MDX+ EtherCAT Hardware Manual

1 Introduction

1.1 About this manual

This manual describes the MDX+ Servo motor.

It provides the information required for installation, configuration and basic operation of the MDX+ series AC servo drive.

This document is intended for persons who are qualified to transport, assembling, commission, and maintain the equipment described herein.

1.2 Documentation Set for MDX+ EC series servo motor

This manual is part of a documentation set. The entire set consists of the following:

• MDX+ EC Series Hardware Manual. This includes hardware installation, configuration and operation.

• MDX+ EtherCAT User manual. This introduces the drive EtherCAT protocol functions.

• Luna Software user manual.

1.3 Safety

Only qualified persons may perform the installation procedures. The following explanations are for things that must be observed in order to prevent harm to people and damage to property.

• MDX+ utilizes hazardous voltages. Be sure the drive is properly grounded.

Before you install the MDX+, review the safety instructions in this manual.

Failure to follow the safety instructions may result in personal injury or equipment damage.

1.4 Safety Symbols

Safety symbols indicate a potential for personal injury or equipment damage if the recommended precautions and safe operating practices are not followed.

The following safety-alert symbols are used on the drive and in the documentation:

• Caution Dangerous Voltage Earth Caution,Hot Surface

1.5 Safety Precautions

1.5.1  Storage

Please note the following when storing:

• Please put this motor in the packaging box and store it in a dry, dust-free place away from direct sunlight.
• Storage environment temperature is between -20℃ to +65℃
• The storage environment humidity is within the range of 10% to 85%, and there is no condensation.
• Avoid storage in corrosive gas environment

1.5.2  Installation Precautions

1.5.3  Wiring

1.5.4  Pilot Run

1.6 Certified Specifications

MDX+Series servo products are designed to meet the following standards.

1.7 Maintenance and Inspection

1.7.1  Check items and cycle

The normal use conditions of the servo are as follows: Annual average environmental temperature: 30℃, Average load rate: below 80% , Daily running time: less than 20 hours

The items of daily inspection are as follows:

1.7.2  Replacement of parts

The internal components of the servo product will wear out or aging, and the replacement time of components will vary according to environmental conditions and usage methods. If you need to replace it, please contact our company or our agent.

Except for our company, please do not disassemble and repair by yourself.

2 Product Introduction

2.1 Unpacking Check

Please refer to the following chapters to confirm the model of servo drive motor.

A complete and operable servo system should include the following parts:

●Power connector for motor power supply (standard for IP20 models, optional for IP65 models)

●Mini-B USB communication cable for USB port to PC (optional)

●Connector for I/O port (standard for IP20 models, optional for IP65 models)

●3m communication cable for COM1 (IN) and COM2 (OUT) ports, used for EtherCAT communication (standard for IP20 models, optional for IP65 models)

2.2 Numbering System

• MDX R 6 1 G N L RC A 000
• Series MDX+ Integrated Servo Motors
• Options 000 = Without planetary gearbox Standard shaft with keyway Planetary Reducer
• Heat Sink & STO A = Low Profile Heat Sink , Without STO *S = Low Profile Heat Sink , With STO
• IP Type R = IP20
• P05 = Reducer, 5:1 P10 = Reducer, 10:1 P20 = Reducer, 20:1 P40 = Reducer, 40:1
• T = IP65
• Frame Size 4 = 40 mm 6 = 60 mm 8 = 80 mm
• Contorl Mode RC = RS-485、CANopen、Pulse EC = EtherCAT
• Motor Length 1 = 1 Stacks 2 = 2 Stacks
• Feedback Options B = 17-bit Battery-less Absolute Multi-turn Encoder L = 17-bit Incremental magnetic encoder
• Brake Options N = No brake, Low inertia 5 = With brake, Low inertia
• Power Voltage J = 24VDC G = 48VDC
• *S：With STO type is under development

2.3 Common Specification

2.3.1 □40mm Specification

□: Indicates whether there is a brake, please refer to P10 MDX+ numbering system ◇: Indicates encoder types, please refer to P10 MDX+ naming rules *1: This means that some models do not support this function. Please refer to the P10 MDX+ numbering system.

2.3.2  □60mm Specification

□: Indicates whether there is a brake, please refer to P10 MDX+ numbering system ◇: Indicates encoder types, please refer to P10 MDX+ naming rules *1: This means that some models do not support this function. Please refer to the P10 MDX+ numbering system.

2.3.3  □80mm Specification

□: Indicates whether there is a brake, please refer to P10 MDX+ numbering system ◇: Indicates encoder types, please refer to P10 MDX+ naming rules *1: This means that some models do not support this function. Please refer to the P10 MDX+ numbering system.

2.4 Frame Size 40mm Motor Specifications

2.4.1  Compact IP20 Type

• Frame Size: 40mm
• Rated Rating: 100W
• 6 Digital Inputs
• 3 Digital Outputs
• 1 Analog Inputs

□: Brake Options; ◇: Encoder Options

□ Dimensions (Unit: mm)

• 1) Without Brake 2) With Brake
• L L

□ Torque Cuves

• 1.2
• 1.0
• Torque (N.m)
• 0.8
• 0.6
• 0.4
• 0.2
• 0.0
• 0 1000 2000 3000 4000 5000 6000
• Speed (rpm)

2.4.2  Compact IP65 Type

• Frame Size: 40mm
• Rated Rating: 100W
• 4 Digital Inputs
• 2 Digital Outputs
• 1 Analog Inputs

□: Brake Options; ◇: Encoder Options

□ Dimensions (Unit: mm)

• 1) Without Brake 2) With Brake
• 84.8
• 84.8
• L L

□ Torque Cuves

2.5 Frame Size 60mm Motor Specifications

2.5.1  Compact IP20 Type

• Frame Size: 60mm
• Rated Rating: 200W，400W
• 6 Digital Inputs
• 3 Digital Outputs
• 1 Analog Inputs

□: Brake Options; ◇: Encoder Options

□ Dimensions (Unit: mm)

• 1) Without Brake 2) With Brake
• φ0.04 A
• -0.025
• φ0.04 A
• -0.025
• -0.011
• -0.011
• 0
• 4-φ5.5均布 P.C.D φ70
• 0
• 0
• φ50 h7
• 0
• φ50 h7
• φ14 h6
• 4-φ5.5均布 P.C.D φ70
• φ14 h6
• 2
• 2
• -0.118
• +0.300
• 107
• 107
• 16
• -0.012 -0.042
• M5 10
• 5 P9
• L±1 □60

22.5

22.5

□ Torque Cuves

• Peak Torque
• Peak Torque
• Peak Torque
• Peak Torque
• 24VDC 36VDC
• MDX+Series/400W
• Continuous Torque
• MDX+Series/200W
• Continuous Torque
• Continuous Torque
• Peak Torque
• Peak Torque
• Peak Torque
• 48VDC 60VDC
• Continuous Torque
• Continuous Torque
• Continuous Torque
• 4.5
• 2.5
• 3.6
• 2.0
• Torque (N.m)
• Torque (N.m)
• 2.7
• 1.5
• 1.8
• 1.0
• 0.9
• 0.5
• 0
• 0
• 0 1000 2000 3000 4000 5000 6000
• 0 1000 2000 3000 4000 5000 6000
• Speed (rpm)
• Speed (rpm)

