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Shihlin SDH Series, Manual

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SDH Series Manual

Summary of Contents for SDH Series

Page 1: ...SDH Series Manual ...

Page 2: ......

Page 3: ...shock Before wiring or inspection switch power off and wait for more than 10 minutes Then confirm if the power indicator is off or the voltage is safe with voltage meter Otherwise you may get an electric shock Connect the servo drive and motor to ground Do not attempt to wire the servo drive and motor until they have been installed Otherwise you may get an electric shock The cables should not be d...

Page 4: ...ge etc may occur Don t touch the servo drive heat sink regenerative resistor servo motor etc which may be hot while power is on or for some time after power off Otherwise a injury damage etc may occur 4 Additional instructions The following instructions should also be fully noted Incorrect handling may cause a fault injury electric 1 Transportation and installation Transport the products correctly...

Page 5: ...Before resetting an alarm make sure that the run signal of the servo drive is off in order to prevent a sudden restart Otherwise it may cause an accident interference may be given to the electronic equipment used near the servo drive Burning or breaking a servo drive may cause a toxic gas Do not burn or break it Use the servo drive The electromagnetic brake on the servo motor is designed to hold t...

Page 6: ...ctors and terminals 3 1 5 Wiring method of power source 10 3 1 6 3 2 Functional block diagram of Shihlin servo 12 3 3 CN1 I O signal wires instruction 14 3 3 1 CN1 terminal layout 14 3 3 2 Signal description of CN1 terminal 16 3 3 3 Interface wiring diagram 25 3 3 4 29 3 4 CN2 Encoder signal wiring and description 30 3 4 1 Encoder signal wiring and description 30 3 5 CN2L Encoder 31 3 6 CN3 commun...

Page 7: ...9 5 1 Checklist before operation 59 5 2 Idle operation 59 5 2 1 Idle JOG test 59 5 2 2 Idle positioning test 60 5 3 Tuning process 61 5 3 1 Abstract 61 5 3 2 Auto gain tuning mode 62 5 3 3 Manual gain tuning mode 65 5 4 Parameter setting and operation for position control mode 67 5 5 Parameter setting and operation for speed control mode 68 5 6 Parameter setting and operation for torque control mo...

Page 8: ...d mode 90 6 5 3 Torque Position hybrid mode 91 6 6 Other functions 92 6 6 1 Selection of brake resistor 92 6 6 2 Analog monitor output 94 6 6 3 Operation of electromagnetic brake interlock 95 7 PR Procedure Procedure control function description 97 7 1 Pr mode description 97 7 2 The difference of PR mode between SDH and SDA 97 7 3 DI DO and timing of PR mode 97 7 4 Parameter setting of PR mode 98 ...

Page 9: ...2 Delta Absolute Position Detection System 198 14 2 1 Signal explanation 198 14 2 2 Start procedure 198 14 2 3 Use Digital Inputs Outputs to Initialize an Absolute System 199 14 2 4 Use Parameters to Initialize an Absolute System 199 14 2 5 Absolute position data communication protoco 200 Appendix A Accessories 202 Appendix B Parameters communication address 207 Appendix C Version information 209 ...

Page 10: ...ound on the listed in the following table section Check if there are any scratch and damage on the motor drive Manually turn the shaft of servo motor A smooth turn indicates a normal motor If the motor is with an electromagnetic brake the motor will not be turn easy by hand Please contact your agent for solutions if any of above issues occurs A complete set of Shihlin servo should include 1 A serv...

Page 11: ...clusion of a keyway Coding example Example 1 If a 200W low inertia motor 3000rpm rated speed no brake no oil seal no keyway and a transition type its name code should be SMH L020R30SA Example 2 If a 1500W medium inertia motor 2000rpm with brake no oil seal with keyway and the multi back transition type its name code should be SMH M150R20MBK Coding rule for Shihlin servo drive Coding method Ｓ Ｄ H M...

Page 12: ... U V W terminal with the power cable of servo motor Do not confuse U V W with R S T it cause damages Heat sink A frame to cool down and for the installation Display A 5 digit LED matrix to show the alarm status parameters etc Operation To switch the function of control mode monitor parameters adjustment MODE mode selection 1 incremental key 1 decreased key SET confirm key USB port To connect this ...

Page 13: ... commands to run the motor to generate the demanded torque The command source is the analog voltage Hybrid mode Pt S Pt S is switched mutually via the LOP signal of DI Pt T Pt T is switched mutually via the LOP signal of DI Pr S Pr S is switched mutually via the LOP signal of DI Pr T Pr T is switched mutually via the LOP signal of DI S T S T is switched mutually via the LOP signal of DI Modify the...

Page 14: ...mbient temperature is higher than 45 The installation place with good ventilation or air conditioner is necessary For a long time operation place the drive in an environment with temperature below 45 to ensure the reliability of the drive If the product is installed in a distributor make sure that its size and ventilation condition To prevent from over heat of the electronic components inside it M...

Page 15: ... of the heat dissipation fan for a more effective heat removal follow the spacing recommendation for installing one or multiple AD drive Servo Drive See the figure below 30 mm 1 2 in or more 100m m 4 0 in or more 10 mm 0 4 in or more 30 mm 1 2 in or more 100m m 4 0 in or more ...

Page 16: ...the wiring diagrams for operation and the signals of Shihlin servo drive 3 1 Connections between main power source and peripheral devices 3 1 1 Wiring diagram of peripheral devices Below 1KW The details of EMI filter please refer to Section 11 1 EMI Filter ...

Page 17: ...wired correctly When external brake resistor is used make P D ends open and connect the P C ends to the external brake resistor If the built in one applied make P D ends short and P C ends open Be sure that the brake resistor is connected with the drive in operation Do not confuse R S T with L1 L2 or it causes the damage of servo DANGER power supply 3 phase 200 230V Magnectic contactor L X10 N Y10...

Page 18: ...M PORT of PC USBport CN4 Connect to the USB port of PC Confirm the items as follows when wiring Keep the major power lines R ST and U V W away from other signal lines at least 30cm Do not touch the major power lines until the charge indicator goes out When power off there is still a large amount of electric charge in the aluminum capacitors inside the servo drive If a longer encoder cable is requi...

Page 19: ...E Green background Yellow 5 NC Black with electromagnetic brake 6 NC Black with electromagnetic brake Note The aforesaid wires are connected to the connectors of the motor Connector specifications male type of U V W terminals of the medium inertia servo motor Drive capacity Motor type 500W SMH M050R20S 1KW SMH M100R20S 1 5KW SMH M150R20S 2KW SMH M200R20S 3 5KW SMH M350R20S The lead wire signs of m...

Page 20: ... AWG16 AWG14 Drive type Motor type Specification for encoder wiring AWG Sire gauge Length Core number Core gauge SDH 010A2 SMH L010R30S UL1332 2m 10 AWG26 SDH 020A2 SMH L020R30S UL1332 2m 10 AWG26 SDH 040A2 SMH L040R30S UL1332 2m 10 AWG26 SDH 050A2 SMH M050R20S UL1332 2m 10 AWG26 SDH 075A2 SMH L075R30S UL1332 2m 10 AWG26 SDH 100A2 SMH M100R20S UL1332 2m 10 AWG26 SDH 150A2 SMH M150R20S UL1332 2m 10...

Page 21: ...12 SDH Series Manual 3 2 Functional block diagram of Shihlin servo 100W 1kW Shihlin servo driver Power source 100W 15KW 3Φ200 230Vac ...

Page 22: ...13 Chapter 3 100W 1kW Shihlin servo driver Power source 100W 15KW 3Φ200 230Vac ...

Page 23: ...le The 12 input DI parameters for users are PD02 to PD09 and PD21 to PD24 And the 6 output DO parameters are PD10 to PD14 and PD26 In addition it affords encoders encoder differential output signals A A B B Z Z torque analog command input speed analog command input The CN1 pin diagram is presented as follows 1 CN1 Connector female The front PIN diagram 2 CN1Connector male The front the side The ba...

Page 24: ... Encoder A phase pulse 10 HNP High forward revere rotation pulse train 4Mpps 35 LB Encoder B phase pulse 11 HNG High forward revere rotation pulse train 4Mpps 36 LBR Encoder B phase pulse 12 DI11 Digital input 11 37 LZ Encoder Zphasepulse 13 DI12 Digital input 12 38 LZR Encoder Z phase pulse 14 DI1 Digital input 1 39 OP Encoder Z phase pulse open collector 15 DI2 Digital input 2 40 LG Signal groun...

Page 25: ...nd of analog input output LG CN1 3 CN1 4 CN1 31 CN1 40 The common ground of TLA TC VC OP MO1 MO2 VCC Each pin inside the drive is connected together ALL Torque analog command limit TC TLA CN1 27 Apply a voltage signal within 10V on TC LG the motortorque generated would be linear proportional of PC13 As TLA is valid motor generated torque would be limitedaccording to proportion of rated torque to a...

Page 26: ...PA 14 decides how many pulses output in one turn The output signals are in line drive type There is a π 2 delay between phase A and B The phase sequence of rotation and phase difference between phase A and B could be defined by the change of PA 39 value ALL LAR CN1 34 Encoder B phase pulse differential line drive LB CN1 35 ALL LBR CN1 36 Encoder Z phase pulse differential line drive LZ CN1 37 The ...

Page 27: ...lse Open collector TL Torque limit option LZ Encoder Z phase pulsed differential line drive RES Reset LZR EMG External emergency stop LA Encoder A phase pulsed differential line drive LOP Control mode switch LAR VC Speed analog command LB Encoder B phase pulsed differential line drive VLA Speed analog limit LBR TLA Torque analog limit VCC 15V power supply output TC Torque analog command VDD 24V bu...

Page 28: ...id I S Effect torque limit value TL1 TL 0 0 Parameter PA05 0 1 TLA Parameter PA05 Parameter PA05 TLA Parameter PA05 TLA 1 0 Parameter PC25 Parameter PA05 Parameter PA05 Parameter PC25 Parameter PA05 Parameter PC25 1 1 TLA Parameter PC25 Parameter PC25 TLA Parameter PC25 TLA ALL Speed option 1 SP1 Speed control mode Used to select the speed command When using SP3 make it usable by making the settin...

Page 29: ...d CM2 make them usable by the setting The combination of CM1 and CM2 gives you a choice of 4 numerators CM1 and CM2cannot are used in the absolute position detection system Input signal Electronic gear molecule CM2 CM1 0 0 PA06 CMX 0 1 PC32 CMX2 1 0 PC33 CMX3 1 1 PC34 CMX4 Pt Pr Electronic gear option2 CM2 Clear CR Turn CR SG on to clear the position control counter droop pulses on its leading edg...

Page 30: ...and PR 1 4 DI depends on the condition of EV1 EV4 Set by parameter PF83 Set by parameter PF84 Situation connected to sensor procedure with triggering of sensor Pr Trigger command PR 2 EV2 Trigger command PR 3 EV3 Trigger command PR 4 EV4 DELTA ABS com mode ABSE ABSE ON to enter ABS mode activates ABSQ ABSR ABSD and ABSC When ABSE is ON DI4 DO2 DO3 will lose their function programmed by parameter D...

