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INVT SV-DA300 Series Technical Manual
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INVT SV-DA300 Series Technical Manual

INVT SV-DA300 Series Technical Manual

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SV-
 
Tech
T
hnic
-DA30
00Ser
——
—Ether
 
cal
Gu
ries AC
C Ser
rCAT
Feb18, 202
1
ide
rvo Dr
rive

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Summary of Contents for INVT SV-DA300 Series

  • Page 1   Tech hnic -DA30 00Ser ries AC C Ser rvo Dr rive —— —Ether rCAT Feb18, 202  ...
  • Page 2 INVT SV-DA300 servo EtherCAT technical guide Contents Contents ..................................... 1  1 Hardware configuration .............................. 3    1.1 Terminal wiring ....................................... 3   1.2 Drive wiring ......................................4   1.3CN1 terminal definition ................................... 4 2 Software configuration ..............................7    2.1 Basic setup of EtherCAT application ............................... 7  ...
  • Page 3 INVT SV-DA300 servo EtherCAT technical guide   4.2 Overview of Object Group 1000 ................................29   4.3 Overview of Object Group 6000 ................................29   4.4 Overview of Object Group 2000 4000 ............................... 30   4.5 EncoderFeedback ....................................42  ...
  • Page 4 INVT SV-DA300 servo EtherCAT technical guide 1 Hardware configuration 1.1 Terminal wiring CN3 terminal is the connection terminal of EtherCAT. The line connecting mode of CN3 terminal is top-in and bottom-out. CN5:Fully-closed loop LED display Operation panel CN4:Upper computer Charge indicator...
  • Page 5 INVT SV-DA300 servo EtherCAT technical guide Protection Enclosure ground *:NC is unused. 1.2 Drive wiring EtherCAT network is normally comprised of one master (IPC or CNC) and multiple slaves (servo drive or bus extension terminal). Each EtherCAT slave carries two standard Ethernet interfaces. The wiring diagram is shown below: 1.3CN1 terminal definition...
  • Page 6 INVT SV-DA300 servo EtherCAT technical guide Pin No. Symbol Function name Pin no. Symbol Function name Digital input6 Digital input4 (Reserved) 485+ RS485+ Differential output + of DO2- Digital output 2- B phase Differential output - of Analog input 1  ...
  • Page 7 INVT SV-DA300 servo EtherCAT technical guide   6 ...
  • Page 8 INVT SV-DA300 servo EtherCAT technical guide 2 Software configuration 2.1 Basic setup of EtherCAT application It is necessary to configure the following four parameters before conducting EtherCAT application with SV-DA300 servo drive: 1. Set P0.03Control mode to 8 EtherCATmode via LED panel or ServoPlorer.
  • Page 9 INVT SV-DA300 servo EtherCAT technical guide of motor or by modifying P0.25 Numerator of electronic gear ratio and P0.26 Denominator of electronic gear ratio after setting P0.22 to 0. Please note that the modification of P0.22 will be effective after reset, and the value defined with P0.22 should not exceed the actual resolution rate of the encoder.
  • Page 10 X XML file co ntains infor rmation requ uired by Et therCAT com mmunicatio n setup. IN ovides “INVT T_DA300_E EtherCAT_** *.xml” file fo or DA300 dri ive. 9 ...
  • Page 11 INVT SV-DA300 servo EtherCAT technical guide 2.2.3 EtherCATstate machine EtherCAT state machine is used to describe the state and state change of slave application. The request of state change is usually initiated by the master and responded by the slave. The state transition mode is shown...
  • Page 12 VT SV-DA300 0 servo EtherC CAT technical guide DO mapping g designs th e mapping relation betw ween the ob bject diction ary to PDOs s applicatio n object. Ind 1600 and 0 0x1A00 in th he object di ctionary are e stored in RxPDO and d TxPDO m...
  • Page 13 INVT SV-DA300 servo EtherCAT technical guide Operation steps of PDO mapping: 1. Stop PDO distribution function (Set the sub-index 0 of 0x1C12 and 0x1C13 to 0). 2. Stop PDO mapping function (Set the sub-index 0 of 0x1600–0x1603 and 0x1A00–0x1A03 to 0).
  • Page 14 VT SV-DA300 0 servo EtherC CAT technical guide Figure e 2-5 Time se equence dia agram of DC C mode 2.6 Emerge ncy Messag oE will inform m users of th he error by a an Emergen ncy message e when the d drive genera ates an alarm mergency Ob...
