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HNC Electric HSD7-SS Series User Manual

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HSD7-SS Series AC Servo Drive
User Manual
HNC Electric Limited

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  • Page 1 HSD7-SS Series AC Servo Drive User Manual HNC Electric Limited...

  • Page 2: How To Use The Manual

    Please take good care of this manual so that it can be read and referenced at any time when necessary. HSD7-SS series don’t support MII and MIII communication protocol, so please ignore related information. How to use the manual ...

  • Page 3: Precautions For Safety

    Precautions for safety  Safety-related warning signs The following identification terms are used in this manual to explain matters to be observed in preventing casualties and equipment damage. Distinguish the hazards and damages caused by misoperation through identification terms. The contents are all important contents related to safety.

  • Page 4: Table Of Contents

    Table of contents Chapter 1 Basic Information of Servo Drive ........................1 1.1 HSD7 Series AC Servo Driver ..........................1 1.2 Distinguishing Method of Nameplate ........................ 1 1.3 Model Description ............................1 1.3.1 Servo drive model description example ....................1 Chapter 2 Selection of Servo Drive ..........................2 2.1 Ratings and specifications ..........................
  • Page 5 5.8 Functions and settings of over-travel prevention ....................24 5.8.1 Overtravel signal ..........................24 5.8.2 Select whether the over-travel prevention function is valid/invalid ............25 5.8.3 Selection of Motor Stopping Method for Over-travel Prevention Function ..........25 5.8.4 Overtravel warning function ......................... 26 5.9 Brake....................................
  • Page 6 8.1 Panel operator ............................... 50 8.1.1 Name and function of panel operator keys ..................... 50 8.1.2 Switching of functions ......................... 50 8.1.3 Status display mode ..........................51 8.2 Operation of Parameters (PA) in Panel Operator ..................52 8.2.1 Setting Method of "Numerical Setting Type" ..................52 8.2.2 Setting Method of "Function Selection Type"...

  • Page 7: Chapter 1 Basic Information Of Servo Drive

    Chapter 1 Basic Information of Servo Drive 1.1 HSD7 Series AC Servo Driver HSD7 series servo drive is mainly used for occasions requiring "high speed, high frequency and high positioning accuracy". The servo drive can maximize the performance of the machine in the shortest possible time and help to improve production efficiency.

  • Page 8: Chapter 2 Selection Of Servo Drive

    Chapter 2 Selection of Servo Drive 2.1 Ratings and specifications 2.1.1 Rating value ■ Single-phase 220VAC Model 03A□□ 06A□□ Continuous Output Current[Arms] Instantaneous Max. Output Current [Arms] 1PH AC220V，-15% to +10%, 50 Hz / 60 Hz Power Supply Main Circuit Input Current[Arms] 1PH AC220V，-15% to +10%, 50 Hz / 60 Hz Control Power Supply...

  • Page 9: Specification Table

    2.1.2 Specification table Item Specifications Control model Position control, JOG operation, Speed contacts, etc. Encoder feedback Serial data encoder: 17-bit or 23-bit (single or multiple turns) Operating ambient Operating ambient temperature: 0~+50℃, storage temperature: -20~+85℃ temperature/storage temperature Conditions of use Ambient humidity/storage Below 90%RH (no freezing or condensation) humidity...

  • Page 10: Overall Dimensions Of Servo Driver

    2.2 Overall dimensions of servo driver ◆ HSD7-SS-03/06A ...

  • Page 11: Chapter 3 Installation Of Servo Drive

    Chapter 3 Installation of servo drive 3.1 Precautions for setting For the set environmental conditions, please refer to the following. 2.1.2 Specifications ■ When installed near the heating element To make the temperature around the servo drive conform to the environmental conditions, please control the temperature rise caused by the heat radiation or convection of the heating element.

  • Page 12: Chapter 4 Connection Of Servo Unit

    Chapter 4 Connection of Servo Unit 4.1 Wiring and Connecting precautions 4.1.1 General precautions △ ! Danger  Do not change the wiring during power-on. Otherwise, it will lead to electric shock or injury. △ ! Warning  Please be connected or checked by professional technicians. Otherwise, it will lead to electric shock or product failure.

  • Page 13: Anti-Interference Countermeasures

    △ ! Notice Please use the cables designated by our Company as far as possible when connecting.  Please confirm the rated current and operating environment of the model when using cables other than those specified by our Company. Use the wiring materials designated by the Company or equivalent products. ...

  • Page 14: Noise Filter

    Noise filter Connect the interference filter at an appropriate place to avoid the adverse effect of interference on servo drive. The following is an example of wiring considering anti-interference measures. Servo unit Interference filter Servo motor Above 2.0mm Above 2.0mm Operation relay sequence control loop User signal generation loop...
  • Page 15 Please set the ground wire of interference filter separately from the output wire. In addition, the ground wire should not  use the same sleeve as the output wiring of the interference filter and other signal wires, nor should it be tied together. Interference Interference filter...

