Automation Direct SureServo SVA-2040 User Manual

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Summary of Contents for Automation Direct SureServo SVA-2040

Page 1 ™ AC S ervo ervo yStemS AnUAl SV_UMW...
Page 2 SureServo® AC Servo Systems User Manual BLANK PAGE Page CF–2 SureServo AC Servo Systems User Manual ®...
Page 3 ~ WARNING ~ Thank you for purchasing automation equipment from Automationdirect.com®, doing business as AutomationDirect. We want your new automation equipment to operate safely. Anyone who installs or uses this equipment should read this publication (and any other relevant publications) before installing or operating the equipment.
Page 4 ~ AVeRTIssemeNT ~ Nous vous remercions d’avoir acheté l’équipement d’automatisation de Automationdirect.com®, en faisant des affaires comme AutomationDirect. Nous tenons à ce que votre nouvel équipement d’automatisation fonctionne en toute sécurité. Toute personne qui installe ou utilise cet équipement doit lire la présente publication (et toutes les autres publications pertinentes) avant de l’installer ou de l’utiliser.
Page 5 ARNINGs ® arning lWays read this manual thoroughly before using ervo series servo systems ® arning o not use the ervo series servo system in a potentially explosive environment nstall the servo system Components in a Clean and dry loCation free from Corrosive or flammable gases or liquids : aC arning...
Page 6 BLANK PAGE Page W–4 SureServo AC Servo Systems User Manual – Third Edition – 12/07/2018 ®...
Page 7 anUal evision istory ® AC S ervo ervo yStemS AnUAl Please include the Manual Number and the Manual Issue, both shown below, when communicating with Technical Support regarding this publication. Manual Number: SV_UMW Issue: Third Edition Issue Date: 12/07/2018 Publication History Issue Date Description of Changes...
Page 8 User Manual Revision History BLANK PAGE Page H–2 SureServo AC Servo Systems User Manual – Third Edition – 12/07/2018 ®...
Page 9 anUal able of onTenTs ontents of ervo anual Warnings and Trademarks � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � W–1 ~ WARNING ~�...
Page 10 User Manual Table of Contents Chapter 2: Installation and Wiring � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 2–1 Storage Conditions �...
Page 11 User Manual Table of Contents Chapter 3: Keypad and Display Operation � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 3–1 Digital Keypad �...
Page 12 User Manual Table of Contents Chapter 5: Control Modes of Operation and Tuning � � � � � � � � � � � � � � � � � � � � � � � � � � � � 5–1a Control Modes of Operation�...
Page 13 User Manual Table of Contents Chapter 6: Modbus Communications � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 6–1 SureServo™...
Page 14 User Manual Table of Contents Appendix A: Selecting the SureServo System � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � A–1 Selecting the SureServo®...
Page 15: Getting Started
hapter hapter hapter ettinG tarted ontents of this hapter Manual Overview � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �1–2 Overview of This Publication �...
Page 16: O Verview Of T His P Ublication
Chapter 1: Getting Started ANuAl VeRVIeW verview Of ublicaTiOn The SureServo® AC Servo Systems User Manual describes the installation, wiring, configuration, inspection, and operation of the SureServo® series AC servo drives and motors. hOuld anual This manual contains important information for people who will install, configure, maintain, and/or operate any of the SureServo®...
Page 17 Chapter 1: Getting Started Ac s eRVo ® eRVo ysTems NTRoducTIoN ervO asic verview The SureServo AC servo systems range in size from 100W to 3kW continuous power and provide up to 26.4 ft·lbs of peak torque. They can be powered with single or three-phase 230 VAC. The SureServo drives can be controlled in position, velocity, or torque mode.
Page 18: M Odel E Xplanation
Chapter 1: Getting Started nPacking ervO After receiving the AC servo system, please check for the following: • Make sure that the package includes all of the contents: • AC servo drive, connectors, and installation sheet -or- • AC servo motor and installation sheet -or- •...
Page 19 Chapter 1: Getting Started ac s ervO ® denTificaTiOn and abeling ervO rive a LED display b Digital keypad c Charge LED d Heat sink e Input and control power terminal* f Motor Output power terminal* g Regenerative resistor terminal* h Ground terminals i Serial communication connector j Encoder connector...
Page 20 Chapter 1: Getting Started ac s ervO ® ervO rive OnTrOl Odes The SureServo drive can be configured to provide six single and five dual control modes, as shown in the table below. These control modes can be set by parameter P1-01. If the control mode is changed, the drive must be powered off and back on again (power cycled) before the new modes will become active.
Page 21: Drive Specifications
Chapter 1: Getting Started Ac s eRVo ® eRVo ysTem pecIfIcATIoNs rive PecificaTiOns General Drive Specifications Permissible Frequency 50 / 60Hz ±5% Encoder Resolution 2500 lines / 10000 ppr / Feedback Resolution Control of Main Circuit SVPWM (Space Vector Pulse Width Modulation) Control Tuning Modes Easy / Auto / Manual Dynamic Brake...
Page 22 Chapter 1: Getting Started Model and Mode Specific Drive Specifications AC Servo Model SVA-2040 SVA-2100 SVA-2300 Voltage Phase Single-phase or Three-phase Three-phase 3f: 170~255V @ 50/60Hz ±5% 170~255V Voltage & Frequency Range 1f: 200~255V @ 50/60Hz ±5% 50/60Hz ±5% Single Phase 3�4A @ 400W 8�0A @ 1kW –...
Page 23 Chapter 1: Getting Started OTOr PecificaTiOns Motor Specifications Inertia Range Medium SVL– SVL– SVL– SVL– SVL– SVM– SVM– SVM– Model Name: SVx-xxx* 201(B*) 202(B*) 204(B*) 207(B*) 210(B*) 210(B*) 220(B*) 230(B*) Rated output power 1000 1000 2000 3000 N·m 0�318 0�64 1�27 2�39 3�3...
Page 24 Chapter 1: Getting Started Motor Specifications (continued from previous page) Inertia Range Medium SVL– SVL– SVL– SVL– SVL– SVM– SVM– SVM– Model Name: SVx-xxx* 201(B*) 202(B*) 204(B*) 207(B*) 210(B*) 210(B*) 220(B*) 230(B*) 0�7 1�4 1�8 3�4 6�3 7�5 19�0 24�0 Weight with brake 1�54 3�09...
Page 25 Chapter 1: Getting Started OTOr verlOad haracTerisTics verlOad rOTecTiOn uncTiOn Overload protection is a built-in protective function to prevent a motor from overheating. OMMOn verlOad auses and OndiTiOns 1) Servo system operated for several seconds above 100% torque. 2) Frequent acceleration/deceleration cycles of high inertia loads. 3) The power cable or encoder cable not making a solid connection.
Page 26 Chapter 1: Getting Started eRVo ® uIck TART foR RIVes This guide allows you to get your SureServo motor and drive up and running as quickly as possible. This is not a substitute for reviewing the entire manual. You will need to familiarize yourself with the complete feature set of the drive.
Page 27 Chapter 1: Getting Started 7) Cycle Power to the Drive. 8) Set Parameter P2-30 to 1. This temporarily overrides Servo Enable, CW Limit, and CCW Limit. Make sure the motor is disconnected from the load. P2-30 Auxiliary Function Force Servo to be Enable (regardless of input status) 9) Jog the motor.
Page 28 Chapter 1: Getting Started & P OsiTiOn uick TarT This section explains the basic procedures necessary to control the SureServo drive in Position Mode; both pulse input (Pt) and internal positioning (Pr). In Pt mode, positioning commands come from high-speed pulse trains from the terminals. In Pr mode, positioning commands are held in internal registers.
Page 29 Chapter 1: Getting Started – i – nTernal ndexing OsiTiOn regisTers 1) Spin the Motor. Follow the instructions in the previous section to verify that the motor and drive are functioning properly. Cycle power to the drive. At this point, power, fusing, and an E-stop contactor should all be wired appropriately according to Chapter 2.
Page 30 Chapter 1: Getting Started 5) Configure the Position Setpoints. Parameter P1-33 selects Incremental or Absolute mode. Enter a value of “0” for Absolute Mode or enter “1” for Incremental mode. Parameters (P1-15 through P1-30) determine the setpoints of Positions 1 through 8. Each setpoint has 2 parts; motor revolutions and pulses.
Page 31 Chapter 1: Getting Started (v & v elOciTy uick TarT 1) Spin the Motor. Follow the instructions in the previous section to verify that the motor and drive are functioning properly. Cycle power to the drive. At this point, power, fusing, and fault stop should all be wired appropriately;...
Page 32 Chapter 1: Getting Started 6) Enable the Drive and Apply the Velocity Command. If no errors exist, the drive should now follow the commanded velocity when enabled. With the Digital Inputs for Velocity Command Select Inputs SPD0 and SPD1 both inactive (or undefined), the drive should respond to an analog input signal if configured for V mode (if configured for Vz mode, both inputs inactive = zero speed).
Page 33 Chapter 1: Getting Started 4) Configure the Torque Setpoints and Speed Limits. P1-12, P1-13, and P1-14 are the three Torque Setpoints that can be selected via the digital inputs. When the digital inputs are both inactive, the Torque command will be the +/-10V analog input command if in T mode. If the drive is in Tz mode, the command torque will be an absolute zero.
Page 34 Chapter 1: Getting Started ervO ® uning uick TarT fOr rives uning verview After installing the SureServo system and testing its functionality (wiring, communication, motion, etc.), you may decide that the default tuning selection is either too responsive or not responsive enough for your application.
Page 35 Chapter 1: Getting Started ervO uning 1) Open the SureServo Pro software and “Connect” to the drive. The software has the same default communication settings as does the drive. Refer to the 3-xx Communication Parameters section of the “Servo Drive Parameters” chapter for more information about communications parameters.
Page 36 Chapter 1: Getting Started BLANK PAGE Page 1–22 SureServo AC Servo Systems User Manual – Third Edition – 12/07/2018 ®...
Page 37: Table Of Contents
hapter hapter hapter nstallatIon and IrIng ontents of this hapter Storage Conditions � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �2–2 Installation �...
Page 38: Chapter 2: Installation And Wiring
Chapter 2: Installation and Wiring ToRAGe oNdITIoNs The servo system components should be kept in their shipping cartons before installation. In order to retain the warranty coverage, the components should be stored properly when they will not be used for an extended period of time.
Page 39: Servo Drive Minimum Clearances And Air Flow
Chapter 2: Installation and Wiring ervO rive iniMuM learances and 100 mm 100 mm (4.0 in) (4.0 in) minimum minimum 50 mm air flow (2.0 in) minimum 20 mm 20 mm 40 mm 10 mm 40 mm (0.8 in) (0.8 in) (1.6 in) (0.4 in) (1.6 in)
Page 40: Dimensions
Chapter 2: Installation and Wiring ImeNsIoNs ervO rive iMensiOns Recommended user supplied mounting screw is M6. : sva-2040 uMber UNITS: mm (in) (Inch values are for reference only.) 75 (2.95) 69 (2.72) Ø 6 ( 0 . 2 4 ) 140 (5.51) 70 (2.76) 64 (2.52)
Page 41: Servo Drive Dimensions
Chapter 2: Installation and Wiring ervO rive iMensiOns cOnTinued Recommended user supplied mounting screw is M6. : sva-2300 uMber UNITS: mm (in) (Inch values are for reference only.) 110.0 (4.33) O6 (0.24) 70 (2.76) 206 (8.11) 91.2 (3.59) UTOMATION IRECT MODE ENTER NEXT...
