Inovance IS620P Series Manual Download Page 108

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Revision History

Date

Version

Change Description

March 2016

A00

First issue.

Dec 2016

A01

Modified product name, designation rule and nameplate.

Summary of Contents for IS620P Series

Page 1: ......

Page 2: ...2 3 Terminals of Servo Drive 18 2 3 1 Main Circuit Terminals 19 2 3 2 Control Signal Terminal Connector CN1 21 2 3 3 Communication Signal Terminal Connectors CN3 CN4 23 2 3 4 Analog Monitoring Signal...

Page 3: ...arameters 81 Group H08 Gain Parameters 83 Group H09 Automatic Gain Tuning Parameters 84 Group H0A Fault and Protection Parameters 85 Group H0B Monitoring Parameters 86 Group H0C Communication Paramete...

Page 4: ...hine process system integrator System integrator designer must ensure the complete system is safe and designed according to the relevant safety standards Inovance Technology and Authorized Distributor...

Page 5: ...s Certification marks on the product nameplate indicate compliance with the corresponding certificates and standards Certification Mark Directives Standard CE EMC directives 2014 30 EU AC servo drive...

Page 6: ...Specification Mark 16 bit high accuracy analog A E cam gantry synchronization M CANopen CO CANlink C L1C L2C R S T P D C U V W C N 3 C N 4 C N 1 C N 2 Version Mark a Other variants INT International...

Page 7: ...z Control circuit power supply Single phase 380 to 480 VAC 10 to 10 50 60 Hz Braking capability Built in regenerative resistor 1 1 3 Specifications of Regenerative Resistor Drive Model Built in Regene...

Page 8: ...3000 RPM Mark Rated Speed RPM A x 1 B x 10 C x 100 D x 1000 E x 10000 Mark Voltage Class B 220 V Mark Motor Shaft 1 Plain 3 2 Keyed 5 Tapped hole Mark Brake Oil Sealing 0 None 1 Oil sealing 2 Brake 4...

Page 9: ...nection mode Direct connection Rotating direction The motor rotates counterclockwise viewed from the load side CCW at the forwarding rotation command Motor Ratings Servo Motor Model Rated Output kW No...

Page 10: ...9 4 10 00 30 00 0 98 7 72 ISMH2 40C30CD U Y 4 0 12 6 37 8 13 60 40 80 0 93 12 1 ISMH2 50C30CD U Y 5 0 15 8 47 6 16 00 48 00 1 07 15 4 ISMH3 Vn 1500 RPM Vmax 3000 RPM ISMH3 85B15CB U Y 0 85 5 39 13 5 6...

Page 11: ...aluminum ISMH2 30C to 50C 400 x 400 x 20 mm aluminum ISMH3 85B to 18C 400 x 400 x 20 mm iron ISMH3 29C to 75C 360 x 360 x 5 mm double aluminum plate 1 3 Physical Appearance and Mounting Dimensions of...

Page 12: ...ture 20 to 85 C non freezing 20 to 60 C Peak temperature ensurance 80 C for 72 hours Storage humidity Below 90 RH no condensation 20 90 RH no condensation Vibration Below 4 9 m s2 Below 49 m s2 Impact...

Page 13: ...ay Control signal to turn ON OFF of the brake power supply Install a surge suppressor when using this contactor Brake power supply 24 VDC power supply used when the servo motor is configured with brak...

Page 14: ...ion cable Servo drive to PLC communication cable Communication cable for multi drive parallel connection Power supply Three phase 220 380 VAC Circuit breaker for wiring Noise filter Electromagnetic co...

Page 15: ...erent Modes The following are the notices for the wiring diagrams in three different modes Use the shielded twisted pair as the AI AO circuit cables with both ends of the shield tied to PE Internal 24...

Page 16: ...UT GND 44 29 Encoder phase Z open collector output GND COIN DO2 5 4 COIN DO2 S RDY DO1 7 6 S RDY DO1 ZERO DO3 3 2 ZERO DO3 ALM DO4 1 26 ALM DO4 HomeAttain DO5 28 27 HomeAttain DO5 State output 29 15 G...

