INVT SV-DA200 EtherCAT Technical Guide

Transcription

1 INVT SV-DA200 EtherCAT Technical Guide Version: V1.00 Date: December, 2014

2 Contents Contents Hardware configuration Terminal connection Drive connection Software configuration Basic setting of EtherCAT applications EtherCAT communication Supported communication specifications CiA402 equipment specifications CANopen over EtherCAT(CoE) status machine Profile Position Mode Cyclic Synchronous Position Mode Homing Mode Profile Velocity Mode Cyclic Synchronous Velocity Mode Cyclic Synchronous Torque Mode Touch Probe Function Object dictionary Object specifications Overview of Object Group 1000 h Overview of Object Group 6000 h Overview of Object Group 2000 h Fault detection and diagnosis EtherCAT communication fault code and countermeasures SV-DA200 fault code and countermeasures The maximum torque References / 32 V1.00 December, 2014

3 1 Hardware configuration 1.1 Terminal connection SV-DA200 servo drive has external EtherCAT communication card. Below is the front view with CN3 terminal as the wiring terminal of EtherCAT and the upper is the inlet terminal and the lower is the outlet terminal. RJ45 pin configuration table *:NC is not used. Pin No. Signal name Abbreviation Signal direction 1 Send data + TD+ Output 2 Send data - TD- Output 3 Receive data + RD+ Input 4 - NC* NC - 6 Receive data - RD- Input 7 - NC NC - Enclosure Protective grounding FG Drive connection EtherCAT network includes one main station (IPC or CNC) and multiple slave stations (servo drive or bus expansion terminal) and EtherCAT slave has two standard Ethernet interfaces as the figure below shows: 3 / 32 V1.00 December, 2014

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5 2 Software configuration 2.1 Basic setting of EtherCAT applications Set following parameters before using SV-DA200 general servo drive: 1. Set P0.03 as 8 by LED panel or ServoPlorer software; 2. Set P4.08 by LED panel or ServoPlorer software(0:free-run; 2:DC Sync0); 3. Set P4.07 by LED panel or ServoPlorer software(0:250us; 1:500us; 2:1ms; 3:2ms); 4. Set P4.09 by LED panel or ServoPlorer software(set the fault detection time of offline or PDO loss according to the needs); Note: 1. The parameters above are valid after restarting. Please power on again or reset the drive after the modification. 2. When selecting Cyclic Synchronous Position Mode(8), synchronizing cycle of EtherCAT is the same as the interpolation cycle of CNC. 2.2 EtherCAT communication Reference model of CANopen over EtherCAT(CoE) Below is the network model of CANopen over EtherCAT(CoE) inside DA200 drive. Figure 2-1 CoE reference model EtherCAT (CoE) network reference model consists of two parts: data link layer and application layer. Data link layer is mainly for the EtherCAT protocol and the application layer embeds CANopen drive Profile (DS402) communication protocol. CoE object in the dictionary includes the parameters, application data, and PDO mapping configuration information. Process data objects (PDO) include PDO mapping objects in the object dictionary, and the content is defined by PDO mapping. PDO data read and write are cyclical, and don't need to find the object in the dictionary, but communication (SDO) is not cyclical and it is necessary to find the object dictionary when reading and writing. Note: it is necessary to configure FMMU and Sync Manager as the table below to analyze SDO and PDO data at EtherCATDLL: 5 / 32 V1.00 December, 2014

6 Sync Manager Assignment(Fixed) Size Start Address(Fixed) Sync Manager 0 Assigned to Receive Mailbox 40 ~ 512Byte 0x1000 Sync Manager 1 Assigned to Transmit Mailbox 40 ~ 512Byte 0x1200 Sync Manager 2 Assigned to Receive PDO 1 ~ 128Byte 0x1400 Sync Manager 3 Assigned to Transmit PDO 1 ~ 128Byte 0x1480 FMMU setting FMMU Settings FMMU 0 Mapped to Receive PDO FMMU 1 Mapped to Transmit PDO FMMU 2 Mapped to Fill Status of Transmit Mailbox EtherCAT slave information EtherCAT slave information file (XML file) is used for the reading of the main station and the establishment of slave and main station. XML file includes the required information of EtherCAT communication setting. INVT provides INVT_DA200_CoE.xml file for DA200 drive EtherCAT status machine EtherCAT status machine is used to describe the slave status and the status changing. The request is sent from the main station and the salve responds. The detailed jumping mode is as below: Power Up Init PI IP Pre-Op SI OI PS SP OP Safe-Op SO OS Operational Figure 2-2 Slave status Status Init Init Pre-Op Pre-Operation (Pre-Op) Pre-Op Safe-Op Table 2-2 Status description Description is disabled PDO communication is disabled The master configures the link-layer address, and SM channel, start the mailbox communication The master initializes DC clock synchronization The master requests to the Pre-Op status transitions The master sets AL control register The slave determines whether the mailbox initialization is normal communication is activated PDO is disabled The master is the Sync Manager channel and FMMU channel The master configures PDO data mapping and Sync Manager PDO parameters setting by SOD setting 6 / 32 V1.00 December, 2014

7 Status Description The master requests to the Safe-Op status transitions The salve checks the Sync Manager configuration and if the slave starts a synchronous request, the clock setting will be checked The slave application will transmit the actual input data and deactivate the Safe-Operation wrong operation output (Safe-Op) The output is set as Safe status Safe-Op Op The master sends valid output data The master requests to the POp status transitions Operational communication is enabled (Op) PDO communication is enabled PDO process data mapping The process data of EtherCAT slave is consisted of Synchronization Manager channel object and each channel object describes the EtherCAT process data consistency of the area and includes multiple process data objects. The EtherCAT salve with control functions need to support PDO mapping and SM PDOs Assign objects reading. PDO mapping: Object dictionary of PDO mapping design, the mapping objects relationship and the index of 0x1600 and 0x1A00 are saved in the mapping table of RxPDO and TxPDO respectively. The table below is an example of PDO mapping: Figure 2-3 PDO mapping example PDO assignment: In order to achieve the EtherCAT communications process data interaction, it is necessary to assign PDOs to Sync Manager; Synchronization manager PDO object distribution (Sync Manager PDO Assign objects: 0x1C12, 0x1C13) establishes the association of PDOs and Sync Manager. The figure is the example: 7 / 32 V1.00 December, 2014

