Savch SDA2 Series User Manual
  1. Manuals
  2. Brands
  3. Savch Manuals
  4. Servo Drives
  5. SDA2 Series
  6. User manual

Savch SDA2 Series User Manual

Servo system
Hide thumbs
Table of Contents

Advertisement

Quick Links

Download this manual
SDA2 Series Servo System
High performance type
User Manual
User Manual

Advertisement

Table of Contents
loading

Related Manuals for Savch SDA2 Series

Summary of Contents for Savch SDA2 Series

  • Page 1 SDA2 Series Servo System High performance type User Manual User Manual...
  • Page 2 520001301813 Vision No. V1.3 Filing time 2020-06-01 SAVCH electric provide a full range of technical support for our customers. All users could contact with the nearest SAVCH office or service center, also could contact with our headquarters directly. SAVCH Electric reserves the copyrights and all rights,...

  • Page 3: Table Of Contents

    CONTENT PREFACE ............................1 1 SAFETY PRECAUTIONS ......................3 1.1 Notes for Operation ......................3 1.2 Notes for Operation Environment ................... 6 2 HARDWARE DESCRIPTION AND INSTALLATION ..............7 2.1 Operation Environment ....................7 2.2 Model Description ......................11 2.3 Product Specification ..................... 12 2.4 Servo Motor Rotation Direction Definition..............
  • Page 4 8 MAINTENANCE AND INSPECTION ..................166 8.1 Inspection ........................166 8.2 Status Display ....................... 166 8.3 Troubleshooting Method ....................168 9 OPTIONS ..........................175 9.1 About Optional Parts ....................175 9.2 Standard Configuration For Drive Braking parts ............175 9.3 Optional Regenerative Or Braking Parts..............176...

  • Page 5: Preface

    Provided problems occur and solution is not provided in this instruction manual, contact your SAVCH ELECTRIC representative or contact with our company directly. Our professional technicians will serve for you actively. And please continue to adopt products of SAVCH, give valuable opinion and advice.
  • Page 6 ●To check whether there are damaged parts during transportation and deliver. If there are, do not connect with power. If any of the above checkpoints are not satisfactory, contact your SAVCH ELECTRIC representative for a quick resolution. 3. About the user manual Description feed in this user manual may be inconsistent to the product due to improvement added to the product.

  • Page 7: Safety Precautions

    1 SAFETY PRECAUTIONS Notes for Operation Installation Precautions △ ! CAUTION ● Do not step on the servo motor or place a heavy matter on it. ● Do not block the exhaust port or put the foreign particles into them. ●...
  • Page 8 Operation Precautions △ ! CAUTION ● Specify the proper function parameter data in accordance with the machinery equipment before it starts the operation, otherwise, it may cause out of control or breakdown. ● Confirm the quick stop function is available before operating the servo motor drive. ●...
  • Page 9 Maintenance and Inspection Precautions DANGER ● Do not touch the inside of the servo motor drive and servo motor, otherwise, it may cause an electric shock. ● Do not remove servo motor drive control panel when it is power on, otherwise, it may cause an electric shock. ●...

  • Page 10: Notes For Operation Environment

    Notes for Operation Environment Direct sunlight Corrosive gas or fluids ？ Salt Salt or saline Rain, moisture Iron chips and dust Below 10 degrees Celsius Force cool Force Force Force Force Force Extreme high ambient Large impelling Extreme low temperatures temperatures (Above 40℃) Electromagnetic waves Locations of inflammable...

  • Page 11: Hardware Description And Installation

    2 HARDWARE DESCRIPTION AND INSTALLATION 2.1 Operation Environment 2.1.1 Servo motor drive installation and environment Since operation environment can directly influence functions and operation life, to ensure proper performance and long operation, follow the recommendations below when choosing allocation for installing the servo motor drive: ●...
  • Page 12 2.1.2.1 The occasion with one servo motor drive Control cabinet 50mm or above 100mm or above 30mm or above Down 50mm or above 2.1.2.2 Occasions with 2 or over 2 servo motor drives Big enough intervals should be left between servo motor drives and between them and control cabinet inside walls, air inlet and out let should be left on cabinet body.
  • Page 13 Others 2.1.2.3 Heat dispersion shall be taken into consideration when using regenerative resistor and heating parts, in order to avoid the impact to the servo motor drive. 2.1.3 Installation environment conditions and methods of servo motor 2.1.3.1 Installation environment conditions ●...
  • Page 14 2.1.3.3 Other 1. Please ensure that the cable is kept dry. 2. To avoid falling off and break of the wires due to mechanical movement, please ensure to fix the wires. 3. Please ensure enough protrusion for the servo motor axis, otherwise, the servo motor movement is easy to cause the vibration.

  • Page 15: Model Description

    Input power supply Spec OUTPUT: 3PH 0~380V 7.5A Output power supply Spec FREQUENCY RANGE: 0.1~250Hz Output frequency S/N: NJ3019380000037 Designed by Taiwan Savch Electric SAVCH ELECTRIC CO.,LTD 2.2.2 Model description SDA2 - 2T 2.0 G Type code G: General Model...

  • Page 16: Product Specification

    2.3 Product Specification Model SDA2-口口口口 G Single/ three phase 220V three phase 380V Input Power Voltage variation range (-15%~+10%) 50/60Hz Cooling Method Fan Cooling Main circuit control mode Sinusoidal PWM drive Feedback 17-bit (standard) / 20- bit ①Position control, ②Speed control, ③ Torque control, ④Position/speed mode switch, ⑤Position/torque mode switch, ⑥Speed/torque mode Control Mode switch, ⑦Positioning operation mode...

  • Page 17: Servo Motor Rotation Direction Definition

    Model SDA2-口口口口 G Feedback speed, reference speed, reference torque, motor current, feedback of current location , Location Difference, reference pulse Monitor frequency, Feedback Pulse Accumulation, Reference Pulse Accumulation, VREF input voltage, TREF input voltage, input terminal signal, output terminal signal etc Overcurrent (oc1, oc2)、Over speeding(oS)、Overvoltage(Hv)、Memory Error (dE)、Encoder Error(Ec)、Overload(oL1，oL2)、Main circuit under Protection(Alarm display)

  • Page 18: Basic Wring Diagram

    2.5 Basic Wring Diagram 2.5.1 Servo Motor & Drive Wiring Diagram *Connect to the computer software No-Fuse Breaker (NFB) Power Supply To prevent the large instant Three phase AC 200 ~ 230V current received by the Three phase AC 380 ~ 460V Servo drive cascade connection power-on, power-off or the short circuit and damage...
  • Page 19 2.5.2 Wiring instructions Wiring Precautions: ● Please perform the wiring with the shortest length, the length of the reference cable should be within 3m and encoder cable is within 15m. ● Please perform the wiring according to the standard wiring diagram and the cable should not be connected to the signal which is not assigned.
  • Page 20 a.Single-phase 220V b.Three-phase 220V C.Three-phase 380V...

