Contents
1 Installation ......................................................................................................................................................... 3
1.1 Dimension ............................................................................................................................................. 3
1.2 Assembly and Disassembly ............................................................................................................. 3
1.3 Mechanical Installation ..................................................................................................................... 3
1.3.1 Installation Site ....................................................................................................................... 4
1.3.2 Environmental Condition .................................................................................................... 4
1.3.3 Installation Steps .................................................................................................................... 4
2 System Wiring .................................................................................................................................................. 5
2.1 Interface Definition ............................................................................................................................ 5
2.1.1 Pin Definition of J10 and J11 ............................................................................................. 5
2.1.2 Pin Definition of J5 ................................................................................................................ 5
2.1.3 Pin Definition of J6 ................................................................................................................ 6
2.1.4 Pin Definition of J7 ................................................................................................................ 7
2.1.5 Pin Definition of J9 ................................................................................................................ 8
2.2 IO wiring ................................................................................................................................................ 8
2.2.1 DI wiring ................................................................................................................................... 8
2.2.2 DO Wiring .............................................................................................................................. 10
2.3 AI Wiring ............................................................................................................................................. 12
2.4 Cables................................................................................................................................................... 13
3 Trial Run and Debugging ........................................................................................................................... 15
3.1 Communication Connection ........................................................................................................ 15
3.2 Parameter Writing............................................................................................................................ 16
3.2.1 Startup Parameters ............................................................................................................. 17
3.2.2 Motor Feedback Parameters ........................................................................................... 17
3.2.3 Limit Protection .................................................................................................................... 19
3.2.4 User Unit ................................................................................................................................. 19
3.3 Magnetic Pole Calibration ............................................................................................................. 20
3.3.1 Phase Sequence Steering Detection ............................................................................. 20
3.3.2 Hall Detection ....................................................................................................................... 20
3.3.3 Commutation Offset Detection ...................................................................................... 20
3.4 PID Adjustment ................................................................................................................................. 23
3.4.1 Current Loop ......................................................................................................................... 23
3.4.2 Velocity Loop ........................................................................................................................ 26
3.4.3 Position Loop ........................................................................................................................ 31
3.4.4 Grouping Gain ...................................................................................................................... 33
3.5 Motion Control ................................................................................................................................. 33
3.5.1 Position Control Mode ...................................................................................................... 34
3.5.2 Velocity Control Mode....................................................................................................... 35
3.5.3 Homing Mode ...................................................................................................................... 36
3.5.4 Torque Control Mode ........................................................................................................ 761

3.5.5 Pulse Control Mode ............................................................................................................ 77
3.5.6 Analog Control Mode ........................................................................................................ 78
3.6 Troubleshooting ............................................................................................................................... 79
4 Troubleshooting ............................................................................................................................................ 80
5 Debugging Software ISMC ........................................................................................................................ 90
5.1 Software Download ......................................................................................................................... 90
5.1.1 System Requirements ........................................................................................................ 90
5.1.2 Software Installation ........................................................................................................... 90
5.2 Driver Installation ............................................................................................................................. 92
5.3 Firmware Upgrade ........................................................................................................................... 96
6 Communication ............................................................................................................................................. 97
6.1 EtherCAT Communication............................................................................................................. 97
6.1.1 Principle .................................................................................................................................. 97
6.1.2 EtherCAT ............................................................................................................................... 102
6.1.3 Communication with Beckhoff PLC ............................................................................. 104

2

1 Installation
1.1 Dimension

Fig. 1-1 Dimension (unit: mm)

1.2 Assembly and Disassembly
Before installation, please check the product package:Servo driveConnector corresponding to the servo driveUser manual (scan the QR code card to access to the official website for download).
Please note the following during disassembly:
Careful remove the box.

Make sure the product is free of cosmetic damage.
If there are such damages, please contact us.
Check the model on the housing of the product and make sure the product is yourdesired one.

Check if the rated voltage meets your demands.
1.3 Mechanical Installation
This servo is a pedestal type servo amplifier and failures may occur if installed in the wrong
way.
3

1.3.1 Installation Site
Please do not use this product in the vicinity of corrosive and flammable gas
environments such as hydrogen sulfide, chlorine, ammonia, sulfur, chlorinated gases,
acids, alkalis, salts, and combustible materials.
Please do not install this product in the environments with high temperature, humid
places and lots of dust and iron powder.
Please do not use this product in a closed environment where will cause hightemperature of the servo and shorten the service life.
Please note the following: For servo drives with 200W and below, there is no special requirements for
installation.
 For servo drives with 400W, please make sure that the temperature of the secondary







cooling installation surface is below 55ȭ.

 For servo drives with 750W, please make sure the temperature of the installation
surface is below 55ȭ, and make sure at least 3 m/s wind convection with winddirection along the horizontal direction of PCB.
1.3.2 Environmental Condition
Projects

Ambient temperature

Environmental humidity
Storage temperature
Storage humidity
Vibration

Table 1-1 Environmental conditions
Description

0: 0ȭ - +50ȭ

1: -40ȭ - +50ȭ

2: -55ȭ - +50ȭ
3: -70ȭ - +50ȭ
＜ 95% RH (no condensation)-40ȭ - +85ȭ (no freezing)7-0ȭ - +85ȭ (no freezing)
0% - 95% RH (no condensation)2＜ 5 m/s

1.3.3 Installation Steps
Note: The servo drive should be vertically installed on the wall and M3 screws must be
tightened. For other requirements.
1.
2.

3.

On the back of the mounting plate, mark the position of screw hole.
The hole spacing is shown as in Figure 2-1, and the specification of heat sink hole is M3,.
Tap threads according to the mark, and make sure threads have full contact.
Note: The metal surface of the mounting plate should not be coated or painted, and if
so, please scrape it off. Otherwise the electromagnetic compatibility will deteriorate.
Vertically mount the servo drive on the back of the mounting plate.
Note: Please pay attention to the installation spacing, and make sure the mounting
surface is in good contact.
4

2 System Wiring
2.1 Interface Definition
There are 6 interfaces on the servo drive. Among them, the following interfaces are external:
J10-J11: EtherCAT communication interface
J5: USB communication interface
J6: IO interface
J7: Motor encoder feedback interface
J9: Power input and output interface
The pin definition of each interface is shown in Figure 2-1:

Figure2 -1 Interface definition

2.1.1 Pin Definition of J10 and J11
Table 2-1 Pin definition of J10 and J11
Interface

J10/J11-EtherCAT（J11-IN；J10OUT）

Pin

Pin Name

1

TX+

2

TX-

3

RX-

5

RX+

4、6

PE

2.1.2 Pin Definition of J5
You can communicate with the servo drive for parameter settings and debugging via thestandard Micro-USB cable.

52.1.3 Pin Definition of J6
Table 2-2 Pin definition of J6
Interface

Pin

Pin Name1+24V_OUT2

GND-OUT

3

DO2_OUT

4

DO3_OUT5

DO0_OUT

6

DO1_OUT

7

DI4_IN8

DI5_IN9

DI2_IN10

DI3_IN11

DI0_IN12

DI1_IN

13

STO0

14

GND-IN

15

STO1

16

STO_RET

J6-IO interface62.1.4 Pin Definition of J7
Table 2-3 Pin definition of J7
Interface

J7motorencod
er
feedback
interface

Pin

Pin name
Absolute

Incremental

Hall

AnalogPower supply

1

PE

2

GND

3

INC_A+

4

INC_A-

5

INC_B+

6

INC_B-

7

INC_Z+

8

INC_Z-

9
10
11

AI1+

12

AI1-

13

AI2+

14

AI2-

15
16
17

HALL_U
5V

18
19

HALL_W20

HALL_V

7

2.1.5 Pin Definition of J9Interface

Table 2-4 Pin definition of J9
Pin Name
InterfacePins

J9-power input
and output
interface

1

U

2

V

3

W

4

PE

5

DC+

6

DC-

Caution:
1. For voice coil motor or DC brush motor, please connect the power cable to UV phase.
2. For two-phase four-wire stepping motor, please connect A+ and B+ of the power cablerespectively to U phase and W phase, A- and B- to V phase.
2.2 IO wiring
2.2.1 DI wiringWhen the upper unit uses relay to output (taking DI0 as an example)
External +24V
Servo drive

DIN0 11
DI_COM 14

External 0VWhen the upper unit uses open collector to output
PNP connection

8External +24V
Servo drive
PNP

DIN0 11
DI_COM 14

External 0V9NPN connection

External +24V

Servo drive

DI_COM 14
DIN0 11NPN

External 0V
Note: The mixing case of PNP and NPN input is not supported.
2.2.2 DO WiringWhen the upper unit uses relay to input (taking DO1 as an example).

External +12~24V

Servo drive1+24V_OUT
DO1_OUT6
DO_GND

2

External 0V


10



When the upper unit uses optocoupler to input (taking DO1 as an example).

Servo drive

External +12~24V

1+24V_OUT
Optocoupler

6 DO1_OUT

2 DO_GND

External 0V
Note:
1. DO_OUT needs a pull-up resistor and current limiting resistor (it is optional. Please
decide whether to use it according to the optocoupler specifications of the upper unit).
2. The maximum voltage and current of the internal optocoupler output is as follows.

Voltage: 30 V DCCurrent: 400 mA DC

11

2.3 AI Wiring

15

AI1+

16

AI1-

17

AI2+

18

AI2-

1

PE

+
-

Twisted pair+-

Servo drive

Control module

Note:
1、The servo drive has 2 analog input circuits, i.e. AI1 and A12.

Input voltage: -10 - +10 V
AD accuracy: 12 bits
2、Please make sure the input voltage is within -12 - +12 V. Otherwise, damage to the circuit
may occur.
3、Input impedance: 3.74 kΩ.
4、The upper unit can read values of 0x2413 (AI1) and 0x2414 (AI2) for external analog closed
loop control.

122.4 Cables
Table 2-5 Cables
Name

Description

Length/m

Model

1

SP-075-010-A

3

SP-075-030-A

5

SP-075-050-A

X（nonstandard）

SP-075-XXX-A

1

SP-150-010-A

3

SP-150-030-A

5

SP-150-050-A

X（nonstandard）

SP-150-XXX-A

1

SP-250-010-A

3

SP-250-030-A

5

SP-250-050-A

X（nonstandard）

SP-250-XXX-A

1

SDE15-010-A

3

SDE15-030-A

5

SDE15-050-A

X（nonstandard）

SDE-15-XXX-A

1

SDE08-010B-A

3

SDE08-030B-A

5

SDE08-050B-A

X（nonstandard）

SDE08-XXXB-A

1

SDD16-010

3

SDD16-030

5

SDD16-050

X（nonstandard）

SDD16-XXX

EtherCAT communication cable 1
between the servo drive and upper
unit PLCX

SDC0X0-CC

EtherCAT communication cable 2
between servo drives

X

SDC0X0-CD

Power cable between motor and servo
drive with connector(for servo system ≤5 A)

Power cables

Power cable between motor and servo
drive with connector(for 10 A servo system)*1

Power cable between motor and servo
drive with connector(for 20 A servo system)

Encoder signal cable between motorand servo drive with connector(For incremental encoders)
Encoder cables*1

Encoder signal cable between motorand servo drive with connector andbattery (3.6 V, it is recommended toreplace it every 15 - 24 months)(For absolute encoders)

Digital I/O cables

Communication*2
cables*1

Digital I/O cable (6 inputs, 4 outputs),
2-way STO, with connector

13Note:
1.
2.

3.

It is recommended to purchase a set of cables for direct use. Otherwise, you need topurchase J2-J7 connectors separately.
It is recommended to purchase a set of bus communication cable, because the CAN /EtherCAT communication interface is not a standard RJ45 connector. And you canpurchase USB cables by yourself.
Cable can be customized. For special needs, please contact us.14

3 Trial Run and Debugging
The iSMC software is used for trial run and debugging. For details, please refer to User
Manual of Servo Debugging Software ISMC.
Debugging steps:
Communication
Connection

Parameter
writigMagnetic polecalibration

PID adjustment

Motion Control

Parameter
exporting for
backupFault handling
Figure 3-1 Parameter debugging steps

3.1 Communication Connection
1.
2.
3.

Install the SMC software and USB driver.
Connect the upper computer and the servo drive via a USB cable (Mirco Type B).
Run ISMC software, enter the main interface, and select submenu "Configuration":15

1、Click to open thecommunication interface

2、Select the port andconnect

Figure 3-2 Open the communication interface

4.
5.

Click "Refresh", and select the port connected to the servo drive in drop-down box"Port".
Click "Connect". The result shows as in Figure 3-3.

Figure 3-3 Communication connection succeeded

3.2 Parameter Writing
Parameter settings includes the settings of parameters about startup, motor feedback, limit
protection and user unit.

16

3.2.1 Startup Parameters
Click "Start Configuration" in submenu "Configuration", select the corresponding
communication mode, and click "OK".
3.2.2 Motor Feedback Parameters
Motor feedback parameters includes motor parameters and encoder parameters.
1. Select "Motor Feedback" in submenu "Configuration".
2. Set motor parameters and encoder parameters.
3. Click "Download" after settings are completed.
1、Open the motor
parameter interface

2、Input motor
parameters,encoder parameters

3、download
parameters

Figure 3-5 Settings of motor feedback parameters

Note: Please restart the servo drive after saving successfully, and reconnect thecommunication after restarting.
Motor parameters
1)

To conveniently configure motor parameters, SMC supports motor database inwhich you can directly call the motor parameters of known models and save themotor parameters of new models.
Note: The database only supports saving and loading motor feedback parameters.
"Import" command is used to import all servo parameters and "Export" commandis used to export all servo parameters.
Figure 3-6 Motor parameters-1

17

2)

Please input the values of target motor parameters into the software according to
the motor nameplate and the motor parameter manual provided by the
manufacturer, as shown in Figure 3-7:

Figure 3-7 Motor parameters-2

3)

The motor types include rotary brushless motor, linear brushless motor, rotary DC
brush motor and voice coil motor. The parameters and units may vary with the
motor type.
Note: Please pay attention to parameter unit when writing.
Encoder parameters
According to the actual encoder type, in the encoder parameter interface, please selectthe encoder type and input the resolution.

Rotary encoder

Linear encoder
Figure 3-8 Motor parameters-3

Encoder parameters are as shown in Table 3-1.
Table 3-1 Encoder parameters
Name
Absolute single-turnresolution
Absolute multi-turnresolution
Encoder multi-turnvalue reset

Unit
Bit
Bit


Resolution

Communication rate

Definition
The pulse value output by one
rotation of the encoder.
The maximum number of turns
recorded by the encoder.
To clear the absolute encoder multiturn value to zero.

