Leadshine iSV2-RS Series User Manual
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Leadshine iSV2-RS Series User Manual

Integrated servo motor
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Summary of Contents for Leadshine iSV2-RS Series

  • Page 1 Series Integrated Servo Motor User Manual...
  • Page 2 User Manual of iSV2-RS Integrated Servo Foreword Thank you for purchasing Leadshine iSV2-RS series Integrated Servo Motor. This manual will provide information on the iSV2-RS series servo products regarding product safety & specifications, installations & wiring, tuning & problem diagnostics.
  • Page 3 User Manual of iSV2-RS Integrated Servo Transportation Caution Caution  Please provide storage and transportation under protected conditions.  Do not stack the products too high up to prevent toppling.  The product should be packaged properly during transportation,  Do not hold the product by the cable, motor shaft or encoder while transporting it. ...
  • Page 4 User Manual of iSV2-RS Integrated Servo Tuning and running Caution Caution  Make sure the wirings of servo drive and servo motor are installed and fixed properly before powering on.  On the first time tuning of the product, it is recommended to run unloaded until all the parameter settings are confirmed to prevent any damage to the product or machine.
  • Page 5 If available, please send product back in original packaging or make sure it is well packaged to prevent any damage to the product during shipping. Leadshine Technology Co.,Ltd. and its certified sales channel reserved the final right of the interpretation of the warranty information.

  • Page 6: Table Of Contents

    User Manual of iSV2-RS Integrated Servo TABLE OF CONTENT CHAPTER 1 INTRODUCTION ........................... 9 ..........................9 RODUCT NTRODUCTION 1.2 M ........................... 10 ODEL UMBER TRUCTURE 1.3 S ........................11 ERVO RIVE ECHNICAL PECIFICATIONS 1.4 I ......................12 NTEGRATED OTOR ORTS AND ONNECTORS CHAPTER 2 INSTALLATION &...
  • Page 7 User Manual of iSV2-RS Integrated Servo CHAPTER 4 CONTROL MODE ..........................107 4.1 P ............................... 108 OSITION CONTROL 4.1.1 Pulse input and direction settings ......................109 4.1.2 Electronic Gear Ratio..........................110 4.1.3 Position command filter ........................... 111 4.1.4 Encoder feedback output ......................... 113 4.1.5 Positioning completed INP signal output ....................
  • Page 8 User Manual of iSV2-RS Integrated Servo CHAPTER 6 MODBUS COMMUNICATION ......................163 6.1 C ..........................163 OMMUNICATION CONNECTION 6.2 M RS485 ..................164 ODBUS COMMUNICATION PARAMETERS AND PORTS 6.3 M ............................. 166 ODBUS ROTOCOL 6.3.1 Read Data 0x03 ............................166 6.3.2 Write single data 0x06 ..........................

  • Page 9: Chapter 1 Introduction

    Leadshine Technology Co.,Ltd. This product series provides more in demanded functionalities and control. iSV2-RS Series Integrated Servo Motor comes with voltage rating of 24 to 60 VDC and current rating from 6A up to 19A (max. peak current: 57A). This series supports Modbus communication protocol in addition to pulse + direction input control.

  • Page 10: Model Number Structure

    User Manual of iSV2-RS Integrated Servo 1.2 Model Number Structure iSV2 – RS 60 40 V48 G Motor Series Motor Brake Without brake iSV2 Series Integrated iSV2 Servo Motor With brake Rated Voltage Communication Protocol 24VDC Modbus RTU/Pulse+Direction 48VDC CANopen Rated Power Motor Flange Size 200W...

  • Page 11: Servo Drive Technical Specifications

    User Manual of iSV2-RS Integrated Servo 1.3 Servo Drive Technical Specifications RS6040V48 RS8075V48 iSV2-RS series RS6020V24 RS6020V48 RS5740V48 RS8675V48 Rated Current (Arms) Peak Current (Arms) Flange size (mm) 60 , 57 80 , 86 Main power supply 24～60VDC Drive mode...

  • Page 12: Integrated Motor Ports And Connectors

    User Manual of iSV2-RS Integrated Servo 1.4 Integrated Motor Ports and Connectors iSV2-RS Series Integrated Servo Motor (6020/6040/8075/5740/8675) Modbus RTU Communication Port Baud Rate/Terminal Resistor Switch Main Power Supply (DC+, DC-) Regenerative Resistor I/O Port (RB+, RB-) ID Spin Dial (RSC)

  • Page 13: Chapter 2 Installation & Wiring

    User Manual of iSV2-RS Integrated Servo Chapter 2 Installation & Wiring 2.1 Servo Drive Installation 2.1.1 Servo drive installation environment Storage: -20~+65℃ (Condensation free); Temperature Installation: -20~+45℃ ( Please allow air circulation if >45℃) Humidity Under 90%RH (Condensation free) Altitude Up to 1000m above sea level Atmospheric 86 ~ 106kPa...

  • Page 14: Integrated Servo Motor Basic Information

    User Manual of iSV2-RS Integrated Servo 2.2 Integrated Servo Motor basic information 2.2.1 Speed-torque curves 200W Motors (iSV2-**20*) 400W Motors (iSV2-**40*)
  • Page 15 User Manual of iSV2-RS Integrated Servo 750W Motors (iSV2-**75*)

  • Page 16: Integrated Servo Motor Dimension

    User Manual of iSV2-RS Integrated Servo 2.2.2 Integrated Servo Motor Dimension iSV2 Series 95.7 CAN6020V24H 124.7 CAN6020V24G 95.7 CAN6020V48H Ø70 Ø5.5 124.7 CAN6020V48G 112.7 CAN6040V48H 124.7 CAN6040V48G 128.8 CAN8075V48H 100 Ø90 Ø6.6 21.5 160.3 CAN8075V48G...

  • Page 17: Isv2-Rs Wiring Diagram

    User Manual of iSV2-RS Integrated Servo 2.3 iSV2-RS Wiring Diagram iSV2-RS Wiring Diagram  Please use a 2kΩ resistor connected in series if pulse input voltage is 24V. Pulse and directional input port only supports 5V signal.  Make sure data transferring cables are as short as possible. Keep CN1 cable under 3m and CN2 cable under 10m.

  • Page 18: Integrated Motor Ports

    User Manual of iSV2-RS Integrated Servo 2.4 Integrated Motor Ports iSV2-CAN 6020/6040/8075 CN5 Modbus RTU Baud Rate/Terminal Communication Resistor Switch Port ID Spin Dial (RSC) CN1 I/O Port CN3 Main Power Supply (DC+, DC-) CN4 Regenerative Resistor (RB+, RB-) Cooling Vent CN7 RS232 Indicator LED Tuning Port...

  • Page 19: Cn1 I/O Signal Port

    User Manual of iSV2-RS Integrated Servo 2.4.1 CN1 I/O Signal Port Diagram Signal Description DI1+ Pulse input, differential, 5V, 500kHz DI1+ DI2+ Direction input, differential, 5V, 500kHz DI2+ COM_IN Common DI Servo enable Alarm clear Homing switch Position limit Alarm output, current output <100mA Servo ready, current output <100mA COM_OUT Common output...
  • Page 20 User Manual of iSV2-RS Integrated Servo Symbol Differential input Single-ended input ＞2μs ＞5μs ＞1μs ＞2.5μs ＞1μs ＞2.5μs ＜0.2μs ＜0.3μs ＜0.2μs ＜0.3μs ＞1μs ＞2.5μs ＞8μs ＞10μs ＞4μs ＞5μs ＞4μs ＞5μs ＜0.2μs ＜0.3μs ＜0.2μs ＜0.3μs ＞1μs ＞2.5μs I/O Signal Wiring Diagram 1. DI3-DI6 supports NPN and PNP configuration. Recommended to use an external control signal power s supply of 12-24VDC.

  • Page 21: Cn3/Cn4 Power Supply & Regenerative Resistor Port

    User Manual of iSV2-RS Integrated Servo CN1 control signal cable selection To ensure I/O signal to not be affected by electromagnetic interference, a shielded cable is recommended for this application. Foil shield Cables for different analogue signals should be using isolated shielded cable while cables for digital signals should be shielded twisted pair cable.

  • Page 22: Cn7 Rs232 Tuning Port

    User Manual of iSV2-RS Integrated Servo 2.4.4 CN7 RS232 Tuning Port Port Diagram Signal ISV2-RS Series DC Servo Drive can be connected to Motion Studio for parameters tuning and data monitoring using CABLE-PC-1. 2.4.8 ID spin dial RSC Diagram Modbus address Modbus address Pr5.31...

  • Page 23: Baud Rate/Terminal Resistor Switch Sw

    User Manual of iSV2-RS Integrated Servo 2.4.6 Baud rate/Terminal resistor switch SW Terminal Diagram Function Pr6.33 Baud rate resistor Pr5.30 Motor (Default) Default: 9600 Disconnect direction Pr6.33=0 19200 Modbus Spin dial 38400 high bit Connected address 16+Spin 57600 Pr6.33=8 dial...

  • Page 24: Cable Selection

    User Manual of iSV2-RS Integrated Servo 2.5 Cable Selection 2.5.1 Communication Cable CABLE-TX*M*-iSV2 CABLE-TX*M*-iSV2-LD2 - For CANopen and Modbus RS485 - For CANopen and Modbus RS485 communication between iSV2 devices. communication between iSV2 devices and ELD2/2ELD2 drives. 2.5.4 Tuning Cable CABLE-PC-1 - To connect to Motion Studio 2 PC tuning software.

