INVT SV-DA200-5R5-4 Manuals

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INVT SV-DA200-5R5-4 Operation Manual

INVT SV-DA200-5R5-4 Operation Manual (301 pages)

Ac servo drive

Brand: INVT | Category: Controller | Size: 5 MB

Table of Contents

Safety Precautions

3
- Safety Symbols
  3
- Table of Contents
  5
1 Product Overview

7
- Servo Drive
  7
  - Instruction to the Drive
    7
  - External Appearance of the Drive
    10
  - Standard Model
    10
  - Naming of the Drive
    11
  - Function Difference between Different Machine Types
    12
  - Nameplate of the Drive
    12
  - Medium-Power Range
    12
  - Small Power Range
    12
  - Power Ratings and Cabinet Volumes
    13
- Servo Motor
  14
  - Nameplate of the Motor
    14
  - Naming of the Servo Motor
    14
- Cables
  16
- Braking Resistor Specification
  20
2 Installation Instruction

21
3 Wiring Instruction

36
4 Control Mode Applications

52
- Standard Wiring of the Position Mode
  52
- Standard Wiring of the Speed Mode
  53
- Standard Wiring of the Torque Mode
  54
- CN1 Function Instruction
  55
  - Pins of CN1 Terminal
    55
  - Definition of CN1 Terminals
    55
  - Power Supply Signal
    56
  - Configuration Table for Different Digital Modes
    56
  - Function Description of the Digital Input
    58
  - Torque Mode
    58
  - Servo Enabling
    58
  - Alarm Clearing
    58
  - Retention Pulse Clearing
    59
  - Command Pulse Disabled
    59
  - Torque Limit Switching
    59
  - Zero Speed Clamp
    59
  - Speed Command Sign
    60
  - Torque Command Sign
    60
  - Inertia Ratio Switching
    61
  - Emergency Stop
    61
  - HOME Switch Input
    61
  - HOME Trigger
    61
  - Vibration Control Switching Input
    62
  - Fast Stop
    62
  - PTP Control Stop
    62
  - Forward Jogging
    62
  - Gantry Synchronization Input Clear
    63
  - Dynamic Braking Relay Feedback
    63
  - Manual and Automatic Switching of Turret
    63
  - Forward Jogging of Turret
    63
  - Digital Output Instruction
    64
  - Servo Ready Output
    64
  - Servo Operation Output
    64
  - Fault Output
    64
  - Speed Reaching
    65
  - Speed Limiting
    65
  - Speed Command or Not
    65
  - Speed Zero Output
    65
  - PTP Output 2
    66
  - PTP Output 3
    66
  - Gantry Synchronization Output Clear
    66
  - Dynamic Brake Relay Control
    66
  - Analog Input Signals and Functions
    67
  - Encoder Output Signals and Functions
    67
  - Analog Output Signals and Functions
    67
- CN1 Wiring Instruction
  68
- CN5 Wiring Diagram
  74
5 Running and Operation

78
- Checking after Powering-On
  79
- Running at the Position Control Mode
  79
- Set the Motor Code
  79
- Trial Jogging
  79
- Running at the Speed Control Mode
  80
- Simple Connection
  80
- Parameter Setting before Running the Servo
  81
- Running at the Torque Control Mode
  81
- Command Input
  82
- Mode Setting
  82
- Servo Stop/Stop Running
  82
- Sequence Diagram
  84
- Sequence Diagram of Power-On and Servo on
  84
- Sequence Diagram of Power Loss During Running
  85
- Servo off Sequence in a Locked State
  85
- Sequence of Fault Alarm
  86
- Servo off Sequence in Running State
  86
- Display and Operation
  87
6 Function Codes

