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Applied Motion Products SV200 DC Hardware Manual

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SV200 DC
Servo System
Hardware Manual
Applied Motion Products, Inc.
920-0126A
4/14/2017

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Summary of Contents for Applied Motion Products SV200 DC

  • Page 1 SV200 DC Servo System Hardware Manual Applied Motion Products, Inc. 920-0126A 4/14/2017...

  • Page 2: Table Of Contents

    SV200 DC Hardware Manual 4/14/2017 Table of Contents 1 Introduction ..............................7 1.1 About This Manual ..............................7 1.2 Documentation Set for the SV200 DC Series Servo Drive ..................7 1.3 Safety ...................................7 1.4 Safety Symbols ..............................7 1.5 Safety Instructions ..............................8 1.6 Standards Compliance ............................8 2 Product Description ............................
  • Page 3 920-0126A SV200 DC Hardware Manual 4/14/2017 4.5 Regeneration Resistor ............................39 4.6 Recommended Cable Specifications ........................39 4.7 Connecting to the Host Computer - CN1 ......................39 4.8 Input and Output Signal Interface Connector - CN2 ....................39 4.8.1 Input and Output Interface Specifications and Diagram ................39 4.8.2 Signal Description of Connector CN2 .......................40...
  • Page 4 920-0126A SV200 DC Hardware Manual 4/14/2017 7.1.9 Servo On Status Output ...........................77 7.1.10 Timing Diagram .............................78 7.1.10.1 Timing Diagram at Power up ........................78 7.1.10.2 Timing Diagram for Fault alarm ........................78 7.2 Position Mode ..............................79 7.2.1 Digital Pulse Position Mode Connection Diagram ..................79 7.2.2 Input Pulse Type And Input Noise Filter ....................80...
  • Page 5 9.3.2 Communication Address ..........................143 9.3.3 Communication Baud Rate And Framing ....................143 9.3.4 Power Up Mode ............................144 9.3.6 SV200 DC Servo Drive Register Addresses and Function List: ..............144 9.3.7 Command Opcode Description ........................152 9.3.8 Function Code ............................154 9.3.9 Modbus/RTU Applications ........................157 9.4 CANopen Communication ..........................163...
  • Page 6 Disclaimer The information in this manual was accurate and reliable at the time of its release. Applied Motion Products reserves the right to change the specifications of the product described in this manual without notice at any time. Trademarks...

  • Page 7: Introduction

    This manual describes the SV200 DC Servo Drive. It provides the information required for installation, configuration and basic operation of the SV200 DC series servo drive. This document is intended for persons who are qualified to transport, assemble, commission, and maintain the equipment described herein.

  • Page 8: Safety Instructions

    Make sure both the drive and the motor connect to a class 3 ground. Please ensure the grounding wires are securely connected before power up. 1.6 Standards Compliance The SV200 DC Series Servo drive has been designed according to standards: Electromagnetic: Electrical Safety: Low...

  • Page 9: Product Description

    2 Product Description 2.1 System Checklist A complete and workable SV200 DC servo system should include the following parts: 1. A matched servo drive and servo motor 2. A 4-PIN connector to connect P1 (V+, V-, AUX+) to supply power to the Drive 3.

  • Page 10: Drive Specifications

    920-0126A SV200 DC Hardware Manual 4/14/2017 2.2.3 Drive specifications SV2D10 Main Circuit 20 - 60VDC Input Power SV2D6 Control Circuit 10- 60VDC Ambient temperature: 0°C to 50°C (if the ambient temperature of the servo drive is Temperature greater than 40°C, please install the drive in a well-ventilated location) Storage temperature: -20°C to 65°C...

  • Page 11: Drive Dimensions (Unit: Mm)

    920-0126A SV200 DC Hardware Manual 4/14/2017 2.2.4 Drive Dimensions (Unit: mm) 28.5 R2.5 2.3 Servo Motor Model Introduction 2.3.1 Motor Name Plate Description Model NO. Series NO. Rated Torque Input Current Output Power Rated Speed 2.3.2 Motor Model Description ...

  • Page 12: Motor Specifications And Dimensions

    920-0126A SV200 DC Hardware Manual 4/14/2017 2.3.3 Motor Specifications and Dimensions 2.3.3.1 40mm Specifications and Dimensions 40mm Series Series 60 Watt 100 Watt Base Model Number (with 2500 PPR incremental encoder non-sealed plastic J0060-403-3-000 J0060-404-3-000 J0100-303-3-000 connectors, no brake) DC bus(VDC)
  • Page 13 920-0126A SV200 DC Hardware Manual 4/14/2017 40mm Dimensions Motor Dimensions – No Brake: mm 0.04 A Oil seal +0.20 - 0.13 25 1 L1 1 0.04 A Motor Series L(mm) J0060 Series J0100 Series Motor Dimensions – Brake: mm 0.04 Oil seal +0.20...
  • Page 14 920-0126A SV200 DC Hardware Manual 4/14/2017 40mm Torque curves J0060-404-3-000(60W) -2.6Amps J0060-404-3-000(60W) -2.6Amps DC Bus--48VDC DC Bus--60VDC 4.43 4.43 3.53 3.53 2.65 2.65 1.77 1.77 0.88 0.88 2,000 4,000 6,000 2,000 4,000 6,000 Speed(rpm) Speed(rpm) (60W) (60W) J0060-403-3-000(60W) J0060-403-3-000 - 5.7 Amps J0060-403-3-000 - 5.7 Amp...

  • Page 15: 60Mm Specifications And Dimensions

    920-0126A SV200 DC Hardware Manual 4/14/2017 2.3.3.2 60mm Specifications and Dimensions 60mm Series--200W Series 200 Watt Base Model Number (with 2500 PPR incremental encoder non-sealed plastic J0200-304-4-000 J0200-405-4-000 connectors, no brake) DC Bus(VDC) Rated Output Power watts Rated Speed 3000 3000 Max.
  • Page 16 920-0126A SV200 DC Hardware Manual 4/14/2017 60mm Dimensions--200W Motor Dimensions – No Brake: mm 0.04 A 50 h7 - 0.025 0.04 A 22.5 oil seal 0.300 0.118 30 ±1 L1 ±1 Motor Series L(mm) J0200-304-4-000 J0200-405-4-000 Motor Dimensions – Brake: mm 0.04 A...
  • Page 17 920-0126A SV200 DC Hardware Manual 4/14/2017 60mm Torque curves--200W J0200-304-4-000(200 Watts) -10Amps J0200-304-4-000(200 Watts) -10Amps J0200-304-4-000(200 Watts) -10Amps DC Bus--24VDC DC Bus--48VDC DC Bus--60VDC 15.9 15.9 15.9 14.2 14.2 14.2 12.4 12.4 12.4 10.6 10.6 10.6 2,000 4,000 6,000 2,000...
  • Page 18 920-0126A SV200 DC Hardware Manual 4/14/2017 60mm Series--400W Series 400 Watt Base Model Number (with 2500 PPR incremental encoder non-sealed plastic J0400-404-4-000 J0400-305-4-000 connectors, no brake) DC Bus(VDC) watts Rated Output Power Rated Speed 3000 3000 Max. Mechanical Speed 6000...
  • Page 19 920-0126A SV200 DC Hardware Manual 4/14/2017 60mm Dimensions--400W Motor Dimensions – No Brake: mm 0.04 A 50 h7 - 0.025 0.04 A 22.5 oil seal 0.300 0.118 30 ±1 L1 ±1 Motor Series L(mm) J0400-404-4-000 J0400-305-4-000 Motor Dimensions – Brake: mm 0.04 A...
  • Page 20 920-0126A SV200 DC Hardware Manual 4/14/2017 60mm Torque curves--400W J0400-305-4-000(400 Watts) -6.9Amps J0400-305-4-000(400 Watts) -6.9Amps DC Bus--48VDC DC Bus--60VDC 35.4 35.4 30.9 30.9 25.6 25.6 22.1 22.1 17.7 17.7 12.3 12.3 2,000 4,000 6,000 2,000 4,000 6,000 Speed (rpm) Speed (rpm)

  • Page 21: 80Mm Specifications And Dimensions

    920-0126A SV200 DC Hardware Manual 4/14/2017 2.3.3.3 80mm Specifications and Dimensions 80mm Series Series 300 Watt 550 Watt Base Model Number (with 2500 PPR incremental encoder non-sealed plastic con- J0300-404-5-000 J0550-405-5-000 nectors, no brake) DC Bus(VDC) watts Rated Output Power...
  • Page 22 920-0126A SV200 DC Hardware Manual 4/14/2017 80mm Dimensions Motor Dimensions – No Brake: mm Motor Feedback Ø 70 h7 - 0.03 4- Ø 6.5 Ø 19 h6 - 0.013 Ø 90 +0.300 21.5 - 0.118 40 ±1 L ±1 Motor Series...
  • Page 23 920-0126A SV200 DC Hardware Manual 4/14/2017 80mm Torque Curve J0300-404-5-000(300 Watts) -10Amps J0300-404-5-000(300 Watts) -10Amps DC Bus--24VDC DC Bus--48VDC 22.1 22.1 17.7 17.7 13.25 13.25 2,000 4,000 6,000 2,000 4,000 6,000 J0550-405-5-000(550 Watts) -10Amps J0550-405-5-000(550 Watts) -10Amps 60 VDC - 10 Amp...

