Table of Contents
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We appreciate very much for your purchasing of Shihlin servo products. This manual will be a
helpful instruction to install, wire, inspect, and operate your Shihlin servo drive and motor.
Before using the servo drive and motor, please read this user manual to prevent from electric
shock, fire, and injury.
In this manual, the safety instruction levels are classified into "DANGER" and "CAUTION".
Note that the CAUTION level may lead to a serious consequence by cases. Be sure to follow
the instructions of both levels to keep personnel safety well.
What must not be done and what must be done are indicated by the following marks:
: It indicates what must not be done.
!
: It indicates what must be done.
In this manual, instructions at a lower level than the above, instructions for other functions, and
so on are classified into "NOTE".
After reading this user manual, always keep it accessible to the operator.
Preface
It indicates that incorrect operation may cause hazardous
conditions, resulting in death or injury.
It indicates that incorrect operation may cause hazards,
resulting in injury to person or damage to the product.
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Summary of Contents for Shihlin electric SDE-010A2U
- Page 1 Preface We appreciate very much for your purchasing of Shihlin servo products. This manual will be a helpful instruction to install, wire, inspect, and operate your Shihlin servo drive and motor. Before using the servo drive and motor, please read this user manual to prevent from electric shock, fire, and injury.
- Page 2 1. To prevent electric shock, please confirm the following: Operate the power switches with dry hand to prevent an electric 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.
- Page 3 4. Other instructions The following instructions should also be fully noted. Improper operation may cause a damage, fault, injury or electric shock, etc. (1) Delivering and installation Delivery the products correctly according to their weights. It is not allowed to stack the products in excess of the specified layers. ...
- Page 4 (3) Trial run The initial trial run for servo motor should be operated under idle conditions (separate the motor from its couplings and belts). Before trial run, check if the parameters are set properly. Otherwise it will cause some ...
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Page 5: Table Of Contents
Product descriptions ....................... 1 1.1 Summary ........................1 1.2 Drive model designation ....................1 1.3 Motor model designation ..................... 2 1.4 Drive rating plate ......................3 1.5 Motor rating plate ......................4 1.6 Function block diagram ....................5 1.7 Combinations of Servo Drive and Servo Motor ............6 1.8 Servo control mode ..................... - Page 6 4.1. Switching power on for the first time ................42 4.1.1. Startup procedure ................... 42 4.1.2. Wiring check ....................43 4.1.3. Ambient environment ..................44 4.2. Display and operation ....................45 4.3. Display flowchart ....................... 46 4.4. Status display ......................47 4.5.
- Page 7 6.6.5. Adjustment of speed loop gain..............138 6.6.6. Resonance and vibration suppression filter ..........140 6.6.7. Gain switch function ..................143 6.7. Position control mode ....................147 6.7.1. External pulse-train command (Pt mode) ............. 147 6.7.2. Inner register command (Pr mode) ............... 149 6.7.3.
- Page 8 10.4. Motor dimensions ....................211 10.4.1. Dimensions of motors (3000rpm rated speed) ..........211 10.4.2. Dimensions of motors (2000rpm rated speed) ..........212 10.4.3. Motor shaft end specification ............... 213 10.5. Motor characteristic ....................214 10.6. Overload protection ....................218 11.
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Page 9: Product Descriptions
1. Product descriptions 1.1 Summary The Shihlin SDE series general-purpose servo drive has higher performance and more functions compared to the previous Shihlin servo drives. The Shihlin SME series servo motor is equipped with 22-bit (4,194,304 pulses/rev) high resolution encoder. The servo drive has position, speed, and torque control modes. -
Page 10: Motor Model Designation
1.3 Motor model designation Shihlin definition/ SME-□○○○ ΔΔ○□□□-XY Customer ID code Symbol approval approval Shihlin servo motor ○ SME series ○ ○ Symbol Inertia class Back side Keyway Symbol cable shaft medium ○ Rated output Symbol (kW) ○ 0.05 ○ ○... -
Page 11: Drive Rating Plate
1.4 Drive rating plate (1) Rating plate diagram Model Capacity Applicable power Rated output current Serial number Number of manufacture (2) Serial number description L DE A A U 00001 Number 00001~99999 Certification code U: UL approved C: CE approved Type code A: 010 B: 020... -
Page 12: Motor Rating Plate
1.5 Motor rating plate (1) Rating plate diagram Model Applicable power Rated output current IP class, Standards Serial number Number of manufacture (2) Serial number description L ME A B U 00001 Number 00001~99999 Certification code U: UL approved C: CE approved Type code A: 005 B: 010 …... -
Page 13: Function Block Diagram
1.6 Function block diagram... -
Page 14: Combinations Of Servo Drive And Servo Motor
1.7 Combinations of Servo Drive and Servo Motor Servo motor (Note) Servo drive Low inertia series Medium inertia series SDE-010A2 SME-L005 SDE-010A2 SME-L010 SDE-020A2 SME-L020 SDE-040A2 SME-L040 SDE-075A2 SME-L075 SDE-100A2 SME-L100 SME-M100 SDE-150A2 SME-L150 SME-M150 SDE-200A2 SME-L200 SME-M200 SDE-300A2 SME-L300 SME-M300 1.8 Servo control mode Control Mode... -
Page 15: Drive Appearance And Panel Descriptions (1Kw Or Less)
1.9 Drive appearance and panel descriptions (1kW or less) Display: Operation keys: Drive status, alarm number, Parameter setting, monitoring etc. parameter are displayed. are executed with 4 keys. MODE: mode selection ▢ : +1 incremental key USB port: ▼ : -1 decreased key Connect a PC or compatible : confirm key superior controller. -
Page 16: Drive Appearance And Panel Descriptions (1.5Kw Or Greater)
1.10 Drive appearance and panel descriptions (1.5kW or greater) Display: Drive status, alarm number, parameter are displayed. Brake resistor terminals: Operation keys: Install an external resistor Parameter setting, monitoring if large inertia load applied etc. are executed with 4 keys. and frequent regeneration. -
Page 17: Wires With Peripheral Equipment
1.11 Wires with peripheral equipment Peripheral equipment connected to the servo drive is described as below. The wires with the peripheral equipment is an example for SDE-040 or smaller. Connectors, cables, options, and other necessary equipment should be ready so that users can set up the servo easily and start using it right away. -
Page 18: Installation
2. Installation 2.1 Cautions Do not install the product on inflammable matters or close to inflammable matters. Do not over tighten the wire between the drive and the motor. Do not place heavy objects on the top of the drive. ... -
Page 19: Installation Direction And Clearances
2.3 Installation direction and clearances The drive must be installed in the specified direction. Otherwise, it may cause a malfunction. Leave specified clearances between the drive and the cabinet walls or other devices. Otherwise, it may cause a malfunction. (1) Installation direction (2) Installation clearances of one drive (3) Installation clearances of two or more drives... -
Page 20: Encoder Cable Stress
0 °C to 45 °C or use the servo amplifier with 75% or less of the effective load ratio. (4) Others When using a regenerative device is used, consider a well ventilation so that the servo drive is not affected. Install the servo amplifier on a perpendicular wall in the correct vertical direction. 2.4 Encoder cable stress (1) The way of cable clamping must be fully examined so that bending stress and cable's own weight stress are not applied to the cable connection. -
Page 21: Wiring And Signals
3. Wiring and signals ny person who wires should be fully capable to do the work. Before wiring, turn off the power and wait until the charge LED turns off. Then, confirm that the voltage between +P and -N is safe with a voltage meter. -
Page 22: Input Power Source Circuit
3.1. Input power source circuit Note 1 Note 2 Note 3 Note 4 Note 4 Note: 1. If an external brake resistor is applied, please make sure that “P” and “D” connect to the resistor, and make “P” and “C” open. Or an active brake unit is applied, connect “P” and “N” to the unit and make “P”... -
Page 23: Description Of Drive Terminals And Sockets
3.2. Description of drive terminals and sockets Name Sign Description Main power input terminal R、S、T Connect to 3-phase AC power source Control power input L1、L2 Connect to single phase AC power source terminal Power output terminal U、V、W Terminal code Wire color White Black Brake resistor terminal... -
Page 24: Cn1 I/O Socket
3.3. CN1 I/O socket 3.3.1. CN1 pin assignment The CN1 equips with 12 digital inputs (DI) and 6 digital outputs (DO) which make the application with the host controller more flexible. The DI relevant parameters are PD02~PD09, PD21~PD24. The DO relevant parameters are PD10~PD14, PD26. In addition, it affords encoder differential output signals, torque analog command input, speed analog command input. -
Page 25: Shielding And Ground For Cn1 Cable
3.3.2. Shielding and ground for CN1 cable For the CN1 cable connector, securely connect the cable braid shield to the frame of CN1 connector. The CN1 cable connector pin assignment should be as viewed from the CN1 socket of servo drive. The connection of CN1 cable shielding is described as follows. (1) Choose the proper cable A cable with double shield is recommended. -
Page 26: Cn1 Pin Name List
3.3.3. CN1 pin name list... -
Page 27: Cn1 Pin Function Description
3.3.4. CN1 pin function description There are 50 pins in CN1. Every pin and its default function are described as below. Some pin functions are varied depending on the control mode. Mode Pin name Sign Pin NO Function description (Note) +15V power CN1_1 There is a +15V between VCC and LG. - Page 28 Digital I/O CN1_24 The ground of SON, EMG, etc. Each pin inside the signal ground CN1_25 drive is connected together but separated from LG. CN1_50 Analog output MON1 CN1_30 To output the voltage of PC14 setting value. monitor 1 Analog output MON2 CN1_32 To output the voltage of PC14 setting value.
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Page 29: Cn1 Di Signals
3.3.5. CN1 DI signals There are 36 digital input functions could be assigned to the particular DI pin by the modification of PD02 to PD09, PD21 to PD24. The value from 0x01 to 0x24 is defined as the function described below. Control Signal function Sign... - Page 30 ＜Speed control mode＞ Used to select the speed command. When using SP3, make it usable by making the setting of PD02~PD09. (Note)Input Setting of signals Speed command PD02~PD09 SP3 SP2 SP1 Speed option 1 0x06 Speed analog command (VC) When speed Inner speed command 1 (PC05) option (SP3) is not used.
