UNIVERSAL SERVO DRIVE INSTRUCTION MANUAL

version: 1.0 software rel. V8.92

WARNING!

Attention to these warning signs on the drive or in this instruction book, they indicate danger to human body or damage to the drive. Before installing and putting the drive into operation, please read the safety precautions and warnings following this page.

Safety precautions & warnings

Read carefully all the safety precautions included in these operating instructions and all the warning signs attached to the drive. Make sure that the warning signs are kept in a legible condition and replace missing or damaged signs. Before starting, familiarize yourself with the operation of the drive. It may be too late if you start working with the drive before read this instruction manual. Never permit unqualified personnel to operate the drive.

WARNING

This drive produces dangerous electrical voltages and controls rotating mechanical parts. Death, severe injury or substantial damage to property can occur if the instructions in this operating manual are not completed with. Only personnel with appropriate qualifications should work with this drive. These personnel must be familiar with all the warning signs and precautions laid out in these operating instructions for the transport, installation and operation of this drive. The successful and safe use of this drive depends on the correct installation, commissioning, operation and maintenance of the drive. This drive operates at high voltages. z The DC-link capacitors remain charged to dangerous voltages even the power is removed. For this reason it is not permissible to open the drive cover until five (5) minutes after the power has been turned off. When handling the open drive it should be noted that live parts are exposed. Do not touch these live parts. z The terminals R, S, T, U, V, W, P, N, B can carry dangerous voltages even if the motor is inoperative: z Only qualified personnel may connect, start the system up and repair faults. These personnel must be thoroughly acquainted with all the warnings and operating procedures contained with this manual. z Certain parameter settings may cause the drive to start up automatically after power on or power recover.

DEFINITIONS
Qualified Person
For the purposes of this manual and product labels, a qualified person is one who is familiar with the installation, construction, operation and maintenance of this drive and with hazards involved. In addition, the person must be: z Trained and authorized to energize, de-energize, clear, ground and tag circuits and equipment in accordance with established safety practices. z Trained in the proper care and use of protective equipment in accordance with established safety practices. z Trained in rendering first aid.

Danger
For the purposes of this manual and product labels, DANGER indicates that loss of life, severe personal injury or substantial property damage WILL result if proper precautions are not taken.

Warning
For the purposes of this manual and product labels, WARNING indicates that loss of life, severe personal injury or substantial property damage CAN result if proper precautions are not taken.

Caution
For the purpose of this manual and product labels, CAUTION indicates that minor personal injury or property damage CAN result if proper precautions are not taken.

Note
For the purpose of this manual and product labels, NOTES merely call attention to information that is especially significant in understanding and operating the drive.

DANGER and WARNING

Make sure that the location selected for installation is safe, protected from moisture and splash and drip-proof! Children and the general public must be prevented from accessing or approaching the equipment! The equipment may only be used for the purpose specified by the manufacturer. Unauthorized modifications and the use of spare parts and accessories that are not sold or recommended by the manufacturer of the equipment can cause fires, electric shocks and injuries.

Keep these operating instructions within easy reach and give them to all users!

WARNING

This is a Class A product. In a domestic environment this product may cause radio interference in which case the user may be required to take adequate measures.

CONTENTS
1. DESCRIPTION OF PDS SERVO DRIVE........................................................................................................................ 5 1.1 BRIEF FUNCTION DESCRIPTION ........................................................................................................................................ 5 1.2 CONTROL INPUT & OUTPUT CONFIGURATION.................................................................................................................... 5 1.2.1 Digital Input (DI0~DI10)......................................................................................................................................... 7 1.2.2 Digital Output (DO0~DO6) ..................................................................................................................................... 7 1.2.3 Analog input AI1, AI2 & AI3.................................................................................................................................... 8 1.2.4 Analog Output AO1, AO2 & AO3 ............................................................................................................................ 8 1.2.5 Hardware RESET (RST)........................................................................................................................................... 8 1.2.6 RS485 Communication Interface ............................................................................................................................. 8 1.2.7 Standard Cables ....................................................................................................................................................... 9 1.2.8 Option Field Bus Interface....................................................................................................................................... 9 1.3 ELECTRICAL RATING SPECIFICATIONS .............................................................................................................................. 9 2. INSTALLATION............................................................................................................................................................... 10 2.1 OUTLINE DIMENSIONS ................................................................................................................................................... 10 2.2 POWER TERMINAL ......................................................................................................................................................... 10 2.3 CONNECT POWER LINE INPUT TO DRIVER ...................................................................................................................... 10 2.4 CONNECT DRIVER OUTPUT TO MOTOR .......................................................................................................................... 10 2.5 CONTROL TERMINAL CONNECTION .................................................................................................................................11 2.6 DC BUS TERMINAL (P, N) OR BRAKE TERMINAL (B, P) .................................................................................................11 3. CONTROL PANEL .......................................................................................................................................................... 12 3.1 CTL MODE .................................................................................................................................................................... 12 3.2 MON MODE ................................................................................................................................................................... 12 3.3 PAR MODE ..................................................................................................................................................................... 12 3.4 ALM MODE .................................................................................................................................................................... 12 4. START-UP EXAMPLES................................................................................................................................................... 13 4.1 BASIC FUNCTION BLOCK ............................................................................................................................................... 13 4.2 SETUP BASIC MOTOR PARAMETER ................................................................................................................................. 14 4.3 DEFAULT SETTING OF SOME SIMPLE EXAMPLES ............................................................................................................. 14 4.3.1 V/F Constant Mode for Induction Motor................................................................................................................ 14 4.3.2 Speed Mode for Induction Servo Motor ................................................................................................................. 15 4.3.3 Tracking Mode (Pcmd) for Induction Servo Motor ................................................................................................ 15 4.3.4 Auto Point-to-Point control Mode for Induction Servo .......................................................................................... 16 4.3.5 Example for Brushless Servo Motor....................................................................................................................... 16 4.4 AUTO TUNING FOR SERVO MOTORS ............................................................................................................................... 17 4.4.1 Auto Tuning for Induction Servo Motor ................................................................................................................. 17 4.4.2 Auto Tuning for Brushless Servo Motor ................................................................................................................. 17 4.4.3 Auto Tuning Resolver BL Servo Motor................................................................................................................... 17 5. PARAMETERS ................................................................................................................................................................. 18 5.1 PARAMETER LIST ........................................................................................................................................................... 18 5.2 PARAMETER DESCRIPTION ............................................................................................................................................. 22 5.2.1 Parameter Type ...................................................................................................................................................... 22 5.2.2 Parameter Protection ............................................................................................................................................. 22 5.2.3 Parameter Initalization .......................................................................................................................................... 22 5.2.4 Speed & Acceleration/Deceleration Time .............................................................................................................. 22 5.2.5 Control Function .................................................................................................................................................... 23 5.2.6 Analog Input/Output Function ............................................................................................................................... 25 5.2.7 Factory Adjustment Parameters............................................................................................................................. 26 5.2.8 Monitor Function ................................................................................................................................................... 26 5.2.9 XY Pulse Command Input Parameters ................................................................................................................... 27 5.2.10 PID Function........................................................................................................................................................ 29 5.2.11 Motor Parameter Groups ..................................................................................................................................... 31 5.2.12 Auto Point-to-Point Control ................................................................................................................................. 33 6. SELECTION OF SPEED SOURCE................................................................................................................................ 35 6.1 SPEED SOURCE SELECTION TABLE ................................................................................................................................. 35 6.2 DESCRIPTION OF SPEED SOURCE .................................................................................................................................... 36 6.2.1 Speed Source from Memory & Panel ..................................................................................................................... 36 3

6.2.2 Speed Source from Analog Input ............................................................................................................................ 36 6.2.3 Speed Source from Internal Up/Down Counter...................................................................................................... 38 6.2.4 Set Speed from Two Speed Sources Combination................................................................................................... 39 7. SELECTION OF DIGITAL INPUT FUNCTION.......................................................................................................... 40 7.1 DIGITAL INPUT FUNCTION RELATED PARAMETERS ......................................................................................................... 40 7.2 SELECTION TABLE OF DIGITAL INPUT FUNCTION ........................................................................................................... 40 7.3 DESCRIPTION OF DIGITAL INPUT FUNCTION.................................................................................................................... 42 7.3.1 Control Function .................................................................................................................................................... 42 7.3.2 Protection Function................................................................................................................................................ 42 7.3.3 Timer & Counter Function..................................................................................................................................... 42 7.3.4 Flip/Flop Function ................................................................................................................................................. 44 8. SELECTION OF DIGITAL OUTPUT FUNCTION...................................................................................................... 45 8.1 DIGITAL OUTPUT FUNCTION RELATED PARAMETERS ..................................................................................................... 45 8.2 SELECTION TABLE OF DIGITAL OUTPUT FUNCTION ........................................................................................................ 45 8.3 DESCRIPTION OF DIGITAL OUTPUT FUNCTION ................................................................................................................ 47 8.3.1 Speed Monitor Function......................................................................................................................................... 47 8.3.2 ON/OFF Control Function..................................................................................................................................... 47 8.3.3 Pulse Output Function ........................................................................................................................................... 47 8.3.4 Running Status Monitor Function .......................................................................................................................... 48 9. RS485 COMMUNICATION ............................................................................................................................................ 49 9.1 RS485 COMMUNICATION PORT RELATED PARAMETERS ................................................................................................. 49 9.2 RS485 PORT CONFIGURATION ........................................................................................................................................ 49 9.3 JPS PROTOCOL & FORMAT ............................................................................................................................................. 50 9.3.1 Computer to Drive.................................................................................................................................................. 50 9.3.2 Drive to Computer.................................................................................................................................................. 51 9.4 HMI PROTOCOL (MODBUS(RTU)) ................................................................................................................................. 52 9.4.1 Parameter Setting................................................................................................................................................... 52 9.4.2 Definition of Modbus(RTU) and Drive .................................................................................................................. 52 10. BLOCK DIAGRAM OF PDS DRIVE........................................................................................................................... 54

1. Description of PDS Servo Drive

1.1 Brief Function Description
Drives Different Motor types
z z z z z z z z z z Brushless Servo Motor Induction Servo Motor Open Loop Induction Motor Memorize Four Motor Parameter Groups Open Loop V/F or Sensorless Speed Mode Close Loop Speed Mode Torque Control Mode Pulse Command Tracking Mode Auto Positioning Mode Standard RS485 Communication Port Simple and direct protocol embedded for Computer/PLC control. Baud Rate up to 4800, 9600, 19200, 38400 Option Field Bus Module Many commonly used Fieldbus option board can be selected, such as: z Modbus(RTU) z Profibus-DP z InterBus z DeviceNet z ControlNet z CANopen * Other systems planned 11 Digital Inputs (Sink or Source selectable) 7 Digital Outputs (Sink or Source selectable) 3 Analog Inputs (10V, +10V, +5V or 20mAselectable) 3 Analog Output (10V) Encoder Clock Input Pulse Command Clock Input Encoder Clock Buffered Output

Varity Control Modes in Single Drive

Enhanced Communication

Multi-Functioned I/O
z z z z z z z

1.2 Control input & output configuration

Main CPU Board
I/O & Feedback Option FieldBus Option
ABC out Encoder XY input AO2,3 DI7~10 & DO4~6 RS485

AO1 & AI1,2,3

DI1~6 & DO1,2

Ry1,2

The control terminals on the Main CPU board are separated into three groups. Basic Analog I/O signals:

AO1 AI1 AI2 AI3

Basic Digital I/O signals:

5V

ACOM

DI1 DI2 DI3 DI4 DI5 DI6 RST DO1 DO2 24V DCOM
RY1, RY2 is normal open Relay output (equivalent to DO3) Additional control terminals on Feedback I/O board:

RY1 RY2

AO2 AO3 ACOM

DI7 DI8 DI9 DI10 DO4 DO5 DO6

Connectors on Feedback I/O Board CON3: Encoder Feedback from Motor. Equipped with accessory cable transforms into standard 15pin D-sub Male connector. The pin definition of D-sub connector is: 15pin D-sub Make connector Pin Number Pin Name Description Pin1 A z Pin1~Pin6 are used for both induction and brushless motor. Pin2 /A z Pin7~Pin12 used for brushless Pin3 B motor only. Pin4 /B z Encoder output should be Line Pin5 C Drive type. Pin6 /C z A, B are quadrature signals. Pin7 Uf z Uf, Vf, Wf used for indicating Pin8 /Uf the magnetic pole position of Pin9 Vf brushless motor. Pin10 /Vf Pin11 Wf Pin12 /Wf Pin13 +5V Pin14 0V Pin15 0V Case Shield Con5: XY pulse command input port. Equipped with accessory cable transforms into standard 9pin D-sub Female connector. The pin definition of the D-sub connector is: 9pin D-sub Female connector Pin Number Pin Name Description Refer to the following parameters: Pin1 X Pr.130: XY Clock type select Pin2 /X Pr.131: XY Input pin status Pin3 Y Pr.132: XY Direction change Pin4 /Y Pr.133~136: Multiply/Division rate Pin5 N.C. Pr.137: XY counter value Pin6 N.C. Pin7 +5V Pin8 0V Pin9 N.C. Case Shield
JP2 JP3
O.C.

L.D.

JP2 & JP3 on L.D. position, select Line Driver type. JP2 & JP3 on O.C. position, select Open Collector type. Note: When Open Collector type selected, XY signal inputs from X(Pin1) & Y(Pin3), /X(Pin2) & /Y(Pin4) should be N.C.

CON4: Buffered A, B, C output port. Equipped with accessory cable transforms into standard 9pin D-sub Male connector. The pin definition of the D-sub connector is: 9pin D-sub Male connector Pin Number Pin Name Description Pin1 Aout Buffered output of signal A Pin2 /Aout Buffered output of signal /A Pin3 Bout Buffered output of signal B Pin4 /Bout Buffered output of signal /B Pin5 Cout Buffered output of signal C Pin6 /Cout Buffered output of signal /C The above outputs are Line Driver Pin7 N.C. type Pin8 0V Pin9 N.C. Case Shield

1.2.1 Digital Input (DI0~DI10)

z
24V
+24V

Sink/Source jumper DCOM

+24V

To CPU GND DIx 4.7k DCOM Common line of +24V

DI1~DI10 are all identical Bi-directional digital inputs. DI1~DI6 located at Main CPU board z DI7~DI10 located at Feedback I/O board. z DI0 do not connect to the user control terminal, and only internal connected with DO0. z +24V is common power supply for all DIx. z DCOM is the command reference for these digital circuits. z Each Digital Input can be configured individually by corresponding parameter Pr.140~Pr.150. z User can select Sink (NPN) type or Source (PNP) type by jumper JP4. Note: The minimum input signal width is 5ms.

1.2.2 Digital Output (DO0~DO6)

z DO1, DO2, DO4~DO6 are open collector output, z RY1, RY2 is voltage isolated 1a contact of Relay output, RY1/RY2 named DO3 also. z DO1, DO2, RY1/RY2 located at Main CPU board. z DO4~DO6 located at Feedback I/O board. z DO0 do not connect to the user control terminal, and only internal connected with DI0. z Each Digital output can be configured individually by corresponding parameter Pr.160~Pr.166. z User can select Sink (NPN) type or Source (PNP) type by jumper JP5. Note: RY1, RY2 should drive 24V relay only
Open Collector output

5V RY1

Signal from CPU Sink/Source Select jumper

DO1,2 and DO4,5,6

RY2

DI/DO select PNP or NPN type JP4 JP5 JP4 JP5

z z z z

JP4 upper position select Source input JP5 upper position select Source output JP4 lower position select Sink input JP5 lower position select Sink output

or

NPN type DI/DO

PNP type DI/DO

1.2.3 Analog input AI1, AI2 & AI3

AI, AI2 signal must input from control terminal input, can select 10V, +10Vor +5V of input signal range by Jumper.
AI1 range select by JP1A & JP1B AI2 range select by JP2A & JP2B

or
JP1A JP1B JP1A JP1B

or
JP1A JP1B JP2A JP2B

or
JP2A JP2B

or
JP2A JP2B

10V

0 ~ +5V

0 ~ +10V

10V

0 ~ +5V

0 ~ +10V

AI3 signal may input from control terminal or by VR of control panel, can select +5Vor 20mA of input signal and input from control terminal or panel by Jumper.
AI3 selection by JP3A & JP3B JP3A determine the signal type JP3B determine the AI3 input source

+5V input from Terminal

JP3A

JP3B

Control by Panel VR

or 20mA input from Terminal

JP3A

or Control by Terminal

JP3B

1.2.4 Analog Output AO1, AO2 & AO3

From CPU AO1,2,3 OPamp 10V

AO1, Ao2 & AO3 are all identical analog outputs. AO1 located at Main CPU board. AO2, AO3 located at Feedback I/O board. Each Analog Output can be configured individually by corresponding parameters. (Pr.210~213, 220~223, 230~233)

1.2.5 Hardware RESET (RST)

The hardware structure of RST terminal is similar to Digit Inputs description in Sec. 1.2.1. Terminal RST is used for reset the servo drive. Under any circumstances, when RST terminal is activated, will force the drive execute REST, as if Power on again.

