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Inovance IS810N-INT Series User Manual
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Inovance IS810N-INT Series User Manual

Inovance IS810N-INT Series User Manual

Standard servo drive
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Summary of Contents for Inovance IS810N-INT Series

  • Page 2: Preface

    Thank you for purchasing the IS810N-INT series servo drive developed by Inovance. The IS810N-INT series high performance servo drive covers a power range from 0.85 kW to 120 kW. It supports EtherCAT communication to work with the host controller for a networked operation of multiple servo drives, as well as stiffness level setting, inertia auto-tuning, and vibration suppression for ease of use.
  • Page 3 July 2017 First release Access to the Guide This guide is not delivered with the product. You can obtain the PDF version in the following ways: http://www.inovance.com Visit , go to Support > Download, search by keyword, and then download ●...

  • Page 4: Warranty

    Scan the QR code on the product with your smart phone. ● Warranty Inovance provides warranty service within the warranty period (as specified in your order) for any fault or damage that caused during proper operation. Maintenance work will be charged after the warranty period expires.

  • Page 5: Table Of Contents

    Table of Contents T T a a b b l l e e o o f f C C o o n n t t e e n n t t s s Preface..................... 1 Fundamental Safety Instructions..............13 1 List of Models ..................19 2 IS810N Series Drive unit................
  • Page 6 Table of Contents 3.5.4 MS1H2-25C30CD-A33*R ..............48 3.5.5 MS1H2-30C30CD-A33*R .
  • Page 7 Table of Contents 6.2.3 Removing/Installing the Power Supply Unit Cover ......... . 86 6.3 Installing the Drive unit .
  • Page 8 Table of Contents 7.11.4 Wiring for motor temperature detection ..........134 7.11.5 Wiring .
  • Page 9 Table of Contents 10.3.1 ETune ..................190 10.3.2 STune .
  • Page 10 Table of Contents 12.6 Cyclic Synchronous Velocity (CSV) Mode ........... 252 12.6.1 Function Block Diagram.
  • Page 11 Table of Contents 13.2.1 Fully Closed-loop Parameter Setting ............303 13.2.2 Enable Fully Closed-loop Settings.
  • Page 12 Table of Contents 16.5 Parameter Group H04 ............... . 396 16.6 Parameter Group H05 .
  • Page 13 Table of Contents 19 Appendix ................... 565 19.1 Display of Monitoring Parameters ............565 19.2 DI/DO Function Assignment.

  • Page 14: Fundamental Safety Instructions

    Use this equipment according to the designated environment requirements. Damage caused by ● improper use is not covered by warranty. Inovance shall take no responsibility for any personal injury or property damage caused by ● improper usage. Safety Levels and Definitions Indicates that failure to comply with the notice can result in death or severe personal injury.
  • Page 15 Fundamental Safety Instructions Storage and Transportation Large-scale or heavy equipment must be transported by qualified professionals using specialized ● hoisting equipment. Failure to comply may result in personal injury or equipment damage. Before hoisting the equipment, ensure the equipment components such as the front cover and ●...
  • Page 16 Fundamental Safety Instructions Read through the guide and safety instructions before installation. ● Do not install this equipment in places with strong electric or magnetic fields. ● Before installation, check that the mechanical strength of the installation site can bear the weight of ●...
  • Page 17 Fundamental Safety Instructions Do not connect the input power supply to the output end of the equipment. Failure to comply can ● result in equipment damage or even a fire. When connecting a drive to the motor, check that the phase sequences of the drive and motor ●...

  • Page 18: Additional Precautions

    Fundamental Safety Instructions Maintenance Equipment installation, wiring, maintenance, inspection, or parts replacement must be performed ● only by professionals. Do not maintain the equipment with power ON. Failure to comply will result in an electric shock. ● Before maintenance, cut off all the power supplies of the equipment and wait for at least the time ●...

  • Page 19: Safety Label

    Fundamental Safety Instructions Ensure that the dynamic braking function has an operation interval of more than 5 minutes at high ● speed, otherwise the internal dynamic braking circuit may be damaged. Dynamic braking is common in rotating mechanical structures. For example, when a motor has ●...

  • Page 20: List Of Models

    List of Models List of Models Table 1–1 MS1 series servo motors Servo drive Servo motor (IS810N50M4T*******) Rated power Recommended drive Code defined by Flange size Brake-less motor model Brake motor model Size (kW) model H01.10 MS1H1-05B30CB-A330Z MS1H1-05B30CB-A332Z 0.05 MS1H1-10B30CB-A330Z MS1H1-10B30CB-A332Z S(D)3R5INT 10001...
  • Page 21 List of Models Table 1–2 ISMG series servo motors Servo motor Servo drive (IS810N50M4T*******) Recommended Rated current (*) Rated torque (*) Recommended Flange Drive Model Brake-less motor model Brake motor model Drive Model (S4) (N·m) size (S1) 14.5(18.5) 50(60) S(D)017INT S(D)021INT ISMG1-95C15CD-A331FA ISMG1-95C15CD-A334FA...

  • Page 22: Is810N Series Drive Unit

    IS810N Series Drive unit IS810N Series Drive unit Product Information 2.1.1 Model and Nameplate Model and nameplate ① Product series ⑤ Number of axes ⑦ Model IS810: IS810 series servo drive S: Single-axis INT: Global version D: Dual-axis ② Product type ⑥...

  • Page 23: Components

    00003: 3rd in current month N: 2021 Range: 00001 to 99999 Note: I/L/O/Q is not used. ④ Month ② Manufacturer code 4: Suzhou Inovance 1: January 2: February A: October B: November C: December Example: The S/N 010502024H700001 indicates the drive is manufactured in July, 2017.
  • Page 24 IS810N Series Drive unit Table 2–1 Components Components Components Mounting hole ① ⑪ STO terminal 24 V power supply input ② ⑫ Busbar Hardware DIP switch of the ③ Built-in busbar ⑬ communication address Keypad DI/DO terminal ④ ⑭ Fully closed-loop input and frequency- Top cover ⑤...

  • Page 25: Product Dimensions

    IS810N Series Drive unit Components Components Keypad ⑧ ⑰ Shield bracket Hardware DIP switch of the ⑨ ⑱ Terminal cover communication address Note DIP switch ” on page 145 For details of Hardware DIP switches, see “ 2.1.3 Product Dimensions Size φLA Recommend...
  • Page 26 IS810N Series Drive unit Item Size-1 0.85 Max. applicable motor capacity (kW) Continuous output 11.9 current (Arms) Max. output current (Arms) Main circuit power 537 VDC to 679 VDC supply Energy loss (w) Control circuit 21.6 VDC to 26.4 VDC power supply Energy loss (w) Electrical specifications of drives in size-2...

  • Page 27: Technical Specifications

    IGBT PWM control, sine wave current drive mode Control mode 380 V: three-phase full wave rectification Encoder feedback Inovance 23-bit serial absolute encoder 0–40°C (For temperatures higher than 40°C but lower than 50ºC (maximum temperature), Ambient temperature derate 1.5% for every additional 1°C.) Storage temperature -25℃...

  • Page 28: Technical Data Of Ethercat Communication

    IS810N Series Drive unit Note [1]: Install the drive unit within the ambient temperature range. When it is installed inside a control cabinet, the temperature inside the cabinet must also be within this range. 2.2.3 Technical Data of EtherCAT Communication Description Item Communication protocol...

  • Page 29: Ms1 Series Motors

    MS1 Series Motors MS1 Series Motors Product Information 3.1.1 Model and Nameplate Model description ① MS1 series servo motor ② Inertia and Capacity ③ Rated power (W) H1: low inertia, small capacity One letter and two digits H2: low inertia, medium capacity B: x 10 H3: medium inertia, medium C: x 100...

  • Page 30: Components

    MS1 Series Motors 3.1.2 Components Motor (40-flange) Terminal-type servo motor ● Figure 3-2 Components of a terminal-type servo motor (Left: motor with front cable outlet; Right: motor with rear cable outlet) Flying leads type servo motors ● Figure 3-3 Components of flying leads type motors Note For 50 W terminal type models, use rear outlet for power cables.
  • Page 31 MS1 Series Motors Figure 3-4 Components of a terminal-type servo motor (Left: motor with front cable outlet; Right: motor with rear cable outlet) Flying leads type servo motors ● Figure 3-5 Components of flying leads type motors Motor (100-, 130- and 180-flange) Figure 3-6 Components of servo drives in flange sizes 100/130/180...

  • Page 32: Motor Models

    MS1 Series Motors 3.1.3 Motor Models Rated speed Rated Output Capacity IP rating of the Motor type (max. speed) Encoder enclosure (kW) (RPM) MS1H1 inertia, 3000 0.05, 0.1, 0.2, 0.4, 0.55, 0.75, 1.0 A3: 23-bit multi-turn absolute encoder IP67 small (6000) capacity MS1H2...
  • Page 33 MS1 Series Motors Description Item Ambient 0℃ to 40℃ (non-frozen) (Derate based on the derating curve for temperature temperatures above 40℃.) Ambient humidity 20% to 80% (without condensation) Free from corrosive or explosive gases ● Well ventilated and with minimum amount of dust, waste and moisture. ●...

  • Page 34: Overload Characteristics

    24.5 m/s ⑥ Note The preceding vibration/shock standards cannot be applied for a long term. For long-term application needs, con- tact Inovance. 3.2.2 Overload Characteristics The equipment is compliant with NEC and CEC requirements and equipped with protective functions against overload and overtemperature.
  • Page 35 MS1 Series Motors The motor operates in environments with high temperature. ● The motor is in cyclic motion featuring a short motion cycle and frequent acceleration/ ● deceleration. Overload thermal protection only occurs during continuous energized operation. You need to check ●...
  • Page 36 MS1 Series Motors Operating time (s) Load ratio (%) 3.36 3.15 2.97 2.82 2.70 2.63 1000 Figure 3-10 MS1H1/H4 (flange size 40) series motor overload curve MS1H1/H4 (flange size 60/80) ● Load ratio (%) Operating time (s) Figure 3-11 MS1H1/H4 (flange size 60/80) series motor overload curve -35-...
  • Page 37 MS1 Series Motors Note The maximum torque of H1 and H4 models is the rated torque x 3.5. MS1H2/MS1H3 ● Load ratio (%) Operating time (s) 6000 121.4 2000 127.8 1000 134.2 140.6 153.4 159.8 166.2 172.6 179.0 185.4 191.8 198.2 204.6 211.0...

  • Page 38: Derating Characteristics

    MS1 Series Motors Note The maximum torque of H2 models is the rated torque x 3. ● The maximum torque of H3 models is the rated torque x 2.5. ● 3.2.3 Derating Characteristics Altitude-based derating curve ● Temperature-based derating curve ●...
  • Page 39 Technical data and torque/speed characteristic values in the following tables are applicable to ■ motors working with Inovance servo drives with the the armature coil temperature being 20°C. Continuous working area: refers to a series of states in which the motor can operate safely and ■...

  • Page 40: Ms1H1 Motors With Low Inertia And Small Capacity

    MS1 Series Motors MS1H1 Motors with Low Inertia and Small Capacity 3.4.1 MS1H1-40B30CB-A33*R Motor specifications Torque-Speed characteristics Flange size (mm) Inertia, capacity Low inertia, small capacity Rated power (kW) Voltage (V) 1.27 Rated torque (N·m) Maximum torque (N·m) 4.45 Rated current (Arms) Heatsink-based derating curve Maximum current (Arms) Rated speed (rpm)

  • Page 41: Ms1H1-05B30Cb-A33*R

    MS1 Series Motors 30 ± 0.5 4- Ø 5.5 3 ± 0.5 0.5±0.35 (121) Weight (kg) 1.11 M5x8 16.5 Ø50h7 -0.025 -0.1 (1.48) 3.4.2 MS1H1-05B30CB-A33*R Torque-Speed characteristics Motor model Flange size (mm) Inertia, capacity Low inertia, small capacity Rated power (kW) 0.05 Rated voltage (V) Rated torque (N·m)

  • Page 42: Product Dimensions (Mm)

    MS1 Series Motors Product dimensions (mm) 55(82.3) 25±0.5 2-Ø4.5 34.5 2.5±0.5 0.5±0.35 Weight (kg) 0.26(0.43) Ø30h7 M3×6 -0.021 –0.1 3.4.3 MS1H1-55B30CB-A33*R Motor specifications Torque-Speed characteristics Flange size (mm) Inertia, capacity Low inertia, small capacity Rated power (kW) 0.55 Voltage (V) 1.75 Rated torque (N·m) Maximum torque (N·m)

  • Page 43: Ms1H1-75B30Cb-A33*R

    MS1 Series Motors Dimensions (mm) 96.7 25±0.5 4- Ø 7 3±0.5 0.5±0.35 Weight (kg) Ø70h7 M6 x 20 15.5 1.88 -0.03 -0.1 3.4.4 MS1H1-75B30CB-A33*R Motor specifications Torque-Speed characteristics Flange size (mm) Inertia, capacity Low inertia, small capacity Rated power (kW) 0.75 Voltage (V) 2.39...

  • Page 44: Ms1H1-20B30Cb-A33*R

    MS1 Series Motors Dimensions (mm) 107.3 25±0.5 4- Ø 7 3±0.5 0.5±0.35 (141.5) Weight (kg) 2.22 Ø70h7 M6 × 20 15.5 –0.1 —0.03 (2.88) 3.4.5 MS1H1-20B30CB-A33*R Motor specifications Torque-Speed characteristics Flange size (mm) Inertia, capacity Low inertia, small capacity Rated power (kW) Voltage (V) Rated torque (N·m) 0.64...

  • Page 45: Ms1H1-10B30Cb-A33*R

    MS1 Series Motors Dimensions (mm) 75.5 4- Ø 5.5 30±0.5 3±0.5 0.5±0.35 (103) Weight (kg) 0.80 Ø50h7 M5x8 16.5 -0.025 -0.1 (1.17) 3.4.6 MS1H1-10B30CB-A33*R Torque-Speed characteristics Motor model Flange size (mm) Inertia, capacity Low inertia, small capacity Rated power (kW) Rated voltage (V) Rated torque (N·m) 0.32...

  • Page 46: Ms1H2 Motors With Low Inertia And Medium Capacity

    MS1 Series Motors Product dimensions (mm) 67.5(94.8) 25±0.5 2-Ø4.5 34.5 2.5±0.5 0.5±0.35 Weight (kg) 0.35(0.52) Ø30h7 M3×6 -0.021 –0.1 MS1H2 Motors with Low Inertia and Medium Capacity 3.5.1 MS1H2-10C30CD-A33*R Motor specifications Torque-Speed characteristics Flange size (mm) Inertia, capacity Low inertia, medium capacity Rated power (kW) Voltage (V) 3.18...

  • Page 47: Ms1H2-15C30Cd-A33*R

    MS1 Series Motors Allowable load LF (mm) Allowable radial load (N) Allowable axial load (N) Dimensions (mm) 123.5 45±1 4-Ø7 5±0.3 (172) (151.5) Weight (kg) 3.85 7.5±0.75 Ø95h7 M8x16 -0.035 -0.2 (4.9) 3.5.2 MS1H2-15C30CD-A33*R Motor specifications Torque-Speed characteristics Flange size (mm) Inertia, capacity Low inertia, medium capacity Rated power (kW)

  • Page 48: Ms1H2-20C30Cd-A33*R

    MS1 Series Motors Allowable load LF (mm) Allowable radial load (N) Allowable axial load (N) Dimensions (mm) 140.5 45±1 4-Ø7 5±0.3 (189) (168.5) Weight (kg) 4.65 7.5±0.75 Ø95h7 M8x16 -0.035 -0.2 (5.75) 3.5.3 MS1H2-20C30CD-A33*R Motor specifications Torque-Speed characteristics Flange size (mm) Inertia, capacity Low inertia, medium capacity Rated power (kW)

  • Page 49: Ms1H2-25C30Cd-A33*R

    MS1 Series Motors Allowable load LF (mm) Allowable radial load (N) Allowable axial load (N) Dimensions (mm) 156.5 45±1 4-Ø7 5±0.3 (205) (184.5) Weight (kg) 7.5±0.75 Ø95h7 M8x16 -0.035 -0.2 (6.55) 3.5.4 MS1H2-25C30CD-A33*R Torque-Speed characteristics Motor model Flange size (mm) Inertia, capacity Low inertia, medium capacity Rated power (kW)

  • Page 50: Ms1H2-30C30Cd-A33*R

    MS1 Series Motors Allowable load LF (mm) Allowable radial load (N) Allowable axial load (N) Product dimensions (mm) 174.5 45±1 4-Ø7 5±0.3 (223) (202.5) Weight (kg) 7.5±0.75 Ø95h7 M8×16 -0.035 -0.2 (7.35) 3.5.5 MS1H2-30C30CD-A33*R Motor specifications Torque-Speed characteristics Flange size (mm) Inertia, capacity Low inertia, medium capacity Rated power (kW)

  • Page 51: Ms1H2-40C30Cd-A33*R

    MS1 Series Motors Allowable load LF (mm) Allowable radial load (N) Allowable axial load (N) 1176 Dimensions (mm) 177.5 4-Ø9 102.4 127.5 63±1 6±0.3 (223) (202.5) Weight (kg) 10.0 0.5±0.75 Ø110h7 M8 × 20 –0.035 –0.2 (11.9) 3.5.6 MS1H2-40C30CD-A33*R Motor specifications Torque-Speed characteristics Flange size (mm) Inertia, capacity...

  • Page 52: Ms1H2-50C30Cd-A33*R

    MS1 Series Motors Allowable load LF (mm) Allowable radial load (N) Allowable axial load (N) 1176 Dimensions (mm) 215.5 4-Ø9 102.4 165.5 63±1 6±0.3 (261) (240.5) Weight (kg) 13.2 0.5±0.75 Ø110h7 M8 × 20 –0.035 –0.2 (15.1) 3.5.7 MS1H2-50C30CD-A33*R Torque-Speed characteristics Motor model Flange size (mm) Inertia, capacity...

  • Page 53: Ms1H3 Motors With Medium Inertia And Medium Capacity

    MS1 Series Motors Allowable load LF (mm) Allowable radial load (N) Allowable axial load (N) 1176 Product dimensions (mm) 253.5 4-Ø9 102.4 203.5 63±1 6±0.3 (299) (278.5) Weight (kg) 16.35 0.5±0.75 Ø110h7 M8×20 –0.035 –0.2 (18.25) MS1H3 Motors with Medium Inertia and Medium Capacity 3.6.1 MS1H3-85B15CD-A33*R Motor specifications...

  • Page 54: Ms1H3-13C15Cd-A33*R

    MS1 Series Motors Electrical specifications of the motor with brake Supply voltage Holding torque Coil resistance Exciting current Rated power (W) Apply time (ms) Release time (ms) Backlash (°) (N·m) (Ω) (±7%) (VDC)±10% ≤ 120 ≤ 60 ≤ 1 Allowable load LF (mm) Allowable radial load (N) Allowable axial load (N)

  • Page 55: Ms1H3-18C15Cd-A33*R

    MS1 Series Motors Electrical specifications of the motor with brake Supply voltage Holding torque Coil resistance Exciting current Rated power (W) Apply time (ms) Release time (ms) Backlash (°) (N·m) (Ω) (±7%) (VDC)±10% ≤ 120 ≤ 60 ≤ 1 Allowable load LF (mm) Allowable radial load (N) Allowable axial load (N)

  • Page 56: Ms1H3-29C15Cd-A33*R

    MS1 Series Motors Electrical specifications of the motor with brake Supply voltage Holding torque Coil resistance Exciting current Rated power (W) Apply time (ms) Release time (ms) Backlash (°) (N·m) (Ω) (±7%) (VDC)±10% ≤ 120 ≤ 60 ≤ 1 Allowable load LF (mm) Allowable radial load (N) Allowable axial load (N)

  • Page 57: Ms1H3-44C15Cd-A33*R

    MS1 Series Motors Electrical specifications of the motor with brake Supply voltage Holding torque Coil resistance Exciting current Rated power (W) Apply time (ms) Release time (ms) Backlash (°) (N·m) (Ω) (±7%) (VDC)±10% 18.58 1.29 ≤ 200 ≤ 100 ≤ 1 Allowable load LF (mm) Allowable radial load (N)

  • Page 58: Ms1H3-55C15Cd-A33*R

    MS1 Series Motors Electrical specifications of the motor with brake Supply voltage Holding torque Coil resistance Exciting current Rated power (W) Apply time (ms) Release time (ms) Backlash (°) (N·m) (Ω) (±7%) (VDC)±10% 18.58 1.29 ≤ 200 ≤ 100 ≤ 1 Allowable load LF (mm) Allowable radial load (N)

  • Page 59: Ms1H3-75C15Cd-A33*R

    MS1 Series Motors Electrical specifications of the motor with brake Supply voltage Holding torque Coil resistance Exciting current Rated power (W) Apply time (ms) Release time (ms) Backlash (°) (N·m) (Ω) (±7%) (VDC)±10% 18.58 1.29 ≤ 200 ≤ 100 ≤ 1 Allowable load LF (mm) Allowable radial load (N)

  • Page 60: Ms1H4 Motors With Medium Inertia And Small Capacity

    MS1 Series Motors Electrical specifications of the motor with brake Supply voltage Holding torque Coil resistance Exciting current Rated power (W) Apply time (ms) Release time (ms) Backlash (°) (N·m) (Ω) (±7%) (VDC)±10% 18.58 1.29 ≤ 200 ≤ 100 ≤ 1 Allowable load LF (mm) Allowable radial load (N)

  • Page 61: Ms1H4-75B30Cb-A33*R

    MS1 Series Motors Motor specifications Torque-Speed characteristics Maximum current (Arms) Rated speed (rpm) 3000 Maximum speed (rpm) 7000 Torque coefficient (N·m/Arms) 0.53 0.43 Motor without brake Rotor moment of inertia (kg·cm 0.44 Motor with brake Electrical specifications of the motor with brake Supply voltage Holding torque Coil resistance...
  • Page 62 MS1 Series Motors Motor specifications Torque-Speed characteristics Maximum current (Arms) 16.9 Rated speed (rpm) 3000 Maximum speed (rpm) 7000 Torque coefficient (N·m/Arms) 0.58 1.46 Motor without brake Rotor moment of inertia (kg·cm 1.51 Motor with brake Electrical specifications of the motor with brake Supply voltage Holding torque Coil resistance...

