Inovance SV820N Series Manual Download Page 166

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6 Trial Running

6) Halt
When the servo drive is in running state and control word 6040h bit8 = 1 (Halt), a halt command is input and

the servo drive performs the halt operation in the mode set in 605Dh.

605Dh

Name

Halt option code

Setting &

Effective

Any setting

Upon stop

Data

Structure

VAR

Data

Format

int16

Access

Mapping

NO Relevant

Mode

ALL

Data

Range

1–3

Default

Selects the deceleration mode of the servo motor from rotation to stop when the servo drive is paused and the motor

status after it stops.
CSP/CST/CST/PP/HM

Value

Stop Mode

Stop according to ramp in 6084h/609Ah (HM), maintaining the locked position

Stop according to ramp in 6085h, maintaining the locked position

Stop at the emergency stop torque, maintaining the locked position

Profile torque mode

Value

Stop Mode

1/2/3

Stop according to ramp in 6087h, maintaining the locked position

Summary of Contents for SV820N Series

Page 1: ...owed Radial and Axial Loads 17 1 3 6 Electrical Specifications of the Motor Brake 17 1 3 7 Motor Torque Speed Characteristics 18 1 4 Table of Servo System Configuration Specifications 21 1 5 Bleeder R...

Page 2: ...f Absolute Encoder Cable 47 3 5 Wiring to Control Signal Terminal CN1 of Servo Drive DI DO 52 3 5 1 DI Circuit 54 3 5 2 DO Circuit 57 3 6 Wiring to Communication Signal Connectors CN4 CN5 58 3 6 1 Wir...

Page 3: ...4 2 Jog Running 119 6 5 Cyclic Synchronous Position CSP Mode of SV820N with AM600 Controller 120 6 5 1 Creating a Project 120 6 5 2 Communication Setting 120 6 5 3 Adding Devices for the Configuratio...

Page 4: ...s and conveying machinery This User Guide describes the correct use of the SV820N series servo drive including safety information mechanical and electrical installation commissioning and maintenance R...

Page 5: ...to ensure safety in the application site where all possible actions of the equipment occur When the motor shaft runs without being grounded based on the actual mechanical and installation conditions t...

Page 6: ...lete system is safe and designed according to the relevant safety standards Inovance Technology and Authorized Distributors can provide recommendations related to the Servo Drive to ensure long term s...

Page 7: ...ication 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 EN 61800...

Page 8: ...inal CN3 Ethernet connection terminal CN4 EtherCAT output terminal CN5 EtherCAT input terminal ErherCAT network interface CN5 IN connecting to master station or previous slave station X1 X2 Terminals...

Page 9: ...he next servo drive Servo motor main circuit cables Next servo drive The servo drive is directly connected to an industrial power supply with no isolation such as transformers In this case a fuse or c...

Page 10: ...Control Board Type N Network type Mark Power Supply Unit Type 1S 1 kW 2S 2 kW Mark Drive Unit 1 1A 1 1 A 1B 1 6 A 1C 2 8 A 1D 4 6 A 2A 1 1 A 2B 1 6 A 2C 2 8 A 2D 4 6 A Single axis drive unit rated cu...

Page 11: ...ts are for the replacement of damaged ones in the original servo drive only Contact your supplier if any unit needs replacing 1 2 Technical Specifications 1 2 1 Basic Specifications Item Description B...

Page 12: ...n The drive slows down and stops when P OT and N OT act Protection functions Overcurrent overvoltage undervoltage overload main circuit detection abnormal heatsink overheat power supply phase loss ove...

Page 13: ...opping under When the control power is disconnected the dynamic brake will act 4 Refer to H02 08 Parameters for function setting of dynamic brake 1 2 2 EtherCAT Communication Technical Specifications...

Page 14: ...d Oil Sealing 1 Oil sealing 2 Brake 4 Oil sealing brake None Z 0 Mark Shaft Connection Mode 1 Plain shaft 2 Solid and keyed 3 Solid keyed and tapped holes 5 Solid and tapped holes Mark Encoder Type On...

Page 15: ...Mode Flange Heat resistance level Level F Insulation voltage 1 500 V AC 1 minute 200 V 1 800 V AC 1 minute 400 V Housing protection mode H1 IP67 except for through shaft section and connectors H4 IP67...

Page 16: ...2 MS1H1 55B30CB Z S 0 55 1 75 6 13 3 8 15 0 48 1 06 MS1H1 75B30CB Z S 0 75 2 39 8 4 4 8 19 0 53 1 38 1 43 2 MS1H1 10C30CB Z S 1 3 18 11 13 7 6 28 0 46 1 75 MS1H4 Vn 3 000 RPM Vmax 6 000 RPM Series Ra...