1.2.6 RS485 Communication Interface

z z To use JPS protocol embedded for computer/ PLC control. To use Modbus(RTU) communication option, let drive simulate as Modicon PLC and can direct connect with HMI. The HMI can direct control and monitor the drive.

1.2.7 Standard Cables

The specification and application of standard cables describe as following: Part No. Application Connector(1) Connector(2) CABLE_MEI Encoder Input D-sub 15Pin (Male) JS091-16F CABLE_ABCKO A.B.C. Output D-sub 9Pin (Male) SC25-08HG CABLE_XYCKI X.Y. Input D-sub 9Pin (Female) SC25-07HG CABLE_HMIEV HMI D-sub 9Pin (Male) SC25-05HG CABLE_RS485 RS485 SC25-05HG SC25-05HG CABLE_EXT2D9 Extension D-sub 9Pin (Male) D-sub 9Pin (Female) CABLE_EXT2D15 Extension D-sub 15Pin (Male) D-sub 15Pin (Female)
HMIPLCCOMPUTER RS422/485 CABLE_RS485 CABLE_HMIEV
For EasyViews HMI, must check pin definition for other HMI

Length(M) 0.5 0.5 0.5 0.5 2 2 2

Con1 XY Clock Input CABLE_XYC ABC Clock Input

PDS
Con5 Con3 CABLE_ME Customer Prepare Con4 CABLE_ABC

Customer Prepare

PG MOTOR

1.2.8 Option Field Bus Interface

Many commonly used Fieldbus option board can be selected for complete data exchange with PLC or PC, such as: z Profibus-DP z InterBus z DeviceNet z ControlNet z CANopen Consult to our R&D department if needed.

! CAUTION
All the input/output control signal lines and communication lines must be laid separately from the high current power/motor/brake lines. They must not be fed through the same cable conduit/trucking.

1.3 Electrical Rating Specifications

Model No. PDSHP KW KVA -2xxx Amp rms -4xxx 2022 4022 3 2.2 4.0 11 5.5 2037 4037 5 3.7 6.5 17 8.5 2055 4055 7.5 5.5 9.5 24 12 2075 4075 10 7.5 13 33 17 2110 4110 15 11 19 46 23 2150 4150 20 15 25 61 31 2225 4225 30 22.5 34 90 45 4300 40 30 46 57

2. Installation
!
WARNING
To guarantee the safe operation of the equipment it must be installed and commissioned properly by qualified personnel in compliance with warnings laid down in these operating instructions. Take particular note of the general and regional installation and safety regulations regarding work on high voltage regulations, as well as the relevant regulations regarding the correct use of tools and personal protective gear. Make sure that the unobstructed clearance for each of the cooling inlets and outlets above and below the driver is at least 100mm. Make sure that a space of 40mm is kept free at the sides of the driver to permit the cooling air to escape from the side slits. Ensure that the temperature does not exceed the specified level when the driver is installed in cubicle. Avoid excessive vibration and shaking of the equipment. NOTE: Please consider the possible use of options, such as RFI suppression filters at the planning stage.

WARNING

To prevent electrical shock, do not open cover for at least 5 minutes after removing AC power to allow capacitors to discharge.

2.1 Outline Dimensions

Model No. PDSDimension WXLXD Mounting Hole W X L mm Mounting Screw Enclosure 2022 2037 4022 4037 170 X 206 X 162 157.6 X 193.6 M5 X 4 2055 2075 4055 4075 192 X 300 X 216 178 X 286 M5 X 4 IP20 2110 2150 4110 4150 250 X 420 X 255 226 X 405 M6 X 4

2.2 Power Terminal

The upper cover must be removed in order to connect the electrical leads. Basically, the Power terminals are divided into three portions: 1. The Power line input, (R, S, T) receives power for the operation of the driver. 2. The Motor line output, (U, V, W) delivers Variable Frequency output to motor leads. 3. Brake resistor connect to B, P terminals NOTE: Must connect Earth properly.

! !
z z z z z z z z

WARNING: Never connect power line to U, V, W, P, N, B

2.3 Connect Power Line Input to Driver

WARNING and CAUTION
Between the power line and the driver, add NFB for system protection. There are static sensitive components inside the Printed Circuit Board. Avoid touching the boards or components with your hands or metal objects. Only the terminal screws may be touched with the insulated screwdrivers when connecting the leads. Make sure to connect the power terminals tight and correctly. Make sure that the power source supplies the correct voltage and is designed for the necessary current. Make sure the motor is configured to match the input voltage. Protective EARTH terminal marked with must be connected properly. Take care that the appropriate circuit breakers with the specified current rating are connected between the power supply and the driver.

2.4 Connect Driver Output to Motor

WARNING Do not insert contactors between driver output and motor.
For every model, "U, V, W " are the three phase output terminals, they should be connected to motor leads directly. 10

2.5 Control Terminal Connection

!
CAUTION
All the input/output control signal lines, or remote panel lines and communication lines must be laid separately from the high current power/motor/brake lines. They must not be fed through the same cable conduit/trucking.

2.6 DC BUS Terminal (P, N) or Brake Terminal (B, P)

!
CAUTION
Some models with power terminal marked P and N, these models does not include Brake transistor inside the driver. Customer may use extra Brake Transistor Module for discharge brake function. For models that include braking transistor, the power terminal will mark P and B. User can connect suitable resistor to the P & B terminals directly. Here is the recommended table for discharge resistors: Model Resistance (Ohm) Rating (Watt) 2022 60 250 2037 40 300 2055 30 500 2075 20 600 2110 15 1000 2150 10 1500 4022 250 250 4037 150 300 4055 100 500 4075 75 750 4110 50 1000 4150 40 1500 Discharge duty 10 -

! Warning: Never connect resistor to P & N terminal

If the terminals are P & N, must add external braking unit.

11

3. Control Panel
The control panel involves 4 digits 7-segment display and 4 Led-lamps, 8 keys and a potential meter (VR). It has four possible operation modes: "CTL", "MON", "PAR" and "ALM modes, described below.

3.1 CTL Mode

VR input is equivalent to AI3 input, JP3B of CPU board determine the AI3 input source. Push the "CTL/MON" key, will change the keypad operation between "CTL" and "MON" Mode. If both "HZ" and "I" Led are blank, it is under "CTL" Mode. Under "CTL" Mode, user can control the driver running in either direction and may modify the desired running speed. For normal run/stop control, use only the three keys: FWD key is used for running the driver in forward direction. REV key is used for running the driver in reverse direction. STOP key is used to stop the driver. If Pr.40 = 3 or 8, the running frequency shall be modified by keypad, then these keys are enabled: RD/WT key is used to read out the internal Panel Speed Set value. key is used to increase the Panel Speed Set value key is used to decrease the Panel Speed Set value STOP key is used for cursor shift Procedure: a. Under normal CTL mode, push RD/WT will enter Panel Speed Set mode, (if Pr.040=8, the display will show the value stored in Pr.000) and blinking the data. b. Push or , the display starts to show the cursor position. c. Push or , in order to modify the Panel set frequency. d. Push CTL/MON key will go back to normal CTL mode. Note: If Pr.40=8, the new modified Panel Speed Set value will rewrite into Pr.000 automatically.

3.2 MON mode

Push the "CTL/MON" key, will change the keypad operation between "CTL" and "MON" Mode. Under "MON" Mode, user can control the driver running in either direction and may monitor any two internal status easily. If "HZ" Led is on, it is under "MON" Mode and 7-segment shows the "HZ" data. (Or the desired parameter assigned by Pr.099) If "I" Led is on, it is under "MON" Mode and 7-segment shows the "I" data. (Or the desired parameter assigned by Pr.098) FWD key is used for running the driver in forward direction. REV key is used for running the driver in reverse direction. STOP key is used to STOP the driver. key is used to select "HZ" or "I" data shown on the 7-segment display. key is used to select "HZ" or "I" data shown on the 7-segment display.

3.3 PAR mode

Push the "PAR/ALM" key, will change the keypad operation between "PAR" or "ALM" mode. If push PAR/ALM key, 7-segment shows "Pr.xxx", it is under "PAR" Mode, the HZ and I lamps all ON, user can modify or monitor all the internal Parameters. To modify any parameter, follow the steps described below: STEP 1: push "PAR/ALM" key, the 7-segment will show "Pr.nnn". (nnn is parameter number) STEP 2: push or key to select desired parameter number, and "STOP" key used as cursor shift. STEP 3: push "RD/WT" key to READ the content of the specified parameter. (The 7-segment now shows the value of this parameter.) STEP 4: push or key to modify the displayed value, and "STOP" key used as cursor shift. STEP 5: push "RD/WT" key to WRITE the new value into parameter memory. STEP 6: push "PAR/ALM" repeat STEP 1 to modify next parameter.

3.4 ALM mode

Push the "PAR/ALM" key, will change the keypad operation between "PAR" or "ALM" mode. If push PAR/ALM key, 7-segment shows "0.-xx", it is under "ALM" Mode. Under "ALM" Mode, the user can execute RESET function or monitor ALARM STATUS. STOP/RESET key, the driver will execute RESET function. and key are used to check ALARM History. 12

4. Start-Up Examples
4.1 Basic Function Block
Standard Speed Cmd Spd cmd Internal Speed Cmd (position mode) Spd err Speed Loop Tcmd Torque Limit Iq cmd Iq err Current loop Vq Vd P-I Gain uvw Axis

Vu,Vv,Vw

CSW 0

P-I Gain

Id err Iq fb Id cmd

Vector Transform

P-I Gain

Pos. err

Iu,Iv,Iw d-q Axis

Flux Control

Feed Forward Position Loop( P-I-F controller) Pcmd/ Tracking Block CSW 1 Speed Feedback Pos. cmd Pos. fb.

Id fb Position/Angle Counter Clocks to Speed Encoder Fb.

Pulse cmd Increment APTP Block Absolute APTP Block CSW 2 Note: CSW 0: Select Position or Speed mode CSW 1: Select Pcmd or APTP mode CSW 2: Select Absolute or Incremental mode Buffered Output

13

4.2 Setup Basic Motor Parameter

Refer to section 5.2.11 for detail description of motor parameter groups (Pr.300~499). For example, if an induction motor running under V/F constant mode, user must set up the V/F curve parameters according to motor manufacturers data. z Select motor characteristic group#0, set Pr.188=0 z Select induction motor under V/F control mode, set Pr.300=0 z Set motor rated speed in Pr.310 (RPM) z Set motor maximum speed in Pr.315 (RPM) z Set motor minimum speed in Pr.316 (RPM) z Set motor rated voltage in Pr.307 (% of Input Line Voltage) z Set motor peak voltage in Pr.308 (% of Input Line Voltage) z Set Boost voltage in Pr.309 (% of motor rated voltage) z Set motor rated current in Pr.311=(MotorRatingCurrent/DriverRatingCurrent)*100% z Set motor peak current in Pr.312=(MotorPeakCurrent/MotorRatingCurrent)*100% z Set motor pole number in Pr.314 Vout(%)

Motor Parameter Group #0 Pr.300~Pr.349 Pr.308 Pr.307

Pr.309 Speed (rpm) Pr.316 Pr.310 Pr.315

4.3 Default Setting of some simple Examples

For user convenience, some default setting for different application is embedded in the firmware. Execute RESET operation after setting Pr.094 to specified value; the CPU will set related parameters to perform the desired operation mode. Pr.094=201, simple V/F mode operation for induction motor Pr.094=202, simple Induction Servo running under Speed mode Pr.094=203, simple Induction Servo running under Pcmd mode Pr.094=204, simple Induction Servo running under Auto Point-to-Point Positioning Pr.094=205, Auto Tuning for Induction Servo Motor Pr.094=232, simple Brushless Servo running under Speed mode Pr.094=233, simple Brushless Servo running under Pcmd mode Pr.094=234, simple Brushless Servo running under Auto Point-to-Point Positioning Pr.094=235, Auto Tuning for Brushless Servo Motor NOTE: Before above setting, select Pr.094=1, then execute RESET to initialize the R/W type parameters to default value. (Refer to section 5.2.3)

4.3.1 V/F Constant Mode for Induction Motor

Select Pr.094=201, then execute RESET to initialize the parameters. After initialization, the CPU loads following parameters, then the drive standby under V/F mode. Pr.188=0 Choose pre-stored Group#0 motor parameters (Pr.300~Pr.349) Pr.300=0 Let the motor operate under V/F constant mode Pr.330~Pr.333=0 Always operate under open loop speed mode Pr.141=102 DI1(102) Drive will Enable by DI1 Pr.145=73 DI5(73) FWD RUN (effective when control by terminal input) Pr.146=74 DI6(74) REV RUN (effective when control by terminal input) Pr.181=0 & Pr.039=0.2 FWD/REV command by LOCAL panel normally Pr.040=0.25 Speed command by Pr.000 normally Pr.000=500 Default speed = 500RPM Pr.001=5.00 5 seconds ramp up from zero to maximum speed Pr.002=5.00 5 seconds ramp down from maximum to zero speed

14

Procedure: z Connect DI1 to DCOM (assume DI/DO is chosen to be SINK type) to enable the drive. z Push FWD or REV key, then the motor speed will ramp up to 500RPM. z Change Pr.039=2.2, transfer control to terminal input DI5 & DI6. z Connect DI5 (or DI6) to DCOM; the motor will ramp up to 500RPM.

4.3.2 Speed Mode for Induction Servo Motor

Select Pr.094=202, then execute RESET to initialize the parameters. After initialization, the CPU loads following parameters, then the drive standby under Speed mode. Pr.188=0 Choose pre-stored Group#0 motor parameters (Pr.300~Pr.349) Pr.300=2 Select Induction servo motor for close loop control *1 Pr.330=0 Select Speed control mode Pr.331~Pr.333=0 Always operate under speed mode, no torque control Pr.141=102 DI1(102) Drive will Enable by DI1 Pr.145=73 DI5(73) FWD RUN (effective when control by terminal input) Pr.146=74 DI6(74) REV RUN (effective when control by terminal input) Pr.181=0 & Pr.039=0.2 FWD/REV command by LOCAL panel normally Pr.040=0.25 Speed command by Pr.000 normally Pr.000=500 Default speed = 500RPM Pr.001=5.00 5 seconds ramp up from zero to maximum speed Pr.002=5.00 5 seconds ramp down from maximum to zero speed Procedure: z Try operations similar to section 4.3.1. z Modify Pgain and Igain if necessary. *1: before operation start, verify following parameters (refer to section 5) Pr.302: PPR of Encoder Pr.303: A/B clock Direction Pr.313: Field Current%=(FieldCurrent/MotorRatedCurrent)*100% Pr.317: Slip RPM Pr.320: Pgain of Current loop Pr.321: I gain of Current loop Pr.323: P gain of Speed loop Pr.324: I gain of Speed loop

4.3.3 Tracking Mode (Pcmd) for Induction Servo Motor

Select Pr.094=203, then execute RESET to initialize the parameters. After initialization, the CPU loads following parameters, then the drive standby under tracking mode. Pr.188=0 Choose pre-stored Group#0 motor parameters (Pr.300~Pr.349) Pr.300=2 Select Induction servo motor for close loop control Pr.330=1 Position control *2 Pr.331=1 Tracking mode by Pulse Command input from XY port Pr.332~Pr.333=0 No torque control Pr.141=102 DI1(102) Drive will Enable by DI1 Pr.145=73 DI5(73) FWD RUN (effective when control by terminal input) Pr.146=74 DI6(74) REV RUN (effective when control by terminal input) Pr.181=0 & Pr.039=0.2 FWD/REV command by LOCAL panel normally Pr.040=0.25 Speed command by Pr.000 normally Pr.000=500 Default speed = 500RPM Pr.130=0 select quadrature input clock to XY input Pr.133=1000 XY multiply rate =1000 Pr.134=1000 XY division rate = 1000 *2: before operation start, verify Pr.326 (Position loop P gain) and the parameters of *1 of section 4.3.2. Procedure: z Connect DI1 to DCOM z Push FWD or REV key, then the drive is ready to accept clock input from XY port z Change Pr.133 or Pr.134, and verify the effects.

