Inovance SV660N Series Advanced User's Manual
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Inovance SV660N Series Advanced User's Manual

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Advanced User Guide
SV660N Series Servo Drive
User Guide
A00
Data code 19011236

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Summary of Contents for Inovance SV660N Series

  • Page 1 Advanced User Guide SV660N Series Servo Drive User Guide Data code 19011236...

  • Page 2: Preface

    Thank you for purchasing the SV660N series servo drive developed by Inovance. The SV660N series high-performance AC servo drive covers a power range from 200 W to 7.5 kW. It supports EtherCAT communication protocol and carries Ethernet communication interfaces to work with the host controller in achieving a networked operation of multiple servo drives.

  • Page 3: Standards Compliance

    Preface Standards Compliance ■ The SV660N series servo drive and the MS1 series servo motor have passed CE certification and comply with the following international standards. Certification Mark Directive Standard EN 61800-3 Servo drive IEC 61800-3 EMC directive 2014/30/EU IEC 61800-5-2...

  • Page 4: Table Of Contents

    Contents Contents Preface ............................Unpacking Inspection .........................1 Revision History ..........................1 Standards Compliance ........................2 Safety Instructions ........................Safety Precautions ..........................10 Safety Levels and Definitions ......................10 Safety Instructions ..........................10 Safety Signs ............................14 1 Product Information ........................ 1.1 Introduction to the Servo Drive ....................15 1.1.1 Nameplate and Model Number ......................
  • Page 5 Contents 2.2.2 Environment Conditions ........................2.2.3 Installation Precautions ........................2.2.4 Dimension Drawings .......................... 3 Wiring ............................3.1 Terminal Pin Layout ........................51 3.2 Wiring of the Main Circuit ......................52 3.2.1 Main Circuit Terminals ........................3.2.2 Wiring Example of the Regenerative Resistor ................... 3.2.3 Recommended Models and Specifications of Main Circuit Cables ..........
  • Page 6 Contents 4.3 Parameter Setting ........................97 4.4 User Password ..........................98 4.5 General Functions ........................99 4.5.1 Jog ............................... 4.5.2 Forced DI/DO Signals ........................5 Commissioning and Operation ..................... 5.1 Pre-running Check ........................109 5.2 Power-on............................109 5.3 Jog ..............................109 5.4 General Parameter Settings .....................110 5.4.1 Rotation Direction ..........................
  • Page 7 Contents 6.5.5 Pseudo Derivative Feedback and Feedforward Control ............... 6.5.6 Torque Disturbance Observation ....................6.5.7 Speed observer ..........................6.5.8 Model Tracking ..........................6.5.9 Friction Compensation ........................6.6 Parameter Adjustment in Different Control Modes ..............166 6.6.1 Parameter Adjustment in the Position Control Mode ..............6.6.2 Parameter Adjustment in the Speed Control Mode ..............
  • Page 8 Contents 7.4.6 Function Block Diagram........................7.5 Cyclic Synchronous Torque Mode (CST) ..................194 7.5.1 Configuration Block Diagram ......................7.5.2 Related Objects ..........................7.5.3 Related Function Settings ....................... 7.5.4 Recommended Configuration ......................7.5.5 Related Parameters ......................... 7.5.6 Function Block Diagram........................7.6 Profile Position (PP) Mode ......................199 7.6.1 Configuration Block Diagram ......................
  • Page 9 Contents 7.9.6 Recommended Configuration ......................7.9.7 Function Block Diagram........................7.10 Auxiliary Functions ........................267 7.10.1 Touch Probe Function (Latch Function)) ..................7.10.2 Software Limit ..........................7.10.3 Position Comparison ........................7.11 Absolute System ........................278 7.11.1 Descriptions for Use of the Absolute System ................7.11.2 Absolute Position Linear Mode.....................
  • Page 10 Contents Case 1 AM600 series controller as the host controller..............337 Case 2 Omron NX1P2 controller as the host controller ..............343 Case 3 Beckhoff TwinCAT3 as the host controller ................355 11 Appendix ..........................11.1 Standards Compliance ......................370 11.1.1 CE Certification ..........................11.1.2 Low Voltage Directive Compliance ....................

