Parker FL20-CA Series User manual

FL20-CA series
Power Range 220V 0.05kW~4.5kW
380V/400V 1.0kW~37kW
Product Manual (English)
Version: N2018061903

FL20-CA Series
2
FOREWORD
Thanks for your selection of the servo drive. Meanwhile, please enjoy the comprehensive and
sincere service from our technical teams.
The user manual is used for providing the instructions of installation and debugging, operation
and use, fault diagnosis and attentions of routine maintenance. Please read this manual
carefully before installing and using. This manual will be supplied together with servo drive,
keep properly for further consulting and use.
If there are any questions in use and user cannot find any solutions in this manual, please
contact and consult with our company or distributors directly. Our professional technique
service team will offer the dedicated service to you. We are looking forward to your valuable
comment and suggestion.
Our company is committed to the improvement of products and function upgrade. The content
of user manual could be amended at any time without prior notice. The latest and detailed user
manual will be launched in corporate website.
Unpacking Inspection:
Please check as below carefully when unpacking:
Item to check
Description
Check if arrived goods are in complete
accord with the ordered product model?
Box contains ordered goods, user manual of
FL20 and accessories of servo drive.
Please use nameplates of servo drive and motor
to confirm.
Check if there is any damage of product?
Check the appearance of machine to see if there
is any damage during the transportation.
Please contact with our company or distributor in
time to solve if any damage or lost.
Check if the rotation axis of servo motor
running smoothly?
It is normal if the axis can be rotated gently by
hand, except for servo motor with brake.

FL20-CA Series
3
SAFETY SIGNS
The safety operation of the product depends on the correct installation and operation and
proper maintenance. Make sure to comply with the below safety signs in user manual:
Incorrect operation could trigger hazardous conditions, which may result
in personnel injury and death.
Incorrect operation could trigger hazardous conditions, which may result
in moderate to minor personnel injury, or device damage.
In addition, matters mentioned in this sign may result in severe
consequence sometimes.
The significance of identifier in the drive case as below:
High voltage, electrical shock hazard.
Heat surface, do not touch.
IEC STANDARD
IEC/EN 61800-5-1: 2007 Adjustable speed electrical power drive systems safety requirements.
IEC/EN 61800-3: 2004/ +A1: 2012 Adjustable speed electrical power drive system. Part 3:
EMC product standard including specific test methods.
Attention: Please connect electronic transformer sequence correctly, or may
lead to danger.
Electronic transformer wiring diagram
L1 L2 L3 N (Zero line)
Note: N terminal must be connected to zero line.
INPUT
R S T
OUTPUT
220VServo drive
L1
L2
L3
L1C
L2C
380V 220V
Danger
Caution
Danger

FL20-CA Series
4
NOTICE FOR USE:
Basic Terms
The user manual, unless special instructions, is used by the proper technical terms as below:
Servo drive: to drive and control servo motor.
Servo system: servo control system, which consist of servo drive, servo motor, instruction
control unit and peripheral devices.
User parameter: monitor or set the parameters related to servo drive, dividing into
monitoring parameter and setting parameter.
Monitoring parameter: read only, cannot modify.
Setting parameter: can be read and modified. Based on the function, it can be
divided into function parameter and data parameter.
EtherCAT
Common Term
Definition
CiA
CAN in Automation
CoE
CANopen over EtherCAT
DC
Distribute Clock: make all slave stations receive the same time
ECAT
Short for EtherCAT
ESC
EtherCAT Slave Controller
ESM
EtherCAT state machine
ETG
EtherCAT technology group
EtherCAT
Real-time industrial Ethernet standard
OD
Object dictionary
INIT
EtherCAT state machine：Initialization state
PREOP
EtherCAT state machine：Pre-operation state
SAFEOP
EtherCAT state machine：Safe operation state
OP
EtherCAT state machine：Operation state
SyncManager
Synchronous manager: control the access of application storage area
SDO
Service data object
PDO
Process data object
TXPDO
Transmit process data
RXPDO
Receive process data
APRD
Auto-increment physical read: Read slave storage area selected from the
salve position in network segment.
APWR
Auto-increment physical write: Write slave storage area selected from the
slave position in network segment.
APRW
Auto-increment physical read-write single slave
ARMW
Auto-increment physical multiple read-write slaves
BRD
Broadcast read: read the physical storage area of all network slaves.
FMMU
Fieldbus Memory Management Unit
LRD
Read single or multiple salve storage area selected from logic address.
LWR
Write data to slave area select from logic address.
LRW
Read or write data to the slave storage area selected from logic address.