Page 31: ...ue mode inner speed commanded 1 to 7 OR VLA SG is on as motor speed reaches inner speed limit or speed analog limit VLC SG is OFF when SON signal is turn OFF T Electromagnetic brake interlock MBR When using this signal make it usable by setting parameter PA01as 1 MBR is OFF as the power is turned off or any alarm occurred ALL Warming WNG WNG ON is conductive as any warming occurred Without warming...

Page 32: ...3 DI12 DI12 0x15 POS3 Position command option 3 DI8 0x16 CTRG Position command trigger DI4 DI4 DI4 0x17 HOLD Inner position command halt 0x18 LSP Foreword rotation stroke limit DI9 DI9 DI9 DI9 DI9 DI9 DI9 DI9 DI9 NOTE 1 When setting the parameter PA01 in speed mode or torque mode the function INP and SA would be defined mutually because of the same values 2 When setting the parameter PA01 in speed...

Page 33: ... DO4 DO4 0x05 VLC Speed limiting control DO4 DO4 DO4 DO4 0X06 MBR Electromagnetic brake interlock DO3 DO3 DO3 0x07 WNG Warning DO3 DO1 DO3 DO3 0x08 ZSP Zero speed detection DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2 0x09 CMDOK Inner position command output completed DO3 DO3 DO3 0x0A OLW Reached over loading level 0x0B MC_OK CMDOK and INP reached level 0x0C OVF Position command overflow 0x0D SWPL Output f...

Page 34: ... For use of inner power supply For use of external power supply 2 Source input interface When using the input interface of source type all DI input signals are of source type Source output could not be provided For use of inner power supply For use of external power supply ...

Page 35: ...og command torque analog command and MON1 MON2 analog output Input impedance 10KΩ 12KΩ Output voltage 10V Speed torque analog command input MON1 MON2 analog monitor output Note VC TC input voltage higher than 10V would damage the inner transistors of servo drive 5 Encoder output pulse Output a pulse train signal in the open collector or differential Line Drive type Open collector output could be o...

Page 36: ...gnal in open collector or differential Line drive type The maximum input pulse frequency is 500kpps for differential Line drive the high speed input pulse is 4Mpps and 200kpps for open collector type NPN Open collector with inner power supply NPN Open collector with external power supply PNP Open collector with inner power supply PNP Open collector with external power supply ...

Page 37: ... Manual Differential Line Drive type High speed input pulse differential Line Drive type NOTE 1 This input system is 5V Do not be used 24V Note 2 Suggest the controller connect with the signal ground of servo drive ...

Page 38: ...hose D01 to DO6 are corresponding to the ones of PD21 to PD24 The following table describes the DI DO pins of CN1 terminal and the relative parameters Pin No Pin name Parameter CN 14 DI1 PD 02 CN 15 DI2 PD 03 CN 16 DI3 PD 04 CN 17 DI4 PD 05 CN 18 DI5 PD 06 CN 19 DI6 PD 07 CN 20 DI7 PD 08 CN 21 DI8 PD 09 CN 22 DI9 PD 21 CN 23 DI10 PD 22 CN 12 DI11 PD 23 CN 13 DI12 PD 24 Pin No Pin name Parameter CN...

Page 39: ...mmunication 7 ENCN Encoder communication 8 NC NC 9 NC NC 10 NC NC 3 4 1 Encoder signal wiring and description The appearance of encoder cable connector of Shihlin low inertia servo motor is shown below Motor side Female connector The suitable Shihlin servo drive capacity of connector is shown below Drive Capacity Motor type 100W SMH L010R30A 200W SMH L020R30A 400W SMH L040R30A 750W SMH L075R30A Pi...

Page 40: ...The pin definition of drive and motor Drive front side Motor cable side Pin No Pin name Signal name Quick Connector low inertia Pin No Military Connector medium inertia Pin No Cable color 1 3 Vcc 5V 5V power for encoder 7 B White 2 4 GND 5V ground for encoder 8 F Black GND 3 6V ground for encoder 4 A Brown 5 VccABS 3 6V power for absolute encoder 3 H Orange 6 ENCP Encoder communication 6 D Black 7...

Page 41: ...l specification of mini USB Pin NO Function description 1 5V 2 D 3 D 4 NC 5 GND 3 8 Standard wiring method Any person who is involved in wiring and inspection should be fully competent to do the work Before wiring turn off the power and wait for 10 minutes or more until the charge lamp turns off Then confirm that the voltage is safe with a voltage tester Otherwise an electric shock may occur Groun...

Page 42: ...SB CN4 INP CMDOK ZSP ALM TLC CN1 48 42 41 47 49 45 44 43 5KΩ 10V output 10V output 2 5KΩ 1 27 3 4 31 Communication software RES POS2 POS1 SON CTRG CR EMG 10m or less 1 VDD 48 COM 47 49 LSP 22 DI7 DI6 DI5 DI4 DI3 DI2 DI1 LSN SG DI8 20 19 18 17 16 15 14 23 24 25 50 21 DI11 DI12 12 13 LSP LSN POS3 POS4 POS5 DO6 46 RA1 RA2 RA3 RA4 RA5 RA6 RD 2 4 5 6 7 33 36 35 34 38 37 LA LBR LB LAR LZR LZ 50m or less...

Page 43: ...34 SDH Series Manual 3 8 2 Wiring diagram of position control Pt Mode Note 1 If the external power is applied do not connect 24Vdd and COM 2 See section 3 1 3 for the wirings of brake resistor ...

Page 44: ...35 Chapter 3 3 8 3 Wiring diagram of speed control S Mode Note 1 If the external power is applied do not connect 24Vdd and COM 2 See section 3 1 3 for the wirings of brake resistor ...

Page 45: ...BR ZSP ALM VLC CN1 48 42 41 47 49 45 44 43 5KΩ 10V output 10V output 2 5KΩ 2 5KΩ 1 2 3 4 31 Communication software RES RS2 SP2 SON RS1 SP1 EMG 10m or less 1 VDD 48 COM 47 49 LSP 22 DI7 DI6 DI5 DI4 DI3 DI2 DI1 LSN SG DI8 20 19 18 17 16 15 14 23 24 25 50 21 DI11 DI12 12 13 LSP LSN LOP TL CDP DO6 46 RA1 RA2 RA3 RA4 RA5 RA6 RD 2 4 5 6 7 33 36 35 34 38 37 LA LBR LB LAR LZR LZ 50m or less 3 4 40 39 LG O...

Page 46: ...G SG 24 25 50 A F X2N PLC SG SG LSP LSN Servo driver 3Φ AC200 230V Servo motor Brake resistor 10m or less Extended cable Stop Servo failure Position completed Ready Start Home position JOG JOG Reverse limit Forward limit Stop Error reset 1 If DC24V is from PLC do not connect 24Vdd and COM 2 A F X2N 1PG default type is negative logic forward reverse rotation pulse train The PA13 should be set as 00...

Page 47: ...ervo driver 3Φ AC200 230V Brake resistor Servo motor RES PC CM1 SON TL EMG LOP LSP LSN 10m or less INP ALM ZSP RD TLC M code OFF External command Home position JOG JOG Reverse limit Forward limit Error reset Stop Extended cable 1 If DC24V is from PLC do not connect 24Vdd and COM 2 A F X2N 10G default type is negative logic forward reverse rotation pulse train The PA13 should be set as 0010h 3 See ...

Page 48: ...Y1 Y2 Y3 Y4 Y5 X1 X2 X3 COM1 Y0 COM1 STOP ZRN FWD COM1 X0 SVRDY COM2 SVEND VIN DOG LSF LSR RVS START COM5 7 8 17 18 CN1 45 RD 47 49 COM 24 25 50 24 25 50 41 45 DO5 DO1 RA1 RA5 INP RD VDD 48 47 49 COM CN1 Servo driver 3Φ AC200 230V Brake resistor Servo motor 1 If DC24V is from do not connect 24Vdd and COM 2 A F X2N 10GM default type is negative logic forward reverse rotation pulse train The PA13 sh...

Page 49: ...9 4 14 X axis CON3 Y axis CON4 24Vdd DO2 DO1 COM DO5 DO4 ALM RA1 RA1 RA3 RA2 RA5 RA4 CN1 48 42 41 47 49 45 44 46 1 26 24Vdd COM 48 47 49 LSP LSN 22 23 Servo driver 3Φ AC200 230V Brake resistor Servo motor RES PC CM1 SON TL EMG LOP LSP LSN 10m or less ARM ZSP TLC INP RD 1 If DC24V is from PLC do not connect 24Vdd and COM 2 A F X2N 20GM default type is negative logic forward reverse rotation pulse t...

Page 50: ...M RA1 RA1 RA3 RA2 RA5 RA4 CN1 48 42 41 47 49 45 44 46 24Vdd COM 48 47 49 LSP LSN 22 23 Servo driver 3Φ AC200 230V Brake resistor RES PC CM1 SON TL EMG LOP LSP LSN 10m or less ARM ZSP TLC INP RD 1 If DC24V is from PLC do not connect 24Vdd and COM 2 FX3U MT default pulse command type is negative logic pulse train sign The PA13 should be set as 0011h A F X 1N 2N MT and FX3G MT are in the same descrip...

Page 51: ... LSN 22 23 Servo driver 3Φ AC200 230V Brake resistor Servo motor 10m or less RES PC CM1 SON TL EMG LOP LSP LSN ARM ZSP TLC INP RD External signal Stop L limit signal H limit signal DOG Manual pulse generator 1 If DC24V is from PLC do not connect 24Vdd and COM 2 AS QD75D QD75P default pulse command type is used the PA13 should be set as 0000h 3 When QD75D is applied OPC is without providing power 4...

Page 52: ... HNG HNP HPG 28 11 10 29 VCC TLA LG 1 27 3 4 31 CN2 5V 1 3 7 6 5 2 4 GND ENCP ENCN 3 4 31 VCC TLA LG 1 27 HPP HNG HNP HPG 28 11 10 29 PG NP NG PP 9 6 5 8 LA LZR LZ LBR LB LAR 33 38 37 36 35 34 A B 5 10 9 8 7 6 B Z Z I O VDD DO2 DO1 COM DO5 DO4 DO3 RA1 RA1 RA3 RA2 RA5 RA4 CN1 48 42 41 47 49 45 44 43 RA6 DO6 46 INP WNG ZSP RD TLC ALM LSP DI7 DI6 DI5 DI4 DI3 DI2 DI1 LSN DI8 CN1 10m or less 22 20 19 1...

Page 53: ...is button becomes to Shift function when in parameter writing in mode UP key To increase the value which denoted parameter or set value DOWN key To decrease the value which denoted parameter or set value SET key To show or save the value which is operated Power indicator To indicate the power status 4 2 Display flowchart Use the display on the front side of servo drive for status display parameter...

Page 54: ...egment LED display Motor rotation speed Forward rotation at 500r min Reverse rotation at 3000r min The ratio of load inertia to motor shaft 15 5times Motor feedback revolution high digit Value is 1234567890 Display high digit 1234 5 Motor feedback revolution low digit Value is1234567890 Display low digit 67890 Parameter setting accomplished a successful write in Parameter setting failed Servo on S...

