Applied Motion Products SV200 DC Hardware Manual Download Page 174

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174

SV200 DC Hardware Manual

920-0126A

4/14/2017

11.2.3 Step 3 Auto-Tuning Function

From the “

Auto-Tune

” tab, follow these steps to configure and run auto-tuning:

Operation steps

Set Stiffness and Load type

Set Auto-Tuning Distance, Speed target, and

Accel/Decel

NOTE:

If software position limit is set, select “Tuning

Between CW and CCW Limit

If no limit is required, select “Distance” (ensure

software position limits have been cleared)

Click

Start

to start the auto-tuning function

When Auto-Tuning is complete, download

parameters to the drive

NOTE: During the tuning process, motor or load vibrations may occur. This is normal and the

system will correct itself.

For customized performance requirements, use fine tuning functions.

Summary of Contents for SV200 DC

Page 1: ...SV200 DC Servo System Applied Motion Products Inc Hardware Manual 920 0126A 4 14 2017 ...

Page 2: ...pace 25 3 4 Motor Installation 26 4 Connections and Wiring 27 4 1 Connecting to Peripheral Devices 27 4 1 1 System Configuration 27 4 1 2 Servo Drive Connectors and Terminals 28 4 1 3 Connections and Wiring Notes 28 4 1 4 Wiring Methods for P1 Power Supply Connector 29 4 2 Wiring to the P2 Connector 30 4 2 1 Motor Power Cable Configuration 30 4 2 2 Motor Power Cable Connector CD Winding 6Amps 30 4...

Page 3: ...1 Control Panel Description 53 5 2 Mode Switch Control 54 5 3 LED display description 55 5 3 1 Decimal Point And Negative Sign Description 55 5 3 2 Parameter View Setting 55 5 3 3 Parameter Save Setting 55 5 3 4 Point To Point Motion Mode 56 5 3 5 Jog Mode 56 5 3 6 Control Panel Lock 56 5 4 Status Monitoring Selection Mode 57 5 5 Function Control Mode 59 5 5 1 Function Mode Description 59 5 5 2 Op...

Page 4: ... 94 7 3 3 7 Target Velocity Reached 94 7 3 3 8 Velocity Mode Control Type 95 7 3 3 9 Velocity ripple 96 7 3 4 Analog Input Filter 97 7 3 5 Software Configuration for Analog Velocity Mode 98 7 4 Torque Mode 99 7 4 1 Analog Torque Mode Connection Diagram 100 7 4 2 Parameters For Analog Torque Mode 101 7 4 3 Basic Settings For Analog Torque Mode 101 7 4 4 Software Configuration for Analog Torque Mode...

Page 5: ... Connecting to Drive from PC 165 9 5 2 Select Driver s IP Address 165 9 5 2 1 SVX Servo Suite Software 165 9 5 2 2 Set IP address from Drive 167 9 5 3 Editing IP address table 168 11 SV200 Tuning Guide 169 11 1 Servo Tuning Adjustment of Gain Parameters 169 11 1 1 Gain Parameter Introduction 170 11 2 Auto Tuning 171 11 2 1 Step 1 Select Motor 171 11 2 2 Step 2 Setting the Software Position Limits ...

Page 6: ...mitted to delivering quality customer service and support for all our products Our goal is to provide our customers with the information and resources required in such a way that they are available without delay if and when they are needed In order to serve you in the most effective way we recommend that you contact your local sales representative for order status and delivery information product ...

Page 7: ...ration SVX Servo Suite Software User Manual How to use the SVX Servo Suite software 1 3 Safety Only qualified persons may perform the installation procedures The following explanations are for procedures that must be observed in order to prevent harm to people and damage to property The SV200 DC series utilizes hazardous voltages Be sure the drive is properly grounded Before you install the SV200 ...

Page 8: ...tarting system operation without first matching the correct parameters may result in servo drive or motor damage or damage to the mechanical system DO NOT touch the drive heat sink motor or the regeneration resistor during operation as they may be very hot DO NOT hold the motor by the cable during transportation or installation Wiring DO NOT connect any power supply to the U V or W terminals Insta...

Page 9: ...nnect port CN3 for encoder feedback Not included 6 A mini USB cable to connect port CN1 to a PC for communication 7 An I O cable with a 50 PIN connector to connect port CN2 for I O Not included 8 Cables with RJ 45 connectors to connect ports CN6 and CN7 for RS 485 or CANopen communication Not included 9 Motor power extension cable Not included 10 Motor encoder extension cabel Not included 2 2 Serv...

Page 10: ...al Input 2 photocoupler input compatible with both line driver I F and open collector I F 2 line receiver input compatible with line driver I F Output 3 line driver outputs 1 open collector output Communication Mini USB Connection with PC or 1 1 communication to a host RS 232 RS 232 communication RS 485 RS 485 communication Modbus RTU CANbus CANopen communication Ethernet EtherNET IP or eSCL Front...

Page 11: ...4 2017 2 2 4 Drive Dimensions Unit mm 41 150 97 139 5 6 28 5 6 5 5 R2 5 2 3 Servo Motor Model Introduction 2 3 1 Motor Name Plate Description Model NO Rated Torque Series NO Input Current Output Power Rated Speed 2 3 2 Motor Model Description ...

Page 12: ... Current A rms 14 3 6 5 15 6 Voltage Constant 5 V rms K rpm 3 67 8 05 6 39 Torque Constant 5 lb in A rms 0 31 0 68 0 54 Winding Resistance Line Line Ohm 10 25 C 0 36 1 67 0 48 Winding Inductance Line Line mH typ 0 39 1 88 0 58 Inertia with encoder oz in sec 2 0 000328 0 000328 0 000606 Inertia With Brake Option oz in sec 2 0 000422 0 000422 0 000699 Thermal Resistance mounted C W 2 9 2 9 2 4 Therm...

Page 13: ...0 5 0 009 h6 8 0 0 25 1 0 2 30 h7 0 021 2 5 58 53 46 4 2 4 3 h9 0 025 0 KEY 40 Motor Series L mm J0060 Series 92 J0100 Series 109 Motor Dimensions Brake mm 3 9 2 0 13 0 20 L1 1 4 2 46 4 3 h9 0 025 0 KEY 40 0 0 3 0 5 300 50 Oil seal 50 300 A 0 04 A A 0 04 0 2 25 0 1 5 h6 8 58 0 009 0 30 h7 0 021 2 5 0 5 53 4 Motor Series L mm J0060 Series 129 J0100 Series 147 ...

Page 14: ... 4 000 6 000 DC Bus 24VDC J0100 303 3 000 100 Watts 5 2Amps 0 0 1 0 2 0 3 0 4 0 5 0 6 0 7 0 8 0 9 1 0 2 000 4 000 6 000 DC Bus 48VDC J0100 303 3 000 100 Watts 5 2Amps DC Bus 60VDC J0100 303 3 000 100 Watts 5 2Amps 0 0 1 0 2 0 3 0 4 0 5 0 6 0 7 0 8 0 9 1 0 2 000 4 000 6 000 Nm Torque Speed rpm Nm Torque Speed rpm Nm Torque Speed rpm Nm Torque Speed rpm Nm Torque Speed rpm Nm Torque Speed rpm Nm Tor...

Page 15: ... 10 5 5 Peak Current A rms 30 15 6 Voltage Constant 5 V rms K rpm 6 86 13 02 Torque Constant 5 lb in A rms 0 58 1 10 Winding Resistance Line Line Ohm 10 25 C 0 192 0 67 Winding Inductance Line Line mH typ 0 56 2 Inertia with encoder oz in sec 2 0 0023365 0 0023365 Inertia With Brake Option oz in sec 2 0 0031154 0 0031154 Thermal Resistance mounted C W 1 9 1 9 Thermal Time Constant Minutes 15 15 He...

Page 16: ...14 h6 0 011 0 300 50 3 8 50 h7 0 025 0 22 5 300 50 oil seal 0 04 A 0 04 A A Motor Series L mm J0200 304 4 000 98 J0200 405 4 000 105 Motor Dimensions Brake mm 14 h6 0 011 0 50 h7 0 025 0 30 1 L1 1 3 8 300 50 300 50 300 50 4 7 oil seal 0 04 A 0 04 A A 4 5 5 口60 16 0 300 0 118 5 h9 0 0 03 Key 70 M5 10 Motor Series L mm J0200 354 4 000 138 J0200 455 4 000 145 ...

Page 17: ...00 200 Watts 10Amps 0 0 2 0 4 0 6 0 8 1 1 2 1 4 1 6 1 8 0 2 000 4 000 6 000 DC Bus 60VDC J0200 304 4 000 200 Watts 10Amps 0 0 2 0 4 0 6 0 8 1 1 2 1 4 1 6 1 8 0 2 000 4 000 6 000 DC Bus 48VDC J0200 405 4 000 200 Watts 5 2Amps J0200 405 4 000 200 Watts 5 2Amps 0 0 2 0 4 0 6 0 8 1 1 2 1 4 1 6 1 8 0 2 000 4 000 6 000 DC Bus 60VDC 0 1 8 3 5 5 3 In lb Torque 7 1 8 9 10 6 12 4 14 2 15 9 0 1 8 3 5 5 3 In ...

Page 18: ...urrent A rms 30 20 7 Voltage Constant 5 V rms K rpm 12 9 20 Torque Constant 5 lb in A rms 1 09 1 69 Winding Resistance Line Line Ohm 10 25 C 0 25 0 57 Winding Inductance Line Line mH typ 0 84 2 Inertia with encoder oz in sec 2 0 003851 0 003851 Inertia With Brake Option oz in sec 2 0 00461 0 00461 Thermal Resistance mounted C W 1 43 1 43 Thermal Time Constant Minutes 21 21 Heat Sink Size mm 180 x ...

Page 19: ...14 h6 0 011 0 300 50 3 8 50 h7 0 025 0 22 5 300 50 oil seal 0 04 A 0 04 A A Motor Series L mm J0400 404 4 000 125 J0400 305 4 000 118 Motor Dimensions Brake mm 14 h6 0 011 0 50 h7 0 025 0 30 1 L1 1 3 8 300 50 300 50 300 50 4 7 oil seal 0 04 A 0 04 A A 4 5 5 口60 16 0 300 0 118 5 h9 0 0 03 Key 70 M5 10 Motor Series L mm J0400 454 4 000 165 J0400 355 4 000 158 ...

