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7
Interface display and key operation
 No.7Chapter Interface Display and Key Operation IS550Series Servo Driver User Manual

No.7Chapter Interface Display and Key Operation

7.1interface introduction

The operation interface of the servo drive consists of5Only7partlednixie tube and5Composed of only buttons, it can be used for status display and parameter setting of the servo

drive. The interface layout is as follows:

7.1.1Key function description

button button name Function

MODE MODE Press this key to switch between function code groups in sequence and return to the previous menu.

7 UP Press this key to increase the setting value of the current flashing digit, long press to increase quickly.

DOWN Press this key to decrease the setting value of the current flashing digit, long press to decrease quickly.

Press this key to move the selected flashing digit to the left by one.
SHIFT
Long press function: to display more than5When the content of the digital tube is displayed, it can be used to turn pages.

SET SET Press this key to save the modification and enter the next menu.

Note: When an alarm occurs, please eliminate the cause of the alarm first, and then reset the alarm.

7.1.2Servo drive status display

The running state of the servo drive is determined by5Only seven paragraphsledThe display characters of the digital tube are shown in the following table:

symbol leddisplay graphics State description and character meaning description

The character is displayed on the digital tube in the power-on initialization state, indicating that it is the software
"rESEt"
startup state or reset state.

"nrd" After startup or reset is completed, the servo is not ready, such as the main circuit is not powered on.

"rdy" The self-test of the servo system is normal, waiting for the servo enable signal from the host control device.

The servo is in normal running state, at this time you can passH0bGroup function code to view the
"run"
servo running status and variables.

The servo failed, "xxx"The three-digit number represents the fault code, please refer to the
"Er. xxx"
fault code9chapter.

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IS550Series Servo Driver User Manual No.7Chapter Interface Display and Key Operation

7.1.3The operation method of browsing and modifying the parameters of the servo drive

To view the variable status of the servo, you need to pressMODEkey to switch to function codeH**Group selects the corresponding function code:

MODE

MODE
Operating status display mode Parameter browsing or setting mode

(0level menu)

When switching to the parameter display mode, the first display is the parameter group number, starting with "Hxx."Three-digit display, also known as "0

"level menu". One of the display digits is blinking, pressUPkey orDOWNkey, the number of the flashing digit will increase1or minus1; If press SHIFTkey, the

flashing digit will move for easy setting to the desired group number:

UP SHIFT

H00. H01. H01.

DOWN SHIFT

After setting the desired group number, press theSETkey to enter the setting state of the parameter serial number in this group, and then "Hxx.xx”, also known

as "Ilevel menu", after setting the required function code serial number, pressSETkey to enter the parameter setting state of the function code, also called "II

"level menu", if the parameter can be modified, its lowest digit will flash and display, at this time pressSHIFT/UP/DOWNPress the key to modify, as shown in the

figure below:

0level menu

Function code group number selection

H07. SETEnter When there is a flashing bit, press

UP/DOWN/SHIFTModify the blinking bit

7
H07.03
Ilevel menu
SETEnter
MODE
Function code serial number selection
return

SETsave
IIlevel menu

Function code parameter value setting

MODE
return
30.5 SET
done
MODEreturn

Press theSETAfter the key has been saved successfully, "done"If the modified value has not changed, it will not display "done"typeface.
according toMODEPress the key to exit the status monitoring mode and enter the parameter mode to view and modify parameters.

7.2Parameter setting and display

7.2.1Modification properties and display characteristics of parameters

Some parameters can only be browsed and cannot be modified, such as running parameters, after enteringIIAfter entering the level menu, these parameters are displayed

without flashing display digits, at this time pressSHIFT,UP/DOWN,SETKey presses do not respond either.

Some parameters can only be set in the stop state. Before modifying the parameters, the servo needs to be stopped.

7.2.2Setting of parameters below five digits

When setting parameters in [-9999~99999】In the range, it is the display of the parameters within five digits.5The digital display can be displayed or edited at

one time.

7.2.3Setting of more than six parameters

When the setting parameter range exceeds [-9999~99999] When the range exceeds the display range of the five-digit nixie tube, six digits and more are required

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 No.7Chapter Interface Display and Key Operation IS550Series Servo Driver User Manual

The digital tube characters are displayed. Take the most points in this system4Bit ×3The page display method is used for displaying. At this time, there is a flashing pen segment in

the leftmost character of each screen, which is used to indicate the screen number of the current character.

For example, the parameter value to be displayed is -10501080.10, it is divided into [-10】【5010】【80.10】Three pages are displayed, long
press SHIFTAble to turn pages. As shown below:

The flashing "—" on the left indicates the displayed bit field, when using

"SHIFT"Automatically switch when shifting

First page first two digits The second page middle four digits The third page last four digits

symbol indication,At this time, it is expressed as negative

decimal point

Number, not displayed when it is positive

when usingSHIFTWhen the key is shifted, it will automatically switch to the corresponding display segment. For example: Assuming that the current blinking digit is thousands digit, use SHIFTWhen

shifting, it will automatically switch to the display of the middle four digits, and the tens of thousands digit (that is, the rightmost digit of this segment) will flash. At this point press UP/DOWN, the

increment or decrement is10000.

For parameters that can be modified, passSHIFTThe shift can be modified accordingly. If it is a read-only parameter, only by long pressing
SHIFTkey to turn the page display.

7 7.3List of monitorable parameters

Monitor display is a function to display the command value set in the servo drive, the state of input and output signals, and the internal state of the servo drive.

The monitor display function code table is as follows.

function code Minimum order factory take effect relevant

parameter name display range category describe
Group No serial number
bit set up time model

H0b 00 Actual motor speed - 1 rpm - - show PST rpm

H0b 01 speed command - 1 rpm - - show S rpm
Internal torque command (phase
H0b 02 - 0.1% - - show PST %
for rated torque)

H0b 03 Input signal monitoringDI - - - - show PST refer to9.2.2

H0b 05 output signal monitoringdo - - - - show PST ditto

Displacement relative to the origin.

H0b-07,H0b-
13,H0b-17three
Absolute Position Counter 1instruction The maximum value of the function code exceeds
H0b 07 - - - show P
(32digit decimal display) unit 1073741824-1and
- 1073741824timepiece
counter from0start over
count.

Angle relative to origin

Mechanical angle (from origin
H0b 09 - 1p - - show P amount, the number of encoder lines has
start pulse number)
close.

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IS550Series Servo Driver User Manual No.7Chapter Interface Display and Key Operation

function code Minimum order factory take effect relevant

parameter name display range category describe
Group No serial number
bit set up time model

Rotation angle2(electrical angle

H0b 10 - 0.1Spend - - show PST
Spend)

Enter the position command pair

H0b 11 - 1 rpm - - show P the pulse frequency
response speed information

Deviation counter (position

1instruction
H0b 12 deviation) (position control only - - - show P command unit
unit
effective at time of production)

Input command pulse meter

1instruction
H0b 13 Counter (32bit decimal - - - show P
unit
show)

Feedback Pulse Counter (

of encoder pulses4
H0b 17 - 1p - - show P
Multiplier data:
32bit10base display)

total running time (32bit 0.0- Indicates the total after power-on
H0b 19 0.1s - - show -
10base display) 429496729.6s time.
H0b twenty one AI1Sampling voltage value - 0.001V - show
H0b twenty two AI2Sampling voltage value - 0.001V - show
H0b twenty three AI3Sampling voltage value - 0.001V - show
H0b twenty four RMS value of phase current - 0.01A - show 7
H0b 26 Bus voltage value - 0.1V - show
H0b 27 module temperature - °C - show -
Accumulation of internal and external deviations
H0b 28 - 1p - show p 32bit display
value

second encoderZlatch
H0b 30 - 1p - show p
value

Multiturn Absolute Encoder

H0b 31 - r - show -
Number of turns

0-current failure

1-superior1fault With retrospective display function

immediately run
H0b 33 Display of fault records 2-superior2fault 1 0 Yes, the fault number is displayed
take effect set up
... code + fault type

9-superior9fault

first
If displayedEr.000,surface
H0b 34 error code - - Fault -
Indicates that there is currently no fault
code
in the total running time axis of
H0b 35 Selected failure timestamp - 0.1s - show
distribution point.

Current at time of selected fault

H0b 37 - 1 rpm - - show
Rotating speed

Current at time of selected fault

H0b 38 - 0.01A - - show
electric currentu

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 No.7Chapter Interface Display and Key Operation IS550Series Servo Driver User Manual

function code Minimum order factory take effect relevant

parameter name display range category describe
Group No serial number
bit set up time model

Current at time of selected fault

H0b 39 0.01A - show
electric currentV

Selected fault bus

H0b 40 - 0.1V - - show
Voltage

Input terminal at fault

H0b 41 - - - - show
state

Output on selected fault

H0b 42 - - - - show
Terminal status

Note1:

1) in speed and torque, position mode,H0b-07 ,H0b-13andH0b-17can be counted. When switching modes, these values are unclear
zero.

2)H0b-07andH0b-17The count can be kept when power off.

3)H0b-13It can only count when the servo is enabled.

4) whenH05-36(Mechanical origin offset) is0, in any of the three modes, regardless of running or standby, by setting the
Return-to-origin function codeH05-30place6, can be clearedH0b-07andH0b-17.

5) by settingH05-36(offset of the mechanical origin), that is, theH0b-17Set to desired value.

7
Note2:DI/DODisplay method of terminal status:

One nixie tube shows twoDI/DO, the top short drawing light corresponds to high level, and the bottom light is low level. All indications correspond to

physicalDI/DO.

DIDOthe status of the16status bits to represent, where the standardDIfor10road,dofor7road, the figure below showsDIThe state of the input
terminal.

high8bit Low8bit

high state

low state

10 9 87654321 port order

DI10=0
DI9=0

DI8=0
DI7=0

DI4=0
DI3=0
DI6=1

DI5=0

DI2=1
DI1=0

The instructions in the figure above are, in order:DI1=0;DI2=1;DI3=0;DI4=0;DI5=0;DI6=1;DI7=0;DI8= 0

,DI9=0;DI10=0.

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 8
Common function code setting of servo drive
 No.8Chapter Common Function Code Setting of Servo Drive IS550Series Servo Driver User Manual

No.8Chapter Common Function Code Setting of Servo Drive

8.1Operating mode and selection

According to the command mode and operation characteristics of the servo drive, it can be divided into three operation modes, namely, speed control operation mode, position

control operation mode, torque control operation mode, etc.

The differences between the three operating modes are as follows:

1. In the position control mode, the moving displacement is generally determined by the number of pulses, and the rotation speed is determined by the

frequency of externally input pulses. It can also be directly given through communication. Since the position mode can strictly control the speed and position, it

is generally used in positioning devices. Ninety percent of servo applications use position control mode (positioning requirements are fast, accurate, and

ruthless), such as manipulators, placement machines, engraving, milling, CNC machine tools, etc., which can be said to be countless.

2, Speed mode: the rotation speed can be controlled through analog input, digital value setting, and communication setting. Some constant-speed feeding

controls use speed control (some also use position control in the host computer, and the servo only Do speed control such as analog engraving and milling

machine).

3, The torque control method is to change the set torque size by changing the setting of the analog quantity in real time or changing the value of the corresponding address by

means of communication. It is mainly used in winding and unwinding devices that have strict requirements on the force of the material, such as some tension control occasions

such as wire rafting devices or optical fiber drawing equipment. The torque setting should be changed at any time according to the change of the winding radius to ensure The

force of the material will not change with the change of the winding radius.

The operating modes available in the servo drive are as follows, and can be set according to the function codeH02-00To set up, and at the same time, the source of commands in

various operating modes can be flexibly set.

the smallest factory take effect relevant

function code name Predetermined area category
unit set up time model

0-speed mode (default)

1-location mode

2-torque mode

8
immediately shutdown
H02 00 mode selection 3-speed mode↔torque mode 1 0 -
take effect set up
4-location mode↔speed mode

5-location mode↔torque mode

6-Location↔speed↔Torque Blend Mode

when function codeH02-00 = 0,1,2When , it means that the current servo control mode is a single control mode, which are speed mode, position mode and

torque mode, which can meet the needs of users under specific conditions.

