Veichi SD700 Series Manual
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Veichi SD700 Series Manual

Veichi SD700 Series Manual

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Thanks for using SD700 series AC servo drive.
VEICHI SD700 series is the general purpose high performance servo drive which adopts a series of
advanced motor control algorithm and 24-bit high precision encoder, featuring high control precision, fast
tracking response, simple and convenient debugging to meet the function and performance requirements in
high-end general purpose servo applications. Rich application functions such as built-in point control
function, electronic cam, RS485 interface, CANopen interface and 16-bit analog input can provide high
reliability and high cost performance solutions for machine tools, electronic equipment, robots, textile
applications, packaging industry and etc.
This manual is delivered with equipment and only introduces safety precautions, installation and wiring,
function code table, fault diagnoses and processing, monitoring parameters and etc. For detailed function
explanations and application specifications please refer to SD700 series product instructions or consult
VEICHI company. As it is the basic guide for proper use and safe operation, please carefully read and keep
it and be sure to handle it to end users.
If any problems or special requirements, please feel free to contact our company, dealers or the customer
service center, we will provide dedicated service for you.
This manual is subject to change without notice, thanks for your kind support.
Preface
I

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Summary of Contents for Veichi SD700 Series

  • Page 1 SD700 series product instructions or consult VEICHI company. As it is the basic guide for proper use and safe operation, please carefully read and keep it and be sure to handle it to end users.
  • Page 2 Safety Precautions For safety concerns, please fully understand the safety requirements and cautions before using. Operational Qualifications Only professional trained people are allowed to operate the equipment. In addition, operators must undergo professional skills training and be familiar with the equipment installation, wiring, operation and maintenance, and can correctly respond to various emergency situations in use.

  • Page 3: Table Of Contents

    Content Chapter1 Installation and Wiring ............... 1 Installation Dimensions ................. 1 Main Circuit Terminal Size ..............2 CN1 Control Terminal ................3 CN2 Encoder Signal Terminal .............. 5 Motor Power Terminal ................5 CN6A/CN6B Bus Communication Terminal ........6 Keyboard Layout and Function Specifications........8 Output Port Attentions ................
  • Page 4 Pn5 JOG Related Parameters ............32 Pn6 Switch Configuration Related Parameters ....... 33 Pn7 Extension Related Parameters ........... 35 Chapter4 Monitoring Parameters ..............36 Chapter5 Auxiliary Function ................39 Chapter6 Faults and Warnings ................. 40 6.1. Fault Code ..................... 40 6.2.

  • Page 5: Chapter1 Installation And Wiring

    Chapter1 Installation and Wiring 1.1. Installation Dimensions Dimension Dimensions（mm） Installation dimensions (mm) Mounting Structure Model aperture SD700-1R1A-** SIZE A SD700-1R8A-** 2-M4 SD700-3R3A-** SD700-5R5A-** SD700-7R6A-** SIZE B SD700-9R5A-** 3-M4 SD700-2R5D-** SD700-3R8D-** SD700-160A-** SD700-6R0D-** SIZE C 92.5 82.5 3-M4 SD700-8R4D-** SD700-110D-** SD700-170D-** SIZE D SD700-240D-** 84.5...

  • Page 6: Main Circuit Terminal Size

    Mounting aperture Dimensions Installation dimensions (mm) Mounting （mm） Structure Model aperture SD700-500D-** SIZE E 434.5 4-M6 SD700-600D-** SD700-700D-** SD700-800D-** 4-M6 SIZE F SD700-121D-** 1.2. Main Circuit Terminal Size...

  • Page 7: Cn1 Control Terminal

    Main circuit interface Pins Sign Function number name Power input of the main circuit Please determine whether the input power is 220V or 400V according to the nameplate 220V models: 200V ~ 240V, -15% ~ +10% 50 / 60Hz 400V models: 380V ~ 440V, -15% ~ +10% 50 / 60Hz Note: "L3"...

  • Page 9: Cn2 Encoder Signal Terminal

    1.4. CN2 Encoder Signal Terminal Pins Define Sign Define AEnd Pins Number BEnd Pins Number BAT+ BAT- PE(Shield ） Iron Shell Note: When using multi-turn absolute encoder, please pay attention to the connection of battery and serial data. 1.5. Motor Power Terminal 蓝...

  • Page 10: Cn6A/Cn6B Bus Communication Terminal

    100/110/130/180/220法兰动力线定义 信号定义 A端脚位号 线芯颜色 蓝 棕 红 黄绿 1.6. CN6A/CN6B Bus Communication Terminal 引 脚 8 PIN8 CN6A 引 脚 1 PIN1 PIN8 引 脚 8 CN6B 引 脚 1 PIN1 The definition of this port is different according to different models. When you use it, you need to confirm the model and then correspond to the definition of the interface.
  • Page 11 ground 485- 485 data- shell shield shield 485+ 485 data+ The field identification bit is M: MECHATROLINK-II bus type. CN6A/CN6B Port definition Pin No. Signal name Function Pin No. Signal name Function SRD+ M-II data+ SRD- M-II data- shell shield shield The field identification bit is N: EtherCAT bus type;...

