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Servo Drive Parameters

1. 2 Forward Torque Limit Torque Limit applies only in forward direction IfT REF 0 TLp 0 If 0 T REF lt PTL TLp 7T REF IfT REF gt PTL TLp PTL Torque Limit Clamp Selection for P2 64 2 Torque Enable Motor Torque Comand Select DI ripe Active Torque Clam Method Direction TCSI 17 TCSO 16 q p 0 0 NTL 0 torque P1 02 Ix M Al 0 torque 1 a ea M PTL P1 12 NTL 0 torque DI EK 7 0 PrL trom PL 13 P2 10 P2 17 09 NTL 0 torque 1 1 PTL from P1 14 NTL 0 torque DI NAN 7 PTL T REF Al P2 10 P2 17 25 ese ti n NTL 0 torque DI a T PTL P1 13 P2 10 P2 17 26 eise PTL ST REFAI TCS Torque Command Select DI function P2 10 P2 17 16 TCSO amp 17 TCS1 4 62 l SureServo AC Servo Systems User Manual 2nd Ed Rev B 08 2011 Chapter 4 Servo Drive Parameters P2 64 Settings continued 3 Reverse Torque Limit Torque Limit applies only in reverse direction IfT REF gt 0 TLN 0 If NTL T REF lt 0 TLN T REF IfT REF lt NTL TLN NTL Torque Limit Clamp Selection for P2 64 3 Torque Enable Motor Torque Comand Select DI ovre Active Torque Clam Method Direction TCS1 17 TCSO 16 q p 0 0 NTL 5T REF Al nora ene or a S 1 PTL 0 torque weet i o Ma dica E i NTL from P1 14 PTL 0 torque NTL 5T REF Al DI forward NUR PTL 0 torque P2 10 P2 17 25 N
2. Group 2 Extension Parameters table continued on next page 4 6 l SureServo AC Servo Systems User Manual 2nd Ed RevB 08 2011 Group 2 Extended Parameters continued Description Chapter 4 Servo Drive Parameters Range Auxiliary Function 0 5 Auto and Easy Tuning M ode Response Level 0 FF h Tuning Mode 0 5 Reserved Overspeed Fault Threshold 11 5000 5000 Position Deviation Fault Window 1 30 000 30 000 Position 1 Velocity Position 2 Velocity Position 3 Velocity Position 4 Velocity Position 5 Velocity Position 6 Velocity Position 7 Velocity Position 8 Velocity 1000 1000 1000 1000 1000 1000 1000 1000 Digital Output M ode 0 1 Index M ode Output Signal Delay Time 0 250 Index Mode Stations 2 32 Position D eviation Clear Delay Time 0 250 Backlash Compensation Index M ode 0 10 312 Jitter Suppression 0 19 Clear Position M ode 0 2 Servo Enable Command lt lt xx KAY 0 1 Dwell Time 1 Auto Index Mode Dwell Time 2 Auto Index Mode Dwell Time 3 Auto Index Mode Dwell Time 4 Auto Index Mode Dwell Time 5 Auto Index Mode Dwell Time 6 Auto Index M ode Dwell Time 7 Auto Index M ode Dwell
3. Torque Command Limit Source Selection DI Signal Torque Command Source Torque Limit Source TCS1 17 TCSO 16 Off Off T Mode T REF analog input Pt V Modes T REF analog input Tz Mode Torque 0 Pr Vz Modes Limit 0 Off On P1 12 On Off P1 13 On On P1 14 TCS Torque Command Select DI function P2 10 P2 17 settings 16 TCSO amp 17 TCS1 5f Torque Command 2 Torque Mode Mem Addr 010D h Torque Limit 2 Position Velocity Modes Range 300 Units Default 100 Control Modes P V T Torque Command 2 Torque Limit 2 Positive Torque Limit in P or V Modes when used in conjunction with P2 64 Refer to P1 12 for further explanation and note DS Torque Command 3 Toraue Mode M em Addr 010E h Torque Limit 3 Position Velocity M odes Range 300 Units Default 100 Control Modes P V T Torque Command 3 Torque Limit 3 Refer to P1 12 for further explanation and note 2nd Ed RevB 08 2011 SureServo AC Servo Systems User Manual 4 23 Chapter 4 Servo Drive Parameters Position 1 Command Revolutions Mem Addr 010F h Range 30 000 Units revs Default 0 Control M odes Pr This parameter sets the number of revolutions for Position 1 Command when using the Internal Indexer Refer to P1 16 for Position Command counts Position Command selection Position Command Pr Source Selection DI Sign
4. Position Loop Proportional Gain KPP 0 1023 Position Loop Gain Boost 110 500 Position Feed Forward Gain KFF 10 20 000 _ Smooth Constant of Position Feed Forward Gain Velocity Loop Proportional Gain KVP 0 20 000 Velocity Loop Gain Boost 10 500 Velocity Loop Integral Compensation KVI 0 4095 Velocity Feed Forward Gain KVF 0 20 000 Factory Defaults and Password Y 0 65 535 Debounce Filter Contact Suppression Y 0 20 Digital Input Terminal 1 DI1 Digital Input Terminal 2 DI2 2 100 Digital Input Terminal 3 DI3 Digital Input Terminal 4 D14 Digital Input Terminal 5 D15 Digital Input Terminal 6 D16 Digital Input Terminal 7 DI7 Digital Input Terminal 8 DI8 Digital O utput Terminal 1 DO 1 Digital O utput Terminal 2 DO 2 Digital O utput Terminal 3 DO3 Digital O utput Terminal 4 DO4 Digital O utput Terminal 5 DO 5 Notch Filter Resonance Suppression 50 1000 Notch Filter Attenuation Resonance Supp 0 32 Low pass Filter SVA 2040 Resonance Suppression SVA 2100 2300 External Anti Interference Gain Resonance Suppression Gain Boost Control Y 0 4 Gain Boost Switching Time 0 1000 0 1000 0 30 000 Gain Boost Switching Condition Y 0 30 000 10 000
5. Velocity Limit Selection Torque Mode Torque Limit Selection Position amp Velocity Modes DI Signal Velocity Limit DI Signal Torque Limit Range Range VCS1 15 VCS0 14 Source TCS1 17 TCSO 16 Source d V REFAI T REF Al T mode zd Pt V modes iy 0 0 0 0 Limit 0 0 Limit 0 0 Tz mode Pr Vz modes 0 1 P1 09 5000rpm 0 1 P1 12 300 1 0 P1 10 5000rpm 1 0 P1 13 300 1 1 P1 11 5000rpm 1 1 P1 14 300 VCS Velocity Command Select DI function TCS Torque Command Select DI function P2 10 P2 17 settings 14 VCS0 amp 15 VCS1 P2 10 P2 17 settings 16 TCS0 amp 17 TCS1 2nd Ed Rev B 08 2011 SureServo AC Servo Systems User Manual l 4 19 Chapter 4 Servo Drive Parameters GRE Output Polarity Setting Mem Addr 0103 h Range 0 13 Units n a Default 0 Control M odes P V T e This parameter determines the polarity of the Analog Monitor Outputs and Position Pulse O utputs The Analog Monitor O utputs can be individually configured with different polarities but the Position Pulse O utputs must each have the same polarity Settings Ts Analog Monitor Outputs Polarity Position Pulse Outputs Polarity Unused Analog Monitor O utputs Polarity Settings 0 Analog Monitor O utput 1 Analog Monitor O utput 2 1 Analog Monitor O utput 1 Analog Monitor O utput 2 2 Analog Monitor Output 1 Analog Monitor Output 2 3 Analog Monitor Output 1 Analog Moni
6. Velocity Command Input V P1 40 10V D 2 Analog Full Scale Torque Command Torque Mode 2 Analog Full Scale Torque Limit P amp V Modes Mem Addr 0129 h Range 0 1000 U nits 96 D efault 100 Control M odes P V T n Position and Velocity Modes this parameter sets the maximum torque limit based on the full scale input analog voltage 10V Torque Limit Command Input Command V P1 41 10V In Torque Mode this parameter sets the percent of rated torque which the motor will provide when 10V is applied to the analog input Torque Command Input Command V P1 41 10V n Torque Mode this parameter sets the range of the Torque Command in 96 for a torque input range from OV to 10V The same range applies in the negative direction from OV to 10V if there is no offset P4 23 can be used to provide an offset such that a non zero input generates a zero torque command Torque Command Input V P1 41 10V The value of the analog torque command limit can also be affected by P4 23 277 On Delay Time of Electromagnetic Brake M em Addr 012A h Range 0 1000 Units ms Default 20 Control M odes P V T This parameter sets the amount of time between when the servo drive is enabled and when the electromagnetic brake is released A digital output can be set for Electomagnetic Brake Control in parameters P2 18 2 22 4 32 SureServo AC Servo Systems User Manual 2nd Ed RevB 08 2011 Chapter
7. 08 2011 y Chapter 4 Servo Drive Parameters LX Dwell Time 3 Auto Position Mode M em Addr 0236 h Range 0 00 120 00 Units s D efault 0 Control Modes P This parameter sets the dwell time at Index Position 3 during Auto Position operation If this parameter is set to zero Auto Position Mode will not index to this Index Position Refer to P1 33 and Chapter 5 Control Modes of O peration and Tuning for more information regarding Auto Position M ode P2 55 Dwell Time 4 Auto Position Mode Mem Addr 0237 h Range 0 00 120 00 Units s Default 0 Control Modes P This parameter sets the dwell time at Index Position 4 during Auto Position operation If this parameter is set to zero Auto Position Mode will not index to this Index Position Refer to P1 33 and Chapter 5 Control Modes of Operation and Tuning for more information regarding Auto Position M ode P2 56 Dwell Time 5 Auto Position Mode Mem Addr 0238 h Range 0 00 120 00 Units s Default 0 Control Modes P This parameter sets the dwell time at Index Position 5 during Auto Position operation If this parameter is set to zero Auto Position Mode will not index to this Index Position Refer to P1 33 and Chapter 5 Control Modes of O peration and Tuning for more information regarding Auto Position M ode PA Yy A Dwell Time 6 Auto Position Mode M em Addr 0239 h Range 0 00 120 00 Units s D efault 0 Control Modes P This para
8. 3 Control Mode and Output Direction Mem Addr 0101 h Range 0 1110 Units n a Default 0 Control M odes P V T This parameter determines the control mode and output direction Settings HO BABE o L gt Control Mode Rotation Convention Digital I O Setting Characteristics Unused Control Mode E Control Mode Settings Mode Mode Description 00 01 02 03 04 05 06 07 08 09 10 Pt Position Control external command Xi XIX Pr Position Control internal command X X X V Velocity Control internal or external command IX XI X X T Torque Control internal or external command IX 1 1 IXI 1XIX Vz Zero Velocity Control internal command X Tz Zero Torque Control internal command X Note For detailed mode descriptions refer to the SureServo Control M odes of Operation table in Chapter 5 of this manual Rotation Convention Digital I O Setting Characteristics Direction See Characteristic Settings of P2 10 P2 22 digital I O functions 0 1 Settings when switching to new control mode Forward gt cow cw 0 retain previous settings Reverse gt cw gt ccw 1 change to default settings of new mode 4 18 SureServo AC Servo Systems User Manual 2nd Ed RevB 08 2011 Chapter 4 Servo Drive Parameters 2 Velocity and Torque Limit Mem Addr 0102 h Range 0 11
9. 4 52 l e This is the command velocity that is used to move to Position 5 Refer to P1 23 and P1 24 to set the Position 5 command position absolute mode or command distance incremental mode Position 6 Velocity Mem Addr 0229 h Range 1 5 000 Units rom Default 1000 Control Modes P This is the command velocity that is used to move to Position 6 Refer to P1 25 and P1 26 to set the Position 6 command position absolute mode or command distance incremental mode Position 7 Velocity M em Addr 022A h Range 1 5 000 U nits rpm D efault 1000 Control Modes P This is the command velocity that is used to move to Position 7 Refer to P1 27 and P1 28 to set the Position 7 command position absolute mode or command distance incremental mode Position 8 Velocity Mem Addr 022B h Range 1 5 000 Units rom Default 1000 Control Modes P This is the command velocity that is used to move to Position 8 Refer to P1 29 and P1 30 to set the Position 8 command position absolute mode or command distance incremental mode Digital Output Mode Mem Adar 022C h Range 0 1 Units n a Default 0 Control Modes P This parameter determines whether the digital outputs indicate Pr Auto and Index Modes status or whether they function according to parameters P2 18 through P2 22 Settings 0 All five outputs function as defined in P2 18 P2 22 1 PrAuto and Index Modes output Outputs indicate current status during in
10. Faramerer N Parameter 7 Applicable Control Modes Detault serung Description P V T Position Velocity Torque Pr Position registers int index N otes 1 Read only register 2 Parameter cannot be set when the servo drive is enabled sid 3 Parameter is effective only after power to the servo drive has been cycled 4 Parameter setting not written to drive flash memory not retained when power is off 5 Parameter does not return to factory default when P2 08 is set to 10 6 Parameter may or may not return to factory default when switching control modes depending upon P1 01 setting 7 Block Transfer Parameters must be entered from the drive keypad Parameter values are in decimal format unless otherwise indicated by h for hexadecimal 4 10 SureServo AC Servo Systems User Manual 2nd Ed RevB 08 2011 Chapter 4 Servo Drive Parameters Monitor Parameters 2nd Ed Rev B 1 Firmware Version Mem Addr 0000 h Range n a Units n a Default factory setting Control Modes P V T This parameter shows the software version of the servo drive 1 Drive Fault Code M em Addr 0001 h Range 0 22 Units n a D efault n a Control M odes P V T This parameter shows the current servo drive fault if the drive is currently faulted Settings 00 No fault occurred 01 O vercurrent 02 O vervoltage 03 U ndervoltage 04 M otor overtemperature 05 Regeneration error 06 O verload 07 O verspeed 08 Abnormal pul
11. Refer to P2 18 for explanation of DO Terminal parameters P2 19 through P2 22 CZJ 6 Digital Ouput Terminal 4 DO4 Mem Addr 0215fh Range 0 109 Units n a Default 105 Control M odes P V T Refer to P2 18 for explanation of DO Terminal parameters P2 19 through P2 22 LZZ 6 Digital Ouput Terminal 5 DO5 Mem Addr 0216fh Range 0 109 Units n a Default 7 Control M odes P V T Refer to P2 18 for explanation of DO Terminal parameters P2 19 through P2 22 LZER Notch Filter Resonance Suppression Mem Addr 0217 h Range 50 1000 Units Hz Default 1000 Control M odes P V T This parameter is used to reduce mechanical system vibration Set the value to match the mechanical resonance vibration frequency Resonance is a condition in a system that happens at certain frequencies and it is excited with a signal such as a velocity It is possible to change the velocity or frequency to avoid resonance P2 23 through P2 26 can also be used to suppress resonance If Notch Filter Attenuation P2 24 is set to 0 then this Notch Filter P2 23 is disabled E2229 Notch Filter Attenuation Resonance Suppression Mem Addr 0217 h Range O 32 0 disable Unit dB Default 0 Control M odes P V T This parameter sets the magnitude of the resonance suppression set by P2 23 Set P2 24 as low as possible without loss of system control at the resonance frequency P2 23 See P2 23 for explanation of resonance 4 46 SureSe
