HCS-Studio Instruction Manual

HCS-Studio Instruction Manual
Manual No. : HCFA-SOFT-EN-002

Manual Version : 3.00
Applicable models : SV-X3E series，SV-X3T series
Zhejiang Hechuan Technology Co.,Ltd

http://www.hcfa.com.cn/
Revision
Date Manual No. Version

May 8, 2018 HCFA-SOFT-EN-002 1.00
August 16, 2018 HCFA-SOFT-EN-002 2.00
November 8，2018 HCFA-SOFT-EN-002 3.00
Related Terminology
PLC Programmable logic controller
HCX3E HCFA X3E series servo driver
HCX3T HCFA X3T series servo driver
HCS - Studio Setup support software for HCFA X3E/X3T series servo driver
Table of Contents
1 HCS-Studio Introduction
1.1 Main Functions of HCS-Studio ·········································································································· 8
1.2 ················
Setup procedures of HCS-Studio ······································································································ 11
1.3 ············……
Check HCS-Studio Version ···················································································································· 12
1.4 ·······
Check for Updates ·································································································································· 12
1.5 ·····················
HCS-Studio Instruction Manual ·········································································································· 13
··············
2 Screen Configuration and Basic Operation

2.1 Start HCS-Studio ····································································································································· 15
2.2 ··
Switching Display Language ··············································································································· 16
2.3 ····························
Screen Configuration ···························································································································· 17
2.4 ··························
Menu List ··················································································································································· 18
····
3 Project Management
3.1 Create New Project ································································································································· 20
3.2 ··················
Open Project ············································································································································· 20
3.3 ·········· Project ··············································································································································
Save 21
·········
4 Establish/Delete Servo Connection

4.1 Servo Online Connection ····················································································································· 24
4.2 ··················
Servo Offline Connection ····················································································································· 26
4.3 ··················
Delete Servo Connection ······················································································································ 27
·························
5 Communication Setup
5.1 Communication Setup ·························································································································· 30
5.2 ········· Connection ········································································································································
Test 31
5.3 ···············
Auto Matching ········································································································································· 32
··············
6 Parameter Setup
6.1 Parameter Setup Screen ······················································································································· 34
6.2 ················
Select Parameter Type ··························································································································· 35
6.3 ····················
Open the Saved Parameter File ········································································································· 36
6.4 ··························
Save Current Parameter to Files ········································································································ 37
6.5 ···························
Setup of Specified Parameters ··········································································································· 38
6.6 ····································
Set Specified Parameters in Hex. ········································································································ 39
6.7 ··············
Write Parameter into EEP ····················································································································· 40
6.8 ·······················Initialization ·························································································································
Parameter 41
6.9 ··························
Exit Parameter Setup ····························································································································· 42
6.10 ··········Definition ··········································································································································
Pins 43
·····
7 Status Monitoring
7.1 Enter into Status Screen ······················································································································· 46
7.2 ························
Start Status Monitoring ························································································································ 47
7.3 ·······················
Stop Status Monitoring ························································································································ 48
·······················
8 Functions of Oscilloscope
8.1 Oscilloscope Screen ······························································································································· 50
8.2 ···················· Introduction ····················································································································
Oscilloscope 51
8.3 ·······················Conditions (Items) Selection ·························································································
Measuring 52
8.4 ······················································
Color Selection of Waveform Lines ·································································································· 53
8.5 ·····································
Waveform Scale Setup ·························································································································· 54
8.6 ·····················
Open and Read the Saved Waveform ····························································································· 55
8.7 ·························
Set Trigger Conditions and Get Results ·························································································· 56
8.8 ································
Save Waveform Data ····························································································································· 58
8.9 ······
Waveform Data Initialization ·············································································································· 59
·····························
9 Function of Trial Run

9.1 Trial Run Screen ······································································································································· 62
9.2 ·············
Trial Run Introduction ····························································································································· 63
9.3 ·····
Servo-ON Check ······································································································································ 64
9.4 ·········
Servo-ON –Interference Check ·········································································································· 65
9.5 ···························
JOG Operation ········································································································································· 66
9.6 ······
Go to Trial Run ········································································································································· 67
······
10 Servo Diagnosis
10.1 Servo Diagnosis Screen ·························································································································· 70
10.2 ·····················
Current Error and Warning ·················································································································· 71
10.3 ·························
Check Error History ······························································································································· 72
10.4 Reasons for Not Operation ················································································································· 73
10.5 ··························
Lifetime Diagnosis ·································································································································· 74
10.6 ·····················
Error Code List ·········································································································································· 75
10.7 ·Warning Name and Code List ············································································································ 85
·······························
11 Gain Adjustment
11.1 Gain Adjustment Screen ······················································································································· 88
11.2 ········································
Real-time Auto Tuning ·························································································································· 89
11.3 ·············
Damping Control ···································································································································· 92
11.4 ··················· Filter ·······································································································································
Command 96
11.5 ············ Parameters ································································································································
Related 97
11.6 ···················
Simple Adjustment of Monitor ·········································································································· 98
·································
12 Kernel Management
12.1 Kernel Management Screen ················································································································ 102
···············································
1 HCS-Studio Introduction
This chapter mainly gives an overview of software HCS-Studio.
1.1 Main Functions of HCS-Studio
1.2 Setup procedures of HCS-Studio
1.3 Check HCS-Studio Version
1.4 Check for Updates
7
1.1 Main Functions of HCS-Studio
HCS-Studio is used for parameter reading and setup, status monitoring, trial run, oscilloscope, servo
diagnosis and gain adjustment to HCFA servo driver.
Here are the main features.
Parameter reading and setup

Read the parameters from the servo driver and set them to the servo driver.
Status monitoring
Check the operation and I/O status of the driver.
8
Oscilloscope
Read data from servo driver and displayed in the form of waveform.
Trial run
The function of trial run is shown below.
9
Servo diagnosis
Check the error, warning, error history, turn error and life assessment of servo drive.
Gain adjustment
Gain adjustment is realized in servo drive.
10
1.2 Setup procedures of HCS-Studio
The following diagram shows the operation from startup to parameter modifying, parameter setup, gain
adjustment and trial run.
Start
Start HCS-Studio
Servo connected
Communica Parameter Monitoring Oscilloscope Trial run Servo Gain

tion setup setup status diagnosis adjustment
Read Check Set trigger Servo-ON Read current error Mode selection
Connection parameter status conditions
setup
Change Read waveform Interference check Read warning Set stiffness

parameter data JOG
Parameter Display waveform Trial run Read error history Start measuring
setup data
Write into Save data Servo-OFF Read causes for not Measuring data
EEP operation warning
Pins setup Read servo’s life
11
1.3 Check HCS-Studio Version
Operation procedures
Options [Version]
1.4 Check for Updates
Options [ Update ]
12
1.5 HCS-Studio Instruction Manual
Options [ Instructions]
13
2 Screen Configuration and Basic Operation
This chapter mainly describes screen configuration and main function of