Page 20: ...5 2 2 5 3 3 5 4 0 2 000 4 000 6 000 DC Bus 60VDC J0400 404 5 000 400 Watts 10Amps Torque Nm Speed rpm Torque Nm Speed rpm 0 0 5 1 1 5 2 2 5 3 3 5 4 0 2 000 4 000 6 000 DC Bus 48VDC J0400 305 4 000 400 Watts 6 9Amps 0 0 5 1 1 5 2 2 5 3 3 5 4 0 2 000 4 000 6 000 DC Bus 60VDC J0400 305 4 000 400 Watts 6 9Amps 0 4 4 22 1 25 6 30 9 12 3 17 7 8 9 35 4 0 4 4 22 1 In lb Torque 25 6 30 9 12 3 17 7 8 9 35 4...

Page 21: ... 10 6 10 7 Peak Current A rms 25 28 Voltage Constant 5 V rms K rpm 10 06 18 34 Torque Constant 5 lb in A rms 0 85 1 55 Winding Resistance Line Line Ohm 10 25 C 0 188 0 22 Winding Inductance Line Line mH typ 0 85 1 25 Inertia with encoder oz in sec 2 0 00637254 0 0089215 Inertia With Brake Option oz in sec 2 0 007505436 0 01005445 Thermal Resistance mounted C W 1 48 1 15 Thermal Time Constant Minut...

Page 22: ... Ø 6 5 80 M5 10 6 h9 0 03 0 KEY 21 5 0 118 0 300 4 5 300 50 300 50 Motor Series L mm J0300 404 5 000 101 J0550 405 5 000 116 Motor Dimensions Brake mm 3 0 2 9 5 L1 1 70 h7 0 03 0 19 h6 0 013 0 40 1 94 3 0 0 5 0 3 0 0 5 0 3 0 0 5 0 Oil seal 0 04 A 0 04 A A 4 6 5 80 M5 10 6 h9 0 03 0 KEY 21 5 0 118 0 300 4 5 90 Motor Series L mm J0300 454 5 000 148 J0550 455 5 000 163 ...

Page 23: ...5 1 1 5 2 2 5 0 2 000 4 000 6 000 0 0 5 1 1 5 2 2 5 0 2 000 4 000 6 000 0 0 5 1 5 2 5 3 5 4 5 1 2 3 4 5 0 2 000 4 000 6 000 48 VDC 10 Amps 0 0 5 1 5 2 5 3 5 4 5 1 2 3 4 5 0 2 000 4 000 6 000 60 VDC 10 Amp J0550 405 5 000 550 Watts 10Amps 0 4 4 8 8 In lb Torque 13 25 17 7 22 1 0 4 4 8 8 In lb Torque 13 25 17 7 22 1 0 4 4 8 8 In lb Torque 13 25 17 7 22 1 26 6 31 35 3 39 8 44 3 s 0 4 4 8 8 In lb Torq...

Page 24: ... The ambient temperature of the servo drive for long term reliability should be less than 45 C The servo drive and motor will generate heat if they are installed in a control panel please ensure sufficient space around the units for heat dissipation Operate where the relative humidity range is 10 to 85 and non condensing Install where the vibration is lower than 5 88m s2 10Hz 60Hz DO NOT use the d...

Page 25: ...g the servo drive and motor The SV200 DC servo drive should be installed perpendicular to the wall or in a control panel In order to ensure the drive is well ventilated make sure ventilation holes are not obstructed there is sufficient free space around the servo drive and a cooling fan is mounted in the control panel Ensure the grounding wires are securely connected Fan Fan 100mm 100mm 80mm 10mm ...

Page 26: ... that have been soaked with water or oil Avoid a stress application to the cable outlet and connecting portion by bending Use flexible cables when using a cable carrier and make sure the minimum cable bending diameter is 200mm The shaft through hole and cable end connector are not IP65 designed Be careful to prevent any liquid or oil from getting into the motor at these areas ...

Page 27: ...er CN2 LED Display The 5 digit 7 segment LED shows the drive status and faults Operation Panel Function keys are used to perform status display monitor and diagnose function and parameter settings Motor Power Cable AC Source AC DC Power Supply PC Configuration STO Interface CANBus RS 485 Ethernet Communication Port I O Interface Used to connect PLC motion card and other controllers PLC Motion Cont...

Page 28: ...ed Wire with a cross section of more than 2 0mm2 is recommended Grounding method must be single point grounding Ensure V and V are correctly wired and voltage supplies are within the specified range Auxiliary power V connects to drive AUX connector auxiliary power V connects to drive V Ensure U V W is wired following the order of RED YELLOW BLUE An isolation transformer or EMI filter is recommende...

Page 29: ...ower will keep the logic circuitry alive allowing the drive to remember its current state data motor position etc The motor is then able to resume operation without running a homing routine while the main power is switch on again 10 60VDC SV200 DC Servo Drive Main power 20 60VDC Control circuitry auxiliary power DC in DC GND DC in V V AUX P1 P2 CN3 U V W red yellow blue yellow green Encoder connec...

Page 30: ...Motor lead wire connector PIN 1 2 3 4 Signal U V W PE Colour Red Yellow Blue Yellow Green 4 2 2 Motor Power Cable Connector CD Winding 6Amps 4 2 2 1 PIN Assignment A B View A View B 4 2 2 2 Motor Connector Specifications Type Motor side plug Plug in housing Housing AMP 172167 1 AMP 172159 1 Terminal AMP 170360 1 AMP 170362 1 Pin 1 2 3 4 Signal U V W PE Color Red Yellow Blue Yellow Green ...

Page 31: ...otor Extension Cable Wiring Diagram Housing 172159 1 AMP Terminal 170362 1 AMP Drive side P2 Signal Color Motor side housing 5452571 Phoenix AMP 172159 1 U U Red 1 V V Yellow 2 W W Blue 3 PE Yellow Green 4 Ensure U V W is wired in the order of RED YELLOW BLUE ...

Page 32: ... Blue Yellow Green Motor Connector Specifications Type Motor side plug Plug in housing Housing AMP 350 779 1 AMP 350780 1 Terminal AMP 350218 1 AMP 350536 1 4 2 3 2 Motor Extension Cable Wiring Diagram Housing 350780 1 Terminal 350536 1 Drive side P2 Signal Color Motor side housing 5452571 Phoenix AMP 350780 1 4 U Red 1 5 V Yellow 2 6 W Bleu 3 Grounding Screw PE Yellow Green 4 Ensure U V W is wire...

Page 33: ...connector 4 3 2 Layout of CN3 Connector 1 13 14 26 1 2 12 13 15 14 25 26 A B View A View B Pin NO Symbol Description 1 A Encoder A 2 B Encoder B 3 Z Encoder Z 4 U Hall U 5 W Hall W 6 U Hall U 7 W Hall W 11 Encoder 5V Encoder power supply 5V 13 Encoder 5V Encoder power supply 5V 14 A Encoder A 15 B Encoder B 16 Z Encoder Z 17 V Hall V 19 V Hall V 24 GND Encoder power supply ground 26 Shield Shield ...

Page 34: ...GND 2 Shield 15 1 14 2 15 3 16 4 6 17 19 5 7 11 24 26 A A B B Z Z U U V V W W 5V GND Shield Motor Encoder Servo Drive CN3 Specifications of Encoder Connector 15PIN AMP Connectonor A B View A View B PIN Assignment PIN Signal Colour 1 5V Red 2 GND Black 3 U Brown 4 U Brown Black 5 V Gray 6 V Gray Black 7 W White 8 W White Black 9 A Blue Black 10 A Blue 11 B Green 12 B Green Black 13 Z Yellow 14 Z Ye...

Page 35: ... of Motor Encoder Extend Cable B Diagram of 15PIN Encoder Cable 1 5 11 15 Connect to drive Connect to Motor Drive Side Signal Colour Housing for the motor 3M 26PIN PIN AMP 172163 1 11 5V Red 1 24 GND Black 2 4 U Brown 3 6 U Brown Black 4 17 V Gray 5 19 V Gray Black 6 5 W White 7 7 W White Black 8 1 A Blue Black 9 14 A Blue 10 2 B Green 11 15 B Green Black 12 3 Z Yellow 13 16 Z Yellow Black 14 26 S...

Page 36: ...Encoder Connector A E4 Encoder Connector PIN Assignment PIN Signal Colour 1 U A Blue 2 V B Green 3 W Z Yellow 4 U A Yellow Black 5 V B Green Black 6 W Z Yellow Black 7 5V Red 8 GND Black 9 Shield Shield NOTE The HALL signal U V W ONLY appears for short time after the encoder is powered on it will then covert to A B Z signals B E4 Encoder Connector Specifications Type Motor Plug Housing for the mot...

Page 37: ...oder Encoder Cable Diagram Connect to drive Connect to Motor 1 3 7 9 A View A Drive Side Signal Color Housing for the motor TYCO 3 22322346 1 AMP 172161 1 1 A U Blue 1 2 B V Green 2 3 Z W Yellow 3 14 A U Yellow Black 4 15 B V Green Black 5 16 Z W Yellow Black 6 11 5V Red 7 24 GND Black 8 26 Shield Shield 9 ...

Page 38: ...the brake release action you might hear a clicking sound This is normal and does not affect the use of brake Specifications of the brakes are as follows Motor Power Type 50W 100W 200W 400W 550W Holding torque N m 0 35 2 4 5 Working current A 0 25 0 38 0 61 Rated voltage V 24V 10 Release time 25ms Engage time 25ms Release voltage V Release voltage18 5VDC 4 4 3 Timing Charts of the Electromagnetic B...

Page 39: ...Port CN1 is used to connect the drive with a PC Use SVX Servo Suite software to set the control mode change parameter values use the auto tuning function etc PIN Symbol Function 1 5V 5V Power Supply 2 D Data 3 D Data 4 Reserved 5 GND Ground 4 8 Input and Output Signal Interface Connector CN2 4 8 1 Input and Output Interface Specifications and Diagram Port CN2 on the SV200 DC series servo drives is...