Page 17: ...meAttain DO5 State output 29 15 GND 5V GND 5V P OT DI1 24V COM 9 11 17 24 V power supply N OT DI2 10 INHIBIT DI3 34 ALM RST DI4 8 S ON DI5 33 ZCLAMP DI6 32 GAIN SEL DI7 31 HomeSwitch DI8 30 Not define...

Page 18: ...11 17 24V power supply N OT DI2 10 INHIBIT DI3 34 ALM RST DI4 8 S ON DI5 33 ZCLAMP DI6 32 GAIN SEL DI7 31 HomeSwitch DI8 30 Not defined DI9 12 COM 14 4 7 k 4 7 k 4 7 k 4 7 k 4 7 k 4 7 k 4 7 k 4 7 k 4...

Page 19: ...COM DI9 COM 5V AI2 GND AI1 PAO PAO PBO PZO PBO DO4 DO5 GND DI8 DI7 DI6 DI5 DI3 PULLHI HPULSE SIGN HPULSE SIGN HSIGN PULSE HSIGN PULSE PZ OUT PZO DO5 24V CN3 and CN4 RS485 RS232 TXD GND RS485 RS232 RX...

Page 20: ...generative resistor Connect an external regenerative resistor between P and C if the braking capacity is insufficient The external regenerative resistor needs to be purchased additionally Terminals P...

Page 21: ...een P and D and connect an external regenerative resistor between P and C if the braking capacity is insufficient The external regenerative resistor needs to be purchased additionally P 1 2 Common DC...

Page 22: ...DO2 DO1 DO1 DI4 DI1 DI2 COM DI9 COM 5V AI2 GND AI1 PAO PAO PBO PZO PBO DO4 DO5 GND DI8 DI7 DI6 DI5 DI3 PULLHI HPULSE SIGN HPULSE SIGN HSIGN PULSE HSIGN PULSE PZ OUT PZO DO5 24V Position Reference Sign...

Page 23: ...are set via group H03 parameters Input voltage range 10 to 10 V resolution 12 bit Maximum permissible voltage 12 V Input impedance 9 k DI DO Signals Table 2 5 DI DO signal description Signal Default...

Page 24: ...ential drive Generally it provides feedback signals to the host controller in the closed loop position control system A differential or optocoupler circuit shall be used in the host controller to rece...

Page 25: ...M00 5 0 S6 L M00 10 0 Absolute encoder cable S6 L P20 3 0 S6 L P20 5 0 S6 L P20 10 0 ISMH2 U1 ISMH2 U2 Power cable S6 L M11 3 0 S6 L M11 5 0 S6 L M11 10 0 Incremental encoder cable S6 L P01 3 0 S6 L...

Page 26: ...Power cable S6 L B11 3 0 S6 L B11 5 0 S6 L B11 10 0 Absolute encoder cable S6 L P21 3 0 S6 L P21 5 0 S6 L P21 10 0 ISMH3 U1 ISMH3 U2 1 8 kW and below Power cable S6 L B11 3 0 S6 L B11 5 0 S6 L B11 10...

Page 27: ...ding CN1 terminal CN2 terminal 20 22military spec plug elbow 20 29military spec plug elbow ISMH3 U1 ISMH3 U2 ISMH3 A3 2 9 kW and above Note If you prepare cables yourself rather than use Inonvace matc...

Page 28: ...Color 1 U White 2 V Black 4 W Red 5 PE Yellow Green 3 Brake regardless of positive or negative 6 4 5 6 1 2 3 Recommendation Plastic housing MOLEX 50361736 Terminal MOLEX 39000061 40 Z series 60 Z seri...

Page 29: ...reen C Brake regardless of positive or negative E 100 130 MIL DTL 5015 series 3108E20 22S military spec F A E D B C 20 22 military spec Y Series Z Series Color Pin No Signal Pin No Signal A U A U Blue...

Page 30: ...DB9P soldering plug SZTDK blue glue Table 2 10 Connectors of 20 bit encoder cables 9 pin connector Connector Appearance and Pin Layout Frame Size of Matching Motor Encoder cable connector Connect to C...

Page 31: ...0 bit encoder cables DB9 on Servo Drive Side Function Description Motor Side 9 pin 20 29 Military Spec Signal Pin No Pin No Pin No PS 1 Serial communication signal 3 A PS 2 Serial communication signal...