FL20-CA Series
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Common Symbol
This manual is used symbols as below for convenient representation.
1. Mode description
PP：Profile Position mode
ALL：All modes
CSP：Cycle Sync. Position mode
PV：Profile Velocity mode
CSV：Cycle Sync. Velocity mode
PT：Profile Toque mode
CST：Cycle Sync. Torque mode
HM：Homing mode
2. Use of backslash (/)
Backslash is used in wiring circuit diagram, which is descripted for default logic of IO port.
For input signal, with backslash means that the input signal is enabled when input side on, so
default logic is positive logic; without backslash means that the input signal is enabled when
input side is off, so default logic is negative logic.
For output signal, with backslash means that the output side is always off, it is on only when
signal outputs; without backslash means that the output side is always on, it is off only when
signal outputs.
3. Others
NC: Not connected; N/A: No unit
XML File Configuration Instruction:
1. Please use proper “.XML” file to configure or install on the EtherCAT master before using
FL20-CAseries servo slave to connect to the EtherCAT master.
2. The version of “.XML” file can be identified by servo parameter So-60 (Index
2008h-3Dh). The “.XML” file can be read from servo slave and configured to master by
operating EtherCAT master. User also can ask the related personnel for the XMLfile.
Parameter entry-into-effect time
1. The entry-into-effect time of below parameters is 1000ms, which means that the
parameter will take 1000ms to take into effect after setting the parameter. These
parameters are Po500, Po501, Po503, Po504, Po506, So-20, So-21, So-22, So-24, and
So-62.
2. Excluding the parameters above, the entry-into-effect time of the rest FL20-CAservo
parameters is 100ms.

FL20-CA Series
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FOREWORD ........................................................................................................................................1
I. USER REMINDER.....................................................................................................................10
1.1 SAFETY PRECAUTIONS ...........................................................................................................10
1.2 STORAGE AND TRANSPORTATION..........................................................................................11
1.3 INSTALLATION.........................................................................................................................11
1.4 WIRING....................................................................................................................................12
1.5 MAINTENANCE AND INSPECTION..........................................................................................12
II. PRODUCT INFORMATION........................................................................................................13
2.1 SERVO DRIVE INTRODUCTION ...............................................................................................13
2.2 SERVO MOTOR INTRODUCTION .............................................................................................19
2.3 COMBINATION OF SERVO DRIVE AND SERVO MOTOR..........................................................24
2.4 INPUT FILTER MODELAND DIMENSIONS ...............................................................................24
III. INSTALLATION .......................................................................................................................34
3.1 SERVO DRIVE INSTALLATION.................................................................................................34
3.2 INSTALLATION OF SERVO MOTOR .........................................................................................40
IV. WIRING......................................................................................................................................48
4.1 MAIN CIRCUIT WIRING...........................................................................................................50
4.2 ENCODER WIRING...................................................................................................................57
4.3 INPUT/OUTPUT SIGNALWIRING.............................................................................................61
4.4 WIRING FOR SERVO DRIVE AND SERVO MOTOR...................................................................75
4.5 EMC...........................................................................................................................................80
V. KEYPAD OPERATION AND PARAMETERS........................................................................83
5.1 KEYPAD OPERATION...............................................................................................................83
5.2 PANEL DISPLAY.......................................................................................................................84
5.3 KEYPAD OPERATING PROCEDURE........................................................................................87
VI. COMMUNICATION FUNCTION INTRODUCTION.......................................................91
6.1 ETHERCATCOMMUNICATION..............................................................................................91
6.2 MODBUS COMMUNICATION..............................................................................................104
6.3INTRODUCTION OF COMMON BUS CONTROLMODE...........................................................112
VII. CONTROL MODE..................................................................................................................114
7.1 BEFORE RUNNING ......................................................................................................................118