  • Page 15 VT SV-DA300 0 servo EtherC CAT technical guide CiA402 2device protoco he master co ontrols DA3 00 servo dr rive via Con trol word (c ontrol word, , 0x6040), a and acquires s present dr rive atus by rea ading Status s word (sta atus word, 0 0x6041).
  • Page 16 VT SV-DA300 0 servo EtherC CAT technical guide Bits used fo or status con ntrol. Bits related to the contr rol mode. Control bits defined by the manufac cturer. troduction t to each 604 40h bit is sh hown below mong which: : MSB: Most t significant...
  • Page 17 INVT SV-DA300 servo EtherCAT technical guide Description M / O Switch on disabled Warning Manufacture specific Remote Target reached Internal limit active 12 – 13 Operation mode specific 14 – 15 Manufacturer specific Bits 0 – 3, 5, and 6:...
  • Page 18 VT SV-DA300 0 servo EtherC CAT technical guide or detailed ge ear ratio set tup, see cha apter 2.1. 2.2 Operatio on mode Set 6060h: Mode of op perations to o 1 (Profile p position mod de). Set 6081h: Profile velo ocity as sche eduled spee ed (the unit i...
  • Page 19 VT SV-DA300 0 servo EtherC CAT technical guide Index Type Attr. 6040 Control l word SIGNED16 6041 Status word SIGNED16 6060 Modes of operation NTEGER8 6061 Modes of operation n display NTEGER8 6063 Position n actual valu TEGER32 6064 Position n actual valu TEGER32 6065...
  • Page 20 VT SV-DA300 0 servo EtherC CAT technical guide Set 6060h t to 1, and cho oose Profile Position Mo ode. Set 6040h t to enable the e drive and t trigger the p position com mmand to be effective. Single set-p point: agram of sin ngle set-poin...
  • Page 21 INVT SV-DA300 servo EtherCAT technical guide (2) Set 607Ah as the target position command; (3) Set 6040h to 0x3F, and trigger the position command to be effective. (4) The drive sets 6041h.bit12 to 1 after receiving 6040h.bit4 = 1, and then the master clears bit 4 of 6040h to be ready for sending a next target position command.
  • Page 22 INVT SV-DA300 servo EtherCAT technical guide 6067 Position window UNSIGNED32 6093 Position factor UNSIGNED32 60F4 Following error actual value INTEGER32 Note: For detailed description of each object, see CiA DS402. 3.3.4 Application examples 1. Set 6060h to 8, select Cyclic synchronous position mode.
  • Page 23 VT SV-DA300 0 servo EtherC CAT technical guide 4.4 Applicat tion examp ples he following steps are ne ecessary wh hen homing mode is app plied: Set 6060h t to 6, select h homing mod Set 6098h, select the h oming mode e to be used Set 6040h...
  • Page 24 VT SV-DA300 0 servo EtherC CAT technical guide Refer Homing Start Homing Targ ence mode dire mode point (P5.10) etailed intro oduction ctio (DS402) positi pulse towards positive limi t switch at h high speed, then returns s at low spee ed and sear ches for tar rget zero po...
  • Page 25 INVT SV-DA300 servo EtherCAT technical guide 3.5 Profile Velocity Mode 3.5.1Basic description Under the profile velocity mode, the drive receives the speed command sent by the master, and conducts speed planning according to the acceleration planning parameters. 3.5.2 Operation mode 1.
  • Page 26 INVT SV-DA300 servo EtherCAT technical guide Interpolation cycle defines update interval of target speed. Under this mode, the interpolation cycle is the same with EtherCAT sync cycle. 3.6.2 Operation mode 1. Set 6060h: Mode of operations to 9 (Cyclic synchronous speed mode).
  • Page 27 INVT SV-DA300 servo EtherCAT technical guide drive. 4. Set 607Fh: Max profile velocity to set the max speed (the unit is related to P4.25). 5. Set 60E0h: Positive torque limit to set the positive torque limit (unit: 0.1% of the rated torque).
  • Page 28 INVT SV-DA300 servo EtherCAT technical guide result of falling edge is stored in 60BBh. By default, digital input 1 of CN1 is used as a trigger input port of touch probe1. It is necessary to set digital input as invalid by upper PC ServoPlorer or by setting P3.00 to 0. The setting will be effective after restart.
