Veichi SD780 Series Manual

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Contents ............................................................................................................................................ I

1 Abstract.......................................................................................................................................... 1

1.1 Series Introduction .............................................................................................................. 1

1.2 Name of Each Part of the Servo Drive ................................................................................ 1

1.3 Basic Information of Servo Drive ........................................................................................ 2

1.3.1 Installation Dimensions ........................................................................................... 2

1.3.2 Installation Way ....................................................................................................... 4

1.3.3 Specifications and Electric Parameters .................................................................. 5

1.3.4 Basic specifications ................................................................................................. 6

1.4 System Diagram................................................................................................................ 10

1.5 System Configuration Examples ....................................................................................... 11

1.6 Drive Name ....................................................................................................................... 12

1.7 Maintenance and Inspection of Servo Drive ..................................................................... 13

1.7.1 Inspection of Servo Motor ..................................................................................... 13

1.7.2 Inspection of Servo Drive ...................................................................................... 13

1.7.3 Approximate Standards for Changing Internal Parts of Servo Drive ..................... 14

1.8 Motor Name ...................................................................................................................... 15

1.9 Dimension of Motors ......................................................................................................... 16

2 Panel Operation .......................................................................................................................... 22

2.1 Basic Operation................................................................................................................. 22

2.1.1 Keys' Names and Functions of the Panel Operator .............................................. 22

2.1.2 Functions Switch ................................................................................................... 23

2.1.3 Status Display ....................................................................................................... 23

2.2 Operations of Auxiliary Functions (Fn group) ................................................................... 24

2.3 Operations of Parameter (Pn Group) ................................................................................ 24

2.4 Operations of Monitoring Display Un Group ..................................................................... 25

3 Wiring and Connections............................................................................................................. 26

3.1 Main Circuit Wiring ............................................................................................................ 26

3.1.1 Terminals Description ............................................................................................ 26

3.1.2 Wiring Diagram ..................................................................................................... 27

3.2 Motor Power Line Connection ........................................................................................... 30

3.3 CN2 Encoder Connection ................................................................................................. 32

3.4 CN7 USD communication terminal (connect to host machine)......................................... 33

3.5 Connection of CN6A and CN6B Communication Terminal ............................................... 34

3.6 CN5 Full Closed Loop Port ............................................................................................... 35

3.7 Definition of CN1 Terminal ................................................................................................ 36

3.8 Digital Input Signal ............................................................................................................ 37

3.8.1 Input Signal Descriptions ...................................................................................... 37

3.8.2 Input Signal Configuration ..................................................................................... 38

3.8.3 Confirming the Input Status ................................................................................... 40

3.9 Digital Output Signal ......................................................................................................... 41

3.9.1 Output Signal Descriptions .................................................................................... 41

3.9.2 Output Signal Configuration .................................................................................. 42

3.9.3 Confirming the Output Status ................................................................................ 42

Contents

SD780 Series Servo Technical Manual

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Summary of Contents for Veichi SD780 Series

