CoolDrive R Series Servo Drives User Manual · 2017. 7. 18. · This instruction manual provides...

Version number: V1.0

2016

Tsino-Dynatron Electrical Technology

(Beijing) Co.,Ltd.

June, 2016

CoolDrive R Series Servo

Drives User Manual

EtherCAT® is registered trademark and patented technology,

licensed by Beckhoff Automation GmbH, Germany

Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd.

I

Preface

Thank you for supporting and trusting CoolDrive R Series servo drive from Tsino-Dynatron, and you will

enjoy our comprehensive and sincere service.

This instruction manual provides safety information, mechanical and electrical installation instructions,

basic commissioning as well as product maintenance guidance for CoolDrive R Series servo drives. Please

read this manual carefully before use, and keep it in a safe place for easy access. If there is any question,

please contact our technical support, and we will be happy to serve you.

This manual is targeted at users including:

Servo system designers

Installing and wiring personnel

Commissioning engineers

Maintenance and inspection personnel

Note

1． Some of the pictures in this manual are schematic illustrations that may differ from the products you

receive.

2． The procedures and wirings in this manual are only for guidance. Please make adjustment according to

specific conditions. Tsino-Dynatron does not guarantee that all given procedures and wirings are

universal.

3． Please contact us if the product is used for life-related medical instruments, public service facilities or

facilities that may harm personal safety, such as elevators, passenger transport systems, etc.

4． Please contact us if the product is used for nuclear control, aerospace equipment, equipment with high

cleanliness requirements or equipment with high electromagnetic compatibility (EMC) requirements.

5． CDR3, CDR4 and CDR6 are the short for CoolDrive R3, CoolDrive R4 and CoolDrive R6 respectively.

Unless otherwise specified, "servo diver", "drive" and "servo" in this manual all refer to CDR3, CDR4

and CDR6 products.

6． Tsino-Dynatron does not assume any responsibility for any damage caused by:

Failure to follow the instructions

Altering the servo drive without authorization

Improper operation of the servo drive

Natural damage, such as flood, lightning etc.

Damage caused during transport

7． Please contact us in case of any other conditions that are not described in this manual.

Copyright Statement

All rights reserved. The contents are subject to change without prior notice.


II

Product Confirmation

Please check the items listed in the table below upon receiving the product in case of any negligence

during purchase and transportation.

Items to Confirm Confirmation Content

Product Appearance Check the product's appearance for any damage or scratch.

Product Model Check the servo drive and servo motor respectively to make sure they are

exactly the product models you purchased.

Check whether the motor axis is

running smoothly

Rotate the motor axis by hand, if it can run smoothly, the servo motor axis is

working well (for motors with electromagnetic brake, the brake needs to be

forced open).

Accessories Check the list shipped with the product to make sure you receive the right

models and quantity of accessories.

If you have any questions, please contact us or our agencies.

Revisions

Version No. Released Date Description

V1.0.0 2016-04-21 Creation of CoolDrive R Series Servo Drives

Instruction Manual

V1.0.1 2016-06-06 1． Updated CDR3-V2 dimensional drawing

2． Added wiring considerations

3． Updated motor brake output specifications


III

Contents

Preface .......................................................................................................................................................... I

Contents ..................................................................................................................................................... III

Chapter 1 Safety Information ................................................................................................................ 1

Electrical Safety ............................................................................................................................ 1 1.1

Safety Guidance ............................................................................................................................ 1 1.2

Environmental Requirements ....................................................................................................... 1 1.3

Operational Guidance ................................................................................................................... 1 1.4

Motor Safety ................................................................................................................................. 1 1.5

Parameters Adjustment ................................................................................................................. 1 1.6

Chapter 2 Product Information .............................................................................................................. 2

Model Description ........................................................................................................................ 2 2.1

Technical Specifications ............................................................................................................... 3 2.2

2.2.1 CoolDrive R Series Drive General Technical Specifications ............................................... 3

2.2.2 Specific Technical Specifications for Model CDR3/R4/R6 ................................................. 5

2.2.3 Encoder Interface Technical Specifications .......................................................................... 5

Mounting Dimensions .................................................................................................................. 6 2.3

2.3.1 Dimension Drawing of CoolDrive R3 .................................................................................. 6



Chapter 3 Installation ............................................................................................................................. 9

3.1 Environmental Requirements ....................................................................................................... 9

3.2 Mechanical Installation ................................................................................................................. 9

3.2.1 Safety Information ................................................................................................................ 9

3.2.2 Mounting Distance ................................................................................................................ 9

3.3 Electrical Installation .................................................................................................................. 10

3.3.1 Safety Information .............................................................................................................. 10

3.4 Wiring ......................................................................................................................................... 11

3.4.1 R3 System Wiring ............................................................................................................... 12


IV

3.4.2 R4 System Wiring ............................................................................................................... 15

3.4.3 R6 System Wiring ............................................................................................................... 19

3.4.4 Definition of Terminal Pin .................................................................................................. 23

3.5 Inspection After Installation ....................................................................................................... 32

Chapter 4 Power On ............................................................................................................................ 33

4.1 Inspection Before Power On ....................................................................................................... 33

4.1.1 Cable Inspection .................................................................................................................. 33

4.1.2 Wiring Requirements .......................................................................................................... 33

4.2 Power On .................................................................................................................................... 33

4.2.1 Power On ............................................................................................................................ 33

4.2.2 Definition of Indicator Status .............................................................................................. 34

Chapter 5 Trial Operation .................................................................................................................... 35

5.1 Preparation Before Trial Operation ............................................................................................ 35

5.1.1 Precautions .......................................................................................................................... 35

5.1.2 Servo Parameter Settings .................................................................................................... 35

5.2 Trial Operation Through DriveStarter ........................................................................................ 36

5.2.1 Precautions .......................................................................................................................... 36

5.2.2 Trial Operation Under Point to Point (PP) Mode ................................................................ 37

5.2.3 Trial Operation Under Profile Velocity (PV) Mode ........................................................... 37

5.2.4 Trial Operation Under PT Mode ......................................................................................... 40

Chapter 6 Object Dictionary ................................................................................................................ 43

6.1 Object Dictionary Overview ....................................................................................................... 43

6.1.1 Structure of Object Dictionary ............................................................................................ 43

6.1.2 Object Dictionary Description ............................................................................................ 43

6.2 Communication Parameter Objects ............................................................................................ 44

6.2.1 Devices Description ............................................................................................................ 44

6.2.2 PDO Mapping ..................................................................................................................... 44

6.2.3 Communication ................................................................................................................... 47

6.3 CiA402 Parameter Objects ......................................................................................................... 50


V

6.3.1 System State Machine ......................................................................................................... 50

6.3.2 Control Mode ...................................................................................................................... 55

6.3.3 Other Objects ...................................................................................................................... 66

6.4 CoolDrive R Series Objects ........................................................................................................ 68

6.4.1 Drive Parameters ................................................................................................................. 68

6.4.2 Motor Parameters ................................................................................................................ 73

6.4.3 Motor Brake Parameters ..................................................................................................... 76

6.4.4 Encoder Parameters............................................................................................................. 78

