<A5FEADB6B6C7AF75A643A64C>

Transcription

1

2 Warning and Caution: Warning Do not proceed to the assembly of the line while electrifying. Circuit & change components between entering shutting down the power supply and stopping showing CHARGE LED light of the ervo driver. The output of ervo drive [U, V, W] must NOT touch the AC power.! Caution Install the fan if the temperature around is too high while the ervo driver is installed in the Control Board. Do not proceed to the Anti-Pressure-Test to the ervo driver. Confirm the quick stop function is available before operate servo drive. Matching up machine to change the user parameter setting before machine performs. If there is no according correct setting number, it could lead to out of control or breakdown. afety proceeding: Check the covering letter detail before installing, running, maintaining and examining. Furthermore, only the profession-qualified people can proceed to the line-assembly. afety proceeding in the covering letter discriminate between Warning & Caution. Warning Indicate the possibility dangerous situation. It could cause the death or serious damage if being ignored.! Caution Indicate the possibility dangerous situation. It could cause smaller or lighter human injured and damage of equipment. Read this covering letter detail before using ervo driver. I

3 First of all, thank you for using TECO ervo Driver JDEP eries ( JDEP for short) and ervo Motors. JDEP can be controlled by digital board or PC, and provide excellent performance for a wide range of applications and different requirement from customers. Read this covering letter before using JDEP. Contents of the letter comprise: ervo ystem checking, installing and procedure of assembly line. Controller procedure for digital board, status displaying, unusual alarm and strategy explanation. ervo ystem control function, running testing and procedures adjusted. Explanation for all parameter of ervo Driver. tandard specification of JDEP eries. In order to daily examine, maintain and understand the reason of unusual situation and handle strategy, please put this covering letter in safe place to read it anytime. P.: The end user should own this covering letter, in order to make the ervo Driver bring the best performance. II

4 Table of Contents CHAPTER CHECKING AND INTALLING... - CHECKING PRODUCT Confirming with ervo Drives Confirming with ervo Motors ervo motor Model Code display A BRIEF INTRODUCTION OF OPERATION FOR DRIVE CONDITION FOR INTALLATION OF DRIVE Environmental Conditions Direction and Distance CONDITION FOR INTALLATION OF ERVO MOTOR Environmental Conditions Method of Installation Notice for install motor... 9 CHAPTER 2 WIRING BAIC WIRING FOR ERVO YTEM Wiring for Main Circuit and ripheral Devices Wiring for ervo Drives pecifications of Wiring Motor Terminal Layout Typical Wiring for Motor and Main Circuit TB Terminal Wiring for Mechanical Brake I/O TERMINAL Output ignals from the ervo pack Encoder Connector (CN2) Terminal Layout Communication Connector (CN3/CN4) Terminal Layout TYPICAL CIRCUIT WIRING EXAMPLE Position Control Mode ( Mode) (Line Driver) Position Control Mode ( Mode) (Open Collector) Position Control Mode ( Mode) ( Mode) peed Control Mode ( Mode) Torque Control Mode (T Mode) CHAPTER 3 PANEL OPERATOR / DIGITAL OPERATOR PANEL OPERATOR ON THE DRIVE TRIAL OPERATION CHAPTER 4 PARAMETER EXPLANATION OF PARAMETER GROUP PARAMETER DIPLAY TABLE III

5 CHAPTER 5 TROUBLEHOOTING ALARM FUNCTION TROUBLEHOOTING OF ALARM AND WARNING IV

6 Chapter Checking and Installing - Checking Products Our ervo Pack have already completely been functionally examined before leaving the factory. In order to protect the products from the damage during transportation, please check the items below before sealing off the pack: Check if the models of servo driver and motor are the same with the models of ordering. (About the model explanation, please check the chapters below) Check if there are damage or scrape out side of the servo driver and motor. (If there is any damage during transportation, do not power ON) Check if there are any bad assembly or slipped component in the ervo Drive and Motor Check if the Motor s rotor and shaft can be rotated smoothly by hand (The ervo Motor with Mechanical-Brake can not be rotated directly) There must be the QC -seal in each servo drive, if not, please do not proceed Power ON. If there is any bug or irregular under the situation above, please contact TECO s Local sales representative or distributor instantly. -- Confirming with ervo Drives JD EP 5 A TECO AC ervo Product No. Drive eries: EP eries Input voltage phase: :ingle / Three 3:3 Phase input Drive Model: 5 / 2 / 3 / 5 / 75 AC Input Voltage A : AC 22V P. : Maximum output power : W 3 : KW 5 : 4 W 5 : 2KW 2 : 75 W 75 : 3 KW

7 --2 Confirming with ervo Motors JM A P C 8 A H K B TECO AC ervo Product No. Motor eries: eries A IP67 (except shaft and connector) Inertia: :Low Inertia L:Low Inertia M:Middle Inertia H:Middle Inertia Encode pline Grease eal No No K Yes No O No Yes A Yes Yes Encolder: B : 25 ppr H : 892 ppr M: Machinery BK : No BK B: BK Motor peed: A: rpm B: 2 rpm C: 3 rpm H: 5 rpm Motor ratio power P5 : 5 W 2 : 2 KW : W 3 : 3 KW 3 : 3 W 4 : 4 W 5 : 55 W 8 : 75 W : KW 5 :.5 KW AC input voltage A : AC 22V 2

8 --3 ervo motor Model Code display dn-8 (ervo motor Model Code display) Use dn-8 to display servo motor code and check the servo drive and motor compatibility according to the table below. If the dn8 preset is not according to the list below then contact your supplier. The motor model code is stored in parameter Cn3. dn-8 Display Cn3 etting Drive Model Motor Model Motor tandards Watt(KW) peed(rpm) Encoder pecification H JDEP-A JMA-PCP5AB H2 JMA-PCAB. 25 H JMA-PCAB H2 JMA-PLC3AB H22 JMA-PLC3AH 892 H4 JDEP-5A JMA-C4AB H42 JMA-C4AH (Rated 3.5A) 892 H5 JMA-PC4AB H52 JMA-PC4AH (Rated 2.5A) 892 H2 JMA-PLC8AB 25 H22 JMA-PLC8AH H23 JMA-PC8AB 25 H232 JMA-PC8AH 892 JDEP-2A H24 JMA-PMA5AB 25 H242 JMA-PMA5AH H25 JMA-PMH5AB 5 25 H252 JMA-PMH5AH 892 H3 JMA-PC8AB H32 JDEP-3A JMA-PC8AH 892 H32 JMA-PMAAB. 25 H322 JMA-PMAAH 892 3

9 dn-8 Display Cn3 etting Drive Model Motor Model Motor tandards Watt(KW) peed(rpm) Encoder pecification H33 JMA-PMBAB 2 25 H332 JMA-PMBAH H34 JMA-PMHAB 25 JDEP-3A. 5 H342 JMA-PMHAH 892 H35 JMA-PMCAB 25 3 H352 JMA-PMCAH 892 H5 JMA-PMA5AB 25 H52 JMA-PMA5AH 892 H52 JMA-PMB5AB H522 JMA-PMB5AH 892 H53 JDEP-5A JMA-PMC5AB 3 25 H532 JMA-PMC5AH 892 H54 JMA-PMB2AB 2 25 H542 JMA-PMB2AH H55 JMA-PMC2AB 25 3 H552 JMA-PMC2AH 892 H7 JMA-PMB3AB 2 25 H72 JMA-PMB3AH 892 H72 JDEP-75A JMA-PMC3AB H722 JMA-PMC3AH 892 H732 JMA-PMH3AH

10 -2 A Brief Introduction of Operation for Drives There are many kinds of control-mode. The detail modes display as the followings: Name Mode Explanation ingle Mode Position Mode (External Pulse Command) Position Mode (Internal Position Command) peed Mode Torque Mode Multiple Mode T - -T - -T -T - Position control for the servo motor is achieved via an external pulse command. Position command is input from CN. Position control for the servo motor is achieved via by 6 commands stored within the servo controller. Execution of the 6 positions is via Digital Input signals. peed control for the servo motor can be achieved via parameters set within the controller or from an external analog - ~ + Vdc command. Control of the internal speed parameters is via the Digital Inputs. A maximum of three steps speed can be stored internally. Torque control for the servo motor can be achieved via parameters set or from an external analog - ~ + Vdc command. and can be switched by digital-input-contact-point. and T can be switched by digital-input-contact-point. and can be switched by digital-input-contact-point. and T can be switched by digital-input-contact-point. and T can be switched by digital-input-contact-point. and can be switched by digital-input-contact-point. 5

11 -3 Conditions for Installation of Drives -3- Environmental Conditions The product should be kept in the shipping carton before installation. In order to retain the warranty coverage, the AC drive should be stored properly when it is not to be used for an extended period of time. ome storage suggestions are: Ambient Temperature: ~ + 55 ; Ambient Humidity: Under 85% RH (Under the condition of no frost). tored Temperature: - 2 ~ + 85 ; tored Humidity: Under85%RH (Under the condition of no frost). Vibrating: Under.5 G. Do not mount the servo drive or motor in a location where temperatures and humidity will exceed specification. To avoid the insolation. To avoid the erosion of grease and salt. To avoid the corrosive gases and liquids. To avoid the invading of airborne dust or metallic particles. When over Drives are installed in control panel, enough space have to be kept to get enough air to prevent the heat; the fan also must be installed, to keep the ambient temperature under 55. Please Install the drive in a vertical position, face to the front, in order to prevent the heat. To avoid the metal parts or other unnecessary things falling into the drive when installing. The drive must be stable by M5 screws. When there were the vibrating items nearby, please using vibration-absorber or installing anti-vibration- rubber, if the vibration can not be avoided. When there is any big-size magnetic switch, welding machines or other source of interference. Please install the filter. When the filter is installed, we must install the insulation transformer. 6

12 -3-2 Direction and Distance Fan Fan 7

13 -4 Conditions for Installation of ervo Motors -4- Environmental Conditions Ambient Temperature: ~ + 4 ; Ambient humidity: Under 9% RH (No Frost). torage Temperature: - 2 ~ + 6 ; torage temperature: Under 9%RH (No Frost). Vibration: Under 2.5 G. In a well-ventilated and low humidity and dust location. Do not store in a place subjected to corrosive gases, liquids, or airborne dust or metallic particles. Do not mount the servo motor in a location where temperatures and humidity will exceed specification. Do not mount the motor in a location where it will be subjected to high levels of electromagnetic radiation Method of Installation. Horizontal Install: Please let the cable-cavity downside to prevent the water or oil or other liquid flow into the servo motor. Attention 2. Vertical Install: If the motor shaft is side-up installed and mounted to a gear box, please pay attention to and avoid the oil leakage from the gear box. 8

14 -4-3 Notice for install motor. Please using oil-seal-motor to avoid the oil from reduction gear flowing into the motor through the motor shaft. 2. The cable need to be kept dry. 3. Please fixing the wiring cable certainly, to avoid the cable ablating or breaking. 4. The extending length of the shaft shall be enough, otherwise there will be the vibration from motor operating. Wrong Example Correct Example 5. Please do not beat the motor when installing or taking it apart. Otherwise the shaft and the encoder of backside will be damaged. Attention: Brake Encoder 9

15 Chapter 2 Wiring 2- Basic Wiring for ervo ystem 2-- Wiring for Main Circuit and ripheral Devices

16 2--2 Wiring for ervo Drives The wire material must go by Wiring pecifications. Wiring Length: Command Input Wire: Less than 3m. Encoder Input Wire: Less than 2m. The Wiring goes by the shortest length. Please wire according to the standard wiring schema. Don t connect if no using. Please use the NFB to meet IEC (or UL Certification) between power supplier and servo drive. In the addition of supplying max, voltage, the capability of short circuit current must below 5Arms, If there is possibility. Drive output terminals (U,V,W) must be connected to motor correctly. Otherwise the servo motor will abnormally function. hielded cable must be connected to FG terminal. Don t install the capacitor or Noise Filter at the output terminal of servo drive. At the control-output-signal relay, the direction of surge absorb diode must be correctly connected, otherwise it can not output signal, and cause the protect loop of emergency-stop abnormal. Please do these below to avoid the wrong operation from noise: Please install devices such as the insulated transformer and noise filter at the input power. Keep more than 3 cm between Power wire (power cable or motor cable etc.) and signal cable, do not install them in the same conduit. Please set emergency-stop switch to prevent abnormal operation. After wiring, check the connection-situation of each joint (ex: loose soldering, soldering point short, terminal order incorrect etc.). Tighten the joints to confirm if surly connected to the servo drive, if the screw is tight. There can not be the situations such as cable break, cable pulled and dragged, or be heavily pressed. * Especially pay attention to the polarity between servo motor wiring and encoder. There is no necessary to add extra regeneration resistance under general situation. If there is any need or problem, please connect to distributor or manufacturer.