  • Page 25: Regenerative Resistor Selection

    User Manual of iSV2-RS Integrated Servo 2.6 Regenerative Resistor Selection The use of regenerative resistor When the motor opposes the direction of rotation as in deceleration or vertical axis escalation, part of the regenerative energy will be delivered back to the driver. This energy will first be stored in internal capacitors of the driver.
  • Page 26 User Manual of iSV2-RS Integrated Servo Theoretical selection of regenerative resistor Without external loading torque, the need for an external regenerative resistor can be determined as the flow chart below Start T is the time for velocity to reach Determine the max.
  • Page 27 User Manual of iSV2-RS Integrated Servo Diagram below shows the acceleration and deceleration cycle periods and the regenerative torque that occurs during the process. V:Motor rotational velocity Rotational velocity :Deceleration time Motor Torque : Load torque Regenerative torque Steps to calculate capacity of regenerative resistor Steps Calculation Symbol...
  • Page 28 User Manual of iSV2-RS Integrated Servo Recommended regenerative resistor specification for each drives Motors Power rating(W) Resistance (Ω) Min. Resistance(Ω) ISV2-RS6020 ISV2-RS6040/5740 ISV2-RS8075/8675 Note: 1. Use 10 /100W resistor for test operation and make sure: Drive temperature d33<60 , dynamic Ω...

  • Page 29: Chapter 3 Parameter

    User Manual of iSV2-RS Integrated Servo Chapter 3 Parameter 3.1 Parameters list P r 0 . 0 0 Sub-code Classification code Valid mode: P: Valid in position control mode S: Valid in velocity control mode T: Valid in torque control mode PR: Valid in PR control mode Activation: “O”...
  • Page 30 User Manual of iSV2-RS Integrated Servo Valid mode Communication mode Activ Code Label Default ation Byte Addr. Regenerative resistance Pr0.16 — 16bit 0x0021 Regenerative resistor power rating Pr0.17 — 16bit 0x0023 Vibration suppression after stopping — Pr0.18 16bit Micro-vibration suppression Pr0.19 —...
  • Page 31 User Manual of iSV2-RS Integrated Servo [Class 2] Vibration Suppression Valid mode Communication mode Activ Code Label Default ation Byte Addr. Pr2.00 Adaptive filtering mode settings — — 16bit 0x0201 notch frequency Pr2.01 4000 — 16bit 0x0203 Pr2.02 notch width —...
  • Page 32 User Manual of iSV2-RS Integrated Servo Valid mode Communication mode Activ Code Label Default ation Byte Addr. Pr3.23 Zero speed delay time in velocity mode — — — 16bit 0x032F Pr3.24 Maximum motor rotational speed — 16bit 0x0331 Pr3.25 Velocity offset – Logistics —...
  • Page 33 User Manual of iSV2-RS Integrated Servo [Class 5] Extension settings Valid mode Communication mode Activ Code Label Default ation Byte Addr. 0x0500 — — Pr5.00 2nd pulse count per revolution 10000 32bit 0x0501 2nd Command frequency divider/multiplier 0x0502 Pr5.01 — —...
  • Page 34 User Manual of iSV2-RS Integrated Servo [Class 6] Other Settings Valid mode Communication mode Activ Code Label Default ation Byte Addr. Pr6.01 Encoder zero position compensation 16bit 0x0603 — — — Pr6.03 JOG trial run torque command 16bit 0x0607 — Pr6.04 JOG trial run velocity command 16bit...
  • Page 35 User Manual of iSV2-RS Integrated Servo [Class 8] Pr-Control Parameters Valid mode Communication mode Activ Code Label Default ation Byte Addr. Pr8.00 — — — PR Control 16bit 0x6000 Pr8.01 — — — Path count 16bit 0x6001 Pr8.02 — — —...
  • Page 36 User Manual of iSV2-RS Integrated Servo Valid mode Communication mode Activ Code Label Default ation Byte Addr. Pr8.61 Path 13 S-code — — — 16bit 0x603D Pr8.62 — — — Path 14 S-code 16bit 0x603E Pr8.63 — — — Path 15 S-code 16bit 0x603F [Class 9] Pr-Control Path Parameters...
  • Page 37 User Manual of iSV2-RS Integrated Servo Valid mode Communication mode Activ Code Label Default ation Byte Addr. Pr9.40 PR5 mode — — — 16bit 0x6228 Pr9.41 — — — PR5 position H 16bit 0x6229 Pr9.42 — — — PR5 position(L) 16bit 0x622A Pr9.43...
  • Page 38 User Manual of iSV2-RS Integrated Servo Valid mode Communication mode Activ Code Label Default ation Byte Addr. Pr9.88 PR11 mode — — — 16bit 0x6258 Pr9.89 — — — PR11 position H 16bit 0x6259 Pr9.90 — — — PR11 position(L) 16bit 0x625A Pr9.91...
  • Page 39 User Manual of iSV2-RS Integrated Servo [Class B] Status Parameters Valid mode Communication mode Activ Code Label Default ation Byte Addr. Software version 1（DSP） — PrB.00 16bit 0x0B00 Software version 2（CPLD） — PrB.01 16bit 0x0B01 Software version 3（Others） — PrB.02 16bit 0x0B02 PrB.03...

  • Page 40: Parameters Description

    User Manual of iSV2-RS Integrated Servo 3.2 Parameters description 3.2.1 [Class 0] Basic Settings Label Model-following/Zero tracking control Valid mode(s) Pr0.00 Range 0-10000 Unit 0.1Hz Default Byte length 16bit Attribute 485 address 0x0001 Valid At stop Model-following bandwidth, also known as model-following control (MFC), is used to control the position loop to improve the responsiveness to commands, speed up positioning time and reduce following error.
  • Page 41 User Manual of iSV2-RS Integrated Servo Label Real time auto stiffness adjusting Valid mode(s) Range Unit Default Pr0.03 0 ~ 31 — Byte length 16bit Attribute 485 address 0x0007 Valid Immediate High Mechanical stiffness Servo gain High 81.80……………………………70.69.68…………………………51.50 Responsiveness High Lower values ensure better system responsiveness and mechanical stiffness but machine vibration might occur, please set accordingly.
  • Page 42 User Manual of iSV2-RS Integrated Servo Label Inertia ratio Valid mode(s) Pr0.04 Range 0~20000 Unit Default Byte length 16bit Attribute 485 address 0x0009 Valid Immediate Pr0.04=( load inertia/motor rotational inertia)×100% Set inertia ratio according to actual load inertia. When both are uniform, actual motor velocity loop responsiveness and gain settings will be consistent.
  • Page 43 User Manual of iSV2-RS Integrated Servo CW pulse sequence ＋ CCW pulse sequence Pulse sequence 【3】 ＋ Directional symbol 90°phase difference 2 phase pulse （Phase A＋Phase B） CW pulse sequence ＋ CCW pulse sequence Pulse sequence ＋ Directional symbol Command pulse input signal max. frequency and min. duration needed Max.
  • Page 44 User Manual of iSV2-RS Integrated Servo 1st command pulse count per Label Valid mode(s) revolution Range Unit Default 0-67100864 10000 PULSE Pr0.08 Byte length 32bit Attribute 485 address H: 0x0010 L: 0x0011 Valid After restart Control will affected if value set is too low. Err1b1 might occur if value < 500. (1) Pr0.08 valid when ≠...

  • Page 45: Class 1] Gain Adjustments

    User Manual of iSV2-RS Integrated Servo Excessive position deviation Label Valid mode(s) Pr0.14 Range 0~310 Unit 0.1rev Default Byte length 16bit Attribute 485 address 0x001D Valid Immediate Please set threshold value for position deviation accordingly. Default factory setting = 30, Er180 will be triggered if positive deviation is in excess of 3 revolutions.
  • Page 46 User Manual of iSV2-RS Integrated Servo To determine the responsiveness of the velocity loop. If inertia ratio of Pr0.04 is uniform with actual inertia ratio, velocity loop responsiveness = Pr1.01. To increase position loop gain and improve responsiveness of the whole system, velocity loop gain must be set at higher value.
  • Page 47 User Manual of iSV2-RS Integrated Servo velocity detection filter Label Valid mode(s) Range Unit Default 0～31 — Pr1.03 Byte length 16bit Attribute 485 address 0x0107 Valid Immediate This filter is a low pass filter. It blocks high frequencies which cause system instability from velocity feedback data.
  • Page 48 User Manual of iSV2-RS Integrated Servo Label Position Loop Gain Valid mode(s) Range Unit Default 0～30000 0.1/s Pr1.05 Byte length 16bit Attribute 485 address 0x010B Valid Immediate Label velocity loop gain Valid mode(s) Range Unit Default 1～32767 0.1Hz Pr1.06 Byte length 16bit Attribute 485 address...
  • Page 49 User Manual of iSV2-RS Integrated Servo Label Torque feed forward gain Valid mode(s) Range Unit Default 0~1000 0.1% Pr1.12 Byte length 16bit Attribute 485 address 0x0119 Valid Immediate Before using torque feed forward, please set correct inertia ratio Pr0.04. By increasing torque feed forward gain, position deviation on constant acceleration/deceleration can be reduced to close to 0.
  • Page 50 User Manual of iSV2-RS Integrated Servo Position control gain switching Label Valid mode(s) mode Range Unit Default 0～10 — Pr1.15 Byte length 16bit Attribute 485 address 0x011F Valid Immediate In position control, set the conditions for gain switching to be valid. Value Condition Gain switching condition...
  • Page 51 User Manual of iSV2-RS Integrated Servo Hysteresis at position control Label Valid mode(s) switching Range Unit Default Mode 0~20000 Pr1.18 dependent Byte length 16bit Attribute 485 address 0x0125 Valid Immediate To eliminate the instability of gain switching. Used in combination with Pr1.17 using the same unit.