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7.1.1 WIRING CHECKING.................................................................................................................118
7.1.2 POWER ON ...............................................................................................................................118
7.1.3 PARAMETERS SETTING...........................................................................................................119
7.1.4 SETTING THE OVERTRAVEL LIMIT FUNCTION....................................................................123
7.1.5 JOG OPERATION PROCEDURE ................................................................................................126
7.1.6 SEQUENCE CONTROL..............................................................................................................128
7.1.7 SETTING THE BRAKING ..........................................................................................................130
7.1.8 SETTING ELECTRONIC GEAR .................................................................................................135
7.1.9 POSITION COMMAND FILTER.................................................................................................138
7.1.10 POSITION COMMAND INHIBIT FUNCTION.............................................................................138
7.1.11 COMMAND PULSE CLEAR FUNCTION.....................................................................................139
7.1.12 FREQUENCY-DIVISION OUTPUT FUNCTION...........................................................................139
7.2 SERVO STATUS SETTING ..........................................................................................................144
7.2.1 CONTROLWORD 6040H............................................................................................................147
7.2.2 STATUS WORD 6041H................................................................................................................148
7.3 PROFILE POSITION MODE（PP）............................................................................................149
7.3.1 RELATED OBJECTS....................................................................................................................149
7.3.2 RELATED FUNCTIONS ...............................................................................................................151
7.3.3 PATH GENERATOR ....................................................................................................................151
7.3.4 RECOMMENDED CONFIGURATION ..........................................................................................154
7.4 PROFILE VELOCITY MODE（PV）..........................................................................................154
7.4.1 RELATED OBJECTS....................................................................................................................154
7.4.2 RELATED FUNCTIONS ...............................................................................................................156
7.4.3 RECOMMENDED CONFIGURATION ..........................................................................................156
7.5 PROFILE TORQUE MODE (PT)...................................................................................................156
7.5.1 RELATED OBJECTS....................................................................................................................157
7.5.2 RELATED FUNCTIONS ...............................................................................................................158
7.5.3 RECOMMENDED CONFIGURATION ..........................................................................................158
7.6 CYCLIC SYNCHRONOUS POSITION MODE (CSP)...................................................................159
7.6.1 RELATED OBJECT......................................................................................................................160
7.6.2 RELATED FUNCTION.................................................................................................................161
7.6.3 RECOMMENDED CONFIGURATION ..........................................................................................162
7.7 CYCLIC SYNCHRONOUS VELOCITY MODE（CSV）.............................................................162
7.7.1 RELATED OBJECTS....................................................................................................................162

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7.7.2 RELATED FUNCTIONS ...............................................................................................................164
7.7.3 RECOMMENDED CONFIGURATION ..........................................................................................164
7.8 CYCLIC SYNCHRONOUS TORQUE MODE（CST）................................................................164
7.8.1 RELATED OBJECTS....................................................................................................................164
7.8.2 RELATED FUNCTIONS ...............................................................................................................165
7.8.3 RECOMMENDED CONFIGURATION ..........................................................................................166
7.9 HOMING MODE (HM)..................................................................................................................166
7.9.1 RELATED OBJECTS....................................................................................................................166
7.9.2 RELATED FUNCTIONS ...............................................................................................................168
7.9.3 HOMING OPERATION................................................................................................................168
7.10 AUXILIARY FUNCTION..............................................................................................................209
VIII. OBJECT DICTIONARYAND PARAMETER LIST ...........................................................222
8.1 OBJECT DICTIONARY CLASSIFICATION......................................................................................222
8.2 COMMUNICATION PARAMETER (1000H~1FFFH).....................................................................223
8.3 MANUFACTURER DEFINED PARAMETERS................................................................2237
8.4 PARAMETERS DEFINED BY SUB-PROTOCOL (6000H).................................................................276
IX ADJUSTMENTS .............................................................................................................................288
9.1 SUMMARY .....................................................................................................................................288
9.2 INERTIA IDENTIFICATION............................................................................................................289
9.2.1 OFFLINE IDENTIFICATION .......................................................................................................290
9.2.2 ONLINE INERTIA IDENTIFICATION..........................................................................................293
9.3 GAIN ADJUSTMENT......................................................................................................................293
9.3.1 SUMMARY..................................................................................................................................293
9.3.2AUTOMATIC GAIN ADJUSTMENT.............................................................................................294
9.3.3 MANUAL GAIN ADJUSTMENT ..................................................................................................295
9.3.4 GAIN SWITCHOVER..................................................................................................................299
9.4 VIBRATION SUPPRESSION............................................................................................................301
9.4.1 VIBRATION SUPPRESSION FUNCTION .....................................................................................301
X. MAINTENANCE AND INSPECTION........................................................................................304
10.1ALARM AND TROUBLE SHOOTING AT START ...........................................................................304
10.1.1 POSITION CONTROL MODE.....................................................................................................304
10.2ALARM CODE AND POSSIBLE CAUSE.........................................................................................305