Page 32: ...der cables 9 pin connector Connector Appearance and Pin Layout Frame Size of Matching Motor Encoder cable connector Connect to CN2 of the drive Encoder cable connector 40 60 80 Viewed from this side 1...

Page 33: ...Connect to CN2 of the drive Encoder connection socket 100 130 180 Viewed from this side 20 29 military spec A B M C L N T P D K R S E J F G H Pin No Signal A PS Twisted pair B PS E Battery F Battery...

Page 34: ...n to the upper level menu UP Increase the number indicated by the blinking digit DOWN Decrease the number indicated by the blinking digit SHIFT Shift the blinking digit View the high digits of the num...

Page 35: ...rotates the keypad automatically switches over to monitoring display After the motor becomes stopped the keypad automatically restores to status display In parameter display mode set group H0B and se...

Page 36: ...he value of the current blinking digit SHIFT Shifting the blinking digit SET Store the current setting value or switch to the next level menu After parameter setting is completed that is Done is displ...

Page 37: ...display Start SET SET Note 1 If the last digit does not blink password protection is enabled If the last digit blinks password protection is disabled or the correct password has been entered When mod...

Page 38: ...e 0 0 Pulse input 1 Step setting 2 Multi position reference H05 01 Pulse input terminal selection 0 0 Low speed terminals 1 High speed terminals H05 15 Pulse input format 0 0 Pulse direction positive...

Page 39: ...mit in torque control 3000 H07 20 Negative speed limit 2nd speed limit in torque control 3000 Set DI if DI used H03 02 DI1 function selection 14 14 P OT Forward limit switch H03 03 DI1 logic selection...

Page 40: ...18 DI9 function selection 0 0 No function H03 19 DI9 logic selection 0 Set AI1 if used as speed reference H03 80 Speed corresponding to 10 V 3000 0 to 6000 RPM H03 54 AI1 zero drift 0 H03 53 AI1 dead...

Page 41: ...1 0 to 8 0 times of rated torque H03 59 AI2 zero drift 0 H03 58 AI2 dead zone 10 H03 56 AI2 filter time constant 10 Set DO if DO used H04 01 DO1 function selection 1 1 S RDY Servo ready H04 02 DO1 log...

Page 42: ...ction 1 1 Speed reference H04 54 AO2 offset voltage 5000 H04 55 AO2 multiplying factor 1 Set pulse output if used H05 38 Servo pulse output source 0 0 or 1 0 Encoder frequency division output 1 Pulse...

Page 43: ...fter the preceding causes are removed the operation panel should display rdy Set the S ON signal to ON The operation panel displays Er xxx Remove the fault Shaft of the servo motor is in free running...

Page 44: ...valid When H05 00 2 multi position reference is main position reference source check whether parameters in group H11 are set correctly If yes check whether FunIN 28 PosInSen internal multi position en...

Page 45: ...Startup Fault Symptom Cause Confirming Methods Connect control power L1C L2C and main power L1 L2 and R S T The LED display is not on or does not display rdy 1 Control power voltage is abnormal After...

Page 46: ...k whether the analog input channel is selected correctly and check whether the selected AI terminal is wired correctly by referring to Chapter 3 in the IS620P User Manual Speed reference selection is...

Page 47: ...cation is smaller than 0 When jog speed reference is used to set speed reference check value of H06 04 jog speed setting value Then check whether effective logic of DI functions FunIN 18 JOGCMD forwar...

Page 48: ...e is faulty The operation panel displays Er xxx Remove the fault After the preceding causes are removed the operation panel should display rdy Set the S ON to ON The operation panel displays Er xxx Re...

Page 49: ...is set correctly Servo motor rotates in reverse direction Internal torque reference H0B 02 is negative 1 When AI is selected to input torque reference check whether polarity of external voltage input...

Page 50: ...he host controller Change parameter writing method and write parameters again If servo drive is faulty replace it 4 The software is upgraded Check whether software is upgraded Set servo drive model an...

Page 51: ...rive SN does not exist Set servo drive SN correctly Power class of servo motor and servo drive does not match Check whether servo drive SN H01 02 and serial encoder motor SN H00 05 match Replace unmat...

Page 52: ...serial encoder ROM memory Check whether encoder cable you use is standard configuration of Inovance For cable specification refer to Chapter 3 in the IS620P User Manual The cable must not scratch bre...