6.4.5 Operation Parameters .......................................................................................................... 81

6.4.6 Basic Adjustment Parameters ............................................................................................. 91

6.4.7 Filter Parameters ................................................................................................................. 97

6.4.8 Limit Parameters ............................................................................................................... 101

6.4.9 Monitor Parameters ........................................................................................................... 104

Chapter 7 Running ............................................................................................................................. 108

7.1 Control Source Selection .......................................................................................................... 108

7.2 Power Stage Setting .................................................................................................................. 109

7.3 Motor Parameters ..................................................................................................................... 110

7.4 Encoder Setting ......................................................................................................................... 116

7.5 Braking ..................................................................................................................................... 120

7.5.1 Regenerative Braking ........................................................................................................ 120

7.5.2 Motor Brake Control ......................................................................................................... 121

7.6 Modes of Operation .................................................................................................................. 125

7.7 Basic Running Function Setting ............................................................................................... 126

7.7.1 Servo ON/OFF .................................................................................................................. 126

7.7.2 Motor Rotational Direction Selection ............................................................................... 128

7.7.3 Stop Function .................................................................................................................... 128

7.7.4 Motor Overload Parameter Setting ................................................................................... 131

7.7.5 Communication Setting ..................................................................................................... 132

7.7.6 Inertia Ratio Setting .......................................................................................................... 133


VI

7.7.7 Command Limit ................................................................................................................ 134

7.7.8 Rotor Compensation Angle and Phase Sequence Detection Setting ................................. 138

7.8 Position Control ........................................................................................................................ 140

7.8.1 CSP Mode Running .......................................................................................................... 140

7.8.2 Basic Setting of Position Control ...................................................................................... 140

7.8.3 Homing Mode ................................................................................................................... 141

7.8.4 PP Mode Parameters ......................................................................................................... 143

7.8.5 Position Regulator ............................................................................................................. 145

7.8.6 Position Filter Setting........................................................................................................ 146

7.8.7 Positioning Completion Output ........................................................................................ 146

7.8.8 Position Following Setting ................................................................................................ 147

7.8.9 Positioning Vibration Suppression Function .................................................................... 147

7.8.10 Position Unit Setting ......................................................................................................... 148

7.8.11 Position Saved on Last Power Off .................................................................................... 149

7.8.12 Servo ON Vibration Suppression ...................................................................................... 149

7.8.13 Software Position Limit Function ..................................................................................... 151

7.9 Velocity Control ....................................................................................................................... 152

7.9.1 CSV Mode Running .......................................................................................................... 152

7.9.2 Basic Setting of Velocity Control ..................................................................................... 152

7.9.3 Square Wave Speed Setting .............................................................................................. 153

7.9.4 Sine Wave Speed Setting .................................................................................................. 155

7.9.5 Manual Jog ........................................................................................................................ 155

7.9.6 Velocity Limit ................................................................................................................... 156

7.9.7 Velocity Filter Setting ....................................................................................................... 157

7.9.8 Velocity Regulator ............................................................................................................ 158

7.9.9 Acceleration Feedforward Torque Compensation Function ............................................. 162

7.9.10 Velocity Output ................................................................................................................. 162

7.9.11 Velocity Following Setting ............................................................................................... 163

7.9.12 Velocity Window .............................................................................................................. 164


VII

7.9.13 Notch Filter ....................................................................................................................... 165

7.10 Torque Control ......................................................................................................................... 167

7.10.1 CST Mode Running .......................................................................................................... 167

7.10.2 Basic Setting of Torque Control ....................................................................................... 167

7.10.3 Square Wave Torque Setting ............................................................................................ 168

7.10.4 Sine Wave Setting ............................................................................................................. 170

7.10.5 Internal Torque Limit ........................................................................................................ 170

7.10.6 Torque Filter Setting ......................................................................................................... 171

7.10.7 Current Regulator .............................................................................................................. 173

7.10.8 Notch Filter Function ........................................................................................................ 176

7.11 Others........................................................................................................................................ 178

7.11.1 Inverter Rated Current ...................................................................................................... 178

7.11.2 Encoder Resetting ............................................................................................................. 178

7.11.3 Protection Thresholds for Over Current, Over Voltage and Under Voltage ..................... 179

7.11.4 Charge Relay Control Function ........................................................................................ 180

7.11.5 Rotor Positioning Error Detection Sensitivity .................................................................. 180

7.11.6 Digital Input Setting (not open for use temporarily) ......................................................... 180

Chapter 8 Adjustment ........................................................................................................................ 181

8.1 Basic Adjustment ...................................................................................................................... 181

8.1.1 About the Adjustment ....................................................................................................... 181

8.1.2 Safety Instructions............................................................................................................. 181

8.2 Regulator Adjustment ............................................................................................................... 182

8.2.1 Velocity Regulator ............................................................................................................ 183

8.2.2 Position Regulator ............................................................................................................. 187

8.2.3 Current Regulator .............................................................................................................. 188

8.2.4 Acceleration Feedforward Torque Compensation Function ............................................. 190

8.3 Filter Adjustment ...................................................................................................................... 191

8.3.1 Position Filters .................................................................................................................. 192

8.3.2 Velocity Filters .................................................................................................................. 192


VIII

8.3.3 Torque Filters .................................................................................................................... 194

8.3.4 Notch Filter Function ........................................................................................................ 195

8.4 Friction Torque Compensation Function (not open for use temporarily) ................................. 197

8.5 Mechanical Rigidity Reference ................................................................................................ 199

Chapter 9 Maintenance ...................................................................................................................... 201

9.1 Safety Information .................................................................................................................... 201

9.2 Fault Description ...................................................................................................................... 201

9.3 Faults and Handling Suggestions.............................................................................................. 202

9.3.1 Unrecoverable Faults ........................................................................................................ 202

9.3.2 Recoverable Faults 0 ......................................................................................................... 203



9.4 Alarm and Handling Suggestions ............................................................................................. 209

Chapter 10 Appendix ........................................................................................................................... 211

10.1 CoolDrive R Series Parameter List ........................................................................................... 211

10.2 CoolDrive R Series Object Dictionary ..................................................................................... 218

10.2.1 Communication Parameter Objects................................................................................... 218

10.2.2 CiA402 Standard Parameters ............................................................................................ 222

10.2.3 CoolDrive R Series Parameter Objects ............................................................................. 225

10.3 CoolDrive R Series Product Accessories ................................................................................. 232

10.3.1 Standard Accessories ........................................................................................................ 232

10.3.2 Optional Accessories......................................................................................................... 233

10.3.3 Wire-Making Diagram for RS485 Debugging Lines ........................................................ 234


1

Chapter 1 Safety Information

Electrical Safety 1.1

The servo drives carry a voltage which can cause severe electric shock or burns and harm personal safety.

Extreme caution should be taken when handling or approaching drives. For specific warnings, see the relevant

sections of the instruction manual.

Safety Guidance 1.2

Only trained and experienced engineers should perform system design, installation, commissioning and

maintenance. Please read the safety information and the instruction manual carefully prior to operation.

