
6.4.4. Electronic gear ratio........................................................................................95
6.4.5. Torque limit of position control mode ..............................................................97
6.4.6. Position loop gain ...........................................................................................97
6.5. Hybrid control mode ..................................................................................................98
6.5.1. Position/speed hybrid mode ...........................................................................99
6.5.2. Speed/torque hybrid mode..............................................................................99
6.5.3. Torque/Position hybrid mode ........................................................................100
6.6. Other functions ........................................................................................................101
6.6.1. Selection of brake resistor ............................................................................101
6.6.2. Analog monitor output...................................................................................104
6.6.3. Operation of electromagnetic brake interlock ...............................................106
7. Parameters ....................................................................................................................107
7.1. Parameter definition ................................................................................................107
7.2. Parameter list ..........................................................................................................108
7.3. Parameter details list ............................................................................................... 117
8. Communication functions ..............................................................................................135
8.1. Communication interface and wiring .......................................................................135
8.2. Relevant parameters of communication ..................................................................137
8.3. Modbus protocol......................................................................................................138
A. ASCII mode .............................................................................................................138
B. RTU mode ...............................................................................................................141
C. Time-out process.....................................................................................................145
D. Retry process ..........................................................................................................145
8.4. Communication parameter write-in and read-out ....................................................146
9. Inspection and Maintenance..........................................................................................151
9.1. Basic Inspection ......................................................................................................151
9.2. Maintenance............................................................................................................151
9.3. Life of consumable components ..............................................................................151
10. Troubleshooting .............................................................................................................152
10.1. Alarm list...............................................................................................................152
10.2. Alarm cause and remedy ......................................................................................153
11. Specifications.................................................................................................................158
11.1. Specifications of servo drives................................................................................158
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11.2. Dimensions of servo drives...................................................................................160
11.3. Specifications of low inertia motors SMA-L
R30A series............................162
11.4. Specifications of medium inertia motors SMA-M
R20A series ...................163
11.5. Dimensions of low inertia motor............................................................................164
11.6. Permissible shaft load of low inertia motor............................................................167
11.7. Dimensions of medium inertia motors...................................................................168
11.8. Permissible shaft load of medium inertia motor ....................................................170
11.9. Precision of motor shaft ........................................................................................171
11.10. Electromagnetic compatible filter (EMC Filter) ................................................171
12. Motor characteristic .......................................................................................................172
12.1. Speed-torque curves of low inertia motor .............................................................172
12.2. Speed-torque curves of medium inertia motor ......................................................173
12.3. Overload protection ..............................................................................................174
13. Application examples.....................................................................................................175
13.1. Position control example with inner registers........................................................175
13.2. Home moving examples .......................................................................................177
14. Appendix A: Accessories ...............................................................................................183
14.1. Connector and cable.............................................................................................183
14.2. Brake resistor........................................................................................................187
15. Appendix B: Parameters communication address .........................................................188
16. Appendix C: Version information....................................................................................189
viii
1.
Production inspection and model descriptions
1.1 Summary
The control modes for Shihlin multi-purpose AC servo could be classified into the single mode
and hybrid mode. The are 4 control types for single mode: position control with terminals input,
position control with inner registers, speed control, torque control. There are 5 types for hybrid mode:
position control(terminals input)/speed control, position control(terminals input)/torque control,
position control(inner registers)/speed control, position control(inner registers)/torque control and
speed control/torque control.
Therefore, the Shihlin servo are suitable for the general industry machinery that require the high
precision and smooth speed control, or machine tools, or tension control.
The Shihlin servo is equipped not only RS-232/RS-485 serial communication but also the most
convenient equipment “USB” which is the most popular application. The PC with the Shihlin
communication software would help the user to adjust the parameters, to operate the servo for test
and to monitor the status of the drive.
The Shihlin servo is also equipped with the automatic tuning function. The control gain of the drive
would be adjusted by the inner algorithm according to the instant dynamic change of the user’s
machinery. The specification of the Shihlin servo encoder is the 2500 pulses per revolution.(or 10000
pulses/rev after the 4-multiplication signal process)It offers a high precision control.
1.2 Inspection
Please check following items carefully to prevent the negligence of transport or human factor.
Check if there are any loosened screws on the motor or the drive.
Check the specification nameplate of motor/drive to confirm the consistency of your demand.
Check if there are any scratch and damage on the motor/drive.
Manually turn the shaft of servo motor. A smooth turn indicates a normal motor. If the motor is
with an electromagnetic brake, the motor will not be turn easy by hand.
Please contact your agent for solutions if any of above issues occurs.
A complete set of the Shihlin servo should include :
(1) A servo drive and a servo motor.
(2) A 50-pin connector of CN1.
(3) An encoder signal cable. One end is for the CN2 of drive, the other end for servo motor.
(4) The 5-pin(R/S/T/L1/L2) quick plug-in terminal which applicable to 1kW drive or below.
(5) The 3-pin(P/D/C) quick plug-in terminal which applicable to 1kW drive or below.
(6) The 5-pin(P/N/R/S/T) quick plug-in terminal which applicable to 1.5kW drive or above.
(7) The 5-pin(P/D/C/L1/L2) quick plug-in terminal which applicable to 1.5kW drive or above.
(8) The 3-pin(U/V/W) quick plug-in terminal.
(9) The RS-232 cable.(option)
(10) The USB cable.(option)
(11) A U-V-W power cable. (option)
(12) An installation manual.
(13) An user manual of the Shihlin servo.(It could be download on Shihlin website)
1
Reference for product type
Coding rule for Shihlin servo motor.
(1) Coding method
(2) Description for coded items
a. Servo motor code: SM denotes servo motor.
b. Type series code: A series.
c. Inertia class: Codes are classified by motor inertia and frame size as follows.
Code
Class
L
Low inertia
M
Medium inertia
d. Motor capacity: The first 2 digits are used to represent the motor’s output power multiplied
by 1/10 and a default unit “kW”. If the third digit is a “K”, the capacity is the
first 2 digits multiplied by 1 kW. Here are some examples.
020 denotes: 02*(1/10)=0.2kW=200W
150 denotes: 15*(1/10)=1.5kW=1500W
350 denotes: 35*(1/10)=3.5kW= 3500W
11k denotes:11*1kW=11kW… and so on.
e. Rated speed: Rated speed of servo motor. It is denoted by 3 digits. First digit is represented
by R, second 2 digits is represented by 20(2000rpm) or 30(3000rpm).
R20 represents the rated speed is 2000rpm.
R30 represents the rated speed is 3000rpm.
f. Encoder type: It is represented by a capital “A”. The resolution is 2,500ppr incremental type.
g. Brake and oil seal: Motors with/without brake or oil seal are presented below.
code
A
B
C
D
brake
without
with
without
with
oil seal
without
without
with
with
item
h. Shaft type: It describes the shape of the motor shaft; K denotes the inclusion of a keyway.
(3) Coding example:
Example 1: If a 200W low inertia motor, 3,000rpm rated speed, no brake, no oil seal, and no
keyway, its name code should be: SMA-L020R30AA
Example 2: If a 1500W medium inertia motor, 2,000rpm, with brake, no oil seal, and with
keyway, its name code should be: SMA-M150R20ABK
2
Coding rule for Shihlin servo drive:
(1) Coding method
(2) Description for coded items
a. Drive code: SD denotes “servo drive”.
b. Type code: A series.
c. Applied motor capacity.
There are 3 digits to represent the capacity of servo drive. The first 2 digits are used to
represent the drive’s output power multiplied by 1/10. If the third digit is a ”K”, the capacity
is the first 2 digits multiplied by 1kW. Here are some coding examples.
020 denotes: 02*(1/10)=0.2kW= 200W;
350 denotes: 35*(1/10)= 3,5kW=3500W
75k denotes: 75*1kW=75kW…and so no.
d. Type of power source: Specification of input power. “A2” denotes the applied power is 220V.
(3) Coding example:
Example: If a 200W drive applied a 3-phase 220V power source, its name code should be:
SDA-020A2
3
Reference table for servo drives and motors
Servo drive
Servo motor (matched)
100W
SDA-010A2
SMA-L010R30A□□
200W
SDA-020A2
SMA-L020R30A□□
400W
SDA-040A2
SMA-L040R30A□□
500W
SDA-050A2
SMA-M050R20A□□
750W
SDA-075A2
SMA-L075R30A□□
1000W
SDA-100A2
SMA-M100R20A□□
1500W
SDA-150A2
SMA-M150R20A□□
2000W
SDA-200A2
SMA-M200R20A□□
3500W
SDA-350A2
SMA-M350R20A□□
4
1.3 Servo drive appearance and panel descriptions
5
1.4 Overview of servo drive operation modes
The Shihlin servo drives provide multiple operation modes for users to select.
Mode
Position control
Single mode
(terminal input)
Position control
(inner register)
Sign
Pt
Pr
Speed control
S
Torque control
T
Hybrid mode
Description
Drive runs motor to reach the goal according to the external commands which
are received through the CN1 and are in the form of pulse trains.
Drive runs motor to reach the goal according to the inner commands which are
from inner 8 registers that could be switched by DI signals.
Drive runs motor to attain the target speed. The command type which is an
analog voltage or the inner registers could be switched by DI.
The drive receives the commands to run the motor to generate the demanded
torque. The command source is the analog voltage.
Pt-S
Pt/S is switched mutually via the LOP signal of DI.
Pt-T
Pt/T is switched mutually via the LOP signal of DI.
Pr-S
Pr/S is switched mutually via the LOP signal of DI.
Pr-T
Pr/T is switched mutually via the LOP signal of DI.
S-T
S/T is switched mutually via the LOP signal of DI.
Modify the PA01 value to define the application of mode switch. The PA01 modification works
after the “Power on” restart.
If the default value of PA01 is applied, set the PA01 value as “1□□□”.
1.5 Recommended specifications for circuit breaker and fuse
Specifications of circuit breaker and fuse applicable to Shihlin servo drive.
Drive type
Fuse capacity
Circuit breaker capacity
SDA-010A2
5A
5A
SDA-020A2
5A
5A
SDA-040A2
20A
10A
SDA-050A2
20A
10A
SDA-075A2
20A
10A
SDA-100A2
25A
15A
SDA-150A2
40A
20A
SDA-200A2
60A
30A
SDA-350A2
80A
30A
6
2.
Installation
2.1 Cautions and storage methods
Do not install the product on inflammable matters or close to inflammable matters.
Do not over tighten the wire between the drive and the motor.
Do not place heavy objects on the top of the drive.
Be sure to tight lock every screw when fixed the drive.
Install the drive at a location where could bear the weight of the drive.
Align the axle of the motor and the axle of the machinery device.
Inflammable objects or conductive objects are not allowed inside the drive.
Upgrade the diameter of the U/V/W wires and the encoder cable if the length between the
drive and the motor is over 20m.
Do not clog up the vent of the drive or breakdown may be occurred.
Do not drop or clash the drive.
Not try to run the drive which something has been damaged.
Please refer to section 11.1 and 11.3 for drive and motor storage details.
2.2 The environment conditions of installation
The ambient temperature suitable for Shihlin drive is between 0℃ and 55℃. If the ambient
temperature is higher than 45℃, the installation place with good ventilation or air conditioner is
necessary. For a long-time operation, place the drive in an environment with temperature below
45℃ to ensure the reliability of the drive. If the product is installed in a distributor, make sure that
its size and ventilation condition. To prevent from over-heat of the electronic components inside it.
Make sure that mechanical vibration will not affect the electronic devices of the distributor. In
addition, the use of Shihlin servo shall meet the following criteria:
Locations without high-heating devices.
Locations without floating dust and metal particles.
Locations without corrosive, inflammable gas and liquid.
Locations without water drops, steam, dust or oil dust.
Locations without electromagnetic interference.
Select a solid, vibration-free location.
2.3 Installation direction and space
Follow the instruction of installation direction avoid the breakdown of drive. To provide a
good ventilation by keeping sufficient space between the drive and other objects to avoid
breakdown. Do not seal the vent of the drive or make the drive upside down during the installation
to avoid breakdown.
7
Installation diagram:
To achieve a lower wind resistance of the heat-dissipation fan for a more effective heat
removal, follow the spacing recommendation for installing one or multiple AD servo drives.
(See the figure below).
50m m
(2.0in)m in .
20 m m
(0.8 in)
M in .
20m m
(0 .8in)
M in.
50 m m
(2.0 in)m in .
100mm
(4.0in)
Min.
FAN
40mm
(1.6in)
Min.
10mm
(0.4in)
Min.
10mm
(0.4in)
Min.
100mm
(4.0in)
Min.
FAN
100mm
(4.0in)
Min.
10mm
(0.4in)
Min.
40mm
(1.6in)
Min.
100mm
(4.0in)
Min.
8
3.
Wiring and signals
This chapter defines the wiring diagrams for operation and the signals of the Shihlin servo drive.
3.1. Connections between main power source and peripheral devices
3.1.1.
Wiring diagram of peripheral devices(below 1KW)
※ The details of EMI filter, please refer to Section 11.10 (EMI Filter)
9
3.1.2.
Wiring diagram of peripheral devices(above 1.5KW)
※ The details of EMI filter, please refer to Section 11.10 (EMI Filter)
To prevent an electric shock, the PE (
) terminal of servo drive should be linked
to the ground terminal of host controller.
NOTE Installation instruction:
Make sure that servo motor output terminals U/V/W are wired correctly.
When external brake resistor are used, make P/D ends open and connect the P/C ends to the
external brake resistor. If the built-in one applied, make P/D ends short and P/C ends open. Be
sure that the brake resistor is connected with the drive in operation.
Do not confuse U/V/W with R/S/T or L1/L2 or it causes the damage of servo.
10
3.1.3.
Descriptions for drive’s connectors and terminals
Name
Code
Description
Main power input terminal
R、S、T
Connect to 3-phase AC power source
Control power input terminal
L1、L2
Connect to single phase AC power source
Power output terminal for motor
U 、 V 、
W、PE
Brake resistor terminal
Terminal code
Wire color
U
Red
V
White
W
Black
PE
Green
P、D、C
External resistor
P/C ends connected to resistor and
P/D ends open.
Built-in resistor
P/D ends short together and P/C
ends open
To connect the power ground with the motor ground.
Ground terminal
P:main circuit 【+】 terminal
P、N
When an active brake device is used for 1.5KW or above,
please connect the 【+】 terminal of it to the drive’s 【P】
N:main circuit 【-】 terminal
terminal, the 【-】 terminal to the drive’s 【N】 terminal. The
active brake device is usually applied when the huge
regenerative power produced by the servo motor in heavy
duty.
DI/DO connector
CN1
Connect to the host controller.
Encoder socket
CN2
Connect to the encoder cable of servo motor.
RS-232/RS-485 port
CN3
Connect to the COM port of PC.
USB port
CN4
Connect to the USB port of PC.
Confirm the items as follows when wiring:
Keep the major power lines R/S/T and U/V/W away from other signal lines at least 30cm.
Do not touch the major power lines until the charge indicator goes out. When “power off” , there is
still a large amount of electric charge in the aluminum capacitors inside the servo drive.
If a longer encoder cable is required, uses the twisted pairs cable and not to exceed 20m. Be sure to
upgrade the diameter of wires to avoid signals attenuated when the wire’s length greater than 20m.
11
3.1.4.
Wiring method of power source
To prevent an electric shock, insulate the connections of the power supply
terminals.
Connect the servo drive power output (U,V,W) to the servo motor power input
(U,V,W) correctly, or it may cause a malfunction.
The servo motor can not be connected to the commercial power directly.
The Shihlin servo drive is connected to a three-phase power source. In the figure below, Power ON is
contact a and alarm processing is contact b. 1MC/a is the self-maintained power source, and 1MC is
the electromagnetic contactor.
Note: The terminals P/N of servo drive 1.5KW above could not be connected to ground.
12
3.1.5.
Lead wire connector specifications of motor U,V,W terminals
Connector specifications (female type ) of U/V/W terminals of the low inertia servo motor:
Drive capacity
Motor type
100W
SMA-L010R30A□□
200W
SMA-L020R30A□□
400W
SMA-L040R30A□□
750W
SMA-L075R30A□□
with brake
without brake
The lead wire signs of low inertia motor U,V,W terminal connector are listed as follows:
PIN
Sign
Wire color
1
U
Red
2
V
white
3
W
Black
4
PE
Green(background)/Yellow
5
NC
Black(with electromagnetic brake)
6
NC
Black(with electromagnetic brake)
Note: The aforesaid wires are connected to the connectors of the motor.
Connector specifications (male type ) of U/V/W terminals of the medium inertia servo motor:
Drive capacity
Motor type
500W
SMA-M050R20A□□
1KW
SMA-M100R20A□□
1.5KW
SMA-M150R20A□□
2KW
SMA-M200R20A□□
3.5KW
SMA-M350R20A□□
The lead wire signs of medium inertia motor U,V,W terminal connector are listed as follows:
PIN
Sign
A
NC
B
U
C
V
D
W
E
PE
F
NC(with electromagnetic brake)
G
NC(with electromagnetic brake)
H
NC
13
3.1.6.
Lead wire connector specifications of encoder
Encoder connector specifications (female type ) of the low inertia servo motor:
The suitable connector for various capacity of the Shihlin servo motor are listed as follows:
Drive capacity
Motor type
100W
SMA-L010R30A□□
1
2
3
200W
SMA-L020R30A□□
4
5
6
400W
SMA-L040R30A□□
7
8
9
750W
SMA-L075R30A□□
Pin No.
Wire color
Sign
Pin No.
Wire color
Sign
1
blue
A
6
Yellow/black
/Z
2
green
B
7
red
5V
3
yellow
Z
8
black
GND
4
Blue/black
/A
9
NC
SHELD
5
Green/black
/B
Drive socket: 9-pin female connector(suitable for the low and medium inertia motors )
5
4
9
3
8
1
2
7
6
Pin No.
1
2
3
4
5
6
7
8
9
Sign
NC
/Z
/B
/A
5V
Z
B
A
GND
Encoder connector specifications (male type ) of the medium inertia servo motor:
The suitable connector for various capacity of the Shihlin servo motor are listed as follows:
Drive capacity
Motor type
500W
SMA-M050R20A□□
1KW
SMA-M100R20A□□
1.5KW
SMA-M150R20A□□
2KW
SMA-M200R20A□□
3.5KW
SMA-M350R20A□□
Pin No.
A
B
D
E
G
H
S
P
L
Sign
A
/A
B
/B
Z
/Z
5V
GND
SHIELD
14
3.1.7.
Selection of wiring materials
Please follow the following recommendations and then use the proper specification.
Drive type
Specification for power wiring(AWG)
Motor type
U、V、W
R、S、T
L1、L2
P、D、C
SDA-010A2
SMA-L010R30A□□
AWG14
AWG14
AWG16
AWG14
SDA-020A2
SMA-L020R30A□□
AWG14
AWG14
AWG16
AWG14
SDA-040A2
SMA-L040R30A□□
AWG14
AWG14
AWG16
AWG14
SDA-050A2
SMA-M050R20A□□
AWG14
AWG14
AWG16
AWG14
SDA-075A2
SMA-L075R30A□□
AWG14
AWG14
AWG16
AWG14
SDA-100A2
SMA-M100R20A□□
AWG14
AWG14
AWG16
AWG14
SDA-150A2
SMA-M150R20A□□
AWG14
AWG14
AWG16
AWG14
SDA-200A2
SMA-M200R20A□□
AWG12
AWG12
AWG16
AWG14
SDA-350A2
SMA-M350R20A□□
AWG12
AWG12
AWG16
AWG14
Drive type
Specification for encoder wiring (AWG)
Motor type
Wire gauge
Length
Core number
Core gauge
SDA-010A2
SMA-L010R30A□□
UL1332
2m
10
AWG26
SDA-020A2
SMA-L020R30A□□
UL1332
2m
10
AWG26
SDA-040A2
SMA-L040R30A□□
UL1332
2m
10
AWG26
SDA-050A2
SMA-M050R20A□□
UL1332
2m
10
AWG26
SDA-075A2
SMA-L075R30A□□
UL1332
2m
10
AWG26
SDA-100A2
SMA-M100R20A□□
UL1332
2m
10
AWG26
SDA-150A2
SMA-M150R20A□□
UL1332
2m
10
AWG26
SDA-200A2
SMA-M200R20A□□
UL1332
2m
10
AWG26
SDA-350A2
SMA-M350R20A□□
UL1332
2m
10
AWG26
Please follow the recommended list above or a larger specification to complete the wiring job.
The SHIELD terminal of the shield cable has to be connected to the power ground.
Use a shield twisted pairs cable for the wiring of encoder to reduce noise interference.
America Wire Gauge (AWG) is the standard wire diameter gauge of America.
15
3.2. Functional block diagram of Shihlin servo
100W~1kW:
16
1.5kW~3.5KW:
17
3.3. CN1 I/O signal wires instruction
3.3.1.
CN1 terminal layout
Shihlin servo drive provides 8 sets of DI inputs and 5 sets of DO outputs for users to program, which
makes the application with the host controller more flexible. The 8 input DI parameters for users are
PD02 to PD09, and the output DO parameters are PD10 to PD14. In addition, it affords encoder
differential output signals, torque analog command input, speed analog command input. The CN1 pin
diagram is presented as follows:
No
Pin name
Signal name
1
2 6
2 5
5 0
No
Pin name
Signal name
1
+15Vcc
+15V power supply output
26
+15Vcc
+15V power supply output
2
VC/VLA
Speed analog command/limit
27
TC/TLA
Torque analog command/limit
3
LG
Signal ground of analog input/output
28
LG
Signal ground of analog input/output
4
NC
No effect
29
LG
Signal ground of analog input/output
5
NG
30
MON1
Analog monitor output 1
6
NP
31
LG
Signal ground of analog input/output
7
OPC
32
MON2
Analog monitor output 2
8
PP
33
LA
9
PG
34
LAR
Encoder A-phase pulse
(differential line drive)
10
LG
Signal ground of analog input/output
35
LB
11
LG
Signal ground of analog input/output
36
LBR
12
NC
No effect
37
LZ
13
NC
No effect
38
LZR
14
DI1
Digital input 1
39
OP
Phase Z pulse of encoder (open collector)
15
DI2
Digital input 2
40
NC
No effect
16
DI3
Digital input 3
41
DO1
Digital output 1
17
DI4
Digital input 4
42
DO2
Digital output 2
18
DI5
Digital input 5
43
DO3
Digital output 3
19
DI6
Digital input 6
44
DO4
Digital output 4
20
DI7
Digital input 7
45
DO5
Digital output 5
21
DI8
Digital input 8
46
ALM
Trouble
22
LSP
Limit of forward rotation route
47
COM+
Digital power source midway
23
LSN
Limit of reverse rotation route
48
+24Vdd
+24V built-in power
24
SG
Signal ground of digital I/O
49
COM+
Digital power source midway
25
SG
Signal ground of digital I/O
50
SG
Signal ground of digital I/O
Forward/reverse rotation pulse train
Open collector power
Forward/reverse rotation pulse train
18
Encoder B-phase pulse
(differential line drive)
Encoder Z-phase pulse
(differential line drive)
NOTE:
1.
2.
3.
NC stand for no effect terminal which is used for inner circuit of the drive. Do not connect it, or it
would result in damage!
Although CN1-22 and CN1-23 are digital input pins but they are not programmable. CN1-46 is also
the unique function output pin.
CN1-48 is a +24V power which is used only for internal circuit of servo drive, do not connect it with
other devices to prevent from damage.
3.3.2.
Signal description of CN1 terminal
Signals listed in aforesaid section will be described in detail in this section.
1.
CN1 terminal signal description
There are 50 pins in CN1 terminal. Every pin function would be described as below:
The abbreviation for the control modes in the table below are explained as below:
Pt :Position control mode(terminal input)
Pr :Position control mode(inner register)
S :Speed control mode
T :Torque control mode
Signal name
Sign
Pin NO
Function description
+15V power supply
output
+15Vcc
CN1_1,
CN1_26
Speed analog
command/limit
DC 15V between +15Vcc and LG. It could be use as
power source of TC, TLA, VC and VLA.
Apply a voltage in ±10V range on VC-LG under the
speed mode, the motor will rotate the proportional speed
linearly of PC12 value at ±10V range.
VC/VLA
CN1_2
Signal ground of
analog input/output
Forward/reverse
rotation pulse train
Open collector
power
LG
CN1_3
CN1_10
CN1_11
CN1_28
CN1_31
NG
CN1_5
NP
CN1_6
Control
mode
ALL
S,T
Apply a voltage in ±10V range on VLA-LG under the
torque mode, the motor will rotate the proportional speed
linearly of PC12 value at ±10V range.
The common ground of TLA, LA, TC, VC, VLA, OP,
MO1, MO2, VCC. Each pin inside the drive is connected
together.
ALL
Open collector type:(Max. frequency 200Kpps)
To apply signals on PP-SG means “forward command”.
To apply signals on NP-SG means “reverse command”.
Pt
PP
CN1_8
PG
CN1_9
OPC
CN1_7
Signal in differential type:(Max. frequency 500Kpps)
To apply signals on PG-PP means “forward command”.
To apply signals on NG-NP means “reverse command”.
As signals in open collector type; this pin provides 24V
and SG is the ground.
19
ALL
Limit of forward
rotation route
LSP
CN1_22
Limit of reverse
rotation route
LSN
CN1_23
Signal ground of
digital I/O
SG
CN1_24
CN1_25
CN1_50
Torque analog
command/limit
TC/TLA
CN1_2
MON1
CN1_30
MON2
CN1_32
LA
CN1_33
LAR
CN1_34
LB
CN1_35
LBR
CN1_36
LZ
CN1_37
LZR
CN1_38
OP
CN1_39
Alarm signal output
ALM
CN1_46
Digital power source
midway
COM+
CN1_47
CN1_49
+24V built-in power
+24Vdd
CN1_48
Analog monitor
output 1
Analog monitor
output 2
Encoder A-phase
pulse(differential line
drive)
Encoder B-phase
pulse(differential line
drive)
Encoder Z-phase
pulse(differential line
drive)
Phase Z pulse of
encoder
(Open collector)
Please make both LSP-SG and LSN-SG short-circuit
when you operate the servo. An emergency stop
occurred and the motor locked when something makes
LSP-SG or LSN-SG open circuit.
If PD17 is set as xxx1, the motor decelerate by the time
of deceleration and then stop.
Set PD01 as follows to get a virtual short-circuit without a
physical wiring.(normal “ON”)
PD01
Normal “ON”
xx1x
LSP
x1xx
LSN
Signal status(*)
Rotary direction
LSP
LSN
CCW
CW
1
1
○
○
0
1
○
1
0
○
0
0
(*) 0:OFF (LSP-SG/LSN-SG open-circuit)
1:ON (LSP-SG/LSN-SG short-circuit)
The common ground of SON, EMG digital input. Each pin
inside the drive is connected together but separated from
LG.
Apply a voltage signal within ±10V on TC-LG, the motor
torque generated would be linear proportional of PC13.
Pt,Pr,S
As TLA is valid, motor generated torque would be limited
according to proportion of rated torque to applied voltage.
The range of applied voltage on TLA-SG is 0 ~ +10V.
Pt,Pr,S
The proportional voltage signal according to the value of
PC14 outputs on MO1-LG.
The proportional voltage signal according to the value of
PC14 outputs on MO2-LG.
The value of PA14 decides how many pulses output in
one turn. The output signals are in line drive type. There
is a π/2 delay between phase A and B.
The phase sequence of rotation and phase difference
between phase A and phase B could be defined by the
change of PA39 value.
ALL
ALL
ALL
ALL
ALL
The drive transforms the OP signals into line drive.
ALL
The origin signal of encoder output. One pulse is output
as the completion of one revolution for the servo motor.
ALL
ALM-SG is open-circuit when the power is off, or the
protection of the drive is activated. In normal case, the
ALM-SG is conductive one second after “power on”.
When +24V built-in power is applied as the source of
input signals, this pin should be connected to +24Vdd.
There is a +24V±10% power source on +24Vdd - SG.
20
ALL
ALL
ALL
2.
I/O signal description of CN1 terminal
Some signals and their abbreviation reference table for the I/O signals of CN1 are presented below:
Abbr.
Signal name
Abbr.
Signal name
SON
Servo ON
CTRG
Trigger of the position command
LSP
Limit of forward rotation route
TLC
Torque limiting control
LSN
Limit of reverse rotation route
VLC
Speed limiting control
CR
Clear
RD
Ready
SP1
Speed option 1
ZSP
Zero speed detection
SP2
Speed option 2
INP
In-position ready
PC
Proportion control
SA
Speed attained
ST1
Forward rotation activated
ALM
Alarm signal output
ST2
Reverse rotation activated
OP
Encoder output pulse (Open collector)
TL
Torque limit option
LZ
RES
Reset
LZR
EMG
External emergency stop
LA
LOP
Control mode switch
LAR
VC
Speed analog command
LB
VLA
Speed analog limit
LBR
TLA
Torque analog limit
+15Vcc
+15V power supply output
TC
Torque analog command
+24Vdd
+24V built-in power
RS1
Forward rotation option
COM +
Digital power source midway
RS2
Reverse rotation option
SG
Signal ground of digital I/O
OPC
Open collector power
LG
Signal ground of analog input/output
PG
MON1
Analog monitor output 1
NG
MON2
Analog monitor output 2
SD
Shield
Encoder Z-phase pulse(differential line drive)
Encoder A-phase pulse(differential line drive)
Encoder B-phase pulse(differential line drive)
PP
NP
Forward/reverse rotation pulse train
POS1
Position command option 1
POS2
Position command option 2
POS3
Position command option 3
21
3.
DI and DO signal description
Input DI
Every DI pin is programmable. There are 23 signal functions could be assigned to the particular DI
pin by the modification of parameter PD02 to PD09. The value from 0x01 to 0x17 is defined as the
function described below:
Signal function
Servo ON
Reset
Sign
SON
RES
Control
Value
Functions/Applications description
0x01
Power on the drive and make SON-SG short-circuit to ready (the
shaft is locked). Make SON-SG open-circuit to release (the shaft
is rotatable). A virtual “Servo ON” could be achieved by the PD01
set as □□□1.(Normal ON)
ALL
0x02
A short-circuit duration over 50mS on RES-SG would recover
from an abnormal alarm status. Some abnormal cases would not
be recovered(refer to section 10.1). Set the PD20 as □□□1,
the function of reset would not work.
ALL
Pt,Pr,S
Pt,Pr,S
Proportion
control
PC
0x03
A short-circuit on PC-SG would switch the proportion-integral
controller to the proportion controller(speed control). When
motor in static, it outputs torque to resist the external disturbance
which even only 1 pulse revolution. Once the position is done, to
prevent from unnecessary jitter of motor shaft, please switch to
the proportion controller.
Torque limit
option
TL
0x04
Open TL-SG to make inner torque limit 1 valid(PA05), or turn
TL-SG on to make analog torque limit(TLA) valid.
For details, refer to section 6.3.4.
Inner torque limit
option
TL1
0x05
Turn TL1-SG on to make inner torque limit 2 valid(PC25). For
details, refer to section 6.3.4.
22
mode
ALL
<Speed control mode>
Used to select the speed command. When using SP3, make it
usable by making the setting of PD02~PD09.
Speed option 1
SP1
0x06
Setting of
(Note)Input
signals
PD02~PD09
SP3 SP2 SP1
When speed
option (SP3) is
not used.
