M2DC Series User Manual PDF
M2DC Series User Manual PDF
M2DC Series User Manual PDF
DC Servo System
Hardware Manual
Rev. 1.1
Table of Contents
1 Introduction................................................................................................................... 8
1.1 About This Manual ...........................................................................................................8
1.2 Documentation Set for the M2DC Series Servo Drive.....................................................8
1.3 Safety...............................................................................................................................8
1.4 Safety Symbols................................................................................................................8
1.5 Safety Instructions............................................................................................................9
1.6 Guideline for Parts Replacement.....................................................................................9
1.6.1 Parts Replacement..................................................................................................9
1.6.2 Bearing Life...........................................................................................................10
1.7 Standards Compliance....................................................................................................11
2 Product Description....................................................................................................... 12
2.1 System Checklist.............................................................................................................12
2.2 Servo Drive Model Introduction.......................................................................................12
2.2.1 Drive Name Plate Description................................................................................12
2.2.2 Drive Model Description.........................................................................................12
2.2.3 Drive specifications................................................................................................13
2.2.4 Drive Dimensions (Unit: mm).................................................................................14
□ M2DC-20D..................................................................................................................14
2.3 Servo Motor Model Introduction......................................................................................15
2.3.1 Motor Name Plate Description...............................................................................15
2.3.2 Motor Model Description........................................................................................15
2.3.3 Motor Specifications and Dimensions....................................................................16
2.3.3.1 40mm Specifications and Dimensions......................................................................16
2.3.3.2 60mm Specifications and Dimensions......................................................................18
2.3.3.3 80mm Specifications and Dimensions......................................................................20
2.4 Servo Drive and Servo Motor Combinations .................................................................23
3 Installation..................................................................................................................... 24
3.1 Storage Conditions..........................................................................................................24
3.2 Installation Conditions.....................................................................................................24
3.3 Installation Space............................................................................................................25
3.4 Motor Installation.............................................................................................................26
4 Connections and Wiring................................................................................................ 27
4.1 Connecting to Peripheral Devices...................................................................................27
4.1.1 System Configuration.............................................................................................27
4.1.2 Servo Drive Connectors and Terminals..................................................................28
4.1.3 Connections and Wiring Notes...............................................................................28
4.1.4 Wiring Methods for P1 Power Supply Connector...................................................29
4.2 Wiring to the P2 Connector ............................................................................................30
4.2.1 Motor Power Cable Configuration .........................................................................30
4.2.2 Motor Power Cable Connector(-CD Winding ,6Amps)...........................................30
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Revision History
Document History Date Remarks
v1.0 2016.06.20
v1.1 2018.04.20 Add M2DC-20D drvie
Disclaimer
The information in this manual was accurate and reliable at the time of its release. MOONS’ reserves the
right to change the specifications of the product described in this manual without notice at any time.
Trademarks
All marks in this manual are the property of their respective owners
Customer Service
MOONS’ is committed to delivering quality customer service and support for all our products. Our goal is
to provide our customers with the information and resources required in such a way that they are available
without delay, if and when they are needed.
In order to serve you in the most effective way, we recommend that you contact your local sales
representative for order status and delivery information, product information and literature, and application
and field technical assistance. If you are unable to contact your local sales representative for any reason,
please use the most relevant of the contact details below:
For technical support, contact: [email protected]
or call +86-400-820-9661.
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1 Introduction
1.3 Safety
Only qualified persons may perform the installation procedures. The following explanations are for
procedures that must be observed in order to prevent harm to people and damage to property.
The M2DC utilizes hazardous voltages. Be sure the drive is properly grounded.
Before you install the M2DC, review the safety instructions in this manual.
Failure to follow the safety instructions may result in personal injury or equipment damage.
Caution
Protective earth
Wiring
DO NOT connect any power supply to the U, V, or W terminals.
Install the encoder cable in a separate conduit from the motor power cable to avoid signal noise.
Use multi-stranded twisted-pair wires or multi-core shielded-pair wires for signal and encoder cables.
A hazardous voltage charge may still remain in the drive even after the power has been removed - Do not touch
the terminals when the charge led is still lit.
Please observe the specified voltage(s).
Make sure both the drive and the motor connect to a class 3 ground.
Please ensure the grounding wires are securely connected before power up.
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2 Product Description
www.moons.com.cn
M2 DC SERVO
DRIVE
Serial No.
09450001
Model No. Model No. M2DC-6D05X
Serial No.
INPUT OUTPUT
Voltage VOLT. 18-70VDC 0-70VDC
Output Current F.L.C 6A
Ambient temperature: 0°C to 50°C (if the ambient temperature of the servo drive is
Temperature greater than 40°C, please install the drive in a well-ventilated location)
Storage temperature: -20°C to 65°C
Environment Humidity Both operating and storage: 10 to 85%RH or less
Altitude Lower than 1000m
Vibration 5.88m/s2 or less, 10 to 60Hz (do not use continuously at resonance frequency)
Control method IGBT PWM Sinusoidal wave drive
Encoder feedback 2500 ppr optical encoder with shared commutation signals
8 optically isolated multi function inputs, 5-24VDC, 20mA
Control Input
2 optically isolated multi function high speed inputs, 5-24VDC, 20mA
Signal
Output 6 optically isolated multi function outputs, 5-24VDC, 20mA
I/O Analog signal Input 2 inputs (12Bit A/D: 2 input)
1 photocoupler input compatible with both line driver I/F and open collector I/F
Input
Pulse signal 1 line receiver input compatible with line driver I/F
Output 3 line driver outputs, 1 open collector output
Mini USB Connection with PC or 1 : 1 communication to a host.
RS-232 RS-232 communication
Communication RS-485 RS-485 communication & Modbus/RTU
CANbus CANopen communication
Ethernet EtherNET/IP or eSCL
Front panel 4 keys (MODE, UP, DOWN, SET), LED (5-digit)
Regeneration Resistor Built-in regenerative resistor (NOT available in M2DC-20D type)
Dynamic Brake Built-in
(1) Position mode (2) Analog velocity mode (3) Analog position mode (4) Position
Control modes mode (5) Velocity change mode (6) Command torque mode (7) Command velocity
mode (8) Position tables
(1) Servo-ON input (2) Alarm clear input (3) CW/CCW Limit
(4) Pulse& Direction or CW/CCW input (5) Gain Switch
Control inputs
(6) Control mode Switch (7) Pulse Inhibition (8) Gear switch
(9) Velocity Change mode (10) Analog input (11) General input
(1) Alarm output (2) Servo-Ready output (3) External brake release
(4) Speed reached output (5) Torque reached output
Control outputs
(6) Position reached output (7) TachOut (8) Servo-on status output
(9) General output
