Technical Support

CN1 common pin definition

Pin 31: 24V power input; for example, if you need to use DI1-DI6 input signals, pin 31 must be connected to a 24V switching power supply; otherwise, the input will be deenergized. This means that DI1-DI6 require an external 24V power supply.

Pin 16: Servo Enable (DI1); After soldering this pin, external enable is provided. The driver automatically enables when a signal is received from DI1.

Pin 39: 24V pulse signal; when Pulse+ and Direction+ are connected to pins 38 and 39, respectively, the control line is 24V.

Pin 38: 24V Direction signal; Pulse+, When Direction+ is connected to pins 38 and 39, the control line is 24V.
Pin 25: 5V pulse signal; when Pulse+ and Direction+ are connected to pins 24 and 25, respectively, the control line is 5V.
Pin 24: 5V direction signal; when Pulse+ and Direction+ are connected to pins 24 and 25, respectively, the control line is 5V.
Pin 9: Pulse signal negative; whether the control line is 24V or 5V is determined by pins 24, 25, 38, and 39.
Pin 8: Direction signal negative; whether the control line is 24V or 5V is determined by pins 24, 25, 38, and 39.

Buttons

Button Detailed Introduction

Up key: This key can be used to search for the required parameter and adjust the parameter size.

 

Return/Exit button: This button can exit the current parameter or return to the previous parameter.

 

Down key: This key can be used to search for the required parameters and adjust the parameter size downwards.

 

Parameters

 

Introduction to common parameters

 

P-000: Default value of the operation password is 315 (some parameters require this parameter to be changed to 316 before modification).
P-002: Motor Code (This parameter specifies the motor model. Enter the code corresponding to the motor model here. If this parameter is incorrectly set, the motor may make unusual noises or vibrate. Before setting this parameter, change the operation password to 316; otherwise, the parameter cannot be modified. After changing this parameter, execute E-DEF to save the change and power it on again.)
P-098: Enable (The first decimal point on the digital tube, lit from left to right, indicates the drive is enabled, indicating P-098 = 1 or the external enable is on. P-098 = 1 indicates enabled, while P-098 = 0 indicates disabled.)

 

Parameter setting method

 

Take modifying P-098 (enable) as an example

After entering P-000, press the down key twice to go down to Pr098, or press the up key to reach it; press the OK key to adjust the parameters up and down.

 

Restoring to factory settings:
a. Change parameter P-000 to 316
b. Turn off the enable (P-098 = 0) or remove the CN1 connector. The RUN light will be off, indicating no enable.
c. Find E-DEF and press and hold the OK button until the "done" display appears. Power off and restart, as shown in the figure:

Parameter saving method: Power off and restart to take effect

,

Common Problems and Solutions

 

1. Unable to modify P-002 parameters. Factory reset results in "Error":
a. Disconnect the enable function: Remove the CN1 control head for external enable. Internal enable function P-098 = 0. If P-100 = -1, change it to P-100 = 1, save, and power cycle. If the RUN indicator or the leftmost decimal point is off, the function is not enabled.
b. If P-000 = 316, press the E or Enter key to confirm.
c. Modify P-002 to the value corresponding to the motor table and confirm.
d. Enter the "E" parameter group, find "E-DEF," press and hold E or Enter for 3 seconds, and "donE" will appear.
e. Power cycle the function until no display appears. The factory reset is successful, and the motor code is successfully set.

 

2. When the servo is enabled, the motor makes unusual noises, vibrates, or jumps loudly:
a. Check that the P-002 motor code matches the motor. Reset the motor code and restore to factory settings.
b. Reduce P-005 to see if it works.
c. Reduce P-210 to 60.

 

Internal mode wiring and parameters

 

Internal multi-speed

T3D Multi-Speed ​​Settings
P-004 = 1 Speed ​​Mode
P-025 = 1 Internal Multi-Speed
P-101 = 10 Speed ​​1
P-102 = 11 Speed ​​2
P-103 = 12 Speed ​​3

 

Eight speed levels
If DI1 is on, the motor locks the shaft.
If neither DI2 nor DI4 is on, the operation will be at speed P-137.
If DI2 is on, the operation will be at speed P-138.
If DI3 is on, the operation will be at speed P-139.
If both DI2 and DI3 are on, the operation will be at speed P-140.
If DI4 is on, the operation will be at speed P-141.
If DI2 and DI4 are on, the operation will be at speed P-142.
If DI3 and DI4 are on, the operation will be at speed P-143.
If both DI2 and DI4 are on, the operation will be at speed P-144.
Note: Positive values ​​between P-137 and P-144 indicate forward rotation, while negative values ​​indicate reverse rotation.

