Motor¶

Direction of Motor Rotation¶

Important

If the motor is installed differently, such as direct drive or connected using a belt or gear, make sure that the value set for parameter O67 is consistent with the direction of rotation.

Look at the motor shaft, setting values:

0 = Counterclockwise motor rotation
1 = Clockwise motor rotation

Synchronization signal source¶

Important

If the settings are incorrect, the motor may not stop.

Some are called upper needle position signals. For direct drive, this signal is built into the motor; for those using belts or gear, a separately installed sensor is generally used. Please ensure that the setting value of parameter O04 matches the actual situation.

0 = External
1 = Integrated inside the motor

Holding force at Standstill¶

Enable this function by set A54 to 1.

This function prevents unintentional “wandering” of the needle at standstill. The effect can be checked by turning the hand wheel.

While the function is in effect, the motor will maintain a certain force to lock in the current position. However, the “lock” here does not mean “completely still”, if the parameters are set improperly, or the motor is in a position where the external force is too large/small, the needle may vibrate up and down.

Holding force takes effect at standstill:

for a stop in the seam
after the end of the seam

The maximum time the holding force can keep takes effect is determined by parameter A66 :

Equal to 0

Holding force take effect always when stopped.
Not equal to 0

Holding force only take effect for a certain period of time when stop, and then the motor is released. At this time, the parameter value represents the effective time.

The effect can be set by parameter I46, The higher the set value, the stronger the holding force.

Starting/Braking Characteristics¶

The drive acceleration/deceleration dynamics can be adapted to the sewing machine characteristic (light/heavy).

I01 = acceleration
I02 = deceleration

The following applies to all setting values: the lower setting value, the stronger reaction!

With a low parameter value on a heavy machine, the characteristic may appear coarse. In this case, one should try to optimize the settings.

Braking Mode¶

The braking mode dictates the deceleration rate and the smoothness at the target position, which is determined by parameter I30.

The system initiates the braking sequence when the carriage/needle reaches a specific distance from the target position, defined by parameter I37.

0: Creep Mode (Slow-down Mode)

Requires a longer braking distance. While the average speed during deceleration is lower than in Position Mode, the overall motion profile is significantly smoother.
1: Position Mode

Requires a shorter braking distance and maintains a higher average speed during the deceleration phase. However, it may result in mechanical oscillation or overshoot at the target position.

Quick reference¶

This table summarizes which parameter should be used for motor:

Parameter	Authority	See also
Min. Speed	Technician	`S02`
Auto Needle Up at Power-on	Technician	`A18`
Holding Force	Technician	`A54`
Step Angle(CPC-h)	Developer	`A55`
Position Error Threshold takes effect(CPC-h)	Developer	`A56`
Position Error Threshold does not take effect(CPC-h)	Developer	`A57`
Holding Force Mode	Technician	`A66`
Machine Sync Signal Source	Technician	`O04`
Input Speed Scaling	Technician	`O36`
Input Speed Scaling	Technician	`O37`
Directions of Motor Rotation	Developer	`O67`
Acceleration	Technician	`I01`
Deacceleration	Technician	`I02`
Electrical Angle	Developer	`I03`
Transmission Ratio	Developer	`I04`
Kp(CSC-t)	Developer	`I05`
Divisor of Kp(CSC-t)	Developer	`I06`
Ki(CSC-t)	Developer	`I07`
Divisor of Ki(CSC-t)	Developer	`I08`
Kp(CSC)	Developer	`I09`
Divisor of Kp(CSC)	Developer	`I10`
Ki(CSC)	Developer	`I11`
Divisor of Ki(CSC)	Developer	`I12`
Upper Output limit(CSC)	Developer	`I13`
Feedforward(CSC)	Developer	`I14`
Kp(CCC-d)	Developer	`I15`
Divisor of Kp(CCC-d)	Developer	`I16`
Ki(CCC-d)	Developer	`I17`
Divisor of Ki(CCC-d)	Developer	`I18`
Upper Output limit(CCC-d)	Developer	`I19`
Lower Output limit(CCC-d)	Developer	`I20`
Kp(CCC-q)	Developer	`I21`
Divisor of Kp(CCC-q)	Developer	`I22`
Ki(CCC-q)	Developer	`I23`
Divisor of Ki(CCC-q)	Developer	`I24`
Upper Output limit(CCC-q)	Developer	`I25`
Lower Output limit(CCC-q)	Developer	`I26`
Encoder Resolution	Developer	`I27`
Stop Routine Max. Time	Developer	`I28`
Brake Mode	Developer	`I30`
MACHINE ZERO Offset	Developer	`I33`
Distance(Brake P-S process)	Developer	`I37`
Initial Speed(Brake P-S process)	Developer	`I38`
Terminal speed(Brake P-S process)	Developer	`I39`
Kp(CPC-s)	Developer	`I40`
Divisor of Kp(CPC-s)	Developer	`I41`
Kd(CPC-s)	Developer	`I42`
Divisor of Kd(CPC-s)	Developer	`I43`
Max. Hold Force Current	Developer	`I46`
Field Weaken	Developer	`I47`
Field Weakening Effective Speed	Developer	`I48`
Max. Id current	Developer	`I49`
Upper Output limit(CPC-h)	Developer	`I50`
Lower Output limit(CPC-h)	Developer	`I51`
Kp(CPC-h)	Developer	`I52`
Divisor of Kp(CPC-h)	Developer	`I53`
Kd(CPC-h)	Developer	`I54`
Divisor of Kd(CPC-h)	Developer	`I55`