- Page 31 Used to select any of the following servo motor torque generation directions: Forward rotation 0x0A Input signals option (Note) Torque generation direction Torque is not generated. Forward rotation torque, reverse rotation regeneration Reverse rotation Reverse rotation torque, forward rotation regeneration 0x09 option Torque is not generated.
- Page 32 Turn EMG off (open EMG-SG) to bring the motor to an emergency stop state, in which the electromagnetic brake is on. External Turn EMG on (short EMG-SG) in the emergency stop state to 0x12 reset that state. emergency stop To set the value of PD01 as 1□□□, this signal would be normal Position POS1 0x13...
- Page 33 When ABSE is activated, it can initialize an absolute system and Absolute system enable ABSQ, ABSR, ABSC, and ABSD as well. No matter what communication ABSE 0x22 the original functions of DI4, DO2, and DO3 are, they will change I/O enable to the function of ABSQ, ABSR, and ABSD respectively.
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Page 34: Cn1 Do Signals
3.3.6. CN1 DO signals Every DO pin is programmable. There are 14 output functions could be assigned to the particular DO pin by the modification of parameter PD10 to PD14, PD26. The value from 0x01 to 0x0E is defined as the function described below. Control Signal function Sign... - Page 35 Overload output OLW is activated when the servo drive has detected that the 0x0A warning motor has reached the output overload level. Motion control MC_OK is activated when CMDOK and INP are both ON. If MC_OK 0x0B completed only CMDOK or INP is ON, MC_OK will not be activated. Pr command OVF is activated when the servo drive has detected that an 0x0C...
- Page 36 The DI default function of the CN1 changes depending on the control mode. Value Sign Function Pt-S Pt-T Pr-S Pr-T 0x01 Servo ON 0x02 Reset 0x03 Proportion control 0x04 Torque limit option DI11 DI11 DI11 DI11 DI11 0x05 Inner torque limit option DI11 0x06 Speed option 1...
- Page 37 0x1D INHP Inhabit pulse input 0x1E Event trigger Pr command 1 0x1F Event trigger Pr command 2 0x20 Event trigger Pr command 3 0x21 Event trigger Pr command 4 0x22 ABSE Absolute system I/O enable 0x22 ABSM Absolute system I/O enable 0x23 ABSC Absolute system origin setting...
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Page 38: Interface Wiring Diagram
3.3.7. Interface wiring diagram (1). DI of sink mode With the inner power supply With the external power supply (2). DI of source mode When using the input interface of source type, all DI input signals are of source type. Source output could not be provided. - Page 39 (3). DO interface Lamp, relay or photo coupler could be driven. A diode for relay load, or a suppressing resistor for lamp load is necessary. (Permissible current: 40mA or less, inrush current: 100mA or less) DO of sink mode With the inner power supply With the external power supply DO of source mode With the inner power supply...
- Page 40 (4). Speed analog command, torque analog command and MON1, MON2 analog output. Input impedance 10KΩ to 12KΩ / Output voltage ±10V. Speed/torque analog command input MON1/MON2 analog monitor output (5). Encoder pulse output Output a pulse train signal in the open collector or differential type. Open collector output could be obtained via the pin 39(OP) of CN1.
- Page 41 (6). Forward/reverse rotation pulse train input Input a pulse train signal in open collector or differential line drive type. The maximum input pulse frequency is 4Mpps for differential line drive and 200kpps for open collector type. Inner power supply for sink mode External power supply for sink mode Inner power supply for source mode External power supply for source mode...
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Page 42: Cn2 Encoder Signal Wiring And Description
3.4. CN2 Encoder signal wiring and description The encoder resolution of SME servo motor is 22-bit per revolution. The appearance of CN2 connector is shown below. Drive side CN2 front view (This is a connector of 3M.) CN2 compatible connector for the encoder cable side view rear view Cable side... -
Page 43: Cn3 Communication Port Signal Wiring And Description
3.5. CN3 communication port signal wiring and description CN3 port is for RS-485 communication. With the Shihlin servo communication software, users could perform the parameters setting, the motor status monitoring, the motor running and test, etc. The RS485 format provides a longer distance communication and multiple drives application. Pin NO Sign Function description... -
Page 44: Cn5 Battery Power Socket
3.7. CN5 battery power socket When the absolute encoder servo motor is performed, the backup power for absolute encoder is necessary. The SDE servo drive provides a socket which the power wires of battery box could plug in. Battery box The following table describes the pin assignment of CN5. -
Page 45: Standard Wiring Method
3.8. Standard wiring method Any person who does the wiring job should be fully competent. Before wiring, turn off the power and wait for 10 minutes or more until the charge LED turns off. Otherwise, an electric shock may occur. ... -
Page 46: Wiring Diagram Of Position Control(Pr Mode)
3.8.1. Wiring diagram of position control(Pr Mode) ♦ Note: 1. If the external power is applied, do not connect VDD and COM+. 2. See section 3.1 for the wirings of brake resistor. 3. See section 3.3.6 for DO sink or source wiring. -
Page 47: Wiring Diagram Of Position Control(Pt Mode)
3.8.2. Wiring diagram of position control(Pt Mode) ♦ Note: 1. If the external power is applied, do not connect VDD and COM+. 2. See section 3.1 for the wirings of brake resistor. 3. See section 3.3.6 for DO sink or source wiring. -
Page 48: Wiring Diagram Of Speed Control(S Mode)
3.8.3. Wiring diagram of speed control(S Mode) ♦ Note: 1. If the external power is applied, do not connect VDD and COM+. 2. See section 3.1 for the wirings of brake resistor. 3. See section 3.3.6 for DO sink or source wiring. -
Page 49: Wiring Diagram Of Torque Control(T Mode)
3.8.4. Wiring diagram of torque control(T Mode) ♦ Note: 1. If the external power is applied, do not connect VDD and COM+. 2. See section 3.1 for the wirings of brake resistor. 3. See section 3.3.6 for DO sink or source wiring. -
Page 50: Startup
4. Startup Do not operate the switches with wet hands. Otherwise, it may cause an electric shock. Before running the servo motor, check the parameters. Any improper settings may cause machines some unexpected operation. The servo drive heat sink, regenerative resistor, servo motor, etc. may be hot while power is on or for an interval after power off. -
Page 51: Wiring Check
4.1.2. Wiring check (1) Power supply system wiring Before switching on the power supply, check the following items. (a) Power supply system wiring The power supplied to the power input terminals (R, S, and T) of the servo drive should satisfy the defined specifications. -
Page 52: Ambient Environment
(2) I/O signal wiring (a) The I/O signals should be connected correctly. Use DO forced output to forcibly turn on/off the pins of the CN1 connector. This function can be used to perform a wiring check. Switch off SON (Servo-on) to enable the function. Refer to section 3.2 for details of I/O signal connection. -
Page 53: Display And Operation
4.2. Display and operation The SDE servo drive equips a 5-digit, 7-segment LED display and 4 pushbuttons for servo drive status display, alarm display, parameter setting, etc. The operation and display are described below. ▼ ▢ MODE Name Function description 5-digit, 7-segment LED To display motor status, parameters, and abnormal messages. -
Page 54: Display Flowchart
4.3. Display flowchart Press “MODE” key once to shift to the next display mode. Refer to section 4.4 and later for related display. To read or set the extension parameters, make them valid with the PA42 setting. Display process Initial Screen Function description Reference Servo status display. -
Page 55: Status Display
4.4. Status display Press “MODE” key once to shift to the next display mode. Press the “UP” or “DOWN” key to change the display data as desired. When the required data is selected, the corresponding data appears. Press the “SET” key to display the information. A negative value which occupies 5 digits is displayed by the 5 lit decimal points. - Page 56 Status display Sign unit Description Analog Torque command Position/Speed: It denotes the analog voltage of torque limit. /limit voltage Torque: It denotes the analog voltage of torque command. Position/Speed: It denotes the rated torque limit percentage. Torque input command/limit Torque: It denotes the torque command percentage. The continuous and effective load torque is displayed relative Effective load ratio to the rated torque of 100%.
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Page 57: Diagnostic Display
4.5. Diagnostic display The following table provides information display related to the diagnostic mode. Name Display Description Not ready yet. The drive is being initialized, an alarm has occurred or the SON DI is not activated. Control status Ready. Initialization completed; the drive is ready for operation. Indicates the ON/OFF states of the external I/O signals. -
Page 58: Indication Of External I/O Signals
4.5.1. Indication of external I/O signals This display is used to verify the ON/OFF states of digital I/O signals connected to the drive. (1) Operation Call the display screen after power on. Press the “MODE” key to show the diagnostic screen: (2) Display of I/O pin definition The figure above as an example: DI1 to DI8 are “ON”... -
Page 59: Do Forced Output
4.5.2. DO forced output The output signals could be forced on/off and do not affect the status of servo drive. This function is used for output signal wiring check, etc. This operation must be performed in the servo off state by turning off SON. -
Page 60: Test Operation
4.5.3. Test operation (1) JOG operation JOG operation could be performed when there is no command from the controller. The servo motor rotates while pressing the "UP" key to start CCW rotation or the "DOWN" key to start CW rotation. The servo motor stops rotating by releasing the key. - Page 61 (2) Positioning operation Positioning operation could be performed when there is no command from the controller. The Shihlin communication software is required to perform this positioning operation. Before this operation, make sure that SON and SG are open. (a) Operation Make sure that the motor is correctly wired before this test performed.
- Page 62 (3) Inertia estimation operation Inertia estimation operation could be performed when there is no command from the controller. The Shihlin communication software is required to perform this Inertia estimation operation. Before this operation, the PA02 should be set as 0x00. (a) Operation i.