  • Page 52: Class 2] Vibration Suppression

    User Manual of iSV2-RS Integrated Servo 3.2.3 [Class 2] Vibration suppression Label Adaptive filtering mode settings Valid mode(s) Range Unit — Default Pr2.00 Byte length 16bit Attribute 485 address 0x0201 Valid Immediate Value Description Adaptive filter: invalid Parameters related to 3 notch filter remain unchanged Adaptive filter: 1 filter valid...
  • Page 53 User Manual of iSV2-RS Integrated Servo Label notch frequency Valid mode(s) Range Unit Default 50~4000 4000 Pr2.04 Byte length 16bit Attribute 485 address 0x0209 Valid Immediate Set center frequency of 2 torque command notch filter. Set Pr2.04 to 4000 to deactivate notch filter notch width Label Valid mode(s)
  • Page 54 User Manual of iSV2-RS Integrated Servo Label damping frequency Valid mode(s) Range Unit Default 0/10~2000 0.1Hz Pr2.14 Byte length 16bit Attribute 485 address 0x021D Valid Immediate Set Pr2.16 to 0 to deactivate this parameter. To suppress wobble at load end. Often used when wobble of flexible structure due to high deceleration upon stopping.
  • Page 55 User Manual of iSV2-RS Integrated Servo Label Valid mode(s) Position command FIR filter Range Unit Default 0~2500 0.1ms Pr2.23 Byte length 16bit Attribute 485 address 0x022F Valid At stop As shown below, when target velocity Vc square wave command reaches Vc, it becomes trapezoidal wave after filtering.

  • Page 56: Class 3] Velocity/Torque Control

    User Manual of iSV2-RS Integrated Servo 3.2.4 [Class 3] Velocity/Torque control Label Velocity internal/external switching Valid mode(s) Range Unit — Default Pr3.00 Byte length 16bit Attribute 485 address 0x0301 Valid Immediate Connect to the right DI to control internal command velocity settings. Value Velocity settings Analog - Velocity command（SPR）...
  • Page 57 User Manual of iSV2-RS Integrated Servo Velocity command rotational Label Valid mode(s) direction selection Range Unit Default — Pr3.01 Byte length 16bit Attribute 485 address 0x0303 Valid Immediate To set positive/negative direction of velocity command Velocity settings Velocity command Velocity command （Analog or internal sign selection（VC- Value...
  • Page 58 User Manual of iSV2-RS Integrated Servo Velocity command input inversion Label Valid mode(s) Range Unit Default — Pr3.03 Byte length 16bit Attribute 485 address 0x0307 Valid Immediate To set voltage polarity of analog velocity command. Only valid when Pr3.01 = 0. When Pr3.01 = 1, rotational direction is only related to VC-SIGN. Value Motor rotational direction 【0】...
  • Page 59 User Manual of iSV2-RS Integrated Servo Acceleration time settings Label Valid mode(s) Range Unit Default 0~10000 (1000rpm) Pr3.12 Byte length 16bit Attribute 485 address 0x0319 Valid Immediate Label Deceleration time settings Valid mode(s) Range Unit Default 0~10000 (1000rpm) Pr3.13 Byte length Attribute 485 address 16bit...
  • Page 60 User Manual of iSV2-RS Integrated Servo Sigmoid acceleration/deceleration Label Valid mode(s) settings Range Unit Default 0~1000 Pr3.14 Byte length 16bit Attribute 485 address 0x031D Valid After restart To set sigmoid acceleration and deceleration turning point in accordance to Pr3.12 and Pr3.13.
  • Page 61 User Manual of iSV2-RS Integrated Servo Torque command direction selection Label Valid mode(s) Range Unit Default — Pr3.18 Byte length 16bit Attribute 485 address 0x0325 Valid Immediate To set torque command positive/negative direction Value Direction settings TC-SIGN ON/OFF has no effect on torque direction 【0】...
  • Page 62 User Manual of iSV2-RS Integrated Servo Label Velocity limit in torque mode Valid mode(s) Range Unit Default 0~10000 r/min Pr3.21 Byte length 16bit Attribute 485 address 0x032B Valid Immediate To set velocity limit in torque control mode. Only valid when Pr3.17 = 0 / 2. Label Torque command Valid mode(s)

  • Page 63: Class 4]I/O Monitoring Settings

    User Manual of iSV2-RS Integrated Servo 3.2.5 [Class 4]I/O Monitoring Settings Label Input selection DI3 Valid mode(s) Range Unit Default 0x00~0xFF — Pr4.00 Byte length Attribute 485 address 16bit 0x0401 Valid Immediate Please refer to the table below to set DI signals and table on the right for corresponding pin and parameters Value Symbol Signal...
  • Page 64 User Manual of iSV2-RS Integrated Servo Negative limit Origin Path address 0 ADD0 Path address 1 ADD1 Path address 2 ADD2 Path address 3 ADD3 Note: CTRG, HOME are edge triggered, please make sure electronic bits last 1ms or above. Label Input selection DI4 Valid mode(s)
  • Page 65 User Manual of iSV2-RS Integrated Servo Same signal can be assigned to multiple different outputs. Normally open(NO)：Active low Normally close(NC)：Active high Err212 might occur if output is allocated to signals other than listed in the table above. Outputs related to PR-mode Value Signal Symbol...
  • Page 66 User Manual of iSV2-RS Integrated Servo Label Positioning complete range Valid mode(s) Range Unit Default 0～ Pr5.21 set unit 10000 Pr4.31 Byte length Attribute 485 address 16bit 0x043F Valid Immediate To set position deviation range of INP1 positioning completed output signal. INP1 output signal will be valid once position is complete within the range of deviation set.
  • Page 67 User Manual of iSV2-RS Integrated Servo Zero speed Label Valid mode(s) Range Unit Default 1~2000 r/min Pr4.34 Byte length Attribute 485 address 16bit 0x0445 Valid Immediate To set threshold value for zero speed clamp detection. Zero speed clamp detection (ZSP) output signal valid when motor speed goes under the value set in Pr4.34 - Disregard the direction of rotation, Speed...
  • Page 68 User Manual of iSV2-RS Integrated Servo Reached velocity Label Valid mode(s) Range Unit Default 10~2000 r/min 1000 Pr4.36 Byte length 16bit Attribute 485 address 0x0449 Valid Immediate When motor velocity > Pr4.36, AT-speed output signal is valid. Detection using 10RPM hysteresis. Holding brake deactivation delay time Label Valid mode(s)
  • Page 69 User Manual of iSV2-RS Integrated Servo *1: Delay time set in Pr4.38 *2: Delay time from the moment BRK_OFF signal is given until actual holding brake is released or BRK_ON signal is given until actual holding brake is activated. It is dependent on the holding brake of the motor.

  • Page 70: Class 5] Extension Settings

    User Manual of iSV2-RS Integrated Servo 3.2.6 [Class 5] Extension Settings pulse count per revolution Label Valid mode(s) Range Unit Default 0-67108864 10000 PULSE Pr5.00 Byte length 32bit Attribute 485 address H: 0x0500 L: 0x0501 Valid After restart Switch between Pr0.08 and Pr5.00 with DI signal DIV1. When switch to Pr5.00: （1）Pr5.00 valid when ≠...
  • Page 71 User Manual of iSV2-RS Integrated Servo To set servo driver disable mode and status. Set value Explanation Driver disables after velocity reaching value set in Pr4.39 Driver disables immediately, axis in free stopping mode Valid mode(s) Label Servo braking torque setting Range Default 0~500...
  • Page 72 User Manual of iSV2-RS Integrated Servo Label Position unit settings Valid mode(s) Range — Default Unit Pr5.20 Byte length 16bit Attribute 485 address 0x0529 Valid Immediate Set unit for position related parameters Value Unit Encoder unit Command unit 0.0001rev Command unit: Pulse from host (Affected by electronic gear ratio) Encoder unit: Pulse from encoder (Related to encoder resolution) Pr5.20 can only be modified when axis is disabled as it will clear position data Torque limit selection...
  • Page 73 User Manual of iSV2-RS Integrated Servo RS485 communication mode Valid mode(s) Label Range — Default 0~255 Unit Pr5.29 Byte length 16bit Attribute 485 address 0x053B Valid After restart Value Checksum Stop Even Even Null Null 【5】 RS485 communication Baud rate Valid mode(s) Label —...

  • Page 74: Class 6] Other Settings

    User Manual of iSV2-RS Integrated Servo 3.2.7 [Class 6] Other settings Label Encoder zero position compensation Valid mode(s) Range Electrical Default 0~360 Unit angel Pr6.01 Byte length 16bit Attribute 485 address 0x0603 Valid Power-off Zero position compensation for encoder zero drift to avoid abnormality due to zero drift. Label JOG trial run torque command Valid mode(s)
  • Page 75 User Manual of iSV2-RS Integrated Servo Set up the 3 gain by multiplying factor of the 1 gain Position command velocity (RPM) Effective time Pr6.05 x 0.1ms gain gain gain Pr1.05~Pr1.09 Pr1.00~Pr1.04 Position loop gain = Pr1.00 x Pr6.06/100 Velocity loop gain = Pr1.01 x Pr6.06/100 Velocity loop integral time constant，Velocity detection filter，...
  • Page 76 User Manual of iSV2-RS Integrated Servo Pr6.08/Pr6.09 = T Positive/Negative compensation corresponds to actual position feedback. Positive torque compensation value = +(Pr6.08=+T Negative torque compensation value = -(Pr6.08=+T Pr6.08 =x, Pr6.09=y; friction compensation value = |x-y|/2 Label Current response settings Valid mode(s) Range 50~100...
  • Page 77 User Manual of iSV2-RS Integrated Servo Valid Immediate JOG (Position control) : No. of cycles When Pr6.22, trial run goes into endless cycles. Trial run acceleration Valid mode(s) Label Range Default 0~10000 Unit Pr6.25 Byte length Attribute 485 address 16bit 0x0633 Valid Immediate...