94
- Basic Control (P0 Group Parameters)
  94
  - Encoder Type
    95
  - Modbus Address
    95
  - Control Mode Selection
    96
  - JOG Speed
    98
  - Reverse of Frequency Division Output
    99
  - Torque Limit Mode Setting
    99
  - Max. Torque Limit 1
    100
  - Max. Torque Limit 2
    100
  - Default Monitoring Parameters
    101
  - EEPROM Write Mode
    102
  - Factory Password
    102
  - Position Command
    102
  - Pulse Number Per Motor Resolution
    103
  - Pulse Input Form
    103
  - Reverse of Pulse Input Direction
    103
  - Smooth Filtering of Position Command
    105
  - FIR Filter of Position
    105
  - Software Limit of Forward Position Control
    106
  - Software Limit of Reverse Position Control
    106
  - Position Command Mode
    106
  - Enable Fully-Closed Loop
    107
  - Speed Command
    107
  - Analog Input 1 Gain
    108
  - Analog Input 1 Reverse
    109
  - Dead Zone of Analog
    109
  - ACC Time
    110
  - DEC Time
    110
  - ACC Time of S Curve
    111
  - DEC Time of S Curve
    111
  - Zero Speed Clamp Mode
    112
  - Speed Threshold of Zero Speed Clamp
    112
  - Torque Command Selection
    112
  - Torque Command Direction Setting
    113
  - Analog Input 2 Gain
    113
  - Analog Input 2 Reverse
    114
  - Dead Zone of Analog Input 2
    114
  - Internal Torque Command
    114
  - Speed Limit Mode Setting
    114
  - RAMP Time of Torque Command
    115
  - DEC Time of Fast Stop
    115
  - Absolute Encoder Multi-Turn Zeroing
    115
  - Positioning Reference of Control Mode Switching
    116
  - Position Mode Switching Exit Mode
    116
  - FIR Filter Level of Speed Detection
    116
- Autotuning Control Parameters (P1)
  117
  - Inertia Identification (Automatic Gain)
    117
  - Machine Rigidity Setting
    117
  - Inertia Offline Automatic Estimation
    118
  - Operation Mode of Inertia Identification
    118
  - Movable Range of Inertia Identification
    118
  - Speed Level of Inertia Identification
    119
  - Self-Adaptive Vibration Control
    119
  - Resonance Detection Mode
    119
  - Notch Filter Frequency
    120
  - Notch Filter Q Value
    120
  - Vibration Control Mode of Position Command
    122
- Motor Control Parameters (P2)
  123
  - Gain Setting
    123
  - Speed Integral Time Constant
    123
  - Position Gain
    123
  - Speed Feed-Forward Gain
    124
  - Speed Feed-Forward Filter Time
    125
  - Torque Feed-Forward Gain
    125
  - IPPI Coefficient
    125
  - Gain Switching
    126
  - Position Control Switching Mode
    126
  - Delay Time of Position Control Switching
    127
  - Switching Level of Position Control
    127
  - Switching Delay of Position Control
    127
  - Switching Time of Position Gain
    128
  - Switching Mode of Speed Control
    128
  - Switching Level of Speed Control
    129
  - Switching Delay of Speed Control
    129
  - Switching Mode of Torque Control
    129
  - Delay Time of Torque Control Switching
    130
  - Switching Level of Torque Control
    130
  - Switching Delay of Torque Control
    130
  - Disturbances Observer Valid
    130
  - Disturbance Observer Cut-Off Frequency
    131
  - Torque Command Offset
    131
  - Fully-Loop Vibration Suppressor Valid
    131
  - Fully-Loop Vibration Suppressor Cut-Off Frequency
    131
  - Medium Frequency Vibration Control Frequency
    132
  - Fine Tuning of Medium Frequency
    132
  - Gain of Medium Frequency Vibration Control Attenuation
    132
  - Speed Observer Valid
    133
  - Speed Observer Gain
    133
  - Friction Compensation Max-Speed
    133
  - Positive Torque Coefficient of Friction Compensation
    133
  - Friction Compensation Valid
    134
  - Automatic Mode Switch
    134
  - Automatic Mode Gain
    134
  - Fine Tuning of Automatic Mode Inertia
    134
  - Reserved
    135
  - Field Weakening Control Switch
    136
  - Voltage Utilization Rate of Field Weakening Control
    136
  - Bandwidth of Open-Loop Field Weakening
    136
