Tsino Dynatron CoolDrive Series User manual

CoolDrive Series
Smart 7 Servo Drive
User Manual
Model: CDS7S EtherCAT interface
Document Version: R1

Safety Instructions
1
Safety Instructions
Warning signs
This manual uses the following identification terms to explain what need to be followed in order to prevent personal injury
or death and equipment damages. These identification terms distinguish the degree of harm and damages that can occur during
misuse. The important contents in this manual are related to safety and must be strictly followed.
Danger
Indicates an imminently hazardous situation that is very likely to result in death, serious injury, or fire if not
avoided.
Warning
Indicates an imminently hazardous situation that is likely to result in death, serious injury, or fire if not
avoided.
Note
Indicates a hazardous situation that could result in medium or minor injury, fire, or equipment damages if not
avoided.

Safety Instructions
2
The following precautions must be followed to ensure safety
Overall Precautions
Danger
For your safe use of the product, carefully read this manual.
Keep this manual in a safe place and ensure that it is delivered to the end user.
Do not remove the cover, cables, connectors, and optional devices while the servo drive is powered on.
Failure to do so may result in electric shock, product shutdown, or burnout.
Warning
Use the power supply specifications (phase number, voltage, frequency, AC / DC) that are compatible with
the product.
Failure to do so may cause electric shock, product shutdown, or burnout.
Be sure to connect the ground terminal of the servo drive and servo motor to the ground electrode.
Failure to do so may cause electric shock or fire.
Do not disassemble, repair or modify the product.
Failure to do so may result in fire or malfunction.
Products that have been disassembled, repaired or modified are not covered by the warranty.
Note
The heat sink, regenerative resistor, external dynamic braking resistor, servo motor, etc. of the servo drive
may be at a high temperature when the power is on or when the power is just cut off. Take safety measures
such as mounting cover to avoid accidental contact between hands and components (cables, etc.).
Failure to do so may result in scald.
Do not damage or forcefully drag the cable do not cause excessive force on the cable; do not hang heavy
objects on the cable; do not let the cables be caught in the lid, cabinet door, etc.
Failure to do so may result in malfunction, damage, and electric shock.
The use of systems designed with safety functions must be performed by a technician familiar with the
relevant safety standards after understanding the contents of this manual.
Failure to do so may result in personal injury, product damages or other mechanical damages.
Do not use the product in locations exposed to water splashes, corrosion, flammable gases, or in the vicinity
of combustibles.
Failure to do so may cause electric shock or fire.
Do not use a servo drive that is damaged or with missing parts.
Set the emergency stop loop externally to ensure that the power is cut off and the operation is stopped
immediately in the event of an exception.
When used under poor power supply conditions, install protective devices to ensure that the input power is
supplied within the specified voltage fluctuation range.
Otherwise it will cause damages to the servo drive.

Safety Instructions
3
Note
Use a noise filter, etc. to reduce the effects of electromagnetic interference.
Otherwise, it will cause electromagnetic interference to electronic devices used near the servo drive.
Use specified combinations of the servo drive and servo motor.
Do not touch the servo drive with wet hands.
Otherwise it may cause malfunction.

Safety Instructions
4
Precautions when keeping the product
Note
Do not overload this product (follow the instructions).
Otherwise it may cause injury or malfunction.
Keep and install the product in places:
• Without direct sunlight
• Where the ambient temperature does not exceed the limits allowed for running this product
• Where the relative humidity does not exceed the limits allowed for running this product
• Where condensation does not occur due to rapid temperature changes
• Where there is no corrosive gas or flammable gas
• Without combustibles
• With less dust, salt and metal powder
• Free of splashing of water, oil and liquid medicine
• Where vibration or impact does not affect the product (the level of vibration or impact does not exceed the
limits allowed for running this product)
• That are not exposed to radiation
Keeping or installing the product in an environment other than the above may cause product failure or
damages.
Precautions when handling the product
Note
Use the correct method to handling the product according to its weight.
When operating the servo drive, pay attention to sharp parts such as the corners of the product.
Otherwise it may result in injury.
Do not overload this product (follow the instructions).
Otherwise it may cause injury or malfunction.
When transporting the servo drive, do not hold the front cover and the connector.
Otherwise it may cause the servo drive to fall.
Servo drives are precise equipment. Do not drop it or apply any strong impact on it.
This may cause its malfunction or damage.
Do not apply impact to the connector.
Otherwise it may result in poor connections or malfunctions.