Neither stopping the servo drive nor its safety function can ensure the input and output voltages are

isolated, which can cause bodily injury, therefore, please disconnect the power supply with a qualified

electrical insulation device before wiring.

In any case, hazard analysis must be conducted upon drive failure, and further steps must be taken to

reduce the risk if necessary, for example, the overspeed protection device should be applied upon speed

control failure, and the fault protection mechanical braking device should be applied upon motor

braking failure.

Environmental Requirements 1.3

The transport, storage, installation and use of the drive must follow the instructions described in this

manual as well as specific environmental requirements.

Operational Guidance 1.4

Personnel responsible for design, installation and commissioning should follow all relevant regulations,

such as national wiring rules, accident prevention regulations, electromagnetic compatibility (EMC)

regulations and so on. The selection of cable, fuse and other protection devices should be in accordance with

the relevant design specifications, and the equipment must be reliably grounded.

Motor Safety 1.5

Make sure the installation and maintenance of the motor are according to the instructions of the motor manufacturer.

If the driven motor exceeds the max output of the drive, please contact our technical support. Low-speed operation of the motor may lead to overheating, and the motor must be equipped with a

thermistor, and if necessary, forced cooling fan is also required.

The motor parameters in the drive can affect the normal operation of the motor, and the default value does not apply to all motors.

Do not touch a motor that has been running for a long time, which may result in burns.

Parameters Adjustment 1.6

Some parameters have a significant impact on the drive operation. Before changing such parameters,

please consider its possible effect on the control system carefully, do not change parameters blindly.


2

Chapter 2 Product Information

Model Description 2.1

Number Item Symbol Description

① Product Category R3 Single product drives three motors

R4 Single product drives four motors

R6 Single product drives six motors

② Input Voltage Class A 200V Class

③ Rated

Output

Current

Axis 1 02

05

15

02: rated output current 2Arms


15: rated output current 15Arms Axis 2

Axis 3

④ Rated

Output

Current

Axis 4 00

02

05

15

00: without axis 4, axis 5 and axis 6




Axis 5

Axis 6

⑤

Encoder Types and

Specifications

H0 Hiperface DSL encoder

T0 Tamagawa absolute encoder, multi-turn 16Bit/single-turn

17Bit, 2.5Mbps

T1 Tamagawa absolute encoder, single-turn 17Bit/, 2.5Mbps

T4 Tamagawa absolute encoder, multi-turn 16Bit/single-turn

23Bit, 2.5Mbps

T5 Tamagawa absolute encoder, single-turn 23Bit, 2.5Mbps

B0 BiSS encoder

N0 Nikon absolute encoder, multi-turn 16Bit/single-turn 17Bit,

2.5Mbps/4Mbps

N1 Nikon absolute encoder, single-turn 17Bit, 2.5Mbps/4Mbps

N2 Nikon absolute encoder, multi-turn 16Bit/single-turn 20Bit,

2.5Mbps/4Mbps

N3 Nikon absolute encoder, single-turn 20Bit, 2.5Mbps/4Mbps

E0 EnDat2.2 encoder

S0 SSI encoder

R0 Resolver

P0 Panasonic absolute encoder, multi-turn 16Bit/single-turn

17Bit, 2.5Mbps

⑥ Product Version No. V1 V1: the product version is V1

⑦ Customization Code C00 C00: standard product, and the customization code can be

omitted

CD R6 A 15 05 N 0 V1- - -

1 2 3 4 5 6 7

- C00


3

Technical Specifications 2.2

2.2.1 CoolDrive R Series Drive General Technical Specifications

Table 2.2-1. CoolDrive R series drive general technical specifications

Power Supply Input

Input Line Voltage Single-phase 220V±15%

Three-phase 220V±15%

Grounded Input (Without EMI Filter) TN/TT system grounded, IT system not grounded

Grounded Input (With EMI Filter) TN system star-grounding

Input Line Voltage Frequency (Hz) 47～63

Max Continuous Input Current (Arms) 18

Overvoltage Class Class III

Control Power Input

Current (A)

(Motor Brake not

Taken Into Account)

R3 1.5

R4 2

R6 3

Voltage (VDC) 24 ±10%

Motor Brake Output

Max Output Current (A) 1.3

Output Voltage (VDC) 24

Regenerative Braking

Braking Resistor Operation Voltage (VDC) 385

Resistance of External Braking Resistor (Ω) ≥25

Control Performance

Min Control Cycle of Current Loop (us) 62.5

Min Control Cycle of Speed Loop (us) 125

Min Control Cycle of Position Loop (us) 125

Communication Bus

Bus Type EtherCAT

Min Communication Cycle (us) 250Note1

Application Profile IEC61800-7 Profile type1 (CiA402)

CoE (CANopen over EtherCAT)

Communication Object PDO (Process Data Object)

SDO (Service Data Object)

Synchronization Type SYNC0 Event Synchronization

Operation Mode Homing mode (HM)Note2, cyclic synchronous position mode (CSP), cyclic

synchronous velocity mode (CSV), cyclic synchronous torque mode (CST).

TopologyNote3 Tree structure, linear structure

Supported EncodersNote4

Nikon Absolute Encoder ● Tamagawa Absolute Encoder ● Panasonic Absolute Encoder ● HiperfaceDSL Encoder ○ BiSS Encoder ○ SSI Encoder ○ EnDat2.2 Encoder ○ Resolver ○


4

Integrated Security FeaturesNote4

Safe Torque Off (STO) ● Safe Stop 1 (SS1) ● Safe Stop 2 (SS2) ● Safe Brake Control (SBC) ● Extended Security Features ○ Product External Specifications

IP Level IP20

Cooling Mode External forced air cooling

Operating Temperature 0～40 °C no derating 40～55 °C derating

Operating Altitude 1000～4000 m derating

Certification CE

Note1: The min communication cycle of EtherCAT depends on the real-time of the Master. The R Series

drives support a min communication cycle of 250us.

Note2: The homing mode of the R Series drives only supports "current position searching for home"

mode (the 35th mode in CiA402 standard).

Note3: EtherCAT Topology diagram as shown in Figure 2.2-1 (take R4 as an example)

Note4: ● represents supported configurations of CoolDrive R Series products; ○ represents customizable configurations of CoolDrive R Series products

Figure 2.2-1. EtherCAT Topology diagram (take R4 as an example)


5

2.2.2 Specific Technical Specifications for Model CDR3/R4/R6

Table 2.2-2. Specific technical specifications for model CDR3/R4/R6

Model

Rated Output Current (Arms) Max Output Current (Arms)