Page 40: ...e Input 44 PULSH1 45 PULSH2 46 SIGNH1 47 SIGNH2 37 Y1 36 Y1 11 Y2 10 Y2 40 Y5 41 Y5 14 Y6 13 Y6 42 Y3 43 Y4 OUT 16 15 18 17 DGND 10V User User_GND 20 25 FG 50 DGND ANA1 ANA2 STEP CW DIR CCW Enable Alarm Reset Limit Sensor Limit Sensor Gain Select Control mode Switch Dividing Switch SPD0 SPD1 SPD2 Position Command Analog Input Speed Command Torque Command Alarm Output Motor Brake Control Output Ser...

Page 41: ...EP pulse input such as Direction signals CCW pulse B pulse in position mode Direction input in torque or velocity mode General purpose input X2 6 X3 X3 29 Enable Disable input General purpose input X3 31 X4 X4 35 Alarm reset input used to reset drive alarm General purpose input X4 34 X5 X5 8 Limit sensor input General purpose input X5 2 X6 X6 9 Limit sensor input General purpose input X6 1 X7 X7 3...

Page 42: ...motor position when the drive is in analog position command mode Sets or requests the gain value used in analog velocity mode General analog input in Q mode DGND 15 Digital Ground for analog input Analog Input Signal 2 ANA2 18 In analog torque control mode the offset dead band and function of analog input 2 can be set by SVX Servo Suite or parameters P 53 P 57 and P 61 General analog input in Q mo...

Page 43: ...peed ripple less than the ripple range General purpose output Y4 33 Y5 Y5 40 Servo on Status output output signals when the motor is enabled General purpose output Y5 41 Y6 Y6 14 In position signal output output signal when in position and the position error is less than the set value in position mode Tach out output produces pulses relative to the motor position with configurable resolution Gener...

Page 44: ... Controller 24VDC 0VDC Differential Input 3 STEP 4 STEP 5 DIR 6 DIR Controller FG FG DGND DGND 25 50 C High Speed Differential Signal Input Diagram Use ONLY 5V supply for PULSH SIGNH input DO NOT use 24V Differential Input 44 PULSH1 45 PULSH2 46 SIGNH1 47 SIGNH2 Controller FG FG DGND DGND 50 25 D Pulse Input Description STEP DIR Pulse Input When both STEP and DIR input signals are ON the motor wil...

Page 45: ...d B Motor rotary direction can be configured via SVX Servo Suite software Direction is defined by the leading input between X1 X2 The following graph represents motor rotates in CW direction when X1 is leading X2 Low High Low High Motor motion Input A X1 CCWDirection CW Direction Input B X2 A B Quadrature Pulse Input 4 8 3 2 Analog Signal Input For Velocity And Torque Mode The SV200 DC series serv...

Page 46: ... and X4 These inputs allow input voltage from 5VDC to 24VDC with maximum current of 20mA and up to 500KHz They can be used for general purpose inputs connecting sensor switch signals PLC controllers or other types of controller output signals NOTE When the drive is in position mode X1 X2 can ONLY be set as STEP DIR signal When the drive is NOT in position mode X1 X2 can be set as general purpose s...

Page 47: ... 3 4 Host Sink Mode HOST controller 0VDC X1 2 3 4 X1 2 3 4 5 24VDC Host Sourcing Mode X1 2 3 4 5 24VDC Power X1 2 3 4 0V Relay Or Switch Sensor And Switch Connection X1 2 3 4 5 24VDC X1 2 3 4 Output 0VDC NPN Sensor Connection NPN sensor connection X1 2 3 4 5 24VDC X1 2 3 4 Output 0VDC PNP Sensor Connection PNP sensor connection ...

Page 48: ...0 has 4 optically isolated general digital inputs X5 X6 X7 and X8 These inputs allow input voltage from 5VDC to 24VDC with maximum input current of 20mA up to 500KHz Both single ended and differential signals are allowed X5 X6 X7 X8 circuits are as follows 8 X5 2 X5 9 X6 1 X6 39 X7 38 X7 12 X8 32 X8 ...

Page 49: ... 5 24VDC 0VDC X5 6 7 8 Host Sourcing Mode HOST controller 0VDC X5 6 7 8 X5 6 7 8 5 24VDC Sensor And Switch Connection X5 6 7 8 5 24VDC Power X5 6 7 8 0V Relay Or Switch NPN Sensor Connection NPN sensor connection X5 6 7 8 5 24VDC X5 6 7 8 Output 0VDC PNP Sensor Connection PNP sensor connection X5 6 7 8 5 24VDC X5 6 7 8 Output 0VDC ...

Page 50: ... always If you are using sinking NPN signals then COM must connect to the power supply If you are using sourcing PNP input signals then you will want to connect COM to ground power supply NOTE If current is flowing into or out of an input the logic state of that input is low or closed If no current is flowing or the input is not connected the logic state is high or open X9 X10 X11 X12 circuits are...

Page 51: ... Y3 and Y4 are common ground outputs that can be used for sinking signals Y1 Y2 Y5 Y6 circuits are as follows 37 Y1 36 Y1 11 Y2 10 Y2 40 Y5 41 Y5 14 Y6 13 Y6 42 Y3 43 Y4 OUT Y1 Y2 Y5 Y6 Output Connection Diagrams NOTE Y1 Y2 Y3 Y4 Y5 and Y6 maximum outputs are 30VDC 30mA Opt Coupler Circuity Y1 2 5 6 Controller 0VDC Y1 2 5 6 24VDC COM IN Connect To External Load Y1 2 5 6 0VDC Y1 2 5 6 24VDC Connect...

Page 52: ... twisted pair wires for signal transfer 4 8 5 1 A B Z Connection Diagram Host Controller A Servo Drive A B B Z Z AOUT AOUT BOUT BOUT ZOUT ZOUT FG FG 21 22 48 49 23 24 DGND 25 50 DGND NOTE Please make sure the host controller and the servo drive are connected to a common ground 4 8 5 2 Z Phase Open Collector Output On the SV200 drives encoder signal Z uses open collector output circuitry Due to the...

Page 53: ...ues MODE Press and hold MODE button to switch the LED display mode a Monitoring selection mode b Function selection mode c Parameter setting mode When editing the parameters press the MODE button to move the cursor to the left and then change the parameters by using the UP DOWN buttons UP DOWN Press the UP and DOWN buttons to scroll through and change monitor codes parameter groups and other param...

Page 54: ...tatus monitoring mode press and hold the button to lock the control panel To unlock the panel press and hold the button again Control mode switch flowchart Monitor Status Power On In factory default mode the motor s rotatory velocity will be displayed NOTE 1 The last dot shows whether the drive is enabled or disabled Monitor Parameters Press the UP and DOWN key to scroll through and change monitor...

Page 55: ...And Negative Sign Description LED display Description negative sign motor enable sign Negative sign when the value to be displayed is a negative number 9999 the highest digit will display as a negative sign Decimal point when the value to be displayed is a negative number 10000 a decimal point will be displayed 5 3 2 Parameter View Setting LED display Description There are only 5 digits on the LED...

Page 56: ...irection in the point to point mode 5 3 5 Jog Mode LED display Description When the LED display reads J CW it means the motor is rotating in a CW direction in JOG mode When the LED display reads J CCW it means the motor is rotating in a CCW direction in JOG mode 5 3 6 Control Panel Lock LED display Description This means the key panel is locked Press and hold for 1 second while in status monitorin...

Page 57: ...point is drive enable sign Press UP and DOWN key to select display detail S Press SET key to select display mode Stats Display Power ON Status Monitoring Selection Press Any Key N mode selection and setting LED display Description Unit n 00 Motor Rotation Speed RPM n 01 Position Error Pulse n 02 Pulse Counter counts n 03 Encode Counter counts n 04 Command Position Counter counts n 05 Drive Tempera...

Page 58: ...17 n 09 Fault History 2 n 10 Fault History 3 n 11 Fault History 4 n 12 Fault History 5 n 13 Fault History 6 n 14 Fault History 7 n 15 Fault History 8 n 16 Differential Analog Input 0 001VDC n 17 Analog Input 1 0 001VDC n 18 Analog Input 2 0 001VDC ...

Page 59: ... UP and DOWN key to select display detail S Press and Hold Set key to select and execute the function Status display selection M Press and Hold MODE key for 1 second 5 5 1 Function Mode Description Function mode details are as follows Function mode number LED display Description F 00 point to point position mode rotating speed is1rps travel distance is 1rev F 01 JOG mode JOG speed 1rps F 02 Restar...

Page 60: ...op the motor press to return back status monitoring selection M press and hold MODE key for 1 second F 00 point to point mode S press M key M S M F 01 JOG mode S M F 02 Restart the drive S Drive restart and back to status monitoring mode F 03 Alarm clear S clear current drive warning F 04 save parameter S To save parameter changes for P 00 to P 98 permanently F 05 motor disable S To disable the dr...

Page 61: ...dit the parameter Press again to quit and no change will be saved Press and hold for 1 second to save the parameter change However this change will NOT be saved at the next power on If you want to save parameter PERMANENTLY go into function control mode F parameter number and use F 04SA function parameter setting selection Press UP and DOWN key to select display detail S press SET key to enter par...

Page 62: ...r decrease value Press and hold set key to save parameter S M Press and hold mode key S Press and hold set key Press up and down key to select display detail Function mode selection F 04 to save parameter The parameter change is only saved for current operation it will back to original after next power up Setafter 1 second return to parameter selection page Set display for 1 second means save succ...

Page 63: ... 1 second will unlock Unlock display 5 8 Warning And Fault Display When power is applied if any warnings are detected by the drive the LED display on the drive will switch into warning or fault display mode immediately If more than one warning is detected pressing the buttons will scroll through the warnings Press the or button to clear the warning display and return to the previous display mode E...

Page 64: ...ernal voltage fault CCW limit is activated Over voltage Current limit Over current Communication error Parameter save failed STO is activated Bad hall sensor Regeneration failed Encoder error Low voltage Position error Q program is empty Low voltage Motion command received while motor in disabled Velocity limited CW limit or CCW limit activated ...

Page 65: ...otor 2 Make sure the wiring between the drive and motor is correct The terminals on connector P2 must be connected in the order of U Red V Yellow U Blue FG Yellow Green If the terminals are not connected to the specified wire the drive will not be able to control the motor Ensure the encoder cable is connected to CN2 correctly 3 Make sure the main power circuit is wired correctly Refer to Section ...