Page 42: Servo Motor Dimensions
Chapter 2: Installation and Wiring ervO OTOr iMensiOns : svl-201(b), -202(b), -204(b), -207(b) nerTia uMbers SVL-201(B) – SVL-207(B) BRAKE SureServo Motor Dimensions – 100W-750W Low Inertia Dimension SVL-201(B) SVL-202(B) SVL-204(B) SVL-207(B) 40 [1�575] 60 [2�362] 80 [3�15] 4�5 [0�1772] 5�5 [0�2165] 6�6 [0�2598] 46 [1�811] 70 [2�756]...
Page 43: Accessory I/O Terminal Module Dimensions
Chapter 2: Installation and Wiring ervO OTOr iMensiOns cOnTinued : svM-210(b), 220(b), 230(b) ediuM nerTia uMbers SVA-210 – 230 SureServo Motor Dimensions – 1000W-3000W Medium Inertia Dimension SVM-210(B) SVM-220(B) SVM-230(B) 130 [5�118] 180 [7�087] 9 [0�3543] 13�5 [0�5315] 145 +0�2/-0�2 [5�709] 200 +0�2/-0�2 [7�874] 22 +0�0/-0�013 (22h6) 35 +0�0/-0�016 (35h6)
Page 44: Danger
Chapter 2: Installation and Wiring IRcuIT oNNecTIoN ARNINGs ANGeR arning azardous oltage efore making any ConneCtion to the servo drive disConneCt all poWer to the drive and Wait until the Charge goes out arning ny eleCtriCal or meChaniCal modifiCation to this equipment Without prior Written Consent utomation ireCt Will void all Warranties...
Page 45: Servo Drive Terminals
Chapter 2: Installation and Wiring eRVo RIVe eRmINAls Servo Drive Terminals Terminal Terminal Remarks Symbol Description Used to connect single-phase AC control circuit power� L1, L2 Control Circuit* (Control circuit uses same voltage as the main circuit�) Negative Side Model SVA-2300 only� of DC Bus* No wiring connection required�...
Page 46: Cn1 - Drive Input/Output Terminal
Chapter 2: Installation and Wiring cn1 – d rive nPuT uTPuT erMinal The CN1 connector provides an interface for three signal groups: 1) Analog signals for velocity and torque control, encoder reference from the motor, pulse/direction inputs, and reference voltages. 2) Programmable digital inputs.
Page 47 Chapter 2: Installation and Wiring cn1 T – d erMinal ignals uncTiOns rive nPuT OnnecTiOns The CN1 “General Signals” are set by the factory, and cannot be changed. CN1 General Signals Wiring Signal Function Diagram Ex ternal velocity command (±10V) indicates ±P1-40, Analog Full Scale Velocity Command (gain)�...
Page 48 Chapter 2: Installation and Wiring cn1 T – d erMinal ignals xPlanaTiOn rive nPuT OnnecTiOns The CN1 “Digital Input Signal” configurations can be changed by the user. The active state of the inputs can be either active high (N.O.) or active low (N.C.), depending upon how they are configured in parameters P2-10 through P2-17.
Page 49 Chapter 2: Installation and Wiring cn1 T – d erMinal ignals uncTiOns rive uTPuT OnnecTiOns The CN1 digital output signal configurations can be changed by the user. For most modes of operation, users can set parameters P2-44 and P2-18 through P2-22 to determine the functions and active states [active high (N.O.) or active low (N.C.)] of the individual outputs.
Page 50 CN2 Connector cn2 T erMinal OnnecTiOn CN2 connects to Automation Direct part #SVC-Exx-0x0 encoder feedback cable (as listed in the “Cables and Terminal Connectors” section of this chapter), or to 3M part #10120-3000VE connector and #10330-52A0-008 shell. cn2 T erMinal...
Page 51 Refer to Chapter 4 for information regarding parameter settings. CN3 Connector cn3 T erMinal OnnecTiOn CN3 connects to Automation Direct part #SVC-MDCOM-CBL or #SVC-PCCFG-CBL communication cables (as described in the “Cables and Terminal Connectors” section of this chapter), or to an IEEE 1394 plug. cn3 T erMinal ignal...
Page 52: Motor Power Connections
Chapter 2: Installation and Wiring eRVo oToR eRmINAl oNNecTIoNs OTOr Ower OnnecTiOns Motor Part Number Power / Electromagnetic Brake Connector Terminal ID SVL-201, SVL-202, SVL-204, SVL-207 SVL-201B, SVL-202B, SVL-204B, SVL-207B Case Terminal Brake 1 Brake 2 Ground Mating Connector (Black) (White) (Red) (Orange)
Page 53: Motor Encoder Connections
Chapter 2: Installation and Wiring OTOr ncOder OnnecTiOns Encoder Connector Motor Part Number Encoder Connector Terminal ID SVL-201(B) SVL-202(B) SVL-204(B) SVL-207(B) SVL-210(B) SVM-210(B) SVM-220(B) SVM-230(B) Terminal Braid Mating (BL) (BL/BK) (GN) (GN/BK) (YL) (YL/BK) (RD) (BK) Shield connector AMP: 1-1318118-6 &...
Page 54: Wiring Diagrams
Chapter 2: Installation and Wiring IRING IAGRAms OnnecTing TO eriPheral evices Power 100W~1kW: 1-phase 200~255VAC or 3-phase 170~255VAC DirectLOGIC PLC 2kW~3kW: 3-phase 170~255VAC MCCB Fused Disconnect ZIPLink Cable & SureServo Drive Terminal UTOMATION IRECT (Refer to “Cables and Terminal Connectors” section of this chapter) MODE ENTER...
Page 55: Power Wiring Connections
Chapter 2: Installation and Wiring Ower iring OnnecTiOns – a hree hase Ower uPPly ervO rive Odels excePT as nOTed A B C MCCB or Fused Disconnect Noise filter E-Stop SVC-Pxx-xxx cable set Servo Drive Control Circuit Control Circuit Fusing * - N terminal SVA-2300 only;...
Page 56 Chapter 2: Installation and Wiring & P iring fOr OsiTiOn OnTrOl Odes This wiring diagram shows basic wiring only, and additional wiring configurations are possible for some I/O. Refer to subsequent subsections of this chapter for more detailed wiring information. Position (Pr &...
Page 57: Wiring For Velocity And Torque Control Modes
Chapter 2: Installation and Wiring iring fOr elOciTy and Orque OnTrOl Odes This wiring diagram shows basic wiring only, and additional wiring configurations are possible for some I/O. Refer to subsequent subsections of this chapter for more detailed wiring information. Velocity and Torque Control Modes †...
Page 58: Cn1 Input/Output Wiring Diagrams
Chapter 2: Installation and Wiring cn1 i nPuT uTPuT iring iagraMs Refer to the “Cables and Terminal Connectors” section of this chapter for a cable and terminal module to connect to this terminal. Refer to Appendix B for Koyo Encoder and PLC wiring examples. A DI current draw at 24V will be about 5mA.
Page 59 Chapter 2: Installation and Wiring cn1 i nPuT uTPuT iring iagraMs cOnTinued CN1 Pulse Inputs (continued) CN1-PI_4: CN1-PI_5: Pulse Input (PNP/Sourcing encoder) Pulse Input (+5V output encoder) Terminal Block & Cable Terminal Block & Cable Servo Drive ZL-RTB50 & ZL-SVC-CBL50 Servo Drive ZL-RTB50 &...
Page 60: Cn3 Serial Communication Wiring Diagram
Chapter 2: Installation and Wiring cn1 i nPuT uTPuT iring iagraMs cOnTinued Electromagnetic Brake Notes (for wiring diagrams CN1-DO_5 & CN1-DO_6): 1) Use a surge suppressing diode on the coil of the Brake Control Relay. 2) Relay contacts must be rated for at least 1A for servo motors up to 2kW, and at least 2A for 3kW servo motors.
Page 61: Drive, Motor, And Cable Combinations
Chapter 2: Installation and Wiring Ables ANd eRmINAl oNNecToRs rive OTOr able OMbinaTiOns SureServo Drive, Motor, and Cable Combinations 1) 2) 3) SVL- SVL- 201B SVA- SVL- SVL- 2040 202B SVC- SVC- SVC- SVC- SVC- SVC- SVC- SVC- PFL-010 PFL-020 PFL-030 PFL-060 EFL-010...
Page 62: Drive Terminal Connection Module & Cables
Chapter 2: Installation and Wiring & c rive erMinal OnnecTiOn Odule ables ziPl & c erMinal OnnecTOr Odule able fOr ZL-RTB50 connector module ZL-RTB50 SG SG P9333 Bottom ZL-RTB50 Pin-out – TB1 Top Row P1 Pin # Terminal – Descrip- tion Bottom Row P1 Pin #...
Page 63: Serial Cables For Connection To Cn3
Chapter 2: Installation and Wiring erial ables fOr OnnecTiOn TO SVC-MDCOM-CBL RS232/422/485 communication cable for use with multidrop networks; 3ft length; IEEE 1394 plug to unterminated wires; compatible with all SureServo systems. SVC-MDCOM-CBL brown brown/white RS-232 TX RS-422/485 RXD+ red/black RS-232 RX / RS-422/485 RXD- yellow RS-422/485 TXD+...
Page 64 Chapter 2: Installation and Wiring BLANK PAGE Page 2–28 SureServo AC Servo Systems User Manual – Third Edition – 12/07/2018 ®...
Page 65: K Eypad And D Isplay O Peration
hapter hapter hapter eypad and isplay peratiOn ontents of this hapter Digital Keypad � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �3–2 Display Flowchart �...
Page 66: Digital Keypad
Chapter 3: Keypad and Display Operation IGITAl eypAd The digital keypad includes the function keys and LED display. The diagram below shows the features of the digital keypad and an overview of their functions. LED Display ENTER Key MODE ENTER MODE Key NEXT NEXT Key...
Page 67: Display Flowchart
Chapter 3: Keypad and Display Operation IsplAy loWchART Monitor Mode Parameter Mode MODE Monitor Status to display setting value to save setting value Parameter Setting Mode 1) When power is applied to the AC servo drive, the LED display will show the display monitor status code for approximately one second.
Page 68: Display Messages
Chapter 3: Keypad and Display Operation IsplAy essAGes araMeTer eTTing alue hange essages One of the following messages will display for approximately one second after the Enter key is pressed to save a new parameter setting value: Parameter Setting Value Change Messages Display Message Description The setting value is saved correctly�...
Page 69: Monitor Mode Function Display
Chapter 3: Keypad and Display Operation OniTOr uncTiOn isPlay When power is applied to the AC servo drive, the LED display will show the monitor function code for approximately one second, and then the drive will enter into the monitor mode. To change the monitor function, change parameter P0-02, or press the UP or DOWN keys to change the function directly.
Page 70: Servo Drive General Operation
Chapter 3: Keypad and Display Operation eRVo RIVe eNeRAl peRATIoN isPlay aulT isTOry Parameters P4-00 to P4-04 contain the drive fault records. After entering the parameter mode and selecting the desired fault record parameter, press the ENTER key to display the corresponding fault code for that parameter.
Page 71: Teach Position Function
Chapter 3: Keypad and Display Operation each OsiTiOn uncTiOn The Teach Position function allows users to jog the motor to the desired positions and set those positions as Target Position 1, Target Position 2, etc. In many cases, this method is easier than entering numeric values directly into P1-15 ~ P1-30.
