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Inovance SV660N Startup Procedure

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Start up procedure
SV660N
INOVANCE TECHNOLOGY EUROPE
V1.4
2022

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Summary of Contents for Inovance SV660N

  • Page 1 2022 Start up procedure SV660N INOVANCE TECHNOLOGY EUROPE V1.4...

  • Page 2: Table Of Contents

    Continuos oscilloscope ........................25 Trigger oscilloscope ..........................26 6.8.1 EtherCAT position interpolation ...................... 27 6.8.2 SYNC and IRQ phase position (µs) [49] .................... 29 Blackbox ............................... 33 6.11 Change Interface Language ......................... 34 INOVANCE TECHNOLGY EUROPE GmbH SV660N Startup Procedure_EN_v1.4_20220826.docx...
  • Page 3 Axis Scaling ..............................35 SV660N scaling configuration ......................35 InoProShop scaling configuration ......................36 7.2.1 Velocity calculation ......................... 39 Absolute encoder system ..........................40 Linear mode ............................40 8.1.1 Master controller home ........................42 8.1.2 Local home ............................43 Data range in the absolute position linear mode ................44 Absolute encoder system parameters diagram...................

  • Page 4: General Data

    PURPOSE OF THIS DOCUMENT The purpose of this document is to facilitate the start-up and diagnosis of the SV660 servo drive. The SV660N series high-performance AC servo drive covers a power range from 50 W to 7.5 kW. It supports EtherCAT communication protocol to work with the host controller for a networked operation of multiple servo drives.

  • Page 5: Wiring & Communication

    WIRING & COMMUNICATION INOVANCE TECHNOLGY EUROPE GmbH SV660N Startup Procedure_EN_v1.4_20220826.docx...

  • Page 6: Connection Of Sto Terminals

    STO1 or STO2 (or both ) is "0" or "L", the servo drive cannot run. Figure 2. Example of internal 24 V connection Figure 1. Example of external 24 V connection INOVANCE TECHNOLGY EUROPE GmbH SV660N Startup Procedure_EN_v1.4_20220826.docx...

  • Page 7: Serial Communication Cable

    SERIAL COMMUNICATION CABLE The cable used to connect the SV660N with the computer is S6-L-T00-3.0. It is a DB9 (PC side) to RJ45 (drive side) cable. The physical layer is according to RS232 communication. Model Number: S6-L-T00-3.0 Material Code: 15041243 Figure 1.

  • Page 8: Inodrivershop

    INODRIVERSHOP InoDriverShop is the commissioning and diagnostic tool for SV660N drives series. This document explain the InoDriverShop version v3.2.1.1 INSTALL AND EXECUTE INODRIVERSHOP This program does not need to be installed. Unzipping the file in a folder on your computer is enough to run it.
  • Page 9 4. This message shows when the search ends 5. Name of the project 6. Folder where project is stored Select the SV660N Drive which connected on the serial port communication and define the project name then press the button “Finish” INOVANCE TECHNOLGY EUROPE GmbH...

  • Page 10: User Interface

    3. This section shows the different screens of the program 4. Parameter monitor. By dragging the tabs it is possible to organize the different windows or sections of the program as shown in the following image: INOVANCE TECHNOLGY EUROPE GmbH SV660N Startup Procedure_EN_v1.4_20220826.docx...

  • Page 11: Commisioning And Operation

    From EtherCAT Master: ex. MC_Power Check: From InoDriverShop: Communications From EtherCAT: Control & Status word Inertia Auto-tuning See 6.6.1 Inertia Auto-tunig STUNE ETUNE See 6.6.2 or 6.6.3 Gains Auto-tunig Manual Gains tuning Vibration Suppression INOVANCE TECHNOLGY EUROPE GmbH SV660N Startup Procedure_EN_v1.4_20220826.docx...

  • Page 12: Power Supply

    6.4.3 JOGGING The jog function can be started using the keypad (jogging in the speed mode/jogging in the position mode) or Inovance software tool (jogging in the speed mode). 1. Open Jog screen INOVANCE TECHNOLGY EUROPE GmbH SV660N Startup Procedure_EN_v1.4_20220826.docx...
  • Page 13 2,3. Change speed and acceleration values 4. Enable drive (S-ON signal) 5,6. Move forward and reverse in jog mode INOVANCE TECHNOLGY EUROPE GmbH SV660N Startup Procedure_EN_v1.4_20220826.docx...

