Basic Setting

Check Before Running

Power Supply Connection

Connect the power supply of the control circuit (L1C, L2C) and main circuit:

The main circuit power terminals are L1, L2, L3 for the 3-phase220 V and three-phase 380 V models.

• After connecting the power supply of the control circuit and main circuit, if the bus voltage indicator is in normal display and the keypad displays "rdy", it indicates that the servo drive is ready for running and waiting for the S-ON signal from the host controller.

• If the keypad displays the fault code, please refer to the “Fault and alarm table”

 Turn off the S-ON signal

Jogging

Jog operation could be realized in two ways, one is panel jog operation, and the jog operation could be realized through the buttons on the servo panel. the other is jog operation through the debug tool running on pc.

Jogging via the Keypad

Switch to [P10-1] on the keypad to enter the jogging mode, and the keypad displays the default jogging speed.

Press key UP/DOWN to set the jogging speed, after that press enter key.

The keypad displays "JOG" and blinks. Then, press enter key again to access the jog mode.

Long press the up/down key to achieve forward and reverse rotation, press key MODE to exit the jogging mode.

Jogging via debug tool

Open We-con servo debugging tool, set the speed value of the jog in the "Set Speed" in the "Manual Operation" column, and then click the "Servo On" button on the interface. Click "Forward" or "Reverse" button to realize forward/reverse jogging. When the "servo off" button is clicked, the jog mode is exited.

Selection of Rotating Direction

Set [P0-4] to change the motor rotating direction without changing the polarity of the input reference.

Limit switches (positive over travel POT and reverse over travel NOT), POT has the same direction set in [P0-4](Rotating direction selection).

Braking resistor

When the servo motor is in the generator state when decelerating or stopping, the motor would transfer the energy back to the driver, which would increase the bus voltage. When the bus voltage exceeds the braking point, the driver could use the braking resistor to consume the energy. The braking resistor could be built-in or external, but it couldnot be used at the same time. When the external braking resistor is connected, the jumper on the servo drive needs to be removed.

The judge whether to use a built-in braking resistor or an external braking resistor

(1) The calculated maximum braking energy> the maximum braking energy that the capacitor could absorb, and the calculated braking power ≤ the power of the built-in braking resistor, then use the internal braking resistance.

(2) When the calculated value of the maximum braking energy> the maximum braking energy that the capacitor could absorb, and the calculated value of the braking power> the power of the built-in braking resistor, then we should use an external braking resistor.

Relevant function code:

Braking resistor selection process

VD1 750W drive brake resistance calculation formula

750W motor inertia: 1.82*10^-4 kg m²

Total load inertia J_L = load inertia ratio * 1.82*10^-4

Single deceleration energy Eo =  J_L ω²

ω=  (N: motor speed rpm)

The energy that the VD1 capacitor can absorb is 22.7J (E_C)

The required braking resistor power is

(T is the acceleration and deceleration cycle)

which is:

Servo Running

1. Turn on the S-ON signal

When the servo drive is ready for running, the keypad displays "Run". but if there is no reference input, the servo motor is in locked state.

S-ON could be configured and selected through DI terminal function selection.

1. After a reference is input, the servo motor starts to rotate

Enter the appropriate command during operation, running the motor at low speed firstly, and observe whether the rotation is in accordance with the set rotation direction. Observe the actual motor speed, bus voltage and other parameters through the debug tool running on pc. It could be adjusted according to Chapter 7 to make the motor work in its expected condition.

1. Power-on time sequence

Figure 6-1 Power-on time sequence

Servo Stop

Servo stop includes coast to stop and zero-speed stop based on the stop mode, and de energized state and position lock based on the stop state.

• Stop at S-ON Signal Off

Relevant function code:

• Emergency Stop

The default is the free stop mode, the motor shaft remains free, and the corresponding configuration and selection could be made by configuring the DI terminal function selection.

• Stop at Limit Switch Signal Active

Over travel means that the movable part of the machine exceeds the setting area. In some horizontal or vertical movements, the servo needs to limit the movement range of the work piece. Over travel generally uses limit switches, photoelectric switches or multiple turns of the encoder for detection, that is, hardware over travel or software over travel.