  • Page 24: Installation

    920-0126A SV200 DC Hardware Manual 4/14/2017 3 Installation 3.1 Storage Conditions • Store properly packaged in a clean and dry environment,away from direct sunlight • Store in an ambient temperature range of -10°C to +85°C • Store where the relative humidity range is 10% to 85% with non-condensing •...

  • Page 25: Installation Space

    The SV200 DC servo drive should be installed perpendicular to the wall or in a control panel. In order to ensure the drive is well ventilated, make sure ventilation holes are not obstructed, there is sufficient free space around the servo drive, and a cooling fan is mounted in the control panel.

  • Page 26: Motor Installation

    920-0126A SV200 DC Hardware Manual 4/14/2017 3.4 Motor Installation • DO NOT strike the motor when installing it as the motor shaft or encoder may be damaged. • DO NOT use cables that have been soaked with water or oil.

  • Page 27: Connections And Wiring

    920-0126A SV200 DC Hardware Manual 4/14/2017 4 Connections and Wiring 4.1 Connecting to Peripheral Devices 4.1.1 System Configuration LED Display: The 5 digit, 7 segment LED shows the drive status and faults. Operation Panel: Function keys are used to perform status display, monitor and diagnose, function and parameter settings.

  • Page 28: Servo Drive Connectors And Terminals

    920-0126A SV200 DC Hardware Manual 4/14/2017 4.1.2 Servo Drive Connectors and Terminals Terminal Identification Description Details V+, V- Used to connect DC main circuit power Used to connect an auxiliary circuit power Ground Used to connect servo motor Terminal Symbol...

  • Page 29: Wiring Methods For P1 Power Supply Connector

    920-0126A SV200 DC Hardware Manual 4/14/2017 4.1.4 Wiring Methods for P1 Power Supply Connector Power for the SV200 DC servo drives comes from 2 different sources Function Input Power Main power supply V+, V- Drive’s main power input 20 - 60VDC...

  • Page 30: Wiring To The P2 Connector

    920-0126A SV200 DC Hardware Manual 4/14/2017 4.2 Wiring to the P2 Connector 4.2.1 Motor Power Cable Configuration P2 interface of the drive Motor Motor power lead wire extension cable connector connector Signal Colour Yellow Blue Yellow/Green 4.2.2 Motor Power Cable Connector(-CD Winding ,6Amps) 4.2.2.1 PIN Assignment...

  • Page 31: Motor Extension Cable Wiring Diagram

    920-0126A SV200 DC Hardware Manual 4/14/2017 4.2.2.3 Motor Extension Cable Wiring Diagram Housing: 172159-1(AMP) Terminal: 170362-1(AMP) Drive side (P2) Motor side (housing) Signal Color 5452571(Phoenix) AMP 172159-1 Yellow Blue Yellow/Green Ensure U/V/W is wired in the order of RED/YELLOW/BLUE.

  • Page 32: Motor Power Cable Connector(-Cf Winding,10Amps)

    920-0126A SV200 DC Hardware Manual 4/14/2017 4.2.3 Motor Power Cable Connector(-CF Winding,10Amps) 4.2.3.1 PIN Assignment Cover：350780-1(AMP) Pin：350536-1(AMP) A side view B side view Signal Color Yellow Blue Yellow/Green Motor Connector Specifications Type Motor side (plug) Plug-in (housing) Housing AMP 350-779-1...

  • Page 33: Encoder Connector Cn3

    920-0126A SV200 DC Hardware Manual 4/14/2017 4.3 Encoder Connector CN3 4.3.1 Motor Encoder Feedback Cable Configuration CN3 interface of the drive Encoder Motor encoder extension cable connector connector 4.3.2 Layout of CN3 Connector View A View B Pin NO. Symbol...

  • Page 34: Connection To Motor Encoder

    920-0126A SV200 DC Hardware Manual 4/14/2017 4.3.3. Connection to Motor Encoder Connect to Motor Encoder Connect to 2500ppr Increment Encoder (15PIN AMP connector) Servo Drive CN3 Motor Encoder Shield Shield Specifications of Encoder Connector 15PIN AMP Connectonor View A View B...
  • Page 35 920-0126A SV200 DC Hardware Manual 4/14/2017 Specifications of 15PIN AMP Connector Type Plug of the Motor Housing for the motor Housing AMP 172171-1 AMP 172163-1 Terminal AMP 770835-1 AMP 770834-1 Wiring Diagram of Motor Encoder Extend Cable B. Diagram of 15PIN Encoder Cable...

  • Page 36: Connection To Motor Encoder

    920-0126A SV200 DC Hardware Manual 4/14/2017 4.3.3. Connection to Motor Encoder Connect to 2500ppr Increment Encoder (9PIN AMP connector) Servo Drive CN3 Motor Encoder Shield Shield 4.3.4 Specifications of Encoder Connector A. -E4 Encoder Connector PIN Assignment View A PIN#...

  • Page 37: Motor Encoder Extension Cable Wiring Diagram

    920-0126A SV200 DC Hardware Manual 4/14/2017 4.3.5 Motor Encoder Extension Cable Wiring Diagram -E4 Encoder Encoder Cable Diagram Connect to drive Connect to Motor View A Drive Side Housing for the motor Signal Color TYCO 3-22322346-1 AMP 172161-1 A+/U+ Blue...

  • Page 38: Electromagnetic Brake

    920-0126A SV200 DC Hardware Manual 4/14/2017 4.4 Electromagnetic Brake When the motor drives the vertical axis, a brake should be used to hold and prevent the load from falling by gravity when the power is removed. NOTE: Use only a servo motor brake for holding a load when the motor is disabled or the power is off.

  • Page 39: Regeneration Resistor

    4.8 Input and Output Signal Interface Connector - CN2 4.8.1 Input and Output Interface Specifications and Diagram Port CN2 on the SV200 DC series servo drives is used for input/output signals. Details are shown in table below: 8 Configurable optically isolated general inputs, 5-24VDC, 20mA...

  • Page 40: Signal Description Of Connector Cn2

    920-0126A SV200 DC Hardware Manual 4/14/2017 4.8.2 Signal Description of Connector CN2 Analog Input ANA1 Speed Command PULSH1 DGND PULSH2 High Speed ANA2 Torque Command Pulse Input SIGNH1 DGND SIGNH2 37 Y1+ Alarm Output 36 Y1- STEP/CW Position Motor Brake...

  • Page 41: Layout Of Cn2 Connector

    View A 4.8.2.2 Input Signals The SV200 DC series servo drive has 12 programmable digital inputs as well as 2 analog inputs. Each of the inputs can be specified with different functions via the parameter settings. The functions are as follows: ●...

  • Page 42: Input Function List

    920-0126A SV200 DC Hardware Manual 4/14/2017 PULSH1 High-speed pulse inputs (+5VDC line drive input), the maximum input frequency 2MHz.Three pulse commands available: PULSH2 ● Pulse & Direction High-Speed ● CW Pulse and CCW Pulse SIGNH1 Pulse Inputs ● A Quadrature B pulse...

  • Page 43: Output Signals

    920-0126A SV200 DC Hardware Manual 4/14/2017 4.8.2.4 Output Signals The SV200 DC series servo drive has 6 programmable digital output signals available; each of the outputs can be specified with a different function via parameter settings. Signal Symbol Pin NO.

  • Page 44: Input Signal Interface Connector, Cn2

    4.8.3.1 Position pulse signal input The SV200 DC series servo has two high speed pulse intputs, STEP/DIR and PULSH/SIGNH. STEP/DIR supports 5-24VDC, up to 500KHz open collector input signal or differential input signal through the line driver. PULSH/SIGNH supports 5VDC, up to 2MHz with differential line driver input.