8 Figure 2-4 PDO assignment example Note: PDO mapping objects (0x1600~0x1603, 0x1A00~0x1A03) and SM PDO Assign objects (0x1C12, 0x1C13) only do valid write in Pre-Op mode. PDO mapping procedure: 1. stop PDO assignment function (set the sub-index 0 of 0x1C12 and 0x1C13 as 0); 2. stop PDO mapping function (set the sub-index 0 of 0x1600~0x1603 and 0x1A00~0x1A03 as 0); 3. set the map entries of PDO mapping objects (0x1600~0x1603 and 0x1A00~0x1A03); 4. set the map entries value of PDO mapping objects (0x1600~0x1603 and 0x1A00~0x1A03); 5. set the PDO assignment objects (set the sub-index of 0x1C12 and 0x1C13 as 1); 6. reopen PDO distribution function (set the sub-index 0 of 0x1C12 and 0x1C13 as 1). Default PDO mapping (Position, Velocity, Torque, Torque limit, Touch probe): RxPDO (0x1600) Controlword (0x6040) Target Position (0x607A) Target Velocity (0x60FF) Target Torque (0x6071) Max. Torque (0x6072) Mode of Operation (0x6060) Touch Probe Function (0x60B8) TxPDO (0x1A00) Statusword (0x6041) Position Actual Value (0x6064) Speed Actual Value (0x606C) Torque Actual Value (0x6077) Following Error Actual Value (0x60F4) Mode of Operation Display (0x6061) Touch Probe Status (0x60B9) Touch Probe Value (0x60BA) Note: Detailed PDO mapping information can be found in xml file Network synchronization based on distributed clock Distributed clock can enable all EtherCAT devices use the same system time and then to control the equipment of synchronization task execution. DA200 EtherCAT communication is available for following modes. Synchronous mode switch can be configured through synchronous control register (ESC x980 0, 0 x981). Free-Run(ESC * register:0x980 = 0x0000, P4.08 = 0) In this mode, the local application cycle and communication cycle independently as well as the main cycle is independently; DC mode (ESC register :0x980 = 0x0300, P4.08 = 2) In this mode, the local application is synchronous with Sync0 time. * Note:ESC is the abbreviation of EtherCAT Slave Controller. 8 / 32 V1.00 December, 2014

9 PDO Index Sub Name Access Type Value Mapping Sync Manager channel 2 (process data output) Synchronization Current status of DC mode Synchronization 1 RO No UINT 0:Free-run type 0x1C32 2:DC Mode(Synchronous with Sync0) Sync0 event cycle[ns](this value is set by master 2 Cycle time RO No UDINT via ESC register) range:12500 * n(n = 2,4,8,16)[ns] Sync Manager channel 2 (process data input) Synchronization 3 Shift time RO No UINT - 0x1C33 Calc and copy - 6 RO No UINT time Time and sequence diagram in DC mode: Figure 2-5 Sequence and time of DC mode Emergency Messages When an alarm occurs, CoE will start an Emergency message to inform the current fault information. Emergency Object: Byte Content Emergency Error Code Error register Panel Error Code N/A Users can also access the current fault code information through SDO 0x2001 parameters, the format of the fault codes are: Bits Meaning 15~8 Fault code master code * 7~4 Reserved 3~0 Fault code sub code *: Please refer to chapter 5 for the detailed information of the main and sub code. 2.3 Supported communication specifications EtherCAT communication Applicable standard of communication Physical layer Bus connections Cable IEC Type12, IEC CiA402 Drive Profile 100BASE-TX(IEEE802.3) CN7(RJ45):EtherCAT Signal IN CN8(RJ45):EtherCAT Signal OUT 5 twisted-pair cable 9 / 32 V1.00 December, 2014

10 SM0: output mailbox,sm1: input valid SyncManager SM2: Output process data SM3: Input process data FMMU0:Mapped to process data (RxPDO) output area FMMU FMMU1:Mapped to process data (RxPDO) output area FMMU2:Mapped to mailboxes PDO data Dynamic PDO mapping Emergency, SDO request and response, SDO message Mailbox(CoE) Note: not support TxPDO/RxPDO and remote TxPDO/TxPDO Free-run, DC mode (need to select the activate by the parameters) Distributed clocks(dc) Supported DC cycle: 250us~2ms Slave Information IF 256Bytes (only for read) EtherCAT Link/Activity indicator(l/a) 2 LED indicator EtherCAT Status indicator 1 EtherCAT Error indicator 1 CiA402 Drive Profile Homing mode(6) Profile position mode(1) Profile velocity mode(3) Cyclic synchronous position mode(8) Cyclic synchronous speed mode(9) Cyclic synchronous torque mode(10) Touch probe function 10 / 32 V1.00 December, 2014

11 3 CiA402 equipment specifications The master controls DA200 servo drive by Controlword (control word, 0x6040) and gets its current status by reading Statusword (status word, 0x6041). The servo drive controls the motor by the control command. 3.1 CANopen over EtherCAT(CoE) status machine Status name Not Ready to Switch On Switch On Disabled Ready to Switch On Switched On Operation Enable Quick Stop Active Fault Reaction Active Fault Figure 3-1 CANopen over EtherCAT status machine Description The drive is in the initialization The initialization is finished The drive is in the status of Switch On and the motor is not excited The drive is ready and the main power supply is normal The drive is enabled and the motor is controlled The drive stops according to the set mode The drive detects the alarm, stops according to the set mode and the motor has the excitation signal The drive is in fault status without exciting signal Detail of Controlword(0x6040) 6040 h control word includes: 1. The bit for status control; 2. The bit related to the control mode; 11 / 32 V1.00 December, 2014

12 3. The bit customized. The description of bits of 6040 h: Of which, MSB: the highest bit; LSB: the lowest bit; O: optional M: required BITS 0-3 AND 7(Used for the control status): Of which,x is irrelevant; is the up edge jumping. BITS 4, 5, 6 AND 8 (The bit related to the control mode): Operation mode Bit Profile position mode Profile velocity mode Homing mode 4 New set-point reserved Homing operation start 5 Change set immediately reserved reserved 6 abs/rel reserved reserved 8 Halt Halt Halt BITS 9, 10: reserved BITS 11 15: customized Detail of Statusword(0x6041) 6041 h control word includes: 1. Current status bit of the drive 2. The bit related to the control mode; 3. The bit customized. The description of bits of 6041 h: Bit Description M / O 0 Ready to switch on M 1 Switched on M 2 Operation enabled M 3 Fault M 12 / 32 V1.00 December, 2014

