06 Control Mode

No foreign objects, such as wire end or metal powder, which may cause short circuit of the signal wire and power cables, exist inside and outside of the servo drive.

29

)))

30

|2|The servo drive or external regenerative resistor is not placed on flammable objects.

31

|3|Installation and shaft and mechanical connection are reliable.

32

33

== **6.1.2 Power Supply Connection** ==

34

35

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

36

37

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

38

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* 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.

40

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

42

43

**Turn off the S-ON signal**

44

45

== **6.1.3 Jogging** ==

46

47

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.

48

49

**Jogging via the Keypad**

50

51

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

52

53

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

54

55

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

56

57

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

58

59

(% class="table-bordered" %)

60

|=**Code**|=**Parameter Name**|=**Property**|=(((

**Effective**

**Time**

)))|=**Range**|=**Function**|=**Unit**|=**Default**

65

|P10-1|JOG speed|During running|Immediate|0-3000|(((

Set the jogging

speed value

)))|rpm|100

**Jogging via debug tool**

72

73

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.

74

75

== **6.1.4 Selection of Rotating Direction** ==

76

77

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

78

79

(% class="table-bordered" %)

80

|=**Code**|=**Parameter Name**|=**Property**|=(% style="width: 116px;" %)(((

**Effective**

**Time**

)))|=(% style="width: 69px;" %)**Range**|=**Function**|=**Unit**|=**Default**

|P0-4|(((

Rotating

direction

selection

)))|At stop|(% style="width:116px" %)(((

Power-on

again

)))|(% style="width:69px" %)0-1|(((

96

Forward direction:viewed from the motor shaft.

97

98

0: CW direction as the forward direction

99

100

1: CCW direction as the

forward direction

)))|-|0

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

106

107

== **6.1.5 Braking resistor** ==

108

109

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.

110

111

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

112

113

(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.

114

115

(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.

116

117

**Relevant function code:**

118

119

(% class="table-bordered" %)

120

|=(% style="width: 81px;" %)**Code**|=(% style="width: 220px;" %)**Parameter Name**|=(% style="width: 81px;" %)**Property**|=(% style="width: 83px;" %)(((

**Effective**

**Time**

)))|=(% style="width: 83px;" %)**Range**|=(% style="width: 418px;" %)**Function**|=**Unit**|=**Default**

125

126

0- Use built-in braking resistor.

127

128

1- Use external braking resistor and natural cooling.

129

130

2- Use external braking resistor and forced air cooling.

131

132

3- No braking resistors are used, all rely on capacitor absorption.

)))|-|0

**Braking resistor selection process**

138

139

(% style="text-align:center" %)

140

[[image:Braking resistor.png||height="1197" width="800" class="img-thumbnail"]]

141

142

143

**VD1 750W drive brake resistance calculation formula**

144

145

750W motor inertia: 1.82*10^^-4^^ kg m^^2^^

146

147

Total load inertia J,,L,, = load inertia ratio * 1.82*10^^-4^^

148

149

Single deceleration energy Eo = [[image:VD1 750W 驱动器制动电阻计算公式_html_ada0137b5673ff9c.gif]] J,,L,, ω^^2^^

150

151

ω= [[image:VD1 750W 驱动器制动电阻计算公式_html_7f5f30891215870b.gif||class="img-thumbnail"]] (N: motor speed rpm)

152

153

The energy that the VD1 capacitor can absorb is 22.7J (E,,C,,)

154

155

The required braking resistor power is [[image:VD1 750W 驱动器制动电阻计算公式_html_ebe3890e6cdd35c2.gif||class="img-thumbnail"]]

156

157

(T is the acceleration and deceleration cycle)

158

159

which is:[[image:VD1 750W 驱动器制动电阻计算公式_html_506c1de75a99e6fa.gif||class="img-thumbnail"]]

160

161

== **6.1.6 Servo Running** ==

162

163

1. Turn on the S-ON signal

164

165

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.

166

167

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

168

169

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

170

171

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.

172

173

1. Power-on time sequence

174

175

(% style="text-align:center" %)

176

[[image:5.Basic Setting_html_f889a9585b78ace9.jpg||class="img-thumbnail" height="371" width="700"]]

177

178

Figure 6-1 Power-on time sequence

179

180

== **6.1.7 Servo Stop** ==

181

182

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.

183

184

(% class="table-bordered" %)

185

|=**Stop mode**|=**Coast to stop**|=(((

**Stop at zero**

**speed**

)))

|Description|(((

The servo motor is de-energized and decelerates to stop gradually. The

192

193

deceleration time is affected by the friction inertia and mechanical.

194

)))|The servo drive outputs the reverse braking torque and the motor decelerates to 0 quickly.

195

|Characteristic|This mode features smooth deceleration and small mechanical impact, but the deceleration process is long.|This mode features quick deceleration but a larger impact.

196

197

* Stop at S-ON Signal Off

198

199

**Relevant function code:**

200

201

(% class="table-bordered" %)

202

|=**Code**|=**Parameter Name**|=**Property**|=(((

**Effective**

**Time**

)))|=(% style="width: 69px;" %)**Range**|=(% style="width: 294px;" %)**Function**|=(% style="width: 84px;" %)**Unit**|=(% style="width: 81px;" %)**Default**

|P0-5|(((

Stop mode

at S-ON

OFF

)))|At stop|Immediate|(% style="width:69px" %)0~~1|(% style="width:294px" %)(((

214

0: Coast to stop,

215

216

keeping de-energized state

217

218

1: Stop at zero speed,

219

220

keeping de-energized state

221

)))|(% style="width:84px" %)-|(% style="width:81px" %)0

* 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.

226

227

* Stop at Limit Switch Signal Active

228

229

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.

230

231

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.