Page 53: ...ure insulation resistance between UVW of servo drive and ground cable PE and check whether insulation resistance is M level Replace motor if insulation is poor 5 Motor UVW cables are short circuited D...

Page 54: ...4 High accuracy AD conversion times out Internal fault code H0B 45 4208 Interference exists in high accuracy AI channel Check AI wiring according to correct wiring diagram Use shielded twisted pair c...

Page 55: ...er H0B 10 electric angle changes as motor rotates Re weld fasten or replace encoder cable 5 When controlling a vertical shaft gravity load is too large Check whether load of vertical shaft is too larg...

Page 56: ...cient Measure resistance of the external regenerative resistor between P and C Compare the measured value with the recommended value Connect a new external regenerative resistor of recommended resista...

Page 57: ...s within the following specification 220V drive H0B 26 200 V 380 V drive H0B 26 380 V The fault persists after main circuit is powered on several times Replace the servo drive Er 420 Power cable phase...

Page 58: ...speed level is smaller actual maximum motor speed Overspeed level 1 2 times of maximum motor speed H0A 08 0 Overspeed level H0A 08 H0A 08 0 and H0A 08 1 2 times of maximum motor speed Reset overspeed...

Page 59: ...In this case if you do not modify electronic gear ratio motor speed will slow down If input pulse frequency is very high but is still within frequency upper limit allowed by hardware take anti interf...

Page 60: ...high rigidity Observe whether motor vibrates and generates noise during running Adjust the gain 5 The servo drive or motor model is set incorrectly For IS620P series products view serial encoder moto...

Page 61: ...ed is 0 Eliminate mechanical factors Er 650 Heatsink overheat Cause Confirming Methods Corrective Action 1 Ambient temperature is too high Measure ambient temperature Improve cooling conditions to red...

Page 62: ...corresponds to five 0 360 for Z series motor For X series motor turning one circle corresponds to four 0 360 If H0B 10 changes abnormally during rotation it indicates that a fault occurs on encoder I...

Page 63: ...l Cause Confirming Methods Corrective Action 1 Servo drive model and servo motor model do not match View servo drive and servo motor nameplates to check that the equipment you are using is IS620P seri...

Page 64: ...eck whether input pulse frequency is too high if position reference source is pulse Acceleration deceleration time is 0 or too small Reduce position reference frequency or decrease electronic gear rat...

Page 65: ...correctly again or replace them 2 UVW cable or internal external encoder cable breaks Check wirings Reconnect the UVW cable Power cables of servo motor and power cables UVW of servo drive must be one...

Page 66: ...internal encoder feedback and external encoder feedback is switched over Check whether H0F 00 2 Check whether position reference source is internal position reference multi position and position chang...

Page 67: ...I through H0B 03 If not wiring of the DI is incorrect If yes a fault occurs during operation of returning to home Please use the returning to home function correctly If a virtual DI is used check whet...

Page 68: ...d inertia is too large Calculate load inertia ratio or perform load inertia ratio auto tuning Then view H08 15 load inertia ratio Conform single running cycle when servo motor runs in circular Increas...

Page 69: ...t a proper regenerative resistor according to the IS620P User Manual 5 H02 27 resistance of external regenerative resistor is larger than resistance of the used external regenerative resistor Set H02...

Page 70: ...d reconnect wirings If necessary replace a new cable Er 941 Parameter modification taking effect only after re power on Cause Modification of some parameters takes effect only after servo drive is pow...

Page 71: ...and warnings at power input phase loss protection three phase servo drive 0 75 kW H01 02 5 can run under single phase power When single phase power is connected this warning is reported Check whether...

Page 72: ...it absolute encoder motor 14000 Po St ALL H00 02 Customized firmware version Dp H00 04 Encoder version Dp H00 05 Serial encoder motor SN Dp H00 09 Rated voltage 0 220 1 380 V Po St H00 10 Rated power...

Page 73: ...ontrol mode selection 0 Speed mode 1 Position mode 2 Torque mode 3 Torque mode Speed mode 4 Speed mode Position mode 5 Torque mode Position mode 6 Torque mode Speed mode Position mode 1 Im St H02 01 A...

