Tsino Dynatron EtherCAT CoolDrive RC Series Manuale utente

Updated

Update summary

Updated

version

Version number: D3

Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd.

2017

Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd.

March, 2017

CoolDrive RC Series Servo

Drive User Manual

EtherCAT® is registered trademark and patented technology, licensed by

Beckhoff Automation GmbH, Germany

Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd.

Preface

First of all, thank you for your constant trust and support for Tsino-Dynatron Electrical Technology (Beijing)

Co.,Ltd. we will focus on providing you with comprehensive technical services.

This user manual provides safety information, mechanical and electrical installation instructions, basic

commissioning as well as product maintenance guidance for CoolDrive RC Series servo drives. Please read this

manual carefully before use RC series servo drive, and keep it in a safe place for easy access. If there is any

question, please contact Tsino-Dynatron technical support, and we will be happy to serve you.

This manual is targeted at users including:

Servo system designers

Installing and wiring personnel

Commissioning engineers

Maintenance and inspection personnel

Note

1．Some of the pictures in this manual are schematic illustrations that may differ from the products you

receive.

2．The procedures and wirings in this manual are only for guidance. Please make adjustment according to

specific conditions. Tsino-Dynatron does not guarantee that all given procedures and wirings are

universal.

3．Please contact us if the product is used for life-related medical instruments, public service facilities or

facilities that may harm personal safety, such as elevators, passenger transport systems, etc.

4．Please contact us if the product is used for nuclear control, aerospace equipment, equipment with high

cleanliness requirements or equipment with high electromagnetic compatibility (EMC) requirements.

5．CDRC2, CDRC3, CDRC4 and CDRC6 are the short for CoolDrive RC2, CoolDrive RC3, CoolDrive

RC4 and CoolDrive RC6 respectively. Unless otherwise specified, "servo diver", "drive" and "servo" in

this manual all refer to CDRC2, CDRC3, CDRC4 and CDRC6 products.

6．Tsino-Dynatron does not assume any responsibility for any damage caused by:

Failure to follow the instructions

Altering the servo drive without authorization

Improper operation of the servo drive

Natural damage, such as flood, lightning etc.

Damage caused during transport

7．Please contact Tsino-Dynatron technical support in case of any other conditions that are not described in

this manual.

Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd.

Product Confirmation

Please check the items listed in the table below upon receiving the product in case of any negligence during

purchase and transportation.

Items to Confirm Confirmation Content

Product Appearance Check the product's appearance for any damage or scratch.

Product Model Check the servo drive and servo motor respectively to make sure they are exactly the

product models you purchased.

Check whether the motor

shaft is running smoothly

Rotate the motor shaft by hand, if it can run smoothly, the servo motor shaft is working

well (for motors with electromagnetic brake, the brake needs to be forced open).

Accessories Check the list shipped with the product to make sure you receive the right models and

quantity of accessories.

If you have any questions, please contact the agencies or our sales representatives.

Revisions

Version No. Released Date Description

D1 3/1/2017 Creation of CoolDrive RC Series Servo Drives User

Manual

D2 4/26/2017 Update dimension drawings of RC3, RC4 and RC6

D3 4/26/2017

1. Update wiring diagrams;

2. Add MotorPower for encoder types;

3. Check parameters 0x2094, 0x20D3 and

0x2000.

4. Add motor brake circuit fault.

III

Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd.

Contents

Preface ......................................................................................................................................................... II

Contents..................................................................................................................................................... IV

Chapter 1 Safety Information ................................................................................................................ 1

Electrical Safety............................................................................................................................ 11.1

Safety Guidance............................................................................................................................ 11.2

Environmental Requirements ....................................................................................................... 11.3

Operational Guidance ................................................................................................................... 11.4

Motor Safety ................................................................................................................................. 11.5

Parameters Adjustment................................................................................................................. 11.6

Chapter 2 Product Information .............................................................................................................. 2

Model Description ........................................................................................................................ 22.1

Technical Specifications............................................................................................................... 42.2

RC Series drive General Technical Specifications ............................................................... 42.2.1

RC Series Drive Specific Technical Specifications .............................................................. 62.2.2

Encoder Interface Technical Specifications.......................................................................... 62.2.3

Mounting Dimensions .................................................................................................................. 62.3

Dimension Drawing of RC2 ................................................................................................. 62.3.1

Dimension Drawing of RC3 ................................................................................................. 72.3.2

Dimension Drawing of RC4 ................................................................................................. 82.3.3

Dimension Drawing of RC6 ................................................................................................. 12.3.4

Chapter 3 Installation............................................................................................................................. 2

Environmental Requirements ....................................................................................................... 23.1

