OPERATION MANUAL
AC Servo Drive EDA7000 Series with Ver 1.0 (Soft. Ver. 7.70 ~)
EDA7000 Series
Servo Drive User Manual
Interface
Necessary knowledge before use
Necessary knowledge before use
Trademark EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.
Detailed information of EtherCAT can be obtained from the following ETG(EtherCAT Technology Group)website: http://www.ethercat.org/
1. Port Labeling
I N
=>
EtherCAT IN
O U T
=>
EtherCAT OUT
Port0 Port1 Port2 Port3
= = = =
EtherCAT IN EtherCAT OUT None None
Necessary knowledge before use
A. Check Ampere capacity of the drive Drive Capacity [ED7- ] [0x2000] [Drive ID]
001
002
004
005
010
015
020
030
045
075
110
150
1
2
4
5
10
15
20
30
45
75
110
150
B. Check the Encoder ID Encoder classification
INC 17bit
ABS 17bit
[0x2001] [Encoder ID]
Enc-P (9)
Enc-R (10)
C. Remove the Auto Tuning while under normal operation [0x201D] : Make sure to remove auto tuning after setting Gain by using auto tuning
D. Handling the motor : Do not give any shock to the encoder while connecting coupling/ decelerator to motor axis
E. GND24(CN1-25) and GND(CN1-1) must be connected separately : When common connection, the Servo drive may malfunction or be damaged
F. handling the Servo motor equipped with a brake : The Servo motor equipped with a brake must be operated only after the rotator is stopped completely because the brake is designed only for use while the rotator is stopped. If the brake is used for stopping rotator, noise or dust will occur to damage the brake.
G. When wiring of low capacity and medium capacity terminal plugs, do not load AC Power on terminal N and P. : When the main power is DC, AC power on terminal N and P will cause a damage of the Servo motor because terminal N accepts (-) voltage and terminal P accepts (+) voltage. : Do not load AC power through L1, L2 and L3 and DC power through N and P simultaneously because it may damage the Servo drive. Always select one power only, AC or DC.
Table of Contents Necessary knowledge before use Chapter 1 Identification of Type Name & Handling 1.1 Identification of Type Name .......................................................................... 1-1 1.2 Specification of Servo Drive.......................................................................... 1-2 1.3 Combination Table of Servo Drive and Motor ............................................... 1-3 1.4 How to Install ................................................................................................ 1-4 1.5 Handling........................................................................................................ 1-6 Chapter 2 Wiring & Connections 2.1 Wiring of main circuit and peripherals........................................................... 2-1 2.2 Wiring of main circuit terminal plug ............................................................... 2-5 2.3 Input & output signals of CN1 ................................................................... 2-11 2.4 Wiring and Signals of ENC(CN2)................................................................ 2-16 2.5 Wiring and Signals of COM(CN3) ........................................................ 2-18 2.6 Wring and Signals of LAN Ports ……………………………………………....2-19
Chapter 3 EtherCAT Communication 3.1 Introduction ................................................................................................... 3-1 3.2 EtherCAT Connections ................................................................................. 3-1 3.3 EtherCAT Indicator ....................................................................................... 3-3 3.4 EtherCAT State Machine .............................................................................. 3-5 3.5 Synchronization with Distributed Clock......................................................... 3-6 3.6 EtherCAT(CoE) Device Architecture ............................................................. 3-9 3.7 EtherCAT Addressing Mode ....................................................................... 3-14
Chapter 4 Setting Servo Parameters 4.1 Status Display ............................................................................................... 4-2 4.2 CoE Communication Objects........................................................................ 4-3 4.3 Manufacture Specific Objects ..................................................................... 4-11 4.4 Profile Specific Objects ............................................................................... 4-32 4.5 Alarm Display .............................................................................................. 4-45 Chapter 5 How to use and adjust gain of the Servo 5.1 How to adjust gains of the Servo at Position Mode ...................................... 5-1 5.2 How to adjust gains of the Servo at Velocity Mode ....................................... 5-5 5.3 How to adjust gains of the Servo at Torque Mode ........................................ 5-9 5.4 How to Homing ............................................................................................. 5-9 5.5 How to use the Auto Tuning ........................................................................ 5-10 5.6 Important points of gain adjustment............................................................ 5-13 5.7 Attention when using Absolute Encoder .....................................................5-14 Chapter 6 Troubleshooting & Checking 6.1 Troubleshooting ............................................................................................ 6-1 6.2 Checking ....................................................................................................... 6-4 Chapter 7 Outside Drawings 7.1 Outside Drawings of Servo Drive.................................................................. 7-1 Appendix Ⅰ Noise Countermeasures Ⅰ.1 Types of Noise .......................................................................................... Ⅰ-1 Ⅰ.2 Noise Countermeasures ........................................................................... Ⅰ-1 Appendix Ⅱ Revision History Ⅱ.1 Revision History ............................................................................. Ⅱ-1 Appendix Ⅲ Servo Motor Specification
Ⅲ.1 Servo Motor Specification ............................................................. Ⅲ-1
Chapter 1 Identification of Type Name & Handling Chapter 1 describes things to be checked before using the purchased Servo Drive and Motor. Before mounting the product, please identify whether the rated name plate is same as what you ordered. And the improper handling may cause abnormal operation or reduce the service life of product sharply subject to circumstantial factors. In the worst case, Servo Drive may be even broken, so you are requested to use it properly by following the description hereunder.
1.1 Identification of Type Name ................................................................. 1-1 1.2 Specification of Servo Drive................................................................. 1-2 1.3 Combination Table of Servo Drive and Motor ...................................... 1-3 1.4 How to Install ....................................................................................... 1-4 1.5 Handling............................................................................................... 1-6
1. Identification of Type Name & Handling
1.1 Identification of Type Name 1.1.1 Classification of Type Names for Servo Drive
Note: In the case of application for 17-bit Absolute Encoder, an optional battery must be used.
1.1.2 Classification of Type Names for Servo Motor
AC Servo Motor
Motor Series
Shaft-End Type
Symbol
Application
CN, CJ
High-speed Low-torque type
KF, KN
Middle-speed Standard type
TF, TN
Middle-speed High-torque type
LF, LN
Low-speed High-torque type
Symbol
Symbol
Capacity (KW)
Symbol
Capacity (KW)
Z5
0.05
12
1.2
55
5.5
01
0.1
13
1.3
75
7.5
02
0.2
15
1.5
110
11.0
03
0.3
16
1.6
150
15.0
04
0.4
17
1.7
05
0.45/0.5
20
1.8/2.0
Encoder Type
22
0.65
30
2.9/3.0
08
0.75/0.8
35
3.5
09
0.85/0.9
40
4.0
10
1.0
44
4.4
11
1.1
50
5.0
Application
0
none
pulse/rev.
Type
1
P
131072
Incremental 17 bit
2
Mounted brake 130/180/220Fr : DC24[V]
R
131072
Absolute 17 bit
Shaft Type
2.2
07
Oil-seal type
Mounted brake 40/60/80Fr : DC24[V] 130/180/220Fr : DC90[V]
Symbol
0.55/0.6
none
1
Symbol
Capacity (KW)
06
0
Mounted Brake
Rated Output (KW) Symbol
Application
1-1
Symbol
Application
A
Straight & No Key
B
Straight & Key
C
Taper & Key
1. Identification of Type Name & Handling
1.2
Specification of Servo Drive
Type Name of Servo Drive [ EDA7-] 001
Main circuit power
3-phase AC170 ~ 253V (input voltage range +10/-15%) Single phase AC207 ~ 253V (input voltage range +10/-10%)
Power of detector Speed control range Frequency response characteristic Speed command input Speed variation rate
Torque control spec.
015
020
030
045
075 110
3-phase AC200~230V, 50/60Hz
3-phase AC170 ~ 253V (input voltage range +10/-15%)
Single phase AC200~230V, 50/60Hz ± 5% Single phase AC170 ~ 253V(input voltage range +10/-15%) 17bit serial encoder Differential Line Driver output Max. 131,072 [pulse] per rotation of Encoder DC 5[V], 0.3 [A] or less Single wave PWM control (use of IPM) Internal speed command 1:5000 600 [Hz] EtherCAT type ± 0.01 % or less (rated load : 0 ~ 100 % ) ± 0.01 % or less (rated power voltage : ± 10 %) ± 0.1 % or less (temp variation : 25 ± 25 C ) Acceleration/deceleration achievable in straight line or S-form ( 0 ~ 100 [sec] )
Position input type
EtherCAT type
Position input format Torque command input Torque linearity
EtherCAT type
Protection function Regenerative resistance (W/Ω) Monitor output Dynamic brake Additional functions
EtherCAT type 4 [%] or less EtherCAT type Over current, regenerative overvoltage, overload, motor mis-wiring, Encoder error, over voltage, over speed, gross error etc 50/50
250/ 25
70/50
1600 /15
500/12.5
Built-in Test function (Jog), Alarm history, clockwise/counterclockwise rotation, encoder signal divider system EtherCAT Master
Option
Motor power cable, encoder cable, CN1 connector, CN2 connector, LAN cable
Ambient temp
0 ~ 50 [℃]
Ambient humidity
90[] or less (No condensation allowed)
Temp for storage
-20 ~ +80 [℃]
Insulation resistance Weight
2000 /15
Speed, torque ( -5 ~ +5 [V] )
Upper controller
Environme ntal spec
150
± 5%
Acc./dec. time
Limit speed command
Built-in functions
010
Allowable voltage variation rate
Drive method
Position control spec.
005
3-phase AC200~230V, 50/60Hz ± 5% Single phase AC230V, 50/60Hz ± 5%
Application Output signal type detection Accuracy of detector
Speed control spec.
004
Input voltage, Frequency (note 1)
Input voltage, Frequency Allowable voltage variation rate Detector type
Control circuit power
002
DC 500[V] 10 [M] or more 1.0
1.0
1.5
1.9
1.9
4.3
4.4
4.5
4.6
15
23
Note 1: This indicates input voltage and frequency range which guarantees motor rated output and rated rotation speed. But it does not guarantee in the case of voltage drop.
1-2
24
1. Identification of Type Name & Handling
1.3 Combination Table of Servo Drive and Motor
Motor applicable Drive
CN/CJ Series
KN Series
TN Series
LN Series
KF Series
TF Series
LF Series
3000/6000 [rpm]
2000/3000 [rpm]
1500/3000 [rpm]
1000/2000 [rpm]
2000/3000 [rpm]
1500/3000 [rpm]
1000/2000 [rpm]
001
CJZ5 CN01 CJ01
-
-
-
-
-
-
002
CN02 CJ02
-
-
-
-
-
-
004
CN03 CN04 CJ04 CN04A CN05
KN03 KN05
-
LN03
-
-
LF03
005
CN06 CN08 CN09
KN06 KN06A
TN05
LN06
-
TF05
LF06
010
CN10
KN07 KN11
TN09
LN09
KF08 KF10
TF09
LF09
015
CN15
KN16
TN13
LN12 LN12A
KF15
TF13
LF12
020
CN22
KN22 KN22A
TN17 TN20
LN20
KF22
TF20
LF20
030
CN30 CN30A
KN35
TN30
LN30
KF35
TF30
LF30
045
CN50 CN50A
KN55
TN44
LN40
KF50
TF44
-
KN70
TN75
[EDA7- ]
075 110
TN110 (1500/2000 [rpm])
150
TN150 (1500/2000 [rmp])
1-3
1. Identification of Type Name & Handling
1.4 How to Install 1.4.1 Servo Motor 1) Environmental conditions for use
Ambient temp Ambient humidity External vibration
0 ~ 40 C (no freezing allowed) 80 % RH or less (no vapor allowed) X, Y :19.6 m/s2 (2G )
2) Cautions in case of combining loadable devices (shock prevention of shaft) It is important to align a motor shaft to the shaft center of a counterpart machine. If the shaft center does not match, it may cause vibration and bearing damage. When installing a coupling, use the rubber hammer to mitigate the impact not to apply too much force to the shaft and bearing The difference between max and min values shall be within 0.03 mm when measuring at 4 points along with circumferential area.
The difference between max and min values shall be within 0.03 mm when measuring at 4 points along with circumferential area.
3) Mounting of Servo Motor For output shaft of AC Servo Motor and the accuracy level of mounting, refer to the table below.
Item Perpendicular angular degree (A) between mounted surface and output shaft Eccentricity (B) of outer dia in Flange Fitting Shake (C) of output shaft
Accuracy ( T.I.R ) 0.04mm 0.04mm 0.02mm
♥ T.I.R : Total Indicator Reading
1-4
Reference diagram
1. Identification of Type Name & Handling
4) Shock endurance When applying shock impact to upward/downward direction after placing a motor shaft horizontally, the shaft must endure the shock requirement of 10G impact acceleration for two times of impact. But be careful not to apply the impact directly onto its opposite side as there is a precision detector attached. 5) Vibration resistance When applying vibration with 3 kinds of different direction (up/down, left/right, front/rear) after placing a motor shaft horizontally, this must endure vibration acceleration 2.0G. 6) Vibration class The vibration class of AC Servo Motor is V15 at the rated rotation. 7) Installation direction - It is available to install the motor horizontally or upper/lower side of shaft. - Any cable from a motor shall be faced downward. - When installing it vertically, install the cable trap to prevent any oil and water from flowing into the motor. 8) Cable disconnection - Make sure not to cause cables under stress or scratched. - Provided a motor is used for portable purpose, make sure to use movable cables.
1.4.2 Servo Drive 1) Environmental conditions for use
Ambient temp
0 ~ 50 C (no freezing allowed)
Ambient humidity
90 % RH or less (no vapor allowed)
♥ Temperature of control board: Keep the average temperature of control board with 40℃ to secure the life of drive and reliability. 2) Installation direction and interval - Install so that EDA7000 can be seen from the front. - In case of installing the drive in the enclosed control board, keep more than 10mm
1-5
1. Identification of Type Name & Handling
interval of drive and more than 40mm interval to the up/down direction. Especially, in case of installing the box wrench in parallel, 100mm interval upward is needed and in case of installing a fan lamp, keep away from the heat.
- The heating unit such as regenerative resistance shall be installed away from the drive. 3) Prevention from penetration of foreign materials - In case of assembling the control board, be careful not to be penetrated into a drive by powdered particles generated during drilling. - Be careful not to be penetrated into a drive by oil, water or metal particles through gap of control board or from any fan in the ceiling. - In case of using the drive in the area with harmful gas or dust, protect the drive with air fuzzy.
1.5 Handling 1.5.1 Cautions during handling The improper handling may cause the unexpected accident or breakage. For right use, please refer to the following : 1) Handling - Do not apply impact to an encoder which is a motor detector. If you hit the shaft with a hammer or drop the motor down, it may be broken.
- Do not connect the commercial power (AC220V) directly to the motor. A gross current deteriorates the magnetic effect of motor. Make sure to combine the assigned Servo Drive to run. 2) Wire Connection
-
Ground terminals of drive and motor shall be connected toward the drive and grounding shall be done at the shortest distance altogether at once.
- Carry out Class 3 class ground (below 100Ω) in order to prevent from an electric shock or malfunctions. - Make sure to match U, V, W, FG terminal of drive and motor. It is not allowed to change the rotation direction by changing 2 wires like the general-purpose motor (induction motor). - If commercial power is connected to U, V, W, FG terminal of drive, it could be broken. For the power of main circuit (L1, L2, L3), apply 3 phase 200Vac voltage and for control power (L1C, L2C), apply the single phase 200Vac voltage. For the power except 200Vac
1-6
1. Identification of Type Name & Handling
voltage, a transformer should be installed.
-
N terminal is used when DC power is applied, so if 200Vac voltage is applied, the drive may be burnt out.
-
Make sure to connect the standard regenerative resistance to P, B terminal of drive
1-7
Chapter 2 Wiring & Connections
Chapter 2 describes wiring of main circuit, input & output signals connections and connections with peripherals of the Servo Drive.
2.1 Wiring of main circuit and peripherals……………………………..2-1
2.2 Wiring of main circuit terminal plug………………………………. 2-5
2.3 Input & Output signals of CN1……………………………………… 2-11
2.4 Wiring and Signals of ENC(CN2)……………………………………..2-16
2.5 Wiring and Signals of COM(CN3)…………………………………….2-18
2.6 Wiring and Signals of LAN Ports…………………………………….2-19
2. Wiring & Connections
2.1 Wiring of main circuit and peripherals
2.1 explains wiring of main circuit and peripherals. Keep in mind following warnings or dangers when wiring.
！
Danger
Do not open the surface cover during operation either under live electricity, otherwise it may cause an electric shock. Do not operate with the surface cover open, otherwise it may cause an electric shock because high voltage terminals and a charging part are exposed. Do not take the surface cover out even under power-off except wiring or periodical inspection, otherwise it may cause an electric shock because the inside of the Servo drive is already charged. Start wiring or inspection only after over 10 minutes from power-off and checking its voltage by a tester etc. Connect ground terminals of the Drive and Motor toward the Drive, and ground them at the shortest distance altogether. Do the 3 class ground(below 100 ) in order to prevent an electric shock and malfunctions. Only authorized experts are allowed to do wiring and inspection Do wiring only after installing the main body otherwise it may cause an electric shock or injury. Do not touch any key to operate with wet hands, otherwise it may cause an electric shock or injury Do not damage either put excessive stress on cables. Do not put heavy things on cables either jam it with other things, otherwise it may cause an electric shock or injury.
！
Warning
Use standard wires only otherwise the Servo motor may not function Do not install any shunt power capacitor, serge absorber or radio noise filter at output of the Servo drive. Connect output terminals (U,V,W,FG) correctly otherwise the motor may malfunction. When mounting a DC relay on the output signal control part, pay attention to a direction of the serge absorbing diode, otherwise the Servo motor may not output signals, or its protection circuit may not function at emergency. Please refer to instruction manual for diode directions.
2-1
2. Wiring & Connections
2.1.1 Connection of main circuit and peripherals
Power Specification : Use 3 phase AC200~230V which the Servo motor allows. If the main power is AC 400V, a power transformer must be used.
R
NFB(No Fuse circuit breaker) : It automatically cuts the circuit when over current is loaded. Only use it when repair power lines only.
Servo drive : The Servo’s life is affected by surrounding temperature. Keep surrounding temperature average 40 but below 50 .
3 Phase AC 200 ~ 230V 50~60Hz S
T
LAN connector(RJ-45) : A connector to connect the Servo drive to EtherCAT Master modules.
NFB
CN3 : A connector for serial communication of the Servo drive. (PC communication, Digital loader etc) Noise filter : It is necessary to cut external noise inflowing from commercial electricity. NOISE FILTER
Magnetic contactor : It powers On/Off of the Servo motor. Do not try to operate either stop the Servo with this contactor otherwise it may cause a life shortening of the Servo.
CN1 : A connector to connect the Servo drive to digital I/O.
Magnetic Contactor
CN3 L1 L2 L3 L1C L2C
Wiring : Wrong wiring may damage the Servo. Control signal lines must be apart from main circuit wires with enough distance, and it is very important that wiring shouldn’t be affected by any noise.
CN1
ENC(CN2)
Built-in(out)
U V W FG
Grounding : Terminals of the drive and motor must be grounded with the 3 class resistance(100 or more) with the shortest distance in order to prevent an electric shock. Wiring of the motor power: Terminals U.V.W.FG of the Drive and Motor must be matched each.
Wiring of the Encoder : Connect the Encoder’s connector.
Motor : Do not give a shock to the motor shaft either detector by a hammer etc.
◆ If the main power is DC voltage, load DC280~325V between “P(+)” and “N(-)”. ◆ Do not load AC power on “P(+)” either on “N(-)”. If the main power is DC, loading AC power will damage the Servo drive because the terminal N supplies (-) voltage and the terminal P supplies (+) voltage.
2-2
2. Wiring & Connections
2-3
2. Wiring & Connections
2-4
2. Wiring & Connections
2.2 Wiring of main circuit terminal plug
2.2.1 Wiring of small capacity main circuit terminal plug
[ EDA7001 ~ EDA7004 main circuit terminal plug ] Application and wiring method of each terminal of model EDA7001 ~EDA7004 are as follows. 1) Terminal L1 and L2 are main power of the power circuit. Terminal L1C and L2C are control power of the power circuit. Load single phase AC200~230[V] on each terminal. 2) Connect a regenerative resistor between terminals marked P and B 3) Connect terminals of U,V,W to those of U,V,W of the Servo motor respectively. 4) Ground the FG terminal. Connect the ground cable of the servo motor to this terminal.
EDA7001/7002
AC Servo Drive
EDA7004
Cable thickness
AWG #16(1.25mm2)
Switch
GMC-12(13A) or equivalent
Breaker
ABS33b(5A) or equivalent
Noise Filter
NFZ-4030SG(30A), P3B4030-DA(30A)
External regenerative resistor
50W 50
70W 50
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2.2.2 Wiring of medium capacity main circuit terminal plug
[ EDA7010 Main circuit terminal plug]
2-5
2. Wiring & Connections Application and wiring method of each terminal of model EDA7010 are as follows. 1)
Load 3 phase AC 200~230[V]on terminal L1. L2 and L3 which are main power of the power circuit.
2)
Load single phase AC200~230[V] on terminal L1C and L2C which are control power of the power circuit.
3)
A built-in type regenerative resistor is connected between terminals marked P and B from factory.
4)
Connect terminals of U,V,W to those of U,V,W of the Servo motor respectively.
5)
Ground the FG terminal. Connect the Ground cable of the Servo motor to this terminal.