Page 74: ...utput warning information 0 Im St PST H02 18 Filter time of S ON signal 0 to 64 ms 0 Im St PST H02 21 Permissible minimum resistance of regenerative resistor Dp PST H02 22 Power of built in regenerati...

Page 75: ...unction selection 0 to 37 15 St Ru H03 05 DI2 logic selection Input polarity 0 to 4 0 Low level valid 1 High level valid 2 Rising edge valid 3 Falling edge valid 4 Rising edge and falling edge both va...

Page 76: ...u H03 19 DI9 logic selection Input polarity 0 to 4 0 Low level valid 1 High level valid 2 Rising edge valid 3 Falling edge valid 4 Rising edge and falling edge both valid 0 St Ru H03 34 DI function ac...

Page 77: ...o 22 11 St Ru H04 07 DO4 logic selection 0 Output low level when valid optocoupler ON 1 Output high level when valid optocoupler OFF 0 St Ru H04 08 DO5 function selection 0 to 22 16 St Ru H04 09 DO5 l...

Page 78: ...n Control Parameters Function Code Parameter Name Setting Range Unit Default ET Pro CM H05 00 Position reference source 0 Pulse input 1 Step setting 2 Multi position reference 0 Im St P H05 01 Pulse i...

Page 79: ...than setting of H05 21 H05 22 1 Absolute value of position deviation is smaller than setting of H05 21 H05 22 and position reference after filter is 0 2 Absolute value of position deviation is smalle...

Page 80: ...nd home being forward limit switch signal 7 Reverse direction deceleration point and home being reverse limit switch signal 8 Forward direction deceleration point being forward limit switch signal and...

Page 81: ...olarity of Z pulse 0 Positive high level when pulse Z is valid 1 Negative low level when pulse Z is valid 1 Po St P H05 46 Position offset in absolute position linear mode low 32 bits 2147483648 to 21...

Page 82: ...eleration ramp time constant of speed reference 0 to 65535 ms 0 Im Ru S H06 07 Maximum speed limit 0 to 6000 RPM 6000 Im Ru S H06 08 Positive speed limit 0 to 6000 RPM 6000 Im Ru S H06 09 Negative spe...

Page 83: ...ernal positive negative torque limit and T LMT torque limit via P CL N CL 0 Im St PST H07 08 T LMT selection 1 AI1 2 AI2 2 Im St PST H07 09 Internal positive torque limit 0 0 to 300 0 300 0 Im Ru PST...

Page 84: ...peed reference change rate being large PS 5 Speed reference high speed low speed thresholds PS 6 Position deviation being large P 7 Position reference available P 8 Positioning completed P 9 Motor spe...

Page 85: ...time 2 Both notches 3rd and 4th notches valid parameters updated in real time 3 Only detect resonance frequency displayed in H09 24 4 Clear 3rd and 4th notches restore parameters to default setting 0...

Page 86: ...0 0 0 0 Im Ru PS H09 31 Time constant of torque disturbance observer filter 0 00 to 25 00 ms 0 50 Im Ru PS H09 38 Frequency of low frequency resonance 1 0 to 100 0 Hz 100 0 Im Ru P H09 39 Filter setti...

Page 87: ...Po St P H0A 32 Time threshold for locked rotor over temperature protection 10 to 65535 ms 200 Im Ru H0A 33 Locked rotor over temperature protection 0 Shield detection Er 630 1 Enable detection Er 630...

Page 88: ...upon displayed fault s Dp PST H0B 37 Motor speed upon displayed fault RPM Dp PST H0B 38 Motor phase U current upon displayed fault A Dp PST H0B 39 Motor phase V current upon displayed fault A Dp PST...

Page 89: ...VDO 0 Disabled 1 Enabled 0 Im St PST H0C 12 Default level of VDO allocated with function 0 Bit0 VDO1 default value Bit15 VDO16 default value 0 Im St PST H0C 13 Update function code values written via...

Page 90: ...orced DI disabled 3 Forced DI and DO enabled 0 Im Ru H0D 18 Forced DI level 0 to 0x01FF 0x01 FF Im Ru H0D 19 Forced DO setting 0 to 0x001F 0 Im Ru H0D 20 Absolute encoder reset function 0 Disabled 1 R...

