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HNC Electric HSD6-DS Series User Manual

Big power (90a and above) ac servo
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HSD6-DS Series Big Power (90A and above)
AC Servo User's Manual
V2.0
HNC Electric Limited

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Summary of Contents for HNC Electric HSD6-DS Series

  • Page 1 HSD6-DS Series Big Power (90A and above) AC Servo User's Manual V2.0 HNC Electric Limited...
  • Page 2 HSD6-DS Series Servo User Manual Simple Edition Preface...

  • Page 3: Preface

    This manual is a simple user manual for HSD6-DS series servo drivers, which provide product safety information, mechanical and electrical installation instructions, basic debugging and maintenance instructions.
  • Page 4 HSD6-DS Series Servo User Manual Simple Edition Preface Please pay attention when using This product is a general industrial product, not for the purpose of using machines and systems that are ◆ related to human life. Please ask people with professional knowledge for wiring, operation, maintenance and inspection.

  • Page 5: Table Of Contents

    Contents Preface ................................1 Chapter 1 Selection of Servo System ....................6 1.1 Servo driver model description ....................8 1.2 Braking resistance related specifications ................8 Chapter 2 Installation and Dimension Drawing of Servo Motor and Driver ........ 9 2.1 Installation of servo motor .......................9 2.1.1 Installation site ......................
  • Page 6 Chapter 4 Operation Mode and Debugging Method ..............56 4.1 Position mode operation command ..................56 4.1.1 Position mode wiring ....................57 4.1.2 Position control mode related function code setting ..........58 4.2 Speed mode instruction ......................62 4.2.1 Speed mode wiring ..................... 63 4.2.2 Speed mode related function code setting ..............64 4.3 Torque mode instruction ......................68 4.3.1 Torque mode wiring ....................
  • Page 7 P11 group multi-segment position function parameters ............108 P12 group Multistage velocity parameter ..................111 P17 group Virtual DIDO parameter ................... 114 P30 group Communication reading servo related variables ............ 117 P31 group Communicating given servo-related variables ............117 DIDO function definition ......................118 Chapter 6 Troubleshooting ......................122 6.1 Fault and warning handling at startup ................

  • Page 8: Chapter 1 Selection Of Servo System

    HSD6-DS Series Servo User Manual Simple Edition Chapter 1 Selection of Servo System Chapter 1 Selection of Servo System Items Specifications 5-bit 7-segment LED digital tube is used Digital tube display display running status parameter setting of servo. : Press this button to display the...
  • Page 9 HSD6-DS Series Servo User Manual Simple Edition Chapter 1 Selection of Servo System Figure 1-2 Example of System Wiring Diagram The servo driver is directly connected to the industrial power supply, without power supply isolation such as transformer. In order to prevent cross electric shock accidents in the servo system, please use fuses or wiring circuit breakers on the input power supply.

  • Page 10: Servo Driver Model Description

    HSD6-DS Series Servo User Manual Simple Edition Chapter 1 Selection of Servo System 1.1 Servo driver model description Figure 1-4 Description of Servo Driver Model 1.2 Braking resistance related specifications Capacitor Specification of built-in Minimum Recommended can absorb braking resistor...

  • Page 11: Chapter 2 Installation And Dimension Drawing Of Servo Motor And Driver

    Chapter 2 Installation and Dimension Drawing of Servo HSD6-DS Series Servo User Manual Simple Edition Motor and Driver Chapter 2 Installation and Dimension Drawing of Servo Motor and Driver 2.1 Installation of servo motor 2.1.1 Installation site Please do not use this product in the environment with corrosive and flammable gases such as ...
  • Page 12 Chapter 2 Installation and Dimension Drawing of Servo HSD6-DS Series Servo User Manual Simple Edition Motor and Driver Items Description  When connecting with the machine, please use the coupling, and keep the axis of the servo motor in a straight line with the axis of the machine.

  • Page 13: Servo System Wiring Diagram

    Chapter 2 Installation and Dimension Drawing of Servo HSD6-DS Series Servo User Manual Simple Edition Motor and Driver 2.2 Servo System Wiring Diagram 2.2.1 Installation site  Install it in an installation cabinet free from sun and rain;  Please do not use this product in the environment with corrosive and flammable gases such as hydrogen sulfide, chlorine, ammonia, sulfur, chlorinated gas, acid, alkali, salt, and combustible materials.

  • Page 14: Servo Driver Specification

    Chapter 2 Installation and Dimension Drawing of Servo HSD6-DS Series Servo User Manual Simple Edition Motor and Driver 2.3 Servo driver specification Items Specifications HSD6-DS-xxAxx HSD6-DS-xxDxx Model name A(mm) B(mm) W(mm) H(mm) D(mm) R(mm) Weight (kg) Three phase AC200V-240V, Input power...

  • Page 15: Communication Cable Options

    Chapter 2 Installation and Dimension Drawing of Servo HSD6-DS Series Servo User Manual Simple Edition Motor and Driver Items Specifications Servo Ready, Motor Rotating, Zero Speed Signal, Speed Arrival, Position Arrival, Positioning Control output Proximity Signal, Torque Limiting, Speed Limiting, Brake Output, Warning, Servo Failure, Alarm...

  • Page 16: Outline Dimensional Drawing Of Servo Driver

    Chapter 2 Installation and Dimension Drawing of Servo HSD6-DS Series Servo User Manual Simple Edition Motor and Driver 2.5 Outline dimensional drawing of Servo driver HSD6-DS-xxAxx (220V), HSD6-DST (380V) (unit: mm) (1) HSD6-DS-04Dxx, HSD6-DSS-06Dxx (2) HSD6-DS-09Dxx, HSD6-DS-12Dxx, HSD6-DS-17Dxx (3) HSD6-DS-25Axx, HSD6-DS-32Axx, HSD6-DS-21Dxx, HSD6-DS-26Dxx, HSD6-DS-32Dxx...
  • Page 17 Chapter 2 Installation and Dimension Drawing of Servo HSD6-DS Series Servo User Manual Simple Edition Motor and Driver (4) HSD6-DS-45Axx, HSD6-DS-37Dxx, HSD6-DS-45Dxx R3,5 (5) HSD6-DS-60Axx, HSD6-DS-75Axx, HSD6-DS-60Dxx, HSD6-DS-75Dxx, R3,5...
  • Page 18 Chapter 2 Installation and Dimension Drawing of Servo HSD6-DS Series Servo User Manual Simple Edition Motor and Driver (6) HSD6-DS-90Dxx, HSD6-DS-112Dxx R4,5 (7) HSD6-DS-140Dxx, HSD6-DS-170Dxx, HSD6-DS-210Dxx R4,5...