Rotary:counts/revolution
Linear:counts/nm, um,
mmThe pulse value output by one
rotation of the encoder.
The pulse value output by thegrating ruler per unit distance.

The clock frequency at which data issent to or received from the encoder.

M18

3.2.3
1.
2.

In "Configuration" submenu, select "Limit Protection".
Set the peak current and the duration of the peak current.
To protect motor i2t, please set the values according to the maximum current of the
motor. Otherwise, damage to the motor may occur.

3.2.4
1.
2.

Limit Protection

User Unit

In "Configuration" submenu, select "User Unit".
Set parameter unit for motion control parameters, including position unit and velocity
unit, and configure mechanical gear ratio, as shown in Figure 3-9:

Figure 3-9 User units
3.

After settings, click "Apply". The settings takes effect immediately.
In the debugging mode and motion mode, the unit will be the same as the set unit.
Please set user units for position and velocity modes according to the load type, as shownin Table 4-2.
Table 3-2 User units

19

Load Type
Motion Unit

Position unit

Velocity unit

Linear
cnt
um
mm
cm
uu
cnt/s
um/s
mm/s
cm/s
uu
-

pulsesmicrons
mm
centimetercustomizepulses/sec
μm/s
mm/s
cm/s
customize-

Rotary
cnt
deg
rad
rev
uu
cnt/s
deg/s
rad/s
rpm
rps
uu

number of pulses
angle
radianTurncustomize
Pulses/sec
angle/sec
radians/sec
rpm
rev/sec
customize

3.3 Magnetic Pole Calibration
3.3.1

Phase Sequence Steering Detection

Phase sequence and motion direction of the incremental motors is required before motion
control. With the phase sequence detection, the servo drive will automatically recognize UVWwire, and reverse the phase sequence and rotation direction according to the positive
direction.
3.3.2

Hall Detection

When using the Hall sensor, the servo drive needs to automatically recognize the Hall angle.
After that, the motor can be directly started with the Hall angle, which makes the motor start
more smoothly, for it avoids the shock of magnetic pole identification when the incremental
motor is powered on each time.
3.3.3

Commutation Offset Detection

Before motion control, detection of the magnetic pole zero is required. After calibration, themotion control can be performed normally. Otherwise, motor runway may occur.
Commutation offset detection is required after the phase sequence steering detection.
Otherwise, calibration may fail. In this case, when the motion is enabled or started, the current
feedback value observed in the motion monitoring is pretty large, the motor rotor is locked,
or there is a risk of motor runaway. At this time, please set “2002” to “1” in “Parameter
Editor-PID", to switch the phase sequence.
Parameter
Description
2002 Three-phase seq switch enable The function of switching phase sequence. 0-noswitching; 1-switching
The steps are as follows:
1. After setting parameters, in the parameter configuration interface, click "Electric-degree
Identify":

20

Figure 3-10 Automatic commutation detection

2.

Wait for about 5 -10 seconds. The status turns green, as shown in figure 3-11, whichindicates that the zero point calibration is completed.

Figure 3-11 Completion of automatic commutation offset detection

Description:
1. For an absolute encoder, an accurate calibration is required at the first time. After that,
motion control can be performed directly after the servo drive is powered on.
2. For an incremental encoder (without Hall signal), the calibration is required every time
the servo drive is powered on. Otherwise, motion control is not allowed.
Calibration can be done by sending calibration commands and enable commands (seenote 2 for logic) or manually clicking automatic commutation offset detection.
During calibration, please do not perform other motion control related operations.
Otherwise, the servo drive will report the corresponding error.
The servo drive owns the function of automatic calibration after power-on. With it

3.

4.

enabled, you can checkor set 0x2120 to 1. As a result,after saving, the servo drive will automatically start calibration every time it is powered
on. After calibration, the servo is disabled, and the sign indicating the completion ofcalibration shows. At this time, please set 0x2121 to 1.
For an incremental encoder (with Hall signal), configuring HALL start (0x2103=1) andrecognizing HALL angle are required at the first time. After that, motion control can be
performed directly after the servo drive is powered on.
Setting of calibration current
a. Gradually increase 0x2105 until the motor shaft can be fixed in a certain position
quickly and stably.
b. Rotate the shaft.
c. Start calibration again several times until the position is basically the same (i.e. thevalue of 0x2102 is almost the same).
Note:
1. If the calibration current is not adjusted properly or the load of motor shaft is toolarge, the calibration will fail. For the error handling, please refer to Chapter 5
Troubleshooting.
2. After 0x6060 (control mode) is set to 0, 0x2101 is written to 1, 0x6040 (control word)21

is executed according to the enable logic of 6 -> 7 -> 15, the servo enterscalibration status. When 0x2101 turns to 0, it means the calibration process iscompleted.
Commutation offset related parametersparameter
Description
2101 Calibrate commutation offset The sign of manual zero calibration enable.
2102 Commutation offset
The value of zero calibration.
2103 HallModeSelectHall mode selection. 0: disable Hall;1: enable Hall.
D-axis calibration current amplitude2105 Commutation current ratio_1 = 2105 / 1000 * Rate current.
Frequency: constant value
213E Hall_Angle
Hall calibration angle.
Automatic calibration after power-on. 0-OFF; 12120 AutoCalibrateAngle
ON.
The sign whether automatic calibration after
2121 AutoCalibrateAngleFinish
power-on is completed. 0-Incomplete; 1Complete.
Q-axis calibration current amplitude2402 Commutation current ratio_2 = 2402 / 1000 * 2105
Frequency: high frequency
22

3.4 PID Adjustment
If PID parameters are not set properly, the motor may vibrate or make abnormal noise. Thus,
to achieve a better control effect, it is necessary to adjust PID parameters before controllingthe motor.
The upper software SMC provides a function generator, which can output the given mode,
wave form and step signal, and capture the given waveform and the feedback waveform for
response analysis with an oscilloscope.
The whole debugging steps is as follows:
Adjustment for current loop → Adjustment for velocity loop → Adjustment for position loop
3.4.1

Current Loop

The first debugging is for the current loop.
1.
Select "Current Loop", and then click "Tool" in the main menu,select "Oscilloscope".
The debugging interface of the current loop shows as in Figure 3-12:23

Figure 3-12 Current loop debugging interface

2.

Adjust Kp.
Main function: to increase the bandwidth with the increase of Kp. If it is too large, themotor makes noise, and if it is too small, the bandwidth is lowered.
a. Set Ki to 0 and Kp to 100, and click "Download":
Generally, you only need to slightly adjust the default values.

Figure 3-13 Control parameters of current loop

b. Set the function type to sine wave, current amplitude to 25% of the motor rated
current (the following takes 1 A as an example) and frequency to 1500 Hz.

Figure 3-14 Function generator parameters of current loopc.

Turn on oscilloscope again, set the sampling channel to Id/Iq reference (current given
value) and Id/Iq feedback (current feedback value), set the sampling period to 50 us,
and check continuous sampling.

24

Figure 3-15 Oscilloscope sampling parameters of current loop

d. Enable the servo, start function generator, and click "Start Acquisition".
e. Keep increasing Kp until the amplitude of Id/Iq feedback is between (0.707~1) of theamplitude of Id/Iq reference and the phase lag does not exceed 90°:

Figure 3-16 Current sampling waveform after adjusting Kp

3.

Adjust Ki.
Main function: to eliminate the steady-state error. If it is too large, it will lead toovershoot and the motor will make noise.
a. Set the function type to square wave, current amplitude to 25% of the motor rated
current (the following takes 1 A as an example) and frequency to 10 Hz.

25

Figure 3-1 7 Function generator parameters of current loopb.

Gradually increase Ki, (generally increase 100 each time), and repeat step c and d ofadjusting Kp until the steady-state error is eliminated, the waveform of Id/Iq
feedback almost coincides with that of Id/Iq reference waveforms, and the overshootis within 5%:

Figure 3-18 Current sampling waveform after adjusting Ki

Note: When adjusting the current loop, if the motor is a rotary brushless/linear motor, please
select id for adjustment, and if the motor is DC brush/voice coil motor, please select iq for
adjustment.
3.4.2

Velocity Loop

The second debugging is for the velocity loop.
1. Select "Velocity Loop". The debugging interface of the velocity loop shows as in Figure
3-19:

26

Figure 3-19 Velocity loop debugging interface

2.

3.

Do the following preparation works:
a. Set the inertia ratio to 0X2422.
b. Set the following parameters to 0: 0x2020:01 Filter type of measured speed
 0x2021:01 Filter type of speed error filter 2022:01 Filter type of speed error second filter 2006 Feed forward method
Adjust Kp.
a. Set Ki to 0 and Kp to 10, and click "Download":

Figure 3-20 Control parameters of velocity loopb.

Set the function type to step signal and velocity amplitude to 300 rpm, and set the
duration according to the limit of running distance, i.e 500 ms.

27

Figure 3-21 Function generator parameters of velocity loopc.

Turn oscilloscope again, set the sampling channel to velocity loop reference (speed
given value) and velocity loop feedback (velocity feedback value), set the sampling
period to 200 us, check “Trigger Acquisition”, set the trigger edge to rising edge,
set trigger channel to velocity loop reference, set trigger level to 10 rpm, and set
pretrigger to 20%.

Figure 3-22 Oscilloscope sampling parameters of velocity loopd.

e.

Enable the servo, start function generator, and click "Start Acquisition".
When the function type is set to step signal, there will be a delay of 4 - 5 seconds,
to make sure that there is enough time for the oscilloscope to start acquisition.
Keep increasing Kp (generally increase 10 digits each time) and observe thewaveform of velocity loop reference (speed given value) and velocity loop feedback(speed feedback value) until the critical oscillation shows in the velocity waveform:

Figure 3-23 Velocity sampling waveform after adjusting Kp

f.

4.

Take 70% - 80% of the value of Kp, and stop the oscilloscope acquisition and function
generator.

Adjust Ki.
28

Gradually increase Ki, and repeat step c and d of adjusting Kp until the steady-state errorof velocity loop feedback is eliminated and the overshoot is within 30%:

Figure 3-24 Velocity sampling waveform after adjusting Ki

To reduce the velocity deviation during acceleration, you can do debugging for torque feed
forward as follows:
1. To enable the feed forward function, set 2006 to 2.
2. Set 2019 Torque feed forward time constant to a fixed value, and keep increasing 2016
Speed feed forward coefficient until a good result of velocity feed forward shows at a
certain value.
3. Repeatedly adjust 2019 and 2016 to find a balance.
Note: Improper debugging will cause system oscillation. If oscillation or mechanicalresonance occurs during debugging, you can set 0x2021 / 0x2022 Filter type of speed error
filter to eliminate the oscillation frequency:

29

Parameter

Description

200C:01 Measured speed filter

The filter value of measured speed

200F:01 Speed error filter

The filter value of speed error

2010:01 Speed error second filter

The filter value 2 of speed error

2020:01 Filter type of measured speed filter

The filter type of measured speed

2020:02 Frequency of measured speed filter

The filter frequency of measured speed

2020:03 Quality factor of measured speed
filter

The filter quality factor of measured speed

2021:01 Filter type of speed error filter

The filter type 1 of measured speed

2021:02 Frequency of speed error filter

The filter frequency 1 of measured speed

2021:03 Quality factor of speed error second
filter

The filter quality factor 1 of measured
speed

2022:01 Filter type of speed error filter

The filter type 2 of measured speed

2022:02 Frequency of speed error filter

The filter frequency 2 of measured speed

2022:03 Quality factor of speed error second
filter

The filter quality factor 2 of measured
speed

2421 Velocity Average Filtering

Velocity average filter (internal use)30

3.4.3

Position Loop

The third debugging is for position loop.
1. Select "Position Loop". The debugging interface of the position loop shows as in
Figure 3-25.

Figure 3-2 5 Debugging interface of position loop

2.

Adjust Kp.
a. Set Kp, and click "Download".
It is recommended to use the default value 10 at first, and modify it after obtain theposition curve.

Figure 3-26 Control parameters of position loopb.

Set the function type to square wave signal, position amplitude to 1000 cnt (thecurrent position is zero, the motion amplitude is 1000 cnt. Please pay attention to
the mechanical stroke), and signal frequency to 5 Hz.

Figure 3-27 Function generator parameters of position loop31

c.

Turn on oscilloscope, set the sampling channel to position loop reference (position
given value) and position loop feedback (position feedback value), set the sampling
period and duration to proper values, and check continuous acquisition.

Figure 3-28 Oscilloscope sampling parameters of position loopd.

Observe the waveform of position loop reference (position given value) andposition loop feedback (position feedback value), and adjust Kp as follows until the
result of waveform is good with unsaturated current: Increase Kp when the position follow-up error is large or the response is slow.
 Reduce Kp when the position overshoot or jitter occurs.

Figure 3-29 Position sampling waveform after adjusting Kp

In actual application, if not satisfied with the position follow-up error, you can carry out
debugging for torque feed forward and speed feed forward as follows:
1. To enable the feed forward function, set 0x2006 to 2.
2. Set 0x2019 Torque feed forward time constant to a fixed value, and keep increasing 2016velocity feed forward coefficient until a good result of velocity feed forward shows at a
certain value.
3. Repeatedly adjust 0x2019 and 0x2016 to find a balance.
After adjusting the position loop gain, the motor makes low-frequency audible noise in the32enabled but not running state, which will reduce the velocity loop Kp or the current loop Kp.
If the value of position loop Kp is too small, the rigidity is weak.
3.4.4

Grouping Gain

Grouping gain can be set in the situation where the inertia load changes and a group of fixed
gain parameters of velocity loop and position loop cannot satisfy high, medium and low
speed. Its principle is as follows:

Kp/Ki at high speed

Kp/Ki at low speed

Kp/Ki at zero speed

Zero
speed

Low
speed

High
speed

Figure 3-3 0 Principle of grouping gain

Take the velocity loop as an example: when setting the grouping gain, you can set the actual
speed or the given speed:
Actual Speed / Given Speed:Gain Parameter0 - zero speed

Kp and Ki at zero speed

Zero speed - low speed

Low speed - high speed＞ High speed

Kp increases with the slope (Kp at low speed - Kp atzero speed) / (low speed - zero speed).
Ki increases with the slope (Ki at low speed - Ki atzero speed) / (low speed - zero speed)
Kp increases with the slope (Kp at high speed - Kp
at low speed) / (high speed - low speed).
Ki increases with the slope (Ki at high speed - Ki at
low speed) / (high speed - low speed)

Kp and Ki at high speed

3.5 Motion Control
After setting motor parameters, encoder parameters and control parameters, the motor canbe simply driven. The modes that the software controls the servo drive to drive the motor
include the following: Position mode Speed mode
 Homing mode33Torque mode

3.5.1

Position Control Mode

The process of motion control in position mode is as follows:
1. Click "Motion" in the main menu, and click "Position Mode". The interface of motion
control in position mode shows as in Figure 4-31.