  • Page 63: Ismg Series Motors

    ISMG Series Motors ISMG Series Motors The ISMG series air-cooling permanent magnet motor is a general-purpose high-power servo motor that comes with two variants, ISMG1 and ISMG2. The ISMG series motor is equipped with a 23-bit encoder and features low temperature rise, low current, and high overspeed capacity. It adopts low rotor inertia design to ensure high responsiveness of the motor.

  • Page 64: Components

    ISMG Series Motors 4.1.2 Components Table 4–1 Name Name Hanger plate Mounting baseplate Enclosure Junction box Front end cover Air duct Axis 4.1.3 Product Dimensions ISMG1 motor Solid shaft, air-cooling motor (ISMG1) (unit: mm) ● Connector Model Encoder Side Aviation connector MIL-DTL-5015 series 3102E20-29P L (mm) K (mm)
  • Page 65 ISMG Series Motors Weight (kg) L (mm) K (mm) Motor model ISMG1-17D15CD-A331FA ISMG1-23D20CD-A331FA ISMG1-22D15CD-A331FA ISMG1-28D20CD-A331FA ISMG1-30D15CD-A331FA 79.8 ISMG1-41D20CD-A331FA Brake motor (unit: mm) ● L (mm) K (mm) Motor model ISMG1-95C15CD-A334FA ISMG1-12D20CD-A334FA ISMG1-14D15CD-A334FA ISMG1-18D20CD-A334FA ISMG1-17D15CD-A334FA ISMG1-23D20CD-A334FA ISMG1-22D15CD-A334FA ISMG1-28D20CD-A334FA ISMG1-30D15CD-A334FA ISMG1-41D20CD-A334FA Note The standard model is A3 series.

  • Page 66: Product Specifications

    ISMG Series Motors Connector Model Encoder Side Aviation connector MIL-DTL-5015 series 3102E20-29P L (mm) K (mm) Weight (kg) Motor model ISMG2-31D15CD-A331FA ISMG2-42D20CD-A331FA ISMG2-42D15CD-A331FA 141.3 ISMG2-57D20CD-A331FA ISMG2-52D15CD-A331FA 158.4 ISMG2-60D15CD-A331FA 175.4 Note The standard model is A3 series. Product Specifications 4.2.1 Mechanical Characteristics Description Item Duty type...

  • Page 67: Derating Characteristics

    ISMG Series Motors Description Item Fan type Single-phase capacitor-run centrifugal fan Fan power ISMG1: 41 W; ISMG2: 134 W Fan voltage 220/230 VAC Fan frequency 50 Hz/60 Hz 130℃ Threshold of built-in PTC KTY resistance at a temperature range of 10℃ to 30℃ 514 Ω...

  • Page 68: Motor Torque-Speed Characteristics

    ISMG Series Motors 4.2.3 Motor Torque-Speed Characteristics Assignment Description Color Remarks Describes the relation between the peak torque and the motor speed, which Purple Peak demonstrates the short-term overload capacity of the motor. When selecting the motor model, ensure Describes the relation between the torque that the rated operating point of the motor and the motor speed under a temperature S1-100K...
  • Page 69 ISMG Series Motors ISMG2 torque-speed characteristics...

  • Page 70: Motor Parameters

    ISMG Series Motors 4.2.4 Motor parameters ISMG1 motor Brake-less motor ● Table 4–2 ISMG1 brake-less motor specifications ISMG1-*******-A331FA Motor model 95C15CD 12D20CD 14D15CD 17D15CD 18D20CD 22D15CD 23D20CD 28D20CD 30D15CD 41D20CD Rated power 10.5 11.8 14.5 15.7 18.1 19.3 24.1 23.6 31.4 (S1) (kW)

  • Page 71: Brake Motor

    S4 is defined as a sequence of identical duty cycles, each cycle including a significant starting time, a time of operation at constant load and a time de-energized and at rest. Note: For other motor specifications and models, contact Inovance sales staff. ●...
  • Page 72 S4 is defined as a sequence of identical duty cycles, each cycle including a significant starting time, a time of operation at constant load and a time de-energized and at rest. Note: For other motor specifications and models, contact Inovance sales staff. ●...

  • Page 73: Options

    Options Options Applicable Cables 5.1.1 Model description Power cable ① Cable type ③ Flange size ⑤ Cable length (m) S6-L-B/M: motion control power 0: Flange size 25/40/60/80 3.0: 3 m cable 1: Flange size 25/100/130/180 5.0: 5 m B: with brake 2: Flange size 180 10.0: 10 m M: without brake...

  • Page 74: Cable Type

    More information Cables of MS1–R series motors are the same as MS1–Z series motors. Power cables and encoder cables for terminal-type motors must be installed with specialized devices and jigs. Order the finished cables from distributors authorized by Inovance. -73-...

  • Page 75: Cable Selection

    Options For more cable information, see "Cable Specifications and Models" in the hardware manual for the servo drive. 5.1.3 Cable Selection Power cable for MS1 series motors Toler Cable ance (T) Drawing length Motor model Cable name Cable model (mm) (mm) (-30.30) S6-L-M107-3.0...
  • Page 76 Options Toler Cable ance (T) length Drawing Motor model Cable name Cable model (mm) (mm) (-30.30) S6-L-M112-3.0 3000 (-30.50) S6-L-M112-5.0 5000 Brake-less S6-L-M112-10.0 10000 (-30.80) MS1H3 motors (2.9 kW) (-30.30) S6-L-B112-3.0 3000 S6-L-B112-5.0 5000 (-30.50) Brake (-30.80) S6-L-B112-10.0 10000 (-30.30) S6-L-M122-3.0 3000 (-30.50)
  • Page 77 (-30.80) cable Power cable for ISMG series motors Inovance does not provide power cables for ISMG series motors. You can select the power cables based on the power cable specifications provided by Inovance. Table 5–1 Recommended power cable specifications Brake-less motor model...
  • Page 78 Options Brake-less motor model Brake motor model Rated current (*) Rated torque (*) AWG specification Cross sectional area of the cable (mm (N·m) ISMG1-11D30CD-A311FA-GL 20.3 (25.78) 35 (41) 9.5±0.4 ISMG1-11D30CD-A3A1L-GL 21.3 (27.05) 35 (41) 9.5±0.4 ISMG1-12D20CD-A331FA ISMG1-12D20CD-A334FA 20.3 (26) 50 (60) 9.5±0.4 ISMG1-12D30CD-A331FA-GL 24.3 (30.86)

  • Page 79: Communication Cables

    Options Communication cables Cable Toler Length ance (T) Drawing Cable Name Cable Model (mm) (mm) Servo drive to PC S6-L-T04-0.3 (-10,10) communication cable Multi-drive communication cable (-10.10) S6-L-T04-3.0 3000 Servo drive to host controller communication cable Servo drive termination S6-L-T03-0.0 resistor connector Connector Kit Outline Drawing...
  • Page 80 Options Outline Drawing Name Model MD810-PBJ50M-W1(SIZE 1 shield bracket) MD810-PBJ50M-W2(SIZE 2 shield bracket) Shield bracket (hose clamp included) MD810-PBJ50M-W3(SIZE 3 shield bracket) MD810-PBJ50M-W4(SIZE 4 shield bracket) MD810-AZJ50M-W1 (SIZE 1 mounting bracket) MD810-AZJ50M-W2 (SIZE 2 mounting bracket) Through-hole mounting bracket MD810-AZJ50M-W3 (SIZE 3 mounting bracket) S6-C39 (SIZE 4 mounting bracket)

  • Page 81: Absolute Encoder Batteries

    Options Outline Drawing Name Model MS1H2/MS1H3 (1.8 kW and S6-C29 below) motor connectors MS1H3 (2.9 kW and above) S6-C39 motor connectors Note [1] The shield bracket (with hose clamp) are included in the standard configuration of drives in size-1 and size-2. Absolute Encoder Batteries Selecting the battery box model Select an appropriate battery according to the following table.
  • Page 82 Options Note [1]: The "standby state" means the encoder counts the multi-turn data by using the power from the external ● battery when the servo drive power supply is not switched on. In this case, data transceiving stops. [2]: During normal operation, the absolute encoder supports one-turn or multi-turn data counting and ●...

  • Page 83: Installation

    “ Figure 6–1 ” on page 82 Check whether the product delivered is in good condition. If there is any missing Check whether the product is or damage, contact Inovance or your supplier immediately. intact. Table 6–1 Dimensions of the outer packing box (unit: mm)

  • Page 84: Installation Environment

    Installation Installation environment Mounting location Service life of the drive is closely related to the ambient temperature. The ambient temperature ● must be within the allowable temperature range (0℃ to +50℃). Altitude: When the installation altitude exceeds 1000 m, the drive must be derated according to the ●...

  • Page 85: Environment Requirements

    Install the cooling fan onto the top of the drive to avoid excessive temperature rise in a certain region, keeping an even temperature inside the cabinet. Installing the Power Supply Unit http://www.inovance.com For how to install the power supply unit, visit to download user guides for MD810.

  • Page 86: Installation Clearance

    Installation Figure 6-3 Layout and dimension of the power supply unit Physical Dimensions (mm) Mounting Hole (mm) Mounting Hole Weight Power Supply Unit Model (kg) Diameter (mm) MD810-20M4T22GXXX Φ7 MD810-20M4T45GXXX Φ7 MD810-20M4T110GXXX Φ7 MD810-20M4T160GXXX Φ7 MD810-20M4T160GXXXW 426.5 Φ7 MD810-20M4T355GXXX Φ12 6.2.2 Installation clearance The power supply unit is divided into the booksize type (100 mm, 200 mm and 300 mm wide) and the...

  • Page 87: Removing/Installing The Power Supply Unit Cover

    Installation Figure 6-4 Clearance for dual-row installation of booksize power supply units Figure 6-5 Clearance for installing the vertical tower unit Note Installation direction: The servo drive must be installed vertically. 6.2.3 Removing/Installing the Power Supply Unit Cover Removing the cover 1.
  • Page 88 Installation 3. Pull the whole keypad box frontward. 4. Hold the bottom of the lower cover by hands. Remove the lower cover by turning it forward. 5. Insert the tool (screwdriver) into the clasp of the power terminal cover and pry the clasp. 6.
  • Page 89 Installation Installing the cover 1. Align the power terminal cover with its latch position, and fix it. 2. Insert the keypad 3. Align the upper cover with the position of the clasp. Press the upper cover to fix it. Tighten the fixing screw with a screwdriver.
  • Page 90 Installation 4. Insert the top of the lower cover to a place below the upper cover. Turn the bottom of the lower cover to clasp it. 5. The cover has been installed properly. -89-...

  • Page 91: Installing The Drive Unit

    Installation Installing the Drive unit 6.3.1 Installation Dimensions Size-1 Figure 6-6 Outline dimensions of the size-1 (unit: mm) Size-2 Figure 6-7 Outline dimensions of the size-2 (unit: mm)

  • Page 92: Installation Clearance

    Installation Size-3 Figure 6-8 Outline dimensions of the size-2 (unit: mm) Size-4 Figure 6-9 Outline dimensions of models in size-4 (unit: mm) 6.3.2 Installation Clearance The drive supports single-row installation and two-row installation. The booksize unit must be installed closely in a group of at least three units to avoid damage to the product during transportation.

  • Page 93: Installation Procedure

    Installation Single-row installation Booksize unit Vertical unit Dual-row installation Booksize unit Vertical unit Note An air guide plate may be installed in the upper layer during two-row installation. For the air guide plate model, ● Connector Kit ” on page 78 “...
  • Page 94 Installation 2. Hang the power supply unit to the pre-lock screws, and then tighten the screws with a torque wrench. 3. Hang the drive unit to the backplate, and then tighten the screws with a torque wrench. Note The screws on the lower side of the adjacent units are not locked (as shown in the figure below) for installing the grounding aluminum bar.
  • Page 95 Installation 4. Install the grounding aluminum bar between adjacent units. 5. Install the shield bracket (optional). This step can be skipped for standard models as the shield bracket is not included in the standard configuration. 6. If units are installed in two rows, install an air guide plate in the lower row.
  • Page 96 Installation Note Connector Kit For model selection details of preceding options, see ” on page 78 “ The following figure describes the installation of the air guide plate for the power supply unit and drive unit. Figure 6-10 Installation of the air guide plate for unit with a width of 50 mm Figure 6-11 Installation of the air guide plate for unit with a width of 100 mm -95-...
  • Page 97 Installation Figure 6-12 Installation of the air guide plate for power supply unit with a width of 200 mm Figure 6-13 Installation of the air guide plate for drive unit with a width of 200 mm Figure 6-14 Installation of the air guide plate for unit with a width of 300 mm...
  • Page 98 Installation Through-hole mounting 1. Install the optional through-hole mounting bracket. 2. Pre-lock the M6x20 screws to the mounting backplate. Leave a clearance of 5 mm between the screws and backplate. 3. Hang the power supply unit to the pre-lock screws on the installation backplate, and then tighten the screws with a torque wrench.
  • Page 99 Installation Note The screws on the lower side of the adjacent units are not locked (as shown in the figure below) for the convenience of installing the grounding aluminum bar. 5. Install the grounding aluminum bar between adjacent units. 6. Install the shield bracket (optional). This step can be skipped for standard models as the shield bracket is not included in the standard configuration.

  • Page 100: Installation Instructions

    Installation Note Connector Kit ” on page 78 For model selection details of preceding options, see “ Installation Instructions Recommended tightening torque (N.m) 0.55 Ensure that there is enough installation space on the left of the power supply unit to install the product.

  • Page 101: Wiring Requirements

    Installation Figure 6-16 Wall-mounted drive unit Grounding Ground the grounding terminal properly. Failure to comply may result in electric shock or malfunction due to interference. Wiring requirements When wiring the servo drive, route the cables downward (see the following figure) to prevent liquids from flowing into the servo drive along cables.

  • Page 102: Wiring

    Wiring Wiring Wiring Precautions Danger Wiring must be performed by authorized and qualified personnel only. ● To prevent electric shorck, wait for at least 10 min after turning off the power supply to allow the power ● indicator to turn off. Then measure the voltage between + and - of the busbar with a multimeter. After confirming the voltage is within the safety range, you can perform further operations.
  • Page 103 Wiring Note Carry out wiring correctly. Failure to comply will result in servo motor malfunction or physical injury. ● Connect the terminals correctly. Failure to comply may result in damage to the terminals. ● Never connect the three-phase power supply to the output terminals U, V, W of the drive. Failure to comply will ●...

  • Page 104: System Wiring Diagram

    Wiring Locations with strong electric field or magnetic field ● Locations with radioactive rays ● Locations with power cables around the equipment ● System Wiring Diagram Figure 7-1 Wiring example of a three-phase 380 V system The servo drive is directly connected to an industrial power supply, with no isolation such as a transformer.

  • Page 105: Electrical Wiring Diagram

    Wiring Note CN3 is a communication output port. CN4 is a communication input port. Electrical Wiring Diagram Figure 7-2 General electrical wiring diagram...

  • Page 106: Terminals Of Power Supply Unit

    [Note 6]: The internal +5 V power supply supports up to 200 mA current. ● Terminals of Power Supply Unit The drive must be used together with Inovance 810 series power supply unit or 880 series active www.inovance.com rectifier unit. For details, visit to download related user guides.
  • Page 107 Wiring Figure 7-4 Terminal pin layout of dual-axis drive unit Note Recommended Models and Specifications of Main Circuit For details of main circuit terminals, see “ 7.6.1 ● Cables ” on page 107 Terminal Layout For details of CN1 (control terminal), see “...

  • Page 108: Terminals Of The Main Circuit

    Wiring Terminals of the Main Circuit 7.6.1 Recommended Models and Specifications of Main Circuit Cables Figure 7-5 Diagram of the terminal block Table 7–1 Specifications of the terminal block structure Main circuit terminal Tightening Tightening Structure X1 (mm) X2 (mm) Y (mm) torque Screw...
  • Page 109 Wiring Cable lug selection Recommended cable lugs are shown below. Figure 7-6 Appearance of the cable lug Figure 7-7 Dimension drawing of the cable lug Table 7–3 Dimensions of the cable lug (mm) Cross- Dimensions sectional area Max. current Color of the cable ØC ØD...

  • Page 110: Wiring With The Power Supply Unit

    Wiring Cross- Dimensions sectional area Max. current Color of the cable ØC ØD Blue Gray Green 7.6.2 Wiring with the power supply unit Connecting the DC bus power supply Remove the keypad cover on the drive unit. Connect the power supply unit to the drive unit through the DC busbar.
  • Page 111 Wiring Note For models with a width of 50 mm, the rotary busbar is not pre-installed on the drive, but put in the packaging box. Remove the busbar terminal screws before connecting the busbar. 3. Tighten the screws and calibrate the torques of all screws with a recommended torque of 2.6 N·m to 3 N·m.

  • Page 112: Wiring With The Motor

    Wiring Figure 7-9 Grounding of the shield and use of the hose clamp 7.6.3 Wiring with the Motor Properly ground PE of the servo drive and servo motor. Connecting to the MS1 series motors Figure 7-10 Terminal-type motor power cable connector -111-...
  • Page 113 Note [1] The flange size refers to the width of the mounting flange. ● Power cable colors are subject to the actual product. All cable colors mentioned in this guide refer to Inovance ● cable colors. Table 7–5 Description of the flying leads type motor power cable connector (motor side)
  • Page 114 Note [1] The flange size refers to the width of the mounting flange. ● Power cable colors are subject to the actual product. All cable colors mentioned in this guide refer to Inovance ● cable colors. Connecting to the ISMG series motor...
  • Page 115 Wiring Figure 7-11 Example of connection of the drive unit output to ISMG series servo motor The specifications and installation methods of external main circuit cables must comply with the ● local regulations and related IEC standards. Do not connect the capacitor or surge protection device to the output side of the drive. Failure to ●...

  • Page 116: Control Terminal (Cn1)

    Wiring Control Terminal (CN1) 7.7.1 Terminal Layout Figure 7-13 Pin layout of control circuit terminal connector of the drive Table 7–8 CN1 terminal function Terminal Symbol Terminal Name Terminal Function Axis 1 Axis 2 +24V +24V Internal 24 V power supply: 20 to 28 V; maximum output COM- COM- current: 200 mA...

  • Page 117: Di/Do Signals

    Wiring 7.7.2 DI/DO Signals DI circuit The circuits for DI1 to DI3, and DI5 to DI7 are the same. The host controller provides relay output: ● When using the internal 24 V power supply ■ When using an external power supply: ■...
  • Page 118 Wiring Note PNP and NPN input cannot be used together in the same circuit. DO circuit DO1 to DO2 circuits are the same. The following takes DO1 circuit as an example. When the host controller adopts relay input: ● Note When the host controller provides relay input, a flywheel diode must be installed.
  • Page 119 Wiring When the host controller adopts optocoupler input: ● Note The maximum permissible voltage and current capacity of the optocoupler output circuit inside the drive are as follows: Max. voltage: 30 VDC ■ Max. current: DC 50 mA ■ High-speed HDI4 When differential mode applies ●...
  • Page 120 Wiring Wrong: Pin COM- is not connected, which cannot form a closed-loop circuit. When using an external power supply: ■ Scheme 1: Using the built-in resistor (recommended) — — Scheme 2: Using the external resistor — — -119-...
  • Page 121 Wiring Value of resistor R1 is calculated according to the following formula: Table 7–9 Recommended resistance of R1 Voltage R1 resistance Power of R1 24 V 0.5 W 2.4 kΩ 12 V 0.5 W 1.5 kΩ The following figures show examples of improper wiring. —...

  • Page 122: Ethernet Communication Terminal (Cn2)

    Wiring ◊ Wrong connection 2: Terminals are not correctly connected, resulting in burnout of terminals. High-speed HDI8 The connection method of HDI8 is consistent with high-speed HDI4. See the preceding text. Ethernet Communication Terminal (CN2) CN2 is used for communication with the software tool and online upgrade. Figure 7-14 Ethernet terminal layout Table 7–10 Description of communication signal terminal Assignment...

  • Page 123: Ethercat Communication Terminal (Cn3 And Cn4)

    Wiring Note Note: Communication cables are the same as the cables for multi-drive communication (S6-L-T04). EtherCAT Communication Terminal (CN3 and CN4) 7.9.1 Terminal Layout Figure 7-15 Layout of terminals Table 7–11 Pin definitions of the communication signal connector Assignment Description Pin No.

  • Page 124: Description Of Terminals

    Wiring 7.9.2 Description of Terminals Figure 7-16 Wiring of communication cables CN3 and CN4 are EtherCAT connectors. Connect CN4 (IN) to the communication port of the master and CN3 (OUT) to the next slave. For assignment of CN3/CN4 terminal pins, see “...

  • Page 125: Selection Instructions

    S6-L-T04-1.0 15041963 S6-L-T04-2.0 15041964 S6-L-T04-5.0 15041965 S6-L-T04-10.0 Note Cables shorter than or equal to 10 m must be ordered from Inovance. ● Cables longer than 10 m from are ordered from Haituo. ● Specifications Detailed description Item UL-compliant UL certification...

  • Page 126: Fully Closed-Loop Encoder Terminal (Cn5/Cn7)

    Wiring Detailed description Item Ambient temperature: -30℃ to +60℃, resistant to Environmental worthiness industrial oil, corrosive acid and alkali GB/T 248082009 EMC test standard 7.10 Fully Closed-loop Encoder Terminal (CN5/CN7) Terminal layout Figure 7-18 CN5/CN7 terminal layout Description of Terminals Table 7–13 CN5/CN7 (DB15) terminal description Signal Name Pin No.