  • Page 21: External Dimensions

    2.6 External Dimensions 2.6.1 Front view A．Power cover closes *USB Terminal STO Safety circuit interface RS485 / CAN RS485 / CAN I/O Terminal *Complete closed- loop terminal Encoder Terminal Note: * indicates being developed...
  • Page 22 B.Power cover opens *USB Terminal STO Safety circuit interface RS485 / CAN RS485 / CAN Power Input / Output Terminal I/O Terminal *Complete closed- loop terminal Encoder Terminal Note: * indicates being developed...
  • Page 23 2.6.2 Servo motor drive dimension Unit:mm SDA2-2S0.4G~SDA2-2S1.0G SDA2-2T1.5G~2T2.0G/4T0.75G~1.5G SDA2-2T3.0G~ 2T4.0G/4T2.0G~4T4.0G SDA2-4T5.5G-4T7.5G External Dimensions(mm) Model No. SDA2-2S0.4G SDA2-2S0.75G 173.5 SDA2-2S1.0G SDA2-2T1.5G SDA2-2T2.0G SDA2-4T0.75G SDA2-4T1.0G SDA2-4T1.5G SDA2-2T2.0G SDA2-2T3.0G SDA2-2T4.0G 6.75 7.25 SDA2-4T2.0G SDA2-4T3.0G SDA2-4T4.0G SDA2-4T5.5G 6.75 7.25 SDA2-4T7.5G...

  • Page 24: Basic Wiring Diagram Under Different Control Modes

    2.7 Basic Wiring Diagram Under Different Control Modes 2.7.1 Position control mode Notes 1: When the external power are adopted, do not connect the COM with IP24,external power supply 24V connected to COM. Notes 2:The EI input terminal that is marked △ indicates that the default function is not defined, user can set the required function according to the parameter of Chapter 6.
  • Page 25 2.7.2 Speed control mode Notes 1: When the external power are adopted, do not connect the COM with IP24,external power supply 24V connected to COM. Notes 2:The EI input terminal that is marked △ indicates that the default function is not defined, user can set the required function according to the parameter of Chapter 6.
  • Page 26 2.7.3 Torque control mode Notes 1: When the external power are adopted, do not connect the COM with IP24,external power supply 24V connected to COM. Notes 2:The EI input terminal that is marked △ indicates that the default function is not defined, user can set the required function according to the parameter of Chapter 6.

  • Page 27: Interfaces

    2.8 Interfaces 2.8.1 Power terminal SDA2 Series TB terminal Terminal Name of signal Function mark Connecting to external AC power. Power of control circuit(input Single phase 220VAC -15%~ +10% 50/60Hz terminal) 380VAC-15%~+10% 50/60Hz Connecting to external AC power. Power of main circuit(input...
  • Page 28 2.8.2 Input/output terminal CN3 (50 cores) Shortened form for control mode: P stands for position control mode； S stands for speed control mode； T stands for torque control mode； Communication plugs Layout: Control Name of signal Pin.NO Function mode EI Input terminal 1 P.S.T EI input terminal (corresponding sink/source signal) input command signal terminal to servo...
  • Page 29 Control Name of signal Pin.NO Function mode PULS+ Low speed position command input 1 PULS- Low speed external position pulse command input terminal SIGN+ Low speed position command input 2 SIGN- HSIGN+ High speed position command input 1 HSIGN- High speed external position pulse command input terminal HPULS+ High speed position...
  • Page 30 2.8.3 Encoder feedback signal input terminal CN1 (6 cores) Servo motor side connector signal Function Pin.No Name of signal Pin function Code General Aviation connector connector The encoder serial data The encoder serial data output to positive drive by the end of the servo The encoder serial data motor negative...

  • Page 31: Input / Output Interface Type

    2.9 Input / Output Interface Type 2.9.1 Digital input interface Digital input interface circuit can be operated by the switch, relay, open collector transistor circuit, optocoupler etc. The relay should be the low electric current, in order to avoid the faulty contacting. The external voltage range :DC12V~24V.
  • Page 32 PNP crystal, common emitter SOURCE mode · Internal power · External power 2.9.2 Digital output interface Use the optocoupler for the output circuit, which can be connected with relay, optocoupler, the precaution as following: ● The external power should be provided by the user. ●...
  • Page 33 Relay (Fly-wheel diode must be required and the polarity of the diode should not be reverse rotating) Optocoupler 2.9.3 Position pulse input interface There are two kinds of input interfaces: high speed and low speed, high speed interface only supports line drive.
  • Page 34 If the Line drive driving can not meet the equation 2.8V≤ (H level)-(L level)≤3.7V, the servo unit input will be unstable. When the reference pulse is entered, it may cause the pulse missing. When the reference signal is entered, it may select the reverse rotating value of the reference signal. The maximum pulse frequency is 500KHz.
  • Page 35 Example: Adopt the internal power and perform the short circuit between the pin 1 and pin 37 of the driving interface. Do not connect SIGN+ or PULS+; SIGN-/PULS- should be connected to the pin 38 of the CN3 that is connected to Y0/Y1 and COM of the PLC respectively. ●...
  • Page 36 ● Line Drive output Received by line drive receiver Please ensure the connection between the both sides of the signal grounding Host controller use 26LS32 or equivalent as the receiver and must be connected to the terminal resistance from 220Ω~470Ω. The encoder output signal grounding of servo motor drive must be connected with that of the host controller.
  • Page 37 ● Open collector output(OOA，OOB，OOZ) Please use high speed optocoupler to receive (e.g.TLP115A). Maximum external power is 30V and the maximum current is not more than 50mA. The resistance is determined by the optocoupler. 2.9.5 Analog command input/output interface Assign an analog input interface to torque command and speed command respectively with input voltage range from -10V to 10V and input resistance 10kΩ...
  • Page 38 Analog command output (Note: Bias is a normal phenomenon for the analog input/output, which could be compensated by the parameter.)

  • Page 39: Description Of Keypad Functions

    3 DESCRIPTION OF KEYPAD FUNCTIONS 3.1 Description of Keypad Functions 、 、 、 、 There are 5 LED digital tube displays and 5 keys on the keypad: . The keypad is shown below, there are two indicators on the panel:CHARGE indicator and RUN indicator, RUN indicator is on means servo motor drive is in servo-on state.CHARGE indicator is on means that the power is on.
  • Page 40 3.1.1 Mode Nixie light display has 6 modes. ·Control status display mode: To display the controlling, running status of servo motor drive. ·Monitoring mode: The monitor each status and output/input signal of servo motor. ·Alarm mode: To indicate the current alarm and recodes. ·Parameter editing mode: To edit the parameter.
  • Page 41 3.1.3 Display packing of up/mid/down bit data 3 times flash: upper bit 3 times flash: middle display 3 times flash: lower display ※ When the data content inside the drive exceeds four digits, one interface cannot display the complete data, so there is an upper/middle/lower position display.

  • Page 42: List Of Descriptions For Functional Parameters

    3.2 List Of Descriptions For Functional Parameters In the parameter editing mode and positioning data editing mode, the check and change of the setting value is available. Display and setting Unit Mode Sub-mode Sub-mode selection example Control status Action mode Cn-01 display mode Monitoring mode...
  • Page 43 Display and setting Mode Sub-mode Sub-mode selection example Alarm mode Current alarm AL-01 nonE Alarm history AL-02 no.01 Warning AL-03 0000 Parameter editing mode Parameter page 1 Pn-01 P1.01 Parameter page 2 Pn-02 P2.01 Parameter page 3 Pn-03 P3.01 Parameter page 4 Pn-04 P4.01 Positioning data editing mode...

  • Page 44: Control Status Display Mode

    3.3 Control Status Display Mode Control status display mode means the servo motor drive‟s output signal and running status. Press key [MENU] to display [Cn-01], press [SET] to display description. Action mode Means servo motor drive‟s output signal and running status Cn-01 Zero speed Speed coincidence...

  • Page 45: Alarm Mode

    Control Display Name Content mode Servo OFF No power to motor. No drive power in servo motor Servo ON Servo motor is under rotatable operation Torque Manual operation Being rotating is feed by manual control Low voltage. For more detail information, please refer to the LV Status page regarding the under voltage Tips: If the servo motor drive is power on, then display (action mode of control status display).

