Apply Control Power and Reset to Factory Defaults
Once the preliminary wiring previously described is complete, control power can be applied to the servo.
Apply 110VAC or 220VAC power to L1C and L2C (the actual connector on small drives may be labeled
“L1” and “L2”); and apply 24VDC to the I/O (CN1 connector).
To ensure that the drive has all default settings, reset the drive. To do this, enter a value of 10 into
P2.008. On the drive’s keypad:
[These are the general instructions on how to set any Parameter address value]
1.
Press
M
to enter Parameter Mode. (Press
M
until
you see a parameter address that begins with
P
,
like
P0.000
.)
2.
Press ◄ to advance to the
P2
group
3.
Press
▲
or
▼
to advance to
P2.008
4.
Press
S
to enter
P2.008
and see the current value
5.
Press
▲
or
▼
to change the value to
10
6.
Press
S
to set the value.
7.
The drive will display SAVED, BUSY, then DONE.
Cycle power to the drive. The drive will now
contain all factory default settings.
Clear the Alarms
The drive will power up with alarms. The most common alarms are listed below with the most common
solutions. For more detailed information and all possible alarm codes, search for the alarm code (ALxxx)
in the SS2 UM.
Display
Alarm Name
Solution (see the UM for more details)
AL500
STO Enabled
Enable the safety circuit to connect the STO signals (CN10). When the
safety circuit is enabled, this alarm can be cleared. Reset with DI5
Alarm Reset. For temporary testing
without a load attached to the
motor
, the supplied jumpers on the CN10 connector can bypass the
STO feature.
AL501
AL502
AL503
STO Errors
These alarms occur when the STO inputs are not simultaneously
active/inactive. Ensure proper wiring and activation of the safety circuit.
Reset by cycling power to the drive.
AL003
Undervoltage
This alarm occurs when the main motor power (R,S,T) is not present
and the Servo On input (DI1) is ON. At this point of commissioning,
ensure that R,S, and T do NOT have power and that DI1 is OFF.
Reset this alarm with DI5 Alarm Reset.
AL011
Encoder error
Ensure the encoder is connected. Verify the wiring on CN2. Ensure the
motor ground and drive ground are properly connected. Reset by
cycling drive power.
AL013
Motor Override
Ensure that DI8 Motor Override is ON (DI8 is configured Normally
Closed as default). ON = current flowing = no fault.
AL014
AL015
Overtravel
Limit
Ensure that DI6 and DI7 are ON or redefine the inputs (see below).
These inputs are defined Normally Closed as default. ON = current
flowing = no fault.
Change the Digital Input Definition
If the application does not call for Overtravel limits, the definitions of DI6 and DI7 can be changed so that
alarms AL014 and AL015 are not active. To disable DI6 and DI7 by changing parameters through the
keypad, perform the following keystrokes:
1.
Press
M
to enter Parameter Mode. (Press
M
until you
see a parameter address that begins with
P
, like
P0.000
.)
2.
Press ◄ to advance to the
P2
group
3.
Press
▲
or
▼
to advance to
P2.015
(DI6 functional
planning)
4.
Press
S
to enter
P2.015
and see the current value
(default = 022 = Negative overtravel)
5.
Press
▲
or
▼
to change the value to
000
to disable
the input
Note: ◄ moves the cursor left one digit (required for
some parameter entry)
6.
Press
S
to set the value.
7.
Repeat the procedure to disable
P2.016
(DI7) if desired.
Digital
Input
Input Def.
Parameter
Default Definition (hex
values)
Notes (corresponding Alarm)
Necessary for
startup
DI1
P2.010
0101 = Servo On
Enables the servo
Yes
DI2
P2.011
0104 = Clear Pulses
Clears accumulated input pulses
No
DI3
P2.012
0116 = Torque Cmd 0
Torque Select Bit 0 (when in
No
Torque mode)
DI4
P2.013
0117 = Torque Cmd 1
Torque Select Bit 1 (when in
Torque mode)
No
DI5
P2.014
0102 = Alarm Reset
Clears alarms
Yes
DI6
P2.015
0022 = CW Overtravel
Disables motion in CW direction
(AL014)
Yes (or disable
to clear alarms)
DI7
P2.016
0023 = CCW Overtravel
Disables motion in CCW
direction (AL015)
Yes (or disable
to clear alarms)
DI8
P2.017
0021 = Motor Override
Stops motor immediately.
(AL013). Motor can restart when
this DI is switched OFF
Yes
DI9
P2.036
0100 = Disabled
Defined as Disabled and
Normally Open
No
DI10
P2.037
0100 = Disabled
Defined as Disabled and
Normally Open
No
NOTE: Setting the least two digits of P2.010 – P2.037 to 00 disables the input.
The third digit signifies Normally Open or Normally Closed.
Input Definitions with 1xx are Normally Open. DI is ON when current is flowing thru the terminals.
Definitions with 0xx are Normally Closed. DI is ON when current is NOT flowing thru the terminals.
(It is recommended to set disabled inputs to 100, so the logic states are OFF when not energized.)
Verify Encoder Feedback
On the keypad, press
M
to cycle the display off of Parameter addresses (
P2.015
, etc.) or any active
alarms (AL500, etc.). The display will now show Drive Status. Press
▲
or
▼
until
Fb.PUU
is displayed.
After 1 second, the drive will display the Feedback Pulses in User Units. Rotate the shaft manually
clockwise. The display should increment from 0-99,999 for one motor rotation. Decimal points beside the
4
th
and 5
th
digits indicate a negative position. This is a quick indication of which side of absolute zero the
motor feedback is on. If an encoder alarm or unexpected feedback is seen, check all encoder cabling
from the drive’s CN2 to the motor. Check for loose connections or crossed wiring. See the UM for more
help.