  • Page 45: Analog Signal Input For Velocity And Torque Mode

    4.8.3.2 Analog Signal Input For Velocity And Torque Mode The SV200 DC series servo drive has 2 single ended analog inputs OR 1 differential analog input. The input voltage range is -10V to +10V. Velocity and torque range can be configured via SVX Servo Suite software.

  • Page 46: High Speed Input Ports X1, X2, X3, X4

    High Speed Input Port The SV200 DC has 4 optically isolated high speed digital inputs X1, X2, X3, and X4. These inputs allow input voltage from 5VDC to 24VDC with maximum current of 20mA, and up to 500KHz. They can be used for general purpose inputs, connecting sensor switch signals, PLC controllers or other types of controller output signals.
  • Page 47 920-0126A SV200 DC Hardware Manual 4/14/2017 High Speed Input Connection Diagrams HOST controller 5-24VDC 5-24VDC HOST controller X1\2\3\4+ X1\2\3\4+ X1\2\3\4- X1\2\3\4- 0VDC 0VDC Host Sink Mode Host Sourcing Mode 5-24VDC X1\2\3\4+ X1\2\3\4+ +5-24VDC Power sensor Output X1\2\3\4- connection X1\2\3\4- Relay Or Switch...

  • Page 48: General Digital Input X5, X6, X7, X8

    920-0126A SV200 DC Hardware Manual 4/14/2017 4.8.3.4 General Digital Input X5, X6, X7, X8 The SV200 has 4 optically isolated general digital inputs X5, X6, X7 and X8. These inputs allow input voltage from 5VDC to 24VDC, with maximum input current of 20mA up to 500KHz. Both single ended and differential signals are allowed.
  • Page 49 920-0126A SV200 DC Hardware Manual 4/14/2017 X5, X6, X7, X8 Input Port Connection Diagrams HOST controller 5-24VDC 5-24VDC HOST controller X5\6\7\8+ X5\6\7\8+ X5\6\7\8- X5\6\7\8- 0VDC 0VDC Host Sink Mode Host Sourcing Mode 5-24VDC X5\6\7\8+ X5\6\7\8+ +5-24VDC Power Output X5\6\7\8- sensor...

  • Page 50: X9, X10, X11, X12 Inputs With Common Com Port

    920-0126A SV200 DC Hardware Manual 4/14/2017 4.8.3.5 X9, X10, X11, X12 Inputs with common COM Port The SV200 drives also have 4 single ended optically isolated inputs connected with a single common node named ‘COM’. These inputs can be used with sourcing or sinking signals, 12-24V. This allows for connection to PLCs, sensors, relays and mechanical switches.
  • Page 51 4.8.4 CN2 Output Signal Specification The SV200 DC series servo drives feature 6 optically isolated digital outputs. They can be configured via SVX Servo Suite. Y1, Y2, Y5, and Y6 are differential output signals, they can be used for both sourcing or sinking signals. Y3 and Y4 are common ground outputs that can be used for sinking signals.

  • Page 52: Encoder Feedback Output

    4/14/2017 4.8.5 Encoder Feedback Output The SV200 DC series servo drive can output encoder A/B/Z phase as differential output signals through the line driver. The output signal is 5V, A/B signals are 10000 pulse/rev, Z signal is 1 pulse/rev. The host must use the line receiver to receive these signals. Use twisted-pair wires for signal transfer.

  • Page 53: Display And Operation

    920-0126A SV200 DC Hardware Manual 4/14/2017 5 Display and Operation 5.1 Control Panel Description LED Display MODE DOWN Symbol Name Details The LCD display (5 digits, 7 segments) shows the drive’s operating condition, LED Display warning codes, parameters, and setting values.

  • Page 54: Mode Switch Control

    920-0126A SV200 DC Hardware Manual 4/14/2017 5.2 Mode Switch Control • Pressing the button and the button changes between status monitoring, function control, parameters setting and other modes. • If no warnings or faults occur, the drive will not go into warning and fault display mode.

  • Page 55: Led Display Description

    920-0126A SV200 DC Hardware Manual 4/14/2017 NOTE: • When power is applied, the drive’s display will show the customer defined monitoring mode. In factory default mode, it will display the motor’s rotary velocity. • When in parameter setting mode, pressing the button will exit the parameter setting mode, and return back to parameter selection mode, without saving any changes.

  • Page 56: Point To Point Motion Mode

    920-0126A SV200 DC Hardware Manual 4/14/2017 5.3.4 Point To Point Motion Mode LED display Description When the LED display reads “P-CW” it means the motor is rotating in a CW direction in the point-to-point mode. When the LED display reads “P-CCW” it means the motor is rotating in a CCW direction in the point-to-point mode.

  • Page 57: Status Monitoring Selection Mode

    920-0126A SV200 DC Hardware Manual 4/14/2017 5.4 Status Monitoring Selection Mode To change the status monitoring mode, press to enter monitoring selection mode, and then use to make selections, and press to confirm, as below: Power ON Default display is current motor velocity...
  • Page 58 920-0126A SV200 DC Hardware Manual 4/14/2017 n-09 Fault History 2 n-10 Fault History 3 n-11 Fault History 4 n-12 Fault History 5 n-13 Fault History 6 n-14 Fault History 7 n-15 Fault History 8 0.001VDC n-16 Differential Analog Input 0.001VDC...

  • Page 59: Function Control Mode

    920-0126A SV200 DC Hardware Manual 4/14/2017 5.5 Function Control Mode In function control mode (display F+ parameter number), you can select functions for preoperational mode, restart the drive, enable or disable the drive, etc. In status monitoring mode, press and hold for 1 second to enter function control mode.

  • Page 60: Operation Flow Chart

    920-0126A SV200 DC Hardware Manual 4/14/2017 5.5.2 Operation Flow Chart status monitoring selection press and hold MODE key for 1 second press and hold SET key F-00 point to point mode function selection mode press ,motor rotate 1 rev in CW direction...

  • Page 61: Parameter Setting Mode

    920-0126A SV200 DC Hardware Manual 4/14/2017 5.6 Parameter Setting Mode 5.6.1 Parameter Setting Description The parameter setting mode (P+parameter number) allows you to select, display and edit the required parameter. In function control mode, press and hold for 1 second to enter parameter setting mode. Use to select required parameter, and press to view or edit the parameter.

  • Page 62: Parameter Editing And Save Examples

    920-0126A SV200 DC Hardware Manual 4/14/2017 5.6.2 Parameter Editing and Save Examples Press mode to First digit flash Second digit flashing shift flashing digit Press Press Press Press Press up or down to increase or decrease value Press SET key to...

  • Page 63: Control Panel Lock

    4/14/2017 5.7 Control Panel Lock To prevent unauthorized use of the key panel, a key panel lock is featured on all SV200 DC servo drives. When the panel is locked, no function can be changed directly on drive’s control panel.
  • Page 64 920-0126A SV200 DC Hardware Manual 4/14/2017 LED display Description LED display Description Drive over temperature CW limit is activated Internal voltage fault CCW limit is activated Over voltage Current limit Communication error Over current Parameter save failed STO is activated...

  • Page 65: Preoperational Mode

    920-0126A SV200 DC Hardware Manual 4/14/2017 6 Preoperational mode When using preoperational mode, disconnect the servo motor from any mechanical system to prevent damages and accidents. Preoperational mode should be used only under a no load condition. 6.1 Inspection Before Trial Run To avoid any accidents and damages to the servo drive and mechanical systems, the following safety checks are recommend before the drive is turned on.

  • Page 66: Using Svx Servo Suite Software For Configuration

    920-0126A SV200 DC Hardware Manual 4/14/2017 6.3.2 Using SVX Servo Suite Software for configuration Run the SVX Servo Suite software on a PC, and (1) select the correct communication port. Use the drive configuration tab (2) to set up the motor.

  • Page 67: Operations Of Jog Mode

    920-0126A SV200 DC Hardware Manual 4/14/2017 6.4 Operations of JOG Mode Step LED display Description Press to switch from Monitor Status mode to the Drive Parameters Configuration mode Scroll with the keys to select parameter P62 (SI) Press key to enter the value setting mode...

  • Page 68: Configuration By Personal Computer

    4/14/2017 6.5 Configuration by Personal Computer To ensure the SV200 DC servo drive and motor meet operational requirements, it is recommended that the SVX Servo Suite software is used for the following configuration setups: • Servo motor model selection and configuration •...