13 Bit Description M / O 4 Voltage enabled M 5 Quick stop M 6 Switch on disabled M 7 Warning O 8 Manufacture specific O 9 Remote M 10 Target reached M 11 Internal limit active M Operation mode specific O Manufacturer specific O BIT 0 3, 5, AND 6: Of which, X is irrelevant. Value (binary) xxxx xxxx x0xx 0000 xxxx xxxx x1xx 0000 xxxx xxxx x01x 0001 xxxx xxxx x01x 0011 xxxx xxxx x01x 0111 xxxx xxxx x00x 0111 xxxx xxxx x0xx 1111 xxxx xxxx x0xx 1000 Status Not ready to switch on Switch on disabled Ready to switch on Switched on Operation enabled Quick stop active Fault reaction active Fault BIT 4: Voltage enabled, if the bit is 1, it means that the main power supply is normal BIT 7: Warning, if the bit is 1, it means that the drive alarm occurs BIT 8: DC Calibration Status, if the bit is 1, it means that the drive internal clock synchronization with DC Sync0 BIT 9: Remote, if the bit is 1, it means that the slave is in OP status and the master can control the drive by PDO BIT 10: Target reached, the meaning is different in different mode. In pp mode, if the bit is 1, the position reaches the target position. In pv mode, if the bit is 1, it means that the speed reaches the reference value. In hm mode, if the bit is 1, it means that the zero returning is finished. When Halt is started, if the bit is 1, the motor speed is 0. BIT 11: Internal limit active, in pp mode, if the bit is 1, it reaches the position limit; in pv mode, if the bit is 1, the internal torque exceeds the setting value. BIT 12 AND 13: the meaning is different in different control modes. Operation mode Bit pp pv hm 12 Set-point Acknowledge Speed Homing attained 13 Following error Max slippage error Homing error BIT 14: if the bit is 1, the motor is in the zero speed status. BIT 15: reserved 3.2 Profile Position Mode Basic description The servo drive (slave) receives the position command from the upper PC. After the transmission of electric gear ratio, it can be used as the target position for internal position control. Position command encoder unit = Position command user unit * OD-6093h-Sub1 / OD-6093h-Sub2 13 / 32 V1.00 December, 2014

14 3.2.2 Operation 1. Set 6060 h:mode of operations as 1(Profile position mode); 2. Set 6081 h:profile velocity as the planning speed (unit: rpm) and the internal corresponding parameter is P5.21; 3. Set 6083 h:profile acceleration as the planning speed (unit: ms, from 0 to 100% of the rated speed);note: in the mode, 6083 h and 6084 h corresponds to the same parameter of P5.37; 4. Set 6093 h:position factor Sub-1 abd Sub-2 to adjust the gear ratio and the internal corresponding parameters are P0.25 and P0.26; Note: it is necessary to set P0.22 as 0 and power on again; of which OD-6093h-Sub-2(P0.26) is valid when the servo is disabled. OD-6093h-Sub-1(P0.25) is valid instantly; 5. Set 607A h:target position as the target position (unit:user unit) and the internal corresponding parameter is P6.01; 6. Set 6040 h:control word to enable the servo drive and the target position triggering is valid (it is enabled when setting as 0x0F and refer to chapter 4.5 for the detailed information of 6040 h); 7. Inquire 6064 h:position actual value to get the actual position response of the motor; 8. Inquire 6041 h:status word to get the status response of the servo drive (following error, set-point acknowledge, target reached and internal limit active); Other objects 1. Inquire 6062 h:position actual value to get the actual position response of the motor (unit: user unit) to get the actual position response of the motor; (unit: user unit); 2. Inquire 6063 h:position actual value* to obtain the actual position feedback increment (unit: user unit); 3. Set 6065 h:following error window to adjust the position error range (unit: user unit); 4. Inquire 60F4 h:following error actual value to obtain the actual position tolerance (unit: user unit); 5. Set 6067 h:following error window to adjust the positioning range (unit: user unit); 14 / 32 V1.00 December, 2014

15 3.2.4 Objects list Index Name Type Attr h Control word UNSIGNED16 RW 6041 h Status word UNSIGNED16 RO 6060 h Modes of operation INTEGER8 RW 6061 h Modes of operation display INTEGER8 RO 6062 h Position demand value INTEGER32 RO 6063 h Position actual value* INTEGER32 RO 6064 h Position actual value INTEGER32 RO 6065 h Following error window UNSIGNED32 RW 6067 h Position window UNSIGNED32 RW 607A h Target position INTEGER32 RW 6081 h Profile velocity UNSIGNED32 RW 6083 h Profile acceleration UNSIGNED32 RW 6093 h Position factor UNSIGNED32 RW 60F4 h Following error actual value INTEGER32 RO 60FC h Position demand value* INTEGER32 RO Note: Refer to CiA DS402 standard for the detailed description Controlword (0x6040) of Profile Position Mode Statusword (0x6041) of Profile Position Mode 15 / 32 V1.00 December, 2014

16 3.2.6 Application example 1. Set 6060 h as 1 to select Profile Position Mode; 2. Set 6040 h to enable the drive and the triggering position command is valid; 1 Single set-point mode: Single set-point diagram If the sent target position is the incremental mode, do as the following: 1) Set 6040h as 0x4F (of which, bit6 is set as the incremental mode, bit3~bit0 is to enable the drive); 2) Set 607Ah is the target position command; 3) Set 6040h is 0x5F to trigger the position command (of which, the jumping edge of bit4 0->1 is valid when triggering target position command); 4) The drive receives bit12 of 6041h after receiving 6040h.bit4 = 1, the master needs to clear bit4 of 6040h for the sending of next target position command. If the sent target position is the absolute mode, do as the following: 1) Set 6040 h 0x0F; 2) Set 607A h as the target position command; 3) Set 6040 h as 0x1F to trigger the position command; 4) The drive receives bit12 of 6041h after receiving 6040h.bit4 = 1, the master needs to clear bit4 of 6040h for the sending of next target position command. 2 Change set immediately mode: 16 / 32 V1.00 December, 2014

