G6 LICHUAN Series Servo Manual Shenzhen Xinlichuan Electric Co.,Ltd.Operation manual ofthe Lichuan servo- 82 servo series Catalog CHAPTER I INSTALLATION. 41.1 INSTALLATION OF SERVO DRIVE UNIT. 1.2 INSTALLATION OF SERVO MOTOR. CHAPTER WIRING. 2.4 THE MAIN CIRCUIT WIRING. 2.1.1 The Name of the Main Circuit Terminal 2.1.2 Application Method of Main Circuit Power Terminal (spring-loaded). 2.1.3. Main Circuit Wiring 2.2. CN3 CONTROL TERMINAL WIRING, 2.2.1. Standard Wiring of The Position Mode, 2.2.2 Standard Wiring of The Speed/Torque Mode. 2.2.3. CN3 Terminal Definition. 2.24 CNB interface circuit 2.2.6 CN4 encoder signal terminal 2.2.6 CN2 communication port terminal CHAPTER Ill MANIFESTATION AND OPERATION. 3.1. NAME OF THE PANEL PARTS. 3.2. STORAGE STATUS DISPLAY. 3.3 FAULT AND ALARM DISPLAY. 4.1. PARAMETER DEFINITION 4.2 PARAMETER DESCRIPTION. 4.2.1. Monitoring Parameter. 4.2.2 Basic parameter. 4.2.3. Internal position control parameter. 4.24 Intemal speed control parameter. 4.2.5. Torque control parameter. 4.2.6 Tuning parameter. 4.2.7 Communication parameter. 4.2.8 Auxiliary parameters. 4.29 Inputfoutput setting parameter. 4.2.10Digital input (D1) function definition lis. 4.2.11 Digital output (DO) function definition list. CHAPTER V OPERATION WITH POWER ON. 5.1 TRIAL RUN 5.1.1 Inspection before the trial run 5.2. POSITION CONTROL MODE. 5.2.1. External position mode. 5.2.2 Internal multiple segment position function. 5.3. SPEED CONTROL MODE, 5.3.1 External speed mode. 5.3.2 Internal multi-speed function. 5.4 TORQUE CONTROL MODE, 5.5. MIXED CONTROL MODE, 5.5.1 Speed/Position switch mode.Operation manual ofthe Lichuan servo- 82 servo series 5.5.2 Torque/Speed switch mode. 5.6.3 Position/Torque switch mode. 5.6 OTHER DEVICES. 5.6.1 Application of electromagnetic brake. 6.1. POSITION LOOP GAIN TUNING. 6.2 SPEEt 7.4. FAULT WARNING LIST 7.2. FAULT caus 8.1. SCOPE OF APPLICATION. 8.2 PROTOCOL FORMAT. 8.3. THE PROTOCOL FORMAT DESCRIPTION, LOOP GAIN TUNING. ES AND THE PROCESSING MEASURES. 45 46 = 46 - = 46 - <7 - <47- -49- -50- =82+ -82- 54Operation manual ofthe Lichuan servo- 82 servo series Chapter | Installation A Notices ‘* The storage and installation of the product shall meet the required environmental conditions, ‘* Damaged products or products with incomplete parts shall not be installed. ‘* Fire-proof materials shall be employed in the product installation. The product shall not be installed on or near the inflammables to avoid fir. ‘* Servo drive unit shall be installed inside the electric cabinet to prevent the entry of dust, corrosive gas, conductive objects, liquid and inflammables. ‘* Servo drive unit and servo motor shall avoid vibration and shall not bear any impact. Do not drag the servo motor wiring and encoder line. 1.1 Installation of Servo Drive Unit a Notices ‘* Servo drive unit shall be installed inside the well-preserved electric cabinet, ‘© Servo drive unit shall be installed as per the specified direction and interval, and good heat dissipation| conditions shall be ensured, * Do not install the servo drive unit on or above the inflammables in case of fre. 1.1.1 Installation Environment (1) Operating temperature/humidity: 0~55°C (no white dew), below 90%RH(no condensation) (2) Storage temperature/humidity: -20~65'C (no white dew), below 90%RH(no condensation). (3) Atmospheric environment: Inside the contro! cabinet with no corrosive or inflammable gas, oil mist and dust ete (4) Elevation: below 1000 m. (6) Vibration: below 0.5G ( 4.9m/s2 ), 10~60 Hz (discontinuous operation) (6) Protection: Servo drive is not self-protective. Therefore it shall be installed inside the well-preserved electric cabinet to prevent the entry of corrosive or inflammable gas, conductive objects, metal dust, oil mist and liquid. 1.12 Installation Method (1) Installation direction: Servo drive provided by the company is of vertical structure, so please install vertically. The installation direction shall be perpendicular to the installation surface upward. (2) Installation interval:Operation manual ofthe Lichuan servo- 82 servo series Dwg1.1 Installation intervals of single servo drive unit Dwg1.2 Installation intervals of more servo drive units 1.1.3 Installation Dimension of Servo Unit 3X05 160 172 Duig 1.3 Installation dimerOperation manual ofthe Lichuan servo- 82 servo series 1.2 Installation of Servo motor a Warnings Do not knock the shaft end of the motor, or the motor encoder may be damaged. [im 1.2.1. Installation Environment (1) Operating temperature/humidity: 5~40°C (no white dew), below 90%RH(no condensation). (2) Storage temperature/humidity: -20~55'C (no white dew), below 80%RH(no condensation) (3) Atmospheric environment: Indoor (no exposure to sun) with no corrosive or inflammable gas, oil mist and dust ete, (4) Elevation: below 1000 m. (6) Vibration: below 0.5G ( 4.9m/s2 ), 10~60 Hz (discontinuous operation). (6) Protection grade: IPS4 1.2.2. Installation Method (1) Installation direction: To prevent the entry of liquid, ke water and oil, into the motor from its wire-end, please make the cable outlet installed downward. If the motor shaft is installed upward and attached with reducer, the oil stain in the reducer shall be prevented to permeate into the motor from the motor axis (2) Concentric: When connected to the machine, please employ the coupling and keep the axis of servo motor and that of the machine in alignment. (3) Cable: Do not curve the cable or load tension to it, so when wiring (using) it, do not stretch the cable too muchOperation manual ofthe Lichuan servo- 82 servo series ChapterII Wiring a Warnings ‘This series of drive is equipped with the three-phase 220V power supply, therefore the power for the drive shall be checked when wiring, ‘* Customers shall take safety protection into consideration during the layout and installation of the product in order to avoid accidents due to false operation «© The drive terminals U, V, W shall separately correspond to those of the motor U, V, W. ‘© The drive and the motor shall be well-grounded. ‘© The electricity shall be turned off at least 5 minutes before dismantling the drive. ‘* Do not frequently trun on/ off the power supply. Should the power supply have to be tumed on/ off repeatedly, please ensure that itis performed with an interval of more than 1 minute. ‘* When using the internal brake resistance, the short-circuit wire shall be connected between the terminal C| and DC+, Do not connect the wire strap directly between the terminal C and DC+. 2.1The Main Circuit Wiring 2.1.1. The Name of the Main Circuit Terminal Identifier Name Explanation Connect the single-phasefthree-phase AC power (based on the product The main circuit power input RST model, select appropriate voltage specification, connect single-phase 220V terminal to only Rand S) ‘Turn on the power when testing. Need not tum on the power during normal use. nes Test power input terminal When using the internal retrogradation resistanca, connect the short-circuit Wire between terminal C and DC+ (connected before delivery); when using Retrogradation resistance | the extemal retrogradation resistance, disconnect the short-circuit wire Dc+, D.C terminal between terminal © and DC+ and connect brake resistance between terminal D and DC+. The external retrogradation resistance shall be purchased separately. uve W Motor cable Connected to the motor pe Protective earth terminal (two | Ground connection: Connected to the grounding terminal of the power and places) that ofthe motor. 2.1.2 Application Method of Main Circuit Power Terminal (spring-loaded) (1) Wire size: single line 90.5 ~ 91.6mm. (2) Connection method: 4. Dismantle the terminal from the servo drive before wiring, or the servo drive may be damaged. 2. Strip the wire to expose 8 ~ 9mm bare copper wire. 3. Open the wiring insertion slot inside the terminal, insert the wiring into the terminal, then the terminal will close when loosening the control lever or the screwdriver. The method is shown below ‘* Lever the slot with the matched control level for servo drive (shown in Fig. A. ‘* Insert the straight screwdriver into the terminal opening (the end width 3.0 ~ 3.5mm), then pressOperation manual ofthe Lichuan servo- 82 servo series firmly to open the slot (shown in Fig. B). ‘Wy 2.1.3 Main Circuit Wiring 1, Single-phase power wiring —— \ AC 220V T re R Sot o—sTe tet st 5 vu T v t Ww s PE Fe I - ena ¢ Encoder line D muy 2, Three-phase power wiring Three \ phase °—*T 7 o—— 1 AC 220V T Filter] ; Ss U SOK: eo ETS ° T v i W. s PE PE ace ene c Encoder line D | Note: When using the intemal brake resistance, connect the short-circuit wire between terminal C and DC+ (connected before delivery); when using the external brake resistance, disconnect the short-circuit wire between terminal C and DC+ and connect brake resistance between terminal D and DC+ 2. Terminal r and s are testing terminals. Need not tum on the power when operating.Operation manual ofthe Lichuan servo- 82 servo series 2.2 CN3 Control Terminal Wiring 2.2.1 Standard Wiring of The Position Mode AC Servo Motor Servo motor NFB MC ———) ‘Three-phase__g~ R v 2 AC 2200 s v 3 seer Ww + PE 1h, ova] 24 con [oH Servo-an SOK ms Hom Mara clear|[—3 Dra [2 ea ve Tosition deviation