6)
If the main power is DC voltage, load DC280~325V between “P(+)” and “N(-)”
7)
Do not load AC power on “P(+)” either on “N(-)”. If the main power is DC, loading AC power will damage the Servo drive because the terminal N supplies (-) voltage and the terminal P supplies (+) voltage.
AC Servo Drive
EDA7005
EDA7010
Cable thickness
AWG #14 (2.0mm2)
AWG #12 (3.5mm2)
Switch
GMC-40(35A) or equivalent
Breaker
ABS33b(5A) or equivalent
ABS33b (10A) or equivalent
Noise Filter
NFZ-4030SG(30A), P3B4030-DA(30A)
Regenerative resistor
Built-in type 70W 50
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※ Wiring of small/medium capacity sockets should be done according to following order. ⓐ After checking the thickness as shown in 2.2.1, peel off the sheath of cable. -
Keep the length of the cable peeled off less than 8~9mm Thicknesses of cable allowed are as follows Type of cable
Thickness allowed
Single line
0.5 ~ 0.8[mm]
Double line
AWG28 ~ AWG12
ⓑ After peeling off the sheath of cable, fit a phenol terminal in the cable core part, and press it
2-6
2. Wiring & Connections by a presser for a safety even though you can use it without a phenol terminal.
Cable Phenol terminal
Sock Leve ⓒ Open an insert hole of the terminal plug using a lever as the above figure. ⓓ Insert the cable core part into the open hole and leave the lever. ⓔ Check the connection status of the socket and the cable by pulling the lever slightly. ⓕ If the cable inclusive the sheath is not inserted completely, it may cause an electric shock. Thus double check any exposure of the cable core part.
2.2.3 Wiring method of high capacity main circuit terminal plug
L1C L2C U
L1 L2 L3
V
W
P
B
[ EDA7015 ~ EDA7045 Main circuit terminal plug ]
Application and wiring method of each terminal of Model EDA7015 ~ EDA7045 are as follows. 1) Load 3 phase AC200~230V on terminal L1, L2 and L2 which are main power of the power circuit. 2) Load single phase AC200 ~230V on terminal L1C and L2C which are subsidiary power of
2-7
2. Wiring & Connections the power circuit. 3) Connect a regenerative resistor between terminals marked P and B. 4) Connect terminals of U,V,W to those of U,V,W of the Servo motor respectively. 5) Ground the FG terminal. Connect the ground cable of the Servo motor to this terminal.
AC Servo Drive
EDA7015
EDA7020
EDA7030
EDA7045
Cable thickness
AWG #12(3.5mm2)
AWG #10 (5.5mm2)
Switch
GMC-40(35A)
GMC-50(50A) or equivalent
Breaker
ABS33b
ABS33b
ABS33b (30A)
(10A)
(20A)
Or equivalent
Noise Filter Built-in type regenerative resistor
NFZ-4030SG
NFZ-4040SG
(30A)
(40A)
250W 25
250W 25 Parallel 2 PCS
(Outline drawing A)
(Outline drawing A)
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239 220
Length:300 길이:300 60
∮4.3
30
2-8
M4
2. Wiring & Connections
[EDA7015 ~ EDA7045 Main and Subsidiary circuit terminal plug]
Application and wiring method of each terminal of Model EDA7075 ~ EDA7150 are as follows. 1) Load 3 phase AC200~230V on terminal R, S and T which are main power of the power circuit. And Internal FAN power connected terminal R and T. 2) Load single phase AC200 ~230V on terminal r and t which are subsidiary power of the power circuit. 3) Connect a regenerative resistor between terminals marked P and B. 4) Connect terminals of U,V,W to those of U,V,W of the Servo motor respectively. 5) Ground the FG terminal. Connect the ground cable of the Servo motor to this terminal.
AC Servo Drive
EDA7075
EDA7110
EDA7150
Cable thickness
AWG #8 (8mm2)
AWG #6 (14mm2)
AWG #4 (22mm2)
GMC-85(80A) or equivalent
Switch Breaker Noise Filter
Built-in type regenerative resistor
ABS53b (50A) or equivalent
ABS63b (60A) or equivalent
FT3RE-4060 (60A) 250W 25Ω Parallel 4EA External type (Outline drawing B)
800W 8Ω Parallel 2EA External type (Outline drawing C)
GMC-100(100A) or equivalent ABS103b (100A) or equivalent FT3RE-4080 (80A) 1kW 6Ω Parallel 2EA, External type (Outline drawing C)
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2-9
2. Wiring & Connections
2-10
2. Wiring & Connections
2.3 Input and output signals of CN1
2.3.1 Terminal array of CN1 CN1 is a connector placing on right upper part of front side of the driving gear. This connector is applied to connect the driving gear to the master control equipment which commands its functions. Name and pin array of CN1 connector are as following table.
♥ Above table shows initial standard signals set by factory.
◆ Connector for CN1 is optional - Manufacturer : 3M : Case: 10326-52F0-008, Connector(soldering type) : 101260-3000VE
2-11
2. Wiring & Connections
2.3.2 Wiring of Input and Output of CN1
(Note)1: NF refers Noise Filter which must be used in order to prevent a noise from outside. (Note)2: Load single phase AC220[V] on terminal L1C and L2C of model EDA7001 ~ 7045. (Note)3: Regenerative resistor for EDA7005/7010 is a built-in type, and is built inside the Drive. Regenerative resistor for EDA7001/7002/7004 and above EDA7015 is a standalone type, so apply it only after checking its capacity allowed. (Note)4: FG(Frame Ground) must be grounded with the Ground cable of CN1.
2-12
2. Wiring & Connections
2.3.3 Function table of Input signals
입력 접점 신호의 기능은 다음 표와 같습니다. 입력 접점들은 각 접점의 성격에 따라 A 접점과 B 접점이 있으니 확인하고 사용하십시오. 접점 입력에는 직류 +24[V], 1[A] 이상의 외부 전원을 +24[V] 전원 입력 단자(CN1-25)에 연 결하여 사용합니다. --- 번역해야 함. -+24VIN (CN1-25) +24[V]
Servo Drive INPUT Signal
입력 접점 배선방법(예)
Signal type
Name
Pin
Reserved
Reserved
7
Reserved
Reserved
Reserved
20
Reserved
Reserved
Reserved
8
Reserved
Emergency Stop signal CW limit signal/Prohibit Reverser Rotation CCW limit signal/Prohibit Normal Rotation Reserved
E-STOP
21
CW LIMIT
9
CCW LIMIT
22
Reserved
10
Application and usage
Suddenly drop the motor speed and stops the motor driving regardless of any input status of the Servo drive when external emergency occurs. ON/OFF selection is available at P02-26. Being used as a low limit signal and a limit signal of the reverse direction when return to Home. ON/OFF selection is available at P02-31 Being used as a high limit signal and a limit signal of normal direction when return to Home. ON/OFF selection is available at P02-32. Reserved
♥ Function change of Input contact points is not available.
2-13
2. Wiring & Connections
2.3.4 Function table of Output signals 출력 접점은 내부적으로 트랜지스터 스위치를 사용하고 있습니다. 과전압이나 과전류는 파손의 원인이 되므로 주의하여 주십시오. ( 사용 전원 : DC +24[V] ±10% )
전자 브레이크 신호는 모터에 내장된 전자 브레이크 구동을 위한 신호로써 이 출력이 ON 되면 전자 브레이크에 전원을 공급하여 브레이크가 풀리도록 시퀀스를 구성해야 합니다. 그 외의 신호들은 구동 장치 및 모터의 상태를 알리는 출력들입니다. 각각의 기능은 다음 표와 같습니다. GND24
I/O 인터페이 + 스용 전원
Servo Drive
BRAKE
+
전자 브레이크 + 전용 전원
M1
전자브레이크 -
[ I/O 인터페이스용 전원 ≠ 전자 브레이크 전용 전원 ]
출력접점 배선방법(예) ㈜ M1 은 브레이크 구동용 외부 Relay 입니다. ㈜ 전자 브레이크 전원은 인터페이스용 DC 24[V] 전원과 공용으로 사용하지 마십시오. 반드시 전자 브레이크 전용 전원을 사용하십시오.
Signal type
Name
Pin No.
Application and usage
-
-
23
No application
Brake driving
BRAKE
11
An output signal for driving external brake. Motor starts to drive with a power loaded on the brake when Servo is ON.
Position/Torque reach complete Zero Speed status
INPOS/ INTRQ
24
It sets ON when reach commanded position/Torque
ZSPD
12
Indicates stop status of the Servo motor
Servo Ready
RDY
13
Status of No alarm, Power good when Power ON
♥ Function change of Output contact points is not available.
2-14
2. Wiring & Connections
2.3.5 Function table of other signals
Signal type
Name
Pin No.
Application and usage
Input Analog Commands
Analog COM
15
Inputs Analog Commands
Monitor output 1
MONIT1
16
Variable value set through DA converter is being output within accuracy 0~5[V]. [Monitor selection] 0: Speed, 1:Command Speed,2: Torque, 3: Command Torque,4: Pulse,5: Command Pulse Variable value set through DA converter is being output within accuracy 0~5[V]. [Monitor selection] 0: Speed, 1:Command Speed,2: Torque, 3: Command Torque,4: Pulse,5: Command Pulse
Monitor output 2
MONIT2
2
Encoder output
PAO,NAO PBO,NBO PCO,NCO
4,17 6,5 19,18
Outputs encoder signals of the motor received from CN2 by line drive method after dividing it by the division rate set on the division Setup menu.
+24[V] Power Input
+24VIN
25
A Power for external input/output contact. Load external power +24[VDC]10% 1.0[A] or more(User preparation) ◆ Recalculate the power capacity according to number of output contacts when use this as a power for input/output contacts simultaneously.
+24[V] GND
GND24
26
Connect the Ground of +24[VDC]10%, a power for external input/output contacts(User preparation)
0[V]
AGND
1,3
A Power Common Ground terminal of Analog Command and Monitor output terminals.
Frame Ground
FG
14
Grounds the Ground cable of CN1.
♥ Function change of Input/output contacts is not available.
2-15
2. Wiring & Connections
2.4 Wiring and Signals of ENC(CN2)
2.4.1 When using 17bit Absolute/Incremental Encoder ENC(CN2) is a connector placed on right center of front side of the driving gear. This connector is applied to connect the driving gear to the encoder of the Servo motor. Pin array viewed from user’s connector is as following Fig. PIN 1 2 3 4 5 6 7 8 9 10
(note) Shield signal is connected to 10-Pin and not connected to the metal part of the connector. 1 3 5 7 9
2 4 6 8 10
GND VCC
/SD SD Shield
[View from soldering side of user’s connector ]
Signal GND /SD SD VCC Shield
[View from Drive connector]
[ View from Drive encoder cable side ]
CASE : AMP 172161-1 CAP (9 Circuits) PIN : AMP 170362-1 (female) Applied model : Frange 40, 60, 80
PIN 1 2 3 4 5 6 7 8 9
Signal SD /SD Batt.+ Batt.VCC GND FG Shield -
MS 3108A/B20-29S MS Connector Applied model : Frange 130, 180, 220
PIN A B C D E F G H J
Signal GND VCC Shield
PIN K L M N P R S T
Signal Batt.+ Batt.FG SD /SD -
[ View from Motor encoder cable side ] Encoder cable shield net F.G. (7,N) Shield(10)
Shield(8,J)
[ Drive side ]
[ Motor side ]
(note) Motor side F.G.(7, N) and Shield(8, J) pins is connected to the encoder cable Shield net. Encoder cable Shield net is connected to the drive side of the Shield(10) Pin.
[ F.G./Shield Wiring ]
2-16
2. Wiring & Connections
◆ Connector for ENC(CN2) is optional. - Manufacturer 3M : Case: 36210-0100FD, Connector(for soldering) : 36310-3200-008 Molex : Case: 54593-1019, Connector(for soldering) : 54599-1019 Wiring of ENC(CN2) and 17bit Absolute Value Encoder of AC Servo motor of FMA series is as following table.
ENC(CN2) Pin No.
Signal name
Connector Pin No. for Encoder of Motor side (□60,80 series)
Connector Pin No. for Encoder of Motor side (□130,180 series)
1 2 3 4 5 6 7 8 9 10
GND /SD
6 2
G R
SD VCC F.G.
1 5 7/8
P H J/N
♥ Applicable cable specification: AWG24 x 5 Pair Twist Shield Cable(Max. length 20m)
2-17
2. Wiring & Connections
2.5 Wiring and Signals of COM(CN3)
2.5.1 Array of COM(CN3) terminal COM(CN3) is a connector placing on middle of front side of the driving gear. This connector is applied to connect the driving gear to master equipments or peripherals by serial communication.
◆ Connector for COM(CN3) is optional -Manufacturer: 2M, code of the case: 10314-52F0-008, Connector(for soldering): 10114-3000VE
2.5.2 Communication cable for RS232C
◆ Solder the shield cable core on a body of the connector 10114-3000VE only, not connect it to a body of the D-Sub 9Pin connector when assemblying RS232C communication cable. (When both connectors are soldered, it may cause a communication disorder)
2-18
2. Wiring & Connections
2.6 Wiring and Signals of LAN Ports
2.6.1 Array of LAN Ports Two standard Ethernet connection RJ-45 modular connectors are provided for the EtherCAT communication with host decice. Connect IN to the host device and OUT to the next slave device. Use twisted-pair cables that satisfy at less [Category 5e] to connect the cable.
IN, OUT Port
Terninal No.
Signal
Description
1
TX+
Transmitting signals +
2
TX-
Transmitting signals -
3
RX+
Receiving signal +
4
-
-
5
-
-
6
RX-
Receiving signal -
7
-
-
8
-
-
2.6.2 Wiring diagram
2-19
Chapter 3 EtherCAT Communication Chapter 3 describes the technical specifications for the network communication construction method. Detailed Information of EtherCAT can be obtained from the following ETG(EtherCAT Technology Group) website: http://www.ethercat.org
3.1 Introduction............................................................................................ 3-1
3.2 EtherCAT Connections ............................................................................ 3-1
3.3 EtherCAT Indicator ................................................................................. 3-3
3.4 EtherCAT State Machine ......................................................................... 3-5
3.5 Synchronization with Distributed Clock ..................................................... 3-6
3.6 EtherCAT(CoE) Device Architecture ......................................................... 3-9
3.7 EtherCAT Addressing Mode .................................................................. 3-14
3. EtherCAT Communication
3.1 Introduction
The EtherCAT technology overcomes the system limitations of other Ethernet solutions: The Ethernet packet is no longer received, then interpreted and copied as process data at every connection. Instead, the Ethernet frame is processed on the fly: the newly developed FMMU (fieldbus memory management unit) in each slave node reads the data addressed to it, while the telegram is forwarded to the next device. Similarly, input data is inserted while the telegram passes through. The telegrams are only delayed by a few nanoseconds.
3.2 EtherCAT connections
The EtherCAT is a basically Ethernet-based fieldbus system. So the master and slave does not need any special cable for EtherCAT communication.
3.2.1 EtherCAT IN/OUT Port Terminal
Two standard Ethernet connection RJ-45 modular connectors are provided for the EtherCAT communication with host decice. Connect IN to the host device and OUT to the next slave device. Use twisted-pair cables that satisfy at less [Category 5e] to connect the cable.
IN, OUT Port
Terninal No.
Signal
Description
1
TX+
Transmitting signals +
2
TX-
Transmitting signals -
3
RX+
Receiving signal +
4
-
-
5
-
-
6
RX-
Receiving signal -
7
-
-
8
-
-
IN/OUT Port Terminal
3-1
3. EtherCAT Communication
I N
=>
EtherCAT IN
O U T
=>
EtherCAT OUT
Port0 Port1 Port2 Port3
= EtherCAT IN = EtherCAT OUT = None = None
IN/OUT Terminal and ESC(EtherCAT Slave Controller) Port
3.2.2 Wiring diagram
IN/OUT Port wiring
3-2
3. EtherCAT Communication
3.3 EtherCAT Indicator
The servo drive has three indicators standardized by EtherCAT specifications. EtherCAT indicators are important to support visual inspection and troubleshooting of networks. EDA7000 series has Port 0/1 Link/Activity and RUN indicator for EtherCAT.
3.3.1 Indicator position and flash rate
Indicator flash rates
3-3
3. EtherCAT Communication
EtherCAT Status LED
3.3.2 Port 0/1 Link/Activity Indicator
The Link/Activity indicators show the state of the physical link and activity of each port with on/off/blinking. The States codes of the Link/Activity Indicator are shown below. Link
Activity
Condition
Link/Activity Code
Yes
No
Port open
On
Yes
Yes
Port open
Flickering
No
(Not applicable)
Port closed
Off
Link/Activity Indicator
3.3.3 RUN Indicator
The RUN indicator shall show the state of the EtherCAT State Machine with off/blinking/single flash/on. Explains the RUN indicator below table. RUN Indicator states
Slave State
Description
Off
INITIALISATION
Blinking
PRE-OPERATIONAL
The device is in state PRE-OPERSTIONAL
Single Flash
SAFE-OPERATIONAL
The device is in state SAFE-OPERTIONAL.
On
OPERATIONAL
The device is in state INIT
The device is in state OPERATIONAL
Run Indicator
3-4
3. EtherCAT Communication
3.4 EtherCAT State Machine
The EtherCAT State Machine (ESM) is responsible for the coordination of master and slave applications at start up and during operation. State changes are typically initiated by requests of the master. The states of the EtherCAT State Machine are as follows.
There are four states an EtherCAT slave shall support, plus one optional state:
Init
Pre-Operational
Safe-Operational
Operational
Bootstrap(optional)
The State Machine are as follows.
EtherCAT State Machine
3.4 State Machine Service
The EtherCAT State Machine defines required service. Before a state change is confirmed by the slave all services required for the requested state have to be provided or stopped respectively. Here is the active service of each state in Table
3-5
3. EtherCAT Communication State INIT
INIT TO PREOP
PREOP
Services
PREOP TO SAFEOP
SAFEOP SAFEOP TO OP OP
BOOT
No mailbox communication is possible. No process data communication is possible. Master configures DL Address and SyncManager channels for Mailbox communication. Master initializes DC clock synchronization. Master requests ‘Pre-Operational’ state. Master sets AL Control register. Slave checks whether the mailbox was initialized correctly. Mailbox communication is possible. No process data communication is possible. Master configures SyncManager channels and FMMU channels for process data. Master configures PDO mapping and the sync manager PDO assignment parameters via SDO. Master requests ‘Safe-Operational’ state. Slave checks whether the sync manager channels for process data communication and, if required, the distributed clocks settings are correct. Mailbox communication is possible. Process Data communication is possible, but only Inputs are evaluated – Outputs remain in ‘Safe’ state. Master sends valid Outputs. Master requests ‘Operational’ state. Mailbox communication is possible. Process data communication is possible.
Optional, but recommended if firmware update are necessary. State changes only from and to INIT No Process Data communication Mailbox communication on Application Layer, only FoE protocol available(possibly limited “file” range)) Special mailbox configuration possible
※EDA7000 don’t support BOOT state and FoE. State Machine Service
3.5 Synchronization with Distributed Clock
The Distributed Clock is the synchronization mechanism of EtherCAT communication. DC clock synchronization enable all EtherCAT devices(master and slaves) to share the same EtherCAT System Time. The Distributed Clocks(DC) unit of EtherCAT slave controllers supports the following features
3-6
3. EtherCAT Communication
Clock synchronization between the slaves(and the master)
Generation of synchronous output signals(SyncSignals)
Precise time stamping of input events(LatchSignals)
Generation of synchronous interrupts
Synchronous Digital Output updates
Synchronous Digital Input sampling
3.5.1 Communication Timing
The EDA700 servo drive synchronize internal applications to Sync0 event which are generated reference clock. The following synchronization modes are available in the EtherCAT(CoE) Network Module for the EDA7000. The synchronization mode can be changed by Sync Control register(ESC register 0x0980 ~ 0x0981) and the differences between the synchronous type mode can be identified by the Subindex combination the CoE Object Dictionary 0x1C32 and 0x1C33.
possible frame jitter (~us) due to EtherCAT Master implementation
EtherCAT Frame
EtherCAT Frame
DC Sync event
Slave Task
Slave Task
Local timer event
Local timer event
EtherCAT frame (jitter:~us)
EtherCAT Frame
DC Sync event
Slave Task
DC Sync event
Slave Task
Local timer event
Local timer event
Slave Task Local timer event
Slave Task
Slave Task
Slave Task
SM2/3 event
SM2/3 event
SM2/3 event
Slave Task DC Sync event
Slave Task DC Sync event
Slave Task DC Sync event
Differences between synchronization on the slaves(simplified)
3-7
DC Sync events (jitter:~ns)
Free Run (no synchronization)
Synchronous with SM Event (jitter : ~us)
Synchronous with DC SYNC Event (jitter : ~ns)
3. EtherCAT Communication
Free-Run The EtherCAT slave application does not synchronize with sync signal.
DC Mode(Sync0 Event Synchronous Mode) The EtherCAT slave application synchronize with Sync0 and Sync1 signal. EDA7000 series can be synchronized to the EtherCAT master with the Sync0 event.
The follow figure is diagram of communication with DC Sync signal. SM2 Event
Sync0 Event
SM2 Event
Frame
Sync0 Event
Frame 1C32:02(Cycle Time) 1C32:05(Min Cycle Time)
1C32:06(Calc+Copy Time)
Output Valid
1C33:06(Calc+Copy Time) Input Latch
1C32:09(Delay Time)
Local Cycle Synchronous to Sync0 Event
All object and data related to synchronous can be obtained from “Setting Servo Parameters” chapter. The index of object is 0x1C32 ~ 0x1C33.