Safety Instructions
5
Installation precautions:
Note
Install the servo drive in a position with sufficient bearing capacity according to the technical data.
Install the servo drive, servo motor, regenerative resistor and dynamic brake resistor on non-combustible
items.
Installing directly on or near combustible items may cause a fire.
When installing the product, make sure that specified distance is maintained between the servo drive and the
inner surface of the control cabinet and other machines .
Failure to do so may result in fire or malfunction.
Install the servo drive in the prescribed direction.
Failure to do so may result in fire or malfunction.
Do not step on this product or place heavy objects on it.
Otherwise it could result in malfunction, damages, or injury.
Prevent foreign objects from entering the servo drive.
It may cause a malfunction or fire.
Keep and install the product in places:
• Without direct sunlight
• Where the ambient temperature does not exceed the limits allowed for running this product
• Where the relative humidity does not exceed the limits allowed for running this product
• Where condensation does not occur due to rapid temperature changes
• Where there is no corrosive gas or flammable gas
• Without combustibles
• With less dust, salt and metal powder
• Free of splashing of water, oil and liquid medicine
• Where vibration or impact does not affect the product (the level of vibration or impact does not exceed the
limits allowed for running this product)
• That are not exposed to radiation
Keeping or installing this product in an environment other than the above may cause product failure or
damages.
Use this product in required conditions of its specifications.
Using this product in an environment that does not satisfy the conditions in its specifications may cause product
failure or damages.
Servo drives are precise equipment. Do not drop it or apply any strong impact on it.
This may cause its malfunction or damage.
The servo drive must be installed in the control cabinet.
Do not block the air inlet and air outlet of this product, and do not allow foreign objects to enter the inside of
this product.
Otherwise, this product might malfunction.

Safety Instructions
6
Precautions for wiring
Danger
Do not change the wiring when the power is on.
Otherwise it may result in electric shock or injury.
Warning
Wiring and wiring inspections need to be done by professional technicians.
Otherwise it may cause electric shock or malfunction.
Check the wiring and power supply carefully.
The output circuit may be short-circuited due to incorrect wiring or abnormal voltage. If the brake does not
operate when the above fault occurs, it may cause mechanical damages or personal injury.
Connect the power supply to the specified terminal.
It may cause a malfunction or fire.
Note
Wait until the power supply is shut down for at least 10 minutes before checking and making sure that the
charge indicator (CHARGE) turns off, and then perform wiring and inspections. Even if the power is turned off,
high voltage can still remain inside the servo drive. Therefore, do not touch the power terminal while the
charge indicator (CHARGE) is on.
Otherwise it may cause electric shock.
Perform wiring and trial operation according to the precautions and procedures described in this manual.
Failure of the servo drive caused by incorrect wiring of the brake circuit or abnormal voltage may cause
mechanical damages, personal injury, or even deaths.
Perform wiring correctly and reliably. The connector and pin arrangement of the connector vary by model. Be
sure to confirm the pin arrangement from the technical data of the model you are using.
Otherwise it may cause malfunction or false actions of the servo drive.
Be sure to tighten and securely connect the wire of the power terminals and the motor connection terminals
in accordance with specified method and specified torque.
Insufficient tightening may heat up the wires and terminal block due to poor contact and subsequently cause a
fire.
It is recommended to use the shielded twisted-pair wires or multi-core twisted-pair overall shielded wires as
the input/output signal cables and encoder cables.
When wiring the main circuit terminals of the servo drive, follow the following requirements.
• After the wiring of all components, including the main circuit terminals, is completed, turn on the power
supply of the servo drive.
•If the main circuit terminal is a connector, remove the connector from the main body of the servo drive before
wiring it.
• Only one wire can be inserted into one wire socket of the main circuit terminal.
• When inserting the wire, do not make the burr of the core wire contact the adjacent wire, so as to avoid short