clear ors [6 N Speed comand direction site| -o Dr [ao TL vo of Too[z Internal connandl{ Go. ns [7 Ho) ELE by ote Internal connsnd2 m6 [aa Ho é[* } [kT aternel coausnd3}—O or fs Hod Ty el] Taternal conseads| No ore [5] ao ofe-[e] 3 Inter istration rege] SO ore fo} es EPR tae] 3 Control node switch Dro [26 s{t i [9 | 3 Common ground! com [31 3) ott fio] & To 15 [POUT > 2S Fprcoor] CLS tte pale fede FCoatrod x3] muse | « vee [3 oer} Voc=24y: RIE NV ‘ToOperation manual ofthe Lichuan servo- 82 servo series 2.2.2. Standard Wiring of The Speed/Torque Mode AC Servo Motor Servo motor NEB MC ——— Three-phas@ gy R u 2 AC 2209 s v 3 —s>—__$ T W + PES iby, ova] 24 co [3H Serv0-0n SON—dNo os Hoe Alara clear pre [Hae Yosition deviation clear} —@ nr [6 Hoi) ond Speed command direction sxiteh| -€So or [ate] Tif veo a Internal coasanél|- oo ors [t Ho Ha fe Internal comsand2}—-oo pre [Ha tp* Interne] cosaand3}—o ot fs Hoe TP yy = Internal coanands| —@ pre [sto TP be 3 Inseroal instructive trigger} -CSo—— 019 [2 J] Teh yy 3 Control node svitch}-oo———{ D110 | 26) s[ i i+ 3 Coason aroun cor_[at}4 TD = a ope OK 8 aL heyy 8 i & ia| a ova LX Servo ready signal <—— Do ox Electromagnetic brake signal Doz PE Notor rotation signsl Doe Tero speed signal Dot ws Speed appreacing singul 105 OTT A, Speed reeching singzel 06 ort] CLI > raas pulse feetac Congo ground co PaOUT . POOUTYXCLLE bts alse eda Pur > Front XLS tase plse feedback oa Aaslog comand sigasl? me ont ot ICH 20 Tt] _}-—> sn sint—ye—af Hi ST tg xt sia 1 (O~10") AGND | 21 2] vo : Analog comand signal as {18 [ox -—> tle ie en I as =10-Operation manual ofthe Lichuan servo- 82 servo series 2.2.3. CN3 Terminal Definition Terminal welding surface The signal name inno. | ‘rece Function 0 5 1 | senon oe 2 2 [arn esta oe : 3 [aston canal ipuse deat Dia 23 4 ‘Speed instruction direction selection Plan the Disa valve re [D5 7 5 realists VDD Bnei of Por smal instruction: eeu on 24 3 eanuctns CHO each on oF @ 7 [ert isetons CMD 2 O18 25 [eran CMD 3 O18 9 9 [ema nsuconsLve Wged ovo | 25 10 [cont ode sn oor | ar 1 [serra a 2 [rte op sa plane gialvave [7003 [28 2 | triton por feos ot ouputpot [008 [tt 4 [aor peed sta sean ot Dos a 5 ‘Speed appraching by Pr6 unit 00s] 2 6 [Speed eching pase [ vostoninsiucon [PULSE [2 | input use istucton: erent dive ape coletor Sign [8 | pt moa: putosaconPnase ana 8 arhogona pulse isew [1 ai 18 | Praag quant np daal nptrange 0-10 avegqvaniy [2 7 | Arg arty mt sinanpitrange = 10V "npn a 18 [Arlo quay input signa. nputrange O-f0V ROA | 19. 00-7 [Aro any np gone PAY “A Encoder phase A output | (differential) oe 2 oder phase A output signal (differentia) Enesdorouat [per [28 rower phase 8 opi sal (rota signal PB. 30 Pp put signal ( ui Fat 1 Encoder phase Z output I (differential Pas +5 cnscerpase 2 opt saa rer) vay [8 Power nea 24 power, fr eteal ne ower CoM Fi. aa | leral 24V power ternal use (with COM) tteeration manual ofthe lichvan servo- 82 servo series 2.24 CNS interface circuit 1, Digital Input Circuit The series of servo drive provides ten routes of DI terminal altogether for customers. The function of each DI port can be planned. The schematic diagram is shown below. no “tet Control wiring diagram of extemal terminal PLC control wiring diagram 2, Digital Output Circuit The series of servo drive provides six routes of DO terminal altogether for customers. The function of ‘each DO port can be planned. The schematic diagram is shown below. (1) Wiring diagram when upper computer displays relay input: X w on VY when upper computer displays relay input (2) Wiring diagram when upper computer displays optocoupler input: when upper computer displays optocupler input Note: When the external power is at 24V, pulkup resistor R=10K; when the external power is at SV, pull-up resistor R=2K. 12+Operation manual af he Lichuan serva- 82 servo series 3, Analog quantity output circuit The series of servo drive provides two kind of analog quantity output circuit, namely, unipolar and bipolar. Input voltage range of unipolar analog quantity: 0~ 10V; Channel for Al1 and Al2 are unipolar, The schematic diagram is shown below. (1) Unipotar analog quantity input circuit (AI1~AI3) lov OV~10V analog quantity input circuit 4, Position instruction input circ The series of servo drive has pulse instruction input terminal and it can receive signal from both the differential drive output from the upper level device and open-collector output. Specific wiring is shown below. (1)NPN type open-collector wiring mode on eneountaring strona Interference, merge 47% ‘Upper computer Vee - (2) PNP type open-collector winng mode Driver element bb PE han enccunteing rong teference, ope: compass | Merges Tk rentance Vee 210 é 270 4] Tittle (3) _ Differential drive output wiring mode Upper computor Drivor lement 2 é MM 13+Operation manual ofthe Lichuan servo- 82 servo series 5. Encoder signal output circuit The series of servo drive can output the feedback signal of encoder to differential signal through differential drive, provide feedback signal for upper computer, thus forming position closed-loop control Upper computer shall use differential for circuit reception. The schematic diagram is shown below. Driver element Upper device 2.2.5 CN4 encoder signal terminal Encoder wiring terminal front 5 1 = 7 Encoder wiring terminal back Pin | Identifier| Content | Pin | Identifier] Content 12, | PGAY A 4__| Pev+ Vv 6 | PGA IA 10__| PGv- N 1 | PoB+ B 14__| Pow w 7 | PGB- iB 15 | PGW. Ww 2 | Pez Zz 1 | sv Desv @ [Paz Zz 5 | GND ov 3__| PGu+ U 13 | PE Ground g_[Pou- iu 1g.Operation manual ofthe Lichuan servo- 82 servo series 2.2.6 CN2 communication port terminal CN2 communication port terminal of the series of servo drive provides two sets of port -RS232 and RS485, but they can not work simultaneously. Customers can modify or monitor the parameters in the servo drive through touch screen, PLC or PC. The pin figure is shown below. Pin |Definiion |] Pin | Definition 1 | RxD 2 4 [no 3 GND 5 | ase 6 a | a5. 7 ‘The front pin figure ofthe terminal -15-Operation manual ofthe Lichuan servo- 82 servo series Chapter III Manifestation and Operation 3.1Name of the Panel Parts HERRH SOIIOTS) Part Partname Function Digital display Five sets of LED Nixie ube are to display the monitoring Display tube values, parameter values and _set values. MODE | Ender modes between groups or withdraw modes MODE button | between!vithin groups and set parameter modes. Under set modes, shiting blinking characters tothe lt @ SHIFT | can modify the higher sot charactor values. Ihe button | parameter displayed is S-igit greater than that ofthe LED Nixie tube, high and low bytes switching willbe displayed Modify monitoring code, group number, parameter cod ® UP bution fy monitoring code, group number, parameter code and set value ® DOWN — | Modify monitoring code, group number, parameter code button | and set value Display and store the entry of set value, modes between set SET button ‘groups and paramenter set mode. 3.2 Parameter setting procedure (1) Tur on the drive power, and the panel will display the default control codes of the drive for one second ‘and then automatically enter the monitoring display mode. (2) Under the monitoring mode, when pressing the UP or DOWN button, you can switch the monitoring parameter codes, and at this moment press set button to enter the monitoring display of the parameter code. If no button is pressed, the system will automatically enter the monitoring display of the parameter code one minute later. (3) Under the monitoring mode, when control parameter is at 32 (bit number) or the displayed value is above 5 digits (binary number), press the SHIFT button to switch between the high and low digits. When itis switched to the high digit, the point of the highest digit LED will be on. (4) Under the monitoring mode, press the MODE button to enter the parameter modes between groups, then press the UP/DOWN button to switch group codes and press the MODE button to withdraw parameter codes between groups and to go back to the control mode. = 16 -Operation manual ofthe Lichuan servo- 82 servo series (5) Under the parameter codes between groups, press the SET button to enter the parameter codes within «group; press the MODE button to withdraw the parameter codes within group and to go back to codes between groups. Press the SHIFT button, the blinking character will shift to the left and then the group number and the high digit within the group can be modified to select the required parameter. (6) Under the parameter codes within group, press SET button to enter the parameter setting mode to display the setting value of the parameter; press the UP or DOWN button to the last two values of the parameter code. (7) Under the setting mode, press the SHIFT button, and the blinking character will shift to the left, then press the UP/DOWN button to set the higher digit parameter character. (8) After modifying the setting value, press the SET button, the storage or execution of of the parameter value can be done, (9) After setting the parameter, the display will show the corresponding prompt code, like *-End-"and then automatically go back to the parameter modes within group. (10) Under the setting mode, it means not to modify the parameter setting value and to go back to the parameter codes within group when pressing the MODE button or no button is pressed within one minute. Under other modes, it will also go back to the monitoring mode when no button is pressed within one minute. The specific low diagram is shown below. Monitoring mode @ @ °° 2 a 2 {Display parameter values [1000 Parameter setting mode ¥ : Press@) or) [i002 : x : th : Pressey) sirethe [=end- : “17.