Page 17: ...nning Time s 120 230 130 80 140 40 150 30 160 20 170 17 180 15 190 12 200 10 210 8 5 220 7 230 6 240 5 5 250 5 300 3 350 2 Figure 1 8 Motor overload curve 100 150 200 250 1 000 Load ratio Running time...

Page 18: ...H4 75B30CB Z S 392 147 1 3 6 Electrical Specifications of the Motor Brake Motor Model Holding Torque Nm Power Supply Voltage V 10 Resistor 20 10 Power Supply Current Range at 20 A 10 Brake Release Tim...

Page 19: ...4 000 5 000 6 000 Speed RPM 1 000 0 0 45 Torque N m 0 3 0 15 0 6 MS1H1 05B30CB A B 0 2 000 3 000 4 000 5 000 6 000 Speed RPM 1 000 0 0 9 Torque N m 0 6 0 3 1 2 MS1H1 10B30CB A B 0 2 000 3 000 4 000 5...

Page 20: ...0 6 000 Speed RPM 1 000 0 4 8 Torque N m 3 2 1 6 6 4 MS1H1 55B30CB A B 0 2 000 3 000 4 000 5 000 6 000 Speed RPM 1 000 0 7 5 Torque N m 5 2 5 10 MS1H1 75B30CB A B 0 2 000 3 000 4 000 5 000 6 000 Speed...

Page 21: ...mall capacity Continuous working area Short term working area A B 2 000 3 000 4 000 5 000 6 000 Speed RPM 1 000 0 3 6 Torque N m 2 4 1 2 4 8 MS1H4 40B30CB A B 0 2 000 3 000 4 000 5 000 6 000 Speed RPM...

Page 22: ...stance Maximum Braking Energy Absorbed by Capacitor J Single Three phase 220 V SV820 1S 1 kW power supply unit 40 31 SV820 2S 2 kW power supply unit 40 47 1 6 Cables Cable Name Cable Size L Length of...

Page 23: ...r SV82 C4 connector kit for battery box of servo motor 1 8 System Configuration 1 8 1 Configuration of the Servo Drive Rated current of the SV820 series multi axis drive Model Width Input Current Outp...

Page 24: ...level of the installation location PD2 Figure 2 1 Installation environment Dust oil stain Sunlight radiation Strong vibration Vibration less than 0 6 G High temperature and humidity Operating ambient...

Page 25: ...141 0 8 5 175 0 4 3 110 0 3 M4 tapped hole Clearance The product can be installed side by side with the clearance at least 2 mm in one layer or two layers as shown in the figure below When the product...

Page 26: ...ng requirements on units Run settings into full consideration sufficient installation clearances should be reserved by referring to data in the figure below Figure 2 4 Installation clearances 20 mm 50...

Page 27: ...tapped holes for installation on the base plate Drill holes for fixing the screws on the base plate This product must be installed on the base plate vertically Below is the installation diagram Figure...

Page 28: ...all the cooling fans above the servo drive to avoid an excessive temperature rise and main tain an even temperature inside the control cabinet Ground The grounding terminal must be properly grounded F...

Page 29: ...Working in an enclosed environment will lead to a high temperature of the servo motor which will shorten its service life No foreign matter or water is allowed in the terminals in order to not influen...

Page 30: ...n For a shaft without a keyway use friction coupling or something similar When removing the pulley use a pulley remover to protect the shaft from suffering damage from the load To ensure safety instal...

Page 31: ...Stress of cables Do not bend the cables or the pull the cables tight In particular do not pull the thin signal cables during cabling and operating as the core wires are extremely fine 0 2 mm or 0 3 mm...

Page 32: ...0 0 5 70 4 5 5 49 5 7 5 3 0 5 0 5 0 35 MS1H1 40B30CB A331Z S 91 60 30 0 5 70 4 5 5 49 5 7 5 3 0 5 0 5 0 35 MS1H1 40B30CB A334Z S 119 60 30 0 5 70 4 5 5 49 5 7 5 3 0 5 0 5 0 35 MS1H4 40B30CB A331Z S 10...

Page 33: ...8 16 5 11 0 0 1 5 5 5 MS1H1 40B30CB A331Z S 14 50 M5 8 16 5 11 0 0 1 5 5 5 MS1H1 40B30CB A334Z S 14 50 M5 8 16 5 11 0 0 1 5 5 5 MS1H4 40B30CB A331Z S 14 50 M5 8 16 5 11 0 0 1 5 5 5 MS1H4 40B30CB A334...

Page 34: ...omagnetic contactor between the power supply and main circuit of the drive L1 and L2 for single phase and R S and T for three phase to form a structure that can cut off the power supply at the power s...

Page 35: ...ut CN7 Encoder signal terminal X1 X2 1 2 3 4 5 6 5V 0V BAT BAT PS PS Housing PE 24V 24V COM DI19 DI20 DI21 DI22 DI23 DI24 DI1 DI2 DI3 DI4 DI6 COM DI18 DI17 DI16 DI15 DI14 DI13 DI12 DI11 DI10 DI9 DI7 C...

