EPS-B1 Series User Manual Updates
Contents
1. AC Servo Systems EPS B1 Series User Manual Updates Internal position homing amp RS485 communnication Website en cn dorna com Recommended wiring for 24VDC inputs e g PLCs Upper Controller Servo Drive 8 8 Internal Position When PA000 1 A servo drive is under internal position mode and can perform simple single axis motion functions without upper controllers Up to 16 positions can be set Each position can set its own distance speed acceleration deceleration time stop time etc This internal position control mode also has homing function Both speeds before and after contacting Zero signal can be set separately See 771 700 set internal position control switching modes 1 Use external I O PTRG to choose INPOSO INPOS1 INPOS2 INPOS3 by corresponding trigger signals Triggers can be one trigger or any combinations of triggers 2 Use external I O PTRG to trigger cycle run Cycle begins with PA700 2 and ends with PA700 3 3 Internal timer trigger cycle run Cycle begins with PA700 2 and ends with PA700 3 m Distance PA701 to PA732 Each distance is set by two parameters in pairs for example PA701 amp PA702 PA703 amp 704 etc Values in these paired parameters are hexadecimal with symbols and combine to a 32 bit position data For example PA702 is Ox 0007 PA701 is Ox A120 then position data is 0x0007A120 means 500000 pulses For a 5000 line encoder each turn creates2. Effective time immediate almportant When PA733 PA748 settings exceed highest speed of the servo motor actual value is still restricted as servo motor s highest speed 8 9 Homing function Normally there should be a zero switch on working tables and is used to determine Zero positions for point to point controls Homing is needed when power on or after each processing for next movement In internal position control mode upper controller gives Homing Startup SHOME signals and the servo driver executes homing functions automatically Homing modes homing speeds and deviations can all be set through PA771 PA775 PA776 PA777 and PA778 Homing Modes selection Parameter Meaning CCW homing CW homing PA771 Once contact with homing switch move backwards and look for Z Pulse Once contact with homing switch not move backwards and look for Z Pulse dion Once contact with homing switch move backwards and use departure point as zero point d 1 Once contact with homing switch not move backwards and use departure point as zero point Homing achieved not clear all data Homing achieved clear all position data Use external zero position signal ZPS reserved mRelevant parameters PA771 Homing Modes selection Setting Scope Factory Setting Effective time 0x0000 0x1131 0000 immediate
3. PA775 Homing speed 1 speed before contacting Zero position 6 Setting Scope Unit Factory Setting Effective time 0 3000 rpm 1000 immediate PA776 Homing speed 2 speed before contacting Zero position ER immediate PA777 Zero position deviation low 16 place am pulse II immediate PA778 Zero position deviation high 16 place pe 0 immedi almportant 1 When PA775 PA776 settings exceed highest speed of the servo motor actual value is still restricted as servo motor s highest speed 2 Zero position deviation directions are determined by homing directions Zero position deviation Zero position deviation high 16 place lt lt 16 amp Zero position deviation low 16 place 3 Homing functions are suitable for Internal position control junction instruction and Position control pulse instruction 4 During homing servo driver does not receive pulse commands uDescription of the homing process In internal position control mode When SHOME is detected motor runs at direction set by PA771 0 and speed set by PA772 When zero position signal ZPS reference point is detected active motor runs at speed set by PA775 after finding Z pulse according to PA771 1 settings When ZPS is inactive also after detected Z pulse motor runs at speed set by PA776 and starts counting zero position deviation pulse numbers Motor stops and outputs HOME signal No