15

4.3.4 Auto Point-to-Point control Mode for Induction Servo

Select Pr.094=204, then execute RESET to initialize the parameters. After initialization, the CPU loads following parameters, then the drive standby under auto point-to-point mode. Pr.188=0 Choose pre-stored Group#0 motor parameters (Pr.300~Pr.349) Pr.300=2 Select Induction servo motor for close loop control Pr.330=1 Position control (Refer to section 4.3.3 *2) Pr.331=0 Auto Point-to-Point control Pr.332=0 Select Incremental type APTP Pr.333=0 No torque control Pr.141=102 DI1(102) Drive will Enable by DI1 Pr.142=128 DI2(128) Start Home search Pr.143=129 DI3(129) End Home search and stop at the desired offset point Pr.144=118 DI4(118) APTP start trigger Pr.145=119 DI5(119) Direction control Pr.146=120 DI6(120) Point selection Bit0 Pr.181=0 & Pr.039=0.0 FWD/REV command by LOCAL panel normally Pr.040=0.00 Speed command by Pr.000 normally Pr.000=500 Default speed = 500RPM Pr.001=0.50 0.5 seconds ramp up from zero to maximum speed Pr.002=0.50 0.5 seconds ramp down from maximum to zero speed Pr.568/569=00000001 Offset one clock after index catch Pr.500/501=4*PPR One revolution when DL0 is selected Pr.502/503=40*PPR Ten revolutions when DL1 is selected Procedure: z Connect DI1 to DCOM z Push FWD or REV key, then the drive is ready to accept Home Search Command z Trigger DI2, the motor start run to 500RPM z Trigger DI3 (assume DOG sensor input), the drive start search index then stop at desired offset z Use DI5 and DI6 to select desired DLn (Destination Length) and direction z Trigger DI4, the motor run and stop at DLn. z Try to use DI7~DI10 and set other DLn parameters to select different length. z If Absolute type APTP is desired, set Pr.332=1, execute RESET, then try again

4.3.5 Example for Brushless Servo Motor

If select Pr.094=232~234, the functions are similar to Pr.094=202~204, Except z Pr.188=3, the motor characteristic parameters are default to group#3(Pr.450~Pr.499) z Pr.450=3, select brushless servo motor. *User has to prepare other parameters in group#3 to match the brushless motor in use.

16

4.4 Auto Tuning for Servo Motors

4.4.1 Auto Tuning for Induction Servo Motor
If select Pr.094=205, only few parameters is necessary to set by user, then after execute RESET, this drive can detect the motor characteristic parameters itself. For induction servo, use motor parameter group#0(Pr.300~Pr.349). 1. Set Pr.307=Rated motor Voltage=100%(Motor Rated Voltage/Line Voltage). 2. Set Pr.310=Rated motor Speed (RPM). 3. Set Pr.311=Rated motor Current=100%*(Motor Rated Current/Driver Rated Current). 4. Set Pr.094=205, inform the drive to execute Auto tuning after reset 5. Execute RESET to initiate Tuning Process. After tuning process complete, the drive will set Pr.094=202, then reset again in order to preload the drive as speed controller. (Refer to sec.4.3.2). The following parameters will be changed after tuning process, user should verify again. Pr.302- Encoder PPR, set to correct value Pr.303- Encoder Direction, set to correct direction Pr.308- Set equal to Pr.307 Pr.309- Boost Voltage (used when V/F control application) Pr.312- Peak Current, set to 100% Pr.313- Field Current, set to proper value (% of Motor Rated Current) Pr.314- Pole, set to correct pole number Pr.315- Maximum Speed, Set equal to Pr.310 Pr.316- Minimum Speed, set to 0RPM Pr.317- SLIP RPM, set to 5% of Rated motor Speed(RPM) Pr.320- ACR Pgain, Set to proper value Pr.321- ACR I gain, Set to proper value Pr.323- ASR Pgain, Set to proper value Pr.324- ASR Igain, Set to proper value

4.4.2 Auto Tuning for Brushless Servo Motor

If select Pr.094=235, only few parameters is necessary to set by user, then after execute RESET, this drive can detect the motor characteristic parameters itself. For brushless servo, use motor parameter group#3(Pr.450~Pr.499). 1. Set Pr.460=Rated motor Speed (RPM). 2. Set Pr.461=Rated motor Current=100%*(Motor Rated Current/Driver Rated Current). 3. Set Pr.094=235, inform the drive to execute Auto tuning after reset 4. Execute RESET to initiate Tuning Process. After tuning process complete, the drive will set Pr.094=232, then reset again in order to preload the drive as speed controller. (Refer to sec.4.3.5). The following parameters will be changed after tuning process, user should verify again. Pr.452- Encoder PPR, set to correct value Pr.453- Encoder Direction, set to correct direction Pr.457=Rated motor Voltage, set to proper value Pr.458- Set equal to Pr.457 Pr.459- Boost Voltage=0 Pr.462- Peak Current, set to 100% Pr.463- Field Current=0 Pr.464- Pole, set to correct pole number Pr.465- Maximum Speed, Set equal to Pr.460 Pr.466- Minimum Speed, set to 0RPM Pr.467- SLIP RPM=0 Pr.470- ACR Pgain, Set to proper value Pr.471- ACR I gain, Set to proper value Pr.473- ASR Pgain, Set to proper value Pr.474- ASR Igain, Set to proper value

4.4.3 Auto Tuning Resolver BL Servo Motor

If the servo motors use resolver as feedback element, then user must select resolver option card (under development). After choosing correct feedback option card, then the drive will identify itself for controlling the resolver. Auto tuning procedure and all parameters setting are the same as those described in section 4.4.2, except Angle Shift. Pr.340/390/440/490 is defined as Resolver_Angle_Shift, indicates the angle shift between motor magnetic North direction and resolver North mark. 17

5. Parameters
5.1 Parameter List
Pr.xxx 000 001 002 005 012 013 019 020 021 022 023 024 025 026 027 028 029 031 033 034 039 040 049 050 051 053 054 057 058 059 060 061 062 064 065 066 067 068 070 071 072 073 074 075 076 077 083 084 085 086 087 089 090 091 092 Parameter Name Main Speed Set Main Acceleration Time Main Deceleration Time Brake Speed PWM Carrier Alarm Code Jog Speed Jog Acceleration/Deceleration Time SPD1 Speed Set SPD1 Acceleration Time SPD1 Deceleration Time SPD2 Speed Set SPD2 Acceleration Time SPD2 Deceleration Time SPD3 Speed Set SPD3 Acceleration Time SPD3 Deceleration Time Reverse Inhibit Discharge Enable UP/OP Restart Enable Control Command Select Speed Source Select Detect RPM Detect Tolerance Thermal Trip Time Gear Ratio Irms Select HZ RPM Vdc (Capacitor) Vout (r.m.s. output) Irms Temperature DI0~DI10 Input Status DO0~DO6 Output Status DI Simulation Torque Set DO Simulation Analog Input Gain Timer(1) Time Timer(2) Time S-curve Time T1 S-curve Time T2 S-curve Time T3 S-curve Time T4 DO1 Pulse Output Ratio IGBT Guard Time Line Voltage Rated Current Irms Adjust Vdc Adjust AI1 Low AI1 High AI2 Low AI2 High 18 Default 0 rpm 5.00 sec 5.00 sec 5 8.0 KHz 0 10 rpm 10.0 sec 0 rpm 10.0 sec 10.0 sec 0 rpm 10.0 sec 10.0 sec 0 rpm 10.0 sec 10.0 sec 0 0 0 0.0 8.08 300 rpm 30 rpm 3 sec 100 % 0 Hz rpm Volts DC Volts AC Amp C 0000 Hex 0000 Hex 0 0.00% 0 50% 5.0 sec 5.0 sec 0.00 sec 0.00 sec 0.00 sec 0.00 sec 1 3.0sec Volts AC Amp Min. 0 0.00 0.00 0 8 0 0 0.1 0 0.1 0.1 0 0.1 0.1 0 0.1 0.1 0 0 0 0.0 0.00 0 0 0 0 0 0.0 Max. 8000 650.0 650.0 8000 8 9 8000 25.0 8000 6553.0 6553.0 8000 6553.0 6553.0 8000 6553.0 6553.0 1 2 1 9.9 99.99 8000 8000 120 100 27 166.6 Type R/W R/W R/W R/W R M R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W FR/W FR/W R/W R/W R/W M M M M M M M M RAM RAM RAM R/W R/W R/W R/W R/W R/W R/W R/W FR/W FR/W FR/W FR/W FR/W FR/W FR/W FR/W FR/W Reference 5.2.4 5.2.5 5.2.7 5.2.8 5.2.4 5.2.4

5.2.4

5.2.4 5.2.5 5.2.5 5.2.5 5.2.5 SEC. 6 8.3.1 5.2.5 5.2.8 5.2.8

5.2.8

12 1012 12 1012

0 0000 0 0 0.00 0 0 0.2 0.2 0.00 0.00 0.00 0.00 1 2.0 40 0.5 70 70 0 0 0 0

100 07FF 007F 2047 100.0 2047 100 6553.0 25.0 2.50 2.50 2.50 2.50 100 25.5 1000 3000.0 140 140 1023 1023 1023 1023

5.2.8 5.2.5 5.2.5 5.2.5 6.2.4 7.3.3

5.2.4 8.3.3 5.2.7 5.2.7 5.2.7 5.2.7 5.2.6 5.2.6

Pr.xxx 094 095 096 097 098 099 108 109 116 120 121 122 123 124 125 130 131 132 133 134 135 136 137 140 141 142 143 144 145 146 147 148 149 150 157 158 159 160 161 162 163 164 165 166 180 181 182 188 189 191 192 193 194 195 200 201 202 203 204 205

Parameter Name Reload Parameter Memory Protect Factory Write Enable Version Monitor(I) Monitor(HZ) Counter Value Counter Set Speed Set Protocol Select Baud Rate Stop Bit ID Queue Status Parity XY Clock Type Select XY Input Pin Status XY Direction Change XY Multiply Rate 0 XY Division Rate 0 XY Multiply Rate 1 XY Division Rate 1 XY Counter Value DI0 Select DI1 Select DI2 Select DI3 Select DI4 Select DI5 Select DI6 Select DI7 Select DI8 Select DI9 Select DI10 Select Line Speed(1) Line Speed(2) Line Speed(3) DO0 Select DO1 Select DO2 Select DO3 Select DO4 Select DO5 Select DO6 Select Fan Control Panel Command Priority Panel Speed Priority Motor Parameter Group Select PG Loss Check Enable AI3 Low AI3 High Home Direction Home Speed and Acc/Dec Travel Limit Iv A/D Value AI1 A/D Value AI2 A/D Value AI3 A/D Value Iw A/D Value Idc A/D Value 19

Default 0 0 0 61 58 0 0 0 rpm 0 2 1 1 0 0 0 0 0 1 1 1 1 0000 Hex 0 0 0 0 0 0 0 0 0 0 0 0 0.00 0.0 0 0 0 0 0 0 0 10.50 sec 0 0 0 1 12 1012 1 0 0 0 0 0

Min.

Max. 255 2 1 999 999 65530 9999 8000 2 3 1 250 31 2 6 3 1 9999 9999 9999 9999 FFFF 250 250 250 250 250 250 250 250 250 250 250 65530 655.30 6553.0 250 250 250 250 250 250 250 99.99 1 1 3 1 1023 1023 2 1 1 1023 1023 1023 1023 1023 1023

0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0000 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 5.00 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0

Type R/W R/W R/W R R/W R/W M R/W RAM FR/W FR/W FR/W FR/W M FR/W FR/W M FR/W FR/W FR/W FR/W FR/W M R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W M M M R/W R/W R/W R/W R/W R/W R/W FR/W FR/W FR/W FR/W FR/W FR/W FR/W FR/W FR/W R/W M M M M M M

Reference 5.2.3 5.2.2 5.2.7 5.2.8 7.3.3 DIx(28) 5.2.4

SEC. 9

5.2.9

SEC .7

5.2.8

SEC. 8

5.2.5 5.2.5 5.2.5 5.2.5 5.2.6 5.2.12 5.2.12

5.2.8

Pr.xxx 206 207 210 211 212 220 221 222 230 231 232 240 241 242 243 244 245 246 247 248 249 250 251 252 253 300350400450 301351401451 302352402452 303353403453 304354404454 305355405455 306356406456 307357407457 308358408458 309359409459 310360410460 311361411461 312362412462 313363413463 314364414464 315365415465 316366416466 317367417467 320370420470 321371421471 323373423473 324374424474 326376426476 330380430480 331381431481 332382432482 333383433483 334384434484 335385435485 336386436486 340390440490

Parameter Name Vcap A/D Value Temperature A/D Value AO1 Select AO1 Zero AO1 Span AO2 Select AO2 Zero AO2 Span AO3 Select AO3 Zero AO3 Span PID Input Select PID Default Configuration PID Output Value PID Pgain PID Igain PID Dgain PID FBgain PID Constant Reference PID Limit PID Dtime PID Set Value PID FB Value PID Error Value PID Auto Gain Select Motor Type Select ABC Status Encoder PPR A-Lead/Lag-B AB Filter AB Counter UVW Status Motor Rated Voltage Motor Peak Voltage Boost Voltage Motor Rated RPM Motor Rated Current Motor Peak Current Field Current Pole Maximum RPM Minimum RPM Slip RPM P Gain (Current Loop) I Gain (Current Loop) P Gain (Speed Loop) I Gain (Speed Loop) P Gain (Position Loop) Position/Speed Select Pcmd/APTP Select Absolute/Increment Select Torque Limit Source Select Length Conversion Length Compensation Compensation Polarity Resolver Shift Angle 20

Default

0 0.00 100.0% 0 0.00 100.0% 0 0.00 100.0% 0.00 0 0 0 0 0 1.00 0 1000 0.00 sec 0000 Hex 0000 Hex 0000 Hex 0 0 0 1024 0 2 0000 Hex 000 100% 100% 0.0% 1800 100% 100% 20% 4 1800 0 100 100 50 500 50 200 0 0 0 0.0 0 0 0 0

Min. 0 0 0 0 0 0 0 0 0 0 0 0 0 O 0 0 0 0 0 0 0.00 0000 0000 0000 0 0 0 0 0 0 0000 000 0 0 0 0 10 0 0 2 100 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0

Max. 1023 1023 250 1.99 150.0 250 1.99 150.0 250 1.99 150.0 99.99 63 FFFF 9999 9999 9999 100.00 1000 1000 2.50 FFFF FFFF FFFF 5 5 7 9999 1 5 FFFF 111 100 100 25.0 8000 100 300 100 12 8000 8000 8000 2000 2000 4000 2000 2000 1 1 1 9.9 16 1 1 4095

Type Reference M 5.2.8 M FR/W 5.2.6 FR/W FR/W FR/W 5.2.6 FR/W FR/W FR/W 5.2.6 FR/W FR/W FR/W FR/W M FR/W FR/W FR/W FR/W 5.2.10 FR/W FR/W FR/W M M M FR/W FR/W FR/W FR/W FR/W FR/W M 5.2.11 M FR/W FR/W FR/W FR/W FR/W FR/W FR/W FR/W FR/W FR/W FR/W FR/W FR/W FR/W FR/W 5.2.11 FR/W FR/W FR/W FR/W FR/W FR/W FR/W FR/W FR/W