Page 36: ...L1 and L2 are for single phase power input and terminals L1 L2 and L3 are for three phase power input L1C L2C Control power input terminals Control circuit 220 V AC power input P C Terminals for conn...

Page 37: ...precautions when connecting the external bleeder resistor 1 Do not directly connect the external bleeder resistor to the bus s positive pole P and negative pole N Failure to comply will lead to damag...

Page 38: ...ding Cable mm2 AWG mm2 AWG mm2 AWG 1 SV820N1S2C2C 4 6 2 x 0 5 20 2 80 2 x 0 5 20 0 50 20 For other requirements on the main circuit cables refer to 3 1 5 Precautions for Main Circuit Wiring for detail...

Page 39: ...rcuit power input contactor Run button Stop button Servo alarm output relay Servo alarm indicator Servo alarm signal output Servo Drive PG M N Note 1KM Electromagnetic contactor 1RY Relay 1D Flywheel...

Page 40: ...io n device SPD 1D 1Ry 1KM Main circuit power input contactor Run button Stop button Servo alarm output relay Servo alarm indicator Servo alarm signal output Servo drive M PG Note 1KM Electromagnetic...

Page 41: ...nsity 8 reduction coefficient of current carrying conductor density current correction coefficient Pipe Cables Number of Cables in the Same Duct Current Reduction Coefficient Less than 3 cores 0 7 4 c...

Page 42: ...or Current A Schneider Model Current A Schneider Model Single Three phase 220 V SV820N1S SV820N2S 6 OSMC32N3C6 9 LC1 D09 3 2 Wiring of Motor Cables Between Servo Drive and Servo Motor A complete servo...

Page 43: ...V DC V W PE U BK BK Yellow Green PE Red W Black V White U Blue BK Brown BK Table 3 6 Connectors of power cables on the servo motor side Connector Appearance Terminal Pin Layout Frame Size of Adaptabl...

Page 44: ...t the Brake When motors without a brake are connected to the drive it is not necessary to connect the two brake signal terminals BR and BR as shown in the figure below Other connections should be perf...

Page 45: ...cables The cable colors mentioned in the guide are colors of all Inovance cables Table 3 7 Connectors of SV820N series 20 bit encoder cables on servo drive side Connector Appearance Terminal Pin Layo...

Page 46: ...nals Visual in through this terminal Encoder outgoing line Visual in through this terminal 40 60 80 9 pin connector 1 2 3 4 5 6 7 8 9 Pin No Signal 3 PS Pair twisted 6 PS 9 5V 8 GND 7 Shield Recommend...

Page 47: ...o determine the length of the encoder cable consider the voltage drop caused by the cable resistance and signal attenuation caused by the distributed capacitance It is recommended to use a twisted pai...

Page 48: ...Battery box Battery box Encoder signal cable Color of battery box outer lead Figure 3 11 Battery box outer lead of absolute encoder Red Positive Black Negative Note Store the battery in the required...

Page 49: ...through this terminal Encoder outgoing line Visual in through this terminal 40 60 80 9 pin connector 1 2 3 4 5 6 7 8 9 Recommended Plastic casing AMP 172161 1 Terminal AMP 170359 Pin No Signal 1 Batt...

Page 50: ...Directly insert the battery box into the corresponding slot on the drive ensure it is inserted correctly to prevent loosening Removing the battery box The battery may have leakage after a long time us...

Page 51: ...d Value Condition Minimum Value Typical Value Maximum Value Output 3 6 V 2 500 mAh Recommended manufacturer and model Shenzhen Jieshun Science and Technology Industry Co Ltd LS14500 External battery v...

Page 52: ...the motor stops rotating for T3 after power off unit hour H Example Table 3 13 Theory lifetime of absolute encoder battery Item Working Time 1 Working Time 2 Number of days the battery works under di...

Page 53: ...9 4 20 5 21 36 6 22 7 23 8 24 9 25 10 26 43 11 27 12 28 37 38 39 40 41 42 13 14 15 16 29 30 44 24V 24V COM DI19 DI20 DI21 DI22 DI23 DI24 DI1 DI2 DI3 DI4 DI6 COM DI18 DI17 DI16 DI15 DI14 DI13 DI12 DI11...

Page 54: ...28 High speed digital input signal 8 DO4 40 Digital output signal 4 negative terminal DI9 27 High speed digital input signal 9 DO5 41 Digital output signal 5 positive terminal DI10 26 High speed digit...

Page 55: ...DI17 interface circuit as an example Servo drive DI1 9 16 2 4 k High speed input internal circuit for DI1 DI16 DI17 19 17 4 7 k Normal input internal circuit for DI17 DI24 COM COM When the host contro...