  • Page 46: Parameter Editing Mode

    Sub-mode Sub-mode selection Display example Main-circuit cumulative power-on hours rc01 Not use rc02 Motor running hours rc03 05.09 Feedback speed rc04 3000 Feedback speed(5[ms] ago) rc05 3000 Command speed rc06 3000 Command torque rc07 Motor current rc08 Effective torque rc09 DC link-voltage rc10 EC Error counter...

  • Page 47: Positioning Data Editing Mode

    3.6 Positioning Data Editing Mode In positioning data editing mode, it can edit the positioning status, stop position, rotation speed, stop timing, M code, acceleration time and deceleration time [SET] [SET] [SET] Po-01 no.01 Pd_1 A.00．0 [MENU] [MENU] [MENU] ∧/∨ ∧/∨...
  • Page 48 Pd_4: Stop timing Specify the stop time after the motor arrives in the stop position. The setting value is within the range from 0.00 to 655.35 [s] per 0.01 calibration When the stop time is completed, the command sequence output signal In-position signal [INP] is turned ON.

  • Page 49: Operation

    4 OPERATION 4.1 Signal Description (Input Signal Order) For safety, the servo motor drive‟s input signal is deal with the signal of motor stop firstly. Item Description Corresponding signal (function NO.) ・Free-run command (54) Most priority operation signal ・Servo ON (1) ・Forced stop (10) Priority operation signal ・Torque limit 0 (19)

  • Page 50: Operation Procedure

    4.2 Operation Procedure SDA2 servo motor drive perform speed control and torque control by analog voltage, position control by pulse, positioning data operation by EI/EOUT signal or RS485 communication and Immediate value data operation by RS485 communication. Select the operation mode and set the parameter according to the following flow chart. START Speed control/torque If it performs the positioning...

  • Page 51: Operation Check

    4.3 Operation Check 4.3.1 Power On Connect the commercial power and servo motor drive to the servo motor. Regarding the wiring method, please refer to “chapter 2 hardware description and installation” ·Supply commercial power Operate control power and main circuit power to supply power. If necessary, please insert an electromagnetic contactor in the upstream of the main power so that it can be shut off at any time.
  • Page 52 4.3.2 Power On /Servo Control-Ready[S-RDY] The servo-control-ready signal [S-RDY] is issued about 2 seconds after the main power is supplied. The CPU inside the servo motor drive diagnoses itself and if the result is correct, the signal is issued and remains turned on until the power is shut down.

  • Page 53: Operation

    4.4 Operation 4.4.1 Additional function test at Keypad Use additional function mode of the keypad to check the motor rotation. When the servo motor is equipped with a brake, supply DC24 [V] to release the brake. The motor rotates even without the external terminal signal. Relative parameter setting and default value are shown below.
  • Page 54 4.4.2 Position control (pulse) The shaft rotation is controlled under the position control according to the pulse input of the servo motor drive. The pulse operation procedure is shown below: (3)Position control check (4)Pulsed quantity check (2)Position control setting (1)Pulse setting (1) Pulse setting According to the pulse format of the host pulse generator, enter the following parameters.
  • Page 55 • Connect with a 5[mm] ball screw directly, in case that mechanical system moving distance per pulse is 0.001 [mm] (17bit) Then from (5/131072) × (P1.06/P1.07) = 1/1000, the conclusions are shown as below: P1.05 = 0 P1.06 = 16384 P1.07 = 625 (2) Position control setting The factory default setting of the servo motor drive is shown as below.
  • Page 56 4.4.3 Speed control The shaft rotation speed is controlled under the speed control mode according to the speed command voltage input [VREF] of the servo motor drive or parameter setting. When P1.01 = 1, the speed control mode starts after the RDY signal is turned on. While the manual forward command [FWD] or manual reverse command [REV] signal is turned on, the motor accelerates and turns at a constant speed, and decelerates starts when the signal is turned off.
  • Page 57 Use parameter P1.60 to specify the torque setting filter. The max motor rotation speed can be controlled. Parameter Name Setting range Default value 0: parameter(P1.26) Speed limit selection *P2.56 at torque control 1: Multi-step speed selection, VREF terminal voltage • The speeds corresponding to the multi-step speed selection (X3, X2, X1) are P1.41~P1.47 or [VREF] terminal.
  • Page 58 4.4.6 Extension mode Servo motor is controlled by analog and pulse at extension mode. It the pulse operation is performed, pulses are enabled while “position control”and “pulse ratio”are turned on. [S-ON] [RDY] About 2ms About 2ms Position control Pulse ratio 1 Input enable/disable Disable Pulse enable...
  • Page 59 Speed Zero deviation Zero speed In-position (level) In-position (single shot) P1.34 ·The single shot output is forcibly turned off if the zero deviation signal is turned off. ·Deviation clear The difference between the command position (pulse input) and feedback position (present motor position) is the deviation.
  • Page 60 For details of the homing pattern settings, refer to “Chapter 6 description of function parameter” The homing motion can be interrupted with forced stop [EMG]. The in-position [INP] signal shown in the figure assumes the level output mode. Note If positioning completion single shot output is selected at the parameter P1.33, check for shortage with an external circuit before executing operation.
  • Page 61 (2) Positioning data operation Interrupting traveling unit amount（P2.20） Speed Time Start positioning AD3~AD0 Interrupt input enable Disabled Interrupt input OFF OFF In-position[INP] Interrupt position detection (1) After the interrupt input enable signal is turned on, the activating edge (OFF-to-ON transition) of the first interrupt input is enabled.
  • Page 62 (2) Torque control Forward rotation torque limit P1.27 and reverse rotation torque limit P1.28 are always enabled under torque control. The output torque is in proportion to the voltage applied at the torque command voltage [TREF] terminal. (3) Forced stop The torque limit in forced stop follows parameter P2.60.
  • Page 63 4.4.11 Immediate value data operation To enable operation with immediate value data, enter “0”to parameter P2.40 (internal positioning, data selection), or enter “1” to that parameter and “3” (immediate value data operation) to parameter P2.41 (sequential start selection). Point-to-point (PTP) positioning operation is made according to commands sent via RS-485 communications.
  • Page 64 (1) Servo ON [S-ON] If servo-on[S-ON] is turned off during motor rotation, operation is stopped and the motor is stopped according to the setting of the parameter P2.61 (action state at servo-on OFF). If immediate deceleration is selected, deceleration is made at the torque specified in parameter P2.60 (third torque limit). Speed Time [RDY]...
  • Page 65 · When +OT is detected with software Automatic operation setting parameter positive software OT detection position（P2.26） P2.60 Speed Time [RDY] [INP] Zero deviation Zero speed OT detection +OT detection (1)The servo motor does not stop immediately when OT signal is detected at homing.In addition, deceleration follows the setting of parameter P2.18 (selection of operation at OT during homing) (2)The in-position [INP] signal shown in the figure indicates the state in the level output mode.
  • Page 66 (1)Forced stop [EMG] is normally closed contact signal if it is allocated to EI 1~8 signals. (2)The in-position [INP] signal shown in the figure indicates the state in the level output mode. Note (3 If the forward torque limit (parameter P1.27) or reverse torque limit (parameter P1.28) is smaller than the third torque limit (parameter P2.60), the torque settings of the forward torque limit and reverse torque limit are effective.
  • Page 67 (1)Acceleration/ deceleration follow the settings of parameters P1.37 through 40 and the state of input signal ACC0, or the settings of acceleration/deceleration time data. Note (2)The in-position [INP] signal shown in the figure indicates the state in the level output mode. (6) Deviation clear If the deviation clear signal is detected during motor rotation, operation is stopped and immediate controlled stop is caused according to the selected torque limit.
  • Page 68 In regular cases, free-run is not used for vertical traveling machines. If the function is used for a Note vertical traveling machine, examine adaptability with the brake carefully. In addition to operation stop and interruption caused by input signals, detection of an alarm causes the operation to be stopped.