17 2--3 pecifications of Wiring Connection Terminal ervo Drives and Wire pecifications mm² (AWG) Connection Terminal Mark (ign) R T Name of Connect Terminal Main Power Terminal.25 (6) 2. (4) 3.5 (2) Terminal U V W Motor Terminal.25 (6) 2. (4) 3.5 (2) P Pc External regeneration resistance terminal.25 (6) 2. (4) Ground 2. (4) Connection Terminal ervo Drives and Wire pecifications Connection Terminal Position Number 2,25 Position Name peed Command / Limit ; Torque Command / Limit (IC/ TIC) 3 Analog ignal Ground (AG).2mm ² or.3mm ² ->Twisted-pair-cable connecting to the Analog Grounding wire (including shield cable) CN Joint Control ignal ~3 4~6 Digital Input (DI) 8~2 Digital Output (DO) 8 +24V Power upply (IP24) 7 Digital Input Common (DICOM).2mm ² or.3mm ²-> Twisted-pair-cable connecting to the I/O Grounding wire (including shield cable) V Ground (IG24) CN2 Joint of motor encoder CN3 Communication connector CN4 Communication connector 4~7 9~ 2~23 Position Command Input (Pulse ign) Encoder ignal Output (PA /PA PB /PB PZ /PZ) 5 +5V Power upply (+5E) 4 +5V Ground (GND) ~3 7~9 5,7,4 Encoder Phase Input (A /A B /B Z /Z) Communication connector (R-485) Communication connector (R-232) 3 Communication Ground 2.2mm ² or.3mm ²-> Twisted-pair-cable (including shield cable).2mm ² or.3mm ²-> Twisted-pair-cable (including shield cable).2mm ² or.3mm ²-> Twisted-pair-cable (including shield cable) Communication connector 5,7 (R-485) P..:. Please pay attention to the NFB and the capacity of noise filter when using multi-drives. 2. CN ->25 ns (D-UB) 3. CN2 -> 9 ns (D-UB) 4. CN3/CN4-> 8 ns Mini-Din type

18 2--4 Motor Terminal Layout A Table of Motor-Terminal Wiring () General Joint: Terminal ymbol Color ignal Red U 2 White V 3 Black W 4 Green FG Brake control wire Fine red DC +24V Fine yellow V (2) Military pecifications Joint (No Brake): Terminal Color ignal A Red U D A B White V C Black W C B D Green FG (3) Military pecifications Joint (Brake): Terminal Color ignal B Red U F A G White V E Black W E G B C Green FG A Fine red BK DC +24V control F Fine yellow wire V D C P..: The military joint with BK of servo motor has 9 ns; and the encoder joint has also 9 ns. Please confirm before wiring. 3

19 Table of Motor-Encoder Wiring () General Joint: Terminal ymbol Color ignal White +5V 2 Black V 3 Green A 4 Blue /A 5 Red B 6 Purple /B 7 Yellow Z 8 Orange /Z 9 hield FG (2) Military pecifications Joint Terminal ymbol Color ignal B White +5V I Black V A Green A C Blue /A H Red B D Purple /B G Yellow Z E Orange /Z F hield FG 4

20 2--5 Typical Wiring for Motor and Main Circuit * The Wiring Example of ingle Phase Main Power (Less than KW) * The Wiring Example of 3 Phase Main Power (More than KW) Power OFF Power ON MC/a MC U Red NFB 3 Phase 22V Power Filter MC/R MC/ MC/T R T TB TB V W FG P PC White Black Green R External Regeneration BK Resistance M PG FG CN2 5

21 2--6 TB Terminal Name Main circuit power input terminal External regeneration resistance terminal Regeneration terminal common point Motor-power output terminal Motor-case grounding terminal Terminal ign R T P PC U V W FG Detail Connecting to external AC Power. ingle / 3 Phase 2~23VAC + ~ -5% 5/6Hz ±5% Please refer to Cn2 to see resistance value, when using external regeneration resistance. After installing regeneration resistance, set the resistance power in Cn2. Motor terminal wire is red. Motor terminal wire is white. Motor terminal wire is black. Motor terminal wire is green or yellow-green Wiring for Mechanical Brake Uninstall BRAKE: JMA-/L series: Use Red wire and yellow wire connecting to DC +24V voltage(no polarity) JMA-M/H series: BK outputs from A & F of Motor Power Joint, servo motor can operate normally after uninstalling. Encoder Brake Encoder Brake 6

22 2-2 I/O Terminal There are 4 groups of terminals, which control signal terminal (CN), encoder terminal (CN2) and communication connector (CN3/CN4). The diagram below displays all positions for the terminal. CN3, CN4 (8 pins Female) Communication Connector CN (25 pins Female) Control ignal Terminal 4 CN2 (9 pins Female) Encoder Terminal

23 2-2- Output ignals from the ervo pack () Diagram of CN Terminal: P..:. If there is unused terminal, please do not connect it or let it be the relay terminal. 2. The hielded Wire of I/O cable should connect to the ground. 8

24 2-2-2 Encoder Connector (CN2) Terminal Layout () Diagram of CN2 Terminal: P..: Do not wire to the terminal, which is un-operated. 9

25 2-2-3 Communication Connector (CN3/CN4) Terminal Layout RxD erial data receive GND Ground 4 4 TxD erial data transmission 5 Data + erial data transmission + 5 Data + erial data transmission Data - erial data transmission - 7 Data - erial data transmission

26 2-3 Typical Circuit Wiring Examples 2-3- Position Control Mode ( Mode) (Line Driver) mode =External pulse positioning command 2

27 2-3-2 Position Control Mode ( Mode) (Open Collector) mode =External pulse positioning command 22

28 2-3-3 Position Control Mode ( Mode) ( Mode) mode =Internal position command 23

29 2-3-4 peed Control Mode ( Mode) 24

30 2-3-5 Torque Control Mode (T Mode) 25

31 Chapter 3 Panel Operator / Digital Operator 3- Panel Operator on the Drives The operator keypad & display contains a 5 digit 7 segment display, 4 control keys and two status LED displays. Power status LED (Green) is lit when the power is applied to the unit. Charge LED (Red) Indicate the capacitor s charge status of main circuit. Power on to light up Charge LED and gradual dark when internal power capacitors are discharged complete. Do NOT wire or assemble to the servo drive before Charge LED is off. Key Name Function Keys Description MODE/ET. To select a basic mode, such as the status display mode, utility function mode, parameter setting mode, or monitor mode. 2. Returning back to parameter selection from data-setting screen. INCREMENT DECREMENT. Parameter election. 2. To increase the set value. 3. Press at the same time to clear ALARM. DATA ETTING & DATA ENTER. To confirm data and parameter item. 2. To shift to the next digit on the left. 3. To enter the data setting (press 2 sec.) 26

32 3-2 Trial Operation Before proceeding with trial run, please ensure that all the wiring is correct. Trial run description below covers the operation from keypad and also from an external controller such as a PLC. Trial run with external controller speed control loop (analog voltage command) and position control () No-load servo motor. Trial run (Reference:4-) A. ervo Drive wiring and motor installation B. Purpose of trial run P o w e r W in in g Confirm if the items below are correct:.drives power cable wiring.ervo Motor wiring.encoder wiring.etting servo motor rotation direction and speed V -M o to r M o tio n T a b le (2) No-load servo motor with a host controller. Trial run (Reference:4-2) A. ervo drive wiring and motor installation B. Purpose of trial run P o w e r W in in g V - M o to r C o n n e c t to H o s t C o n tro lle r M o to r T a b le Confirm if the items below are correct:.control signal wiring between host controller and servo drive.. ervo motor rotation direction, speed and rotating number..brake function, operation limit function and protection function. (3) ervo motor connected to load and controlled by a host controller. Trial run (Reference:4-3) A. ervo drive wiring and motor installation B. Purpose of trial run Power W ining C onnect to H ost C ontroller Confirm if the items below are correct:.ervo motor rotation direction, speed and mechanical operation range..et related control parameters. V-M V Motor Motion Table loop (external pulse command). 27

33 Chapter 4 Parameter 4- Explanation of Parameter groups There are groups of parameters as listed below. Alarm Code Un-xx dn-xx AL-xx Cn-xx Tnxx n2xx Pn3xx Pn4xx qn5xx Description tatus Display Parameters. Diagnostics Parameters. Alarm Parameters ystem Parameters Torque Control Parameters peed Control Parameters Position Control Parameters Internal Position Control Parameter Quick et-up Parameters Control Mode Code ignal Control Mode ALL All Control Mode Position Control Mode(Internal Positional Command ) Position Control Mode(External Puls Command) Pt Tool Turret Control Mode peed Control Mode T Torque Control Mode Definition of ymbols ymbol Explanation Hn6xx Multi-function I/O parameters Parameter becomes effective after recycling the power. Parameter is Effective without pressing the Enter key. Parameter is not effected by Cn Parameter Display Table Diagnosis Parameter Parameter Name & Function 28 Communication Address R232 R485 dn- elected control mode N/A N/A dn-2 Output terminal signal status. 6AFH N/A dn-3 Input terminal signal status. 6CBH N/A dn-4 oftware version C42H N/A dn-5 JOG mode operation N/A N/A dn-6 Reserved C43H N/A dn-7 Auto offset adjustment of external analog command voltage. 5FCH N/A dn-8 ervo model code. 5CH N/A dn-9 AIC software version display 98CH N/A

34 Display Parameter Parameter ignal Display Unit Explanation Communication Address R232 R485 Un- Actual Motor peed rpm Motor peed is displayed in rpm. 6E4H 6H It displays the torque as a percentage of the rated torque. Un-2 Actual Motor Torque % Ex: 2 are displayed. It means that the motor torque output is 2% of rated torque. 9B6H 62H Un-3 Regenerative load rate % Value for the processable regenerative power as %. Displays regenerative power consumption in -s cycle. 6F4H 63H Un-4 Accumulated load rate % Value for the rated torque as %. Displays effective torque in -s cycle. 693H 64H Un-5 Max load rate % Max value of accumulated load rate 694H 65H Un-6 peed Command rpm peed command is displayed in rpm. 678H 66H Un-7 Position Error Value pulse Error between position command value and the actual position feedback. 65CH 67H Un-8 Position Feed-back Value pulse The accumulated number of pulses from the encoder. 688H 68H Un-9 Un- Un- External Voltage Command (Vdc Bus)Main Loop Voltage External peed Limit Command Value V External analog voltage command value in volts. 632H 69H V DC Bus voltage in Volts. 6B7H 6AH rpm External speed limit value in rpm. 695H 6BH Un-2 External CCW Torque Limit Command Value % Ex: Display. Means current external CCW torque limit command is set to %. 6CH 6CH Un-3 External CW Torque Limit Command Value % Ex: Display. Means current external CW toque limit command is set to %. 6CH 6DH Un-4 Un-5 Un-6 Motor feed back Less then rotation pulse value(low Byte) Motor feed back Less then rotation pulse value(high Byte) Motor feed back Rotation value (Low Byte) pulse pulse rev After power on, it displays the number of pulses for an incomplete revolution of the motor as a Low Byte value. After power on, it displays the number of pulses for an incomplete revolution of the motor as a High Byte value. After power on, it displays motor rotation number as a Low Byte value. 8FDH 8FCH 8FFH 6EH 6FH 6H Un-7 Un-8 Un-9 Motor feed back Rotation value (High Byte) Pulse command Less then rotation pulse value(low Byte) Pulse command Less then rotation pulse value(high Byte) rev pulse pulse After power on, it displays motor rotation number as a High Byte value. After power on, it displays pulse command input for an incomplete rotation. pulse value is a Low Byte value. After power on, it displays pulse command input for an incomplete rotation. pulse value is a High Byte value. 8FEH 8F9H 8F8H 6H 62H 63H Un-2 Pulse command rotation value(low Byte) rev After power on, it displays pulse command input rotation number in Low Byte value. 8FBH 64H Un-2 Pulse command rotation value(high Byte) rev After power on, it displays pulse command input rotation number in High Byte value. 8FAH 65H 29

35 Parameter ignal Display Unit Explanation Communication Address R232 R485 Un-22 Position feedback pulse 25/892 ppr Encoder feedback (Absolute). 6BH 66H Un-23 Reserved Reserved Un-24 Reserved Reserved Un-25 Reserved Reserved Un-26 Reserved Reserved Un-27 Reserved Reserved Un-28 Torque command % Un-29 Load inertia x. Un-3 Digital Output status(do) Un-3 Digital Input status(di) Un-32 Un-33 Present Fault Monitor by modbus communication (only for modbus) peed detection of fixed filtering (only for modbus) It displays the torque command as a percentage of the rated torque. Ex: Display. 5.Means current motor torque command is 5% of rated torque. When Cn2.2=(Auto gain adjust disabled), it displays the current preset load inertia ratio from parameter Cn25. When Cn2.2=(Auto gain adjust enabled), it displays the current estimated load inertia ratio. The status of digital output contact (Do) represented in hexadecimal. Ex : HXX ( Do-8/7/6/5 Do-4/3/2/) The status of digital input contact (DI) represented in hexadecimal. Ex : HXXXX (Di-3 Di-2///9 Di-8/7/6/5 Di-4/3/2/) 67EH 844H 6AFH 6CBH 6CH 6DH 6EH 6FH H 62H H 62H Un-34 Torque detection of fixed filtering(only for modbus) BH 622H 3