But when the user needs to switch between various modes, it is necessary to set the function codeH02-00 = 3,4,5,6, the velocity mode↔torque
mode, position mode↔speed mode, position mode↔Torque mode speed; switching condition is passed byDIterminal for mode switching.

coding name function name describe state Remark

Depending on the selected control mode (3,4,5),

Fun IN.10 M1-SEL mode switch distribute Switching requires twoDI
switch between speed, position and torque

Depending on the selected control mode (6), the speed

Fun IN.11 M2-SEL mode switch distribute Switching requires twoDI
Switch between degree, position and torque

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IS550Series Servo Driver User Manual No.8Chapter Common Function Code Setting of Servo Drive

when selected as3-6mode, you need to configure the correspondingDIfunction, please refer to the corresponding relationship in the table below.

mode selection M1-SEL M2-SEL operating mode

1 - S
3-speed mode↔torque mode
0 - T
1 - P
4-location mode↔speed mode
0 - S
1 - P
5-location mode↔torque mode
0 - T
1 1 P
1 0 P
6-Location↔speed↔Torque Blend Mode
0 1 S
0 0 T

P: position control,S:speed control,T: torque control;1: Indicates that the function of this terminal is valid,0: The function of this terminal is
invalid, -: irrelevant;

8.2Speed Mode Related Settings

8.2.1Acquisition method of speed command

Related signals and function parameters

the smallest factory take effect relevant

function code name Predetermined area category
unit set up time model

0-Number given (H06-03)

1-AI1
H06 00 main speed commandAsource 2-AI2 1 0
immediately

take effect
shutdown

set up
S 8
3-AI3
4-Jog speed command

0-Number given (H06-03)

1-AI1
2-AI2 immediately shutdown
H06 01 Auxiliary speed commandBsource 1 1 S
3-AI3 take effect set up

4-Jog speed command

5-Multi-stage speed command

immediately run
H06 03 Speed command keyboard setting value - 9000rpm~9000rpm 1 rpm 200rpm S
take effect set up

immediately run
H06 04 Jog speed setpoint 0rpm~9000rpm 1 rpm 300rpm S
take effect set up

Note: digital given by setting the function codeH06-03The speed value is enough, this function code is the running setting method.

The direction switching of the speed command can be usedDIcontrol, the function code isFun IN.26. It is used when the direction needs to be switched.

coding name function name describe state Remark

void - positive direction; The logic of the corresponding port needs to be set to0
Fun IN.26 SPDDirSel Speed command direction setting distribute
valid - reverse direction or1.

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 No.8Chapter Common Function Code Setting of Servo Drive IS550Series Servo Driver User Manual

In the speed control mode, the speed command has two sources: sourceAand sourceB. The speed control mode has the following four speed command

acquisition methods:1, select sourceAas a speed command;2, select sourceBas a speed command;3, select sourceA+sourceBas a speed command;4, through

externalIOToggle the way to select the sourceAand sourceB;5, Communication settings. The way to obtain these five sources is through the function codeH06-02

set up.

the smallest factory take effect relevant

function code name Predetermined area category
unit set up time model

0-main speed commandAsource

1-Auxiliary speed commandBsource

immediately shutdown
H06 02 Speed command selection 2-A+B 1 0 S
take effect set up
3-A/Bto switch

4-communication settings

When the speed command selects the function codeH06-02choose3, it is necessary to separate theDITerminals must be assigned a function definition to work properly.

Through this input terminal, it can be determined whether the currentAcommand input orBcommand input.

coding name function name describe state Remark

OFF-The current running command isA

Fun IN.4 /CMD-SEL Run instruction switch distribute
ON-The current running command isB

In addition, the sourceAand sourceBBoth have the following generation methods at the same time:

1, Digital setting, also called keyboard setting, refers to using a function codeH06-03To store a set speed value, and then use it as
a way to generate speed commands;

2. The source of the analog speed command refers to a speed command generation method that converts the externally input analog voltage signal into a

speed command signal for controlling the motor. Inovance servo driver has three analog speed signal inputs.

3, Jog speed command refers to the function codeH06-04A speed command is stored, and the user can configure two externalDIOr the host computer control

software selects the speed direction of the command. according to externalDIDepending on the input, the direction of the jog speed command will also

8 change.

4、Multi-segment speed instructions are stored in internal registers16Group speed commands and related control parameters, users can choose to use external DIselection or

internally specified way selection1segment or max16segment speed command.

8.2.2Ramp function control

The ramp function control function is to convert the speed command with large changes into a smoother constant acceleration and deceleration speed command, that is, to

achieve the purpose of controlling acceleration and deceleration by setting the acceleration and deceleration time. During speed control, if the given speed command changes too

much, the motor will jump or violently vibrate. However, if the acceleration and deceleration time of the soft start is increased, the motor can start smoothly when starting to avoid

the occurrence of the above situation cause damage to mechanical parts.

Related signals and function parameters

the smallest factory take effect relevant

function code name Predetermined area category
unit set up time model

immediately shutdown
H06 05 Speed command acceleration ramp time 0ms-10000ms 1ms 0ms P.S.
take effect set up

immediately shutdown
H06 06 Speed command deceleration ramp time 0ms-10000ms 1ms 0ms P.S.
take effect set up

Note: Under normal speed control, please set the acceleration and deceleration time as0 [factory setting].

H06-05: The time required to reach the maximum speed of the motor from the motor stop state.

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IS550Series Servo Driver User Manual No.8Chapter Common Function Code Setting of Servo Drive

H06-06: The time required from the maximum speed of the motor to the stop of the motor.

The ramp function control function converts the step speed command into a relatively smooth constant acceleration and deceleration speed command, and realizes smooth speed

control during speed control (including internal setting speed control).

Motor maximum speed

step instruction
After ramp function control

H06.05 H06.06

The acceleration and deceleration ramp time of the servo motor is determined by the time when the motor accelerates from zero speed to maximum speed or decelerates from maximum speed to zero

speed. The actual calculation formula of acceleration and deceleration time is as follows:

Actual acceleration time = (speed command ÷ motor maximum speed) × speed command acceleration ramp time;

Actual deceleration time = (speed command ÷ motor maximum speed) × speed command deceleration ramp time;

motor to motor most

constant speed high speed

Actual plus
Actual minus

speed time
speed time

8
Acceleration ramp time Deceleration ramp time

H06.05 H06.06

8.2.3speed command limit

Related signals and function parameters

take effect relevant

function code name Predetermined area smallest unit factory setting category
time model

immediately shutdown
H06 07 Maximum speed limit 0rpm-9000rpm 1 rpm 9000rpm S
take effect set up

immediately shutdown
H06 08 forward speed limit 0rpm-9000rpm 1 rpm 9000rpm S
take effect set up

immediately shutdown
H06 09 speed reverse limit 0rpm-9000rpm 1 rpm 9000rpm S
take effect set up

In the speed control mode, the servo drive can limit the size of the speed command. The speed command limit includes three contents:

1,H06-07Set the amplitude limit of the speed command. The speed command in the positive and negative directions cannot exceed this value. If it exceeds this

set value, it will be limited to output at this value.

2,H06-08Set the positive speed limit, if the speed command in the positive direction exceeds the set value, it will be limited to output at this value.

3,H06-09Set the negative speed limit. If the speed command in the negative direction exceeds the set value, it will be limited to output at this value.

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 No.8Chapter Common Function Code Setting of Servo Drive IS550Series Servo Driver User Manual

4. The maximum speed of the motor is the default limit point. When matching different motors, this parameter will change with the motor parameters.

Note: function codeH06-07,H06-08andH06-09When limiting the speed, the minimum limit point is used as the limit condition, as shown in
the figure below, the actual forward speed limit isH06-08, the reverse rotation speed is limited toH06-07(reason,H06-09set value greater
thanH06-07).

speed command

motor speed

Maximum speed limitH06.07

forward speed limitH06.08

actual speed

Restricted interval

Maximum speed limitH06.07

speed reverse limitH06.09

Motor maximum torque

Note: The maximum speed of the motor is the default limit maximum point.

The actual motor speed limit interval satisfies the following formula:

Amplitude of forward speed command: |speed command|≤min{Motor maximum speed,H06-07,H06-08}

8
Amplitude of negative speed command: |Negative speed command|≤min{Motor maximum speed,H06-07,H06-09}

8.2.4Servo pulse output and its setting

The source of servo pulse output is fromH05-38to set.

the smallest factory relevant

function code name Predetermined area effective time category
unit set up model

0-Encoder frequency division output connect again shutdown

H05 38 Servo pulse output source selection 1 0 PST
1-Pulse command synchronous output power on set up

(1) encoder frequency division output

By setting the function codeH05-17, the servo divides the pulse number fed back by the encoder according to the set value and outputs it through the frequency division output port. The value of this

function code corresponds toPAO/PBONumber of pulses per mechanical cycle (4before multiplication).

the smallest relevant

function code name Predetermined area factory setting effective time category
unit model

16P/Rev~ connect again shutdown

H05 17 Encoder frequency division pulse number 1P/Rev 2500P/Rev -
1073741824 P/Rev after power set up

The shape of the signal and output phase is as follows:

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IS550Series Servo Driver User Manual No.8Chapter Common Function Code Setting of Servo Drive

type signal name name Remark

PAO+ Encoder pulse output:AMutually

PAO- Encoder pulse output: /AMutually When selecting an absolute encoder, it is through the frequency division coefficient of the encoder

PBO+ Encoder pulse output:BMutually Determined motor rotation1circle output pulse, phase difference90°
output
PBO- Encoder pulse output: /BMutually

PZO+ Encoder pulse output:ZMutually

motor rotation1circle output1pulse
PZO- Encoder pulse output: /ZMutually

Note:ZThe phase pulse is the origin pulse, which indicates that the motor rotates every1circle output1A pulse indicator signal.

server Driver PC controller

PAO+
PAO-
J9
PBO+
ENC Frequency division output

PBO-
servo motor
PZO+
feedback encoder
PZO-
Encoder frequency division output

output phase shape

Forward rotation (Aphase aheadBMutually90°) When reversed (Bphase aheadAMutually90°)

8
When the encoder feedback pulse output signal is different from the command direction of the host computer, the function code can be selected by changing the rotation

direction of the servo motor H02-02and output pulse feedback direction selectionH02-03Make adjustments.

Notice

- The frequency division pulse number of the encoder should not exceed the resolution of the motor encoder (incremental type: cannot exceed the number of lines of the encoder; absolute type:

cannot exceed the resolution of each mechanical cycle1/4), otherwise it will reportEr.110(Frequency division pulse output setting failure).

- For example: the number of lines of the servo motor with incremental encoder is2500,andH05-17Set as2501,Then the servo driver will make a judgment error and report

Er.110Fault.

- The limit frequency supported by the encoder frequency division output hardware is about1.6M (A/Bfrequency), it is necessary to ensure that the maximum frequency within the working speed

range of the servo will not exceed the limit, otherwise it will reportEr.510(frequency division pulse output overspeed),

- Calculation method: The speed range at which the motor works is +/-2000rpm,Calculated from thisH05-17maximum setting

- value of . H05-17Maximum setting for =1.6 * 10^6 / (2000/60) = 48000.

- 4The resolution that can be achieved after frequency doubling is192000/Mechanical cycle, but only if the set value satisfies the precautions1listed requirements.

(2) position pulse command synchronous output

After connecting the pulse output terminal of one servo to the pulse command receiving terminal of the next one or more servos, this function can be used for synchronous control

of multiple servos. The output signal isPAOsandPBOThe differential output corresponds toPULSandSIGN. In this way, the pulse command of the host computer can be

synchronously output to other servos through one servo.

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 No.8Chapter Common Function Code Setting of Servo Drive IS550Series Servo Driver User Manual

Notice

- In the application of synchronous control, it is necessary to keep all servo parameters consistent and the load conditions are similar, so that the effect of synchronous motion can be achieved.

- Please do not power off the host computer when the host computer is sending pulses, otherwise the position of the slave machine will be out of sync due to the attenuation of the pulse signal

at the moment of power failure. If this happens, please recalibrate the position of the slave.

8.3Position mode related settings

8.3.1How to obtain position command

The position command acquisition method is determined by the function codeH05-00set up. This function code can only be set as0,1,2,3four ways, of which0Indicates that the servo

drive selects the external pulse command as the source of the position command;1Indicates that the servo drive selects the step given as the source of the position command;2

Indicates that the servo drive selects multiple position commands as the source of position commands;3Indicates that the servo drive selects the communication setting as the

source of the position command.

(1) Select the external pulse command input as the setting and description of the position command source.

the smallest factory take effect relevant

function code name Predetermined area category
unit set up time model

0-Pulse command (default)

1-step given immediately shutdown
H05 00 master position commandAsource 1 0 P
2-multi-segment position command take effect set up

3-communication settings

(2) direction switching of the position command can be usedDIcontrol, the function code isFun IN.27. It is used when the direction needs to be switched.

coding name function name describe state Remark

void - positive direction; The logic of the corresponding port needs to be

Fun IN.27 POSDirSel Position command direction setting distribute
set to0or1.
8
valid - reverse direction

(3) to select the step input as the source of the position command.

Please put the function codeH05-00set as1, select the step given as the instruction source, and then set the function codeH05-03, set the number of position commands (command

unit) executed by the step amount. The corresponding motor speed when the step command is executed is determined by the electronic gear and the default parameters of the

program. Please refer to the following formula:

Motor steady state speed =24(rpm)× electronic gear ratio;

Note:

1, The magnitude of the speed command is determined by the above formula, and the direction of the speed command is determined by the direction of the set position.

2、When using the step amount as the source of the position command, the open signal of the step amount must be enabled (FunIN.20/POSSTEP). This signal is

valid, and the servo drive starts to executeH05-03The set position command, the currentH05-03After the execution of the position command is completed, the

servo driver accepts the enabling signal of the stepping amount (/POS STEP), proceed to the nextH05-03The set position command. If the signal is always invalid,

the position command output is zero.

31. The servo driver does not accept the open signal of the step amount during operation.

factory take effect relevant

function code name Predetermined area smallest unit category
set up time model

immediately shutdown
H05 03 step amount - 9999Command unit~9999command unit 1command unit 50 P
take effect set up

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IS550Series Servo Driver User Manual No.8Chapter Common Function Code Setting of Servo Drive

8.3.2Pulse command input acquisition method

1, Pulse command input signal setting

type signal name name

PULS+ Pulse command input+

PULS- Pulse command input-

enter
SIGN+ Pulse direction input+

SIGN- Pulse direction input-

2, Connection of pulse command input signal

a) connection of the differential drive output

Superior device server Driver

linear drive
150Ω
PULS * PULS+
[CW AMutually] PULS-
SIGN+ 150Ω
SIGN
[CCWBMutually] SIGN-
150Ω
CLR+
CLR
CLR-

PE PE

* Indicates twisted pair

b) connection of the open collector output

8
Superior device

VCC server Driver

R1
150Ω
* PULS
/PULS
SIGN 150Ω
/SIGN
150Ω
CLR
/CLR
PE PE

* Indicates twisted pair

Please choose a current limiting resistorR1value, be sure to keep the input current at6~10mAwithin range.

For example:Vcc=+24Vhour,R1=2.4kΩ

Vcc=+12Vhour,R1=1.5kΩ

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 No.8Chapter Common Function Code Setting of Servo Drive IS550Series Servo Driver User Manual

Vcc=+5Vhour,R1=200Ω

passVOP1,VOP2,VOP3Open collector wiring for pull-up

In this way, the pull-up resistor provided inside the servo driver can be used

server Driver
24V

VOP1(VOP2,VOP3)

2.4kΩ
PULS+(SIGN+,CLR+)
PULS-(SIGN-,CLR-) 150Ω

COM

When using an external power supply prepared by the user:

server Driver

24V
VCC
VOP1(VOP2,VOP3)
2.4kΩ
PULS+(SIGN+,CLR+)
PULS-(SIGN-,CLR-) 150Ω

COM

Vf=1.5~1.8V

2, Pulse command input form setting

There are three pulse command input forms, which are determined by the function codeH05-15to set.

8 function code name Predetermined area

the smallest factory
effective time category
relevant

unit set up model

0-Direction + pulse, positive logic. (Defaults)

1-direction+pulse, negative logic connect again shutdown
H05 15 command pulse form 1 0 P
2-APhase +Bphase quadrature pulse,4 after power set up

multiplier 3-CW+CCW

3, The principle of pulse command form

positive logic negative logic

Pulse command form
Forward reverse Forward reverse

PULS PULS PULS PULS

direction+pulse
SIGN SIGN
SIGN SIGN

quadrature pulse PULS PULS

—
(APhase +BMutually) SIGN SIGN

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IS550Series Servo Driver User Manual No.8Chapter Common Function Code Setting of Servo Drive

positive logic negative logic

Pulse command form
Forward reverse Forward reverse

PULS PULS
SIGN SIGN
CW+CCW
PULS PULS
SIGN SIGN

8.3.3Pulse Deviation Clear

Setting of pulse deviation clear signal

type signal name name

CLR Pulse difference clear input+
enter
/CLR Pulse difference clear input-

Note: If no external input clearing action is required, no wiring is required, and the function code is setH05-16for1. (Clear the position deviation pulse when a

fault occurs)

The working mode of the clear signal is set by the function codeH05-16set up.

function code set value describe

0 servoOFFand clear on failure (default)

1 Clear the position deviation pulse when a fault occurs

2 only throughCLRSignal On Clear

H05-16
3 only throughCLRsignal off clear

4 only throughCLRsignal rising edge clear 8

5 only throughCLRSignal falling edge clear

Note:CLRSignal conduction: is to makeCLR+signal inflow6~10mAcurrent. refer to5.3.1Input signal connections.

8.3.4Electronic gear function setting

1, Electronic gear ratio setting and switching

Electronic gear ratio, by function codeH05-07~H05-13Setting, there are two sets of electronic gear ratios, byFun IN.24(electronic gear selection) setting, theDIWhen the function is

invalid, the first group of electronic gear ratio is defaulted, theDIThe second electronic gear ratio is enabled when the function is valid. Note: If and only if the duration of no

position command input exceeds10msAfter that, the two sets of electronic gear ratios can be switched.

the smallest factory take effect relevant

function code name Predetermined area category
unit set up time model

immediately shutdown
H05 07 Electronic gear ratio1(molecular) 1~1073741824 1 4 P
take effect set up

immediately shutdown
H05 09 Electronic gear ratio1(denominator) 1~1073741824 1 1 P
take effect set up

immediately shutdown
H05 11 Electronic gear ratio2(molecular) 1~1073741824 1 4 P
take effect set up

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 No.8Chapter Common Function Code Setting of Servo Drive IS550Series Servo Driver User Manual

immediately shutdown
H05 13 Electronic gear ratio2(denominator) 1~1073741824 1 1 P
take effect set up

Note:0.001≤gear ratio≤4000

If the reduction ratio between the motor shaft and the mechanical side of the load isn/m(motor shaft rotationmcircle, load shaft rotationnocircle), the calculation formula of the electronic gear ratio is as

follows:

B H05.07 Encoder resolution m

Electronic gear ratio = = x
A H05.09 Displacement of the load shaft for one rotation (command unit) no
Definition of encoder resolution: the total number of encoder output pulse increments during one revolution of the motor shaft. Encoder
resolution = encoder lines ×4

Note: In the position full closed loop mode and the internal and external closed loop mode (function codeH0545set as3or4), electronic gear selector switch (GEAR_SEL) is multiplexed

as a semi-closed-loop/full-closed-loop switch.GEAR_SELWhen the signal is invalid, it works in a fully closed loop and the electronic gear ratio is fixed as the first group of electronic

gears;GEAR_SELWhen the signal is valid, it works in a fully closed loop and the electronic gear ratio is fixed as the second set of electronic gears.

2, Working principle of electronic gear

position command position command

command unit) B (number of pulses)

speed ring PMSM

A
position ring current loop

PG
Position feedback (number of pulses)

8.3.5Position command smoothing function

8 The position command smoothing function refers to the function of filtering the input position command to make the rotation of the servo motor smoother. This function is more

effective in the following situations:

1) When the upper device that outputs the command does not perform acceleration and deceleration;

2) When the command pulse frequency is low;

3) The electronic gear ratio is10when more than double;

Note: This function has no effect on displacement (total number of position commands).

Related parameters

The parameters related to the position command filter are set as follows.

the smallest factory take effect relevant

function code name Predetermined area category
unit set up time model

immediately shutdown
H05 06 Position command average filter time 0.0ms~128.0ms 0.1ms 0.0ms P
take effect set up

Note: This function code is set to0, the averaging filter is disabled.

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IS550Series Servo Driver User Manual No.8Chapter Common Function Code Setting of Servo Drive

Comparison of the filtering effect of the average filter on two different position commands

Rectangular Position Command Trapezoidal position command

Before filtering
H05.06
P[command unit] Before filtering
After filtering
P[command unit]
After filtering

t
t H05.06
H05.06 H05.06

8.3.6Positioning completion signal output

In position control mode, the deviation between the position executed by the servo motor and the total amount of given position commands is less than or equal to the set

position deviation (see function codeH05-21), the servo driver outputs a positioning completion signal.

Output signal name

coding name function name describe state Remark

In position control, the position deviation pulse arrives and the positioning is completed
Fun OUT.5 /COIN+- location reached distribute
amplitudeH05-21Effective within

Function codes related to positioning complete signal

the smallest factory take effect relevant

function code name Predetermined area category
unit set up time model

0-The absolute value of the position deviation is less than or equal to the positioning completion

output in amplitude

H05 20
positioning complete signal

(COIN)lose
1-The absolute value of the position deviation is less than or equal to the positioning completion

Amplitude and position command filtered command is 1 0

immediately shutdown
P
8
take effect set up
condition 0time output

2-The absolute value of the position deviation is less than or equal to the positioning completion

amplitude and the position command is0time output

1fingers 7fingers immediately shutdown

H05 twenty one Positioning Completion Range 1Command unit~32767command unit P
order unit order unit take effect set up

Note: Positioning completion rangeH05-21The setting unit of is the command unit, and the size of the command unit depends on the set electronic gear ratio.

Positioning Completion RangeH05-21The set value only reflects the threshold value of the positioning completion signal output and has nothing to do with the positioning accuracy.

likeH05-21If the set value is too large, the position deviation will become smaller during low-speed operation, and the positioning completion signal may be output all the time, which seems a little slow. At

this time, please reduce the setting value until the positioning completion signal is sensitively output.

When used in a state where the positioning completion range is small and the position deviation is always small, you can setH05-20to changeCOINThe output

condition of the signal.

Situations where the positional deviation is always small are:

1) When the servo drive is always running at low speed;

2) When the speed feedforward gain of the servo drive is set to a large value.

8.3.7Positioning proximity signal output

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 No.8Chapter Common Function Code Setting of Servo Drive IS550Series Servo Driver User Manual

In position control mode, the deviation between the position executed by the servo motor and the total amount of given position commands is less than or equal to the set position

deviation (see function codeH05-22), the servo driver outputs a positioning approach signal. Usually, before confirming the positioning completion signal, the upper device receives

the positioning approach signal to prepare for the sequence of actions after the positioning is completed.

Switch output terminal

coding name function name describe state Remark

During position control, the position deviation pulse reaches the positioning
Fun OUT.6 /NEAR+- positioning approach signal distribute
Approximate signal amplitudeH05-22Valid when setting value

function code

the smallest take effect relevant

function code name Predetermined area factory setting category
unit time model

1instruction 32767 immediately shutdown

H05 twenty two Locate proximity signal amplitude 1Command unit~32767command unit P
unit command unit take effect set up

Note: Positioning is close to the signal amplitudeH05-22The setting unit of is the command unit, and the size of the command unit depends on the set electronic gear ratio.

The absolute value of the position deviation is less than the completion approach signal amplitudeH05-22When the set value, /nearsignal output.

complete close to the signal amplitudeH05-22The setting value of is usually greater than the positioning completion rangeH05-21set value.

8.3.8Position command prohibition function

In position control mode, the signal (/INHIBIT) to control the input of position command, this function is called position command prohibition function. When

this function is valid, the position command input is zero, and the servo drive enters the servo lock state.

input signal name

8 coding name function name describe state Remark

It was originally a pulse prohibition function. is rising

Valid - position command prohibited level is prohibited for position commands, including internal
Fun IN.13 /INHIBIT Position command prohibited distribute
Invalid - location command allowed and external position commands. corresponding

The logic level of the port is set to0or1.

Function Description

/INHIBITThe input terminal corresponding to the signal is determined by theH03Group function codes are assigned. when no right/INHIBITWhen the signal distribution input terminal, /INHIBITThe signal is

always in an invalid state, that is, the position command input is allowed; when paired with /INHIBITWhen the signal is allocated to the input terminal, whether the position command prohibition function is

valid is controlled by /INHIBITThe effective mode and the level of the corresponding terminal are determined.

8.3.9Handwheel function

The handwheel function is a source of position commands in the position mode, which is special and can only be used in the position mode, and it is also valid when the mode is

switched. The following settings are required to use the handwheel function in position mode:

serial number Operation content

examineDI9,DI10terminals, make sure that bothDIThe terminal assignment status is0;Right nowDI9 and
1
DI10By default, it is the input signal of the handwheel quadrature pulse;

Simultaneous assignment of basic input terminal functionsHX_EN(Fun IN.23) That is, the handwheel enable
2
signal arrivesDIon the terminal;

3 if required byDITerminal selection can set the ratio function terminalHX1,HX2.

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IS550Series Servo Driver User Manual No.8Chapter Common Function Code Setting of Servo Drive

After selecting the handwheel function, you canHX_ENThe function selection terminal is used to switch between position command and handwheel command. that isHX_ENWhen it

is valid, the servo position command is the handwheel pulse, and when it is invalid, see the table for the definition of the override terminal.

coding name function name describe state Remark

Fun IN.21 HX1 Handwheel override signal1

HX1=1,HX2=0for10X distribute Using software to query and judge
HX1=0,HX2=1for100X
HX1=1,HX2=1for10X
Fun IN.22 HX2 Handwheel override signal2 distribute Using software to query and judge
HX1=0,HX2=0for10X
OFF-according toH05-00Function code

selection for position control;

Fun IN.23 HX_EN Handwheel enable signal distribute
ON-Receive handwheel in position mode

Pulse signal for position control;

Note: The handwheel function and the interrupt fixed-length function cannot be used at the same time.DI9,DI10Cannot be assigned as normalDIFunction.

8.3.10Multi-segment position function setting

1) Functional description

Multi-segment position function in position control mode (H05-00Set as2select this function) means that the internal storage of the drive unit16The control parameters related to

the group position, the most set in the parameters16Position fixed-length segments with different speeds, different running distances and different waiting times between

segments. It can conveniently realize the function of automatic multi-segment fixed-length operation or select the segment number through the input signal of the external

terminal, and run according to the setting of the selected segment. Because it is controlled by the internal parameters of the servo drive, there is no need to install a pulse

generator externally. The flexible use of this feature enablesnoPoint trajectory planning.

Except in multi-segment operation modeDIExcept switching modes, when other modes (FunIN.28) PosInSenAs an enable signal, it does not
run when the signal is invalid, runs when it is valid, and immediately decelerates to0. when running thenoThe enable becomes inactive
during the segment, and then becomes active again, according to theH11-02(Margin processing method) selection from then+1part(
H1102=0) continue to run the unfinished section or restart from the1part(H11-02=1)start operation.

DIswitching mode, is achieved through an externalDIway to trigger and change the segments that need to run.DItrigger signalPosInSen (Fun
IN.28) changes once from invalid to valid, and runs for a period of time. The specific running segment number is passedCMD1(Fun IN.6) CMD2(
8
Fun IN.7),CMD3(Fun IN.8),CMD4(Fun IN.9) to select,CMD1-4correspond4bit binarybit0-3, see this section for specific operationsDIMode requires
external terminal signal.

Single sequential operation, this mode means that when the multi-segment enable signal is enabled, only the set number of segments will be run once. If you

need to run multiple sides, you can enable the multi-segment enable signal again after one runPosInSen (FunIN.28). This pattern can achieveNPoint trajectory

planning, and at the same time, all information of the segment can be changed in real time through communication. passH11-02The choice of margin

processing method can be conveniently handled in case of emergency.1section starts, or continues to run the following sections.

Cycle mode operation, this mode is basically similar to a single operation, but it will continue to run from the first1segment starts running. Margins are

handled in the same way as in one-shot mode.

The continuous sequential operation mode is similar to the single operation mode, except that there is no waiting time between segments, and the operation efficiency is higher than that of the single

operation mode. In this mode, the next segment will be connected to the next segment at the maximum speed of the current segment, and the total displacement of the entire continuous sequential

operation will be consistent with the setting.

Note:DImode, the selection signal of the segment number should not follow the trigger signal.PosInSenWhen used as an enable signal, it should be valid when

the logic of high and low levels is valid.PosInSenasDIThe trigger signal of the mode should change from invalid to valid edge to be valid.

2) Description of main parameters

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 No.8Chapter Common Function Code Setting of Servo Drive IS550Series Servo Driver User Manual

parameter note
0: Single sequence mode, from the first1segment starts runningH1101The number of segments set, the switching between segments

uses the waiting time set for each segment.

1: cycle mode, from the first1Segment starts to run repeatedlyH1101The number of segments set, the switching between segments

uses the waiting time set for each segment.

2:DIswitch mode, via an externalDITo trigger the selected segment, the constant speed, acceleration and deceleration time, and displacement of each

operating mode segment are determined by the parameters of the selected segment. See the next section for signal assignments (DIMode required external terminal

signal)

3: Continuous sequential operation mode, there is no waiting between segments, and the initial speed of the subsequent segment is determined by the

running speed of the previous segment.H11.05=0,The continuous mode only runs once, for other values, the first1from the first1start of paragraph,

paragraph2from the firstH11.05Start the cycle. ifH11.05greater than the number of actual running segmentsH11.02, it will only run once and then stop, and

will not repeat the cycle.

Selection of running segments Set the number of effective segments, the segment after this number will not be executed, in the mode2This value is invalid when

0: Continue to run the remaining segments of the setup

Margin processing method
1: from the1Segment starts running again

0: The unit of waiting time isms

Waiting time unit selection
1: The waiting time unit isthe s

Uniform running speed The rate of constant speed operation in the case of trapezoidal instruction

Running displacement
single segment parameter
The running length is fixed, and the plus or minus sign indicates the running direction. unit of instruction

number settings
Corresponding to the rise or fall time of the trapezoidal instruction, it affects the acceleration. unitms
Acceleration and deceleration time

(16part)
After the end of a single segment (the instruction is sent, but the position is not necessarily reached), how long to wait before running the next segment
waiting time
can be set0---10000sThe waiting time range, trigger modeDIThis parameter is invalid when

3)DIMode required external terminal signal

coding name describe state Remark

8
function name

Multi-stage operation instruction OFF-does not trigger

Fun IN.28 PosInSen distribute
trigger signal ON-trigger

Multi-stage operation instruction

Fun IN.6 CMD1 16Segment command selection distribute
to switchCMD1
FunIN.Cmd1~FunIN.Cmd4correspond 4bit
Multi-stage operation instruction
binary codebit3bit2bit1bit0(in0000Indicates
Fun IN.7 CMD2 16Segment command selection distribute
to switchCMD2 the first1part,0001Indicates the first 2

Multi-stage operation instruction

segment, and so on),Cmd1correspond bit0,
Fun IN.8 CMD3 16Segment command selection distribute
Cmd2correspondbit1 Cmd3correspond bit2
to switchCMD3
Cmd4correspondbit3
Multi-stage operation instruction
Fun IN.9 CMD4 16Segment command selection distribute
to switchCMD4

4) Example diagram of running in different modes

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IS550Series Servo Driver User Manual No.8Chapter Common Function Code Setting of Servo Drive

Pattern diagram Remark

V Vmax
single run mode
in:
T Vmax——Indicates the maximum speed of the motor

T——No.1waiting time
S0
T1——No.1Segment acceleration and deceleration time

S1 S0, S1——No.1paragraph2Segment displacement

T1 t

V
Vmax

T
cycle mode
S0 Note as above

S1
T1 t

V
Vmax
DIswitch mode
in:
PosInSen
Vmax——Indicates the maximum speed of the motor

PosInSen——The trigger terminal is valid

S,S`——Cmd1-4selected displacement T1——Select segment

S S`
T1 t acceleration and deceleration time

V
Vmax
8
continuous mode

in:
Vmax——Indicates the maximum speed of the motor

T1——No.1Segment acceleration and deceleration time

S0, S1, S2——No.1,2,3Segment displacement

S2
S1 t
S0 T1

5) related function code

the smallest factory setting take effect relevant

function code name Predetermined area category
unit Certainly time model

0-single
1-cycle immediately shutdown
H11 00 Multi-segment position operation mode 1 1 P
2-DIto switch take effect set up

3-sequential

immediately shutdown
H11 01 Effective segment selection 1~16 1 1 P
take effect set up

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 No.8Chapter Common Function Code Setting of Servo Drive IS550Series Servo Driver User Manual

the smallest factory setting take effect relevant

function code name Predetermined area category
unit Certainly time model

DIInvalid switching mode

immediately run
H11 02 Margin processing method 0: Continue to run the unfinished segment 1 0 P
take effect set up
1: from the1segment restart

0-millisecond(ms) immediately shutdown

H11 03 Waiting time unit selection 1 0 P
1-Second(s) take effect set up

0-Relative displacement instruction immediately shutdown

H11 04 Selection of displacement instruction type 1 0 P
1-Absolute displacement command take effect set up

0-no loop
Start of the second round of continuous mode
1-from the1segment start loop immediately shutdown
H11 05 Section number (only inH11.00=3continuous 1 0 P
2-from the2segment start loop take effect set up
mode works)
N-from theNsegment start loop

- 1073741824~ 1instruction immediately run

H11 12 No.1Segment displacement 10000 P
1073741824 unit take effect set up

immediately run
H11 14 No.1Segment running speed 0~9000 1 rpm 200 P
take effect set up

immediately run
H11 15 No.1Segment acceleration and deceleration time 0~1000 1ms 100 P
take effect set up

immediately run
H11 16 No.1waiting time 0~10000 1ms(s) 50 P
take effect set up

other15Segment Function Code File Appendix1

8.3.11Interrupt fixed length setting

8
1) Functional description

Interrupt fixed length refers to when the motor is running or stopped in the position mode, when the enable (H05-23)case, triggerDI9When valid, the motor

will continue to run for the set length in the previous speed direction. In the process of interrupting the fixed-length execution, it is in the locked state, that is, it

does not respond to all other position commands (including the interrupt trigger again), when the interrupt fixed-length is completed, the setdo The terminal

outputs interrupt fixed-length completion signal (FunOUT.15)valid, at this time, the host computer needs to set theDIInterrupt status release signal (Fun IN.29)

After it is set to valid (edge valid), the interrupt lock state is released, and then it begins to respond to other position commands.

If you do not need to interrupt the lock state during fixed-length execution, you can useH05-29place0, the fixed-length lock release signal enable is invalid. Then the position command can be responded

after the interrupt fixed length is completed.

speed

interrupt trigger

Fixed lengthS

time

2) related function code

The trigger condition is, function codeH05.23It needs to be valid, enable the interrupt fixed-length function, and interrupt the fixed-length trigger signal (DI9) is valid, the interrupt

fixed length can be started. The speed of interrupt fixed length can be determined byH05.-26set up. . Note that ifH05.26=0, indicating that the interrupted fixed-length speed is the

speed before the interrupted operation instead of the speed0. The set displacement and speed are before the electronic gear, in the electronic gear

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IS550Series Servo Driver User Manual No.8Chapter Common Function Code Setting of Servo Drive

Changes should be adjusted accordingly to avoid misuse.

the smallest factory take effect relevant

function code name Predetermined area category
unit set up time model

0-prohibit Power-on shutdown

H05 twenty three interrupt fixed length enable 1 0 P
1-Enable take effect set up

1order sheet immediately shutdown

H05 twenty four Interrupt fixed length displacement 0~1073741824 10000 P
bit take effect set up

immediately shutdown
H05 26 Fixed length running speed 10~9000 1 rpm 200rpm P
take effect set up

immediately shutdown
H05 27 Fixed length acceleration and deceleration time 0~1000 1ms 10ms P
take effect set up

0: disable immediately run

H05 29 Fixed-length lock release signal enable 1 1 P
1:Enable take effect set up

Notice:H05.26=0, it means that the fixed-length running speed is consistent with the speed before the interruption.

3)DIDOTerminal settings

Interrupt fixed-length trigger useDI9trigger,H03.-18must be set to0,H03-.19It is set to be valid on rising edge or falling edge.

Will a certainDIdefined asFun IN.29,ShouldDIthat isXintFree, interrupt status release signal. ShouldDIPlease set the logic level as rising or
falling edge valid.

Will a certaindodefined asFun OUT.15,Shoulddothat isXintcoin, interrupt the fixed-length completion signal. ShoulddoLogic level settings are
active low or high.

Notice

The interrupt fixed-length function and the handwheel function cannot be used at the same time. When using the interrupt functionDI9Cannot be assigned as normalDIFunction!

8
8.3.12Return-to-origin function setting

1) Functional description

The homing function in the position mode is the origin positioning function of the drive equipment actively completed by the servo driver; the homing process is as shown in the figure below, and the

homing is divided into two stages:

a) to enable the servo driver to return to the origin, and the motor searches at the specified high speedH05.32According to the method of returning to zeroH05.31Find the deceleration point in the direction

of the deceleration point target, and after encountering the rising edge of the deceleration point, the set deceleration time willH05.34Slow down to zero.

b) The motor searches for speed at the specified low speedH05.33, search for the position of the origin switch in the opposite direction to the high-speed zero return, stop

immediately when encountering the falling edge of the origin switch, and set the current absolute positionH0B.07forH05.36, return to zero successfullyIOoutput as1, return to zero

and end, if the time to search for the origin is limitedH05.35If the origin position is not found within, a zero timeout error will be returned (ER.601).

Schematic diagram of returning to zero:

high speed
speed

Under the origin

falling edge
slow down

Point
Lift along

time

low speed

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 No.8Chapter Common Function Code Setting of Servo Drive IS550Series Servo Driver User Manual

Remarks: Electrical zero return refers to returning from the current coordinate position toH05.36Set the coordinate position, walk a fixed distance (H05.36origin coordinates minus

the distance of the current coordinates);

Schematic diagram of electrical return to zero:

high speed

speed time

The difference between electrical zero return and origin return:

a) Electrical zero return does not require an origin switch orZsignal to determine the physical location of the origin.

b) The moving distance of electrical return to zero is determined asH05.36The distance from the origin coordinates minus the current coordinates, and the distance from the origin back to zero isZ Distance

from the rising edge of the signal or deceleration point.

c) The coordinate position after the electrical return to zero isH05.36, and the coordinate position after the origin returns to zero is to resetH05.36The value of is assigned to the current coordinates.

d) Electrical zero return is generally used after the coordinate position is determined after the origin return is used.

2)IOinput terminal

coding name function name describe state Remark

The logic level of this function can only be selected

Fun IN.31 OFF-Did not touch the origin switch Low level or high level, not selectable
OrgNear Origin switch signal unassigned
P-CON ON-touch the origin switch

8
Rising edge, falling edge, upper and lower edge touch

Send, otherwise it may be inaccurate to return to zero

Fun IN.32 OrgChuFa OFF-Disable return-to-origin function This function needs to be in position control mode
Return to zero trigger signal unassigned
P-OT OrgEn ON-Start the return-to-origin function It only works when the server is enabled

3)IOoutput terminal

coding name function name describe state

OFF-Indicates that the homing function has not been enabled after power-on,

Fun OUT.16 OrgDOORGOK Origin return to zero output Or after the homing function is enabled, the zero return is unsuccessful; unassigned

ON-Indicates that after enabling the return-to-origin function, return to zeroOK;

OFF-Indicates that the electrical homing function has not been enabled after power-on

can, or after the electrical homing function is enabled, the electrical homing
E_
Fun OUT.17 Electrical zero return output zero unsuccessful; unassigned
Org DOELECTOK
ON-Indicates that after the electrical homing function is enabled, the electrical

back to zeroOK;

4) related function code

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IS550Series Servo Driver User Manual No.8Chapter Common Function Code Setting of Servo Drive

the smallest factory take effect relevant

function code name Predetermined area category
unit set up time model

0-Turn off the return-to-origin function;

1-passDIenterOrgChuFasignal to enable the

homing function;
2-passDIenterOrgChuFasignal to enable the electrical
return to origin immediately run
H05 30 homing function; 1 0 P
enable control take effect set up
3-Start homing immediately after power on

4-Return to origin immediately;

5-Start electrical homing command

6-Start with the current position as the origin

0-The origin of the deceleration point of positive return to zero is the origin switch

1-The origin of the deceleration point of reverse zero return is the origin switch

2-The origin of the forward zero return deceleration point is the motorZSignal 3-The origin of

return to origin the reverse zero return deceleration point is the motorZSignal 4-The deceleration point of immediately shutdown
H05 31 1 0 P
model forward zero return is the origin switch, and the origin is the electric take effect set up

machineZSignal

5-The deceleration point of reverse zero return is the origin switch, and the origin is the electric

machineZSignal

Minimum order factory setting take effect relevant

function code name Predetermined area category
bit Certainly time model

High-speed search origin point immediately shutdown

H05 32 0-3000 1 rpm 100rpm P
Speed of switching signals take effect set up

Low speed search origin ON immediately shutdown

H05 33 0-1000 1 rpm 10rpm P
off speed take effect set up

8
When restricting the search origin immediately shutdown
H05 34 0-1000 ms 1000 P
Acceleration and deceleration time take effect set up

limited to find the origin immediately shutdown

H05 35 0-65535 ms 10000 P
time take effect set up

1instruction immediately shutdown

H05 36 Mechanical origin offset - 1073741824~1073741824 0 P
unit take effect set up

0-H05.36is the coordinates after homing

When encountering the travel limit, do not find the origin in reverse

1-H05.36is the relative value after return-to-origin

The moving distance will not reverse when encountering the travel limit

Find the origin immediately run

H05 40 Return to origin option 1 0 P
2-H05.36is the coordinates after homing take effect set up

value, find the origin reversely when encountering the travel limit

3-H05.36is the relative value after return-to-origin

Moving distance, reverse when encountering travel limit

Find the origin

Remark:

1, In the process of high-speed change, the actual speed of the motor =H05.32*The numerator of the current electronic gear/the denominator of the current electronic gear, the process of low-speed zero

change, the actual speed of the motor =H05.33*Current electronic gear numerator/current electronic gear denominator.

2,H05.40The function code is only inV102.80This function is only available after the version. It is used to choose whether to go a certain distance after returning to the origin. Select

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 No.8Chapter Common Function Code Setting of Servo Drive IS550Series Servo Driver User Manual

H05.36The coordinates of are absolute or relative.

8.3.13External position fully closed loop function

1) Overview

The position closed loop formed by the position feedback of the motor encoder and the position command received by the drive is called a semi-closed loop. Since the motor

encoder is not directly connected to the processed material, if the material slips during processing or there is a gap between the machine connected to the motor shaft, the

processed material will have a large size deviation. Using the position feedback of the external encoder and the position command received by the drive to form a fully closed-loop

control of the position closed loop can effectively suppress the problem of inaccurate dimensions in the semi-closed loop. In the position full closed loop control structure, the

current loop and the speed loop constitute the internal control closed loop of the servo drive. The external position encoder, the input position command, and the internal speed

loop constitute an external position closed-loop system whose position feedback is input from the external encoder, referred to as the external position full-closed-loop system.

speed feedforward

×1
×2 x Kp x x
Pulse command deviation
electronic gear1 K1 *K2 speed ring motor mechanical

counter
×4
Note: electronic gear position list

bit and motor encoder pair

Motor code
answer,1mmcorrespondnopulse
speed calculation
Encoder

Encoder frequency division output

absolute, sine and cosine,

Incremental pulse output Encoder conversion serial external encoder pitch
frequency division
circuit /ruler

Different from the internal position closed loop, when using the full closed loop function, the working mode of the external position closed loop is required (function codeH0545), specifically the following5

kind:

(0) Internal position closed loop, corresponding function codeH0545set as0, works by default. The most common control method using motor
encoder position closed-loop is this kind.

8 (1) Positive logic of external position closed-loop position feedback, corresponding to function codeH0545set as1. The external encoder position closed-loop control method is

adopted, and the direction of the external position feedback is the same as that of the motor encoder speed feedback.

(2) Negative logic of external position closed-loop position feedback, corresponding to function codeH0545set as2. The external encoder position closed-loop control method is

adopted, and the direction of the external position feedback is opposite to that of the motor encoder speed feedback.

(3) Positive logic of external position closed-loop position feedback, corresponding to function codeH0545set as3, When the electronic gear is switched, the internal and external positions are closed-loop

switched. whenDIWhen the input selection external position closed-loop is invalid, the motor encoder position closed-loop control method is adopted. whenDIWhen the input selection external position

closed-loop is valid, the external position encoder position closed-loop control mode is adopted, and the direction of the external position feedback is the same as that of the motor encoder speed feedback.

(4) Negative logic of external position closed-loop position feedback, corresponding to function codeH0545set as4, When the electronic gear is switched, the internal and external positions are closed-loop

switched. whenDIWhen the input selection external position closed-loop is valid, the motor encoder position closed-loop control mode is adopted, and the direction of the external position feedback is

opposite to the direction of the motor encoder speed feedback.

Notice:H0545for3or4, the second electronic gear ratio needs to be set at this time, that is, in this case, useDI(DIFunction twenty four,
GEAR_SEL) selected to use the second electronic gear ratio, and also selected external position feedback.

function codeH0547Used to set the line number of external position encoder, function codeH0544,H0546They are used to set the numerator and denominator of the closed-loop

gain coefficient respectively.

H0528(External position deviation accumulation value clearing method), the default value is0, that is, reset to zero every lap.

H0541(external position deviation report fault value), default value9, no overrun protection.

H0543(external position deviation accumulation threshold percentage), default value20%.

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IS550Series Servo Driver User Manual No.8Chapter Common Function Code Setting of Servo Drive

2) closed loop gain adjustment

3) Firstly adjust the speed loop ratio under the open loop conditionH08.00,speed integralH08.01,Position ratioH08.02,closed loop
Adjust the numerator of the closed-loop gain coefficient in the stateH05.44and closed-loop gain coefficient denominatorH05.46, the position gain in the closed-loop state is calculated as

h05.44 h00.31•4
Full closed loop position gain =h08.02• •
h05.46 h05.48
4) Full-closed-loop electronic gear calculation

measuring wheelD.diameter100mm

D-measuring wheel
Pressure wheel
Pressure wheel
No.2coding
Device lines
2:1 2048

C-Driven wheel diameter

150mm

A-driving wheel

motor
B-driven wheel

mechanical transmission ratiokfor1:8

8
k=Driving wheel: driven wheel =1:8

Driven wheel diameter =150mm

Measuring wheel diameter =100mm

Measuring wheel: encoder axis =2:1

No.2Encoder lines =2048, converted to the measuring axle as4096The number of lines, that is, the measuring wheel rotates once, and the number of pulses per revolution of the

measuring wheel =4*4096=16384.

Motor encoder lines =2500

Number of pulses per revolution of the motor =4*2500=10000

H05.48Calculation of the number of external encoder pulses corresponding to one revolution of the motor

Driven wheel diameter

h0548=kx xMeasure the number of pulses per revolution

Measuring wheel diameter

h0548= 1 x150×16384=3072
8100
Assuming that the inner loop and full-closed loop run, each position command50pulse corresponding to1mm,No.1The electronic gear ratio is for the inner ring operation, the2The electronic gear ratio is

fully closed-loop operation. but:

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 No.8Chapter Common Function Code Setting of Servo Drive IS550Series Servo Driver User Manual

Displacement of the load side of the motor per revolution =k*PI*Driven wheel diameter =0.125*3.14*150=58.875mm

Number of position command pulses per motor revolution = load side displacement per motor revolution*50=58.875*50= 2943.75

No.1Electronic gear calculation

h05.07
xThe number of position command pulses per motor revolution = the number of pulses per motor revolution
h05.09

h05.07 Motor pulses per revolution 10000 1600

= = =
h05.09Number of position command pulses per motor revolution 2943.75 471

full closed loop2Electronic gear calculation

h05.11
xNumber of position command pulses per revolution of the motor =H05.48The number of external encoder pulses corresponding to one revolution of the motor
h05.13

h05.11 3072 12288

= The number of external encoder pulses corresponding to one revolution of the motor
= =
h05.13 Number of position command pulses per motor revolution 2943.75 11775

5) Full closed-loop run-away protection

When the external encoder feedback fails to feed back the position information to the servo in time due to the encoder line falling off or failure, etc., the servo will suddenly run at high speed, which is very

dangerous in practical applications. Therefore, it is necessary to protect against excessive internal and external deviations.

The principle is as follows: when the internal encoder rotates1Query whether the external encoder has also completed the pulse number corresponding to the external encoder H05.48, this deviation is

called the external single-turn deviation value, if it is greater thanH05.48*Deviation Detection Threshold Percentage (H05.43), then the deviation value will be accumulated to the accumulative internal and

external deviation counter. Repeat the above process, if the value of the counter is greater than the accumulative alarm value of internal and external deviation H05.41, then reporter.b02The accumulative

value of internal and external deviation is too large.

The method of clearing the accumulative counter of internal and external deviation is determined by the function codeH05.28choose.H05.28for0, if and only if,

the outer single-turn deviation value is less thanH05.48*H05.43, the counter is cleared to zero. whenH05.28for1, if and only if,FUNOUT.5The counter is cleared

when the completion signal is output.

8 Recommended usage: useH0B.15to observe the outer lap deviation value. useH0B.28to observe the external deviation accumulation counter. Choose a threshold percentage (H05.43) is the most

important, if it is small, it will cause false alarms, if it is too large, it will not have a protective effect, it needs to be determined according to the actual situation.

6) Fully closed-loop debugging steps

step1: Set the control parameters of the full-closed-loop external encoder. Set the line number of external encoderH05.47(
4096line, set to 4096;2500line is set to2500);

step2: Determine the position closed-loop modeH0545, the setting method is as follows:

In the absence ofServo-ONin the case of,H05.45=0In the state of the inner ring, turn the motor in the actual feeding direction, ifH0B.17is increased, then

withoutServo-ONIn the case ofH05.45=1In closed loop state, manually turn the measuring wheel in the actual feed direction, ifH0B.17The direction of change is

also increasing, indicating thatH05.45set correctly, otherwiseH0B.17The opposite direction of change is decreasing, thenH05.45The setting is changed to2. If

the equipment needs closed-loop switching between internal and external positions during operation, according to the above situation, respectively set the

H05.45=1orH05.45=2Correspondingly modified to3or4.

Note: If the position closed-loop modeH0545An error will cause positive position feedback when the equipment is running with material, and then the motor will rotate rapidly,

resulting in mechanical damage or casualties.

step3: Commissioning of the overall equipment with materials. After the equipment is loaded with material, it runs at the lowest speed to ensure the closed-loop positionH05.45set correctly, then adjustH08

The group speed and position gain ensure that the parameter setting can meet the equipment responsiveness requirements (the gain should not be too large, subject to the poor operation of the

equipment). Set the signal width to complete by adjusting theH05.21The positioning error of the servo can also be adjusted.

7) Related function parameters

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IS550Series Servo Driver User Manual No.8Chapter Common Function Code Setting of Servo Drive

the smallest factory relevant

function code name Predetermined area effective time category
unit set up model

Excessive internal and external position deviation alarm run

H05 41 0-2^30 1p 0 Effective immediately P
warning threshold set up

Detection percentage of internal and external position deviation run

H05 43 0-100 1% 20 Effective immediately P
Compare% set up

run
H05 44 closed loop gain coefficient numerator 1-65535 1 1 Effective immediately P
set up

0, indicating the internal position closed loop;

1, External position closed loop position reverse

feed positive logic;

2, External position closed loop position reverse

connect again shutdown
H05 45 Position closed-loop mode selection feed negative logic; 1 0 P
after power set up
3, when the electronic gear is switched

Closed-loop switching of internal and external positions;

4, when the electronic gear is switched

Closed-loop switching between internal and external positions.

run
H05 46 Closed-loop gain coefficient denominator 1-65535 1 1 Effective immediately P
set up

connect again shutdown

H05 47 External encoder lines 1-65535 1 2500 P
after power set up

The motor rotates one circle corresponding to the external shutdown

H05 48 1-2^30 1 2730 Effective immediately P
Number of encoder pulses set up

Note:

- External encoders currently only support resolutions lower than65535line photoelectric encoder. Internal and external closed-loop switching can be done byFun

- IN.24(Electronic gear selection) implementation, see7.3.4Electronic gear function setting.

8
8.4Torque mode related settings

8.4.1Torque command acquisition method

In torque control mode, there are two sources of torque speed command: sourceAand sourceB. Torque

control mode has the following four ways to obtain torque command:

1, select sourceAas a torque command; 2, select

sourceBas a torque command; 3, select sourceA+

sourceBas a torque command;

4, through externalIOToggle the way to select the sourceAand sourceB. 5,

communication settings

The way to obtain these five sources is through the function codeH07-02set up.

the smallest factory take effect relevant

function code name Predetermined area category
unit set up time model

0-main torque commandAsource

1-Assist torque commandBsource

immediately shutdown
H07 02 Torque command selection 2-A+Bsource 1 0 T
take effect set up
3-A/Bto switch

4-communication settings

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 No.8Chapter Common Function Code Setting of Servo Drive IS550Series Servo Driver User Manual

When the torque command selects the function codeH07-02choose3, it is necessary to separate theDIThe terminal must be assigned a function definition to work normally, and the

function code isFun IN.4(Run command switching), through this input terminal can determine the currentAcommand input orBcommand input.

coding name function name describe state Remark

invalid - the current running command isA

Fun IN.4 /CMD-SEL Run instruction switch distribute
valid - the current running command isB

In addition, the sourceAand sourceBBoth have the following generation methods at the same time:

1, Digital setting, also called keyboard setting, refers to using a function codeH07-03To store a set torque value, which is a percentage of the
rated torque, that is, it can only be given within the rated torque range when given by numbers;

2. The source of the analog command refers to a torque command generation method that converts the externally input analog voltage signal into a torque command signal for

controlling the motor. This method can arbitrarily specify the corresponding relationship between the analog quantity and the torque command.

Related function parameters:

Minimum order factory setting take effect relevant

function code name Predetermined area category
bit Certainly time model

0-Number given (H07-03)

1-AI1 immediately shutdown
H07 00 main torque commandAsource 1 0 T
2-AI2 take effect set up

3-AI3
0-Number given (H07-03)
1-AI1 immediately shutdown
H07 01 Assist torque commandBsource 1 1 T
2-AI2 take effect set up

3-AI3
immediately run
H07 03 0.1% 0.0% T
8
Torque command keyboard setting value - 100.0%~100.0%
take effect set up

The direction switching of the torque command can be usedDIcontrol, the function code isFun IN.25. It is used when the direction needs to be switched.

coding name function name describe state Remark

invalid - positive direction

Fun IN.25 TOQDirSel Torque command direction setting distribute The logic of the corresponding port needs to be set to0or1
valid - reverse direction

It needs to be set when the analog quantity is set as the torque command, in order toAI1As an example to illustrate:

step Operation content indicate

Set command source as auxiliary torque commandB

1 source: Set the command source under torque control.

H07-02 = 1;
set upAI1Corresponding relationship:

H03-50 = 10V
2 H03-51 = 80% Corresponding to +-10Vinput correspondence.

H03-52 = -10V
H03-53 = -80%
set up100%Corresponding torque value:
3 specify100%Corresponding torque nominal
H03-81 = 3.00times rated torque

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IS550Series Servo Driver User Manual No.8Chapter Common Function Code Setting of Servo Drive

As shown below, throughH03-50~H03-53A straight line is set, the slope is determinedk. for any givenu, the instruction
T_ref = kxu.

torque

+ 100%Corresponding value (H03.81)

H03.51 80%

T_ref
H03.52(-10V)
u H03.50(10V) Voltage

H03.53 -80%

accessibleH0b-02Check the given torque command (relative to the percentage of the motor's maximum torque).

8.4.2Speed limitation during torque control

1, function description

In the torque control mode, the speed of the servo motor needs to be limited in order to protect the machine. During torque control, the servo motor is controlled by the output

torque according to the command, but the speed is not controlled. Therefore, if an excessively large torque command is set, which is higher than the load torque on the

mechanical side, the motor will always accelerate, and overspeed may occur . In this case, the rotational speed needs to be limited.

Control the maximum speed limit value of the motor according to the setting, and do not exceed the speed limit value during torque control.

Note: Outside the limited speed range, the speed returns to the limited speed range by negatively clearing the torque proportional to the
speed difference of the limited speed. Therefore, the actual motor speed limit value will fluctuate due to different load conditions. The speed

8
limit value can be given by internal reference or analog sampling reference. (similar to the speed command in speed control).

no speed limit with speed limit

2, The output signal in the motor speed limit

After the motor speed is limited, the output signal is as follows

coding name function name describe state Remark

Acknowledgment signal for speed limitation during torque control

Fun OUT.8 /V-LT+- speed limit signal Active - motor speed limited distribute

Inactive - motor speed is not limited

V-LTSignals need to be assigned.

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 No.8Chapter Common Function Code Setting of Servo Drive IS550Series Servo Driver User Manual

3, the choice of speed limit method

The speed limit mode is set by the following function codes.

the smallest factory setting take effect relevant

function code name Predetermined area category
unit Certainly time model

0-Internal speed limit (twist

speed limit in torque control) immediately shutdown
H07 17 Speed limit source selection 1 0 T
1-WillV-LMTused as external take effect set up

speed limit input

1-AI1
immediately shutdown
H07 18 V-LMTchoose 2-AI2 1 3 T
take effect set up
3-AI3
immediately shutdown
H07 19 Internal speed limit value during torque control 0rpm-9000rpm 1 rpm 3000rpm T
take effect set up

The limit source is divided into internal speed limit source and external speed limit source. When the internal speed limit source is selected, it can be set directlyH07-19That is, when

selecting an external speed limit source, first passH07-18Specify the analog channel, and then set the analog corresponding relationship as required. But when the external speed

limit source is selected, the external limit value must be smaller than the internal speed limit value source, in order to prevent the danger caused by improper setting of the external

speed limit source

8.4.3Torque limit selection function

1) Functional description

For the purpose of protecting mechanical devices, etc., the output torque can be limited, by setting the function codeH07-07, the torque limit selection has the

following four methods:

the smallest factory take effect relevant

function code name Predetermined area category
unit set up time model

8 0-Positive and negative internal torque limit (default)

1-Positive and negative external torque limit (usingP-CL,N-CL

choose) immediately shutdown

H07 07 Torque Limiting Source 1 0 T
2-WillT-LMTUsed as external torque limit input 3-With positive and take effect set up

negative external torque and externalT-LMTThe minimum value is

the torque limit (usingP-CL,N-CLchoose)

2) related signal

digital inputDI: Input forward/reverse external torque limit selection signalP-CL/N-CL

coding name function name describe state Remark

ON-External torque limit is valid

Fun IN.16 /P-CL Forward rotation external torque limitON distribute
OFF-Invalid external torque limit

ON-External torque limit is valid

Fun IN.17 /N-CL Reverse External Torque LimitON distribute
OFF-Invalid external torque limit

digital outputdo: Output torque limit confirmation signalC-LT

coding name function name describe state Remark

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IS550Series Servo Driver User Manual No.8Chapter Common Function Code Setting of Servo Drive

Acknowledgment signal for torque limitation:

Fun OUT.7 /C-LT+- Torque limit signal active - motor torque limited distribute

Inactive - motor torque is not limited

Notice

DI,doFunction needs to be setDI/DORelated function codes are used to set the function and logic distribution. analog inputAI:T_LMTvariable via function codeH07-08to specify,

and then follow the instructions to set the corresponding relationship between the speed and the analog voltage.

3) Related function parameters

the smallest factory setting take effect relevant

function code name Predetermined area category
unit Certainly time model

0-Positive and negative internal torque limit (default)

1-Positive and negative external torque limit (usingP-

CL, N-CLchoose)
torque limit to immediately shutdown
H07 07 2-WillT-LMTUsed as external torque limit input 3-With 1 0 T
source take effect set up
positive and negative external torque and externalT-LMT

The minimum value is the torque limit (usingP-CL,

N-CLchoose)

1-AI1
immediately shutdown
H07 08 T-LMTchoose 2-AI2 1 2 PST
take effect set up
3-AI3
Forward internal 0.0%~800.0% immediately shutdown
H07 09 0.1% 300.0% PST
torque limit (100%Corresponding to one time of rated torque) take effect set up

reverse inside 0.0%~800.0% immediately shutdown

H07 10 0.1% 300.0% PST
torque limit (100%Corresponding to one time of rated torque) take effect set up

H07 11
Forward side outside

torque limit
0.0%~800.0%
(100%Corresponding to one time of rated torque)
0.1% 300.0%
immediately

take effect
shutdown

set up
PST 8
reverse side external 0.0%~800.0% immediately shutdown
H07 12 0.1% 300.0% PST
torque limit (100%Corresponding to one time of rated torque) take effect set up

4) Instructions

whenH07-07 = 1When, the positive and negative external torque limit is to use the externalDIgiven(P-CL,N-CL)trigger, according toH07-11/12The set value

performs torque limitation. When external constraints andT_LMTWhen the combined limit exceeds the internal limit, the internal limit is taken, that is, all the

limit conditions are controlled according to the minimum limit value. Ultimately, torque is limited within the motor's maximum torque range.T_LMT It is

symmetrical, and rotates forward according to |T_LMT|Value limit, according to -| when invertingT_LMT|value limit.

8.5Common basic function settings

This chapter explains the settings related to the basic functions of servo operation.

8.5.1servoONset up

1, signal setting

coding name function name describe state Remark

When valid, enter the servo running enable state Set the signal corresponding to
Fun IN.1 /S-ON Servo enable signal distribute
When invalid, enter the servo running stop state ofDIAssign function code

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 No.8Chapter Common Function Code Setting of Servo Drive IS550Series Servo Driver User Manual

Note:Fun IN.XexpressDIThe function code of the input signal isx.

2, servoONalways active setting

if/S-ONSignals are not assigned to pass externalDIinput, then you can set the function codeH03-00Corresponding data bits, the / S-ONSignals
are assigned an internal always active or inactive state.

the smallest factory relevant

function code name Predetermined area effective time category
unit set up model

0~65535
Bit0-correspondFun IN.1;
Fun INLSignal unassigned state connect again run
H03 00 Bit1-correspondFun IN.2; 1 0 -
(specifyDIfunction is always active setting) after power set up
...
Bit15-correspondFun IN.16

0~65535
Bit0-correspondFun IN.17;
Fun INHSignal unassigned state connect again run
H03 01 Bit1-correspondFun IN.18; 1 0 -
(specifyDIfunction is always active setting) after power set up
...
Bit15-correspondFun IN.32

Notice

- If the servo/S-ONThe signal is set to be always valid, and when the main circuit voltage of the servo driver is powered on, the servo can enter the running enable state.

When the position command/speed command/torque command is input, the servo motor or mechanical system will start to run immediately, and accidents may occur, so

please be careful and take safety measures.

- If will /S-ONThe signal is set to be always valid, and once the servo fails, the fault cannot be reset. Please set the function code H03-00Will/S-ONThe

signal is set to be invalid, and it will be processed after power on again.

8.5.2Switching of the direction of rotation of the motor

8 This basic function is set to match with the upper computer, mainly through the function codeH02-02andH02-03Set direction.

1, Motor rotation direction setting:

the smallest factory relevant

function code name Predetermined area effective time category
unit set up model

0-byCCWDirection is forward direction

Servo motor rotates (AadvancedB) connect again shutdown

H02 02 1 0 PST
direction selection 1-byCWDirection is forward direction after power set up

(reverse mode,AlagB)

2The corresponding relationship between the rotation direction of the Inovance servo motor and the command is as follows:

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IS550Series Servo Driver User Manual No.8Chapter Common Function Code Setting of Servo Drive

command direction
Function code setting Motor rotation direction Encoder feedback output direction
(bipolar)

Input is a positive command

Facing the shaft end, the shaft rotates counterclockwise (CCW) Aphase aheadBMutually90Spend
H02-02 = 0

Enter a negative command

Facing the shaft end, the shaft rotates clockwise (CW) Bphase aheadAMutually90Spend

Input is a positive command

Facing the shaft end, the shaft rotates clockwise (CW) Bphase aheadAMutually90Spend

H02-02 = 1

Enter a negative command

Facing the shaft end, the shaft rotates counterclockwise (CCW) Aphase aheadBMutually90Spend

3, Encoder feedback pulse output setting:

8
the smallest factory relevant
function code name Predetermined area effective time category
unit set up model

0-byCCWDirection is forward direction

output pulse feedback (AadvancedB) connect again shutdown

H02 03 1 0 PST
direction selection 1-byCWDirection is forward direction after power set up

(BadvancedA)

This function code is an auxiliary motor rotation direction selection function code, which is used to set the direction of the encoder feedback pulse output for selection. The specific

setting method is as follows:

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 No.8Chapter Common Function Code Setting of Servo Drive IS550Series Servo Driver User Manual

Function code setting Encoder feedback pulse output direction Motor rotation direction

H02-03 = 0

Aphase aheadBMutually90Spend

Facing the shaft end, the shaft rotates counterclockwise (CCW)

H02-03= 1

Bphase aheadAMutually90Spend

H02-03 = 0

Bphase aheadBMutually90Spend

Facing the shaft end, the shaft rotates clockwise (CW)

H02-03= 1

Aphase aheadAMutually90Spend

8.5.3Overtravel setting

The overtravel prevention function of the servo driver refers to the safety function that when the moving part of the machine exceeds the designed safe movement range, the

8 limit switch is activated to force the servo motor to stop.

signal setting

coding name function name describe state Remark

When the mechanical movement exceeds the movable range,

Enter the overtravel prevention function.

Fun IN.14 P-OT Forward drive prohibited distribute
Set the signal corresponding to
Valid - Prohibit forward drive
DIAssign function codes.
Inactive - Allows forward drive
When two signals overtravel at the same time

When the mechanical movement exceeds the movable range,

Overtravel limits also work

Fun IN.15 N-OT Backdrive prohibited

Enter the overtravel prevention function.
distribute
use.
Valid - Prohibit back drive
Inactive - backdrive allowed

Even in the overtravel state, it is still allowed to drive in the opposite direction by input command.

Notice

When the overtravel signal is manually released, the servo motor can still run in the original direction. When the overtravel signal is released, it is necessary to confirm whether it is safe.

8.5.4Setting and protection of braking resistor

By setting the function code correctly, the driver can protect the regenerative discharge resistor. The function code that the user needs to know or set is as follows:

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IS550Series Servo Driver User Manual No.8Chapter Common Function Code Setting of Servo Drive

Down:

the smallest take effect relevant

function code name Predetermined area factory setting category
unit time model

The regenerative drain allowed by the drive

H02 twenty one - 1Ω - - show PST
Minimum discharge resistance

0-reserve

1-Use external regenerative discharge

resistance and natural cooling

immediately shutdown
H02 25 Regenerative bleeder resistor setting 2-Use external regenerative discharge 1 0 PST
take effect set up
resistance and forced air cooling

3-Without regenerative bleeder resistor,

All by capacitive absorption

External regenerative discharge resistor power There are different models immediately shutdown
H02 26 1W~60000W 1W PST
rate capacity different default take effect set up

External regenerative bleeder resistor There are different models immediately shutdown
H02 27 1Ω~1000Ω 1Ω PST
value different default take effect set up

illustrate:

1.read-only function codeH02-21It is the minimum value of the regenerative bleeder resistance that is allowed to be used by the user determined according to the rated current of the regenerative bleeder tube of the driver and the

overvoltage point.

2.The user must truthfully set the function code according to the specific connection of the regenerative bleeder resistorH02-25, if the bleed function is not used, it needs to be set to

3. Improper setting may cause abnormal regenerative energy braking.

3.The user must set the function code truthfully according to the nominal power of the external regenerative bleeder resistor usedH02-26.

For example: the power indicated on the external regenerative discharge resistor casing used by the user is800W, then the function codeH02-26should be set to800.

If the setting of this function code is inconsistent with the facts, the bleeder tube or regenerative bleeder resistor may be burned. 8
The driver has the ability to protect the regenerative bleed resistor according to the power set by the user. If the bleed power exceeds the bleed capacity during operation, the

drive will bleed with the original constant power as usual, but it is easy to cause an overvoltage fault at this time.

The power capacity that meets the working conditions should be calculated according to specific conditions, such as moment of inertia, deceleration time, etc., see the appendix for details. If the power capacity is too small, the discharge

capacity will be insufficient, which will easily cause overvoltage faults.

4.The user must set the function code truthfully according to the resistance value of the external regenerative bleeder resistor usedH02-27, the resistance value of the user's

external resistor cannot be less than the function codeH02-21Users can also check this value through the specification table given in the user manual.

For example: the resistance of the external regenerative discharge resistor used by the user is33Ω, then the function codeH02-27should be set to33.

If the setting of this function code is inconsistent with the facts, the bleeder tube or regenerative bleeder resistor may be burned.

The driver has the function of judging whether the resistance value input by the user is less than the minimum value, if it is less than, it will giveEr.922Warning that the external regenerative bleeder resistor

is too small. After the warning, the user can change the external resistance that meets the requirements, and the warning will be cleared by re-entering. If ignored, the driver will not turn on the discharge

function to avoid burning the hardware, and it is also prone to overvoltage faults at this time.

The resistance value that meets the working conditions should also be calculated according to the specific situation, see the appendix for details. If the external regenerative discharge resistance is less than the minimum value or short-

circuited, the discharge tube may be burned.

8.6GPIO signal setting

The following introduces theDIDOThe configuration of the control mode and other input and output signals that are not directly related to various control modes are described.

IS550Series Servo Drive DigitalDIInput terminal has6channels:DI1,DI2,...,DI6, the input electrical characteristic is the collector

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 No.8Chapter Common Function Code Setting of Servo Drive IS550Series Servo Driver User Manual

pole input; digitaldoThe output terminal has5of whichDO1,DO2,...,DO5It is a bipolar open collector output.

8.6.1Configuration mode of digital signal

1,DISignal distribution method

The user can carry out through the panel (or host computer communication)DIFree configuration.

For example: needDI1configured asFun IN.6(CMD1) signal, theH03-02The value is set to6That's it.

Regarding logical choices:0-Active low;1-active high;2-Rising edge is valid;3-Falling edge is valid;4-Both rising and falling edges are
valid, and theDI1set to active low, theH03-03set to0,otherDITerminal function code setting is similar.

It is worth noting that differentDIassigned to the same function, and if this happens, producesDIParameter setting failure Er.130. If the
interrupt fixed-length function is used, thenDI1The default is external position interrupt signal. In addition, this terminal can be used as a
commonDIFunction.

andDI1The relevant function codes are as follows:

the smallest factory relevant

function code name Predetermined area effective time category
unit set up model

Enter function code:0,1-32 0:

DI1Terminal function no definition connect again run
H03 02 1 6 -
choose 1~32:Fun IN.1~32(refer toDIDO Basic after power set up

function code table)

Input polarity:0-4
0-Indicates active low
DI1Terminal logic 1-Indicates active high connect again run
H03 03 1 0 -
choose 2-Indicates that the rising edge is valid after power set up

3-Indicates that the falling edge is valid

4-Indicates that both rising and falling edges are valid

8 Note: Logic explanation of input and output ports

Low level—switch closed; rising edge—switch closed to open; high level—switch open; falling edge—switch open to closed

When selecting terminal logic, the logic selection should be determined according to the selected function.

for unassignedDIvariable, according to the function codeH03-00 (FunINLSignal unassigned state) and function codeH03-01 (FunINHSignal
unassigned status) for configuration, function codeH03-00andH03-01for hexadecimal,H03-00Convert hexadecimal to binary numbers from low
to high respectivelyFun In. 1~Fun In. 16,0-always invalid,1-always works,H03-01Convert hexadecimal to binary numbers from low to high
respectivelyFun In. 17~Fun In. 32,0-always invalid,1-Always works. These two function codes are running settings, which are valid after power on
again.

The definition of the input terminal signal name is shown in the table:

coding input signal name definition coding input signal name definition

Fun IN.1 /S-ON Servo enable Fun IN.17 /N-CL Reverse External Torque LimitON

Fun IN.2 /ALM-RST Alarm reset signal Fun IN.18 /JOGCMD+ forward jog

Fun IN.3 /P-CON Proportional Action Toggle Fun IN.19 /JOGCMD- negative jog

Fun IN.4 /CMD-SEL Run instruction switch Fun IN.20 /POSSTEP Position step inputDIvariable

Fun IN.5 /DIR-SEL Internal instruction direction selection Fun IN.21 HX1 Handwheel override signal1

Fun IN.6 CMD1 Internal instruction switchingCMD1 Fun IN.22 HX2 Handwheel override signal2

Fun IN.7 CMD2 Internal instruction switchingCMD2 Fun IN.23 HX_EN Handwheel enable signal

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IS550Series Servo Driver User Manual No.8Chapter Common Function Code Setting of Servo Drive

coding input signal name definition coding input signal name definition

Fun IN.8 CMD3 Internal instruction switchingCMD3 Fun IN.24 GEAR_SEL Electronic gear selection

Fun IN.9 CMD4 Internal instruction switchingCMD4 Fun IN.25 TOQDirSel Torque command direction setting

Fun IN.10 M1-SEL mode switchM1-SEL Fun IN.26 SPDDirSel Speed command direction setting

Fun IN.11 M2-SEL mode switchM-SEL Fun IN.27 POSDirSel Position command direction setting

Fun IN.12 /ZCLAMP Zero position fix function enable signal Fun IN.28 PosInSen Internal multi-segment position enable signal

Fun IN.13 /INHIBIT Pulse inhibit Fun IN.29 XintFree Interrupt fixed-length state release signal

Fun IN.14 P-OT Forward drive prohibited Fun IN.30 G-SEL Gain switch
Fun IN.15 N-OT Backdrive prohibited Fun IN.31 OrgNear Origin switch

Fun IN.16 /P-CL Forward rotation external torque limitON Fun IN.32 Org Chufa Origin return enabled

Note:DISee the function code appendix for details of variables;

2,doSignal distribution method

doOutput valid variables areFun Out. 1~Fun Out. 17,common17one, onlydoThe function is assigned as1~17valid.

The user can carry out through the panel (or host computer communication)doFree configuration: For example, toDO1configured as
Fun OUT.1(/ S-RDY) signal, theH04-00The value is set to1That's it.

Regarding logical choices:0-Active low (optocoupler conduction);1-active high (optocoupler off), to put the /S-RDYsignal
is set to active high, theH04-01set to1. Terminal logic level selection:0-Active low;1-Active high.

But it is worth noting that differentD0assigned to the same function, and if this happens, producesdoParameter setting failure
alarm.

The definition of the output terminal signal name is shown in the table below:

8
coding input signal name definition coding input signal name definition

Fun OUT.1 /S-RDY+- servo ready Fun OUT.10 /WARN+- Warning output signal

Fun OUT.2 /TGON+- Motor rotation detection signal Fun OUT.11 /ALM+- Fault output signal

Fun OUT.3 /ZERO+- Zero speed signal Fun OUT.12 ALMO1 output3bit alarm code

Fun OUT.4 /V-CMP+- Speed up Fun OUT.13 ALMO2 output3bit alarm code

Fun OUT.5 /COIN+- location reached Fun OUT.14 ALMO3 output3bit alarm code

Fun OUT.6 /NEAR+- positioning approach signal Fun OUT.15 Xintcoin interrupt fixed-length completion signal

Fun OUT.7 /C-LT+- Torque limit signal Fun OUT.16 Org Ok Origin return to zero output

Fun OUT.8 /V-LT+- speed limit signal Fun OUT.17 Org Ok Electric Electrical zero return output

Fun OUT.9 /BK+- brake output signal

Note:doSee the function code appendix for details of variables;

8.6.2How to configure the analog input

1, Analog input setting

There are three analog inputs,AI1,AI2andAI3, the corresponding relationship between it and the control variable can be set according to the
selection of the function code. For example: specifyAI1The channel is the main running command in the speed mode, and the analog quantity ±
10VCorresponding ±5000rpm, then set the following function codes respectively:H06-00=1;H03-52=10.00V;H03-53=100.0%;H03-50=-10.00V;
H03-51=- 100.0%;H03-80=5000rpm.

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 No.8Chapter Common Function Code Setting of Servo Drive IS550Series Servo Driver User Manual

Speed Variable Correspondence

H0380 Refer to the following function codes

Torque Variable Correspondence How to use fixed analog quantity

H0381
H0519-Speed Feedforward Control Selection
AI1speed variable
H0600-main speed commandAsource
Maximum Correspondence
AI1 H0352,H0353
AI1torque variable H0601-Auxiliary speed commandBsource
Produced according to the corresponding relationship

AI1per unit value H0700-main torque commandAsource

produces the only output
H0701-Auxiliary torque commandBsource
Minimum Correspondence
H0708-T-LMTchoose
H0350,H0351 Zero trim filter time
H0718-V-LMTchoose
H0354 H0356
reserve1

reserve2

Correspondence rule between analog voltage and control variable:

The input range of the analog channel is ±12V, the normal detection range is ±10V, see Technical Specifications.

+ 100%

H03. 51(90%)

H03.52 (-8V)
- 12V-1 0V -8V -4V

4V 8V 10V12V
H03.50 (8V)

H03.53(-90%)
- 100%

The shaded part in the figure indicates that any voltage value can be used to achieve the corresponding full-scale ±100%, other parts can not correspond to the input voltage range

8 and full-scale variable or can not make full use of the voltage accuracy of the analog quantity. The manufacturer recommends that the maximum and minimum voltage ranges

should not be set too small, otherwise the range of analog sampling cannot be effectively used. Currently, the minimum voltage difference (maximum input voltage - minimum

input voltage) allowed to be set is0.5V, less than0.5Vsettings by0.5Vto deal with.

This correspondence is based onAI1For example, it can be set by the following function code:

the smallest factory take effect relevant

function code name Predetermined area category
unit set up time model

immediately shutdown
H03 50 AI1minimum input - 10.00V~10.00V 0.01V - 10.00V
take effect set up

immediately shutdown
H03 51 AI1The minimum value corresponds to the set value - 100.0%~100.0% 0.1% - 100.0%
take effect set up

immediately shutdown
H03 52 AI1input - 10.00V~10.00V 0.01V 10.00V
take effect set up

immediately shutdown
H03 53 AI1The maximum value corresponds to the set value - 100.0%~100.0% 0.1% 100.0%
take effect set up

Precautions:

When setting this group of function codes,AI1Minimum input (H03-50)andAI1Maximum input (H03-52) are associative, that is,AI1Minimum input (H03-50) less thanAI1Maximum

input (H03-52);AI1The minimum value corresponds to the set value (H03-51)andAI1The maximum value corresponds to the set value (H03-53) can be arbitrarily specified according

to the actual situation without limitation. In order to make full use of the operation range, it is recommended to take the maximum point on the absolute value.

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For example the following table:

Function code setting Set result description

H03-50 = 10V
- 12V-10V -8V -4V
H03-51 = 100%
H03-52 = -10V 4V 8V 10V 12V
H03-53 = -100%

- 100%

Bipolar signal input represents a bipolar variable

+ 100%

H03-50 = -10V - 12V-10V -8V -4V

H03-51 = -100%
H03-52 = 10V 4V 8V 10V 12V
H03-53 = 100%

- 100% 8
Bipolar signal input represents inverted bipolar variable

+ 100%

0%

H03-50 = 10V
- 12V-10V -8V -4V
H03-51 = 100%
- 100%
H03-52 = 0V 4V 8V 10V 12V

H03-53 = -100%

Unipolar signal input indicates bipolar signal

then passH03-80,H03-81Sure100%The control variable range corresponding to full scale.

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 No.8Chapter Common Function Code Setting of Servo Drive IS550Series Servo Driver User Manual

take effect relevant

function code name Predetermined area smallest unit factory setting category
time model

Analog100%correspond immediately shutdown

H03 80 0rpm-9000rpm 1 rpm 3000rpm -
speed value take effect set up

Analog100%correspond 1.00Double the amount 1.00Double the amount immediately shutdown

H03 81 1.00times ~8.00times rated torque -
Torque value constant torque constant torque take effect set up

2, Zero fine-tuning function

The analog channel also has a zero-point fine-tuning function. When the analog voltage given by the user is zero voltage, there will generally be a common-ground voltage

difference. At this time, the zero-point fine-tuning function can be used to eliminate this voltage difference. When the zero trimming amount is too large, the corresponding range

of the analog value may be shortened.

+ 100%

biasquantity scope

(-500mV~500mV)

need to be adjusted

biasquantity

12V

8 The adjustment method can be either automatic fine-tuning or manual fine-tuning.

Automatic fine-tuning function codeH0d-10,by setting1~3to adjust the corresponding analog channel, and the corresponding fine-tuning value is stored in

H03-54, H03-61,H03-68middle.

take effect relevant

function code name Predetermined area smallest unit factory setting category
time model

Analog100%correspond immediately shutdown

H0d 10 0rpm-9000rpm 1 rpm 3000rpm -
speed value take effect set up

immediately run
H03 54 AI1Zero offset - 500.0mV~500.0mV 0.1mV 0mV -
take effect set up

immediately run
H03 61 AI2Zero offset - 500.0mV~500.0mV 0.1mV 0mV -
take effect set up

immediately run
H03 68 AI3Zero offset - 500.0mV~500.0mV 0.1mV 0mV -
take effect set up

Manual fine-tuning operation steps are as follows:

step operation method related description

Specify an analog channel (AI1) is the command source in speed

1 set upH06Group speed command setting function code.
mode;

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IS550Series Servo Driver User Manual No.8Chapter Common Function Code Setting of Servo Drive

step operation method related description

Set function codeH03-52,H03-53andH03-50,

2 Set the range of analog corresponding to the rotational speed;
H03-51

3 Enable servo operation, and set the analog command of the host computer to zero;

4 Observe whether the motor is currently rotating;

5 If there is no rotation, no zero point fine-tuning is necessary;

if increasingH03-54In the process of the motor speed command

If it is found that the motor rotates, adjust the
6 increases (the speed increases), it will decrease towardsH03-54The
integer function codeH03-54, until the motor stops rotating.
direction operation of the value. vice versa.

3, Analog filtering time setting:

This filter is a first-order filter, mainly to filter out the high-frequency noise of the analog sampling signal, and the filter time can be set as large as possible under the premise of

satisfying the command bandwidth. According to the user's requirements on the command response characteristics, the filter time constant can be appropriately reduced.

serial number AIxset variable Filter time recommendation

1 speed command 2ms

2 Torque command 1ms

The filter time setting function code of the analog channel is shown in the table below:

take effect relevant

function code name Predetermined area smallest unit factory setting category
time model

immediately shutdown
H03 56 AI1input filter time 0.00ms~655.35ms 0.01ms 2.00ms -
take effect set up

H03 63 AI2input filter time 0.00ms~655.35ms 0.01ms 2.00ms

immediately

take effect
shutdown

set up
- 8
immediately shutdown
H03 70 AI3input filter time 0.00ms~655.35ms 0.01ms 2.00ms -
take effect set up

8.6.3Other output signals

There are two levels of servo drive alarm levels:

Level 1 is failure: the servo driver has a serious alarm and cannot work normally, and needs to be shut down for processing;doThe terminal output signal

is / ALM.

Level 2 is warning: the servo driver sends out a warning state, which will not damage the equipment temporarily, but if it is not handled in time, it may evolve

into a high-level fault output;doThe terminal output signal is /WARN.

1) Servo Fault Output (ALM), the alarm code output (ALM01,ALM02,ALM03)

The following describes the output signal and its reset method when the servo drive fails.

a)Servo fault output signal (/ALM): It is output to thedosignal of the terminal.

When designing the control system, use the fault output of this fault signal to realize the sequence control circuit that cuts off the main circuit power of the

servo driver.

coding name function name describe state Remark

Fun OUT.11 ALM+- Fault output signal Status at the time of fault detectionON distribute

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 No.8Chapter Common Function Code Setting of Servo Drive IS550Series Servo Driver User Manual

b)Fault code output signal (ALMO1,ALMO2,ALMO3)

through the set of signalsON/OFFCombinations can show the type of fault detected by the servo drive. This signal is used in applications where the upper

computer device wants to display fault content but has no fieldbus support.

coding name function name describe state Remark

Fun OUT.12 ALMO1 error code1 error code distribute

These three signals are recommended to be assigned to

Fun OUT.13 ALMO2 error code2 error code distribute
DO6,7,8terminals.
Fun OUT.14 ALMO3 error code3 error code distribute

c)Fault reset method

Notice

Before resetting the servo fault, be sure to eliminate the cause of the fault.

When "Servo failure (ALM)”When it occurs, remove the cause and set the following input signal "/ALM-RST"placed in "ON”After that, the fault
condition is cleared. The fault clear signal clears the servo fault state.

coding name function name describe state Remark

By alarm type, some alarms reset

Fun IN.2 ALM-RST Alarm reset signal commonly used
The servo can continue to work

This output function is fordoFor terminal assignment see7.6.1Festival

constitute the external circuit so that when a failure occurs, the main circuit powerOFF. As long as the control power is set toOFF, the alarm can be cleared

automatically.

Alternatively, alarm clearing can also be done through the control panel.

8 2) Servo warning output signal (/WARN)

Servo warning output signal (/WARN) is the output signal when the servo drive detects a warning, and passes through when an overload warning,

regeneration warning and other warning signals occur.doterminal output.

coding name function name describe state Remark

Fun OUT.12 WARN+- Warning output signal Status when a warning is detectedON distribute

Warning code output: when there is only a warning, the warning signal (WARN+-)At the same time,ALM0,ALM1,ALM2Output
warning code; when warning and fault exist at the same time, output warning signal (WARN+-)and the fault signal (ALM+-)At the
same time, ALM0,ALM1,ALM2Output a fault code.

3) servo ready output signal (/S-RDY)

Servo state ready output signal: This signal indicates whether the power-on initialization of the servo drive is completed, and the output of this signal will be

invalid when a fault occurs.

coding name function name describe state Remark

The servo status is ready to receiveS-ONSignal

Fun OUT.1 /S-RDY+- servo ready valid - servo ready distribute

invalid - servo not ready

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