12. Latest SureServo Firmware Revisions Settings 38888 L 5 DO Function DO Active State Unused DO Function Settings P2 18 P2 22 00 O utput Disabled 01 Servo Ready no faults 02 Servo On enabled 03 At Zero Velocity see P1 38 04 AtVelocity Reached 05 At Position 06 At Torque Limit 07 Active Fault 08 Electromagnetic Brake Control 09 Homing Completed 10 At Overload O utput Warning Threshold DO Active State Settings P2 18 P2 22 0 Acts like a Normally Closed contact 1 Acts like a Normally O pen contact Examples for P2 18 P2 22 Setting 101 configures this output as a Servo Ready indicator and the output functions like a normally open contact Examples for P2 18 P2 22 continued Setting 005 configures this output as an At Position Indicator and the output functions like a normally closed contact 1 P2 18 P2 22 are effective only if P2 44 is set to zero 0 2 When P2 18 P2 22 DO Function digits are set to zero 0 the corresponding outputs are disabled 2ndEd RevB 08 2011 SureServo AC Servo Systems User Manual l 4 45 Chapter 4 Servo Drive Parameters GZ 6 Digital Output Terminal 2 DO2 Mem Addr 0213 h Range 0 109 Units n a Default 103 Control M odes P V T Refer to P2 18 for explanation of DO Terminal parameters P2 19 through P2 22 E220 6 Digital Output Terminal 3 DO3 Mem Addr 0214fh Range 0 109 Units n a Default 109 Control M odes P V T
13. Range 5000 Units mV Default 0 Control Modes V Use this parameter to add an offset value to the Analog Velocity Input Set the parameter value such that P4 22 1000 is the input voltage at which you need zero velocity Velocity Command P1 40 10 Input V P4 22 1000 Limit P1 40 Example 1 Adjust P4 22 in small increments to trim a signal so thata OV command results in no rotation of the motor Example 2 To allow a0 to 10V signal to control positive and negative motion set this parameter value to 5000 5V This will offset the input signal potentiometer etc so that the midpoint of the range provides a command of zero speed to the drive Velocity rpm 1000 ceat Analog Input Voltage V zd OOO cse P4 22 5000 mV 5000 mV 5V P1 40 2000 rpm velocity range 1000 to 1000 2000 rpm For velocity range of 2000 to 2000 rpm from 0 to10V Al set P1 40 Maximum Analog Velocity Command gain to 4000 rpm Gee Analog Torque Input Offset M em Addr 0417 h Range 5000 U nits mV Default 0 Control M odes T Use this parameter to add an offset value to the Analog Torque Input Set the parameter value such that P4 23 1000 is the input voltage at which you need zero torque Velocity Command P1 41 10 Input V P4 23 1000 Limit P1 41 Refer to P4 22 for examples P4 23 affects torque instead of velocity but otherwise operates the same as P4 22 P1 41 Max Analog Tor
14. This parameter sets the number of revolutions for Position 6 Command when using the Internal Indexer Refer to P1 26 for Position Command counts Refer to P1 15 for Position Command source selection D Position 6 Command Counts Mem Addr 011A h Range 10 000 Units encoder counts Default 0 Control Modes Pr This parameter sets the number of encoder pulses for Position 6 Command when using the Internal Indexer Refer to P1 25 for Position Command revs Refer to P1 15 for Position Command source selection Determine the total number of commanded pulses for Position 6 as follows Pos 6 Command P1 25 10 000 P1 26 4 26 SureServo AC Servo Systems User Manual 2nd Ed RevB 08 2011 2nd Ed Rev B Chapter 4 Servo Drive Parameters Position 7 Command Revolutions Mem Addr 011B h Range 30 000 Units revs Default 0 Control Modes Pr This parameter sets the number of revolutions for Position 7 Command when using the Internal Indexer Refer to P1 28 for Position Command counts Refer to P1 15 for Position Command source selection Position 7 Command Counts M em Addr 011C h Range 10 000 U nits encoder counts D efault 0 Control M odes Pr This parameter sets the number of encoder pulses for Position 7 Command when using the Internal Indexer Refer to P1 27 for Position Command revs Refer to P1 15 for Position Command source selection Determine the total number of c
15. 2011 SureServo AC Servo Systems User Manual l 4 15 Chapter 4 Servo Drive Parameters IST Block Transfer Parameter 6 Mem Addr 000E h Range 100 417 h address for P1 00 P4 23 Units n a Default 112 h address for P1 18 Control M odes P V T e Refer to P0 09 for explanation of the Block Transfer parameters P0 09 P0 16 IE Block Transfer Parameter 7 M em Addr 000F h Range 100 417 h address for P1 00 P4 23 U nits n a D efault 225 h address for P2 37 Control M odes P V T e Refer to P0 09 for explanation of the Block Transfer parameters P0 09 P0 16 IST Block Transfer Parameter 8 Mem Addr 0010fh Range 100 417 h address for P1 00 P4 23 Units n a Default 109 h address for P1 09 Control Modes P V T e Refer to P0 09 for explanation of the Block Transfer parameters P0 09 P0 16 1 Output Function Status Mem Addr 0011 h Range O 1FF h U nits n a D efault 0 Control M odes P V T This parameter allows you to read the status of the DO Functions via MODBUS communications regardless of whether or not those functions are assigned to physical digital outputs DO 1 DO 5 This parameter varies by firmware version For revision details refer to Appendix D Latest SureServo Firmware Revisions DO Functions Indications bit 0 Servo Ready no faults bit 1 Servo On enabled bit 2 At Zero Velocity bit 3 AtVelocity Reached bit 4 At Position bit 5 AtTorque Limit bit 6 O verload Warni
16. Derivative Feedback and Feedforward control Explanation of Auto tuning 1 When switching from mode 2 or 4 to mode 3 or 5 fixed ratio modes the system will save the measured load inertia value automatically to P1 37 and then set the other corresponding auto tune parameters accordingly 2 When switching from mode 2 or 4 to mode 0 manual mode load measurements will cease and all parameters will be set to system defaults 3 When switching from mode 0 to mode 3 or 5 fixed ratio modes P1 37 should be set to the proper mismatch ratio 4 When switching from mode 3 to mode 0 manual mode P2 00 P2 04 and P2 06 will retain the values determined by the auto tune mode 5 When switching from mode 5 to mode 0 manual mode the setting value of P2 00 P2 04 P2 06 P2 25 and P2 26 will retain the values determined by the auto tune mode P2 33 Reserved IZEZ Overspeed Fault Threshold Mem Addr 0222 h Range 5000 Units rom Default 1 5000 Control Modes V This parameter is used to set the over velocity threshold that is used to determine the over velocity drive fault condition 4 50 l SureServo AC Servo Systems User Manual 2nd Ed RevB 08 2011 Chapter 4 Servo Drive Parameters P2 35 Position Deviation Fault Window Mem Addr 0223 h Range 1 30 000 Units pulse Default 30 000 Control Modes P This parameter is used to set the size of the position deviation window that is used to determine the excess
17. Units n a Default 0 Control Modes P V T This parameter determines whether the Velocity and Torque Limit functions are enabled or disabled The source of the limit command analog input or preset parameter is then selected by the applicable Command Select digital input For Torque Limits in modes P and V analog input and preset parameter limits can be used simultaneously by setting this parameter in conjuntion with P2 64 Settings BRRRB T Velocity Limit Function Settings Enable disable velocity limit function Enable disable torque limit function Unused V REF Al b o Velocity Limit 0 Disable velocity limit Command function Pree The source of the 1 Enable velocity mit P1 11 VL3 Velocity Limit is selected by the function valid only in VCSO DI Velocity Command y VGS1 DI Select Digital Input tor m Orgue ode VCS_ DI Velocity Command Select 0 and 1 Digital Input P2 10 P2 17 settings 14 and 15 T_REF Al 5 Torque Limit Torque Limit Function Settings 0 Disable torque limit P1 12 TL1 CONI function DES PATS TER The source of the 1 Enable torque limit P1 14 TL3 Torque Limit is i j j selected by the function valid only in TCSO DI Pac Concha position and velocity TCS1 DI Select Digital Input TCS DI Torque Command Select 0 and 1 Digital Input modes P2 10 P2 17 settings 16 and 17
18. VCS Velocity Command Select DI function P2 10 P2 17 settings 14 VCS0 amp 15 VCS1 Note The Velocity Command Limit parameters P1 09 P1 11 can be scaled using parameter P2 63 P1 10 Velocity Command 2 Velocity Mode Mem Addr 010Afh Velocity Limit 2 Torque Mode Range 5000 Units rom Default 200 Control Modes V T Velocity Command 2 Velocity Limit 2 Refer to P1 09 for further explanation and note Ds Velocity Command 3 Velocity Mode M em Addr 010B h Velocity Limit 3 Torque Mode Range 5000 U nits rpm D efault 300 Control M odes V T Velocity Command 23 Velocity Limit 3 Refer to P1 09 for further explanation and note 4 22 SureServo AC Servo Systems User Manual 2nd Ed RevB 08 2011 Chapter 4 Servo Drive Parameters Sh Torque Command 1 Torque Mode Mem Addr 010CIh1 Torque Limit 1 Position Velocity Modes Range 300 Units Default 100 Control M odes P V T When in Torque Mode using the Internal Indexer this parameter sets Torque Command 1 e When in Position or Velocity Modes using the Internal Indexer this parameter sets Torque Limit 1 When used in conjunction with P2 64 Advanced Torque Limit P1 12 sets the Negative Torque Limit Parameters P1 12 through P1 14 set the thresholds that are used to determine when the Torque Limit digital output becomes active Parameters P2 19 through P2 22 assign the digital output functions
19. When homing is triggered the motor proceeds at a fast velocity until a home sensor is detected The motor will then reverse direction at a slower speed until off of the home sensor and will stop at the next Z pulse P1 48 P1 47 0202 Ng 7 for this example Z pulse P1 49 GEZE Homing Velocity 2 Creep Velocity Mem Addr 0131 h Range 1 500 Units rom Default 50 Control Modes P This parameter sets the secondary slow Homing Velocity Refer to P1 48 for explanation of Homing Velocity parameters ES Home Position Offset revolutions Mem Addr 0132 h Range 30 000 Units revolutions Default 0 Control Modes P Refer to P1 51 for additional information regarding this parameter 2X3 Home Position Offset counts Mem Addr 0133 h Range 10 000 Units counts D efault 0 Control Modes P Set P1 50 and P1 51 to apply an offset from the homing point These parameters are assigned as the current position at the completion of the homing routine Determine the total number of offset pulses as follows Home PoSoffcet P1 50 10 000 P1 51 2nd Ed RevB 08 2011 SureServo AC Servo Systems User Manual l 4 37 Chapter 4 Servo Drive Parameters E Regenerative Resistor Value Mem Addr 0134 h Range 10 750 Units Ohms Default 40 LkW and below SVA 2040 2100 20 above 1kW SVA 2300 Control M odes P V T This parameter represents the resistance of the applicable regenerative resi
20. chapter P2 03 Smooth Constant of Position Feed Forward Gain Mem Addr 0203 h Range 2 100 Units ms D efault 5 Control Modes P This parameter is used in conjunction with P2 02 P2 03 sets the length of time that the position error is applied to the velocity loop Setthis value as low as possible for desired system performance 4 40 SureServo AC Servo Systems User Manual 2nd Ed RevB 08 2011 Chapter 4 Servo Drive Parameters Velocity Loop Proportional Gain KVP Mem Addr 0204 h Range 0 20 000 Units rad s Default 500 Control Modes P V This parameter sets the proportional gain for the velocity loop Higher values make the velocity loop more responsive However setting it too high will cause excessive vibration or noise In Easy Tune Mode the value of this parameter is automatically set by the system For information regarding M anual Tuning of this parameter refer to M anual Tuning Mode Details in the Control Modes of Operation and Tuning chapter Velocity Loop Gain Boost Mem Addr 0205 h Range 10 500 Units Default 100 Control M odes P V This parameter sets the amount of KVP boost when the application condition is met See P2 27 to set the condition in which this boost will be applied to the system Velocity Loop Integral Compensation KVI M em Addr 0206 h Range 0 4095 Units n a D efault 100 Control M odes P V This parameter sets the integral time of the velocity lo
21. memory and will execute a stop command Pr mode only Servo Enable Command Mem Addr 0233 h Range 0 1 Units n a Default 0 Control M odes P V T This parameter determines how the servo system is enabled Settings 0 Servo Enable is controlled by the assigned digital input Refer to P2 10 P2 17 to assign the DI functions 1 Servo Enable is activated when control power is applied the servo drive regardless of the state of the digital input When set to 1 if faults exist when power is applied the servo will enable after the faults are cleared Dwell Time 1 Auto Position Mode M em Addr 0234 h Range 0 00 120 00 Units s D efault 0 Control M odes P This parameter sets the dwell time at Index Position 1 during Auto Position operation If this parameter is set to zero Auto Position Mode will not index to this Index Position Refer to P1 33 and Chapter 5 Control Modes of O peration and Tuning for more information regarding Auto Position M ode Dwell Time 2 Auto Position Mode M em Addr 0235 h Range 0 00 120 00 Units s D efault 0 Control M odes P This parameter sets the dwell time at Index Position 2 during Auto Position operation If this parameter is set to zero Auto Position Mode will not index to this Index Position Refer to P1 33 and Chapter 5 Control Modes of O peration and Tuning for more information regarding Auto Position M ode SureServo AC Servo Systems User Manual 2nd Ed RevB