232

233

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

234

235

(% class="table-bordered" %)

236

|=(% style="width: 73px;" %)**Code**|=(% style="width: 134px;" %)**Parameter Name**|=(% style="width: 114px;" %)**Property**|=(% style="width: 85px;" %)(((

**Effective**

**Time**

)))|=(% style="width: 69px;" %)**Range**|=(% style="width: 490px;" %)**Function**|=**Unit**|=**Default**

241

|(% style="width:73px" %)P6-08|(% style="width:134px" %)DI_3 function|(% style="width:114px" %)During running|(% style="width:85px" %)(((

Power-on

again

)))|(% style="width:69px" %)0~~16|(% style="width:490px" %)(((

246

1: SON, Servo ON

247

248

2: A-CLR, Fault and warning clear

249

250

3: POT, Forward limit switch

251

252

4: NOT, Reverse limit switch

253

254

5: ZCLAMP, Zero speed clamp

255

256

6: CL, Clear the position deviation

257

258

7: C-SIGN, Instruction negation

259

260

8: E-STOP, Emergency stop

261

262

9: GEAR-SEL, Electronic gear switching 1

263

264

10: GAIN-SEL, Gain switch

265

266

11: INH, Position reference inhibited

267

268

12: VSSEL, Damp control switch(Not implemented yet)

269

270

13: INSPD1, Internal speed command selection 1(Not implemented yet)

271

272

14: INSPD2, Internal speed command selection 2(Not implemented yet)

273

274

15: INSPD3, Internal speed command selection 3(Not implemented yet)

275

276

16: J-SEL, Inertia ratio switch(Not implemented yet)

277

)))|-|03-POT

278

|(% style="width:73px" %)P6-9|(% style="width:134px" %)DI_3 logic selection|(% style="width:114px" %)During running|(% style="width:85px" %)(((

Power-on

again

)))|(% style="width:69px" %)0~~1|(% style="width:490px" %)(((

283

DI port input logic validity function selection.

284

285

0: Normal open input. Active when off (Switch closed).

286

287

1: Normal closed input. Active when on (Switch open).

288

)))|-|0

289

|(% style="width:73px" %)P6-10|(% style="width:134px" %)DI_3 input source selection|(% style="width:114px" %)During running|(% style="width:85px" %)(((

Power-on

again

)))|(% style="width:69px" %)0~~1|(% style="width:490px" %)(((

0-hardware DI3

1-VDI3

)))|-|0

|(% style="width:73px" %)P6-11|(% style="width:134px" %)DI_4 function|(% style="width:114px" %)During running|(% style="width:85px" %)(((

Power-on

again

)))|(% style="width:69px" %)0~~16|(% style="width:490px" %)(((

303

1: SON, Servo ON

304

305

2: A-CLR, Fault and warning clear

306

307

3: POT, Forward limit switch

308

309

4: NOT, Reverse limit switch

310

311

5: ZCLAMP, Zero speed clamp

312

313

6: CL, Clear the position deviation

314

315

7: C-SIGN, Instruction negation

316

317

8: E-STOP, Emergency stop

318

319

9: GEAR-SEL, Electronic gear switching 1

320

321

10: GAIN-SEL, Gain switch

322

323

11: INH, Position reference inhibited

324

325

12: VSSEL, Damper control switch(not implemented yet)

326

327

13: INSPD1, Internal speed command selection 1(not implemented yet)

328

329

14: INSPD2, Internal speed command selection 2(not implemented yet)

330

331

15: INSPD3, Internal speed command selection 3(not implemented yet)

332

333

16: J-SEL, Inertia ratio switch(not implemented yet)

334

)))|-|04-NOT

335

|(% style="width:73px" %)P6-12|(% style="width:134px" %)DI_4 logic selection|(% style="width:114px" %)During running|(% style="width:85px" %)(((

Power-on

again

)))|(% style="width:69px" %)0~~1|(% style="width:490px" %)(((

340

DI port input logic validity function selection.

341

342

0: Normal open input. Active when off (switch closed).

343

344

1: Normal closed input. Active when on (switch open).

345

)))|-|0

346

|(% style="width:73px" %)P6-13|(% style="width:134px" %)DI_4 input source selection|(% style="width:114px" %)During running|(% style="width:85px" %)(((

Power-on

again

)))|(% style="width:69px" %)0~~1|(% style="width:490px" %)(((

0-hardware DI3

1-VDI3

)))|-|0

* Stop at Fault Occurrence

357

358

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.

359

360

= **6.2 Position mode** =

361

362

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.

363

364

**The block diagram of position control is as follows:**

365

366

(% style="text-align:center" %)

367

[[image:1649921243846-652.png||class="img-thumbnail" height="272" width="800"]]

368

369

Figure 6-2 Position control diagram

370

371

== **6.2.1 Position Reference Input Setting** ==

372

373

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

374

375

(% style="text-align:center" %)

376

[[image:1649921251765-622.png||class="img-thumbnail" height="525" width="600"]]

377

378

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

379

380

(% class="table-bordered" %)

381

|=**Pulse Type**|=**Differential**|=**Open collector**

382

|Max. frequency|500k|200k

383

|Voltage|5V|24V

384

385

1. **Low-speed Pulse Input **Differential drive mode

386

387

(% style="text-align:center" %)

388

[[image:1649921259462-732.png||class="img-thumbnail" height="468" width="700"]]

1. **OC mode**

(% style="text-align:center" %)

393

[[image:1649921266972-816.png||class="img-thumbnail" height="472" width="700"]]

394

395

1. Position pulse selection

396

397

**The servo drive supports three pulse input formats:**

398

399

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

400

401

(% class="table-bordered" %)

402

|=(% style="width: 66px;" %)**Code**|=(% style="width: 160px;" %)**Parameter Name**|=(% style="width: 82px;" %)**Property**|=(% style="width: 113px;" %)(((

**Effective**

**Time**

)))|=(% style="width: 66px;" %)**Range**|=(% style="width: 473px;" %)**Function**|=**Unit**|=**Default**