Size (mm) Axis

1

Axis

2

Axis

3

Axis

4

Axis

5

Axis

6

Axis

1

Axis

2

Axis

3

Axis

4

Axis

5

Axis

6

CDR3-A0200-XXXX 2 2 2 — — — 6 6 6 — — —

W263 H314 D135 CDR3-A0500-XXXX 5 5 5 — — — 15 15 15 — — —

CDR3-A1500-XXXX 15 15 15 — — — 45 45 45 — — —

CDR4-A0202-XXXX 2 2 2 2 — — 6 6 6 6 — —

W329 H314 D135

CDR4-A0502-XXXX 5 5 5 2 — — 15 15 15 6 — —

CDR4-A0505-XXXX 5 5 5 5 — — 15 15 15 15 — —

CDR4-A1502-XXXX 15 15 15 2 — — 45 45 45 6 — —

CDR4-A1505-XXXX 15 15 15 5 — — 45 45 45 15 — —

CDR4-A1515-XXXX 15 15 15 15 — — 45 45 45 45 — —

CDR6-A0202-XXXX 2 2 2 2 2 2 6 6 6 6 6 6

W404 H314 D135

CDR6-A0502-XXXX 5 5 5 2 2 2 15 15 15 6 6 6

CDR6-A0505-XXXX 5 5 5 5 5 5 15 15 15 15 15 15

CDR6-A1502-XXXX 15 15 15 2 2 2 45 45 45 6 6 6

CDR6-A1505-XXXX 15 15 15 5 5 5 45 45 45 15 15 15

2.2.3 Encoder Interface Technical Specifications

Table 2.2-3. Encoder interface technical specifications

Electrical Parameters

Rated Output Voltage (V) 5.0

Max Output Current (mA) 200

Recommended Cable Parameters

Cable Structure Shielded Twisted-Pair Copper Wire

Core cross section and max length

Core Cross Section (mm2) Max Length of Cable (m)

0.15 5

0.2 10


6

Mounting Dimensions 2.3

2.3.1 Dimension Drawing of CoolDrive R3

1） Overall Dimension

Figure 2.3-1. Overall dimension drawing of CoolDrive R3 (mm)


7


1) Overall Dimension


2) Mounting Holes Diagram

Figure 2.3-3. Mounting holes diagram of CoolDrive R4 (mm)


8


1） Overall Dimension Diagram


2） Mounting Holes Diagram

Figure 2.3-5. Mounting holes diagram of CoolDrive R6 (mm)


9

Chapter 3 Installation

3.1 Environmental Requirements

This is an electronic product, which needs an installation environment with the following requirements:

Do not install this product in an environment with corrosive gas or liquid; Do not install this product in a flammable and explosive environment; Do not install this product in an environment with water drop, steam, oil mist and metal dust; Do not install this product in a high temperature environment; Please contact our technical support if the product is to be installed in a vibration environment; Do not install this product in an environment with severe electromagnetic interference and power grid

fluctuation;

Please consult with our technical support before installation in case of any special installation

requirements.

3.2 Mechanical Installation

3.2.1 Safety Information

Installation Personnel Qualification

Only professionals familiar with the safety and electromagnetic compatibility requirements should

perform the drive installation. It is the responsibility of the installation personnel to ensure that the finished

product or system complies with all applicable laws and regulations of the country in which the drive is used.

Before Installation, Please

Make sure the product model is correct. Check the product for any damage, and make sure you have all accessories. Check for any foreign matter inside the product, and make sure the case screws are not loose.

Installation Considerations

Do not climb over the product or place any heavy object on the product, which may incur danger or damage the product.

Do not insert any foreign object into the product, which may incur danger or damage the product. During installation, please follow the direction and mounting distance described in the instructions,

otherwise the product may fail.

During installation, do not impact the product or let the product fall down, which may incur danger or damage the product.

3.2.2 Mounting Distance

As the servo drives dissipate heat from bottom to top, a vertical installation is usually required. When

installed in upper and lower rows, as the heat from the lower row equipment can cause a higher temperature of

the equipment in the upper row, thus resulting in failures, relevant countermeasures are required, such as

installing heat insulation deflector.

The recommended min mounting distance for the CDR Series servo drives is as shown in Figure 3.2-1:


10

Figure 3.2-1. Diagram of recommended min mounting distance for the drives

3.3 Electrical Installation

3.3.1 Safety Information

Only trained and authorized qualified engineers should perform the external wiring of the servo drive. The wiring must be consistent with the wiring diagram or instructions. Do not touch the internal components of the servo drive, which may result in electric shock. Check the voltage class of the servo drive carefully before power on, failure to do so may lead to personal

injury or equipment damage.

When the servo is powered up, no one is allowed to enter the range of mechanical movement in case of any possible personal injury.

The servo drive housing cannot be opened until all power supply has been reliably disconnected, and wait for at least 10 minutes.

Make sure that the rated input voltage of the servo drive is consistent with the AC supply voltage before use.

The servo drive has been through the puncture test before delivery, and the user should not perform this test again.

Do not connect the power supply to the motor power output terminals U, V, W.

The ground wire must be connected to the terminal of the servo drive, which is usually copper wire with an area more than 2.5 mm

2 (with mechanical protection), and the recommended system grounding

resistance is less than 4Ω.

Both the servo drive and motor must be reliably grounded for safety purpose. For convenience of input side overcurrent protection and maintenance at outage, the servo drive should

be connected to the power supply through air switch or fuse switch.


11

3.4 Wiring

For safe and stable use of the servo drive, please observe the following precautions during wiring.

Do not connect the Power supply input to any other terminals except X7 terminal, which may damage the product.

The input voltage of all terminals should not exceed the allowed range. The max output current of the motor brake terminal is 1.3A. If the current carried by the motor brake

exceeds the allowed range, it must be controlled by an external relay.

Do not short connect the /BK end of each axis, which may incur danger. It is recommended to connect the 24V and /BK to the corresponding motor brakes separately.

Make sure the wiring sequence is correct, the connection is secure and the insulation is reliable before power on, otherwise it may damage the product.

When Wiring the Main Circuit:

It is recommended to use the twisted-pair wire or multi-core twisted-pair overall shielded wire for the input/output signal line and encoder cable.

It is recommended that the length of the external IO signal line is no more than 3m, and the encoder cable core and its length do not exceed the relevant values specified in table 2.2.3. If longer cables are required,

please contact our technical support for confirmation.

Do not press or damage the cable. Power cable should be wired separately with signal line and encoder cable. Power cable should be wired separately with power output cable.

When Connecting the Ground Wire:

In any case, the cross-sectional area of each protective conductor that is not part of the power cable or cable sheath should not be less than:

2.5 mm2, with mechanical protection;

4 mm2, without mechanical protection. For the equipment connected with cable core, measures

should be taken to make the protective conductor in the cable core the last interrupted conductor

upon the failure of the stress relief mechanism.

It is recommended to use a system grounding resistance below 4Ω. Single-point ground is recommended. When the servo motor and the machine are insulated from each other, connect the servo motor directly to

ground.

In addition, as the signal line and encoder cable core are very thin, please allow for some bend allowance during

wiring and do not have the cable stretched too tightly.