Page 66: ... the SVX Servo Suite software on a PC and 1 select the correct communication port Use the drive configuration tab 2 to set up the motor Click the Config button to bring up the Motor Select screen After setting the required parameters click OK and then Download All to Drive to save the settings to the drive ...

Page 67: ...the set value 6 Press the key to enter Function Operation mode 7 Scroll with the keys to select Function F06 MC to enable the motor 8 Press and hold SET key for 1 second to enable the drive The last dot will appear to show the drive is enabled 9 Scroll with the keys to find function F01 CJ to run JOG mode 10 Press the key to enter JOG mode 11 Press the key and the motor will rotate in a CW directi...

Page 68: ...mode selection Defining the drive s input output mode Applying the auto tuning function on PID parameters for optimized motor performance For more information on the SVX Servo Suite s capabilities please refer to the software manual Connecting to a PC MODE SET Please download and install SVX Servo Suite from our website www applied motion com SVX Servo Suite Interface Configuration Steps Details S...

Page 69: ...wered ON B When P 14 PM 5 the parameter settings are as follows P 14 PM P 62 SI Condition Function P 14 PM 5 1 Closed Servo motor disable Servo OFF Open Servo motor enable Servo ON 2 default Closed Servo motor enable Servo ON Open Servo motor disable Servo OFF 3 Servo motor disable when power ON NOTE If P 14 PM 5 regardless of P 62 SI settings the drive will be disabled Servo OFF at power up Use i...

Page 70: ...changes from LOW to HIGH alarm NOT cleared 3 At point B X4 changes from HIGH to LOW alarm is cleared 2 During normal operation input X4 must be kept CLOSED LOW Clearing the alarm status will ONLY occur when X4 transitions from LOW to HIGH When X4 changes from CLOSED LOW to OPEN HIGH the warning or fault alarms will be cleared X4 Low High Fault None Occur A B X4 Low High A B Fault None Occur 1 X4 a...

Page 71: ...neral purpose input Closed X6 Stops motion in CCW direction CCW limit warning ON Open X6 Rotates in CCW direction as normal 10 X6 sets CCW limit Stops motion when X6 is closed X5 as general purpose input Closed X6 Rotates in CCW direction as normal Open X6 Stops motion in CCW direction CCW limit warning ON 11 13 X6 sets CW limit X5 sets CCW limit Stops motion when X5 is closed Closed X6 Stops moti...

Page 72: ... the motor s settling time and motor vibration It can be used to optimize the motor s overall performance The two global gain parameters are P 00 KP and P 01 KG In factory default mode this function is disabled It can be set via SVX Servo Suite software or P 65 MI first digit from right to left in parameter setting mode directly from the drive Signal Name PIN P 65 MI Condition Function X7 X7 39 X7...

Page 73: ...l mode switch function is disabled It can be configured via SVX Servo Suite or P 65 MI third digit from right to left in parameter setting mode on the drive s control panel Signal Name PIN P 65 MI Condition Function X8 X8 12 X8 32 1 Closed Use Control mode 1 P 12 CM Open Use Control mode 2 P 13 CN 2 Closed Use Control mode 2 P 13 CN Open Use Control mode 1 P 12 CM 3 Default Always use control mode...

Page 74: ...PGA error over current over velocity limit bad hall sensor The On Fault output signal can be set by P 65 AO on the drive s control panel Signal Name PIN P 65 AO Condition Function Y1 Y1 37 Y1 36 2 Closed When no warning output is closed Open When warning occurs output is open 1 Default Closed When warning occurs output is closed Open When no warning output is open 3 General purpose output function...

Page 75: ... ON Brake Release Delay P 68 Setting Brake Engage Delay P 69 Setting The Brake Output BO setting can be configured with the SVX Servo Suite siftware or with parameter P 67 BO as shown in the table below Brake disengage delay and engage delay times can be configured via SVX Servo Suite software or by changing parameters P 69 BD and P 70 BE directly on the drive Name PIN P 67 BO Condition Function Y...

Page 76: ...o Suite software or by changing parameter P 68 MO the first digit from right to left on the drive s control panel Signal Name PIN P 68 MO Condition Function Y3 Y3 42 OUT 33 E Closed Closed when servo is not ready Open Open when servo is ready D default Closed Closed when servo is ready Open Open when servo is not ready 3 General purpose function disabled Software Configuration On the Drive Configu...

Page 77: ...X Servo Suite software or by changing parameter P 68 MO the third digit from right to left on the drive s control panel Signal Name PIN P 68 MO Condition Function Y5 Y5 40 Y5 41 2 Closed Closed when servo is not ready Open Open when servo is ready 1 default Closed Closed when servo is ready Open Open when servo is not ready 3 default General purpose function disabled Software Configuration On the ...

Page 78: ...ered off it will take more than 1 second for the internal capcatior to discharge befre Servo Ready signal is OFF Note 2 If the dirve main Power Circuit is powered off during Servo ON status There might be serial alaem shown from the drive Volateg warning warning Low Voltage Fault Fault Position Error Fault if motor was in motion before Power off Note 3 If main power is not turned on Drive will not...

Page 79: ...se Position Mode Connection Diagram 3 X1 4 X1 5 X2 6 X2 29 X3 31 X3 35 X4 34 X4 8 X5 2 X5 9 X6 1 X6 39 X7 38 X7 12 X8 32 X8 7 COM 26 X9 27 X10 28 X11 30 X12 1 5K 1 5K 1 5K 1 5K 1 5K 1 5K 1 5K 1 5K AOUT AOUT BOUT BOUT ZOUT ZOUT 21 22 48 49 23 24 CZ DGND 19 15 High Speed Pulse Input 44 PULSH1 45 PULSH2 46 SIGNH1 47 SIGNH2 37 Y1 36 Y1 11 Y2 10 Y2 40 Y5 41 Y5 14 Y6 13 Y6 42 Y3 43 Y4 OUT 16 15 18 17 DG...

Page 80: ...tep Direction X2 on ON OFF Pules ON OFF DIR ON OFF Pules ON OFF DIR 0 X2 Off ON OFF Pules ON OFF DIR ON OFF Pules ON OFF DIR 4 CW CCW Pulse On X1 ON OFF CW Pulse ON OFF CCW Pulse ON OFF CW Pulse ON OFF CCW Pulse 1 Pulse On X2 ON OFF CW Pulse ON OFF CCW Pulse ON OFF CW Pulse ON OFF CCW Pulse 5 A B Quadrature X1 Lead X2 ON OFF A ON OFF B 90 ON OFF A ON OFF B 90 2 X2 Lead X1 ON OFF A ON OFF B 90 ON O...

Page 81: ...X2 Leads X1 16646 X2 Leads X1 3078 200 Step Direction X2 on 12544 1M Step Direction X2 on 2304 X2 Off 12548 X2 Off 2308 CW CCW Pulse On X1 12545 CW CCW Pulse On X1 2305 Pulse On X2 12549 Pulse On X2 2309 A B Quadrature X1 Leads X2 12546 A B Quadrature X1 Leads X2 2306 X2 Leads X1 12550 X2 Leads X1 2310 250K Step Direction X2 on 9984 1 2M Step Direction X2 on 1792 X2 Off 9988 X2 Off 1796 CW CCW Pul...

Page 82: ...n please refer to the follow Drive Display value EG x 2 Where EG is the target pluse count per rev unit counts Software Configuration B Diviing Switch Setting In factory default mode pulse dividing switch is disabled It can be set by SVX Servo Suite or parameter P 65 MI directly from the drive s control panel The second digit of P 65 MI right to left is used to set switching conditions Signal Name...

Page 83: ...nd stop the servo motor immediately In factory default mode this function is disabled It can be set via SVX Servo Suite or P 65 MI directly from the drive Signal Name PIN P 65 MI Condition Function X10 X10 27 2 Closed Allow input pulse Open Disallow input pulse 1 Closed Disallow input pulse Open Allow input pulse 3 default General purpose input function disabled Software Configuration On the Drive...

Page 84: ...ment is 4mm con t on next page If no electronic gearing is used the following pulse count example shows the dilemma Because the screw lead is 3mm i e when the motor rotates 1 rev the load moves 3mm when a move distance of 4mm is required it is 4 3 of rev Pulse Count Requirement If 1 motor rev requires 10000 pulses then 13333 33333 pulses This leads to infinitely repeating number with a cumulative ...

Page 85: ...th digit of parameter P 68 MO defines Y6 output function parameter P 46 PD defines the in position error range P 47 PE defines in position error time duration If the in position error is within the P 46 PD range for more than the time duration of P 47 PE setting the drive will output the motor in position signal Signal Name PIN P 68 MO Condition Function Y6 Y6 14 Y6 13 5 Closed Closed means motor ...

Page 86: ...ion from the software or parameter setting mode on the drive may be needed to optimize performance Parameter Name Data Range Default LED Display P 00 KP Global gain 1 0 32767 8000 8000 P 01 KG Global gain 2 0 32767 12000 12000 P 02 KF Proportional Gain 0 32767 10000 10000 P 03 KD Derivational Gain 0 32767 2000 2000 P 04 KV Damping Gain 0 32767 8000 8000 P 05 KI Integrator gain 0 32767 500 500 P 06...

Page 87: ...ep 2 Choose control mode In Control Mode choose Position for Position Mode Step 3 Control mode configuration Choose specified input pulse type Refer to Section 4 8 for CN2 input signal connections and Section 7 2 for position mode details Step 4 Set electronic gearing ratio Refer to Section 7 2 5 for electronic gearing ratio settings Step 5 Set analog signal Set digital input output functions Refe...

Page 88: ...de 10 10V Analog signal 11 Analog velocity mode NO run stop signal X2 is direction switch Analog velocity mode 10 10V Analog signal 12 Analog velocity mode X1 is run stop signal X2 is direction switch Velocity Mode Digital input signal 15 Profile velocity mode after drive is enabled The drive will run at velocity set by P 22 JS NO run stop signal X2 is direction switch Velocity Mode Digital input ...