407

|(% style="width:66px" %)P0-12|(% style="width:160px" %)Position pulse type selection|(% style="width:82px" %)At stop|(% style="width:113px" %)(((

Power-on

again

)))|(% style="width:66px" %)0~~2|(% style="width:473px" %)(((

412

0: Direction + pulse (positive logic)

1: CW/CCW

2: Phase A + phase B quadrature pulse (4-frequency multiplication)

417

)))|-|0

418

419

**The corresponding pulse waveform is as follows:**

420

421

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

422

423

**PULSE: **Pulse **SIGN: **Signal

424

425

(% class="table-bordered" %)

426

|=Positive pulse waveform|=Negative pulse waveform

427

|[[image:1649921282617-174.png||class="img-thumbnail"]]|[[image:1649921288519-277.png||class="img-thumbnail"]]

428

429

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

430

431

**PULSE: **Pulse **SIGN: **Signal

432

433

(% class="table-bordered" %)

434

|=Diagram

435

|[[image:1649921295885-867.png||class="img-thumbnail"]]

436

437

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

438

439

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

440

441

(% class="table-bordered" %)

442

|=Positive pulse waveform|=Negative pulse waveform

|(((

A advances B by 90°

[[image:1649921301605-567.png||class="img-thumbnail"]]

)))|(((

B advances A by 90°

[[image:1649921307520-989.png||class="img-thumbnail"]]

451

)))

452

453

**Position pulse frequency and anti-interference level**

454

455

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:**

456

457

(% style="text-align:center" %)

458

[[image:1649921315771-948.png||class="img-thumbnail" height="328" width="800"]]

459

460

Figure 6-3 Filtering signal waveform

461

462

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.

463

464

**Relevant function code:**

465

466

(% class="table-bordered" %)

467

|=(% style="width: 79px;" %)**Code**|=(% style="width: 203px;" %)**Parameter Name**|=(% style="width: 96px;" %)**Property**|=(% style="width: 99px;" %)(((

**Effective**

**Time**

)))|=(% style="width: 86px;" %)**Range**|=(% style="width: 377px;" %)**Function**|=**Unit**|=**Default**

472

|(% style="width:79px" %)P0-13|(% style="width:203px" %)Position pulse frequency|(% style="width:96px" %)At stop|(% style="width:99px" %)(((

Power-on

again

)))|(% style="width:86px" %)1~~500|(% style="width:377px" %)Set the maximum pulse frequency|kHz|300

477

|(% style="width:79px" %)P0-14|(% style="width:203px" %)Position pulse anti-interference level|(% style="width:96px" %)At stop|(% style="width:99px" %)(((

Power-on

again

)))|(% style="width:86px" %)1~~3|(% style="width:377px" %)(((

482

Set the pulse anti-interference level.

483

484

1:Low anti-interference level. (0.1)

2: Medium (0.25)

3: High (0.4)

)))|-|2

== **6.2.2 Electronic Gear Ratio** ==

**[Glossary]**

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

496

497

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

498

499

**[Electronic gear ratio definition]**

500

501

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

502

503

position reference of one reference unit could be set.

504

505

**[Setting range of electronic gear ratio]**

506

507

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

508

509

(% style="text-align:center" %)

510

[[image:1649921327785-423.png||class="img-thumbnail" height="63" width="500"]]

511

512

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

513

514

**Electronic gear ratio setting Flowchart:**

515

516

(% style="text-align:center" %)

517

[[image:1649921334117-284.png||class="img-thumbnail" height="857" width="300"]]

518

519

Figure 6-4 Electronic gear ratio setting flowchart

520

521

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.

522

523

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.

524

525

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.

526

527

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.

528

529

**Relevant function codes:**

530

531

(% class="table-bordered" %)

532

|=(% style="width: 68px;" %)**Code**|=(% style="width: 204px;" %)**Parameter Name**|=(% style="width: 85px;" %)**Property**|=(((

**Effective**

**Time**

)))|=(% style="width: 65px;" %)**Range**|=(% style="width: 447px;" %)**Function**|=(% style="width: 58px;" %)**Unit**|=(% style="width: 51px;" %)**Default**

537

|(% style="width:68px" %)P0-16|(% style="width:204px" %)pulse number per revolution|(% style="width:85px" %)At stop|(((

Power-on

again

)))|(% style="width:65px" %)0~~10000|(% style="width:447px" %)(((

542

Set the pulse number of per rotation

543

544

Only when P0-16=0 then P0-17,P0-18,P0-19,P0-20 would take effect

545

)))|(% style="width:58px" %)pulse|(% style="width:51px" %)10000

546

547

Set the numerator of the first group electronic gear ratio.

548

549

It is valid when P0-16=0

550

)))|(% style="width:58px" %)-|(% style="width:51px" %)1

551

552

Set the denominator of the first group electronic gear ratio.

553

554

It is valid when P0-16=0

555

)))|(% style="width:58px" %)-|(% style="width:51px" %)1

556

557

Set the numerator of the first group electronic gear ratio.

558

559

It is valid when P0-16=0

560

)))|(% style="width:58px" %)-|(% style="width:51px" %)1

561

562

Set the denominator of the first group electronic gear ratio.

563

564

It is valid when P0-16=0

565

)))|(% style="width:58px" %)-|(% style="width:51px" %)1

566

567

== **6.2.3 Position Reference Filter** ==

568

569

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.

570

571

**It is applicable to the following conditions:**

572

573

1. Acceleration/Deceleration is absent on the position references from the host controller.

574

1. The pulse frequency is too low.

575

1. The electronic gear ratio is larger than 10.

576

577

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.

578

579

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.