2.5.2  Compact IP65 Type

• Frame Size: 60mm
• Rated Rating: 200W，400W
• 4 Digital Inputs
• 2 Digital Outputs
• 1 Analog Inputs

□: Brake Options; ◇: Encoder Options

□ Dimensions (Unit: mm)

• 1) Without Brake 2) With Brake
• φ0.04 A
• φ0.04 A
• -0.025
• -0.025
• -0.011
• -0.011
• 0
• 0
• 0
• 0
• φ50 h7
• φ50 h7
• 4-φ5.5均布 P.C.D φ70
• 4-φ5.5均布 P.C.D φ70
• φ14 h6
• φ14 h6
• 2
• 116
• 116
• 16 +0.300 -0.118
• 16 +0.300 -0.118
• -0.012 -0.042
• M5 10
• 5 P9
• 5 P9 -0.012 -0.042
• M5 10
• □60
• □60
• 22.5
• 22.5

□ Torque Cuves

• Peak Torque
• Peak Torque
• Peak Torque
• Peak Torque
• 24VDC 36VDC
• MDX+Series/200W
• Continuous Torque
• Continuous Torque
• Peak Torque
• Peak Torque
• 48VDC 60VDC
• Continuous Torque
• Continuous Torque
• 4.5
• 2.5
• 3.6
• 2.0
• Torque (N.m)
• Torque (N.m)
• 2.7
• 1.5
• 1.8
• 1.0
• 0.9
• 0.5
• 0
• 0
• 0 1000 2000 3000 4000 5000 6000
• 0 1000 2000 3000 4000 5000 6000
• Speed (rpm)
• Speed (rpm)

2.6 Frame Size 80mm Motor Specifications

2.6.1  Compact IP20 Type

• Frame Size: 80mm
• Rated Rating: 550W
• 6 Digital Inputs
• 3 Digital Outputs
• 1 Analog Inputs

□: Brake Options; ◇: Encoder Options

□ Dimensions (Unit: mm)

• 1) Without Brake 2) With Brake
• A 0.04
• 0.04 A
• 6.5均布 P.C.D 90 4-
• 6.5均布 4-
• 90 P.C.D
• 21.5 - 0.118
• +0.300
• 135
• 21.5 - 0.118
• +0.300
• 135
• - -
• 0.012 0.042
• 6 P9
• M5 10
• 0.012 0.042
• -
• 40
• ±1
• 80
• 80
• L±1 L±1
• 40
• ±1
• M5 10
• 22 22

□ Torque Cuves

• Peak Torque
• Peak Torque
• 24VDC 36VDC
• MDX+Series/550W
• Continuous Torque
• Continuous Torque
• Peak Torque
• Peak Torque
• 48VDC 60VDC
• Continuous Torque
• Continuous Torque
• 10.0
• 8.0
• Torque (N.m)
• 6.0
• 4.0
• 2.0
• 0
• 0 1000 2000 3000 4000 5000 6000
• Speed (rpm)

2.6.2  Compact IP65 Type

• Frame Size: 80mm
• Rated Rating: 550W
• 4 Digital Inputs
• 2 Digital Outputs
• 1 Analog Inputs

□: Brake Options; ◇: Encoder Options

□ Dimensions (Unit: mm)

• 1) Without Brake 2) With Brake
• 0 19 h6
• - 0 0.030
• - 0 0.013
• A
• 0.04
• 0.04 A
• 4- 6.5 均布 P.C.D 90 4- 6.5 均布 P.C.D 90
• 2
• 0.300 +
• 0.118 -
• 0.300 +
• 142
• 121
• 0.118 - 21.5
• 142
• 21.5
• M5 10
• 40 ±1 40 ±1
• L±1 L±1
• 80
• 80
• M5 10
• 22 22

□ Torque Cuves

2.7 Brake Specifications

The motor brake is used to prevent the motor from rotating when the brake is power off. The most common way to use it is when the motor is used to control the vertical axis. The mechanism is displaced due to gravity and other reasons, and a servo motor with a brake is required.

When the brake is energized, the armature is absorbed and the brake plate is released, and the motor can operate normally; when the brake is powered off, the armature will be released. The brake plate is locked, and the motor cannot rotate normally.

• Motor-intergrated holding brake Encoder
• Motor
• Coil
• Spring
• Friction Lining

During normal operation, do not use the motor's brake to decelerate the motor, it will cause damage to the brake.

3 Installation

3.1 Storage conditions

Please note the following when storing:

• Correctly packaged and stored in a clean and dry place, avoid direct sunlight
• Store within an ambient temperature range of -20℃～+70℃
• Store within a relative humidity rang of 10% to 85% and non-condensing
• DO NOT store in a place subjected to corrosive gasses

3.2 Installation Conditions

The drive operation ambient conditions are as follows:

• The ambient temperature is 0℃～50℃. If the ambient temperature exceeds 45°C, please place it in a well-ventilated place.
• Ambient humidity is 10%～85% RH, no condensation.
• Vibration below 9.8m/s2, 10～60Hz (can not be used continuously at the resonance point).
• Do not use the drive near corrosive gas, flammable gas, or combustible materials.
• Do not install IP20 motors on equipment exposed to water or direct sunlight.
• Do not use the motor in a closed environment, the closed environment will cause the motor to high temperature and shorten the service life.

3.3 Motor Installation

3.3.1 Encoder and Bearing Protection

●DO NOT strike the motor when mounting as the motor shaft or encoder may be damaged.

• It is recommended to use a disturbing coupling specially designed for servo motors, which can provide some cushioning during eccentricity or deflection.
• When installing the coupling, please wipe clean the anti-rust oil on the output shaft end of the motor.
• When using the keyway motor, please use the standard key in the motor box.
• When installing a pulley on a servo motor with a keyway, please use the threaded hole of the motor shaft to push the pulley into the motor shaft with a screw.

• When disassembling the pulley, please use professional tools such as pulley remover to prevent the bearing from being injured.
• When connecting the shaft, make sure to achieve the required concentricity. If the concentricity is not good, it will produce vibration and damage the bearing and encoder.
• The load applied in the axial or radial direction of the motor should not exceed the range specified in the specifications, please refer to the specifications table of each servo motor.
• The output shaft material of the servo motor does not have the ability to prevent rust. Although grease has been used for rust protection before leaving the factory, if the storage time exceeds six months, to ensure that the motor shaft is free from rust, please check the condition of the motor shaft regularly every three months and add appropriate anti-rust grease in time.

3.3.2  Precautions for the use of the motor in the oil and water environment

●Do not allow oil or water to intrude the motor

●Do not put the cable in water or oil

●Since the through part of the motor shaft is not designed with IP65 protection, please make sure that no water or oil intrudes from such parts

●Industrial-class oil seal for motor seal can block contaminants (oil, impurities) to extend the life of the motor; the oil seal will produce a certain resistance to the motor shaft, and it is recommended to use it in derating.

●When installing the oil seal, make sure that the lip of the oil seal faces outwards

3.3.3  Wiring

●If you use cable drag chain, please use bending resistant cable, and ensure that there is a bending diameter of 100mm or more.

●Do not twist the cable.

●When moving the motor, do not pull the cable.

●Do not use the same sleeve for the main circuit cable and the input/output signal cable/encoder cable, and do not tie them together; when wiring, the main circuit cable and the input/output signal cable/encoder cable should be separated by more than 30cm.