Figure 3-31 Interface of motion control in position mode2.

Set the following parameters:
 Motion mode: to set the position motion as unidirectional motion or reciprocating
motion.
 Target position: to control the distance of motor movement. When the motion
mode is set to reciprocating motion, you need to set two target positions.
 Speed: the movement speed of the motor.
 Acceleration: the acceleration to start the motor.
 Deceleration: the deceleration to stop the motor.
 Deceleration for quick stop: the deceleration to stop the motor when the motor is
directly disabled.
 Command type: absolute, to start movement with zero point of the encoder as thestart point; relative, to start movement with current position of the encoder as zero
point.
 Curve type: including linear ramp (straight line) and Jerk-limited ramp (S-shaped
curve).
 Waiting time: the waiting delay time for the arrival of the target position when the
motion mode is set to reciprocating motion.
 Cycle times: the number of reciprocating cycles when the motion mode is set to
34

3.
4.

reciprocating motion. Infinite cycle means cycle will continue all the time.
To enable the servo drive, click "Enable".
To start motion control in position mode and start acquisition oscilloscope, click "Start"and “Start Acquisition".

3.5.2

Velocity Control Mode

The process of motion control in position mode is as follows:1.
Select "Velocity Mode". The interface of motion control in velocity mode shows as in
Figure 3-32.

Figure 3-32 Interface of motion control in velocity mode

2.

3.
4.

Set the following parameters:
 Target speed: the movement speed of the motor.
 Acceleration: the acceleration to start the motor.
 Deceleration: the deceleration to stop the motor.
 Deceleration for quick stop: the deceleration to stop the motor when the motor is
directly disabled.
To enable the servo drive, click "Enable". Servo Enable shows in the interface.
To control the motor to move in the positive direction, click “Forward”, to control the
motor to move in the opposite direction, click “Reverse”.

35

3.5.3

Homing Mode

The process of motion control in homing mode is as follows:
1. Select "Homing Mode". The interface of motion control in homing mode shows as in
Figure 3-33.

Figure 3-3 3 Interface of motion control in homing mode2.

Set the following parameters:

Homing method: there are 35 homing methods. When starting, the motor moves
according to the selected homing method.
High speed for homing: when starting, the motor starts to find the zero point at high
speed.

Low speed for homing: when starting, the motor moves to the zero point at low
speed after it finds the zero point.

Zero offset: after setting the zero offset, the motor finally stops at the position behindthe offset.
Acceleration and deceleration for homing: when starting, the acceleration anddeceleration for homing.
3. To enable the servo drive, click "Enable". Servo Enable shows in the interface.
4. To make the motor move with the set homing method, click “Start”, to stop the motor,
click “Stop”.
Homing
1. Homing method When using an incremental encoder, and when the servo does not know theposition of the motor when it is powered on, homing is required every time it ispowered on.
 When using an absolute encoder or incremental + Hall signal, homing is required
only when the servo is powered on for the first time.
Note: The zero point calibration is the initial angle identification of the motor. If the initial
angle identification is not performed, the motor may reverse or even run away. When


36

2.

using an incremental encoder, zero point calibration is required each time the power ison; when using an absolute encoder or incremental + Hall signal, zero point calibrationis required only when the power is on for the first time.
Related concepts
Origin and zero point
Home position: machine origin, which can represent origin switch or motor Z signal.

Zero position: the position after homing finishes.
During homing, the motor stops at the home position. If the position deviation 607C isset, the motor stops at the zero position.
Zero position = Home position + 607C Home offset:

Figure 3-34 Relationship between origin and zero point

Speed
High speed: the speed during finding the limit switch (different according to theorigin mode). (6099-01h).

Low speed: the speed during finding the origin after finding the limit switch. (609902h).

Acceleration and deceleration: acceleration and deceleration during homing. (609A).
Direction
The direction in which the encoder value increases is the positive direction, and the
direction in which the value decreases is the negative direction.
3.5.3.1 Homing Method
Note:
1. The numbers in the figure correspond to the corresponding homing methods. The same
numbers indicates two ways of this homing method. For example, two ʔ in the figure
2.
3.

of method 3 indicates two different ways of the homing method 3.
The index pulse is the Z signal.
The bold color indicates homing at high speed.

373.5.3.2 Method 1: Homing on negative limit switch (falling edge) and index pulse

Negative limit switch

1

Z Signal

Negative limit switch

Figure 3-35 Method 1

When homing starts, the motor moves at a high speed (6099-01) in the negative direction.
When the negative limit switch signal becomes high level, the motor decelerates to 0 with thehoming deceleration (609A), moves in the positive direction with the homing acceleration(609A) to accelerate to a low speed (6099-02), and keeps moving in the positive direction at
the low speed. After the negative limit switch signal becomes low level and the first Z signal
shows, the status word Homing attained is set to 1, and the motor starts to decelerate withthe homing deceleration (609A). The status word Target reached is set to 1 when the motor
stops.
Speed
Falling edge of negative limit switch signal
6099-01

Z Singal

6099-02Time
6099-02
Home switch signal is low level when homing starts,and turns to high level after limit is triggered

6099-01

Rising edge of negative limit switch signal

Figure 3-36 Speed-time curve of method 138

3.5.3.3 Method 2: Homing on positive limit switch (falling edge) and index pulse
Positive limit switch

２

Z signal
Positive limit switch
Figure 3-37 Method 2

When homing starts, the motor moves at a high speed (6099-01) in the positive direction.
When the positive limit switch signal becomes high level, the motor decelerates to 0 with thehoming deceleration (609A), moves in the negative direction with the homing acceleration(609A) to accelerate to a low speed (6099-02), and keeps moving in the negative direction at
the low speed. After the positive limit switch signal becomes low level and the first Z signal
shows, the status word Homing attained is set to 1, and the motor starts to decelerate withthe homing deceleration (609A). The status word Target reached is set to 1 when the motor
stops.
Speed

Rising edge of positive limit switch signal

6099-01
6099-02Time
6099-026099-01

Z signal
Falling edge of positive limit switch signal
Home switch signal is low level when homing starts, and turns to highlevel after limit is triggered

Figure 3-38 Speed-time curve of method 239

3.5.3.4 Method 3: Homing on positive home switch (falling edge) and index pulse

Home switch

3

3

Z signal
Home switch
Figure 3-39 Method 3When homing starts, if the home switch signal is low level, the motor moves at a highspeed (6099-01) in the positive direction. After the home switch signal becomes highlevel, the motor decelerates to 0 with the homing deceleration (609A), and moves in thenegative direction with the homing acceleration (609A) to accelerate to a low speed(6099-02), and keeps moving in the negative direction at the low speed. After the positive
home switch signal becomes low level and the first Z signal shows, the status word
Homing attained is set to 1, and the motor starts to decelerate with the homing
deceleration (609A). The status word Target reached is set to 1 when the motor stops.
When homing starts, if the home switch signal is high level, the motor moves at alow speed (6099-02) in the negative direction. After the home switch signal becomes low
level and the first Z signal shows, the status word Homing attained is set to 1, and the
motor starts to decelerate with the homing deceleration (609A). The status word Target
reached is set to 1 when the motor stops.
Speed

Rising edge of home switch signal

6099-01
6099-02Time
6099-02

Z signal

Z signal

Rising edge of home switch signal
Falling edge of home switch signal

Home switch signal is low level and limit is
not triggered when homing starts

Home switch signal is high level when homing starts

Figure 3-40 Speed-time curve of method 340

3.5.3.5 Method 4: Homing on positive home switch (rising edge) and index pulse

Home switch

４
４

Z signal
Home switch
Figure 3-41 Method 4
原点开关：Home switch
Z 信号：Z signal

When homing starts, if the home switch signal is low level, the motor moves at a low
speed (6099-02) in the positive direction. After the home switch signal becomes highlevel and the first Z signal shows, the status word Homing attained is set to 1, and the
motor starts to decelerate with the homing deceleration (609A) and finally return to theZ pulse latch position. The status word Target reached is set to 1 when the motor stops.
When homing starts, if the home switch signal is high level, the motor moves at ahigh speed (6099-01) in the negative direction. After the home switch signal becomes
low level, the motor decelerates to 0 with the homing deceleration (609A), and moves in
the positive direction with the homing acceleration (609A) to accelerate to a low speed(6099-02), and keeps moving in the positive direction at the low speed. After the home
switch signal becomes high level and the first Z signal shows, the status word Homing
attained is set to 1, and the motor starts to decelerate with the homing deceleration(609A) and finally return to the Z pulse latch position. The status word Target reached is
set to 1 when the motor stops.
Speed
Rising edge of home switch signal
Rising edge of home switch signal

Z signal

Z signal
6099-02Time
6099-02
Home switch signal is low level and limit is not
triggered when homing starts

6099-01

Home switch signal is high level when homing
startsFigure 3-42 Speed-time curve of method 441

3.5.3.6 Method 5: Homing on negative home switch (falling edge) and index pulse

Home switch

55

Z signal
Home switch
Figure 3-43 Method 5When homing starts, if the home switch signal is low level, the motor moves at a highspeed (6099-01) in the negative direction. After the home switch signal becomes highlevel, the motor decelerates to 0 with the homing deceleration (609A), and moves in thepositive direction with the homing acceleration (609A) to accelerate to a low speed(6099-02), and keeps moving in the positive direction at the low speed. After the home
switch signal becomes low level and the first Z signal shows, the status word Homing
attained is set to 1, and the motor starts to decelerate with the homing deceleration(609A) and finally returns to the Z pulse latch position. The status word Target reachedis set to 1 when the motor stops.
When homing starts, if the home switch signal is high level, the motor moves at alow speed (6099-02) in the positive direction. After the home switch signal becomes low
level and the first Z signal shows, the status word Homing attained is set to 1, and the
motor starts to decelerate with the homing deceleration (609A) and finally returns to theZ pulse latch position. The status word Target reached is set to 1 when the motor stops.
Speed
Falling edge of home switch signal
Falling edge of home switch signal

6099-01

Z signal

Z signal

6099-02Time
6099-02
Home switch signal is low level and limit is not triggered
when homing starts

6099-01

Home switch signal is high level when homing starts.

Rising edge of home switch signal

Figure 3-44 Speed-time curve of method 542

3.5.3.7 Method 6: Homing on negative home switch (rising edge) and index pulse

Home switch

6
6

Z signal
Home switch
Figure 3-45 Method 6When homing starts, if the home switch signal is low level, the motor moves at a low
speed (6099-02) in the negative direction. After the home switch signal becomes highlevel and the first Z signal shows, the status word Homing attained is set to 1, and the
motor starts to decelerate with the homing deceleration (609A). The status word Target
reached is set to 1 when the motor stops.
When homing starts, if the home switch signal is high level, the motor moves at ahigh speed (6099-01) in the positive direction. After the home switch signal becomes
low level, the motor decelerates to 0 with the homing deceleration (609A), and moves in
the negative direction with the homing acceleration (609A) to accelerate to a low speed(6099-02), and keeps moving in the negative direction at the low speed. After the home
switch signal becomes high level and the first Z signal shows, the status word Homing
attained is set to 1, and the motor starts to decelerate with the homing deceleration(609A). The status word Target reached is set to 1 when the motor stops.
Speed
Falling edge of home switch signal

6099-01
6099-02Time

Z signal

Z signal

Rising edge of home switch signal
Rising edge of home switch signal
Home switch signal is low level and limit is not triggered
when homing starts

Home switch signal is high level when homing starts

Figure 3-46 Speed-time curve of method 643

3.5.3.8 Method 7: Homing on negative home switch (falling edge) and index pulsepositive limit switch detection
Home switch

Positive limit switch

7
7

7

Z signal
Home switch
Positive limit switch

Figure 3-47 Method 7When homing starts, if the home switch signal is low level, the motor moves at a highspeed in the positive direction.
 After the home switch signal becomes high level, the motor decelerates to 0 withthe homing deceleration (609A), and moves in the negative direction with thehoming acceleration (609A) to accelerate to a low speed (6099-02), and keeps
moving in the negative direction at the low speed. After the home switch signal
becomes low level and the first Z signal shows, the status word Homing attained is
set to 1, and the motor starts to decelerate with the homing deceleration (609A).
The status word Target reached is set to 1 when the motor stops.
 After the positive limit switch signal becomes high level, the motor decelerates to 0
with the homing deceleration (609A), and moves in the negative direction with thehoming acceleration (609A) to accelerate to a high speed (6099-01), and keeps
moving in the negative direction at the high speed. After the home switch signal
becomes high level, the motor decelerates with homing deceleration (609A) to alow speed (6099-02), and keeps moving in the negative direction at the low speed.
After the home switch signal becomes low level and the first Z signal shows, thestatus word Homing attained is set to 1, and the motor starts to decelerate with thehoming deceleration (609A). The status word Target reached is set to 1 when the
motor stops.
When homing starts, if the home switch signal is high level, the motor moves at alow speed (6099-02) in the negative direction. After the home switch signal becomes low
level and the first Z signal shows, the status word Homing attained is set to 1, and the44motor starts to decelerate with the homing deceleration (609A). The status word Target
reached is set to 1 when the motor stops.
Rising edge of positive limilt switch signal

速度

Rising edge of home switch signal

6099-01
6099-02Time
6099-026099-01

Z signal

Z signal

Z signal

Falling edge of home switch signal

Falling edge of home switch signal

Falling edge of home switch signal
Rising edge of home switch signal

Home switch signal is low level when homing starts, and turns tohigh level after limit is triggered
Home switch signal is low level and limit is not triggered whenhoming starts
Home switch signal is high level when homing starts

Figure 3-48 Speed-time curve of method 7

3.5.3.9 Method 8: Homing on positive home switch (rising edge) and index pulsepositive limit switch detection

Home switch

Positive limit switch

8

8

8

Z signal

Home switch
Positive limit
switchFigure 3-49 Method 8When homing starts, if the home switch signal is low level, the motor moves at a low
45

speed (6099-02) in the positive direction.
 After the home switch signal becomes high level, the motor keeps moving at a low
speed (6099-02) in the positive direction. After the home switch signal becomeshigh level and the first Z signal shows, the status word Homing attained is set to 1,
and the motor starts to decelerate with the homing deceleration (609A). The status
word Target reached is set to 1 when the motor stops.
 After the positive limit switch signal becomes high level, the motor decelerates to 0
with the homing deceleration (609A), and moves in the negative direction with thehoming acceleration (609A) to accelerate to a high speed (6099-01), and keeps
moving in the negative direction at the high speed. After the home switch signal
becomes low level, the motor decelerates to 0 with the homing deceleration (609A),
move in the positive direction to accelerate to a low speed (6099-02) with thehoming acceleration (609A), and keeps moving in the positive direction at the low
speed. After the home switch signal becomes high level and the first Z signal shows,the status word Homing attained is set to 1, and the motor starts to decelerate withthe homing deceleration (609A). The status word Target reached is set to 1 whenthe motor stops.
When homing starts, if the home switch signal is high level, the motor moves at ahigh speed (6099-01) in the negative direction. After the home switch signal becomes
low level, the motor decelerates to 0 with the homing deceleration (609A), and moves in
the positive direction with the homing acceleration (609A) to accelerate to a low speed(6099-02), and keeps moving in the positive direction at the low speed. After the home
switch signal becomes high level and the first Z signal shows, the status word Homing
attained is set to 1, and the motor starts to decelerate with the homing deceleration(609A). The status word Target reached is set to 1 when the motor stops.
Speed