(initial status)
When speed
option (SP3) is
made valid.
Speed option 2
SP2
0x07
0
0
0
0
1
1
1
1
0
0
1
1
0
0
1
1
0
0
1
1
0
1
0
1
0
1
0
1
0
1
0
1
Speed command
Speed analog command (VC)
Inner speed command 1 (PC05)
Inner speed command 2 (PC06)
Inner speed command 3 (PC07)
Speed analog command (VC)
Inner speed command 1 (PC05)
Inner speed command 2 (PC06)
Inner speed command 3 (PC07)
Inner speed command 4 (PC08)
Inner speed command 5 (PC09)
Inner speed command 6 (PC10)
Inner speed command 7 (PC11)
Note. 0:off (with SG)
1:on (with SG)
S,T
<Torque control mode>
Used to select the limit speed for operation. When using SP3,
make it usable by making the setting of PD02~PD09.
Setting of
PD02~PD09
When speed
option (SP3) is
not used.
(initial status)
Speed option 3
SP3
0x08
When speed
option (SP3) is
made valid.
(Note)Input
signals
SP3 SP2 SP1
0
0
0
1
1
0
1
1
0
0
0
0
0
1
0
1
0
0
1
1
1
0
0
1
0
1
1
1
0
1
1
1
Speed command
Speed analog command (VC)
Inner speed command 1 (PC05)
Inner speed command 2 (PC06)
Inner speed command 3 (PC07)
Speed analog command (VC)
Inner speed command 1 (PC05)
Inner speed command 2 (PC06)
Inner speed command 3 (PC07)
Inner speed command 4 (PC08)
Inner speed command 5 (PC09)
Inner speed command 6 (PC10)
Inner speed command 7 (PC11)
Note. 0:off (with SG)
Used to start the servo motor in the following directions:
Forward rotation
activated
Reverse rotation
activated
ST1
ST2
0x09
0x0A
(Note)Input signals
Servo motor starting direction
ST2
ST1
0
0
Stop(servo lock)
0
1
CCW
1
0
CW
1
1
Stop(servo lock)
Note. 0:off (with SG)
1:on (with SG)
If both ST1 and ST2 are switched on or off during operation, the
servo will be decelerated to a stop according to the value of
PC18, and the motor will be locked. The activation of analog
speed commands (VC) at 0V will not servo lock.
23
S
Forward rotation
option
Reverse rotation
option
Used to select any of the following servo motor torque generation
directions:
RS1
RS2
0x0A
0x09
Input
signals
(Note)
RS2 RS1
Torque generation direction
T
0
0
Torque is not generated.
0
1
Forward rotation torque, reverse rotation regeneration
1
0
Reverse rotation torque, forward rotation regeneration
1
1
Torque is not generated.
Note. 0:off (with SG)
1:on (with SG)
Origin position
ORGP
0x0B
In position control with inner registers, this signal activated would
assigned current position to the origin.
Pr
Start Home
moving
SHOM
0x0C
As this signal activated, drive runs motor to return the origin.
Pr
Electronic gear
option 1
Electronic gear
option 2
CM1
CM2
0x0D
0x0E
When using CM1 and CM2, make them usable by the setting of
PD02~PD09. The combination of CM1 and CM2 gives you a
choice of 4 numerators. CM1 and CM2 cannot be used in the
absolute position detection system.
Input signals
(Note)
CM2
CM1
0
0
0
1
1
0
1
1
Electronic gear molecule
The value of
The value of
The value of
The value of
parameter
parameter
parameter
parameter
Pt,Pr
PA07 (CMX)
PC32(CMX2)
PC33(CMX3)
PC34(CMX4)
Note. 0:off (with SG), 1:on (with SG)
Clear
CR
0x0F
Gain switch
option
CDP
0x10
Control mode
switch
LOP
0x11
Turn CR on to clear the position control counter droop pulses on
its leading edge. The pulse width should be 10mS or longer.
When the PD18 setting is □□□1, the pulse are always cleared
while CR is on.
When using this signal, make it usable by the setting of
PD02~PD09. Turn CDP on to change the gain values into the
multiplier of parameter PB14 to PB17.
<Position/Speed control switch mode>
Used to select the control mode in the position/speed control
switch mode.
(Note) LOP Control mode
0
Position
1
Speed
<Speed/Torque control switch mode>
Used to select the control mode in the Speed/Torque control
switch mode.
(Note) LOP Control mode
0
Speed
1
Torque
<Torque/Position control switch mode>
Used to select the control mode in the Torque/Position control
switch mode.
(Note) LOP Control mode
0
Torque
1
Position
Note. 0:off (with SG), 1:on (with SG)
24
Pt,Pr
ALL
Refer
to
Functio
ns/
Applica
tions
External
emergency stop
Position
command option
1
EMG
0x12
Turn EMG off (open EMG-SG) to bring the motor to an
emergency stop state, in which the electromagnetic brake is on.
Turn EMG on (short EMG-SG) in the emergency stop state to
reset that state.
To set the value of PD01 as 1□□□, this signal would be normal
on.
ALL
Corresponding
Position
POS1
POS1
POS2
POS3
CTRG
parameter
0x13
PA15,PA16,
P1
0
0
0
↑
PA31
PA17,PA18,
P2
1
0
0
↑
PA32
PA19,PA20,
P3
Position
command option
2
0
1
0
↑
PA33
POS2
0x14
P4
1
1
0
PA21,PA22,
Pr,Pr-S
PA34
,Pr-T
↑
PA23,PA24,
P5
0
0
1
↑
PA35
PA25,PA26,
P6
1
0
1
↑
PA36
Position
command option
3
PA27,PA28,
P7
POS3
0
1
1
↑
0x15
PA37
PA29,PA30,
P8
1
1
1
↑
PA38
Position
command trigger
CTRG
0x16
In position control with inner 8 registers(Pr mode), the
combination of POS1/POS2/POS3 gives you a choice of 8
position commands when the CTRG is activated.
Pr,Pr-S
Inner position
command halt
HOLD
0x17
In position control with inner 8 registers(Pr mode), the motor
would stop running as this signal activated.
Pr,Pr-S
,Pr-T
,Pr-T
NOTE:
1.
2.
When setting the parameter PA01 in speed mode or torque mode, the function ST1/RS2 and
ST2/RS1 would be defined mutually because of the same values.
To use the custom definition of input signal, the value of PA01 should be as 0XXX. If the value
of PA01 is 1□□□, the function definition of signals should be a default.
25
Output DO
Every DO pin is programmable. There are 9 output functions could be assigned to the particular DO pin
by the modification of parameter PD10 to PD14. The value from 0x01 to 0x09 is defined as the function
described below:
Signal function
Ready
Alarm signal
output
In-position ready
Value
RD
0x01
It is on as power is turned on and drive is ready to operate.
ALL
ALM
0x02
ALM-SG is isolated as power off or protection activated to cut
off the main circuit. Without alarm occurring, ALM-SG would
turn on after power on 1 second latter.
ALL
INP turn on when the number of droop pulses is in the preset
in-position range. The in-position range could be change using
parameter PA12. When the in-position range is increased, INP
may be kept conductive during low-speed rotation.
Pt,Pr
SA turns on when the speed has nearly reached the preset
command. When the preset command is 50r/min or less, SA
always turns on.
S
It turns on after the completion of home moving.
Pr
INP
Functions/Applications description
Control
Sign
mode
0x03
Speed attained
SA
Home moving
completion
HOME
Torque limiting
control
TLC
0x04
TLC-SG is on as motor generated torque reaches inner torque
limit or torque analog limit. TLC-SG is off when SON signal is
turned off.
Pt,Pr,S
In torque mode, VLC-SG is on as motor speed reaches inner
speed limit or speed analog limit. VLC-SG is off when SON
signal is turned off.
T
0x05
Speed limiting
control
VLC
Electromagnetic
brake interlock
MBR
0x06
When using this signal, make it usable by setting parameter
PA01 as □1□□. MBR is off as the power is turned off or any
alarm occurred.
ALL
Warning
WNG
0x07
WNG-SG is conductive as any warning occurred. Without
warning occurring, WNG-SG is isolated.
ALL
Zero speed
detection
ZSP
0x08
When the speed is under the preset of zero speed(50r/min),
ZSP-SG keeps conductive. The zero speed range could be
changed by PC17.
ALL
CDMOK
0x09
CMDOK-SG is conductive as the inner position command is
completed or stopped.
Pr
Inner position
command output
completed
NOTE:
1.
2.
When setting the parameter PA01 in speed mode or torque mode, the function INP and SA
would be defined mutually because of the same values.
When setting the parameter PA01 in speed mode or torque mode, the function TLC and VLC
would be defined mutually because of the same values.
26
There are 8 DI and 5 DO equipped in CN1. They afford user a flexible application. See as follows.
Value
Sign
Function
Pt
Pr
S
T
Pt-S
Pt-T
Pr-S
Pr-T
S-T
0x01
SON
Servo ON
DI1
DI1
DI1
DI1
DI1
DI1
DI1
DI1
DI1
0x02
RES
Reset
DI5
DI5
DI5
DI5
DI5
DI5
DI5
DI5
DI5
0x03
PC
Proportion control
DI3
0x04
TL
Torque limit option
DI4
0x05
TL1
Inner torque limit option
0x06
SP1
Speed option 1
DI6
DI6
DI2
DI2
0x07
SP2
Speed option 2
DI2
DI2
0x08
SP3
Speed option 3
0x09
ST1
Forward rotation activated
DI3
DI3
DI3
0x0A
ST2
Reverse rotation activated
DI4
DI4
DI6
0x0A
RS1
Forward rotation option
DI4
DI4
DI6
DI4
0x09
RS2
Reverse rotation option
DI3
DI3
DI3
DI3
0x0B
ORGP
Origin positioned
0x0C
SHOM
Start Home moving
0x0D
CM1
Electronic gear option 1
0x0E
CM2
Electronic gear option 2
0x0F
CR
Clear
0x10
CDP
Gain switch option
0x11
LOP
Control mode switch
DI8
0x12
EMG
External emergency stop
DI7
0x13
POS1
Position command option 1
DI2
0x14
POS2
Position command option 2
DI3
0x15
POS3
Position command option 3
0x16
CTRG
Position command trigger
DI4
0x17
HOLD
Inner position command halt
DI8
Value
Sign
DI2
DI2
DI6
Function
DI6
DI6
DI7
DI6
DI6
DI8
DI8
DI8
DI8
DI8
DI8
DI8
DI7
DI7
DI7
DI7
DI7
DI7
DI7
DI2
DI2
DI4
DI4
Pt
Pr
S
T
Pt-S
Pt-T
Pr-S
Pr-T
S-T
DO5
DO5
DO5
DO5
DO5
DO5
DO5
DO5
DO5
DO1
DO1
DO1
DO1
DO1
DO1
0x01
RD
Ready
0x02
ALM
Trouble
0x03
INP
In-position ready
0x03
SA
Speed attained
0x04
HOME
Home return
0x05
TLC
Torque limiting control
0x05
VLC
Speed limiting control
0x06
MBR
Electromagnetic brake interlock
0x07
WNG
Warning
DO3
0x08
ZSP
DO2
0x09
CDMOK
Zero speed detection
Inner position command output
completed
DO4
DO4
DO1
DO1
DO4
DO4
DO4
DO3
DO2
DO3
27
DO2
DO1
DO4
DO4
DO4
DO1
DO4
DO4
DO4
DO4
DO3
DO3
DO1
DO3
DO3
DO2
DO2
DO2
DO2
DO2
DO3
DO3
DO2
3.3.3.
Interface wiring diagram
(1). Digital input interface DI
For use of inner power supply
For use of external power supply
(2). Source input interface DI
When using the input interface of source type, all DI input signals are of source type. Source output
could not be provided.
For use of inner power supply
For use of external power supply
28
(3). Digital output interface DO
Lamp, relay or photo coupler could be driven. A diode for relay load, or a suppressing resistor for
lamp load is necessary. (Permissible current: 40mA or less, inrush current: 100mA or less)
Relay load for use of inner power supply
Relay load for use of external power supply
Lamp load for use of inner power supply
Lamp load for use of external power supply
(4). Speed analog command, torque analog command and MON1,MON2 analog output.
Input impedance 10KΩ to 12KΩ / Output voltage ±10V.
Speed/torque analog command input
MON1/MON2 analog monitor output
The VC/TC input voltage higher than 10V would damage the inner transistors of servo drive.
29
(5). Encoder output pulse
Output a pulse train signal in the open collector or differential line drive type. Open collector output
could be obtained via the pin 39(OP) of CN1. The maximum output current is 35mA.
Open collector type with OP output
Open collector type with photo coupler output
For a differential line drive system, the maximum output current is 20mA.
Differential line drive pulse output
Differential line drive pulse output (photo coupler)
(6). Forward/reverse rotation pulse train input
Input a pulse train signal in open collector or differential line drive type. The maximum input pulse
frequency is 500kpps for differential line drive and 200kpps for open collector type.
NPN Open collector
with inner power supply
NPN Open collector
30
with external power supply
PNP Open collector
with inner power supply
PNP Open collector
with external power supply
Differential line drive type
3.3.4.
User definition of DI/DO
The DI/DO default functions are suitable for position mode. If they are not suitable for user’s application,
please define the functions of DI/DO again. The functions of DI1 to DI8 are corresponding to the setting
of parameters PD02 to PD09. Those DO1 to DO5 are corresponding to the ones of PD10 to PD14. The
following table describes the DI/DO pins of CN1 terminal and the relative parameters.
Pin No.
Pin name
Parameter
Pin No.
Pin name
Parameter
CN1_14
DI1
PD02
CN_41
DO1
PD10
CN1_15
DI2
PD03
CN_42
DO2
PD11
CN1_16
DI3
PD04
CN_43
DO3
PD12
CN1_17
DI4
PD05
CN_44
DO4
PD13
CN1_18
DI5
PD06
CN_45
DO5
PD14
CN1_19
DI6
PD07
CN1_20
DI7
PD08
CN1_21
DI8
PD09
31
3.4. CN2 Encoder signal wiring and description
The resolution of Shihlin servo motor encoder is 2500ppr. After the digital signal process of 4 multiplied
by the servo drive, that would be increased to 10,000ppr. There are 8 wires for Shihlin servo encoder,
which are A,/A,B,/B,Z,/Z,+5V,GND. The appearance of CN2 connector is shown below:
The end of drive
The end of servo motor
Medium inertia:(Type B)
Low inertia:(Type A)
1
2
3
4
5
6
7
8
9
The pin names and descriptions are listed below:
Signal name
(*): A~/Z input for drive end.
Drive
Type A
Type B
Sign
Function description
2
6
H
Phase /Z
/Z
Phase /Z pulse train input/output(*) of encoder
3
5
E
Phase /B
/B
Phase /B pulse train input/output of encoder
4
4
B
Phase /A
/A
Phase /A pulse train input/output of encoder
5
7
S
Power
6
3
G
Phase Z
Z
Phase Z pulse train input/output of encoder
7
2
D
Phase B
B
Phase B pulse train input/output of encoder
8
1
A
Phase A
A
9
8
P
Ground
GND
--
9
L
SHIELD
SHIELD
+5V
+5V power supply for encoder
Phase A pulse train input/output of encoder
32
power ground
SHIELD
3.5. CN3 communication port signal wiring and description
Shihlin servo drive CN3 port is for RS-232 and RS-485 communication. Via the Shihlin servo software
for communication, users could connect it to the computer then set parameters, monitor the status,
operate and test, etc. There are 2 format suitable for CN3: RS232 and RS485. Users could select one
by setting the parameter PC21. RS-232 format has its maximum communication distance 15m. The
other format RS485, it provides a longer communication distance and multiple drives communication.
Pin NO
Sign
Function description
CN3_2
RS-485-B
Data are transmitted in differential line drive format. Line drive B.
CN3_3
RS-485-A
Data are transmitted in differential line drive format. Line drive A.
CN3_6
RS-232-RX
Data transmission, it is connected to RS-232-TX end of computer.
CN3_7
RS-232-TX
Data receiving, it is connected to RS-232-RX end of computer.
CN3_4, CN3_5
GND
signal ground.
NOTE :
For RS-485 communication, please refer to section 8.1
3.6. CN4 USB communication port
For the plug-and-play usage, Shihlin servo drive provides the USB port (CN4). Similar to RS232 and
RS485 of CN3, CN4 in Mini-USB type, users could connect it to the computer then set parameters,
monitor the status, operate and test, etc.
5 4 3 2 1
5 4 3 2 1
Mini-USB
Mini-A
Mini-B
The following table describes the standard terminal specification of mini-USB:
Pin No.
Function description
1
+5V
2
D-
3
D+
4
NC
5
GND
33
3.7. Standard wiring method
Any person who does the wiring job should be fully competent.
Before wiring, turn off the power and wait for 10 minutes or more until the
charge LED turns off. Otherwise, an electric shock may occur.
Ground the servo drive and servo motor tightly.
Not to wire the servo amplifier and servo motor until they have been installed.
Otherwise, it may cause an electric shock.
The cable should not be damaged, stressed, loaded, or pinched. Otherwise, it
may cause an electric shock.
The wires between the servo drive and servo motor should be correctly.
Otherwise, the servo motor may run unexpectedly.
The wirings of cables and terminals should be correct, otherwise a burst,
malfunction, etc. may occur.
Ensure that polarity (+/-) is correct. Otherwise, a burst, malfunction, etc. may
occur.
The surge absorbing diode installed to the DC relay for output control should
be proper in the specified direction. servo motor can not be connected to the
commercial power directly. Otherwise, the emergency stop and other
protective circuits may not work.
The electronic equipments around the servo drive may be interfered,
please
use the EMI suppression filter to improve.
Not to connect a power factor capacitor, surge absorber or radio noise filter
with the power line of the servo motor.
When using a regenerative resistor, switch power off by AL04 signal.
Otherwise, a brake IGBT fault may cause a fire due to overheated
regenerative resistor.
Do not modify the servo drive or servo motor.
34
the
3.7.1.
Wiring diagram of position control(Pr Mode)
♦ Note: 1. If the external power is applied, do not connect +24Vdd and COM+.
2. See section 3.1.3 for the wirings of brake resistor.
35
3.7.2.
Wiring diagram of position control(Pt Mode)
♦ Note: 1. If the external power is applied, do not connect +24Vdd and COM+.
2. See section 3.1.3 for the wirings of brake resistor.
36
3.7.3.
Wiring diagram of speed control(S Mode)
♦ Note: 1. If the external power is applied, do not connect +24Vdd and COM+.
2. See section 3.1.3 for the wirings of brake resistor.
37
3.7.4.
Wiring diagram of torque control(T Mode)
♦ Note: 1. If the external power is applied, do not connect +24Vdd and COM+.
2. See section 3.1.3 for the wirings of brake resistor.
38
3.7.5.
Wiring diagram with 1PG
39
3.7.6.
Wiring diagram with 10PG
40
3.7.7.
Wiring diagram with 10GM
41
3.7.8.
Wiring diagram with 20GM
42
3.7.9.
Wiring diagram with FX3U
43
3.7.10. Wiring diagram with QD75
44
4.
Panel display and operation
This chapter describes the conditions of Shihlin servo drive’s panel and all operation.
4.1. Panel components
Name
Function description
5-digit LED display
This display with 7-segment LED of 5 digits, is used to monitor the states of
servo and the value of parameters, and set modification value.
MODE key
To switch one display mode to the others. Shihlin servo drive has parameter
display mode, alarm history mode, status monitor mode, etc.
UP Key
1. To increase the value which denoted parameter or set value.
2. To move to the next screen as this key is pushed once.
DOWN key
1. To decrease the value which denoted parameter or set value.
2. To move to the last screen as this key is pushed once.
SET key
To show or save the value which is operated.
Power indicator
To indicate the power status.
45
4.2. Display flowchart
Use the display on the front side of servo drive for status display, parameter setting, etc. Set the
parameter before operation, diagnose an alarm, confirm external sequences, and confirm the operation
status. To refer to or set the expansion parameter, make them valid with PA42.
46
4.3. Status display
The operation status of Shihlin servo could be displayed on the 5-digit LED display.
Press the “UP” or “DOWN” key to change the display data as desired.
When the required data is selected, the corresponding symbol appears. Press the “SET” key to
display the information.
The status display shows 16 items such as motor speed.
A negative value which occupies 5 digits is displayed by the 5 lit decimal points. If a negative value
which occupies only 4 digits or less, the negative symbol “-“ is displayed at the highest digit.
Examples
The following table lists the display examples:
Display device
Item
Status
5-digit LED
Forward rotation at 2500r/min
Motor rotation speed
Reverse rotation at 3000r/min
The ratio of load inertia to motor
shaft
15.5 times
11252 turns
Motor feedback revolution
-12345 turns
To light the 5 decimal points if 「-」
symbol could not be displayed.
parameter setting accomplished
a successful EEPROM write-in
parameter setting failed
a failed EEPROM write-in
47
List of status display
The servo statuses which may be shown are listed in the following table:
Status display
Sign
unit
Description
Range
Motor feedback pulses
(absolute value)
FbP
pulse
Feedback pulses from the motor encoder are
counted and displayed.(cumulated value)
-9999~
9999
Motor feedback revolutions
(absolute value)
Fbr
rev
Feedback revolutions from the motor encoder
are counted and displayed.(cumulated value)
-32767~
32767
Cumulative pulses of
command
CP
pulse
The external command pulses are counted
and displayed.
-9999~
9999
Cumulative turns of command
Cr
rev
The external command turns are counted and
displayed.
-32767~
32767
Accumulative pulses error
E
pulse
The difference between command pulses and
motor feedback pulses.
-32767~
32767
Command pulse frequency
CPF
kHz
The frequency of external command pulse is
displayed.
-800~800
r
rpm
The speed of servo motor is displayed.
Motor speed
Speed analog command
/limit voltage
Speed control mode:
Speed analog command voltage is displayed.
F
V
Torque control mode:
Speed analog limit voltage is displayed.
Speed control mode:
Speed input command is displayed.
Speed input command/limit
V
rpm
Torque control mode:
Speed input limit is displayed.
Torque analog command
/limit voltage
Torque input command/limit
U
TC
-6000~
6000
-10.00~
+10.00
-6000~
6000
Position control mode, speed control mode:
Torque analog limit voltage(TLA) is displayed.
0 ~ +10.00
Torque control mode:
Torque analog command voltage is displayed.
-10.00~
10.00
Position control mode, speed control mode:
Torque input limit is displayed in percentage.
0~ 300
Torque control mode:
Torque command is displayed in percentage.
-300~300
V
%
Effective load ratio
J
%
The continuous and effective load torque is
displayed relative to the rated torque of 100%.
0~ 300
Peak load ratio
b
%
The highest value in the past 15 seconds is
displayed relative to the rated torque of 100%.
0~ 300
48
Status display
Sign
unit
Description
Range
DC bus voltage
Pn
V
The P-N voltage of main circuit is displayed.
“Lo-dC” is shown if it less than normal value.
0~500
The ratio of load inertia to
motor shaft
dC
times
T
%
Instantaneous torque
The ratio of load inertia to motor shaft is
displayed.
The Instantaneous torque value is displayed
relative to the rated torque of 100%.。
0.0~300.0
0~100
Changing the status display screen
Changing the parameter PA01, the status item of the servo drive at power on could be changed.
The item displayed in the initial status changes with the control mode as follows:
Control mode
Status display at power on
Position
Motor feedback pulses
Position/speed
Motor feedback pulses/ Motor speed
Speed
Motor speed
Speed/torque
Motor speed / Torque analog command voltage
Torque
Torque analog command voltage
Torque/position
Torque analog command voltage / Motor feedback pulses
49
4.4. Alarm display
It displays the current alarm and the alarm history record.
The lower two digits display the abnormal alarm number which has occurred.
Name
Display
Description
No alarm occurred.
Current alarm
Over voltage(AL 01) occurred, the screen flickers synchronously.
Indicates that the last alarm is over voltage(AL 01).
Indicates that the 2nd alarm in the past is low voltage(AL 02).
Indicates that the 3rd alarm in the past is over current(AL 03).
Alarm history
Indicates that the 4th alarm in the past is regenerative error(AL 03).
Indicates that the 5th alarm in the past is over load(AL 05).
Indicates that the 6th alarm in the past is over speed(AL 06).
Functions when abnormal alarm occurred:
A. Any mode screen could display the current alarm.
B. The other screen could be read during the occurrence of an alarm.
C. Remove the cause of the alarm and clear it by one of the following methods:
(a) Switch the power OFF, then ON.
(b) Press the “SET” key on the current alarm screen.
(c) Turn on the abnormal alarm reset signal (RES).
D. Move to the next record by pressing “UP” or “DOWN”.
50
4.5. Diagnostic display
The following table provides information related to the operation of diagnostic display:
Name
Display
Description
Not ready yet.
Control status
The drive is being initialized or an alarm has occurred.
Ready.
Initialization completed; ready for operation.
Indicates the ON/OFF states of the external I/O signals.
External I/O signal
The upper segments correspond to the input signals and
display
the lower ones to the output signals. The I/O signals could
be changed by the modification of PD02~PD09.
Output signal forced
Digital output signals could force ON/OFF.
output
For more information, refer to Section 4.5.2.
JOG
test
JOG test could be executed as no command from the
external command device.
For details, refer to section 5.2.1.
Positioning test could be executed once when there is no
Test mode
Positioning
command from the external command device. The PC
test
communication software via RS-232/USB is required This
operation could not be performed from the display panel.
This operation could executed the estimation ratio of the
Inertia
motor shaft to the load or related gain values. The PC
estimation
communication software via RS-232/USB is required This
operation cannot be performed from the display panel.
If offset voltages in the analog circuits inside and outside
the drive cause the motor to rotate slowly at the speed
analog command or speed analog limit of 0V, this function
automatically makes zero-adjustment of offset voltages.
Automatic offset of
When using this function, the parameter PC26 would be
analog input
automatically adjusted to the offset voltage.
Please follow the steps to operate:
(1). Press the “ SET” key once.
(2). Press the “UP” or “DOWN” key and select 1.
(3). Press the “SET” key.
Software version
Indicates the software version of the drive.
The applications of diagnostic display are described below:
51
4.5.1.
Indication of external I/O signals
This display is used to verify the ON/OFF states of digital I/O signals connected to the drive.
(1) Operation
Call the display screen after power on. Press the “MODE” key to show the diagnostic screen:
(2) The display of I/O pin definition
The 5-digit 7-segment LED shown above indicates the ON/OFF states of DI and DO.
The top segments indicate the input signals and the bottom segments indicate the output signal.
52
4.5.2.
DO forced output
The output signals could be forced on/off and do not affect the status of the servo drive. This
function is used for output signal wiring check, etc.
As no external command nor any alarm occurred, DO forced output operation could be
executed.
Do not execute this operation until the drive turned off (SON signal off).
Operation
Call the display screen after power on. Press the “MODE” key to show the diagnostic screen:
53
4.5.3.
JOG test
As no external command nor any alarm occurred, JOG test could be executed.
Do not execute this operation until the contact between SON and SG is open.
Set the speed command of JOG by the PC04, set the acceleration time by the PC01, and set
the deceleration time by the PC02. Call the display screen after power on, select JOG test,
positioning test and approximate inertia operation by the following steps:
Press the MODE key to go to the diagnostic screen.
(1) Operation
As the JOG test is executed, connect +24Vdd with COM+ if the inner power is applied on
EMG-SG. Press the “UP” or “DOWN” key to run the motor. Release the key to stop. Use the
communication software to change the operation conditions. The initial conditions and setting
ranges for the operation are presented below:
Item
Initial setting
Setting range
Rotary speed [r/min]
300
-4500~4500
Acceleration/deceleration time constant [mS]
200
0~20000
Key functions are described as follows:
Key
Description
UP
Press to run CCW rotation. Release to stop.
DOWN
Press to run CCW rotation. Release to stop.
If the communication cable is disconnected during JOG test by using the communication
software, the servo motor will be decelerated to a stop.
(2) Status display
Users could check the servo status during JOG test.
Press the “MODE” key to show the status display during the ready of JOG test. Perform the
JOG test in this status screen with “UP” and “DOWN” keys. Each press of “MODE” key will
show the next status screen. After an entire cycle, the ready of JOG test is returned. More
details related to the status display could be found in Section 6.2.
(3) JOG test completed
Turn off the power or press the "SET" key in operation test mode for more than 2 seconds to
terminate the JOG test.
54
4.5.4.
Positioning test
The Shihlin communication software is required to execute the positioning test.
As no external command nor any alarm occurred, positioning test could be executed.
Before this operation, make sure that the contact between SON and SG is open.
Operation
Make sure that the motor is correctly wired before this test performed. Select operation testing via
the Shihlin communication software. Press “Forward” or “Reverse” to rotate the motor which will then
stop after moving the command route set by the user. Operation conditions could be modified with the
Shihlin communication software. The initial values and setting ranges are listed in the table below:
Name
Initial value
Setting range
Rotary speed [r/min]
200
0~6000
Acceleration/deceleration time constant [mS]
1000
0~20000
Revolution [10000/turn]
10
0~30000
pulse
0
0~9999
Command route
Description of the buttons:
Button name
Function description
Forward
Press to run positioning test in CCW.
Reverse
Press to run positioning test in CW.
Press “Pause” button during operation to make a temporary stop.
Pause
To press the same button which was pressed to finish the remaining route.
Otherwise, to press "Pause" button again to erases the remaining route.
Close
Terminate this test.
The motor will stop immediately if the communication cable is disconnected during operation.
55
4.5.5.
Automatic offset of analog command input
When the external speed analog command input is 0V, there may be still a offset voltage which will
cause a slow motor rotation inside the servo drive. The user could “erase” this bias with the automatic
offset function in the diagnostic display mode. Follow the steps to execute automatic offset operation of
analog input:
After the automatic offset completed, the bias value will be written into the PC26.
56
4.5.6.
Inertia estimation
The Shihlin communication software is required to execute the inertia estimation.
As no external command nor any alarm occurred, the inertia estimation could be executed.
When this operation is performed, the PA02 should be set as 0x00.(manual tuning mode)
Operation
1. Make sure that the motor is wired correctly before operating this inertia estimation.
2. Under the Shihlin communication window, choose the “auto gain tuning” item.
3. Enable the “Auto tuning control panel”.
4. The acceleration/deceleration time constant, JOG speed could be adjusted if necessary.
5. Press the “Servo ON” button and then the motor would be magnetized.
6. The JOG button could be used to run the motor in CCW or CW.
7. Set the proper route command (revolutions and pulses).
8. Press the” Start” button to execute this inertia estimation.
The relevant parameters are listed below:
Name
Initial value
Setting range
acceleration/deceleration time constant [mS]
200
0~10000
JOG speed [r/min]
300
1~3000
During the acceleration or deceleration process, the servo drive would calculate the ratio of load
inertia to motor shaft and the bandwidth of the system. After the values getting more stable, press the
“Auto gain calculation” button, the relevant control parameters would be record.
The relevant parameters are listed below:
Abbr.