4. 3 for CN1 connections 10 1 1 Communication connections Communication 1 Ifupper controller only connects to one servo drive connect RJ45 1 to upper controller and RJ45 2 to a 1200 resistor 2 H upper controller connects to multiple servo drives connect RJ45 1 of first servo drive to upper controller and RJ45 2 of first servo drive to RJ45 1 of second servo drive Connect all servo drives in this way and connect RJ45 2 of last servo drive to a 1200 resistor 10 2 Communication parameters Please refer to PAO15 and PAO16 of the user manual 10 3 Communication protocols When using RS 485 for serial communications each servo drive must set its own axis number PA015 There are two MODBUS modes ASCII American Standard Code for information interchange or RTU Remote Terminal Unit 10 3 1 Encoding definition ASCII mode Every 8 bits date consists of two ASCII bytes For example Byte symbol 0 Wb we ER 4 gt 6 GR ASCII code 30H 31H 32H 33H 34H 35H 36H 37H Byte symbol 8 Q A KC 18 18 18 ASCII code 38H 39H 41H 42H 43H 44H 45H 46H RTU mode Every 8 bits data consists of two 4 bits hexadecimal bytes 10 3 2 Byte structure 10bits byte box Used for 7 bits bytes 7 2 Modbus ASCII pos 2 14 5 1 6 4 pua ES SS mud Pi As al d 7 data bits E p 10 bits character frame H 7 1 Modbus ASCII Sar e
5. is OFF mPosition command achieved CMD OK When enter internal position control mode this signal is ON When position command is being processed this signal is OFF When position command is achieved this signal is ON This signal only means command is achieved not the actual motor positioning m Positioning command executed MC OK This signal means position command execution achieved When both CMD OK and COIN are on this signal 15 ON otherwise OFF 8 8 3 Relevant Parameter Settings Parameter Meaning Internal position control junction instruction Internal position control junction instruction Position control pulse instruction PA701 Internal Position 0 low place immediate PA702 Internal Position 0 high place immediate PA731 Internal Position 15 low place eene PA732 Internal Position 15 high place immediate PA733 Internal position speed 0 immediate Internal position speed 15 Setting Scope Factory Setting 05000 Internal position 0 acceleration deceleration time Setting Scope Factory Setting Effective time immediate PA749 Effective time immediate Internal position 15 acceleration deceleration time Setting Scope Factory Setting Cam ms Internal position stop time Setting Scope Factory Setting 0 65535 100 Effective time immediate PA765
6. 06 PA707 PA708 PA709 PA710 PA711 PA712 PA713 PA714 PA715 PA716 PA717 PA718 PA719 PA720 PA721 PA722 PA723 PA724 PA725 PA726 PA727 PA728 PA729 PA730 PA731 PA732 PA733 PA734 PA735 PA736 PA737 PA738 PA739 PA740 wemipesen Orien 16 pue Dass Dun metio wenden James Dun metio omo Dun nese Jace Dua nese wenden James Dua nese SS Internal position 0 low 16 place h 0000 FFFF h 4E20 pul wenden omo Jace Dun James Dun EE posi nigh omo ug wenden igh omo ug Israel Dun wendet James Dun Joe Jace Dun nese wenden Joe omo Dun Israel Dun metio posi Shih 6pcs omo Dun pl Ee dU d Et 28 PA741 PA742 PA743 744 745 746 PA747 PA748 PA749 PA750 PA751 PA752 PA753 PA754 PA755 PA756 PA757 PA758 PA759 PA760 PA761 PA762 PA763 PA764 PA765 PA766 PA767 PA768 PA769 D w DEE WEIEREN ena psn aceros me painter m 0 m o meto CO AT m meine posi aceros me painter m nea Dacos sine paneer 5m m 0 iones nea