Page 72: Do Force Output Function
Chapter 3: Keypad and Display Operation dO f Orce uTPuT uncTiOn For test purposes, the digital outputs (DO) can be forced to be active or inactive from the servo drive Force all DO inactive keypad. (The active or inactive state corresponds to ON or OFF, depending upon the N.O./N.C.
Page 73: Display Digital Input Status
Chapter 3: Keypad and Display Operation isPlay igiTal nPuT TaTus This function shows the status of the digital inputs (DI) on the servo drive LED display. Select parameter P4-07 and press ENTER. The corresponding LEDs will be on for each DI that is ON. LEDs: If a DI has been disabled in P2-10 ~ P2-17, it’s status will not show on the LED display.
Page 74 Chapter 3: Keypad and Display Operation BLANK PAGE Page 3–10 SureServo AC Servo Systems User Manual – Third Edition – 12/07/2018 ®...
Page 75 haPter haPter haPter ervo rive arameterS ontents of this hapter Parameter Overview and Note Symbols 4–2 Parameter Groups 4–2 Reset Parameter Defaults 4–2 Parameter Firmware Versions 4–2...
Page 76 Chapter 4: Servo Drive Parameters ARAmeTeR VeRVIeW ANd ymbols araMeTer rOuPs The SureServo® drive has five parameter groups: • Group 0: Monitor parameters (example: P0-xx) • Group 1: Basic parameters (example: P1-xx) • Group 2: Extension parameters (example: P2-xx) • Group 3: Communication parameters (example: P3-xx) •...
Page 77 Chapter 4: Servo Drive Parameters ARAmeTeR ummARy araMeTer uMMary isTings Parameter values are in decimal format unless otherwise indicated by “h” for hexadecimal. bbreviaTiOns Of OnTrOl Odes • P: Position control mode • T: Torque control mode • V: Velocity control mode Group 0: Monitor Parameters Control Mode...
Page 78 Chapter 4: Servo Drive Parameters Group 1: Basic Parameters Control Mode Description Range Units Default P V T P1-00 External Pulse Type Input – – 0~132 – P1-01 Control Mode and Output Direction 0~1110 – P1-02 Velocity and Torque Limit 0~11 –...
Page 79 Chapter 4: Servo Drive Parameters Group 1: Basic Parameters (table continued from previous page) Control Mode Description Range Units Default P1-36 – Acceleration/Deceleration S-curve – 0~10,000 P1-37 – Inertia Mismatch Ratio 0-2000 – P1-38 – Zero Velocity Output Threshold 0~200 P1-39 –...
Page 80 Chapter 4: Servo Drive Parameters Group 2: Extended Parameters Control Mode Description Range Units Default P V T P2-00 – Position Loop Proportional Gain (KPP) – – 0~1023 rad/s P2-01 – Position Loop Gain Boost – – 10~500 P2-02 – Position Feed Forward Gain (KFF) –...
Page 81 Chapter 4: Servo Drive Parameters Group 2: Extended Parameters (table continued from previous page) Control Mode Description Range Units Default P2-36 – Position 1 Velocity – – 1000 P2-37 – Position 2 Velocity – – 1000 P2-38 – Position 3 Velocity –...
Page 82 Chapter 4: Servo Drive Parameters Group 3: Communication Parameters Control Mode Description Range Units Default P V T P3-00 – Communication Address 1~254 – P3-01 – Transmission Speed P3-02 – Communication Protocol – P3-03 – Communication Fault Action – P3-04 –...
Page 83 Chapter 4: Servo Drive Parameters Group 4: Diagnostic Parameters Control Mode Description Range Units Default P V T P4-00 Fault Record (N) (most recent) ALE01~ALE23 – P4-01 Fault Record (N-1) ALE01~ALE23 – P4-02 Fault Record (N-2) ALE01~ALE23 – P4-03 Fault Record (N-3) ALE01~ALE23 –...
Page 84 Chapter 4: Servo Drive Parameters eTAIled ARAmeTeR IsTINGs aMPle araMeTer isTing arameter arameter arameter arameter arameter ettiNg emory umber if aPPlicable NitS aNge ddreSS [5] Status Monitor 1 P0-04 Mem Addr: 0004[h] Range: 0~16 Units: n/a Default: 0 Control Modes: P/V/T •...
Page 85 Chapter 4: Servo Drive Parameters OniTOr araMeTers [1] Firmware Version P0-00 Mem Addr: 0000[h] Range: n/a Units: n/a Default: (factory setting) Control Modes: P/V/T • This parameter shows the software version of the servo drive [1] Drive Fault Code P0-01 Mem Addr: 0001[h] Range: 0~22 Units: n/a...
Page 86 Chapter 4: Servo Drive Parameters Drive Status (front panel display) P0-02 Mem Addr: 0002[h] Range: 0~16 Units: various Default: 0 Control Modes: P/V/T • This parameter shows the selected servo drive status on the front display Reading this parameter will only report the setting number Read P004 ~ P008 for actual status values (See Ch3 >> Display Messages >>...
Page 87 Chapter 4: Servo Drive Parameters Analog Monitor Outputs P0-03 Mem Addr: 0003[h] Range: 0~55 Units: n/a Default: 1 Control Modes: P/V/T • This parameter determines the functions of the analog monitor outputs Analog Output Channel 2 Function Settings: Analog Output Channel 1 Function Unused Analog Output Function Settings: Motor velocity (±...
Page 88 Chapter 4: Servo Drive Parameters Block Transfer Parameter 1 P0-09 Mem Addr: 0009[h] Range: 100~417 [h] (address for P1-00 ~ P4-23) Units: n/a Default: 407[h] (address for P4-07) Control Modes: P/V/T Block Transfer Parameter 2 P0-10 Mem Addr: 000A[h] Range: 100~417 [h] (address for P1-00 ~ P4-23) Units: n/a Default: 10F[h] (address for P1-15) Control Modes: P/V/T...
Page 89 Chapter 4: Servo Drive Parameters [1] Output Function Status P0-17 Mem Addr: 0011[h] Range: 0~1FF [h] Units: n/a Default: 0 Control Modes: P/V/T • This parameter allows you to read the status of the DO Functions via MODBUS communications, regardless of whether or not those functions are assigned to physical digital outputs (DO1~DO5) •...
Page 90 Chapter 4: Servo Drive Parameters asic araMeTers [2] External Pulse Input Type P1-00 Mem Addr: 0100[h] Range: 0~132 Units: n/a Default: 2 Control Modes: P • This parameter determines the input pulse type and polarity Input Pulse Type Settings: 0 (reserved) Input Polarity Unused Input Pulse Type Settings:...
Page 91 Chapter 4: Servo Drive Parameters [3] Control Mode and Output Direction P1-01 Mem Addr: 0101[h] Range: 0~1110 Units: n/a Default: 0 Control Modes: P/V/T • This parameter determines the control mode and output direction Control Mode Settings: Rotation Convention Digital I/O Setting Characteristics Unused Control Mode Control Mode Settings...
Page 92 Chapter 4: Servo Drive Parameters [2] Velocity and Torque Limit P1-02 Mem Addr: 0102[h] Range: 0~11 Units: n/a Default: 0 Control Modes: P/V/T • This parameter determines whether the Velocity and Torque Limit functions are enabled or disabled The source of the limit command (analog input or preset parameter) is then selected by the applicable Command Select digital input •...
Page 93 Chapter 4: Servo Drive Parameters Output Polarity Setting P1-03 Mem Addr: 0103[h] Range: 0~13 Units: n/a Default: 0 Control Modes: P/V/T • This parameter determines the polarity of the Analog Monitor Outputs and Position Pulse Outputs The Analog Monitor Outputs can be individually configured with different polarities, but the Position Pulse Outputs must each have the same polarity Analog Monitor Outputs Polarity Settings:...
Page 94 Chapter 4: Servo Drive Parameters Analog Torque Command Low-Pass Filter P1-07 Mem Addr: 0107[h] Range: 0~1000 (0 = disable) Units: ms Default: 0 Control Modes: T • Refer to P1-06 for explanation of Analog Command Low-Pass Filter parameters P1-08 Position Command Low-Pass Filter Mem Addr: 0108[h] Range: 0~1000 (0 = disable) Units: 10 ms...
Page 95 Chapter 4: Servo Drive Parameters Torque Command 1 (Torque Mode) P1-12 Mem Addr: 010C[h] Torque Limit 1 (Position/Velocity Modes) Range: ±300 Units: % Default: 100 Control Modes: P/V/T • When in Torque Mode using the Internal Indexer, this parameter sets Torque Command #1 •...
Page 96 Chapter 4: Servo Drive Parameters Parameters P1-15 ~ P1-30 are associated with Position Register (Pr) mode in the servo. Refer to Chapter 5, Command Source of Pr Position Control Mode (page 6) for further details. Position 1 Command (Revolutions) P1-15 Mem Addr: 010F[h] Range: ±...
Page 97 Chapter 4: Servo Drive Parameters Position 3 Command (Revolutions) P1-19 Mem Addr: 0113[h] Range: ± 30,000 Units: revs Default: 0 Control Modes: Pr • This parameter sets the number of revolutions for Position 3 Command when using the Internal Indexer Refer to P1-20 for Position Command (counts) •...
Page 98 Chapter 4: Servo Drive Parameters Position 6 Command (Revolutions) Mem Addr: 0119[h] P1-25 Range: ± 30,000 Units: revs Default: 0 Control Modes: Pr • This parameter sets the number of revolutions for Position 6 Command when using the Internal Indexer Refer to P1-26 for Position Command (counts) •...
Page 99 Chapter 4: Servo Drive Parameters [5] Motor Code P1-31 Mem Addr: 011F[h] Range: 10, 11, 12, 20, 21, 22, 30, 31 Units: n/a Default: 10 (SVA-2040) 20 (SVA-2100) Control Modes: P/V/T 30 (SVA-2300) • Enter the Motor Code number of the servo motor controlled by the servo drive Settings: Code: Motor:...
Page 100 Chapter 4: Servo Drive Parameters [3] Position Control Mode (Internal Indexer) P1-33 Mem Addr: 0121[h] Range: 0~8 Units: n/a Default: 0 Control Modes: Pr • This parameter determines the specific type of control when using Pr control mode (P1-01) with the internal indexer (Refer to Control Modes Chapter 5 for explanation and examples of Index Mode and internal position indexing) •...
Page 101 Chapter 4: Servo Drive Parameters Acceleration Time (Internal Indexer) P1-34 Mem Addr: 0122[h] Range: 1 ~ 20,000 Units: ms Default: 200 Control Modes: Pr/V • When parameter settings are used as velocity commands (Internal Indexer), this parameter sets the motor acceleration rate •...
Page 102 Chapter 4: Servo Drive Parameters Inertia Mismatch Ratio P1-37 Mem Addr: 0125[h] Range: 0 ~ 200.0 Units: n/a Default: 5.0 Control Modes: P/V/T • This parameter represents the ratio of the load inertia to the servo motor inertia: (J load motor Zero Velocity Output Threshold P1-38...
Page 103 Chapter 4: Servo Drive Parameters [2] Analog Full Scale Torque Command (Torque Mode) P1-41 Mem Addr: 0129[h] [2] Analog Full Scale Torque Limit (P & V Modes) Range: 0 ~ 1000 Units: % Default: 100 Control Modes:P/V/T • In Position and Velocity Modes, this parameter sets the maximum torque limit based on the full scale input analog voltage (10V) Torque Limit Command = (Input Command V) (P1-41) / 10V •...