Sign
Setting
range
unit
Initial
value
Control
mode
Resonance suppression low-pass filter
NLP
PB03
0~10000
0.1mS
0
Pt,Pr,S,T
Position feed-forward gain
FFC
PB05
0~20000
0.0001
0
Pt,Pr
The ratio of load inertia to motor shaft
GD1
PB06
0~1200
0.1time
10
Pt,Pr,S
Position loop gain
PG1
PB07
4~1024
rad/s
35
Pt,Pr
Speed loop gain
VG1
PB08
40~4096
rad/s
817
Pt,Pr,S
Speed integral gain
VIC
PB09
1~1000
mS
48
Pt,Pr,S
Name
After the calculation completed, users must terminate the “Auto tuning control panel” in order to
record the relevant parameters. If users already know the low frequency gain and inertia ratio of the
system, they could also set the bandwidth value desired to calculate the optimum value for controller.
57
4.6. Parameter display
Some parameter modification would be valid by power off once and power on again.
Here are 2 examples. One is the control mode(PA01) changed. The other is the usage changed of
the “MODE” key. It is switched to the “shift” function to modify the revolutions.
Example 1: Change the control mode(PA01) to the speed control mode.
Example 2: Switch the usage of “MODE” key to the “shift” function.(PA15 as a case)
Another way to display a negative value which only occupies 4 digits or less is shown below:
58
5.
Operation
5.1. Checklist before operation
To avoid the damage, before starting the operation, please check the following:
◆Whether the power source terminals (R,S,T,L1,L2) of the servo drive are correctly wired.
◆The terminals(U,V,W) of the motor and the U, V, W wires on the drive need to be consistency.
◆Make sure if the ground terminal of the servo drive is correctly grounded.
◆Make sure there is no conductive or inflammable materials inside the drive or close to the drive.
◆Make sure the voltage level of external power source of the drive is proper.
◆Make sure that the control switch is off.
◆Do not put heavy objects on top of the drive or the wires.
◆Use twisted line for the wiring of the brake resistor.
◆Check if there is any apparent damage on the exterior of the drive.
Do not operate the switches with wet hands. Otherwise, it may cause an
electric shock.
Before running the servo motor, check the parameters. Any improper settings
may cause machines some unexpected operation.
The servo drive heat sink, regenerative resistor, servo motor, etc. may be hot
while power is on or for an interval after power off. Not to touch them mentioned
above to avoid burns.
59
5.2. Idle operation
Please decouple the load(e.g., any coupler between the servo motor shaft and user’s machine)
before an idle operation. To follow the regular instruction to start the servo motor and then couple the
servo motor with user’s machine again. The idle operation is explained as below.
5.2.1.
Idle JOG test
This operation could be performed only if there is not alarm nor warning on the drive.
To confirm an open contact between SON and SG before this operation.
The idle JOG test could be executed with the drive’s panel or the Shihlin communication
software in order to check if the speed and direction of the motor is as expected or not. The motor
speed could not be modified with the drive’s panel. If the rotation speed has to be modified, please use
the Shihlin communication software to modify. The low speed command is recommended when this
operation performed. The panel operation is described as follows:
Press the “UP” key to run the motor in CCW or the “DOWN” key to run the motor in CW.
The initial conditions and setting ranges are presented below:
Item
Initial setting
Setting range
Rotary speed [r/min]
300
-4500~4500
Acceleration/deceleration time constant [mS]
200
0~20000
If the communication cable is disconnected during this operation with the communication
software, the motor will be decelerated to a stop. Key functions are described as follows:
Key
UP
DOWN
Description
Press to run CCW rotation. Release to stop.
Press to run CW rotation. Release to stop.
To terminate the idle JOG test, turn off the power or press the “SET” key more than 2
seconds in the display of “d-01” screen.
If the Shihlin communication software are applied to perform the idle JOG test, please refer to
the instruction of the help file for more detail.
60
5.2.2.
Idle positioning test
The idle positioning test could be executed with the Shihlin communication software to check if the
speed and direction of the motor is as expected. The low speed command is recommended when this
operation performed. The route which is compose of revolutions and pulses should be set for this
positioning test. For example, a route of 10.5 turns for the servo motor, the number of revolution should
be set as “10” and the number of pulse should be set as “5000”. The operation steps are described
below:
Step 1 : Wire the drive and the motor correctly then turn on the power.
Step 2 : Connect the PC and the CN4 port of the drive with the standard mini USB cable. Execute
the USB communication function of the Shihlin communication software and select the
proper device number.
Step 3 : Select “TESTING/POSITIONING TESTING” to enter positioning test screen.
Step 4 : Set the numbers of revolution and pulse. Press “Forward” to run the motor CCW to
complete the distance. Or press “Reverse” to run the motor CW to reach the target
position.
The initial conditions and setting range are listed below:
Name
Initial value
Setting range
Revolution [10000/turn]
10
0~30000
Pulse
0
0~9999
Rotary speed [r/min]
200
0 to the max allowable speed
Acceleration/deceleration time constant [mS]
1000
0~20000
Command route
Description of the buttons:
Button name
Function description
Forward
Press to run positioning test in CCW until the command route done.
Reverse
Press to run positioning test in CW until the command route done.
Press “Pause” button during operation to make a temporary stop.
Pause
To press the same button which was pressed to finish the remaining route.
Otherwise, to press "Pause" button again to erases the remaining route.
Close
Terminate the positioning test.
Step 5 : When the positioning test is completed, press “Close” to return the last window of the
Shihlin communication software.
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5.3. Tuning process
Some extreme settings of parameters may cause unstable or unexpected
running, please do not perform that.
5.3.1.
Abstract
With the auto-gain tuning function, the mechanical load inertia could be approximated precisely.
The appropriate gain value of controller parameter also could be fitted for the servo motor under
the various load conditions. The manual tuning function is executed as the result of auto-gain
tuning function is not suitable for the user’s mechanical system.
Gain tuning mode is explained in the following table:
Gain tuning mode
Manual gain tuning mode 1
(PI control)
PA02
setting
Estimation rule
Automatically set
Manually set
parameter
parameter
GD1(PB06)
PG1 (PB07)
VG1 (PB08)
VIC (PB09)
GD1(PB06)
PG1 (PB07)
VG1 (PB08)
VIC (PB09)
0000h
A fixed PB06.
Manual gain tuning mode 2
(PI control + interference compensator)
0001h
Auto-gain tuning mode 1
0002h
Always estimated.
Auto-gain tuning mode 2
0003h
A fixed PB06.
GD1(PB06)
PG1 (PB07)
VG1 (PB08)
VIC (PB09)
PG1 (PB07)
VG1 (PB08)
VIC (PB09)
ATUL(PA03)
ATUL(PA03)
GD1(PB06)
The PA02 is not writable as SON-SG is conductive. Make it open circuit then setting the values.
When the position control mode is performed, the manual gain tuning mode (PI control + interference
compensator) is recommended. The value of gain setting is various according to the different load
conditions. For example, reduce the gain value if the mechanical system is instable.
62
Follow the steps listed below to tune the proper gain value of user’s mechanical application.
If the mechanical system which being tuned is a new set up, please use the JOG test at first. As
no abnormal alarm occurred then use the auto-gain tuning function. During the auto-gain tuning
function operated, several routes of acceleration and deceleration are necessary to make the ratio of
load inertia to motor shaft be getting stable. Finally, the proper gain and response would be set.
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5.3.2.
Auto-gain tuning mode
The auto-gain tuning of the drive could calculate the ratio of load inertia to motor shaft
instantaneously. With this value, the optimum gain could be decided under the current mechanical
condition. It is convenient to execute the adjustment of gain value with the auto-gain tuning function.
5.3.2.1.
Auto-gain tuning function
(a) Auto-gain tuning mode 1
This mode is the default mode of the servo drive. If the parameter PA02 is set as “0002h”,
the load inertia ratio would be approximated continuously and the servo gain value will be
set automatically. The variable parameter for users is only PA03 which the response
setting related.
Parameters and settings related of this mode are presented below:
Parameter
Abbreviation
Parameter name
User adjustable or auto-presumed
PA03
ATUL
Auto-tuning response level setting
User adjustable
PB06
GD1
The ratio of load inertia to motor shaft
auto-approximated
PB07
PG1
Position loop gain
auto-approximated
PB08
VG1
Speed loop gain
auto-approximated
PB09
VIC
Speed integral gain
auto-approximated
When the function of auto-gain tuning mode 1 is applied, some conditions must be met.
①. The acceleration time from 0rpm to 2000rpm or the deceleration time from 2000rpm to
0rpm should be 1 second or less. If a 3000rpm case is applied, the acceleration and
deceleration time should be 1.5 seconds or less.
②. The speed command of the motor should be 300rpm or higher.
③. The ratio of machinery load inertia to motor shaft should be 100 times or less.
④. The machinery system with a violent change of load inertia is not suitable.
(b) Auto-gain tuning mode 2
When auto-gain tuning mode 1 is not satisfied the accurate approximation of load inertia,
the auto-gain tuning mode 2 is recommended. The parameter PA02 should be set as
“0003h” to perform this mode. During the tuning process,the load inertia ratio would not be
approximated and the users have to write manually the value into PB06 by themselves.
Parameters and settings related of this mode are presented below:
Parameter
Abbreviation
Parameter name
PA03
ATUL
Auto-tuning response level setting
User adjustable
PB06
GD1
The ratio of load inertia to motor shaft
User adjustable
PB07
PG1
Position loop gain
auto-approximated
PB08
VG1
Speed loop gain
auto-approximated
PB09
VIC
Speed integral gain
auto-approximated
64
User adjustable or auto-presumed
5.3.2.2.
The flow of auto-gain tuning mode
The flow of auto-gain tuning mode for the servo drive could be presented below:
When the auto-gain tuning mode is performed, the following conditions should be satisfied.
①. As the mode 1 operated, at first execute the acceleration/deceleration routes of the motor, the
ratio of load inertia to motor shaft would be approximated according to the current and speed.
The PB06 would be updated(EEPROM) with the new approximated value every 6 minutes.
②. If the PB06 is known or the proper gain cannot be made by the auto-gain tuning mode 1,
please use the auto-gain tuning mode 2 by the setting of PA02 and manually set the known
value of PB06. Under this mode, the estimation of control gain would still compute.
③. With the settings of the inertia ratio and the response, the servo drive would tune the optimum
gains during the acceleration/deceleration route. The result value of gain tuning would be
written into EEPROM every 6 minutes. After power on of the drive, the saved value of the
controller gain in the EEPROM would be used as the initial value for the operation of auto-gain
tuning mode.
65
Since the auto-gain tuning mode 1 is made valid as the default from the factory, simply running
the acceleration/deceleration route of the motor would automatically obtain the optimum gains that
match the machine. Merely changing the response level setting value as required completes the
adjustment. The adjustment procedure is as follows.
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5.3.2.3.
Response level setting of the auto-gain tuning mode
The parameter PA03(response level setting) is related to the response of the whole servo system.
As the response level setting is increased, the traceability and settling time for a command decreases,
but a too high response level setting would generate vibration. Therefore, keep setting until the
optimum response is obtained within the range without vibration.
If the response level setting which user desired would cause machine resonance, the machine
resonance suppression filter(PB01,PB02,PB21,PB22) and the resonance suppression low-pass
filter(PB03) could be employed to suppress machine resonance. Suppressing machine resonance
may allow the response level setting to be higher.
Refer to section 6.3.6 for more detail about suppressing machine resonance.
Response level
setting
Machine rigidity
Speed loop
Applicable inertia ratio of
response frequency
load to motor shaft
1
2
5Hz
10 Hz
Low
3
15 Hz
4
20 Hz
5
30 Hz
6
40 Hz
7
Middle
10~30 times
55 Hz
8
70 Hz
9
85 Hz
A
100 Hz
B
130 Hz
C
30 times or more
160 Hz
High
D
200 Hz
E
250 Hz
F
300 Hz
5~10 times
5 times or less
For the response level setting, it is recommended to use the level value from low response to
high response gradually. It is probable to make resonance if the initial value is too high.
The applicable ratio of load inertia to motor shaft is a reference. The actual range would vary with
the different mechanical systems.
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5.3.3.
Manual gain tuning mode
The manual gain tuning mode is executed as the result of auto-gain tuning function is not suitable
for the user’s demand.
Adjustment of manual mode
For the applications of position control or speed control, the bandwidth is highly related with the
machinery rigidity and environment. For machine tools which the high precision required, a high
bandwidth system response is necessary. However, a high response level setting could cause the
machine resonance easily. Therefore, a high rigidity machine should be used for occasions that require
a high response to avoid machine resonance.
If users have no idea about the permissible response of the machine, they should adopt a smaller
gain value at first and then gradually increase the gain values until machine resonance occurred.
Then users could reduce the gain values accordingly. Reference parameter values for users to adjust
are listed in the following table:
Name
Abbr.
Sign
Setting
range
Unit
Initial
value
Control
mode
Resonance suppression low-pass filter
NLP
PB03
0~10000
0.1mS
0
Pt,Pr,S,T
Position feed-forward gain value
FFC
PB05
0~20000
0.0001
0
Pt,Pr,
Position loop gain
PG1
PB07
4~1024
rad/s
35
Pt,Pr
Speed loop gain
VG1
PB08
40~4096
rad/s
817
Pt,Pr,S
Speed integral gain
VIC
PB09
1~1000
mS
48
Pt,Pr,S
Speed feed-forward gain
VFG
PB10
0~20000
0.0001
0
Pt,Pr,S
Name
Position loop gain(PG1)
This parameter determines the response level of the position loop. Increasing PG1 improves
traceability, settling time and position error to a position command but a too high value will make
overshooting or vibration to occur.
VG1 setting value
1
×
1 + ratio of load inertial to motor shaft 4
1
PG1 setting value ≈ speed loop bandwidth ×
4
PG1 setting value ≤
Speed loop gain(VG1)
This parameter determines the response level of the speed loop. Increasing VG1 improves
traceability to a speed command but a too high value will make machine resonance. The Speed
loop gain is usually 4~6 times bigger than the position loop gain. As the position loop gain is
greater than the speed loop gain, machine resonance or overshoot would be occurred easily.
Speed loop response frequency(Hz)=
VG1 setting value
(1+ ratio of load inertial to motor shaft ) × 2π
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Speed integral gain(VIC)
This parameter is to eliminate stationary deviation against a command. The smaller it is, the better
capability for the drive to eliminate stationary deviation. However, the machine with a large load
inertia ratio or any vibration causing, the small value would cause vibration easily.
VIC setting value(ms) ≥
3000~5000
VG1 setting value / (1+ GD1 setting value × 0.1)
Resonance suppression low-pass filter(NLP)
The larger the load inertia ratio is, the lower the system bandwidth is. To keep a relatively high
bandwidth, a higher gain value may be required. Also the probability of resonance for the same
machine would be increased. Thus the resonance suppression low-pass filter could be applied to
eliminate the resonance. The higher setting value affords a better improvement about high
frequency noises. Also a too large value could probably cause the entire system to be instable. It
is because the higher setting value cause a larger phase lag of the servo drive.
VIC setting value(ms) ≥
3000~5000
VG1 setting value / (1+ GD1 setting value × 0.1)
Position feed-forward gain(FFC)
To reduce the position error and position settling time, but if the value is set too large, a sudden
acceleration or deceleration may cause overshoots. Also, a too large electronic gear ratio would
cause noises.
Speed feed-forward gain(VFG)
To set the proper gain value would reduce the tracking time of speed command. Also, a too big
value would cause overshoots during the sudden acceleration/deceleration command.
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5.4. Parameter setting and operation for position control mode
(1) Power on
To switch off the SON signal of DI after the servo drive has turned on. The panel of the drive would
show
2 second latter.
(2) Test operation
Confirm the state of the servo motor with the JOG test.
(3) Parameter setting
After wiring for position control, the following parameters should be set for this operation.
Parameter
Setting
value
Name
□□□0
Description
PA01
Control mode option
PA02
Gain tuning mode option
0002
Auto-gain tuning mode 1
PA03
Response level setting
0005
Middle rigidity
PA06
Numerator of the electronic gear ratio
1
Set the numerator as “1”
PA07
Denominator of the electronic gear ratio
1
Set the denominator as “1”
PD15
Digital input filter time option
□□□2
Filter time constant is “4mS”
Position control mode
(4) Servo on
(a)Turn on the control power(L1,L2) of the servo drive.
(b)Turn on the SON signal(SON-SG short circuit).
When the SON is activated, the drive is ready to run. The servo motor would immediately be
magnetized and switched to the ”SERVO LOCK” state.
(5) Forward/reverse rotation pulse train
At first make the servo motor run at a low speed and confirm the operation and rotary direction of
the motor. If the pulse train commands are open collector type, PP and NP are used as input
terminal. When the line drive signals applied, please use the PP-PG or NP-NG wiring. Use
auto-gain tuning function or manually input the controller parameter and avoid the machine
resonance. To adjust the PA03 to obtain the optimum speed response.
(6)Home return
Before this function being performed, check if there is the proper rotary direction and origin.
Searching home could be executed if necessary.
(7)Stop
Take one of the following steps to stop running the motor.
(a)SON signal off :
The shaft of servo motor is become rotatable.
(b)Alarm has occurred :
The dynamic brake works and the servo motor suddenly stop running.
(c)EMG is activated :
The same actions as above but the ALM message is displayed.
(d)LSP/LSN signal off :
LSP on is rotatable in CCW. LSN on is rotatable in CW. If it is off, the dynamic brake works.
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5.5. Parameter setting and operation for speed control mode
(1) Power on
To switch off the SON signal of DI after the servo drive has turned on. The panel of the drive would
show
2 second latter.
(2) Test operation
Check if the state of the servo motor normal or not with the JOG test.
(3) Parameter setting
After wiring for speed control, the following parameters should be set for this operation.
Parameter
Setting
value
Name
□□□2
Description
PA01
Control mode option
PC05
Inner speed command 1 [rpm]
1000
Speed command 1 is 1000rpm
PC06
Inner speed command 2 [rpm]
1500
Speed command 1 is 1500rpm
PC07
Inner speed command 3 [rpm]
2000
Speed command 1 is 2000rpm
PC01
Acceleration time constant [mS]
1000
Set as 1000mS
PC02
Deceleration time constant [mS]
500
Set as 500mS
PC03
S-curve acceleration/deceleration pattern
PD15
Digital input filter time option
0
□□□2
Speed control mode
Disabled
Filter time constant is “4mS”.
(4) Servo on
(a)Turn on the control power(L1,L2) of the servo drive.
(b)Turn on the SON signal(SON-SG short circuit).
When the SON is activated, the drive is ready to run. The servo motor would immediately be
magnetized and switched to the ”SERVO LOCK” state.
(5) Start
Choose the speed command with the SP1 and SP2 signals. Options are listed as below.
External input signal
Speed command
SP2
SP1
0
0
Speed analog command(VC)
0
1
Inner speed command 1(PC05)
1
0
Inner speed command 2(PC06)
1
1
Inner speed command 3(PC07)
The rotary direction is decided with the ST1 and ST2 signals. Options are listed as below.
External input signal
Speed command
Speed analog command(VC)
+ polarity
0V
- polarity
Inner
command
0
-
-
-
-
0
1
CCW
-
CW
CCW
1
0
CW
-
CCW
CW
1
1
-
-
-
-
SP2
SP1
0
“0” denotes the open circuit with SG, “1” denotes the short circuit with SG. “-“ is servo locked.
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At first make the servo motor run at a low speed and check if the sequence correct or not. With
the status display, user could check the motor speed, cumulative pulses of command, effective
load ratio, etc. Use auto-gain tuning function or manually input the controller parameters and
avoid the machine resonance. To adjust the PA03 to obtain the optimum speed response.
(6)Stop
Take one of the following steps to stop running the motor.
(a)SON signal off :
The shaft of servo motor is become rotatable.
(b)Alarm has occurred :
The dynamic brake works and the servo motor suddenly stop running.
(c)EMG is activated :
The same actions as above but the ALM message is displayed.
(d)LSP/LSN signal off :
LSP on is rotatable in CCW. LSN on is rotatable in CW. If it is off, the dynamic brake works.
(e)If ST1 and ST2 are both on or both off, the motor would decelerate to stop.
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5.6. Parameter setting and operation for torque control mode
(1) Power on
To switch off the SON signal of DI after the servo drive has turned on. The panel of the drive
would show
2 second latter.
(2) Test operation
Confirm the state of the servo motor with the JOG test.
(3) Parameter setting
After wiring for torque control, the following parameters should be set for this operation.
Parameter
Setting
value
Name
□□□4
Description
PA01
Control mode option
PC05
Inner speed limit 1 [rpm]
1000
Speed command 1 is 1000rpm
PC06
Inner speed limit 2 [rpm]
1500
Speed command 1 is 1500rpm
PC07
Inner speed limit 3 [rpm]
2000
Speed command 1 is 2000rpm
PC01
Acceleration time constant [mS]
1000
Set as 1000mS
PC02
Deceleration time constant [mS]
500
Set as 500mS
PC03
S-curve acceleration/deceleration pattern
PD15
Digital input filter time option
PA05
Inner torque limit 1 [%]
0
□□□2
50
Torque control mode
Disabled
Filter time constant is “4mS”.
50% of maximum torque as a limit
(4) Servo on
(a)Turn on the control power(L1,L2) of the servo drive.
(b)Turn on the SON signal(SON-SG short circuit).
When the SON is activated, the drive is ready to run. The servo motor would not be magnetized
and the shaft is rotatable.
(5) Start
Choose the speed limit with the SP1 and SP2 signals. The motor runs in CCW as the RS1
activated. The motor runs in CW as the RS2 activated. At first to run the servo motor at a low
speed to check if the sequence correct or not. If the sequence is unexpected, check whether the
input signal is proper.
(6)Stop
Take one of the following steps to stop running the motor.
(a)SON signal off :
The shaft of servo motor is become rotatable.
(b)Alarm has occurred :
The dynamic brake works and the servo motor suddenly stop running.
(c)EMG is activated :
The same actions as above but the ALM message is displayed.
(d)LSP/LSN signal off :
LSP on is rotatable in CCW. LSN on is rotatable in CW. If it is off, the dynamic brake works.
(e)If ST1 and ST2 are both on or both off, the shaft of servo motor is become rotatable.
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6.
Control function
6.1. Control mode option
The are 4 basic operation mode for Shihlin servo drive: position control with terminals input, position
control with inner registers, speed control, torque control. The drive could be operated in single mode
or hybrid mode. All operation modes are described as below.
Single mode
Mode
PA01
setting
Position control
(terminal input)
Pt
0000
Position control
(inner register)
Pr
0010
Description
The drive receives the command to run the motor to
approach the goal. The command is received via the
terminals and is in the form of pulse trains
The drive receives the command to run the motor to
approach the goal. The command source is the inner
register which could be assigned by DI signals.
0002
The drive runs the motor to the target speed. The
command source which is an analog voltage or the
inner register could be switched by DI signals.
T
0004
The drive receives the command to run the motor to
generate the desired torque. The command source is
the analog voltage.
Position control
(terminal input) - speed
Pt-S
0001
Pt/S is switched mutually via the LOP signal.
Position control
(terminals input) - torque
Pt-T
0005
Pt/T is switched mutually via the LOP signal.
Position control
(inner register) - speed
Pr-S
0011
Pr/S is switched mutually via the LOP signal.
Position control
(inner register) - torque
Pr-T
0015
Pr/T is switched mutually via the LOP signal.
Speed - torque control
S-T
0003
S/T is switched mutually via the LOP signal.
Speed control
Torque control
Hybrid mode
Sign
S
The modification of PA01 would be valid by power off once and power on again.
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6.2. Torque control mode
Torque control mode is often applied for such occasions: winding machines, printing press,
injection molding machines, etc. The torque command is analog voltage signals which control the
output torque of the servo motor. The basic torque control blocks are shown as below.
The input command for torque control is an analog ±10V voltage. After A/D process, torque output
command and torque command offset process, the expected torque and speed will be output.
6.2.1.
Output proportion of maximum torque analog command
Output proportion is the relationship between the applied voltage of the torque analog command
and the torque generated by the servo motor.
Name
Sign
Torque generated of maximum analog command
PC13
Setting
range
0~2000
Unit
%
Initial
Control
value
mode
100
Pt,Pr,S,T
If the setting value of PC13 is 100%, the 100% rated torque of servo motor would be generated
when the applied voltage of torque command is 10V. If the applied voltage of torque command is 5V,
the generated torque would be the 50% rated torque. The conversion is listed as follows.
The generated torque(%) =
applied voltage of torque command
× the setting value of PC13
10
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6.2.2.
Torque analog command offset
When the torque analog command input is 0V, there may be still a offset voltage which will cause a
slow motor rotation. In such case, the user could use the parameter PC27 to correct the bias voltage.
The parameter description is as follows.
Name
Sign
Setting
range
Unit
Initial
Control
value
mode
0
S,T
-8000
Torque analog command offset
PC27
~
mV
8000
6.2.3.
Torque analog command smoothing
By setting the filter time constant of torque analog command, the user could run the servo motor
smoothly in response to a sudden torque command. The parameter description is as follows.
Name
Sign
Torque command filter time constant
PB19
76
Setting
range
0~5000
Unit
mS
Initial
Control
value
mode
0
T
6.2.4.
Torque limit of torque control mode
The parameter PA05 and PC25 are used to limit the generated torque of the servo motor when the
torque control mode is performed. The description is as follows.
Name
Abbr.
Sign
Setting
range
Unit
Initial
value
Control
mode
Inner torque limit 1 [%]
TL1
PA05
0~100
%
100
Pt,Pr,S,T
Inner torque limit 2 [%]
TL2
PC25
0~100
%
100
Pt,Pr,S,T
Name
The TL1 signal function of CN1 is also described again as follows.
Name
Inner torque limit option
Name
Abbr.
TL1
Description
When this signal is applied, make the PD02 to
PD09 usable at first. Open TL1-SG to make
inner torque limit 2 valid(PC25).
There are two different result which is chosen by the switch status of DI.
DI signal status(*)
The valid value of torque limit
TL1
0
1
The setting value of PA05
If the PC25 is greater than the PA05, the PA05 is valid.
If the PC25 is less than the PA05, the PC25 is valid.
(*) 0: OFF(TL1-SG is open-circuit) 1:ON(TL1-SG is short-circuit)
77
Control
mode
Pt,Pr,S,T
6.2.5.
Speed limit of torque control mode
Under the torque control mode, the various speed limits could be applied by the SP1, SP2, SP3
and the external analog signal. There are 8 combinations which are listed below for user to choose.
DI status
DI signal status(*)
Speed limit
Limit range
Related
parameter
0
Speed analog limit(VC)
±10V
PC12
0
1
Inner speed limit 1
SC2
1
0
Inner speed limit 2
SC3
1
1
Inner speed limit 3
Valid option
SP2
SP1
VCM
0
SP3 is invalid
SC1
(default value)
SP3 is valid
PC05
-4500 ~ 4500
PC06
PC07
Valid option
SP3
SP2
SP1
Speed limit
Limit range
Related
parameter
VCM
0
0
0
Speed analog limit(VC)
±10V
PC12
SC1
0
0
1
Inner speed limit 1
PC05
SC2
0
1
0
Inner speed limit 2
PC06
SC3
0
1
1
Inner speed limit 3
PC07
SC4
1
0
0
Inner speed limit 4
SC5
1
0
1
Inner speed limit 5
PC09
SC6
1
1
0
Inner speed limit 6
PC10
SC7
1
1
1
Inner speed limit 7
PC11
-4500 ~ 4500
PC08
(*) 0: OFF(SPx-SG is open-circuit) 1:ON(SPx-SG is short-circuit) x=1,2,3
When the external speed analog limit is applied, check the initial 0 voltage and PC12 value
which are not permissible to exceed the motor’s rated speed otherwise damages would be
caused.
To make the SP3 of DI valid by setting PD02 to PD09 if the option SC4 to SC7 are used.
The parameters related to the function of inner speed limit are described below.
Name
Sign
Setting range
Initial
value
Inner speed limit 1 [rpm]
PC05
100
Inner speed limit 2 [rpm]
PC06
500
Inner speed limit 3 [rpm]
PC07
1000
0 ~ instant
permissible
speed
Inner speed limit 4 [rpm]
PC08
Inner speed limit 5 [rpm]
PC09
300
Inner speed limit 6 [rpm]
PC10
500
Inner speed limit 7 [rpm]
PC11
800
78
200
Control
mode
T
6.3. Speed control mode
Speed control is often applied for occasions where is CNC machine, drilling machine, etc. The
command source is analog signal or inner register. The analog signal is the external voltage signal. The
inner command could be performed by the following 2 ways: (1)Use the inner registers (PC05 to PC11)
to set the various commands then switch SP1, SP2, and SP3 to change the demand speed. (2)Use the
communication software to modify the value of speed command register.
To avoid the discontinuity, the drives afford users the smooth S-pattern running. There are 2
control modes (manual and automatic) available. The manual mode enables users to set all related
parameters while the automatic functions were off. The automatic mode provides an estimation of load
inertia ratio and parameters adjusted. In addition, an simple mode is designed to provide users a robust
control which could instantaneously suppress external load interference. The basic speed control
blocks are shown as below.
The S-pattern smooth process and speed filter are recommended to suppress the discontinuity.
6.3.1.
Selection of speed command
There are 8 combinations which are listed below for user to choose.
DI status
Valid option
DI signal status(*)
Speed command
Setting range
Related
parameter
±10V
PC12
SP2
SP1
VCM
0
0
Analog Command(VC)
SP3 is invalid
SC1
0
1
Inner speed command 1
PC05
(default value)
SC2
1
0
Inner speed command 2 -4500 ~ 4500
PC06
SC3
1
1
Inner speed command 3
PC07
SP3 is valid
Setting range
Related
parameter
±10V
PC12
Valid option
SP3
SP2
SP1
VCM
0
0
0
Analog Command(VC)
SC1
0
0
1
Inner speed command 1
PC05
SC2
0
1
0
Inner speed command 2
PC06
SC3
0
1
1
Inner speed command 3
PC07
SC4
1
0
0
Inner speed command 4
SC5
1
0
1
Inner speed command 5
PC09
SC6
1
1
0
Inner speed command 6
PC10
SC7
1
1
1
Inner speed command 7
PC11
Speed command
-4500 ~ 4500
PC08
(*) 0: OFF(SCx-SG is open-circuit) 1:ON(SCx-SG is short-circuit) x=1~7
As the external speed analog command is applied, check the commands which are not
permissible to exceed the motor’s rated speed otherwise damages would be caused.
To make the SP3 valid by setting PD02 to PD09 if the option SC4 to SC7 are used.
79
6.3.2.
Output speed of maximum speed analog command
The relationship between the applied voltage of the speed analog command and the output speed
is described below.
Name
Sign
Output speed of maximum analog voltage command
PC12
Setting
range
0~30000
Unit
rpm
Initial
Control
value
mode
3000
S,T
This value decides the output speed while the maximum permissible voltage is applied. If the
PC12 is 3000, the motor would rotate at 3000rpm when the applied voltage of speed command is 10V.
If the applied voltage of speed command is 5V, the rotary speed would be 1500rpm. The conversion is
listed as follows.
The output speed[rpm] =
6.3.3.
applied voltage of speed command
× the setting value of PC12
10
Speed analog command smoothing
If the speed command changed violently, vibration or noise or even overshoot may be occurred
by the motor. Users could use related parameters for smoothing process to suppress those needless
impacts. The acceleration time constant could be used to adjust the slope of speed pattern from static
state to the speed command set by the user. The deceleration time constant could be used to adjust
the slope from the rotary state to the static state. The S-pattern acceleration/deceleration time constant
could be used to adjust the stability when starting or stopping the motor.