HCS-Studio.
2.1 Start HCS-Studio
2.2 Switching Display Language
2.3 Screen Configuration
2.4 Menu List
14
2.1 Start HCS-Studio
This section mainly describes the startup operation for HCS-Studio.
Start
Start menu in Windows [ All programs] [ HCS-Studio ] [ HCS-Studio ]
15
2.2 Switching Display Language
HCS-Studio support multiple language display.
Screen display
Options [ EN / 中 ]
Precautions
Before switching the display language, please close all the projects and pay attention to save the files.
16
2.3 Screen Configuration
This section mainly describes the startup screen of HCS-Studio.
Startup screen
Select servo connection
Title bar
Menu bar
Connecting
objects
17
2.4 Menu List
Main menu
[Start]
 [New project] Creates a new project.
 [Open project] Opens an existing project.
[Save]
 [Save] Saves a project.
[Options]
 [EN / 中] Select the language you want.
[Supported models]
 [Supported models] File management for models.
[Help]
 [Version] Display the version.
 [Update] Update the software.
 [Instruction Manual] Show the operation of HCS-Studio.
18
3 Project Management
This chapter mainly describes the basic project operation and management
of HCS-Studio.
3.1 Create New Project
3.2 Open Project
3.3 Save Project
19
3.1 Create New Project
Create a new project

Options [ New project ]
3.2 Open Project
Open project
Options [ Open]
20
3.3 Save Project
Save project
Options [ Save ]
21
22
4 Establish/Delete Servo Connection
This chapter mainly describes how to establish and delete the servo
connection.
4.1 Servo Online Connection
4.2 Servo Offline Connection
4.3 Delete Servo Connection
4.11 批量插入NOP , 批量删除NOP
23
4.1 Servo Online Connection
Click“ONLINE”.
”Connect mode” dialog box pops up, and click “Connection test”or “Auto
matching”.
24
Click “Set” again.
Online connection has been established.
25
4.2 Servo Offline Connection
Click “OFFLINE”.
”Offline machine selection” pops up and select servo models.
Offline connection has been established.
26
4.3 Delete Servo Connection
Click “Delete” button.
Select whether to delete the “Servo object”.
27
28
5 Communication Setup
This chapter mainly describes the communication setting for the selected
servo object.
5.1 Communication Setup
5.2 Test Connection
5.3 Auto Matching
29
5.1 Communication Setup Screen
Click the icon of servo object and then “Connect”.
”Connect mode” dialog box pop up.
30
5.2 Test Connection
Click “Connection test” after select port No. and baud rate.
After “Connection test” is done, click “Set “ button.
31
5.3 Auto Matching
After select port No. and baud rate, click “Auto matching’.
After “Auto matching” is done, click the “Set” button.
32
6 Parameter Setup
This chapter mainly describes parameter setting.
6.1 Parameter Setup Screen
6.2 Select Parameter Type
6.3 Open the Saved Parameter File
6.4 Save Current Parameter to Files
6.5 Setup of Specified Parameters
6.6 Set Specified Parameters in Hex.
6.7 Write Parameter into EEP
6.8 Parameter Initialization
6.9 Exit Parameter Setup
6.10 Pins Definition
33
6.1 Parameter Setup Screen
Open parameter setup screen
Click the two buttons with red boxes below to the parameter setup screen.
Servo object
Parameter list
Parameter description
34
6.2 Select Parameter Type
Select parameters classification
35
6.3 Open the Saved Parameter File
Click “Open” to select parameter files.
36
6.4 Save Current Parameter to Files
Click “Save” and select the save location. Save the file after enter the “File name”.
37
6.5 Setup of Specified Parameters
Select the parameters to be modified and double-click or press “Enter” button to

enter into parameter setting dialog box.
Click “OK” button to complete parameter change after modifying parameter value.
38
6.6 Set Specified Parameters in Hex.
Select the parameter to be modified and click “Bin/Hex.” to enter into “Hex.
setting” dialog box.
Modify the specified parameter value, click “OK” and then “Enter” button to
finish parameter setting.
39
6.7 Write Parameter into EEP
Click “EEP” button to “Write into EEP” dialog box.
Click “OK” button to complete EEP operation.
40
6.8 Parameter Initialization
Click “Initial” button.
Enter into the initialization operation and wait for the initialization to complete.
41
6.9 Exit Parameter Setup
Click “Exit” button to exit the parameter setting.

。
42
6.10 Pins Definition
Click “Pins setting” to pins definition setting screen.

。
Double click the lines of “Pins No.” and “Function selection” screen pop up.
Click “Apply” after assignment is completed.
43
In Function selection screen, select the function and connection method(only for
input function).
Connection
method selection
Pins selection
44
7 Status Monitoring
This chapter mainly describes how to check the operation status of servo
driver.
7.1 Enter into Status Screen
7.2 Start Status Monitoring
7.3 Stop Status Monitoring
45
7.1 Enter into Status Screen
Click the following two buttons in turn to enter into the state screen.
The status screen is shown as below.
46
7.2 Start Status Monitoring
Click “Start” to start status monitoring.
47
7.3 Stop Status Monitoring
Click “Stop” button to stop status monitoring.
48
8 Functions of Oscilloscope
This chapter mainly describes the oscilloscope functions.
8.1 Oscilloscope Screen
8.2 Oscilloscope Introduction
8.3 Measuring Conditions (Items) Selection
8.4 Color Selection of Waveform Lines
8.5 Waveform Scale Setup
8.6 Open and Read the Saved Waveform
8.7 Set Trigger Conditions and Get Results
8.8 Save Waveform Data
8.9 Waveform Data Initialization
49
8.1 Oscilloscope Screen
Click the following two buttons to enter into the Oscilloscope screen.
50
8.2 Oscilloscope Introduction
The following makes an introduction of oscilloscope screen.

Scales
Display area
Set measuring
conditions
Set objects Operation area
51
8.3 Measuring Conditions (Items) Selection
Select “Measuring items” to condition setup screen.
Select the items to be measured and click “OK”.
52
8.4 Color Selection of Waveform Lines
Click the following box to select the waveform line color.
53
8.5 Waveform Scale Setup
Select the scale for the waveform.
54
8.6 Open and Read the Saved Waveform
Click the “Read” button in the lower right corner to the “File selection” dialog
box.
Select the saved waveform file and click “Open” button.
55
8.7 Set Trigger Conditions and Get Results
Click the “Trigger conditions” in the lower right corner and the “Trigger
conditions” dialog box pop up.
Set the trigger conditions in the dialog box and click “Set”.
56
Click the “Get results” in the lower right corner and read the waveform data.
The waveform data that has been read is shown below.
57
8.8 Save Waveform Data
Click “Save” button in the lower right corner and “File selection” dialog box pop
up.
Select the save path in the file dialog box, enter the file name and click “Save”.
58
8.9 Waveform Data Initialization
Click the “Initial”in the lower right corner to initialize the waveform data.
59
After initialization, the waveform data will be restored to the status before
adjustment(zoom in or zoom out).
60
9 Function of Trial Run
This chapter mainly describes the functions of trial run.
9.1 Trial Run Screen
9.2 Trial Run Introduction
9.3 Servo-ON Check
9.4 Servo-ON –Interference Check
9.5 JOG Operation
9.6 Go to Trial Run
61
9.1 Trial Run Screen
Click the following two buttons to the JOG screen.
JOG screen is shown as below.
62
9.2 Trial Run Introduction
Here introduces the JOG screen.
Related parameter setting for trial run
Control area
Operation and procedures