7. 20 000 pulses Thus the position data means 25 turns Notes 1 Setting range is 0x0000 OxFFFF 2 Electric gear ratio PA205 PA206 will have counter effect on distance m Speed PA733 to PA748 Electric gear ratio PA205 PA206 will have counter effect on speed m Acceleration deceleration time PA749 to PA764 m Stop time at each position PA765 Only available when PA700 0 2 Internal timer trigger cycle run This means time between OK and next action 8 8 1 Input signals Type Name Pin Setting Definition Input ZPS To be External Zero signal ON valid Signal External Zero signal OFF invalid PZERO To be Internal position control stops valid assigned OFF H electrical level Internal position control not stops INPOSO To be assigned INPOSI To be assigned INPOS2 To be assigned INPOS3 To be PTRG To be assigned P POS To be assigned N POS To be assigned SHOME To be Ball Refer to 3 4 3 for assigning pins ON L electrical level OFF H electrical level ON L electrical level ON L electrical level OFF H electrical level ON L electrical level OFF H electrical level I I I OFF H electrical level INPOS1 signal invalid I I I I invalid NPOSO signal valid NPOSO signal invalid NPOSI signal valid NPOS2 signal valid NPOS2 signal invalid NPOS3 signal valid NPOS3 signal invalid OFF H electrical level PTRG signal valid to ON L electrical level ON L electric
8. 30 51 8 10 212 287 65 32 18 180DNA 40B 180 200 1143 13 35 30 51 8 10 232 307 65 3 2 18 180DNA 45B 180 200 1143 13 35 30 51 8 10 252 327 65 3 2 18 180DNA 55B 180 200 114 3 13 35 30 51 8 10 272 347 65 3 2 18 25 500 Port input signal selection 0 Servo on S ON 1 Control mode switch C MODE 21 Positive driving prohibited POT 3 Negative driving prohibited NOT 4 Deviation counter clearance CLR 5 Alarm reset A RST 6 Pulse input inhibition INHIBIT 71 Zero speed restoration ZEROSPD 81 Positive torque limitation PCL 91 Negative torque limitation NCL 10 Gain switch GAIN 11 Zero signal ZPS 121 Signal negation under internal position amp speed control mode CMDINV 13 Instruction frequency division multiplication switch 0 DIVO 141 Instruction frequency division multiplication switch 1 DIV1 15 Internal instruction speed selection 0 INSPDO 16 Internal instruction speed selection 1 INSPD1 171 Internal instruction speed selection 2 INSPD2 18 Internal position selection 0 INPOSO 19 Internal position selection 1 INPOS1 20 Internal position selection 2 INPOS2 211 Internal position selection 3 INPOS3 221 Internal position trigger PTRG 231 Internal position control positive JOG P POS 24 Internal position control negative JOG N POS 25 Internal position control homing startup SHOME 26 In
9. PA724 amp PA723 valid 1 valid 0 invalid 0 invalid Position 12 PA726 amp PA725 1 valid 1 valid 0 invalid 1 valid Position 13 PA728 amp PA727 1 valid 1 valid 1 valid 0 invalid Position 14 PA7308 PA729 1 valid 1 valid 1 valid 1 valid Position 15 PA732 amp PA731 m Trigger signal PTRG MONA OCC Target poss oe ES IA OK OFF OFF COIN OFF ON ON CPTRG orINPOS m Forward JOG under internal position mode P POS m Reverse JOG under internal position mode N POS m Homing activiation signal SHOME 8 8 2 Output Signals Type Name Output HOME To be assigned Signal To be assigned MC OK To be assigned above output signals need to be assigned according to 3 4 3 mImportant Status Inactive Inactive Inactive Definition ia achieved Homing not achieved Position command achieved Position command not achieved Positioning command executed Positioning command not executed All above signals are only active under internal positioning mode Homing HOME When homing is achieved and positioning coordinate system is workable this signal is ON At powered on this signal is OFF When reaching next position this signal is OFF When SHOME triggers homing command this signal is OFF When homing is achieved again this signal is ON Through inputting SZERO stop command homing can be stopped this signal
10. S signal as homing signal Use external torque control signal PA404 405 as homing signal 30 Internal position mode switch 4 b000 111 b 0000 Calculation method under absolute position control mode Jse actual feedback position to calculate Jse given position to calculate PA772 Electronic gear ratio for communication position feedback communication position feedback 0 0783 0 0784 data as data after using electronic gear ratio communication position feedback 0x0783 0x0784 as motor feedback data same as 014 002 High low place switching Vot switch PA773 Internal position mode switch 5 b0000 111 0000 CLR signal CLR only clears position deviation data 1 CLR clear all position data in all modes para reseed PA775 Homing speed 1 before contacting homing switch 0 3000 3000 PA776 Homing speed 2 after contacting homing switch 0 500 PA777 Homing deviation low 16 place h 0000 FFFF Pulse 0 immediate PA778 Homing deviation high 16 place h 0000 1000 o immediate 779 Positive soft limit place low 16 place data h 0000 FFFF h 0000 PA780 Positive softlimitplace high 16 place data n 0000 FFFF n1000 PA781 Negative soft limit place low 16 place data h 0000 FFFF h 0000 PA782 Negative softlimit place high 16 place data h 0000 FFFF EM h E000 31
