Megmeet M5-N Series User Manual

6
6.1 Check before running ....................................................................................................................................39
6.2 Commissioning ..............................................................................................................................................39
6.3 Electronic gear ...............................................................................................................................................40
6.4 Brake settings ................................................................................................................................................44
6.4.1 Servo motor brake wiring diagram .......................................................................................................................... 44
6.4.2 Brake timing ............................................................................................................................................................ 44
6.4.3The brake timing when the servo motor is stationary ...............................................................................................44
6.4.4 The brake timing when the servo motor is rotating ................................................................................................. 46
6.4.5 Servo drive fault status brake timing ....................................................................................................................... 48
Chapter 7 EtherCAT Communication ......................................................................................49
7.1 Overview of EtherCAT bus ........................................................................................................................... 49
7.2 M5-N drive bus function introduction ............................................................................................................49
7.2.1 M5-N communication specifications ........................................................................................................................49
7.2.2 EtherCAT Network reference model ........................................................................................................................50
7.2.3 EtherCAT network state machine ............................................................................................................................51
7.2.4 Process Data PDO .................................................................................................................................................. 52
7.2.5 Mailbox data SDO ................................................................................................................................................... 53
7.2.6 Distributed Clock (DC) .............................................................................................................................................54
7.3 CiA402 Device Control (Device Protocol) ....................................................................................................54
7.3.1 CoE state machine .................................................................................................................................................. 54
7.3.2 Object dictionary ......................................................................................................................................................56
7.3.3 Device control word and status word ...................................................................................................................... 56
7.3.4 Common conversion factor ..................................................................................................................................... 59
7.4 Bus operation mode ......................................................................................................................................60
7.4.1 Profile Position Mode .............................................................................................................................................. 61
7.4.2 Profile Velocity Mode ...............................................................................................................................................64
7.4.3 Profile Torque Mode ................................................................................................................................................ 67
7.4.4 Homing Mode .......................................................................................................................................................... 70
7.4.5 Cyclic Synchronous Position Mode ....................................................................................................................... 102
7.4.6 Cyclic Synchronous Velocity Mode ....................................................................................................................... 104
7.4.7 Cyclic Synchronous Torque Mode .........................................................................................................................106
Chapter 8 Drive Parameter Object ........................................................................................ 110
8.1 M5-N Drive parameters ...............................................................................................................................110
Index 2000h(P00): Drive parameters ............................................................................................................................. 110
Index 2001h(P01): Servo motor parameters .................................................................................................................. 111
Index 2002h(P02): Basic control parameters ................................................................................................................. 113
Index 2003h(P03): Digital input and output terminal parameters ................................................................................... 116
Index 2005h(P05): Position control parameters .............................................................................................................120
Index 2006h(P06): Speed control parameters ............................................................................................................... 125
Index 2007h(P07): Torque control parameters ...............................................................................................................127

Megmeet M5-N Series Specifications

General

Brand	Megmeet
Model	M5-N Series
Category	Servo Drives
Language	English