Safety Instructions
7
Note
circuit.
Install a safety device such as a circuit breaker for wiring to prevent short-circuiting of external wiring.
Failure to do so may result in fire or malfunction.
Securely tighten the fixing screws and locking mechanism of the cable connector.
If it is not tightened sufficiently, the cable connector may come off during operation.
Do not use power cables and signal cables (input and output signal cables and encoder cables) in the same
casing, and do not bundle them together. When power cables and signal cables are not placed in separate
casings, keep a distance of 30 cm or more between them when wiring.
If they are too close, it may cause malfunction due to interference of weak electric wires.
The length of the cable should be considered when deciding where to install the encoder battery. In general,
install it near the encoder.
Precautions during operations
Warning
Before installing the servo drive on the supporting machine and running it, switch on/off and set up the
parameters suitable for this machine.
Operating the servo drive without these settings can cause unexpected mechanical movement, failure or
personal injury.
Do not make extreme changes to the parameter settings.
Otherwise it may cause unstable movement, mechanical damages or personal injury.
To avoid accidents, install a limit switch or stopper at the terminal of the movable part of the machine.
Otherwise it may result in mechanical damages or personal injury.
Perform a trial operation after fixing the servo motor and disconnecting it from the machine.
Otherwise it may result in injury.
When an alarm is triggered, the servo motor will stop due to inertia or stop by dynamic braking, depending
on the specifications and settings of the optional parts of the servo drive. The inertia-driven moving distance
varies depending on the moment of inertia and dynamic braking effect of the load. Therefore, confirm the
moving distance during trial operation and consider installing a suitable safety device on the machine side.
Do not enter the machine's moving range during operations.
Otherwise it may result in injury.
Do not touch the moving parts of the servo motor and machine during operations.
Otherwise it may result in injury.
Note
Design a safety system to ensure safety even in the event of a signal cable disconnection or other failures.
Use the dynamic braking function ONLY for emergency stop.
Otherwise, premature aging, malfunction and unexpected movements of the components will happen inside
the servo drive, resulting in equipment damages, burn damages, and personal injury.

Safety Instructions
8
Note
For the gain adjustment during system startup, check the torque waveform and speed waveform with a
measuring instrument to make sure that there is no vibration.
Vibrations due to high gains can cause premature damages to the servo motor.
After the trial operation of the machine and equipment is completed, use the debugging software to create a
parameter backup file of the servo drive. This backup file is used to reset the parameters when the servo
drive is replaced.
If the parameters are not backed up, it will cause malfunction after the faulty servo is replaced, and even
cause damages to drive mechanisms and devices.

Safety Instructions
9
Precautions during maintenance and inspection
Danger
Do not change the wiring when the power is on.
Otherwise it may result in electric shock or injury.
Warning
Wiring and wiring inspections need to be done by professional technicians.
Otherwise it may cause electric shock or malfunction.
Note
Wait until the power supply is shut down for at least 10 minutes before checking and making sure that the
charge indicator (CHARGE) turns off, and then perform wiring and inspections. Even if the power is turned off,
high voltage can still remain inside the servo drive. Therefore, do not touch the power terminal while the
charge indicator (CHARGE) is on.
Otherwise it may cause electric shock.
Before replacing the servo drive, back up the parameters of the servo drive. Copy the backed up parameters
to the new servo drive and confirm that the copy process has been completed correctly.
If the servo parameters are not backed up or the backup is not completed properly, it will cause malfunction
after replacing the servo drive, and even cause damages to machines and equipment.
Before operating on the servo drive body and wiring ports, take proper antistatic measures.
Otherwise it may cause damages to the machine.

Safety Instructions
10
Precautions for handling exceptions
Danger
When the safety devices (wiring circuit breakers and fuses) on the power cord are in action, switch on the
servo drive only after finding out and eliminating the events that result in their action. In addition, replace or
repair the servo drive and check the wiring to effectively eliminate the events that result in the actions of
safety devices.
Otherwise it may cause fire, electric shock, or injury.
Warning
When power is restored after a transient power outage, a sudden restart may occur. Use a mechanical design
that ensures that personal safety is not endangered during restart.
Otherwise it may result in injury.
Note
When a fault occurs, first eliminate the trigger event of the alarm to ensure safety. Then reset the alarm, or
turn the power back on and restart the servo drive.
Otherwise it could result in injury or mechanical damages.
Be sure to connect an electromagnetic contactor between the main circuit power supply and the main circuit
power terminal of the servo drive. The contactor is designed to cut off the power on the main circuit power
supply side of the servo drive.
If the servo drive fails, continued flow of large currents can cause a fire if the electromagnetic contactor is not
connected.
When a failure occurs, cut off the main circuit power supply.
Otherwise, failure of the regeneration circuit, etc., will cause the regeneration resistor to overheat and cause a
fire.
Install a residual current circuit-breaker for overload and short circuit protection, or a residual current
circuit-breaker for grounding short circuit protection combined with a wiring circuit breaker.
Otherwise, a ground short circuit, if it happens, can cause the servo drive failure or a fire.
The brake mechanism of the servo motor is insufficient to guarantee safety in a dangerous state of movement
under external force (gravity, etc.) when the power supply is cut off or abnormally stopped. Therefore, it is
important to set up an external brake mechanism to guarantee safety.