3-8
3. EtherCAT Communication
3.6
EtherCAT(CoE) Device Architecture
The following figure shows the EtherCAT(CoE) architecture of the EDA7000 series.
EtherCAT(CoE) Slave Device Architecture
The EtherCAT Slave Device is composed of the EtherCAT communication in the data link layer and CANopen drive profile(DS402) in the application layer.
3.6.1 Object Dictionary
The Object Dictionary in the application layer includes parameters, application data, and PDO mapping information between the process data and the application data. The Object Dictionary of EDA7000 series applied CiA402(DS402) profile. More detail information about Object Dictionary can be obtained from “Setting Servo Parameters” chapter.
3.6.2 PDO/SDO and CoE Message Type
EDA7000 series servo drive support CoE (CANopen over EtherCAT) with two methods
3-9
3. EtherCAT Communication provided for accessing the Object Dictionary. The process data object(PDO) is composed of the object dictionary that is defined by PDO mapping. In the Data Link Layer, the process data communication is cyclic communication to write and read the PDO and the mailbox communication(SDO) is acyclic communication to write and read the object dictionary.
EDA7000 series servo drive support two SDO Message types( SDO request, SDO Response) for accessing the Object Dictionary.
CoE Message Type is shown below.
CoE Message Type
Type Value
EDA7000 support
Description
2
○
SDO Request
3
○
SDO Response
8
-
SDO information
CoE Message Type
3.6.3 SyncManager
SyncManagers enable consistent and secure data exchange between the EtherCAT master and the local application, and they generate interrupts to inform both side of changes. SyncManager are configured by the EtherCAT master. The communication direction is configurable, as well as the communication mode( Buffered Mode and Mailbox Mode). SyncManager use a buffer location in the memory area for exchanging data. Access to this buffer is controlled by hardware of the SyncManagers.
Sync Manager
Assignment
Start Address
Sync Manager 0
Receive Mailbox
0x1800
Sync Manager 1
Transmit Mailbox
0x1C00
Sync Manager 2
Receive PDO
0x1100
Sync Manager 3
Transmit PDO
0x1400
Sync Manager Assignment of EDA7000 series Two (2) communication modes are supported in SM. 3-10
3. EtherCAT Communication
Buffer Mode Buffer mode enables access to the communication buffer at any time on both the EtherCAT master and slave side. The reception side can always Read the latest buffer written on the transmission side. The transmission side can always update the buffer value. However, old data will be dropped when the Write buffer is faster than the Read. Buffer mode is generally used for cyclic process data.
. SyncManager Buffered Mode
Mailbox Mode The Mailbox Mode implements a handshake mechanism for data exchange, so the data will not be lost in mailbox mode. Each side, EtherCAT master or local application, will get to the buffer only when the other side has finished its access. At first, the producer writes to the buffer and the buffer is locked for writing until the consumer has read it out. Mailbox mode generally used as an application layer protocols( ex. SDO)
SyncManager Mailbox Mode
3-11
3. EtherCAT Communication
3.6.4 FMMU
Fieldbus Memory Management Units(FMMU) convert logical address into physical address by the mean of internal address mapping. Thus, FMMUs allow to use logical addressing for data segments that span several slave devices: one datagram addresses data within several arbitrarily distributed ESCs. Each FMMU channel maps one continuous logical address to one continuous physical address space of the slave.
Logical Address Image
Logical Addressing With FMMU(PDO Access)
3-12
3. EtherCAT Communication
3.6.5 PDO Mapping
PDO Mapping of EDA7000 is fixed and readable via SDO. The PDO mapping tables are allocated to index 1600h for the RxPDO and 1A00h for the TxPDO in the object dictionary. The following figure shows a PDO mapping of RxPDO/TXPDO
RxPDO Mapping
TxPDO Mapping
3-13
3. EtherCAT Communication
3.7 EtherCAT Addressing Modes
Two addressing modes of EtherCAT devices are supported within one segment: device addressing and logical addressing. Three device addressing modes are available: auto increment addressing, configured station address, and broadcast. EtherCAT devices can have up to two configured station addresses, one is assigned by the master (Configured Station Address), the other one is stored in the ESI EEPROM and can be changed by the slave application (Configured Station Alias address). The EEPROM setting for the Configured Station Alias address is only taken over at the first EEPROM loading after power-on or reset.
Mode
Field
Data Type
Auto Increment Address
Position
WORD
Each slave increments Position. Slave is addressed if Position = 0.
Offset
WORD
Local register or memory address of the ESC
Address
WORD
Slave is addressed if Address matches Configured Station Address or Configured Station Alias (if enabled).
Offset
WORD
Local register or memory address of the ESC
Position
WORD
Each slave increments Position (not used for addressing)
Offset
WORD
Local register or memory address of the ESC
Address
DWORD
Configured Station Address
Broadcast
Logical Address
Value/Description
Logical Address (configured by FMMUs) Slave is addressed if FMMU configuration matches Address.
EtherCAT Addressing Modes
3.7.1 Device Addressing
The device can be addressed via Device Position Address (Auto Increment address), by Node Address (Configured Station Address/Configured Station Alias), or by a Broadcast.
3-14
3. EtherCAT Communication 3.7.1.1 Position Address / Auto Increment Address:
The datagram holds the position address of the addressed slave as a negative value. Each slave increments the address. The slave which reads the address equal zero is addressed and will execute the appropriate command at receive. Position Addressing should only be used during start up of the EtherCAT system to scan the fieldbus and later only occasionally to detect newly attached slaves. Using Position addressing is problematic if loops are closed temporarily due to link problems. Position addresses are shifted in this case and e.g. a mapping of error register values to devices becomes impossible, thus the faulty link can not be localized.
3.7.1.2 Node Address / Configured Station Address and Configured Station Alias:
The configured Station Address is assigned by the master during start up and can not be changed by the EtherCAT slave. The Configured Station Alias address is stored in the ESI EEPROM and can be changed by the EtherCAT slave. The Configured Station Alias has to be enabled by the master. The appropriate command action will be executed if Node Address matches with either Configured Station Address or Configured Station Alias. Node addressing is typically used for register access to individual and already identified devices.
3.7.1.3 Broadcast:
Each EtherCAT slave is addressed. Broadcast addressing is used e.g. for initialization of all slaves and for checking the status of all slaves if they are expected to be identical. Each slave device has a 16 bit local address space (address range 0x0000:0x0FFF is dedicated for EtherCAT registers, address range 0x1000:0xFFFF is used as process memory) which is addressed via the Offset field of the EtherCAT datagram. The process memory address
3-15
3. EtherCAT Communication space is used for application communication (e.g. mailbox access).
3.7.2 Logical Addressing
All devices read from and write to the same logical 4 Gbyte address space (32 bit address field within the EtherCAT datagram). A slave uses a mapping unit (FMMU, Fieldbus Memory Management Unit) to map data from the logical process data image to its local address space. During start up the master configures the FMMUs of each slave. The slave knows which parts of the logical process data image have to be mapped to which local address space using the configuration information of the FMMUs. Logical Addressing supports bit wise mapping. Logical Addressing is a powerful mechanism to reduce the overhead of process data communication, thus it is typically used for accessing process data.
3-16
Chapter 4 Setting Servo Parameters Chapter 4 describes setting of servo parameters fit for individual purposes and applications. The setting can be implemented by using EtherCAT Master. Parameters marked with asterisk(*) are allowable for their modification only under the state of SERVO OFF.
4.1 Status Display .................................................................................... 4-2 4.2 CoE Communication Objects .......................................................... 4-3 4.3 Manufacture Specific Objects ........................................................ 4-11 4.4 Profile Specific Objects .................................................................. 4-32 4.5 Alarm Display................................................................................... 4-45
4. Setting Servo Parameters
Setting for menus is achievable by using EtherCAT Master. Parameters marked with asterisk(*) can be modified only when in the case of SERVO OFF. The nomenclature and abbreviation contained in this Manual have the following meanings; Nomenclature PC CC SC LMT ENB INIT PROG CMD ACCEL DECEL SPD POS COMPEN ABS REV ADJ MAX TRQ MULTI NF COM TC FF ERR ELCTR NUM DEN
Meaning (English/Korean) Position Controller 위치 제어기 Current Controller 전류 제어기 Speed Controller 속도 제어기 Limit 제한 Enable 허용 Initialize 초기화 Program 프로그램 Command 지령 Acceleration 가속 Deceleration 감속 Speed 속도 Position 위치 Compensation 보상 Absolute 절대치 Revolution 회전 Adjustment 조정 Maximum 최대치 Torque 토크 Multiple 다회전 Notch Filter 노치 필터 Communication 통신 Time Constant 시정수 Feedforward 전향 보상 Error 오차 Electric 전기 Numerator 분자 Denominator 분모
4-1
4. Setting Servo Parameters
4.1 Status Display This section is to set menus that appear in the display screen when Servo Drive turns ON. The digit represents the EtherCAT node address of Servo Drive.
2nd Digit
1st Digit
Two Digits : EtherCAT node number Dot : 1st dot : Status of Power 2nd dot : EtherCAT state is OP state.
SW1 : Alarm Reset SW2 : NONE SW3 : Drive Firmware Information SW3
SW2
SW1
Drive firmware version information is as follows;
Here, the first digit means capacity of Servo Drive (_ : small capacity, = : medium capacity, ≡ : large capacity) and the subsequent numbers represent firmware version. (e.g. “＝７．” －＞ “０１” : medium capacity 7.01 version)
4-2
4. Setting Servo Parameters
4.2 CoE Communication Objects
Index
0x1000
Device Type
Sub-Index 0x00
Description
Bit
Description
31:24 23:16 7:0
0x1001
RO
No
0x00020192
Mode Bit
-
Manufacture Definition
Type
0x02
Servo Drive
Device Profile Number
0x0192
DS402d
Data Type UINT8
Description
Property
Variable
Access
PDO
Initial value
RO
No
0x00
Data range
0x00 ~ 0xFF
Indicates error state of slave drive.
0x1018
0
Generic error
7:1
Reserved
Identity Object
Sub-Index 0x00
Initial value
Description
Bit
Index
Variable
PDO
Value
Error Register
Sub-Index 0x00
UINT32
Property Access
Displays device type for EtherCAT Servo Drive. For the EtherCAT CiA402 servo device the Device Type in object 0x1000 is set to 0x00020192.
15:8
Index
Data Type
Description 0 : No Error 1 : Error 0
Data Type UINT8
Description
Property Access RO
Data range
Variable
PDO
Initial value
No
0x02
0x00 ~ 0x02
Number of Entry The object contains general information about the servo drive.
0x01
INT32
Description
Data range
RO
NO
0x00000625
0x80000000 ~ 0x7FFFFFFF
Vendor ID Vender ID registered in ETG. 0x02
INT32
Description
Data range
Product code Product Code of Servo Drive.
4-3
RO
NO
0x69686555
0x80000000 ~ 0x7FFFFFFF
4. Setting Servo Parameters
Index
0x1600
1st receive PDO mapping
Sub-Index 0x00
Data Type
Property Access
PDO
Initial value
RO
No
-
UINT8
Description
Variable
Data range
0x00 ~ 0x02
Number of Entry Number of RxPDO object.
0x01
Description
UINT32
RO
NO
0x60400010
1st mapping data Index Controlword
0x6040 0x02
Bit Length 16 UINT32
Description
Comment Fixed mapping RO
NO
0x60600008
nd
2
mapping data Index 0x6060 Mode of Operation
0x03
Bit Length 8 UINT32
Description
Comment Fixed mapping
RO
NO
0x60710010
3rd mapping data Index Target Torque
0x6071 0x04
Bit Length 16 UINT32
Description
Comment Fixed mapping
RO
NO
0x607A0020
4th mapping data Index Target Position
0x607A 0x05
Bit Length 32 UINT32
Description
Comment Fixed mapping
RO
NO
0x60FF0020
th
5 mapping data 0x60FF 0x06 n
Index Target Velocity
Bit Length 32 UINT32
Description
Data range
6th mapping data n-th mapping data
Comment Fixed mapping RO
NO
Reserved
Object mapped.
4-4
-
0x00000000 ~ 0xFFFFFFFF
4. Setting Servo Parameters
Index
0x1A00
1st transmit PDO mapping
Sub-Index 0x00
Data Type
Property Access
PDO
Initial value
RO
No
-
UINT8
Description
Variable
Data range
0x00 ~ 0x02
Number of Entry Number of TxPDO object.
0x01
Description
UINT32
RO
NO
0x60410010
st
1 mapping data Index Statusword
0x6041 0x02
Bit Length 16 UINT32
Description
2nd mapping data Index 0x6061 Mode of Operation Display 0x03
RO
NO
Bit Length 8 UINT32
Description
Comment Fixed mapping 0x60610008
Comment Fixed mapping
RO
NO
0x60640020
3rd mapping data Index Position Actual Value
0x6064 0x04
Bit Length 32 UINT32
Description
Comment Fixed mapping
RO
NO
0x60770010
4th mapping data Index Target Actual Value
0x6077 0x05 n
Bit Length 16 UINT32
Description
Data range
Comment Fixed mapping RO
NO
-
0x00000000 ~ 0xFFFFFFFF
5th
mapping data n-th mapping data
Reserved
Object mapped.
Index
0x1C12
Sub-Index 0x00
RxPDO Assign (SM2)
Data Type UINT8
Description
Property Access RW
Data range
Variable
PDO
Initial value
No
-
0x00 ~ 0x04
Number of Entry Number of object assigned to RxPDO
0x01
Description
UINT32
RW
UINT32
RW
NO
0x1600
NO
-
Assign1 Index of the PDO object assigned to RxPDO. 0x02 4
Description
Data range
Assign2 Assign4
0x0000 ~ 0xFFFF Reserved
Index of the PDO object assigned to RxPDO.
4-5
4. Setting Servo Parameters
Index
0x1C13
Sub-Index 0x00
TxPDO Assign (SM3)
Data Type UINT8
Description
Property
Variable
Access
PDO
Initial value
RW
No
-
Data range
0x00 ~ 0x04
Number of Entry Number of object assigned to TxPDO
0x01
Description
UINT32
RW
UINT32
RW
NO
0x1A00
NO
-
Assign1 Index of the PDO object assigned to TxPDO. 0x02 4
Description
Data range
Assign2 Assign4
0x0000 ~ 0xFFFF Reserved
Index of the PDO object assigned to TxPDO.
4-6
4. Setting Servo Parameters
Index
0x1C32
SM2 Output parameter
Sub-Index 0x00
Data Type UINT8
Description
Property
Variable
Access
PDO
Initial value
RO
No
0x02
Data range
0x00 ~ 0x02
Number of Entry
0x01
UINT16
Description
RW
Data range
Sync Mode
NO
0x0002
0x0000 ~ 0x0002
Sets up synchronous mode. Value 0x00 0x02
0x02
Description Not Synchronized : Free Run DC Sync0 : SYNC0 Event Synchronization
UINT32
Description Cycle Time
RO
NO
0x000C3500
Data range
0x00000000 ~ 0xFFFFFFFF
Unit
ns
Sets up communication cycle time between master and slave.
0x03
* Free Run mode (Auto detection by slave) : 0.8ms ~ 10.0ms(max. master cycle time) UINT32 RO NO 0x000000 Description Data range 0x00000000 ~ 0xFFFFFFFF Shift Time Unit ns Shift time describes the time between the sync event and the output valid or input latch.
0x04
UINT16
Description
Data range
Sync Modes Supported
Bit Bit[0] Bit[1]
0x05
Description Free-Run Mode Supported Synchronous Supported
Bit[4:2]
DC Type Supported
Bit[6:5]
Shift Settings
Bit[13:7]
Reserved
Bit[14]
Dynamic Cycle Times
Bit[15]
Reserved
RO
Minimum Cycle Time
4-7
0x0005
0x0000 ~ 0xFFFF
Value 0 : Un-supported 1 : Free-Run mode supported 0 : Un-supported 1 : SM2 Event sync support 000 : Un-supported 001 : DC Sync0 Event supported 010 : DC Sync1 Event supported 100 : Synchronization by slave cycle 00 : Un-supported 01 : Shift support to local timer 11 : Shift support to Sync1 Reserved 0 : Un-supported 1 : Dynamic cycle supported Reserved
UINT32
Description
NO
RO
NO
0x000C3500
Data range
0x00000000 ~ 0xFFFFFFFF
Unit
ns
4. Setting Servo Parameters
The minimum cycle time is supported by slave. 0x06
UINT32
Description Calc. and Copy Time
0x08
0x00030D40
Unit
ns
Unit Value 0x0000 0x0001
0x0A
NO
0x00000000 ~ 0xFFFFFFFF
Time required of slave drive MCU in order to copy process data to local memory from SyncManager. UINT16 RW NO 0x0000 Description Data range 0x0000 ~ 0xFFFF Get Cycle Time
0x09
RO
Data range
-
Description Measurement of local cycle time stopped Measurement of local cycle time started
If written again, the measured values are reset. UINT32 RO NO 0x00007530 Description Data range 0x00000000 ~ 0xFFFFFFFF Delay Time Unit ns It is time during tigger reception of Sync0 or Sync1 event to be effective in order to do output of the value by the h/w delay time of slave. UINT32 RW NO 0x00000000 Description Data range 0x00000000 ~ 0xFFFFFFFF Sync0 Time Unit Not supported.
0x0B
Description Cycle Exceeded Counter Not supported.
0x0C
Description SM Event Missed Counter Not supported.
0x0D
Description Shift Too Short Counter Not supported.
0x20
UINT32 Data range Unit
RO NO 0 0x00000000 ~ 0xFFFFFFFF -
UINT32 Data range Unit
RO NO 0 0x00000000 ~ 0xFFFFFFFF -
UINT32 Data range Unit
RO NO 0 0x00000000 ~ 0xFFFFFFFF -
UINT16 RO NO 0 Data range 0x0000 ~ 0xFFFF Sync Error Unit TxPDO mapping is possible at the time SyncManager Event missed or shift time too short counter support. Value Description 0x0000 Not sync. Error or unsupported Sync error 0x0001 Sync. Error Description
4-8
4. Setting Servo Parameters
Index
0x1C33
SM3 Input parameter
Sub-Index 0x00
Data Type UINT8
Description
Property
Variable
Access
PDO
Initial value
RO
No
0x02
Data range
0x00 ~ 0x02
Number of Entry
0x01
UINT16
Description
RW
Data range
Sync Mode
NO
0x0002
0x0000 ~ 0x0002
Sets up synchronous mode. Value 0x00 0x02
0x02
Description Not Synchronized : Free Run DC Sync0 : SYNC0 Event Synchronization
UINT32
Description Cycle Time
RO
NO
0x000C3500
Data range
0x00000000 ~ 0xFFFFFFFF
Unit
ns
Sets up communication cycle time between master and slave.
0x03
* Free Run mode (Auto detection by slave) : 0.8ms ~ 10.0ms(max. master cycle time) UINT32 RO NO 0x000000 Description Data range 0x00000000 ~ 0xFFFFFFFF Shift Time Unit ns Shift time describes the time between the sync event and the output valid or input latch.
0x04
UINT16
Description
Data range
Sync Modes Supported
Bit Bit[0] Bit[1]
0x05
Description Free-Run Mode Supported Synchronous Supported
Bit[4:2]
DC Type Supported
Bit[6:5]
Shift Settings
Bit[13:7]
Reserved
Bit[14]
Dynamic Cycle Times
Bit[15]
Reserved
RO
Minimum Cycle Time
4-9
0x0005
0x0000 ~ 0xFFFF
Value 0 : Un-supported 1 : Free-Run mode supported 0 : Un-supported 1 : SM2 Event sync support 000 : Un-supported 001 : DC Sync0 Event supported 010 : DC Sync1 Event supported 100 : Synchronization by slave cycle 00 : Un-supported 01 : Shift support to local timer 11 : Shift support to Sync1 Reserved 0 : Un-supported 1 : Dynamic cycle supported Reserved
UINT32
Description
NO
RO
NO
0x000C3500
Data range
0x00000000 ~ 0xFFFFFFFF
Unit
ns
4. Setting Servo Parameters
The minimum cycle time is supported by slave. 0x06
UINT32
Description Calc. and Copy Time
0x08
Value 0x0000 0x0001
0x0A
NO
0x00030D40
0x00000000 ~ 0xFFFFFFFF
Unit
ns
Time required of slave drive MCU in order to copy process data to local memory from SyncManager. UINT16 RW NO 0x0000 Description Data range 0x0000 ~ 0xFFFF Get Cycle Time
0x09
RO
Data range
Unit
-
Description Measurement of local cycle time stopped Measurement of local cycle time started
If written again, the measured values are reset. UINT32 RO NO 0x00007530 Description Data range 0x00000000 ~ 0xFFFFFFFF Delay Time Unit ns It is time during tigger reception of Sync0 or Sync1 event to be effective in order to do output of the value by the h/w delay time of slave. UINT32 RW NO 0x00000000 Description Data range 0x00000000 ~ 0xFFFFFFFF Sync0 Time Unit Not supported.
0x0B
Description Cycle Exceeded Counter Not supported.
0x0C
Description SM Event Missed Counter Not supported.
0x0D
Description Shift Too Short Counter Not supported.