Once the servo drive detects the action of the limit switch signal, it would immediately force the speed in the current running direction to 0 to prevent the forward movement, which would not affect the reverse operation. Over travel stop is fixed as zero speed stop, and the motor shaft keeps the position locked.

The corresponding configuration and selection could be made through the DI terminal function selection. The default setting of DI3 is POT, DI4 is NOT.

• Stop at Fault Occurrence

If the machine breaks down, the servo would perform fault shutdown operation. The current shutdown mode is fixed to free stop mode, and the motor shaft remains free.

Position mode

Position control mode is the most important and commonly used control mode of servo system. Position control refers to controlling the position of the motor through position commands, determining the target position of the motor based on the total number of position commands, and the frequency of the position command determines the rotation speed of the motor. The servo drive could achieve fast and accurate control of the position and speed of the machine. Therefore, the position control mode is mainly used in applications requiring positioning control, such as manipulators, chip mounters, engraving machines, CNC machine tools, etc.

The block diagram of position control is as follows:

Figure 6-2 Position control diagram

Position Reference Input Setting

The servo drive has 1 set of pulse input terminals for receiving position pulse input (through the CN2 terminal of the drive)

The reference from the host controller could be differential output or open collector output. The maximum input frequency is shown in the following table:

1. Low-speed Pulse Input   Differential drive mode

1. OC mode

1. Position pulse selection

The servo drive supports three pulse input formats:

Direction + pulse (positive logic),Phase A + phase B quadrature pulse (4-frequency multiplication), CW + CCW

The corresponding pulse waveform is as follows:

[P0-12]=0 (Direction + pulse(positive logic))

PULSE: Pulse SIGN: Signal

Positive pulse waveform	Negative pulse waveform

(b) [P0-12]=1(CW/CCW)

PULSE: Pulse SIGN: Signal

Diagram

(c) [P0-12]=2(Phase A + phase B quadrature pulse (4-frequency multiplication))

PULSE(A phase): pulse SIGN(B phase): signal

Position pulse frequency and anti-interference level

Filtering time is necessary for the reference input pin to prevent external interference input to the driver and affect the control of the motor. The signal input and output waveforms with filtering enabled are shown in the following figure:

Figure 6-3 Filtering signal waveform

The input pulse frequency refers to the frequency of the input signal, and the frequency of the input pulse command could be modified through the function code [P0-13]. If the actual input frequency is greater than [P0-13], it may cause pulse loss or alarm. The function code [P0-14] could adjust the position pulse anti-interference level, the greater the value, the greater the depth of the filter.

Relevant function code:

Electronic Gear Ratio

[Glossary]

Reference unit: It means the minimum value the host controller input to the servo drive.

Encoder unit: It means that the value from the input reference processed with the electronic gear ratio.

[Electronic gear ratio definition]

In position control mode, the input position reference (reference unit) defines the load displacement. the motor position reference (encoder unit) defines the motor displacement. The electronic gear ratio is used to indicate the relationship between input position reference and motor position reference. By dividing (electronic gear ratio < 1) or multiplying (electronic gear ratio > 1) the electronic gear ratio, the actual motor rotating or moving displacement within the input

position reference of one reference unit could be set.

[Setting range of electronic gear ratio]

The setting range of the electronic gear ratio should meet the following conditions:

Otherwise, it would display [Er. 35] "Electronic gear ratio setting over limit" fault.

Electronic gear ratio setting Flowchart:

Figure 6-4 Electronic gear ratio setting flowchart

Firstly, confirm the mechanical parameters, including confirming the reduction ratio, ball screw lead, gear diameter in gear transmission, pulley diameter in pulley transmission, etc. Confirm the resolution of the servo motor encoder used.

Confirm the parameters such as machine specifications and positioning accuracy, and determine the load displacement corresponding to the position command output by the host computer. Combine information including the mechanical parameters and the load displacement corresponding to one position command to calculate the position command value required for one rotation of the load shaft.

Electronic gear ratio = encoder resolution / position command (command unit) required for one revolution of the load shaft × reduction ratio, Set the function code parameters according to the calculated electronic gear ratio value.