36 ystem Parameters Parameter Name & Function Default Unit etting Range Cn Cn2. Cn2. Cn2.2 Cn2.3 Control Mode selection etting Explanation Torque Control peed Control External Position Control (external pulse 2 Command) 3 External Position/peed Control witching 4 peed/torque Control witching 5 External Position/Torque Control witching Internal Position Control (internal position 6 Command) 7 Internal Position/peed mode switching 8 Internal Position/Torque mode switching 9 Reserved A Internal/External Position switching ON (ervo On) Input contact function etting Explanation Input Contact, Enables ON (ervo On). Input Contact has no function. (ON is enabled when Power on). CCWL & CWL Input contact function. etting Explanation CCWL and CWL input contacts are able to control the drive inhibit of CCW and CW. CCWL & CWL input contacts are not able to control CCW and CW drive inhibit. CCW and CW drive inhibit is disable. Auto Tuning etting Explanation Continuously Auto Tuning is Disable Continuously Auto Tuning is Enabled. EMC reset mode selection etting Explanation Reset EMC signal is only available in ervo Off condition (ON contact is open) and reset AL-9 by ALR signal. P..) It is NOT allow to reset when ON is applied. When EMC status is released, AL-9 can be reset on both ervo ON and ervo OFF conditions. Attention! Ensure that the speed command are removed before the alarm is reset to avoid motor unexpected start. 2 X X X X X A Control Mode Communication Address R232 R485 ALL 5H H ALL ALL 5DH 2H 3

37 Parameter Name & Function Default Unit etting Range Output time setting for Mechanical Brake ignal Brake ignal Timing equence: Control Mode Communication Address R232 R485 Cn3 msec -2 2 ALL 5H 3H Implementation a pin for dynamic brake signal (BI) as a output signal before to perform this function. Refer to sequence diagram above. Note: ignal logic level status: = ON. = OFF. Refer to section 5-6- for setting contact the high & Low logic levels. Motor rotate direction.(inspect from the load side) CCW CW Cn4 When Torque or peed Command value is Positive, the setting of Motor rotation direction are: etting Torque Control Counter Clock Wise(CCW) Clock Wise (CW) 2 Counter Clock Wise (CCW) Explanation peed Control Counter Clock Wise (CCW) Counter Clock Wise (CCW) Clock Wise(CW) X 3 T 52H 4H 3 Clock Wise (CW) Clock Wise (CW) Cn5 Encoder pulse output scale. For default set to the rated encoder number of pulses per revolution, such as 25ppr. Encoder ppr can be scaled by setting a ppr in the range of to the rated ppr of the encoder for scaling purpose. PPR = Pulse per revolution. Ex: encoder rated precision is 2 ppr, If you setting Cn5 =, the output is ppr pulse Encoder pulse per rotation ALL 53H 5H 32

38 Parameter Name & Function Communication Default Unit etting Control Address Range Mode R232 R485 Cn6 Reserved peed reached preset. Cn7 Cn8 Cn9 Cn Cn Cn2 Cn3 Cn4 Cn5. peed preset level for Clock Wise or Counter Clock Wise rotation. When the speed is greater then preset level in Cn7 the peed reached output signal IN will be activated.. Brake Mode electable Brake modes for ervo off, EMC and CCW/CW drive inhibit. Explanation etting Dynamic Mechanical brakes brakes No No No Yes CW/CCW drive inhibit mode etting Explanation When torque limit reached the setting value of (Cn, Cn), servo motor deceleration to stop in the zero clamp condition. Reserved Once max torque limit (± 3% ) is detected 2 then deceleration to stop, zero clamp is applied when stop. CCW Torque command Limit. Ex: For a torque limit in CCW direction which is twice the rated torque, set Cn=2. CW Torque command Limit. Ex: For a torque limit in CW direction which is twice the rated torque, set Cn=-2. Power setting for External Regeneration Resistor Refer to section to choose external Regen resister and set its power specification in Watts of Cn2. P..) This default value will change depend on servo model. Frequency of resonance Filter (Notch Filter). Enter the vibration frequency in Cn3, to eliminate system mechanical vibration. Band Width of the Resonance Filter. Adjusting the band width of the frequency, lower the band width value in Cn4, restrain frequency Band width will be wider. PI/P control switch mode. etting Explanation witch from PI to P if the torque command is larger than Cn6. witch from PI to P if the speed command is larger than Cn7. witch from PI to P if the acceleration rate is 2 larger than Cn8. witch from PI to P if the position error is 3 larger than Cn9. witch from PI to P be the input contact PCNT. 4 et one of the multi function terminals to option 3. Rated rpm /3 rpm X X 3 / 2-3 / -2 % % W Hz 7 X 4 X 45 Only and T 55H 7H ALL 56H 8H ALL 57H 9H ALL 58H AH ALL 59H BH ALL 5AH CH C4H C4H C7H DH EH FH 33

39 Parameter Name & Function Default Unit Cn5. Cn5.3 Cn6 Cn7 Cn8 Cn9 Cn2 Automatic gain & 2 switch etting Explanation witch from gain to 2 if torque command is greater than Cn2. witch from gain to 2 if speed command is greater than Cn22. witch from gain to 2 if acceleration 2 command is greater than Cn23. witch from gain to 2 if position error 3 value is greater than Cn24. witch from gain to 2 by input contact 4 G-EL. et one of the multi function terminals to option 5. Automatic gain proportion switch etting Explanation JDEP new automatic gain proportion JDEP old automatic gain proportion PI/P control mode switch by Torque Command et the Cn5.= first. If Torque Command is less than Cn6 PI control is selected. If Torque Command is greater than Cn6 P control is selected. PI/P control mode switch by peed Command et the Cn5.= first. If peed Command is less than Cn7 PI control is selected. If peed Command is greater than Cn7 P control is selected. PI/P control mode switch by accelerate Command et the Cn5.=2 first. If Acceleration is less than Cn8 PI control is selected. If Acceleration is greater than Cn8 P control is selected. PI/P control mode switch by position error number et the Cn5.=3 first. If Position error value is less than Cn9 PI control is selected. If Position error value is greater than Cn9 P control is selected. Automatic gain & 2 switch delay time. peed loop 2 to speed loop, Change over delay, when two control speed loops ( P&I gains & 2) are used. 4 X X 2 % rpm rps/s pulse x2 msec etting Range Control Mode Communication Address R232 R485 C7H FH ALL C7H FH C4BH C4CH C4DH C4EH 53CH H H 2H 3H 4H 34

40 Parameter Name & Function Default Unit Cn2 Cn22 Cn23 Cn24 Cn25 Automatic gain & 2 switch condition (Torque command) et Cn5.= first. When torque command is less than Cn2, Gain is selected. When torque command is greater than Cn2, Gain 2 is selected When Gain 2 is active and torque command becomes less than Cn2 setting value, system will automatically switch back to Gain switch time delay can be set by Cn2. Automatic gain & 2 switch condition (peed Command) et the Cn5.= first. When speed command is less than Cn22 Gain is selected. When speed command is greater than Cn22 Gain 2 is selected. When Gain 2 is active and speed command becomes less than Cn22 setting value, system will automatically switch back to Gain the switch time delay can be set by Cn2. Automatic gain & 2 switch condition (Acceleration Command) et Cn5.=2 first. When accel. command is less than Cn23 Gain is selected. When accel. command is greater than Cn23 Gain 2 is selected. When Gain 2 is active and acceleration command becomes less than Cn23 system will automatically switch back to Gain the switch time delay can be set by Cn2. * accel. is acceleration Automatic gain & 2 switch condition (Position error value) et Cn5.=3 first. When position error value is less than Cn24 Gain is selected. When position error value is greater than Cn24 Gain 2 is selected. When Gain 2 is active and position error value becomes less than Cn24 system will automatically switch back to Gain and the switch time delay can be set by Cn2. Load-Inertia ratio LoadInerti aratio LoadInertiaToMotor(J = ) L MotorRotorInertia(J M ) % 2 % rpm rps/s pulse x. etting Range Control Mode Communication Address R232 R485 53DH 5H 53EH 6H 53FH 7H 54H 8H 5FBH 9H 35

41 Parameter Name & Function Default Unit etting Range Cn26 Rigidity etting When Auto tuning is used, set the Rigidity Level depending on the various Gain settings for applications such as those listed below: Explanation etting Position Loop Gain Pn3 [/s] peed Loop Gain n2 [Hz] peed Loop Integral-Time Constant n22 [x.2msec] A X A Control Mode Communication Address R232 R485 C32H Cn27 Reserved Cn28 Reserved Cn29 Cn3 Cn3. Reset parameters. AH etting Explanation Disabled X ALL 5FDH DH Reset all Parameters to default ( Factory setting) ervo motor model code ervo model code can be display and checked with parameter dn-8, refer dn-8 table for more information. Attention:Before operate your servo motor, check this Default X X ALL 5BH EH parameter setting is compatible for servo drive and motor. If there are any incompatible problems, contact supplier for more information. Cooling fan running modes (Available for JDEP-5 & JDEP-75) etting Explanation Auto-run by internal temperature sensor. Run when ervo ON 2 Always Running. 3 Disabled. X 3 ALL 5EH FH 36

42 Parameter Name & Function Default Unit etting Range Communication Control Address Mode R232 R485 Low Voltage Protection(AL-) auto-reset selection This parameter (AL-) could be set the method of Low Voltage Protection. etting Explanation Cn3. As servo on, it shows AL- low voltage alarm immediately when it detects low X ALL 5EH FH voltage, and after eliminating the situation, to reset it, servo off is a must. It shows BB (baseblock) immediately when it detect low voltage, and after eliminating the situation, drive would be auto-reset and displayed Run. Cn3.2 Reserved Motor series selection Cn3.3 etting Explanation X The existing motor motor(only for mainland China) ALL 5EH FH peed feed back smoothing filter Cn32 Restrain sharp vibration noise by the setting and this filter also delay the time of servo response. 5 Hz H 2H Cn33 peed Feed-forward smoothing filter mooth the speed feed-forward command. Torque command smoothing filter Cn34 Restrain sharp vibration noise by the setting and this filter delay the time of servo response. Panel display content selection elect display content for LED panel for power on status. etting Explanation Display data set and drive status parameter. Cn35 Cn36 Cn37. Cn37. 3 Refer 3- Display Un- ~ Un-3 content. Refer 3-2- for more information. Ex:et Cn35=, when power on it display the actual speed of motor. (content of Un-) ervo ID number When using Modbus for communication, each servo units has to setting an ID number; repeated ID number will lead to communication fail. Modbus R-485 baud rate setting etting Explanation PC oftware R-232 baud rate setting etting Explanation Hz 5 Hz X X bps bps EH 2H ALL C7H 22H ALL 54H 23H ALL 5BH 24H ALL 544H 25H

43 Parameter Name & Function Default Unit etting Range Cn37.2 Cn37.3 Cn38 Cn39 Cn4 Cn4~ Cn47 Cn48 Cn49 Cn5 Cn5 Cn52 Communication R-485 selection This parameter can be set to R-485 communication written to the EEPROM or RAM. etting Explanation Write to EEPROM Write to RAM Communication R232 is read and written to the selection of EPROM. etting Explanation JDEP Command address (E8~EC) JDEP Command address (7~74) * While setting to, Pn47~Pn4 are prohibited from applying. Communication protocol etting Explanation 7, N, 2 ( Modbus, ACII ) 7, E, ( Modbus, ACII ) 2 7, O, ( Modbus, ACII ) 3 8, N, 2 ( Modbus, ACII ) 4 8, E, ( Modbus, ACII ) 5 8, O, ( Modbus, ACII ) 6 8, N, 2 ( Modbus, RTU ) 7 8, E, ( Modbus, RTU ) 8 8, O, ( Modbus, RTU ) Communication time-out detection etting non-zero value to enable this function, communication Time should be in the setting period otherwise alarm message of communication time-out will show. etting a zero value to disable this function. Communication response delay time Delay ervo response time to master control unit. X X X sec.5 msec Control Mode ALL ALL Communication Address R232 R H 25H ALL 545H 26H ALL 567H 27H ALL 5EDH 28H Reserved Automatic gain &2 switch delay time et the delay time from speed loop to speed loop 2, when two control speed loops are used. Automatic gain &2 switch time et the switch time from speed loop to speed loop 2, when two control speed loops are used. Automatic gain &2 switch time et the switch time from speed loop 2 to speed loop, when two control speed loops are used. Low voltage protection level et the delay time of Cn52, which triggers low voltage protection alarm, when voltage of drive input power is lower than Cn5. Low voltage protection alarm delay time et the delay time of Cn52, which triggers low voltage protection alarm, when voltage of drive input power is lower than Cn5. x2 msec x2 msec x2 msec 9 Volt x25 msec 7 9 C7AH C7BH C7CH 3H 3H 32H ALL 5FH 33H ALL C8BH 34H 38