  • Page 19: Chapter 3 Description Of Connection Between Servo Driver And Motor

    Chapter 3 Description of Connection between Servo Driver and Motor HSD6-DS Series Servo User Manual Simple Edition Chapter 3 Description of Connection between Servo Driver and Motor CN3 CN4 DO4+ +24V RS232- DO3- RS232- DO3+ RS485- RS485+ DO2- PULLH DO2+...

  • Page 20: Servo Driver Main Circuit Loop Connection

    Chapter 3 Description of Connection between Servo Driver and Motor HSD6-DS Series Servo User Manual Simple Edition 3.1 Servo driver main circuit loop connection 3.1.1 Introduction of main circuit terminal Figure 3-2 Terminal Block Arrangement of Servo Driver Items Specifications Three phase AC200V-240V, -15% ～...
  • Page 21 Chapter 3 Description of Connection between Servo Driver and Motor HSD6-DS Series Servo User Manual Simple Edition Examples of wiring and selection errors of braking resistors: Precautions for braking resistor wiring: Please do not connect the external braking resistor directly to B1/ ⊕ , , otherwise it will cause explosion and fire.
  • Page 22 Chapter 3 Description of Connection between Servo Driver and Motor HSD6-DS Series Servo User Manual Simple Edition Table 3-Current Specifications of 3-3 HSD6-DS Series Drivers Drive model Maximum output current Rated input current (A) Rated output current (A) HSD6-DS 4 (single phase) / 2 (three 10.1...
  • Page 23 Chapter 3 Description of Connection between Servo Driver and Motor HSD6-DS Series Servo User Manual Simple Edition Table 3-4 Recommended Cables and Models for Main Circuit of HSD6-DS Series Drivers Drive model L1C 、 L2C L1 、 L2 、 L3 B1/ ⊕、...
  • Page 24 Chapter 3 Description of Connection between Servo Driver and Motor HSD6-DS Series Servo User Manual Simple Edition Drive model L1C 、 L2C L1 、 L2 、 L3 B1/ ⊕、 B2 U 、 V 、 W HSD6-DS 7AWG 7AWG 7AWG 7AWG (10.55mm²)

  • Page 25: Example Of Power Supply Wiring

    Chapter 3 Description of Connection between Servo Driver and Motor HSD6-DS Series Servo User Manual Simple Edition 3.1.2 Example of power supply wiring Figure 3-5 Single-phase 220V Main Circuit Wiring Figure 3-6 Wiring of Three-phase 220V and 380V Main Circuit...
  • Page 26 Chapter 3 Description of Connection between Servo Driver and Motor HSD6-DS Series Servo User Manual Simple Edition Please refer to Figure 3-5 and Figure 3-6 to connect the power supply of the main circuit. DO is set to alarm output function (ALM+/-). When the servo driver gives an alarm, the power supply can be automatically cut off, and the alarm light is on at the same time.

  • Page 27: Connection Method Of Servo Drive Output And Motor Cable

    Chapter 3 Description of Connection between Servo Driver and Motor HSD6-DS Series Servo User Manual Simple Edition 3.1.3 Connection method of servo drive output and motor cable Figure 3-7 Example of Connection between Servo Driver Output and Servo Motor 3.2 Servo motor encoder signal connection method 3.2.1 Bus incremental encoder connection...
  • Page 28 Chapter 3 Description of Connection between Servo Driver and Motor HSD6-DS Series Servo User Manual Simple Edition use the twisted-pair shielded cable with specifications above 26AWG of UL2464 standard within the cable length of 10m, and the cable diameter needs to be appropriately increased for the demand of...

  • Page 29: Control Signal Terminal Connection Method

    Chapter 3 Description of Connection between Servo Driver and Motor HSD6-DS Series Servo User Manual Simple Edition 3.3 Control signal terminal connection method Figure 3-13 Pin Distribution Diagram of Terminal Connector of Driver Control Loop Note: See "4.1.1 Position Mode Wiring, 4.2.1 Speed Mode Wiring and 4.3.1 Torque Mode Wiring" for wiring diagrams corresponding to three control modes: position mode wiring, speed mode wiring and torque mode wiring.

  • Page 30: Position Command Input Signal

    Chapter 3 Description of Connection between Servo Driver and Motor HSD6-DS Series Servo User Manual Simple Edition 3.3.1 Position command input signal The general command pulse input, command symbol input signal and command symbol input signal terminal of the user interface connector will be described below.
  • Page 31 Chapter 3 Description of Connection between Servo Driver and Motor HSD6-DS Series Servo User Manual Simple Edition When it is open collector mode. ① When using the internal 24V power supply of servo driver:...
  • Page 32 Chapter 3 Description of Connection between Servo Driver and Motor HSD6-DS Series Servo User Manual Simple Edition Error: 14-pin COM- is not connected, so a closed loop cannot be formed.  ② When using external power supply: Option 1: Use the internal resistance of the driver (recommended scheme)
  • Page 33 Chapter 3 Description of Connection between Servo Driver and Motor HSD6-DS Series Servo User Manual Simple Edition Option 2: Use external resistor.
  • Page 34 Chapter 3 Description of Connection between Servo Driver and Motor HSD6-DS Series Servo User Manual Simple Edition -1.5 Please satisfy the formula for the selection of resistor R1: =10mA R1+200 Table 3-20 Recommended R1 Resistance VCC voltage R1 resistance R1 power 2.4kΩ...
  • Page 35 Chapter 3 Description of Connection between Servo Driver and Motor HSD6-DS Series Servo User Manual Simple Edition  Error 3: The 3 ： SIGN port is not connected, so these two ports can't receive the pulse.  Error 4: The port is wrongly connected, resulting in port burning.
  • Page 36 Chapter 3 Description of Connection between Servo Driver and Motor HSD6-DS Series Servo User Manual Simple Edition  Error 5: Multiple ports share the current-limiting resistor, resulting in an error in pulse reception.
  • Page 37 Chapter 3 Description of Connection between Servo Driver and Motor HSD6-DS Series Servo User Manual Simple Edition...