  • Page 14: Motor Parameters

    6.4.4 MOTOR PARAMETERS If the motor belongs to INOVANCE MS1 Series Servo Motor, the parameters are stored in the encoder. Therefore, it is not necessary to configure the motor parameters, but it is important to verify that the parameter "H00-00 Motor Code" corresponds to the motor code indicated on the nameplate.
  • Page 15 Parram. Name Range H00-00 Motor 14000 Inovance motor with incremental encoder. code Encoder resolution: 1048576 (2 14101 Inovance motor with absolute encoder. Encoder resolution: 8388608 (2 H00-05 Serial- The definition of H00-05 shown as below table. type For example, 11408 means 750W MS1 H4 series motor with serial bus encoder without PTC.
  • Page 16 Rated Voltage H00-09 = 220 V Rated Power H00-10 = 0.4 kW Rated Current H00-11 = 2.8 A Rated Torque H00-12 = 1.27 Nm Max. Torque H00-13 = 4.46 Nm Motor Code H00-00 = 14101 INOVANCE TECHNOLGY EUROPE GmbH SV660N Startup Procedure_EN_v1.4_20220826.docx...

  • Page 17: Parameter Management

    3. Click on “Upload and save (Current page all)” 4. The following message appears. Select whether the parameters H00, H01 should be saved in the parameter file. 5. Select the file to save the parameters INOVANCE TECHNOLGY EUROPE GmbH SV660N Startup Procedure_EN_v1.4_20220826.docx...

  • Page 18: Restore

    3. Click on “Write all (Except groups H00 and H01)”. A progress bar show the downloading process status The following message appears. It is recommended to reset the drive after downloading parameters. Click on Yes to reset the drive software. INOVANCE TECHNOLGY EUROPE GmbH SV660N Startup Procedure_EN_v1.4_20220826.docx...

  • Page 19: Offline Edit

    5. Select the corresponding parameter file in the open file dialog box 6. Select the corresponding parameter section 7. Edit the “current value” of the parameter Changes made to the parameter values are automatically saved in the corresponding parameter file INOVANCE TECHNOLGY EUROPE GmbH SV660N Startup Procedure_EN_v1.4_20220826.docx...

  • Page 20: Comparison

    After opening the parameter file the values of this file are loaded in the column "Setting value". 2. Click “Compare” button and select “The set value is different from the current value” 3. This is the comparison result: INOVANCE TECHNOLGY EUROPE GmbH SV660N Startup Procedure_EN_v1.4_20220826.docx...
  • Page 21 After opening the parameter file the values of this file are loaded in the column "Setting value". 2. Click “Compare” button and select “The set value is different from the factory value” 3. This is the comparison result: INOVANCE TECHNOLGY EUROPE GmbH SV660N Startup Procedure_EN_v1.4_20220826.docx...

  • Page 22: Gain Tuning

    Set these parameters to proper values to keep a balanced performance. NOTE Before gain tuning, perform a trial run through jogging to ensure the motor operates properly. The following figure shows the general procedure for gain tuning. INOVANCE TECHNOLGY EUROPE GmbH SV660N Startup Procedure_EN_v1.4_20220826.docx...

  • Page 23: Inertia Auto-Tuning

    4. Parameter H09-09 - Customized number of motor revolutions per inertia auto-tuning 5. Parameter H09-05 - Offline inertia auto-tuning mode Unidireccional b. Bidireccional 6. Button to go to the next step. Click this button when the inertia settings are ok. INOVANCE TECHNOLGY EUROPE GmbH SV660N Startup Procedure_EN_v1.4_20220826.docx...
  • Page 24 H09-03h = 3: Applicable to the scenario where the actual inertia ratio changes rapidly, such as transportation manipulator. NOTE Do not use online inertia auto-tuning in applications involving hitting against limit switches and press fitting. INOVANCE TECHNOLGY EUROPE GmbH SV660N Startup Procedure_EN_v1.4_20220826.docx...