description
Motor display area
63
9.3 Servo-ON Check
Click the "Servo-OFF" button to activate the trial run screen. Click the " Servo-OFF "
button again to return to the original screen.
The activated trial run screen is shown below.
* If error or warning occurs in this step, find the cause and clear warning, then repeat the operation.
64
9.4 Servo-ON –Interference Check
Click “Servo-ON” button to the second step- interference check.
In the interference check, operate motor by the JOG operation and set the motor
working range(maximum /minimum value.
65
9.5 JOG Operation
Set the value in MAX and MIN, click button “+”or “-“ to have the JOG operation,
the motor will have forward or reverse rotation.
After JOG operation
66
9.6 Go to Trial Run
Click “To JOG” button to the trial run screen.
In the trial run, we can have the operation of “JOG operation”, “Home position
return” and “Continuous STEP”.
67
68
10 Servo Diagnosis
This chapter mainly describes the diagnosis function of the servo driver.
10.1 Servo Diagnosis Screen
10.2 Current Error and Warning
10.3 Check Error History
10.4 Reasons for Not Operation
10.5 Lifetime Diagnosis
10.6 Error Code List
10.7 Warning Name and Code List
69
10.1 Servo Diagnosis Screen
Click the following two buttons to enter into servo diagnosis screen.
Servo diagnosis screen is shown below.
70
10.2 Current Error and Warning
Check the current error and warning.
Causes and treatment for error
Current error code and name
Current warning code and name Causes and troubleshooting for warning
Clear current Clear error

Motor status at error history
occurrence of error
71
10.3 Check Error History
Check the error history record
Display the order, warning code and error

