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HNC Electric HSD6-BS Series User Manual

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HSD6-BS Series AC Servo Driver
User Manual
HNC Electric Limited

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  • Page 1 HSD6-BS Series AC Servo Driver User Manual HNC Electric Limited...
  • Page 2 Safety precautions (please read carefully before use) When receiving inspection, installation, wiring, operation, maintenance and inspection, you should pay attention to the following safety precautions at all times: Regarding ignoring the contents of the manual and using this product incorrectly, the degree of harm and damage that may be caused is distinguished and explained as shown in the following table.
  • Page 3 Otherwise, it may cause fire and malfunction. Do not use external power to drive the motor. Notes on other use Otherwise, it may cause a fire accident Be sure to confirm relevant safety after the earthquake. Otherwise, it may cause electric shock, fire, In order to prevent fires and personal accidents in the event of and malfunction.

  • Page 4: Warranty Period

    Otherwise, it may cause a fire accident When carrying, do not hold the cable or the motor shaft. Otherwise, it may cause electric shock, fire, Avoid falling or tipping when carrying or installing. and malfunction. If long-term storage is required, please consult the contact Otherwise, it may cause fire and malfunction.

  • Page 5: Table Of Contents

    Content Chapter 1 Product description and system selection .....................6 1.1 Model Type ................................6 1.2 Servo drive specifications ..........................6 1.3 Servo System Wiring ............................9 1.4 Braking resistor related specifications ......................10 Chapter 2 Installation and Dimensions ........................11 2.1 Install environment ............................. 11 2.1.1 Install Site ..............................
  • Page 6 4.3 Instructions for use of torque mode ......................... 60 4.3.1 Torque Mode Wiring ........................... 62 4.3.2 Torque mode related function code setting ....................63 4.4 Instructions for using the absolute value system ................... 66 4.4.1 Introduction ..............................66 4.4.2 Related function code settings ........................66 4.4.3 Precautions for using the battery box of the absolute value system ............

  • Page 7: Chapter 1 Product Description And System Selection

    Chapter 1 Product description and system selection 1.1 Model Type 1.2 Servo drive specifications Item Specifications Model Type HSD6-BS T3R5 L(mm) H(mm) D(mm) Weight(kg) Single phase Three phase Three phase AC200V-240V， AC200V-240V,-15% Input Power AC380V-440V,-15%～10%， -15%～10%， 50/60Hz ～10%，50/60Hz 50/60Hz environmen 0～55℃...
  • Page 8 Item Specifications 5.8m/s2 （ 0.6G ） below 10 ～ 60Hz （ Can not be used vibration continuously at resonance frequency） Insulation withstand voltage Basic－FG between AC1500V 1min Control way Three-phase PWM converter sine wave drive 1: 17bit (after adding a battery, it can be used as a multi-turn absolute encoder) Encoder feedback 2: 23bit (after adding a battery, it can be used as a multi-turn...
  • Page 9 Item Specifications Encoder position pulse Output pulse function position pulse command (can be set) Servo ON, alarm reset, speed command reverse, zero speed clamp, internal command selection input 1, internal command selection input 2, internal command selection Control input input 3, internal command selection input 4, forward rotation external torque limit input, reverse rotation External torque limit input, emergency stop Alarm status, servo preparation, brake release, torque limit...

  • Page 10: Servo System Wiring

    1.3 Servo System Wiring MODE Servo drive multi- machine parallel comm. cable Servo drive PC communication cable power Simplex 220Vac Servo drive PLC communication cable Circuit breaker for wiring Used to protect the power line and cut off the circuit if overcurrent Servo drive input/output cable noise filter...

  • Page 11: Braking Resistor Related Specifications

    of the servo drive before connecting. Pay attention to modify the internal parameters. 2. CN3 and CN4 define exactly the same communication interface for the two pins, which can be used arbitrarily between the two. 3. In single-phase 220V wiring, the main circuit terminals are L1 and L2, and the reserved terminals should not be connected.

  • Page 12: Chapter 2 Installation And Dimensions

    Chapter 2 Installation and Dimensions 2.1 Install environment 2.1.1 Install Site ① Install in a place that will not be directly exposed to sunlight. ② The driver must be installed in the control box ③ Install it in a place where it will not be immersed by water or oil (cutting oil, oil mist) and without moisture.

  • Page 13: Driver Installation

    SIZE-B （ Three phase 220V）(Unit:mm) HSD6-BS-12/15/18 2.1.4 Driver Installation direction and interval When setting up the drive, in order to ensure the heat dissipation and heat convection in the protection box or the control box, sufficient space should be left around. For the driver, install it in the vertical direction.

  • Page 14: Servo Motor Installation

    2.2 Servo Motor Installation 2.2.1 Install site  Do not use this product near corrosive and flammable gas environments such as hydrogen sulfide, chlorine gas, ammonia, sulfur, chlorinated gas, acid, alkali, salt, etc., and combustible materials;  Please choose the model with oil seal in the places with grinding fluid, oil mist, iron powder, cutting, etc.; ...
  • Page 15 Item Description  When removing the pulley, use the pulley remover to prevent the bearing from being strongly impacted by the load.  For safety, install protective covers or similar devices, such as pulleys mounted on shafts, in the swivel area. When connecting with the machine, please use the coupling, and keep the axis of the servo motor and the axis of the machine in a straight line.

  • Page 16: Wiring Of The Motor

    Item Description the cable or 0.3mm, which is very thin, so when wiring (use), please do not make it too tight. Regarding the connector section, please note the following: When connecting the connector, please confirm that there is no foreign matter such ...
  • Page 17 15-pin angled/non-save-line aviation socket 3-row 9-pin cable-saving aviation socket...

  • Page 18: Chapter 3 Instructions Of Connection

    Chapter 3 Instructions of Connection 3.1 The name of each part of the drive proj ect Specification Inte rnal parallel ，with RS-232、RS-485、Canopen Comm. command device CN3、CN4 Comm. termi nal connection。 5-dig it 7-segment LED d igital tube is u sed to displ ay the running status a nd data digital tub e display setting。...

  • Page 19: Cn2 Illustration Of The Terminal Arrangement Of The Absolute Encoder

    3.2.2 CN2 Illustration of the terminal arrangement of the absolute encoder Terminal Terminal Name Function Name Function PG power+5V Signal S+ phase S-phase 3.2.3 CN3、CN4 Illustration of terminal arrangement Definition Description Terminal Pinout CANH CAN comm. port CANL CGND CAN comm. port RS485+ RS485 comm.