Safety Instructions
11
Precautions for discarding
Note
Follow common industrial waste disposal procedures when discarding this product. However, applicable laws
of each country shall prevail if such procedures conflict with these laws. If necessary, take measures such as
labeling and attaching notices to the final product.
Additional Notes
Note
The illustrations in this manual are representative legends or concept diagrams, which may differ from actual
wiring, circuits, and real objects.
Due to product improvements, specification changes and the attempt to make the use of this manual easier,
we may make changes to this manual from time to time.
We do not guarantee the quality of the products modified by customers. We shall not be liable for any
injuries or losses caused by customer modification of products.

1
Contents
Safety Instructions----------------------------------------------------------------- 1
Contents 1
Chapter 1 Preface ---------------------------------------------------------------- 8
1.1 Overview -----------------------------------------------------------------------------------------------8
Chapters --------------------------------------------------------------------------------------------------------------81.1.1
Identification Description------------------------------------------------------------------------------------------91.1.2
Parameter Description ---------------------------------------------------------------------------------------------91.1.3
1.2 Data Plate --------------------------------------------------------------------------------------------10
1.3 Model identification--------------------------------------------------------------------------------11
1.4 Specifications ---------------------------------------------------------------------------------------- 12
Universal Specifications of (Standard) CDS7S ---------------------------------------------------------------- 121.4.1
Technical Specifications of (Standard) CDS7S ---------------------------------------------------------------- 141.4.2
1.5 Name of Each Part of the Product ---------------------------------------------------------------15
1.6 Standards and Certification -----------------------------------------------------------------------20
Chapter 2 Installation-----------------------------------------------------------21
2.1 Precautions ------------------------------------------------------------------------------------------21
2.2 Inspection --------------------------------------------------------------------------------------------22
2.3 Dimensions-------------------------------------------------------------------------------------------23
T1 model dimensions--------------------------------------------------------------------------------------------- 232.3.1
T2 model dimensions--------------------------------------------------------------------------------------------- 242.3.2
T3 model dimensions--------------------------------------------------------------------------------------------- 252.3.3
T4 model dimensions--------------------------------------------------------------------------------------------- 262.3.4
2.4 Installation Direction and Space Requirements ----------------------------------------------- 27
Drive Installation Direction -------------------------------------------------------------------------------------- 272.4.1
Drive Installation Space Requirements------------------------------------------------------------------------ 28
2.4.2
Chapter 3 Wiring ----------------------------------------------------------------29

2
3.1 Precautions for Wiring ----------------------------------------------------------------------------- 29
Safety Requirements---------------------------------------------------------------------------------------------- 293.1.1
System Wiring Requirements ----------------------------------------------------------------------------------- 303.1.2
3.2 System Wiring Diagram ----------------------------------------------------------------------------31
3.3 Power Supply Wiring -------------------------------------------------------------------------------32
Ports and Functions----------------------------------------------------------------------------------------------- 323.3.1
Power Supply Wiring Diagram ---------------------------------------------------------------------------------- 343.3.2
Precautions for Power Supply Wiring-------------------------------------------------------------------------- 373.3.3
3.4 Motor Wiring ---------------------------------------------------------------------------------------- 38
Ports and Functions----------------------------------------------------------------------------------------------- 383.4.1
Motor Wiring Diagram ------------------------------------------------------------------------------------------- 413.4.2
Precautions for Motor Wiring----------------------------------------------------------------------------------- 443.4.3
3.5 EtherCAT Wiring-------------------------------------------------------------------------------------45
EtherCAT Introduction-------------------------------------------------------------------------------------------- 453.5.1
Port Symbols and Functions------------------------------------------------------------------------------------- 463.5.2
EtherCAT Wiring Diagram---------------------------------------------------------------------------------------- 463.5.3
Precautions for EtherCAT Wiring ------------------------------------------------------------------------------- 47
3.5.4
3.6 I/O Wiring -------------------------------------------------------------------------------------------- 48
Port Symbols and Functions------------------------------------------------------------------------------------- 483.6.1
I/O Port Wiring Diagram ----------------------------------------------------------------------------------------- 483.6.2
3.7 STO Wiring ------------------------------------------------------------------------------------------- 51
Port Symbols and Functions------------------------------------------------------------------------------------- 513.7.1
STO wiring diagram ----------------------------------------------------------------------------------------------- 513.7.2
Chapter 4 Settings ---------------------------------------------------------------53
4.1 Parameter overview--------------------------------------------------------------------------------53
Parameter Description:------------------------------------------------------------------------------------------- 534.1.1
Parameter setting method--------------------------------------------------------------------------------------- 554.1.2
Parameters Return to Factory Settings------------------------------------------------------------------------ 574.1.3
4.2 Drive Parameter Setting --------------------------------------------------------------------------- 59
4.3 Motor Parameters Settings -----------------------------------------------------------------------65
4.4 Encoder Parameters Settings ---------------------------------------------------------------------71