 

Internal multi-stage torque

 

T3D multi-stage torque setting

 

P-004 = 2 Torque mode
P-026 = 1 Internal multi-stage torque
P-101 = 13 Torque 1
P-102 = 14 Torque 2
P-098 = 0 External enable controlled by DⅠ1(16)
P-098 = 1 Internal forced enable, motor shaft locked

 

Four Torque Levels

 

When DI1 is on, the motor locks the shaft.
When neither DI2 nor DI3 is on, the operation is based on P-145 torque.
When DI2 is on, the operation is based on P-146 torque.
When DI3 is on, the operation is based on P-147 torque.
When both DI2 and DI3 are on, the operation is based on P-148 torque.
Note: A positive value between P-145 and P-148 indicates forward rotation, while a negative value indicates reverse rotation.

 

Chapter 2 Intermediate

 

Various alarm articles

 

1. Servo power-on displays "Err40"
a. Change P-000 to 510, find A-fn, and press and hold to clear the alarm.
b. For multi-turn absolute encoder motors, the encoder cable must be connected to a battery.

 

2. Servo displays "Err39" upon power-up.
a. Check the encoder cable for any modifications, ensure proper contact between the encoder cable connector pins, and check for any water or debris in the connector.
b. Encoder cable disconnection: Check the D-COD signal (corresponding to the UVWZBA signal). Rotate the motor shaft; UVWBA must not be simultaneously 1 or 0. If no change occurs during rotation, the signal is incorrect. Replace the motor or encoder cable.

 

3. Servo displays "Err4" during operation.
a. Check the motor and motor code.
b. Check the speed reduction is normal: Is the electronic gear ratio correct? Does the speed exceed the rated motor speed?
c. Check the encoder and motor cables, especially the motor cables, for loose contact.
d. Check the motor and mechanical load for any jams.
e. Increase the position tolerance detection range parameter in P-080.
f. If the above tests are normal, but the "Err4" alarm persists during operation, increase P-093 (default 100) to 130-150 and retest.
g. If the alarm persists after the above steps, consult with the equipment manufacturer to modify the configuration.

 

4. Servo displays "Err6" during operation.
a. Check that the motor and motor code match.
b. Check that the U, V, and W phase sequences are correct.
c. Check that the load is not stuck.

 

5. Servo displays "Err11" during operation.
a. Disconnect the power cable and re-power on to see if "Err11" is displayed. If the alarm persists, replace the driver. If it does not, check the power cable and motor.
b. Interchange the motor and driver to determine the problem.

 

6. Servo displays "Err28" or "Err29" during operation.
a. Check if the external load is stuck.
b. Check the motor code and P-070/071.

 

7. "Err5" appears during drive startup.
a. "Err5" indicates that the host computer is sending pulse commands too quickly, exceeding the motor's response capacity. We recommend increasing the host computer's acceleration/deceleration times or increasing the position command smoothing time (P-040) by 10 steps.
b. If the above measures are ineffective or the host computer cannot be modified, set P-116 to 32 to disable the "Err5" alarm.

 

8. "Err2" or "Err14" appears during drive startup.
a. If the alarm occurs due to frequent acceleration and deceleration with high inertia, first check the monitoring menus d-I and d-PI to see if the instantaneous and maximum current values ​​exceed the allowable ranges of the drive and motor. If so, reduce the inertia acceleration accordingly (in speed mode: increase the acceleration time P-060 and deceleration time P-061; in position mode: increase the acceleration and deceleration times on the host controller) to control the current within the allowable range of the drive and motor, and check whether the fault disappears.
b. Check if the power supply voltage is too high.
c. Power off for a longer period and then power on again to see if the alarm reappears.
d. If the above methods are ineffective, return the product to the factory for inspection.

 

9. The drive displays "Err38" or "Err42" when powered on.
a. Operate with the motor unloaded.
Change P-000 to 620
Change P-002 to the corresponding code.
Change P-099 to 5-AN5.
Save the data, power off, and restart.
After restarting, find A-fn -1, press and hold to confirm. "Done" will appear. Return.
Find fn -2, press and hold to confirm. Return. Find P-000, change it to 610, save the data, power off, and restart.

 

Parameter Adjustment

 

1. Rigidity Parameters:
When the motor code is correct, adjust the following parameters if the motor is experiencing unusual noise or vibration.
P-005: This parameter is generally adjusted for motor vibration when using a lead screw or helical gear. Set this parameter to approximately 90° for lead screws and approximately 100° for helical gears, with a range of 5° increments and deflections.
P-009: This parameter is generally adjusted for motor vibration when using a lead screw or helical gear. Set this parameter to approximately 80° for lead screws and approximately 20° for helical gears, with a range of 5° increments and deflections.
P-006: This parameter is generally adjusted for motor vibration when using a belt or chain. The longer the belt or chain, the larger the value. A setting of approximately 200-300° is generally recommended.
P-019: This parameter is generally adjusted for motor vibration when using a belt or chain. The longer the belt or chain, the larger the value. A setting of approximately 300° is generally recommended.