name of error history
Causes and treatment for error
Motor status at occurrence of error
Clear current error Clear error history
72
10.4 Reasons for Not Operation
Display the reasons for turn error cause.
73
10.5 Lifetime Diagnosis
Lifetime assessment
74
10.6 Error Code List
Error Name Code Causes Troubleshooting
Normal 0.0 Normal Normal
Control power supply 11.0 Voltage between P and N of the converter portion of the Measure the voltage between lines of connector
control power supply has fallen below the specified value and terminal block (L1C–L2C).
undervoltage protection 1) Power supply voltage is low. Instantaneous power failure 1) Increase the power capacity. Change the
has occurred power supply
2) Lack of power capacity...Power supply voltage has fallen 2) Increase the power capacity.
down due to inrush current at the main power-on 3) Replace the driver with a new one.
3) Failure of servo driver (failure of the circuit)
Over-voltage protection 12.0 Power supply voltage has exceeded the permissible input Measure the voltage between lines of connector
voltage. = Voltage between P and N of the converter portion (L1, L2 and
of the control power supply has exceeded the specified value. L3). Enter correct voltage. Remove a phase
Source voltage is high. Voltage surge due to the advancing capacitor
phase-advancing capacitor or UPS (Uninterruptible Power 1) Measure the resistance of the external resistor
Supply) have occurred connected between terminal P and B of the driver.
1) Disconnection of the regeneration discharge resistor Replace the external resistor if the value is ∞
2) External regeneration discharge resistor is not appropriate 2) Change to the one with specified resistance
and could not absorb the regeneration energy and wattage
3) Failure of servo driver (failure of the circuit) 3) Replace the driver with a new one
Main power supply undervoltage 13.0 The voltage between P and N of the converter portion of the Measure the voltage between lines of connector
protection (PN) main power supply has fallen below the specified value (L1, L2 and L3)
during Servo-ON. 1) Increase the power capacity. Change the
1) Power supply voltage is low. Instantaneous power failure power supply.
has occurred Remove the causes of the shutdown of the
2) Lack of power capacity...Power supply voltage has fallen magnetic contactor or the main power supply,
down due to inrush current at the main power-on. then re-enter the power.
3) Phase lack...3-phase input driver has been operated with 2) Increase the power capacity.
single phase input. 3)Connect each phase of the power supply
4) Failure of servo driver (failure of the circuit) correctly.
4)Replace the driver with a new one.
Main power supply undervoltage 13.1 Instantaneous power failure has occurred between L1 and L3 Measure the voltage between lines of connector
protection (AC) for longer period than the preset time with Pr 5.06 (Main
(L1, L2 and L3).
power off detecting time) while Pr 5.08 (LV trip selection at
1) Increase the power capacity. Change the
the main power-off) is set to 1.
power supply. Remove the causes of the shutdown
1) Power supply voltage is low. Instantaneous power failure
of the magnetic contactor or the main power
has occurred
supply, then re-enter the power.
2) Instantaneous power failure has occurred
2) Set up the longer time to Pr 5.09 (Main power
3) Lack of power capacity...Power supply voltage has fallen
off detecting time). Set up each phase of the power
down due to inrush current at the main power-on. 4) Phase
correctly.
lack...3-phase input driver has been operated with single
3) Increase the power capacity.
phase input.
4) Connect each phase of the power supply (L1,
5) Failure of servo driver (failure of the circuit)
L2 and L3) correctly. For single phase, 100 V and
200 V driver, use L1 and L3.
5) Replace the driver with a new one
Over-current protection 14.0 Current through the converter portion has exceeded the 1) Turn to Servo-ON, while disconnecting the
specified value. motor. If error occurs immediately, replace with a
1) Failure of servo driver (failure of the circuit, IGBT or other new driver.
components) 2) Check that the motor wire (U, V and W) is not
2) Short of the motor wire (U, V and W) shorted, and check the branched out wire out of
3) Earth fault of the motor wire the connector.
4) Burnout of the motor Make a correct wiring connection.
5) Poor contact of the motor wire. 3) Measure the insulation resistance between
6) Welding of relay contact for dynamic braking due to motor wires, U, V and W and earth wire. In case
frequent servo ON/OFF operations of poor insulation, replace the motor.
7) Timing of pulse input is same as or earlier than Servo-ON 4) Check the balance of resister between each
8) The dynamic brake circuit was overheated and the thermal motor line, and if unbalance is found, replace the
fuse is blown. (Only size F and size G) motor
5) Check the loose connectors. If they are, or
pulled out, fix them securely
6) Replace the servo driver. Do not use servo
ON/OFF during operation
7) Enter the pulses 100 ms or longer after Servo-
ON
8) Replace the driver.
IPM error protection 14.1 Current through the converter portion has exceeded the 1) Turn to Servo-ON, while disconnecting the
(IPM: Intelligent Power Module) specified value. motor. If error occurs immediately, replace with a
1) Failure of servo driver (failure of the circuit, IGBT or other new driver.
components) 2) Check that the motor wire (U, V and W) is not
2) Short of the motor wire (U, V and W) shorted, and check the branched out wire out of
3) Earth fault of the motor wire the connector.
4) Burnout of the motor Make a correct wiring connection.
5) Poor contact of the motor wire. 3) Measure the insulation resistance between
6) Welding of relay contact for dynamic braking due to motor wires, U, V and W and earth wire. In case
frequent servo ON/OFF operations of poor insulation, replace the motor.
7) Timing of pulse input is same as or earlier than Servo-ON 4) Check the balance of resister between each
8) The dynamic brake circuit was overheated and the thermal motor line, and if unbalance is found, replace the
fuse is blown. (Only size F and size G) motor
5) Check the loose connectors. If they are, or
pulled out, fix them securely
6) Replace the servo driver. Do not use servo
ON/OFF during operation
7) Enter the pulses 100 ms or longer after Servo-
ON
8) Replace the driver.
Over-heat protection 15.0 Temperature of the heat sink or power device has been risen 1) Improve the ambient temperature and cooling
over the specified temperature. condition.
1) Ambient temperature has risen over the specified 2) Increase the capacity of the driver and motor.
temperature. Set up longer acceleration/ deceleration time.
2) Over-load Lower the load
Over-load protection 16.0 Torque command value has exceeded the over-load level set Check that the torque (current) does not oscillates
with Pr 5.12 (Setup of over-load level) and resulted in nor fluctuate up and down very much on the
overload protection according to the time characteristics graphic screen of the network. Check the over-
(described later). load alarm display and load factor with the
1) Load was heavy and actual torque has exceeded the rated network.
torque and kept running for a long time. 1) Increase the capacity of the servo driver and
2) Oscillation and hunching action due to poor motor. Set up longer acceleration/ deceleration
adjustment of gain. Motor vibration, abnormal noise. Inertia time. Lower the load.
ratio (Pr 0.04) setup error. 2) Make a re-adjustment of gain.
3) Miswiring, disconnection of the motor. 3) Make a wiring as per the wiring diagram.
4) Machine has collided or the load has gotten heavy. Replace the cables.
Machine has been distorted. 4) Remove the cause of distortion. Lower the
5) Electromagnetic brake has been kept engaged. load.
6) While wiring multiple axes, wrong wiring has occurred by 5) Measure the voltage between brake terminals.
connecting the motor cable to other axis Release the brake
6) Make a correct wiring by matching the correct
motor and encoder wires
Torque saturation error 16.1 The torque saturation state has been sustained by the set Check the operating state of the amplifier.
protection value of Pr7.16(torque saturation anomaly protection 1) Increase the capacity of the servo driver and
number). motor. Set up longer acceleration/ deceleration
time. Lower the load.
2) Make a re-adjustment of gain.
3) Make a wiring as per the wiring diagram.
Replace the cables.
4) Remove the cause of distortion. Lower the
load.
5) Measure the voltage between brake terminals.
Release the brake.
6) Make a correct wiring by matching the correct
motor and encoder wires
Over-regeneration load 18.0 Regenerative energy has exceeded the capacity of Check the load factor of the regenerative resistor
protection regenerative resistor. from the front panel or via communication. Do not
1) Due to the regenerative energy during deceleration use in the continuous regenerative brake
caused by a large load inertia, converter voltage has risen, application.
and the voltage is risen further due to the lack 1) Check the running pattern (speed monitor).
of capacity of absorbing this energy of the regeneration Check the load factor of the regenerative resistor
discharge resistor. and over-regeneration warning display. Increase
2) Regenerative energy has not been absorbed in the the capacity of the driver and the motor, and
specified time due to a high motor rotational speed loosen the deceleration time. Use the external
3) Active limit of the external regenerative resistor has been regenerative resistor.
limited to 10% duty 2) Check the running pattern (speed monitor).
Check the load factor of the regenerative resistor.
Increase the capacity of the driver and the motor,
and loosen the deceleration time. Lower the
motor rotational speed. Use an external
regenerative resistor.
3) Set up Pr 0.16 to 2
Regenerative transistor error 18.1 Regenerative driver transistor on the servo driver is defective. Replace the driver
protection
Encoder communication 21.0 Communication between the encoder and the driver has been Make a wiring connection of the encoder as per the
disconnection error protection interrupted in certain times, and disconnection detecting wiring diagram. Correct the wrong wiring of the
function has been triggered. connector pins
Encoder communication error 21.1 Communication error has occurred in data from the encoder. • Secure the power supply for the encoder of 5
protection Mainly data error due to noise. Encoder cables are connected, VDC ±5% (4.75 to 5.25 V)...pay an attention
but communication data has some errors especially when the encoder cables are long.
• Separate the encoder cable and the motor
cable if they are bound together.
• Connect the shield to FG
Encoder communication 23.0 Data communication between the encoder is normal, but • Secure the power supply for the encoder of 5
data error protection contents of data are not correct. VDC ±5%
Mainly data error due to noise. Encoder cables are connected, (4.75 to 5.25 V)...pay an attention especially when
but communication data has some errors the encoder cables are long.
• Separate the encoder cable and the motor
cable if they are bound together.
• Connect the shield to FG
Position deviation excess 24.0 Deviation pulses have exceeded the setup of Pr 0.14. 1) Check that the motor follows to the position
protection 1) The motor movement has not followed the command command pulses. Check that the output toque
2) Value of Pr 0.14 (Position deviation excess setup) is small. has not saturated in torque monitor. Make a gain
adjustment. Set up maximum value to Pr 0.13 and
Pr 5.22. Make a encoder wiring as per the wiring
diagram. Set up the longer
acceleration/deceleration time. Lower the load
and speed.
2) Set up a larger value to Pr 0.14
Speed deviation excess 24.1 The difference between the internal positional command speed • Increase the Value of Pr 6.02.
protection and actual speed (speed deviation) exceeds the setup vale of • Lengthen the acceleration/deceleration time of
Pr 6.02. internal positional command speed, or improve
Note: If the internal positional command speed is forcibly set to the follow-up characteristic by adjusting the gain.
0 due to instantaneous stop caused by the CW/CCW over- • Disable the excess speed deviation detection
travel inhibit input, the speed deviation rapidly increases at (Pr 6.02 = 0)
this moment. Pr 6.02 Value should have
sufficient margin because the speed deviation also largely
increases on the rising edge of the internal positional
command speed
Hybrid deviation excess error 25.0 Position of load by the external scale and position of the motor • Check the connection between the motor and
protection by the encoder slips larger than the setup pulses with Pr 3.28 the load.
(Setup of hybrid deviation excess) at full closed control • Check the connection between the external
scale and the driver.