  • Page 127: Encoder Fully Closed-Loop Input

    Wiring 7.10.1 Encoder Fully Closed-loop Input Use shielded twisted pairs to match the high input frequency. Figure 7-19 Terminal wiring diagram To reduce noise interference, connect the reference ground of the external encoder to the GND of ● the drive. Use shielded cables and connect the shield to CN5/CN7 terminal enclosure. The input mode of the external encoder is differential input.

  • Page 128: Motor Encoder Terminal (Cn6/Cn8)

    Wiring Figure 7-21 Optocoupler receiving circuit 7.11 Motor Encoder Terminal (CN6/CN8) 7.11.1 Terminal Layout PTC- CLK+ CLK- PTC+ Figure 7-22 CN6/CN8 terminal layout Table 7–14 CN6/CN8 terminal description Signal name Pin No. Function Serial communication signal PS+/DATA+ (+)/data (+) Serial communication signal (-)/data PS-/DATA- CLK+ Clock+...

  • Page 129: Wiring Of Motor Encoder

    Wiring Signal name Pin No. Function Encoder +5 V power supply Encoder +5 V power supply ground Enclosure Shield 7.11.2 Wiring of Motor Encoder 7.11.2.1 Connecting to the MS1 series motor encoder Figure 7-23 Connecting to the MS1 series motor encoder The following figure describes the drain wire colors of the battery box.

  • Page 130: Connecting To Ismg Series Motor Encoder

    Wiring Table 7–15 Flying leads type motor encoder cable connector (9-pin) Applica Pin layout Drawing of the connector Signal Frame Type Pin No. Color name Size Blue Twisted pair Purple Drive Twisted side pair Orange Enclosure DB9 male Blue Twisted pair Purple PS–...

  • Page 131: Connecting To Third-Party Communication-Type Encoder

    Wiring Table 7–16 Encoder cable connectors on the drive side Pin layout Drawing of the connector Signal name Pin No. PTC+ PTC- Recommendation: Plastic housing of plug on cable Enclosure side: DB9P (SZTDK), black housing Core: DB9P male (SZTDK), blue glue Table 7–17 Drawing of the connector Drawing of the connector...
  • Page 132 Wiring Figure 7-26 Connecting to the third-party encoder -131-...

  • Page 133: Installing Absolute Encoder Battery Box

    Encoder power supply Sensor-5V PCB interface Encoder power supply 0 V Sensor-0V KTY84_130 KTY+ KTY84_130 KTY- Note Contact Inovance for customized models. 7.11.3 Installing Absolute Encoder Battery Box The optional S6-C9 battery box contains the following items: One sheet metal bracket ●...

  • Page 134: Removing The Battery Box

    Wiring One plastic body ● One battery (3.6 V, 2,600 mAh). ● Two M3x10 flat-head screws ● One M3x10 pan-head screw ● Terminal block and crimping terminal conversion cable for dual-axis drives (S6-C9) ● Installing the battery box Figure 7-27 Installing the battery box (bottom view for drives in size-1) Fix the flat-head screws into the flat-head slots.

  • Page 135: Wiring For Motor Temperature Detection

    Wiring Insert the battery with polarity (+/-) placed correctly. ● Leaving an idled or retired battery inside the device may lead to electrolyte leakage. The electrolyte inside the ● battery is highly corrosive, not only corroding surrounding components but also incurring the risk of short circuit.

  • Page 136: Wiring

    Wiring 7.11.5 Wiring Ground the servo drive and shield of the servo motor reliably. Otherwise, the servo drive will report a false alarm. It is recommended to use 16AWG to 26AWG shielded twisted pair cables. Connect the differential signals to the two conductors of the twisted pair and keep the wiring length as short as possible.
  • Page 137 Wiring Table 7–20 Description of terminal pins Terminal Name Terminal Function External 24 V power supply External 24 VCOM BRAKE-OUT Brake+ BRAKE-COM Brake– Wiring of the brake The brake is used to prevent the motor shaft from moving and lock the position of the motor and the motion part when the drive is in the non-operational status.
  • Page 138 Wiring Figure 7-33 Wiring of the brake for models T017 to T037 Figure 7-34 Wiring of the brake for models T037 and above Note When determining the length of the motor brake cable, take the voltage drop caused by cable resistance into ●...

  • Page 139: Sto Safety Terminal

    Wiring Brake specifications Param. Name Setpoint Description Unit Data Change Effective fault type method mode H02.09 0 to 500 UInt16 At stop 2002–0Ah Delay from brake Defines the delay from Real time output ON to the moment the brake command received output signal is ON to the moment the servo drive starts to receive...

  • Page 140: 24 V Power Input Terminal

    Wiring Figure 7-35 STO wiring terminal Type Name Description Axis 1 STO 1 power supply (+) 1GND Axis 1 STO 1 power supply (-) AX1 STO Axis 1 STO 2 power supply (+) 2GND Axis 1 STO 2 power supply (-) Axis 2 STO 1 power supply (+) 1GND Axis 2 STO 1 power supply (-)

  • Page 141: Related Emc Requirements

    Wiring Figure 7-36 Cascaded connection of 24 V control circuit power supply Note External 24 V control power and brake power input terminal; current specification: current needed by brake + 0.7 ● External 24 V power supply range±10%, 21.6 V to 26.4 V ●...

  • Page 142: Use Of The Power Filter

    Wiring Therefore, the servo drive must be wired and grounded properly. A noise filter can be added if necessary. Anti-interference wiring example Figure 7-37 Anti-interference wiring example Note For the grounding cable connected to the cabinet enclosure, use a cable of at least 3.5 mm .
  • Page 143 Wiring Do not place the input and output cables of the noise filter in the same duct or bundle them ● together. Figure 7-38 Separate routing of input and output cables of the noise filter Route the grounding cable and the output power cable of the noise filter separately. ●...

  • Page 144: Precautions For Use Of The Cables

    Wiring Figure 7-41 Grounding of the noise filter 7.15.3 Precautions for Use of the Cables Do not bend cables or subject tension to them. The conductor of a signal cable is only 0.2 mm or 0.3 ● mm in diameter. Handle the cables carefully to prevent fracture. In cases where cables need to be moved, use flexible cables.

  • Page 145: Commissioning Tool

    Commissioning Tool Commissioning Tool Keypad 8.1.1 Components Figure 8-1 Magnified view of the keypad The keypad consists of the 5-digit 8-segment LEDs and keys. The keypad is used for display, parameter setting, user password setting and general functions operations. Keys The following table takes parameter setting as an example to describe the general functions of the keys.

  • Page 146: Dip Switch

    Commissioning Tool Table 8–2 Equivalent of the displayed content LED Display LED Display LED Display LED Display Actual Data Actual Data Actual Data Actual Data 5, S Axis 2 DIP switch Hardware DIP switch of the communication address ● IS810N has four DIP switches, which are divided into two groups for setting the axis address and node address.

  • Page 147: Function Indicators

    Commissioning Tool IS810N-INT is equipped with two DIP switches, which are Ax1 and Ax2 (Ax2 is only available for dual- axis servo drive). When you set the DIP switch to AX1, parameters of axis 1 will be commissioned. When you set the DIP switch to Ax2, parameters of Ax2 will be commissioned.
  • Page 148 Commissioning Tool Mapping relation between the panel display and the operation object of the host controller The mapping relation between the parameter displayed on the keypad (in decimal) and the object dictionary operated by the host controller (in hexadecimal, "Index" and "Sub-index") is as follows. Object dictionary index = 0x2000 + Parameter group number Object dictionary sub-index = Hexadecimal offset within the parameter group + 1 For example: Display...

  • Page 149: Status Display

    Commissioning Tool Status display Display Applicable Occasion Meaning Name This is the parameter display Current operating axis Parameters displayed on the keypad currently are interface after you select an parameters of axis 2. axis using axis 1/axis 2 DIP (as example only) switch The servo drive is in the initialization or reset reset...
  • Page 150 Commissioning Tool Display of parameter groups ● Display Description Name XX: Parameter group No. (decimal) Parameter group HXX.YY YY: Offset within the parameter group (hexadecimal) For example, H02.00 is displayed as follows: Display Description Name 02: Parameter group No. See H02.00. 00: Offset within the parameter group Display of negative numbers and numbers with different lengths ●...

  • Page 151: Fault Display

    Commissioning Tool Display of the decimal point ● The segment "." of the ones indicates the decimal point, which does not blink. Display Description Name Decimal point 100.0 Display of parameter setting status ● Display Applicable Occasion Meaning Name Done The parameter is set and saved to the The parameter is set Parameter...

  • Page 152: Parameter Settings

    Commissioning Tool Monitored value display Group H0b: Displays the parameters for monitoring the running status of the servo drive. ● Set H02.32 (Default keypad display) properly. After the motor operates normally, the keypad ● switches from status display to parameter display. The parameter group number is H0b and the offset within the group is the setpoint of H02.32.

  • Page 153: User Password

    Commissioning Tool After parameter setting is done, that is, "donE" is displayed on the keypad, press MODE to return to the parameter group interface (interface of "H02.00"). User password After the user password (H02.30) is activated, only authorized operators can set parameters. Setting the user password ●...
  • Page 154 Commissioning Tool Figure 8-7 Procedure for DI function setting Example: To set DI1 and DI2 as the home signals of two modules respectively, set H03.02 to 131 and H03.04 to 231 through the software tool or the keypad. Note Set the DI terminal logic based on the hardware switch used. DO function setting (taking H04.00 as an example) The function No.

  • Page 155: Commissioning Software

    InoDriverShop, see the online help of InoDriverShop. 8.2.2 Installation 1. Software a. Visit the official website of Inovance as shown below. http://www.inovance.com b. Choose Support → Download, and then type in the keyword InoDriverShop and click Search. c. Click Download.
  • Page 156 Commissioning Tool 5. You can select the directory for installation as needed through the Browse button. The default directory for installation is "C:\Program Files\Inovance\InoDriverShop". In online upgrade, InoDriverShop will be upgraded directly in the original directory. After selecting the directory for installation, click Next.
  • Page 157 Commissioning Tool 7. After installation is done, click Finish.

  • Page 158: Connection

    Commissioning Tool 8. A shortcut icon for InoDriverShop will be generated automatically on the desktop. 8.2.3 Connection 1. Start InoDriverShop. Double-click to start the InoDriverShop. ● If there is no shortcut for InoDriverShop on your desktop, click Start and search for ●...
  • Page 159 Commissioning Tool Figure 8-9 Start interface Note You can click 2 or 3 shown in the preceding figure to open the project saved before. b. Open the Project Guide interface. Click Online or Offline in area ①. Next, click the product series in area ②. Finally, load default communication parameters in area ③...
  • Page 160 Commissioning Tool Figure 8-11 Scan interface Creating a project for offline device brings you to the following interface. ● You can select the Slave ID, Object Type, and Software Version as needed and add different standards or customized devices. You can also designate the directory for storage or create multiple offline devices.

  • Page 161: Common Functions

    Commissioning Tool Figure 8-13 Main Interface 8.2.4 Common Functions InoDriverShop features the following functions: Oscilloscope: Detects and saves the instantaneous data during operation. ● Parameter management: Reads and downloads parameters in batches. ● Inertia auto-tuning: Generates the load inertia ratio automatically. ●...
  • Page 162 Commissioning Tool Mechanical characteristic analysis: Analyzes the resonance frequency of the mechanical system. ● Motion JOG: Generates position references to make the motor reciprocate. ● Gain tuning: Adjusts the stiffness level and monitors the motion data. ● -161-...
  • Page 163 Commissioning Tool High-performance tuner: Supports frequency domain auto-tuning, visualized virtual ● commissioning, and control parameter auto-tuning. In frequency domain auto-tuning, the mechanical characteristics, open-loop characteristics, and ■ closed-loop characteristics of the control system can be auto-tuned. In visualized virtual commissioning, accurate virtual commissioning on the control system can ■...

  • Page 164: Commissioning And Operation

    Commissioning and Operation Commissioning and Operation Commissioning Flowchart Figure 9-1 Commissioning flowchart of the drive Inspection Before Commissioning Check the following items before operating the servo drive and the servo motor. Table 9–1 Checklist before operation Description Record Wiring The main circuit power input terminals R, S, T of the power supply unit are connected correctly.

  • Page 165: Power-On

    Commissioning and Operation Description Record There are no unwanted objects (such as cable terminals and metal chippings) □ that may cause short circuit of the signal cable and power cable inside or outside the servo drive. The servo drive and the external braking resistor are placed on incombustible □...

  • Page 166: Setting Parameters

    Commissioning and Operation The keypad displays the default jog speed at this moment. 2. Adjust the jog speed through the UP/DOWN key and press the SET key to enter the jog state. The keypad displays "JOG" at this moment, and the motor is energized. 3.
  • Page 167 Commissioning and Operation Param. Name Data type Setpoint Description Default Unit Change Effective method mode H02.02 2002–03h Rotation 0: Counterclockwise Defines the forward direction of UInt16 At stop Next power- direction (CCW) as forward the motor when viewed from selection direction the motor shaft side.

  • Page 168: Operating The Servo Drive

    Commissioning and Operation Param. Name Data type Setpoint Description Default Unit Change Effective method mode H02.03 2002–04h Output 0: Phase A leads Defines the relation between UInt16 At stop Next power- pulse phase B phase A and phase B on the phase 1: Phase A lags condition that the motor...
  • Page 169 Commissioning and Operation Power-on sequence diagram Figure 9-2 Power-on sequence diagram Note [1] The DI signal used for fault reset (FunIN.2: ALM-RST) is edge-triggered. ● [2] The dynamic brake is included in the standard configuration. ● [3] Indicates the delay of brake contactor actions. ●...
  • Page 170 Commissioning and Operation Figure 9-3 Sequence of "Coast to stop, keeping de-energized state" at No. 1 fault Note [1] If the brake is not used, H02.11 and H02.12 are inactive. ● [2] Indicates the delay of brake contactor actions. ● [3] The dynamic brake is included in the standard configuration.
  • Page 171 Commissioning and Operation Figure 9-5 Sequence of "Dynamic braking stop, keeping dynamic braking state" at No. 1 fault Note [1] If the brake is not used, H02.11 and H02.12 are inactive. ● [2] Indicates the delay of brake contactor actions. ●...
  • Page 172 Commissioning and Operation Figure 9-7 Sequence of "Stop at zero speed, keeping de-energized state" at No. 2 fault (without brake) No. 2 fault (without brake): Stop at zero speed, keeping dynamic braking state ● Figure 9-8 Sequence of "Stop at zero speed, keeping dynamic braking state" at No. 2 fault (without brake) No.
  • Page 173 Commissioning and Operation Figure 9-9 Sequence of "Dynamic braking stop, keeping dynamic braking state" at No. 2 fault (with- out brake) No. 2 fault (without brake): Dynamic braking stop, keeping de-energized state ● Figure 9-10 Sequence of "Dynamic braking stop, keeping de-energized state" at No. 2 fault (without brake) No.
  • Page 174 Commissioning and Operation Figure 9-11 Sequence of "Stop at zero speed, keeping dynamic braking state" at No. 2 fault (with brake) Note [1] If the brake is not configured, H02.10 is inactive. ● [2] Indicates the delay of brake contactor actions. ●...
  • Page 175 Commissioning and Operation Figure 9-12 Sequence for alarms that cause stop The other alarms do not affect the operation state of the drive. The sequence diagram for these alarms is shown in “ Figure 9–13 Sequence for alarms that do not cause stop ” on page 174 Alarms that do not cause stop ●...

  • Page 176: Servo Off

    Commissioning and Operation Figure 9-14 Sequence for fault reset Note [1] If the brake is not used, H02.11 and H02.12 are inactive. ● [2] Indicates the delay of brake contactor actions. ● [3] The dynamic brake is included in the standard configuration. ●...
  • Page 177 Commissioning and Operation Table 9–4 Comparison of the stop status Stop Status Description The motor is de-energized and the motor shaft can be De-energized rotated freely after the motor stops rotating. The motor shaft is locked and cannot be rotated freely Position Lock after the motor stops rotating.
  • Page 178 Commissioning and Operation Stop at fault The stop mode varies according to the fault type. For fault classification, see section Troubleshooting. ☆ Related parameters: Param. Name Data type Setpoint Description Default Unit Change Effective method mode H02.08 2002–09h Stop mode 0: Coast to stop, Defines the deceleration mode UInt16...
  • Page 179 Commissioning and Operation Param. Name Data type Setpoint Description Default Unit Change Effective method mode 605Eh Stop mode –5: Stop at zero –5: Stop at zero speed, keeping dynamic Int16 At stop Real time at No.2 speed, keeping braking state fault dynamic braking state –4: Stop at emergency stop torque,...
  • Page 180 Commissioning and Operation Param. Name Data type Setpoint Description Default Unit Change Effective method mode H02.07 2002–08h Stop mode 0: Coast to stop, Defines the deceleration mode UInt16 At stop Real time keeping de- of the servo motor for stopping overtravel energized state rotating and the servo motor...

  • Page 181: Emergency Stop

    Commissioning and Operation limit switch to prevent mechanical damage. When overtravel occurs, input a reverse running command to make the motor (workpiece) run in the opposite direction. Figure 9-15 Installation of limit switches To use the limit switches, assign FunIN.14 (P-OT, positive limit switch) and FunIN.15 (N-OT, negative limit switch) to two DIs of the servo drive and set the active logic of these DIs.

  • Page 182: Quick Stop

    Commissioning and Operation Quick stop Quick stop applies when bit 2 (Quick stop) of the control word 6040h is set to 0 (Active) during operation of the servo drive. The stop mode is defined by 605Ah. ☆ Related parameters: Param. Name Setpoint Description...
  • Page 183 Commissioning and Operation Halt The halt function applies when bit 8 of the control word 6040h is set to 1 (Halt) during operation of the servo drive. The halt mode is defined by 605Dh. ☆ Related parameters: Param. Name Setpoint Description Unit Data type...

  • Page 184: Adjustment

    Adjustment Adjustment 10.1 Overview The servo drive must drive the motor as quick and accurate as possible to follow the commands from the host controller or internal setting. Gain adjustment needs to be performed to meet such requirement. Figure 10-1 Example of gain tuning The gain is defined by a combination of multiple parameters that affect each other.
  • Page 185 Adjustment Figure 10-2 Gain tuning process Table 10–1 Gain tuning process Gain tuning process Function Reference Offline “ 10.2.1 The servo drive calculates the load Inertia Auto- inertia ratio automatically through Offline tuning ” on page inertia auto-tuning. Inertia auto- tuning Online The host controller sends a command to...

  • Page 186: Inertia Auto-Tuning

    Adjustment Gain tuning process Function Reference If the auto-tuned gain values fail to Basic “ 10.4.1 deliver desired performance, fine-tune Parameters Basic gains ” on the gains manually to improve the page 202 performance. Position “ 10.4.3 Smoothens the position, speed, and reference filter Reference filter ”...

  • Page 187: Offline Inertia Auto-Tuning

    Adjustment Note The following conditions must be fulfilled for an accurate calculation of the load inertia ratio during inertia auto- tuning: The actual maximum speed of the motor is higher than 150 rpm. ● The acceleration rate during acceleration/deceleration of the motor is higher than 3000 rpm/s. ●...
  • Page 188 Adjustment View H09.06, H09.07, and H09.09. Ensure that the travel distance available for the motor in the stop position is larger than H09.09. If not, decrease H09.06 or H09.07 until the requirements are met. Operating procedure: 1. Switch off the S-ON signal. 2.

  • Page 189: Online Inertia Auto-Tuning

    Adjustment Param. Name Data type Setpoint Description Default Unit Change Effective method mode H09.09 2009–0Ah Number of 0.00 to 100.00 Defines the motor revolutions 1.00 UInt16 Real time Real time motor per inertia auto-tuning when revolutions H09.05 (Offline inertia auto- per inertia tuning mode) is set to 1 auto-tuning...
  • Page 190 Adjustment Figure 10-4 Online inertia auto-tuning flowchart Note H09.03 defines the real-time updating speed of the load inertia ratio (H08.15). H09.03 = 1: Applicable to cases where the actual load inertia ratio rarely changes, such as the machine tool and ●...

  • Page 191: Gain Auto-Tuning

    Adjustment 10.3 Gain Auto-tuning 10.3.1 ETune Overview ETune is a wizard-type auto-adjustment function used to guide users to set corresponding curve trajectories and response parameters. After the curve trajectories and response parameters are set, the servo drive performs auto-tuning automatically to generate the optimal gain parameters. The auto- tuned parameters can be saved and exported as a recipe for use in other devices of the same model.
  • Page 192 Adjustment 2. Select any of the following three operation modes based on the operating direction allowed by the machine. In the Reciprocating po... mode, the motor keeps reciprocating within the positive and ■ negative position limits. In the One-way forward mode, the motor takes the difference between the positive and ■...
  • Page 193 Adjustment 3. Designate the positive and negative limit positions allowed by the motor. The difference between the positive and negative limits defines the position reference pulses for the motor, which is also the value before multiplication/division by the electronic gear ratio. You can set the positive and negative position limits through the following two methods.
  • Page 194 Adjustment 5. Click "Next" to start auto-tuning. If you choose to perform inertia auto-tuning, the drive starts inertia auto-tuning based on the ■ set motion profile. After inertia auto-tuning is done, the drive starts gain auto-tuning. If you choose not to perform inertia auto-tuning on the start page, the drive starts gain auto- ■...
  • Page 195 Adjustment 6. During gain auto-tuning, if you modify the Response fine-tuning coefficient and click ＂Update＂, gain auto-tuning will be continued based on the fine-tuning coefficient entered. After gain auto- tuning is done, you can click ＂Done＂ to save parameters to EEPROM and export parameters as a recipe file.