  • Page 38: Analog Input Signal

    Chapter 3 Description of Connection between Servo Driver and Motor HSD6-DS Series Servo User Manual Simple Edition 3.3.2 Analog input signal Table 3-21 Description of Analog Input Signals Signal name Default function Pin number Function Ordinary analog input signal, resolution of 12 bits, input voltage: ±...

  • Page 39: Digital Input And Output Signal

    Chapter 3 Description of Connection between Servo Driver and Motor HSD6-DS Series Servo User Manual Simple Edition 3.3.3 Digital input and output signal Table 3-22 DI/DO Signal Description Default Signal name Pin number Function function P-OT Forward overtravel switch. N-OT Reverse overtravel switch.
  • Page 40 Chapter 3 Description of Connection between Servo Driver and Motor HSD6-DS Series Servo User Manual Simple Edition ② When using external power supply: If the upper device is open collector output: ① When using the internal 24V power supply of servo driver: ②...
  • Page 41 Chapter 3 Description of Connection between Servo Driver and Motor HSD6-DS Series Servo User Manual Simple Edition Digital output circuit Taking DO1 as an example, the interface circuits of DO1~DO5 are the same. When the upper device is relay input: Note: ■...
  • Page 42 Chapter 3 Description of Connection between Servo Driver and Motor HSD6-DS Series Servo User Manual Simple Edition  Current: DC50mA (maximum)

  • Page 43: Encoder Frequency Division Output Circuit

    Chapter 3 Description of Connection between Servo Driver and Motor HSD6-DS Series Servo User Manual Simple Edition 3.3.4 Encoder frequency division output circuit Table 3-23 Explanation of Frequency Division Output Signal of Encoder Signal Default Function name function number PAO+...

  • Page 44: Internal Contracting Brake Wiring

    Chapter 3 Description of Connection between Servo Driver and Motor HSD6-DS Series Servo User Manual Simple Edition Please be sure to connect the 5V ground of the upper device with the GND of the driver, and use twisted-pair shielded wire to reduce noise interference. The maximum allowable voltage and current capacity of the internal...
  • Page 45 Chapter 3 Description of Connection between Servo Driver and Motor HSD6-DS Series Servo User Manual Simple Edition Matters needing attention in internal contracting brake wiring: It is best not to share the power supply with other electrical appliances to prevent the voltage or ...
  • Page 46 Chapter 3 Description of Connection between Servo Driver and Motor HSD6-DS Series Servo User Manual Simple Edition Figure 3-16 Timing diagram of braking when the motor is stationary Notes: *1. When the servo is enabled ON, the internal contracting braking output is set to ON, and the motor enters the electrified state at the same time;...
  • Page 47 Chapter 3 Description of Connection between Servo Driver and Motor HSD6-DS Series Servo User Manual Simple Edition set to OFF: P02-12 Time is not up, but the motor has slowed down to P02-11; P02-12 Time is up, but the motor speed is still higher than P02-11.

  • Page 48: Communication Signal Wiring

    Chapter 3 Description of Connection between Servo Driver and Motor HSD6-DS Series Servo User Manual Simple Edition c) Servo driver fault state internal contracting brake timing sequence According to the different stop modes, servo faults can be divided into Class 1 faults (abbreviated as NO.1) and Class 2 faults (abbreviated as: NO.2), please see chapter 6.

  • Page 49: Can Communication Networking Connection

    Chapter 3 Description of Connection between Servo Driver and Motor HSD6-DS Series Servo User Manual Simple Edition Table 3-25 Pin Definition of Communication Signal Connector Pin number Definition Description Terminal pin distribution CANH CAN communication port CANL CAN communication ground...
  • Page 50 Chapter 3 Description of Connection between Servo Driver and Motor HSD6-DS Series Servo User Manual Simple Edition Table 3-27 Pin Connection Relationship of Multi-machine Parallel Communication Cable Drive side RJ45 (A end) Drive side RJ45 (B end) Communication Communication Signal name...

  • Page 51: Rs485 Communication Networking Connection

    Chapter 3 Description of Connection between Servo Driver and Motor HSD6-DS Series Servo User Manual Simple Edition 3.4.2 485 communication networking connection 485 communication connection with PLC When using 485 communication network, the connecting cables between the driver and PLC are as follows:...
  • Page 52 Chapter 3 Description of Connection between Servo Driver and Motor HSD6-DS Series Servo User Manual Simple Edition Matters needing attention in grounding of 485 communication When using RS485 communication, pay attention to the connection between the (GND) terminal of the...

  • Page 53: Communication Connection With Pc (Rs232 Communication)

    Chapter 3 Description of Connection between Servo Driver and Motor HSD6-DS Series Servo User Manual Simple Edition 3.4.3 Communication connection with PC (232 communication) Users can connect the driver and PC through PC communication cable. It is recommended to use the commonly used communication interface RS-232.

  • Page 54: Anti-Interference Countermeasures Of Electrical Wiring

    Chapter 3 Description of Connection between Servo Driver and Motor HSD6-DS Series Servo User Manual Simple Edition 3.5 Anti-interference countermeasures of electrical wiring To suppress interference, please take the following measures: Connect cables with command input and encoder wiring with the shortest connection length.

  • Page 55: Method Of Using Noise Filter

    Chapter 3 Description of Connection between Servo Driver and Motor HSD6-DS Series Servo User Manual Simple Edition Grounding treatment In order to avoid possible electromagnetic interference problems, please ground in the following ways. Grounding of servo motor housing Please connect the grounding terminal of the servo motor with the grounding terminal PE of the servo driver, and reliably ground the PE terminal to reduce the potential electromagnetic interference.
  • Page 56 Chapter 3 Description of Connection between Servo Driver and Motor HSD6-DS Series Servo User Manual Simple Edition Separate the ground wire of the noise filter from its output power wire. Figure 3-32 Schematic diagram of separation of ground wire and output wiring of noise filter The noise filter needs to be grounded separately with the shortest thick wire as possible.

