Applied Motion Products SV200 User Manual
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Applied Motion Products SV200 User Manual

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SV200 AC Servo
User Manual
920-0096H
2/6/2018

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  • Page 1 SV200 AC Servo User Manual 920-0096H 2/6/2018...

  • Page 2: Table Of Contents

    2/6/2018 Table of Contents Introduction ..................................9 1.1 About This Manual ........................................9 1.1.1 Documentation Set for SV200 series AC servo ............................. 9 1.1.2 Safety ..........................................9 1.1.2.1 Safety Symbols ....................................9 1.1.2.2 Safety Instructions .................................... 10 2 Product Description ............................... 11 2.1 Unpacking Check ........................................
  • Page 3 920-0096H SV200 AC Servo Drive User Manual 2/6/2018 4.2.3 Wiring Diagram Of Motor Extension Cable ..............................38 4.3 Encoder Connector CN3 ......................................38 4.3.1 Motor Encoder Feedback Cable Configuration ............................. 38 4.3.2 The Layout of CN3 Connector ..................................38 4.3.3 Connect to Motor Encoder ................................... 39 4.3.4 Specifications of Encoder Connector ................................
  • Page 4 920-0096H SV200 AC Servo Drive User Manual 2/6/2018 5.5 Function Mode Control ......................................63 5.5.1 Function Mode Description ..................................63 5.5.2 Operation Flow Chart : ....................................64 5.6 Parameter Setting Mode ......................................65 5.6.1 Parameter Setting Description ..................................65 5.6.2 Parameter Editing Examples ..................................66 5.7 Control Panel Lock .........................................
  • Page 5 9.3.3 Communication Baud Rate And Framing ..............................141 9.3.4 Power Up Mode ......................................141 9.3.5 Modbus/RTU Data Framing ..................................142 9.3.6 SV200 Series AC Servo Drive Register Address And Function List: ......................142 9.3.7 Command Opcode description ................................... 146 9.3.8 Function Code ......................................147 9.3.8.1 Function Code 0X03, Reading Multiple Holding Registers ......................
  • Page 6 920-0096H SV200 AC Servo Drive User Manual 2/6/2018 9.3.9 Modbus/RTU Applications ..................................150 9.3.9.1 Position Control ..................................... 150 9.3.9.2 JOG mode ....................................... 153 9.4 CANopen Communication ....................................156 9.4.1 RJ45 (8p8c) Pin Definitions ..................................156 9.4.2 CANopen NODE-ID ....................................156 9.4.3 CANopen Communication Baud Rate ................................
  • Page 7 920-0096H SV200 AC Servo Drive User Manual 2/6/2018 11.3 The safety integrity information ................................... 179 11.4 The environmental and operating conditions for safety function ......................... 179 11.4.1 The environmental and operating conditions ............................179 11.5 Safety function constraints ....................................180 11.5.1 Failure rate .......................................
  • Page 8 920-0096H SV200 AC Servo Drive User Manual 2/6/2018 Revision History Document History Date Remarks Revision A 2015.8.5 Initial release Revision B 2016.3.9 cleanup to manual Revision C 2016.5.4 Table, pg 30, Diagram, pg 31, manual cleanup Revision D 2016.5.11 Add note to image on pg 31 Revision E 2016.12.15...

  • Page 9: Introduction

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

  • Page 10: Safety Instructions

    Make sure both the drive and the motor connect to a class 3 ground. Please ensure grounding wires are securely connected when power up. 1.1.2.2.3 Standards Compliance The SV200 Series AC servo drive has been designed according to standards: * Electromagnetic compatibility * Electrical Safety: Low voltage directive...

  • Page 11: Product Description

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 2 Product Description 2.1 Unpacking Check Please refer to this section to confirm the model of servo drive and servo motor . A complete and workable AC servo system should include the following parts:...

  • Page 12: Drive Model Description

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 2.2.2 Drive Model Description SV200 Servo Drives Model Numbering SV2A3-Q-AE-000 Series SV200 Servo Series Custom features Consult factory for options Input Voltage A = 120 VAC Feedback B = 220 VAC E = Encoder Option Board...

  • Page 13: Drive Specification

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 2.2.3 Drive specification 100W Main Circuit Single phase, 120VAC to 100-120VAC, ±10% 50/60Hz SV2A2 Control Circuit Single phase, 120VAC to 100-120VAC, ±10% 50/60Hz 200W Main Circuit Single phase, 120VAC to 100-120VAC, ±10% 50/60Hz...
  • Page 14 920-0096H SV200 AC Servo Drive User Manual 2/6/2018 (1) Servo-ON input (2) Alarm clear input (3) CW/CCW Limit (4) Pulse& Direction or CW/CCW input Control input (5) Gain Switch (6) Control mode Switch (7) Pulse Inhibit (8) General Input (1) Alarm output...

  • Page 15: Drive Dimensions (Unit: Mm)

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 2.2.4 Drive Dimensions (Unit: mm) SV2A2-x-xx, SV2B2-x-xx Ø5 35.5 SV2A3-x-xx, SV2B3-x-xx Ø5 49.5 SV2A5-x-xx, SV2B5-x-xx 57.5...

  • Page 16: Servo Motor Model Introduction

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 2.3 Servo Motor Model Introduction 2.3.1 Motor Name Plate Description Model NO. Series NO. Rated Torque Input Current Output Power Rated Speed 2.3.2 Motor Model Description Custom Features - Consult factory for...

  • Page 17: 40Mm Motor Specification And Dimension

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 2.3.3 40mm Motor Specification And Dimension UL File E465363 Insulation Class Class B(130°C) IP65 (except shaft through hole and cable end IP rating connector) Indoors, free from direct sunlight, corrosive gas, inflammable...

  • Page 18: 40Mm Dimensions

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 2.3.3.1 40mm Dimensions 1 Motor Dimensions – No Brake: mm 0.04 A Oil seal +0.20 - 0.13 25 1 L1 1 0.04 A Without Brake J0100-301-3 2 Motor Dimensions – Brake: mm 0.04...

  • Page 19: 40Mm Torque Curve

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 2.3.3.2 40mm Torque curve SV200 Series J0100-301-3-000/J0100-351-3-000 160 VDC (120VAC) - 1.65 Amps 2,000 4,000 6,000 Speed (rpm)

  • Page 20: 60Mm Specification And Dimension

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 2.3.4 60mm Specification and Dimension UL File E465363 Insulation Class Class B(130°C) IP rating IP65(except shaft through hole and cable end connetor) Indoors, free from direct sunlight, corrosive gas, inflammable Installation location Ambient temperature Operating 0 to 40°C, Storage -20 to 80°C...

  • Page 21: 60Mm Dimensions

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 2.3.4.1 60mm Dimensions 1 Motor Dimensions – No Brake: mm 0.04 A 50 h7 - 0.025 0.04 A 22.5 oil seal 0.300 0.118 30 ±1 L1 ±1 Without Brake J0200-30x-4 J0400-30x-4 2 Motor Dimensions – Brake: mm 0.04 A...