  • Page 29 INV V T SV-DA300 0 servo EtherC C AT technical guide 28 ...
  • Page 30 INVT SV-DA300 servo EtherCAT technical guide 4 Object dictionary 4.1 Object specification 4.1.1 Object type Object name Definition Individual variable value such asUNSIGNED8、Boolean、float、INTEGER16,etc. ARRAY An array of multiple data constituted by basic variables of the same type. Sub-index 0 is UNSIGNED8 type which indicates the number of data in the array.
  • Page 31 INVT SV-DA300 servo EtherCAT technical guide Index Object Type Name Data Type Access Mappable 6071 Target torque INTEGER16 6072 Max torque UNSIGNED16 6073 Max current UNSIGNED16 6075 Motor rated current UNSIGNED32 6076 Motor rated torque UNSIGNED32 6077 Torque actual value...
  • Page 32 INVT SV-DA300 servo EtherCAT technical guide P0.07 Denominator of frequency division 0x2007 int32 output coefficient (1) P0.08 Reversal of frequency division output 0x2008 int16 0x2009 int16 P0.09 Torque limit mode setting (1) 0x200A int16 P0.10 Max. torque limit 1 (0.1)
  • Page 33 INVT SV-DA300 servo EtherCAT technical guide 0x2032 int16 P0.50 Internal speed 5 (1) 0x2033 int16 P0.51 Internal speed 6 (1) 0x2034 int16 P0.52 Internal speed 7 (1) 0x2035 int16 P0.53 Internal speed 8 (1) 0x2036 int32 P0.54 ACC time (1)
  • Page 34 INVT SV-DA300 servo EtherCAT technical guide 0x2115 int16 P0.99 Speed detection FIR filter level (1) P1.22 2 mechanical resonance frequency 0x2116 int16 0x2117 int16 P1.23 1 notch filter frequency (1) 0x2118 int16 P1.24 1 notch filter Q value (0.01) 0x2119 int16 P1.25 1...
  • Page 35 INVT SV-DA300 servo EtherCAT technical guide 0x221B int16 P2.27 Switching mode of speed control (1) P2.28 Delay time of speed control 0x221C int16 switching (1) 0x221D int16 P2.29 Switching level of speed control (1) 0x221E int16 P2.30 Switching delay of speed control (1)
  • Page 36 INVT SV-DA300 servo EtherCAT technical guide P2.79 Phase compensation of automatic 0x224F int16 mode speed command (1) P2.80 Speed observer gain of automatic 0x2250 int16 mode (1) P2.81 Speed command filtering of 0x2251 int32 automatic mode (0.1) P2.82 Phase advance correction of...
  • Page 37 INVT SV-DA300 servo EtherCAT technical guide P3.44 Command pulse input invalid setting 0x232C int16 disabled (1) 0x232D int16 P3.45 Clearing mode of retention pulse (1) 0x2332 int32 P3.50 Range of position arrival (1) 0x2333 int16 P3.51 Output mode of position arrival (1) P3.52 Hold time of position arrival output...
  • Page 38 INVT SV-DA300 servo EtherCAT technical guide P4.17 Switching command of electronic 0x2411 int16 gear ratio (1) 0x2412 int16 P4.18 Inertia ratio switching command (1) 0x2413 int16 P4.19 Zero speed clamp command (1) 0x2414 int16 P4.20 Retention pulse clearing (1) 0x2415 int16 P4.21 Torque limit switching command (1)
  • Page 39 INVT SV-DA300 servo EtherCAT technical guide P4.62 Direction reversal of external linear 0x243E int16 encoder (1) P4.63 External linear encoder Z phase 0x243F int16 break detection disabling (1) 0x2440 int32 P4.64 Large mixed deviation setting (1) 0x2441 int16 P4.65 Mixed deviation clearing (1) P4.66 Z phase of external linear encoder...
  • Page 40 INVT SV-DA300 servo EtherCAT technical guide P5.18 ACC/DEC time to designated target 0x2512 int16 after homing (1) P5.19 Position to designated target after 0x2513 int32 homing (1) 0x2514 int16 P5.20 PTP trigger command (1) 0x2515 int16 P5.21 00 target speed (1)
  • Page 41 INVT SV-DA300 servo EtherCAT technical guide 0x253E uint16 P5.62 09 delay time (1) 0x253F uint16 P5.63 10 delay time (1) 0x2540 uint16 P5.64 11 delay time (1) 0x2541 uint16 P5.65 12 delay time (1) 0x2542 uint16 P5.66 13 delay time (1)
  • Page 42 INVT SV-DA300 servo EtherCAT technical guide ratio (1) 0x3014 int32 R0.20 Position command speed (0.1) 0x3015 int32 R0.21 Motor speed (filtering) (0.1) 0x3016 int16 R0.22 PTP state (1) R0.23 Absolute position feedback of 0x3017 int32 encoder (1) R0.24 EEPROM data state of the encoder...