Page 89: ... DGND ANA1 ANA2 Servo On Status output 5 24VDC Rotation Direction RUN STOP AOUT AOUT BOUT BOUT ZOUT ZOUT 21 22 48 49 23 24 CZ DGND 19 15 Drive A A B B Z Z DGND 5 24VDC DGND 15 10VDC 10VDC VDC 33 FG 50 Enable Signal Input Alarm Reset Limit Sensor Limit Sensor Gain Select Control mode Switch Analog Input Speed Command Torque Command Alarm Output Brake Control Output Encoder Phase A Output Encoder Ph...

Page 90: ...or rotating torque when analog voltage is 10VDC P 52 AV1 Analog voltage offset 1 10 10 0 V 0 Set analog voltage input 1 offset value P 53 AV2 Analog voltage offset 2 10 10 0 V 0 Set analog voltage input 2 offset value P 54 AV3 Analog voltage offset differential 10 10 0 V 0 Set differential analog voltage input offset value P 55 AS Analog input type 0 1 0 0 Analog input type P 56 AD1 Analog deadban...

Page 91: ... Input PIN type Signal PIN number Function Input ANA1 16 Analog velocity input signal DGND 15 Analog velocity input signal reference digital ground Single ended analog input 16 ANA1 15 DGND 10VDC Differential Analog Input PIN type Signal PIN number Function Input ANA1 16 Analog velocity input for differential input signal ANA2 18 DGND 15 Analog velocity input signal grounding digital ground Differ...

Page 92: ...ting Via Software 7 3 3 3 Analog Input Voltage Offset In some cases even when the host controller sets the analog command to 0V the servo motor might still rotate slowly This is caused by a voltage bias from the analog voltage supply SVX Servo Suite can automatically offset the analog voltage bias or users can manually adjust the tuning voltage offset value by changing parameters P 52 AV1 and P 53...

Page 93: ...ata Range Default Unit LED Display Description P 56 AD1 Deadband for analog input 1 0 255 0 mV 0 Set deadband for analog input 1 P 56 AD3 Differential analog Deadband 0 255 0 mV 0 Set deadband for differential analog input Setting Via Software 7 3 3 5 Run Stop And Direction Signal In analog velocity mode external input X1 can set as the run stop switch and X2 can set as the direction switch Signal...

Page 94: ...st 10VDC input voltage NOTE When viewing or setting this value on the drive s control panel P 51 AN refer to the following calculation Drive display value x 100 where is target torque output value Setting Via Software 7 3 3 7 Target Velocity Reached In velocity mode when the motor s actual velocity and commanded target velocity are the same the velocity reached output signal can be sent by output ...

Page 95: ...velocity control will use position loop gain parameters for speed and position control i e Proportional Gain KF Derivative Gain KD Damping Gain KV Integrator Gain KI Inertia Feedforward Constant KK Follow Factor KL Damping Filter KE PID Filter KC Servo Tuning is recommended Please Refer to Servo Tuning Gain for more details B Speed Only control Mode In Speed Only control mode it is only using the ...

Page 96: ...ripple value around the targeted velocity If the difference between the actual velocity and the targeted velocity is within the ripple value the drive will then report that the actual velocity meets the target velocity value NOTE When viewing or setting this value on the drive s control panel refer to following calculation Velocity ripple range LED display value x 240 Unit for Velocity ripple rang...

Page 97: ...table torque output Therefore use of the analog input filter is recommended The filter is designed as a digital low pass filter a proper filter frequency setting can significantly improve the motor s performance When viewing or setting this value on the drive s control panel refer to the following calculation Display analog input value Where X is input filter frequency unit Hz Setting Via Software...

Page 98: ...or model Refer to Section 2 3 for motor details Step 2 Choose control mode In Control Mode choose velocity for Velocity Mode Step 3 Control mode configuration Select preferred velocity analog type Refer to Section 7 3 for analog velocity mode and Section 7 6 for command velocity mode Step 4 Set analog signal Set analog input functions in Input Output Refer to Section 4 8 3 for CN2 connections Sect...

Page 99: ...n stop signal No direction signal Analog input torque mode 10 to 10V Analog signal 5 Analog torque mode X1 for run stop signal No direction signal Analog input torque mode 10 to 10V Analog signal 3 Analog torque mode no run stop signal X2 is closed motor will change its current rotary direction Analog input torque mode 10 to 10V Analog signal 4 Analog torque mode no run stop signal X2 is open moto...

Page 100: ...GND DGND ANA1 ANA2 Servo on status output 5 24VDC RUN STOP AOUT AOUT BOUT BOUT ZOUT ZOUT 21 22 48 49 23 24 CZ DGND 19 15 A A B B Z Z DGND 5 24VDC DGND 15 10VDC 10VDC VDC 33 FG 50 Drive High Speed Pulse Input Rotation Direction Enable Signal Input Alarm Reset Limit Sensor Limit Sensor Gain Select Control mode Switch Analog Input Speed Command Torque Command Alarm Output Brake Control Output Encoder...

Page 101: ...0 V 0 Set analog voltage input 2 offset value P 54 AV3 Analog voltage offset differential 10 10 0 V 0 Set analog differential voltage input offset value P 55 AS Analog input type 0 1 0 0 Set Analog input type P 56 AD1 Analog deadband 1 0 255 0 mV 0 Set analog deadband offset 1 value P 57 AD2 Analog deadband 2 0 255 0 mV 0 Set analog deadband offset 2 value P 58 AD3 Analog deadband differential 0 2...

Page 102: ... 10V In analog torque mode the drive must be told how much current is required for a given analog input voltage This can be configured via SVX Servo Suite or parameter P 51 AN directly from the drive s control panel Parameter Name Data Range Default value Unit Description P 51 AN Analog Torque Gain 20 20 depends on current motor A Set the analog torque value corresponding to 10VDC NOTE If you need...

Page 103: ... drive s control panel refer to the following calculation Drive display value x 2730 Where is target setting offset unit Voltage V Setting Via Software 7 4 3 4 Analog Deadband In analog control mode even when the input voltage is 0V it is impossible to ensure that the input voltage is absolutely zero due to external interference In some cases it might case motor turn slowly in either direction The...

Page 104: ... velocity and the load inertia is small the motor s velocity will be very fast and could damage the machinery Therefore it is very important to set a velocity limit The velocity limit for torque mode can be set via analog input 1 ANA1 Parameter Settings Parameter Name Data Range Default value Unit LED Display Description P 55 AS Analog type 0 1 0 0 analog input type 0 single ended input 1 differen...

Page 105: ...losed Close means output torque reach Open Open means target torque not reached 3 default General purpose signal function disabled Parameter Settings Parameter Name Data Range Default value Unit LED Display Description P 87 TV Torque within ripple range when torque reached function in use 0 00 3 00 0 00 A 0 When the actual torque output and the commanded torque are the same and within the velocity...

Page 106: ...motor model Refer to Section 2 3 for motor details Step 2 Choose control mode In Control Mode choose torque for Torque Mode Step 3 Control mode configuration Select preferred torque analog type Refer to Section 7 4 for analog torque mode Step 4 Set analog signal function or digital input output functions Set analog input functions in Input Output Refer to Section 4 8 3 for CN2 connections Section ...

Page 107: ...X4 is the trigger for motion NOTE Only S type SV200 DC series servo drive supports position table mode 7 5 1 Linear motion The Linear motion option for position table mode can set up to 63 positions not including the homing position It is set up through the SVX Servo Suite software 7 5 1 1 Linear Motion Software Configuration Open SVX Servo Suite connect the driver with the software Select Positio...

Page 108: ...ollowing graphs illustrate the difference between Rleative positioning and Absolute positioning Example Set the P1 position for 5 revs and the P2 position for 10 revs The difference between Relative Position and Absolute Position is shown below Position Unit Set Position Units as Counts or Lead Counts represents the number of pulses from the encoder output For Position Table mode one motor revolut...

Page 109: ... print out the configuration table 7 5 1 5 Position Definition Positon Definition shows the detailed configuration for each position point including velocity acceleration deceleration and position This table also shows the input condition of X7 X12 to select each position M0 X7 M5 X12 status 0 means the input is closed 1 means the input is open After the homing process the motor will move to the c...

Page 110: ...losed Servo On When Open Enable the motor drive when input open X4 PositionTrigger The trigger signal when Input X4 changes from open to closed motor will move to the position selected by switch M0 X7 M5 X12 X5 General Purpose General purpose CW Limit Sensor Sets CW position limit refer to Section 7 1 3 CW CCW Limit for more details X6 General Purpose General purpose CCW Limit Sensor Sets CCW posi...

Page 111: ...into that number of points with equal distance spacing Rotary direction Selects the direction for rotary motion Rotary velocity rotary acceleration rotary deceleration Set motor rotary velocity rotary acceleration and rotary deceleration values NOTE These setting affect the motor s velocity acceleration and deceleration For actual system speed accel and decel refer to the ratio calculation below S...

Page 112: ...e Sets homing sensor type low active or high active Offset definition Set position offset for each position point for minor individual point adjustments 7 5 2 2 Rotary motion input definition Input Function Description X1 Homing Sensor Homing sensor switch X2 Homing Trigger Triggering homing process X3 General Purpose General purpose Servo On When Closed Enable the motor drive when input is closed...

Page 113: ...y 8 2 Parameter List Parameter number Type SCL command LED display Function Default value Unit LED Display P00 PID KP Global gain 1 8000 8000 P01 PID KG Global gain 2 12000 12000 P02 PID KF Proportion gain 10000 10000 P03 PID KD Deriv gain 2000 2000 P04 PID KV Damping gain 8000 8000 P05 PID KI Integrator gain 150 150 P06 PID KK Inertia Feedforward Constant 500 500 P07 PID KJ Jerk Filter Frequency ...

Page 114: ... Point to point deceleration 100 00 rps s 600 P28 Profile VC Point to point secondary velocity 2 000 rps 480 P29 Profile JC1 Jog mode speed 1 2 000 rps 480 P30 Profile JC2 Jog mode speed 2 10 000 rps 2400 P31 Profile JC3 Jog mode speed 3 20 000 rps 4800 P32 Profile JC4 Jog mode speed 4 25 000 rps 6000 P33 Profile JC5 Jog mode speed 5 30 000 rps 7200 P34 Profile JC6 Jog mode speed 6 35 000 rps 8400...

