GUI Software User Guide
Ver. 3.1

Table of Contents

Table of Contents
Table of Contents ....................................................................................................... 1
Revision History.......................................................................................................... 6
Copyright Notice ........................................................................................................ 9
Disclaimer ................................................................................................................ 10
Contact Us ................................................................................................................ 11
Chapter 1 Installation & Interface ............................................................................ 12
1.1 Software ..................................................................................................... 12
1.2 Installation .................................................................................................. 12
1.2.1 System Requirements ...................................................................... 12
1.2.2 Steps ................................................................................................ 13
1.2.3 Installed Files ................................................................................... 16
1.1 User Interface (UI) ..................................................................................... 17
1.3.1 Interface Elements ........................................................................... 17
1.3.2 How to Input Parameter Values ....................................................... 20
1.4 Boot Loader—Update Firmware ................................................................. 21
1.5 Save and Load Driver Data .......................................................................... 25
1.6 Setting Process ........................................................................................... 28
Chapter 2 Communication ....................................................................................... 29
Chapter 3 Wizard ..................................................................................................... 31
3.1 Motor Type ................................................................................................. 35
3.2 Motor feedback .......................................................................................... 36
3.3 Motor Protection ........................................................................................ 38
3.4 Input & Output ........................................................................................... 39
3.5 Tune – Current ............................................................................................ 40
3.6 Tune – Phase .............................................................................................. 41
3.7 Tune – Velocity ........................................................................................... 43
3.8 Save to Flash .............................................................................................. 44
Chapter 4 Settings .................................................................................................... 45
4.1 Driver.......................................................................................................... 45
4.1.1. Information ..................................................................................... 45
4.1.2 Parameter ........................................................................................ 46
4.1.3 Feature Revision .............................................................................. 46
4.1.4 Others .............................................................................................. 46
4.2 Motor Type ................................................................................................. 48
4.2.1 Linear Motor / Normal Mode........................................................... 54
4.2.2 Linear Motor / Optimized Mode ...................................................... 55
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4.2.3 Rotary Motor /Normal Mode ........................................................... 58
4.2.4 Rotary Motor / Only Negative (CCW) ............................................... 58
4.2.5 Rotary Motor / Only Positive (CW) ................................................... 58
4.2.6 Rotary Motor / Optimized Mode ..................................................... 59
4.3 Motor Protection ........................................................................................ 60
4.3.1 Current ............................................................................................ 60
4.3.2 Velocity ............................................................................................ 62
4.3.3 Position ........................................................................................... 65
4.3.4 Modulo ............................................................................................ 69
4.3.5 Motor Stuck ..................................................................................... 69
4.3.6 Power Stage ..................................................................................... 70
4.4 FSA & Disable Option .................................................................................. 74
4.4.1 Finite State Automata ...................................................................... 74
4.4.2 Disable Option ................................................................................. 79
4.4.2.1 Situation Explanation ................................................................................. 80
4.4.2.2 Reaction Explanation ................................................................................. 83
4.4.2.3 Dynamic Brake............................................................................................ 84
4.4.2.4 Holding Brake ............................................................................................. 85

4.5 Feedback.................................................................................................... 86
4.5.1 Incremental Encoder A/B................................................................. 89
4.5.2 Sine/Cosine Encoder........................................................................ 93
4.5.2.1 Parameter Tab ............................................................................................ 96
4.5.2.2 Calibration Tab ........................................................................................... 98
4.5.2.3 Calibration Steps ........................................................................................ 99

4.5.3 Tamagawa Encoder........................................................................ 101
4.5.4 Event Limit..................................................................................... 105
4.6 Auxiliary Command .................................................................................. 108
4.6.1 Encoder to Position mode .............................................................. 112
4.6.2 Analog to Position & Velocity & Current mode .............................. 115
4.7 Input & Output ......................................................................................... 117
4.7.1 Input .............................................................................................. 118
4.7.1.1 Input Functions ........................................................................................ 120

4.7.2 Output ........................................................................................... 123
4.7.2.1 Output Functions ..................................................................................... 124

4.8 Boot Sequence ......................................................................................... 126
4.9 Error Mapping .......................................................................................... 133
4.9.1 Error Mapping Interface................................................................. 134
4.9.1.1 Tool Zone .................................................................................................. 134
4.9.1.2 Status Zone............................................................................................... 136
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4.9.1.3 Measuring Method Zone ......................................................................... 137
4.9.1.4 Record Table ............................................................................................. 138
4.9.1.5 Graph Zone ............................................................................................... 138

4.9.2 Configuration Steps........................................................................ 139
4.10 Position Comparator ............................................................................... 143
Chapter 5 Tune ....................................................................................................... 146
5.1 Current ..................................................................................................... 147
5.1.1 Current Loop Gain .......................................................................... 147
5.1.2 Auto Tune ...................................................................................... 150
5.1.3 Frequency Response (Bode Plot) ................................................... 151
5.1.4 Time Response............................................................................... 154
5.2 Phase ........................................................................................................ 156
5.2.1 Auto Phase..................................................................................... 157
5.2.2 Phase Find ..................................................................................... 158
5.2.2.1 Force Zero................................................................................................. 159
5.2.2.2 Hall ........................................................................................................... 160
5.2.2.2.1 Steps—Obtaining the motor electric angle theta value .............. 161
5.2.2.3 Abs. Enc. ST. Pos. ...................................................................................... 164

5.2.3 Other Settings of Phase ................................................................. 165
5.2.4 Manually Set Phase ........................................................................ 166
5.3 Velocity ..................................................................................................... 167
5.3.1 Velocity Loop Gain ......................................................................... 167
5.3.2 Auto Calculate................................................................................ 168
5.3.3 Filter .............................................................................................. 169
5.3.4 Auto Tune ...................................................................................... 170
5.3.5 Frequency Response (Bode Plot) ................................................... 171
5.3.6 Time Response .............................................................................. 173
5.4 Position..................................................................................................... 175
5.4.1 Position Loop Gain ......................................................................... 175
5.4.2 Auto Calculate................................................................................ 176
5.4.3 Other ............................................................................................. 177
5.4.4 Time Response............................................................................... 177
5.5 Gain Switch ............................................................................................... 179
5.5.1 Single-set mode ............................................................................. 179
5.5.2 Digital In......................................................................................... 180
5.5.3 Demand & Feedback & Error ......................................................... 183
5.5.4 Target reach flag ............................................................................ 185
Chapter 6 Trial Run ................................................................................................. 187
6.1 Monitor .................................................................................................... 188
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6.2 Motion...................................................................................................... 191
6.2.1 Direct Position & Velocity & Current .............................................. 192
6.2.2 Profile Position............................................................................... 193
6.2.3 Profile Velocity ............................................................................... 195
6.2.4 Profile Torque ................................................................................ 196
Chapter 7 Homing .................................................................................................. 197
7.1 Setting ...................................................................................................... 198
7.2 Homing Method ....................................................................................... 201
7.2.1 CiA 402 Standard Homing Method................................................. 201
By Limit Switch and Index Pulse ........................................................................... 201
By Home Switch and Index Pulse ......................................................................... 204
By Home Switch, Index Pulse, and Limit Switch................................................... 207
Method 15 to 16: Reserved. ................................................................................ 215
By Limit Switch ..................................................................................................... 215
By rising/falling edge of Home Switch ................................................................. 217
By Home Switch and Limit Switch ........................................................................ 221
Method 31 to 32: Reserved. ................................................................................ 228
By First Pulse ........................................................................................................ 229
By Current Position .............................................................................................. 230

7.2.2 cpc-defined Homing Method ......................................................... 231
By Hard Stop ......................................................................................................... 231
By Hard Stop and Index ........................................................................................ 233
By the middle of Hard Stop .................................................................................. 235
By the middle of Limit Switch .............................................................................. 237
By the middle of Home Switch ............................................................................. 239

7.3 Homing Error Code .................................................................................. 243
Chapter 8 Scope ..................................................................................................... 244
8.1 Intro and Interface Tour ............................................................................ 244
8.2 Window Control Panel .............................................................................. 246
8.3 [Scope Setting|Trial Run|Gain|Script] Panel............................................. 248
8.3.1 Scope Setting Tab ........................................................................... 248
8.3.1.1 Preset ....................................................................................................... 249
8.3.1.2 Recoding Setting ...................................................................................... 249
8.3.1.3 Normal/Rolling and Trigger Setting.......................................................... 251

8.3.2 Trial Run Tab .................................................................................. 254
8.3.3 Gain Tab ......................................................................................... 254
8.3.4 Script Tab ....................................................................................... 254
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8.4 Display Panel ............................................................................................ 255
8.4.1 Data Presentation Way .................................................................. 256
8.4.2 Save to Files ................................................................................... 258
8.4.3 Scope Tools .................................................................................... 258
8.5 Further Setting Panel ............................................................................... 261
8.5.1 Channel Tab & Line Tab ................................................................. 262
8.5.2 Grid Tab ......................................................................................... 263
8.5.3 Mark Tab ........................................................................................ 265
8.5.4 Digital Bus Tab................................................................................ 265
8.5.4.1 Configuration Steps .................................................................................. 267

Chapter 9 Script ..................................................................................................... 270
9.1 Intro and Interface Tour ............................................................................ 270
9.2 Interface Elements.................................................................................... 272
9.3 Import Scripts from File ............................................................................ 279
9.4 Modify Script Parameter ........................................................................... 281
9.5 Add a Function ......................................................................................... 283
9.5.1 Into a New File ............................................................................... 283
9.5.2 Into a Currently-Used File .............................................................. 285
9.6 Run the Script ........................................................................................... 287
9.7 Function Description ................................................................................ 288
9.7.1 Set Parameter ................................................................................ 288
9.7.2 Motion ........................................................................................... 290
9.7.3 Wait ............................................................................................... 294
9.7.4 Limit .............................................................................................. 294
9.7.5 Flow Control .................................................................................. 295
9.7.6 Motor ............................................................................................ 297
9.7.7 Register .......................................................................................... 297
Chapter 10 Error Log .............................................................................................. 301

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Revision History

Revision History
Version
1.0
1.1
2.0

Date
DEC., 2015
APR., 2016
APR., 2018

Description
Initial release
1st revision
2nd revision

3.0

OCT., 2018

3rd revision

Remarks--Major updates
Amended and added several new functions,
including:
1. Interface element:
Added I/O viewer function (1.3.1).
2. Wizard:l Added flow-setting page in Wizard.
l How to add/delete new motor (Ch. 3).
3. Setting-Motor Protectionl Revised the diagram of motor continuous
current (4.3.1).
4. Settings-Disable Option:l Revised Disable Option intro (4.4.2).
l Added descriptions of dynamic brake(4.4.2.3).
l Added “Disable Reaction End Vel”
function (4.4.2.3-(b)).
l Deleted Motor Stuck function.
5. Settings-Feedback:l Amended explanation of Encoder/Index
Position (4.5-(f)).
l Added “Invert encoder polarity” function(4.5.1-(b)).
l Added new functions (Parameter &Calibration Tab) under Sine/Cosine
encoder (4.5.2; 4.5.2.1; 4.5.2.2).
l Added Calibration Steps (4.5.2.3).
l Implemented Tamagawa encoder (4.5.3).
l Added “Event Limit” function (4.5.4).
6. Settings-Boot Sequence:l Added RIGHT route (4.8) and its
explanations (4.8).
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Revision History

VersionDate

Description

Remarksl Added “Don’t abort on fault” function(4.8 chart).
7. Settings-Position Comparator:l New layout (4.10).
8. Tune (general)l Added functions of “Zoom Mode / Zoom
Reset / Save as txt / Show Prevalue” forBode plot as well as Frequency response
of Tune-Current, -Velocity, and -Position.
l Revised “sample count” description in
Bode plot part.
l Added new graph functions as follows:n Current: VdDmd graph (5.1.4-(h)).
n Velocity: IdFdb (5.3.6-(l)).
n Pos.: PosError (5.4.4-(h)).
9. Tune-Phasel Phase Find (5.2.2):
n Rearranged introduction.
n Added Hall Theta Table function(5.2.2.2) and explained how to
obtain its value by Scope (5.2.2.2.1).
n Added “Phase Find—Absolute
encoder” function (5.2.2.3).
l Added “invert commutation polarity”
function (5.2.3-(b)).
l Added a new chapter: Manually Set
Phase (5.2.4).
10. Tune-Gain Switchl New layouts (5.5).
11. Trial Run
l New layout (6.2.2).
l Added “Estimated Runtime” and “DwellTime” functions (6.2.2-(d & l)).
l Allow users to set motor’s current
position as point A/B for Absolute-Movecommands (6.2.2-(i & h)).
12. Homing:l Added “homing error trigger fault event”
function (7.1-(i)).
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Revision History

Version

3.1

Date

July., 2019

Description

Remarksl Added warning about the functions“Transit….P.P. mode” and “Move to new
zero….” (7.1-(g & h)).
13. And other miscellaneous revisions.
Revise Output function (4.7.2).

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Copyright Notice

Copyright Notice
All rights reserved. No part of this work may be reproduced or transmitted in any
form or by any means without prior written permission of Chieftek Precision Co.,Ltd.

9GUI User Guide – Ver. 3.0

Disclaimer

Disclaimer
1. Information furnished by cpc is believed to be accurate and reliable. However,no responsibility is assumed by cpc for its use, nor for any infringements ofpatents or other rights of third parties which may result from its use.
cpc doesn’t grant any license under its patent rights, nor the rights of others.
2. In addition, cpc assumes no responsibility for any errors that may appear in thisdocument and for any claims or damages arising from information contained inthis document.
3. The product specified in this document has been developed, produced, tested
and documented in accordance with the relevant standards. cpc is not
responsible for damages, accidents, or injuries caused by any deviation fromthe configuration and installation described in this guide;
4. Furthermore, cpc is not responsible for the performance of new measurements
or ensuring that regulatory requirements are met.
5. The product specified in this document is not assumed to be used in criticalapplication including, but not limited to, medical equipment, transportation,
aerospace and nuclear instruments, undersea equipment, power plant
equipment, as well as disaster prevention and crime prevention equipment.
6. We reserve the right to modify our products, including its hardware andsoftware design, in order to improve its design and/or performance. The
information in this document is subject to change without notice and does not
represent a commitment by cpc.
7. Specifications are subject to change without notice.
8. Performance specification beyond those specified by safety regulations areguaranteed by design and not subject to production test.
9. Customers should obtain the latest relevant information before placing orders
and should verify that such information is current and complete.
10. cpc assumes no liability for applications assistance or customer product design.
Customers are responsible for their products and applications using cpc
products.

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Contact Us

Contact Us
Headquarters
Chieftek Precision Co., Ltd.
NO.3, Dali 1st Rd., Xinshi Dist., Southern Taiwan Science Park,
Tainan City. 741-45, Taiwan (R.O.C.) 3
TEL: +886-6-505-5858
FAX: +886-6-505-5959
Email : service@mail.chieftek.com

China
Chieftek Machinery Kunshan Co., Ltd.
No.1188, Hongqiao Rd, Kunshan, Jiangsu, P.R. China
Tel : +86-512-55252831
Fax : +86-512-55252851
Email : cn.service@mail.chieftek.com

Europecpc Europa GmbH
Industriepark 314, D-78244 Gottmadingen, Germany
Tel : +49-7731-59130-38
Fax : +49-7731-59130-28
Email : info@cpc-europa.deUSA
Chieftek Precision USA Co., Ltd.
2280 E. Locust Court. Ontario, CA 91761, USA
TEL: +1-909-773-1200
FAX: +1-909-773-1202
Email : info@usa.chieftek.com

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Chapter 1 Installation & Interface

Chapter 1 Installation & Interface
1.1 Software
There are two software tools for adjusting the driver: The cpc Graphical User
Interface (GUI, also UI) and the Boot Loader.
ll

User Interface (UI): To set driver parameters and tune the motor.
Boot Loader: To flash the firmware to the driver via RS232 communication
port. See chapter 4.8.
Note: Boot loader is included in the cpc GUI software.

Please download GUI from cpc official website:
http://www.chieftek.com/product-Will.asp

1.2 Installation
1.2.1 System Requirements
To execute software smoothly, your computer system should meet thefollowing requirements:l Storage space: 500 MBl Ram: 4 GBl OS: windows-vista, win7 and win8/8.1 or later.
l Cable: RS232 to USB port.
l CD-ROM driverl Framework V4.5 or later.
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1.2.2 Steps
1. Download cpc UI software from cpc official website.
http://www.chieftek.com/product-Will.asp
2. Framework V4.5 or later is necessary. Install Framework in host computer
before installing GUI.
3. Click the file “setup.exe” to install UI.

4. Click “Next>”.

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5. Click “Finish” to complete installation.

lOpen the installed folder and double click the “GUI_Will1_ver_0_5” toaccess UI.

Software path for 64 bit system: C:\Program Files (x86)\cpc
Software path for 32 bit system: C:\Program Files\cpc

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Note: If users can’t open the UI software and see a message saying “lacking of
dot Net Framework”, please install Framework (v.4.5 or later).

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1.2.3 Installed Files
There should be 4 text files in “.txt” format—which are the script examples—in
the installed file folder in the host computer.

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1.1 User Interface (UI)
1.3.1 Interface Elements
The cpc UI has 5 function areas:l
Tool BarlSide Barl
Task Panell
Status Bar
l
Info

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Explanations:
Tool
Bar

Contains quick-access buttons for frequently used functions.

Motor:The driver’s internal motor-off switch.
Note: It only switches the motor off, not on.
Save:
Saves configured parameters to Drive Flash or to host computer.
Load:
Loads user-defined parameters from the file at host computer.
Side
Bar

Provides a menu to navigate the various function windows.

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The sidebar can hide or show using the Arrow button.
Task
Panel

Allows users to set and test various parameters here and monitor
corresponding values.

StatusBar

Shows the status of Driver, Motor, and Error Code (when fault occurs).

Info

Contains indicating signals and UI language options to assist
monitoring during use.

Motor On flag:
Shows green when driver’s internal states meet the motor-on
conditions.
Phase Est.:
Phase Established; shows green when phase-tuning is successfullycompleted.
Error Mapping:Shows green when Error Mapping function is activated.
Aux. Cmd.:
Auxiliary Command; shows green when Auxiliary Command isenabled (see side bar).
Ext. Enable:
External Enable; shows green when ALL digital inputs defined as“External Enable Signal” are active. If no digital input is defined,
the external enable is active by default.
Home Est.:
Home Established; shows green when Homing is completed
successfully.
DC Bus Ready:Driver’s high voltage DC Bus supply is ready for operation.
Language:
Switches languages among English, Chinese (Simplified), Chinese(Traditional), German, and Japanese.
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I/O Viewer:
Shows a popup window to indicate the status of Input and Output
pins.

1.3.2 How to Input Parameter Values
1.

To input data:lWhen configuring, key in values into the column and then press"Enter" to input value.

l

If you didn’t press Enter, the data will not be sent to the driver; in thiscase the last valid value will be used.

2. Data validation:l
If the keyed in value is invalid:ll

The column becomes red
show the last valid value.
If the keyed in value is valid:; if you still press Enter, it will

The column becomes blue
; after you press Enter, it
reverts to white.
Black columns:
Shows read-only parameters. Their values cannot be modified.

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1.4 Boot Loader—Update Firmware
The “Boot-Loader” tool helps you update the driver firmware to the latest version
through RS232 port. As long as a firmware xml file is available, users can update
driver firmware.
Steps:
1. Download the latest firmware from the cpc official website. Choose thecorrect model name of the firmware you need.
http://www.chieftek.com/product-Will.asp

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2.
3.