‘Operation manual of the Lichuan servo-B2 servo series 3.2 Storage status display Press the SET button to display the status of the parameter setting mode. -End- _| The storage finishes when the setting values are correct Po_on _| The parameter willbe effective after tuming on the power. ‘SivOn_| Parameters are unable to be set when the servo is on, En-r | Read-only parameter, non-modifiabe. reSvd_| The parameter is retention value, non-modifiable 3.3Fault and alarm display When the crive fais, the panel will report fault and lsplay its symbol “£1.0"and its number "x", whose range is 01 ~ FFH. Al this moment, other Ere. | images will be seen f the operation butons are pressed, bu the pont ofthe righimost LED Nixie tube will continue to Nash until the faut is cleared. The panel wil show "Er "if there is no fault or warning. ‘When the drive alarm sounds, the panel will report warning and display its symbol “Er.E"and its number “xe. At this moment, other images will be Er.Ex | seen if any operation button is pressed, but the lowest digit Nixie tube will continue to flash until the alarm is cleared, 18 -Operation manual ofthe Lichuan servo- 82 servo series Chapter |V Parameter Description 4.1 Parameter Definition Parameters are divided into 9 groups. The first parameter of its start code is the group number and the following two parameters are internal group numbers. The communication address is composed of group number and interal group numbers. The parameter group is defined as follows. Pr0.xx group 0: Control parameter Pri.xx groupt: Basic parameter Prix group2: Intemal position control parameter Pr3.xx group3 : Internal speed control parameter Prd.xx group4 : Torque control parameter PrS.xx groupS : Tuning parameter Pr6.xx group6 : Input! output setting parameter Pr7.xx group? : Communication parameter Pr8.xx group8 : Auxiliary function parameter Description of parameter setting 9 - Set at any time and be effective immediately. - Set at any time and be effective after turning on the power again. 3 -Halt On and be effective immediately. a -Halt On and be effective immediately turning on the power again. ‘A Read-only parameter, description of the control mode that can not be set. P_ - Position control mode S_- Speed control mode T. ~ Torque control mode -19-Operation manual ofthe Lichuan servo- 82 servo series 4.2 Parameter Description 4.21 Monitoring Parameter The Parameter Factory | setting Function code explanation a) a Unit | Attribute | operation 10, default | range : 0.00 | Current revving speed 1 7 [om | a | pst Enteral pulse frequency, colected 0.01 | extemal pulse count witin postion | 1 1 |e | a | pst dispatching cycle P1002 [4 digits ower at cuen posion (puso) | 7 7 [os [a [pst “cts higher at curent postion (puss ro.0s ' 1 is | oa | est 10000) , Poston isrucon when We 4 digts Pr0.06, ‘g V ! puls + PsT lover (pulse) Position instruction when Ws 4 gts Pr0.08, ‘a i i puls + PST lower (pulse *10000) Pr010 | Efectve curentvalue 7 7 [a | [est Incremental encoder UW sedior prot ‘ 1 1 |] oa | pst P1013 | Current electrical ange i 7 7 [ «| pst Pr014 [Load rat i rf [a+ [pst Effective current value of the Pr0.t6 1 1 fa | oa | est motor P1018 | instantaneous cunt vale of Paso U | 7 7 [a | «| pst Instantaneous current vale of Phase Pros 1 1 fa | oa | est w P1020 | Busbarvotage i 7 [vf a« [est 1021 Ratio of inotas of curentioad 1 rf» [| «| pst 1022 | Currenttotal nea i 1 a_| est 10.23 | Di input status i fi a_| est P1024 [DO oupat status i 1 a_| est 710.25 | Display he faut code Pr-60 sects | _7 1 [om | «| pst Revolving speed when 1-60. feat Pr0.26, "9 Spe / t pm + PST P1027 | Busbarvolage when P10 faut ocaus | 7 7 [tv [a [est Effectvcurent vale wen P10 fault P0238 1 fa |oa | est occurs 10.28 | Running tine when faut occurs i 7 [min [a [pst 0.30 [Drive module temperature i i [te [+ [rst =20-Operation manual ofthe Lichuan servo- 82 servo series 42.2__Basic parameter meter Function code explanation Factory default Setting range Unit Attribute The ‘operation mode Prt.00 control mode selection 0 : Speed control mode 1: Position control mode ; 2 : Torque control mode 3 : Switching mode between speed and position; 4 : Switching mode between torque and speed; 5 : Switching mode between position and torque; Pst Prt.o1 Input form of external pulse: 0 : Direction + pulse , logic is postive 1: Direction + pulse , logic is negative 2: ABs orthogonal ,logicis positive 3 ‘AB is orthogonal , logic is negative Prt.o2 Electronic gear numerator 1 432767 Prt 04 Electronic gear denominator “32767 Prt 06 Electronic gear numerator2 32767 Prt.08 Electronic gear numerator3 32767 Pe.10 Electronic gear numeratord 32767 Prt.t2 Positioning approaching width: Under the position control mode, when position deviation pulse value is lower than what is set, output the position approaching signal 20 185535, Pus Prt.t3 Postion completion wiath: Under the position control mode, when position deviation pulse value is lower than what is set, output the position completion signal 10 0-65535 Pus Pet Position following error warning value 65535 10-6555 Puls Prit6 Position following error fault value 65535 1-85535) Puls Prt.18 IF the position feedback deviation is too large, fault will shield switch 0 Not block : 112 Deviation warning at the shielded postion ot Pri.19 Auto clear of positional deviation 0 : Clear the deviation automatically under the faut; 1: Clear the deviation automatically when the fault and servo are OFF ; 2 : Apply Pr?.20 to clear the deviation instead of auto clear. 0-2 Prt.20 External DI signal deviation clear selection (0: Clear through CLR rising edge; 1: Clear through CLR low level 2: Clear through CLR high evel 0-3 TateOperation manual ofthe Lichuan servo-82 servo series Parameter no. Function code explanation Factory default Selting range Unit Attribute The ‘operation mode 3: Clear through CLR falling edge. Prt.2t Halt mode: 0: Free deceleration 1: Halt at zero speed PST Prt.22 Position instruction source: 0: External pulse instruction 4: Internal register setting Pri.24 Run mode selection of internal multiple ‘segment position: (0: Run from Prt to Pr16, and circulate; 4: Run from Prt to Prié, and not circulate on Prt.28 Delay time between the servo is on and the electromagnetic brake signal is on (withdraw the brake) 500 0-600 PST Prt.26 Delay time between serva is off and the electromagnetic brake signal is off (start the brake) 500 0-500 ms PST Prt.27 ‘Speed instruction when the electromagnetic brake is effective 100 4-100 pm PST Prt.28 ‘Speed instruction source: 0: Internal register setting 4: Analog quantity 1(Al1) setting 2: Analog quantity 2(AI2) setting ; 3: Analog quantity 3(A13) setting 4: Intoral speed instruction switch; 5: Inching (When external DI JOG is ont: Prt.29 Run mode selection of multi-speed 0: Switch between multi-speed automatically, and circulate: 4: Switch between multi-speed automatically, and not circulate; 2: Extemal DI switch of multi-speed 0-2 Prt.30 ‘Motor overspeed alarm setting value 5000 (0-500 PST Pris Threshold detection of zero speed output 10 o~100 ‘pm PST Prt.32 ‘Speed threshold value of rotation signal output 10 0-100 "pm PST Prt.33 ‘Speed approaching threshold value 400 40-3000 ‘pm Pr.34 ‘Speed reaching threshold value 20 4-300 ‘pm Prt.36 Fixed value of zero speed of analog speed instruction When the analog input signal is below the setting value, motor will be locked +1 pulse within the effective range of zero fixed value. 