  • Page 20: Example Of Power Supply Wiring

    3.3.2 Example of power supply wiring single-phase 220Vac server Driver noise filter stop main power input contactor surge suppressor ALM- output relay ALM+ warning signal warning LED Figure 3-1 single phase 220V Main circuit wiring...

  • Page 21: Main Circuit Wiring Precaution

    3 phase220Vac、380Vac server Driver noise filter stop main power input contactor surge suppressor ALM- output relay ALM+ warning signal warning LED Figure 3-2 single phase 220V, Main circuit wiring 1KM：Electromagnetic contactor；1Ry：relay；1D：Freewheeling diode   DO Set as alarm output function(ALM+/-)， when the servo drive alarms, the power supply can be automatically cut off, and the alarm light will be on at the same time.

  • Page 22: Power Line Connection Of Servo Drive And Servo Motor

    Sheet 3-1 Conductor current-carrying density reduction factor pipeline Number of cables in the Current reduction same pipe factor Below 3 cable 4 cables 0.63 5~6 cables 0.56 7~15 cables 0.49 cable Do not pass the power cable and the signal cable through the same pipe or bundle them together. To avoid ...

  • Page 23: Control Signal Terminal Connection Method

    3.4 Control signal terminal connection method 3.4.1 Position command input signal The following describes the common command pulse input, command symbol input signal and high-speed reference pulse input and command symbol input signal terminals of the user interface connector. Sheet 3-2 Position command input signal description Signal name Pin No.
  • Page 24 2) When in open collector mode a) When using the internal 24V power supply of the servo drive host device server Driver +24V power 2.4kΩ PULLHI 240Ω PULSE+ PULSE- 2.4kΩ 240Ω SIGN+ SIGN- COM- Host device Servo drive 上位装置 伺服驱动器 2.4kΩ...
  • Page 25 +24V power 2.4kΩ PULLHI 240Ω PULSE+ PULSE- 2.4kΩ 240Ω SIGN+ SIGN- COM- Not connected to pin 14 COM- b) When using an external power supply： Option 1: Use the internal resistance of the driver (recommended solution) host device server Driver external +24Vdc 2.4kΩ...
  • Page 26 host device server Driver external +24Vdc external 0V 2.4kΩ PULLHI 240Ω PULSE+ 2.4kΩ 240Ω SIGN+ ■Option 2：Use an external resistor host device server Driver external +24Vdc 240Ω PULSE+ PULSE- 240Ω SIGN+ SIGN- external 0V...
  • Page 27 host device server Driver external +24Vdc 240Ω PULSE+ PULSE- 240Ω SIGN+ SIGN- external 0V = 10mA −1.5 R1+240 ■The selection of resistor R1 should satisfy the formula： Sheet 3-4 recommenced R1 brake resistance VCC voltage R1 brake resistance R1 power 2.4kΩ...
  • Page 28 ■Error 2： Multiple ports share current-limiting resistors, resulting in incorrect pulse reception host device server Driver external +24Vdc Current limit brake not used separate 240Ω PULSE+ PULSE- 240Ω SIGN+ SIGN- external 0V...
  • Page 29 ■Error 3：The SIGN port is not connected, resulting in the two ports not receiving pulses host device server Driver external +24Vdc 240Ω PULSE+ PULSE- no sign 240Ω SIGN+ SIGN- external 0V ■Error 4：The port is connected incorrectly, causing the port to burn out host device server Driver external +24Vdc...
  • Page 30 ■Error 5：Multiple ports share current-limiting resistors, resulting in incorrect pulse reception server Driver A host device external +24Vdc Each port connect to resistor individual 240Ω PULSE+ PULSE- 240Ω SIGN+ SIGN- external 0V server Driver B 240Ω PULSE+ PULSE- 240Ω SIGN+ SIGN- external 0V...
  • Page 31 host device server Driver A external +24Vdc Each port is not individually connected to a current limiting resistor 240Ω PULSE+ PULSE- 240Ω SIGN+ SIGN- external 0V server Driver B 240Ω PULSE+ PULSE- 240Ω SIGN+ SIGN- external 0V High-speed pulse command input The high-speed command pulse and symbol output circuit on the host device side can only be output to the servo driver through the differential driver.

  • Page 32: Digital Input And Output Signal

    Notes Please ensure that the differential input is a 5V system, otherwise the input pulse of the servo drive will be unstable, which will lead to the following situations: ● When the command pulse is input, the phenomenon of pulse loss occurs; ●...
  • Page 33 Digital input circuit Taking DI1 as an example, the interface circuits of DI1~DI9 are the same. 1)When the host device is a relay output： a)When using the internal 24V power supply of the servo drive： server Driver +24V power COM+ DI1(CMD1) 4.7kΩ...
  • Page 34 server Driver server Driver +24V power +24V power COM+ COM+ DI1(CMD1) 4.7kΩ DI1(CMD1) 4.7kΩ COM- COM- b）When using an external power supply server Driver server Driver External +24Vdc External +24Vdc COM+ COM+ DI1(CMD1) 4.7kΩ DI1(CMD1) 4.7kΩ COM- External 0V External 0V Mixing of PNP and NPN inputs is not supported.
  • Page 35 2. Digital output circuit Taking DO1 as an example, the interface circuits of DO1 to DO5 are the same. 1)When the host device is a relay input： Servo drive External 5~24Vdc relay DO1+ DO1- External l0V When the upper-level device is a relay input, be sure to connect a freewheeling diode, ...

  • Page 36: Encoder Frequency-Division Output Signal

    server Driver server Driver External 5~24Vdc External 5~24Vdc No current limiting resistor connected optocoupler optocoupler DO1+ DO1+ DO1- DO1- External 0V External 0V The maximum allowable voltage and current capacity of the optocoupler output circuit inside the servo drive are as follows：...

  • Page 37: Brake Wiring

    server Driver host device server Driver host device Max output Max output current 20mA current 20mA PAO+ PAO+ 36Ω 36Ω 36Ω PAO- 36Ω PAO- PBO+ PBO+ 36Ω 36Ω PBO- PBO- 36Ω 36Ω PZO+ PZO+ 36Ω 36Ω PZO- PZO- 36Ω 36Ω The encoder Z-phase frequency division output circuit can pass the open-collector signal.
  • Page 38 Figure 3-4 Brake application diagram Notes The holding brake mechanism built into the servo motor is a non-energized fixed special  mechanism, which cannot be used for braking purposes, and is only used to keep the servo motor in a stopped state. The brake coil has no polarity.