17 Change set immediately diagram If the sent target position is the incremental mode, do as the following: 1) Set 6040h as 0x6F(bit6 is to set the incremental mode, bit5 is for valid setting instantly, bit3~bit0 is to enable the drive); 2) Set 607Ah is the target position command; 3) Set 6040h is 0x7F, trigger position command valid (of which, the jumping edge of bit4 0->1 is valid when triggering target position command); 4) The drive receives bit12 of 6041h after receiving 6040h.bit4 = 1, the master needs to clear bit4 of 6040h for the sending of next target position command. If the sent target position is the absolute mode, do as the following: 1) Set 6040h is 0x2F(bit5 is for valid setting instantly, bit3~bit0 is to enable the drive); 2) Set 607A h is the target position command; 3) Set 6040 h is 0x3F, trigger position command valid 4) The drive receives bit12 of 6041h after receiving 6040h.bit4 = 1, the master needs to clear bit4 of 6040h for the sending of next target position command. 3 Repeat procedure 2 if multiple targets need to be sent. Note: SV-DA200 support 8 target position buffer internally. 3.3 Cyclic Synchronous Position Mode Basic description Cyclic synchronous velocity mode is basically the same as position interpolation model. The master finished the position instruction interpolation and provides additional speed and torque feed forward commands. Interpolation cycle defines the time interval of Target Position replacement and in the mode, the interpolation cycle is the same as EtherCAT synchronizing cycle Operation 1. Set 6060 h:mode of operations as 8(Cyclic synchronous position mode); 2. Set P4.07:EtherCAT synchronizing cycle is the same as the interpolation cycle and it is necessary to repower on; 3. Set 6093 h:position factor Sub-1 abd Sub-2 to adjust the gear ratio and the internal corresponding parameters are P0.25 and P0.26; Note: it is necessary to set P0.22 as 0 and power on again; of which OD-6093h-Sub-2(P0.26) is valid when the servo is disabled. OD-6093h-Sub-1(P0.25) is valid instantly; 4. Set 6040 h: Control word to enable the servo drive (it is enabled when setting as 0x0F and refer to chapter 4.5 for the detailed information of 6040 h); 5. Set 607A h: Target position as the target position (unit: user unit); the internal corresponding parameter is P4.12; 6. Inquire 6064 h: Position actual value to get the actual position response of the motor; 7. Inquire 6041 h: Status word to get the status response of the servo drive (following error, target reached and internal limit active). 17 / 32 V1.00 December, 2014

18 3.3.3 Objects list Index Name Type Attr h Control word UNSIGNED16 RW 6041 h Status word UNSIGNED16 RO 6060 h Modes of operation INTEGER8 RW 6061 h Modes of operation display INTEGER8 RO 6064 h Position actual value INTEGER32 RO 6065 h Following error window UNSIGNED32 RW 6067 h Position window UNSIGNED32 RW 6093 h Position factor UNSIGNED32 RW 60F4 h Following error actual value INTEGER32 RO Note: Refer to CiA DS402 standard for the detailed description Application example 1. Set 6060 h as 8 to select Cyclic Synchronous Position Mode; 2. Set 6040 h to enable the drive, send 0x0F 3. Set 607A h as the target position (absolute position) for position control. 3.4 Homing Mode Basic description Homing mode can find the original point for the drive automatically and the user can set the speed in Homing mode. Note: It is necessary to connect the limit switch, original switch signal to CN1 of the drive in this mode. If the signal is connected to the upper PC or PLC, it is necessary to use the ZRN process guided by the upper PC Operation 1. Set 6060 h:mode of operations as 6 (homing mode); 2. Set 6098 h:homing method, the setting range is 1~35 (please refer to DS402 standard); 3. Set 607C h:homing offset to set the origin deviation and the internal corresponding parameters is P5.14; 4. Set 6099 h Sub-1:Homing speeds to modify the finding speed of limit switch (unit: :rpm) and the internal corresponding parameter is P5.12; 5. Set 6099 h Sub-2:Homing speeds to modify the finding speed of zero position (unit: :rpm) and the internal corresponding parameter is P5.13; 6. Set 6040 h:control word to enable the servo drive, Homing operation starts(bit4) during the changing of 0->1 and breaks during the changing of 1->0; 7. The motor finds the limit switch and Home switch to finish Homing action; 8. Inquire 6041 h:status word to get the status response of servo drive (Homing error, Homing attained, Target reached); Objects list Index Name Type Attr h Control word UNSIGNED16 RW 6041 h Status word UNSIGNED16 RO 6060 h Modes of operation INTEGER8 RW 6061 h Modes of operation display INTEGER8 RO 607C h Homing offset INTEGER32 RW 6098 h Homing method UNSIGNED32 RW 6099 h Homing speeds ARRAY RW Note: Refer to CiA DS402 standard for the detailed description. 18 / 32 V1.00 December, 2014

19 3.4.4 Application example Do as the following when using Homing mode: 1. Set 6060 h as 6 to select Homing Mode; 2. Set 6098 h to select Homing mode; 3. Set 6040 h to enable the drive and trigger Homing action: send 0x0F, and then send 0x1F to trigger Homing; 4. During the processing of Homing, send 0x0F, and then break Homing action. Sending 0x0 is to disable the drive. 5. To judge whether Homing processing is finished or not according to bit12 of 6041 h and whether there is fault during the process according to bit Statusword of homing mode Instruction of ZRN mode There are 4 kinds of signal related to the ZEN mode, which is POT, NOT, Index and C-phase. Start Referenc ZRN mode Target ZRN mode directio e Detail (DS402) position (P5.10) n position Use Z signal pulse and negative limit switch: the drive moves to the negative limit switch at high speed, after reaching NOT, it decelerates to stop and return slowly. After that, it will find the target zero position. (the first A signal pulse position after leaving NOT) 1 Negat ive NOT Z pulse 1 Use Z signal pulse and positive limit switch: the drive moves to the positive limit switch at high speed, after reaching POT, it decelerates to stop and return slowly. After that, it will find the target zero position. (the first A signal pulse position after leaving POT) 2 Positi ve POT Z pulse 0 19 / 32 V1.00 December, 2014