  • Page 78: Class 7] Factory Settings

    User Manual of iSV2-RS Integrated Servo Torque（%） Diagram shows Torque during blocked blocked rotor with Torque during normal operation speed under 10rpm Normal speed 3000r/min If the rotor is Speed during block blocked but with (below 10rpm) 10r/min speed over 10rpm, E 102 Alarm Pr6.57(ms)

  • Page 79: Class 8] Pr Control Parameters

    User Manual of iSV2-RS Integrated Servo Pr7.14 Driver power rating Pr7.16 Encoder Pr7.17 Motor max. current Pr7.18 Encoder index angle compensation Encoder Valid mode(s) Label Range — Default 0x0~0x200 Unit Encoder Pr7.16 Byte length 16bit Attribute 485 address 0x0721 Valid After restart 3.2.9 [Class 8] PR control parameters Label...
  • Page 80 User Manual of iSV2-RS Integrated Servo Attributes of Pr8.02 functions are divided into Read/Write. P refers to positioning motion of N path. Please refer to the following table. Attribute Address Description Write 0x01P N path positioning Write 0x020 Reset Write 0x021 Manually set currently position as 0 (Origin) Write...
  • Page 81 User Manual of iSV2-RS Integrated Servo Valid mode(s) Label Software positive limit (L) Range Default -2147483648~ Pr8.07 Unit Pulse 2147483647 Byte length 32bit Attribute 485 address 0X6007 To set software positive limit position (32 bit base) Using 485 communication, only able to R/W low 16 bit. R/W high 16 bit needs to be realized through Pr8.06 When software positive limit = 994817, 0x000F2E01(Hexadecimal) high16bit = 0x000F, hence Pr8.05 reading = 0x000F, controller = 15.
  • Page 82 User Manual of iSV2-RS Integrated Servo Label Home position offset H Valid mode(s) Range Default 0 ~ 65535 Unit Pr8.13 Byte length 16bit Attribute 485 address 0X600D High bit of home position offset；(Only valid using 485 communication) Valid mode(s) Label Home position offset (L) Range -2147483648~...
  • Page 83 User Manual of iSV2-RS Integrated Servo Valid mode(s) Label STP emergency stop deceleration Range Default Pr8.23 1 ~ 32767 Unit ms/Krpm Byte length 16bit Attribute 485 address 0X6017 To set STP emergency stop deceleration. Label I/O combination trigger mode Valid mode(s) Range Default Pr8.26...
  • Page 84 User Manual of iSV2-RS Integrated Servo Label S-code current output value Valid mode(s) Range Default 0 ~ 65535 Unit Pr8.28 Byte length 16bit Attribute 485 address 0X601C S-code（Status code）is the S-code of currently operating PR positioning data. Every PR path has a S-code setting. S-code Sx.H Sx.L...
  • Page 85 User Manual of iSV2-RS Integrated Servo Valid mode(s) Label JOG deceleration Range Default Pr8.41 0 ~ 65535 Unit ms/Krpm Byte length Attribute 485 address 16bit 0X6029 Set JOG deceleration in PR mode. Valid mode(s) Label Command position H Range Default 0 ~ 65535 Unit Pr8.42...
  • Page 86 User Manual of iSV2-RS Integrated Servo Label Path 2 S-code Valid mode(s) Range Default Pr8.50 0 ~ 65535 Unit Byte length 16bit Attribute 485 address 0X6032 Please refer to Pr8.28 for S-code setting. Label Path 3 S-code Valid mode(s) Range Default Pr8.51 0 ~ 65535...
  • Page 87 User Manual of iSV2-RS Integrated Servo Label Valid mode(s) Path 12 S-code Range Default Pr8.60 Unit 0 ~ 65535 Byte length 16bit Attribute 485 address 0X603C Please refer to Pr8.28 for S-code setting. Label Valid mode(s) Path 13 S-code Range Default Pr8.61 Unit...

  • Page 88: Class 9] Pr Control Path Parameters

    User Manual of iSV2-RS Integrated Servo 3.2.10 [Class 9] PR control path parameters It is more convenient to set Class 9 parameters on Motion Studio Valid mode(s) Label PR0 mode Pr9.00 Range 0x0~0xFFFF Unit Default Byte length 16bit Attribute 485 address 0X6200 8-13 Definition...
  • Page 89 User Manual of iSV2-RS Integrated Servo Valid mode(s) Label PR1 mode Pr9.08 Range 0x0~0xFFFF Unit Default Byte length 16bit Attribute 485 address 0X6208 8-13 Definition 0: No 0-15: 0: absolute 0: No 0: Can be 0: null Jump, Jump to 1: correspond overlap, Interrupt...
  • Page 90 User Manual of iSV2-RS Integrated Servo Valid mode(s) Label PR2 mode Pr9.16 Range 0x0~0xFFFF Unit Default Byte length 16bit Attribute 485 address 0X6210 8-13 Definition 0: No 0-15: 0: absolute 0: No 0: Can be 0: null Jump, Jump to 1: correspond overlap, Interrupt...
  • Page 91 User Manual of iSV2-RS Integrated Servo Valid mode(s) Label PR3 mode Pr9.24 Range 0x0~0xFFFF Unit Default Byte length 16bit Attribute 485 address 0X6218 8-13 Definition 0: No 0-15: 0: absolute 0: No 0: Can be 0: null Jump, Jump to 1: correspond overlap, Interrupt...
  • Page 92 User Manual of iSV2-RS Integrated Servo Valid mode(s) Label PR4 mode Pr9.32 Range 0x0~0xFFFF Unit Default Byte length 16bit Attribute 485 address 0X6220 8-13 Definition 0: No 0-15: 0: absolute 0: No 0: Can be 0: null Jump, Jump to 1: correspond overlap, Interrupt...
  • Page 93 User Manual of iSV2-RS Integrated Servo Valid mode(s) Label PR5 mode Pr9.40 Range 0x0~0xFFFF Unit Default Byte length 16bit Attribute 485 address 0X6228 8-13 Definition 0: No 0-15: 0: absolute 0: No 0: Can be 0: null Jump, Jump to 1: correspond overlap, Interrupt...
  • Page 94 User Manual of iSV2-RS Integrated Servo Valid mode(s) Label PR6 mode Pr9.48 Range 0x0~0xFFFF Unit Default Byte length 16bit Attribute 485 address 0X6230 8-13 Definition 0: No 0-15: 0: absolute 0: No 0: Can be 0: null Jump, Jump to 1: correspond overlap, Interrupt...
  • Page 95 User Manual of iSV2-RS Integrated Servo Valid mode(s) Label PR7 mode Pr9.56 Range 0x0~0xFFFF Unit Default Byte length 16bit Attribute 485 address 0X6238 8-13 Definition 0: No 0-15: 0: absolute 0: No 0: Can be 0: null Jump, Jump to 1: correspond overlap, Interrupt...
  • Page 96 User Manual of iSV2-RS Integrated Servo Valid mode(s) Label PR8 mode Pr9.64 Range 0x0~0xFFFF Unit Default Byte length 16bit Attribute 485 address 0X6240 8-13 Definition 0: No 0-15: 0: absolute 0: No 0: Can be 0: null Jump, Jump to 1: correspond overlap, Interrupt...
  • Page 97 User Manual of iSV2-RS Integrated Servo Valid mode(s) Label PR9 mode Pr9.72 Range 0x0~0xFFFF Unit Default Byte length 16bit Attribute 485 address 0X6248 8-13 Definition 0: No 0-15: 0: absolute 0: No 0: Can be 0: null Jump, Jump to 1: correspond overlap, Interrupt...
  • Page 98 User Manual of iSV2-RS Integrated Servo Valid mode(s) Label PR10 mode Pr9.80 Range 0x0~0xFFFF Unit Default Byte length 16bit Attribute 485 address 0X6250 8-13 Definition 0: No 0-15: 0: absolute 0: No 0: Can be 0: null Jump, Jump to 1: correspond overlap, Interrupt...
  • Page 99 User Manual of iSV2-RS Integrated Servo Valid mode(s) Label PR11 mode Pr9.88 Range 0x0~0xFFFF Unit Default Byte length 16bit Attribute 485 address 0X6258 8-13 Definition 0: No 0-15: 0: absolute 0: No 0: Can be 0: null Jump, Jump to 1: correspond overlap, Interrupt...
  • Page 100 User Manual of iSV2-RS Integrated Servo Valid mode(s) Label PR12 mode Pr9.96 Range 0x0~0xFFFF Unit Default Byte length 16bit Attribute 485 address 0X6260 8-13 Definition 0: No 0-15: 0: absolute 0: No 0: Can be 0: null Jump, Jump to 1: correspond overlap, Interrupt...
  • Page 101 User Manual of iSV2-RS Integrated Servo Valid mode(s) Label PR13 mode Pr9.104 Range 0x0~0xFFFF Unit Default Byte length 16bit Attribute 485 address 0X6268 8-13 Definition 0: No 0-15: 0: absolute 0: No 0: Can be 0: null Jump, Jump to 1: correspond overlap, Interrupt...
  • Page 102 User Manual of iSV2-RS Integrated Servo Valid mode(s) Label PR14 mode Pr9.112 Range 0x0~0xFFFF Unit Default Byte length 16bit Attribute 485 address 0X6270 8-13 Definition 0: No 0-15: 0: absolute 0: No 0: Can be 0: null Jump, Jump to 1: correspond overlap, Interrupt...
  • Page 103 User Manual of iSV2-RS Integrated Servo Valid mode(s) Label PR15 mode Pr9.120 Range 0x0~0xFFFF Unit Default Byte length 16bit Attribute 485 address 0X6278 8-13 Definition 0: No 0-15: 0: absolute 0: No 0: Can be 0: null Jump, Jump to 1: correspond overlap, Interrupt...