  • Page 69: List Of Function Parameter

    5 List of function parameter 5.1 Parameter Division △ ! CAUTION Never add an extreme change to parameters. Otherwise machine motion will become unstable. Risk of injuries. Parameters of SDA2 servo motor drive are divided into the following setting items according to the function. Parameter setting item Major description Basic setting parameters...
  • Page 70 5.2.1 List of Basic Parameter Control mode Default Parameter Name value Position Speed Torque ○ ○ ○ P1.01 Control mode selection ○ ○ ○ P1.02 INC/ABS system selection ○ － － P1.03 Command pulse input method and form setting ○ ○...
  • Page 71 Control mode Default Parameter Name value Position Speed Torque ○ ○ － P1.36 Acceleration/deceleration selection at speed control ○ ○ ○ P1.37 Acceleration time 1 100.0 ○ ○ ○ P1.38 Deceleration time 1 100.0 ○ ○ ○ P1.39 Acceleration time 2 500.0 ○...
  • Page 72 Control mode Default Parameter Name value Position Speed Torque ○ ○ － P1.62 Gain switch level ○ ○ － P1.63 Gain switch time constant ○ － － P1.64 Position loop gain 2 ○ ○ － P1.65 Speed loop gain 2 ○...
  • Page 73 5.2.3 List of parameter setting(Auto-operation) Control mode Default Parameter Name value Position Speed Torque ○ ○ ○ P2.01 Decimal point position of positioning data ○ － － P2.06 Homing speed 500.00 ○ － － P2.07 Homing creeping speed 50.00 ○ －...
  • Page 74 Control mode Default Parameter Name value Position Speed Torque ○ ○ － P2.38 Override 4 ○ ○ － P2.39 Override 8 ○ ○ － P2.40 Internal positioning data selection ○ － － P2.41 Sequential start selection ○ － － P2.42 Decimal point position of stand still timer ○...
  • Page 75 Control mode Default Parameter Name value Position Speed Torque ○ － － P2.75 Positioning data write protection ○ ○ ○ P2.77 Initial display of the keypad － － － P2.78 Reserved P2.80 Parameter in RAM 1 P2.81 Parameter in RAM 2 P2.82 Parameter in RAM 3 ○...
  • Page 76 Control mode Default Parameter Name value Position Speed Torque P3.10 Communication EI10 signal assignment P3.11 Communication EI11 signal assignment P3.12 Communication EI12 signal assignment P3.13 Communication EI13 signal assignment P3.14 Communication EI14 signal assignment P3.15 Communication EI15 signal assignment P3.16 Communication EI16 signal assignment ○...
  • Page 77 5.2.6 List of parameter setting(Output terminal function) Control mode Default Parameter Name value Position Speed Torque P3.51 EOUT 1 signal assignment P3.52 EOUT 2 signal assignment P3.53 EOUT 3 signal assignment P3.54 EOUT 4 signal assignment P3.55 EOUT 5 signal assignment P3.56 Communication EOUT 6 signal assignment P3.57...

  • Page 78: Detail Description Of Function Parameter

    6 Detail description of function parameter 6.1 Basic setting parameters (P1.01~50) ◆The parameters with “*”indicate that they are enabled only when power on again after parameter setting. *P1.01 Control mode selection Default value 0：Position 1：Speed 2：Torque 3：Position⇔Speed Setting range 4：Position⇔Torque 5：Speed⇔Torque 6：Extension mode 7：Positioning operation...
  • Page 79 [Example] The operation pattern of control mode selection 3 (position⇔ speed) is shown in the figure below. Speed Manual operation Manual operation Pulse Operation mode (analog speed) (Multi-step speed) Servo-on [S-ON] Control mode selection Manual forward rotation[FWD] or manual reverse rotation[REV] Multi-step speed 1 [X1] Pulse Analog speed command...
  • Page 80 (3) If P1.01 (positioning operation mode selection) is “7” Positioning (positioning data operation, immediate value data operation and homing) can be made. The position control mode is selected immediately after the power is turned on (see the figure below). Speed control Free run Under speed Position control...
  • Page 81 To establish an absolute position system, set this parameter at "1" or "2." In addition, install the optional absolute backup battery. Because a multi-turn data over flow alarm (dL1 alarm) is detected when the power is turned on,perform position presetting to remove the alarm and start operation. Command pulse input method and form selection and *P1.03 Default value...
  • Page 82 *P1.05 Number of command input pulses per revolution Default value 0: Electronic gear (P1.06/07) is enabled Setting range 64~1048576 [pulse]: This parameter setting is enabled The parameter is enabled only under position control Enter the number of command pulses necessary to rotate the servo motor a full turn. When the default value (“0”), the settings of P1.06 and 07 (electronic gear numerator and denominator) are enabled.
  • Page 83 Therefore, numerator 0 and denominator of the electronic gear are 16384 and 125, respectively. If the traveling amount of the mechanical system per servo motor revolution includes π, you can approximate to 355/113. The number of output pulses is irrelevant to command pulse correction. Compliant with P1.08: Set value of the number of output pulses per revolution.
  • Page 84 *P1.11 Output pulse phase selection at CCW rotation Default value 0: A-phase pulse lead at CCW rotation Setting range 1: B-phase pulse lead at CCW rotation The phase of the output pulse of the servo motor is adjusted to the traveling direction of the machine. Select the phase of forward rotation (CCW rotation) of the servo motor.
  • Page 85 P1.13 Tuning mode selection Default value 10: Auto tuning 11: Semi-auto tuning 12: Manual tuning Setting range 13: Interpolation operation mode 14: Trace operation mode 15: Shorter cycle time operation mode This parameter is enabled under position and speed control. Select the tuning method of the servo motor drive.
  • Page 86 Parameters that must be entered in each tuning mode and automatically adjusted parameters are shown below. Tuning mode Parameters Name 15: Shorter Auto Semi-auto Manual Interpolation Trace cycle time － ○ ○ ○ ○ ○ P1.14 Load inertia ratio ○ ○...
  • Page 87 • If the value drifts, enter an average value. If fluctuation is substantial and the ratio of the maximum to the minimum exceeds two, adopt entry method (2). (2) Entering the calculated value Calculate the moment of inertia of load converted to the motor shaft and enter the ratio to the moment of inertia of the motor.
  • Page 88 What is positioning and settling time Time from completion of issuance of command frequency to issuance of in-position signal. The time varies according to various conditions such as the frequency matching the traveling distance, acceleration/deceleration rate, and stopping accuracy. Adjustment of the entire system including the host and servo to optimum conditions is necessary to reduce the positioning and settling time.
  • Page 89 P1.27 Forward rotation torque limit Default value P1.28 Reverse rotation torque limit Default value Setting range 0~300% Enter the limit to be set on the output torque of the servo motor. If the input signal (EI signal: torque limit 0, 1, etc.) is turned off, this limit is enabled. CCW rotation Forward rotation torque limit CW rotation...
  • Page 90 P1.30 Zero speed range Default value Setting range 10 to max. rotation speed [r/min] The EOUTn signal is turned ON at servomotor rotation speeds within the reference value. P1.31 Deviation unit selection Default value Setting range 0: Unit 1: Pulse Enter the unit of position deviation.
  • Page 91 In-position signal The in-position signal is turned on if position deviation is within the reference value of "zero deviation range" and the motor rotation speed is within the reference value of "zero speed range"(AND condition of zero speed and zero deviation). The output timing of this signal substantially varies according to the setting of P1.31 (deviation unit selection).
  • Page 92 Acceleration time 2 and deceleration time 2 are enabled while the "ACC0" selection signal remains turned ACC0 can be turned on or off at any time and the acceleration time and deceleration time are similarly changed. ACC0 is assigned to an input signal (EI signal). Selection follows the table below. ACC0(14) Acceleration time Deceleration time...
  • Page 93 Manual feed speed 1 for position and speed control/speed P1.41 Default value 100.00 limit 1 for torque control Manual feed speed 2 for position and speed control/speed P1.42 Default value 500.00 limit 2 for torque control Manual feed speed 3 for position and speed control/ speed P1.43 Default value 1000.00...

