Inovance IS620N Series User Manual
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Inovance IS620N Series User Manual

Ac servo drive and motor
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User Guide
IS620N & ISMH Series
AC Servo Drive and Motor
EtherCAT Communication
20-bit Incremental/23-bit Multi-turn Absolute Encoder
User Guide
A04
Data code 19010456

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Summary of Contents for Inovance IS620N Series

  • Page 1 User Guide IS620N & ISMH Series AC Servo Drive and Motor EtherCAT Communication 20-bit Incremental/23-bit Multi-turn Absolute Encoder User Guide Data code 19010456...

  • Page 2: Table Of Contents

    3.3 Parameter Setting ......................42 3.4 User Password ....................... 44 Chapter 4 Quick Setup .................... 45 4.1 Inovance PLC AM600 as Master ..................45 4.1.1 Controlling a Single Drive ......................45 4.1.2 Controlling Two Drives .........................52 4.2 Omron PLC NJ501 as Master ..................60...

  • Page 3: Table Of Contents

    4.2.2 Configuring the Servo Drive ......................61 4.2.3 Configuring Omron NJ Software ....................63 Chapter 5 Troubleshooting ..................75 5.1 Fault and Warning Rectification at Startup ..............75 5.2 Troubleshooting of Faults ....................75 5.2 Troubleshooting of Warnings ..................90 5.3 Internal Faults ........................ 94 5.4 Rectification of Communication Faults ................

  • Page 4: Safety Information And Precautions

    This responsibility lies with the user or their machine/process system integrator. System integrator/designer must ensure the complete system is safe and designed according to the relevant safety standards. Inovance Technology and Authorized Distributors can provide recommendations related to the Servo Drive to ensure long term safe operation.
  • Page 5 Safety Information and Precautions ■ Electrical Shock Hazard Ensure the protective earthing conductor complies with technical standards and local safety regulations. Because the leakage current exceeds 3.5 mA in all models, IEC 61800-5-1 states that either the power supply must be automatically disconnected in case of discontinuity of the protective earthing conductor or a protective earthing conductor with a cross-section of at least 10 mm (Cu) or 16 mm (Al) must be used.

  • Page 6: Chapter 1 Product Information

    Rated input 1PH AC 200-240V 7.9A 50/60Hz OUTPUT: 3PH AC 0-240V 5.5A 0-400Hz 750W Rated output Serial No.: 010500764GB00081 Serial No. Suzhou Inovance Technology Co.,Ltd. Manufacturer Made in China 1.1.2 Specifications of Servo Drive Electrical Specifications Single-phase 220 V ■...

  • Page 7: Physical Appearance And Mounting Dimensions Of Servo Drive

    1 Product Information ■ Three-phase 220 V Item SIZE-A SIZE-C Drive model IS620N S5R5 S7R6 S012 Continuous output current Arms 11.6 Maximum output current Arms 16.9 Main circuit power supply Three-phase 200 to 240 VAC, +10% to -10%, 50/60 Hz Control circuit power supply Single-phase 200 to 240 VAC, +10% to -10%, 50/60 Hz Braking capability...
  • Page 8 1 Product Information Built-in Regenerative Min. Allowed Max. Braking Resistor Specs Drive Model Resistance Energy Absorbed Resistance Power (Ω) by Capacitor (J) (Ω) IS620NS1R6I Single-phase 220 V IS620NS2R8I Single/Three-phase 220 V IS620NS5R5I IS620NS7R6I Three-phase 220 V IS620NS012I IS620NT3R5I IS620NT5R4I IS620NT8R4I Three-phase 380 V IS620NT012I IS620NT017I...

  • Page 9: Servo Motor

    Parameters 0.75 kW 220 V 3000 r/min 2.39 N·m 250 Hz Duty S1 Ins. F 3PHAC IP65 Motor code Motor Code: 14101 Weight: 2.7 kg Manufacturer Suzhou Inovance Technology Co., Ltd. Made in China SN:01120275******** Serial No. - 8 -...

  • Page 10: Specifications Of Servo Motor

    1 Product Information 1.2.2 Specifications of Servo Motor Motor Mechanical Characteristics Item Description Rated time Continuous Vibration level Insulation resistance 500 VDC, above 10 MΩ Use ambient temperature 0–40°C Excitation mode Permanent magnetic Installation method Flange Heat-resistance level H1, H4: IP65 (except the through-shaft section) Housing protection mode Other: IP67 Use environment humidity...
  • Page 11 Note 2: Parameters in () are for the motor with brake. The parameters in the preceding table are the values when the motor works together with Inovance servo drive and the armature coil temperature is 20°C. The preceding features are based on the cooling conditions when the following heatsinks are installed.