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Page 63: Automatic Offset Of Analog Input
(b) Relevant parameter modification After the Inertia estimation, some parameters related to control gain performance would be modified automatically. Setting Pr.No Sign Function description Unit range PB03 Resonance suppression low-pass filter 0.1ms ~10000 PB05 Position feed-forward gain ~200 PB06 Load to motor inertia ratio 0.1time ~1200 PB07... -
Page 64: Alarm Display
4.7. Alarm display It displays the current alarm and the past alarm history. The lower two digits display the abnormal alarm number which has occurred. Name Display Description No alarm occurred. Current alarm Over voltage (AL 01) occurred, the screen flickers synchronously. Indicates that the last alarm is over voltage (AL 01). -
Page 65: Parameter Display
4.8. Parameter display Some parameter modification would be valid by power off once and power on again. (1) Decimal parameter (positive number) Example: PA19 is 1234567, then to change to 1434567. Press “SET” once. The lower 5 digits of PA19 are shown and the lowest decimal point indicates that this is low screen. - Page 66 (2) Decimal parameter (negative number) Example: PA19 is 1234567, then to change to -1434567. Press “SET” once. The lower 5 digits of PA19 are shown and the lowest decimal point indicates that this is low screen Press “MODE” once. The higher 2 digits of PA19 are shown and the second decimal point indicates that this is high screen.
- Page 67 (3) Hexadecimal parameter Example: PE01 is 03760135, then to change to 0x03740135. Press “SET” once. The lower 4 digits of PE01 are shown and the underline of highest digit indicates that this is low word. Press “MODE” once. The higher 4 digits of PE01 are shown and the up segment of highest digit indicates that this is high word.
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Page 68: Startup In Various Control Modes
4.9. Startup in various control modes Make a startup in accordance with section 4.1. 4.9.1. Startup in position control mode (1) Power on Switch off SON before the servo drive has powered on. After power on, the display shows “r”. (Motor speed) (2) Test operation Confirm the servo motor status with a JOG test. -
Page 69: Startup In Speed Control Mode
4.9.2. Startup in speed control mode (1) Power on Switch off SON before the servo drive has powered on. After power on, the display shows “r”. (Motor speed) (2) Test operation Confirm the servo motor status with a JOG test. (3) Parameters setting After wiring for speed mode, the following parameters should be set for this operation. - Page 70 First, make the servo motor run at a low speed and check whether the sequence correct or not. With the status display, user can check the motor speed, cumulative pulses of command, effective load ratio, etc. Use auto tuning or manually input the gain parameters and avoid the machine resonance. Adjust the PA03 to obtain the optimum speed response.
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Page 71: Startup In Torque Control Mode
4.9.3. Startup in torque control mode (1) Power on Switch off SON before the servo drive has powered on. After power on, the display shows “U”. (Analog torque command) (2) Test operation Confirm the servo motor status with a JOG test. (3) Parameters setting After wiring for torque mode, the following parameters should be set for this operation. -
Page 72: Parameters
5. Parameters 5.1. Parameter definition The parameters of SDE servo drive are classified into the basic parameters, gain/ filters, expansion parameters and I/O parameters. When an advance adjustment is required, change the parameter PA42 setting to make the expansion parameters valid. Here are some notes for reading of parameter manual. -
Page 73: Parameter List
5.2. Parameter list The parameters of Shihlin servo drive could be classify into 5 categories. PA group is basic for control mode option, auto-tuning, etc. PB group is for gain and filter functions. PC group is related to speed/torque control and analog I/O and communication functions. PD group is for DI/DO parameters. The following table is helpful to consult. - Page 74 ○ ○ ○ ○ PA32 Encoder absolute position (rev) ○ ○ ○ ○ PA33 Encoder absolute position (pulse) pulse ○ ○ ○ ○ PA34 ABSM I/O communication of absolute system (★) ○ ○ ○ ○ PA35 FNO1 Function option 1 0000h (★) ○...
- Page 75 ○ ○ ○ PB17 VIC2 Speed integral gain change ratio ○ ○ PB18 SFLT Speed low-pass filter smooth time constant ○ PB19 Torque command filter time constant ○ ○ ○ ○ PB20 SJIT Speed feedback filter time constant 0.1ms ○ ○...
- Page 76 ○ ○ PC05 Inner speed command/limit 1 ○ ○ PC06 Inner speed command/limit 2 ○ ○ PC07 Inner speed command/limit 3 1000 ○ ○ PC08 Inner speed command/limit 4 ○ ○ PC09 Inner speed command/limit 5 ○ ○ PC10 Inner speed command/limit 6 ○...
- Page 77 (4) I/O setting parameters Control mode Abbr. Name Default Unit ○ ○ ○ ○ PD01 DIA1 Digital input signal auto-ON option 1 0000h (★) ○ ○ ○ ○ PD02 Digital input 1 option 0001h (★) ○ ○ ○ ○ PD03 Digital input 2 option 000Dh (★)
- Page 78 (5) Pr stroke 1 programming parameters Control mode Abbr. Name Default Unit PE01 ODEF ○ Origin return definition 0000h PE02 ODAT ○ Origin offset value definition PE03 PDEF1 ○ PATH#1 definition 0000h PE04 PDAT1 ○ PATH#1 data PE05 PDEF2 ○ PATH#2 definition 0000h PE06...
- Page 79 PE32 PDAT15 ○ PATH#15 data PE33 PDEF16 ○ PATH#16 definition 0000h PE34 PDAT16 ○ PATH#16 data PE35 PDEF17 ○ PATH#17 definition 0000h PE36 PDAT17 ○ PATH#17 data PE37 PDEF18 ○ PATH#18 definition 0000h PE38 PDAT18 ○ PATH#18 data PE39 PDEF19 ○...
- Page 80 PE67 PDEF33 ○ PATH#33 definition 0000h PE68 PDAT33 ○ PATH#33 data PE69 PDEF34 ○ PATH#34 definition 0000h PE70 PDAT34 ○ PATH#34 data PE71 PDEF35 ○ PATH#35 definition 0000h PE72 PDAT35 ○ PATH#35 data PE73 PDEF36 ○ PATH#36 definition 0000h PE74 PDAT36 ○...
- Page 81 (6) Pr stroke 2 programming parameters Control mode Abbr. Name Default Unit PF01 PDEF49 ○ PATH#49 data 0000h PF02 PDAT49 ○ PATH#49 definition PF03 PDEF50 ○ PATH#50 data 0000h PF04 PDAT50 ○ PATH#50 definition PF05 PDEF51 ○ PATH#51 definition 0000h PF06 PDAT51 ○...
- Page 82 PF34 POV2 ○ Inner position 2 velocity PF35 POV3 ○ Inner position 3 velocity PF36 POV4 ○ Inner position 4 velocity PF37 POV5 ○ Inner position 5 velocity PF38 POV6 ○ Inner position 6 velocity PF39 POV7 1000 ○ Inner position 7 velocity PF40 POV8 1200...
- Page 83 PF69 DLY5 ○ Inner position 5 completion delay time PF70 DLY6 ○ Inner position 6 completion delay time PF71 DLY7 ○ Inner position 7 completion delay time PF72 DLY8 1000 ○ Inner position 8 completion delay time PF73 DLY9 1200 ○...
- Page 84 Some parameter categories which are helpful to operate varied control mode are listed below. Torque control related parameters Control mode Abbr. Name Default Unit ○ ○ ○ ○ PA01 Control mode option 1000h (★) ○ ○ ○ ○ PA05 Inner torque limit 1 ○...
- Page 85 Position control related parameters Control mode Abbr. Name Default Unit ○ ○ ○ ○ PA01 Control mode option 1000h (★) ○ PA04 HMOV Home moving option 0000h ○ ○ ○ ○ PA05 Inner torque limit 1 ○ ○ PA06 Electronic gear numerator ○...
- Page 86 ○ ○ PB30 Low-frequency vibration detection level pulse VSF1 ○ ○ PB31 Vibration suppression frequency 1 0.1Hz VSG1 ○ ○ PB32 Vibration suppression gain 1 VSF2 ○ ○ PB33 Vibration suppression frequency 2 0.1Hz VSG2 ○ ○ PB34 Vibration suppression gain 2 FRCL ○...
- Page 87 Digital I/O settings related parameters Control mode Abbr. Name Default Unit ○ ○ PA12 In-position range Pulse ○ ○ ○ ○ PC16 Electromagnetic brake output delay time ○ ○ ○ ○ PC17 Zero speed acknowledged range 0000h ○ ○ ○ ○...
- Page 88 Communication related parameters Control mode Abbr. Name Default Unit ○ ○ ○ ○ PC20 Communication device number (★) ○ ○ ○ ○ PC21 Communication mode option 0010h (★) ○ ○ ○ ○ PC22 Communication protocol option 0010h (★) ○ ○ ○...
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Page 89: Parameter Details List
5.3. Parameter details list Control Setting Abbr. Function description Unit mode range PA01 Setting value of Control mode option: Pt, Pr 0000h ~1125h x：control mode select 0：position 1:position/speed 2:speed 3:speed/torque 4:torque 5:torque/position y：position command select 0：external input 1：inner register(absolute type) 2：inner register(incremental type) z：electromagnetic brake enabled option 0：disabled... - Page 90 Control Setting Abbr. Function description Unit mode range Home moving option: PA04 0000h HMOV ~0128h x：origin detector and rotation option 0：Running in CCW rotation and LSP is as a trigger 1：Running in CW rotation and LSN is as a trigger 2：Running in CCW rotation and ORGP↑...
- Page 91 Control Setting Abbr. Function description Unit mode range PA08 HSPD1 Home moving high speed option 1 As home moving action is triggered, motor runs at the PA08 ~2000 speed to search the origin. See section 13.2 for more details. PA09 HSPD2 Home moving high speed option 2 As the origin is acknowledged, motor would keep running or ~500 turns back at the PA09 speed to search the Z phase pulse.
- Page 92 Control Setting Abbr. Function description Unit mode range Encoder output pulses Pt, Pr pulse/rev PA14 Used to set the A/B-phase pulses encoder output. Users could set the PA39 to choose the output pulse setting or output division ratio. Set the value 4 times greater than the A-phase or B-phase pulses.
- Page 93 Control Setting Abbr. Function description Unit mode range Reserved PA21 Dynamic brake control Pr, Pt PA22 Used to enable or disable the dynamic brake if a alarm occurred. 0: DBF enabled, the motor stops immediately. 1: DBF disabled, the motor coasts to stop gradually. PA23 Memory write-inhibit function Pr, Pt...