Page 91: ...distance 1 Start running again from 1st position 0 Im St P H11 03 Time unit 0 ms 1 s 0 Im St P H11 04 Displacement reference type 0 Relative displacement reference 1 Absolute displacement reference 0...

Page 92: ...aximum running speed of 6th displacement 1 to 6000 RPM 200 Im Ru P H11 40 Acceleration Deceleration time of 6th displacement 0 to 65535 ms s 10 Im Ru P H11 41 Waiting time after 6th displacement 0 to...

Page 93: ...P H11 71 Waiting time after 12th displacement 0 to 10000 ms s 10 Im Ru P H11 72 13th displacement 1073741824 to 1073741824 Ref 10000 Im Ru P H11 74 Maximum running speed of 13th displacement 1 to 6000...

Page 94: ...H12 20 1st speed reference 6000 to 6000 RPM 0 Im St S H12 21 Running time of 1st speed reference 0 to 6553 5 s min 5 0 Im St S H12 22 Acceleration deceleration time of 1st speed reference 0 No acceler...

Page 95: ...ime 3 4 Acceleration Deceleration time 4 0 Im St S H12 38 7th speed reference 6000 to 6000 RPM 600 Im St S H12 39 Running time of 7th speed reference 0 to 6553 5 s min 5 0 Im St S H12 40 Acceleration...

Page 96: ...e 4 0 Im St S H12 56 13th speed reference 6000 to 6000 RPM 700 Im St S H12 57 Running time of 13th speed reference 0 to 6553 5 s min 5 0 Im St S H12 58 Acceleration deceleration time of 13th speed ref...

Page 97: ...0 Valid when logic is 1 1 Valid when logic changes from 0 to 1 0 St Ru H17 08 VDI5 function selection 0 to 37 0 St Ru H17 09 VDI5 logic selection 0 Valid when logic is 1 1 Valid when logic changes fro...

Page 98: ...Output 1 when function valid 1 Output 0 when function valid 0 St Ru H17 37 VDO3 function selection 0 to 22 0 St Ru H17 38 VDO3 logic selection 0 Output 1 when function valid 1 Output 0 when function v...

Page 99: ...1 Output 0 when function valid 0 St Ru H17 63 VDO16 function selection 0 to 22 0 St Ru H17 64 VDO16 logic selection 0 Output 1 when function valid 1 Output 0 when function valid 0 St Ru Group H30 Ser...

Page 100: ...e fault reset function becomes invalid Do not allocate this function to high speed DI Otherwise fault warning reset will be invalid FunIN 3 GAIN SEL Gain switchover H08 09 1 Invalid Speed control loop...

Page 101: ...control based on the selected control mode H02 00 6 It is recommended that the logic of the corresponding terminal be set to level valid FunIN 12 ZCLAMP Zero speed clamp Valid Zero speed clamp enabled...

Page 102: ...nabled Invalid Internal negative torque limit enabled H07 07 3 and AI limit larger than external negative limit Valid External negative torque limit enabled Invalid AI torque limit enabled H07 07 4 Va...

Page 103: ...id FunIN 26 SPDDirSel Speed reference direction selection Valid Forward direction Invalid Reverse direction It is recommended that the logic of the corresponding terminal be set to level valid FunIN 2...

Page 104: ...alid Position change on fly permitted The logic of the corresponding terminal needs to be set to level valid If the logic is set to 2 rising edge valid the servo drive forcibly changes it to 1 high le...

Page 105: ...bsolute value after filter equal to or larger than H06 16 FunOUT 3 ZERO Zero speed signal Invalid The absolute deviation between the motor speed feedback and the speed reference is larger than the set...

Page 106: ...output FunOUT 13 ALMO2 3 digit fault code output A 3 digit fault code is output FunOUT 14 ALMO3 3 digit fault code output A 3 digit fault code is output FunOUT 15 Xintcoin Position change on fly compl...

Page 107: ...tuning output Valid Angle auto tuning com pleted Invalid Angle auto tuning not completed FunOUT 21 DB DB braking output Valid Dynamic braking relay open Invalid Dynamic braking relay close FunOUT 22 C...

Page 108: ...Revision History Date Version Change Description March 2016 A00 First issue Dec 2016 A01 Modified product name designation rule and nameplate...

Page 109: ......

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