  • Page 22: 60Mm Torque Curves

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 2.3.4.2 60mm Torque curves SV200 SERIES J0200-301-4-000/J0200-351-4-000 160 VDC (120VAC) - 3 Amps 17.7 15.9 14.2 12.4 10.6 2,000 4,000 6,000 Speed (rpm) SV200 SERIES J0200-302-4-000/J0200-352-4-000 320 VDC (230VAC) - 1.5 Amps 17.7...
  • Page 23 920-0096H SV200 AC Servo Drive User Manual 2/6/2018 60mm Torque curves SV200 SERIES J0400-301-4-000/J0400-351-4-000 160 VDC (120VAC) - 5.7 Amps 35.4 31.0 26.6 22.1 17.7 13.3 2,000 4,000 6,000 Speed (rpm) SV200 SERIES J0400-302-4-000/J0400-352-4-000 320 VDC (230VAC) - 2.7 Amps 35.4...

  • Page 24: 80Mm Specification And Dimension

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 UL File E465363 Insulation Class Class B(130°C) IP rating IP65(except shaft through hole and cable end connetor) Indoors, free from direct sunlight, corrosive gas, inflammable Installation location Ambient temperature Operating 0 to 40°C, Storage -20 to 80°C...

  • Page 25: 80Mm Dimensions

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 2.3.5.1 80mm Dimensions 1 Motor Dimensions – No Brake: mm 0.04 A 70 h7 - 0.03 0.04 A 19 h6 - 0.013 Oil seal 3 ±0.2 +0.300 21.5 - 0.118 40 ±1 L1 ±1...

  • Page 26: 80Mm Torque Curve

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 2.3.5.2 80mm Torque Curve SV200 SERIES J0750-302-4-000/J0750-352-4-000 320 VDC (230VAC) - 4.5 Amps 70.8 62.0 53.1 44.3 35.4 26.6 17.7 2,000 4,000 6,000 Speed (rpm)

  • Page 27: Servo Drive And Servo Motor Combination

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 2.3.6 Servo Drive and Servo Motor Combination 2.3.6.1 120VAC Power Input 100W 200W 400W Specificatioon 2500ppr Increment Without Brake J0100-301-3-000 J0200-301-4-000 J0400-301-4-000 Encoder With Brake J0100-351-3-000 J0200-351-4-000 J0400-351-4-000 (14PIN AMP connector) Rated Speed...

  • Page 28: 220Vac Power Input

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 2.3.6.2 220VAC Power Input 200W 400W 750W Specificatioon 2500ppr Increment Without Brake J0200-302-4-000 J0400-302-4-000 J0750-302-5-000 Encoder With Brake J0200-352-4-000 J0400-352-4-000 J0750-352-5-000 (14PIN AMP connector) Rated Speed (RPM) 3000 Maximum Speed (RPM) 6000...

  • Page 29: System Configuration

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 2.4 System Configuration AC Power LED Display The 5 digit,7 segment LED displays the driver status and faults. Operation Panel Non Fuse Breaker Function keys are used to perform status display,monitoring and diagnostic functions and parameter setting.

  • Page 30: Installation

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 3 Installation 3.1 Storage Conditions • Store within an ambient temperature range of -20°C to +65°C. • Store within a relative humidity range of 10% to 85% and non-condensing • DO NOT store in a place subjected to corrosive gasses 3.2 Installation Conditions...

  • Page 31: Installation Space

    • The SV200 servo drive should be mounted perpendicular to the wall or in the control panel. • In order to ensure the drive is well ventilated, ensure that the all ventilation holes are not obstructed and sufficient free space is given to the servo drive.

  • Page 32: Motor Installation

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 3.4 Motor Installation • DO NOT strike the motor when mounting as the motor shaft or encoder may be damaged. • DO NOT use cables soaked in water or oil. • Avoid excess cable stress at the cable outlets.

  • Page 33: Connections And Wiring

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 4 Connections and Wiring 4.1 Connecting to Peripheral Devices 4.1.1 System Configuration AC Power LED Display The 5 digit,7 segment LED displays the diver status and faults. Operation Panel Non Fuse Breaker...

  • Page 34: Servo Drive Connectors And Terminals

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 4.1.2 Servo Drive Connectors and Terminals Terminal Identification Description Details L1, L2, L3 Used to connect three-phase AC main circuit power L1C, L2C Used to connect single-phase AC for control circuit power...

  • Page 35: Wiring Methods For Power Supply P1

    4.1.4 Wiring Methods For Power supply P1 The SV200 series servo drive supports single phase or three phase wiring. Three phase wiring for drives 750W or above is recommended. For single-phase wiring, use L1 and L3 terminals as shown in wiring diagram below.

  • Page 36: Three-Phase Power Supply Connection (Ac220V)

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 4.1.4.2 Three-Phase Power Supply Connection (AC220V) MCCB P_off E_stop P_on MC Alarm Alm_R SV200 Servo Drive Yellow Blue Yellow/Green Ground Encoder Encoder Use external regeneration resistor Alm_R 24VDC Use Internal regeneration resistor...

  • Page 37: Wiring To The Connector P2

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 4.2 Wiring to the Connector P2 4.2.1 Motor Power Cable Configuration P2 interface of the drive Connector of Motor Power Connector of extension cable the motor lead wire Signal Color Yellow Blue...

  • Page 38: Wiring Diagram Of Motor Extension Cable

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 4.2.3 Wiring Diagram Of Motor Extension Cable Housing: 172159-1(AMP) Terminal: 170362-1(AMP) NOTE: Ensure U/V/W is following the order of RED/YELLOW/BLUE. 4.3 Encoder Connector CN3 4.3.1 Motor Encoder Feedback Cable Configuration The CN3 connector is intended for use with the encoder extension cables that are offered with the J series servo motors.

  • Page 39: Connect To Motor Encoder

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 4.3.3 Connect to Motor Encoder Connect to 2500ppr Increment Encoder (15PIN AMP connector) Servo Drive CN3 Motor Encoder Shield Shield 4.3.4 Specifications of Encoder Connector 4.3.5 15PIN AMP Connector View A View B...

  • Page 40: Wiring Diagram Of Motor Encoder Extend Cable

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 Specifications of 15PIN AMP Connector Type Plug of the Motor Housing for the motor Housing AMP 172171-1 AMP 172163-1 Terminal AMP 770835-1 AMP 770834-1 4.3.6 Wiring Diagram of Motor Encoder Extend Cable B.

  • Page 41: Electromagnetic Brake

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 4.4 Electromagnetic Brake When motor drives a vertical axis, a brake should be used to prevent the load from falling by gravity when power is removed. NOTE: Only use servo motor brake for holding when motor is disabled or AC is off.

  • Page 42: Regenerative Resistor

    4.5 Regenerative Resistor In SV200 series AC servo drives, there is a pre-installed 40W (SV2x5 model: 60W) regeneration resistor. In some applications, the pre-installed regeneration resistor may be insufficient to absorb the regenerative energy. In these cases, a larger wattage regeneration resistor needs to be connected externally.

  • Page 43: Connect To Host Computer, Cn1

    4.8 Input and Output Signal Interface Connector, CN2 4.8.1 Input and Output Interface Specifications and Diagram Port CN2 on SV200 series AC servo drives is used for input/output signals. Details are shown in table below: 8 Configurable Optically isolated general Inputs, 5-24VDC, 20mA...
  • Page 44 920-0096H SV200 AC Servo Drive User Manual 2/6/2018 Analog Input ANA1 Speed Command PULSH1 DGND PULSH2 High Speed Pulse Input ANA2 Torque Command SIGNH1 DGND SIGNH2 37 Y1+ Alarm Output 36 Y1- STEP+/CW Position Motor Brake Command Control Output 10 Y2-...

  • Page 45: Signals Description Of Connector Cn2

    4.8.2.1 The Layout of CN2 Connector 4.8.2.2 Input Signals SV200 series AC servo drive has 12 configurable digital inputs as well as 2 analog inputs. Each of the inputs can be specified with different function via parameter settings. The functions are as follows: •...