Unzip the downloaded file.
Go back to the UI. Disconnect the driver (side bar > communication > click“Disconnect”).

4.

After disconnection, click on the bottom right corner of UI window toaccess the boot loader.

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5. The Boot Loader interface will jump out automatically.
Now, make sure again your communication cable (for example: USB-RS232
cable) is connected with the driver and host computer.
Next,(1) Click “Scan Ports” button.
(2) Choose serial port number.
(3) Click on “Choose” and locate the firmware file (it is the downloaded filewhich is in “.xml” format. For example: Will1-8_230 HW0.5
FW0.7.14.xml).
(4) Click “Start” button.

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6. When bootloader shows the message “Host is in main programme, pleasepower cycle drive Waiting……”, turn off the driver and turn on again.

7. When the message “Update process completed successfully” shows up, thefirmware burning is completed. The whole flash process may take 3~5
minutes.

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1.5 Save and Load Driver Data
The driver data and parameters can be saved and loaded thorough UI. The “Save”
and “Load” buttons are on the Tool bar.

llUpon connecting the driver with host computer, most of the driver data will
be copied from driver’s RAM to UI Data.
When parameters are modified, they can be saved to File (which is at hostcompute) or to driver’s Flash.
Meanwhile, if parameters are saved in the File, UI can load these parametersfrom File to driver.

Computer

DriverSave to file

Connection
UI Data

Ram

File

Flash

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Load from file

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Save:
l

l

Save to FILE: Save the parameters from UI Data to File.
Save to FLASH: Save the parameters from driver’s RAM to driver’s Flash.
Note:
Users can only save to Flash while the motor-on flag is off (in red color).

Load:
l
l

Load the parameters to driver’s RAM and UI Data.
Click Load and locate your file. The file should be in .cfg format.

Users may load driver parameters from the driver itself automatically, or
load data from the File which is saved at host computer, or create newparameters. Choose a source to load data and then start setting up the cpc
driver.

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Meanwhile, the motor parameters—including values and units—are shownin the “Parameter” index under the route of Settings > Driver.

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1.6 Setting Process
The information in this UI user guide is arranged in sequence as follows:
Chapter 2, Communication—explains how to connect the cpc driver with hostcomputer.
Chapter 3, Wizard—explains how to set motor parameters and tune the driverstep by step using Wizard.
Chapter 4, Setting—describes how to set motor limits, motor types, parameters,
feedback, auxiliary command, I/O, boot sequence, and error mapping.
Chapter 5, Tune—describes the autotune procedure, trace, and fine tune
procedure using bode plot and time response. The advanced tuning tools, suchas gain switch and filter, are described herein.
Chapter 6, Trial Run—describes how to run a motor after the primary parameters,
current loop, velocity loop, and position loop have been tuned.
Chapter 7, Homing—describes several homing methods and how homing is
performed.
Chapter 8, Scope—explains how to use scope tools to measure and record driverdata.
Chapter 9, Script—explains and shows how to edit motor motion commands
using Script.
Chapter 10, Error Log—explains why an error message occurs and what eacherror code means.
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Chapter 2 Communication

Chapter 2 Communication
RS232 Port:
Users should prepare a USB-to-RS232 serial adapter as well as cable to connect
the driver with host computer.
Setting steps:
1. After accessing the UI, set Baud rate at 115200 and select a Port. Then, click“Connect”.

2. Wait for connection.

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3. When the columns turn grey, it means the driver and the host computer are
successfully connected.

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Chapter 3 Wizard

Chapter 3 Wizard
Wizard provides a step-by-step guidance for tuning motor parameters andconfiguring parameters. It enables users to set up rapidly and conveniently.
Usually, after the drive is powered and successfully connected with a hostcomputer, users will need to do the following: Define motor parameters, set
motor protection limits, define encoder resolution, specify I/O pins, tune motor,
perform homing, and finally save all parameters to driver flash.
The cpc UI wizard has a flow-setting page for users to apply default parametersof some of the cpc motors as well as Tamagawa motors AND to designate setting
step(s). In addition, users can define a new motor of their own.

< Flow-Setting Page>

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To Use Wizard:
1. Click [Wizard]
to show the popup window.
2. On the Feature panel, select a cpc or Tamagawa motor model thatyou’re using.
3. Click [Write to Drive].
4. Decide your setting flow by ticking/unticking the process boxes.

5. Go to popup window and click “Next” to continue.

6. Then keep following wizard’s guide until the “Save to Flash” step.

Define a New Motor:
1. Click [Wizard]
to show the popup window.
2. On the Feature panel, select “User Define” from the manufacturer list.

3. Click. A window will show up.

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4. Name the new motor. Fill in each motor parameter and then click“Next”.

Press“Enter”

after keying inparameters.

5. Select encoder type (Feedback Selection) and key in encoder resolution.
Then click “Finish”.

6. Click [Write to Drive]
setting flow:

and select what to be included in the

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7. Go to the popup window and click “Next” to continue.

8. Then keep following wizard’s guide until the step “Save to Flash”.
l The data file of user-defined motor can be found at:
C:\Users\ see Note* \AppData\Roaming\cpc
Note*: Fill in the account username being used in host computer system.

Delete a User-Defined Motor:
1. Click [Wizard]
to show the popup window.
2. On the Feature panel, select “User Define” from the manufacturer list;
then select the name of the user-defined motor which is to be deleted.

3. Click.

4. A dialogue box will show up. Click “OK” to delete data.

For more detailed and complete information about setting and tuning pleaserefer to the following chapters:
Chapter. 4 Setting

and Chapter. 5 Tune
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Chapter 3 Wizard

3.1 Motor Type
Select motor type (Linear or Rotary) and the mode you need.

llLinear motor has 2 operation modes:
Normal and Optimized. See chapter 4.2 for further information.
Rotary motor has 4 operation modes:
Normal, Optimized, Only Negative, and Only Positive. See chapter 4.2
for further information.

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3.2 Motor feedback
Set motor feedback parameters under the “Feedback” section in UI.

a. Feedback Selection:
Various signal types of encoder are supported by the cpc drivers:lWill1 Drivers:
Supports Incremental signals.
lWill1-B Drivers:
Supports incremental A/B, Sin/Cos, BiSS-C, and Tamagawa
encoder signals.
Ø

Incremental Encoder A/B:

A:
B:

90∘

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Ø

Sin/Cos Encoder:

A:
B:

90∘

b. Hall Source:l Feedback Port:
Assigns the digital input pins at Feedback port as hall sensor
signal source.
l Controller Port:
Assigns the digital input pins at Controller port as hall sensor
signal source.
c. Motor Encoder Resolution:
Sets the resolution (in micro meter) of the encoder.
Be careful while configuring the encoder resolution—especially whenreducing the resolution scale.
Note:
Position, velocity, and acceleration protection (count) values cannot be
over 32-bit integer range.
d. Motor Pole Pitch:
Sets the length of one set of pole pitch (in millimeter) of the motor.

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3.3 Motor Protection
Fill in motor parameters respectively:

a. Motor Peak Current / time:
The maximum transient current allowed for the motor and thecorresponding time, in amperes and milliseconds.
b. Motor Continuous Current:
The maximum continuous current allowed for the motor, in amperes.

Note:
Please check the parameters mentioned in a. and b. carefully.
These parameters relate to the stability and safety of the system. Please makesure you fill in correct data!

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3.4 Input & Output

The I/O pin definitions of feedback and controller ports are elaborated in driver’s
Installation Guides.
Note: More detailed information please see chapter 4.7 Input & Output.
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3.5 Tune – Current
After configuring motor data and digital input/output, users can start tuning theCurrent, Phase, and Velocity.

a. Test Current:
Percentage of continuous current.
b. Frequency Start/End:
Frequency response range.
To tune Current:
1. Click the “Tune” button, UI will tune the gain automatically.
2. Wait till the “Done” signal shows up, it means tuning is completed.

3. Next, tune the Phase.
Note: Auto tuning is only for reference!
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3.6 Tune – Phase
Steps:
1. Click “Start AutoPhase”.

2. Move the motor manually at least one pole pitch in positive direction.

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3. Click “Yes” to start phasing.

4. Wait until you see the message “Auto Phase Done”.

a. Test Current:
Percentage of continuous current.
b. Test Time:
Testing time.
c. HA, HB, HC:
Hall sensors status.
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3.7 Tune – Velocity
Tuning the velocity gain is similar to tuning the current gain.
1. Click “Tune” button.

2. When the “Done” signal shows up, tuning is completed.

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3.8 Save to Flash
Click “Save to Flash” to save parameters to the drive Flash.
If you wish to save to a file in your computer, select “Save to File” and thendesignate a route.

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Chapter 4 Settings
Setting procedure includes configuring the motor type, motor protections,disable option, boot sequence, and those mentioned in the Quick Start chapter(feedback, input, and output). In practice, the driver often needs to receive
signals from controller; hence, the “Auxiliary Command” section is for setting theconnection between controller and driver.

4.1 Driver
The “Driver” section contains basic information and parameters of cpc drivers.

4.1.1. Information
Shows basic information of the driver, including hardware/firmware revision,
input voltage, output continuous current, and peak current.

a. Update Firmware:
Click to update driver’s firmware.
Note:
Before updating, make sure you have downloaded the latest firmware
revision from cpc official website.
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4.1.2 Parameter
Shows the values and units of variables.

4.1.3 Feature Revision
For cpc internal reference.
It shows the firmware revision of each subordinate part.

4.1.4 Others

a. Restore Setting:
Click to reset to the default settings.
b. Change Baud Rate:
The default baud rate is 115200.
Note:l
Any baud rate above 115200 is not supported.
lPlease RESET the driver after changing baud rate setting.

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Baud rate setting steps:(1) Select a driver baud rate, say 57600. Then click “Set”.
(2) Click “OK” when the warning message “Change baud rate to 57600?”
shows up.

(3) Power off the driver.
(4) Power on the driver again.
(5) When the startup screen shows up, choose the new baud rate you
selected (in this case “57600”) and choose connection port. Thenclick “Connect”.

(6) Wait a few seconds. If words in the columns turn grey, this means
the communication is successfully built.

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4.2 Motor TypeChoose the Motor Type and Mode that suits your needs.

The “Motor Type and Mode” table below shows each motor-mode’s effect on
Position Limit (i.e., Command Forward/Backward Limit) and Position Range (i.e.,
modulo); see explanations on next page. The following chapters elaborate on
details of these 6 type-mode combinations.
< Motor Type and Mode >LinearMotor Type :Motor Mode :NormalRotaryOptimized

NormalPosition
Abslt. Rel. Abslt. Rel. Abslt. Rel.
Command TypeAbslt.: absolute.
Position Limit(= Command
Forward /Backward
Limit )

Position Range(= modulo )

Y

N

Y

Y: Users need to define.
X

X

O

Only
Negative( CCW )

Only
Positive( CW )

Optimized

Abslt.

Abslt.

Abslt. Rel.

Rel.: Relative.
YY

N: Users do not need to define.
XO

O: User-defined position range is allowed.
X: User-defined position range is not supported.

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1. Explanations of the <Motor Type and Mode> Table:(1) Motor Type:Linear or rotary.
(2) Motor Mode:
The modes that each motor type includes.
See detailed characteristic of each mode in subsequent chapters.
(3) Position Command Type:
Giving absolute or relative position commands when operating
motors.

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Chapter 4 Settings(4) Position Limit:
i. It refers to the term “607Dh”—the Software position limit—in
CiA® 402 Draft Standard Proposal.
ii. Note:
Perform Homing before setting the Command Forward/Backward Limit in UI.
iii. As explained in CiA® 402 Draft Standard Proposal: …This object
shall indicate the configured maximal and minimal software
position limits. These parameters shall define the absolute position
limits for the position demand value and the position actual value
as specified in Figure 23. Every new target position shall bechecked against these limits.
To disable the software position limits, the min position limit(sub-index 01h) and max position limit (sub-index 02h) shall be set
to 0. The limit positions shall be given in user-defined position units(same as target position). Supervision of software position limits
requires a defined home position.
iv. Where to set Position Limit in cpc GUI:
Motor Protection > Position > the columns of “Command Forward
Limit” and “Command Backward Limit”.

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Chapter 4 Settings(5) Position Range (i.e., Modulo):i. It refers to the term “607Bh”—the Position range limit—in CiA®
402 Draft Standard Proposal.
ii. Note:
Please perform Homing before setting Position range Max./Min.
in cpc UI.
iii. As explained in CiA® 402 Draft Standard Proposal: …This object
shall indicate the configured maximal and minimal position range
limits. It shall limit the numerical range of the input value. On
reaching or exceeding these limits, the input value shall wrap
automatically to the other end of the range. Wrap-around of the
input value may be prevented by setting software position limits
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as defined in software position limit object (607Dh). To disable theposition range limits, the min position range limit (sub-index 01h)
and max position range limit (sub-index 02h) shall be set to 0.
iv. Where to set Position range in cpc GUI:
Motor Protection > Modulo > the columns of “Position range Max.”and “Position range Min.”

2. This major rule applies to all combinations of motor type, motor mode, andposition command type: If position command exceeds or is lower than
the Position Limit, this command will be ignored.
3. Note:Based on cpc’s design for the setting of (4) Position Limit and (5) Position
Range, if you set the minimum value to 0 and the maximum value to 1000,
your target position command can be 0 or 1000.

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4. “Optimized” mode will take the shortest way to reach the target position.
In addition, if you choose to give relative target position command under
optimized mode, the “absolute value” of your position command must be lessor equal to half of Position Range (i.e., modulo); otherwise the command
will be ignored. See further explanation below.
Formula:Suppose (1) the value of your Relative position command is X (units).
(2) The values of maximum and minimum of Position Range are A and B;(3) The difference between A and B is D (units).
Position rangeMax.

A

D (difference of A-B)
Position range
Min.

−

=

B

units,.

.

Hence,

Please see characteristics of each mode on subsequent pages.

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4.2.1 Linear Motor / Normal Mode
1. The motor moves within Position Limit (607D).
2. No Position Range (607B) (Position Range Max. and Min. will show 0 in GUI).
3. If target position command exceeds or is lower than the Position Limit, thecommand will be ignored.
4. If relative position command will exceed or be lower than the Position Limit,
the command will be ignored.

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4.2.2 Linear Motor / Optimized Mode
1. This Linear/Optimized mode is for special application, such as operating
a motor with high-resolution encoder.
2. No Position Limit (607D) (Position Limit Max. and Min. will show 0 in GUI).
3. The Position Range (607B) under this mode is the maximum and minimumof 32bit (i.e., from -231 to 231-1).
4. Absolute position command:lWhen the [dP]* is less or equal to half of the Position Range (i.e., 231),
the motor will move in positive direction; vice versa.
*: [dP] is the distance between the absolute position command and thepresent position; namely, it is the "absolute value" of the distance difference
between the absolute position command and the current position.

If the command exceeds or is less than the Position Range, it will beignored.
5. Relative position command:
The “absolute value” of your relative position command must be less orequal to half of the Position Range (i.e., 231); if relative command exceeds
so, it will be ignored.
l

See illustration and examples on subsequent pages.

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See examples on next page.

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4.2.3 Rotary Motor /Normal Mode
1. Position commands can exceed Position Range; if reaching or exceeding
the Position Range, the input value will wrap.
2. If absolute position command exceeds Position Limit, the command will beignored.
3. If relative positioning will exceed Position Limit, the command will beignored.

4.2.4 Rotary Motor / Only Negative (CCW)
1. No “607B” (Position Range)(Position Range Max. and Min. will show 0 in GUI).
2. Rotates only in negative direction.
3. If target position command is higher than actual position, the motor will
rotate to the minimum Position Limit and then wrap.
4. If absolute position command exceeds Position Limit, the command will beignored.

4.2.5 Rotary Motor / Only Positive (CW)
1. No “607B” (Position Range)(Position Range Max. and Min. will show 0 in GUI).
2. Rotates only in positive direction.
3. If position command is lower than actual position, the motor will rotate to
the maximum Position Limit and then wrap.
4. If absolute position command exceeds Position Limit, the command will beignored.

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4.2.6 Rotary Motor / Optimized Mode
1. Absolute position command:(1) cannot exceed Position Limit and Position Range, otherwise thecommand will be ignored.
(2) If the difference between the current position and Absolute positioncommand is larger than half of Position Range, the motor will move in
negative direction.
2. Relative position command:(1) cannot exceed Position Limit, otherwise the command will be ignored.
(2) The “absolute value” of the relative position command must be lessor equal to half of Position Range, otherwise the command will beignored.

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4.3 Motor Protection
Motor Protection is for safety and ensuring the stability of the motor.
The main protections—such as current limits, over speed limit, backward limit,
and forward limit—are set under Motor Protection section.
For safety purpose, please check the parameters carefully.

4.3.1 Current

a. Motor Peak Current:
The maximum transient current acceptable for the motor.
b. Motor Peak Current Time:The maximum time of peak current acceptable for the motor.
c. Motor Continuous Current:
The maximum continuous current acceptable for the motor.

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d. Current Reach Window / Timeout:l
The condition of current target reach flag and the corresponding time.
lWhen current feedback is within the window and continues for aperiod (reach timeout), the target reach flag will rise. When the timeis set to 0, this detection function will be deactivated.
The current-time diagram below describes how “current reach window” and“current reach timeout” work.

IqFdb refers to current feedback; likewise, velocity applies the same method torise target reach flag and to determine whether the reference command is met.
Please check chapter 5.5.4 Target reach flag

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4.3.2 Velocity

a. Velocity Reach Window / Timeout:l
The condition of velocity target reach flag and corresponding time.
lWhen the velocity feedback is within the reach window andcontinues for a period (reach timeout), the velocity target reach flag
will rise.
lWhen the time is set to 0, this detection function will bedeactivated.

Please check the Chapter 5.5.4 Target reach flag
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b. Velocity Zero Threshold / Timeout:lWhen the velocity feedback is within the threshold and continues fora period (velocity zero timeout), such velocity feedback will be deemed
as zero.
l
When the time is set to 0, this detection function will be deactivated.

c. Motor Rated Speed:
The maximum speed allowed for the motor.
Velocity

VelDmdVelFdb

Motor
rated
speed

time
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Chapter 4 Settingsd. Quick Stop Deceleration:
Deceleration of the motor braking upon receiving the quick stop signal.
e. Over-Velocity Protect:l
The threshold of over velocity detection. If velocity exceeds overvelocity protect limit, the error code “E8481” will show up and the
motor will be turned off.
l

If the value is set to 0, this detection function will be deactivated.

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4.3.3 Positiona. Command Forward / Backward Limit:
The maximum and minimum values of the position command that users
can give.

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b. Position Window / Timeout:l
The condition of “position target reach” flag and the correspondingtime.
lWhen the position feedback is within the position window andcontinues for a period (timeout), the target reach flag will rise.
lWhen the time is set to 0, this detection function will be deactivated.

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Chapter 4 Settingsc. Following Error Window / Timeout:l
The condition of “following error” flag and the corresponding timeout.
l
The following error code is E8611.
lWhen the position feedback is out of the following error window andcontinues for a period (following error timeout), a fault event will rise.
The motor will react according to user’s setting of fault reaction.

lWhen the time is set to 0, this detection function will be deactivated.
For safety concern a warning will show up.

