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Veichi SD700-1R1A Series Installation And Wiring
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Veichi SD700-1R1A Series Installation And Wiring

Veichi SD700-1R1A Series Installation And Wiring

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Thank you for choosing SD700 series AC servo driver.
SD700 series AC servo driver is our general high-performance servo driver. This product adopts a series of
advanced motor control algorithms and 24 bits high precision encoder. It has the characteristics of high control precision,
fast tracking response, simple and convenient debugging. It can meet the function and performance of the high-end
servo application requirements. The product has built-in point control function, electronic cam, RS485 interface,
CANopen interface, 16 bit analog input and other rich application expansion functions. It can provide high reliability
and high cost performance solutions for machine tools, electronic equipment, robots, textiles, packaging and so on.
This manual only provides the introduction of safety precautions, installation and wiring, functional code sheets,
troubleshoot and countermeasures, and monitoring parameter description. Detailed functional annotations and
application notes refer to the SD700 series product manuals or consulting our company. This manual is the basic
guidance document for your proper use, giving full play to its superior performance and safe operation. Please read it
carefully and keep it properly, and hand it over to the end user of this product.
In the course of using, if you have any difficult problems or special requirements, please contact with our company
(Office) or distributor at any time. You can also contact our customer service center directly. We will serve you
wholeheartedly.
Our company has been committed to the continuous optimization of products. Therefore, this series of products and
related information may be optimized or changed, and there is possibility of change. If there is any change, no notice
will be given.
To ensure the safe and reasonable use of this product, please use the product after fully understanding the safety
precautions described in this manual.
Operational qualification
This product must be operated by trained professionals. The operator must undergo professional skills training,
familiar with the installation, wiring, operation and maintenance of the equipment, and correctly deal with all kinds of
emergencies in use.
Safety guidance
The warning sign is for your safety. It is a measure to prevent operators from being injured and damage to this
product and associated system. Please read this manual carefully before use and strictly follow the safety rules and
warning signs in this manual.
 Proper transportation, storage, installation and careful operation and maintenance are very important for the safe
operation of the servo system. During transportation and storage, the servo system must not be subjected to impact and
vibration, and must also be kept in dry, non corrosive gas, conductive dust and ambient temperature less than 60 degrees
Celsius.
 This product has a dangerous voltage, and it is controlled by a potentially dangerous sports organization. If it fails
to comply with the regulations or does not comply with the requirements of this manual, it may lead to personal injury,
damage to the product and associated systems.
 Do not connect with the power supply, otherwise you will be in danger of electrocution. When the wiring,
inspection, maintenance and other operations, please cut off the power of all associated devices, and confirm that the DC
voltage of the main circuit has dropped to a safe level, and then wait for 10 minutes to do the related work.
 The power line, motor line and control line must be fastened and connected. The earthing terminals must be
 
Preface
Safety precautions
 
1

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Summary of Contents for Veichi SD700-1R1A Series

  • Page 1 Preface Thank you for choosing SD700 series AC servo driver. SD700 series AC servo driver is our general high-performance servo driver. This product adopts a series of advanced motor control algorithms and 24 bits high precision encoder. It has the characteristics of high control precision, fast tracking response, simple and convenient debugging.
  • Page 2 reliably grounded and the earth resistance is less than 10 ohms.  The static electricity of the body will seriously damage the internal sensitive devices. Before conducting related operations, please comply with the measures and methods stipulated in the electrostatic prevention measure (ESD), otherwise it may damage the servo system.