  • Page 46: Inputs Function List

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 ● Pulse Inhibited Input. Ignore the pulse input when this input is activated in position mode. ● Speed Selecting Input 1 in change Speed mode. ● General purpose input. ● Speed Selecting Input 2 in change Speed mode.

  • Page 47: Output Signals

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 4.8.2.4 Output Signals SV200 series AC servo drive has 6 programmable digital output signals available; each of the outputs can be specified with different function via parameter settings. Signal Symbol Pin NO.

  • Page 48: Input Signal Interface Connector Cn2

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

  • Page 49: Analog Signal Input For Velocity And Torque Mode

    4.8.3.2 Analog Signal Input For Velocity And Torque Mode SV200 series AC servo drive has 2 single ended analog inputs or 1 differential analog input. The input voltage range is between -10V~+10V. Velocity and torque range can be configured via SVX ServoSUITE® software.

  • Page 50: High Speed Input Port X1, X2, X3, X4

    A. High Speed Input Port SV200 series AC servo drive has 4 Optically isolated high speed digital inputs X1, X2, X3, X4. These inputs allow input voltage from 5VDC~24VDC with maximum current of 20mA, and up to 500KHz. They can be used for general purpose inputs, connecting sensor switch signals, PLC controllers or other types of controller output signals.
  • Page 51 920-0096H SV200 AC Servo Drive User Manual 2/6/2018 B High Speed Input Connection Diagram HOST controller 5-24VDC 5-24VDC HOST controller X1\2\3\4+ X1\2\3\4+ X1\2\3\4- X1\2\3\4- 0VDC 0VDC Host Sink Mode Host Sourcing Mode 5-24VDC X1\2\3\4+ X1\2\3\4+ +5-24VDC Power Output X1\2\3\4- sensor...

  • Page 52: General Digital Input X5, X6, X7, X8

    4.8.3.4 General Digital Input X5, X6, X7, X8 SV200 series AC servo drives have 4 Optically isolated general digital inputs X5, X6, X7, X8. Input voltage range is 5VDC-24VDC, with maximum input current of 20mA up to 5KHz. Both single-ended and differential signals are allowed.
  • Page 53 920-0096H SV200 AC Servo Drive User Manual 2/6/2018 X5, X6, X7, X8 Input Port Connection Diagram HOST controller 5-24VDC 5-24VDC HOST controller X5\6\7\8+ X5\6\7\8+ X5\6\7\8- X5\6\7\8- 0VDC 0VDC Host Sink Mode Host Sourcing Mode 5-24VDC X5\6\7\8+ X5\6\7\8+ +5-24VDC Power Output...

  • Page 54: X9, X10, X11, X12 Input With Common Com Port

    4.8.3.5 X9, X10, X11, X12 Input With Common Com Port SV200 series AC drives also have 4 single ended optically isolated inputs that share a single common node ‘COM’. They can be used with sourcing or sinking signals, 5-24V, allowing connections to PLCs, sensors, relays and mechanical switches. Because the input circuits are isolated, they require a source of power.
  • Page 55 920-0096H SV200 AC Servo Drive User Manual 2/6/2018 X9, X10, X11, X12 Input Port Connection Diagram HOST controller 5-24VDC 5-24VDC HOST controller 1.5K X9\10\11\12- 1.5K X9\10\11\12- 1.5K 1.5K 0VDC 0VDC Host Sink Mode Host Sourcing Mode 5-24VDC 1.5K 1.5K +5-24VDC...

  • Page 56: Cn2 Output Signal Specification

    4.8.4 CN2 Output Signal Specification SV200 series AC servo drives feature 6 optically isolated digital outputs. They can be configured via SVX ServoSUITE®. Y1, Y2, Y5, Y6 are differential output signals, they can be used for both sourcing or sinking signals. Y3 and Y4 share a common ground, making them useful for connecting sinking signals.

  • Page 57: Y3, Y4 Connection Examples

    0VDC 4.8.6 Encoder Feedback Output SV200 series AC servo drives can output encoder A/B/Z phases as differential output signals through a line driver. The output signal is 5V, A/B signals are 10000 pulse/rev, Z signal is 1 pulse/rev. The host must use a line receiver to receive the signals. Use twisted pair wires for signal transfer.

  • Page 58: Display And Operation

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 5 Display and Operation 5.1 Description of Control Panel LED Display Set Key Mode Key Down Key Up Key Symbol Name Details The LCD display (5 digits, 7 segments) show the drive’s operating condition and LED Display warning codes, parameters and setting shows values.
  • Page 59 920-0096H SV200 AC Servo Drive User Manual 2/6/2018 Control mode switch flowchart: Power On In factory default mode, it will display motor’s rotatory velocity.(*NOTE 1) The last dot shows whether the drive is enable or disable. Monitor Status Press SET key back...

  • Page 60: Led Display Description

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 5.3 LED display description 5.3.1 Decimal Point And Negative Sign Description LED display Description Negative sign: when display value ≥-9999, the highest digit will show as ‘-’. i.e. , as ‘-9999’ When display value≤-10000, the negative sign will not be shown,...

  • Page 61: Jog Mode

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 5.3.5 Jog Mode LED display Description J—CW means motor rotating in CW direction under JOG mode J—CCW means motor rotating in CCW direction under JOG mode 5.3.6 Control Panel Lock LED display Description This means the key panel is locked.
  • Page 62 920-0096H SV200 AC Servo Drive User Manual 2/6/2018 N mode selection and setting LED display Description Unit n-00 Motor Rotating Speed n-01 Position Error counts n-02 Pulse Counter Pulse n-03 Encoder Counter counts n-04 Command Position Counter counts n-05 Drive Temperature x 0.1°C...

  • Page 63: Function Mode Control

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 5.5 Function Mode Control In function mode (display F+ parameter number), you can select functions for preoperational mode, restart the drive, enable or disable the drive and so on. In status monitoring mode, pressing and holding for 1 second will enter function control mode.

  • Page 64: Operation Flow Chart

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 5.5.2 Operation Flow Chart : status monitoring selection press and hold MODE key for 1 second press and hold SET key F-00 point to point mode function selection mode press ,motor rotate...

  • Page 65: Parameter Setting Mode

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 5.6 Parameter Setting Mode 5.6.1 Parameter Setting Description The parameter setting mode (P+parameter number) allows you to select, display and edit the required parameter. In function control mode, press and hold for 1 second to enter parameter setting mode. Use to select required parameter, and press to view or edit the parameter.

  • Page 66: Parameter Editing Examples

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 5.6.2 Parameter Editing Examples Press mode to First digit flash Second digit flashing shift flashing digit Press Press Press Press Press up or down to increase or decrease value Press SET key to...

  • Page 67: Control Panel Lock

    5.7 Control Panel Lock In order to prevent making mistakes on the key panel, a key panel lock is featured on all SV200 AC servo drives. When lock function is on, no function can be changed directly on drive’s control panel.
  • Page 68 920-0096H SV200 AC Servo Drive User Manual 2/6/2018 LED display Description LED display Description Drive over temperature CW limit is activated Internal voltage fault CCW limit is activated Over voltage Current limit Communication error Over current Parameter save failed Phase loss of the main circuit...