12

3.4.1 R3 System Wiring

3.4.1.1 R3 System Wiring

Figure 3.4-1. R3 system wiring diagram


13

3.4.1.2 R3 Encoder Wiring

Figure 3.4-2. R3 encoder wiring diagram

3.4.1.3 R3 External IO Wiring

Figure 3.4-3. R3 external io wiring diagram - sto external 24V power supply wiring example


14

Figure 3.4-4. R3 external io wiring diagram - sto internal 24v power supply wiring example

3.4.1.4 R3 Motor Brake Port Circuit

Figure 3.4-5. R3 motor brake port circuit diagram

+24V24V

/BK X11

24V

/BK X12

24V

/BK

X11\X12\X13

X13


15





16




17


Figure 3.4-8. R4 external IO wiring diagram - STO external 24V power supply wiring example

Figure 3.4-9. R4 external IO wiring diagram - STO internal 24V power supply wiring example


18



+24V+24V24V24V

/BK/BK

X11_2X11_2

X11_1X11_1

24V24V

/BK/BK

X12_2X12_2

X12_1X12_1

24V24V

/BK/BK

X13_2X13_2

X13_1X13_1

24V24V

/BK/BK

X14_2X14_2

X14_1X14_1

X11\X12\X13\X14X11\X12\X13\X14


19






20



Figure 3.4-13. R6 external IO wiring diagram - STO external 24V power supply wiring example


21

Figure 3.4-14. R6 external IO wiring diagram - STO internal 24V power supply wiring example


22



+24V24V

/BK

X11_2

X11_1

24V

/BK

X12_2

X12_1

24V

/BK

X13_2

X13_1

24V

/BK

X14_2

X14_1

24V

/BK

X15_2

X15_1

24V

/BK

X16_2

X16_1X11\X12\X13\X14\X15\X16


23

3.4.4 Definition of Terminal Pin

3.4.4.1 Definition of R3 Terminal Pin

Control Power Input Terminal X8

Pin

Number

Definition

of Pin

Description Technical Parameters

1 24V- Power Input Negative Pole Input Voltage: 24V±10%

Input Current (without motor brake):

1.5A 2 24V+ Power Input Positive Pole

Power Supply Input Terminal X7

Pin

Number

Definition

of Pin


1 L1 Three-Phase Power L1 Input Voltage: 220V±15%

Rated Input Current: 18Arms 2 L2 Three-Phase Power L2

3 L3 Three-Phase Power L3

4 PE Power Ground

Braking Resistor Terminal X9

Pin

Number

Definition of

Pin


1 P Regenerative Braking Circuit + Max Output Voltage: 400V

Max Output Current: 16Arms 2 B Regenerative Braking Circuit -

Motor Power Terminal X1/X2/X3

Pin

Number

Definition of

Pin


1 U Motor Power Output

Phase U

——

2 V Motor Power Output

Phase V

3 W Motor Power Output

Phase W

Motor Brake Terminal X11/X12/X13

Pin

Number

Definition of

Pin


1 BK- Negative output of motor

brake

Max output current: 1.3A

Note: The short circuit between Pin 1

and Pin 2 can damage the drive. In

case of abnormal power-on, if there is

any short circuit, please disconnect

the power supply immediately and

contact Tsino-Dynatron technical

support.

2 24+ Positive output of motor

brake

Serial Port Debugging Terminal X19

Pin

Number

Definition of

Pin


1 VCC5V Power Input Current: 0.5A (1A current limiting

protection)

2 RS485+ —— ——

3 RS485- —— ——

4 SW2 —— ——

5 SW1 —— ——

6 GND —— ——

21

321 4

12

321

1 2

1

6


24

Encoder Terminal X21

The encoder

connection

terminals from

the bonding

wire side to

the drive side

are as shown

in the figure

Pin

Number

Definition of

Pin


1 2CLK - Reserved

Rated output voltage 5.0V

Max output current: 200mA

Supported encoder cable length:

0.15mm²: 5m

0.2mm²: 10m

Note: If the encoder power output 5V

is short connected or wired in an

opposite way with the encoder power

GND, it may damage the drive and

encoder.

2 2CLK + Reserved

3 3EVCC Axis 3 encoder power output

5V+

4 3GND Axis 3 encoder power GND


5V+

6 ECDCK Encoder wiring fault

detection signal, normally

short connected to the signal

ground


5V+

8 GND Signal ground

9 2DATA - Axis 2 encoder data signal -

10 2DATA + Axis 2 encoder data signal +



13 3CLK + Reserved

14 3CLK - Reserved



17 1CLK + Reserved

18 1CLK - Reserved



EtherCAT Communication Terminal X17/X18

Pin

Number

Definition of Pin Description Technical Parameters

1 DP_PHY0_ TX+ Send Data +

Standard RJ45 shielded terminal.

2 DP_PHY0_ TX- Send Data -

3 DP_PHY0_ RX+ Receive Data +

4 —— ——

5 —— ——

6 DP_PHY0_ RX- Receive Data -

7 —— ——

8 —— ——

1 11

13

15

17

19

37

20

14

16

2

18

12

9

610

48

5

8

1

8

1


25

External I/O Terminal X10

The external

I/O connection

terminals from

the bonding

wire side to the

drive side are

as shown in the

figure

Pin

Number


1* +24V_OUT Power 24V+ Output Max Voltage: 26.4V

Min Voltage: 21.6V

Max Output Current: 800mA

2 24VGND Power 24VGND Output ——


4 /FANDRV-OUT Cooling Fan Power Output (low

level)

Active Low

Max Output Current: 100mA


6 STO1 Emergency Stop STO1 Active High

Voltage (max): DC 0V to +26 V

Current Consumption (typical): 7 mA at

24 V

High Level: 15 V to 26 V

Low Level: 0V to +2 V

Operation Delay (typical): 10ms (>

8ms, < 12ms)

PWM Output Block Delay (typical):

200ms (> 150ms, < 250ms)

7 STO2 Emergency Stop STO2 The same as Pin 6

8 +24V_OUT Power 24V+ Output The same as Pin 1

9** /ALMOUT Fault Signal Output (Active Low) Voltage: DC 24 V

Max load current of each output: 100

mA

Active Level: low - alarm output

Short-Circuit Protection: yes


11 /ALMOUT Fault Signal Output (Active Low) The same as Pin 9


13 ALMOUT Fault Signal Output (Active High) Voltage: DC 24 V Max load current of each output: 100

mA

Active Level: high - alarm output

14 ALMOUT Fault Signal Output (Active High) The same as Pin 13

Note:

* If the 24V output pin is short connected or wired in an opposite way with the GND pin, it may damage the drive.

** Pin 9 and Pin 11 share one IO channel; while Pin 13 and Pin 14 share one IO channel.


Control Power Input Terminal X8/X20

Pin

Number

Definition of

Pin


1 24V- Power input negative pole Input Voltage: 24V±10%

Input current (without motor brake):

1.5A 2 24V+ Power input positive pole


Pin

Number

Definition of

Pin


1 L1 Three-phase power L1 Input Voltage: 220V±15%

Rated input current: 18Arms 2 L2 Three-phase power L2

3 L3 Three-phase power L3

4 PE Power ground

24

6

13

57

911

13

810

12

14

21

321 4


26


Pin

Number

Definition of

Pin


1 P Regenerative braking circuit + Max output voltage: 400V

Max output current: 16A 2 B Regenerative braking circuit -

Motor Power Terminal X1/X2/X3/X4

Pin

Number

Definition of

Pin


1 U Motor power output phase

U

——

2 V Motor power output phase

V

3 W Motor power output phase

W

Motor Brake Terminal X11/X12/X13/X14

Pin

Number

Definition of

Pin



brake


Note: The short circuit between Pin 1

and Pin 2 can damage the drive. In





support.