  • Page 12: Mounting Dimensions Of Servo Motor

    1 Product Information 1.2.3 Mounting Dimensions of Servo Motor ISMH1 Series Motor 100 W, 200 W, 400 W, 550 W, 750 W, 1.0 kW 0.06 A 0.04 φSh6 KW N9 W h8 T h8 Shaft end Flat end Motor Model ISMH1-10B30CB-****Z 103(136) 25±0.5...
  • Page 13 1 Product Information ISMH1-10C30CB-****Z 153.5 35±0.5 4-φ7 3±0.3 0.5±0.35 Weight Motor Model (kg) ISMH1-10B30CB-****Z M3 x 6 0.59(0.77) -0.1 ISMH1-20B30CB-****Z M5 x 8 16.5 1.1(1.4) -0.1 ISMH1-40B30CB-****Z M5 x 8 16.5 -0.1 M6 x ISMH1-55B30CB-****Z 15.5 -0.1 M6 x ISMH1-75B30CB-****Z 15.5 -0.1 M6 x...
  • Page 14 1 Product Information Terminal MOLEX-39000059 AMP1473226-1 ISMH2 series 1) 1.0 kW, 1.5 kW, 2.0 kW, 2.5 kW, 3.0 kW, 4.0 kW, 5.0 kW 0.10 A 0.06 φS h6 0.03 KW N9 W h8 T h11 Shaft end Flat end Motor Model 94.5 143.5 ISMH2-10C30CB-**3*Y...
  • Page 15 1 Product Information ISMH2-40C30CD-**3*Y 130 63±1 4-φ9 178.5 ISMH2-50C30CD-**3*Y 130 294.5 63±1 4-φ9 273.5 Weight Motor Model (kg) 5.11 ISMH2-10C30CB-**3*Y 5±0.3 2.5±0.75 95 M8 x 16 -0.2 (6.41) 6.22 ISMH2-15C30CB-**3*Y 5±0.3 2.5±0.75 95 M8 x 16 -0.2 (7.52) 5.11 ISMH2-10C30CD-**3*Y 5±0.3 2.5±0.75 95 M8 x 16 -0.2 (6.41)
  • Page 16 1 Product Information ISMH3 series 1) 850 W, 1.3 kW, 1.8 kW 0.10 A 0.06 A φS h6 0.03 KW N9 W h8 T h11 Shaft end Flat end Motor Model 147.5 ISMH3-85B15CB-**3*Y 168.5 (227.5) 55±1 4-φ9 95 (97) (206.5) 173.5 ISMH3-13C15CB-**3*Y 194.5 (253.5) 55±1...
  • Page 17 1 Product Information Weight Motor Model (kg) 8.23 ISMH3-85B15CB-**3*Y 6±0.3 0.5±0.75 110 M6 x 20 -0.2 (10.73) 10.57 ISMH3-13C15CB-**3*Y 6±0.3 0.5±0.75 110 M6 x 20 -0.2 (13) 12.7 ISMH3-18C15CD-**3*Y 6±0.3 0.5±0.75 110 M6 x 20 -0.2 (15.2) 8.23 ISMH3-85B15CD-**3*Y 6±0.3 0.5±0.75 110 M6 x 20 -0.2 (10.73)
  • Page 18 1 Product Information Motor Model ISMH3-29C15CD-****Z 197(273) 79±1 200 4-φ13.5 (134) (253) ISMH3-44C15CD-****Z 230(307) 79±1 200 4-φ13.5 (167) (286) ISMH3-55C15CD-****Z 274(350) 113±1 200 4-φ13.5 (211) (330) ISMH3-75C15CD-****Z 330(407) 113±1 200 4-φ13.5 (267) (386) Weight Motor Model (kg) ISMH3-29C15CD-****Z 3.2±0.3 0.3±0.75 114.3 15 (25) -0.2 x 25...
  • Page 19 1 Product Information ISMH4 series 1) 400 W, 750 W 0.06 A 0.04 φSh6 KW N9 W h8 T h8 Shaft end Flat end Motor Model ISMH4-40B30CB-****Z 125 (165) 30±0.5 4-φ5.5 3±0.3 0.5±0.35 ISMH4-75B30CB-****Z 146.5 (184.5) 35±0.5 4-φ7 3±0.3 0.5±0.35 Motor Model Weight (kg) ISMH4-40B30CB-****Z...

  • Page 20: Servo System Configuration

    1 Product Information 1.3 Servo System Configuration 220 V: Drive Model Rated Max. Capacity Servo Motor Model Drive SN Motor Drive IS620N****I Speed Speed Frame Size ISMH*-*******-***** (H01-02) Single-phase Three-phase (RPM) (RPM) 220 VAC 220 VAC 20B30CB S1R6 00002 40B30CB S2R8 00003 H1 (low inertia,...

  • Page 21: Environment

    1 Product Information 1.4 Environment Item Servo Drive Servo Motor 0–55°C (average load ratio not exceeding Use ambient 80% when ambient temperature is within 0 to 40°C (non-freezing) temperature 40–55°C) (non-freezing) Use environment Below 90% RH (no condensation) 20% – 90% RH (no condensation) humidity -20 to 60°C (Peak temperature ensurance: 80°C Storage temperature -20 to 85°C (non-freezing)

  • Page 22: Chapter 2 Wiring

    2 Wiring Chapter 2 Wiring 2.1 Servo System Wiring Figure 2-1 Wiring example of single-phase 220 V system Power supply Servo drive RS232 Single-phase communication cable 220 VAC Circuit breaker for wiring Noise filter Servo drive to servo drive Electromagnetic contactor Note 2 EtherCAT communication cable Turn ON/OFF power of the...
  • Page 23 2 Wiring 1. Remove the jumper between terminals and D of the servo drive when connecting a Note regenerative resistor. 2. CN3 and CN4 are identical communication ports with the same pin definition, and either can be used. Figure 2-2 Wiring example of three-phase 220 V/380 V system Power supply Servo drive RS232 Three-phase...

  • Page 24: General Wiring Diagram

    2 Wiring 1. Remove the jumper between terminals and D of the servo drive when connecting a Note regenerative resistor. 2. CN3 and CN4 are identical communication ports with the same pin definition, and either can be used. 2.2 General Wiring Diagram Figure 2-3 General wiring diagram Servo drive Host controller...