Page 115: ... Differential analog input offset 0 000 V 0 P55 Analog AS Analog type 0 0 P56 Analog AD1 Analog input1 deadband 0 mv 0 P57 Analog AD2 Analog input2 deadband 0 mv 0 P58 Analog AD3 Differential analog deadband 0 mv 0 P59 Analog AF Analog input low pass filter value 500 Hz 14418 P60 Analog AT Analog threshold 0 000 V 0 P61 Analog FA Analog 1 2 function 33 33 P62 I O SI Servo enable input setting 2 2 ...

Page 116: ...50 ms 5000 P85 Other VR Ripple range setting for velocity reach 0 000 rps 0 P86 Other TO Tach out counts 0 0 P87 Other TV Ripple range setting for torque reach 0 00 A 0 P88 Other PK Parameter lock on the drive s control panel 0 0 P89 Other DD LED Default status monitor type 0 P90 Other MA LED Warning Display Mask Code 1 1 P91 Other HA1 Accel of seeking end of travel limit during homing 100 rps s 6...

Page 117: ... 0126A 4 14 2017 P98 Other HV2 Velocity of seeking homing switch during homing 5 rps 1200 P99 Other HV3 Velocity of feeding to homing switch during homing 0 5 rps 120 P100 PID KL Follow factor 0 0 P101 Other Select motor rotation 0 0 ...

Page 118: ...This parameter is the primary gain term for minimizing the position error A larger KG value means higher stiffness and fast response However if the gain value is too high it will lead to vibration P 02 KF Proportion gain Data Range Default Unit LED Display 0 32767 10000 10000 The servo control proportional gain term Gain value is relative 0 meaning no gain 32767 meaning full gain This parameter is...

Page 119: ...ult Unit LED Display 0 5000 5000 5000 This parameter sets the jerk filter frequency in Hz The lower the frequency value the more pronounced the S curve profile will be Setting the value to 0 will disable the filter S curve acceleration deceleration ramps are beneficial in positioning systems where instantaneous changes in speed may cause the load to jerk excessively One example is when the load is...

Page 120: ...cy The filter is a simple one pole low pass filter intended for attenuating high frequency oscillations The value is a constant that must be calculated from the desired roll off frequency P 12 CM Main control mode Data Range Default Unit LED Display 1 8 11 12 15 18 21 22 25 7 7 Parameter P 12 CM is used to set drive s control mode Parameter mode list are as follows Mode Control Signal P 12 CM Desc...

Page 121: ...gnal 22 Use analog input voltage signal for position control Position table Internal position mode 25 There are two motion control mode linear motion with maximum of 64 position set points and rotary motion with maximum of 32 position division points P 13 CN Secondary control mode Data Range Default Unit LED Display 1 8 11 12 15 18 21 22 25 21 21 Servo drive s secondary control mode Refer to P 12 ...

Page 122: ...rrent values for more accurate modeling of drive and motor heating The servo drive will allow peak current for up to one second After one second of operation at peak current the current is reduced to the continuous current setting see CC command NOTE In normal operation please DO NOT change this parameter NOTE if you need to view or set this value on the drive s control panel refer to the followin...

Page 123: ...Default Unit LED Display 0 167 5000 100 rps s 600 The accel decel rate for Jog moves and velocity control mode in rev sec sec Setting JA overwrites both the last JA and JL values This means that to have different jog accel and jog decel values you should first send JA to set the jog accel and then send JL to set the jog decel NOTE if you need to view or set this value on the drive s control panel ...

Page 124: ...etting Unit is rps rev sec P 29 JC Jog mode speed 1 Data Range Default Unit LED Display 0 025 100 2 rps 480 The first speed used in velocity mode This only applies to control modes 15 16 17 and 18 P 30 JC Jog mode speed 2 Data Range Default Unit LED Display 0 025 100 10 rps 2400 The second speed used in velocity mode This only applies to control modes 13 14 17 and 18 P 31 JC Jog mode speed 3 Data ...

Page 125: ...ion Products motor please DO NOT change this parameter P 39 EG Electronic gearing Data Range Default Unit LED Display 200 32000 10000 counts 5000 EG defines the pulses per revolution for electronic gearing For example with an EG value of 10000 the servo drive will require 10000 pulses from the master pulse source to move the servo motor 1 revolution NOTE if you need to view or set this value on th...

Page 126: ...pulse type Input Noise Filter Higher 8 Bits Lower 8 Bits Pulse Polarity Pulse Type 0 STEP DIR 1 CW CCW 2 A B quadrature bit2 count direction Bit8 bit15 digital filter parameter Refer to Section 7 2 2 Input Pulse Type and Input Noise Filter P 44 PF Position Fault limit Data Range Default Unit LED Display 0 10 32000 20000 20000 The position fault limit in encoder counts This value defines the limit ...

Page 127: ...y pulses for a period longer than TT defined time then the drive will define no pluses sent to drive One count is equivalent to 125μs NOTE if you need to view or set this value on the drive s control panel refer to the following calculation LED display value 0 125 Where is time of pulse input completion count unit ms P 49 AP Analog Position Gain Data Range Default Unit LED Display 32767 32767 8000...

Page 128: ... value NOTE if you need to view or set this value on the drive s control panel refer to the following calculation LED display value x 2730 Where is voltage offset Unit is V P 53 AV Analog input 2 offset Data Range Default Unit LED Display 10 000 10 000 0 000 V 0 The offset value of analog input 2 in volts Refer to Section 7 4 3 3 Analog Input Voltage Offset P 54 AV Differential analog input offset...

Page 129: ...either side of the zero point P 59 AF Analog input filter value Data Range Default Unit LED Display 1 15990 500 14418 Applies a digital filter to the analog input s This is a simple single pole filter that rolls off the analog input When analog input is used there might be external interferences that affect the accuracy of the analog input voltage In some cases it will cause the motor to turn unex...

Page 130: ...Servo Suite Parameter Table tab 2 commands are llisted FA1 represents the first digit X1 and FA2 represents the second digit from right to left P 62 SI Servo enable input setting Data Range Default Unit LED Display 1 2 3 2 2 Input X3 is the default enable input on all drives There are 3 possible usage states for the Enable function SI1 Drive is enabled when X3 is open SI2 Drive is enabled when X3 ...

Page 131: ... used when closed parameter KP is used 2 When input X7 is open parameter KP is used when closed parameter KG is used 3 X7 is used as a general purpose input parameter KP is used Digit 2 defines X9 for electronic gearing selection 1 When input X9 is open parameter EG is used when closed parameter PV is used 2 When input X9 is open parameter PV is used when closed parameter EG is used 3 X9 is used a...

Page 132: ... an Alarm Output and can be used as a general purpose output P 67 BO Motor brake control setting Data Range Default Unit LED Display 1 3 1 1 BO defines the usage of digital output Y2 as the Brake Output which can be used to automatically activate and deactivate a holding brake Output Y2 can also be configured as a general purpose output for use with other types of output commands There are three s...

Page 133: ...mand output Y3 is closed 7 When the dynamic position error is within the range specified by the PL command output Y3 is open A When the actual velocity reaches the targeted velocity output Y3 is closed B When the actual velocity reaches the targeted velocity output Y3 is open 3 Output Y4 is used as a general purpose output Digit 3 defines output Y5 1 When the drive is enabled output Y5 is closed 2...

Page 134: ...put X9 noise filter Data Range Default Unit LED Display 0 32767 0 0 Applies a digital filter to the input X9 The digital input must be at the same level for the time period specified by the FI command before the input state is updated For example if the time value is set to 100 the input must remain high for 100 processor cycles before high is updated as the input state One processor cycle is 250µ...

Page 135: ...ngs and their bit assignments are shown below Bit 0 Default Standard SCL Bit 1 Always use Address Character Bit 2 Ack Nack Bit 3 Checksum RESERVED Bit 4 RS 485 Adaptor Bit 5 3 digit numeric register addressing Bit 6 Checksum Type Bit 7 Little endian or big endian used in MODBUS type drive Bit 8 Four wires two wires for RS 485 communication P 77 TD Transmit delay Data Range Default Unit LED Display...

Page 136: ... CANopen Node ID Data Range Default Unit LED Display 1 127 1 1 The CANopen NODE ID for CANOpen type drives Also used for IP address selection on Ethernet drives P 80 CO IP Address P 80 CO IP Address 0 10 10 10 10 8 192 168 0 80 1 192 168 1 10 9 192 168 0 90 2 192 168 1 20 A 192 168 0 100 3 192 168 1 30 B 192 168 0 110 4 192 168 0 40 C 192 168 0 120 5 192 168 0 50 D 192 168 0 130 6 192 168 0 60 E 1...

Page 137: ...eneration voltage The time is scaled as period count One period is 250us NOTE if you need to view or set this value on the drive s control panel refer to the following calculation LED display value V x 4 Where V regeneration time units ms P 85 VR Ripple range setting for velocity reach Data Range Default Unit LED Display 0 136 0 000 rps 0 The velocity ripple value around the targeted velocity If t...

Page 138: ...ange Default Unit LED Display 0 65535 65535 1 Some unwanted warnings from the drive s LED display can be masked to avoid constant flashing of the display It is limited to certain warnings CCW CW Limits under voltage move while disabled current foldback blank Q segments flash memory and Comm error P 91 HA Accel of seeking end of travel limit during homing Data Range Default Unit LED Display 0 167 5...

Page 139: ... 167 5000 10 rps s 2400 In homing mode this parameter sets the velocity rate for seeking the end of travel limit Refer to parameter P 91 HA P 98 HV Velocity of seeking homing switch during homing Data Range Default Unit LED Display 0 167 5000 5 rps s 1200 In homing mode after end of travel is reached this sets the velocity rate for seeking the homing switch Refer to parameter P 91 HA P 99 HV Veloc...

Page 140: ...eveloped by to give users a simple way to control a motor drive via a serial port This eliminates the need for separate motion controllers or to supply control signals like Pulse Direction to step and servo motor drives It also provides an easy way to interface to a variety of other industrial devices like PLCs industrial computers and HMIs which often have standard or optional serial ports for co...

Page 141: ...methods Modbus RTU can also be used to control the drives 9 2 1 RS 485 PIN definition For RS 485 communication the dual RJ45 connectors on the side of the drive can be used to build a daisy chain network system Pin definitions are as follows PIN Definition 4 5 7 8 GND 1 RX 2 RX 3 TX 6 TX NOTE Do not connect mini USB CN1 and RS 485 connections CN6 CN7 at the same time Communication is only possible...