2 24+ Positive output of motor

brake


Pin

Number

Definition of

Pin


1 VCC5V Power input Current: 0.5A (1A current limiting

protection)

2 RS485+ —— ——

3 RS485- —— ——

4 SW2 —— ——

5 SW1 —— ——

6 GND —— ——

12

321

1 2

1

6


27


The encoder

connection

terminals from

the bonding

wire side to

the drive side

are as shown

in the figure

Pin

Number

Definition of

Pin


1 2CLK - Reserved




0.15mm²: 5m

0.2mm²: 10m





encoder.

2 2CLK + Reserved


5V+



5V+




ground


5V+

8 GND Signal ground





13 3CLK + Reserved

14 3CLK - Reserved



17 1CLK + Reserved

18 1CLK - Reserved




The encoder

connection

terminals from

the bonding

wire side to

the drive side

are as shown

in the figure

Pin

Number

Definition of

Pin


1 —— ——




0.15mm²: 5m

0.2mm²: 10m





encoder.

2 —— —— 3 —— —— 4 —— —— 5 —— —— 6 ECDCK Encoder wiring fault



ground


5V+

8 GND Signal ground

9 —— —— 10 —— —— 11 —— —— 12 —— —— 13 —— —— 14 —— —— 15 —— —— 16 1GND Axis 4 encoder power GND

17 1CLK + Reserved

18 1CLK - Reserved



1 11

13

15

17

19

37

20

14

16

2

18

12

9

610

48

51 11

13

15

17

19

37

20

14

16

2

18

12

9

610

48

5


28


Pin

Number


1 DP_PHY0_ TX+ Send data +

Standard RJ45 shielded terminal.

2 DP_PHY0_ TX- Send data -

3 DP_PHY0_ RX+ Receive data +

4 —— ——

5 —— ——

6 DP_PHY0_ RX- Receive data -

7 —— ——

8 —— ——


The external I/O

connection

terminals from

the bonding wire

side to the drive

side are as shown

in the figure

Pin

Number


1* +24V_OUT Power 24V+ output Max voltage: 26.4V

Min voltage: 21.6V


2 24VGND Power 24VGND output ——


4 /FANDRV-OUT Cooling fan power output (low

level)

Active low



6 STO1 Emergency stop STO1 Active high


current consumption (typical): 7 mA at

24 V

High level: 15 V to 26 V

Low level: 0V to +2 V

Operation delay (typical): 10ms (> 8ms,

< 12ms)

PWM output block delay (typical): 200

(> 150ms, < 250ms)

7 STO2 Emergency stop STO2 The same as Pin 6

8 +24V_OUT Power 24V+ output The same as Pin 1

9** /ALMOUT Fault signal output (Active low) Voltage: DC 24 V


mA

Active level: low - alarm output

Short-circuit protection: yes


11 /ALMOUT Fault signal output (Active low) The same as Pin 9


13 ALMOUT Fault signal output (Active high) Voltage: DC 24 V Max load current of each output: 100

mA

Active level: high - alarm output

14 ALMOUT Fault signal output (Active high) The same as Pin 13

Note:



24

6

13

57

911

13

810

12

14

8

1

8

1


29


Control Power Input Terminal X8/X20

Pin

Number

Definition of

Pin


1 24V- Power input negative pole Input Voltage: 24V±10%

Input current (without motor brake):

1.5A 2 24V+ Power input positive pole


Pin

Number

Definition of

Pin


1 L1 Three-phase power L1 Input Voltage: 220V±15%

Rated input current: 18Arms



4 PE Power ground


Pin

Number

Definition of

Pin


1 P Regenerative braking circuit

+

Max output voltage: 400V

Max output current: 16A

2 B Regenerative braking circuit -

Motor Power Terminal X1/X2/X3/X4/X5/X6

Pin

Number

Definition of

Pin


1 U Motor power output phase

U

Rated current of terminal: 41Arms 2 V Motor power output phase

V

3 W Motor power output phase

W

Motor Brake Terminal X11/X12/X13/X14/X15/X16

Pin

Number

Definition of

Pin Description Technical Parameters


brake


Note: The short circuit between Pin

1 and Pin 2 can damage the drive. In





support. 2 24+

Positive output of motor

brake


Pin

Number


1 VCC5V 5V power output Current: 0.5A (1A current limiting

protection)

2 RS485+ —— ——

3 RS485- —— ——

4 SW2 —— ——

5 SW1 —— ——

6 GND —— ——

21

321 4

12

321

1 2

1

6


30


The encoder

connection

terminals from

the bonding

wire side to

the drive side

are as shown

in the figure

Pin

Number

Definition of

Pin


1 2CLK - Reserved




0.15mm²: 5m

0.2mm²: 10m





encoder.

2 2CLK + Reserved


5V+



5V+




ground


5V+

8 GND Signal ground





13 3CLK + Reserved

14 3CLK - Reserved



17 1CLK + Reserved

18 1CLK - Reserved




The encoder

connection

terminals from

the bonding

wire side to

the drive side

are as shown

in the figure

Pin

Number

Definition of

Pin


1 2CLK - Reserved




0.15mm²: 5m

0.2mm²: 10m





encoder.

2 2CLK + Reserved


5V+



5V+




ground


5V+

8 GND Signal ground





13 3CLK + Reserved

14 3CLK - Reserved



17 1CLK + Reserved

18 1CLK - Reserved



1 11

13

15

17

19

37

20

14

16

2

18

12

9

610

48

51 11

13

15

17

19

37

20

14

16

2

18

12

9

610

48

5


31


Pin

Number


1 DP_PHY0_ TX+ Send data +

Standard RJ45 shielded terminal

2 DP_PHY0_ TX- Send data -

3 DP_PHY0_ RX+ Receive data +

4 —— ——

5 —— ——

6 DP_PHY0_ RX- Receive data -

7 —— ——

8 —— ——


The external

I/O connection

terminals from

the bonding

wire side to the

drive side are as

shown in the

figure

Pin

Number


1 +24V_OUT Power 24V+ output Max voltage: 26.4V

Min voltage: 21.6V




4 /FANDRV-OUT Cooling fan power output (low

level)

Active low



6 STO1 Emergency stop STO1 Active high


current consumption (typical): 7 mA at

24 V

High level: 15 V to 26 V

Low level: 0V to +2 V

Operation delay (typical): 10ms (>

8ms, < 12ms)

PWM output block delay (typical):

200 (> 150ms, < 250ms)

7 STO2 Emergency stop STO2 The same as Pin 6


9* /ALMOUT Fault signal output (Active low) Voltage: DC 24 V


mA

Active level: low - alarm output

Short-circuit protection: yes


11* /ALMOUT Fault signal output (Active low) The same as Pin 9


13* ALMOUT Fault signal output (Active high) Voltage: DC 24 V Max load current of each output: 100

mA

Active level: high - alarm output

14* ALMOUT Fault signal output (Active high) The same as Pin 13

Note:



24

6

13

57

911

13

810

12

14

8

1

8

1


32

3.5 Inspection After Installation

Number Inspection Item

1 Make sure the installation position and direction are according to the engineering

requirements

2 Check the product for any damage, and make sure there is no detached accessory.

3 Make sure all screws are properly tightened

4 Check the cable for any damage, break and joint

5 Make sure the cable plug is clean and free of damage, the connection is correct and reliable,

and the cored wire is firmly clamped

6 Make sure the cables are wired uncrossed with allowance at the turning points, away from

sharp parts of the machine and free from extrusion

7 Make sure both ends of the cable are identified properly, clearly and neatly

8 The power line and ground wire should be made of a whole piece of copper core without

joint and cable sheath damage

9 Make sure the power line and ground wire are properly and reliably connected for good

contact

10 Make sure the wire diameters of the power line and ground wire are meet the engineering

documents as well as meet the distribution requirements

11 Make sure the power line, ground wire and signal line are wired separately

12 Make sure the power line and ground wire are routed straightly, strapped neatly with

appropriate allowance at the turning points

13 Make sure the power line, ground wire and power distribution switch are identified properly,

clearly and neatly

14 Make sure the power output phase sequence of the motor module is consistent with the phase

sequence of the motor

15 Make sure the encoder feedback cable is properly shielded


33

Chapter 4 Power On

4.1 Inspection Before Power On

Before the first time power on, please make sure the wiring is reliable and complete to prevent short

circuit and potential grounding hazards.

4.1.1 Cable Inspection

Table 4.2-1. Cable inspection


1 Make sure the power supply inputs L1/L2/L3/PE are properly connected, reliably insulated

from each other, as well as with correct phase sequence and undamaged cables.

2 Make sure the control power inputs 24V+/24V- are properly connected, reliably insulated

from each other, as well as with correct electrodes and undamaged cables.

3 Make sure the motor power outputs U/V/W/PE are properly connected, reliably insulated

from each other, as well as with correct motor phase sequence and undamaged cables.

4 Make sure the braking resistor wiring B/P are properly connected, reliably insulated from

each other as well as from the housing, and with undamaged cables.

5 Make sure the motor brake outputs 24V+/BK- are properly connected, reliably insulated

from each other, as well as with correct output electrodes and undamaged cables.

6

Conduct Continuity Test on the encoder cable to make sure the signals are properly

connected, reliably insulated from each other, as well as with correct wiring sequence and

undamaged cables.

7

Conduct Continuity Test on the communication cable and external IO cable to make sure

the signals are properly connected, reliably insulated from each other, as well as with

correct wiring sequence and undamaged cables.

4.1.2 Wiring Requirements

Table 4.2-2. Wiring requirements


1 Make sure the power cable and ground wire outside the cabinet are routed straightly,

strapped separately with other cables and away from sharp parts of the machine.

2 The excess part of the ground wire and power cable should be cut off rather than coiled.

3 No cable should be overlapped on heating objects, such as radiator, braking resistors, etc.

4 The cable should have appropriate allowance at the turning points and not be tensioned.

5 The cable should be routed straightly and smoothly, wired uncrossed inside the cabinet,

while sorted and strapped outside the cabinet.

6 The power cable and the signal line as well as the feedback cable should be wired

separately, and strapped outside the cabinet separately.

7 Make sure both ends of each signal line are marked clearly (with labels).

8 Make sure all cable fixing screws are tightened.

9 Make sure all cable shielded layers are reliably grounded.

4.2 Power On

4.2.1 Power On

When the servo drive is powered on, the indicator remains unchanged. Please see below for the specific

steps:

1. Close the control circuit switch, and indicator SYS STA of the drive will flash green; If it has established communication with the host controller, indicator NET RUN will turn solid green. If indicator SYS STA

flash red and green alternatively, or flash red or turns solid red, it indicates that the servo has an alarm or

fault.

2. Close the main circuit switch, and indicator DC-BUS will turn solid orange.


34

Note:

This is the safe power on sequence under normal circumstances. If this is not the case after the control

circuit switch is closed, then perform troubleshooting and close it again.

If an abnormal power-on is caused by a drive short circuit or opposite power electrodes connection, the

drive may have been damaged. In order to avoid potential hazards, please contact our technical support

immediately.

4.2.2 Definition of Indicator Status

Table 4.2-3. Definition of indicator status

SYS STA Indication

Solid Red Initializing

Flash Green Slowly Initialization is successfully completed, system is now in "Ready to close

main power" state

SYS STA Indication

Flash Red and Green

Alternatively and Slowly

Initialization is successfully completed, system is now in "Ready to close

main power" state, with warnings

Solid Green System is now in "Main power closed" state

Flash Green Quickly System is in "Servo enabled" state

Flash Red and Green

Alternatively and Quickly System is in "Servo enabled" state, with warnings

Flash Red Quickly System is in fault state, and the fault cannot be reset

Flash Red Slowly System is in fault state, and the fault can be reset

DC-BUS Indication

OFF DC bus voltage is below the human safe voltage (36V) or the control power

is disconnected

Flash Slowly DC bus voltage is above the human safe voltage and below the charging

voltage threshold

Constant ON DC bus charging is completed

NET RUN Indication

OFF Initializing the communication network

Flash The communication network is in pre-running state

Sparkle The communication network is in safe operation state

Constant ON The communication network is in running state

NET ERR Indication

OFF The communication network is normal, no fault

Flash/Sparkle Communication network fault

Note: The flashing duty cycle is 50%, while the sparkling duty cycle is less than 30%, see 0. In case of

fault, the corresponding solutions can be searched by the fault code displayed on the host controller. When the

drive indicator is back to normal, the servo drive can be controlled by the host controller.

Figure 4.2-1. Diagram of flashing/sparkling indicator


35

Chapter 5 Trial Operation

There are two ways of trial operation, one is through DriveStarter, the other is through EtherCAT master.

DriveStarter already has a fixed pilot-run function, making it very easy to operate. While, trial operation

through EtherCAT master needs programming and complex control. Therefore, this chapter will mainly

introduce trial operation through DriveStarter. For DriveStarter operations, please refer to DriveStarter user

manual.

5.1 Preparation Before Trial Operation

5.1.1 Precautions

To ensure safe and correct trial operation, please inspect and confirm the following items beforehand. All

problems must be properly handled before trial operation.

5.1.1.1 Condition of Servo Motor

Make sure it is properly configured, wired and connected. Check whether the motor axis is running smoothly (It is normal that the motor axis of the servo motor

with oil seal is tighter; Motor with brake can only rotate after the brake is open).

Check each fastening part for any loose condition (motor encoder connector, motor power cable connector, etc.).

Note: For the motor with oil seal, check the oil seal part for any damage. Make sure the engine oil has been

applied. For servo motors after long-term preservation, please inspect them before trial operation.

5.1.1.2 Condition of Servo Drive

Make sure it is properly configured, wired and connected. Make sure the servo drive's power supply voltage is normal.