In addition to use the electronic gear ratio function, you could also use [P0-16] (the number of command pulses for one rotation of the motor). Both gear ratio 1 and electronic gear ratio 2 are invalid when [P0-16] is not zero.

Relevant function codes:

Position Reference Filter

This function filters the position references (encoder unit) divided or multiplied by the electronic gear ratio. It involves the first-order filter and average filter.

It is applicable to the following conditions:

1. Acceleration/Deceleration is absent on the position references from the host controller.
2. The pulse frequency is too low.
3. The electronic gear ratio is larger than 10.

Properly setting the position loop filter time constant could run the motor more smoothly, so that the motor speed would not overshoot before it stabilizes. This setting has no effect on the number of command pulses.

The filter time is not as long as possible. The longer the filter time, the longer the delay time and the longer the response time.

Figure 6-5 position reference filter

Relevant parameters:

Position Deviation Clear

Position deviation = Position reference – Position feedback (encoder unit)

The position deviation clear function refers to the function that the drive clears the deviation register in the position mode. The function of clearing position deviation could be realized through DI terminal.

Frequency-Division Output

The encoder pulse is output as a quadrature differential signal after divided by the internal circuit of the servo driver. The phase and frequency of the frequency-divided signal could be set by parameters. The source of frequency division output could be set by function code, and the setting of different sources makes the function of frequency division output more widely used.

Figure 6-6 diagram of frequency division output wiring

The frequency-division output is a differential signal output:

Phase A pulse: PAO +, PAO-, differential output, the maximum output pulse frequency is 2Mpps

Phase B pulse: PBO +, PBO-, differential output, the maximum output pulse frequency is 2Mpps

Phase Z pulse: PZO +, PZO-, differential output, the maximum output pulse frequency is 2Mpps

The frequency division pulse output direction could be set through the function code [P0-21]. The waveform diagram of the encoder frequency division pulse output is as follows:

P0-21	Forward rotation, pulse output waveform	Reverse rotation, pulse output waveform
0
1

In addition, the Z pulse output polarity could be set through function code P0-23, as shown in the following figure:

P0-23(Z pulse output polarity)	pulse waveform (forward / reverse)
0
1

Function code P0-22(the number of output pulses per revolution of the motor) is used to set the number of output pulses of the A and B phases of the motor, and changing the function code could set the frequency division of the output.

Relevant parameters:

Position-relevant DO output function

The feedback value of the position command is compared with different thresholds, and the DO signal could be output for the host controller to use.

(1)Positioning completed/near output

The internal command completion function means that when the multi position reference within the servo is zero, it could be considered that the command transmission is completed. At this time, the servo drive could output the internal command completion signal, and the host computer could confirm that the multi-segment position command within the servo drive has been sent.

The positioning completion function means that the position deviation meets the conditions set by the [P5-12], and it could be considered that the positioning is completed in the position control mode. At this time, the servo driver could output the positioning completion signal, and the host controller could confirm that the positioning of the servo driver is completed after receiving this signal.

The functional schematic diagram is as follows:

Figure 6-7 positioning completed diagram

When using the positioning completion / proximity function, you could also set positioning completion, positioning proximity conditions, window, and hold time. The diagram of window filtering time is shown in the figure below:

Figure 6-8 diagram of positioning completion signal output with window filtering time

Relevant parameters:

To use the positioning completion function, the DO terminal of the servo drive should be assigned as the positioning completion function and determine the valid logic. Take the DO1 terminal as an example, the relevant function code:

Servo position control case

Introduction

This case uses three commonly used PLC positioning instructions to implement the servo position control mode actions.

I/O wiring

Servo parameter setting

Step 1:Power on the servo, set the M key on the panel of the servo drive, set the value of function code P0-1 to 1, and 1 is the position control mode;

Step 2:Set the value of function code P0-4, 0 is forward rotation, 1 is reverse rotation

Step 3:Set the value of function code P6-04 to 1. 0 is the hardware DI_1 channel, which requires wiring; 1 is the virtual DI_1 channel,no wiring is required.

Step 4:Set the value of the function code P13-1 to choose whether VDI1 is valid at high or low levels.