580

581

(% style="text-align:center" %)

582

[[image:1649921346187-572.png||class="img-thumbnail" height="305" width="700"]]

583

584

Figure 6-5 position reference filter

585

586

**Relevant parameters:**

587

588

(% class="table-bordered" %)

589

|=**Code**|=**Parameter Name**|=**Property**|=(((

**Effective**

**Time**

)))|=**Range**|=**Function**|=**Unit**|=**Default**

594

|P4-1|Pulse command filtering mode|At stop|Immediate|0~~1|(((

595

0: first-order low-pass filtering

1: average filter

)))|-|0

|P4-2|Position command first-order low-pass filter|At stop|Immediate|0~~128|For pulse command input filtering|ms|0

600

|P4-3|Position command average filtering time constant|At stop|Immediate|0~~1000|For pulse command input filtering|ms|20

601

602

== **6.2.4 Position Deviation Clear** ==

603

604

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

605

606

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.

607

608

== **6.2.5 Frequency-Division Output** ==

609

610

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.

611

612

(% style="text-align:center" %)

613

[[image:1649921354912-251.png||class="img-thumbnail" height="385" width="500"]]

614

615

Figure 6-6 diagram of frequency division output wiring

616

617

**The frequency-division output is a differential signal output:**

618

619

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

620

621

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

622

623

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

624

625

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:**

626

627

(% class="table-bordered" %)

628

|=**P0-21**|=**Forward rotation, pulse output waveform**|=**Reverse rotation, pulse output waveform**

629

|0|[[image:1649921362127-560.png||class="img-thumbnail"]]|[[image:1649921367265-349.png||class="img-thumbnail"]]

630

|1|[[image:1649921375859-464.png||class="img-thumbnail"]]|[[image:1649921381044-457.png||class="img-thumbnail"]]

631

632

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

633

634

(% class="table-bordered" %)

635

|=**P0-23(Z pulse output polarity)**|=**pulse waveform (forward / reverse)**

636

|0|[[image:1649921388966-901.png]]

637

|1|[[image:1649921394645-918.png]]

638

639

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.

640

641

**Relevant parameters:**

642

643

(% class="table-bordered" %)

644

|=(% style="width: 69px;" %)**Code**|=(% style="width: 151px;" %)**Parameter Name**|=(% style="width: 82px;" %)**Property**|=(% style="width: 87px;" %)(((

**Effective**

**Time**

)))|=**Range**|=**Function**|=**Unit**|=**Default**

649

|(% style="width:69px" %)P0-21|(% style="width:151px" %)frequency-dividing output direction|(% style="width:82px" %)At stop|(% style="width:87px" %)(((

Power-on

again

)))|0~~1|(((

Quadrature pulse output.

655

656

0: When the motor rotation direction is CW, A advances B

657

658

1: When the motor rotation direction is CCW, B advances A

659

)))|-|0

660

661

|(% style="width:69px" %)P0-23|(% style="width:151px" %)(((

Z pulse output

OZ polarity

)))|(% style="width:82px" %)At stop|(% style="width:87px" %)again|0~~1|(((

666

0-Z Active when pulse is high

667

668

1-Z Active when pulse is low

669

)))|-|0

670

671

== **6.2.6 Position-relevant DO output function** ==

672

673

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.

674

675

(1)Positioning completed/near output

676

677

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.

678

679

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.

680

681

**The functional schematic diagram is as follows:**

682

683

(% style="text-align:center" %)

684

[[image:1649921403464-270.png||class="img-thumbnail" height="393" width="600"]]

685

686

Figure 6-7 positioning completed diagram

687

688

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:**

689

690

(% style="text-align:center" %)

691

[[image:1649921410286-328.png||class="img-thumbnail" height="429" width="750"]]

692

693

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

694

695

**Relevant parameters:**

696

697

(% class="table-bordered" %)

698

|=(% style="width: 77px;" %)**Code**|=(% style="width: 136px;" %)**Parameter Name**|=(% style="width: 93px;" %)**Property**(((

**Effective**

**Time**

Output signal judging conditions for positioning completed and positioning near

705

706

0:The output is valid when the absolute value of the position deviation is less than the positioning completion threshold / location near threshold.

707

708

1:The absolute value of the position deviation is less than the positioning completion threshold / positioning near threshold, and the input position command is 0 then the output is valid

709

710

2:The absolute value of the position deviation is smaller than the positioning completion threshold / positioning approach threshold, and the input position command filter value is 0 then the output is valid

711

712

3:The absolute value of the position deviation is less than the positioning completion threshold / positioning approach threshold, the input position command filter value is 0, and the positioning detection time window is continued then the output is valid

)))|-|0

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:**

720

721

(% class="table-bordered" %)

722

|=(% style="width: 86px;" %)**Code**|=(% style="width: 173px;" %)**Parameter Name**|=(% style="width: 125px;" %)**Property**|=(% style="width: 112px;" %)(((

**Effective**

**Time**

)))|=(% style="width: 96px;" %)**Range**|=(% style="width: 362px;" %)**Function**|=**Unit**|=**Default**

727

|(% style="width:86px" %)P6-26|(% style="width:173px" %)DO_1 function selection|(% style="width:125px" %)During running|(% style="width:112px" %)(((

Power-on

again

)))|(% style="width:96px" %)128~~142|(% style="width:362px" %)(((

129-RDY Servo Ready

130-ALM Alarm

131-WARN Warning

132-TGON Motor rotation output

739

740

133-ZSP Zero speed signal

741

742

134-P-COIN Positioning completed

743

744

135-P-NEAR Positioning near

745

746

136-V-COIN Speed consistent

747

748

137-V-NEAR Speed near

749

750

138-T-COIN Torque reached

751

752

139-T-LIMIT Torque limit

753

754

140-V-LIMIT Speed limit

755

756

141-BRK-OFF Solenoid brake

757

758

(not implemented yet)

759

760

142-SRV-ST Enable Servo status output

761

)))|-|131

762

|(% style="width:86px" %)P6-27|(% style="width:173px" %)DO_1 logic selection|(% style="width:125px" %)During running|(% style="width:112px" %)(((

Power-on

again

)))|(% style="width:96px" %)0~~1|(% style="width:362px" %)(((

767

Output logic function selection. ★

~1. Set to 0:

When the signal is valid, the output transistor is on.