Parameter List¶

S02¶

-Max: 1000
-Min: 50
-Unit: spm
-Description: Sewing speed at Pedal POSITION 1; also used as the single stitch speed.

A18¶

-Max: 1
-Min: 0
-Unit: –
-Description: Needle automatically moves to the upper position after power-on:

0 = Off;

1 = On.

Danger

Please set A18 parameters carefully, it may cause personal danger.

A54¶

-Max: 1
-Min: 0
-Unit: –
-Description: Setting the holding force of the motor after stop:

0 = Off;

1 = On.

A55¶

-Max: 720
-Min: 1
-Unit: –
-Description: The shaft is locked a range within this angle.

A56¶

-Max: 720
-Min: 1
-Unit: –
-Description: When the position error is large than the parameters, the motor will start to adjust the position.

A57¶

-Max: 720
-Min: 1
-Unit: –
-Description: When the position error is small than the parameters, the motor will standby.

A66¶

-Max: 1
-Min: 0
-Unit: –
-Description: 0 = The motor holds always;

Other = The holding force turns off after the time set by this parameter.

O04¶

-Max: 1
-Min: 0
-Unit: –
-Description: 0 = External;

1 = Integrated inside the motor

O36¶

-Max: 5
-Min: 0
-Unit: –
-Description: Speed scaling allows the machine to run at lower speed than the set. For every 1 increase in the parameter value, it decreases by 1/10.

O37¶

-Max: 1
-Min: 0
-Unit: –
-Description: In Simple mode, no seam program, no trim, no position, etc, except the motor can run:

0 = Off;

1 = On.

O67¶

-Max: 1
-Min: 0
-Unit: –
-Description: Look at the motor shaft, setting values:

0 = Counterclockwise;

1 = Clockwise.

I01¶

-Max: 500
-Min: 150
-Unit: ms
-Description: The time for accelerating from 0rpm to 4500 rpm.

I02¶

-Max: 500
-Min: 150
-Unit: ms
-Description: The time for deaccelerating from 4500 rpm to 0 rpm.

I03¶

-Max: 4096
-Min: 0
-Unit: –
-Description: The offset of electrical angle.

I04¶

-Max: 4096
-Min: 1
-Unit: –
-Description: The number of pulses output by motor encoder corresponding to one rotation of the machine.

I05¶

-Max: 9999
-Min: 0
-Unit: –
-Description: Kp in Closed-loop Speed Control-trimming.

I06¶

-Max: 99
-Min: 0
-Unit: –
-Description: Divisor of Kp in Closed-loop Speed Control-trimming.

I07¶

-Max: 9999
-Min: 0
-Unit: –
-Description: Ki in Closed-loop Speed Control-trimming.

I08¶

-Max: 99
-Min: 0
-Unit: –
-Description: Divisor of Ki in Closed-loop Speed Control-trimming.

I09¶

-Max: 9999
-Min: 0
-Unit: –
-Description: Kp in Closed-loop Speed Control.

I10¶

-Max: 99
-Min: 0
-Unit: –
-Description: Divisor of Kp in Closed-loop Speed Control.

I11¶

-Max: 9999
-Min: 0
-Unit: –
-Description: Ki in Closed-loop Speed Control.

I12¶

-Max: 99
-Min: 0
-Unit: –
-Description: Divisor of Ki in Closed-loop Speed Control.

I13¶

-Max: 20
-Min: 1
-Unit: –
-Description: Upper Output limit in Closed-loop Speed Control.