FL20-CA Series
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10.3ALARM CODE AND TROUBLE SHOOTING.................................................................................307
XI APPENDIX.......................................................................................................................................313
11.1 ENCODER CABLE SELECTION....................................................................................................313
11.1.1 ABSOLUTE ENCODER CABLE..................................................................................................313
11.1.2 INCREMENTAL ENCODER CABLE ...........................................................................................314
11.1.3 RESOLVER ENCODER CABLE..................................................................................................315
11.2 CONTROL CABLE........................................................................................................................315
11.3 POWER CABLE............................................................................................................................315
11.4 SHIELDED NETWORK CABLE.....................................................................................................316
11.5 OTHER CABLE ............................................................................................................................317
11.6 MOTOR AND MATCHED CABLE..................................................................................................318

FL20-CA Series
10
I. User Reminder
1.1 Safety Precautions
Important matters that users must abide by are explained in the chapter, which relates to
product confirm, storage, transportation, installation, wiring, operation, inspection, disposal,
and so on.
After the power off for at least 5 min and the power light is off, using multimeter to check the
voltage between B1 and N+ firstly, then the drive can be disassembled and installed. Otherwise,
residual voltage may cause electric shock.
Never touch the inside of servo drive, or electric shock may occur.
Process insulating treatment for the connecting part of power terminal.
The GND terminal of servo drive must be grounded, or electric shock may occur.
Do not damage or hard pull the cables, or make the cable bear overweight, otherwise, the inside
cable may be damaged or electric shock may occur, which also may cause the damage of the
product.
Unless the designated professional personnel. Do not disassemble or repair the drive oneself, or
electric shock may occur.
Follow the procedures required in user manual to test running.
In the connection status of servo motor and machinery, wrong operation may cause the damage
of machinery, sometimes even human injury occurs, so operate discreetly.
Except for special purpose, do not modify max speed value (Po002). Or machinery may
damage or human injury occurs.
Within a period time after power on and off, do not touch cooling fin, external braking unit, and
servo motor, because the temperature could be very high, which may cause scald.
Never touch the rotating part when servo motor running.
Put servo motor in the status that can be emergency stop anytime when running installed with
the matched machinery.
For safety purpose, install the emergency stop device in the machinery side.
The brake of servo motor is not used to make sure the safe stop device. Damage of equipment
may occur without installing stop device.
If momentary power loss then power recovers during the running process, unexpected restart of
machinery may occur, press emergency stop key when power off, and then proceed to operate
until the power supplies stably, meanwhile, do not close to the machinery to avoid hazard.
Take appropriate measures to ensure safety against an unexpected restart.
Do not modify products. Failure to observe this warning may result in personal injury and
damage to products.
Install servo drive, servo motor and external braking unit on the noncombustible.
MCTT (electromagnetic contactor) and NFB(no fuse breaker) must be installed between main
circuit power (L1,L3 for 1-phase, L1/R, L2/S, L3/T for 3-phase)。
Do not leave flammable foreign object such as oil, grease and conductive matter such as screw,
sheet metal, or may result in fire risk.
Danger