  • Page 57: Matters Needing Attention In Cable Use

    Chapter 3 Description of Connection between Servo Driver and Motor HSD6-DS Series Servo User Manual Simple Edition Ground wire treatment of noise filter installed in control cabinet It is suggested to fix the filter and the servo driver on the same metal plate to ensure that the contact parts are conductive and well connected when the noise filter and the servo driver are installed in a control cabinet and the metal plate should be grounded.

  • Page 58: Chapter 4 Operation Mode And Debugging Method

    Chapter 4 Operation Mode and Debugging Method HSD6-DS Series Servo User Manual Simple Edition Chapter 4 Operation Mode and Debugging Method According to the command mode and operating characteristics, the servo driver can be divided into three operating modes, namely position control operating mode, speed control operating mode and torque control operating mode.

  • Page 59: Position Mode Wiring

    Chapter 4 Operation Mode and Debugging Method HSD6-DS Series Servo User Manual Simple Edition 4.1.1 Position mode wiring Figure 4-2 Position Mode Wiring Diagram Represents a twisted pair. Note: ■ Signal cables and power cables must be routed separately, with an interval of at least 30cm;...

  • Page 60: Position Control Mode Related Function Code Setting

    Chapter 4 Operation Mode and Debugging Method HSD6-DS Series Servo User Manual Simple Edition 4.1.2 Position control mode related function code setting Parameter setting in position control mode, including mode selection, command pulse form, electronic gear ratio, DI/DO, etc. Position command input setting Position command source Set the function code P05-00=0.
  • Page 61 Chapter 4 Operation Mode and Debugging Method HSD6-DS Series Servo User Manual Simple Edition Table 4-1 Principle of Pulse command Form Positive logic Negative logic Pulse command form Positive rotation Reverse Positive rotation Reverse PULS PULS PULS PULS Direction+pulse SIGN...
  • Page 62 Chapter 4 Operation Mode and Debugging Method HSD6-DS Series Servo User Manual Simple Edition P05-07 Encoder resolution Electronic gear ratio × P05-09 Displacement of load shaft for one revolution (command unit) HSD6-DS supports up to 2 sets of electronic gear ratios, and gear ratio selection can be completed by using the gear ratio switching function (FunIN.24).
  • Page 63 Chapter 4 Operation Mode and Debugging Method HSD6-DS Series Servo User Manual Simple Edition Table 4-2 Comparison of filtering effects of average filter on two different position commands Rectangular position command Trapezoidal position command Position deviation clearing function By setting the DI function FunIN.35, it is possible to use DI to control whether the position deviation is cleared.

  • Page 64: Speed Mode Instruction

    Chapter 4 Operation Mode and Debugging Method HSD6-DS Series Servo User Manual Simple Edition Function Factory Effective Setting Correlation Name Setting range Unit code setting mode mode pattern 0- Take CCW direction as the forward direction (A ahead of B)

  • Page 65: Speed Mode Wiring

    Chapter 4 Operation Mode and Debugging Method HSD6-DS Series Servo User Manual Simple Edition 4.2.1 Speed mode wiring Figure 4-6 Speed Mode Wiring Diagram Represents a twisted pair. Note: ■ Signal cables and power cables must be routed separately, with an interval of at least 30cm;...

  • Page 66: Speed Mode Related Function Code Setting

    Chapter 4 Operation Mode and Debugging Method HSD6-DS Series Servo User Manual Simple Edition 4.2.2 Speed mode related function code setting Speed command input setting Source of speed command In speed control mode, there are two sources of speed command: source A and source B.
  • Page 67 Chapter 4 Operation Mode and Debugging Method HSD6-DS Series Servo User Manual Simple Edition Figure 4-7 Schematic diagram of unbiased AI2 Figure 4-8 schematic diagram of AI2 after biased The given speed command value can be viewed through P0B-01. ●...
  • Page 68 Chapter 4 Operation Mode and Debugging Method HSD6-DS Series Servo User Manual Simple Edition Coding Name Name of function Description Remarks Main and auxiliary Invalid-the current logical selection operation running instruction is A; corresponding terminal FunIN.4 CMD-SEL command Valid-the current running...
  • Page 69 Chapter 4 Operation Mode and Debugging Method HSD6-DS Series Servo User Manual Simple Edition Speed command clipping limit setting In the speed control mode, the servo driver can limit the size of the speed command. Speed command limits include: ●...

  • Page 70: Torque Mode Instruction

    Chapter 4 Operation Mode and Debugging Method HSD6-DS Series Servo User Manual Simple Edition DI function selection: Coding Name Name of function Description Remarks Valid-enables the zero logical selection position fixing function; corresponding terminal FunIN.12 ZCLAMP Zero fixed enable Invalid-Zero...

  • Page 71: Torque Mode Wiring

    Chapter 4 Operation Mode and Debugging Method HSD6-DS Series Servo User Manual Simple Edition 4.3.1 Torque mode wiring Figure 4-13 Wiring Diagram of Torque Mode Represents a twisted pair. Note: ■ Signal cables and power cables must be routed separately, with an interval of at least 30cm;...

  • Page 72: Torque Mode Related Function Code Setting

    Chapter 4 Operation Mode and Debugging Method HSD6-DS Series Servo User Manual Simple Edition 4.3.2 Torque mode related function code setting Torque command input setting Torque command source In torque control mode, there are two sources of torque command: source A and source B. It can be set in the following two ways: ●...
  • Page 73 Chapter 4 Operation Mode and Debugging Method HSD6-DS Series Servo User Manual Simple Edition Table 4-5 Examples of Analog Set torque command Operation Step Operation content Remarks Set the command source as the AI1 source in the auxiliary torque Set the torque command source command B.
  • Page 74 Chapter 4 Operation Mode and Debugging Method HSD6-DS Series Servo User Manual Simple Edition Table 4-6 Schematic Diagram of Speed Limit No speed limit There is a speed limit DO function selection: the output signal of motor speed after speed limit is as follows:...
  • Page 75 Chapter 4 Operation Mode and Debugging Method HSD6-DS Series Servo User Manual Simple Edition Torque command limiting setting In order to protect the mechanical device, the output torque can be limited by setting the function code P07-07. There are four ways to limit the torque:...
  • Page 76 Chapter 4 Operation Mode and Debugging Method HSD6-DS Series Servo User Manual Simple Edition DO function selection: output torque limit confirmation signal c-lt. Coding Name Name of function Description Remarks Confirmation signal of torque limit: Torque limiting FunOUT.7 C-LT Valid-motor torque limited;...