Name
Abbr.
Sign
Setting
range
Unit
Initial
value
Control
mode
Acceleration time constant [mS]
STA
PC01
0~20000
mS
200
Pr,S,T
Deceleration time constant [mS]
STB
PC02
0~20000
mS
200
Pr,S,T
S-pattern acc./dec. time constant [mS]
STC
PC03
0~20000
mS
0
Pr,S,T
Name
The 3 parameters will be described in detail as follows.
80
Acceleration time constant
This parameter is the time spent for the motor from 0 rpm to the rated speed and it is defined
as “acceleration time constant”. For example, if the rated speed of the servo motor is 3000 rpm and
this parameter is set as 3000 (3s). In such case, the motor accelerating from 0 rpm to 3000 rpm
would take 3 seconds. When the speed command is set as 1000 rpm, the motor take 1 second to
accelerate from 0 rpm to 1000 rpm.
Deceleration time constant
The time spent for the motor to decelerate from the rated speed to 0 rpm is called “deceleration
time constant”. For example, if the current speed of the servo motor is 2000 rpm and this parameter is
set as 4000 (4s). In such case, the motor decelerating from 2000 rpm to 0 rpm would take 2 second.
When the running speed is 4000 rpm, the motor take 4 second to decelerate from 4000 rpm to 0 rpm.
S-pattern acc./dec. time constant
The method of S-pattern acceleration/deceleration time constants is to employ a three-step curve
during the acceleration or deceleration process in order to soothe the vibration during starting or
stopping the motor. Setting an appropriate STC could improve the stability of the motor during startup
and stop. The initial S-pattern acceleration/deceleration constants are set as 0 second. Users are
recommended to enable this function when the speed control mode is performed.
Protection during acceleration/deceleration is occupied in the speed control mode.
STA,STB,STC could be set independently. Even if STC is “0”, a trapezoidal-pattern is provided.
81
Low-pass filter smooth time constant
Name
Speed low-pass filter smooth time constant[mS]
Name
Abbr.
Sign
Setting
range
Unit
Initial
value
Control
mode
SFLT
PB18
0~1000
mS
0
S,T
A larger parameter value would soothe the speed command more obviously. However, the
response would slow down as well. If it is set as zero, this function is disabled.
82
6.3.4.
Torque limit of speed control mode
When this mode is applied, there are two major parameters: PA05 and PC25 which are related to
the torque limit function. They are explained in the following table.
Name
Abbr.
Sign
Setting
range
Unit
Initial
value
Control
mode
Inner torque limit 1 [%]
TL1
PA05
0~100
%
100
Pt,Pr,S,T
Inner torque limit 2 [%]
TL2
PC25
0~100
%
100
Pt,Pr,S,T
Name
Here are 3 pin functions of CN1: 1 analog voltage input and 2 DI inputs which are described below:
Name
Abbr.
Description
Control
mode
TLA
This signal is valid by the setting of PD02~PD09
to make TL enable. As TLA is valid, the torque
output would be limited. When TLA is connected
to the positive polarity of the power source, a
maximum torque will be generated at +10V.
Pt,Pr,S
Torque limit option
TL
Set the PD02~PD09 parameter to enable this
signal. As TL-SG is open circuit, the inner torque
limit 1(PA05) is valid. In case of short circuit, the
torque analog limitation(TLA) effective.
Pt,Pr,S
Inner torque limit option
TL1
Set the PD02~PD09 parameter to enable this
signal. As TL1-SG is short circuit, the Inner
torque limit 2(PC25) effective.
Pin/Signal name
Torque analog limit
Pt,Pr,S,T
There are 4 combinations which are decided by the signal state of TL and TL1.
DI signal status(*)
The valid value of torque limit
TL1
TL
0
0
The setting value of PA05
0
1
If TLA is less than PA05, then TLA is valid.
If TLA is greater than PA05 then PA05 is valid.
1
0
If PC25 is less than PA05, then PC25 is valid.
If PC25 is greater than PA05, then PA05 is valid.
1
1
If PC25 is less than TLA, then PC25 is valid.
If PC25 is greater than TLA, then TLA is valid.
(*) 0: OFF(TL1-SG or TL-SG is open-circuit) ,1:ON(TL1-SG or TL-SG is short-circuit)
If the generated torque suits the value of PA05 or PC25 or torque analog limit, the TLC of DO
signal becomes conductive with SG.
Pin/Signal name
Torque limiting control
Name
Abbr.
TLC
Description
TLC-SG is conductive as the generated torque
reaches the inner torque limit 1(PA05), or the
torque analog limit (TLA).TLC-SG is isolated
when SERVO ON(SON) is off.
83
Control
mode
Pt,Pr,S
6.3.5.
Adjustment of speed loop gain
There are some parameters related to inner speed control loop for users to adjust. Set the value of
the PA02 to use the auto-gain tuning function or manual-gain tuning function. If auto-gain tuning
function is performed, the load inertia ratio would be approximated continuously and the control gain
value would be set automatically. If manual-gain gain tuning is performed, users have to enter the
proper value of the load inertia ratio and control gain value. At this time, all automatic or auxiliary
functions about inner speed control loop would be disabled. The block diagram of inner speed control
loop is presented as follows:
Parameters and settings related of this mode are presented below.
Name
Abbr.
Sign
Setting
range
Unit
Initial
value
Control
mode
Gain tuning mode option
ATUM
PA02
0000h
~0003h
---
0002h
Pt,Pr,S
Auto-tuning response level setting
ATUL
PA03
0001h
~000Fh
---
0005h
Pt,Pr,S
Speed loop gain
VG1
PB08
40
~4096
rad/s
817
Pt,Pr,S
Speed integral gain
VIC
PB09
1
~1000
mS
48
Pt,Pr,S
Speed feed-forward gain
VFG
PB10
0
~20000
0.0001
0
S
Name
Auto-gain tuning mode
The drive would tune the optimum gains during the acceleration/deceleration route. Refer to
section 5.3.2 for further details.
Manual-gain tuning mode
When the PA02 value is 0000h or 0001h, the effective parameters are: speed loop gain(PB08),
speed integral gain(PB09) and speed feed-forward gain (PB10). When PA02 is set as 0001, the servo
drive would automatically enable an interference compensator. This function could reduce torque
ripple, overshoot and speed ripple. It is suitable for systems with load changed violently. Besides, users
should avoid applying this compensator on the system which the ratio of load inertia to motor shaft is
greater than 10 times. If necessary, the related parameters should be adjusted according to the various
cases. The schematic diagram is as follows.
84
Parameters for manual-gain tuning mode
Speed loop gain:
Increasing this parameter would improve the bandwidth of speed control loop, but a too large
value would cause the mechanism vibration. Therefore, it is recommended to operate the auto-gain
tuning mode to approximate a proper values at first. If the value could not satisfy the requirement, to
increase this value gradually until the mechanism vibration occurred.
Speed integral gain:
Decreasing this parameter would improve the low-frequency rigidity of speed control loop and
reduce the speed stability errors. On the other hand, a too small value would cause the phase delay to
make an instable system.
Speed feed-forward gain:
The speed feed-forward gain could reduce the phase lag errors, and increase the traceability. If
the setting value is near 1, the dynamic tracking error would be very small and the pre-compensation
will be the most completed. If the setting value is too low, the improvement would not obvious. But a too
high value would cause the system vibration easily.
85
6.3.6.
Resonance suppression filter
When the mechanism with low rigidity generates resonance by reason of the large bandwidth or
the large rigidity setting value of the servo drive. If the mechanism factors could not be adjusted, the
Shihlin servo drive provides 2 resonance filter frequencies, 4 related parameters of this function and 1
resonance suppression low-pass filter for users to make adjustment. Some parameters related to
resonance suppression filter are introduced below.
Name
Abbr.
Sign
Setting
range
Unit
Initial
value
Control
mode
Machine resonance suppression filter 1
NHF1
PB01
50
~1000
Hz
1000
Pt,Pr,S,T
Machine resonance suppression attenuation 1
NHD1
PB02
0
~32
dB
0
Pt,Pr,S,T
Machine resonance suppression filter 2
NHF2
PB21
50
~1000
Hz
1000
Pt,Pr,S,T
Machine resonance suppression attenuation 2
NHD2
PB22
0
~32
dB
0
Pt,Pr,S,T
Name
Machine resonance suppression filter
To set a specific frequency which the gain is decreased to suppress the mechanism resonance.
Machine resonance suppression attenuation
To set the attenuation of machine resonance suppression filter with the PB01/PB21. The value
“0”denotes the disabled of the notch filter. The mechanism resonance is presented as follows.
The resonance would cause a violent mechanism vibration. In this case, to set the proper PB01/PB21
and PB02/PB22 for the servo drive to eliminate the resonance phenomenon. See the figure below.
86
There is an additional resonance suppression low-pass filter and its function is presented below.
Name
Resonance suppression low-pass filter[mS]
Name
Abbr.
Sign
Setting
range
Unit
Initial
value
Control
mode
NLP
PB03
0
~10000
0.1mS
0
Pt,Pr,S,T
Resonance suppression low-pass filter
To set the resonance suppression low-pass filter time constant to eliminate DC gain.
It could be found above that the employ of resonance suppression low-pass filter could suppress
the resonance magnitude , but also the system bandwidth is reduced and the phase is lagged.
As this resonance suppression filter is applied, it is necessary to know the frequency which
resonance occurred then to set the notch depth to make effect.
The improper frequency setting would not suppress resonance but amplify it.
The effect of the machine resonance suppression filter(PB01,PB02,PB21,PB22) is better than that
of resonance suppression low-pass filter if the frequency which resonance occurred is known.
If the actual resonance frequency exceeds the setting range of PB01(PB21), use the resonance
suppression low-pass filter(PB03) to suppress mechanism resonance.
87
6.3.7.
Gain switch function
The gain switch could be performed for the drive during the running or stop status of the motor.
The programmable DI pins could be set as the function of gain switch. If this function is applied, the
gain tuning mode option(PA02) should be set as ”
0” or “
1”. The gain switch function is
invalid under the auto-gain tuning mode option.
Applicable occasions are listed below.
(1). The rotation noises of motor are loud due to the large gain value setting..
(2). The load inertia ratio of mechanism is changed violently during the route.
(3). To improve the response or to shorten the settling time of the machinery system.
The relevant parameters and the detail descriptions are listed below.
Name
Abbr.
Sign
Setting
range
Unit
Initial
value
Control
mode
The ratio of load inertia to motor shaft
GD1
PB06
0
~1200
0.1time
10
Pt,Pr,S
Position loop gain
PG1
PB07
4
~1024
rad/s
35
Pt,Pr
Speed loop gain
VG1
PB08
40
~4096
rad/s
817
Pt,Pr,S
Speed integral gain
VIC
PB09
1
~1000
mS
48
Pt,Pr,S
Gain switch option
CDP
PB11
0000h
~0004h
---
0000h
Pt,Pr,S
Gain switch condition value
CDS
PB12
0
~6000
(*)
10
Pt,Pr,S
Gain switch time constant
CDT
PB13
0
~1000
mS
1
Pt,Pr,S
The ratio 2 of load inertia to motor shaft
GD2
PB14
0
~1200
0.1time
70
Pt,Pr,S
Position loop gain change ratio
PG2
PB15
10
~200
%
100
Pt,Pr
Speed loop gain change ratio
VG2
PB16
10
~200
%
100
Pt,Pr,S
Speed integral gain change ratio
VIC2
PB17
10
~200
%
100
Pt,Pr,S
Name
Parameters related to gain switching are described below.
(1). The method of gain tuning for GD1,PG1,VG1,VIC(PB06~PB09) parameters is the same as
manual-gain tuning mode, but they are changeable under this gain switch operation.
(2). Gain switch option CDP(PB11)
Used to set the gain changing condition. Enable the trigger condition in the lowest digit. If
users set "1" here, they could use the CDP signal of DI for gain changing. The CDP signal
could be assigned to any one of the 8 DI pins using parameters PD02 to PD09.
0 0 0 x
x=0:Invalid
x=1:The external CDP signal of DI is ON
x=2:Position command frequency is equal to higher than parameter CDS(PB12) setting
x=3:Position command pulse error is equal to higher than parameter CDS(PB12) setting
x=4:Motor speed is equal to higher than parameter CDS(PB12) setting
88
(3). Gain switch condition value CDS(PB12)
As users selected "position command frequency", " position command pulse error" or
" motor speed" in gain switch option(PB11), set the corresponding gain switch condition.
(*)The setting unit is as follows.
PB11 setting value
Gain switch condition
Unit
2
Position command frequency
kpps
3
Position command pulse error
pulse
4
Motor speed
rpm
(4). Gain switch time constant CDT(PB13)
Used to smooth the motor running at gain switching moment to suppress vibration given to
the machine if the gain difference is large.
(5). The ratio 2 of load inertia to motor shaft GD2(PB14)
Set the demand ratio of load inertia to motor shaft after switching. If the load inertia ratio
does not change, set it to the same value as GD1(PB06).
(6). The change ratio of PG1/VG1/VIC after gain switching. The original gain values would be
switched to the ratio values of PG2/VG2/VIC2 settings.
Some examples are described below for the sequence of gain switch function.
Example 1: The external DI signal as the switch option.
①. Relevant parameters setting
Name
Abbr.
Sign
Setting value
Unit
The ratio of load inertia to motor shaft
GD1
PB06
10
0.1 time
Position loop gain
PG1
PB07
100
rad/s
Speed loop gain
VG1
PB08
500
rad/s
Speed integral gain
VIC
PB09
100
mS
Gain switch option
CDP
PB11
0001h
---
Gain switch time constant
CDT
PB13
10
mS
The ratio 2 of load inertia to motor shaft
GD2
PB14
20
0.1 time
Position loop gain change ratio
PG2
PB15
80
%
Speed loop gain change ratio
VG2
PB16
120
%
Speed integral gain change ratio
VIC2
PB17
150
%
Name
②. The sequence of gain switch
89
③. The states of parameters change
Name
The ratio of load inertia to motor shaft
CDP OFF
CDP ON
CDP OFF
10
→
20
→
10
Position loop gain
100
→
80
→
100
Speed loop gain
500
→
600
→
500
Speed integral gain
100
→
150
→
100
Example 2: Trigger condition of position command pulse error.
①. Relevant parameters setting
Name
Abbr.
Sign
Setting value
Unit
The ratio of load inertia to motor shaft
GD1
PB06
10
0.1 time
Position loop gain
PG1
PB07
100
rad/s
Speed loop gain
VG1
PB08
500
rad/s
Speed integral gain
VIC
PB09
100
mS
Gain switch option
CDP
PB11
0003h
---
Gain switch condition value
CDS
PB12
100
pulse
Gain switch time constant
CDT
PB13
10
mS
The ratio 2 of load inertia to motor shaft
GD2
PB14
20
0.1 time
Position loop gain change ratio
PG2
PB15
80
%
Speed loop gain change ratio
VG2
PB16
120
%
Speed integral gain change ratio
VIC2
PB17
150
%
Name
②. The sequence of gain switch
③. The states of parameters change
Name
The ratio of load inertia to motor shaft
CDP OFF
CDP ON
CDP OFF
10
→
20
→
10
Position loop gain
100
→
80
→
100
Speed loop gain
500
→
600
→
500
Speed integral gain
100
→
150
→
100
90
6.4. Position control mode
This mode is used at occasions, for example, machine tool, CNC processing, where require highly
accurate positioning. There are two ways for position command: one is the external input and the other
is internal register input. The external input is to receive the external pulse-train commands. The inner
register input enables users to use the inner 8 sets of registers(PA15 to PA30) as the position
commands and then set the DI function of POS1 to PO3 to switch the corresponding position command.
The following table explains the settings of the external input and inner register input.
Name
Control mode option
Name
abbr.
STY
Sign
Control
mode
PA01
(*)
ALL
Description
Setting value of Control mode option:
u z y x
x:control mode select
0:position
y:position command select
0:external input
1:inner register(absolute type)
2:inner register(incremental type)
(*)The modification of PA01 would be valid by power off once and power on again.
The S-pattern smooth is invalid as the external pulse-train commands are applied.
6.4.1.
External pulse-train command(Pt mode)
The position commands are provided by external devices. When this mode applied, set the PA01
as 0000h. There are 3 formats which could be used by users. The pulse trigger could be assigned into
positive or negative logic. Positive logic means that the drive recognizes the pulse valid by the rising
edge. On the other hand, negative logic means the falling edge. Related parameter is listed below.
Name
Command pulse option
Name
abbr.
PLSS
Sign
Control
mode
PA13
Pt
Description
Setting value of Control mode option:
0 z y x
x:pulse-train format select
0:forward/reverse rotation pulse train
1:pulse train + sign
2:A/B phase pulse train
y:acknowledged logic
0:positive logic
1:negative logic
The PA13 would not be changed as SON on and be valid by power off once and power on again.
91
The following table is the description of the pulse format and acknowledged logic.
Pulse-train form
Forward
Reverse
PP
Positive logic
Forward/reverse
rotation pulse train
NP
PP
Pulse train + sign
NP
H
L
L
H
PP
A/B phase pulse
train
NP
PP
Negative logic
Forward/reverse
rotation pulse train
NP
PP
pulse train + sign
NP
PP
A/B phase pulse
train
NP
If pulse train is line drive type, the highest permissible frequency is 500Kpps. If pulse train is
open collector type, the highest permissible frequency is 200Kpps.
92
6.4.2.
Inner register command(Pr mode)
The following table explains the combinations of POS1,POS2,POS3,CTRG and speed settings.
Command
POS3
POS2
POS1
CTRG
P1
0
0
0
↑
P2
0
0
1
↑
P3
0
1
0
↑
P4
0
1
1
↑
P5
1
0
0
↑
P6
1
0
1
↑
P7
1
1
0
↑
P8
1
1
1
↑
Position command register
Revolutions
PA15
pulses
PA16
Revolutions
PA17
pulses
PA18
Revolutions
PA19
pulses
PA20
Revolutions
PA21
pulses
PA22
Revolutions
PA23
pulses
PA24
Revolutions
PA25
pulses
PA26
Revolutions
PA27
pulses
PA28
Revolutions
PA29
pulses
PA30
Speed setting
PA31
PA32
PA33
PA34
PA35
PA36
PA37
PA38
The state “↑” of CTRG means the transient of open-circuit to short-circuit.
0: OFF(POSx-SG is open-circuit), 1:ON(POSx-SG is short-circuit), x=1~3
To enable the least one of POS1 to POS3 is necessary.
Absolute/incremental position command
The applications of absolute/incremental command are common. Users have to make PA01 valid
then use these two types. See the table below for parameter setup.
Name
Control mode option
Name
abbr.
STY
Sign
Control
mode
PA01
ALL
說明
Setting value of Control mode option:
u z y x
x=0:position control mode
y=1:inner register(absolute type)
y=2:inner register(incremental type)
The results of absolute and incremental type even the same sequent of commands are listed.
93
6.4.3.
Position command smoothing
This is used to smooth the running of motor as a violent position command change is applied.
Name
Sign
Position command filter time constant
PB04
Setting
range
0~20000
Unit
mS
Initial
Control
value
mode
3
Pt,Pr
To use the S-pattern smoothing could improve the acceleration/deceleration vibration. The load
inertia ratio increased or occasion with huge inertia change may cause a motor rough running. In this
case, users could use the STA(PC01), STB(PC02), STC(PC03) to improve the phenomenon.
When the external pulse-train position command is applied, the STA(PC01), STB(PC02),
STC(PC03) would be invalid.
As a forward rotation due to position command is done, the acceleration/deceleration time is
decided by the PC01. On the other hand, the acceleration/deceleration time of a reverse rotation due to
other position command is controlled by the PC02.
As the inner register command is applied, it is recommended to use the S-pattern smoothing.
94
6.4.4.
Electronic gear ratio
Users could set different electronic gear ratios to enable the transmission mechanism to move
different distances. Relevant parameters are presented below.
Name
Abbr.
Sign
Electronic gear numerator
CMX
PA06
Electronic gear denominator
CDV
PA07
Electronic gear numerator 2
CMX2
PC32
Electronic gear numerator 3
CMX3
PC33
Electronic gear numerator 4
CMX4
PC34
Name
Setting
range
1
~32767
1
~32767
1
~32767
1
~32767
1
~32767
Unit
Initial
value
Control
mode
-
1
Pt,Pr
The improper setting could lead to unexpected fast rotation so make sure to set them in the state
of SERVO OFF. The range of the electronic gear ratio is
1 CMX
≤
(electronic gear ratio) ≤ 200 .
50 CDV
If the setting value is outside this range, the operation of motor may not be performed.
The relationship of electronic gear numerator and electronic gear denominator is plotted below.
4 electronic gear numerators are available for users to select. Enable the function CM1 and CM2
of DI to switch. See the table below.
Name
CM1
CM2
(PA06)
0
0
Electronic gear numerator 2(PC32)
1
0
Electronic gear numerator 3(PC33)
0
1
Electronic gear numerator 4(PC34)
1
1
Electronic gear numerator
Control mode
Pt,Pr
0: OFF(CMx-SG is open-circuit), 1:ON(CMx-SG is short-circuit), x=1,2
Calculation of electronic gear ratio
Before calculating the value, users have to know the specifications such as the resolution of motor
encoder(2500ppr), the deceleration rate, the gear ratio of the machine. Use the following equation to
calculate the electronic gear ratio.
Electronic gear ratio=
Encoder resolution ×4
Load distance per revolutio(angle) / Distance pulses to be shifted entered by user
If a gear ratio between motor and loads existed, to multiply the factor :
95
a tu rn o f m o to r s h a ft
.
m e c h a n is m tu rn s
The following example explains the method for setting the electronic gear ratio.
Load distance per revolution is 1mm,the resolution of motor encoder is 2500ppr,the gear ratio of
load mechanism to motor shaft is 1, if the demand distance is 5µm,the calculation is listed below.
Electronic gear ratio=
2500×4
1
10000
×
=
1mm / 5 µ m 1
200
From above, it could be known that by setting the electronic gear numerator as 10000 and the
electronic gear denominator as 200, then the ball screw rod would be shift a 5-µm distance after a
position pulse command.
96
6.4.5.
Torque limit of position control mode
See section 6.3.4. for details.
6.4.6.
Position loop gain
If users need to use manual-gain tuning for position loop, to set parameters of speed loop(see
Section 6.3.5) is priority since position loop is outside control of speed loop. Then users could set
proportion gain and feed-forward gain of position loop. Usually, position gain is 1/4~1/6 value of the
speed loop gain. Users could also use auto-gain tuning mode to set the gains of position and speed
loop automatically. Position loop block diagram is presented below.
Parameters related to position gain adjustment are listed below.
Name
Abbr.
Sign
Setting
range
Unit
Initial
value
Gain tuning mode option
ATUM
PA02
0000h
~0003h
-
0002h
Auto-tuning response level setting
ATUL
PA03
0001h
~000Fh
-
0005h
Position feed-forward gain
FFC
PB05
0
~20000
0.0001
0
PB07
4
~1024
rad/s
Name
Position loop gain
PG1
Control
mode
Pt,Pr,S
Pt,Pr
35
If position loop gain PG1(PB07) is set too large, the motor would rotate back and forth and
generate vibration even though the bandwidth and response are becoming faster. These phenomena
are not permitted for occasions requiring an accurate position control. In this case, be sure to reduce
PG1 value to prevent motor vibration. If the bandwidth limited due to mechanism factors causes a bad
traceability, position feed-forward gain could be used to reduce the dynamic error of position tracking.
On the other hand, the usage of feed-forward control also relatively increases the position settling time.
The method for adjusting position feed-forward gain is to increase the value gradually.
Theoretically, 1 is the best setting value. The improper value would cause machine vibration easily. In
such case, users should decrease the position feed-forward gain to meet a vibration-free situation.
97
6.5. Hybrid control mode
Hybrid mode
The 5 hybrid modes of servo drive could satisfy users who need to change varied modes
frequently. The parameter PA01 could be changed for the setting of hybrid mode. See the table below.
Control mode
Abbr.
PA01
setting
Position with external command - speed
Pt-S
0001h
Via DI signal to switch Pt and S
Position with external command - torque
Pt-T
0005h
Via DI signal to switch Pt and T
Position with inner register command - speed
Pr-S
0011h
Via DI signal to switch Pr and S
Position with inner register command - torque
Pr-T
0015h
Via DI signal to switch Pr and T
Speed - torque
S-T
0003h
Via DI signal to switch S and T
Description
The arrangement of DI and DO is critical when the hybrid mode is applied. To avoid DI/DO pins
insufficient, users could apply external analog voltage signal as the command of speed/torque mode
and external pulse train command for position mode so that could reduce the demand of DI.
The function LOP of DI should be made valid as the hybrid mode applied. See the following table.
Name
Control mode switch
Sign
LOP
I/O
DI
CN1
No.
Description
CN1-21
(default)
Option of position/speed switched
LOP(*)
Control mode
0
position
1
speed
Option of speed/torque switched
LOP(*)
Control mode
0
speed
1
torque
Option of torque/position switched
LOP(*)
Control mode
0
torque
1
position
Control
mode
Described
by varied
case
(*) 0: OFF(LOP-SG is open-circuit), 1:ON(LOP-SG is short-circuit)
The pin function setting of ST1 and RS2 are the same value, as speed/torque hybrid mode is
applied and the LOP signal activated, the ST1 function would have priority in speed control
mode and the RS2 function would have priority in torque control mode. Others such as
POS1/SP2, PC/ST1, RS2/PC, TL/ST2, ST2/RS1, RS1/TL, CR/SP1 are defined mutually. The
drive would automatically recognize the corresponding DI pin function when 2 different
modes are switched. See Section 3.4.2 for more details.
98
6.5.1.
Position/speed hybrid mode
This hybrid mode is divided into 2 types in detail., i.e. Pt/S and Pr/S. The sequence chart of mode
switch is presented in the figure below.
Control mode could not be switched if the motor is at a high speed rotation. It could be performed
as the zero speed detection output signal is ON. Yet it is recommended for users to switch control
mode when the motor is stopped completely.
6.5.2.
Speed/torque hybrid mode
Set the PA01 as 0003h before this hybrid mode performed. Users could use LOP signal to switch
speed mode and torque mode. Because pin function ST1(ST2) and RS2(RS1) are defined mutually, the
rotation direction of motor would reverse while changing between the speed and torque modes.
The sequence diagram of the speed / torque mode is presented below.
It is recommended that users switch the speed to torque mode after the motor is static.
99
6.5.3.
Torque/Position hybrid mode
This hybrid mode is divided into 2 types in detail., i.e. T/Pt and T/Pr. Users could set the PA01 as
0005h(T/Pt mode) or 0015h(T/Pr mode). The switch could not be performed if the motor is at a high
speed rotation. It could be switched as the zero speed detection output signal is ON. Users could use
the pin function LOP of DI to switch these 2 modes. When the position mode with inner register
command is wanted, the state of CTRG signal must be turned on. The sequence chart is presented in
the figure below.
It is recommended that users switch torque to position mode after the motor is static.
100
6.6. Other functions
Before wiring, turn off the power and wait for 10 minutes or more until the charge
LED turns off. Otherwise, an electric shock may occur.
Use the specified auxiliary equipment and options to prevent a malfunction or a
fire.
6.6.1.
Selection of brake resistor
Use the specified auxiliary equipment and options to prevent a malfunction or a
fire.
As the direction of motor generated torque is opposite to the rotary direction of motor, it becomes a
power generator. The regenerative energy would be turned back to the servo drive. To prevent from
P-N voltage exceeded, a voltage stabilized protection is necessary. The IGBT switch and brake
resistors constitute this protection. Regenerative energy is consumed by the brake resistor.
There is a built-in brake resistor inside the drive(below 3.5KW). If the regenerative energy is too
large, it is not recommended to use. Instead, use an external one to avoid overheating. When using the
built-in brake resistor, make sure that the P/D terminals is short-circuit. If the external brake resistor
applied, make P/D terminals open while the external resistor is connected to the P/C terminals.
Built-in brake resistor specifications for the Shihlin servo drive are described below.
Drive(W)
Built-in brake resistor specification
Minimum permissible
Consumption power of
resistor (Ω)
Capacity (W)
(Ω)
built-in resistor (W)
100
100
20
100
10
200
100
20
100
10
400
100
20
100
10
500
100
20
100
10
750
40
40
40
20
1000
40
40
40
20
1500
13
100
13
50
2000
13
100
13
50
3500
13
100
13
50
The average regenerative power that could be consumed is at 50% rated power of the built-in
brake resistor. So as the external brake resistor.
As external brake resistor is applied, the same resistance value mentioned above is required. If
serial or parallel wiring are applied to increase resistor’s power, be sure that the resistance meets the
minimum permissible specification. The brake resistor with a thermal switch or a cooling fan would be
helpful to tell users that the capacity of brake resistor is insufficient or to reduce the temperature of
brake resistor. Please contact the manufacturer of brake resistor to know the detail load characteristic.
101
In order to let users easily caculate the power of external brake resistor, the caculations are
described below.
(a) Without external load
If the motor is repeated running forward and reverse, the braking regenerative energy would return to
the aluminum capacitors of servo drive. When the P-N voltage exceeds a particular value, the brake
IGBT switch is turn on and the brake resistor would dissipate the regenerative energy. The following
statement and table provide the calculation of regenerative power.
The Es and Ec of various drive capacity are listed below.
Drive(W)
Rotor inertia, J(x10-4kg‧m2)
Regenerative power which from
rated speed to stop without load
Es(joule)
Regenerative energy of
capacitor, Ec(joule)
100
0.055
0.27
8.98
200
0.204
1.03
8.98
400
0.335
1.65
11.02
500
6.590
14.45
11.02
750
1.203
5.92
19.18
1000
12.56
27.55
19.18
1500
18.52
40.62
41.62
2000
38.80
85.10
41.62
3500
74.80
164.05
55.49
The capacity of brake resistor is calculated as follows:
PBR = 2 × (( N+1 ) × ES − EC ) / T
Where:
PBR : Power of brake resistor
N : The ratio of load inertia to motor shaft
T : Duty cycle ( Defined by users)
If the ratio of load inertia to motor shaft is N, deceleration from the rated speed to stop; the
regenerative energy is (N +1) × Es. The brake resistor consumption is (N +1)× Es - Ec joules. Assuming
the duty cycle is T second, then the recommend power of brake resistor is 2 × ((N +1) × Es-Ec) / T. The
calculation procedure is as follows.
Step
Item
Calculation or procedure
1
Choose the duty cycle T
With user’s application to decide the repeat operation cycle.
2
Set motor speed wr
Panel operation to read/write this value.
3
Set load to motor inertia ratio N
Panel operation to read/write this value.(PA02=0002h)
4
Compute the Es
Refer to the previous table or calculation Es = J × Wr / 182
5
Compute the Ec
Refer to the previous table
6
Compute the PBR
2 x ((N+1) x ES-EC)/T
2
102
Example 1
The drive capacity is 400W, duty cycle T is 0.5 second, revolution speed is 3000 rpm, load to
motor inertia ratio is 7, then the necessary power of brake resistor = 2 x ((7 + 1) x 1.65 -11.02 ) / 0.5 =
8.72W. Since these are less than the built-in brake resistor capacity (20W), users could directly use the
built-in brake resistor to consume the regenerative energy.