  • Page 94: Control Gain And Filter Setting Parameters (P1.51~99)

    6.2 Control Gain and Filter Setting Parameters (P1.51~99) ◆The parameters with “*”indicate that they are enabled only when power on again after parameter setting. P1.51 Moving average S-curve time Default value Setting range 0、2~500 (× 0.125 [ms]) P1.52 Low-pass filter (for S-curve) time constant Default value Setting range 0.0~1000.0 [ms]...
  • Page 95 P1.55 Position loop gain 1 Default value Setting range 1~2000 [rad/s] P1.56 Speed loop gain 1 Default value Setting range 1~2000 [Hz] P1.57 Speed loop integration time constant 1 Default value Setting range 0.5~1000.0 [ms] Position loop gain 1: Position disturbance response setting. A larger setting improves the response characteristics.
  • Page 96 P1.61 Gain switch cause Default value 0: Position deviation (x10) 1: Feedback speed Setting range 2: Command speed 3: External switch (EI signal switch) P1.62 Gain switch level Default value P1.61 = 0: 1~1000 [pulse] Setting range P1.61 = 1, 2: 1~1000 [r/min] P1.63 Gain switch time constant Default value...
  • Page 97 The timing chart of each signal is shown below. Feedback speed Gain switch level（P1.62） Time Position loop gain 2（P1.64） Position loop gain Position loop gain 1（P1.55） Speed loop gain Speed loop gain 1（P1.56） Speed loop gain 2（P1.65） Speed loop integration time Speed loop integration time Speed loop integration constant 1（P1.57）...
  • Page 98 P1.74 Notch filter 2, frequency Default value 4000 Setting range 10~4000 [Hz] P1.75 Notch filter 2, attenuation Default value Setting range 0~40 [dB] P1.76 Notch filter 2, width Default value Setting range Specify to suppress resonance of the mechanical system. Up to two resonance points can be suppressed. Select 1 (enable) for automatic notch filter selection to adjust the notch filter automatically to the best value and suppress resonance.
  • Page 99 (3) Approximate reference value Refer to the table below for the approximate reference value. Frequency [Hz] 1000 Attenuation [dB] Width · Setting the notch filter Relation between automatic notch filter and manual notch filter P1.70(Automatic notch filter selection) Notch filter 1 Notch filter 2 Manual Manual...
  • Page 100 P1.82 Vibration suppressing anti resonance frequency 2 Default value 300.0 Setting range 1.0~300.0 [Hz] Vibration suppressing workpiece inertia ratio (vibration P1.83 Default value suppressing resonance frequency) 2 Setting range 0~80 [%] P1.84 Vibration suppressing anti resonance frequency 3 Default value 300.0 Setting range 1.0~300.0 [Hz]...
  • Page 101 P1.88 Position loop integration time constant Default value Setting range 1.0~1000.0 [ms] P1.89 Position loop integration limiter Default value Setting range 0 to Max. rotation speed [r/min] Use to improve interpolation accuracy of axes when interpolating two or more servo motor axes of an X-Y table or similar.
  • Page 102 P1.94 Torque filter setting mode Default value Setting value P1.59 P1.87 Do not set automatically Set automatically. Setting range Set automatically. Set automatically. Do not set automatically Do not set automatically Set automatically. Do not set automatically This parameter is enabled under position and speed control. Select either to set P1.59 (torque filter time constant) and P1.87 (model torque filter time constant) automatically or not in other than the manual tuning mode.

  • Page 103: Automatic Operation Setting Parameters (P2.01~50)

    6.3 Automatic Operation Setting Parameters (P2.01~50) ◆The parameters with “*”indicate that they are enabled only when power on again after parameter setting. P2.01 Decimal point position of positioning data Default value 0: 0 1: 0.1 2: 0.01 Setting range 3: 0.001 4: 0.0001 5: 0.00001 Specify the decimal point position of the displayed position data.
  • Page 104 P2.09 Reverse traveling unit amount for homing Default value Setting range 0 to 2000000000 [units] Not a compulsory item Specify the reverse traveling amount taken in the direction opposite to the starting direction for homing at the start of homing motion. If a reference signal for homing (deceleration starting signal) or reference signal for shift operation is detected during reverse travel, movement toward the homing direction after reference signal detection begins.
  • Page 105 • If +OT or -OT is set as a reference signal for homing (deceleration starting signal), this parameter is disabled and the direction opposite to the one toward the specified OT signal is the homing direction. The definition of the direction of motion is shown below. Forward: direction of position increase Reverse: direction of position decrease P2.11...
  • Page 106 Reference signal for homing Default value P2.12 0: Home position LS Setting range 1: +OT 2: −OT If the encoder Z-phase is selected as a reference signal for shift operation, specify the timing signal for deceleration to the creep speed for homing. The first encoder Z-phase after reference signal for shift operation detection is the starting point of the home position shift unit amount.
  • Page 107 Deceleration operation for creep speed Default value P2.15 Setting range 0: Reverse rotation is disabled 1: Reverse rotation is enabled Not a compulsory item Specify 1 (reverse rotation is enabled) to return upon detection of the reference signal for shift operation during movement at the homing speed in the homing direction after reference signal detection temporarily to the point ahead of the reference signal for shift operation and move at the creep speed for homing again in the homing direction after reference signal detection to the position (home position) the home position shift...
  • Page 108 P2.17 Home position detection range Default value 0: Always ON after homing completion Setting range 1 to 2000000000 [units] Not a compulsory item Specify the range in which the homing completion signal is turned on. If the current position is between the positive home position detection range and negative home position detection range around the home position, homing completion is turned on.
  • Page 109 P2.19 Pre-set position Default value −2000000000 to 2000000000 [Units] Setting range Use input signal to specify the modified value (position) of current position (“position pre-set (16) assigned to EI signal”) If the position pre-set signal is turned ON, it says that current position is the setting value of this parameter. P2.20 Interrupt traveling unit amount Default value...
  • Page 110 Parameters related to homing ◆The parameters with “*”indicate that they are enabled only when power on again after parameter setting. Default Parameters Name Setting range value P2.06 Homing speed 0.01 [r/min]~Max. rotation speed [r/min] 500.00 P2.07 Homing creeping speed 0.01 [r/min]~Max. rotation speed [r/min] 50.00 0: Forward P2.08...
  • Page 111 (2) Homing direction Select the side of the home position (forward or reverse rotation side) in relation to the reference signal for homing (Deceleration starting signal) and reference signal for shift operation. (3) Reference signal for shift operation Select the signal serving as the direct standard of the zero position. You can select +OT or -OT. (4) Reference signal for homing Specify the creep speed deceleration signal that is used if the encoder Z-phase is selected as a reference signal for shift operation.
  • Page 112 ·Basic homing profile Described here is the homing profile of the most basic motion, in which homing is started, the reference signal for homing (deceleration starting signal) is detected and deceleration to the creep speed for homing occurs, and the reference signal for shift operation is detected and movement by the home position shift unit amount is caused until the motion is stopped.
  • Page 113 Home position shift unit amount Encoder Z-phase −OT Home Home Starting direction position position for homing homing direction after reference signal detection Homing speed [P2.06] Homing creeping speed [P2.07] Home position shift unit Speed amount [P2.14] Time Servo-ON [S-ON] Position control Controller, sensor ↓...
  • Page 114 Enter settings so that positive software OT detection position is larger than negative software OT detection position. Traveling range Feedback position Negative software OT Positive software OT detection position (P2.27) detection position (P2.28) (2) Position command format Normal PTP: Motion is conducted in the range from -2000000000 to 2000000000 units. Absolute/incremental positioning data designation and various position detection functions can be used.
  • Page 115 (1) Point detection (If P2.31 (point detection, area detection) is 0) The signal is turned on if the current position is nearly the position specified in the standard parameter. Point detection, area detection position 1（P2.32） Point detection, area detection position 2（P2.33） 190.0 200.0 210.0...
  • Page 116 P2.36 Override 1 Default value P2.37 Override 2 Default value P2.38 Override 4 Default value P2.39 Override 8 Default value Setting range 0~150 [%] These parameters are enabled under speed and position control. To use these signals, be sure to turn on "override enable." With this setting, the speed can be changed during operation.
  • Page 117 *P2.41 Sequential start selection Default value 0: Disable 1: Enable Setting range 2: Homing 3: Immediate value data operation Select whether to enable the sequential start or not, and select the motion when AD0 through AD3 are inactive. If “1” is selected and AD0 through AD3 are inactive, sequential start operation is conducted. If “2”...
  • Page 118 Speed Position Target position These timings may not allow reaching to the target position Time Start positioning Internal command completion Internal feedback completion In-position [INP] Setting value: 1 (Internal feedback completion.) The operation will shift to the next motion continuously after each motion enters in-position conditions (※) as shown in the chart below.