Rising edge of positive limilt switch signal
Rising edge of home switch signal Rising edge of home switch signal
Rising edge of home switch signal

6099-01

Z signal

Z signal

Z signal

6099-02Time
6099-026099-01
Falling edge of home switch signal Falling edge of home switch signal

Home switch signal is low level when homing starts, and turns tohigh level after limit is triggered

Home switch signal is low level and limit is not triggered whenhoming starts
Home switch signal is high level when homing starts

Figure 3-50 Speed-time curve of method 846

3.5.3.10 Method 9: Homing on negative home switch (rising edge) and index pulsepositive limit switch detection
Home switch

Positive limit switch

9

9

9

Z signal
Home switch
Positive limit
switchFigure 3-51 Method 9When homing starts, if the home switch signal is low level, the motor moves at a highspeed (6099-01) in the positive direction.
 After the home switch signal becomes high level, the motor keeps moving at a highspeed (6099-01) in the positive direction. After the home switch signal becomes low
level, the motor decelerates to 0 with the homing deceleration (609A), and moves
in the negative direction with the homing acceleration (609A) to accelerate to a low
speed (6099-02), and keeps moving in the negative direction at the low speed. Afterthe home switch signal changes from low level to high level and the first Z signal
shows, the status word Homing attained is set to 1, and the motor starts todecelerate with the homing deceleration (609A). The status word Target reached is
set to 1 when the motor stops.
 After the positive limit switch signal becomes high level, the motor decelerates to 0
with the homing deceleration (609A), and moves in the negative direction with thehoming acceleration (609A) to accelerate to a low speed (6099-02), and keeps
moving in the negative direction at the low speed. After the home switch signal
becomes high level and the first Z signal shows, the status word Homing attained is
set to 1, and the motor starts to decelerate with the homing deceleration (609A).
The status word Target reached is set to 1 when the motor stops.
When homing starts, if the home switch signal is high level, the motor moves at ahigh speed (6099-01) in the positive direction. After the home switch signal becomes
low level, the motor decelerates to 0 with the homing deceleration (609A), and moves in
the negative direction with the homing acceleration (609A) to accelerate to a low speed(6099-02), and keeps moving in the negative direction at the low speed. After the home
switch signal becomes high level and the first Z signal shows, the status word Homing

47

attained is set to 1, and the motor starts to decelerate with the homing deceleration(609A). The status word Target reached is set to 1 when the motor stops.
Falling edge of home switch signal

速度

Rising edge of positive limit switch signal
Falling edge of home switch signal

6099-01

6099-02Time
6099-026099-01

Z signal

Z signal

Z signal

Rising edge of home switch signal
Rising edge of home switch signal
Rising edge of home switch signal

Home switch signal is low level when homing starts, and turns tohigh level after limit is triggered

Home switch signal is low level and limit is not triggered whenhoming starts
Home switch signal is high level when homing starts

Figure 3-52 Speed-time curve of method 9

3.5.3.11 Method 10: Homing on positive home switch (falling edge) and index pulsepositive limit switch detection

Home switch

Positive limit switch

10
10

10

Z signal
Home switch

Positive limit
switchFigure 3-53 Method 10When homing starts, if the home switch signal is low level, the motor moves at a highspeed (6099-01) in the positive direction.
48

After the home switch signal becomes high level, the motor moves with the homing
deceleration (609A) to decelerate to a low speed (6099-02), and keeps moving at
the low speed in the positive direction. After the home switch signal becomes low
level and the first Z signal shows, the status word Homing attained is set to 1, andthe motor starts to decelerate with the homing deceleration (609A). The status word
Target reached is set to 1 when the motor stops.
 After the positive limit switch signal becomes high level, the motor decelerates to 0
with the homing deceleration (609A), and moves in the negative direction with thehoming acceleration (609A) to accelerate to a high speed (6099-01), and keeps
moving in the negative direction at the high speed. After the home switch signal
becomes high level, the motor decelerates to 0 with the homing deceleration (609A),
move in the positive direction to accelerate to a low speed (6099-02) with thehoming acceleration (609A), and keeps moving in the positive direction at the low
speed. After the home switch signal becomes low level and the first Z signal shows,the status word Homing attained is set to 1, and the motor starts to decelerate withthe homing deceleration (609A). The status word Target reached is set to 1 whenthe motor stops.
When homing starts, if the home switch signal is high level, the motor moves at alow speed (6099-02) in the positive direction. After the home switch signal becomes low
level and the first Z signal shows, the status word Homing attained is set to 1, and the
motor starts to decelerate with the homing deceleration (609A). The status word Target
reached is set to 1 when the motor stops.




Speed

Rising edge of positive limit switch signal
Rising edge of home switch signal

Falling edge of home switch signal

Falling edge of home switch signal

Falling edge of home switch signal

Z signal

Z signal

Z signal

6099-02Time
6099-026099-01

Rising edge of home switch signal
Home switch signal is low level when homing starts, and turns tohigh level after limit is triggered
Home switch signal is low level and limit is not triggered whenhoming starts

Home switch signal is high level when homing starts

Figure 3-54 Speed-time curve of method 1049

3.5.3.12 Method 11: Homing on positive home switch (falling edge) and index pulsenegative limit switch detection
Negative limit switch

Home switch

11
11

11

Z signal
Home switch
Negative
limit switch
Figure 3-55 Method 11When homing starts, if the home switch signal is low level, the motor moves at a highspeed (6099-01) in the negative direction.
 After the home switch signal becomes high level, the motor moves with the homing
deceleration (609A) to decelerate to 0, and moves in the positive direction toaccelerate to a low speed (6099-02) with the homing acceleration (609A), and keeps
moving at the low speed in the positive direction. After the home switch signal
becomes low level and the first Z signal shows, the status word Homing attained is
set to 1, and the motor starts to decelerate with the homing deceleration (609A).
The status word Target reached is set to 1 when the motor stops.
 After the negative limit switch signal becomes high level, the motor decelerates to
0 with the homing deceleration (609A), and moves in the positive direction with thehoming acceleration (609A) to accelerate to a high speed (6099-01), and keeps
moving in the positive direction at the high speed. After the home switch signal
becomes high level, the motor decelerates to a low speed (6099-02) with thehoming deceleration (609A), and keeps moving in the positive direction at the low
speed. After the home switch signal becomes low level and the first Z signal shows,the status word Homing attained is set to 1, and the motor starts to decelerate withthe homing deceleration (609A). The status word Target reached is set to 1 whenthe motor stops.
When homing starts, if the home switch signal is high level, the motor moves at alow speed (6099-02) in the positive direction. After the home switch signal becomes low
level and the first Z signal shows, the status word Homing attained is set to 1, and the
motor starts to decelerate with the homing deceleration (609A). The status word Target
reached is set to 1 when the motor stops.

50

SpeedRising edge of home switch signal
Falling edge of home switch signal Falling edge of home switch signal

Falling edge of home switch signal

Z signal

Z signal

Z signal

6099-02Time

6099-026099-01
Rising edge of negative limit switch signal

Rising edge of home switch signal
Home switch signal is low level when homing starts, and turns tohigh level after limit is triggered
Home switch signal is low level and limit is not triggered whenhoming starts
Home switch signal is high level when homing starts

Figure 3-56 Speed-time curve of method 11

3.5.3.13 Method 12: Homing on negative home switch (rising edge) and index pulsenegative limit switch detection

Negative limit switch

Home switch

12

12

12

Z signal

Home switch
Negative
limit switch
Figure 3-57 Method 12When homing starts, if the home switch signal is low level, the motor moves at a low
speed (6099-02) in the negative direction.
 After the home switch signal becomes high level, the motor keeps moving in thenegative direction at a low speed (6099-02). After the home switch signal becomeshigh level and the first Z signal shows, the status word Homing attained is set to 1,
and the motor starts to decelerate with the homing deceleration (609A). The status
51





word Target reached is set to 1 when the motor stops.
After the negative limit switch signal becomes high level, the motor decelerates to
0 with the homing deceleration (609A), and moves in the positive direction with thehoming acceleration (609A) to accelerate to a high speed (6099-01), and keeps
moving in the positive direction at the high speed. After the home switch signal
becomes low level, the motor decelerates to 0 with the homing deceleration (609A),
moves in the negative direction to accelerate to a low speed (6099-02) with thehoming acceleration (609A), and keeps moving in the negative direction at the low
speed. After the home switch signal becomes high level and the first Z signal shows,the status word Homing attained is set to 1, and the motor starts to decelerate withthe homing deceleration (609A). The status word Target reached is set to 1 whenthe motor stops.

When homing starts, if the home switch signal is high level, the motor moves at ahigh speed (6099-01) in the positive direction. After the home switch signal becomes
low level, the motor decelerates to 0 with the homing deceleration (609A), and moves in
the negative direction with the homing acceleration (609A) to accelerate to a low speed(6099-02), and keeps moving in the negative direction at the low speed. After the home
switch signal becomes high level and the first Z signal shows, the status word Homing
attained is set to 1, and the motor starts to decelerate with the homing deceleration(609A). The status word Target reached is set to 1 when the motor stops.
Speed

Falling edge of home switch signal

Falling edge of home switch signal

6099-01
6099-02Time

6099-026099-01

Z signal

Z signal

Z signal

Rising edge of home switch signal Rising edge of home switch signal
Rising edge of negative limit switch signal

Rising edge of home switch signal

Home switch signal is low level when homing starts, and turns tohigh level after limit is triggered
Home switch signal is low level and limit is not triggered whenhoming starts
Home switch signal is high level when homing starts

Figure 3-58 Speed-time curve of method 1252

3.5.3.14 Method 13: Homing on positive home switch (rising edge) and index pulsenegative limit switch detection

Negative limit switch

Home switch

13

13
13

Z signal
Home switch
Negative
limit switch
Figure 3-59 Method 13When homing starts, if the home switch signal is low level, the motor moves at a highspeed (6099-01) in the negative direction.
 After the home switch signal becomes high level, the motor keeps moving in thenegative direction at the high speed. After the home switch signal becomes low level,
the motor moves with the homing deceleration (609A) to decelerate to 0, and moves
in the positive direction to accelerate to a low speed (6099-02) with the homing
acceleration (609A), and keeps moving at the low speed in the positive direction.
After the home switch signal becomes high level and the first Z signal shows, thestatus word Homing attained is set to 1, and the motor starts to decelerate with thehoming deceleration (609A). The status word Target reached is set to 1 when the
motor stops.
 After the negative limit switch signal becomes high level, the motor decelerates to
0 with the homing deceleration (609A), and moves in the positive direction with thehoming acceleration (609A) to accelerate to a low speed (6099-02), and keeps
moving in the positive direction at the low speed. After the home switch signal
becomes high level and the first Z signal shows, the status word Homing attained is
set to 1, and the motor starts to decelerate with the homing deceleration (609A).
The status word Target reached is set to 1 when the motor stops.
When homing starts, if the home switch signal is high level, the motor moves at ahigh speed (6099-01) in the negative direction. After the home switch signal becomes
low level, the motor decelerates to 0 with the homing deceleration (609A), and moves in
the positive direction with the homing acceleration (609A) to accelerate to a low speed(6099-02), and keeps moving in the positive direction at the low speed. After the home
switch signal becomes high level and the first Z signal shows, the status word Homing
53

attained is set to 1, and the motor starts to decelerate with the homing deceleration(609A). The status word Target reached is set to 1 when the motor stops.
Speed
Rising edge of home switch signal

6099-01

Rising edge of home switch signal

Rising edge of home switch signal

Z signal Z signal Z signal

6099-02Time
6099-026099-01
Home switch signal is low level when homing starts, and turns to

Falling edge of home switch signal

Falling edge of home switch signal high level after limit is triggered

Home switch signal is low level and limit is not triggered whenhoming starts

Rising edge of negative limit switch signal

Home switch signal is high level when homing starts

Figure 3-60 Speed-time curve of method 13

3.5.3.15 Method 14: Homing on negative home switch (falling edge) and index pulsenegative limit switch detection

Negative limit switch

Home switch

14
14

14

Z signal
Home switch
Negative
limit switch
Figure 3-61 Method 14

When homing starts, if the home switch signal is low level, the motor moves at a highspeed (6099-02) in the negative direction.
 After the home switch signal becomes high level, the motor moves with the homing
deceleration (609A) to decelerate to a low speed (6099-02), and keeps moving in
the negative direction at a low speed. After the home switch signal becomes low
level and the first Z signal shows, the status word Homing attained is set to 1, andthe motor starts to decelerate with the homing deceleration (609A). The status word
Target reached is set to 1 when the motor stops.
54

After the negative limit switch signal becomes high level, the motor decelerates to
0 with the homing deceleration (609A), and moves in the positive direction with thehoming acceleration (609A) to accelerate to a high speed (6099-01), and keeps
moving in the positive direction at the high speed. After the home switch signal
becomes high level, the motor decelerates to 0 with the homing deceleration (609A),
moves in the negative direction to accelerate to a low speed (6099-02) with thehoming acceleration (609A), and keeps moving in the negative direction at the low
speed. After the home switch signal becomes low level and the first Z signal shows,the status word Homing attained is set to 1, and the motor starts to decelerate withthe homing deceleration (609A). The status word Target reached is set to 1 whenthe motor stops.
When homing starts, if the home switch signal is high level, the motor moves at alow speed (6099-01) in the negative direction. After the home switch signal becomes low
level and the first Z signal shows, the status word Homing attained is set to 1, and the
motor starts to decelerate with the homing deceleration (609A). The status word Target
reached is set to 1 when the motor stops.