11. al level P POS signal valid OFF H electrical level P POS signal invalid ON L electrical level N POS signal valid OFF H electrical level N POS signal invalid OFF H electrical level SHOME signal valid to ON L electrical level m Zero signal ZPS Used for homing functions only m Internal position control stops PZERO m Internal position selection INPOSO INPOS1 INPOS2 INPOS3 INPOSO INPOS1 INPOS2 INPOS3 combines to achieve 16 position control INPOS3 INPOS2 INPOS1 INPOSO Position number 0 invalid 0 invalid 0 invalid 0 invalid Position 0 PA702 amp PA701 0 invalid 0 invalid 0 invalid valid Position 1 PA704 amp PA703 0 invalid 0 invalid valid 0 invalid Position 2 PA706 amp PA705 0 invalid 0 invalid valid 1 valid Position 3 PA708 amp PA707 3 0 valid 1 valid 0 invalid 0 invalid Position 4 PA710 amp PA709 0 valid 1 valid 0 invalid 1 valid Position 5 PA712 amp PA711 0 valid 1 valid 1 valid 0 invalid Position 6 PA714 amp PA713 0 valid 1 valid 1 valid 1 valid Position 7 PA716 amp PA715 1 valid 0 invalid 0 invalid 0 invalid Position 8 PA718 amp PA717 valid 0 invalid 0 invalid 1 valid Position 9 PA720 amp PA719 1 valid 0 invalid valid 0 invalid Position 10 PA722 amp PA721 1 valid 0 invalid 1 valid 1 valid Position 11
12. byte n lt 12 DATA 0 CRC ommand code 1 byte End 1 IExceeds static time of 3 5 bytes Communication data formats gt communication start ASCII mode byte RTU mode Exceeds static time of 3 5 bytes under current ommunication speed ADR communication address Legal communication address is between 1 and 127 For example To communicate with Axis 16 servo drive hexadecimal 10H ASCII mode ADR 1 0 gt 1 31H 0 30H RTU mode ADR 10H gt CMD amp DATA data byte Data byte format is determined by Command code Common command codes are as below Communication command command Command content Explanation 03H Read N words N lt 29 Standard 03 command 06H Standard 06 command 10H Write N words N lt 29 Standard 10 command 1 Command code 03H read N words Nx29 For example from starting address of Servo drive 01H 0200H to read two bytes continuously ASCII mode Command STX H ADR q CMD gi 9 Starting data position 0 High to low 07 Data number ET WORD 0 ke LRC Check F High to low g End 1 0DH CR End 0 0AH LF Feedback STX Sc D 0 A ADR D 1 D 0 9 CMD 3 Data 0 quantity byte 4 D 0 2 Starting data vz address TT 0200H content high Sr to low D 1 3 27 data address TT 0201H content 4 high to low 4 6 E 2 LRC Check a
13. e high to low 8 End 1 0DH CR End 0 0AH LF RTU mode Command Feedback ADR 01H elm HH CMD 03H CMD 03H Starting data position 02H Data High to low 00H number Cbytes Data number 00H Starting data 00H Chigh place high to low 02H address byte 0200H content CRC Check Low low place byte GEN B1H low place CRC Check High B3H high place byte byte 2 data address 1FH high place 0200H content byte 40H low place byte CRC Check Low A3H low place CRC Check High D4H high place byte 2 Command code 06H write 1 word For example write 100 0064H to 01H Servo drive 01H s starting address 0200H ASCII mode Command Feedback STX En 2 1 CMD 6 2 Starting data address 16 Data content Starting data address high to low data content high to low LRC Check RTU mode Command ADR 01H CMD 06H startingdata address 02H high to low 00H data content 00H high to low 64H CRC Check Low 89H CRC Check High 99H 17 Feedback ADR CMD Starting data address high to low Data content high to low CRC Check Low CRC Check High 01H 06H 02H 00H 00H 64H 89H 99H 3 Commandcode 10H write N words Nx29 For example write 100 0064H 102 0066H to servo drive Axis number 01H starting address is 0200H ASCII mode Command F
