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Xinje DF3E Series User Manual
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Manual
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59
Index
Sub
index
Object
type
Name
Data type
R
ead/
write
PDO
mapping
05
VAR
5. maPPed object
UINT32
RW
NO
06
VAR
6. maPPed object
UINT32
RW
NO
07
V
AR
7. maPPed object
UINT32
RW
NO
08
VAR
8. maPPed object
UINT32
RW
NO
1601
-
RECORD
2. receive PD
O maPPing
-
-
-
01
VAR
1. maPPed object
UINT32
RW
NO
02
VAR
2. maPPed object
UINT32
RW
NO
03
VAR
3. maPPed object
UINT32
RW
NO
04
VAR
4. maPPed obje
ct
UINT32
RW
NO
05
VAR
5. maPPed obj
ect
UINT32
RW
NO
06
VAR
6. maPPed object
UINT32
RW
NO
07
VAR
7. maPPed object
UINT32
RW
NO
08
VAR
8. maPPed object
UINT32
RW
NO
1602
-
RECORD
3. receive PD
O maPPing
-
-
-
01
VAR
1. maPPed object
UINT32
RW
NO
02
VAR
2. maPPed object
UI
NT3
2
RW
NO
03
VAR
3. maPPed object
UINT32
RW
NO
04
VAR
4. maPPed object
UINT32
RW
NO
05
VAR
5. maPPed object
UINT32
RW
NO
06
VAR
6. maPPed object
UINT32
RW
NO
07
VAR
7. maPPed object
UINT32
RW
NO
08
VAR
8. maPPed obje
ct
UINT32
RW
NO
1603
-
RECORD
4. receive PD
O maPPing
-
-
-
01
VAR
1. maPPed object
UINT32
RW
NO
02
VAR
2. maPPed object
UINT32
RW
NO
03
VAR
3. maPPed object
UINT32
RW
NO
04
VAR
4. maPPed object
UINT32
RW
NO
05
VAR
5. maPPed object
UINT32
RW
NO
06
VAR
6. maPPed object
UI
NT3
2
RW
NO
07
VAR
7. maPPed object
UINT32
RW
NO
08
VAR
8. maPPed object
UINT32
RW
NO
1800
-
RECORD
1. transmit
PDO parameter
-
-
-
01
VAR
COB-ID used
by PDO
UINT32
RW
NO
02
VAR
tr
ansmission t
ype
UINT8
RW
NO
1801
-
RECORD
2. transmit
PDO parameter
-
-
-
01
VAR
COB-ID used
by PDO
UINT32
RW
NO
02
VAR
transmiss
ion type
UINT8
RW
NO
1802
-
RECORD
3. transmit
PDO parameter
-
-
-
01
V
AR
COB-ID used
by PDO
UINT32
RW
NO
02
VAR
transmiss
ion type
UIN
T8
RW
NO
1803
-
RECORD
4. transmit
PDO parameter
-
-
-
01
V
AR
COB-ID used
by PDO
UINT32
RW
NO
02
VAR
transmiss
ion type
UINT8
RW
NO
1A00
-
RECORD
1. transmit
PDO maPPing
-
-
-
01
VAR
1. maPPed object
UINT32
RW
NO
02
VAR
2. maPPed object
UINT32
RW
NO
66
68
Table of Contents
Table of Contents
5
Confirmation on Product Arrival
8
Selection of Servo System
9
Selection of Servo Driver
9
Model Name
9
Description of each Part
9
Performance Specification
10
Servo Motor Selection
11
Model Name
11
Description of each Part
11
Cable Selection
12
Model Name
12
Description of each Part
13
Selection of Other Accessories
15
Selection of Regenerative Resistance
15
Fuse Selection
15
Installation of Servo System
16
Servo Driver Installation
16
Installation Site
16
Environment Condition
16
Installation Standard
16
Servo Motor Installation
18
Environment Condition
18
Installation Cautions
18
Installation Environment
20
Servo Cable Installation
20
Cable Selection
20
Xinje Cable Specification
21
Servo Driver Dimension
24
Servo Motor Dimension
24
Wiring of Servo System
26
Main Circuit Wiring
26
Servo Driver Terminal Arrangement
26
CN4 Terminals
27
CN2 Terminals and DIP Switch
27
Communication Port
28
Classification and Function of Cn0 Signal Terminals
29
Pulse Signal
29
Input Signal (Without Brake)
29
SO Output Signal
30
Operation of Servo System