  • Page 39: Comm. Cn3/Cn4 Cable

    3.5 Comm. CN3/CN4 cable Figure 3-6 Communication wiring diagram The communication signal connectors (CN3, CN4) are two identical communication signal connectors connected in parallel internally. Sheet 3-7 Pin definition of communication signal terminal connectors Pin No. Definition Description Pin Layout CANH CAN communication port CANL...
  • Page 40 Sheet 3-7 PLC and servo communication cable pin connection relationship Servo drive side RJ45（A terminal） PLC side（B terminal） Comm.type Signal name Pin No. Comm.type Signal name Pin No. CANH CANH CANL CANL CGND CGND Housing Housing Shielded network layer (Shielded network layer CAN communication connection of multiple machines in parallel When the CAN communication network is used, the connection cables of multiple drives in parallel are as follows：...

  • Page 41: Rs485 Comm. Connect Way

    Notes  PLC built-in CAN communication terminal resistance, the corresponding DIP switch must be set to  It is recommended that the shielding layer be grounded at one end;  Do not connect the CGND terminal of the upper device to the GND terminal of the servo drive, otherwise the machine will be damaged! resistor Shield...

  • Page 42: Terminating Resistor

    Figure 3-12 Appearance example diagram of multi-machine parallel communication cable Sheet 3-10 Multi-machine parallel communication cable pin connection relationship Servo drive RJ45（A terminal） Servo drive RJ45（B terminal） Comm. type Signal Pin No. Comm. type Signal Pin No. RS485+ RS485+ RS485 RS485- RS485 RS485-...

  • Page 43: Communication Connection With Pc (232 Communication)

    3.5.3 Communication connection with PC (232 communication) Users can connect the drive and PC through a PC communication cable. It is recommended to use the more commonly used communication interface RS-232. The cable is shown as follows: Figure 3-15 PC Communication Cable Appearance Example Sheet 3-11 The pin connection relationship between the driver and the PC communication cable Servo drive RJ45（A terminal）...

  • Page 44: Anti-Interference Countermeasures For Electrical Wiring

    3.6 Anti-interference countermeasures for electrical wiring To suppress interference, take the following measures: The length of the command input cable should be less than 3m, and the encoder cable should be less than 20m. The ground wiring should be as thick as possible. (2.0mm² or more) ①...

  • Page 45: How To Use The Noise Filter

    ground the PE terminal reliably to reduce potential electromagnetic interference problems. 2) Ground the shielding layer of the power line Ground the shield or metal conduit in the main circuit of the motor at both ends. 3) Grounding of the servo drive The ground terminal PE of the servo drive must be grounded reliably, and the fixing screw should be tightened to maintain good contact.
  • Page 46 3. The noise filter needs to be grounded separately with a thick wire as short as possible. Do not share a ground wire with other grounding devices. noise noise power power filter filter Servo Servo Servo Servo driver driver driver driver shield ground shield ground...

  • Page 47: Precautions For The Use Of Cables

    3.7 Precautions for the use of cables  Do not bend or strain the cable. Since the core wire diameter of the signal cable is only 0.2mm or 0.3mm, it is easy to break, so please be careful when using it. ...

  • Page 48: Chapter 4 Operation And Display

    Chapter 4 Operation and Display According to the command mode and operation characteristics of the servo drive, it can be divided into three operation modes, namely position control operation mode, speed control operation mode, torque control operation mode, etc. In the position control mode, the displacement of the movement is generally determined by the number of pulses, and the rotational speed is determined by the externally input pulse frequency.
  • Page 49 positioning completion signal, etc. 4. Make settings related to the position mode. Set the DI/DO used according to the actual situation, and refer to the P03/P04 group for the function code. In addition, it is necessary to set up functions such as origin return and frequency division output sometimes, see the product comprehensive manual for details.

  • Page 50: Location Mode Wiring

    4.1.1 Location Mode Wiring Servo unit Torque limit：0 ～ low pass filter Input impedance：9kΩ A/D convert Torque limit：-10 ～ low pass filter Input impedance：9kΩ Choose connect an external +24V power supply +24V power voltage range：20～28V Max operating current：200mA COM+ P-OT（DI1） 4.7kΩ...

  • Page 51: Position Control Mode Related Function Code Setting

    The internal +24V power supply voltage range is 20~28V, and the maximum working  current is 200mA. If using an external 24V power supply, please connect the external power supply +24V to pin 11 (COM+), and connect the external power supply GND to pin 14 (COM-).
  • Page 52 Valid Relative Function Name Setting range Unit Default Set way setting 0-pulse+direction, positive logic 1 - pulse + direction, Power negative logic Stop P05-15 Pulse command form 3- A phase + B phase setting again quadrature pulse, 4 times frequency 3-CW+CCW The principles of the three pulse command forms are shown in the table below.
  • Page 53 Electronic gear ratio Effective P05-11 1～1073741824 1048576 2( molecular ) immediately settings Electronic gear ratio Effective P05-13 1～1073741824 10000 2( denominator ) immediately settings The working principle of the electronic gear ratio is shown in the following figure: position command position command (number of pulses) position...
  • Page 54 pre-filter position command command Px0.632 filtered command Px 0.368 time T low pass filter low pass filter time time P05-04 P05-04 Figure 4-4 Example of a first-order filter Effective Setting Related Code Name Setting range Unit Default Patterns Effective Average filter time Stop P05-06 0.0～128.0...

  • Page 55: Speed Mode Instructions

    0 - encoder frequency division output Servo pulse output Power P05-38 1-Pulse command synchronous Stop source selection output 2-divide and sync output disabled By setting P05-17, the servo drive divides the number of pulses fed back by the encoder according to the set value and then outputs it through the frequency-divided output port.
  • Page 56 1) Correctly connect the power supply of the servo main circuit and control circuit, as well as the motor power line and encoder line. After power-on, the servo panel displays "rdy", which means that the servo power supply is correctly wired, and the motor encoder wiring is correct. 2) Press the button to perform the servo JOG test run to confirm whether the motor can run normally.