  • Page 69: Operation Mode Selection

    920-0126A SV200 DC Hardware Manual 4/14/2017 7 Operation Mode Selection 7.1 General Function Settings 7.1.1 Drive Servo On Settings To control servo motor enable/disable switch 1) Servo ON signal By default, the Servo ON input (X3) is configured as follows:...

  • Page 70: Alarm Reset

    920-0126A SV200 DC Hardware Manual 4/14/2017 7.1.2 Alarm Reset The Alarm Reset is used to clear drive warnings or faults and is set via P-63 (AI) Signal Name PIN (CN2) P-63 (AI) Function During normal operation, input X4 must be kept Open (HIGH). Clearing the alarm status will ONLY occur when X4 transitions from HIGH to LOW.

  • Page 71: Cw/Ccw Limit

    920-0126A SV200 DC Hardware Manual 4/14/2017 7.1.3 CW/CCW limit In order to prevent damage that might be caused by mechanical hardware accidentally moving out of range, it is highly recommended that the CW/CCW position limits be configured by using external end-of-travel sensors connected to inputs X5 and X6.

  • Page 72: Global Gain Selection

    920-0126A SV200 DC Hardware Manual 4/14/2017 Software Configuration On the Drive Configuration page - Input& Output, select X5/X6 functions to set up 7.1.4 Global Gain Selection Use input X7 for the Global Gain selection. This gain selection function is used to dynamically configure the servo drive to run the motor with the least time delay and as close as possible to the host command.

  • Page 73: Control Mode Selection

    7.1.5 Control Mode Selection SV200 DC series servo drives allows to the choice of 2 types of control modes to be selected by using external input X8. The control modes can be configured via two parameters P-12 (CM) and P-13 (CN).

  • Page 74: Drive On Fault Output

    920-0126A SV200 DC Hardware Manual 4/14/2017 7.1.6 Drive On Fault Output When faults occur, the drive will send an “On-Fault” output and it will also immediately disable the drive. Faults include: position error, encoder error, over temperature, over voltage, low voltage, internal voltage fault, STO warning, FPGA error, over current, over velocity limit, bad hall sensor.

  • Page 75: Motor Brake Control

    920-0126A SV200 DC Hardware Manual 4/14/2017 7.1.7 Motor Brake Control A servo motor brake is only to be used for holding the load when the motor is disabled or powered OFF. It ensures the motor’s rotor (and connected load) will NOT move due to gravity or any other external forces.

  • Page 76: Servo Ready Output

    920-0126A SV200 DC Hardware Manual 4/14/2017 7.1.8 Servo Ready Output When the servo drive is powered on, if no faults are present, the Y3 output can be configured output a “servo ready” signal. This servo ready function can be configured via SVX Servo Suite software, or by changing parameter P-68 (MO) the first digit (from right to left) on the drive’s control panel.

  • Page 77: Servo On Status Output

    920-0126A SV200 DC Hardware Manual 4/14/2017 7.1.9 Servo On Status Output Output signal Y5 can be configured as Servo-ON Status signal When the Drive is at Servo-ON status, the signal will have a output signal This servo ready function can be configured via SVX Servo Suite software, or by changing parameter P-68 (MO) the third digit (from right to left) on the drive’s control panel.

  • Page 78: Timing Diagram

    920-0126A SV200 DC Hardware Manual 4/14/2017 7.1.10 Timing Diagram 7.1.10.1 Timing Diagram at Power up Control Circuit Power (L1C, L2C) OFF Drive Internal initialization Main Power (L1,L2,L3) about Output Signal 10ms more than 1s Serov Ready Output Output more than...

  • Page 79: Position Mode

    920-0126A SV200 DC Hardware Manual 4/14/2017 7.2 Position Mode Position mode is widely used in applications where precise positioning is required. In SV200 series AC servo drives there are 3 types of position mode: digital pulse position mode, analog position mode and position table mode.

  • Page 80: Input Pulse Type And Input Noise Filter

    920-0126A SV200 DC Hardware Manual 4/14/2017 7.2.2 Input Pulse Type And Input Noise Filter There are three types of pulse modes: STEP & Direction; CW/CCW Pulse; A/B Quadrature. Parameter P-43 (SZ) uses decimal numbers to define pulse input type, polarity and input filter frequency. Transferred into a binary number, the HIGHER 8 bits of the number define input filter frequency, and the LOWER 8 bits define pulse input type, and polarity.
  • Page 81 920-0126A SV200 DC Hardware Manual 4/14/2017 7.2.2.3 Parameter P-43 (SZ) Setting Parameter P-43 (SZ)’s higher 8 digits and lower 8 digits set the definition for input filter frequency and pulse type, the setting values are as shown in table below:...

  • Page 82: Input Pulse Dividing Ratio Setting And Dividing Switch

    920-0126A SV200 DC Hardware Manual 4/14/2017 Software Configuration On the Motor Configuration page - Control Mode Settings select pulse input type and input filter type. 7.2.3 Input Pulse Dividing Ratio Setting and Dividing Switch Input X9 is used as the control pulse dividing switch function. When this function is on, it will allow the drive to change the number to encoder counts per motor revolution A.

  • Page 83: Pulse Inhibit

    920-0126A SV200 DC Hardware Manual 4/14/2017 7.2.4 Pulse Inhibit The Pulse Inhibit function uses external input X10 in digital pulse position mode. When external input X10 is triggered, it will force the drive to stop receiving pulse input from any source, and stop the servo motor immediately.

  • Page 84: Electronic Gearing Ratio

    920-0126A SV200 DC Hardware Manual 4/14/2017 7.2.5 Electronic Gearing Ratio The host command pulse count per revolution times the electronic gearing ratio set on the drive will result in the actual number of pulses per revolution at the motor shaft. This feature allows more freedom and set up flexibility when a certain pulse count or moving...

  • Page 85: Jerk Smoothing Filter

    920-0126A SV200 DC Hardware Manual 4/14/2017 7.2.6 Jerk Smoothing Filter Applying this dynamic filter on speed and direction signals can significantly smoothing motor rotary motion, and reduce wear on mechanical system components. Jerk smoothing filter effects are as follows Instruction...

  • Page 86: Gain Parameters For Position Control Mode

    920-0126A SV200 DC Hardware Manual 4/14/2017 7.2.8 Gain Parameters For Position Control Mode In position mode, proper gain parameters will cause the servo system to run and stop more smoothly, and accurately, thereby optimizing its performance. In most cases, SVX Servo Suite’s auto tuning function will help to automatically tune these parameters. However, in some cases, the fine tuning function from the software or parameter setting mode on the drive may be needed to optimize performance.

  • Page 87: Software Configuration For Position Mode

    920-0126A SV200 DC Hardware Manual 4/14/2017 7.2.9 Software Configuration For Position Mode The SVX Servo Suite can help easily configure the drive and motor, and optimize the tuning parameters. Step Operation Description Step Configure motor Choose your motor model. Refer to Section 2.3 for motor details.

  • Page 88: Velocity Mode

    7.3 Velocity Mode The velocity control mode is used for applications that require precise velocity control. For SV200 DC servo drives, they are 4 types of velocity control mode: fixed-speed mode, analog command mode, SCL control mode and multi-velocity control mode. Fixed-speed mode will set the motor running at a constant speed.

  • Page 89: Velocity Mode Connection Diagram

    920-0126A SV200 DC Hardware Manual 4/14/2017 7.3.1 Velocity Mode Connection Diagram Analog Input ANA1 Speed Command ±10VDC PULSH1 DGND PULSH2 ANA2 Torque Command ±10VDC SIGNH1 17 DGND SIGNH2 37 Y1+ Alarm Output 36 Y1- 11 Y2+ RUN/STOP Brake Control Output...

  • Page 90: Parameter Settings For Analog Velocity Control Mode

    7.3.2 Parameter Settings For Analog Velocity Control Mode The SV200 DC servo drive has 2 12-bit analog A/D converters. When a single-ended input signal is used, analog input 1 (ANA1) is used for the velocity command, and analog input 2 (ANA2) is used for the torque limit setting. Differential input via ANA1/ANA2 is also available.

  • Page 91: Basic Settings For Analog Velocity Control Mode

    920-0126A SV200 DC Hardware Manual 4/14/2017 7.3.3 Basic Settings For Analog Velocity Control Mode 7.3.3.1 Command Signal For Analog Velocity Mode In Analog input velocity mode, both single-ended and differential connection types are acceptable. Single Ended Analog Input PIN type...