  • Page 11: Safety Instructions

    Use this equipment according to the designated environment requirements. Damage caused by improper usage is not covered by warranty. Inovance shall take no responsibility for any personal injuries or property damage caused by improper usage. Safety Levels and Definitions...
  • Page 12 Safety Instructions Storage and Transportation CAUTION ◆ Store and transport this equipment based on the storage and transportation requirements for humidity and temperature. ◆ Avoid transporting the equipment in environments such as water splashing, rain, direct sunlight, strong electric field, strong magnetic field, and strong vibration. ◆...
  • Page 13 Safety Instructions Wiring DANGER ◆ Equipment installation, wiring, maintenance, inspection, or parts replacement must be performed by only professionals. ◆ Never perform wiring at power-on. Failure to comply will result in an electric shock. ◆ Before wiring, cut off all equipment power supplies. Wait at least 15 minutes before further operations because residual voltage exists after power-off.
  • Page 14 Safety Instructions Maintenance DANGER ◆ Equipment installation, wiring, maintenance, inspection, or parts replacement must be performed by only professionals. ◆ Do not maintain the equipment at power-on. Failure to comply will result in an electric shock. ◆ Before maintenance, cut off all equipment power supplies and wait at least 15 minutes. WARNING ◆...

  • Page 15: Safety Signs

    Safety Instructions Safety Signs ■ Description of safety signs in the user guide Read the user guide before installation and operation. Reliably ground the system and equipment. Danger! High temperature! Prevent personal injuries caused by machines. High voltage! Wait xx minutes before further operations. 15min ■...

  • Page 16: Product Information

    26 A Nameplate Product Certifications model MODEL： SV660NS2R8I Rated input INPUT： 1PH AC 200-240V 4.6A 50/60Hz Rated output OUTPUT： 3PH AC 0-240V 2.8A 0-400Hz 400W Serial No. S/N： 01050843xxxxxxxx Suzhou Inovance Technology Co., Ltd. CHARGE Figure 1-1 Nameplate and model number -15-...

  • Page 17: Components

    1 Product Information 1.1.2 Components Figure 1-2 Layout of servo drives in size A Name Description CN6: Functional safety terminal mainly used for functional safety purpose and Terminals connected to the external functional safety signal CN6 and CN5 CN5: Software tool communication port A five-digit LED display used to show the servo drive running status and LED display parameter settings...
  • Page 18 1 Product Information Name Description Used to indicate that the bus capacitor carries electric charge. When this indicator lights up, it indicates the electric charge may be still present CHARGE in the internal capacitor of the servo unit even if the main circuit power supply (Bus voltage indicator) is cut off.
  • Page 19 1 Product Information Name Description MODE: Used to switch parameters in sequence. △ : Used to increase the value of the blinking digit. ▽ : Used to decrease the value of the blinking digit. Operation buttons ◁ ◁ : Used to shift the blinking digit leftwards. (Hold down: Turning the page when the displayed number exceeds five digits) SET: Used to save modifications and enter the next menu.

  • Page 20: Technical Specifications

    1 Product Information 1.1.3 Technical Specifications 1 Electrical specifications ■ Single-phase 220 V servo drives Item Size A Size B Servo drive model: SV660N S1R6 S2R8 S5R5 Continuous output current (Arms) Maximum output current (Arms) 10.1 16.9 Main circuit power supply Single-phase 200–240 VAC, -10% to +10%, 50/60 Hz Control circuit power supply Single-phase 200–240 VAC, -10% to +10%, 50/60 Hz...
  • Page 21 1 Product Information 2 General specifications Item Description IGBT PWM control, sine wave current drive mode Control mode 220 V, 380 V: Single-phase/Three-phase full bridge rectification Serial incremental type: 23-bit or 20-bit Encoder feedback 23-bit absolute encoder Operating/Storage 0℃ to 55℃ (If the ambient temperature exceeds 45℃ , derate temperature 10% for every additional 5℃...
  • Page 22 1 Product Information Item Description Overtravel (OT) prevention Stop immediately when P-OT and N-OT activated Protections against overcurrent, overvoltage, undervoltage, Protective functions overload, main circuit detection error, heatsink overheat, overspeed, encoder error, CPU error, and parameter error LED display Main power CHARGE indicator, 5-digit LED display Five notches (including two adaptive notches), 50 Hz to 5000 Vibration suppression Connection protocol RS232...
  • Page 23 The encoder is of high performance with resolution up to 8388608 PPR. Mechanical characteristics Analyzes the resonance frequency and mechanical system characteristics through a PC analysis installed with Inovance software tool. Generates gain parameters automatically to match present working condition through Gain auto-tuning just one parameter.