3.3.4  Motor Temperature Rise

The rated value of the servo motor power is the continuous allowable rating when it is installed on the heat sink and the operating environment temperature is 40°C. When the servo motor is installed in a small device, the heat dissipation area of the servo motor is reduced, so the temperature may rise significantly.

The size of the heatsink is as follows:

If the installation environment is difficult to use a large radiator, or work in an ambient temperature exceeding the specification requirements, you need to follow the following requirements:

●Do not work under rated power, choose a motor that is 1 to 2 times larger than the actual motor power required

●Reduce the acceleration and deceleration of the working cycle to reduce the motor load

●Reduce the duty cycle of work

●Use a cooling fan or other methods to perform external forced air cooling of the servo motor

●When using a motor with an oil seal, the required load torque must be 70% of the rated torque of the motor

Note: Do not place any heat-insulating material between the servo motor and the metal heatsink, otherwise the motor cannot dissipate heat and cause the motor temperature to rise, which may cause the motor failure.

4 Wiring

4.1 IP20 Type System Configuration

4.1.1 □40mm Motor

• AC Power
• AC Power
• 24VDC Power Supply
• 24VDC Power Supply
• connected to an auxiliary power supply)
• (The motor with brake must be
• AUX Power 24VDC
• USB Configuration Cable(Optional) P/N: 2620-150
• USB Communication (software configuration)
• Regeneration
• Clamp
• Ordering Information P/N: RC880
• I/O Cable(Optional) P/N: 1664-X00(shielded)
• PLC,Sensor,I/O
• Communication Cable
• EtherCAT connect to
• another device
• EtherCAT Controller

4.1.2 □60mm Motor

• AC Power
• USB Configuration Cable(Optional) P/N: 2620-150
• USB Communication (software configuration)
• Communication Cable
• 48VDC Power Supply
• EtherCAT Controller
• EtherCAT connect to
• another device
• POWER
• Regeneration
• Clamp
• USB
• (IN) (OUT)
• COM2 COM1
• Ordering Information P/N: RC880
• I/O
• AUX+ AUX- V+ V-
• I/O Cable(Optional) P/N: 1101-X00(unshielded) P/N: 1116-X00(shielded)
• Status DCP
• PLC,Sensor,I/O
• L/A2 L/A1
• Status
• COM2
• AUX Power 24VDC (The motor with brake must be connected to an auxiliary power supply)
• AC Power
• 24VDC Power Supply

4.1.3 □80mm Motor

• AC Power
• USB Configuration Cable(Optional) P/N: 2620-150
• USB Communication (software configuration)
• Communication Cable
• 48VDC Power Supply
• EtherCAT Controller
• EtherCAT connect to
• another device
• Regeneration
• Clamp
• Ordering Information P/N: RC880
• I/O Cable(Optional) P/N: 1101-X00(unshielded) P/N: 1116-X00(shielded)
• PLC,Sensor,I/O
• AC Power
• AUX Power 24VDC (The motor with brake must be connected to an auxiliary power supply)
• DC Power Supply

4.2 IP65 Type System Configuration

4.2.1 □40mm Motor

• USB Configuration Cable(Optional) P/N: 2620-150
• USB Communication (software configuration)
• AC Power
• Communication Cable (Optional) P/N: 2664-X00(Right Angle) P/N: 2663-X00(Straight ) P/N: 2665-X00(RJ Straight )
• EtherCAT Controller
• 24VDC Power Supply
• EtherCAT connect to
• another device
• USB
• (OUT)
• COM2
• Status Run/Err L/A1 L/A2
• I/O
• Regeneration
• I/O Cable(Optional) P/N: 1637-X00(Right Angle) P/N: 1638-X00(Straight )
• Clamp
• COM1
• Ordering Information P/N: RC880
• PLC,Sensor,I/O
• POWER
• (IN)
• Power Cable(Optional) P/N: 1636-X00(Right Angle) P/N: 1639-X00(Straight )
• AC Power
• AUX Power 24VDC (The motor with brake must be connected to an auxiliary power supply)
• 24VDC Power Supply

4.2.2 □60mm Motor

• AUX Power 24VDC (The motor with brake must be connected to an auxiliary power supply)
• AC Power
• Power Cable(Optional) P/N: 1636-X00(Right Angle) P/N: 1639-X00(Straight )
• 24VDC Power Supply
• Communication Cable (Optional) P/N: 2647-X00(Right Angle) P/N: 2648-X00(Straight ) P/N: 2646-X00(RJ Straight )
• EtherCAT Controller
• EtherCAT connect to
• another device
• (OUT)
• POWER
• Regeneration
• COM2
• Clamp
• Ordering Information P/N: RC880
• USB
• Status Run/Err L/A2 L/A1
• USB Configuration Cable(Optional) P/N: 2620-150
• USB Communication (software configuration)
• COM1
• I/O
• (IN)
• 48VDC Power Supply
• I/O Cable(Optional) P/N: 1637-X00(Right Angle) P/N: 1638-X00(Straight )
• AC Power
• PLC,Sensor,I/O

4.2.3 □80mm Motor

• Communication Cable (Optional) P/N: 2647-X00(Right Angle) P/N: 2648-X00(Straight ) P/N: 2646-X00(RJ Straight )
• USB Communication (software configuration)
• EtherCAT Controller
• USB Configuration Cable(Optional) P/N: 2620-150
• EtherCAT connect to
• another device
• AC Power
• POWER
• 24VDC Power Supply
• Power Cable(Optional) P/N: 1665-X00(Straight )
• AUX Power 24VDC (The motor with brake must be connected to an auxiliary power supply)
• Ordering Information P/N: RC880 Regeneration
• Clamp
• I/O Cable(Optional) P/N: 1637-X00(Right Angle) P/N: 1638-X00(Straight )
• 48VDC Power Supply
• PLC,Sensor,I/O
• AC Power

4.3 EMC Control

When installing and wiring, please follow the electromagnetic compatibility specifications described in this user manual. This product can comply with EN 61800-3 specifications. In order to prevent the mutual electromagnetic interference between the servo drive and its peripheral equipment, the following countermeasures can be taken:

●Please make sure that the drive and motor are well grounded, and the grounding wire is preferably AWG10 or higher.

●Do not use the same sleeve for the main circuit cable and the input/output signal cable/encoder cable, and do not tie them together; when wiring, the main circuit cable and the input/output signal cable/encoder cable should be separated by more than 30cm.

●Please use twisted-pair wire or multi-core twisted-pair shielded wire for input and output signal cables and encoder cables.

●The length of the input and output signal cables is less than 5m.

●Do not use the same power source with electric welders, EDM machines, etc.; even if they are not the same power source, when there is a high-frequency generator nearby, please connect a noise filter to the input side of the main circuit power cable and control power cable.

4.3.1 Grounding

Good grounding treatment can give full play to the effect of EMI filter and greatly reduce nterference.

4.3.2 Ferrite Ring

The ferrite magnetic ring can effectively absorb the radiation interference of the wire harness.

The magnetic ring has different impedance characteristics at different frequencies. Generally, the impedance is very small at low frequencies. When the signal frequency increases, the impedance shown by the magnetic ring rises sharply, which makes it easy for normal useful signals to pass through, and can effectively suppress high frequencies. The passage of interference signals solves the problem of high-frequency interference of power lines, signal lines and connectors.