  • Page 57: Speed Control Mode Block Diagram

    4.2.2 Speed Control Mode Block Diagram Servo unit Analog speed/Torque signal input：±10V low pass filter Input impedance：9kΩ A/D convert Analog torque/Speed low pass filter limit signal input：±10V Input impedance：9kΩ +24V power COM+ P-OT（DI1） 4.7kΩ S-RDY+(DO1+) Positive overtravel switch S-RDY-(DO1-) N-OT（DI2） 4.7kΩ...

  • Page 58: Speed Mode Related Function Code Setting

    The internal +24V power supply voltage range is 20~28V, and the maximum working  current is 200mA. If an external 24V power supply is used, please connect the external power supply +24V to pin 11 (COM+), and connect the external power supply GND to pin 14 (COM-).
  • Page 59 The speed control mode has the following five speed command acquisition methods, which are set by the function code P06-02. Relativ Functio Valid Name Setting range Unit Default n code model 0 - source of main speed command 1-Auxiliary speed command Speed command...

  • Page 60: Speed Command

    1000rpm Motor given speed Actual deceleration Actual acceleration time time acceleration ramp Deceleration ramp time time P06-05 P06-06 Figure 4-8 Schematic diagram of acceleration and deceleration time 2. Speed command limiter limit setting In the speed control mode, the servo drive can limit the size of the speed command. Speed command limits include: ...

  • Page 61: Instructions For Use Of Torque Mode

    4.Zero fixed function In the speed control mode, if the zero-position fixed DI signal FunIN.12 (ZCLAMP) is valid, and the amplitude of the speed command is less than or equal to the speed value set by P06-15, the servo motor enters the control of the zero-position fixed state.
  • Page 62 5) Enable the servo, set a lower speed limit value, and apply a forward or reverse torque command to the servo to confirm whether the motor rotates in the correct direction and whether the speed is correctly limited. If it is normal, it can be used.

  • Page 63: Torque Mode Wiring

    4.3.1 Torque Mode Wiring Servo unit Analog speed/Torque signal input：±10V low pass filter Input impedance：9kΩ A/D convert Analog torque/Speed low pass filter limit signal input：±10V Input impedance：9kΩ +24V power COM+ P-OT（DI1） 4.7kΩ S-RDY+(DO1+) Positive overtravel switch S-RDY-(DO1-) N-OT（DI2） 4.7kΩ Reverse overtravel switch COIN+(DO2+) INHIBIT（DI3）...

  • Page 64: Torque Mode Related Function Code Setting

    The internal +24V power supply voltage range is 20~28V, and the maximum working  current is 200mA. If an external 24V power supply is used, please connect the external power supply +24V to pin 11 (COM+), and connect the external power supply GND to pin 14 (COM-).
  • Page 65 recommended to be set to: level valid. When the torque command selects "A/B switching", that is, when the function code P07-02=3, it is necessary to assign a separate function definition to the DI terminal. Use this input terminal to select whether the A command input is valid or the B command input is valid.
  • Page 66 Functio Relative Name Setting range Unit Default Valid way n code model 0 - Internal speed limit (speed limit during torque control) Speed limit source Effective 1-0 (no effect) P07-17 selection immediatel 2- Select P07-19/P07-20 as internal speed limit through FunIN.36(V-SEL) Torque control forward Effective...

  • Page 67: Instructions For Using The Absolute Value System

    rated torque ) 0.0~400.0 Effective Negative internal P07-10 (100% Corresponding to double the 350.0 immediatel torque limit setting rated torque ) 0.0~400.0 Effective Positive external torque P07-11 (100% Corresponding to double the 350.0 immediatel limit setting rated torque ) 0.0~400.0 Effective Negative external P07-12...
  • Page 68 Absolute position linear Effective -2147483648～ Stop P05-46 mode position offset Encoder unit immediatel setting 2147483647 (lower 32 bits) Absolute position linear Effective -2147483648～ Stop P05-48 mode position offset Encoder unit immediatel setting 2147483647 (upper 32 bits) Absolute position Command P0B-07 display counter unit...
  • Page 69 The number of pulses for one rotation of the load in absolute Encoder Effective Stop P05-54 0～ 127 position rotation mode unit immediately setting (encoder unit high 32 bits) Absolute position Instruction displa P0B-07 counter unit Mechanical absolute Encoder displa P0B-58 position (lower 32 bits) unit...
  • Page 70 turntable rotation Number of turns Turntable position (command unit) amount of rotation rotating load Lap position (encoder unit) amount of rotation Figure 4-14 Schematic diagram of the relationship between the single-turn position of the rotating load and the position of the turntable The relationship between encoder feedback position and rotating load single turn is shown in the figure below：...
  • Page 71 1. Encoder feedback data Absolute encoder feedback data can be divided into encoder rotation number data and encoder position within 1 circle, incremental position mode without encoder rotation circle data feedback. Relativ Functio Valid Name Setting range Unit Default Set way n code model Absolute encoder rotation...

  • Page 72: Precautions For Using The Battery Box Of The Absolute Value System

    4.4.3 Precautions for using the battery box of the absolute value system FU.731 (encoder battery fault) will occur when the battery is connected for the first time. It is necessary to set P0D-20=1 to reset the encoder fault, and then perform the absolute position system operation. When the detected battery voltage is less than 3.0V, FU.730 (encoder battery warning) will occur, please replace the battery.

  • Page 73: Pre-Run Check

    Sheet 4-6 Soft limit related function codes： Function Valid Relative Name Setting range Unit Default code model 0-disable soft limit Effectiv 1- Enable software limit Stop P0A-40 Soft limit setting immediately after power-on immedi 2- Enable soft limit after origin ately return Effectiv...

  • Page 74: Load Inertia Identification And Gain Adjustment

    4.7 Load inertia identification and gain adjustment First, please install and wire it correctly. After completing the relevant functional parameter settings, refer to Figure 4-17 for the use process to debug the inertia identification, rigidity table, and vibration suppression. Inertia identification (see 4.7.1 for details), after obtaining the correct load inertia ratio, it is recommended to perform automatic gain adjustment first, if the effect is not good, then perform manual gain adjustment (see 4.7.2 for details).

  • Page 75: Inertia Identification

    4.7.1 Inertia identification Before automatic gain adjustment or manual gain adjustment, inertia identification is required to obtain the real load inertia ratio. The flow chart of inertia identification is as follows: Af ter wiring and basic settings, enter t he rdy state. Note: Please install the limit switch on the machine, and ensure that the motor has a movable stroke of more than 1 circle in each direct ion, so as t o prevent accidents caused by overt ravel during...