14. eedback STX SS STX gt 40 ADR dh d 1 4 TP CMD 0 0 lt p lt p Starting data address o Starting data address 2 high to low 0 high to low 0 Data number high 0 0 place 0 Data number K Data number low 0 high to low 0 place a 2 data byte number 0 9 Y LRC Check 3 0 1 ODH CR 0 End 0 OAH LF datal content 6 high to low 4 vi data2 content 0 high to low 6 6 1 LRC Check D End 1 0DH End 0 OAH 18 RTU mode Command Feedback ADR 01H ADR 01H CMD 10H CMD 10H startingdata address 02H Starting data address 02H high to low 00H high to low 00H Data number 00 Data number high to 00H high to low 02 low 02H data byte number 04 CRC Check Low 40H datal content 00H CRC Check High 70H 64H data2 content 00H 66H CRC Check Low 50H CRC Check High 11H LRC ASCII mode amp CRC RTU mode detected error value calculation ASCII mode ASCII mode uses LRC Longitudinal Redundancy Check to detect error value LRC detected error value is the sum from ADR to last data content and divided by 256 take the balance For example sum is 128H then only use 28H and then calculate compliment number of 2 RTU mode RTU mode uses CRC Cyclical Redundancy Check detected error value Step 1 CRC register is a 16 bits register whose content is FFFFH Step 2 Exclusive OR compute first byte of command amp low
15. frame start slave Response Error code Verify address code Error frame response code command 4 80H Error code 00H communication normal 01H servo drive cannot recognize the requrest 02H Given data address of the requrest does not exist in the servo drive 03H Given data of the request is not allowed exceeds upper lower limit 20 04H servo drive starts to execute request but failed For example servo drive Axis number is for parameter PAOO4writedata06H As both upper lower limit of PAO004 is O writedata cannot be used servo drive will send back an error frame error code is 03 exceeds upper lower limit Structure is as below Upper controller data frame start slave command data address verify address information etc 03H 06H 0004H 0006H Servo drive feedback error frame start slave Response Error code verify address code 03H 86H 03H If data frame of slave address 15 from upper controller frame data is broadcasting data servo drive will send no feedback frame 10 4 Communication address communication address content notes Read write hexadecimal Corresponding parameter in parameter list e g 0000 03E7H Parameter area 005 address is 0005H Readable writable PA101 address is 0065H PAS530 address is 0212H Data is not real time updated Some data Monitoring data same as pa
16. lute encoder single circle 0781H Unit 1pulse read only information high place Absolute encoder single circle 0782H Unit 1pulse read only information high place Motor feedback position low 16 0783H Unit pulse read only place Motor feedback position high 16 0784H Unit 1 read only place 0785H Motor given position low 16 place Unit pulse read only 0786H Motor given position high 16 place Unit pulse read only 23 11 4 2 130 Motor dimensions Unit mm Flange face Shaft end LL w brake LR LE LG oes LC LA LB LZ 5 LJ J LF1 LLF2 130DNMAI 0D85C 130 145 110 9 22 18 5 36 6 6 161 220 57 5 13 130DNMA1 0001C 130 145 110 9 22 18 5 36 6 6 172 231 57 5 13 130DNMAI 01D2C 130 145 110 9 22 18 5 36 6 6 181 240 57 5 13 130DNMAI 01D5C 130 145 110 9 22 18 5 36 6 6 197 256 57 5 13 130DNMAI 02D2C 130 145 110 9 22 18 5 36 6 6 219 278 57 5 13 130DNMA1 0003C 130 145 110 9 22 18 5 36 6 6 267 326 57 5 13 24 11 4 3 180 Motor dimensions Unit mm Flange face Shaft end LL w brake LR LE LG Model LC LA LB LZ S LJ J LF1 LF2 180DNA 30B 180 200 1143 13 35