  • Page 3: Installation And Wiring

    1. Installation and wiring 1.1. Installation dimension 安装孔径 Outline size (mm) Installation dimension (mm) Inst alla Struct Machine model tion aper ture 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...
  • Page 4 Outline size (mm) Installation dimension (mm) Installation Structure Machine model aperture SD700-500D-** SIZE E 4-M6 434.5 SD700-600D-** SD700-700D-** SD700-800D-** 4-M6 SIZE F SD700-121D-** 1.2. Main circuit terminal size Main circuit interface Needle Signal Function number name Main circuit power input L1（R）...
  • Page 5 The power input requirements are same with L1, L2 and L3. Regenerative resistor connection terminal B1/+ When SD700-1R1A, 1R8A and 3R3A have insufficient regenerative braking capability, they connect external regenerative resistors between B1/+ B2(PB) and B2. The other models remove the short or short connections between B2-B3, connect external regenerative resistors between B1/+ and B2, and purchase external regenerative resistors.
  • Page 6   Note:  when  using  the  multi  loop  absolute  encoder,  pay  attention  to  the  connection of battery and serial data.  1.5. Motor power terminal        ...
  • Page 7             110/130/180 flange (E2, D2) motor power line definition Signal definition Foot position Core color number blue Brown Yellow green BAKE+   BAKE+ black     1.6. CN6A/CN6B bus communication terminal   According to the different models, the definition of the port is different, and the definition of the interface  should be confirmed after using the model.  The field identification bit is P: pulse type; S: standard type; C:CANopen bus type.      The field identification bit is P: pulse type; S: standard type; C:CANopen bus type.  CN6A/CN6B interface definition Needle Signal name Function Needle number...

  • Page 8: Keyboard And Function

    M-II data - SRD- Shell Shield Shield   The field identification bit is N:EtherCAT bus type; L: MECHATROLINK‐III bus type.  CN6A/CN6B interface definition Needle Signal name function Needle number Signal name function number Data sending + Data reception - Data transmission - Data reception + Shell Shield Shield Regarding the simultaneous use of multiple drives, the cascading mode is CN6A input and CN6B out. The cascaded cable is below 50cm, and the last CN6B must connect the terminal resistance as the case may be.