Page 1: Table Of Contents
3.8.2 Input Signal Configuration ..................38 3.8.3 Confirming the Input Status ................... 40 3.9 Digital Output Signal ......................41 3.9.1 Output Signal Descriptions ..................41 3.9.2 Output Signal Configuration .................. 42 3.9.3 Confirming the Output Status ................42 SD780 Series Servo Technical Manual...
Page 2 5.3.3 Soft Start ....................... 80 5.3.4 Zero Fixed Functions .................... 81 5.3.5 Rotation Detection Signal ..................82 5.3.6 Consistent Speed ....................83 5.4 Torque Mode ........................84 5.4.1Quick Guide......................85 5.4.2 Basic Setting ......................85 SD780 Series Servo Technical Manual...
Page 3 6.6 Manual Adjustment Function ................... 116 6.6.1 Servo Gain ......................116 6.6.2 Gain Switching ....................118 6.6.3 Speed Feedforward ..................... 121 6.6.4 Torque Feedforward .................... 122 6.6.5 PI-P Switching ..................... 122 7 Auxiliary Functions ........................126 SD780 Series Servo Technical Manual...
Page 4 7.16.1 Overview ......................136 7.16.2 Operating Procedure ..................136 8 Home Position Return and Internal Positions ............... 137 8.1 The principle of home position return function ..............137 8.1.1 Home position return trigger ................139 SD780 Series Servo Technical Manual...
Page 5 12 Fault Code and Countermeasures ..................244 12.1 Fault Code........................244 12.2 Warning Code ....................... 248 13 Communication ........................249 13.1 Communication introduction ..................249 13.2 RS485 communication protocol description ..............249 13.3 Communication frame structure ..................249 SD780 Series Servo Technical Manual...
Page 6 14.5.11 Fault Information....................269 14.6 Digital Oscilloscope ....................... 269 14.6.1 Real-Time Acquisition ..................272 14.6.2 Trigger Acquisition ..................... 272 14.6.3 Graphic Operations ................... 273 14.7 Others ........................... 277 14.7.1 Window Display ....................277 14.7.2 Help ........................278 SD780 Series Servo Technical Manual...
Page 7: Abstract
1 Abstract 1.1 Series Introduction SD780 series servo drives are mainly used for the occasion of high speed, high frequency and high positioning accuracy. The servo unit can maximize the performance of the machine in the shortest time, which can improve the production efficiency. SD780 servo drive not only support...
Page 8: Basic Information Of Servo Drive
安装孔径 Mounting aperture Allover size(mm) Installation size(mm) Model Mounting Size (SD780-) aperture 1R1A-** 1R8A-** 2-M4 3R3A-** 5R5A-** 7R6A-** 9R5A-** 3-M4 2R5D-** 3R8D-** 120A-** 160A-** 6R0D-** 92.5 82.5 3-M4 8R4D-** 110D-** 170D-** 240D-** 84.5 4-M5 300D-** SD780 Series Servo Technical Manual...
Page 9 1 Abstract Mounting aperture 安装孔径 Allover size(mm) Installation size(mm) Model Mounting Size (SD780-) aperture 500D-** 434. 4-M6 600D-** 700D-** 800D-** 4-M6 121D-** 171D-** 4-M10 221D-** 4-M10 321D-** 4-M18 421D-** 1140 1111 1080 4-M18 SD780 Series Servo Technical Manual...
Page 10: Installation Way
To ensure good heat dissipation effect, install a fan above the cabinet where the driver is installed to draw air outward. Ensure that the heat dissipation duct in the Notice cabinet is the air inlet under the cabinet and the air outlet above the cabinet. SD780 Series Servo Technical Manual...
Page 11: Specifications And Electric Parameters
请勿触摸散热器，有烫伤的危险. 注意 Ho t s urface-ris k o f b urn . D on 't tou ch h ea tsi nk. CAUTION 400-600-0303 苏州伟创电气科技股份有限公司 MADE IN CHINA Suzhou Veichi Electr i c Co.,Ltd. Specification 1R1A 1R8A 3R3A 5R5A 7R6A 9R5A...
Page 12: Basic Specifications
± 0.01% of rated speed (load fluctuation: 0%～ Performance Load fluctuation 100%) Speed volatility Voltage fluctuation ± 0.01% of rated speed (voltage fluctuation: ± 10%) Temperature ± 0.1% of rated speed (temperature fluctuation: 25° C SD780 Series Servo Technical Manual...
Page 13 • Torque limit detection (/CLT) signal • Speed limit detection (/VLT) • Brake (/BK) • Warning (/WARN) • Positioning near (/NEAR) • Reference pulse input multiplication switching output (/PSELA) (Assignable signals and change positive/negative SD780 Series Servo Technical Manual...
Page 14 Feedforward 0% ～ 100% compensation Positioning Complete 0 ～ 1073741824 Command unit width setting Position Input Reference Reference Choose one of the following: Control control signal pulse pulse form Symbol + pulse sequence, CW + SD780 Series Servo Technical Manual...
Page 15 • Maximum input voltage: ±10V (for forward torque Reference output during positive voltage reference) voltage • Rated torque at DC3V [factory setting] Input gain setting can be varied Torque Input control signal Input About 66kΩ Impedance Circuit Time 16μs Constant SD780 Series Servo Technical Manual...
Page 16: System Diagram
Bus encoder Control interface Control power power Command pulse input ARM+FPGA Encoder divider pulse output Command voltage input Input and output signals Panel operator Full-closed loop and 2500 line interface Dual RJ45 bus interface MicroUSB SD780 Series Servo Technical Manual...
Page 17: System Configuration Examples
1 Abstract 1.5 System Configuration Examples AC200V/400V Circuit break Filter SD780 Servo Drive Grating ruler Contactor Braking resistor Brake power Battery unit (matches with an absolute encoder) VM7 series servo drive SD780 Series Servo Technical Manual...
Page 18: Drive Name
Multiple I/O √ × ∆ √ × × × × × type PROFINET × × ∆ √ × × × × √ type *1.M-II type refers to the servo unit interface specification for MECHATROLINK-II communication SD780 Series Servo Technical Manual...
Page 19: Maintenance And Inspection Of Servo Drive
Although the servo drive does not require daily inspections, it should be Inspection more than once a year. The essentials of inspection Maintenance Inspect time Notes and maintenance Erasing with a cloth Appearance At least once a No garbage, dust, oil traces, or cleaning with an air maintenance year SD780 Series Servo Technical Manual...
Page 20: Approximate Standards For Changing Internal Parts Of Servo Drive
7 years～8 years temperature:annual Smoothing capacitor average 30° C Relay According to actual use conditions Load rate: 80% or less Aluminum electrolytic Operating rate: 20 capacitors on printed circuit 5 years hours or less/day boards SD780 Series Servo Technical Manual...
Page 21: Motor Name
1: Key shaft; with threaded hole; oil seal; with out brake 2: Key shaft; with threaded hole; oil seal; with brake Internal management number:A General shaft (Standard omission);B Same as Yaskawa shaft;Z Non-standard shaft (Letter replaceable) SD780 Series Servo Technical Manual...
Page 22: Dimension Of Motors
60 Flange motors (Unit-mm): Model V7E-L06A-R2030-□1 105.5 75.5 22.5 V7E-L06A-R2030-□2 136.5 106.5 22.5 V7E-L06A-R4030-□1 124.5 94.5 22.5 V7E-L06A-R4030-□2 155.5 125.5 22.5 V7E-M06A-R4030-□1 134.5 104.5 22.5 V7E-M06A-R4030-□2 165.5 135.5 22.5 V7E-L06A-R6030-□1 143.5 113.5 22.5 V7E-L06A-R6030-□2 174.5 144.5 22.5 SD780 Series Servo Technical Manual...
Page 23 1 Abstract 80 Flange motors: (Unit-mm): Model V7E-L08A-R7520-□1L V7E-L08A-R7520-□2L V7E-L08A-R7530-□1L V7E-L08A-R7530-□2L V7E-M08A-R7530-□1L V7E-M08A-R7530-□2L 184.5 149.5 V7E-L08A-R7530-□1 V7E-L08A-R7530-□2 V7E-M08A-R7530-□1 V7E-M08A-R7530-□2 184.5 149.5 V7E-L08A-1R030-□1 V7E-L08A-1R030-□2 SD780 Series Servo Technical Manual...
Page 24 1 Abstract 110 Flange motors: (Unit-mm): Model V7E-M11A-1R230-□1 V7E-M11A-1R230-□2 221.2 166.2 V7E-M11A-1R530-□1 V7E-M11A-1R530-□2 231.2 176.2 V7E-M11A-1R830-□1 V7E-M11A-1R830-□2 241.2 186.2 130 Flange motors: (Unit-mm): SD780 Series Servo Technical Manual...
Page 25 V7E-M13D-1R520-□2 236.2 181.2 V7E-M13D-1R815-□1 V7E-M13D-1R815-□2 256.2 201.2 V7E-M13D-2R020-□1 V7E-M13D-2R020-□2 256.2 201.2 V7E-M13D-2R315-□1L V7E-M13D-2R315-□2L 286.2 231.2 V7E-M13D-3R020-□1 V7E-M13D-3R020-□2 286.2 231.2 V7E-M13A-R8515-□1B V7E-M13A-R8515-□2B 221.2 166.2 V7E-M13A-1R815-□1B V7E-M13A-1R815-□2B 256.2 201.2 V7E-M13D-R8515-□1B V7E-M13D-R8515-□2B 221.2 166.2 V7E-M13D-1R815-□1B V7E-M13D-1R815-□2B 256.2 201.2 SD780 Series Servo Technical Manual...
Page 26 V7E-M18D-2R915-□2H 307.5 228.5 V7E-M18D-4R415-□1 V7E-M18D-4R415-□2 331.5 252.5 V7E-M18D-4R415-□1H V7E-M18D-4R415-□2H 331.5 252.5 V7E-M18D-5R515-□1 325.5 246.5 V7E-M18D-5R515-□2 V7E-M18D-5R515-□1H 325.5 246.5 V7E-M18D-5R515-□2H V7E-M18D-7R515-□1 372.5 293.5 V7E-M18D-7R515-□2 V7E-M18D-7R515-□1H 372.5 293.5 V7E-M18D-7R515-□2H V7E-M18D-5R515-□1BH 359.5 246.5 V7E-M18D-5R515-□2BH V7E-M18D-7R515-□1BH 406.5 293.5 V7E-M18D-7R515-□2BH SD780 Series Servo Technical Manual...
Page 27 Material code: 6010000008 263 Flange motors: (Unit-mm): Model V7E-M26D-03015-□1FN V7E-M26D-03715-□1FN V7E-M26D-04515-□1FN V7E-M26D-05515-□1FN Note 2: The foot plate of 263mm flange motor (all the other models are optional configured, except for VM7-M26D-015515). Model code: S25F Material code: 2800050433 SD780 Series Servo Technical Manual...
Page 28: Panel Operation
Press and hold the UP and DOWN keys simultaneously to reset the servo alarm. Before resetting the servo alarm, be sure to remove the cause of the alarm, otherwise a safety accident may occur. Cautions SD780 Series Servo Technical Manual...
Page 29: Functions Switch
Torque control: it lights on all the time. Torque control: it lights on when the torque command inputs. It lights on when the drive is OFF and lights Position control: it lights on when the pulse clear signal off when ON. outputs. SD780 Series Servo Technical Manual...
Page 30: Operations Of Auxiliary Functions (Fn Group)
Because the panel operator could only display 5-digit number, so the setting display with 6-digit number is shown as below: High digit Middle digit Low digit They appear only when the number is a negative SD780 Series Servo Technical Manual...
Page 31: Operations Of Monitoring Display Un Group
PN003 (default 0xFFF) to a relevant value. For example, if you want the motor speed to automatically display after the drive is powered on, set PN003 to 00000 (motor speed). For details about the values of each monitoring information, see “Monitor Display”. SD780 Series Servo Technical Manual...
Page 32: Wiring And Connections
A volume drive main circuit wiring can only be connected to a single phase (two terminals are provided), and there is no built- in brake electronics, please pay attention to the correct wiring according to the Cautions wiring label when wiring. SD780 Series Servo Technical Manual...
Page 33: Wiring Diagram
12V~24V power supply for the control signal. ALM+  Pay attention to the connection of the freewheeling DC 12V~24V diode. Reversing the positive and negative poles may (± 10%) damage the driver. ALM- SD780 Series Servo Technical Manual...
Page 34 ALM+ 12V~24V power supply for the control signal. DC 12V~24V  Pay attention to the connection of the freewheeling diode. (± 10%) Reserving the positive & negative poles may damage the drive. ALM- SD780 Series Servo Technical Manual...
Page 35 12V ~24V power supply for the control signal. 12V~24V  Pay attention to the connection of the (± 10%) ALM- freewheeling diode. Reversing the positive and negative poles may damage the driver. SD780 Series Servo Technical Manual...
Page 36: Motor Power Line Connection
CONN.3 Signal Blue Brown 6*0.3 Yellow/Green White BAKE+ Black BAKE- V7E motor 60mm/80mm flange power cable definition WIRE RUN LIST Specification CONN.1 Color CONN.2 CONN.3 Signal Blue Brown 4*0.5 Yellow/Green White BAKE+ 2*0.3 Black BAKE- SD780 Series Servo Technical Manual...
Page 37 A terminal Pin number Color Blue Brown Yellow/Green 180 flange motor power cable definition (D2M + VM7 series D2) motor with brake Signal definition Pin number Wire core color Blue Brown Yellow-green BAKE+ BAKE- Black SD780 Series Servo Technical Manual...
Page 38: Cn2 Encoder Connection
Black 3.3 CN2 Encoder Connection V7E motor 40mm/60mm/80mm flange encoder cable definition Drive terminal: Motor terminal: WIRE RUN LIST Specification CONN.1 CONN.2 Signal 2PX24AWG Iron shell Shielding layer Encoder 110mm flange and above encoder definition SD780 Series Servo Technical Manual...