- Page 94 Control Setting Abbr. Function description Unit mode range PA32 Encoder absolute position (rev) (read only) Pr, Pt To display the absolute encoder turn number. This parameter is ~ -2 valid only when the PA28 is set as 1. PA33 Encoder absolute position (pulse) (read only) Pr, Pt pulse To display the absolute encoder pulse number.
- Page 95 Control Setting Abbr. Function description Unit mode range PA39 Motor rotary direction option Pr, Pt 0000h The relation among motor rotary direction and input command ~0111h pulse-train direction and encoder output pulse direction is described below. x：input pulse-train and motor rotary direction option motor rotary direction forward pulse-train input reverse pulse-train input...
- Page 96 Control Setting Abbr. Function description Unit mode range PA43 Encoder resolution Pt, Pr This is a read-only parameter. PA44 Electronic gear ratio mode Pt, Pr 0：normal, ratio=PA06/PA07 1：ratio conversion 1, ratio= encoder resolution/PA45 2：ratio conversion 2, ratio= 2 x PA06/PA07, it is suitable for 22bit to 23bit conversion Here is a explanation diagram：...
- Page 97 Control Setting Abbr. Function description Unit mode range PB01 NHF1 Machine resonance suppression filter 1 Pt, Pr To set a specific frequency which the controls gain is decreased ~4000 to suppress the mechanism resonance. PB02 NHD1 Machine resonance suppression attenuation 1 Pt, Pr To set the attenuation at the PB01 frequency.
- Page 98 Control Setting Abbr. Function description Unit mode range PB12 Gain switch condition value Pt, Pr depends The CDS‟s unit is varied according to the settings of CDP. 4000000 PB13 Gain switch time constant Pt, Pr Used to smooth the motor running at gain switching moment to ~1000 suppress vibration if the gain difference is large.
- Page 99 Control Setting Abbr. Function description Unit mode range PB20 SJIT Speed feedback filter time constant Pt, Pr 0.1mS Used to set the filter time constant of motor speed feedback. ~1000 PB21 NHF2 Machine resonance suppression filter 2 Pt, Pr The second notch filter frequency to suppress the resonance. ~4000 PB22 NHD2...
- Page 100 Control Setting Abbr. Function description Unit mode range PB33 VSF2 Vibration suppression frequency 2 Pt, Pr 0.1Hz Used to record the manual set or the result of auto-suppression. ~3000 If PB34 is 0, it denotes the 2 vibration suppression filter is off. PB34 VSG2 Vibration suppression gain 2...
- Page 101 Control Setting Abbr. Function description Unit mode range PC01 Acceleration time constant This parameter is the time spent for the motor from 0 rpm to the rated speed and it is defined as “acceleration time constant”. ~20000 PC02 Deceleration time constant The time spent for the motor to decelerate from the rated speed to 0 rpm is called “deceleration time constant”.
- Page 102 Control Setting Abbr. Function description Unit mode range Output speed of maximum analog command PC12 This value decides the output speed while the maximum ~30000 permissible voltage is applied. applied voltage of speed command output speed = PC12 When torque mode is applied, this parameter would become speed limit when the maximum permissible voltage applied.
- Page 103 Control Setting Abbr. Function description Unit mode range PC19 COP2 Alarm history clear option and overload early warning option Pt, Pr 0000h ~0011h x：Alarm history clear option 0：does not clear 1：to clear the histories after power off once and restart y：overload pre-warn option 0：invalid 1：to stop the motor when the early warning occurred...
- Page 104 Control Setting Abbr. Function description Unit mode range PC24 Status display option Pt, Pr 0000h ~0113h x：display option after power on 0：Motor feedback pulse 1：Motor feedback revolution 2：Cumulative pulses of command 3：Cumulative turns of command 4：Accumulative pulses error 5：Command pulse frequency 6：Motor speed 7：Speed analog command/limit voltage 8：Speed input command/limit...
- Page 105 Control Setting Abbr. Function description Unit mode range PC28 Analog monitor ch1 offset Pt, Pr -999 Used to set the output offset voltage of analog monitor MON 1. ~+999 PC29 Analog monitor ch2 offset Pt, Pr -999 Used to set the output offset voltage of analog monitor MON 2. ~+999 PC30 MOG1 Analog monitor ch1 output proportion...
- Page 106 Control Setting Abbr. Function description Unit mode range PC38 FNO4 Pr, Pt 0000h Function option 4 ~003Fh Initiate the contact status of DO1 to DO6 when the servo drive is power on. The contact status of DO1 to DO6 is defined by the Bit 0 to Bit 5 of this parameter.
- Page 107 Control Setting Abbr. Function description Unit mode range PD01 DIA1 Digital input signal auto-ON option 1 Pt, Pr 0000h ~1111h 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...
- Page 108 Control Setting Abbr. Function description Unit mode range PD15 Digital input filter time option Pt, Pr 0000h ~0005h x：filter time constant 0：invalid 1：2mS 2: 4mS 3: 6mS 4: 8mS 5: 10mS PD16 Digital input on/off control source option Pt, Pr 0000h Each bit of this parameter is to decide the on/off control source ~0FFFh...
- Page 109 Control Setting Abbr. Function description Unit mode range PD19 DOP3 Alarm code output option Pt, Pr 0000h ~0001h x：output option 0：DO function according to PD10 ~ PD14 setting 1: to show alarm codes while alarms occurred CN1-41 CN1-42 CN1-45 DO function DO function DO function Alarm code...
- Page 110 Control Setting Abbr. Function description Unit mode range PD22 DI10 Digital input 10 option Pt, Pr 0000h ~002Fh PD23 DI11 Digital input 11 option Pt, Pr 0000h ~002Fh PD24 DI12 Digital input 12 option Pt, Pr 0000h ~002Fh PD25 ITST Communication control DI on/off Pt, Pr 0000h...
- Page 111 Control Setting Abbr. Function description Unit mode range PD28 MCOK Motion completion (DO: MC_OK) option Pt, Pr 0000h ~002Fh x：output option 0：not to hold 1：to hold y：potion error option 0：AL1B is invalid 1：AL1B is valid PD29 DI signal contact definition Pt, Pr 0000h To define the input logic of DI signal.
- Page 112 Control Setting Abbr. Function description Unit mode range 00000000h PE01 ODEF Origin return definition ~10FFFF3F Bit definition of PE01 parameter is described as below. PE01 31-28 27-24 23-20 19-16 15-12 11-8 PATH BOOT PATH：stroke option 0：stop 1~63：to execute a assigned stroke ACC：acceleration time option 0~F：corresponded to PF49~PF64 DEC：deceleration time option...
- Page 113 Control Setting Abbr. Function description Unit mode range PE04 PDAT1 PATH#1 data Non-index: To define the destination of PATH#1, or the goal PATH that is going to jump. Index: 0~4194304 PE05 PDEF2 PATH#2 definition 00000000h Please refer to PE03 instruction. FFFFFFFFh PE06 PDAT2 PATH#2 data Please refer to PE04 instruction.
- Page 114 Control Setting Abbr. Function description Unit mode range PE21 PDEF10 PATH#10 definition 00000000h Please refer to PE03 instruction. FFFFFFFFh PE22 PDAT10 PATH#10 data Please refer to PE04 instruction. PE23 PDEF11 PATH#11 definition 00000000h Please refer to PE03 instruction. FFFFFFFFh PE24 PDAT11 PATH#11 data Please refer to PE04 instruction.
- Page 115 Control Setting Abbr. Function description Unit mode range PE37 PDEF18 PATH#18 definition 00000000h Please refer to PE03 instruction. FFFFFFFFh PE38 PDAT18 PATH#18 data Please refer to PE04 instruction. PE39 PDEF19 PATH#19 definition 00000000h Please refer to PE03 instruction. FFFFFFFFh PE40 PDAT19 PATH#19 data Please refer to PE04 instruction.
- Page 116 Control Setting Abbr. Function description Unit mode range PE53 PDEF26 PATH#26 definition 00000000h Please refer to PE03 instruction. FFFFFFFFh PE54 PDAT26 PATH#26 data Please refer to PE04 instruction. PE55 PDEF27 PATH#27 definition 00000000h Please refer to PE03 instruction. FFFFFFFFh PE56 PDAT27 PATH#27 data Please refer to PE04 instruction.
- Page 117 Control Setting Abbr. Function description Unit mode range PE69 PDEF34 PATH#34 definition 00000000h Please refer to PE03 instruction. FFFFFFFFh PE70 PDAT34 PATH#34 data Please refer to PE04 instruction. PE71 PDEF35 PATH#35 definition 00000000h Please refer to PE03 instruction. FFFFFFFFh PE72 PDAT35 PATH#35 data Please refer to PE04 instruction.
- Page 118 Control Setting Abbr. Function description Unit mode range PE69 PDEF34 PATH#34 definition 00000000h Please refer to PE03 instruction. FFFFFFFFh PE70 PDAT34 PATH#34 data Please refer to PE04 instruction. PE71 PDEF35 PATH#35 definition 00000000h Please refer to PE03 instruction. FFFFFFFFh PE72 PDAT35 PATH#35 data Please refer to PE04 instruction.
- Page 119 Control Setting Abbr. Function description Unit mode range PE85 PDEF42 PATH#42 definition 00000000h Please refer to PE03 instruction. FFFFFFFFh PE86 PDAT42 PATH#42 data Please refer to PE04 instruction. PE87 PDEF43 PATH#43 definition 00000000h Please refer to PE03 instruction. FFFFFFFFh PE88 PDAT43 PATH#43 data Please refer to PE04 instruction.
- Page 120 Control Setting Abbr. Function description Unit mode range PF01 PDEF49 PATH#49 definition 00000000h Please refer to PE03 instruction. FFFFFFFFh PF02 PDAT49 PATH#49 data Please refer to PE04 instruction. PF03 PDEF50 PATH#50 definition 00000000h Please refer to PE03 instruction. FFFFFFFFh PF04 PDAT50 PATH#50 data Please refer to PE04 instruction.
- Page 121 Control Setting Abbr. Function description Unit mode range PF17 PDEF57 PATH#57 definition 00000000h Please refer to PE03 instruction. FFFFFFFFh PF18 PDAT57 PATH#57 data Please refer to PE04 instruction. PF19 PDEF58 PATH#58 definition 00000000h Please refer to PE03 instruction. FFFFFFFFh PF20 PDAT58 PATH#58 data Please refer to PE04 instruction.