  • Page 16: Grounding

    4.1.3 Grounding Please follow the following for grounding treatment. If proper grounding treatment is adopted, misoperation caused by interference can also be prevented. When connecting the grounding cable, please pay attention to the following points: Please use the grounding above Class D (grounding resistance below 100Ω). ...

  • Page 17: Basic Connection Diagram

    4.2 Basic connection diagram Note: Non-fuse breaker HSD7-SS use single phase AC220V Surge protector (Servo Alarm Display) Noise filter Power Power Please connect a surge arrester to the coil of the electromagnetic contactor. Servo motor Magnetic contactor series servo driver Encoder Connect external regenerative resistor...

  • Page 18: Wiring Operation Steps Of Main Loop Connector

    4.3.2 Wiring Operation Steps of Main Loop Connector Prepare items  Prepare items Remarks  Spring opener Spring opener Servo drive appurtenances  Slotted screwdriver Slotted screwdriver Commercial products with cutting edge width of 3.0mm-3.5mm 1. Remove the main circuit connector and motor connector from the servo drive. 2.

  • Page 19: Power Wiring Diagram

    4.3.4 Power wiring diagram  Example of wiring for three-phase power input: Servo unit (For servo alarm display) Servo Servo power on power off 1Ry: relay 1QF: circuit breaker for wiring 1PL: Indicator for Display 1FLT: noise filter 1SA: Surge Absorber 1KM: electromagnetic contactor (for 2SA: Surge absorber controlling power supply)

  • Page 20: Servo Motor Connection

    4.4 Servo motor connection 4.4.1 Terminal symbol and terminal name Servo drive terminals and connectors required for connection between servo drive and servo motor are as follows. Terminal/connector Terminal/connector name symbol Servo motor power supply connection U, V, W terminal Ground terminal Servo motor encoder connector 4.4.2 Pin Arrangement of Connector (CN2) for Encoder...

  • Page 21: Wiring Of Servo Drive And Brake

    4.4.4 Wiring of Servo Drive and Brake  When using a motor with a brake, please select a surge absorber according to the brake current and power supply used.  Please confirm the brake action time through the user equipment after connect the surge absorber. The brake action time will vary depending on the type of surge absorber.

  • Page 22: Connection Of Input And Output Signals

    4.5 Connection of input and output signals 4.5.1 Name and function of input/output signal connector (CN1) In factory setting, the pin number, name and function of input and output signals are as follows. Name Function Name Function DI0, redistributable (Ex-factory:/ S- ON) OUT0+ Output outlet 0, redistributable (Factory: ALM)

  • Page 23: Examples Of Wiring For Input And Output Signals

    4.5.3 Examples of wiring for input and output signals 220VAC(50/60HZ) 非熔丝断路器 Molded-case 1PL(伺服报警显示Servo Alarm Disp lay) Circuit Breaker 电源OFF 电源ON 噪声滤波器 Power OFF Power ON Noise Filter 请在电磁接触器的线圈上接上浪涌抑制 器 1SUP Be sure to attac h a surge suppressor to the excitation coil of the magnetic contactor and r elay 电磁接触器Magnetic Contector...

  • Page 24: Input-Output Loop

    4.5.4 Input-output loop Sequential control input loop ◆ Optocoupler Input Loop The CN1-IN0 ~ CN1-IN6 terminals of CN1 port will be described below. Example of relay circuit Example of open collector Circuit Servo unit Servo unit etc. (Note) The external power supply (DC24 V) must have a capacity above 50 mA. The servo-driven input loop uses a bidirectional optocoupler.
  • Page 25 ◆ Optocoupler output Loop Servo alarm output (ALM) signal, servo ready output (/S-RDY) signal and other sequence control output signals are optocoupler output loops. Connect via relay circuit or line receiver circuit. Example of relay circuit Example of open collector Circuit Servo unit Servo unit Relay...

  • Page 26: Chapter 5 Basic Functions To Be Set Before Operation

    Chapter 5 Basic functions to be set before operation 5.1 Operation of Parameters (Pn) The following describes the classification, writing method and setting method of parameters used in this manual 5.1.1 Classification of the parameter The servo drive parameters are divided into the following 2 categories. Category Meaning Setting parameters...

  • Page 27: How To Set Parameters

    5.1.3 How to Set Parameters Parameters can be set using the panel operator or using iWatch+ debugging software. 5.1.4 Write inhibit setting of parameters This function prohibits the use of panel operators to change parameters. However, iWatch+ debugging software can be used to change parameters.

  • Page 28: Station Address Setting

    5.3.2 Station address setting Address of MECHATROLINK-III station Speed Position Torque Pn013 Setting range Setting Unit Factory setting Effective time Category 0000〜00FF 0021 Power restart Setup 5.4 Setting of EtherCAT communication specifications The communication specification of EtherCAT communication is set by servo drive parameters PA013 and PA014. 5.4.1 Setting of Communication Specifications Effective Parameter...