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Chapter 4 SettingslWhen the time is set to more than 500 ms, a warning will show up.

Please check the chapter 5.5.4 Target reach flagd. Over / Under Position Protect:
The threshold of position-fault status. When motor position is outside
the over/under range, a fault event will occur.

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4.3.4 Modulo

Modulo is the Position Range. It also refers to the term “607Bh”, namely the“position range limit,” in CiA® 402 Draft Standard Proposal (see chapter 4.2, point
1 - (5)).
a. Position range Max./Min.:Set user-defined Position Range here.
Note:
Some modes do not support user-defined parameters.

4.3.5 Motor Stucka. Current:
Sets the percentage of continuous current as the condition of “motor
stuck”. If the motor requires more than this percentage of current towork, the motor will be considered not moving (stuck).

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b. Velocity:
Velocity threshold. When velocity feedback is lower than this value, themotor will be considered not moving (i.e., motor stuck).
c. Period:
Set the time duration of Velocity threshold here. When velocity is lower
than the Velocity threshold and continues for a period (Period), themotor will be considered not moving. When the time is set to 0, thisfunction will be deactivated.

4.3.6 Power StageDC Bus Limit
This is for monitoring whether DC power supply is normal.
a. DC bus voltage:
monitors the DC bus voltage at present.
b. DC bus OVP Limit:
DC bus Over Voltage Protection Limit. Must be less or equal to 375 V.
c. DC bus UVP Limit:
DC bus Under Voltage Protection Limit. Must be more than or equal
to 48 V.
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Chapter 4 SettingsOnce DC power exceeds OVP limit or is lower than UVP Limit, this will become afault event (Error code: 0x3210; or 0x3220); motor reactions will be as describedin chapter 4.4 - Disable Option.

Voltage Limit
Settings of activating/deactivating the regenerative resistor.
d. Trip Voltage:
The trigger threshold of activating regenerative resistor. If voltage
exceeds this value, regenerative resistor will be activated.
e. Clear Voltage:
Threshold of clearing the hysteresis effect. If voltage decreases tounder this threshold, regenerative resistor will be deactivated.

External 5V Control
f. 5V Ready time:
The time duration from starting supplying 5V power to when theequipment needing the 5V supply is ready for use. (default value is
100 ms).

Frequency Level
This is for monitoring whether AC power supply is normal, and/or if AC power isconnected.
g. AC Input Frequency:
Monitors the AC power.
h. Over-Freq Level:
Over-Frequency Level.
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Chapter 4 Settingsi. Under-Freq Level:
Under-Frequency Level.
Once AC power exceeds Over-Freq Level or is lower than Under-Freq
Level, it will become a fault event (when lower, error code is 0x3142);
motor reactions will be as described in the Disable Option chapter

Over Temperature Protection
The 5 V Analogue Input here is a general-purpose pin which is used to connect
with the thermistor on the motor. GUI will show the monitored voltage on
drive input.
As thermistors vary, users will need to calculate the resistance (ohm) according
to the monitored voltage and then derive the corresponding temperature; see
example formula note* and diagram below.
j. 5 V Analog Input:
Shows the voltage at the 5V Analogue Input pin.
k. Motor OTP Mode:
Motor Over Temperature Protection Mode.
l
Off:turn off protection mode.
lGreaterThan:This option is for PTC thermistors. When voltage on drive
input is greater than the “OTP Trip Level” value (a fault event),
protection will be triggered.
l
LessThan:This option is for NTC thermistors. When voltage on drive
input is less than the “OTP Clear Level” value (a fault event),
protection will be triggered.
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l. OTP Trip Level:
The voltage threshold value to trigger protection.
m. OTP Clear Level:
The voltage threshold value to deactivate protection.

< Thermistor—Diagram of Temperature & Resistance ><Equivalent Circuit Diagram>

Note*:
The formula to acquire the resistance (ohm) of place:(The voltage of place
is known, monitored by the UI.)

V =5R
R + 1000

，

R =

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4.4 FSA & Disable Option
4.4.1 Finite State Automata
1. See the diagram below as described in CiA 402.

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2. See the chart below from CiA 402 describing the triggering Event andActions.

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3. Diagram of cpc’s Motor Activation Logic.

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4. Fault event timing as follows:
Note: If Fault conditions are not cleared, reset cannot be activated.
Fault

1

0

time

Fault reset

1

0

time

5. Motor event timing, as follows:
External enable

1

0

time

Motor active

1

0

time
Delay time : command andsignal delay etc. ~500ms
If find phase without sensor,
add the test time in here.
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6. If users want to turn on the motor again after fault or quick stop occurs,
only rising edge of external enable can do, see the diagram below.
Fault or quick
stop
1

0

time

Software Enable(i.e. Motor on)
1

0

time

External enable

1

0

time

Motor active

1

0

time
Delay time : command and signal
delay etc. ~500ms
If need tp find phase without hallsensor, add the test time in here.

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4.4.2 Disable Option
Users can assign what reaction to perform when the situations listed on Stop
Option panel occur.
On Stop Option panel, the situations from “Filed Bus Abort” to “Fault”
correspond to the CiA® 402 DSP.

For further explanation about- Situations, see chapter 4.4.2.1;- Reactions, see chapter 4.4.2.2;- Dynamic Brake, see chapter 4.4.2.3;- Holding Brake, see 4.4.2.4

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4.4.2.1 Situation Explanation
This chapter explains what causes situations “a” to “g” and shows thecorresponding options of reaction.
a. Field Bus Abort:
This “Field Bus Abort” situation is due to that CANopen or EtherCAT
stops broadcasting (usually because net cable is disconnected);
therefore, the driver gives a command to itself to execute a reaction.
For example, if the reaction of Field Bus Abort is set to “FaultEvent”,
when Field Bus Abort occurs, the driver will trigger a fault event andexecute the designated reaction of Fault situation (situation “f”).

Stop Optionsa.

Reaction
No action
FaultEvent
DisableVoltage
QuickStop

Situation
Field Bus Abort

Stop Options
Reaction
DynamicBrake
ImmediatePowerOff
BrakeSlow
BrakeFast
BrakeCurrent
BrakeVoltage

Situation
f.

Fault

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Chapter 4 Settingsb. Quick Stop:
Quick Stop is triggered by controlword from control device, by physicalswitch, or when field bus is aborted (see Quick stop signal setting in
Chapter 4.7 Input & Output).

Stop Optionsb.

c.

Situation
Quick Stop

Reaction
DynamicBrake
ImmediatePowerOff
BrakeSlow
BrakeFast
BrakeCurrent
BrakeVoltage

Shutdown:
A situation of when AC power is shut down.

Stop Optionsc.

Situation
Shutdown

Reaction
DynamicBrake
ImmediatePowerOff
BrakeSlow

d. Operation Disable:
When “disable command” is received from control device or local signal.

Stop Optionsd.

Situation
Operation Disable

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DynamicBrake
ImmediatePowerOff
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e. Halt:
Pause.
See Halt signal setting in Chapter 4.7 Input & Output.

Stop Options
Situatione.

f.

Reaction
DynamicBrake
ImmediatePowerOff
BrakeSlow
BrakeFast
BrakeCurrent
BrakeVoltage

Halt

Fault:
When Fault event is triggered.

Stop Options
Reaction
DynamicBrake
ImmediatePowerOff
BrakeSlow
BrakeFast
BrakeCurrent
BrakeVoltage

Situation
f.

Fault

g. Forward & Backward Limit:
When Forward/Backward limit switch is triggered.
See Forward & Backward limit signal setting in Chapter 4.7 Input &Output.

Stop Optionsg.

Situation
Forward & Backward Limit

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4.4.2.2 Reaction Explanation

Name of the Reactions
to Field Bus Abort
No action
FaultEvent
DisableVoltage
Quick Stop

Explanation
Event will be ignored.
To trigger fault event.
Transit to "Switch on disabled" state.
To trigger quick stop

Name of Reaction
QuickStop
DynamicBrake
ImmediatePowerOff

BrakeSlow

BrakeFast

BrakeCurrent
BrakeVoltage

Explanation
Transit to "Quick stop active" state.
Brake motor by means of a controlled motor short-circuit.
Electrically disconnected from drriver.
Depends on presently used mode: If in■ Velocity Mode: Bring velocity command to zero using Profile
deceleration.
■ Current(Torque) Mode: Bring current command to zerousing Profile current slope.
Depends on presently used mode: If in■ Velocity Mode: Bring velocity command to zero using Quick
Stop deceleration.
■ Current(Torque) Mode: Bring current command to zero bypowering off (that is to say: ImmediatePowerOff).
Control stop to zero current using Torque mode's current
slope.
equals to ImmediatePowerOff.

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4.4.2.3 Dynamic Brake

Brake motor by means of a controlled motor short circuit. This function can beapplied both during motor-on and motor-off states, and can be used to:
1. Decrease the degree of unexpected motor reactions if the encoder is
not functioning correctly.
2. Stop motor immediately.
3. Prevent motor from gliding freely even in motor-off state.

a. Dynamic Brake Current Limit % of Peak Cur.
Use how much percentage of peak current to brake the motor. This value
will influence those stop options which are set to “Dynamic Brake”.
b. Disable Reaction End Velocity
When a disable reaction (in this case, the Dynamic Brake reaction) is inprocess, once motor speed drops below this value, end the disable
reaction and transit motor state to next state.
c. Use Dynamic Brake in motor-off state
Tick this box if users wish to apply dynamic brake in motor off state also.

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4.4.2.4 Holding Brake

This function is used in motor off state.
To apply this function, a physical brake needs to be installed on the motor system.
Besides, users need to set a digital output pin as “Brake”.
a. Holding Brake Velocity Threshold:In motor off state, brake the motor when velocity is below this value cnt/s.
b. Holding Brake Activation Timeout:
In motor off state, brake the motor while motor has kept moving after
a certain period (Timeout).

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4.5 Feedback
In addition to as described (such as setting the encoder type, source of hall sensor,
and the unit of encoder) in the Wizard chapter, please see detailed configurationon the subsequent pages.
Select first the type of your encoder (“Feedback Selection” on the panel). There
are 4 types supported—Incremental Encoder A/B, Sine/Cosine Incremental, BiSSC, and Tamagawa.
The Feedback panel’s buttons are shared in all encoder types:

a. Feedback Selection:
At present various signal types of encoder can be supported by Will1
Drivers:l
Will1 Drivers:
supports Incremental A/B.
l
Will1-B Drivers:
supports incremental A/B, Sin/Cos, BiSS-C, and Tamagawa
signals.

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Incremental Encoder A/B:

A:
B:

90∘

Ø

Sine/Cosine Encoder:

A:
B:

90∘

b. Hall SourcelFeedback Port:
Assign the digital input pins at Feedback port as hall sensor signal
source.
lController Port:
Assign the digital input pins at Controller port as hall sensor
signal source.

c. Motor Encoder Resolution:l
Set the resolution of the encoder sensor (in cnts/m or cnts/rev).
Note:
The resolution of sine/cosine encoder = Interpolation Factor x
Fundamental Cycle Count. See chapter 4.5.2.

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d. Motor Pole Pitch:lRotary:Define how many sets of poles are in one revolution.
(For firmware version starting 0.7.21): If unknown, enter value
65535, then go to Tune> Phase> Auto Phase and click “Start
AutoPhase” button, the UI will test for you automatically.
lLinear:Set the length of one set of pole of the motor (in millimeter).
e. Multiplier / Divider:This ratio value is for firmware’s use.
However, it also gives users an idea of how many counts per pole pair.

f.

Encoder/Index Position:

The raw position value of the encoder and index.
Note:
The position values shown on this panel might differ from the position
feedback value shown on Trial Run panel.
The position feedback value on Trial Run panel has been processed bymodulo (see chapter 4.3.4) and homing (see chapter 7).
3 raw position value

Modulo; Homing

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4.5.1 Incremental Encoder A/B

a. Input Pulse Edge Filter Factor:lA length-of-time factor (to be multiplied by the rest part of theformula mentioned below) to produce the total length of time of afilter window which is used as the threshold to filter off the glitch in
input signal. This value can be 0 to 255. “Input signal” means, forexample, the signals sent from the motor encoder to the driver (value
0 = function disabled). The cpc driver provides such pulse-width filter
function on such signal.
lFormula—Total length of time of Filter Window:
TFW = Factor x 10 x

l

(

∗)

(ns)

Encoder’s maximum detectable frequency:
FS =

(

∗)

(Hz)

Note*:

lDrive

value of “Fc”

Will1 Series

150,000,000

Will1-B
Series160,000,000

When receiving a signal, the driver determines whether it is a glitch
based on the user-configured total length of time of the Filter-Window.
Ø If the input signal’s duration is shorter than Filter Window,
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the signal is regarded as a glitch and will be ignored.
Ø If the input signal’s duration is longer than or equals to theFilter Window, it is regarded as a true signal transition and will
be displayed.
<Mechanism of Filter-Window>

b. Invert A/B Encoder Polarityl
Reverses the direction of encoder counting.
To elaborate, if originally the motor’s position feedback value
increases while moving in positive direction, after ticking (orunticking) this option, the value will decrease instead.
This function could be applied when AutoPhase is unusable—one ofthe possible causes is that the motor stroke cannot contain acomplete motor pole pitch; to solve this issue, see manual-phasesetting solution in chapter 5.2.4.
l

Note:
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Phase and Home. See SAFETY WARNING on next page.
l

SAFETY WARNING:
To avoid unexpected movement of the motor, after changing
the encoder polarity setting, it is NECESSARY to ALSO alter the“Invert Commutation Polarity” setting in the Phase section.
Next, if a hall sensor or an absolute encoder is used, it is
ESSENTIAL to manually key in these data respectively:Ø Hall sensor: The Theta Table. (If no hall sensor is used,
after changing BOTH polarity settings, perform Force
Zero again.)Ø Absolute encoder: the value of “Absolute Encoder
Single Turn Zero Offset”.
Please see detailed steps of manual-phase-setting in chapter
5.2.4.

A warning will show up when trying to change the polarity.

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Chapter 4 Settingsc. Invert Index Signal
Inverts the polarity of index input signal.
<Inverted index signal>

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4.5.2 Sine/Cosine Encoder
Principle:
The sine/cosine encoder sends out two analog signals which are in sine wave
forms and are 90 degrees out of phase.

ABθThe sine and cosine signals can be drawn into a circle based on X (sine) and Y(cosine) co-ordinates and can therefore perform arctangent function (or,interpolation) to know the degree of theta in order to obtain finer position
resolution.

The cpc driver will digitalize sine and cosine signals into values ranging from 0 to
4095.

A sine/cosine circle can be viewed in Lissajous diagram (i.e., plotXY diagram) in
the Scope window. Furthermore, there are 3 kinds of possible distortion in signals:
Amplitude, Sine/Cosine Offset, and Phase. These will be elaborated on
subsequent pages.
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There are two function tabs under the sine/cosine encoder section:lParameter tablCalibration tab

Note:
The value of “Motor Encoder Resolution” of the sine/cosine encoder is the result
multiplying parameters “Interpolation Factor” and “Fundamental Cycle Count”.

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4.5.2.1 Parameter Tab

a. Option Register:l0x0:
no use.
l
0x1:
Averages the sine and cosine signals happened in one control
loop cycle time. This function is for filtering off noises; the valuesof signal A, signal B and Theta are hence changed.
Note:This function is not suitable for high resolution encoder. The
sine/cosine wave frequency needs to be no greater than 1/4of the control loop frequency.
b. Interpolation Factor:
Indicates how many counts per signal period.
c. Fundamental Cycle Count:lRotary motor: how many signal periods per cycle.
lLinear motor: how many signal periods per meter.

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Chapter 4 Settingsd. Invert A/B Encoder Polarity:
Same as described in chapter 4.5.1, point (b).
e. Invert Index Signal
Same as described in chapter 4.5.1, point (b).

f. Sin ADC:
The real time digitalized value of sine signal.
Value range: 0 to 4095.
g. Cos ADC:
The real time digitalized value of cosine signal.
Value range: 0 to 4095.
h. Signal A:
The outcome value of Sin ADC minus Sin Offset Compensation.
i. Signal B:
The outcome value of Cos ADC minus Cos Offset Compensation.
j. Theta:
The electrical theta within signal period (Unit: radian).

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4.5.2.2 Calibration Tab

l

l

l

l

Point Count:Shows how many dots are automatically recorded.
Cos Offset Compensation:
For calibration to make sure the outcome of computed value is right.
When the circle (drawn based on the sin and the cos signals) is deviatedfrom the center of lissajou diagram (shown in the Scope window), input
this value to deduct from the cosine signal axis to relocate.
Sin Offset Compensation:
For calibration to make sure the outcome of computed value is right.
When the circle (drawn based on the sin and the cos signals) is deviatedfrom the center of lissajou diagram (shown in the Scope window), input
this value to deduct from the sine signal axis to relocate the circle.
Gain Compensation:
For calibration. When the amplitude of the sine and the cosine signal is
not equal (i.e., distorted), the ratio of them will not be 1. Input aconstant in this column to be multiplied by the present ratio so as toadjust the amplitudes to be equal.
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When the shape of the circle (drawn based on the sin and the cos signals)
is oval-shaped (i.e., distorted) due to that the sine and cosine phase is
not 90 degrees. Input a value ranged from 0 to 2 π (unit is radian).
f. Record:
click to start recording
g. Calculate:
Click to automatically calibrate the sine/cosine encoder signals. Click thisbutton, then manually rotate (or move) the motor to generate signal
input.

4.5.2.3 Calibration Steps
Before calibrating, make sure the encoder is connected properly.

1. Clickbutton.

2. Manually rotate the motor, you will see red dots appearing on the panel.

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3. Keep rotating until there are more than 100 dots and until the dots canform a circle.
The more dots recorded, the more accurate the calibration will be.
To obtain more dots, rotate for more rounds.

4. Click, a yellow circle will show up representing theautomatic calibration result.

Calibration is now completed.

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4.5.3 Tamagawa Encoder

Before configuring, make sure the motor type (see chapter 4.2) is set to “Rotarytype”.
a. Auto Set:
Automatically retrieves and shows the ENID* of the Tamagawa encoder.
*: The term “ENID” refers to “encoder ID”. This ID is named by
TAMAGAWA SEIKI Co., Ltd. Each Tamagawa encoder model has its own
unique ID.
b. Received ENID:(read-only)
Shows the ENID of the encoder which is now connected with your driver.
c.

Single Turn Bit Length:
Configures how many bits—based on 2Nth—can be recorded per motor
turn [resolution].

d. Multi-Turn Bit Length:
Configures how many motor turns [resolutions]—based on 2Nth—can berecorded.
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Chapter 4 Settingse. Expected ENID:
Users can assign an “Encoder ID (ENID)” to write to the driver.
cpc provides 4 sets of default ENID: 0x0, 0x06, 0x11, and 0x17. Each of thedefault ENIDs carries default values of “single turn bit length” and “multiturn bit length”.
lEntering a default ENID will automatically change the values of the“single turn bit length” and the “multi-turn bit length”.
lEntering a non-default ENID will not change above-mentioned
settings of bit lengths. Users will need to configure “single turn bit
length” and “multi-turn bit length” on their own.
Note:
1. The ID in this column is the ID written to the driver.
2. If the ID of the Tamagawa encoder that you are going to operatewith is not of cpc’s default, please key in the ENID of this encoder
so that cpc driver is able to detect if the “Expected ENID” and“Received ENID” are consistent.

f.

Position Offset: Reserved.

g. Option Register: Reserved.