772

773

When the signal is invalid, the output transistor is off.

2. Set to 1:

When the signal is valid, the output transistor is off.

778

779

When the signal is invalid, the output transistor is on.

)))|-|0

----

== **6.2.7 Servo position control case** ==

**Introduction**

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

789

790

== **6.2.8 I/O wiring** ==

791

792

(% style="text-align:center" %)

793

[[image:1649921424832-617.png||class="img-thumbnail" height="473" width="700"]]

794

795

== **6.2.9 Servo parameter setting** ==

796

797

**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;

798

799

(% class="table-bordered" %)

800

|=**Code**|=(% style="width: 144px;" %)**Parameter Name**|=(% style="width: 126px;" %)**Property**|=(% style="width: 130px;" %)(((

**Effective**

**Time**

)))|=(% style="width: 87px;" %)**Range**|=(% style="width: 369px;" %)**Function**|=**Unit**|=**Default**

805

|P0-1|(% style="width:144px" %)(((

Control mode

(default setting)

)))|(% style="width:126px" %)At stop|(% style="width:130px" %)Power-on again|(% style="width:87px" %)1-10|(% style="width:369px" %)(((

810

1: Position control mode

811

812

2: Speed control mode

813

814

3: Torque control mode

815

)))|-|1

816

817

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

818

819

(% class="table-bordered" %)

820

|=**Code**|=(% style="width: 144px;" %)**Parameter Name**|=(% style="width: 88px;" %)**Property**|=(% style="width: 119px;" %)(((

**Effective**

**Time**

)))|=(% style="width: 81px;" %)**Range**|=(% style="width: 433px;" %)**Function**|=**Unit**|=**Default**

825

|P0-4|(% style="width:144px" %)(((

Rotating

direction

selection

)))|(% style="width:88px" %)At stop|(% style="width:119px" %)(((

Power-on

again

)))|(% style="width:81px" %)0-1|(% style="width:433px" %)(((

836

Forward direction:viewed from the motor shaft.

837

838

0: CW direction as the forward direction

839

840

1: CCW direction as the

forward direction

)))|-|0

**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.

846

847

(% class="table-bordered" %)

848

849

|P13-1|Virtual VDI_1 input value|▲|0|0-1|(((

850

VDI1 input level:

851

852

0: low level. 1: high level.

853

)))

854

855

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

856

857

**✎Note:** the value of function code P6-02 should be set to 1. Only in this way can the motor rotate.

858

859

(% class="table-bordered" %)

1: SON, Servo ON

2: A-CLR, Fault and warning clear

865

866

3: POT, Forward limit switch

867

868

4: NOT, Reverse limit switch

869

870

5: ZCLAMP, Zero speed clamp

871

872

6: CL, Clear the position deviation

873

874

7: C-SIGN, Instruction negation

875

876

8: E-STOP, Emergency stop

877

878

9: GEAR-SEL, Electronic gear switching 1

879

880

10: GAIN-SEL, Gain switch

881

882

11: INH, Position reference inhibited

883

884

12: VSSEL, Damer control switch(not implemented yet)

885

886

13: INSPD1, Internal speed command selection 1(not implemented yet)

887

888

14: INSPD2, Internal speed command selection 2(not implemented yet)

889

890

15: INSPD3, Internal speed command selection 3(not implemented yet)

891

892

16: J-SEL, Inertia ratio switch(not implemented yet)

893

)))|

894

895

== **6.2.10 PLC Project** ==

896

897

(% style="text-align:center" %)

898

[[image:1649921441261-362.png||class="img-thumbnail" height="256" width="800"]]

899

900

== **6.2.11 Explanation** ==

901

902

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

903

904

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

905

906

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.

907

908

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.

909

910

= **6.3 Speed mode** =

911

912

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.

913

914

The speed control block diagram is **as follows:**

915

916

(% style="text-align:center" %)

917

[[image:1649921468579-521.png||class="img-thumbnail" height="255" width="800"]]

918

919

Figure1 speed control diagram

920

921

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.

922

923

**Relevant function code**:

924

925

(% class="table-bordered" %)

926

|=**Code**|=**Parameter Name**|=**Property**|=(((

**Effective**

**Time**

)))|=**Range**|=**Function**|=**Unit**|=**Default**

931

|P0-1|Control mode (default setting)|At stop|Power-on again|1~~10|(((

932

1: Position control mode

933

934

2: Speed control mode

935

936

3: Torque control mode

937

)))|-|1

938

939

== ** 6.3.1 Speed Reference Input Setting** ==

940

941

(% style="text-align:center" %)

942

[[image:1649921476490-234.png||class="img-thumbnail" height="392" width="600"]]

943

944

Speed Reference Source

945

946

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

947

948

**Relevant function code:**

949

950

(% class="table-bordered" %)

951

|=**Code**|=**Parameter Name**|=**Property**|=(% colspan="2" %)(((

**Effective**

**Time**

)))|=**Range**|=**Function**|=**Unit**|=**Default**

956

|P1-1|Speed command source|(% colspan="2" %)At stop|Immediate|0~~1|(((

957

0: Internal speed command (set in P1-3).

958

959

1: AI_1 analog input.

960

)))|-|0

961

962

Internal speed reference

963

964

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

965

966

**Relevant function codes**:

967

968

(% class="table-bordered" %)

969

|=(% style="width: 80px;" %)**Code**|=(% style="width: 198px;" %)**Parameter Name**|=(% style="width: 142px;" %)**Property**|=(% style="width: 120px;" %)(((

**Effective**

**Time**

)))|=(% style="width: 123px;" %)**Range**|=(% style="width: 278px;" %)**Function**|=(% style="width: 54px;" %)**Unit**|=(% style="width: 80px;" %)**Default**

974

975

976

Analog voltage input as a reference

977

978

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

979

980

**Analog voltage setting method**:

981

982

(% style="text-align:center" %)

983

[[image:1649921484882-112.png||class="img-thumbnail" height="855" width="250"]]

984

985

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

990

991

voltage of the analog channel is zero.