22. reset all faults see Clearing Faults in Chapter 7 Gain Boost Switch Clear Command see P2 50 Low Velocity Clamp see P1 38 Command Input Polarity Inverts the polarity of the Al Input Command Voltage by multiplying by 1 i e V bcomes V and vice versa Position Command Pause Internal Indexer only Command Trigger available in Pr mode only Torque Limit Enable bi directional see DI settings 25 26 P1 02 P1 12 P2 64 Velocity Limit Enable see P1 02 P1 09 Position Command Select 0 PCSO Position Command Select 1 Position Command Select 2 Velocity Command Select 0 Velocity Command Select 1 VCS1 Torque Command Select 0 Torque Command Select 1 Position Velocity Mode Select O Vel 1 Pos dual control Velocity Torque M ode Select O Vel 1 Torq dual control Position Torque M ode Select 0 Torq 1 Pos dual control Fault Stop Normally Closed Reverse Inhibit O vertravel Normally Closed Forward Inhibit O vertravel Normally Closed Home Sensor Torque Limit Enable Reverse reverse direction only see DI settings 09 26 P1 02 P1 12 P2 64 Torque Limit Enable Forward forward direction only see DI settings 09 25 P1 02 P1 13 P2 64 Start Home M ove Trigger Index Mode Select 0 Index Mode Select 1 Index Mode Select 2 Index M ode Select 3 IM S3 Index M ode Select 4 Index M ode Control 0 Index Mode Control 1 Index M ode Manual Continuous O peration Index Mode Manual Sin
23. zero the function is disabled No manual adjustment of this parameter is usually neccessary Changing this value may result in exessive overshoot and an unstable system 08 2011 SureServo AC Servo Systems User Manual l 4 47 Chapter 4 Servo Drive Parameters Gain Boost Control Mem Addr 021B h Range O 4 Units n a D efault 0 Control M odes P V This parameter sets how or when Gain Boost is applied Settings 0 Gain Boost is disabled 1 Gain Boost controlled by input terminal 2 In Position M ode Pt or Pr Gain Boost becomes active when position deviation is outside threshold set by P2 29 3 Gain Boost becomes active when Position Command frequency is higher than the setting value of P2 29 4 Gain Boost becomes active when servo motor rotation velocity is higher than the setting value of P2 29 Gain Boost is used to adjust the position loop gain the velocity loop gain or both gains when the control condition determined by this parameter is met The amount of boost applied is set by P2 01 position loop and by P2 05 velocity loop This type of control is used primarily when the motor load changes significantly during normal operation By applying Gain Boost the system response and tuning can be altered on the fly to produce desirable performance ZEIT Gain Boost Switching Time Mem Addr 021C h Range 0 1000 0 disable Unit 10 ms Default 10 Control Modes P V This parameter is used to set the am
24. 0307 h Range 0 255 Units 0 5 ms Default 0 Control Modes P V T This parameter sets a time used to internally delay the response to a master controller Some Modbus masters may require that the response to their request not be returned too quickly so that they can setup to properly receive it This is generally found in older controllers 2nd Ed RevB 08 2011 SureServo AC Servo Systems User Manual l 4 67 Chapter 4 Servo Drive Parameters 2 3 Digital Input Software Control Mask Range 0 FFFF h Default 0 Mem Addr 0308 h Units bit Control Modes P V T The upper eight bits of this parameter are effective only in Pr Mode e The lower byte of this parameter allows some or all of the drive s Digital Inputs to be controlled via Modbus communications instead of via external hardware The Dls are controlled by external hardware by default Control of any or all of the DIs can be changed to Modbus communication by setting the corresponding bit of the P3 08 lower byte to a logic one The upper byte of this parameter provides an additional eight Virtual Digital Inputs for use only in Pr control mode These Virtual DI have factory assigned functions and are controlled only via Modbus communications Use P4 07 to write to the actual and virtual DI that are enabled and configured for Modbus control using this parameter P3 08 This parameter varies by firmware version For revision details refer to Appen
25. 17 codes 14 or 15 0 level sensing 1 rising edge sensing Bit1 Contact type for DI assigned asTCSO or TCS1 P2 10 P2 17 codes 16 or 17 0 level sensing 1 rising edge sensing Bit 2 Contact type for DI8 when assigned as Fast DI per bits 3 4 of this parameter P2 65 0 rising edge trigger or normally open contact 1 falling edge trigger or normally closed contact Bits 3 4 B4 B3 DI8 Function 0 0 Disable Fast DI function for DI8 Enable Fast Position Latch for D18 0 1 This is a new DI function that works in conjunction with P0 04 P0 05 Status Monitor setting 15 or 16 DI8 serves as a fast trigger to latch Position Counts 15 or Position Revs 16 into a Status M onitor Enable Fast DI Inhibit for D18 1 0 Works in conjunction with P2 17 07 Position Command Pause or 45 Inhibit Pulse Command Terminal Initiates quicker stop Fast DI response time is 0 0 0 1 ms vs 0 4 0 6 ms for normal DI Bit5 reserved must remain set 0 4 64 l SureServo AC Servo Systems User Manual 2nd Ed RevB 08 2011 Chapter 4 Servo Drive Parameters OD P2 65 Settings continued Bit 6 Disable ALE08 Abnormal Pulse Control Command alarm 0 Enable ALE08 for Pulse Control Command gt 570 kpps 1 Disable ALE08 for Pulse Control Command gt 570 kpps Bits 7 9 reserved must remain set 0 Bit 10 System behavior when zero velocity clamp conditions are met when Low Velocity Clamp DI P2 10 P2 17 code 05 is active and the velocity of the motor is less
26. 4 Servo Drive Parameters Off Delay Time of Electromagnetic Brake Mem Addr 012B h Range 0 1000 Units ms Default 20 Control M odes P V T This parameter sets the amount of time between when the servo drive is disabled and when the electromagnetic brake is engaged Servo Enable Digital Input 01 Electromagnetic Brake Control Digital Output 08 ON brake released OFF gt e P1 42 On Delay P1 43 Off Delay P1 38 Zero Velocity Output Threshold Motor Velocity If the motor velocity is below the threshold set by P1 38 Zero Velocity when the servo is commanded off the electromechanical brake will be engaged regardless of the amount of time set in this parameter If the motor velocity is above the threshold set by P1 38 Zero Velocity when the servo is commanded off and the off delay time has elapsed the electromechanical brake will be engaged regardless of the current motor velocity Electronic Gear Numerator 1 M em Addr 012C h Range 0 32 767 Units counts D efault 1 Control Modes P This parameter sets the numerator of the Electronic Gear Ratio P1 45 sets the denominator and P2 60 through P2 62 set optional additional numerators Refer to the Electronic Gear Ratio section of Control Modes Chapter 5 for more information regarding this function Position Command Input Pulses P1 44 P1 45 The electronic gear ratio setting MUST be within the follo
27. 7 ZEE 6 Digital Input Terminal 4 D14 Mem Addr 020D h Range 0 145 Units n a Default 117 Control M odes P V T Refer to P2 10 for explanation of DI Terminal parameters P2 10 through P2 17 GZT 6 Digital Input Terminal 5 DI5 Mem Addr 020E h Range 0 145 Units n a Default 102 Control M odes P V T Refer to P2 10 for explanation of DI Terminal parameters P2 10 through P2 17 GZH 6 Digital Input Terminal 6 D16 Mem Addr 020F h Range 0 145 Units n a Default 22 Control M odes P V T Refer to P2 10 for explanation of DI Terminal parameters P2 10 through P2 17 LZST 6 Digital Input Terminal 7 D17 Mem Addr 0210 h Range 0 145 Units n a Default 23 Control M odes P V T Refer to P2 10 for explanation of DI Terminal parameters P2 10 through P2 17 4 44 SureServo AC Servo Systems User Manual 2nd Ed RevB 08 2011 Chapter 4 Servo Drive Parameters IE 6 Digital Input Terminal 8 DI8 Mem Addr 0211 h Range 0 145 Units n a Default 21 Control M odes P V T Refer to P2 10 for explanation of DI Terminal parameters P2 10 through P2 17 6 Digital Output Terminal 1 DO1 Mem Addr 0212 h Range 0 109 Units n a Default 101 Control M odes P V T If P2 44 is set to its default value of zero 0 parameters P2 18 P2 22 determine the functions and active states of DO1 DO5 respectively e P2 18 P2 22 vary by firmware version For revision details refer to Appendix D
28. Absolute Positioning The system will move to new positions based on the values set in P1 15 P1 30 which are interpreted as target positions referenced from the home position Incremental Position M ode Incremental Positioning The system will move to new positions based on the values set in P1 15 P1 30 which are interpreted as distances to move from the current position Forward O peration Index M ode The system will go to the programmed index position only in the forward direction Reverse O peration Index M ode The system will go to the programmed index position only in the reverse direction Shortest Path Index M ode The system will go to the programmed index position by determining and using the shortest path and direction Absolute Auto Position M ode The system will move to new positions referenced from the home position based on the Auto Position Mode internal function Incremental Auto Position Mode The system will move to new positions referenced from the current position based on the Auto Position Mode internal function Absolute O ne Cycle Auto Running M ode This setting operates the same as setting 5 except that the DI acts as an edge trigger and initiates only one cycle Incremental O ne Cycle Auto Running M ode This setting operates the same as setting 6 except that the DI acts as an edge trigger and initiates only one cycle SureServo AC Servo Systems User Manual l 4 29 Chapter 4
29. Extended Parameters GZ Position Loop Proportional Gain KPP Mem Addr 0200 h Range 0 1023 U nits rad s Default 35 Control M odes P This parameter adjusts the proportional gain of the position control loop thereby affecting system stiffness and response Higher gains reduce position error and increase responsiveness However if the setting is too high it may generate oscillation or noise in the system In Easy Tune mode this parameter is adjusted by the system For information regarding manual tuning of this parameter refer to M anual Tuning M ode Details in the Control M odes of Operation and Tuning chapter E2259 Position Loop Gain Boost M em Addr 0201 h Range 10 500 U nits 96 D efault 100 Control Modes P This parameter sets the amount of KPP boost when the application condition is met Use P2 27 to set the condition in which this boost will be applied to the system GZH Position Feed Forward Gain KFF M em Addr 0202 h Range 10 20 000 Units 0 0001 D efault 5000 Control Modes P This parameter sets the Feed Forward Gain when executing the Position Control Command It is used to reduce position following error and shorten settling time Increase the gain to reduce the error However increasing it too much can lead to mechanical resonance and vibration For information regarding manual tuning of this parameter refer to M anual Tuning M ode Details in the Control M odes of Operation and Tuning
30. P0 18 P1 31 P4 20 P4 21 tet Parameters P2 10 P2 22 may or may not return to factory default values when j switching control modes depending upon the setting of P1 01 Refer to P1 01 for details regarding how these parameters are defaulted Abbreviations of Control Modes P Position control mode T Torque control mode V Velocity control mode Parameter Summary Notes N otes 1 Read only register 2 Parameter cannot be set when the servo drive is enabled paa 3 Parameter is effective only after power to the servo drive has been cycled 4 Parameter setting not written to drive flash memory not retained when power is off 5 Parameter does not return to factory default when P2 08 is set to 10 6 Parameter may or may not return to factory default when switching control modes depending upon P1 01 setting 7 Block Transfer Parameters must be entered from the drive keypad j Parameter values are in decimal format unless otherwise indicated by h for hexadecimal 4 2 l SureServo AC Servo Systems User Manual 2nd Ed RevB 08 2011 Chapter 4 Servo Drive Parameters Parameter Summary Parameter Firmware Versions Some parameters and settings are available or changed only in later firmware versions of SureServo drives Check P0 00 to determine which firmware version you have Refer to Appendix D for further information regarding changes in latest firmware Parameters settings available changed in higher firmw