Page 104 Chapter 4: Servo Drive Parameters Electronic Gear Numerator 1 P1-44 Mem Addr: 012C[h] Electronic Gear Denominator P1-45 Mem Addr: 012D[h] Range: 0 ~ 32,767 Units: counts Default: 1 Control Modes: P • Parameter P1-44 sets the numerator of the Electronic Gear Ratio Parameters P2-60 through P2-62 set optional additional numerators •...
Page 105 Chapter 4: Servo Drive Parameters [2] Encoder Output Scaling Factor P1-46 Mem Addr: 012E[h] Range: 1 ~ 125 (with B = 0) Units: n/a 10,020 ~ 12,500 (with B = 1) Default: 1 Control Modes: P/V/T The range of the actual Scaling Factor is less than the full range of P1-46. •...
Page 106 Chapter 4: Servo Drive Parameters Homing Mode P1-47 Mem Addr: 012F[h] Range: 0 ~ 1225 Units: n/a Default: 0 Control Modes: P • This parameter determines the servo motor’s homing characteristics A: Home Sensor Type and Homing Direction Settings: B: Homing Moving Method C: Homing Enable Setting D: Homing Stop Setting Unused...
Page 107 Chapter 4: Servo Drive Parameters Homing Velocity 1 - Fast Search Velocity P1-48 Mem Addr: 0130[h] Range: 1 ~ 2000 Units: rpm Default: 1000 Control Modes: P Homing Velocity 2 - Creep Velocity P1-49 Mem Addr: 0131[h] Range: 1 ~ 500 Units: rpm Default: 50 Control Modes: P...
Page 108 Chapter 4: Servo Drive Parameters In Position Window Mem Addr: 0136[h] P1-54 Range: 0 ~ 10,000 Units: counts Default: 99 Control Modes: P • This parameter sets the width of the window in which the At Position digital output will be active As an example, the At Position output will be active by default when the current motor position is within ±99 counts of the target position The total window width is two times the set value Refer to P2-19 ~ P2-22 to assign the digital output functions...
Page 109 Chapter 4: Servo Drive Parameters xTended araMeTers Position Loop Proportional Gain (KPP) P2-00 Mem Addr: 0200[h] Range: 0 ~ 1023 Units: rad/s Default: 35 Control Modes: P • This parameter adjusts the proportional gain of the position control loop, thereby affecting system stiffness and response Higher gains reduce position error and increase responsiveness However, if the setting is too high, it may generate oscillation or noise in the system In Easy Tune mode, this parameter is adjusted by the system.
Page 110 Chapter 4: Servo Drive Parameters Velocity Loop Gain Boost P2-05 Mem Addr: 0205[h] Range: 10 ~ 500 Units: % Default: 100 Control Modes: P/V • This parameter sets the amount of KVP boost when the application condition is met See P2-27 to set the condition in which this boost will be applied to the system Velocity Loop Integral Compensation (KVI) P2-06...
Page 111 Chapter 4: Servo Drive Parameters [6] Digital Input Terminal 1 (DI1) P2-10 Mem Addr: 020A[h] Default: 101 Control Modes: P/V/T [6] Digital Input Terminal 2 (DI2) P2-11 Mem Addr: 020B[h] Default: 104 Control Modes: P/V/T [6] Digital Input Terminal 3 (DI3) P2-12 Mem Addr: 020C[h] Default: 116...
Page 112 Chapter 4: Servo Drive Parameters [DI Function Settings (P2-10 ~ P2-17) – ( continued from previous page Velocity Command Select 0 (VCS0) Velocity Command Select 1 (VCS1) Torque Command Select 0 (TCS0) Torque Command Select 1 (TCS1) Position/Velocity Mode Select (0=Vel., 1=Pos.) (dual control) Velocity/Torque Mode Select (0=Vel., 1=Torq.) (dual control) Position/Torque Mode Select (0=Torq., 1=Pos.) (dual control) Fault Stop (Normally Closed)
Page 113 Chapter 4: Servo Drive Parameters [6] Digital Output Terminal 1 (DO1) 2-18 Mem Addr: 0212[h] Default: 101 Control Modes: P/V/T [6] Digital Output Terminal 2 (DO2) 2-19 Mem Addr: 0213[h] Default: 103 Control Modes: P/V/T [6] Digital Output Terminal 3 (DO3) 2-20 Mem Addr: 0214[h] Default: 109...
Page 114 Chapter 4: Servo Drive Parameters Notch Filter (Resonance Suppression) P2-23 Mem Addr: 0217[h] Range: 50 ~ 1000 Units: Hz Default: 1000 Control Modes: P/V/T • This parameter is used to reduce mechanical system vibration Set the value to match the mechanical resonance (vibration) frequency •...
Page 115 Chapter 4: Servo Drive Parameters Gain Boost Control P2-27 Mem Addr: 021B[h] Range: 0 ~ 4 Units: n/a Default: 0 Control Modes: P/V • This parameter sets how or when Gain Boost is applied Settings: Gain Boost is disabled. Gain Boost controlled by input terminal. In Position Mode (Pt or Pr), Gain Boost becomes active when position deviation is outside threshold set by P2-29.
Page 116 Chapter 4: Servo Drive Parameters [4] Auxiliary Function P2-30 Mem Addr: 021E[h] Range: 0 ~ 5 Unit: n/a Default: 0 Control Modes: P/V/T Refer to chapters 4 and 6 for information and usage of this parameter in Teach Mode and system commissioning.
Page 117 Chapter 4: Servo Drive Parameters [2] Tuning Mode P2-32 Mem Addr: 0220[h] Range: 0 ~ 5 Unit: n/a Default: 0 Control Modes: P/V/T • This parameter varies by firmware version For revision details, refer to “Appendix C: Latest SureServo Firmware Revisions” Settings: Manual Tuning Mode Easy-Tune Mode...
Page 118 Chapter 4: Servo Drive Parameters Position 1 Velocity P2-36 Mem Addr: 0224[h] Position 2 Velocity P2-37 Mem Addr: 0225[h] Position 3 Velocity P2-38 Mem Addr: 0226[h] Position 4 Velocity P2-39 Mem Addr: 0227[h] Position 5 Velocity P2-40 Mem Addr: 0228[h] Position 6 Velocity P2-41 Mem Addr: 0229[h]...
Page 119 Chapter 4: Servo Drive Parameters Index Mode Output Signal Delay Time P2-45 Mem Addr: 022D[h] Range: 0 ~ 250 Units: 4 ms Default: 1 Control Modes: P • This parameter sets the ON time delay after the index move is complete (when Index Mode is enabled) Note: Used only when P2-44 is set to 1.
Page 120 Chapter 4: Servo Drive Parameters Jitter Suppression P2-49 Mem Addr: 0231[h] Range: 0 ~ 19 (enable/disable + 0~9) Units: n/a Default: 0 Control Modes: P/V • This parameter adjusts the cut-off frequency of the velocity feedback into the velocity control loop It is typically used in applications where low speed performance is needed but fast response is not required.
Page 121 Chapter 4: Servo Drive Parameters Clear Position Mode P2-50 Mem Addr: 0232[h] Range: 0 ~ 2 Units: n/a Default: 0 Control Modes: P • This parameter is used when a digital input is configured as a Clear Pulse function (DIx set to 4) (Refer to P2-10 ~ P2-17 to assign the DI functions) Settings: Triggering this input will clear any remaining active command pulses from memory (Pt and...
Page 122 Chapter 4: Servo Drive Parameters Electronic Gear Numerator 2 P2-60 Mem Addr: 023C[h] Electronic Gear Numerator 3 P2-61 Mem Addr: 023D[h] Electronic Gear Numerator 4 P2-62 Mem Addr: 023E[h] Range: 1 ~ 32,767 Units: pulse Default: 1 Control Modes: P •...
Page 123 Chapter 4: Servo Drive Parameters Advanced Torque Limit P2-64 Mem Addr: 0240[h] Range: 0 ~ 3 Units: n/a Default: 0 Control Modes: P/V • This parameter allows you to use a variable analog input Torque Limit whose range is clamped by one or more separate fixed Torque Limits The drive applies whichever applicable limit is more restrictive;...
Page 124 Chapter 4: Servo Drive Parameters P2-64 Settings: (continued from previous page) Forward Torque Limit (Torque Limit applies only in forward direction) If T_REF < 0 If 0 < T_REF < |PTL| = T_REF If T_REF > |PTL| = PTL Torque Limit Clamp Selection for P2-64 = 2 Torque Comand Select DI Torque Enable Method Motor Direction...
Page 125 Chapter 4: Servo Drive Parameters Special Input Functions P2-65 Mem Addr: 0241[h] Range: 0 ~ FFFF [h] Units: bit Default: 0 Control Modes: P/V/T • This parameter varies by firmware version For revision details, refer to “Appendix C: Latest SureServo Firmware Revisions” •...
Page 126 Chapter 4: Servo Drive Parameters OMMunicaTiOn araMeTers Communication Address P3-00 Mem Addr: 0300[h] Range: 1 ~ 254 Units: n/a Default: 1 Control Modes: P/V/T • This parameter sets the Modbus slave address for this system The address must be unique with regard to other drives on a 422/485 network, and must be within the range from 1 through 254 Transmission Speed P3-01...
Page 127 Chapter 4: Servo Drive Parameters Communication Fault Action P3-03 Mem Addr: 0303[h] Range: 0 ~ 1 Units: n/a Default: 0 Control Modes: P/V/T • This parameter determines how the system will behave if a communication error occurs Settings: Display fault and continue operating Display fault and stop operating;...
Page 128 Chapter 4: Servo Drive Parameters Digital Input Software Control Mask P3-08 Mem Addr: 0308[h] Range: 0 ~ FFFF [h] Units: bit Default: 0 Control Modes*: P/V/T * The upper eight bits of this parameter are effective only in Pr Mode. •...
Page 129 Chapter 4: Servo Drive Parameters iagnOsTic araMeTers [1] Fault Record - Most recent (N) P4-00 Mem Addr: 0400[h] [1] Fault Record (N-1) P4-01 Mem Addr: 0401[h] [1] Fault Record (N-2) P4-02 Mem Addr: 0402[h] [1] Fault Record (N-3) P4-03 Mem Addr: 0403[h] [1] Fault Record (N-4) P4-04 Mem Addr: 0404[h]...
Page 130 Chapter 4: Servo Drive Parameters JOG Function P4-05 Mem Addr: 0405[h] Range: 1 ~ 3000 Units: rpm Default: 20 Control Modes: P/V/T • This parameter is a function that applies a command to move the system The operation instructions are as follows: Operation from the Keypad: Note: When jogging from the keypad, any transition of either Fwd or Rev Overtravel switch will cause the motor to stop.
Page 131 Chapter 4: Servo Drive Parameters [2] Force Outputs Command P4-06 Mem Addr: 0406[h] Range: 00 ~ 1F [h] Units: n/a Default: 00 Control Modes: P/V/T • Use this parameter to independently force the state of the digital outputs (Refer to P2-18 ~ P2-22 to assign the DO functions) Operation Instructions: Select P4-06 and press the ENTER key.
Page 132 Chapter 4: Servo Drive Parameters reserved P4-10 reserved P4-11 reserved P4-12 reserved P4-13 reserved P4-14 reserved P4-15 reserved P4-16 reserved P4-17 reserved P4-18 reserved P4-19 [5] Analog Monitor 1 Offset (Ch1) P4-20 Mem Addr: 0414[h] Range: ±800 Units: mV Default: 0 Control Modes: P/V/T •...