  • Page 77: Absolute Value System Instruction

    It is necessary to set the motor number P00-00=14130 (our company's 17-bit absolute encoder) and P02-01 (absolute value system selection) according to the actual application when the HSD6-DS series servo driver is matched with the absolute encoder. FU.731 (encoder battery failure) will occur when the battery is connected for the first time.
  • Page 78 Chapter 4 Operation Mode and Debugging Method HSD6-DS Series Servo User Manual Simple Edition The absolute position P0B-79×2 + P0B-77 of that absolute value encode is R calculated by the feedback data P0B-70 and P0B-71 of the absolute value encode and the resolution of the encoder, When P0B-70<32768 (P0B-79×...
  • Page 79 Chapter 4 Operation Mode and Debugging Method HSD6-DS Series Servo User Manual Simple Edition 4) Absolute value position rotation mode Out of Function Setting Effective Relevance Name Unit factory Category code range Time Model Settings Absolute position rotation Be effective...
  • Page 80 Chapter 4 Operation Mode and Debugging Method HSD6-DS Series Servo User Manual Simple Edition Assuming that the electronic gear ratio is , the rotating load single revolution position (encoder unit, P0B-83×2 + P0B-81) ranges from 0~R , the position (instruction unit, P0B-85) of the rotating load is in the range of 0 ~ R P0B-85= (P0B-83×2...

  • Page 81: Matters Needing Attention In The Use Of Absolute Value System Battery Box

    Chapter 4 Operation Mode and Debugging Method HSD6-DS Series Servo User Manual Simple Edition 6) Absolute encoder reset operation Set P0D-20 to reset the internal fault of the encoder or reset the encoder to feed back multiple revolutions of data.

  • Page 82: Pre-Operation Inspection

    Chapter 4 Operation Mode and Debugging Method HSD6-DS Series Servo User Manual Simple Edition Traditional hardware limit function Soft limit function It can only be limited to linear motion and single It can be used not only in linear motion, but also in rotation motion rotation mode.

  • Page 83: Load Inertia Identification And Gain Adjustment

    Chapter 4 Operation Mode and Debugging Method HSD6-DS Series Servo User Manual Simple Edition ● The servo motor can rotate normally without vibration or excessive running sound; ● All parameters are set correctly. Unexpected actions may occur according to different mechanical characteristics.

  • Page 84: Inertia Identification

    Chapter 4 Operation Mode and Debugging Method HSD6-DS Series Servo User Manual Simple Edition 4.7.1 Inertia identification Inertia identification is needed before automatic gain adjustment or manual gain adjustment to get the real load inertia ratio. The flow chart of inertia identification is as follows:...
  • Page 85 Chapter 4 Operation Mode and Debugging Method HSD6-DS Series Servo User Manual Simple Edition ■ Pay attention to the mechanical stroke when P09-05=1, so as to prevent the off-line inertia identification from exceeding the distance and causing accidents.

  • Page 86: Automatic Gain Control

    Chapter 4 Operation Mode and Debugging Method HSD6-DS Series Servo User Manual Simple Edition ☆ Related function codes are as follows: Function Factory Effective Setting Correlation Name Setting range Unit code setting mode mode pattern Mode selection 0: positive and negative...

  • Page 87: Manual Gain Adjustment

    Chapter 4 Operation Mode and Debugging Method HSD6-DS Series Servo User Manual Simple Edition 4.7.3 Manual gain adjustment When manually adjusting the gain, it is necessary to set P09-00 to 0, and then adjust several gain-related parameters separately. Increasing the position loop gain and velocity ring gain will make the response of the system faster, but too much gain will cause the system instability.
  • Page 88 Chapter 4 Operation Mode and Debugging Method HSD6-DS Series Servo User Manual Simple Edition Note: ■ The notch filter can only be used in modes other than torque mode; ■ If P09-02 is always set to 1 or 2, the parameters updated by the adaptive notch filter are automatically written into EEPROM every 30 minutes, and the updates within 30 minutes will not be stored in EEPROM;...

  • Page 89: Chapter 5 Summary Table Of Parameters

    Chapter 5 Summary Table of Parameters HSD6-DS Series Servo User Manual Simple Edition Chapter 5 Summary Table of Parameters Functional code Functional code Parameter group summary Parameter group summary group group P00 group Servo motor parameters P0A group Fault and protection parameters...

  • Page 90: P01 Group Driver Parameters

    Chapter 5 Summary Table of Parameters HSD6-DS Series Servo User Manual Simple Edition Function Factory Effective Setting Correlation Name Setting range Unit code setting mode mode pattern Torque coefficient Power on 0.01~655.35 Nm/Arms Stop setting again Electrical constant Power on 0.01~655.35...
  • Page 91 Chapter 5 Summary Table of Parameters HSD6-DS Series Servo User Manual Simple Edition Function Factory Effective Setting Correlation Name Setting range Unit code setting mode mode pattern 0: Stop freely and keep it running Fault No.2 Stop freely. Be effective...

  • Page 92: P03 Group Terminal Input Parameters

    Chapter 5 Summary Table of Parameters HSD6-DS Series Servo User Manual Simple Edition P03 group Terminal input parameters Function Factory Effective Setting Correlation Name Setting range Unit code setting mode mode pattern 0~0xFFFF Power-on Bit0: corresponding to FunIN.1 effective DI Bit1;...
  • Page 93 Chapter 5 Summary Table of Parameters HSD6-DS Series Servo User Manual Simple Edition Function Factory Effective Setting Correlation Name Setting range Unit code setting mode mode pattern Input polarity: 0 ~ 4 0: indicates active low 1: indicates active high level...