31. SERVO DRIVE PARAMETERS In This Chapter Parameter Overview and Note Symbols 4 2 Parameter GFOUDE 3 AGAM EG BU Once 309 RR CI pac CH e KALA 4 2 Reset Parameter DefaultS 0 0 0 0 aa 4 2 Abbreviations of Control Modes 4 2 Parameter Summary NOUS soci ka aed RO E kee ead 4 2 Parameter SUMMA Xa haaa ANAK os 4 3 Parameter Firmware Versions ccc eee ee eens 4 3 Parameter Summary Listings s ux m nese eR ERE EU E EE 4 3 Detailed Parameter Listings 4 10 Sample Parameter Listing cece ee ees 4 10 Monitor Parameters uoaccoxuesd ea ad 6 4 ae nee PH d 4 11 Basic Parameters x sss RERO KANG AG ER OR X LXLEG RO RE Rond 4 17 Extended Parameters ioc dese denas PIC V E RR ee 4 40 Communication Parameters 00 ccc eee eee 4 66 Diagnostic Parameters cce iniit aaan 4 69 Chapter 4 Servo Drive Parameters ET Parameter Overview and Note Symbols Parameter Groups The SureServo drive has five parameter groups Group 0 Monitor parameters example PO xx Group 1 Basic parameters example P1 xx Group 2 Extension parameters example P2 xx Group 3 Communication parameters example P3 xx Group 4 Diagnostic parameters example P4 xx Reset Parameter Defaults To reset the parameters to the factory default values set parameter P2 08 to 10 The following parameters do not return to factory default values after setting P2 08 to 10 P0 04 P0 08
32. Servo Drive Parameters En Acceleration Time Internal Indexer Mem Addr 0122 h Range 1 20 000 Units ms Default 200 Control Modes Pr V When parameter settings are used as velocity commands Internal Indexer this parameter sets the motor acceleration rate When parameter settings are used as position commands Internal Indexer this parameter sets both acceleration and deceleration ramps for forward direction The value entered into this parameter sets the time required to accelerate from 0 to the Maximum Velocity Limit setting of P1 55 That same rate of acceleration or slope is then used for acceleration to any velocity Example P1 55 3000 rpm P1 34 200 ms P1 34 acceleration rate 3000rpm 200ms 15000 rpm s P1 34 acceleration time 0 9 000 rpm 9000rpm 15000rpm s 600ms The total acceleration time can be calculated as follows taccel total 7 1p1 34 1 36 Note This parameter is valid only when P1 36 0 DES Deceleration Time Internal Indexer Mem Addr 0123 h Range 1 20 000 Units ms Default 200 Control Modes Pr V This parameter sets the motor deceleration rate when parameter settings are used as velocity commands Internal Indexer When parameter settings are used as position commands Internal Indexer this parameter sets both acceleration and deceleration ramps for reverse direction The value entered into this parameter sets the time required to decelerate to 0 rpm f
33. TL P1 12 pele PTL 0 torque NTL P1 13 DI forward mo PTL 20 torque P2 10 P2 17 26 NTL T_REF Al reverse k PTL 0 torque TCS Torque Command Select DI function P2 10 P2 17 16 TCS0 amp 17 TCS1 2nd Ed RevB 08 2011 SureServo AC Servo Systems User Manual 4 63 Chapter 4 Servo Drive Parameters Special Input Functions Mem Addr 0241 h Range 0 FFFF h Units bit Default 0 Control Modes P V T This parameter varies by firmware version For revision details refer to Appendix D Latest SureServo Firmware Revisions This is a multi function parameter that controls the behavior of several different DI and DO alarm functions For most applications this parameter does not need to be changed However if you require some different behavior from some of the inputs or Alarm 08 you can modify certain behaviors by turning the parameter bits ON or OFF as described Set these parameter bits directly through software or manually set the parameter to the hexadecimal number that forms the binary bit pattern required for your application P2 65 Bit Number 15 14 13 12 11 10 9 8 7 6 58 EM ES E28 INN MN Applicable DI DO DI8 DI DI DI or DO 1 8 1 5 1 8 1 8 n a n a n a Dl or DO 05 07 new 16 14 Function Setting ALE08 function 17 15 Settings Bit 0 Contact type for DI assigned asVCSO or VCS1 P2 10 P2
34. This parameter stores the second most recent fault code on record DY 1 Fault Record N 2 Mem Addr 0402 h Range ALEO1 ALE22 Units n a Default 0 Control M odes P V T This parameter stores the third most recent fault code on record DE 1 Fault Record N 3 Mem Addr 0403 h Range ALEO1 ALE22 Units n a Default 0 Control M odes P V T This parameter stores the fourth most recent fault code on record ve 1 Fault Record N 4 M em Addr 0404 h Range ALEO1 ALE22 Units n a D efault 0 Control M odes P V T This parameter stores the fifth most recent fault code on record 2nd Ed RevB 08 2011 SureServo AC Servo Systems User Manual l 4 69 Chapter 4 Servo Drive Parameters A JOG Function Mem Addr 0405 h Range 1 5000 Units rom Default 20 Control M odes P V T This parameter is a function that applies a command to move the system The operation instructions are as follows O peration from the Keypad 1 Press the Enter key to set the JOG velocity the default value is 20 rpm The jog can be set from 1 rpm to the maximum allowable rpm see P1 55 2 Press the Enter key again to activate JOG mode and the display will show JOG N ote The servo system must be enabled without any active faults in order for the motor to turn 3 Press and hold the UP or DOWN arrow keys to move the motor CW or CCW depends upon the direction setting see P1 01 4 To change the JOG velocity again press th
35. Time 8 Auto Index M ode 0 00 120 00 Electronic Gear Numerator 2 Electronic Gear Numerator 3 Electronic Gear Numerator 4 1 32 767 pulse Velocity and Position Deviation Scaling Factor 0 11 times Advanced Torque Limit M ode 0 3 Special Input Functions Y Y Y O FFFF h bit Some parameters vary by firmware version Refer to Appendix D for revision details 2nd Ed Rev B 08 2011 SureServo AC Servo Systems User Manual 4 7 Chapter 4 Servo Drive Parameters Group 3 Communication Parameters Description Range Communication Address 1 254 Transmission Speed 0 5 Communication Protocol 0 8 Communication Fault Action 0 1 Communication W atchdog Time O ut 0 20 Communication Selection 0 2 Reserved Communication Response Delay Time Y Y Y 0 255 0 5 ms Digital Input Software Control M ask Y Y Y O FFFF h bit Some parameters vary by firmware version Refer to Appendix D for revision details N otes Read only register Parameter cannot be set when the servo drive is enabled Parameter does not return to factory default when P2 08 is set to 10 1 2 ai 3 Parameter is effective only after power to the servo drive has been cy
36. a motors 0 2000 SVM 2xxx medium inertia motors Control Modes P V T This parameter sets the maximum motor velocity velocity The default setting is the rated velocity 4 38 SureServo AC Servo Systems User Manual 2nd Ed RevB 08 2011 Chapter 4 Servo Drive Parameters GE Overload Output Warning Threshold Mem Addr 0138 h Range 0 120 Units Default 120 Control Modes P V T This parameter sets the level of the overload output warning threshold When the system reaches threshold time level set by this parameter it activates the Overload Warning DO signal P2 18 P2 22 10 new setting in this firmware and displays ALE23 on the LED Display ALE23 does not need to be cleared since it is only a warning rather than a fault The setting of this parameter is a percentage of the continuous overload time required to initiate the Overload Fault ALEO6 The ALEO6 Overload Fault times are set by P1 31 and are discussed in Chapter 1 of this manual toL warning toL fault X setting value of P1 56 Example for 100 750W systems operating at 200 OL and P1 56 60 For 100 750W systems to fault 200 OL 8s per Chapter 1 OL charts toL warning 85 x 60 4 8s This parameter varies by firmware version For revision details refer to Appendix D Latest SureServo Firmware Revisions 2nd Ed RevB 08 2011 SureServo AC Servo Systems User Manual 4 39 Chapter 4 Servo Drive Parameters
37. al Position Command DI Signal Position Command PCS2 13 PCS1 12 PCSO 11 Parameters PCS2 13 PCS1 12 PCSO 11 Parameters Off Off Off P1 15 P1 16 On Off Off P1 23 P1 24 Off Off On P1 17 P1 18 On Off On P1 25 P1 26 Off On Off P1 19 P1 20 On On Off P1 27 P1 28 Off On On P1 21 P1 22 On On On P1 29 P1 30 Note Pt mode accepts pulse inputs PCS Position Command Select DI function P2 10 P2 17 settings 11 PCS0 12 PCS1 13 PCS2 Position 1 Command Counts M em Addr 0110 h Range 10 000 Units encoder counts Default 0 Control M odes Pr This parameter sets the number of encoder pulses for Position 1 Command when using the Internal Indexer Refer to P1 15 for Position Command revs Refer to P1 15 for Position Command source selection Determine the total number of commanded pulses for Position 1 as follows Pos 1 Command P1 15 10 000 P1 16 Example For 1 5 revolutions set P1 15 1 and set P1 16 5000 Position 2 Command Revolutions M em Addr 0111 h Range 30 000 U nits revs D efault 0 Control M odes Pr This parameter sets the number of revolutions for Position 2 Command when using the Internal Indexer Refer to P1 18 for Position Command counts Refer to P1 15 for Position Command source selection Position 2 Command Counts Mem Addr 0112 h Range 10 000 Units encoder counts Default 0 Control Modes Pr This parameter sets the number of encoder pulses for Posi
38. and 3 revolutions P1 20 Position Command 3 counts P1 21 Position Command 4 revolutions P1 22 Position Command 4 counts P1 23 Position Command 5 revolutions P1 24 Position Command 5 counts P1 25 Position Command 6 revolutions P1 26 Position Command 6 counts P1 27 Position Command 7 revolutions P1 28 Position Command 7 counts P1 29 Position Command 8 revolutions P1 30 Position Command 8 counts Group 1 Basic Parameters table continued on next page P1 10 P1 11 P1 12 P1 13 P1 14 Y 4 4 SureServo AC Servo Systems User Manual 2nd Ed RevB 08 2011 Chapter 4 Servo Drive Parameters Group 1 Basic Parameters continued Description Range Motor Code SVA 2040 100 400W Motor Code SVA 2100 750W 1kW Motor Code SVA 2300 2 3kW 10 11 12 20 21 22 30 31 Motor Stop Mode Selection 0 11 Position Control M ode when using internal indexer 0 8 Acceleration Time when using internal indexer lt 1 20 000 Deceleration Time when using internal indexer 1 20 000 lAcceleration D eceleration S curve 0 10 000 Inertia Mismatch Ratio 0 200 0 Zero Velocity O utput Thresh
39. are versions Firmware v2 10 Changes P0 02 modified P0 17 new parameter P1 33 new settings 7 and 8 P1 56 new parameter P2 10 P2 17 modified P2 18 P2 22 new setting 10 P2 32 modified Parameter Summary Listings Group 0 Monitor Parameters Description O lt j we P o P2 64 new parameter P2 65 new parameter P3 08 new parameter P4 07 modified Firmware v2 105 Changes P0 18 new parameter P0 00 Firmware Version factory setting varies P0 01 Drive Fault Code 0 22 N A P0 02 Drive Status Front Panel Display 0 16 P0 03 Analog M onitor O utputs 0 55 P0 04 Status Monitor 1 0 16 P0 05 Status Monitor 2 0 16 P0 06 Status Monitor 3 0 16 P0 07 Status Monitor 4 0 16 P0 08 Status Monitor 5 0 16 0 P0 09 Block Transfer Parameter 1 100 417 h 407 h P0 10 Block Transfer Parameter 2 100 417 h 10F h P0 11 Block Transfer Parameter 3 100 417 h 110 h P0 12 Block Transfer Parameter 4 100 417 h 224 h P0 13 Block Transfer Parameter 5 100 417 h 111 h P0 14 Block Transfer Parameter 6 100 417 h 112 h P0 15 Block Transfer Parameter 7 100 417 h 225 h P0 16 Block Transfer Parameter 8 100 417 h 109 h P0 17 rR NSN NY UI UID UID L Ul O utput F
40. ator and P1 44 P2 60 P2 61 P2 62 set selectable numerators Select which of the four numerators will be active by using the Electronic Gear Numerator Select digital inputs For information regarding the setting of the DI functions refer to P2 10 P2 17 and to the Electronic Gear Ratio section of Chapter 5 Control M odes of Operation and Tuning Electronic Gear Numerator Selection Digital Inputs EGN EGN Select 1 EGN Select 0 Selected 0 0 P1 44 0 1 P2 60 1 0 P2 61 1 1 P2 62 Electronic Gear Numerator Select Inputs 43 44 Numerator 1 P1 44 or Numerator 2 P2 60 or f Numerator 3 P2 61 or Numerator 4 P2 62 Position Command Low pass f oui Filter P1 08 Denominator P 1 45 P2 60 continued The electronic gear ratio setting MUST be within the following range 1 50 lt Electronic Gear Numerator Electronic Gear Denominator lt 200 When electronic gearing is used and no Electronic Gear Numerator Select DI have been configured the default gear ratio is determined by P1 44 and P 145 4 58 l SureServo AC Servo Systems User Manual 2nd Ed RevB 08 2011 Chapter 4 Servo Drive Parameters COC Electronic Gear Numerator 3 Mem Addr 023D h Range 1 32 767 Units pulse Default 1 Control Modes P e Refer to P2 60 for explanation of selectable Electronic Gear Numerator parameters P2 60 P2 62 The ele
41. chine protection features such as Servo Enable and O vertravel limits Use this parameter with extreme caution LZEY Auto and Easy Tuning Mode Response Level Mem Addr 021F h Range 0 FF h Unit n a Default 44 h Control Modes P V T Settings Easy Tune Stiffness Auto tune Response Unused Easy Tune Stiffness 0 F Where 0 equals the lowest stiffness setting and F equals the highest stiffness setting 16 total settings possible The higher the setting the stiffer the control loop Auto Tune Response 0 F Where 0 equals the slowest response setting and F equals the fastest response setting 16 total settings possible The higher the setting the faster the autotune feature will respond to changes Refer to parameter P2 32 for enabling and disabling this feature 2ndEd RevB 08 2011 SureServo AC Servo Systems User Manual 4 49 Chapter 4 Servo Drive Parameters G 2 Tuning Mode Mem Addr 0220fh Range 0 5 Unit n a Default 0 Control M odes P V T This parameter varies by firmware version For revision details refer to Appendix D Latest SureServo Firmware Revisions Settings 0 Manual Tuning M ode 1 Easy Tune Mode 2 PI Adaptive Auto Tune M ode 3 P Fixed Auto Tune M ode ratio is fixed response levels are adjusted 4 PDFF Adaptive Auto Tune Mode 5 PDFF Fixed Auto Tune M ode ratio fixed response levels are adjusted e PI Proportional Integral control e PDFF Pseudo