  • Page 25: Cable Model

    2 Wiring ● Internal +24V power supply, voltage range: 20–28 V, maximum output current: 200 mA ● DI8 and DI9 are high-speed DIs. Use them according to their functions allocated. ● Use the shielded twisted-pair for fully closed-loop control, with both ends of the shield tied to PE. Connect GND and signal ground of the host controller reliably.
  • Page 26 Power cable: prepared by customer ISMH3-*******-A3*** (above 2.9 kW) Absolute encoder cable S6-L-P21-3.0 S6-L-P21-5.0 S6-L-P21-10.0 The servo motor encoder cable includes CN1 connector; if you select Inovance matching Note cables, the connector kit is not required. ■ Connector Kit - 25 -...
  • Page 27 If you prepare cables yourself rather than use Inonvace matching cables , the connector kit is Note required. Battery Kit of Absolute Encoder Motor ■ If Inovance absolute encoder motor is used, the optional battery kit S6-C4 (battery, battery box) is required besides the matching cables. Communication Cable Cable Model Description S6N-L-T00-3.0...

  • Page 28: Connection Between Servo Drive And Servo Motor

    2 Wiring 2.4 Connection Between Servo Drive and Servo Motor Figure 2-4 Terminal arrangement of IS620N RS232 RS232 -RXD -TXD +24V DO3- DO3+ DO2- DO2+ PAO+ DO1- PAO- DO1+ PBO- PZO- (20-bit serial encoder) PBO+ COM+ CLK+ PZO+ CLK- COM- The preceding figure shows arrangement of the terminals in the servo drive.

  • Page 29: Main Circuit

    2 Wiring 2.4.1 Main Circuit Figure 2-5 Terminal block arrangement of SIZE A (SIZE C) Table 2-1 Names and functions of main circuit terminals of SIZE A (SIZE C) Terminal Terminal Name Terminal Function Symbol Single-phase power input. L1, L2 Connect 220 VAC power supply between L1 and L2 terminals.
  • Page 30 2 Wiring Figure 2-6 Terminal block arrangement of SIZE E Table 2-2 Names and functions of main circuit terminals of SIZE E Terminal Terminal Name Terminal Function Symbol Main circuit power input R, S, T Main circuit three-phase 380 V power input. terminals Control power input Connect to control power input.
  • Page 31 2 Wiring Servo Motor Cables Table 2-3 Connectors of cables on servo motor side Frame Size Connector Appearance Pin Layout of Matching Motor Black 6-pin connector Pin No. Signal Color White Black 40 (Z series) Yellow/ 60 (Z series) Green 80 (Z series) Brake (regardless of positive or negative)
  • Page 32 1. Frame size of motor: indicates the width of motor flange. Note 2. The motor cable colors are subject to the actual. The cable colors mentioned in the manual are all Inovance cables. - 31 -...

  • Page 33: Servo Motor Encoder

    Figure 2-7 Example of connecting encoder signal cables The encoder cable colors are subject to the actual. The cable colors mentioned in the Note manual are all Inovance cables. Table 2-4 Connectors of 20-bit encoder cables on servo drive side Connector Appearance Pin Layout Pin No.
  • Page 34 2 Wiring Table 2-5 Connectors of 20-bit encoder cables (9-pin connector) Frame Size of Connector Appearance and Pin Layout Matching Motor Encoder cable Encoder cable connector connector Connect to CN2 of the drive Viewed from this side Viewed from this side Pin No.
  • Page 35 Signal Color Twisted-pair Yellow Twisted-pair Blue White Shielded Shielded Table 2-7 Pin connection relation of IS620N series 20-bit encoder cables Motor Side DB9 on Servo Drive Side Function Description 9-pin 20-29 Military Spec. Signal Pin No. Pin No. Pin No.
  • Page 36 23AWG (0.26 mm 68.5 20.9 22AWG (0.32 mm 54.3 26.4 Note If the cables of above 22AWG are required, contact Inovance. Absolute Encoder Figure 2-8 Signal and battery wiring example of absolute encoder Red: + Black: - Battery box Note Store the battery box in required ambient temperature and ensure the battery is in reliable contact and has sufficient capacity to avoid position information loss of the encoder.
  • Page 37 2 Wiring The preceding data is measured in the 20°C ambient temperature. ■ Precautions of Battery Box Er.731 (encoder battery fault) is tripped when the battery is connected for the first time. Set 200D-15h to 1 to reset the fault and perform the homing operation. When the detected battery voltage is smaller than 3.0 V, Er.730 (encoder battery warning) is tripped.
  • Page 38 2 Wiring Table 2-11 Connectors of absolute encoder cables (MIL-DTL-5015 series 3108E20-29S military spec. plug) Frame Size Connector Appearance and Pin Layout of Matching Motor Encoder connection socket Encoder cable connector Connect to CN2 of the drive 20-29 military spec. 20-29 military spec.

  • Page 39: Control Signal Terminal Connector Cn1

    2 Wiring 2.4.3 Control Signal Terminal Connector CN1 Figure 2-9 Pin layout of control circuit terminal connector of servo drive +24V DO3- DO3+ DO2- DO2+ PAO+ DO1- PAO- DO1+ PBO- PZO- PBO+ COM+ PZO+ COM- DI/DO Signals Table 2-12 DI/DO signal description Default Signal Pin No.
  • Page 40 2 Wiring Default Signal Pin No. Function Description Function GAIN-SEL Gain switchover TouchProbe Touch probe function HomeSwitch Home switch +24V Internal 24 V power supply, voltage range: 20 to 28 V, maximum output current: 200 mA COM- COM+ Power input (12 to 24 V) General DO1+ S-RDY+...

  • Page 41: Communication Signal Terminal Connectors Cn3/Cn4

    2 Wiring The encoder frequency-division output circuit outputs OC signals via the differential drive. Generally, it provides feedback signals to the host controller in the closed-loop position control system. A differential or optocoupler circuit shall be used in the host controller to receive feedback signals. The maximum output current is 20 mA.

  • Page 42: Chapter 3 Operation And Display

    3 Keypad and Display Chapter 3 Operation and Display 3.1 Introduction to Keypad Figure 3-1 Diagram of the keypad Drive model and barcode Display MODE The keypad on the servo drive consists of the 5-digit 7-segment LEDs and keys. The keypad is used for display, parameter setting, user password setting and general functions operations.