44 Parameter Name & Function Default Unit Cn53 Cn54 Cn55 Current offset automatic adjust (only used in servo off) etting Explanation Drive executes current offset adjust and then clears setting to automatically when the adjustment is finished. Drive warning setting Parameter Cn54 set by hex code, and each bit represents for each alarm. etting the corresponding bit to for the alarm is a warn mode. Drive warns and then triggers alarm after continuously executing the setting time of Cn55 when alarm occurs. Ex: et Cn54 to 8H, and then set Cn55 to when low voltage or overspeed alarm is a warn, which triggers alarm one second later. is the setting status, presenting in binary. Drive warning delays the time of triggering alarm Parameter Cn54 set by hex code, and each bit represents for each alarm. etting the corresponding bit to for the alarm is an warn mode. Drive warns and then triggers alarm after continuously executing the setting time of Cn55 when alarm occurs. Ex: et Cn54 to 8H, and then set Cn55 to when low voltage or overspeed alarm is a warn, which triggers alarm one second later. is the setting status, presenting in binary. x x x msec etting Range FFFF 3 Control Mode Communication Address R232 R485 ALL C9H 35H ALL C8DH 36H ALL C8EH 37H 39

45 Torque-Control Parameter Parameter Name & Function Default Unit etting Range Tn Linear acceleration/deceleration method etting Explanation Disabled. Enabled. Enable Torque command smooth accel/decel 2 time Constant. Linear accel/decel time period. Time taken for the torque-command to linearly accelerate to the rated torque level or Decelerate to zero torque. X 2 Control Mode Communication Address R232 R485 T 52H H Tn2 msec 5 T 523H 2H Tn3 Analog Torque Command Ratio lope of voltage command / Torque command can be adjusted. Torque Command (%) % V 6 T 52H 3H 5 Input - Voltage (V) -2 lope set by Tn3-6 Torque Command, analog input voltage offset The offset amount can be adjusted by this parameter. Tn4 mv - T 522H 4H 4

46 Parameter Name & Function Default Unit etting Range Tn5 Preset peed Limit. ( Torque control mode) In Torque control, input contacts PD and PD2 can be used to select Preset speed limit. As follows: Input Contact PD2 Input Contact PD rpm 3 Control Mode Communication Address R232 R485 T 526H 5H Tn6 Note: Input contacts status (ON) and (OFF). Refer to 5-6- to set high or low input logic levels. Preset peed Limit 2. ( Torque control mode) In Torque control, input contacts PD and PD2 can be used to select Preset speed limit 2. As follows: Input Contact PD2 Input Contact PD Note: Input contacts status (ON) and (OFF) Refer to 5-6- to set high or low input logic levels. 2 rpm 3 T 527H 6H Preset peed Limit 3. ( Torque control mode) Tn7 Tn8 In Torque control, input contacts PD and PD2 can be used to select Preset speed limit 3. As follows:- Input Contact PD2 Input Contact PD Note: Input contacts status (ON) and (OFF) Refer to 5-6- to set high or low input logic levels. Torque output monitor value When the torque level in CW or CCW direction become greater then this value setting, the output contact INT operate. Analog peed Limited Proportion Controller This function used for adjusted analog voltage command compared with the slope of speed limit command. 3 rpm % 3 3 T 528H 7H ALL C3H 8H Tn9 3 rpm 45 T CDH 9H 4

47 Parameter Name & Function Default Unit Tn Torque command smooth accel/decel time Constant et Tn=2 to enable this function. et the time period to rise to 63.2% of the full torque. Torque Command (%) Torque Command msec etting Range Control Mode Communication Address R232 R485 T 52H AH Tn Time (ms) 42

48 peed-control Parameter Parameter Name & Function Default Unit etting Range n2 n22 n23 n24 n25 Internal peed Command In peed control, input contacts PD and PD2 can be used to select 3 sets of internal speed command, select for speed command contact status shows below: Input Contact PD2 Input Contact PD Note: Input contacts status (ON) and (OFF) Refer to 5-6- to set high or low input logic levels. Internal peed Command 2 In peed control, input contacts PD and PD2 can be used to select 3 sets of internal speed command, select for speed command 2 contact status shows below: Input Contact PD2 Input Contact PD Note: Input contacts status (ON) and (OFF) Refer to 5-6- to set high or low input logic levels. Internal peed Command 3 In peed control, input contacts PD and PD2 can be used to select 3 sets of internal speed command, select for speed command 3 contact status shows below: Input Contact PD2 Input Contact PD Note: Input contacts status (ON) and (OFF). Refer to 5-6- to set high or low input logic levels. Zero peed selection Enable or Disable the zero speed preset parameter n25. etting Explanation No Action. (n25 zero preset is not effective). et the preset value in n25 as zero speed. peed command accel/decel smooth method. etting Explanation By tep response mooth Acceleration/deceleration according to the curve defined by n26. Linear accel/decel time constant.defined by 2 n27 curve for Acceleration/deceleration. Defined 3 by n28. rpm 2 rpm 3 rpm X X Control Mode Communication Address R232 R H 2H 537H 22H 538H 23H ALL 529H 24H 52AH 25H 43

49 Parameter Name & Function Default Unit etting Range peed command smooth accel/decel time Constant. et n25= to enable this function then set the time period for the speed to rise to 63.2% of the full speed. Control Mode Communication Address R232 R485 n26 msec 52BH 26H peed command linear accel/decel time constant. et n25=2 to enable this function then set the time period for the speed to rise linearly to full speed. peed Command (%) Ratio peed n27 5 peed Command msec 5 52CH 27H n27 Time (ms) 44

50 Parameter Name & Function Default Unit etting Range curve speed command acceleration and deceleration time setting. et n25=3 to enable this function. In the period of Acc/Dec, drastic speed changing might cause vibration of machine. curve speed command acc/dec time setting has the effect to smooth acc/dec curve. peed Command (rpm) Control Mode Communication Address R232 R485 n28 ts=n28 ta=n29 td=n2 msec C44H 28H ts ta ts ts td ts Time (ms) n29 n2 n2 t Rule for the setting: a t > t s, d > t s 2 2 curve speed command acceleration time setting. Refer n28 curve speed command deceleration time setting. Refer n28 peed loop Gain peed loop gain has a direct effect on the frequency response bandwidth of the peed-control loop. Without causing vibration or noise peed-loop-gain can be increased to obtain a faster speed response. 2 msec 2 msec 4 Hz C45H 29H C46H 2AH 53H 2BH If Cn25 (load Inertia ratio) is set correctly, the speed-loop-bandwidth will equal to speed-loop-gain. peed-loop Integral time n22 peed loop integral element can eliminate the steady speed error and react to even slight speed variations. Decreasing Integral time can improve system rigidity. The formula below shows the relationship between Integral time and peed loop Gain. peedloopintegrationtimecons tan t 5 2π peedloopgain x.2 ms 5 53H 2CH n23 n24 n25 peed loop Gain 2 Refer to n2 peed loop Integral time 2 Refer to n22 Value of zero speed et the zero speed range in n25 When the actual speed is lower than n25 value, Output contact Z is activated. 4 Hz x.2 msec 5 rpm AH 53BH 2DH 2EH ALL 532H 2FH 45

51 Parameter Name & Functions Default Unit etting Range Analog peed Command Ratio lope of voltage command / peed command can be adjusted. peed Command (rpm) 6 3 Control Mode Communication Address R232 R485 n Input Voltage (V) Rate rpm rpm /V 6 533H 2H -3-6 lope set by n26 Analog peed Command offset adjust The offset amount can be adjusted by this parameter. n27 mv - 534H 2H n28 Analog speed command limited etting n28 for limit the highest speed command of analog input. Rate rpm x.2 rpm 45 CH 22H 46

52 Position Control Parameter Parameter Name & Function Default Unit etting Range Pn3. Pn3. Pn3.2 Pn3.3 Pn32 Pn33 Pn34 Position pulse command selection etting Explanation (Pulse)+(ign) (CCW)/(CW) Pulse 2 AB-Phase pulse x 2 3 AB-Phase pulse x 4 Position- Pulse Command Logic etting Explanation Positive Logic Negative Logic election for command receive of drive inhibit mode etting Explanation When drive inhibits occurs, record value of position command input coherently. When drive inhibit occurs, ignore the value of position command. Pulse command filter band width selection etting Explanation etting Explanation 85KHz 4 28KHz 78KHz 5 4KHz 2 62KHz 6 8KHz 3 44KHz 7 4KHz Electronic Gear Ratio Numerator Use input contacts GN & GN2 to select one of four electronic Gear Ratio Numerators. To select Numerator, the statue of the input-contacts GN & GN2 should be as follows: Input Contact GN2 Input Contact GN Note: Input contacts status (ON) and (OFF). Refer to 5-6- to set high or low input logic levels. Electronic Gear Ratio Numerator 2 Use input contacts GN & GN2 to select one of four electronic Gear Ratio Numerators. To select Numerator 2, the statue of the input-contacts GN & GN2 should be as follows: Input Contact GN2 Input Contact GN Note: Input contacts status (ON) and (OFF). Refer to 5-6- to set high or low input logic levels. Electronic Gear Ratio Numerator 3 Use input contacts GN & GN2 to select one of four electronic Gear Ratio Numerators. To select Numerator 3, the statue of the input-contacts GN & GN2 should be as follows: Input Contact GN2 Input Contact GN Note: Input contacts status (ON) and (OFF). Refer to 5-6- to set high or low input logic levels. X X X 3 X X X X Control Mode Communication Address R232 R485 55H 3H 56H 32H 56H 33H 562H 34H 47

53 Parameter Name & Function Default Unit etting Range Pn35 Electronic Gear Ratio Numerator 4 Use input contacts GN & GN2 to select one of four electronic Gear Ratio Numerators. To select Numerator 4, the statue of the input-contacts GN & GN2 should be as follows: X Input Contact GN2 Input Contact GN Note: Input contacts status (ON) and (OFF). Refer to 5-6- to set high or low input logic levels. Electronic Gear Ratio Denominator et the calculated Electronic Gear Ratio Denominator in Pn 36. (Refer to section 5-4-3). Pn36 Final Electronic Gear Ratio should comply with the formula below. X Electronic GearRatio 2 2 Position complete value et a value for In position output signal. Pn37 When the Position pulse error value is less then Pn37 pulse output-contact INP (In position output signal) will be activated. Incorrect position Error band Upper limit. Pn38 When the Position error value is higher then number of pulses set in Pn38, an Alarm message 5 pulse AL-(Position error value alarm) will be displayed. Incorrect position Error band lower limit. Pn39 When the Position error value is lower then number of pulses set in Pn39, an Alarm message 5 pulse AL-(Position error value alarm) will be displayed. Position Loop Gain Without causing vibration or noise on the mechanical system the position loop gain value can be increased to speed up response and shorten the positioning Pn3 time. Generally, the position loop bandwidth should not be 4 /s higher then speed loop bandwidth. The relationship is according to the formula below: peedloopgain PositionLo opgain 2π 5 Position Loop Gain 2 Pn3 Refer to Pn3 4 /s Pn32 Position Loop Feed Forward Gain It can be used to reduce the track error of position control and speed up the response. If the feed forward gain is too large, it might cause speed Overshoot and in position oscillations which result in the repeated ON/OFF operation of the output contact INP( In Position output signal). % Control Mode Communication Address R232 R H 554H 552H 553H 556H 557H 558H 559H 55AH 55H 55BH 35H 36H 37H 38H 39H 3AH 3BH 3CH 48