  • Page 119: Extended Function Setting Parameters (P2.51~99)

    6.4 Extended Function Setting Parameters (P2.51~99) ◆The parameters with “*”indicate that they are enabled only when power on again after parameter setting. P2.51 Numerator 1 of electronic gear Default value P2.52 Numerator 2 of electronic gear Default value P2.53 Numerator 3 of electronic gear Default value Setting range 1～4194304...
  • Page 120 EI input signal Enabled speed limit Speed limit 6 under torque control Speed limit 7 under torque control *P2.57 Torque limit selection Default value 0: As per EI signal torque limit 0/1 Setting range 1:TREF terminal voltage P2.58 Second torque limit Default value Setting range 0~300 [%]...
  • Page 121 EI signal State of each limit Enabled torque limit Torque Torque CW deceleration CCW deceleration TL:TREF(analog torque limit) limit 1 limit 0 stop stop Forward/Reverse rotation torque limit≧ Third torque limit Third torque limit Third torque limit Forward/Reverse rotation torque limit < Forward rotation Reverse rotation Third torque limit...
  • Page 122 【Reference example】 Example: Timing chart To hold deviation at TL (TREF) (Torque limit 1 = OFF, Torque limit 0 = ON) Forward rotation torque limit Reverse rotation torque limit Torque limit 150% 200% Time Forward rotation torque limit Reverse rotation torque limit Deviation is held if Internal the torque is limited...
  • Page 123 P2.64 Torque keeping time to holding brake Default value 0.00 Setting range 0.00~9.99 [s] Assign the "brake output (Function NO.14)" signal to the output signal. The reference value of this parameter indicates the delay taken from shutoff of servo-on (Function NO.1) to free-run.
  • Page 124 ·Standard series Overload warning time (at 3000r/min) *P2.72 Station number Default value Setting range Station number:1~31 Specify the station number of the servo motor drive at RS-485 communication. *P2.73 Communication baud rate (RS485) Default value 0: 38400 [bps] 1:19200 [bps] 2: 9600 [bps] 3:115200 [bps] Setting range...
  • Page 125 P2.75 Positioning data write protection Default value 0: Write enable Setting range 1: Write protect Specify positioning data write protection. Enter "1" to prohibit positioning data editing. *P2.77 Initial display of the keypad Default value 0: Action mode 12: Command cumulative pulse 1: Feedback speed 13: LS-Z pulse 2: Command speed...
  • Page 126 *P2.86 Positioning data in RAM 1 Default value *P2.87 Positioning data in RAM 2 Default value *P2.88 Positioning data in RAM 3 Default value Setting range 0: No setting 1~15 : Positioning data No. If you change positioning data frequently, store them in RAM.With this setting, you can change positioning data infinitely.

  • Page 127: Input Terminal Function Setting Parameters (P3.01~50)

    Modbus RTU (LH): When accessing 32-bit data, the data content is arranged in the order of the low word in the first high word. Host computer protocol: Used when communicating with the host computer software Savch-Soft_SRV on the PC side.
  • Page 128 Name Name Name Electronic gear numerator Servo-on [S-ON] Interrupt input selection 1 Forward command [FWD] Command pulse inhibit Deviation clear Multi-step speed selection Reverse command [REV] Command pulse ratio 1 1[X1] Multi-step speed selection Start positioning [START] Command pulse ratio 2 2[X2] Multi-step speed selection Homing [ORG]...
  • Page 129 (2) Connector pin layout (CN3) The pin layout of each signal is shown in the figure below. Assign desired functions to signals EI1 through EI8. Signal Name PIN NO. (3) Detailed description of Input signal function · Servo-ON [S-ON] (Reference value 1) The signal makes the servomotor ready to rotate.
  • Page 130 If P2.40 (internal positioning data selection) is “0” (disable), positioning is made according to the position data and speed data sent via RS-485 communications. Check for the active state of the in-position signal (level) to turn the start positioning signal on. The motor starts to rotate.
  • Page 131 · ACC0:(Reference value 14) ACC0 switches the acceleration/deceleration time. The acceleration time and deceleration time of the servo motor follow the setting of P1.37 to 40 (acceleration time, deceleration time). The acceleration time and deceleration time can be set separately. The setting through ON/OFF of the ACC0 signal despite the direction of rotation, as shown in the table below can be switched.
  • Page 132 · Torque limit 0: (Reference value 19) · Torque limit 1: (Reference value 20) Limitations are set on the output torque of the servo motor. Limitation on the output torque of the servomotor by turning on the torque limit signal can be set. Specify the torque limit in increments of 1% in the range from "0"...
  • Page 133 · Command Pulse inhibit: (Reference value 26) The pulse input in the position control mode is enabled or disabled. The command pulse is not accepted while the command pulse inhibit signal remains turned on. If no signal is assigned on the EI input terminals, it is always regarded as turning OFF.。 Therefore, in this case, only when the servo-ON [S-ON] is turned ON, the pulse input will be always enabled.
  • Page 134 · Positioning cancel: (Reference value 32) This signal is used to cancel the auto start, homing motion, and interrupt positioning motion on the way.To resume homing motion, turn on the positioning cancel signal and then turn on the homing signal again. The interrupt positioning motion cancels the interrupt positioning motion after interrupt input is turned on.
  • Page 135 [Example] To conduct operation with a command pulse input Operation with a command pulse input is enabled while command pulse ratio 1 or command pulse ratio 2 remains turned on after the position control signal is turned on. Pulse Position Control（37） Command pulse ratio 1（27）...
  • Page 136 · Override enable:(Reference value 43) · Override 1:(Reference value 44) · Override 2:(Reference value 45) · Override 4:(Reference value 46) · Override 8:(Reference value 47) The rotation speed of the servomotor can be changed during operation. The rotation speed can be changed with the multiplication designated with override 1/2/4/8 while the override enable signal remains turned on.
  • Page 137 · Multi-step speed selection [X1]:(Reference value 51) · Multi-step speed selection [X2]:(Reference value 52) · Multi-step speed selection [X3]:(Reference value 53) The manual feed speed is specified for the position or speed control mode. These values are used to select the speed limit in the torque control mode. The rotation speed while the forward command [FWD] (reverse command [REV]) signal is turned on is selected.
  • Page 138 Under position control, the number of output pulses sent from the host controller deviates from the revolution amount of the servomotor because the servomotor free-run while the signal remains turned on. Under speed control and torque control, as the servomotor automatically become free-run.in case it is used for vertical transportation purpose, note that there is a risk of falling.
  • Page 139 If no signal is assigned on the EI input terminals, it is always regarded as turning OFF. Therefore, P1.78 (vibration suppressing anti resonance frequency 0) is always enabled. To disable the anti resonance frequency, set the anti resonance frequency at 300.0 Hz. Because in-cycle switching of the anti resonance frequency causes a shock, switch during stoppage without fail.
  • Page 140 · Positioning data selection: (Reference value 77) Positioning data operation and immediate value operation are switched over. The positioning data can be switched at an arbitrary timing between the following: positioning within 15 points with internal positioning data and positioning with immediate value data for frequent positioning data change. If the EI signal is turned on, the positioning data is enabled.
  • Page 141 Functions that may not be specified with a normally closed signal include forced stop and external regenerative resistor overheat. (Functions that can be specified with a normally closed signal are +OT and -OT.) For example, to turn forward command [FWD] always on, specify "2," which corresponds to the forward command, to one of EI always ON signals 1 to 5.