FL20-CA Series
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1.2 Storage and transportation
Do not store or install product in the following circumstance to avoid fire, electric shock or
damage:
·Location subjects to direct sunlight;
·Location that environment temperature exceeds the range specified in temperature
condition of storage and installation.
·Location that relative humidity exceeds the range specified in the humidity condition of
storage and installation.
·Location subjects to large temperature difference and dew formation;
·Location subjects to causticity gas, flammability gas and location with more dust, dirt,
salts and metal dust;
·Location subjects to drips of water, oil and drug; location that vibration or shock can be
transferred to subject.
Do not place any load exceeding the limit specified on the packing box；
Do not hold the product by the cables or motor shaft when transporting it;
1.3 Installation
Do not install the product in the environment of water, corrosive gases, inflammable gases,
or combustibles.
Do not step on or place a heave object on the product.
Do not block inlet or outlet ports, preventing foreign objects from entering the product.
Be sure to install the product in the correct direction.
Keep specified space between servo drive and cabinet surface and other devices.
Do not apply any strong impact.
Caution
Caution

FL20-CA Series
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1.4 Wiring
Do not connect a three-phase power supply to the U, V, or W output terminals.
Connect U, V and W of servo drive directly to U, V, and Wof servo motor, and avoid using
MCtt when connecting.
When DO output connecting to relay, pay attention to the polarity of FWD (fly-wheel
diode). Otherwise, damage of servo drive may occur, and signal outputs abnormally.
Firmly fasten and securely connect power supply terminals and motor output terminals.
Do not connect 220V servo drive directly to 400V voltage.
Do not bundle the power cable and signal cable together or passing through in the same
pipeline. Keep both cables separated by at least 30cm.
Use twisted-pair shielded wires or multi-core twisted pair shielded wires for signal and
encoder cables.
The maximum length is 3m for reference input cable and the maximum length is 15m for
encoder cable.
Take appropriate countermeasures to potential interference when using the servo system in
following locations.
Locations subjects to static electricity or other forms of noise.
Locations subjects to strong electromagnetic fields and magnetic fields.
Locations subjects to possible exposure to radioactivity.
Repair or maintain servo drive only after the CHARGE indication goes off.
1.5 Maintenance and Inspection
Repair or maintenance of the servo drive can be performed only by qualified personnel.
Cut off all connections of servo drive before the insulation resistor test of servo drive.
To avoid the discoloration or damage of cover, do not use petrol, diluent, ethyl alcohol,
acidic and alkaline detergent to clean.
When replacing the servo drive, resume operation only after transferring the previous user
parameters to the new servo drive or computer.
Do not attempt to change wiring while the power is ON.
Do not disassemble the servo motor.
Caution
Caution

FL20-CA Series
13
II. Product Information
2.1 Servo drive introduction
2.1.1 Nameplate and Model selection
M2
Product series
-C 152 T3 M2
M4
M5 420
x
210 x
234
218
x
100 x 203
380
x
185 x
215
20 series
M6 270 x 234
498 x
FL20
FL20
MM4 336150 203
x x
Product usage
Bus typeC
Power Structure
1-phase
220V
201
401
182
122
102
751
0.2KW
1
.8KW
1.2KW
1KW
0.75KW
0.4KW
M1
M2
Voltage
380V
T3
Frame size
（WxHxD)
F11
Communication
Modbus
External EtherCAT
External CANopen
F11
Note
EtherCAT and CANopencard is optional.
Please see below communication card name.
D2
Feedback type
Resolver
D2
D5
D51
14- core 2500 ppr
incremental encoder
8-core2500ppr
incremental encoder
B3
Brake unit
Built-in brake unitB1
B3 Built-in brake unit
Dynamic brake unit
Note:M1, MM 4 and above
servo drives do not have
built-in resistor
3-phase
380V
152
202
752
552
452
302
113
223
183
153
373
303
1.5KW
15KW
11KW
7.5KW
5.5KW
4.5KW
3KW
2 KW
37KW
30KW
22KW
18KW
3-phase
220V
302
452
3KW
4.5KW
201
401
182
122
102
751
0.2KW
1.8KW
1.2KW
1KW
0.75KW
0.4KW
M1
M2
M3
M2
M3
MM4
M 4
M6
M5
S2
T2
1-phase 220V
3- phase 220V
M3
195
x
48 x
175
M3(5.5kW)
195
x
75 x 175 218
x
100 x 203
M1
Bake type
B3
B3
B1
B1
B1
B1
B1
B1
B1
B3
3- phase
(No built-in braking resistor)
D52
D7
D71
4-core 23-bit
incremental encoder
4- core 17-bit
absolute encoder
4-core 23-bit
absolute encoder
500
101 0. 05kW 0.1KW
500
101 0.05kW 0.1kW
(No built-in braking resistor)
(No built-in braking resistor)
(No built-in braking resistor)
(No built-in braking resistor)
102 1.0KW
R3
Filter
EMC C3 levernote1
R3
... ...
A
Performance code
Torque enhanced
A
2.1.1 Servo drive naming rule
Note 1: For M1-MM4 structure, R3 is external filter, please refer to chapter 2.4 for external
filter model. For M4-M6 structure, R3 is optional built-in filter.