Certification RoHS
M2DC-6D0 0.59kg
Drive Mass M2DC-10D 0.59kg
M2DC-20D 0.61kg
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28.5 97 41
5
139.5
150
6
R2.5 6.5
□ M2DC-20D
28.5 95 41
6
4.5
5
139.5
150
165
R2.5 5 40
7
Mode NO.
Series NO.
Input
Ouyput Power
Rated Torque,speed
Max. Speed
Ins.Class
S M 06 02 F E4 - K C F - N N V **
Servo Motor
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Insulation Class Class B (130)
IP65 (except shaft through hole and cable end
IP rating
connector)
Indoors, away from direct sunlight, corrosive
Installation location
gas, flammable gas
Ambient temperature Operating 0 to 40°C, Storage -20 to 65°C
Ambient humidity 85%RH or lower (free from condensation)
Altitude (maximum) Operating 1,000m
Vibration Resistance 49 m/s2
Rotor Poles 8
40mm Series
Series SM0401 - 60 Watt SM0402 - 100 Watt
Base Model Number
(with 2500 PPR incremental encoder non-sealed plastic SM0401HE4-KCD-*NV SM0402FE4-KCD-*NV
connectors, no brake)
DC bus(VDC) 36 60
Rated Output Power watts 60 100
Rated Speed rpm 3000 3000
Max. Mechanical Speed rpm 6000 6000
Rated Torque Nm 0.19 0.32
Continuous Stall Torque Nm 0.2 0.34
Peak Torque Nm 0.48 0.93
Rated Current A (rms) 5.7 5.2
Continuous Stall Current A (rms) 6 5.6
Peak Current A (rms) 14.3 15.6
Voltage Constant ±5% V (rms) / K rpm 2.1 3.8
Torque Constant ±5% Nm / A (rms) 0.035 0.061
Winding Resistance (Line-Line) Ohm ±10% @25°C 0.36 0.48
Winding Inductance (Line-Line) mH (typ.) 0.39 0.58
Inertia (with encoder) kg m^2 0.0232 X 10-4 0.0428 X 10-4
Inertia - With Brake Option kg m^2 0.0298 X 10-4 0.0494 X 10-4
Heat Sink Size mm 120 x 120 x 5 Aluminum 120 x 120 x 5 Aluminum
Shaft Load - Axial (max.) 50 N / 11 lb 50 N / 11 lb
Shaft Load - Radial (End of Shaft) (max.) 50 N / 11 lb 60 N / 13.5 lb
Weight (with std. encoder) 0.4 kg / 0.9 lb 0.55 kg / 1.2 lb
Weight - With Brake Option 0.65 kg / 1.4 lb 0.8 kg / 1.8 lb
40mm Dimensions
Motor Dimensions – No Brake: mm Motor Dimensions – Brake: mm
300 50
300 50
300 50
300 50
300 50
58
- 0.009
- 0.009
53
53.4
0
0
0.04 A 0.04 A
8 h6
8 h6
5 46 M3 8 5 46 3
- 0.021
- 0.021
0.5 0.5
58
0
0
30 h7
30 h7
-KEY
4- 4.2
-KEY
4- 4.2
Oil seal Oil seal
- 0.025
- 0.025
+0.20 +0.20
2.5 0.2 9.2 - 0.13 2.5 0.2 9.2 - 0.13
0
A
0
A
25 1 L1 1 40
3 h9
25 1 L1 1 40
0.04 A 3 h9 0.04 A
Torque (Nm)
Torque (Nm)
0.3 0.3 0.3
0.2 0.2 0.2
0.1 0.1 0.1
0.0 0.0 0.0
0 2,000 4,000 6,000 0 2,000 4,000 6,000 0 2,000 4,000 6,000
Speed (rpm) Speed (rpm) Speed (rpm)
1 1 1
0.9 0.9 0.9
0.8 0.8 0.8
0.7 0.7 0.7
Torque (Nm)
Torque (Nm)
Torque (Nm)
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Insulation Class Class B (130)
IP65 (except shaft through hole and cable end
IP rating
connector)
Indoors, away from direct sunlight, corrosive
Installation location
gas, flammable gas
Ambient temperature Operating 0 to 40°C, Storage -20 to 65°C
Ambient humidity 85%RH or lower (free from condensation)
Altitude (maximum) Operating 1,000m
Vibration Resistance 49 m/s2
Rotor Poles 8
60mm Series
Series SM0601 - 200 Watt SM0602 - 400 Watt
Base Model Number
SM0601 SM0601 SM0602 SM0602
(with 2500 PPR incremental encoder non-sealed plas-
GE4-KCF-*NV EE4-KCF-*NV FE4-KCD-*NV GE4-KCD-*NV
tic connectors, no brake)
DC Bus(VDC) 48 80 60 48
Rated Output Power watts 200 200 400 400
Rated Speed rpm 3000 3000 3000 3000
Max. Mechanical Speed rpm 6000 6000 6000 6000
Rated Torque Nm 0.64 0.64 1.26 1.27
Continuous Stall Torque Nm 0.68 0.68 1.27 1.27
Peak Torque Nm 1.9 1.9 3.4 3.4
Rated Current A (rms) 10 5.2 10 12
Continuous Stall Current A (rms) 10 5.5 10 12
Peak Current A (rms) 30 15.6 30 30
Voltage Constant ±5% V (rms) / K rpm 4.1 7.9 7.4 6.3
Torque Constant ±5% Nm / A (rms) 0.065 0.125 0.123 0.103
Winding Resistance (Line-Line) Ohm ±10% @25°C 0.192 0.67 0.25 0.214
Winding Inductance (Line-Line) mH 0.56 2 0.84 0.6
-4 -4 -4
Inertia (with encoder) kg m^2 0.165 X 10 0.165 X 10 0.272 X 10 0.272 X 10-4
-4 -4 -4
Inertia - With Brake Option kg m^2 0.22 X 10 0.22 X 10 0.326 X 10 0.326 X 10-4
180 x 180 x 5 180 x 180 x 5 180 x 180 x 5 180 x 180 x 5
Heat Sink Size mm
Aluminum Aluminum Aluminum Aluminum
Shaft Load - Axial (max.) 70 N / 15 lb 70 N / 15 lb 70 N / 15 lb 70 N / 15 lb
Shaft Load - Radial (End of Shaft) (max.) 200 N / 45 lb 200 N / 45 lb 240 N / 54 lb 240 N / 54 lb
Weight (with std. encoder) 1.1 kg / 2.3 lb 1.1 kg / 2.3 lb 1.4 kg / 3.1 lb 1.4 kg / 3.1 lb
Weight - With Brake Option 1.6 kg / 3.5 lb 1.6 kg / 3.5 lb 1.9 kg / 4.2 lb 1.9 kg / 4.2 lb
60mm Dimensions
Motor Dimensions – No Brake: mm Motor Dimensions – Brake: mm
300 ±50
300 ±50
300 ±50
0.04 A
300 ±50
300 ±50
0.04 A 0
50 h7 - 0.025
M5 10
0 M5 10 0.04 A
50 h7 - 0.025
4- 5.5
0.04 A 4- 5.5
-Key
70
- 0.011
Key
70
0
-0.03
-0.03
14 h6
A
0
5 h9
5 h9
74
- 0.011
0
A
14 h6
Torque (Nm)
Torque (Nm)
4
Torque (Nm)
1.4 1.4
3.5
1.2 1.2
Torque (Nm)
3
1 1
2.5
0.8 0.8 2
0.6 0.6
1.5
0.4 0.4 1
0.2 0.2 0.5
0 0 0
0 2,000 4,000 6,000 0 2,000 4,000 6,000 0 2,000 4,000 6,000
Speed (rpm) Speed (rpm) Speed (rpm)
Torque (Nm)
Torque (Nm)
3 3 3
2.5 2.5 2.5
2 2 2
1.5 1.5 1.5
1 1 1
0.5 0.5 0.5
0 0 0
0 2,000 4,000 6,000 0 2,000 4,000 6,000 0 2,000 4,000 6,000
Speed (rpm) Speed (rpm) Speed (rpm)
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Insulation Class Class B (130)
IP65 (except shaft through hole and cable end
IP rating
connector)
Indoors, away from direct sunlight, corrosive
Installation location
gas, flammable gas
Ambient temperature Operating 0 to 40°C, Storage -20 to 65°C
Ambient humidity 85%RH or lower (free from condensation)
Altitude (maximum) Operating 1,000m
Vibration Resistance 49 m/s2
Rotor Poles 8
80mm Series
Series SM0801 - 300 Watt SM0802 - 300 Watt
Base Model Number
SM0801 SM0802
(with 2500 PPR incremental encoder non-sealed plastic
GE4-KCF-*NV EE4-KCF-*NV
connectors, no brake)
DC Bus(VDC) 48 80
Rated Output Power watts 300 550
Rated Speed rpm 3000 3000
Max. Mechanical Speed rpm 6000 5500
Rated Torque Nm 0.95 1.8
Continuous Stall Torque Nm 1 1.9
Peak Torque Nm 2.3 4.6
Rated Current A (rms) 10 10
Continuous Stall Current A (rms) 10.6 10.7
Peak Current A (rms) 25 28
Voltage Constant ±5% V (rms) / K rpm 6.2 11.2
Torque Constant ±5% Nm / A (rms) 0.096 0.176
Winding Resistance (Line-Line) Ohm ±10% @25°C 0.188 0.22
Winding Inductance (Line-Line) mH 0.85 1.25
Inertia (with encoder) kg m^2 0.45 X 10-4 0.63 X 10-4
Inertia - With Brake Option kg m^2 0.53 X 10-4 0.71 X 10-4
Heat Sink Size mm 240 x 240 x 6 Aluminum 240 x 240 x 6 Aluminum
Shaft Load - Axial (max.) 90 N / 20 lb 90 N / 20 lb
Shaft Load - Radial (End of Shaft) (max.) 270 N / 60 lb 270 N / 60 lb
Weight (with std. encoder) 1.7 kg / 5.8 lb 2.2 kg / 5.8 lb
Weight - With Brake Option 2.5 kg / 7.6 lb 3.0 kg / 7.6 lb
80mm Dimensions
Motor Dimensions – No Brake: mm Motor Dimensions – Brake: mm
Motor Feedback
30
0±
30
50
0
30
±5
±50
0
300 ±50
±5
0
0.04 A
300
0 M5 10
70 h7 - 0.03
0 M5 10 36 0.04 A 4- 6.5
Ø 70 h7 - 0.03
9.5
4- Ø 6.5 0
19 h6
45°
- 0.013
0
Ø 19 h6 - 0.013 45° 94
94 90
-KEY
Ø 90 A Oil seal
-KEY
- 0.03
0
6 h9
- 0.03
3 ±0.2 +0.300
0
9.5 21.5 - 0.118
6 h9
3 21.5
+0.300
- 0.118 40 ±1 L1 ±1 80
40 ±1 L ±1 80
2 2
1.5 1.5
1 1
0.5 0.5
0 0
0 2,000 4,000 6,000 0 2,000 4,000 6,000
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Model SM0803GE4-KCF-NNV
Recommanded Drive Input Voltage (DC-Bus) 48
Rated Output Power watts 750
Rated Speed rpm 3000
Max. Speed rpm 3600
Rated Torque Nm 2.4
Peak Torque Nm 6
Rated Current A (rms) 22.5
Peak Current A (rms) 56.5
Voltage Constant±5% V (rms) / K rpm 7.8
Torque Constant±5% Nm / A (rms) 0.11
Winding Resistance(Line-Line) Ohm @25°C 0.06
Winding Inductance(Line-Line) mH (typ.) 0.43
Rotor Inertia Kg·m2 0.89×10-4
Rotor Inertia - With Brake Kg·m2 0.97×10-4
Shaft Load - Axial N (max.) 90
Shaft Load - Radial (End of Shaft) N (max.) 270
Weight kg 2.6
Weight - With Brake kg 3.4
Dimensions (Unit:mm)
1) Without Brake 2) With Brake
30
30
0±
0
30
±5
50
0
30
30
0
±5
0
0
±5
±5
0.04 A
0
0.04 A
0
M5 10 0 M5 10
70 h7 - 0.03 70 h7 - 0.03
0.04 A 0.04 A 4- 6.5
4- 6.5
0 0
19 h6
45°
45°
19 h6 - 0.013 - 0.013
94 94
90 90
-KEY
-KEY
A Oil seal
- 0.03
A Oil seal
- 0.03
0
0
6 h9
6 h9
3 ±0.2 3 ±0.2 +0.300
9.5
+0.300 9.5 21.5 - 0.118
21.5 - 0.118
40 ±1 L1 ±1 80 40 ±1 L1 ±1 80
Torque Curves
Note: The torque and maximum speed depand on the DC bus voltage.Please choose proper supply voltage.
48 VDC
SM0803 (750 Watts) - winding G
- 20 Amps
10
9
8
7
Torque (Nm)
6
5
4
3
2
1
0
0 2,000 4,000 6,000
Speed (rpm)
Matching Motor
40 Frame, 60W, 100W 60 Frame, 200W, 400W 80 Frame, 300W, 550W 80 Frame, 750W
SM0601GE4-KCF-NNV
SM0401HE4-KCD-NNV SM0801GE4-KCF-NNV
Without Brake SM0602FE4-KCF-NNV SM0803GE4-KCF-NNV
SM0402FE4-KCD-NNV SM0802EE4-KCF-NNV
SM0602GE4-KCF-NNV
SM0601GE4-KCF-BNV
SM0401HE4-KCD-BNV SM0801GE4-KCF-BNV
With Brake SM0602FE4-KCF-BNV SM0803GE4-KCF-BNV
SM0402FE4-KCD-BNV SM0802EE4-KCF-BNV
SM0602GE4-KCF-BNV
Gearhead Motor
SM0401HE4-KCD-NNV-PG**A SM0601GE4-KCF-NNV-PG**A SM0801GE4-KCF-NNV-PG**A
Without Brake
SM0402FE4-KCD-NNV-PG**A SM0602FE4-KCF-NNV-PG**A SM0802EE4-KCF-NNV-PG**A
SM0401HE4-KCD-BNV-PG**A SM0601GE4-KCF-BNV-PG**A SM0801GE4-KCF-BNV-PG**A
With Brake
SM0402FE4-KCD-BNV-PG**A SM0602FE4-KCF-BNV-PG**A SM0802EE4-KCF-BNV-PG**A
Accessories
IO Connector M2-50P
USB mini-B Configuration Cable 2620-150
Motor power Cable 1630-X00 1627-X00 1641-X00
Standard* Encoder Cable 2627-X00
Brake Cable*** 1602-X00
Motor power Cable 1631-X00 1628-X00 1642-X00
Flexible** Encoder Cable 2621-X00
Brake Cable*** 1602-X00-C05
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3 Installation
Fan Fan
100mm
80mm
100mm
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• DO NOT strike the motor when installing it as the motor shaft or encoder may be damaged.