  • Page 29: Setting Of Single-Phase Ac Power Input/Three-Phase Ac Power Input

    5.5.2 Setting of Single-Phase AC Power Input/Three-Phase AC Power Input Three-phase AC220V power supply input servo drive is of three-phase power supply input specifications, as well as models that can be used under single-phase AC200V power supply input. The servo drive models that can support single-phase AC220V power input are as follows. ...

  • Page 30: Functions And Settings Of Over-Travel Prevention

    Forward/reverse Motor rotation direction and encoder frequency division pulse Effective Parameter command output overtravel (OT) Encoder frequency division Torque command Prohibit positive pulse output Forward rotation side n.    0 the Time command drive input CCW direction (P-OT) signal Motor speed Phase B lead is the forward...

  • Page 31: Select Whether The Over-Travel Prevention Function Is Valid/Invalid

    5.8.2 Select whether the over-travel prevention function is valid/invalid The valid/invalid over-travel prevention function can be selected by PN50A = n.X (prohibiting the distribution of  the forward-rotation-side drive input (P-OT) signal) and PN50B = n. X (prohibiting the distribution of the ...

  • Page 32: Overtravel Warning Function

    5.8.4 Overtravel warning function The over-travel warning function refers to the function of detecting A.9A0 (over-travel warning) when entering the over-travel state during servo ON. When using this function, even if the over-travel signal is input instantaneously, the servo drive can notify the upper device of the occurrence of a warning. This function is only valid when the servo is ON. When the servo is OFF, even if it enters the overtravel state, the overtravel warning will not be detected.

  • Page 33: Action Sequence Of Brake

    5.9.1 Action sequence of brake Considering the opening time and operating time of the brake, please set the operating time of the brake as follows. Brake opening time The time between when the brake cONtrol output (/BK) signal is turned on and when the brake is actually turned on. Brake action time Terminology The time from when the brake control output (/BK) signal is turned OFF to when the brake actually operates.

  • Page 34: Output Time Of Brake Control Output (/Bk) Signal When Servo Motor Stopped

    5.9.3 Output Time of Brake Control Output (/BK) Signal when Servo Motor Stopped When the servo motor is stopped, the /BK signal will also be OFF when the servo OFF (SV_OFF) command is input. By setting the servo OFF delay time (Pn506), the time when the SV_OFF command is input to the actual motor is not energized can be changed.

  • Page 35: Servo Off And Motor Stop Method In Alarm

    Even if the brake command output speed value (Pn507) is set to a value greater than the maximum speed of the servo motor used, it will still be limited to the maximum speed of the servo motor. Important 5.10 Servo OFF and Motor Stop Method in Alarm Servo OFF and motor stop method when alarm occurs are as follows.

  • Page 36: Motor Overload Detection Value

    The combination and stopping method of parameter setting contents are described in the following table. Parameter Stop method Servo State after the servo Effective Category motor motor stops time Pn00B Pn00A Pn001 n.0 Dynamic brake n.0 [Factory setting] [Factory Zero speed n.

  • Page 37: Detection Time Of Overload Alarm (A.720)

    Overload warning value Speed Position Torque Setting range Setting Unit Factory setting Effective time Category Pn52B Effective 0〜 100 Setup immediately 5.11.2 Detection time of overload alarm (A.720) When the heat dissipation of the servo motor is poor (the heat sink is small, etc.), the detection value of overload alarm can be reduced to prevent overheating.

  • Page 38: Encoder Resolution

    × Pn20E Encoder resolution Pn210 The amount of movement (command unit) by which the load shaft rotates one circle Electronic gear ratio 5.12.2 Setting Examples of Electronic Gear Ratio Examples of settings are as follows. Organizational structure Ball screw Frustum of a cone Belt+pulley Command unit: 0.01°...

  • Page 39: Operable Tool

    5.13.3 Operable tool The tools that can set (initialize) the absolute value encoder and their allocation to the setting (initialization) of the absolute value encoder are as follows. Operating tool Distribution Panel operator Fn008 iWatch+ debugging [Absolute value Encoder Reset] software 5.14 Setting of Regenerative Resistance Capacity Regenerative resistance refers to the resistance that consumes regenerative energy generated under the conditions of...

  • Page 40: Chapter 6 Application Function

    Chapter 6 Application function 6.1 Distribution of input and output signals The I/O signal connector (CN1) has pre-assigned functions, but some terminals can be assigned other functions or change polarity. Function allocation and polarity setting are performed through parameters. The distribution of input and output signals will be described below. 6.1.1 Distribution of input signals When the distribution of input signals is changed for use When the polarity of each signal of the forward drive input (P-OT) and the reverse drive input (N-OT) is changed to...

  • Page 41: Distribution Of Output Signals

    6.1.2 Distribution of output signals The output signal can be distributed to the output port of the input/output signal connector (CN1). Allocation is set through Pn50E, Pn50F, Pn510, Pn514. When the distribution of output signals is changed for use No detected signal is in "OFF" state. For example, during speed control, the positioning completion output (/COIN) signal is "OFF".

  • Page 42: Ready Output (/S-Rdy) Signal

    6.1.6 Ready output (/S-RDY) signal The servo ready output (/S-RDY) signal turns ON in a state where the servo drive can receive a servo ON (SV_ON) command. The /S-RDY signal is output (turned ON) under the following conditions.  Main circuit power supply ON. ...