Page 39: Cn7 Usd Communication Terminal (Connect To Host Machine)
3.4 CN7 USD communication terminal (connect to host machine) Note: ordinary Android cable with data transmission function can also be used Pin No. Name Function VBUS External power supply + 5V Data- Data+ None Signal ground SD780 Series Servo Technical Manual...
Page 40: Connection Of Cn6A And Cn6B Communication Terminal
Signal name Function Pin No. Signal name Function SRD+ M-II Data + SRD- M-II Data - Shell Shield Shield The field identification bit E is E:EtherCAT bus type;L: MECHATROLINK-III bus type; N: PROFINET bus type. SD780 Series Servo Technical Manual...
Page 41: Cn5 Full Closed Loop Port
Full closed loop signal EB- Full closed loop signal EZ- Encoder power Full closed loop supply 0V signal EA+ Full closed loop Encoder power signal EB+ supply 5V Full closed loop Shell Shield signal EZ+ SD780 Series Servo Technical Manual...
Page 42: Definition Of Cn1 Terminal
( V - input of linear control output 1 CMP +) motor When tightening the screw of CN1 terminal, the torque shall not be greater than 0.2N. M, otherwise, the ！ screw will slide. Cautions SD780 Series Servo Technical Manual...
Page 43: Digital Input Signal
Use when the sequence signal is input with the control power supply +24VIN Operating voltage range: +11V +25V (please ～ provide your own +24V power supply) Initial data request signal when using an absolute encoder SD780 Series Servo Technical Manual...
Page 44: Input Signal Configuration
（Pn000） 38/39 0- Position control 1- Analog speed 2- Torque control 3- Internal speed 4- Internal speed <-> analog speed 5- Internal speed <-> position 6- Internal speed <-> torque 7- Position <-> analog speed SD780 Series Servo Technical Manual...
Page 45 3. The positive travel limit (POT)/negative travel limit (NOT) of the switch input signal is a valid signal for OFF, and the other input signals are valid signals for ON, so pay attention to the distinction in use. SD780 Series Servo Technical Manual...
Page 46: Confirming The Input Status
The value (address: 0XE100) read over the communication is hexadecimal, for example, the read value is 0x1FE. Under the default input configuration, it means that the input of /S-ON (CN1-40) is ON, that is, servo enable, and the input of other input pins is OFF. SD780 Series Servo Technical Manual...
Page 47: Digital Output Signal
OFF (disconnected) at alarm (Output logic can be changed 31(+) 32(-) ALM- by parameter). Frequency division output A phase signal. /PAO Common Frequency division output B phase signal. /PBO Frequency division output C phase signal. /PCO SD780 Series Servo Technical Manual...
Page 48: Output Signal Configuration
The status of the output signal can be confirmed by the output signal monitor (Un101). The Un101 segment display and corresponding Pin No.s are as follows: Up: OFF Down: ON Codes 9 8 7 6 5 4 3 2 1 Display Pin No. Signal Name CN1-31、32 SD780 Series Servo Technical Manual...
Page 49: Connection With The Upper Device
The above wiring is an example of wiring during forward rotation. 3.10.2 Position Instruction Input Circuit The following describes the 7-8 (command pulse input), 11-12 (command symbol input), and 14-15 SD780 Series Servo Technical Manual...
Page 50 The differential pulse input signal voltage is ± 3.3V and the maximum frequency is 4MHz. This signal transmission method has the best anti-noise capability. It is recommended to use this connection preferentially. Connection example of open collector output External 24V power supply: 1.Control module is NPN type (common cathode): SD780 Series Servo Technical Manual...
Page 51 If the linear drive input port is used to receive the external 24 V collector open circuit input signal, connect a Cautions resistor in series to limit the current in the circuit, otherwise, the linear drive input port will be damaged. SD780 Series Servo Technical Manual...
Page 52 Twisted Shield wire wire 7 PULSE PULSE 150Ω 8 /PULSE 3 PL1 1kΩ 11 SIGN SIGN 150Ω 12 /SIGN 13 PL2 1kΩ 15 CLR 150Ω 14 /CLR 18 PL3 1kΩ 1 GND Control Drive module SD780 Series Servo Technical Manual...
Page 53: Sequence Control Input Circuit
Linear receiver loop example The brake linkage (/BK), servo alarm (ALM), servo ready (/S-RDY) and other sequence output Controller signals belong to the optocoupler output circuit. Connect via relay or line receiver circuit. Servo drive SD780 Series Servo Technical Manual Twisted wire...
Page 54 Servo motor Twisted wire Using a linear receiver is equivalent SN 75ALS175 220 Ω ~ 470Ω PAO- PBO- PCO- Please connect shielded wire according to the requirements of the Shelter wire equipment SD780 Series Servo Technical Manual...
Page 55: Position Control Wiring Diagram
If the input voltage of the linear drive input port is greater than 12V, please connect the appropriate current Cautions limiting resistor in series in the circuit, otherwise, the linear drive input port may be damaged. SD780 Series Servo Technical Manual...
Page 56: Speed Control Wiring Diagram
Note : while using 24 V braker , DC 24 V power should be separated from the power for input and output signal ( CN 1 ). Please prepare other power individually , otherwise , there may be misoperation of input and output signal while power on. SD780 Series Servo Technical Manual...
Page 57: Torque Control Wiring Diagram
Note: While using 24V braker,DC24V power should be separated from the power for input and output signal (CN1). Please prepare other power individually, otherwise, there may be misoperation of input and output signal while power on. SD780 Series Servo Technical Manual...
Page 58: Regenerative Resistor Connection
SD780-1R7A SD780-3R3A SD780-5R5A 40Ω 60W SD780-7R6A 40Ω 60W SD780-9R5A 40Ω 60W SD780-120A 30Ω 200W SD780-160A 30Ω 200W SD780-2R5D 80Ω 60W SD780-3R8D 80Ω 60W SD780-6R0D 40Ω 60W SD780-8R4D 40Ω 60W SD780-110D 40Ω 60W SD780-170D 30Ω 100W SD780 Series Servo Technical Manual...
Page 59: Noise And High Harmonic Countermeasures
Do not use the same power supply as the electric welder or EDM machine. Even if it is not  the same power supply, connect a noise filter to the input side of the main circuit power cable and the control power cable when there is a high-frequency generator nearby. SD780 Series Servo Technical Manual...
Page 60: Trial Operation
2. We suggest that the load inertia is not greater than 30 times of the motor inertia, or it could possibly cause strong mechanical vibration. 3. The Pn500, Pn310, Pn311 parameters set JOG speed, acceleration and deceleration time. SD780 Series Servo Technical Manual...
Page 61: Operation
To clear the position deviation, a clear signal (CLR) must be input. Signal Setting Pin numbers can be configured by parameters Pn601～Pn609, and are always configured effectively by parameters Pn610～Pn612. See “Input Signal Configuration” for details. SD780 Series Servo Technical Manual...
Page 62 A warning is detected when an over-travel occurs in the same direction as the instruction. Warnings are not detected for overtravel in the reverse direction from the reference. Example: A warning will not be output for a forward instruction even if the N-OT signal SD780 Series Servo Technical Manual...
Page 63: Motor Rotation Direction
When the servo motor stops or rotates at a very low speed, when dynamic braking stop is selected, it will be the same as the free running state. No braking force is generated as in the free running state. Cautions SD780 Series Servo Technical Manual...
Page 64: Electromagnetic Brake
Prevents the moving part from moving Moving part of machine. due to an external force. The brake has the following operation delay time. ON and OFF of the operation, please ensure the brake operation time. SD780 Series Servo Technical Manual...
Page 65 Motor power powered Motor power Brake delay release speed Pn010 Feedback speed Brake delay Pn009 When the motor speed is lower than the set value of Pn010 after the power to the servo motor is SD780 Series Servo Technical Manual...
Page 66: Regenerative Resistor
• Forced air cooling: Set to 50% or less of the regenerative resistor capacity (W). Example: When the capacity of the self-cooling external regenerative resistor is 100W, the setting value is 100W × 20% = 20W. Therefore, set Pn012 = 2 (setting unit: 10W). SD780 Series Servo Technical Manual...
Page 67: Overload
For example, as shown in the following figure, after setting Pn016 to 50%, the overload alarm can be detected earlier because the motor overload is calculated from 50% of the base current. When the value of Pn016 is changed, the overload alarm detection time will be changed. SD780 Series Servo Technical Manual...
Page 68: Multi-Turn Absolute Encoder
Absolute encoder battery 0～1 0x0041 After restart － Pn041 warning/warn ing selection 0- Set the low battery voltage as a fault: The driver powers up/resets for 4～9 SD780 Series Servo Technical Manual...
Page 69: Torque Limit
For the purpose of protecting the machine etc., the output torque can be limited and set by parameter Pn050. The torque limit can be set in the following five ways: Related Pn050 Torque limit method description parameters SD780 Series Servo Technical Manual...
Page 70 Pn046/Pn047. For details, refer to “Main circuit under-voltage torque limit”. Torque limit ～ when main circuit 0x0046 Immediately voltage drops Pn046 According to the under voltage warning, it will impose the torque limit inside the servo unit. Pn047 Torque limit 0x0047 Immediately SD780 Series Servo Technical Manual...
Page 71: Position Mode
5.2 Position Mode For details on the wiring related to the position mode; see “Connection Control Example for Position Control”. The position control is selected by the control mode selection (Pn000 = 0, factory default). SD780 Series Servo Technical Manual...
Page 72: Quick Guide
If the selection is not appropriate, the received pulse of the servo unit may be lost or increased. 2. Pulse input form According to the pulse output form of the upper system, the pulse input form of the servo unit is selected. SD780 Series Servo Technical Manual...
Page 73 �� 204 Electronic gear ratio ��206 �� Encoder resolution × Load shaft movement amount in 1 rotation (command unit) �� SD780 Series Servo Technical Manual...
Page 74: Deviation Clearance
The deviation clear signal (/CLR) is the input signal to clear the servo unit deviation counter. 1. Clear signal wiring Deviation clear signal wiring can be divided into linear driver output and open collector output. Please refer to “Position Command Input Circuit” for wiring details. SD780 Series Servo Technical Manual...
Page 75 3-Cleared in case of servo OFF, alarm and limit. 4-Not clearting the position deviation. 5-Cleared in case of servo OFF, alarm and limit. See the “Deviation Clearance” for details on the pulse amplitude of the clear signal. SD780 Series Servo Technical Manual...
Page 76: Command Pulse Prohibition
2. Locating close wiring The positioning proximity signal is a universally configurable digital output. See “Sequence Output Circuit” for wiring details. SD780 Series Servo Technical Manual...
Page 77: Positioning Completion
(Pn262) and the command after the position command filtering is 0. 2- Output When the absolute value of the position deviation is smaller than the positioning completion range (Pn262) and the positioning command input is 0. SD780 Series Servo Technical Manual...
Page 78: Command Pulse Input Magnification Switching
ON/OFF of the command pulse magnification switching signal for switching the position command pulse input magnification to 1 and the parameter setting multiple. Note: The input pulse frequency is too low. If the value is set too large, the speed may not be steady. SD780 Series Servo Technical Manual...
Page 79: Smooth Settings
It can reduce the mechanical shock in the case of abrupt changes in the input pulse command frequency by setting this parameter. If set too large, the servo response will slow down. SD780 Series Servo Technical Manual...
Page 80: Frequency-Division Output