  • Page 43: Display Switchover

    3 Keypad and Display Keypad Display Object Dictionary Operated on the Host Controller H00-00 2000-01h H00-01 2000-02h …… …… H01-09 2001-0Ah H01-10 2001-0Bh …… …… H02-15 2002-10h The following parts only describes parameter display and setting on the keypad, and you need to make con- version when performing operations through commissioning software on the host controller.
  • Page 44 3 Keypad and Display Figure 3-3 Keypad operation of parameter setting Servo status display Servo ready MODE MODE Function code group display MODE Function code No. display Parameter DOWN value display MODE Parameter setting completed ● MODE: Switch the display mode and return to the upper-level menu. ●...

  • Page 45: User Password

    3 Keypad and Display 3.4 User Password After the user password function (H02-30) is enabled, only the authorized user has the parameter setting rights; other operations can only view the parameters. Setting User Password The following figure shows the operation procedure of setting the password to "00001". Figure 3-4 Keypad operation of user password setting Start Power-on...

  • Page 46: Chapter 4 Quick Setup

    4 Quick Steup Chapter 4 Quick Setup 4.1 Inovance PLC AM600 as Master The AM600 EtherCAT master can control a single or multiple IS620N servo drives. The following part separately describes how to control a single and two IS620N servo drives.
  • Page 47 4 Quick Steup 3. Add a program for controlling IS620N axis position motion. Right-click Application, and select Add Object > POU. In the dialog box displayed, enter the program name, select Program, and select Structured Text (ST). - 46 -...
  • Page 48 4 Quick Steup 4. Compile the statements for controlling the axis directional motion. a. The system provides the motion control library (motion control commands) for you to compile the motion control program. You can add the motion control commands via the Input Assistant. Basic motion control commands Additional Motion...
  • Page 49 4 Quick Steup b. When the slave is added, the servo axis in the program is automatically added. A function block instance with the same axis name is also added, as displayed in the Input Assistant. Function Description In state 0, the axis is powered on through function block MC_POWER instance Power1. The axis enters state 1 after power-on.
  • Page 50 4 Quick Steup Open axis configuration interface. The axis in linear movement, the maximum position is 2000. Scaling/Mapping tab page: In this example, the ratio of pulse increment and motor revolutions is 16#100000:1, that is, the pulses per each revolution is 100000 in hexadecimal, which must be consistent with the encoder PPR. The ratio of each revolution and gear ratio is 1:1.
  • Page 51 4 Quick Steup 6. Add the axis control program to the EtherCAT task configuration. 7. Download the program and perform commissioning. The program takes effect after being downloaded to the PLC and run. Step 1. On the Device interface, scan the PLC, and select the PLC for downloading. Step 2.
  • Page 52 4 Quick Steup After downloading, the axis running status can be viewed on the axis basic configuration tab page. The master, slave and axis are in normal running state Display running if indicated by green circle. status of the axis. On the programming interface, you can also see the instance value of the online motion control function block .

  • Page 53: Controlling Two Drives

    4 Quick Steup 4.1.2 Controlling Two Drives 1. Start the software, and create an AM600 project. Choose Project > Standard Project. Select AM600-CPU1608TP from the Device drop-down list, and click OK. As the same step with the Controlling a Single Drive. 2.
  • Page 54 4 Quick Steup 3. Add a cam for controlling the axis motion relationship of two drives. Right-click Application, and select Add Object > Cam table. In the dialog box displayed, enter the name of the cam table. 4. Add the cam table. Cam table added - 53 -...
  • Page 55 4 Quick Steup 5. Set the attributes of the cam table. Right-click Cam, and select Properties. In the dialog box displayed, set the start and end positions of the master and slave on the Cam tab page. The attributes of the cam table include master/slave axis start position and cycle. 6.
  • Page 56 4 Quick Steup Modify the attributes of each control point on the Properties interface. Modify the attributes of the control point. 7. Set the tappet of the cam table. Step 1. On the Tappet tab page, add a tappet in master axis position 8. Step 2.
  • Page 57 4 Quick Steup 8. Add a program for controlling IS620N axis position linkage. Right-click Application, and select Add Object > POU. In the dialog box displayed, enter the program name, select Program, and select Function Block Diagram (FBD). 9. Execute linkage of two IS620N axes in the program. - 56 -...
  • Page 58 4 Quick Steup For details on the motion control commands, see the descriptions in section 4.1.1. Function Description The program first powers on the master axis and slave axis through function block MC_POWER instances masterPower and slavePower. After the slave axis is powered on successfully, the master axis starts to move at average speed of 2 units per second through function block MC_MoveVelocity instance masterMoveVelocity.
  • Page 59 4 Quick Steup 11. Add the axis control program to the EtherCAT task configuration. 12. Download the program and perform commissioning. The process of downloading the program is the same as step 7 in section 4.1.1. After downloading, the axis running status can be viewed on the axis basic configuration tab page. Master axis online state - 58 -...
  • Page 60 4 Quick Steup Slave axis online state On the programming interface, the instance value of the online motion control function block can also be viewed. Analysis on the axis control program based on step 10: The master axis moves at the speed of 2 units per second; it takes 5/2 = 2.5 s for each revolution; it takes 10/2 = 5s for the master axis to move to the end position.

  • Page 61: Omron Plc Nj501 As Master

    4 Quick Steup 4.2 Omron PLC NJ501 as Master Start 1. Install the Sysmac Studio V1.10 software. 2. Import the device description file (ESI file) in XML format. Make preparations 3. Set the network connection attribute of the computer. Configure the Set the servo drive parameters, such as 200C-05h.