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Chapter 4 Settingsh. Status Flag:
Also called status bit.
Each status flag/bit reflects the status of an encoder error. A rising
flag/bit (represented in red background) is seen as an encoder error.

l

The first 8 status bits (Over Speed ~ Battery Alarm) are from
Tamagawa.
The last 3 bits are cpc-specific. See meanings of signal high (shown inred) below:
ENID Mismatch:
Means that the values in user-defined “ENID” column
and in the read-only “Received ENID”

l

l

i.

columndon’t match.
No Response:
Driver receives no response from encoder.
Wrong CRC:
The format of the message sent from encoder to driver is wrong.
This might be caused by noise.

Clear Error:
Resets status flags [bits] to logic 0 level.
Note:
To reset successfully, the cause(s) of encoder error needs to be
removed in advance.
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Error Flag:

For internal use only.
It’s the sum of all the status flags [bits] in hexadecimal.
k. Error Bit Mask:

For internal use only.
It’s the sum (in decimal) of the ticked bits.
l.

EncoderFB_CfgReg:
For internal use only.

m. Invert Serial Encoder Polarity
Same as described in chapter 4.5.1, point (b).

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4.5.4 Event Limit
The Event Limit panel is shared by all encoder types. The hidden Event Limit panel
will show up by clicking

button.

2

1Each encoder type has its own definition of encoder error.
When the encoder error count① value—which derives from the formula of
Encoder Error Calculation*—has accumulated and surpassed the user-defined
limit②, a fault event will be triggered.
* Calculation Formula of Encoder Error Count:Ø
If an encoder error appears in one control loop’s time, add value 16
to the encoder error count.
Ø
If no encoder error appears, deduct value 1.

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Chapter 4 Settingsa. Count:
Shows the result of the encoder error calculation.
Note:
For Tamagawa encoder, only selected status flag (shown as ticked) will be counted; namely, be included into error calculation.
b. Limit:
Sets the maximum limit (0 to 65535) of triggering a fault event. When thevalue of encoder error calculation has exceeded this user-defined limit,
a fault event will occur.
c.

Error Type:See each encoder type’s definition of encoder error as follows:(1) Quadrature Phase
To set the fault-triggering limit of Incremental A/B encoder.
A normal incremental A/B quadrature signal received by thedriver should be in line with the 10-11-01-00 sequence (seegraph below). If not so, it will be regarded as an encoder error.
1

A:

0

90∘
1

B:

0

10 11 01 00
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Chapter 4 Settings(2) Incremental Encoder Amplitude
To set the fault-triggering limit of sine/cosine encoder:
If the amplitude of sine or cosine is too low—according to theformula when [(signal A)2 + (signal B)2] < 65536—this will be
regarded as an encoder error.

(3) Serial Encoder Bus or Status
To set the fault-triggering limit of Tamagawa encoder.
Any rising status flag (shown in red background) is viewed as an
encoder error; however, only the user-selected flag(s) (shownas ticked) will be included into the encoder error calculation to
trigger fault event.
For example:

4 status flags have risen (represented in red) indicating theoccurrence of encoder errors; yet, only the selected(shown as ticked) status flag “Over Speed” will be counted
to trigger fault event.
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4.6 Auxiliary Command
Use this tool to set up how to give and take the commands from controller.
You can choose the signal type and gear ratio and can set the filter frequency.
Select “Enable” to allow Auxiliary Input, the driver then can execute commands
from the controller.

There are 4 modes of auxiliary input:l
The first one (Enc. to Position, see chapter 4.6.1) uses pulse signal andcorresponds to position mode;l
The rest three (Analog to Position & Velocity & Current mode, see chapter
4.6.2) use analog signal.

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This panel below is shared in all modes:

a. Auxiliary Encoder Reset Mode:
This function allows users to choose by which method to set the“received-and-processed position command value” *note to zero. Thisfunction is especially used when checking whether the commands sentfrom controller side are correctly received by the driver.
*Note:The “received-and-processed position command value” is shown inthis column:

There are 3 ways given by this function to set the received-andprocessed position command value to zero:lOperation Enable (default):
Set it to 0 when motor-on state is triggered.
l
Homing Attained:
Set it to 0 when homing is successfully completed.
lFieldbus or Digital In:
Set it to 0 via CANbus or RS232, or digital I/O.

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b. EncAux Pos.:

The EncAux Pos. value can only be configured in motor-off state.
Changing the value in the EncAux Pos. column will overwrite the valueof the “received-and-processed position command” *note. Afterconfiguring, click “Set” button to overwrite.
*Note:The “received-and-processed position command value” is shown inthis column:

Users can set the “received-and-converted position command” to thevalue they need by configuring the EncAux Pos. value. Value 0 is themostly applied value.

Application example:
When setting up controllers with drivers, configure the EncAux Pos.
value to be the same as the original command value sent from controller,
so that you can check conveniently whether these two sides’ signals arein line with each other.

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Chapter 4 Settingsc. Encoder Output Source:
Selects from which source to output to the controller.
The word “encoder” in this title refers to the encoder feedback that thecontroller received.
lllMotor Feedback:Copies the motor’s feedback signal to the controller.
Auxiliary Encoder Reference:
Copies the controller’s command to two or more drivers.
Select this option if you wish to send controller’s signals to
two or more drivers to execute the same action.
Emulated Feedback:Sends the “emulated” position feedback values to thecontroller.
Select this option when using Error mapping function, or for
emulating the motor encoder’s signals; for the latter, you can
set gear ratio by adjusting the multiplier and divisor.
Note:
Emulated Feedback function does not apply to the firstversion of Will1 Driver.

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4.6.1 Encoder to Position modea. Signal Type:Define the signal type from the controller.
lIncremental A/B
lPulse & Directionl
CW/CCWb. Ratio: cnt/pulse:
Define the ratio between the controller command and the motor
movement.
c. Filter:
Low-pass filter.
Remove commands whose frequency is higher than this filter value.
Note: The final Position &Velocity command values are read-only and cannot be
modified.

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Chapter 4 Settingsd. Input Pulse Edge Filter Factor:
Note: This function is for the “Encoder to Position” mode only.

l

A length-of-time factor (to be multiplied by the rest part of theformula mentioned below) to produce the total length of time of
the Filter Window which is used as a threshold to filter off theglitch in input signals. This value can be 0 to 255. “Input signal”
means, for example, the signals sent from the controller or external
encoder to the driver (value 0 = function disabled). The cpc driverprovides such pulse-width filter function on such signal.

lFormula: Length of time of the Filter Window:
TFW = Factor x 4 x

∗

(ns)

See note*.

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Encoder’s maximum detectable frequency:(1) If the selected Signal Type is “Incremental A/B”:
FS =

Fc*
Factor x 4 x 4(Hz)

See note* below.

(2) If the selected Signal Type is “CW/CCW” or “Pulse/Dir”:
FS =

∗

(Hz)

See note* below.

Note*: the corresponding value of FC is
DriverValue of “FC”

Will1 Series

150,000,000

Will1-B
Series160,000,000

e. Vel. Zero Criteria / Threshold (cnt/s) / Period (ms):Note: This function is for the “Encoder to Position” mode only.
It is used to determine whether the pulses of auxiliary command havestopped – The pulse command which is lower or equal to this velocity(cnt/s) for a duration longer than or equal to this configured period(ms) will be regarded as zero (i.e., the auxiliary command has stopped
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giving orders).

4.6.2 Analog to Position & Velocity & Current mode

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a. Dead Band:To remove the noise.
The signal voltage lower than this value will be deemed to zero. Theband will be the +/- range of the keyed-in value. For example, if thevalue is set at 1 V, the dead band will be +/-1 V.
b. Analog offset:
Digital offset value.
The controller sends out its analog signals (ranging from -10 V to 10 V)
which will be converted into Analog-to-Digital-Converter (ADC) values(ranging from 0 to 4095). These analog signals need to be calibrated.
To do so, the middle of the analog voltage signal (0 V) needs to alignto the middle of the ADC value (2048) at driver. Click the “Adjustment”
button to automatically calibrate the analog offset, or key in values toadjust manually.
c. Position / Velocity / Current Scale:
The gear ratio.
Converts the analog voltage command into position, or velocity, or
current command.
d. Filter:
Low-pass filter.
Removes commands whose frequency is greater than this value.
Note: The final Position & Velocity & Current command values are read-only,
cannot be modified.

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4.7 Input & Output
The Input setting defines the trigger function that should occur when driverreceives “true” logic from input signals. The Output setting defines what signals
to be output while some events occur.
For pin-definition of input and output please refer to the cpc Will1/Will1-B
Installation Guide.
The digital I/Os interfaces enable users to configure functionality as well aspolarity of the digital I/Os and to monitor the state of all digital I/Os. In cpc GUI ,the green light“false”.

represents logic “true”, and the red light

represents logic

Note:
Only the “External Enable” function requires ALL the pins (which areassigned to be Ext. Enable) to be logic true to make this signal high. For
the rest of I/O functions, it takes only ONE pin to be logic true to makesignal high.

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4.7.1 Input
Meaning: The signals that are sent to the driver.
l

Input:

lInput panel explanation
INPUT
State

A graphic element that toggles between green and red to

Pin No.

reflect the on/off state of the actual input.
Specifies a pin.

Function

Defines the functionality of the digital input.

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INPUT
InverseClick to invert the polarity of a digital input.
As the result of inversion, the graphic element in thesoftware immediately changes color.

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4.7.1.1 Input Functions
Input Functions

Description

Backward Limit Switch

Defines this pin as signal state of Backward Limit
SwitchForward Limit Switch

Defines this pin as signal state of Forward Limit
SwitchHome Switch

Defines this pin as signal state of Home Switch

QuickStop (Active
LOW)

Defines this pin as signal state of QuickStop(QuickStop will be active when signal is Low).

Halt

Defines this pin as signal state of Halt.
(Motor motion will be paused when signal is high)External Enable

Defines this pin as signal state of External Enable.
Note:
if multiple pins are set to External Enable,
ALL of these pins need to be High to activate
External Enable event.

External Alarm

Defines this pin as signal state of External Alarm.
(If the drive receives external alarm, Fault event(error code: 90F0) will be triggered).

Fault Reset

Defines this pin as signal state of Fault Reset.

Encoder Feedback
Reset

Defines this pin as signal state of Encoder
Feedback Reset.
(When signal is high, it will set the motor's present
position as 0.)

Encoder Auxiliary Reset

Defines this pin as signal state of Encoder
Auxiliary Reset.
(When signal is high it will set the auxiliarycommand value as 0.)

Gain switch to 2nd set

Switch to the 2nd set of gain.

Gain switch to 3rd set

Switch to the 3rd set of gain.
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Input Functions

Description
This function is for Boot Sequence (See Ch. 4.8).
In boot sequence's “Motor-ON” setting, users canconfigure up to 4 sets of motor-on modes,
numbered #0 to #3.
To enable altering the motor-on modes, users
need to equip at least 3 physical I/O switches;
they are: External Enable, Select bit 0, and Selectbit1.
l

The “select bit0” and “select bit1” together will
designate a motor-on mode (see coding chart):
Coding chart
Bit 0

Bit 1

0
1
0
1

0
0
1
1

Motor Mode select bit0l

Result(motor-on mode #)0
1
2
3

How to alter Motor-ON mode under Boot
Sequence:
Example of Switching Motor-on Mode in Boot Sequence( From mode #0 to mode #1 )External enable 10
1

Select bit 0
Select bit 1

0
1
0
3

Result (motor-on 2
1
mode #)
0mode #0

motor-offmode #1

Steps:
1. Equip these 3 sets of I/O:
External Enable, Select bit 0, and Select bit1.
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Input Functions

Description
2. Go to UI > Input section, define the abovementioned 3 sets of I/O pins.
3. Switch motor off (by setting the External
enable I/O to 0). Then set the combination ofpins “Select bit0” and “Select bit1” to thedesired mode according to the coding chart.
4. Switch motor on (by setting the External
enable I/O to 1). The motor is now turned onusing newly-selected mode.

Motor Mode select bit1

Defines this pin as Motor Mode select bit1.
See details in the column “Motor Mode selectbit0”.

Homing operation startThis function is for Boot Sequence (see Ch. 4.8).
If the Motor-ON mode under Boot Sequence is set
to Homing mode, the driver will need to wait fora “start” signal to execute homing.
Once "Homing operation start" signal isactivated, the motor will start performing thehoming mode.

Force Home Position

When Home is not found/set yet, make this input
signal high to force the driver to set the motor'spresent position as Home. The corresponding
Motor-ON modes should be position-relatedmodes, such as direct position or profile position
modes.

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4.7.2 Output
Meaning: The signals that are sent from the driver to other devices.
ll

Output:Output panel explanation
OUTPUTState

A graphic element that toggles between green and red
to reflect the on or off state of the actual input.
Click this button to simulate output.

Test
Pin No.

Specifies a pin.

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Defines the functionality of the digital output.

Function

InvertInverts the polarity of a digital output. Tick this box toinvert the polarity.
l
Unticked: normal open.
lTicked: normal close.

4.7.2.1 Output Functions
Output Functions

Description – When signal state is HIGH

Ready for Ext.
EnableIf there is no error and the motor-on flag is on, sendout a signal saying that the drive is ready for taking
external enable commands.
(Hence, if External Enable is activated, the motor can
respond to controller's commands.)

STW: Fault

Defines this pin as signal state of the status word
"Fault".
(High = Fault occurs)

STW: Target
ReachedDefines this pin as signal state of the status word
"Target Reached".
(High = target reached)

Brake

Links the Holding Brake demands to this pin.
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STW: Homing
Attained

This is for Homing mode.
Defines this pin as signal state of the status word
"Homing Attained".
(High = Home attained)

STW: Homing
Error

This is for Homing mode.
Defines this pin as signal state of the status word
"Homing Error".
(High = Homing error occurs)Home
Established

Sends out a signal constantly saying that Home isalready established.

Operation Enable

Motor ON and the drive is ready for receiving motioncommand.
Sends out a signal that the motor is at rest.

Motor at rest

[Definition]:In the Motor Protection's Velocity section, users candefine Velocity Zero Threshold and Timeout
parameters. If velocity is greater than this thresholdand lasts for a period (Timeout) – the motor will be
regarded as moving, vice versa.

Pos. Compare 0
out

Sends out a signal when the #0 set condition of Position
Comparator is satisfied.

Pos. Compare 1
out

Sends out a signal when the #1 set condition of Position
Comparator is satisfied.

Pos. Compare 2
out

Sends out a signal when the #2 set condition of Position
Comparator is satisfied.

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4.8 Boot Sequence
Boot Sequence is for configuring what initial actions to take after the drive is
powered on. The initial actions may include find-phase, homing, motor-on,
moving to home, and executing script.

There are two routes, LEFT and RIGHT, in boot sequence. The chosen route will
be highlighted in red.
l
The LEFT route allows users to do any configuration.
l
The RIGHT route shows and alters the interlinked same settings in the
Homing section. The settings of the RIGHT route (even when it is not
activated) will be synchronized with those of the Homing section, see
pictures below.

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Chapter 4 Settings↓ ②: Conditions to activate the RIGHT route

Note: In Boot Sequence, only when BOTH the boxes of [Homing] and [Motor ON
and Transit to Profile Position Mode] are ticked, can the RIGHT route be activated.
↓ ③: If both routes are ticked, only the RIGHT route will be activatedNote: In Boot Sequence, if both routes are ticked, only the RIGHT route will be
activated.
Please see the configuration procedure of boot sequence on subsequent pages.

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Boot Sequence Configuration Procedure
1

Presettingll:(Ticked): Deactivates “Software Enable” when fault
occurs.
:(Ticked): When an External Enable event occurs, treat
it as a fault reset action.
Note:Ø "Event" means that the External Enable was off andthen on.
Ø When a fault occurs, usually the following steps aretaken:(1) Fault occurs → (2) Resolve the fault by
personnel → (3) Perform "Fault Reset"→(4) Perform External Enable "oﬀ" → (5) Perform
External Enable "on".
However, if users don’t have an I/O for "Fault
Reset", tick this box so that Fault Reset will be
executed between step (4) and (5).

l:(Ticked): Treats DC bus signal as External Enable event.
Occasion example:
If AC power is cut off, the driver will detect that AC
power is too low; hence a fault occurs. When AC
power is turned on again and is successfully converted
into DC power (in this case the DC bus signal will rise),treat the DC bus signal as an External Enable event.

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Boot Sequence Configuration Procedurell:(Ticked): Treats Fault Reset action as an External
Enable event.
:(Ticked): Do not leave Boot Sequence when fault
occurs.
When a fault occurrs during booting:Ø If ticked, the drive will stay in boot sequence (won’t
abort boot sequence); after the fault is cleared andhas been reset, the drive will automatically restartboot sequence operation.
Ø If unticked, after a fault is cleared and reset, users
will need to power off and power on the device(s)to restart boot sequence operation.

lMotor ON and Transit to Profile Position Mode.
To activate this function, users must also tick(activate) the box of Homing in boot sequence.
It’s only suitable to activate this function when users
need to apply Profile Position mode.
IMPORTANT:
Ticking/Unticking this box in Boot Sequence section
will link with the same setting in Homing section (seechapter 7.1); vice versa.

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Boot Sequence Configuration ProcedurelMove to Home (Move to the new zero position.)
This box is a subset under the higher box [Motor ON
and Transit to Profile Position Mode]. To use thisfunction, the [Motor ON and Transit…Mode] box needs
to be activated first.
2

Phase Zero3

Homing

Performs phase-find.
Note:
If no hall sensor is installed, the motor will move for acertain distance while performing phase-find.
ll4Motor ON:
Tick this box to include Homing in the boot sequence.
:
Choose a Homing method from # -12 to #35, seechapter 7.
Motor-ON and use the selected mode for operation.

l:Tick this box to include Motor-ON in the bootsequence.

l:Ø Users can assign 4 sets of motor-on mode slot (#0
to #3).
Ø #0 is default for booting.
Ø #1~3:
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Boot Sequence Configuration Procedure
Profile Position to Profile Torque), they’ll need toconfigure in this column.
Ø #1~3 need to work with physical I/Os.
Please refer to chapter 4.7.1.1 – “Motor Modeselect bit0” for detailed configuration.
l5

Options of motor-on mode:

Move toHome
Move to Home or not.

6

Script7

Test bootRun the script or not.

Click to test your boot sequence settings.

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4.9 Error Mapping
It might be possible that the encoder feedback is not accurate.
For instance, the optical scale is not installed straight. In this case, suppose boththe position command we give and the position feedback obtained from thepresent encoder is 1000 cnt. Yet, when measuring the position with a finer
device—such as a laser interferometer—we might find the actual position is 1003
cnts instead.
This Error Mapping function is for troubleshooting abovementioned problems.
To do so, users will need a device which has finer resolution than that of thecurrently-used encoder.
Next, users will need to perform homing first, designate a range (area) to becalibrated, and configure the error mapping settings. When error mapping
function is activated, driver will automatically compensate the differences (i.e.
errors) in the designated range*.
Note*: Errors occurred outside the designated error mapping range will
NOT be compensated.

See explanation of each interface element in chapter 4.9.1.
See configuration steps in chapter 4.9.2.

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4.9.1 Error Mapping Interface
Overview

4.9.1.1 Tool Zone

a. Save:
Save to File or To Flash.
Note:Your settings must be saved to Flash to be processed. If you only save
to File, the parameters will NOT be loaded to the driver to execute.
b. Load:
To load settings from file or Flash.
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Laser Test / Calibration Move:
Click it to jump to the [Calibration Move] panel.