Page 55: ...23456789 than display 1234 Note 1 21474 21474 Motor feedback pulses Low digit after electric gear ratio FPL O pulse Motor feedback pulses Low digit after electric gear ratio Ex If pulses are 123456789 than display 56789 Note 1 99999 99999 Pulse command input pulses High digit after electric gear ratio CPH O pulse Pulse command input pulses High digit after electric gear ratio If command pulses are...

Page 56: ...e 23456789 than display 56789 99999 99999 Fully closed command pluses High digit after electric gear ratio FCH pulse Fully closed command pluses High digit Ex If pulses are 123456789 than display 1234 21474 21474 Fully closed command pluses Low digit after electric gear ratio FCL pulse Fully closed command pluses Low digit Ex If pulses are 123456789 than display 56789 99999 99999 Absolute pulse re...

Page 57: ...3rd alarm in the past is over current AL 03 Indicates that the 4th alarm in the past is regenerative error AL 04 Indicates that the 5th alarm in the past is over load AL 05 Indicates that the 6th alarm in the past is over speed AL 06 Functions when abnormal alarm occurred A Any mode screen could display the current alarm B The other screen could be read during the occurrence of an alarm C Remove t...

Page 58: ...n could not be performed from the display panel Inertia estimation mode This operation could execute the estimation ratio of the motor shaft to the load or related gain values The PC communication software via RS 232 USB is required This operation cannot be performed from the display panel Automatic offset of analog input If offset voltages in the analog circuits inside and outside the drive cause...

Page 59: ... as an example DI1 DI8 are ON DI9 DI12 are OFF DO1 DO5 are ON DO6 OP are OFF 4 5 2 The output signals forced output DO forced output The output signals could be forced on off and do not affect the status of the servo drive This function is used for output signal wiring check etc As neither external command nor any alarm occurred DO forced output operation could be executed Do not execute this oper...

Page 60: ...ion time constant PC01 PC02 200 0 20000 NOTE JOG speed on panel is settled by parameter PC04 if operate JOG function by using communication software the speed setting value is determined by other communication address Key functions are described as follows Key Description UP Press to run CCW rotation Release to stop DOWN Press to run CW rotation Release to stop If the communication cable is discon...

Page 61: ... communication software The initial values and setting ranges are listed in the table below Name Initial value Setting range Rotary speed rpm 200 0 6000 Acceleration deceleration time constant ms 1000 0 20000 Revolution 10kpulse 10 0 30000 pulse pulse 0 0 9999 Description of the buttons Button name Function description Forward Press to run positioning test in CCW Reverse Press to run positioning t...

Page 62: ... an offset voltage which will cause a slow motor rotation inside the servo drive The user could erase this bias with the automatic offset function in the diagnostic display mode Follow the steps to execute automatic offset operation of analog input After the automatic offset completed the bias value will be written into the PC26 ...

Page 63: ...After the values getting more stable or customers were satisfied with the machine characteristics press the Stop button to finish estimate inertia and gain operation Cancel the auto gain control panel options During the acceleration or deceleration process the servo drive would calculate the ratio of load inertia to motor shaft and the bandwidth of the system The relevant parameters are listed bel...

Page 64: ...value to complete this setting Switch the usage of MODE key to the shift function when parameter setting The Use of MODE button and UP DOWN button will be described in the next section 4 6 2 32bit parameter setting method Decimal parameter display data Positive value Example PA19 1234567 change the parameter to 1434567 the setting method show below ...

Page 65: ...56 SDH Series Manual Decimal parameter display data Negative value Example PA19 1234567 and change the parameter to 1234567 the setting method show below ...

Page 66: ...57 Chapter 4 Hexadecimal parameter display data Example PE01 0x03760135 and change the parameter to 0x03740135 the setting method show below ...

Page 67: ...is 0x12345678 the display is 1234 at high byte the display is 5678 at low byte Decimal Positive value display If the value is 1234567890 the display is 1234 5 at high byte the display is 67890 at low byte Decimal Negative value display 1 If the value is 1234567890 the display is 1 2 34 5 at high byte The display is 6 7 890 at low byte Decimal Negative value display 2 If the value is 34567890 the d...

Page 68: ... e g any coupler between the servo motor shaft and user s machine before an idle operation To follow the regular instruction to start the servo motor and then couple the servo motor with user s machine again The idle operation is explained as below 5 2 1 Idle JOG test This operation could be performed only if there is neither alarm nor warning on the drive To confirm an open contact between SON an...

Page 69: ...d a route of 10 5 turns for the servo motor the number of pulse should be set as 44040192 pulses The operation steps are described below Step 1 Wire the drive and the motor correctly then turn on the power Step 2 Connect the PC and the CN4 port of the drive with the standard mini USB cable Execute the USB communication function of Shihlin communication software and select the proper device number ...

Page 70: ...ning mode PI control 0000 0001 A fixed PB06 GD1 PB 06 PG1 PB 07 VG1 PB 08 VIC PB 09 Auto gain tuning mode 1 0002 Always estimated GD1 PB 06 PG1 PB 07 VG1 PB 08 VIC PB 09 ATUL PA 03 Auto gain tuning mode 2 0003 A fixed PB06 PG1 PB 07 VG1 PB 08 VIC PB 09 ATUL PA 03 GD1 PB 06 The PA02 is not writable as SON SG is conductive Make it open circuit then setting the values Follow the steps listed below to...

Page 71: ... mode 1 is applied some conditions must be met The acceleration time from 0rpm to 2000rpm or the deceleration time from 2000rpm to 0rpm should be 2 second or less If a 3000rpm case is applied the acceleration and deceleration time should be 3 seconds or less The speed command of the motor should be 250rpm or higher The ratio of machinery load inertia to motor shaft should be 100 times or less The ...

Page 72: ...ated value every 30 minutes 2 If the PB06 is known or the proper gain cannot be made by the auto gain tuning mode 1 please use the auto gain tuning mode 2 by the setting of PA02 and manually set the known value of PB06 Under this mode the estimation of control gain would still compute 3 With the settings of the inertia ratio and the response the servo drive would tune the optimum gains during the ...

Page 73: ...nse of the whole servo system As the response level setting is increased the traceability and settling time for a command decreases but a too high response level setting would generate vibration Therefore keep setting until the optimum response is obtained within the range without vibration If the response level setting which user desired would cause machine resonance the machine resonance suppres...

Page 74: ... control or speed control the bandwidth is highly related with themachinery rigidity and environment For machine tools which the high precision required a high Bandwidth system response is necessary However a high response level setting could cause the machine resonance easily Therefore a high rigidity machine should be used for occasions that require a high response to avoid machine resonance If ...

Page 75: ...th a large load inertia ratio or any vibration causing the small value would cause the vibration easily Refer to the following formula as setting value Resonance suppression low pass filter NLP The larger the load inertia ratio is the lower the system bandwidth is To keep a relatively high bandwidth a higher gain value may be required Also the probability of resonance for the same machine would be...

Page 76: ...erate SERVO ON as following procedure a Turn on the control power of the servo drive b Turn on the SON signal SON SG short circuit When the SON is activated the drive is ready to run The servo motor would immediatelybemagnetized and switched to the SERVO LOCK state 5 Forward reverse rotation pulse train At first make the servo motor run at a low speed and confirm the operation and rotary direction...

Page 77: ... the SON signal SON SG short circuit When the SON is activated the drive is ready to run The servo motor would immediately be magnetized and switched to the SERVO LOCK state 5 Start Choose the speed command with the SP1 and SP2 signals Options are listed as below Note External input signal Speed command SP2 SP1 0 0 Speed analog command VC 0 1 Inner speed command1 PC 05 1 0 Inner speed command2 PC ...

Page 78: ...ant 500 Set as 500ms PC 03 S curve acceleration deceleration pattern 0 Disabled PD15 Digital input filter time option 2 Filter time constant is 4ms PA 05 Inner torque limit 1 50 50 of maximum torque as a limit 4 Servo on Please operate SERVO ON as following procedure a Turn on the control power of the servo drive b Turn on the SON signal SON SG short circuit When the SON is activated the drive is ...

Page 79: ...register speed Pr S 0011 Pr S is switched mutually via the DI LOP signal Position control inner register torque Pr T 0015 Pr T is switched mutually via the DI LOP signal Speed torque control S T 0003 S T is switched mutually via the DI LOP signal The modification of PA01 would be valid by power off once and power on again 6 2 Torque control mode Torque control mode is often applied for such occasi...

Page 80: ...cription is as follows Name Sign Setting range Unit Initial value Control mode Torque analog command offset PC 27 8000 8000 mV 0 S T 6 2 3 Torque analog command smoothing By setting the filter time constant of torque analog command the user could run the servo motor smoothly in response to a sudden torque command The parameter description is as follows Name Sign Setting range Unit Initial value Co...

Page 81: ...mit Limit range Related parameter SP2 SP1 SP3 is invalid default value VCM 0 0 Speed analog limit VC 10V PC 12 SC1 0 1 Inner speed limit1 4500 4500 PC 05 SC2 1 0 Inner speed limit2 4500 4500 PC 06 SC3 1 1 Inner speed limit3 4500 4500 PC 07 DI status Valid option SP3 SP2 SP1 Speed limit Limit range Related parameter SP3 is valid VCM 0 0 0 Speed analog limit VC 10V PC 12 SC1 0 0 1 Inner speed limit1...

Page 82: ...ovide users a robust control which could instantaneously suppress external load interference Simple operation pattern can suppress external load interference and body resonance and tolerant load inertia variation in real time The basic speed control blocks are shown as below The above part of the graphic is internal speed command which with size of speed command written by users could switch by th...

Page 83: ... command PC 12 0 30000 rpm 3000 S T This value decides the output speed while the maximum permissible voltage is applied If the PC12 is 3000 the motor would rotate at 3000rpm when the applied voltage of speed command is 10V If the applied voltage of speed command is 5V the rotary speed would be 1500rpm The conversion is listed as follows The output speed rpm the setting value of PC12 applied volta...

Page 84: ...3000 rpm and this parameter is set as 3000 3s In such case the motor decelerating from 3000 rpm to 0 rpm would take 3 second When the running speed is 1000 rpm the motor take 1 second to decelerate from 1000 rpm to 0 rpm S pattern acc dec time constant The method of S pattern acceleration deceleration time constants is to employ a three step curve during the acceleration or deceleration process in...

Page 85: ... inner torque limit 1 PA05 is valid In case of short circuit the torque analog limitation TLA effective Pt Pr S Inner torque limit option TL1 Set the PD02 PD09 or PD21 PD24 parameter to enable this signal As TL1 SG is short circuit the Inner torque limit 2 PC25 effective Pt Pr S T Use the internal torque limit selection TL1 to set parameter PD02 PD09 than the internal torque limit 2 PC 25 can be s...

Page 86: ...in PB09 and speed feed forward gain PB10 When PA02 is set as 0001 the servo drive would automatically enable an interference compensator This function could reduce torque ripple overshoot and speed ripple It is suitable for systems with load changed violently Besides users should avoid applying this compensator on the system which the ratio of load inertia to motor shaft is greater than 10 times I...