• Check that the variation of the motor position
(encoder feedback value) and the load position
(external scale feedback value) is the same sign
when you move the load.
Check that the numerator and denominator of the
external scale division (Pr 3.24 and 3.25) and
reversal of external scale direction (Pr 3.26) are
correctly set
Over-speed protection 26.0 The motor rotational speed has exceeded the Value of Pr 5.13 Do not give an excessive speed command. Check
the command pulse input frequency and
division/multiplication ratio. Make a gain
adjustment when an overshoot has occurred due
to a poor gain adjustment. Make a wiring
connection of the encoder as per the wiring
diagram. Set Pr5.13(Overspeed level setting) to 0.
2nd Overspeed protection 26.1 The motor rotational speed has exceeded the Value of Pr 6.15 Do not give an excessive speed command. Check
the command pulse input frequency and
division/multiplication ratio. Make a gain
adjustment when an overshoot has occurred due
to a poor gain adjustment. Make a wiring
connection of the encoder as per the wiring
diagram. Set the correct value of Pr6.15(2nd
overspeed level)
Absolute clear protection 27.1 Multi-turn clear of absolute encoder is made through USB Check if multi-turn clear of absolute encoder
communication . has been made through USB communication.
Note: Checking is for the purpose of safety and
not the cause of error.
Command error protection 27.4 Position command change amount exceeds a It checks whether the variation is not large，
predetermined value. such as the position command operation by
the cyclic synchronous position control (CSP).
Operation commands 27.6 EtherCAT communication was established FFT which Check whether EtherCAT communication has
contention protection operates with an amplifier simple substance， or during not been established during FFT or test run
test run execution. execution.
Position information 27.7 Servo-on was performed during reset processing It is checked whether it is servo-off during
initialization error protection reset processing.
Pulse regeneration limit 28.0 The output frequency of pulse regeneration has exceeded the • Check the Value of Pr0.11 (Output pulse counts
protection limit. per motor revolution) and Pr5.03 (Denominator of
pulse output division).
• To disable the detection, set Pr5.33 (Pulse
regenerative output limit setup) to 0
Counter overflow protection 29.2 Positional deviation is beyond the plus or minus 2 ^ Check that the motor runs as per the position
2 (536870912) 29 unit impulse. command pulses. Check that the output toque
has not saturated in torque monitor. Make a
gain adjustment. Set up maximum value to
torque limit setting. Make a wiring connection
of the encoder as per the wiring diagram
Safety input protection 30.0 Input photocoupler of both or one of safety input 1 and 2 Check wiring of safety input 1 and 2.
is OFF.
Input duplicated allocation 33.0 Input signals (SI1， SI2， SI3， SI4) are assigned with Allocate correct function to each connector
error 1 protection two functions. pin.
Input duplicated allocation 33.1 Input signals (SI5， SI6， SI7， SI8) are assigned with Allocate correct function to each connector
error 2 protection two functions. pin.
Input function number error 1 33.2 Input signals (SI1， SI2， SI3， SI4) are assigned with Allocate correct function to each connector
protection undefined number. Or， logical setup is not correct. pin.
Input function number error 2 33.3 Input signals (SI5， SI6， SI7， SI8) are assigned with Allocate correct function to each connector
protection undefined number. Or， logical setup is not correct. pin.
Output function number error 33.4 Output signals (SO1) are assigned with undefined Allocate correct function to each connector
1 protection number. pin.
Output function number error 33.5 Output signals (SO2) are assigned with undefined Allocate correct function to each connector
2 protection number. pin.
Latch input allocation error 33.8 Error has occurred during function assignment of latch Allocate correct function to each connector
protection correction pins (SI5， SI6， and SI7). EXT1 must be pin.
allocated to SI5 and EXT2 to SI6: but these are assigned
to other pins. HOME is allocated to SI6 or SI7; POT is
allocated to SI5 or SI7; NOT is allocated to SI5 or SI6.
Function not allocated to all control modes
Motor working range error 34.0 When a position command within the specified input 1) Check the gain (balance between position
protection range is given， the motor operates outside its working loop gain and velocity loop gain) and inertia
range specified in Pr 5.14(Motor working range setup). 1) ratio.
Gain is not appropriate. 2) Pr 5.14 Value is low 2) Increase the Value of Pr 5.14. Or， Set Pr
5.14 to 0 to disable the protective function.
One revolution absolute 34.1 At the time of absolute encoder is used， When The working range of an absolute encoder
working range error Pr0.15(Absolute encoder setup)=3， the motor (encoder) (absolute scale) position including absolute
position or command position crossed motor working home position offset is checked. A motor
range (encoder 1 revolution data) (encoder) position is returned in motor
working range (inside of encoder 1 revolution
data). A command position is returned in
motor working range (inside of encoder 1
revolution data)
EEPROM parameter error 36.0 Data in parameter storage area has been damaged when Set up all parameters again. If the error
protection reading the data from EEPROM at power-on. persists， replace the driver (it may be a
failure). Return the product to the dealer or
manufacturer.
manufacturer.
manufacturer.
EEPROM check code error 37.0 Data for writing confirmation to EEPROM has been Replace the driver. (it may be a failure). Return
protection damaged when reading the data from EEPROM at power- the product to a dealer or manufacturer.
on.
on.
on.
Over-travel inhibit input 38.0 With Pr 5.04， over-travel inhibit input setup = 0， both Check that there are not any errors in
protection 1 positive and negative over-travel inhibit inputs switches， wires or power supply which are
(POT/NOT) have been ON. With Pr 5.04 = 2， positive or connected to positive direction/ negative
negative over-travel inhibit input has turned ON. direction over-travel inhibit input. Check that
the rising time of the control power supply (12
to 24 VDC) is not slow.
Over-travel inhibit input 38.1 An operation command (e.g. test run， FFT) has been Check that there are not any errors in
protection 2 received through USB communication while EtherCAT switches， wires or power supply which are
communication is OFF with Pr 5.04 "over-travel inhibition connected to positive direction/ negative
input setting" = 0 or 1， and either POT or NOT is ON. direction over-travel inhibit input. Check that
Or， POT or NOT is turned ON while the system is the rising time of the control power supply (12
operating according to the command given through USB to 24 VDC) is not slow.
communication.
Over-travel inhibit input 38.2 When POT is assigned to SI6 or NOT is assigned to SI7， When POT is assigned to SI6 or NOT is
protection 3 set Pr5.04 (Over-travel inhibit input protection) to a value assigned to SI7， make sure Pr5.04(Over-travel
other than 1. inhibit input protection) is set to 1.
Absolute system down error 40.0 Voltage of the built-in capacitor has fallen below the After connecting the power supply for the
protection specified value because the power supply or battery for battery， clear the absolute encoder. The
the absolute encoder has been down. alarm cannot be cleared until the absolute
encoder is reset
Absolute counter overflow 41.0 Multi-turn counter of the 17-bit absolute encoder has Set Pr 0.15 Absolute encoder setup to the
error protection exceeded the specified value. appropriate value. Limit the travel from the
machine origin within 32767 revolutions.
Absolute overspeed error 42.0 The motor speed has exceeded the specified value when Check the supply voltage at the encoder side
protection only the supply from the battery has been supplied to (5 V ±5%). Check the connecting condition of
encoder during the power failure. the connector， CN X6. The alarm cannot be
cleared until the absolute encoder is res
Incremental encoder 43.0 Incremental encoder initialization error was detected. Replace the motor
initialization error protection
Absolute single turn counter 44.0 Single turn counter error of absolute encoder has been Replace the motor
error protection/ Incremental detected.Single turn counter error of Incremental encoder
signal turn counter error has been detected.(Z phase signal)
protection
Absolute multi-turn counter 45.0 Multi turn counter error of absolute encoder has been Replace the motor
error protection/ Incremental detected.Multi turn counter error of Incremental encoder
multi-turn counter error has been detected.(CS signal)
protection
Absolute status error 47.0 Encoder has been running at faster speed than the Arrange so as the motor does not run at
protection specified value at power on power-on.
Encoder Z-phase error 48.0 Missing pulse of Z-phase of serial incremental encoder Replace the motor
protection has been detected. The encoder might be a failure
Encoder CS signal error 49.0 CS signal logic error of serial incremental encoder has Replace the motor
protection been detected. The encoder might be a failure.
External scale wiring error 50.0 Communication between the external scale and the driver Make a wiring connection of the external scale
protection has been interrupted in certain times， and as per the wiring diagram. Correct the wrong
disconnection detecting function has been triggered. wiring of the connector pins
External communication data 50.1 Communication error has occurred in data from the Ensure external standard current voltage is
error protection external scale. Mainly data error due to noise. External DC5V + / - 5%(4.75?5.25 V)...Pay special
scale cables are connected， but communication date attention especially when the cable connecting
has some error. the grating ruler is long.If the motor cable is
tied together with the cable connecting the
grating ruler， separate the wiring.Connect
the shield wire to FG...Refer to the connection
diagram of the grating ruler.
External scale status 0 error 51.0 Bit 0 of the external scale error code (ALMC) has been After removing the cause of the error， clear
protection turned to 1. Check the specifications of the external scale. the external scale error. And then， shut off
the power to reset.
the power to reset.
the power to reset.
the power to reset.
the power to reset.
the power to reset.
A-phase wiring error 55.0 A-phase wiring in the external scale is defective， e.g. Check the A-phase wiring connection of
protection discontinued. external scale.
B-phase wiring error 55.1 B-phase wiring in the external scale is defective， e.g. Check the B-phase wiring connection of
Z-phase wiring error 55.2 Z-phase wiring in the external scale is defective， e.g. Check the Z-phase wiring connection of
ESM unauthorized request 80.0 The change state request which cannot change from the The change state request of host controller is
error protection present state was received. I→S，I→O，P→O，O→B，P checked.
→B，S→B(I:Init，P:PreOP，S:SafeOP，O:OP，B:Bootstrap)
ESM undefined request error 80.1 The change state request which does not have a The change state request of host controller is
protection definition (except the following) was received. 1:Request checked.
Init State2:Request Pre-Operational State3:Request
Bootstrap State4:Request Safe-Operational
State8:Request Operational State
Bootstrap requests error 80.2 The following change state request was received. The change state request of host controller is
protection 3:Request Bootstrap State checked.
Incomplete PLL error 80.3 Phasing and servo communication(PLL lock) could not be Check setting of DC mode.It is checked
protection completed even after the lapse of 1s after the start of the whether propagation delay compensation or
synchronization process. drift compensation is correct.It is checked
whether the transmitting timing of PDO from
higher rank equipment is constant.Please
check whether there is any problem in wiring
of an EtherCAT communication cable.Please
check whether the excessive noise has started
the EtherCAT communication cable
PDO watchdog error 80.4 At the time of PDO communication (at the time of SafeOP It is checked whether the transmitting timing
protection or OP state)， when the increment of the ESC register of PDO from higher rank equipment is
address 0442h (Watchdog Counter Process Data) is constant(not stop). Increase the timeout
carried out， it generates. bit10 of AL Event value of the PDO watchdog detection. Check
Request(0220h) did not turn on the conditions by which whether there is any problem in wiring of an
an increment is carried out at the time set up in the ESC EtherCAT telecommunication cable. Check
register addresses 0400h and 0420h. whether the excessive noise has started the
EtherCAT communication cable