Page 142: ...s the drive s TX and TX terminals to the host s receive signals A logic ground terminal is provided on each drive and can be used to keep all drives at the same ground potential This terminal connects internally to the DC power supply return V so if all the drives on the RS 422 485 network are powered from the same supply it is not necessary to connect the logic grounds One drive s GND terminal sh...

Page 143: ... stored at the next memory location and so on This is akin to Left to Right reading in hexadecimal order For example To store a 32bit data 0x12345678 into register addresses 40031 and 40032 with 0x5678 defined as MSB and 0x1234 as LSB in little endian system Register 40031 0x5678 Register 40032 0x1234 When transferring 0x12345678 the first word will be 0x5678 and the second word will be 0x1234 The...

Page 144: ...ode 0x80 providing an error code 9 3 6 SV200 DC Servo Drive Register Addresses and Function List Register Access Data Type Description SCL Register 40001 Read Only SHORT Alarm Code AL f 40002 Read Only SHORT Status Code SC s 40003 Read Only SHORT Drive Digital output 40004 Read Only SHORT Drive Digital output i 40005 6 Read Only LONG Encoder Position IE EP e 40007 8 Read Only LONG Immediate Absolu...

Page 145: ...nt Acceleration AC A 40029 R W SHORT Point to Point Deceleration DE B 40030 R W SHORT Velocity VE V 40031 32 R W LONG Point to Point Distance DI D 40033 34 R W LONG Change Distance DC C 40035 R W SHORT Change Velocity VC U 40036 Read Only SHORT Velocity Move State n 40037 Read Only SHORT Point to Point Move State o 40038 Read Only SHORT Q Program Segment Number p 40039 Read Only SHORT Reserved 400...

Page 146: ...set AV Z 40059 60 R W LONG Accumulator 0 40061 62 R W LONG User Defined Register 1 40063 64 R W LONG User Defined Register 2 40065 66 R W LONG User Defined Register 3 40067 68 R W LONG User Defined Register 4 40069 70 R W LONG User Defined Register 5 40071 72 R W LONG User Defined Register 6 40073 74 R W LONG User Defined Register 7 40075 76 R W LONG User Defined Register 8 40077 78 R W LONG User ...

Page 147: ...ister _ 40103 104 R W LONG User Defined Register 40105 R W SHORT Brake Release Delay BD 40106 R W SHORT Brake Engage Delay BE 40107 Read Only SHORT Reserved 40108 Read Only SHORT Reserved 40109 Read Only SHORT Firmware version 40110 R W SHORT Analog Filter Gain AF 40111 Read Only SHORT Reserved 40112 Read Only SHORT Alarm Code High bit 40113 R W SHORT Jog Change JC 40114 R W SHORT Jog Change JC 40...

Page 148: ...ORT Parameter 4 40130 R W SHORT Parameter 5 40131 R W SHORT Global Gain KP 40132 R W SHORT Global Gain1 KG 40133 R W SHORT Proportional Gain KF 40134 R W SHORT Damping Gain KD 40135 R W SHORT Velocity Gain KV 40136 R W SHORT Integral Gain KI 40137 R W SHORT Inertia Feed forward Gain KK 40138 R W SHORT Jerk Filter KJ 40139 R W SHORT Velocity Mode Proportional Gain VP 40140 R W SHORT Velocity Mode I...

Page 149: ...Numerator EN 40153 R W SHORT Electronic Ration Denominator ED 40154 Read Only SHORT Step Mode SZ 40155 R W SHORT Position Fault PF 40156 R W SHORT Dynamic Position Error Count PL 40157 R W SHORT In Position Counts PD 40158 R W SHORT In Position Timing PE 40159 R W SHORT Pulse Complete Timing TT 40160 R W SHORT Analog Velocity Gain AG 40161 R W SHORT Analog Torque Gain AN 40162 R W SHORT Analog Off...

Page 150: ...put BO 40175 R W SHORT Motion Output MO 40176 R W SHORT Reserved 40177 R W SHORT Communication Protocol PR 40178 R W SHORT Transmit Delay TD 40179 R W SHORT Baud Rate BR 40180 R W SHORT Communication Address DA 40181 R W SHORT Velocity value VR 40182 R W SHORT Tach out Count TO 40183 R W SHORT Torque Value TV 40184 R W SHORT Parameters Lock PK 40185 R W SHORT Default Display DD 40186 R W SHORT Mas...

Page 151: ...1 40191 R W SHORT Homing Deceleration 2 40192 R W SHORT Homing Deceleration 3 40193 R W SHORT Homing Velocity 1 40194 R W SHORT Homing Velocity 2 40195 R W SHORT Homing Velocity 3 40196 R W SHORT Clamp Resistance ZR 40197 R W SHORT Clamp Count ZC 40198 R W SHORT Clamp time ZT 40199 Read Only SHORT Reserved 40200 Read Only SHORT Reserved ...

Page 152: ...nt Condition Feed and Set Output FO 0x68 I O Point Condition Feed to Position FP 0x67 Feed to Sensor FS 0x6B I O Point Condition Feed to Sensor with Safety Distance FY 0x6C I O Point Condition Jog Disable JD 0xA3 Jog Enable JE 0xA2 Motor Disable MD 0x9E Motor Enable ME 0x9F Seek Home SH 0x6E I O Point Condition Set Position SP 0xA5 Position Filter Input FI 0xC0 I O Point Filter Time Filter Select ...

Page 153: ...de 1 0x31 input 1 or output 1 2 0x32 input 2 or output 2 3 0x33 input 3 or output 3 4 0x34 input 4 or output 4 5 0x35 input 5 or output 5 6 0x36 input 6 or output 6 7 0x37 input 7 8 0x38 input 8 9 0x39 input 9 0x3A input 10 0x3B input 11 0x3C input 12 L 0x4C low state closed H 0x48 high state open R 0x52 rising edge F 0x46 falling edge ...

Page 154: ...etails are as follows Command Message Master Response Message slave Function Data Number Of Bytes Function Data Number Of Bytes Slave Address 01H 1 Slave Address 01H 1 Function Code 03H 1 Function Code 03H 1 Starting Data Address 00H High 04H Low 2 Number of Data In Byte 04 1 Number of Data In word 00 High 02 Low 2 Content of Starting Data Address 40005 00H High 26H Low 2 CRC Check Low 85 1 Conten...

Page 155: ...ta number of bytes Slave Address 0BH 1 Slave Address 0BH 1 Function Code 06H 1 Function Code 06H 1 Starting Data Address 00H High 1DH Low 2 Starting Data Address 00H High 1DH Low 2 Content of Data 01 High 2C Low 2 Content of Data 01 High 2C Low 2 CRC Check Low 19 1 CRC Check Low 19 1 CRC Check High 2B 1 CRC Check High 2B 1 Host Sending 0B 06 00 1D 01 2C 19 2B Drive Reply 0B 06 00 1D 01 2C 19 2B If...

Page 156: ...Data Address 00H High 1EH Low 2 Starting Data Address 00H High 1EH Low 2 Number of Data In word 00H High 02H Low 2 Number of Data In word 00H High 02H Low 2 Number of Data In byte 04H 1 CRC Check Low 20 1 Content of first Data address 00 High 00 Low 2 CRC Check High B5 1 Content of second Data address 75H High 30H Low 2 CRC Check Low 70 1 CRC Check High 8F 1 Host Sending 0A 10 00 1E 00 02 04 00 75...

Page 157: ... for register 40029 is rps2 When target deceleration is 200 rps s the value will be 1200 VE 10 rps 40030 2400 960h The unit for register 40030 is When target velocity is 10 rps s the value will be 2400 DI 20000 counts 40031 40032 20000 4E20h The target distance will be 20000 counts Drive Setting Parameter Function P 75 PR 5 Big endian data transfer P 76 TD 10 feedback delay 10ms P 77 BR 3 communic...

Page 158: ...ddress 01H 1 Slave Address 01H 1 Function Code 10H 1 Function Code 10H 1 Starting Data Address 00H High 1BH Low 2 Starting Data Address 00H High 1BH Low 2 Number of Data In word 00H High 05H Low 2 Number of Data In word 00H High 05H Low 2 Number of Data In word 0AH 1 CRC Check Low 70 1 Content of first Data address 40028 02 High 58 Low 2 CRC Check High 0D 1 Content of second Data address 40029 04H...

Page 159: ...er 3 Parameter 4 Parameter 5 Feed to Length FL 0x66 Host Sending 01 06 00 7C 00 66 C8 38 Drive Reply 01 06 00 7C 00 66 C8 38 Command Message Master Command Message Slave Function Data Number Of Bytes Function Data Number Of Bytes Slave Address 01H 1 Slave Address 01H 1 Function Code 06H 1 Function Code 06H 1 Starting Data Address 00H High 7CH Low 2 Starting Data Address 00H High 7CH Low 2 Content ...

Page 160: ... 40048 1200 258h The unit for register 40029 is rps2 When target deceleration is 200rps s the value will be 1200 JS 10 rps 40049 2400 960 The unit for register 40030 is When target velocity is 200rps s the value will be 1200 Drive Setting Parameter Function P 75 PR 5 Big endian data transfer P 76 TD 10 Feedback delay 10ms P 77 BR 3 Communication baud rate 38400bps P 78 DA 1 Communication address 1...

Page 161: ... 2 Number of Data In word 06H 1 CRC Check Low 70 1 Content of first Data address 40047 02 High 58 Low 2 CRC Check High 0D 1 Content of second Data address 40048 04H High B0H Low 2 Content of third Data address 40049 09H High 60H Low 2 CRC Check Low A0 1 CRC Check High 9F 1 Command for Executing Point To Point Motion Section 9 3 7 command Opcode describes register 40125 s control code The SCL code ...

Page 162: ... High 96 Low 2 Content of Data 00 High 96 Low 2 CRC Check Low C8 1 CRC Check Low C8 1 CRC Check High 7C 1 CRC Check High 7C 1 Stopping Message Command Message Master Command Message Slave Function Data Number Of Bytes Function Data Number Of Bytes Slave Address 01H 1 Slave Address 01H 1 Function Code 06H 1 Function Code 06H 1 Starting Data Address 00H High 7CH Low 2 Starting Data Address 00H High ...