0x20
UINT32 Data range Unit
RO NO 0 0x00000000 ~ 0xFFFFFFFF -
UINT32 Data range Unit
RO NO 0 0x00000000 ~ 0xFFFFFFFF -
UINT32 Data range Unit
RO NO 0 0x00000000 ~ 0xFFFFFFFF -
UINT16 RO NO 0 Data range 0x0000 ~ 0xFFFF Sync Error Unit TxPDO mapping is possible at the time SyncManager Event missed or shift time too short counter support. Value Description 0x0000 Not sync. Error or unsupported Sync error 0x0001 Sync. Error Description
4-10
4. Setting Servo Parameters
4.3 Manufacture Specific Objects
Index Sub-Index 0x00
0x2000*
Drive ID
Data Type UINT8
Description
Property Access
Drive Type EDA7001 EDA7002 EDA7004 EDA7005 EDA7010 EDA7015
Value 1 2 4 5 10 15
Capacity 0.1KW 0.2KW 0.4KW 0.5KW 1.0KW 1.5KW
Drive Type EDA7020 EDA7030 EDA7045 EDA7075 EDA7110 EDA7150
Initial value
No
by Drive type
RW
Data range Set value shown at the table depending on Drive capacity.
Variable
PDO
0x01 ~ 0x96 Value 20 30 45 75 110 150
Capacity 2.0KW 3.0KW 4.5KW 7.5KW 11.0KW 15.0KW
* This object cannot be set in servo-on state.
Index Sub-Index 0x00
0x2001*
Encoder ID
Data Type UINT8
Description
Property
Variable
Access
PDO
Initial value
RW
No
0x09
Data range 0x09 ~ 0x0A Set value shown at the table depending on the user system required. Encoder Type
Value
External battery attached
Increment 17bit Serial
0x09
NO
Absolute 17bit Serial
0x0A
YES
* External battery : Lithium battery 3.6V 2400mh. * The battery should be connected connector on the outside in the encoder cable. * This object cannot be set in servo-on state.
Index Sub-Index 0x00
0x2002
Pulse Out Rate
Data Type UINT32
Description
Property
Variable
Access
PDO
Initial value
RW
No
0x00008000
Data range 0x00000800 ~ 0x00020000 It sets the pulse out rate of encoder when outputting in Line Drive type by dividing A, B phase encoder pulse that is feedback from motor.
Function
CN2 Pin No.
Function
CN2 Pin No.
Function
CN2 Pin No.
PAO
4
PBO
6
PCO
19
NAO
17
NBO
5
NCO
18
4-11
4. Setting Servo Parameters
Index Sub-Index 0x00
0x2003
RS232 Communication Set
Property
Data Type
PDO
Initial value
RW
No
0x0100
UINT16
Description
Variable
Access
Data range 0x0000 ~ 0xFFFF It selects communication speed. Align the value to the communication speed of transmitting station (main station). MBS 15 : 8
.LSB 7:0
Serial ID
Baud rate Value
RS232 Communication ID 0x01 ~ 0x1F
. Baud rate [bps]
0x00 ~ 0x03
9600
0x04 ~ 0x07
19200
0x08 ~ 0x0B
38400
0x0C ~ 0x0F
57600
* During EtherCAT communication, RS232 communication is not allowed.
Index
0x2004*
Sub-Index
Absolute/Object Lock Set
Data Type UINT16
Description
Property
Variable
Access
PDO
Initial value
RW
No
0x0000
Data range
0x0000 ~ 0xFFFF
0x00 MBS 15 : 8
.LSB 7:0
ABS Origin
Parameter Lock
In th case of application of 17bit absolute encoder, homing of encoder can be performed. When set 0x01, Encoder Multi-turn data is reset.
When set 0x01, All manufacture objects are not changed.
* This object cannot be set in servo-on state.
Index
0x2010
Mode Change Time
Data Type UINT32
Sub-Index
Data range Unit
Description
0x00
4-12
Property
Variable
Access
PDO
Initial value
RW
No
0x0000000A
0x00000001 ~ 0x00002710 0.1 ms
4. Setting Servo Parameters
Index
0x2011
Internal CCW Speed Limit
Property
Data Type UINT32
Sub-Index 0x00
Index
Data range Unit The speed limit in the CCW direction of the servo drive. Description
0x2012
Internal CW Speed Limit
UINT32 Sub-Index 0x00
Data range Unit
Description
Access
PDO
Initial value
RW
No
by Motor type
0x00000000 ~ 0x0000EA60 0.1 min-1
Property
Data Type
Variable
Variable
Access
PDO
Initial value
RW
No
by Motor type
0x00000000 ~ 0x0000EA60 0.1 min-1
The speed limit in the CW direction of the servo drive. rpm
Command Speed Actual Speed
Speed limit
time
Index
0x2013
Brake Speed
Data Type UINT32
Sub-Index 0x00
Index
Data range Unit
Description
0x00
Variable
Access
PDO
Initial value
RW
No
0x000001F4
0x00000000 ~ 0x000003E8 0.1 min-1
This object can be set speed when operate of the attached servo motor brake.
0x2014
Brake Time
Data Type UINT32
Sub-Index
Property
Data range Unit
Description
Property PDO
Initial value
RW
No
0x00000032
0x00000000 ~ 0x000003E8 0.1 ms
This object can be set time when operate of the attached servo motor brake.
Operating conditions brake (0x2013, 0x2014) - In case of Servo off by alarm occurrence. Deceleration by free-run or dynamic brake
rpm
Motor speed
Brake speed (0x2013)
0 SERVO On/off
ON OFF
Brake output ON signal
OFF Brake time (0x2014)
4-13
Variable
Access
4. Setting Servo Parameters
Index
0x2015
Servo Off Delay Time
Data Type UINT32
Sub-Index 0x00
Property
Variable
Access
PDO
Initial value
RW
No
0x0000000A
Data range 0x00000000 ~ 0x00000032 Unit 0.1 ms When using the servo motor to control a vertical movement machine, the structure movable part may be moved toward the downward depanding on brake timing due to the gravity or external force. By using this object to delay turning the servo off that movement can be protect. Description
SERVO ON/OFF
Brake Output Signal
Internal SERVO ON/OFF
OFF ON ON OFF OFF ON Servo Off Delay Time (0x2015)
4-14
4. Setting Servo Parameters
Index Sub-Index 0x00
0x2016
Notch Filter 1 Mode
Data Type UINT8
Description
Access
PDO
Initial value
RW
No
0x00
Operation explanation
0x00
Do not use the notch filter 1.
0x01
Operate the notch filter 1 in the set resonance frequency and resonance bandwidth.
0x02
This is the method of reducing the resonance after automatically detecting the resonance frequency, it automatically detects the frequency of which the vibration is generated and reduces the resonance. (Automatically value from 2 -> 1)
0x2017
Notch Filter 1 Frequency
Data Type UINT32
Sub-Index 0x00
Variable
Data range 0x00 ~ 0x02 The operation of the notch filter is set to operate the notch filter to reduce the resonance of the machinery. Value
Index
Property
Data range Unit
Description
Property
Variable
Access
PDO
Initial value
RW
No
0x00000BB8
0x000001F4 ~ 0x00004E20 0.1 Hz
This sets the notch filter frequency 1 to reduce the resonance of the machinery. [dB] Notch filter Bandwidth [%] [0x2018, 0x201B] 100 [%]
Notch filter frequency [Hz] [0x2017, 0x201A]
Index
0x2018
Notch Filter 1 Bandwidth
Data Type UINT32
Sub-Index 0x00
Data range Unit
Description
[Hz]
Property
Variable
Access
PDO
Initial value
RW
No
0x000003B6
0x00000064 ~ 0x000003E7 0.1 %
It shows the certain gain bandwidth where the notch filter 1 operate to reduce the resonance of machinery. [dB] -3
450
4-15
500
550
[Hz]
4. Setting Servo Parameters
Index Sub-Index 0x00
0x2019
Notch Filter 2 Mode
Data Type UINT8
Description
Access
PDO
Initial value
RW
No
0x00
Operation explanation
0x00
Do not use the notch filter 2.
0x01
Operate the notch filter 2 in the set resonance frequency and resonance bandwidth.
0x201A
Notch Filter 2 Frequency
Data Type UINT32
Sub-Index 0x00
Variable
Data range 0x00 ~ 0x01 The operation of the notch filter is set to operate the notch filter to reduce the resonance of the machinery. Value
Index
Property
Data range Unit
Description
Property
Variable
Access
PDO
Initial value
RW
No
0x00001388
0x000001F4 ~ 0x00004E20 0.1 Hz
This sets the notch filter frequency 2 to reduce the resonance of the machinery. [dB] Notch filter Bandwidth [%] [0x2018, 0x201B] 100 [%]
Notch filter frequency [Hz] [0x2017, 0x201A]
Index
0x201B
Notch Filter 2 Bandwidth
Data Type UINT32
Sub-Index 0x00
Data range Unit
Description
[Hz]
Property
Variable
Access
PDO
Initial value
RW
No
0x000003B6
0x00000064 ~ 0x000003E7 0.1 %
It shows the certain gain bandwidth where the notch filter 2 operate to reduce the resonance of machinery. [dB] -3
450
4-16
500
550
[Hz]
4. Setting Servo Parameters
Index
0x201C
Torque Filter Time Constant
Data Type UINT32
Sub-Index 0x00
Index Sub-Index 0x00
Data range Unit
Description
Property
Variable
Access
PDO
Initial value
RW
No
by drive type
0x00000000 ~ 0x00002710 0.1 ms
Filter time constant for torque command in the servo drive.
0x201D
Auto Tuning
Data Type UINT8
Description
Property
Variable
Access
PDO
Initial value
RW
No
0x00
Data range 0x00 ~ 0x01 In Auto Tuning, Position proportional Gain, Speed control loop Gain, Speed integral time constant and Torque command filter time constant shall be set by setting System response[0x201E], and the System inertia ratio[0x201F] shall be set by Auto Tuning Mode which is an automatic control part. Start Default value running
No
Load change ?
Yes Auto tuning [0x201D] = “0x01”
Repeat acceleration/deceleration running : more than 500rpm
Running OK ?
Yes
No System response[0x201E] -> manual input
Running OK ?
Yes
No Auto tuning [0x201D] = “0x00” System response [0x201E] -> manual input
End
4-17
Tuning result save
4. Setting Servo Parameters
Index Sub-Index 0x00
Index
0x201E
System Response
Data Type UINT8
Description
0x00
Variable
Access
PDO
Initial value
RW
No
By drive type
Data range 0x00 ~ 0x13 The system response setting is to set the response to the target of the machine system. System Response [0x201E]
Position Control P Gain 1 [0x2042]
Position Control P Gain 2 [0x2043]
Speed Control loop gain 1 [0x2034]
Speed Control TC1 [0x2035]
Speed Control loop gain 2 [0x2036]
Speed Control TC2 [0x2037]
Torque Filter TC [0x201C]
1
2.0
5.0
2.0
200.0
5.0
120.0
4.5
2
5.0
10.0
5.0
120.0
10.0
80.0
3.5
3
10.0
15.0
10.0
80.0
15.0
60.0
3.0
4
15.0
20.0
15.0
60.0
20.0
45.0
2.5
5
20.0
25.0
20.0
45.0
25.0
40.0
2.0
6
25.0
30.0
25.0
40.0
30.0
30.0
1.5
7
30.0
35.0
30.0
30.0
35.0
25.0
1.3
8
35.0
45.0
35.0
25.0
45.0
18.0
1.2
9
45.0
55.0
45.0
18.0
55.0
17.0
0.9
10
55.0
70.0
55.0
17.0
70.0
13.0
0.8
11
70.0
85.0
70.0
13.0
85.0
11.0
0.6
12
85.0
105.0
85.0
11.0
105.0
10.0
0.5
13
105.0
130.0
105.0
10.0
130.0
8.0
0.4
14
130.0
160.0
130.0
8.0
160.0
6.0
0.25
15
160.0
200.0
160.0
6.0
200.0
5.4
0.2
16
200.0
240.0
200.0
5.4
240.0
5.0
0.15
17
240.0
300.0
240.0
5.0
300.0
3.5
0.1
18
300.0
350.0
300.0
3.5
350.0
3.2
0.0
19
350.0
360.0
350.0
3.2
360.0
3.1
0.0
0x201F
Inertia Ratio
Data Type UINT16
Sub-Index
Property
Property Access
PDO
Initial value
RW
No
0x0014
Data range Unit
Description
Variable
0x000A ~ 0x01F4 x 0.1
This parameter sets the servo motor attached to a mechanical load ratio.
Load inertia rate
system inertia[0x 201F] ( motor inertia load inertia ) motor inertia
4-18
4. Setting Servo Parameters
Index
0x2020
Gain Adjust Speed 1
Data Type UINT32
Sub-Index 0x00
Index
Data range Unit
Description
0x2021
Gain Adjust Speed 2
Data Type UINT32
Index
Data range Unit
Description
0x2022
Gain Adjust Torque 1
Data Type UINT32
Index
Data range Unit
Description
0x00
RW
No
0x00001F40
0x00000064 ~ 0x0000C350 0.1 mm-1
Property
Variable
Access
PDO
Initial value
RW
No
0x000003E8
0x0000000A ~ 0x00001388 0.1 mm-1
Property
Variable
Access
PDO
Initial value
RW
No
0x000005DC
0x000001F4 ~ 0x00000BB8 0.1 % (motor rated torque)
When executing the control gain conversion by operating torque of the servo motor, it decides the torque converted by the control gain.
0x2023
Gain Adjust Torque 2
Data Type UINT32
Sub-Index
Initial value
When executing the control gain conversion by operation speed of the servo motor, it decides the speed converted by the control gain.
Sub-Index 0x00
Variable
PDO
When executing the control gain conversion by operation speed of the servo motor, it decides the speed converted by the control gain.
Sub-Index 0x00
Property Access
Data range Unit
Description
Property
Variable
Access
PDO
Initial value
RW
No
0x000001F4
0x00000000 ~ 0x00000BB8 0.1 % (motor rated torque)
When executing the control gain conversion by operating torque of the servo motor, it decides the torque converted by the control gain.
4-19
4. Setting Servo Parameters
Index
0x2025
Sub-Index 0x00
Index Sub-Index 0x00
UINT16
Property
Variable
Access
PDO
Initial value
RW
No
0x0004
Data range
0x0000 ~ 0x0007
Invert the input signal object. Function
Value
0
CCW Limit
0
Function enabled when bit input is ON.
1
Function enabled when bit input is OFF.
1
CW Limit
0
Function enabled when bit input is ON.
1
Function enabled when bit input is OFF.
Emergency Stop
0
Function enabled when bit input is OFF.
2
1
Function enabled when bit input is ON.
0x2026
Sub-Index 0x00
Data Type
Description
Bit
Index
Digital Inputs Setting
Operation explanation
Parameter Initialization
Data Type UINT8
Description
Property
Variable
Access
PDO
Initial value
RW
No
0x00
Data range
0x00 ~ 0x01
This object “0x01” to set, all object values are reset.
0x2030
Speed Gain Mode
Data Type UINT8
Description
Property
Variable
Access
PDO
Initial value
RW
No
0x01
Data range 0x01 ~ 0x04 When the servo drive is set to speed control mode, it sets the speed control gain mode. Value
Operation explanation
0x01
Use speed controller gain 1 [0x2034, 0x2035]
0x02
Use speed controller gain 2 [0x2036, 0x2037] Apply variable gain using gain 1 [0x2034, 0x2035] and gain 2 [0x2036, 0x2037]
0x03
according to set speed [0x2020, 0x2021] for the speed controller gain. Apply variable gain using gain 1 [0x2034, 0x2035] and gain 2 [0x2036, 0x2037]
0x04
according to set torque (P02-22, P02-23) for the speed controller gain.
4-20
4. Setting Servo Parameters
Index
0x2031
PI-IP Control Ratio
Data Type
Property Access
PDO
Initial value
RW
No
0x000003E8
UINT32 Sub-Index 0x00
Data range Unit
Description
Variable
0x00000000 ~ 0x000003E8 0.1 %
The type of speed controller to set the mixing ratio. Value
Operation explanation
0x03E8
PI applied to the speed controller.
0x0000
IP applied to the speed controller.
Command speed
+
+
PI control
-
-
IP control
Torque control
Motor
Encoder
( 0 x 2031 ) 1 100
Actual speed
Command speed Actual speed : [0x2031] => 0x03E8 (PI) Actual speed : [0x2031] => 0x0032
[rpm]
Actual speed : [0x2031] => 0x0000 (IP)
[sec]
Index
0x2032
Friction Compensation Torque Ratio
Data Type UINT32
Sub-Index 0x00
Data range Unit
Description
Property
Variable
Access
PDO
Initial value
RW
No
0x00000000
0x00000000 ~ 0x000003E8 0.1 %
When the servo motor is attached on the machinery with severe friction with ball screw etc., this sets the friction compensation coefficient to reduce the dead zone that occurs during conversion of turning direction. Command speed
+
-
+
Speed control
+
Torque control
Motor
[0x2032] Encoder
Friction compensation Actual speed
4-21
4. Setting Servo Parameters
[0x2032] = 0x0000 Command speed
0
Actual speed [0x2032] = 0x001E
Command speed
0
Index
Load Compensation Torque Ratio
0x2033
Actual speed
Property
Data Type
PDO
Initial value
RW
No
0x00000000
UINT32 Sub-Index 0x00
Data range Unit
Description
Variable
Access
0x00000000 ~ 0x000003E8 0.1 %
This sets the external load compensation coefficient to improve the response of the servo motor for the sudden load change.
Command torque
Torque control
+
-
Motor
+ [0x2033] Current sensor
Load compensation Actual load
Index
0x2034
Speed Control Loop Gain 1
Data Type UINT32
Sub-Index 0x00
Index
Data range Unit
Description
0x2035
Sub-Index
Index
Speed Control Time Constant 1
Data Type
Data range Unit
Description
0x00
Initial value
RW
No
by drive type
0x00000000 ~ 0x00002710 0.1 Hz
Property
Variable
Access
PDO
Initial value
RW
No
by drive type
0x00000000 ~ 0x000186A0 0.1 ms
This parameter is required for the response of the deceleration of the servo motor constant 1 setting.
0x2036
Speed Control Loop Gain 2
Data Type UINT32
Sub-Index
Variable
PDO
This parameter sets the acceleration needed to respond to the frequency 1 response.
UINT32
0x00
Property Access
Data range Unit
Description
Property
Variable
Access
PDO
Initial value
RW
No
by drive type
0x00000000 ~ 0x00002710 0.1 Hz
This parameter sets the acceleration needed to respond to the frequency 2 response.
4-22
4. Setting Servo Parameters
Index
0x2037
Speed Control Time Constant 2
Data Type UINT32
Sub-Index 0x00
Data range Unit
Description
Property
Variable
Access
PDO
Initial value
RW
No
by drive type
0x00000000 ~ 0x000186A0 0.1 ms
This parameter is required for the response of the deceleration of the servo motor constant 2 setting. Speed control loop Command speed
+
K psc s Kisc
+
s
-
-
Kt
Torque control
Motor
Encoder
(1 ) K psc Actual speed
K psc System Ineratia 2π SC Loop Gain 1[0x2034], SC Loop Gain 2 [0x2036]
K isc K psc α
Index
1000 SC TC 1[0x2035], SC TC 2 [0x2037]
PI IP control % [0x2031] 100
0x2038*
S-Mode Time Constant
Data Type UINT32
Sub-Index
Data range Unit
Description
Property Access
PDO
Initial value
RW
No
0x00000000
0x00000000 ~ 0x00015F90 0.1 ms
0x00 Command speed Speed [0x2038] = 0x0064
Increase S-Mode TC [0x2038]
[0x2037] = 0x000A
time [sec]
4-23
Variable
4. Setting Servo Parameters
Index
0x2039
Zero Velocity Window
Data Type
Property Access
PDO
Initial value
RW
No
0x00000064
UINT32 Sub-Index
Data range Unit
Description
Variable
0x00000000 ~ 0x0000C350 0.1 mm-1
0x00 Command speed Speed Zero speed range
Actual speed
time [sec] ON Finished zero speed range OFF time [sec]
Zero speed output
Index
0x203A*
Speed Feedback Time constant
Data Type
Property PDO
Initial value
RW
No
0x00000000
UINT32 Sub-Index
Data range Unit
Description
0x00000000 ~ 0x00004E20 0.1 ms
0x00 Actual speed (motor) Speed Machinery speed
0
Chattering of Belt or Machinery
* This object cannot be set in servo-on state.
4-24
Variable
Access
4. Setting Servo Parameters
Index
0x203B
Zero Velocity Vibration Control
Data Type UINT32
Sub-Index 0x00
Property
Variable
Access
PDO
Initial value
RW
No
0x00000001
Data range 0x00000000 ~ 0x00002710 Unit 0.1 mm-1 This parameter sets the speed range for suppress vibration at slow or stop state. Description
Speed Motor speed
Zero speed vibration control [0x203B] 0
Index Sub-Index 0x00
0x2040
time
Position Gain Mode
UINT8
Description
0x00
Variable
PDO
Initial value
RW
No
0x01
Operation explanation
1
Use the position loop gain 1. [0x2042]
2
Use the position loop gain 2. [0x2043]
3
Apply variable gain using gain 1 [0x2042] and gain 2 [0x2043] according to set speed [0x2020, 0x2021] for the position controller gain.
4
Apply variable gain using gain 1 [0x2042] and gain 2 [0x2043] according to set speed [0x2020, 0x2021] for the position controller gain.