Pr.xxx 341391441491 500 501 502 503 504 505 558 559 560 561 562 563 564 565 566 567 568 569 570 571 574 575 576 577 578 579 580 581 582 583

Parameter Name Resolver Polarity DL0 (Low) DL0 (High) DL1 (Low) DL1 (High) DL2 (Low) DL2 (High) DL29 (Low) DL29 (High) DL30 (Low) DL30 (High) /AI1 Detect Level DL31 (Low) /AI2 Detect Level DL31 (High) /AI3 Detect Level Forward Travel Limit (Low) Forward Travel Limit (High) Reverse Travel Limit (Low) Reverse Travel Limit (High) Index Offset (Low) Index Offset (High) Position Error Limit In Position Range m Display BCD (Low) m Display BCD (High) m Revolution (Low) m Revolution (High) Position BCD (Low) Position BCD (High) Position Hex (Low) Position Hex (High) m Display Hex (Low) m Display Hex (High)

Default 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1000 10 0 0 0 0 0 0 0000 Hex 0000 Hex 0000 Hex 0000 Hex

Min. 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0000 0000 0000 0000

Max. 1 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 9999 FFFF FFFF FFFF FFFF

Type Reference FR/W 5.2.11 FR/W FR/W FR/W FR/W FR/W FR/W 5.2.12 FR/W FR/W FR/W FR/W FR/W FR/W FR/W 5.2.12 FR/W FR/W 5.2.12 FR/W FR/W 5.2.12 FR/W FR/W 5.2.12 FR/W M 5.2.8 M FR/W 5.2.12 FR/W M 5.2.8 M M 5.2.8 M M 5.2.8 M

21

5.2 Parameter Description

5.2.1 Parameter Type
Type R/W FR/W RAM M R Description Type R/W parameters are stored in EAROM. They can be read/write and story in the memory permanently. Type FR/W parameters are stored in EAROM. Generally, they are used for factory adjustment. Only authorized engineers should modify them. Type RAM parameters are store in RAM; they will be changed to default after RESET or power off. Type M is read only parameters for monitoring. Type R is constant parameters. Description Pr.095 Pr.096 1 -All parameters (except Pr.000 and Pr.095) are not allow to change. 0 1 Parameters with R/W and FR/W type can be changed. 0 0 Parameters with R/W type can be changed.. Description Pr.094 is used to INITALIZE data into all parameters with R/W type. Follow the process to execute memory initalization: z Write Pr.095 = 0, and Pr.0941. z Execute ALM RESET (press STOP/RESET key under ALM mode, or Execute Hardware RESET, or Execute Power-On RESET After initialization process, the data of parameters with R/W type will change to DEFAULT value listed in the PARAMETER LIST table (section 5.1). Refer to section 4.2 for default setting of different application. Description

5.2.2 Parameter Protection

Pr.nnn Parameter Name 095 Memory Protect 096 Factory Write Enable

5.2.3 Parameter Initalization

Pr.nnn Parameter Name 094 Reload Parameter

5.2.4 Speed & Acceleration/Deceleration Time

Pr.nnn 000 001 002 019 020 021 022 023 024 025 026 027 028 029 Parameter Name Main Speed Set Main Acceleration Time Main Decel Time Jog Speed Jog Accel/Decel Time SPD1 Speed SPD1 Acceleration Time SPD1 Deceleration Time SPD2 Speed SPD2 Acceleration Time SPD2 Deceleration Time SPD3 Speed SPD3 Acceleration Time SPD3 Deceleration Time

Pr.027 SPD3 Speed Normal Speed Pr.021 SPD1 Speed Pr.024 SPD2 Speed Pr.019 JOG Speed DIx(5) JOG DIx(4) SPD1 DIx(3) SPD2 DIx(2) SPD3 DIx(73) RUN
z z z z z z

time

time

Normal Speed: speed source defined in Pr.040. Acceleration Time: the period of time from 0 rpm ramp up to Maximum RPM. Deceleration Time: the period of time from Maximum RPM ramp down to 0rpm. The priority level for multi-speed operation is: JOGSPD1SPD2SPD316 STEPNORMAL SPEED When normal speed selected, Pr.001/002 determines the acceleration and deceleration time. When JOG speed selected, Pr.020 determines the acceleration and deceleration time

22

073 074 075 076

S-curve Time T1 (Begin Acceleration) S-curve Time T2 (End Acceleration) S-curve Time T3 (Begin Deceleration) S-curve Time T4 (End Deceleration)

When SPD1 speed selected, Pr.022 determines the acceleration and Pr.023 determines the deceleration time. z When SPD2 speed selected, Pr.025 determines the acceleration and Pr.026 determines the deceleration time. z When SPD2 speed selected, Pr.028 determines the acceleration and Pr.029 determines the deceleration time. When DIX(2)~DIx(5) are all OFF (no JOG, SPD1, SPD2, SPD3 function), DIx(80)~DIx(83) are used to assign 16-STEP speed , DIx(84)~DIx(87) can be used to select acceleration and deceleration time. z If any of DIx(80)~DIx(83) is ON, then set speed is: Set Speed = DIx(83)*Pr.027+DIx(82)*Pr.024+DIx(81)*Pr021+DIx(80)*Pr.019 z When DIx(84) is ON, Pr.020 determines the acceleration and deceleration time z When DIx(85) is O, Pr.022 determines the acceleration and Pr.023 determines the deceleration time. z When DIx(86) is ON, Pr.025 determines the acceleration and Pr.026 determines the deceleration time z When DIx(87) is ON, Pr.028 determines the acceleration and Pr.029 determines the deceleration time. By setting an S-curve value, will smooth the motor transition at beginning and end of the acceleration and deceleration perido from current running speed to another operation speed. Speed

Acceleration T3 T1 T2 T4

116

Speed Set

The Speed Set memorized in RAM, if Speed Source select Pr.040= 46, this parameter will be used as the desired speed source. Usually, use this for speed setting by communication and the application has to change speed often. Description While deceleration to stop, if the output speed is lower than this parameter, the output speed change to 0 RPM directly. Pr.031 0 1 Pr.033 0 Description Drive may run in both direction Reverse run is inhibited. Description Discharge circuit is Disabled. The discharge transistor will ON if the following conditions are met: z Drive is Running z Drive has no Alarm z Vdc > Pr.084 * 1.414 * 117% z Drive under deceleration The discharge transistor will ON if the following conditions are met: z Drive is Running z Drive has no Alarm z Vdc > Pr.084 * 1.414 * 117% Description UP/OP Restart function is Disabled. After UP/OP alarm, when power comes back normal, the drive will restart automatically. 23

5.2.5 Control Function

Pr.nnn Parameter Name 005 Brake Speed 031 Reverse Inhibit

033

Discharge Enable

2 034 UP/OP Restart Enable

Pr.034 0 1

039

Control Command Select

This parameter is select the control command will come from panel or terminal. If the control command come from terminal, then the terminals RUN DIx(73) and REV DIx(74) are used to control the drive. z Any digital input terminal assigned as DIX(73) will function as RUN terminal input. z Any digital input terminal assigned as DIX(74) will function as REV terminal input. Pr.039 0 Description Control command comes from the Control Panel. z Push FWD key, the drive will run forward direction. z Push REV key, the drive will run reverse direction. z Push STOP key, the drive will stop. The RUN terminal DIx(73) determines the drive running or stop. The REV terminal DIx(74) determines the running direction. The RUN terminal DIx(73) is equivalent to FORWARD-RUN The REV terminal DIx(74) is equivalent to REVERSE-RUN

1 2

051

Thermal Trip Time

Control command come from digital input terminal: Pr.039 RUN REV Function OFF --STOP 1 ON OFF FORWARD RUN ON ON REVERSE RUN OFF OFF STOP 2 OFF ON REVERSE RUN ON --FORWARD RUN Control command select Pr.039 = a.b, it is composed of two selection of a and b in one parameter, if DIx(89)(Control Command SW) or DIx(90)(Speed & Control SW) is ON, then control command select = b, otherwise control command select = a. This parameter defines the OVER LOAD trip time of Internal Thermal Relay. If Pr.051=0, the Thermal Relay function is disabled.

(Irms/Motor Rated Current) 200% 150% 110%

Pr.051
066 DI Simulation

Time

067 068

Torque Set DO Simulation

180

Fan Control

This parameter is used for simulating the digital input signal from DIx terminal. The input value is in BCD format; it is converted into Binary form to simulate each digital input. For example: If Pr.066=2(BCD)=00000000010(Binary), means DI1 ON. If Pr.066=42(BCD)=00000101010(Binary), means DI1, DI3 and DI5 ON. If Pr.333/383/433/483 (Torque Limit Source Select) =4, means the torque limit is controlled by this parameter. This Parameter is used for simulating the digital output status. The input value is in BCD format; it converted into Binary form to simulate each digital output. For example: Pr.068=2(BCD)= 0000010(Binary), means DO1 ON. Pr.068=42(BCD)= 0101010(Binary), means DO1, DO3 and DO5 ON. When temperature 45C, Fan always ON. Pr.180 = aa.bb, it is composed of two selection of aa and bb in one parameter, when temperature < 45C, ON/OFF duty of fan is: aa: ON time (seconds) bb: OFF time (seconds) Pr.181 0 1 Control Command From Control Panel From RS485 communication port 24

181

Panel Command Priority

182

Panel Speed Priority

188

Motor Parameter Group Select

Speed Command Pr.182 From Control Panel 0 From RS485 communication port 1 If none of all DIx select DIx(114)(MSB0) or DIx(115)(MSB1), then Motor Parameter Group is selected by Pr.188 Motor Parameter Group Pr.188 Use motor parameter group #0 (Pr.300~349) 0 Use motor parameter group #1 (Pr.350~399) 1 Use motor parameter group #2 (Pr.400~449) 2 Use motor parameter group #3 (Pr.450~499) 3 If there exists any DIx(114)(MSB0) or DIx(115)(MSB1) selected, then Motor Parameter Group is selected by Digital Input Terminal. DIx(114) MSB0 DIx(115) MSB1 Motor Parameter Group Use motor parameter group #0 (Pr.300~349) OFF OFF Use motor parameter group #1 (Pr.350~399) OFF ON Use motor parameter group #2 (Pr.400~449) ON OFF Use motor parameter group #3 (Pr.450~499) ON ON NOTE: This function in checked only when power ON or after reset. Pr.189 0 1 Description No PG Loss check PG Loss Check enabled. When PG Loss, shown alarm message PG on control panel.

189

PG Loss Check Enable

5.2.6 Analog Input/Output Function

Pr.nnn Parameter name 089 AI1 Low 090 091 092 191 192 210 220 230 AI1 High AI2 Low AI2 High AI3 Low AI3 High AO1 Select AO2 Select AO3 Select Description This parameter is used to record the A/D converter data read from Pr.201 when AI1 input terminal is connected to ACOM terminal. (AI1 select 0~ +5) This parameter is used to record the A/D converter data read from Pr.201 when AI1 input terminal is connected to +5V voltage source. (AI1 select 0~ +5) This parameter is used to record the A/D converter data read from Pr.202 when AI2 input terminal is connected to ACOM terminal. (AI2 select 0~ +5) This parameter is used to record the A/D converter data read from Pr.202 when AI2 input terminal is connected to +5V voltage source. (AI2 select 0~ +5) This parameter is used to record the A/D converter data read from Pr.203 when AI3 input terminal is connected to ACOM terminal. (AI3 select 0~ +5) This parameter is used to record the A/D converter data read from Pr.203 when AI3 input terminal is connected to +5V voltage source. (AI3 select 0~ +5) Setting 0 1 2 3 4 5 6 7 8 9 Analog Output Function 0V Positive Maximum (about 10V) Negative Maximum (about 10V) Speed (Full-scale=Maximum RPM) abs(Speed) (Full-scale=Maximum RPM) Output Current (Full-scale=200% of Drive Rated Current) Output Current (Full-scale=300% of Motor Rated Current) PID Output Torque (Full-scale=Maximum Torque) abs(Torque) (Full-scale=Maximum Torque) Description Positive Zero Compensation (resolution 0.01 volt) Negative Zero Compensation (resolution 0.01 volt)

211 221 231 212 222 232

AO1 Zero AO2 Zero AO3 Zero AO1 Span AO2 Span AO3 Span

Setting 0.00~0.99 1.00~1.99

Analog output span adjustment

25

5.2.7 Factory Adjustment Parameters

NOTE: Only authorized engineers should modify these parameters. Pr.nnn Parameter Name Description 012 PWM Carrier Fixed frequency 8K Hz IGBT Guard Time This parameter defines the guard time for preventing IGBT short between upper and lower 083 arm. Only factory can modify this parameter, consult factory if modification is necessary. 084 Line Voltage This parameter defines the normal working voltage of the drive. According to this parameter, the drive calculates all voltage dependent values. z OP Trip Voltage (Vdc) = 1.414 Pr.084 130 z UP Trip Voltage (Vdc) = 1.414 * Pr.84 * 70% z OP Recover Voltage (Vdc) = 1.414 * Pr.84 * 120% z UP Recover Voltage (Vdc) = 1.414 * Pr.84 * 80% z Contactor ON Voltage (Vdc)1.414Pr.8469 z Contactor OFF Voltage (Vdc)1.414 Pr.8465 Note: The contactor means the device used to BY-PASS the charging resistor. It may a RELAY or a SCR instead. Discharge Start Voltage (Vdc)1.414Pr.84117 (Refer to Pr.033) 085 Rated Current This parameter defines the rated output current of the drive. 086 Irms Adjust This parameter is used to adjust the Irms data reading. 087 Vdc Adjust This parameter is used to adjust the reading of internal DC BUS. 097 Version This parameter is indicating the software revision of this drive.

5.2.8 Monitor Function

Pr.nnn Parameter Name 013 Alarm Code Description Display the present alarm message. Alarm Code Control Panel shows Message Description 0 no Normal 1 PG PG Loss 3 OC Over Current 4 OH Over Heat 5 OP Over Voltage 6 UP Under Voltage 7 OL Over Load Monitors the output frequency of the drive. For close loop control mode, monitors the motor rotating speed. For V/F constant mode, RPM = 120 * Hz / POLE. Monitors the internal DC BUS voltage of the drive, Vdc = 1.414 * Vac (line input) Monitors the output Vrms of the drive. Use Pr.054 to select the data type displays in Pr.061. Pr.054 Pr.061 0 Output Current Irms (Amp) 1 Output Current Irms (% of Drive rating) 2 Output Current Irms (% of motor rating) 11 OL accumulation level 28 abs(Output Torque) (% of Maximum Output Torque) Monitors the temperature of internal heat sink. When the temperature exceeds 80 C driver will STOP and show OH alarm. Monitors the DI0~DI10, expressed in Hex form. It is converted into Binary form to show the status of DI0~DI10. For example: If Pr.064=0062(Hex)=00001100010(Binary), means DI1, DI5 and DI6 is ON. Monitors the DO0~DO60, expressed in Hex form. It is converted into Binary form to show the status of DO0~DO6. For example: If Pr.065=0062(Hex)=1100010(Binary), means DO1, DO5 and DO6 is ON. While control panel is under MON mode, user can select which two statuses are to be monitored. Pr.098 is used to assign the parameter to be monitored when I LED is ON. Pr.099 is used to assign the parameter to be monitored when HZ LED is ON. For example, the default value in Pr.099=58 and Pr.098=61, that means, the panel will show the value of Pr.058 (rpm) while HZ LED is ON. And push or key to change to LED I ON, the panel will show the value of Pr.061 (Irms).