  • Page 24: Specifications Of The Regenerative Resistor

    Trial run mode Runs the servo motor directly through the keypad, removing the need for a start signal. Inovance software tool Used to execute parameter settings, trial run and status display through a PC. Warning code output Outputs a four-bit warning code when a warning occurs.

  • Page 25: Introduction To The Servo Motor

    Figure 1-4 Motor model and nameplate ◆ The preceding information only applies to motors in 40\60\80 frame sizes. ◆ The SV660N series servo drive can work with a motor installed with a 23-bit singl-turn absolute encoder or a 23-bit multi-turn absolute encoder.

  • Page 26: Components

    1 Product Information 1.2.2 Components ■ Terminal-type motor components Encoder socket Encoder socket Power socket Power socket Flange mounting Flange mounting surface surface Screw mounting Screw mounting hole hole Shaft extension Shaft extension (with key ) (with key ) Cable outlet direction : Front outlet Cable outlet direction : Rear outlet...

  • Page 27: Technical Specifications

    ◆ The items and torque-speed characteristic values in the preceding table are obtained in cases where the motor is working with Inovance servo drive and the armature coil temperature is 20° C. ◆ The characteristic parameter values in the preceding table are obtained in cases where the motor is...
  • Page 28 1 Product Information 3 Motor overload characteristics Load Ratio (%) Running Time (s) Running time (s) 1000 Load ratio (%) Figure 1-7 Motor overload curve The maximum torque of H1 and H4 models are three times the rated torque. NOTE -27-...
  • Page 29 1 Product Information 4 Allowable radial and axial loads of the motor Axial load A direction Axial load B direction Figure 1-8 Radial and axial loads Motor Model Allowable Radial Load (N) Allowable Axial Load (N) MS1H1-10B30CB MS1H1-20B30CB MS1H1-40B30CB MS1H4-40B30CB MS1H1-75B30CB MS1H4-75B30CB MS1H3-85B15CB 5 Electrical specifications for the motor with brake...
  • Page 30 1 Product Information 6 Motor torque-speed characteristics ■ MS1H1 (low inertia, small capacity) Continuous working area Short-term working area MS1H1-10B30CB MS1H1-20B30CB Speed Speed (RPM) (RPM) 6000 6000 5000 5000 4000 4000 3000 3000 2000 2000 1000 1000 Torque (N·m) Torque (N·m) MS1H1-75B30CB MS1H1-40B30CB Speed...
  • Page 31 1 Product Information MS1H3-85B15C* 3500 2800 2100 1400 Torque (N·m) ■ MS1H4 (medium inertia, small capacity) Continuous working area Short-term working area MS1H4-40B30CB MS1H4-75B30CB Speed Speed (RPM) (RPM) 6000 6000 5000 5000 4000 4000 3000 3000 2000 2000 1000 1000 Torque (N·m) Torque (N·m) 7 Derating characteristics...

  • Page 32: Servo System Configurations

    1 Product Information ■ Derating curve for high temperature Ambient temperature (°C) 1.3 Servo System Configurations ■ 220 V: Servo Drive Model Size SV660N****I Servo Rated Maximum Motor of the Capacity Servo Motor Model Drive SN Single- Three- Speed Speed Frame Servo (H01-02)