Verify Digital Inputs
Set
P0.002
to 39 to display the DI status (in hex format) on the drive’s LED display. As long as energizing
the input does not trigger an alarm, the LED display will report the Digital Input status in hex. If an input
does trigger an alarm (example: if DI8 is set for Motor Override and the input is ON), AL.xxx overrides the
DI display (AL013 = Motor Override). Press
M
to cycle the LED back to the DI status display.
If the Digital Input is defined as Normally Closed (the function code is 0xx), the input will be considered
active (ON) if there is no current flowing thru the terminal. Note: inputs defined as 000 are disabled, but
are considered ON (Normally Closed) if there is no current flowing thru the terminals. To redefine the
inputs, see
Change the Digital Input Definition
section above.
If this is the only input
that is ON
This is the LED display (data
in hex) when P0.002 = 39
Data in binary (DI1 =
bit 0, DI2 = bit 1, etc.)
DI1
L0001
0000 0000 0000 0001
DI2
L0002
0000 0000 0000 0010
DI3
L0004
0000 0000 0000 0100
DI4
L0008
0000 0000 0000 1000
DI5
L0010
0000 0000 0001 0000
DI6
L0020
0000 0000 0010 0000
DI7
L0040
0000 0000 0100 0000
DI8
L0080
0000 0000 1000 0000
DI9
L0100
0000 0001 0000 0000
DI10
L0200
0000 0010 0000 0000
If multiple inputs are ON at the same time, add the above results.
If these inputs are ON
LED display (P0.002 = 39)
Data in binary
DI1 and DI2
L0003
0000 0000 0000 0011
DI4 and DI5
L0018
0000 0000 0001 1000
Verify Digital Outputs (DOs)
The Digital Outputs can be forced ON without requiring the corresponding DO function to be active. To
put the outputs into Diagnostic Mode, set
P2.008
to the value 406. Select the Digital Outputs to force ON
and OFF by setting the hex value in
P4.006
. Each DO is forced ON by the corresponding bit set in
P4.006
. (DO1 = bit 0, DO2 = bit 1, etc.). Press ◄ to move the cursor left one digit. Press
S
to set (apply)
the force to the outputs.
To force this output ON
Set this value in
P4.006
Data in binary
DO1
0001
0000 0001
DO2
0002
0000 0010
DO3
0004
0000 0100
DO4
0008
0000 1000
DO5
0010
0001 0000
DO6
0020
0010 0000
Multiple outputs can be forced ON at the same time. Examples:
DO1 + DO2
0003
0000 0011
All (DO1-DO6)
003F
0011 1111
Once DO testing/verification is complete, exit DO Diagnostic Mode by cycling control power to the drive.
Connect Motor Power and Spin the Motor (w/o load)
NOTE: It is highly recommended to not connect the motor to the load before verifying proper motor
operation. When first spinning the motor, the shaft should not be connected to anything.
1.
Connect a motor power cable to the motor and drive (Ground=green, U=red, V=white,
W=black).
2.
Re-verify incoming control power (L1C, L2C), DI/DO wiring (including 24VDC power), and STO
wiring (CN10).
3.
Ensure that the Servo ON input (DI1) is not ON.
4.
If using a brake motor, connect 24VDC to the brake wires to release the brake. Polarity is not
important.
5.
Connect incoming main power to the drive (Ground, R,S,T).
6.
If any alarms are present, correct the alarms (refer to the explanation above for common
alarms, refer to the UM for more information).
The drive can be jogged from the keypad to verify operation.
7.
Enable the Servo ON input with DI1. The motor should lock into position.
8.
Refer back to Step #4. It is embarrassing if you forget to release the brake.
9.
Set the desired Jog Speed in
P4.005
(or press
S
to accept the default 20rpm in
P4.005)
:
The display will now display
-JOG-
NOTE: If the display shows SV-On, enable Servo ON with DI1 and repeat Step 9
10.
Use
▲
and
▼
to jog the motor forward and reverse.
Press
M
to change speed.
Cycle the drive’s control power to exit Jog Mode.
NOTE: the display will not annunciate alarms while in Jog Mode.
Once the motor successfully jogs, the motor, feedback, and drive have been shown to be properly
installed. The system can now be programmed and commissioned along with the control system.
There are tables at the beginning of Parameters Chapter 8 that detail the most common parameters
used for the different drive control modes:
PT
Mode:
P
osition control –
T
erminals (high speed pulse input commands)
PR
mode:
P
osition control –
R
egisters (point-to-point moves using internal registers for setpoints)
This mode includes point to point moves, registration, and camming
S
Modes:
S
peed/Velocity control
S
= analog input speed command
S
z = internal speed registers that include a zero-speed setting
T
modes: Torque control
T
= analog input torque command
T
z = internal torque registers that include a zero-torque setting
Firmware Upgrade
Occasionally, there will be new servo drive firmware to add new features or correct problems. Go to
http://www.automationdirect.com
and search for your servo drive part number. On that part number's
item page you will find a link for the latest SureServo2 firmware. Compare the website’s current firmware
version to P0.000 (firmware version) and P5.000 (firmware sub-version) in the servo drive. If the versions
match, your drive has the latest firmware. If the online version is higher than P0.000, download the
firmware file from automationdirect.com. Next, open SureServo2 Pro software and connect to the drive.
Then select "Burn" from the pull-down menus to update your drive's firmware. Please see the
SureServo2 Pro help file for detailed instructions and more information.