• DO NOT use cables that have been soaked with water or oil.
• Avoid a stress application to the cable outlet and connecting portion by bending.
• Use flexible cables when using a cable carrier, and make sure the minimum cable bending
diameter is 200mm.
• The shaft through hole and cable end connector are not IP65 designed. Be careful to prevent
any liquid or oil from getting into the motor at these areas.
LED Display:
The 5 digit, 7 segment LED shows
the drive status and faults.
Operation Panel:
Function keys are used to perform status
display, monitor and diagnose,
function and parameter settings.
PC/Configuration
CN3 CN6
Motor Power Cable
CN7
CANBus, RS-485, Ethernet
Communication Port
CN5
STO Interface
AC Source
PLC
AUX Power
CN2
Motion
Control Card
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red
U
Main power DC in+ V+
yellow
18 - 70VDC V
DC GND V- P2 blue
Control circuitry/ P1 W
* auxiliary power
DC in+ AUX
yellow/green
Encoder connector
CN3
*Note: For optimized motion performance, make sure the main power input voltage is higher than
the motor winding voltage by at least 2VDC.
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W
V
U
PIN 1 2 3 4
Signal PE U V W
Colour Yellow/Green Red Yellow Blue
A B
View A View B
Pin 1 2 3 4
Signal U V W PE
Color Red Yellow Blue Yellow/Green
Housing: 172159-1(AMP)
Terminal: 170362-1(AMP)
Pin 1 2 3 4
Signal U V W PE
Color Red Yellow Blue Yellow/Green
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12 26
13 25 26 13
View B View A
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A+ A+
1 1
A- A-
4 14
B+ B+
2 2
B- B-
5 15
Z+ Z+
Motor Encoder 3 3 Servo Drive CN3
Z- Z-
6 16
+5V +5V
7 11
GND GND
8 24
Shield Shield
9 26
7 9
View A
NOTE: The HALL signal U/V/W ONLY appears for short time after the encoder is powered on, it will
then covert to A/B/Z signals.
Connect to drive
Connect to Motor
A
1 7
3 9
View A
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SF1-
SF2+ 1.5K
SF2-
EDM+
EDM-
Safety Switch
M2 Servo Drive
Safety Input 1
Safety Input 2
Safety Output
0VDC
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Relay
Relay
Brake+
R
Brake
24VDC 24VDC
Brake-
Motor Power
Type 60W 100W 200W 400W 750W
Holding torque (N•m) 0.35 2 4.5
Working current (A) 0.25 0.38 0.61
Rated voltage (V) 24V±10%
Release time <25ms
Engage time <25ms
Release voltage (V) Release voltage18.5VDC
Enable
Motor Active
Disable
ON
Brake Signal
OFF
ON
Brake Action
OFF
ON
Motion Command
OFF
ON
Actual Motion
OFF
Brake engage/disengage delay time can be set through M Servo Suite software, or on the drive directly
through the P function: P-69 (BD) or P-70 (BE).
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There is no pre-installed regeneration absorbing resistor internally in M2DC-20D drive. Pleas do connect
an external absorbing resistor to P3 port.
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Analog Input
16
+ ANA1 Speed Command
-
PULSH1 44
15
DGND
PULSH2 45
High Speed 18
Pulse Input + ANA2 Torque Command
-
SIGNH1 46
17
DGND
SIGNH2 47 37 Y1+
Alarm Output
X1+ 3
36 Y1-
STEP/CW
X1- 4
11 Y2+
Position Motor Brake
Command X2+ 5 Control Output
10 Y2-
DIR/CCW
X2- 6
40 Y5+
43 Y4
9 Velocity Reached Output
X6+
Limit Sensor 33 OUT-
X6- 1
21 AOUT+ Encoder
X7+ 39
Feedback
Gain Select 22 AOUT- Output
X7- 38
48 BOUT+
X8+ 12
23 ZOUT+
COM 7 1.5K
24 ZOUT-
X9 26 1.5K
Dividing Switch
1.5K 19 CZ
X10 27 1.5K
SPD0 15 DGND
1.5K
X11 28 1.5K
SPD1 20 +10V User
1.5K
25 User_GND
X12 30 1.5K
SPD2
50 FG
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A B
View B View A
PULSH1 44 High-speed pulse inputs (+5VDC line drive input), the maximum input frequency 2MHz.
Three pulse commands available:
PULSH2 45 ●● Pulse & Direction
High-Speed
Pulse Inputs SIGNH1 46 ●● CW Pulse and CCW Pulse
●● A Quadrature B pulse
SIGNH2 47 (NOTE: DO NOT use with both X1 and X2)
In analog velocity control mode, the offset, dead band, and function of analog input 1 can be set
by M Servo Suite or parameters P-52, P-56 and P-61.
●● Sets or requests the analog input gain that relates to motor position when the drive is
Analog Input ANA1 16 in analog position command mode
Signal 1 ●● Sets or requests the gain value used in analog velocity mode
●● General analog input in Q mode
DGND 15 Digital Ground for analog input
●● In analog torque control mode, the offset, dead band, and function of analog input 2
ANA2 18 can be set by M Servo Suite or parameters P-53, P-57 and P-61.
Analog Input
Signal 2 ●● General analog input in Q mode
DGND 17 Digital ground for analog input
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●● In position signal output - output signal when in position, and the position
Y6+ 14 error is less than the set value in position mode
Y6 ●● Tach out output - produces pulses relative to the motor position with
Y6- 13 configurable resolution
●● General purpose output
AOUT+ 21
The encoder feedback phase A line drive output
AOUT- 22
BOUT+ 48
Encoder pulse The encoder feedback phase B line drive output
BOUT- 49
feedback Output
ZOUT+ 23
The encoder feedback phase Z line drive output
ZOUT- 24
ZOUT 19 The encoder feedback phase Z output (open collector)
+10V +10V User 20 +10VDC user, max 100mA
Output USER_GND 25 +10VDC user ground
STEP- 4 STEP- 4
5 DIR+ 5
DIR+
DIR- 6 DIR- 6
DGND DGND 25
50
FG FG
0VDC
PULSH2 45
SIGNH1 46
SIGNH2 47
DGND DGND 25
50
FG FG
Direction
Low High
(DIR.)
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●●CW/CCW Pulse
When Pulse input goes into X1, the motor will rotate in one direction.
When Pulse input goes into X2, the motor will rotate in the opposite direction.
Motor direction can be configured via M Servo Suite software.
High
CW pulse
Low
CW Direction
●●A/B Quadrature
In A/B Quadrature mode, the motor rotary direction is based on the leading signal between A and B.
Motor rotary direction can be configured via M Servo Suite software. Direction is defined by the leading
input between X1/X2.
The following graph represents motor rotates in CW direction when X1 is leading X2.
A/B Quadrature Pulse Input
High
Input A(X1)
Low
High
Input B(X2)
Low
CW Direction
DGND 15(17)
Host PC
Differential Analog Control Mode
16
+
-
D/A Output 15
18
+
-
17
DGND DGND
X1+ 3
X1- 4
X2+ 5
X2- 6
X3+ 29
X3- 31
X4+ 35
X4- 34
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HOST controller
5-24VDC
HOST controller 5-24VDC
X1\2\3\4+
X1\2\3\4+
X1\2\3\4-
X1\2\3\4-
0VDC
0VDC
5-24VDC
X1\2\3\4+
X1\2\3\4+
+5-24VDC NPN
Power sensor Output X1\2\3\4-
connection
0V X1\2\3\4-
5-24VDC
PNP
Output X1\2\3\4+
sensor
connection
X1\2\3\4-
0VDC
X5+ 8
X5- 2
X6+ 9
X6- 1
X7+ 39
X7- 38
X8+ 12
X8- 32
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HOST controller
5-24VDC
HOST controller 5-24VDC
X5\6\7\8+
X5\6\7\8+
X5\6\7\8-
X5\6\7\8-
0VDC
0VDC
5-24VDC
X5\6\7\8+
X5\6\7\8+
+5-24VDC
NPN
Power sensor Output X5\6\7\8-
connection
0V X5\6\7\8-
5-24VDC
PNP
sensor Output X5\6\7\8+
connection
X5\6\7\8-
0VDC
4.9.3.5 X9, X10, X11, X12 Inputs with common COM Port
The M2 drives also have 4 single ended optically isolated inputs connected with a single common
node named ‘COM’. These inputs can be used with sourcing or sinking signals, 12-24V. This allows for
connection to PLCs, sensors, relays and mechanical switches. Because the input circuits are isolated,
they require a source of power. If you are connecting to a PLC, you should be able to get power from the
PLC power supply. If you are using relays or mechanical switches, you will need a 12-24V power supply.
What is COM?
“Common” is an electronics term for an electrical connection to a common voltage. Sometimes “common”
means the same thing as “ground”, but not always. If you are using sinking (NPN) signals, then COM
must connect to the power supply +. If you are using sourcing (PNP) input signals, then you will want to
connect COM to ground (power supply -).
NOTE: If current is flowing into or out of an input, the logic state of that input is low or closed. If no current
is flowing, or the input is not connected, the logic state is high or open.