  • Page 94: P04 Group Terminal Output Parameters

    Chapter 5 Summary Table of Parameters HSD6-DS Series Servo User Manual Simple Edition Function Factory Effective Setting Correlation Name Setting range Unit code setting mode mode pattern Be effective Operation AI2 bias -5000~5000 immediately setting AI2 Input filtering Be effective Operation 0~655.35...
  • Page 95 Chapter 5 Summary Table of Parameters HSD6-DS Series Servo User Manual Simple Edition Function Factory Effective Setting Correlation Name Setting range Unit code setting mode mode pattern Output polarity reversal setting: 0 0: output L low level when it is DO5 terminal active.

  • Page 96: P05 Group Position Control Parameter

    Chapter 5 Summary Table of Parameters HSD6-DS Series Servo User Manual Simple Edition P05 group Position control parameter Function Factory Effective Setting Correlation Name Setting range Unit code setting mode mode pattern 0: Pulse command Position 1: Step amount given...
  • Page 97 Chapter 5 Summary Table of Parameters HSD6-DS Series Servo User Manual Simple Edition Function Factory Effective Setting Correlation Name Setting range Unit code setting mode mode pattern Encoder Positioning Be effective Operation completed 1~65535 /connabd immediately setting threshold unit Encoder...
  • Page 98 Chapter 5 Summary Table of Parameters HSD6-DS Series Servo User Manual Simple Edition Function Factory Effective Setting Correlation Name Setting range Unit code setting mode mode pattern 11: Reverse to zero, deceleration point and origin are mechanical limit positions. 12: Forward return to zero, deceleration point is mechanical limit position, and origin is motor Z signal.

  • Page 99: P06 Group Speed Control Parameter

    Chapter 5 Summary Table of Parameters HSD6-DS Series Servo User Manual Simple Edition Function Factory Effective Setting Correlation Name Setting range Unit code setting mode mode pattern Number of pulses for one revolution of load in absolute Encoder Be effective...

  • Page 100: P07 Group Torque Control Parameters

    Chapter 5 Summary Table of Parameters HSD6-DS Series Servo User Manual Simple Edition Function Factory Effective Setting Correlation Name Setting range Unit code setting mode mode pattern Zero fixed speed Be effective Operation 0~6000 threshold immediately setting Motor rotation Be effective...

  • Page 101: P08 Group Gain Class Parameter

    Chapter 5 Summary Table of Parameters HSD6-DS Series Servo User Manual Simple Edition Function Factory Effective Setting Correlation Name Setting range Unit code setting mode mode pattern Negative Be effective Operation external torque 0.0~300.0 300.0 immediately setting limit 0:Speed limit Internal speed limit...
  • Page 102 Chapter 5 Summary Table of Parameters HSD6-DS Series Servo User Manual Simple Edition Function Factory Effective Setting Correlation Name Setting range Unit code setting mode mode pattern 9: Actual speed is high (P) 10: Position command+actual speed (P) Gain switching...

  • Page 103: P09 Group Self-Adjusting Parameter

    Chapter 5 Summary Table of Parameters HSD6-DS Series Servo User Manual Simple Edition P09 group Self-adjusting parameter Function Factory Effective Setting Correlation Name Setting range Unit code setting mode mode pattern 0: parameter self-adjustment is invalid, and parameters are adjusted manually.

  • Page 104: P0A Group Fault And Protection Parameters

    Chapter 5 Summary Table of Parameters HSD6-DS Series Servo User Manual Simple Edition Function Factory Effective Setting Correlation Name Setting range Unit code setting mode mode pattern Group 3 wave traps Be effective Operation 0~99 depth class immediately setting Group 4 wave traps...

  • Page 105: P0B Group Monitoring Parameters

    Chapter 5 Summary Table of Parameters HSD6-DS Series Servo User Manual Simple Edition Function Factory Effective Setting Correlation Name Setting range Unit code setting mode mode pattern time constant immediately setting Filter time constant Power on Stop of orthogonal 0~255...
  • Page 106 Chapter 5 Summary Table of Parameters HSD6-DS Series Servo User Manual Simple Edition Function Setting Factory Effective Setting Correlation Name Unit code range setting mode mode pattern Effective value of phase current Display Bus voltage value Display Module temperature value Display ℃...

  • Page 107: P0C Group Communication Parameters

    Chapter 5 Summary Table of Parameters HSD6-DS Series Servo User Manual Simple Edition P0C group Communication parameters Function Factory Effective Setting Correlation Name Setting range Unit code setting mode mode pattern 1 ~ 247, 0 is the broadcast Be effective...

  • Page 108: P0D Group Auxiliary Function Parameter

    Chapter 5 Summary Table of Parameters HSD6-DS Series Servo User Manual Simple Edition P0D group Auxiliary function parameter Function Factory Effective Setting Correlation Name Setting range Unit code setting mode mode pattern 0: No operation Be effective Stop Software reset...

  • Page 109: P0F Group Full Closed-Loop Functional Parameters

    Chapter 5 Summary Table of Parameters HSD6-DS Series Servo User Manual Simple Edition P0F group Full closed-loop functional parameters Function Factory Effective Setting Correlation Name Setting range Unit code setting mode mode pattern Encoder feedback Be effective Stop mode immediately...

  • Page 110: P11 Group Multi-Segment Position Function Parameters

    Chapter 5 Summary Table of Parameters HSD6-DS Series Servo User Manual Simple Edition P11 group multi-segment position function parameters Function Factory Effective Setting Correlation Name Setting range Unit code setting mode mode pattern 0: Shut down at the end of single...
  • Page 111 Chapter 5 Summary Table of Parameters HSD6-DS Series Servo User Manual Simple Edition Function Factory Effective Setting Correlation Name Setting range Unit code setting mode mode pattern 5th segment moving Command Be effective Operation -1073741824~1073741824 10000 displacement unit immediately setting...
  • Page 112 Chapter 5 Summary Table of Parameters HSD6-DS Series Servo User Manual Simple Edition Function Factory Effective Setting Correlation Name Setting range Unit code setting mode mode pattern 11th segment Be effective Operation displacement maximum 1~6000 immediately setting operating speed 11th segment...