  • Page 142: Output Terminal Function Setting Parameters (P3.51~99)

    Select 0 (edge) to reset position deviation at the rising edge timing. P3.39 Speed command fine adjustment gain Default value 1.0000 Setting range 0.8000~1.2000 The gain is finely adjusted in relation to the speed command. In an X-Y table or similar where two or more servomotor axes are interpolated with analog speed commands, you can make the D/A scale of the host unit match the A/D scale of the servo motor drive.
  • Page 143 (1) Output terminal (EOUT output signal) list Select the output terminal function assigned to the EOUT signal in the table below. The number and the function have one-on-one relationship. To specify a desired function, assign the corresponding number to the EOUT output signal (EOUT 1 to 5).Communication data setting is enabled from EOUT6 through EOUT21.
  • Page 144 (3) Description of Output signal function · Ready for servo-on [RDY]: (Reference value 1) This signal is turned on if the servo motor is ready to operate. The ready for servo-on signal is turned on if the conditions shown in the table below are satisfied. Signal division Signal name Function No.
  • Page 145 · Over write completion: (Reference value 13) This signal is turned on after teaching is made and data is overwritten. The signal remains turned on while the teaching function enters data. Teaching Overwrite completion · Brake output: (Reference value 14) The timing signal for applying or releasing the brake of the servo motor.
  • Page 146 (3) Upon main power supply OFF Main power suppy Base signal Ready for servo-on [RDY] Brake output · Alarm detection (normally open contact): (Reference value 16) · Alarm detection (normally closed contact): (Reference value 76) These signals are turned on (b contact OFF) if the servo motor drive detects an alarm (protection function operation).
  • Page 147 (2) P2.31 = 1: ON for positive side The signal is turned on at a position beyond the setting of P2.32 or P2.33. The signal is turned off below the setting P2.32：Point detection, area detection position 1 P2.33：Point detection, area detection position 2 190.0 200.0 210.0...
  • Page 148 · Cycle end detection: (Reference value 21) This signal is turned on after the cycle end position is reached if the cycle end is assigned to the positioning data. P2.41 (sequential start selection) must be set at “1” (enable). Change P2.40 (internal positioning data selection) to “1”...
  • Page 149 · Homing completion: (Reference value 22) This signal is turned on after the homing motion is finished. It remains turned on if the feedback position is within P2.17 (home position detection range) around P2.16 (home position after homing completion). The signal is always turned on after homing if P2.17 is "0" or the maximum value. Home position Current position Homing completion...
  • Page 150 · Overload warning detection: (Reference value 27) The signal is turned on if the servomotor load factor is at the reference value. A warning can be issued before the servomotor is suddenly stopped due to an overload alarm or similar. The signal is turned on if the load factor of the servo motor reaches the overload warning level of P2.70 (overload warning value).
  • Page 151 · Alarm code 0: (Reference value 32) · Alarm code 1: (Reference value 33) · Alarm code 2: (Reference value 34) · Alarm code 3: (Reference value 35) · Alarm code 4: (Reference value 36) Upon alarm, signal to output alarm details into code. When an alarm occurs, the detected alarm detail can be specified by checking the signal of the alarm code 0 to 4 assigned to EOUT output signals.
  • Page 152 · Home position LS detection: (Reference value 40) The home position LS detection is turned on while the home position LS EIn signal remains turned on. · Forced stop detection: (Reference value 41) Forced stop detection is turned on when the forced stop EIn signal is turned on (relay:open). For details, refer to "Forced stop."...
  • Page 153 · Command positioning completion: (Reference value 82) The signal is turned on after the command value inside the servo motor drive is completed. The signal undergoes ON-to-OFF transition at the start of operation and OFF-to-ON transition upon elimination of the internal command during manual feed, positioning, homing or interrupt positioning. When continuation of operation is disabled due to alarm detection, emergency stop detection or OT detection, this signal is immediately turned on.
  • Page 154 (1)Setting value of P3.92 < Setting value of P3.93 P3.92: Position range 1:Setting 1 P3.93: Position range 1:Setting 2 1000.00 3000.00 Motor current position Position range 1 (2)Setting value of P3.92 > Setting value of P3.93 P3.93: Position range 1:Setting 2 P3.92: Position range 1:Setting 1 1000.00 3000.00...
  • Page 155 ②When the next start signal (FWD, REV, START, or ORG) is turned on. P2.20：Interrupt traveling unit amount Speed Time FWD(REV) Always ON Interrupt input enable Interrupt input Interrupt positioning detection In-position ③When the positioning cancel signal is turned on during interrupt positioning motion. ④When changed to other than the position control servo-on mode from the interrupt positioning mode.
  • Page 156 P3.85 Analog output 2 scale Default value 10.0 Setting range ± 2.0~± 100.0 [V] P3.86 Analog output 2 offset Default value −50~50 Setting range P3.87 Analog output 1/2 output format Default value 0: Analog output 1 (both voltage output) / Analog output 2 (both voltage output) 1: Analog output 1 (single voltage output) / Analog output 2 (both voltage output) Setting range...
  • Page 157 ·Analog output 1/2 scale Specify the full scale to be output at the analog output 1 [DA1] and analog output 2 [DA2] terminals. Specify a negative sign to reverse the polarity of the output voltage. Though up to 100.0 V can be entered, the maximum output voltage is 11.0V. [Example] If the analog output 1 scale is set at 100.0 V (with a maximum rotation speed of 3000 r/min) Voltage [V] +100.0...
  • Page 158 Command pulse frequency sampling time for analog P3.88 Default value output 0：62.5 [ μs ] 4：1 [ ms ] 1：125 [ μs ] 5：2 [ ms ] Setting range 2：250 [ μs ] 6：4 [ ms ] 3：500 [ μs ] 7：8 [ ms ] Specify the command pulse frequency sampling time for analog output.
  • Page 159 P3.92 Range 1 of position: Setting 1 Default value P3.93 Range 1 of position: Setting 2 Default value P3.94 Range 2 of position: Setting 1 Default value P3.95 Range 2 of position: Setting 2 Default value −2000000000 to 2000000000 [Units] Setting range The current servo motor position is detected.