992

993

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

994

995

zero drift correction.

996

997

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

998

999

(% style="text-align:center" %)

1000

[[image:1649921492713-261.png||class="img-thumbnail" height="415" width="700"]]

1001

1002

Figure 3 Analog signal after-offset

1003

1004

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

1005

1006

(% class="table-bordered" %)

1007

|=**Code**|=**Function**|=**Unit**|=**Format**

1008

|U0-21|AI1 input voltage value|V|decimal(3 decimal digits)

1009

|U0-22|AI2 input voltage value|V|decimal(3 decimal digits)

1010

1011

**Relevant function codes**:

1012

1013

(% class="table-bordered" %)

1014

|=(% style="width: 61px;" %)**Code**|=(% style="width: 194px;" %)**Parameter Name**|=**Property**|=(((

**Effective**

**Time**

)))|=**Range**|=**Function**|=**Unit**|=**Default**

== **6.3.2 Acceleration and deceleration time setting** ==

1031

1032

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.

1033

1034

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.

1035

1036

(% style="text-align:center" %)

1037

[[image:1649921501713-829.png||class="img-thumbnail" height="387" width="600"]]

1038

1039

Figure 4 diagram of acc. and dec. time

1040

1041

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

1042

1043

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

1044

1045

**Relevant function codes**:

1046

1047

(% class="table-bordered" %)

1048

|=(% style="width: 65px;" %)**Code**|=(% style="width: 136px;" %)**Parameter Name**|=**Property**|=(((

**Effective**

**Time**

)))|=**Range**|=**Function**|=**Unit**|=**Default**

== **6.3.3 Speed Reference Limitation** ==

1057

1058

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

1059

1060

Sources of speed instruction limits include:

1061

1062

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

1063

1064

**[P1-12]:** Set forward speed limit value

1065

1066

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

1067

1068

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

1069

1070

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

1071

1072

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

1073

1074

**Relevant function codes:**

1075

1076

(% class="table-bordered" %)

1077

|=(% style="width: 74px;" %)**Code**|=(% style="width: 210px;" %)**Parameter Name**|=**Property**|=(((

1078

**Effective Time**

1079

)))|=**Range**|=**Function**|=**Unit**|=**Default**

== **6.3.4 Zero Speed Clamp Function** ==

1085

1086

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.

1087

1088

**Relevant function codes:**

1089

1090

(% class="table-bordered" %)

1091

|=(% style="width: 69px;" %)**Code**|=(% style="width: 176px;" %)**Parameter Name**|=**Property**|=(((

1092

**Effective Time**

1093

)))|=**Range**|=**Function**|=**Unit**|=**Default**

1094

1095

Set the zero speed clamp function. In speed mode:

0: Force speed to 0.

1: Force the speed to 0, and keep the position locked when the actual speed is less than [P1.22].

1100

1101

2: When the speed reference is less than [P1-22], force the speed to 0 and keep the position locked.

1102

1103

3: Invalid, ignore the zero speed clamp input.

)))|-|0

(% style="text-align:center" %)

1108

[[image:1649921513950-217.png||class="img-thumbnail" height="388" width="600"]]

1109

1110

Figure 5 Zero Speed Clamp waveform

1111

1112

== **6.3.5 Speed-relevant DO Signals** ==

1113

1114

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.

1115

1116

Motor Rotation DO Signal

1117

1118

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.

1119

1120

(% style="text-align:center" %)

1121

[[image:1649921523559-858.png||class="img-thumbnail" height="236" width="600"]]

1122

1123

Figure 6-14 motor rotation DO signal

1124

1125

**Relevant function codes**:

1126

1127

(% class="table-bordered" %)

1128

|=(% style="width: 69px;" %)**Code**|=(% style="width: 257px;" %)**Parameter Name**|=**Property**|=(((

**Effective**

**Time**

)))|=**Range**|=**Function**|=**Unit**|=**Default**

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.

1139

1140

(% style="text-align:center" %)

1141

[[image:1649921531202-104.png||class="img-thumbnail" height="373" width="600"]]

1142

1143

Figure 6 zero speed signal waveform

1144

1145

**Relevant function codes:**

1146

1147

(% class="table-bordered" %)

1148

|=(% style="width: 68px;" %)**Code**|=(% style="width: 267px;" %)**Parameter Name**|=**Property**|=(((

**Effective**

**Time**

)))|=**Range**|=**Function**|=**Unit**|=**Default**

Speed Consistent DO Signal

1157

1158

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.

1159

1160

(% style="text-align:center" %)

1161

[[image:1649921539069-575.png||class="img-thumbnail" height="366" width="600"]]

1162

1163

Figure 7 Speed Consistent Waveform

1164

1165

**Relevant function codes:**

1166

1167

(% class="table-bordered" %)

1168

|=(% style="width: 67px;" %)**Code**|=(% style="width: 260px;" %)**Parameter Name**|=**Property**|=(((

**Effective**

**Time**

)))|=**Range**|=**Function**|=**Unit**|=**Default**

Speed Reached DO Signal

1177

1178

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.

1179

1180

(% style="text-align:center" %)

1181

[[image:1649921547861-635.png||class="img-thumbnail" height="323" width="600"]]

1182

1183

Figure 6-17 Speed reached signal waveform

1184

1185

**Relevant function codes:**

1186

1187

(% class="table-bordered" %)

1188

|=(% style="width: 71px;" %)**Code**|=(% style="width: 274px;" %)**Parameter Name**|=**Property**|=(((

**Effective**

**Time**

)))|=**Range**|=**Function**|=**Unit**|=**Default**

= **6.4 Torque mode** =

1197

1198

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.