When the magnetic ring suppresses common mode interference, the eddy current loss of the magnetic ring to the high-frequency signal converts the high-frequency component into heat loss, so that a low-pass filter can be formed, which makes the high-frequency noise attenuate greatly. The impedance of low-frequency useful signals can be ignored and does not affect the normal operation of the circuit.

The wire passing through the magnetic ring can be repeatedly wound on the magnetic ring to increase the inductance, thereby enhancing the use effect of the magnetic ring, but too many turns will cause excessive loss and increase the temperature of the magnetic ring. The recommended winding method and number of turns are as follows:

Recommended Ferrite ring:

4.4 External Circuit Wiring

4.4.1  Servo Drive Connectors and Terminals

4.4.2  Connections and Wiring Notes

●Please ensure grounding wires are securely connected, wires with more than AWG 10(5.3mm2) on sectional area is recommended.

●Grounding method must be single point grounding.

●Ensure V+ and V- are correctly wired, and voltage supplies are within the specification range.

●If you use an auxiliary power supply, please connect the positive terminal of the 24V power supply to AUX+ and the negative terminal of the power supply to AUX-; connect the negative terminals of the main power supply and the auxiliary power supply together.

●Please setup an emergence stop circuitry to switch off the power supply when fault occurs.

●Please DO NOT touch drive or motor's connector terminals 5 minutes after drive and motor is powered off. There are electrical charge components in the circuitry. Therefore, even power is off, there might still be hazardous voltages within the circuitry, before its total discharge.

●Install the encoder cables in a separate conduit from the motor power cables to avoid signal noise. Separate the conduits by 30cm above.

●Use multi-stranded twisted-pair wires or multi-core shielded-pair wires for signal, encoder feedback cables.

●The maximum length of signal input/output cable is 5 meters.

4.4.3  Precautions for the use of towline cables

When you need to move the motor cable or install the cable in a drag chain, please use a dedicated flexible cable. Ordinary cables are easy to be damaged during repeated bending, causing the servo motor to fail to work normally.

When using drag chain cables, make sure that:

• Correctly choose the cable that meets the required bending resistance
• The bending radius of the cable is generally more than 10 times the outer diameter of the cable
• Avoid pulling the cable. When wiring inside the drag chain, do not fix or bundle it, so as to avoid the bending radius is not enough and the cable will be pulled
• Please bundle the cables at the two ends of the drag chain and the fixed place of the mechanical part.

• two ends fixed Banding radius
• cable

• The wiring in the drag chain should not be too dense to ensure that the cable occupies less than 60% of the internal space of the drag chain.
• Avoid mixing cables with large outer diameter differences. If you really need to mix cables, please install baffles.

4.4.4 Recommended Wires

• The main circuit is recommended to use insulated wires with a withstand voltage of 600V and above 75°C.
• Be sure to choose the corresponding allowable current cable to prevent the cable from overheating.

Recommended wires for each part of the drive are as follows:

4.4.5 Terminal Crimp

Please use insulated pin terminals for power connectors

4.4.6 Grounded PIN

• In order to obtain a better EMC effect, please use 5.3mm2/AWG10 dedicated copper conductor cable
• Use M4 grounding screws, the recommended tightening torque is 1.4N.m

Notes:

■ Exceeding the maximum tightening torque will cause damage to the screw hole.

■ Do not install the grounding screw when the power is on, it may cause electric sparks.

■ Please regularly check whether the grounding screw is loose.

4.5 Choosing a Power Supply

The main considerations when choosing a power supply are the voltage and current requirements for the application.

4.5.1  Voltage

The MDX+ drive is designed to give optimum performance between 24 and 48 Volts DC. Choosing the voltage depends on the performance needed and motor/drive heating that is acceptable and/or does not cause a drive over-temperature. Higher voltages will give higher speed performance but will cause the drive to produce higher temperatures. Using power supplies with voltage outputs that are near the drive maximum may significantly reduce the operational duty cycle.

The allowed operating voltage range of the MDX+ integrated motor is 18~60VDC voltage. When the MDX+ is powered below 24VDC, the motor's high-speed performance will be affected. In addition, it is recommended to connect a larger voltage stabilizing capacitor in parallel to the power input end to prevent the driver from causing low-voltage alarm due to unstable power supply voltage. In addition, the voltage stabilizing capacitor can also absorb current spikes on the power line to prevent the driver from false protection. When the supply voltage is below 18V, MDX+ operation may be unreliable. Do not operate the MDX+ with a DC voltage lower than 15V, otherwise the driver will issue a low-voltage alarm, and this alarm will cause the MDX+ to stop working.

4.5.2  Regeneration Clamp RC880

If you choose a regulated power supply, you may encounter the problem of back electromotive force regeneration power supply. Because the motor is a conversion unit of electromagnetic energy and mechanical energy, when the motor drags the load and suddenly decelerates from a higher speed, part of the kinetic energy of the load will be converted into electrical energy of the motor. This electrical energy will be superimposed on the motor in the form of a voltage. On the power supply voltage, the power supply voltage is instantly raised, which can easily cause the output of the regulated power supply to overvoltage and cause the protection to shut down. Using MOONS's back EMF clamp absorption module RC880 (as shown in the figure below) can effectively solve this problem. You can also use RC880 to detect whether there is a back EMF regeneration power supply problem in your application. Connect the RC880 in series between the MDX+ and the power supply and it works normally. If the "Regen" LED indicator on the RC880 never flashes, it means You don't have too much back EMF in your circuit, you don't have to use an RC880.

• LEDs Green- Power Red - Regen on
• RC880 regeneration clamp

4.6 Main & AUX -- Wiring for Power Supply

The MDX+ series DC servo includes two power supplies: main power supply and auxiliary power supply (control power supply), which can be connected according to application needs.

Note: When using the auxiliary power supply, the negative terminals of the main power supply and the auxiliary power supply need to be connected together.

4.6.1  IP20 type Power Connector PIN Definition

• MDX+ Motor
• DC in+
• Main Power 20~60VDC
• Main AUX
• DC GND
• DC in+
• Auxiliary Power
• AUX- 24VDC±10%
• DC GND

4.6.2  IP65 type Power Connector PIN Definition

4.7 Communication Port

4.7.1  USB -- PC configuration port

The USB port is used for communication between the driver and PC. Using Luna software, you can modify parameters, perform online automatic tuning and other operations.

Note: Please use USB Mini-B for the drive side connector.

4.7.2 COM1(IN)/COM2(OUT) -- Bus communication

COM1(IN)/COM2(OUT) port are used to connect the drive to the controller for EtherCAT bus communication.