  • Page 69: Preoperational Mode

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 6 Preoperational mode When using preoperational mode, disconnect servo motor shaft from mechanical system to avoid accidental damage. Perform this operation under no-load condition. 6.1 Inspection Before Trial Run In order to avoid accidental damage to servo drive and mechanical systems, we strongly recommend following safety checks before you turn on the drive.

  • Page 70: Manual Motor Configuration

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 6.3 Manual Motor Configuration Before JOG mode operation, motor configuration is required. For more details on the motor specifications, please refer to Motor Installation chapter.. 6.3.1 Use Drive Control Panel To Setup...

  • Page 71: Using Software To Configure Motor

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 6.3.2 Using Software To Configure Motor User can also use SVX ServoSUITE® to select the proper motor configuration. Step 1: Launch SVX ServoSUITE® on PC, and select the corresponding communication port. Step 2: After successful connection, use the drive configuration page to set up.

  • Page 72: Using Jog Mode

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 6.4 Using JOG Mode Step LED display Description Press to switch from Monitor Status mode into Drive Parameters Configuration mode Scroll key to select parameter P62 (SI) Press key to get into Value Setting mode Scroll key to change values.
  • Page 73 920-0096H SV200 AC Servo Drive User Manual 2/6/2018 SVX ServoSUITE® interface Configuration Steps Details Step 1 Motor Configuration Step 2 Select Control Mode Step 3 Further configuration Step 4 I/O configuration Step 5 Tuning...

  • Page 74: Operation Mode Selection

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 7 Operation Mode Selection 7.1 General Function Setting 7.1.1 Drive Servo On settings To control servo motor enable/disable switch 1) Servo ON signal (input X3) By default, the Servo ON input (X3) is not configured. However, this X3 digital input may be configured in the following way to add a...

  • Page 75: Alarm Reset

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 7.1.2 Alarm Reset The Alarm Reset Input can be used to clear warnings and faults, it can be set via P-63 (AI) Signal P-63 (AI) Function Name (CN2) During normal operation, input X4 must be kept Open (HIGH). Clearing the alarm status will ONLY occur when X4 transitions from High to Low.

  • Page 76: Cw/Ccw Limit

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 7.1.3 CW/CCW limit In order to prevent damage that might be caused by mechanical hardware accidentally moving out of range, it is highly recommended that the CW/CCW position limits be configured by using external end-of-travel sensors connected to inputs X5 and X6.

  • Page 77: Global Gain Switch Function

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 Software Configuration In drive configuration page-----Input & Output X5/X6 to select corresponding functions 7.1.4 Global Gain Switch Function Use input X7 for the Global Gain selection. This gain selection function is used to dynamically configure the servo drive to run the motor with the least time delay and close as possible to the host command.

  • Page 78: Control Mode Switch

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

  • Page 79: Drive On Fault Output

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 7.1.6 Drive On Fault Output When faults occur, the drive will send an “on-fault” output and will also disable the drive immediately. Faults include: position error, encoder error, over temperature, over voltage, low voltage, internal voltage fault, STO warning, FPGA error, over current, over velocity limit, bad hall sensor.

  • Page 80: Motor Brake Control

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 7.1.7 Motor Brake Control A servo motor brake is only to be used for holding the load when the motor is disabled or powered OFF. It ensures that the motor’s rotor (and connected load) will NOT move due to gravity or any other external forces.

  • Page 81: Servo Ready Output

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 7.1.8 Servo Ready Output When the servo drive is powered on, if no faults are present, the Y3 output can be configured output a “servo ready” signal. This servo ready function can be configured via SVX Servo Suite software, or by changing parameter P-68 (MO) the first digit (from right to left) on the drive’s control panel.

  • Page 82: Servo On Status Output

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 7.1.9 Servo On Status Output Output signal Y5 can be configured as Servo-ON Status signal When the Drive is at Servo-ON status, the signal will have a output signal This servo ready function can be configured via SVX Servo Suite software, or by changing parameter P-68 (MO) the third digit (from right to left) on the drive’s control panel.

  • Page 83: Timing Diagram

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 7.1.10 Timing Diagram 7.1.10.1 Timing Diagram at Power up Control Circuit Power (L1C, L2C) OFF Drive Internal initialization Main Power (L1,L2,L3) about Output Signal more than 1s 10ms Serov Ready Output Output...

  • Page 84: Position Mode

    2/6/2018 7.2 Position Mode Position mode is widely used in applications where precise positioning is required. In SV200 series AC servo drives there are 3 types of position mode: digital pulse position mode, analog position mode and position table mode.

  • Page 85: Input Pulse Type And Input Noise Filter

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 7.2.2 Input Pulse Type And Input Noise Filter There are three types of pulse modes: STEP & Direction; CW/CCW Pulse; A/B Quadrature. Parameter P-43 (SZ) uses decimal numbers to define pulse input type, polarity and input filter frequency. Transferred into a binary number, the HIGHER 8 bits of the number defines input filter frequency, and the LOWER 8 bits defines pulse input type and polarity.
  • Page 86 920-0096H SV200 AC Servo Drive User Manual 2/6/2018 Parameter P-43 (SZ) Setting Parameter P-43 (SZ)’s higher 8 digits and lower 8 digits set the definition for input filter frequency and pulse type, the setting values are as shown in table below:...

  • Page 87: Input Pulse Dividing Ratio Setting And Dividing Switch

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 Software Configuration On the software motor configuration page----use the Control Mode Settings area to select pulse input type. The Input Noise Filter setting can be found at the bottom of the Input & Output area.

  • Page 88: Pulse Inhibit Function

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 Software Configuration In drive configuration page-------Input & Output; select X9 function to setup pulse dividing switch function. 7.2.6 Pulse Inhibit Function The Pulse Inhibit function uses external input X10 in digital pulse position mode. When external input X10 is triggered, it will force the drive to stop receiving pulses input from any source, and stop the servo motor immediately.

  • Page 89: Electronic Gearing Ratio

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 7.2.7 Electronic Gearing Ratio The host command pulse count per revolution times the electronic gearing ratio set on drive will result in the actual number of pulses per revolution at the motor shaft. This feature allows more freedom and setup flexibility when a certain pulse count or moving counter is required.

  • Page 90: Jerk Smoothing Filter

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 7.2.8 Jerk Smoothing Filter Applying this dynamic filter on speed and direction signals can significantly smooth motor rotary motion, and minimize wear on mechanical system components. Jerk smoothing filter effects are as follows:...

  • Page 91: Gain Parameters For Position Control Mode

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 7.2.10 Gain Parameters For Position Control Mode In position mode, proper gain parameters will cause the servo system to run and stop more smoothly and accurately, thereby optimizing its performance. In most the cases, SVX ServoSUITE® software’s auto tuning function will help to automatically tune these parameters. However, in some cases the fine tuning function from the software or parameter setting mode on the drive may be needed to optimize performance.

  • Page 92: Software Configuration For Position Mode

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 7.2.11 Software Configuration For Position Mode The SVX ServoSUITE® allows for easy configuration of the drive and motor, as well as optimization of tuning parameters. Step Operation Description Configure motor Choose your motor model. Please refer to 2.3 motor number for details.

  • Page 93: Velocity Mode

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

  • Page 94: Velocity Mode Connection Diagram

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 7.3.1 Velocity Mode Connection Diagram Analog Input ANA1 Speed Command ±10VDC PULSH1 DGND PULSH2 ANA2 High Speed Pulse Input Torque Command ±10VDC SIGNH1 17 DGND SIGNH2 37 Y1+ Alarm Output 36 Y1-...