Note: Due to 3000rpm is the rate speed of 400W servo drive, we could find the Es on the previous table
is 1.65.
Example 2
The drive capacity is 2KW, duty cycle T is 1 second, revolution speed is 1000 rpm, load to motor
inertia ratio is 20. Since the revolution speed 1000rpm is less than the rated speed(2000rpm), we need
to compute ES , ES =38.8 x 10-4 x 10002/182 = 21.3, then the necessary power of brake resistor = 2 x
((20 + 1) x 21.3 -41.62 ) /1 = 811.36. These are more than the capacity(50W) of 2KW servo drive’s
built-in brake resistor. So, a 1000W brake resistor is recommended.
Generally, if the load inertia ratio is small(N<=5), the capacity is sufficient. If the brake resistor
capacity is too small, the heat accumulated is growing easily and the temperature of brake resistor rises
soon. When the temperature is higher than a certain value, the brake resistor will be burn out.
IF the external brake resistor is applied, please refer to section 14.2.
(b) With external load
When the external load torque is greater than motor torque, it make the servo motor output torque
direction is opposite to the rotary direction of servo motor. In this case, the external energy is delivered
to the servo drive through the servo motor. The following figure is an example that the motor runs in
CCW rotation at constant speed when a sudden external load torque change.
Power of the external load torque : PL = TL × ω
Where: PL is the power of external load torque
TL is the external load torque. (unit : Nt-m)
ω is the motor rotation speed. (unit : rad/s)
For example :
If an external load torque of +50% rated torque is applied and the servo motor speed is 3000r/min, the
servo drive is 400W capacity(rated torque: 1.27Nt-m), then the users need to connect a external brake
resistor which power is 2 x (0.5 x 1.27) x (3000 x 2 x π/ 60) = 399W, 100Ω.
Note : 1rpm = 2π/60 (rad/s)
103
6.6.2.
Analog monitor output
There are 2 analog monitor channels provided for users to check the required signals. The
contents and settings of monitor output are described in the table below.
Name
Analog monitor output
Abbr.
MOD
Sign
PC14
Setting
range
Description
0000h
~0707h
There are 2 monitor outputs, ch1 and ch2.
0 ch2 0 ch1
The setting values and their corresponding output are
listed below.
0:Motor speed (scale: ±10V/(double rated speed))
1:Generated torque (scale: ±10V/max.torque)
2:Speed command (scale: ±10V/(double rated speed))
3:Effective load ratio (scale: ±10V/±300%)
4:Pulse command frequency (scale: ±10V/500kpps)
5:Current command (scale: ±10V/max.current command)
6:DC Bus voltage (scale: ±10V/400V)
7:Pulse command error(scale: ±10V/10000pulse)
Example:
If the PC14 is set as 0000h and the current speed of motor is forward rotation 3000 rpm, a +5V
signal would be measured on CN1-30 and LG. On the other hand, a -5V signal would be detected if the
speed of motor is reverse rotation -3000 rpm. The mentioned example above is without any adjustment
of PC28 to PC31.
Voltage offset of analog monitor
The parameter PC28 and PC29 are used to set the compensation to eliminate the bias voltages of
analog monitor output MON1 and MON2.
Abbr.
Sign
Setting
range
Analog monitor ch1 offset
MO1
PC28
Analog monitor ch2 offset
MO2
PC29
Name
Description
Unit
Initial
value
-999
~999
Used to set the offset voltage of the
analog monitor ch1 output.
mV
0
-999
~999
Used to set the offset voltage of the
analog monitor ch2 output.
mV
0
Here is an example.
It assumes that the motor speed is 0 rpm, then the analog monitor voltage output should be 0 V.
This difference above is 0.5 V, which could be compensated by setting PC28 or PC29 as -500mV so
the MOD analog voltage would be corrected.
104
Output proportion of analog monitor
The output proportion of analog monitor enables users to set the ratio of the analog voltage
output to be viewed. Relevant parameters are presented in the table below.
Name
Abbr.
Sign
Setting
range
Description
Unit
Initial
value
Analog monitor ch1 output
proportion
MOG1
PC30
0
~100
Set the output proportion of analog
monitor ch1.
%
100
Analog monitor ch2 output
proportion
MOG2
PC31
0
~100
Set the output proportion of analog
monitor ch2.
%
100
If the current rotation speed is +3000 rpm and monitor scale is ±10V/ (double rated speed), the
analog output should be +5V if MOG1 or MOG2 is set as initial value(100%). So, the analog monitor
output voltage by MON should be +10V in case of 50% setting value applied.
The equation is:
Monitor output = monitoring value × 〈monitor scale〉 ÷ MOG
105
6.6.3.
Operation of electromagnetic brake interlock
The electromagnetic brake interlock signal is described: (1)As MBR is OFF,the electromagnetic
brake is disabled and motor shaft is locked. (2)As MBR is ON,the electromagnetic brake is enabled
and motor shaft is rotatable. The PC16 could be used to decide the delay time of SON signal off to
MBR signal activated. The electromagnetic brake is usually applied on the Z axis(vertical axis) to
prevent from load falling.
MBR enables/disables electromagnetic contactor to release/lock the motor shaft.
The coil of electromagnetic brake is without polarity.
Do not use CN1_48(+24Vdd) to drive the electromagnetic brake.
If users control the electromagnetic brake without MBR, refer to the operation sequence.
The operation sequence of electromagnetic brake is plotted below.
Wiring diagram of electromagnetic brake(MBR DO applied)
Specification of electromagnetic brake
SMA series
Motor type
L010B
L020B
L040B
Brake type
Rated voltage
L075B
M050B M100B M150B M200B M350B
Spring brake (Normal locked)
(V)
DC 24V
Rated power
(W)
6.3
7.9
8.6
19.3
34
Rated current
(A)
0.24
0.32
0.35
0.8
1.41
Friction Tq (N‧m)
0.3
1.3
2.4
8.5
45
106
7.
Parameters
7.1. Parameter definition
SDA servo drive, its parameters are classified into the basic parameters, gain values, filters, expansion
parameters and I/O parameters. When an advance adjustment is required, change the parameter PA42
setting to make the expansion parameters write-enabled.
Here are some notes for reading of parameter manual.
1. Parameter classification
There is a parameter list which is classified due to the functions for user to consult conveniently.
Refer to section 7.3 for more details.
2. Special symbol of parameter sign
(★) denotes the setting is valid by power off once and power on again. The PA01 is an example.
(■) denotes the setting is vanished once power off. The PC37 is an example.
(▲) denotes the invalid change as the Servo ON activated. The PA07 is another example.
There are 2 ways to make Servo ON disabled.
(1)Turn off the SON signal of DI.
(2)Set the PD16 as 1 and the drive would be at Servo OFF state. But remember to recover it
after the completion of modification.
Group classification according to different functions is listed below.
Group
Description
Basic parameter (No PA□□)
Used to perform the position control. Please set this parameter group.
Gain, filter (No PB□□)
Used to perform the manual-gain tuning. Please set this parameter group.
Expansion (No PC□□)
As speed or torque control is required, please set this parameter group.
I/O settings (No PD□□)
Used to change the states of I/O signal. Please set this parameter group.
The control mode is described as follows.
Single mode
Mode
Sign
Description
Position control
(terminal input)
Pt
Drive runs motor to reach the goal according to the external commands which
are received through the CN1 and are in the form of pulse trains.
Position control
(inner register)
Pr
Drive runs motor to reach the goal according to the inner commands which are
from inner 8 registers that could be switched by DI signals.
Speed control
S
Drive runs motor to attain the target speed. The command type which is an
analog voltage or the inner registers could be switched by DI.
Torque control
T
The drive receives the commands to run the motor to generate the demanded
torque. The command source is the analog voltage.
Hybrid mode
Pt-S
Pt/S is switched mutually via the LOP signal of DI.
Pt-T
Pt/T is switched mutually via the LOP signal of DI.
Pr-S
Pr/S is switched mutually via the LOP signal of DI.
Pr-T
Pr/T is switched mutually via the LOP signal of DI.
S-T
S/T is switched mutually via the LOP signal of DI.
107
7.2. Parameter list
The parameters of Shihlin servo drive could be classify into 4 groups. PA group is basic for control
mode option, auto-tuning, etc. PB group is for gain and filter functions. PC group is related to
speed/torque control and analog signal and communication functions. PD group is for I/O parameters
which enables users to set parameters for DI and DO. The following table is helpful for users to consult.
(1)Basic parameters
NO
Abbr.
Initial
value
Name
Unit
Control mode
Pt Pr
S
T
PA01(★)
STY
Control mode option
1000h
-
○
○
○
PA02(▲)
ATUM
Gain tuning mode option
0002h
-
○
○
○
PA03
ATUL
Auto-tuning response level setting
0005h
-
○
○
○
PA04
HMOV
Home moving option
0000h
-
PA05
TL1
Inner torque limit 1
100
%
○
○
PA06
CMX
Electronic gear numerator
1
-
○
○
PA07(▲)
CDV
Electronic gear denominator
1
-
○
○
PA08
HSPD1
Home moving high speed option 1
1000
rpm
○
PA09
HSPD2
Home moving high speed option 2
50
rpm
○
PA10
HOF1
Home moving revolution offset
0
rev
○
PA11
HOF2
Home moving pulse offset
0
pulse
○
PA12
INP
In-position range
100
Pulse
○
PA13(★)
PLSS
Command pulse option
0000h
-
○
PA14(★)
ENR
Encoder output pulses
10000
pulse/rev
○
PA15
PO1H
Revolution of inner position command 1
0
rev
○
PA16
PO1L
Pulse of inner position command 1
0
pulse
○
PA17
PO2H
Revolution of inner position command 2
0
rev
○
PA18
PO2L
Pulse of inner position command 2
0
pulse
○
PA19
PO3H
Revolution of inner position command 3
0
rev
○
PA20
PO3L
Pulse of inner position command 3
0
pulse
○
PA21
PO4H
Revolution of inner position command 4
0
rev
○
PA22
PO4L
Pulse of inner position command 4
0
pulse
○
PA23
PO5H
Revolution of inner position command 5
0
rev
○
PA24
PO5L
Pulse of inner position command 5
0
pulse
○
PA25
PO6H
Revolution of inner position command 6
0
rev
○
PA26
PO6L
Pulse of inner position command 6
0
pulse
○
PA27
PO7H
Revolution of inner position command 7
0
rev
○
PA28
PO7L
Pulse of inner position command 7
0
pulse
○
PA29
PO8H
Revolution of inner position command 8
0
rev
○
PA30
PO8L
Pulse of inner position command 8
0
pulse
○
PA31
POV1
Moving speed of inner position command 1
rpm
○
108
1000
○
○
○
○
○
○
○
○
PA32
POV2
Moving speed of inner position command 2
1000
rpm
○
PA33
POV3
Moving speed of inner position command 3
1000
rpm
○
PA34
POV4
Moving speed of inner position command 4
1000
rpm
○
PA35
POV5
Moving speed of inner position command 5
1000
rpm
○
PA36
POV6
Moving speed of inner position command 6
1000
rpm
○
PA37
POV7
Moving speed of inner position command 7
1000
rpm
○
PA38
POV8
Moving speed of inner position command 8
1000
rpm
○
PA39(★)
POL
Motor rotary direction option
0000h
-
○
○
○
○
PA40(▲)
SPW
Special parameter write-enable
0000h
-
○
○
○
○
PA42(★)
BLK
Parameter write-inhibit
0000h
-
○
○
○
○
PA43
OVPE
Output of position error excess
10 pulse
○
○
3000
(2)Gain, filter parameters
Initial
value
NO
Abbr.
Name
PB01
NHF1
Machine resonance suppression filter 1
PB02
NHD1
PB03
Unit
Pt
Control mode
Pr
S
T
1000
Hz
○
○
○
○
Machine resonance suppression attenuation 1
0
dB
○
○
○
○
NLP
Resonance suppression low-pass filter
0
0.1mS
○
○
○
○
PB04
PST
Position command filter time constant
3
mS
○
○
PB05
FFC
Position feed-forward gain
0
%
○
○
PB06
GD1
The ratio of load inertia to motor shaft
10
0.1time
○
○
PB07
PG1
Position loop gain
35
rad/s
○
○
PB08
VG1
Speed loop gain
817
rad/s
○
○
○
PB09
VIC
Speed integral gain
48
mS
○
○
○
PB10
VFG
Speed feed-forward gain
0
0.0001
PB11(★)
CDP
Gain switch condition
PB12
CDS
Gain switch condition value
PB13
CDT
Gain switch time constant
PB14
GD2
The ratio 2 of load inertia to motor shaft
PB15
PG2
PB16
○
○
-
○
○
○
depends
○
○
○
1
mS
○
○
○
70
0.1time
○
○
○
Position loop gain change ratio
100
%
○
○
VG2
Speed loop gain change ratio
100
%
○
○
○
PB17
VIC2
Speed integral gain change ratio
100
%
○
○
○
PB18
SFLT
Speed low-pass filter smooth time constant
0
mS
PB19
TQC
Torque command filter time constant
0
mS
PB20
SJIT
Speed feedback filter time constant
0
0.1mS
○
○
○
○
PB21
NHF2
Machine resonance suppression filter 2
1000
Hz
○
○
○
○
PB22
NHD2
Machine resonance suppression attenuation 2
0
dB
○
○
○
○
PB23(★)
MVS
Micro-vibration suppression option
0000h
-
○
○
PB24
VDC
Speed differential compensation
980
-
○
○
0000h
10
109
○
○
○
○
(3)Expansion parameters
NO
Abbr.
Initial
value
Name
Unit
Control mode
Pt
Pr
S
T
PC01
STA
Acceleration time constant
200
mS
○
○
○
PC02
STB
Deceleration time constant
200
mS
○
○
○
PC03
STC
S-pattern acc./dec. time constant
0
mS
○
○
○
PC04
JOG
JOG speed command
300
rpm
○
○
○
PC05
SC1
Inner speed command/limit 1
100
rpm
○
○
PC06
SC2
Inner speed command/limit 2
500
rpm
○
○
PC07
SC3
Inner speed command/limit 3
1000
rpm
○
○
PC08
SC4
Inner speed command/limit 4
200
rpm
○
○
PC09
SC5
Inner speed command/limit 5
300
rpm
○
○
PC10
SC6
Inner speed command/limit 6
500
rpm
○
○
PC11
SC7
Inner speed command/limit 7
800
rpm
○
○
PC12(▲)
VCM
Output speed of maximum analog command
3000
rpm
○
○
PC13(▲)
TLC
Torque generated of maximum analog command
100
%
○
○
○
○
PC14
MOD
Analog monitor output
0100h
-
○
○
○
○
PC15(★)
SVZR
Speed analog zero voltage acknowledged range
○
○
PC16
MBR
Electromagnetic brake output delay time
PC17
ZSP
Zero speed acknowledged range
PC18(★)
COP1
Stop option and power interruption restart option
PC19(★)
COP2
Alarm history clear option
PC20(★)
SNO
Communication device number
PC21(★)
CMS
PC22(★)
○
10
mV
100
mS
○
○
○
○
50
rpm
○
○
○
○
0010h
-
○
○
○
○
0000h
-
○
○
○
○
1
-
○
○
○
○
Communication mode option
0010h
-
○
○
○
○
BPS
Communication protocol option
0010h
-
○
○
○
○
PC23
SIC
Communication time-out process option
0
s
○
○
○
○
PC24(★)
DMD
Status display option
0000h
-
○
○
○
○
PC25
TL2
Inner torque limit 2
100
%
○
○
○
○
PC26
VCO
Speed analog command/limit offset
0
mV
○
○
PC27
TLO
Torque analog command/limit offset
0
mV
○
○
PC28
MO1
Analog monitor ch1 offset
0
mV
○
○
○
○
PC29
MO2
Analog monitor ch2 offset
0
mV
○
○
○
○
PC30
MOG1
Analog monitor ch1 output proportion
100
%
○
○
○
○
PC31
MOG2
Analog monitor ch2 output proportion
100
%
○
○
○
○
PC32
CMX2
Electronic gear numerator 2
1
-
○
○
PC33
CMX3
Electronic gear numerator 3
1
-
○
○
PC34
CMX4
Electronic gear numerator 4
1
-
○
○
PC35(★)
VCL
VC voltage limit
0
mV
○
○
PC36
BRP
Built-in brake resistor protection
300
ms
○
○
○
○
PC37(■)
MCS
Memory write-in protection
-
○
○
○
○
0
110
(4)I/O setting parameters
NO
Abbr.
Name
Initial
value
Unit
Control mode
Pt
Pr
S
T
PD01(★)
DIA1
Digital input signal auto-ON option 1
0000h
-
○
○
○
○
PD02(★)
DI1
Digital input 1 option
0001h
-
○
○
○
○
PD03(★)
DI2
Digital input 2 option
0007h
-
○
○
○
○
PD04(★)
DI3
Digital input 3 option
0009h
-
○
○
○
○
PD05(★)
DI4
Digital input 4 option
000Ah
-
○
○
○
○
PD06(★)
DI5
Digital input 5 option
0002h
-
○
○
○
○
PD07(★)
DI6
Digital input 6 option
0006h
-
○
○
○
○
PD08(★)
DI7
Digital input 7 option
0012h
-
○
○
○
○
PD09(★)
DI8
Digital input 8 option
0011h
-
○
○
○
○
PD10(★)
DO1
Digital output 1 option
0003h
-
○
○
○
○
PD11(★)
DO2
Digital output 2 option
0008h
-
○
○
○
○
PD12(★)
DO3
Digital output 3 option
0007h
-
○
○
○
○
PD13(★)
DO4
Digital output 4 option
0005h
-
○
○
○
○
PD14(★)
DO5
Digital output 5 option
0001h
-
○
○
○
○
PD15(★)
DIF
Digital input filter time option
0002h
-
○
○
○
○
PD16(★)
IOS
Digital input on/off state control option
0000h
-
○
○
○
○
PD17(★)
DOP1
LSP/LSN triggered stop option
0000h
-
○
○
○
PD18(★)
DOP2
CR signal clear option
0000h
-
○
○
PD19(★)
DOP3
Alarm code output option
0000h
-
○
○
○
○
PD20(★)
DOP4
Alarm reset triggered process
0000h
-
○
○
○
○
PD21(★)
DIA2
Digital input signal auto-ON option 2
0000h
-
○
○
○
○
111
Some parameter categories which are helpful to operate varied control mode are listed below.
Torque control related parameters
NO
Abbr.
Initial
value
Name
Unit
1000h
-
Pt
○
Inner torque limit 1
100
%
○
SC1
Inner speed command/limit 1
100
PC06
SC2
Inner speed command/limit 2
PC07
SC3
PC08
PA01(★)
STY
Control mode option
PA05
TL1
PC05
Control mode
Pr
S
T
○ ○ ○
○
○
○
rpm
○
○
500
rpm
○
○
Inner speed command/limit 3
1000
rpm
○
○
SC4
Inner speed command/limit 4
200
rpm
○
○
PC09
SC5
Inner speed command/limit 5
300
rpm
○
○
PC10
SC6
Inner speed command/limit 6
500
rpm
○
○
PC11
SC7
Inner speed command/limit 7
800
rpm
○
○
PC12(▲)
VCM
Output speed of maximum analog command
3000
rpm
○
○
PC13(▲)
TLC
Torque generated of maximum analog command
100
%
○
○
○
○
PC25
TL2
Inner torque limit 2
100
%
○
○
○
○
PC26
VCO
Speed analog command/limit offset
0
mV
○
○
PC27
TLO
Torque analog command/limit offset
0
mV
○
○
PC35(★)
VCL
VC input voltage limit
0
mV
○
○
Speed control related parameters
NO
Abbr.
Initial
value
Name
PA01(★)
STY
Control mode option
PA05
TL1
Inner torque limit 1
PA14(★)
ENR
Encoder output pulses
PB18
SFLT
Speed low-pass filter smooth time constant
PC05
SC1
PC06
Unit
Pt
Control mode
Pr
S
T
1000h
-
○
○
○
○
100
%
○
○
○
○
pulse/rev
○
○
○
○
10000
0
mS
○
○
Inner speed command/limit 1
100
rpm
○
○
SC2
Inner speed command/limit 2
500
rpm
○
○
PC07
SC3
Inner speed command/limit 3
1000
rpm
○
○
PC08
SC4
Inner speed command/limit 4
200
rpm
○
○
PC09
SC5
Inner speed command/limit 5
300
rpm
○
○
PC10
SC6
Inner speed command/limit 6
500
rpm
○
○
PC11
SC7
Inner speed command/limit 7
800
rpm
○
○
PC12(▲)
VCM
Output speed of maximum analog command
3000
rpm
○
○
PC25
TL2
Inner torque limit 2
100
%
○
○
PC26
VCO
Speed analog command/limit offset
0
mV
○
○
PC35
VCL
VC input voltage limit
0
mV
○
○
112
○
○
Position control related parameters
NO
Abbr.
Initial
value
Name
Unit
Pt
○
Control mode
Pr
S
T
○ ○ ○
PA01(★)
STY
Control mode option
1000h
-
PA04
HMOV
Home moving option
0000h
-
PA05
TL1
Inner torque limit 1
100
%
○
○
PA06
CMX
Electronic gear numerator
1
-
○
○
PA07(▲)
CDV
Electronic gear denominator
1
-
○
○
PA13(★)
PLSS
Command pulse option
0000h
-
○
PA14(★)
ENR
Encoder output pulses
10000
pulse/rev
○
PA15
PO1H
Revolution of inner position command 1
0
rev
○
PA16
PO1L
Pulse of inner position command 1
0
pulse
○
PA17
PO2H
Revolution of inner position command 2
0
rev
○
PA18
PO2L
Pulse of inner position command 2
0
pulse
○
PA19
PO3H
Revolution of inner position command 3
0
rev
○
PA20
PO3L
Pulse of inner position command 3
0
pulse
○
PA21
PO4H
Revolution of inner position command 4
0
rev
○
PA22
PO4L
Pulse of inner position command 4
0
pulse
○
PA23
PO5H
Revolution of inner position command 5
0
rev
○
PA24
PO5L
Pulse of inner position command 5
0
pulse
○
PA25
PO6H
Revolution of inner position command 6
0
rev
○
PA26
PO6L
Pulse of inner position command 6
0
pulse
○
PA27
PO7H
Revolution of inner position command 7
0
rev
○
PA28
PO7L
Pulse of inner position command 7
0
pulse
○
PA29
PO8H
Revolution of inner position command 8
0
rev
○
PA30
PO8L
Pulse of inner position command 8
0
pulse
○
PA31
POV1
Moving speed of inner position command 1
1000
rpm
○
PA32
POV2
Moving speed of inner position command 2
1000
rpm
○
PA33
POV3
Moving speed of inner position command 3
1000
rpm
○
PA34
POV4
Moving speed of inner position command 4
1000
rpm
○
PA35
POV5
Moving speed of inner position command 5
1000
rpm
○
PA36
POV6
Moving speed of inner position command 6
1000
rpm
○
PA37
POV7
Moving speed of inner position command 7
1000
rpm
○
PA38
POV8
Moving speed of inner position command 8
1000
rpm
○
PA39(★)
POL
Motor rotary direction option
0000h
-
○
○
PA43
OVPE
Output of position error excess
10 pulse
○
○
PC25
TL2
Inner torque limit 2
100
%
○
○
PC32
CMX2
Electronic gear numerator 2
1
-
○
○
PC33
CMX3
Electronic gear numerator 3
1
-
○
○
PC34
CMX4
Electronic gear numerator 4
1
-
○
○
3000
113
○
○
○
○
○
○
○
○
○
○
Smoothing filter and resonance suppression related parameters
Initial
value
NO
Abbr.
Name
PB01
NHF1
Machine resonance suppression filter 1
PB02
NHD1
PB03
Unit
Pt
Control mode
Pr
S
T
1000
Hz
○
○
○
○
Machine resonance suppression attenuation 1
0
dB
○
○
○
○
NLP
Resonance suppression low-pass filter
0
0.1mS
○
○
○
○
PB04
PST
Position command filter time constant
3
mS
○
○
PB19
TQC
Torque command filter time constant
0
mS
PB20
SJIT
Speed feedback filter time constant
0
0.1mS
○
○
○
○
PB21
NHF2
Machine resonance suppression filter 2
1000
Hz
○
○
○
○
PB22
NHD2
Machine resonance suppression attenuation 2
0
dB
○
○
○
○
PB23(★)
MVS
Micro-vibration suppression option
-
○
○
PC01
STA
Acceleration time constant
200
mS
○
○
○
PC02
STB
Deceleration time constant
200
mS
○
○
○
PC03
STC
S-pattern acc./dec. time constant
0
mS
○
○
○
PD17(★)
DOP1
LSP/LSN triggered stop option
○
○
0000h
0000h
-
○
○
Control gain and gain switch related parameters
NO
Abbr.
Initial
value
Name
Unit
Pt
Control mode
Pr
S
T
PA02(▲)
ATUM
Gain tuning mode option
0002h
-
○
○
○
PA03
ATUL
Auto-tuning response level setting
0005h
-
○
○
○
PB05
FFC
Position feed-forward gain
0
0.0001
○
○
PB07
PG1
Position loop gain
35
rad/s
○
○
PB08
VG1
Speed loop gain
817
rad/s
○
○
○
PB09
VIC
Speed integral gain
48
mS
○
○
○
PB10
VFG
Speed feed-forward gain
0
0.0001
PB11(★)
CDP
Gain switch condition
PB12
CDS
Gain switch condition value
PB13
CDT
Gain switch time constant
PB14
GD2
The ratio 2 of load inertia to motor shaft
PB15
PG2
PB16
○
-
○
○
○
10
depends
○
○
○
1
mS
○
○
○
70
0.1time
○
○
○
Position loop gain change ratio
100
%
○
○
○
VG2
Speed loop gain change ratio
100
%
○
○
○
PB17
VIC2
Speed integral gain change ratio
100
%
○
○
○
PB24
VDC
Speed differential compensation
980
-
○
○
○
0000h
114
Digital I/O settings related parameters
NO
Abbr.
Initial
value
Name
Unit
Pt
Control mode
Pr
S
T
PA12
INP
In-position range
100
Pulse
○
○
PC16
MBR
Electromagnetic brake output delay time
100
mS
○
○
○
○
PC17
ZSP
Zero speed acknowledged range
50
rpm
○
○
○
○
PD01(★)
DIA1
Digital input signal auto-ON option 1
0000h
-
○
○
○
○
PD02(★)
DI1
Digital input 1 option(CN1-14)
0001h
-
○
○
○
○
PD03(★)
DI2
Digital input 2 option(CN1-15)
000Dh
-
○
○
○
○
PD04(★)
DI3
Digital input 3 option(CN1-16)
0003h
-
○
○
○
○
PD05(★)
DI4
Digital input 4 option(CN1-17)
0004h
-
○
○
○
○
PD06(★)
DI5
Digital input 5 option(CN1-18)
0002h
-
○
○
○
○
PD07(★)
DI6
Digital input 6 option(CN1-19)
000Fh
-
○
○
○
○
PD08(★)
DI7
Digital input 7 option(CN1-20)
0012h
-
○
○
○
○
PD09(★)
DI8
Digital input 8 option(CN1-21)
0011h
-
○
○
○
○
PD10(★)
DO1
Digital output 1 option(CN1-41)
0003h
-
○
○
○
○
PD11(★)
DO2
Digital output 2 option(CN1-42)
0008h
-
○
○
○
○
PD12(★)
DO3
Digital output 3 option(CN1-43)
0007h
-
○
○
○
○
PD13(★)
DO4
Digital output 4 option(CN1-44)
0005h
-
○
○
○
○
PD14(★)
DO5
Digital output 5 option(CN1-45)
0001h
-
○
○
○
○
PD15(★)
DIF
Digital input filter time option
0002h
-
○
○
○
○
PD16(★)
IOS
Digital input on/off state control option
0000h
-
○
○
○
○
PD17(★)
DOP1
LSP/LSN triggered stop option
0000h
-
○
○
○
PD18(★)
DOP2
CR signal clear option
0000h
-
○
○
PD19(★)
DOP3
Alarm code output option
0000h
-
○
○
○
○
PD20(★)
DOP4
Alarm reset triggered process
0000h
-
○
○
○
○
PD21(★)
DIA2
Digital input signal auto-ON option 2
0000h
-
○
○
○
○
Communication related parameters
NO
Abbr.
Initial
value
Name
Unit
Pt
Control mode
Pr
S
T
1
-
○
○
○
○
Communication mode option
0010h
-
○
○
○
○
BPS
Communication protocol option
0010h
-
○
○
○
○
SIC
Communication time-out process option
0
S
○
○
○
○
PC20(★)
SNO
Communication device number
PC21(★)
CMS
PC22(★)
PC23
115
Monitor and status display related parameters
NO
Abbr.
Initial
value
Name
Unit
Pt
Control mode
Pr
S
T
PC14
MOD
Analog monitor output
0100h
-
○
○
○
○
PC24(★)
DMD
Status display option
0000h
-
○
○
○
○
PC28
MO1
Analog monitor ch1 offset
0
mV
○
○
○
○
PC29
MO2
Analog monitor ch2 offset
0
mV
○
○
○
○
PC30
MOG1
Analog monitor ch1 output proportion
100
%
○
○
○
○
PC31
MOG2
Analog monitor ch2 output proportion
100
%
○
○
○
○
Other functions related parameters
NO
Abbr.
Initial
value
Name
Unit
Pt
Control mode
Pr
S
T
PA40(▲)
SPW
Special parameter write-enable
0000h
-
○
○
○
○
PA42(★)
BLK
Parameter write-inhibit
0000h
-
○
○
○
○
PB06
GD1
The ratio of load inertia to motor shaft
10
0.1time
○
○
○
PB14
GD2
The ratio 2 of load inertia to motor shaft
70
0.1time
○
○
○
PC18(★)
COP1
Stop option and power interruption restart option
0010h
-
○
○
○
○
PC19(★)
COP2
Alarm history clear option
0000h
-
○
○
○
○
PC36
BRP
Built-in brake resistor protection
ms
○
○
○
○
PC37(■)
MCS
Memory write-in protection
0
-
○
○
○
○
PD20(★)
DOP4
Alarm reset triggered process
0000h
-
○
○
○
○
300
116
7.3. Parameter details list
No
Abbr.
PA01
STY
Function description
Control
Setting
mode
range
Unit
Setting value of Control mode option:
u z y x
x:control mode select
0:position
1:position/speed
2:speed
3:speed/torque
4:torque
5:torque/position
y:position command select
0:external input
1:inner register(absolute type)
2:inner register(incremental type)
Pt,Pr
S,T
0000h
~1125h
Pt,Pr
0000h
S
~0004h
Pt,Pr
0001h
-
z:electromagnetic brake enabled option
0:disabled
1:enabled. (Motor with electromagnetic brake applied)
PA02 ATUM
PA03
ATUL
u:DI/DO setting option
0:Functions of DI/DO are fixed as user defined no matter what
control mode switched.
1:Functions of DI/DO are changed as control mode switched.
Pin functions are decided by servo drive automatically.