  • Page 62: Configuring The Servo Drive

    4 Quick Steup NJ controller address Note that the IP address is same as the NJ controller address in the first three segments, and the last segment must not be 0. 4.2.2 Configuring the Servo Drive 1. Check the software version of the servo drive. Recommended version: IS620N board software MCU version 2001-01h = 0102.0 or later version IS620N board software FPGA version 2001-02h = 0112.0 or later version...
  • Page 63 4 Quick Steup 2. Set related parameters of the servo drive. Control Setting Effective Index Name Data Range Unit Default Value Mode Condition Condition 200C-06h Station alias 0 to 65535 At stop Immediate Non-zero When an NJ controller is used, set the EtherCAT station number in 200C-06h. It is recommended to set the station number according to the actual physical connection to facilitate management.

  • Page 64: Configuring Omron Nj Software

    CN3 OUT EtherCAT communication output port CN4 IN EtherCAT communication input port General input/output terminals Connect to Inovance 20-bit incremental encoder, serial absolute encoder, Heidenhain EQI1331 encoder or Tamagawa absolute encoder 4.2.3 Configuring Omron NJ Software 1. Create a project.
  • Page 65 4 Quick Steup 3. Scan devices. 1) Switch the controller to the online running mode. Observe the controller status in the lower right corner: ONLINE, RUN mode. A prompt is displayed if it is a new NJ controller. In the displayed dialog box, click Yes. 2) Add slaves.
  • Page 66 4 Quick Steup - 65 -...
  • Page 67 4 Quick Steup 4. Set the parameters. Switch the controller to offline mode, set PDO mapping, axis parameters, and DC clock. 1) PDO mapping The default PDOs in the XML file of the IS620N V2.3 are 261st RPDO and 259th TPDO, the same as the PDOs used by the NJ controller, and the mapping objects in the XML file corresponds to those in the NJ controller.
  • Page 68 4 Quick Steup When the 1st RPDO and 1st TPDO are used, modify the PDO mapping objects by clicking Add PDO Entry and Delete PDO Entry. RPDO TPDO - 67 -...
  • Page 69 4 Quick Steup 2) Axis parameters Under Motion Control Setup, right-click Axis Settings, and select Add > Axis Settings. Click MC_Axis000 to rename the axis. a. Basic axis setting Double-click MC_Axis000. On the Axis Basic Settings interface, configure the IS620N device. Axis assignment Axis number: Ethernet station number of the servo drive, 200C-06h value.
  • Page 70 4 Quick Steup 60FDh must be mapped to objects by bit. The mapping must be consistent with that in the Omron NJ controller. The axis configuration of the IS620N needs to be performed manually when the Note Omron NJ controller is used. b.
  • Page 71 4 Quick Steup Select an appropriate value in Unit of display according to the actual load unit. All position parameters in the host controller calculated based on the gear ratio are displayed in this unit. c. Operation setting Velocity/Acceleration/Deceleration: Set the maximum speed of the load according to actual conditions. If the motor speed converted from the setting exceeds 6000 RPM, the host controller will prompt a setting error with a red square.
  • Page 72 4 Quick Steup d. Limit setting Use the soft limit function to make the software limit takes effect after homing by host the controller. e. Homing setting The homing mode affects working between the servo drive and the host controller. Set it properly according to the following table.
  • Page 73 4 Quick Steup Select the homing mode of the host controller and set the homing speed, acceleration, and home offset based on actual mechanical conditions. Note Phase Z signal and external home switch signal shall not be used at the same time. Homing function: Function block: MC_Home and MC_HomeWithParameter 1.
  • Page 74 4 Quick Steup The modification takes effect after you power-on the system again and switches it to the online state. 5. Program control After the configuration is completed, enable running of the servo drive via the PLC program. When function block MC_POWER is used, it is recommended to add the axis servo status bit MC_Axis000.DrvStatus.Ready.
  • Page 75 4 Quick Steup 6. Online running After all the setting and programming are completed, switch over to the online state, and click download the program to the controller. Use the synchronization function by clicking to compare the difference between the current program and the program in the controller and determine whether to download the program to the controller, upload it from the controller or not change it.