- Page 122 Control Setting Abbr. Function description Unit mode range PF33 POV1 Inner position 1 velocity ~6000 PF34 POV2 Inner position 2 velocity ~6000 PF35 POV3 Inner position 3 velocity ~6000 PF36 POV4 Inner position 4 velocity ~6000 PF37 POV5 Inner position 5 velocity ~6000 PF38 POV6...
- Page 123 Control Setting Abbr. Function description Unit mode range Inner position 1 acc./dec. time PF49 POA1 ~65550 Inner position 2 acc./dec. time PF50 POA2 ~65550 Inner position 3 acc./dec. time PF51 POA3 ~65550 Inner position 4 acc./dec. time PF52 POA4 ~65550 Inner position 5 acc./dec.
- Page 124 Control Setting Abbr. Function description Unit mode range PF65 DLY1 Inner position 1 completion delay time ~32767 PF66 DLY2 Inner position 2 completion delay time ~32767 PF67 DLY3 Inner position 3 completion delay time ~32767 PF68 DLY4 Inner position 4 completion delay time ~32767 PF69 DLY5...
- Page 125 Control Setting Abbr. Function description Unit mode range PF81 PDEC Protection trigger deceleration time Pt, Pr The bit definition of PF81 is described as follows. F0F0FFFFh PF81 31~28 27~24 23~20 19~16 15~12 11~8 STP：The secondary deceleration time for home moving CTO：Communication time-out, ABS error deceleration time SNL：Software reverse stroke limit trigger deceleration time SPL：Software forward stroke limit trigger deceleration time...
- Page 126 Control Setting Abbr. Function description Unit mode range PF86 SWLP Software forward stroke limit Pt, Pr pulse When Pr or Pt absolute system is applied, if the position command pulses exceed the PF86 setting value, AL.14 would be occurred. ※: position command means the original format which before electronic gear ratio process PF87 SWLN...
- Page 127 Digital input(DI) function definition Setting Sign Functions/Applications description Value 0x01 Power on the drive and activate SON to magnetize the motor shaft. 0x02 Use this RES to recover the servo drive normal status. 0x03 To switch proportion-integral speed control to proportion one. 0x04 To switch torque limit from inner limit 1 to external analog limit.
- Page 128 Setting Sign Functions/Applications description Value POS1 0x13 Activate POS1 to select the specific position command when the inner position mode is applied. POS2 0x14 Activate POS2 to select the specific position command when the inner position mode is applied. POS3 0x15 Activate POS3 to select the specific position command when the inner position mode is applied.
- Page 129 Digital output (DO) function definition Setting Sign Functions/Applications description Value After enabling the servo drive ready to operate, RD will be turn on. 0x01 When an alarm occurs, ALM will turn off. When an alarm does not occur, ALM will turn 0x02 on after power on 1 second later.
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Page 130: Gain Adjustment And Control Mode
6. Gain adjustment and control mode The extreme adjustments will your machine vibrate or operate unexpectedly. Make the adjustment with a safety margin, a maximum 90% generated torque is recommended. 6.1. Different adjustment methods The following table shows the gain adjustment methods that are varies according to the PA02 setting. - Page 131 (2) Gain adjustment flowchart Start Instruction If the occasion which 2 or more axes are applied is tuned, interpolation mode is recommended. This will 2 or more change PA03 and PB07. axes? Auto-gain tuning Interpolation mode At first, try the auto-gain mode 1 tuning mode 1 to find the possible setting.
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Page 132: Auto-Gain Tuning Mode
6.2. Auto-gain tuning mode The auto-gain tuning mode can calculate the load to motor inertia ratio instantaneously. With this value, the optimum gain could be decided under the current mechanical condition. It is convenient to execute the adjustment of gain value with the auto-gain tuning function. (1) Auto-gain tuning mode 1 This mode is a default. - Page 133 (3) Auto tuning sequence The flow of auto-gain tuning mode is presented below. When auto-gain tuning mode is performed, the following conditions should be satisfied. a. First, execute the acceleration/deceleration cyclic stroke; load to motor inertia ratio would be approximated after 2~3 strokes. The new PB06 would be updated to EEPROM. b.
- Page 134 (4) Auto tuning response level The PA03 is related to the response 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.
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Page 135: Manual Gain Tuning Mode
6.3. Manual gain tuning mode The manual gain tuning mode is executed when the result of auto-gain tuning is not suitable for the user‟s demand. For the applications of position control or speed control, the bandwidth is highly related with the machinery rigidity. -
Page 136: Interpolation Mode
Speed integral gain (VIC) This parameter is to eliminate stationary deviation against a command. The smaller it is, the better capability for the drive to eliminate stationary deviation. However, the machine with a large load inertia ratio or any vibration causing, the small value would cause vibration easily. 3000~5000 ... -
Page 137: Torque Control Mode
6.5. Torque control mode Torque mode is often applied for such occasions: winding machines, printing press, injection molding machines, etc. The torque command is an analog voltage signals to control the generated torque. The basic torque control blocks are shown as below. 6.5.1. -
Page 138: Torque Analog Command Offset
6.5.2. Torque analog command offset When the torque analog command is 0V, there may be still a offset voltage which will cause a slow motor rotation. In such case, the user could use the parameter PC27 to correct the bias voltage. The parameter description is as follows. -
Page 139: Torque Limit Of Torque Control Mode
6.5.4. Torque limit of torque control mode The PA05 and PC25 are used to limit the generated torque of servo motor when the torque control mode is performed. The description is as follows. Name Setting Defa Control Name Sign Unit Abbr. -
Page 140: Speed Limit Of Torque Control Mode
6.5.5. Speed limit of torque control mode Under the torque control mode, the various speed limits could be applied by the SP1, SP2, SP3 and the external analog signal. There are 8 combinations which are listed below for user to choose. DI signal status(*) Related option... -
Page 141: Speed Control Mode
6.6. Speed control mode Speed control is often applied for occasions where is CNC machine, drilling machine, etc. The command source is analog signal or inner register. The analog signal is the external voltage. The inner command is performed by the following 2 ways: (1) Use the inner registers (PC05 to PC11) to set the various commands then switch SP1, SP2, and SP3 to change the demand speed. -
Page 142: Output Speed Of Maximum Speed Analog Command
6.6.2. Output speed of maximum speed analog command The relationship between the applied voltage of the speed analog command and the output speed is described below. Setting Control Name Sign Unit Default range mode Output speed of maximum analog voltage command PC12 0~30000 3000... - Page 143 Acceleration time constant This parameter is the time spent for the motor from 0 rpm to the rated speed and it is defined as “acceleration time constant”. For example, if the rated speed of the servo motor is 3000 rpm and this parameter is set as 3000 (3s).
- Page 144 Low-pass filter smooth time constant Name Setting Defa Control Name Sign Unit Abbr. range mode Speed low-pass filter smooth time constant [ms] SFLT PB18 0~1000 A larger parameter value would soothe the speed command more obviously. However, the response would slow down as well. If it is set as zero, this function is disabled.
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Page 145: Torque Limit Of Speed Control Mode
6.6.4. Torque limit of speed control mode There are 2 parameters: PA05 and PC25 which are related to the torque limit function. Name Setting Defa Control Name Sign Unit Abbr. range mode Inner torque limit 1 [%] PA05 0~100 Inner torque limit 2 [%] PC25 0~100 Here are 3 pin functions of CN1: 1 analog voltage input and 2 DI inputs which are described below:... -
Page 146: Adjustment Of Speed Loop Gain
6.6.5. Adjustment of speed loop gain There are some parameters related to inner speed control loop for users to adjust. Set the value of the PA02 to use the auto-gain tuning function or manual-gain tuning function. If auto-gain tuning function is performed, the load inertia ratio would be approximated continuously and the control gain value would be set automatically. - Page 147 Parameters for manual-gain tuning mode Speed loop gain： Increasing this parameter would improve the bandwidth of speed control loop, but a too large value would cause the mechanism vibration. Therefore, it is recommended to operate the auto-gain tuning mode to approximate a proper value at first. If the value could not satisfy the requirement, to increase this value gradually until the mechanism vibration occurred.
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Page 148: Resonance And Vibration Suppression Filter
6.6.6. Resonance and vibration suppression filter The SDE servo drive provides “auto resonance suppression function”. The relevant parameters and settings are described in the following table. 3 sets of resonance suppression filter, a low-pass filter to suppress resonance, in accordance with the needs of the user can manually or automatically suppressed suppression will be sequentially described. - Page 149 PB02 and PB32 is a non-zero value but less than 32, it means the attenuation degree is not sufficient to compensate the resonance magnitude. Thus, users can try a higher value of PB02 and PB22. If PB02 and PB22 are zero, it means the resonance frequency is not detected due to a too high setting value of PB28.
- Page 150 (2) Vibration suppression Vibration often occurs in a mechanism which the rigidity is poor. In such system, the settling time of position control becomes longer. For some application, a shorter settling time is necessary; vibration suppression function can satisfy this demand. The relevant parameters are described below.
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Page 151: Gain Switch Function
The vibration suppression flowchart of auto mode is described below. Start Vibration occurred? Set PB29=1 Increase PB30 Decrease PB30 Vibration PB32=1? & soothed? PB34=1? 6.6.7. Gain switch function SDE servo drive provides gain switch function when servo motor is running or stop. It can be performed via the DI pins which are set to make gain switch function valid. - Page 152 Setting Control Name Abbr. Sign Unit Default range mode Pt, Pr, Load to motor inertia ratio PB06 0.1time ~1200 Position loop gain PB07 rad/s Pt, Pr ~1024 Pt, Pr, Speed loop gain PB08 rad/s ~9000 Pt, Pr, Speed integral gain PB09 ~1000 0000h...
- Page 153 (3) Gain switch condition value CDS (PB12) As users selected "position command frequency", "position command pulse error" or motor speed" in gain switch option (PB11), set the corresponding gain switch condition. The setting unit is as follows. PB11 setting Gain switch condition Unit 2 Position command frequency >= PB12...