42. cled JE 4 Parameter setting not written to drive flash memory not retained when power is off 5 6 Parameter may or may not return to factory default when switching control modes depending upon P1 01 setting 7 Block Transfer Parameters must be entered from the drive keypad 4 8 l SureServo AC Servo Systems User Manual 2nd Ed Rev B 08 2011 Chapter 4 Servo Drive Parameters Group 4 Diagnostic Parameters Description Range P4 00 Fault Record N most recent ALE01 ALE22 P4 01 Fault Record N 1 ALEO1 ALE22 P4 02 Fault Record N 2 ALEO1 ALE22 P4 03 ALEO1 ALE22 P4 04 Fault Record N 3 Fault Record N 4 ALEO1 ALE22 P4 05 Jog Function 1 5000 P4 06 Force O utputs Command 00 1F h PA 07 Input Status with external control Force Input Command with software control O FFFF h P4 08 P4 09 P4 10 P4 11 P4 12 P4 13 P4 14 P4 15 P4 16 P4 17 P4 18 P4 19 P4 20 P4 21 Reserved Output Status Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Analog Monitor 1 Offset ch 1 Analog Monitor 2 Offset ch 2 Analog Velocity Input O ffset 800 mV 800 mV P4 22 5000 mV P4 23 AnalogTorque Input O ffset Y 5000 mV Some parameters vary by firmware versi
43. ctronic gear ratio setting MUST be within the following range 1 50 lt Electronic Gear Numerator Electronic Gear Denominator lt 200 When electronic gearing is used and no Electronic Gear Numerator Select DI have been configured the default gear ratio is determined by P1 44 and P 145 Electronic Gear Numerator 4 Mem Addr 023E h Range 1 32 767 Units pulse Default 1 Control Modes P e Refer to P2 60 for explanation of selectable Electronic Gear Numerator parameters P2 60 P2 62 The electronic gear ratio setting MUST be within the following range 1 50 lt Electronic Gear Numerator Electronic Gear Denominator lt 200 When electronic gearing is used and no Electronic Gear Numerator Select DI have been configured the default gear ratio is determined by P1 44 and P 145 2nd Ed RevB 08 2011 SureServo AC Servo Systems User Manual l 4 59 Chapter 4 Servo Drive Parameters DZXX velocity and Position Deviation Scaling Factor Mem Addr 023F h Range 0 11 U nits times Default 0 Control Modes P V This parameter sets the scaling factor for both the Position Deviation Fault Window P2 35 and internal Velocity P1 09 P1 11 commands Settings TS Internal Velocity Command Scale Position Deviation Scale Unused Internal Velocity Command Scale Settings This scaling applies to internal velocity commands only and does NOT apply to velocity limit thresholds 0 No scaling The internal Veloci
44. dexing operations Refer to Chapter 5 Control M odes of O peration and Tuning for explanation of status codes SureServo AC Servo Systems User Manual 2nd Ed RevB 08 2011 Chapter 4 Servo Drive Parameters ZEE index Mode Output Signal Delay Time Mem Addr 022D h Range 0 250 Units 4 ms Default 1 Control Modes P This parameter sets the ON time delay after the index move is complete when Index Mode is enabled Note Used only when P2 44 is set to 1 Refer to P1 33 and to the Position Control Modes section of chapter 5 for more details LT Index Mode Stations M em Addr 022E h Range 2 32 Units n a D efault 6 Control Modes P This parameter sets the number of positions used during index mode operation Note Used only when P1 33 is setto 2 3 or 4 Refer to P1 33 and to the Position Control M odes section of chapter 5 for more details MAYA Position Deviation Clear Delay Time M em Addr 022F h Range 0 250 Units 20 ms Default 0 Control Modes P This parameter sets the delay time after the deviation subsides during index mode operation N ote Used only when P1 33 is set to 2 3 or 4 2nd Ed RevB 08 2011 SureServo AC Servo Systems User Manual 4 53 Chapter 4 Servo Drive Parameters yet Backlash Compensation Index Mode Mem Addr 0230 h Range 0 10 312 0 312 counts direction U nits counts Default 0 Control M odes Pr This parameter sets the amount of positio
45. dix D Latest SureServo Firmware Revisions P3 08 Bit 15 HA IG 2 33 p wo 9 18I 7 6 5 42 93 22 3J Actual CN 1 DI DI8 DI7 DI6 DI5 DI4 DI3 DI2 DI1 Pr Mode Virtual DI DI16 DI15 D114 DI13 DI12 DI11 DI10 DI9 4 68 l SureServo AC Servo Systems User Manual P3 08 Virtual DI Factory Assigned Functions Bit DI PULAG cua DI Function Description 8 9 108 Command Trigger Pr mode only 9 10 111 Position Command Select 0 PCSO 10 11 112 Position Command Select 1 PCS1 11 12 113 Position Command Select 2 PCS2 12 13 102 Alarm Reset 13 14 127 Start Home M ove Trigger 14 15 137 Jog Forward 15 16 138 Jog Reverse Settings Bit 0 7 DI1 D18 DI controlled by external hardware DI controlled by Modbus communications 0 1 Bit 8 15 DI9 DI16 0 Disable Virtual DI 1 Enable Virtual DI control via Modbus communications 2nd Ed Rev B 08 2011 Chapter 4 Servo Drive Parameters Diagnostic Parameters Eee 1 Fault Record Most recent N Mem Addr 0400 h Range ALEO1 ALE22 Units n a Default 0 Control Modes P V T This parameter stores the most recent fault code on record P4 01 through P4 04 stores previous fault code records in order of occurrence X00 1 Fault Record N 1 M em Addr 0401 h Range ALEO1 ALE22 Units n a D efault 0 Control M odes P V T
46. e M ODE key then repeat operation sequence above O peration using D igital Inputs In order to control the jog function from the digital inputs they must first be configured see P2 10 through P2 17 Jog Forward is code 37 Jog Reverse is code 38 O nce they are configured they can be used to initiate the jog function Communication Control W rite the following values to the parameter via serial communications First enter 0 3000 to set the velocity in rpm Then use 4998 Move CCW command 4999 Move CW command 5000 Stop Command Please note 1 When using communication control P2 30 should be set to 5 in order to prevent excessive writes to the system flash memory 2 It is necessary in all above cases that the servo is enabled in order to produce movement in the system WARNING Unexpected and potentially dangerous results can occur if the JOG function is used when the servo drive is configured to run a velocity profile For example if you put the drive in JOG mode when it is configured to run a velocity profile the velocity profile setting will take control and run the servo at the profile setting velocity Pressing an arrow key will jog the motor at the jog speed while the key is depressed but the motor will return to the velocity profile setting as soon as the arrow key is released 4 70 l SureServo AC Servo Systems User Manual 2nd Ed RevB 08 2011 Chapter 4 Servo Drive Parameters 2 Force Outputs Co
47. erup Bus voltage Ratio of load inertia to motor inertia Jj m Motor feedback captured position counts 10 000 counts 1 rev motor position in counts relative to the last incremental position command executed Motor feedback captured position revs motor position in revolutions relative to the last incremental position command executed 4 12 SureServo AC Servo Systems User Manual 2nd Ed RevB 08 2011 Chapter 4 Servo Drive Parameters CE Analog Monitor Outputs Mem Addr 0003 h Range 0 55 Units n a Default 1 Control M odes P V T This parameter determines the functions of the analog monitor outputs Settings BEBB nG Ts Analog Output Channel 2 Function Analog Output Channel 1 Function Unused Analog Output Function Settings 0 M otor velocity 8V maximum velocity M otor torque 8V maximum torque Pulse command frequency 8V 650kpps Velocity command 8V maximum velocity command Torque command 8V maximum torque command DC bus voltage 8V 450V P0 03 Example P0 03 3 Ch2 monitors Velocity Command Ch1 monitors M otor Velocity Ch 2 Vema max velocity cmd V py t 8V P 1 04 100 Ch 1 Vmotor max velocity V o 8V P1 05 100 Ui BB WN H N otes 1 Use P1 04 and P1 05 for analog output scaling 2 The resolution for both channels is 16V 1250 counts 12 8 mV per count 2ndEd RevB 08 2011 SureServo AC Servo Systems User Manual l 4 13 C
48. ether consecutively for efficient access via block transfers when using Modbus communications Use the keypad to enter the hexadecimal memory address of the desired parameter number i e enter P1 15 as 10F P4 07 as 407 into the block transfer parameter Serial communication M odbus reads and writes will affect the block transfer parameter s data not the address j Block Transfer Parameters P0 09 P0 16 must be entered from the drive keypad IST Block Transfer Parameter 2 M em Addr 000A h Range 100 417 h address for P1 00 P4 23 Units n a D efault 10F h address for P1 15 Control M odes P V T e Refer to P0 09 for explanation of the Block Transfer parameters P0 09 P0 16 IE Block Transfer Parameter 3 M em Addr 000B h Range 100 417 h address for P1 00 P4 23 Units n a D efault 110 h address for P1 16 Control M odes P V T e Refer to P0 09 for explanation of the Block Transfer parameters P0 09 P0 16 ISP Block Transfer Parameter 4 M em Addr 000C h Range 100 417 h address for P1 00 P4 23 Units n a D efault 224 h address for P2 36 Control M odes P V T e Refer to P0 09 for explanation of the Block Transfer parameters P0 09 P0 16 IE Block Transfer Parameter 5 M em Addr 000D h Range 100 417 h address for P1 00 P4 23 Units n a D efault 111 h address for P1 17 Control M odes P V T e Refer to P0 09 for explanation of the Block Transfer parameters P0 09 P0 16 2ndEd RevB 08
49. gle Step O peration Jog Forward Jog Reverse Step Reverse Pr mode only Step Forward Pr mode only Return to Index 1 Auto Index Mode only return motor to 1st position Auto Position mode Electronic Gear Numerator Select 0 EGN S0 see P2 60 P2 62 Electronic Gear Numerator Select 1 EGN S1 see P2 60 P2 62 Inhibit Pulse Command Terminal Causes external pulse input command to be ignored SureServo AC Servo Systems User Manual l 4 43 Chapter 4 Servo Drive Parameters 1 When P2 10 P2 17 are set to zero 0 the corresponding inputs are disabled 2 Settings 11 17 are for single control modes 18 20 are for dual control modes DI Active State Settings P2 10 P2 17 0 Normally Closed use N C contact 1 Normally O pen use N O contact Examples for P2 10 P2 17 Setting 101 configures this input for Servo Enable command and requires a normally open contact to be connected to it Setting 21 configures this input for Fault Stop circuit monitoring and requires a normally closed contactto be wired to it E2354 6 Digital Input Terminal 2 DI2 Mem Addr 020B h Range 0 145 Units n a Default 104 Control M odes P V T Refer to P2 10 for explanation of DI Terminal parameters P2 10 through P2 17 GZ 6 Digital Input Terminal 3 DI3 Mem Addr 020C h Range 0 145 Units n a Default 116 Control M odes P V T Refer to P2 10 for explanation of DI Terminal parameters P2 10 through P2 1
50. hapter 4 Servo Drive Parameters ine 5 Status Monitor 1 Mem Addr 0004 h Range 0 16 U nits n a Default 0 Control Modes P V T This parameter can be set to provide the value of one of the status monitoring functions found in parameter P0 02 Example Set P0 04 to 06 Then all subsequent reads of P0 04 will return the actual motor velocity in rpm IX 5 Status Monitor 2 M em Addr 0005 h Range 0 16 Units n a D efault 0 Control M odes P V T e Refer to P0 04 for explanation of the Status Monitor parameters P0 04 P0 08 40 33 5 Status Monitor 3 M em Addr 0006 h Range 0 16 U nits n a Default 0 Control Modes P V T e Refer to P0 04 for explanation of the Status Monitor parameters P0 04 P0 08 WA 5 Status Monitor 4 M em Addr 0007 h Range 0 16 Units n a D efault 0 Control M odes P V T e Refer to P0 04 for explanation of the Status Monitor parameters P0 04 P0 08 Bi 5 Status Monitor 5 M em Addr 0008 h Range 0 16 Units n a D efault 0 Control M odes P V T e Refer to P0 04 for explanation of the Status Monitor parameters P0 04 P0 08 4 14 SureServo AC Servo Systems User Manual 2nd Ed RevB 08 2011 Chapter 4 Servo Drive Parameters Ari Block Transfer Parameter 1 Mem Addr 0009 h Range 100 417 h address for P1 00 P4 23 Units n a Default 407 h address for P4 07 Control Modes P V T The block transfer parameters P0 09 through P0 16 are used to group parameters tog
51. ity DO becomes active P1 38 has no effect unless the Low Velocity Clamp DI is active Low Velocity Clamp DI has no effect unless motor velocity command x P1 38 GEE Target Velocity Output Threshold Mem Addr 0127 h Range 0 5000 Units rom Default 3000 Control M odes P V T This parameter sets the threshold used to determine when the At Command Velocity digital output becomes active For example the At Command Velocity output will be active by default when the motor velocity is equal to or greater than the current commanded velocity The digital output functions are assigned by parameters P2 19 through P2 22 2ndEd RevB 08 2011 SureServo AC Servo Systems User Manual l 4 31 Chapter 4 Servo Drive Parameters GZ 2 Analog Full Scale Velocity Command Velocitv Mode 2 Analog Full Scale Velocity Limit P amp T Modes Mem Addr 0128 h Range 0 10 000 Units rpm Default 3000 SVL models 2000 SVM models Control M odes P V T In Position and Torque Modes this parameter sets the maximum velocity limit based on the full scale input analog voltage 10V Velocity Limit Command Input V P1 40 10V n Velocity Mode this parameter sets the range of the Velocity Command in rpm for a velocity input range from OV to 10V The same range applies in the negative direction from OV to 10V if there is no offset P4 22 can be used to provide an offset such that a non zero input generates a zero rpm command