PLC Project

Explanation

The program uses M0,M1,M2 as the switch button of three modes of actions.

When M0 is turned on, the Y0 servo motor rotates 5000 pulses in the direction of Y3.

When M1 is turned on, the Y0 servo motor rotates 20,000 pulses at the speed of 4,000 pulses, and Y3 represents the direction of the motor.

When M2 is turned on, the Y0 servo motor moves to the absolute position of 2000 at the speed of 4000 pulses, and Y3 represents the direction of the motor.

Speed mode

 Speed control refers to control the speed of the machine through the speed reference. Through internal digital setting, analog voltage or communication, the servo drive could achieve fast and precise control of the mechanical speed. Therefore, the speed control mode is mainly used to control the rotation speed, or use the host controller to realize the position control, and the host controller output is used as the speed reference, such as analog engraving and milling machine.

The speed control block diagram is as follows:

Figure1 speed control diagram

Set the parameter P0-1 to 2 through the panel or debugging tool on PC to make the servo drive work in speed control mode.

Relevant function code:

Speed Reference Input Setting

Speed Reference Source

There are two sources of speed reference in speed control mode, which could be set by [P1-1].

Relevant function code:

Internal speed reference

Set the speed value through the function code [P1-2] as the speed reference.

Relevant function codes:

Analog voltage input as a reference

Take the analog voltage signal output by the host controller or other equipments, processed as a speed reference.

Analog voltage setting method:

Figure 2 flowchart of setting speed reference by analog voltage

Glossary:

Zero drift: Value of the servo drive sampling voltage relative to GND when the input

voltage of the analog channel is zero.

Offset: Input voltage value of the analog channel when the sampling voltage is zero after

zero drift correction.

Dead zone: Input voltage range of the analog channel when the sampling voltage is zero.

Figure 3 Analog signal after-offset

After completing the correct settings, you could view the input voltage values of AI_1 and AI_2 through U0-21 and U0-22

Relevant function codes:

Acceleration and deceleration time setting

The acceleration/deceleration time setting refers to convert a speed command with a relatively high acceleration into a speed command with a relatively gentle acceleration, so as to achieve the purpose of controlling the acceleration.

In the speed control mode, excessive acceleration of the speed command would cause the vibration. At this time, increase the acceleration or deceleration time to achieve a smooth speed change of the motor and avoid mechanical damage caused by the above situation.

Figure 4 diagram of acc. and dec. time

Actual acceleration time T1 = speed reference / 1000 * acceleration time

Actual deceleration time T2 = speed reference / 1000 * deceleration time

Relevant function codes:

Speed Reference Limitation

The servo drive could display the value of the speed reference in speed mode.

Sources of speed instruction limits include:

[P1-10]: Set the maximum speed limit value

[P1-12]: Set forward speed limit value

[P1-13]: Set the reverse speed limit value

Maximum motor speed: determined according to the model of the motor

| The amplitude of the forward speed reference | ≤ min {Max. motor speed, P1-10, P1-12}

| The amplitude of the negative speed reference | ≤ min {Max. speed of the motor, P1-10, P1-13}

Relevant function codes:

Zero Speed Clamp Function

Zero speed clamping function means that when the zero speed clamping signal (ZCLAMP) is valid, when the absolute value of the speed reference is lower than the zero speed clamping speed value, the servo motor is in the locked state. At this time, the servo drive is in position lock mode, and the speed reference is invalid.

Relevant function codes:

Figure 5 Zero Speed Clamp waveform

Speed-relevant DO Signals

Different DO signals are output to the host controller based on comparison between the speed feedback after filter and different thresholds. We need to assign different function for the DO terminals and set the valid logic.

Motor Rotation DO Signal

After the speed reference is filtered, the absolute value of the actual speed of the servo motor reaches [P5-16] (rotation detection speed threshold), then the motor is considered to be rotating. At this time, the DO terminal of the servo drive could output a rotation detection signal. Conversely, when the actual rotation speed of the servo motor does not reach [P5-16], it is considered that the motor is not rotating.