057 058 059 060 054 061

HZ RPM Vdc (Capacitor) Vout (r.m.s. output) Irms Select Irms

062 064

Temperature DI0~DI10 Input Status

065

DO0~DO6 Output Status

098 099

Monitor(I) Monitor(HZ)

26

053 157 158 159 200 201 202 203 204 205 206 207 574 575 578 579 580 581 582 583

Gear Ratio Line Speed(1) Line Speed(2) Line Speed(3) Iv A/D Value AI1 A/D Value AI2 A/D Value AI3 A/D Value Iw A/D Value Idc A/D Value Vcap A/D Value Temperature A/D Value m Display BCD (Low) m Display BCD (High) Position BCD (Low) Position BCD (High) Position Hex (Low) Position Hex (High) m Display Hex (Low) m Display Hex (High)

According to Pr.053, the drive calculates Line Speed show in Pr157~159. Pr.xxx Display Data Range 157 RPM(Pr.058) * Gear Ratio(Pr.053) 0~65530 158 RPM(Pr.058) * Gear Ratio (Pr.053) / 100 0.00~655.30 159 RPM(Pr.058) * Gear Ratio(Pr.053) / 10 0.0~6553.0 Monitors A/D converted data of Iv. Monitors A/D converted data of AI1. Monitors A/D converted data of AI2. Monitors A/D converted data of AI3. Monitors A/D converted data of Iw. Monitors A/D converted data of Idc. Monitors A/D converted data of Vcap. Monitors A/D converted data of Temperature. Actual position expressed in m (BCD format) Actual position expressed in clocks (BCD format) Actual position expressed in clocks (HEX format) Actual position expressed in m (HEX format)

5.2.9 XY Pulse Command Input Parameters

Pr.nnn Parameter Name 130 XY Clock Type Select Description Pr.130 XY Clock Type 0 Two phase input clocks and X4 rate. 1 CLOCK and DIRECTION signals 2 UP-clock and DOWN-clock pulses 3 Two phase input clocks and X2 rate. Monitors XY pulse input pins status. Change XY counter direction. Use DIx(64)(XY Multiply) and DIx(65)(XY Division) to select Multiply Rate and Division Rate, and input clock rate counts as following: DIx(64) DIx(65) Clock Rate Multiply Rate 0 / Division Rate 0 OFF OFF Multiply Rate 0 / Division Rate 1 OFF ON Multiply Rate 1 / Division Rate 0 ON OFF Multiply Rate 1 / Division Rate 1 ON ON Pr.134=0 and Pr.136=0 means Division Rate = 10000 Monitors the content of pulses input to XY counter, expressed in Hex form. Pr.137=XY-input* (XY-Multiply / XY-Divide) * XY-Direction Remark JP2 & JP3 select line-driver input or open-collector type

131 132 133 134 135 136

XY Input Pin Status XY Direction Change XY Multiply Rate 0 XY Division Rate 0 XY Multiply Rate 1 XY Division Rate 1

137

XY Counter Value

27

DIx(64) Pr.135 Pr.133 Pcmd from Master

Pcmd/Tracking Function Block Diagram

MULTIPLY DIVIDE

Actual Position cmd.

Pr.134 Pr.136 DIx(65) DIx(58) DIx(168)

Analog AI1 JOG*AI1 JOG*PID

PID block

DIx(59) DIx(46)

DIx(169) DIx(47)

JOG(Pcmd)

The following table lists the relative Digital Input function. DIx Function Description 46 TRACK + JOG DIx(46), DIx(47), DIx(58), DIx(59), DIx(168) and DIx(169) are used to assign the Set Speed under tracking mode, if the digital input terminal is 47 TRACK JOG ON, the Set Speed as following: 58 TRACK + (AI1 * JOG) Set Speed DIx 59 TRACK (AI1 * JOG) Tracking Speed + JOG Speed (Pr.019) 46 168 TRACK + (PID Output * JOG) 169 TRACK (PID Output * JOG) Tracking Speed JOG Speed (Pr.019) 47 Tracking Speed + AI1 Input * JOG Speed (Pr.019) 58 Tracking Speed AI1 Input * JOG Speed (Pr.019) 59 Tracking Speed + PID Output * JOG Speed (Pr.019) 168 Tracking Speed PID Output * JOG Speed (Pr.019) 169 z Use these functions only under tracking mode. z AI1input range = +100% ~ 100%

28

5.2.10 PID Function

PID Function Block
Set Selection (aa) Set Polarity (Bit0) Auto Gain Select (Bit6) Integrator Hold (Bit5) Pr.247 AI-1 AI-2 AI-3 PID Set Switch 1 or 1

PID Limit (Pr.248)

Output Polarity (Bit3)

Set PID process Pgain I gain Dgain Dtime or Output

Error

Pr.247 AI-1 AI-2 AI-3 PID FB Switch 1 or 1

FB

1 or 1

PID Output

FBgain

PID Range (Bit2)

FB Selection (bb) FB Polarity (Bit1)

PID Enable (Bit4)

Pr.nnn Parameter Name 240 PID Input Select

241

Description This parameter composed by aa & bb separated by decimal point. The aa value is used to select the PID Set signal source for PID block. The bb value is used to select the PID FB signal source for PID block. The equivalent source for selection value aa or bb is: Pr.240 Description 0 Constant value defined by Pr.247 (0~100%) 1 Bipolar input from AI1 2 Bipolar input from AI2 3 Bipolar input from AI3 11 Unipolar input from AI1 12 Unipolar input from AI2 13 Unipolar input from AI3 PID Default Configuration Pr.241=N, the value N is composed of 7 different bit switches. While Power ON or after RESET, the 7 bit switches are used to configure the PID block. N = 64*Bit6 + 32*Bit5 + 16*Bit4 + 8*Bit3 + 4*Bit2 + 2*Bit1 + 1*Bit0 If any of these switches requires random change, use DIx(160)~DIx(165) for equivalent bits. Bit n Name Function Equivalent DIx =0, Set = (+1) * PID Set Bit0 Set Polarity DIx(160) =1, Set = (1) * PID Set =0, FB = (+1) * PID FB Bit1 FB Polarity DIx(161) =1, FB = (1) * PID FB =0, Output with Bipolar value Bit2 PID Range DIx(162) =1, Output with Unipolar value =0, PIDOutput = (+1) * Output Bit3 Output Polarity DIx(163) =1, PID Output= (1) * Output =0, PID block disabled Bit4 PID Enable DIx(164) =1, PID block enabled =0, PID Integrator normal Bit5 PID Hold DIx(165) =1, PID Integrator Hold =0, Auto Gain disabled Bit6 Auto Gain DIx(166) =1, Auto Gain Enabled Monitors Output value of PID block, expressed in Hex form.

242

PID Output Value

29

243 244 245 249 253

PID Pgain PID Igain PID Dgain PID Dtime PID Auto Gain Select

Error input

time PID output

Error*Dgain Error*Pgain D-time

PID _ out = Error *

Error*Igain*t

time
t

Pgain Dgain Igain * 500 *t + ( Error * e Dtime ) * + Error * 65536 256 256

Note: the PID block is calculated every 2ms

Pr.253 used to select Auto Gain of PID block, Pgain, Igain, Dgain = Set value * AutoGain-coefficient. Pr.253 Auto Gain Source 0 No Auto Gain 1 AI1 Input 2 AI2 Input 3 AI3 Input 4 Speed / Maximum RPM Average Speed / Maximum RPM 5 (Speed is average every 0.25 second)) PID Feedback Gain Constant value used as PID Set or PID FB reference. Maximum output limit of PID block. Monitors Set value of PID block. Monitors Feedback value of PID block Monitors Error value of PID block

Range 100% 0~100% 0~100% 0~100% (1/16)~100% (1/16)~100%

246 PID FBgain 247 PID Constant Reference 248 PID Limit 250 PID Set Value 251 PID FB Value 252 PID Error Value Other information: z When Torque Limit select (Pr.333/383/433/483) = 5, PID Output becomes the torque limit source. (Refer to Pr.333) z When Analog Output Source Select = 7, PID Output becomes the AOx Output value. (Refer to section 5.2.6) z When Speed Source Select (Pr.040) = 40, PID Output becomes the Main Speed Source. (Refer to section 6.2.1) z When DIx(168) is selected, Set Speed = Tracking Speed + PID Output * JOG Speed (Pr.019). (Refer to section 5.2.9) z When DIx(169) is selected, Set Speed = Tracking Speed PID Output * JOG Speed (Pr.019). (Refer to section 5.2.9)

30

5.2.11 Motor Parameter Groups

Pr.nnn Parameter Name Group#0 Group#1 Group#2 Group#3 300 350 400 450 Motor Type Select Description Pr.300 Description 0 Induction motor V/F control 1 Induction motor Sensor-Less mode 2 Induction motor Servo mode 3 Brushless servo motor Monitors encoder status Pulse per revolution of encoder Determine encoder feedback direction Determine sampling period of encoder Monitors counter value of encoder (Hex form) Monitors Brushless servo motor UVW status (Motor Rated Voltage / Line Voltage) * 100% (Motor Peak Voltage / Line Voltage) * 100% Minimum voltage while output speed is low. For induction motor V/F mode only. Rated speed of motor (Motor Rated current / Drive Rated Current) * 100% (Motor Peak Current / Motor Rated Current) * 100% (Motor Field Current / Motor Rated current) * 100% Pole number of motor Maximum speed of motor (RPM) Minimum speed of motor (RPM) Slip speed of induction motor (RPM) P gain constant for current loop I gain constant for current loop P gain constant for speed loop I gain constant for speed loop P gain constant for position loop Setting Mode 0 Speed Control Mode 1 Position Control Mode If there exists any DIx(106) or DIx(107) selected, then Position/Speed control mode is selected by Digital Input Terminal. DIx Status Mode DIx(106) ON or DIx(107) OFF Speed Mode DIx(106) OFF or DIx(107) ON Position Mode Setting Mode 0 Auto Point to Point (APTP) 1 Pulse Command control (Pcmd) If there exists any DIx(126) or DIx(127) selected, then Pcmd/APTP control mode is selected by Digital Input Terminal. DIx Status Mode DIx(126) ON or DIx(127) OFF Pcmd Mode DIx(126) OFF or DIx(127) ON APTP Mode

301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 320 321 323 324 326 330

351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 370 371 373 374 376 380

401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 420 421 423 424 426 430

451 452 453 454 455 456 457 458 459 460 461 462 463 464 465 466 467 470 471 473 474 476 480

ABC Status Encoder PPR A-Lead/Lag-B AB Filter AB Counter UVW Status Motor Rated Voltage Motor Peak Voltage Boost Voltage Motor Rated RPM Motor Rated Current Motor Peak Current Field Current Pole Maximum RPM Minimum RPM Slip RPM P gain (Current Loop) I gain (Current Loop) P gain (Speed Loop) I gain (Speed Loop) P gain (Position Loop) Position/Speed Select

331

381

431

481

Pcmd/APTP Select

31

332

382

432

482

Absolute/Increment Select Torque Limit Source Select

333

383

433

483

334

384

434

484

Length Conversion

335 336

385 386

435 436

485 486

Length Compensation Compensation Polarity

337~339 387~389 437~439 487~489 Reserve 340 341 390 391 440 441 490 491 Resolver Shift Angle Resolver Polarity

342~349 392~399 432~439 492~499 Reserve

Setting Description 0 Increment Position control for APTP 1 Absolute Position control for APTP Torque Limit Source Select = a.b, it is composed of two selection of a and b in one parameter, if DIx(108)(Torque Limit SW) is ON, then Torque Limit Source = b, otherwise Torque Limit Source = a. DIx(109) is complementary function of DIx(108) a or b Torque Limit Source 0 No torque limit 1 AI1 2 AI2 3 AI3 4 Pr.067 5 PID Output If used micrometer as the unit of Destination Location/Length, this parameter defines the number of data to be converted micrometer into clocks. And Pr.576/577 defines the conversion rate. Setting Conversion 0 No conversion 1~16 Select total n data for conversion. Example: n=1, then DL16 convert to DL0 n=2, DL16DL0, DL17DL1 n=16, DL16DL0, DL17DL1, DL18DL2,..,DL31DL15 When power ON, the desired length is: Length Compensation Desired Compensation Polarity Length 0 0 or 1 DLn 1 0 DLn+DL1 1 1 DLn-DL1 After power ON, user can use DIx(147) and DIx(148) to change the desired length. DIx(147) DIx(148) Desired Length OFF ON or OFF DLn ON OFF DLn+DL1 ON ON DLn-DL1 These parameters reserved for special use, and must set to 0 normally. This parameter defines the shift angle between motor and resolver. This parameter defines the polarity of Sine Cosine signal. These parameters reserved for special use, and must set to 0 normally.

32

5.2.12 Auto Point-to-Point Control

APTP Trapezoidal Speed Profile Generator Example timing cahrt of Standard APTP function Block Speed +DL3 -DL1 DIx(119) DIx(120) Direction Pt.Sel.Bit0 time

DIx(121) Pt.Sel.Bit1 (assume SelBit2~4 not used) DIx(118) DOx(124) APTP trig. Servo end

Select Point3(+)

Select Point1(-)

Pr.nnn Parameter Name 193 Home Direction 194 Home Speed and Acc/Dec

Description Pr.193 0 1 2 Home Search Direction Forward Reverse DIx(119) OFF: Forward, DIx(119) ON: Reverse

Home Search Speed and Acc/Dec Pr.194 Normal Speed and Main Acc/Dec 0 JOG Speed and JOG Acc/Dec 1 Home Search Process DIx Description z For absolute position control mode, must execute Home 128 Search process before execute APTP function. (Home Start) z Pr.193 defines home search direction and Pr.194 defines 129 Home search speed and Acc/Dec. (Home Stop(1)) z If DIx(129) is OFF and DIx(128) is triggered, the drive 170 will start Home Search process until DIx(129) is ON. (Home Stop(2)) After Dix(129) ON, the drive start to search encoder index, and automatically stop at the Index Offset (Pr.568/569) position. z If DI1(170) is OFF and DIx(128) is triggered, the drive will start Home Search process until DI1(170) is ON. After DI1(170) ON, the drive automatically stop at the Index Offset (Pr.568/569) position from current position. z The DOx(56) will ON immediately after start Home Search (DIx(128) is triggered). When Home Search complete, the DOx(56) will OFF automatically. z DOx(57) is complement function of DOx(56). z If DOx(128) ON, indicating Home Search already performed. DOx(128) will OFF after drive RESET or change to Speed Mode. z DOx(129) is complement function of DOx(128). NOTE: 1. Only DI1 input can select DI1(170) function. 2. Cannot select DIx(129) and DI1(170) simultaneously. 138 Under Absolute APTP mode, trigger DIx(138) will command (Return Home) the motor return to HOME position.

33

500 501 502 503 504 505 558 559 560 561 562 563

DL0 (Low) DL0 (High) DL1 (Low) DL1 (High) DL2 (Low) DL2 (High) DL29 (Low) DL29 (High) DL30 (Low) DL30 (High) DL31 (Low) DL31 (High)

z z z z

These parameters store 32 points data used in Auto Point-to-Point operation. If select Incremental mode, these values mean the desired Destination Length. If select Absolute Mode, these values mean the desired Destination Location. Each Destination Location/Length is composed by two parameters forming an 8-digital value. Named as DL0DL1DL2DL31 DL0 = Pr.501 * 10000 + Pr.500 DL1 = Pr.503 * 10000 + Pr.502 DL30 = Pr.561 * 10000 + Pr.560 DL31 = Pr.563 * 10000 + Pr.562 Auto Point-to-Point Process DIx Description z After DLn (DIx(120)~DIx(124)) and its polarity (DIx(119)) selected, the drive will execute APTP function when DIx(118) is triggered. 118 (APTP Trigger) z DOx(126) APTP Busy, if DOx(126) is ON, indicating APTP is processing. z DOx(127) is complement function of DOx(126). After DLn (DIx(120)~DIx(124)) selected, z If DIX(119) OFF, the drive will execute APTP function 119 using +DLn value. (Negative DLn) z If DIX(119) OFF, the drive will execute APTP function using -DLn value. DIx(120)~DIx(124) are used for DLn selection. z DIx(120): PTS0 Point Selection Bit0 z DIx(121): PTS1 Point Selection Bit1 z DIx(122): PTS2 Point Selection Bit2 120~124 z DIx(123): PTS3 Point Selection Bit3 (PTS0~PTS4) z DIx(124): PTS4 Point Selection Bit4 After PTS0~PTS4 are selected, then DLn is selected: n = PTS4 * 16 + PTS3 * 8 + PTS2 * 4 + PTS1 * 2 + PTS0 In APTP mode, after APTP process is completed the 135 SERVO-END flag will set (DOx(124) will ON), and DIx(135) (Clear Servo is used to clear SERVO-END flag. End Flag) DOx(125) is complement function of DOx(124). Pr.195 0 Description

195 564 565 566 567

Travel Limit Forward Travel Limit (Low) Forward Travel Limit (High) Reverse Travel Limit (Low) Reverse Travel Limit (High)

No software Travel Limit Enable Forward/Reverse software Travel Limit. 1 z Pr.564/565 defines Forward Travel Limit value. z Pr.566/567 defines Reverse Travel Limit value. z If DOx(130) ON, indicating present position already exceeds Forward or Reverse Travel Limit. z If DOx(131) ON, indicating present position already exceeds Forward Travel Limit. z If DOx(132) ON, indicating present position already exceeds Reverse Travel Limit. The function of DOx(130)~DOx(132) is enabled if Pr.195=1 and Home Search already performed. Pr.568/569 defines index offset of Home position. While the drive is working under position mode (Tracking or APTP), with this function user can monitor the status of internal position control loop. Pr.570 defines the warning clocks limitation. Pr.571 defines the tolerance clocks of In-Position judgement. Position Error = Position Desired Position Feedback DOx(52) will ON whenPosition Error In Position Range DOx(53) will ON whenPosition Error In Position Range DOx(54) will ON whenPosition Error Position Error Limit DOx(55) will ON whenPosition Error Position Error Limit Pr.576/577 defines the actual physical length when motors on revolution. Expressed in clocks. 34

568 569 570 571

Index Offset (Low) Index Offset (High) Position Error Limit In Position Range

576 577

m Revolution (Low) m Revolution (High)

6. Selection of Speed Source

Speed Source Select Pr040 is used for speed input source selection. Through Pr.040 setting, the speed input sources may come from Control Panel, Memory, Analog Input, Up/Down Counter, or the combination of the above sources. Speed Source Select Pr.040=cc.dd is composed of two selection cc and dd in one parameter, if Speed command SW DIx(88) or Speed & Control SW DIx(90) is ON then Speed Source =dd, otherwise Speed source=cc.