20 ZRN mode (DS402) 3 Start directio n Negat ive Target position Referenc e position ZRN mode (P5.10) Index Z pulse 2 Detail The original moving direction depends on the switch status of the reference point. The target zero position is the first Z pulse position left or right to Index. 4 Positi ve Index Z pulse Negat ive Positi ve Negat ive NOT NOT 21 POT POT 20 Index Index 22 The 4 kinds of zeroing modes are the same as 1~4, but the target zero position is related with the limit switch or Index switch other than Z pulse. Below is the figure of 19 and 20, which is similar with method 3 and Positi ve Index Index Current position Current position 8 The current position is the system zero point. 3.5 Profile Velocity Mode Basic description In the profile velocity mode, the drive receives the rotating speed of the master, and then plans the speed according to the acceleration planning parameters Operation 1. Set 6060 h:mode of operations as 3 (Profile velocity mode); 2. Set 6083 h:profile acceleration to modify the acceleration curve(unit: from 0 to the rated speed) and the internal corresponding parameter is P0.54; 3. Set 6084 h:profile deceleration to modify the deceleration curve(unit: from 0 to the rated speed) and the internal corresponding parameter is P0.55; 4. Set 6040 h:control word to enable the servo drive and start the motor 5. Set 60FF h:target velocity to set the target speed (unit: rpm); and the internal corresponding parameter is P4.13; 6. Inquire 6041 h:status word to get the status response of the servo drive(speed zero, Max slippage error, Target reached, Internal limit active) Other objects 1. Inquire 6069h:Velocity sensor actual value to get the actual speed response (unit: pulse/s); 20 / 32 V1.00 December, 2014

21 2. Inquire 606Bh:Velocity demand value to get the internal speed command (unit: rpm); 3. Inquire 606C h:velocity actual value to get the actual speed response (unit: rpm); 4. Set 606D h:velocity window to modify the speed range (unit: rpm); 5. Set 606F h:velocity threshold to modify the zero speed range (unit: rpm); 6. Set 60F8 h:max slippage to modify the speed difference (unit: rpm) Objects list Index Name Type Attr h Control word UNSIGNED16 RW 6041 h Status word UNSIGNED16 RO 6060 h Modes of operation INTEGER8 RW 6061 h Modes of operation display INTEGER8 RO 6069 h Velocity sensor actual value INTEGER32 RO 606B h Velocity demand value INTEGER32 RO 606C h Velocity actual value INTEGER32 RO 606D h Velocity window UNSIGNED16 RW 606F h Velocity threshold UNSIGNED16 RW 6083 h Profile acceleration UNSIGNED32 RW 6084 h Profile deceleration UNSIGNED32 RW 60F8 h Max slippage INTEGER32 RW 60FF h Target velocity INTEGER32 RW Note: Refer to CiA DS402 standard for the detailed description Application example Do as the following when using Profile Speed mode: 1. Set 6060 h as 3 to select Profile Speed Mode; 2. Set 6040 h to enable the drive, send 0x0F enabling and send 0x0 prohibition; 3. Set 60FF h to modify the target speed command; 4. Set 6083 h and 6084 h to modify the DEC and ACC time. 3.6 Cyclic Synchronous Velocity Mode Basic description Cyclic synchronous velocity mode is basically the same as Profile velocity mode. The difference is that the master finished the speed instruction interpolation and provides additional torque feed forward commands. Interpolation cycle defines the time interval of target velocity and in the mode, the interpolation cycle is the same as EtherCAT synchronizing cycle Operation 1. Set 6060 h:mode of operations as 9(Cyclic synchronous velocity mode); 2. Set 6083 h:profile acceleration to modify the acceleration curve(unit: from 0 to the rated speed) and the internal corresponding parameter is P0.54; 3. Set 6084 h:profile deceleration to modify the deceleration curve(unit: from 0 to the rated speed) and the internal corresponding parameter is P0.55; 4. Set 6040 h:control word to enable the servo drive and start the motor 5. Set 60FF h:target velocity to set the target speed (unit: rpm); and the internal corresponding parameter is P4.13; 6. Inquire 6041 h:status word to get the status response of the servo drive(speed zero, Max slippage error, Target reached, Internal limit active). 21 / 32 V1.00 December, 2014

22 3.6.3 Other objects 1. Inquire 6069h:Velocity sensor actual value to get the actual speed response (unit: pulse/s); 2. Inquire 606Bh:Velocity demand value to get the internal speed command (unit: rpm); 3. Inquire 606C h:velocity actual value to get the actual speed response (unit: rpm); 4. Set 606D h:velocity window to modify the speed range (unit: rpm); 5. Set 606F h:velocity threshold to modify the zero speed range (unit: rpm); 6. Set 60F8 h:max slippage to modify the speed difference (unit: rpm) Objects list Index Name Type Attr h Control word UNSIGNED16 RW 6041 h Status word UNSIGNED16 RO 6060 h Modes of operation INTEGER8 RW 6061 h Modes of operation display INTEGER8 RO 6069 h Velocity sensor actual value INTEGER32 RO 606B h Velocity demand value INTEGER32 RO 606C h Velocity actual value INTEGER32 RO 606D h Velocity window UNSIGNED16 RW 606F h Velocity threshold UNSIGNED16 RW 6083 h Profile acceleration UNSIGNED32 RW 6084 h Profile deceleration UNSIGNED32 RW 60F8 h Max slippage INTEGER32 RW 60FF h Target velocity INTEGER32 RW Note: Refer to CiA DS402 standard for the detailed description Application example Do as the following when using Profile Speed mode: 1. Set 6060 h as 9 to select Cyclic synchronous velocity mode; 2. Set 6040 h to enable the drive, send 0x0F enabling and send 0x0 prohibition; 3. Set 60FF h to modify the target speed command; 4. Set 6083 h and 6084 h to modify the DEC and ACC time. 3.7 Cyclic Synchronous Torque Mode Basic description Cyclic synchronous torque mode is basically the same as Profile torque mode. The difference is that the master finished the torque instruction interpolation and provides additional torque feed forward commands. Interpolation cycle defines the time interval of target torque and in the mode, the interpolation cycle is the same as EtherCAT synchronizing cycle Operation 1. Set 6060 h:mode of operations as 10(Cyclic synchronous torque mode); 2. Set 6087 h:torque slope to modify the torque planning time(unit: ms, from 0 to 100% of the rated speed), the internal corresponding is P0.68; 3. Set 6040 h:control word to enable the servo drive and start the motor 4. Set 6071 h:target torque to set the target speed (unit: 0.1% of the rated torque); and the internal corresponding parameter is P4.14; 5. Set 607F h:max Profile Velocity to set the maximum speed (unit: rpm); 22 / 32 V1.00 December, 2014