PLL error protection 80.6 In the ESM state， phasing servo and communication(PLL Check setting of DC mode.It is checked
lock) separated during operation in the state of SafeOP or whether propagation delay compensation or
OP. drift compensation is correct.It is checked
whether the transmitting timing of PDO from
higher rank equipment is constant.Please
check whether there is any problem in wiring
of an EtherCAT communication cable.Please
check whether the excessive noise has started
the EtherCAT communication cable.If the error
cannot be resolved， shut off and reset the
control power.
Synchronization signal error 80.7 More than the threshold value that the omission of the Check setting of DC mode.It is checked
protection interruption processing by SYNC0 or IRQ set up by bit0-3 whether propagation delay compensation or
of Pr7.42 (Communication fault allowable number of drift compensation is correct. It is checked
times upper limit) in after the completion of synchronous whether the transmitting timing of PDO from
processing generated. higher rank equipment is constant. Check
whether there is any problem in wiring of an
EtherCAT communication cable. Check whether
the excessive noise has started the EtherCAT
communication cable. The preset value of
Pr7.42 (Communication fault allowable number
of times upper limit) bit0-3 is enlarged.If the
error cannot be resolved， shut off and reset
the control power.
Synchronizationcycle error 81.0 If set to cycle synchronization (SYNC0 cycle or an IRQ Please set up a synchronous period correctly.
protection cycle) is not supported.It sets except 250000， 500000，
1000000， 2000000， and 4000000 [ns] to ESC register
SYNC0 Cycle Time (09A0h) and object 1C32h:sub 02h
(Cycle time).The setting of an ESC register and an object
is not in agreement.
Mailbox error protection 81.1 SM setting of Mailbox is wrong. A setup of SM0/1 was set Please set up Sync manager correctly.
as the unjust value.A Physical Start Address:ESC register
(0800h， 0801h/0808h， 0809h) setup of
SyncManager0/1 is inaccurate.The area for reception of
Mailbox overlaps the area for transmission.The area for
transmission/reception of Mailbox overlaps the area for
transmission/reception of SyncManager2/3 Address
specification of the area for transmission/reception of
Mailbox is odd number. The start address of Mailbox is
out of range fromSyncManager0: 1000h to 10FFh and
SyncManager1:1200h to 12FFh.A Length:ESC register
(0802h，0803h/080Ah， 080Bh) setup of
SyncManager0/1 is inaccurate. Out of range from
SyncManager0: 32 to 256 byte Out of range from
SyncManager1: 40 to 256 byte A Control Register:ESC
register (0804h/080Ch) setup of SyncManager0/1 is
inaccurate. Other than 100110b is set for 0804h: bit5-0.
Other than 100010b is set for 080Ch: bit5-0
PDO watchdog error 81.4 A setup of the watchdog timer of PDO is wrong. Although Set up detection timeout value of watchdog
protection PDO watch dog trigger is effective (SyncManager: Bit6 timer correctly.
which is the register 0804h set to 1)， When the
detection timeout value of PDO watchdog timer cycle
setup (registers 0400h and 0420h) was the
"communication cycle multiply 2" by DC and SM2 mode，
was the following was set as less than 2 ms by FreeRun
mode.
DC error protection 81.5 DC setting setup is wrong.A value other than the Check setting of DC mode.
following was set to bit 2-0 of 0981h (Activation) of the
ESC register:Bit 2-0 = 000b; Bit 2-0 = 011b
SM event mode error 81.6 SM event mode which is not supported was set up.It was 1C32h-01h(Sync mode) should set up
protection set to 1C32h-01h(Sync mode) at values other than 00h(FreeRun)， 01h(SM2)， or 02h(DC
00h(FreeRun)， 01h(SM2)， and 02h(DC SYNC0). A value SYNC0). 1C33h-01h(Sync mode) should set up
other than 00h (FreeRun)， 02h (DC SYNC0)， or 22h 00h (FreeRun)， 02h (DC SYNC0)， or 22h
(SM2) was set to 1C33h-01h (Sync mode). 000b was set to (SM2).The setting of 1C32h-01h should be
bit 2-0 of 0981h of the ESC register and SM2 was set to equal to that of 1C33h-01h
only either 1C32h-01h or 1C33h-01h
SyncManager2/3 error 81.7 A setup of SyncManager2/3 was set as the unjust value.A Set up SyncManager2/3 correctly.
protection Physical Start Address (ESC registersh 0810h) setting of
SyncManager2 is inaccurate.The area for reception
overlaps the area for transmission.The area for
transmission/reception of SyncManager2/3 - Address
specification of the area for transmission/reception is odd
number.- The start address is out of range.A Length (ESC
registersh 0812h) setting of SyncManager2 is
inaccurate.Different from RxPDO size. A Control
Register:ESC register (0814h) setting of SyncManager2 is
inaccurate. Other than 100100b is set for bit5-0. A
Physical Start Address (ESC registersh 0818h ) setting of
SyncManager3 is inaccurate. The area for reception
overlaps the area for transmission. The area for
transmission/reception of SyncManager2/3 Address
specification of the area for transmission/reception is odd
number.The start address is out of range. A Length (ESC
register 081Ah) setting of SyncManager3 is inaccurate.
Different from TxPDO size. A Control Register:ESC register
(081Ch) setting of SyncManager3 is inaccurate. Other
than 100000b is set for bit5-0
Synchronous establishment 84.3 Error occurred during communication and servo sync and Turn off the power once， then re-enter. If
initialization error protection initialization process. error repeats， this might be a failure. Stop
using the products， and replace the motor
and the driver.Return the products to the
dealer or manufacturer.
TxPDO assignment error 85.0 When the data size of the TxPDO map is set up exceeding TxPDO data size is set up within 32 bytes.
protection 32 bytes.
RxPDO assignment error 85.1 When the data size of the RxPDO map is set up exceeding RxPDO data size is set up within 32 bytes.
protection 32 bytes.
Lost link error protection 85.2 The time set in Pr7.43 (Lost link detection time) elapsed Check whether there is any problem in wiring
when either Port 0 or Port 1 fell and remains in the lost of an EtherCAT communication cable. Checked
link state after the ESM state transitioned from Init to whether there is any problem in the
PreOP (not including a port that had been in the lost link communication from higher rank equipment
state at the time of transition from Init to PreOP).
SII EEPROM error protection 85.3 VendorID， Product code， and Revision number do not Check the data of SII. Retry reading out from
agree between SII (EEPROM) and the object values. and writing to SII.
Reading out from and writing to SII (EEPROM) are
improper.If any of bit11 to14 of ESC register 0502h is set
to 1
Forced alarm input protection 87.0 Forced alarm input (E-STOP) is applied. Check the wiring of forced alarm input (E-
STOP).
Main power undervoltage 88.0 When the set value of 6007h(Abort connection option The capacity rise of power supply voltage. A
protection(AC insulation code) is 1， and PDS state checks out the main circuit power supply is changed. The cause by which
detection 2) power off in the state of "Operation Enabled" or "Quick the magnetic contactor of the main power
stop active". supply fell is removed， and a power supply is
switched on again. Each phase (L1， L2， L3)
of a power supply is connected correctly. The
single phase 100V and the single phase 200V
should use L1 and L3. It replaces with new
servo amplifier.
Control mode setting error 88.1 When Modes of operation is set to 0 and Modes of Check preset value of 6060h(Modes of
protection operation display is set to 0， the PDS state is converted operation).
to "operation enabled".In Modes of operation， the value
of the uncorresponding control mode and the value
outside the scope are set.Modes of operation is now set
as 3(pv)， 4(tq)， 9(CSV)， 10(CST).During the '2
degrees of freedom control mode， the Modes of
operation were set as 3(pv)， 4(tq)， 9(CSV)， 10(CST).
ESM requirements during 88.2 When a PDS state was "Operation enabled"， the ESM Check the state transition request from host
operation error protection state received the changes command to other ESM states. controller.
Improper operation error 88.3 When EXT1/EXT2 is not assigned to input signal， Set up the functional allotment for input signal
protection EXT1/EXT2 was selected in trigger selection of a touch correctly. Set up trigger selection
probe(60B8h (Touch probe function)). When Z-phase is correctly.Check the relation between the
chosen by trigger selection of a touch probe operation range setting and the software limit
(60B8h(Touch probe function)) at the time of absolute setting. Review the electronic gear settings and
mode of full-colse. When the software limit function is turn ON the power again
enabled， a wraparound occurred to the actual position
or command position. The calculation result of electronic
gear ratio fell outside the range of 1000 times to 1/1000
times.In the calculation process of electronic gear ratio，
the denominator or numerator exceeds an unsigned 64-
bit size. In the final calculation result of electronic gear
ratio， the denominator or numerator exceeds an
unsigned 32-bit size
Command error protection 91.1 Control mode was switched at intervals shorter than 2 ms. Check the process of upper device.
Encoder data recovery error 92.0 In the absolute mode with semi-closed control， internal Ensure that the power supply voltage of the
protection position data has not been correctly initialized. encoder is DC5V plus or minus
5%(4.75?5.25v)， especially for long encoder
cables.If the motor cable is tied together with
the encoder cable， separate wiring.Plug the
shield into FG.
External scale data recovery 92.1 In the absolute mode with full-closed control， internal Make sure the voltage on the outside grating is
error protection position data has not been correctly initialized. DC5V + / - 5%(4.75?5.25v)， especially when
the cable connecting the grating ruler is long.If
the motor cable is tied together with the cable
connecting the grating ruler， separate the
wiring.Connect the shield line to FG. Refer to
the connection diagram of the grating ruler.
Parameter setup error 93.0 Manufacturer's use of the parameter setting is incorrect. Please do not modify the parameter
protection 1 manufacturer's use.
Parameter setup error 93.2 External scale ratio exceeds acceptable range. Check the parameter setting value. External
protection 2 scale ratio must be in the range 1/40 to 160
External scale connection 93.3 The communication type of the connected external scale Set Pr 3.23 to the type of external scale
error protection (serial communication model) does not match the type connected.
selected through Pr 3.23 External scale selection.
Parameter setup error 93.7 Manufacturer's use of the parameter setting is incorrect. Please do not modify the parameter
protection 5 manufacturer's use.
Home position return error 94.3 An error with home position return occurred. 1)The distance between the Z phase and the
protection 2 (1)In Home position return which used Z phase for bit7of POT or NOT is expanded.
Pr7.22 in the established state.It's positive during Return 2)After confirming the safety， it's made
movement to the detected Z phase position movement， bit7 of Pr7.22 (Communication function
POT or NOT become ON. extended setup 1) =0(Invalid).
(2)The return amount to the detected Z phase position
became abnormal in Home position return which used Z
phase.
Motor automatic recognition 95.0 The motor and the driver have not been matched. Replace the motor which matches to the driver.
error protection
error protection
error protection
error protection
error protection
Communication IC 98.4 There is an abnormality in the initialization process of the Turn the power off once， then on again.
initialization error protection communication IC. Nevertheless， if the error is out of view，
there is a possibility of failure. Discontinue
use， please replace themotor， the servo
amplifier.Be returned to the sales agent survey
(repair)
Other errorprotection 99.0 Control circuit has malfunctioned due to excess noise or Turn the power off once， then on again.
other causes.Some error has occurred inside of the driver Nevertheless， if the error is out of view，
while triggering self-diagnosis function of the driver there is a possibility of failure. Discontinue
use， please replace themotor， the servo
amplifier.Be returned to the sales agent survey
(repair)
84
10.7 Warning Name and Code List
Warning Name Warning Code Causes Troubleshooting
Normal 00 Normal Normal
Load factor is 85% or more the protection Check the load factor. Slow down the acceleration/
Overload warning A0
level. deceleration speed. Reduce load.
Over-regeneration Regenerative load factor is 85% or more the Check the load factor. Slow down the acceleration/
A1
warning level. deceleration speed. Reduce load.
Battery warning A2 The battery voltage is 3.2V or less. Check battery voltage. Replace battery.
Fan warning A3 Fan has stopped for 1 sec. Check fan rotation. Replace fan.
Encoder The number of successive encoder