Figure 6-14 motor rotation DO signal

Relevant function codes:

Zero speed signal

The absolute value of the actual speed of the servo motor is less than a certain threshold [P5-19], it is considered that the servo motor stops rotating, and the DO terminal of the servo drive could output a zero speed signal at this time. Conversely, if the absolute value of the actual speed of the servo motor is not less than this value, it is considered that the motor is not at a standstill and the zero speed signal is invalid.

Figure 6 zero speed signal waveform

Relevant function codes:

Speed Consistent DO Signal

In speed control, when the absolute value of the difference between the motor speed after filter and the speed reference satisfies the setting of [P5-17], the actual motor speed is considered to reach the speed reference. At this moment, the servo drive outputs the speed consistent signal. When the absolute value of the difference between the motor speed after filter and the speed reference exceeds the setting of [P5-17], the speed consistent signal is inactive.

Figure 7 Speed Consistent Waveform

Relevant function codes:

Speed Reached DO Signal

When the absolute value of the motor speed after filter exceeds the setting of[P4-16],the motor speed is considered to reach the desired value. At this moment, the servo drive outputs the speed reached signal. When the absolute value of the motor speed after filter is smaller than or equal to the setting of[P4-16], the speed reached signal is inactive.

Figure 6-17 Speed reached signal waveform

Relevant function codes:

Torque mode

 The current of the servo motor has a linear relationship with the torque. Therefore, the control of the current could achieve the control of the torque. Torque control refers to controlling the output torque of the motor through a torque reference. Torque reference could be given by internal command and analog voltage.

The torque control block diagram is as follows:

Torque Reference Input Setting

Torque reference source

In the torque control mode, there are two sources of torque reference, which could be set through [P1-7]. Relevant function codes:

Digital setting

The source of the torque reference is an internal command, which is set through function code [P1-8]. Relevant function codes:

Analog voltage setting

Take the analog voltage signal outputs by the host controller or other equipment as a speed reference.

Operation flowchart of setting torque reference by analog voltage:

flowchart of setting torque reference by analog voltage

Zero drift: value of the servo drive sampling voltage relative to GND when the input voltage of the analog channel is zero

Offset: input voltage value of the analog channel when the sampling voltage is zero after zero drift correction

Dead zone: input voltage range of the analog channel when the sampling voltage is zero

Analog signal waveform after-offset

After completing the correct settings, user could view the input voltage values of AI_1 and AI_2 through [U0-21] and [U0-22]

Relevant function codes:

Torque Reference Filter

In the torque mode, the servo drive could realize low-pass filtering of the torque command, which reduces the vibration of the servo motor.

Relevant function codes:

Diagram of torque reference first-order filter

If the setting value of the filter time constant is too large, the responsiveness would be reduced. Please set it while confirming the responsiveness.

Torque Reference Limit

When the absolute value of the torque reference input from the host controller or output by the speed regulator is larger than the absolute value of the torque reference limit, the actual torque reference of the servo drive is restricted to the torque reference limit. Otherwise, the torque reference input from the host controller or output by the speed regulator is used.

Only one torque reference limit is valid at a moment. Both positive and negative torque limits does not exceed the maximum torques of the servo drive and motor and ±300.0% of the rated torque.

Torque setting and limit

Torque Limit Source

The torque limit source is set in[P1-14]. After the torque limit is set, the servo drive torque reference is restricted to be within the torque limit. After the torque reference reaches the limit, the motor runs according to the torque limit. The torque limit must be set according to the load conditions. If the setting is very small, it may cause longer acceleration/decelleration time of the motor, and the actual motor speed may not reach the required value at constant speed running.

Relevant code:

When [P1-14]= 0: internal torque limit

The torque reference limit value is determined by the internal function codes [P1-15] and [P1-16]

Relevant code:

Torque Limit DO Signal

When the torque reference reaches the torque limit value, the driver outputs a torque limit signal (138-T-LIMIT torque limit) to the host controller and determines the DO terminal logic.

Relevant code:

Torque related DO output function

The feedback value of the torque reference is compared with different thresholds, and the DO signal could be output to the host controller to use. Assign the DO terminals of the servo drive to different functions and set the valid logic.

Torch reach signal

Torch reach signal waveform

Relevant function code: