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M2DV-1D82D
Moons' M2DV-1D82D User Manual
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M Series
AC Servo
User Manual
63
Rev
. 1.0
7/31/2019
400-820-9661
N mode selection and setting
LED display
Description
Unit
n-00
Motor Rotating Speed
RPM
n-01
Position Error
Pulse
n-02
Pulse Counter
counts
n-03
Encode Counter
counts
n-04
Command Position Counter
counts
n-05
Drive T
emperature
x 0.1
℃
n-06
DC Bus V
oltage
x0.1V
n-07
Fault History 1
n-08
Fault History 2
n-09
Fault History 3
n-10
Fault History 4
n-1
1
Fault History 5
n-12
Fault History 6
n-13
Fault History 7
n-14
Fault History 8
62
64
Table of Contents
Default Chapter
2
Table of Contents
2
Introduction
8
About this Manual
8
Documentation Set for M2 Series AC Servo
8
Safety
8
Safety Symbols
8
Safety Instructions
9
Standards Compliance
9
2 Product Description
10
Unpacking Check
10
Servo Drive Model Introduction
10
Drive Name Plate Description
10
Drive Model Description
11
Drive Specification
12
Drive Dimensions (Unit: MM)
13
100W 200W Type
13
Type
13
Servo Motor Model Introduction
14
Motor Name Plate Description
14
Motor Model Description
14
Motor Specification and Dimension
15
40Mm Specification and Dimension
15
60Mm Specification and Dimension
17
80Mm Specification and Dimension
19
Servo Drive and Servo Motor Combinations
21
System Configuration
22
3 Installation
23
Storage Conditions
23
Installation Conditions
23
Drive Dimensions (Unit: MM)
24
100W 200W Type
24
Type
24
Installation Space
25
Motor Installation
26
4 Connections and Wiring
27
Connecting to Peripheral Devices
27
System Configuration
27
Servo Drive Connectors and Terminals
28
Connections and Wiring Notes
28
Wiring Methods for Power Supply P1
29
Single-Phase Power Supply Connection (AC220V)
29
Three-Phase Power Supply Connection (AC220V)
30
Wiring to the Connector, P2
31
Motor Power Cable Configuration
31
Motor Power Cable Connector Specifications
31
Wiring Diagram of Motor Extend Cable
32
Encoder Connector CN3
32
Motor Encoder Feedback Cable Configuration
32
The Layout of CN3 Connector
33
Connect to Motor Encoder
33
Specifications of Encoder Connector
34
Wiring Diagram of Motor Encoder Extend Cable
35
Electromagnetic Brake
36
Wiring Diagram
36
Notice for the Brake Motor
36
The Timing Charts of the Electromagnetic Brake
37
Regenerative Resister
38
Recommend Cable Specifications
38
Connect to Host Computer, CN1
39
Input and Output Signal Interface Connector, CN2
39
Input and Output Interface Specifications and Diagram
39
Signals Description of Connector CN2
41
The Layout of CN2 Connector
41
Input Signals
41
Inputs Function List
43
Output Signals
43
Outputs Function List
44
Input Signal Interface Connector, CN2
44
Position Pulse Signal Input
44
Analog Signal Input for Velocity and Torque Mode
46
High Speed Input Port X1,X2,X3,X4
47
General Digital Input X5、 X6、 X7、 X8
49
X9、 X10、 X11、 X12 Input with Common Com Port
51
CN2 Output Signal Specification
53
CN2 Output Signal Diagram
53
Y1、 Y2、 Y5、 Y6 Output Connection Diagram
53
Y3、 Y4 Connection Examples
54
Encoder Feedback Output
54
A/B/Z Connection Diagram
54
Z Phase Open Collector Output
54
STO Connector
55
Safety Precautions
55
STO Input/Output Signals
55
STO Internal Circuit Diagram
55
CN5 Connector Diagram
55
STO Signal Definition
56
STO Connection Diagrams
56
EMC Control
57
Noise Filter
57
Recommended EMI Noise Filter
58
Clamp Noise Filter for Cable
58
Recommended Clamp Noise Filter
58
5 Display and Operation
59
Description of Control Panel
59
Mode Switch Control
59
LED Display Description
61
Decimal Point and Negative Sign Description
61
Parameter View Setting
61
Parameter Save Setting
61
Point to Point Motion Mode
61
Jog Mode
62
Control Panel Lock
62
Status Monitoring Selection Mode
62
Function Mode Control
64
Function Mode Description
64
Operation Flow Chart
65
Parameter Setting Mode
66
Parameter Setting Description
66
Parameter Editing Examples
67
Control Panel Lock
68
Warning and Fault Display
68
6 Preoperational Mode
70
Inspection before Trail Run
70
Trail Run Procedure
70
Motor Configuration Manually
71
Use Drive Control Panel to Setup
71
Use Software to Config Motor
72
Operations of JOG Mode
73
Configuration by Personal Computer
74
7 Operation Mode Selection
75
General Function Setting
75
Drive Servo on Settings
75
Alarm Reset
76
CW/CCW Limit
77
Global Gain Switch Function
78
Control Mode Switch
79
Drive on Fault Output
80
Motor Brake Control
81
Servo Ready Output
82
Position Mode
82
Digital Pulse Position Mode Connection Diagram
83
Input Pulse Type and Input Noise Filter
83
Input Pulse Type Setting
84
Input Noise Filter Setting
84
Parameter P-43 (SZ) Setting
85
Control Pulse Dividing Switch Function
86
Pulse Inhibition Function
87
Electronic Gearing Ratio
87
Jerk Smoothing Filter
88
In Position Error Output
89
Gain Parameters for Position Control Mode
89
Software Configuration for Position Mode
90
Velocity Mode
91
Velocity Mode Connection Diagram
92
Parameter Settings for Analog Velocity Control Mode
93
Basic Settings for Analog Velocity Control Mode
93
Command Signal for Analog Velocity Mode
93
Analog Velocity Gain
94
Analog Input Voltage Offset
95
Analog Input Deadband
96
Run/Stop and Direction Signal
97
Torque Limit
98
Target Velocity Reach
99
Analog Input Filter
100
Software Configuration for Analog Velocity Mode
101
Torque Mode
102
Analog Torque Mode Connection Diagram
103
Parameters for Analog Torque Mode
104
Basic Settings for Analog Torque Mode
104
Command Signal for Analog Torque Mode
104
Analog Torque Gain
105
Analog Input Offset
106
Analog Deadband
106
Run/Stop and Direction Signal
107
Velocity Limit
107
Torque Reach
108
Software Configuration for Analog Torque Mode
109
Position Table Mode Instruction
110
Linear Motion
110
Linear Motion Software Configuration
110
Basic Configuration
112
Homing Settings
112
Print
113
Position Definition
113
Simulate
114
Linear Motion Input Definition
114
Rotary Motion
115
Rotary Motion Software Configuration
115
Rotary Motion Input Definition
116
8 Parameters and Functions
117
Parameter Category
117
Parameter List
118
Parameter Description
122
9 Communication
144
What Is SCL
144
Connections
144
PIN Definition
145
Connection Method
145
Modbus/Rtu Communication
146
Data Encode
146
Communication Address
147
Communication Baud Rate and Framing
147
Power up Mode
147
Modbus/Rtu Data Framing
147
M2 Series AC Servo Drive Register Address and Function List
148
Command Opcode Description
154
Function Code
155
Function Code 0X03, Reading Multiple Holding Registers
155
Function Code 0X06, Writing Single Register
156
Function Code 0X10, Writing Multiple Registers
157
Modbus/Rtu Applications
158
Position Control
158
JOG Mode
161
Canopen Communication
164
Rj45(8P8C)Pin Definitions
164
Canopen NODE-ID
164
Canopen Communication Baud Rate
164
10 Trouble Shooting
165
Drive Alarm List
165
11 STO Function
169
Operation and Maintenance Procedures
169
The Replacement of Components
169
Prevent Hazardous Event
169
Maintenance Procedures of STO Faults or Failures
169
Commissioning and Testing
169
The Implementation of Safety Functional
170
Safety Functional Specification
170
Safety Input Signal
170
External Device Monitor (Edm)Output Signal
170
The Fault Reaction Function
170
Response Time
170
Operating Timing Chart for Safety Status
170
Return Timing from Safety State
171
Safety Function Activated or Prohibit
171
STO Function as the Highest Priority
171
The Safety Integrity Information
171
The Environmental and Operating Conditions for Safety Function
171
The Environmental and Operating Conditions
171
Safety Function Constraints
172
Failure Rate
172
Mission Time and Proof Test
172
Testing, Calibration or Maintenance Requirements
172
Avoiding the Systematic Failure
172
SIL Capability
172
Identify the Hardware and Software Configuration
172
The Installation and Commissioning Guidance
173
Installation
173
Example of Connection to Safety Switch
173
Example of Connection to Safety Light Curtain
173
Commissioning
174
The Requirements for Configuration Test of Safety Functions
174
General and Normal Running Condition
174
Safety Relevant Parameters and Their Values
174
The Test Procedures of Safety Functions
174
The Description of the Safety Related Components
175
Appendix
176
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Moons' M2DV-1D82D Specifications
General
Brand
Moons'
Model
M2DV-1D82D
Category
Servo Drives
Language
English
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