  • Page 92: Analog Velocity Gain

    920-0126A SV200 DC Hardware Manual 4/14/2017 7.3.3.2 Analog Velocity Gain Analog input voltage range is between -10V~+10V. In analog velocity, setting the velocity value and correspondent input voltage value is required. This can be set via SVX Servo Suite software or P-50 (AG) on the drive’s control panel.

  • Page 93: Analog Input Deadband

    920-0126A SV200 DC Hardware Manual 4/14/2017 7.3.3.4 Analog Input Deadband In analog control model, even when the input voltage is 0V, it is almost impossible to ensure that the input voltage is absolute 0V due to external interferences. In some cases, it might cause the motor to turn slowly in either direction. Therefore, it is recommended that a reasonable deadband value be set to prevent this issue.

  • Page 94: Torque Limit

    920-0126A SV200 DC Hardware Manual 4/14/2017 7.3.3.6 Torque Limit In single-ended analog mode, analog input 2 (ANA2) can used to set motor’s output torque. Parameter Settings Default Parameter Name Data Range Unit Description value Display Analog input type P-55 (AS)

  • Page 95: Velocity Mode Control Type

    920-0126A SV200 DC Hardware Manual 4/14/2017 7.3.3.8 Velocity Mode Control Type In Velocity mode, there are two control types: Position over time control type Speed only control type Both control type and parameters are different, it can be configured by SVX Servo Suite, or parameter P-15(JM)

  • Page 96: Velocity Ripple

    920-0126A SV200 DC Hardware Manual 4/14/2017 7.3.3.9 Velocity ripple Parameter Settings Default Parameter Name Data Range Unit Description value Display The accepted velocity ripple value around the targeted velocity. If the difference between Ripple range setting the actual velocity and the targeted velocity is...

  • Page 97: Analog Input Filter

    920-0126A SV200 DC Hardware Manual 4/14/2017 7.3.4 Analog Input Filter When the analog input is used, there can be external signal interference that will affect the accuracy of the analog input voltage. In some cases will cause the motor to turn unexpectedly, or cause unstable torque output. Therefore, use of the analog input filter is recommended.

  • Page 98: Software Configuration For Analog Velocity Mode

    920-0126A SV200 DC Hardware Manual 4/14/2017 7.3.5 Software Configuration for Analog Velocity Mode The SVX Servo Suite software easily configures the drive and motor, and optimizes the tuning parameters. Step Operation Description Step Configure motor Choose your motor model. Refer to Section 2.3 for motor details.

  • Page 99: Torque Mode

    SCL command mode. For analog command mode, torque is controlled by external voltage input. SCL is a unique software tool from Applied Motion Products’, that uses serial communication commands to control the motor.

  • Page 100: Analog Torque Mode Connection Diagram

    920-0126A SV200 DC Hardware Manual 4/14/2017 7.4.1 Analog Torque Mode Connection Diagram Analog Input ANA1 Speed Command ±10VDC PULSH1 DGND PULSH2 ANA2 High Speed Pulse Input Torque Command ±10VDC SIGNH1 17 DGND SIGNH2 37 Y1+ Alarm Output 36 Y1- RUN/STOP...

  • Page 101: Parameters For Analog Torque Mode

    920-0126A SV200 DC Hardware Manual 4/14/2017 7.4.2 Parameters For Analog Torque Mode SV200 series DC servo drives have 2 12-bit analog A/D converters. When single-ended input signals are used, analog input 1 (ANA1) is used for the velocity command, and analog input 2 (ANA2) is used for the rotating toque command. Differential input via ANA1/ ANA2 is also available.
  • Page 102 920-0126A SV200 DC Hardware Manual 4/14/2017 Differential Analog Input Pin Type Signal Name Connector pin Function ANA1 Analog torque input for differential input signal Input ANA2 DGND Analog torque input signal grounding Host controller Differential analog input D/A Output DGND DGND 7.4.3.2 Analog Torque Gain...
  • Page 103 920-0126A SV200 DC Hardware Manual 4/14/2017 7.4.3.3 Analog Input Offset In some cases, when a host controller has set the analog command to 0V, the servo motor might still rotate slowly. This is caused by voltage bias from the analog device. SVX Servo Suite can automatically offset the analog voltage bias, or it can be manually tune by changing parameter P-53 (AV2).
  • Page 104 920-0126A SV200 DC Hardware Manual 4/14/2017 7.4.3.5 Run/Stop and Direction signal In analog torque mode, external input X1 can set as run/stop switch, X2 can set as direction switch. Signal Name Condition Function Description When motor running, analog voltage defines motor...
  • Page 105 920-0126A SV200 DC Hardware Manual 4/14/2017 7.4.3.7 Target Torque Reached In torque mode, when the motor’s actual torque and commanded torque are the same, a “torque reached” output signal can be sent via the Y3 output. The first digit (from right to left) of parameter P-68 (MO) from the drive defines the output signal Y3.

  • Page 106: Software Configuration For Analog Torque Mode

    920-0126A SV200 DC Hardware Manual 4/14/2017 7.4.4 Software Configuration for Analog Torque Mode The SVX Servo Suite can help you easily configure the drive and motor, and set the tuning parameters. Step Operation Description Step Configure motor Choose your motor model. Refer to Section 2.3 for motor details.

  • Page 107: Position Table Mode

    Position table mode allows Point-to-Point linear motion and Rotary motion without any external pulse input. Instead, position table mode uses Input ports X7 - X12 to configure different position commands. Input X4 is the trigger for motion. NOTE: Only -S type SV200 DC series servo drive supports position table mode 7.5.1 Linear motion The Linear motion option for position table mode can set up to 63 positions, not including the homing position.

  • Page 108: Basic Configuration

    920-0126A SV200 DC Hardware Manual 4/14/2017 • Click Edit for detailed motion configurations. 7.5.1.2 Basic Configuration Point Counts: Select the number of position Point Counts: 7, 15, 31, or 63. Position type: There are two types of point-to-point motion: Relative Position and Absolute Positon.

  • Page 109: Homing Settings

    920-0126A SV200 DC Hardware Manual 4/14/2017 7.5.1.3 Homing settings Homing Method: There are 12 types of homing available. Search Homing: Sets the velocity, acceleration and deceleration while searching for the homing switch. Search Index: This feature sets the velocity, acceleration and deceleration while searching for the motor encoder index signal after the homing switch has been reached.

  • Page 110: Simulate

    920-0126A SV200 DC Hardware Manual 4/14/2017 7.5.1.6 Simulate After the configuration process, 3. Control Mode Settings: Simulate can verify the settings and simulate the motions. Homing: Click Homing to start the homing process. Go: Set the position point by changing the value in the point box. Click the Go button to start the motion. The green arrow in the box above shows the load position in real time.

  • Page 111: Rotary Motion Software Configuration

    920-0126A SV200 DC Hardware Manual 4/14/2017 7.5.2.1 Rotary motion software configuration Edit: Click on ‘Edit” to enter the detailed configuration page. Reduction ratio: Sets mechanical gear box ratio Division Ratio: Divide one revolution into that number of points with equal distance spacing...

  • Page 112: Rotary Motion Input Definition

    920-0126A SV200 DC Hardware Manual 4/14/2017 Homing direction: Set homing direction Homing velocity, Homing acceleration, Homing deceleration: Set motor homing velocity, homing acceleration, and homing deceleration values NOTE: These setting affect the motor’s velocity, acceleration, and deceleration. For actual system speed, accel and decel, refer to the ratio calculation below: System speed = Motor Speed ×...

  • Page 113: Parameters And Functions

    920-0126A SV200 DC Hardware Manual 4/14/2017 8 Parameters and Functions 8.1 Parameter Category SV200 DC servo drives have 4 modes Type Function Example Details Select LED monitoring status Section 5.4 Status Monitoring n - Status Monitoring type Selection Mode Select drive function to F - Function Control Section 5.5 Function Control Mode...
  • Page 114 920-0126A SV200 DC Hardware Manual 4/14/2017 Current Current Command of Torque Mode 0.01A config Current Rated Maximum current 0.5 * config Current Peak current 1.5 * config Current Hard Stop Homing Current config Profile Maximum velocity 26400 Maximum acceleration/ Profile...
  • Page 115 920-0126A SV200 DC Hardware Manual 4/14/2017 Config Position Fault limit 20000 counts 20000 Config Dynamical Position error Range counts Config In Position Error Range counts Config In position duration count counts Config Pulses Input Completion count Analog Analog Position Gain...
  • Page 116 920-0126A SV200 DC Hardware Manual 4/14/2017 Brake engage delay Input X9 noise filter Input X10 noise filter Input X11 noise filter Input X12 noise filter Communication protocol communication Transmit delay communication Baud rate communication RS-485 Address communication CANopen Node ID...
  • Page 117 920-0126A SV200 DC Hardware Manual 4/14/2017 Velocity of seeking homing switch Other 1200 during homing Velocity of feeding to homing Other switch during homing P100 Follow factor P101 Other Select motor rotation...