This panel is a convenient tool for designing a set of consecutive
motor movements to work with a finer device.
(1) Distance:
The length (mm) of each partition.
(2) Partition:
How many partitions (N) to be measured by the finer device.
(3) Offset:
After one cycle of consecutive movements [N partitions] iscompleted, the distance (mm) that the motor needs to movefurther forward and then backward onto the end of the lastpartition. See image below, marked in blue.
Note:
The Calibration Move cycles will be conducted in round-trip.

(4) Wait Time:How much time (ms) the motor needs to pause motion after
reaching one end of a partition. Key in values from 2000 to
10,000.
(5) Cycles:
How many times to repeat the set of consecutive motor
movements.
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Tick to automatically set the parameters of “Distance” and“Partition” to be in line with the settings of “Interval” and“Point counts” on Error mapping panel.
For example:
4 Partitions = 5 Point counts.
(7) Start:
Start the whole configured calibration moves.
(8) Back to Error mapping:
Click to jump back to Error mapping panel.

4.9.1.2 Status Zone

a. Error mapping:
Tick to check prerequisites and activate the error mapping function.
Note:
It is mandatory that BOTH the two prerequisites—Table valid and
Homing complete—are fulfilled (signal ON, shown in green) toactivate the Error Mapping function.
If this box
is ticked while either or both of theprerequisite signals are off, the activation of error mapping will wait
until BOTH prerequisites are fulfilled.

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Chapter 4 Settingsb. Table valid:Note:
You must first perform “Save to FLASH” to check the validity of data.
The driver will check:l
Table size (namely, point counts not exceeding maximum default).
lValidity of data version (namely, the version of Measuring Method
Zone and Record Table is correct).
c. Homing complete:
Green if Home is established.
d. Error mapping active:
Turns green (meaning error mapping function is activated) on thecondition that both “Table valid” and “Homing complete” signals areon.

4.9.1.3 Measuring Method Zone

a. Start:
Start measuring from what position (count). This zone is where you
set the designated area to be calibrated.
b. Interval:
How big the internal between measurement nodes needs to be.
The Interval is based on {2 to the [user configuration]th power}.
c. Point counts:
How many nodes.
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4.9.1.4 Record Table
Manually key in here the difference (i.e., error count) between the finer device
and the encoder feedback.

a. Position count:Shows the actual position of each node.
b. Error count:
Key in difference(s) manually.

4.9.1.5 Graph Zone
The UI will automatically draw a graph according to the given record table.

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4.9.2 Configuration Steps
1. Perform Homing first.
2. Configure the Measuring Method Zone:(1) where to start measuring,(2) how many counts the interval is, and(3) how many nodes (i.e., Point count) you need. Each node is equally
spaced.
3. Configure “Calibration Move”:(1) Click “Laser Test”.

(2) Configure the “Calibration Move” parameters (see chapter
4.9.1.1, point c.).
OR, for convenience, click

button.

(3) Then set the Offset, Wait Time, and Cycles. See picture below.

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Chapter 4 Settings(4) On the “Motion” panel, choose Profile Position mode. Configure
the motor parameters of Profile Velocity, Profile Acceleration and
Deceleration.

(5) Click Motor-ON button.
(6) Click Start button.

The motor will then move to the user-assigned-position to startmeasuring (see Ch. 4.9.2, point #2) and perform the Calibration
Move.
During calibration, the UI will show which cycle and which partition(N) is being performed.

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4. After calibration move(s) are finished, click

button.

5. Record the differences:
Manually key in the difference(s) between the calibration result and thefeedback of presently-used encoder to the Record Table. A graph shall
automatically show on the right side.

6. Save to Flash.

Note:
The configuration parameters must be saved to “Flash” to be processed by
the driver.

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After saving to FLASH, system will check the validity of record table. If valid,
the signal icon will turn green.

7. Tick the “Error Mapping” box.
Tick this box so the UI will automatically check if BOTH the signals of [Table
valid] and [Homing complete] are high (shown in green). If yes, the Error
mapping function will be activated.

Now calibration is successfully completed.

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4.10 Position Comparator
This function can be seen as a virtual limit switch.

Application:
You can configure up to 3 sets of position conditions as limit switches.
Assign your output pin(s) to “Pos. Compare 0~2 out”. When the motor moves
into a certain area or onto a spot, the position comparator signal will rise andtrigger an output to other external devices.

< Position Comparator Processing >Pos. Fdb+%-

OffsetCompareDigital output
Pulse Time

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a. Pulse Time:For how much time (ms) the Position Comparator output signal needs
to rise after the conditions you configured are satisfied. If this is set to0, the comparator function is deactivated.
b. Compare Mode
This parameter works with the “Compare Level High/Low” parameters.
lGreater than:It corresponds to “Compare Level High”. Signal rises if thecompare outcome is greater than the configured value.
lLess Than:
It corresponds to “Compare Level Low”. Signal rises if thecompare outcome is less than the configured value.
l
In Range/Outside Range:
Signal rises if the compare outcome is between the Compare
Level High and Low values.

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OffsetOffsets against the position feedback value then the comparator will
start counting from the difference value.
For example:
If the motor is now at position 10000 cnt, configure “Offset” value
to 2000 and set the “Compare Mode” to “Greater than”; then set
the “Compare Level High” value to 15000. Hence:l The comparator will start counting from 8000 (10000 – 2000 =8000) and needs to move more than 7000 cnt to reach theconfigured goal (15000).
l The signal will rise when the motor is at pos. 17001 (not 15001).

d. Modulo
Sets a devisor value and use the remainder value for processing.
Hence, the remainder will range from 0 to devisor value minus 1.
It will look like the comparator counts from 0 to the devisor value minus
1, and then count from 0 again cyclically.
For example:
If you configure Modulo value to 3000, the comparator will countfrom 0 to 2999 and to 0, then up to 2999 again cyclically.
1 mod 3000
is 1
2 mod 3000
is 2, ……,2999 mod 3000
is 2999
3000 mod 3000
is 03001 mod 3000
is 1
3002 mod 3000
is 2 ……, and so on.
e. Compare Level Low
A bench-mark to be compared when using “Less Than” in Compare
Mode.
f.

Compare Level HighA bench-mark to be compared when using “Greater Than” in Compare
Mode.
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Chapter 5 Tune
There are 4 basic auto-tuning functions in the cpc UI: Current Loop, Phase,
Velocity Loop, and Position Loop. However, it’s possible that the performanceof autotuned gains might not suit users’ needs—in this case, users can tune bythemselves via adjusting parameters of each individual loop. Users can adjust
the value of gain and use Bode Plot or Time Response function to view andevaluate the tuning result.
When tuning, PI control is applied.
In addition, during auto-tuning, only the feed forward in Velocity loop will be
adjusted automatically; for other loops the feed forward needs to be adjusted
by users.
For the Bode Plot and Time Response functions, cpc provides convenient tools
to view graphs better:
Loop
Current
Velocity
Position

Tool

Zoom Mode

Zoom Reset

Save as txt

Show Prevalue

Frequency Response

V

V

V

--

Time Response

--

V

V

V

Frequency Response

V

V

V

--

Time Response

--

V

V

V

Time Response

--

V

V

--

See details in related chapters.

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5.1 Current
5.1.1 Current Loop Gain
Current PI
Controller
CurKpRFF

Iq/Id Ref

Error

+

CurKi

CurKp

+

Vq/Vd Dmd

Iq/Id Fdbl

CurKpRFF: Resistance feedforward. [ CurKpRFF * Iq/Id Ref ]CurKp:
Proportional gain.
[ CurKp * error(t) ]l

CurKi:

lIntegral gain.

[ CurKi * ∫ CurKp ∗ error(τ)dτ ]² Vq/Vd Dmd = (CurKpRFF * Iq/Id Ref) + (CurKp * error (t)) + (CurKi*∫ CurKp ∗ error(τ)dτ)² Error = Iq/Id Dmd – Iq/Id fdb
Please check the symbol in chapter 6.1 Monitor.
-

Iq/Id: Iq or Id.

-

Vq/Vd: Vq or Vd.

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Examples of the result of adjusting Kp and Ki in Current Loop
Kp:
Current Tuning - When Kp is changed (Bode Plot)
5

0
100

1000

10000

-5

-10

-15

-20

-25

3

Kp@13.5

Kp@8

Kp@15

Current Tuning - When Kp is changed(Time Response)

2
1
0
-1

0
0.55
1.1
1.65
2.2
2.75
3.3
3.85
4.4
4.95
5.5
6.05
6.6
7.15
7.7
8.25
8.8
9.35
9.9
10.45
11
11.55
12.1
12.65
13.2
13.75
14.3
14.85
15.4
15.95
16.5
17.05
17.6
18.15
18.7
19.25
19.8

l

-2
-3

Kp@13.5

Kp@8

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Ki
Current Tuning - When Ki is changed(Bode Plot )

5

0
100

1000

10000

-5

-10

-15

-20

Ki@0.13483

Ki@0.05

Ki@0.2Current Tuning - When Ki is changed(Time Response)

2
1
0
0
0.55
1.1
1.65
2.2
2.75
3.3
3.85
4.4
4.95
5.5
6.05
6.6
7.15
7.7
8.25
8.8
9.35
9.9
10.45
11
11.55
12.1
12.65
13.2
13.75
14.3
14.85
15.4
15.95
16.5
17.05
17.6
18.15
18.7
19.25
19.8

l

-1
-2
-3

Ki@0.1348

Ki@0.05

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5.1.2 Auto Tunea. Test Current:
Percentage of the continuous current for testing.
b. Frequency Start/End:The frequency range of testing.
c.

Stable/Fast:
Expected feedback response speed toward demands.

d. Dead time compensation:
Compensate the time of the motor idle.

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5.1.3 Frequency Response (Bode Plot)
You can plot the frequency response of the current loop.
Click the Frequency Response index, then click the Bode Plot button to start.

a. Test Current:
Percentage of the continuous current for testing.
b. Frequency Start/End:The frequency range.
c.

Sample Count:
Defines how many data points (i.e., sample counts) will be captured
within the configured frequency start and end. As a result, the more
sample counts captured, the more data will be included in theexported .txt file, and the more time is needed to complete bode plot.

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d. Bode Plot:
Click to start plotting. The result will show on the chart panel like this:e. Zoom Mode(on chart panel):
Click to turn off the focus-line in order to apply the zoom function.
f.

Zoom Reset
Resets zoom.

(on chart panel):

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Chapter 5 Tuneg. Save as txt(on chart panel):
Exports the graph data in .txt format. Users can rearrange the exported
data via Excel.
Note:
The exported data is separated by semicolon (see picture below).
To rearrange the data, users may consider using the “text tocolumn” function in Excel.

<The original exported graph data in .txt>

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5.1.4 Time Response

a. Test Current:
Percentage of the continuous current for testing.
b. Frequency:
The frequency of the wave.
c. Wave Type:Choose preferred wave form from Square, Triangle, and Sine.
d. Trace:lClick to test and see how the motor feedback differs from thedriver’s command.
lView the upper graph (on the right side) to compare the difference
between Current Demand (green) and Current Feedback (red).
The graph helps you evaluate whether the tuning result is ideal.

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Chapter 5 Tunee. Zoom ResetTo reset zoom.
f.

g.

:

Save as text:
Exports the graph data into .txt format.
:
Click to see the previous Current Feedback and Voltage Demand.

h. VdDmd graph:
To view the voltage demand.

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5.2 Phase
The motor utilizes three-phase coils and permanent magnets to generate thrustforce. The coil phase and the motor electric angle should be checked before
operation. If you have installed hall sensors, these 3 signals—HA, HB and HC—
will show you where the electric angle is now.

Permanent magnets

N

S

Motor phase angle
0∘

60∘

120∘

240∘

180∘

300∘

Ⅱ
Ⅲ

Ⅰ

Ⅳ

Ⅵ
Ⅴ

Hall code

Ⅰ
001
1

Ⅱ
011
3

Ⅲ
010
2

Ⅳ
110
6

Ⅴ
100
4

Ⅵ
101
5

HA
HB

HC

HC

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5.2.1 Auto Phase
Before operating the motor, there are two things to define:(1) User-defined motor direction.
It’s important that the user-defined opposite/negative (or CW/CCW)
direction and the encoder’s counting direction are consistent.
Performing Auto Phase function can configure them to be consistent.
(2) Hall sensor.
Click “Start AutoPhase” and manually move the motor in positive
direction. In addition, the driver will check the pole pitch parameter
automatically.
If Autophase function is unusable, please see how to manually set phase inchapter 5.2.4.

a. Test current / Test time:
Percentage of the continuous current for testing.
b. Cycle Margin % of PolePitch:
Allow this percentage of difference between the configured pole pitch
value and the actual pole pitch value.
If hall sensors are installed, this panel

will show the Hall

code status.
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5.2.2 Phase Find
Phase Find function is for searching for the actual phase automatically.
There are 2 ways to locate motor phase:l
If hall sensors are installed, the driver will calculate the difference between
motor and magnets to find phase.
l
If not, the driver will execute forced excitation to find phase.

The cpc GUI provides 3 modes to find phase, clicklll

to perform:

Force ZeroHall
Abs. Enc. ST. Pos.

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5.2.2.1 Force Zero
Click Start button to execute forced excitation.

a. Test current / Test time:
Percentage of the continuous current for testing.
b. Slow down Force Zero operation if motor is moving
Slows down the forced excitation current; hence, the motor will movegradually instead of being strongly pulled to place at one time.

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5.2.2.2 Halla. Cont. check hall signal validity
Checks the validity of hall signal continuously.
If all the three bits of hall code are 1 or 0, a fault event will occur.
b. Cont. hall->theta synchronization
A fail-safe mechanism.
lUnticked:
After the phase is found using hall sensor, use only the encoder
feedback to update the phase angle.
lTicked:Continuously uses the hall sensor data to update the motor
phase.
c. Theta table
For manually keying in theta values. The columns can accept values from 0
to 2 pi, unit is radium.
If AutoPhase is unusable, for instance the motor stroke cannot contain a complete
motor pole pitch, users will need to manually set phase (see Ch. 5.2.4) and key ineach electric angle’s Theta value which can be obtained by using Scope function(see how in Ch. 5.2.2.2.1).
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5.2.2.2.1 Steps—Obtaining the motor electric angle theta value
1. Execute Force Zero.
Go to: Settings >Tune > Phase > Phase Find > select Force Zero mode, thenclick Start.

2. Go to Scope function.

è

3. In Scope, set the source of channel 1 to ThetaElec and the source of channel 2
to Hallcode. Next, select “Normal” for Scope Type (see picture in step 4).
4. Click “Start Record” and manually push the motor for a distance.

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5. Now, wait for the “Receiving data complete” message to show up on top of thescope window.

6. Select the “PlotXY” option from the Plot Typeto be the X axis value

list; then set “ThetaElec”.

7. Next, click on the Mark Tab, the screen should appear like this:

8. Click on the Mark A icon

. Put mouse curser on the junction of two signal

sections and on the middle of a signal section (see images below). Users willneed to note down the Mark A x-axis values shown on the Mark Tab.

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Chapter 5 Tune( ↓ the junction of two signal sections )( ↓ the middle of a signal section)

9. Keep moving curser and noting down all the Mark A x-axis values for the Theta
table columns.

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5.2.2.3 Abs. Enc. ST. Pos.

To operate with an absolute encoder, execute AutoPhase first in order to initiallylocate what position count corresponds to “0” electric angle (i.e. theta value 0)—
this position count value is the “Absolute Encoder Single Turn Zero Offset” value.

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5.2.3 Other Settings of Phasea. Auto Phase Find on motor on event
Finds phase automatically on motor-on event.
b. Invert Commutation Polarity
CAUTION:
If the setting of “Invert Commutation Polarity” is changed, for the sakeof safety, the setting of encoder polarity in Feedback section MUST also
be altered. Otherwise, the motor may perform unexpected movements.
Next, if a hall sensor or an absolute encoder is used, it is ESSENTIAL to
manually key in the following data respectively:lHall sensor: the Theta Table. (If no hall sensor is used, after
changing BOTH polarity settings, perform Force Zero again.)lAbsolute encoder: the value of “Absolute Encoder Single Turn Zero
Offset”.
Please see detailed steps of manual-phase-setting in chapter 5.2.4.
A warning will show up when trying to change polarity.

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5.2.4 Manually Set Phase
Manually setting phase is to let users define the counting direction of encoder.
Steps:
1. Perform forced excitation first (IMPORTANT).
(Go to: Tune > Phase > Phase Find > Force Zero mode.)
2. Change BOTH the settings of Invert Encoder Polarity* and Invert
Commutation Polarity**.
*: see chapter 4.5.1, point (b).
**: see chapter 5.2.3, point (b).
3. Re-define phase:l
If not using hall sensor:
Perform “Force Zero” again.
l
If using a hall sensor:
Manually key in the Theta Table (see how in chapter 5.2.2.2.1).
l
If using an absolute encoder:
Manually key in the value of “Absolute Encoder Single Turn
Zero Offset” (To be elaborated).

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5.3 Velocity
The flow diagram of velocity signal loop is shown in chapter 5.3.1.
The cpc firmware provides 3 sets of Kp and Ki. In addition, the “Auto Calculator”(see chapter 5.3.2) and the “Filter” (see chapter 5.3.3) are also useful tools forfiner tuning.

5.3.1 Velocity Loop Gain
Velocity PI
Controller
AccDmdVelKpAI

VelDmdVelKpVI

VelFdb

VelRef+-+VelFFOut

error

VelKp

l

l
l

l

VelKi

ʃ

+

VelPIOut+

FilterVel IqOut

VelKpAI: Acceleration feedforward gain, proprotional to load inertia.
[ VelKpAI * AccDmd ]VelKpVI: Friction feedforward. [ VelKpVI * VelDmd ]VelKp: Proportional gain. [ VelKp * VelErr ]VelKi: Integral gain. [ VelKi * ∫ VelKp ∗ VelErr(τ)dτ ]Note:² VelIqOut = { VelKpAI * AccDmd + VelKpVI * VelDmd + VelKp * VelErr + VelKi* ∫ VelKp ∗ VelErr(τ)dτ } * Filter(ω)

Please check the symbol in 6.1 Monitor.
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Please refer to the line graphs in chapter 5.1.1 about how the results will be byadjusting Kp and Ki gains.

5.3.2 Auto Calculate

Drag the slider bar
and then click
the driver.

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5.3.3 Filter

l

l

l

Low pass filter:
Attenuates signals with frequencies higher than the cutoff frequency.

Notch filter:
Attenuates signals with frequencies in a specific range.

Off:No filter.

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5.3.4 Auto Tune

The motor will move back and forth while tuning velocity. Set the moving
distance limit and click “Tune” button, the UI will tune the velocity loop gain
automatically.
a. Distance Limit:
Maximum testing distance.
b. Velocity Limit:
Maximum testing velocity.
c. Acceleration Limit:
Maximum testing acceleration.
d. Stable/Fast:
User’s expected feedback response speed toward demands.

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5.3.5 Frequency Response (Bode Plot)This function uses different frequencies of sine input from low frequency to highfrequency then plot the response. Click “Bode Plot” to see the frequency
response.

a. Test Velocity:
The testing velocity.
b. Frequency Start / End:
Range of the frequency.
c. Sample Count:
Defines how many data points (i.e., sample counts) will be captured
within the configured frequency start and end. As a result, the more
sample counts captured, the more data lines the exported .txt file will
include, and the more time is needed to complete bode plot.