  • Page 9: Brake Wiring

    exclude the cause of the alarm.   1.8. Output port considerations     1.9. Brake wiring When the servomotor is used for the vertical axis, the brake can be used to prevent or maintain the speed of the falling of the weight when the servo driver is cut off.  ...
  • Page 10 1.10. Example of location control connection    ...
  • Page 11 1.11. Example of speed control connection    ...
  • Page 12 1.12. Example of torque control connection      ...
  • Page 13 2. Testing Running 2.1. Jog trial run The purpose of the jog trial operation is to confirm whether the servo unit and the servo motor are properly connected and whether the servo motor is operating normally.  Pn500 set the point speed (default value is 500rpm). ...
  • Page 14 2.3 Restore factory parameters (Fn003) 2.4 Automatic adjustment of instruction bias (Fn100)           The  servo  off  inputs  0V  instruction  voltage  from  the  upper  device  or  the  external    loop.   2.5 Current bias automatic adjustment (Fn103)  ...
  • Page 15 3 Functional code list 3.1 Group Pn0 basic control Function Postal Effective Parameter name Range Default value Company code address Power Control mode selection 0~11 0x0000 failure effective Pn000 0- position mode 1- analog speed 2- torque mode 3- internal speed 4- internal speed < > analog speed 5- internal speed <...
  • Page 16 When the servomotor is enabled but not running and is in a stop state, when the brake (/BK) signal and the servo ON (/S-ON) signal are OFF at the same time, setting this parameter can change the time of the brake signal (/BK) off to the time when the motor is actually not in power.
  • Page 17 19: grating ruler pulse output, grating scale power supply invalid, 0~4MHZ filtering Power Functional selection under voltage 0x00~0x02 0x0045 failure － Pn045 effective 0-does not detect the main circuit drop warning 1- detection of the main circuit drop warning 2- detection of the main circuit drop warning and torque limit. Torque limit during main circuit voltage Immediate 0~100...
  • Page 18 Power 485 communication baud rate selection 0x0081 failure － Pn081 effective 0-9600bps 1-19200bps 2-38400bps 3-57600bps 4-115200bps Power 485 communication check mode 0x0082 failure － Pn082 effective 0- no check (N, 8,1) 1- even parity check (E, 8,1) 2- odd parity check (O, 8,1) 3- no check (N, 8,2) 4- even parity check (E, 8,2) 5-odd parity check（O,8,2）...
  • Page 19 Adjusting the parameters of the torque command filter may eliminate the vibration caused by the servo drive. The smaller the value is, the better the response can be controlled, but it is restricted by the machine condition. Immediat Second speed gain 1~2000 40.0 0x0105...
  • Page 20 code value address Immediat Gain switching wait time 2 0~65535 0x0115 e effect Pn115 Second the gain to the first gain switching condition is set to the waiting time of the real start switch. Immediat Speed feed forward gain 0~100 0x0121 e effect Speed feedforward is the function of shortening the positioning time.
  • Page 21 (acceleration) e effect When the speed command exceeds the acceleration set by this parameter, the speed loop will be switched to P control, otherwise it will be PI control. Speed loop PI-P switching condition Immediat 0~10000 0x0135 Command unit (position deviation) e effect Pn135 When the position deviation exceeds the value set by this parameter, the speed loop will be switched to P control,...
  • Page 22 more severe the dent is, and the narrower the width of the filter frequency is. Immediat Notch filter 1 depth 0.000 0x0155 e effect Pn155 The depth of the notch filter is defined as the set point of the relative notch filter frequency, which determines the depth of the filtering frequency.
  • Page 23 Friction torque compensation cut-off Immediat 0~1000 0x0170 speed e effect Pn170 The friction compensation function is to correct the viscous friction changes and fixed load changes, and adjust the friction compensation coefficient. Usually, the friction compensation coefficient should be set below 95%. If the effect is not obvious, please increase the friction compensation cut-off speed within a range of 10% without vibration.
  • Page 24 Function Effective Parameter name Range Default value Company Postal address code effective 0- line drive filter ~1MHZ 1- collector open circuit filter 2- line drive filter 1~4MHZ Power Pulse input form 0x0201 failure Pn201 effective 0- pulse + directional logic 1-CW+CCW positive logic 4- orthogonal coding 4 times 5- pulse + directional negative logic 6-CW+CCW negative logic Power Pulse input direction reversed...
  • Page 25 Function Effective Parameter name Range Default value Company Postal address code function automatic adjustment effect selection 0- Vibration suppression function is not automatically adjusted by auxiliary functions 1- Vibration suppression function automatically adjusted by auxiliary function Sensitivity of low frequency vibration Immediate 0.1~300 40.0...
  • Page 26 Function Effective Parameter name Range Default value Company Postal address code feedforward gain effect The forward position instruction is used to adjust the forward response individually. When the parameter is used, the torque feedforward increases rapidly, and the positioning time can be shortened appropriately. Model tracking control reverse torque Immediate 0~1000...
  • Page 27 Function Effective Parameter name Range Default value Company Postal address code when the difference (position deviation) of the motor movement amount is lower than the set value Command 0x0262 Immediate Location completion area 0~1073741824 unit 0x0263 effect During position control, the signal indicating the positioning completion of the servo motor. When the difference Pn262 (position deviation) between the number of command pulses from the host device and the servo motor movement is lower than the set value of this parameter, a positioning completion signal is output for the host device Confirm that...
