Document Outline

• 1 Introduction
  • 1.1 About These Instructions
  • 1.2 Scope of Supply
  • 1.3 Legal Regulations
• 2 Technical Data
  • 2.1 Electrical Characteristics
  • 2.2 Environment
  • 2.3 Operating Modes
  • 2.4 Connections and I/O
  • 2.5 Digital I/O Ratings
  • 2.6 Power Ratings
  • 2.7 Dimensions
  • 2.8 Clearance for Cooling Air Circulation
• 3 Installation
  • 3.1 Wiring
  • 3.2 Shielding and Grounding
    • 3.2.1 General Guidelines
    • 3.2.2 EMI Protection
    • 3.2.3 Enclosure
  • 3.3 Line Filtering
  • 3.4 Heat Sinking
  • 3.5 Line (Mains) Fusing
  • 3.6 Fuse Recommendations
• 4 Interface
  • 4.1 External Connectors
    • 4.1.1 P1 & P7 - Input Power and Output Power Connections
    • 4.1.2 P2 - Serial Communications Port
    • 4.1.3 P3 - Controller Interface
    • 4.1.4 P4 - Motor Feedback / Second Loop Encoder Input
    • 4.1.5 P5 - 24 VDC Back-up Power Input
    • 4.1.6 P6 - Braking Resistor and DC Bus
    • 4.1.7 Connector and Wiring Notes
    • 4.1.8 P11 - Resolver Interface Module (option)
    • 4.1.9 P12 - Second Encoder Interface Module (option)
  • 4.2 Digital I/O Details
    • 4.2.1 Step & Direction / Master Encoder Inputs (P3, pins 1-4)
    • 4.2.2 Digital Outputs
    • 4.2.3 Digital Inputs
  • 4.3 Analog I/O Details
    • 4.3.1 Analog Reference Input
    • 4.3.2 Analog Output
  • 4.4 Communication Interfaces
    • 4.4.1 RS232 Interface (standard)
    • 4.4.2 RS485 Interface (option)
    • 4.4.3 Using RS232 and RS485 Interfaces Simultaneously
    • 4.4.4 MODBUS RTU Support
  • 4.5 Motor Selection
    • 4.5.1 Motor Connection
    • 4.5.2 Motor Over-Temperature Protection
    • 4.5.3 Motor Set-up
  • 4.6 Using a Custom Motor
    • 4.6.1 Creating Custom Motor Parameters
    • 4.6.2 Autophasing
    • 4.6.3 Custom Motor Data Entry
• 5 Parameters
  • 5.1 Parameter Storage and EPM Operation
    • 5.1.1 Parameter Storage
    • 5.1.2 EPM Operation
    • 5.1.3 EPM Fault
  • 5.2 Motor Group
  • 5.3 Parameters
    • 5.3.1 Drive Operating Modes
    • 5.3.2 Drive PWM Frequency
    • 5.3.3 Current Limit
    • 5.3.4 Peak Current Limit (8kHz and 16 kHz)
    • 5.3.5 Analog Input Scale (Current)
    • 5.3.6 Analog Input Scale (Velocity)
    • 5.3.7 ACCEL/DECEL Limits (Velocity Mode Only)
    • 5.3.8 Reference
    • 5.3.9 Step Input Type (Position Mode Only)
    • 5.3.10 Fault Reset Option
    • 5.3.11 Motor Temperature Sensor
    • 5.3.12 Motor PTC Cut-off Resistance
    • 5.3.13 Second Encoder
    • 5.3.14 Regen Duty Cycle
    • 5.3.15 Encoder Repeat Source
    • 5.3.16 System to Master Ratio
    • 5.3.17 Second to Prime Encoder Ratio
    • 5.3.18 Autoboot
    • 5.3.19 Group ID
    • 5.3.20 Enable Switch Function
    • 5.3.21 User Units
  • 5.4 Communication
    • 5.4.1 IP Setup
    • 5.4.2 RS-485 Configuration
    • 5.4.3 Modbus Baud Rate
    • 5.4.4 Modbus Reply Delay
  • 5.5 Analog I/O
    • 5.5.1 Analog Output
    • 5.5.2 Analog Output Current Scale (Volt / amps)
    • 5.5.3 Analog Output Velocity Scale (mV/RPM)
    • 5.5.4 Analog Input Dead Band
    • 5.5.5 Analog Input Offset Parameter
    • 5.5.6 Adjust Analog Voltage Offset
  • 5.6 Digital I/O
    • 5.6.1 Digital Input De-bounce Time
    • 5.6.2 Hard Limit Switch Action
  • 5.7 Velocity Limits
    • 5.7.1 Zero Speed
    • 5.7.2 Speed Window
    • 5.7.3 At Speed
  • 5.8 Position Limits
    • 5.8.1 Position Error
    • 5.8.2 Max Error Time
    • 5.8.3 Second Encoder Position Error
    • 5.8.4 Second Encoder Max Error Time
  • 5.9 Compensation
    • 5.9.1 Velocity P-gain (Proportional)
    • 5.9.2 Velocity I-gain (Integral)
    • 5.9.3 Position P-gain (Proportional)
    • 5.9.4 Position I-gain (Integral)
    • 5.9.5 Position D-gain (Differential)
    • 5.9.6 Position I-limit
    • 5.9.7 Gain Scaling Window
  • 5.10 Tools
    • 5.10.1 Oscilloscope Tool
    • 5.10.2 Run Panels
  • 5.11 Faults Group
• 6 Operation
  • 6.1 Minimum Connections
  • 6.2 Configuration of the PositionServo
  • 6.3 Position Mode Operation (gearing)
  • 6.4 Dual-loop Feedback
  • 6.5 Enabling the PositionServo
  • 6.6 Drive Tuning
    • 6.6.1 Tuning the Drive in Velocity Mode
    • 6.6.2 Tuning the Drive in Position Mode
• 7 Quick Start Reference
  • 7.1 Quick Start - External Torque Mode
  • 7.2 Quick Start - External Velocity Mode
  • 7.3 Quick Start - External Positioning Mode
• 8 Diagnostics
  • 8.1 Display
  • 8.2 LEDs
  • 8.3 Faults
    • 8.3.1 Fault Codes
    • 8.3.2 Fault Event
    • 8.3.3 Fault Reset
  • 8.4 Troubleshooting