Page 56: ...ower supply is used Servo drive 15 External 24 V DC DI17 24 V COM 19 17 2 Relay External 0 V 4 7 k Servo Drive 15 External 24 V DC DI17 24 V COM 19 17 2 Relay External 0 V 24 V power supply COM A sing...

Page 57: ...y DI17 24 V COM 19 17 2 NPN 4 7 k Servo drive 15 COM 24 V power supply DI17 24 V COM 19 17 2 PNP 4 7 k When the external power supply is used Servo drive 15 External 24 V DC DI17 24 V COM 19 17 2 Exte...

Page 58: ...ut Servo drive External 5 24 V DC DO1 DO1 34 33 Relay External 0 V Note When the host controller provides relay input a flywheel diode must be installed otherwise the DO ports may be damaged Servo dri...

Page 59: ...he maximum allowable voltage and current of the optocoupler output circuit inside the servo drive are as follows Maximum voltage 30 V DC Maximum current DC 50 mA 3 6 Wiring to Communication Signal Con...

Page 60: ...o drive and PLC communication cables ECAT_OUT ECAT_IN Communication signal connectors CN4 and CN5 are EtherCAT interface connectors The interface line from the master station is connected to CN5 IN an...

Page 61: ...e ordering information Material Code Cable Size Length m 15040261 S6 L T04 0 3 0 3 15040262 S6 L T04 3 0 3 0 15041960 S6 L T04 0 2 0 2 15041961 S6 L T04 0 5 0 5 15041962 S6 L T04 1 0 1 0 15041963 S6 L...

Page 62: ...connector terminal is the same as that of CN4 CN5 Refer to Table 4 27 for details Table 3 16 Pin definition of communication signal terminal connectors Pin No Signal Function Description Terminal Pin...

Page 63: ...etween a strong current cable and a weak current cable must be at least 30 cm Do not put these cables in the same duct or bundle them together d Do not share the power supply with an electric welder o...

Page 64: ...bles and reduce impact of the servo drive to other sensitive devices install a noise filter on the input side of the power supply according to the input current In addition install a noise filter on t...

Page 65: ...oise filter L1C L2C R S T AC power supply AC power supply Use a separate grounding cable as short and thick as possible for the noise filter Do not share the grounding cable with other grounding devic...

Page 66: ...enarios where cables need to be moved use flexible cables Common cables are easily damaged after being bent for a long time Cables configured together with low power servo motors cannot be used for mo...

Page 67: ...input Normal input Note Note 1 Use CAT 5E double shielded cable for network interfaces Straight through and crossover Ethernet cables are acceptable Note 2 Internal 24 V power supply voltage range 20...

Page 68: ...s follows LED display area There are 6 digits on the LED The LED displays common states parameters and the axis number currently operated Operation buttons Table 4 1 Functions of buttons Button Button...

Page 69: ...tion panel can display the running state parameter faults and monitored information Run settings of the servo drive State display Displays the current servo drive state such as servo ready or running...

Page 70: ...Axis number is not displayed in reset state reset Servo initialization Moment at servo power on The servo drive is in initialization or reset state After initialization or reset is completed the servo...

Page 71: ...functions The function codes can be located quickly based on the group it belongs to Refer to the appendix to view the function code table In this section the current operation axis 3 is taken as an...

Page 72: ...operation diagram Low 4 digits Middle 4 digits High 4 digits The second digit from the left blinking indicates the current page number Page 1 Page 2 Page 3 Points of decimal display of the unit s posi...

Page 73: ...rmation about the latest ten faults or warnings stored in the servo drive For example fault E3 941 is displayed as follows Display Name Content Current warning code E3 Fault or warning in the servo dr...

Page 74: ...PM The actual servo motor speed after round off is displayed in unit of 1 RPM 3 000 RPM is displayed as follows 3 000 RPM is displayed as follows H0B 01 Speed reference RPM The current speed reference...

Page 75: ...ning software is 0xFFFFFE The keypad display is as follows DI9 DI12 DI11 DI14 DI13 DI15 DI10 DI16 DI1 DI4 DI3 DI6 DI5 DI7 DI2 DI8 DI17 DI20 DI19 DI22 DI21 DI23 DI18 DI24 H0B 05 Output signal DO signal...

Page 76: ...tor 360 0 is displayed as follows H0B 10 Rotation angle electric angle 0 1 It indicates the current electric angle of the motor 360 0 is displayed as follows H0B 11 Speed corresponding to input positi...

Page 77: ...Note When an absolute encoder motor is used H0B 17 displays only the low 32 bit data of motor position feedback The actual motor position feedback can be obtained in H0B 77 absolute position low 32 bi...

Page 78: ...lt 9 last 9th fault 0 current fault is displayed as follows H0B 34 Fault code of the selected fault record It indicates the fault code selected by H0B 33 When there is no fault H0B 34 display is E Axi...