X9, X10, X11, X12 circuits are as follows:
COM 7 1.5K
X9 26 1.5K
1.5K
X10 27 1.5K
1.5K
X11 28 1.5K
1.5K
X12 30 1.5K
HOST controller
5-24VDC 5-24VDC
HOST controller 5-24VDC
COM 1.5K
COM 1.5K
COM 1.5K
0VDC
0VDC
0VDC
5-24VDC
COM 1.5K
COM 1.5K
+5-24VDC NPN
Power sensor Output X9\10\11\12- 1.5K
connection
0V X9\10\11\12- 1.5K
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Y1+ 37
Y1- 36
Y2+ 11
Y2- 10
Y5+ 40
Y5- 41
Y6+ 14
Y6- 13
Y3 42
Y4 43
OUT-
24VDC
42 Y3
43 Y4
33 OUT-
0VDC
22 AOUT- A-
48 BOUT+ B+
49 BOUT- B-
23 ZOUT+ Z+
24 ZOUT- Z-
25 DGND DGND
50
FG FG
NOTE: Please make sure the host controller and the servo drive are connected to a common
ground.
24VDC
Servo Drive
19 CZ
15 DGND
0VDC
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LED Display
SET
MODE
M S
UP DOWN
Press the UP and DOWN buttons to scroll through and change monitor
UP/DOWN
codes, parameter groups and other parameter settings.
• Pressing the button and the button changes between status monitoring, function control,
parameters setting and other modes.
• If no warnings or faults occur, the drive will not go into warning and fault display mode.
• If any warnings are detected by the drive, the LED display will switch into warning or fault display
mode immediately. Pressing Mode/Set button will switch back to the previous display mode. Press UP/
DOWN button will switch other warning or fault display.
• If no button(s) on the control panel is pressed for 20 seconds, the display will switch back to the
previous status monitoring display mode.
• In monitoring selection mode, function selection mode and parameter setting mode, to edit the values,
press to move the cursor to the left, then change parameters by using the buttons.
• In status monitoring mode, press and hold the button to lock the control panel. To unlock the
Power On
Monitor Status
Monitor Parameters
Drive Parameters
Configuration Press SET key enter
to value setting mode
Press the UP and
DOWN key to scroll
through and change
parameter selection. S
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NOTE:
• When power is applied, the drive’s display will show the customer defined monitoring mode. In factory
default mode, it will display the motor’s rotary velocity.
• When in parameter setting mode, pressing the button will exit the parameter setting mode, and
return back to parameter selection mode, without saving any changes.
• When in parameter setting mode, pressing and holding the button will confirm and apply the
current parameter setting. This will take effect immediately. However, this change will not save to
drive’s flash memory. To save the parameter, go to function mode , and then press and
hold the button.
• When the drive is connected to the host computer with M Servo Suite on, the parameter setting mode
CANNOT be accessed directly on the drive’s control panel.
There are only 5 digits on the LED display, when a value with more
than 5 digits needs to be displayed, it will be displayed in 2 segments.
When the highest digit of a value is flashing, it means only the lower 5
When the LED display reads “P-CW” it means the motor is rotating in
a CW direction in the point-to-point mode.
When the LED display reads “P-CCW” it means the motor is rotating
in a CCW direction in the point-to-point mode.
When the LED display reads “J-CW” it means the motor is rotating in
a CW direction in JOG mode.
When the LED display reads “J-CCW” it means the motor is rotating
in a CCW direction in JOG mode.
This means the key panel is locked. Press and hold for 1
second while in status monitoring mode to lock.
When the control panel is locked, press and hold for 1 second
to unlock it.
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To change the status monitoring mode, press to enter monitoring selection mode, and then use
Power ON
S
Press UP and
Status Monitoring
Selection DOWN key
to select display
detail.
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In function control mode (display F+ parameter number), you can select functions for preoperational mode,
restart the drive, enable or disable the drive, etc. In status monitoring mode, press and hold for 1
second to enter function control mode. Press to select function, and then press and hold to
Status display
selection
Press and Hold MODE key
for 1 second
M
Press UP and
DOWN key Press and Hold Set key to
Function Mode
to select display detail. select and execute the function
Selection
F-00 point to point position mode: rotating speed is1rps; travel distance is 1rev
F-03 Alarm clear press and hold clear current drive warning
SET key
F-07 motor configuration press SET key select current motor model
F-08 Analog Input Auto-offset press SET key Analog Input Auto-offset
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parameter. In function control mode, press and hold for 1 second to enter parameter setting mode.
Use to select required parameter, and press to view or edit the parameter. Press
again to quit and no change will be saved. Press and hold for 1 second to save the parameter
change. However this change will NOT be saved at the next power on.
If you want to save parameter PERMANENTLY, go into function control mode (F+parameter number), and
use F-04SA function.
function selection
mode
M
Press UP and DOWN key
parameter setting to select display detail. press SET key to
selection enter parameter editing mode
Press mode to
First digit flash shift flashing digit Second digit flashing
Press mode to
Second digit flashing shift flashing digit First digit
press UP or DOWN to increase or decrease value press UP or DOWN to increase or decrease value
S
F-04 to save
parameter
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Status monitoring
Unlock display
If more than one warning is detected, pressing the buttons will scroll through the warnings.
Press the or button to clear the warning display and return to the previous display mode.
Any Mode
S M
Press Set And Mode Key
To Return From Alarm
Display Mode
Communication error
STO is activated
Velocity limited
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6 Preoperational mode
When using preoperational mode, disconnect the servo motor from any mechanical system to prevent
damages and accidents. Preoperational mode should be used only under a no load condition.
SM0401HE4-KCD-*NV SM0401EE4-KCD-*NV
SM0402FE4-KCD-*NV SM0601EE4-KCD-*NV
SM0601GE4-KCF-*NV
SM0602FE4-KCF-*NV
SM0602GE4-KCF-*NV
SM0801GE4-KCF-*NV
SM0802EE4-KCF-*NV
SM0803GE4-KCF-*NV
Parameter will take effect only after the servo drive is restarted.
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After setting the required parameters, click OK and then Download All to Drive to save the settings to the
drive.
1 Press to switch from Monitor Status mode to the Drive Parameters Configuration mode
5 Press and hold the key for 1 second to confirm the set value
7 Scroll with the keys to select Function F06 (MC) to enable the motor
Press and hold SET key for 1 second, to enable the drive. The last dot will appear to
8
show the drive is enabled.
9 Scroll with the keys to find function F01 (CJ) to run JOG mode.
11 Press the key and the motor will rotate in a CW direction at 1rps.
12 Press the key and the motor will rotate in a CCW direction at 1rps.
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MODE SET
NOTE: If P-14 (PM)=5, regardless of P-62 (SI) settings, the drive will be disabled (Servo OFF) at power up.
Use input X3 to enable based on P-62 (SI) setting.
The default Power-up Mode (PM) setting (P-14) is set to a value of 5, which will cause the servo drive to
power up disabled for safety during setup and configuration. This setting may be changed in the M Servo
Suite software with the X3 digital input configuration. It may also be changed using the front panel on the
servo drive with parameter P-14 or by using the PM command directly (see Host Command Reference
manual for details on the PM command.)
Software Configuration
On the Drive Configuration page - Input & Output, select X3 function to set up.
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High High
X4 X4
Low Low
Occur
1 Occur Fault
Fault None
A B
None
A
High High
X4 X4
Low Low
Occur Occur
2 Fault Fault
None None
A B A B
Software Configuration
On the Drive Configuration page - Input & Output, select X4 functions to set up.
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Software Configuration
On the Drive Configuration page - Input& Output, select X5/X6 functions to set up
Software Configuration
On the Drive Configuration page - Input & Output, select X7 input to set up.
Software Configuration
On the Drive Configuration page - Input & Output, select X8 function to set up.
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Software Configuration
On the Drive Configuration page - Input & Output select Y1 output to set up.
ON
Servo on Input
OFF
ON
Motor Active
OFF
ON
Brake Signal
OFF
ON
Brake Action
OFF
ON
Motion Command
OFF
ON
Actual Motion
OFF
The Brake Output (BO) setting can be configured with the M Servo Suite siftware or with parameter P-67
(BO) as shown in the table below. Brake disengage delay and engage delay times can be configured via
M servo suite software, or by changing parameters P-69 (BD) and P-70 (BE) directly on the drive.
Name PIN P-67(BO) Condition Function
Closed Engage brake, brake holds the motor shaft
2
Open Release brake, brake releases the motor shaft
Y2+ (11) 1 Closed Release brake, brake releases the motor shaft
Y2
Y2- (10) (default) Open Engage brake, brake holds the motor shaft
3
General purpose input, output function disabled
(default)
Software Configuration
On the Drive Configuration page - Input & Output, select Y2 output to set up.
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Software Configuration
On the Drive Configuration page - Input & Output select Y5 output to set up.
Analog Input
Controller
High Speed Differential Input
X1- 4
VDC 11 Y2+
X2- 6
40 Y5+
Servo-On Status output
X3+ 29 5-24VDC
41 Y5-
X4+ 35
13 Y6-
X4- 34
Alarm Reset 42 Y3 Servo Ready Output
X5+ 8
X5- 2
Limit Sensor 43 Y4 Velocity Reached Output
X6+ 9
33 OUT-
X6- 1
Limit Sensor
Drive
X7+ 39
Encoder 21 AOUT+ A+
Feedback
38 Output Encoder Phase A Output
X7-
22 AOUT- A-
Gain Select
X8+ 12
48 BOUT+ B+
1.5K 15 DGND
X12 30 1.5K
50 FG
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ON ON
CW Pulse CW Pulse
OFF OFF
Pulse On X1 CCW Pulse
ON
CCW Pulse
ON 1
OFF OFF
P-43 (SZ)
CW/CCW
Lower 8 bits
ON ON
CW Pulse CW Pulse
OFF OFF
Pulse On X2 CCW Pulse
ON
CCW Pulse
ON 5
OFF OFF
90° 90°
ON ON
A A
X1 Lead X2 OFF OFF 2
ON ON
B B
OFF OFF
A/B Quadrature
90° 90°
ON ON
A A
X2 Lead X1 OFF OFF 6
ON ON
B B
OFF OFF
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Software Configuration
On the Motor Configuration page - Control Mode Settings select pulse input type and input filter
type.
NOTE: ONLY set the pulse dividing ratio function, when no pulse command is being sent
into the drive, i.e. the motor is NOT moving.
Software Configuration
On the Drive Configuration page - Input & Output select X9 input to set up.
Software Configuration
On the Drive Configuration page - Input & Output select X10 input to set up.