Mechanical Installation................................................................................................................. 23.2

Safety Information ................................................................................................................ 23.2.1

Mounting Distance................................................................................................................ 23.2.2

Electrical Installation.................................................................................................................... 33.3

Safety Information ................................................................................................................ 33.3.1

Wiring........................................................................................................................................... 43.4

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RC2 Wiring Diagram ............................................................................................................ 53.4.1

RC3 Wiring Diagram ............................................................................................................ 93.4.2

RC4 Wiring Diagram .......................................................................................................... 133.4.3

RC6 Wiring Diagram .......................................................................................................... 173.4.4

Connector Pin Definition .................................................................................................... 203.4.5

Inspection After Installation ....................................................................................................... 283.5

Chapter 4 Power On ............................................................................................................................ 29

Inspection Before Power On....................................................................................................... 294.1

Cable Inspection.................................................................................................................. 294.1.1

Wiring Requirements .......................................................................................................... 294.1.2

Power On .................................................................................................................................... 294.2

Power On ............................................................................................................................ 294.2.1

Definition of Indicator Status.............................................................................................. 304.2.2

Chapter 5 Trial Operation.................................................................................................................... 31

Preparation Before Trial Operation ............................................................................................ 315.1

Precautions .......................................................................................................................... 315.1.1

Servo Parameter Settings .................................................................................................... 315.1.2

Trial Operation Through DriveStarter ........................................................................................ 325.2

Precautions .......................................................................................................................... 325.2.1

Trial Operation Under Point to Point (PP) Mode................................................................ 335.2.2

Trial Operation Under Profile Velocity (PV) Mode ........................................................... 335.2.3

Trial Operation Under PT Mode......................................................................................... 365.2.4

Chapter 6 Object Dictionary................................................................................................................ 39

Object Dictionary Overview....................................................................................................... 396.1

Structure of Object Dictionary............................................................................................ 396.1.1

Object Dictionary Description ............................................................................................ 396.1.2

Communication parameter objects ............................................................................................. 396.2

Devices Description ............................................................................................................ 396.2.1

PDO mapping...................................................................................................................... 406.2.2

Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd.

Communication................................................................................................................... 446.2.3

CiA402 Parameter Objects ......................................................................................................... 466.3

System State Machine......................................................................................................... 466.3.1

Control Mode ...................................................................................................................... 516.3.2

Other Objects ...................................................................................................................... 636.3.3

RC Series Parameters ................................................................................................................. 646.4

Drive Parameters................................................................................................................. 646.4.1

Motor Parameters................................................................................................................ 686.4.2

Encoder Parameters............................................................................................................. 726.4.3

Motor Brake Parameters ..................................................................................................... 746.4.4

Operation Parameters .......................................................................................................... 786.4.5

Basic Adjustment Parameters ............................................................................................. 886.4.6

Filter Parameters ................................................................................................................. 946.4.7

Limit Parameters................................................................................................................. 996.4.8

Monitor Parameters........................................................................................................... 1016.4.9

Chapter 7 Running............................................................................................................................. 106

Control Source Selection .......................................................................................................... 1067.1

Power Loop Setting .................................................................................................................. 1077.2

Motor Parameters ..................................................................................................................... 1087.3

Encoder Setting......................................................................................................................... 1137.4

Braking ..................................................................................................................................... 1177.5

Regenerative braking ........................................................................................................ 1177.5.1

Motor brake activated ....................................................................................................... 1197.5.2

Modes of Operation .................................................................................................................. 1227.6

Basic Running Function Setting ............................................................................................... 1237.7

Servo ON/OFF .................................................................................................................. 1237.7.1

Motor Rotational Direction Selection ............................................................................... 1267.7.2

Stop Function .................................................................................................................... 1267.7.3

Motor Overload Parameter Setting ................................................................................... 1297.7.4

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Communication Setting..................................................................................................... 1307.7.5

Load Inertia Ratio ............................................................................................................. 1327.7.6

Command Limit ................................................................................................................ 1337.7.7

Rotor Compensation Angle and Phase Sequence Detection Setting................................. 1377.7.8

Position Control........................................................................................................................ 1397.8

CSP Mode Running .......................................................................................................... 1397.8.1

Basic Setting of Position Control...................................................................................... 1397.8.2

Homing Mode ................................................................................................................... 1417.8.3

PP Mode Parameters ......................................................................................................... 1427.8.4

Position regulator .............................................................................................................. 1447.8.5

Position Filter Setting........................................................................................................ 1457.8.6

Positioning Completion Output ........................................................................................ 1457.8.7

Position Following Setting................................................................................................ 1467.8.8