  - Bandwidth of Closed-Loop Field Weakening
    136
- I/O Management Parameters (P3)
  137
  - Digital Input/Output
    137
  - Input Configuration of Digital Input 1
    137
  - Output Configuration of Digital 1
    140
  - Function Configuration of DI Capture Encoder
    141
  - Analog Input / Output Adjustment
    142
  - Offset of Analog Input 1
    142
  - Filter of Analog Input 1
    142
  - Voltage Protection of Analog Input 1
    143
  - Offset of Analog Input 2
    143
  - Filter of Analog Input 2
    143
  - Analog Speed Compensation Gain
    144
  - Analog Torque Compensation Gain
    144
  - Analog Output 1 Function Selection
    144
  - Offset Voltage of Analog Output 1
    146
  - Offset Voltage of Analog Output 2
    146
  - Analog Output Monitor Setting
    146
  - Digital Input / Output Settings
    147
  - Travel Limit Switch Shield
    147
  - Emergency Stop Switch Shield
    147
  - Digital Input Filter
    147
  - Clearing Mode of Retention Pulse
    148
  - Range of Position Arrival
    148
  - Output Mode of Position Arrival
    148
  - Hold Time of Position Arrival Output Terminal
    149
  - Speed Matching Range
    149
  - Speed Reaching Range
    149
  - Zero Speed Range
    149
  - Locked Time of Servo after Braking
    150
  - Braking Delay of Electromagnetic Brake
    150
  - Torque Reaching Range
    150
  - Motor Speed of Brake Release
    150
  - Zero Offset of Analog Input 3
    151
  - Dead Zone of Analog Input 3
    151
  - Gain of Analog Input 3
    151
  - Analog Input 3 Reverse
    151
  - Analog Input 3 Filter
    152
  - Pulse Input Filter
    152
- Extension and Application (P4)
  153
  - Communication Setting
    153
  - CAN Communication Baud Rate
    153
  - 485 Communication Baud Rate
    153
  - 485 Communication Parity Mode
    154
  - CAN Communication Node
    154
  - 485 Communication Fault Clearing Mode
    154
  - Ethercat Synchronous Cycle
    154
  - Ethercat Synchronous Type
    155
  - Ethercat Fault Detection Time
    155
  - Upper PC Type
    155
  - Bus Servo Enabling
    155
  - Bus Position Command
    156
  - Bus Speed Command
    156
  - Bus Torque Command
    156
  - Gain Switching Command
    156
  - Switching Command of Electronic Gear Ratio
    157
  - Inertia Ratio Switching Command
    157
  - External Fault Command
    158
  - Emergency Stop Command
    158
  - Stop Mode
    158
  - Max. Speed Limit
    159
  - Overspeed Level
    159
  - Pulse Range of Position Deviation
    159
  - Brake Overload Detection Selection
    160
  - Enable Out-Of-Control Speed Detection
    160
  - Undervoltage Protection of Main Power Supply
    160
  - Motor Overload Rate
    160
  - Speed Deviation Setting
    161
  - Forward Speed Limit
    161
  - Reverse Speed Limit
    161
  - Internal Speed of High Resolution
    161
  - Current Loop Response Adjustment
    162
  - Initialization Time after Power on
    162
  - Z Pulse Width of Frequency-Division Output
    162
  - Z Pulse Offset of Frequency-Division Output
    163
  - Frequency Division Molecular
    163
  - Large Mixed Deviation Setting
    163
  - Mixed Deviation Clearing
    163
  - External Grating Pulse Output Mode of AB Phase
    164
  - Frequency Division Output Source
    164
  - Motionnet Node Number
    165
  - Motionnet Baud Rate
    165
  - Configuration of PZD Setting Parameter 1
    165
  - Configuration of PZD Setting Parameter 2
    165
  - PPO Type of DP Communication
    166
  - Canopen Communication Cycle
    166
  - Canopen Heartbeat Cycle
    167
  - Automatic Stop at Canopen Disconnection
    167
  - Fault Restore
    167
  - Parameters Saving
    167
  - Restore to Factory Value
    168
  - Reading Enable of Fault Record
    168
  - Clearing Enable of Fault Record
    168
- Program JOG, Homing and PTP Control (P5)
  169
  - EEPROM Operation of Communication Encoder
    169
  - EEPROM Data Fault Block of Communication Encoder
    169
  - JOG Movement Amount
    170