54 Parameter Name & Function Default Unit etting Range Position command smooth Acceleration/Deceleration Time Constant et the time period for the Position command pulse frequency to rise from to 63.2%. Position Pulse Command Frequency (%) Control Mode Communication Address R232 R485 Pn Position Pulse Command Frequency msec 55CH 3DH 5 Pn33 Time (ms) Positioning Command Direction Definition CCW CW Pn34 Pn35 Pn36. Pn36. etting Explanation (CW).Clockwise (CCW). Counter Clockwise Pulse Error Clear Modes. etting Explanation Once CLR signal is activated, it eliminates, the Pulse error amount. Once CLR signal is activated, following takes place: The position command is cancelled. Motor rotation is interrupted Pulse error amount is cleared. Machine home reference is reset Once CLR signal is activated, following takes place:- 2 The position command is cancelled. Motor rotation is interrupted Pulse error amount is cleared. Internal Position Command Mode etting Explanation Absolute Position Incremental Position Internal Position Command Hold (PHOLD) program select etting Explanation When PHOLD is active then received PTRG signal. ervomotor will be proceeded internal position command from PHOLD position. When PHOLD is active then received PTRG signal. ervomotor will operate internal position command of current selection. X X X X 2 55DH 5FH 5DH 3EH 3FH 3H 49

55 Communication Parameter Name & Function Default Unit etting Control Address Range Mode R232 R485 Pn36.2 Pn36.3 Pn37. Encoder Feedback Dividing Phase Leading election etting Explanation Encoder feedback phase A leading phase B. Encoder feedback phase B leading phase A. Encoder Feedback Dividing etting Explanation According to Cn5 According to Cn5/4 etting for HOME routine etting Explanation Once the home routine is activated, motor will sear for Home Position switch in st speed in CCW dire Input contacts CCWL or CWL can be used as the Home Reference witch. Once Home reference switch is detected, then inp Contacts CCWL and CWL will act as normal Max limits again. Note: When using this function, Pn37. can not be set t or 2. Cn2. (selection for CCWL and CWL) must be set to set to. Once the home routine is activated, motor will search for Home Position switch in st speed in CW direction. Input contacts CCWL or CWL can be used as the Home Reference witch. Once Home position is detected, then input contacts CCWL and CWL will act as normal max. limits again. Note: When using this function, Pn37. can not be set to or 2. Cn2. (selection for CCWL and CWL) must be set to. Once the home routine is activated, motor will search for Home position switch in st speed in CCW direction and sets the Home Reference position as soon as the input contact 2 ORG is activated. If Pn37.=2, it will directly find the closest Rising-Edge of ORG to be the Home position (without a need for Home Reference), then it stops in accordance with Pn365.3 setting. Once the home routine is activated, motor will search for Home Position switch in st speed in CW direction and sets the reference Home position as soon as the 3 input contact ORG is activated. If Pn37.=2, it will directly find the closest rising -Edge of ORG to be the Home position (without a need for Home reference), then it stops in accordance with Pn365.3 setting. X X X 5 ALL ALL 5DH 54AH 3H 3H 5

56 Parameter Name & Function Default Unit etting Range Pn37. Pn37. Pn37.2 Once the home routine is activated, motor will search for Home position in st speed in CCW direction and sets the Home reference position as soon as the nearest Z (marker 4 pulse) is detected. When using this function, set Pn37.=2. After setting the Z Phase to be the Home, it stops in accordance with the setting of Pn Once the home routine is activated, motor will search for Home position in st speed in CW direction and sets the Home reference position as soon as the nearest Z (marker pulse) is 5 detected. When using this function, set Pn37.=2. After setting the Z Phase to be the Home, it stops in accordance with the setting of Pn Once Reference Home switch or ignal, is found it sets the search method for the Home position. etting Explanation Once the Home Reference switch or signal is detected, motor reverses direction in 2 nd speed to find the nearest Z. Phase pulse and sets this as the Home position, then stops in accordance with Pn37.3 setting method. Once the Home Reference switch or signal is detected, motor Continues in its direction in 2 nd speed to find the nearest Z Phase pulse and sets this as the Home position, then stops in accordance with Pn37.3 setting method. When Pn37.=2 or 3, it finds the rising edge of ORG to be the Home position, then stops in accordance with Pn When Pn37.=4 or 5, it finds Z Phase pulse to be the Home, then stops in accordance with Pn37.3. etting of Home Routine tart method etting Explanation Homing routine is Disabled. On power up and activation of ervo on the home routine is started automatically. This method is useful for applications that do not require repeated home routines. No external home reference switch is required. Use HOME input contactor to start a home routine. 2 In position mode, HOME can be used to start a home routine at any moment. X X X Control Mode Communication Address R232 R485 54AH 54AH 3H 3H 5

57 Parameter Name & Function Default Unit Pn37.3 Pn38 Pn39 Pn32 Pn32 etting of stopping mode after finding Home signal. etting Explanation After detecting the Home signal, it sets this position to be the Home reference (Un-6 encoder feed back rotating number and Un-4 encoder feed back pulse number are all ), motor decelerates and stops. Then it reverses direction in 2 nd speed to detect the Home Position again then it decelerates and stops. After detecting the Home signal, it sets this position to be the Home reference (Un-6 encoder feed back rotating number and Un-4 encoder feed back pulse number are all ), motor decelerates and stops. Machine Home reference search speed. st speed ( Fast) HOME Reference search speed. peed. Machine Home position search speed. 2 nd peed (low) Home position search speed. peed 2. Home position offset. Number of revolutions. Once the searched home position is found in accordance with Pn37 (Home routine mode), then it will search by a number of revolutions and pulses set in parameters Pn32 and Pn32 to find the new (off set) Home position. Home position offset. Number of Pulses. Home Offset position = Pn32(Rotate Number) x Number of Encoder Pulse per Rotation x 4 + Pn32(Pulse Number) -Curve Time Constant for Internal Position command(tl) -curve time constant generator can smoothen the command, it provides continuous speed and acceleration which not only better the motor characteristic of acc/dec but also helps the motor to operate more smoothly in machinery structure. -curve time constant generator is only applicable to the mode of internal position command input. When position command input switch to external position pulse, the speed and acceleration are already constant, so it doesn t use the -curve time constant generator. X rpm 5 rpm rev pulse etting Range Control Mode Communication Address R232 R485 54AH 54BH 54CH 54DH 54EH 3H 32H 33H 34H 35H Pn322 x.4ms 5 52DH 36H Notes :. Rule of setting: Pn323 (TACC) Pn322(TL). 2. When Pn322 sets as, the -curve time constant will be disabled. 52

58 Parameter Name & Function Default Unit Pn323 Pn324~ Pn328 Pn329 Pn33 -Curve Time Constant for Internal Position command(tacc) Please refer to Pn322 Pulse command smoothing filter x.4ms Communication etting Control Address Range Mode R232 R485 52EH 37H 5 Reserved This parameter can set the integration times. Pulse command moving filter This parameter can set the moving times x 2mesc x.4mesc C78H 3EH C79H 3FH Pn33 Reserved Pn332 Accel/decel methods for Internal Position command etting Explanation mooth acceleration/deceleration for position command -curve acceleration/deceleration for internal position command x C69H 32H Parameter Name & Function Default Unit etting Range Pn4 Pn42 Pn43 Pn44 Pn45 Pn46 Pn47 Pn48 Pn49 Internal Position Command Rotation Number et the Rotation number of the internal Position Command Use input contacts PO~PO5 to select Refer to Internal Position Command - Pulse Number et the rotation pulse number of internal position Command Internal Position Command =Pn4(Rotation Number) x Pulse number of One Rotate x 4 + Pn42(Pulse number) Internal Position Command - Move peed etting the Move peed of internal Position Command Internal Position Command 2-Rotation Number Please refer to Pn4 Internal Position Command 2-Pulse Number Please refer to Pn42 Internal Position Command 2-Move peed Please refer to Pn43 Internal Position Command 3-Rotation Number Please refer to Pn4 Internal Position Command 3-Pulse Number Please refer to Pn42 Internal Position Command 3-Move peed Please refer to Pn43 rev pulse rpm 3-6 rev pulse 372 rpm 3-6 rev pulse 372 rpm 3 Control Mode Communication Address R232 R H 7H 56AH 56BH 72H 73H 569H 74H 56CH 75H 56EH 56FH 76H 77H 56DH 78H 57H 79H 572H 573H 7AH 7BH 57H 7CH 53

59 Parameter Name & Function Communication Default Unit etting Control Address Range Mode R232 R485 Internal Position Command 4 -Rotation Number -6 Pn4 rev 574H 7DH Please refer to Pn4 6 Internal Position Command 4-Pulse Number H 7EH Pn4 pulse Please refer to Pn42 577H 7FH 372 Internal Position Command 4-Move peed Pn42 rpm 575H 7H Please refer to Pn43 3 Internal Position Command 5 -Rotation Number -6 Pn43 rev 578H 7H Please refer to Pn4 6 Internal Position Command 5-Pulse Number AH 72H Pn44 pulse Please refer to Pn42 57BH 73H 372 Internal Position Command 5-Move peed Pn45 rpm 579H 74H Please refer to Pn43 3 Internal Position Command 6 -Rotation Number -6 Pn46 rev 57CH 75H Please refer to Pn4 6 Internal Position Command 6-Pulse Number EH 76H Pn47 pulse Please refer to Pn42 57FH 77H 372 Internal Position Command 6-Move peed Pn48 rpm 57DH 78H Please refer to Pn43 3 Internal Position Command 7 -Rotation Number -6 Pn49 rev 58H 79H Please refer to Pn4 6 Internal Position Command 7-Pulse Number H 7AH Pn42 pulse Please refer to Pn42 583H 7BH 372 Internal Position Command 7-Move peed Pn42 rpm 58H 7CH Please refer to Pn43 3 Internal Position Command 8 -Rotation Number -6 Pn422 rev 584H 7DH Please refer to Pn4 6 Internal Position Command 8-Pulse Number H 7EH Pn423 pulse Please refer to Pn42 587H 7FH 372 Internal Position Command 8-Move peed Pn424 rpm 585H 72H Please refer to Pn43 3 Internal Position Command 9 -Rotation Number -6 Pn425 rev 588H 72H Please refer to Pn4 6 Internal Position Command 9-Pulse Number AH 722H Pn426 pulse Please refer to Pn42 58BH 723H 372 Internal Position Command 9-Move peed Pn427 rpm 589H 724H Please refer to Pn43 3 Internal Position Command -Rotation Number -6 Pn428 rev 58CH 725H Please refer to Pn4 6 54

60 Parameter Name & Function Default Unit etting Range Pn429 Pn43 Pn43 Pn432 Pn433 Pn434 Pn435 Pn436 Pn437 Pn438 Pn439 Pn44 Pn44 Pn442 Pn443 Pn444 Pn445 Pn446 Pn447 Internal Position Command -Pulse Number Please refer to Pn42 Internal Position Command -Move peed Please refer to Pn43 Internal Position Command -Rotation Number Please refer to Pn4 Internal Position Command -Pulse Number Please refer to Pn42 Internal Position Command -Move peed Please refer to Pn43 Internal Position Command 2-Rotation Number Please refer to Pn4 Internal Position Command 2-Pulse Number Please refer to Pn42 Internal Position Command 2-Move peed Please refer to Pn43 Internal Position Command 3 -Rotation Number Please refer to Pn4 Internal Position Command 3-Pulse Number Please refer to Pn42 Internal Position Command 3-Move peed Please refer to Pn43 Internal Position Command 4 -Rotation Number Please refer to Pn4 Internal Position Command 4-Pulse Number Please refer to Pn42 Internal Position Command 4-Move peed Please refer to Pn43 Internal Position Command 5 -Rotation Number Please refer to Pn4 Internal Position Command 5-Pulse Number Please refer to Pn42 Internal Position Command 5-Move peed Please refer to Pn43 Internal Position Command 6 -Rotation Number Please refer to Pn4 Internal Position Command 6-Pulse Number Please refer to Pn42 pulse rpm 3-6 rev pulse 372 rpm 3-6 rev pulse 372 rpm 3-6 rev pulse 372 rpm 3-6 rev pulse 372 rpm 3-6 rev pulse 372 rpm 3-6 rev pulse 372 Control Mode Communication Address R232 R485 58EH 58FH 726H 727H 58DH 728H 59H 729H 592H 593H 72AH 72BH 59H 72CH 594H 72DH 596H 597H 72EH 72FH 595H 73H 598H 73H 59AH 59BH 732H 733H 599H 734H 59CH 735H 59EH 59FH 736H 737H 59DH 738H 5AH 739H 5A2H 5A3H 73AH 73BH 5AH 73CH 5A4H 73DH 5A6H 5A7H 73EH 73FH 55