Positioning Vibration Suppression Function .................................................................... 1477.8.9

Position Unit Setting ......................................................................................................... 1497.8.10

Position Saved on Last Power Off .................................................................................... 1497.8.11

Servo ON Vibration Suppression...................................................................................... 1507.8.12

Software Position Limit Function ..................................................................................... 1517.8.13

Velocity Control ....................................................................................................................... 1527.9

CSV Mode Running.......................................................................................................... 1527.9.1

Basic Setting of Velocity Control ..................................................................................... 1537.9.2

Square Wave Speed Setting .............................................................................................. 1557.9.3

Sine Wave Speed Setting .................................................................................................. 1567.9.4

Manual Jog........................................................................................................................ 1577.9.5

Velocity Limit................................................................................................................... 1587.9.6

Velocity Filter Setting....................................................................................................... 1597.9.7

Velocity regulator ............................................................................................................. 1607.9.8

Acceleration Feedforward Torque Compensation Function ............................................. 1637.9.9

Velocity Output................................................................................................................. 1647.9.10

VII

Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd.

Velocity Following Setting ............................................................................................... 1647.9.11

Zero Velocity Window...................................................................................................... 1667.9.12

Notch Filter ....................................................................................................................... 1667.9.13

Torque Control ......................................................................................................................... 1697.10

CST Mode Running .......................................................................................................... 1697.10.1

Basic Setting of Torque Control ....................................................................................... 1697.10.2

Square Wave Torque Setting ............................................................................................ 1707.10.3

Sine Wave Setting............................................................................................................. 1717.10.4

Internal Torque Limit........................................................................................................ 1727.10.5

Torque Filter Setting ......................................................................................................... 1737.10.6

Current Regulator.............................................................................................................. 1767.10.7

Notch Filter Function........................................................................................................ 1787.10.8

Others ....................................................................................................................................... 1797.11

Inverter Rated Current ...................................................................................................... 1797.11.1

Encoder Resetting ............................................................................................................. 1797.11.2

Protection Thresholds for Over Current, Over Voltage and Under Voltage..................... 1807.11.3

Charge Relay Control Function ........................................................................................ 1817.11.4

Rotor Positioning Error Detection Sensitivity .................................................................. 1817.11.5

Flux weaking control ........................................................................................................ 1817.11.6

Rotor Compensation Angle Detection .............................................................................. 1827.11.7

Alarm Operation Switch ................................................................................................... 1857.11.8

Chapter 8 Adjustment ........................................................................................................................ 186

Basic Adjustment...................................................................................................................... 1868.1

About the Adjustment ....................................................................................................... 1868.1.1

Safety Instructions............................................................................................................. 1868.1.2

Regulator Adjustment............................................................................................................... 1878.2

Velocity regulator ............................................................................................................. 1888.2.1

Position regulator .............................................................................................................. 1928.2.2

Current Regulator.............................................................................................................. 1938.2.3

VIII

Tsino-Dynatron Electrical Technology (Beijing) Co., Ltd.

Acceleration Feedforward Torque Compensation Function ............................................. 1968.2.4

Filter Adjustment...................................................................................................................... 1968.3

Position Filters .................................................................................................................. 1978.3.1

Velocity Filters.................................................................................................................. 1988.3.2

Torque Filters.................................................................................................................... 2008.3.3

Notch Filter Function........................................................................................................ 2018.3.4

Mechanical Rigidity Reference ................................................................................................ 2048.4

Chapter 9 Maintenance ...................................................................................................................... 205

Safety Information.................................................................................................................... 2059.1

Fault Description ...................................................................................................................... 2059.2

Faults and Handling Suggestions.............................................................................................. 2069.3

Unrecoverable Faults ........................................................................................................ 2069.3.1

Recoverable Faults 0......................................................................................................... 2099.3.2

Recoverable Faults 1......................................................................................................... 2149.3.3

Recoverable Faults 2......................................................................................................... 2199.3.4

Alarm and Handling Suggestions ............................................................................................. 2259.4

Chapter 10 Appendix........................................................................................................................... 230

RC Series Parameter List.......................................................................................................... 23010.1

RC Series Object Dictionary .................................................................................................... 23510.2

Communication parameter objects.................................................................................... 23510.2.1

CiA402 Standard Parameters ............................................................................................ 24210.2.2

RC Series Parameter Objects ............................................................................................ 24510.2.3

RC Series Product Accessories................................................................................................. 25410.3

Standard Accessories ........................................................................................................ 25410.3.1

Optional Accessories......................................................................................................... 25610.3.2

Wire-Making Diagram for RS485 Debugging Lines........................................................ 25910.3.3

Indice

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