◆ IP20 Type

◆ IP65 Type

4.8 IP20 Type -- Inputs and Outputs

4.8.1 Inputs and Outputs definition

The I/O port of the servo driver is used to connect input and output signals. The pin definition is as follows:

• 27 28
• 27 28
• STO2- STO1- X1- X2- X1_Opc+ X3 X5 XCOM Y2 YCOM Z- B- A- GND
• STO2+ STO1+
• STO2+ STO1+
• X1+ X2+ X2_Opc+
• X1+ X2+ X2_Opc+
• X4 X6 Y1 Y3
• X4 X6 Y1 Y3
• Z+ B+ A+ AIN +5V
• Z+ B+ A+ AIN +5V
• 1 2
• 1 2
• 40mm Frame Size 60/80mm Frame Size

STO2- STO1- X1- X2- X1_Opc+ X3 X5 XCOM Y2 YCOM Z- B- A- GND

The input and output signal specifications are as follows:

◆ I/O Diagram

• 14 XCOM
• 13
• Y1
• 2.4KΩ
• 15 X6
• 2.4KΩ
• 2.4KΩ
• 12 Y2
• 16 X5
• 2.4KΩ
• 2.4KΩ
• 17 X4
• 11 Y3
• 2.4KΩ
• 2.4KΩ
• 18 X3
• 2.4KΩ
• YCOM
• 9
• ZOUT+
• X2_Opc+
• 19
• 10Ω
• Encoder Feedback output
• 2.2KΩ
• 8
• ZOUT-
• 21 X2+
• Probe signal input
• 10Ω
• 120Ω
• 7
• BOUT+
• 22 X2-
• 10Ω
• 120Ω
• 6
• BOUT-
• X1_Opc+
• 20
• 10Ω
• 2.2KΩ
• 5
• AOUT+
• 23 X1+
• 10Ω
• 120Ω
• 4
• AOUT-
• 24 X1-
• 10Ω
• 120Ω
• Analog Input
• 25
• STO1+
• AIN
• 3
• + -
• 150KΩ
• 75KΩ
• GND
• 2
• 26 STO1-
• STO
• +5V 1
• 27 STO2+
• 28 STO2-

4.8.2  I/O PIN Definition

4.8.3  Digital Signal Input

MDX+ IP20 type series AC servo drive has 6 digital input signals, and each input signal can be configured to a specific function through parameters as well as the logic of the input level.

◆ Specific function signals, such as alarm reset, limitation switch, Homing switch input, Emergency stop, etc.

◆ General input signal, as a general input signal, no specific function

Note:

*1. The level logic of the pin input is as follows:

Closed: The driver digital input circuitry forms a loop with current flowing in or out of the input pins.

Open: The driver digital input circuit is not looped and no current flows into or out of the input pins.

4.8.4  Input Signal Wiring

4.8.4.1  Pulse Signal Input Wiring

MDX+ IP20 type motor has two high-speed pulse signal inputs.

◆24V Pulse signal

◆5V Pulse signal

◆Input Wiring

Note:

1. The same signal can only be input at 24VDC or 5VDC, please do not input it at the same time.

2. The voltage value of the pulse input signal needs to avoid appearing in the fuzzy area of the voltage, thereby avoiding the generation of uncertain pulses.

4.8.4.2  Digital Signal Input Wiring

MDX+ IP20 type motor has 4 opto-coupler isolated single-ended inputs with a common COM point. Because these input circuits are optically isolated, they require a power supply. If it is connected to a PLC, you can use the power supply of the PLC; if it is connected to a relay or a mechanical switch, a 24VDC power supply is required.

What's COM?

"Common" represents a common terminal of equal potential. If you are using a source current (PNP) signal, you should connect COM to the ground (negative power supply); if you are using a current sink (NPN) signal, then COM should be connected to the positive power supply

◆ X3 ~ X6 Circuits are as follows:

◆ X3 ~ X6 Input connection Diagram

4.8.5  Digital Signal Output

The MDX+ IP20 servo driver has 3 optocoupler isolated output signals with a common COM point. Each output signal can be configured for a specific function and output level logic through parameters; the maximum withstand voltage is 30VDC and the current is 30mA.

Note: *1. The level logic of the pin input is as follows: Closed: The driver digital input circuitry forms a loop with current flowing in or out of the input pins. Open: The driver digital input circuit is not looped and no current flows into or out of the input pins.

4.8.6  Output Signal Wiring

◆ Y1 ~ Y3 Signal Diagram

• 13
• Y1
• 12 Y2
• 11 Y3
• YCOM

◆ Y1 ~ Y3 Connection Diagram

4.8.7  Analog Signal Input

The MDX+ IP20 servo driver has 1 single-ended analog input with a voltage range of -10V~+10V. The analog control motor speed range can be set through parameters.

◆ Analog Input Connection Diagram

• Analog Input
• AIN
• 3
• + -
• 150KΩ
• 75KΩ
• GND
• 2

±10VDC

4.8.8  Encoder frequency division output signal

The MDX+ servo driver can output the encoder signals A-phase, B-phase, and Z-phase through Line Driver differential mode, and the output specification is 5V.

The controller must use a Line Receiver to receive signals, and the transmission line must use twisted pair shielded wires.

◆ A/B/Z Connection Diagram

• 伺服驱动器
• 上位机
• A+
• 5
• AOUT+
• 10Ω
• 4
• 10Ω
• 7
• 10Ω
• 6
• 10Ω
• 9
• 10Ω
• 8
• 10Ω
• FG FG

Note: Please make sure the host controller and the servo drive are connected to a common ground.

4.9 IP65 Type -- Input and Output Interface

4.9.1 Input and Output Interface Specification and Diagram

Connector Definition:

Input and Output specification:

◆ I/O Diagram

• 1 X1+
• 13
• Y1
• 120Ω
• 2 X1-
• 120Ω
• 12 Y2
• 3 X2+
• 120Ω
• 4 X2-
• YCOM 13
• 120Ω
• 5 X3
• STO1+
• 14
• 15 STO1-
• STO
• 2.4KΩ
• 16 STO2+
• 8 +5V
• 17 STO2-
• GND
• 9
• 75KΩ
• Analog Input
• AIN
• 10
• + - 150KΩ

4.9.2  Input and Output Pin Definition

4.9.3  Digital Input Signal

MDX+ IP65has 8 digital input signals, and each input signal can be configured to a specific function through parameters as well as the logic of the input level.

◆ Specific function signals, such as alarm reset, limitation switch, homing sensor, etc.

◆ General input signal, as a general input signal, no specific function

Note:

*1 The level logic of the pin input is as follows:

Closed: The drive's digital input circuit forms a loop, and current flows in or out of the input pin.

Open: The drive's digital input circuit does not form a loop, and there is no current flowing in or out of the input pin.

4.9.4 Input Signal Wiring

4.9.4.1  Input Signal Connection Diagram

The MDX+ motor also has 4 optocoupler isolated single-ended input ports with a common COM point. Because these input circuits are optically isolated, they require a power supply. If it is connected to a PLC, you can use the power supply of the PLC; if it is connected to a relay or a mechanical switch, a 24VDC power supply is required.

What's COM? "Common" represents a common terminal of equal potential. If you are using a source current (PNP) signal, you should connect COM to the ground (negative power supply); if you are using a current sink (NPN) signal, then COM should be connected to the positive power supply

◆ X3 ~ X4 circuits are as follows:

• X3
• 5
• X4
• 2.4KΩ
• 6
• XCOM 7
• 2.4KΩ

◆ X3 ~ X4 Input connection Diagram

4.9.5  Digital Output Signal

MDX+ IP65 has 2 optocoupler isolated outputs with COM. The functions can be configured through software while the connection of SINK and SOURCING is supported.

Note: *1. The level logic of the pin input is as follows: Closed: The driver digital input circuitry forms a loop with current flowing in or out of the input pins. Open: The driver digital input circuit is not looped and no current flows into or out of the input pins.

4.9.6  Output Signal Wiring

◆ Y1 ~ Y2 Output Signal Diagram

• 13
• Y1
• 12 Y2
• YCOM

◆ Y1 ~ Y2 Output Connection Diagram

4.9.7  Analog Signal Input

MDX+ IP65 drive has 1 single-ended analog inputs. The voltage range is -10V~+10V and the speed and torque range can be set by parameters.