Page 87: ...n resonance occurs users who do not know resonance frequency can set PB27 to be 1 or 2 to operate the auto resonance suppression The drive will detect resonant frequency and attenuation rate automatically and then set detected result in the first filter and the second filter Note 1 If PB27 is set to 1 PB27 will automatically set back to 0 after finishing detecting if PB27 is set to 2 it will conti...

Page 88: ...ow frequency resonance detection level VCL PB30 1 8000 pulse 50 Pt Pr Low frequency resonance suppression frequency 1 VSF1 PB31 1 3000 0 1Hz 100 Pt Pr Low frequency resonance suppression gain 1 VSG1 PB32 0 15 0 Pt Pr Low frequency resonance suppression frequency 2 VSF2 PB33 1 3000 0 1Hz 100 Pt Pr Low frequency resonance suppression gain 2 VSG2 PB34 0 15 0 Pt Pr Manual suppression method There are ...

Page 89: ...still persists please check if the value of PB32 or PB34 is 0 if one of it is 0 that means this resonance could not be suppressed by filter efficiency Please reduce attenuation rate Note 2 in such case If the PB32 or PB34 is not 0 means resonance frequency detecting is faulty it is possible from the detecting level PB28 is too low It is recommended to increase the detecting level and detect again ...

Page 90: ... condition Enable the trigger condition in the lowest digit If users set 1 here they could use the CDP signal of DI for gain changing The CDP signal could be assigned to any one of the 8 DI pins using parameters PD02 to PD09 or PD21 to PD24 0 0 0 x x 0 Invalid x 1 The external CDP signal of DI is ON x 2 Position command frequency is equal to higher than parameter CDS setting x 3 Position command p...

Page 91: ...parameters setting Name Name Abbr Sign Setting value Unit The ratio of load inertia to motor shaft GD1 PB06 70 0 1time Position loop gain PG1 PB07 100 rad s Speed loop gain VG1 PB08 500 rad s Speed integral gain VIC PB09 100 ms Gain switch option CDP PB11 0001 Gain switch time constant CDT PB13 10 ms The ratio 2 of load inertia to motor shaft GD2 PB14 20 0 1time Position loop gain change ratio PG2...

Page 92: ...n 500 600 500 Speed integral gain 100 150 100 6 4 Position control mode This mode is used at occasions for example machine tool CNC processing where require highly accurate positioning There are two ways for position command one is the external input and the other is internal register input The external input is to receive the external pulse train commands The inner register input enables users to...

Page 93: ...PPS z 1 below 200KPPS when u 1 the setting of z means z 0 below 4000KPPS z 1 below 1000KPPS u External pulse source options u 0 low speed optical coupler CN1pin PP PG NP NG u 1 high speed differential signal CN1pin HPP HPG HNP HNG The position commands are provided by external devices When this mode applied set the PA01 as 0000 There are 3 formats which could be used by users The pulse trigger cou...

Page 94: ...unction of POS1 to PO3 to switch the corresponding position command The following table explains the settings of the external input and inner register input Command POS6 POS5 POS4 POS3 POS2 POS1 CTRG Corresponding parameter PO 0 0 0 0 0 0 PE01 PE02 P1 0 0 0 0 0 1 PE03 PE04 P50 1 1 0 0 0 1 PF03 PF04 P51 1 1 0 0 1 1 PF05 PF06 P63 1 1 1 1 1 1 PF29 PF30 POS1 POS6 status 0 means short circuit Open 1 me...

Page 95: ...ion deceleration speed smoothing parameters are shown as the following table Name Sign Name Abbr Setting range Unit Initial value Control mode S pattern smoothing STC PC 03 0 10000 ms 0 Pr S T Note Please refer to chapter 7 for the acceleration deceleration time of PR mode It is recommending turning on the PC03 function To use the S pattern smoothing could improve the acceleration deceleration vib...

Page 96: ...r Sign Setting range Unit Initial Value Control mode Electronic gear numerator CMX PA 06 1 1048576 1 Pt Pr Electronic gear denominator CDV PA 07 1 1048576 1 Pt Pr Electronic gear numerator 2 CMX2 PC 32 1 1048576 1 Pt Pr Electronic gear numerator 3 CMX3 PC 33 1 1048576 1 Pt Pr Electronic gear numerator 4 CMX4 PC 34 1 1048576 1 Pt Pr The improper setting could lead to unexpected fast rotation so mak...

Page 97: ...etting the electronic gear ratio Load distance per revolution is 1mm the resolution of motor encoder is 22 bitPulse rev the gear ratio of load mechanism to motor shaft is 1 if the demand distance is 5μm the calculation is listed below 1048576 200 From above it could be known that by setting the electronic gear numerator as 4194304 and the electronic gear denominator as 200 then the ball screw rod ...

Page 98: ...etting Description Hybrid mode Position with external command speed Pt S 1001h Via DI signal to switch Pt and S Position with external command torque Pt T 1005h Via DI signal to switch Pt and T Position with inner register command speed Pr S 1011h Via DI signal to switch Pr and S Position with inner register command torque Pr T 1015h Via DI signal to switch Pr and T Speed torque S T 1003h Via DI s...

Page 99: ... is recommended for users to switch control mode when the motor is stopped completely 6 5 2 Speed torque hybrid mode Set the PA01 as 1003H before this hybrid mode performed Users could use LOP signal to switch speed mode and torque mode Because pin function ST1 ST2 and RS2 RS1 are defined mutually the rotation direction of motor would reverse while changing between the speed and torque modes The s...

Page 100: ...the motor is at a high speed rotation It could be switched as the zero speed detection output signal is ON Users could use the pin function LOP of DI to switch these 2 modes When the position mode with inner register command is wanted the state of CTRG signal must be turned on The sequence chart is presented in the figure below It is recommended that users switch torque to position mode after the ...

Page 101: ... Capacity W 100 100 20 100 10 200 100 20 100 10 400 100 20 100 10 500 100 20 100 10 750 40 40 40 20 1000 40 40 40 20 1500 13 100 13 50 2000 13 100 13 50 3500 13 100 13 50 The average regenerative power that could be consumed is at 50 rated power of the built in brake resistor So as the external brake resistor As external brake resistor is applied the same resistance value mentioned above is requir...

Page 102: ...rive s built in brake resistor users could directly use the built in brake resistor to consume the regenerative energy Note Due to 3000rpm is the rate speed of 400W servo drive we could find the Es on the previous table is 1 65 J Example 2 The drive s capacity is 2KW duty cycle T is 1 second revolution speed is 1000 rpm and load to motor inertia ratio is 20 Since the revolution speed 1000rpm is le...

Page 103: ...ing range Description Initial value Control mode Analog monitor output MOD PC 14 0000h 0707h There are 2 monitor outputs ch1 and ch2 0 ch2 0 ch1 The setting values and their corresponding output are listed below 0 Motor speed scale 10V double rated speed 1 Generated torque scale 10V max torque 2 Speed command scale 10V double rated speed 3 Effective load ratio scale 10V 300 4 Pulse command frequen...

Page 104: ... analog output should be 5V if MOG1 or MOG2 is set as initial value 100 So the analog monitor output voltage by MON should be 10V in case of 50 setting value applied The equation is MOG1 MOG2 unit 6 6 3 Operation of electromagnetic brake interlock The electromagnetic brake interlock signal is described 1 As MBR is OFF the electromagnetic brake is disabled and motor shaft is locked 2 As MBR is ON t...

Page 105: ...ic brake Motor type SMA series L010B L020B L040B L075B M050B M100B M150B M200B M350B Brake type Spring brake Normal locked Rated voltage V DC 24V Rated power W 6 3 7 9 8 6 19 3 34 Rated current A 0 24 0 32 0 35 0 8 1 41 Friction Tq N m 0 3 1 3 2 4 8 5 45 Electromagnetic brake is only provided for security of stopped motor please don t use at motor deceleration Attention ...

Page 106: ...ng procedure PR 0 63 sets PR procedure PR 01 PR 63 Total type of command In Position command In Position Constant speed JUMP WRITE index position Position command Absolute relative alternative Absolute incremental relative used interchangeably Acceleration deceleration time 1 set 16 sets Moving speed 8 sets 16 sets Delay time 16 sets Command trigger type DI POSn TRG DI POSn CTRG Event triggering E...

Page 107: ...0 ms Delay time PF65 PF80 total 16 sets 15 0 BIT PF49 PF64 Delay time 1 32767 ms Relevant parameters of PR mode Function description PA04 Home moving option PA08 Home moving high speed option 1 PA09 Home moving low speed option 2 PE01 Origin return path definition PE02 Origin Data value PF81 Auto protection of deceleration time PF82 PR command trigger registers Soft trigger PF86 Soft limit Positiv...

Page 108: ...it 6 1 the unit is PPS Pulse Per Second ACC DEC The range of value is 0 F Enable to set acceleration and deceleration time NO The definition is shown below ACC DEC value F E D C B 4 3 2 1 0 Corresponding parameter PF64 PF65 PF64 PF63 PF62 PF53 PF52 PF51 PF50 PF49 DLY The range of value is 0 F Enable to set delay time NO The definition is shown below DLY value F E D C B 4 3 2 1 0 Corresponding para...

Page 109: ...g parameter PF80 PF79 PF78 PF77 PF76 PF69 PF68 PF67 PF66 PF65 Parameter write in TYPE 8 means enable to write in the assigned parameter Take PR 01 of an example 31 28 27 24 23 20 19 16 15 12 11 8 7 4 3 0 BIT PE03 x SOUR DLY Target parameter be written OPT 8 PE04 Source Constant value or parameter NO The definition of OPT option is shown below OPT option Bit 7 0 8 Bit 6 0 4 Bit 5 0 2 Bit 4 0 1 x RO...

Page 110: ... PE03 x OPT2 DLY SPD DEC ACC OPT A PE04 DATA 0 4194304 Indexing coordinate command Unit pulse OPT option Bit 7 0 8 Bit 6 0 4 Bit 5 0 2 Bit 4 0 1 00 all forward forward 01 all backward reverse 10 Shortest Path According to the present position and the target position judgment OVLP Overlapping INS Insert The definition of OPT option is shown below INS When setting as INS then the path insert to inte...

Page 111: ...g parameter PF64 PF65 PF64 PF63 PF62 PF53 PF52 PF51 PF50 PF49 DEC1 The range of value is 0 F Enable to set the NO of first section deceleration time The definition is shown below ACC Value F E D C B 4 3 2 1 0 Corresponding parameter PF64 PF65 PF64 PF63 PF62 PF53 PF52 PF51 PF50 PF49 The second section deceleration time is same as the STP deceleration time of PF81 DLY The range of value is 0 F Enabl...

Page 112: ...ontrol mode Here are descriptions to three different connections a Sequence command If INS and OVLP are not be set at PR mode the procedure flow would be in original sequence But if AUTO has been set at the previous procedure the procedures will continuous to perform after previous procedure completed including the setting delay time b Overlapping command In the OVLP just could be performed at pos...

Page 113: ...00 ms As shown as the following chart that two steps of position command could connect smoothly and reduce vibrations when switch to the next procedure Setting skills of overlapping It is strongly recommended that the previous commands not to set the delay time otherwise it may affect the result of overlapping The overlapping command would be work effectively at the situation of the deceleration t...