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Distance for screw lead move requirement is 4mm. (con’t. on next page)
If no electronic gearing is used, the following pulse count example shows the dilemma:
Because the screw lead is 3mm, (i.e. when the motor rotates 1 rev, the load moves 3mm), when a move
distance of 4mm is required, it is 4/3 of rev.
Pulse Count Requirement
If 1 motor rev requires 10000 pulses, then = 13333.33333… pulses
This leads to infinitely repeating number with a cumulative error in pulse counter.
If using an electronic gearing ratio:
If 1 pulse is set to 1um, and 10000 pulse per rev, the Electronic gearing ratio can be set as follows:
If Electronic gearing ratio is set to , then 1 pulse send by the host, will leads to 1um movment at the
load.
Parameter Settings
Parameter Name Data Range Default
Required pulse per
P-39 (EG) 200~51200 10000 Set Required pulse per rev
rev
Secondary Required Set secondary Required pulse per
P-40 (PV) 200~51200 10000
pulse per rev rev
Electronic gearing Set Electronic gearing Ratio
P-41 (EN) 1~1000 1000
Ratio Numerator Numerator
Electronic gearing Set Electronic gearing Ratio
P-42 (EU) 1~1000 1000
Ratio Denominator Denominator
2) Jerk smoothing filter will cause command delay time T, but it will not effect
position accuracy.
Time
T
Parameter Settings
Parameter Name Data Range Default
P-07 (KJ) Jerk Filter Frequency 0~5000 5000 Set jerk smoothing filter parameter
Parameter Settings
Parameter Name Data Range Default
This parameter sets the in-position error range, when in-position
In-position error
P-46 (PD) 0~32000 10 error count is less than the range, drive will indicate the motor is
range
in position.
If the position error is within the in-position range and lasts
longer than the duration time, the motion is considered to
In-position be complete and the motor is in position. If the time value
P-47 (PE) 0~32000 10
duration count is set to 100 the position error must remain in the range for
100 processor cycles before the motion is considered to be
complete. One processor cycle is 250µsec.
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NOTE:We highly recommend using M Servo Suite software to configure velocity mode.
Analog Input
16 ANA1
+ ±10VDC Speed Command
-
PULSH1 44
15 DGND
PULSH2 45
18 ANA2
+ ±10VDC Torque Command
-
SIGNH1 46
17 DGND
X1+ 3
36 Y1-
X1- 4
11 Y2+
RUN/STOP
Brake Control Output
X2+ 5
10 Y2-
X2- 6
Rotation Direction 40 Y5+
Servo-On Status output
X3+ 29 5-24VDC
41 Y5-
X3- 31
Enable Signal Input 14 Y6+ In Position
X4+ 35
13 Y6-
X4- 34
Alarm Reset 42 Y3 Torque Reached Output
X5+ 8
X5- 2
33 OUT-
X6- 1
X9 26 Z-
Encoder Phase Z Output
1.5K 24 ZOUT-
1.5K
DGND
15 DGND
X10 27 1.5K
VDC
Pulse Inhibited Input 1.5K Phase Z (Open Collector Output)
19 CZ
5-24VDC
X11 28 1.5K
1.5K 15 DGND
X12 30 1.5K
50 FG
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NOTE: The units shown in the table above might be different from the LED display units on the drive.
Please refer to Chapter 8 for details.
±10VDC ANA1 16
+
-
DGND 15
D/A Output 15
18
+
-
17
DGND DGND
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NOTE: When viewing or setting the velocity value on the drive’s control panel, please refer to the following
calculation:
Drive display value= x 240
is target setting velocity rev/second (rps)
Setting Via Software
NOTE: When viewing or setting this value on the drive’s control panel, refer to following calculation:
Drive display value= x 2730
is target setting offset, unit Voltage (V)
Setting Via Software
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NOTE: When viewing or setting this value on the drive’s control panel (P-51 (AN)), refer to the following
calculation:
Drive display value= x 100
where is target torque output value
Parameter Settings
Default
Parameter Name Data Range Unit Description
value
The accepted velocity ripple value around the
Ripple range targeted velocity. If the difference between the
P-85 (VR) setting for velocity 0~136 0.000 Rps actual velocity and the targeted velocity is within
reached the ripple value, the drive will then report that the
actual velocity meets the target velocity value.
NOTE: When viewing or setting this value on the drive’s control panel, refer to following calculation:
Velocity ripple range = LED display value x 240
Unit for Velocity ripple range is revolutions per second (rps)
Setting Via Software
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Analog Input
16 ANA1
+ ±10VDC Speed Command
-
PULSH1 44
15 DGND
PULSH2 45
18 ANA2
High Speed Pulse Input + ±10VDC Torque Command
-
SIGNH1 46
17 DGND
X1+ 3
36 Y1-
X1- 4
11 Y2+
RUN/STOP
Brake Control Output
X2+ 5
10 Y2-
X2- 6
40 Y5+
Rotation Direction
Servo-on status output
X3+ 29 5-24VDC
41 Y5-
X3- 31
14 Y6+ In Position
Enable Signal Input
X4+ 35
13 Y6-
X4- 34
Alarm Reset 42 Y3 Torque Reached Output
X5+ 8
X5- 2
Limit Sensor 43 Y4 Velocity Reached Output
X6+ 9
33 OUT-
X6- 1
Limit Sensor
Drive
X7+ 39
Encoder 21 AOUT+ A+
Feedback
38 Output Encoder Phase A Output
X7-
22 AOUT- A-
Gain Select
X8+ 12
48 BOUT+ B+
1.5K 15 DGND
X12 30 1.5K
50 FG
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NOTE:This units shown in the table above might be different from the LED display units on the drive.
Please refer to Chapter 9 for details.
±10VDC ANA2 18
+
-
DGND 17
D/A Output 15
18
+
-
17
DGND DGND
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NOTE: If you need to view or set this value on the drive’s control panel, refer to the following calculation:
Drive display value= x 100
Where is target torque value unit amps
Setting Via Software
NOTE: if you need to view or set this value on the drive’s control panel, refer to the following calculation:
Drive display value= x 2730
Where is target setting offset, unit Voltage (V)
Setting Via Software
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Parameter Settings
Default
Parameter Name Data Range Unit Description
value
Torque within When the actual torque output and the
ripple range, when commanded torque are the same, and within the
P-87 (TV) 0.00 - 3.00 0.00 A
torque reached velocity ripple range the torque reached output
function in use signal will be sent
NOTE: if you need to view or set this value on the drive’s control panel, refer to the following calculation:
LED display value = Torque ripple range X 100
Unit for torque ripple range is A (amps)
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NOTE: Only -S type M2DC series servo drive supports position table mode
7.5.1 Linear motion
The Linear motion option for position table mode can set up to 63 positions, not including the homing
position. It is set up through the M Servo Suite software.
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The following graphs illustrate the difference between Rleative positioning and Absolute positioning.
Example: Set the P1 position for 5 revs and the P2 position for 10 revs.
The difference between Relative Position and Absolute Position is shown below:
• Counts represents the number of pulses from the encoder output. For Position Table mode, one
motor revolution is 10000 pulse counts.
• Lead represents the distance for one motor revolution in units of mm/rev.
7.5.1.4 Print
Click Print to print out the configuration table,
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M0(X7) - M5(X12) status: ‘0’ means the input is closed; ‘1’ means the input is open.
After the homing process, the motor will move to the corresponding position selected by inputs M0(X7) -
M5(X12), and triggered by X4 (position trigger) when it changes from ‘open’ to ‘closed’.
• Click OK to finish linear mode settings
• Click Download to Drive to send it to the drive
• Close the software, turn off the power, then restart both the drive and the software to run Position
Table mode.
7.5.1.6 Simulate
After the configuration process, 3. Control Mode Settings: Simulate can verify the settings and simulate
the motions.
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Division Ratio: Divide one revolution into that number of points with equal distance spacing
Rotary direction: Selects the direction for rotary motion
Rotary velocity, rotary acceleration, rotary deceleration: Set motor rotary velocity, rotary acceleration,
and rotary deceleration values
NOTE: These setting affect the motor’s velocity, acceleration, and deceleration. For actual system
speed, accel and decel, refer to the ratio calculation below:
System speed = Motor Speed × Reduction ratio
Sensor State: Sets homing sensor type: low active or high active
Offset definition: Set position offset for each position point, for minor individual point adjustments.
r - Warning & Fault Display any warnings or Section 5.8 Warning and Fault
Display faults when they occurr Display
Control
P12 CM Main control mode 7
mode
Control
P13 CN Secondary control mode 21
mode
Control
P14 PM Power-up mode 2
mode
Control
P15 JM Jog mode 2
mode
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Current
P16 GC Current Command of Torque Mode 0 0.01A
config
Current
P17 CC Rated Maximum current 0.5 * A
config
Current
P18 CP Peak current 1.5 * A
config
counts/
P39 Config EG Electronic gearing 10000
rev
counts/
P40 Config PV Secondary Electronic gearing 20000
rev
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P85 Other VR Ripple range setting for velocity reach 0.000 rps
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Sets or requests the servo control proportional gain term. Gain value is relative: “0” meaning no gain,
“32767” meaning full gain. This parameter is the primary gain term for minimizing the position error. Larger
KP value means higher stiffness, and fast response. However, if the gain value is too high, it will lead to
vibration.
Use input X7 for global gain selection. When the gain selection function is used, it helps the servo drive
to run the motor with the least time delay and as close as possible to the host command requirement.
Especially in the case of the load characteristic changing significantly, change of gain value will reduce
the motor’s settling time, motor vibration, etc. It optimizes the motor’s overall performance. The two global
gain parameters are: P-00 (KP), and P-01 (KG).
Sets or requests the secondary servo control proportional gain term. Gain value is relative: “0” meaning no
gain, “32767” meaning full gain. This parameter is the primary gain term for minimizing the position error.
A larger KG value means higher stiffness, and fast response. However, if the gain value is too high, it will
lead to vibration.
The servo control proportional gain term. Gain value is relative: “0” meaning no gain, “32767” meaning full
gain. This parameter is the primary gain term for minimizing the position error. Increase of KF will increase
stiffness and reduce in position time duration. However, it might cause vibration if gain is too large.
The servo control differential gain. Gain value is relative: “0” meaning no gain, “32767” meaning full gain. It
works to damp low speed oscillations.
The servo control proportional gain term of the velocity error. Gain value is relative: “0” meaning no gain,
“32767” meaning full gain. KV minimizes the velocity error and vibration in position control mode.