  - JOG Speed Setting
    170
  - JOG ACC/DEC Time
    170
  - JOG Waiting Time
    170
  - JOG Cycle Times
    171
  - Homing Mode
    171
  - Homing Automatically after Power on
    172
  - Home Setting
    172
  - Trigger Command of Homing
    172
  - Correlated Action of Homing
    173
  - Speed to Designated Target after Homing
    173
  - PTP Trigger Command
    173
  - PTP Trigger Buffer Switch
    179
  - Single-Turn Resolution of the Disk
    179
  - Zero Returning Switch of Disk
    179
  - Multi-Turn Mode
    179
  - Digital Output Mode of PTP
    180
  - Interruption Pause of the Point
    180
- Application Function (P6)
  180
  - Reverse Low JOG Speed
    180
  - Position Latch Save Mode
    181
  - Forward High JOG Speed
    181
  - Reverse High JOG Speed
    181
  - Terminal JOG Valid
    181
  - Turret Function Switch
    182
  - Turret Number
    182
  - Starting Point of Turret
    182
  - Gantry Synchronous Speed Control Gain
    182
  - Gantry Synchronous Speed Control Integral
    183
  - Gantry Synchronous Position Control Gain
    183
  - Gantry Synchronous Control Bandwidth Ratio
    183
  - Gantry Synchronization Master/Slave Selection
    183
- PTP (Point-To-Point) Control (Ptp0, Ptp1, Ptp2)
  184
  - Gantry Synchronization Alignment Retreat Distance
    184
  - Gantry Synchronization Alignment Retreat Speed
    184
  - Gantry Alignment Direction
    184
  - INS Instruction
    185
  - OVLP Instruction
    185
  - Relation between ins and OVLP
    186
- State Monitoring
  212
  - User Monitoring Parameters (R0 Group)
    212
  - Feedback Pulse Accumulation
    212
  - Hybrid Control Deviation
    213
  - Current Torque
    213
  - Voltage of Control Power
    213
  - Output Voltage
    213
  - Drive Temperature
    214
  - Torque Limit
    214
  - Encoder Feedback Value
    214
  - Rotor Relative to Z Pulse Position
    214
  - Motor Load Ratio
    215
  - Position Command Speed
    215
  - Motor Speed (Filtering)
    215
  - PTP State
    215
  - Encoder EEPROM Data State
    216
  - Circles of Multi-Turn Encoder
    216
  - Available Encoder Type
    216
  - Ethercat Clock Synchronous Correction State
    216
  - State of Canopen State Machine
    217
  - Node of PROFIBUS-DP Slave Station
    217
  - System State
    217
  - Display the System State
    217
  - Current Mode
    218
  - Power on Time
    218
  - Operation Time
    218
  - DSP Software Version
    218
  - Communication Card Software Version
    219
  - Drive Serial No.1
    219
  - Drive Serial No.2
    219
  - Drive Serial No.3
    219
  - Absolute Position of Linear Encoder
    220
  - Observing Speed of Speed Observer
    220
  - Observing Disturbance Torque Via Disturbance Observer
    220
  - Observe Load Inertia Ratio in Real Time
    220
  - Gantry Synchronization Position Deviation
    221
  - Encoder Circle Number Offset after Clearing Multi-Turn Position
    221
  - Encoder Feedback Value Offset after Clearing Multi-Turn Position
    221
  - Position Inside the Single-Turn of the Disk
    221
  - Temperature of Medium-Power Motor
    222
  - Fault Code
    222
  - Digital Input State
    222
  - Digital Output State
    222
  - Original Voltage of Analog Input 1
    223
  - Original Voltage of Analog Input 2
    223
  - Voltage of Analog Input 1
    223
  - Voltage of Analog Input 2
    223
  - Voltage of Analog Output 2
    224
  - Voltage of Analog Output 3
    224
  - Cumulative Value of Pulse Input
    224
  - Pulse Position Command
    224
  - DI Capture Encoder Value
    225
  - Display of Drive State Bit
    225
  - Fault Code Record
    225
  - Power on Time When Fault Occurs
    225
  - Stranded Pulse When Fault Occurs
    226
  - Current Torque When Fault Occurs
    226
  - Main Circuit DC Voltage When Fault Occurs
    226
  - Latest Fault Record
    226
  - Latest 5 Fault Record
    227
  - Latest 6 Fault Record
    227
  - Latest 7 Fault Record
    227
  - Latest 8 Fault Record
    227
7 Commissioning