23 6. Inquire 6041 h:status word to get the status response of the servo drive(target reached) Other objects 1. Set 6072h:Max torque to modify the maximum torque limit(unit: 0.1% of the rated torque); 2. Inquire 6074h:Torque demand value to get the internal torque command(unit: 0.1% of the rated torque); 3. Inquire 6076h:Motor rated torque to get the motor rated torque(unit: mnm); 4. Inquire 6077h:Torque actual value to get the actual torque response(unit: 0.1% of the rated torque); 5. Inquire 6078h:Current actual value to get the actual output current(unit: ma) Objects list Index Name Type Attr h Control word UNSIGNED16 RW 6041 h Status word UNSIGNED16 RO 6060 h Modes of operation INTEGER8 RW 6061 h Modes of operation display INTEGER8 RO 6071 h Target torque INTEGER16 RO 6072 h Max torque UNSIGNED16 RW 6073 h Max current UNSIGNED16 RO 6074 h Torque demand value INTEGER16 RO 6075 h Motor rated current UNSIGNED32 RO 6076 h Motor rated torque UNSIGNED32 RO 6077 h Torque actual value INTEGER16 RO 6078 h Current actual value INTEGER16 RO 6079 h DC link circuit voltage UNSIGNED32 RO 607F h Max Profile Velocity UNSIGNED32 RW 6087 h Torque slope UNSIGNED32 RW Note: Refer to CiA DS402 standard for the detailed description Application example Do as the following when using Cyclic synchronous Torque mode: 1. Set 6060 h as 10 to select Cyclic synchronous Torque Mode; 2. Set 6040 h to enable the drive, send 0x0F enabling and send 0x0 prohibition; 3. Set 6071 h to modify the target torque command; 4. Set 6087 h to modify the torque slope of time. 3.8 Touch Probe Function Basic description Touch probe function is used for locking the trigger signal or the position feedback. DA200 only supports encoder Z signal (C-phase) as the triggering signal or accident. If encoder Z signal is used for triggering signal, only the up edge can be acquired and the result is saved in 60BA h Objects list Index Name Type Attr. 60B8 h Touch Probe Control word UNSIGNED16 RW 60B9 h Touch Probe Status word UNSIGNED16 RW 60BA h Probe 1 positive edge value(encoder zero signal) INTEGER32 RO 23 / 32 V1.00 December, 2014

24 3.8.5 Description of the control word and status word Bit 60B8 h 60B9 h 0 Probe 1 enable Probe 1 enabled 1 Probe 1 continuous mode Probe 1 positive edge value stored 2 Probe 1 zero pulse Probe 1 negative edge value stored Probe 1 enable latch on positive edge(used also for encode - zero signal) 5 Probe 1 enable latch on negative edge Probe 1 positive edge value stored(continuous mode only, bit toggles if latch status changed) 7 - Probe 1 negative edge value stored(continuous mode only, bit toggles if latch status changed) 8 Probe 2 enable Probe 2 enabled 9 Probe 2 continuous mode Probe 2 positive edge value stored 10 Probe 2 zero pulse Probe 2 negative edge value stored Probe 2 enable latch on positive edge(used also for encode - zero signal) 13 Probe 2 enable latch on negative edge Probe 2 positive edge value stored(continuous mode only, bit toggles if latch status changed) 15 - Probe 2 negative edge value stored(continuous mode only, bit toggles if latch status changed) Application example (Single trigger mode) 24 / 32 V1.00 December, 2014

25 4 Object dictionary 4.1 Object specifications Object type Name VAR ARRAY RECORD Meaning A single variable values, such as UNSIGNED8, Boolean, float, INTEGER16 and so on Data group composed of variables of multiple data with the same type. Sub-index 0 is UNSIGNED8 type, means the data quantity and cannot be used as part of ARRAY data Data group composed of variables of multiple data with the same and different type. Sub-index 0 is UNSIGNED8 type, means the data quantity and cannot be used as part of RECORD Data type Please refer to CANopen Standard Overview of Object Group 1000 h Index Object Type Name Data Type Access Mappable CANopen DS h VAR Device type UNSIGNED32 RO N 1001 h VAR Error register UNSIGNED8 RO Y 1008 h VAR Manufacturer device name STRING RO N 1009 h VAR Manufacturer hardware version STRING RO N 100A h VAR Manufacturer software version STRING RO N 1018 h RECORD Identity Object IDENTITY RO N 1600 h ~03 h RECORD Receive PDO mapping PDOMAPPING RW N 1A00 h ~03 h RECORD Transmit PDO mapping PDOMAPPING RW N 1C00 h RECORD Sync manager type UNSIGNED8 RW N 1C12 h ARRAY Receive PDO assign UNSIGNED16 RW N 1C13 h ARRAY Transmit PDO assign UNSIGNED16 RW N 1C32 h RECORD Sync manager output para. SMPAR RW N 1C33 h RECORD Sync manager input para. SMPAR RW N 4.3 Overview of Object Group 6000 h Index Object Type Name Data Type Access Mappable CANopen DS h VAR Control word UNSIGNED16 RW Y 6041 h VAR Status word UNSIGNED16 RO Y 6042 h VAR vl target velocity INTEGER16 RW Y 6043 h VAR vl velocity demand INTEGER16 RO Y 6044 h VAR vl control effort INTEGER16 RO Y 6046 h ARRAY vl velocity min max amount UNSIGNED32 RW Y 6047 h ARRAY vl velocity min max UNSIGNED32 RW Y 605D h VAR Halt option code INTEGER16 RW Y 6060 h VAR Mode of operation INTEGER8 RW Y 6061 h VAR Mode of operation display INTEGER8 RO Y 6063 h VAR Position actual value* INTEGER32 RO Y 6064 h VAR Position actual value INTEGER32 RO Y 6065 h VAR Following error window UNSIGNED32 RW Y 25 / 32 V1.00 December, 2014