  • Page 12: Keyboard Layout And Function Specifications

    1.7. Keyboard Layout and Function Specifications MODE DATA function Switch modes MODE/SET Parameter setting confirmation button Keys for auxiliary function execution It is used to select the parameter upwards or increase the value. For the multi-segment ▲ UP display parameters, it can be used to switch the high, middle and low value display Used to select parameters down or decrease the value, for multi-segment display ▼...

  • Page 13: Brake Wiring

    1.9. Brake Wiring When servo motor is used for vertical axis situations, the brake can be used to prevent or keep the falling speed of heavy loads when servo drive is in power off state. Wiring diagram of electromagnetic brake is shown as below: Electromagnetic brake must be provided with a dedicated 24V power supply, be prohibited to share ...

  • Page 14: Position Control Wiring Diagram

    1.10. Position Control Wiring Diagram...

  • Page 15: Speed Control Wiring Diagram

    1.11. Speed Control Wiring Diagram...

  • Page 16: Torque Control Wiring Diagram

    1.12. Torque Control Wiring Diagram...

  • Page 17: Chapter2 Trial Run

    Chapter2 Trial Run 2.1. JOG Trial Run The purpose of JOG trial operation is to confirm whether the servo unit and servo motor are correctly connected and whether the servo motor is operating normally. The main parameters:  Pn500 Set the jog speed (default value is 500rpm); ...

  • Page 18: Chapter3 Function Code List

    Chapter3 Function Code List Pn0 Basic Control Function Effective Parameters Range Default Unit Address code Control mode selection 0~11 0x0000 0-Position mode 1-Analog speed 2-Torque mode 3-Inner speed 4-inner speed<->Analog speed 5- Inner speed <-> Position mode 6- Inner speed <-> Torque mode 7- Position Pn000 mode <->...
  • Page 19 electromagnetic brake holding When the servo motor is enabled but not running, when it is in a stopped state, when the brake (/ BK) signal and the servo ON (/ S-ON) signal are both OFF, setting this parameter can change the brake (/ BK) signal OFF until the motor actually enter Unpowered time Electromagnetic brake 10~100...
  • Page 20 Torque limit release time when the main circuit voltage 0~1000 0x0047 INST drops Pn047 After the under voltage warning release signal, the servo unit internally controls the torque limit value according to the set time. For details, see the description of "Main Circuit Under voltage Torque Limit"...

  • Page 21: Pn1 Gain Parameters

    Pn1 Gain Parameters Function Effective Parameters Range Default Unit Address code Rotary inertia ratio 0~20000 0x0100 INST Pn100 Rotary inertia ratio = Motor shaft converted load rotary inertia /servo motor rotor rotary inertia *100% First speed gain 1~2000 40.0 0x0101 INST Parameters to determine the responsiveness of the speed loop.
  • Page 22 The response of the position loop is determined by the position loop gain. The higher the position loop gain setting, the higher the responsiveness and the shorter the positioning time. The position loop gain cannot be increased beyond the rigidity of the mechanical system. To set the position loop gain to a larger value, the machine rigidity needs to be increased Second torque command filter 0~655.35...
  • Page 23 Speed feedforward is a function to shorten the positioning time, which is effective when the servo unit performs position control Note: When the feedforward command is too large, position overshoot will occur, please set appropriately while observing the response Speed feedforward filter time 0~64 0.00 0x0122...
  • Page 24 When the speed command exceeds the acceleration set by this parameter, the speed loop will switch to P control, otherwise it will be PI control Comma Speed loop P/PI switching 0~10000 0x0135 INST condition (position deviation) unit Pn135 When the position deviation exceeds the value set by this parameter, the speed loop will switch to P control, otherwise it will be PI control Medium frequency vibration －...
  • Page 25 Set the frequency of the second notch filter to suppress resonance. When this parameter is set to 5000, the function of the notch filter is invalid Note: do not set the notch filter frequency close to the response frequency of the speed loop, which should be at least 4 times of the gain of the speed loop, otherwise it may affect the overall performance of the system Notch filter 1 Q value...
  • Page 26 Note: When the inertia ratio is set correctly, the value is set to 100 Speed observer switch 0x0166 Pn166 Set Speed Observation Function Switch: 0-Invalid 1-Valid Speed observer cutoff 1~500 0x0167 INST frequency Pn167 By setting the speed observer bandwidth with this parameter, increasing the set value will increase the response speed of the speed feedback value to track the true speed, too large is prone to vibration and noise Friction torque compensation...