Page 114: ...n an external insert occurs the setting delay time of the preceding procedures is invalid Example shown as the following PR 12 AUTO position control incremental position stroke 10485760 pulse target speed 600 rpm delay time 1500 ms ACC 200 ms DEC 200 ms PR 13 position control Insert incremental position stroke 10485760 pulse target speed 600 rpm delay time 0 ms ACC 200 ms DEC 200 ms The statement ...

Page 115: ...trol is applied please set this parameter group Gain filter No PB Used to perform the manual gain tuning Please set this parameter group Expansion No PC Once the speed or torque control is required please set this parameter group I O settings No PD Used to change the states of I O signal Please set this parameter group Pr route group 1 No PE Used to program the route of inner position control grou...

Page 116: ...pulses 10000 pulse rev PA15 CRSHA Motor crash protection level percentage 0 PA16 CRSHT Motor crash protection time 1 mS PA17 OVL Output overload warning level 120 PA18 OVS Overspeed warning 5500 rpm PA19 OVPE Position error excess 3x 2 22 pulse PA20 OVPL1 Position pulse frequency excess level 1 530 KHz PA21 OVPL2 Position pulse frequency excess level 2 4500 KHz PA22 DBF Dynamic brake control 0 PA2...

Page 117: ...eed feedback filter time constant 0 0 1mS PB21 NHF2 Machine resonance suppression filter 2 1000 Hz PB22 NHD2 Machine resonance suppression attenuation 2 0 dB PB23 Reserved PB24 VDC Speed differential compensation 980 PB25 NHF3 Machine resonance suppression filter 3 1000 Hz PB26 NHD3 Machine resonance suppression attenuation 3 0 dB PB27 ANCF Auto resonance suppression mode 1 PB28 ANCL Resonance sup...

Page 118: ... acknowledged range 10 mV PC16 MBR Electromagnetic brake output delay time 100 mS PC17 ZSP Zero speed acknowledged range 50 rpm PC18 COP1 Stop option and power interruption restart option 0010h PC19 COP2 Alarm history clear option and overload pre warn option 0000h PC20 SNO Communication device number 1 PC21 CMS Communication mode option 0010h PC22 BPS Communication protocol option 0010h PC23 SIC ...

Page 119: ...2 DO3 Digital output 3 option 0007h PD13 DO4 Digital output 4 option 0005h PD14 DO5 Digital output 5 option 0001h PD15 DIF Digital input filter time option 0002h PD16 SDI Digital input on off state control option 0000h PD17 DOP1 LSP LSN triggered stop option 0000h PD18 DOP2 CR signal clear option 0000h PD19 DOP3 Alarm code output option 0000h PD20 DOP4 Alarm reset triggered process 0000h PD21 DI9 ...

Page 120: ...PATH 12 Definition 00000000h PE26 PDAT12 PATH 12 Data 0 PE27 PDEF13 PATH 13 Definition 00000000h PE28 PDAT13 PATH 13 Data 0 PE29 PDEF14 PATH 14 Definition 00000000h PE30 PDAT14 PATH 14 Data 0 PE31 PDEF15 PATH 15 Definition 00000000h PE32 PDAT15 PATH 15 Data 0 PE33 PDEF16 PATH 16 Definition 00000000h PE34 PDAT16 PATH 16 Data 0 PE35 PDEF17 PATH 17 Definition 00000000h PE36 PDAT17 PATH 17 Data 0 PE37...

Page 121: ...37 Definition 00000000h PE76 PDAT37 PATH 37 Data 0 PE77 PDEF38 PATH 38 Definition 00000000h PE78 PDAT38 PATH 38 Data 0 PE79 PDEF39 PATH 39 Definition 00000000h PE80 PDAT39 PATH 39 Data 0 PE81 PDEF40 PATH 40 Definition 00000000h PE82 PDAT40 PATH 40 Data 0 PE83 PDEF41 PATH 41 Definition 00000000h PE84 PDAT41 PATH 41 Data 0 PE85 PDEF42 PATH 42 Definition 00000000h PE86 PDAT42 PATH 42 Data 0 PE87 PDEF...

Page 122: ...tion command 1 50 rpm PF34 POV2 Speed setting of Internal position command 2 10 rpm PF35 POV3 Speed setting of Internal position command 3 200 rpm PF36 POV4 Speed setting of Internal position command 4 300 rpm PF37 POV5 Speed setting of Internal position command 5 500 rpm PF38 POV6 Speed setting of Internal position command 6 800 rpm PF39 POV7 Speed setting of Internal position command 7 1000 rpm ...

Page 123: ...tion reached 1 0 ms PF66 DLY2 Delay time after position reached 2 100 ms PF67 DLY3 Delay time after position reached 3 200 ms PF68 DLY4 Delay time after position reached 4 300 ms PF69 DLY5 Delay time after position reached 5 500 ms PF70 DLY6 Delay time after position reached 6 600 ms PF71 DLY7 Delay time after position reached 7 800 ms PF72 DLY8 Delay time after position reached 8 1000 ms PF73 DLY...

Page 124: ...ing time constant 0 ms PC05 SC1 Internal speed command 1 100 rpm PC06 SC2 Internal speed command 2 500 rpm PC07 SC3 Internal speed command 3 1000 rpm PC08 SC4 Internal speed command 4 200 rpm PC09 SC5 Internal speed command 5 300 rpm PC10 SC6 Internal speed command 6 500 rpm PC11 SC7 Internal speed command 7 800 rpm PC12 VCM Analog speed command Maximum rotation speed 3000 rpm PC25 TL2 Internal to...

Page 125: ... option 0 PB38 FFCT Position feed forward filter time constant 0 ms PC01 STA Acceleration time constant 200 ms PC02 STB Deceleration time constant 200 ms PC03 STC S pattern acc dec time constant 0 ms PD17 DOP1 LSP LSN triggered stop option 0000h Control gain and gain switch related parameters NO Abbr Name Initial Value Unit Control Mode Pt Pr S T PA02 ATUM Gain tuning mode option 0002h PA03 ATUL A...

Page 126: ... PD26 DO6 Digital output 6 option 0002h PD27 DOD Digital output logic option 0020h Communication related parameters NO Abbr Name Initial Value Unit Control Mode Pt Pr S T PC20 SNO Communication device number 1 PC21 CMS Communication mode option 0010h PC22 BPS Communication protocol option 0010h PC23 SIC Communication time out process option 0 s Monitor and status display related parameters NO Abbr...

Page 127: ...matically Pr Pt S T 1000h 0000h 1115h PA02 ATUM Gain tuning mode option x gain tuning mode option 0 manual gain tuning PI control 1 manual gain tuning PI control interference compensator 2 Auto gain tuning load inertia ratio and bandwidth estimated 3 Auto gain tuning fixed load inertia ratio 4 Interpolation mode PB37 is fixed other gain value estimated Pr Pt S T 0002h 0000h 0003h PA03 ATUL Auto tu...

Page 128: ...CW rotation OGRP ON OFF is origin x 7 Home return in CCW rotation OGRP ON OFF is origin x 8 Directly define current position as the origin Pr 0000h 0000h 0128h No Abbr Function description Control Mode Initial Value Setting range unit PA05 TL1 Inner torque limit 1 Motor generated torque is restricted by this parameter which unit is The generated torque is calculated as below Torque limit value max...

Page 129: ...high speed option 1 Pr 100 1 2000 rpm PA09 HSPD2 Home moving high speed option 2 Pr 20 1 500 rpm PA10 RES1 Regenerative resistor value Drive capacity Default Under 500W 100Ω 750W 1KW 40Ω 1 5KW 3 5KW 13Ω 5KW 7KW 8Ω Pr Pt S T According to spec please refer to the table left 10 750 Ohm PA11 RES2 Regenerative resistor capacity Drive capacity Default Under 500W 20W 750W 1KW 40W 1 5KW 3 5KW 100W 5KW 7KW...

Page 130: ...output pulses Used to set the A B phase pulses encoder output by the drive Users could use parameter PA39 to choose the output pulse setting or output division ratio setting Set the value 4 times greater than the A phase or B phase pulses The number of A B phase pulses actual output is 1 4 times The maximum output frequency is 20MHz after multiplication by 4 Use this parameter within this range Fo...

Page 131: ...he AL07 will occur Pt 4500 1000 5000 KHz PA22 DBF Dynamic brake control Used to enable or disable the dynamic brake if an alarm occurred 0 DBF enabled the motor stops immediately 1 DBF disabled the motor coasts to stop gradually Pr Pt S T 0 0 1 PA23 MCS Memory write inhibit function Used to permit or prohibit memory write 0 EEPROM is writable 1 EEPROM is prohibited to be written Parameter modifica...

Page 132: ...t S T 0 0 2 No Abbr Function description Control Mode Initial Value Setting range unit PA31 APST Absolute coordinate system state read only bit15 bit5 bit4 bit3 bit2 bit1 bit0 0 0 1 0 0 1 0 1 0 1 bit0 absolute position status 0 normal 1 absolute position has lost bit1 battery voltage level 0 normal 1 low voltage bit2 encoder turns excess 0 normal 1 overflow bit3 reserved bit4 absolute coordinate s...

Page 133: ...d power on again Pr Pt S T 0000h 0000h 00FFh PA41 POSPD Max speed output setting of encoder According the actual application users can set this PA41 to optimize the encoder outputs LA LB If this setting value is exceeded during the motor running the AL30 will occur 0 is to disable this function Pr Pt S T 5500 0 6000 rpm No Abbr Function description Control Mode Initial Value Setting range unit PA4...

Page 134: ...cy which the control gain is decreased to suppress the mechanism resonance Refer to section 6 3 6 Pr Pt S T 1000 10 4000 Hz PB02 NHD1 Machine resonance suppression attenuation 1 To set the attenuation at the PB01 frequency The setting of 0 value denotes the disabled of this notch filter Pr Pt S T 0 0 32 dB PB03 NLP Resonance suppression low pass filter To set low pass filter time constant for supp...

Page 135: ...l of DI is ON x 2 Position command frequency CDS PB12 setting x 3 Position command pulse error CDS PB12 setting x 4 Motor speed CDS PB12 setting x 5 Gain switched as the CDP signal of DI is OFF x 6 Position command frequency CDS PB12 setting x 7 Position command pulse error CDS PB12 setting x 8 Motor speed CDS PB12 setting Pt Pr S 0000h 0000h 0008h PB12 CDS Gain switch condition value The unit of ...

Page 136: ... 2 Continuous resonance suppres sion Pr Pt S T 1 0 2 PB28 ANCL Resonance suppression detection level The smaller the setting value is the more sensitive the resonance will be Pr Pt S T 50 1 300 PB29 AVSM Auto low frequency resonance suppression mode setting Setting value is 0 Stable Setting value is 1 Stable after resonance suppression Description When it is set to 1 Auto resonance the value retur...

Page 137: ...d s PB40 SVI Synchronous motion speed integral compensation With this value increases will enhance the two motors speed follow and close speed between two motor errors but cause into vibration and noise Pr Pt S T 0 0 1023 rad s PB41 SPI Synchronous motion position integral compensation With this value increases will enhance the two motors speed follow and close speed between two motor errors but c...