26 Index Object Type Name Data Type Access Mappable 6066 h VAR Following error time out UNSIGNED16 RW Y 606C h VAR Velocity actual value INTEGER32 RO Y 6071 h VAR Target torque INTEGER16 RW Y 6072 h VAR Max torque UNSIGNED16 RW Y 6073 h VAR Max current UNSIGNED16 RO Y 6075 h VAR Motor rated current UNSIGNED32 RO Y 6076 h VAR Motor rated torque UNSIGNED32 RO Y 6077 h VAR Torque actual value INTEGER16 RO Y 6079 h VAR DC link circuit voltage UNSIGNED32 RO Y 607A h VAR Target position INTEGER32 RW Y 607B h ARRAY Position range limit INTEGER32 RW Y 607C h VAR Home offset INTEGER32 RW Y 6081 h VAR Profile velocity UNSIGNED32 RW Y 6083 h VAR Profile acceleration UNSIGNED32 RW Y 6084 h VAR Profile deceleration UNSIGNED32 RW Y 6091 h ARRAY Gear ratio UNSIGNED32 RW Y 6093 h ARRAY Position factor UNSIGNED32 RW Y 6098 h VAR Homing method INTEGER8 RW Y 6099 h ARRAY Homing speeds UNSIGNED32 RW Y 60B8 h VAR Touch probe control value UNSIGNED16 RW Y 60B9 h VAR Touch probe status value UNSIGNED16 RO Y 60BA h VAR Touch probe latch value INTEGER32 RO Y 60F4 h VAR Following error actual value INTEGER32 RO Y 60FD h VAR Digital inputs UNSIGNED32 RO Y 60FE h VAR Digital outputs UNSIGNED32 RO Y 60FF h VAR Target velocity INTEGER32 RW Y 6502 h VAR Support drive mode UNSIGNED32 RO Y 4.4 Overview of Object Group 2000 h Index Object Type Name Data Type Access Mappable SV-DA200 manufacture parameter 2000 h VAR Error code UNSIGNED16 RO N 2001 h VAR Driver temperature INTEGER16 RO N 2002 h VAR Parameter save INTEGER16 RW N 2003 h VAR Parameter restore INTEGER16 RW N 26 / 32 V1.00 December, 2014

27 5 Fault detection and diagnosis 5.1 EtherCAT communication fault code and countermeasures Code Name Causes Countermeasures Er24-8 EtherCAT fault - EtherCAT communication card is not Check the connection of EtherCAT Communication connected or not connected well; communication card card initialization ESC clip initialization fault Change EtherCAT communication card fault Er24-9 EtherCAT fault - Download xml file with TwinCAT to Communication No EEPROM data or read fault EtherCAT communication card EEPROM; card EEPROM Change EtherCAT communication card fault EtherCAT fault In DC synchronous mode, DC Sync0 Check the connection of EtherCAT Er24-a -DC Sync0 signal break signal cannot be detected during communication card abnormality an interval time Change EtherCAT communication card Er24-b EtherCAT fault offline fault The network cables cannot be connected well or EtherCAT master cannot work normally Check the connection the network cables Check the master of EtherCAT Er24-c EtherCAT fault PDO data loss PDO data cannot be received during an interval time Check the master of EtherCAT Check whether there is interference cause data loss 5.2 SV-DA200 fault code and countermeasures Code Name Causes Countermeasures The actual output current exceeds the specified value 1. Remove the motor cables and enable the 1.Drive fault (drive circuit, IGBT fault) drive, if not available, change the drive 2.Short circuit of motor cable U,V,W, or 2.Check the motor cables and wiring the motor cable is not connected well 3.Reduce the value of P0.10 and P Motor Burnout Er01-0 IGBT fault 4.Comission the loop parameters and reduce 4. Reverse sequence of U, V, W phase the value of P System parameters are not 5.Longer the ACC/DEC time appropriate to spread 6.Change to a drive with bigger power 6. ACC/DEC of start-stop process is too 7. Change the motor short 7. Instantaneous load is too large Encoder fault 1. The encoder is not connected 1. Check the encoder connector or replace Er02-0 The encoder wire 2. The encoder connector becomes the encoder cable break loose 2. Connect the encoder voltage Encoder 3. The line of one of the U,V,W,A,B,Z 3. Reduce the interference of the encoder, Er02-1 fault Encoder phases of the encoder signal cable is route the encoder and motor independently feedback error is broken and connect the shield cables of the encoder too large 4. Reversed A/B phase of the encoder to FG Er02-2 Encoder fault 5. Communication breaks or abnormal 4. If reporting encoder offline fault when Parity error data power on, check whether the available drive Er02-3 Encoder 6.Abnoraml communication data encoder type is consistent with the available fault CRC error 7. FPGA communication motor encoder type according to P / 32 V1.00 December, 2014

28 Code Name Causes Countermeasures Er02-4 Encoder overtime fault Frame error 8. The drive does not support the Er02-5 Encoder fault A encoder type short frame error Er02-6 Encoder fault Encoder overtime Er02-7 Encoder fault FPGA overtime Er Check the connection of encoder battery Encoder fault If multiple circle encoder is used, the 2. Check whether the voltage is below 3.2V, if Low voltage battery voltage of the external encoder yes, change the battery alarm of the is between 3.0V~3.2V 3. Change the battery when the drive is power encoder on; otherwise the encoder data will be loss. Er Check the connection of encoder battery Encoder fault If multiple circle encoder is used, the 2. Check whether the voltage is below 3.0V, if Undervoltage battery voltage of the external encoder yes, change the battery alarm of the is between 2.5V~3.0V 3. Change the battery when the drive is power encoder on; otherwise the encoder data will be loss. Er02-a 1. Check the setting value of the Encoder fault The feedback encoder temperature is overtemperature protection Encoder higher than the setting protection value 2. Stop the motor and reduce the encoder temperature temperature Er02-b If the motor is used with communication 1.Check the encoder connection and reduce encoder, and when the drive updates Encoder fault the encoder interference the data, there is communication EEPROM error 2.Write in for several times or change the transmission error or data validation motor errors 1.Select the current motor model through If the motor is used with communication P0.00 and then carry out the encoder Er02-c Encoder fault encoder, and when read encoder EEPROM writing through P4.97 EEPROM no data EEPROM during power on, there is no 2.Shiled the fault by P4.98, and then carry out data corresponding initialization to the motor parameters 1.Check the encoder connection and reduce the encoder interference Er02-d If the motor is used with communication 2. Select the current motor model through Encoder fault encoder, and when read encoder P0.00 and then carry out the encoder EEPROM polarity EEPROM during power on, there is EEPROM writing through P4.97 error polarity error 3. Shield the fault by P4.98, and then carry out corresponding initialization to the motor parameters Current sensor Er Current sensor or abnormal detection fault U IGBT fault circuit Repower on when the motor is in static status Current sensor Er Power on when the motor shaft is in a or change the drive fault V IGBT fault status of non-stationary Er03-2 Current sensor 28 / 32 V1.00 December, 2014