- Page 154 ③. The states of parameters change Name CDP OFF CDP ON CDP OFF → → Load to motor inertia ratio → → Position loop gain → → Speed loop gain → → Speed integral gain Example 2: Trigger condition of position command pulse error. ①.
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Page 155: Position Control Mode
6.7. Position control mode X-Y table, CNC processing, where require highly accurate positioning are suitable for potion control. There are two sources for position command: one is the external pulses and the other is internal registers. The external pulses are from the superior controllers. The inner registers enable users to program 63 positions via DI function of POS1 to PO6. - Page 156 z：filter option 0：Max. frequency permission is 500kpps ( 200kpps< pulse frequency<=500kpps) 1：Max. frequency permission is 200kpps Command pulse option PLSS PA13 ( 0< pulse frequency<=200kpps) 2：Max. frequency permission is 2Mpps ( 500kpps< pulse frequency<=2Mpps) 3: Max. pulse frequency is 4Mpps ( 2Mpps<...
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Page 157: Inner Register Command (Pr Mode)
6.7.2. Inner register command (Pr mode) The following table explains the combinations of POS~POS6, CTRG. Relevant Command POS6 POS5 POS4 POS3 POS2 POS1 CTRG parameters PE01 ↑ PE02 PE03 ↑ PE04 PE05 ↑ PE06 PF03 ↑ PF04 PF05 ↑ PF06 PF29 ↑... -
Page 158: Position Command Smoothing
6.7.3. Position command smoothing This is used to smooth motor running when an extreme position command is applied. Setting Control Name Sign Unit Default range mode Position command filter time constant PB04 0~20000 Pt, Pr To use the S-pattern smoothing could improve the acceleration/deceleration vibration. The load inertia ratio increased or occasion with huge inertia change may cause a motor rough running. -
Page 159: Electronic Gear
6.7.4. Electronic gear Users could set different electronic gear ratios to enable the mechanism to move different distances. Relevant parameters are presented below. Name Setting Control Name Sign Unit Default Abbr. range mode Electronic gear numerator PA06 Electronic gear denominator PA07 Electronic gear numerator 2 CMX2... - Page 160 a turn of motor shaft If a reduction between motor and loads exists, to multiply the factor: mechanism turns The following example explains the method for setting the electronic gear ratio. 4194304ppr Load distance per revolution is 1mm，the resolution of motor encoder is 2500ppr，the gear ratio of load mechanism to motor shaft is 1, if the demand distance is 5µm，the calculation is listed below.
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Page 161: Torque Limit Of Position Control Mode
6.7.5. Torque limit of position control mode See section 6.6.4 for details. 6.7.6. Position loop gain If users need to use manual-gain tuning for position loop, to set parameters of speed loop (see Section 6.6.5) is priority since position loop is outside control of speed loop. Then users could set proportion gain and feed-forward gain of position loop. -
Page 162: Control Mode Switch
6.8. Control mode switch SDE servo drives provide 5 modes switch to fit users who need to change varied modes frequently. The PA01 could be changed for the control mode switch. See the table below. PA01 Control mode Abbr. Description setting Position with external command - speed Pt-S... -
Page 163: Position/Speed Mode Switch
6.8.1. Position/speed mode switch This mode switch is divided into 2 types: Pt/S and Pr/S. The sequence chart of mode switch is presented in the figure below. Control mode could not be switched if the motor is at a high speed rotation. It could be performed once the zero speed detection output signal is ON. -
Page 164: Torque/Position Control Mode Switch
6.8.3. Torque/Position control mode switch This hybrid mode is divided into 2 types: T/Pt and T/Pr. Users could set the PA01 as 1005h (T/Pt mode) or 1015h (T/Pr mode). The switch could not be performed if the motor is at a high speed rotation. It could be switched as the zero speed detection output signal is ON. -
Page 165: Other Functions
6.9. Other functions Before wiring, turn off the power and wait for 10 minutes or more until the charge LED turns off. Otherwise, an electric shock may occur. Use the pecified auxiliary equipment and options to prevent a malfunction or a fire. - Page 166 To let users easily calculate the power of external brake resistor, the calculations are described below. (a) Without external load If the motor is repeated running forward and reverse, the braking regenerative energy would return to the aluminum capacitors of servo drive. When the P-N voltage exceeds a particular value, the brake IGBT switch is turn on and the brake resistor would dissipate the regenerative energy.
- Page 167 Step Item Calculation or procedure Choose the duty cycle T With user‟s application to decide the repeat operation cycle. Set motor speed Panel operation to read/write this value. Set load to motor inertia ratio N Panel operation to read/write this value.(PA02=0002h) or calculation Compute the Es Refer to the previous table...
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Page 168: Analog Monitor Output
Power of the external load torque: Where: is the power of external load torque is the external load torque. (Unit: Nt-m) ω is the motor rotation speed. (Unit: rad/s) For example: If an external load torque of +50% rated torque is applied and the servo motor speed is 3000r/min, the servo drive is 400W capacity(rated torque: 1.27Nt-m), then the users need to connect a external brake resistor which power is 2 x (0.5 x 1.27) x (3000 x 2 x π/ 60) = 399W, 100Ω. - Page 169 of motor is reverse rotation -3000 rpm. The mentioned example above is without any adjustment of PC28 to PC31. Voltage offset of analog monitor The parameter PC28 and PC29 are used to set the compensation to eliminate the bias voltages of analog monitor output MON1 and MON2.
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Page 170: Operation Of Electromagnetic Brake Interlock
6.9.3. Operation of electromagnetic brake interlock MBR is described: (1) MBR OFF，the brake locks the motor shaft. (2) MBR ON， the brake releases the motor shaft. PC16 decides SON delay time to make MBR activated. MBR enables/disables electromagnetic contactor to release/lock the motor shaft. ... -
Page 171: Pr (Procedure) Sequence Control Introductions
7. PR (procedure) sequence control introductions 7.1. PR introduction When Pr control mode is applied, the motion stroke is composed of one position command or multiple position commands. SDE servo drives provide 64 motion strokes, hereinafter referred to as PR, which are programmable by users. -
Page 172: Di/Do And Sequences
7.3. DI/DO and sequences DI signals: CTRG, SHOM, STOP, POS1~POS6, ORGP, LSP, LSN, EV1~EV4 DO signals: CMDOK, MC_OK, INP, ALM, OVF, SWPL, SWNL The sequence relation between INP, CMDOK and MC_OK is plotted below. & Explanation of PR trigger: Command Description source Use POS1~ POS6 to assign a specific PR. -
Page 173: Relevant Parameter Settings Of Pr
7.4. Relevant parameter settings of PR Speed command: PF33~PF48, total 16 sets. 15~0 PF33~PF48 1~3000rpm Acceleration/Deceleration time: PF49~PF64, total 16 sets. 15~0 PF49~PF64 1~65500ms Delay time: PF65~PF80, total 16 sets. 15~0 PF65~PF80 1~32767ms Relevant parameter settings Description PA04 Home moving option PA08 Home moving high speed option 1 PA09... - Page 174 PR motion stroke definition Home return, PATH#01~PATH#63; there are total 64 PRs which are composed of 128 parameters. (PE01~PE98, PF01~PF30) Each PR occupies two parameters, which the lower number parameter is function option and the higher number parameter is PR data. Others PRs are introduced as follows. PATH#01 setting is used as an example to describe the application instruction.
- Page 175 ACC / DEC setting: Acc. /Dec. value PF64 PF65 PF64 PF63 PF52 PF51 PF50 PF49 Corresponding Parameter DLY setting: DLY value PF80 PF79 PF78 PF77 PF68 PF67 PF66 PF65 Corresponding Parameter Position application The relevant parameter settings are listed below. 31~28 27~24 23~20...
- Page 176 JUMP : TYPE=7, it is used to jump to the assigned PR. 31~28 27~24 23~20 19~16 15~12 11~8 Parameter PE03 Acc. / Dec. PE04 PATH#: The assigned PRx, x=0~63 OPT setting: Bit 7 Bit 6 Bit 5 Bit 4 INS=1: It indicates that the current PR would immediately replace the previous PR. WRITE : TYPE=8, write the assigned PR to the specific parameter 31~28 27~24...
- Page 177 SOUR setting: The following table explains the data source and write destination SOUR Explanation Bit 27 Bit 26 Bit 25 Bit 24 Data source Write destination P□XX Constant P□XX P□XX □=A~G, Parameter group, XX=parameter number Source setting: Source definition depends on SOUR setting. Source 31~28 27~24...
- Page 178 S_LOW=0: It indicates that the speed unit is 0.1 rpm. S_LOW=1: It indicates that the speed unit is 0.01 rpm. S_LOW=2: It indicates that the speed unit is 1 rpm. AUTO=1: When the current PR is done, the next PR would be executed automatically. Data setting: Data Pulse: 0~1048575...
- Page 179 BOOT setting: Enable or disable home return when the servo drive is power on. BOOT Bit 31~28 Explanation Not to execute home return. Execute home return. ORG_DEF setting: To define the origin coordinate in pulse counts, it may not be 0. ORG_DEF Pulse: −2 SDE series does not provide the SDA home return functions which the motor return to Z pulse position.
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Page 180: Communication Functions
8. Communication functions 8.1. Communication interface and wiring The SDE servo drive equips RS-485 and plug-play USB serial communication functions. These functions could be used to perform servo operation, parameter changing, monitor function, etc. However, the RS-485 communication and USB could not be used in synchronization. The wirings are demonstrated below. -
Page 181: Relevant Parameters Of Communication
(1) Outline： Use the standard Mini-USB cable to perform. 8.2. Relevant parameters of communication When RS-485 communication is performed, the related settings are described below. (1) Communication device number (PC20) Setting Name Abbr. Sign Description range If two drives occupy the same device number, Communication device number PC20 the communication could not be performed. -
Page 182: Modbus Protocol
8.3. Modbus protocol When communication between a computer and several drives is going to be performed, every drive should be set its device number. Then the computer could control individual drive according to its device number. The protocol of Shihlin drive is standard Modbus protocol. There are two modes : ASCII(American Standard Code for information interchange) mode and RTU (Remote Terminal Unit) mode，users could change the mode by setting the PC22 value. - Page 183 (c) Data packet structure Byte sign Name Description “：”(ASCII code 3Ah) Start code Device number 1 byte is composed of 2 ASCII code bytes. Command code 1 byte is composed of 2 ASCII code bytes. DATA(n-1) The length of n words is equal to the one of 2n bytes.(n<=29) ………...