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d. Bode Plot:
Click to start plotting. The result will show on the chart panel like this:e. Zoom Mode(on chart panel):
Click to turn off the focus-line in order to apply the zoom function.
f.

Zoom Reset
Reset zoom.

(on chart panel):g. Save as txt(on chart panel):
Export the graph data in .txt format. Users can rearrange the exported
data via Excel.
Note:
The content of exported data is separated by semicolon. To
rearrange the data, users may consider using the “text to column”
function in Excel.
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5.3.6 Time Response
Click “Trace” to test and see how the motor feedback differs from the driver’s
command. View the upper graph to compare the response between the Velocity
Demand (green) and the Velocity Feedback (red). It can help you observe
whether the tuning result is ideal.

a. Wave Type:Choose what type of wave form you want to trace: square, triangle, orsine wave forms.

b. Velocity Limit:
Maximum testing speed.
c.

Frequency:
Testing frequency.

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d. Trace:
Click to start tracing. The chart panel should appear like this:i.

Zoom ResetTo reset zoom.

j.

Save as text:
Export the graph data in .txt format.

k.

l.

:

:
Click to see the previous Velocity Feedback and Iq Current Feedback.
IqFdb graph:
To view the Iq current feedback.
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5.4 Position
Position loop gain provides 3 sets of tuning parameters. Due to that the position
loop gains tuning is integral in the velocity loop tuning procedure, after thevelocity gains are tuned, the UI will automatically tune the position loop gains.

5.4.1 Position Loop Gain
Position PI
Controller

PosIKpPosIKdPosIKiʃ+

Velocity PI
Controller

d/dt

VelIqOut+

IqDmd

VelRef
PosRef

+

-

PosKp

PosErr

ʃ

PosKi

+

PosVelOut

PosFdb

VelDmd

dP
dt
l
l

l

l

l

l

+

PrfVelKpFF(Velocity Feedforward)

0~100%

PosIKp: Position error to current demand proportional gain. [ PosIKp * PosErr ]PosIKi: Position error to current demand integral gain. [ PosIKi *
∫

( )

]

PosIKd: Position error to current demand derivative gain. [ PosIKd *]PosKp: Proportional gain. [ PosKp * PosErr ]PosKi: Integral gain. [ PosKi * ∫ PosKp ∗ PosErr(τ)dτ ]PrfVelKpFF: Profile velocity Kp feedforward.

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Note:
² PosVelOut = PosKp * PosErr + PosKi * ∫ PosKp ∗ PosErr(τ)dτ² IqDmd = VelIqOut + PosIKp * PosErr + PosIKi * ∫( )+ PosIKd *Please check the symbol in chapter 6.1 Monitor.

5.4.2 Auto Calculate

Drag the slider bar
then click thethe driver.

to generate a group of gain
button—these auto calculated gains will be set into

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5.4.3 Othera. PrfVelKpFF: Profile Velocity Kp Feedforward
Ranges 0~100 %. Default is 100%.
l
The profile velocity value is multiplied by the PrfVelKpFF value.
l
The primary effect of this gain is to decrease following error.

5.4.4 Time Response

a. Profile:
Tick to apply the Acceleration and Deceleration.
b. Distance:
The moving distance of testing.
c. Velocity:
The maximum testing velocity.
d. Acceleration/Deceleration:
The slope of the velocity.

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Click to start tracing, the chart panel should appear like this.

f. Zoom Reset:
Resets zoom.
g. Save as txt:
Exports the graph data in .txt format.
h. PrePosErr / PosErr:
Shows the present and the previous differences (i.e., error) between the
Position Demand and Position Feedback.

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5.5 Gain Switch
The cpc UI provides 3 gain-sets.
Users can use Gain Switch functionality to shift gain-sets when certain userdefined conditions are reached. For instance, users can use conditions of input
signal, level trigger (see chapter 5.5.3, the Switch Level), and target reach flagas triggers to shift gain-sets.
To start, select Gain Switch Mode and, if applicable, the Switch Source.

5.5.1 Single-set mode
Only one gain-set will be used. Configure the parameters of that gain-set.

Options:
1st Only: Use the 1st gain-set only.
2nd Only: Use the 2nd gain-set only.
3rd Only: Use the 3rd gain-set only.
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5.5.2 Digital In

Use digital signal input to determine which gain-set to be applied.
Go to Settings> Input (see chapter 4.7.1) to assign your input pin as “Gain switch
to 2nd (or 3rd) set”.

For example:
If there is only one input pin and it is set as “Gain switch to 2nd set,”Gain-Set will switch to the 2nd one when a rising edge triggers signal input
to the driver and will automatically switch to the 3rd one when a falling edge
occurs; see the diagram below. For other occasions, please see the flow
chart <Gain-set Switching Flow Chart> shown on subsequent page.

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<Diagram—Gain-set Switching Determined by Digital Input>

a. Switch Blend Period:
The transition time (ms) from the 1st gain-set to the 2nd one, or from the
2nd to the 3rd.
b. Switch Delay:
Prolongs the 2nd gain-set for this time duration (ms) after the fallingedge is triggered.
c.

Switch 3rd Gain Period:
Performs the 3rd gain-set for this time duration (ms) after the 2nd gainset ends.
Note:
When this value is set to 0, the 3rd gain is deactivated.

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5.5.3 Demand & Feedback & Error
These three gain switch modes—Demand, Feedabck, and Error—are to shift
gain-sets when user-configured conditions are reached. See example on next
page.
<Gain-set Switching Diagram>
Hysteresis Level

Level
Feedback /Demand /Error
3rd GainHigh Gain (2nd)Gain

Low Gain (1st)Low Gain (1st)
Switch Switch Switch 3rd
Delay Blend Gain Period
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Configuration example:

This setting example

means:

Use the position demand value to determine which gain-set to apply. Whenthe position demand value is greater than user-configured “Switch Level”, the gain-set will shift as described in the“Gain-set Switching Diagram”.

a. Switch Blend Period:
The transition time from the 1st gain-set to the 2nd one, or from the 2nd
one to the 3rd.
b. Switch Delay:
Prolongs the 2nd gain-set for this time duration (ms) after the Switch
Source drops to lower than the hysteresis level (pink line in graph)below the Switch Level.
c.

Switch 3rd Gain Period:
Performs the 3rd gain-set for this time duration (ms) after the 2nd gainset ends. When this value is set at 0, the 3rd gain is deactivated.

d. Switch Level:
The threshold of switching gain-sets (green line in graph).
e. Switch Hysteresis Level:
A buffer between the reached Switch Level and the start of switchinggain-sets.

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5.5.4 Target reach flag
When the Gain switch mode is set to Target Reach, the target reach flag will be
used as a gain switch trigger as shown in the diagram below. (For explanation oftarget reach flag, see chapter 4.3.3.)

1
Target Reach
Flag
0
3rd GainHigh Gain (2nd)Gain

Low Gain (1st)Low Gain (1st)
Switch Switch
Delay Blend
PeriodSwitchBlend
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a. Switch Blend Period:
The transition time (ms) from the 1st gain-set to the 2nd, or from the 2nd
to the 3rd.
b. Switch Delay:
Prolongs the 2nd gain-set for this time duration (ms) after the fallingedge is triggered.
c.

Switch 3rd Gain Period:
Performs the 3rd gain-set for this time duration (ms) after the 2nd gainset ends.
When this value is set at 0, the 3rd gain is deactivated.

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Chapter 6 Trial Run
There are 2 panels in Trail Run: Monitor and Motion.
Trial Run provides 8 channels for users to monitor the numeric data from thedriver.

Besides, you can use the Motion panel to test movements.

Application examples:
Users can observe the encoder feedback value through the monitor panel andevaluate if the encoder is assembled correctly. Or, after tuning, users can test
motor’s performance (via the motion panel) using the profile
velocity/position/torque mode.
There are several motion functions, such as motor operating mode, S-curve
motion, and absolute/relative position movements.

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6.1 Monitor#

OptionFunction

1

ChOff

Channel off

2

WvGnTheta

Reserved

3

WvGnSwpTmr

Reserved

4

WvGnFreq

Reserved

5

WvGnAmp

Reserved

6

WvGnOut

Reserved

7

VDCFdbReserved

8

IaFdb & IbFdb

One of the three phase current from the motor
Ia, Ib, Ic formed 360∘9

Vin0 & Vin1

The voltage of analog input (See Will1-B
Installation Guide – Chapter 3.7).
Vin0

Analog AI-0-; it is used for analog
command.

Vin1

Analog ai-0+; reserved.

10

RegenSat

Reserved

11

IqRefSoft

Target current command, configured via UI

12

IqRefAux

Iq command from the controller

13

ThetaElecThe phase angle on the magnet

14

DdRef

Reserved

15

DqRef

Reserved

16

VdDmd

Reserved

17

VqDmd

Reserved
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OptionFunction18

Ialpha & Ibeta

19

IdFdb

Id feedback from motor

20

IdRef

Id command to the motor

21

IqFdb

Iq feedback from motor

22

IqRef

Torque command to the motor

23

VelUi

Reserved

24

VelPIOut

Velocity PI Controller output

25

VelIqOut

Velocity Iq Output

26

VelFFOut

Velocity feedforward Output

27

PosUi

Reserved

28

PosIUi

Reserved

29

PosRefSoft

Target position command, configured via UI

30

PosRefAux

Position command from the controller

31

PosRefPrfl

Position command from profile path

32

VelRefSoft

Target velocity command, configured via UI

33

VelRefAux

The command from the controller

34

VelRefPrfl

Velocity command from the profile path

35

VelDmdVelocity demand (before limited)

36

VelRefStpMgr

Velocity reference step manager (after limited)

37

PosDmdPosition demand (before limited)

38

PosRefStpMgr

Position reference step manager (after
limited )39

PosFdb

Position feedback from motor

40

PosErr

The difference form PosRef and PosFdb

41

PosVelOut

Position PI controller output

42

VelRefVelocity reference

43

VelFdb

Velocity feedback from motor

44

VelErr

The difference form VelRef and VelFdb

45

AccDmdAcceleration demand

46

AccFdbAcceleration feedback47

AccErr

Acceleration error

Map from the Ia, Ib, Ic model
Ialpha=Ia , Ibeta= (Ib-Ic)/√3

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OptionFunction48

Digital Input &Output32-bit I/O code

49

MainISRLoad

Reserved

50

MainISRLoadP

Reserved

51

VDCRawReserved

52

Ia & Ib Raw

The value of IaFdb & IbFdb analog signal

53

Vin0 & Vin1 Raw

The ADC (Analog-to-Digital converter) value of Vin0
& Vin1 analog signal

54

CtrlLoopCnt

Reserved

55

CtrlLoopLevel

control level in position, velocity or current

56

MachineState

Reserved

57

ErrorCode

Chapter 10 Error code

58

HallCode

Hall sensor signal
0: 1st gain-set

59

GainIndex

1: 2nd gain-set
2: 3rd gain-set

60

PosTgtFIFOCn

Reserved

61

STW

Reserved
0: off62

ErrMapSts

1: No table
2: Waiting for Homing
3: Active

63

EncSinFdb

Encoder sine feedback

64

EncCosFdb

Encoder cosine feedback

65

5VAnalog

Over-temperature protection 5V analog input

66

EncSinRaw

The ADC value of encoder sine analog signal

67

EncCosRaw

The ADC value of encoder cosine analog signal

68

MainsFreq

AC input frequency in 0.1 Hz.

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6.2 Motion

a. Control Mode:
Choose a preferred control mode here.
b. Motor ON:
Click to enable motor-on.
c. Run:Click to execute motion commands.
d. Reverse:
Reverse the value of target. (This function is only applicable when motor
is on.)
e. Zero:Make the motor’s present position as position 0. (This function can only
be enabled when motor is off.)

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6.2.1 Direct Position & Velocity & Current

Set the target position, velocity, or current, the driver will reach the goal as soon
as possible.
a. IdRefSoft:for cpc internal use only.

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6.2.2 Profile Position

PositionTargetPositionTime

Velocity
ProfileVelocityTime

Acceleration
ProfileAcceleration

Time

ProfileDeceleration

S-Curve SmplTime
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a. S-Curve SmplTime:To smooth the acceleration slope to avoid too much vibration.
b. Profile Velocity:
The maximum speed during movement.
c. Profile Acceleration & Deceleration:
The maximum acceleration & deceleration during movements.
d. Estimated Runtime (s):The estimated time (in second) needed to reach target.
[ Relative Move Panel ]e. Distance:
Sets the moving distance.
f. Go Forward/Backward:
Sets the moving direction.
g. Repeat:
Tick to activate the “repeat” function.
[ Absolute Move Panel ]h. Point A/B:
Manually key in the target position(s) here.
i. Set:Automatically fills in motor’s current position into the columns of Point
A/B. (Namely, this function sets motor’s current position as point A/B).
j. Go:
Click to make the motor move to point A/B.
k. Repeat:
Tick to activate the “repeat” function.
[ Repeat Panel ]l. Dwell time (ms):
Waits for this amount of time after the motor reaches target (i.e. point
A/B or relative distance).
m. Stop repeating:Cancels the command of repeating.
Note: Once you click this button, the motor won’t stop until it reaches
the designated target.
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6.2.3 Profile Velocity

Velocity target command (VelRefSoft)Time

Velocity

Target Velocity

Time

Acceleration
Profile Acceleration

Time
Profile Deceleration

a. Target Velocity:
Key in the velocity command value here.
b. Profile Acceleration & Deceleration:
The maximum acceleration & deceleration during movements.
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6.2.4 Profile Torquea. Current Slope:
The rate of current increase, in amperes/sec.

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Chapter 7 Homing
The operation of incremental encoder is based on calculating the increments(counts) between moves. However, for the operation of positioning the driver, an
exact knowledge of the absolute position is normally required; we have to definea start point (Home) before working—which is called Homing—in order to know
at what exact position the moves will be instead of knowing merely the relative
moving distance.
There are several homing methods. Each method establishes:l
Homing signal (limit or home switch transition or encoder index pulse):(1) Backward limit switch(also called “negative limit switch” on the following pages)(2) Forward limit switch(also called “positive limit switch” on the following pages)(3) Home switch(4) Index pulse from an encoder.
lDirection of motion and, where appropriate, the relationship of the index
pulse to limit or home switches.

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7.1 Setting

There are several homing methods ranging from number #-12 to #35; theparameters to be set are the same, they are: speed, home offset, acceleration,
hard stop current, and hard stop period.
a. Home Method / Start:
Selects a homing method from the list and click Start.
b. Status:
Shows the present status of the homing procedure.
c. Home Speed (Switch/Index):
The speed of moving to the switch / index.
d. Home Offset:
The offset counts from origin. Moreover, the offset value will be theposition count(s) when homing is completed.
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The acceleration of homing.
f. Hard Stop Current / Period:(1) When the driver continues to output more than or equal to acertain percentage (%) of peak current for a period, the motor will
be regarded as hitting a hard stop.
(2) Note: The method of using mechanical hard stop as references canbe applied only under homing method -1, -2, -3, -4, and -5. If thehard stop conditions are triggered under other homing methods,
homing will fail.
g. Transition to Profile Position Mode, on successful Homing operation:
When ticked, once Homing procedure is completed, the system willautomatically transit to Profile Position Mode.
Note:lThere is a same setting in Boot Sequence (see chapter 4.8) whichlinks with the setting (e) here. Changing the setting (e) in
Homing section will alter the same setting in Boot Sequence. Viceversa.
l
On condition that in the Boot Sequence section the “Homing”
step* is set to be performed, a warning** will show up when users
change the setting (e) in Homing section.
*:

**:

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Move to new zero position, on successful Homing operation:
When ticked, once Homing procedure is completed and system has
switched to Profile Position mode, move to the newly-defined zero
position. This function is available only when the “Transition to
Profile Position Mode, on successful Homing operation” option isticked (activated).

i.

:Ticked: Triggers a fault event (error code “0x8613”) when there
is a homing error.
Unticked: No fault event will be triggered when there is a homing
error.

llj.

Switch status:
Displays the status of Forward/Backward/Home switches.
(Green: on; Red: off; Grey: undefined).

k.

Set I/O:
A quick link to the Input panel.

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7.2 Homing Method
7.2.1 CiA 402 Standard Homing Method
By Limit Switch and Index Pulse
Method 1:
Home on the first index pulse after departing from the negative limit switch.

Homing process:lStart with the negative motion unconditionally to the rising edge of thenegative limit switch; then move in positive direction until the first index
pulse is found.

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Method 2:
Home on the first index pulse after departing from the positive limit switch.

Homing process:lStart with the positive direction unconditionally to the rising edge of thepositive limit switch; then move in negative direction until the first index
pulse is found.

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Method 3:
Home on first index pulse after departing from home switch.

Homing process:l
If the home switch is inactive, start with the positive direction to the risingedge of the home switch; then move in negative direction until the first index
pulse is found.
l
If the home switch is active, start with the negative direction until the firstindex pulse is found.

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By Home Switch and Index Pulse
Method 4:
Home on the first index pulse after engaging home switch.

Homing process:l
If the home switch is active, start with the negative direction to the fallingedge of the home switch; then move in positive direction until the first index
pulse is found.
l
If the home switch is inactive, start with the positive direction until the home
switch is engaged, then keep moving in positive direction until the first index
pulse is found.

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Method 5:
Home on the first index pulse after departing from home switch.

Homing process:l
If the home switch is active, start with the positive direction to the fallingedge of the home switch; then keep moving in positive direction and homeon the next index pulse found.
l
If the home switch is inactive, start with the negative direction to the risingedge of the home switch; then move in positive direction until the first index
pulse is found.

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Method 6:
Home on the first index pulse after engaging home switch.

Homing process:l
If the home switch is active, start with the positive direction to the fallingedge of the home switch; then move in negative direction until the first index
pulse is found.
l
If the home switch is inactive, start with the negative direction to the risingedge of the home switch; then keep moving in negative direction until thefirst index pulse is found.

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By Home Switch, Index Pulse, and Limit Switch
Method 7:
Home on the first index pulse after departing from home switch while moving in
negative direction.

Homing process:l
If the home switch is inactive, start with the positive motion. If the home
switch is engaged, move in negative direction until the home switch isdisengaged, then find the first index pulse.
l
If the home switch is active, start with the negative direction until the home
switch is disengaged, then continue moving in negative direction until thefirst index pulse is found.
l
If the home switch is inactive, start with the positive motion. If the positive
limit switch is engaged, move in negative direction until the home switch isengaged and then disengaged, then move in negative direction until the firstindex pulse is found.

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Method 8:
Home on the first index pulse after engaging home switch while moving in
positive direction.

Homing process:l
If the home switch is inactive, start with positive direction until the home
switch is met, then keep moving in positive direction until the first index
pulse is found.
l
If the home switch is active, start with negative direction until home switch
is disengaged, then move in positive direction until home switch is engaged,
and then find the first index pulse.
l
If the home switch is inactive, start with positive direction; when the positive
limit switch is engaged, move in negative direction until the home switch isengaged and disengaged, then move in positive direction until the first index
pulse is found.

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Method 9:
Home on the first index pulse after engaging home switch while moving in
negative direction.