The servo control integrator gain term. Gain value is relative: “0” meaning no gain, “32767” meaning full
gain. It minimizes (or may even eliminate) position errors especially when holding position.
Data Range Default Unit Data type
P-06 (KK) Inertia Feedforward Constant
0~32767 0 ------ DEC
The servo control inertia feed forward gain. Gain value is relative: “0” meaning no gain, “32767” meaning
full gain. KK improves acceleration control by compensating for the load inertia.
Without KK parameter, Inertia Feedforward Constant. With KK parameter, Inertia Feedforward Constant.
Red Line (Dash) : Actual velocity Red Line (Dash) : Actual velocity
Green Line (Filled) : Position error Green Line (Filled) : Position error
This parameter sets the jerk filter frequency in Hz . The lower the frequency value the more pronounced
the S-curve profile will be. Setting the value to 0 will disable the filter.
S-curve acceleration/deceleration ramps are beneficial in positioning systems where instantaneous
changes in speed may cause the load to jerk excessively. One example is when the load is connected
to the motion actuator via a long movement arm. If the arm is not sufficiently rigid, changes in speed
at the actuator can result in undesirable oscillations and increased settling time at the load. Smoothed
transitions in speed changes can alleviate this unwanted motion and reduce settling time.
Command Command
Time Time
Without Jerk Smoothing Filter With Jerk Smoothing Filter
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The velocity-mode servo control proportional gain term. Gain value is relative: “0” meaning no gain,
“32767” meaning full gain. VP minimizes velocity error when in velocity mode 2.
Data Range Default Unit Data type
P-09 (VI) Velocity Loop Integral Gain
0~32767 600 ------ DEC
The velocity-mode (“JM2”) servo control integrator gain term. Gain value is relative: “0” meaning no gain,
“32767” meaning full gain. VI minimizes steady state velocity errors.
The differential control parameters filter frequency. The filter is a simple one-pole, low-pass filter intended
for attenuating high frequency oscillations. The value is a constant that must be calculated from the
desired roll-off frequency.
The servo control overall filter frequency. The filter is a simple one-pole, low-pass filter intended for
attenuating high frequency oscillations. The value is a constant that must be calculated from the desired
roll-off frequency.
Data Range Default Unit Data type
P-12 (CM) Main control mode 1~8,11,12,
7 ------ DEC
15~18,21,22,25
Servo drive’s secondary control mode. Refer to P-12 (CM) main control mode, and Section 7.1.5 Control
Mode Selection.
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The power-up mode of the drive. PM determines how the drive is configured for serial communications
at power-up. For example, for SCL applications set PM=2 or PM=5. The power-up mode can also be set
when configuring the drive with Quick Tuner or ST Configurator. PM2 (Q / SCL) is the same as PM7 (Q
Program Mode), except the program is not automatically executed at power up.
The immediate current for the servo motor and drive when the servo drive is set for Command Torque
Mode.
NOTE: if you need to view or set this value on the drive’s control panel, refer to the following calculation:
LED display value = x 100
Where is target setting current, Unit for is A (amps)
CP sets the peak (RMS) current setting of the servo drive. Peak current sets the maximum current that
should be used with a given motor. When the motor position requires more than the continuous value, the
peak current time calculation is done using i2t which integrates current values for more accurate modeling
of drive and motor heating. The servo drive will allow peak current for up to one second. After one second
of operation at peak current the current is reduced to the continuous current setting (see CC command).
NOTE: In normal operation, please DO NOT change this parameter.
NOTE: if you need to view or set this value on the drive’s control panel, refer to the following calculation:
LED display value = x 100
Where is target setting current, Unit for is A (amps)
The maximum motor velocity in rev/sec. Used in all control modes to limit the maximum speed of the
drive.
NOTE: if you need to view or set this value on the drive’s control panel, refer to the following calculation:
LED display value = x 240
Where is target velocity setting, Unit is rps (rev/sec).
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The accel/decel rate for Jog moves and velocity control mode in rev/sec/sec. Setting JA overwrites both
the last JA and JL values. This means that to have different jog accel and jog decel values, you should
first send JA to set the jog accel and then send JL to set the jog decel.
NOTE: if you need to view or set this value on the drive’s control panel, refer to the following calculation:
LED display value = x6
Where is jog acceleration/deceleration setting, Unit is rps/s .
The accel/decel rate for Jog moves and velocity control mode in rev/sec/sec. Setting JA overwrites both
the last JA and JL values. This means that to have different jog accel and jog decel values, you should
first send JA to set the jog accel and then send JL to set the jog decel.
NOTE: if you need to view or set this value on the drive’s control panel, refer to the following calculation:
LED display value = x6
Where is jog acceleration/deceleration setting, Unit is rps/s .
Data Range Default Unit Data type
P-25 (VE) Point to point Velocity
0.025 - 100 5 rps DEC
The shaft speed for point-to-point move commands like FL, FP, FS, FD, SH, etc.
NOTE: if you need to view or set this value on the drive’s control panel, refer to the following calculation:
LED display value = x 240
Where = is target velocity setting, Unit is rps (rev/sec) .
The first speed used in velocity mode. This only applies to control modes 15, 16, 17, and 18.
The second speed used in velocity mode. This only applies to control modes 13, 14, 17, and 18.
Data Range Default Unit Data type
P-31 (JC) Jog mode speed 3
0.025 - 100 20 rps DEC
The third speed used in velocity mode. This only applies to control modes 13, 14, 17, and 18.
Data Range Default Unit Data type
P-32 (JC) Jog mode speed 4
0.025 - 100 25 rps DEC
The fourth speed used in velocity mode. This only applies to control modes 13, 14, 17, and 18.
Data Range Default Unit Data type
P-33 (JC) Jog mode speed 5
0.025 - 100 30 rps DEC
The fifth speed used in velocity mode. This only applies to control modes 13, 14, 17, and 18.
Data Range Default Unit Data type
P-34 (JC) Jog mode speed 6
0.025 - 100 35 rps DEC
The sixth speed used in velocity mode. This only applies to control modes 13, 14, 17, and 18.
Data Range Default Unit Data type
P-35 (JC) Jog mode speed 7
0.025 - 100 40 rps DEC
The seventh speed used in velocity mode. This only applies to control modes 13, 14, 17, and 18.
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The eighth speed used in velocity mode. This only applies to control modes 13, 14, 17, and 18.
Data Range Default Unit Data type
P-37 (ER) Encoder resolution
200 - 12800 2500 lines DEC
Sets the encoder resolution in quadrature counts. For example, if the motor connected to the drive has an
8000 count (2000 line) per revolution encoder, set the encoder resolution to 2000.
NOTE: when using a MOONS’ motor please DO NOT change this parameter
Data Range Default Unit Data type
P-39 (EG) Electronic gearing
200 - 32000 10000 counts DEC
EG defines the pulses per revolution for electronic gearing. For example, with an EG value of 10000 the
servo drive will require 10000 pulses from the master pulse source to move the servo motor 1 revolution.
Data Range Default Unit Data type
P-40 (PV) Secondary Electronic gearing
200 - 32000 10000 counts DEC
PV defines the pulses per revolution for secondary electronic gearing. Refer to Section 7.2.3 Control
Pulse Dividing Switch Function.
Numerator of electronic gearing Data Range Default Unit Data type
P-41 (EN)
ratio 1 - 1000 1000 DEC
Defines the numerator of electronic gearing ratio. Refer to Section 7.2.5 Electronic Gearing Ratio.
Denominator of electronic Data Range Default Unit Data type
P-42 (EU)
gearing ratio 1 - 1000 1000 DEC
Defines the denominator of electronic gearing ratio. Refer to Section 7.2.5 Electronic Gearing Ratio.
Data Range Default Unit Data type
P-43 (SZ) Input Pulse Setting
0 - 65535 1792 DEC
Pulse counter configuration and digital filter parameters in digital position control mode.
Bit0 - bit1: pulse type
Higher 8 Bits Lower 8 Bits
0 = STEP/DIR
1 = CW/CCW
2 = A/B quadrature
Input Noise Filter Pulse Type
bit2: count direction Pulse Polarity
Bit8 - bit15: digital filter parameter
Refer to Section 7.2.2 Input Pulse Type and Input Noise Filter
The position fault limit in encoder counts. This value defines the limit threshold, in encoder counts,
reached between the actual position and the commanded position before the system produces a position
fault error. The drive’s LED display, will read if a position limit fault occurs.
This parameter is used to set the in-position error range. For example, motor is in position when the actual
position is within the target In-position error range for the time that is longer than PE specified timing.
Then the driver will define the motion as complete or motor is in-position. Refer to P-47 (PE) and Section
7.2.7 In-Position Error Output.
PE sets the timing counts for in-range determination. For example, if In-Position error P-46 (PD) is
defined, PE sets the time duration for the test. If In-Position is reached within the time duration, the drive
will define the motor as In-Position. Time is counted as processor cycles, one cycle refers to 250µsec.
Refer to Section 7.2.7 In-Position Error Output.
Data Range Default Unit Data type
P-48 (TT) Pulses Input Completion Count
0 - 20000 16 125us DEC
This parameter is used to define a time duration. It will determine whether the drive has finished receiving
all pulses. If the drive has not receive any pulses for a period longer than TT defined time, then the drive
will define no pluses sent to drive. One count is equivalent to 125μs.
AP sets the analog input gain for motor position when the drive is in analog position command mode.
Gain value sets the commanded position when the analog input is at the configured full scale value.
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Analog gain value used in analog velocity modes. The gain value is used to establish the relationship
between the analog input and the motor speed in units of 0.25 rpm. For example, if the analog input is
scaled to 0 - 5 volt input and the gain is set to 2400, when 5 volts is read at the analog input the motor will
spin at 10 rps.
TIP: To set the analog velocity gain to the desired value, multiply the desired motor speed in rps by 240,
or the desired motor speed in rpm by 4.
NOTE: if you need to view or set this value on the drive’s control panel, refer to the following calculation:
LED display value = x 240
Where is target velocity setting, Unit is rps (rev/sec).
This parameter sets the analog input gain that relates to motor torque when the drive is in analog torque
control mode. Analog torque gain value sets the commanded torque when the analog input is at the
configured full scale value (±10V).
The offset value of analog input 1 in volts. In some cases, even when host controls set the analog
command to 0V, the servo motor might still rotate slowly. This is caused by voltage bias from the analog
voltage supply. This can be adjusted by this offset value.