29 Code Name Causes Countermeasures fault W IGBT fault Er Repower on System The self-inspection is not passed after 2. If the fault occurs for several times, change initialization fault initialization the drive Er05-1 Setting fault Motor model error Setting Wrong P0.00 setting Ensure the motor model and the drive model Er05-2 fault Motor and drive model error Er05-3 Software limit values setting is not Setting fault reasonable Software limit The setting value of P0.35 is less than setting error or equal to the setting value of P0.36 Reset P0.35 and P0.36 Setting fault Back Er05-4 to the origin of Sub mode of P5.10 is set correctly Set P5.10 to the instructions fault settings Setting fault Er05-5 The single travel cannot exceed in the Position control The single increment exceeds position mode overflow fault Er Connect an external braking resistor of 1. The power of the built-in braking higher power resistor is relatively low Regeneration of 2. Replace with a braking resistor of higher 2.The motor speed is too high or the discharge power deceleration is too short overload fault 2.Modify the deceleration time 3. The action limit of the external 3. Reduce the motor speed braking resistor is 10% of the duty ratio 4. Improve the capacity of the motor and drive Analog input 1. The voltage of input analog speed overvoltage fault command exceeds the setting value of Er08-1 Analog speed P Set P3.22,P3.25,P3.75 command 2. The voltage of input analog torque 2. Check the terminals wiring command exceeds the setting value of Analog input 3.Set P3.22,P3.25,P3.75 to be 0 and disable P3.25 overvoltage fault the protection Er The voltage of input analog 3 Analog torque command exceeds the setting value of command P3.75 Er09-0 The data storage has damage when EEPROM fault 1.Try again after repower on read write from EEPROM Read-write fault 2. If occur for many times, change the drive Interference to EEPROM write 1. The data read from EEPROM when Er09-1 EEPROM fault power on are different during writing 1. Reset all parameters verification fault 2. The drive DSP software version 2. If occur for many times, change the drive updates Er10-3 Hardware fault If configured as external fault input, the 1. Clear the external fault input External input fault occurs when action 2. Repower on fault Er10-4 Hardware fault If configured as E-stop input, the fault 1. Clear the E-stop input 29 / 32 V1.00 December, 2014

30 Code Name Causes Countermeasures E-stop fault occurs when action 2. Repower on Software fault Er11-1 Reentrant cycle 1. Reduce the software 1. CPU loading ratio is too high mission 2. Contact with the customers service and 2.DSP software fault Software fault - change the DSP software Er11-2 Illegal operation Er12-0 IO fault Repeat Two or more input switches have the Reset P3.00~P3.09 and ensure no repeated switch input and same functions setting distribution Er12-1 IO fault Repeat If the drive is standard, the analog input analog input and 3 is speed command distribution Reset P3.70 The DC voltage of the main circuit is higher than the designated value 1. The grid voltage is too high 1. Check the grid input voltage Er No braking resistor or pipe during 2. Check the internal braking resistor is loose DC braking or the braking resistor is or damaged fault overvoltage damaged 3.Enlarge the setting value of ACC/DEC time fault 3.DEC time is too short during the 4. Monitor R0.07 when the drive is disabled, if stopping abnormal, change the drive 4. The internal DC voltage test circuit is has damage Er13-1 The DC voltage of the main circuit is 1. Check the grid input voltage less than the designated value 2. Repower on, and note the pull-in noise of DC 1. The grid voltage is too low the relay fault undervoltage 2.The buffer relay is not switched on 3. Monitor R0.07 when the drive is disabled, if fault 3. The drive output power is too large abnormal and not matched with grid voltage, 4. The internal DC voltage test circuit is change the drive has damage Er14-0 The DC voltage of the main circuit is 1. Check the grid input voltage less than the designated value Control circuit 2. Monitor R0.08 when the drive is disabled, if 1. The grid voltage is too low overvoltage fault abnormal and not matched with grid voltage, 2. The internal DC voltage test circuit is change the drive has damage Er The grid voltage is low Motor overload 1. Test the input voltage of the grid 2. The powering-up snubber relay has fault 2. Replace the drive not picked up The absolute value of the motor speed exceeds the setting value of P4.32 Er U, V, W phases of the motor are 1. Check the electronic gear ratio connected reversely 2. Check the setting of speed loop control Speed fault 2. Incorrect setting of the electronic gear parameters 3. Check that the phases of the Overspeed fault ratio or motor speed loop control motor cable are connected correctly parameters 4. Change the motor with higher speed 3.The setting value of P4.32 is less than the setting value of P Interference to the encoder feedback 30 / 32 V1.00 December, 2014

31 Code Name Causes Countermeasures signal In non-torque mode, the deviation 1. Check the cable sequence and ensure right exceeds the deviation of P4.39 wiring 1. U, V, W phases of the motor are 2. Check the transmission belt or chain or the Er20-0 connected reversely platform Speed deviation 2. The motor load is too heavy 3. Check the parameters setting or whether fault 3. Insufficient Drive output the drive has damage or whether the system 4. Speed loop control parameters selection is right setting is not reasonable 4. Enlarge the setting value of P Small setting of P Set P4.39 to be 0 1. Server response time is too slow and 1. Check the transmission belt or chain or the the retention pulse number exceeds the platform Deviation setting value of P Enlarge the position loop gain parameters Er22-0 fault Position 2. The motor load is too heavy or speed feed forward gain or P4.33 deviation 3.High pulse frequency input 3. Adjust the electronic gear ratio parameter 4. Position command input step change 4. Minimize the variation of single position exceeds the setting value of P4.33 command 1.Check the connection between the motor Deviation and load Er22-1 fault Hybrid In full closed loop control, the deviation 2. Check the connection between grating ruler control deviation exceeds the setting value of P4.64 and the drive is too large 3.Check the setting of P4.60, P4.61 and P4.62 Er22-2 The variation of single position 1. Minimize the variation of single position Position increment command exceeds after the command fault convertering 2. Modify the gear ratio 1.Reduce the temperature and improve the Er The operation temperature of the environment The drive thermal drive exceed the designated value 2. Change to a system with bigger power fault 2. Drive overload 3. Longer the ACC/DEC time and reduce the load Er25-6 Application fault Meet the limit switch or software limit Modify the setting of P5.10, and then repower Offside of back to during the returning on and carry out the origin Er25-7 Application fault 1.Vibration in stopping exceeds 3.5s 1.Improve the mechanical rigidity Moment of inertia 2. Too short ACC time 2.Prolong P1.07 identification 3. The identification speed is below 3.Increase P1.06 failure 150r/min 5.3 The maximum torque There is the maximum torque in the default PDO mapping, and the default PLC is 0. If the value is set to be 0, the motor may not rotate after the enabling. If the maximum torque is 0 at the position loop, it may report position tolerance fault after the motor enabling. It is recommended to set the parameter as 1000 (100% of the maximum torque). 31 / 32 V1.00 December, 2014