  • Page 76: Chapter 5 Troubleshooting

    5 Troubleshooting Chapter 5 Troubleshooting 5.1 Fault and Warning Rectification at Startup Startup Fault Symptom Probable Causes Confirming Method Check whether the fault persists after connectors CN1, CN2, CN3, and CN4 1. The voltage of the are disconnected. control power is faulty. Meausre the AC voltage between L1C The keypad LED and L2C.
  • Page 77 Contact Inovance for FPGA software version (2001-02h) via operating panel version and the MCU technical support. Update or Inovance servo commissioning software. Check software version do not the software to make them whether the non-zero value of the most significant bit is match.
  • Page 78 5 Troubleshooting Er.120: Product model matching fault Probable Cause Confirming Method Corrective Action Internal fault code 200B-2Eh = 0120 or 1120: Set 200D-01h (Motor SN) correctly View the motor nameplate to check whether according to the motor nameplate or use the motor is suitable.
  • Page 79 1. The servo drive model nameplates to check that the equipment used Use matched servo drive and servo and the motor model do is Inovance IS620N series servo drive and motor. not match. matching servo motor. Check whether the encoder cable is used Use the recommended encoder according to the standard configuration.
  • Page 80 You can view current Carry out gain adjustment. motor oscillates. feedback by using the drive Inovance servo commissioning software. Check whether the encoder cable is used according to the standard configuration. check whether the cable is aging, 8.
  • Page 81 3. The encoder type is set nameplates to check that the equipment series servo drive and 20-bit servo incorrectly or the wiring is used is Inovance IS620N series servo motor (-U2***), ensure that 2000-01h incorrect. drive and matching servo motor.
  • Page 82 Check whether 200B-1Bh (Bus voltage) is within the following specifications: 6. The bus voltage 220 V drive: 200B-1Bh > 420 V sampling value has a Contact Inovance for technical 380 V drive: 200B-1Bh > 760 V large deviation from the support. actually measured value.
  • Page 83 5 Troubleshooting Probable Cause Confirming Method Corrective Action 7. The servo drive is The fault persists after the main circuit is Replace the servo drive. faulty. powered off and on for several times. Er.410: Main circuit undervoltage Probable Cause Confirming Method Corrective Action Measure whether the input voltage of the main 1.
  • Page 84 5 Troubleshooting Er.430: Control power undervoltage Probable Cause Confirming Method Corrective Action Power on the servo drive again. If the Check whether control power (L1C, L2C) is cut off fault is caused by abnormal power or whether instantaneous power failure occurs. failure, ensure stable power supply.
  • Page 85 Confirming Method Corrective Action Check whether the actual speed exceeds the 4. The motor speed Adjust the gain or mechanical overspeed threshold through the drive Inovance overshoots. conditions. servo commissioning software. 5. The servo drive is The fault persists after the servo drive is Replace the servo drive.
  • Page 86 Check wirings. encoder cable breaks. replace the cables. Check the running reference and motor speed (200B-01h) through Inovance servo commissioning software or keypad: Running reference in position control: 200B-0Eh (Input reference pulse counter) 3. The motor rotor is locked due to...
  • Page 87 Check whether there is large equipment generating interference on-site and whether there are Preferably use the cables interference sources such as various variable- recommended by Inovance. frequency devices inside the cabinet. If non-standard cable is used, Make servo drive in "rdy" status and rotate the...
  • Page 88 Corrective Action View the servo drive and servo motor nameplates to 1. The servo drive model check that the equipment used is Inovance IS620N Use matching servo drive and the motor model do not series servo drive and 20-bit servo motor (-U2***).
  • Page 89 If necessary, replace all cables and ensure reliable connection. Check the running reference and motor speed (200B-01h) through Inovance servo commissioning software or keypad: Running reference in position control: 200B-0Eh (Input reference pulse counter) 3. The motor rotor is...
  • Page 90 UVW cables correspondingly. breaks. If necessary, replace all cables and ensure reliable connection. Check the running reference and motor speed (200B-01h) with Inovance servo commissioning software or keypad: Running reference in position control: 200B-0Eh (Input reference pulse counter) 3.

  • Page 91: Troubleshooting Of Warnings

    Monitor the running curve through the oscilloscope function in Inovance servo If the position reference is not 0, but the 7. The servo drive or commissioning software: position feedback is always 0, replace the motor is faulty.
  • Page 92 Preferably use the cables 1. Wiring of the motor and Check wirings between servo drive, servo recommended by Inovance. encoder is incorrect or in poor motor and encoder according to the When self-made cables are used, contact.
  • Page 93 03h. servo motor according to section 1.3. Check the running reference and motor speed (200B-01h) through Inovance servo commissioning software or keypad: Running reference in position control: 200B-0Eh (Input reference pulse counter) 6. Locked-rotor occurs due to...
  • Page 94 5 Troubleshooting Probable Cause Confirming Method Corrective Action Check whether the input voltage of the main circuit satisfies the following specifications: 220 V drive: Effective value: 220 to 240 V 6. The input voltage of the Replace or adjust the power supply main circuit exceeds the Allowed error: -10% to 10% (198 to according to the specifications.

  • Page 95: Internal Faults

    View the setting of 6098h. Set 6098h correctly. is set in 6098h. 5.3 Internal Faults When any of the following fault occurs, contact Inovance for technical support. Er.602: Angle auto-tuning failure Er.220: Phase sequence incorrect Er.A40: Motor auto-tuning failure Er.111: Servo drive internal parameter abnormal...

  • Page 96: Rectification Of Communication Faults

    5 Troubleshooting 5.4 Rectification of Communication Faults This part describes how to rectify communication faults. Er.D09: Software upper/lower limit setting incorrect Probable Cause Confirming Method Corrective Action The lower limit of software position is View the setting of 607D-01h and Set 0x607D correctly, and ensure larger than the upper limit.
  • Page 97 Increase 200C-2Dh and carry out cycle error exceeds the digital oscilloscope or the oscilloscope function the test. If this fault persists, set threshold. in Inovance servo commissioning software. 200C-2Ch to 2. Er.770: External encoder scale fault Probable Cause Confirming Method...

  • Page 98: Chapter 6 Overview Of Object Dictionary

    6 Overview of Object Dictionary Chapter 6 Overview of Object Dictionary The abbreviations in the table are described as follows: Type Abbreviation Meaning It is possible to modify the parameter with the drive in the Running status. Setting It is not possible to modify the parameter with the drive in the Stop status. Condition (SC) The parameter is the actual measured value and can only be Displayed.
  • Page 99 6 Overview of Object Dictionary Sub- Index Name Access Data Type Unit Data Range Default index Mapping OD Data Receive PDO mapping 1 Uint32 OD Default Range Number of mapped application objects in UINT8 0 to 10 RPDO1 0 to 1st application object UINT32 6040 0010...
  • Page 100 6 Overview of Object Dictionary Sub- Index Name Access Data Type Unit Data Range Default index Mapping OD Data Receive PDO mapping 260 Uint32 OD Default Range Number of mapped application objects in UINT8 07 hex RPDO260 1st application object UINT32 6040 0010 2nd application object...
  • Page 101 6 Overview of Object Dictionary Sub- Index Name Access Data Type Unit Data Range Default index Mapping OD Data Transmit PDO mapping 1 Uint32 OD Default Range Number of mapped application objects in UINT8 0 to 10 TPDO1 0 to 1st application object UINT32 6041 0010...
  • Page 102 6 Overview of Object Dictionary Sub- Index Name Access Data Type Unit Data Range Default index Mapping OD Data Transmit PDO mapping 259 Uint32 OD Default Range Transmit PDO mapping 259 UINT8 1st application object UINT32 603F0010 2nd application object UINT32 6041 0010 3rd application object...
  • Page 103 6 Overview of Object Dictionary Sub- Index Name Access Data Type Unit Data Range Default index Mapping OD Data Sync Manager 2 RPDO assignment UINTER16 OD Default Range 1C12 Number of assigned RPDOs UINT8 0 to 1 1st PDO mapping object UINT16 0 to 65535 0x1701...