  • Page 196: Stune

    Adjustment Precautions You can adjust the maximum speed and acceleration/deceleration time of the motion profile based ● on actual conditions. The acceleration/deceleration time can be increased properly because positioning will be quickened after auto-tuning. If the acceleration/deceleration time is too short, overload may occur. In this case, increase the ●...

  • Page 197: Operation Flow Chart

    Adjustment Note In STune modes 3, 4 and 6, you need to perform load inertia auto-tuning through online inertia auto-tuning and en- sure the following conditions are met: The load inertia changes quickly. ● The load torque changes quickly. ● The motor is running at a speed lower than 120 r/min.
  • Page 198 Adjustment In modes 0, 1 and 2 shown in the following table, you need to set the inertia ratio before ■ stiffness tuning. If the inertia is unknown, adjust the inertia manually. If vibration occurs on the machine, decrease the stiffness level before adjusting the inertia manually. In modes 3, 4, and 6 shown in the following table, you can perform adjustment through the ■...
  • Page 199 Adjustment Note To ensure a stable operation of STune modes 3 and 4, gain parameters will be adjusted along with the inertia ratio when the inertia ratio is higher than 13. In multi-axis trajectories, responses may be inconsistent under the same stiffness level.
  • Page 200 Adjustment The value range of H09.01 (Stiffness level) is 0 to 41. The level 0 indicates the weakest stiffness and lowest gain and level 41 indicates the strongest stiffness and highest gain. The following table lists the stiffness levels for different load types for your reference. Table 10–2 Reference of stiffness levels Recommended Stiffness Level Load Mechanisms...
  • Page 201 Adjustment Description Param. Name Value Switchover between the 1st gain set (H08.00...H08.02, H07.05) and 2nd gain set (H08.03...H08.05, H07.06) is 2nd gain mode H08.08 active in the positioning mode. setting In other modes, the original setting is used. In the positioning mode, the gain switchover condition Gain switchover is H08.09 = 10.
  • Page 202 Adjustment Param. Name Data type Setpoint Description Default Unit Change Effective method mode H08.39 2008–28h Compensa 0% to 300% Defines the compensation gain UInt16 Real time Real time tion gain of for medium-frequency jitter medium- suppression 2. Set this frequency parameter to 40%...55% in jitter general cases.

  • Page 203: Manual Gain Tuning

    Adjustment When the torque fluctuation detected by the drive exceeds the setpoint of H09.11 and cannot be suppressed, the rigidity level will be reduced automatically until reaching level 10 where E661 is reported. Vibration cannot be suppressed. Enable vibration suppression manually. ●...
  • Page 204 Adjustment The servo system consists of three control loops, which are position loop, speed loop, and current loop from external to internal. The basic control diagram is shown in the following figure. Figure 10-7 Basic control for manual gain tuning Note The response level of the inner loop must be higher than that of the outer loop.
  • Page 205 Adjustment Table 10–6 Adjustment of gain parameters Step Description Param. Name Function: Determines the maximum frequency of a variable speed reference that can be followed by the speed loop. When H08.15 (Load inertia ratio) is set correctly, the maximum frequency that can be followed by the speed loop is the setpoint of H08.00.
  • Page 206 Adjustment Step Description Param. Name Function: Defines the maximum frequency of position references that can be followed by the position loop. The maximum following frequency of the position loop equals the value of H08.02. Note: To ensure system stability, the maximum follow-up frequency of the Position loop gain H08.02 speed loop must be 3 to 5 times higher than that of the position loop.

  • Page 207: Gain Switchover

    Adjustment Param. Name Data type Setpoint Description Default Unit Change Effective method mode H07.05 2007–06h Torque 0.00 to 30.00 Defines the torque reference 0.50 UInt16 Real time Real time reference filter time constant 1. filter time constant 1 H08.00 0.1 to 2000.0 40.0 UInt16 2008–01h...
  • Page 208 Adjustment H08.08 = 0 When H08.08 is set to 0, the 1st gain (H08.00 to H08.02 and H07.05) is used, but you can switch between proportional control and proportional integral control through FunIN.3 (GAIN_SEL, gain switchover) for the speed loop. Figure 10-8 Gain switchover flowchart when H08.08 is set to 0 H08.08 = 1 You can switch between the 1st gain set (H08.00...H08.02, H07.05) and 2nd gain set (H08.03...H08.05,...
  • Page 209 Adjustment Figure 10-9 Gain switchover flowchart when H08.08 is set to 1 The following table describes the diagrams and parameters related to 11 kinds of gain switchover conditions. Table 10–7 Conditions for gain switchover Related parameters Gain Switchover Condition Gain Switchover H08.09 Delay Time...
  • Page 210 Adjustment Related parameters Gain Switchover Condition Gain Switchover H08.09 Delay Time switchover Diagram Dead Time Condition Setpoint (H08.10) level (H08.12) (H08.11) Torque reference Active (%) Active (%) Active Speed reference Active Active Active Speed reference Active (10 Active (10 Active change rate rpm/s) rpm/s)
  • Page 211 Adjustment Related parameters Gain Switchover Condition Gain Switchover H08.09 Delay Time switchover Diagram Dead Time Condition Setpoint (H08.10) level (H08.12) (H08.11) Positioning not Active Inactive Inactive completed Actual speed Active (rpm) Active (rpm) Active Position reference + See the following note for details. Active (rpm) Active (rpm) Active...
  • Page 212 Adjustment Param. Name Data type Setpoint Description Default Unit Change Effective method mode H08.08 2008–09h 2nd gain 0: Fixed to the 1st Defines the mode for switching UInt16 Real time Real time mode gain set, P/PI to the 2nd gain set. setting switched through bit 26 of external...

  • Page 213: Position Reference Filter

    Adjustment Param. Name Data type Setpoint Description Default Unit Change Effective method mode H08.12 2008–0Dh Gain 0 to 20000 Defines the dead time for gain UInt16 Real time Real time switchover switchover. Gain switchover is hysteresis affected by both the level and the dead time, as defined by H08.09.
  • Page 214 Adjustment Speed feedforward can be applied to the position control mode. The speed feedforward function can be used to improve the speed reference responsiveness and reduce the position deviation at fixed speed. Operating procedure for speed feedforward: 1. Set the speed feedforward signal source. Set H05-19 to a non-zero value to activate speed feedforward and locate the corresponding signal source.

  • Page 215: Torque Feedforward

    Adjustment Zero phase control Zero phase control is used to compensate for the position deviation generated upon start delay of the position reference, reducing the position deviation upon start/stop in the position control mode. The loop calculation model is shown in the following figure. Figure 10-11 Zero phase control ☆...

  • Page 216: Pdff Control

    Adjustment deceleration rate. In the speed control mode, torque feedforward can be used to improve speed reference responsiveness and reduce the speed deviation during operation at constant speed. The procedure for setting torque feedforward is as follows: 1. Set the torque feedforward signal source. Set H06.11 to 1 to activate torque feedforward and locate the corresponding signal source.

  • Page 217: Torque Disturbance Observer

    Adjustment Figure 10-13 Example of PDFF control Through adjusting the speed loop control method, PDFF control enhances the anti-disturbance capacity of the speed loop and improves the performance in following the speed references. Description Param. No. Name Function: Defines the control method of the speed loop in the non-torque ●...
  • Page 218 Adjustment Note 1/s: Integral element Description Param. Name Disturbance cutoff The higher the cutoff frequency, the more easily will vibration H08.31 frequency occur. Disturbance Defines the compensation percentage for the observer. H08.32 compensation gain H08.33 needs to be changed only when the inertia ratio does not Disturbance observer reflect the actual condition.

  • Page 219: Speed Observer

    Adjustment 10.4.7 Speed Observer The speed observer, which facilitates quick positioning, applies in applications with slight load characteristic change and constant inertia. It improves the responsiveness and filters high frequencies automatically, improving the gains and shortening the positioning time without incurring high-frequency vibration. The block diagram for the speed observer is as follows.

  • Page 220: Model Tracking

    Adjustment Param. Name Data type Setpoint Description Default Unit Change Effective method mode H08.00 2008–01h Speed loop 0.1 to 2000.0 Defines the responsiveness of 40.0 UInt16 Real time Real time gain the speed loop. The higher the setpoint, the faster the speed loop response is.
  • Page 221 Adjustment The auto-tuned values cannot deliver desired performance. ● Improving the responsiveness takes priority over the auto-tuned or customized values. ● User-defined gain parameters or model tracking control parameters are needed. ● The block diagram for model tracking control is as follows. Commissioning procedure...
  • Page 222 Adjustment Related parameters Param. Name Setpoint Description Default Unit Data type Change Effective method mode H07.05 2007–06h Torque 0.00 to 30.00 0.50 UInt16 Real time Real time Defines the torque reference reference filter time constant 1. filter time constant 1 H08.00 0.1 to 2000.0 40.0...

  • Page 223: Friction Compensation

    Adjustment Param. Name Data type Setpoint Description Default Unit Change Effective method mode H08.01 2008–02h Speed loop 0.15 to 512.00 Defines the integral time 19.89 UInt16 Real time Real time integral constant of the speed loop. The time lower the setpoint, the better constant the integral action, and the quicker will the deviation value...
  • Page 224 Adjustment Note Friction compensation is effective only in the position mode. ☆Related parameters Param. Name Setpoint Description Unit Data type Default Change Effective method mode H09.32 Gravity 0.0% to 100.0% UInt16 2009–21h Defines the gravity Real time Real time compensa compensation value.

  • Page 225: Parameter Adjustment In Different Control Modes

    Adjustment Note Note: When the speed is less than the speed threshold, static friction applies. When the speed exceeds the speed threshold, dynamic friction applies. The compensation direction is determined by the direction of the actual posi- tion reference. Forward direction requires positive compensation value. Reverse direction requires negative com- pensation value.
  • Page 226 Adjustment Param. Name Function Default Torque reference filter time Defines the torque reference H07.06 0.27 ms constant 2 filter time constant. Defines the speed loop 2nd speed loop gain H08.03 75.0 Hz proportional gain. Defines the integral time 2nd speed loop integral time H08.04 10.61 ms constant of the speed loop.

  • Page 227: Parameter Adjustment In The Speed Control Mode

    Adjustment Param. Name Function Default Torque reference filter time Defines the torque reference H07.05 0.50 ms constant 1 filter time constant. Defines the speed loop Speed loop gain H08.00 40.0 Hz proportional gain. Defines the integral time Speed loop integral time H08.01 19.89 ms constant of the speed loop.

  • Page 228: Mechanical Resonance Suppression

    Adjustment Param. Name Data type Setpoint Description Default Unit Change Effective method mode H08.53 2008–36h Medium- 0.0 to 300.0 Set this parameter based on UInt16 Real time Real time and low- actual resonance frequency. frequency The resonance suppression jitter range is 100 Hz to 300 Hz. suppression frequency 3 H08.54...
  • Page 229 Adjustment Figure 10-14 Operating principle of the notch A total of four notches can be used, and each notch is defined by three parameters: frequency, width level, and depth level. The 1st and 2nd notches are manual notches whose parameters needs to be set by the user.
  • Page 230 Adjustment Figure 10-15 Using the notch Procedure for setting the adaptive notch: ● 1. Set H09.02 (Adaptive notch mode) to 1 or 2 based on the number of resonance points. 2. When resonance occurs, first set H09.02 to 1 to enable an adaptive notch. If new resonance occurs after the gain is adjusted, set H09.02 to 2 to enable two adaptive notches.
  • Page 231 The resonance frequency can be obtained by using the following methods: Use the "Mechanical characteristic analysis" function in Inovance software tool. ■ Calculate the resonance frequency based on the motor phase current displayed on the ■...
  • Page 232 Adjustment The following figure shows the frequency characteristics of the notch. Figure 10-16 Notch frequency characteristics ☆ Related parameters: Param. Name Setpoint Description Unit Data type Default Change Effective method mode H09.02 UInt16 2009–03h Adaptive 0: The adaptive Defines the operation mode of Real time Real time notch mode...
  • Page 233 Adjustment Param. Name Data type Setpoint Description Default Unit Change Effective method mode H09.13 2009–0Eh Width level 0 to 20 Defines the center frequency of UInt16 Real time Real time of the 1st the notch, which is the notch mechanical resonance frequency.

  • Page 234: Mechanical Characteristic Analysis

    Adjustment Param. Name Data type Setpoint Description Default Unit Change Effective method mode H09.23 2009–18h Depth level 0 to 99 UInt16 Real time Real time of the 4th notch H09.24 2009–19h Auto-tuned 0 to 5000 UInt16 Unchangea When H09.02 (Adaptive notch resonance mode) is set to 3, the current frequency...
  • Page 235 Adjustment Figure 10-18 Example of the waveform obtained An example of the waveform obtained with the mechanical characteristic analysis is shown in “ Figure 10–18 Example of the waveform obtained ” on page 234...

  • Page 236: Function Overview

    Used to analyze the resonance frequency and characteristics of the Mechanical characteristics analysis mechanical system through a PC installed with Inovance software tool. Gain auto-tuning Supports two auto-tuning modes: STune and ETune. Used to apply different gains for different status (operating or stop) of the Gain switchover motor.

  • Page 237: Basic Servo Functions

    Basic Servo Functions Basic Servo Functions The servo system consists of three major parts, the servo drive, servo motor, and feedback encoder. Figure 12-1 Structure of a basic servo system As the control core of the servo system, the servo drive serves to perform accurate position control, speed control, and torque control on the servo motor through four control modes, which are position control, speed control, torque control, and compound control modes.
  • Page 238 Take the load ball screw as an example. Minimum reference unit f = 1 mm Lead P = 10 mm/r Reduction ratio n = 3:1 Inovance 23-bit serial encoder resolution P = 8388608 (p/r) The position factor is calculated as follows: Position factor: -237-...

  • Page 239: Servo State

    Basic Servo Functions Therefore, 6091.01h = 2516582.4; 6091.02h = 1. That means when the load shaft displacement is 1 mm, the motor displacement is 2516582.4. Reduce the values of 6091.01h and 6091.02h to a point where there is no common divisor, and take the final value.
  • Page 240 Basic Servo Functions Description Status The servo drive is ready to run. Ready to switch on Parameters can be set. The servo drive is waiting for the S-ON signal. Wait for the S-ON signal Parameters can be set. The servo drive is operating properly and a certain operation mode has been enabled.
  • Page 241 Basic Servo Functions bit0 to bit9 of status word CiA402 state switchover Control word 6040h 6041h If a fault occurs in any status other than "fault", the servo drive automatically switches to → Stop at fault 0x021F the stop-at-fault state, without the need for a control command.
  • Page 242 Basic Servo Functions Param. Name Setpoint Description Unit Data type Default Change Effective method mode Control word 0 to 65535 UInt16 6040h For details on the control word, see the Real time Real time following table. Defines the control command. Note: All bits in the control word constitute a control command.
  • Page 243 Basic Servo Functions Param. Name Setpoint Description Unit Data type Default Change Effective method mode Status word 0 to 65535 UInt16 6041h For details on the control word, see the Unchangea following table.
  • Page 244 Basic Servo Functions Param. Name Setpoint Description Unit Data type Default Change Effective method mode Table 12–1 Description of each bit of 6041h Description Name Ready to switch on Ready to switch on 1: Active, 0: Inactive 1: Active, 0: Inactive S-ON Switch on Operating the Servo Drive...

  • Page 245: Operation Modes

    9: CSV mode 10: CST mode 10: CST mode Communication cycle supported by each mode The IS810N-INT series servo drive supports a minimum synchronization cycle of 1 ms or a maximum synchronization cycle of 20 ms. 12.4 Cyclic Synchronous Position (CSP) Mode In the CSP mode, the host controller generates the position references and sends the target position to the servo drive cyclically.

  • Page 246: Function Block Diagram

    Basic Servo Functions 12.4.1 Function Block Diagram 12.4.2 Configuration Block Diagram Figure 12-3 Cyclic synchronous position mode 12.4.3 Recommended Configuration RPDO TPDO Remarks Mandatory 6040h: Control word 6041h: Status word 607Ah: Target position Mandatory 6064h: Position actual value 6060h: Modes of operation 6061h: Modes of operation display Optional 12.4.4...
  • Page 247 Basic Servo Functions Min.: Unit: Max.: 65535 Data Type: Uint16 Default: Change: Real time Access: Mapping: RPDO Value Range: 0 to 65535 Description: Used to set the control command. Description Name 1: Active; 0: Inactive S-ON Switch on Enable voltage Enable voltage 1: Active;...

  • Page 248: Related Function Settings

    Basic Servo Functions Description Manufacturer-specific Undefined 0: Home not found Home found 1: Home found ☆ Related parameters: For parameter details, see “ 16.23 Parameter Group 6000h ” on page 482 12.4.5 Related Function Settings Position deviation monitoring function ☆ Related parameters: Param.

  • Page 249: Cyclic Synchronous Torque (Cst) Mode

    Basic Servo Functions Param. Name Setpoint Description Unit Data type Change Effective fault method mode 0 to 127 UInt16 607Eh Reference Defines the polarity of position or speed Real time Real time polarity references. When bit 7 is 1, it indicates the position reference is multiplied by "–1"...

  • Page 250: Configuration Block Diagram

    Basic Servo Functions 12.5.2 Configuration Block Diagram Figure 12-4 CST mode 12.5.3 Recommended Configuration The basic configuration of cyclic synchronous torque (CST) mode is described in the following table. RPDO TPDO Remarks Mandatory 6040h: Control word 6041h: Status word 6071h: Target torque Mandatory Optional 6064h: Position actual value...

  • Page 251: Related Function Settings

    Basic Servo Functions Access: TPDO Mapping: Value Range: Description: Indicates the servo drive status. Description Name Ready to switch on 1: Active; 0: Inactive 1: Active; 0: Inactive Switch on Enable operation 1: Active; 0: Inactive 1: Active; 0: Inactive Fault Voltage enabled 1: Active;...

  • Page 252: Torque Limit

    Basic Servo Functions ☆ Related parameters: Param. Name Setpoint Description Unit Data type Change Effective fault method mode Maximum 0 to 4294967295 42949 UInt32 607Fh Defines the maximum speed in user- Refer Real time Real time speed defined unit. Set a proper gear ratio (8:1 67295 ence recommended) when using a 26-bit...

  • Page 253: Cyclic Synchronous Velocity (Csv) Mode

    Basic Servo Functions Param. Name Setpoint Description Unit Data type Change Effective fault method mode Max. torque 0 to 5000 3500 0.001 UInt16 6072h Defines the maximum torque reference Real time Real time reference limit. The value 1000 corresponds to the rated torque of the motor.

  • Page 254: Function Block Diagram

    Basic Servo Functions 12.6.1 Function Block Diagram 12.6.2 Configuration Block Diagram Figure 12-5 CSV mode 12.6.3 Recommended Configuration The basic configuration for CSV mode is described in the following table. RPDO TPDO Remarks Mandatory 6040h: Control word 6041h: Status word 60FFh: Target velocity Mandatory Optional...

  • Page 255: Related Function Settings

    Basic Servo Functions Description Name 1: Active; 0: Inactive S-ON Switch on Enable voltage Enable voltage 1: Active; 0: Inactive Quick stop Quick stop 0: Active; 1: Inactive Operating the Servo Drive Enable operation 1: Active; 0: Inactive 6041h Status word 0x3504 Address: Min.:...

  • Page 256: Profile Position (Pp) Mode

    Basic Servo Functions Param. Name Setpoint Description Unit Data type Change Effective fault method mode 0 to 127 UInt16 607Eh Reference Defines the polarity of position or speed Real time Real time polarity references. When bit 7 is 1, it indicates the position reference is multiplied by "–1"...

  • Page 257: Function Block Diagram

    Basic Servo Functions 12.7.1 Function Block Diagram 12.7.2 Configuration Block Diagram Figure 12-6 PP mode In PP mode, the target position is triggered and activated based on the time sequence of the new set- point (bit4 of the control word) and set-point acknowledge (bit12 of the status word). The controller sets the New set-point bit (bit4 of the control word) to 1 to inform the servo drive of the new target position.

  • Page 258: Sequential Mode

    Basic Servo Functions Figure 12-7 Sequence in sequential mode The linkage mode of position references is determined by bit5 (Change set immediately) of the control word. When bit5 is set to 1 (Sequential mode), sequential linkage applies between position references, which is called sequential mode.

  • Page 259: Recommended Configuration

    Basic Servo Functions Figure 12-8 Sequence in the single-point mode In the single-point mode, the servo drive can cache one target position, which is to cache a new segment of target position when current target position is under execution. The sequence diagram is as follows.

  • Page 260: Related Parameters

    Basic Servo Functions RPDO TPDO Remarks Mandatory 6040h: control word 6041h: status word 607Ah: target position 6064h: position actual value Mandatory 6081h: profile velocity Mandatory 6083h: profile acceleration Optional 6084h: profile deceleration Optional 6060h: modes of operation 6061h: modes of operation display Optional 12.7.4 Related Parameters...

  • Page 261: Related Function Settings

    Basic Servo Functions Description Enable operation 1: Active; 0: Inactive 1: Active; 0: Inactive Fault Voltage enabled 1: Active; 0: Inactive Quick stop 0: Active; 1: Inactive 1: Active; 0: Inactive Switch on disabled 1: Active; 0: Inactive Alarm Manufacturer-specific Undefined 1: Active, control word activated Remote...

  • Page 262: Speed Limit

    Basic Servo Functions Param. Name Setpoint Description Unit Data type Change Effective fault method mode Position 0 to 4294967295 46976 UInt32 6067h Defines the threshold for position reach. Refer Real time Real time window If the difference between 6062h and ence 6064h is within ±6067h, and the time unit...
  • Page 263 Basic Servo Functions ☆ Related parameters: Param. Name Data type Setpoint Description Unit Change Effective fault method mode 0 to 4294967295 42949 UInt32 607Fh Maximum Defines the maximum speed in user- Refer Real time Real time speed 67295 defined unit. Set a proper gear ratio (8:1 ence recommended) when using a 26-bit unit/s...
  • Page 264 Basic Servo Functions Param. Name Setpoint Description Unit Data type Change Effective fault method mode 0 to 4294967295 42949 UInt32 6083h Profile Defines the acceleration rate in the Refer Real time Real time accelera acceleration stage of the displacement 67295 ence tion reference in the profile position mode.