  • Page 43: Position Nearby Output (/Near) Signal

    Type Signal name Connector pin number Signal status Meaning ON (closed) Positioning is completed Output /COIN Distribution required OFF (OFF) Positioning is not completed (Note) /COIN signal needs to be distributed. It can be set to Pn50E = n.X (distribution of positioning complete output (/coil) signal) and distributed to terminals.

  • Page 44: Speed Limit Function During Torque Control

    Command Speed Motor speed Time Location deviation Time /NEAR signal (ON (Closed) Valid) Time /COIN signal (ON (Closed) Valid) Time (Note) Generally, please set it to a value greater than Pn522 (positioning completion amplitude). 6.1.10 Speed limit function during torque control The function of limiting the speed of a servo motor in order to protect machinery.

  • Page 45: Operation For Momentary Power Interruptions

    ◆External Speed Limit Function When selecting the external speed limit function through Pn002=n.X , the motor speed is limited by the speed limit value (VLIM). 6.2 Operation for Momentary Power Interruptions By setting, even if the power supply of the servo drive main circuit is turned OFF instantaneously, the motor can cONtinue to be powered on (servo on) according to the time set by Pn509 (instantaneous power failure holding time).

  • Page 46: Relevant Parameters

    Main circuit power cut-off time Main circuit input power supply By limiting the output torque, the bus voltage Main circuit of the main circuit is gradually reduced. bus voltage The bus voltage of the main circuit rises after the main circuit power supply...

  • Page 47: Setting Of Maximum Speed Of Motor

     This function is applicable to the instantaneous power failure of voltage and time within the scope specified in SEMI F47 specification. For the instantaneous power failure of voltage and time beyond this scope, standby UPS is required. Important  When the power supply of the main circuit is restored, please use the torque limit set by the upper device or servo drive to prevent the output torque from being greater than the commanded acceleration torque.

  • Page 48: Setting Of Encoder Frequency Division Pulse Output

    A Phase A Phase B Phase B Phase C Phase C Phase (Note) The pulse amplitude of the origin within the encoder 1 coil varies depending on the number of encoder divided pulses (Pn212) and the encoder output resolution (Pn281). Same amplitude as phase A. In reverse (negative direction) mode (Pn000 = n.1), the output phase shape is the same as the above figure.

  • Page 49: Soft Limit Function

    6.6 Soft limit function The so-called soft limit refers to the function of forcibly stopping when the movable part of the machine exceeds the soft limit when no overtravel signal (P-OT, N-OT) is used. When using soft time limit, the following settings are required. Set the soft limit function to active Set soft limit 6.6.1 The valid/invalid choice of soft limit function...

  • Page 50: Internal Torque Limit

    6.7.1 Internal torque limit The internal torque limit limits the maximum output torque at a constant time by the torque limit values set by the forward torque limit (Pn402) and the reverse torque limit (Pn403). Forward rotation torque limit Speed Position Torque Setting range...

  • Page 51: Torque Limit Detection Output (/Clt) Signal

    Indicates the output torque when the internal torque limit is set to 800%. The rotation direction of the motor is set to Pn000 = n.0 (with CCW direction as forward rotation) as an example. /P-CL Signal State Speed Speed Torque Torque /N-CL Speed...

  • Page 52: Forced Stop Function

     Parameter setting when using multiple coil absolute value encoder Parameter Meaning Effective time Category n.0 Used as multiple coils absolute value encoder. [Factory setting] A battery is needed. Used as incremental encoder. Pn002 n.1 Power restart Setup No battery is required Used as 1 coil absolute value encoder.

  • Page 53: Methods Of Recovery From Compulsory Stop

    When setting the deceleration time of the servo motor to stop the servo motor, Pn30A (deceleration time at servo OFF and forced stop) is set. Deceleration Time for Servo OFF and Forced Stop Speed Position Torque Setting range Setting Unit Factory setting Effective time Category...

  • Page 54: Chapter 7 Trial Operation

    Chapter 7 Trial operation Introduce the process and operation steps of the trial run and the functions that are convenient to use during the trial run. 7.1 Commissioning process 7.1.1 Process of servo motor test run The steps of the trial run are as follows. Steps Content Settings and installation...

  • Page 55: Operable Tool

     The setting of JOG speed must take into account the operating range of the machine used. Set the JOG speed through the following parameters. Jog (JOG) speed Speed Position Torque Setting range Setting Unit Factory setting Effective time Category Pn304 Effective 0～10000...

  • Page 56: Chapter 8 Panel Display And Use Of Panel Operators

    Chapter 8 Panel Display and Use of Panel Operators 8.1 Panel operator 8.1.1 Name and function of panel operator keys The panel operator consists of a panel display part and panel operator keys. The panel operator can display the status, perform auxiliary functions, set parameters and monitor the action of servo drive.