- Page 184 Command code: 06h, write data To write “325”(0145h) into the drive which device number is 1 and start address is 0100h. Command(host)： Response(slave)： ： „0‟ „0‟ „1‟ „1‟ „0‟ „0‟ „6‟ „6‟ „0‟ „0‟ „1‟ „1‟ start address start address „0‟...
- Page 185 B. RTU mode (a) Coding signification Data are expressed in hexadecimal characters. For example, “168” is expressed as A8h, “99” is expressed as 63h. (b) Data packet structure Byte sign Name Description To keep an idle more than 6mS Device number 1 byte Command code 1 byte...
- Page 186 Command code: 06h, write data For example, to write “100”（0064h） into the drive which device number 1 and start address 0200h. Command(host)： Response(slave)： start address start address written data written data CRC_L CRC_L CRC_H CRC_H CRC calculation： RTU mode uses CRC (Cyclical Redundancy Check) to detect errors. CRC method to decide the check value is described below.
- Page 187 End: To keep an idle more than 6ms as an end. CRC calculation example： The following is an example of CRC generation using C language. The function takes two variables. unsigned char* data; unsigned char length This function returns the CRC value as unsigned integer type. unsigned int crc_chk(unsigned char* data, unsigned char length) int j;...
- Page 188 (c) Command code and exception code The Command code and exception code of Shihlin servo drive are described below. Command code Description read data write data diagnostic mode write data (multiple) Command code 03h denotes data reading, the maximum permissible length is 29 words. Command code 06h denotes data writing, a word writing.
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Page 189: Communication Parameter Write-In And Read-Out
8.4. Communication parameter write-in and read-out (1)Status monitor (read only) Address Content Data length 0x0000 Motor feedback pulse [pulse] 2 word 0x0002 Command pulses [rev] 2 word 0x0004 Accumulative pulses error [pulse] 2 word 0x0006 Command pulse frequency [Hz] 2 word 0x0008 Motor speed [rpm] 2 word... - Page 190 (2)Digital IO monitor (read only) (a) DI I/O status Address Content Data length 0204h To show the on/off status of DI. 1 word CN1 pin No. CN1_42 CN1_41 CN1_23 CN1_22 Signal name DI12 DI11 DI10 CN1 pin No. CN1_21 CN1_20 CN1_19 CN1_18 CN1_17...
- Page 191 Address: 0x0208 bit No. Function 0x00 to 0x2F 0x00 to 0x2F Address: 0x0209 bit No. Function 0x00 to 0x2F 0x00 to 0x2F Address: 0x020A bit No. DI10 Function 0x00 to 0x2F 0x00 to 0x2F Address: 0x020B bit No. DI12 Function 0x00 to 0x2F 0x00 to 0x2F Address : 0x020C...
- Page 192 (c) Control mode Address Content Data length 0x0200 1 word bit0: Servo ready status (0: Servo OFF, 1: Servo ON) Use bit0~bit3 to display current control mode of servo drive. 0: Pt mode (external pulse-train command) 1: Pr mode (inner register command in absolute type) 0x0201 1 word 2: Pr mode (inner register command in incremental type)
- Page 193 (5) Parameter write-in and read-out (readable and writable) Address Content Data length 0x0300 PA□□: 50 parameters 2 words ~0x0363 0x0400 PB□□: 50 parameters 2 words ~0x0463 0x0500 PC□□: 60 parameters 2 words ~0x0577 0x0600 PD□□: 40 parameters 2 words ~0x064F 0x0700 PE□□: 99 parameters 2 words...
- Page 194 (8) DO forced output (readable and writable) Step 1: Check the drive without any alarm occurrence or Servo ON activated. Address Content Data length 0x0900 1 word x=0 Servo OFF, x=1 Servo ON; zy：Alarm code Step 2: To write 0x0002 Address Content Data length...
- Page 195 Step 5: JOG operation Address Content Data length 0: to stop motor running. 0x0904 1 word 1: run the motor at forward rotation.(CCW) 2: run the motor at reverse rotation.(CW) Step 6: To quit this mode by 0000h written at address “0901h”. (10) Positioning test (readable and writable) Step 1: Check the drive without any alarm occurrence or Servo ON activated.
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Page 196: Troubleshooting
9. Troubleshooting When any alarm has occurred, eliminate its cause, ensure safety, then reset and restart operation. Otherwise, injury may occur. alarm, 9.1. Alarm list The drive would display alarm or warning if some faults occurred during operation. Once an alarm or a warning occurred, please remedy the fault according to the instruction mentioned in section 7.2. - Page 197 Recovery Alarm Name Power Press code OFFON "SET" signal ○ AL28 Encoder overheat ○ AL29 Encoder error 5 ○ AL2A ABS encoder abnormal 1 ○ AL2B ABS encoder abnormal 2 ○ AL2E Control circuit abnormal ○ AL2F Regenerative energy abnormal ○...
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Page 198: Alarm Cause And Remedy
9.2. Alarm cause and remedy AL01 Over voltage Cause Inspection Remedy Power supply voltage excess Review the power voltage. Use the proper power source. Input power error (incorrect power). Review the power supply. Use proper power source. Drive hardware damaged. Use voltmeter to check if the power Contact agent for proper service. - Page 199 AL04 Regenerative alarm Cause Inspection Remedy Brake transistor fault. Set PC36 to be 0 and re-power on, Contact agent for proper service. if AL04 is occurred soon, it means the brake transistor broken. Built-in brake resistor or brake Check the wirings. Correct the wirings.
- Page 200 AL07 Pulse command abnormal Cause Inspection Remedy Pulse frequency of the command Check the frequency of command 1. Set the command pulses pulse is too high. pulses whether exceeds the frequency correctly. permissible range. 2. After RD output signal activated, the host starts to send command.
- Page 201 AL0B Encoder error 1 Cause Inspection Remedy Wirings are in wrong sequence. Check if wirings sequence is correct Correct the wirings. or not. CN2 connector is loosened or Check if CN2 connector is loosen or Re-connect CN2 connector. disconnected. disconnected. Encoder faulty Check the encoder feedback pulses Contact agent for proper service.
- Page 202 AL11 Motor mismatch Cause Inspection Remedy The capacity of drive and motor are Check if they match for each other Use the proper combination. not compatible. in capacity. AL12 Emergency stop Cause Inspection Remedy EMG signal is activated. Check if EMG signal is applied and Release the trigger after removal triggered.
- Page 203 AL17 ABS time out warning Cause Inspection Remedy Absolute position communication 1. Check whether overload has 1. Refer the AL05 remedy. waiting time out. occurred. 2. Set the PA17 value higher or set 2. Check whether the PA17 setting a value which excess 100 to is low.
- Page 204 AL24 Encoder type error Cause Inspection Remedy Try to enable the absolute encoder 1. Check the encoder whether it is 1. Choose the proper type of function with an incremental type of absolute type or not. encoder. encoder. 2. Check the PA28 setting. 2.
- Page 205 AL2A ABS encoder abnormal 1 Cause Inspection Remedy The voltage of encoder battery is 1. Check the voltage of encoder After replacing battery, execute the low. battery whether is less than 2.45 origin return. volt. The bad contact between encoder 1.
- Page 206 AL2E Control circuit abnormal Cause Inspection Remedy The SON signal is malfunction. Check the SON signal whether is Prevent the noise interference. disturbed. Current feedback circuit is Power reset the servo drive, if it is a recurrence; please contact your abnormal.
- Page 207 AL32 Control circuit abnormal 2 Cause Inspection Remedy FPGA hardware abnormal Power reset the servo drive, if it is a recurrence; please contact your agent for service. AL33 Memory error 2 Cause Inspection Remedy The flash memory abnormal Power reset the servo drive, if it is a recurrence; please contact your agent for service.
- Page 208 AL61 Parameter group range excess Cause Inspection Remedy Parameter group request exceeds Check the communication Execute any one instruction below A~F range. command whether is correct or not. 1. Power off the drive. 2. Press “SET” key at the alarm message screen.
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Page 209: Specifications
10. Specifications 10.1. Drive specifications SDE-□□□A2U L100 L150 L200 L300 SME-□□□□ L005 L010 L020 L040 L075 (matched motor) M100 M150 M200 M300 Motor power 100W 200W 400W 750W 1.5KW 3φ or 1φ 200~240Vac, 50/60Hz (3kW drive is suitable for only 3φ power) Voltage/Frequency Allowable voltage 3φ... - Page 210 SDE-□□□A2U L100 L150 L200 L300 SME-□□□□ L005 L010 L020 L040 L075 (matched motor) M100 M150 M200 M300 Motor power 100W 200W 400W 750W 1.5KW Speed control range Speed analog command 1:2000; Parameter command 1:5000 Command source Speed analog voltage input/ Parameter command Command smoothing Low-pass filter/Linear acceleration and deceleration pattern/S-pattern smoothing Speed analog input...
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Page 211: Drive Dimensions
10.2. Drive dimensions SDE-010A2U、SDE-020A2U、SDE-040A2U (100W, 200W, 400W) unit[mm] *Dimensions of the servo drive may be revised without prior notice. - Page 212 SDE-075A2U、SDE-100A2U (750W, 1KW) unit[mm] *Dimensions of the servo drive may be revised without prior notice.
- Page 213 SDE-150A2U、SDE-200A2U、SDE-300A2U (1.5KW, 2KW, 3KW) unit[mm] Dimensions of the servo drive may be revised without prior notice.
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Page 214: Motor Specifications
10.3. Motor specifications 10.3.1. Low inertia, small capacity motor specifications SME-□□□□30XYZU L005 L010 L020 L040 L075 Flange Rated output capacity Rated torque (*1) 0.16 0.32 0.64 1.27 Maximum torque 0.48 0.96 1.92 3.81 Rated speed 3000 Maximum speed 6000 Rated current 0.85 0.85 Maximum current... - Page 215 Note1: In a vertical lift or cyclic to and fro application, it is recommended that the load torque of machine be kept under 70% of servo motor rated torque. Note2: ( ) inside value indicates the inertia or weight of servo with electromagnetic brake. Note3: The shaft-through portion and cable connectors are excluded.