  • Page 27: Pn2 Positional Parameters

    Pn2 Positional Parameters Function Effective Parameters Range Default Unit Address code Command pulse input selection (low/high speed 0x0200 Pn200 filter) 0-line drive filter ~ 1MHZ 1-open collector filter 2-line drive filter 1 ~ 4MHZ Pulse input form 0x0201 Pn201 0-pulse + direction positive logic 1-CW + CCW positive logic 4-quadrature encoding 4 times 5-pulse + direction negative logic6-CW + CCW negative logic Reversed pulse input 0x0202...
  • Page 28 Function Effective Parameters Range Default Unit Address code suppression selection 0-No vibration suppression 1-Add vibration suppression function to a specific frequency 2-Add vibration suppression function to 2 different frequencies Low frequency vibration － suppression function 0x00~0x01 0x0231 INST Pn231 automatic tuning selection 0-Vibration suppression function does not automatically adjust through auxiliary functions 1-Vibration suppression function automatically adjusts through auxiliary functions Low-frequency vibration...
  • Page 29 Function Effective Parameters Range Default Unit Address code The model tracking attenuation coefficient is reduced, the position setting section is easy to overshoot and the overshoot becomes larger, and if the setting is too small, the position oscillation is easily caused. When it is increased, the position overshoot is reduced, but when it is too large, the position is easy to rebound, resulting in the positioning time changing.
  • Page 30 Function Effective Parameters Range Default Unit Address code Set the coefficient processing of the deviation between the motor and the load after the motor runs for 1 lap. If this parameter is set to 0%, the deviation after the first lap is 1000, and the deviation at the beginning of the second lap is 1000, and set to 20% , The deviation at the start of the second lap is 200 () and accumulated.
  • Page 31 Function Effective Parameters Range Default Unit Address code excessive position deviation d unit 0x0268 when servo is ON This parameter is used to set the threshold value of the excessive position deviation alarm when the servo is ON Warning threshold for position deviation when 10~100 0x0269...

  • Page 32: Pn3 Speed Parameters

    Pn3 Speed Parameters Function Effective Parameters Range Default Unit Address code Analog speed 150~3000 0.01V/rated 0x0300 INST command gain Use this parameter to set the analog voltage value (V-REF) required by the speed command to Pn300 make the servo motor speed at the rated value Note: Do not apply voltages above -10 ~ 10V.
  • Page 33 Function Effective Parameters Range Default Unit Address code time Set the maximum speed (corresponding to the motor model), The time required for deceleration to 0r / min. When the given speed is greater than or less than the maximum speed, the actual deceleration time is calculated proportionally.

  • Page 34: Pn4 Torque Parameters

    Pn4 Torque Parameters Function Effective Parameters Range Default Unit Address code Torque command 0x0400 INST selection Pn400 Select the command source of torque control: 0-internal setting 1-analog input Torque command 2nd order low pass filter 100~5000 5000 0x0401 INST cutoff frequency Pn401 Use this parameter to set the cutoff frequency of the second-order torque filter.
  • Page 35 setting during torque control 0- the speed corresponding to the analog voltage (V-REF) and the speed set by Pn413, the smaller of the two values 1- the speed set by Pn413 － Speed limit selection 0x00~0x01 0x0412 0- motor maximum speed (determined internally by the motor model) + torque mode speed limit Pn412 (Pn411) 1-Overspeed detection alarm speed (determined internally by the motor model) + torque mode...

  • Page 36: Pn5 Jog Related Parameters

    Pn5 JOG Related Parameters Function Effective Parameters Range Default Unit Address code Pn500 JOG speed 0~1000 0x0500 INST Program JOG running － 0x00~0x05 0x0502 INST mode 0- (wait time-> forward movement) * number of cycles 1- (wait time-> reverse movement) * number of cycles 2- (wait time->...

  • Page 37: Pn6 Switch Configuration Related Parameters

    Pn6 Switch Configuration Related Parameters Function Effective Parameters Range Default Unit Address code Switch input signal 0x0600 distribution mode Pn600 0- Internal fixation 1- Parameter configuration Pn601 CN1-40 0~0x114 0x01 0x0601 Input configuration Pn602 CN1-42 0~0x114 0x02 0x0602 Input configuration Pn603 CN1-43 0~0x114...
  • Page 38 0x00: invalid 0x01: Servo enable 0x101: Servo enable negation 0x02: Positive direction limit 0x102:Release positive direction limit 0x03:Negative direction limit 0x103: Release negative direction limit 0x04: Alarm clear 0x104: Alarm clear negation 0x05: Manual PI-P control 0x105: Manual PI-P control negation 0x06: Torque limit switching 0x106: Torque limit switching reversed 0x07:Reserved...