6.1 Speed Source Selection Table

Pr.040 0 1 2 3 4 5 6 7 8 9 10 11 12 13 17 18 19 20 21 22 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 46 Speed Source Set value in Pr.000 By AI1 Input By AI2 Input Set value from Panel Both the output Speed and direction determined by AI1 Both the output Speed and direction determined by AI2 By internal Up/Down Counter By internal Up/Down Counter, and will preload Up/Down counter from Pr.000 after RESET. Set value from Panel, with PRELOAD from & AUTO WRITE to Pr.000 Both the output Speed and direction determined by AI1, with Minimum RPM Both the output Speed and direction determined by AI2, with Minimum RPM By internal Up/Down Counter Speed Set = AI1* (1 (Pr.070*AI2)), with Minimum RPM Speed Set = AI2 (Pr.015 * (Pr.070*AI1)), with Minimum RPM By AI1 Input, with Minimum RPM By AI2 Input, with Minimum RPM By internal Up/Down Counter, with PRELOAD from & AUTO WRITE to Pr.000 By AI2 Input, but with Reverse Slope and Minimum RPM Speed Set = Panel (or Computer) Set * (1 (Pr.070*AI2)), with Minimum RPM Speed Set = Panel (or Computer) Set (Maximum RPM * (Pr.070*AI1)), with Minimum RPM By AI3 Input Both the output Speed and direction determined by AI3. Both the output Speed and direction determined by AI3, with Minimum RPM Speed Set = AI1 * (1 (Pr.070*AI3)), with Minimum RPM Speed Set = AI3 (Maximum RPM * (Pr.070*AI1)), with Minimum RPM By AI3 Input, with Minimum RPM By AI3 Input, but with Reverse Slope and Minimum RPM By AI1 Input, but with Reverse Slope and Minimum RPM Speed Set = Panel (or Computer) Set * (1 (Pr0.70*AI1)) Speed Set = Panel (or Computer) Set * (1 (Pr.070*AI3)) Speed Set = Panel (or Computer) Set (Maximum RPM * (Pr.070*AI2)), with Minimum RPM Speed Set = Panel (or Computer) Set (Maximum RPM * (Pr.70*AI3), with Minimum RPM Forward by AI1, Reverse by AI2 Forward by AI2, Reverse by AI1 Set value in Pr.000, with Minimum RPM By PID Output Set value in Pr.116 Reference 6.2.1 6.2.2 6.2.1 6.2.2 6.2.3 6.2.1 6.2.2 6.2.3 6.2.4 6.2.4 6.2.2 6.2.3 6.2.2 6.2.4 6.2.2 6.2.2 6.2.2 6.2.2 6.2.4 6.2.4 6.2.2 6.2.2 6.2.4 6.2.4 6.2.2 6.2.1 6.2.1 6.2.1

35

6.2 Description of Speed Source

6.2.1 Speed Source from Memory & Panel
Pr.040 Speed Source 0 Pr.000 z z 3 Panel z z Description The speed value stored in Pr.000 determines the output speed of the drive while running. The direction of the output phase sequence determined by control command (Pr.039). If Pr.182=0, the set speed comes from Control Panel directly. If Pr.182=1, if communication option is used, the set speed comes from RS485 communication port. z The direction of the output phase sequence determined by control command (Pr.039). z While the desired output speed is lower than Minimum RPM (Pr.316/366/416/466), the actual output speed will maintain at the Minimum RPM. This mode is similar to Pr.040=3, with only two differences: z When power ON or after RESET, the data in Pr.000 will preload into internal set speed buffer z When using Control Panel, after changing set speed, the value in set speed buffer will write back into Pr.000 automatically. z The speed value stored in Pr.000 determines the output speed of the drive while running. z The direction of the output phase sequence determined by control command (Pr.039). z While the desired output speed is lower than Minimum RPM (Pr.316/366/416/466), the actual output speed will maintain at the Minimum RPM. The PID Output determines the output speed of the drive while running. Refer to section 5.2.10 z The speed value stored in Pr.116 determines the output speed of the drive while running. z The direction of the output phase sequence determined by control command (Pr.039). This parameter stored in RAM instead of EAROM. Therefore, it can be modify randomly and quickly. Usually, it is used for computer control application. Description z The voltage (or current) signal fed into Analog Input Terminal will be used to determine the output speed of the drive while running. z The direction of the output phase sequence determined by control command (Pr.039). z If the input signal reaches maximum level, the set speed is equal to Maximum RPM (Pr.315/365/415/465) z If the desired set speed is lower than minimum RPM (Pr.316/366/416/466), the drive will Analog Input stop.
+5V +10V 10V 20mA

Panel

39

Pr.000

40 46

PID Output Pr.116

6.2.2 Speed Source from Analog Input

Pr.040 Speed Source 1 AI1 Speed 2 AI2 25 AI3 Max RPM

Min RPM 0

4 5 26

AI1 AI2 AI3

Speed (Forward) Max RPM

Min

Min RPM Min RPM Center

Analog Input Max

The voltage (or current) signal fed into Analog Inp used to determine the output speed and the directi sequence of the drive. z If the input signal reaches maximum level, the set Maximum RPM (Pr.315/365/415/465) in forward z If the input signal is Zero, the set speed is equal to reverse direction. z If the input signal around center level, the drive w Signal Max Center Min +5V +5V +2.5V 0V +10V +10V +5V 0V 10V +10V 0V -10V 20mA 20mA 10mA 0mA

Max RPM Speed (Reverse)

36

9 10 27

AI1 AI2 AI3

17 18 30

AI1 AI2 AI3

The voltage (or current) signal fed into Analog Input terminal will be used to determine the output speed and the direction of the output phase sequence of Max RPM the drive. z If the input signal reaches maximum level, the set speed is equal to Maximum RPM (Pr.315/365/415/465) in forward direction. z If the input signal is Zero, the set speed is equal to Analog Input Min RPM Min Maximum RPM in reverse direction. Min RPM Max z If the input signal around center level, the drive will Center run at Minimum RPM (Pr.316/366/416/466). Signal Max Center Min +5V +5V +2.5V 0V +10V +10V +5V 0V Max RPM 10V +10V 0V -10V Speed (Reverse) 20mA 20mA 10mA 0mA z The voltage (or current) signal fed into Speed Analog Input Terminal will be used to determine the output speed of the drive M ax R P M while running. z The direction of the output phase sequence determined by control command (Pr.039). z If the input signal reaches maximum level, the set speed is equal to Maximum RPM (Pr.315/365/415/465) z If the desired set speed is lower than A nalog minimum RPM (Pr.316/366/416/466), the M in R PM Input drive will run at Minimum RPM.
Speed (Forward)

+5V +10V 10V 20m A

20 31 32

AI2 AI1 AI3

Speed M ax R PM

z z z

M in R PM 0

A nalog Input +5V +10V 10V 20m A

The voltage (or current) signal fed into Analog Input Terminal will be used to determine the output speed of the drive while running. The direction of the output phase sequence determined by control command (Pr.039). If the input signal is Zero, the set speed is equal to Maximum RPM (Pr.315/365/415/465) If the input signal reaches maximum level, the drive will run at Minimum RPM (Pr.316/366/416/466).

z If the motor run in FORWARD direction, it is same as Pr.040=17, use AI1 as input source. z If the motor run in REVERSE direction, it is same as Pr.040=18, use AI2 as input source. 38 AI1 & AI2 z If the motor run in FORWARD direction, it is same as Pr.040=18, use AI2 as input source. z If the motor run in REVERSE direction, it is same as Pr.040=17, use AI1 as input source. z Set Jumper to match the input signal type and range. (Refer to section 1.2.3) z If necessary, use Pr.089/090/091/092/191/192 to modify the input range. (Refer to section 5.2.6) 37 AI1 & AI2

37

6.2.3 Speed Source from Internal Up/Down Counter

Pr.040 Speed Source 6 Up/Down Counter 7 11 19 D Ix (1 9 ) U P
D Ix (2 0 ) D O W N D Ix (1 6 ) L O A D D Ix (1 5 ) C L E A R D Ix (1 7 ) H O L D

Description
*2 P r.0 0 0 *3

P re lo a d *1 In te rn a l U p /D o w n C o u n ter S p ee d D e s ire C o u n te r O u tp u t

1. If Pr.40=6,7,11or 19, the up/down counter is used to determined the output speed. 2. If Pr.40=7 or 19, the data in Pr.000 will preload into the Up/Down counter when Power ON or Reset. 3. If Pr.40=19, after Up/Down execution, the content of Up/Down counter will write into Pr.000 automatically. The signals come from Digital Input (DIx) terminal describe as following: DIx Function Description If DIx(15) is triggered, the content of the internal Up/Down Counter will 15 Clear be set to the value of Minimum RPM (Pr.316/366/416/466). If DIx(16) is triggered, the content of the internal Up/Down Counter will 16 Load be set to the value of Maximum RPM (Pr.315/365/415/465). If DIx(17) is triggered, the value of present output speed will be loaded 17 Hold into the internal Up/Down Counter. If DIx(19) is ON, the content of the internal Up/Down Counter will 19 Up increase according to the rate of Pr.001. If DIx(20) is ON, the content of the internal Up/Down Counter will 20 Down decrease according to the rate of Pr.002.
Speed

M ax R PM

M in R P M LO A D H O LD C LEA R UP DOW N RUN

38

6.2.4 Set Speed from Two Speed Sources Combination

Set Speed Master Speed * (100% (Pr.070 * Proportional Rate)) Description Pr.040 12 28 33 21 34 z Master Speed Source AI1 AI1 Control Panel or RS485 Port Control Panel or RS485 Port Control Panel or RS485 Port Proportional Rate Source AI2 AI3 AI1 AI2 AI3

Pr.070 (Analog Input Gain) defines the gain of Proportional Rate when set speed determine by the combination of two speed sources. z If the signal level of proportional rate is maximum, the modification rate is (100%+Pr.070). z If the signal level of proportional rate is minimum, the modification rate is (100%-Pr.070). z If the desired set speed is lower than minimum RPM (Pr.316/366/416/466), the drive will run at Minimum RPM. Typical application is as follows:
Master Speed To Other Drive

Rate 3

Rate 2

Rate 1

Drive 1

Drive 2

Drive 3

Master Speed (Max RPM * (Pr.070 * Auxiliary Input))

Pr.040 13 29 22 35 36
4

Master Speed Source AI2 AI3 Control Panel or RS485 Port Control Panel or RS485 Port Control Panel or RS485 Port

Auxiliary Input AI1 AI1 AI1 AI2 AI3

Pr.070 (Analog Input Gain) defines the gain of Auxiliary Input when set speed determine by the combination of two speed sources. z If the signal level of Auxiliary Input is maximum, the modification quantity is +(Maximum RPM * Pr.70). z If the signal level of Auxiliary Input is minimum, the modification quantity is -(Maximum RPM * Pr.70). z If the desired set speed is lower than minimum RPM (Pr.316/366/416/466), the drive will run at Minimum RPM. Typical application is as follows:

M1

M2

D rive 1

Position Detector

D rive 2

A uxiliary Input

M aster Speed Set

To Other D rive

39

7. Selection of Digital Input Function

7.1 Digital Input Function Related Parameters
Pr.nnn 140 141 142 143 144 145 146 147 148 149 150 DIx 0 1 2 3 4 5 6 7 9 10 11 15 16 17 19 20 21 22 23 24 25 26 27 28 29 30 36 46 47 58 59 64 65 73 74 80 81 82 83 Parameter Name DI0 Select DI1 Select DI2 Select DI3 Select DI4 Select DI5 Select DI6 Select DI7 Select DI8 Select DI9 Select DI10 Select Function NULL EMS SPD3 SPD2 SPD1 JOG OH TMIA(1) FJR RJR TMIB(1) U/D CLEAR U/D LOAD U/D HOLD U/D UP U/D DOWN ALARM CLEAR SET1(FF1) CLR1(FF1) SET2(FF2) CLR2(FF2) SET(FF1&FF2) CLR(FF1&FF2) COUNTER INPUT COUNTER CLEAR /OH TMIC(1) TRACK + JOG TRACK JOG TRACK + (AI1 * JOG) TRACK (AI1 * JOG) XY MULTIPLY XY DIVISION RUN FUNCTION REV FUNCTION SPEED SW 1 SPEED SW 2 SPEED SW 3 SPEED SW 4 z z z z Description The configuration of Digital Input refer to section 1.2.1 All Digital Input terminals are scanned every 2.0ms. Each Digital Input terminal can be configured individually by corresponding DIx Select parameters. DI0 is connected to the Digital Output DO0 internally.