17. n T T Stop 2 14 5 6 1 parity E DET AES E 7 data bits o 10 bits character frame 7 1 Modbus ASCII sat Ya bo T Stop 2 3 4 5 6 pay H SE E Ee e d 7 data bits 10 bits character frame edu Byte box Used for 8 bits bytes 8 N 2 Modbus ASCII RTU Pet eee EE acs te To unn UE RO NU du onm al 8 data bits d 3 11 bits character frame wl 8 E 1 Modbus ASCII RTU Ei Sart 24930455 6 E Us s BUR M E 8 data bits 11 bits character frame n 8 O 1 Modbus ASCII RTU Sur EN i E Tou Sto 243 bags vU sued ne E d Tia Re be 8 data bits gt p 11 bits character frame gt 10 3 3 Communication data structure Data format definitions are as below ASCII mode STX Beginning byte ADR ommunication address 1 byte contains 2 ASCII codes CMD ommand code 1 contains 2 ASCII codes DATA n 1 SE Data content n word 2n byte includes 4n ASCII codes n lt 12 DATA 0 LRC ommand code 1 byte contains 2 ASCII codes End 1 code 1 OD CR End 0 code 0 OAH LF RTU mode STX Exceeds static time of 3 5 bytes ADR ommunication address 1 byte CMD ommand code 1 DATA n 1 EE Data content n word 2n
18. nel t 0600 0628H is average value for monitoring purpose read only display only 0600H Motor speed rpm read only Motor feedback pulse quantity low 0601H pulse read only place 21 0602H Motor feedback pulse quantity pulse read only pulse command input pulse 0603H pulse read only quantity low place pulse command input pulse 0604H pulse read only quantity high place 0605H error pulse quantity low place pulse read only 0606H error pulse quantity high place pulse read only 0607H Speed command 0 01V read only 0608H speed input RPM read only 0609H Torque command 0 01V read only 060AH torque input read only 060BH Internal torque feedback read only 060CH input signal monitor read only 060DH output signal monitor read only 060EH command pulse frequency 0 1Khz read only 060FH Main circuit voltage V read only 0610H Total running time H read only 0611H Rotation angle read only Encoder absolute position only 0612H 2pulse read only valid for absolute encoders Encoder circle quantity only valid 0613H circle read only for absolute encoders 0614H Cumulative load factor read only 0617H Ratio of inertias of load read only 0618H Effective gain monitoring read only 0630H Current alarm read only 0631H Current warning read only Absolute encoder multiple circle Unit 1 circle 0780H read only information 22 Abso
19. o switch down Not moving first Z pulse to backwards i calculate deviation Encoder Z Pulse Valid Zero Signal ZPS 1 Invalid start Rise 3 PA771 1 2 Once contact with homing switch move backwards and use departure point as zero point not look for Z Pulse Motor spegd Homing PA775 rpm Homing PA776 Deviation SHOME 778 lt lt 16 amp 777 Rise ZPS Invalid invalid Start calculate deviation Relevant positions are shown below Mechanical moving pal 4 ox Mechanical zem sw ich Move backward when q Motor speed down ZPS move badw ands Start calculating 7 5 in valid in valid SHOME Rise 10 4 PA771 1 3 once contact with homing switch not move backwards and use departure point as zero point not look for Z Pulse Motor speed Homing speed 1 PAT 5 rpm Homing speed 2 PATTE D eviation PAI78 16 amp PATTT Start calculating when ZPS invalid Relevant positions are shown below Mechanical moving Mechanical zero sw ch Mot move backward a erzero switch Moir speed down not mp backward lu valid 2 5 in valid in valid SHOME _ E Rise Start calculating 11 10 1 Communication terminals Please refer to chapter 3
20. place byte of 16 bits CRC register and store the result back to CRC register Step 3 Check lowest place LSB of CRC register If this place is O then move to the right by 1 place If this place is 1 then CRC register value move to the right by 1 place and Exclusive OR compute with A001H Step 4 back to Step 3 until Step 3 has been excuted 8 times then to Step 5 Step 5 Repeat Step 2 to Step 4 for next byte of the Command until all bytes have been processed At this point CRC register content is CRC detected error value Notes After calculated CRC detected error value in command shall first fill in CRC low place then CRC high place 19 4 Endi 0 communication end ASCII mode Use i e byte as r carriage return amp OAH i e byte wm new line means communication end RTU mode When under current communication speed exceeds static time of 3 5 bytes 10 3 4 Communication troubleshooting Common error causes are Whenreading writing parameters data address is wrong When writing parameters data exceeds upper lower limit of this parameter Communication is interfered data transmission error or verification error When above communication error occurs the servo drive will continue running meanwhile will send back an error frame Error frame format Upper controller data frame start slave data address Verify address comm information etc and Error