  • Page 76: Factory Setting

    If the default value of P08-15=1, the actual speed cannot keep up with the command because  the inertia ratio is too small, which makes the identification fail. At this time, it is necessary to preset the “average value of the last output of inertia identification” (P08-15). The preset value is recommended to be 5 times as the starting value, and gradually increase until it can be recognized normally.

  • Page 77: Notch Filter

    ☆ The relevant function codes are as follows： Function Factory Effective Setting Related Name Setting range Unit code setting patterns Effective P08-00 Speed loop gain 0.1～2000.0 25.0 immediately setting Effective Speed loop integral P08-01 0.15～512.00 31.83 time constant immediately setting Effective P08-02 Position loop gain 0.0～2000.0...

  • Page 78: Chapter 5 Parameter Summary

    Chapter 5 Parameter summary Function code Data specifications Function code Data specifications P00 group Servo motor parameters P0A group Fault and protection parameters P01 group Drive parameters P0B group Monitoring parameters P02 group Basic control parameters P0C group Communication parameters P03 group Terminal input parameters P0D group...

  • Page 79: P01 Group Servo Drive Datasheet

    Function Factory Effective Setting Related Name Setting range Unit code setting patterns Stator Inductance Power up Stop 0.01～655.35 again setting Linear back EMF Power up Stop 0.01～655.35 mV/rpm coefficient again setting Moment coefficient Power up Stop 0.01～655.35 Nm/Arms again setting Electrical constant Power up Stop...
  • Page 80 Function Factory Effective Setting Related Name Setting range Unit code setting patterns (reversal mode, A lag B) 0：free shutdown, maintain free stop model at S-ON Effective Stop running state P02 05 immediately setting 1: zero speed shutdown, maintain free running state 0：free shutdown, maintain free Fault No.2 Stop running state...

  • Page 81: P03 Group Terminal Input Parameters

    Function Factory Effective Setting Related Name Setting range Unit code setting patterns rely on capacitance absorption External brake Effective Stop P02 26 1～65535 resistance power immediately setting External brake Effective Stop P02 27 resistance 1～1000 Ω immediately setting resistance Power up Stop P02 30 User password 0～65535...
  • Page 82 Function Factory Effective Setting Related Name Setting range Unit code setting method patterns Input polarity :0~4 0： means low level valid 1： indicates high level of efficiency 2： indicates that the rising edge is DI2 Terminal logic Outage P03 05 effective selection takes effect...
  • Page 83 Function Factory Effective Setting Related Name Setting range Unit code setting method patterns function selection takes effect settings Input polarity :0~4 0： means low level valid 1： indicates high level of efficiency 2： indicates that the rising edge is DI7 Terminal logic Outage P03 15 effective...

  • Page 84: P04 Group Terminal Output Parameters

    Function Factory Effective Setting Related Name Setting range Unit code setting method patterns Effective P03 58 AI2 blind spot 0～1000.0 10.0 immediately settings Effective P03 59 AI2 drift -500.0～500.0 immediately settings Analog 10 V Effective Stop P03 80 corresponding 0rpm～9000rpm 1rpm 3000rpm immediately setting...

  • Page 85: P05 Group Position Control Parameters

    Function Factory Effective Setting Related Name Setting range Unit code setting method patterns The output L low level when 0： indicates valid (optocoupler conduction) 1：output H high level when valid (optocoupler off) DO original Effective Stop P04 22 0～31 selection immediately setting 00：...
  • Page 86 Function Factory Effective Setting Related Name Setting range Unit code setting method patterns instruction given 0： low speed Pulse instruction input Effective Stop P05 01 terminal selection immediately setting 1： High Speed Number of position Power up Stop P05 02 instructions per rotation 0 ～1048576 again...
  • Page 87 Function Factory Effective Setting Related Name Setting range Unit code setting method patterns the output is When the absolute value of 3： position deviation is less than the location completion / approach threshold, and the position instruction filter is 0, at least the P05-60 time is kept valid Encoder /...
  • Page 88 Function Factory Effective Setting Related Name Setting range Unit code setting method patterns Z signal 10:forward zero, deceleration point, origin is mechanical limit position 11 ： reverse return zero, deceleration point, origin is mechanical limit position 12:forward return zero, deceleration point mechanical limit position, origin is motor Z signal...

  • Page 89: P06 Group Speed Control Parameters

    Function Factory Effective Setting Related Name Setting range Unit code setting method patterns 0：P05-36 is the coordinate after the origin is returned, and the reverse origin is found 1: P05-36 is the relative offset after the origin is returned, and the reverse origin is found after the limit is triggered again to Mechanical Origin Offset...

  • Page 90: P07 Group Torque Control Parameters

    Function Factory Effective Setting Related Name Setting range Unit code setting method patterns Speed Instruction 1:AI1 immediately setting 2:AI2 0:Number given (P06-03) 1:AI1 Auxiliary Speed 2:AI2 Effective Stop P06 01 Instruction B Source 3:0( neutrality) immediately setting 4:0( neutrality) 5:Multi-segment speed instruction 0:A Source of Main Speed Instruction 1:Auxiliary Speed Instruction B Speed Instruction...
  • Page 91 Function Factory Effective Setting Related Name Setting range Unit code setting method patterns Selection 1: Source of auxiliary torque immediately setting command B 2: Source of main command A + source of auxiliary command B 3: Main command A source/auxiliary command B source switch 4: Communication setting Torque instruction...

  • Page 92: P08 Group Gain Class Parameters

    Function Factory Effective Setting Related Name Setting range Unit code setting method patterns Torque reaches Effective P07 21 0.0～300.0 reference value immediately settings Torque reaches Effective P07 22 0.0～300.0 20.0 effective value immediately settings Torque arrives Effective 0.0～300.0 P07 23 10.0 invalid immediately...

  • Page 93: P09 Group Self-Adjusting Parameters

    Function Factory Effective Setting Related Name Setting range Unit code setting method patterns inertia ratio immediately settings Speed feed filter time Effective P08 18 0.00～64.00 0.50 constant immediately settings Speed feedforward Effective P08 19 0.0～100.0 gain immediately settings Torque feed filter time Effective Stop P08 20...
  • Page 94 Function Factory Effective Setting Related Name Setting range Unit code setting method patterns 0: Disable online identification 1: Open online recognition, slowly changing On-line Inertial Effective P09 03 2: Open online identification, Identification Mode immediately settings general changes 3: Open online recognition, rapid changes 0: Manually set the vibration Selection of Low...