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Page 216: Medium Capacity, Low Inertia Motor Specifications
10.3.2. Medium capacity, low inertia motor specifications SME-L□□□20XYZU Flange Rated output capacity 1000 1500 2000 3000 Rated torque (*1) 4.78 7.16 9.55 14.3 Maximum torque 14.4 21.6 28.5 43.0 Rated speed 2000 Maximum speed 3500 Rated current Maximum current 17.4 25.5 11.5 16.7... -
Page 217: Medium Capacity, Medium Inertia Motor Specifications
10.3.3. Medium capacity, medium inertia motor specifications SME-M□□□20XYZU Flange Rated output capacity 1000 1500 2000 3000 Rated torque (*1) 4.78 7.16 9.55 14.3 Maximum torque 14.4 21.6 28.5 43.0 Rated speed 2000 Maximum speed 3500 Rated current Maximum current 17.4 25.5 10.3 15.0... - Page 218 Note2: ( ) inside value indicates the inertia of servo with electromagnetic brake. Note3: The shaft-through portion and cable connectors are excluded. Note4: The electromagnetic brake of motor cannot be used as a brake that stops a running machinery. Note5: Refer to the diagram below for the permissible load for the shaft. Note6: A/B: A is the motor weight of CE approval.
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Page 219: Motor Dimensions
10.4. Motor dimensions 10.4.1. Dimensions of motors (3000rpm rated speed) Items dimension (mm) SME- L□□□30XYZU φS φF LM(*) 64.5 (99.2) 21.5 2-φ4.5 80.0 (114.7) 77.0 (112) 4-φ5.8 97.0 (132) 102.0 35.5 L075 4-φ6.6 (149) Note: ( ) inside value indicates the length of servo with electromagnetic brake. -
Page 220: Dimensions Of Motors (2000Rpm Rated Speed)
10.4.2. Dimensions of motors (2000rpm rated speed) SME- Items dimension (mm) □□□□20XYZU φS φF LM(*) L100 (161) 141.5 L150 (175.5) 4-φ9.0 L200 (190) L300 (219) M100 (161) 4-φ9.0 141.5 M150 (175.5) M200 (189) 18.5 4-φ13.5 M300 (219) Note: ( ) inside value indicates the length of servo with electromagnetic brake. -
Page 221: Motor Shaft End Specification
10.4.3. Motor shaft end specification (1) D-cut shaft (*1): SME-L010, SME-L020 Notes1: These special shaft end motors are not suitable for frequent start/stop applications. (2) Key shaft (*2): SME-L020, SME-L040, and SME-L075 Items dimension (mm) SME- □□□□ABXYZU (*3) Screw: M4 L020, L040 Depth: 15 Screw: M5... -
Page 222: Motor Characteristic
10.5. Motor characteristic T-N curve / S-T curve Once the applied voltage of motor is insufficient, the torque generated will reduce. 【SME-L005】 【SME-L010】 【SME-L020】... - Page 223 【SME-L040】 【SME-L075】 【SME-L100】 【SME-L150】...
- Page 224 【SME-L200】 Continuous running range 【SME-L300】 【SME-M100】 【SME-M150】...
- Page 225 【SME-M200】 【SME-M300】 φ NOTE: These characteristic plots above are measured in case of 3 200~240V power supplied.
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Page 226: Overload Protection
10.6. Overload protection Overload protection is to prevent motor from damage during instantaneous over rated operation. Some cases are described as follows. (1) Load to motor inertia ratio is too large. (2) During acceleration or deceleration process, the time constant is set too small. (3) The time of high torque operation than rated torque is too long. -
Page 228: Compliance With Global Standards
11. Compliance with global standards 11.1. About safety This section explains safety of users and machine operators. Please read the section carefully before installing this device. Before wiring or inspection, switch power off and wait for more than 20 minutes. Then, confirm if the power indicator is off or the voltage is safe with voltage meter. - Page 229 (f) Branch circuit protection For installation in United States, branch circuit protection must be provided, in accordance with the National Electrical Code and any applicable local codes. For installation in Canada, branch circuit protection must be provided, in accordance with the Canada Electrical Code and any applicable provincial codes.
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Page 230: Correct Use
11.4. Correct use Use these devices within specifications (voltage, temperature, etc. Refer to section 10.1 for details.). (1) Power wiring: For UL/CSA specification, use only copper wires rated at 75 °C for wiring. Wire: AWG (mm Drive R, S, T L1, L2 U, V, W, PE P, D, C, N... - Page 231 (4) Wiring example with peripheral equipment: CN2 Encoder socket...
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Page 232: Inspection And Maintenance
11.5. Inspection and maintenance 11.5.1. Basic inspection It is recommended for users to inspect the following items periodically. (1) Inspect for loosen screws of the drive, terminals and the connection to mechanical system. Tighten any loosen screws carefully. (2) Check servo motor bearings, brake section, etc. for unusual noise. (3) Avoid any naked wires or damaged, broken wires applied for the servo motor. -
Page 233: Appendix
12. Appendix 12.1. Options Encoder connectors Parts number: SDH-ENCNL (100W, 200W, 400W, 750W motors) Parts number: SDH-ENCNM (1KW, 1.5KW, 2KW, 3KW motors) Encoder cable Parts number: SDH-ENL-□M-L/H (100W, 200W, 400W, 750W motors) □=2,5, 10 (m) □ Parts number: SDH-ENM-□M-L/H (1KW, 1.5KW, 2KW, 3KW motors) □=2,5, 10 (m) □... - Page 234 Power line connectors Parts number: SDA-PWCNL1 (100W, 200W, 400W, 750W motors without brake) SDA-PWCNL2 (100W, 200W, 400W, 750W motors with brake) Parts number: SDA-PWCNM1 (low inertia 1KW, 1.5KW, 2KW, 3KW motors) (medium inertia 1KW, 1.5KW) Parts number: SDA-PWCNM2 (medium inertia 2KW, 3KW) Power cables Low inertia motor Parts number: SDA-PWCNLΔ-□M-L/H (100W, 200W, 400W, 750W motors)
- Page 235 Low/medium inertia motor Parts number: SDA-PWCNM1Δ-□M-L/H (low inertia 1KW, 1.5KW, 2KW, 3KW motors) (medium inertia 1KW, 1.5KW) □=2 SDA-PWCNM1-2M-L/H □=5 SDA-PWCNM1-5M-L/H □=10 SDA-PWCNM1-10M-L/H □=2 SDA-PWCNM1B-2M-L/H (with brake) Δ=B □=5 SDA-PWCNM1B-5M-L/H (with brake) □=10 SDA-PWCNM1B-10M-L /H (with brake) Medium inertia motor Parts number: SDA-PWCNM2Δ-□M-L/H (medium inertia 2KW, 3KW) □=2 SDE-PWCNM2-2M-L/H...
- Page 236 CN1 I/O connector Parts number: SDA-CN1 CN1 I/O cable Parts number: SDA-TBL□M, □=05,1,2 □=05, 1, 2 CN1 I/O terminal block Parts number: SDA-TBL50 Absolute encoder option Absolute encoder battery set Absolute encoder battery SDH-BAT-SET SDH-BAT Parts number: Parts number:...
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Page 237: Brake Resistor
12.2. Brake resistor (1) Built-in brake resistor and relevant parameters Built-in resistor Drive type Resistance(Ω) Capacity(W) PA10 setting PA11 setting SDE-010A2 SDE-020A2 SDE-040A2 SDE-050A2 1000 SDE-075A2 1000 SDE-100A2 1000 SDE-150A2 1000 SDE-200A2 1000 SDE-350A2 1000 (2) Relevant parameter setting and specification of external brake resistor To confirm that P and D terminal are in open-circuit status and that P and C terminal are connected with the external brake resistor. -
Page 238: Parameter Communication Address
12.3. Parameter communication address Address Address Address PA01 0x0300 PA18 0x0322 PA35 0x0344 PA02 0x0302 PA19 0x0324 PA36 0x0346 PA03 0x0304 PA20 0x0326 PA37 0x0348 PA04 0x0306 PA21 0x0328 PA38 0x034A PA05 0x0308 PA22 0x032A PA39 0x034C PA06 0x030A PA23 0x032C PA40 0x034E... - Page 239 Address Address Address PC01 0x0500 PC21 0x0528 PC41 0x0550 PC02 0x0502 PC22 0x052A PC42 0x0552 PC03 0x0504 PC23 0x052C PC43 0x0554 PC04 0x0506 PC24 0x052E PC44 0x0556 PC05 0x0508 PC25 0x0530 PC45 0x0558 PC06 0x050A PC26 0x0532 PC46 0x055A PC07 0x050C PC27 0x0534...
- Page 240 Address Address Address PE01 0x0700 PE34 0x0742 PE67 0x0784 PE02 0x0702 PE35 0x0744 PE68 0x0786 PE03 0x0704 PE36 0x0746 PE69 0x0788 PE04 0x0706 PE37 0x0748 PE70 0x078A PE05 0x0708 PE38 0x074A PE71 0x078C PE06 0x070A PE39 0x074C PE72 0x078E PE07 0x070C PE40 0x074E...
- Page 241 Address Address Address PF01 0x0800 PF34 0x0842 PF67 0x0884 PF02 0x0802 PF35 0x0844 PF68 0x0886 PF03 0x0804 PF36 0x0846 PF69 0x0888 PF04 0x0806 PF37 0x0848 PF70 0x088A PF05 0x0808 PF38 0x084A PF71 0x088C PF06 0x080A PF39 0x084C PF72 0x088E PF07 0x080C PF40 0x084E...
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Page 242: Version Information
12.4. Version information Version: V1.01 Issue date: Aug. 2017 Proofreader: Yaochou Shu...
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Questions and answers
What is meaning of AL-10
For the Shihlin Electric SDE-010A2U, alarm code AL10 means "Overload 2."
This answer is automatically generated