Page 138: ... improve the stability of the motor during startup and stop In order to smooth the command curve the acceleration time and deceleration time there will be a little error Motor acceleration time to the speed command STA STC Motor deceleration time from the speed command to 0 STB STC Pr S T 0 0 10000 ms PC04 JOG JOG speed command As JOG mode applied this PC04 is used as speed command Pr Pt S T 300 0...

Page 139: ...00 0 30000 rpm rpm PC13 TLC Torque generated of maximum analog command This value decides the output torque while the maximum permissible voltage 10V is applied For example if the setting is 100 when the external voltage input is 10V it means the torque control command is 100 when the external voltage input is 5V it means the torque control command is 50 The formula is as follows Torque command PC...

Page 140: ...for varied devices is necessary If two drives occupy the same number the communication could not be performed Pr Pt S T 1 1 32 Device PC21 CMS Communication mode option 0 0 y x y communication reply delay time changing parameter is valid after restart y 0 reply within 1 mS y 1 reply after 1 mS x mode option x 0 RS 232C x 1 RS 485 Pr Pt S T 0010h 0000h 0011h PC22 BPS Communication protocol option 0...

Page 141: ...rol modes that sta tus shown as followings Control mode Initial display after power on position motor feedback pulse Note 1 position speed motor feedback pulses Note 1 motor speed speed motor speed speed torque motor speed torque analog command voltage torque torque analog command voltage torque position torque analog command voltage motor feedback pulse Note 1 Note 1 the pulse after electronic ge...

Page 142: ...01 DIA1 Digital input signal auto ON option 1 u z y x x SON open short option 0 controlled by external actual wiring 1 SON SG is short circuit without actual wiring y LSP open short option 0 controlled by external actual wiring 1 LSP SG is short circuit without actual wiring z LSN open short option 0 controlled by external actual wiring 1 LSN SG is short circuit without actual wiring u EMG open sh...

Page 143: ...T 0002h 0000h 0005h PD16 SDI Digital input on off state control option 0 0 0 x x state control option 0 controlled by external input signals 1 controlled by communication software Pr Pt S T 0000h 0000h 0FFFh PD17 DOP1 LSP LSN triggered stop option 式 0 0 0 x x motor stop option 0 stops immediately 1 decelerates to stop according to PC02 PC03 Pt Pr S 0000h 0000h 0001h PD18 DOP2 CR signal clear optio...

Page 144: ...rrent 1 0 0 AL 05 Overload 1 0 1 AL 06 Over speed AL 07 Pulse command abnormal AL 08 Position error excessive 1 1 0 AL 0B Encoder error 1 AL 0C Encoder error 2 1 1 1 AL 11 Motor mismatched Note 0 OFF 1 ON Pr Pt S T 0000h 0000h 0001h PD20 DOP4 Alarm reset triggered process 0 0 0 x x clear option 0 PWM signal off If the motor is running it would coast to stop If the motor is shaft lock it would beco...

Page 145: ...ion but doesn t mean the final digital input of DI1 and DI5 is ON It is determined by PD16 Digital input The function planning of DI DI1 DI8 please refer to PD02 PD09 DI9 DI12 please refer to PD21 PD24 Example 1 When PD16 is 0FFFh and PD25 is 0000h the status of DI1 DI12 is all controlled by communication contact When DI1 DI12 is all OFF all external hardware terminals DI1 DI12 and SG break over d...

Page 146: ...ptions 0 0 y x x 0 Output not remain x 1 output remain y 0 Position offset warning AL 1B disable y 1 Position offset warning AL 1B enable 1 Command trigger Pr new command begins valid command 3 be gins to output and clear signals of 2 4 5 6 2 CMD_OK To check if command 3 finished the output and enable to set delay time DLY 3 Command output Output position command pattern according to the setting v...

Page 147: ...er power on In addition to the above definitions the related set tings about home returning PA04 home return mode PA08 PA09 the setting speed of searching home PE02 ORG_DEF the coordinate value of home could be 0 or not This function is for traverse moving of the coordinate system A Goes back to the origin after home returning function of PA04 in SDA series does not provide in SDH but through a di...

Page 148: ... point or jumping PATH_NO Note PATH Program Pr 0 For non index position function 231 231 1 For index position function 0 4194304 PE05 PDEF2 PATH 2 definition Please refer to the description of PE03 Pr 00000000h 00000000h FFFFFFFFh PE06 PDAT2 PATH 2 data Please refer to the description of PE04 Pr 0 231 1 231 1 PE07 PDEF3 PATH 3 definition Please refer to the description of PE03 Pr 00000000h 0000000...

Page 149: ...refer to the description of PE03 Pr 00000000h 00000000h FFFFFFFFh PE26 PDAT12 PATH 12 data Please refer to the description of PE04 Pr 0 231 1 231 1 PE27 PDEF13 PATH 13 definition Please refer to the description of PE03 Pr 00000000h 00000000h FFFFFFFFh PE28 PDAT13 PATH 13 data Please refer to the description of PE04 Pr 0 231 1 231 1 PE29 PDEF14 PATH 14 definition Please refer to the description of ...

Page 150: ...lease refer to the description of PE04 Pr 0 231 1 231 1 PE57 PDEF28 PATH 28 definition Please refer to the description of PE03 Pr 00000000h 00000000h FFFFFFFFh PE58 PDAT28 PATH 28 data Please refer to the description of PE04 Pr 0 231 1 231 1 PE59 PDEF29 PATH 29 definition Please refer to the description of PE03 Pr 00000000h 00000000h FFFFFFFFh PE60 PDAT29 PATH 29 data Please refer to the descripti...

Page 151: ...231 1 231 1 PE85 PDEF42 PATH 42 definition Please refer to the description of PE03 Pr 00000000h 00000000h FFFFFFFFh PE86 PDAT42 PATH 42 data Please refer to the description of PE04 Pr 0 231 1 231 1 PE87 PDEF43 PATH 43 definition Please refer to the description of PE03 Pr 00000000h 00000000h FFFFFFFFh PE88 PDAT43 PATH 43 data Please refer to the description of PE04 Pr 0 231 1 231 1 PE89 PDEF44 PATH...

Page 152: ...r to the description of PE04 Pr 0 231 1 231 1 PF15 PDEF56 PATH 56 definition Please refer to the description of PE03 Pr 00000000h 00000000h FFFFFFFFh PF16 PDAT56 PATH 56 data Please refer to the description of PE04 Pr 0 231 1 231 1 PF17 PDEF57 PATH 57 definition Please refer to the description of PE03 Pr 00000000h 00000000h FFFFFFFFh PF18 PDAT57 PATH 57 data Please refer to the description of PE04...

Page 153: ...700 1 6000 rpm PF47 POV15 Speed setting of inner position command 15 Pr 3000 1 6000 rpm PF48 POV16 Speed setting of inner position command 16 Pr 3000 1 6000 rpm PF49 POA1 Acceleration deceleration time of inner position command 1 Acceleration deceleration time setting of Pr mode which means the time spent form speed 0 to rated speed Pr 200 1 65550 ms PF50 POA2 Acceleration deceleration time of inn...

Page 154: ... 32767 ms PF70 DLY6 Delay time of reached position 6 Please refer to PF65 Pr 600 0 32767 ms PF71 DLY7 Delay time of reached position 7 Please refer to PF65 Pr 800 0 32767 ms PF72 DLY8 Delay time of reached position 8 Please refer to PF65 Pr 1000 0 32767 ms PF73 DLY9 Delay time of reached position 9 Please refer to PF65 Pr 1200 0 32767 ms PF74 DLY10 Delay time of reached position 10 Please refer to...

Page 155: ...ng Z 1 D When EV3 is ON operate PR No 51 63 U 0 When EV4 is ON do nothing U 1 D When EV4 is ON operate PR No 51 63 PF84 EVOF Low edge triggered PR program number Pr 0000h 0000h DDDDh Parameter function 4 bit UZYX Set EVx is ON operate PR number X 0 When EV1 is OFF do nothing X 1 D When EV1 is OFF operate PR No 51 63 Y 0 When EV2 is OFF do nothing Y 1 D When EV2 is OFF operate PR No 51 63 Z 0 When ...

Page 156: ...to return the present origin CM1 0x0D Electronic gear numerator option 1 CM2 0x0E Electronic gear numerator option 2 CR 0x0F Used to clear the position command pulse errors on its rising edge The width of pulse must be 10ms or more than 10ms CDP 0x10 Turn CDP on to change the gain into the multiplier of PB14 to PB17 LOP 0x11 It is used to switch varied mode as hybrid control mode applied EMG 0x12 ...

Page 157: ... analog limit VLC SG is off when SON signal is turned off MBR 0X06 When using this signal make it usable by setting parameter PA01 as 1 MBR is off as the power is turned off or any alarm occurred WNG 0x 07 WNG SG is conductive as any warning occurred Without warning occurring WNG SG is isolated ZSP 0x 08 When motor speed is under the preset of zero speed ZSP SG keeps conductive CMDOK 0x 09 CMDOK S...

Page 158: ... communication could not be used simultaneously Use the parameter PC21 to select between RS 232C and RS 485 The wiring is demonstrated below RS 232C 1 Outline One device applied 2 Wiring diagram 1 CN3 connector is the RJ 45 type 2 Suitable for the environment with less noise interference If communication transmission speed is higher than 38400bps use the wires shorter than 3m RS 485 1 Outline Up t...

Page 159: ...m Recommendation To connect ground terminal of RS 485 RS 232 converter and GND pin4 pin5 of CN3 could reduce communication failure if necessary USB 1 Outline Use the standard Mini USB cable to perform Servo driver Servo driver Servo driver ...

Page 160: ...de x 6 8 data bit No parity 2 Stop bit Modbus RTU Mode x 7 8 data bit Even parity 1 Stop bit Modbus RTU Mode x 8 8 data bit Odd parity 1 Stop bit Modbus RTU Mode 5 Baud rate PC22 0 0 y x y 0 4800bps y 1 9600bps y 2 19200bps y 3 38400bps y 4 57600bps y 5 115200bps 9 3 Modbus protocol When communication between a computer and several drives is going to be performed every drive should have its device...

Page 161: ...The length of n words is equal to the one of 2n bytes n 29 So there are 4n ASCII code bytes DATA 0 LRC LRC check value 1 byte is composed of 2 ASCII code bytes End1 End code 1 0DH of ASCII CR End0 End code 0 0AH of ASCII LF Communication data formats are described below STX Start code character ADR Device number The address code is from 1 to 32 For example communicate with device number 18 hexadec...

Page 162: ...rive which device number is 01H and start address is 0100H Command host Response slave STX ADR 0 1 CMD 0 3 byte length byte 0 4 content of address 0100h 0 1 0 2 content of address 0101h 1 2 2 1 LRC D 2 End1 0DH CR End0 0AH LF STX ADR 0 1 CMD 0 3 start address 0 1 0 0 word length 0 0 0 2 LRC F 9 End1 0DH CR End0 0AH LF STX ADR 0 1 CMD 0 6 start address 0 1 0 0 written data 0 1 4 5 LRC B 2 End1 0DH ...