The number of pulses per cycle from the encoder is divided by frequency in accordance with the set value of this parameter. Please set it according to the system specifications of the machine and host device. Divided After frequency Pn072 0x0072 0～1 restart output SD780 Series Servo Technical Manual...
Page 81 Output example: When Pn070=16 (16 pulses per revolution), an example of the output of the encoder-divided pulse output A-phase (PAO) signal and the encoder-divided pulse output B-phase (PBO) signal is shown below. 1 Resolution Pn070=16 Resolution Pn070=16 SD780 Series Servo Technical Manual...
Page 82 Cautions encoder divider pulses (Pn070) can be set to the minimum (16), and then cooperate with the multimeter voltage file to measure. SD780 Series Servo Technical Manual...
Page 83: Speed Mode
The control mode selection (Pn000 = 1) is the analog speed mode. The speed command is given according to the voltage of V-REF (CN1-5, CN1-6) and the set value of analog speed command gain Pn300. SD780 Series Servo Technical Manual...
Page 84 Example: The factory default parameter Pn300 = 600 (6V corresponds to the rated speed (assuming 3000rpm). If the V-REF input voltage is 1V, the speed command corresponds to 500rpm. If 3V is input, the speed command corresponds to 1500rpm. SD780 Series Servo Technical Manual...
Page 85 (PLC, knob, etc.) giving 0v voltage command. 2. When adjusting manually, observe the operation of the motor while adjusting in the state of servo ON. Cautions 3. If the factory setting is restored, the offset adjustment value will not be initialized. SD780 Series Servo Technical Manual...
Page 86: Soft Start
Acceleration time of the set speed is from 0r/min to the max speed (corresponding to the motor model). When the given speed is more or less than the max speed, the actual acceleration time is calculated in proportion. SD780 Series Servo Technical Manual...
Page 87: Zero Fixed Functions
The signal is not configured in the factory default switch configuration. Therefore, the pin number configuration (0x0C) needs to be performed by parameters Pn601～Pn609. Function Communication When Parameter Range Default Unit code address enabled Zero Pn312 0～3 0x0312 Immediately speed SD780 Series Servo Technical Manual...
Page 88: Rotation Detection Signal
Communication When Parameter Range Default Unit code address enabled Rotation 1～ determination 0x0317 Immediately 10000 Pn317 threshold When the motor speed is higher than the set value, the switch rotation detection signal (/TGON) is output. SD780 Series Servo Technical Manual...
Page 89: Consistent Speed
(/V-CMP) is output. In the factory default digital output configuration, the signal is configured as CN129 and 30 pin numbers (Pn614=0x02) by default. Please confirm before use. SD780 Series Servo Technical Manual...
Page 90: Torque Mode
It is selected by control mode selection (Pn000=2). The torque mode is divided into the internal torque command (Pn400=0) and the analog torque command (Pn400=1, factory default) by the selection of the torque command source. SD780 Series Servo Technical Manual...
Page 91: 1Quick Guide
0x0410 through RS-485. When pn400 = 1, it is an analog torque command, and the torque command is given according to the voltage connected to t-ref (cn1-9, cn1-10) and the set value of pn405 (analog torque command gain). SD780 Series Servo Technical Manual...
Page 92 The factory default parameter Pn405=30 (3V corresponds to the rated torque). If the input voltage at the T-REF terminal is 1.5V, the torque command corresponds to 50%. If 3V is input, the torque command corresponds to 100%. SD780 Series Servo Technical Manual...
Page 93: Adjustment Of Command Offset
(PLC, knob, etc.) giving 0v voltage command. 2. When adjusting manually, observe the operation of the motor while adjusting in the state of servo ON. Cautions 3. If the factory setting is restored, the offset adjustment value will not be initialized. SD780 Series Servo Technical Manual...
Page 94: Speed Limit In Torque Control
(second mode) and internal set speed can be switched by the /SPD-A and /SPD-B signals. Digital input signal Pn000 setting Speed command /SPD-D /SPD-A /SPD-B positive and （CN1-41）（CN1-45）（CN1-46） negative Second Analog Position Torque mode speed mode mode mode determines SD780 Series Servo Technical Manual...
Page 95 Through the ON/OFF switching control mode of the control mode switching (/C-SEL) signal, the signal is not configured in the factory default Digital input configuration. Therefore, the pin number configuration of the function is performed by parameters Pn601～Pn609 (0x0B). SD780 Series Servo Technical Manual...
Page 96 3. Internal setting speed control switching (Pn000 = 10, 11) The digital input signal distribution mode is internally fixed (Pn600=0). Digital input signal Pn000 setting /C-SEL (CN1-41) Position mode with command Speed mode with zero fixed function pulse inhibit function Speed mode Position control SD780 Series Servo Technical Manual...
Page 97: Other Output Signals
The warning output signal (/WARN) is a warning function before the alarm, which makes it easier for the host device to judge the operation of the servo unit in advance. For detailed warning code, please refer to “Warning Code”. 1) Configuration of warning output signals SD780 Series Servo Technical Manual...
Page 98 The warning output signal is a general configurable Digital output signal. See “sequence control output circuit” for wiring details. Example of relay Example of optocoupler circuit circuit Controller Controller 5V~30V 5V~30V Servo driver Servo driver Twisted pair Twisted pair SD780 Series Servo Technical Manual...
Page 99: Timing Sequence
There is a delay in the electromagnetic brake operation. The operation time varies depending on the type of brake It is recommended to be more than 100ms to ensure that the electromagnetic brake is completely released when the command is input. This time can be omitted when motor is not braked SD780 Series Servo Technical Manual...
Page 100: Power-Off Enable Off Timing Sequence
(grating ruler, etc.) after other factors are determined. The structure of the full closed-loop and semi closed-loop servo system is more complicated than SD780 Series Servo Technical Manual...
Page 101: Parameter Setting Of Full Closed-Loop Control
Resolution of external grating ruler ○ ○ ○ Pn204/ Electronic gear ratio numerator / ○ ─ ─ denominator Pn206 The deviation coefficient between Pn252 the load of the motor with one full ○ ─ ─ closed-loop rotation SD780 Series Servo Technical Manual...
Page 102: Control Block Diagram Of Full Closed Loop Control
• The frequency division pulse is independent of the setting of pn002, and becomes B-phase lead for forward rotation command. • FWD direction: the direction in which the pulse count is positive. • REV direction: pulse counting is the direction of counting down. SD780 Series Servo Technical Manual...
Page 103: Resolution Of External Grating Ruler
Pitch of grating ruler of external encoder: 0.5μM. Ball screw lead: 16mm. If the motor is not directly connected through the reduction mechanism. Then 16mm / 0.0005mm = 32000, so the setting value is “32000”. SD780 Series Servo Technical Manual...
Page 104: Setting Of Frequency Division Pulse Output Signal Of Grating Ruler / Encoder
When the setting is “20”, the output waveform of encoder frequency division pulse is shown in the “above figure”. The upper frequency limit value of encoder signal output is 4Mpps (4 times of increasing value), so SD780 Series Servo Technical Manual...
Page 105: Setting Of Electronic Gear
The encoder resolution can be confirmed by the servo motor model. The suffix D1 or D2 is 23 bit encoder, the suffix is Q1, Q2, R1, R2 is 17 bit encoder, the suffix is E1, E2 is 24 bit encoder. ◆Full closed-loop control Electric gear ratio SD780 Series Servo Technical Manual...
Page 106: Setting Example Of Electronic Gear Ratio
The number of pulses required The command unit is 0.0005mm (0.5 μm), for one turn of the screw rod and the number of pulses is 32000 �� 16777216 Electronic gear ratio �� 32000 Parameter Pn204=16777216, Pn206=32000 SD780 Series Servo Technical Manual...
Page 107: Setting Of Alarm Detection
It can be used to prevent out of control caused by damage of external encoder, or to detect “sliding” in belt mechanism. ◆Setting Case When the sliding rate of the belt is large or seriously twisted, please increase the value. SD780 Series Servo Technical Manual...
Page 108 0.8. ◆Related parameter Deviation coefficient between motor and external encoder for one full closed-loop rotation (Postion mode) Pn252 Setting range Setting unit Default Effective time Variety 0 ～ 100 Immediately Setting SD780 Series Servo Technical Manual...
Page 109: Adjustment
The following figure is basic adjustment procedure flow chart; please adjust the machine according to the status and operating conditions of the machine. SD780 Series Servo Technical Manual...
Page 110: Safety Precautions When Adjusting
When you are making adjustments, please set the servopack protection functions shown below under appropriate conditions. 1) Set the overtravel Please set the overtravel and you could refer to the servo enable and overtravel setting if you want more details. SD780 Series Servo Technical Manual...
Page 111: Robust Control
Fn301 or set Pn177 and Pn178. 6.2.1 Summary Robust function could get stable response through adjusting the whole system automatically no matter what kind of mechanism or fluctuation of load. SD780 Series Servo Technical Manual...
Page 112: Operating Procedure
Before operating the robust control function, please confirm the setting below, if not, it will display /NO- OP ！ in operation: 1. Robust control function is valid (Pn175=1). Cautions 2. No motor debugging function is invalid (Pn730=0). SD780 Series Servo Technical Manual...
Page 113: Supplement
The parameters need to be set are shown as below when operating robust control function: Parameter Name Pn175 Robust switch Pn104 First torque command filter Pn156 Second notch filter frequency Pn157 Second notch filter Q value SD780 Series Servo Technical Manual...
Page 114: Inertia Identification
After inertia identification, after changing the inertia ratio (Pn100), the original gain-  related parameters of the servo system need to be re-adjusted, otherwise vibration and noise may occur. Write operation is required after inertia identification, otherwise the inertia identification  result is invalid. SD780 Series Servo Technical Manual...
Page 115: Intelligent Setting
Filter adjustment (torque command filter, notch filter)  Friction compensation  IF suppression control (intermediate frequency)  Vibration suppression  Low-frequency vibration suppression (only when Mode = 2 or 3) (No command  intelligent setting) SD780 Series Servo Technical Manual...
Page 116: Steps
When P (proportional) control is selected, “Load inertia moment measurement” is  selected, In the process of rotary inertial identification, or when switching to P control through P/CON signal When using the mode switch, when “Load moment of inertia measurement” is  SD780 Series Servo Technical Manual...
Page 117: Supplement
Notch filter 1 automatic 0x00～ 0x0150 Immediately － adjustment 0x01 Pn150 selection 0- Automatic adjustment without auxiliary functions. 1- Automatic adjustment through auxiliary functions. Notch filter 2 automatic 0x00～ Pn151 0x0151 Immediately － adjustment 0x01 selection SD780 Series Servo Technical Manual...
Page 118: Related Parameters
Rotary inertia ratio Pn101 First speed gain Pn102 First speed integral time constant Pn103 First position gain Pn104 First torque command filter Pn140 Intermediate frequency (IF) vibration suppression control selection Pn141 IFvibration suppression inertia modification SD780 Series Servo Technical Manual...
Page 119: Bandwidth Setting
If you want to further fine-tune each servo gain after adjusting the bandwidth setting, see “Manual Adjustment Function” for manual tuning 6.5.2 Steps Before performing bandwidth setting, be sure to confirm the following settings. If it is set incorrectly, SD780 Series Servo Technical Manual...
Page 120: Supplement