◆ Analog Input connection Diagram

• Analog Input
• 10
• AIN
• + - 150KΩ ±10VDC
• 75KΩ
• 9 GND

4.10 Electromagnetic Brake

Servo motors are used in applications such as vertical axes. When the motor is disabled or powered off, to prevent the mechanical mechanism driven by the motor from falling due to gravity and other reasons, it is necessary to use a servo motor with an electromagnetic brake.

Note: The brake of the servo motor can only be used to maintain the position of the motor when the motor is not enabled or power-off. Do not use it for braking during deceleration, otherwise the motor will be damaged.

4.10.1 Precautions for the use o brake

●MDX+ motors with brakes need to be connected to 24VDC auxiliary power supply, and the load cannot open the brake normally.

●The digital input is configured as a forced brake output function. When this signal is valid, the brake can be forced to open.

●The electromagnetic brake is normally closed. When the brake is not powered, the motor shaft cannot rotate.

●The brake will make a clicking sound when braking/releasing, which will not affect use.

◆ The brake specifications are as follows:

4.10.2 The Timing Charts of Electromagnetic Brake

Since the brake has an action delay when releasing and braking, in order to avoid damage to the brake, you need to pay attention to the action sequence during use.

• ON
• S_ON Signal
• OFF
• ON
• Motor Engage
• OFF
• ON
• Brake Signal
• OFF
• ON
• Brake Release
• OFF
• ON
• Motion Command
• OFF
• ON
• Actual Movement
• OFF
• Brake Delay Time
• Release Delay Time

P5-25 Release delay and braking delay time can be set using Luna software.

P5-24

5 LED Display

The red and green indicator lights are used to display the operating status and alarm code of the drive.

• Status Run/Err L/A2 L/A1

5.1 Drive operating status display

The Status indicator is used to display the operating status and alarm information of the drive.

During trial operation, it is recommended to disconnect the servo motor from the mechanical parts and run without load.

5.2 EtherCAT Communication status indication

Run/Err、L/A1 and L/A2 LED used to display the status of EtherCAT communication.

Note:

5.3 Causes and Solutions of Drive Alarms

6 Trial Run

6.1 Inspection Before Trial Run

In order to ensure the safety of the servo drive and mechanical structure, it is strongly recommended to check the following items before powering on the drive.

1) Wiring inspection

Check whether the power input terminal Main, AUX, I/O, and communication terminal USB are correctly wired, whether the wiring is firm, whether there is a short circuit, and confirm the correct grounding.

2) Power supply voltage check

Check whether the voltage between V+ and V- meets the input specifications of the driver, and check whether the voltage between AUX+ and AUX- is within the correct range.

3) Make sure the motor is installed securely

4) Make sure the motor shaft is not loaded

6.2 Trial Run Procedure

Note: Please be sure to set the motor parameters according to the following steps before moving with the motor.

6.3 Configuration by Personal Computer

In order to ensure servo drive and motor meet your operation requirements, we strongly recommend customer to use "Luna" for following configuration setups: 1. Configure the control mode 2. Configure the encoder usage mode 3. Define drive's input/output function 4. Apply auto tuning function on PID parameters for optimized motor performance

Connect to Personal Computer

• AC Power
• USB Configuration Cable(Optional) P/N: 2620-150
• USB Communication (software configuration)
• Communication Cable
• 48VDC Power Supply
• EtherCAT Controller
• EtherCAT connect to
• another device
• Regeneration
• Clamp
• Ordering Information P/N: RC880
• I/O Cable(Optional) P/N: 1101-X00(unshielded) P/N: 1116-X00(shielded)
• PLC,Sensor,I/O
• AC Power
• AUX Power 24VDC (The motor with brake must be connected to an auxiliary power supply)
• DC Power Supply

Please refer to the Luna software for detail.

7 Servo Gain Setting

Servo gain tuning is a function to optimize the response of the servo unit.

The servo drive needs to operate the motor according to the commanded requirements with as little delay as possible. In order to match more closely the commanded motion, it might be necessary for users to adjust tuning parameters. The requirement to tune is based on operation requirements and load characteristics and should not be considered a blanket requirement for all applications. The factory default tuning parameters can meet a wide range of applications, especially when there exists a mechanical reduction in the system.

• Instruction Instruction Instruction
• Target Curves
• Target Curves
• Target Curves
• Actual Curves
• Actual Curves
• Actual Curves
• Time Time Time

Improve the gain parameters, the target curve and the actual curve basically coincides

The target curve is inconsistent with the actual curve Adjust the gain parameters. The target curve is different from the actual curve. The actual curve gradually approximates

7.1 Servo tuning process and mode introduction

7.1.1  Servo tuning flow chart

The servo tuning flow chart is as follows. Before starting the servo tuning, make sure that the servo system can run normally according to the test run in Chapter 6.

• No-load operation has been determined to be normal
• 10.2 No tuning completed
• No-Tuning Mode
• Yes
• Does the performance meet the requirements?
• Tuning Completed
• No
• See Section 10.3 Auto Tuning Mode
• Auto tuning mode
• Yes
• Does the performance meet the requirements?
• Tuning Completed
• No
• See Section 10.4 Advanced Tuning Mode
• Advanced Tuning Mode
• Yes
• Does the performance meet the requirements
• Tuning Completed
• No

7.1.2  Introduction to parameter tuning mode

There are three Tuning Modes. The desired tuning mode is selected by parameter P0-00. See below for details.

7.2 No-Tuning Mode

" Tuning-free mode " is the default mode of the servo when it leaves the factory. The servo system is in a relatively stable state with low mechanical Stiffness. It can be powered on and run after installation, which meets most application requirements.

You can try to select the initial mechanical Stiffness that can make the servo system move normally, and gradually adjust the mechanical Stiffness level to make the servo mechanical Stiffness meet the application requirements.

• Tuning free mode
• Modify po-03 first Mechanical Stiffness Level*1
• Yes End of setting
• Whether performance meets requirements
• No
• Save parameters

Note in this mode:

◆ The inertia ratio P0-02 is forced to the default value of 0 and cannot be modified.

◆ Modification of other gain parameters is not available.

◆ When the gain is switched, the second group of mechanical Stiffness level PO-04 is valid

7.3 Auto tuning mode

In "auto-tuning mode", the servo system will automatically identify the external load inertia ratio, automatically select the appropriate mechanical Stiffness level, and automatically optimize and adjust the following contents:

● Gain (position loop, velocity loop)

● Filter (torque filter) During auto-tuning, the parameters in the table below will be changed automatically. After the auto-tuning is completed, the parameters are automatically stored in the drive.

7.3.1  Auto-tuned motion profile conditions

In order to accurately complete the automatic tuning of parameters, it is necessary to set a reasonable motion trajectory, including distance, running speed, running time, acceleration and deceleration, and interval time between two movements.