Homing process:lStart with positive direction unconditionally. If home switch is engaged, keep
moving in positive direction until home switch is disengaged, then move in
negative direction until home switch is engaged, and then find the first index
pulse.
lStart with positive direction unconditionally. If home switch is disengaged,
move in negative direction until home switch is engaged, then find the firstindex.
lStart with the positive motion unconditionally. If the positive limit switch isengaged, move in negative direction until home switch is engaged, then findthe first index pulse.

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Method 10:
Home on the first index pulse after departing from home switch while moving
in positive direction.

Homing process:lStart with positive direction unconditionally. If home switch is then engaged,
keeping moving in positive direction until home switch is disengaged, thenfind the first index pulse.
lStart with positive direction unconditionally. If home switch is active andthen disengaged, keep moving in positive direction until the first index pulse
is found.
lStart with position direction unconditionally. If positive limit switch is thenengaged, move in negative direction. If home switch is engaged, move inpositive direction until home switch is disengaged, then find the first index
pulse.

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Method 11:
Home on the first index pulse after departing from home switch while moving
in positive direction.

Homing process:l
If home switch is inactive, move in negative direction. If home switch is thenengaged, move in positive direction until home switch is disengaged, thenfind the first index pulse.
l
If home switch is active, move in positive direction until home switch isdisengaged, continue moving in positive direction until the first index pulse
is found.
l
If home switch is inactive, move in negative direction. If negative limit switch
is then engaged, move in positive direction until home switch is engaged,
continue moving in positive direction until home switch is disengaged, thenfind the first index pulse.

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Method 12:
Home on the first index pulse after engaging home switch while moving in
negative direction.

Homing process:l
If home switch is active, move in positive direction. If home switch is thendisengaged, move in negative direction until home switch is engaged, thenfind the first index pulse.
l
If home switch is inactive, move in negative direction until home switch isengaged, then, continue moving in negative direction until the first index
pulse is found.
l
If home switch is inactive, move in negative direction. If negative limit switch
is then engaged, move in positive direction until home switch is engaged. Ifhome switch is then disengaged, move in negative direction until home
switch is engaged, then find the first index pulse.

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Method 13:
Home on the first index pulse after engaging home switch while moving in
positive direction.

Homing process:lStart with negative motion unconditionally. If home switch is then engaged,
continue moving in negative direction. If home switch is then disengaged,
move in positive direction until home switch is engaged, then find the firstindex pulse.
lStart with negative motion unconditionally. If home switch is thendisengaged, move in positive direction until home switch is engaged, thenfind the first index pulse.
lStart with negative motion unconditionally. If negative limit switch is thenengaged, move in positive direction until home switch is engaged, then findthe first index pulse.

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Method 14:
Home on the first index pulse after departing home switch while moving in
negative direction.

Homing process:lStart with negative direction unconditionally. If home switch is inactive,
move in negative direction. If home switch is then engaged, keep moving in
negative direction until home switch is disengaged, then, find the first index
pulse.
lStart with negative direction unconditionally. If home switch is thendisengaged, keep moving in negative direction until the first index pulse isfound.
lStart with negative direction unconditionally. If negative limit switch is thenengaged, move in positive direction. If home switch is then engaged, movein negative direction until home switch is disengaged, then find the firstindex pulse.

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Method 15 to 16: Reserved.

By Limit Switch
Method 17:
Home on negative limit switch without index pulse.

Homing process:l
If negative limit switch is inactive, move in negative direction. If negative limit
switch is then engaged, move in positive direction to locate the falling edgeof the negative limit switch.
l
If negative limit switch is active, move in positive direction to locate thefalling edge of the negative limit switch

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Method 18:
Home on positive limit switch without index pulse.

Homing process:l
If positive limit switch is inactive, move in positive direction. If positive limit
switch is then engaged, move in negative direction to locate the falling edgeof the positive limit switch.
l
If positive limit switch is active, move in negative direction to locate thefalling edge of the positive limit switch

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By rising/falling edge of Home Switch
Method 19:
Home on falling edge of home switch without index pulse.

Homing process:l
If home switch is inactive, move in positive direction. If home switch is thenengaged, move in negative direction to locate the falling edge of the home
switch.
l
If home switch is active, move in negative direction to locate the falling edgeof the home switch.

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Method 20:
Home on rising edge of home switch without index pulse.

Homing process:l
If home switch is inactive, move to rising edge of the home switch in positive
direction.
l
If home switch is active, move in negative direction. If home switch is thendisengaged, move to rising edge of the home switch in positive direction.

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Method 21:
Home on falling edge of home switch without index pulse.

Homing process:l
If home switch is inactive, move in negative direction. If home switch is thenengaged, move to falling edge of the home switch in positive direction.
l
If home switch is active, move to falling edge of the home switch in positive
direction.

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Method 22:
Home on rising edge of home switch without index pulse.

Homing process:l
If home switch is active, move in positive direction. If home switch is thendisengaged, move to rising edge of the home switch in negative direction.
l
If home switch is inactive, move to rising edge of the home switch in negative
direction.

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By Home Switch and Limit Switch
Method 23:
Home on falling edge of home switch while moving in negative direction.

Homing process:l
If home switch is inactive, move in positive direction. If home switch is thenengaged, move to falling edge of the home switch in negative direction.
l
If home switch is active, move to falling edge of the home switch in negative
direction.
l
If home switch is inactive, move in positive direction. If positive limit switch
is then engaged, move in negative direction. If home switch is then engaged,
keeping moving to locate the falling edge of the home switch.

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Method 24:
Home on rising edge of home switch while moving in positive direction.

Homing process:l
If home switch is inactive, move to rising edge of the home switch in positive
direction.
l
If home switch is active, move in negative direction. If home switch is thendisengaged, move to rising edge of the home switch in positive direction.
l
If home switch is inactive, move in positive direction. If positive limit switch
is then engaged, move in negative direction until home switch is engaged,
continue moving in negative direction. If home switch is then disengaged,
then move to rising edge of the home switch in positive direction.

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Method 25:
Home on rising edge of home switch while moving in negative direction.

Homing process:l
If home switch is inactive, move in positive direction. If home switch is thenengaged, continue moving in positive direction. If home switch is thendisengaged, move to rising edge of the home switch in negative direction.
l
If home switch is active, move in positive direction. If home switch is thendisengaged, move to rising edge of the home switch in negative direction.
l
If home switch is inactive, move in positive direction. If positive limit switch
is then engaged, move to rising edge of the home switch in negative direction.

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Method 26:
Home on falling edge of home switch while moving in positive direction.

Homing process:l
If home switch is inactive, move in positive direction. If home switch is thenengaged, move to falling edge of the home switch in positive direction.
l
If home switch is active, move to falling edge of the home switch in positive
direction.
l
If home switch is inactive, move in positive direction. If positive limit switch
is then engaged, move in negative direction. If home switch is then engaged,
move to falling edge of the home switch in positive direction.

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Method 27:
Home on falling edge of home switch while moving in positive direction.

Homing process:l
If home switch is inactive, move in negative direction. If negative limit switch
is then engaged, move in positive direction. If home switch is then engaged,
move to falling edge of the home switch in positive direction.
l
If home switch is active, move to falling edge of the home switch in positive
direction.
l
If home switch is inactive, move in negative direction. If home switch is thenengaged, move to falling edge of the home switch in positive direction.

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Method 28:
Home on rising edge of home switch while moving in negative direction.

Homing process:l
If home switch is inactive, move to rising edge of the home switch in negative
direction.
l
If home switch is active, move in positive direction. If home switch is thendisengaged, move to rising edge of the home switch in negative direction.
l
If home switch is inactive, move in negative direction. If negative limit switch
is then engaged, move in positive direction until home switch is engaged,
continue moving in positive direction. If home switch is then disengaged,
move to rising edge of the home switch in negative direction.

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Method 29:
Home on rising edge of home switch while moving in positive direction.

Homing process:l
If home switch is inactive, move in negative direction. If negative limit switch
is then engaged, move to rising edge of the home switch in positive direction.
l
If home switch is inactive, move in negative direction until home switch isengaged, continue moving in negative direction. If home switch is thendisengaged, move to rising edge of the home switch in positive direction.
l
If home switch is active, move in negative direction. If home switch is thendisengaged, move to rising edge of the home switch in positive direction.

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Method 30:
Home on falling edge of home switch while moving in negative direction.

Homing process:l
If home switch is inactive, move in negative direction. If negative limit switch
is then engaged, move in positive direction. If home switch is then engaged,
move to falling edge of the home switch in negative direction.
l
If home switch is active, move to the falling edge of the home switch innegative direction.
l
If home switch is inactive, move in negative direction. If home switch is thenengaged, move to falling edge of the home switch in negative direction.

Method 31 to 32: Reserved.

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By First Pulse
Method 33:
Home on the first pulse while moving in negative direction.

Method 34:
Home on the first pulse while moving in positive direction.

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By Current Position
Method 35:
Home on the current position.

*Note
Method 37 = Method 35

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7.2.2 cpc-defined Homing Method
By Hard Stop
Method -1:
Home on the point of the positive hard stop.

Homing process:lStart with positive motion unconditionally until the positive hard stop is
found.

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Method -2:
Home on the point of the negative hard stop.

Homing process:lStart with negative motion unconditionally until the negative hard stop is
found.

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By Hard Stop and Index
Method -3:
Home on the first index pulse after touching the positive hard stop.

Homing process:lStart with positive direction unconditionally. After touching the positive hardstop, move in negative direction until the first index is found.

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Method -4:
Home on the first index pulse after touching the negative hard stop.

Homing process:lStart with negative direction unconditionally. After touching the negative
hard stop, move in positive direction until the first index is located.

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By the middle of Hard Stop
Method -5:
Find middle between forward/backward hard stop, initial direction forward.

-5

Homing process:lStart with positive direction unconditionally. After touching the positive hardstop, move in negative direction until touching the negative hard stop, andthen home on the middle of the two hard stops (found during homing).

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Method -6:
Find middle between forward/backward hard stop, initial direction backward.

-6
Homing process:lStart with negative direction unconditionally. After touching the negative
hard stop, move in positive direction until touching the negative hard stop,and then home on the middle of the two hard stops (found during homing).

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By the middle of Limit Switch
Method -7:
Find middle between forward/backward limit switch falling edge, initial direction
forward.

-7

Positive
Limit
SwitchNegative
Limit
SwitchHoming process:l
If negative limit switch is active, start with positive direction until the positive
limit switch is engaged; then, move in negative direction to find the middle
of both switches.
l
If negative limit switch is inactive, start with positive direction until the
positive limit switch is engaged and then move in negative direction. If
negative limit switch is engaged, move in positive direction until the middle
of both switches is found.
l
If the positive limit switch is active, start with negative direction until thenegative limit switch is engaged; then, move in positive direction to find the
middle of both switches.
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Method -8:
Find middle between forward/backward limit switch falling edge, initial direction
backward-8

Positive
Limit
SwitchNegative
Limit
SwitchHoming process:l
If negative limit switch is active, start with positive direction until the positive
limit switch is engaged; then, move in negative direction to find the middle
of both switches.
l
If negative limit switch is inactive, start with negative direction until thenegative limit switch is engaged and then move in positive direction. If thepositive limit switch is then engaged, move in negative direction until the
middle of both switches is found.
l
If the positive limit switch is active, start with negative direction until thenegative limit switch is engaged; then, move in positive direction to find the
middle of both switches.

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By the middle of Home Switch
Method -9:
Find middle of home switch falling edge, initial direction forward, allow limit
switch.

-9
Home
SwitchPositive
Limit
SwitchHoming process:l
If the home switch is inactive, start with positive direction until the home
switch is engaged and disengaged, then move in negative direction until the
middle of home switch is found.
l
If the home switch is active, move in positive direction until the home switch
is disengaged, then move in negative direction until the home switch isengaged and then disengaged. Reverse to move in positive direction and findthe middle of home switch.
l
If the home switch is inactive, move in positive direction. If the positive limit
switch is then engaged, move in negative direction until the falling edge ofthe home switch is engaged, then, move in positive direction until the middleof the home switch is found.
l
If positive limit switch is active, move in negative direction until the fallingedge of home switch is met, then move in positive direction and find the
middle of home switch.
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Method -10:
Find middle of home switch falling edge, initial direction backward, allow limit
switch-10
Home
SwitchNegative
Limit
SwitchHoming process:l
If the negative limit switch is active, move in positive direction until the home
switch is engaged and then disengaged. Then move in negative direction until
the middle of the home switch is found.
l
If the home switch is inactive, start with negative direction. If the negative
limit switch is then engaged, move in right direction until the falling edge ofthe home switch is met. Then move in negative direction to find the middleof the home switch.
l
If home switch is active, move in negative direction. If the home switch isthen disengaged, move in positive direction until the home switch is engaged
and disengaged. Then, move in negative direction until the home switch isengaged again and find the middle of home switch.
l
If the home switch is inactive, move in negative direction until the falling edgeof home switch. If the home switch is then disengaged, move in positive
direction until the middle of the home switch is found.

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Method -11:
Find middle of home switch falling edge, initial direction forward, allow hard stop.

-11
Home
SwitchHoming process:lStart with positive direction unconditionally. If home switch is inactive, keep
going (and then if hard stop is met, reverse firstly) until meeting the risingand falling edge of the home switch, then reverse again to locate the middleof home switch.
lStart with positive direction unconditionally. If home switch is active, seek
the positive side of home switch, then move in negative direction to meetthe negative side of home switch, then reverse to find the middle of home
switch.

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Method -12:
Find middle of home switch falling edge, initial direction backward, allow hard
stop.

-12
Home
SwitchHoming process:lStart with negative direction unconditionally. If home switch is inactive, keep
going (and then if hard stop is met, reverse firstly) until meeting the risingand falling edge of the home switch, then reverse again to locate the middleof home switch.
lStart with negative direction unconditionally. If home switch is active, gomeet the negative side of home switch, then move in positive direction tomeet the positive side of home switch, then reverse to find the middle ofhome switch.

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7.3 Homing Error Code
Error
code

Description

1

No error2

Invalid FSM state3

Invalid HmCfgBits

4

No valid homing method set

5Wrong Home Switch edge encountered6

Direction mismatch for motor motion when Home Switch is searched

7

Direction mismatch for motor motion when index is searched

8

Encountered overlapping limit switch

9

Unexpected encounter of Forward Limit Switch

10

Unexpected 2nd encounter of Forward Limit Switch

11

Unexpected encounter of Backward Limit Switch

12

Unexpected 2nd encounter of Backward Limit Switch

13

Unexpected encounter of Forward Hard Stop

14

Unexpected 2nd encounter of Forward Hard Stop

15

Unexpected encounter of Backward Hard Stop

16

Unexpected 2nd encounter of Backward Hard Stop

17

We have traveled from one limit switch to another without satisfying
homing condition18

We have traveled from one Hard Stop to another without satisfying
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Chapter 8 Scope
8.1 Intro and Interface TourThe function of Scope is similar to that of an oscilloscope.
The Scope interface has 4 main panels:
1. Window Control Panel – on the top of the interface.
2. [Scope Setting|Trial Run|Gain|Script] Panel – on the bottom of the interface,it’s the major configuration panel.
3. Display Panel – on the right, for viewing results.
4. Further Setting Panel – on the left, finer settings for the display panel.

You can use Scope to monitor several variables by setting them as the channels’
data source (see chapter 6.1). Also, you can configure the data unit and graphdetails. Moreover, Scope allows you to record data and alter the data presentation
way.
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After the recording and graph drawing is completed, you can observe the ripple andresonance frequency via the drawn plot.
Take the picture below for example, you’ll find position feedback, position error,
velocity feedback, and acceleration feedback during a movement.

As for generating a movement(s), please refer to chapter 6. Trial run
9. Script

and chapter.

The recorded data can be saved in txt. format (text file) and the plot in .png format.

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8.2 Window Control Panel

a.

Plot:
Move the cursor onto the downward arrow.
l
Click “New Plot” to create up to 4 monitoring windows.

lb.

You can select which window(s) to be shown on the Display Panel byticking the title of the preferred window(s).

Window:

Select to align windows horizontally or vertically, or close them all. See
images below.

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Scope Status:

Indicates the status of data processing, e.g., Waiting Trigger, Recording,Receiving Data, and Receiving Data Complete.

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8.3 [Scope Setting|Trial Run|Gain|Script] Panel

8.3.1 Scope Setting Tab

Like using an oscilloscope, users need to set up first the scope type, rate, sample
count, and the data (channel number and the source).
Note: See the channel data source in chapter 6.1 Monitor.

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8.3.1.1 Preset

We cpc provide 2 factory presets (Profile Position and Profile Velocity) and 1
customized preset.
ll

You can click “Default”
parameters as you wish.

to clear all settings then configure

In Custom mode, click “Save To Custom”
settings.

to save your preferred

8.3.1.2 Recoding Settinga. Scope Type:
Normal or Rolling; see chapter 8.3.1.3.
b. Sample Rate:
The frequency (Hz) of retrieving the data.
c. Sample Count:
The maximum data counts for each channel.

Note:
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When using the “Normal” Scope Type, the system’s maximum total data
count is 4096 (counts). Hence, if there are 2 channels set, the maximum
sample count for each channel shown on the list will become 2048 counts.

d. Sample Time:The time duration needed for recording (based on the configuration ofsample rate and sample count).
Sample Time (ms) = Sample Count ÷ Sample Rate (Hz) x 1000 .

e. Start Record:
Click to start recording data.
When using the “Normal” Scope Type, if there are triggering conditions set,click this button; next, when conditions are satisfied the system willautomatically start recording.
Note:
Any change of data source will need to be activated by clicking the “Start
Record” button.

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8.3.1.3 Normal/Rolling and Trigger Setting

There are 2 types of recording (or called “Scope Type”): Normal and Rolling.
llNormal type has higher sample rate than that of Rolling type.
Normal type saves data in the driver first and then sends data to the UI at
one time. Rolling type sends data continuously only to the UI.

a. Scope Type:l
Normal:Records the data for a certain period of time after the triggering
conditions are satisfied. If there is no triggering condition set, click“Start Record” to record immediately.
lRolling:Starts recording immediately upon clicking this button. The UI will
refresh continuously.

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The following functions ( b and c ) are for the “Normal” scope type only:b.

:
Only applicable under the Normal scope type. Tick to repeat the cycleof completing data receiving then recording (see chapter 8.2, point c.).
c. Trigger Type:l
NoTrigger:
Start recording immediately upon clicking the button.
Condition
Risingedge

Greater than

Trigger level 1
Falling
edge
l

l

l

l

Lower than

RisingEdge:
Rising edge trigger on the level.
FallingEdge:
Falling edge trigger on the level.
LowerThan:
The value lower than the level.
GreaterThan:
The value greater than the level.
Condition

Trigger level 1

Outsiderange
Insiderange

Trigger level 2

l

l

l

Outsiderange

InsideRange:
Values between level 1 & level 2.
OutsideRange:
Values greater than the level 1 or lower than the level 2.
Trigger Channel:
Choose the trigger source.
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PreTrigger:

Drag to configure how much portion (%) of a record (namely, therecorded data) will be the part where the triggering conditions
are not satisfied.

Value

Conditions are triggered
scope

PreTrigger (%)

scope

20%

90%

Triggerlevel
time

The scope on the left is with PreTrigger 90%, meaning that
90% of the data shown on the left scope is below trigger
condition(s). Likewise, for the scope on the right, 20% of thedata shown on the right scope is below trigger condition(s)lTrigger Level 1 & 2:
Set the threshold of the trigger.

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8.3.2 Trial Run Tab
Please refer to chapter 6 Trial Run.