21. psn m nea psn sedes m 0 m iones nea ssl m 0 nea posi Sacer m 0 ur yr Ee a esame se Uc esas Jace De Emm ll o o 4 4 4 4 4 4 4 4 29 PA770 Internal position mode switch 2 b000 111 b 0000 Trigger selection Use external signal PTRG to trigger User position selection signal INPOSO INPOS1 INPOS2 Trigger time sequence 0 Only receive new signal when current position finish PZERO function es CMD OK valid ven current position not finishes can still receive new signal Software limit enable Software limit can not enable Software limit can enable 756 757 are positive limit 758 759 negative limit 1 PA771 Homing direction Positive direction Negative direction Homing mode selection fove backward Look for Z pulse Not move backward Look for Z pulse fove backward Not look for Z pulse Not move backward Not look for Z pulse Homing completion operation 0 ome completes do not clear all position data ome completes clear all position data Homing signal selection Jser external ZP
22. rmally set PA775 at high speed and 776 at low speed Note that if PA776 is set too high homing accuracy will be affected 1 PA771 1 0 after contacting with ZPS time sequences of motor looking for Z pulse Motor spegd rpm Homing speed 1 PA775 Homing speed 2 PA776 Deviation Homing start 778 lt lt 16 PA777 SHOME Escalation Active Zero signal 7 5 Inactive Inacfive Encoder Z Pulse First Z pulse to calculate deviation Relevant positions are shown below Mechanical moving part Mechanical Zero Swtich lt Motor Speed down Look for Z pulse nove After leaving zero point 7 pulse to calculate deviation Encoder Z Pulse Active Zero signal ZPS inactiva Inactive Homing startup SHOME __ x DN 2 771 1 1 after contacting with ZPS time sequences of motor not return and looking for Z pulse d Homing PA775 Motor spe rpm Homing PA776 Deviation I Homing start PA778 lt lt 16 amp PA777 i Zero signal ZPS Invalid Invalid Encoder Z pulse ilil First Z pulse to calculate deviation distance after ZPS invalid Relevant positions are shown below s Mechanical moving part lt q Mechanical Zero swtich Mechanical part moving forward Not looking for Z Pulse After leaving Motor speed Zer
23. ternal position control stop signal PZERO Other Special function and usage 26 immediate 510 Output signal form selection h 0000 FFFO d 3210 Dig3 Dig2 DigO h L1 E1 L1 LJ DO 10utput signal 0 Alarm Signal Output ALM DO 2 Output signal selection 0 Alarm Signal Output ALM Positioning completed COIN ZPulse collector signal CZ External brake null signal BK Servo ready S RDY Speed compatibility VCMP ES Motor rotation detection TGON Torque Limited TLC gt Zero speed detection ZSP REH 9 Warning WARN A A Internal position control mode homing achieved HOME B Internal position control mode position command achieved CMD OK Internal position control mode position achieved MC OK DO 3 Output signal selection Same as DO2 DO 4 Output signal selection Same as D02 PA 700 Internal position mode switch 1 n 0000 FFO2 1002 Position change over mode 0 External IO signalPOS selects position and external IO sign trigger triggers action External IO signal trigger triggers action and position operates in a cycle Timed internal operation in a circle Position operating mode Absolute position Circular operating position start point Select start point of position Circular operating position end point EE Select End point of position 27 PA701 PA702 PA703 PA704 PA705 PA7
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