0x2041
Position Feedforward Ratio
Data Type UINT32
Sub-Index
Property Access
Data range 0x00 ~ 0x04 When the servo drive is set to position control mode, this parameter sets the position control gain type. Set value
Index
Data Type
Property
Variable
Access
PDO
Initial value
RW
No
0x00000000
Data range 0x00000000 ~ 0x000003E8 Unit 0.1 % This parameter sets the Feedforward ratio[%] unit for the position command speed. Description
R = [ Speed loop gain ]/ [ Position loop gain ]
Max_Value [ Feedforward ]
5
70 or below
7
80 or below
10
85 or below
20
90 or below
4-25
4. Setting Servo Parameters
Index
0x2042
Position Control P Gain 1
Data Type
Property PDO
Initial value
RW
No
by drive type
UINT32 Sub-Index 0x00
Variable
Access
Data range 0x00000000 ~ 0x00001388 Unit 0.1 Hz This sets the Position Control P gain 1 applied by the set value of [0x2040]. Description
Position + command
K P_PC
KP_PC Position Control P Gain
Position feedback
Index
0x2043
Position Control P Gain 2
Data Type
Property PDO
Initial value
RW
No
by drive type
UINT32 Sub-Index 0x00
Variable
Access
Data range 0x00000000 ~ 0x00001388 Unit 0.1 Hz This sets the Position Control P gain 2 applied by the set value of [0x2040]. Description
Position + command
K P_PC
KP_PC Position Control P Gain
Position feedback
Index
0x2044
Position PI-P Pulse Error
Data Type UINT32
Sub-Index 0x00
Property
Variable
Access
PDO
Initial value
RW
No
0x00000000
Data range 0x00000000 ~ 0x000186A0 Unit pulse In position control mode, when the error between command pulse and actual movement pulse exceeds the set value of [0x2044], it converts to P control mode to reduce the overshoot. Description
Command speed Speed Actual speed
time [sec] Error pulse PI-P Pulse ERR [0x2044]
PI control
P control
4-26
PI control
4. Setting Servo Parameters
Index
0x2045
Position Command Time Constant
Data Type UINT32
Sub-Index 0x00
Property
Variable
Access
PDO
Initial value
RW
No
0x00000000
Data range 0x00000000 ~ 0x00004E20 Unit 0.1 ms Set the filter TC on the position command pulse input for smoothing operation in the position control mode. Description
Command pulse
Speed No smoothing running [0x2045] = 0
time [sec]
Speed
Smoothing running [0x2045] = set value
time [sec]
Command pulse
Speed
No smoothing running [0x2045] = 0
time [sec] Speed Smoothing running [0x2045] = set value time [sec]
Index
0x2046
Position Control Feedforward Time Constant
Data Type UINT32
Sub-Index 0x00
Property
Variable
Access
PDO
Initial value
RW
No
0x00000000
Data range 0x00000000 ~ 0x00004E20 Unit 0.1 ms st Enter the 1 filter time constant in [ms] unit of the feed-forward input of the position command speed. The entered position command is divided and processed through the 1st filter before being used as the feed-forward input, the time constant of this filter can be adjusted. In the applied field where the position command changes abruptly, set this value high and in applied field where the position command changes smoothly, set this value low. If you do not want to use this filter, input “0”. Description
[Recommand ed setting condition] P05 11(Feedfor ward TC) 1000 (Max_Value [Feedforward] [Feedforward]) / 100 / [PC P Gain]
Index Sub-Index 0x00
0x2047*
Electronic Gear Numerator
Data Type UINT32
Description
Property
Variable
Access
PDO
Initial value
RW
No
0x00000001
Data range 0x00000000 ~ 0x000186A0 This parameter is the value of electronic gear ratio, the numerator and denominator are expressed as an integer. * The value of [Electronic Gear NUM/DEN] should be at 0.05 ~ 20.0. * This object cannot be set in servo-on state.
4-27
4. Setting Servo Parameters
Index Sub-Index 0x00
0x2048*
Electronic Gear Denominator
Data Type UINT32
Description
Property
Variable
Access
PDO
Initial value
RW
No
0x00000001
Data range 0x00000000 ~ 0x000186A0 This parameter is the value of electronic gear ratio, the numerator and denominator are expressed as an integer. * The value of [Electronic Gear NUM/DEN] should be at 0.05 ~ 20.0. * This object cannot be set in servo-on state.
Index
0x2049
Position Control Bias Speed Compensation
Data Type INT32
Sub-Index 0x00
Property
Variable
Access
PDO
Initial value
RW
No
0x00000000
Data range 0x00000000 ~ 0xFFFFFFFF Unit 0.1 mm-1 To reduce the position decision time in position control mode, it adds the internal compensated speed of the servo drive. Description
Command speed Speed
Error pulse
Bias SDP COMPEN [0x2049]
Error pulse
Bias Pulse Band [0x204A]
Index
0x204A
Position Control Bias Pulse Band
Data Type UINT16
Sub-Index 0x00
Property
Variable
Access
PDO
Initial value
RW
No
0x000A
Data range 0x0000 ~ 0x01F4 Unit pulse The bias pulse band is the value of bias compensation speed [0x2049], when the error pulse exceeds the set value of [0x204A]. It adds the internal compensated speed [0x2049]. Description
Command speed Speed
Error pulse
Bias SDP COMPEN [0x2049]
Error pulse
Bias Pulse Band [0x204A]
4-28
4. Setting Servo Parameters
Index
0x204B
Position Control Backlash Pulse Compensation
Data Type UINT32
Sub-Index 0x00
Property
Variable
Access
PDO
Initial value
RW
No
0x00000000
Data range 0x00000000 ~ 0xFFFFFFFF Unit pulse The bias pulse band is the value of bias compensation speed [0x2049], when the error pulse exceeds the set value of [0x204A]. It adds the internal compensated speed [0x2049]. Description
Backlash compensation Pulse [0x204B]
Motor
Index
0x2050*
Motor
Torque S Mode Time Constant
Data Type UINT32
Sub-Index 0x00
Property
Variable
Access
PDO
Initial value
RW
No
0x00000000
Data range 0x00000000 ~ 0x00004E20 Unit 0.1 ms If you adjust the S-mode operation time constant under the condition of satisfying the operation characteristics of the machine system, you can reduce the vibration and impact of the machinery. Description
Torque
Command torque
[0x2050] = 0x0064 Increase TRQ S-Mode [0x2050]
[0x2050] = 0x000A
time [sec]
4-29
4. Setting Servo Parameters
0x2070
Monitor 1 Select
Property
Index 0x2074 Sub-Index 0x00
Monitor 2 Select
PDO
Initial value
RW
No
0x00
Data range 0x00~ 0xFF This sets the parameter to monitor the internal variable of the servo drive in analog output. When the monitoring scale value is 1, the maximum speed output is +5[V] and maximum torque (3*Rated torque) is +5[V]. Set value
0
1
2
3
4
5
Monitoring variable
Actual speed [ rpm ]
Command speed [ rpm ]
Actual torque [%]
Command torque [%]
Feedback pulse [ pulse ]
Command pulse [ pulse ]
0x2071
Monitor 1 ABS
Property
Variable
Data Type
0x2075
0x00
Access UINT8
Description
Index
Sub-Index
Variable
Data Type
Monitor 2 ABS UINT8
Description
Access
PDO
Initial value
RW
No
0x00
Data range 0x00~ 0x01 This sets the parameter to monitor the internal variable of the servo drive in analog output. When the monitoring scale value is 1, the maximum speed output is +5[V] and maximum torque (3*Rated torque) is +5[V]. Set value
Operation explanation Output by distinguishing the sign +5[V]
0x00
Max+Offset
0[V]
Offset
-5[V]
-Max+Offset
Output in absolute value without distinguishing the sign +5[V]
0x01
0[V]
Max+Offset Offset
NOT USE
-5[V]
0x2072
Monitor 1 Scale
Property
Index 0x2076
Monitor 2 Scale UINT32
Sub-Index
Variable
Data Type
Data range Unit
Description
Access
PDO
Initial value
RW
No
0x0000000A
0x00000001 ~ 0x00004E20 x 0.1
0x00 Basic Ratio
Operation explanation
Actual speed, command speed
Maximum speed / 5[V]
Actual torque, command torque
3*Rated torque / 5[V]
Feedback pulse, command pulse
4-30
2000 [pulse] / 5[V]
4. Setting Servo Parameters
0x2073
Monitor 1 Offset
Property
Index
Variable
Data Type
0x2077
Monitor 2 Offset INT32
Sub-Index
Data range Unit
Description
Access
PDO
Initial value
RW
No
0x0000000A
0x00000000~ 0xFFFFFFFF mV
0x00
Max
Offset
Speed
Torque
1.25 * [Max. speed] Monitor scale [0x2072, 0x2076]
1.25 * [3*Rated. torque] Monitor scale [0x2072, 0x2076]
Max. speed x
Monitor Offset [0x2073, 0x2077] 100
4-31
3*Rated. Torque x
Monitor Offset [0x2073, 0x2077] 100
4. Setting Servo Parameters
4.4 Profile Specific Objects
Index Sub-Index 0x00
0x603F
Error Code
Data Type UINT16
Description
Property Access
PDO
Initial value
RO
No
0x0000
Data range Displays codes of errors occurred in the servo drive. Refer to the list of alarm codes.
Error Code (0x603F)
Segment Display No.
0x5400
01
Over Current
0x3210
02
Over Voltage
0x2220
03
Over Load
0x3220
04
Power Fail
0x7305
05
Line Fail
0x8400
06
Over Speed
0x8611
07
Following Error
0x6320
08
Output No Connection
Content
Variable
0x0000 ~ 0xFFFF
Cause Servo drive output terminal(U, V, W) short. Output over current. Input over-voltage (280V or above). Regenerated resistance burnt. 2 Overload GD . Mechanical overload. Motor missed wiring. Main power blocked when SERVO is ON. Motor and encoder related set value error. Motor and encoder missed wiring. Encoder defect. Encoder cable connector contact failure. Over-gain. Parameter set value error. Over gravity load. Abrupt acceleration/deceleration. Gain set value error. Missed wring. Mechanical overload. Encoder cable connector contact failure. Output (U, V, W) missing.
Reserved 0x7300
11
0x7300
12
0x6320
13
ABS. Battery Error ABS. Multi-turn Error Output Error Connection
Battery voltage is 2.8V or below. Absolute encoder multi turn data transmission error. Output U, V, W missed wiring (Error Connection).
Reserved 0xFF00
20
Emergency Stop
Turn external ESTOP contact point input OFF state.
0x7510
21
Lost Link
Port0/1 cable was disconnected or unplugged in OP state. Master power supply was shutdown in OP state.
23
Motor Initialize Error
Motor parameter automatic setting disable.
Reserved 0x6320 Reserved
4-32
4. Setting Servo Parameters
Index Sub-Index 0x00
0x6040
Control Word
Data Type
Property Access
PDO
Initial value
RW
No
0x0000
UINT16
Description
Variable
Data range 0x0000 ~ 0xFFFF Control word indicates the command for controlling the FSA(Finite State Automaton) state of slave drive. Bit15
Bit14
Bit13
Bit12
Bit11
Manufacture specific
Bit7 Fault Reset
Bit6
Bit5
Bit4
Operation mode specific
Bit10
Bit9
Bit8
reserved
Operation mode Specific
Halt
Bit3
Bit2
Bit1
Bit0
Enable Operation
Quick Stop
Enable Voltage
Switch On
Control Word bit Command
Transition No. Bit7
Bit3
Bit2
Bit1
Bit0
Shut down
0
x
1
1
0
2,6,8
Switch On
0
0
1
1
1
3
Switch On + Ebable operation
0
1
1
1
1
3+4
Disable voltage
0
x
x
0
X
7,9,10,12
Quick Stop
0
x
0
1
X
7,10,11
Disabled operation
0
0
1
1
1
5
Enable operation
0
1
1
1
1
4,16
Fault reset
0->1
x
x
x
X
15
4-33
4. Setting Servo Parameters
Index Sub-Index 0x00
0x6041
Status Word
Property
Data Type UINT16
Description
Variable
Access
PDO
Initial value
RO
No
0x0000
Data range 0x0000 ~ 0xFFFF Status word provides the status of slave FSA(Finite State Automaton). Bit15
Bit14
Bit13
Bit12
Reserved
Bit11
Bit10
Bit9
Bit8
Internal Limit Active
Reserved
Reserved
Reserved
Bit7
Bit6
Bit5
Bit4
Bit3
Bit2
Bit1
Bit0
Reserved
Switch On Disabled
Quick Stop
Voltage Enabled
Fault
Operation Enable
Switched On
Ready to switch on
Status word Bit FSA state Bit6
Bit5
Bit3
Bit2
Bit1
Bit0
Not ready to Switch on
0
x
0
0
0
0
Switch on Disabled
1
x
0
0
0
0
Ready to Switch on
0
1
0
0
0
1
Switch on
0
1
0
0
1
1
Operation enabled
0
1
0
1
1
1
Quick stop active
0
0
0
1
1
1
Fault reaction action
0
x
1
1
1
1
Fault
0
x
1
0
0
0
* Bit5 [Quick Stop] shall be set by the drive if the Quick stop state is not supported or the Quick stop function is not active. * Bit11 [Internal limit active] is set if internal limits are exceeded so that the target and setpoint values can’t be reached. (e.q. for CW Limit, CCW Limit etc.)
4-34
4. Setting Servo Parameters
Index Sub-Index 0x00
0x605A
Quick Stop Option Code Description
Sub-Index 0x00
Variable
Access
PDO
Initial value
RW
No
0x0006
UINT16
Data range 0x0000 ~ 0xFFFF This object quick stop option code determines what action should be taken if the Quick stop function is executed. Set value
Index
Property
Data Type
Data Description
5
Slow down on slow down ramp and stay in Quick stop active. (Reserved)
6
Slow down on quick stop ramp and stay in Quick stop active.
7
Slow down on current limit and stay in Quick stop active. (Reserved)
8
Slow down on voltage limit and stay in Quick stop active. (Reserved)
0x605C
Disable Operation Option Code
Data Type
Property Access
PDO
Initial value
RW
No
by Drive type
UINT16
Description
Variable
Data range 0x0000 ~ 0xFFFF Disable operation option code is stop the servo motor abruptly during an emergency stop. This object [0x605C] sets the stop operation of the servo motor when the servo is turned off or during an emergency stop. . Drive Type
Operation range
EDA7001 ~ EDA7010
0~3
EDA7015 ~ EDA7150
0 (fixed)
Set value
rpm
Data Description
0
Maintain by decelerating the dynamic brake when the servo is off.
1
Free-run operation at set Zero Velocity Window [0x2039] decelerating the dynamic brake when the servo is off.
2
Maintain free-run operation by decelerating in free-run condition when the servo is off
3
Maintain dynamic brake at set Zero Velocity Window [0x2039] decelerating in free-run condition when the servo is off. Servo OFF
rpm
Servo OFF Free-run
Dynamic brake
0 rpm
Dynamic brake state
0
0x605C = 0 Servo OFF
rpm
Free-run state
0x605C = 2 Servo OFF Free-run
Dynamic brake
Zero Velocity Window [0x2039]
0
Zero Velocity Window [0x2039]
Free-run Free-run state
0x605C = 1
4-35
0
Dynamic brake Dynamic brake state
0x605C = 3
4. Setting Servo Parameters
Index Sub-Index 0x00
0x605E
Fault Reaction Option Code
Sub-Index 0x00
0x00
No
0xFFFF(-1)
Data Description
0
Reserved (Disable drive function, motor is free to rotate)
1
Reserved (Slow down on slow down ramp)
2
Reserved (Slow down on quick stop ramp)
0x6060
Modes of Operation
Property
Data Type UINT8
Description
Variable
Access
PDO
Initial value
RW
No
0x00
Data range 0x00 ~ 0xFF The master writes to the modes of operation object in order to select the operation mode. The drive device provides the modes of operation display object [0x6061] indicate the actual activated operation mode.
0x6061
Data Description
0
No mode change
1
Profile Position mode
2
Velocity mode
3
Mark
Function supported
-
Yes
pp
No
vl (ex. Inverter)
No
Profile Velocity mode
pv
No
4
Torque Profile mode
tq
No
5
Reserved
6
Homing mode
7
Interpolated Position mode
ip
No
8
Cyclic Sync Position mode
csp
Yes
9
Cyclic Sync Velocity mode
csv
Yes
10
Cyclic Sync Torque mode
cst
Yes
-
-
-
-
hm
No
Reserved
Modes of Operation Display
Data Type UINT8
Description
Property
Variable
Access
PDO
Initial value
RO
No
0x00
Data range
0x00 ~ 0xFF
Indicates actual operation mode. Definition is the same as [0x6060].
0x6064
Position Actual Value
Data Type INT32
Sub-Index
RW
Dynamic Brake operation [0x605C]
Sub-Index
Index
Initial value
-1
11 ~ 127
0x00
PDO
Data range 0x0000 ~ 0xFFFF When alarm is generated with servo drive, the servo drive is switched to the Dynamic Brake mode [0x605C].
Set value
Index
Variable
Access
INT16
Description
Set value
Index
Property
Data Type
Data range Unit
Description
Property Access
PDO
Initial value
RO
Yes
-
0x80000000 ~ 0x7FFFFFFF Pulse
Indicates after offset process or the actual position of motor encoder sensor.
4-36
Variable
4. Setting Servo Parameters
Index
0x6065
Following Error Window
Data Type UINT32
Sub-Index 0x00
Property
Variable
Access
PDO
Initial value
RW
Yes
0x000A0000
Data range 0x00000000 ~ 0x7FFFFFFF Unit Pulse Permissible position range is set as a position request value relatively to. Description
Unusual running
Command speed Speed Actual speed
time [sec]
Error pulse
Following error window [0x6065] Following error window [0x6065] Follow Error Alarm Occurred
ON Servo state (SERVO RDY) OFF
Index
0x6067
time [sec]
Position Window
Data Type UINT32
Sub-Index 0x00
Property
Variable
Access
PDO
Initial value
RW
Yes
0x00000064
Data range 0x00000000 ~ 0x7FFFFFFF Unit Pulse Sets up the range permissible as target position attainment. When position actual value of position encoder data is in position window, means arriving at target position. Description
Command speed Speed Actual speed
time [sec] Error pulse Position Window [0x6067]
ON Finished in position
OFF
time [sec]
Output : INSPD / INPOS / INTRQ
Index
0x606C
Velocity Actual Value
Data Type INT32
Sub-Index 0x00
Data range Unit
Description
Property Access
PDO
Initial value
RO
Yes
-
0x80000000 ~ 0x7FFFFFFF 0.1 mm-1
Has actual velocity value calculated from position sensor data.
4-37
Variable
4. Setting Servo Parameters
Index
0x606D
Velocity Window
Data Type UINT16
Sub-Index 0x00
Property
Variable
Access
PDO
Initial value
RO
Yes
0x0064
Data range Unit Sets the range regarded as velocity matching range.
0x0000 ~ 0xFFFF min-1
Description
Command speed Speed Velocity Window [0x606D]
Actual speed
time [sec]
ON Finished in speed range
OFF
time [sec]
Output : INSPD / INPOS / INTRQ
Index
0x6071
Target Torque
Data Type UINT16
Sub-Index 0x00
Index
Data range Unit
Description
0x6077
Torque Actual Value
Data Type UINT16
Index
Data range Unit
Description
0x00
Access
PDO
Initial value
RW
Yes
0x0000
0x8000 ~ 0x7FFF 0.1 % (motor rated torque)
Property
Variable
Access
PDO
Initial value
RO
Yes
-
0x8000 ~ 0x7FFF 0.1 % (motor rated torque)
Indicates actual torque value of the motor rated torque.
0x607A
Target Position
Data Type INT32
Sub-Index
Variable
Torque command value set to torque controls in function torque mode.
Sub-Index 0x00
Property
Property
Variable
Access
PDO
Initial value
RW
Yes
0
Data range 0x80000000~ 0x7FFFFFFF Unit Pulse Command position of drive moved by setup of motion control parameters, such as velocity, acceleration, deceleration and motion profile type. Sets up absolute position command for every communication cycle. Description
4-38
4. Setting Servo Parameters
Index
0x607C
Home Offset
Data Type
Property Access
PDO
Initial value
RW
Yes
0
INT32 Sub-Index 0x00
Variable
Data range 0x80000000 ~ 0x7FFFFFFF Unit Pulse Normalizes homing position detected in homing mode by homing offset value. Description
Zero Position
Home Position Home Offset
Home offset definition The configured Home Offset [0x607C] is always used for the calculation of the Position actual value [0x6064] during Homing Process.
Index
0x607D
Sub-Index 0x00
Software Position Limit
UINT8
Description
INT32
Description
0x02
Variable
PDO
Initial value
No
0x02
0x00 ~ 0x02
0x607E
Polarity
NO
0
0x80000000 ~ 0x7FFFFFFF
Unit
Pulse
RW
NO
0
Data range
0x80000000 ~ 0x7FFFFFFF
Unit
Pulse
Data Type UINT8
Description
RW
Data range
INT32
Description Maximum Position Limit
0x00
RO
Data range
Minimum Position Limit
Sub-Index
Property Access
Number of Entry
0x01
Index
Data Type
Data range
Property
Variable
Access
PDO
Initial value
RO
No
0x00
0x00 ~ 0xFF
Sets command for input polarity. Bit 0~5
Data Description Reserved.
6
Velocity Polarity.
7
Position Polarity.
* When command input polarity is standard set value [bit7=0], [bit6=0], rotates to positive direction (CCW) by command polarity + /to negative direction (CW) by -. * When command input polarity is standard set value [bit7=1], [bit6=1], rotates to negative direction (CW) by command polarity + /to positive direction (CCW) by -.