1199

1200

**The torque control block diagram is as follows**:

1201

1202

(% style="text-align:center" %)

1203

[[image:1649921574316-568.png||class="img-thumbnail" height="230" width="700"]]

1204

1205

== **6.4.1 Torque Reference Input Setting** ==

1206

1207

(% style="text-align:center" %)

1208

[[image:1649921579089-736.png||class="img-thumbnail" height="379" width="600"]]

1209

1210

== **6.4.2 Torque reference source** ==

1211

1212

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

1213

1214

(% class="table-bordered" %)

1215

|=(% style="width: 81px;" %)(((

1216

**Code**

1217

)))|=(% style="width: 242px;" %)(((

**Parameter Name**

)))|=(((

**Property**

)))|=(((

(((

**Effective**

**Time**

)))

(((

)))

)))|=(((

**Range**

)))|=(((

**Function**

)))|=(((

**Unit**

)))|=(((

**Default**

)))

|(% style="width:81px" %)(((

1241

P1-7

1242

)))|(% style="width:242px" %)(((

1243

Torque reference source

)))|(((

At stop

)))|(((

Immediate

)))|(((

0~~1

)))|(((

0: Internal torque command.

1252

1253

1: AI_1 analog input.

)))|(((

-

)))|(((

0

)))

== **6.4.3 Digital setting** ==

1261

1262

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

1263

1264

(% class="table-bordered" %)

1265

|=(% style="width: 73px;" %)(((

1266

**Code**

1267

)))|=(% style="width: 315px;" %)(((

**Parameter Name**

)))|=(((

**Property**

)))|=(((

**Effective**

**Time**

)))|=(((

**Range**

)))|=(((

**Function**

)))|=(((

**Unit**

)))|=(((

**Default**

)))

|(% style="width:73px" %)(((

1285

P1-8

1286

)))|(% style="width:315px" %)(((

1287

Torque reference keyboard set value

)))|(((

During running

)))|(((

Immediate

)))|(((

-3000~~3000

)))|(((

-300.0%～300.0%

)))|(((

0.1%

)))|(((

0

)))

== **6.4.4 Analog voltage setting** ==

1303

1304

(% class="table-bordered" %)

|=(((

**Code**

)))|=(((

**Function**

)))|=(((

**Unit**

)))|=(((

**Format**

)))

|(((

U0-21

)))|(((

AI1 input voltage value

)))|(((

V

)))|(((

decimal(3 decimal digits)

)))

|(((

U0-22

)))|(((

AI2 input voltage value

)))|(((

V

)))|(((

decimal(3 decimal digits)

1331

)))

1332

1333

(% class="table-bordered" %)

1334

|=(% style="width: 61px;" %)(((

1335

**Code**

1336

)))|=(% style="width: 194px;" %)(((

**Parameter Name**

)))|=(((

**Property**

)))|=(((

**Effective**

**Time**

)))|=(((

**Range**

)))|=(((

**Function**

)))|=(((

**Unit**

)))|=(((

**Default**

)))

|(% style="width:61px" %)(((

1354

P5-1

1355

)))|(% style="width:194px" %)(((

AI_1 input bias

)))|(((

During running

)))|(((

Immediate

)))|(((

-5000~~5000

)))|(((

Set AI_1 channel analog offset value

)))|(((

mv

)))|(((

0

)))

|(% style="width:61px" %)(((

1371

P5-2

1372

)))|(% style="width:194px" %)(((

1373

AI_1 Input filter constant

)))|(((

During running

)))|(((

Immediate

)))|(((

0~~65535

)))|(((

AI_1 channel input first-order low-pass filtering time constant

)))|(((

ms

)))|(((

200

)))

|(% style="width:61px" %)(((

1388

P5-3

1389

)))|(% style="width:194px" %)(((

AI_1 dead zone

)))|(((

During running

)))|(((

Immediate

)))|(((

0~~1000

)))|(((

Set AI_1 channel analog dead zone value

)))|(((

mv

)))|(((

20

)))

|(% style="width:61px" %)(((

1405

P5-4

1406

)))|(% style="width:194px" %)(((

AI_1 zero drift

)))|(((

During running

)))|(((

Immediate

)))|(((

-500~~500

)))|(((

Automatic calibration zero drift inside the driver.

)))|(((

mv

)))|(((

0

)))

|(% style="width:61px" %)(((

1422

P5-5

1423

)))|(% style="width:194px" %)(((

AI_2 input bias

)))|(((

During running

)))|(((

Immediate

)))|(((

-5000~~5000

)))|(((

Set AI_2 channel analog offset value

)))|(((

mv

)))|(((

0

)))

|(% style="width:61px" %)(((

1439

P5-6

1440

)))|(% style="width:194px" %)(((

1441

AI_2 Input filter constant

)))|(((

During running

)))|(((

Immediate

)))|(((

0~~60000

)))|(((

AI_2 channel input first-order low-pass filtering time constant

)))|(((

ms

)))|(((

200

)))

|(% style="width:61px" %)(((

1456

P5-7

1457

)))|(% style="width:194px" %)(((

AI_2 dead zone

)))|(((

During running

)))|(((

Immediate

)))|(((

0~~1000

)))|(((

Set AI_1 channel analog dead zone value

)))|(((

mv

)))|(((

20

)))

|(% style="width:61px" %)(((

1473

P5-8

1474

)))|(% style="width:194px" %)(((

AI_2 zero drift

)))|(((

During running

)))|(((

Immediate

)))|(((

-500~~500

)))|(((

Automatic calibration zero drift value inside the driver

)))|(((

mv

)))|(((

0

)))

|(% style="width:61px" %)(((

1490

P5-9

1491

)))|(% style="width:194px" %)(((

1492

Analog 10V for speed value

)))|(((

At stop

)))|(((

Immediate

)))|(((

1000~~4500

)))|(((

Set the speed value corresponding to analog 10V

)))|(((

rpm

)))|(((

3000

)))

|(% style="width:61px" %)(((

1507

P5-10

1508

)))|(% style="width:194px" %)(((

1509

Analog 10V for torque value

)))|(((

At stop

)))|(((

Immediate

)))|(((

0~~3000

)))|(((

Set the torque value corresponding to analog 10V

)))|(((

0.1%

)))|(((

1000

)))