10 0-300 ‘pm Prt.36 ‘Analog speed instruction gain The corresponding speed when the analog input is 10V. 5000 0-500 pm ~22-Operation manual ofthe Lichuan servo-B2 servo series The Parameter Factor Function code explanation "| setting range | Unit | Attibute | operation no, fault mode ‘Antiinterference intensity of ‘external Pria7 ¥ 3 o-7 ! a P pulse input Time constant of extemal pulse input Pr. 38 pulse mpat | g 0-500 ms 1 P smoothing fitering ‘Acceleration and deceleration time Prt.38 | constant of position $ pattem | 100 | 1~10000 ms | oo P smoothing natural rotation instruction ‘Acceleration and deceleration time Prt.40 | constant of position $ pattem | 100 | 1~10000 ms | oo P smoothing inversion instruction ‘Acceleration and deceleration timo Pri.4t | constant within position S pattem | 10 0-100 ms foo P smooth curve Ti tant of speed feedback Pe ona Oe enn | 800 | 0-30000 us 1 s fitering and micro vibration restrain ‘Acceleration time constant of position Pri.a3 100 ~10000 mf oo s pattem smoothing instruction Deceleraton time constant of postion S Pri 100 | +1000 me foo s pattem smoothing instruction ‘cecloration and deceleration time Pri.45_| constant within speed S pattem smooth | 10 0-100 ms | oo s Smoothing time of speed instruction Pr.46 2 * 00 — | 00-1000 ms | oo s lowpass fitering Pri.a7_| Current feedback fitering time constant | 100 | 0~10000 us| a |pst Time constant of the given torque Pr.48 100 | o-10000 us | oo T current and resonance restrain fitorng Torque notch frequency of the frst priag | ot auency 1000 | 50-1000 Hl a T group Prt.50__| Torque noich depth ofthe frst group [0 0-82 i a T “Torque notch frequency of the second prist | Oe quency 1000 | 50-1000 / a T group Pri.52__| Torque notch depth ofthe second group | 0 0-32 1 a T TTorgue notch frequency of the thi Prts3 | Ot ‘quency 1000 | 50-1000 ! a T group Prt.54 | Torque noich depth ofthe third group | 0 0-82 1 a T Fault display selection 0: The last faut 41: The former fault before the last faut Prt.60 | 2: The former two faults before the last | 0 0-3 ! a | pst fault 3: Tho former three faults boforo the last faut System parameter intalization (0: No-operation Pr.61 | 1: Fault clearance record ° 065535 ! a | pst £65535: Restore factory defaults (power on again, automatic reset) Pri63_| Open password of F group function [0 on i a pst TaeOperation manual ofthe Lichuan servo-82 servo series The Parameter Facto to Function code explanation fitout | Setinarange Unt | Atroute | operation mode code 4.2.3 _ Internal position control parameter Paramotor Fact we arame acto Function code explanation | setting range | Unit | Attribute | operation no. default mode the Number of tums of Internal postion P20 ber of tums at poston) 9 | 30000-43000 | rev | a Pp instructiont ihe Pulse number of Intemal post poor | i rs _m ¥ Intermal posvon) | -goee-ra909 | puis | a P the Movement speed of Intemal poston Pre02 ‘eet ps 1000 +3000 | pm | oo P Waiting timo Getwoon the completion of Pr2.03 3 " 10 | 0030000 | s a Pp Prt and the entry of Pr2 the Number of tus of Internal position Pre04 0 | 30000-43000 | rev | a Pp instruction? th rn i 208 a Pa number of Intemal postion |) | ooo sagan | pus | a P the Movement speed of Internal position P2068 ° ps 1000 +3000 | pm | oo Pp instruction? Waiting time Between the completion of Pr2.07 3 " 10 | 0030000 | s a P Pr2 and the entry of Pr3 the Number of turns of Internal postion 2.08 0 | 30000-43000 | rev f oo P instruction’ the Pulse number of Intemal postion Pr209 re eager of intemal postion! 9 | -g90s-o969 | pus | a Pp 210 the Nove speed of intemal postion | 5 sao | mpm |e P Waiting time Between the completion of Pram " 10 | 0030000 | s a P rd and the entry of Pra the Number of turns of Internal postion Pra 0 | 30000-43000 | rev | oo P instruction4 the Pulse number of Iniemal positon P2413 postion) a | -9999-+9999 | Pus | P instructiond the Movement speed of Intemal posit prz14 | he Movement speed of Intemal postion | 5 sao | mpm |e P instruciond Waiting time between the completion of Pr2.15 % " 10 | 0.030000 | s a P Prd and tho entry of Prs the Number of turns of Internal postion Pra16 0 | 30000-43000 | rev | 5 Pp instructions the Pulse number of Iniemal positon Paar pest 0 | -9999-+9999 | pus | 0 P instructions the Movement speed of Internal position Pate ee 000 +3000 | pm | oo Pp Waiting time between the completion of Pet9 ating lime Between ihe compl 10 | 0030000 | s a P FS and the entry of Pré the Number of turns of Internal postion P20 ete 0 | 30000-43000 | rev | 5 P 221 | the Pulse number of Infemal posiion| 0 | -9999-r9899 | Puls | a P ~28-Operation manual ofthe Lichuan servo-B2 servo series The Parameter Facto to Function code explanation fia | Setinarange | Unit | Attribute | operation mode instructioné przz9 | the Movement speed of Internal poston | 5 v0 | om |e P instruction6 Waiting time between the completion of P2238 ° " 10 | 0030000 | s ° P Pr6 and the entry of Pr7 the Number of turns of intemal position P22 0 | 30000-3000 | rev | c Pp instruction? the Pulse number of intemal position P2258 0 | -9999-+9999 | Pus | co Pp instruction? the Movemen F Internal position prz25 | the Movement speed of Internal poston | 5 v0 J pm |e P instruction? pray | Waiting tine between the completion ff) | oo stag |g - P PT and the entry of Pr& the Number of turns of Internal position P28 0 — | 30000-+3000 | rev Pp instruction’ the Pulse number of intemal position P29 P 0 | -s090-+9999 | Pus | c Pp instruction’ the Movement speed of Infernal position Pr2.30 i ps 1000 13000 | pm | oc Pp instruction® Waling time between the completion of Pest 10 | 00-30000 | s Pp 8 and the entry of Pra rage | ne Number of tums of intemal postion | 5 | ase sao9 | voy | c P instruction® the Pulse number of Internal position P33 P 0 | -9090-+9999 | Pus | Pp instruction® the Movement speed of Informal position P34 Ps P +1000 +3000 | pm | oc P instruction? Walting time between the completion of P2385 10 | 0.0-3000.0 e Pp “ rd and the entry of Prt0 . prage | me Number of tums of intemal postion | 5 | anos sao0 | vey | P instruction 0 the Pulse number of Internal position p37 0 | -s990-+9909 | Pus | Pp instruction 0 the Movement spaad of Informal position Pr2.38 Ps P 1000 +3000 | rpm c P instructiont0 Waiting time between the completion of 1 3000. e Pp P29 | brig and the entry of Prit 8 | 9eso0o | s praay | ne Number of tums of intemal postion] 5 | a.c0 sa000 | vey | P instruction 4 the Pulse number of Internal position Prat 0 | -s09e-+9009 | Pus | c P instruction 4 the Movement speed of Inlrnal position p24 i P +000 13000 | pm | oc P instruction 4 Wating time between the completion of Pra: 10 3-300 ° Pp S| eettand the entry of 12 oosoano | pray | tne Number of tums of intemal postion] 5 | sansa ssog9 | vey | c p instruction 2 245 | the Pulse number of Internal position | 0 | -s99a-r9e09 | Pus | © P = 25-Operation manual ofthe Lichuan servo-82 servo series The Parametor Facto Function code explanation | Setting range | Unit | Attibute | operation ro sefault mode instruction 2 pray | te Movement speed of temat postion | oy | sano | wm | a P instruction 2 Waiting time between the completion of Pr2.47 3 " 10 | 0030000 | s a P Prt2 and the enty of Pri3, the Number of tums of Inleral postion Pee | s0000-+2000 | rev | oo P instruction 3 the Pulse number of Intemal poston P49 0 | -9999-19999 | Pus | a P instruction 3 the Movement speed of intemal postion pr2.5o | Ine Movement speed of intemal postion | 99 | 3000 | pm | a P instruction 3 past | Walna tine between the completon of] 15 | oo ascyg | a P Pr19 and the enty of Pri the Number of tums of Internal position Pr2se 0 | a0000-+2000 | rev | a P instruction 4 the Pulse number of Inlemal poston P23 posi 0 | -9999-+9999 | Pus | a P instruction 4 the Movement speed of intemal poston Ps " " 1000 | 13000 | mm] oo P instuetion 4 Waiting time between the completion of y 1 . s a P58 | rid andthe entry of Pris o | oesno0e P pss | te Number of tums of itera! postion] | cn san00 | sey | on P instructions the Pulse number of intemal postion Past 0 | -s909-+9999 | Pus | a P instruction the Movement speed of intemal postion P58 i: postion! 4900 | 1.8000 | pm | oo P instruction 5 Waiting time between the completion of P59 10 | 00-30000 a P Pr15 and the enty of Pris . the Number of turns of In ion przeo | te Number of tums of internal postion] | on san00 | vey | P instruction 6 the Pulse number of Inlemal postion Pret 0 | -s900-49999 | Pus | a P instruction 6 the Movement speed of intemal postion P22 A poston! s900 | 1.3000 | mpm | oo P instruction Waiting time between the completion of 7 1 . a P 72.69 | ri6 andthe entry of Prt o | oesno0e | s 4.2.4 _Intemal speed control parameter Paramet Factory ms arameter Function code explanation Setting range | Unit | Atbute | operation ne. default mode P13.00 | Internal speed instuctonregister + | 400 | -3000~+3000 | rpm | 2 s Pr3.01 | Internal instncions 1 Run time seting | 10 | ot-ese55 | s a 8 Pra.02_| Internal speed insructonregster2 0 | -a000-+3000 | rm |e 3 Pra.03__| Inleralinstuctions® Runtime setting | 10 | oa-esass | a s Pra.04 | Internal speed instructonregisterd 400 | -3000-+3000 | rem | o s 718.05 _| Internalinstucions3 Runtime setting | 10 | _o.