  • Page 265: Profile Velocity (Pv) Mode

    Basic Servo Functions 12.8 Profile Velocity (PV) Mode In the PV mode, the host controller sends the target speed, acceleration rate, and deceleration rate to the servo drive. The servo drive generates the speed reference curve and executes speed control and torque control.

  • Page 266: Related Parameters

    Basic Servo Functions 12.8.4 Related Parameters 6040h Control word 0x3502 Address: Min.: Unit: Max.: 65535 Data Type: Uint16 Default: Change: Real time Access: RPDO Mapping: Value Range: 0 to 65535 Description: Used to set the control command. Name Description 1: Active; 0: Inactive S-ON Switch on Enable voltage...

  • Page 267: Related Function Settings

    Basic Servo Functions Description Manufacturer-specific Undefined 0: Home not found Home found 1: Home found ☆ Related parameters: For parameter details, see “ 16.23 Parameter Group 6000h ” on page 482 12.8.5 Related Function Settings Monitoring on speed reach status It is used to check whether the speed reference of the servo drive is consistent with the motor speed feedback.
  • Page 268 Basic Servo Functions Param. Name Setpoint Description Unit Data type Change Effective fault method mode 0 to 65535 UInt16 606Fh Zero speed Defines the threshold for determining Real time Real time signal whether the user velocity is 0. threshold When 606Ch is within ±606Fh and the time reaches the value set by 6070h, the user velocity is 0.

  • Page 269: Profile Torque (Pt) Mode

    Basic Servo Functions Param. Name Setpoint Description Unit Data type Change Effective fault method mode Max. 0 to 4294967295 42949 UInt32 60C5h Defines the maximum permissible Refer Real time Real time accelera acceleration rate of the acceleration 67295 ence tion segment in the profile position mode, unit/ profile velocity mode, and homing...

  • Page 270: Function Block Diagram

    Basic Servo Functions 12.9.1 Function Block Diagram 12.9.2 Configuration Block Diagram Figure 12-10 PT mode 12.9.3 Recommended Configuration The basic configuration for the PT mode is described in the following table. RPDO TPDO Remarks Mandatory 6040h: Control word 6041h: Status word 6071h: Target torque Mandatory 6087h: Torque slope...
  • Page 271 Basic Servo Functions Description: Used to set the control command. Name Description 1: Active; 0: Inactive S-ON Switch on Enable voltage Enable voltage 1: Active; 0: Inactive Quick stop Quick stop 0: Active; 1: Inactive Operating the Servo Drive Enable operation 1: Active;...

  • Page 272: Related Function Settings

    Basic Servo Functions 12.9.5 Related Function Settings Speed limit in the torque control mode In the torque control mode, 607Fh can be used to limit the maximum speed in forward/reverse operation. Note that the maximum speed cannot exceed the maximum operating speed allowed by the motor.
  • Page 273 Basic Servo Functions ☆ Related parameters: Param. Name Setpoint Description Unit Data type Change Effective fault method mode Max. torque 0 to 5000 3500 0.001 UInt16 6072h Defines the maximum torque reference Real time Real time reference limit. The value 1000 corresponds to the rated torque of the motor.

  • Page 274: Homing (Hm) Mode

    Basic Servo Functions Monitoring on torque reach It is used to determine whether the torque reference value reaches the set torque base value. If yes, a corresponding torque reach signal will be output to the host controller. If the absolute difference between the torque reference and H07.21 (Base value for torque reach) is higher than H07.22 (Threshold for valid torque reach), the torque reach signal is active.

  • Page 275: Function Block Diagram

    Basic Servo Functions Mechanical zero: absolute zero position on the machine ● After homing is done, the motor stops at the mechanical home. The relationship between the mechanical home and mechanical zero can be set in 607Ch. Mechanical home = Mechanical zero + 607Ch (Home offset) When 607Ch = 0, the mechanical home coincide with the mechanical zero.

  • Page 276: Related Parameters

    Basic Servo Functions RPDO TPDO Remarks Mandatory 6040h: Control word 6041h: Status word 6098h: Homing method Optional 6099.01h: Speed during search for Optional switch 6099.02h: Speed during search for zero - Optional 609Ah: Homing acceleration Optional Optional 6064h: Position actual value 6060h: Modes of operation 6061h: Modes of operation display Optional...

  • Page 277: Related Function Settings

    Basic Servo Functions Description 1: Active; 0: Inactive Alarm Manufacturer-specific Undefined 1: Active, control word activated Remote 0: Inactive Target reach 1: Home located or homing interrupted 0: Home signal not found Homing attained 1: Home signal found 0: Homing error not occurred Homing error 1: Homing error occurred 0: Home not found...
  • Page 278 Basic Servo Functions Param. Name Setpoint Description Unit Data type Change Effective fault method mode Home -2147483648 to Int32 At stop 607Ch Defines the physical location of Refer Real time offset +2147483647 mechanical zero that deviates from the ence home of the motor in position control unit modes (profile position mode, interpolation mode, and homing mode).

  • Page 279: Homing Operation

    Basic Servo Functions ☆ Related parameters: Param. Name Setpoint Description Unit Data type Change Effective fault method mode Maximum 0 to 4294967295 42949 UInt32 607Fh Defines the maximum speed in user- Refer Real time Real time speed defined unit. Set a proper gear ratio (8:1 67295 ence recommended) when using a 26-bit...
  • Page 280 Basic Servo Functions Figure 12-12 Motor running curve and speed in mode 1 Motion profile 1: Deceleration point signal inactive at start. ● Motion profile 2: Deceleration point signal active at start. ● Note Note: In the figure, "H" represents high speed 6099.01h, and "L" represents low speed 6099.02h, and “-” indicates re- verse run.
  • Page 281 Basic Servo Functions Figure 12-14 Motor running curve and speed in mode 3 Motion profile 1: Deceleration point signal inactive at start. ● Motion profile 2: Deceleration point signal active at start. ● 6098h = 4 Home: Z signal Deceleration point: home switch (HW) Figure 12-15 Motor running curve and speed in mode 4 Motion profile 1: Deceleration point signal inactive at start.
  • Page 282 Basic Servo Functions Figure 12-16 Motor running curve and speed in mode 5 Motion profile 1: Deceleration point signal inactive at start. ● Motion profile 2: Deceleration point signal active at start. ● 6098h = 6 Home: Z signal Deceleration point: home switch (HW) Figure 12-17 Motor running curve and speed in mode 6 Motion profile 1: Deceleration point signal inactive at start.
  • Page 283 Basic Servo Functions Figure 12-18 Motor running curve and speed in mode 7 Motion profile 1: Deceleration point signal inactive at start, not hitting the positive limit switch. ● Motion profile 2: HW signal inactive at start, hitting the positive limit switch. ●...
  • Page 284 Basic Servo Functions 6098h = 9 Home: Z signal Deceleration point: home switch (HW) Figure 12-20 Motor running curve and speed in mode 9 Motion profile 1: Deceleration point signal inactive at start, not hitting the positive limit switch. ● Motion profile 2: HW signal inactive at start, hitting the positive limit switch.
  • Page 285 Basic Servo Functions Motion profile 1: Deceleration point signal inactive at start, not hitting the positive limit switch. ● Motion profile 2: HW signal inactive at start, hitting the positive limit switch. ● Motion profile 3: Deceleration point signal active at start. ●...
  • Page 286 Basic Servo Functions Figure 12-23 Motor running curve and speed in mode 12 Motion profile 1: Deceleration point signal inactive at start, not hitting the reverse limit switch. ● Motion profile 2: HW signal inactive at start, hitting the reverse limit switch. ●...
  • Page 287 Basic Servo Functions 6098h = 14 Home: Z signal Deceleration point: home switch (HW) Figure 12-25 Motor running curve and speed in mode 14 Motion profile 1: Deceleration point signal inactive at start, not hitting the reverse limit switch. ● Motion profile 2: HW signal inactive at start, hitting the reverse limit switch.
  • Page 288 Basic Servo Functions Figure 12-27 Motor running curve and speed in mode 18 Motion profile 1: Deceleration point signal inactive at start. ● Motion profile 2: Deceleration point signal active at start. ● 6098h = 19 Home: home switch (HW) Deceleration point: home switch (HW) Figure 12-28 Motor running curve and speed in mode 19 Motion profile 1: Deceleration point signal inactive at start.
  • Page 289 Basic Servo Functions Figure 12-29 Motor running curve and speed in mode 20 Motion profile 1: Deceleration point signal inactive at start. ● Motion profile 2: Deceleration point signal active at start. ● 6098h = 21 Home: home switch (HW) Deceleration point: home switch (HW) Figure 12-30 Motor running curve and speed in mode 21 Motion profile 1: Deceleration point signal inactive at start.
  • Page 290 Basic Servo Functions Figure 12-31 Motor running curve and speed in mode 20 Motion profile 1: Deceleration point signal inactive at start. ● Motion profile 2: Deceleration point signal active at start. ● 6098h = 23 Home: home switch (HW) Deceleration point: home switch (HW) Figure 12-32 Motor running curve and speed in mode 23 Motion profile 1: Deceleration point signal inactive at start, not hitting the positive limit switch.
  • Page 291 Basic Servo Functions Figure 12-33 Motor running curve and speed in mode 24 Motion profile 1: Deceleration point signal inactive at start, not hitting the positive limit switch. ● Motion profile 2: HW signal inactive at start, hitting the positive limit switch. ●...
  • Page 292 Basic Servo Functions Deceleration point: home switch (HW) Figure 12-35 Motor running curve and speed in mode 26 Motion profile 1: Deceleration point signal inactive at start, not hitting the positive limit switch. ● Motion profile 2: HW signal inactive at start, hitting the positive limit switch. ●...
  • Page 293 Basic Servo Functions Figure 12-37 Motor running curve and speed in mode 28 Motion profile 1: Deceleration point signal inactive at start, not hitting the reverse limit switch. ● Motion profile 2: HW signal inactive at start, hitting the reverse limit switch. ●...
  • Page 294 Basic Servo Functions Deceleration point: home switch (HW) Figure 12-39 Motor running curve and speed in mode 30 Motion profile 1: Deceleration point signal inactive at start, not hitting the reverse limit switch. ● Motion profile 2: HW signal inactive at start, hitting the reverse limit switch. ●...
  • Page 295 Basic Servo Functions Motion profile 1: The motor runs in the forward direction at low speed and stops at the first Z ● signal.. 6098h = 35 Figure 12-42 Motor running curve and speed in mode 35 Homing mode 35: The present position is taken as the mechanical home. After homing is triggered (control word 6040h: 0x0F →...
  • Page 296 Basic Servo Functions Figure 12-44 Motor running curve and speed in mode -2 -295-...

  • Page 297: Solution Application

    EEPROM of the drive. 13.1.2 Related Parameters Absolute encoder system settings Set H00.00 to 14101 to select Inovance motor with 23-bit absolute encoder, and select the absolute position mode in H02.01. ☆ Related parameters:...
  • Page 298 Setpoint Description Default Unit Change Effective method mode H00.00 2000–01h Motor code 0 to 65535 14000: Inovance motor with 20- 14101 UInt16 At stop Next power- bit incremental encoder 14101: Inovance motor with 23- bit absolute encoder H00.08 2000–09h Serial...
  • Page 299 Solution Application Param. Name Data type Setpoint Description Default Unit Change Effective method mode H0b.77 200b-4Eh Encoder -2147483648 to Displays the low 32-bit value of Int32 Unchangea position +2147483647 the position feedback of the (low 32 absolute encoder. bits) -2147483648 to Int32 H0b.79 200b-50h...
  • Page 300 Solution Application Param. Name Data type Setpoint Description Default Unit Change Effective method mode H05.36 2005–25h Mechanical -2147483648 to Defines the absolute position of Refer Int32 Real time Real time home offset +2147483647 the motor after homing. ence unit H05.46 UInt16 Next power- 2005–2Fh...
  • Page 301 Solution Application The variation law of the target position and the single-turn position of the rotary load during reverse operation is shown as follows. When the motor operates in the absolute rotation mode and the drive operates in the hm mode, the setting range of the home offset is 0 to (R - 1).
  • Page 302 Solution Application Param. Name Data type Setpoint Description Default Unit Change Effective method mode H05.52 2005–35h Pulses per 0 to 4294967295 Defines the number of pulses Encod UInt32 At stop Real time revolution er unit per revolution of the rotary load of the load in the absolute position in absolute...

  • Page 303: Precautions For Using The Battery Box

    Solution Application Gear ratio: 1:1; H05.36 = 10000: 13.1.3 Precautions for Using the Battery Box E731.0 (Encoder battery fault) occurs when the battery is connected for the first time. Set H0d.20 to 1 to reset the fault and perform the homing operation. When the battery voltage detected is lower than 3.0 V, E730.0 (Encoder battery alarm) occurs.

  • Page 304: Fully Closed-Loop Function

    2: Reset fault and internal faults and encoder multi-turn data feedback multi-turn data. 3: Reset Inovance 2nd encoder fault 4: Reset Inovance 2nd encoder fault and multi-turn data Note The absolute position recorded by the encoder changes abruptly after multi-turn data reset. In this case, perform mechanical homing.
  • Page 305 Solution Application Param. Name Data type Setpoint Description Default Unit Change Effective method mode H0F.00 200F-01h Encoder 0: Internal encoder Defines the encoder feedback UInt16 Real time Next power- feedback feedback signal source in fully closed- mode 1: External encoder loop control.
  • Page 306 Solution Application Param. Name Data type Setpoint Description Default Unit Change Effective method mode H0F.04 200F-05h External 0 to 2147483647 See the descriptions for details. 10000 UInt32 At stop Next power- encoder pulses per revolution Defines the pulses fed back by the external encoder per revolution of the motor. It defines the quantity relation between feedback pulses from the external encoder and those from the internal encoder.
  • Page 307 Solution Application Note To set the fully closed-loop electronic gear ratio in internal/external closed-loop position switchover mode, set ● the electronic gear switchover switch (Gear_Sel) to the external closed-loop state. This method also applies to internal closed-loop mode. In the internal closed-loop mode, ensure the present ●...
  • Page 308 Solution Application Param. Name Data type Setpoint Description Default Unit Change Effective method mode H0F.10 200F-0Bh Clear 0 to 100 Defines the number of UInt16 Real time Real time position revolutions rotated by the deviation in motor per a clear of the fully compound closed-loop position deviation control...
  • Page 309 Solution Application Param. Name Data type Setpoint Description Default Unit Change Effective method mode H0F.13 200F-0Eh Compound 0.0 to 6553.5 Defines the time constant for UInt16 At stop Real time vibration compound vibration suppression suppression in fully closed-loop filter time control when external encoder feedback (H0F.00 = 1 or 2) is used.

  • Page 310: Enable Fully Closed-Loop Settings

    Solution Application 13.2.2 Enable Fully Closed-loop Settings After setting preceding fully closed-loop parameters, observe the internal/external encoder feedback through H0F.18 and H0F.20, and check whether the fully closed-loop wiring and the application mode of the external encoder are proper. If yes, enable the fully closed-loop function. Set the following parameters while enabling the fully closed-loop function: ☆...

  • Page 311: Related Objects

    Solution Application Figure 13-4 Installation of limit switches Software position limit is implemented through a comparison between the internal position feedback and the set limit value. If the set limit value is exceeded, the servo drive reports an alarm and stops immediately.

  • Page 312: Black Box

    Solution Application Param. Name Data type Setpoint Description Default Unit Change Effective method mode H0A.01 200A-02h Absolute 0: Disabled Used to set the activation UInt16 Real time Real time position 1: Enabled condition for enabling the limit 2: Enabled after software position limit function homing and the software limit.
  • Page 313 Solution Application Triggering the black box 1. Sampling frequency: including three sampling frequencies, namely 8 k (fast), 4 k (medium), and 0.25 k (slow). 2. Black box mode selection: including three modes, namely Arbitrary fault, Specified fault, and Triggered based on designated condition.
  • Page 314 Solution Application 3. Select designated fault in the combo box, as shown below. 4. The Trigger Condition includes Trigger Source, Trigger Level, and Trigger Level Selection, as shown below. -313-...

  • Page 315: Touch Probe Function

    Solution Application 5. Trigger position is used to set the position of the trigger time in the total sampling time, which is set to 75% by default. 6. After the black box is set, click Setting to download configuration parameters to the servo drive. Reading black box data You can select the black box channels (4 channels at most) by clicking >>...
  • Page 316 Solution Application Description Param. Touch probe rising edge compensation: 1: Enabled, 0: Disabled Bit 1 H0A.40 Touch probe falling edge compensation: 1: Enabled, 0: Disabled Bit 2 DI probe DI on compensation time (DI switch off→on) H0A.53 DI probe DI off compensation time (DI switch on→off) H0A.54 To shorten the hardware delay to about 7 us, it is recommended to set the touch probe latch through the ON-edge of the DI.
  • Page 317 Solution Application Param. Name Data type Setpoint Description Default Unit Change Effective method mode 60D7h Touch probe 0 to 65535 The counting value is added by "2" each UInt16 Unchangea 2 positive time this object is triggered. edge counter 60D8h Touch probe 0 to 65535 The counting value is added by "2"...
  • Page 318 Solution Application Param. Name Data type Setpoint Description Default Unit Change Effective method mode 60B8h Touch 0 to 65535 See the following table for the touch probe UInt16 Real time Real time probe function. function -317-...
  • Page 319 Solution Application Param. Name Data type Setpoint Description Default Unit Change Effective method mode Description Name Touch probe 1 function selection 0: Probe 1 disabled 1: Probe 1 enabled Touch probe 1 trigger mode 0: Single trigger mode (Latches the position at the first trigger event.) 1: Continuous trigger mode Bit0 to bit5: settings related to probe 1...
  • Page 320 Solution Application Set 60B8h to 0x0013 in this example. 3. Read touch probe status in 60B9h. Assignment of each bit of 60B9h is shown in the following table. Param. Name Setpoint Description Default Unit Data type Change Effective method mode 60B9h Touch probe 0 to 65535...

  • Page 321: Ethercat-Forced Do

    Solution Application The following figure shows touch probe function settings and status feedback sequence when DI5 is used as the trigger signal in case of latching at positive edge and continuous triggering. Figure 13-5 Procedure for use of the touch probe 13.6 EtherCAT-forced DO Function...

  • Page 322: Setting Method

    Solution Application Param. Name Data type Setpoint Description Default Unit Change Effective method mode H04.23 2004–18h ECAT bit0: DO1 Sets DO state upon ECAT UInt16 Real time Real time communi 0: Status communication failure. cation- unchanged forced DO 1: No output logic in bit1: DO2 non-OP...

  • Page 323: Sto Function

    STO Function STO Function 14.1 Application Example of STO Function Figure 14-1 Example 1 Figure 14-2 Example 2 Figure 14-3 Example 3 14.2 Turning Off the STO Function When the STO terminal is not used, connect it to an external 24 V power supply. The wiring mode of each drive is as follows.
  • Page 324 STO Function Figure 14-4 STO terminal layout Figure 14-5 Wiring diagram of the STO terminal of the drive unit The following figure shows a wiring diagram in which the STO terminals of multiple drives are cascaded to share one external switched-mode power supply. Figure 14-6 Wiring diagram of the STO terminal of the drive unit -323-...

  • Page 325: Communication

    Communication Communication 15.1 Communication Overview 15.1.1 Overview of the EtherCAT Protocol EtherCAT features high performance, low cost, ease of use, and flexible topology. It is applicable to ul- tra high-speed I/O networks and adopts standard Ethernet physical layer with twisted pairs or optical fibers (100Base-TX or 100Base-FX) as the transmission media.

  • Page 326: Technical Data Of Ethercat Communication

    Communication To support more types of devices and applications, EtherCAT establishes the following application protocols: CANopen over EtherCAT (CoE) ● Safety over EtherCAT (SoE, compliant with IEC 61800-7-204) ● Ethernet over EtherCAT (EoE) ● File over EtherCAT (FoE) ● The slave only needs to support the suitable application protocol. Note EtherCAT is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.

  • Page 327: Specifications Of Ethercat Communication

    Communication 15.1.3 Specifications of EtherCAT Communication Specifications Item Communication protocol IEC 61158 Type 12, IEC 618007 CiA 402 Drive Profile SDO request, SDO response Mutable PDO mapping Profile position mode (PP) Profile velocity mode (PV) Application Profile torque mode (PT) layer Homing mode (HM) CiA402...

  • Page 328: Communication State Machine

    Communication Figure 15-1 EtherCAT communication structure at CANopen application layer The object dictionary in the application layer includes communication parameters, application process data and PDO mapping data. The process data object (PDO) includes the real-time data generated during operation, which is read and written cyclically. In the SDO mailbox communication, the communication objects and PDO objects are being accessed and modified non-cyclically.

  • Page 329: Distributed Clock

    Communication Description State RPDO TPDO Communication initialization No communication available in the application layer, Init (I) EtherCAT slave controller (ESC) register can only be read/ written by the master Configuring the slave address by master; Configuring the mailbox channel; Configuring the distributed clock (DC); Request for Pre-Operational state Pre- Operational...

  • Page 330: Status Indication

    Communication 15.3.4 Status Indication Figure 15-3 Status indication diagram If the value 0 is displayed, it indicates no value is written or the value 0 is written to 6060h, or H02.00 is set to 0, 1 or 2. Communication connection status The connection status of the two RJ45 ports are indicated by "-"...
  • Page 331 Communication Display of control modes The 3rd bit on the LED display indicates the operation mode of the servo drive in the form of hexadecimal without blinking, as described in the following table. The operation modes include the following: Modes of operation (6060h) Display 1: Profile position mode 3: Profile velocity mode...