  • Page 95: Parameter Settings For Analog Velocity Control Mode

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

  • Page 96: Basic Settings For Analog Velocity Control Mode

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 7.3.3 Basic Settings For Analog Velocity Control Mode 7.3.3.1 Command Signal For Analog Velocity Mode In Analog input velocity mode, both single-ended and differential connection types are acceptable. A. Single Ended Analog Input...

  • Page 97: Analog Velocity Gain

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 7.3.3.2 Analog Velocity Gain Analog input voltage range is between -10V~+10V. In analog velocity mode, setting the velocity value and corresponding input voltage value is required. This can be set via SVX ServoSUITE® or P-50 (AG) from the drive’s control panel.

  • Page 98: Analog Input Deadband

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 7.3.3.4 Analog Input Deadband In analog control mode, even when the input voltage is 0V, it is almost impossible to ensure that the input voltage is absolutely 0V due to external interference. In some cases, this might cause the motor to turn slowly in either direction. Therefore, it is recommended that a reasonable deadband value be set to prevent this issue.

  • Page 99: Torque Limit

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 7.3.3.6 Torque Limit In single-ended analog mode, analog input 2 (ANA2) can used to set the motor’s output torque. Data Default Parameter Name Unit Description Range value Display Analog input type P-55 (AS)

  • Page 100: Velocity Mode Control Type

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 7.3.3.8 Velocity Mode Control Type In Velocity mode, there are two control types: Position over time control type Speed only control type Both control type and parameters are different, it can be configured by SVX Servo Suite, or parameter P-15(JM)

  • Page 101: Velocity Ripple Range

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 7.3.3.9 Velocity ripple range Parameter Setting Default Parameter Name Data Range Unit Description value Display The acceptable velocity ripple value around the Ripple range setting target velocity. If the difference between the actual...

  • Page 102: Analog Input Filter

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 7.3.4 Analog Input Filter When the analog input is used, there can be external signal interference that will affect the accuracy of the analog input voltage. In some cases this will cause the motor to turn unexpectedly, or cause unstable torque output. Therefore, use of the analog input filter is recommended.

  • Page 103: Software Configuration For Analog Velocity Mode

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 7.3.5 Software Configuration For Analog Velocity Mode The SVX ServoSUITE® can help you easily configure the drive and motor and optimize the tuning parameters. Step Operation Description Configure motor choose your motor model. Refer to 2.3 motor number for details Choose control mode In control mode area, choose “velocity”...

  • Page 104: Torque Mode

    7.4 Torque Mode Torque mode is normally used for applications that require precise torque control. For SV200 series AC servo drives, they are 2 types of torque control: analog input torque mode and SCL command mode. For analog command mode, torque is controlled by external voltage input.

  • Page 105: Analog Torque Mode Connection Diagram

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 7.4.1 Analog Torque Mode Connection Diagram Analog Input ANA1 Speed Command ±10VDC PULSH1 DGND PULSH2 ANA2 High Speed Pulse Input Torque Command ±10VDC SIGNH1 17 DGND SIGNH2 Alarm Output 37 Y1+ 36 Y1-...

  • Page 106: Parameters For Analog Torque Mode

    7.4.2 Parameters For Analog Torque Mode SV200 series AC servo drives have two 12bit analog ADC converters. When single ended input signal is used, analog input 1 (ANA1) is used for velocity command, analog input 2 (ANA2) is used for rotating toque command. Differential input via ANA1/ANA2 is also available.

  • Page 107: Analog Torque Gain

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 B. Differential Analog Input Connector pin Pin Type Signal Name Function allocation ANA1 Analog torque input for differential input signal Input ANA2 DGND Analog torque input signal grounding Host controller Differential analog input...

  • Page 108: Analog Input Offset

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 7.4.3.3 Analog Input Offset In some cases, when a host controller sets the analog command to 0V, the servo motor might still rotate slowly. This is caused by voltage bias from the analog device. SVX ServoSUITE® can automatically offset the analog voltage bias, or customers can manually tune the offset by changing parameter P-53 (AV2).

  • Page 109: Run/Stop And Direction Signal

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 7.4.3.5 Run/Stop and Direction signal In analog torque mode, external input X1 can be set as run/stop switch, X2 can be set as direction switch. Signal Condition Function Description Name When motor running, analog voltage defines motor output...

  • Page 110: Torque Reached

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 7.4.3.7 Torque Reached In torque mode, when the motor’s actual torque and commanded torque are the same, a “torque reached” output signal can be sent via Y3 output. The first digit (from right to left) of parameter P-68 (MO) from the drive defines the output signal Y3.

  • Page 111: Software Configuration For Analog Torque Mode

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 7.4.4 Software Configuration For Analog Torque Mode The SVX ServoSUITE® can help you easily configure the drive and motor, and set the tuning parameters. Step Operation Description Configure motor Choose your motor number. Please refer to 2.3 Motor number for details.

  • Page 112: Parameters And Functions

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 8 Parameters and Functions 8.1 Parameter Category SV200 servo drives have four display modes. type Function Example Details n---status monitoring setting Select LED monitoring status type 5.4 status monitoring selection mode F---Function mode setting Select drive function to execute 5.5 function mode control...
  • Page 113 920-0096H SV200 AC Servo Drive User Manual 2/6/2018 Current config 1.5 * Peak current Current config Hard Stop Homing Current Profile Maximum velocity 19200 Maximum acceleration/ Profile 3000 rps/s 18000 deceleration Profile 10.000 Jog speed 2400 Profile 100.00 rps/s Jog acceleration...
  • Page 114 920-0096H SV200 AC Servo Drive User Manual 2/6/2018 In position duration count Config counts Pulses Input Completion count Config Analog Position Gain Analog 8000 counts 8000 Analog Velocity Gain 20.000 Analog 4800 Analog Torque Gain Analog 0.50 Analog input1 offset Analog 0.000...
  • Page 115 920-0096H SV200 AC Servo Drive User Manual 2/6/2018 communication Transmit delay communication Baud rate communication RS-485 Address CANopen Node ID or IP address communication Index selection communication CANopen Baudrate Regeneration Regen resistor value Ω Regen resistor continuous Regeneration wattage Regeneration Regen resistor peak time 125.00...