Speed

Rising edge of home switch signal

6099-01
6099-02Time
6099-026099-01

ＺsignalZ signal

ＺsignalFalling edge of home switch signal Falling edge of home switch signal
Falling edge of home switch signal
Rising edge of home switch signal
Rising edge of negative limit switch signal
Home switch signal is low level when homing starts, and turns tohigh level after limit is triggered

Home switch signal is low level and limit is not triggered whenhoming starts
Home switch signal is high level when homing starts

Figure 3-62 Speed-time curve of method 14

55

3.5.3.16 Method 15: Reserved
3.5.3.17 Method 16: Reserved
3.5.3.18 Method 17: Homing on negative limit switch (falling edge)

Negative limit switch

17

Negative
limit switch
Figure 3-63 Method 17

When homing starts, the motor moves at a high speed (6099-01) in the negative direction.
When the negative limit switch signal becomes high level, the motor decelerates to 0 with thehoming deceleration (609A), moves in the positive direction with the homing acceleration(609A) to accelerate to a low speed (6099-02), and keeps moving in the positive direction at
the low speed. After the negative limit switch signal becomes low level, the status word
Homing attained is set to 1, and the motor starts to decelerate with the homing deceleration(609A). The status word Target reached is set to 1 when the motor stops.

Speed

6099-01

Falling edge of negative limit switch signal

6099-02Time
6099-026099-01
Rising edge of negative limit switch signal
Home switch signal is low level when homing starts, and turns tohigh level after limit is triggered

Figure 3-64 Speed-time curve of method 1756

3.5.3.19 Method 18: Homing on positive limit switch (falling edge)
Negative limit switch

18

Negative limit switch

Figure 3-65 Method 18

When homing starts, the motor moves at a high speed (6099-01) in the positive direction.
When the positive limit switch signal becomes high level, the motor decelerates to 0 with thehoming deceleration (609A), moves in the negative direction with the homing acceleration(609A) to accelerate to a low speed (6099-02), and keeps moving in the negative direction at
the low speed. After the positive limit switch signal becomes low level, the status word
Homing attained is set to 1, and the motor starts to decelerate with the homing deceleration(609A). The status word Target reached is set to 1 when the motor stops.
Speed
Rising edge of positive limit switch signal

6099-01
6099-02Time
6099-026099-01

Falling edge of negative limit switch signal
Home switch signal is low level when homing starts, and turns tohigh level after limit is triggered

Figure 3-66 Speed-time curve of method 18

57

3.5.3.20 Method 19: Homing on negative home switch (falling edge)

Home switch

19
19Home switch
Figure 3-67 Method 19When homing starts, if the home switch signal is low level, the motor moves at a highspeed (6099-01) in the positive direction. After the positive home switch signal becomeshigh level, the motor decelerates to 0 with the homing deceleration (609A), and moves
in the negative direction with the homing acceleration (609A) to accelerate to a low
speed (6099-02), and keeps moving in the negative direction at the low speed. After the
positive home switch signal becomes low level, the status word Homing attained is set
to 1, and the motor starts to decelerate with the homing deceleration (609A). The status
word Target reached is set to 1 when the motor stops.
When homing starts, if the home switch signal is high level, the motor moves at alow speed (6099-02) in the negative direction. After the home switch signal becomes
low level, the status word Homing attained is set to 1, and the motor starts todecelerate with the homing deceleration (609A). The status word Target reached is set
to 1 when the motor stops.
Speed
Rising edge of home switch signal

6099-01
6099-02Time
6099-026099-01

Falling edge of home switch signal

Falling edge of home switch signal
Home switch signal is low level and limit is not triggered whenhoming starts
Home switch signal is high level when homing starts

Figure 3-68 Speed-time curve of method 19

58

3.5.3.21 Method 20: Homing on positive limit switch (rising edge)

Home switch

20

20Home switch
Figure 3-69 Method 20When homing starts, if the positive home switch signal is low level, the motor
moves at a low speed (6099-02) in the positive direction. After the positive home
switch signal becomes high level, the status word Homing attained is set to 1, and the
motor starts to decelerate with the homing deceleration (609A). The status word Target
reached is set to 1 when the motor stops.
When homing starts, if the positive home switch signal is high level, the motor moves
at a high speed (6099-01) in the negative direction. After the positive home switch signal
becomes low level, the motor decelerates to 0 with the homing deceleration (609A), andmoves in the positive direction with the homing acceleration (609A) to accelerate to alow speed (6099-02), and keeps moving in the positive direction at the low speed. Afterthe positive home switch signal becomes high level, the status word Homing attained is
set to 1, and the motor starts to decelerate with the homing deceleration (609A). The
status word Target reached is set to 1 when the motor stops.
Speed
Rising edge of home switch signal
Rising edge of home switch signal

6099-02Time
6099-02
Home switch signal is low level and limit is not triggered whenhoming starts
Home switch signal is high level when homing starts

6099-01
Falling edge of home switch signal

Figure 3-70 Speed-time curve of method 20

59

3.5.3.22 Method 21: Homing on negative home switch (falling edge)

Home switch

21

21Home switch
Figure 3-71 Method 21When homing starts, if the home switch signal is low level, the motor moves at a highspeed (6099-01) in the negative direction. After the home switch signal becomes highlevel, the motor decelerates to 0 with the homing deceleration (609A), and moves in thepositive direction with the homing acceleration (609A) to accelerate to a low speed(6099-02), and keeps moving in the positive direction at the low speed. After the home
switch signal becomes low level, the status word Homing attained is set to 1, and the
motor starts to decelerate with the homing deceleration (609A). The status word Target
reached is set to 1 when the motor stops.
When homing starts, if the home switch signal is high level, the motor moves at alow speed (6099-02) in the positive direction. After the home switch signal becomes low
level, the status word Homing attained is set to 1, and the motor starts to decelerate withthe homing deceleration (609A). The status word Target reached is set to 1 when the
motor stops.

Speed

6099-01

Falling edge of home switch signal

Falling edge of home switch signal

6099-02Time
6099-026099-01

Rising edge of home switch signal

Home switch signal is low level and limit is not triggered whenhoming starts
Home switch signal is high level when homing starts

Figure 3-72 Speed-time curve of method 21

60

3.5.3.23Method 22: Homing on negative home switch (rising edge)

Home switch

22
22Home switch
Figure 3-73 Method 22When homing starts, if the home switch signal is low level, the motor moves at a low
speed (6099-02) in the negative direction. After the home switch signal becomes highlevel, the status word Homing attained is set to 1, and the motor starts to decelerate withthe homing deceleration (609A). The status word Target reached is set to 1 when the
motor stops.
When homing starts, if the home switch signal is high level, the motor moves at ahigh speed (6099-01) in the positive direction. After the home switch signal becomes
low level, the motor decelerates to 0 with the homing deceleration (609A), and moves in
the negative direction with the homing acceleration (609A) to accelerate to a low speed(6099-02), and keeps moving in the negative direction at the low speed. After the home
switch signal becomes high level, the status word Homing attained is set to 1, and the
motor starts to decelerate with the homing deceleration (609A). The status word Target
reached is set to 1 when the motor stops.
Speed
Falling edge of home switch signal

6099-01
6099-02Time
6099-026099-01

Rising edge of home switch signal
Rising edge of home switch signal
Home switch signal is low level and limit is not triggered whenhoming starts
Home switch signal is high level when homing starts



Figure 3-74 Speed-time curve of method 22

61

3.5.3.24 Method 23: Homing on negative home switch (falling edge) -positive limit
switch detection

Homing switch

Positive limit switch

23
23

23

Homing switch
Positive limit
switchFigure 3-75 Method 23When homing starts, if the home switch signal is low level, the motor moves at a highspeed (6099-01) in the positive direction.
 After the home switch signal becomes high level, the motor decelerates to 0 withthe homing deceleration (609A), and moves in the negative direction with thehoming acceleration (609A) to accelerate to a low speed (6099-02), and keeps
moving in the negative direction at the low speed. After the home switch signal
becomes low level, the status word Homing attained is set to 1, and the motor starts
to decelerate with the homing deceleration (609A). The status word Target reachedis set to 1 when the motor stops.
 After the positive limit switch signal becomes high level, the motor decelerates to 0
with the homing deceleration (609A), and moves in the negative direction with thehoming acceleration (609A) to accelerate to a high speed (6099-01), and keeps
moving in the negative direction at the high speed. After the home switch signal
becomes high level, the motor decelerates to a low speed (6099-01) with thehoming deceleration (609A), and keeps moving in the negative direction at the low
speed. After the home switch becomes low level, the status word Homing attained
is set to 1, and the motor starts to decelerate with the homing deceleration (609A).
The status word Target reached is set to 1 when the motor stops.
When homing starts, if the home switch signal is high level, the motor moves at alow speed (6099-02) in the negative direction. After the home switch signal becomes low
level, the status word Homing attained is set to 1, and the motor starts to decelerate withthe homing deceleration (609A). The status word Target reached is set to 1 when the
motor stops.

62SpeedRising edge of positive limit switch signal
Rising edge of home switch signal

6099-01
6099-02Time
6099-026099-01 Falling edge of home switch signal

Falling edge of home switch signal
Falling edge of home switch signal
Rising edge of home switch signal

Home switch signal is low level when homing starts, and turns tohigh level after limit is triggered
Home switch signal is low level and limit is not triggered whenhoming starts

Home switch signal is high level when homing starts

Figure 3-76 Speed-time curve of method 23

3.5.3.25 Method 24: Homing on positive home switch (rising edge)-positive limit
switch detection

Home switch

Positive limit switch

24
24

24

Home switch
Positive limit
switchFigure 3-77 Method 24When homing starts, if the home switch signal is low level, the motor moves at a low
speed (6099-02) in the positive direction.
 After the home switch signal becomes high level, the status word Homing attained
is set to 1, and the motor starts to decelerate with the homing deceleration (609A).
The status word Target reached is set to 1 when the motor stops.
63

After the positive limit switch signal becomes high level, the motor decelerates to 0
with the homing deceleration (609A), and moves in the negative direction with thehoming acceleration (609A) to accelerate to a high speed (6099-01), and keeps
moving in the negative direction at the high speed. After the home switch signal
becomes low level, the motor decelerates to 0 with the homing deceleration (609A),
and moves in the positive direction with the homing acceleration (609A) toaccelerate to a low speed (6099-02), and keeps moving in the positive direction at
the low speed. After the home switch signal becomes high level, the status word
Homing attained is set to 1, and the motor starts to decelerate with the homing
deceleration (609A). The status word Target reached is set to 1 when the motor
stops.
When homing starts, if the home switch signal is high level, the motor moves at ahigh speed (6099-01) in the negative direction. After the home switch signal becomes
low level, the motor decelerates to 0 with the homing deceleration (609A), and moves in
the positive direction with the homing acceleration (609A) to accelerate to a low speed(6099-02), and keeps moving in the positive direction at the low speed. After the home
switch signal becomes high level, the status word Homing attained is set to 1, and the
motor starts to decelerate with the homing deceleration (609A). The status word Target
reached is set to 1 when the motor stops.




Speed
Rising edge of positive limit switch signal

6099-01

Rising edge of home switch signal
Rising edge of home switch signal

Rising edge of home switch signal

6099-02Time
6099-026099-01
Falling edge of home switch signal

Falling edge of home switch signal

Home switch signal is low level when homing starts, and turns tohigh level after limit is triggered
Home switch signal is low level and limit is not triggered whenhoming starts

Home switch signal is high level when homing starts

Figure 3-78 Speed-time curve of method 24

64

3.5.3.26 Method 25: Homing on negative home switch (rising edge)-positive limit
switch detection

Home switch

Positive limit switch

25

25
25

Home switch
Positive limit
switchFigure 3-79 Method 25

Regardless of the high level or low level of the home switch signal, the motor moves in thepositive direction.
When homing starts, the motor moves in the positive direction at a high speed (6099-01).
After the home switch signal becomes low level or the positive limit switch becomes highlevel, the motor decelerates to 0 with the homing deceleration (609A), and moves in thenegative direction with the homing acceleration (609A) to accelerate to a low speed (609902), and keeps moving in the negative direction at the low speed. After the home switch signal
becomes high level, the status word Homing attained is set to 1, and the motor starts to65

decelerate with the homing deceleration (609A). The status word Target reached is set to 1
when the motor stops.
Rising edge of positive limit switch signal
Falling edge of home switch signal
Falling edge of home switch signal

6099-01
6099-02Time
6099-026099-01

Rising edge of home switch signal

Rising edge of home switch signal

Rising edge of home switch signal

Home switch signal is low level when homing starts, and turns tohigh level after limit is triggered
Home switch signal is low level and limit is not triggered whenhoming starts

Home switch signal is high level when homing starts

Figure 3-80 Speed-time curve of method 25

3.5.3.27 Method 26: Homing on positive home switch (falling edge)-positive limit
switch detection

Home Switch

Positive limit switch

26
26

26

Home switch
Positive
limit switch
Figure 3-81 Method 26

When homing starts, if the home switch signal is low level, the motor moves at a highspeed (6099-01) in the positive direction.
 After the home switch signal becomes high level, the motor decelerates to a low
speed (6099-02) with the homing deceleration (609A), and keeps moving in the66



positive direction at the low speed (6099-02). After the home switch signal becomes
low level, the status word Homing attained is set to 1, and the motor starts todecelerate with the homing deceleration (609A). The status word Target reached is
set to 1 when the motor stops.
 After the positive limit switch signal becomes high level, the motor decelerates to 0
with the homing deceleration (609A), and moves in the negative direction with thehoming acceleration (609A) to accelerate to a high speed (6099-01), and keeps
moving in the negative direction at the high speed. After the home switch signal
becomes high level, the motor decelerates to 0 with the homing deceleration (609A),
and moves in the positive direction with the homing acceleration (609A) toaccelerate to a low speed (6099-02), and keeps moving in the positive direction at
the low speed. After the home switch signal becomes low level, the status word
Homing attained is set to 1, and the motor starts to decelerate with the homing
deceleration (609A). The status word Target reached is set to 1 when the motor
stops.
When homing starts, if the home switch signal is high level, the motor moves at alow speed (6099-02) in the positive direction. After the home switch signal becomes low
level, the status word Homing attained is set to 1, and the motor starts to decelerate withthe homing deceleration (609A). The status word Target reached is set to 1 when the
motor stops.
Speed

Rising edge of positive limit switch signal

Rising edge of home switch signal

6099-01

Falling edge of home switch signal
Falling edge of home switch signal

Falling edge of home switch signal

6099-02Time
6099-026099-01

Rising edge of home switch signal

Home switch signal is low level when homing starts, and turns tohigh level after limit is triggered
Home switch signal is low level and limit is not triggered whenhoming starts
Home switch signal is high level when homing starts

Figure 3-82 Speed-time curve of method 26

67

3.5.3.28 Method 27: Homing on positive home switch (falling edge)-negative limit
switch detection
Negative limit switch

Home switch

27
27
27

Home switch
Negative limit
switchFigure 3-83 Method 27When homing starts, if the home switch signal is low level, the motor moves at a highspeed (6099-01) in the negative direction.
 After the home switch signal becomes high level, the motor decelerates to 0 withthe homing deceleration (609A), moves in the positive direction with the homing
acceleration to accelerate to a low speed (6099-02), and keeps moving in thepositive direction at the low speed (6099-02). After the home switch signal becomes
low level, the status word Homing attained is set to 1, and the motor starts todecelerate with the homing deceleration (609A). The status word Target reached is
set to 1 when the motor stops.
 After the negative limit switch signal becomes high level, the motor decelerates to
0 with the homing deceleration (609A), and moves in the positive direction with thehoming acceleration (609A) to accelerate to a high speed (6099-01), and keeps
moving in the positive direction at the high speed. After the home switch signal
becomes high level, the motor moves in the positive direction with the homing
acceleration (609A) to accelerate to a low speed (6099-02), and keeps moving in
the positive direction at the low speed. After the home switch signal becomes low
level, the status word Homing attained is set to 1, and the motor starts to deceleratewith the homing deceleration (609A). The status word Target reached is set to 1
when the motor stops.
When homing starts, if the home switch signal is high level, the motor moves at alow speed (6099-02) in the positive direction. After the home switch signal becomes low
level, the status word Homing attained is set to 1, and the motor starts to decelerate withthe homing deceleration (609A). The status word Target reached is set to 1 when the
motor stops.