-esa55 | s a 8 26 -Operation manual ofthe Lichuan servo-B2 servo series The Parameter Facto mem Function code explanation fant Setting range Unit | Attribute | operation no efault mode 13.06 | Intemeal speed instrucionregister4 | -s000-+3000 | mm | s 13.07 | Inlemalinsiructions4 Run time seting | 1.0 | o-65055 | s e s 13.08 | Inemal speed insirucionregsters #00 _[ -3000-+2000 | rpm s 13.09 | intemal instructonss Run time seting | 1.0 | _o-05055 | 5 a s Pr3.10__|_Intomal speed instrucionregsteré | -3000- +3000 | rpm s Pr3.11 | Ileal insiructions6 Run time setting | 1.0 | o-05355 | s e s P1312 _| Inlemal speed insiructionregister7 -200 | -3000-+3000 | mm | © s 13.13 | Intemalinsirucions7 Run time seting | 1.0 | o-05055 | s e s 13.14 | Inemal speed insrucionregisteré 0 | -s000-+3000 | rm | o s 13.15 | Inlemal instructions Run time seting | 1.0 | o-06055 | s 3 s 13.16 _|_Intemal speed instrucionregster9 200_| -3000~+2000 | rpm s 13.17 _| nema insttucions9 Run time setting | 1.0 | o-05955 | 5 e s 13.18 | intemal speed insrucionregister10 0 | -3000-+3000 | rpm 8 intemal instructions Run time Pat 19 | on-6555 | s ° s setting P13.20__|_Intomal speedinsiucionregistert | -1200 | -2000~=2000 | cpm | © s intemal intnucions11 Run time P21 10 | onss5s | s c s setting Pr3.22_|_Intemal speed instuctionegistort2 0 | -2000-+000 | om | 0 s intemal instructions 12 Run time Pra23 10 | 01-6355 | s ° s setting 713.24 | Intomal speedinsiucionregisterts | 1500 | -2000~=3000 | apm | © s intemal instructions 13 Run time Pr3.25 10 | on-65355 | s ° s setting Pr3.26_|_Intemeal speed instuctionegstert4 0 _| -2000-+2000 | em | 2 s intemal instructions 14 Run tie Paar to | 01-6355 | s ° s setting 713.28 _|_Intemalspeedinsiucionregistert5 | -1500 | -2000~+3000 | pm | © s intemal instructions 18 Run in Pr3.29 in wtructions15 Run ime 1.0 0.1-6535.5 s s setting 713.30 _|_Intemal speed insirucionregster16 0 | -2000-+2000 | pm | 0 P13.31 | intemal instuctions16 Run time seting| 1.0 | o.1-65955 | s a 4.2.5 Torque control parameter The Parameter Facto Function code explanation Y | Setting range | Unit | Attribute | operation no. ofault mode Torque insrucion source 0: Inter number for a given ( Pr4.05 Praag | 90" ) 0 0-3 I a T 1: Analog quantity (AN) given ; 2: Analog quantity 2(AI2) given ; 3: Analog quantity 3(AI3) given prot | THe corresponding torque instucton| 14) | 5 9 5 + for analog input (10V) r4.02 _ | Torque speed contol instruction source: | 0 0-3 i 3 T <27-Operation manual ofthe Lichuan servo-82 servo series Te Pon] pctoncotamgaraen | 27 | catngrane | ut | atin |owaton ea 0; Internal register giver Pr4,06 given ) ; Torque control source selection 0: Internal control (Prd.11, Pr4.12) ; 1: Analog quantity1(Al1) given Pr4.08 | 2: Analog quantity2(Al2) given o os ! a T 3: Analog quantty3(Al3) given ; (Note: Analog quantity given and subject to Pré.11, Prd.12) Pr6.10_| Torque reaching threshold value 0 | 0-100 % [3 T Pra.11_| Natural rotation torque conto! 3000 | 0-200 % [2 T Pr8.12_| Inversion torque contol 3000 | 0-300 % [2 T ra.13_| Torque instruction compensation 00 [oo-100 % [2 T 4.2.6 Tuning parameter Parameter Factor The Function code explanation rare | Setinarange | Unit | Atrbute | operation no. ofa mode Gain turing mode selection: 0: Manual mode. +: Sem+automatic mode (discontinuous Pr5.00 ae 0 0-2 t ° PST adjustment) 2: Automatic mode (continuous adjustment). ‘Speed loop response frequency setting: 1-502: low sitfness, low response 51-250H2: middle stiffness, midcle P1501 60 | o-1000 tz | oo | pst stitiness 251-850H2: high stifess, high stifoess Position control gain The increase of the gain value of position control can promote position Pr5.02 | response speed and narrow the 5 0-6553.5, He ° P amountof postion control deviation. But if this value is set too high, vibration and noise willbe easily caused, Pr5.03 | Postion gain change rate 50 0-500 % P Pr5.04 | Position control feedforward gain: 00 0.0-100.0 % e P = 28-Operation manual ofthe Lichuan servo- 82 servo series The Setting range | Unit | Attribute | operation mode = Fact arwie:] runioncte orton | P20 When position control instruction ‘changes smoothly, the increase of gain value can improve the amount of position following error. I position control instruction does not change ‘smoothly, the decrease of gain value ‘can reduce the running vibration of the mechanism, ‘Smoothing constant of position control feedforward gain When position control instruction changes smoothly, the decrease of prs.o5 | Smosting constant value can improve | 5 0-100 ms the amount of postion folowing error. If position control instruction does not change smoothly, the Increase of ‘smoothing constant value can reduce the running vibration of the mechanism, ‘Speed contral gain: ‘The increase ofthe gain value of speed control can promote speed response performance. But if the value is set too high, vibration and noise willbe easily caused. Pr5.06 355.0 | 0~6553.5 He ° s ‘Speed integral time constant: ‘The decrease of the speed integral time constant can promote speed response 15.07 | performance and narrow the amount of | 123 | 0~6553.5 ms ° s ‘speed control deviation, But if the value is set too high, vibration and noise will be easily caused. 15.08 _| Speed gain change rate 50) 0-500 % ° PS Pr5.09 _| Selection of gain switch conditions: ° 0-18 1 a Pst ‘Gain switch time constant Pr5.10 | Switch time constant applies to the | 5 0-300 ms a Pst switch of smoothing gain. Pr5.11_| Gain delay time 5 o-3000 ms 1 Pst ‘Gain switeh threshold value: The setting of the switching condition Pr5.12 | value ( pulse error ,Kpps ,rimin ), shall | 100 | 0~32767 ' a Pst ‘conform to the selection term of the ‘switching conditions ( Pr6.09 ) Px5.17 | Oftine inertia identification switch | 0 ot o | pst P15.18_| Load neta ratio oot | o-ess.a ) | pst Oftine inertia identification rotating Pr5.19 3) 4 1-5 ' a PST cycles P1520 | Reserve P1521 | Speed POFF regulator control| 100 | 0-100 a_| est 729°Operation manual ofthe Lichuan servo-82 servo series The Parameter Function code explanation Factory Setting range Unit | Attribute | operation no. detaut mode cofcent ‘Aoply the IP controler, speed wave will be fat without overshoot, but its response wil be slow. Applying the POF controler between the IP one and the PI one can attain the reqired small speed overshoot and auick spoed response, LF sifness 15:22 | Under speed mode, reduce the speed] 10 | 05-40 1 | oo | est overshoot Control loop coefficient 16:29 | Under automatic gain, the relation of | 17 4-100 o | est poston loop gain and speed gain 4.2.7 Communication parameter The or Function code explanation roa ‘Setting range ‘Unit | Attribute | operation 10 detaut mode r7.00_| Station number setting 1 1-254 i | o | est Communication transmission rae: 0: 4800 4: 9600 ; pray | 3 te 1 ot 1 | oo | pst 3: 38400 457600 ‘Communication data format no check 1+84N4 ; odd check 1484041; prr.02 | 2: even check 1+8+E+1 ° os i | oo | est ‘odd check 1+8#042 ; even check 1#8+E+2 0 1 2 3:no check 1#84N#2 ; 4 5 =30-Operation manual ofthe Lichuan servo- 82 servo series 42.8 Auxiliary parameters Te Pamwmis'| —euton cots wean | | satngrngo | unt | aint | spt in Pract | O:No-eperaton: ° ot ’ o | pst prats | 1 Slattasperspeed (P18.17) 3 os 1 : <3t-Operation manual ofthe Lichuan servo-82 servo series Te Paareter| —ruretoncotsopenaton | “27 | seungrnge | unt | atrous | operon mate pate | Zasmocnmutae [50 [eorrwoo | |e [PT paar | Seedseuratoensue sens Yay |p apg0 om fa [Pst 4.2.9 _ Input/output setting parameter Parameter fc fc Factory . + Te =n runcon code evstanaton | F2"”) song age | unt | atte | opean rate 600 | I ang seg 2 [om [ms | a | pst aot | Bleed Ther te evs coespond to 1001 ports respect. Ie corespnn seat hecirespoangorgenwt | o | onsen | 1 | a | pst ate ote Te eramoe ss te parameter 1007 wh nets at te sena SON sald Pst | Di Funston 7 fee | | [est ps3 | D2 Fine. 2 [ee [| est Prso4 [OB FunaionN > [oe | | [est 605 | Di FunetonNo [oe [est 1.06 | OH Func No s [vee [est 16.07 | OF Funston No «fee fs] | est P1608 | OT Fncon No 7 [oe [| [est Pr609 | OW FunsionN e [oe [| | est Pr |B Funston oe ff est Pert | DIO Feo [of |» [rst Pr6.12 DO level logic (2) o O~99 i . Pst Pes |_DOt Fereton No 1 [ee | | [est Pes.¢ | Doe Foren Na 2 [oe [| est pes | Boa Funan No > [oe | | [est Prot Furen No [ee ff [est a s [cee [est p.18 | B08 Fereton No os [ee [| [est pra Bas amar 0 | son 1000 [wv [a | Pst P60 | AB Bes aman 0 | -toon=1000 [mv [a | Pst priat|_ AB Bs aman 0 | stoo=1000 [my [a | Pst Prszz | Av eg ine 2 [0-100 [ns [a [Pst 16.23 |_ AP eg ine 2 [010000 [ms [a | Pst Prs28_| AD engine 2 [010000 [ms [a | Pst -32-Operation manual ofthe Lichuan servo- 82 servo series 4.2.10 Digital input (DI) function definition list Setting ‘The operation Name Function Name esccption Trigger method! value i ge mode OFF-Disable the servo motor Level 1 1S:0N | Servo-on PLT ON-Enable the servo motor power; | triggered OFF- disable servo drive-on ON-enable servo drive power, Edge 2 | iAuneRsT | Alarm reset signal | Faults ate designed into resettable | | °°" | | Pp. s. T and non-resettable, which aims to ‘39 reset fault after its cleared, Position control pulse Level triggered mode, see Pr1.20 | Edge/Level 3 | CLR | deviation counter 'e0 s P searanee definition triggered OFF-default instruction direction 4 | rinse | Speed direction ON. instruction the opposite Level triggered = Ss instruction selection Ps 8 direction Internal instructions Level 5 mp0 PS ito Under position control mode, the triggered Internal instructions — | signal functions as position Level 6 cmot io Ps PS bitt multistage switch triggered Internal insiructions | Under speed control mode, the Level 7 cmoz PS itz signal functions as speed triggored Internal instructions | multistage switchin Level 8 cmos “ * P bits triggered internal Level triggered condition of Ed evel triggered condition o Je 9 CTRG | instructionsLevel 991 s P multistage position triggered triggered Level 10 | MSEL | contro! mode switch | For mixed control mode switching PST triggored ON- Disable instruction pulse input Level 12. | nnnieit | Pulse inhibit P OFF. Enable instruction pulse input_| triggered When the machine runs beyond the movable range, it will enter the over travel prevention. Disable natural P Level 13 p.oT ON-enable natural rotation P.S.T rotation drive triggered OFF-disable natural rotation oN oN -33-Operation manual ofthe ichuan servo-82 servo series Set The operation 3) Name Function Name [Description HTriger method] "°° °F value mode When the machine runs beyond the movable range, it will enter the over Disable inversion Level 14 | nor | Beet travel prevention function neg [Pe Set “ ON-enable inversion a9 OFF-disable inversion ON-input as por the given instruction Positive direction Level 17 | wosewo+ OFF-run the instruction and stop s inching triggered inputting (ON- inverted input @ per the given instruction Level 18. | ioccmo. | inversion inching s OFF- run the instruction and stop | triggered inputting OFF-default direction Torque instruction Level 19. | morse ONzinstructing the opposite T direction selection triggered direction cenumt | cnuno | S82" Electronic gear ratio. Level 20 | GNUNO 8 ratio P molecule selection 0 | [> 3 pia triggered ° 1 Pi-29 Electronic gear ratio | [4 o P4130 Level an | onus | Eston gear rato | [1 é a8 eve > molecule selection 1 triggered 4.2.11 Digital output (DO) function definition list Set “The operation | Name Function Name Description ce value mode When servo is OK, t can receive S-ON signa! 