  • Page 160: Communications

    7 COMMUNICATIONS 7.1 Settings for Servo Motor Drive Set up the parameters of the servo motor drive to perform the Modbus communications. 1.1 Protocol selection ◆ The parameters with “*”indicate that they are enabled only when power on again after parameter setting. Parameter Name Setting range...

  • Page 161: Communication Specifications

    7.2 Communication Specifications Item Specifications Remarks Electric I/F RS485 Communication speed 38400/19200/9600/115200 [bps] Set by parameter (P2.73) Synchronization method Asynchronous (UART) Communication method Semi-duplex communication Master-slave (servo motor drive) = 1:N Max. 31 units connected Transmission format simultaneously (1≦N≦31) Connection cable LAN cable (straight) or equivalent Entire extended length:100 m or less (up to 38400 bps)

  • Page 162: Transmission Protocol

    7.3 Transmission Protocol 7.3.1 Message types Communications are configured as the single master and multiple slaves method. The servo motor drive operates as a slave. The messages sent/received between the master and servo motor drive are classified into the two types below: •...
  • Page 163 7.3.4 Address For the addresses, refer to the table as below. Note: SDA2 data is 32-bit data, so only even address access is supported, and the number of access data must also be even (except for bit data access). · Data address List of data address Applicable Address...
  • Page 164 Applicable Address Format Setting range Data type Data name (hex.) (with a sign) (default value) 0.0, 1.0~300.0(0.0: The vibration Anti resonance ○ ○ 3004 1h = 0.1 [Hz] (No) suppressing control Various frequency function is command disabled.) Workpiece inertia ○ ○...
  • Page 165 Applicable Address Format Setting range Data type Data name (hex.) (with a sign) (default value) Refer to“3.5 address Positioning status + M ○ ○ 60A8 supplementary code description”(No) ○ ○ Stop timer 60AA 1h = 0.01 [ms] (※) 0.00～655.35 (0.00) 0～±...
  • Page 166 The content of the code varies depending on the data. For the detail, refer to below tables. Control mode Action mode Code Control mode Code Action mode Position control Servo OFF Speed control Servo ON Torque control Zero speed stop Manual operation (JOG) Pulse operation In LV (under voltage)
  • Page 167 ·Immediate value data The immediate value status of immediate data is configured as follows: Configuration Format (default value) Data 4byte Immediate value status 1byte Refer to below table Immediate value M code 1byte 0~FFh (FFh) Not used 2byte 00h fixed Immediate value status Item Description...
  • Page 168 Positioning status Item Description Default value 0: Output during startup M code output timing 1: Output after positioning completion 0: Disable M code Selection 1: Enable 0,0: No specification 0,1: Data continuation (CO) Step mode 1,0: Cycle end (CEND) 1,1: Setup impossible 0:ABS Command method 1:INC...
  • Page 169 (2) Exceptional code field Exceptional responses from slaves are returned as exceptional response which indicates exceptional content with the query. Exceptional Description and sample queries code Incorrect FC (An incorrect FC is specified.) ・An FC other than 01h, 03h, 05h, 08h, 0Fh, and 10h, which are supported, is specified. Incorrect address (An incorrect address is specified) When FC 03h or 10h is specified ・An address not listed in data addresses list is specified.

  • Page 170: Maintenance And Inspection

    8 MAINTENANCE AND INSPECTION 8.1 Inspection ·Periodic inspection items The periodic inspection items are shown below. Device Description of inspection • There is no deviation in the linkage between the servo motor shaft and mechanical Servo motor system. • The servo motor is free from direct splashes of water, vapor or oil. •...
  • Page 171 Display Name Type Deviation Overflow Servo motor drive Overheat Absolute Data Lost 1 Absolute Data Lost 2 Absolute Data Lost 3 Multi-turn Data Over Flow To reset the alarm, perform one of the following methods. • Turn the alarm reset (RST: EI input signal) on temporarily and then turn it off. •...

  • Page 172: Troubleshooting Method

    The steps of alarm reset through the additional function mode from the keypad is shown below. [MENU] [SET] [SET] [MENU] End of resetting 8.3 Troubleshooting Method (1) Overcurrent 【Display】 【Description of detected alarm】 The output current of the servo motor drive exceeds the rated value. OC1: Direct detection by internal transistor of servo motor drive.
  • Page 173 (2) Overspeed 【Display】 【Description of detected alarm】 The rotation speed of the servomotor exceeds 1.1 times the maximum speed. 【Causes and Solutions】 Causes Solutions Wrong servomotor output wiring Correct the wiring of power cables (U, V and W). The rotation speed of the Servo Check the speed waveform during acceleration (see the figure below) motor overshoots.
  • Page 174 (4) Encoder Trouble 【Display】 【Description of detected alarm】 There is a fault in the encoder built in the servo motor. 1. Et1: Single revolution position detection fault of encoder. 2. Et2: Encoder memory data reading fault. 【Causes and Solutions】 Causes Solutions Fault in data sent from encoder Use shielded cables to eliminate noise effects.
  • Page 175 (7) Encoder communication error 【Display】 【Description of detected alarm】 Communications with the internal encoder of the servo motor fails. 【Causes and Solutions】 Causes Solutions • Check cables visually and through continuity check and correct Error in encoder serial communications faults. •...
  • Page 176 Causes Solutions The acceleration/deceleration Increase the cycle time and decrease the operation frequency. frequency and operation frequency are too high. Servo motor drive is damaged. Replace the servo motor drive If an OL2 alarm is caused but no damaged servo motor drive or incorrect wiring is found, the Servo motor capacity must be examined.
  • Page 177 (12) Deviation Overflow 【Display】 【Description of detected alarm】 A position deviation amount equivalent to servo motor revolutions specified in P2.69 (deviation detection overflow value) is accumulated inside the servo motor drive. 【Causes and Solutions】 Causes Solutions Wrong connection of power cables (The alarm is alerted immediately Check and correct the wiring of power cables (U, V and W).
  • Page 178 14. ABS Data loss 【Display】 【Description of detected alarm】 • Encoder absolute value data loss • dL1=The battery is low and the encoder cable is broken. • dL2 = multi-turn data error inside the encoder • dL3=Re-energization check when an ET alarm occurs 【Causes and Solutions】...

  • Page 179: Options

    9 OPTIONS 9.1 About Optional Parts In some applications, a servo motor is used as the generator. In that case, its regenerative energy will charge for the power capacitor of servo motor drive and too much voltage may cause servo motor drive damaged, therefore, that regenerative energy shall be released properly.

  • Page 180: Optional Regenerative Or Braking Parts

    9.3 Optional Regenerative Or Braking Parts How magnitude is the resistor applied depends on the load torque inertia, rotating speed before braking, the time within which the braking can be finished, and maximal withstand current for brake circuit. To facilitate the analysis, the braking process can be divided into two phases.
  • Page 181 ■ Innovate for more | win forever ■ Industry intelligence | Energy saving | Green power Savch wechat Service Number Quanzhou Factory Address:3# Zixin Road, Jiangnan Hi-Tech Industrial Park, Sales service contact address Quanzhou, Fujian, China Tel：0595-24678267 Fax：0595-24678203 Service Network Website：www.savch.net...

This manual is also suitable for:

Sda2-2s0.4gSda2-2s0.75gSda2-2s1.0gSda2-2t1.5gSda2-2t2.0gSda2-4t0.75g ... Show all

Table of Contents