Running time: greater than 0.5 seconds Running speed: greater than 180rpm Acceleration and deceleration: greater than 30rps/s

Interval time: greater than 1.5 seconds

• Running Time Running Time Interval Time Speed
• Running Speed
• Time

Before starting auto-tuning, it is recommended that the mechanical Stiffness level of P0-03 be 5

7.3.2  Auto-Tuning Flowchart

Users can perform automatic parameter tuning and debugging through Luna software or the operation panel on the driver. The flow chart of automatic tuning is as follows

• Auto Tunning
• There’s a host computer
• There is no host computer
• The host computer plans the motion trajectory
• Use the software to plan the trajectory and turn on auto-tuning
• Use the software to turn on auto-tuning
• Automatic calculation of load inertia ratio
• Real-time automatic
• stiffness rating
• No Determination of
• Automatic setting
• auto-setting preconditions met
• failure alarm Reset a reasonable trajectory and judgment conditions
• Yes
• Auto-tuning is completed, and the tuning parameters
• are automatically saved

After completing the automatic tuning, you can continue to use parameters P0-03 and P0-04 to adjust the response and mechanical Stiffness of the servo system.

• Yes Tuning finished. Please save the parameter P0-03 manually.

7.4 Advanced Tuning Mode

Advanced tuning mode is suitable for the following situations:

1) When auto-tuning cannot be completed all the time

2) After automatic tuning, by adjusting the mechanical Stiffness of P0-03 and the inertia ratio of P0- 02, the response of the servo system still cannot meet the requirements

3) The characteristics of the parameters of each control loop of the servo have been fully understood, and the servo gain parameters can be determined by themselves

Using advanced tuning can fine-tune the servo system gain to meet the needs of higher servo system mechanical Stiffness, faster response time and minimum tuning time.

7.4.1  Introduction to Advanced Tuning Mode

The PID loop of the servo system can be configured via multiple parameters such as position loop gain, position loop, velocity feed forward gain, velocity loop gain and a collection of filters and other gains.

1) After the tuning mode is switched from " Auto tuning " to " Advanced tuning “, it will inherit the parameter values after the automatic tuning is completed, and it needs to be saved manually after the tuning is completed.

2) If directly switching from "No Tuning Mode" to "Fine Tuning", the servo system will inherit the factory default tuning parameters. This might require that users manually tune the servo system.

7.4.2  Parameters in Advanced Tuning Mode

Note: When using gain switching, the second group of gains is valid.

7.4.3  Servo system parameter description

The servo system is composed of current loop, speed loop and position loop.

When you need to improve your response

1) Increase the mechanical Stiffness level

2) Increase the position loop gain

3) Increase the speed loop gain

4) Reduce the integral time parameter of the speed loop

when the system has overshoot and vibrations

1) Reduce the mechanical Stiffness level

2) Reduce the position loop gain

3) Reduce the speed loop gain

4) Reduce the speed loop integral time parameter

5) Reduce the torque filter frequency 6) Appropriately adjust the differential filter frequency

If one parameter is changed, other parameters also need to be re-adjusted. Please don't make major changes to just one parameter. Generally, about 5 % is used as a rough standard, and each servo gain is slightly adjusted. Regarding the procedure for changing the servo parameters, generally observe the following.

7.4.3.1  Gain parameters of the position loop:

◆ Position loop gain

Set the proportional gain for position control. Increasing this parameter can improve the responsiveness of the system, reduce the position error, and shorten the positioning time. 0 means not used, 20000 means the proportional effect is maximized. When the proportional gain of the position loop is too small, the response of the system will not be fast enough, and the decreasing trend of the position error will be slow. However, if the setting is too large, it may cause positioning overshoot or machine vibration. Generally speaking, the position loop gain cannot be greater than the velocity loop gain.

◆ Position loop differential gain

Set the position loop differential time constant for position control.

0 means no derivative effect, the smaller the set value, the stronger the effect of the derivative term.

Set value of the derivative time constant (KD) is too large, the system's ability to suppress vibration is insufficient, and obvious oscillation will occur during the acceleration / deceleration process, the uniform speed process and after stopping, and there will be a trend of decreasing oscillation. finally stabilized.

When the set value of the differential time constant (KD) is reasonable, the system's ability to suppress vibration is significantly enhanced, and it tends to stabilize quickly. When the differential time constant (KD) is set too small, the motion system will be too sensitive, easily vibrate and generate noise. When there is vibration in the system, the differential time constant can be adjusted appropriately, and the recommended initial value is 2000.

7.4.4  Gain parameter of speed loop

◆ Speed loop gain

Set the parameters of the speed loop responsiveness. The larger the set value, the faster the speed loop response of the servo system, it is necessary to increase the speed loop gain value without causing system vibration. Setting the value too high will cause vibration.

The gain of the velocity loop must be larger than the position loop by 4 ~ 6 times. However, when the gain of the position loop is larger than that of the speed loop, it will cause vibration or positioning overshoot.

◆ Speed loop integral time constant

Set the integral time constant of the speed loop.

0 means no integral effect, the smaller the set value, the stronger the integral effect.

Under proportional gain control, the speed error may not return to zero, or it may take a long time to return to zero. The integral time constant accumulates all errors and acts together with the proportional gain. A smaller integral time constant (VI) setting value can improve the response and responsiveness of the servo system and reduce the following error.

set value of the integral time constant (VI) is too large, the system response will be slow and the followability will be poor.

integral time constant (VI) is too small, the excessive mechanical Stiffness of the system will cause vibration and noise of the entire servo system. This vibration and noise occur during the entire movement process, and it is always in an oscillating state, which cannot be stabilized.

7.5 Resonance suppression

The machanical system has an inherent resonance frequency. If the whole system runs at this

mechanical resonance frequency poit, vibration and nosie may be caused.

M3 series provide 4 methods to suppress mechanical resonance.

1)Torque Command Filter

2)Notch Filters

3)End Effector Suppress

4)Lod Disturbance Suppress

7.5.1  Torque Command Filter

Filter the command torque of Current Loop.

The filter is a single-output low-pass filter, which is used to filter the output of the PID controller (that is, the reference current). When setting this value, consider the cutoff frequency required for system operation. The default value of 1099 can be used in most applications.

Used in some particular applications, such as:

1) Make sure the frequency of Torque Command Filter(KC) should 3 time higher than Velocity Loop Gain.

2) There are vibration with audible noise in the mechanical system. You can try reducing this value.

3) There is a mechanical resonance, the low-pass filter cutoff frequency can be set below the

resonance frequency point so that the output of the control loop will not excite the resonance.

4) In a large inertia load system, increasing the position loop gain KP can obtain a good system

response. However, excessive gain will cause jitter, and this filter could be used to be reduced to prevent jitter and vibrati

• Current Control
• Current
• Notch Filter 2~4
• P0-16 Notch Filter 1
• Torque Cmd
• Limit
• Torque Command LPF

7.5.2  Notch Filters

Reducing the Torque Command Filter could solve the resonance, but it also reduce the system

response bandwidth and phase margin, and thus the system becomes unstable. In some case, it may cause a counter-action that the resonance may not be suppressed.

If you know the resonance frequency, the notch filter can be used to suppress the resonance. The

notch filter suppresses mechanical resonance by reducing the gain at a specific frequency for highfrequency mechanical resonance.

• Phase
• Mechanical resonance frequency Computer system Amplitude -frequency characteristics
• Frequency
• Magnitude
• Notch feature
• Bandwidth frequency class
• Resonance depth level
• Notch center frequency
• Frequency

This resonance frequency can be detected through open-loop mechanical analysis. If the resonance frequency drifts significantly with time or due to other cause, using notch filter is not suggested.