  • Page 116: Parameter Description

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 8.3 Parameter Description Default Data Range Unit LED Display P-00 (KP) Global gain 1 0~32767 10000 ------ 8000 Sets or requests the servo control proportional gain term. Gain value is relative: “0” meaning no gain, “32767” meaning full gain.
  • Page 117 920-0096H SV200 AC Servo Drive User Manual 2/6/2018 Default Data Range Unit LED Display P-06 (KK) Inertia Feedforward Constant 0~32767 ------ The servo control inertia feed forward gain. Gain value is relative: “0” meaning no gain, “32767”meaning full gain. KK improves acceleration control by compensating for the load inertia.
  • Page 118 920-0096H SV200 AC Servo Drive User Manual 2/6/2018 Default Data Range Unit LED Display P-08 (VP) Velocity Loop Proportional Gain 0~32767 15000 ------ 15000 The velocity-mode servo control Proportional gain term. Gain value is relative: 0 = no gain, 32767 = full gain. VP minimizes velocity error when in velocity mode 2 (JM2).
  • Page 119 920-0096H SV200 AC Servo Drive User Manual 2/6/2018 Default Data Range Unit LED Display P-12 (CM) Main control mode 1~8, 10~18, 21, 22, 25 ------ Parameter P-12 (CM) is used to set drive’s control mode. Parameter mode list are as follows:...
  • Page 120 920-0096H SV200 AC Servo Drive User Manual 2/6/2018 Data Range Default Unit LED Display P-15 (JM) Jog mode 1, 2 ------ There are two Jog modes available: JM 1: Jog Mode 1 uses position control that moves the target position which causes the motor to move at the set velocity. Jog Mode 1 will cause the servo motor to always move the same distance over time.
  • Page 121 920-0096H SV200 AC Servo Drive User Manual 2/6/2018 Default Data Range Unit LED Display P-20 (VM) Maximum velocity 0.025~100 19200 The maximum motor velocity in rev/sec. Used in all control modes to limit the maximum speed of the drive. NOTE: if you need to view or set this value on drive’s control panel P-20 (VM), please refer to following calculation:...
  • Page 122 920-0096H SV200 AC Servo Drive User Manual 2/6/2018 Default Data Range Unit LED Display P-24 (JL) Jog deceleration 0.167~5000 rps/s The accel/decel rate for Jog moves and velocity control mode in rev/sec/sec. Setting JA overwrites the both the last JA and JL values.
  • Page 123 920-0096H SV200 AC Servo Drive User Manual 2/6/2018 Data Range Default Unit LED Display P-29 (JC) Jog mode speed 1 0.025~100 The first speed used in velocity mode. This only applies to control modes 15, 16, 17, and 18. Data Range...
  • Page 124 920-0096H SV200 AC Servo Drive User Manual 2/6/2018 Data Range Default Unit LED Display P-37 (ER) Encoder resolution 200~12800 2500 counts 1250 Sets the encoder resolution in quadrature counts. For example, if the motor connected to the drive has an 10000count (2500 line) per revolution encoder, set the encoder resolution to 8000.
  • Page 125 920-0096H SV200 AC Servo Drive User Manual 2/6/2018 Data Range Default Unit LED Display P-43 (SZ) Input Pulse Setting 0~65535 1792 1792 Pulse counter configuration and digital filter parameters in digital position control mode. Bit0~bit1: pulse type Higher 8 Bits...
  • Page 126 920-0096H SV200 AC Servo Drive User Manual 2/6/2018 Data Range Default Unit LED Display P-48 (TT) Pulses Input Completion count 0~2500 This parameter is used to define a time duration. It is used to determine whether the driver has finished receiving all pulses or not.
  • Page 127 920-0096H SV200 AC Servo Drive User Manual 2/6/2018 Data Range Default Unit LED Display P-53 (AV) Analog input2 offset -10.000~+10.000 0.000 The offset value of analog input 2 in volts. Please refer to 7.4.3.3 analog input offset. Data Range Default...
  • Page 128 920-0096H SV200 AC Servo Drive User Manual 2/6/2018 Data Range Default Unit LED Display P-61 (FA) Analog 1/2 function 00-33 Defines the function of the single analog input X1 and X2. It is defined by two digits, first from the right is X1, the other is X2...
  • Page 129 920-0096H SV200 AC Servo Drive User Manual 2/6/2018 Data Range Default Unit LED Display P-64 (DL) End-of –travel limit Setting 1, 2, 3 CW and CCW end-of-travel limits are available on all drives and can be used to define the boundaries of acceptable motion in a motor/ drive system.
  • Page 130 920-0096H SV200 AC Servo Drive User Manual 2/6/2018 Data Range Default Unit LED Display P-66 (AO) Alarm output function setting Defines usage of digital output Y1. Normally this output is used to indicate an Alarm caused by a Drive Fault. This output can being reconfigured as a general purpose output for use with other types of output commands.
  • Page 131 Y3, Y4, Y5, Y6 output function setting 413D 413D P-68 (MO) defines Y3, Y4, Y5, Y6 output functions. It is based on digits from right to left as viewed from front panel of SV200 drive. Digit 4 Output6 Function Digit 1 Output3 Function...
  • Page 132 920-0096H SV200 AC Servo Drive User Manual 2/6/2018 Data Range Default Unit LED Display P-69 (BD) Brake disengage Delay 0~32000 Data Range Default Unit LED Display P-70 (BE) Brake engage delay 0~32000 BD only takes effect if the BO command is set to 1 or 2. After a drive is enabled this is the time value that may delay a move waiting for the brake to disengage.
  • Page 133 920-0096H SV200 AC Servo Drive User Manual 2/6/2018 Applies a digital filter to the input X12. The digital input must be at the same level for the time period specified by the FI command before the input state is updated. For example, if the time value is set to 100 the input must remain high for 100 processor cycles before high is updated as the input state.
  • Page 134 920-0096H SV200 AC Servo Drive User Manual 2/6/2018 Data Range Default Unit LED Display P-79 (DA) RS-485 Address 1~32 The individual drive address character for multi-drop RS-485/MODBUS communications. This command is not required for single- axis (point-to-point) or RS-232 communications...
  • Page 135 P-82 (ZR) Regen resistor value 0-1000 Ω The regeneration resistor value. SV200 dynamically calculate the continuous wattage induced into an external regeneration resistor and must know the value of the regen resistor to do this effectively. Data Range Default Unit...
  • Page 136 920-0096H SV200 AC Servo Drive User Manual 2/6/2018 Data Range Default Unit LED Display Ripple range setting for torque P-87 (TV) reached 0.00-1.50 0.00 The torque ripple value around the targeted torque. If the difference between the actual torque and targeted torque is within the ripple value.
  • Page 137 920-0096H SV200 AC Servo Drive User Manual 2/6/2018 Data Range Default Unit LED Display Decel of seeking end-of-travel limit P-94 (HO) during homing 0.167~5000 rps/s In homing mode, this parameter sets the deceleration rate for seeking the end of travel limit.

  • Page 138: Communication

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 9 Communication SV200 series servo drives are available with several choices of communication interface, represented by a character in the model number Model type Communication SV2xx-Q-AE RS-232 SV2xx-Q-RE RS-485 SV2xx-C-CE CANopen SV2xx-IP-EE...

  • Page 139: Communication

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 9.2 RS-485 Communication R type drive uses port CN6 and CN7 for standard RJ45 (8p8C) design. This can be used to build RS-485 daisy chain networks. In addition to the SCL command controlling methods, customers can also use ModBUS/RTU to control the drive.

  • Page 140: Connection Method

    In a 2-wire system, the host must disable its transmitter before it can receive data. This must be done quickly before a drive begins to answer a query. The SV200 series drives include a transmit delay parameter that can be adjusted to compensate for a host that is slow to disable its transmitter.

  • Page 141: Modbus/Rtu Communication

    5 = 115200bps 9.3.4 Power Up Mode Parameter P-14 (PM) sets the power up mode for the drive. For current SV200 series servo drives, these are the power up modes: 8 = Modbus/RTU mode when powered up. 9 = Q mode with Modbus/RTU communication, stored Q program auto-executes when powered up.