  • Page 25: Stune

    The STune function is intended to be used in applications featuring slight load inertia changes. For applications featuring dramatic inertia changes or where inertia auto-tuning is unavailable (due to operating speed too low or acceleration rate too small), disable the STune function after initial power-on. INOVANCE TECHNOLGY EUROPE GmbH SV660N Startup Procedure_EN_v1.4_20220826.docx...
  • Page 26 The Stune will detect the mechanical resonance points and set the notch filters Set H09-00 to 0 to adjust Manual Gains tuning the gains manually. Close Stune dialog INOVANCE TECHNOLGY EUROPE GmbH SV660N Startup Procedure_EN_v1.4_20220826.docx...
  • Page 27 INOVANCE TECHNOLGY EUROPE GmbH SV660N Startup Procedure_EN_v1.4_20220826.docx...
  • Page 28 STEP 1 - Self-Adjustment mode (Firmware version H01-00<903.0 H02-00=0): Inertia Model Affected Speed Gain Resonance Disturbance Notch H09-00 Application auto- Tracking PDFF parameters Feedforward switchover suppression Observer Filter tuning Function Manual mode Manual gain tuning is needed. Can be None configured Standard Gain auto-tuning is performed...
  • Page 29 10ms, with Cannot be H08-31 H08-01 small inertia adaptation range. H09- min.) H08-02 configured H08-32 H08-42=1 • medium stability requirements 02=3 H09-03 = H08-43 • fast response requirements H08-46 • some overshoot INOVANCE TECHNOLGY EUROPE GmbH SV660N Startup Procedure_EN_v1.4_20220826.docx...
  • Page 30 STEP 2 - Load inertia ratio setting Please, refer to the section 6.6.1 Inertia Auto-tuning STEP 3 - Rigidity Setting The value range of H09-01 (Stiffness level selection) is 0 to 41. The level 0 indicates the weakest stiffness and lowest gain and level 41 indicates the strongest stiffness and highest gain.

  • Page 31: Etune

    The auto-tuned parameters can be saved and exported as a recipe for use in other devices of the same model. The ETune function is intended to be used in applications featuring slight load inertia changes. INOVANCE TECHNOLGY EUROPE GmbH SV660N Startup Procedure_EN_v1.4_20220826.docx...
  • Page 32 Click OK to stop motor ETune is completed The Etune results can be stored in a file. ETune results Click on “Cancel” button to finalize the procedure INOVANCE TECHNOLGY EUROPE GmbH SV660N Startup Procedure_EN_v1.4_20220826.docx...

  • Page 33: Inertia Ratio Calculation

    In this example the inertia ratio of the Inovance’s motor MS1H1-40B30CB and a 400g and 95mm diameter pulley is calculated. In this case we can know the inertia of the load, but normally this data is not known exactly.
  • Page 34 The theoretical calculation of the inertia of the pulley is: �� · �� 0.4���� · 0.0475 �� −4 Disk Inertia = = 4.51 · 10 ���� · �� The theoretical result is almost the same as that calculated with the motor graphs. INOVANCE TECHNOLGY EUROPE GmbH SV660N Startup Procedure_EN_v1.4_20220826.docx...

  • Page 35: Rigidity Level Calculation

    + 0.376 · 10 ���� · �� �� �� �� �� where ∑ ��������������=moment of inertia(Kgm α=angular acceleration (rad/s From the following table it can be calculated the rigidity level around 24. Then H09-01 = 24 INOVANCE TECHNOLGY EUROPE GmbH SV660N Startup Procedure_EN_v1.4_20220826.docx...
  • Page 36 INOVANCE TECHNOLGY EUROPE GmbH SV660N Startup Procedure_EN_v1.4_20220826.docx...
  • Page 37 0.07 2.19 464.6 0.07 529.8 2.07 492.3 984.6 0.07 593.4 1.84 551.4 0.06 2.19 464.6 0.07 593.4 1.84 551.4 1102.8 0.06 664.6 1.64 617.6 0.05 2.19 464.6 0.07 664.6 1.64 617.6 1235.2 0.05 INOVANCE TECHNOLGY EUROPE GmbH SV660N Startup Procedure_EN_v1.4_20220826.docx...

  • Page 38: Mechanical Analysis

    Current Excitation: Percentage of torque used to realize the test. To avoid strong vibration, the excitation level usually set as 10% at the beginning, it can adjust the value according to the wave feedback. INOVANCE TECHNOLGY EUROPE GmbH SV660N Startup Procedure_EN_v1.4_20220826.docx...
  • Page 39 This result in high dynamics. The bandwidth in the Bode plot is determined by the point at which the gain plot crosses -3dB or the phase reach -90 degrees. INOVANCE TECHNOLGY EUROPE GmbH SV660N Startup Procedure_EN_v1.4_20220826.docx...
  • Page 40 Example 1: Pulley 32T 0.095 kg Antiresonance - Resonance distance Example 2: Pulley 60T 0.480 kg INOVANCE TECHNOLGY EUROPE GmbH SV660N Startup Procedure_EN_v1.4_20220826.docx...
  • Page 41 Antiresonance - Resonance distance INOVANCE TECHNOLGY EUROPE GmbH SV660N Startup Procedure_EN_v1.4_20220826.docx...
  • Page 42 Example 1: Two pulleys with a belt. In this case it can be seen how the mechanical analysis shows two resonance points due to the two pulleys coupled by a belt. INOVANCE TECHNOLGY EUROPE GmbH SV660N Startup Procedure_EN_v1.4_20220826.docx...
  • Page 43 Example 2: One pulley. Mechanical analysis shows only one resonance point because the load coupled to the motor is made up of a single element. INOVANCE TECHNOLGY EUROPE GmbH SV660N Startup Procedure_EN_v1.4_20220826.docx...