  • Page 118: Parameter Description

    920-0126A SV200 DC Hardware Manual 4/14/2017 8.3 Parameter Description Data Range Default Unit LED Display P-00 (KP) Global gain 1 0 - 32767 8000 ------ 8000 Sets or requests the servo control proportional gain term. Gain value is relative: “0” meaning no gain, “32767” meaning full gain. This parameter is the primary gain term for minimizing the position error.
  • Page 119 920-0126A SV200 DC Hardware Manual 4/14/2017 Data Range Default Unit LED Display P-06 (KK) Inertia Feedforward Constant 0~32767 ------ The servo control inertia feed forward gain. Gain value is relative: “0” meaning no gain, “32767” meaning full gain. KK improves acceleration control by compensating for the load inertia.
  • Page 120 920-0126A SV200 DC Hardware Manual 4/14/2017 Data Range Default Unit LED Display P-08 (VP) Velocity Loop Proportional Gain 0~32767 15000 ------ 15000 The velocity-mode servo control proportional gain term. Gain value is relative: “0” meaning no gain, “32767” meaning full gain. VP minimizes velocity error when in velocity mode 2.
  • Page 121 920-0126A SV200 DC Hardware Manual 4/14/2017 Analog torque mode: X1 for run/stop signal; Analog input torque +10 - -10V analog signal mode X2 is closed, motor will change its current rotary direction. STEP & Direction; Digital pulse position Up to 500KHz open collector input signal or up to 2MHz CW/CCW Pulse;...
  • Page 122 920-0126A SV200 DC Hardware Manual 4/14/2017 Data Range Default Unit LED Display P-16 (GC) Current Command of Torque Mode Based on drive’s output 0.01A ability The immediate current for the servo motor and drive when the servo drive is set for Command Torque Mode.
  • Page 123 920-0126A SV200 DC Hardware Manual 4/14/2017 LED display value = Where is target maximum acceleration/deceleration setting, Unit is rps/s. Data Range Default Unit LED Display P-22 (JS) Jog velocity 0.025 - 100 2400 The speed for Jog moves in rev/sec.
  • Page 124 920-0126A SV200 DC Hardware Manual 4/14/2017 Data Range Default Unit Data type P-27 (DE) Point to point deceleration 0.167 - 5000 rps/s The deceleration rate used in point-to-point move commands in rev/sec/sec. NOTE: if you need to view or set this value on the drive’s control panel, refer to the following calculation:...
  • Page 125 NOTE: if you need to view or set this value on the drive’s control panel, refer to the following calculation: LED display value = V x 6 Where number of Encoder lines NOTE: when using a Applied Motion Products’ motor please DO NOT change this parameter Data Range Default Unit...
  • Page 126 920-0126A SV200 DC Hardware Manual 4/14/2017 Data Range Default Unit LED Display Denominator of electronic gearing P-42 (EU) ratio 1 - 1000 1000 1000(Note) Defines the denominator of electronic gearing ratio. Refer to Section 7.2.5 Electronic Gearing Ratio NOTE: For firmware 1.00K or lower, if you need to view or set this value on the drive’s control panel, refer to the following calculation:...
  • Page 127 920-0126A SV200 DC Hardware Manual 4/14/2017 Data Range Default Unit LED Display P-46 (PD) In Position Error Range 0 - 32000 This parameter is used to set the in-position error range. For example, motor is in position when the actual position is within the target In-position error range for the time that is longer than PE specified timing.
  • Page 128 920-0126A SV200 DC Hardware Manual 4/14/2017 Data Range Default Unit LED Display P-51 (AN) Analog Torque Gain Drive’s maximum current output ability This parameter sets the analog input gain that relates to motor torque when the drive is in analog torque control mode. Analog torque gain value sets the commanded torque when the analog input is at the configured full scale value (±10V).
  • Page 129 920-0126A SV200 DC Hardware Manual 4/14/2017 value that is applied to either side of the zero point. Data Range Default Unit LED Display P-57 (AD) Analog input 2 deadband 0 - 255 The analog deadband value of the analog input 2 in millivolts. The deadband value is the zone around the “zeroed” value of the analog input.
  • Page 130 920-0126A SV200 DC Hardware Manual 4/14/2017 Data Range Default Unit LED Display P-61 (FA) Analog X1, X2 function 11 - 33 Defines the function of analog inputs X1 and X2, by two digits, from right to left. Digit 1: Input X1 function...
  • Page 131 920-0126A SV200 DC Hardware Manual 4/14/2017 Data Range Default Unit LED Display P-64 (DL) End-of-travel limit Setting 1-3,7-12,17-20 CW and CCW end-of-travel limits are available on all drives and can be used to define the boundaries of acceptable motion in a motor/ drive system.
  • Page 132 920-0126A SV200 DC Hardware Manual 4/14/2017 Data Range Default Unit LED Display P-66 (AO) Alarm output function setting Defines usage of digital output Y1. Normally this output is used to indicate an Alarm caused by a Drive Fault. This output can being reconfigured as a general purpose output for use with other types of output commands.
  • Page 133 920-0126A SV200 DC Hardware Manual 4/14/2017 Data Range Default Unit LED Display Y3, Y4, Y5, Y6 output function P-68 (MO) setting 413D 413D P-68 (MO) defines Y3, Y4, Y5, and Y6 output functions, by 4 digits from right to left.
  • Page 134 920-0126A SV200 DC Hardware Manual 4/14/2017 Data Range Default Unit LED Display P-69 (BD) Brake disengage Delay 0 - 32000 Data Range Default Unit LED Display P-70 (BE) Brake engage delay 0 - 32000 BD only takes effect if the BO command is set to 1 or 2. After a drive is enabled this is the time value a move may be delayed waiting for the brake to disengage.
  • Page 135 920-0126A SV200 DC Hardware Manual 4/14/2017 Data Range Default Unit LED Display P-74 (FI) Input X12 noise filter 0 - 32767 Applies a digital filter to the input X12. The digital input must be at the same level for the time period specified by the FI command before the input state is updated.
  • Page 136 920-0126A SV200 DC Hardware Manual 4/14/2017 Data Range Default Unit LED Display P-79 (DA) RS-485 Address 1 - 32 The individual drive address character for multi-drop RS-485/MODBUS communications. This command is not required for single- axis (point-to-point) or RS-232 communications.
  • Page 137 Regen resistor continuous wattage 0 - 32000 The regeneration resistor wattage. SV200 DC drives calculate the continuous wattage induced into an external regeneration resistor and must know the continuous wattage rating of the regen resistor to do this effectively. Data Range...
  • Page 138 920-0126A SV200 DC Hardware Manual 4/14/2017 Data Range Default Unit LED Display Ripple range setting for torque P-87 (TV) reach 0.00 - 1.50 0.00 The torque ripple value around the targeted torque. If the difference between the actual torque and targeted torque is within the ripple value, the drive will define the actual torque as having met the target torque value.
  • Page 139 920-0126A SV200 DC Hardware Manual 4/14/2017 Data Range Default Unit LED Display Decel of seeking end-of-travel limit P-94 (HL) during homing 0.167 - 5000 rps/s In homing mode, this parameter sets the deceleration rate for seeking the end-of-travel limit. Refer to parameter P-91 (HA).

  • Page 140: Communication

    9.1.1 What is SCL? Applied Motion Products’ SCL, or Serial Command Language, was developed by to give users a simple way to control a motor drive via a serial port. This eliminates the need for separate motion controllers or to supply control signals, like Pulse & Direction, to step and servo motor drives.

  • Page 141: Communication

    920-0126A SV200 DC Hardware Manual 4/14/2017 9.2 RS-485 Communication R type drives use ports CN6 and CN7 with a standard RJ45 (8p8C) design. They can be used to build RS-485 daisy chain networks. In addition to the SCL command control methods, Modbus/RTU can also be used to control the drives.

  • Page 142: Connection Method

    920-0126A SV200 DC Hardware Manual 4/14/2017 9.2.2 RS-485 Connection Method RS-422/485 communication allows connection of more than one drive to a single host PC, PLC, HMI or other computer. It also allows the communication cable to be long. The use of Category 5 cable is recommended as it is widely used for computer networks, is inexpensive, easily obtained and certified for quality and data integrity.