  • Page 332: Communication Data Frame Structure

    Communication 15.4 Communication Data Frame Structure 15.4.1 Process Data The real-time data transmission of EtherCAT is achieved through PDO. PDOs can be divided into RPDOs (Receive PDO) and TPDOs (Transmit PDO) based on the data transmission direction. RPDOs transmit the master data to the slave, and TPDOs returns the slave data to the master. The IS810N series servo drive allows users to assign the PDO list and define the PDO mapping objects.
  • Page 333 Communication Max. Length of Default Mapping Object Mutable PDO Index the Byte 6840h (control word) 687Ah (target position) RPDO2 1610h 68B8h (touch probe function) 683Fh (error code) 6841h (status word) 6864h (position actual value) 68BCh (probe 2 positive edge) TPDO2 1A10h 68B9h (probe status) 68BAh (probe 1 positive edge)
  • Page 334 Communication CSP/CSV Available servo mode Mapping objects (5 mapping objects, 13 bytes) 6040h (control word) 6060h (mode selection) 1600h 607Ah (target position) 60B8h (touch probe function) 60FFh (target velocity) Mapping objects (10 mapping objects, 31 bytes) 603Fh (control word) 6041h (status word) Axis 1 6061h (Mode display) 6064h (position actual value)
  • Page 335 Communication Available Servo Mode Mapping objects (3 mapping objects, 8 bytes) 6040h (control word) 1600h 607Ah (target position) 60B8h (touch probe function) Mapping objects (8 mapping objects, 26 bytes) 603Fh (control word) 6041h (status word) Axis 1 6064h (position actual value) 60B9h (probe status) 1A00h 60BAh (probe 1 positive edge)
  • Page 336 Communication Available Servo Mode Mapping objects (2 mapping objects, 4 bytes) 6040h (control word) 1600h 6071h (target torque) Mapping objects (6 mapping objects, 18 bytes) 603Fh (control word) Axis 1 6041h (status word) 6064h (position actual value) 1A00h 606Ch (actual speed) 6077h (torque actual value) 60FDh (DI state) Mapping objects (2 mapping objects, 4 bytes)
  • Page 337 Communication Available Servo Mode PP+TP Mapping objects (6 mapping objects, 20 bytes) 6040h (control word) 607Ah (target position) 6081h (profile velocity) 1600h 6083h (profile acceleration) 6084h (profile deceleration) 60B8h (touch probe function) Mapping objects (8 mapping objects, 26 bytes) Axis 1 603Fh (control word) 6041h (status word) 6064h (position actual value)
  • Page 338 Communication PP/PV/PT Available Servo Mode Mapping objects (9 mapping objects, 27 bytes) 6040h (control word) 6060h (mode selection) 6071h (target torque) 607Ah (target position) 1600h 6081h (profile velocity) 6083h (profile acceleration) 6084h (profile deceleration) 60B8h (touch probe function) 60FFh (target velocity) Mapping objects (10 mapping objects, 29 bytes) Axis 1 603Fh (control word)
  • Page 339 Communication CSP/CSV/CST+TP+LMT Available Servo Mode Mapping objects (9 mapping objects, 23 bytes) 6040h (control word) 6060h (mode selection) 6071h (target torque) 607Ah (target position) 1600h 6081h (profile velocity) 6083h (profile acceleration) 6084h (profile deceleration) 60B8h (touch probe function) 60FFh (target velocity) Mapping objects (10 mapping objects, 29 bytes) Axis 1 603Fh (control word)

  • Page 340: Pdo Configuration

    Communication Sync Manager PDO assignment The process data can contain multiple PDO mapping data objects during cyclic EtherCAT data communication. The CoE protocol defines the PDO mapping object list of the Sync Manager using data objects 1C10 to 1C2Fh. Multiple PDOs can be mapped to different sub-indexes. The IS810 series servo drive supports assignment of one RPDO and one TPDO, as described in the following table.

  • Page 341: Service Data Object (Sdo)

    Communication c. Write the total number of mapping objects. Write the number of mapping objects in step b to sub-index 0. An SDO fault code will be returned when the following operations are under execution: Modify PDO parameters in status other than pre-operational. ●...

  • Page 342: Communication Configuration Example

    Communication Configuration Example 15.6.1 Operating in Cyclic Synchronous Position Mode with AM600 Controller The following description takes Inovance AM600 controller as the master to introduce the communication settings of IS810N series servo drives. Note Note: For better usability, it is recommended to use version 1.10 or higher versions of the AM600 software tool.
  • Page 343 Communication 2. Communication setting a. Connect the communication cables properly. To set up a normal communication connection, set the IP address of the PC to the same network segment (192.168.1.xxx) as AM600. b. Click Scan Network. c. Select the AM600 device scanned. Now the communication connection between PLC and PC is completed.
  • Page 344 3. Add devices to perform configurations a. Adding the XML file of IS810N: Click Import ECT File in Network Configuration to add XML files (download XML files from Inovance’s official website). b. Performing device configurations for the system: Add the EtherCAT master and IS810N device.
  • Page 345 Communication c. If the no axis is added after you add the drive, add two CiA402 motor axes manually. Right click on the IS810N-INT device to add two motor axes.
  • Page 346 Communication d. Configure EtherCAT master communication parameters by maintaining the default. Select eth1 for the network. Select a synchronizing cycle. 4. Configure the PDO mapping for the slave a. The Enable expert settings is inactive by default. If you need to change the synchronization mode or other expert options, activate Enable expert settings.
  • Page 347 Communication 5. Axis scaling settings The axis is equipped with a 23-bit encoder, which generates 8388608 pulses per revolution of the motor, corresponding to 800000 in hex. The travel distance is configured based on 1000 reference units/revolution. Such conversion is similar to the electronic gear conversion performed on the host controller, which removes the need for setting the internal conversion ratio of the servo drive.
  • Page 348 Communication b. Definition part of FB -347-...
  • Page 349 Communication c. Five function blocks in FB d. Add a main program POU, as shown in step a. e. Add the FB function block to the newly created POU.
  • Page 350 Communication f. Add a program to Application, and instantiate the previous FB into two function blocks. Bind the two function blocks to two axes. -349-...
  • Page 351 Communication...
  • Page 352 Communication g. After calling this program in the EtherCAT task, you can perform enable, jog, homing, and absolute position operations. h. Log into the PLC and upload the program complied to the PLC. Then you can operate the operation bus manually. -351-...

  • Page 353: Beckhoff Controller As The Master

    Communication 15.6.2 Beckhoff Controller as the Master The following section describes how to configure the IS810N servo drive with Beckhoff TwinCAT3 master used in CSP mode. 1. Installing the TwinCAT software The TwinCAT3 software, which supports Windows7 32-bit or 64-bit systems, can be downloaded from the official website of Beckhoff.
  • Page 354 Communication 4. Install the TwinCAT network adapter driver. a. Go to TWINCAT > Show Real Time Ethernet Compatible Devices. Select the local connection under Incompatible devices, and then click Install. b. After installation, the installed network adapter is displayed in Installed and ready to use devices.
  • Page 355 Communication 5. Search for devices. a. Create a project and search for devices. Select and click , as shown in the following figure. b. Click OK. c. Click OK.
  • Page 356 Communication d. Click Yes. e. Click OK. f. Click No. g. The equipment search is completed, as shown in the following: -355-...
  • Page 357 Communication 6. Configure PDO contents The following takes implementing CSP (position) + CSV (speed) + CST (torque) mode as an example: Quickly select a running mode in Slots. Note Attention: If anything is changed here, then the axis must be reconnected to the device. Otherwise, the bus cannot be started.
  • Page 358 Communication If the current PDO meets your requirements, you do not need to change it, otherwise you need to simply change the PDO list to suit your mode. To change the PDO list, right click the PDO Content window,click Delete to delete the redundant default PDOs, and click Insert to add the PDOs needed.
  • Page 359 Communication 2). Click Axis 1 in Axes, select Parameter and set the scaling parameter of the device axis. In this example, set the required movement unit 60 mm per revolution of the servo motor, and the value of Scaling Factor Numerator is 60/1048576. (The other axis is the same.) 3).
  • Page 360 Communication b. Click OK. c. In the Online interface, you can view that the current state is OP, and the 3rd LED on the keypad displays "8". The keypad displays 1_88RY. 8. Control the servo drive through NC axis or PLC programs. You can select the control type.
  • Page 361 Communication PID type of the control loop: Control loop PID type Mode Position loop: servo drive Drive: position mode Position Controller P Speed loop: servo drive Position loop: TWinCAT NC Drive: Velocity mode Position Controller PID (With Ka) Speed loop: servo drive Note The TWinCAT NC controller can also implement the speed loop, and sends the target torque to the drive in each cycle.
  • Page 362 Communication 2). PLC program 3). Create a PLC program. -361-...
  • Page 363 Communication Add a motion control library for calling the motion control function blocks. Create a new POU.
  • Page 364 Communication 4). Create a new FB and add Mc_power, MC_jog, MC_home, MC_absolute, and MC_reset. -363-...
  • Page 365 Communication Call axis_motion in main.Call axis_motion in main. Call the program in PLCTASK. Because there are positive and negative maximum torque limits 60E1 and 60E0 in the CSP (position) +CSV (velocity) +CST (torque) mode, initial values must be assigned to them.
  • Page 366 Communication After compilation, perform variable link to 60E0 and 60E1. Compile the program. If there is no fault, configuration can be activated, and then log onto the PLC. -365-...

  • Page 367: Omron Ethercat Series Plc As The Master

    Communication Run the PLC through a click, making the drive start operating through the bus. 15.6.3 Omron EtherCAT Series PLC as the Master 1. Create a project and modify the project name and the model and version information of the controller.
  • Page 368 Click Display ESI Library to import the device description file. Note Note: Download the latest XML file of IS810N from Inovance official website. b. In the ESI library list, click Install at the bottom to open the XML file of IS810N.
  • Page 369 Communication c. At the upper right of the software, click all suppliers and select Multi-axis servo in the menu. Double-click on the IS810N in the device list below to add the device into the configuration list. (If the network is already configured, skip this step and use the online upload configuration.) IS810N-INT has been designed with PDO list for easy use of each axis.
  • Page 370 Communication d. Set the EtherCAT communication site address through H0E.21. Power on again after setting. For easy configuration management , it is recommended to set the address according to the actual connection order. e. Configure the master modification as online mode, and compare and merge with the physical network configuration in the menu bar.
  • Page 371 Communication a. Motion control axis setting Exit the online mode. Add Axis Settings in Motion Control Setup. Double-click MC_Axis000 and configure an IS810N-INT device at a corresponding site in a corresponding Axis Basic Settings interface, as shown in the following figure. MC_Axis000 can be renamed. After renaming, the NJ program uses this name to represent the IS810N-INT servo axis.
  • Page 372 Communication d. Configuring servo axis parameters Unit conversion setting: ● IS810N-INT is equipped with a 23-bit encoder, which means 8388608 pulses can be generated per revolution of the motor. The motor travel per revolution is 10000 pulses. Such conversion is similar to the electronic gear conversion performed on the host controller, which removes the need for setting the internal conversion ratio of the servo drive.
  • Page 373 Communication Homing settings ● See the following table for how to set the homing mode. NJ Software Description Terminal Configuration Servo Drive Function Home proximity signal Home switch (FUN31) External home input Probe 1 (FUN38) Phase Z signal input Motor encoder phase Z signal Positive limit input P-OT (FUN14) Negative limit input...
  • Page 374 Communication b. In section0, instantiate the function block completed currently and bind it to each axis. Then you can operate the axis through the bus. -373-...

  • Page 375: Operating In Csp Mode With Ac801 Controller

    True to drive the axis to run. 15.6.4 Operating in CSP Mode with AC801 Controller The following show the configuration for communication between IS810N series drive and Inovance AC801 controller. “ 15.6.1 Operating in Cyclic Synchronous Position Mode with AM600 Controller ” on page...

  • Page 376: Parameter List

    Effective fault method mode H00.00 Motor 0 to 65535 14101 UInt16 At stop Next 2000–01h 14000: Inovance motor with code 20-bit incremental encoder power-on 14101: Inovance motor with 23-bit absolute encoder H00.02 Custom 0.00 to 0.00 UInt32 2000–03h Differentiates the customized Unchangea ized No.
  • Page 377 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H00.11 0.01 to 655.35 4.70 UInt16 At stop Next 2000–0Ch Rated current power-on H00.12 0.10 to 655.35 2.39 N·m UInt16 At stop Next 2000–0Dh Rated power-on torque H00.13 2000–0Eh...
  • Page 378 1: Wire-saving 0x02: Regular incremental encoder encoder (ABZ, without UVW) (ABZ[UVW]) 0x10: TAMAGAWA encoder 2: Regular 0x12: Nikon encoder incremental 0x13: Inovance encoder encoder (ABZ, without UVW) 16: TAMAGAWA encoder 18: Nikon encoder 19: Inovance encoder H00.31 1 to 1073741824...
  • Page 379 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H00.37 0 to 65535 UInt16 At stop Next 2000–26h Absolute encoder power-on function setting bit H00.39 BiSSC 0 to 32 UInt16 At stop Next 2000–28h Defines the length (up to 32 power-on single- bits) of the single-turn data...

  • Page 380: Parameter Group H01

    Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H00.73 0 to 65535 UInt16 At stop 2000–4Ah Bit01 of motor SN code H00.74 2000–4Bh bit 23 of 0 to 65535 UInt16 At stop motor SN code H00.75 0 to 65535...
  • Page 381 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H01.07 0.00 to 655.35 0.00 UInt16 2001–08h Software Displays the software test Unchangea models test version (with two decimal version places). H01.08 0.0 to 6553.5 UInt16 2001–09h Model Displays model parameter...
  • Page 382 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H01.22 D-axis 0.0% to 1000.0% 50.0 UInt16 2001–17h Displays D-axis coupling Real time Real time coupling voltage compensation voltage coefficient (with one decimal compen place). sation coeffi cient H01.23...
  • Page 383 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H01.30 50.0% to 150.0% 100.0 UInt16 At stop 2001–1Fh Displays bus voltage gain Real time voltage tuning (with one decimal gain place). tuning H01.31 UInt16 At stop Next 2001–20h Minimum...
  • Page 384 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H01.52 D-axis 0 to 20000 2000 UInt16 2001–35h Displays D-axis proportional Real time Real time propor gain in performance priority tional mode (without decimal place). gain in perform ance priority...
  • Page 385 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H01.61 UInt16 At stop Next 2001–3Eh 0: 4 kHz Displays the command mand 1: 2 kHz scheduling frequency (without power-on schedul 2: 1 kHz decimal place). 3: 8 kHz frequen H01.62...
  • Page 386 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H01.73 Sigma- 0 to 65535 UInt16 At stop Next 2001–4Ah Displays Sigma-delta signal delta phase compensation time power-on signal (without decimal place). phase compen sation time H01.75 Current 0.00 to 655.35...

  • Page 387: Parameter Group H02

    Parameter List 16.3 Parameter Group H02 Param. Name Data type Setpoint Description Unit Change Effective fault method mode H02.00 UInt16 At stop 2002–01h Control 0: Speed control 0: Speed control mode Real time mode mode 1: Position control mode 1: Position control 2: Torque control mode mode 9: EtherCAT mode...
  • Page 388 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H02.05 Stop –4: Ramp to stop Int16 2002–06h Defines the deceleration Real time Real time mode at as defined by mode of the motor for S-ON OFF 6085h, keeping stopping rotating upon S-ON dynamic braking...
  • Page 389 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H02.06 Stop –5: Stop at zero Int16 2002–07h Defines the deceleration Real time Real time mode at speed, keeping mode of the servo motor for No.2 fault dynamic braking stopping rotating and the state...
  • Page 390 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H02.07 Stop 0: Coast to stop, UInt16 At stop 2002–08h Defines the deceleration Real time mode at keeping de- mode of the servo motor for overtra energized state stopping rotating and the 1: Stop at zero...
  • Page 391 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H02.10 50 to 1000 UInt16 2002–0Bh Delay Defines the delay from the Real time Real time from moment brake output is OFF brake to the moment when the output motor at standstill enters the OFF to...
  • Page 392 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H02.18 0: Coast to stop, UInt16 At stop 2002–13h Quick Defines the deceleration Real time stop keeping de- mode of the motor for energized state mode stopping rotating upon quick 1: Ramp to stop stop and the motor status...
  • Page 393 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H02.31 System 0: No operation UInt16 At stop 2002–20h Used to restore default values Real time parame 1: Restore default or clear fault records. settings initializa 2: Clear fault tion records...

  • Page 394: Parameter Group H03

    Parameter List 16.4 Parameter Group H03 Param. Name Data type Setpoint Description Unit Change Effective fault method mode H03.02 UInt16 2003–03h 0: No assignment Defines the function of DI1. Real time Real time function 101: Servo ON selection 102: Alarm reset signal 114: Positive limit switch...
  • Page 395 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H03.07 UInt16 2003–08h DI3 logic 0: Normally open Real time Real time selection 1: Normally closed H03.08 See H03.02. UInt16 2003–09h Defines the function of DI4. Real time Real time function...
  • Page 396 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H03.62 0.00 to 500.00 3.00 UInt16 2003–3Fh DI3 filter Defines the filter time of DI3. Real time Real time time The DI function is active only after the effective level is kept within the time defined by H03.62.

  • Page 397: Parameter Group H04

    Parameter List 16.5 Parameter Group H04 Param. Name Data type Setpoint Description Unit Change Effective fault method mode H04.00 UInt16 2004–01h 0: No assignment Defines the function of DO1. Real time Real time function 101: Servo ready selection 102: Motor rotation signal 109: Brake output 110: Alarm...

  • Page 398: Parameter Group H05

    Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H04.22 Bit0: DO1 output UInt16 2004–17h Defines whether the logic of a Real time Real time source source physical DO terminal is selection 0: DO1 function defined by the actual state of output the drive or by...
  • Page 399 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H05.11 1 to 1073741824 UInt32 2005–0Ch Electronic Defines the numerator of Real time Real time gear ratio electronic gear ratio 2. (numera tor) H05.13 2005–0Eh Electronic 1 to 1073741824 Defines the denominator of UInt32...
  • Page 400 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H05.39 UInt16 At stop 2005–28h Electronic 0: Switched after Defines the condition for Real time gear ratio position reference switching the electronic gear switch kept 0 for 2.5 ms ratio.
  • Page 401 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H05.41 UInt16 At stop Next 2005–2Ah Z pulse bit0: Frequency- Defines the output level when output division Z output the Z pulse of pulse output power-on polarity polarity terminal is active.
  • Page 402 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H05.47 Frequen 0 to 400 UInt16 2005–30h Defines the minimum output Real time Real time width (us) of frequency division Z division output PZ. pulse width H05.50 2005–33h Mechani...

  • Page 403: Parameter Group H06

    Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H05.60 0 to 30000 UInt16 2005–3Dh Hold time Defines the hold time of an Real time Real time active positioning completed position signal. complet H05.66 2005–43h Homing 0: 1 ms UInt16...
  • Page 404 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H06.02 UInt16 At stop 2006–03h Speed 0: Source of main Defines the source of speed Real time reference speed reference A references. source 1: Source of auxiliary speed reference B 2: A+B...
  • Page 405 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H06.09 Reverse 0 to 10000 7000 UInt16 2006–0Ah Defines the reverse speed Real time Real time speed threshold. threshold H06.10 2006–0Bh Decelera 0: x 1 Sets the deceleration unit in UInt16 At stop Real time...

  • Page 406: Parameter Group H07

    Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H06.26 Torque 0 to 1 UInt16 2006–1Bh Used to enable the torque Real time Real time fluctua ripple auto-tuning function. tion auto- tuning enable H06.28 2006–1Dh Cogging 0 to 1 Used to enable the cogging...
  • Page 407 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H07.02 Torque UInt16 At stop 2007–03h 0: Source of main Selects torque reference. Real time reference torque reference source 1: Source of auxiliary torque reference B 2: Source of A+B 3: Switched between A and B...
  • Page 408 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H07.17 UInt16 2007–12h Speed 0: Internal speed Sets the speed limit source. Real time Real time limit limit source 1: V-LMT H07.19 0 to 10000 3000 UInt16 2007–14h Positive...
  • Page 409 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H07.28 0 to 65535 UInt16 2007–1Dh Speed of Set the speed of flux Unchangea Real time flux weakening point. weaken ing point H07.31 MTPA 0 to 1 UInt16 At stop 2007–20h...