68SpeedRising edge of home switch signal

6099-01
Falling edge of home switch signal

Falling edge of home switch signal

Falling edge of home switch signal

6099-02Time
6099-026099-01
Rising edge of negative limit switch signal

Rising edge of home switch signal
Home switch signal is low level when homing starts, and turns tohigh level after limit is triggered
Home switch signal is low level and limit is not triggered whenhoming starts

Home switch signal is high level when homing starts

Figure 3-84 Speed-time curve of method 27

3.5.3.29 Method 28: Homing on negative home switch(rising edge)-negative limit
switch detection
Negative limit switch

Home switch

28

28

28

Home switch
Negative
limit switch
Figure 3-85 Method 28

When homing starts, if the home switch signal is low level, the motor moves at a low
speed (6099-02) in the negative direction.
 After the home switch signal becomes high level, the status word Homing attained
is set to 1, and the motor starts to decelerate with the homing deceleration (609A).
The status word Target reached is set to 1 when the motor stops.
 After the negative limit switch signal becomes high level, the motor decelerates to
0 with the homing deceleration (609A), and moves in the positive direction with thehoming acceleration (609A) to accelerate to a high speed (6099-01), and keeps
69

moving in the positive direction at the high speed. After the home switch signal
becomes low level, the motor decelerates to 0 with the homing deceleration (609A),
and moves in the negative direction with the homing acceleration (609A) toaccelerate to a low speed (6099-02), and keeps moving in the negative direction at
the low speed. After the home switch signal becomes high level, the status word
Homing attained is set to 1, and the motor starts to decelerate with the homing
deceleration (609A). The status word Target reached is set to 1 when the motor
stops.
When homing starts, if the home switch signal is high level, the motor moves at ahigh speed (6099-01) in the positive direction. After the home switch signal becomes
low level, the motor decelerates to 0 with the homing deceleration (609A), and moves in
the negative direction with the homing acceleration (609A) to accelerate to a low speed(6099-02), and keeps moving in the negative direction at the low speed. After the home
switch signal becomes high level, the status word Homing attained is set to 1, and the
motor starts to decelerate with the homing deceleration (609A). The status word Target
reached is set to 1 when the motor stops.
Speed

Falling edge of home switch signal
Falling edge of home switch signal

6099-01
6099-02Time
6099-026099-01

Rising edge of home switch signal

Rising edge of home switch signal

Rising edge of home switch signal

Rising edge of negative limit switch signal

Home switch signal is low level when homing starts, and turns tohigh level after limit is triggered

Home switch signal is low level and limit is not triggered whenhoming starts
Home switch signal is high level when homing starts

Figure 3-86 Speed-time curve of method 28

70

3.5.3.30 Method 29: Homing on positive home switch(rising edge)-negative limit
switch detection
Negative limit switch

Home switch

29

29
29

Home switch
Negative
limit switch
Figure 3-87 Method 29

Regardless of the high level or low level of the home switch signal, the motor moves in thenegative direction.
When homing starts, the motor moves in the negative direction at a high speed (6099-01).
After the home switch signal becomes low level or the negative limit switch becomes highlevel, the motor decelerates to 0 with the homing deceleration (609A), and moves in thepositive direction with the homing acceleration (609A) to accelerate to a low speed (609902), and keeps moving in the positive direction at the low speed. After the home switch signal
becomes high level, the status word Homing attained is set to 1, and the motor starts todecelerate with the homing deceleration (609A). The status word Target reached is set to 1
when the motor stops.
Speed
Rising edge of home switch signal

6099-01

Rising edge of home switch signal

Rising edge of home switch signal

6099-02Time
6099-026099-01
Falling edge of home switch signal
Falling edge of home switch signal
Rising edge of negative limit switch signal
Home switch signal is low level when homing starts, and turns tohigh level after limit is triggered
Home switch signal is low level and limit is not triggered whenhoming starts

Home switch signal is high level when homing starts

71

Figure 3-88 Speed-time curve of method 29

3.5.3.31 Method 30: Homing on negative home switch (falling edge)-negative limit
switch detection
Negative limit switch

Home switch

30
30

30

Home switch
Negative limit
switchFigure 3-89 Method 30

When homing starts, if the home switch signal is low level, the motor moves at a highspeed (6099-01) in the negative direction.
 After the home switch signal becomes high level, the motor moves with the homing
deceleration (609A) to decelerate to a low speed (6099-02), and keeps moving in
the negative direction at the high speed. After the home switch signal becomes low
level, the status word Homing attained is set to 1, and the motor starts to deceleratewith the homing deceleration (609A). The status word Target reached is set to 1
when the motor stops.
 After the negative limit switch signal becomes high level, the motor decelerates to
0 with the homing deceleration (609A), and moves in the positive direction with thehoming acceleration (609A) to accelerate to a high speed (6099-01), and keeps
moving in the positive direction at the high speed. After the home switch signal
becomes high level, the motor decelerates to 0 with the homing deceleration (609A),
and moves in the negative direction with the homing acceleration (609A) toaccelerate to a low speed (6099-02), and keeps moving in the negative direction at
the low speed. After the home switch signal becomes low level, the status word
Homing attained is set to 1, and the motor starts to decelerate with the homing
deceleration (609A). The status word Target reached is set to 1 when the motor
stops.
When homing starts, if the home switch signal is high level, the motor moves at alow speed (6099-02) in the negative direction. After the home switch signal becomes low
level, the status word Homing attained is set to 1, and the motor starts to decelerate withthe homing deceleration (609A). The status word Target reached is set to 1 when the
motor stops.
72

SpeedRising edge of home switch signal

6099-01
6099-02Time

6099-026099-01

Falling edge of home switch signal

Falling edge of home switch signal

Falling edge of home switch signal

Rising edge of home switch signal
Rising edge of negative limit switch signal
Home switch signal is low level when homing starts, and turns tohigh level after limit is triggered
Home switch signal is low level and limit is not triggered whenhoming starts
Home switch signal is high level when homing starts

Figure 3-90 Speed-time curve of method 30

3.5.3.32 Method 31: Reserved
3.5.3.33 Method 32: Reserved
3.5.3.34 Method 33: Homing on index pulse in negative direction

33

ＺsignalFigure 3-91 Method 33

When homing starts, the motor moves at a low speed (6099-02) in the negative direction.
After the first Z signal shows, the status word Homing attained is set to 1, and the motor starts
to decelerate with the homing deceleration (609A). The status word Target reached is set to1 when the motor stops.

73Speed6099-01
6099-02Time
6099-026099-01
Z signal
Figure 3-92 Speed-time curve of method 33

3.5.3.35 Method 34: Homing in index pulse in positive direction

34

Ｚ signal
Figure 3-93 Method 34

When homing starts, the motor moves at a low speed (6099-02) in the positive direction.
After the first Z signal shows, the status word Homing attained is set to 1, and the motor starts
to decelerate with the homing deceleration (609A). The status word Target reached is set to1 when the motor stops.
3.5.3.36 Method 35: Current position
In this method, the current position shall be taken to the home position.
3.5.3.37 Method -1: Guard position as home point in negative direction

When homing starts, the motor moves in the negative direction, and the locked rotor torquereaches the set value of 0x2138 when the guard is touched. The motor stops after the time
set by 0x2137:
 If the retraction distance is not set, the current position is set as the home point.
74

If the retraction distance is set, the motor will retract the corresponding distance and set
the current position as the home point.

3.5.3.38 Method -2: Guard position as home point in positive direction

When homing starts, the motor moves in the positive direction, and the locked rotor torquereaches the set value of 0x2138 when the guard is touched. The motor stops after the time
set by 0x2137:
 If the retraction distance is not set, the current position is set as the home point.
 If the retraction distance is set, the motor will retract the corresponding distance and set
the current position as the home point.
3.5.3.39 Method -3: C pulse as home point after guard is touched in negative
direction

When homing starts, the motor moves in the negative direction, and the locked rotor torquereaches the set value of 0x2138 when the guard is touched. After the time set by 0x2137, themotor moves in the positive direction. The first C pulse is home point.
3.5.3.40 Method -4: C pulse as home point after guard is touched in positive direction

When homing starts, the motor moves in the positive direction, and the locked rotor torquereaches the set value of 0x2138 when the guard is touched. After the time set by 0x2137, themotor moves in the negative direction. The first C pulse is home point.

75

3.5.4Torque Control Mode

Torque mode is generally used for servo to act as loading.
The process of motion control in torque mode is as follows:
1. Select "Torque Mode". The interface of motion control in torque mode shows as in
Figure 3-96.

Figure 4- 96 Interface of motion control in torque mode

2.

3.
4.

Set the following parameters:
 Target torque: the torque output by the motor. (unit: permillage of rated torque) Torque Ramp: The acceleration when the motor starts to output torque. (unit:
permillage of rated torque / second)
To enable the servo drive, click "Enable". Servo Enable shows in the interface.
To control the motor to move with a positive given torque, click “Forward”, to control
the motor to move with a negative given torque, click “Reverse”.

76

3.5.5
Pulse Control Mode

External wiring of the servo drive
Currently Diamond Plus series is supported only with CANopen communication mode.
You can control it in one of the following pulse modes:
1. A/B-phase quadrature pulse control: respectively connect pulse signal A/B to J2 (3,4, 5, 6) of the incremental encoder.
2. Direction + pulse control: connect direction signal to J2 (5, 6) of the incremental
encoder and the position pulse signal to J2 (3, 4).

Note: The voltage of differential pulse input signal is ±5 V. Due to the best anti-noise
ability of this signal transmission method, it is recommended to use this connection
method first; if the upper unit is 24 V output, it needs to be converted to 5 V input witha conversion module.
Configuration of the upper computer
To configure the upper computer, do the following:
1. Correctly set the motor and encoder parameters.
2. Carry out debugging for the motor and PID parameters.
Please refer to the relevant debugging manual for details.
3. Open the upper computer, click "Tools" → "Parameter Editor" → "AI, pulse control
parameters", and set the following parameters:
No.
0x2023Name

Description

Set
Value

PulseControlEnable

Pulse control enable

0x2024

InputResolution

Input resolution:
 Rotary motors: it corresponds
to one rotation of the motor.
 Linear / voice coil motors: itcorresponds to a magnetic
pole pitch.

0x2025

PositionControlLPFFreq-

0

PulseControlMode

Selection of pulse control mode: 1: A/B-phase quadrature
pulse control.
 2: Direction + pulse control 3: not support.

10x2026

1

1000

After the above parameters are set and the motor debugging is finished, it can directly
receive the pulse input signal for position control.
77

3.5.6

Analog Control Mode

The servo drive supports receiving analog quantities to control the position, speed andcurrent of the motor. The relevant parameters are as follows:
No.

Name

Description
0: not used
1: position control
2: velocity control
3: current control
4: position feedback
5: speed feedback
6: current feedback

0x201B

Analog control mode









0x 201C

Analog input offset

Set according to the initial 0 drift

0x201DAI 1 input dead-time

Default: 00x201EAI1 input low-pass filter cutoff
frequency

Default: 3000

0x201FAI1 control gain

Unit: position-cnt/V, speed-rpm/V,
current-mA/V.
(Pleaseset
itaccording to specific control range.)

0x2413AI1 analog input value

Unit: mv (Currently this group is usedby default)

0x2414AI2 analog input value

Unit: mv (Reserved)

Please refer to the relevant documents of analog control for details.


78

3.6

Troubleshooting

If an error occurs during debugging, please troubleshoot the error by following the error
description, possible causes and troubleshooting methods displayed by the upper
computer software, as shown in Figure 3-98.

Figure 3- 96 Fault Display
After the error is successfully troubleshooted, click "Clear Alarm" in the toolbar.
Debugging can be continued after the system shows no error.
Note: If you have any questions during debugging, please seek technical support. Please do
not arbitrarily modify the parameters, so as to avoid damages to personnel and property.

79

4 Troubleshooting
When an error occurs, the LED on the Diamond Plus servo panel will flash red in rhythm. After
connecting the upper computer software, the error code based on the CiA402 standard will
be displayed in the error handling interface.
When the servo alarms, please refer to the following table to check the servo, and solve theservo error according to the corresponding solution.
Table 4-1 Fault description
Error
Code

0x22300x23100x2311

Name

Cause

SolutionBus
overcurrent

1. DC bus withexcessive voltage.
2. Short circuit atperiphery.
3. Encoder failure.
4.
Internal
components of the
servo
are
damaged.

1. Check power supply and whether highinertia loads leads to rapid stop without
dynamic braking.
2. Check whether the servo and the output
wiring are short circuit, whether earthing isshort circuit, and whether the braking
resistor is short circuit.
3. Check whether the encoder is damaged
or the wiring is correct; check whether theshielding layer of the encoder cable is wellgrounded, and whether there is strong
interference near the cable.

U-phaseovercurrent

1. U-phase output
is short circuit.
2. High load.
3. Cable insulationis damaged.
4. Poor motor
insulation.
5. Failure of Uphasecurrent
detecting circuit.

1. Check U-phase wiring.
2. Lower the load.
3. Check U-phase cable and replace it ifnecessary.
4. Measure the motor insulation, repair
and replace it if necessary;
5. Repair or replace the drive.