Page 163: ...DR code to the last data code The 2 s complement is a byte value which the overflow part neglected Here is a case to describe the rule For example To read 2 words which start address is 0104h from device number 01H as an example is described below 01H 03H 01H 04H 00H 02H 0BH The 2 s complement of 0BH is F5H so LRC is F 5 STX ADR 0 1 CMD 0 6 start address 0 1 0 4 data written 0 0 0 2 LRC debug F 5 ...

Page 164: ...d code 03h read data The biggest N id29 Example to read 2 words which start address is 0200h from device number 01H is described below Command host Response slave Example 2 Command code 06H write data 1 word Example to write 100 0064H into the drive which device number 01H and start address 0200h Command host Response slave ADR 01H CMD 03H start address 02H high byte 00H low byte word length 00H 0...

Page 165: ...The final contents of the CRC register are the CRC value It should be noticed that the low byte should be transmitted before high byte For example reading 2 words from address 0101h of the drive with address 01H The final content of the CRC register from ADR to last data character is 3794H then the command message is shown as follows What should be noticed is that 94H have to be transmitted before...

Page 166: ...nge error Exception code 01h denotes wrong command code transmitted from the host computer Exception code 02h denotes wrong parameter address transmitted from the host computer The parameter address range is from 0x0000 to 0x20FF Exception code 03h denotes the over range parameter setting request The range judgment of parameter value is as follows 1 C h e c k i f r e a d i n g d a t a i s o u t o ...

Page 167: ...ctive load ratio 2word 0x0014 Peak load ratio 2word 0x0016 DC Bus voltage V 2word 0x0018 The ratio of load inertia to motor shaft times the first digit after the decimal point 2word 0x001A Instantaneous torque 2word 0x001C Regenerative load ratio 2word 0x001E Fully closed encoder feedback pluses pulse 2word 0x0020 Absolute pulse relative to encoder z phase pulse Note1 2word 0x0022 Command pulse nu...

Page 168: ...1 are determined by External hardware terminal status So the final digital IO status address 0x0204 is 111000 001111 Address Content Data length 0x0205 The ON OFF status of DI and DO The pin location is as follows 1word Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 Bit No DO6 DO5 DO4 DO3 DO2 DO1 Signal name b IO pin function Address Content Data length 0x0206 0x020D To display the pin function programme...

Page 169: ... 0x18 Function code EV2 EV1 INHP POS6 POS5 POS4 LSN LSP Sign 0x24 0x23 0x22 0x21 0x20 Function code STOP ABSC ABSE EV4 EV3 Sign Note 2 DO function definition 0x05 0x04 0x03 0x02 0x01 0x00 Function code TLC VLC HOME INP SA ALM RD Sign 0x0B 0x0A 0x09 0x08 0x07 0x06 Function code MC_OK OLW CMDOK ZSP WNG MBR Sign 0x0F 0x0E 0x0D 0x0C Function code ABSW SWNL SWPL OVF Sign 3 Alarm information read only A...

Page 170: ...ble Step 1 Select DI contact control option Address Content Data length 0x061E DI contact source control switch PD16 The input signal source of DI is determined by every one bit of this parameter Bit0 Bit11 correspond to DI1 DI12 Bit setting as follows 0 according to actual input state 1 controlled by communication command Parameter PD25 2 word Step 2 Write in command to control ON OFF state of ea...

Page 171: ...ting range 0 20000 Unit ms 1word Step 4 JOG speed command and start Address Content Data length 0x0903 JOG speed command of positioning test Setting range 0 6000 Unit rpm 1word Step 5 JOG Forward Reverse Stop command Address Content Data length 0x0904 0 Written 0 to stop motor running 1 Written 1 to make motor run forward rotation CCW 2 Written 2 to make motor run reverse rotation CW Setting range...

Page 172: ...10 2 Maintenance Users should not disassemble the servo drive or motor as maintenance performing Please refer to following regular maintenance Periodically clean the surface of servo drive and motor Operate the servo drive and motor within the specified environmental condition range Clean off any dust and dirt that accumulated on the ventilation holes of servo drive 10 3 Life of consumable compone...

Page 173: ...edy the fault according to the instruction mentioned in section 11 2 When parameter PD19 is set as 1 alarm codes could be output via the ON OFF states of DO1 CN1_41 DO2 CN1_42 DO5 CN1_45 terminals Alarm Sign Alarm code Name Clear CN1 41 CN1 42 CN1 45 Power OFF ON Press SET on alarm screen RES signal AL 01 0 1 0 Over voltage AL 02 0 0 1 Low voltage AL 03 0 1 1 Over current AL 04 0 1 0 Abnormal rege...

Page 174: ...utomatically AL 13 LSP LSN abnormal AL 14 Software LSP trigger AL 15 Software LSN trigger AL 16 Overload pre warning AL 17 ABS time out warning AL 18 Over regeneration warn AL 19 Pr command error Home returning AL 1A Index coordinate undefined Removing the cause would clear the warning automatically AL 1B Position offset warn AL 61 Parameter group excess Note 1 AL 2C Absolute encoder error 3 Remov...

Page 175: ... power source Capacity of power supply is insufficient Check if it occurred as motor torque regenerated huge Increase power supply capacity Input power error incorrect power Review the power supply Use proper power source AL 03 Over current Definition The motor output current has exceeded the allowance range of servo drive Cause Inspection Remedy Improper motor wirings Check the wirings Correct th...

Page 176: ...ervo system is instable to cause overshoot Observe if the mechanism is with vibration 1 Re set proper servo gain value 2 If gain could not be set to proper 1 Reduce load inertia ratio or 2 Set acceleration deceleration time constant to proper value Electronic gear ratio is large Check if the settings are proper Set correctly AL 07 Pulse command abnormal Definition Input pulse frequency of the comm...

Page 177: ...connector is loosen or disconnected Re connect CN2 connector Encoder wirings faulty Check the encoder feedback pulses continuity of motor while Servo OFF Contact agent for proper service AL 0C Encoder error 2 Definition Pulse signals abnormal between servo motor and servo drive Cause Inspection Remedy Initial magnetic polarity of encoder is in wrong position Rotate the motor shaft forward and back...

Page 178: ...ency conditions AL 13 LSP LSN abnormal Definition The LSP or LSN signal of DI is activated Cause Inspection Remedy LSP activated Check if the limit switch is activated Release the activated cause of limit switch LSN activated Check if the limit switch is activated Release the activated cause of limit switch AL 14 Software LSP trigger Definition The software LSP is activated Cause Inspection Remedy...

Page 179: ...ng command except incremental at this time the error will occur Absolute system This error will occur in following situations 1 The position feedback register is overflow 2 Change the electronic gear ratio PA06 PA07 and homing procedure has not been executed 3 Operate Absolute Positioning Command when DO HOME is OFF Conduct homing procedure AL 20 Motor Crash Error Cause Inspection Remedy When effe...

Page 180: ...incremental or absolute encoder 2 Check the setting of PA28 If users desire to use absolute function please choose absolute motor If not please set parameter PA28 to 0 AL 25 The communication of linear scale is breakdown Cause Inspection Remedy When PA26 1 or 2 and motor is on Servo ON situation as the linear scale feedback pulse 500 pulse but actual linear scale feedback pulse 3 pulse AL 25 occur...

Page 181: ...or 2 Cause Inspection Remedy The value of absolute encoder multi revolution counter is abnormal Re power on the servomotor and check if this error occurs again If the situation is not improving please contact agent for proper service AL 2C absolute encoder error 3b Cause Inspection Remedy Change the battery when the power is OFF which is controlled by the servo drive Do not change or remove the ba...

Page 182: ...Remedy Drive current feedback error Re power on the drive If the situation is not improving please contact agent for proper service AL 32 Control circuit error 2 Cause Inspection Remedy Programmable port array error Re power on the drive If the situation is not improving please contact agent for proper service AL 33 Memory error 2 Cause Inspection Remedy Cache memory is in error Re power on the dr...

Page 183: ... setting is over the range The alarm can be cleared with following methods Power OFF ON Press SET on current alarm screen RES signal ON AL 63 PR program writing parameter exceeds the range Cause Inspection Remedy Write parameter with PR command TYPE 8 exceeds the range Write parameters via PR procedure group setting is over the range The alarm can be cleared with following methods 1 Power OFF ON 2...

Page 184: ...verload fan failure protection output short circuit protection abnormal encoder protection abnormal regeneration protection low voltage power interruption protection over speed protection error excessive short circuit protection of terminal U V W and CN1 CN2 CN3 Encoder type incremental type 22bit 4194304 p rev absolute type 16bit 4194304 p rev Communication interface RS232 RS485 MODBUS USB Positi...

Page 185: ...d abnormal alarm reset emergency stop control mode switching electric gear ratio options gain switching Servo on Fault reset Gain switch Pulse clear Zero clamp Command input reverse control Torque limit Speed limit Speed command selection Speed position mode switching Speed torque mode switching Torque position mode switching Emergency stop Positive negative limit Forward reverse operation torque ...

Page 186: ...mensions of driveServo DrivesSDH 010A2 SDH 020A2 SDH 040A2 SDH 050A2 100W 500W unit mm Dimensions of the servo drive may be revised without prior notice SDH 075A2 SDH 100A2 750W 1KW unit mm Dimensions of the servo drive may be revised without prior notice ...

Page 187: ...ual SDH 150A2 SDH 200A2 SDH 350A2 1 5KW 3KW unit mm Dimensions of the servo drive may be revised without prior notice SDH 500A2 SDH 700A2 5KW 7KW unit mm Dimensions of the servo drive may be revised without prior notice ...

Page 188: ... 46 0 52 0 48 Voltage constantKE V Kmin 1 41 0 54 5 59 8 56 0 Armature resistanceRa Ohm 42 00 11 70 5 63 1 35 Armature inductanceLa mH 44 25 42 10 22 95 9 83 Mechanical constant ms 1 84 1 01 0 64 0 59 Electric constant ms 1 05 3 51 4 08 7 28 Insulation class F Insulation resistance 100MΩ DC500V Insulation strength AC1500V 60Hz 60sec Encoder 22bit Absolute position is optional Environment Protectio...

Page 189: ...m A 0 91 0 94 0 95 1 14 1 18 Voltage constant KE V Kmin 1 95 3 98 5 99 3 119 5 123 2 Armature resistance Ra Ohm 3 77 1 48 0 89 0 76 0 31 Armature inductance La mH 19 2 9 12 5 79 8 17 3 99 Mechanical constant ms 2 99 2 09 1 82 2 26 1 69 Electric constant ms 5 09 6 18 6 54 10 75 12 79 Insulation class F Insulation resistance 100MΩ DC500V Insulation strength AC1500V 60Hz 60sec Encoder 22bit Absolute ...

Page 190: ...181 Chapter 12 12 5 Dimensions of low inertia motor SMH L010 SMH L020 L040 SMH L075 ...

Page 191: ...n radial direction N kgf 68 6 7 245 25 245 25 392 40 Permissible load in axial direction N kgf 39 2 4 98 10 98 10 147 15 12 7 Dimensions of medium inertia motors SMH M050 M100 M150 SMH M200 M350 The size varies according to the finished motor design including with electromagnetic brake size too unit mm Dimensions of servo motors may be revised without prior notice ...