  • Page 33: Cable Models

    1 Product Information ■ 380 V: Servo Drive Size Model Servo Drive Rated Maxiumum Motor of the SV660N****I Capacity Servo Motor Model Speed Speed Frame Servo (H01-02) Three-phase Drive 380 VAC 6000 RPM 1000 W 10C30CD T5R4 10002 1500 W 15C30CD T5R4 10002...
  • Page 34 1 Product Information Table 1-3 Flexible cables for MS1 terminal-type (Z) motors with front cable outlet Cable Length (m) Cable Type 10.0 Power cable (without brake) S6-L-M107-3.0-T S6-L-M107-5.0-T S6-L-M107-10.0-T Power cable (with brake) S6-L-B107-3.0-T S6-L-B107-5.0-T S6-L-B107-10.0-T Absolute encoder cables S6-L-P124-3.0-T S6-L-P124-5.0-T S6-L-P124-10.0-T Incremental encoder cables S6-L-P114-3.0-T...

  • Page 35: Communication Cable Options

    1 Product Information 1.5 Communication Cable Options Model Description S6-L-T00-3.0 Cable for communication between the servo drive and PC S6-L-T04-0.3 Cable for parallel communication of multiple servo drives S6-L-T03-0.0 Cable for communication between the servo drive and the host controller 1.6 Connector Kit Connector Kit Outline Drawing...

  • Page 36: Servo System Wiring Diagram

    1 Product Information 1.7 Servo System Wiring Diagram CN5: Serial communication terminal, used Servo drive to PC communication cable to connect the software tool CN6: Functional safety terminal, connected to external functional safety signal RD + RD + 0 1 2 3 4 5 6 7 CANRUN CANERR...
  • Page 37 1 Product Information Pay attention to the power capacity when connecting an external control power supply or a 24 VDC power supply, especially when the power supply is used to power up multiple servo drives or brakes. Insufficient power supply will lead to insufficient supply current, resulting in failure of the servo drive or the brake.

  • Page 38: Installation

    2 Installation 2 Installation "Safety Instructions" Read through the safety instructions in . Failure to comply may result in serious consequences. ◆ Abide by the installation direction described in this chapter. Failure to comply may result in device faults or damages. ◆...

  • Page 39: Environment Conditions

    2 Installation 2.1.2 Environment Conditions Table 2-1 Installation environment Item Description 0℃ –55℃ (The average load ratio cannot exceed 80% when the ambient Ambient operating temperature temperature is within 45℃ to 55℃ .) (non-freezing) Ambient operating humidity Below 90% RH (without condensation) Storage temperature -20℃...
  • Page 40 2 Installation ■ Size C：SV660NS7R6I, SV660NT3R5I, SV660NT5R4I Left view Rear view Top view Front view 173±1 (75) 55±1 2-M4 screw through hole Retaining screw： 2-M4； Recommended tightneing torque： 1.2 N·M Figure 2-3 Outline dimensions of size C (unit: mm) ■ Size D：SV660NS012I, SV660NT8R4I, SV660NT012I Rear view Front view Left view...

  • Page 41: Installation

    2 Installation 2.1.4 Installation ■ Installation Method Ensure the servo drive is installed vertically to the wall, with its front (actual mounting side) facing the operator. Cool the servo drive down with natural convection or a cooling fan. Fix the servo drive securely on the mounting surface through two to four mounting holes (number of mounting holes depends on the capacity of the servo drive).
  • Page 42 2 Installation Air outlet Air outlet Air outlet Air outlet ≥ 60 mm ≥ 1 mm ≥ 20 mm ≥ 20 mm ≥ 50 mm Vertically and Air inlet Air inlet Air inlet Air inlet upward Compact installation Figure 2-6 Installation of the servo drive ■...

  • Page 43: Installation Of The Servo Motor

    2 Installation Each servo drive is equipped with two dust-proof covers in standard configuration. Such dust-proof covers can be purchased separately as needed (model: NEX-02-N2B; manufacturer: PINGOOD). Figure 2-8 Mounting of the dust-proof cover ◆ Dust-proof cover: Prevents foreign objects (such as solids or liquids) from falling into the product and causing faults.