  • Page 104: Class B] Status Parameters

    User Manual of iSV2-RS Integrated Servo 3.2.11 [Class B] Status Parameters Software version 1（DSP） Valid mode(s) Label PrB.00 Range Unit Default Byte length Attribute 485 address 16bit 0x0B00 Show DSP software version info. Label Software version 2（CPLD） Valid mode(s) PrB.01 Range Unit Default...
  • Page 105 User Manual of iSV2-RS Integrated Servo Label Motor speed (After filter) Valid mode(s) PrB.09 Range Unit Default Byte length 16bit Attribute 485 address 0x0B09 Motor speed after motor actual speed filtering Label DC bus voltage Valid mode(s) PrB.10 Range Unit Default Byte length 16bit...
  • Page 106 User Manual of iSV2-RS Integrated Servo Valid mode(s) Label Command position (Command unit) Range Default Unit PrB.20 Byte length Attribute 485 address 32bit H: 0x0B14 L: 0x0B15 Driver receives command pulse count. Driver command unit: 10000 pulses/rev, Encoder unit: 8388608 pulses/rev. If driver receives 8388608 pulses, 10000P will be shown. Label Motor position (Command unit) Valid mode(s)

  • Page 107: Chapter 4 Control Mode

    User Manual of iSV2-RS Integrated Servo Chapter 4 Control Mode Control modes for iSV2-RS series Integrated Servo Motors can be divided into 3 categories: Position control mode, Velocity control mode and Torque control mode. RS models also come with a hybrid control mode which is a combination of any 2 modes which are above.

  • Page 108: Position Control

    User Manual of iSV2-RS Integrated Servo 4.1 Position control Position control determines rotational speed by frequency of external input pulse and angle of rotation through pulse count using 5V pulse from motion controller, control card or 24V pulse (Please add 2kΩ resistor) for PLC. Applies where precise positioning is required. Velocity feedforward Torque...

  • Page 109: Pulse Input And Direction Settings

    User Manual of iSV2-RS Integrated Servo 4.1.1 Pulse input and direction settings Position command (pulse) input method: 1. A and B phase pulse 2. Positive/Negative direction pulse 3. Pulse count + symbol Set pulse mode, rotational direction and max. pulse input frequency according to actual need CN1 Pin Label Definition...

  • Page 110: Electronic Gear Ratio

    1. When Pr0.08 = 0, Pr0.09 and Pr0.10 will be valid. Other than that, Pr0.08 set value will be valid. 2. iSV2-RS series supports 2 independent sets of electronic gear ratio. The 2 sets can be switch by delivering a command frequency divider/multiplier input DIV1. Both sets of electronic gear ratio is set up using Pr0.08, Pr0.09 and Pr0.10;...

  • Page 111: Position Command Filter

    User Manual of iSV2-RS Integrated Servo 1. Settings： (1)Driver command pulse input count : X (2)Encoder pulse count after frequency divider/multiplier: Y (3)Encoder pulse count per revolution: Z (4)Motor revolution: W 2. Calculation： （1）X, Y Y = X * Pr0.09 / Pr0.10 Please keep the value of Pr0.09 and Pr0.10 to be smaller than 2 (16777216).
  • Page 112 User Manual of iSV2-RS Integrated Servo Label Position command FIR filter Valid mode(s) Range 0~2500 Unit 0.1ms Default Pr2.23 Byte length Attribute 485 address 16bit 0x022F Valid At stop As shown below, when target velocity Vc square wave command reaches Vc, it becomes trapezoidal wave after filtering.

  • Page 113: Encoder Feedback Output

    User Manual of iSV2-RS Integrated Servo 4.1.4 Encoder feedback output Motor position feedback of A, B phase to master device (controller) in pulse Related parameters Encoder output pulse count per Label Valid mode(s) revolution Pr0.11 Range 1~32767 Unit Default 2500 Byte length 16bit Attribute...
  • Page 114 User Manual of iSV2-RS Integrated Servo To set conditions for INP1 output signal to be valid Value Positioning completed signal Signal valid when the position deviation is smaller than Pr4.31 Signal valid when there is no position command and position deviation is smaller than Pr4.31 Signal valid when there is no position command, zero-speed clamp detection (ZSP) signal is ON and the positional deviation is smaller than...

  • Page 115: Velocity Control

    User Manual of iSV2-RS Integrated Servo 4.2 Velocity control Velocity mode precisely controls motor rotational speed/direction using analog velocity command or internal related parameters. There are 2 types of velocity control modes for iSV2- RS series Integrated Servo Motors: internal velocity 4 speeds, internal velocity 8 speeds Set Pr0.01 = 1 to activate velocity control mode.

  • Page 116: Velocity Command Input Control

    User Manual of iSV2-RS Integrated Servo 4.2.1 Velocity command input control Set velocity control mode in Pr3.00 Pr3.00 = 1 Internal velocity Velocity command Pr3.00 = 2 direction Analog + Pr3.01 Internal velocity Pr3.00 = 3 Internal velocity Label Velocity internal/external switching Valid mode(s) Range Unit...
  • Page 117 User Manual of iSV2-RS Integrated Servo Velocity command input inversion Set Analog-Velocity command (SPR) voltage polarity Velocity command input inversion Label Valid mode(s) Range Unit Default — Pr3.03 Byte length Attribute 485 address 16bit 0x0307 Valid Immediate To set voltage polarity of analog velocity command. Only valid when Pr3.01 = 0.

  • Page 118: Velocity Command Acceleration/Deceleration

    User Manual of iSV2-RS Integrated Servo 4.2.2 Velocity command acceleration/deceleration Acceleration/Deceleration is added onto velocity command input to control velocity. This function is valid when entering step-like velocity command or internal velocity settings is used to realize motor soft start. Use Sigmoid acceleration/deceleration to reduce vibration and impact due to changes in velocity.

  • Page 119: Velocity Reached Signal At-Speed Output

    User Manual of iSV2-RS Integrated Servo To set sigmoid acceleration and deceleration turning point in accordance to Pr3.12 and Pr3.13. Velocity Velocity (RPM) after acceleration/ deceleration Target settings velocity ta= Vc/1000 x Pr3.12 x 1ms td= Vc/1000 x Pr3.13 x 1ms Ts = Pr3.14 x 1ms Use when ta/2>ts、td/2>ts Time...

  • Page 120: Zero Speed Clamp

    User Manual of iSV2-RS Integrated Servo If the difference between velocity command and motor actual speed is below Pr4.35, Velocity coincidence (V-COIN) output signal valid. Due to 10RPM hysteresis: Velocity coincidence output OFF -> ON timing (Pr4.35 -10) r/min Velocity coincidence output ON -> OFF timing (Pr4.35 +10) r/min Position command after acceleration time Velocity...

  • Page 121: Torque Control

    User Manual of iSV2-RS Integrated Servo 4.3 Torque control Torque control mode is to the size of motor asserted torque through external analogue input or directly from set value internally. This control mode is applicable where torque is the main control and limiting factor.

  • Page 122: Torque Command Input Control

    User Manual of iSV2-RS Integrated Servo 4.3.1 Torque command input control Torque control mode settings Torque control mode includes 3 control modes as shown below. Set torque control mode in Pr3.17. Torque command Pr3.17 = 2 direction Pr3.22(Torque) Pr3.18 Pr3.21(Velocity) Torque internal/external switching Label Valid mode(s)

  • Page 123: Torque Velocity Limit

    User Manual of iSV2-RS Integrated Servo To set voltage polarity of analog torque command. Only valid when Pr3.18 = 0. Value Motor torque direction 【0】 「Positive voltage」→「Positive direction」 Not inversed 「Negative voltage」→「Negative direction」 「Positive voltage」→「Positive direction」 Inversed 「Negative voltage」→「Negative direction」 Torque command input gain To set voltage added on to switching gain of motor torque command from analog torque command(TRQR) Torque command input gain...

  • Page 124: Torque Limit (Tl-Sel)

    User Manual of iSV2-RS Integrated Servo 4.3.3 Torque limit (TL-SEL) This input function can be assigned through I/O configurations, please refer to Pr4.00. To set torque limiting method. Label Torque limit selection Valid mode(s) Range Default Unit — Pr5.21 Byte length 16bit Attribute 485 address...

  • Page 125: Hybrid Control Mode

    User Manual of iSV2-RS Integrated Servo 4.4 Hybrid Control Mode Hybrid control mode is for servo drive to be able to switch between different modes during operation. Hybrid control mode consists of the 3 listed below: • Position-velocity mode • Position-torque mode •...

  • Page 126: Chapter 5 Application Case

    User Manual of iSV2-RS Integrated Servo Chapter 5 Application Case 5.1 Gain Adjustment In order for servo driver to execute commands from master device without delay and to optimize machine performance, gain adjustment has to be done yet. High gain Low gain High gain + feedforward [r/min]...
  • Page 127 User Manual of iSV2-RS Integrated Servo Start Electronic gear ratio Inertia measuring Auto gain adjustment Requirement met? Manual gain adjustment Requirement met? Vibration suppression Gain Adjustment Flow...

  • Page 128: Inertia Ratio Identification Function

    User Manual of iSV2-RS Integrated Servo Steps Functions Explanation Online Motor moves with command from controller, servo driver will Inertia ratio automatically calculate load-inertia ratio identification Auto gain Auto gain Real time determining of mechanical load, gain value is set adjustment adjustment accordingly.
  • Page 129 User Manual of iSV2-RS Integrated Servo Online inertia determination Enable motor using controller. Let motor run at above 400rpm, make sure there are acceleration, constant velocity and deceleration phase during the whole run. Cycle through 2-3 times to calculate load-inertia ratio. Result can be found on the front panel d16 or through Motion Studio system monitoring page.
  • Page 130 User Manual of iSV2-RS Integrated Servo 6. Click on “Parameter List” to enter parameters management to check or modify Pr0.04. Then, click on “Save” to save parameters to driver. Please take note: 1. Trial run velocity and distance should be optimal to prevent any axis from bumping into objects. 2.