0x#1: IF suppression frequency setting valid. 0x#0: IF suppression frequency setting invalid. Notch filter 1 automatic 0x00～ 0x0150 Immediately － adjustment 0x01 Pn150 selection 0- Automatic adjustment without auxiliary functions. 1- Automatic adjustment through auxiliary functions. SD780 Series Servo Technical Manual...
Page 121: Related Parameters
Pn100 Rotary inertia ratio Pn101 First speed gain Pn102 First speed integral time constant Pn103 First position gain Pn104 First torque command filter Pn140 IF vibration suppression control selection Pn141 IF vibration suppression inertia modification SD780 Series Servo Technical Manual...
Page 122: Manual Adjustment Function
The servo unit consists of three feedback loops (position loop, speed loop, and current loop). The outermost is the position loop and the innermost is the current loop. The more the inner loop, the more it needs to improve the responsiveness. Failure to follow this principle will result in poor SD780 Series Servo Technical Manual...
Page 123 0x0401 Immediately 100～5000 pass filter cut-off Pn401 frequency Use this parameter to set the cutoff frequency of the second-order torque filter. When this parameter is set to 5000, the function of the filter is invalid. SD780 Series Servo Technical Manual...
Page 124: Gain Switching
After waiting for the waiting time from the time when the switching condition has been met, the first position loop gain is linearly changed to the second position loop gain during the switching transition time. SD780 Series Servo Technical Manual...
Page 125 “Manual switching gain” means the first gain and the second gain are switched by the external input signal “gain switching signal (/G-SEL)”. a) Gain switching configuration The signal is not configured in the factory default digital configuration. Therefore, the pin number configuration (0x0E) needs to be configurated by parameters Pn601～Pn609. SD780 Series Servo Technical Manual...
Page 126 Pn107. The /COIN signal of the switching condition is ON, and after waiting for the waiting time Pn114 from the time when the switching condition has been met, the gain is linearly changed from Pn103 to Pn107 during the switching time Pn112. SD780 Series Servo Technical Manual...
Page 127: Speed Feedforward
After restart feedforward 0x01 selection Pn123 Speed feedforward is a function to shorten the positioning time. It is possible to select speed feedforward given via external analog V-REF. 0-None. 1-Use V-REF as speed feedforward input. SD780 Series Servo Technical Manual...
Page 128: Torque Feedforward
(/P-CON)”. When the /P-CON signal is ON, P control is performed. The conditions for selecting automatic switching can also be selected by the parameter speed loop PI-P switching condition selection switch Pn131. Manual PI-P Control a) Configuration of manual PI-P Control SD780 Series Servo Technical Manual...
Page 129 Speed loop PI-P switching 0～ 0x0133 Immediately condition (speed 10000 Pn133 command) When the speed command exceeds the speed set by this parameter, the speed loop will be switched to P control, otherwise to PI control. SD780 Series Servo Technical Manual...
Page 130 Pn133, the speed loop will be switched to P control. When the switching condition of the mode switch is set as acceleration, if the speed command exceeds the acceleration set in Pn134, the speed loop will be switched to P control. SD780 Series Servo Technical Manual...
Page 131 When the switching condition of the mode switch is set as the position deviation, if the position deviation exceeds the value set in Pn135, the speed loop will be switched to P control. This setting is valid only under position control. Speed Command Feedback Time Position offset Pn135 Time SD780 Series Servo Technical Manual...
Page 132: Auxiliary Functions
1 hour, all will be saved. 2. When no alarm occurs, “- - -” is displayed on the panel operator. Cautions 3. The alarm record can only be cleared by “clear alarm record (Fn001)”. SD780 Series Servo Technical Manual...
Page 133: Operating Procedure
This function has nothing to do with the upper unit, and can reset the servo unit. Handling as when power is turned on. The servo unit will output the ALM signal, and other output signals may be changed forcibly. Cautions SD780 Series Servo Technical Manual...
Page 134: Operating Procedure
The load inertia is suggested not more than 30 times of the motor inertia; otherwise it may  cause large mechanical vibration.  Parameter Pn500, Pn310, Pn311 set the Jog speed, acceleration and deceleration time; default Jog speed is 500rpm. SD780 Series Servo Technical Manual...
Page 135: Operating Procedure
Same as JOG operation (Fn005), do not connect to the host device during setting while using this function. It could confirm the operation of the servo motor and perform simple positioning operations. SD780 Series Servo Technical Manual...
Page 136: Operating Procedure
2. The bias adjustment is out of range or the voltage command is input during the bias adjustment, the Cautions adjustment may fail. 7.8.2 Operating Procedure Turn off the servo drive and input the 0V command voltage from the host device or external circuit. SD780 Series Servo Technical Manual...
Page 137: Speed Command Offset Manual Adjustment (Fn101)
It is a method of directly input the torque command offset. Manual adjustments are used for the following occasions: When you need to set an offset.  When confirming the offset set by automatic adjustment.  SD780 Series Servo Technical Manual...
Page 138: Operating Procedure
Flash2s 7.12 Current Offset Manual Adjustment (Fn104) 7.12.1 Overview This function is used only when the torque ripple is still large after the motor current detection signal offset automatic adjustment (Fn103) is executed. SD780 Series Servo Technical Manual...
Page 139: Operating Procedure
Pn185 machine vibration under normal operating conditions. Set the servo action after vibration is detected: 0-No vibration detection. 1-Warning after vibration is detected. 2-Alarming after vibration is detected. Vibration Pn186 detection 50～500 0x0186 Immediately sensitivity SD780 Series Servo Technical Manual...
Page 140: Operating Procedure
Long press MODE/SET MODE/SET DATA/SHIFT Vibration Initialization Auxiliary Initialization detection Any interface function preparation initialization Flash2s MODE/SET Initialization confirmation 7.14 Bandwidth Settings (Fn303) 7.14.1 Overview For detailed description of this function, see “6.5 Bandwidth Settings”. SD780 Series Servo Technical Manual...
Page 141: Operating Procedure
2. If 1/2 are both set, the notch filter cannot be set by this operation. 3. When changing the amplitude setting value, gradually increase the amplitude value and change it while observing the situation. SD780 Series Servo Technical Manual...
Page 142: Operating Procedure
7.16.2 Operating Procedure Monitoring Long press DATA/SHIFT failed Long press DATA/SHIFT Long press MODE/SET MODE/SET DATA/SHIFT V phase offset Monitoring Auxiliary Vibration manual Any interface function monitoring preparation adjustment Long press MODE/SET DATA/SHIFT Monitoring C onfirm results SD780 Series Servo Technical Manual...
Page 143: Home Position Return And Internal Positions
Z pulse near the home position signal as the home position signal, so that the home position is accurate and without deviation. According to the home position signal source, home position signal edge, home position return SD780 Series Servo Technical Manual...
Page 144 Z pulse direction, whether or not Z pulse is used, and encountering the limit, the home position return method can be classified as the following table 1: Table 1 Classification of home position return methods SD780 Series Servo Technical Manual...
Page 145: Home Position Return Trigger
The home position return function can be configured to automatically find the home position after the servo drive is powered on for the first time by configuring the function code Pn800. The function definition of Pn800 is shown in the figure below: SD780 Series Servo Technical Manual...
Page 146: Home Position Return Triggered By Point Function
PosBit2 0x19 (valid at high level) Point segment number selection Bit3 PosBit3 0x1A (valid at high level) Point segment number selection Bit4 PosBit4 0x1B (valid at high level) Table 2.3 SI terminal point function definition SD780 Series Servo Technical Manual...
Page 147: Communication Triggers Home Position Return
Control mode: P Parameter description: The acceleration and deceleration time is given during the home position return process. The time from 0rpm to the rated speed is treated as the acceleration/deceleration time of the home position return. SD780 Series Servo Technical Manual...
Page 148 Setting range:- unit: Factory default:0 Control mode: P 2147483648～2147483648 command unit Parameter description: The pulse offset value that needs to be run after the home position signal is found during the home position return process. SD780 Series Servo Technical Manual...
Page 149: Home Position Return Method
Z pulse in forward direction. Forward direction Motor Reverse limit Running route Limit signal Z pulse Home position return method 1-b SD780 Series Servo Technical Manual...
Page 150 →forward limit valid→search for the falling edge of forward limit at low speed reverse direction→search for Z pulse in reverse direction. Forward direction Limit switch Motor Running route Limit signal Z pulse Home position return method 2-b SD780 Series Servo Technical Manual...
Page 151 →Home position signal ON→Search for the falling edge of home position at low speed reverse direction→search for Z pulse in reverse direction. Forward direction Home position Motor signal Running route Home position signal Z pulse Home position return method 3-b SD780 Series Servo Technical Manual...
Page 152 →decelerate to 0→ search for the rising edge of home position at low speed forward direction →search for Z pulse in forward direction. Forward direction Home position Motor signal Running route Home position signal Z pulse Home position return method 4-b SD780 Series Servo Technical Manual...
Page 153 Start the home position return →home position signal ON→ search for the falling edge of home position at low speed forward direction →search for Z pulse in forward direction. Forward direction Home position Motor signal Running route Home position signal Z pulse Home position return method 5-b SD780 Series Servo Technical Manual...
Page 154 →Search for the rising edge of home position at low speed reverse direction →Search for the Z pulse in reverse direction. Forward direction Home position Motor signal Running route Home position signal Z pulse Home position return method 6-b SD780 Series Servo Technical Manual...
Page 155 →Search for the Z pulse in reverse direction. Forward direction Home position Motor Limit signal signal Running route Home position signal Z pulse Limit signal Home position return method 7-b SD780 Series Servo Technical Manual...
Page 156 →Search for the rising edge of home position at low speed forward direction →Search for the Z pulse in forward direction. Forward direction Home position Motor Limit signal signal Running route Home position signal Z pulse Limit signal Home position return method 8-a SD780 Series Servo Technical Manual...
Page 157 →Search for the Z pulse in forward direction. Forward direction Home position Motor Limit signal signal Running route Home position signal Z pulse Limit signal Home position return method 8-c SD780 Series Servo Technical Manual...
Page 158 →Search for the Z pulse in reverse direction. Forward direction Home position Motor Limit signal signal Running route Home position signal Z pulse Limit signal Home position return method 9-b SD780 Series Servo Technical Manual...
Page 159 →Search for the falling edge of home position at low speed forward direction →Search for the Z pulse in forward direction. 10-a Forward direction Motor Home position Limit signal signal Running route Home position signal Z pulse Limit signal Home position return method 10-a SD780 Series Servo Technical Manual...
Page 160 →Search for the Z pulse in forward direction. 10-c Forward direction Home position Motor Limit signal signal Running route Home position signal Z pulse Limit signal Home position return method 10-c SD780 Series Servo Technical Manual...