8.3.3 Gain Tab

Users can set the gain parameters via this panel directly.

8.3.4 Script Tab

Click to execute script.

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8.4 Display Panel

The display panel shows you the monitoring results.
You can change the data presentation way and save the monitored data in TXT.,
or PNG. format.

a.

:
The Display Panel can be enlarged using the arrow button.

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8.4.1 Data Presentation Way
Click the arrow beside Plot Type icon to select a preferred way of data presentation.
The ways are: Normal, FFT, PlotXY, and Statistics.

a. Normalb. FFT
Fast Fourier Transform for observing the spectrum analysis.

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Chapter 8 Scopec. PlotXY:This X-Y plot can map 2 channels to the plane.

l

l

l

X axis:Choose which data source to be the X axis.
Fade Effect:
When ticked, the curves shown on the display panel will fadeout.
Fixed Ratio to 1:1
Fix the plane ratio to be 1:1.

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Shows a variety of motion data, such as maximum and minimum values,
peak to peak, root mean square, etc.

When the “marks A and B” are applied (see chapter 8.4.3, point e.),the statistics panel will show the various values that correspond to themarks A and B.

8.4.2 Save to Files
Choose to save the monitored data in TXT. or PNG. format.

8.4.3 Scope Tools
a. Turn Scope ON/OFF:To switch the scope function ON/OFF. When function is off, theoscilloscope graph will be frozen.
è status: ON.
è status: OFF.

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è status: OFF.
Steps:
1. Click the icon to activate the Zoom.
2. Hold the left mouse button and drag a box around the area of interest.

(↑ The selected area will appear in dark grey)
3. Release mouse button to let the display zoom in the selected area.

(↑ zoomed in)
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Reset to the original graph.
d. Clear Plot:
Clear the display panel.
e. Mark A/B:
Click on theicons to put marks A and B on the display panel.

Drag to position the

The informationand differences
betweenmarks A and B are shown on the “Mark Tab” of Further Setting Panel.

f. Clear Marks:
Clear all marks on the display panel.
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8.5 Further Setting Panel
This panel consisting of 5 tabs is to further configurate the graphs shown on thedisplay panel; besides, the information of the marks A and B is shown on the Mark
tab.

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8.5.1 Channel Tab & Line Tab
Users can show or hide channels, change the color, unit or width of the line(s), andadjust the values (by multiplication
scope better.
Channel Tab

and/or addition) to view theLine Tab

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8.5.2 Grid Tab

a. X/Y Axis:
To set how many grids to be shown on the X and Y axes.

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Automatically adjust the minimum and maximum limit of the X and Y axes.
c. Min/Max:
Customize the minimum and maximum limit of the X and Y axes.
d. Digital Bus Location:
Adjust the position of digital bus graphs shown on the display panel.

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8.5.3 Mark Tab
Mark tab shows the values and differences (Δ) of the marks A and B.

8.5.4 Digital Bus Tab
The Digital Bus function is for observing the activity of certain bits. Users can also
mask the bits which are not needed.

l

l

l

Channel Name:
Select the data source to be processed.
Mask:
Key in the binary matrix value of the bits to be observed.
Add:
Click to include these bits into the table of interest.
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Idx:
The serial number for the bits of interest listed on this table.

l

Bit:

l

Bit number.
(right click) Delete / Clear:
Delete certain bits or clear all the bits of interest.

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8.5.4.1 Configuration Steps
Let’s take observing the bit 4, 5, and 6 of digital input for example:
Step Description
1

ExampleGo to the Scope Setting tab on
the [Scope Setting|Trial
Run|Gain|Script] Panel.
Configure the data source ofinterest (e.g. digital input) andthen click “Start Record”.

2

Go to the DigitalBus tab on the
Further Setting panel.
Select the data source (choose
from the Channel Name list).

3

Decide which bit(s) to show.
Convert the bit’s numeric
figure into binary matrix value.
Next, key in this value into the“Mask” textbox and press
enter; then click “Add”.
(note: “0b” means binary)In this case,to observe the bits 4, 5, and 6 è(1) 4, 5, 6 equals to binary matrix value“1110000”.
(2) Key in 1110000 into the “Mask”
textbox and press enter.
(3) Click “Add”.

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4

Now, observe the scope.
On the display panel, thenumbers in dark grey color are
the Idx number.
For example:
Idx #0 is bit 4,
Idx #1 is bit 5,
Idx #2 is bit 6.

5

To delete a specific line, choose
the channel bit and right click,then select “Delete”.
To clear all, right click on thetable and select “Clear”.

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6

Or, you can add more newchannels by selecting otherdata source and then adding
them into the table.

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Chapter 9 Script
9.1 Intro and Interface Tour
Script can be seen as a state virtual machine; besides, script can simulate a seriesof motion commands. In application, script is usually used to test theperformance of the driver executing or demonstrating a series of motion profiles.

We cpc provide 4 script examples which can be found in the installation file.

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On the subsequent pages you will see how to import script file(s), modify
parameters, and add functions into a script.
Scripts can run automatically after the boot sequence setting is done. Pleaserefer to Chapter 4.8 Boot Sequence.

The Script interface has 6 areas:

1.
2.
3.
4.
5.
6.

Tool Bar – on top of the interface, for processing file and executing script.
Content Panel – showing the editing result.
Editing Tool Bar – tools for editing.
Function Panel – a menu to navigate the various functions.
Parameter Setting Panel – to configure parameters of each function.
Memory Status Bar – showing the usage (%) of flash memory.

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9.2 Interface Elements
1.
Tool Bar

For processing file and executing script:

ExportExports script file in txt. format.

ImportImports existing script file.

Save
Saves script.

New
Opens a new blank file.
Note:
If you are editing a file, clicking this “New” button will clear up
all the content. Please make sure you’ve saved script files
beforehand.
~~~~~~~~~~~~~~~~~~~~

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For performing the script:

See chapter 9.6 for the script execution flow.

Run
Runs each step of the script continuously.

Pause
Pauses the script. Click “Run” again to resume from where youpaused at.

Stop
Stops the script. Click “Run” again to resume from the first stepof script.

Step by Step
Executes only one step at a time and then pause. Click thisbutton again to execute the next line.

Compiler
Click to convert the script into a machine-code.
~~~~~~~~~~~~~~~~~~~~
Register Viewer
A table for monitoring the value of integer variables andfloat-point variables.
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Load FLASH CodeTo load the script from the driver, it will overwrite the currentlyedited script.
2.
Content
Panel

Shows the editing result:

Insert selected function
Inserts the selected function prior to the chosen step.

Add selected function to final step
Appends the selected function to the final step of script.

Green Dot
When running the script, this green dot indicates the next step tobe executed.

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Grey Dot (break point) /lll

Green-stop Dot

Before running the script, users can double click on a selected
step to set a break point, a grey dot will then appear in frontof the selected step.
A break point (grey dot) will make the execution pause at theend of the previous step.
While running the script, a grey dot will become a green-stop
dot indicating that the execution is paused at the previous
step and that the step with the green-stop dot is not
performed.

Before running

Running

Execution paused

To remove a break point, just double click the selected step.

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Editing
Tool Bar

Tools for editing:Renames the script, key in the new name in the box.

DeleteDeletes the selected step(s) in the script.

Cut
Cuts the selected step(s).

Copy
Copies the selected step(s).

Paste
Pastes the copied step(s) before the selected step(s).

Move upMoves the selected step(s) up.

Move down
Moves the selected step(s) down.

Undo
Undo the last move.
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Cancel Undo

MemoryCalculates how much percentage (%) of the Flash the script will
occupy.

4.
FunctionPanel

A menu to navigate the various functions.

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5.
To further configure parameters under each function (shown on the
Parameter function panel).
Setting
Panel
6.
Showing the usage percentage of flash memory.
MemoryStatus Bar

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9.3 Import Scripts from File
Steps:
1. Click “Import”.

2. Locate your file and click “open”.

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3. Click “Compiler” and wait for the process to finish.

4. After compiling is finished, click “Run” or “Step by Step” button to run script.

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9.4 Modify Script Parameter
To modify script parameters, users must “stop” the script execution first.
When script is stopped, users can then modify parameters and compile themagain.
Steps:
1. Click “Stop”.

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2. Click the step (line) that you wish to modify.

3. Modify the value on the Parameter Setting panel and then press Enter.

4. Click “Compiler” to compile the script again to be executed.
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9.5 Add a Function
9.5.1 Into a New File
Steps:
1. Click “New”

button2. Select a function from the function panel.
3. Go to the parameter setting panel. Modify the value or select a preferred action
from the list.

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4. Click “Add” button, then the selected new function will appear on the content
panel. Now you have successfully added a new function.

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9.5.2 Into a Currently-Used File
Steps:
1. Select a function from the function panel.
2. Go to the parameter setting panel. Modify the value or select a preferred action
from the list.

3. Go to the content panel, click on the line before which you wish to insert the
new function, then click “Insert”.
For example:
If you wish to insert a PositionMove after step #7, you will need to click
step #8 and Insert, so the new function will be placed after step #7 andbefore step #8. See images below.

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Chapter 9 Script(↓ To insert after step #7, you will need to click step #8 and Insert)(↓ The newly-added function will be sequenced after step #7)

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9.6 Run the Script
After the script is compiled, the tool bar will present the “Run”
and “Step by
Step”
icons in green. The chart below shows the states and panel appearance
while running the script.

ßà Arrows refer
to Events.

l

l

l

State [A]:After scripts are compiled, the panel will look as state [A].
Arrow #5:
If there is break point(s) set, the script execution will be paused andwill look as state [C].
Arrow #6:
If users click the “Step by step” button, the panel will look the same.

Note: Scripts must be compiled to be executed.

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9.7 Function Description
Regarding the functions mentioned on subsequent pages, if users set parameters
using IR (integer register) or FR (float number register), please note that the unit of
IR and FR is “count” instead of the descriptions shown on the UI panel.

9.7.1 Set ParameterlPosition Tracking

Please refer to chapter 4.3.3 Motor Protection—Position for parameterdetails.

l

Velocity Tracking

a. Velocity reach window / timeout:
When the velocity feedback is within the reach window andcontinues for a period (reach timeout), the velocity target
reach flag will rise.

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Chapter 9 ScriptlPosition Loop Gain

Please see chapter 5.4 Tune—Position for definition.

l

Velocity Loop Gain

Please see chapter 5.3.1 for further parameter information.

lCurrent Loop Gain

Please see chapter 5.1.1 for further parameter information.

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9.7.2 MotionlPosition Movea. Move
Tick to give relative or absolute position command.
b. Wait at command position
Ø When ticked, the driver will wait for the target to be reached
before executing the next command.
Ø When unticked, the driver will execute the newly received
command right away (won’t wait for target reach).
Note:
If this box is unticked, it might cause following error.
c.

PositionTarget position.
d. Velocity
Profile velocity of movement.
e. Acceleration
Profile acceleration.
f. Deceleration
Profile deceleration.
Note:
The columns of Position, Velocity, Acceleration, and Deceleration can be
filled in with number or the name of IR (Integer Register). The IR unit is“count”.
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Velocity Movea. Velocity
Value of profile velocity.
b. Wait for command velocity
Ø When ticked, the driver will reach the present command’s
target first before executing the next command.
Ø When unticked, the driver will execute the newly received
command right away without fully finishing the current
command.
c. Acceleration
Profile acceleration. The maximum acceleration speed during
movements.
d. Deceleration
Profile Deceleration. The maximum deceleration speed during
movements.
Note:
The columns of Velocity, Acceleration, and Deceleration can be filled inwith number or the name if IR (Integer Register). The IR unit is “count”.

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Chapter 9 ScriptlCurrent Move

Note:
The columns of current and current slope only accept either numbers
or names FR register.
a. Current
Profile current. Current unit in Amperes.
b. Current slope
The rate of current increase, unit in mA per second.
Note:
This column can only accept either FR or numbers greater or
equal to 1.

l

Direct Position
a. Position
The value of the designated absolute position.
Note:
This column can be filled in with number or the name of IR(Integer Register). The IR unit is “count”.

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Chapter 9 ScriptlDirect Velocity
a. Velocity
The value of the designated velocity.
Note:
This column can be filled in with number or the name of IR(Integer Register). The IR unit is “count”.

lDirect Torquea. Iq
The current (Amperes) on the “q” (quadrature) axis in the (d,q)
coordinate system.
Note:This column can be filled in with number or the name of FR(Float number Register). Unit is Amperes.

l

Home

a. Homing Method
Select a preferred homing mode from the list.
b. Velocity (Switch / Index)
The speed to move to the switch/index.
c. Acc/Dec
Acceleration/deceleration speed.
d. Offset
The offset millimeter (mm) from origin. Moreover, the offset
value will be the position mm when a homing is completed.
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e. Current Limit / Stop Period
When the driver continues to output more than or equal to acertain percentage of peak current (Current Limit) for a periodof time (Stop Period), the motor will be regarded as hitting a
hard stop.

9.7.3 Waitl

Wait Delay Time
Wait for some time (ms) first before running the next step of script.

9.7.4 Limitlll

Position Limit
Same as the parameter “Command Forward/Backward Limit” in thesection of “motor protection—position”.

Velocity Limit
The motor rated speed in mm/s.

Current Limit

Please see chapter 4.3.1 for further parameter information.
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9.7.5 Flow Control
l

l

l

Jump
Unconditionally jump to a selected label in script, no conditions
required.
DIn Jump
Jump to a selected label depending on the status (Low/High) of digitalin.
Conditional Jump (Int)
Conditional Jump (Integer)Ø Jump to a selected label when the value of integer register satisfies
the configured condition.
Ø The column of “Value” can be filled in with number or the name of
IR (Integer Register).
lConditional Jump (Float)

Ø Jump to a selected label when the value of float number registersatisfies the configured condition.
Ø The column of “Value” can be filled in with number or the name of
FR (Float number Register).
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For Loop
Looping for this many times (N) then jump to the selected label.

Note:Ø The first run is regarded as the first loop.
Ø The ForLoop function cannot be enclosed in another ForLoop.
lLabel
Set a label and name it.

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9.7.6 Motorll

Motor Off
Motor On
Set motor on and select a motor-on operation mode from the list.

9.7.7 Registerl

If_ Register Set
Set triggering condition and the corresponding reaction.

a. Register:
Key in names of IR or FR
b. Value:
Key in number, IR or FR.

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Int Register Math
Set an integer formula.

Note:
1. Operand1 and Operand2:
If users key in float numbers into the columns Operand1 andOperand2 under this “Int Register Math” function, the UI will use
the keyed-in number’s corresponding integer value (according to
the IEEE745 system) to process the formula.
2. Operator (mathematics):
When using division, the UI will round down the quotient to an
integer; all decimals will be chopped off.
3. Operator (bitwise):Ø Be aware that when bitwise operation is used (i.e., AND, OR
XOR, NOT), the operands need to be 16 bit (value ranging from
-215 to 215 -1).
Ø Example of the bitwise operation:
Item

Example

a

b

C

AND

&

c=a&b

1100 1101

1001 1110

1000 1100

OR

|

c=a|b

1100 1101

1001 1110

1101 1111

XOR

^

c=a^b

1100 1101

1001 1110

0101 0011

NOT

~

c=~a

1100 1101

0011 0010

Ø The “NONE” option will ignore Operand2.

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Chapter 9 ScriptlFloat Register Math
Set a float number formula;

Note:
1. Operand1 and Operand2:
Users can key in FR, float number, or integer.
2. Operator (mathematics):
The “NONE” option will ignore Operand2.

l

Get Set Register

a. Parameter ID:
cpc’s own ID numbers which corresponds to the numerous
parameters mentioned in the CiA® 402 Draft Standard Proposal.
b. Register
The name of integer or float number register.
Ø Get Parameter ID Save to Register
Get the value out of a parameter ID and save this value to a
designated register.
Ø Set Parameter ID = Register
Make the value of a parameter ID same as the value of adesignated register.
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Script Example:

In step 5:
Use “Get Set Register” function to acquire the position command valueof the first move and save it as IR1 value.
In step 6:
Use “If_ Register Set” function. If IR1 is bigger than 0, then make IR2 as
the configured value.
In step 7:
Give the second position command using the IR2 value (processed in“count”) as the target position value.

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Chapter 10 Error Log
When a fault event occurs, such as over-temperature, protection thresholdexceeded, incorrect wiring, difficulties in accessing signal, etc., the Error Log willrecord the occurrence time and code of the error. If the driver is shut down due
to error(s), users can trace the cause and know how to troubleshoot with theinformation shown on error log.
Note:l
If the driver is powered off, the record will be cleared.
l
The Error Log can record up to 16 instances.

Error code definition is in accordance with the specification of CiA 402-2 DSP
V3.0.0_Drives and motion. The table of driver error code on the subsequentpages defines all cpc driver error codes and includes descriptions as well as
required troubleshooting actions.
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Chapter 10 Error Log<Table of cpc Driver Error Code>
Error
Code

Error Message

Description

Action Required

2220

ContinuousOverCurrent_DeviceInternal

Drivers internal
power stage is
short

Check forunstable current
loop gain

2310

ContinuousOverCurrent_MotorSide

Motor current
exceeds limit

Check forunstable current
loop gain

3210

DCLinkOverVoltage

Internal DC
capacitor over
375 V

1. Check external
AC supply.
2. Consider
adding additional
regenerative
braking resistor.

3220

DCLinkUnderVoltage

Internal DC
capacitor under
48V

Check highvoltage supply

4310

ExcessTemperatureDrive

Drivers internal
temperature
over safe limit

Improveenvironment
cooling condition

5520

ROM_EPROM

Factory
calibration lost

Contact Customer
Service

5530

EEPROMStored user
parameters lost

Reload driver
setting from file7121

MotorBlocked

Motor stuck
triggered

Check slide andguide or motor
stuck setting

7122

MotorErrorOrCommutationMalfunc

Somethingwrong duringphase-findCheck motor
wiring andexecute phasefind again.

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Error
Code

Error Message

Description

Action Required

7305

IncrementalSensor1Fault

Encoder
feedback signal
error

Check encoder
wiring or improvesystem noise

7306

IncrementalSensor2Fault

Auxiliary
encoder signaltransition error

Check controller
wiring or improvesystem noise

8481

OverVelocityAbsolute

Motor velocity
feedback overvelocity
protection limit

Check motor
operation or
over-velocity
protection setting

8611

FollowingError

Motor position
error satisfy thecondition offollowing error.

Check 1. Motor
operation and 2.
The setting of
Following Error
Window/Timeout

8682

PositionLimitMinimum

Motor position
feedback overposition
protection limit

Check motor
operation or
over-position
protection setting

8683

PositionLimitMaximum

Motor position
feedback underposition
protection limit

Check motor
operation orunder-position
protection setting

90F0

ExternalAlarmDigitalInput

External alarm
triggered

Check controller
operation

FF01

MainISROverload

CPU overload.

Contact customer
service.

FF02

CurrentSensorU

Motor current
sensor error

Reboot driver

FF03

CurrentSensorV

Motor current
sensor error

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Error
Code

Error Message

Description

Action Required

FF05

HallSensorCodeInvalid

Invalid hallsensor code
detected

Check hall sensor
configuration

FF07

MotorCtrlOpModeInvalid

The code of
Check Operating
Operation Mode Mode and wiring.
is invalid

FF08

CommutationRequired

Attempting toactivate motor
without
performing
phase find first

1. Check phasefind setting.
2. Execute phasefind again.

End of Document

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