61 Parameter Name & Function Default Unit etting Range Pn448 Pn449 Pn45 Pn45 Pn452 Pn453 Pn454 Pn455 Pn456 Pn457 Pn458 Pn459 Pn46 Pn46 Pn462 Pn463 Pn464 Pn465 Pn466 Internal Position Command 6-Move peed Please refer to Pn43 Internal Position Command 7 -Rotation Number Please refer to Pn4 Internal Position Command 7 - Pulse Number Please refer to Pn42 Internal Position Command 7 - Move peed Please refer to Pn43 Internal Position Command 8 -Rotation Number Please refer to Pn4 Internal Position Command 8 - Pulse Number Please refer to Pn42 Internal Position Command 8 - Move peed Please refer to Pn43 Internal Position Command 9 -Rotation Number Please refer to Pn4 Internal Position Command 9 - Pulse Number Please refer to Pn42 Internal Position Command 9 - Move peed Please refer to Pn43 Internal Position Command 2 -Rotation Number Please refer to Pn4 Internal Position Command 2 - Pulse Number Please refer to Pn42 Internal Position Command 2 - Move peed Please refer to Pn43 Internal Position Command 2 -Rotation Number Please refer to Pn4 Internal Position Command 2 - Pulse Number Please refer to Pn42 Internal Position Command 2 - Move peed Please refer to Pn43 Internal Position Command 22 -Rotation Number Please refer to Pn4 Internal Position Command 22 - Pulse Number Please refer to Pn42 Internal Position Command 22 - Move peed Please refer to Pn43 rpm 3-6 rev pulse pulse rev pulse 372 rpm 3-6 rev pulse 372 rpm 3-6 rev pulse 372 rpm 3-6 rev pulse 372 rpm 3-6 rev pulse 372 rpm 3 Control Mode Communication Address R232 R485 5A5H 74H 5A8H 74H 5AAH 5ABH 742H 743H 5A9H 744H 5ACH 745H 5AEH 5AFH 746H 747H 5ADH 748H 5BH 749H 5B2H 5B3H 74AH 74BH 5BH 74CH 5B4H 74DH 5B6H 5B7H 74EH 74FH 5B5H 75H 5B8H 75H 5BAH 5BBH 752H 753H 5B9H 754H 5BCH 755H 5BEH 5BFH 756H 757H 5BDH 758H 56

62 Parameter Name & Function Default Unit etting Range Pn467 Pn468 Pn469 Pn47 Pn47 Pn472 Pn473 Pn474 Pn475 Pn476 Pn477 Pn478 Pn479 Pn48 Pn48 Pn482 Pn483 Pn484 Pn485 Internal Position Command 23 -Rotation Number Please refer to Pn4 Internal Position Command 23 - Pulse Number Please refer to Pn42 Internal Position Command 23 - Move peed Please refer to Pn43 Internal Position Command 24 -Rotation Number Please refer to Pn4 Internal Position Command 24 - Pulse Number Please refer to Pn42 Internal Position Command 24 - Move peed Please refer to Pn43 Internal Position Command 25 -Rotation Number Please refer to Pn4 Internal Position Command 25 - Pulse Number Please refer to Pn42 Internal Position Command 25 - Move peed Please refer to Pn43 Internal Position Command 26 -Rotation Number Please refer to Pn4 Internal Position Command 26 - Pulse Number Please refer to Pn42 Internal Position Command 26 - Move peed Please refer to Pn43 Internal Position Command 27 -Rotation Number Please refer to Pn4 Internal Position Command 27 - Pulse Number Please refer to Pn42 Internal Position Command 27 - Move peed Please refer to Pn43 Internal Position Command 28 -Rotation Number Please refer to Pn4 Internal Position Command 28 - Pulse Number Please refer to Pn42 Internal Position Command 28 - Move peed Please refer to Pn43 Internal Position Command 29 -Rotation Number Please refer to Pn4 Control Mode Communication Address R232 R485 rev CH 759H C2H 75AH pulse 5C3H 75BH 372 rpm 5CH 75CH 3-6 rev 5C4H 75DH C6H 75EH pulse 5C7H 75FH 372 rpm 5C5H 76H 3-6 rev 5C8H 76H CAH 762H pulse 5CBH 763H 372 rpm 5C9H 764H 3-6 rev 5CCH 765H CEH 766H pulse 5CFH 767H 372 rpm 5CDH 768H 3-6 rev 5DH 769H D2H 76AH pulse 5D3H 76BH 372 rpm 5DH 76CH 3-6 rev 5D4H 76DH D6H 76EH pulse 5D7H 76FH 372 rpm 5D5H 77H 3-6 rev 5D8H 77H 6 57

63 Parameter Name & Function Default Unit etting Range Pn486 Pn487 Pn488 Pn489 Pn49 Pn49 Pn492 Pn493 Pn494 Pn495 Pn496 Internal Position Command 29 - Pulse Number Please refer to Pn42 Internal Position Command 29 - Move peed Please refer to Pn43 Internal Position Command 3 -Rotation Number Please refer to Pn4 Internal Position Command 3 - Pulse Number Please refer to Pn42 Internal Position Command 3 - Move peed Please refer to Pn43 Internal Position Command 3 -Rotation Number Please refer to Pn4 Internal Position Command 3 - Pulse Number Please refer to Pn42 Internal Position Command 3 - Move peed Please refer to Pn43 Internal Position Command 32 -Rotation Number Please refer to Pn4 Internal Position Command 32 - Pulse Number Please refer to Pn42 Internal Position Command 32 - Move peed Please refer to Pn43 pulse rpm 3-6 rev pulse 372 rpm 3-6 rev pulse 372 rpm 3-6 rev pulse 372 rpm 3 Control Mode Communication Address R232 R485 5DAH 5DBH 772H 773H 5D9H 774H 5DCH 775H 5DEH 5DFH 776H 777H 5DDH 778H 5EH 779H 5E2H 5E3H 77AH 77BH 5EH 77CH 5E4H 77DH 5E6H 5E7H 77EH 77FH 5E5H 78H 58

64 Quick et-up Parameters Parameter Name & Function Default Unit etting Range qn5 qn52 peed Loop Gain. ( ame function as n2) peed loop gain has a direct effect on the frequency response bandwidth of the peed-control loop. Without causing vibration or noise peed-loop-gain can be increased to obtain a faster speed response. If Cn25 (load Inertia ratio) is correctly set, the speed-loop-bandwidth will equal to speed-loop-gain. peed-loop Integral time. (ame function as n22) peed loop integral element can eliminate the steady speed error and react to even slight speed variations. Decreasing Integral time can improve system rigidity. The formula below shows the relationship between Integral time and peed loop Gain. peedloopintegrationtimecons tant 5 2π peedloopgain 4 Hz x.2 ms 5 5 Control Mode Communication Address R232 R485 53H 53H 4H 42H qn53 qn54 qn55 peed Loop Gain 2. Refer to qn4 (ame function as n23) peed Loop Integration Time Constant 2. (ame function as n24) Refer to qn42 Position Loop Gain. (ame function as Pn3) Without causing vibration or noise on the mechanical system the position loop gain value can be increased to speed up response and shorten the positioning time. Generally, the position loop bandwidth should not be higher then speed loop bandwidth. The relationship is according to the formula below: 4 Hz x.2 ms 4 /s AH 53BH 55AH 43H 44H 45H qn56 qn57 Position Loop Gain 2 Please refer to qn45 Position Loop Feed Forward Gain (ame function as Pn3) It can be used to reduce the follow up error of position control and speed up the response. If the feed forward gain is too large, it might cause speed Overshoot and in position oscillations which result in the repeated ON/OFF operation of the output contact INP( In Position output signal). 4 /s % 55H 55BH 46H 47H 59

65 Multi-Function Input Parameters Parameter Name & Function Default Unit etting Range Hn6. Hn6. Hn6.2 Hn62 Hn63 Hn64 Hn65 Hn66 DI- Function etting Explanation ignal Functions Null Non-function ON ervo On 2 ALR Alarm Reset 3 PCNT PI/P witching 4 CCWL CCW Limit 5 CWL CW Limit 6 TLMT External Torque Limit 7 CLR Clear Pulse Error Value 8 LOK ervo Lock 9 EMC Emergency top A PD peed B PD2 peed 2 C MDC Control Mode witch D INH Position Command Inhibit E PDINV peed Inverse F G-EL Gain elect GN Electronic Gear Ratio Numerator GN2 Electronic Gear Ratio Numerator 2 2 PTRG Position Trigger 3 PHOLD Position Hold 4 HOME tart Home 5 ORG Home Position Reference (Origin) 6 PO Internal Position select 7 PO2 Internal Position select 2 8 PO3 Internal Position select 3 9 PO4 Internal Position select 4 A TRQINV Torque Inverse B R Torque CW electing C R2 Torque CCW electing D Reserved E PO5 Internal position command selection 5 (Tool NO. selection 5) F Reserved DI- Active Level etting Explanation Low Active (short with IG24) High Active DI-2 Please refer to Hn6 DI-3 Please refer to Hn6 DI-4 Please refer to Hn6 DI-5 Please refer to Hn6 DI-6 Please refer to Hn6 6 X X 2 X 3 X 8 X A X 6 X F ( HEX. ) F F F F F Control Mode T T Communication Address R232 R485 C23H C23H 5H 5H ALL C24H 52H ALL C25H 53H ALL C26H 54H ALL C27H 55H ALL C28H 56H

66 Parameter Name & Function Default Unit Hn67 Hn68 Hn69 Hn6 Hn6 Hn62 DI-7 (only for communication control) Please refer to Hn6 DI-8 (only for communication control) Please refer to Hn6 DI-9 (only for communication control) Please refer to Hn6 DI- (only for communication control) Please refer to Hn6 DI- (only for communication control) Please refer to Hn6 DI-2 (only for communication control) Please refer to Hn6 New setting will become effective after re-cycling the power. X X X X X X etting Range F F F F F F Control Mode Communication Address R232 R485 ALL C29H 57H ALL C2AH 58H ALL C2BH 59H ALL C2CH 5AH ALL C2DH 5BH ALL C2EH 5CH Warning! If any of programmable Inputs of DI- ~ DI-2 are set for the same type of function; then the logic state selection ( NO or NC selection) for these inputs must be the same type. Otherwise an Alarm will be displayed. AL-7 (Abnormal DI/DO programming). Parameter Name & Function Default Unit Hn63. Hn63. Hn63.2 DO- Functions Explanation etting ignal Functions RDY ervo Ready 2 ALM Alarm 3 Z Zero peed 4 BI Brake ignal 5 IN In peed 6 INP In Position 7 HOME HOME 8 INT In Torque 9~E Reserved F OL Motor Over-load ignal BAT Absolute Encoder Battery Module Fault LIM CWL/CCWL Drive Disable ignal DO- Active Level etting Explanation Close, when the output is activated. Open, when the output is activated.. X X etting Range (HEX) Control Mode ALL ALL Communication Address R232 R485 C47H 5DH 6

67 Parameter Name & Function Default Unit Hn64 Hn65 Hn66 DO-2 Please refer to Hn64 DO-3 Please refer to Hn64 2 X 7 X etting Range Control Mode Communication Address R232 R485 ALL C48H 5EH ALL C49H 5FH Reserved New setting will become effective after re-cycling the power. Warning! If any of programmable Outputs of DO- ~ DO-3 are set for the same type of function; then the logic state selection (NO or NC selection) for these outputs can not be the same type. Otherwise an Alarm will be displayed. AL-7 (Abnormal DI/DO programming). Parameter Name & Function Default Unit etting Range Hn67 Hn68 Digital input control method selection. elect digital input (2 pins) control method by external terminal or communication. Convert Binary code to Hex code for setting this parameter. DI and binary bits table as below. Ex. DI- is bit and DI-2 is bit 2. DI-[ ] DI-2 DI- bit Binary code representation: Digital input control by external terminal. HFC Digital input control by communication. et H for Hn67 represent DI- ~ DI-2 are controlled by external terminal and set HFFF represent all terminal is controlled by communication. Ex. et DI (, 3, 6,, 2) for communication control other pins by external terminal; The corresponding binary code is: [ ] convert to Hex code is : [H A25]for entering parameter. For the setting Bit (DI-) is control by communication and Bit (DI-2) is control by external terminal.etc. etting digital input status in communication mode Change Hn68 Hex code for setting digital input status of communication control mode; etting method refer Hn67. Binary code representation: : digital input contact OFF H : digital input contact ON et H for Hn67 represent DI- ~ DI-2 are controlled by external terminal and set HFFF represent all terminal is controlled by communication. P..)This parameter should co-operate with Hn67. X X HFC HFFF (HEX) H HFFF (HEX) Control Mode Communication Address R232 R485 ALL C3H 5H ALL 5FFH 52H 62