4-39
4. Setting Servo Parameters
Index
0x6083
Profile Acceleration
Data Type UINT32
Sub-Index 0x00
Property
Variable
Access
PDO
Initial value
RW
No
0
Data range 0x00000000 ~ 0xFFFFFFFF Unit 0.1ms This object to decide the gradient at the time of motor acceleration during velocity mode. Description
Rated speed : 2000 [rpm] Speed
[0x6083] = 100[ms]
Command speed : 1000[rpm]
time [sec]
50[ms]
Index
0x6084
Profile Deceleration
Data Type UINT32
Sub-Index 0x00
Property
Variable
Access
PDO
Initial value
RW
No
0
Data range 0x00000000 ~ 0xFFFFFFFF Unit 0.1ms This object to decide the gradient at the time of motor deceleration during velocity mode. Description
Rated speed : 2000 [rpm] Speed
[0x6084] = 100[ms] Command speed : 1000[rpm]
50[ms]
4-40
time [sec]
4. Setting Servo Parameters
Index
0x6098
Homing Method
Sub-Index 0x00
Data Type UINT8
Description
PDO
Initial value
RW
No
0x23
0x01 ~ 0x23
This object specifies the homing method. Data Description
0
No homing operation required.
1
Homing on the negative limit switch and index pulse.
2
Homing on the positive limit switch and index pulse.
7 ~ 14
Homing on the home switch and index pulse.
24
Homing on the home switch.
28
Homing on the home switch.
33, 34
Homing on index pulse.
35
0x6099
Sub-Index 0x00
Variable
Access
Data range
Set value
Index
Property
Homing on the current position.
Homing Speed
Data Type UINT8
Description
Property Access RO
Data range
Variable
PDO
Initial value
No
0x02
0x00 ~ 0x02
Number of Entry
0x01
UINT32
Description Speed during search for switch
RW
NO
0
Data range
0x00000000 ~ 0xFFFFFFFF
Unit
0.1 min
-1
Set the motor speed during search for a end position switch on homing process. 0x02
UINT32
Description Speed during search for zero
RW
NO
0
Data range
0x80000000 ~ 0x7FFFFFFF
Unit
0.1 min
-1
Assign the motor speed during search for the index pulse (Z Phase) detection.
Index Sub-Index 0x00
0x609A
Homing Acceleration
Data Type UINT32 Data range Unit
Description
Property Access
PDO
Variable Initial value
RW No 0 0x00000000 ~ 0xFFFFFFFF ms
This object is that define the velocity slope of the acceleration and deceleration and deceleration ramp on homing process.
4-41
4. Setting Servo Parameters
Index
0x60E0
Positive Torque Limit Value
Data Type UINT16
Sub-Index 0x00
Property
Variable
Access
PDO
Initial value
RW
No
0x0BB8
Data range 0x0000 ~ 0x0BB8 Unit 0.1 % (motor rated torque) Sets limit value of motor forward direction maximum torque. Description
Torque
Command torque Actual torque
Positive torque limit value [0x60E0]
time
Index
0x60E1
Negative Torque Limit Value
Data Type UINT16
Sub-Index 0x00
Property
Variable
Access
PDO
Initial value
RW
No
0x0BB8
Data range 0x0000 ~ 0x0BB8 Unit -0.1 % (motor rated torque) Sets limit value of motor reverse direction maximum torque. Description
time
Actual torque
Negative torque limit value [0x60E1] Command torque Torque
Index
0x60F4
Following Error Actual Value
Data Type INT16
Sub-Index 0x00
Data range Unit
Description
Property PDO
Initial value
RO
No
0
0x80000000 ~ 0x7FFFFFFF Pulse
This object shall provide the actual value of the following error.
4-42
Variable
Access
4. Setting Servo Parameters
Index Sub-Index 0x00
0x60FD
Digital Inputs
Data Type UINT16
Description
Property
Variable
Access
PDO
Initial value
RO
No
-
Data range 0x00000000 ~ 0xFFFFFFFF This object shall monitor the status of hardware input signal. Bit31
Bit30
Bit29
Bit28
Bit27
Bit26
Bit25
Bit24
Bit18
Bit17
Bit16
SW2
SW1
Bit10
Bit9
Bit8
Bit3
Bit2
Bit1
Bit0
E-STOP
HOME
CW Limit
CCW Limit
Reserved
Bit23
Bit22
Bit21
Bit20
Bit19
Reserved
Bit15
Bit14
Bit13
Bit12
Bit11
Reserved
Bit7
Bit6
Bit5
Bit4
Reserved
(note)E-STOP : Emergency Stop
Index
0x60FE
Sub-Index 0x00
Digital Outputs
Data Type UINT8
Description
Property Access RO
Data range
Variable
PDO
Initial value
No
0x02
0x00 ~ 0x01
Number of Entry
0x01
UINT32
Description
Data range
RW
NO
0
0x00000000 ~ 0xFFFFFFFF
Physical Outputs
This object shall monitor the status of hardware output signal. Bit31
Bit30
Bit29
Bit28
Bit27
Bit26
Bit25
Bit24
Bit18
Bit17
Bit16
Bit10
Bit9
Bit8
Bit3
Bit2
Bit1
Bit0
Servo Ready
Zero Speed
In Position Speed
Brake
Reserved
Bit23
Bit22
Bit21
Bit20
Bit19
Reserved
Bit15
Bit14
Bit13
Bit12
Bit11
Reserved
Bit7
Bit6
Bit5
Bit4
Reserved
4-43
4. Setting Servo Parameters
Index
0x60FF
Target Velocity
Data Type UINT32
Sub-Index 0x00
Index Sub-Index 0x00
Data range UNIT
Description
Property
Variable
Access
PDO
Initial value
RW
Yes
-
0x80000000 ~ 0x7FFFFFFF 0.1 min-1
Indicates to set Target velocity. Velocity command input for csv.
0x6502
Supported Drive Modes
Data Type UINT32
Description
Property
Variable
Access
PDO
Initial value
RO
No
0x00000380
Data range 0x00000000 ~ 0xFFFFFFFF This object shall provide information on the supported drive modes. Bit31
Bit30
Bit29
Bit28
Bit27
Bit26
Bit25
Bit24
Reserved Bit23
Bit22
Bit21
Bit20 Bit19 Reserved
Bit18
Bit17
Bit16
Bit15
Bit14
Bit13
Bit12
Bit10
Bit9
Bit8
cst
csv
Bit11
Reserved Bit7
Bit6
Bit5
Bit4
Bit3
Bit2
Bit1
Bit0
csp
ip
hm
-
tq
pv
vl
pp
Mode
Description
Supported
cst
Cycle Synchronous Torque
Yes
csv
Cycle Synchronous Velocity
Yes
csp
Cycle Synchronous Position
Yes
ip
Interpolated Position
No
hm
Homing
Reserved
tq
Torque Profile
No
pv
Velocity Profile
No
vl
Velocity
No
pp
Profile Position
No
4-44
4. Setting Servo Parameters
4.5 Alarm Display It displays the current alarm generated. ALS-01 menu is not input parameter by user, but the menu to display the status of alarm.
Alarm 01 occurred, display status
It is to perform initialization when resetting alarm generated. Make it sure, before resetting, to verify the cause of alarm and settle down the problem. For more information, please refer to Causes of Alarm & Countermeasures. Error Code (0x603F)
Segment Display No.
Content
0x5400
01
Over Current
0x3210
02
Over Voltage
0x2220
03
Over Load
0x3220
04
Power Fail
0x7305
05
Line Fail
0x8400
06
Over Speed
0x8611
07
Following Error
0x6320
08
Output No Connection
Cause Servo drive output terminal(U, V, W) short. Output over current. Input over-voltage (280V or above). Regenerated resistance burnt. 2 Overload GD . Mechanical overload. Motor missed wiring. Main power blocked when SERVO is ON. Motor and encoder related set value error. Motor and encoder missed wiring. Encoder defect. Encoder cable connector contact failure. Over-gain. Parameter set value error. Over gravity load. Abrupt acceleration/deceleration. Gain set value error. Missed wring. Mechanical overload. Encoder cable connector contact failure. Output (U, V, W) missing.
Reserved 0x7300
11
0x7300
12
0x6320
13
ABS. Battery Error ABS. Multiturn Error Output Error Connection
Battery voltage is 2.8V or below. Absolute encoder multi turn data transmission error. Output U, V, W missed wiring (Error Connection).
Reserved 0xFF00
20
Emergency Stop
Turn external ESTOP contact point input OFF state.
0x7510
21
Lost Link
Port0/1 cable was disconnected or unplugged in OP state. Master power supply was shutdown in OP state.
23
Motor Initialize Error
Motor parameter automatic setting disable.
Reserved 0x6320
4-45
Chapter 5 How to use and adjust gain of the Servo Chapter 5 Explains how to use and adjust gains of the Servo by each control mode
5.1 How to adjust gains of the Servo at Position Mode ......................................... 5-1 5.2 How to adjust gains of the Servo at Velocity Mode .......................................... 5-6 5.3 How to adjust gains of the Servo at Torque Mode ........................................... 5-9 5.4 How to Homing ................................................................................................. 5-9 5.5 How to use the Auto Tuning ........................................................................... 5-10 5.6 mportant points of gain adjustment ................................................................ 5-13 5.7 Attention when using Absolute Encoder. ...................................................... 5-14
5. How to use and adjust gains of the Servo
5.1 How to adjust gains of the Servo at Position Mode Explains how to use and adjust the Servo for networking. Following Fig shows sequence of Speed Command creation when control positions. R everse D irection R otation Lim it E m ergency S top (C W LIM ) (E S TO P)
C orrect D irection R otation Lim it (C C W LIM ) (O FF)
(O F F)
(O FF) GND
[E lectronic gear N U M [0x2047] ] [E lectronic gear D E N [0x2048] ]
(O N )
(O N )
(O N )
Internal S peed C om m and
[P osition C ontrol F eedforw ard T im e C onttan t [0x2046] ]
T arget P osition [0 x607A ]
E ncoder F eedback
1 st filte r
+ Internal position com m and
100 P osition E rror
P osition C ontrol P G ain [0x2042, 0x2043]
-
[P osition w indow [0x6067] ]
P osition
P osition coun ter
[Position F eedforw ard R atio [0x2041] ]
1 st filter
D iff.
[P osition C om m and Tim e C onstant [0x2045] ]
[ ] : U ser S etting
[F ollow ing error w indo w [0x6065] ]
+ -
+
+
P osition A rrival C om plete (at + > - )
+ -
E rror of T racking (at + > - )
1) Set Position Gain Mode
Position Gain Mode
0x2040
Unit
Setting range 1~5
Value set from Factory 1
Position Control
Set Position Control Gain Mode when the Servo Drive is set as Position Control Mode Value set
Operation
1 2
Use Position Proportional Gain 1 [0x2042] Use Position Proportional Gain 2 [0x2043] Variable Gain is to be applied by Gain 1 [0x2042] and Gain 2 [0x2043] depends on Gain adjustment Speed [0x2020, 0x2021] of Position Control Variable Gain is to be applied by Gain 1 [0x2042] and Gain 2 [0x2043] depends on Gain adjustment torque [0x2020, 0x2021] Select Gain 1 [0x2042] or Gain 2 [0x2043] by External Contact Signal of Position Control Gain
3 4 5 .
2) Set Position Proportional Gain applied by value of [0x2040] 0x2042
Position Proportional Gain1
Unit 0.1Hz
Setting range 0.0 ~ 5000.0
Value set from Factory (by drive type)
Position Control
0x2043
Position Proportional Gain2
Unit 0.1Hz
Setting range 0.0 ~ 5000.0
Value set from Factory (by drive type)
Position Control
5-1
5. How to use and adjust gains of the Servo
Position Command
K P _ PC
-
Position Feedback
K P _ PC Position 위치비례이득 Proportional Gain
3) If [0x2040] = 3, Following variable Gains applicable by Gain adjustment speed 1 and Gain adjustment speed 2 0x2020
Gain ADJ Speed1
Unit 0.1rpm
Setting range 1000.0 ~ 50000.0
Value set from Factory 8000.0
0x2021
Gain ADJ Speed2
Unit 0.1rpm
Setting range 100.0 ~ 5000.0
Value set from Factory 1000.0
Speed/Torque/Po sition Control Speed/Torque/Po sition Control
[Transition motions] Command speed
Speed
Gain Adjust Speed 1 [0x2020] Actual speed
Gain Adjust Speed 2 [0x2021]
Gain Gain2
Gain1
4) If [0x2040] = 4, Following variable Gains are applicable by Gain adjustment torque 1 and Gain adjustment torque 2. 0x2022
Gain ADJ TRQ1
Unit 0.1%
Setting range 0.0 ~ 3000.0
Value set from Factory 1500.0
Speed/Torque/Po sition Control
0x2023
Gain ADJ TRQ2
Unit 0.1%
Setting range 0.0 ~ 3000.0
Value set from Factory 500.0
Speed/Torque/Po sition Control
5-2
5. How to use and adjust gains of the Servo
[Transition motions]
C om m and speed
Speed
A c tu a l s p e e d
T o rq u e
In te rn a l com m and speed G a in A d ju s t T o rq u e 1 [ 0 x 2 0 2 2 ] G a in A d ju s t T o rq u e 2 [ 0 x 2 0 2 3 ]
0 - G a in A d ju s t T o rq u e 1 [0x2022] - G a in A d ju s t T o rq u e 2 [ 0 x 2 0 2 3 ] G a in G a in 2
G a in 1
5) Set Feed Forward Ration
0x2041
Unit 0.1%
Feed forward ratio
Setting range 0.0 ~ 1000.0
Value set from Factory 0.0
Position Control
Enter the Feed Forward Ratio of Position Command Speed by %. If value of this item becomes big, Position decision time can be reduced but if it’s too big, Position controller may overshoot or machine may vibrate. If the value is “0”, Position controller can be set at Position Proportional Control Mode. Refer following Max Value[Feed Forward] depends on R= [Speed proportional Gain]/[Position proportional Gain] R= [Speed proportional Gain]/[Position proportional Gain]
Max. Value [Feed forward]
5
Less 70
7
Less 80
10
Less 85
20
Less 90
0x2046
FF TC (Feed Forward Constant)
Time
Unit 0.1ms
Setting range 0.0 ~ 20000.0
Value set from Factory 0.0
Position Control
Enter the 1st Filter time constant of Feed Forwarder by [ms] for Position Command speed. The entered Position Command shall be through before being used as Feed Forward Input after differential, then you can adjust the time constant of this filter. Use the big value in the field of
5-3
5. How to use and adjust gains of the Servo
application where Position Command is to change suddenly, but use the small value in the field of application where Position Command is to change slowly. Enter “0” in case no use of the filter. [Recommended Set Condition] [0x2046](Feed Forward Time Constant)≤1000 x(Max. Value[Feed Forward]-[Feed Forward])/100/[Position proportional gain]
6) Set Position Command Pulse Time Constant 0x2045
POS CMD TC (Position Command Pulse Time Constant)
Unit 0.1ms
Setting range 0.0 ~ 20000.0
Value set from Factory 0.0
Position Control
Set Filter Time Constant at Position Command Pulse Time Constant for smooth operation at Position Control Mode. If you want to operate without setting Position Command Filter Time Constant, then S-Mode operation [0x2038] shall be allowed. Arriving Position decision at position control mode shall allow a smooth operation. 7) Set Pulse Error quantity of PI-P Mode 0x2044
PI-P Pulse ERR (Pulse Error of PI-P Mode)
Unit pulse
Setting range 0 ~ 99999
Value set from Factory 0
Position Control
If the Command Pulse and Error quantity of the actual moving pulse become bigger than Value set of [0x2044] , it converts to P Control Mode in order to limit overshoot.
Command speed Speed Actual speed
time [sec] Error pulse PI-P Pulse ERR [0x2044]
PI control
P control
PI control
5-4
5. How to use and adjust gains of the Servo
5.2 How to adjust Gain at Velocity Mode This explains the gain adjustment method when using speed servo. The following diagram shows the generation sequence of the speed command in speed control.
P o la rity [0 x 6 0 7E ] T a rg e t V e lo c ity [0 x 6 0 F F ]
(0 x0 1 )
-1
A c c e le ra tio n /d e c e le ra tio n p ro c e s s
(0 x 0 0 )
C C W re v o lu tio n lim it (C C W L IM ) (O F F )
P ro file a c c e le ra tio n [0 x 6 0 8 3] S M o d e T im e C o n s ta n t P ro file d e c e le ra tio n [0 x 6 0 8 4] [0 x 2 0 3 8 ]
C W re v o lu tio n lim it (C W L IM ) (O F F )
(O N )
S - m ode o p e ra tio n
GND
E m e rg e n c y s to p (E S T O P ) (O F F )
(O N )
In te rn a l s p e e d c o m m a n d
(O N )
[ ] : S e t v a lu e
1) This sets the speed control mode gain.
Speed Gain Mode
0x2030
Unit -
Setting range 1~4
Manufactured default 1
Speed control
When the servo drive set to speed control mode, this sets the speed control gain. Set value 1 2 3 4
Operation explanation Use speed controller gain 1 [0x2034, 0x2035]. Use speed controller gain 2 [0x2036, 0x2037]. Apply variable gain using gain 1 [0x2034. 0x2035] and 0x2037] according to set speed [0x2020, 0x2021] for the gain. Apply variable gain using gain 1 [0x2034. 0x2035] and 0x2037] according to set torque [0x2020, 0x2021] for the gain.
gain 2 [0x2036, speed controller gain 2 [0x2036, speed controller
2) Set the SC loop gain 1 and 2 applied by the set value of [0x2030].
0x2034
SC Loop Gain1
Unit 0.1Hz
Display range 0.0 ~ 10000.0
Manufactured default (by drive type)
Speed/torque control
0x2036
SC Loop Gain2
Unit 0.1Hz
Display range 0.0 ~ 10000.0
Manufactured default (by drive type)
Speed/torque control
5-5
5. How to use and adjust gains of the Servo
3) Set SC TC1 and 2 applied by the set value of [0x2030].
0x2035
SC TC1
Unit 0.1ms
Display range 0.0 ~ 100000.0
Manufactured default (by drive type)
Speed/torque control
0x2037
SC TC2
Unit 0.1ms
Display range 0.0 ~ 100000.0
Manufactured default (by drive type)
Speed/torque control
Command speed
+
K P_SC (1
-
1 TI_SC S
)
Feedback speed
K P_SC SC Loop Gain
TI_SC SC TC 4) This sets the inertia ratio.
0x201F
Inertia Ratio
Load inertia
Unit x0.1
Display range 10.0~ 500.0
Manufactured default 20.0
Speed/Torque/ Position control
System inertia (Motor inertia Load inertia) Motor inertia
5) When 0x0230 = ”3”, the variable gain is applied based on the following gain adjustment speed 1 and 2. 0x2020
Gain ADJ Speed1
Unit 0.1rpm
Display range 1000.0 ~ 50000.0
Manufactured default 8000.0
Speed/Torque/ Position control
0x2021
Gain ADJ Speed2
Unit 0.1rpm
Display range 100.0 ~ 5000.0
Manufactured default 1000.0
Speed/Torque/ Position control
5-6
5. How to use and adjust gains of the Servo
6) When 0x2030 = ”4”, the variable gain is applied based on the following gain adjustment torque 1 and 2.
0x2022
Gain ADJ TRQ1
Unit 0.1%
Display range 0.0 ~ 3000.0
Manufactured default 1500.0
Speed/Torque/ Position control
0x2023
Gain ADJ TRQ1
Unit 0.1%
Display range 0.0 ~ 3000.0
Manufactured default 500.0
Speed/Torque/ Position control
5-7
5. How to use and adjust gains of the Servo
7) This sets the mixture rate of the PI-IP controller.
0x2031
PI-IP Control %
Unit 0.1%
Display range 0.0 ~ 1000.0
Manufactured default 1000.0
Speed control
[ Characteristics of individual controller ] a) PI speed controller : It has excellent acceleration/deceleration and good responsiveness characteristics but can cause large overshoot. b) IP speed controller : It has lower acceleration/deceleration and responsiveness characteristics compared to the PI speed controller, but it can suppress the overshoot to reduce the vibration. You can adjust the controller set ratio with the desired performance by considering the responsiveness and overshoot. ♥ 0x2031 = 1000 : Applied to PI speed controller 0x2031 = 0
: Applied to IP speed controller
5-8
5. How to use and adjust gains of the Servo
5.3 How to adjust Gain at Torque Mode. Explains how to use and adjust Gain at Torque Mode. Following figure shows the sequence of Current Command at Torque Mode.
Encoder Feedback
Internal Current Command
+
Target torque [0x6071]
Velocity Detection
+
-
Velocity Limit Target velocity [0x60FF] [ ] : User setting
,
When the master controller send a torque command to the Servo Drive by network, it sets the time constant of a filter which passes the low range of analog torque. When setting a time constant of analog torque command filter, you can limit the noise which is set more than a time constant of a filter. Analog torque command filter may more or less cause a reduction of response when its value is too big because it moderates the fast torque command.
5.4 How to Homing Reserved
5-9
5. How to use and adjust gains of the Servo
5.5 How to use Auto Tuning Auto tuning applicable to EDA7000 series is a function to adjust Speed Control Gain and Position Control Gain by estimating an inertia of loads on the Servo motor.
5.5.1 Setting of System Responsiveness Set System responsiveness [0x201E] by manual before using Auto Tuning. Following the objects shall be changed automatically. When Auto Tuning is “ON”, it tunes aiming at approaching to the value set by manual.