Gain tuning mode option:
0 0 0 x
x:gain tuning mode option
0:manual-gain tuning(PI control)
1: manual-gain tuning(PI control + interference compensator)
2: Auto-gain tuning(load inertia ratio and bandwidth estimated)
3: Auto-gain tuning(fixed load inertia ratio)
4:Interpolation mode(PB37 is fixed, other gain value estimated)
-
Auto-tuning response level setting:
0
0
0
x
x:response level setting
Response level
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
Rigidity
low
middle
high
Response frequency
5Hz
10 Hz
15 Hz
20 Hz
30 Hz
40 Hz
55 Hz
70 Hz
85 Hz
100 Hz
130 Hz
160 Hz
200 Hz
250 Hz
300 Hz
117
S,T
~000Fh
-
No
PA04
Abbr.
HMOV
Function description
Control
Setting
mode
range
Unit
Home moving option:
u z y x
x:origin detector and rotation option
0:ORGP detector in CCW rotation
1:ORGP detector in CW rotation
2:Encoder Z pulse detector in CCW rotation
3:Encoder Z pulse detector in CW rotation
y:origin attained shortcut moving option
0:motor turns back to last Z pulse to attain
1:motor goes ahead to next Z pulse to attain
2:origin recognized right away
Pr
0000h
~2123h
-
z:origin recognized completion option
0:motor decelerates to stop then return to the mechanism origin
1:motor decelerates to stop
u:trigger option
0:home moving function disabled
1:automatically executes after power on
2:SHOM signal as the trigger source
PA05
TL1
Inner torque limit 1:
Motor generated torque is restricted by this parameter which
unit is %. The generated torque is calculated as below.
Torque limit value = maximum torque *PA05
TL signal is used to select PA05 or analog TLA as limit value.
TL1 signal enables the PC25 to compare with PA05 or TLA.
If the TL1 and SG are open-circuit, the valid torque limit is:
TL-SG
The valid torque limit
open-circuit
PA05
short-circuit
If TLA < PA05, limit value=TLA
If TLA > PA05, limit value=PA05
Pt,Pr
0000h
S
~0003h
-
If the TL1 and SG are short-circuit, the valid torque limit is:
TL-SG
The valid torque limit
open-circuit
If PC25 < PA05, limit value=PC25
If PC25 > PA05, limit value=PA05
short-circuit
If PC25 < TLA, limit value=PC25
If PC25 > TLA, limit value=TLA
PA06
CMX
Electronic gear numerator
See section 6.4.4 for more details.
Pt,Pr
PA07
CDV
Electronic gear denominator
The improper setting could lead to unexpected fast rotation so
make sure to set them in the state of SERVO OFF.
The proper range setting is:
1 CM X
(electronic gear ratio) ≤ 200
≤
50 CDV
118
Pt,Pr
1
~32767
1
~32767
-
-
No
Abbr.
Function description
PA08 HSPD1 Home moving high speed option 1
As home moving action is triggered, motor runs at the PA08
speed to search the origin. See section 13.2 for more details.
PA09 HSPD2 Home moving high speed option 2
As the origin is acknowledged, motor would keep running or
turns back at the PA09 speed to search the Z phase pulse. See
section 13.2 for more details.
PA10
PA11
PA12
PA13
HOF1
HOF2
INP
PLSS
Home moving revolution offset
If this value is not zero, the origin would be acknowledged after
two conditions satisfied: 1. ORGP or Z pulse attained. 2. PA10
offset value attained.
Home moving pulse offset
If PA10 and PA11 are not zero, The total offset pulses are:
(HOF1 x 10000) + HOF2 pulses
After ORGP or Z phase pulse attained, this offset value should
be attained then the origin would be acknowledged.
In-position range
To define the permissible pulse error range of position pulse
commands. As positioning operation done, the INP signal of
DO would output.
Setting value of Control mode option:
0 z y x
x:pulse-train format select
0:forward/reverse rotation pulse train
1:pulse train + sign
2:A/B phase pulse train
y:acknowledged logic
0:positive logic
1:negative logic
z:permissible pulse frequency option
0:500kpps or less
1:200kpps or less
Here is an example.
Forward
Pulse format
PP
y=0
x=0
NP
To see section 6.4.1 for more details.
119
Control
Setting
mode
range
Pr
1
~2000
rpm
Pr
1
~500
rpm
Pr
-30000
~+30000
rev
Pr
-30000
~+30000
rev
Pt,Pr
0
~10000
pulse
Pt
Reverse
Unit
0000h
~0112h
-
No
Abbr.
Function description
PA14
ENR
Encoder output pulses
Used to set the A/B-phase pulses encoder output by the drive.
Users could use parameter PA39 to choose the output pulse
setting or output division ratio setting. Set the value 4 times
greater than the A-phase or B-phase pulses. The number of
A/B-phase pulses actually output is 1/4 times greater than the
preset number of pulses. The maximum output frequency is
500kpps. (after multiplication by 4). Use this parameter within
this range.
For output pulse setting
Set " □0□□ " (initial value) in parameter PA39.
Set the number of pulses per servo motor revolution.
At the setting of 1024, for example, the actually output pulses
per motor revolution is 1024.
Control
Setting
mode
range
Pt,Pr
S,T
Unit
1
pulse/rev
~10000
For output division ratio setting
Set " □1□□ " in parameter PA39.
Set the output division ratio(PA14) per motor revolution.
Output pulses =
Resolution per motor revolution
PA14 setting value
At the setting of 2, for example, the actually output pulses per
motor revolution is (10000/2)=5000.
PA15
PA16
PA17
PA18
PA19
PA20
PA21
PA22
PO1H
PO1L
PO2H
PO2L
PO3H
PO3L
PO4H
PO4L
Revolution of inner position command 1
There are 8 sets of inner register position command. Every set
is composed of revolution and pulse. As PA15 and PA16 are
applied, for example, the total pulses of inner position
command is:
(PA15 x 10000) + PA16 pulses
Pulse of inner position command 1
Pr
-30000
~+30000
rev
Pr
-9999
~+9999
pulse
Pr
-30000
~+30000
rev
Pr
-9999
~+9999
pulse
Pr
-30000
~+30000
rev
Pr
-9999
~+9999
pulse
Pr
-30000
~+30000
rev
Pr
-9999
~+9999
pulse
Revolution of inner position command 2
Pulse of inner position command 2
Revolution of inner position command 3
Pulse of inner position command 3
Revolution of inner position command 4
Pulse of inner position command 4
120
No
Abbr.
PA23
PO5H
PA24
PA25
PA26
PA27
PA28
PA29
PA30
PA31
PA32
PA33
PA34
PA35
PA36
PA37
PA38
PO5L
PO6H
PO6L
PO7H
PO7L
PO8H
PO8L
POV1
POV2
POV3
POV4
POV5
POV6
POV7
POV8
Function description
Control
Setting
mode
range
Revolution of inner position command 5
Pr
-30000
~+30000
rev
Pr
-9999
~+9999
pulse
Pr
-30000
~+30000
rev
Pr
-9999
~+9999
pulse
Pr
-30000
~+30000
rev
Pr
-9999
~+9999
pulse
Pr
-30000
~+30000
rev
Pr
-9999
~+9999
pulse
Pr
1
~3000
rpm
Pr
1
~3000
rpm
Pr
1
~3000
rpm
Pr
1
~3000
rpm
Pr
1
~3000
rpm
Pr
1
~3000
rpm
Pr
1
~3000
rpm
Pr
1
~3000
rpm
Pulse of inner position command 5
Revolution of inner position command 6
Pulse of inner position command 6
Revolution of inner position command 7
Pulse of inner position command 7
Revolution of inner position command 8
Pulse of inner position command 8
Moving speed of inner position command 1
There are 8 sets of inner register position command. Every set
has its speed command to approach the goal position.
Moving speed of inner position command 2
Moving speed of inner position command 3
Moving speed of inner position command 4
Moving speed of inner position command 5
Moving speed of inner position command 6
Moving speed of inner position command 7
Moving speed of inner position command 8
121
Unit
No
Abbr.
Function description
PA39
POL
Motor rotary direction option
The relation among motor rotary direction and input command
pulse-train direction and encoder output pulse direction is
described below.
0 z y x
x:input pulse-train and motor rotary direction option
x
0
1
Control
Setting
mode
range
Pr, Pt
S,T
0000h
~0111h
-
Pr, Pt
S,T
0000h
~00FFh
-
Pt,Pr
S,T
0000h
~0006h
-
Pt,Pr
0
10 pulse
~32767
Unit
motor rotary direction
forward pulse-train input
reverse pulse-train input
CCW
CW
CW
CCW
y:motor rotary direction and encoder pulse output option
y
motor CCW rotation
motor CW rotation
0
1
z:encoder output option
0:output pulse
1:output division ratio
PA40
PA42
SPW
BLK
Special parameter write-enable
As this parameter is set as 0088h, the drive would take 2
seconds to recover factory-set. This change is valid by power
off once and power on again.
Parameter read/write inhibit option
PA42
PA□□
Parameter group
PB□□
PC□□
0000h
0001h
0002h
R/W enable
R/W enable
0003h
R/W inhibit
0006h
R/W enable
R/W inhibit
R/W inhibit
0004h
0005h
R/W enable
PD□□
R enable
W inhibit(*)
R enable
W inhibit
R/W inhibit
(*) PA42 is excepted, it is write-able.
PA43
OVPE
Output of position error excess
When the position error is over this PA43 setting value, servo
drive would output the alarm of position error excess.(AL08)
122
Control
Setting
mode
range
No
Abbr.
Function description
PB01
NHF1
Machine resonance suppression filter 1
To set a specific frequency which the control gain is decreased
to suppress the mechanism resonance.
See section 6.3.6 for more details.
Pt,Pr
S,T
50
~1000
Hz
Machine resonance suppression attenuation 1
To set the attenuation at the frequency of PB01 setting.
The setting of “0” value denotes the disabled of this notch filter.
Pt,Pr
S,T
0
~32
dB
PB02
NHD1
PB03
NLP
Resonance suppression low-pass filter
To set low-pass filter time constant to suppress resonance.
PB04
PST
PB05
FFC
Pt,Pr
S,T
0
0.1mS
~10000
Position command filter time constant
Used to smooth the running of motor in position control mode.
See section 6.4.3 for more details.
Pt,Pr
0
~20000
Position feed-forward gain
To reduce the position error and position settling time, but if the
value is set too large, a sudden acceleration or deceleration
may cause overshoots.
Pt,Pr
0
0.0001
~20000
Pt,Pr
S
0
0.1time
~1200
Pt,Pr
4
~1024
rad/s
Pt,Pr
S
40
~4096
rad/s
Pt,Pr
S
1
~1000
mS
PB06
GD1
The ratio of load inertia to motor shaft (load inertia ratio)
See section 5.3.3 for more details.
PB07
PG1
Position loop gain
Used to decide response level of position loop. Increasing PG1
improves traceability, but a too high value makes overshooting
or vibration occurred. When auto-gain tuning mode is applied,
PB07 would be set according to the result of inertia estimation.
Speed loop gain
Increasing VG1 improves traceability to a speed command but
a too high value will make machine resonance.
When auto-gain tuning mode is applied, PB08 would be set
according to the result of gain tuning.
Speed integral gain
The PB09 is used to eliminate stationary deviation against a
command.
PB08
PB09
PB10
PB11
PB12
VG1
VIC
VFG
CDP
CDS
Unit
mS
Speed feed-forward gain
To set the proper gain would reduce the tracking time of speed
command. Also, a too big value would cause overshoots during
the sudden acceleration/deceleration command.
Pt,Pr
S
0
0.0001
~20000
Gain switch option
0 0 0 x
x:changing condition
0:Invalid
1:Gain switched as the CDP signal of DI is ON
2:Position command frequency >= CDS(PB12) setting
3:Position command pulse error >= CDS(PB12) setting
4:Motor speed >= CDS(PB12) setting
See section 6.3.7 for more details.
Pt,Pr
S
0000h
~0004h
Gain switch condition value
The unit of CDS value is varied(kpps,pulse,rpm) according to the
settings of CDP.
Pt,Pr
S
0
depends
~60000
123
-
Control
Setting
mode
range
No
Abbr.
Function description
PB13
CDT
Gain switch time constant
Used to smooth the motor running at gain switching moment to
suppress vibration if the gain difference is large.
Pt,Pr
S
0
~1000
The ratio 2 of load inertia to motor shaft
Set the demand ratio of load inertia to motor shaft after
switching. This value is valid as gain switch function preformed.
Pt,Pr
S
0
0.1time
~1200
Position loop gain change ratio
The gain values would be changed as:
gain after switched = (PG1 or VG1 or VIC) x PB15(%)
Pt,Pr
10
~200
%
Pt,Pr
S
10
~200
%
Pt,Pr
S
10
~200
%
S,T
0
~1000
mS
T
0
~5000
mS
PB14
PB15
GD2
PG2
Unit
mS
These changes are valid only if auto-gain tuning disabled.
PB16
VG2
Speed loop gain change ratio
PB17
VIC2
Speed integral gain change ratio
PB18
SFLT
Speed low-pass filter smooth time constant
Larger value would make the response slow down obviously. If
it is set as zero, this function is disabled.
The required time to catch the command is 5-time of SELT.
PB19
TQC
Torque command filter time constant
Larger value would make the response slow down obviously. If it
is set as zero, this function is disabled.
The required time to catch the command is 5-time of TQC.
124
No
Abbr.
PB20
SJIT
PB21
PB22
PB23
PB24
NHF2
NHD2
MVS
VDC
Function description
Speed feedback filter time constant
Used to set the filter time constant of motor speed feedback.
Machine resonance suppression filter 2
The secondary option of notch filter frequency to suppress the
mechanism resonance.
See section 6.3.6 for more details.
Machine resonance suppression 2
The secondary option of notch filter attenuation.
Micro-vibration suppression option
0 0 0 x
x:option
0:default
1:micro-vibration suppression enabled
2:micro-vibration suppression disabled
Speed differential compensation
125
Control
Setting
mode
range
Unit
Pt,Pr
S,T
0
0.1mS
~1000
Pt,Pr
S,T
50
~1000
Hz
Pt,Pr
S,T
0
~32
dB
Pt,Pr
0000h
~0002h
-
Pt,Pr
S
0
~1000
-
No
Abbr.
Function description
PC01
STA
Acceleration time constant
This parameter is the time spent for the motor from 0 rpm to the
rated speed and it is defined as “acceleration time constant”.
See section 6.3.3 for more details.
PC02
PC03
PC04
PC05
PC06
PC07
PC08
PC09
PC10
PC11
STB
STC
JOG
SC1
SC2
SC3
SC4
SC5
SC6
SC7
Control
Setting
mode
range
Unit
Pr
S,T
0
~20000
mS
Pr
S,T
0
~20000
mS
Pr
S,T
0
~10000
mS
JOG speed command
As JOG mode applied, this PC04 is used as speed command.
See section 4.5.3 for more details.
Pt,Pr
S,T
0
~4500
rpm
Inner speed command/limit 1
For speed control, PC05 is used as inner speed command 1.
For torque control, PC05 is the speed limit and directionless.
S,T
-4500
~+4500
rpm
S,T
-4500
~+4500
rpm
S,T
-4500
~+4500
rpm
S,T
-4500
~+4500
rpm
S,T
-4500
~+4500
rpm
S,T
-4500
~+4500
rpm
S,T
-4500
~+4500
rpm
Deceleration time constant
The time spent for the motor to decelerate from the rated speed
to 0 rpm is called “deceleration time constant”.
S-pattern acceleration/deceleration time constant
The S-pattern acceleration/deceleration function is to employ a
three-step curve of acceleration or deceleration moving to
soothe the vibration during starting or stopping the motor.
Inner speed command/limit 2
For speed control, PC06 is used as inner speed command 2.
For torque control, PC06 is the speed limit and directionless.
Inner speed command/limit 3
For speed control, PC07 is used as inner speed command 3.
For torque control, PC07 is the speed limit and directionless.
Inner speed command/limit 4
For speed control, PC08 is used as inner speed command 4.
For torque control, PC08 is the speed limit and directionless.
Inner speed command/limit 5
For speed control, PC09 is used as inner speed command 5.
For torque control, PC09 is the speed limit and directionless.
Inner speed command/limit 6
For speed control, PC10 is used as inner speed command 6.
For torque control, PC10 is the speed limit and directionless.
Inner speed command/limit 7
For speed control, PC11 is used as inner speed command 7.
For torque control, PC11 is the speed limit and directionless.
126
No
Abbr.
Function description
PC12
VCM
Output speed of maximum analog command
This value decides the output speed while the maximum
permissible voltage is applied.
applied voltage of speed command
output speed =
× PC12
10
Control
Setting
mode
range
S
Unit
0
~30000
See section 6.3.2 for more details.
rpm
When torque mode is applied, this parameter would become
speed limit as the maximum permissible voltage applied.
speed limit =
applied voltage of torque command
× PC12
10
T
0
~30000
S,T
0
~2000
%
Pt,Pr
S,T
0000h
~0707h
-
S,T
0
~1000
mV
Pt,Pr
S,T
0
~1000
mS
Pt,Pr
S,T
0
~10000
rpm
Pt,Pr
S,T
0000h
~0011h
-
Pt,Pr
S,T
0000h
~0001h
-
See section 6.2.5 for more details.
PC13
TLC
Torque generated of maximum analog command
See section 6.2.1 for more details.
PC14
MOD
Analog monitor output
There are 2 channels of analog monitor provided for users to
check the required signals, see section 6.6.2 for more details.
PC15
PC16
PC17
PC18
PC19
SVZR
MBR
ZSP
COP1
COP2
Speed analog zero voltage acknowledged range
Treat the applied voltage which is less than PC15 as zero
speed command.
Electromagnetic brake output delay time
The parameter PC16 could be used to decide the delay time of
the SON signal off to the MBR signal activated.
See section 6.6.3 for more details.
Zero speed acknowledged range
As motor feedback speed is less than the setting value of
PC17, the servo drive would treat it as zero speed and the ZSP
of DO would be outputted.
Stop option and power interruption restart option
The voltage level drop would cause drive to alarm and stop.
Auto-restart function could be applied by the setting of PC18.
0 0 y x
x:power interruption restart option
0:invalid
1:valid
y:motor stop option
0:stops instantaneously
1:decelerates to stop
Alarm history clear option
0 0 0 x
x=0:does not clear
x=1:to clear the histories after power off once and restart
127
Control
Setting
mode
range
No
Abbr.
Function description
PC20
SNO
Communication device number
To set different device number for varied devices is necessary.
If two drives occupy the same number, the communication
could not be performed.
Pt,Pr
S,T
1
~32
-
Communication mode option
0 0 y x
x:mode option
0:RS-232C
1:RS-485
y:communication reply delay time
0:reply within 1 mS
1:reply after 1 mS
Pt,Pr
S,T
0000h
~0011h
-
Communication protocol option
See section 8.2 for more details.
Pt,Pr
S,T
0000h
~0058h
-
Pt,Pr
S,T
0
~60
S
Pt,Pr
S,T
0000h
~001Fh
-
PC21
PC22
PC23
PC24
CMS
BPS
SIC
DMD
Communication time-out process option
Time-out inspection could be set from 1 to 60 seconds. If it is
set as 0, the inspection function is invalid.
Status display option
0 0 y x
x:display option after power on
0:Motor feedback pulse
1:Motor feedback revolution
2: Cumulative pulses of command
3: Cumulative turns of command
4: Accumulative pulses error
5: Command pulse frequency
6: Motor speed
7: Speed analog command/limit voltage
8: Speed input command/limit
9: Torque analog command/limit voltage
A: Torque input command/limit
B: Effective load ratio
C: Peak load ratio
D: DC bus voltage
E: The ratio of load inertia to motor shaft
F: Instantaneous torque
y:assigned display after power on
0:display option according varied control modes
1:display option according the x-digit of PC24
Control mode
position
Initial display after power on
motor feedback pulse
position/speed motor feedback pulses/motor speed
speed
motor speed
speed/torque
motor speed / torque analog command
torque
torque analog command
torque/position torque analog command/motor feedback pulse
128
Unit
No
Abbr.
PC25
TL2
PC26
PC27
VCO
TLO
Function description
Inner torque limit 2
Refer to description of PA05.
%
S,T
-8000
~+8000
mV
Pt,Pr
S,T
-999
~+999
mV
Pt,Pr
S,T
-999
~+999
mV
Pt,Pr
S,T
0
~100
%
Pt,Pr
S,T
0
~100
%
Pt,Pr
1
~32767
-
Pt,Pr
1
~32767
-
Pt,Pr
1
~32767
-
S,T
0
~20000
mV
Built-in brake resistor protection
When the active time of brake resistor exceeds this PC36 value,
AL.04 would be occurred. If PC36 is set to 0, the protection is
invalid. Refer to section 10.2 for alarm troubleshooting.
(1) If the AL04 is occurred frequently, please refer to Section 10.2.
(2) If external brake resistor is applied, please refer to section 14.2
to set the PC36 value with a chosen brake resistor capacity.
Pt,Pr
S,T
0
~2000
ms
Memory write-in protection
"0" means that parameter settings can be written into EEPROM.
"1" means that the settings will not be written into EEPROM. Once
the drive is power off, the parameter modification will be vaporized.
It can prevent EEPROM damaged due to frequently operation. The
PC37 will recovered to "0" after power on.
Pt,Pr
S,T
0
~1
Analog monitor ch2 offset
See section 6.6.2 for more details.
Analog monitor ch1 output proportion
Used to set output ratio of monitor signal to be viewed.
See section 6.6.2 for more details.
Analog monitor ch2 output proportion
PC32
CMX2
Electronic gear numerator 2
Refer to the description of PA06.
PC33
CMX3
Electronic gear numerator 3
PC34
CMX4
Electronic gear numerator 4
PC35
VCL
MCS
0
~100
Torque analog command/limit offset
Used to “compensate ” the analog offset for a zero command.
Torque analog command(TC) is corrected for torque control
mode. Torque output analog limit(TLA) is corrected for speed
control mode. Refer to section 4.5.5 for more details.
MO2
PC37
Pt,Pr
S,T
Unit
mV
PC29
BRP
range
-8000
~+8000
Analog monitor ch1 offset
See section 6.6.2 for more details.
PC36
mode
S,T
MO1
PC31 MOG2
Setting
Speed analog command/limit offset
Used to “compensate ” the analog offset for a zero command.
Speed analog command(VC) is corrected for speed control.
Speed analog limit(VLA) is corrected for torque control mode.
Refer to section 4.5.5 for more details.
PC28
PC30 MOG1
Control
VC input voltage limit
Used to limit the range of speed analog command(VC). “0”
denotes no limit. A 5000 setting of PC35 as an example: even
the actual analog command is 10V, the drive would recognize
that the maximum input voltage is only 5V.
129
-
No
Abbr.
PD01
DIA1
PD02
PD03
PD04
PD05
PD06
PD07
PD08
PD09
PD10
DI1
DI2
DI3
DI4
DI5
DI6
DI7
DI8
DO1
Function description
Digital input signal auto-ON option 1
u z y x
x:SON open/short option
0:controlled by external actual wiring
1:SON-SG is short-circuit without actual wiring
y:LSP open/short option
0:controlled by external actual wiring
1:LSP-SG is short-circuit without actual wiring
z:LSN open/short option
0:controlled by external actual wiring
1:LSN-SG is short-circuit without actual wiring
u:EMG open/short option
0:controlled by external actual wiring
1:EMG-SG is short-circuit without actual wiring
Digital input 1 option
The 8 DI input pins of CN1 are programmable. The preset pin
functions are different corresponding to varied control modes.
See section 3.3.2 for more details.
Digital input 2 option
Digital input 3 option
Digital input 4 option
Digital input 5 option
Digital input 6 option
Digital input 7 option
Digital input 8 option
Digital output 1 option
The 5 DO output pins of CN1 are programmable. The preset
pin functions are different corresponding to varied control
modes. See section 3.3.2 for more details.
Control
Setting
mode
range
Pt,Pr
S,T
0000h
~1111h
-
Pt,Pr
S,T
0000h
~001Fh
-
Pt,Pr
S,T
0000h
~001Fh
-
Pt,Pr
S,T
0000h
~001Fh
-
Pt,Pr
S,T
0000h
~001Fh
-
Pt,Pr
S,T
0000h
~001Fh
-
Pt,Pr
S,T
0000h
~001Fh
-
Pt,Pr
S,T
0000h
~001Fh
-
Pt,Pr
S,T
0000h
~001Fh
-
Pt,Pr
S,T
0000h
~000Fh
-
Unit
PD11
DO2
Digital output 2 option
Pt,Pr
S,T
0000h
~000Fh
-
PD12
DO3
Digital output 3 option
Pt,Pr
S,T
0000h
~000Fh
-
PD13
DO4
Digital output 4 option
Pt,Pr
S,T
0000h
~000Fh
-
PD14
DO5
Digital output 5 option
Pt,Pr
S,T
0000h
~000Fh
-
130
No
Abbr.
PD15
DIF
PD16
PD17
PD18
PD19
IOS
DOP1
DOP2
DOP3
Function description
Control
Setting
mode
range
Unit
Digital input filter time option
0 0 0 x
x:filter time constant
0:invalid
1:2mS
2: 4mS
3: 6mS
Pt,Pr
S,T
0000h
~0003h
-
Digital input on/off state control option
0 0 0 x
x:state control option
0:controlled by external input signals
1: controlled by communication software
Pt,Pr
S,T
0000h
~0001h
-
LSP/LSN triggered stop option
0 0 0 x
x:motor stop option
0:stops immediately
1:decelerates to stop according to PC02,PC03
Pt,Pr
S
0000h
~0001h
-
Pt,Pr
0000h
~0002h
-
Pt,Pr
S,T
0000h
~001Fh
-
CR signal clear option
As CR signal is activated, the deference between position
pulses and motor feedback pulses would be cleared.
0 0 0 x
x:clear option
0:CR rising edge trigger
1: keeps clearing while CR=1
2:As CR is triggered, the motor would decelerate to stop. The
remainder of pulse commands would be neglected. If
CTRG signal triggered, the present commands would be
executed. Here is the process chart.
Alarm code output option
0
0
0
x
x:output option
0:output definition according to PD10 ~ PD14
1: to show alarm codes while alarms occurred;
see section 10.1 for detail
131
Control
Setting
mode
range
No
Abbr.
Function description
PD20
DOP4
Alarm reset triggered process
0 0 0 x
x:clear option
0:PWM signal off(If the motor is running, it would coast to
stop. If the motor is shaft-lock, it would become rotatable.)
1:invalid
Pt,Pr
S,T
0000h
~001Fh
-
Digital input signal auto-ON option 2
0 0 y x
x:TL open/short option
0:controlled by external actual wiring
1:TL-SG is short-circuit without actual wiring
y:SP1 open/short option
0:controlled by external actual wiring
1:SP1-SG is short-circuit without actual wiring
Pt,Pr
S,T
0000h
~0011h
-
PD21
DIA2
132
Unit
Digital input(DI) function definition
Sign
Setting
Value
Functions/Applications description
SON
0x01
As this signal is on, the servo drive is ready to be operated.
RES
0x02
As particular alarm occurred, this signal recover from an abnormal status.
PC
0x03
This signal could switch proportion-integral speed control to proportion one.
TL
0x04
This signal could switch torque limit from inner limit 1 to external analog limit.
TL1
0x05
Turn TL1-SG on to make inner torque limit 2 valid.
SP1
0x06
Speed command/limit option 1.
SP2
0x07
Speed command/limit option 2.
SP3
0x08
Speed command/limit option 3.
ST1/RS2
0x09
In speed control mode, drive will rotate “forward” when the signal activated.
In torque control mode, drive will rotate “reverse” when the signal activated.
ST2/RS1
0x0A
In speed control mode, drive will rotate “ reverse” when the signal activated.
In torque control mode, drive will rotate “ forward” when the signal activated.
ORGP
0x0B
In position control with inner registers, the arbitrary position could be assigned as the
origin when this signal activated.
SHOM
0x0C
As this signal activated, the drive runs motor to return the present origin.
CM1
0x0D
Electronic gear numerator option 1
CM2
0x0E
Electronic gear numerator option 2
CR
0x0F
Used to clear the position command pulse errors on its rising edge.
CDP
0x10
Turn CDP on to change the gain into the multiplier of PB14 to PB17.
LOP
0x11
It is used to switch varied mode as hybrid control mode applied.
EMG
0x12
Turn it off to bring to an emergency stop and turn it on to reset that state.
POS1
0x13
Position command option 1
POS2
0x14
Position command option 2
POS3
0x15
Position command option 3
CTRG
0x16
Used to switch the 8 inner register position commands.
HOLD
0x17
As this signal activated, the motor would stop running when the Pr mode is applied.
LSP
0x18
Limit of forward rotation route
LSN
0x19
Limit of reverse rotation route
133
Digital output(DO) function definition
Sign
Setting
Value
Functions/Applications description
RD
0x01
As the drive is ready to be operated, RD-SG would become conductive.
ALM
0x02
ALM-SG is isolated as power off or protection activated to cut off the main circuit.
Without alarm occurring, ALM-SG would turn on after power on 1 second latter.
INP/SA
0x03
In position mode, INP-SG is conductive as position errors is under permissible range.
In speed mode, SA-SG is conductive as the motor speed has nearly attained.
HOME
0x04
HOME-SG is on after the completion of home moving.
In speed mode, TLC-SG is on as motor generated torque reaches inner torque limit or
torque analog limit. TLC-SG is off when SON signal is turned off.
TLC/VLC
0x05
In torque mode, VLC-SG is on as motor speed reaches inner speed limit or speed
analog limit. VLC-SG is off when SON signal is turned off.
MBR
0x06
When using this signal, make it usable by setting parameter PA01 as □1□□. MBR
is off as the power is turned off or any alarm occurred.
WNG
0x07
WNG-SG is conductive as any warning occurred. Without warning occurring,
WNG-SG is isolated.
ZSP
0x08
When motor speed is under the preset of zero speed, ZSP-SG keeps conductive.
CMDOK
0x09
CMDOK-SG is conductive as the inner position command is completed or stopped.
134
8.
Communication functions
8.1. Communication interface and wiring
The Shihlin servo drive equips the RS-232C, RS-485 and plug-play USB serial communication
functions. These functions could be used to perform servo operation, parameter changing, monitor
function, etc. However, the RS-232C and RS-485 communication could not be used simultaneously.
Use the parameter PC21 to select between RS-232C and RS-485. The wiring is demonstrated below.
RS-232C
(1) Outline:
One device applied.
(2) Wiring diagram:
(*1): CN3 connector is the RJ-45 type.
(*2): Suitable for the environment with less noise interference. If communication transmission
speed is higher than 38400bps, use the wires shorter than 3m.
135
RS-485
(1) Outline:
Up to 32 devices of servo drives from stations 1 to 32 could be operated on the same bus.
(2) Wiring diagram:
Recommendation: To connect ground terminal of RS-485/RS-232 converter and GND(pin4,pin5) of
CN3 could reduce communication failure if necessary.
USB
(1) Outline:
Use the standard Mini-USB cable to perform.
136
8.2. Relevant parameters of communication
As RS-232C/RS-485 communication is performed, the related settings are described below.
(1) Communication device number(PC20)
Name
Abbr.
Sign
Communication device number
SNO
PC20
Setting
Description
range
1
~32
If two drives occupy the same device number,
the communication could not be performed.