228
- Operation Instruction of Inertia Identification
  228
- Offline Inertia Identification
  228
- General Method for Parameters Adjusting
  228
- Suppression of Mechanical Resonance
  235
- Adjustment of the Torque Smoothing Filter
  235
- Gain Switching Function
  236
  - Position Control and Fully-Closed Loop Control
    237
  - Speed Control Mode
    237
  - Torque Control Mode
    237
- RS485 Communication Protocol
  240
  - Protocol Content
    240
  - Protocol Instructions
    240
- Overview
  240
  - Communication Frame Structure
    241
  - RTU Mode
    241
  - Command Code: 03H
    241
  - The Master Device Request Command
    241
  - Command Code: 10H
    242
  - The Slave Device Reply
    242
  - The Slave Device Reply Command
    242
  - Error Checkout of the Communication Frame
    243
  - Bit Checkout of the Byte
    243
  - CRC Check
    243
  - Fault Responses
    244
- Canopen Communication Protocol
  244
  - Canopen Instructions
    244
  - Meaning of Error Code
    244
  - Canopen Hardware Configuration
    245
  - Canopen Software Configuration
    245
  - Canopen Functions
    245
  - Specifications of Cia 402 Protocol
    246
  - Canopen Fault Code
    247
- PROFIBUS-DP Communication Protocol
  250
  - Brief Introduction to PROFIBUS-DP Protocol
    250
  - PROFIBUS-DP Hardware Configuration
    250
  - PROFIBUS-DP Software Configuration
    251
  - PKW Message Format
    252
  - Format of PKE Message
    252
  - AK Task ID
    252
  - PZD Message Format
    252
- Upper PC Software
  254
  - Servoplorer Upper Pc Software
    254
  - Hardware
    254
  - Software Installation and Operation
    255
  - Program Interface
    256
  - Help File
    257
  - Oscilloscope
    257
  - User Interface
    257
9 Faults and Solutions

259
10 Appendix

270
- P1 Autotuning Control
  272
- P2 Motor Control
  273
- P6 Application Function
  282
- Ptp0 PTP Control
  283
- Ptp1 PTP Control
  286
- Monitoring Parameter Table
  291
  - R0 System Monitoring Parameter
    291
  - R1 IO Monitoring Parameter
    293
  - R3 Fault Record Parameter
    293
- General Monitoring Parameters
  295
- Fault Code
  296
- Record Table of Parameter Setting
  299

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