Page 192: ...rade deflection degree concentric grade etc The table below provides more details Precision mm Motor frame size 100 or less 130 176 Right angle grade of frame to shaft a 0 05 0 06 0 08 Shaft deflection degree b 0 02 0 02 0 03 Concentric grade of outer diameter to shaft c 0 04 0 04 0 06 12 10 Electromagnetic compatible filter EMC Filter If the drive and motor need to comply with EMC rules filters a...

Page 193: ... drive or motor interfere with peripheral equipment by radiation or conduction it is recommended to use the filter Here is a wiring diagram for the filter application If the single phase power is applied T terminal of drive is idle EMC Filter should be well grounded ...

Page 194: ...stic 13 1 Speed torque curves of low inertia motor SMH L010 SMH L020 SMH L040 SMH L075 These characteristic curves are plotted with AC 3φ 200 230V power applied 13 2 Speed torque curves of medium inertia motor SMH M050 SMH M100 SMH M150 ...

Page 195: ...e described as follows 1 The ratio of load inertia to motor shaft is too large 2 During acceleration or deceleration process the time constant is set too small 3 The operating time which torque generated is over rated torque is too long 4 Mechanism vibration occurred due to improper gain is ignored but the motor is still performed 5 Wrong connection between drive and motor or the encoder is faulty...

Page 196: ...187 Chapter 13 As load torque is 300 operating time is 2 23S As load torque is 300 operating time is 2 28S ...

Page 197: ...orque control mode 2 Control switch over mode position speed speed torque and torque position 3 Stroke less coordinate system e g rotary shaft infinitely long positioning 4 Changing electronic gear after home position setting 5 Using alarm code output Initialization In the first use of absolute system due to the absolute coordinate system has not been set so the drive will occur first alarm AL 2C ...

Page 198: ...tor feedback pulse before electric gear pulse 2word The drive will update the current encoder status and absolute position of motor by writing PA30 When PA30 1 errors will not be cleared when read position data If PA30 2 o clock errors will be cleared when read position data When the servo motor is motionless it will do tiny position correction In order to avoid absolute coordinate values differen...

Page 199: ...e position data 2 bits DO 4 regular ABS transmission data ready ABST 42 Indicates that the data to be sent is being prepared in the ABS transfer mode At the completion of the ready state ABST turns on DO 2 regular ABS Home position setting ABSC plan able When ABSC is turned on the home position data is cleared DI x ABS position lost ABSV plan able When absolute position is lost ABSV is turned on D...

Page 200: ...7 Home position setting The home position must be set if a System set up is performed b The servo amplifier has been changed c The servo motor has been changed or d Absolute position lost AL 2C absolute encoder error 3 occurred In the absolute position detection system the absolute position coordinates are made up by making home position setting at the time of system set up The motor shaft may ope...

Page 201: ...vo alarm has occurred ABSM is not received ABSM allows data transmission even while a servo warning is occurring If ABSM is turned off during the ABS transfer mode the ABS transfer mode is interrupted and AL 17 ABS time out warning occurs If SON is turned off RES is turned on and EMG is turned off during the ABS transfer mode AL ABS time out warning occurs 4 Note that if ABSM is turned on for a pu...

Page 202: ...turned on the programmable controller will turn on ABSR 4 In response to ABSR the servo outputs the lower 2 bits of the absolute position data and ABST in the off state 5 After acknowledging that ABST has been turned off which implies that 2 bits of the absolute position data have been transmitted the programmable controller reads the lower 2 bits of the absolute position data and then turns off A...

Page 203: ...adds the data to obtain the sum of the received data The checksum is 6 bit data Example ABS data 30000 FFFF8AD0 the checksum of is 22H 3 Transmission error AL 17 ABS time out warning In the ABS transfer mode the servo drive processes time out below and displays AL 17 when a time out error occurs 1 ABSR request off time time out check If the ABS request signal is not turned on by the programmable c...

Page 204: ...sh time time out check If ABSM is not turned off within 5 s after the last ABS transmission data ready is turned on it is regarded as the transmission error and the AL 17 ABS time out warning is output 4 ABSM off check during the ABS transfer When the ABSM is turned on to start transferring and then the ABS transfer mode is turned off before the 19th ABS transmission data ready is turned on AL 17 ...

Page 205: ...t warning occurs regarding it as a transfer error Checksum error If the checksum error occurs the programmable controller should retry transmission of the absolute position data Using the ladder check program of the programmable controller turn off ABSM After a lapse of 10 ms or longer turn off SON off time should be longer than 20 ms and then turn it on again If the absolute position data transmi...

Page 206: ...peration or servo motor rotation It may cause home position sift Move the machine to the position where the home position is to be set by performing manual operation such as JOG operation When CR is on for longer than 20 ms the stop position is stored into the nonvolatile memory as the home position absolute position data When the servo on set CR to on after confirming that INP is on The number of...

Page 207: ...3 Fix ABS Data content ABSD 44 Position data of ABS is outputted The data is valid when ABSR is ON When DI ABSE is ON this DO is enabled DO 4 Fix ABS transmission error ABSW Plan able Warning of absolute encoder DO x Home position setting ABSC Plan able When DI ABSC is ON multi turn data stored in absolute encoder will be cleared When DI ABSE is ON this function is enabled DI x Please refer to exa...

Page 208: ...tem will start to initialization The pulse number will be set to zero Please refer to Figure below for the signal controlling chart Ts ms Tq ms Min PD15 2 Max PD15 10 The descriptions for the timing 1 When the host controller switches ABSE from OFF to ON a period of time Ts have to be waited for the next step to process 2 After waiting time Ts the host controller now can enable the ABSC from OFF t...

Page 209: ...solute system DI DO communication starts A threshold time Ts for confirming the signal ABSE is necessary After the signal has been recognized the DI4 DO2 and DO3 no matter what their functions are will be switched to the function of ABSQ ABSR and ABSD respectively 2 Switch ABSQ to low after it is defined the servo drive will recognize that host controller wants to read data from drive 3 After conf...

Page 210: ...he communication procedure 9 The host controller detects that ABSR communication is wrong will set ABSE in low level and restart to communicate 10 Enable ABSE again and restart communication 11 The host controller set ABSQ in low level and request to read 12 After confirming time Tq the drive will inform the host controller that data could be read 13 After the host controller detects that ABSR is ...

Page 211: ...number Length L mm low inertia encoder cable 2M SDH ENL 2M L H 2000 100 low inertia encoder cable 5M SDH ENL 5M L H 5000 100 low inertia encoder cable 10M SDH ENL 10M L H 10000 100 low inertia encoder cable 2M Absolute type SDH ENL 2M L H B 2000 100 low inertia encoder cable 5M Absolute type SDH ENL 5M L H B 5000 100 low inertia encoder cable 10M Absolute type SDH ENL 10M L H B 10000 100 Shihlin p...

Page 212: ...e 2M Absolute type SDH ENM 2M L H B 2000 100 medium inertia encoder cable 5M Absolute type SDH ENM 5M L H B 5000 100 medium inertia encoder cable 10M Absolute type SDH ENM 10M L H B 10000 100 Power connectors Shihlin part number SDA PWCNL1 100W 200W 400W 750W without electromagnetic brake SDA PWCNL2 100W 200W 400W 750W with electromagnetic brake Shihlin part number SDA PWCNM1 for 500W 1KW 1 5KW Sh...

Page 213: ...A PWCNL1 10M L 10000 100 Low inertia power line1 with electromagnetic brake SDA PWCNL2 2M L 2000 100 Low inertia power line2 with electromagnetic brake SDA PWCNL2 5M L 5000 100 Low inertia power line3 with electromagnetic brake SDA PWCNL2 10M L 10000 100 RS232 RS485 communication cable between drive and computer Shihlin part number SDA RJ45 3M Type Part number Length L mm RS232 RS485 communication...

Page 214: ...I O control cable 1 SDA TBL05M 500 10 CN1 I O control cable 2 SDA TBL1M 1000 10 CN1 I O control cable 3 SDA TBL2M 2000 10 CN1 I O terminal block Shihlin part number SDA TBL50 Absoluate encoder accessories Absoluate encoder battery set Absoluate encoder battery Shihlin part number SDH BAT SET Shihlin part number SDH BAT ...

Page 215: ... 020A2 100 20 100 500 ABR 500W100 SDH 040A2 100 20 100 500 ABR 500W100 SDH 050A2 100 20 100 500 ABR 500W100 SDH 075A2 40 40 40 1000 ABR 1000W40 SDH 100A2 40 40 40 1000 ABR 1000W40 SDH 150A2 13 100 13 1000 ABR 1000W13 SDH 200A2 13 100 13 1000 ABR 1000W13 SDH 350A2 13 100 13 1000 ABR 1000W13 To confirm that P and D terminal are in open circuit status and that P and C terminal are connected with the ...

Page 216: ... PB09 0x0410 PB26 0x0432 PB43 0x0454 PB10 0x0412 PB27 0x0434 PB44 0x0456 PB11 0x0414 PB28 0x0436 PB45 0x0458 PB12 0x0416 PB29 0x0438 PB46 0x045A PB13 0x0418 PB30 0x043A PB47 0x045C PB14 0x041A PB31 0x043C PB48 0x045E PB15 0x041C PB32 0x043E PB49 0x0460 NO Address NO Address NO Address PB16 0x041E PB33 0x0440 PB50 0x0462 PB17 0x0420 PB34 0x0442 PC01 0x0500 PC21 0x0528 PC41 0x0550 PC02 0x0502 PC22 0...

Page 217: ...71C PE48 0x075E PE81 0x07A0 PE16 0x071E PE49 0x0760 PE82 0x07A2 PE17 0x0720 PE50 0x0762 PE83 0x07A4 PE18 0x0722 PE51 0x0764 PE84 0x07A6 PE19 0x0724 PE52 0x0766 PE85 0x07A8 PE20 0x0726 PE53 0x0768 PE86 0x07AA PE21 0x0728 PE54 0x076A PE87 0x07AC PE22 0x072A PE55 0x076C PE88 0x07AE PE23 0x072C PE56 0x076E PE89 0x07B0 PE24 0x072E PE57 0x0770 PE90 0x07B2 PE25 0x0730 PE58 0x0772 PE91 0x07B4 PE26 0x0732 ...

Page 218: ...54 0x086A PF87 0x08AC PF22 0x082A PF55 0x086C PF88 0x08AE PF23 0x082C PF56 0x086E PF89 0x08B0 PF24 0x082E PF57 0x0870 PF90 0x08B2 PF25 0x0830 PF58 0x0872 PF91 0x08B4 PF26 0x0832 PF59 0x0874 PF92 0x08B6 PF27 0x0834 PF60 0x0876 PF93 0x08B8 PF28 0x0836 PF61 0x0878 PF94 0x08BA PF29 0x0838 PF62 0x087A PF95 0x08BC PF30 0x083A PF63 0x087C PF96 0x08BE PF31 0x083C PF64 0x087E PF97 0x08C0 PF32 0x083E PF65 0...

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Page 220: ...2016 ...

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