FL20-CA Series
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Parker Hannifin Corporation
www .Parker. com
Model
Input AC 3 PH V50 / 60 Hz
Output 3 PH A0～V
0 ~ 400Hz
FL20-CA T M
BAR CODE
Function
code F5D B3
AC
Matched
motor FMSA-F
202 3 3 5
380
6380
202 67ED
Fig 2.1.2 Servo drive nameplate
2.1.2 Connection to Peripheral Devices
Panel operator
Each part name of Servo drive
Serial communication port(CN1)
Encoder interface (CN2)
I/O signal terminal (CN3)
Signal terminals such as command input, monitor output etc.
Refer to 4.3- I/O signal wiring
Charge indicator
Light on when connecting main circuit power.
Light will keep on for a while after cutting off
the power, because there still is residual voltage
in the capacitance of main circuit.
Do not touch the power terminal to avoid electric
shock when light on.
Main-circuit power input terminal
AC input terminal of main circuit power supply.
Refer to 4.1- Main circuit wiring
Control power input terminal
AC input terminal of control power supply.
Refer to 4.1- Main circuit wiring
Servo motor terminal
Connected to the driving cable of servo motor.
Refer to 4.4.2-Main circuit wiring.
Braking resistor terminal
Built-in or external braking terminals.
Refer to 7.1.7-Energy-loss brake
Ground terminal
Ground connection of servo motor and servo drive.
Make sure to earthed to avoid electric shock.
DC choke terminal
Terminal connected to DC choke.
Refer to 4.1-Main circuit wiring
Used to serial communicate with PC, PLC, CNC etc.
Refer to 6.2-Communication specification
Connected with encoder of servo motor.
Refer to 4.2-encoder wiring
S-ON RUN ALM
Consist of 5 digital tube, 4 pressing keys and 2 LED.
It is used to set control parameter, display the status
of servo drive and operational monitoring etc.
Refer to 5.1- Operation instruction
Fig 2.1.3 Composition of servo drive

FL20-CA Series
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2.1.3 Servo drive specification
1）Electrical specification
a）220V servo drive
Item
M1
M2
M3
Drive model
101
201
401
751
102
122
182
302
452
Continuous
output current
(Arms)
1.2
1.5
2.8
3.5
4.5
6.0
8.0
12
17
Max output
current (Arms)
3.6
4.2
8.0
9.8
12.6
16.8
22.4
33.6
47.6
Main circuit
power
1-phase/3-phase AC 220V -15～+10% 50/60Hz
Control circuit
power
1-phase/3-phase AC 220V -15～+10% 50/60Hz
Brake mode
External brake resistor
Built-in brake resistor
b）380/400V servo drive
Item
M2
M3
MM4
M4
M5
M6
Drive model
102
152
202
302
452
552
752
113
153
183
223
303
373
Continuous
output current
(Arms)
3
3.5
6.0
8.0
10.0
12.0
20
23
32
38
44
60
75
Max output
current (Arms)
8.4
9.8
16
19.2
28
33
56
64
80
95
110
150
187
Main circuit
power
1-phase/3-phase AC 380/400V -10～+10% 50/60Hz
Control circuit
power
No control circuit
Brake mode
Built-in brake resistor
External brake resistor