  • Page 57: Status Display Mode

    8.1.3 Status display mode The status is shown below. Position Data Abbreviation symbol Off: The current display is Axis A. Illumination: the current display is axis b ■ Display Contents of Bit Data Display Meaning Control power supply ON Display When the servo control power supply is on, it lights up.

  • Page 58: Operation Of Parameters (Pa) In Panel Operator

    Abbreviation symbol Meaning of the contents Prohibit forward-turning side drive state Indicates that the inhibit forward drive input (P-OT) signal is in an open circuit state. It is forbidden to reverse the side drive state. Indicates that the inhibit reverse side drive input (N-OT) signal is in an open circuit state.

  • Page 59: Setting Method Of "Function Selection Type

    8.2.2 Setting Method of "Function Selection Type" The function selection type sets various functions by selecting from the functions assigned to each digit of the display number of the panel operator. The following describes the setting method of the function selection type, taking the control mode selection (Pn000.1) of the function selection basic switch (PA000) from speed control to position control as an example.

  • Page 60: Basic Operation Of Monitoring Display

    8.3.1 Basic operation of monitoring display The following description will take Un000 (motor rotation speed) as an example. Operation Steps Display after operation Operation Press the F key to select the auxiliary function. If the parameter number does not show UA000, press the UP or DOWN key to show "UA000".

  • Page 61: Operation Of Auxiliary Function (Fa) In Panel Operator

    8.4 Operation of Auxiliary Function (FA) in Panel Operator The auxiliary function is used to perform functions related to setting and adjusting the servo drive. Displays the number beginning with FA the panel operator. Display Example (JOG Run) The following describes the operation steps when using the panel operator. Please refer to the contents of each function for confirmation items and relevant parameters before execution.

  • Page 62: Origin Search (Fa003)

    Operation Steps Display after operation Operation Press F key to enter servo ON state. Press the UP key (forward rotation) or the DOWN key (reverse rotation), during which the servo motor rotates at the speed set by Pn304 or Pn383. Press MODE/SET key to enter servo OFF state.

  • Page 63: Initialization Of Parameter Settings (Fa005)

    8.4.5 Initialization of parameter settings (FA005) Please refer to the following contents besides the operation steps Operation Steps Display after operation Operation Press the F key to select the auxiliary function. UP or DOWN key display "FA005". Press S key, and the display content is shown in the left figure. Press F key to initialize parameters.

  • Page 64: Automatic Adjustment Of Analog (Speed And Torque) Command Bias (Fa009)

    8.4.8 Automatic Adjustment of Analog (Speed and Torque) Command Bias (FA009) Please refer to the following contents besides the operation steps Operation Steps Display after operation Operation Press the F key to select the auxiliary function. UP or DOWN key display "FA009". Press S key, and the display content is as shown in the left figure, and "rEF_o”...

  • Page 65: Automatic Adjustment Of Offset Of Motor Current Detection Signal（Fa00E

    Operation Steps Display after operation Operation Press the S key to display the current offset. Press the UP or DOWN key to adjust and stop the servo motor. This value is the offset. "donE" will flash and then switch to the display on the left when the f key is pressed.

  • Page 66: Display Software Version (Fa012)

    Operation Steps Display after operation Operation UP or DOWN key display "FA011". Press the S key to display the current motor code. The display content will be shown in the left figure. Press F key to display the current servo internal parameter 1. Press F key to display the current servo internal parameter 2.

  • Page 67: Easyfft（Fn206

    Operation Steps Display after operation Operation Press the UP or DOWN key to set the adjustment mode. TUNING MODE(Adjust the strength of the setting) 0: Pay attention to the adjustment of stability. 1. Pay attention to responsive adjustment. (Note) TYPE (Rigid type) is fixed as "2". In the non-servo ON state, a servo ON (/S-ON) signal is input from the upper device.

  • Page 68: Load Inertia/Mass Detection (Fa208)

    Operation Steps Display after operation Operation After the detection process is normally completed, the "E_FFt" display stops blinking and shows the detected resonance frequency. If the check-out fails, "F----" is displayed. When setting the check-out result, you must proceed to step 9. If only the resonance frequency is confirmed without setting the detection result, press the S key to return to step 2.

  • Page 69: Chapter 9 Maintenance

    Chapter 9 Maintenance 9.1 Inspection and component replacement The inspection of servo drive and component replacement will be described below. 9.1.1 Inspection Servo drive does not need routine inspection, but the following items need to be inspected at least once a year. Inspection Check interval Maintenance essentials...

  • Page 70: Alarm Display

    ◆ When using encoder cable with battery unit 1. Only connect to the servo drive control power supply. If the battery is removed after the servo drive control power supply is OFF (including when the encoder cable is removed), the memory data in the absolute value encoder will be lost. Important 2.

  • Page 71: Alarm List

    Alarm list Alarm Alarm Alarm Alarm name Alarm content stop reset number mode Whether A.020 Parameter and check exceptions The data of internal parameters of servo drive is abnormal. Gr.1 A.021 Parameter format exception The data format of internal parameters of servo drive is abnormal. Gr.1 A.022 System and check exceptions...