V-phaseovercurrent

1. V-phase output
is short circuit;
2. High load.
3. Cable insulationis damaged.
4. Poor motor
insulation.
5. Failure of Vphasecurrent
detecting circuit.

1. Check V-phase wiring.
2. Lower the load.
3. Check V-phase cable and replace it ifnecessary.
4. Measure the motor insulation, repair
and replace it if necessary.
5. Repair or replace the drive.

80

Error
Code

Cause

Solution

Hardwareshort circuit

1.DC bus withexcessive voltage.
2.Short circuit atperiphery.
3. Encoder failure.
4.Internal
components of the
servo
are
damaged.

1. Check power supply and whether highinertia loads leads to rapid stop without
dynamic braking.
2. Check whether the servo and the output
wiring are short circuit, whether earthing isshort circuit, and whether the braking
resistor is short circuit.
3. Check whether the encoder is damaged
or the wiring is correct; check whether theshielding layer of the encoder cable is wellgrounded, and whether there is strong
interference near the cable.

Servoundervoltage

1.Low input voltageof the power circuit.
2.Poor insulation of
DC bus.
3. High load.
4.Poor insulation of
the driver cable.
5. Failure of DC bus
undervoltage
detecting circuit.
6.Basic
power
module failure.

1. Check the power circuit.
2. Check the DC bus insulation.
3. Lower the load.
4. Check the drive cable.
5. Repair or replace the drive.
6. Repair or replace the basic power
module.

Servo
overvoltage

1. Insufficient
capacityof brake
circuit.
2.Insufficient
capacity of braking
resistor.
3.Basic
power
module failure

1. Reduce the start-stop frequency;
increase the acceleration/deceleration
time constant; lower the load inertia;
increase the drive and motor capacity.
2. Increase the power of the braking
resistor.
3. Repair or replace the basic power
module;0x4110

Ambient
temperature
overheating

1.Highambient
temperature.
2.Abnormal
cooling system.
3.Temperaturedetectingcircuitfailure.

1. Lower the ambient temperature andstrengthen
ventilationandheat
dissipation.
2. Check the cooling fan speed and air
volume. If they are abnormal, replace thefan with the same model.
3. Check whether the servo coolingchannel is blocked by foreign objects.

0x4120

Ambient

1.Low

1.

0x23200x32200x3210Nameambient81

Checkwhethertheambient

ErrorCode

0x43100x84820x8483

Name

Cause

Solution

temperature
underheating

temperature.
2.Temperaturedetectingcircuitfailure.

temperature is too low;
2. Check the value of parameter minimum
ambient temperature.

1. Highambient
temperature.
2. Abnormal
coolingsystem.
3.Temperaturedetectingcircuitfailure.

1. Lower the ambient temperature andstrengthen
ventilationandheat
dissipation.
2. Check the cooling fan speed and air
volume. If they are abnormal, replace thefan with the same model.
3. Check whether the servo coolingchannel is blocked by foreign objects.

Exceedmaximum
speed

1. Motor run away.
2. Wrong encoder
parameters.
3. Encoder failure
4. Instruction error
5. Load mutation

1. Check the phase sequence of the motor
power cable.
2. Check the settings of encoder
parameter.
3. Check whether the encoder is damaged
or the wiring is correct; check whether theshielding layer of the encoder cable is wellgrounded, and whether there is strong
interference near the cable.
4. Check the position / speed / torquecommand.
5. Check whether the load is mutated andrelated cause.
6. Correct the phase zero again.
7. Adjust PID parameters.

Large speed
tracking error

1.The
encoderwiring is wrong or
the connector is inpoor contact.
2.The gain does notmatch.
3.Large
externalload fluctuations orinterference.

1. Check the encoder wiring;
2. Adjust the servo gain again.
3. Increase anti-interference measures.

Powermoduleoverheating82

Error
Code

Name

Cause

Large
position
deviation

1. The encoder
wiring is wrong or
the connector is inpoor contact.
2. The gain does
not match.
3. Large externalload fluctuations orinterference.

1. Check the encoder wiring;
2. Adjust the servo gain again.
3. Increase anti-interference measures.

0x7380

Encoderconnectionerror

1. Wrong encoder
parameters.
2. Encoder cable
failure.
3.The
encoder
cable
is
not
connected.
4.The
internal
components of the
servo
are
damaged.

1. Check the settings of encoder
parameters.
2. Check the line sequence of encoder
cable.
3. Connect the encoder cable.

0x7383

Encoder
multi-turninfo error

Internal
error.

encoder

Power off and restart the servo. If the fault
cannot be cleared, replace the encoder.

0x7385

Encodercount error

Internal
error.

encoder

Power off and restart the servo. If the fault
cannot be cleared, replace the encoder.

0x7389

EncodercountoverflowerrorInternal
error.

encoder

0x8611

Solution

Clear the encoder multi-turn value, power
off and restart the servo. If the fault cannot
be cleared, replace the encoder.

1.Wrong encoder
parameters.
2.Encodercable
failure.

1. Check the settings of encoder
parameters.
2. Check whether the encoder is damaged
or the wiring is correct; check whether theshielding layer of the encoder cable is wellgrounded, and whether there is strong
interference near the cable.

0x738A

Encoder
communicati
on CRC error

0x738B

EncoderdelimitererrorInternal
error.

encoder

Power off and restart the servo. If the fault
cannot be cleared, replace the encoder.

0x3221PWM drive
abnormal

PWM drive +15 V
undervoltage.

Check whether the control power +24V isconnected properly.

0x8612

ExceedGiven position or

1.Check the setting of limit position.

83ErrorCode

Nameposition limit

0x7384

Encoder
overheating

Causeactualexceeds
limit.

Solution

position
positionThe
working
temperature of theencoder exceeds
95℃.

0x62800x62810x62820x62830x6284

2.Check the settings of given position.
3.Check whether the limit switch is
triggered.
1. Test again after the motor has cooled
down.
2. Improve the heat dissipation conditions
and check whether the motor overheats
during running.
3. Internal encoder error.

Wrongprofile value

There is a zero
value in the set
value of the profile
track, which makes
the planned track
unsuccessful.

1. Make sure the set speed is not zero.
2. Make sure the set acceleration is not
zero.

Termination
speed setting
error

The
termination
speed is greaterthan the profile
speed,
which
makes the planned
track unsuccessful.

1. The set termination speed must be lessthan or equal to the profile speed.

Termination
speed setting
error

The target position
is too close to thecurrent position to
reach
the
termination speed.

1. Check whether the set termination
speed is too large.

Software limit
setting error

When
the
minimum/
maximum softwarelimit
is not set to0, the minimum
value is greaterthan or equal to the
maximum value; or
exceed the position
limit.

1. Set the minimum value greater thanthe maximum when the minimum /maximum software limit is not set to 0.
2. Check whether the maximum value is
too large.
3. Check whether the minimum value is
too small.

Wrong
position limit

When
the
minimum/
maximum position
limit
is not set to0, the minimum
value is greater84

1. Set the minimum value greater than the
maximum when the minimum / maximum
position limit is not set to 0.

Error
Code

Name

Cause

Solutionthan or equal to the
maximum value.
0x6285Wrongplannedcurve typeThe set planned
curve type is notsupported.

1. Set the planned curve type to 0 (Linear
ramp)

0x6286Wrongplannedcurve typeThe set planned
curve type is notsupported.

1. Set the planned curve type to 0 (Linear
ramp) or 3 (Jerk-limited ramp).

0x6287Wrongplannedtorque curve

The set planned
torque type is notsupported.

1. Set the planned torque curve type to 0
(Linear ramp).

0x6288WronghomingmethodThe limit switch was
accidentally
triggered.

1. Start homing again after setting asuitable homing method.

0x6289WronghomingmethodThe set homing
method is notsupported.

1. Start homing again after setting asuitable homing method.

0x628B

Homingprocess
timed out

The zero point was
not found duringhoming.

1.Check the lower limit switch or the origin
switch.
2.Set a suitable homing method.

0x628C

Initial speed
not zerowhenplanning
Jerk-limited
ramp

When the planned
curve type is Jerklimited ramp, theinitial speed is notzero.

1. Make sure the motor is still before
enabling the curve planning of the Jerklimited ramp.

Execution
timeofplannedcurve
lessthan 0The settings ofposition, speed, or
acceleration/
deceleration
areincorrect.

Reset position, speed, acceleration anddeceleration.

0x618085ErrorCode

0x61810x61820x61840x7124

Name

Cause

Solution

Stop speed
greater thaninitial speed

Stop speed is not
set to 0

Set stop speed to 0.

Position,
speed,
acceleration
anddeceleration
not set forcontinuous
motionofmultiplepointsThe
position,
speed, accelerationand deceleration
are not set forcontinuous motionof multiple points

Reset the target position,
acceleration and deceleration.

Internal statetransitionerror
inhomingJump exception of
the internal homing
state.

Execute homing again.

Motorovertheating

The
motor
temperatureis
detected by theexternal
temperature sensor
andthenconnected to theservo through the
DI port, and its
upper
limit
is
determined by theexternal
temperature
sensor.

1. High load.
2. Lack of phase.
3. Fault related to motor machinery,
including lack of lubricating grease,improper assembly of bearings and end
caps, eccentricity of inner holes, etc.

86

speed,

Error
Code

Name

Cause

0x3130Lack of phase

UVW phases haveopen circuit.

Check the wiring of UVW phases.

Restart the servo.

Solution

0x8700Sync errorBussynchronization
error.

0x738CHall errorHallsignaldisconnected.

0x6551Wrong target
speed

The target speed is0inpositioncontrol.

Check the value of 0x6081 and make sure
it is not 0.

0x6552Wrongacceleration
anddecelerationinpositionand velocity
control

The track planningisunsuccessfulwhen accelerationand deceleration is
set to 0.

Make sure acceleration or deceleration is
not 0.

0x6553Wrongposition trackplanning
periodThe position trackplanning is set to 0.

Make sure the set period is not 0.

0x7320Z
pulse
repetition
positioning
position error

The difference ofadjacent Z pulses
exceeds 0x2001.

1. Check the scale installation or
accuracy.
2. Check the Z pulse positioning
deviation.

Failed to enable
automatic
calibration.

1. Check whether the motion control
mode is 0.
2. Check whether the device is stuck, thefrictional resistance increases or the load isabnormal, etc.
3. Check whether there is an open circuitor short circuit in the three-phase wiring.
4. Check whether the settings of 0x2105
and 0x2402 are proper.
5 Check whether the phase sequence of
the UVW wiring and the setting of 0x2002
are correct.
6. Check the encoder wiring.

0x8620

Failedtoenable auto
calibrationis87

Check the wring of Hall.

Error
Code

Name

Cause

Solution

0x6542

Planneddecelerationor quick stop
deceleration
inthepositionmode is 0

Theplanneddeceleration
or
quick
stop
deceleration in theposition mode is 0.

Check the deceleration or quick stop
deceleration and make sure it is not 0.

0x6572

Planneddecelerationor quick stop
deceleration
inthepositionmode is 0

Theplanneddeceleration
or
quick
stop
deceleration in theposition mode is 0.

Check the deceleration or quick stop
deceleration and make sure it is not 0.

0x9100DI
external
input alarm

DI external input
condition triggers
an alarm.

Check the external input conditions.

I2T
protection
alarm

Exceed the I2T
setting threshold

1. Adjust limiter protection peakcurrent.
2. Adjust limiter protection peakcurrent duration.
Note: The alarm takes effect when 0x2017
bit1 is set to 1.

0x8901

Alarm of nocalibration

Operationisenabledwithout
performing angle
identification.

Enable operation after If Hall is connected
and angle identification is finished.

0xB010

Position
feedback
jitter during
angle
identification

Wrong
encoderwiring. Abnormalload or external
disturbance.

Check the encoder wiring.
Check the load or external disturbance.

Rotor
not
movingduring angle
identification

Parameter settings
such as current areincorrect.
High load.
The machine isstuck, or the wiringis wrong.

Set appropriate parameter values.
Check device, load and wiring.

0x89000xB02088Error
Code

Name

Cause

Solution

0xB030Large actionof
angle
identification

Large setting ofcurrent.
Fault,
includingdevice, load, wiring(phase sequence),
etc.

Set appropriate parameter values.
Check device, load and wiring (phasesequence).

0xB040Angle
identification
timed out

Software exception

Check the upper computer software, M3
and C28.
Check each parameter setting.
Check device, load and wiring.

0xB102Motor hardly
rotatesduring phasesequence
detection

Wrong
encoderwiring.
High
load
or
friction.
Problemwithcurrent
loop
configuration
The commutation
current ratio 1 is
too small.

Check the encoder wiring.
Increase commutation current ratio 1.

0xB104Hall
statusfeedback
abnormalWrong wiring ofHall sensor.
Wrong Hall mode.

Check the wring of Hall Sensor.
Make sure 0x2103 is set to 0.

89

5 Debugging Software ISMC
Stone Motion Control (ISMC) is a servo debugging software independently developed by ourcompany. Through USB serial communication, you can configure and modify servo
parameters, debug controller parameters, realize motion control, monitor system status inreal time, diagnose faults, check error logs, and realize update and maintenance.
This chapter only focuses on software download and setup. For software operations, pleaserefer to "Servo Debugging Software ISMC User Manual".
5.1 Software Download
5.1.1 System Requirements
System environment requirements:
 Memory: 1 GB or more (1.5 GB or more for running on a virtual machine) Display: above 800x600
 System type: 32-bit or 64-bit Windows 7 / Windows 8 / Windows 10
 Processor: above 1.6 GHZ
5.1.2 Software Installation
The setup process of SMC is as follows:
1. Download the setup package from the official website.
2. Double click the .exe application file, and wait for the decompression. After
decompression, the setup wizard pops up, as shown in Figure 6-1.

Figure 5-1 SMC installation wizard

3.

Click "Next". The agreement dialog box pops up, as shown in Figure 5-2.

90Figure 5- 2 Installation agreement

4.

Select “I Agree”, click "Next" and enter the user information, as shown in Figure 5-3.

Figure 5-3 User information

5.

Click "Next", and select the setup type, as shown in Figure 5-4.
Generally, please use the default type.

Figure 5-4 Setup type91

6.

Click “Next”, and click "Finish" after the setup is finished to exit the setup interface andcomplete the setup, as shown in Figure 6-5.

Figure 5-5 Installing

7.

After setup, check the shortcut of SMC software by accessing "Desktop" → "Start" →"All
Programs" on your computer, as shown in Figure 5-6.

Figure 5-6 Start menu

5.2 Driver Installation
When using USB communication for the first time, you need to install the USB driver.
Note: The driver will be automatically installed on Windows 10 after connecting the USB data
cable.
Taking Windows 7 as an example, the process of driver installation is as follows:
1. Connect the upper computer and the servo drive via the USB data cable. A prompt thatthe driver cannot be installed automatically, as shown in Figure 6-7.