(2) Mode option(PC21)
0 0 0 x
0:RS-232C
1:RS-485
(3) Communication reply time delay(PC21)
0 0 y 0
0:replay within 1mS
1:replay after 1mS
(4) Communication protocol option(PC22)
0 0 0 x
0:7 data bit, No parity, 2
1:7 data bit,Even parity, 1
2:7 data bit, Odd parity, 1
3: 8 data bit, No parity, 2
4: 8 data bit,Even parity, 1
5: 8 data bit, Odd parity, 1
6: 8 data bit, No parity, 2
7: 8 data bit,Even parity, 1
8: 8 data bit, Odd parity, 1
stop bit
stop bit
stop bit
stop bit
stop bit
stop bit
stop bit
stop bit
stop bit
(Modbus,ASCII Mode)
(Modbus,ASCII Mode)
(Modbus,ASCII Mode)
(Modbus,ASCII Mode)
(Modbus,ASCII Mode)
(Modbus,ASCII Mode)
(Modbus,RTU Mode)
(Modbus,RTU Mode)
(Modbus,RTU Mode)
(5) Baud rate(PC22)
0 0 y 0
0: 4800 bps
1: 9600 bps
2: 19200 bps
3: 38400 bps
4: 57600 bps
5:115200 bps
NOTE:
As USB communication function is applied, it would work only to set the proper device number.
137
8.3. Modbus protocol
When communication between a computer and several drives is going to be performed, every
drive should has its device number of PC20 setting. Then the computer could control individual drive
according to its device number. The protocol of Shihlin drive is Modbus protocol. There are two modes :
ASCII(American Standard Code for information interchange) mode and RTU (Remote Terminal Unit)
mode,users could change the mode by setting the PC22 value.
A. ASCII mode
(a) Coding signification
A 8-bit data(a byte) is expressed with 2 ASCII character. For example, 75h is expressed with ASCII
code “37h” and ASCII code “35h”.The ASCII codes ‘0’ to ‘9’ and ‘A’ to ‘F’ are listed below.
Character
‘0’
‘1’
‘2’
‘3’
‘4’
‘5’
‘6’
‘7’
ASCII code
30h
31h
32h
33h
34h
35h
36h
37h
Character
‘8’
‘9’
‘A’
‘B’
‘C’
‘D’
‘E’
‘F’
ASCII code
38h
39h
41h
42h
43h
44h
45h
46h
(b) frame signification
11-bit frame(suitable for 8-bit data length)
10-bit frame(suitable for 7-bit data length)
138
(c) Data packet structure
Byte sign
Name
Description
STX
Start code
ADR
Device number
1 byte is composed of 2 ASCII code bytes.
CMD
Command code
1 byte is composed of 2 ASCII code bytes.
“:”(ASCII code 3Ah)
DATA(n-1)
………
Data code
The length of n words is equal to the one of 2n bytes.(n<=29)
So, there are 4n ASCII code bytes.
DATA(0)
LRC
LRC check value
1 byte is composed of 2 ASCII code bytes.
End1
End code 1
“CR”(ASCII code 0Dh)
End0
End code 0
“LF”( ASCII code 0Ah)
Communication data formats are described below.
STX
“ : ” character
ADR
The address code is from 1 to 32. For example,the expression of number 18(hexadecimal 12h) is
divided into “1” and “2” in ASCII code. The address code 18 is expressed as 31h and 32h.
CMD and DATA
The DATA are varied according to different Command codes. To read 2 words which start address is
0100h from device number 1 as an example is described below.
Command code: 03h, read data
Command(host):
Response(slave):
STX
ADR
CMD
:
STX
‘0’
ADR
‘1’
‘0’
CMD
‘3’
‘0’
DATA
start address
byte length
‘1’
‘0’
word length
DATA
‘0’
content of
address 0100h
content of
address 0101h
‘9’
0Dh
End0
0Ah
‘0’
‘3’
‘0’
‘4’
‘1’
‘0’
‘1’
‘F’
End1
‘1’
‘2’
‘0’
‘2’
LRC
‘0’
‘0’
‘0’
‘0’
:
‘2’
‘2’
‘1’
LRC
139
‘C’
‘2’
End1
0Dh
End0
0Ah
Command code: 06h, write data
To write “100”(0064h) into the drive which device number is 17 and start address is 0150h.
Command(host):
Response(slave):
STX
ADR
CMD
:
STX
‘1’
ADR
‘1’
‘0’
CMD
‘6’
‘0’
‘1’
start address
‘5’
‘0’
‘0’
written data
(word)
‘1’
‘0’
‘6’
‘0’
‘5’
‘0’
written data
(word)
‘6’
‘1’
‘0’
‘4’
LRC
‘1’
‘0’
DATA
DATA
start address
:
‘0’
‘6’
‘4’
‘3’
LRC
‘4’
‘3’
‘4’
End1
0Dh
End1
0Dh
End0
0Ah
End0
0Ah
LRC calculation:
ASCII mode uses LRC(Longitudinal Redundancy Check) to detect errors. LRC method computes the
2's complement of the sum from ADR code to the last data code. The 2's complement is a byte value
which the overflow part neglected. Here is an case to describe the rule.
ADR
CMD
DATA
start address
‘1’
Calculation of LRC detection value:
‘1’
‘0’
1.To compute the sum of ADR code to last data code.
‘6’
‘C’
2.If the sum is byte-overflow, neglect the overflow part.
166h=66h
3.Compute the 2's complement.
100h-66h=9Ah
4.”9Ah” is the LRC detection value.
‘1’
‘2’
11h+06h+C1h+2Ah+00h+64h=166h
‘A’
‘0’
data written
(word)
‘0’
‘6’
‘4’
LRC
‘9’
‘A’
End1,End0 (data packet ended):
Use “0Dh” and “0Ah” to denote the end of communication data packet.
140
B. RTU mode
(a) Coding signification
Data are expressed in hexadecimal characters. For example, “168” is expressed as A8h, “99” is
expressed as 63h.
(b) Data packet structure
Byte sign
Name
Description
Start
-
ADR
Device number
1 byte
CMD
Command code
1 byte
To keep an idle more than 6mS
DATA(n-1)
Data code
………
n words is equal to 2n bytes.(n<=29)
DATA(0)
CRC_L
CRC value low byte
Low byte of CRC check code
CRC_H
CRC value high byte
High byte of CRC check code
End
-
To keep an idle more than 6mS
Start
To keep an idle more than 6mS.
ADR
The address code is from 1 to 32. For example,number “17” is expressed as 11h.
CMD and DATA
The DATA are varied according to different Command codes.
Command code: 03h, read data
For example, to read 2 words which start address is 0200h from device number 1 is described below.
Command(host):
Response(slave):
ADR
01h
ADR
01h
CMD
03h
CMD
03h
02h
byte length
04h
start address
DATA
DATA
00h
00h
word length
02h
CRC_L
C5h
CRC_H
B3h
content of
address 0200h
content of
address 0201h
141
00h
B1h
1Fh
40h
CRC_L
A3h
CRC_H
D4h
Command code: 06h, write data
For example, to write “100”(0064H) into the drive which device number 1 and start address 0200h.
Command(host):
Response(slave):
ADR
01h
ADR
01h
CMD
06h
CMD
06h
02h
02h
start address
start address
00h
DATA
DATA
00h
00h
written data
00h
written data
64h
64h
CRC_L
89h
CRC_L
89h
CRC_H
99h
CRC_H
99h
CRC calculation:
RTU mode uses CRC(Cyclical Redundancy Check) to detect errors.
CRC method to decide the check value is described below.
Step 1: Load a 16-bit register (called CRC register) with FFFFh.
Step 2: Exclusive OR the first 8-bit byte of the command message with the lower byte of CRC register,
putting the result in the CRC register.
Step 3: Check the LSB of CRC register. If it is 0, shift the CRC register one bit to the right. If it is 1, shift
the CRC register one bit to the right then Exclusive OR the CRC register with A001h.
Step 4: Repeat step 3 until eight shifts have been performed. When this is done, a complete 8bit byte will have been processed, then perform step 5.
Step 5: Repeat step 2 to step 4 for the next 8-bit byte of the command message.
Continue doing this until all bytes have been processed. The final contents of the CRC register are the
CRC value. It should be noticed that the low-byte should be transmitted before high-byte.
For example, reading 2 words from address 0101h of the drive with address 01H. The final
content of the CRC register from ADR to last data character is 3794H, then the command message is
shown as follows. What should be noticed is that 94H have to be transmitted before 37H.
ADR
01h
CMD
03h
01h
start address
DATA
01h
00h
written data
02h
CRC_L
94h
CRC_H
37h
End:
To keep an idle more than 6mS.
142
CRC calculation example:
The following is an example of CRC generation using C language. The function takes two variables.
unsigned char* data;
unsigned char length
This function returns the CRC value as unsigned integer type.
unsigned int crc_chk(unsigned char* data, unsigned char length)
{
int j;
unsigned int reg_crc=0xFFFF;
while( length-- )
{
reg_crc^= *data++;
for (j=0; j<8; j++ )
{
if( reg_crc & 0x01 )
/*LSB(bit 0 ) = 1 */
reg_crc = (reg_crc >> 1)^0xA001;
else
reg_crc = (reg_crc>>1);
}
}
return reg_crc;
}
143
(c) Command code and exception code
The Command code and exception code of Shihlin servo drive are described below.
Command code
Description
03h
read data
06h
write data
Command code 03h denotes data reading, the maximum permissible length is 29 words.
Command code 06h denotes data writing, a word length writing.
Command code 08h denotes the diagnostic mode which could check if communication normal or not.
When the communication is performed between a host and the servo drives, wrong commands or
wrong address or over-range would cause the exception response with particular format.
Exception code
(ECP)
Description
01h
Command code error
02h
Parameter address error
03h
Parameter range error
Exception code 01h denotes wrong command code transmitted from the host computer.
Exception code 02h denotes wrong parameter address transmitted from the host computer.
Exception code 03h denotes the over-range parameter setting request.
If the received data are wrong, the drive would send back the command code which is the original one
added to 80h.
(a)ASCII mode
STX
ADR
CMD
ECP
(b)RTU mode
‘:’
ADR
01h
‘0’
CMD
86h
‘1’
ECP
02h
‘8’
CRC_L
C3h
‘6’
CRC_H
A1h
‘0’
‘2’
LRC
‘7’
‘7’
End1
CR
End0
LF
144
C. Time-out process
After the PC has transmitted the request and 1000mS took, if there still was no response replied
from the servo drive, the PC would retransmit the request again. Time-out would occur if the drive does
not answer after the PC has performed the above operation three times.
D. Retry process
When a communication fault occurs between the PC and drives, the response data from the drive
is a exception code. In this case, the PC retransmits the same request which caused the last fault. A
communication error would occur if the above operation is repeated and results in the error three
consecutive times.
145
8.4. Communication parameter write-in and read-out
(1)Status monitor (read only)
Address
Content
Data length
0000h
Motor feedback pulse (absolute value ) [pulse]
1 word
0001h
Motor feedback revolution (absolute value) [rev]
1 word
0002h
Cumulative pulses of command [pulse]
1 word
0003h
Cumulative revolutions of command [rev]
1 word
0004h
Accumulative pulses error [pulse]
1 word
0005h
Command pulse frequency [kHz]
1 word
0006h
Motor speed [rpm]
1 word
0007h
Speed analog command voltage [V]
1 word
0008h
Speed command [rpm]
1 word
0009h
Torque analog command voltage [V]
1 word
000Ah
Torque command [N-m]
1 word
000Bh
Effective load ratio [%]
1 word
000Ch
Peak load ratio [%]
1 word
000Dh
DC bus voltage [V]
1 word
000Eh
The ratio of load inertia to motor shaft [times]
1 word
000Fh
Instantaneous torque [%]
1 word
(2)Digital IO monitor (read only)
(a) IO pin status
Address
0203h
Content
Data length
1 word
The ON/OFF status of DI and DO. The pin location is as follows.
bit No.
b0
b1
b2
b3
b4
b5
b6
b7
pin No.
CN1_14
CN1_15
CN1_16
CN1_17
CN1_18
CN1_19
CN1_20
CN1_21
Signal name
DI1
DI2
DI3
DI4
DI5
DI6
DI7
DI8
bit No.
b8
b9
b10
b11
b12
b13
b14
b15
pin No.
CN1_22
CN1_23
CN1_41
CN1_42
CN1_43
CN1_44
CN1_45
CN1_46
Signal name
LSP
LSN
DO1
DO2
DO3
DO4
DO5
ALM
146
(b) IO pin function
Address
0204h
~0207h
Content
Data length
1 word
To display the pin function programmed of DI and DO.
Address : 0x0204
bit No.
b0
b1
b2
b3
b4
b5
b6
b7
b8
b9
b10
b11
b12
b13
b14
pin No
CN1_42(DO2)
CN1_43(DO3)
CN1_44(DO4)
CN1_45(DO5)
Function
00h to 09h(*)
00h to 09h
00h to 09h
00h to 09h
b15
Address : 0x0205
bit No.
b0
b1
b2
b3
b4
b5
b6
b7
b8
b9
b10
b11
b12
b13
pin No
CN1_20(DI7)
CN1_21(DI8)
CN1_41(DO1)
Function
00 to 17h(**)
00h to 17h
00h to 09h
b14
b15
b14
b15
b14
b15
Address : 0x0206
bit No.
b0
b1
b2
b3
b4
b5
b6
b7
b8
b9
b10
b11
b12
b13
pin No
CN1_17(DI4)
CN1_18(DI5)
CN1_19(DI6)
Function
00h to 17h
00h to 17h
00h to 17h
Address : 0x0207
bit No.
b0
b1
b2
b3
b4
b5
b6
b7
b8
b9
b10
b11
b12
b13
pin No
CN1_14(DI1)
CN1_15(DI2)
CN1_16(DI3)
Function
00h to 17h
00h to 17h
00h to 17h
(*),(**) : Refer to section 3.3.2 for more details.
(c)Current control mode
Address
Content
Data length
To display current control mode of servo drive.
0: Pt mode(external pulse-train command)
0208h
1: Pr mode(inner register command in absolute type)
2: Pr mode(inner register command in incremental type)
3: S mode
4: T mode
147
1 word
(3)Alarm information (read only)
Address
Content
Data length
0100h
Current alarm.
1 word
0101h
The last alarm.
1 word
0102h
The 2nd alarm in the past.
1 word
0103h
The 3rd alarm in the past.
1 word
0104h
The 4th alarm in the past.
1 word
0105h
The 5th alarm in the past.
1 word
0106h
The 6th alarm in the past.
1 word
(4) Alarm clear (readable and writable)
Address
Content
Data length
0130h
Clear current alarm if “1EA5h” is written into this address.
Transmit current alarm code back if this address is read.
1 word
0131h
Clear all alarm histories if “1EA5h” written data is address.
Transmit last alarm back if this address is read.
1 word
(5) Parameter write-in and read-out (readable and writable)
Address
Content
Data length
Parameter group:
0300h
~0395h
PA□□: 45 parameters which address 0300h to 032Ch.(*1)
PB□□:30 parameters which address 032Dh to 034Ah.(*2)
PC□□:45 parameters which address 034Bh to 0377h.(*3)
PD□□:30 parameters which address 0378h to 0395h.(*4)
1 word
~ 29 words
(*1): PA41,PA44,PA45 are preserved parameters.
(*2): PB25~PB30 are preserved parameters.
(*3): PC37~PB45 are preserved parameters.
(*4): PD22~PB30 are preserved parameters.
(6) Factory-set recovery (readable and writable)
Address
Content
Data length
All parameters would be recover factory-set as 1 second latter after
0621h
“1EA5h” being written.
To read this address, the result of “1” means the recovery is
processing. “0” means the completion of recovery.
148
1 word
(7) DI contact control (readable and writable)
Step 1: Select DI contact control option(write-in 0001h)
Address
0387h
Content
Data length
0: according to actual input state
1: controlled by communication command
1 word
Step 2: Write-in command to control ON/OFF state of each DI pin
Address
0201h
Content
Data length
Use bit value to control DI contact. Details are described below.
Bit value 0 denotes OFF state.
Bit value 1 denotes ON state.
1 word
bit No.
b0
b1
b2
b3
b4
b5
b6
b7
b8
b9
preserved
DI signal
DI1
DI2
DI3
DI4
DI5
DI6
DI7
DI8
LSP
LSN
bit value must be “0”
Note: Consideration of test mode(DO forced output, JOG test, Positioning test)
As test mode is performed, check the following items or servo drive could not be operated normally.
1. As no alarm occurred nor Servo ON activated, test mode could be performed.
2. If communication is interrupted over 1 second during test mode, drive would quit this test mode. The
host could repeatedly read-out at “0900h” address to keep a continuous communication.
(8) DO forced output (readable and writable)
Step 1: To check if alarm occurred or Servo ON activated by reading at address “0900h”.
Address
Content
0 z y x
x=0 Servo OFF, x=1 Servo ON;
0900h
Data length
1 word
zy:Alarm code
Step 2: To write-in 0002h at address “0901h” to perform this test.
Address
0901h
Content
Data length
0000h: To quit the test mode
0001h: Preserved
0002h: DO forced output
0003h: JOG test
0004h: Positioning test
1 word
Step 3: To write in test data at address “0202h” to enforce output.
Address
0202h
Content
Data length
To control DO status by the written data. It is described as follows.
1 word
bit No.
b0
b1
b2
b3
b4
b5
preserved
DI signal
DO1
DO2
DO3
DO4
DO5
ALM
bit value must be “0”
Step 4: To quit this mode by 0000h written at “0901h” address.
149
(9)JOG test (readable and writable)
Step 1: To check the drive without alarm occurred nor Servo ON activated.
Step 2: To write-in 0003h at address “0901h” to perform this mode.
Step 3: To set acceleration/deceleration time constant of JOG test(suitable for positioning test).
Address
0902h
Content
Data length
Acceleration/deceleration time constant [mS]
Setting range: 0~20000
1 word
Step 4: JOG speed command(suitable for positioning test)
Address
0903h
Content
Data length
JOG speed command [rpm]
Setting range: 0~6000
1 word
Step 5: JOG Forward/Reverse/Stop command
Address
0904h
Content
Data length
0: Written 0 to stop motor running.
1: Written 1 to make motor run forward rotation.(CCW)
2: Written 2 to make motor run reverse rotation.(CW)
1 word
Step 6: To quit this mode by 0000h written at address “0901h”.
(10) Positioning test (readable and writable)
Step 1: To check the drive without alarm occurred nor Servo ON activated.
Step 2: To write-in 0004h at address “0901h” to perform this positioning test.
Step 3: To set the acceleration/deceleration time constant of positioning test.
Step 4: To set speed command of positioning test.(Refer to JOG test mentioned above)
Step 5: To set the revolution of positioning test.
Address
0905h
Content
Data length
Revolution of positioning test [rev]
Setting range: 0~30000
1 word
Step 6: To set the pulse of positioning test.
Address
0906h
Content
Data length
Pulse of positioning test [pulse]
Setting range: 0~9999
1 word
Step 7: Positioning test Forward/Reverse/Stop command
Address
0904h
Content
Data length
0: Written 0 to pause/stop motor running.(twice pause command to
stop motor running)
1: Written 1 to make motor run forward rotation.(CCW)
2: Written 2 to make motor run reverse rotation.(CW)
Step 8: To quit this mode by 0000h written at address “0901h”.
150
1 word
9.
Inspection and Maintenance
9.1. Basic Inspection
It is recommended for users to inspect the following items periodically. Operate the inspection after
the drive is power off and charge light of drive is off.
Inspect the screws of the drive, terminal block and the connection to mechanical system.
Tighten screws as necessary as they may be loosen.
Do not install the drive at location where closes to inflammable matters.
Ensure that oil, water, metallic particles or any foreign objects do not fall inside the drive. As
these would cause damage.
Avoid any naked wires or damaged, broken wires applied for the servo motor.
Ensure that all wiring terminals are correctly insulated.
Ensure that the external applied power voltage is AC 220V.
Ensure that all wiring instructions and recommendations are followed, otherwise damage to
the drive and or motor may result.
9.2. Maintenance
Users should not disassemble the servo drive or motor as maintenance performing.
Periodically clean the surface of servo drive and motor.
Operate the servo drive and motor within the specified environmental condition range.
Clean off any dust and dirt that accumulated on the ventilation holes of servo drive.
9.3. Life of consumable components
Some components inside servo drive are consumable and must be replaced periodically. The
life of consumable components are varied, which depend on operating methods and environmental
conditions. For parts replacement, please contact your sales agent. The life of particular components
are listed below.
Component
Relay
Cooling fan
Aluminum capacitor
Life guideline
Description
100,000 times
The contact would wear due to switching currents. Relays reach the
end of its life at cumulative 100,000 switching times, which depends
on the power supply capacity.
10.000~
30.000hrs
The cooling fan bearings reach the end of their life in 10,000 to 30,000
hours. It should be replaced if noise is found during inspection.
10 years
Affected by ripple currents and deteriorates in characteristic. Its life
greatly depends on ambient temperature and operating conditions.
The capacitor will reach the end of its life in 10 years of continuous
operation in normal air-conditioned environment.
151
10. Troubleshooting
When any alarm has occurred, eliminate its cause, ensure safety, then reset the alarm,
and restart operation. Otherwise, injury may occur.
10.1.
Alarm list
The drive would display alarm or warning if some faults occurred during operation. As a alarm or a
warning occurred, please remedy the fault according to the instruction mentioned in section 10.2. When
parameter PD19 is set as □□□1, alarm codes could be output with the ON/OFF states of
DO1(CN1_41), DO2(CN1_42), DO5(CN1_45) terminals.
Clear
Alarm code
Name
Sign
Warning
Alarm
CN1_41 CN1_42 CN1_45
Press "SET" on
Power
current alarm
OFF ON
screen.
AL01
0
1
0
Over voltage
○
AL02
0
0
1
Low voltage
○
AL03
0
1
1
Over current
○
AL04
0
1
0
Abnormal regeneration
AL05
1
0
0
AL06
1
0
AL07
1
AL08
RES
signal
○
○
○
○
○
Overload 1
○
○
○
1
Over speed
○
○
○
0
1
Pulse command abnormal
○
○
○
1
0
1
Position error excessive
○
○
○
AL09
0
0
0
Communication abnormal
○
○
○
AL0A
0
0
0
Communication time-out
○
○
○
AL0B
1
1
0
Encoder error 1
○
AL0C
1
1
0
Encoder error 2
○
AL0D
1
1
0
Fan error
○
AL0E
0
0
0
IGBT overheat
○
AL0F
0
0
0
Memory error
○
AL10
0
0
0
Overload 2
○
AL11
1
1
1
Motor mismatched
○
AL12
Emergency stop
Removing the cause would clear the
AL13
LSP/LSN activated
warning automatically.
152
10.2.
Alarm cause and remedy
AL01 Over voltage
Definition: Main circuit bus voltage has exceeded its maximum allowable value.
Cause
Power supply voltage high.
Inspection
Review the power supply.
Remedy
Use proper power source.
Input power error (incorrect power). Review the power supply.
Use proper power source.
Drive hardware damaged.
Lead of built-in regenerative brake
resistor or regenerative brake
option is disconnected.
Built-in regenerative brake resistor
or regenerative brake option is
damaged.
Capacity of built-in regenerative
brake resistor or regenerative
brake option is insufficient.
Use voltmeter to check if the power Contact agent for proper service.
voltage is within rated voltage while
error still occurred.
Check the P,D terminals connected Connect correctly.
well or not.
Check built-in regenerative brake
resistor or regenerative brake
option is disconnected well.
Check if it is burn out or damaged. Change the built-in resistor or
option.
Refer to section 6.6.1 to check if the Add regenerative brake option or
capacity insufficient.
increase capacity.
AL02 Low voltage
Definition: Main circuit bus voltage is lower than its allowable value.
Cause
Inspection
Input voltage of main circuit is lower Review the power supply.
than permissible value.
Capacity of power supply is
insufficient.
Remedy
Use proper power source.
Check if it occurred as motor torque Increase power supply capacity.
regenerated huge.
Input power error (incorrect power). Review the power supply.
Use proper power source.
AL03 Over current
Definition: The motor output current has exceeded the allowance range of servo drive.
Cause
Inspection
Remedy
Improper motor wirings.
Check the wirings.
Correct the wirings.
Short occurred in drive output
phases U, V and W.
Check if the connection between
drive and motor is short.
Correct the wirings to prevent from
short-circuit or cable naked.
IGBT of servo drive faulty.
AL03 occurs if power is switched on Contact agent for proper service.
after U,V and W are disconnected.
Improper parameters setting.
Check relevant parameters which
have modified.
153
Recover factory-set then re-define
user’s demand.
AL04 Regenerative alarm
Definition: Regenerative energy suppression circuit faults.
Cause
Inspection
Remedy
Brake transistor fault.
Set PC36 to be 0 and re-power on,
if AL04 is occurred soon, it means
the brake transistor broken.
Contact agent for proper service.
Built-in brake resistor or brake
option is disconnected.
Check the wirings.
Correct the wirings.
The active time of brake resistor is
over the PC36 value.
when AL04 occurred, reset PC36 to Use the external brake resistor and
be zero and re-power on; if motor
refer to section 14.2 to set a proper
runs a while then AL04 occurred
PC36 value.
again, it means capacity of built-in
brake resistor is insufficient.
AL05 Overload 1
Definition: Load exceeded overload protection characteristic of servo drive.
Cause
Operate the servo drive in heavy
duty continually.
Inspection
Check if mechanism load is huge.
Remedy
Upgrade the capability of servo or
reduce the duty.
Improper gain values setting.
Check if vibration of mechanism is
occurred.
Re-operate the auto-gain tuning job
to obtain the proper gain value.
Servo system is instable.
Check if acceleration/deceleration
time constant are proper.
Extend these setting values.
Encoder faulty.
As motor shaft is rotated slowly with Contact agent for proper service.
Servo OFF, the pulses feedback
should vary in proportion to rotary
angle. If the indication skips or
returns midway, it is faulty.
AL06 Over speed
Definition:Speed has exceeded the instantaneous permissible speed.
Cause
Input command pulse frequency
exceeded the permissible
instantaneous speed frequency.
Inspection
Remedy
Check if frequency of input pulse is Set pulses frequency correctly.
over the permissible speed range.
Improper acceleration/deceleration
time constant settings.
Check if these values are too small. Increase acceleration/deceleration
time constant.
Servo system is instable to cause
overshoot.
Observe if the mechanism is with
vibration.
Electronic gear ratio is large
Check if the settings are proper.
154
1. Re-set proper servo gain value.
2. If gain could not be set to proper:
1) Reduce load inertia ratio; or
2) Set acceleration/deceleration
time constant to proper value.
Set correctly.
AL07 Pulse command abnormal
Definition: Input pulse frequency of the command pulse is too high.
Cause
Pulse frequency of the command
pulse is too high.
Command device failure.
Inspection
Remedy
Check if input pulse frequency is 1.Set the command pulse frequency
to a proper value.
over range with frequency detector.
2. After RD output signal activated,
the host starts to send command.
Check if the command device is
Change the command device.
normal or not.
AL08 Position error excessive
Definition: Position error has exceeded the permissible error range.
Cause
Improper acceleration/deceleration
time constant settings.
Inspection
Remedy
Check if these values are too small. Increase acceleration/deceleration
time constant.
Improper torque limit setting.
Check if PA05 setting is too small.
Increase the torque limit value.
Position loop gain value is small.
Check if PB07 setting is too small.
Increase the gain value and adjust
to ensure proper operation.
Mechanism load is huge.
Check if mechanism load is huge.
Reduce load, or to use servo drive
and motor provide larger output.
AL09 Communication abnormal
Definition: RS-232/485 communication error occurred between host device and servo drive.
Cause
Improper protocol setting.
Inspection
Check if the protocol is matched.
Remedy
Set the protocol correctly.
Improper address setting.
Check the communication address. Set the address correctly.
Improper data content transmitted.
Check the value accessed.
Correct the data content accessed.
AL0A Communication time-out
Definition: RS-232/485 communication stopped for longer time exceeded the permissible range.
Cause
Cable broken or loosen.
Inspection
Check if cable broken or loosen.
Communication cycle is longer than Check if PC23 setting is proper.
parameter PC23 setting.
155
Remedy
Replace or re-connect the cable.
Set the PC23 correctly.
AL0B Encoder error 1
Definition: Pulse signals abnormal between servo motor and servo drive.
Cause
Wirings are in wrong sequence.
CN2 connector is loosen or
disconnected.
Encoder faulty
Inspection
Remedy
Check if wirings sequence is correct Correct the wirings.
or not.
Check if CN2 connector is loosen or Re-connect CN2 connector.
disconnected.
Check the encoder feedback pulses Contact agent for proper service.
continuity of motor while Servo OFF
AL0C Encoder error 2
Definition: Pulse signals abnormal between servo motor and servo drive.
Cause
Initial magnetic polarity of encoder
is in wrong position
CN2 connector is loosen or
disconnected.
Inspection
Remedy
Rotate the motor shaft forward and backward then re-power on the drive.
If there is still no improvement, contact agent for proper service.
Check if CN2 connector is loosen or Re-connect CN2 connector.
disconnected.
AL0D Fan error
Definition: Abnormal operation of cooling fan.
Cause
Cooling fan stops working.
Inspection
Remedy
Change the fan by user or contact agent for proper service.
AL0E IGBT overheat
Definition: Main circuit device overheat or fault.
Cause
Operate the drive in over-rate duty
continuously.
Servo drive fault.
Inspection
Check if mechanism is overload or
motor current is huge.
Check the output of servo drive.
Remedy
Reduce load, or to use servo drive
and motor provide larger output.
Contact agent for proper service.
AL0F Memory error
Definition: EEPROM fault.
Cause
Data read-out/write-in abnormally.
Inspection
Remedy
To execute the parameter recovery Contact agent for proper service.
or power on reset and check if it still
null.
156
AL10 Overload 2
Definition: The output duration of maximum current is over 1 second while mechanical impact.
Cause
Inspection
Remedy
Mechanical impact
Check if the moving route is proper. 1.Correct the moving route.
2.Install limit switches.
Wrong connection of servo motor.
Check the wirings.
Mechanism vibration.
Check if mechanism is instable and 1.Change response level setting.
humming.
2. Make gain adjustment manually.
Encoder faulty.
To rotate motor shaft and check the Contact agent for proper service.
continuity of encoder feedback
pulses while Servo OFF.
Correct the wirings.
AL11 Motor mismatch
Definition: The servo drive and servo motor match improperly.
Cause
Inspection
The capacity of drive and motor are Check if they match for each other
not compatible.
in capacity.
Remedy
Use the proper combination.
AL12 Emergency stop warning
Definition: The EMG signal of DI is activated.
Cause
EMG signal is activated.
Inspection
Check if EMG signal is applied and
triggered.
Remedy
Release the trigger after removal
of some emergency conditions.
AL13 Limit switch activated warning
Definition: The LSP or LSN signal of DI is activated.
Cause
LSP activated.
Inspection
Remedy
Check if the limit switch is activated. Release the activated cause of
limit switch.
LSN activated.
157
11. Specifications
11.1.