  • Page 95: P0A Group Fault And Protection Parameters

    Function Factory Effective Setting Related Name Setting range Unit code setting method patterns filter Frequency resonance Effective P09 38 1.0～100.0 100.0 frequency immediately settings Low Frequency Effective P09 39 Resonance Frequency 0～10 immediately settings Filter Setting P0A Group Fault and Protection Parameters Related Function Factory...

  • Page 96: P0B Group Monitoring Parameters

    Related Function Factory Effective Setting Name Setting range Unit pattern code setting method filter time constant of Power up Stop P0A 28 0～255 25ns orthogonal encoder again setting High speed pulse Power up Stop P0A 30 input pin filter time 0～255 25ns again...
  • Page 97 Function Factory Effective Setting Related Name Setting range Unit code setting method patterns P0B 12 Average load rate Display Input instruction pulse counter Instruction P0B 13 Display (32-bit decimal Unit display) Encoder position deviation counter Encoder P0B 15 Display (32-bit decimal Unit display) Feedback pulse...

  • Page 98: P0C Group Communication Parameters

    Function Factory Effective Setting Related Name Setting range Unit code setting method patterns (32 bits high) Real-time input Unit of P0B 64 position instruction Display instruction counter Absolute value P0B 70 encoder rotation Display circle data In-circle position of Encoder P0B 71 Display absolute encoder...

  • Page 99: P0D Group Auxiliary Function Parameters

    Related Function Factory Effective Setting Name Setting range Unit pattern code setting method New agreement: 0 x0001： Illegal function (command code) 0 x0002： Illegal data address 0 x0003： Illegal data 0 x0004： Station equipment malfunction Old Agreement: x0002： command code is not x03/0x06/0x10 0 0 x0004：...

  • Page 100: P11 Group Multi-Segment Position Function Parameter

    Settin Function Factory Effective Related Name Setting range Unit code setting metho patterns of analog channels immediately setting 1：AI1 adjustments 2：AI2 adjustments P0D 11 JOG Test run function （Self-contained filtering (FFT) 0： no operation DIDO Mandatory 1： force DI enable, force DO not Effective P0D 17 input and output...
  • Page 101 Related Functio Factory Effective Setting Name Setting range Unit pattern n code setting method instructio Effective Paragraph 1 moving P11 12 -1073741824 ～1073741824 10000 immediat displacement settings unit Maximum speed of Effective P11 14 displacement in 1～6000 immediat settings section 1 Paragraph 1 Effective displacement...
  • Page 102 Related Functio Factory Effective Setting Name Setting range Unit pattern n code setting method paragraph 4 instructio Effective Paragraph 5 moving P11 32 -1073741824 ～1073741824 10000 immediat displacement settings unit Maximum speed of Effective P11 34 displacement in 1～6000 immediat settings section 5 Paragraph 5...
  • Page 103 Related Functio Factory Effective Setting Name Setting range Unit pattern n code setting method paragraph 8 instructio Effective Paragraph 9 moving -1073741824 ～1073741824 P11 52 10000 immediat displacement settings unit Maximum speed of Effective P11 54 displacement in 1～6000 immediat settings section 9 Paragraph 9...
  • Page 104 Related Functio Factory Effective Setting Name Setting range Unit pattern n code setting method displacement in paragraph 12 Effective Paragraph 13 moving Instructio P11 72 -1073741824 ～1073741824 10000 immediat displacement settings Maximum speed of Effective P11 74 displacement in 1～6000 immediat settings section 13...

  • Page 105: P12 Group Multi-Segment Speed Parameter

    Related Functio Factory Effective Setting Name Setting range Unit pattern n code setting method displacement in paragraph 16 P12 Group Multi-segment speed parameter Related Functio Factory Effective Setting Name Setting range Unit pattern n code setting method 0: stop at the end of a single operation (P12-01 Select the number of Multi-segment speed Effective...
  • Page 106 Related Functio Factory Effective Setting Name Setting range Unit pattern n code setting method 3：Acceleration and deceleration time 4：Acceleration and deceleration time Effective Paragraph 2 Speed Stop P12 23 -6000～6000 immediatel Directive setting Effective Paragraph 2 Stop P12 24 0～6553.5 immediatel instruction run time (min)
  • Page 107 Related Functio Factory Effective Setting Name Setting range Unit pattern n code setting method Effective Paragraph 5 Stop P12 33 0～6553.5 immediatel instruction run time (min) setting 0：Zero acceleration and deceleration time 1：Acceleration and deceleration time Paragraph 5 Effective 2：Acceleration and deceleration time Stop P12 34 Acceleration and...
  • Page 108 Related Functio Factory Effective Setting Name Setting range Unit pattern n code setting method deceleration 1：Acceleration and deceleration time 2：Acceleration and deceleration time 3：Acceleration and deceleration time 4：Acceleration and deceleration time Effective Paragraph 9 Speed Stop P12 44 -6000～6000 immediatel Directive setting Effective...
  • Page 109 Related Functio Factory Effective Setting Name Setting range Unit pattern n code setting method 4：Acceleration and deceleration time Effective Paragraph 12 Speed Stop P12 53 -6000～6000 -500 immediatel Directive setting Effective Paragraph 12 Stop P12 54 0～6553.5 immediatel instruction run time (min) setting 0：Zero acceleration and deceleration...

  • Page 110: P17 Group Virtual Dido Parameters

    Related Functio Factory Effective Setting Name Setting range Unit pattern n code setting method instruction run time (min) immediatel setting 0：Zero acceleration and deceleration time 1：Acceleration and deceleration time Paragraph 15 Effective 2：Acceleration and deceleration time Stop P12 64 Acceleration and immediatel setting deceleration...
  • Page 111 Function Factory Effective Setting Related Name Setting range Unit code setting method patterns selection takes settings 1： indicates that VDI4 write value effect changes from 0 to 1 Outage VDI5 Terminal P17 08 0～37 takes function selection settings effect 0： indicates VDI5 write 1 is valid Outage VDI5 Terminal logic takes...
  • Page 112 Function Factory Effective Setting Related Name Setting range Unit code setting method patterns effect 1： indicates that VDI13 write value changes from 0 to 1 Outage VDI14 Terminal P17 26 0～37 takes function selection settings effect 0: indicates VDI14 write 1 is valid Outage VDI14 Terminal P17 27...
  • Page 113 Function Factory Effective Setting Related Name Setting range Unit code setting method patterns effect Outage VDO7 Terminal P17 45 0～22 takes function selection settings effect Outage 0： means valid output 1 VDO7 Terminal P17 46 takes logic selection settings 1： means valid output 0 effect Outage VDO8 Terminal...