  • Page 44: Installation Precautions

    2 Installation Item Description H1: IP67 (shaft opening excluded, with power cables and encoder connectors connected properly) IP rating H4: IP67 (shaft opening excluded, with power cables and encoder connectors connected properly） Altitude Below 1000 m (derating required for altitude above 1000 m) 2.2.3 Installation Precautions Table 2-3 Installation instructions Item...
  • Page 45 2 Installation Item Description ◆ When connecting the servo motor to a machine, use a coupling and keep the motor shaft center and the machine shaft center in the same line. ◆ Make sure the servo motor fulfills the required alignment precision (as shown in the following figure).

  • Page 46: Dimension Drawings

    2 Installation Item Description ◆ Observe the following requirements: 1) When connecting the connectors, make sure there is no waste or sheet metal inside the connector. 2) Connect the connector to the main circuit cable side of the servo motor first, and ensure the grounding cable of the main circuit is connected properly.
  • Page 47 2 Installation 2 Flange frame: 60 Motor Model MS1H1-20B30CB-**31Z 72.5 30±0.5 4-φ5.5 3±0.5 0.5±0.35 MS1H1-20B30CB-**34Z 30±0.5 4-φ5.5 3±0.5 0.5±0.35 MS1H1-40B30CB-**31Z 30±0.5 4-φ5.5 3±0.5 0.5±0.35 MS1H1-40B30CB-**34Z 30±0.5 4-φ5.5 3±0.5 0.5±0.35 MS1H4-40B30CB-**31Z 30±0.5 4-φ5.5 3±0.5 0.5±0.35 MS1H4-40B30CB-**34Z 30±0.5 4-φ5.5 3±0.5 0.5±0.35 Motor Model Weight (kg) MS1H1-20B30CB-**31Z M5x8...
  • Page 48 2 Installation 3 Flange frame: 80 Aviation plug Dimension of Dimension of the shaft end with key the shaft end Motor Model MS1H1-75B30CB-**31Z 35±0.5 4-φ7 3±0.5 0.5±0.35 MS1H1-75B30CB-**34Z 35±0.5 4-φ7 3±0.5 0.5±0.35 MS1H4-75B30CB-**31Z 117.5 35±0.5 4-φ7 3±0.5 0.5±0.35 MS1H4-75B30CB-**34Z 147.5 35±0.5 4-φ7 3±0.5...
  • Page 49 2 Installation 4 Flange frame: 130 Dimension of Dimension of the the shaft end shaft end with key Motor Model MS1H3- 85B15CB-****Z 146 (182) 55±1 4-Φ9 2-M5 72.5 (161) Motor Model Weight (kg) MS1H3- 85B15CB-****Z 0.5±0.75 M6x20 7 (8) ◆ The unit for the dimensions in the preceding table is "mm". ◆...

  • Page 50: Wiring

    3 Wiring 3 Wiring ◆ Read through the safety instructions in "Safety Instructions" . Failure to comply may result in serious consequences. ◆ Feed the servo drive with power from grounded (TN/TT) systems. Failure to comply may result in electric shock. ◆...
  • Page 51 3 Wiring ◆ The specifications and installation method of external cables must comply with applicable local regulations. ◆ Abide by the following requirements when applying the servo drive on a vertical axis. 1) Set the safety device properly to prevent the workpiece from falling under such status as warning and overtravel.

  • Page 52: Terminal Pin Layout

    3 Wiring 3.1 Terminal Pin Layout TD + TD + TD - TD - CN 4 RD + RD + RD - RD - Encoder signal terminal CN2 +24V DO3+ Main circuit input terminal CN8 COM- DO3- COM+ DO2+ Reserved DO2- Reserved DO1+...

  • Page 53: Wiring Of The Main Circuit

    3 Wiring TD + TD + CN3/CN4 TD - TD - RD + RD + RD - RD - Encoder signal terminal CN2 Main circuit input +24V DO3+ terminal CN8 COM- DO3- COM+ DO2+ Reserved Reserved DO2- DO1+ D01- Enclo- sure Figure 3-2 Terminal pin layout of servo drives in size B The preceding figure shows the pin layout of the servo drive terminals.
  • Page 54 3 Wiring Table 3-1 Names and functions of main circuit terminals of servo drives in size A Component Name Description L1, L2 See the nameplate for the control circuit power input of the rated voltage class. (Power input terminals) P, N Used as the common DC bus for multiple servo drives.