  • Page 143: Modbus/Rtu Communication

    There are two types of communication methods for Modbus, ASCII (American Standard Code for information interchange), and RTU (Remote Terminal Unit). They are defined based on different bus modulation and demodulation methods. For SV200 DC servo drives, only Modbus/RTU is supported.

  • Page 144: Power Up Mode

    Normal Modbus response: response function code = request function code Modbus error response: response function code = request function code + 0x80 (providing an error code) 9.3.6 SV200 DC Servo Drive Register Addresses and Function List: Register Access Data Type...
  • Page 145 920-0126A SV200 DC Hardware Manual 4/14/2017 Register Access Data Type Description SCL Register 40019 Read Only SHORT Immediate Current Command (IC) 40020..21 Read Only LONG Relative Distance (ID) 40022..23 Read Only LONG Sensor Position 40024 Read Only SHORT Condition Code...
  • Page 146 920-0126A SV200 DC Hardware Manual 4/14/2017 Register Access Data Type Description SCL Register 40049 SHORT Jog Velocity (JS) 40050 SHORT Max Velocity 40051 SHORT Continuous Current(CC) 40052 SHORT Peak Current (CP) O(Capital) 40053 Read Only SHORT Reserved 40054..55 LONG Pulse Counter...
  • Page 147 920-0126A SV200 DC Hardware Manual 4/14/2017 Register Access Data Type Description SCL Register 40089..90 LONG User Defined Register 40091..92 LONG User Defined Register 40093..94 LONG User Defined Register 40095..96 LONG User Defined Register 40097..98 LONG User Defined Register 40099..100 LONG User Defined Register 40101..102...
  • Page 148 920-0126A SV200 DC Hardware Manual 4/14/2017 Register Access Data Type Description SCL Register 40121 SHORT X9 Input Filter 40122 SHORT X10 Input Filter 40123 SHORT X11 Input Filter 40124 SHORT X12 Input Filter 40125 SHORT Command Opcode 40126 SHORT Parameter 1...
  • Page 149 920-0126A SV200 DC Hardware Manual 4/14/2017 Register Access Data Type Description SCL Register 40145 SHORT Operation Mode(PM) 40146 SHORT Jog Mode(JM) 40147 SHORT Hard-Stop Current Limit(HC) 40148 SHORT Max Acceleration(AM) 40149 Read Only SHORT Encoder Resolution(ER) 40150 Read Only SHORT...
  • Page 150 920-0126A SV200 DC Hardware Manual 4/14/2017 Register Access Data Type Description SCL Register 40168 SHORT Analog Function(FA) 40169 SHORT Servo Enable(SI) 40170 SHORT Alarm Reset(AI) 40171 SHORT Define Limits Input(DL) 40172 SHORT Motion Input 40173 SHORT Alarm Output(AO) 40174 SHORT...
  • Page 151 920-0126A SV200 DC Hardware Manual 4/14/2017 Register Access Data Type Description SCL Register 40190 SHORT Homing Deceleration 1 40191 SHORT Homing Deceleration 2 40192 SHORT Homing Deceleration 3 40193 SHORT Homing Velocity 1 40194 SHORT Homing Velocity 2 40195 SHORT...

  • Page 152: Command Opcode Description

    920-0126A SV200 DC Hardware Manual 4/14/2017 9.3.7 Command Opcode Description Register 40125 is defined as Command Opcode, when the following commands are entered into the register, the drive will execute the corresponding operation. 1) SCL Command Encoding Table SCL Command Encoding Table...
  • Page 153 920-0126A SV200 DC Hardware Manual 4/14/2017 2) Digital I/O Function Selection And I/O Status Character hex code ‘0’ 0x30 Index of encode ‘1’ 0x31 input 1 or output 1 ‘2’ 0x32 input 2 or output 2 ‘3’ 0x33 input 3 or output 3 ‘4’...

  • Page 154: Function Code

    920-0126A SV200 DC Hardware Manual 4/14/2017 9.3.8 Function Code Applied Motion Products’ drives currently support the following Modbus function codes: 1) 0x03: Read holding registers 2) 0x04: Read input registers 3) 0x06: Write single registers 4) 0x10: Write multiple registers 9.3.8.1 Function Code 0X03, Reading Multiple Holding Registers...
  • Page 155 920-0126A SV200 DC Hardware Manual 4/14/2017 9.3.8.2 Function Code 0x06, Writing Single Register To set the motor rotary velocity 12.5 rps to drive Node ID 11, the corresponding register address is 40030. The write-in data value for the register will be 12.5 x 240 = 3000. In hexadecimal, it is 12CH.
  • Page 156 920-0126A SV200 DC Hardware Manual 4/14/2017 9.3.8.3 Function Code 0X10, Writing Multiple Registers To write target distance 30000 into drive Node ID 10, the corresponding register address is 40031. Transferred into hexadecimal, it is 7530h. Communication Details are as follows:...

  • Page 157: Modbus/Rtu Applications

    920-0126A SV200 DC Hardware Manual 4/14/2017 9.3.9 Modbus/RTU Applications 9.3.9.1 Position Control Target Profile Planning Target Unit Dec (Hex) Description command Value The unit for register 40028 is , when target rps/s 40028 600 (258h) acceleration is 100rps/s, the value will be 600 The unit for register 40029 is .
  • Page 158 920-0126A SV200 DC Hardware Manual 4/14/2017 Sending Command Set acceleration register 40028 = 285h deceleration register 40029 = 4B0h velocity register 40030 = 960h target position 40031 - 40032 = 4E20h Host Sending: 01 10 00 1B 00 05 0A 02 58 04 B0 09 60 00 00 4E 20 24 3B...
  • Page 159 920-0126A SV200 DC Hardware Manual 4/14/2017 Point To Point Motion Command Section 9.3.7 Command Opcode describes register 40125’s control code. The SCL code list shows that for point-to-point position motion, data 0x66 must be written to register 40125. SCL Command Encoding Table...
  • Page 160 920-0126A SV200 DC Hardware Manual 4/14/2017 9.3.9.2 JOG mode JOG mode required parameters: Target Unit Dec (Hex) Description command Value The unit for register 40028 is , when target rps/s 40047 600 (258h) acceleration is 100rps/s, the value will be 600 The unit for register 40029 is .
  • Page 161 920-0126A SV200 DC Hardware Manual 4/14/2017 Sending Command Set velocity mode acceleration register as 40047 = 258h deceleration register as 40048 = 4B0h velocity register 40049 = 960h Host Sending: 01 10 00 2E 00 03 06 02 58 04 B0 09 60 A0 9F...
  • Page 162 920-0126A SV200 DC Hardware Manual 4/14/2017 Starting message : Command Message (Master) Command Message (Slave) Function Data Number Of Bytes Function Data Number Of Bytes Slave Address Slave Address Function Code Function Code 00H (High) 00H (High) Starting Data Address...

  • Page 163: Canopen Communication

    4, 5, 8 9.4.2 CANopen NODE-ID In the CANopen network, each drive needs to have a unique NODE-ID. For SV200 DC servo drives, NODE-IDs can be set from 1-112. “0” cannot be used for ID setting. Parameter P-79 (CO) sets the NODE-ID.

  • Page 164: Ethernet Communication

    Note: The following sections are taken from the “Host Command Reference - Appendix G: eSCL (SCL over Ethernet) Reference”. For more information, please read the rest of the guide. It can be downloaded from Applied Motion Products website. 9.5.1.1 Setting the IP Address The default IP address for SV200 series Ethernet address is 10.10.10.10...

  • Page 165: Connecting To Drive From Pc

    920-0126A SV200 DC Hardware Manual 4/14/2017 9.5.1.2 Connecting to Drive from PC 1. The default IP address for SV200 Ethernet drive is 10.10.10.10. It can be also viewed and configured directly from drive’s control panel, parameter P-80(CO), please refer to 9.5.2 for more details.
  • Page 166 920-0126A SV200 DC Hardware Manual 4/14/2017 Click “Download All to drive” Note: the New IP address will only effect after next power cycle For SV200 series drives, there are 16 index values for 16 different IP addresses. Default address are as shown in table below:...

  • Page 167: Set Ip Address From Drive

    920-0126A SV200 DC Hardware Manual 4/14/2017 9.5.2.2 Set IP address from Drive For Ethernet Version of SV200 Drive, IP address can be viewed and configurated directly from drive’s control panel, parameter P-80(CO). Please refer to table below for parameter values and its IP address...