 

2. Electronic Gear Ratio:
P-029: Electronic Gear Ratio Numerator
P-030: Electronic Gear Ratio Denominator
P-029 = 10000
P-030 = Number of pulses required for one revolution. For example, 4000 pulses.
One revolution:
P-029 = 10000
P-030 = 4000
Reduced to:
P-029 = 5
P-030 = 2

 

Basic service process

 

1. Check the power and encoder cables for loose connections or broken wires.
2. Check the motor code settings for correctness.
3. Check the control mode and command source settings for correctness.
4. Check the gain parameters for proper settings.
5. If possible, swap the drive to troubleshoot the issue.
6. Check the motor.

 

Chapter 3 Practical Combat

 

Problem and Solution

1. The servo stops working after a period of use, or only reverses direction:
Check "d-cpo" - "lo" - "****" to see if it receives a pulse. If it is 0 or the value remains unchanged:
a. Check the pulse and direction wiring for correct operation.
b. If the host computer is a PLC, connect it to a 24V port or connect a 2K resistor in series, with the pulse and direction terminals connected separately.
c. Return the device to the factory for inspection.

 

2. The servo moves back and forth in one direction and repeatedly positions in another direction. When the power is on, the motor is enabled but no pulse is sent. It runs at a certain speed:

Check "d-cpo"--"lo"--"****" to see if the value inside has changed. Check "d-fr"--"f**.*" to check

a. Shielded wire of the control line:

(1). Do not connect both ends of the shielded wire;

(2). Connect the servo to the CN1 shell and the host computer to the digital ground (PLC to the power supply 0V);

(3). Connect both ends of the system shield.

b. Increase P-038 (PLC is generally = 6), save and restart;

c. Change the pulse type to AB pulse;

 

3. The servo motor brake is not open and may be prone to damage:
a. The brake cable must be connected to the relay. The default is normally open. Ensure correct wiring. By default, 24V is connected to the positive terminal of the relay coil, D04 is connected to the negative terminal of the relay coil, and the common point is connected to the 0V supply voltage of the switching power supply.
b. The brake cannot be used for deceleration.

 

4. The servo displays "T3D-**" and "STARE" upon power-on.
a. Check the power supply voltage to see if it is normal and consistent with the drive voltage.
b. Connect only the power supply, leaving the encoder and motor cables disconnected. Restart the machine and check if the display is normal. If the display is abnormal, return the machine to the factory for inspection.

 

5. Screw-type loads experience vibration or noise.
a. Check the motor code.
b. Adjust the stiffness. Experienced values: P-005 = 95. P-009 = 90.

 

6. Gears, belts, and racks vibrate or stop and start.
a. Check the motor code.
b. Adjust the rigidity parameters. Experienced values: P-005 = 95, P-006 = 300 (The longer the chain and belt, the higher the value). P-009 = 20, P-019 = 150 (The longer the chain and belt, the higher the value).

 

7. MODBUS RTU Communication Notes
a. Only labels ending with R or -S have communication capabilities.
b. Ensure wiring is correct.
c. Parameters for P-181, P-182, and P-183 must be set correctly and saved to take effect after a power cycle.
d. Monitor d-rE.
rE-11: Number of communication bytes. If it is 0, communication is not established.
rE-12: Number of successful communications.
rE-13: Number of communication errors. If this value continues to increase, check the communication parameters and ensure they are consistent with those on the host computer.
e. The parameter number is the communication address; for example, the communication address for P-137 is decimal 137.

 

8. The drive's forward and reverse limit settings are ineffective, resulting in an "Err7" error.
a. Parameter P-097 = 0.
b. The forward and reverse limit settings must be correctly configured. DI terminal function codes 3/4 are low-voltage normally closed signals, and -3/-4 are normally open signals.
c. If "Err7" occurs, change P-116 to 136, save the settings, and then power cycle.

 

9. Unable to access Pr098
a. Change P-100 to -1;
b. Use external enable;

 

10. After the drive is powered on and enabled, run at high speed.
a. Reset the motor encoder zero point as follows:
1. Change P-000 to 620.
2. Find the AF group parameters and confirm that A-fn is displayed.
3. After confirming, find fn - 2 and press and hold to confirm. The current zero point will be displayed after 1 second. A value around A0.0 will be displayed. Zero point reset is successful.