7.2 Selection Table of Digital Input Function

Comment No function Emergency Stop SPD3 Speed Set SPD2 Speed Set SPD1 Speed Set JOG Speed Set Over Heat Alarm (Normal Open) Timer(1) Input (OFF-Delay Type) Forward JOG Run Reverse JOG Run Timer(1) Input (ON-Delay Type) Set Up/Down Counter to Minimum RPM Set Up/Down Counter to Maximum RPM Hold Output Speed to Up/Down Counter Increase Up/Down Counter Decrease Up/Down Counter Clear Alarm when Alarm Occur SET Input of Flip/Flop-1 CLEAR Input of Flip/Flop-1 SET Input of Flip/Flop-2 CLEAR Input of Flip/Flop-2 SET Input to both Flip/Flop-1 and Flip/Flop-2 CLEAR Input to both Flip/Flop-1 and Flip/Flop-2 Clock Input of Timer/Counter Block Clear Input of Timer/Counter Block Over Heat (Normal Close) Timer(1) Input (ON/OFF Type) Tracking Speed plus JOG Speed Tracking Speed minus JOG Speed Tracking Speed plus (AI1*JOG Speed) Tracking Speed minus (AI1*JOG Speed) Select Multiply Rate of XY Input Clock Select Division Rate of XY Input Clock Select RUN Function Select REV Function 16 Step Speed Select Reference 7.3.1 5.2.4 7.3.2 7.3.3 7.3.1 7.3.3

6.2.3

7.3.1

7.3.4

7.3.3 7.3.2 7.3.3 5.2.9 5.2.9 (Pr.133~136) 5.2.5 (Pr.039)

5.2.4

40

DIx 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 106 107 108 109 114 115 118 119 120 121 122 123 124 126 127 128 129 135 138 140 141 142 143 147 148 149 160 161 162 163 164 165 166 168 169 170

Function JOG ACC/DEC TIME SPD1 ACC/DEC TIME SPD2 ACC/DEC TIME SPD3 ACC/DEC TIME SPEED COMMAND SW CONTROL COMMAND SW SPEED & CONTROL SW /TMIA(1) /TMIB(1) /TMIC(1) TMIA(2) TMIB(2) TMIC(2) /TMIA(2) /TMIB(2) /TMIC(2) DRIVE ENABLE & RUN /(DRIVE ENABLE & RUN) DRIVE ENABLE /(DRIVE ENABLE) POSITION/SPEED MODE /(POSITION/SPEED MODE) TORQUE LIMIT SW /(TORQUE LIMIT SW) MSB0 MSB1 APTP TRIGGER NEGATIVE DLn VALUE PTS0 PTS1 PTS2 PTS3 PTS4 TRACK/ATPT SW /(TRACK/ATPT SW) HOME START HOME STOP (1) CLEAR SERVO END FLAG RETURN HOME FWD TRAVEL LIMIT /(FWD TRAVEL LIMIT) REV TRAVEL LIMIT /(REV TRAVEL LIMIT) ENABLE DL1 COMPENSATION SELECT DL1 POLARITY LATCH EMS PID SET POLARITY BIT PID FB POLARITY BIT PID RANGE BIT PID OUTPUT POLARITY BIT PID ENABLE BIT PID HOLD BIT PID AUTO GAIN ENABLE BIT TRACK + (PID OUTPUT * JOG) TRACK (PID OUTPUT * JOG) HOME STOP (2)

Comment Acceleration/Deceleration Time Select

Reference 5.2.4

Speed Command Select Switch Sec. 6 Control Command Select Switch 5.2.5 (Pr.039) Speed and Control Command Select Switch 5.2.5Sec.6 Complement of Timer(1) Input (OFF-Delay Type) Complement of Timer(1) Input (ON-Delay Type) Complement of Timer(1) Input (ON/OFF Cycle Type) Timer(2) Input (OFF-Delay Type) Timer(2) Input (ON-Delay Type) 7.3.3 Timer(2) Input (ON/OFF Type) Complement of Timer(2) Input (OFF-Delay Type) Complement of Timer(2) Input (ON-Delay Type) Complement of Timer(2) Input (ON/OFF Type) Enable Drive and Assert RUN Command 7.3.1 Complement of DIx(100) Enable Drive to Standby State 7.3.1 Complement of DIx(102) Change between Position and Speed mode 5.2.11 (Pr.330) Complement of DIx(106) Select Torque Limit Source 5.2.11 (Pr.333) Complement of DIx(108) Motor Parameter Group Select Trigger start Auto Point-to-Point Function Use Negative DLn for ATPT Position Point Select Bit0 Point Select Bit1 Point Select Bit2 Point Select Bit3 Point Select Bit4 Change between TRACK and APTP mode Complement of DIx(126) Start Home Search Process Stop Home Search Process Type 1 Clear SERVO END Flag in APTP mode Command Motor return to Home Position Forward Travel Limit Switch (Normal Open) Forward Travel Limit Switch (Normal Close) Reverse Travel Limit Switch (Normal Open) Reverse Travel Limit Switch (Normal Close) Desired Length=DLn plus (or minus) DL1 Determine Plus or Minus DL1 Emergency Stop and Latched until Drive Reset Select PID Set Polarity Select PID FB Polarity Select PID Range Select PID Output Polarity Enable PID Function Select PID Hold Enable PID Auto Gain Tracking Speed plus (PID Output * JOG Speed) Tracking Speed minus (PID Output * JOG Speed) Stop Home Search Process Type 2 41 5.2.5 (Pr.188) 5.2.12 5.2.12

5.2.12

5.2.11 (Pr.331) 5.2.12 5.2.12 5.2.12 7.3.2 7.3.2 5.2.11 (Pr.335) 7.3.1

5.2.10

5.2.9 5.2.12

7.3 Description of Digital Input function

7.3.1 Control Function
DIx 1 149 9 10 21 Function EMS LATCH EMS FJR RJR ALARM CLEAR Description While drive running, if the DIx(1) is ON, then drive will stop the motor to ZERO Speed immediately. If DIx(1) OFF, the drive will run at original Set Speed. While drive running, if the DIx(149) triggered, then drive will stop the motor to ZERO Speed until the drive RESET or Power OFF. When DIx(9) is ON, the drive execute Forward-Jog-Run without RUN command. When DIx(10) is ON, the drive execute Reverse-Jog-Run without RUN command. If DIx(21) is ON, will RESET the drive only when ALARM had occurred. Note: the RST terminal is used to RESET the drive no matter ALARM occurred or not. If DIx(100) is ON, enabled the drive and assert RUN command. DIx(101) is complement input of DIx(100). If DIx(102) is ON, enabled the drive. RUN command is separately controlled. DIx(103) is complement input of DIx(102). Description If DIx(6) ON or DIx(30) OFF, the drive will disable the output transistors, and show OH alarm message on control panel. Under Absolute APTP mode, DIx(140) can connect to Forward Travel Limit Switch, if DIx(140) is ON, then the motor will not rotate any further toward FORWARD direction. DIx(141) is complement input of DIx(140). Under Absolute APTP mode, DIx(142) can connect to Reverse Travel Limit Switch, if DIx(142) is ON, then the motor will not rotate any further toward REVERSE direction. DIx(143) is complement input of DIx(142).

100 101 102 103 DIx 6 30 140 141

DRIVE ENABLE & RUN /(DRIVE ENABLE & RUN) DRIVE ENABLE /(DRIVE ENABLE) Function OH /OH FWD TRAVEL LIMIT /(FWD TRAVEL LIMIT)

7.3.2 Protection Function

142 143

REV TRAVEL LIMIT /(REV TRAVEL LIMIT)

7.3.3 Timer & Counter Function

DIx 7 91 94 97 Function TMIA(1) /TMIA(1) TMIA(2) /TMIA(2) Description The drive built in two general purpose TIMERs. For example of Timer(1): z Digital input DIx assigned to TMIA(1) function DIx(7), it serves as input of the OFF-DELAY timer. z To assign a digital output DOx, which select TMOA(1) function DOx(14) to serve as output of this timer. z To define the timer time in Pr.071. When the timer input TMIA(1) DIx(7) is ON, the timer output TMOA(1) DOx(14) will be ON immediately. If the timer input TMIA(1) DIx(7) become OFF, the timer will start counting time. After waiting the specified time period of Pr.071 then TMOA DOx(14) become OFF. z DIx(91) /TMIA(1) is complement input of DIx(7) TMIA(1). z DOx(40) /TMOA(1) is complement output of DOx(14) TMOA(1).
TMIA(1) DIx(7)

or
/TMIA(1) P DIx(91) TMOA(1) DOx(14) /TMOA(1) DOx(40)

Pr.071

The function of Timer(2) is same as Timer(1) z Pr.072 defines the timer time for Timer(2). z DIx(94) TMIA(2) is the input of Timer(2). z DIx(97) /TMIA(2) is complement input of DIx(94) TMIA(2). z DOx(94) TMOA(2) is the output of Timer(2). z DOx(97) /TMOA(2) is complement output of DOx(94) TMOA(2).

42

11 92 95 98

TMIB(1) /TMIB(1) TMIB(2) /TMIB(2)

The drive built in two general purpose TIMERs. For example of Timer(1): z Digital input DIx assigned to TMIB(1) function DIx(11), it serves as input of the ON-DELAY timer. z To assign a digital output DOx, which select TMOB(1) function DOx(20) to serve as output of this timer. z To define the timer time in Pr.071. When the timer input TMIB(1) DIx(11) is OFF, the timer output TMOB(1) DOx(20) will be OFF too. Until the timer input TMIB(1) DIx(20) is ON and continue ON for a specified time period of Pr.071 then TMOB DOx(14) become ON. z DIx(92) /TMIB(1) is complement input of DIx(11) TMIB(1). z DOx(41) /TMOB(1) is complement output of DOx(20) TMOB(1). The function of Timer(2) is same as Timer(1) z Pr.072 defines the timer time for or Timer(2). z DIx(95) TMIB(2) is the input of /TMIB(1) Timer(2). DIx(92) z DIx(98) /TMIB(2) is complement input Pr.071 of DIx(95) TMIB(2). TMOB(1) z DOx(95) TMOB(2) is the output of DOx(20) Timer(2). /TMOB(1) z DOx(98) /TMOB(2) is complement DOx(41) output of DOx(95) TMOB(2). Pr.108 (Counter Value) Monitors the value of clock input to counter. Pr.109 (Counter Set) defines maximum clock input value of counter. z Digital input DIx assigned to Counter Input DIx(28), it serves as input of Counter. If DIx(28) triggered, the content of Pr.108 (Counter Value) will increase of 1. z Digital input DIx assigned to Counter Input DIx(29), it serves as clear of Counter. If DIx(29) triggered, the content of Pr.108 (Counter Value) will clear to zero. z To assign a digital output DOx, which select Counter Over function DOx(140) to serve as output of this counter, if Pr108Pr.109, then DOx(140) become ON. z The minimum width of trigger signal is 5ms. z DOx(141) is complement output of DOx(140). The drive built in two general purpose TIMERs. For example of Timer(1): z Digital input DIx assigned to TMIC(1) function DIx(36), it serves as input of the ON/OFF timer. z To assign a digital output DOx, which select TMOC(1) function DOx(42) to serve as output of this timer. z To define the period of time for one ON/OFF cycle in Pr.071. When the timer input TMIC(1) DIx(36) is OFF, the timer output TMOC(1) DOx(42) is always under ON state. If the TMIC(1) DIx(36) is ON, then the TMOC DOx(42) will start the stable ON/OFF cycle. z DIx(93) /TMIC(1) is complement input of DIx(36) TMIC(1). z DOx(43) /TMOC(1) is complement output of DOx(42) TMOC(1). The function of Timer(2) is same TMIC(1) as Timer(1) DIx(36) z Pr.072 defines the timer time or for Timer(2). /TMIC(1) z DIx(96) TMIC(2) is the input DIx(93) of Timer(2). z DIx(99) /TMIC(2) is TMOC(1) complement input of DIx(96) DOx(42) TMIC(2). z DOx(96) TMOC(2) is the output of Timer(2). /TMOC(1) z DOx(99) /TMOC(2) is DOx(43) complement output of Pr.071 Pr.071 DOx(96) TMOC(2).

TMIB(1) DIx(11)

28 29

COUNTER INPUT COUNTER CLEAR

36 93 96 99

TMIC(1) /TMIC(1) TMIC(2) /TMIC(2)

43

7.3.4 Flip/Flop Function

DIx 22 23 24 25 26 27 Function SET1(FF1) CLR1(FF1) SET2(FF2) CLR2(FF2) SET(FF1&FF2) CLR(FF1&FF2) Description
DIx(26) DIx(22) DIx(27) DIx(23) DIx(26) DIx(24) DIx(27) DIx(25) Set A Set B Clr A Clr B Set A Set B Clr A Clr B FF2 _ DOx(35) Q FF1 _ DOx(33) Q Q DOx(34) Q DOx(32)

The drive built in two general purpose Flip/Flops . Each Flip/Flop block has two SET inputs, two CLEAR inputs and two complementary outputs for free selection. z If triggered Set A or Set B, will cause Q ON and /Q OFF. z If triggered Clr A or Clr B, will cause Q OFF and /Q ON.

Application example: Use DI1, DI2, DO1 and DO2 as LATCH RELAY.

START STOP DI1 DI2 ALARM DI3

Driver

Pr.141=22 Pr.161=4 Pr.142=23 Pr.162=32 Pr.143=23

Start Stop or Alarm Run

DO1 RUN DO2 RUN DCOM

44

8. Selection of Digital Output Function

8.1 Digital Output Function Related Parameters
Pr.nnn 161 161 162 163 164 165 166 Function DO0 Select DO1 Select DO2 Select DO3 Select DO4 Select DO5 Select DO6 Select Description The configuration of Digital Output refer to section 1.2.2 Each Digital Output terminal can be configured individually by corresponding DOx Select parameters. z DO0 is connected to the Digital Input DI0 internally. z RY1 and RY2 pair terminals are NORMAL OPEN (1a) contacts of the output RELAY, and named DO3. Note: All of the Digital Outputs will go OFF for a short period when power ON or RESET. z z

8.2 Selection Table of Digital Output Function

DOx 0 1 2 3 4 5 7 8 9 10 11 14 15 16 20 32 33 34 35 38 39 40 41 42 43 52 53 54 55 56 57 70 71 72 73 74 75 78 79 80 81 82 83 84 85 Function OFF /(ENABLE) SPE SPNE ALM NALM ENABLE SPO SPNO SPA SPNA TMOA(1) SPZ SPNZ TMOB(1) Q1(FF1) /Q1(FF1) Q2(FF2) /Q2(FF2) ON DO1 CLOCK /TMOA(1) /TMOB(1) TMOC(1) /TMOC(1) IN POSITION /(IN POSITION) ERROR OVER /(ERROR OVER) SEARCHING HOME /(SEARCHING HOME) (ENABLE) & (AI1>Pr.561) (ENABLE) & (AI1<Pr.561) (ENABLE) & (AI2>Pr.562) (ENABLE) & (AI2<Pr.562) (ENABLE) & (AI3>Pr.563) (ENABLE) & (AI3<Pr.563) OL WARNING /(OL WARNING) AI1>Pr.561 AI1<Pr.561 AI2>Pr.562 AI2<Pr.562 AI3>Pr.563 AI3<Pr.563 Comment Always OFF Not Enable Speed Equal Speed Not Equal Alarm No Alarm Drive Enabled Speed Over Speed Not Over Speed Arrive Speed Not Arrive Timer(1) Output (OFF-Delay Type) Zero Speed Speed Not Zero Timer(1) Output (ON-Delay Type) Output of Flip/Flop-1 Complement Output of Flip/Flop-1 Output of Flip/Flop-2 Complement Output of Flip/Flop-2 Always ON Clock output (for DO1 only) Complement of Timer(1) Output (OFF-Delay Type) Complement of Timer(1) Output (ON-Delay Type) Timer(1) Output (ON/OFF Type) Complement of Timer(1) Output (ON/OFF Type) Position Error <= In Position Range Position Error > In Position Range Position Error > Error Limit Position Error <= Error Limit Drive is Searching Home Position Drive is Not Searching Home position Drive Enabled and AI1 Input Level > Pr.561 Drive Enabled and AI1 Input Level < Pr.561 Drive Enabled and AI2 Input Level > Pr.562 Drive is Enabled and AI2 Input Level < Pr.562 Drive is Enabled and AI3 Input Level > Pr.563 Drive is Enabled and AI3 Input Level < Pr.563 Over Load Level > 50% Over Load Level < 50% AI1 Input Level > Pr.561 AI1 Input Level < Pr.561 AI2 Input Level > Pr.562 AI2 Input Level < Pr.562 AI3 Input Level > Pr.563 AI3 Input Level < Pr.563 Reference 8.3.2 8.3.4

8.3.1 8.3.4 8.3.4 8.3.1 8.3.1 7.3.3 DIx(7) 8.3.1 7.3.3 DIx(11) 7.3.4 8.3.2 8.3.3 7.3.3 DIx(7) 7.3.3 DIx(11) 7.3.3 DIx(36)

5.2.12 (Pr.570)

5.2.12 (DIx(128))

8.3.4

8.3.4

8.3.4

45

DOx 86 87 94 95 96 97 98 99 123 124 125 126 127 128 129 130 131 132 140 141

Function ACCELERATING DECELERATING TMOA(2) TMOB(2) TMOC(2) /TMOA(2) /TMOB(2) /TMOC(2) ENCODER ZERO SERVO END /SERVO END APTP BUSY /APTP BUSY HOME EXIST /HOME EXIST TRAVEL LIMIT FWD TRAVEL LIMIT REV TRAVEL LIMIT COUNT OVER /COUNT OVER

Comment Under Acceleration status for Speed mode Under Deceleration status for Speed mode Timer(2) Output (OFF-Delay Type) Timer(2) Output (ON-Delay Type) Timer(2) Output (ON/OFF Type) Complement of Timer(2) Output (OFF-Delay Type) Complement of Timer(2) Output (ON-Delay Type) Complement of Timer(2) Output (ON/OFF Type) Pass Through Encoder Zero Point APTP Process is Completed Complement Output of DOx(124) APTP is Processing Complement Output of DOx(126) Home Search is Completed Complement Output of DOx(128) Position Exceeds Limit in Both Direction Position Exceeds Forward Direction Position Exceeds Reverse Direction Counter Input Exceeds Counter Set Value Complement Output of DOx(140)

Reference 8.3.4 8.3.4 7.3.3 DIx(7) 7.3.3 DIx(11) 7.3.3 DIx(36) 7.3.3 DIx(7) 7.3.3 DIx(11) 7.3.3 DIx(36) 8.3.3

5.2.12 DIx(135) 5.2.12 (DIx(118)) 5.2.12 (DIx(128)) 5.2.12 (Pr.565) 7.3.3 DIx(28)

46

8.3 Description of Digital Output Function

8.3.1 Speed Monitor Function
DOx 2 3 8 9 10 11 15 16 Function SPE SPNE SPO SPNO SPA SPNA SPZ SPNZ Description Pr.049 (Detect RPM) defines the threshold level for Speed Detector module. Pr.050 (Detect Tolerance) defines the allowable tolerance for Speed Detector module. z If abs(Output Speed Pr.049) < Pr.050, DOx(2) will ON. z DOx(3) is complement output of DOx(2). z If Output Speed > Pr.049, DOx(8) will ON. z DOx(9) is complement output of DOx(8). z If (Set Speed - Output Speed) < Pr.050, DOx(10) will ON. z DOx(11) is complement output of DOx(10). z If Output Speed < Pr.050, DOx(15) will ON. z DOx(16) is complement output of DOx(15).