Page 163: ...n network each drive needs to have a unique NODE ID For SV200 DC servo drives NODE IDs can be set from 1 112 0 cannot be used for ID setting Parameter P 79 CO sets the NODE ID 9 4 3 CANopen Communication Baud Rate Parameter P 80 CB sets the CANopen communication baud rate For CANopen drives it supports 8 levels of communication baud rate Setting value communication baud rate Setting value communic...

Page 164: ...55 0 a common setting known as a Class C subnet mask then your machine can only talk to another network device whose IP address matches yours in the first three octets The numbers between the dots in an IP address are called octets For example if your PC is on a Class C subnet and has an IP address of 192 168 0 20 it can talk to a device at 192 168 0 40 but not one at 192 168 1 40 If you change yo...

Page 165: ...ollowing IP address Then enter the address 10 10 10 10 This will give your PC an IP address that is on the same subnet as the drive Windows will know to direct any traffic intended for the drive s IP address to this interface card 5 Next enter the subnet mask as 255 255 255 0 6 Be sure to leave Default gateway blank This will prevent your PC from looking for a router on this subnet 7 Because you a...

Page 166: ...there are 16 index values for 16 different IP addresses Default address are as shown in table below Index IP address Index IP address 0 10 10 10 10 8 192 168 0 80 1 192 168 1 10 9 192 168 0 90 2 192 168 1 20 A 192 168 0 100 3 192 168 1 30 B 192 168 0 110 4 192 168 1 40 C 192 168 0 120 5 192 168 0 50 D 192 168 0 130 6 192 168 0 60 E 192 168 0 140 7 192 168 0 70 F DHCP ...

Page 167: ... 168 1 40 C 192 168 0 120 5 192 168 0 50 D 192 168 0 130 6 192 168 0 60 E 192 168 0 140 7 192 168 0 70 F DHCP Configuration Steps Step LED Display Panel Control 1 2 In Status diplay mode press and hold M three times to enter Parameter P mode 3 Use or key to scroll and find parameter P 80 CO 4 Shot click on S to enter parameter edit mode 5 Use or key to change the parameter value 6 Press and hold S...

Page 168: ...Suit software IP table can be edited via the IP table tab Read from Drive IP the IP table from the connected drive Save to Drive Save current IP table values to the drive Read from File Open a IP table configuration file from local PC Save to File Save a IP table configuration file to local PC ...

Page 169: ... achieve greater system control 11 1 Servo Tuning Adjustment of Gain Parameters Servo tuning is used to optimize the servo system s overall performance and reduce system response time Servo tuning allows the servo motor to execute host control commands more precisely in order to maximize its system potential Therefore it is highly recommended that the gain parameters be optimized before actual sys...

Page 170: ...Damping gain KV KV minimizes the velocity error and reduces vibration in position control mode Inertia Feedforward Constant KK KK improves acceleration control by compensating for the load inertia Follow Factor KL Higher values will reduce system noise and eliminate overshoot but will reduce the system s dynamic following performance Lower values will raise system stiffness but may cause system no...

Page 171: ...tuning function can save time and simplify the debugging process Auto tuning can be completed using the SVX Servo Suite software in only a few minutes NOTE Auto Tuning must operate with the load installed 11 2 1 Step 1 Select Motor Before using the auto tuning make sure the motor configuration is correct On the SVX Servo Suite Configuration panel in the Motor Information section click on Config sh...

Page 172: ...Y rotate between the CCW and CW limits which will help to prevent accidental system damage This is especially useful when the motor is coupled to a linear actuator for instance NOTE The software Position Limits will ONLY be effective during current power up operation and will not be saved to non volatile memory for use at the next drive power up Therefore DO NOT rely on these software limits durin...

Page 173: ...ag button C Set CW limit move to desired position with arrow buttons then click the flag button D Confirm or Cancel position limits set in step B and C with the Set Limit or Clear Limit buttons Detailed Steps for Software Position Limit Step Operation Software 1 Make sure Servo is Enabled Click or to rotate motor in CCW or CW direction When target position reached click to accept and store positio...

Page 174: ... NOTE If software position limit is set select Tuning Between CW and CCW Limit If no limit is required select Distance ensure software position limits have been cleared 3 Click Start to start the auto tuning function 4 When Auto Tuning is complete download parameters to the drive NOTE During the tuning process motor or load vibrations may occur This is normal and the system will correct itself For...

Page 175: ...al gain KP Derivative filter gain KE and PID filter KC are NOT recommended after the system has been configured with the Auto Tune function Therefore parameter adjustments during the fine tuning phase should be limited to Position loop gain KF Derivative gain KD Damping gain KV Integrator Gain KI Inertia feed forward gain constant KK See details below However if you experience mechanical resonance...

Page 176: ...in direct proportion to the position error Here s an example if the motor were standing still and you suddenly turned the shaft by hand you d want the drive to increase the motor current so that it goes back into position The further you disturb the motor from its target position the more the torque will increase As shown below if KF is small position error will be high at all times during acceler...

Page 177: ...on As the next chart shows when KI is small the system will require excessive time for position errors to settle out and during acceleration deceleration and when the motor stops As the next charts show increasing KI can improve system response time and reduce position error and settling time during motor acceleration deceleration and when the motor comes to rest KI 200 KI 500 As seen below if KI ...

Page 178: ...all this low damping value will cause large position error fluctuations while the motor is running at constant velocity and while stopped holding position As the next chart shows an increasing amount of position error occurs during constant velocity and when stopped These oscillations seen on the graph will result in motor and system vibration as well as audible noise As seen below show the positi...

Page 179: ...the car is fully into the garage before stepping on the brakes Instead most people slow down as they see the distance between them and their objective get smaller A motor drive can control a motor better if it examines the rate of change of the position error and includes that in its torque calculation So as the position error decreases the torque commanded to the motor can be reduced with the app...

Page 180: ... system takes less time to settle as shown below KD 4000 KD 7000 When KD is too large however the system will become highly sensitive to the commanded changes in motion which can potentially cause unexpected system vibrations and noise as shown below KD 15000 too large ...

Page 181: ...which reduces position error during acceleration and deceleration When KK is small the feedforward constant will not be enough to effectively reduce position error This will cause undesirable effects on the system s dynamic performance during the acceleration and deceleration The result will be larger position error and longer settling time as shown below KK 2000 too small As shown below as KK inc...

Page 182: ...large NOTE When adjusting control loop gain values remember that the Feedforward Term KK has no effect when operating in the Position Pulse Direction Control Mode 11 3 7 Follow Factor KL A larger Follow Factor KL value will reduce system noise and eliminate overshoot but will reduce the system s dynamic following performance Lower values will increase system stiffness but may cause system noise as...

Page 183: ...ed data plots In the example above the capture will begin when Actual Speed is Above 1 000 rev sec the capture will Capture data for 0 300 seconds and there will be a 10 Capture delay from the beginning of the capture to the trigger point The Capture delay allows viewing of the data prior to the trigger point so that a more complete profile can be observed When changing Plot 1 to other selections ...

Page 184: ...y limited Warning No change to drive s status CW limit or CCW limit activated Warning No change to drive s status CW limit is activated Warning No change to drive s status CCW limit is activated Warning No change to drive s status Current limit Warning No change to drive s status Communication error Warning No change to drive s status Parameter save failed Warning No change to drive s status STO i...

Page 185: ...nosie 8 Machine has collided or the load has gotten heavy Machine has been distorted 9 Welding of contact of dynamic braking relay due to frequent servo ON OFF operations 1 Turn to Servo ON while disconnecting the motor If error occurs immediately replace with a new driver 2 Check that the motor wire U V and W is not shorted and check the branched out wire out of the connector Make a correct wirin...

Page 186: ... re adjustment 2 Increase the capacity of the driver and motor Set up longer acceleration deceleration time Lower the load 3 Check motor wirings for U V W as red yellow bule Communication error Drive and host communication error Please check wiring connection and drive s communication address and baud rate setting Parameter save failed Saving parameter failure 1 Please try to save again 2 if probl...

Page 187: ... Increase the power capacity Change the power supply 2 Please check l1 l2 l3 power connections please refer to 4 1 5 P1 drive power connection 3 please contact Applied Motion Products Q program is empty Drive in Q mode but Q program is empty 1 Please check Q program 2 Please check operation mode correction 3 Please check Q program coding make sure no faults to stop the program running Move when th...

Page 188: ...188 SV200 DC Hardware Manual 920 0126A 4 14 2017 Appendix Appendix 1 LED Character Reference 1 2 3 4 5 6 7 8 9 10 A B C D E F G H I J K L M N O P Q R S T U V W X Y Z ...

Page 189: ...Motor Feedback Connector NOT Included TYCO 3 2232346 1 Servo Motor Power Cable Recommended Housing 172159 1 AMP Terminal 170362 1 AMP Model Number Description 3004 302 1M Servo Motor Power Cable 1 meter 3004 302 3M Servo Motor Power Cable 3 meter 3004 302 5M Servo Motor Power Cable 5 meter 3004 302 10M Servo Motor Power Cable 10 meter Flex Rated Cables Model Number Description 3004 306 1M Flex rat...

Page 190: ... to Motor Model Number Description 3004 304 1M Servo Motor Feedback Cable 1 meter 3004 304 3M Servo Motor Feedback Cable 3 meter 3004 304 5M Servo Motor Feedback Cable 5 meter 3004 304 10M Servo Motor Feedback Cable 10 meter Flex Rated Cables Model Number Description 3004 305 1M Flex rated Servo Motor Feedback Cable 1 meter 3004 305 3M Flex rated Servo Motor Feedback Cable 3 meter 3004 305 5M Flex...

Page 191: ...Accessories Not Included I O Cable with Flying Leads Model Number Description 3004 327 2M 2 meter I O Flying Leads cable Breakout Board for SV200 I O Connector Model Number Description Bob 4 DIN rail mountable I O breakout board with 0 5m Extension Cable ...

Page 192: ...Hardware Manual 920 0126A 4 14 2017 Contacting Applied Motion Products Corporate Headquarters 404 Westridge Drive Watsonville CA 95076 800 525 1609 831 761 6555 web www applied motion com support applied motion com ...

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