  • Page 410: Parameter Group H08

    Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H07.44 80D motor 0.000 to 6.000 0.943 UInt16 2007–2Dh This coefficient is used to Real time Real time tempera calculate the output torque. ture coefficient Motor H07.45 2007–2Eh 0: Disabled...
  • Page 411 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H08.03 0.1 to 2000.0 75.0 UInt16 2008–04h 2nd speed Real time Real time loop gain H08.04 0.15 to 512.00 10.61 UInt16 2008–05h 2nd speed Real time Real time loop integral...
  • Page 412 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H08.09 Gain UInt16 2008–0Ah 0: Fixed to the 1st Defines the gain switchover Real time Real time switch gain set (PS) condition. over 1: Switched as condition defined by bit 26 of 60FEh...
  • Page 413 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H08.12 Gain 0 to 20000 UInt16 2008–0Dh Defines the dead time for gain Real time Real time switch switchover. Gain switchover is over affected by both the level and hysteresis the dead time, as defined by H08.09.
  • Page 414 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H08.19 0.0% to 100.0% UInt16 2008–14h Speed In position control and full Real time Real time feedfor closed-loop control, speed ward gain feedforward is the product of speed feedforward signal multiplied by H08.19 and is part of the speed reference.
  • Page 415 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H08.21 Torque 0.0% to 300.0% UInt16 2008–16h In control modes other than Real time Real time feedfor torque control, torque ward gain feedforward is the product of torque feedforward signal multiplied by H08.21 and is part of the torque reference.
  • Page 416 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H08.24 PDFF 0.0% to 200.0% 100.0 UInt16 2008–19h Defines the control mode of Real time Real time control the speed loop. When this coefficient coefficient is set to 100.0, the speed loop adopts PI control (default control mode of speed loop) which features...
  • Page 417 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H08.32 0% to 100% UInt16 2008–21h Disturb Defines the compensation Real time Real time ance gain of the disturbance compensa observer. The setpoint 100% tion gain indicates full compensation.
  • Page 418 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H08.45 0 to 1 UInt16 2008–2Eh Model Sets the single inertia model Real time Real time feedfor feedforward position. ward position H08.46 2008–2Fh Feedfor 0.0 to 102.4 Defines the speed feedforward 95.0 UInt16...
  • Page 419 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H08.56 0% to 600% UInt16 2008–39h Medium- Adjust this parameter based Real time Real time and low- on the actual compensation frequency effect. jitter suppres sion phase modula tion 3...
  • Page 420 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H08.65 Zero UInt16 2008–42h 0: Disabled Used to enable/disable zero Real time Real time deviation 1: Enabled deviation control. control selection H08.66 Zero 0.0 to 320.0 UInt16 2008–43h Defines the average filter time...
  • Page 421 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H08.83 60.0 UInt16 2008–54h Dual- 0.1/s to 300.0/s Defines the dual-inertia model Real time Real time inertia gain. model gain H08.84 Inertia 0.00 to 120.00 1.00 UInt16 2008–55h If the resonance frequency of...

  • Page 422: Parameter Group H09

    Parameter List 16.10 Parameter Group H09 Param. Name Data type Setpoint Description Unit Change Effective fault method mode H09.00 Auto- UInt16 2009–01h 0: Disabled, Defines different gain tuning Real time Real time tuning manual gain modes. Related gain mode tuning required parameters can be set 1: Enabled, gain manually or automatically...
  • Page 423 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H09.02 UInt16 2009–03h Adaptive 0: The adaptive Defines the operation mode of Real time Real time notch notches are no the adaptive notch. mode longer updated 1: An adaptive notch is active (Group 3 notches)
  • Page 424 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H09.07 Time 20 to 800 UInt16 At stop 2009–08h Set the time for the motor to Real time constant accelerate from 0 RPM to the maximum speed for inertia accelerat auto-tuning (H09.06) in offline ing to...
  • Page 425 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H09.13 0 to 20 UInt16 2009–0Eh Width Defines the width level of the Real time Real time level of notch. Use the default the 1st setpoint in general cases. notch Width level is the ratio of the notch width to the notch...
  • Page 426 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H09.23 0 to 99 UInt16 2009–18h Depth Real time Real time level of the 4th notch H09.24 2009–19h Auto- 0 to 5000 UInt16 Unchangea When H09.02 (Adaptive notch tuned mode) is set to 3, the current resonance...
  • Page 427 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H09.37 0 to 65535 UInt16 2009–26h Vibration The resonance detection Real time Real time monitor suppression function is turned ing time off automatically after the time defined by this parameter elapses.
  • Page 428 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H09.47 0.00 to 2.00 1.00 UInt16 2009–30h Width of Use the default setpoint in Real time Real time low- general cases. To increase the frequency setpoint, increase the delay resonance time.
  • Page 429 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H09.57 STune 0 to 4000 UInt16 2009–3Ah If the resonance frequency is Real time Real time resonance lower than the setpoint, use suppres medium-frequency resonance sion suppression 2 to suppress switch resonance.

  • Page 430: Parameter Group H0A

    Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H09.80 0 to 8000 8000 UInt16 2009–51h Biquard1 Real time Real time dominator frequency H09.81 0.100 to 10.000 0.707 UInt16 2009–52h Biquard1 Real time Real time dominator damping coefficient...
  • Page 431 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H0A.10 0 to 4294967295 21989 UInt32 200A-0Bh Threshold Defines the threshold for Real time Real time excessive position deviation in 5608 excessive the position control mode. local When the position deviation position...
  • Page 432 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H0A.27 Average 0 to 100 UInt16 200A-1Ch Defines the average filter time Real time Real time filter time constant of the speed for speed information for speed display feedback and position references.
  • Page 433 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H0A.40 Compen UInt16 At stop 200A-29h bit0: Overtravel Real time sation compensation function 0: Enabled selection 1: Disabled bit1: Touch probe rising edge compensation 0: Disabled 1: Enabled bit 2: Touch probe falling edge...
  • Page 434 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H0A.52 0 to 175 UInt16 200A-35h Encoder Defines the temperature Real time Real time tempera threshold for encoder ture overtemperature protection. protection threshold H0A.53 -3000 to +3000 25 ns Int16 200A-36h...
  • Page 435 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H0A.61 Designat 0.0 to 6553.5 UInt16 200A-3Eh Defines the fault code for Real time Real time ed fault triggering the black box code function. H0A.62 200A-3Fh Trigger 0 to 25 Defines the fault code for...
  • Page 436 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H0A.74 1 to 1000 UInt16 200A-4Bh Filter time Defines the delay from the Real time Real time for two moment the inconsistent 24V inconsis is input to the drive through tent STO two channels to the moment channels...
  • Page 437 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H0A.89 Correct 0 to 31 UInt16 At stop 200A-5Ah Defines the fault bit state Real time state of during normal operation of BiSSC. BiSSC data H0A.90 200A-5Bh Moving 0 to 2...

  • Page 438: Parameter Group H0C

    Parameter List 16.12 Parameter Group H0C Param. Name Data type Setpoint Description Unit Change Effective fault method mode H0C.00 0 to 3 UInt16 At stop 200C-01h Disconnec Real time tion detection H0C.01 Disconnec 1.0 to 100.0 UInt16 200C-02h Real time Real time tion detection...
  • Page 439 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode -500.0% to Int16 H0b.02 200b-03h Internal It displays the current torque Unchangea torque +500.0% reference in unit of 0.1%. The reference value 100.0% corresponds to the rated motor torque. H0b.03 200b-04h 0 to 65535...
  • Page 440 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode Average 0.0% to 800.0% UInt16 H0b.12 200b-0Dh It displays the percentage of Unchangea load ratio the average load torque relative to the rated motor torque, in unit of 0.1%. The value 100.0% corresponds to the rated motor torque.
  • Page 441 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode 0 to 65535 UInt16 H0b.28 200b-1Dh Absolute Unchangea encoder fault informa tion given by FPGA H0b.29 200b-1Eh Axis status 0 to 65535 UInt16 Unchangea informa tion given by FPGA H0b.30 200b-1Fh...
  • Page 442 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode 0 to 65535 UInt16 H0b.34 200b-23h Fault code Unchangea selected fault H0b.35 200b-24h Time 0.0s and UInt32 Unchangea stamp of 429496729.5s selected fault H0b.37 200b-26h Motor -32767 to +32767 Int16 Unchangea...
  • Page 443 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode Input 0 to 65535 UInt16 H0b.41 200b-2Ah Unchangea terminal state upon occur rence of selected fault H0b.43 200b-2Ch Output 0 to 65535 UInt16 Unchangea terminal status upon occur rence of...
  • Page 444 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode System 0 to 65535 UInt16 H0b.48 200b-31h Unchangea fault informa tion given by FPGA upon occur rence of selected fault H0b.49 200b-32h Encoder 0 to 65535 UInt16 Unchangea fault...
  • Page 445 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode Position -2147483648 to Int32 H0b.53 200b-36h Indicates the position Unchangea following +2147483647 deviation value which has not error been divided or multiplied by (reference the electronic gear ratio in the unit) position control mode.
  • Page 446 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode -32768 to +32767 Int16 H0b.66 200b-43h Encoder Unchangea tempera ture 0.0% to 200.0% UInt16 H0b.67 200b-44h Load rate Unchangea of braking resistor H0b.70 200b-47h Number 0 to 65535 Indicates the number of UInt16 Unchangea...
  • Page 447 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode -2147483648 to Int32 H0b.85 200b-56h Single- Displays the high 32-bit value Unchangea turn +2147483647 of the position feedback of the position rotary load when the absolute of the system works the rotation rotary...

  • Page 448: Parameter Group H0D

    Parameter List 16.14 Parameter Group H0d Param. Name Setpoint Description Unit Data type Change Effective fault method mode UInt16 At stop H0d.00 200d-01h Software 0: No operation Programs in the drive are Real time 1: Enable reset reset automatically (similar to the program reset upon power-on) after the software reset function is enabled,...
  • Page 449 1: Reset fault whether to reset the encoder 2: Reset fault and reset internal faults and encoder multi-turn data feedback multi-turn data. 3: Reset Inovance 2nd encoder fault 4: Reset Inovance 2nd encoder fault and multi-turn data Torque 0 to 1...

  • Page 450: Parameter Group H0E

    Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode 0 to 65535 UInt16 At stop H0d.25 200d-1Ah Dead zone Real time auto- tuning UInt16 At stop H0d.26 200d-1Bh Brake and 0: Not forced Real time dynamic 1: Dynamic brake braking...
  • Page 451 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H0E.07 UInt16 At stop 200E-08h Object 0: Reference unit Servo unit system switchover: Real time dictionary system (p/s, p/s2) 0: Reference unit system (The unit 1: User unit speed type object dictionary selection system (0.01 rpm,...
  • Page 452 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H0E.25 Max. error 0 to 65535 UInt16 200E-1Ah Unchangea value and invalid frames of EtherCAT port 0 per unit time H0E.26 200E-1Bh Max. error 0 to 65535 UInt16 Unchangea value and...
  • Page 453 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H0E.33 0 to 65535 UInt16 200E-22h EtherCAT Unchangea state machine status and port connec tion status H0E.34 1 to 30 UInt16 200E-23h Number Real time Real time excessive position reference...
  • Page 454 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H0E.45 H0E-45 Most 0 to 255 UInt16 Real time Real time significant byte of subnet mask H0E.46 H0E-46 0 to 255 UInt16 Second Real time Real time most significant byte of...
  • Page 455 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H0E.52 H0E-52 Least 0 to 255 UInt16 Real time Real time significant byte of default gateway H0E.53 H0E-53 Most 0 to 255 UInt16 Unchangea significant byte of MAC used by EOE H0E.54...
  • Page 456 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H0E.63 H0E-63 0 to 255 UInt16 Second Real time Real time least significant byte of Ethernet IP address H0E.64 H0E-64 Least 0 to 255 UInt16 Real time Real time significant byte of...
  • Page 457 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H0E.70 H0E-70 0 to 255 UInt16 Second Real time Real time most significant byte of default Ethernet gateway H0E.71 H0E-71 0 to 255 UInt16 Second Real time Real time least significant...
  • Page 458 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H0E.83 0 to 600 UInt16 200E-54h Modbus Real time Real time communi cation timeout H0E.84 200E-55h Sequence UInt16 Real time Real time 0: High bits before Defines the 32-bit data of Modbus low bits...

  • Page 459: Parameter Group H0F

    Parameter List 16.16 Parameter Group H0F Param. Name Data type Setpoint Description Unit Change Effective fault method mode H0F.00 UInt16 Next 200F-01h Encoder 0: Internal Defines the encoder feedback Real time feedback encoder feedback power-on signal source in fully closed- mode 1: External loop control.
  • Page 460 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H0F.03 UInt16 At stop Next 200F-04h External 0: Quadrature encoder pulse power-on feedback type H0F.04 200F-05h External 1 to 2147483647 Defines the pulses fed back by 10000 UInt32 At stop...
  • Page 461 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H0F.08 Excessive 0 to 2147483647 1000 UInt32 200F-09h It sets the position deviation Real time Real time deviation threshold at which the servo threshold drive detects fault EB02.0, indicating that the position deviation is excessive.
  • Page 462 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H0F.16 -2147483648 to Int32 200F-11h Pulse Used to count and display the Refer Unchangea deviation +2147483647 position deviation absolute ence display in value in fully closed loop unit control.
  • Page 463 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H0F.26 -2147483648 to Int32 200F-1Bh Absolute Real time Real time zero offset +2147483647 in fully closed- loop mode H0F.45 200F-2Eh Position 0: Threshold 0: Fully closed-loop UInt16 At stop Real time...

  • Page 464: Parameter Group H12

    Parameter List 16.17 Parameter Group H12 Param. Name Data type Setpoint Description Unit Change Effective fault method mode H12.00 UInt16 At stop 2012–01h Multi- 0: Individual Used to set the multi- Real time speed operation reference operation mode operation (number of when the multi-speed mode speeds defined by...
  • Page 465 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H12.05 0 to 65535 UInt16 2012–06h Accelera Four groups of acceleration/ Real time Real time tion time deceleration time can be set for each speed reference. Acceleration time: the time for the servo motor to accelerate from 0 rpm to 1000 rpm.
  • Page 466 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H12.21 Operating UInt16 2012–16h 0.0s(m) to Defines the operating time of s (m) Real time Real time time of 6553.5s(m) speed 1. speed 1 The operating time is the sum of the speed variation time from previous speed reference to present speed reference...
  • Page 467 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H12.25 Same as H12.22 Same as H12.22 UInt16 2012–1Ah Accelera Real time Real time tion/ Decelera tion time of speed 2 H12.26 -10000 to +10000 Int16 2012–1Bh Reference Real time...
  • Page 468 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H12.38 -10000 to +10000 Int16 2012–27h Reference Real time Real time H12.39 2012–28h Operating UInt16 Real time Real time 0.0s(m) to s (m) time of 6553.5s(m) speed 7 H12.40 2012–29h...
  • Page 469 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H12.52 Same as H12.22 Same as H12.22 UInt16 2012–35h Accelera Real time Real time tion/ Decelera tion time of speed H12.53 2012–36h Reference -10000 to +10000 -500 Int16 Real time...

  • Page 470: Parameter Group H15

    Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H12.64 Same as H12.22 Same as H12.22 UInt16 2012–41h Accelera Real time Real time tion/ Decelera tion time of speed H12.65 2012–42h Reference -10000 to +10000 -300 Int16 Real time...

  • Page 471: Parameter Group H21

    Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H15.41 1st group 2500: 2500 Int16 2015–2Ah Displays the carrier frequency Real time Real time of carrier 3000: 3000 (without decimal place). frequency 3500: 3500 5000: 5000 6000: 6000 7000: 7000 8000: 8000...
  • Page 472 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H21.02 0.1% to 200.0% 100.0 UInt16 2021–03h 25% to 50% current reference Real time Real time current gain coefficient reference gain coefficient H21.03 2021–04h 0.1% to 200.0% 100.0 UInt16 Real time...
  • Page 473 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H21.11 275% 0.1% to 200.0% 250% to 275% current 100.0 UInt16 2021–0Ch Real time Real time current reference gain coefficient reference gain coefficient H21.12 2021–0Dh 300% 0.1% to 200.0% 275% to 300% current 100.0...
  • Page 474 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H21.20 500% 0.1% to 200.0% 475% to 500% current 100.0 UInt16 2021–15h Real time Real time current reference gain coefficient reference gain coefficient H21.21 2021–16h 525% 0.1% to 200.0% 500% to 525% current 100.0...
  • Page 475 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H21.29 725% 0.1% to 200.0% 700% to 725% current 100.0 UInt16 2021–1Eh Real time Real time current reference gain coefficient reference gain coefficient H21.30 2021–1Fh 750% 0.1% to 200.0% 725% to 750% current 100.0...

  • Page 476: Parameter Group H30

    Parameter List 16.20 Parameter Group H30 Param. Name Data type Setpoint Description Unit Change Effective fault method mode H30.00 Servo 0 to 65535 UInt16 2030–01h Unchangea state read through communi cation H30.01 0 to 65535 UInt16 2030–02h bit0 corresponds to DO Unchangea function function 1...
  • Page 477 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode H30.21 0 to 65535 UInt16 2030–16h ASCII code Unchangea corre sponding to bit 2 and bit3 of servo SN code H30.22 0 to 65535 UInt16 2030–17h ASCII code Unchangea corre...

  • Page 478: Parameter Group H31

    Parameter List 16.21 Parameter Group H31 Param. Name Data type Setpoint Description Unit Change Effective fault method mode H31.04 DO state 0 to 65535 Sets DO output status. UInt16 2031–05h Real time Real time through communi cation H31.09 -10000.000 to 0.000 Int32 2031–0Ah...
  • Page 479 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode 1600.01 RPDO1 0 to 2147483647 16148 UInt32 The total length of a mapping object Real time mapping cannot exceed 64 bits. Mapping based on 07040 object 1 bytes instead of bits is supported.
  • Page 480 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode 1600.0D RPDO1 0 to 2147483647 UInt32 Same as 1600.01h. Real time mapping object 13 1600.0E RPDO1 0 to 2147483647 Same as 1600.01h. UInt32 Real time mapping object 14 1600.0F RPDO1...
  • Page 481 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode 1A00.04 TPDO1 0 to 2147483647 16228 UInt32 Same as 1A00.01h. Real time mapping 02432 object 4 1A00.05 TPDO1 0 to 2147483647 Same as 1A00.01h. 16229 UInt32 Real time mapping 33504...
  • Page 482 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode 1A00.13 TPDO1 0 to 2147483647 UInt32 Same as 1A00.01h. Real time mapping object 19 1A00.14 TPDO1 0 to 2147483647 Same as 1A00.01h. UInt32 Real time mapping object 20 1C12.00 0 to 2...

  • Page 483: Parameter Group 6000H

    Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode 1C33.02 0 to 4294967295 UInt32 Cycle time Real time 1C33.04 Sync 0 to 65535 UInt16 Real time modes supported 1C33.05 Minimum 0 to 4294967295 UInt32 Real time cycle time 16.23 Parameter Group 6000h...
  • Page 484 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode 0: Coast to stop, Int16 At stop 605Ah Quick stop 0: Coast to stop, keeping de-energized Real time mode keeping de- state energized state 1: Ramp to stop as defined by 6084h/ 1: Ramp to stop as 609Ah (HM), keeping de-energized state defined by 6084h/...
  • Page 485 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode –4: Ramp to stop Int16 At stop 605Ch Stop mode –4: Ramp to stop as defined by 6085h, Real time at S-OFF as defined by keeping dynamic braking state 6085h, keeping –3: at zero speed, keeping dynamic dynamic braking...
  • Page 486 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode –5: Stop at zero Int16 At stop 605Eh Stop mode –5: Stop at zero speed, keeping dynamic Real time at No.2 speed, keeping braking state dynamic braking fault –4: Stop at emergency stop torque, state...
  • Page 487 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode UInt16 6060h Servo drive 1: Profile position Used to select the operation mode of Real time Real time mode (PP) mode the drive:1 3: Profile velocity : Profile position (PP) mode (PV) mode 3: Profile velocity (PV) mode...
  • Page 488 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode 0 to 65535 UInt16 6066h Defines the Defines the time lapse to trigger Real time Real time time lapse excessive position deviation (EB00.0), to trigger which must be used together with excessive 6065h.
  • Page 489 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode Target -5000 to +5000 0.001 Int16 6071h Defines the target torque of the servo Real time Real time torque drive in the profile torque mode. The value 1000 corresponds to the rated torque of the motor.
  • Page 490 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode 607D.01 Min. -2147483648 to -21474 Int32 Defines the minimum software position Refer Real time Real time position +2147483647 limit relative to the mechanical zero 83648 ence limit point.
  • Page 491 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode 0 to 4294967295 42949 UInt32 6083h Profile Defines the acceleration rate in the Refer Real time Real time accelera acceleration stage of the displacement 67295 ence tion reference in the profile position mode.
  • Page 492 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode 6091.01 Motor 1 to 4294967295 UInt32 At stop Defines the numerator of the gear ratio. Real time resolution Defines the proportional relation between the load shaft displacement designated by the user and the motor shaft displacement.
  • Page 493 Parameter List Param. Name Data type Setpoint Description Unit Change Effective fault method mode 6098h Homing -2 to +35 Defines the homing method: Int16 Real time Real time method -2: Forward, positive mechanical limit as deceleration point and Z signal as home. -1: Reverse, negative mechanical limit as deceleration point and Z signal as home 1: Reverse, negative limit switch as...
  • Page 494 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode 6099.01 0 to 4294967295 11184 UInt32 At stop Speed Defines the speed during search for the Refer Real time during deceleration point signal. A large 8106 ence search for setpoint helps prevent the homing...
  • Page 495 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode Max. 0 to 4294967295 42949 UInt32 60C5h Defines the maximum permissible Refer Real time Real time accelera acceleration rate of the acceleration 67295 ence tion segment in the profile position mode, unit/ profile velocity mode, and homing mode.
  • Page 496 Parameter List Param. Name Setpoint Description Unit Data type Change Effective fault method mode DI State 0 to 4294967295 UInt32 60FDh Indicates the current DI terminal logic of Unchangea Real time models the drive. 0: Inactive 1: Active The DI signal indicated by each bit is described as follows: Bit signal 0: Reverse overtravel signal active...
  • Page 497 Parameter List Table 16–1 Description of 60B8h Description Name Touch probe 1 function selection 0: Probe 1 disabled 1: Probe 1 enabled Touch probe 1 trigger mode 0: Single trigger mode (Latches the position at the first trigger event.) 1: Continuous trigger mode Bit0 to bit5: settings related to probe 1 Touch probe 1 trigger signal selection When a DI is used to trigger the touch probe function, the DI...
  • Page 498 Parameter List Table 16–2 Description of 60B9h Description Name Touch probe 1 function selection 0: Probe 1 disabled 1: Probe 1 enabled Touch probe 1 positive edge value 0: No positive edge value latched Bit0 to bit 2: Status of probe 1 1: Edge value latched Touch probe 1 negative edge value 0: No negative edge value latched...

  • Page 499: Troubleshooting

    Troubleshooting Troubleshooting 17.1 Fault Levels Faults and warnings of the servo drive are divided into three levels based on severity: No. 1 > No. 2 > No. 3, as shown below. No. 1 non-resettable fault ● No. 1 resettable fault ●...