  • Page 142: Modbus/Rtu Data Framing

    = request function code ModBUS error response: response function code = request function code + 0x80 providing an error code to indicate the error reasoning. 9.3.6 SV200 Series AC Servo Drive Register Address And Function List: Modbus Register Table Register Access...
  • Page 143 920-0096H SV200 AC Servo Drive User Manual 2/6/2018 40041..42 LONG Position Offset 40043 SHORT Miscella neous Flags 40044 SHORT Current Command (GC) 40045..46 LONG Input Counter 40047 SHORT Jog Accel (JA) 40048 SHORT Jog Decel (JL) 40049 SHORT Jog Velocity (JS)
  • Page 144 920-0096H SV200 AC Servo Drive User Manual 2/6/2018 40116 SHORT Jog Change(JC) 40117 SHORT Jog Change(JC) 40118 SHORT Jog Change(JC) 40119 SHORT Jog Change(JC) 40120 SHORT Jog Change(JC) 40121 SHORT X9 Input Filter 40122 SHORT X10 Input Filter 40123 SHORT...
  • Page 145 920-0096H SV200 AC Servo Drive User Manual 2/6/2018 40165 SHORT Analog Deadband 1(AD1) 40166 SHORT Analog Deadband 2(AD2) 40167 SHORT Analog Deadband (AD) 40168 SHORT Analog Function(FA) 40169 SHORT Servo Enable(SI) 40170 SHORT Alarm Reset(AI) 40171 SHORT Define Limits Input(DL)

  • Page 146: Command Opcode Description

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 9.3.7 Command Opcode description Register 40125 is defined as command Opcode, when following command is entered into register, the drive will execute the corresponding operation. 1) SCL Command Encoding Table SCL Command Encoding Table...

  • Page 147: Function Code

    ‘F’ 0x46 falling edge 9.3.8 Function Code SV200 series servo drives currently support following Modbus function code: 1) 0x03: Read holding registers 2) 0x04: Read input registers 3) 0x06: Write single registers 4) 0x10: Write multiple registers 9.3.8.1 Function Code 0X03, Reading Multiple Holding Registers If we want to read encoder’s actual position command to drive Node ID 1, the data address for encoder’s actual position is register...

  • Page 148: Function Code 0X06, Writing Single Register

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 9.3.8.2 Function Code 0x06, Writing Single Register If we want to set motor rotary velocity 12.5 rps to drive node ID 11, the corresponding address is register 40030. The write in data value for the register will be 12.5 x 240 = 3000.
  • Page 149 920-0096H SV200 AC Servo Drive User Manual 2/6/2018 Where XX = 01 : Function code 10 unsupported XX = 02 : Incorrect reading on driving address or number XX = 03 : Reading register address out of range XX = 04 : Reading failure...

  • Page 150: Modbus/Rtu Applications

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 9.3.9 Modbus/RTU Applications 9.3.9.1 Position Control 1.Target Profile Planning Target Value Dec Unit Register Description command Value (Hex) The unit for register 40028 is , when target acceleration is 100rps/s, rps/s 40028...
  • Page 151 920-0096H SV200 AC Servo Drive User Manual 2/6/2018 3. Sending Command First Step : Set acceleration register 40028 = 285h, deceleration register 40029 = 4B0h, velocity register 40030 = 960h, and target position 40031~40032 = 4E20h. Host Sending: 01 10 00 1B 00 05 0A 02 58 04 B0 09 60 00 00 4E 20 24 3B...
  • Page 152 920-0096H SV200 AC Servo Drive User Manual 2/6/2018 Second Step: Point To Point Motion Command Chapter 9.3.7 command opcode describes register 40125’s control code. From the SCL code list shows that for point to point position motion, it requires to write data 0x66 to register 40125.

  • Page 153: Jog Mode

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 9.3.9.2 JOG mode 1. JOG mode required parameters: Target Value Unit Dec (Hex) Description command The unit for register 40028 is , when target acceleration is 100rps/s, rps/s 40047 600 (258h) the value will be 600 The unit for register 40029 is .
  • Page 154 920-0096H SV200 AC Servo Drive User Manual 2/6/2018 3. Sending Command First Step: Set velocity mode acceleration register as 40047 = 258h, deceleration register as 40048 = 4B0h, and velocity register 40049 = 960h. Host Sending: 01 10 00 2E 00 03 06 02 58 04 B0 09 60 A0 9F...
  • Page 155 920-0096H SV200 AC Servo Drive User Manual 2/6/2018 Starting message : Command Message (Master) Command Message (Slave) Function Data Number Of Bytes Function Data Number Of Bytes Slave Address Slave Address Function Code Function Code 00H (High) 00H (High) Starting Data Address...

  • Page 156: Canopen Communication

    4, 5, 8 9.4.2 CANopen NODE-ID In the CANopen network, each of the drive needs to have a unique NODE-ID. For SV200 series AC servo drives, it allows you to set NODE-ID from 1-127, “0” cannot be used for ID setting.

  • Page 157: Ethernet Communication

    Port setting Ports are used to direct traffic to the right application once it gets to the right IP address. The UDP eSCL port in SV200 series drive is 7775. To send and receive commands using TCP, use port number 7776. You’ll need to know this when you begin to write your own application.

  • Page 158: Connecting To Drive From Pc

    2/6/2018 9.5.1.2 Connecting to Drive from PC 1. The default IP address for SV200 Ethernet drive is 10.10.10.10. It can be also viewed and configured directly from drive’s control panel, parameter P-80(CO), please refer to 9.5.2 for more details. 2. To set the IP address of your PC: a.
  • Page 159 Click “Download All to drive” Note: the New IP address will only effect after next power cycle For SV200 series drives, there are 16 index values for 16 different IP addresses. Default address are as shown in table below: Index...

  • Page 160: Set Ip Address From Drive

    2/6/2018 9.5.2.2 Set IP address from Drive For Ethernet Version of SV200 Drive, IP address can be viewed and configurated directly from drive’s control panel, parameter P-80(CO). Please refer to table below for parameter values and its IP address P-80(CO)

  • Page 161: Editing Ip Address Table

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 9.5.3 Editing IP address table In SVX Servo Suit software IP table can be edited via the IP table tab. Read from Drive: IP the IP table from the connected drive Save current IP table values to the drive.

  • Page 162: Sv200 Tuning Guide

    The PID loop acts on this error with these three gain terms: Global gain (KP), Integrator Gain (KI), Derivative gain (KD). In addition to the PID loop control, the SV200 series drives add a number of extra terms to enable greater system control. These additional terms include: position loop gain (KF), Damping gain (KV), Inertia feed forward gain (KK), Follow Factor (KL), Derivative filter gain (KE), and PID filter (KC).

  • Page 163: Gain Parameter Introduction

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 10.1.1 Gain Parameter Introduction Global gain (KP): This parameter is the primary gain term for minimizing the position error. It defines the system stiffness. Larger KP values means higher stiffness and faster response times. However, if gain values are too high, vibration can result. Values ranging from 6000 to 16000 are commonly used.

  • Page 164: Auto-Tuning

    2/6/2018 10.2 Auto-Tuning SV200 servo systems can achieve real time response to the dynamic feedback of the load and optimize tuning parameters automatically. The auto-tuning function can save time and simplify the debugging process. Auto-tuning can be completed using the SVX Servo Suite software in only a few minutes.

  • Page 165: Step 2: Setting The Software Position Limits

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 NOTE: Refer to the SV200 Series AC Servo User Manual, Chapter 2.3 Servo Motor Model Introduction for motor identification details. 10.2.2 Step 2: Setting the Software Position Limits The Software Position Limit function uses encoder counts to set “soft” limits at user-defined locations that can then be used during the tuning process.
  • Page 166 920-0096H SV200 AC Servo Drive User Manual 2/6/2018 Setup Software Position Limits Here are the basic steps to set the soft limits, also shown below: Before rotating the motor and setting limits, first set the desired Jog Speed, and Accel/Decel rate.