  • Page 28 Function Effective Parameter name Range Default value Company Postal address code time failure effective 0- Output when the absolute value of the position deviation is less than the positioning completion range (Pn262) 1- Output when the absolute value of the position deviation is less than the positioning completion range (Pn262) and the command after the position command filtering is 0 2- Output when the absolute value of the position deviation is less than the positioning completion range (Pn262) and the position command input is 0...
  • Page 29 Functio Postal Effective Parameter name Range Default value Company n code address Immediate Analog speed instruction gain 150~3000 0.01v/ rating 0x0300 effect Pn300 By this parameter, the analog voltage value (V-REF) of the speed command required to make the speed of the servomotor be rated is set.
  • Page 30 Functio Postal Effective Parameter name Range Default value Company n code address downtime, there is clamping   3- speed command is lower than the zero speed clamping speed threshold, and the speed command is set at 0. After downtime, there is clamping Zero speed clamping speed Immediate 0~10000...
  • Page 31 3.5 Pn4 group torque class Functio Postal Effective Parameter name Range Default value Company n code address Immediat Torque command selection 0x0400 e effect Pn400 The source of the choice of torque control is: 0- internally set 1- analog input. Torque command 2 order Immediat lowpass filter cut-off...
  • Page 32 failure effective 0- motor maximum speed (motor type) + torque mode speed limit (Pn411) 1- overspeed detection alarm speed (motor type) + torque mode speed limit (Pn411) Immediat Speed limit in torque control 0~10000 1000 0x0413 e effect Pn413 Set the speed limit in torque control, cooperate with Pn411. Target torque reaching set Immediat 0.0~500.0...
  • Page 33 Set the number of JOG moves in the running program, in line with the program JOG running mode (Pn502). Immediate Pn508 Program jog mobile speed 1~10000 0x0508 effect   3.7 Pn6 group switch configuration correlation. Functio Postal Parameter name Range Default value Company Effective way n code address Switching mode input signal...
  • Page 34 0x12: motor over temperature input 0x112: motor over temperature input reverse 0x16: internal location instruction trigger 0x116: internal location instruction trigger reverse. 0x17: internal location instruction selection Bit0 0x117: internal location instruction selection Bit0 reverse. 0x18: internal location instruction selection Bit1 0x118: internal location instruction selection Bit1 to reverse.
  • Page 35 0x1E: forward jog 0x11E: forward jog reverse 0x1F: negative jog 0x11F: negative jog reverse 0x20: internal position stop bit 0x120: internal position stop bit reverse. Power Cn1-25,26 output configuration 0~0x109 0x000 0x0613 failure effective Power Cn1-27,28 output configuration 0~0x109 0x001 0x0614 failure effective...
  • Page 36 Power Type selection of encoder without 0x00~0x01 0x0732 failure － motor test function Pn732 effective Set up no motor test function encoder type: 0- incremental encoder 1- absolute encoder. Power Absolute encoder operation － 0x0792 failure Pn792 effective 0- no action 1- writes the motor parameters to the encoder EEPROM 2- clear cycle number.
  • Page 37 Immediate Pr4 control word 0~ 0x80000000 0x0810 － effect Pn810 Same to Pn804 Pr4 instruction pulse Immediate -2147483648~2147483647 Command unit 0x0812 count effect Pn812 Fourth section setting Immediate Pr5 control word 0~ 0x80000000 － 0x0814 effect Pn814 Same to Pn804 Pr5 instruction pulse Immediate -2147483648~2147483647...
  • Page 38 Tenth section setting Immediate Pr11 control word 0~ 0x80000000 － 0x082C effect Pn82C Same to Pn804 Pr11 instruction pulse Immediate -2147483648~2147483647 Command unit 0x082E count effect Pn82E Eleventh section setting Immediate Pr12 control word 0~ 0x80000000 0x0830 － effect Pn830 Same to Pn804 Pr12 instruction pulse Immediate...
  • Page 39 Pr17 instruction pulse Immediate -2147483648~2147483647 Command unit 0x0846 count effect Pn846 Seventeenth section setting Functio Default Postal Effective Parameter name Range Company value address Immediate Pr18 control word 0~ 0x80000000 0x0848 － effect Pn848 Same to Pn804 Pr18 instruction pulse Immediate -2147483648~2147483647 Command unit...
  • Page 40 Same to Pn804 Pr24 instruction pulse Immediate -2147483648~2147483647 Command unit 0x0862 count effect Pn862 Twenty-fourth section setting Immediate Pr25 control word 0~ 0x80000000 － 0x0864 effect Pn864 Same to Pn804 Pr25 instruction pulse Immediate -2147483648~2147483647 Command unit 0x0866 count effect Pn866 Twenty-fifth section setting Immediate...
  • Page 41 effect Same to Pn804 Pr31 instruction pulse Immediate -2147483648~2147483647 Command unit 0x087E count effect Pn87E Thirty-first section setting Pr acceleration and Immediate 0 ~ 60000 0x0880 deceleration time 0 effect Pn880 Acceleration and deceleration time set 0 Pr acceleration and Immediate 0 ~ 60000 0x0881...
  • Page 42 Immediate Pr target speed 4 0~6000 1500 r/min 0x088C effect Pn88C Target speed 4 settings Immediate Pr target speed 5 0~6000 2000 r/min 0x088D effect Pn88D Target speed 5 settings Immediate Pr target speed 6 0~6000 2500 r/min 0x088E effect Pn88E Target speed 6 settings Immediate...
  • Page 43 Origin regression high Immediate 0~3000 r/min 0x089A speed effect Pn89A High speed value setting for origin regression Origin regression low Immediate 0~3000 r/min 0x089B speed effect Pn89B Low speed and high speed setting for origin regression Origin regression, Immediate acceleration and 0~60000 0x089C effect...