  • Page 113: P12 Group Multistage Velocity Parameter

    Chapter 5 Summary Table of Parameters HSD6-DS Series Servo User Manual Simple Edition P12 group Multistage velocity parameter Function Factory Effective Setting Correlation Name Setting range Unit code setting mode mode pattern 0: Shut down at the end of single operation...
  • Page 114 Chapter 5 Summary Table of Parameters HSD6-DS Series Servo User Manual Simple Edition Function Factory Effective Setting Correlation Name Setting range Unit code setting mode mode pattern 0: zero acceleration and deceleration time 1: Acceleration and deceleration time 1 3rd segment...
  • Page 115 Chapter 5 Summary Table of Parameters HSD6-DS Series Servo User Manual Simple Edition Function Factory Effective Setting Correlation Name Setting range Unit code setting mode mode pattern 9th segment Be effective Stop command operating 0~6553.5 (min) immediately setting time 0: zero acceleration and...

  • Page 116: P17 Group Virtual Dido Parameter

    Chapter 5 Summary Table of Parameters HSD6-DS Series Servo User Manual Simple Edition Function Factory Effective Setting Correlation Name Setting range Unit code setting mode mode pattern 15th segment speed Be effective Stop -6000~6000 -600 command immediately setting 15th segment...
  • Page 117 Chapter 5 Summary Table of Parameters HSD6-DS Series Servo User Manual Simple Edition Function Factory Effective Setting Correlation Name Setting range Unit code setting mode mode pattern VDI8 terminal Operation 0~37 Stops working function selection setting 0: indicates that VDI8 write 1 is valid.
  • Page 118 Chapter 5 Summary Table of Parameters HSD6-DS Series Servo User Manual Simple Edition Function Factory Effective Setting Correlation Name Setting range Unit code setting mode mode pattern VDO4 terminal Operation 0~22 Stops working function selection setting VDO4 terminal 0: output 1 when it is valid.

  • Page 119: P30 Group Communication Reading Servo Related Variables

    Chapter 5 Summary Table of Parameters HSD6-DS Series Servo User Manual Simple Edition Function Factory Effective Setting Correlation Name Setting range Unit code setting mode mode pattern VDO16 terminal 0: output 1 when it is valid. Operation Stops working logic selection 1: output 0 when it is valid.

  • Page 120: Dido Function Definition

    Chapter 5 Summary Table of Parameters HSD6-DS Series Servo User Manual Simple Edition DIDO function definition Coding Name Name of function Description Remarks Input signal function description The logical selection of the corresponding terminal must be set to: electrical level effective.
  • Page 121 Chapter 5 Summary Table of Parameters HSD6-DS Series Servo User Manual Simple Edition Coding Name Name of function Description Remarks P07-07=3 and the AI limit value is greater than the forward external limit value: Valid-forward external torque limit is valid;...
  • Page 122 Chapter 5 Summary Table of Parameters HSD6-DS Series Servo User Manual Simple Edition Coding Name Name of function Description Remarks If it is set to 4 (both rising and falling edges are valid), the driver will be forced to change to 0 (low level is valid) internally.
  • Page 123 Chapter 5 Summary Table of Parameters HSD6-DS Series Servo User Manual Simple Edition Coding Name Name of function Description Remarks Valid-motor speed is limited; Invalid-motor speed is not limited. Internal contracting brake signal output ： Valid-close, release the internal Internal contracting FunOUT.9...

  • Page 124: Chapter 6 Troubleshooting

    Chapter 6 Troubleshooting HSD6-DS Series Servo User Manual Simple Edition Chapter 6 Troubleshooting 6.1 Fault and warning handling at startup 6.1.1 Position control mode  Fault check Starting Fault Cause Confirmation method procedure phenomenon 1. Control power After CN1, CN2, CN3 and CN4 are unplugged, the fault still ◆...
  • Page 125 Chapter 6 Troubleshooting HSD6-DS Series Servo User Manual Simple Edition Starting Fault Cause Confirmation method procedure phenomenon whether P05-05 is 0; if not, check whether DI function 20 (FunIN.20: POSStep) has been set and whether the corresponding terminal logic is valid;...
  • Page 126 Chapter 6 Troubleshooting HSD6-DS Series Servo User Manual Simple Edition  Steps to check the cause of failure when positioning is not correct. Figure 7-1 Block diagram of positioning control principle When misalignment occurs, check the 4 signals in the above figure: Output position command count value Pout ；...

  • Page 127: Speed Control Mode

    Chapter 6 Troubleshooting HSD6-DS Series Servo User Manual Simple Edition 6.1.2 Speed control mode Starting Fault Cause Confirmation method procedure phenomenon 1. Control power The fault still exists after CN1, CN2, CN3 and CN4 are ◆ supply voltage unplugged. failure Measure the AC voltage between (L1C, L2C).

  • Page 128: Speed Control Mode

    Chapter 6 Troubleshooting HSD6-DS Series Servo User Manual Simple Edition Starting Fault Cause Confirmation method procedure phenomenon and negative Speed commands of P12 groups; When communication is given, check whether P31-09 is less ◆ than 0; When the inching speed command is given, check whether the ◆...

  • Page 129: Fault And Warning Handling At Runtime

    Chapter 6 Troubleshooting HSD6-DS Series Servo User Manual Simple Edition Starting Fault Cause Confirmation method procedure phenomenon 3. When communication is given, check whether P31-11 is 0. When analog input command is selected, whether the polarity ◆ of input voltage of external signal source is reversed can be checked by oscilloscope or through P0B-21 or P0B-22.
  • Page 130 Chapter 6 Troubleshooting HSD6-DS Series Servo User Manual Simple Edition ☆ Associated function code: Coding Name Name of function Function The DI function is edge-valid, but it is invalid when the level ◆ continues to be high/low. According to the alarm type, the servo can continue to work ◆...
  • Page 131 Chapter 6 Troubleshooting HSD6-DS Series Servo User Manual Simple Edition Coded output Fault Can it be Display Fault name type reset FU.208 Sampling operation timeout of FPGA system NO.1 FU.210 Output short circuit to ground NO.1 FU.220 Phase sequence error NO.1...