1 |isroy | servoreacy effecve- servo is ready inoffectve- servo is not | P. S . T ready Brake output signal: effective — close, withdraw 2 | eK Broke output signal PST the brake; inefctive- stat the brake. Output the signal when servo motor rotates 3 | CON —_| Motorrotation output signal | effective: motor rotation signa is vai inefectve- | P. ST motor rotation signal is inva 34.Operation manual ofthe Lichuan servo-B2 servo series Setting value The operation Nar Function N Descriptio me unction Name scription ode ‘Output the signal when servo motor stops rotating 4 | zero Zero speed signal ‘effective- motor speed is zero; ineffective. motor | P. S , speed is not zero, Under speed control, it is effective when the absolute value of the difference between servo 5 | MCLs ‘Speed approaching s motor speed and speed instruction is lower than the setting value Pr1.33 of speed deviation, Under speed control, it is effective when the absolute value of the difference between servo 6 | acme Speed reaching s motor speed and speed instruction is lower than the setting value Prt.34 of spead deviation, Under speed control, it is effective when the 7 | NEAR Position approaching position deviation pulse reaches within the setting P value ofthe positioning approaching width Prt.12, Under position control mode, its effective when the position deviation pulse reaches within the a | scone Position reaching P setting value of the positioning completion width Pr.13. The confirming signal of torque limitation 9 | veut Torque control signal ceffective- motor torque is limited; ineffective. | P. § motor torque is not limited. Under torque control, confirm the signal of torque to | wate ‘Speed contro signal limitation: effective. motor speed is limited: T ineffective- motor speed is not limited, 11 | awarn Warning output signal Waring output signal connectivity PST “The siatus signal is effective when detecting the 12 | Jam Fault output signal eat i 8 PLS. Torque reaching outpul] Output the corresponding signal under the torque 13° | memp m 3 outpuy Outes ponding i T signal reaching setting Under position control mode, position deviation 16 | ipNear | Poston approaching P Por 8 pulse reaching =35-Operation manual ofthe Lichuan servo- 82 servo series Chapter V Operation with Power on 5.1 Trial Run A Warnings ‘* Check and confirm that the wiring is correct before turning on the power. ‘* An emergency stop circuit shall be placed in to ensure that the power can be immediately stopped if any| fault occurs. ‘* After the fault alarm of the drive unit sounds, confirm that the fault is cleared and SON signal is ineffective before restarting ‘* The drive unit and the motor shall not be touched within at least 5 minutes in case of electric shock. ‘¢ The drive unit and the motor may encounter a high temperature rise after running for some period of time. Be careful not to get burned. ‘* The drive unit and the motor must be grounded firmly and PE terminal must be connected tightly to the ground terminal of the equipment. ‘I's suggested that the drive unit power be supplied through the isolation transformer and the power filter to ensure its security and antiinterference capability. 5.1.1 Inspection before the trial run Before tuming on the power, the following inspections must be done, 1. Status of the servo motor Inspect the servo motor to make sure there are no external damages. Inspect the servo motor shaft to make sure it rotates smoothly by hand (itis normal that the shaft of the servo ‘motor with cil seal ) 2. Wiring Inspect the power terminals (R, S. T) of the servo drive to make sure their wirings are correct and firm; Inspect wheter the input voltage of the servo drive meets the requirements; Inspect whether the phase of the output terminals ( U.V.W of the servo drive is consistent with that of the servo drive cables and whether they are connected firmly. Inspect whether the connector of the servo motor encoder is correctly and firmly connected to the servo drive Inspect whether the servo drive and the servo motor are well grounded. 3. Enviroment Inspect whether the running environment of the servo drive meets the related requirements, and make sure that no strange objects like wire ends, metal filings, will cause short circuit for the conductor and the power line. Note: turn on the power only after inspecting all the above items. 4. Inching trial run Steps| Item Operation ‘Set the inching 1 Enter the function parameter Pr8.03, set the inching speed by A. ¥ and <<, The inital defaul running speed = 36 -Operation manual ofthe Lichuan servo-82 servo series Stops| Item Operation value is 100 rpm. Enter the inching | Enter the function parameter Pr8.02, press the Set button, and the keyboard image displays 2 running JOGEn, then itis under the inching running mode, Inching — natural] Press the & button, and servo motor rotates postively as per the Pr8,03 set speed; release rotation the button, and the motor wil stop. 3 Press the ¥ button, and servo motor rolates reversely as per the Pr8,03 set speed; release Inching—inversion the button, and the motor wil stop. Exit the inching 4 Press the Mode button to withdraw the inching JoGEn running mode, running 5.2 Position control mode 5.2.1 External position mode 1. Apply the drive power, and inspect whether the drive displays warnings or alarms. If it does, inspect whether the wiring is normal 2. Set the control method to the position control mode (set Pr1.00 to 1), and then the input format ( Pr1.01 ) of the position instruction, its source (set Pr1.22 to 0) and then set the electronic gear ratio (Pr1.02, Pri.04) 3. The controller inputs servo-on signal (servo-on signal connected to servo CN3-5), to excite the motor. Alter the upper controller sends pulse instruction to serve ( pulse signal connected to servo CN3-1, CN3-2, CN3-3, CN3-4 ), and then it can control the servo motor running, monitor the pulse count received by servo Unit through Pr0.02 and feedbacked by servo motor through Pr0.04. 5. The relevant parameters of the extemal position mode are shown below. Fan aan sn Fanon coe exert ey tat seeng an | Unt Pri00 | cee mad tin 1 os [a Prot | Peo lec 3 oe Prot | ecto ger ori a feta al eto ie aa io] 000 Aerotrend acto ie rant wwe] 008 ferttten rd ecerton te crtan wn] 70] 0, -37-‘Operation manual of the Lichuan servo-B2 servo series 6 Pulse input form The series of servo supports two kinds of pulse input forms: pulse puls direction and orthogonal pulse of phase A and B, It can be set by parameter’Pr1.01". The relevant theory of pulse form is shown below. Pulse form ccw cw pulse /PULS_FLELFLALALEL LL direction aS | SIGN Phase A pulse meworue | gf] f—] fF 1_ a, The sequence diagram of pulse + direction te ta PULs 08 : ty ta | [te t tb soe SIGN ws | L cw tn ccw f.EGw b, The sequence diagram of phase Aand B pulse ta te 0% Boe é| ol He tan tes lta tas so 8 10%, | tan “ta CCW cw -38-Operation manual ofthe Lichuan servo- 82 servo series 7-Electronic gear ratio ‘The amountof motor movement of the instruction pulse per unit can be set by the electronic gear ratio; or when the highest pulse frequency output by the upper device is not enough and can not meet the required motor speed, the motor speed can be increased by modifying the gear ratio. The theory is shown below. Electronic gear numerator 2 rte) Pais |_| etcroni goar numerator cant” instruction ‘3 (Pri.08) " Pulse feedback Electronic gear numerator 4 (Prt-10) Elecionie gear éenominator (Pri) The calculation formula is shown below. PXG=NxCx4 v Number of pulses of the input instruction Electronic gear ratio ° Electronic gear numerator ~ Electronic gear denominator N : Motor rotating cycles CC: Resolution ratio of optical encoder (For the series of servo C=2500) For instance: the lead of the ball screw is 5mm. when the amountof motor movement of the instruction pulse per unit is 0.001mm, then 5 Number of pul: turn = ——_ = er of pulses per turn do01 5000 “ NxCx4 1x2500x4 2 Electronic gear ratioG = = == P 5000 1 So set Pr1.02 to 2, Pr1.04 to 1 5.2.2. Intemal multiple segment position function Internal multistage position function refers that there are 16 groups of the relevant position control parameters inside servo drive and that up to 16 position segments of different direction, speed, rotation number and waiting time between segments can be set through these parameters, It can achieve automatic multiple segment running with fiexd length or select the needed position segment from the input signals by the external digital input terminl and run as per the selected segment speed, rotation number and waiting time between segments. The specific procedures are as follows 1. Apply the drive power to inspect whether the drive displays warnings or alarms. If it does, inspect whether the wiring is normal -39-Operation manual ofthe Lichuan servo- 82 servo series 2, Set the control method to the position control mode (set Pr1.00 to 1), and select the position instruction source (set Pr1.22 to 1), and select the Internal position control mode (set Pri.24 to 2), then set the electronic gear ratio (Pr1.02, Pr1.04). 