  • Page 44: Filter Adjustment

    If the mechanical load end is long and heavy, vibration may easily occur on this part during fast ramps, affecting the settling time. Such vibration is called low frequency resonance as its frequency is generally within 100 Hz INOVANCE TECHNOLGY EUROPE GmbH SV660N Startup Procedure_EN_v1.4_20220826.docx...
  • Page 45 Use the low frequency resonance suppression function to suppress such vibration. Trace the position following error waveform using the oscilloscope function in INOVANCE software tool and calculate the position following error fluctuation frequency, which is the low-frequency resonance frequency. Next, input H09-38 (or H09-44) and H09-49 manually, and keep the values of other parameters to their default values.
  • Page 46 100, the input can be fully received at the center frequency. Therefore, the smaller the depth level is, the larger the notch depth is, and the stronger the suppression effect will be. Note that a too small depth level may lead to system oscillation. INOVANCE TECHNOLGY EUROPE GmbH SV660N Startup Procedure_EN_v1.4_20220826.docx...
  • Page 47 The adaptive notch (H09-02 = 1 or 2) is preferred for resonance suppression. The manual notch can be used in cases where the adaptive notch cannot deliver desired performance. Procedure for using the adaptive notch: INOVANCE TECHNOLGY EUROPE GmbH SV660N Startup Procedure_EN_v1.4_20220826.docx...
  • Page 48 INOVANCE TECHNOLGY EUROPE GmbH SV660N Startup Procedure_EN_v1.4_20220826.docx...

  • Page 49: Model Tracking Function

    H08-51: Model filter time 2 (as below curves, increasing H08-51 from 0 to 0.5ms, it can effectively reduce overshoot caused by too strong feedforward) Drive Parameter Description Unit Range Default H08-42 Model control selection 0 to 1 H08-43 Model Gain 0.1 to 2000 H08-46 Model feedforward 0 to 102.4 INOVANCE TECHNOLGY EUROPE GmbH SV660N Startup Procedure_EN_v1.4_20220826.docx...

  • Page 50: Gain Adjustment Parameters

    Disturbance compensation gain Observer Inertia correction coefficient of H08-33 disturbance observer 100 % 1600 Phase modulation of medium- H08-37 frequency jitter suppression 2 Mechanical Frequency of medium-frequency Resonance H08-38 jitter suppression 2 0 Hz 1000 INOVANCE TECHNOLGY EUROPE GmbH SV660N Startup Procedure_EN_v1.4_20220826.docx...
  • Page 51 Frequency of the 1st notch 8000 HZ 8000 8000 H09-13 Width level of the 1st notch H09-14 Depth level of the 1st notch H09-15 Frequency of the 2nd notch 8000 HZ 8000 8000 INOVANCE TECHNOLGY EUROPE GmbH SV660N Startup Procedure_EN_v1.4_20220826.docx...
  • Page 52 Frequency of low-frequency resonance suppression 3 at the H09-49 mechanical end Response of low-frequency resonance suppression 3 at the H09-50 mechanical end 0.01 Width of low-frequency resonance suppression 3 at the mechanical H09-52 INOVANCE TECHNOLGY EUROPE GmbH SV660N Startup Procedure_EN_v1.4_20220826.docx...
  • Page 53 Current Function Minimum Maximum Default code ID Description value Unit value value Value H09-56 STune mode setting STune resonance suppression H09-57 switchover frequency 900 Hz 4000 STune resonance suppression reset H09-58 selection INOVANCE TECHNOLGY EUROPE GmbH SV660N Startup Procedure_EN_v1.4_20220826.docx...
  • Page 54 6.6.9.1 GAIN ADJUSTMENT PARAMETERS DIAGRAM INOVANCE TECHNOLGY EUROPE GmbH SV660N Startup Procedure_EN_v1.4_20220826.docx...