  • Page 72: Cause Of Alarm And Treatment Measures

    A.d30 Location data is too large The position feedback data exceeds 1879048192. Gr.1 MECHATROLINK Internal A.E02 MECHATROLINK communication and servo drive synchronization are abnormal. Gr.1 Synchronization Exception 1 MECHATROLINK transmission cycle A.E40 The transmission period of MECHATROLINK communication is set incorrectly. Gr.2 setting error address...
  • Page 73 Alarm number: Reason Confirmation method The treatment measures Alarm name A.0b0： After performing the auxiliary function of Connect to the servo drive power supply again. Or Servo ON command is energizing the motor, servo is sent from the perform a software reset. invalid alarm upper device ON(SV_ON) command The main loop cable is incorrectly wired or...
  • Page 74 Alarm number: Reason Confirmation method The treatment measures Alarm name When the AC power supply voltage exceeds Confirm the power supply voltage, speed and Adjust the AC power supply voltage to the product the specification range, acceleration and torque in operation. specifications.
  • Page 75 Alarm number: Reason Confirmation method The treatment measures Alarm name Connect to the servo drive power supply again. Encoder malfunction When an alarm still occurs, replace the servo A.840： Encoder data alarm motor or encoder. (Detected encoder Correct wiring of encoder periphery (separating Incorrect operation of encoder due to side）...
  • Page 76 Alarm number: Reason Confirmation method The treatment measures Alarm name has failed. Replace the servo unit Poor contact or wrong wiring of encoder Insert the encoder connector again and confirm the Verify the status of the encoder connector. connector encoder wiring. Encoder cable is broken, short-circuited, or Confirm the status of the encoder cable.
  • Page 77 Alarm number: Reason Confirmation method The treatment measures Alarm name A.d30 Location data exceeds ±1879048192 Confirm the input command pulse counter. Revise operating specifications. Location data is too large transmission period The reason for the transmission cycle variation of A.E02： MECHATROLINK has changed the upper device is eliminated.

  • Page 78: Alarm Reset

    9.2.3 Alarm reset When the servo alarm output (ALM) signal occurs, reset it by any of the following methods after eliminating the alarm cause. Before resetting the servo alarm, be sure to eliminate the alarm reason. If the alarm reset is executed without excluding the alarm reason, equipment damage or fire may occur when the alarm reset is kept running.
  • Page 79 Alarm Alarm name Alarm content Reset number Command Conditions) reset * Command Warning Automatic A.95B An unsupported command was instructed. (Command Not Supported) reset * Command Warning Automatic A.95D Interference of commands (mainly refers to interference of latch commands). (Interference of Command) reset * Command Warning...

  • Page 80: Reasons For Warning And Countermeasures

    9.3.2 Reasons for Warning and Countermeasures The following table lists the cause of the alarm and the treatment measures. If the fault cannot be cleared after processing according to the following table, please contact our company. Alarm number: Reason Confirmation method The treatment measures Alarm name U, V, W wiring of servo motor is...

  • Page 81: Monitoring Of Communication Data When Alarms And Warnings Occur

    9.4 Monitoring of communication data when alarms and warnings occur The command data when an alarm or warning (e.g. data setting warning (A.94) or command warning (A.95)) occurs can be monitored through the following parameters. The following is the data when an alarm or warning occurs under normal conditions.
  • Page 82 Fault contents Reason Confirmation method The treatment measures The connector connection of power The action of servo Poor cable connection of servo line (U, V, W phase) and encoder or Looseness of fastening terminals or connectors motor is not stable motor serial conversion...
  • Page 83 Fault contents Reason Confirmation method The treatment measures Confirm whether gain adjustment has Perform automatic adjustment (no upper Improper matching of servo gain been implemented. command). Confirm the setting value of speed The speed loop gain (Pn100) is loop gain (PN100). Factory setting: Set the correct speed loop gain (Pn100) setting.
  • Page 84 Fault contents Reason Confirmation method The treatment measures inertia operation amount Confirm whether cable encoder meets the specification The Mutual interference occurred due cable specification: double stranded to incorrect specifications shielded wire or double stranded Use cables that meet specifications. cables used for encoders unified shielded wire with core wire of more than 0.12mm...

  • Page 85: Chapter 10 List Of Parameter

    Chapter 10 List of parameter 10.1 List of servo parameters 10.1.1 Method for distinguishing the list When the factory setting values of Axis A Indicates when the parameter changes and the change Indicates number and Axis b of the biaxial driver are takes effect.