3
4.5 Position Control Settings -------------------------------------------------------------------------- 82
4.6 Velocity Control Setting --------------------------------------------------------------------------- 87
4.7 Torque Control Settings ---------------------------------------------------------------------------91
4.8 Servo Enabling Setting -----------------------------------------------------------------------------93
4.9 Setting of Stop Function ---------------------------------------------------------------------------95
4.10 EtherCAT Communication Setting --------------------------------------------------------------106
4.11 CiA402 Setting --------------------------------------------------------------------------------------107
Chapter 5 Running------------------------------------------------------------- 109
5.1 Precautions before running ----------------------------------------------------------------------109
5.2 Magnetic Pole Phase Angle Detection ---------------------------------------------------------109
Overview-----------------------------------------------------------------------------------------------------------1095.2.1
Associated parameters------------------------------------------------------------------------------------------1105.2.2
How to use --------------------------------------------------------------------------------------------------------1125.2.3
5.3 Trial Operation -------------------------------------------------------------------------------------116
Simple Velocity mode--------------------------------------------------------------------------------------------1175.3.1
Programming Velocity mode-----------------------------------------------------------------------------------1195.3.2
Sine Wave Velocity Mode---------------------------------------------------------------------------------------1225.3.3
Programming Torque Mode------------------------------------------------------------------------------------1235.3.4
Sine Wave Torque Mode----------------------------------------------------------------------------------------1255.3.5
Point-to-Point Position Mode----------------------------------------------------------------------------------1265.3.6
Chapter 6 Operation control block diagram------------------------------- 128
6.1 Overview --------------------------------------------------------------------------------------------128
6.2 Position Mode Control Block Diagram ---------------------------------------------------------129
6.3 Velocity Mode Control Block Diagram ---------------------------------------------------------130
6.4 Torque Mode Control Block Diagram ----------------------------------------------------------131
Chapter 7 Adjustment -------------------------------------------------------- 132
7.1 Overview of Servo Adjustment Function ------------------------------------------------------ 132
Servo adjustment functions ------------------------------------------------------------------------------------1327.1.1
Debugging aid-----------------------------------------------------------------------------------------------------1337.1.2

4
7.2 Safety Instructions--------------------------------------------------------------------------------- 134
Position limit setting ---------------------------------------------------------------------------------------------1347.2.1
Torque limit setting ----------------------------------------------------------------------------------------------1347.2.2
Following error limit setting ------------------------------------------------------------------------------------1347.2.3
7.3 Current Loop Setting ------------------------------------------------------------------------------135
Overview-----------------------------------------------------------------------------------------------------------1357.3.1
Associated parameters------------------------------------------------------------------------------------------1357.3.2
How to use --------------------------------------------------------------------------------------------------------1367.3.3
7.4 System parameter identification---------------------------------------------------------------- 137
Overview-----------------------------------------------------------------------------------------------------------1377.4.1
Associated parameters------------------------------------------------------------------------------------------1377.4.2
How to use --------------------------------------------------------------------------------------------------------1387.4.3
Real-time identification & real-time automatic adjustment----------------------------------------------1427.4.4
7.5 Stiffness mode gain adjustment-----------------------------------------------------------------143
Overview-----------------------------------------------------------------------------------------------------------1437.5.1
Associated parameters------------------------------------------------------------------------------------------1437.5.2
Invalid parameters in the stiffness mode --------------------------------------------------------------------1447.5.3
How to use --------------------------------------------------------------------------------------------------------1457.5.4
7.6 Basic mode gain adjustment---------------------------------------------------------------------147
Overview-----------------------------------------------------------------------------------------------------------1477.6.1
Associated parameters------------------------------------------------------------------------------------------1477.6.2
Invalid parameters in the basic mode ------------------------------------------------------------------------1487.6.3
How to use --------------------------------------------------------------------------------------------------------1487.6.4
7.7 adaptive gains switching -------------------------------------------------------------------------150
Overview-----------------------------------------------------------------------------------------------------------1507.7.1
Associated parameters------------------------------------------------------------------------------------------1517.7.2
How to use --------------------------------------------------------------------------------------------------------1527.7.3
7.8 Gain 3 ------------------------------------------------------------------------------------------------154
Overview-----------------------------------------------------------------------------------------------------------1547.8.1
Associated parameters------------------------------------------------------------------------------------------1547.8.2
How to use --------------------------------------------------------------------------------------------------------1547.8.3
7.9 Feed-forward ---------------------------------------------------------------------------------------156