communication A4 communication errors has exceeded the Check the noise.
warning specified value.
Encoder overheat Encoder temperature has exceeded the
A5 Check the operating environment of the motor.
Oscillation
A6 Oscillation or vibration has been detected. Lower the gain.
detection warning
Lifetime detection The life expectancy of capacity or fan has
A7 Replace fan.
warning dropped below specified value.
External scale error
A8 The external scale has detected the warning. Replace the external scale.
warning
External scale The number of successive external scale
communication A9 communication errors has exceeded the Check the noise.
In case that Pr7.14 (Detection time of main
power off warning) is 10 to 1999, the mains Check the setting value in Pr7.14. Check the voltage
Main power off
C3 power between L1 and L3 has stopped between connectors (L1，L2，L3). Connect the
warning
instantaneously for more than the time power of each phase correctly. Replace the drive.
prescribed in Pr7.14.
85
86
11 Gain Adjustment
This chapter mainly describes the gain adjustment.
11.1 Gain Adjustment Screen
11.2 Real-time Auto Tuning
11.3 Damping Control
11.4 Command Filter
11.5 Related Parameters
11.6 Simple Adjustment of Monitor
87
11.1 Gain Adjustment Screen
Click the following two buttons to the gain adjustment screen.
Gain adjustment is shown below.
Setting area for gain adjustment
Display area for simple monitor
88
11.2 Real-time Auto Tuning
1 Customized setting
[Real-time auto tuning gain] [ Customization setting ]
Make setting in the Customization screen.
89
2 Modes selection
[Real-time auto tuning] [ Mode selection ]
3 Set stiffness, level and oscillation suppression validity
[Real-time auto tuning gain] [ Gain setting, level, and automatic vibration suppression validity ]
90
4 Characteristics change
[Real-time auto tuning gain] [Characteristics change ]
5 Change related parameter of load characteristics
[Real-time auto tuning gain] [ Load characteristics]
Click “Edit” button to change the setting value.
Click “Send” button after changing, and all these parameters will be sent to servo driver.
91
11.3 Damping Control
1 Select filtering method
Damping control [ Filtering method]
92
2 Select notch filter frequency, width and depth
Damping control [ Edit ]
To monitor screen
Click the “Edit” button to set the filter frequency, width and depth for the specified filter, then click “Send”
button to send the parameters to servo driver.
Set the specified filter frequency to 5000
Set the specified filter width to 2
Set the specified filter frequency to 5000
Set the specified filter depth to 0
Return to monitor screen