Page 79: ...isplayed in H0B 34 occurs When there is no fault H0B 38 display is 0 4 60 A is displayed as follows H0B 39 Motor phase V current upon displayed fault 0 01 A It indicates the winding current effective...

Page 80: ...DI9 DI12 DI11 DI14 DI13 DI15 DI10 DI16 DI1 DI4 DI3 DI6 DI5 DI7 DI2 DI8 DI17 DI20 DI19 DI22 DI21 DI23 DI18 DI24 H0B 43 Output terminal state upon displayed fault It indicates the high low level state...

Page 81: ...ltage 12 0 V is displayed as follows H0B 58 Mechanical absolute position low 32 bits Encoder unit It displays mechanical absolute position low 32 bits when the absolute encoder is used Example 2147483...

Page 82: ...nit SHIFT SHIFT H0B 79 Position high 32 bits of the absolute encoder Encoder unit It displays the absolute position low 32 bits of the motor when the absolute encoder is used Example 1 encoder unit H0...

Page 83: ...ode Name Unit Meaning Display Examples H0B 85 Rotating load single turn position Reference unit It displays the mechanical absolute position when the absolute system works in rotating mode Example 107...

Page 84: ...setting Parameter group display Offset display in the group Parameter display Parameter setting completed Servo state display Servo ready MODE MODE MODE MODE SET SET SET MODE Switch the display mode a...

Page 85: ...SET button Power on again SET button Yes No Enter the password Is the password correct MODE key Is the last digit blinking Return to the display interface for H02 30 Start SET key SET key SET SET SET...

Page 86: ...SET key 1 Display JOG indicating that the motor powers on and its jog function is currently available Enable forward reverse motor rotation End SET key key 2 Set and display the motor speed for jog ru...

Page 87: ...T Negative limit switch Valid Reverse drive inhibited Invalid Reverse drive permitted When the mechanical movement is outside the movable range the overtravel prevention function is implemented It is...

Page 88: ...s an example Function setting of H03 group consists of three digits The first digit is for setting axis No and last two digits are for specific terminal functions Diagram is shown in red dotted box be...

Page 89: ...DO function setting Parameter group display Offset display in the group Parameter display Parameter setting completed Servo state display Servo ready MODE MODE MODE MODE SET SET SET 3 11 Axis number...

Page 90: ...ault warning use one of the following two methods Set 200D 02h 1 fault reset enabled Enable the rising edge of the control word 0x6040 bit7 on the host controller To reset a NO 1 fault and a NO 2 faul...

Page 91: ...ng fault No corresponding motor No corresponding driver Absolute position parameter not matching 2nd generation encoder parameter not matching NO 1 No Shaft fault E3 121 Invalid S ON command NO 2 Yes...

Page 92: ...coder multi turn counting overflow NO 2 Yes Shaft fault E3 740 Encoder interference NO 1 No Shaft fault E3 A33 Encoder data reading writing abnormal NO 1 No Shaft fault E3 B00 Position deviation exces...

Page 93: ...is too small NO 3 Yes Equipment fault E3 939 The motor power cables break NO 3 Yes Shaft fault E3 941 Parameter modification taking effect only after re power NO 3 Yes Equipment fault E3 942 Parameter...

Page 94: ...ed error 10 to 10 342 V to 484 V Increase the power capacity or replace with a large capacitance power supply Restore the default setting 2002 20h 1 and rewrite the parameters 2 Instantaneous power fa...

Page 95: ...times Replace the servo drive 2 The communication handshake between the FPGA and the MCU is abnormal 3 MCU interrupt times out E3 105 Internal program abnormal Cause The total number of parameters is...

Page 96: ...after software updates The actual parameter values of group 2000 or 2001 exceed the limit which generally occurs after software updates Probable Cause Confirming Method Corrective Action 1 Instantaneo...

Page 97: ...section on page 9 and the 1 3 Specifications of the Servo Motor section on page 13 Replace products that are not matching by referring to the 1 4 Table of Servo System Configuration Specifications sec...

Page 98: ...vance SV820 series servo drive and matching servo motor Replace the matching servo drive and servo motor 2 A parameter check error occurs or no parameter is stored in the serial increment encoder ROM...

Page 99: ...damaged Disconnect the motor cables and measure whether the resistance between motor cables UVW is balanced Replace the motor if the resistance is unbalanced 6 The gain setting is improper and the mot...

Page 100: ...eavy current from the light current Replace the servo drive 3 FPGA operation times out Internal fault code 200B 2Eh 0208 Determine causes 1 2 3 4 Remove the preceding causes 1 2 3 4 E3 210 Output to g...

Page 101: ...ve and 20 bit servo motor ensure that 2000 01h 14000 Correct the motor model encoder type and encoder wiring 4 The encoder cable is incorrectly wired corrosive or inserted loosely Check whether the en...