Page 133 Chapter 4: Servo Drive Parameters Analog Velocity Input Offset P4-22 Mem Addr: 0416[h] Range: ±5000 Units: mV Default: 0 Control Modes: V • Use this parameter to add an offset value to the Analog Velocity Input Set the parameter value such that (P4-22)/1000 is the input voltage at which you need zero velocity Velocity Command = ((P1-40)/10) [(Input V) - ((P4-22)/1000)];...
Page 134 Chapter 4: Servo Drive Parameters BLANK PAGE Page 4–60 SureServo AC Servo Systems User Manual – Third Edition – 12/07/2018 ®...
Page 135 hapter hapter hapter ontrol odes of peration and uning ontents of this hapter Control Modes of Operation � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �5–2 How to Change Control Modes �...
Page 136 hapter hapter hapter ontrol odes of peration and uning Regenerative Resistor � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 5–37 Built-in Regenerative Resistor�...
Page 137: Control Modes Of Operation
hapter hapter hapter ontrol odes of peration and uning BLANK PAGE SureServo AC Servo Systems User Manual – Third Edition – 12/07/2018 Page 5–1c ®...
Page 138 Chapter 5: Control Modes of Operation and Tuning oNTRol odes of peRATIoN SureServo drives can be programmed to provide six single and five dual modes of operation, as selected by parameter P1.01. The mode operations and descriptions are listed in the following table. SureServo Control Modes of Operation Mode Symbol...
Page 139: Control Modes
Chapter 5: Control Modes of Operation and Tuning osITIoN oNTRol odes The position control modes (Pt or Pr mode) are used in applications requiring precision positioning, such as index tables, slides, etc. The SureServo drive supports two kinds of command sources in position control mode.
Page 140: Electronic Gear Ratio
Chapter 5: Control Modes of Operation and Tuning asic lOck iagraM Of OsiTiOn OMMand rOcessing Position Command Processing Pr Mode: S-curve Command Electronic 1) Absolute Filter Source Gear Ratio Position Control POS2-POS0 P1-34 P1-15 P1-44 2) Incremental CTRG through through P1-45 Position Control P1-36...
Page 141: Position Loop Gain Adjustment
Chapter 5: Control Modes of Operation and Tuning OsiTiOn djusTMenT Before performing position control, the user should complete the velocity mode tuning, since position loop control depends on the velocity loop. (Refer to the “Tuning Modes” sections of this chapter for information on tuning methods.) The position loop is adjusted by the Position Loop Proportional Gain, KPP (P2-00), and the Position Feed Forward Gain, KFF (P2-02).
Page 142 Chapter 5: Control Modes of Operation and Tuning OMMand Ource Of OsiTiOn OnTrOl The command source of the Pt (Position - terminals) mode comes from an external pulse train. Parameter P1-00 selects one of the three possible types of pulse inputs, and the polarity of the signals. The three possible position input types are Pulse/Direction, CW/CCW, and Quadrature.
Page 143: Timing Chart Of Pr Position Control Mode
Chapter 5: Control Modes of Operation and Tuning In Incremental Positioning (P1-33 = 1), the same parameters of P1-15 = 4 and P1-16 = -5000 would cause the motor to move 3½ revolutions from it’s current location. Incremental mode is ideal for conveyors, pull belts, or other applications where the motor does not need to be referenced back to a single position: the motor only needs to move a certain distance each cycle.
Page 144: Teach Position Function For Pr Absolute Position Control
Chapter 5: Control Modes of Operation and Tuning each OsiTiOn uncTiOn fOr bsOluTe OsiTiOn OnTrOl A Teach Position Function is available for use in the Pr Mode with Absolute Positioning. This function allows users to jog the motor to the desired positions and set those positions as the Target Positions. In many cases, this method is easier than entering numeric values directly into P1-15 ~ P1-30.
Page 145 Chapter 5: Control Modes of Operation and Tuning (P1-33 = 0,1) araMeTers fOr bsOluTe and ncreMenTal OnTrOl enerally elevanT araMeTers Pr Control Mode Relevant Parameters Absolute and Incremental Positioning (P1-33 = 0, 1) Parameter Parameter Settings P1-01 Settings: Control Mode and Output 1: Forward = CCW rotation Direction 101: Forward = CW rotation...
Page 146: P Ositioning P Arameters
Chapter 5: Control Modes of Operation and Tuning OsiTiOning araMeTers Pr Control Mode Positioning Parameters Absolute and Incremental Positioning (P1-33 = 0, 1) Position Position Command Parameters Position Velocity Parameter P1-15 revolutions; P1-16 counts P2-36 P1-17 revolutions; P1-18 counts P2-37 P1-19 revolutions;...
Page 147 Chapter 5: Control Modes of Operation and Tuning (P1-33 = 2,3,4) araMeTers fOr ndex OnTrOl enerally elevanT araMeTers fOr ndex OnTrOl Pr Control Mode Relevant Parameters Index Mode Positioning (P1-33 = 2,3,4) Parameter Parameter Settings P1-01 Settings: Control Mode and Output 1: Forward = CCW rotation Direction 101: Forward = CW rotation...
Page 148 Chapter 5: Control Modes of Operation and Tuning i/O P igiTal araMeTers fOr ndex OnTrOl Pr Control Mode Digital I/O Parameters Index Mode Positioning (P1-33 = 2,3,4) DI Signal Parameter Setting Explanation P2-10 = 128 Index Mode Select 0 P2-11 = 129 Index Mode Select 1 P2-12 = 130 Index Mode Select 2...
Page 149 Chapter 5: Control Modes of Operation and Tuning Index Selection Using Pr Index Mode Select DI Index Mode Index Mode Index Mode Index Mode Index Mode Index Select 4 Select 3 Select 2 Select 1 Select 0 Number DI Code 32 DI Code 31 DI Code 30 DI Code 29...
Page 150 Chapter 5: Control Modes of Operation and Tuning Pr Index Mode Indications of DO Signals DO Indication Alarm Servo Ready Homing Operation in Progress Home Operation Completed Index Position Change in Progress Index Position 1 Attained Index Position 2 Attained Index Position 3 Attained Index Position 4 Attained Index Position 5 Attained...
Page 151 Chapter 5: Control Modes of Operation and Tuning di/dO s iMing harTs Of ndex ignals PeraTiOn Pr Index Mode Home Search Timing Chart In this example, Homing Mode P1-47 is set to 0202 (detect home position, decelerate and return home; homing started by DI;...
Page 152 Chapter 5: Control Modes of Operation and Tuning ndex iMing harT using lear OMMand Power Supply Index Pos Index Pos Index Pos Index Pos Index Pos 6 (10) Change 2 (06) Change Change DO Value P2-45 Motor Velocity Servo Enable DI Torque Limit DI Index Mode...
Page 153 Chapter 5: Control Modes of Operation and Tuning ndex anual iMing harT using Orward Power Supply Index Pos Index Pos Index Pos Index Pos Index Pos Change 2 (06) Change 3 (07) Change DO Value P2-45 Motor Velocity Servo Enable DI Torque Limit DI Index Mode...
Page 154 Chapter 5: Control Modes of Operation and Tuning ndex anual iMing harT using anual ingle Power Supply Index Pos Index Pos Index Pos Index Pos Change Change Change Change DO Value Index Pos Index Pos Index Pos Index Pos 2 (06) 4 (08) 5 (09) 3 (07)
Page 155 Chapter 5: Control Modes of Operation and Tuning ndex anual iMing harT using anual OnTinuOus Power Supply Index Pos Index Pos Index Pos Index Pos Change Change Change Change DO Value Index Pos Index Pos Index Pos Index Pos 2 (06) 4 (08) 5 (09) 3 (07)
Page 156 Chapter 5: Control Modes of Operation and Tuning (P1-33 = 5,6) araMeTers fOr bsOluTe and ncreMenTal OnTrOl Internal Absolute and Incremental Auto Position Modes allow the SureServo Drive to be easily programmed to step through a series of up to eight unique indexes (moves). They are the same indexes available in the standard Pr mode (Parameters P1-15 ~ P1-30).
Page 157 Chapter 5: Control Modes of Operation and Tuning 7) Set P1-34, P1-35, P1-36 for Acceleration, Deceleration, and S-curve. Without setting these parameters, the drive may fault when a move is first intitiated. Acceleration and Deceleration are ignored unless the S-Curve parameter is set to a non-zero amount. P1-36 defaults to 0 when the drive is set to factory defaults.
Page 158 Chapter 5: Control Modes of Operation and Tuning 10) Configure P1-47, Homing Mode (if necessary). The drive will automatically power up at position zero. If your application needs a homing reference, see P1-47 for configuration. A value of 0202 in P1-47 will configure the drive to look for an external home command signal. When the Home Sensor Digital Input is triggered, the drive will search for an external (DI) Home Sensor.
Page 159 Chapter 5: Control Modes of Operation and Tuning OMMand and esPOnse xaMPle fOr bsOluTe and ncreMenTal OnTrOl When in Internal (Pr) Auto Position Control Mode, the outputs can be set to output a binary code to an external controller (PLC, etc.) Setting P2-44 to 1 will cause the outputs to follow the binary code shown previously.
Page 160 Chapter 5: Control Modes of Operation and Tuning elocITy oNTRol The Velocity Control modes (V and Vz) are used on applications of precision speed control, such as CNC machines, conveyor speed matching, etc. Typically, the command signal is generated from an analog motion controller (a CNC controller, for example), or from a speed sensing device (when matching one conveyor speed to another, etc.).
Page 161: Velocity Control Mode
Chapter 5: Control Modes of Operation and Tuning TrucTure Of elOciTy OnTrOl Velocity Command Velocity Control Mode Basic Structure: Velocity Command Processing Velocity Estimator Velocity Control Resonant Suppression Torque Current Block Diagram Block Diagram Limiter Loop In the figure above, the velocity command processing is used to select the command source of velocity control, including maximum rotation speed of analog velocity command selection (parameter P1-40) and S-curve filter of velocity control.
Page 162 Chapter 5: Control Modes of Operation and Tuning MOOThing TraTegy Of elOciTy OnTrOl curve ilTer and nalOg OMMand ilTer The S-curve Filter is a combination of three parameters that can smooth the effects of sudden changes in velocity when a new internal Velocity Command is selected. Using the S-curve filter allows a more gradual output response to sudden command changes.
Page 163 Chapter 5: Control Modes of Operation and Tuning nalOg elOciTy nPuT caling The analog voltage between V_REF (analog Velocity Command input) and GND (CN1 pins 12, 13, 19, 44) determines the motor Velocity Command. Parameter P1-40 (Analog Full Scale Velocity Command/ Limit) adjusts the velocity control range and the slope of its ramp.
Page 164: Resonance Suppression
Chapter 5: Control Modes of Operation and Tuning esOnance uPPressiOn Resonance of the mechanical system may occur due to excessive system stiffness or frequency response. However, this kind of resonance condition can be improved, suppressed, or even eliminated by using the Low-pass Filter (P2-25) and the Notch Filter (P2-23 & P2-24). Resonance Suppression Block Diagram Feed Forward Gain Current...
Page 165 Chapter 5: Control Modes of Operation and Tuning OTch ilTer If the resonant frequency can be determined, then use the Notch Filter (parameters P2-23 & P2-24) to eliminate the resonance, and reduce motor vibration. However, if the resonant frequency is outside of the Notch Filter range (50~1000Hz &...