52. ive deviation drive fault condition Refer to P2 63 for scaling details R Position 1 Velocity Mem Addr 0224 h Range 1 5 000 Units rom Default 1000 Control Modes P This is the command velocity that is used to move to Position 1 Refer to P1 15 and P1 16 to set the Position 1 command position absolute mode or command distance incremental mode WEYA Position 2 Velocity M em Addr 0225 h Range 1 5 000 Units rpm D efault 1000 Control Modes P This is the command velocity that is used to move to Position 2 Refer to P1 17 and P1 18 to set the Position 2 command position absolute mode or command distance incremental mode G Position 3 Velocity M em Addr 0226 h Range 1 5 000 Units rpm D efault 1000 Control Modes P This is the command velocity that is used to move to Position 3 Refer to P1 19 and P1 20 to set the Position 3 command position absolute mode or command distance incremental mode LZXT Position 4 velocity M em Addr 0227 h Range 1 5 000 Units rpm D efault 1000 Control Modes P This is the command velocity that is used to move to Position 4 Refer to P1 21 and P1 22 to set the Position 4 command position absolute mode or command distance incremental mode 2ndEd RevB 08 2011 SureServo AC Servo Systems User Manual l 4 51 Chapter 4 Servo Drive Parameters LZET Position 5 velocity M em Addr 0228 h Range 1 5 000 U nits rpm D efault 1000 Control Modes P
53. meter sets the dwell time at Index Position 6 during Auto Position operation If this parameter is set to zero Auto Position Mode will not index to this Index Position Refer to P1 33 and Chapter 5 Control Modes of O peration and Tuning for more information regarding Auto Position M ode P2 58 Dwell Time 7 Auto Position Mode Mem Addr 023A h Range 0 00 120 00 Units s Default 0 Control Modes P This parameter sets the dwell time at Index Position 7 during Auto Position operation If this parameter is set to zero Auto Position Mode will not index to this Index Position Refer to P1 33 and Chapter 5 Control Modes of Operation and Tuning for more information regarding Auto Position M ode 2ndEd RevB 08 2011 SureServo AC Servo Systems User Manual 4 57 Chapter 4 Servo Drive Parameters P2 59 Dwell Time 8 Auto Position Mode Mem Addr 023B h Range 0 00 120 00 Units s Default 0 Control Modes P This parameter sets the dwell time at Index Position 8 during Auto Position operation If this parameter is set to zero Auto Position Mode will not index to this Index Position Refer to P1 33 and Chapter 5 Control Modes of Operation and Tuning for more information regarding Auto Position Mode P2 60 Electronic Gear Numerator 2 Mem Addr 023C h Range 1 32 767 Units pulse Default 1 Control Modes P This parameter sets a numerator of the Electronic Gear Ratio P1 45 sets the denomin
54. methods to enable the Torque Limit function This parameter varies by firmware version For revision details refer to Appendix D Latest SureServo Firmware Revisions NTL Negative Torque Limit PTL Positive Torque Limit T REF Analog Torque Input CN1 18 TLy Applied Negative Torque Limit r mer E TLp Applied Positive Torque Limit i NIL 222 r Settings 0 Disable Advanced Torque Limit function 1 Bi directional Torque Limit Torque Limit applies in both forward and reverse directions If T REF lt PTL TLp T_REF If T_REF 5 PTL TLp PTL If T REF lt NTL TLy 7T REF If T REF gt NTL TLy NTL Torque Limit Clamp Selection for P2 64 1 Torque Enable Motor Torque Comand Select DI o Active Torque Clam M ethod Direction TCS1 17 TCSO 16 q p P1 02 2 1x 0 0 Pt V Modes T REF Al Pr Vz Modes 0 torque forward 4 or or 0 1 NTL PTL from P1 12 DI reverse 1 0 NTL PTL from P1 13 P2 10 P2 17 09 1 1 NTL PTL from P1 14 DI forward N A NTL PTL from T REF P2 10 P2 17 25 reverse NTL PTL from P1 12 DI forward N A NTL PTL from P1 13 P2 10 P2 17 26 reverse NTL PTL from T_REF TCS Torque Command Select DI function P2 10 P2 17 16 TCS0 amp 17 TCS1 2nd Ed Rev B 08 2011 SureServo AC Servo Systems User Manual l 4 61 Chapter 4 Servo Drive Parameters eee P2 64 Settings continued
55. mmand Mem Addr 0406 h Range 00 IF h Units n a D efault 00 Control M odes P V T Use this parameter to independently force the state of the digital outputs Refer to P2 18 P2 22 to assign the DO functions O peration Instructions Select P4 06 and press the ENTER key The display will then show OP xx where xx represents the parameter range from 00 to 1F in hex numbers The two hex digits represent five binary bits which correspond to the five DO The least significant bit represents D O 1 and the most significant bit represents DO5 When the bit 2 1 the corresponding DO is active and when the bit 0 the corresponding DO is inactive Warning P4 06 takes effect immediately The outputs change state immediately as the value in P4 06 is incremented or decremented 1 The outputs revert to normal operation when you exit P4 06 2 The force outputs function is intended for test purposes only It will not function if the servo drive is enabled Input Status M em Addr 0407 h Range O FFFF h Units n a Default O h Control M odes P V T Use this parameter to read the status of the digital inputs Refer to P2 10 P2 17 to assign DI functions The least significant bit bit 0 shows DI1 status and bit 7 shows D18 status Use this parameter in conjuction with P3 08 to change the status of actual and virtual Digital Inputs via Modbus communications This parameter varies by firmware version For revision details
56. mmand source selection Position 4 Command Counts M em Addr 0116 h Range 10 000 U nits encoder counts D efault 0 Control M odes Pr This parameter sets the number of encoder pulses for Position 4 Command when using the Internal Indexer Refer to P1 21 for Position Command revs Refer to P1 15 for Position Command source selection Determine the total number of commanded pulses for Position 4 as follows Pos 4 Command P1 21 10 000 P1 22 08 2011 SureServo AC Servo Systems User Manual l 4 25 Chapter 4 Servo Drive Parameters D Position 5 Command Revolutions Mem Addr 0117 h Range 30 000 Units revs Default 0 Control M odes Pr This parameter sets the number of revolutions for Position 5 Command when using the Internal Indexer Refer to P1 24 for Position Command counts Refer to P1 15 for Position Command source selection DEO Position 5 Command Counts Mem Addr 0118 h Range 10 000 Units encoder counts Default 0 Control M odes Pr This parameter sets the number of encoder pulses for Position 5 Command when using the Internal Indexer Refer to P1 23 for Position Command revs Refer to P1 15 for Position Command source selection Determine the total number of commanded pulses for Position 5 as follows Pos 5 Command P1 23 10 000 P1 24 Dv Position 6 Command Revolutions Mem Addr 0119 h Range 30 000 U nits revs D efault 0 Control M odes Pr
57. n compensation in counts used in Index Mode Used only when P1 33 is set to 2 3 or 4 There is a slight amount of backlash inherent in all mechanical systems Set the magnitude of the compensation and the direction in which it should be applied Note The electronic gear ratio has to be considered when setting the magnitude Compensation Counts P2 48 Electronic Gear Ratio Settings BABAO TSS Pulse Counts Unused 0 Polarity Pulse Counts Settings 0 312 Number of pulse counts Polarity Settings 0 Forward compensation 1 Reverse compensation System must be re homed after making any changes to this parameter 4 54 l SureServo AC Servo Systems User Manual 2nd Ed RevB 08 2011 Chapter 4 Servo Drive Parameters Z Jitter Suppression Mem Addr 0231 h Range 0 19 enable disable 0 9 Units n a Default 0 Control M odes P V e This parameter adjusts the cut off frequency of the velocity feedback into the velocity control loop It is typically used in applications where low speed performance is needed but fast response is not required As an example when the motor stops at a position the servo control loops are going to force the motor to stay where it is to within 1 encoder count In some cases based on tuning a rapid swing between 1 pulse may cause an intermittent or mechanical noise U se the parameter to suppress this type of noise problem When using this parameter set the value t
58. ng bit 7 Active Fault bit 8 Electromagnetic Brake Control bit 9 15 reserved 8 86 53 1 5 Servo On Time Record Mem Addr 0012 h Range 0 65 535 Units hr Default 0 Control Modes P V T This parameter stores and displays the total time that the servo drive is ON It is written to EEPROM once per hour 4 16 SureServo AC Servo Systems User Manual 2nd Ed RevB 08 2011 Chapter 4 Servo Drive Parameters Basic Parameters ZW 2 External Pulse Input Type Mem Addr 0100 h Range 0 132 Units n a Default 2 Control Modes P This parameter determines the input pulse type and polarity Settings 28888 Lo Input Polarity Unused Input Pulse Type Settings 0 Quadrature Input 1 Clockwise CW and Counterclockwise CCW Pulse Inputs 2 Pulse and Direction Inputs Input Polarity Settings 0 Positive Logic Active High 1 N egative Logic Active Low Polarity e 0 Positive Logic 1 Negative Logic Forward Reverse Forward Reverse Q uad 7 CW amp CCW Pulse amp JE LL 1 my Pl Direction A 7 Input Pulse Interface Maximum Input Pulse Frequency Line Driver 500 kpps Open Collector 200 kpps 2nd Ed RevB 08 2011 SureServo AC Servo Systems User Manual l 4 17 Chapter 4 Servo Drive Parameters DTI
59. o the smallest possible value highest frequency for desired performance The higher the value lower frequency cutoff the worse the at position accuracy will be not guaranteed to be 1 encoder count Settings TS Amount of Jitter Suppression Enable Disable Jitter Suppression Unused Jitter Suppression Settings 0 600Hz cutoff frequency 1 500Hz cutoff frequency 2 400Hz cutoff frequency 3 350Hz cutoff frequency 4 300Hz cutoff frequency 5 250Hz cutoff frequency 6 200Hz cutoff frequency 7 150Hz cutoff frequency 8 100Hz cutoff frequency 9 80Hz cutoff frequency Enable D isable Settings 0 Disable Jitter Suppression 1 Enable Jitter Suppression This cut off frequency must be higher than the velocity loop bandwidth P2 04 in order to assure loop stability 2ndEd RevB 08 2011 SureServo AC Servo Systems User Manual 4 55 Chapter 4 Servo Drive Parameters P2 50 Clear Position Mode Mem Addr 0232 h Range 0 2 Units n a Default 0 Control Modes P OLOCO 4 56 This parameter is used when a digital input is configured as a Clear Pulse function DIx set to 4 Refer to P2 10 P2 17 to assign the DI functions Settings 0 Triggering this input will clear any remaining active command pulses from memory Pt and Pr modes only 1 Triggering this input will clear the current system position in memory to zero Pt and Pr modes only 2 Triggering this input will clear any remaining command pulses in
60. old 0 200 Target Velocity O utput Threshold 0 5000 Analog Full Scale Velocity Command Limit 0 10 000 Analog Full Scale Torque Command Limit 0 1000 On Delay Time of Electromagnetic Brake 0 1000 Off Delay Time of Electromagnetic Brake lt lt x lt x x lt 0 1000 Electronic Gear Numerator 1 1 32 767 Electronic Gear Denominator 1 32 767 Encoder O utput Scaling Factor 1 125 10 020 12 500 Homing Mode 10 1225 Homing Velocity 1 Fast Search Velocity 11 2000 rpm Homing Velocity 2 Creep Velocity 11 500 rpm Home Position O ffset revolutions 30 000 revs Home Position Offset counts 10 000 counts Regenerative Resistor Value 10 750 Ohms 20 40 Regenerative Resistor Capacity 30 1000 W 60 120 Iin Position Window 0 10 000 counts 100 Maximum Velocity Limit Y Y 0 max velocity rpm rated Overload O utput Warning Threshold lt x x lt x x xix x x x x AR lt x x x x x x Y Y 0 120 120 Some parameters vary by firmware version Refer to Appendix D for revision details 2nd Ed Rev B 08 2011 SureServo AC Servo Systems User Manual 4 5 Chapter 4 Servo Drive Parameters Group 2 Extended Parameters Description Range
61. ommanded pulses for Position 7 as follows Pos 7 Command P1 27 10 000 P1 28 Position 8 Command Revolutions M em Addr 011D h Range 30 000 Units revs D efault 0 Control M odes Pr This parameter sets the number of revolutions for Position 8 Command when using the Internal Indexer Refer to P1 30 for Position Command counts Refer to P1 15 for Position Command source selection Position 8 Command Counts M em Adar 011E h Range 10 000 U nits encoder counts D efault 0 Control M odes Pr This parameter sets the number of encoder pulses for Position 8 Command when using the Internal Indexer Refer to P1 29 for Position Command revs Refer to P1 15 for Position Command source selection Determine the total number of commanded pulses for Position 8 as follows Pos 8 Command P1 29 10 000 P1 30 08 2011 SureServo AC Servo Systems User Manual l 4 27 Chapter 4 Servo Drive Parameters DE 5 Motor Code M em Addr 011F h Range 10 11 12 20 21 22 30 31 Units n a D efault 10 SVA 2040 20 SVA 2100 30 SVA 2300 Control M odes P V T Enter the Motor Code number of the servo motor controlled by the servo drive Settings Code Motor Drive 10 SVL 201 B SVA 2040 11 SVL 202 B SVA 2040 12 SVL 204 B SVA 2040 20 SVL 207 B SVA 2100 21 SVL 210 B SVA 2100 22 SVM 210 B SVA 2100 30 SVM 220 B SVA 2300 31 SVM 230 B SVA 2300 GEA Motor Stop Mode Selecti