Page 102: ...and C to check whether the voltage exceeds the fault threshold during deceleration Ensure that the input voltage of main circuit is within the specifications Then increase the acceleration decelerati...

Page 103: ...wer input specification of the servo drive and the actual input voltage Check whether the input voltage of the main circuit satisfies the following specifications 220 V drive Effective value 220 V to...

Page 104: ...ity In HM mode view the gear ratio 6091 01h 6091 02h and determine 6099 01h and 6099 02h In speed control mode view the gear ratio 6091 h and the values of 60 FFh target velocity 2006 07h to 2006 0Ah...

Page 105: ...load is too heavy The motor keeps output of effective torque higher than the rated torque for a continuous operation Confirm the overload characteristics of the servo drive or motor Check whether the...

Page 106: ...al motor speed is lower than 10 RPM but the torque reference reaches the limit The duration reach es the value set in 200A 21h Probable Cause Confirming Method Corrective Action 1 Power output UVW pha...

Page 107: ...stallation of the servo drive is proper Install the servo drive according to the requirements 5 The servo drive is faulty The fault persists after restart and 5 minutes after powering off Replace the...

Page 108: ...ell grounded Check that the connectors at both ends of the encoder are in good contact 4 The encoder is faulty Use a new encoder cable If the fault no longer occurs after replacement it indicates that...

Page 109: ...ce increment is too large Position control mode In CSP mode view the gear ratio 6091 01h 6091 02h to check the speed reference increment for a single synchronous cycle and convert it to speed In PP mo...

Page 110: ...ratio and host controller related scaling factors according to practical applications 5 Motor selection is unreasonable Check that the maximum motor speed is less than the maximum operating speed that...

Page 111: ...mit signals at two sides are active simultaneously Check whether a limit signal is active simultaneously with the home signal Set the position of the hardware switch properly E3 730 Encoder battery wa...

Page 112: ...ugh Inovance servo commissioning software or keypad Running reference in position control 200B 0Eh Input position reference counter Running reference in speed mode 200B 02h Speed reference Running ref...

Page 113: ...the total inertia of the machine manually according to the mechanical parameters Check whether the actual load inertia ratio exceeds 30 Select a large external bleeder resistor and set H02 26 consiste...

Page 114: ...nd stored frequently to EEPROM 200C 0Eh 1 Check whether the host controller performs frequent and fast function code parameter modification on the servo drive Check the running mode For parameters tha...

Page 115: ...e power rectify this warning as Er 420 power cable phase loss If the warning persists when a three phase servo drive allows single phase power input set H0A 00 to 0 E3 998 Homing object dictionary is...

Page 116: ...Check the network connection status via the first LED on the left 2 The master station s sending signal is abnormal during synchronous communication The synchronization clock of the host controller i...

Page 117: ...chronization cycle to the integer multiples of the reference scheduling cycle Remark The reference scheduling cycle can be calculated by factory parameters H0160 and H0161 E3 E15 Synchronization cycle...

Page 118: ...ange 7 The wiring terminals have been insulated Environment and Mechanical Conditions 1 No foreign objects such as wire heads or metal powder which may cause short circuit of the signal wire and power...

Page 119: ...20N Then with InoDriveShop background commissioning software various functions can be performed on thePC such as real time monitoring pa rameter configuration real time sampling triggering single samp...

Page 120: ...corresponding axis number in the axis drop down box set the commissioning speed in JOG speed set the servo status as servo On then the motor will be enabled At this point click and hold the left arrow...

Page 121: ...for SV820 it is recommended to use Version 1 10 or higher version for AM600 background 6 5 1 Creating a Project Create an AM600 project Select AM600 CPU1608TP as shown in the following image 1 Select...

Page 122: ...tween PLC and PC is completed Next perform the device configuration Note When the AM600 device cannot be scanned in InoPro The CoDeSys gateway is not turned on Please check and start it and then scan...

Page 123: ...N Click Import ECT File in Network Configuration to add XML files please download XML files from Inovance s official website 2 Perform device configuration for the system First add the EtherCAT bus th...

Page 124: ...s lower than V1 10 please manually add 4 motor shafts Right click the SV820N device option to add 4 rotating motor shafts 4 Configure master station communication parameters for EtherCAT Just use the...

Page 125: ...figuring the PDO Mapping for the Slave Station 1 Enable expert settings 2 Check the corresponding PDO list On PDO configuration interface process data required by 4 axis CSP mode can be configured Cli...

Page 126: ...125 6 Trial Running 6 The PDO list configured according to the CSP Location CSV Speed TP Probe mode is as follows 6 5 5 Axis Scaling Settings...

Page 127: ...126 6 Trial Running 6 6 5 6 PLC Program 1 Add an FB file that edits the function block in the application...

Page 128: ...127 6 Trial Running 6 2 The definition part of FB 3 Five function blocks in FB...