  • Page 104: Object Group 2000H

    6 Overview of Object Dictionary 6.2 Object Group 2000h Acc- Map- Sub- Data Index Name Unit Data Range Default SC EC index Type ping Group 2000h: Servo Motor Parameters Motor SN Uint16 0 to 65535 14000h Customized Uint16 firmware version 2000 Encoder version Uint16...
  • Page 105 6 Overview of Object Dictionary Acc- Map- Sub- Data Index Name Unit Data Range Default SC EC index Type ping Delay from brake output off to motor Uint16 1 to 1000 de-energized in static state Motor speed threshold at Uint16 0 to 3000 brake output off in rotating state...
  • Page 106 6 Overview of Object Dictionary Acc- Map- Sub- Data Index Name Unit Data Range Default SC EC index Type ping Speed switchover 2002 threshold 2 St due Uint16 0 to 6000 6000 to limit switch Group 2003h: Input Terminal Parameters States of DI functions FunIN1 Uint16...
  • Page 107 6 Overview of Object Dictionary Acc- Map- Sub- Data Index Name Unit Data Range Default SC EC index Type ping 0: Low level 1: High level 2: Rising edge 0Ch DI5 logic selection RW Uint16 3: Falling edge 4: Rising edge and falling edge DI6 function Uint16...
  • Page 108 6 Overview of Object Dictionary Acc- Map- Sub- Data Index Name Unit Data Range Default SC EC index Type ping Group 2004h: Output Terminal Parameters 0: No function 1: S-RDY (Servo ready) 2: TGON (Motor rotation output) 3: ZERO (Zero speed signal) 4: V-CMP (Speed consistent)
  • Page 109 6 Overview of Object Dictionary Acc- Map- Sub- Data Index Name Unit Data Range Default SC EC index Type ping Bit0: DO1 source 0: DO1 by drive status 1: DO1 by communication setting Bit1:DO2 source 0: DO2 by drive status DO source Uint16 1: DO2 by communication...
  • Page 110 6 Overview of Object Dictionary Acc- Map- Sub- Data Index Name Unit Data Range Default SC EC index Type ping Group 2005h: Position Control Parameters 0: Clear position deviation when S-ON signal is turned off or a fault occurs 1: Clear position deviation when S-ON signal is turned Clear action Uint16...
  • Page 111 6 Overview of Object Dictionary Acc- Map- Sub- Data Index Name Unit Data Range Default SC EC index Type ping Pulses within one revolution of load in absolute Uint32 0 to (2 position rotating mode (low 32 bits) Pulses within 2005 one revolution of load in absolute...
  • Page 112 6 Overview of Object Dictionary Acc- Map- Sub- Data Index Name Unit Data Range Default SC EC index Type ping Internal positive Uint16 0 to 3000 (Unit0.1%) 3000 torque limit Internal negative Uint16 0 to 3000 (Unit0.1%) 3000 torque limit External positive Uint16 0 to 3000 (Unit0.1%)
  • Page 113 6 Overview of Object Dictionary Acc- Map- Sub- Data Index Name Unit Data Range Default SC EC index Type ping 2nd gain of Uint16 0 to 20000 (0.1 Hz) position loop 0: 1st gain fixed, P and PI switchover of speed loop 2nd gain mode Uint16 via DI...
  • Page 114 6 Overview of Object Dictionary Acc- Map- Sub- Data Index Name Unit Data Range Default SC EC index Type ping 0: Average filter disabled 1: 2 average filters on speed feedback 2: 4 average filters on Speed feedback Uint16 speed feedback filter 3: 8 average filters on speed feedback...
  • Page 115 6 Overview of Object Dictionary Acc- Map- Sub- Data Index Name Unit Data Range Default SC EC index Type ping Maximum speed for inertia auto- Uint16 100 to 1000 tuning Time constant of accelerating to Uint16 20 to 800 max. speed for inertia auto-tuning Interval after an Uint16...
  • Page 116 6 Overview of Object Dictionary Acc- Map- Sub- Data Index Name Unit Data Range Default SC EC index Type ping Frequency of low-frequency Uint16 10 to 1000 (0.1 Hz) 1000 resonance 2009 Filter setting of low-frequency Uint16 0 to 10 resonance Group 200Ah: Fault and Protection Parameters 0: Enable faults and inhibit...
  • Page 117 6 Overview of Object Dictionary Acc- Map- Sub- Data Index Name Unit Data Range Default SC EC index Type ping Time threshold for locked rotor Uint16 10 to 65535 over-temperature protection Locked rotor 200A 0: Shield over-temperature Uint16 1: Enabled protection Encoder multi- 0: Not shield...
  • Page 118 6 Overview of Object Dictionary Acc- Map- Sub- Data Index Name Unit Data Range Default SC EC index Type ping Fault code of selected fault Uint16 Uint16 record Time stamp upon int32 displayed fault Motor speed upon int16 displayed fault Motor phase U current upon int16...
  • Page 119 6 Overview of Object Dictionary Acc- Map- Sub- Data Index Name Unit Data Range Default SC EC index Type ping Rotating load single-turn Uint 32 position (low 32 bits) Rotating load 200B single-turn Uint 32 position (high 32 bits) Rotating load single-turn Uint 32 position...
  • Page 120 6 Overview of Object Dictionary Acc- Map- Sub- Data Index Name Unit Data Range Default SC EC index Type ping Permissible interruption loss Uint16 4 to 20 times of EtherCAT synchronization Port 0 invalid Uint16 frame counter Port 1 invalid Uint16 frame counter Port 0/1 invalid...
  • Page 121 6 Overview of Object Dictionary Acc- Map- Sub- Data Index Name Unit Data Range Default SC EC index Type ping 0: No operation 1: Forced DI enabled, forced DO disabled 2: Forced DO enabled, Forced DI/DO forced DI disabled Uint16 setting 3: Forced DI and DO enabled...
  • Page 122 6 Overview of Object Dictionary Acc- Map- Sub- Data Index Name Unit Data Range Default SC EC index Type ping Group 2017h: VDI/VDO Parameters VDI1 function Uint16 0 to 39 selection 0: Valid when logic is 1 VDI1 logic Uint16 1: Valid when logic changes selection from 0 to 1...
  • Page 123 6 Overview of Object Dictionary Acc- Map- Sub- Data Index Name Unit Data Range Default SC EC index Type ping 0: Valid when logic is 1 VDI10 logic Uint16 1: Valid when logic changes selection from 0 to 1 VDI11 function Uint16 0 to 39 selection...
  • Page 124 6 Overview of Object Dictionary Acc- Map- Sub- Data Index Name Unit Data Range Default SC EC index Type ping 0: No function 1: S-RDY (Servo ready) 2: TGON (Motor rotation output) 3: ZERO (Zero speed signal) 4: V-CMP (Speed consistent) 5: COIN (Positioning completed)
  • Page 125 6 Overview of Object Dictionary Acc- Map- Sub- Data Index Name Unit Data Range Default SC EC index Type ping 0: Output 1 when function VDO5 logic valid Uint16 selection 1: Output 0 when function valid VDO6 function Uint16 See VDO1 selection 0: Output 1 when function VDO6 logic...