  • Page 500: Alarm Codes

    Troubleshooting To reset No. 1 and No. 2 faults, switch off the S-ON signal, and then set H0d.01 to 1 or activate the ● DI terminal allocated with DI function 2. To reset No. 3 warnings, set H0d.01 to 1 or activate the DI terminal allocated with DI function 2. ●...
  • Page 501 Troubleshooting Troubleshooting Cause Measure If the modification is not saved and Modify a certain parameter, power the fault persists after the servo off and on the servo drive again Parameter-write error drive is powered off and on and check whether the repeatedly, replace the servo drive.
  • Page 502 Troubleshooting A redundant S-ON signal is sent when some auxiliary functions are used. Troubleshooting Cause Measure The S-ON signal is activated Check whether an S-ON signal is through communication when the sent from the host controller when Switch off the S-ON signal sent servo drive is already enabled auxiliary functions (200D-03h, from the host controller.
  • Page 503 Troubleshooting Troubleshooting Cause Measure When H05.38 is set to 0 (encoder frequency-division output) or 2 Decrease the value of H05.17 (2nd encoder frequency-division (encoder frequency-division output), check whether the output pulses) to allow the output pulse pulse frequency corresponding to frequency, within the speed range the motor speed upon fault required by the machine, to drop...
  • Page 504 Troubleshooting Troubleshooting Cause Measure Continuous vibration occurs Rectify the fault and perform during auto-tuning. inertia auto-tuning again. The auto-tuned values fluctuate For vibration that cannot be dramatically. suppressed, enable vibration Mechanical couplings of the load suppression. are loose or eccentric. Perform internal inspection to Ensure mechanical couplings are An alarm occurs during auto-...
  • Page 505 Note E731.0 and E733.0 can trigger E730.0. See E731.0 and E733.0 for other solutions. E730.1: Inovance 2nd encoder battery voltage low ● Cause: Inovance 2nd encoder battery voltage is lower than 3.0 V. Troubleshooting Cause Measure Inovance 2nd encoder battery Use a new battery with the Measure the battery voltage.
  • Page 506 Troubleshooting Troubleshooting Cause Measure Check the operation mode and Check whether the logic of the DI The DI function 34 clear the active DI braking signal assigned with DI function 34 (EmergencyStop) is triggered. without affecting the safety (FunIN.34: Emergency stop) is performance.
  • Page 507 Check the wiring among the servo It is recommended to use the 1. The motor cables and encoder drive, servo motor and the encoder cables provided by Inovance. cable are connected improperly or according to the correct wiring When customized cables are used, in poor contact.
  • Page 508 Troubleshooting Troubleshooting Cause Measure Check whether both ends of the Replace the KTY sensor. The KTY sensor is short-circuited. KTY sensor are short-circuited. E910.0: Control circuit overvoltage ● Troubleshooting Cause Measure Measure whether the input voltage in the control circuit cable is within the following range: 380 V servo drive: Effective value: 380 V to 440 V Allowable deviation: –10%...
  • Page 509 Troubleshooting Troubleshooting Cause Solution Check whether the input voltage of the main circuit cable on the drive side is within the following range: 220 V servo drive: Value ● ● 6. The input voltage of the main range: 220 V to 240 V Replace or adjust the power supply ●...
  • Page 510 Troubleshooting Troubleshooting Cause Solution If yes, replace with an external ● braking resistor that matches the servo drive, then set H02.27 Measure whether the resistance of When an external braking resistor according to the resistance of the external braking resistor is used (H02.25 = 1 or 2), the the resistor used.
  • Page 511 Troubleshooting Troubleshooting Cause Measure Check whether a certain DI in ● Check the running mode. On the group H03 is assigned with prerequisite of safety, send a 1. The logic of the DI assigned with FunIN.14. reverse command or rotate the FunIN.14: P-OT (Positive limit Check whether the logic of DI ●...

  • Page 512: Fault Codes

    Troubleshooting Troubleshooting Cause Measure Check whether the inertia ● ratio or loop gain parameters are set properly. Resonance occurs on the servo Check whether there is abnormal Check whether resonance system and the torque fluctuation ● noise or torque fluctuation during parameters are set properly.
  • Page 513 Troubleshooting Troubleshooting Cause Measure Check whether parameter values in Reset the servo drive model and group H02 and above exceed the servo motor model, and restore 4. The software is updated. upper/lower limit due to software system parameters to default update.
  • Page 514 Troubleshooting Cause Measure Check whether the MCU version (H01.00) is 9xx.x (the fourth digit Contact Inovance for technical The software versions of MCU and displayed on the keypad is 9); support. Update the FPGA or MCU FPGA are inconsistent. Check whether the FPGA version software.
  • Page 515 Troubleshooting Troubleshooting Cause Measure The system reports that the The fault persists after the servo encoder communication time is set Hide unnecessary functions. drive is powered off and on improperly or the command Replace the servo drive. repeatedly. calculation time is too long. E120.0: Unknown encoder model ●...
  • Page 516 Troubleshooting E120.6: FPGA and motor model mismatch ● Cause: The motor model is set improperly, causing mismatch and malfunction of the servo drive. ■ The motor model is set properly, but the motor encoder is not supported by the servo drive. ■...
  • Page 517 Troubleshooting Troubleshooting Cause Measure Reset the mechanical gear ratio, Check the setting of the the upper limit of mechanical mechanical gear ratio, the upper The upper limit of the mechanical limit of mechanical single-turn single-turn position and the single-turn position exceeds 2 position and the electronic gear electronic gear ratio to ensure the the absolute position rotation...
  • Page 518 IS810N series servo drive and servo motor are used. Check whether the encoder cable provided by Inovance is used. For cable specifications, see "Matching Use the encoder cable provided Cables". The cable must be by Inovance.
  • Page 519 Troubleshooting Troubleshooting Cause Measure There is no need to take any corrective actions. After the STO 1. Check whether the STO function terminal is back to normal, clear is activated. the fault using the fault reset function. Two 24 V inputs are disconnected Check whether the 24 V power simultaneously, triggering the STO 2.
  • Page 520 Servo drive operates improperly. Replace it. Check whether the encoder cable provided by Inovance is used. Check whether the cable is aging, 2. The encoder cable is aged or corroded, or connected loosely. Re-solder, tighten or replace the...
  • Page 521 Troubleshooting Troubleshooting Cause Measure Check whether the servo drive power cables and motor cables on the U, V, and W sides of the servo Tighten the cables that are loose Motor cables are in poor contact. drive are loose. or disconnected. Motor cables are grounded.
  • Page 522 "Current feedback" in the software tool. Check whether the encoder cable 2. The encoder cable is aged or provided by Inovance is used and Re-solder, tighten or replace the corroded, or connected incorrectly whether the cable is aging, encoder cable.
  • Page 523 Check whether the encoder cable provided by Inovance is used and whether the cable is aging, 4. The encoder cable is aged or corroded, or connected loosely. Re-solder, tighten or replace the...
  • Page 524 Troubleshooting Troubleshooting Cause Measure Check whether the load of the Reduce the load of the vertical axis, vertical shaft is too large. Adjust increase the stiffness level, or hide 5. The gravity load in vertical axis brake parameters H02.09...H02.12 this fault without affecting the applications is too large.
  • Page 525 Check whether H0b.26 (Bus voltage) is within the following range: 6. The bus voltage sampling value Contact Inovance for technical 380 V servo drive: H0b.26 > 760 V deviates greatly from the measured support. Measure whether the DC bus value.
  • Page 526 Troubleshooting Troubleshooting Cause Measure 1. The power supply of the main Check the power input specifications of the servo drive circuit is unstable or power failure occurs. and measure whether the input voltage at the power supply side of the main circuit cables and U/V/W on the drive side is within the following range: 380 V servo drive:...
  • Page 527 Troubleshooting Troubleshooting Cause Measure Check the power input specifications of the servo drive and measure whether the input voltage at the power supply side of the main circuit cables and U/V/W on the drive side is within the following range: 380 V servo drive: Increase the capacity of the power Effective value: 380 to 440 V...
  • Page 528 Troubleshooting Troubleshooting Cause Measure Check the power input specifications of the servo drive and measure whether the input voltage at the power supply side of the main circuit cables and U/V/W on the drive side is within the following range: 380 V servo drive: Increase the capacity of the power Effective value: 380 to 440 V...
  • Page 529 Check whether the speed feedback exceeds the overspeed threshold by Adjust the gain or mechanical 4. The motor speed overshoots. running conditions. using Inovance servo commissioning software. The fault persists after the servo 5. The servo drive is faulty. Replace the servo drive.
  • Page 530 Troubleshooting E500.1: Speed feedback overflow ● Cause: The FPGA speed measurement overflows. Troubleshooting Cause Measure Check whether the servo drive Connect the U, V, and W cables 1. FPGA internal speed overflows. power cables are connected in the according to correct phase correct sequence at both ends.
  • Page 531 Check the wiring between the It is recommended to use the 1. The motor and encoder cables servo drive, servo motor and the cables provided by Inovance. are connected incorrectly or in encoder according to the correct When customized cables are used, poor contact.
  • Page 532 Troubleshooting Cause: The actual motor speed is lower than 10 rpm but the torque reference reaches the limit, and such status lasts for the time defined by H0A.32. Troubleshooting Cause Measure Perform motor trial run without 1. Power output (UVW) phase loss Re-connect the cables according to load and check cable connections or incorrect phase sequence occurs...
  • Page 533 Troubleshooting Troubleshooting Cause Solution 1. The SBC circuit is abnormal Check whether the 24 V voltage of Ensure that the 24 V voltage of the when the board card is powered the SBC is normal. SBC is normal. In case of the SBC circuit hardware 2.
  • Page 534 Troubleshooting Troubleshooting Cause Measure Improve the cooling ● conditions of the servo drive to lower down the ambient Measure the ambient temperature temperature. 1. The ambient temperature is too and view the fault records (set Change the fault reset high. ●...
  • Page 535 Troubleshooting Note When this fault occurs, stop the servo drive for at least 30s before further operations. E650.0: Heatsink overtemperature ● Cause: The temperature of the servo drive power module is higher than the overtemperature threshold. Troubleshooting Cause Measure Improve the cooling conditions of 1.
  • Page 536 Troubleshooting Troubleshooting Cause Measure Set the notch manually. Modify the electronic gear ratio to improve the command During ETune operation, the gain resolution, increase the command drops to the lower limit: Check if vibration resonance is filter time constant in the properly suppressed in the system.
  • Page 537 Troubleshooting Troubleshooting Cause Measure Check whether the inertia ratio or loop gain parameters are set Resonance occurs on the servo Check whether there is abnormal properly. system and the torque fluctuation noise or torque fluctuation during Check whether resonance amplitude is higher than the value operation.
  • Page 538 Troubleshooting Troubleshooting Cause Measure Check the wiring of the encoder. Connect the encoder cables 1. The encoder is wired improperly. according to the correct wiring diagram. 2. The encoder cable connections Check whether vibration on site is Re-connect encoder cables and become loose.
  • Page 539 Troubleshooting The attempt to write the encoder data fails. Troubleshooting Cause Measure Replace with a new encoder cable. If the fault no longer occurs after cable replacement, it indicates the Use a new encoder cable. If the An error occurs when writing the original encoder cable is damaged.
  • Page 540 The fault persists after the servo 2. The servo drive is faulty. Replace the servo drive. drive is restarted. E770.7: Fully closed-loop Inovance 2nd encoder communication error ● Troubleshooting Cause Measure Check the wiring of the encoder.
  • Page 541 Troubleshooting Troubleshooting Cause Measure Check whether the power cables are disconnected or in poor Any one or two phases of the Check the wiring of U/V/W power contact. Re-connect the power motor power cables are damaged. cables. cables. Replace the servo motor. E939.1: Phase-U power cable disconnected ●...
  • Page 542 Troubleshooting Troubleshooting Cause Measure Check whether the encoder cables are connected incorrectly, disconnected, or in poor contact. If 1. The serial incremental encoder Check the wiring. the motor cables and encoder cable is disconnected or loose. cables are bundled together, separate them.
  • Page 543 Monitor the operating waveform using the oscilloscope function of Inovance commissioning software and check whether the operating If the position reference is not 0 waveform includes the following 7. The servo drive/motor is faulty.
  • Page 544 Troubleshooting Troubleshooting Cause Measure Check the reference and motor speed (H0b.00) through the software tool or keypad. References in the position ● control mode: H0b.13 (Input position reference counter) References in the speed ● Rectify the mechanical-related 3. The motor is stalled due to control mode: H0b.01 (Speed problem.
  • Page 545 Troubleshooting Troubleshooting Cause Measure Check whether the maximum speed of the motor fulfills the application requirement. If yes, reduce the target position reference increment, which is to lower the profile reference speed. If not, replace the servo motor. Check the variation between two Before switching the mode or The target position increment is adjacent target positions using the...
  • Page 546 Troubleshooting Troubleshooting Cause Measure Check the reference and motor speed (H0b.00) through the software tool or keypad. References in the position control mode: H0b.13 (Input position reference counter) References in the speed control Rectify the mechanical-related 3. The motor is stalled due to mode: H0b.01 (Speed reference) problem.
  • Page 547 Troubleshooting Troubleshooting Cause Measure 1. Power output (UVW) phase loss Re-connect the cables according to Perform a no-load trial run on the the wiring diagram or replace the or incorrect phase sequence occurs motor and check the wiring. in the servo drive. cables.
  • Page 548 Monitor the operating waveform using the oscilloscope function of Inovance commissioning software If the position reference is not 0 and check whether the operating 7. The servo drive/motor is faulty. but the position feedback is always waveform includes the following 0, replace the servo drive or motor.
  • Page 549 Troubleshooting Troubleshooting Cause Measure 1. The data received by the slave is Check whether the communication Use shielded twisted pair cables. abnormal during synchronous cable is shielded twisted pairs. Connect cables according to wiring communication. Check whether the drive is instructions.
  • Page 550 4. whether the network cable . network cable provided by Inovance is used. EE08.4 Data frame loss protection error ● Cause: PDO data is corrupted due to EMC interference or an inferior network cable.
  • Page 551 ● H0E-25 have values that are cable used is the one network cable or improper increased. designated by Inovance. connection. Check whether the network ● cable is connected properly. EE08.5: Data frame transfer error ●...
  • Page 552 If the fault persists after the master is replaced, measure the synchronization signal generated 3. The slave controller integrated Contact Inovance for replacing the by the slave controller integrated circuit is damaged. slave controller integrated circuit. circuit with an oscilloscope. If there is no signal, the slave controller integrated circuit is damaged.
  • Page 553 Troubleshooting EE10.0: Protection against MailBox setting error ● Troubleshooting Cause Measure 1. The master station is configured Check the configuration of SM0 and incorrectly. The keypad displays the fault code. SM1 channels for errors. 2. The slave XML file is incorrect. EE10.1: SM2 setting error ●...
  • Page 554 Troubleshooting EE10.4: Protection against incomplete PLL (no sync signal) ● Troubleshooting Cause Measure During SAFEOP_2_OP, DC is Make sure a sync0 signal is The settings of the master station enabled, but not running. generated. is incorrect. EE11.0: ESI check error ●...
  • Page 555 Troubleshooting Troubleshooting Cause Measure The synchronization cycle is not an Check the setting of the Modify the synchronization cycle to integer multiple of 125 us or 250 synchronization cycle in the an integer multiple of 125 us or 250 controller. EE14.0: SYNC signal pulse width error ●...

  • Page 556: Internal Faults

    Troubleshooting 17.4.2 Internal Faults When any one of the following fault occurs, contact Inovance for technical support. E602.0: Angle auto-tuning failure ● E220.0: Phase sequence incorrect ● EA40.0: Parameter auto-tuning failure ● E111.0: Internal parameter error ● 17.5 List of Alarm Codes Table 17–1 Resettable alarm list...
  • Page 557 Troubleshooting Auxiliary code Display Fault code Name Fault level Resettable Error code (203Fh) DI setting invalid E902.0 No. 3 0x6320 0x09020902 DO setting invalid E902 E902.1 No. 3 0x0902 0x19020902 Torque reach setting invalid E902.2 No. 3 0x0902 0x29020902 Model identification check code E908 E908.0 No.

  • Page 558: List Of Fault Codes

    Troubleshooting 17.6 List of Fault Codes No. 1 non-resettable faults: Table 17–2 List of No. 1 non-resettable faults Auxiliary code Display Fault code Fault name Fault level Resettable Error code (203Fh) Abnormal parameters in groups E101.0 No. 1 0x6320 0x01010101 H02 and above Group H00/H01 parameter E101.1...
  • Page 559 Troubleshooting Auxiliary code Display Fault code Fault name Fault level Resettable Error code (203Fh) Output short-circuited to E210 E210.0 No. 1 0x2330 0x02100210 ground Runaway E234 E234.0 No. 1 0x0234 0x02340234 Absolute encoder E740.0 No. 1 0x0740 0x07400740 communication timeout E740.2 No.
  • Page 560 0x7305 0x27700770 breakage E770 2nd encoder initialization communication error in fully E770.6 No. 1 0x7305 0x67700770 closed-loop mode Inovance 2nd encoder communication error in fully E770.7 No. 1 0x7305 0x77700770 closed-loop mode Motor power cables E939.0 No. 1 0x0939 0x09390939...
  • Page 561 Troubleshooting No. 2 resettable faults Table 17–4 List of No. 2 resettable faults Auxiliary Code Display Fault Code Fault Name Fault level Resettable Error code (203Fh) DI function assignment error E122.1 No. 2 0x6320 0x11220122 DO function assignment error E122.2 No.
  • Page 562 Troubleshooting Auxiliary Code Display Fault Code Fault Name Fault level Resettable Error code (203Fh) Synchronization signal loss EE08.0 No. 2 0x0E08 0x0E080E08 EE08.1 No. 2 0x0E08 0x1E080E08 Status switchover error Network cable connected EE08.3 No. 2 0x0E08 0x3E080E08 improperly EE08 Data frame loss protection EE08.4 No.

  • Page 563: Maintenance

    Check whether the equipment is overheated. Regular 1 year inspection Check whether the terminal is damaged. Check whether the fastening parts of the terminal become loose. 18.2 Component Replacement The equipment can be dismantled and repaired only by Inovance engineers.
  • Page 564 To keep the servo drive and servo motor in good condition, perform parts replacement based on the replacement cycles listed in the following table. Contact Inovance or the Inovance agent to check whether the parts need to be replaced.
  • Page 565 Maintenance Size-2 ● 1. Removing the fan a. Press the snap-fit joint to draw out the fan and protective cover. b. Pull out the fan. c. Pull out the terminal to take the fan off. 2. Install the fan based on the same procedure, but in the reverse order. Size-3 &...

  • Page 566: Appendix

    Appendix Appendix 19.1 Display of Monitoring Parameters Group H0b: Displays the parameters for monitoring the running status of the servo drive. Group H0b (Monitored values) is described as follows (Take the parameter axis 1 as an example): Meaning Example Param. Name Unit Display of 3000 rpm:...
  • Page 567 Appendix Meaning Example Param. Name Unit For example, if DO1 is low level and DO2 is high level, then, the binary value is "10". Level status of DO terminals: The value of H0b.05 read in the Upper LED segments ON: high level software tool is 0x2.
  • Page 568 Appendix Meaning Example Param. Name Unit Counts and displays the number of Display of 1073741824 in encoder pulses fed back by the encoder unit: (encoder unit). Note When the motor used is equipped Feedback pulse counter with an absolute encoder, H0b.17 H0b.17 Encoder unit (32-bit decimal display)
  • Page 569 Appendix Meaning Example Param. Name Unit If H0b.34 = E1.B00, H0b.35 = 107374182.4, the current fault code is B00 and the total servo running time is 107374182.4s when this fault occurs. It indicates the total servo running time when the fault displayed in Time stamp of the H0b.34 occurs.
  • Page 570 Appendix Meaning Example Param. Name Unit It indicates the high/level state of the Display of H0b.43 = 3: two DO terminals when the fault displayed in H0b.34 occurs. Output terminal status View in the same way as H0b.05. H0b.43 upon occurrence of the selected fault When no fault occurs, all DOs are displayed as low level in H0b.43...
  • Page 571 Appendix Meaning Example Param. Name Unit Display of 32767: Number of absolute Displays the present number of H0b.70 encoder revolutions revolutions of the absolute encoder. Display of 8388607 in encoder unit: Single-turn position Displays the single-turn position H0b.71 feedback of an absolute Encoder unit feedback of the absolute encoder.

  • Page 572: Di/Do Function Assignment

    Appendix Meaning Example Param. Name Unit Single-turn position Displays the position feedback (high Display of 1 in encoder unit: feedback of the load in 32 bits) of the mechanical load when H0b.83 Encoder unit rotation mode (high 32 the absolute system works in the bits) rotation mode.
  • Page 573 Appendix Description Code Name Function Remarks The corresponding terminal logic must be level-triggered. If the logic is set to 2 (rising edge ● active), the servo drive forcibly changes Inactive - Mechanical load beyond the it to 1 (active high). home switch range If the logic is set to 3 (falling edge FunIN.31...

  • Page 574: Capacitance Table

    Appendix Description Code Name Function Remarks Communication- FunOUT.31 “ Table 19–1 Communication-forced DO forced DO models ” on page 573 The EDM outputs active signals only Active: STO triggered when both the 24 V input voltages for FunOUT.32 EDM output STO1 and STO2 are disconnected models Inactive: STO not triggered...

  • Page 575: Service And Support

    Service and Support Downloads More product manuals, leaflets, brochures, certificates, 2D/3D drawings and other information can be downloaded in the following way: https://www.inovance.com Visit and do keyword search in Service and Support > Downloads. Contact us We are honored to have you as our client. You can submit basic information to us in the following way, so that we can reach you as soon as possible.
  • Page 576 *19010647C01*...

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