5
Overview-----------------------------------------------------------------------------------------------------------1567.9.1
Velocity feedforward --------------------------------------------------------------------------------------------1567.9.2
Acceleration feedforward---------------------------------------------------------------------------------------1577.9.3
Acceleration feedforward exceptions correction-----------------------------------------------------------1587.9.4
No Position Deviation Control ---------------------------------------------------------------------------------1597.9.5
7.10 Lowpass filters--------------------------------------------------------------------------------------160
Overview-----------------------------------------------------------------------------------------------------------1607.10.1
Associated parameters------------------------------------------------------------------------------------------1617.10.2
How to use --------------------------------------------------------------------------------------------------------1627.10.3
7.11 Vibration suppression-----------------------------------------------------------------------------163
Overview-----------------------------------------------------------------------------------------------------------1637.11.1
Associated parameters------------------------------------------------------------------------------------------1647.11.2
How to use --------------------------------------------------------------------------------------------------------1667.11.3
7.12 Compensation functions--------------------------------------------------------------------------168
Overview-----------------------------------------------------------------------------------------------------------1687.12.1
Friction torque compensation ---------------------------------------------------------------------------------1687.12.2
Static balance torque compensation -------------------------------------------------------------------------1707.12.3
Static position disturbance compensation-------------------------------------------------------------------1717.12.4
Load disturbance compensation-------------------------------------------------------------------------------1717.12.5
Chapter 8 Application functions -------------------------------------------- 173
8.1 Overview of servo application functions ------------------------------------------------------173
8.2 Electronic gear ratio -------------------------------------------------------------------------------174
Overview-----------------------------------------------------------------------------------------------------------1748.2.1
Associated parameters------------------------------------------------------------------------------------------1748.2.2
How to use --------------------------------------------------------------------------------------------------------1758.2.3
Example of electronic gear ratio calculation ----------------------------------------------------------------1768.2.4
8.3 Quadrant projection suppression---------------------------------------------------------------177
Overview-----------------------------------------------------------------------------------------------------------1778.3.1
Associated parameters------------------------------------------------------------------------------------------1778.3.2
How to use --------------------------------------------------------------------------------------------------------1788.3.3
8.4 Infinite position mode ----------------------------------------------------------------------------179
Overview-----------------------------------------------------------------------------------------------------------1798.4.1