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2）Technical specification
Item
Content
Input power
supply
S2/T2
220VAC -15~+10% 50/60Hz
T3
380/400VAC -10~+10% 50/60Hz
Control mode
1.Profile position control mode (PP)
2.Profile velocity mode (PV)
3.Profile torque mode (PT)
4.Homing mode (HM)
5.Cycle synchronous position mode (CSP)
6.Cycle synchronous velocity mode (CSV)
7.Cycle synchronous torque mode (CST)
Energy-loss brake
Built-in or External brake resistor (external brake alternative)
M1 frame and above 7.5kW drive: No built-in brake resistor.
Other models: Built-in brake resistor
Control
feature
Control type
PMSM motor
Response
frequency
PMSM servo: 1.2KHz
Baud rate
±0.01% (load 0~100%)
Speed fluctuation
PMSM: ±0.01% (VC, load fluctuation 0 to 100%)
Speed ratio
1: 10000
EtherCAT
specification
Communication
protocol
EtherCAT protocol
Support service
CoE (PDO, SDO)
Synchronous
method
DC distributed clock
Physical layer
100BASE-TX
Transmission
speed
100 Mbit/s (100Base-TX)
Duplex mode
Full duplex
Transmission
media
CAT5E class and above shielded cable
Transmission
distance
The distance between 2 nodes ＜100M
(good surroundings and cables)
Slave station
Max 65535 (lower than 100 in practical use)
Synchronization
jitter
＜1us
Minimum
communication
cycle
500us

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Input signal
Control input
Servo enabled, alarm reset, command pulse clear, command pulse
prohibited, forward prohibited, reverse prohibited, forward torque
limit, reverse torque limit, internal speed selection, internal
position triggered, origin/mechanical origin searching triggered,
zero speed clamp, probe etc.
Feedback
1.Absolute value encoder.
2.Incremental encoder.
3.Resolver
Output
signal
Control output
Servo ready, servo alarm, positioning reach, speed reach,
electromagnetic brake output, rotation detection, speed limit,
homing completed, torque limit etc.
Encoder signal
frequency
dividing output
1.Encoder Z phases open-collector output;
2.Phase -A, -B: frequency-division differential output（not
isolated, any frequency-division ratio）
Phase-Z is not frequency-division output.
3.Z pulse time extended function.
Position
control
Input mode
EtherCAT communication set, internal register,
high-speed pulse input
Electronic gear
ratio
1.0.01≤ B / A ≤100
2.Support 2 groups of electronic gear, which can be selected or
switchover by users.
Acceleration/Deceleration
The setting range of accel/decel time is 1～30000ms
(from 0 accelerated to rated speed)
Communication
1. RS485/RS232 communication port is connected with PC, to
set control parameters and to monitor servo.
2. Support EtherCAT bus.
Parameter
setting
Keypad
Use 4 keys to set parameter, which is displayed by 5 LEDs.
PC/PLC
PC/PLC software can be used to set servo parameter through
RS485 communication interface.
Monitor function
Output current, PN voltage, motor speed, motor feedback pulse,
motor feedback revolution, given pulse, given pulse error,
given speed, given torque etc.
Protection function
Main circuit overvoltage, undervoltage, overload, overcurrent,
encoder error, overspeed, abnormal pulse control command,
emergency stop, servo overheat, main-circuit power phase-loss,
regeneration brake error, position, over position control, lithium
battery alarm, Sync. loss, network initialization failure, sync.
cycle setting error, sync. cycle excessive error etc.
Applicable load inertia
Lower than 5 times of servo motor inertia.