Page 166: Torque Control Mode
Chapter 5: Control Modes of Operation and Tuning oRque oNTRol The Torque Control Modes (T or Tz) are useful for applications of torque control, such as printing machines, spinning machines, twisters, etc. The SureServo drive supports two types of command sources in the Torque Control mode: (1) external analog signal, and (2) internal parameters.
Page 167 Chapter 5: Control Modes of Operation and Tuning TrucTure Of Orque OnTrOl asic TrucTure Torque Command Torque Command Resonant Suppression Velocity Processing Block Diagram Loop Output Torque Current Control Block Diagram Current Sensor In the figure above, the Torque Command processor is used to select the command source of torque control as described in the previous and following sections, including the Analog Full Scale Torque Command (P1-41), and the smoothing strategy of the torque control mode.
Page 168: Analog Torque Input Scaling
Chapter 5: Control Modes of Operation and Tuning nalOg Orque nPuT caling The analog voltage between the T_REF terminal (analog Torque Command input) and GND (CN1 pins 12, 13, 19, 44) determines the motor Torque Command. Parameter P1-41 (Analog Full Scale Torque Command/Limit) adjusts the torque control ramp and its range.
Page 169 Chapter 5: Control Modes of Operation and Tuning oNTRol odes elecTIoN The dual control modes allow SureServo systems to switch between pre-determined control modes while the servo is enabled. For example, if an application requires both Velocity control and Torque control, P1-01 can be set to 10 to allow a digital input to select between these two control modes.
Page 170: Position / Torque Control Mode Selection
Chapter 5: Control Modes of Operation and Tuning OsiTiOn Orque OnTrOl elecTiOn -T M -T M The position command source of Pt-T mode is from external digital inputs. The position command source of Pr-T mode is from the internal Position Command parameters P1-15 through P1-30. In both modes, the torque command can be the external analog Torque Command signal, or the internal Torque Command parameters P1-12 through P1-14.
Page 171: Velocity / Torque Control Mode Selection
Chapter 5: Control Modes of Operation and Tuning elOciTy Orque OnTrOl elecTiOn v-T M In the Velocity Mode, the velocity command can be the external analog voltage input (AI), or it can be the internal Velocity Command parameters (P1-09 to P1-11) combined with the Velocity Command Select DI.
Page 172: Velocity Limit
Chapter 5: Control Modes of Operation and Tuning ImITs elOciTy iMiT The maximum velocity can be limited by using parameter P1-55 (Maximum Velocity Limit) in ALL control modes. The velocity limit only can be used in torque mode (T mode) to limit the servo motor velocity. When the torque command is the external analog voltage input, there should be surplus DI signals that can be configured as Velocity Command Select inputs used to select Velocity Limits (P1-09~P1-11).
Page 173: Regenerative Resistor
Chapter 5: Control Modes of Operation and Tuning eGeNeRATIVe esIsToR uilT egeneraTive esisTOr At the point where the load starts driving the servo motor, instead of vice-versa, the motor becomes a generator instead of a motor. The servo systems needs to dissipate the extra energy that is being generated, and it does that through a regenerative resistor.
Page 174: External Regenerative Resistor
Select the adequate regenerative resistors according to the allowable frequencies by referring to the table below: Allowable Frequencies for Servo Motor Running Without Load When Using External Regenerative Resistor Automation Direct Frequency of Accel & Decel Drive Model External Resistor...
Page 175: Electromagnetic Brake
Chapter 5: Control Modes of Operation and Tuning lecTRomAGNeTIc RAke Some SureServo motors (part # SVx-xxxB) have an internal spring-loaded holding brake. These brake motors are generally used in applications where the load needs to be held up opposite the force of gravity, or needs to be held tight when power is removed from the system.
Page 176: Timing Charts Of Control Circuit Power And Main Circuit Power
Chapter 5: Control Modes of Operation and Tuning iMing charTs Of cOnTrOl circuiT POwer and Main circuiT POwer L1, L2 Control Circuit Power 1 sec Control Circuit Power >0msec R, S, T Main Circuit Power 800ms Bus Voltage Ready 2 sec Servo Ready Servo Enable...
Page 177: Tuning Modes Overview
Chapter 5: Control Modes of Operation and Tuning uNING odes VeRVIeW urPOse Of uning hy and hen iT is ecessary What is tuning and why is it necessary? Servo systems essentially operate by reducing the error between the command input and the output to zero. How hard it tries to make the error zero depends on how the system is tuned.
Page 178 Chapter 5: Control Modes of Operation and Tuning ™ T ervO uning Odes vailable SureServo™ servo systems have a choice of three types of tuning modes to suit your application; manual, auto, and easy tuning modes. Parameter P2-32 selects the tuning mode, and a general description of each one can be found below: Manual Tuning Mode (P2-32 = 0): This is a common tuning mode available in most servo systems.
Page 179: Tuning Modes And Their Relevant Parameters
Chapter 5: Control Modes of Operation and Tuning uning Odes and heir elevanT araMeTers Tuning Modes and Their Relevant Parameters (Table 6-1) Parameters Set Tuning Mode P2-32 Parameters set by User Gain Values by System P2-00 Proportional Position Loop Gain (KPP) Manual None P2-04 Velocity Loop Proportional Gain (KVP)
Page 180: Tuning Modes Details
Chapter 5: Control Modes of Operation and Tuning uNING odes eTAIls uning Odes There are two modes of auto-tuning available for use in the SureServo systems: Adaptive and Fixed. The Adaptive modes continuously monitor the load and determine the inertia mismatch ratio so the system tunes itself based on a response level set by the user.
Page 181 Chapter 5: Control Modes of Operation and Tuning Pi M sing Below is a flowchart for use as a tuning guideline when using the PI Auto-Tune Mode. In general, increasing the setting of P2-31 increases the responsiveness of the system and reduces noise. Adjust P2-25 (refer to Table 6-3) along with the bandwidth setting of P2-31 to complete the response adjustment.
Page 182 Chapter 5: Control Modes of Operation and Tuning Pdff M sing Below is a flowchart for use as a tuning guideline when using the PDFF Auto-Tune Mode. In general, increasing the setting of P2-31 increases the responsiveness of the system and reduces noise. Adjust this parameter until satisfactory performance is achieved.
Page 183: Using Easy-Tune Mode
Chapter 5: Control Modes of Operation and Tuning sing Easy-Tune mode is used on systems that have loads that vary over a relatively wide range. The SureServo system automatically tunes the system based on a known mismatch ratio. Below is a flowchart for use as a tuning guideline when using the Easy-Tune Mode.
Page 184 Chapter 5: Control Modes of Operation and Tuning Easy-Tune Parameter Relationships (Table 6-5) Easy-Tune Inertia Max Load Recommended Recommended Responsiveness Response Mismatch Corresponding P2-00 P2-25 Level P2-31 Ratio P1-37 Ratio Setting Setting 50~100 30~50 20~30 11Hz 16~20 15Hz 12~16 20Hz 8~12 27Hz Medium...
Page 185: Using Manual Tuning Mode
Chapter 5: Control Modes of Operation and Tuning sing anual uning Manual tuning mode is generally used when fine tuning of the system is required. This mode should be used only by experienced users familiar with general servo system theories. The SureServo system does not automatically change any parameters in this mode.
Page 186 Chapter 5: Control Modes of Operation and Tuning anual elOciTy Manual Tuning - Velocity Mode Set Disabled State, Set P2-32 To 0, then re-enable Drive Minimize value in P2-06 (effectively eliminating error correction control) Use the Jog Mode or external motion controller to move the system forward and reverse alternately.
Page 187: Manual Tuning Mode Details
Chapter 5: Control Modes of Operation and Tuning anual uning eTails Tuning a new system for the first time has its challenges. Sometimes it is necessary to address a difficult tuning application using the manual mode. This mode requires the user be an expert in servo system architecture and system tuning.
Page 188 Chapter 5: Control Modes of Operation and Tuning BLANK PAGE Page 52 SureServo AC Servo Systems User Manual – Third Edition – 12/07/2018 ®...
Page 189: Modbus Communications
hapter hapter hapter odbus oMMuniCations ontents of this hapter SureServo™ Communication Parameters � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �6–2 SureServo™...
Page 190 Chapter 6: Modbus Communications ™ c eRVo ommuNIcATIoN ARAmeTeRs The SureServo™ drives support the Modbus RTU/ASCII communications protocols as a slave device only. Drive serial port CN3 can be connected to a Modbus master using RS-232, RS-422 or RS-485 communications (port pin-outs and wiring diagrams are shown later in this chapter). This chapter lists all of the drive’s parameters along with the corresponding Modbus addresses.
Page 191: M Emory A Ddresses
Chapter 6: Modbus Communications ™ p eRVo ARAmeTeR emoRy ddResses Parameter Memory Addresses Hexa- Modbus Parameter Description Octal decimal Decimal Group 0: Monitor Parameters P0-00 Software Version 0000 40001 P0-01 Drive Fault Code 0001 40002 P0-02 Drive Status (Front Panel Display) 0002 40003 P0-03...
Page 192 Chapter 6: Modbus Communications Parameter Memory Addresses (continued) Hexa- Modbus Parameter Description Octal decimal Decimal P1-20 Position Command 3- Pulse 0114 40277 P1-21 Position Command 4- Revolutions 0115 40278 P1-22 Position Command 4- Pulse 0116 40279 P1-23 Position Command 5- Revolutions 0117 40280 P1-24...
Page 193 Chapter 6: Modbus Communications Parameter Memory Addresses (continued) Hexa- Modbus Parameter Description Octal decimal Decimal Group 2: Extended Parameters P2-00 Position Loop Proportional Gain (KPP) 0200 40513 1000 P2-01 Position Loop Gain Boost 0201 40514 1001 P2-02 Position Feed Forward Gain (KFF) 0202 40515 1002...
Page 194 Chapter 6: Modbus Communications Parameter Memory Addresses (continued) Hexa- Modbus Parameter Description Octal decimal Decimal P2-49 Jitter Suppression 0231 40562 1061 P2-50 Clear Position Mode 0232 40563 1062 P2-51 Servo On Command 0233 40564 1063 P2-52 Dwell Time 1 (auto index mode) 0234 40565 1064...
Page 195 Chapter 6: Modbus Communications oNNecTING To irecT oGIc The following steps explain how to connect and communicate with the SureServo drives using DirectLOGIC PLCs. 1: M rTu M Odbus asTer The SureServo™ servo drives will communicate with the following DirectLOGIC CPUs using the Modbus RTU protocol.
Page 196 Chapter 6: Modbus Communications DL06/DL250-1/DL260: RS-422 Connection Wiring 120 Termination Resistor at both ends of network RX– TX– Signal GND 9 TXD+ 10 TXD– 13 RXD+ 6 RXD– 11 RTS+ TX– 12 RTS– Cable: RX– 14 CTS+ Use SVC-MDCOM-CBL, 15 CTS– or Belden 9729, 7 0V or equivalent...
Page 197 Chapter 6: Modbus Communications 4: c lOgic cPu P Onfigure The irecT The DirectLOGIC CPUs must be configured as a Modbus RTU master PLC to communicate with the SureServo drives. This includes setting up the PLC communication port parameters and creating ladder logic programming code that uses read/write instructions to communicate with the drive(s).
Page 198 Chapter 6: Modbus Communications lOgic M rTu M dl05/dl250-1 irecT Odbus asTer OnfiguraTiOn fOr The following configuration example is specific to the DL05 or DL250-1 CPU. Refer to the appropriate CPU User Manual for the specifics on your DirectLOGIC CPU. •...