  • Page 131: Auto Gain Adjustment

    User Manual of iSV2-RS Integrated Servo 5.3 Auto gain adjustment This function will measure real time mechanical properties and set gain values in accordance to mechanical stiffness. Can be used in any control mode Conditions to implement Please refer to Pr0.02 for detailed explanations. Auto gain adjustment is Control mode different for each control mode.
  • Page 132 User Manual of iSV2-RS Integrated Servo There are 2 types of auto gain adjustment methods: • Standard mode (Pr0.02 = 1): Basic mode, prioritizing on stability, gain switching is disabled. Actual gain auto adjustment as accordance to Pr0.03. Gain related parameters that change as shown below. Parameter Label Remarks...
  • Page 133 User Manual of iSV2-RS Integrated Servo Label Real time Auto Gain Adjusting Valid mode(s) Range Unit Default 0x0~0xFF — Pr0.02 Byte length 16bit Attribute 485 address 0x0005 Valid Immediate Set up the mode of the real time auto gain adjusting. Value Content Details...
  • Page 134 User Manual of iSV2-RS Integrated Servo Gain parameters settings table gain gain Pr1.00 Pr1.01 Pr1.02 Pr1.04 Pr1.05 Pr1.06 Pr1.07 Pr1.09 Velocity loop Velocity loop Velocity Position Velocity Position Torque Torque integral time integral time loop loop loop loop gain filter filter constant constant...

  • Page 135: Manual Gain Adjustment

    User Manual of iSV2-RS Integrated Servo 5.4 Manual gain adjustment Due to limitation of load conditions, automatic gain adjustment might not achieve expected performance. Control can be improved through manual gain adjustment The servo system is made up of 3 control loops. From outer to inner: position loop, velocity loop, current loop as shown in the diagram below.
  • Page 136 User Manual of iSV2-RS Integrated Servo Step Parameter Label Tuning method To eliminate velocity loop deviation Actual velocity Command Reduce Pr1.02 velocity Pr1.02 Velocity loop integral time Velocity loop integral time constant (ms) = 4000 / （2*π*Velocity loop gain(Hz)） constant Reduce Pr1.02 to reduce positioning time.

  • Page 137: Parameters Adjustment Under Different Control Modes

    User Manual of iSV2-RS Integrated Servo 1. If vibration occurs with increasing Pr1.01, please modify Pr1.04 to suppress vibration. 2. If the parameters are set too high, it might cause current loop response to reduce. 3. To suppress vibration at stop, increase Pr1.01 and decrease Pr1.04. 4.
  • Page 138 User Manual of iSV2-RS Integrated Servo and 2 gain initial values are obtained by automatic gain adjustment Parameter Label Pr1.00 position loop gain Pr1.01 velocity loop gain Pr1.02 velocity integral time constant Pr1.03 velocity detection filter Pr1.04 torque filter time constant Pr1.05 position loop gain Pr1.06...

  • Page 139: Gain Switching

    User Manual of iSV2-RS Integrated Servo 5.4.2 Gain switching Gain switching function can be triggered internally in servo driver. Only valid under position or velocity control mode. Following effects can be realized by gain switching: 1. Switch to lower gain when motor stops to suppress vibration 2.
  • Page 140 User Manual of iSV2-RS Integrated Servo Start Pr0.02 – Standard mode Set Pr0.02 Pr0.02 – Manual/ Positioning mode Gain switching Pr1.15=0 Pr1.15=1 Set Pr1.15 PA1.15=3/5/6/9/10 Pr1.17~Pr1.19 gain gain Switch gain accordingly Related parameters on gain switching Parameter Label Remarks In position control, set Pr1.15=3、5、 Position control gain Pr1.15 6、9、10.
  • Page 141 User Manual of iSV2-RS Integrated Servo Label Position control gain switching mode Valid mode(s) Range Unit Default — 0～10 Pr1.15 Byte length 16bit Attribute 485 address 0x011F Valid Immediate In position control, set the conditions for gain switching to be valid. Value Condition Gain switching condition...
  • Page 142 User Manual of iSV2-RS Integrated Servo Set threshold value for gain switching to occur. Unit is mode dependent. Switching condition Unit Position Encoder pulse count Velocity Torque Please set level ≥ hysteresis Label Hysteresis at position control switching Valid mode(s) Range Unit Mode...

  • Page 143: Rd Gain Switching

    User Manual of iSV2-RS Integrated Servo 5.5 3 gain switching Besides switching between 1 and 2 gain, a 3 gain switching is added to set gain at the moment of stopping to reduce positioning time. Only available under position mode and Pr6.05 ≠ 0, set Pr6.06 for 3 gain value.

  • Page 144: Model Following Control

    User Manual of iSV2-RS Integrated Servo 5.6 Model following control Model following control is a type of closed loop control system. First, an ideal model is constructed and acts as a reference for actual model in a closed loop control. Model following control can be treated as a control mode with 2 flexibilities: Model reference can be used to improve command responsiveness and closed loop control used to increase responsiveness of the system towards interference.

  • Page 145: Feedforward Gain

    User Manual of iSV2-RS Integrated Servo 5.7 Feedforward gain In position control, velocity feedforward is calculated by comparing the velocity control command calculated internally and velocity command calculated from position feedback. Comparing to control only using feedbacks, this will reduce position deviation and increase responsiveness. Besides, by comparing the torque needed during motion from velocity control command in comparison with velocity feedback, torque feedback can be calculated to improve system responsiveness.

  • Page 146: Torque Feedforward

    User Manual of iSV2-RS Integrated Servo Velocity feedforward application Set Pr1.11 to around 50 (0.5ms), then tune Pr1.10 from 0 to bigger values until the velocity feedforward achieves better performance. Under constant velocity, the position deviation in a motion will decrease as the velocity feedforward gain increase. Steps to tuning: Increase Pr1.10 to increase responsiveness but velocity overshoot might occur during acc- /deceleration.
  • Page 147 User Manual of iSV2-RS Integrated Servo Torque feedforward application Set Pr1.13 to around 50 (0.5ms), then tune Pr1.10 from 0 to bigger values until torque feedforward achieves better performance. Under constant acc-/deceleration, the position deviation in a motion will decrease as the velocity feedforward gain increase. Steps to tuning: Increase Pr1.12 to increase responsiveness but velocity overshoot might occur during acc- /deceleration.

  • Page 148: Friction Compensation Function

    User Manual of iSV2-RS Integrated Servo 5.8 Friction compensation function This function is to compensation for changes in load to reduce the effect of friction in motion. The compensation value is directional. Velocity command Pr6.08 Pr6.07 Time Pr6.09 Velocity command Motor off Motor on Motor off...

  • Page 149: Safety Functions

    User Manual of iSV2-RS Integrated Servo Range Default -100~100 Unit Byte length Attribute 485 address 16bit 0x0613 Valid Immediate To reduce the effect of mechanical friction in the movement(s) of the axis. Compensation values can be set according to needs for both rotational directions. Applications: 1.

  • Page 150: Max. Duration For Motor To Stop After Disabling

    User Manual of iSV2-RS Integrated Servo 5.9.2 Max. duration for motor to stop after disabling Set max time duration for motor to stop after disabling. If the time taken for motor to stop exceeds the duration set in Pr6.14 and motor speed is still higher than Pr4.39, holding brake will be activated. If motor doesn’t have holding brake, dynamic braking will be activated to force stop the motor.
  • Page 151 User Manual of iSV2-RS Integrated Servo SRV_ON Brake released (BRK_ON) Brake BRK_OFF Motor Power Released Actual holding Braked Braked brake status Motor Velocity *1: Delay time set in Pr4.38 *2: Delay time from the moment BRK_OFF signal is given until actual holding brake is released or BRK_ON signal is given until actual holding brake is activated.

  • Page 152: Servo Stopping Mode

    User Manual of iSV2-RS Integrated Servo 5.9.4 Servo stopping mode Label Valid mode(s) Servo-off mode Range Default Unit — Pr5.06 Byte length 16bit Attribute 485 address 0x050D Valid Immediate To set servo driver disable mode and status. Set value Explanation Driver disables after velocity reaching value set in Pr4.39 Driver disables immediately, axis in free stopping mode 5.9.5 Emergency stop function...

  • Page 153: Vibration Suppression

    User Manual of iSV2-RS Integrated Servo 5.10 Vibration Suppression 5.10.1 Mechanical resonance suppression Mechanical system has certain resonance frequencies. When servo gain is increased, resonance might occur at around mechanical resonant frequencies, preventing gain value from increasing. In such situation, notch filter can be used to suppress resonance to set higher gains or lower vibration. To suppress mechanical resonance: Torque command filter time constant Set filter time constant to reduce gain at around resonant frequencies...
  • Page 154 User Manual of iSV2-RS Integrated Servo If the analytic result from mechanical properties analysis tool doesn’t show any obvious peak but vibration did occur, it might not be due to mechanical resonance, it may be that servo gain has reached its limit. This kind of vibration can’t be suppressed by using notch filter, only by reducing gain and torque command filter time.
  • Page 155 User Manual of iSV2-RS Integrated Servo Label Adaptive filtering mode settings Valid mode(s) Range Unit Default — Pr2.00 Byte length 16bit Attribute 485 address 0x0201 Valid Immediate Value Description Adaptive filter: invalid Parameters related to 3 notch filter remain unchanged Adaptive filter: 1 filter valid 1 adaptive filter becomes valid.
  • Page 156 User Manual of iSV2-RS Integrated Servo Set notch bandwidth for 2 resonant notch filter. Under normal circumstances, please use factory default settings. If resonance is under control, in combination with Pr2.04 and Pr2.06, Pr2.05 can be reduced to improve current loop responsiveness which allows higher mechanical stiffness settings.