FL20-CA Series
18
2.1.4 Connection to Peripheral Devices
断路器
制
动
电
阻
电磁抱闸继电器
（常开）
噪音滤波器
接触器
进线电抗器
直流电抗器
伺服电机
24V电源
保护电源线路用
1减少外部噪音进入电源线路
2降低驱动器对电网的干扰
接通或断开主电源电路
降低电源的高次谐波
基于485 通信接口
MODBUS协议
PC , PLC 等上位机
PLC ，CNC等
指令控制器
带电磁抱闸的
伺服电机专用
1提高输入功率因数
2减小电流脉动等
编码器接口
三相交流电源
网络接口俯视图
网口指示：
IN : EtherCAT 来自前级网络信号入口
OUT: EtherCAT去向后级网络信号出口
显示
面板
方向
S- ON RUN ALM
IN OUT
EtherCAT
Master
Controller OR
CAT5E类及以上
带屏蔽的网线
The price of GD50PIL120C6S is USD117.6, in stock.
3-phase AC power supply
Breaker
EMI filter
Contactor
Input choke
DC choke
Braking resistor
24V power supply
Electromagnetic
brake relay
(always on)
Special use for servo motor with
electromagnetic brake
CAT5E and above
shielded cable
plan form
Network
interface
Internet port remind:
IN/OUT
Panel
orientation
PC/PLC
RS485
communicati
on port
MODBUS
Encoder
interface
Command controller
(PLC,CNC)
Servo motor
Fig 2.1.4 Composition of servo system

FL20-CA Series
19
2.2 Servo motor introduction
2.2.1 Servo motor nameplate and model selection
FM F102
—B
SAC
67
Servo motor
FM series
Rotary speed
SA
MA
MB
LA
3000 rpm
2000 rpm
1500 rpm
1000 rpm
Rated Power
201
401
751
...
0.2KW
0.4KW
0.75 KW
...
C
D
Shaft type
Optical axis with C hole
Keyway with C hole
B
E
Optional
With brake,without fan
3
5
Flange Size
7
A
3Bus voltage
300V
60 flange
2
6 600V
Without brake or fan
80 flange
110flange
130flange
180flange
FeedbackType
F
G
S
T
H
R
Incremental type2500ppr
8- core type 2500ppr
Digital absolute type 17-bit
Digital absolute 23-bit
Resolver encoder
Digital incremental 23-bit
Fig 2.2.1 Servo motor naming rule (for 180 flange and below 180 flange motor)
FM R0110 E
17 D6 E
Servo Motor
FM series
Rotary Speed
15
17
20
1500rpm
1700rpm
2000rpm
Rated Power
0075
0110
0180
...
7.5KW
11KW
18KW
...
C
D
Shaft Type
Optical axis
Shaft with keyway
E
F
Flange Size
200 flange
6Bus Voltage
600V
F L
EBrake Type
No brake
F
N
Cooling Mode
Air cooling
Self cooling
S.LDesign Code
Design code
266 flange
Feedback Type
F
G
S
T
H
R
Incremental type 2500 ppr
8-core type 2500 ppr
Digital incremental 23-bit
Digital absolute type 17-bit
Digital absolute 23-bit
Resolver encoder
Fig 2.2.2 Servo motor naming rule (for 180 spigot and 250 spigot motor)

FL20-CA Series
20
Motor
nameplate
TYPE: FMMA-102F37ED
Bar code
Mn= 5Nm In= 5A
nN/nmax
= 2000/2300r/min
IMB 5
IP65
TH.CI .B
Motor Model
Product No.
Rated Current
BEMF
Rated Speed
Max Speed
InstallationMode Insulation Grade
Rated Torque
KE=68V/ 1000r/ min
Fig 2.2.3 Servo motor nameplate (for 180 flange and below 180 flange motor)
Magnetic filed angle:
PMSM
17-0110R6EEDFL
Un :380V Tn: 64N.m
Fan voltage :220V
Pn :11kw
Nn:1700r/min
Code:TH.CI. F IP54
In :23A
Date:
FM
Fig 2.2.4 Servo motor nameplate (for 180 spigot and 250 spigot motor)
【note】
1. Please refer to the chapter of 《3.2.4 servo motor dimension》for flange dimension.
2. For 180 spigot and 250 spigot motor, they can be installed by flanged mounting and base
mounting, user should select the mounting types by themselves.
2.2.2 Servo motor components