3. Plan the function of DI port and connect the corresponding DI terminal to the controller. The corresponding list of DI port and position segment is shown below. Crresponding Prinstuction | cmos | coz | cwot | cmoo | oTRS elanation Speed sting parameter Pr2.00 umber af tus (013000) Pa ofo}fo}folr ” | e202 P20 Pe rub (048898) Pras umber af tus (013000) Pe ofo}fofalr ” | e208 2.08 ule number (029988) P28 Number of uns (430000) Pa ofo}iafolr Pas0 P29 ule number (029988) Prata Number of uns (480000) Pot ofofa]afe Pras Prats ule number (018899) F2i6 Number of uns (0490000) Pes of 1fo]o >: Pre Fer ute number (048899) 220 Number of uns (0420000) Pes oftfofales Pan Prat Pale number (048889) Pra28 Number of uns (0420000) Par of1]fafolr Peas Pra25 alse ruber (028899) 228 Number of uns (0-430000) Pe oftfaftade Paa0 P20 Pale number (029999) Prase Number of uns (-#30000 Peo +fo}fofolr » | pas Pra lo number (029999), P28 Number of as (0-130000) Po +fo}fofalr “ P2308 Pest ul number (029999), Peo Number of ans (0130000) Pett +fo}fafolr “ pas Pret lo number (039928) Pras Number af tus (43000) pre sfofatafe ” | eras Pres le nub (048988) Pre Number of uns (0430000) Pes +frfofofr Pr2s0 Pass ute numbor (029928) Pease Number of uns (0430000) Pra +fafofale Pras Pass ule number (048899) 258 Number of uns (0420000) Pas +fafafolr pase Past Pale number (048899) e280 Number of uns (0420000) Pre rfafatade p26 Prat ule number (039999) 4, The controller inputs servo-on signal (servo-on signal connected to servo CN3-5), to excite the motor. 5, Adjust the relevant parameter of internal position Factory default | Settn Parameter no. Function code explanation 7 S| unit value range Prf.00 | Control method selection 1 0-5 1 Pri.02 | Electronic gear numeratort 1 saze7_ |i Pri.04 | Electronic gear denominator 1 saze7 |i ~40 =Operation manual ofthe Lichuan servo-B2 servo series — —— a 5.3. Speed control mode 5.3.1 External speed mode 1 Apply the drive power, and inspect whether the drive displays wamings or alarms. If it does, inspect whether the wiring is normal. Set the control method to the speed control mode (set Pr1,00 to 0), and select the speed instruction source (Prt.28 ) Connect the external analog voltage output terminal to the servo analog input terminal (CN3-16, CN3-17, CN3+18, CN3-19, CN3-20). The controller inputs servo-on signal (servo-on signal connected to servo CN3-5), to excite the motor. Set the external analog voltage to OV, and set the motor speed to sero through Al Bias adjustment ( parameterPr6.19, Pr6.20, Pr6.21 ) The correlation parameters of the external speed mode are shown below. Fay wan Pane Finis rain ey ett | angrmge | Ut Fric0 | Ganoinaos son 1 [a Priae | Tw orp nexium odio raspnararaeman eed 73563 | Gow | ogre si0v wo | r1e000 | is stg acon FL [ becnrton tine eran atom [00-100 [ 741Operation manual ofthe Lichuan servo- 82 servo series ‘smoothing instruction Pras ‘Acceleration and deceleration time constant 10 0-100 ms within speed § patter smooth curve Pr6.19 Alt Bias adjustment 0 -t000-1000_| ms Pr6.20 ‘Al2 Bias adjustment 0 1000-1000 | ms Pr6.21 A Bias adjustment 0 1000-1000 | ms 5.3.2 _ Internal multi-speed function Internal multi-speed function refers thal there are 16 groups of the relevant speed control parameters inside servo drive and that up to 16 kinds of motor speed control can be achieved easily through DI input terminal 1. Apply the drive power, and inspect whether the drive displays wamings or alarms. If it does, inspect whether the wiring is normal 2. Set the contro! method to the speed control mode (set Pr1.00 to 0), and select the speed instruction source (set Pr.28 to 4) 3. Plan the function of DI port and connect the corresponding DI terminal to the controller. The corresponding list of DI port and internal speed is shown below. vee mp3 | cmo2 | cmot | cmpo veneer Explanation seat | 0 | 0 | 0 | 0 | Pr300 | setting speed 1 (0-:THe motor ated speed ) saz | o | 0 | 0 | 1 | Praoz | setting spoed2 (0-:The motor rated speed) sas | 0 | 0 | + | 0 | Pra04 | setting speeds (0-+THe motor rated speed) sot | 0 | 0 | 1 | 1 | Pra06 | setting speeds (0.:The motor rated speed) seas | 0 | + | 0 | 0 | Pr08 | setting speeds (0-:The motor rated speed) seas | 0 | + | 0 | 4 | Pra10 | setting speeds (0-THe motor rated speed) sav | o | + | + | 0 | Paz | setting speed7 (0-The motor rated speed) seas | 0 | + | 1 | 1 | Prats | sotting speeds (0-:The motor rated speed) Spd9 1 0 0 oO Pr3.16 Setting speed9 (0-tThe motor rated speed) soio | + | o | 0 | 4 | ra1e | setting specdto (0-tThe motor rated speed) = 42-Operation manual ofthe Lichuan servo- 82 servo series Internal speed [Comesponding ? inetudtion, | CMO | CMD2 | CMDT | cMoo JOT! Explanation Spdtt + fo |4 ° Pr3.20 | Setting speedt (0-4The motor rated speed) spat + ]o}4 1 P1322 _| Setting speedt2 (0-4The motor rated speed) pais 1] 4 o | 0 Pr3.24 | Setting speed13 (0-4The motor rated speed) Spatd 1] 4 of} 4 P1326 | Setting speedt4 (0-4The motor rated speed) Spats, 1] 4 1 0 P1328 | Setting speed1s (0-#The motor rated speed) spats + | 4 1 1 P1330 | Setting speedt6 (0-4The motor rated speed) 4, The controller inputs servo-on signal (servo-on signal connected to servo CN3-5), to excite the motor. 5. Set the motor speed to sero through Al Bias adjustment ( parameterPr6.19, Pr6.20, Pr6.21 ) 6. The relevant parameters of the internal speed mode are shown below. Fact Parameter no. Function code explanation voce | Settnarenge | Unit default value Prt.00 | Control method selection 1 0-5 1 Prt.28 | Speedinsiruction source 4 o-5 7 “The corresponding maximum speed for analog Prt.36 coresponding maximum speed for analog 5000 0~5000 tom HOV ‘Acceleration time constant of position & pattern Prt.a3 100 410000 ms smoothing instruction DDeceleraton time constant of positon S pattem Priaa 100 41-1000 ms smoothing instruction ‘Acceleration and deceleration time constant within Prt.as 10 0~1000 ms speed S pattem smooth curve Pr6.19__| Alt Bias adjustment ° 1000-1000 | ms Pr6.20__ | Al2Bias adjustment ° ~1000~1000 [ms Pr6.21 AIS Bias adustment ° 1000-1000 | ms Pr3.00~ Pr3.94 5.4 Torque control mode The torque mode refers that the torque force of the servo motor has two torque control instruction functions: input by external analog or set by internal register. Under this mode, when the motor torque exceeds the torque force limited by torque instruction, the motor stops. This mode applies to conditions that need to control the motor torque force, like rolling and digging screws. 1 whether the wiring is normal, -43- Apply the drive power, and inspect whether the drive displays warnings or alarms. If it does, inspectOperation manual ofthe Lichuan servo- 82 servo series 2. Set the control method to the torque control mode (set Pr1.00 to 2), and select the torque instruction source ( Pr4.00 ) 3. Select the torque limitation source Pr4.09 Jand the torque speed limitation instruction source( Pr4.02 ) 4. When selecting the external analog quantity as the torque instruction source, connect the external analog voltage output terminal to servo analog input terminal ( CN3-16, CN3-17, CN3-18, CN3-19, CN3-20 ) 5. Set the external analog voltage to OV, and set the motor to zero speed and zero torque through Al Bias adjustment ( parameterPr6.19, Pr6.20, Pr6.21 ) 6. When selecting the register setting as the torque instruction source, the motor torque force and speed can be controlled by setting Pr4.05, Pr4.06, Pr4.11, Prd.12, 7. The controller inputs servo-on signal (servo-on signal connected to servo CN3-5), to excite the motor. 8. The current motor torque force can be known by monitoring the load rate ( Pr0.09) and the motor speed ( Pr0.00 ) 9. The relevant parameters of the torque control mode are shown below. ee ee ee ee peor | aoresiumiucey | ° ef Pr6,20 Al2 Bias adjustment 0 -1000~1000 ms 5.5 Mixed control mode Besides the single running mode, the series of servo drive also provides mixed control mode, which includes three types. 