  • Page 86: List Of Servo Parameters

    10.1.2 List of servo parameters The parameter list is as follows. (Note) The following parameters are factory settings and should not be changed. • Appointment Parameters • Parameters not recorded in this manual Setting Available Remar Pn No. Size Name Setting range Factory setting Category...
  • Page 87 Setting Available Categor Pn No. Size Name Setting range Factory setting Model Unit time 0000 Function selection Power 0000～4213 Setup application switch 2 restart 0011 n.X Speed/position control selection (T-REF assignment) Model No T-REF allocation. Use T-REF as the external torque limit input. (Torque Limit Enabled in Bus Mode) （B）...
  • Page 88 Factory Available Remar Pn No. Size Name Setting range Setting Unit Category setting time Function selection Power 0000～0044 0001 Setup application switch A restart n.X Stop Method in Case of Gr.2 Alarm Remarks DB stop or free running stop (stop method is the same as Pn001 = n.X).
  • Page 89 Factory Available Categor Pn No. Size Name Setting range Setting Unit Model setting time Modbus/CANopen Power Communication parameter 0100 Setup restart selection switch n.X Modbus communication baud rate selection Remarks 9600 bps 19200 bps 38400 bps 57600 bps 115200 bps n.X...
  • Page 90 Setting Available Categor Remar Pn No. Size Name Setting range Factory setting Unit time Effective Adjust Pn100 Velocity loop gain 10～20000 0.1 Hz immediately ment Velocity loop integration time Effective Adjust Pn101 15～51200 0.01 ms 2000 parameter immediately ment Effective Adjust Pn102 Position loop gain...

  • Page 91: Automatic Gain Switching

    Factory Available Categor Remar Pn No. Size Name Setting range Setting Unit setting time Automatic Gain Switching Effective Adjust 0000～0052 0000 Class Switch 1 immediately ment Gain switching selector switch n.X Manual gain switching The gain is manually switched by the G_SEL of the servo command output signal (SVCMD_IO).
  • Page 92 Factory Available Remar Pn No. Size Name Setting range Setting Unit Category setting time Power Adjustm Control switch 0000～0021 0021 restart n. X Rotation direction selection Remarks Select Model tracking control 1 mould. Select Model tracking control 2 mould. Pn14F n.
  • Page 93 Factory Available Pn No. Size Name Setting range Setting Unit Category Model setting time Position control command Power 0000～2236 0000 Setup form selector switch restart n.X Command pulse pattern Sign+Pulse, Positive Logic CW+CCW Pulse Sequence, Positive Logic 90° phase difference two-phase pulse (phase A+phase B) 1 times, positive logic 90°...
  • Page 94 Factory Available Categor Remar Pn No. Size Name Setting range Setting Unit setting time Effective Pn302 Internal set speed 2 0～10000 1 min Setup immediately Effective Pn303 Internal set speed 3 0～10000 1 min Setup immediately Effective Pn304 Jog (JOG) speed 0～10000 1 min Setup...
  • Page 95 Factory Available Categor Remar Pn No. Size Name Setting range Setting Unit setting time Effective Adjustm Pn409 Frequency of 1st notch filter 50～5000 1 Hz 5000 immediately Effective Adjustm Pn40A Q value of the 1st notch filter 50～1000 0.01 immediately Effective Adjustm Pn40B...
  • Page 96 Factory Available Categor Pn No. Size Name Setting range Setting Unit Model setting time When main loop voltage Effective Pn425 drops 0～1000 1 ms Setup immediately Torque limit release time Torque feedforward moving Effective Pn426 0～5100 0.1 ms Setup average time immediately Velocity fluctuation...
  • Page 97 Setting Unit Factory setting Available Catego Pn No. Size Name Setting range Model time 1801 (axis A) 5841 (axis b) Power Input signal selection 1 0000～9991 Setup restart 0801 (axis A) 0841 (axis b) n.X Allocation mode of input signals Remarks Appointment Parameters (Do Not Set) According to different signals.
  • Page 98 Setting Available Category Remar Pn No. Size Name Setting range Factory setting Unit time Power Input signal selection 3 0000～9999 8888 Setup restart n.X Distribution of motor rotation direction switching input (/SPD-D) signal Remarks CN1-IN0 takes effect when the input signal is ON. CN1-IN1 takes effect when the input signal is ON.
  • Page 99 Setting Available Rema Pn No. Size Name Setting range Factory setting Category Unit time Power 6611 (axis A) Output signal selection 2 0000～6666 Setup 6644 (axis b) restart n.X Distribution of torque limit detection output (/CLT) signal Remarks The above signals are output from CN1-OUT0 (19, 20) output terminals. The above signals are output from CN1-OUT1 (21, 22) output terminals.
  • Page 100 Available Pn No. Size Name Setting range Setting Unit Factory setting Category Model time 8888 Power Input signal selection 4 0000～9999 Setup 8836 (axis A) restart 8872 (axis b) n.X Distribution of input (/DEC) signal of origin reset deceleration switch CN1-IN0 takes effect when the input signal is ON.
  • Page 101 Factory Available Remar Pn No. Size Name Setting range Setting Unit Category setting time Power Output signal selection 5 0000～9999 0000 Setup restart n.X Appointment parameters (do not change it) n.X Distribution of command pulse input multiplication switching input (/PSEL) Signal CN1-IN0 takes effect when the input signal is ON.
  • Page 102 Factory Available Pn No. Size Name Setting range Setting Unit Category Model setting time Input signal inversion setting Power 0000～1111 0000 Setup restart n.X CN1-IN4 terminal input signal inversion Not reverse signal. Reverses the signal. n.X CN1-IN5 terminal input signal inversion Not reverse signal.
  • Page 103 Factory Available Catego Remar Pn No. Size Name Setting range Setting Unit setting time Track the specified alert Effective Pn548 0000〜FFFF 0000 Setup number immediately Residual vibration detection Effective Pn560 1～3000 0.1% Setup amplitude immediately Effective Pn561 Overshoot detection value 0～100 Setup immediately...
  • Page 104 Factory Available Categor Remar Pn No. Size Name Setting range Setting Unit setting time 10000 Effective Pn80A Section 1 linear acceleration 1～65535 Command immediately Setup parameters unit/s 10000 Effective Pn80B Section 2 linear acceleration 1～65535 Command immediately Setup parameters unit/s 10000 Effective Pn80C...
  • Page 105 Factory Available Remark Pn No. Size Name Setting range Setting Unit Category setting time Power Allocation command data 0000～1111 0010 Setup restart n.X OPTION area function allocation Invalidates OPTION area function assignment. Make OPTION area function allocation valid. Pn81F n.X Location control command TFF/TLIM function allocation Make allocation invalid.
  • Page 106 Factory Available Catego Remark Pn No. Size Name Setting range Setting Unit setting time Option monitoring Effective 0000〜FFFF 0000 Setup selection immediately Monitoring function Pn825 Setting value 0000H～ Same as option monitoring 1. 0084H 10000 Effective Stop using linear deceleration Pn827 1～65535 Command...
  • Page 107 Factory Available Categor Remar Pn No. Size Name Setting range Setting Unit setting time OPTION area function Power 0000～1F1F 1F1E Setup allocation 3 restart n.X Allocation of P_CL(OPTION) 0～F The allocation is the same as V_PPI. n.X Valid/invalid selection of P_CL allocation Make P_CL bit allocation invalid.
  • Page 108 Factory Available Categor Remar Pn No. Size Name Setting range Setting Unit setting time Power Motion setting 0000～0001 0000 Setup restart Selection of linear acceleration and deceleration parameters n.X Pn80A～Pn80F, Pn827 are used. (the settings of Pn834 ~ Pn840 are invalid) Pn834～...
  • Page 109 Factory Available Categ Remark Pn No. Size Name Setting range Setting Unit setting time SVCMD_IO (input signal Effective monitoring) 0000～1717 0000 Setup immediately Distribution function 1 Allocation of input signal monitoring for CN1-IN0 (SVCMD_IO) n.X Set CN1-13 input signal monitoring to bit 24 (IO_STS1). Set CN1-13 input signal monitoring to bit 25 (IO_STS2).
  • Page 110 Factory Available Categor Rema Pn No. Size Name Setting range Setting Unit setting time SVCMD_IO (output signal Effective monitoring) 0000～1717 0000 Setup immediately Distribution function 1 Distribution of output signal monitoring for CN1-OUT1 (SVCMD-IO) n.X Set CN1-OUT1 output terminal monitoring to D24 (IO1_ STS1). Set CN1-OUT1 output terminal monitoring to D25 (IO1_ STS1).