NOTE: if you need to view or set this value on the drive’s control panel, refer to the following calculation:
LED display value = x 2730
Where is voltage offset, Unit is V.
Data Range Default Unit Data type
P-53 (AV) Analog input 2 offset
-10.000 - +10.000 0.000 A DEC
The offset value of analog input 2 in volts. Refer to Section 7.4.3.3 Analog Input Voltage Offset.
Data Range Default Unit Data type
P-54 (AV) Differential analog input offset
-10.000 - +10.000 0.000 A DEC
The offset value of differential analog input in volts. Refer to Section 7.4.3.3 Analog Input Voltage Offset.
Data Range Default Unit Data type
P-55 (AS) Analog type
0-1 0 ----- DEC
This is the analog input scaling setting that determines what type of analog input scaling is desired.
0: single ended input
1: differential input
The analog deadband value of analog input 1 in millivolts. The deadband value is the zone around the
“zeroed” value of the analog input. This deadband defines the area of the analog input range that the drive
should interpret as “zero”. The deadband is an absolute value that is applied to either side of the zero
point.
The analog deadband value of the analog input 2 in millivolts. The deadband value is the zone around the
“zeroed” value of the analog input. This deadband defines the area of the analog input range that the drive
should interpret as “zero”. The deadband is an absolute value that is applied to either side of the zero
point.
The analog deadband value of the differential analog input in millivolts. The deadband value is the zone
around the “zeroed” value of the analog input. This deadband defines the area of the analog input range
that the drive should interpret as “zero”. The deadband is an absolute value that is applied to either side of
the zero point.
Applies a digital filter to the analog input(s). This is a simple single pole filter that rolls off the analog input.
When analog input is used, there might be external interferences that affect the accuracy of the analog
input voltage. In some cases, it will cause the motor to turn unexpectedly, or have unstable torque output.
Therefore, an analog input filter is recommended. It is designed as a digital low pass filter; reasonable
filter frequency can significantly improve the motor performance. Refer to Section 7.3.4 Analog Input Filter.
This sets the analog input threshold that is used by the Feed to Sensor command. The threshold value
sets the analog voltage that determines a sensor state or a trigger value.
NOTE: if you need to view or set this value on the drive’s control panel refer to the following calculation:
LED display value = x 1000
Where is target voltage value, Unit is V (volts).
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Defines the function of analog inputs X1 and X2, by two digits, from right to left.
Input X3 is the default enable input on all drives. There are 3 possible usage states for the Enable
function:
SI1: Drive is enabled when X3 is open.
SI2: Drive is enabled when X3 is closed.
SI3: Input X3 is used as a general purpose input.
Refer to Section 7.1.1 Drive Servo On Settings.
Defines the function of the X4 input. This input can be used to clear a drive fault and reset the Alarm Code
(see AL command).
Refer to Section 7.1.2 Alarm Reset.
CW and CCW end-of-travel limits are available on all drives and can be used to define the boundaries of
acceptable motion in a motor/drive system.
For example, define inputs X5 and X6 as dedicated end-of-travel limits. If one of these inputs is activated
while defined as an end-of-travel limit, motor rotation will stop in that direction, and an alarm code will
show on the drive’s LED display.
If not needed, X5 and X6 can be redefined as general purpose inputs.
Refer to Section 7.1.3 CW/CCW Limit.
X7, X8, X9, X10 input function Data Range Default Unit Data type
P-65 (MI)
setting 1111 - 3333 3333 --- DEC
Defines the functions for X7, X8, X9, and X10 based on the value of the digits from right to left .
Refer to Section 7.1.4 Global Gain Selection, Section 7.1.5 Control Mode Selection, Section 7.2.3 input
electronic gearing selection, and Section 7.2.4 Pulse Inhibit.
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Defines usage of digital output Y1. Normally this output is used to indicate an Alarm caused by a Drive
Fault. This output can being reconfigured as a general purpose output for use with other types of output
commands. There are three states that can be defined: AO1: Output Y1 is closed (active, low) when
a Drive Fault is present. AO2: Output Y1 is open (inactive, high) when an Drive Fault is present. AO3:
Output Y1 is not used as an Alarm Output and can be used as a general purpose output.
BO defines the usage of digital output Y2 as the Brake Output, which can be used to automatically
activate and deactivate a holding brake. Output Y2 can also be configured as a general purpose output for
use with other types of output commands. There are three states that can be defined:
BO1: Output Y2 is closed (energized) when the drive is enabled, and open when the drive is
disabled.
BO2: Output Y2 is open (de-energized) when the drive is enabled, and closed when the drive is
disabled.
BO3: Output Y2 is not used as a Brake Output and can be used as a general purpose output.
Refer to Section 7.1.7 Motor Brake Control.
Y3, Y4, Y5, Y6 output function Data Range Default Unit Data type
P-68 (MO)
setting 413D --- HEX
P-68 (MO) defines Y3, Y4, Y5, and Y6 output functions, by 4 digits from right to left.
A: When the actual velocity reaches the targeted velocity, output Y3 is closed.
B: When the actual velocity reaches the targeted velocity, output Y3 is open.
3: Output Y3 is used as a general purpose output.
Digit 3 defines output Y5
1: When the drive is enabled, output Y5 is closed.
2: When the drive is enabled, output Y5 is open.
3: Output Y5 is used as a general purpose output.
Digit 4 defines output Y6
4: When the motion is completed and the motor is in position, output Y3 is closed.
5: When the motion is completed and the motor is in position, output Y3 is open.
C:When the motor is running, Y6 is set for tach output.
3: Output Y6 is used as a general purpose output.
In M servo suite Parameter Table tab, 4 commands are listed: MO1 represents digit 1 (Y3), MO2
represents digit 2 (Y4), MO3 represents digit 3 (Y5), MO4 represents digit 4 (Y6).
BD only takes effect if the BO command is set to 1 or 2. After a drive is enabled this is the time value a
move may be delayed waiting for the brake to disengage. When beginning a move the delay value must
expire before a move can take place. The delay timer begins counting down immediately after the drive is
enabled and the brake output is set. The delay is set in milliseconds.
BE only takes effect if the BO command is set to 1 or 2. After a drive is commanded to be disabled this is
the time value the actual disabling of the drive output is delayed. When using the dedicated brake output
(see BO command), the output is activated immediately with the disable command, then the drive waits
the delay time before turning off the motor current.
ON
S_ON Signal
OFF
ON
Motor ON
OFF
ON
Brake Signal
OFF
ON
Brake Action
OFF
ON
Motion Command
OFF
ON
Actual Motion
OFF
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Applies a digital filter to the input X9. The digital input must be at the same level for the time period
specified by the FI command before the input state is updated. For example, if the time value is set to
100 the input must remain high for 100 processor cycles before high is updated as the input state. One
processor cycle is 250µsec. A value of “0” disables the filter.
Applies a digital filter to the input X10. The digital input must be at the same level for the time period
specified by the FI command before the input state is updated. For example, if the time value is set to
100 the input must remain high for 100 processor cycles before high is updated as the input state. One
processor cycle is 250µsec. A value of “0” disables the filter.
Applies a digital filter to the input X11. The digital input must be at the same level for the time period
specified by the FI command before the input state is updated. For example, if the time value is set to
100 the input must remain high for 100 processor cycles before high is updated as the input state. One
processor cycle is 250µsec. A value of “0” disables the filter.
Applies a digital filter to the input X12. The digital input must be at the same level for the time period
specified by the FI command before the input state is updated. For example, if the time value is set to
100 the input must remain high for 100 processor cycles before high is updated as the input state. One
processor cycle is 250µsec. A value of “0” disables the filter.
The serial communication protocol settings. There are a number of settings that can be turned on or
off in the PR command. Each setting is assigned a bit in an 8-bit binary word. The parameter of the PR
command is the decimal equivalent of this word. If the PR command is sent without a parameter the
drive will respond with the decimal equivalent of the word as well. The different protocol settings and
their bit assignments are shown below.
Bit 0: Default (“Standard SCL”)
Bit 1: Always use Address Character
Bit 2: Ack/Nack
Bit 3: Checksum (RESERVED)
Bit 4: RS-485 Adaptor
Bit 5: 3-digit numeric register addressing
The time delay used by the drive when responding to a command that requests a response. Typically this
is needed when using the 2-wire RS-485 interface (half-duplex). Because the same wires are used to both
receive and transmit a time delay is usually needed to allow transition time.
This parameter sets the bit rate (baud) for serial communications. At power up a drive will send its power-
up packet detected after 1 second and the drive is configured for SCL or Q operation (see PM command)
the drive will set the baud rate according to the value stored in the Baud Rate NV parameter. A Host
system can set the baud rate at anytime using this command.
1: 9600bps 2: 19200bps
3: 38400bps 4: 57600bps
5: 115200bps
Data Range Default Unit Data type
P-79 (DA) RS-485 Address
1 - 32 32 --- DEC
The individual drive address character for multi-drop RS-485/MODBUS communications. This command
is not required for single-axis (point-to-point) or RS-232 communications.
Modbus Address SCL Address Modbus Address SCL Address
1 1 17 !
2 2 18 “
3 3 19 #
4 4 20 $
5 5 21 %
6 6 22 &
7 7 23 ‘
8 8 24 (
9 9 25 )
10 : 26 *
11 ; 27 +
12 < 28 ,
13 = 29 -
14 > 30 .
15 ? 31 /
16 @ 32 0
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The CANopen NODE-ID for CANOpen type drives. Also used for IP address selection on Ethernet drives.
P-80(CO) IP Address P-80(CO) IP Address
0 10.10.10.10 8 192.168.0.80
1 192.168.1.10 9 192.168.0.90
2 192.168.1.20 A 192.168.0.100
3 192.168.1.30 B 192.168.0.110
4 192.168.0.40 C 192.168.0.120
5 192.168.0.50 D 192.168.0.130
6 192.168.0.60 E 192.168.0.140
7 192.168.0.70 F DHCP
The regeneration resistor value. M2DC drives dynamically calculate the continuous wattage induced into
an external regeneration resistor and must know the value of the regen resistor to do this effectively.
The regeneration resistor wattage. M2DC drives calculate the continuous wattage induced into an
external regeneration resistor and must know the continuous wattage rating of the regen resistor to do this
effectively.
The regeneration resistor time constant. Calculates the peak time that the resistor can tolerate full
regeneration voltage. The time is scaled as period count. One period is 250us.