Page 199 Chapter 6: Modbus Communications ™ / d loGIc plc c eRVo irecT oNTRol xAmple ™ b ervO lOck ransfer uncTiOn A group of Status Monitor Registers (P0-04 to P0-08) and a group of Block Data Registers (P0-09 to P0-16) are available in the SureServo drive. These continuous blocks of registers can be used to “group”...
Page 200 Chapter 6: Modbus Communications The following list provides the DirectLOGIC PLC V-memory locations and control bits along with the associated SureServo parameters used in the following ladder logic drive control example. (rx) Plc v- araMeTers ead frOM drive laced in MeMOry V3000 - P0-00: Firmware Version V3001 - P0-01: Drive fault...
Page 201 Chapter 6: Modbus Communications lOgic l irecT adder Ogic rOgraMMing xaMPle The setup for all of the DirectLOGIC CPUs is very similar. Refer to the appropriate CPU User Manual for the specifics on your particular DirectLOGIC CPU model. The following ladder program shows an example of how to control the SureServo drive (configured for Position Mode) using communications instructions via the Modbus RTU protocol.
Page 202 Chapter 6: Modbus Communications DirectLOGIC Ladder Logic Programming Example (continued) In many drive applications, electromagnetic interference can at times cause frequent, short duration, communication errors. Unless the application environment is perfect, an occasional communication error will occur. In order to distinguish between these non-fatal transients and a genuine communication failure, you may want to use the instructions as shown in Rungs 2 and 3.
Page 203 Chapter 6: Modbus Communications DirectLOGIC Ladder Logic Programming Example (continued) The Read(RX) and Write(WX) commands are supported in the DL05/06/250-1/260 DirectLOGIC CPUs. These instructions use octal addressing only, so the octal equivalent of the Parameter’s Modbus addresses must be used. Rungs 4 &...
Page 204 Chapter 6: Modbus Communications DirectLOGIC Ladder Logic Programming Example (continued) The DL06/260 CPUs support the Modbus Read (MRX) and Modbus Write (MWX) instructions. These instructions allow you to enter Modbus Slave Memory Addresses (no need to use octal addressing conversions to communicate with the drive). Alternate Rungs 4 &...
Page 205 Chapter 6: Modbus Communications DirectLOGIC Ladder Logic Programming Example (continued) R ung 8 loads the position (revolutions and pulse) counts to the drive when C2 is turned on. The registers are written by the WX or MWX instruction. Note: Constants are used in this Position command example program.
Page 206 Chapter 6: Modbus Communications DirectLOGIC Ladder Logic Programming Example (continued) R ung 12: If C4 is turned on, drive faults and the ladder logic is reset. Y2 is connected to drive input 3. Y4 is connected to drive input 5. Clear Pulse Control Bits PLC outputs...
Page 207 Chapter 6: Modbus Communications lOgic l – M irecT adder rOgraMMing xaMPle ulTiPle rives The set up for all of the DirectLogic CPUs is very similar. Refer to the appropriate CPU User Manual for the specifics on your DirectLogic CPU. The following ladder program shows an example of a DL06 or DL260 CPU port 2 controlling two SureServo™...
Page 208 Chapter 6: Modbus Communications ommuNIcATING WITh hIRd pARTy eVIces The SureServo™ Serial Comm Port supports RS-232/422/485 communications. The drive can be set up to communicate on standard Modbus networks using ASCII or RTU transmission modes. Using the drive’s Communication Protocol parameters, you can select the desired mode, data bits, parity, and stop bits.
Page 209 Chapter 6: Modbus Communications ascii rTu d Odbus OrMaT biT characTer fraMe biT characTer P3-02 = 00: ASCII mode (7 data bits, no parity, 2 stop bits) Start Stop Stop 7-bit character 10-bit character frame P3-02 = 01: ASCII mode (7 data bits, even parity, 1 stop bit) Start Even Stop...
Page 210: M Odbus Rtu M Ode
Chapter 6: Modbus Communications OMMunicaTiOn rOTOcOl ascii M Odbus Start Character: (3AH) ADR 1 ADR 0 Communication Address: 8-bit address consists of 2 ASCII codes CMD 1 CMD 0 DATA (n-1) Contents of data: n x 8-bit data consists of 2n ASCII codes� n[]25 ��...
Page 211 Chapter 6: Modbus Communications cMd (c daTa ( OMMand daTa characTers The format of data characters depends on the command code. The available command codes are described as follows: Command code: 03H, read N words. The maximum value of N is 10. For example, reading continuous 2 words from starting address 0200H of drive with address 01H.
Page 212 Chapter 6: Modbus Communications : 06h, OMMand cOde wriTe wOrd For example, writing 100(0064H) to address 0200H of drive with address 01H. Modbus ASCII mode: Command Message Response Message ‘:’ STX ‘:’ ‘:’ ‘0’ ‘0’ ADR 1 ADR 1 ADR 0 ADR 0 ‘1’...
Page 213 Chapter 6: Modbus Communications chk ( check suM Modbus ASCII Mode: LRC (Longitudinal Redundancy Check) is calculated by summing up module 256, the values of the bytes from ADR1 to last data character, then calculating the hexadecimal representation of the 2’s-complement negation of the sum.
Page 214 Chapter 6: Modbus Communications CRC (Cyclical Redundancy Check) is calculated by the following steps: 1) Load a 16-bit register (called CRC register) with FFFFH. 2) Exclusive OR the first 8-bit byte of the command message with the low order byte of the 16-bit CRC register, putting the result in the CRC register.
Page 215: Maintenance And Troubleshooting
hapter hapter hapter aintenance and roubleshooting ontents of this hapter Maintenance and Inspection � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �7–2 Basic Inspection �...
Page 216: Basic Inspection
Chapter 7: Maintenance and Troubleshooting AINTeNANce ANd NspecTIoN SureServo™ AC servo drives are based on solid state electronics technology. Preventive maintenance is required to make sure the drive functions properly and has a long life. We recommend that periodic maintenance and inspection of the servo drive be performed by a qualified technician. Always turn off the AC input power to the unit before any maintenance and inspection.
Page 217: Expected Life Of Replacement Components
Chapter 7: Maintenance and Troubleshooting AINTeNANce • Use and store servo system in a clean, dry, and normal-temperature environment� • Periodically clean the surfaces and panel of servo drive and motor� • Periodically check the resistance of the insulation with Meg-ohmmeter� The insulation resistance should measure at least 100 Meg-Ohms at 500 VDC and should be tested with a power cable connector properly connected to the motor�...
Page 218: Troubleshooting
Chapter 7: Maintenance and Troubleshooting RoubleshooTING & w aulT arning essage able Once a fault or error is detected, the corresponding protective fault functions will be activated and the fault messages will be displayed. Fault/Warning Messages Display Fault/Warning Name TYPE Fault/Warning Description Main circuit current is higher than 1�5 multiple of motor’s instantaneous ALE01 Overcurrent...
Page 219: Fault Message Potential Causes And Corrective Actions
Chapter 7: Maintenance and Troubleshooting aulT essage OTenTial auses and OrrecTive cTiOns Fault Message Potential Causes and Corrective Actions Potential Causes Checking Method Corrective Actions ALE01: Overcurrent Short-circuit at drive Check the wiring connections between drive Repair short-circuit� output and motor, and check cables for shorts� Make sure the connections between the motor Follow the wiring steps in the user manual to Motor wiring error...
Page 220 Chapter 7: Maintenance and Troubleshooting Fault Message Potential Causes and Corrective Actions (continued) Potential Causes Checking Method Corrective Actions ALE09: Excessive Deviation Maximum deviation Check the maximum deviation parameter parameter setting is too Increase parameter setting value� setting� small� Gain value is too small� Check if the setting value is correct�...
Page 221: Warning Message Potential Causes And Corrective Actions
Chapter 7: Maintenance and Troubleshooting Fault Message Potential Causes and Corrective Actions (continued) Potential Causes Checking Method Corrective Actions ALE18: DSP Communication Error Control power error� If the error does not clear after resetting the Check and reset control power� power supply, contact Technical Support: Hardware malfunction�...
Page 222: Clearing Faults
Chapter 7: Maintenance and Troubleshooting learing aulTs Clearing Faults Display Fault Name How to Clear Fault ALE05 Regeneration error Turn Alarm Reset (DI signal) ON to clear the fault� ALE06 Overload Turn Alarm Reset (DI signal) ON to clear the fault� ALE07 Overspeed Turn Alarm Reset (DI signal) ON to clear the fault�...
Page 223 ppendix ppendix ppendix ® S electing the ervo yStem ontents of this hapter Selecting the SureServo Servo System A–2 ®...
Page 224 Appendix A: Selecting the SureServo® System eRVo ® elecTING The eRVo ysTem The selection of your SureServo® servo system follows a defined process. Let’s go through the process and define some useful relationships and equations. We will use this information to work some typical examples along the way.
Page 225 Appendix A: Selecting the SureServo® System haT is The POsiTiOning resOluTiOn Of The lOad We want to know how far the load will move for one command pulse. The equation to determine the positioning resolution is: ÷ i) ÷ θ Equation 2: L θ...
Page 226 Appendix A: Selecting the SureServo® System alculaTing The equired Orque The required torque is the sum of acceleration (or deceleration) torque and the running torque. The equation for required motor torque is: Torque (N·m) Equation 5: T motor accel (or decel) •...
Page 227 Appendix A: Selecting the SureServo® System Table 1 – Calculate the Torque for “Acceleration” and “Running” The torque required to accelerate or decelerate a constant inertia with a linear change in velocity is: Indexing Velocity Accel Decel Velocity Equation 6: Period Period x (∆speed ÷...
Page 228 Appendix A: Selecting the SureServo® System Table 1 – Calculate the Torque for “Acceleration” and “Running” (continued from previous page) Belt Drive (or Rack & Pinion) Equations Conveyor Rack & Pinion gear motor gravity θ motor θ pinion gear pinion gravity Description: Equations:...
Page 229 Appendix A: Selecting the SureServo® System Table 1 – Calculate the Torque for “Acceleration” and “Running” (continued from previous page) Inertia of Solid Cylinder Equations Solid Cylinder D = 2r Description: Equations: Inertia (known weight) J = (W x r ) ÷...
Page 230 Appendix A: Selecting the SureServo® System – e eAdscReW xAmple AlculATIoNs 1 – d efine The cTuaTOr and OTiOn equireMenTs Leadscrew gravity coupling gear screw motor θ • Weight of table and workpiece = 150 lb • Angle of inclination = 0° •...
Page 231 Appendix A: Selecting the SureServo® System 3 – d eTerMine The OTiOn rOfile From Equation 1, the total pulses to make the required move is: • P = (D ÷ (d ÷ i)) x θ total total load count = (78 ÷ (8 ÷ 2)) x 10,000 = 195,000 pulses From Equation 4, the indexing frequency for a trapezoidal move is: •...
Page 232 Appendix A: Selecting the SureServo® System 5 – s elecT and OnfirM The ervO OTOr and river ysTeM It looks like a reasonable choice for a motor would be the SVL-207. This motor has an inertia of: • J = 000096 lb·in·sec motor The actual motor torque would be modified: •...
Page 233: E Xample C Alculations
Appendix A: Selecting the SureServo® System – e RIVe xAmple AlculATIoNs 1 – d efine The cTuaTOr and OTiOn equireMenTs Conveyor gravity θ motor gear pinion • Weight of table and workpiece = 90 lb • External force = 0 lb •...