  • Page 55: Continuos Oscilloscope

    .At this time, the data is still being collected, but the interface data is not refreshed. After clicking the , the sampling resumes, and the collected data can still be displayed normally during the pause INOVANCE TECHNOLGY EUROPE GmbH SV660N Startup Procedure_EN_v1.4_20220826.docx...

  • Page 56: Trigger Oscilloscope

    6063h (encoder unit) H0B-17 Position following error H0B-15 62.5µs Position following deviation-reference unit H0B-53 250µs Following Error Actual Value 60F4h Speed reference (rpm) H0B-01 62.5µs Speed feedback (rpm) 606Ch (instruction unit/s) 62.5µs INOVANCE TECHNOLGY EUROPE GmbH SV660N Startup Procedure_EN_v1.4_20220826.docx...

  • Page 57: Ethercat Position Interpolation

    Update Rate Real-time target absolute position CiA402 target position 607Ah + 60B0h EtherCAT cycle Position reference absolute value CiA402 position demand value 6062h 250µs (encoder unit) Position reference unfiltered: 250µs position increment Trigger configuration: INOVANCE TECHNOLGY EUROPE GmbH SV660N Startup Procedure_EN_v1.4_20220826.docx...
  • Page 58 Example 1: EtherCAT cycle time 4ms Example 2: EtherCAT cycle time 8ms INOVANCE TECHNOLGY EUROPE GmbH SV660N Startup Procedure_EN_v1.4_20220826.docx...

  • Page 59: Sync And Irq Phase Position (Μs) [49]

    6.8.2 SYNC AND IRQ PHASE POSITION ( µS) [49] SV660N uses the Distributed Clock mode to maintain an exact synchronization with the master. [Source EtherCAT.org] The method of Distributed Clocks provides highly precise time synchronization between slaves in an EtherCAT network. Since DC refers to the ESC-internal clocks, synchronization time between slaves can be guaranteed to much better than 1μs.
  • Page 60 [49] value is too high. This is because EtherCAT SYNC signal is very close to Master IRQ interruption and these two signals are overlapping. In this example, the "Time Shift" parameter of the master has been modified from 12% to 30% to cause this effect INOVANCE TECHNOLGY EUROPE GmbH SV660N Startup Procedure_EN_v1.4_20220826.docx...
  • Page 61 However, the transmission time of the frame may fluctuate depending on the implementation of the master, and therefore the frame carrying new output data may overlap with the SYNC signal. INOVANCE TECHNOLGY EUROPE GmbH SV660N Startup Procedure_EN_v1.4_20220826.docx...
  • Page 62 PDI: Process Data Interface or Physical Device Interface: an interface that allows access to ESC from the process side • IRQ: Master application cycle time • SYNC: Signal generated by the Distributed Clocks unit • Offset [2]: value related with “Sync Offset” from the EtherCAT Master configuration INOVANCE TECHNOLGY EUROPE GmbH SV660N Startup Procedure_EN_v1.4_20220826.docx...

  • Page 63: Blackbox

    Select the channels to be observed, up to 4 channels: click the button to delete the channels Click "Read Black Box Data" [10] to start reading the black box data. After reading, it will jump to the oscilloscope interface to display the channel data INOVANCE TECHNOLGY EUROPE GmbH SV660N Startup Procedure_EN_v1.4_20220826.docx...

  • Page 64: 6.11 Change Interface Language

    6.11 CHANGE INTERFACE LANGUAGE To change the language of the user interface, access the main tab of the program and click on the button "Language Settings". Select the desired language on the dialog that appears. INOVANCE TECHNOLGY EUROPE GmbH SV660N Startup Procedure_EN_v1.4_20220826.docx...

  • Page 65: Axis Scaling

    AXIS SCALING There are two methods for modifying the axis scaling or application units: modify scaling on the SV660N or on the EtherCAT master. These two methods are described in the following sections. SV660N SCALING CONFIGURATION The following figure shows the relationship between the position reference (reference unit), load displacement, and electronic gear ratio.