Page 129: ...128 6 Trial Running 6 4 Add another POU as shown in step 1 5 Add the FB function block to the newly created POU Codes are as follows...

Page 130: ...unning 6 6 Instantiate this FB into four function blocks and assign to four axes respectively 7 After calling this program in the Ethercat task simple enabling jog homing absolute position operation c...

Page 131: ...NJ Series Controller 6 6 1 Network Configuration Settings 1 After creating a new project on EtherCAT device interface select the master station icon and right click to open the menu bar then click Sho...

Page 132: ...ial Running 6 2 In the ESI Library list open the link below The folder and put the xml document corresponding to the SV820N into the folder Then exit and reopen the Sysmac Studio software to make it e...

Page 133: ...are click on all suppliers then select Inovance in the drop down menu Then double click SV820N in the device list below to add the device to the configuration list If the net work is already configure...

Page 134: ...e PDO list of each axis Select the mode you want to run from CSP CSV TP CSP TP CST CSP CST TP CSP CST CSV TP PP TP PP PV PT TP In conjunction with the controller the XML file will select the PDO list...

Page 135: ...er on again after setting For easier configuration management it is recommended to set the address according to the actual physical connection order 5 Set the master station modification as online mod...

Page 136: ...plicable For example when named as right unwinding then the use of in NJ program indicates the control of the SV820N servo axis 2 Perform detailed configuration for the axis parameters all four axes o...

Page 137: ...ing Click the detailed settings to expand the configuration parameters then follow the table for the object map ping configuration and carefully check it The axis configuration of the IS820N needs to...

Page 138: ...verts electronic gear ratio and the servo drive need not set the conversion again Operation setting After setting the electronic gear ratio the maximum speed will output an alarm which means reset the...

Page 139: ...NJ Software Description Servo Drive Function Terminal Configuration Home near signal Home switch FUN31 DI9 External home input Probe 1 FUN38 DI8 Phase Z signal input Motor encoder phase Z signal N A P...

Page 140: ...After the configuration is completed enable running of the servo drive via the PLC program For more convenient programming the four axes first packaged a functional block for easy testing which includ...

Page 141: ...140 6 Trial Running 6 In section0 call the function block then the axis can be moved by the bus...

Page 142: ...software twinCAT3 supports Windows 7 32 bit system or Windows 7 64 bit is available on Beckhoff s official website This example uses the 32 bit system Note If you use a PC to drive directly the 100M E...

Page 143: ...142 6 Trial Running 6 3 Open Visual studio and create a New Twincat3 Project...

Page 144: ...Open the menu Show Real Time Ethernet Compatible Devices as shown above In the displayed dialog box select the local network in Incompatible devices then click Install After installation the installed...

Page 145: ...144 6 Trial Running 6 5 Search for devices Create a project and search for devices Select and click as shown in the following picture...

Page 146: ...145 6 Trial Running 6 Click OK Click OK...

Page 147: ...146 6 Trial Running 6 Click Yes Click OK...

Page 148: ...f 4 axes are used then check all 0x1600 0x1610 0x1620 0x1630 b The RPDO configuration procedure is listed in detail as follows If you are running the location mode you do not need to change it otherwi...

Page 149: ...148 6 Trial Running 6 C The default RPDO list is as follows...

Page 150: ...149 6 Trial Running 6...

Page 151: ...suit your mode If you need to modify you can right click on the PDO Content window Delete to delete the default redundant PDO and click Insert to increase the required PDO The 0x1A00 0x1A10 0x1A20 0x...

Page 152: ...151 6 Trial Running 6 7 Activate the configuration and switch over to the running mode Click...

Page 153: ...the device is observed to have turned into OP state in the Online screen while the second LED of the servo panel displays 8 the panel displays 1_88RY 8 Control the servo drive through the NC controll...

Page 154: ...ion Controller PID With Ka Note The TWinCAT NC controller can also implement the speed loop and sends the target torque to the drive in each cycle This method however actually increases the CPU and ne...

Page 155: ...rol type c PID type of control loop Position loop Drive Speed loop Drive Drive Position mode Position Controller P Position loop TWinCAT NC Speed loop Drive Drive Velocity mode Position Controller PID...

Page 156: ...Running 6 d Set the control parameters Adjust the proportion of the position loop based on actual response Adjust the speed feedforward coefficient based on actual response 10 PLC program a Create a...

Page 157: ...156 6 Trial Running 6 Add a motion control library making it easy to call the control function block...

Page 158: ...157 6 Trial Running 6 Create a new POU...

Page 159: ...158 6 Trial Running 6 Create a new FB add MC_power MC_jog MC_home MC_absolute MC_reset to FB...

Page 160: ...159 6 Trial Running 6 Call axis_motion in main Call the program in PLCTASK...

Page 161: ...160 6 Trial Running 6 Compile the program if there is no fault configuration can be activated and then log in to the PLC...