Page 234 Appendix A: Selecting the SureServo® System 3 – d eTerMine The OTiOn rOfile From Equation 1, the total pulses to make the required move is: • P = (D ÷ (d ÷ i)) x θ total total load count = 50 ÷ ((314 x 20) ÷ 10 x 10,000 ≈...
Page 235 Appendix A: Selecting the SureServo® System 5 – s elecT and OnfirM The ervO OTOr and river ysTeM It looks like a reasonable choice for a motor would be the SVL-2040. This motor has an inertia of: • J = 00003 lb·in·sec motor The actual motor torque would be modified: •...
Page 236 Appendix A: Selecting the SureServo® System – e Ndex Able xAmple AlculATIoNs 1 – d efine The cTuaTOr and OTiOn equireMenTs Index Table gear motor • Diameter of index table = 12 inch • Thickness of index table = 325 inch •...
Page 237 Appendix A: Selecting the SureServo® System 4 – d eTerMine The equired OTOr Orque Using the equations in Table 1: • J + (J ÷ i total motor gear table For this example, let’s assume the gearbox inertia is zero. •...
Page 238 Appendix A: Selecting the SureServo® System , & d NGINeeRING oNVeRsIoN Ables oRmulAs efINITIoNs Conversion of Length µm µm 1000E–03 1000E–06 3.937E–02 3.937E–05 3281E–06 1000E+03 1000E–03 3.937E+01 3.937E–02 3281E–03 1000E+06 1000E+03 3.937E+04 3.937E+01 3281E+00 2540E+01 2540E–02 2540E–05 1000E–03 8330E–05 2540E+04 2540E+01 2540E–02 1000E+03...
Page 239 PPenDix PPenDix PPenDix ® sing ervo Logic PLc with irect ontents of this hapter Compatible DirectLOGIC PLCs and Modules � � � � � � � � � � � � � � � � � � � � � � � � � � � � �B–2 Typical Connections to a DL05 PLC �...
Page 240 Appendix B: Using SureServo® with DirectLOGIC PLCs loGIc plc ompATIble IRecT s ANd odules The following tables show which DirectLOGIC PLCs and modules can be used with SureServo® servo systems. DirectLOGIC PLCs/Modules for Use with Sure Servo Systems DL05 PLCs DL05 CPU, 8 AC in / 6 DC out, 110/220VAC power supply�...
Page 241 Appendix B: Using SureServo® with DirectLOGIC PLCs DirectLOGIC PLCs/Modules for Use with Sure Servo Systems (continued) Terminator I/O High Speed Counter I/O Module Terminator I/O High Speed Counter I/O Interface Module, 8 DC sink/source inputs 9-30VDC, 4 isolated sink/ source DC outputs, 5-30VDC, 1A per point� Inputs supported: 2 quadrature encoder counters up to 100kHz, or 4 single channel counters up to 100kHz, and 4 high speed discrete inputs for Reset, Inhibit, or Capture�...
Page 242 Appendix B: Using SureServo® with DirectLOGIC PLCs dl05 plc ypIcAl oNNecTIoNs To A The following wiring diagram shows typical connections between the SureServo® Servo System components and a DirectLOGIC DL05 PLC. Refer to the DL05 Micro PLC User Manual, p/n D0-USER-M, “Chapter 3: High-Speed Input and Pulse Output Features,”...
Page 243 Appendix B: Using SureServo® with DirectLOGIC PLCs h0-cTRIo ypIcAl oNNecTIoNs To AN The following wiring diagram shows typical connections between the SureServo® Servo System components and a DirectLOGIC H0-CTRIO High Speed Counter I/O Interface Module installed in either a DL05 or DL06 PLC option slot. Refer to the CTRIO High-Speed Counter Module User Manual, p/n HX-CTRIO-M, for detailed programming instructions when using the H0-CTRIO module.
Page 244 Appendix B: Using SureServo® with DirectLOGIC PLCs dl06 plc ypIcAl oNNecTIoNs To A The following wiring diagram shows typical connections between the SureServo® servo components and a DirectLogic DL06 PLC. Although this example is a PLC, any Modbus master controller would work in this control scheme.
Page 245 Appendix B: Using SureServo® with DirectLOGIC PLCs dl06 Plc ( yPical OnnecTiOns TO a cOnTinued frOM PreviOus Page dl06 c – M yPical OnnecTiOns ulTiPle rives OTOrs hrOugh OMMunicaTiOn Note: Refer to Chapter 6 for more detailed Modbus communications information. RS-422/485 Communication Connections...
Page 246 Appendix B: Using SureServo® with DirectLOGIC PLCs Adc l eRVo ® To oNNecTING RIVeR NcodeRs ADC Model TRD-Sxxx-VD Line Driver Encoder Connections Brown: Power (Connect to external +5 VDC source) Blue: 0 V (COM-) Black: OUT A (PULSE) UTOMATION IRECT Purple: OUT /A (/PULSE) White: OUT B...
Page 247 Appendix B: Using SureServo® with DirectLOGIC PLCs Adc o eRVo ® To oNNecTING ollecToR NcodeRs ADC Model TRD-Sxxx-BD Open-Collector Encoder Connections Brown: Power source (+24 VDC) (COM-) Blue: 0 V (PULSE) Black: OUT A UTOMATION IRECT (SIGN) White: OUT B MODE ENTER Orange: OUT Z...
Page 248 Appendix B: Using SureServo® with DirectLOGIC PLCs BLANK PAGE Page B–10 SureServo AC Servo Systems User Manual – Third Edition – 12/07/2018 ®...
Page 249: Firmware Revisions
ppendix ppendix ppendix ® atest ervo irmware evisions ontents of this hapter SureServo Firmware Identification � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � C–2 ®...
Page 250 Appendix C: Latest SureServo® Firmware Revisions eRVo ® IRmWARe deNTIfIcATIoN You can determine the firmware version of your SureServo drive by reading P0-00. VeRVIeW of hANGes IN IRmWARe eRsIoNs 2.105 irMware ersiOn • P0�18: Added new parameter, “Servo On Time Record” 2.10 irMware ersiOn...
Page 251 Appendix C: Latest SureServo® Firmware Revisions 2.10 p ummARy of IRmWARe V ARAmeTeR hANGes Parameters Changed in Firmware v2.10 Control Addresses Mode Description Range Change Mdbs P V T Octal P0-00 Firmware Version (factory set) - varies 0000 40001 now reads v2�103 Drive Status (Front Panel setting 05 P0-02...
Page 252 Appendix C: Latest SureServo® Firmware Revisions eTAIled ARAmeTeR IsTINGs Parameter Notes: 1) Read-only register. 2) Parameter cannot be set when the servo drive is enabled. 3) Parameter is effective only after power to the servo drive has been cycled. 4) Parameter setting not written to drive flash memory; not retained when power is off. 5) Parameter does not return to factory default when P2-08 is set to 10.
Page 253 Appendix C: Latest SureServo® Firmware Revisions [1] Output Functions Status P0-17 Mem Addr: 0011[h] Range: 0 ~ 1FF [h] Units: n/a Default: 0 Control Modes: P/V/T • This parameter is new in firmware v2.10. • This parameter allows you to read the status of all DO Functions via MODBUS communications, regardless of whether or not they are assigned to physical digital outputs (DO1~DO5)�...
Page 254 Appendix C: Latest SureServo® Firmware Revisions [3] Position Control Mode (Internal Indexer) P1-33 Mem Addr: 0121[h] Range: 0 ~ 8 Units: n/a Default: 0 Control Modes: Pr * Settings 7 and 8 are new with firmware v2.10. • This parameter determines the specific type of control when using Pr control mode (P1-01) with the internal indexer�...
Page 255 Appendix C: Latest SureServo® Firmware Revisions Overload Output Warning Threshold P1-56 Mem Addr: 0138[h] Range: 0 ~ 120 Units: % Default: 120 (disabled) Control Modes: P/V/T • This parameter is new in firmware v2.10. • This parameter sets the level of the overload output warning threshold� When the system reaches threshold time level set by this parameter, it activates the Overload Warning DO signal (P2-18~P2-22 = 10;...
Page 256 Appendix C: Latest SureServo® Firmware Revisions [6] Digital Input Terminal 1 (DI1) P2-10 Mem Addr: 020A[h] [6] Digital Input Terminal 8 (DI8) P2-17 Mem Addr: 0211[h] Range: 0 ~ 145 Units: n/a Default: varies Control Modes: P/V/T * DI Function setting 06 is corrected in firmware v2.10 to invert the command polarity. •...
Page 257 Appendix C: Latest SureServo® Firmware Revisions DI Function Settings (P2-10 ~ P2-17) [continued from previous page] Index Mode Select 0 (IMS0) Index Mode Select 1 (IMS1) Index Mode Select 2 (IMS2) Index Mode Select 3 (IMS3) Index Mode Select 4 (IMS4) Index Mode Control 0 (IMC0) Index Mode Control 1 (IMC1) Index Mode - Manual Continuous Operation...
Page 258 Appendix C: Latest SureServo® Firmware Revisions [6] Digital Output Terminal 1 (DO1) P2-18 Mem Addr: 0212[h] [6] Digital Ouput Terminal 5 (DO5) P2-22 Mem Addr: 0216[h] Range: 0 ~ 110 Units: n/a Default: varies Control Modes: P/V/T * DO Function setting 10 is new with firmware v2.10. •...
Page 259 Appendix C: Latest SureServo® Firmware Revisions [2] Tuning Mode P2-32 Mem Addr: 0220[h] Range: 0 ~ 5 Unit: n/a Default: 0* Control Modes: P/V/T * The default value for this parameter is changed in firmware v2.10 to 0 (Manual Tuning Mode).
Page 260 Appendix C: Latest SureServo® Firmware Revisions Advanced Torque Limit P2-64 Mem Addr: 0240[h] Range: 0 ~ 3 Units: n/a Default: 0 Control Modes: P/V • This parameter is new in firmware v2.10. • This parameter allows you to use a variable analog input Torque Limit whose range is clamped by one or more separate fixed Torque Limits�...
Page 261 Appendix C: Latest SureServo® Firmware Revisions Advanced Torque Limit Settings (P2-64) [continued from previous page] Forward Torque Limit (Torque Limit applies only in forward direction) If T_REF < 0 If 0 < T_REF < |PTL| = T_REF If T_REF > |PTL| = PTL Torque Limit Clamp Selection for P2-64 = 2 Torque Comand Select...
Page 262 Appendix C: Latest SureServo® Firmware Revisions Special Input Functions P2-65 Mem Addr: 0241[h] Range: 0 ~ FFFF [h] Units: bit Default: 0 Control Modes: P/V/T • This parameter is new in firmware v2.10. • This is a multi-function parameter that controls the behavior of several different DI and DO/alarm functions�...
Page 263 Appendix C: Latest SureServo® Firmware Revisions Digital Input Software Control Mask P3-08 Mem Addr: 0308[h] Range: 0 ~ FFFF [h] Units: bit Default: 0 Control Modes: P/V/T* • This parameter is new in firmware v2.10. * The upper eight bits of this parameter are effective only in Pr Mode. •...
Page 264 Appendix C: Latest SureServo® Firmware Revisions BLANK PAGE Page C–16 SureServo AC Servo Systems User Manual – Third Edition – 12/07/2018 ®...
Page 265 SureServo® AC Servo Systems User Manual BLANK PAGE SureServo AC Servo Systems User Manual Page CR–1 ®...
Page 266 SureServo AC Servo Systems User Manual ®...

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