68 5- Alarm functions Chapter 5 Troubleshooting The Alarm codes are displayed in a format such as that shown below. For any Alarm messages, refer to this section for identify the cause and dispel the error. to reset the Alarm message by following pages description. If this is not possible for any reason then contact your local supplier for assistance. Alarm tatus Display: For Alarm List refer to the section 5-2. In the example above AL- indicate (Under Voltage) There is also an Alarm history which can record ten entry of alarm record. History record is listed as alarm history record table shows. Alarm Reset Methods. Carry out the suggestions below to reset Alarm. (a) Reset by input signal: Once the cause of Alarm is rectified, disable ON signal (witch off ervo ON), then activate input signal ALR. Alarm condition should be cleared and the drive will be ready for operation. Reference 5-6- for setting ON and Alarm signal. (b) Reset from Keypad : Once the cause of Alarm is rectified, disable ON signal (witch off ervo ON), then press the buttons at the same time to reset Alarm and the drive will be ready for operation. 2. Power reset: Once the cause of Alarm is rectified, disable ON signal (witch off ervo ON) and re-cycling power. Alarm condition can be reset and the drive will be ready for operation. Waning! ) Before applying power rest, ensure that ON is off (ON signal is removed first) to prevent danger. 2) Ensure that the speed commands are removed before the alarm is reset, otherwise the motor may run abruptly once the alarm signal is reset. 63

69 5-2 Troubleshooting of Alarm and Warning Alarm Code Alarm Name and Description Corrective Actions Reset Method Normal Under-voltage The main circuit voltage is below its minimum specified value. (9Vac) Over-voltage (Regeneration error). The main circuit voltage is exceeded maximum allowable value. (4V) 2. Regeneration voltage is too high. Motor Over-load The drive has exceeded its rated load during continuous operation. When the loading is equal to 2 times of rated loading, alarm occurs within sec. Drive Over-current Drive main circuit Over current or Transistor error. Encoder ABZ phase signal error Motor s encoder failure or encoder connection problem. Encoder UVW phase signal error Motor s encoder failure or encoder connection problem. Multi-function contact setting error Input/output contacts function setting error. Memory Error 8 Parameter write-in error 9 Emergency top When the input contact point EMC is activated. Alarm 9 appears. Use multi-meter to check whether the input voltage is within the specified limit. If it can not be solved, there may be failure inside the Drive.. Use multi-meter to check whether the input voltage is within the specified limit. 2. Check the Parameter Cn2 if it is setting correctly. 3. If this alarm appears during operation: Extend ac/deceleration time or reduce load ratio in the permitted range. Otherwise, an external regeneration resistor is needed. (Please contact your supplier for assistance.). Check connection for Motor terminal s (U,V,W) and Encoder. 2. Adjust the Drive gain, If gain is not correctly adjusted, it would cause motor vibration and large current will lead to motor over load. 3. Extend acc/deceleration time or reduce load ratio in the permitted range.. Check connection of the motor cable (U,V,W) and encoder. Check power cable connection. Refer to the diagram in Chapter Turn off the power, and turn on again after 3 min. If the alarm still exists, there may be power module malfunction or noise consider the drive for test and repair.. Check the motor s encoder connections. 2. Check the encoder if short circuit, poor solder joints or break. 3. Check the encoder signal terminals CN2- and CN2-2. ( power cable 5v). Check parameters Hn6~Hn62, trigger level selected by 2 nd digit of Hn6 to 62 should be the same for all inputs DI-~DI Check parameters setting of Hn63 ~ Hn66 should NOT be the same for outputs contact DO-~DO-4. Disconnect all command cable then re-cycle the power. If alarm still occurs, it means the Drive was failure.. Disable Emergency stop signal input. 2. Internal mal-function. Ensure that all connections are correct; refer to Chapter 2 Power and motor circuit diagrams connection. Control wiring diagrams. Turn ALR (DI) ON Turn ALR (DI) ON Turn ALR (DI) ON Reset Power upply Reset Power upply Reset Power upply Reset Power upply Turn ALR (DI) ON 64

70 Alarm Code Alarm Name and Description Corrective Actions Reset Method Motor over-current Motor current is 4 times greater than rated current. Position error The deviation between Pulse command and encoder feed back ( position error) is greater than the setting of Pn38 or Pn39. Motor over speed Motor s speed is.5 times more then motor s rated speed. CPU Error Control system Mal-function. Drive disable When input contacts CCWL & CWL are operated at the same time this alarm occurs. Drive overheat Power transistor temperature exceeds 9 C. Absolute Encoder Battery error. Battery connects error of disconnects. 2. Battery voltage is lower than 3.2V. Check if the motor wiring U,V,W)and encoder wiring correct or not. 2.Internal interference and mal-function. Ensure that all connection are correct refer to Chapter 2 Power and motor circuit diagrams.. Increase the position loop gain (Pn3 and Pn3) setting value. 2. Increase in position tolerance value by (Pn37) for a better motor response. 3. Extend the time of ac/deceleration or reduce load inertia in the permitted range. 4. Check if the motor wiring (U,V,W) is correct.. Reduce the speed command. 2. Electronic gear ratio is incorrect check and set correctly. 3. Adjust speed loop gains (n2 & n23) for a better motor response. Turn off the power. Turn on again after 3min. If error alarm still exists, this may be due to external interference. Refer to the chapter 2 Motor power cable and control signals connections.. Remove input contact signal CCWL or CWL. 2. Check all input wiring for correct connections. 3. For the selected High /Low logic potential settings refer to ection Over-load for a long duration will cause driver overheat, check and reset operation system.. Installing the battery. 2. Make sure if the battery connects correctly. 3. Replacing the battery. Turn ALR (DI) ON Turn ALR (DI) ON Turn ALR (DI) ON Reset Power upply Turn ALR (DI) ON Turn ALR (DI) ON Reset Power upply 65

71 警告及注意事項 : 警告 不可在送電中, 實施配線工作 輸入電源切離後, 伺服驅動器之狀態顯示 POWER LED 未熄滅前, 請勿觸摸電路或更換零件 伺服驅動器的輸出端 U V W, 絕不可接到 AC 電源! 注意 當伺服驅動器安裝於控制盤內, 若周溫過高時, 請加裝散熱風扇 不可對伺服驅動器作耐壓測試 機械開始運轉前, 確認是否可以隨時啟動緊急開關停機 機械開始運轉前, 須配合機械來改變使用者參數設定值 未調整到相符的正確設定值, 可能會導致機械失去控制或發生故障 機械開始運轉前, 務必確認參數 Cn3: 系列化機種設定, 需選取正確的驅動器和馬達匹配組合! 安全注意事項 : 在安裝 運轉 保養 點檢前, 請詳閱本說明書 另外, 唯有具備專業資格的人員才可進行裝配線工作 說明書中安全注意事項區分為 警告 與 注意 兩項 警告 : 表示可能的危險情況, 如忽略會造成人員死亡或重大損傷! 注意 : 表示可能的危險情況, 如未排除會造成人員較小或輕微的損傷及機器設備的損壞 所以應詳閱本簡易簡易說明書說明書及產品技術手冊後, 再使用此伺服驅動器 I

72 首先, 感謝您採用東元電機伺服驅動器 JDEP 系列 ( 以下簡稱 JDEP) 和伺服馬達 JDEP 可由數位面板操作器或透過 PC 人機程式來操作, 提供多樣化的機能, 使產品更能符合客戶各種不同的應用需求 在使用 JDEP 前, 請先閱讀本簡易說明書及產品技術手冊, 主要內容包括 : 伺服系統的檢查 安裝及配線步驟 數位面板操作器的操作步驟 狀態顯示 異常警報及處理對策說明 伺服系統控制機能 試運轉及調整步驟 伺服驅動器所有參數一覽說明 標準機種的額定規格 為了方便作日常的檢查 維護及瞭解異常發生之原因及處理對策, 請妥善保管本說明書在 安全的地點, 以便隨時參閱 註 : 請將此說明書交給最終之使用者, 以使伺服驅動器發揮最大效用 II

73 目 錄 第一章產品檢查及安裝... - 產品檢查 伺服驅動器機種確認 伺服馬達機種確認 伺服驅動器與伺服馬達搭配對照表 伺服驅動器操作模式簡介 伺服驅動器安裝環境條件與環境條件與方法 安裝環境條件 安裝方向及間隔 伺服馬達安裝安裝環境條件與環境條件與方法 安裝環境條件 安裝方式 其他注意事項... 8 第二章配線準備 系統組成及配線 伺服驅動器電源及週邊裝置配線圖 伺服驅動器配線說明 電線規格 馬達端出線 馬達及電源標準接線圖 TB 端子說明 馬達附機械式剎車 (BRAKE) 接線說明 I/O 信號端子說明 CN 控制信號端子說明 CN2 編碼器信號端子說明 CN3/CN4 通訊信號端子說明 控制信號標準接線圖 位置控制 ( Mode) 接線圖 (Line Driver)... 2 III

74 2-3-2 位置控制 ( Mode) 接線圖 (Open Collector) 位置控制 ( Mode) 接線圖 速度控制 ( Mode) 接線圖 轉矩控制 (T Mode) 接線圖 第三章面板及試運轉操作說明 面板操作說明 試運轉操作說明 第四章參數機能 參數群組說明 參數機能表 第五章異常警報排除 異常警報說明 異常排除對策 IV

75 - 產品檢查 第一章產品檢查及安裝 本伺服產品在出廠前均做過完整之功能測試, 為防止產品運送過程中之疏忽導致產品不正常, 拆封後請詳細檢查下列事項 : 檢查伺服驅動器與伺服馬達型號是否與訂購的機型相同 ( 型號說明請參閱下列章節內容 ) 檢查伺服驅動器與伺服馬達外觀有無損壞及刮傷現象 ( 運送中造成損傷時, 請勿接線送電!) 檢查伺服驅動器與伺服馬達有無組立不良 零組件鬆脫之現象 檢查伺服馬達轉子軸是否能以手平順旋轉 ( 附機械剎車之伺服馬達無法直接旋轉!) 如果上述各項有發生故障或不正常的跡象, 請立即洽詢購買本產品之東元電機各區業務代表或 當地經銷商 -- 伺服驅動器機種確認 JD EP 5 A TECO AC ervo 驅動器產品編號驅動器系列別 : EP 系列 輸入電壓相數 : : 單 / 三相共用 3: 三相輸入 驅動器機種別 : / 5 / 2 / 3 / 5 / 75 AC 輸入電壓 : A:AC 22V 註 : 機種最大輸出功率 : W 3: KW 5:4 W 5:2 KW 2:75 W 75:3 KW

76 --2 伺服馬達機種確認 JM A P C A B K B TECO AC ervo 馬達產品編號 馬達系列別 : A 系列 防護等級 : IP67 馬達慣量 : : 超低慣量 L: 低慣量 M: 中慣量 H: 中慣量 馬達速度 : A: rpm B:2 rpm C:3 rpm H:5 rpm 馬達額定功率 : P5:5 W : W 2:2 W 3:3 W 4:4 W 5:55 W 8:75W : KW 5:.5 KW 2:2 KW 3:3 KW 編碼 鍵槽 油封 無無 K 有無 O 無有 A 有有 編碼器規格 : B:25 ppr H : 892 ppr AC 輸入電壓 : A:AC 22V 機械剎車 : : 無剎車 B: 具機械剎車 --3 伺服驅動器與伺服馬達搭配對照表! 注意 機械開始運轉前, 務必確認參數 Cn3: 系列化機種設定, 需選取正確的驅動器和馬 達匹配組合! 2

77 使用者可利用 dn-8 查詢目前驅動器內所設定的驅動器和馬達組合, 如果顯示的搭配組合 與實際的組合不相同, 請如下表所示, 重新設定參數 Cn3 或與當地經銷商洽談 dn-8 顯示值馬達規格 Cn3 設定值驅動器形式馬達型號編碼器規格 功率 (KW) 速度 (rpm) H JMA-PCP5AB.5 25 JDEP- 3 H2 JMA-PCAB. 25 H JMA-PCAB H2 JMA-PLC3AB H22 JMA-PLC3AH 892 H4 JDEP-5 JMA-C4AB ( 額定 3.5A) H42 JMA-C4AH 892 H5 JMA- PC4AB ( 額定 2.5A) H52 JMA- PC4AH 892 H2 JMA-PLC8AB 25 H22 JMA-PLC8AH H23 JMA- PC8AB 25 H232 JMA-PC8AH 892 JDEP-2 H24 JMA-PMA5AB 25 H242 JMA-PMA5AH H25 JMA-PMH5AB 25 5 H252 JMA-PMH5AH 892 H3 JDEP-3 JMA-PC8AB H32 JMA-PC8AH 892 H32 JMA-PMAAB. 25 H322 JMA-PMAAH 892 H33 JMA-PMBAB