62. on Refer to Appendix D for revision details 0 0 0 0 N otes 1 Read only register 2 Parameter cannot be set when the servo drive is enabled s 3 Parameter is effective only after power to the servo drive has been cycled 4 Parameter setting not written to drive flash memory not retained when power is off 5 Parameter does not return to factory default when P2 08 is set to 10 6 Parameter may or may not return to factory default when switching control modes depending upon P1 01 setting 7 Block Transfer Parameters must be entered from the drive keypad 2nd Ed Rev B 08 2011 SureServo AC Servo Systems User Manual 4 9 Chapter 4 Servo Drive Parameters Detailed Parameter Listings Sample Parameter Listing Parameter Applicable Parameter Parameter Parameter Parameter Memory Number Note Name Setting Units Address PA VA Fd Range N LEZO 2 Analo cale Velocity Command Limit Addr 0128 h Range 0 10 000 Units rpm Default 3000 SVL models 2000 SVM models Control Modes P V T eFor Position and Torque modes this parameter sets the maximum velocity limit based on the full scale input voltage 10V Velocity Limit Command Input Command Voltage P1 40 setting 10 eFor Velocity mode this parameter sets the velocity at which the motor will run when 10V is applied to the analog input Maximum Analog Velocity Command Input Command Voltage P1 40 setting 10
63. on Mem Addr 0120 h Range 00 01 10 11 Units n a Default 0 Control M odes P V T This parameter determines the stop mode when a fault occurs limit switch triggers fault stop detected serial communication error etc The parameter does not affect the operation of the mechanical spring load brake mechanism in brake motors SVx 2xxB types Settings L Fault Stop Mode Dynamic Braking drive Unused Fault Stop Mode Settings 0 Stop instantly using dynamic braking 1 Decelerate to stop using preset deceleration settings Dynamic Braking drive settings behavior when Servo On status signal is inactive These settings do NOT apply to motor mechanical braking 0 Use dynamic braking when drive is disabled 1 Allow motor to coast to stop when drive is disabled 4 28 SureServo AC Servo Systems User Manual 2nd Ed RevB 08 2011 Chapter 4 Servo Drive Parameters DES 3 Position Control Mode Internal Indexer Mem Addr 0121 h Range 0 6 D efault 0 Units n a Control M odes Pr This parameter determines the specific type of control when using Pr control mode P1 01 with the internal indexer Refer to Control M odes Chapter 5 for explanation and examples of Index M ode and internal position indexing This parameter varies by firmware version For revision details refer to Appendix D Latest SureServo Firmware Revisions Settings 0 2nd Ed Rev B 08 2011 Absolute Position M ode
64. op When the value of the velocity integral compensation is increased it can improve the velocity response ability and decrease the velocity control deviation However if the setting value is too high it may generate oscillation or noise In the Easy Tune Mode the value of this parameter is automatically set by the system For information regarding M anual Tuning of this parameter refer to Manual Tuning M ode Details in the Control Modes of Operation and Tuning chapter Velocity Feed Forward Gain KVF M em Addr 0207 h Range 0 20 000 Units 0 0001 Default 0 Control Modes V This parameter sets the Feed Forward Gain when executing the velocity control command When using the velocity smooth command increased gain can improve velocity track deviation When not using the velocity smooth command decreased gain can improve the resonance condition of the mechanical system 2ndEd RevB 08 2011 SureServo AC Servo Systems User Manual l 4 41 Chapter 4 Servo Drive Parameters 4 3 4 Factory Defaults and Password Mem Addr 0208 h Range 0 65 535 Units n a Default 0 Control Modes P V T This parameter can be used to restore factory default parameter settings and to establish a password Settings Restore D efault Settings 10 Reset system to factory default parameters j Restoring system defaults will reset any active password Password Settings 10 000 65 535 77 Password which locks the current configura
65. ount of time it takes for the gain boost to be applied If the value is zero disabled then when the Gain Boost Command calls for boost it will be applied instantaneously By default it will take 10 milliseconds P2 29 Gain Boost Switching Condition Mem Addr 021D h Range O 30 000 0 disable Unit count kpps rom Default 10 000 Control Modes P V This parameter sets the value of the gain switching condition pulse error kpps rpm selected in P2 27 The setting value will vary depending on the gain switching condition 4 48 l SureServo AC Servo Systems User Manual 2nd Ed RevB 08 2011 Chapter 4 Servo Drive Parameters G 4 Auxiliary Function Mem Addr 021E h Range 0 5 Unit n a Default 0 Control Modes P V T Refer to chapters 4 and 6 for information and usage of this parameter in Teach Mode and system commissioning Settings 0 Normal operation of Servo Enable and both overtravel limits 1 Force Servo Enable and ignore both overtravel limitsl 2 Ignore Reverse Inhibit overtravel limit 3 Ignore Forward Inhibit overtravel limit 4 Set Teach Position Mode 5 Disable flash memory writes This mode will allow parameters to be changed normally However they will NOT be saved to flash memory and will be lost when power is removed When control power is lost and then restored this parameter will be set to default 0 and must be set back to 5 to re enable this mode WARNING This parameter will disable ma
66. que Command is the parameter that determines the gain or slope for the Analog Torque Input 2nd Ed RevB 08 2011 SureServo AC Servo Systems User Manual l 4 73 Chapter 4 Servo Drive Parameters eee 4 74 SureServo AC Servo Systems User Manual 2nd Ed RevB 08 2011
67. r Function Selection Settings B 0 Scaling Factor represents Pulse Dividing Ratio PDR Range of SF 1 125 e PDR 2500 SF Examples e If P1 46 1 then PDR 2500 1 2500 The encoder will output 2500 pulses per motor revolution e If P1 46 2 then PDR 2500 2 1250 The encoder will output 1250 pulses per motor revolution 1 Scaling Factor directly represents the number of encoder output pulses for one motor revolution Range of SF 20 2500 limited to multiples of 20 Examples e If P1 46 10020 the encoder will output 20 pulses per motor rev e If P1 46 10300 the encoder will output 300 pulses per motor rev 2nd Ed RevB 08 2011 SureServo AC Servo Systems User Manual 4 35 Chapter 4 Servo Drive Parameters EYA Homing Mode Mem Addr 012F h Range 0 1225 Units n a Default 0 Control M odes P This parameter determines the servo motor s homing characteristics Settings LI Define Sensor Index Mark Trigger Source Stop Position Unused D efine Sensor Settings for H ome Position 0 M ove forward to overtravel limit switch used as home position indicator 1 M ove reverse to overtravel limit switch used as home position indicator 2 M ove forward to dedicated home position sensor 3 M ove reverse to dedicated home position sensor 4 Z index mark as position sensor Index M ark Settings 0 Stop and return to the Z index mark 1 Go forward to the Z index mark 2 Position at home sensor po
68. refer to Appendix D Latest SureServo Firmware Revisions Reserved Range n a Units n a D efault n a Control M odes n a Output Status M em Addr 0409 h Range 00 IF h 0 disable Units n a D efault 00 Control M odes P V T Use this parameter to independently read the status of the digital outputs O peration instructions Select P4 09 on the keypad and press Enter The corresponding display LEDs will be on for each DO that is active The least significant display digit represents DO 1 and the third least significant digit represent DO 5 The two most significant digits are inactive for this parameter function 2nd Ed RevB 08 2011 SureServo AC Servo Systems User Manual 4 71 Chapter 4 Servo Drive Parameters Reserved Reserved Reserved Reserved Reserved Reserved Reserved wa Reserved BES Reserved Reserved 5 Analog Monitor 1 Offset Ch1 Mem Adar 0414 h Range 800 Units mV Default 0 Control Modes P V T Use this parameter to add an offset value in mV to the actual Analog Monitor Output 1 in V LZ 5 Analog Monitor 2 Offset Ch2 M em Addr 0415 h Range 800 Units mV Default 0 Control Modes P V T Use this parameter to add an offset value in mV to the actual Analog Monitor Output 2 in V 4 72 l SureServo AC Servo Systems User Manual 2nd Ed RevB 08 2011 Chapter 4 Servo Drive Parameters LIE Analog Velocity Input Offset Mem Addr 0416 h
69. responses to setpoint command changes Analog Torque Command Low Pass Filter Mem Addr 0107 h Range 0 1000 0 disable Units ms Default 0 Control M odes T Refer to P1 06 for explanation of Analog Command Low Pass Filter parameters Position Command Low Pass Filter Mem Addr 0108 h Range 0 1000 0 disable Units 10 ms Default 0 Control Modes P This parameter sets the length of time that changes in Position Commands take to reach the position control loop By the default setting 0 any Position Command will be instantaneously applied to the control loop Refer to the Control M odes of O peration chapter for further information 2nd Ed RevB 08 2011 SureServo AC Servo Systems User Manual l 4 21 Chapter 4 Servo Drive Parameters GE Velocity Command 1 Velocity Mode Mem Addr 0109fh Velocity Limit 1 Torque Mode Range 5000 Units rom Default 100 Control M odes V T When in Velocity Mode using the Internal Indexer this parameter sets Velocity Command 1 When in Torque Mode using the Internal Indexer this parameter sets Velocity Limit 1 Velocity Command Source Selection Velocity Command Limit Source Selection DI Signal Velocity Command Source Velocity Limit Source VCS1 15 VCSO 14 Off Off V Mode V_REF analog input T Mode V_REF analog input Vz Mode Velocity 0 no drift Tz Mode Limit 0 Off On P1 09 On Off P1 10 On On P1 11
70. rom the M aximum Velocity Limit setting of P1 55 That same rate of deceleration is then used for deceleration from any velocity as described above in P1 34 for acceleration The total deceleration time can be calculated as follows tdecel total 7 1p1 35 1p1 36 Note This parameter is valid only when P1 36 0 ZET Accel Decel S Curve Mem Addr 0124 h Range 0 10 000 Units ms Default 0 Control Modes Pr V This parameter allows the motor and load to be accelerated and decelerated more smoothly JT JT JT P1 36 2 P1 34 P1 35 4 30 l SureServo AC Servo Systems User Manual 2nd Ed RevB 08 2011 Chapter 4 Servo Drive Parameters Jeya Inertia Mismatch Ratio Mem Addr 0125 h Range 0 200 0 Units n a Default 5 0 Control Modes P V T This parameter represents the ratio of the load inertia to the servo motor inertia load Jmotor ZET Zero Velocity Output Threshold Mem Addr 0126 h Range 0 200 Units rom Default 10 Control M odes P V T This parameter sets the velocity command level below which the Low Velocity Clamp digital input P2 10 P2 17 05 stops and holds the motor and the At Zero Velocity digital output P2 18 P2 22 03 becomes active IF 1 Motor velocity command lt P1 38 and 2 Low Velocity Clamp DI is active both conditions must be met THEN 1 Motor velocity immediately drops to zero 2 Drive holds motor in position 0 rpm with holding torque 3 At Zero Veloc
71. rvo AC Servo Systems User Manual 2nd Ed RevB 08 2011 Chapter 4 Servo Drive Parameters R Low pass Filter Resonance Suppression Mem Addr 021A h Range O 1000 0 disable Units ms Default 2 400W and below SVA 2040 5 750W and above SVA 2100 2300 Control Modes P V T 2nd Ed Rev B This parameter is used to set the Low pass Filter time constant of resonance suppression in order to suppress or eliminate noise or resonance See P2 23 for explanation of resonance Increasing this parameter will reduce noise or resonance However setting the parameter too high will lead to the instability of the velocity loop and overshoot of the machinery system The recommended setting value is as follows P2 25 lt 1000 4 Velocity Loop Bandwidth e If the value is set to zero the function is disabled External Anti interference Gain Resonance Suppress M em Addr 021A h Range 0 30000 0 disable Units n a Default 0 Control Modes P V T This parameter filters out resonance and reduces overshoot in the velocity loop feedback path See P2 23 for explanation of resonance It is set automatically in Easy Tune and Fixed Auto Tune PDFF modes It is not recommended for use in Manual Mode unless its value is determined by the adaptive fixed Auto Tune PDFF mode P2 32 5 Once the value is determined in mode 5 it can be left when the tuning mode is set to Manual P2 32 2 0 e f the value is set to
72. se control command 09 Excessive deviation 10 Watchdog fault 11 Encoder fault 12 Internal Components Require Calibration 13 Fault stop 14 Reverse limit error DI setting 22 reverse limit switch activated 15 Forward limit error DI setting 23 forward limit switch activated 16 IGBT temperature error 17 M emory error internal system error 18 DSP communication error internal system error 19 Serial communication error 20 Serial communication time out 21 DSP to MCU command internal system error 22 Input power phase loss 08 2011 SureServo AC Servo Systems User Manual l 4 11 Chapter 4 Servo Drive Parameters EZH Drive Status front panel display Mem Addr 0002 h Range 0 16 Units various Default 0 Control M odes P V T This parameter shows the servo drive status This parameter varies by firmware version For revision details refer to Appendix D Latest SureServo Firmware Revisions Settings 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 Motor feedback absolute position counts 10 000 counts 1 rev Motor feedback absolute position revs Position command counts Position command revs Position error counts Input frequency of pulse command 0 1kH z Actual motor velocity rpm Velocity input command V Velocity input command rpm Torque input command V Torque input command 96 Current load 96 of rated torque Peak load 96 of rated torque since pow