Page 161 →Search for the Z pulse in forward direction. 11-b Forward direction Home position Motor Limit signal signal Running route Home position signal Z pulse Limit signal Home position return method 11-b SD780 Series Servo Technical Manual...
Page 162 →Search for the rising edge of home position at low speed reverse direction →Search for the Z pulse in reverse direction. 12-a Forward direction Home position Motor Limit signal signal Running route Home position signal Z pulse Limit signal Home position return method 12-a SD780 Series Servo Technical Manual...
Page 163 →Search for the Z pulse in reverse direction. 12-c Forward direction Home position Limit signal Motor signal Running route Home position signal Z pulse Limit signal Home position return method 12-c SD780 Series Servo Technical Manual...
Page 164 →Search for the Z pulse in forward direction. 13-b Forward direction Home position Motor Limit signal signal Running route Home position signal Z pulse Limit signal Home position return method 13-b SD780 Series Servo Technical Manual...
Page 165 →Search for the falling edge of home position at low speed reverse direction →Search for the Z pulse in reverse direction. 14-a Forward direction Home position Motor Limit signal signal Running route Home position signal Z pulse Limit signal Home position return method 14-a SD780 Series Servo Technical Manual...
Page 166 H o m e p o s i t i o n s i g n a l Z p u l s e L i m i t s i g n a l Home position return method 14-c SD780 Series Servo Technical Manual...
Page 167 Home position return method 17-a b.Start the home position return →Reverse limit valid →Stop after searching for the falling edge of reverse limit at low speed forward direction. Home position return method 17-b SD780 Series Servo Technical Manual...
Page 168 →Search for the home position at high speed forward direction →Touch the rising edge of home position→Decelerate to 0 →Stop after searching for the falling edge of home position at low speed reverse direction. Home position return method 19-a SD780 Series Servo Technical Manual...
Page 169 →Decelerate to 0 →Search for the falling edge of home position at low speed reverse direction →Stop after searching for the rising edge of home position at low speed forward direction. Home position return method 20-a SD780 Series Servo Technical Manual...
Page 170 →Home position signal OFF →Search for the rising edge of home position at high speed reverse direction →Decelerate to 0 →Stop after searching for the falling edge of home position at low speed forward direction. Home position return method 21-a SD780 Series Servo Technical Manual...
Page 171 →Decelerate to 0 →Search for the falling edge of home position at low speed forward direction →Stop after searching for the rising edge of home position at low speed reverse direction. Home position return method 22-a Home position return method 22-b SD780 Series Servo Technical Manual...
Page 172 →Home position signal ON →Stop after searching for the falling edge of home position at low speed reverse direction. Forward 23-b direction Home position Motor Limit signal signal Running route Home position signal Limit signal Home position return method 23-b SD780 Series Servo Technical Manual...
Page 173 →Stop after searching for the rising edge of home position at low speed forward direction. 24-a Forward direction Home position Motor Limit signal signal Running route Home position signal Limit signal Home position return method 24-a SD780 Series Servo Technical Manual...
Page 174 →Decelerate to 0 →Stop after searching for the rising edge of home position at low speed forward direction. 24-c Forward direction Home position signal Motor Limit signal Running route Home position signal Limit signal Home position return method 24-c SD780 Series Servo Technical Manual...
Page 175 0 →Stop after searching for the rising edge of home position at low speed reverse direction. 25-b Forward direction Home position Motor Limit signal signal Running route Home position signal Limit signal Home position return method 25-b SD780 Series Servo Technical Manual...
Page 176 →Stop after searching for the falling edge of home position at low speed forward direction. 26-a Forward direction Home position Motor Limit signal signal Running route Home position signal Limit signal Home position return method 26-a SD780 Series Servo Technical Manual...
Page 177 →Decelerate to 0 →Stop after searching for the falling edge of home position at low speed forward direction. 26-c Forward direction Home position Motor Limit signal signal Running route Home position signal Limit signal Home position return method 26-c SD780 Series Servo Technical Manual...
Page 178 →Home position signal ON →Stop after searching for the falling edge of home position at low speed forward direction. 27-b Forward direction Home position Limit signal Motor signal Running route Home position signal Limit signal Home position return method 27-b SD780 Series Servo Technical Manual...
Page 179 →Stop after searching for the rising edge of home position at low speed reverse direction. 28-a Forward direction Home position Limit signal Motor signal Running route Home position signal Limit signal Home position return method 28-a SD780 Series Servo Technical Manual...
Page 180 →Decelerate to 0 →Stop after searching for the rising edge of home position at low speed reverse direction. 28-c Forward direction Home position Limit signal signal Motor Running route Home position signal Limit signal Home position return method 28-c SD780 Series Servo Technical Manual...
Page 181 →Decelerate to 0 →Stop after searching for the rising edge of home position at low speed forward direction. 29-b Forward direction Home position Limit signal signal Motor Running route Home position signal Limit signal Home position return method 29-b SD780 Series Servo Technical Manual...
Page 182 →Stop after searching for the falling edge of home position at low speed reverse direction. 30-a Forward direction Home position Limit signal Motor signal Running route Home position signal Limit signal Home position return method 30-a SD780 Series Servo Technical Manual...
Page 183 →Touch the reverse limit →Search for the rising edge of home position at high speed forward direction →Decelerate to 0 → Stop after searching for the falling edge of home position at low speed reverse direction. Home position return method 30-c SD780 Series Servo Technical Manual...
Page 184 Start the home position return →Find the first Z pulse in the reverse direction. Home position return method 33 Home position return method 34 (6098 00h=34) Start the home position return →Find the first Z pulse in the forward direction. Home position return method 34 SD780 Series Servo Technical Manual...
Page 185: Internal Position
Parameter description: electronic gear ratio molecule. The electronic gear ratio of the servo drive is given together with the electronic gear than the denominator. Communication Pn206 Electronic gear ratio denominator ○ address: 0x206 Setting range: 1～ Default: 1 Unit: N/A Control mode: P 1073741824 SD780 Series Servo Technical Manual...
Page 186: Position Control Related Function Code
The position command trigger is realized through the PosTrig function of the DI terminal. First select the internal position command segment number through DI terminals POS0-POS3, and then Position segment POS4 POS3 POS2 POS1 POS0 number NUM SD780 Series Servo Technical Manual...
Page 187 When we want to use the position command selection, trigger and stop, we need a lot of DI input terminals. For convenience, the function code mode is added to the position control program for SD780 Series Servo Technical Manual...
Page 188: Position Command Control Parameter Configuration
Pn804+POSNUM*4; the current position command pulse number is given by the function code Pn806+POSNUM*4. By analogy, a total of 31 segment instruction segments are defined from function code Pn804 to Pn87E. SD780 Series Servo Technical Manual...
Page 189: Position Command Segment Control Word Definition
1 : The over lapping function is on 1 : Target speed unit: pps Acceleration time segment number selection Invalid Deceleration time segment number selection Position command speed segment number selection Invalid Delay time segment number selection SD780 Series Servo Technical Manual...
Page 190 The multi-segment position command indicates that the next position command is executed after the current position command is executed. If several consecutive position commands are multiple segments, the multi-segment SD780 Series Servo Technical Manual...
Page 191 Speed mode description: If the current position command segment is given the speed mode, when the position command is planned, the motor runs at the set speed until the next Pr position command starts. PosTrig PosSpd Speed mode diagram SD780 Series Servo Technical Manual...
Page 192 Function code C part function definition: select the interrupt function. Part C Position mode Speed mode Jump mode Interruption function Interruption function Interruption function is not enabled is not enabled is not enabled Interrupt function Interrupt function Interrupt function enable enable enable SD780 Series Servo Technical Manual...
Page 193 Target speed Overlap function on —— unit PPS Position overlap description: After the overlap function is turned on, when the multi-segment position command is executed, when each position command is executed to the deceleration SD780 Series Servo Technical Manual...
Page 194 Note: When the overlap occurs, the previous instruction setting takes effect. When the previous instruction runs to the deceleration point, it runs the next instruction. Note: In speed mode, this bit indicates the speed command unit. SD780 Series Servo Technical Manual...
Page 195 Deceleration time selects the time Deceleration time selects the Invalid defined by Pn887 time defined by Pn887 Function code G part function definition: Running speed selection. Single / multi-segment position Jump Part G Speed mode mode function mode SD780 Series Servo Technical Manual...
Page 196: Position Command Segment Pulse Given
Pn806 +4 *NUM. In speed mode, the given speed value is given by Pn806 +4*NUM. Single / multi-segment position command Communication Pn806 pulse number ○ address: 0x806 Speed mode given speed value SD780 Series Servo Technical Manual...
Page 197: Position Command Segment Sharing Parameters
Pn882 ○ acceleration/deceleration time selection 2 address: 0x882 Default: 300 Setting range: 0 ～ 60000 Unit: ms Control mode: P Same as Pn881 Internal multi-segment position Communication Pn883 ○ acceleration/deceleration time selection 3 address: 0x883 SD780 Series Servo Technical Manual...
Page 198 Communication Pn889 ○ value selection 1 address: 0x889 Default: 200 Setting range: 0 ～ 6000 Unit: rpm Control mode: P Same as Pn888 Internal multi-segment position speed Communication Pn88A ○ value selection 2 address: 0x88A SD780 Series Servo Technical Manual...
Page 199 Pn890 and Pn897 is selected as the internal multi-segment position between the two-point position command according to the value of the D portion of the internal multi-segment position control word high 16 bits. Interval time (unit: 0.1s, delay time range is 0s ～ 6000s). SD780 Series Servo Technical Manual...
Page 200 Unit: 0.1s Control mode: P Same as Pn890. Internal multi-segment position delay time Communication Pn897 ○ selection 7 address: 0x897 Default: 10000 Setting range: 0 ～ 60000 Unit : 0.1s Control mode: P Same as Pn890. SD780 Series Servo Technical Manual...
Page 201: The Point Function Operating Parameters
The relative position operation mode is as shown below: SD780 Series Servo Technical Manual...
Page 202: Acceleration And Deceleration Time
. For example, setting the acceleration time of the motor running for 100ms means that when the motor is running from 0rpm to the maximum speed, it needs to accelerate from 0rpm to the maximum speed in 100ms. SD780 Series Servo Technical Manual...
Page 203: Point Control Speed And Delay Time