5.1.2 Servo Parameter Settings

5.1.2.1 Set Drive Parameters

Set parameter 0x2000 to enable large position following error detection;

Set parameter 0x202C to properly set the main input voltage of power unit module and the model of

motor drive module.

5.1.2.2 Set Motor Parameters

Set parameters

0x20C0 Motor Rated Power;

0x20C1 Motor Voltage Class;

0x20C2 Motor Rated Speed;

0x20C3 Winding Resistance;

0x20C4 Winding Inductance;

0x20C5 Motor Rotor Inertia;

0x20C6 Motor Back EMF;

0x20C7 Pole Pairs Number;

0x20C8 Motor Torque Constant;

0x20C9 Motor Thermal Time Constant;

0x6072 Max Motor Torque;

0x6073 Max Motor Current;


36

0x6075 Motor Rated Current;

0x6076 Motor Rated Torque;

0x6080 Max Motor Speed;

Enter the relevant motor parameters correctly, which can be found in the motor selection guide or

instructions.

5.1.2.3 Set Encoder Parameters

Set parameters

0x2009 Encoder Type Set. Enter the encoder interface type correctly;

0x2076 Absolute Encoder Single-turn Bits. The set value should be consistent with the actual encoder;

0x2077 Absolute Encoder Multi-turn Bits. The set value should be consistent with the actual encoder.

5.1.2.4 Set Control Parameters

Set parameters

0x2048 Current Control Gain1;

0x2049 Current Control Integration Time Constant.

Both of the two parameters can be calculated based on the motor parameters.

5.1.2.5 Set Motor Rotor Compensation Angle

Set parameters

0x2003 Rotor Position Compensation Angle. Enter the motor rotor compensation angle correctly. If the

parameter is not determined, detect the motor rotor compensation angle through the detection function of

DriveStarter. For the specific operations, please refer to DriveStarter instruction manual.

Note: If enter the known rotor compensation angle without detection, please make sure the motor phase

sequence is properly wired.

5.2 Trial Operation Through DriveStarter

5.2.1 Precautions

Make sure the output side of the motor axis is not connected to any load.

Make sure the DriveStarter commissioning software and RS485 serial drive have been properly installed on the PC.

Make sure the commissioning cable has been properly connected to X19 commissioning port.

The servo control right is DriveStarter.

Do not touch the rotating part of the motor during operation.

For the trial operation procedures through DriveStarter software, please refer to DriveStarter instruction manual.


37

5.2.2 Trial Operation Under Point to Point (PP) Mode

5.2.2.1 Diagram of Trial Operation Under PP Mode

Figure 6.2-1. Diagram of Point to Point (PP) trial operation

5.2.2.2 Relevant Parameters:

0x210E Manual Step Target Position

0x210F Manual Step Profile Velocity

0x2110 Manual Step End Velocity

0x2111 Manual Step Profile Acceleration

0x2112 Manual Step Profile Deceleration

5.2.3 Trial Operation Under Profile Velocity (PV) Mode

So far, there are four ways of PV mode trial operation of DriveStarter host controller commissioning software,

including Simple Jogging (TTV1), Programming Jogging 1 (TTV2), Programming Jogging 2 (TTV3) and

Sinusoidal Jogging (STV).


38

5.2.3.1 Diagram of Trial Operation Under PV Mode:

Figure 6.2-2. Diagram of Simple Jogging (TTV1)

Figure 6.2-3. Diagram of Programming Jogging 1 (TTV2)


39

Figure 6.2-4. Diagram of programming jogging 2 (TTV3)

Figure 6.2-5. Diagram of sinusoidal jogging (STV)


0x2080 Velocity Profile Type

Byte0: Velocity profile type


40

0x00 - TTV0

0x01 - Simple continuous mode TTV1

0x02 - Programmed continuous mode TTV2

0x03 - Programmed continuous mode TTV3

0x04 - Programmed continuous mode STV

0x210B Jog Slow Speed

0x210C Jog Fast Speed

0x210D Jog Acceleration Time

0x2100 Program Pulse Speed

0x2101 Program Pulse Wait Time

0x2102 Program Pulse UpTime

0x2103 Program Pulse DownTime

0x2104 Program Pulse Duration Time

0x2105 Program Pulse Loop Count

0x2106 Program Sin Peak Speed

0x2107 Program Sin Offset Speed

0x2108 Program Sin Frequency

5.2.4 Trial Operation Under PT Mode

So far, there are four ways of PT mode trial operation of DriveStarter host controller commissioning software,

including Simple Torque Profile (TTT1), Program Torque Profile 1 (TTT2), Program Torque Profile 2 (TTT3) and

Sine Torque Test Mode (STT).

5.2.4.1 Diagram of Trial Operation Under PT Mode:

Figure 6.2-6. Diagram of simple torque profile (TTT1)


41

Figure 6.2-7. Diagram of programming torque profile 1 (TTT2)

Figure 6.2-8. Diagram of program torque profile 2 (TTT3)


42

Figure 6.2-9. Diagram of Sine Torque Test Mode (STT)


0x6088 Torque Profile Type

0x0000: Linear ramp (TTT0)

0x0001: Sin2 ramp

0x0002~0x7FFF: Reserved

0x8000: Simple torque profile (TTT1)

0x8001: Programming torque profile 1 (TTT2)

0x8002: Programming torque profile 2 (TTT3)

0x8003: Sine torque test mode (STT)

0x8004: Rotor position compensation angle test mode (RCT)

0x8005~0xFFFF: (Reserved) manufacturer specific

0x2113 Program Pulse Torque

0x6087 Torque Slope

0x2101 Program Pulse Wait Time

0x2102 Program Pulse UpTime

0x2103 Program Pulse DownTime

0x2104 Program Pulse Duration Time

0x2105 Program Pulse Loop Count

0x2109 Program Sin Peak Torque

0x210A Program Sin Offset Torque

0x2108 Program Sin Frequency


43

Chapter 6 Object Dictionary

6.1 Object Dictionary Overview

6.1.1 Structure of Object Dictionary

The structure of CoolDrive R series servo drive Object Dictionary conforms to CiA402 standard. See

Table 7.1-1.

Table 7.1-1. Structure of object dictionary

Index Description

1000-1FFF Communication Parameter Objects

2000-5FFF CDR series objects

6000-9FFF CiA402 standard objects

6.1.2 Object Dictionary Description

For description of the object dictionary, please refer to the table below:

Table 7.1-2. Object dictionary description

Name Description

Index Represent special function, data or task of a object.

Name A brief description of the object use.

Data Type Represent data type information, such as INT16.

Dir. Describe how to access the object

Ro: Read only

RW: Read and Write

Object Type

Data object type.

VAR: Variable

ARRAY: array

RECORD: record

PDO Mapping

Mapping of PDO objects.

NO: Mapping not supported

RXPDO: Data receiving mapping

TXPDO: Data sending mapping

RXPDO/TXPDO: Data receiving/sending mapping


44

6.2 Communication Parameter Objects

6.2.1 Devices Description

0x1000 Device Type Index 0x1000 Object Type VAR Name Device Type

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CoolDrive R Series Servo Drives User Manual · 2017. 7. 18. · This instruction manual provides...

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