  • Page 66: Inoproshop Scaling Configuration

    Follow the next procedure if there is a mechanical transmission ratio: 7. Enable gearbox option 8. Define travel distance for load rotation 9. Set numerator of the gear ratio 10. Set denominator of the gear ratio INOVANCE TECHNOLGY EUROPE GmbH SV660N Startup Procedure_EN_v1.4_20220826.docx...
  • Page 67 • Load displacement: 0.01m=10000 µm • Load displacement: 360 Setting • Gear numerator: 1 • Gear numerator: 1 • Gear numerator: 1 • Gear denominator: 2 • Gear denominator: 10 • Gear denominator: 5 Ball screw INOVANCE TECHNOLGY EUROPE GmbH SV660N Startup Procedure_EN_v1.4_20220826.docx...
  • Page 68 Belt Pulley Rotary Actuator INOVANCE TECHNOLGY EUROPE GmbH SV660N Startup Procedure_EN_v1.4_20220826.docx...

  • Page 69: Velocity Calculation

    �� 60 �� Rotary Actuator Use this formula to fix the motor speed to 200 RPM ���������������������� ���������� 200 ������ degree �� �������� ���������������� ( · 360 · = 120 �� 60 �� INOVANCE TECHNOLGY EUROPE GmbH SV660N Startup Procedure_EN_v1.4_20220826.docx...

  • Page 70: Absolute Encoder System

    (low 32 - 1) counts bits) H05-48 Position offset in absolute encoder (2005-31h) position linear mode (high 32 - 1) counts bits) H05-30 Local homing 0-No operation 6-Current position as home (2005-1Fh) INOVANCE TECHNOLGY EUROPE GmbH SV660N Startup Procedure_EN_v1.4_20220826.docx...
  • Page 71 H05-46 and H05-48, and saves the deviation in EEPROM. INOVANCE TECHNOLGY EUROPE GmbH SV660N Startup Procedure_EN_v1.4_20220826.docx...

  • Page 72: Master Controller Home

    8.1.1 MASTER CONTROLLER HOME The following figure shows the general procedure for absolute linear mode configuration using the PLCOpen FB MC_Home: INOVANCE TECHNOLGY EUROPE GmbH SV660N Startup Procedure_EN_v1.4_20220826.docx...

  • Page 73: Local Home

    8.1.2 LOCAL HOME The following figure shows the general procedure for absolute linear mode configuration using the drive local home: INOVANCE TECHNOLGY EUROPE GmbH SV660N Startup Procedure_EN_v1.4_20220826.docx...

  • Page 74: Data Range In The Absolute Position Linear Mode

    ����_07 = × ��0��_79 × 2 + ��0��_77 − (��0��_40 × 2 + ��0��_48) ��05_07 Absolute Gear Ratio Encoder Multi-turn Home Offset position position The below image shows the absolute position parameters range. INOVANCE TECHNOLGY EUROPE GmbH SV660N Startup Procedure_EN_v1.4_20220826.docx...
  • Page 75 INOVANCE TECHNOLGY EUROPE GmbH SV660N Startup Procedure_EN_v1.4_20220826.docx...

  • Page 76: Absolute Encoder System Parameters Diagram

    ABSOLUTE ENCODER SYSTEM PARAMETERS DIAGRAM INOVANCE TECHNOLGY EUROPE GmbH SV660N Startup Procedure_EN_v1.4_20220826.docx...

  • Page 77: Appendix

    PHASE ANGLE TUNING INOVANCE motors are already phased out of the box. The phase value is stored in the encoder parameter H00- 28. If for some reason the value of the phase angle is not correct, a phase angle tune can be carried out with the following procedure: 1.

  • Page 78: Drive Loops Cycle Time

    Current loop cycle: 1.6 µs, 625 kHz, cannot be modified. To change the cycle of the position or speed loop, it is necessary to activate the super user mode with the password: “SuperAdmin” or H02-41 = 1430 (factory password) INOVANCE TECHNOLGY EUROPE GmbH SV660N Startup Procedure_EN_v1.4_20220826.docx...

  • Page 79: Position Reference Filter

    P is rectangular wave or trapezoidal wave, the position reference after filter of average value is as follows: This function has no effect on displacement (position reference sum). Too large setting of this parameter will cause an increase in response delay. Set this parameter correctly according to actual conditions. INOVANCE TECHNOLGY EUROPE GmbH SV660N Startup Procedure_EN_v1.4_20220826.docx...

  • Page 80: Cia402 Object Dictionary

    Through the "Add" and "Modify" buttons we can modify this list to access the different objects of the CiA402 object dictionary. The next image shows dialog box with values to add the CiA402 object 607D-01h “Negative software limit”: INOVANCE TECHNOLGY EUROPE GmbH SV660N Startup Procedure_EN_v1.4_20220826.docx...

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