6000 rpm. . In the speed mode, when the given speed unit is PPS, the maximum value of 6 000 rpm will be converted to the limit of the PPS unit. SD780 Series Servo Technical Manual...
Page 204: The Interrupt Function
Because the second position command is the incremental position, the second position command runs the total pulse value Pos0+Pos1. Equivalent to, as shown above in the picture, the first segment position command margin is transferred to the second segment position to execute. SD780 Series Servo Technical Manual...
Page 205: Equivalent Position Command Insertion Position Command
Pos1. The total pulse number is Pos1after the two position operation. That is, after the insertion, the previous position command value is ignored, and the absolute position command value is directly operated according to the insertion. SD780 Series Servo Technical Manual...
Page 206: Multi-Segment Storage Function
9.4.4 Multi-segment Storage Function When the previous Pr command is a multi-segment Pr command, if a new position command is inserted, and the newly inserted position command is not set to interrupt, it will be temporarily SD780 Series Servo Technical Manual...
Page 207: Overlapping Storage Function
At the first position when the command runs to the deceleration point position, it is judged that the first position command overlap function is turned on. At this time, the value of the temporarily stored SD780 Series Servo Technical Manual...
Page 208: Interrupt Storage Function
The overlay function is shown below: SD780 Series Servo Technical Manual...
Page 209: Stop Function
Before starting to run the next Pr command program, you need to consider the remaining pulse The stop function is shown in the figure below: SD780 Series Servo Technical Manual...
Page 210: Jump Function
During the jump process, if Jump command jump in its own situation, the jump error occurs, and the servo drive automatically stops. The schematic diagram of the jump function is shown below: Jump functiondiagram SD780 Series Servo Technical Manual...
Page 211 As shown in the figure above, when the Pr command of the last paragraph of the multi-segment position command is set as a jump command, from the last Pr command to the Pr command at the beginning, so that multiple Pr commands can be executed in a loop. SD780 Series Servo Technical Manual...
Page 212: Jog Function
Parameter description: In jog mode, acceleration and deceleration time setting. Communication Pn506 Jog delay time ○ address: 0x505 Default: 100 Setting range: 0～10000 Unit: ms Control mode: P,S Parameter description: After the point reaches the set speed, the delay time. SD780 Series Servo Technical Manual...
Page 213: Jog Operation Of External Terminals
1, Forward Jog is performed; when the given value is 2, Reverse Jog is performed. Note: Regardless of the external terminal Jog or the communication Jog, you need to set the servo enable first. SD780 Series Servo Technical Manual...
Page 214: Function Code Instructions
Note: The alarm is displayed first when the alarm is displayed. The setting parameter cannot be displayed normally. Servo OFF and stop method selection Pn004 0x0004 After restart 0～2 when type 1 alarm occurs SD780 Series Servo Technical Manual...
Page 215 Note: The minimum regenerative resistance of each power section could be different. Please refer to “Set regenerative resistor” for details. Otherwise, the internal components of the servo unit may be damaged. SD780 Series Servo Technical Manual...
Page 216 32: Encoder pulse frequency division output, grating ruler power supply is effective, 0MHz ～ 1MHz filtering. 33: Grating ruler pulse output, grating ruler power supply is effective, 0MHz ～ 1MHz filtering. 34: Encoder pulse frequency division output, grating ruler power supply invalid, SD780 Series Servo Technical Manual...
Page 217 Note: The set value is the number of A/B quadrature output pulses in one turn. The setting of the number of encoder division pulses will be limited due to the resolution of the encoder. For details, see the “Division pulses output setting” instruction. Frequency division Pn072 0～1 0x0072 After restart output inversion SD780 Series Servo Technical Manual...
Page 218 Nikon encoder. There is no encoder over temperature alarm for Tamagawa encoder below 80 (including) flange. For encoder that cannot detect over temperature alarm, pn08b will be automatically written as 0 in the program; The encoder over temperature alarm will SD780 Series Servo Technical Manual...
Page 219: Pn1 Group Gain Parameters
See Pn101 Second speed 0.15～ integration time 20.00 0x0106 Immediately Pn106 constant See Pn102 Second position gain 1～2000 40.0 0x0107 Immediately Pn107 See Pn103 Second torque 0～ 1.00 0x0108 Immediately command filter 655.35 Pn108 See Pn104 SD780 Series Servo Technical Manual...
Page 220 Use V-REF as speed 0x00～ 0x0123 After restart － feedforward selection 0x01 Pn123 Speed feedforward is a function to shorten the positioning time. It is possible to select speed feed forward via external analog V-REF. 0-None. SD780 Series Servo Technical Manual...
Page 221 When the position deviation exceeds the value set by this parameter, the speed loop will be switched to P control, otherwise PI control. The speed loop P/PI 0～ Pn136 switching condition mm/s 0x0136 Immediately 10000 (line) (speed) Speed loop P/PI 0～ Pn137 mm/s² 0x0137 Immediately switching condition 30000 SD780 Series Servo Technical Manual...
Page 222 0x0155 Immediately Pn155 The notch filter depth refers to the setting of the filter frequency depth related to the notch filter frequency. The depth of the recess varies with the depth of the notch filter. SD780 Series Servo Technical Manual...
Page 223 Friction compensation function is a function that compensates for viscous friction and fixed load changes. It is adjusted according to the friction compensation coefficient. Generally, please set the friction compensation coefficient to 95% or less. If the effect is not obvious enough, please increase the SD780 Series Servo Technical Manual...
Page 224 Note: The vibration detection values of vibration warning and vibration alarm may differ according to the condition of the used machine. SD780 Series Servo Technical Manual...
Page 225: Pn2 Position Related Parameters
N1/N2 (the motor shaft rotates N2 circles when the load shaft rotates N1 circles ), the set value of the electronic gear ratio is obtained by the following formula: Electronic Gear Ratio numerator /Electronic Gear Ratio denominator = Encoder Resolution / Pulse Number of Upper System 1r * Reduction Ratio N1/N2. SD780 Series Servo Technical Manual...
Page 226 This parameter is used with Pn231 as the automatic adjustment mode setting. 0- No vibration suppression. 1- Additional vibration suppression function for specific frequency. 2- Additional vibration suppression to 2 different frequencies. Automatic adjustment Pn231 selection in low- 0x00～0x01 0x0231 Immediately － frequency vibration suppression SD780 Series Servo Technical Manual...
Page 227 It is recommended to keep this value, 100%, unchanged during normal use. SD780 Series Servo Technical Manual...
Page 228 Before operation, manually move the load and change this parameter to make the change direction of the monitoring parameter Un007 (feedback pulse counter) and Un012 (feedback pulse counter of external encoder) consistent before operation. SD780 Series Servo Technical Manual...
Page 229 This parameter is used to set the threshold for excessive position deviation alarm at the moment of servo ON. When the servo is ON, if the position deviation value exceeds this setting value, an excessive servo deviation alarm will be generated when the servo is ON. SD780 Series Servo Technical Manual...
Page 230 1- Output when the absolute value of position deviation is less than the positioning completion range (Pn262) and the filtered position command is 0. 2- Output when the absolute value of position deviation is less than the positioning completion range (Pn262) and the position command input is 0. SD780 Series Servo Technical Manual...
Page 231: Pn3 Group Speed Related Parameters
Acceleration time of the set speed from to the rated speed (corresponding to the motor model) to 0r/min. When the given speed is greater or less than the rated speed, the actual acceleration time is calculated in proportion. SD780 Series Servo Technical Manual...
Page 232: Pn4 Group Torque Related Parameters
Note: Torque command reversion is invalid when /T-SIGN is valid. Torque command is positive when /T-SIGN signal is ON, and torque command is negative when /T-SIGN signal is OFF. Analog torque Pn404 0～655.35 0.00 0x0404 Immediately command filter time SD780 Series Servo Technical Manual...
Page 233 Set the internal torque control command smooth acceleration time. Internal torque control command 0～30000 0x0416 Immediately smooth Pn416 deceleration time Set the internal torque control command smooth deceleration time. Target torque Pn420 reaching value 0.0～500.0 0x0420 Immediately setting SD780 Series Servo Technical Manual...
Page 234: Pn5 Jog Related Parameters
Program JOG Pn508 1～10000 0x0508 Immediately movement speed 10.7 Pn6 Group Switch Configuration Related Parameters Function Communication When Parameter Range Default Unit code address enabled Switching value Pn600 input signal 0～1 0x0600 After restart distribution mode SD780 Series Servo Technical Manual...
Page 235 0x117: Internal position instruction selection bit0 selection bit0 negation 0x18: Internal position instruction 0x118: Internal position instruction selection bit1 selection bit1 negation 0x19: Internal position instruction 0x119: Internal position instruction selection bit2 selection bit2 negation SD780 Series Servo Technical Manual...
Page 236 0x119: Internal position instruction selection bit2 selection bit2 negation 0x1A: Internal position instruction 0x11A: Internal position instruction selection bit3 selection bit3 negation 0x1B: Internal position instruction 0x11B: Internal position instruction selection bit3 selection bit3 negation SD780 Series Servo Technical Manual...
Page 237: Pn7 Group Expansion Related Parameters
Unit code address enabled Inertia identification 0.2～20.0 0x0702 Immediately movable range Pn702 Number of rotations of motor in inertia identification. Initial value of inertia 0～20000 0x0705 Immediately identification Pn705 Initial value setting of inertia identification. SD780 Series Servo Technical Manual...
Page 238 (32 bits) Pn79C When the absolute position of the motor (Un021) is greater than this position, the servo enters the limit alarm state. Software limit absolute position 0x079E Immediately 0～1 Pn79E switch 0: Close 1: Open SD780 Series Servo Technical Manual...
Page 239: Pn8 Group Internal Position/Home Position Return Parameters
～ Pn80A 2147483647 Set the position of the 2 segment. 0～ Pr3 control word 0x080C After restart － 0x80000000 Pn80C Same as Pn804. 2147483648 command Pn80E Pr3 pulse number 0x080E Immediately unit ～ 2147483647 SD780 Series Servo Technical Manual...
Page 240 Set the position of the 8 segment. 0～ Pr9 control word 0x0824 Immediately － 0x80000000 Pn824 Same as Pn804. 2147483648 command Pr9 pulse number 0x0826 Immediately unit ～ Pn826 2147483647 Set the position of the 9 segment. SD780 Series Servo Technical Manual...
Page 241 Immediately unit ～ Pn83A 2147483647 Set the position of the 14 segment. 0～ Pr15 control word 0x083C Immediately － 0x80000000 Pn83C Same as Pn804. 2147483648 command Pn83E Pr15 pulse number 0x083E Immediately unit ～ 2147483647 SD780 Series Servo Technical Manual...
Page 242 20th position setting. 0～ Pr21 control word 0x0854 Immediately － 0x80000000 Pn854 Like Pn804. -2147483648～ Pr21 pulse number Unit 0x0856 Immediately 2147483647 Pn856 21th position setting. 0～ Pn858 Pr22 control word 0x0856 Immediately － 0x80000000 SD780 Series Servo Technical Manual...
Page 243 -2147483648～ Pr28 pulse number Unit 0x0872 Immediately 2147483647 Pn872 28th position setting. 0～ Pr29 control word 0x0874 Immediately － 0x80000000 Pn874 Like Pn804. -2147483648～ Pr29 pulse number Unit 0x0876 Immediately 2147483647 Pn876 29th position setting. SD780 Series Servo Technical Manual...