  • Page 114: P30 Group Communication Read Servo-Related Variables Panel Invisible

    Function Factory Effective Setting Related Name Setting range Unit code setting method patterns effect Outage 0： means valid output 1 VDO16 Terminal P17 64 takes logic selection settings 1： means valid output 0 effect P30 Group Communication read servo-related variables Panel invisible Function Factory Effective...
  • Page 115 Function Code Name Description Notes When P08-08=0 ： Invalid-speed control loop for PI The logic selection of the control; corresponding terminal is FunIN.3 GAIN-SEL Gain switching Effective-speed control ring for P recommended to be set to: level control. effective. When P08-08=1, press the P08-09 settings.
  • Page 116 Function Code Name Description Notes terminal, it is recommended to set to: level effective. When the mechanical movement The logic selection of the Reverse exceeds the movable range, enter corresponding terminal is FunIN.15 N-OT Overpass the over-range prevention function: recommended to be set to: level Switch Effective - No reverse drive;...
  • Page 117 Function Code Name Description Notes Handwheel Additional: X1 recommended to be set to: level FunIN.22 power signal2 effective. Invalid - Position control according to The logic selection of the P05-00 function code selection; Handwheel corresponding terminal is FunIN.23 HX_EN Effective-receive handwheel pulse enable signal recommended to be set to: level signal in position mode for position...
  • Page 118 Function Code Name Description Notes Effective-zero speed after shutdown The logic selection of the Emergency emergency position lock; corresponding terminal is FunIN.34 Stop shut down Invalid-when running state has no recommended to be set to: level effect. effective. The logic selection of the corresponding terminal is recommended to be set to: edge Clear position...
  • Page 119 Function Code Name Description Notes Confirmation signal speed limitation in torque control: FunOUT.8 V-LT Speed limit Effective - motor speed limit; Invalid-motor speed is not limited. Lock signal output: FunOUT.9 Lock output Effective - close, release lock; Invalid - start lock. Warning output signal is valid.

  • Page 120: Chapter 6 Modbus Communication Protocols

    Chapter 6 MODBUS communication protocols The function code of the servo drive is divided into 16 bits and 32 bits, according to the data length. The function code can be read and written through the MODBUS RTU protocol. When writing the function code data,the command code is different according to the data length.
  • Page 121 The group number of the written function code, such as writing function code P06-11, 06 is the group number. DATA[0] Note: Here 06 is a hexadecimal number, no hex conversion is required when filling in DATA[0] The written function code offset, such as writing function code P06-11, 11 is the offset.
  • Page 122 Write data low byte, ADDR Servo axis address, hexadecimal data. DATA[3] check Command code，0x10 CRCL significant byte The group number of the written function code, such check high DATA[0] CRCH as writing function code P11-12，0x11 significant byte Greater than or equal The written function code offset, such as writing to 3.5 characters of DATA[1]...

  • Page 123: Chapter 7 Trouble Shooting

    Chapter 7 Trouble shooting 7.1 Fault and warning handling at startup 7.1.1Position control mode Fault inspection  Failure Boot phenomen Reason Confirmation method process 1. Control power supply ◆After unplugging CN1, CN2, CN3, CN4, the fault still exists voltage failure ◆Measure the AC voltage between (L1C, L2C).
  • Page 124 corresponding Whether the terminal logic is valid; 4. When P05-00=2 multi-segment position command source, check whether the P11 group parameters are set correctly, if correct, check whether DI function 28 (FunIN.28: PosInSen, internal multi-segment position enable) corresponding terminal logic are valid. ； 5.
  • Page 125 2) The input position instruction counter received by the servo controller Pin, corresponds to the parameter P0B-13； 3) The cumulative value of feedback pulse of servo motor with encoder Pf, corresponding to parameter P0B-17； 4) PL of mechanical stops. ● 3 reasons for incorrect positioning, corresponding to the A、B、C, in the graph： A means that the input bit is caused by noise in the connection between the output device of the 1:1 position instruction (especially the upper computer) and the servo driver Set instruction count error;...
  • Page 126 procedure 1. Control power supply After pulling out the CN1、 CN2、 CN3、 CN4, the fault still exists。 ◆ voltage failures ◆ Single phase 220 V power supply model measurement (L1、 2. Main supply voltage Digital tube L2) between the AC voltage. Main power DC bus voltage faultMain supply voltage Switch on not on or...

  • Page 127: Torque Control Mode

    positive and negative of each group of speed instructions in P12 group; Communication timing to see if the P31-09 is less than 0; ◆ Point speed instruction gives timing to see if the P06-04 ◆ value, DI function 18,19 valid logic and expected steering match;...

  • Page 128: Runtime Failures And Warning Handling

    AI wiring error For analog input instructions, see if the AI terminal wiring is correct, please refer to Chapter 4. Error in selecting torque instruction Check that the P07-02 is set correctly. No torque instruction entered Input torque Servo motor Internal torque When 1.
  • Page 129 Function Factory Effective Relevant Name Setting range Unit Setting code setting time models 0： no operation P0D 01 Fault reset Stop setting take effect 1： failure and warning reset ☆Associated function number： Function Name Function name Function code The DI function is edge effective, the level continues to ◆...
  • Page 130 a) Category 1(NO.1) Non-reset faults： Coding output Display Fault name Fault type Resets P02 and above group parameters are FU.101 NO.1 abnormal FU.102 Programmable logic configuration failure NO.1 FU.104 Programmable logic interrupt fault NO.1 FU.105 Internal program exception NO.1 FU.108 Parameter storage failure NO.1 FU.111...