  • Page 157: End Vibration Suppression

    User Manual of iSV2-RS Integrated Servo 5.10.2 End vibration suppression End vibration Direction Motor Moving body If the mechanical has an end that is long and heavy, it might cause end vibration at emergency stop and affect the positioning. Usually happens on long armed axis with loose end. The frequency is usually within 100Hz which is lower than mechanical resonant frequencies.

  • Page 158: Multiturn Absolute Encoder

    User Manual of iSV2-RS Integrated Servo The result of suppressing low frequency resonance End low frequency suppression End vibration is End vibration is 激光测试仪测 measured using laser measured using laser 试末端振动 measurement device measurement device Actual Actual velocity velocity Label damping frequency Valid mode(s) Range...

  • Page 159: Read Absolute Position

    User Manual of iSV2-RS Integrated Servo Valid After restart Value Mode Description 【0】 Doesn’t retain position data on power off. Unlimited travel distance. Incremental Multiturn Retrain position data on power off. For applications with fixed travel absolute distance and no multiturn data overflow. linear Multiturn Retrain position data on power off.
  • Page 160 User Manual of iSV2-RS Integrated Servo Install battery Pr0.15=1 Home process Finishing Homing process， set Pr0.15=9 Read absolute position *Note：The newly installed encoder is not initialized and will alarm 2、Read absolute position When the rotor turns in clockwise direction, the revolution count will be negative; turns in counter clockwise direction, the count will be positive.

  • Page 161: Absolute Encoder Related Alarm

    User Manual of iSV2-RS Integrated Servo Please make sure the homing point is within the range of 1 revolution of the rotor. Installation and setup of the homing point can be set with the use of auxiliary function D21 on the front panel. By setting Pr0.15 to 9, multiturn position will be cleared.

  • Page 162: Regenerative Resistor Settings

    User Manual of iSV2-RS Integrated Servo 5.12 Regenerative resistor settings When motor torque is acting the opposite direction of the rotational direction (i.e. Deceleration, vertical drop axis), energy will flow back into the drive. This will caused the capacitors inside the drive to increase in voltage which might cause over capacity.

  • Page 163: Chapter 6 Modbus Communication

    RS485 network of multiple servo drives If there is a need to connect multiple iSV2-RS series servo drives together, it is recommended to connect the drivers in series and no longer than 3 meters of CABLE-TX*M*-iSV cable between each nodes (drivers) as shown below.

  • Page 164: Modbus Rs485 Communication Parameters And Ports

    User Manual of iSV2-RS Integrated Servo 6.2 Modbus RS485 communication parameters and ports Communication parameters Label RS485 communication mode Valid mode(s) Range Default 0~255 Unit — Pr5.29 Byte length 16bit Attribute 485 address 0x053B Valid After restart Value Checksum Stop Even Even Null...
  • Page 165 User Manual of iSV2-RS Integrated Servo Switch SW to modify Baud rate and terminal resistor. Please refer to the table below. Terminal Diagram Function Pr6.33 Baud rate resistor Pr5.30 Motor (Default) Default: 9600 Disconnect direction Pr6.33=0 19200 Modbus Spin dial 38400 high bit Connected...

  • Page 166: Modbus Protocol

    User Manual of iSV2-RS Integrated Servo 6.3 Modbus Protocol iSV2-RS series servo drives contain 16-bit including function code 0x03, 0x06 and 0x10. - 0x03: Read data function code - 0x06: Write single data function code - 0x10: Write multiple data function code 6.3.1 Read Data 0x03...

  • Page 167: Write Multiple Data 0X10

    User Manual of iSV2-RS Integrated Servo Send Frame: Request Frame. Master device writes a 1 Word (16 bit) data (0x0002) into slave servo drive with ID no. 1 (Address 0x0004). 6-byte CRC value is 0xCA49 before frame sending. Receive Frame: Reply frame. Master device writes data into slave servo drive with ID no. 1 and get same data frame back.

  • Page 168: Reply Error

    User Manual of iSV2-RS Integrated Servo 6.3.4 Reply error When driver receives request frame data format with error, driver will feedback error reply data frame to master device. Error reply frame data (Slave->Master) Slave ID 0~31 Function code (0x03/0x06/0x10)+0x80 Error code Address 0x01/0x02/0x03 Checksum...

  • Page 169: Alarm Info Parameters

    User Manual of iSV2-RS Integrated Servo 0x2233 Reset all parameters to factory default 0X4001 JOG left (once every 100ms)* 0X4002 JOG right (once every 100ms)* Note: Continuous JOG motion is only possible if signal is triggered with interval time under 100ms. Step motion if interval time >100ms.

  • Page 170: Frequently Occurred Issues And Solutions With Rs485 Communication

    User Manual of iSV2-RS Integrated Servo 6.4 Frequently occurred issues and solutions with RS485 communication. Terminal resistor Terminal resistor is to be connected at the start and end of the device network. Recommended resistance of the terminal resistor: 120 Ohm. Measure the resistance within the network using a multimeter and refer to the table below.
  • Page 171 User Manual of iSV2-RS Integrated Servo Signal interference External interference: Magnetic ring can be intertwined within cable 1 and 2 to prevent external interference. Driver interference: If interference occurs within the driver, please intertwine magnetic rings on cable 1 and 2. Please loop UVW cables around the magnetic ring for at least 3 rounds. Do not loop PE wire into the magnetic ring.
  • Page 172 User Manual of iSV2-RS Integrated Servo Step-by-step problem solving 1: Verify if communication parameters setting are correct (ID not repeated, uniform Baud rate and data format); 2: If terminal resistor used is correct; 3: If wiring connection is correct; 4: Verify grounding and PE connection; 5: Communication cables should be separated from power cables.

  • Page 173: Chapter 7 Pr Mode

    User Manual of iSV2-RS Integrated Servo Chapter 7 PR mode PR function is a control module in servo drive that controls single axis motion using PRocedure program. Main single axis motion control functions included homing, path, position limit and emergency stop. Using PR functions can save the resources on the main controller. Integrated drive Please set Pr0.01 = 6 when using PR functions.

  • Page 174: Pr Functions Introduction

    User Manual of iSV2-RS Integrated Servo 7.1 PR functions introduction Function Description Homing Driver seeks origin signal through homing to determine zero point of the mechanical motion coordination system Homing mode configurable. Can be chosen between position limit signal homing, origin signal homing and manually set home;...

  • Page 175: Control Parameters

    User Manual of iSV2-RS Integrated Servo 7.2 Control parameters All PR motion related parameters including trigger, status output, limits, emergency stop, JOG, homing, etc. Param 485 Addr. Label Description eter PR control functions 0X6000 Bit 0：=0，CTRG rising edge trigger =1，double edges trigger ; ，...
  • Page 176 User Manual of iSV2-RS Integrated Servo 0X600F Pr8.15 High homing velocity Set high homing velocity 0X6010 Pr8.16 Low homing velocity Set low homing velocity 0X6011 Pr8.17 Homing acceleration Set homing acceleration 0X6012 Pr8.18 Homing deceleration Set homing deceleration Homing torque holding 0X6013 Pr8.19 Set homing torque holding time...

  • Page 177: Pr Motion

    User Manual of iSV2-RS Integrated Servo 7.3 PR Motion 7.3.1 Homing Homing is divided into 5 methods according to home signal: Single turn Z-phase homing, position limit homing, origin homing, torque homing, manually set home. Position limit homing, origin homing and torque homing can be with or without Z-signal. Homing can be triggered upon power on or using I/O after servo enabled.
  • Page 178 User Manual of iSV2-RS Integrated Servo Position limit, origin and torque homing with Z-signal Negative limit homing Sta rt Hig h ve loci ty Low Vel ocit y Z-sig nal Neg ativ e li mit A: Sta rts from NOT = OFF B: Sta rts from NOT = ON Positive limit homing...
  • Page 179 User Manual of iSV2-RS Integrated Servo Origin homing – Positive direction Start Low velocity High velocity Z-signal Origin switching Positive limit A:Starts from ORG=OFF and POT=OFF B:Starts from ORG=ON and POT=OFF C:Starts from ORG=OFF and POT=OFF Torque homing – Negative direction Start High Velocity Low velocity...
  • Page 180 User Manual of iSV2-RS Integrated Servo Position limit, origin, torque and manual set home (Homing with single condition) Negative limit homing Start High velocity Low velocity Negative limit A:Starts from NOT=OFF B:Starts from NOT=ON Positive limit homing Start High velocity Low velocity Positive limit A:Starts from...
  • Page 181 User Manual of iSV2-RS Integrated Servo Origin homing – Positive direction Start Low velocity High velocity Origin switching Positive limit A：Starts from ORG=OFF and POT=OFF B：Starts from ORG=ON and POT=OFF C：Starts from ORG=OFF and POT=OFF Torque homing – Negative direction Low velocity Start Torque homing –...

  • Page 182: Position Limit And Emergency Stop

    User Manual of iSV2-RS Integrated Servo 7.3.2 Position limit and emergency stop For safety concerns, PR mode is designed to trigger emergency stop when position limit or emergency stop signal is valid. Please refer to the sequence diagram below. Velocity Deceleration Emergency stop / Position...