There are 4 notch filters in M3 series and each notch filter has three parameters, which are:

◆ Center frequency of Notch Fitler

◆ Notch Bandwidth

◆ Notch Depth Level(Notch Filter Attenuation Level)

The first group and the second group are user-defined notch filters, and all parameters need to be set bt user. The third group and the fourth group can be set manually or be set as an adaptive notch filter which all parameters are detected by the drive in real-time and automatically set.

Note: The center point frequency of the Notch Filter must be greater than 2 times of the Torque. Command Filter(P0-16).

7.5.2.1  Adaptive Notch Filter

When the servo system resonates and needs to use the notch filter, it's recommended to use the Adaptive Notch Filter.

◆ Scope of application and precautions:

• Applicable to all control mode except Torque Mode

◆ Conditions may affect nomal operation of the Adaptive Notch Filter:

• The resonance frequency is lower than 3 times the Velocity Loop Gain

• The frequency between two resonance points is less than 100Hz

◆ Steps for usage

• In the "Anti-resonance" interface of Luna software, change the usage mode of "Notch Filter 3" to"Adaptive" , and then click the "Download" button to enable a self-adaptive notch filter.

• When the servo system is running, it will automatically detect resonance frequency and take effect to suppress.

• If there is a new resonance, enable the "Notch Filter 4" with same operation.

• When the system is running ,the third and fourth goups of notch filte parameters are automatically updated, but will not be displayed in the software interface.

• Although these parameters are updated automatically, they will not be saved automatically. After the servo system is powered on again, the system will automatically update these parameters when the servo is enabled and running.

This setting can prevent abnormal movement of the servo system during operation, resulting in the notch filter parameters being updated to wrong values, which may increases vibration.

◆ Software settings for Adaptive Notch Filter

Step 1: In the tree list on the left, open " Anti-Resonance ", and click the " Upload " button in the Anti-Resonance interface

Step 2: Change the method of " Resonance Suppression Filter 3 " to " Adaptive ", and then click to download

Step 3: After the download is complete, the drive will automatically detect vibration and run immediately.

7.5.3  Setting the notch filter manually

Analyze resonance frequencies

To manually set the notch filter, it is necessary to measure the actual frequency when resonance occurs. You can use the " Mechanical Analysis " function in the Luna software.

Analysis types:

7.5.3.1  Using Mechanical Open Loop Resonance Analysis

Step 1

Before performing a mechanical open-loop analysis, ensure that

◆ The drive has passed the trial operation described in Section 6 Trial Operation.

◆ Servo system has completed parameter tuning

◆ Make sure the drive is not enabled

Step 2

Select an appropriate amplitude to start the system, be aware that an excessively large amplitude may cause motion.may cause mechanical movement.

Smoothing factor:

Impacts the sampling frequency of the waveform function. The larger the value, the smoother the waveform appears. This parameter can be convenient during resonance analysis.

Step 3

Click the " Start Analysis " button, the servo system starts the mechanical open-loop analysis and displays the resulting curve. Click the icon in the upper right corner of the drawing area to optimize the display curve.

Step 4

Move the reference line in the " Amplitude and Phase Curves " to the place where the amplitude curve (blue curve in the figure below) has abnormal protrusions

The resonance suppression filter in the red area will display the resonance frequency of the current reference line in real time. Click " Set as 1st Resonance Suppression Filter " or " Set as 2nd Resonance Suppression Filter " to set the resonance frequency to Resonance Suppression Filter 1 Or the resonance frequency point of the resonance suppression filter 2.

Step 5

On the resonance suppression interface, select " Use " to enable the corresponding resonance suppression filter, set the appropriate " bandwidth frequency level " and " resonance depth level ", and click " download " to set the resonance suppression notch filter. To set a resonance suppression notch filter, select the "Anti-Resonance" option in the device tree to the left of the Luna Software. On the desired filter, select "use" to enable the filter, set the appropriate bandwidth frequency level and resonance depth level. Then click download.

Note: Because mechanical open loop analysis does not include the closed loop of the servo controller, any previously downloaded Notch Filters will not be active during the analysis. If users wish to actually test the Notch Filters impact on the resonance of the system, they will need to run the motor in the "Velocity Closed Loop" mode. Otherwise, the system will run in open loop without the Notch Filter Equipped.

The image below is the result viewed using the Velocity Closed Loop analysis.

7.5.3.2  Using the Velocity Closed Loop Mode to analyze resonance frequency

Step 1

Before performing a velocity closed-loop analysis, make sure that

• The drive has passed the trial operation described in Section 6 Trial Operation.Servo system has completed parameter tuning

• The control mode of the drive is: command speed mode

• Drive is enabled

• For vertical axis loads, it is best to use a motor with a brake to avoid accidental load drop

Step 2

• Select an appropriate amplitude to allow the system to vibrate. Note that an excessively large amplitude may cause mechanical movement.

• Open " SCL Terminal " in the " Tools " menu

• Enter CM10 in the input box of the SCL terminal, and set the control mode of the drive to: command speed mode

• Enable the driver

Step 3

• Click the " Start Analysis " button, the servo system starts the speed closed-loop analysis, and the curve of the result is displayed.

• Click the icon in the upper right corner of the graph area to optimize the display curve.

• Move the reference line in " Amplitude and Phase Curve " to the place where the amplitude curve (blue curve in the figure below) has abnormal protrusions

The following figure shows obvious vibration at 1200Hz. Click " Set as the first group of resonance suppression filters " or " Set as the second group of resonance suppression filters " to set the resonance frequency as the resonance suppression filter 1 or the resonance suppression filter 2.

Step 4

To set a resonance suppression notch filter, select the "Anti-Resonance" option in the device tree to the left of the Luna Software. On the desired filter, select "use" to enable the filter, set the appropriate bandwidth frequency level and resonance depth level. Then click download.

Step 5

The below waveforms showcase the results of velocity closed loop analysis

7.6 End Vibration Suppression

Figure below, due to the long length of the end of the mechanical load, it is easy to generate low- frequency vibration during operation and stop. This vibration is often low in frequency, generally within 100Hz, but it will affect the positioning accuracy and settling time of the end.

• Vibration at the end

The use of end vibration suppression can better suppress such vibrations, thereby improving the positioning accuracy of the mechanical system and shortening the positioning and settling time.

Instructions to implement end vibration suppression

Step 1: Analyze Frequency

Use the oscilloRange function of Luna software to observe the curves of " target speed " and " position error " during the motor stop phase.

Using the figure below as an example, analyze the frequency of position error fluctuations after the target speed is zero.

• Time interval T Calculate the frequency of vibration
• Target Speed Positional Error

Step 2: Set and enable end vibration suppression

Select the Anti-Resonance interface on Luna Software. Select the End Effector Suppression Tab, enter teh vibration frequency as measured in Step 1.

Note:

◆ Wrong vibration frequency will cause the end vibration suppression effect to become worse or even increase the vibration

◆ Only the vibration frequency within 1-300Hz can be well suppressed

◆ This function may not work for vibrations due to reasons other than those related to reaching the mechanical end of a mechanism.

7.7 External Vibration Suppression

Servo Systems can disturbed by external factors, such as sudden changes in load or sudden changes in external forces such as friction caused by mechanical problems, resulting in system instability and abnormal vibration.

Suppression of these disturbances can significantly improve system response.

To use Select the " Anti-Resonance " function in the tree menu on the left side of the Luna software, click " End effector & Load Disturbance Suppression ", and check " Use " in the Load Disturbance Suppression. After downloading to the driver, the end disturbance suppression will take effect.