73. sition or Z Trigger Source Settings 0 Disable homing function 1 Start homing sequence at power up 2 Start homing sequence by input terminal Stop Position Settings 0 After detecting home position the motor will decelerate and return to home position 1 After detecting home position the motor will decelerate and stop in the forward direction e Example P1 47 202 refer to diagram in P1 48 0 when Home Sensor DI is triggered motor moves reverse off that position 2 motor starts homing when Start Home M ove Trigger DI is enabled 0 stops on the next motor Z pulse after reversing from the Home Sensor position 2 homes in forward direction until the Home Sensor input is triggered 1 P1 01 defines the rotation convention 2 If 0 or 1 is set in the Define Sensor field the limit sensor inputs must be defined j refer to P2 10 P2 17 and installed If 2 or 3 is set in the Define Sensor field a dedicated home sensor input must be defined and installed 3 The overtravel sensors when used as the home sensor will return to overtravel protection after the homing function has completed 4 36 SureServo AC Servo Systems User Manual 2nd Ed RevB 08 2011 Chapter 4 Servo Drive Parameters At Homing Velocity 1 Fast Search Velocity Mem Addr 0130 h Range 1 2000 Units rpm Default 1000 Control Modes P This parameter sets the initial fast Homing Velocity Servo homing may involve two homing velocities
74. stor If using the servo drive s internal resistor enter that resistance value here If using an external resistor enter the resistance value of that resistor in this parameter Refer to the Regenerative Resistor section of Chapter 5 for information regarding allowable resistors DES Regenerative Resistor Capacity Mem Addr 0135 h Range 30 1000 U nits W atts Default 60 LkW and below SVA 2040 2100 120 above 1kW SVA 2300 Control Modes P V T This parameter represents the capacity of the applicable regenerative resistor If using the servo drive s internal resistor enter that capacity value here If using an external resistor enter the capacity value of that resistor in this parameter Refer to the Regenerative Resistor section of Chapter 5 for information regarding allowable resistors ED In Position Window Mem Addr 0136 h Range 0 10 000 U nits counts D efault 99 Control M odes P This parameter sets the width of the window in which the At Position digital output will be active As an example the At Position output will be active by default when the current motor position is within 99 counts of the target position The total window width is two times the set value Refer to P2 19 P2 22 to assign the digital output functions DE Maximum Velocity Limit Mem Addr 0137 h Range 0 5000 SVL 2xxx low inertia motors 0 3000 SVM 2xxx medium inertia motors Units rpm Default 0 3000 SVL 2xxx low inerti
75. than P1 38 setting valid only in velocity modes 0 Motor halts at present position ramp settings disregarded 1 Velocity command is forced to Orpm using ramp settings Bit 11 15 reserved must remain set 0 2nd Ed RevB 08 2011 SureServo AC Servo Systems User Manual l 4 65 Chapter 4 Servo Drive Parameters Communication Parameters DER Communication Address M em Addr 0300 h Range 1 254 Units n a D efault 1 Control M odes P V T This parameter sets the M odbus slave address for this system The address must be unique with regard to other drives on a 422 485 network and must be within the range from 1 through 254 CET Transmission Speed Mem Addr 0301 h Range 0 5 Units bps Default 2 Control Modes P V T This parameter sets the baud rate of the serial communications Settings 0 4800 bps Baud rate 1 9600 bps Baud rate 2 19200 bps Baud rate 3 38400 bps Baud rate 4 57600 bps Baud rate 5 115200 bps Baud rate CE communication Protocol M em Addr 0302 h Range O 8 Units n a D efault 8 Control M odes P V T This parameter sets the communication protocol for serial communications M odbus ASCII M ode Settings 0 7 data bits no parity 2 stop bits 7 N 2 1 7 data bits even parity 1 stop bit 7 E 1 2 7 data bits odd parity 1 stop bit 7 0 1 3 8 data bits no parity 2 stop bits 8 N 2 4 8 data bits even parity 1 stop bit 8 E 1 5 8 data bits odd parity 1 stop bit 8 0 1 Modbus RTU M ode Se
76. tion 2 Command when using the Internal Indexer Refer to P1 17 for Position Command revs Refer to P1 15 for Position Command source selection Determine the total number of commanded pulses for Position 2 as follows Pos 2 Command P1 17 10 000 P1 18 4 24 SureServo AC Servo Systems User Manual 2nd Ed RevB 08 2011 2nd Ed Rev B Chapter 4 Servo Drive Parameters Position 3 Command Revolutions Mem Addr 0113 h Range 30 000 Units revs Default 0 Control Modes Pr This parameter sets the number of revolutions for Position 3 Command when using the Internal Indexer Refer to P1 20 for Position Command counts Refer to P1 15 for Position Command source selection Position 3 Command Counts Mem Addr 0114 h Range 10 000 U nits encoder counts Default 0 Control Modes Pr This parameter sets the number of encoder pulses for Position 3 Command when using the Internal Indexer Refer to P1 19 for Position Command revs Refer to P1 15 for Position Command source selection Determine the total number of commanded pulses for Position 3 as follows Pos 3 Command P1 19 10 000 P1 20 Position 4 Command Revolutions M em Addr 0115 h Range 30 000 Units revs Default 0 Control Modes Pr This parameter sets the number of revolutions for Position 4 Command when using the Internal Indexer Refer to P1 22 for Position Command counts Refer to P1 15 for Position Co
77. tion in the drive The parameters then cannot be changed unless the correct password is entered first To apply a password Enter a five digit password in the range from 10 000 to 65 535 into P2 08 Then enter the same password again to confirm it To change parameters when a password is active Enter the correct password to unlock the parameters then change the parameters To disable password security Enter the correct password and then zero 0 twice in succession GX Debounce Filter Contact Suppression Mem Addr 0209 h Range 0 20 Units 2ms Default 2 Control M odes P V T This parameter sets a low pass filter on the general purpose inputs which helps to prevent false input triggers due to electrical noise and contact bounce Setting this value too high may result in missed intended triggers GZ 6 Digital Input Terminal 1 D11 Mem Addr 020A h Range 0 145 Units n a Default 101 Control M odes P V T e P2 10 P2 17 determine the functions and active states of DI1 DI7 respectively P2 10 P2 17 vary by firmware version For revision details refer to Appendix D Latest SureServo Firmware Revisions Settings BOBOY TS DI Function DI Active State Unused 4 42 SureServo AC Servo Systems User Manual 2nd Ed RevB 08 2011 Chapter 4 Servo Drive Parameters es 2nd Ed Rev B DI Function Settings P2 10 P2 17 08 2011 Input Disabled Servo Enable Alarm Reset will not
78. tor Output 2 Position Pulse Outputs Polarity Settings 0 Forward Output direction is same as motor rotation per P1 01 1 Reverse O utput direction is opposite of motor rotation per P1 01 GEZ Analog Monitor Output Scaling 1 ch 1 Mem Addr 0104 h Range 0 100 Units Default 100 Control Modes P V T This parameter scales the output monitor voltage with respect to the full scaling of the variable being monitored P1 04 Example For P0 03 00 motor max velocity 5000rpm 1 If P1 04 100 then the 8V AO range represents 5000rpm 2 If P1 04 50 then the 8V AO range represents 2500rpm ZW Analog Monitor Output Scaling 2 ch 2 Mem Addr 0105 h Range 0 100 Units 96 D efault 100 Control M odes P V T Refer to P1 04 for explanation of Analog Monitor Output Scaling parameters 4 20 l SureServo AC Servo Systems User Manual 2nd Ed RevB 08 2011 Chapter 4 Servo Drive Parameters Analog Velocity Command Low Pass Filter Mem Addr 0106 h Range 0 1000 0 disable Units ms Default 0 Control Modes V This parameter determines the maximum frequency that is allowed to pass into the velocity control loop Increasing the parameter value lowers the maximum frequency The maximum frequency is the reciprocal of this parameter f 1 t Example Setting P1 06 1 allows 1kHz and lower frequencies to pass fmax 1 P1 06 1 0 001s 1kHz Setting this parameter value too high may result in sluggish
79. ttings 6 8 data bits no parity 2 stop bits 8 N 2 7 8 data bits even parity 1 stop bit 8 E 1 8 8 data bits odd parity 1 stop bit 8 0 1 4 66 SureServo AC Servo Systems User Manual 2nd Ed RevB 08 2011 Chapter 4 Servo Drive Parameters LEZE communication Fault Action Mem Addr 0303 h Range 0 1 Units n a Default 0 Control Modes P V T This parameter determines how the system will behave if a communication error occurs Settings 0 Display fault and continue operating 1 Display fault and stop operating P1 32 determines how the drive will stop i e coast to stop or stop with dynamic braking LEXT Communication Watchdog Time Out M em Addr 0304 h Range 0 20 0 disable Units s D efault 0 Control M odes P V T This parameter sets the maximum amount of time allowed before faulting due to communication inactivity watchdog routine If this is set to a non zero value the servo drive must receive a valid request before the allotted time Otherwise the servo assumes the controller has failed and shuts down accordingly DEW Communication Selection M em Addr 0305 h Range 0 2 Units n a Default 0 Control Modes P V T Settings 0 RS 232 must be a point to point connection 1 RS 422 multidrop connection 2 RS 485 multidrop connection DER Reserved Range n a Units n a Default O h Control Modes n a Do NOT modify this parameter ZA Communication Response Delay Time Mem Addr
80. ty Command values P1 09 P1 11 are used as raw values 1 The internal Velocity Command values P1 09 P1 11 are multiplied by 0 1 before being used by the system Example a P1 09 velocity of 1234 rpm is used by the system as 123 4 rpm Position Deviation Scale Settings 0 No scaling The Position Deviation value P2 35 is used as a raw value 1 The Position Deviation value P2 35 is multiplied by 100 before being used by the system Example a P2 35 Position Deviation Fault Window of 100 counts is used by the system as 10 000 encoder counts The Position Deviation fault monitor output will not become active until position error is equal to or greater than 10 000 encoder counts Refer to P2 18 P2 22 for explanation of DO settings and to P0 01 for list of Drive Fault Codes 4 60 l SureServo AC Servo Systems User Manual 2nd Ed RevB 08 2011 Chapter 4 Servo Drive Parameters Advanced Torque Limit Range 0 3 Default 0 Mem Addr 0240 h Units n a Control Modes P V This parameter allows you to use a variable analog input Torque Limit whose range is clamped by one or more separate fixed Torque Limits The drive applies whichever applicable limit is more restrictive variable or fixed The Torque Limit function must be enabled by P1 02 1x or by a DI with setting P2 10 P2 17 9 25 or 26 Different clamping characteristics are available depending upon which enabling method you use Use only one of the
81. unctions Status lt x x Ax x lt x x x x x x AI A lt x lt x x lt x ARIA ARIA AI A lt x x Ax x x lt x x lt x ARIA x x A A O 1FF h 0 P0 18 1 5 Servo On Time Record Y Y Y 0 65535 hr 0 Some parameters vary by firmware version Refer to Appendix D for revision details 2nd Ed Rev B 08 2011 SureServo AC Servo Systems User Manual 4 3 Chapter 4 Servo Drive Parameters Group 1 Basic Parameters Description P1 00 External Pulse Type Input P1 01 Control Mode and Output Direction P1 02 Velocity and Torque Limit P1 03 Output Polarity Setting P1 04 Analog Monitor O utput Scaling 1 ch 1 P1 05 Analog Monitor O utput Scaling 2 ch 2 P1 06 Analog Velocity Command Low pass Filter P1 07 Analog Torque Command Low pass Filter P1 08 Position Command Low pass Filter P1 09 oe comment 1 V mode Velocity Limit 1 T mode Velocity Command 2 V mode i Velocity Limit 2 T mode Velocity Command 3 V mode Velocity Limit 3 T mode Torque Command 1 T mode i Torque Limit 1 P V modes Torque Command 2 T mode i Torque Limit 2 P V modes Torque Command 3 T mode Torque Limit 3 P V modes P1 15 Position Command 1 revolutions P1 16 Position Command 1 counts P1 17 Position Command 2 revolutions P1 18 Position Command 2 counts P1 19 Position Comm
82. wing range 1 50 P1 44 P1 45 200 2nd Ed RevB 08 2011 SureServo AC Servo Systems User Manual l 4 33 Chapter 4 Servo Drive Parameters Dv Electronic Gear Denominator Mem Addr 012D h Range 0 32 767 U nits counts Default 1 Control Modes P This parameter sets the denominator of the Electronic Gear Ratio P1 44 and P2 60 through P2 62 set EGR numerators Refer to the Electronic Gear Ratio section of Control Modes Chapter 5 for more information regarding this function Position Command Input Pulses P1 44 P1 45 The electronic gear ratio setting MUST be within the following range 1 50 EGNumerator P1 45 200 4 34 l SureServo AC Servo Systems User Manual 2nd Ed RevB 08 2011 Chapter 4 Servo Drive Parameters DET 2 Encoder Output Scaling Factor M em Addr 012E h Range 1 125 with B 0 10 020 12 500 with B 1 Units n a D efault 1 Control M odes P V T The range of the actual Scaling Factor is less than the full range of P1 46 This parameter sets the Pulse N umber or the Pulse Dividing Ratio of the encoder outputs OA OA OB OB It does not affect the output Z pulse OZ O Z Settings EEL D A Scaling Factor SF B Scaling Factor Function Selection Scaling Factor Settings A 1 125 or 10 020 12 500 The function and range of the actual SF varies depending upon the setting of part B of this parameter Scaling Facto

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