Ripple range setting for velocity Data Range Default Unit Data type
P-85 (VR)
reach 0 - 136 0.000 rps DEC
The velocity ripple value around the targeted velocity. If the difference between the actual velocity and
targeted velocity is within the ripple value, the drive will define the actual velocity as having met the
target velocity value.
Refer to Section 7.3.3.7 Target Velocity Reached.
Ripple range setting for torque Data Range Default Unit Data type
P-87 (TV)
reach 0.00 - 1.50 0.00 A DEC
The torque ripple value around the targeted torque. If the difference between the actual torque and
targeted torque is within the ripple value, the drive will define the actual torque as having met the target
torque value.
Refer to Section 7.4.3.7 Target Torque Reached.
Parameter lock on the drive’s Data Range Default Unit Data type
P-88 (PK)
control panel 0, 1 0 DEC
Determines whether the parameters of the driver can be modified directly from the push buttons on the
driver’s control panel.
0: Yes
1: No
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Sets or requests the default monitor status on the driver’s LED display.
LED Warning Display Mask Data Range Default Unit Data type
P-90 (MA)
Code 0 - 65535 65535 DEC
Some unwanted warnings from the drive’s LED display can be masked to avoid constant flashing of the
display. It is limited to certain warnings: CCW/CW Limits, under voltage, move while disabled, current
foldback, blank Q segments, flash memory, and Comm error.
In homing mode, this parameter sets the acceleration rate for seeking the end-of-travel limit.
Accel of seeking homing switch Data Range Default Unit Data type
P-92 (HA)
during homing 0.167 - 5000 10 rps/s DEC
In homing mode, after end-of-travel is reached, this sets the acceleration rate for seeking the homing
switch. Refer to parameter P-91 (HA).
In homing mode, after the homing switch is reached it sets the acceleration rate for feed back to the
homing switch. Refer to parameter P-91 (HA).
In homing mode, this parameter sets the deceleration rate for seeking the end-of-travel limit. Refer to
parameter P-91 (HA).
Decel of seeking homing switch Data Range Default Unit Data type
P-95 (HL)
during homing 0.167 - 5000 10 rps/s DEC
In homing mode, after end-of-travel is reached, this sets the deceleration rate for seeking the homing
switch. Refer to parameter P-91 (HA).
Decel of feeding to homing Data Range Default Unit Data type
P-96 (HL)
switch during homing 0.167 - 5000 10 rps/s DEC
In homing mode, after the homing switch is reached it sets the deceleration rate for feed back to the
homing switch. Refer to parameter P-91 (HA).
In homing mode, this parameter sets the velocity rate for seeking the end-of-travel limit. Refer to
parameter P-91 (HA).
In homing mode, after end-of-travel is reached, this sets the velocity rate for seeking the homing switch.
Refer to parameter P-91 (HA).
In homing mode, after the homing switch is reached it sets the velocity rate for feed back to the homing
switch. Refer to parameter P-91 (HA).
Servo follow factor: Higher value will reduce system noise and eliminate the overshoot, but it will reduce
the system dynamic following performance. Lower value will raise system stiffness, but may cause system
noise.
Data Range Default Unit Data type
P-101 (RD) Select Motor Rotation
0,1 0 DEC
Forward direction
---counterclockwise
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9 Communication
M2DC series servo drives support multiple communication interfaces
.
Model type Communication
-Q RS-232
-R RS-485
-C CANopen
-IP
Ethernet
-D
Four-Wire Configuration
Four-wire systems utilize separate transmit and receive wires. One pair of wires must connect the host’s
transmit signals to each drive’s RX+ and RX- terminals. The other pair connects the drive’s TX+ and TX-
terminals to the host’s receive signals. A logic ground terminal is provided on each drive and can be used
to keep all drives at the same ground potential. This terminal connects internally to the DC power supply
return (V-), so if all the drives on the RS-422/485 network are powered from the same supply it is not
necessary to connect the logic grounds. One drive’s GND terminal should still be connected to the host
computer ground.
Two-Wire Configuration
In a 2-wire system, the host must disable its transmitter before it can receive data. This must be done
quickly before a drive begins to answer a query. The M2 drives include a transmit delay parameter that
can be adjusted to compensate for a host that is slow to disable its transmitter. This adjustment can be
made over the network using the TD command, or it can be set using the M Servo Suite software. It is not
necessary to set the transmit delay in a four wire system.
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Based on data transfer status, there can be two types of response codes:
Normal Modbus response:
response function code = request function code
Modbus error response:
response function code = request function code + 0x80 (providing an error code)
9.3.6 M2DC series Servo Drive Register Addresses and Function List:
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For more detailed command functions description, please refer to the Host Command Reference
manual.
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Host Sending: 01 03 00 04 00 02 85 CA
Drive Reply: 01 03 04 00 26 25 A0 01 10
If an error occurs, drive reply format will be: 01 83 XX CRC_L CRC_H
When XX = 01 Function code 03 unsupported
XX = 02 Incorrect reading of drive’s address or numbers
XX = 03 Reading register address out of range
XX = 04 Reading failure
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Host Sending: 0B 06 00 1D 01 2C 19 2B
Drive Reply: 0B 06 00 1D 01 2C 19 2B
If an error occurs, drive reply format will be: 01 86 XX CRC_L CRC_H
When XX = 01 Function code 06 unsupported
XX = 02 Incorrect writing on driving address or number
XX = 03 Writing register address out of range
XX = 04 Writing failure
Host Sending: 0A 10 00 1E 00 02 04 00 75 30 70 8F
Drive Reply: 0A 10 00 1E 00 02 20 B5
If an error is occurs, drive reply format will be: 01 90 XX CRC_L CRC_H
Where XX = 01 Function code 10 unsupported
XX = 02 Incorrect reading on driving address or number
XX = 03 Reading register address out of range
XX = 04 Reading failure
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Drive Setting
Parameter Function
P-75 (PR) = 5 Big-endian data transfer
P-76 (TD) = 10 feedback delay 10ms
P-77 (BR) = 3 communication baud rate 38400bps
P-78 (DA) = 1 Communication address 1
P-14 (PM) = 8 Power up mode as Modbus/RTU
Sending Command
Set acceleration register 40028 = 285h
deceleration register 40029 = 4B0h
velocity register 40030 = 960h
target position 40031 - 40032 = 4E20h
Host Sending: 01 10 00 1B 00 05 0A 02 58 04 B0 09 60 00 00 4E 20 24 3B
Drive Response: 01 10 00 1B 00 05 70 0D
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Host Sending: 01 06 00 7C 00 66 C8 38
Drive Reply: 01 06 00 7C 00 66 C8 38
Drive Setting
Parameter Function
P-75 (PR) = 5 Big-endian data transfer
P-76 (TD) = 10 Feedback delay 10ms
P-77 (BR) = 3 Communication baud rate 38400bps
P-78 (DA) = 1 Communication address 1
P-14 (PM) = 8 Power up mode as modbus/rtu
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Sending Command
Set velocity mode acceleration register as 40047 = 258h
deceleration register as 40048 = 4B0h
velocity register 40049 = 960h
Host Sending: 01 10 00 2E 00 03 06 02 58 04 B0 09 60 A0 9F
Drive Reply: 01 10 00 2E 00 03 E0 01
Command Message (Master) Command Message (Slave)
Function Data Number Of Bytes Function Data Number Of Bytes
Slave Address 01H 1 Slave Address 01H 1
Function Code 10H 1 Function Code 10H 1
00H (High) 00H (High)
Starting Data Address 2 Starting Data Address 2
2EH (Low) 2EH (Low)
Number of Data 00H (High) Number of Data 00H (High)
2 2
(In word) 03H (Low) (In word) 03H (Low)
Number of Data
06H 1 CRC Check Low 70 1
(In word)
Content of first Data 02 (High)
2 CRC Check High 0D 1
address 40047 58 (Low)
Content of second Data 04H (High)
2
address 40048 B0H (Low)
Content of third Data 09H (High)
2
address 40049 60H (Low)
CRC Check Low A0 1
CRC Check High 9F 1
Start
Host Sending: 01 06 00 7C 00 96 C8 7C
Drive Reply: 01 06 00 7C 00 96 C8 7C
Stop
Host Sending: 01 06 00 7C 00 D8 48 48
Drive Reply: 01 06 00 7C 00 D8 48 48
Starting message :
Stopping Message:
Command Message (Master) Command Message (Slave)
Function Data Number Of Bytes Function Data Number Of Bytes
Slave Address 01H 1 Slave Address 01H 1
Function Code 06H 1 Function Code 06H 1
00H (High) 00H (High)
Starting Data Address 2 Starting Data Address 2
7CH (Low) 7CH (Low)
00 (High) 00 (High)
Content of Data 2 Content of Data 2
D8 (Low) D8 (Low)
CRC Check Low 48 1 CRC Check Low 48 1
CRC Check High 48 1 CRC Check High 48 1
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PIN Definition
1 CAN_H
2 CAN_L
3, 7 GND
6 CHGND
4, 5, 8
10 Trouble Shooting
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Appendix
1 2 3 4 5 6 7 8 9 10
A B C D E F G H I J
K L M N O P Q R S T
U V W X Y Z
Encoder Cables
See Section 4.3 for more information on wiring the connectors.
Encoder Cables
◆ Standard Type
P/N Description
Drive Side
2627-100 M2 Common Encoder Cable, Shielded, 1m Motor Side
A
M2 Common Encoder Cable, Shielded, 3m
1 7
2627-300
3 9
◆ Standard Type
P/N Description Housing: 172159-1(AMP)
Crimp: 170362-1(AMP)
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◆ Standard Type
Housing: 350780-1(AMP)
Crimp: 350536-1(AMP)
P/N Description J1
A
≤Φ1.4
25±3
P/N Description
1602-100-C05 M2 Flexible Motor Brake cable, 1m
1602-300-C05 M2 Flexible Motor Brake cable, 3m
1602-500-C05 M2 Flexible Motor Brake cable, 5m
1602-1000-C05 M2 Flexible Motor Brake cable, 10m
P/N Description
2012-030 Common type, Twisted-pair, 0.3m L
8 1 8 1
2012-300 Common type, Twisted-pair, 3m
2013-030 Shielded type, Twisted-pair, 0.3m
2013-300 Shielded type, Twisted-pair, 3m