  • Page 167: Step 3 Auto-Tuning Function

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 10.2.3 Step 3 Auto-Tuning Function From the “Auto-Tune” tab, follow these steps to configure and run auto-tuning: Operation steps Set Stiffness and Load type Set Auto-Tuning Distance, Speed target, and Accel/Decel NOTE: If software position limit is set, select “Tuning...

  • Page 168: Fine Tuning

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 10.3 Fine tuning Depending on the mechanical system characteristics and the servo motor used, the following parameters are available and may need to be adjusted to improve system performance: ● Global gain (KP) ●...
  • Page 169 920-0096H SV200 AC Servo Drive User Manual 2/6/2018 As shown below, if KF is small, position error will be high at all times (during acceleration, constant velocity, and deceleration) As shown below, if the KF value is set appropriately, the position error during acceleration and deceleration will settle very quickly, and...

  • Page 170: Integrator Gain (Ki)

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 10.3.2 Integrator Gain (KI) The position loop gain (KF) alone will often not be enough to give the best performance in terms of minimizing the position error and may require a long time settling time. In these cases, the Integral gain (KI) will keep adding up that error and continue to increase the torque until the motor truly returns to the target position.

  • Page 171: Damping Gain (Kv)

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 10.3.3 Damping gain (KV) As the motor load inertia increases, the servo system will require higher damping gain (KV) to reduce position errors during constant speed and when the motor stops. When KV is too small, this low damping value will cause large position error fluctuations while the motor is running at constant velocity and while stopped, holding position.

  • Page 172: Derivative Gain (Kd)

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 When KV is too large, however, the strong damping gyellow below: KV = 32000 (too large) 10.3.4 Derivative gain (KD) A simple PI controller without Derivative gain (KD) would cause the motor to overreact to small errors, creating ever larger errors and, ultimately becoming unstable.
  • Page 173 920-0096H SV200 AC Servo Drive User Manual 2/6/2018 As KD increases, the system takes less time to settle as shown below. KD=4000 KD=7000 When KD is too large, however, the system will become highly sensitive to the commanded changes in motion, which can potentially cause unexpected system vibrations and noise as shown below.

  • Page 174: Inertia Feedforward Constant (Kk)

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 10.3.5 Inertia Feedforward Constant (KK) With larger loads typically comes larger load Inertia. These larger inertias can be more easily accelerated or decelerated by anticipating the control system needs. The Acceleration Feedforward gain term (KK) does this by adding an acceleration value to the control value, which reduces position error during acceleration and deceleration.

  • Page 175: Follow Factor (Kl)

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 When the feedforward (KK) gain is too large, however, the opposite effect can be seen. This will also decrease system dynamic performance by increasing position error and system settling time, as shown below.

  • Page 176: Using Auto Trigger Sampling

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 10.4 Using Auto Trigger Sampling In cases where an external controller is used to perform move profiles, such as in Position Control Mode using Pulse & Direction input, the Auto Trigger function will allow the Sampling tool to collect data and display the move profile.

  • Page 177: Sto Function

    11.1.3 Maintenance procedures of STO faults or failures If during maintenance or inspecttion the STO function is found to be not working, please contact Applied Motion Products for support. 11.1.4 Commissioning and testing The STO Terminal block is MOONS’standard plug, generally do not pull out from the drive.

  • Page 178: Safety Input Signal

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 11.2.1.1 Safety input Signal STO Safety input Signal as following: Signal Symbol Pin No. contents Control mode SF1+ When SF1 input turns off, the STO function Safety input 1 activate SF1- Compatible all control mode...

  • Page 179: Return Timing From Safety State

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 11.2.3.2 Return timing from safety state: 11.2.4 11.2.4 Safety function activated or prohibit In high demand or continuous operation mode the STO function is activated or disabled state 11.2.5 11.2.5 STO function as the highest priority.

  • Page 180: Safety Function Constraints

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 11.5 Safety function constraints 11.5.1 Failure rate The failure rates is calculated for an ambient temperature of 50C max. 11.5.2 Mission time and proof test proof test intervals: 20 years, as appropriate mission time: 20H each day, as appropriate 11.5.3 Testing, calibration or maintenance requirements...

  • Page 181: The Installation And Commissioning Guidance

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 11.6 The installation and commissioning guidance 11.6.1 Installation We have made the best effort to ensure the highest quality, however the presence of an exceptionally large external EMC disturbance may result in unexpected action. It is highly recommended that you make a fail-safe design and secure the safety in the operative range.

  • Page 182: Requirements For Safety Functions Configuration Test

    1.) The safety related components that will be used in the application, including software versions which including STO function abnormal alarm. 2.) To avoid EMC disturbance the drive need to be connected to an external EMI filter, please contact Applied Motion Products for filter recommendations.

  • Page 183: Trouble Shooting

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 12 Trouble Shooting 12.1 Drive Alarm List Drive status after alarm LED display Description Alarm type occurs Drive over temperature Fault Servo off Internal voltage fault Fault Servo off Over voltage Fault...

  • Page 184: Drive Alarm Troubleshooting

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 12.2 Drive alarm troubleshooting Description Alarm type Processing method display 1. Improve the ambient temperature and Temperature of the heat sink or power cooling condition. Drive over device has been risen over the specified 2.
  • Page 185 920-0096H SV200 AC Servo Drive User Manual 2/6/2018 1. Drive bus voltage lower than 90VDC Measure the voltage between lines of connector and power failure has occurred terminal block L1,L2,L3. 2. Lack of power capacity...Power supply 1. Increase the power capacity. Change the power supply.
  • Page 186 920-0096H SV200 AC Servo Drive User Manual 2/6/2018 Drive bus voltage lower than 110V series : 110VDC 1) Increase the power capacity. Change the 220V series : 200VDC power supply. 1) Power supply voltage is low. Instantaneous Low voltage power failure has occurred 2) Please check l1, l2, l3 power connections, please refer to 4.1.5 P1 drive power connection.

  • Page 187: Appendix

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 13 Appendix 13.1 Appendix 1: LED Character Reference...

  • Page 188: Appendix 2: Accessories

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 13.2 Appendix 2: Accessories 13.2.1 Mating Connectors Description Manufacturer Manufacturer number Mating I/O Connector & Shell (Included) TYCO 5-2232346-1 Mating Motor Power Connector (Included) 06JFAT-SBXGF-I Mating AC Power Connector (Included) 05JFAT-SBXGF-I Plastic Spring release Lever (included)

  • Page 189: Servo Feedback Cable (Recommended)

    920-0096H SV200 AC Servo Drive User Manual 2/6/2018 13.2.3 Servo Feedback Cable (Recommended) Connect to drive Connect to Motor Model Number Description 3004-304-1M Servo Motor Feedback Cable, 1 meter 3004-304-3M Servo Motor Feedback Cable, 3 meter 3004-304-5M Servo Motor Feedback Cable, 5 meter...
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  • Page 192 920-0096H SV200 AC Servo Drive User Manual 2/6/2018 Contacting Applied Motion Products Corporate Headquarters 404 Westridge Drive Watsonville, CA 95076 (800) 525-1609 (831) 761-6555 web www.applied-motion.com support@applied-motion.com...
  • Page 193 Mouser Electronics Authorized Distributor Click to View Pricing, Inventory, Delivery & Lifecycle Information: Applied Motion SV2B3-C-CE SV2B3-P-NE SV2B3-Q-AE SV2B3-Q-EE SV2B3-Q-RE SV2B5-C-CE SV2B5-P-NE SV2B5-Q-AE SV2B5-Q-EE SV2B5-Q-RE...

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