Page 162: ...ct but the deceleration process is long Stop at zero speed From the current speed immediately stop at 0 speed as the target speed This mode features quick deceleration but a larger impact Stop accordi...

Page 163: ...e Stop mode at NO 1 fault Setting Effective At stop Immediate Data Structure Data Format Uint16 2002 09h Access RW Mapping RPDO Relevant Mode ALL Data Range 0 2 Default 0 It sets the deceleration mode...

Page 164: ...ate after the limit switch signal is active to ensure safety After enabling the brake output stop mode at limit switch signal option is forced to Stop at zero speed position remains locked When the li...

Page 165: ...stop When this function is enabled the servo drive immediately stops according to the Stop mode at S ON OFF 605Ch regardless of its state 5 Quick stop When the control word 6040h bit 2 Quick stop is 0...

Page 166: ...Relevant Mode ALL Data Range 1 3 Default 1 Selects the deceleration mode of the servo motor from rotation to stop when the servo drive is paused and the motor status after it stops CSP CST CST PP HM V...

Page 167: ...d as follows Motor resolution Load shaft resolution Gear ratio Index 6091h Name Gear Ratio Setting Effective Data Structure ARR Data Format Uint32 Access Mapping Energy Relevant Mode ALL Data Range OD...

Page 168: ...F Default 1 The gear ratio is within the range 0 001 x encoder resolution 10 000 4 000 x encoder resolution 10 000 If this range is exceeded Er B03 gear ratio setting exceeding limit will be detected...

Page 169: ...d each module supports the same parameter Except that 1000h 1FFFh CoE communication object s 4 modules have a common parameter unless oth erwise stated the parameter address of each module is independ...

Page 170: ...00 Manufacturer software version RO NO Determined by the hardware version 1018 ID Object 00 Highest sub index supported RO NO UINT8 0x04 01 Vendor RO NO UINT32 0x00100000 02 Product code RO NO UINT32...

Page 171: ...FFF 0x68400010 02 2nd mapping object RW NO UINT32 0 0xFFFFFFFF 0x68600008 03 3rd mapping object RW NO UINT32 0 0xFFFFFFFF 0x687A0020 04 4th mapping object RW NO UINT32 0 0xFFFFFFFF 0x68B80010 05 5th m...

Page 172: ...ation object RW NO UINT32 0 0xFFFFFFFF 0x60610008 04 4th application object RW NO UINT32 0 0xFFFFFFFF 0x60640020 05 5th application object RW NO UINT32 0 0xFFFFFFFF 0x606C0020 06 6th application objec...

Page 173: ...Number of mapped objects in TPDO31 RW NO UINT8 0 0x0A 0x0A 01 1st mapping object RW NO UINT32 0 0xFFFFFFFF 0x783F0010 02 2nd mapping object RW NO UINT32 0 0xFFFFFFFF 0x78410010 03 3rd mapping object R...

Page 174: ...n Output 00 Number of synchronization parameters RO NO UINT8 0x20 01 Synchronization type RO NO UINT16 0x0002 02 Cycle Time RO NO UINT32 ns 0 04 Synchronization types supported RO NO UINT16 0x0004 05...

Page 175: ...value RO TPDO INT32 Reference unit 6063 00 Position actual internal value RO TPDO INT32 Encoder unit 6064 00 Position actual value RO TPDO INT32 Reference unit 6065 00 Following error window RW RPDO U...

Page 176: ...e 607F 00 Max profile velocity RW RPDO UINT32 Reference unit s 0 0xFFFFFFFF 0x06400000 Run settings Imme diate 6081 00 Profile velocity RW RPDO UINT32 User speed unit 0 0xFFFFFFFF 0 Run settings Imme...

Page 177: ...60B2h 00 Torque offset RW RPDO INT16 0 1 0xF448 0x0BB8 0 Run settings Imme diate 60B8h 00 Touch probe function RW RPDO UINT16 0 0xFFFF 0 Run settings Imme diate 60B9h 00 Touch probe status RW RPDO UIN...

Page 178: ...NO UINT16 0x0303 04 4th supported homing method RO NO UINT16 0x0304 05 5th supported homing method RO NO UINT16 0x0305 06 6th supported homing method RO NO UINT16 0x0306 07 7th supported homing method...

Page 179: ...0311 12 18th supported homing method RO NO UINT16 0x0312 13 19th supported homing method RO NO UINT16 0x0313 14 20th supported homing method RO NO UINT16 0x0314 15 21th supported homing method RO NO U...

Page 180: ...er resolution encoder increments RW NO UINT16 0 1 0 Imme diate 60F4h 00 Following error actual value RO RPDO INT32 Reference unit 60FCh 00 Position demand internal value RO TPDO INT32 Encoder unit 60F...

Page 181: ...Revision History Date Revised Version Revised Details May 2017 A00 First release...

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