O utput S peed Pr.049 Pr.050 P r.050 Pr.050 D O x(2)S P E

Set S peed

P r.050

tim e tim e

D O x(8)SP O tim e D O x(15)S PZ tim e D O x(10)S PA tim e

8.3.2 ON/OFF Control Function

DOx 0 38 Function

OFF ON

Description When Digital Output DOx assigned to ON function DOx(0), the output status of DOx will always OFF. When Digital Output DOx assigned to OFF function DOx(38), the output status of DOx will always ON. This function is useful to control these Digital Outputs for other peripheral, independent to the drive operation. Description Pr.077 (DO1 Pulse Output Ratio) defines DO1 Pulse Output ratio, it used for DO1 Clock frequency calculation. If Digital Output DOx assigned to DO1 CLOCK function DOx(39), it serves as CLOCK Generator. And Output Frequency = (Motor Speed (RPM)/60)*(POLE)/2)*(Pr.077) z This function for DO1 only. z Maximum output frequency is 1500Hz. If Digital Output DOx assigned to ENCODER ZERO function DOx(123), when the motor rotates pass through Encoder Index, DOx(123) will be ON for 4ms, then change to OFF state automatically.

8.3.3 Pulse Output Function

DOx 39 Function DO1 CLOCK

123

ENCODER ZERO

47

8.3.4 Running Status Monitor Function

DOx 1 7 Function /(ENABLE) ENABLE Description The output status of DOx(7) will be ON when the IGBT is triggered (drive is enabled), otherwise DOx(7) is OFF. DOx(1) is complement output of DOx(7). The output status of DOx(4) is normally OFF when the drive detects No Alarm. If Alarm occurs, the output DOx(4) will ON immediately. DOx(5) is complement output of DOx(4). If Digital Output DOx select DOx(70)~DOx(75) or DOx(80)~DOx(85), DOx are used to detect the input level of AIx respectively. If the comparison result is meet the condition of follows table, the output DOx will be ON, otherwise DOx is OFF. DOx Condition 70 AI1 > Pr.561 and drive is enabled 71 AI1 < Pr.561 and drive is enabled 72 AI2 > Pr.562 and drive is enabled 73 AI2 < Pr.562 and drive is enabled 74 AI3 > Pr.563 and drive is enabled 75 AI3 < Pr.563 and drive is enabled 80 AI1 > Pr.561 81 AI1 < Pr.561 82 AI2 > Pr.562 83 AI2 < Pr.562 84 AI3 > Pr.563 85 AI3 < Pr.563 z AI1 input level can be monitored by Pr.201. z AI2 input level can be monitored by Pr.202. z AI3 input level can be monitored by Pr.203. z Under this application, the value of Pr.561~Pr.563 should set in the range of 0~1023. When Pr.054 =11, the OL level can be monitored by Pr.061. When DOx assigned to OL Warning function DOx(39), if OL level > 0%, then DOx(78) will ON. DOx(79) is complement output of DOx(78). When DOx assigned to ACCELERATING function DOx(86), if drive is increasing its output speed, then DOx(86) will ON. When DOx assigned to DECELERATING function DOx(87), if drive is decreasing its output speed, then DOx(87) will ON.

4 5 70 71 72 73 74 75 80 81 82 83 84 85

ALM NALM (ENABLE) & (AI1>Pr.561) (ENABLE) & (AI1<Pr.561) (ENABLE) & (AI2>Pr.562) (ENABLE) & (AI2<Pr.562) (ENABLE) & (AI3>Pr.563) (ENABLE) & (AI3<Pr.563) AI1 > Pr.561 AI1 < Pr.561 AI2 > Pr.562 AI2 < Pr.562 AI3 > Pr.563 AI3 < Pr.563

78 79

OL WARNING /(OL WARNING)

86 87

ACCELERATING DECELERATING

48

9. RS485 Communication
9.1 RS485 Communication Port Related Parameters
The following parameters must pre-assigned before use RS485 communication function. Pr.nnn Parameter Name Description 120 Protocol Select Pr.120 Protocol 0 JPS Protocol 1 Modbus(RTU) 2 Profibus-DP x Reserve 121 Baud Rate Pr.121 Baud Rate 0 4800 1 9600 2 19200 3 38400 122 Stop Bit Pr.122 Stop Bit 0 1 1 2 123 ID This parameter is used to assign the Communication Address while this drive controlled RS485 communication port. Computer may control any drive by select its corresponding ID. 124 Queue Status Monitors the number of data is queue up to write into EAROM memory. 125 Parity Pr.125 Parity 0 Even 1 Odd 2 None

9.2 RS485 Port Configuration

The drive has a build in RS485 communication port on CON1 of Feedback I/O board, the definition of the connector pins are: CON1 (JAM-SC25-05WS) Pin Number Pin Definition PIN1 +5V PIN2 0V PIN3 A(SIG+) PIN4 B(SIG-) PIN5 N.C.
JP1 TR NO

JP1 jumper of Feedback I/O board is used to select With/Without Terminal Resistor. z JP1 on TR position, select with Terminal Resistor. z JP1 on NO position, select without Terminal Resistor.

z z

RS485 Port can use to control multiple drives by connect the signal pin in parallel. The option of standard cable (CABLE_RS485) is used to transform JAM connector (CON1) into standard 9 pin D-sub Male connector. The definition of the D-sub connector is: 9pin D-sub Male Connector Definition JAM Connector (CON1) PIN1 N.C. PIN2 N.C. PIN3 N.C. PIN4 A(SIG+) PIN3 PIN5 B(SIG-) PIN4 PIN6 0V PIN2 PIN7 N.C. PIN8 N.C. PIN9 N.C.

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9.3 JPS Protocol & Format

All code transfer between Computer and Drive are ASCII code, and the CR code (0x0D) must add to the end of each command string.

9.3.1 Computer to Drive

Computer may send three types of message to drive.

9.3.1.1 Control Command (No response will send back from drive)
Format: C,uu,cc,fffff C : Head of COMMAND String. uu : ID of drive, from 00 to 99. If the uu code in command string is 00, all drives can be controlled at the same time. cc : Control command code, from 00 to 15. The cc number is actually converted from four bits binary data. cc= 8 * Bit-3(JOG) + 4 * Bit-2(Reverse) + 2 * Bit-1(RUN) + Bit-0(Reset) Control Code Function cc=00 Stop cc=01 Reset cc=02 Forward Run cc=06 Reverse Run cc=10 Forward JOG Run cc=14 Reverse JOG Run
fffff

: Set speed, from 00000 to 08000.

9.3.1.2 Write Command (No response will send back from drive)
format: W,uu,nnn,ddddd W : Head of WRITE String. uu : ID of drive, from 00 to 99. If the uu code in command string is 00, all drives can be controlled at the same time. nnn : Parameter number, from 000 to 999. ddddd : data value, from 00000 to 65535. If data exceed upper or lower limit (shown in parameter table) will be trimmed within boundary automatically.

9.3.1.3 Read Command (Drive will send back P-string after receive this string)
Format: R,uu,nnn R uu
nnn

: Head of READ String : ID of drive, from 01 to 99. Do not specify uu=00 for Read Command while multiple drives are under control. : Parameter number, from 000 to 999.

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9.3.2 Drive to Computer

Drive will send back Parameter data and its Status after receive Read Command from computer. Format: P,uu,nnn,tt,ddddd,s,aaaa P : P stands for PARAMETER String uu : ID of drive, from 00 to 99. This number is defined in Pr.093 of each drive. nnn : Parameter number, from 000 to 999. tt : Data type of this parameter, from 00 to 22. tt Data Type Data Range Format 0 Read/Write, store in EAROM 00000~65535 999.99 1 Read/Write, store in EAROM 00000~65535 9999.9 2 Read/Write, store in EAROM 00000~65535 99999 3 Read/Write, store in EAROM 00000~00255 999.99 4 Read/Write, store in EAROM 00000~00255 9999.9 5 Read/Write, store in EAROM 00000~00255 99999 6 Read/Write, store in EAROM 00000~00001 99999 7 Read/Write, store in RAM 00000~65535 99999 999.99, if data >32767 which is 8 Read only, store in RAM 00000~65535 -(65536-ddddd) 9 Read only, store in RAM 00000~65535 999.99 10 Read only, store in RAM 00000~65535 9999.9 11 Read only, store in RAM 00000~65535 99999 12 Read only, store in RAM 00000~00255 999.99 13 Read only, store in RAM 00000~00255 9999.9 14 Read only, store in RAM 00000~00255 99999 15 Read only, store in RAM 00000~00001 99999 16 Read only, store in RAM 00000~00015 99999, (Binary) 17 Read only, store in RAM 00000~00007 99999, (Binary) 18 Read only, store in RAM 00000~00003 99999, (Binary) 19 Read only, store in RAM 00000~01023 99999 20 Read only, store in RAM 00000~00001 99999, (Hex) 22 Read only, store in RAM 00000~00001 99999, (Hex) ddddd : Data value, from 00000 to 65535. s : Drive output status, from 0 to 9. s = 1 : Drive Reverse Running s = 2 : Drive Forward Running. s = 3 : Drive Stop else, undefined. aaaa : Alarm history, from 0000 to 9999 The drive can record 4 Alarm messages. Most significant digit stands for oldest Alarm message. Least significant digit stands for present Alarm message. Refer to section 5.2.8 (Pr.013) for Alarm code.

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9.4 HMI Protocol (Modbus(RTU))

The option of Modbus(RTU) interface let drive simulate as Modicon PLC and can connect with HMI directly. Up to 8 drives can be controlled by one HMI for direct control and monitor.

9.4.1 Parameter Setting

9.4.1.1 HMI Setting
In fact, the drive simulate as Modicon PLC when connect with HMI, so communication protocol is similar to standard Modus(RTU). z Select Modbus(RTU) z HMI serves as Master, address select 0 z Drive serves as Slave, address select 1. z Data Bit select 8 bit data. z Select Baud, Stop Bit and Parity( 8bit data)

9.4.1.2 Drive Setting

z z z z

Pr.120 = 1, select Modbus(RTU). Pr.121 = 0/1/2, select Baud Rate. 0 : 4800, 1 : 9600, 2 : 19200 Pr.122 = 0/1, select Stop Bit. 0 : 1 stop bit, 1 : 2 stop bits Pr.123 = ID, ID selection as: Drive 1, select ID=01 Drive 2, select ID=11 Drive 3, select ID=21 Drive 8, select ID=71 z Pr.125 = 0/1/2., select Parity. 0 : Even 1 : Odd, 2 : No Parity NOTE: These parameters only effect after RESET.

9.4.2 Definition of Modbus(RTU) and Drive

When HMI communicate with Slave of Modbus(RTU), the address definition is: z 0x 1 ~ 0x 10000, Bit for Read/Write z 1x 1 ~ 1x 10000, Bit for Read only z 3x 1 ~ 3x 10000, Word for Read only z 4x 1 ~ 4x 10000, Word for Read/Write z 4L 1 ~ 4L 10000, Long Word for Read/Write

9.4.2.1 Corresponding Table of Read/Write Bit

HMI Address 0x 1 0x 2 0x 3 0x 4 0x 5 0x 6 0x 7 0x 8 0x 9 0x 10 0x 11 0x 12 ~ 0x 15 0x 16 Digital Input DI 0 DI 1 DI 2 DI 3 DI 4 DI 5 DI 6 DI 7 DI 8 DI 9 DI 10 Reserve RESET
z z

Description If HMI input Bit (0x 1 ~ 0x 11) = 1, means the corresponding DIx is ON. If HMI input Bit (0x 1 ~ 0x 11) = 0, means the corresponding DIx is OFF.

0x 16 =1, drive execute RESET.

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9.4.2.2 Corresponding Table of Read Only Bit

HMI Address 1x 1 1x 2 1x 3 1x 4 1x 5 1x 6 1x 7 1x 8 1x 9 1x 10 1x 11 1x 12 ~ 1x 16 1x 17 1x 18 1x 19 1x 20 1x 21 1x 22 1x 23 1x 24 ~ 1x 31 1x 32 HMI Address 3x1 3x 2 3x 3 3x998 3x999 3x1000 HMI Address 4x1 4x 2 4x 3 4x998 4x999 4x1000 HMI Address 4L1 4L 2 4L 3 4L998 4L999 4L1000 Status DI 0 DI 1 DI 2 DI 3 DI 4 DI 5 DI 6 DI 7 DI 8 DI 9 DI 10 Reserve DO 0 DO 1 DO 2 DO 3 DO 4 DO 5 DO 6 Reserve Status Parameter number Pr.000 Pr.001 Pr.002 Pr.997 Pr.998 Pr.999 Parameter number Pr.000 Pr.001 Pr.002 Pr.997 Pr.998 Pr.999 Parameter number Pr.001(H)/Pr.000(L) Pr.002(H)/Pr.001(L) Pr.003(H)/Pr.002(L) Pr.998(H)/Pr.997(L) Pr.999(H)/Pr.998(L) Not Allow
z z

Description If the reading of HMI Bit = 1, means the input states of corresponding DIx is ON. If the reading of HMI Bit = 0, means the input states of corresponding DIx is OFF.

z z

If the reading of HMI Bit = 1, means the Output states of corresponding DOx is ON. If the reading of HMI Bit = 0, means the Output states of corresponding DOx is OFF.

z z

1x 32 =0, Drive is normal 1x 32 =1, Drive under Alarm

9.4.2.3 Corresponding Table of Read Only Word

9.4.2.4 Corresponding Table of Read/Write Word

9.4.2.5 Corresponding Table of Read/Write Long Word

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10. Block Diagram of PDS Drive

R POWER SOURCE NFB S T E *1
BRAKE

U IGBT V W P B N *1 Motor PG

15pin D-sub

X,Y pulse input command 9pin D-sub PC,MMI, PLC, etc. RS485

CON5 CON1 Feed Back Option

CON3 CON4

Feed Back A,B pulse output 9pin D-sub

DI7 DI8 DI9 DI10

AO2 AO3 ACOM DO4 DO5 DO6

CON AI1 AI2 AI3 5V ACOM DI1 DI2 DI3 DI4 JP4 DI select type2 (PNP) DI5 DI6 RST 24V DCOM JP4 DI select type1 (NPN) CPU BOARD DO1 DO2 RY1 RY2 JP5 DO select type2 (PNP) Relay Output CON Field Bus Option CON Master JP5 DO select type1 (NPN) AO1

Shield

*1 Drive and Motor must connect Earth properly and separately.

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