1. Speediposition switch control mode(S-P) ; 2, Torque/speed switch control mode(T-S) ; 3. Position/torque switch control mode(P-T) Note: To avoid the mixed control mode occupying too much DI input point, i's suggested speed/ torque control mode adopts the external analog voltage signal as instruction to reduce the usage of DI terminals.Operation manual af he Lichuan serva- 82 servo series 5.5.1 Speed/Position switch mode The position instruction is set by the extemal input pulse signal; the speed instruction can be the external analog voltage or the data of the internal register parameter. The switch between the speediposition mode is controlled by MSEL switching the signal. The sequence diagram is shown below. MSEL switch signal External pulse signal Speed mode effective Postion mode. speed mode effective Under the speed control mode (MSEL is off, the speed instruction selects its instruction by CMD3 ~ CMDO, and at this moment, the external pulse signal is ineffective; when it's switched to position control mode (MSEL. is on, and the switch must be done when the motor speed is zero), the motor runs as per the pulse instruction when the drive receives the external pulse signal; when MSEL is off again, it returns to the torque mode immediately. 5.5.2 Torque/Speed switch mode ‘The torque instruction of the speed control mode can both be the external analog voltage or the data of the internal register parameter, The switch between the torque/speed mode is controlled by MSEL switching the ignal. The sequence diagram is shown below. MSEL switch signal Speed mode ineffective >< Speed mode effective > Speed mode ineffective Torque mode Torque mode effective praveimad Torque mode effective Under the torque control mode (MSEL is off), the torque instruction can come from the external analog quantity voltage or be set by the internal register. When it’s switched to speed control mode (MSEL is on), the speed instruction can come from the external analog quantity voltage or be set by the internal register. The motor rotates immediately as per the speed set by the speed instruction; when MSEL is off again, it returns to the torque mode immediately. 45 -Cperation manual ofthe lichvan servo 82 servo series 5.5.3 Position/Torque switch mode The position instruction of the position control mode origins form the pulse of extemal input; torque instruction of the torque control mode is set by the extemal analog voltage or by the internal register parameter. Position/torque switch mode is controlled by MSEL signal. The sequence diagram is shown below. MSEL switch signal External pulse signal Position mode effective fierqus}mods} Position mode effective effective Under the torque control mode (MSEL is on), the torque instruction is input by analog quantity or set by the internal register. When it's switched to position mode (MSEL is off), the motor runs as per the external pulse instruction; when MSEL is on again, it returns to the torque mode immediately. 5.6 Other devices 5.6.1 Application of electromagnetic brake When BRER is set to OFF, the electromagnetic brake do not work, and the motor is locked; When BRKR is set to ON, the electromagnetic brake releases and the motor is unrestrained. The electromagnetic brake can achieve automatic onioff signals by setting Pri.25 [the delay time after servo is on and the signal of electromagnetic brake shows on (withdraw the brake)] and Pr1.26 [the delay time after servo is off and the signal of electromagnetic brake shows off (start the brake)] in order to avoid the damaged caused to the motor and the mechanical structure due to untimely brake opening or closing during the users operates it. The sequence diagram of the electromagnetic brake is shown below. SON OFF ON OFF ON OFF BRKR OFF r.25| pe.26 = 46 -Operation manual ofthe Lichuan servo- 82 servo series Chapter VI Parameter Tuning 6.1 Position loop gain tuning Before setting the parameters of the position loop control unit, the user must set the parameters of the speed loop control unit ( Pr5.06. Pr5.07 ) first, for the inner loop of the position includes the speed loop. Afterwards, set the proportioinal gain ( Pr5.02 ) , feedforward gain ( Pr5.04 ) of the position loop and the smoothing constant of the position control feedforward gain ( Pr5.05 ) 1, Proportional gain of the position loop Pr5.02 The increase of the value of the position control gain (KPP) can promote the position response performance and narrow the amount of the position control deviation. But and noise will be easily caused, ‘The parameter determines the response performance of the position loop. The higher KPP is set, the more frequently the position loop will respond; the better it executes the position instruction, the smaller the value of the position deviation is; and the shorter the positioning setting time is. Yet, if the value is set too high, the machine vibration or the positioning overshoot will occur. The response frequency of the position loop is calculated below. this value is set too high, vibrat The response frequency. Kp Cf the position loop(HZ) ar 2, Pr5.04 Position control feedforward gain Pr5.04 When the position control instruction changes smoothly, the increase of the value of the position control feedforward gain can improve the amount of the position following error. When the position control instruction does not change smoothly, the decrease of the value of the position control feedforward gain can reduce the running vibration of the mechanism. 3, Smoothing constant of the position control feedforward gain Pr5.05, When the position control instruction changes smoothly, the decrease of the smoothing constant of the position control feedforward gain can improve the amount of the position following error. When the position Control instruction does not change smoothly, the increase of the smoothing constant of the position control feedforward gain can reduce the running vibration of the mechanism, 6.2 Speed loop gain tuning 1, Speed control gain (KVP) Pr5.06 The increase of the value of the speed control gain (KVP) can promote the speed response performance. But ifthe value is set too high, vibration and noise will be easily caused The parameter determines the response performance of the speed loop. The higher KPP is set, the more frequently the speed loop will respond; the better it executes the speed instruction. Yet, ifthe value is set too high, the mechanical resonance will be easily caused. The response frequency of the speed loop must be 4-6 -47-Operation manual ofthe Lichuan servo- 82 servo series times higher than that of the position loop. If the response frequency of the position loop is higher than that of the speed loop, the machine vibration or the positioning overshoot will occur. The response frequency of the speed loop is calculated below. When the estimated or set Pr5.18 equals to the real JLIUM: — f, JL : Load inertia, JM : Motor inertia (22) x [222222 on 1HIL/IM 2, Speed integration time constant Pr5.07 Parameter function: The decrease of the spee performance and narrow the amount of the speed control deviation. But if the value is set too high, vibration and noise will be ea: tegration time constant can promote the speed response caused = 48 -Operation manual ofthe Lichuan servo- 82 servo series Chapter VII Abnormality Diagnosis and Processing 7.1 Fault warming list Fault code ‘The fault name Fault action content The faut type Fault Er.001 | Short-circuit fault Shor-crcuit protection of power devie is detected Can not be reset E002 | Hardware overcurrent | Overcurrent protection of power devie is detected Can not be reset The output electricity of servo drive exceeds Can not be reset Er.003 | Software overcurrent mp y the permissible range When the power is 220V, the busbar voltage is Gan not be reset Er.004 | Undervoltage fault lower than 200V When the power is 220V, the busbar voltage is Can not be reset Er.005 | Overvotage fault Pp * higher than 400V Er.008 | Wrong phase sequence | Wrong wiring sequence of the motor U, V, W Can not be reset E.007 | Default phase The wire ofthe motor U, V, W breaks or contact poorly | Can not be reset Er.008 | AD inialization fautt | AD module intial calibration fault Can not be reset ‘AD conversion faut (large deviation or ‘Gan not be reset £009 | AD module adoption faut overtime conversion) The motor load exceeds 120% ofthe rated for Er.00A | Motor overload fault Can be reset over a cortain time The drive load exceeds 120% of the rated for Er.00 | Drive overload fault Can be reset over a certain time for over a certain time Er.000 | Motor overheat fault | Motor overheat, Can not be reset Er.004 | Drive overheat faut Drive overheat Can be reset erove | Parameter 5107204 4 ormal or eau E , ‘Can be reset Cr. normal or frequent Eeprom storage abnormity mene “ Er.00F | Fan abnormity Fan abnormity Can be reset Er010 | Motor overspeed faut | The motor speed exceeds its maximam Can be reset Er011 | Encoder wire break The encoder wire break Can be reset Erot2 Encoder ABZ interference] Runtime abnormality Er0ta Large position deviatior| The detained pulse in the position deviation counter Eno1e ge position deviation] The detained pulse in the position deviat : faut will exceed the permissible range. Warning Er£01 | Motor overheat warning | Fault occurs when the motor's temperature is too high Er£02 | Drive overeat warning | Fault occurs when the major loop of the drive is overheat Er.£03 | Motor overload warning | Inverse-time curve when the motor is overloaded ErE04 | Drive overload waming | Inverse-time curve when the drive is overloaded Large position deviatio| The detained pulse in the position deviation counter wil Er£05 re p P warning exceed the permissible range, = 49 =