  • Page 39: Pn7 Extension Related Parameters

    0x01: Positioning completed 0x101: Positioning completed signal negation 0x02: Consistent speed 0x102: Consistent speed signal negation 0x03: Rotation detection signal 0x103: Rotation detection signal negation 0x04: Torque is limiting 0x104: Torque is limiting signal negation 0x05: Speed is limiting 0x105: Speed is limiting signal negation 0x06: Brake interlock 0x106: Brake interlock signal negation 0x07:Alarm...

  • Page 40: Chapter4 Monitoring Parameters

    Chapter4 Monitoring Parameters Monitor Monitoring name Range Unit Address code 0x80000000~0x7FFFFFF Un000 Motor rotation speed 0xE000 0x80000000~0x7FFFFFF Un001 Speed command 0xE001 0x80000000~0x7FFFFFF Un002 Internal torque command 0xE002 Rotor pulse position relative to 0x80000000~0x7FFFFFF Un003 pulse 0xE003 the Z axis 0x80000000~0x7FFFFFF Un004 Electrical angle °...
  • Page 41 － Un101 IO port output signal monitoring 0~0xFFFF 0xE101 Un102 T-REF monitoring 0~0xFFFF 0xE102 Un103 V-REF monitoring 0~0xFFFF 0xE103 Un104 Pulse command input frequency 0~0xFFFFFFFF 0xE104 External input command pulse Un108 0~0xFFFFFFFF Command unit 0xE108 counter Internal signal status monitoring －...
  • Page 42 communication abnormalities when an alarm occurs Internal signal monitoring when Un310 0~0xFFFFFFFF 0xE310 an alarm occurs Internal input signal monitoring Un313 0~0xFFFFFFFF 0xE313 when an alarm occurs Internal output signal Un317 monitoring when an alarm 0~0xFFFFFFFF 0xE317 occurs Un320 Fault code history 1 0~0xFFFF 0xE320 Un321...

  • Page 43: Chapter5 Auxiliary Function

    Chapter5 Auxiliary Function The auxiliary functions are displayed as numbers beginning with Fn, which perform functions related to the operation and adjustment of servo motor. The following table lists the auxiliary functions and reference items. Auxiliary Auxiliary Function description Function description function code function code Torque command offset...

  • Page 44: Chapter6 Faults And Warnings

    Chapter6 Faults and Warnings 6.1. Fault Code Fault Alarm Fault type Countermeasures code type 1. After initializing the parameter settings, enter the parameters again Parameters and 2. First write the power level of the drive to 0, and then write the check Er.020 correct power level.
  • Page 45 1. Check if the motor phase sequence is wrong 2. Check whether the motor is damaged, use a multimeter to measure whether the U / V / W is short to ground 3. Check whether the encoder angle of the motor is correct Er.100 Over current 4.
  • Page 46 oscilloscope to monitor whether the motor output torque is abnormal. 1. The load is too heavy during shutdown, causing the DB resistor to overload, try to reduce the running speed or reduce the load 2. Check whether the motor is driven by external force Er.730 BD overload 1 3.

  • Page 47: Warning Code

    1. Set an appropriate alarm value for excessive position deviation 2. Check whether the encoder cable and the motor cable are connected properly. You can turn the motor by hand to monitor whether Un003 (rotor relative to Z pulse position) changes between 0 ~ 16777216 (24-bit encoder) Excessive 3.
  • Page 48 1. Reduce motor speed or speed loop gain. AL.911 Vibration alarm 2. Correctly set rotation inertial ratio. 1. Set power voltage within the specification range. 2. Correctly set the value of resistor and capacity. AL.920 Regenerative overload alarm 3. Servo drive malfunction and needs replacement. 1.

  • Page 49: Appendix I: Braking Resistor Selection

    Appendix I: Braking Resistor Selection Braking Built-in External resistance External resistor Model voltage resistors minimum value maximum value SD700-1R1A None SD700-1R7A None SD700-3R3A None 380V SD700-5R5A 40Ω 60W SD700-7R6A 40Ω 60W SD700-9R5A 40Ω 60W SD700-2R5D 80Ω 60W SD700-3R8D 80Ω 60W SD700-6R0D 40Ω...
  • Page 50 Packing list Items Description Quantity Servo Drive SCSI Plus(50P) Simple Manual 7P Pluggable Terminals Block 3P Pluggable Terminals Block Terminal Handle Remark: Item 4, 5 and 6 are only for below modes: SD700-1R1A-**/SD700-1R8A-**/SD700-3R3A-** When open the package, please carefully check if the contents are consistent with the packing list.

This manual is also suitable for:

Sd700-500d seriesSd700-600d seriesSd700-700d seriesSd700-800d seriesSd700-121d seriesSd700-1r1a series ... Show all

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