  • Page 43 INVT SV-DA300 servo EtherCAT technical guide R0.55 Encoder turn number offset after 0x3037 int32 clearing multi-turn position (1) R0.56 Encoder feedback value offset after 0x3038 int32 clearing multi-turn position (1) R0.57 Position feedback accumulation of 0x3039 int64 encoder (1) R0.58 Position inside the single-turn of the...
  • Page 44 VT SV-DA300 0 servo EtherC CAT technical guide 21h Turn ca apture value e of multi-cir rcle encoder r; it is used t to store the encoder mu ulti-turn valu ue during tou obe1 captur 6Digital ou utput con trol he digital va alue is contr rolled by the...
  • Page 45 INVT SV-DA300 servo EtherCAT technical guide codes are shown as below. Bits Meaning 15~8 Master fault codes* Reserved Sub fault codes *: For details about master and subcodes, refer to the following table. 3. Access 0x603F (402 standard protocol fault code, 16-bit) through SDO or PDO to read the current fault.
  • Page 46 INVT SV-DA300 servo EtherCAT technical guide Fault Fault name Fault cause Solution 0x603F code Er01-5 0x2334 IPM fault Same with Er01-0 Same with Er01-0     Encoder fault-encoder 1. Properly connect the Er02-0 0x7301 offline encoder according to the wiring mode.
  • Page 47 INVT SV-DA300 servo EtherCAT technical guide Fault Fault name Fault cause Solution 0x603F code cool down the encoder. Check whether For the motor equipped with encoder is wired properly, communication encoder, reduce Encoder fault-encoder communication transmission interference source of the...
  • Page 48 INVT SV-DA300 servo EtherCAT technical guide Fault Fault name Fault cause Solution 0x603F code The set value of P0.35 (forward position control software limit) is no more than that of P0.36 (reverse position control software limit). Set P5.10 correctly based...
  • Page 49 INVT SV-DA300 servo EtherCAT technical guide Fault Fault name Fault cause Solution 0x603F code configured as E-stop function). clearance. 2. Re-power on the drive. 1. Use twisted shielded Strong pairs Hardware fault–485 communication circuit causes communication. Er10-5 0x7500 communication fault the serial communication alarm 2.
  • Page 50 INVT SV-DA300 servo EtherCAT technical guide Fault Fault name Fault cause Solution 0x603F code 4. DC voltage detection current of DEC time. inside the drive is damaged. 4. Monitor whether the parameter R0.07 is normal when the drive is disabled.
  • Page 51 INVT SV-DA300 servo EtherCAT technical guide Fault Fault name Fault cause Solution 0x603F code 1. Motor overspeed, U, V, and W properly. phases are connected reversely. 2. Check the setting of 2. Electronic gear ratio or motor speed loop control speed loop control parameters parameters.
  • Page 52 INVT SV-DA300 servo EtherCAT technical guide Fault Fault name Fault cause Solution 0x603F code set properly. Under position mode 1.Check whether fully-closed loop mode, the FWD limit switch signal Position overtravel-reverse Er21-1 0x8500 limit switch is touched or the correct;...
  • Page 53 INVT SV-DA300 servo EtherCAT technical guide Fault Fault name Fault cause Solution 0x603F code parameter Read the manual, and PROFIBUS-DP selected ensure that Er24-3 0x6320 communication fault–PZD parameter is not right. corresponds parameter does not exist parameter ID. PROFIBUS-DP Read the manual, and communication fault–PZD...
  • Page 54 INVT SV-DA300 servo EtherCAT technical guide 6 Reference 1. Hardware Data Sheet ET1100 EtherCAT Slave Controller V1.8. May 3 , 2010. 2. Xunji and Liu yanqiang. Design and Application of Industrial Ethernet Fieldbus EtherCAT Drive Program ed.). Beijing University of Aeronautics and Astronautics Press. March 2010.