  • Page 183: Path Motion

    User Manual of iSV2-RS Integrated Servo 7.3.4 Path motion Path motion: Segmented, continuous, interrupted. Path positioning: Position, velocity, homing. PR path is to a total of 16 paths. Every path can be set with motion type, positioning mode, velocity, acceleration, deceleration and pause time independently. Parameter Label Description...
  • Page 184 User Manual of iSV2-RS Integrated Servo Path motion Segmented trigger CTRG rising edge/double edges trigger (Pr8.00) a segmented motion. Please refer to the sequence diagram below with rising edge trigger of path 5. Pause time Velocity CTRG Enable ADD 0-3 Continuous path completed CMD _ OK...
  • Page 185 User Manual of iSV2-RS Integrated Servo Non-overlap continuous motion Path motion continues by another, no trigger needed for the next one to start. Non-overlap continuous PR 2 Stop DELAY 1 PR 2 PR 1 Path： INP ： Overlapping continuous motion Path motion starts immediate after the previous path motion is completed without deceleration or trigger in between.

  • Page 186: Pr Control

    User Manual of iSV2-RS Integrated Servo 7.4 PR Control 7.4.1 PR module in Motion Studio Using Pr-Motion function in Motion Studio, PR parameters can be set including trigger settings, software position limit, JOG, homing, emergency stop, etc. Manual triggering of homing, path motion or emergency stop can also be triggered on this interface.
  • Page 187 User Manual of iSV2-RS Integrated Servo All class 9 parameters for 0-15 paths can be found here once connected to a servo drive that supports PR mode. Manual control of servo drive in PR mode can be done in this page.

  • Page 188: Physical I/O

    User Manual of iSV2-RS Integrated Servo 7.4.2 Physical I/O Path motion, feedback status, etc can be triggered through I/O in PR mode. Please refer to the table below for I/O assignments in PR mode. Input Output Label Signal Value Label Signal Value Command trigger...
  • Page 189 User Manual of iSV2-RS Integrated Servo Pause Trigger S1.L S1.H S2.L S2.H S-code Valid upon enabling and completion of S1 and S2 S1.L S2.H Valid when S1 enabled and S2 completed S-code bit bit0/8 bit1/9 bit2/10 bit3/11 bit4/12 bit5/13 Bit6/14 I/O trigger Path motion trigger: Edge trigger/combination trigger(Pr8.26).

  • Page 190: Communication

    User Manual of iSV2-RS Integrated Servo ADD3 ADD2 ADD1 ADD0 Path selection Path 0 (Non-action) Path1 Path2 Path3 Path4 Path5 Path6 Path7 Path8 Path9 Path10 Path11 Path12 Path13 Path14 Path15 7.4.3 485 communication 485 communication can be used to achieve the same functions as with I/O, modifying PR related parameters and trigger path motions.
  • Page 191 User Manual of iSV2-RS Integrated Servo Write 0x040 Emergency stop Read 0x000P Positioning completed. Ready to receive new data Read 0x01P, 0x020, Yet to respond to command 0x040 Read 0x10P Path motion undergoing Read 0x200 Command completed. Waiting for positioning PR mode communication address: Class 8 parameters: 0x6000+(Param-ID-800).

  • Page 192: Path Trigger

    User Manual of iSV2-RS Integrated Servo 7.4.4 Path trigger Fixed trigger Fixed triggering method is to set all 16 paths homing and other settings, then through Pr8.02 (trigger register to replace CTRG and HOME) to enable path. Recommended for simple applications with fixed motions.

  • Page 193: Pr Motion

    User Manual of iSV2-RS Integrated Servo 10-11 Pr9.01 Position high bit XXXX 12-13 Pr9.02 Position low bit XXXX 14-15 Pr9.03 Velocity XXXX 16-17 Pr9.04 Acceleration XXXX 18-19 Pr9.05 Deceleration XXXX 20-21 Pr9.06 Delay time XXXX 22-23 Pr9.07 Trigger control 0x0010 Checksum Lo Checksum Hi Slave response frame byte data...

  • Page 194: Control Using 485 Communication

    User Manual of iSV2-RS Integrated Servo 7.5.2 Control using 485 communication 485 communication data frame format Byte(x) Definition Function Addr. Addr. Data Data code High High checksum checksum 8-bit 8-bit 8-bit 8-bit Low 8-bit High 8-bit Please refer to Modbus communication in Chapter 6 to use Word function code writing. The request and respond frame data format is similar.
  • Page 195 User Manual of iSV2-RS Integrated Servo Set PR1 to travel to absolute position = 200000 (10000 pulse/rev) 485 communication data frame Description 01 06 62 08 00 01 D6 70 Set PR1 mode 01 06 62 09 FF FC 07 C1 Set PR1 position high bit 01 06 62 0A F2 C0 F3 40 Set PR1 position low bit...

  • Page 196: Chapter 8 Warning And Alarm

    User Manual of iSV2-RS Integrated Servo Chapter 8 Warning and Alarm 8.1 Servo Drive alarm indicator Green LED: Power ON/Motor enable ON for once: Power ON Always ON: Motor Enable Blinking: Motor Disable OFF: Power OFF Red LED: Alarm indicator (Motor stops when alarm indicator is ON) Blink for 5s/cycle (Please refer to the table below) OFF: Alarm cleared Error...

  • Page 197: Servo Drive Alarm

    User Manual of iSV2-RS Integrated Servo 8.2 Servo drive alarm Table 8.1 Error Code List Error code Attribute Content Main Save E.Stop Clearable ● FPGA communication error ● Circuit current detection error ● 2 , 4 Analog input error ● Motor power cable not connected ●...

  • Page 198: Alarm Handling

    User Manual of iSV2-RS Integrated Servo ● I/O input interface function assignment error I/O output interface function assignment ● error CRC correction during EEPROM parameter saving Positive/Negative position limit triggered ● ● ● under non-homing mode ● ● Analog 1 input overrun limit Control mode not match under full closed ●...
  • Page 199 User Manual of iSV2-RS Integrated Servo Main Display: “Er 0A3” Error code Content: Motor power cable not connected Cause Diagnosis Solution Motor power cable not Verify motor power cable Measure resistance values connected wiring between U, V, W terminals, make sure the values are almost equal.
  • Page 200 User Manual of iSV2-RS Integrated Servo Main Display: “Er 0E0” Error code Content: Overcurrent Cause Diagnosis Solution Motor wiring error Verify motor wiring Reconnect motor wiring Disconnect motor output cable. IGBT module short Then, enable servo driver to Replace driver circuit check for overcurrent Control parameter...
  • Page 201 User Manual of iSV2-RS Integrated Servo Main Display: “Er 102” Error code Content: Motor rotor blocked Cause Diagnosis Solution Motor rotor blocked Look for mechanical blockages Check the machinery Motor rotor blocking time threshold value Verify value of Pr6.57 Adjust value of Pr6.57 too low Main Display:...
  • Page 202 User Manual of iSV2-RS Integrated Servo disconnected connected Encoder cable wiring error Verify if encoder wiring is correct Reconnect encoder wiring Encoder damaged Replace motor Encoder measuring circuit Replace driver damaged Main Display: “Er 151” Error code Content: Encoder communication error Cause Diagnosis Solution...
  • Page 203 User Manual of iSV2-RS Integrated Servo Main Display: “Er 154” Error code Content: Encoder parameter settings error Cause Diagnosis Solution Absolute encoder mode Verify if encoder has multi-turn Modify absolute encoder mode is incorrectly set. absolute value function. settings Main Display: “Er 155”...
  • Page 204 User Manual of iSV2-RS Integrated Servo Main Display: “Er 171” Error code Content: Encoder parameter initialization error Cause Diagnosis Solution Driver and motor Replace with matching driver and Verify driver and motor models. not matched motor 1. Verify if encoder cable is standard. Use standard encoder cable, verify Error while getting 2.
  • Page 205 User Manual of iSV2-RS Integrated Servo Main Display: “Er 191” Error code Content: Excessive hybrid position deviation Cause Diagnosis Solution Driver UVW terminal output Make sure UVW terminals are Verify if UVW terminal wiring single phasing or wiring error correctly connected to UVW of motor; connection is right change motor power cable.
  • Page 206 User Manual of iSV2-RS Integrated Servo Main Display: “Er 210” Error code Content: I/O input interface assignment error Cause Diagnosis Solution Input signal assigned with Verify values of Pr4.00-Pr4.09, Set proper values for Pr4.00- two or more functions. Pr4.44-4.47 Pr4.09, Pr4.44-4.47 Main Display: “Er...
  • Page 207 User Manual of iSV2-RS Integrated Servo Cause Diagnosis Solution Forced alarm input Verify forced alarm input signal Verify if the input wiring connection is signal occurred correct Main Display: “Er 5F0” Error code Content: Motor model no. detection error Cause Diagnosis Solution Automatically detected...
  • Page 208 User Manual of iSV2-RS Integrated Servo Main Display: “Er 880” Error code Error description: Modbus communication timeout Cause Diagnosis Solution Please check if the Make sure the communication Communication communication cable is properly connection is secured timeout connected Main Display: “Er 890”...

  • Page 209: Alarm Clearing

    User Manual of iSV2-RS Integrated Servo 8.4 Alarm clearing 8.4.1 Servo Drive Alarm Clearing Clearable Alarm Please clear alarm using Motion Studio after solving the error by clicking on the “Clear” button. Non-clearable Alarm Please restart drive to clear alarm...

  • Page 210: Contact Us

    North America Office Address: 26050 Towne Centre Dr. Foothill Ranch California United States Get in touch with us or any of your local Leadshine Tel: certified retailers by visiting our global website. 1-949-608-7270 Fax: Technical Support 1-949-638-7298 Tel: 86-755-2641-8447 Website: 86-755-2641-8774 (Asia, Australia, Africa) www.leadshineus...

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