I14¶

-Max: 500
-Min: 0
-Unit: –
-Description: Feedforward in Closed-loop Speed Control.

I15¶

-Max: 9999
-Min: 0
-Unit: –
-Description: Kp in Closed-loop Current Control-d axis.

I16¶

-Max: 99
-Min: 0
-Unit: –
-Description: Divisor of Kp in Closed-loop Current Control-d axis.

I17¶

-Max: 9999
-Min: 0
-Unit: –
-Description: Ki in Closed-loop Current Control-d axis.

I18¶

-Max: 99
-Min: 0
-Unit: –
-Description: Divisor of Ki in Closed-loop Current Control-d axis.

I19¶

-Max: 3276
-Min: 0
-Unit: –
-Description: Upper Output limit in Closed-loop Current Control-d axis.

I20¶

-Max: 3276
-Min: 0
-Unit: –
-Description: Lower Output limit in Closed-loop Current Control-d axis.

I21¶

-Max: 9999
-Min: 0
-Unit: –
-Description: Kp in Closed-loop Current Control-q axis.

I22¶

-Max: 99
-Min: 0
-Unit: –
-Description: Divisor of Kp in Closed-loop Current Control-q axis.

I23¶

-Max: 9999
-Min: 0
-Unit: –
-Description: Ki in Closed-loop Current Control-q axis.

I24¶

-Max: 9999
-Min: 0
-Unit: –
-Description: Divisor of Ki in Closed-loop Current Control-q axis.

I25¶

-Max: 3276
-Min: 0
-Unit: –
-Description: Upper Output limit in Closed-loop Current Control-q axis.

I26¶

-Max: 3276
-Min: 0
-Unit: –
-Description: Lower Output limit in Closed-loop Current Control-q axis.

I27¶

-Max: 9999
-Min: 1
-Unit: –
-Description: Lines Per Revolution of the motor encoder.

I28¶

-Max: 9999
-Min: 0
-Unit: ms
-Description: The maxmum time of stop routine.

I30¶

-Max: 1
-Min: 0
-Unit: –
-Description: Braking Mode Selection

0 = Creep Mode (Slow-down Mode);

1 = Position Mode.

I33¶

-Max: 1
-Min: 0
-Unit: –
-Description: The offset of between MACHINE ZERO and motor synchronization point.

I37¶

-Max: 359
-Min: 0
-Unit: 1°
-Description: The distance of brake Position-Speed process.

I38¶

-Max: 500
-Min: 1
-Unit: spm
-Description: The initial speed of brake Position-Speed process.

I39¶

-Max: 100
-Min: 0
-Unit: spm
-Description: The terminal speed of brake Position-Speed process.

I40¶

-Max: 9999
-Min: 0
-Unit: –
-Description: Kp in Closed-loop Position Control-stop.

I41¶

-Max: 99
-Min: 1
-Unit: –
-Description: Divisor of Kp in Closed-loop Position Control-stop.

I42¶

-Max: 9999
-Min: 0
-Unit: –
-Description: Kd in Closed-loop Position Control-stop.

I43¶

-Max: 99
-Min: 1
-Unit: –
-Description: Divisor of Kd in Closed-loop Position Control-stop.

I46¶

-Max: 40
-Min: 1
-Unit: 0.1A
-Description: Maximum current during the motor holding.

I47¶

-Max: 1
-Min: 0
-Unit: –
-Description: Field weaken for higher speed:

0 = Off;

1 = On.

I48¶

-Max: 4500
-Min: 50
-Unit: rpm
-Description: Above this speed, field weakening takes effect.

I49¶

-Max: 40
-Min: 1
-Unit: 0.1A
-Description: Maximum Id current during field weakening.

I50¶

-Max: 500
-Min: 0
-Unit: –
-Description: Upper Output limit in Closed-loop Position Control-holding.

I51¶

-Max: 100
-Min: 0
-Unit: –
-Description: Lower Output limit in Closed-loop Position Control-holding.

I52¶

-Max: 9999
-Min: 0
-Unit: –
-Description: Kp in Closed-loop Position Control-holding.

I53¶

-Max: 99
-Min: 1
-Unit: –
-Description: Divisor of Kp in Closed-loop Position Control-holidng.

I54¶

-Max: 9999
-Min: 0
-Unit: –
-Description: Kd in Closed-loop Position Control-holding.

I55¶

-Max: 99
-Min: 1
-Unit: –
-Description: Divisor of Kd in Closed-loop Position Control-holidng.