Page 244 Pr target speed 2 r/min 0x088A Immediately 0～6000 Pn88A target speed 2 setting. Pr target speed 3 0～6000 1000 r/min 0x088B Immediately Pn88B target speed 3 setting. Pn88C Pr target speed 4 0～6000 1500 r/min 0x088C Immediately SD780 Series Servo Technical Manual...
Page 245 0～6000 0.1s 0x0893 Immediately Pn893 Delay time 3 setting. Pr delay time 4 0～60000 0.1s 0x0894 Immediately Pn894 Delay time4 setting. Pr delay time 5 0～60000 1000 0.1s 0x0895 Immediately Pn895 Delay time 5 setting. SD780 Series Servo Technical Manual...
Page 246: Monitoring Parameters
Un012 Display external encoder feedback pulse counter when external grating encoder is connected. command Motor absolute position 0x80000000～0x7FFFFFFF 0xE021 unit Un021 Display the absolute position of the motor, the unit is the command unit. SD780 Series Servo Technical Manual...
Page 247 CN1-40 /S-ON CN1-45 CN1-41 /P-CON CN1-46 CN1-42 P-OT CN1-39 CN1-43 N-OT CN1-38 CN1-44 /ALM-RST IO port output signal － 0xE101 0～0xFFFF monitoring Up:OFF Down:ON Un101 Number 9 8 7 6 5 4 3 2 1 SD780 Series Servo Technical Manual...
Page 248 Un305 0～0xFFFF 0xE305 while alarm occurs Input command pulse speed Un306 0～0xFFFF 0xE306 while alarm occurs Deviation counters (position Un307 0～0xFFFFFFFF pulse 0xE307 deviation)while alarm occurs DC bus voltage while alarm Un308 0xE308 0～0xFFFF occurs SD780 Series Servo Technical Manual...
Page 249 0～0xFFFFFFFF 100ms 0xE335 Un336 Fault time history 7 0～0xFFFFFFFF 100ms 0xE336 Un337 Fault time history 8 0～0xFFFFFFFF 100ms 0xE337 Un338 Fault time history 9 0～0xFFFFFFFF 100ms 0xE338 Un339 Fault time history 10 100ms 0xE339 0～0xFFFFFFFF SD780 Series Servo Technical Manual...
Page 250: Fault Code And Countermeasures
1. Correctly set the distance corresponding to the unit pulse of the encoder. Er.080 unit pulse of encoder Abnormal resolution setting of position 1. Set the resolution of position sensor correctly. Er.08A sensor Invalid servo ON Re-power on or perform a soft reset. Er.0B0 command alarm SD780 Series Servo Technical Manual...
Page 251 5. if the power capacity is adjustable, you can advise customers to increase in power capacity. 1. Reduce motor load. Motor over 2. Strengthen motor heat dissipation. Er.42A temperature 3. Check the motor over temperature signal circuit. SD780 Series Servo Technical Manual...
Page 252 3. Check the drive load conditions, if the load is too heavy, you can suggest that customers replace a high-power segment of the drive. 4. If possible, reduce the driver carrier frequency. SD780 Series Servo Technical Manual...
Page 253 5. Calculate if the motor selection is too small or the acceleration and deceleration are too slow that cause huge position deviation. Excessive position deviation during Set correct value of Pn267 (overrunning position deviation when servo is ON). Er.D01 servo ON SD780 Series Servo Technical Manual...
Page 254: Warning Code
1. Adjust the AC/DC power supply voltage to the product specifications. AL.97 Under-voltage warning 2. increase the power capacity. 1. Connect the overtravel signal correctly. AL.9A Servo overtravel 2. Confirm the accuracy of the operating instructions of the host computer device. SD780 Series Servo Technical Manual...
Page 255: Communication
13.3 Communication frame structure Modbus only supports RTU transmission mode. The user can configure the serial communication parameters (baud rate, check mode, etc.). SD780 Series Servo Technical Manual...
Page 256: Command Code And Communication Data Description
(in word) low number of data is (in word) CRC CHK low bit CRC CHK high bit T1-T2-T3-T4（3.5 bytes of transmission time） The slave responds to the message: START T1-T2-T3-T4（3.5 bytes of transmission time） ADDR SD780 Series Servo Technical Manual...
Page 257 Write data start address high Write data start address low The number of data is high (in word) Number of data status (calculated in word) CRC CHK low bit CRC CHK high bit T1-T2-T3-T4（3.5 bytes of transmission time） SD780 Series Servo Technical Manual...
Page 258: Communication Frame Error Check Mode
CRC algorithm, the user can refer to the CRC algorithm of the relevant standard to write a CRC calculation program that truly meets the requirements. 13.6 Error message response When the slave responds, it uses the function code field and the fault address to indicate whether SD780 Series Servo Technical Manual...
Page 259 When the RTU format CRC check bit or the ASCII format LRC check bit is different from the check calculation number of the lower Parity error computer in the frame information sent by the host computer, the check error information is reported. SD780 Series Servo Technical Manual...
Page 260: Host Debugging Instruction
2. The host computer system currently supports USB communication debugging. 3. The system only supports servo SD780 series servo product debugging. 4. Verify that the “Use FIPS-compliant algorithms for encryption” option is set to disabled (Control Panel - Administrative Tools - Local Security Policy - Security Options - Use FIPS-compliant algorithms for encryption - disabled).
Page 261: Main Interface
The toolbar includes communication disconnection, communication connection, JOG, program JOG, soft reset, factory reset, parameter setting, monitoring parameters, digital oscilloscope, fault maintenance, screenshot, mechanical characteristics, FFT analysis, intelligent adjustment, offset adjustment, single parameter adjustment, exit and other functions. SD780 Series Servo Technical Manual...
Page 262: Features
Start reading and writing parameters interface: Click on the menu bar “Tools” -> “Parameter Settings”. b). The pop-up read/write parameters (parameter setting) interface is displayed in the display area, as shown in the following figure: SD780 Series Servo Technical Manual...
Page 263 (5) Function code reading Function code reading can be read individually or in batches. Step: a). Current group read: switch to a group of parameters, left-click on [read] -> select [current group], read the current group parameters. SD780 Series Servo Technical Manual...
Page 264 [Write] on the toolbar after editing to finish writing the parameters. b). Steps to import in batches: Click [Import] → [Select File] -> Click [Import], as shown in the following figure: SD780 Series Servo Technical Manual...
Page 265 , the function code comparison file selection interface appears. Select the source file and the target file respectively then click on [Compare], and the following interface appears. Click on Save to save the two parameters of the two files. SD780 Series Servo Technical Manual...
Page 266: Real-Time Monitoring
JOG speed (rotation speed) without connecting the host device. By performing this operation confirmation, it is possible to confirm whether or not the connection to the wire is improper and whether the servo motor has failed. SD780 Series Servo Technical Manual...
Page 267: Inertia Identification
Step: a). Click [Inertia Identification]→[Next] on the host interface to enter the following interface in the inertia identification operation process, as shown in the following figure. SD780 Series Servo Technical Manual...
Page 268 (usually keep the default), and click [Next] → [Write] → [Next] → [Enable] → [Forward] → [Reverse] After the forward rotation is repeated three times, the final inertia identification result is displayed, as shown in the following figure. c). Click [Write]→[Next]→[Complete] to finish the inertia recognition process. SD780 Series Servo Technical Manual...
Page 269: Program Jog
Step: a). Click on of the main interface of the upper computer to enter the mechanical characteristics analysis operation process, click on [Next] → [Next] to enter the parameter SD780 Series Servo Technical Manual...
Page 270 Click [Next] → [Write] → [Next] → [Enable] → [Forward] → [Enable] → [Reverse] → [Next] → [Complete] to enter the mechanical properties FFT analysis interface, as shown in the figure below: SD780 Series Servo Technical Manual...
Page 271: Fft Analysis
Bandwidth setting is the method of inputting a speed command or position command from the host device and manually adjusting it while it is running. By adjusting one or two values via bandwidth setting, the relevant servo gain settings can be automatically adjusted. SD780 Series Servo Technical Manual...
Page 272 Click on [Next] to enter the setting interface of inertia moment ratio and set the inertia ratio (inertia ratio can be obtained through inertia identification function). c). Click on [Next] to enter the single parameter tuning interface as shown in the following figure. SD780 Series Servo Technical Manual...
Page 273: Offset Adjustment
14.5.8 Back to Origin The origin search is a function that determines the position of the origin pulse (Z phase) of the incremental encoder and stops at this position. SD780 Series Servo Technical Manual...
Page 274: Soft Reset (Same As Power On Again)
1. Initialization of the parameter setting value must be performed during the servo OFF and it cannot be executed during the servo ON. 2. For the setting to take effect, the servo unit must be turned on again after the operation. SD780 Series Servo Technical Manual...
Page 275: Fault Information
Method 1: Click on the main menu of the host computer menu [Tools] -> [Oscilloscope], start the oscilloscope; Method 2: Click the icon on the main interface of the host computer to start the oscilloscope. b). Display data oscilloscope interface, as shown below: SD780 Series Servo Technical Manual...
Page 276 Different curves provide visual display and measurement results for display. iii - channel setting and trigger setting It provides channel-related parameter settings and trigger related parameter settings. Parameter setting includes trigger condition settings and channel settings; data channel detailed functions are as follows. SD780 Series Servo Technical Manual...
Page 277 - Waveform display selection area. It provides selection and display of desired waveforms. v - Digital display of measured value. It provides display of current value, effective value, average value, maximum value, minimum value, peak value, etc. SD780 Series Servo Technical Manual...
Page 278: Real-Time Acquisition
After the waveform to be triggered is received, the waveform will remain in the last state; the record button will change to c). If you need to trigger again, you need to start recording again. SD780 Series Servo Technical Manual...
Page 279: Graphic Operations
Y axis. The graph will automatically display the two axes of the Y axis. The two axes of the X axis cursor are automatically displayed in the upper right corner. The data difference between the two axes is shown in the figure below: SD780 Series Servo Technical Manual...
Page 280 There are multiple axes on the Y axis, which can be selected according to the needs. Through the measurement function, the mouse will display the XY value of the current point in digital form as shown in the following figure. SD780 Series Servo Technical Manual...
Page 281 Click the top right corner of the oscilloscope interface and and in the Y axis option, check the label visibility and scale visibility. Y-axis curve display/hide The Y-axis has multiple curves, which can be selected according to the channel. The Y-axis curve is displayed by default. SD780 Series Servo Technical Manual...
Page 282 As shown in the figure below, you can adjust the gain of six Y curves. h). Zoom out curve Y: Click on the gain option of the corresponding curve to increase the gain value. As shown below: SD780 Series Servo Technical Manual...
Page 283: Others
OK to switch the display interface. 14.7 Others 14.7.1 Window Display The window display is divided into: cascade, horizontal, vertical display, all off; 1. Cascade: click on the main menu of the host computer window [window] -> [cascade display]; SD780 Series Servo Technical Manual...
Page 284: Help
Click on the menu bar [help] -> [about], the software version information appears, as shown below: Scan the following QR code to download the relevant electronic files: SD780 Servo drive manual SD780 Servo product catalog SD780 Series Servo Technical Manual...

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