System Response [0x201E]
Position Control P Gain 1 [0x2042]
Position Control P Gain 2 [0x2043]
Speed Control loop gain 1 [0x2034]
Speed Control TC1 [0x2035]
Speed Control loop gain 2 [0x2036]
Speed Control TC2 [0x2037]
Torque Filter TC [0x201C]
1
2.0
5.0
2.0
200.0
5.0
120.0
4.5
2
5.0
10.0
5.0
120.0
10.0
80.0
3.5
3
10.0
15.0
10.0
80.0
15.0
60.0
3.0
4
15.0
20.0
15.0
60.0
20.0
45.0
2.5
5
20.0
25.0
20.0
45.0
25.0
40.0
2.0
6
25.0
30.0
25.0
40.0
30.0
30.0
1.5
7
30.0
35.0
30.0
30.0
35.0
25.0
1.3
8
35.0
45.0
35.0
25.0
45.0
18.0
1.2
9
45.0
55.0
45.0
18.0
55.0
17.0
0.9
10
55.0
70.0
55.0
17.0
70.0
13.0
0.8
11
70.0
85.0
70.0
13.0
85.0
11.0
0.6
12
85.0
105.0
85.0
11.0
105.0
10.0
0.5
13
105.0
130.0
105.0
10.0
130.0
8.0
0.4
14
130.0
160.0
130.0
8.0
160.0
6.0
0.25
15
160.0
200.0
160.0
6.0
200.0
5.4
0.2
16
200.0
240.0
200.0
5.4
240.0
5.0
0.15
17
240.0
300.0
240.0
5.0
300.0
3.5
0.1
18
300.0
350.0
300.0
3.5
350.0
3.2
0.0
19
350.0
360.0
350.0
3.2
360.0
3.1
0.0
◆ If the system responsiveness is set as high, the responsiveness shall be high with high Gain
of the Servo system. But if it’s too high, noise and vibration may occur in the motor, and in this case set the value to reasonable low.
5-10
5. How to use and adjust gains of the Servo
5.5.2 Sequence of setting Auto Tuning
Start Default value running
No
Load change ?
Yes Auto tuning [0x201D] = “0x01”
Repeat acceleration/deceleration running : more than 500rpm
Running OK ?
Yes
No System response[0x201E] -> manual input
Running OK ?
Yes
No Auto tuning [0x201D] = “0x00” System response [0x201E] -> manual input
Tuning result save
End
♥ In Auto Tuning, Position proportional Gain, Speed control loop Gain, Speed integral time constant and Torque command filter time constant shall be set by setting System responsiveness [0x201E], and the System inertia ratio [0x201F] shall be set by Auto Tuning Mode [0x201D] which is an automatic control part.
5-11
5. How to use and adjust gains of the Servo
5.5.3 Attention when Auto Tuning 1) Operate with a speed higher than 500rpm 2) Set acceleration and deceleration of speed time as short as possible by [ms]. If set those times long, speed deviation is too small to be estimated during algorithm process. 3) Avoid operation when use a belt whose mechanical strength is weak 4) Avoid operation with a system whose load inertia changes suddenly 5) Set the value higher when [0x201E] (System responsiveness) is set too low 6) Not applicable when using Torque control Mode 7) After Auto Tuning is completed, Auto Tuning Mode [0x201D] must be OFF. If not OFF after completion, Over load or Over current will alarm, and the motor shall roar or malfunction.
5-12
5. How to use and adjust gains of the Servo
5.6 Important points when adjusting Gain It is important for the servo to operate as commanded immediately after receiving a command without time delay. For this, following notices should be kept well.
1) Important points at Position control Mode - Position control proportional Gain shall be increased gradually as long as the motor doesn’t make unexpected noise or vibration till it reaches Target position. Increase Position control proportional Gain and its inertia ratio till the value with which doesn’t make unexpected noise gradually. - If set the value of Speed integral time constant low, system responsiveness shall be enhanced. But if it’s too low, the Motor(Machine) could make a vibration, and if it’s too high then the deviation pulse would stay as it was with no responding.
2) Important points when using Gain 1 and Gain 2 together at Position control Mode - How to switch Gain by speed : Switching Gain by contacts is to set a low Gain in Motor Stop range. But switching Gain by speed is being used with machine tools which requires a high Gain at low speed and a Low Gain at high speed. - Switching gain by Torque : While the Servo motor operates with a high speed, a high Gain set would cause a Vibration. And, a low gain would cause a speed ripple and bad control while the Servo operates with a low speed. In these cases, switching by Torque can realize a safe and good control functions in a whole operation range.
5-13
5. How to use and adjust gains of the Servo
5.7
Attention when using Absolute Encoder
When detecting Absolute Position of machines even the Servo Drive is POWER OFF, Absolute Servo motor and drive must be used. Absolute Servo system can make a machine system which operates automatically without additional operation for detection right after electricity is loaded. The difference between Absolute drive and standard one is whether or not having a back up battery.
5.6.1 Handling Battery Battery supplies a power to “Absolute Encoder” to keep memory of position information even when Power OFF. 1) Recommended battery specification Battery shall be connected only through the connector exposed in the middle of Encoder Cable. Recommended specification : Lithium Dried battery Tekcell SB-AAA0 type, 3.6V 240mAh 2) Battery connection
3) Replacing battery Absolute Encoder battery alarms when the battery capacity come below 2.7V and the Servo receives data from Absolute Encoder during POWER ON only. So, when the Servo drive’s control power is ON and battery’s voltage is lowed, it doesn’t alarm. ♥ Replacing a battery - Replace a battery while the Servo drive is POWER ON. If replace a battery while the Servo drive is POWER OFF, Absolute Encoder must be initialized again. - POWER OFF the Servo drive after replacing the battery - POWER ON the Servo drive and check its status.
5-14
5. How to use and adjust gains of the Servo
！
Warning
Wiring for a battery must be installed in one of the Servo drive part or master equipment part. If two parts are connected together, it may cause a danger by a short circuit.
5.6.2 Initializing Absolute Encoder 1) Initializing of Absolute Encoder is required - The first operation - When encoder cable is separated from the Servo - After replacing the battery - When Absolute Encoder alarms 2) How to initialize(reset) Absolute Encoder - 17 bit Serial Absolute Encoder: When Absolute origin, set “0x01” at the parameter [0x2004] MSB[15:8], then it initializes current position with “0x01 turns to 0x00” (Multi-Turn Data Reset). When Absolute Encoder alarms, do alarm reset by using The alarm reset. When Absolute origin, set “0x01” at the parameter [0x2004] MSB[15:8], then it initializes current position with “0x01 turns to 0x00”
5-15
Chapter 6 Troubleshooting & Checking Chapter 6 explains actions against errors and how to check
6.1 Troubleshooting............................................................................................6-1 6.2 Checking.......................................................................................................6-4
6. Troubleshooting & Checking
6.1 Troubleshooting 6.1.1 Servo motor
status
Cause Wrong parameter setting Over load
Motor doesn’t work
Motor defect Screws loosen External wrong wiring, cable cut Encoder defect
Checking method
Check the motor, encoder, Reset parameter(Refer chapter 4) encoder type control mode etc. . Check rotation status of machines Adjust machines Measure the motor by a If the voltage is normal, replace tester with lead terminals the motor of the motor Check connection parts Fasten screws with a driver . Check wiring of the motor Do wiring again, change the and encoder cable .Check output wave
Motor over heated
Unexpecte d noise occurs
Replace the encoder(Submit for repair)
Check contacts of lead Repair the wrong part terminals of the motor Check input voltage of the Low input voltage Change the power drive Remove foreign substances Over load Check machine status and lubricate (or grease) Surrounding Check the surrounding Change the structure of heat temperature is too temperature of the sink high motor(below 40℃) Contamination of the Check foreign substances Clean the motor surface motor surface on the motor surface Check load ratio of the Reduce the load. drive. Check cycle of Over load Increase acceleration and acceleration and deceleration time of speed deceleration of speed . Check reverse voltage Demagnetized and voltage wave Replace the motor Check status of screw . Coupling defect fastening and Adjust the coupling concentricity of coupling unexpected noise and Bearing defect Inform our company vibration of bearings Wrong parameter setting(Motor/encode Refer parameter setting of Check control parameters r ID, Inertia ratio, Chapter 4 Gain, Time constant) Bad contact
Motor rotation is not stable
Action
6-1
6. Troubleshooting & Checking
6.1.2 Servo drive When it alarms, the defect signal contacts(Alarm) sets OFF and the motor will stop by the Dynamic Brake Error Code (0x603F) 0x5400
Segment Display No. 01
Content
Cause
Over Current
Servo drive output terminal(U, V, W) short. Output over current.
0x3210
02
Over Voltage
Input over-voltage (280V or above). Regenerated resistance burnt. 2 Overload GD .
0x2220
03
Over Load
Mechanical overload. Motor missed wiring.
0x3220
04
Power Fail
Main power blocked when SERVO is ON. Motor and encoder related set value error. Motor and encoder missed wiring. Encoder defect. Encoder cable connector contact failure. Over-gain. Parameter set value error. Over gravity load. Abrupt acceleration/deceleration. Gain set value error. Missed wring. Mechanical overload. Encoder cable connector contact failure.
Sequence of checking & actions Check output terminal wiring. Check connection of F.G. Restart after alarm reset. Replace the driver if over current continues. Supply input voltage below 230V. Replace regenerative resistor Increase acceleration and deceleration speed time Replace the Servo drive. Check load status. Check wiring of the motor and encoder. Check main input 3 phase power(L1.L2.L3), check Charge lamp after input main 3 phase power. Replace the Servo drive.
Check wiring and values set of motor encoder and over load.
0x7305
05
Line Fail
0x8400
06
Over Speed
0x8611
07
Following Error
0x6320
08
Output No Connection
Output (U, V, W) missing.
Replace the Servo drive.
0x7300
11
ABS. Battery Error
Battery voltage is 2.8V or below.
Replace the battery and check wiring of the battery.
0x7300
12
ABS. Multiturn Error
Absolute encoder multi turn data transmission error.
0x6320
13
Output Error Connection
Output U, V, W missed wiring (Error Connection).
Check wiring of motor. Replace the Servo drive.
20
Emergency Stop
Turn external ESTOP contact point input OFF state.
Check external DC 24V power. Check status of E-STOP contact ON.
Remove over gravity load. Check F.G wiring.
Position Gain adjustment. Increase value set [0x6065]. Check wiring of motor and encoder.
Reserved
Reserved 0xFF00
6-2
6. Troubleshooting & Checking
0x7510
21
Lost Link
Port0/1 cable was disconnected or unplugged in OP state. Master power supply was shutdown in OP state.
23
Motor Initialize Error
Motor parameter automatic setting disable.
Access again after connecting LAN cable. Check dimension of LAN cable(Higher than FTP Cat 5e). Check wiring of the encoder and cable.
Reserved 0x6320 Reserved
(Note) When AL-21(Lost Link) alarms frequently during operation, attach a Ferrite core on LAN cable and try to operate again because a nose interference between EtherCAT Master and the Servo drive would be the cause. (Note) If Power OFF the Servo or Position control module by force while the Servo is ON, the Servo may suddenly kicked off, and the same frequent behavior may damage the
Motion time (sec)
drive.
Rated current (%)
Over load operation time Value Min. Max. set
100
∞
120
∞
150
300
1500
760
200
60
150
107
250
20
40
30
300
6
15
7
Rated current(%) [Property curve for over loaded servo drive] (Note) When AL-03(Over Load) occurs frequently, set a proper load of the motor again referring property curve for over loaded servo motor
6-3
6. Troubleshooting & Checking
6.2 Checking
！
Warning
Start checking 10 minutes after Power OFF because the charged voltage still remains inside the condenser which may cause an electric shock or injury.
- Check cable fragments, dust or dirt inside system and clean them all. - Check crews loosen and fastening of terminal plug - Check component defects ( Color change by heat, damage, cable cut etc) When check the conductivity of control circuit, use the high resistance range of the tester, and do not use Megger either buzzer. - Check whether cooling fan is in normal operation - Check any unexpected noise(Bearing of the motor, brake part) - Check cables (in particular detector cable) for damage or crush etc. While operation, do periodical check in compliance with conditions. - Check concentricity of load connection axis and correct it.
6-4
Chapter 7 Outside Drawings Chapter 7 exhibits outside drawings of Servo Drive.
7.1 Outside Drawings of Servo Drive ............................................................... 7-1
7. Outside Drawings
7.1 Outside Drawings of Servo Drive [ Outside Drawing A ]
[Outside Drawing B ]
(note) Unit : mm
7-1
7. Outside Drawings
[Outside Drawing C ]
[Outside Drawing D ]
(note) Unit : mm
7-2
7. Outside Drawings
[Outside Drawing E ]
[Outside Drawing F ]
(note) Unit : mm
7-3
7. Outside Drawings
Product
Weight [Kg]
EDA7001
1.0
EDA7002
1.0
EDA7004
1.5
EDA7005
1.9
EDA7010
1.9
EDA7015
4.3
EDA7020
4.4
EDA7030
4.5
EDA7045
4.6
EDA7075
15.0
EDA7110
23.0
EDA7150
24.0
Cooling Type
Remark Drawing A
Self-cooling
Drawing B Drawing C
Drawing D Fan cooling (FAN) Drawing E Drawing F
7-4
AppendixⅠ Noise Countermeasures Appendix Ⅰdescribes noise countermeasures.
Ⅰ.1 Types of Noise ................................................................................... Ⅰ.1 Ⅰ.2 Noise countermeasures ..................................................................... Ⅰ.1
AppendixⅠ Noise countermeasures
Ⅰ.1 Types of Noise Types of noise that may be generated are; noise that causes peripheral devices to be malfunctioned due to high-speed switching elements in servo drive’s power portion and other electronic parts, and noise being generated from the external sources that causes servo drive to be malfunctioned. Therefore, keen attention must be paid not to be affected from noise by ways of proper earthing and wiring.
① Causes of noise radiated from servo drive - Due to chopping of high-carrier frequency - Use of electronic parts such as micro processor - Generation of noise typed as electromagnetic induction and electrostatic induction caused by inlet/outlet lines of servo drive
② Causes of noise through intrusion from external sources to incur servo drive to be malfunctioned - Radiated noise in electrical lines - Use of electromagnetic contactor, electronic brake or relay - Use of such devices as electric welder that generate much noise
Ⅰ.2 Noise countermeasures ① Countermeasures against noise radiated from servo drive Noise that is generated from servo drive is divided into the noise radiated from electric lines that are connected to inlet/outlet power of drive, and the noise generable by being induced electromagnetically and electrostatically to peripheral devices that are near to main circuit lines. Hereunder are countermeasures against such noises;
- In the cases of installation and/or wiring, keep peripheral devices susceptible for noise impact apart from servo drive to the extent possible. - Do not make inlet/outlet lines of servo drive and signal lines of peripheral devices aligned in parallel or wired in a bundle. - Apply shield lines for inlet/outlet lines of servo drive and signal lines of peripheral devices or insert them to an individual duct.
② Countermeasures against noise through intrusion from external sources to incur servo drive
Ⅰ-1
AppendixⅠ Noise countermeasures
to be malfunctioned - Ensure that Surge Killer must be installed to peripheral devices that cause noise to be generated. - Ensure that encoder wires and inlet/outlet signal wires must be earthed with metal fittings of cable internal clamp. - Make it sure to attach line filter to signal lines. - In the case of closed loop circuit structured by encoder wires and earthing line of signal line, flow of leakage current may cause an instrument to be malfunctioned. In this case such malfunction can be prevented by separating the earthing line.
③ Examples of wiring as noise countermeasures Taken into consideration the above-mentioned noise countermeasures, the schematic wiring methods are shown as follows;
Ⅰ-2
AppendixⅠ Noise countermeasures
※ Example of wiring related to earth
grounding)
- Make sure to use the earthing line as thick as 3.5[㎟] or higher.
Ⅰ-3
AppendixⅠ Noise countermeasures
※ An example of wiring for noise filter
NOISE FILTER
NOISE FILTER
BOX
BOX
NOISE FILTER
BOX
BOX
[It is not allowed to insert inlet line and outlet line to the same duct or tie them up together.]
NOISE FILTER
NOISE FILTER
BOX
BOX
[It is not allowed to insert earthing line of noise filter and outlet line to the same duct or tie them up together.]
Ⅰ-4
AppendixⅠ Noise countermeasures
※ Example of wiring in the case of using multiple servo drives
Ⅰ-5
AppendixⅠ Noise countermeasures
※ Recommended Noise Filter
Servo drive
NOISE FILTER
EDA7001 ~ EDA7005
EDA7030
EDA7045
EDA7075/7110
EDA7150
P3B4010-DA(10A)
NFZ4030SG(30A)
NFZ4040SG(40A)
FT3RE4060(60A)
Or equivalent
Or equivalent
Or equivalent
FT3RE4080(80A) Or equivalent
Or equivalent
♥Recommended manufacturers : Samil Parts ( www.samilemc.com), OKY (http://www.oky.co.kr)
Ⅰ-6
Appendix Ⅱ Ⅲ.1 Revision History Publication date 2012.01
Description of revision 1st vol. issued
Version 1.0
Appendix
Ⅲ
Servo Motor Specification Appendix Ⅲ describes the specification of servo motor.
Ⅲ.1 Servo Motor Specification ...........................................................................................Ⅲ-1
Appendix Ⅲ Servo Motor Specification
Ⅲ.1 Servo motor specification Motor
[ FMA - ]
Drive [ EDA ]
CJZ5
CJ01
CJ02
CJ04
001
001
002
004
Flange Size ( □ ) Rated power Rated current Peak current Rated torque Peak torque Rated rpm Max rpm Rotor inertia ( = GD2/4 )
40
(W)
50
100
200
400
0.81
0.9
1.8
2.65
2.43
2.7
5.4
7.95
( N·m )
0.16
0.32
0.64
1.27
( kgf·cm )
1.62
3.25
6.5
13.0
( N·m )
0.48
0.95
1.92
3.81
( kgf·cm )
4.87
9.74
1.95
39.0
A(rms) A(rms)
( r/min )
3000
( r/min )
5000 2
0.049
0.081
0.246
0.440
-4
0.048
0.079
0.241
0.431
16.5
36.8
( gf·cm·s ) 2
(kg·m ⅹ10 ) Effective moment ratio (compared with rotor) Rated power rate ( kW/s ) Detector type weight
60
Below 15 times 5.3
12.8
Incremental
17/33 bit 131072[p/rev.]
Absolute
17/33 bit 131072[p/rev.]
( kg )
0.42
0.55
1.0
1.73
Torque-speed characteristics CJ01
CJZ5 Torque (N·m) 토크(N·m )
0.5
Torque (N·m) 토크(N·m )
Torque (N·m) 토크(N·m )
1.0
2.0
0.8
0.4 0.3
CJ02
Short operating range 단시간운전영역
0.6
단시간운전영역 Short operating range
3.2
단시간운전영역 2.4 Short operating range 1.6
0.8
0.1
0.2
0.4
1000 2000 3000 4000 5000 rpm (r/min )
1000 2000 3000 4000 5000 rpm (r/min )
Ⅲ-1
4.0
단시간운전영역 1.2 Short operating range
0.4
연속운전영역 Continuous operating range
Torque (N·m) 토크(N·m )
1.6
0.2
연속운전영역 Continuous operating range
CJ04
연속운전영역
0.8
연속운전영역
Continuous operating range
Continuous operating range
1000 2000 3000 4000 5000 rpm (r/min )
1000 2000 3000 4000 5000 rpm (r/min )
Appendix Ⅲ Servo Motor Specification Motor
[ FMA - ]
CN01
CN02
001
002
Drive [ EDA ]
CN03
CN05
CN04A
CN06
004
Flange Size ( □ )
CN08
(W)
Rated current
Peak torque Rated rpm
80
200
300
400
500
400
600
800
1000
1.25
2.1
2.8
2.85
3.2
2.8
3.5
4.65
5.8
3.75
6.3
8.4
8.55
9.6
8.4
10.5
12.54
17.4
( N·m )
0.32
0.64
0.96
1.27
1.59
1.27
1.91
2.54
3.18
( kgf·cm )
3.25
6.5
9.75
13.0
16.2
13.0
19.5
26.0
32.5
( N·m )
0.96
1.92
2.88
3.81
4.77
3.81
5.3
6.85
9.53
( kgf·cm )
9.75
19.5
29.3
39.0
48.7
39.0
54.5
70.2
97.5
A(rms)
Rated torque
( r/min )
3000
( r/min )
6000
2
0.061
0.095
0.126
0.160
0.204
1.1
1.5
1.77
2.11
-4
0.06
0.093
0.129
0.163
0.208
1.08
1.47
1.74
2.07
(kg·m ⅹ10 ) Effective moment ratio (compared with rotor) Rated power rate ( kW/s ) Detector type
5000
2
( gf·cm·s )
Rotor inertia ( = GD2/4 )
010
100
A(rms)
Peak current
CN10
005
60
Rated power
Max rpm
CN04
Below 30 times 17.0
43.6
73.9
Below 20 times 103.5
126.1
15.0
Incremental
17/33 bit 131072[p/rev.]