  • Page 44: Monitoring Display

    4 Monitoring display Monitorin Postal Monitor name Range Company g code address Un000 Rotating speed of motor 0x80000000~0x7FFFFFFF 0xE000 Un001 Speed command 0x80000000~0x7FFFFFFF 0xE001 Un002 Internal torque command 0x80000000~0x7FFFFFFF 0xE002 Un003 Rotor relative to Z pulse position 0x80000000~0x7FFFFFFF pulse 0xE003 Un004 Electrical angle 0x80000000~0x7FFFFFFF...
  • Page 45 synthesis Un140 Main loop bus voltage 0~0xFFFF 0xE140 Un141 Effective value of current feeDBack 0~0xFFFF 0.01A 0xE141 Un14B D axis current command monitoring 0~0xFFFF 0xE14B Monitorin Postal Monitor name Range Company g code address Un220 Torque command voltage (uncorrected) 0~0xFFFF 0xE220 Un221 Torque command voltage (after correction)

  • Page 46: Auxiliary Function

    Un324 Fault code history 5 0~0xFFFF 0xE324 Un325 Fault code history 6 0~0xFFFF 0xE325 Un326 Fault code history 7 0~0xFFFF 0xE326 Un327 Fault code history 8 0~0xFFFF 0xE327 Un328 Fault code history 9 0~0xFFFF 0xE328 Un329 Fault code history 10 0~0xFFFF 0xE329 Un330...
  • Page 47 6 Fault and warning 6.1 trouble code alert fault fault type Solution categ Code 1. After initialization of parameter setting value, input parameters again. 2, first write the power level of the driver to 0, then write the correct power level. Parameters and Er.020 Note: after the power level is written, current detection correction, analog input...
  • Page 48 Encoder set of unit pulse Er.080 corresponding to 1. correctly set the distance corresponding to the unit pulse of the encoder. categ distance setting exception Position sensor Er.08A resolution setting Correctly set position sensor resolution categ exception Servo on Er.0b0 instruction invalid Re power up or perform soft reset categ...
  • Page 49 1. When not enabled, measure the power supply voltage and monitor whether the bus voltage (Un140) is 1.414 times the input power supply voltage (AC effective value). If the deviation is large, it can be determined that the bus voltage detection hardware is faulty 2.
  • Page 50 1. If conditions permit, reduce motor speed or reduce speed loop gain. 2. Correctly set the moment of inertia ratio. Er.520 Vibration alarm categ 3, set the vibration detection value (Pn187) and the sensitivity of vibration detection (Pn186) appropriately. Maximum speed Er.550 Set the highest speed setting correctly.
  • Page 51 4, if conditions permit, the driver carrier frequency can be reduced. 1, improve the installation conditions of the servo driver and reduce the ambient Temperature temperature. Er.7AA anomaly of control categ 2. Reconfirm the load conditions and operation conditions. panel 3, servo driver failure, replace servo driver.
  • Page 52 Encoder Er.C90 communication categ 1, Use multimeter to test the encoder signal lines, whether there is a signal line failure: broken line break. Encoder 2. Check the type of the encoder line to confirm the correctness of the model. communication 3, check the encoder line length, the encoder line can not be too long.
  • Page 53 Warning of excessive position AL.901 Correctly set servo on position deviation too high threshold deviation in servo on 1. Confirm the connection of electric motor and encoder. AL.910 Overload warning 2, motor or drive type selection is not appropriate. 1, reduce motor speed or reduce speed loop gain. AL.911 Vibration warning 2.
  • Page 54 Brake resistance type selection  Braking Minimum external Maximum external Model Built in resistance SD700-1R1A nothing SD700-1R7A nothing SD700-3R3A nothing SD700-5R5A 40Ω 60W SD700-7R6A 40Ω 60W SD700-9R5A 40Ω 60W SD700-2R5D 80Ω 60W SD700-3R8D 80Ω 60W SD700-6R0D 40Ω 60W SD700-8R4D 40Ω 60W SD700-110D 40Ω 60W SD700-170D 30Ω...
  • Page 55   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.

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