  • Page 126: Object Group 6000H

    6 Overview of Object Dictionary Acc- Map- Sub- Data Index Name Unit Data Range Default SC EC index Type ping VDO14 function Uint16 See VDO1 selection 0: Output 1 when function VDO14 logic valid Uint16 selection 1: Output 0 when function valid VDO15 function Uint16...
  • Page 127 6 Overview of Object Dictionary Sub- Index Acc- index Name Data Type Unit Data Range Default SC EC (hex) Mapping (hex) 605D Halt option code INT16 1 to 3 Ru St 6060 Modes of operation RPDO INT8 0 to 10 Ru St 6061 Modes of operation display...
  • Page 128 6 Overview of Object Dictionary Sub- Index Acc- index Name Data Type Unit Data Range Default SC EC (hex) Mapping (hex) Homing method Highest sub-index Uint8 supported 6099 Speed during search for RPDO UINT32 RU/s 0 to (2 Ru St switch Speed during search for RPDO...
  • Page 129 6 Overview of Object Dictionary Sub- Index Acc- index Name Data Type Unit Data Range Default SC EC (hex) Mapping (hex) 10th supported homing UINT16 030Ah method 11th supported homing UINT16 030Bh method 12th supported homing UINT16 030Ch method 13th supported homing UINT16 030Dh method...

  • Page 130: Dido Function Definitions

    6 Overview of Object Dictionary Sub- Index Acc- index Name Data Type Unit Data Range Default SC EC (hex) Mapping (hex) Position demand internal 60FCh TPDO DINT32 value 60FDh Digital inputs RPDO UDINT32 0 to FFFFFFFF Digital outputs Highest sub-index UINT8 supported 60FEh...
  • Page 131 6 Overview of Object Dictionary Function Symbol Function Name Description Remarks The position references Invalid: The servo drive include internal and responds to position references external position in position control mode. Position reference references. FunIN.13 INHIBIT Valid: The servo drive does inhibited It is recommended that the not respond to any internal or...
  • Page 132 6 Overview of Object Dictionary Function Symbol Function Name Description Remarks It is recommended that the Valid: Execute reference input logic of the corresponding FunIN.18 JOGCMD+ Forward jog Invalid: Not receive reference terminal be set to level input valid. Valid: Input reverse to It is recommended that the reference direction logic of the corresponding...
  • Page 133 6 Overview of Object Dictionary Function Symbol Function Name Description Remarks It is recommended that the logic of the corresponding terminal be set to edge valid. If the logic is set to 1 (high level valid), the servo drive Valid: Position deviation Position deviation forcibly changes it to 2 cleared...
  • Page 134 6 Overview of Object Dictionary Function Symbol Function Name Description Remarks In the position control mode, when the position deviation Positioning FunOUT.5 COIN pulses reach the value of completed 6067h and the duration lasts for 6068h, this signal is active. In the position control mode, when the position deviation FunOUT.6...
  • Page 135 6 Overview of Object Dictionary - 134 -...

  • Page 136: Revision History

    Revision History Date Version Change Description August 2016 First issue. Dec 2016 Modified product name, designation rule and nameplate. August 2017 Corrected wiring diagram and parameters. November 2018 Updated LOGO. October 2019 Added with a barcode.
  • Page 137 //www.inovance.com Suzhou Inovance Technology Co., Ltd. Add.: No. 16 Youxiang Road, Yuexi Town, Wuzhong District, Suzhou 215104, P.R. China *19010456A04* Tel: +86-512-6637 6666 Fax: +86-512-6285 6720 19010456A04 Service Hotline: 400-777-1260 http: //www.inovance.com Copyright 　 Shenzhen Inovance Technology Co., Ltd.

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