  • Page 111: Chapter 11 Operation Of Debugging Software (Iwatch+)

    Chapter 11 Operation of Debugging Software (iWatch+) The following functions can be realized online by using the upper computer software (iWatch+): • Parameter management: parameter setting and adjustment • State monitoring: monitoring the working state and relevant data of the servo system •...
  • Page 112 The following describes the adjustment of automatic adjustment (no upper command). • The automatic adjustment (without a bit command) is based on the set speed loop gain (Pn100). If vibration occurs at the beginning of the adjustment, the correct adjustment cannot be made. Please reduce the speed loop gain (Pn100) until it stops vibrating and adjust.
  • Page 113 • Select the load movement inertia mark 0: No estimation of moving inertia [factory setting] 1. Estimated moment of inertia Selection pattern Selection pattern Description Make standard gain adjustments. In addition to gain 1: Standard adjustment, notch filter and Type A vibration suppression are automatically adjusted.

  • Page 114: Motor Code Is Written To Encoder Eerom Operation（Fa301

    Motor code is written to encoder EEROM operation（FA301） Step Display Operation Press the left button and UP button to display "FA010". Press the S key, the display content is shown on the left. Press the left button and UP button to enter the advanced authority P.0010.

  • Page 115: Motor Zero Position Check And Reset Operation （Fa300

    Motor zero position check and reset operation （FA300） Step Display Operation Perform this operation, the motor must without load! ! ! Press F to select auxiliary function. Press the UP or DOWN key to display "FA011". Press the S key, the display content is as shown on the left, "0.6910" means the current motor code, if the code is inconsistent with the current connected motor, Please correct it by FA301 (Operation of motor code written into encoder EEROM) or manually set motor...
  • Page 116 Version: V2.0 Thanks for choosing HNC product. Any technique support, please feel free to contact our support team Tel: 86(20)84898493 Fax: 86(20)61082610 URL: www.hncelectric.com Email:support@hncelectric.com...

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