31
Control Mode Selection and Switching
31
Control Mode Selection
31
Control Mode Switching
31
Basic Function Setting
32
Jog Operation
32
Servo Enable Setting
33
Rotation Direction Switching
33
Stop Mode
34
Power-Off Brake
36
Braking Setting
38
Position Control
40
General Position Control
40
Position Control (External Pulse Command)
49
Position Control (Internal Command)
50
Speed Mode General Control
58
Speed Control (Internal Speed)
60
Speed Control (Pulse Frequency Command)
63
Torque Control
64
Torque Control (Internal Setting)
64
Bus Control
65
Object Dictionary Region Assignment
65
Cia402 Motion Control Explanation
72
CIA402 Motion Control Mode
82
Absolute Value System
103
Absolute System Setting
103
Replace the Battery
103
The Upper Limit of Turns
104
Read Absolute Position through Communication
105
Reset Absolute Position
106
Auxiliary Functions
106
Anti-Blocking Protection
106
Torque Limit
107
Speed Limit
108
I/O Signal Distribution
108
Output Terminal Function
109
Input Terminal Function
113
Time Limit Curve of Overload Protection
115
Servo Gain Adjustment
116
Overview of Servo Gain Adjustment
116
Overview and Process
116
The Difference of These Adjustment Modes
117
Model Loop Control
117
Torque Disturbance Observation
119
Rotary Inertia Presumption
119
Overview
119
Notes
119
Operation Tool
120
Operation Steps
120
Fast Adjustment
122
Overview
122
Fast Adjustment Steps
122
Rigidity Level Corresponding Gain Parameters
122
Notes
123
Auto-Tuning
124
Overview
124
Notes
124
Operation Tools
124
Internal Instruction Auto-Tuning Steps
125
External Instruction Auto-Tuning Steps
129
Related Parameters
133
Manual Adjustment
134
Overview
134
Adjustment Steps
134
Gain Parameters for Adjustment
135
Vibration Suppression
137
Overview
137
Operation Tools
137
Vibration Suppression (PC Software)
137
Vibration Suppression (Manual Setting)
138
Notch Filter
138
Gain Adjustment
141
Load Shaking
141
Vibration
141
Noise
141
Alarm
142
Alarm Code List
142
Analysis of Alarm Types
144
Appendix
154
Appendix 1. Group Pparameters
154
Monitoring Parameters
168
Appendix 3. Modbus Address List
171
Q&A
176
Appendix 5. General Debugging Steps
178
Appendix 6. Application Example
179
Appendix 7. Servo General Mode Parameters
181
Appendix 7.1 Basic Parameters
181
Appendix 7.2 External Pulse Position Mode General Parameters
181
Appendix 7.3 Internal Position Mode General Parameters
181
Appendix 7.4 Internal Torque Control General Parameters
182
Appendix 7.5 Internal Speed Control General Parameters
182
Appendix 7.6 External Pulse Speed Control General Parameters
182
Appendix 8. Torque-Speed Characteristic Curve
184
Appendix 9. List of Model Selection and Configuration
185
Appendix 10. Servo Software
186
Appendix 10.1 Communication between Servo Software and Servo Driver
186
Appendix 10.2 Start [Driver Communication]
186
Appendix 10.3 Close [Driver Communication]
186
Appendix 10.4 [Driver Communication] Interface
187
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Xinje DF3E Series Specifications
General
Brand
Xinje
Model
DF3E Series
Category
Servo Drives
Language
English
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