Send the frequency, width and depth to servo driver
93
3 Damping control switching setting
Dampiing control [Damping control switchover]
94
4 Select damping control frequency and filter
Damping control [ Edit ]
To monitor screen
Click the “Edit” button to set the filter frequency and filter, then click “Send” button to send the parameters to
servo driver.
Set the specified frequency to 0 Set the specified filter frequency to 0

Set the specified filter to 0
Return to monitor screen

Send the frequency, width and depth to servo driver
95
11.4 Command Filter
Set the command filter parameter
Command filter [ Edit ]
Set the “FIR filter” and “smoothing filter” and then click “Send” button.
96
11.5 Related Parameters
Set related parameter value
Related parameter Double-click the specified parameter to modify
Click “OK” button after modifying parameter value.
97
11.6 Simple Adjustment of Monitor
Set simple monitor parameter and click “Start measuring”
Simple monitor [ Measuring mode, measuring times, measuring time ] [ Start measuring ]
The trial run dialog box pop up and drive the motor.
98
Get the monitoring data after motor revolution.
99
100
12 Kernel Management
This chapter mainly describes kernel management.
12.1 Kernel Management Screen
101
12.1 Kernel Management Screen
Click the following two buttons to the kernel management screen.
Kernel management is shown below.
102

HCS-Studio Instruction Manual

Uploaded by

Copyright:

Available Formats

HCS-Studio Instruction Manual

Uploaded by

Document Information

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

HCS-Studio Instruction Manual

Uploaded by

Copyright:

Available Formats

HCS-Studio Instruction Manual

Manual No. : HCFA-SOFT-EN-002

Zhejiang Hechuan Technology Co.,Ltd

Date Manual No. Version

PLC Programmable logic controller

HCX3E HCFA X3E series servo driver

HCX3T HCFA X3T series servo driver

2 Screen Configuration and Basic Operation

4 Establish/Delete Servo Connection

9 Function of Trial Run

This chapter mainly gives an overview of software HCS-Studio.

1.1 Main Functions of HCS-Studio

1.2 Setup procedures of HCS-Studio

1.3 Check HCS-Studio Version

1.4 Check for Updates

Parameter reading and setup

Check the operation and I/O status of the driver.

The function of trial run is shown below.

Gain adjustment is realized in servo drive.

Communica Parameter Monitoring Oscilloscope Trial run Servo Gain

Change Read waveform Interference check Read warning Set stiffness

Pins setup Read servo’s life

1.4 Check for Updates

This chapter mainly describes screen configuration and main function of

2.1 Start HCS-Studio

2.2 Switching Display Language

2.3 Screen Configuration

2.4 Menu List

3.1 Create New Project

3.2 Open Project

3.3 Save Project

Create a new project

3.2 Open Project

4.1 Servo Online Connection

4.2 Servo Offline Connection

4.3 Delete Servo Connection

4.11 批量插入NOP , 批量删除NOP

Online connection has been established.

”Offline machine selection” pops up and select servo models.

Offline connection has been established.

Click “Delete” button.

Select whether to delete the “Servo object”.

5.1 Communication Setup

5.2 Test Connection

5.3 Auto Matching

Click the icon of servo object and then “Connect”.

”Connect mode” dialog box pop up.

After “Connection test” is done, click “Set “ button.

After “Auto matching” is done, click the “Set” button.

This chapter mainly describes parameter setting.

6.1 Parameter Setup Screen

6.2 Select Parameter Type

6.3 Open the Saved Parameter File

6.4 Save Current Parameter to Files

6.5 Setup of Specified Parameters

6.6 Set Specified Parameters in Hex.

6.7 Write Parameter into EEP

6.8 Parameter Initialization

6.9 Exit Parameter Setup

6.10 Pins Definition