(% class="table-bordered" %)

|=(((

**Code**

)))|=(((

**Parameter Name**

)))|=(((

**Property**

)))|=(((

**Effective**

**Time**

)))|=(((

**Range**

)))|=(((

**Function**

)))|=(((

**Unit**

)))|=(((

**Default**

)))

|(((

P4-4

)))|(((

Torque filter time constant

)))|(((

During running

)))|(((

Immediate

)))|(((

10~~2500

)))|(((

When [Auto-tuning mode] is set as 1, or 2, this parameter is set automatically

)))|(((

0.01

)))|(((

0.5

)))

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

1563

1564

**Operation flowchart of setting torque reference by analog voltage:**

1565

1566

(% style="text-align:center" %)

1567

[[image:1649921591828-681.png||class="img-thumbnail" height="1010" width="250"]]

1568

1569

flowchart of setting torque reference by analog voltage

1570

1571

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

1572

1573

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

1574

1575

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

1576

1577

(% style="text-align:center" %)

1578

[[image:1649921598803-241.png||class="img-thumbnail" height="369" width="600"]]

1579

1580

Analog signal waveform after-offset

1581

1582

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

1583

1584

**Relevant function codes:**

1585

1586

== **6.4.5 Torque Reference Filter** ==

1587

1588

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

1589

1590

**Relevant function codes:**

1591

1592

(% style="text-align:center" %)

1593

[[image:1649921605656-975.png||class="img-thumbnail" height="369" width="600"]]

1594

1595

Diagram of torque reference first-order filter

1596

1597

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

1598

1599

== **6.4.6 Torque Reference Limit** ==

1600

1601

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.

1602

1603

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.

1604

1605

(% style="text-align:center" %)

1606

[[image:1649921617358-189.png||class="img-thumbnail" height="358" width="700"]]

1607

1608

Torque setting and limit

1609

1610

== **6.4.7 Torque Limit Source** ==

1611

1612

(% class="table-bordered" %)

1613

|=(((

1614

**Code**

1615

)))|=(% style="width: 180px;" %)(((

1616

**Parameter Name**

1617

)))|=(% style="width: 114px;" %)(((

1618

**Property**

1619

)))|=(% style="width: 134px;" %)(((

**Effective**

**Time**

)))|=(% style="width: 97px;" %)(((

1624

**Range**

1625

)))|=(% style="width: 273px;" %)(((

1626

**Function**

1627

)))|=(% style="width: 87px;" %)(((

**Unit**

)))|=(((

**Default**

)))

|(((

P1-14

)))|(% style="width:180px" %)(((

1635

Torque limit source

1636

)))|(% style="width:114px" %)(((

1637

At stop

1638

)))|(% style="width:134px" %)(((

1639

Immediate

1640

)))|(% style="width:97px" %)(((

1641

0~~1

1642

)))|(% style="width:273px" %)(((

0: Internal value

1: AI_2 analog input

)))|(% style="width:87px" %)(((

-

)))|(((

0

)))

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

1657

1658

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

**Relevant code:**

(% class="table-bordered" %)

1663

|=(% style="width: 65px;" %)(((

1664

**Code**

1665

)))|=(% style="width: 202px;" %)(((

1666

**Parameter Name**

1667

)))|=(% style="width: 73px;" %)(((

1668

**Property**

1669

)))|=(% style="width: 114px;" %)(((

1670

**Effective Time**

1671

)))|=(% style="width: 75px;" %)(((

1672

**Range**

1673

)))|=(% style="width: 438px;" %)(((

**Function**

)))|=(((

**Unit**

)))|=(((

**Default**

)))

|(% style="width:65px" %)(((

1681

P1-15

1682

)))|(% style="width:202px" %)(((

1683

Forward rotation torque limit

1684

)))|(% style="width:73px" %)(((

1685

during

1686

)))|(% style="width:114px" %)(((

1687

Immediate

1688

)))|(% style="width:75px" %)(((

1689

0~~3000

1690

)))|(% style="width:438px" %)(((

1691

When [P1-14] selects internal torque limit, this function code value is used as the forward torque limit value

)))|(((

0.1%

)))|(((

3000

)))

|(% style="width:65px" %)(((

1698

P1-16

1699

)))|(% style="width:202px" %)(((

1700

Reverse torque limit

1701

)))|(% style="width:73px" %)(((

1702

during

1703

)))|(% style="width:114px" %)(((

1704

Immediate

1705

)))|(% style="width:75px" %)(((

1706

0~~3000

1707

)))|(% style="width:438px" %)(((

1708

When [P1-14] selects internal torque limit, this function code value is used as the reverse torque limit value

)))|(((

0.1%

)))|(((

3000

)))

== **6.4.8 Torque Limit DO Signal** ==

1716

1717

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:**

(% class="table-bordered" %)

1722

|=(% style="width: 89px;" %)**Code**|=(% style="width: 220px;" %)**Parameter Name**|=**Property**|=(((

**Effective**

**Time**

)))|=**Range**|=**Function**|=**Unit**|=**Default**

1727

1728

1729

== **6.4.9 Torque related DO output function** ==

1730

1731

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

(% style="text-align:center" %)

1736

[[image:1649921631575-959.png||class="img-thumbnail" height="414" width="600"]]

1737

1738

Torch reach signal waveform

1739