Absolute
17/33 bit 131072[p/rev.]
weight
( kg )
0.85
1.14
1.43
1.73
2.03
2.1
24.8
37.4
49.0
2.55
3.1
3.7
Torque-speed characteristics CN01 Torque (N·m)
1.0
CN02 Torque (N·m)
0.8 0.6
2.0
CN03
1.6 Short operating range
1.2
0.4
0.8
0.2 Continuous operating range
0.4
1000 2000 3000 4000 5000 rpm (r/min )
단시간운전영역 Short operating range
Torque (N·m)
4.0
4.0
2.4 Short operating range 단시간운전영역 1.6
3.0 Short operating range 단시간운전영역 2.0
0.8 Continuous 연속운전영역 operating range
1.0 Continuous operating range 연속운전영역
1.8
단시간운전영역 Short operating range
0.6
Continuous operating range 연속운전영역
1000 2000 3000 4000 5000 rpm (r/min )
5.5
5.0
1000 2000 3000 4000 5000 rpm (r/min )
CN08 Torque (N·m)
7.0
단시간운전영역 2.4 Short operating range
단시간운전영역 operating range 3.3 Short
1.6
2.2
0.8
1.1
1000 2000 3000 4000 5000 rpm (r/min )
3.2
CN06
4.4
Continuous operating range 연속운전영역
2.4
Torque (N·m)
3.2
Torque (N·m)
4.0
1000 2000 3000 4000 5000 rpm (r/min )
CN04A
CN05
3.0
1.2 Continuous operating range 연속운전영역
CN04 Torque (N·m)
Torque (N·m)
5.6 4.2
1000 2000 3000 4000 5000 rpm (r/min )
1.4
CN10 Torque (N·m)
10
8
단시간운전영역 Short operating range
2.8
연속운전영역 Continuous operating range
1000 2000 3000 4000 5000 rpm (r/min )
Continuous operating range 연속운전영역
1000 2000 3000 4000 5000 rpm (r/min )
Ⅲ-2
6 Short 단시간운전영역 operating range 4 2
연속운전영역 Continuous operating range 1000 2000 3000 4000 5000 rpm (r/min )
Appendix Ⅲ Servo Motor Specification Motor
[ FMA - ]
CN09
CN15
CN22
010
015
020
Drive [ EDA ] Flange Size ( □ )
CN30
CN30A
(W)
KN03
045
130
Rated power
CN50A
030
KN05
KN06
KN07
005
010
004
180
80
900
1500
2200
3000
3000
5000
300
450
550
650
Rated current
A(rms)
4.6
8.8
12.1
17.2
19.2
23.3
2.5
3.1
3.7
4.6
Peak current
A(rms)
13.8
26.4
36.3
51.6
57.6
69.9
7.5
9.3
10.7
13.8
( N·m )
2.86
4.77
7.0
9.54
9.54
15.9
1.43
2.15
2.57
3.04
( kgf·cm )
29.2
48.7
71.4
97.4
97.4
162.3
14.6
21.9
26.2
31
( N·m )
8.6
14.3
21
28.6
28.6
47.7
4.29
6.45
7.42
9.12
( kgf·cm )
87.6
146
214
292
292
486.9
43.8
65.7
72.7
93
Rated torque
Peak torque Rated rpm Max rpm
( r/min )
3000
( r/min )
5000 2
( gf·cm·s )
Rotor inertia ( = GD2/4 )
4500
3000
4.12
7.63
11.12
14.63
26.1
43.8
1.1
1.5
1.77
2.11
4.04
7.48
10.9
14.34
25.6
42.9
1.08
1.47
1.74
2.07
2
(kg·m ⅹ10-4) Effective moment ratio (compared with rotor) Rated power rate ( kW/s ) Detector type
2000
Below 10 times 20.4
30.6
45.1
Below 20 times
63.9
35.7
58.9
Incremental
17/33 bit 131072[p/rev.]
Absolute
17/33 bit 131072[p/rev.]
weight
( kg )
5.5
7.0
8.5
10.0
12.9
18.2
18.9
31.3
38.0
44.6
2.1
2.55
3.1
3.7
Torque-speed characteristics CN09 Torque (N·m)
10
CN15 Torque (N·m)
단시간운전영역
6 Short operating range 2
3
Continuous operating range
1000 2000 3000 4000 5000 rpm (r/min )
CN50A Torque (N·m)
10
6
5 연속운전영역 Continuous operating range
1000 2000 3000 4000 5000 rpm (r/min )
KN03
1000 2000 3000 4000 5000 rpm (r/min )
KN05
Torque (N·m)
단시간운전영역 operating range 18 Short 12 6
Continuous operating range 연속운전영역
1000 2000 3000 4000 5000 rpm (r/min )
KN07
Torque (N·m)
6.5
Continuous operating range 연속운전영역
1000 2000 3000 4000 5000 rpm (r/min )
KN06
Torque (N·m)
5
24
12
10 Continuous operating range 연속운전영역
30
단시간운전영역 operating range 18 Short
단시간운전영역 15 Short operating range
6
Torque (N·m)
24
20
9 Short operating range
4
30
25
12
CN30A
Torque (N·m)
Torque (N·m)
15
8
CN30
CN22
Torque (N·m)
7.5
10
8
4
5.2
6.0
8
단시간운전영역 6 Short operating range
단시간운전영역 operating range 3 Short
단시간운전영역 3.9 Short operating range
단시간운전영역 operating range 4.5 Short
단시간운전영역 6 Short operating range
4
2
2.6
3.0
4
2 연속운전영역 Continuous operating range
1
1000 2000 3000 4000 5000 rpm (r/min )
연속운전영역 Continuous operating range 1000
2000 3000 rpm (r/min )
1.3
연속운전영역 Continuous operating range 1000
2000 3000 rpm (r/min )
Ⅲ-3
1.5
연속운전영역 Continuous operating range 1000
2000 3000 rpm (r/min )
2
연속운전영역 Continuous operating range 1000
2000 3000 rpm (r/min )
Appendix Ⅲ Servo Motor Specification
Motor
[ FMA - ]
KN06A
KN11
KN16
005
010
015
Drive [ EDA ] Flange Size ( □ )
KN22
KN22A 020
130
Rated power
(W)
KN35
KN55
030
045
180
600
1100
1600
2200
2200
3500
5500
Rated current
A(rms)
3.7
6.7
10.2
14.1
15.2
20.2
31.6
Peak current
A(rms)
11.1
18.1
30.0
42.3
45.6
60.6
79
( N·m )
2.86
5.25
7.64
10.5
10.49
16.67
26.18
( kgf·cm )
29.2
53.6
77.9
107
107
170
267
( N·m )
8.6
14.2
22.5
31.5
31.3
50.1
65.4
( kgf·cm )
87.6
145
230
321
321
510
667.5
Rated torque Peak torque Rated rpm
( r/min )
Max rpm
2000
( r/min )
3000 2
( gf·cm·s ) (kg·m2ⅹ104 ) Effective moment ratio (compared with rotor) Rated power rate ( kW/s ) Rotor inertia ( = GD2/4 )
Detector type
4.12
7.63
11.12
14.63
26.1
43.8
67.8
4.04
7.48
10.9
14.34
25.6
42.9
66.4
43.0
64.7
103.0
12.9
18.2
26.8
Below 10 times
20.4
30.6
53.5
76.7
Incremental
17/33 bit 131072[p/rev.]
Absolute
17/33 bit 131072[p/rev.]
weight
( kg )
5.5
7.0
8.5
10.0
Torque-speed characteristics KN06A Torque (N·m)
KN11
KN16
Torque (N·m)
10
15
8
KN22
Torque (N·m)
Torque (N·m)
25
12
30
20
24
6 Short operating range
단시간운전영역 9 Short operating range
operating range 단시간운전영역 15 Short
단시간운전영역 18 Short operating range
4
6
10
12
2
3
5
연속운전영역 Continuous operating range 1000
Continuous operating range
2000 3000 rpm (r/min )
1000
KN22A
Continuous operating range 연속운전영역
2000 3000 rpm (r/min )
1000
KN35
2000 3000 rpm (r/min )
KN55
Torque (N·m)
Torque (N·m)
Torque (N·m)
24
40
60
18 Short operating range 단시간운전영역
30
12
20
6
10
30
50
연속운전영역 Continuous operating range 1000
2000 3000 rpm (r/min )
75
45 Short operating range 단시간운전영역
Short operating range 단시간운전영역
30 Continuous operating range 연속운전영역
1000
2000 3000 rpm (r/min )
Ⅲ-4
15
Continuous operating range 연속운전영역
1000
2000 3000 rpm (r/min )
6
Continuous operating range 연속운전영역
1000
2000 3000 rpm (r/min )
Appendix Ⅲ Servo Motor Specification
Motor
[ FMA - ]
Drive [ EDA ]
TN05
TN09
TN13
005
010
015
Flange Size ( □ ) Rated power
TN17
TN20 020
TN30
TN44
TN75
030
045
-
130 (W)
180
450
850
1300
1700
1800
2900
4400
7500
Rated current
A(rms)
3.7
6.9
10.9
14.4
16.4
22.6
33.1
49.6
Peak current
A(rms)
11.1
18.1
29.65
39.2
49.2
56.6
94.67
124.1
( N·m )
2.87
5.41
8.27
10.8
11.5
18.6
27.9
47.7
( kgf·cm )
29.3
55.2
84.4
110
117
190
285
486.9
( N·m )
8.61
14.2
22.5
29.4
34.5
46.6
79.8
119.3
( kgf·cm )
89.5
145
230
300
351
475
815.1
1217
Rated torque Peak torque Rated rpm
( r/min )
Max rpm
1500
( r/min )
3000 2
( gf·cm·s ) (kg·m2ⅹ104 ) Effective moment ratio (compared with rotor) Rated power rate ( kW/s ) Rotor inertia ( = GD2/4 )
Detector type weight
4.12
7.63
11.12
14.63
26.1
43.8
67.8
126.4
4.04
7.48
10.9
14.34
25.1
42.9
66.4
123.9
80.8
117.4
183.8
18.2
26.8
45.7
Below 10 times
20.5
39.1
62.8
81.1
51.5
Incremental
17/33 bit 131072[p/rev.]
Absolute
17/33 bit 131072[p/rev.]
( kg )
5.5
7.0
8.5
10.0
12.9
Torque-speed characteristics TN05
TN09
Torque (N·m)
TN13
Torque (N·m)
10
Torque (N·m)
15
8
TN17 Torque (N·m)
25
12
30
20
24
6 Short operating range
단시간운전영역 9 Short operating range
operating range 단시간운전영역 15 Short
단시간운전영역 18 Short operating range
4
6
10
12
단시간운전영역
2
연속운전영역 Continuous operating range 1000
3
2000 3000 rpm (r/min )
Continuous operating range 연속운전영역
1000
TN20
5
Continuous operating range 연속운전영역
2000 3000 rpm (r/min )
1000
TN30
Torque (N·m)
6
연속운전영역
2000 3000 rpm (r/min )
1000
TN44
Torque (N·m)
Torque (N·m)
TN75 Torque (N·m)
30
50
75
125
24
40
60
단시간운전영역 30 Short operating range
단시간운전영역 45 Short operating range
100
20
30
18
단시간운전영역 Short operating range
12 6
Continuous operating range 연속운전영역
1000
2000 3000 rpm (r/min )
10
Continuous operating range 연속운전영역
1000
2000 3000 rpm (r/min )
Ⅲ-5
15
2000 3000 rpm (r/min )
75
단시간운전영역 operating range 50 Short Continuous operating range 연속운전영역
1000
2000 3000 rpm (r/min )
25
연속운전영역 Continuous operating range 1000
2000 3000 rpm (r/min )
Appendix Ⅲ Servo Motor Specification Motor
[ FMA - ]
Drive [ EDA ]
LN03
LN06
LN09
LN12
LN12A
LN20
LN30
LN40
004
005
010
015
015
020
030
045
Flange Size ( □ )
130
Rated power
(W)
180
300
600
900
1200
1200
2000
3000
4000
Rated current
A(rms)
2.6
4.8
7.3
9.7
8.9
17.2
24.9
32.2
Peak current
A(rms)
7.8
12.0
18.76
29.0
22.2
51.6
62.34
96.6
( N·m )
2.86
5.72
8.6
11.5
11.5
19.1
28.6
38.2
( kgf·cm )
29.2
58.4
87.7
117
116.9
194.8
292.2
389.6
( N·m )
8.6
14.3
22.1
34.4
28.7
57.3
71.6
114.6
( kgf·cm )
87.6
146
226
351
292.3
584.4
730.5
1168.8
Rated torque Peak torque Rated rpm Max rpm
( r/min )
1000
( r/min )
2000 2
4.12
7.63
11.12
14.63
26.1
43.8
67.8
100.1
-4
4.04
7.48
10.9
14.34
25.6
42.9
66.4
98.1
84.9
123.4
148.6
18.2
26.8
36.1
( gf·cm·s )
Rotor inertia ( = GD2/4 )
2
(kg·m ⅹ10 ) Effective moment ratio (compared with rotor) Rated power rate ( kW/s ) Detector type
Below 10 times
20.5
43.3
68.2
91.7
51.4
Incremental
17/33 bit 131072[p/rev.]
Absolute
17/33 bit 131072[p/rev.]
weight
( kg )
5.5
7.0
8.5
10.0
12.9
Torque-speed characteristics LN03 Torque (N·m)
10
LN06 Torque (N·m)
LN09 Torque (N·m)
LN12 Torque (N·m)
25
40
16
20
32
단시간운전영역
12
단시간운전영역 15 Short operating range
4
8
24 단시간운전영역 Short operating range 16
2
연속운전영역 Continuous operating range
4
8 6 Short operating range
단시간운전영역 Short operating range
10
연속운전영역 Continuous operating range 500 1000 1500 2000 rpm (r/min )
500 1000 1500 2000 rpm (r/min )
LN12A Torque (N·m)
30 24 18
Short operating range 단시간운전영역
LN20
30
Torque (N·m)
75 60
단시간운전영역 Short operating range
45
20
연속운전영역 Continuous operating range 500 1000 1500 2000 rpm (r/min )
10
8
15
500 1000 1500 2000 rpm (r/min )
단시간운전영역 Short operating range
Torque (N·m)
80 60
단시간운전영역 Short operating range
40
연속운전영역 Continuous operating range 500 1000 1500 2000 rpm (r/min )
Ⅲ-6
LN40 100
30
연속운전영역 Continuous operating range
연속운전영역 Continuous operating range 500 1000 1500 2000 rpm (r/min )
LN30
Torque (N·m)
40
Continuous operating range 연속운전영역
500 1000 1500 2000 rpm (r/min )
50
12 6
5
20 Continuous 연속운전영역 operating range 500 1000 1500 2000 rpm (r/min )
Appendix Ⅲ Servo Motor Specification Motor
[ FMA - ]
KF08
Drive [ EDA ]
KF10 010
Flange Size ( □ ) Rated power
KF15
KF22
KF35
KF50
015
020
030
045
130
(W)
180
750
1000
1500
2200
3500
5000
Rated current
A(rms)
5.3
6.2
9.2
14.1
20.5
33.8
Peak current
A(rms)
15.9
18.6
27.6
42.3
61.5
101.4
( N·m )
3.58
4.77
7.16
10.5
16.7
23.9
( kgf·cm )
36.53
48.7
73.1
107
170
244
( N·m )
10.74
14.31
21.56
31.4
50.0
71.7
( kgf·cm )
109.5
146.0
220.0
321
510
732
Rated torque
Peak torque Rated rpm
( r/min )
Max rpm
2000
( r/min )
3000 2
10.5
15.5
25.3
65.3
100.5
159.1
-4
10.3
15.2
24.8
64.0
98.5
156
28.2
36.4
27.4
38.3
( gf·cm·s )
Rotor inertia ( = GD2/4 )
2
(kg·m ⅹ10 )
Effective moment (compared with rotor)
ratio
Rated power rate ( kW/s ) Detector type
Below 10 times 12.3
15.0
20.7
17.2
Incremental
17/33 bit 131072[p/rev.]
Absolute
17/33 bit 131072[p/rev.]
weight
( kg )
8.2
11.6
15.8
17.2
Torque-speed characteristics KF10
KF08
Torque (N·m)
Torque (N·m)
3
단시간운전영역
Short operating range
연속운전영역
9 3
15
연속운전영역
Continuous operating range
5
2000 3000 rpm (r/min )
75
40 Short operating range 단시간운전영역
단시간운전영역 30 Short operating range 20
14
연속운전영역 Continuous operating range 2000 3000 rpm (r/min )
10
연속운전영역 Continuous operating range 1000
2000 3000 rpm (r/min )
Torque (N·m)
50
28
연속운전영역 Continuous operating range
KF50
Torque (N·m)
35
단시간운전영역 Short operating range
1000
KF35
Torque (N·m)
1000
20 10
1000
2000 3000 rpm (r/min )
KF22
7
단시간운전영역 Short operating range
6
Continuous operating range
1000
21
25
12
12 6
Torque (N·m)
15
15
9
KF15
2000 3000 rpm (r/min )
Ⅲ-7
60 45 Short operating range 단시간운전영역 30 15
연속운전영역 Continuous operating range 1000
2000 3000 rpm (r/min )
Appendix Ⅲ Servo Motor Specification Motor
[ FMA - ]
Drive [ EDA ]
TF05
TF09
TF13
TF20
TF30
TF44
005
010
015
020
030
045
Flange Size ( □ ) Rated power
130
(W)
180
450
850
1300
1800
2900
4400
Rated current
A(rms)
4.0
7.0
10.7
14.8
21.7
34.5
Peak current
A(rms)
12.0
19.0
31.7
44.4
65.1
95.83
2.87
5.41
8.27
11.5
18.6
27.9
29
55
85
117
190
285
( N·m )
8.61
14.7
24.5
34.4
55.9
77.5
( kgf·cm )
89.5
150
250
351
570
790
( N·m )
Rated torque
( kgf·cm )
Peak torque Rated rpm
( r/min )
Max rpm
1500
( r/min )
3000 2
10.5
15.5
25.3
65.3
100.5
159.1
-4
10.3
15.2
24.8
64.0
98.5
156
35.2
50.0
27.4
38.3
( gf·cm·s )
Rotor inertia ( = GD2/4 )
2
(kg·m ⅹ10 )
Effective moment (compared with rotor)
ratio
Rated power rate ( kW/s ) Detector type
Below 10 times 7.85
19.1
28.0
20.5
Incremental
17/33 bit 131072[p/rev.]
Absolute
17/33 bit 131072[p/rev.]
weight
( kg )
8.2
11.6
15.8
17.2
Torque-speed characteristics TF09
TF05
Torque (N·m)
Torque (N·m)
Torque (N·m)
15
10
25
12
8 6 Short operating range 단시간운전영역 4
9
2
3
연속운전영역
단시간운전영역 Short operating range
6
Continuous operating range
1000
TF20
Continuous operating range 연속운전영역
15 5
2000 3000 rpm (r/min )
48
21
36
단시간운전영역 Short operating range
14
2000 3000 rpm (r/min )
12
80
단시간운전영역 Short operating range
연속운전영역
Continuous operating range
1000
2000 3000 rpm (r/min )
TF44
24
연속운전영역 Continuous operating range
연속운전영역 Continuous operating range
Torque (N·m)
60
28
단시간운전영역 Short operating range
1000
TF30 Torque (N·m)
35
1000
20 10
1000
2000 3000 rpm (r/min )
Torque (N·m)
7
TF13
2000 3000 rpm (r/min )
Ⅲ-8
64 48 Short operating range 단시간운전영역 32 16
연속운전영역 Continuous operating range 1000
2000 3000 rpm (r/min )
Appendix Ⅲ Servo Motor Specification Motor
[ FMA - ]
Drive [ EDA ]
LF03
LF06
LF09
LF12
LF20
LF30
004
005
010
015
020
030
Flange Size ( □ ) Rated power
130
(W)
180
300
600
900
1200
2000
3000
Rated current
A(rms)
2.5
4.7
7.2
9.8
16.0
24.3
Peak current
A(rms)
7.5
13.65
19.21
29.32
48.0
67.34
2.84
5.68
8.62
11.5
19.1
28.4
( kgf·cm )
29
58
88
117
195
290
( N·m )
8.7
16.5
23.0
34.4
57.3
78.7
( kgf·cm )
90
169
235
351
585
803
( N·m )
Rated torque
Peak torque Rated rpm
( r/min )
Max rpm
1000
( r/min )
2000 2
10.5
15.5
25.3
65.3
100.5
159.1
-4
10.3
15.2
24.8
64.0
98.5
156
37.0
51.8
27.4
38.3
( gf·cm·s )
Rotor inertia ( = GD2/4 )
2
(kg·m ⅹ10 )
Effective moment (compared with rotor)
ratio
Rated power rate ( kW/s ) Detector type weight
Below 10 times 7.85
21.3
30.0
20.5
Incremental
17/33 bit 131072[p/rev.]
Absolute
17/33 bit 131072[p/rev.]
( kg )
8.2
11.6
15.8
17.2
Torque-speed characteristics LF03 Torque (N·m)
10
8
단시간운전영역
6 Short operating range 4 2
연속운전영역
LF06 Torque (N·m)
20
12 단시간운전영역 Short operating range 8
15 Short operating range 단시간운전영역
4
단시간운전영역
24 Short operating range 16 8
연속운전영역 Continuous operating range 500 1000 1500 2000 rpm (r/min )
연속운전영역
10 5
Continuous operating range
500 1000 1500 2000 rpm (r/min )
LF12
32
25 20
500 1000 1500 2000 rpm (r/min )
40
Torque (N·m)
16
Continuous operating range
Torque (N·m)
LF09
500 1000 1500 2000 rpm (r/min )
LF20 Torque (N·m)
60
연속운전영역 Continuous operating range
LF30 Torque (N·m)
80
48
64
36 Short 단시간운전영역 operating range 24
48 Short operating range 단시간운전영역
12
16
연속운전영역
Continuous operating range
500 1000 1500 2000 rpm (r/min )
Ⅲ-9
32
연속운전영역 Continuous operating range 500 1000 1500 2000 rpm (r/min )
Homepage : http://www.higenmotor.com Head office : TEL ▶ (82) 2-369-8213~4
FAX ▶ (82) 2-369-8229
Branch office : TEL ▶ (82) 51-710-5032~3
FAX ▶ (82) 51-710-5034
Factory : TEL ▶ (82) 55-600-3333
FAX ▶ (82) 55-600-3317
Customer support : TEL ▶ (82) 2-369-8215 (82) 55-281-8407
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