  • Page 131: Trouble Shooting Method

    large FU.B03 NO.2 Electronic gear ratio setting exceeds limit FU.B04 Full closed loop function parameter NO.2 setting error FU.D03 NO.2 CAN communication connection interrupted d ) Warning reset： Encoding output Display Warning name Fault type Resets Frequency division pulse output setting FU.110 NO.3 failure...
  • Page 132 Reset the drive model and motor model, and ◆ Confirm whether the software has 4. Updated software the system parameters are restored and been updated. initialized (P02-31=1) After turning on the power supply ◆ several times and restoring the 5. Servo drive failure Replace the servo drive factory parameters, if the fault is still reported, the servo drive has a fault.
  • Page 133 6) FU.120：Product matching failure Production mechanism：  The motor and driver do not match or the parameter setting is wrong. Reason Confirmation way Settlement way Internal fault code P0B45=0120 or 1120 Reset P00-00 (motor number) according to Check whether the motor nameplate ◆...
  • Page 134 Reason Confirmation way Settlement way 1. The function number After the system parameters are restored and exceeds the number of DO Has the MCU program been updated? ◆ initialized (P02-31=1), power on again. functions. 11) FU.136：The data in the motor encoder ROM is checked incorrectly or parameters are not stored Production mechanism：...
  • Page 135 between the motor cable U V W and whether there are burrs in the wiring. Unplug the motor cable and measure ◆ 6. Motor burns out If unbalanced, replace the motor. whether the resistance of the motor cable U V W is balanced. Check whether the motor vibrates or ◆...
  • Page 136 ◆ There is interference in the high-precision AI channel wiring. Refer to the correct wiring diagram to check the AI channel wiring. Internal fault code P0B-45=0208： Check the cause according to the reason 5. FPGA operation timeout Check the cause according to the ◆...
  • Page 137 encoder plug loose whether the cable is aging, corroded, or the connector is loose. Turn off the servo enable signal, turn ◆ the motor shaft by hand, and check whether P0B-10 changes with the rotation of the motor shaft. Check whether the load of the vertical ◆...
  • Page 138 Observe whether parameter ◆ P0B-26 (bus voltage value) is in the following range: 6. The bus voltage Consult our technical support. 220V driver: P0B-26 ＞ 420V sampling value has a large Measure whether the DC bus voltage deviation between B1+ and 1 is at a normal value and is less than P0B-26.
  • Page 139  The actual speed of the servo motor exceeds the overspeed fault threshold Reason Confirmation way Settlement way Check whether the connections ◆ between the two ends of the drive 1. Motor cable U V W Wire in the correct U V W phase power cable and the U V W end of the phase sequence error sequence.
  • Page 140 is 500kpps. taken (pulse input wiring uses twisted-pair High-speed pulse input pin: shielded wire, set the pin filter parameter Differential input terminals: HPULSE+, P0A-24 P0A-30) prevent interference The pulse is superimposed HPULSE-, HSIGN+, HSIGN-, on the real pulse command, causing a maximum pulse frequency: 200kpps.
  • Page 141 detection value. Reason Confirmation way Settlement way Confirm whether the motor brake ◆ Re-wire according to correct wiring or Motor brake is not open terminal signal is valid and whether the replace the motor. motor brake switch is damaged. 27) FU.626：Brake opened abnormally Production mechanism：...
  • Page 142 operation. 4. The installation direction of the servo drive Install according installation Confirm whether the installation of the ◆ and the interval with other standard of the servo drive. servo drive is reasonable. servo drives are unreasonable The fault will still be reported after 5 ◆...
  • Page 143 P0B-10 (electrical angle) increases or the encoder are in good contact, and whether the needles are retracted. decreases smoothly, and one circle corresponds to 5 0-360°. (Refer to Z series motor, if it is X series motor, 4 0-360°). If there is an abnormal sudden change in P0B-10 during rotation, the encoder itself has a serious problem.
  • Page 144 37) FU.B00：Position deviation is too large Production mechanism：  In position control mode, the position deviation is greater than the set value of P0A-10. Reason Confirmation way Settlement way 1. Drive U V W output phase loss or phase Re-wire according to correct wiring or Carry out a test run of the motor under ◆...
  • Page 145 First of all, the pulse input cable must use twisted-pair shielded cable and be routed separately from the drive power cable. Secondly, use the low-speed pulse input port (P05-01=0), when the differential input is selected, the “ground” of the host First, use the oscilloscope function of ◆...
  • Page 146 conditions, the fault value closed loop position deviation is too large (P0F-08) is too small (P0F-08) Is the setting too small ◆ Monitor the running waveform through the oscilloscope function of the If the position command is not zero and 7.

  • Page 147: How To Deal With Warnings

    Check the status of the main station ◆ PLC CAN communication card light: The ERR lights of all slave PLCs are always on (when using the PLC background software, D78xx can be CAN Communication Check the cable connection of the master monitored in the component monitoring connection is interrupted: station.
  • Page 148 3) FU.730: Encoder battery warning Production mechanism：  The encoder battery voltage of the multi-turn absolute encoder is too low or the battery is not connected. Reason Confirmation way Settlement way During power failure, the Confirm whether it is connected during ◆...
  • Page 149 3. Acceleration and Check the mechanical inertia ratio or ◆ deceleration are too perform inertia identification, and check Increase acceleration frequent or the load the inertia ratio P08-15. deceleration time. inertia is too large Confirm the single operation cycle of the ◆...
  • Page 150 Measure whether the input voltage of ◆ the main circuit cable driver side meets the following specifications: 6. The input voltage of Adjust or replace the power supply 220V drive: the main circuit exceeds according to the specifications on the left. the specification range Effective value: 220V～240V Allowable deviation: -10% ～...
  • Page 151 Reason Confirmation way Settlement way Change the function Confirm whether the function code ◆ code that will take effect Power on again. whose "effective time" is "re-power on" is after powering on again changed. 11) FU.942：Frequent parameter storage Production mechanism： ...
  • Page 152 Quality Assurance and Product Warranty Regulation This regulation is a protocol between the manufacturer who produces the product (here in after referred to as manufacturer) and the user who uses the product (here in after referred to as user). Any user whoever purchases and uses the product provided by the manufacturer is regarded as knowing and agreeing with the protocol.
  • Page 153 2.2 For product exported over seas,repair is guaranteed within 3 months since the delivery. 2.3 The user can enjoy life time paid services when ever and wherever using products of our brand. 2.4 All sales organizations, productive facilities and agencies of our company across the country can provide after-sale services for our product.
  • Page 154 Version: V2.3 Thanks for choosing HNC product. Any technique support, please feel free to contact our support team Tel: 86(20)84898493 Fax: 86(20)61082610 URL: www.hncelectric.com Email:support@hncelectric.com...

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