78 dn-8 顯示值 Cn3 設定值 驅動器形式 馬達型號 馬達規格功率 (KW) 速度 (rpm) 編碼器規格 H332 JMA-PMBAH 892 H34 JMA-PMHAB 25 5 H342 JMA-PMHAH 892 H35 JMA-PMCAB 25 3 H352 JMA-PMCAH 892 H5 JMA-PMA5AB 25 H52 JMA-PMA5AH 892 H52 JMA-PMB5AB H522 JMA-PMB5AH 892 H53 JMA-PMC5AB 25 JDEP-5 3 H532 JMA-PMC5AH 892 H54 JMA-PMB2AB 25 2 H542 JMA-PMB2AH H55 JMA-PMC2AB 25 3 H552 JMA-PMC2AH 892 H7 JMA-PMB3AB 25 2 H72 JMA-PMB3AH 892 H72 JDEP-75 JMA-PMC3AB H722 JMA-PMC3AH 892 H732 JMA-PMH3AH

79 -2 伺服驅動器操作模式簡介 本驅動器提供多種操作模式, 可供使用者選擇, 詳細模式如下表 : 模式名稱 位置模式 ( 外部脈波命令 ) 模式代碼 說明 驅動器為位置迴路, 進行定位控制, 外部脈波命令輸 入模式是接收上位控制器輸出的脈波命令來達成定 位功能 位置命令由 CN 端子輸入 單一模式 位置模式 ( 內部位置命令 ) 驅動器為位置迴路, 進行定位控制, 內部位置命令模式是使用者將位置命令值設於三十二組命令暫存, 再規劃數位輸入接點來切換相對的位置命令 驅動器為速度迴路, 提供兩種輸入命令方式, 利用數 速度模式 位輸入接點切換內部預先設定的三段速度命令與類 比電壓 (-V ~ +V) 命令信號, 進行速度控制 轉矩模式 T 驅動器為轉矩迴路, 轉矩命令由外部輸入類比電壓 (-V ~ +V), 進行轉矩控制 - 與 可透過數位輸入接腳切換 -T 與 T 可透過數位輸入接腳切換 混合模式 - -T 與 可透過數位輸入接腳切換 與 T 可透過數位輸入接腳切換 -T 與 T 可透過數位輸入接腳切換 - 與 可透過數位輸入接腳切換 5

80 -3 伺服驅動器安裝環境條件與環境條件與方法 -3- 安裝環境條件 伺服驅動器安裝的環境對驅動器正常功能的發揮及其使用壽命有直接的影響, 因此驅動器的安裝環境必須符合下列條件 : 周圍溫度 : ~ + 5 ; 周圍濕度 :85% RH 以下 ( 不結霜條件下 ) 保存溫度 :- 2 ~ + 85 ; 保存溼度 :85%RH 以下 ( 不結霜條件下 ) 振動 :.5 G 以下 防止雨水滴淋或潮濕環境 避免直接日曬 防止油霧 鹽分侵蝕 防止腐蝕性液體 瓦斯 防止粉塵 棉絮及金屬細屑侵入 遠離放射性物質及可燃物 數台驅動器安裝於控制盤內時, 請注意擺放位置需保留足夠的空間, 以取得充分的空氣助於散熱 ; 另請外加配置散熱風扇, 以使伺服驅動器周溫低於 55 為原則 安裝時請將驅動器採垂直站立方式, 正面朝前, 頂部朝上以利散熱 組裝時應注意避免鑽孔屑及其他異物掉落驅動器內 安裝時請確實以 M5 螺絲固定 附近有振動源時 ( 沖床 ), 若無法避免請使用振動吸收器或加裝防振橡膠墊片 驅動器附近有大型磁性開關 熔接機等雜訊干擾源時, 容易使驅動器受外界干擾造成誤動作, 此時需加裝雜訊濾波器 但雜訊濾波器會增加漏電流, 因此需在驅動器的輸入端裝上絕緣變壓器 (Transformer) -3-2 安裝方向及間隔 6

81 -4 伺服馬達安裝安裝環境條件與環境條件與方法 -4- 安裝環境條件 周圍溫度 : ~ + 4 ; 周圍濕度 :9% RH 以下 ( 不結霜條件下 ) 保存溫度 :- 2 ~ + 6 ; 保存溼度 :9%RH 以下 ( 不結霜條件下 ) 振動 :2.5 G 以下 通風良好 少濕氣及灰塵之場所 無腐蝕性 引火性氣體 油氣 切削液 切削粉 鐵粉等環境 無水氣及陽光直射的場所 -4-2 安裝方式 水平安裝 : 為避免水 油等液體自馬達出線端流入馬達內部, 請將電纜出口置於下方 注意事項 編碼器 機械剎車 2 垂直安裝 : 若馬達軸朝上安裝且附有減速機時, 須注意並防止減速機內的油漬經由馬達軸 心, 滲入馬達內部 7

82 -4-3 其他注意事項 為防止減速機內的油漬經由馬達軸心, 滲入馬達內部, 請使用有油封之馬達 2 連接用電纜需保持乾燥 3 為防止電纜因機械運動而造成連接線脫落或斷裂, 應確實固定連接線 4 軸心的伸出量需充分, 若伸出量不足時將容易使馬達運動時產生振動 錯誤範例 正確範例 編機碼械器剎車 5 安裝及拆卸馬達時, 請勿用榔頭敲擊馬達, 否則容易造成馬達軸心及後方編碼器損壞 注意事項 榔頭 編碼器 機械剎車 榔頭 8

83 2- 系統組成及配線 第二章配線準備 2-- 伺服驅動器電源及週邊裝置配線圖 9

84 2--2 伺服驅動器配線說明 配線材料依照 電線規格 使用 配線的長度 : 命令輸入線 3 公尺以內 編碼器輸入線 2 公尺以內 配線時請以最短距離連接 確實依照標準接線圖配線, 未使用到的信號請勿接出 馬達輸出端 ( 端子 U V W) 要正確的連接 否則伺服馬達動作會不正常 隔離線必須連接在 FG 端子上 接地請使用第 3 種接地 ( 接地電阻值為 Ω 以下 ), 而且必須單點接地單點接地 若希望馬達與機 械之間為絕緣狀態時, 請將馬達接地 伺服驅動器的輸出端不要加裝電容器, 或過壓 ( 突波 ) 吸收器及雜訊濾波器 裝在控制輸出信號的繼電器, 其過壓 ( 突波 ) 吸收用的二極體的方向要連接正確, 否則會造 成故障無法輸出信號, 也可能影響緊急停止的保護迴路不產生作用 為了防止雜訊造成的錯誤動作, 請採下列的處置 : 請在電源上加入絕緣變壓器及雜訊濾波器等裝置 請將動力線 ( 電源線 馬達線等的強電迴路 ) 與信號線相距 3 公分以上來配線, 不要放置在同一配線管內 為防止不正確的動作, 應設置 緊急停止開關, 以確保安全 完成配線後, 檢查各連接頭的接續情形 ( 如焊點冷焊 焊點短路 腳位順序不正確等 ), 壓 緊接頭確認是否與驅動器確實接妥, 螺絲是否栓緊, 不可有電纜破損 拉址 重壓等情形 尤其在伺服馬達連接線及編碼器連接線的極性方面要特別注意 在一般狀況不需使用外加回生電阻, 如有需要或疑問, 請向經銷商或製造商洽詢

85 2--3 電線規格 連接端 驅動器規格及使用電線規格 mm² (AWG) 連接端 標記 ( 符號 ) R T 連接端名稱 主電源端子.25 (6) 2. (4) 3.5 (2) TB 端子座 U V W P Pc 馬達連接端子 回生電阻端子.25 (6).25 (6) 2. (4) 3.5 (2) 2. (4) 接地端子 2. (4) 連接端 驅動器規格及使用電線規格 連接端接腳號碼接腳名稱 CN 控制信號接頭 2,25 速度命令 / 限制, 轉矩命令 / 限制 (IC TIC) 3 類比接地端子 (AG) ~3 4~6 數位命令輸入端子 (DI) 8~2 數位輸出端子 (DO) 8 24V 電源輸出端子 (IP24) 7 24V 電源輸入端子 (DICOM) 24 數位接地端子 (IG24).2mm ² 或.3mm ² 與類比接地的雙絞對線 ( 含隔離線 ).2mm ² 或.3mm ² 與 I/O 地線的雙絞對線 ( 含隔離線 ) 4~7 位置命令輸入端子 (Pulse ign) 9~ 2~23 CN2 編碼器接頭 ~3 7~9 CN3 通訊接頭 CN4 通訊接頭 編碼器信號輸出端子 (PA /PA PB /PB PZ /PZ) 5 5V 電源輸出端子 (+5E) 4 電源輸出接地端子 (GND) 編碼器信號輸入端子 (A /A B /B Z /Z) 5,7 R-485 通訊用端子,4 R-232 通訊用端子 3 通訊接地端子 5,7 R-485 通訊用端子 註 : 當使用複數台驅動器時, 請注意無熔絲開關及電源濾波器之容量 2 CN CN2 分別為 25 ns 及 9 ns D-UB 接頭 3 CN3 CN4 為 8 ns MINI DIN JACK 接頭.2mm ² 或.3mm ² 雙絞對線 ( 含隔離線 ).2mm ² 或.3mm ² 雙絞對線 ( 含隔離線 ).2mm ² 或.3mm ² 雙絞對線 ( 含隔離線 )

86 2--4 馬達端出線 馬達電源出線表 () 一般接頭 : 端子符號 線色 信號 紅 U 2 白 V 3 黑 W 4 綠 FG 機械剎車控制線 細紅 DC +24V 細黃 V (2) 軍規接頭 ( 不含機械式剎車 ): 端子符號 線色 信號 A 紅 U B 白 V C 黑 W D 綠 FG D C A B (3) 軍規接頭 ( 含機械式剎車 ): 端子符號 線色 信號 B 紅 U F A G 白 V E 黑 W E G B C 綠 FG A 細紅 機械剎車 DC +24V F 細黃 控制線 V D C 2

87 馬達編碼器編碼器出線表 () 一般接頭 : 端子符號 線色 信號 白 +5V 2 黑 V 3 綠 A 4 藍 /A 5 紅 B 6 紫 /B 7 黃 Z 8 橙 /Z 9 hield FG (2) 軍規接頭 : 端子符號 線色 信號 B 白 +5V I 黑 V A 綠 A C 藍 /A H 紅 B D 紫 /B G 黃 Z E 橙 /Z F hield FG 3

88 2--5 馬達及電源標準接線圖 單相主電源配線範例 CN2 三相主電源配線範例 4

89 2--6 TB 端子說明 名稱主迴路電源輸入端外部回生電阻端子馬達電源輸出端子馬達外殼接地端子 端子符號 R T P PC U V W 詳細說明連接外部 AC 電源 單 / 三相 2~23VAC + ~ -5% 5/6Hz ±5% 當使用外部回生電阻時, 需在 Cn2 設定電阻功率 電阻值選用請參照技術手冊技術手冊內之說明 輸出至馬達 U 相電源, 馬達端線色為紅色紅色 輸出至馬達 V 相電源, 馬達端線色為白色白色 輸出至馬達 W 相電源, 馬達端線色為黑色馬達外殼地線接點, 馬達端線色為綠色綠色或黃綠色黃綠色 2--7 馬達附機械式剎車 (BRAKE) 接線說明 若要解除機械式剎車,5//2/3/4/75W 系列需將紅線及黃線連接到 DC +24V 電壓 ( 無極性分別 ),55/K/.5K/2K/3KW 系列是由馬達電源連接頭馬達電源連接頭的 A F 腳位輸出, 解除後伺服馬達才能正常工作 5

90 2-2 I/O 信號端子說明 伺服驅動器提供四組連接端子, 包含通訊連接端子 CN 控制信號連接端子及 CN2 編碼器連接端子, 下圖為與各端子連接之公座接腳位置圖 6

91 2-2- CN 控制信號端子說明 CN 端子配置圖 : 註 :. 數位輸入 / 輸出端子 (DI/DO) 可任意規劃機能, 詳細設定方式請參照 Hn 參數內容 2. 數位輸入 / 輸出端子 (DI/DO) 信號線之屏蔽線, 應與連接器的外殼相接 7

92 2-2-2 CN2 編碼器信號端子說明 CN2 端子配置圖 : 註 : 未使用之端子, 請勿連接任何配線 8

93 2-2-3 CN3/CN4 通訊信號端子說明 CN3/CN4 端子配置圖 : CN3 for R-485 CN4 for R-232/R485 RxD 串列資料接收 GND 訊號接地端 4 4 TxD 串列資料傳送 5 Data + 串列資料傳輸 + 5 Data + 串列資料傳輸 Data - 串列資料傳輸 - 7 Data - 串列資料傳輸 註 : 未使用之端子, 請勿連接任何配線 9

94 2-3 控制信號標準接線圖 2-3- 位置控制 ( Mode) 接線圖 (Line Driver) 2

95 2-3-2 位置控制 ( Mode) 接線圖 (Open Collector) 2

96 2-3-3 位置控制 ( Mode) 接線圖 22

97 2-3-4 速度控制 ( Mode) 接線圖 23

98 2-3-5 轉矩控制 (T Mode) 接線圖 24