6
Associated parameters------------------------------------------------------------------------------------------1808.4.2
How to use --------------------------------------------------------------------------------------------------------1818.4.3
8.5 Field weakening control mode ------------------------------------------------------------------187
Overview-----------------------------------------------------------------------------------------------------------1878.5.1
Associated parameters------------------------------------------------------------------------------------------1878.5.2
How to use --------------------------------------------------------------------------------------------------------1888.5.3
8.6 Position comparison output ---------------------------------------------------------------------189
Overview-----------------------------------------------------------------------------------------------------------1898.6.1
Associated parameters------------------------------------------------------------------------------------------1898.6.2
How to use --------------------------------------------------------------------------------------------------------1908.6.3
8.7 Touch probe ----------------------------------------------------------------------------------------192
Overview-----------------------------------------------------------------------------------------------------------1928.7.1
Associated parameters------------------------------------------------------------------------------------------1928.7.2
How to use --------------------------------------------------------------------------------------------------------1948.7.3
8.8 Dynamic braking -----------------------------------------------------------------------------------198
Overview-----------------------------------------------------------------------------------------------------------1988.8.1
Associated parameters------------------------------------------------------------------------------------------1988.8.2
How to use --------------------------------------------------------------------------------------------------------1998.8.3
8.9 Digital input and output function ---------------------------------------------------------------201
Overview-----------------------------------------------------------------------------------------------------------2018.9.1
Relevant Parameters---------------------------------------------------------------------------------------------2018.9.2
How to use --------------------------------------------------------------------------------------------------------2038.9.3
Chapter 9 Monitoring--------------------------------------------------------- 204
9.1 Panel monitoring-----------------------------------------------------------------------------------204
Overview-----------------------------------------------------------------------------------------------------------2049.1.1
Relevant Parameters---------------------------------------------------------------------------------------------2059.1.2
General operations of panel monitoring ---------------------------------------------------------------------2069.1.3
Panel monitoring - display selection menu ------------------------------------------------------------------2079.1.4
Panel monitoring - operating data ----------------------------------------------------------------------------2089.1.5
Panel monitoring - communication state --------------------------------------------------------------------2109.1.6
Panel monitoring - device information -----------------------------------------------------------------------2109.1.7
Panel monitoring - historical alarm ---------------------------------------------------------------------------2129.1.8

7
Panel monitoring - current alarm or warning ---------------------------------------------------------------2129.1.9
9.2 Debugging software monitoring ----------------------------------------------------------------213
Overview-----------------------------------------------------------------------------------------------------------2139.2.1
Debugging software monitoring - device information-----------------------------------------------------2139.2.2
Debug software monitoring - state information------------------------------------------------------------2149.2.3
Debugging software monitoring - operating data ----------------------------------------------------------2159.2.4
Debugging software monitoring - Alarm and warning information -------------------------------------2199.2.5
Debugging software monitoring - IO state-------------------------------------------------------------------2219.2.6
Debugging software monitoring - data trace----------------------------------------------------------------2229.2.7
Chapter 10 Maintenance ----------------------------------------------------- 225
10.1 Maintenance overview ---------------------------------------------------------------------------225
View alarm and warning records ------------------------------------------------------------------------------22510.1.1
Settings of relevant parameters -------------------------------------------------------------------------------22510.1.2
10.2 Alarm-------------------------------------------------------------------------------------------------233
Alarm list-----------------------------------------------------------------------------------------------------------23310.2.1
Alarm configuration----------------------------------------------------------------------------------------------23710.2.2
Troubleshooting --------------------------------------------------------------------------------------------------23910.2.3
10.3 Warning----------------------------------------------------------------------------------------------265
Warning list--------------------------------------------------------------------------------------------------------265
10.3.1
Warning handling methods-------------------------------------------------------------------------------------26610.3.2
Chapter 11 Safety features--------------------------------------------------- 271
11.1 Overview --------------------------------------------------------------------------------------------271
11.2 Definition of STO function------------------------------------------------------------------------271
11.3 Implementation of STO function----------------------------------------------------------------272
11.4 Safety function risk assessment -----------------------------------------------------------------272
11.5 STO action sequence ------------------------------------------------------------------------------273
11.6 STO fault detection monitoring (EDM)---------------------------------------------------------273

Preface
8
Chapter 1 Preface
Overview1.1
Chapters1.1.1
The main contents of each chapter of this manual are described below.
Number
Chapter name
Overview of contents
1
Preface
Introduces the main methods of using this manual, product specifications and models,
and related standards and certifications
2
Installation
Introduces the dimensions and installation requirements of each servo drive model.
3
Wiring
Introduces the wiring methods and precautions of each port of the servo drive.
4
Settings
Introduces the method of setting the parameters of the servo drive and the setup and
operations of basic functions.
5
Running
It Introduces the operation method of the servo drive test run function.
6
Operation
control block
diagram
Introduces the control block diagram of each control mode of the servo drive
7
Adjustment
Introduces the adjustment method of servo drive control parameters and frequently
used servo adjustment functions
8
Application
functions
Introduces the main applications of the servo drive
9
Monitoring
Introduces how to monitor the running state of the servo drive through the body panel
and debugging software
10
Maintenance
Introduces the fault and alarm information of the servo drive and related processing
methods.
11
Safety features
Introduces the safety features supported by servo drives