Specifications of servo drives
SDA-□□□A2
010
020
040
050
075
100
150
200
350
SMA-□□□□
(matched motor)
L010
L020
L040
M050
L075
M100
M150
M200
M350
Motor power
100W
200W
400W
500W
750W
1KW
1.5KW
2KW
3.5KW
Main circuit power
Allowable frequency
Range
Maximum ±5%
Control circuit power
3φ AC200~230V 50/60Hz or
1φ AC230V 50/60Hz
Voltage/Frequency
Voltage/Frequency
1φ AC200~230V 50/60Hz
Allowable voltage
Range
3φ AC200~230V AC:170 to 253VAC
1φ AC230V
AC: 207 to 253VAC
Allowable voltage
Range
Allowable frequency
Range
Maximum ±5%
30
3φ full-wave rectification, IGBT-PWM control (SVPWM)
Dynamic brake
Protection
Encoder type
Position control mode
Communication interface
3φ AC170~253V 50/60Hz
AC:170 to 253VAC
Power consumption(W)
Control mode
3φ AC200~230V 50/60Hz
Built-in
Over current, over voltage, overload, fan failure protection, output short-circuit
protection, abnormal encoder protection, abnormal regeneration protection, low
voltage/power interruption protection, over speed protection, error excessive
2500ppr(10000 resolution) incremental type
RS232/RS485, USB (Modbus protocol)
Input pulse frequency
Max. 500Kpps(Line drive), Max. 200Kpps(Open collector)
Command pulse type
Pulse + Direction, A phase + B phase, CCW pulse + CW pulse
Command source
Command smoothing
Electronic gear ratio
External pulse train input/Inner register
Low-pass filter/Linear acceleration and deceleration pattern/S-pattern smoothing
Electronic gear ratio A/B-time A: 1~32767; B:1~32767
1/50 < A/B < 200
In-position range setting
0~±10000pulses
Position error excessive
±3 revolutions
Torque limit
Feed-forward function
Inner limit or torque analog limit (0~+10Vdc/Maximum torque)
Internal parameter setting: 0~200%
158
SDA-□□□A2
010
020
040
050
075
100
150
200
350
SMA-□□□□
(matched motor)
L010
L020
L040
M050
L075
M100
M150
M200
M350
Motor power
100W
200W
400W
500W
750W
1KW
1.5KW
2KW
3.5KW
Digital input/output signal
Torque mode
Speed control mode
Speed control range
Command source
Command smoothing
Speed analog voltage input/ Inner register command
Low-pass filter/Linear acceleration and deceleration pattern/S-pattern smoothing
Speed analog input
Speed change rate
0~±10Vdc/Rated speed (Input impedance: 10~12kΩ)
Load change: 0~100% ; maximum ±0.01%,
Power source change: ±10%; maximum 0.01%,
Ambient temperature 0℃~55℃; Maximum ± 0.5% (Speed analog command)
Torque limit
Inner limit or torque analog limit (0~+10Vdc/Maximum torque)
Bandwidth
Maximum 450Hz
Command source
Torque analog voltage input
Command smoothing
Low-pass filter
Torque analog input
0~±10Vdc/Max torque generated(Input impedance: 10~12kΩ)
Speed limit
Inner limit or speed analog limit (0~+10Vdc/Maximum speed)
Digital input(DI)
Servo ON, forward and reverse rotation limit switch, pulse error clearing, torque
direction option, speed command option, position command option, forward and
reverse rotation command, proportional control switched, torque limit switched,
abnormal alarm reset, emergency stop, control mode switching, electric gear
ratio options, gain switching
Digital output(DO)
Torque limit attain, speed limit attain, ready signal, zero speed attained, position
attained, speed attained, alarm signal, home moving completed
Analog input
Speed analog command/limit, Torque analog command/limit,
Command pulse frequency, pulse error, current command, DC bus voltage,
motor speed, generated torque
Analog output
Cooling method(structure)
Temperature
Environment
Speed analog command 1:2000; Inner speed command 1:5000
humidity
Nature air convention(IP20)
Fan force-cooling(IP20)
operating
0℃~ 55℃(If it is above 45℃ forced cooling would be required)
storage
-20~65℃(non-freezing)
operating
90%RH or less (non-condensing)
storage
90%RH or less (non-condensing)
Installation site
Indoor(no direct sunlight), no corrosive gas, no oil mist or dust, no flammable gas
Altitude
Max.1000m (3280ft) or lower above sea level
Maximum 59m/s2
Vibration
Weight(kg)
Reference dimension figure
1.4
1.4
1.4
1.4
Page 158
1.7
1.7
Page 158
Approval
IEC/EN 61800-5-1
159
2.6
2.6
Page 159
2.6
11.2.
Dimensions of servo drives
SDA-010A2、SDA-020A2、SDA-040A2、SDA-050A2 (100W~500W)
unit[mm]
Dimensions of the servo drive may be revised without prior notice.
SDA-075A2、SDA-100A2 (750W、1KW)
unit[mm]
Dimensions of the servo drive may be revised without prior notice.
160
SDA-150A2、SDA-200A2、SDA-350A2 (1.5KW~3KW)
unit[mm]
(80)
168
5.7 4
6
156
6
195
6
6
95
FAN風向
Dimensions of the servo drive may be revised without prior notice.
161
11.3.
Specifications of low inertia motors SMA-L
SMA-L□□□(B)
R30A series
010
020
040
075
Capacity of power supply (kVA)
0.3
0.5
0.9
1.3
Rated output power (W)
100
200
400
750
Rated torque (N-m)
0.32
0.64
1.27
2.4
Maximum torque (N-m)
0.96
1.92
3.81
7.2
Rated speed (r/min)
3000
Maximum speed (r/min)
4500
Instantaneous allowable speed (r/min)
5175
Power rating (kW/S)
18.29
19.69
46.08
47.21
Rated current (A)
0.93
1.32
2.44
4.8
Max. instantaneous current (A)
2.79
3.96
7.32
14.7
0.055
[0.058]
0.204
[0.224]
0.335
[0.355]
1.203
[1.245]
Torque constant KT (N-m/A)
0.344
0.485
0.5205
0.490
Voltage constant KE (mV/(r/min))
39.97
54.53
56.6
56.25
Armature resistance Ra(Ohm)
41.75
11.70
5.66
1.38
Armature inductance La(mH)
29.13
42.87
24
10.02
Mechanical constant (mS)
1.780
0.964
0.704
0.640
0.7
3.66
4.24
7.26
-4
2
Rotor inertia J (x10 kg.m )
[
] with electromagnetic brake
Electric constant (mS)
Insulation class
F
Insulation resistance
100MΩ,DC500V
Insulation strength
AC1500V,60Hz,60sec
Encoder
2500ppr
Environment
Protection structure (IP)
Temperature
Humidity
65
operating
0~40℃
storage
-15~70℃
operating
80%RH or less (non-condensing)
storage
90%RH or less (non-condensing)
Vibration grade (µm)
15
Vibration capacity
Weight (kg)
[
] with electromagnetic brake
x,y direction: 49 m/ S
0.55
[0.75]
1.01
[1.44]
Approval
162
1.46
[1.89]
2
2.89
[3.63]
11.4.
Specifications of medium inertia motors SMA-M
R20A series
SMA-M□□□(B)
050
100
150
200
350
Capacity of power supply (kVA)
1.0
1.7
2.5
3.5
5.5
Rated output power (W)
0.5
1.0
1.5
2.0
3.5
Rated torque (N-m)
2.39
4.78
7.16
9.55
16.7
Maximum torque (N-m)
7.16
14.4
21.6
28.5
50.1
2000
Rated speed (r/min)
Maximum speed (r/min)
3000
2500
Instantaneous allowable speed (r/min)
3450
2850
Power rating (kW/S)
8.6
18.2
27.7
23.5
37.3
Rated current (A)
3.0
5.8
8.5
10
16
Max. instantaneous current (A)
9.0
16.8
25.5
31.5
48
6.59
[8.55]
12.56
[14.54]
18.52
[20.61]
38.8
[49.2]
74.8
[85.2]
Torque constant KT (N-m/A)
0.912
0.941
0.948
1.141
1.175
Voltage constant KE (mV/(r/min))
95.34
98.48
99.32
119.49
123.18
Armature resistance Ra(Ohm)
3.77
1.48
0.885
0.758
0.311
Armature inductance La(mH)
19.2
9.12
5.79
8.17
3.99
Mechanical constant (mS)
2.988
2.094
1.824
2.262
1.690
Electric constant (mS)
5.091
6.179
6.542
10.751
12.788
Rotor inertia J (x10-4kg.m2)
[
] with electromagnetic brake
F
Insulation class
100MΩ,DC500V
Insulation resistance
AC1500V,60Hz,60sec
Insulation strength
2500ppr
Encoder
Environment
Protection structure (IP)
Temperature
65
operating
0~40℃
storage
Humidity
-15~70℃
operating
80%RH or less (non-condensing)
storage
90%RH or less (non-condensing)
15
Vibration grade (µm)
2
x, y : 24.5 m/s
Vibration capacity
Weight (kg)
[
] with electromagnetic brake
4.8
[6.6]
6.9
(8.7)
Approval
163
9.0
(10.8)
11.6
(16.9)
17.7
(23)
11.5.
Dimensions of low inertia motor
【SMA-L010】
【SMA-L010B】
164
【SMA-L020】
【SMA-L020B】
165
【SMA-L040】
【SMA-L040B】
166
【SMA-L075】
【SMA-L075B】
11.6.
Permissible shaft load of low inertia motor
Motor type
SMA-L010
SMA-L020
SMA-L040
SMA-L075
25
30
30
40
Permissible load in radial direction N(kgf)
68.6(7)
245(25)
245(25)
392(40)
Permissible load in axial direction N(kgf)
39.2(4)
98(10)
98(10)
147(15)
L
(mm)
167
11.7.
Dimensions of medium inertia motors
【SMA-M050】
【SMA-M100】
168
【SMA-M150】
【SMA-M200】
169
【SMA-M350】
unit [mm]
Dimensions of servo motors may be revised without prior notice.
11.8.
Permissible shaft load of medium inertia motor
Motor type
SMA-M050
SMA-M100
55
55
55
79
79
Permissible load in radial direction N(kgf)
490(50)
490(50)
490(50)
980(100)
980(100)
Permissible load in axial direction N(kgf)
196(20)
196(20)
196(20)
392(40)
392(40)
L
(mm)
170
SMA-M150 SMA-M200
SMA-M350
11.9.
Precision of motor shaft
Precision of motor shaft varies with the dimensions such as right angle grade, deflection degree,
concentric grade, etc. The table below provides more details.
Motor frame size
Precision (mm)
□100 or less
□130
□176
0.05
0.06
0.08
Shaft deflection degree
a
○
b
○
0.02
0.02
0.03
Concentric grade of outer diameter to shaft
c
○
0.04
0.04
0.06
Right angle grade of frame to shaft
11.10. Electromagnetic compatible filter (EMC Filter)
If the drive and motor need to comply with EN/EMC rules, filters are recommended.
Drive
Power
SDA-010A2
SDA-020A2
SDA-040A2
SDA-050A2
SDA-075A2
SDA-100A2
SDA-150A2
SDA-200A2
SDA-350A2
100W
200W
400W
500W
750W
1KW
1.5KW
2KW
3.5KW
Recommended filter
FN3258-7-45
FN3258-16-45
FN3258-30-47
The filter is option.
As an operating servo drive or motor interfere with peripheral equipment by radiation or
conduction, it is recommended to use the filter. Here is a wiring diagram for the filter application.
If the single phase power is applied, T terminal of drive is idle.
171
12. Motor characteristic
Speed-torque curves of low inertia motor
【SMA-L010】
【SMA-L020】
Torque-speed curve
Torque-speed curve
2
1
1.5
Torque(N-m)
Torqu e(N -m )
Instantaneous operation
Instantaneous operation
0.75
0.5
0.25
1
0.5
Continuous operation
Continuous operation
0
0
1000
2000
3000
0
4000
0
1000
Speed(rpm)
2000
3000
4000
Speed(rpm)
【SMA-L040】
【SMA-L075】
Torque-speed curve
Torque-speed curve
4
8
Instantaneous operation
Instantaneous operation
3
6
Torque(N-m)
Torque(N-m)
12.1.
2
1
4
2
Continuous operation
Continuous operation
0
0
0
1000
2000
3000
0
4000
1000
2000
3000
4000
Speed(rpm)
Speed(rpm)
These characteristic curves are plotted with AC 3φ 200~230V power applied.
172
Speed-torque curves of medium inertia motor
【SMA-M050】
【SMA-M100】
Torque-speed curve
Torque-speed curve
16
Instantaneous operation
6
Instantaneous operation
12
Torque(N-m)
Torque(N-m)
8
4
8
4
2
Continuous operation
Continuous operation
0
0
0
5 00
10 00
1 500
2 000
2 500
0
3000
500
1000
1500
2000
2500
3000
Speed(rpm)
Speed(rpm)
【SMA-M150】
Torque-speed curve
Torque(N-m)
24
Instantaneous operation
18
12
6
Continuous operation
0
0
500
1000
1500
2000
2500
3000
Speed(rpm)
【SMA-M200】
【SMA-M350】
Torque-speed curve
Torque-speed curve
54
32
48
28
24
20
16
12
8
36
30
24
18
12
Continuous operation
4
Instantaneous operation
42
Instantaneous operation
Torque(N-m)
Torque(N-m)
12.2.
Continuous operation
6
0
0
0
500
1000
1500
2000
2500
0
Speed(rpm)
500
1000
1500
2000
Speed(rpm)
These characteristic curves are plotted with AC 3φ 200~230V power applied
173
2500
12.3.
Overload protection
Overload protection is to prevent motor from damage during instantaneous over rated operation.
Some cases are described as follows.
(1) The ratio of load inertia to motor shaft is too large.
(2) During acceleration or deceleration process, the time constant is set too small.
(3) The operating time which torque generated is over rated torque is too long.
(4) Mechanism vibration occurred due to improper gain is ignored but the motor is still performed.
(5) Wrong connection between drive and motor, or the encoder is faulty.
If case mentioned above met, the permissible operating time is plotted below.
【SMA-L010】
【SMA-L020/L040/L075】
[sec]
[sec]
1000
1000
100
100
10
10
1
1
0
50
100
150
200
250
300
0
50
100
轉矩[%]
150
200
250
300
轉矩[%]
As load torque is 300%,operating time is 1.25S.
As load torque is 300%,operating time is 3.51S.
【SMA-M050/M100/M150】
【SMA-M200/M350】
[sec]
[sec]
1000
1000
100
100
10
10
1
1
0
50
100
150
200
250
300
0
50
100
150
200
250
300
轉矩[%]
轉矩[%]
As load torque is 300%,operating time is 6.43S.
As load torque is 300%,operating time is 5.79S.
174
13. Application examples
13.1.
Position control example with inner registers
There are 8 sets of inner registers related to position control. The positioning operation could be
categorized into relative type and absolute type. The relevant parameter settings are listed below.
Name
Abbr.
Sign
STY
PA01
0000h~1125h
1000h
Revolution of inner position command 1
PO1H
PA15
-30000~+30000
0
rev
Pulse of inner position command 1
PO1L
PA16
-9999~+9999
0
pulse
Revolution of inner position command 2
PO2H
PA17
-30000~+30000
0
rev
Pulse of inner position command 2
PO2L
PA18
-9999~+9999
0
pulse
Revolution of inner position command 3
PO3H
PA19
-30000~+30000
0
rev
Pulse of inner position command 3
PO3L
PA20
-9999~+9999
0
pulse
Revolution of inner position command 4
PO4H
PA21
-30000~+30000
0
rev
Pulse of inner position command 4
PO4L
PA22
-9999~+9999
0
pulse
Revolution of inner position command 5
PO5H
PA23
-30000~+30000
0
rev
Pulse of inner position command 5
PO5L
PA24
-9999~+9999
0
pulse
Revolution of inner position command 6
PO6H
PA25
-30000~+30000
0
rev
Pulse of inner position command 6
PO6L
PA26
-9999~+9999
0
pulse
Revolution of inner position command 7
PO7H
PA27
-30000~+30000
0
rev
Pulse of inner position command 7
PO7L
PA28
-9999~+9999
0
pulse
Revolution of inner position command 8
PO8H
PA29
-30000~+30000
0
rev
Pulse of inner position command 8
PO8L
PA30
-9999~+9999
0
pulse
Moving speed of inner position command 1
POV1
PA31
1~3000
1000
rpm
Moving speed of inner position command 2
POV2
PA32
1~3000
1000
rpm
Moving speed of inner position command 3
POV3
PA33
1~3000
1000
rpm
Moving speed of inner position command 4
POV4
PA34
1~3000
1000
rpm
Moving speed of inner position command 5
POV5
PA35
1~3000
1000
rpm
Moving speed of inner position command 6
POV6
PA36
1~3000
1000
rpm
Moving speed of inner position command 7
POV7
PA37
1~3000
1000
rpm
Moving speed of inner position command 8
POV8
PA38
1~3000
1000
rpm
Acceleration time constant
STA
PC01
0~20000
200
mS
Deceleration time constant
STB
PC02
0~20000
200
mS
S-pattern acc/dec time constant
STC
PC03
0~10000
0
mS
Name
Control mode option
175
Setting range
Initial
value
Unit
-
The following example describes the application of position mode with inner registers. During a route,
the load will stop at two fixed locations then return. See the schematic diagram below.
It is known that 2 position commands are necessary. And the ball screw rod could transform one
revolution into one centimeter moving. Both absolute type and relative type could achieve this route.
We assume that absolute type is performed and relevant parameters could be set as follows.
Name
Sign
Setting value
Unit
STY
PA01
1010
-
Revolution of inner position command 1
PO1H
PA15
10
rev
Revolution of inner position command 2
PO2H
PA17
60
rev
Pulse of inner position command 1
PO1L
PA16
0
pulse
Pulse of inner position command 2
PO2L
PA18
0
pulse
Name
Abbr.
Control mode option
As the parameter setting is completed and there is no alarm occurred, turn on SON signal. The
following steps are plotted sequentially for users to understand easily.
176
13.2.
Home moving examples
Relevant parameters of home moving function
As home moving function is performed, the origin position could be determined when the encoder
Z phase pulse or ORGP signal activated. Also, the rotary direction of motor is related to this function.
Sign
Abbr.
Function description
Control
Setting
mode
range
Unit
Home moving option:
u z y x
x:origin detector and rotation option
y:origin attained shortcut moving option
z:origin recognized completion option
u:trigger option
Pr
0000h
~2123h
-
PA08 HSPD1
Home moving high speed option 1
Pr
1
~2000
rpm
PA09 HSPD2
Home moving high speed option 2
Pr
1
~500
rpm
PA10
HOF1
Home moving revolution offset
Pr
-30000
~+30000
rev
PA11
HOF2
Home moving pulse offset
Pr
-30000
~+30000
rev
PC01
STA
Acceleration time constant
Pr
S,T
0
~20000
mS
PC02
STB
Deceleration time constant
Pr
S,T
0
~20000
mS
PC03
STC
S-pattern acceleration/deceleration time constant
Pr
S,T
0
~10000
mS
PA04
HMOV
Description of home moving function
x. Origin detector and rotation option
Origin detector could be assigned to ORGP signal which is connect to the output signal of a
sensor(e.g., proximity switch or optical sensor). If the positioning range is within a servo motor
revolution, the encoder Z pulse could be used as origin detector.
x = 0:ORGP detector in CCW rotation
The drive runs motor counterclockwise to detect the ORGP signal at PA08 speed.
x = 1:ORGP detector in CW rotation
The drive runs motor clockwise to detect the ORGP signal at PA08 speed.
x = 2:Encoder Z pulse detector in CCW rotation
The drive runs motor counterclockwise to detect the encoder Z pulse at PA08 speed. In this
case, external sensor is not necessary.
x = 3:Encoder Z pulse detector in CW rotation
The drive runs motor clockwise to detect the encoder Z pulse at PA08 speed. In this case,
external sensor is not necessary.
177
y. Origin attained shortcut moving option
y = 0:Motor turns back to last Z pulse to attain
Once the ORGP signal or encoder Z pulse is obtained, motor would turn back at PA09
speed to search for last Z pulse as the mechanism origin.
y = 1:Motor goes ahead to next Z pulse to attain
Once the ORGP signal or encoder Z pulse is obtained, motor keeps going ahead at PA09
speed to search for next Z pulse as the mechanism origin.
y = 2:Origin recognized right away
Once the ORGP signal or encoder Z pulse is obtained, motor would decelerate to stop and
recognize current position as the mechanism origin.
If x is set as 2 or 3, y should be set as 2 or the servo motor would not work.
z. Origin recognized completion option
z = 0:Motor decelerates to stop then return to the mechanism origin
As the next Z pulse or the last Z pulse is obtained, motor would decelerate to stop and return
to the mechanism origin.
z = 1:Motor decelerates to stop
As the next Z pulse or the last Z pulse is obtained, motor would decelerate to stop and there
are position overshoot between current position and the mechanism origin.
No matter z is 0 or 1, it does not affect the inner counts of the mechanism origin.
u. Trigger option
This code is to determine if home moving function enabled or not. As this function is enabled,
there are 2 modes which are “power on auto-execution” and “ SHOM signal triggered” could be
selected.
u = 0:Home moving function disabled
While u is set as 0,the home moving function is disabled.
u = 1:Automatically executed after power on
While u is set as 1,the home moving function would be executed automatically after power
on. If users operate their mechanism which only one time home position reset required, this
option is helpful to save a DI contact.
u = 2:SHOM signal as the trigger source
While u is set as 2,the SHOM function should be assigned to one of 8 DI by the setting of
PD02 to PD09. As SHOM signal is activated, home moving function would be executed.
A table recommended for using the home moving function
Users could set u and z according to requirement, but refer to the combinations of x and y.
y
x
0
1
0
○
○
1
○
○
2
○
○
○ denotes home moving function valid,
2
3
○
○
denotes a invalid setting.
178
Offset value of home moving
Users could use parameter PA10 and PA11 to set the recognized origin offset values. After the
completion of origin positioning, a new origin could be redefine to the nonzero settings of parameter
PA10 and PA11. The equation is as follows:
New origin counts = Primary origin counts + (PA10×10000 + PA 11) [pulse]
Sequence diagram of home moving operation
During home moving operation, if SON signal is off or any alarm occurred, the home moving
sequence would be interrupted and the HOME output signal would not work.
1. Automatically executed after power on (u = 1)
Set one of DO pins as HOME signal output by the setting of PD10 to PD14. After the completion of
home moving, HOME signal would turn on.
2.
SHOM signal as the trigger source (u = 2)
Set one of DI pins as SHOM signal input by the setting of PD02 to PD09.
Sequence diagram of home moving speed vs. position
The same conditions of following sequence diagram are “SHOM signal as the trigger source(u=2)”
and “Motor decelerates to stop then return to the origin(z=0) “. The combinations of x and y and their
corresponded sequence diagrams are described as follows.
y
x
0
1
0
Plot(1)
Plot (2)
1
Plot (3)
Plot (4)
2
Plot (5)
Plot (6)
179
2
3
Plot (7)
Plot (8)
Plot(1) x = 0:ORGP detector in CCW rotation
y = 0:Motor turns back to last Z pulse to attain
Plot(2) x = 1:ORGP detector in CW rotation
y = 0:Motor turns back to last Z pulse to attain
Plot(3) x = 0:ORGP detector in CCW rotation
y = 1:Motor goes ahead to next Z pulse to attain
180
Plot(4) x = 1:ORGP detector in CW rotation
y = 1:Motor goes ahead to next Z pulse to attain
Plot(5) x = 0:ORGP detector in CCW rotation
y = 2:Origin recognized right away
Plot(6) x = 1:ORGP detector in CW rotation
y = 2:Origin recognized right away
181
Plot(7) x = 2:Encoder Z pulse detector in CCW rotation
y = 2:Origin recognized right away
Plot(8) x = 3:Encoder Z pulse detector in CW rotation
y = 2:Origin recognized right away
182
14. Appendix A: Accessories
14.1.
Connector and cable
Encoder connectors
Shihlin part number: SDA-ENCNL (for low inertia motor)
Shihlin part number: SDA-ENCNM (for medium inertia motor)
Encoder cable
Shihlin part number: SDA-ENLCBL2M-L, SDA-ENLCBL5M-L, SDA-ENLCBL10M-L
Type
Part number
L (mm)
2M low inertia encoder cable
SDA-ENLCBL2M-L
2000±100
5M low inertia encoder cable
SDA-ENLCBL5M-L
5000±100
10M low inertia encoder cable
SDA-ENLCBL10M-L
10000±100
Shihlin part number: SDA-ENMCBL2M-L, SDA-ENMCBL5M-L, SDA-ENMCBL10M-L
183
Type
Part number
L (mm)
2M medium inertia encoder cable
SDA-ENMCBL2M-L
2000±100
5M medium inertia encoder cable
SDA-ENMCBL5M-L
5000±100
10M medium inertia encoder cable
SDA-ENMCBL10M-L
10000±100
Power connectors
Shihlin part number: SDA-PWCNL1( for 100W, 200W, 400W, 750W)
SDA-PWCNL2 (for 100W, 200W, 400W, 750W with electromagnetic brake)
Shihlin part number: SDA-PWCNM1 ( for 500W, 1KW, 1.5KW)
Shihlin part number: SDA-PWCNM2 ( for 2KW, 3.5KW)
Power line
Shihlin part number: SDA-PWCNL1-2M-L, SDA-PWCNL1-5M-L, SDA-PWCNL1-10M-L
SDA-PWCNL2-2M-L, SDA-PWCNL2-5M-L, SDA-PWCNL2-10M-L
184
Type
Part number
L (mm)
Low inertia power line 1 (without electromagnetic brake)
SDA-PWCNL1-2M-L
2000±100
Low inertia power line 2 (without electromagnetic brake)
SDA-PWCNL1-5M-L
5000±100
Low inertia power line 3 (without electromagnetic brake)
SDA-PWCNL1-10M-L
10000±100
Low inertia power line 1 (with electromagnetic brake)
SDA-PWCNL2-2M-L
2000±100
Low inertia power line 2 (with electromagnetic brake)
SDA-PWCNL2-5M-L
5000±100
Low inertia power line 3 (with electromagnetic brake)
SDA-PWCNL2-10M-L
10000±100
RS232/RS485 communication cable
Shihlin part number: SDA-RJ45-3M
Type
Part number
RS232/RS485 communication cable
SDA-RJ45-3M
USB communication cable
Shihlin part number: SDA-USB3M
CN1 I/O connector
Shihlin part number: SDA-CN1
185
L (mm)
3000±10
CN1 I/O control cable
Shihlin part number: SDA-TBL05M, SDA-TBL1M, SDA-TBL2M
Type
Part number
L (mm)
CN1 I/O control cable 1
SDA-TBL05M
500±10
CN1 I/O control cable 2
SDA-TBL1M
1000±10
CN1 I/O control cable 3
SDA-TBL2M
2000±10
CN1 I/O terminal block
Shihlin part number: SDA-TB50
186
14.2.
Brake resistor
(1) Specification of built-in brake resistor
To confirm that P and D terminal are in short-circuit status and that P and C terminal are open.
Built-in resistor
Drive type
Resistance(Ω)
Capacity(W)
SDA-010A2
100
20
SDA-020A2
100
20
SDA-040A2
100
20
SDA-050A2
100
20
SDA-075A2
40
40
SDA-100A2
40
40
SDA-150A2
13
100
SDA-200A2
13
100
SDA-350A2
13
100
(2) Relevant parameter setting and specification of external brake resistor
To confirm that P and D terminal are in open-circuit status and that P and C terminal are connected
with the external brake resistor.
Drive type
Permissible Min. resistance
Capacity
Recommended
Brake resistor
(Ω)
(W)
PC36
part No.
100
300
900 (*)
ABR-300W100
40
500
500 (*)
ABR-500W40
13
1000
400 (*)
ABR-1000W13
SDA-010A2
SDA-020A2
SDA-040A2
SDA-050A2
SDA-075A2
SDA-100A2
SDA-150A2
SDA-200A2
SDA-350A2
Please refer to the table above to choose the brake resistor. To the same servo drive, a bigger PC36
value is permissible when the huge capacity brake resistor is chosen.
(*): When a brake resistor capacity which mentioned above is applied but the PC36 value is
bigger than the recommended value, there is a risk to burn out the brake resistor after a
long term operation.
187
15. Appendix B: Parameters communication address
The address is expressed in hexadecimal.
PA group:
NO
PA01
PA02
PA03
PA04
PA05
PA06
PA07
PA08
PA09
Address
0300
0301
0302
0303
0304
0305
0306
0307
0308
NO
PA10
PA11
PA12
PA13
PA14
PA15
PA16
PA17
PA18
Address
0309
030A
030B
030C
030D
030E
030F
0310
0311
NO
PA19
PA20
PA21
PA22
PA23
PA24
PA25
PA26
PA27
Address
0312
0313
0314
0315
0316
0317
0318
0319
031A
NO
PA28
PA29
PA30
PA31
PA32
PA33
PA34
PA35
PA36
Address
031B
031C
031D
031E
031F
0320
0321
0322
0323
NO
PA37
PA38
PA39
PA40
PA41
PA42
PA43
PA44
PA45
Address
0324
0325
0326
0327
0328
0329
032A
032B
032C
Address
032D
032E
032F
0330
0331
0332
NO
PB07
PB08
PB09
PB10
PB11
PB12
Address
0333
0334
0335
0336
0337
0338
NO
PB13
PB14
PB15
PB16
PB17
PB18
Address
0339
033A
033B
033C
033D
033E
NO
PB19
PB20
PB21
PB22
PB23
PB24
Address
033F
0340
0341
0342
0343
0344
NO
PB25
PB26
PB27
PB28
PB29
PB30
Address
0345
0346
0347
0348
0349
034A
Address
034B
034C
034D
034E
034F
0350
0351
0352
0353
NO
PC10
PC11
PC12
PC13
PC14
PC15
PC16
PC17
PC18
Address
0354
0355
0356
0357
0358
0359
035A
035B
035C
NO
PC19
PC20
PC21
PC22
PC23
PC24
PC25
PC26
PC27
Address
035D
035E
035F
0360
0361
0362
0363
0364
0365
NO
PC28
PC29
PC30
PC31
PC32
PC33
PC34
PC35
PC36
Address
0366
0367
0368
0369
036A
036B
036C
036D
036E
NO
PC37
PC38
PC39
PC40
PC41
PC42
PC43
PC44
PC45
Address
036F
0370
0371
0372
0373
0374
0375
0376
0377
Address
0378
0379
037A
037B
037C
037D
NO
PD07
PD08
PD09
PD10
PD11
PD12
Address
037E
037F
0380
0381
0382
0383
NO
PD13
PD14
PD15
PD16
PD17
PD18
Address
0384
0385
0386
0387
0388
0389
NO
PD19
PD20
PD21
PD22
PD23
PD24
Address
038A
038B
038C
038D
038E
038F
NO
PD25
PD26
PD27
PD28
PD29
PD30
Address
0390
0391
0392
0393
0394
0395
PB group:
NO
PB01
PB02
PB03
PB04
PB05
PB06
PC group:
NO
PC01
PC02
PC03
PC04
PC05
PC06
PC07
PC08
PC09
PD group:
NO
PD01
PD02
PD03
PD04
PD05
PD06
188
16. Appendix C: Version information
Version:
V1.20
Issue date:
June. 2015
Proofreader: Yaochou Shu
189
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