Figure 5-7 Failed to install the driver

2.

Open the Windows main menu, and right click "Computer".

92

Figure 5-8 Windows main menu

3.

To open the computer management, click "Manage":click "Manage"

Figure 5-9 Computer management window

4.

Select "Device Manager" → “Others”, and find the unrecognized device Virtual COM
Port.

Figure 5-10 Device manager

5.

Right click “Virtual COM Port”, and select "Update Driver Software".

Update Driver Software

Figure 5-11 Update driver software

6.

Select "Browse my computer for driver software".

93

Browse the computer
driver software

Figure 5-12 Find driver software

7.

Click “Browse", find and select the driver folder “windows_drivers” in the SMC
installation directory.
Default path: C:\Program Files(x86)\SMC\Files\windows_drivers.

Next

Figure 5-13 Browse the driver installation path

8.

Click "Next" to start installation, and select "Always install this driver software" in the
pop-up security warning window.

Always install the driver software

Figure 5-14 Security warning pop-up

9.

Finish driver installation.

94

Successful Installation

Figure 5-15 Finish driver installation
Note: If the driver fails to be installed successfully, please contact the technician.

955.3 Firmware Upgrade
You can burn and upgrade the M3 and C28 files in the servo through SMC.
The process of firmware upgrade is as follows:
1. Select "Setting" in the main menu, and click "Firmware Updata" to open the firmware
upgrade interface, as shown in Figure 5-16.

Figure 5-16 Firmware upgrade
2. Click "Select File" to open the folder and select the M3 or C28 file to be upgraded.
3. Click "Upgrade" to start upgrading. After the upgrade is successful, SMC software andthe servo are restarted.
4. After reconnecting, repeat the above steps to upgrade the next program until all
programs are upgraded.
Note:
1. For firmware upgrade, please contact our technical team.
2. Servo DC+/DC- power supply is required when upgrading, and 24 V power supply isrecommended.
3. The names of the upgraded files are fixed, i.e. C28-APP.bin and M3-APP.bin.
4. For the first time, please flash M3-APP.bin first, and then flash C28-APP.bin.

96

6 Communication
6.1 EtherCAT Communication
6.1.1 Principle
6.1.1.1 CoE reference model
The internal CANopen over EtherCAT (CoE) network model of Stone servo is shown in
Figure 7-30.

Figure 6-30 COE reference model

The EtherCAT (CoE) network model consists of two parts:
 Data link: mainly responsible for EtherCAT communication protocol
 Application: it embeds the CANopen drive Profile (DS402) communication protocol.
The object dictionary in CoE includes parameters, application data, and PDO mapping
information.
Process data object (PDO) consists of objects in the object dictionary that can do PDO
mapping, and the content in PDO data is defined by PDO mapping. The read and write of
PDO data is periodic with no need to look up the object dictionary; while the mailbox
communication (SDO) is non-periodic communication with a need to look up the object
dictionary.
6.1.1.2 EtherCAT slave information
The EtherCAT slave information file (XML file) is read by the master and used toconstruct the configuration of the master and slave. The XML file contains the necessary
information for EtherCAT communication. STONE provides the "Stone_E XML.xml" file forthe servo drive to construct the configuration of the master and slave.
97

6.1.1.3 EtherCAT State Machine

It is used to describe the states and state changes of the slave. The state change request
is usually initiated by the master and the slave responds. The details is shown in Figure 631.

Figure 6-31 EtherCAT state machine
The status of state machine is shown in Table 6-31.
98

Table 6-31 Status

StatusDescription

Boot




Firmware update.
Drive can transit to Init state.

Init




Initialize the communication.
Unable to communicate with SDO and PDO.







The master configures the link address and SM channel to start
mailbox communication.
The master initializes DC clock synchronization.
The master requests a transition to the Pre-Op state.
The master sets the AL control register.
The slave checks if mailbox is normally initialized.



Mailbox communication is activated.
Unable to communicate with PDO.



The master configures the Sync Manager channel and FMMU
channel for PDO.
The master configures PDO data mapping and Sync Manager
PDO parameters through SDO.
The master requests transition to Safe-Op state.
The slave checks if the Sync Manager responsible for the PDO
data is correctly configured, and check the distributed clock
when the slave sends a request to start synchronization.

Init->Pre-OP

Pre-OPPre-OP->Safe-OPThe slave application will transfer the actual input data and will
not respond to the output.
Output is set to "safe state".

Safe-OP->OP

The master sends valid output data.
The master requests a transition to the Op state.

OP




Mailbox communication is available.
PDO communication is available.


Safe-OP

6.1.1.4 PDO mapping
ISD-A5-E-01 servo has 4 configurable PDOs, including 2 RxPDOs (0x1600 and 0x1601)
and 2 TxPDOs (0x1A00 and 0x1A01). When you need to change the default PDO mapping,
you can change the xml file and configure it into the servo.
Note: When using EtherCAT communication, it is necessary to set the communication cycleof the upper computer to be the same as that of the lower servo (default: 4 ms).
99

The default PDO mapping of STONE servo is as follows:

RxPDO
Table 6-32 RxPDO(sub) index

Name

Object TypeDefaultREC0x1600

1st Receive PDO

Data type-

0x00

Number of mapped objects

UINT8

10

0x01

Mapped object 1

UINT 160x6040 Control word

0x02

Mapped object 2

UINT320x607A Target position

0x03

Mapped object 3

UINT320x60B1 Velocity offset

0x04

Mapped object 4

UINT 16

0x60B2 Torque offset

0x05

Mapped object 5

UINT320x60FF Target velocity

0x06

Mapped object 6

UINT 160x6071 Target torque

0x07

Mapped object 7

UINT 80x6060 Modes of operation

0x08

Mapped object 8

UINT 80x00000x09

Mapped object 9

UINT320x0000

0x0A

Mapped object 10

UINT320x0000

Table 6-33 RxPDO(sub) index

Name

Object TypeDefaultREC0x1601

2st Receive PDO

Data type-

0x00

Number of mapped objects

UINT8

12

0x01

Mapped object 1

UINT320x0000

UINT320x0000

UINT320x0000

0x0C

Mapped object 12

TxPDO
Table 6-34 TxPDO(sub) index

Name

Object TypeDefault

REC
0x1A00

1st Transmit PDO

Data type-

0x00

Number of mapped objects

UINT8

12

0x01

Mapped object 1

UINT 160x6041 Statusword

0x02

Mapped object 2

UINT320x6064 Position actual value

0x03

Mapped object 3

UINT320x 606C Velocity actual value

0x04

Mapped object 4

UINT 160x 6077 Torque actual value

0x05

Mapped object 5

UINT 80x 6061 Modes of operation

100(sub) index

Name

Object TypeDefault

display
0x06

Mapped object 6

UINT 80x00000x07

Mapped object 7

UINT320x00000x08

Mapped object 8

UINT320x 0000

0x09

Mapped object 9

UINT320x0000

0x0A

Mapped object 10

UINT320x 0000

0x0B

Mapped object 11

UINT320x0000

0x0C

Mapped object 12

UINT320x0000

Table 6-35 TxPDO(sub) index

Name

Object TypeDefault

REC
0x1A01st

2 Receive PDO

Data type-

0x00

Number of mapped objects

UINT8

12

0x01

Mapped object 1

UINT320x0000

UINT320x0000

UINT320x0000

0x0C

Mapped object 12

Note: You can query detailed PDO mapping information in the xml file101

6.1.2 EtherCAT

6.1.2.1 Communication Interface

Pin

Name

Definition

Direction

1

TX+

Send data+

Output2

TX-

Send data-

Output3

RX+

Receive data+

Input

4

RX-

Receive data-

Input

5

PE

Shield-Figure 6-32 Definition of EtherCAT communication interface

6.1.2.2 Communication Wiring

Figure 6-33 Communication wiring1026.1.2.3 Software Settings
1.

2.

3.

Configure the motor parameters, and make sure that the servo motor can be operated
normally with the ISMC software.
For the trial run, please refer to "Diamond Plus Servo User Manual".
Select master type (0x2005):
 0: support the 402 state machine of most masters, including Beckhoff.
 1: specially support the 6061 state machine of Omron PLC.
Set servo communication cycle, set 0x60C2 to 01.
Communication cycle range is within 1 - 4 ms (default value: 4 ms).

The communication cycle of controller and servo should be the same. Otherwise, a
synchronization error will occur during running.
The master triggers DC mode in the CSP mode. Otherwise, it will not operate normally.
Note:
1. The transferring and receiving PDOs can be dynamically configured by the master, but
the maximum number for each PDO parameter is 10. If the range is exceeded, the slave
will be unable to enter the op state.
2. The sequence of network cables is IN → OUT. Otherwise, some nodes may be unable toenter the op state.

103

6.1.3 Communication with Beckhoff PLC
1.

2.

Connect hardware and check configuration
Refer to chapter 1 and 2 and complete the hardware and basic configuration between
the servo and PLC.
Place the configuration filePlace file Stone_E XML.xml under the TwinCAT directory as follows:3.

Figure 6-34 Directory of file Stone_E XML.xml
Establish project and connection
Run TwinCAT software, create a project, modify the IP address of the computer andthe controller in the same local area network, and select the target system to beconnected:

4.

Figure 6-35 Modify IP address in TwinCAT
Scan the slave and automatically configure NC axis
Right click on “I/O”, select “Scan”, scan EtherCAT slave, click “Scan boxes” afterscanning the slave, and click “Automatically add NC axis”.
104Figure 6-36 Automatic scanning and configuration of slaves in TwinCAT
After scanning is successful, icon StoneLOGO appears as shown in the below, andthe servo status is in the OP state.

5.

Figure 6-37 Successfully scan stone servo
Note: When scanning slave, please make sure TwinCat is in Config Mode.
Read COE data from Stone servo
As shown in Figure 7-39, you can read and write the data of the servo slave throughSDO. Or you can call the COE command function module through the EtherCAT function
library in the PLC program (Please refer to “TwinCat User Manual” for details).
Note: If the data is configured as PDO, write is invalid.
105

To check if read and write are successful, you can monitor and compare data throughthe SMC software.

6.

Figure 6-39 Configure SDO in TwinCAT
Read and configure PDO mapping
TwinCAT will automatically read the default PDO configuration of the lower computerwhen scanning the XML file of the slave. The default PDO mapping object andconfiguration are shown in Figure 7-40.

Figure 6-40 Configure PDO in TwinCAT
If the target PDO parameter is not in the default PDO configuration, you can add PDO
parameter mapping through TWinCAT. For example, if you would like to add DI(0X2701) status when transferring PDO (1600):

106

7.

Figure 6-41 Add PDO parameters in TwinCAT
Configure NC controla.

Configure NC TASK cycle: set “Cycle ticks” in NC-Task 1 SAF to “4” (unit: ms).
NC determines generation and calculation of position, velocity, acceleration andthe direction.

Figure 6-42 a. Configure NC TASK cycle in TwinCATb.

Configure the synchronization clock: enable distributed clock.
Please note that the setting of Cycle Time should be the same with thesynchronization period (4 ms) of the servo drive. Otherwise, the servo may
vibrates during running.

107

Figure 6-43 Check synchronization clock in TwinCAT

Figure 6-44 Set cycle time in TwinCATc.

Set the following in the NC axis:

Set Scaling Factor: the distance corresponding to the encoder pulse of eachposition feedback.
e.g. If one turn of the servo motor is 10000 pulses, and each turn is 1 mm,
the scaling factor should be set to 1/10000 = 0.0001 mm/Inc; if the target
position increases by 10 mm, the actual servo position should increase by
100000 INC. Generally,
Set the speed of NC control.
Otherwise, an alarm will occur.

108

Figure 6-45 Set scaling factor in TwinCATd.

To prevent the PLC from reporting a following error, set “Following Error
Calculation” to “Extern”.

Figure 6-46 Set following error calculation in TwinCATe.

To reverse the motor control polarity, set “Invert Encoder Counting Direction” to“TRUE” and “Invert Motor Polarity” to “TRUE”.

Figure 6-47 Set invert encoder counting direction in TwinCAT

109

Figure 6-48 Set invert motor polarity in TwinCAT

f.

Activate the configuration, control the servo working via the NC debugging
interface, use Online function to simulate the servo working in the running mode
(Make the servo lock the shaft, and click the button to make the servo run).

Figure 6-49 NC debugging interface in TwinCAT
当前速度：Current speed
当前位置：Current position
目标位置：Target position
目标速度：Target speed
故障代码：Error code
使能按钮：Enable button
使能状态：Enable status
参考速度：Reference speed
目标速度：Target speed
复位：Reset
停止：Stop
启动：Start
快速正向手动：Fast positive debugging
慢速正向手动：Slow positive debugging
慢速反向手动：Slow negative debugging
110

快速反向手动：Fast negative debugging
目标位置：Target position
控制环 P 参数：Control loop P parameterNC 轴的状态：NC axis Status
速度比例：Speed rate跟随误差：Follow-up error
运动标志：Movement sign

8.

Create a PLC projecta. Create a new PLC project.

Figure 6-50 Create a new PLC project in TwinCATb.

Set “Cycle ticks” of PLC Task to 4 ms.

Figure 6-51 Set cycle ticks of PLC task in TwinCAT

111

9.

Use of CoeSDO

CoeSDO is similar to SDO in CANOPEN. It can be used to read and write some objects
whose exchange is not frequent or that are not supported by PDO communication. The
steps are as follows:a. Add "Tc2_EtherCAT.lib" in TwinCAT PLC library manager.

Figure 6-52 Add "Tc2_EtherCAT.lib" to the TwinCAT PLC library managerb.

After adding, declare the CoeSDO read and write in the program.
Taking read of status word 60410010 and write of homing mode 60980008 as
examples, both of which have no symbols.

Figure 6-53 Add CoeSDO function to program in TwinCAT

112

c.

Set the T_AmsNetId of the EtherCAT master.

Figure 6-54 Set T_AmsNetId of EtherCAT master in TwinCATd.

Set the slave's address SlaveAddr.

Figure 6-55 Set slave's address SlaveAddr in TwinCATe.

Call the read and write function in the program, e.g. trigger read 0X6041 status
word as 545, and write homing mode 0X6098 as 7.

Figure 6-56 Trigger read of 0X6041 as 545 in TwinCAT

113

Figure 6-57 Trigger write of homing mode 0X6098 as 7 in TwinCAT

114

en.dh-robotics.com
info@dh-robotics.com
DH-Robotics Technology Co.,Ltd
A507, Industrialization building, Yuexing 3rd Road, Nanshan district,
Shenzhen, China, 518063

115