  • Page 168: Editing Ip Address Table

    920-0126A SV200 DC Hardware Manual 4/14/2017 9.5.3 Editing IP address table In SVX Servo Suit software IP table can be edited via the IP table tab. Read from Drive: IP the IP table from the connected drive Save current IP table values to the drive.

  • Page 169: Sv200 Tuning Guide

    920-0126A SV200 DC Hardware Manual 4/14/2017 11 SV200 Tuning Guide Like most modern servo drives, the SV200 series employs sophisticated algorithms and electronics for controlling the torque, velocity and position of the motor and load. Feedback sensors are used to tell the drive what the motor is doing at all times. That way the drive can continuously alter the voltage and current applied to the motor until the motor meets the commanded torque, velocity or position, depending on the control mode selected.

  • Page 170: Gain Parameter Introduction

    920-0126A SV200 DC Hardware Manual 4/14/2017 11.1.1 Gain Parameter Introduction Global gain (KP): This parameter is the primary gain term for minimizing the position error. It defines the system stiffness. Larger KP values means higher stiffness and faster response times. However, if gain values are too high, vibration can result. Values ranging from 6000 to 16000 are commonly used.

  • Page 171: Auto-Tuning

    920-0126A SV200 DC Hardware Manual 4/14/2017 11.2 Auto-Tuning SV200 servo systems can achieve real time response to the dynamic feedback of the load and optimize tuning parameters automatically. The auto-tuning function can save time and simplify the debugging process. Auto-tuning can be completed using the SVX Servo Suite software in only a few minutes.

  • Page 172: Step 2: Setting The Software Position Limits

    920-0126A SV200 DC Hardware Manual 4/14/2017 In the pop-up menu, click on the drop-down motor list to choose the correct motor number and then click “OK”. NOTE: Refer to the SV200 Series AC Servo User Manual, Chapter 2.3 Servo Motor Model Introduction for motor identification details.
  • Page 173 920-0126A SV200 DC Hardware Manual 4/14/2017 Setup Software Position Limits Here are the basic steps to set the soft limits, also shown below: Before rotating the motor and setting limits, first set the desired Jog Speed, and Accel/Decel rate. Set CCW limit – move to desired position with arrow buttons, then click the flag button Set CW limit –...
  • Page 174 920-0126A SV200 DC Hardware Manual 4/14/2017 11.2.3 Step 3 Auto-Tuning Function From the “Auto-Tune” tab, follow these steps to configure and run auto-tuning: Operation steps Set Stiffness and Load type Set Auto-Tuning Distance, Speed target, and Accel/Decel NOTE: If software position limit is set, select “Tuning Between CW and CCW Limit If no limit is required, select “Distance”...
  • Page 175 920-0126A SV200 DC Hardware Manual 4/14/2017 11.3 Fine tuning Depending on the mechanical system characteristics and the servo motor used, the following parameters are available and may need to be adjusted to improve system performance: ● Global gain (KP) ● Position loop gain (KF) ●...

  • Page 176: Position Loop Gain (Kf)

    920-0126A SV200 DC Hardware Manual 4/14/2017 11.3.2 Position loop gain (KF) This parameter is the primary gain term for minimizing the position error. Increasing KF will increase stiffness and reduce settling time. However, it might cause vibration if increased too much. This is simplest part of the PID loop; the drive will apply current to the motor in direct proportion to the error.

  • Page 177: Integrator Gain (Ki)

    920-0126A SV200 DC Hardware Manual 4/14/2017 11.3.3 Integrator Gain (KI) The position loop gain (KF) alone will often not be enough to give the best performance in terms of minimizing the position error and may require a long time settling time. In these cases, the Integral gain (KI) will keep adding up that error and continue to increase the torque until the motor truly returns to the target position.

  • Page 178: Damping Gain (Kv)

    920-0126A SV200 DC Hardware Manual 4/14/2017 11.3.4 Damping gain (KV) As the motor load inertia increases, the servo system will require higher damping gain (KV) to reduce position errors during constant speed and when the motor stops. When KV is too small, this low damping value will cause large position error fluctuations while the motor is running at constant velocity and while stopped, holding position.

  • Page 179: Derivative Gain (Kd)

    920-0126A SV200 DC Hardware Manual 4/14/2017 When KV is too large, however, the strong damping gyellow below: KV = 32000 (too large) 11.3.5 Derivative gain (KD) A simple PI controller without Derivative gain (KD) would cause the motor to overreact to small errors, creating ever larger errors and, ultimately becoming unstable.
  • Page 180 920-0126A SV200 DC Hardware Manual 4/14/2017 As KD increases, the system takes less time to settle as shown below. KD=4000 KD=7000 When KD is too large, however, the system will become highly sensitive to the commanded changes in motion, which can potentially cause unexpected system vibrations and noise as shown below.

  • Page 181: Inertia Feedforward Constant (Kk)

    920-0126A SV200 DC Hardware Manual 4/14/2017 11.3.6 Inertia Feedforward Constant (KK) With larger loads typically comes larger load Inertia. These larger inertias can be more easily accelerated or decelerated by anticipating the control system needs. The Acceleration Feedforward gain term (KK) does this by adding an acceleration value to the control value, which reduces position error during acceleration and deceleration.

  • Page 182: Follow Factor (Kl)

    920-0126A SV200 DC Hardware Manual 4/14/2017 When the feedforward (KK) gain is too large, however, the opposite effect can be seen. This will also decrease system dynamic performance by increasing position error and system settling time, as shown below. KK=19000 (too large) NOTE: When adjusting control loop gain values remember that the Feedforward Term (KK) has no effect when operating in the Position –...

  • Page 183: Using Auto Trigger Sampling

    920-0126A SV200 DC Hardware Manual 4/14/2017 11.4 Using Auto Trigger Sampling In cases where an external controller is used to perform move profiles, such as in Position Control Mode using Pulse & Direction input, the Auto Trigger function will allow the Sampling tool to collect data and display the move profile.

  • Page 184: Trouble Shooting

    920-0126A SV200 DC Hardware Manual 4/14/2017 10 Trouble Shooting 10.1 Drive Alarm List LED display Description Alarm type Drive status after alarm occurs Drive over temperature Fault Servo off Internal voltage fault Fault Servo off Over voltage Fault Servo off...
  • Page 185 3. please measure the external resistor, Replace the 3. External regeneration discharge external resistor if the value is ∞. resistor is not appropriate and could not absorb 4. Please contact Applied Motion Products or replace the regeneration energy. the driver with a new one. 4. Failure 1.
  • Page 186 920-0126A SV200 DC Hardware Manual 4/14/2017 Please check motor velocity command if it is within the P-19 (VM) range. 1. Avoid high velocity command 2. Check the command pulse input frequency and Position error division/multiplication ratio. Motor rotary velocity exceeds parameter P-19 (VM) setting value.
  • Page 187 4.1.5 P1 drive power connection. at the main power-on. 3) please contact Applied Motion Products. 3) Failure of servo driver (failure of the circuit) 1. Please check Q program. 2. Please check operation mode correction.

  • Page 188: Appendix

    920-0126A SV200 DC Hardware Manual 4/14/2017 Appendix Appendix 1: LED Character Reference...

  • Page 189: Appendix 2: Accessories

    920-0126A SV200 DC Hardware Manual 4/14/2017 Appendix 2: Accessories Mating Connectors Description Manufacturer Manufacturer number Mating I/O Connector & Shell (Included) TYCO 5-2232346-1 Mating Motor Power Connector (Included) Phoenix 5452570 Mating DC Power Connector (Included) Phoenix 5435983 Mating STO connector (Included)
  • Page 190 920-0126A SV200 DC Hardware Manual 4/14/2017 Servo Motor Power Cable (Recommended) Housing :350780-1 Terminal:350536-1 Model Number Description 3004-303-1M Servo Motor Power Cable, 1 meter 3004-303-3M Servo Motor Power Cable, 3 meter Servo Feedback Cable (Recommended) Connect to drive Connect to Motor...
  • Page 191 920-0126A SV200 DC Hardware Manual 4/14/2017 I/O Accessories (Not Included) I/O Cable with Flying Leads Model Number Description 3004-327-2M 2 meter I/O Flying Leads cable Breakout Board for SV200 I/O Connector Model Number Description Bob-4 DIN rail-mountable I/O breakout board with 0.5m Extension Cable...
  • Page 192 920-0126A SV200 DC Hardware Manual 4/14/2017 Contacting Applied Motion Products Corporate Headquarters 404 Westridge Drive Watsonville, CA 95076 (800) 525-1609 (831) 761-6555 web www.applied-motion.com support@applied-motion.com...

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