  • Page 132: Fault And Warning Code Table

    Chapter 6 Troubleshooting HSD6-DS Series Servo User Manual Simple Edition Warning, resettable: Fault Can it be Coded output Display Fault name type reset FU.110 Frequency division pulse output setting failure NO.3 FU.601 Back to origin timeout fault NO.3 FU.730 Encoder battery warning NO.3...
  • Page 133 Chapter 6 Troubleshooting HSD6-DS Series Servo User Manual Simple Edition Cause Confirmation method Treatment measures Reset the driver model and motor model, and Confirm whether the software has been ◆ 4. Updated the software the system parameters are initialized again updated (P02-31=1).
  • Page 134 Chapter 6 Troubleshooting HSD6-DS Series Servo User Manual Simple Edition Internal fault code P0B45=2120 The drive number does not exist. Set the Check the drive model (P01-02) to see correct drive model according to the ◆ if there is such a drive model.
  • Page 135 Chapter 6 Troubleshooting HSD6-DS Series Servo User Manual Simple Edition 11) FU.136: The data in the ROM of the motor encoder is checked incorrectly or the parameters are not stored. Generation mechanism:  When the driver reads the parameters of the encoder ROM area, it is found that the parameters are not stored, or the parameters are inconsistent with the agreed values.
  • Page 136 Chapter 6 Troubleshooting HSD6-DS Series Servo User Manual Simple Edition Cause Confirmation method Treatment measures Check whether the motor vibrates or has ◆ 7. The gain setting is sharp sound during starting and running. unreasonable and the Make gain adjustment.
  • Page 137 Chapter 6 Troubleshooting HSD6-DS Series Servo User Manual Simple Edition Cause Confirmation method Treatment measures Remove the power cable of the driver from the servo driver ◆ 3. Drive failure Replace the servo drive and report the fault after turning on the power for many times.
  • Page 138 Chapter 6 Troubleshooting HSD6-DS Series Servo User Manual Simple Edition resistor and reconnect it between B1/ ⊕ and Make sure to set P02-26 (external braking resistor power) P02-27 (external braking resistor resistance value) to be consistent with the actual external braking resistor parameters.
  • Page 139 Chapter 6 Troubleshooting HSD6-DS Series Servo User Manual Simple Edition 20) FU.420: Main circuit electrical phase loss Generation mechanism:  The three-phase driver is missing one or two phases. Cause Confirmation method Treatment measures Check whether the cable between the non-driver ◆...
  • Page 140 Chapter 6 Troubleshooting HSD6-DS Series Servo User Manual Simple Edition Cause Confirmation method Treatment measures value (P06-06 ~ P06-09) and confirm that they are all within the overspeed fault threshold; Torque control mode: set the speed limit threshold within the overspeed fault threshold.
  • Page 141 Chapter 6 Troubleshooting HSD6-DS Series Servo User Manual Simple Edition Displayed by the drive debugging platform or ◆ panel, confirm the operation instruction and motor speed (P0B-00): Operating instruction in position mode: P0B-13 6. The motor is stalled due (Input position command counter)
  • Page 142 Chapter 6 Troubleshooting HSD6-DS Series Servo User Manual Simple Edition Cause Confirmation method Treatment measures repeat it many times after or warning (FU.610, FU.620, FU.630, FU.650, Improve the capacity of drivers and overload. FU.909, FU.920, FU.922). motors, increase the acceleration and deceleration time and reduce the load.
  • Page 143 Chapter 6 Troubleshooting HSD6-DS Series Servo User Manual Simple Edition 35) Fu.834: AD sampling overvoltage fault Generation mechanism:  The value of AI sampling is greater than 11.5V Cause Confirmation method Treatment measures Measure the input voltage of AI channel, and Check the sampled voltage while adjusting ◆...
  • Page 144 Chapter 6 Troubleshooting HSD6-DS Series Servo User Manual Simple Edition Acceleration and deceleration time is 0 or a certain acceleration time can be set in the ◆ too small. upper machine; If the upper machine cannot set the acceleration and deceleration time, the smoothing parameters P05-04 and P05-06 of the position command can be increased.
  • Page 145 Chapter 6 Troubleshooting HSD6-DS Series Servo User Manual Simple Edition Displayed by the drive debugging platform ◆ or panel, confirm the operation instruction and motor speed (P0B-00): Operating instruction in position mode: P0B-13 (Input position command counter) 3. The motor is stalled due Operation instruction in speed mode: P0B-01 Check mechanical factors.

  • Page 146: Handling Method Of Warning

    Chapter 6 Troubleshooting HSD6-DS Series Servo User Manual Simple Edition 43) FU.D03 ： CAN communication connection is interrupted. Generation mechanism:  CAN communication timeout. Cause Confirmation method Treatment measures Check the status of PLC CAN communication card lamp ◆ Check the communication cable...
  • Page 147 Chapter 6 Troubleshooting HSD6-DS Series Servo User Manual Simple Edition FU.730: Encoder battery warning Generation mechanism:  The encoder battery voltage of multi-turn absolute encoder is too low or not connected to the battery. Cause Confirmation method Treatment measures The battery was not connected Confirm whether to connect during power ◆...
  • Page 148 Chapter 6 Troubleshooting HSD6-DS Series Servo User Manual Simple Edition 0 or very large and the motor speed is 0 in the corresponding mode. If the fault is still reported after re-energizing, 7. Servo driver failure After powering it off, power it on again.
  • Page 149 Chapter 6 Troubleshooting HSD6-DS Series Servo User Manual Simple Edition FU.922: External braking resistance is too small. Generation mechanism:  P02-27 (resistance value of external braking resistor) is less than P02-21 (minimum allowable external braking resistor of driver). Cause Confirmation method...

  • Page 150: Internal Failure

    Chapter 6 Troubleshooting HSD6-DS Series Servo User Manual Simple Edition 14) FU.980: Internal fault of encoder Generation mechanism:  Error in encoder algorithm. Cause Confirmation method Treatment measures When the power supply is turned on for many ◆ Encoder internal fault times and the fault is still reported, the encoder Replace the servo motor.
  • Page 151 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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