  • Page 55: Wiring Example Of The Regenerative Resistor

    3 Wiring 3.2.2 Wiring Example of the Regenerative Resistor Figure 3-5 Connection of the external regenerative resistor Abide by the following requirements when connecting the external regenerative resistor: ◆ Remove the jumper between P and D before using the external regenerative resistor. Failure to comply will cause overcurrent and damage the braking transistor.
  • Page 56 3 Wiring Table 3-3 Current specifications of the servo drive Maximum Output Current Servo Drive Model SV660N****I Rated Input Current (A) Rated Output Current (A) S1R6 SIZE-A S2R8 10.1 S5R5 7.9 (Single-phase) 16.9 SIZE-B S6R6 3.7 (Three-phase) 16.5 S7R6 SIZE C T3R5 T5R4 S012...
  • Page 57 3 Wiring Use the following types of cables for the main circuit. Table 3-7 Recommended main circuit cables Cable Type Allowable Temperature (℃ ) Model Name General PVC cable PVC cable with a rated voltage of 600 V Special PVC cable with heat-resistance capacity For three-cable applications, the relation between AWG specification and the allowable current is shown in the following table.

  • Page 58: Power Supply Wiring Example

    3 Wiring 3.2.4 Power Supply Wiring Example ■ Single-phase 220 V models: SV660NS1R6I, SV660NS2R8I, and SV660NS5R5I Single-phase 220 VAC 660N servo drive Noise filter STOP button Main circuit button power input contactor Surge protection device ALM- Servo alarm output relay ALM+ Servo alarm signal output...

  • Page 59: Precautions For Main Circuit Wiring

    3 Wiring ■ Three-phase 220 V Models: SV660NS6R6I Three-phase 220 VAC Noise filter 660N servo drive STOP button Main circuit power input button contactor Surge protection device ALM- Servo alarm output relay ALM+ Servo alarm signal output Servo alarm indicator Figure 3-8 Main circuit wiring of three-phase 220 V models ◆...

  • Page 60: Specifications Of Main Circuit Options

    3 Wiring Duct Cable Table 3-9 Reduction coefficient of current-carrying density of the conductor Number of Cables in the Same Duct Current Reduction Coefficient Less than 3 0.63 5–6 0.56 7–15 0.49 ■ Do not bundle power cables and signal cables together or route them through the same duct. Power cables and signal cables must be separated by a distance of at least 30 cm to prevent interference.

  • Page 61: Connection Of The Servo Drive And Servo Motor Power Cables

    ◆ The motor frame refers to the width of the mounting flange. ◆ Power cable colors are subject to the colors of the actual product. The cable colors mentioned in this user guide refer to Inovance's cable colors. NOTE -60-...
  • Page 62 ◆ The motor frame refers to the width of the mounting flange. ◆ Power cable colors are subject to the colors of the actual product. The cable colors mentioned in this user guide refer to Inovance's cable colors. NOTE -61-...

  • Page 63: Connection Of The Servo Drive And Servo Motor Encoder Cables

    3 Wiring Table 3-13 Connectors for power cables on servo motor side Outline Drawing of the Applicable Motor Terminal Pin Layout Connector Frame MIL-DTL-5015 series 3108E20-18S aviation plug New Structure Old Structure Color Signal Pin No. Signal Name Pin No. Name Blue Black Yellow/...
  • Page 64 3 Wiring ■ Removing the battery box The battery may have leakage liquids after a long-time use. It is recommended to replace the battery every two years. Remove the battery box in steps in reverse to those in the preceding figure. When closing the battery box cover, do not pinch the connector cables.
  • Page 65 3 Wiring ■ Selecting the battery model Select an appropriate battery according to the following table. Table 3-14 Description of the absolute encoder battery Ratings Battery Model and Items Condition Minimum Typical Maximum Specifications Value Value Value External battery In standby mode voltage (V) Circuit fault voltage In standby mode...
  • Page 66 (without a battery box) cables. Incremental encoder cables need to be purchased separately. The encoder cable color is subject to the color of the actual product. The cable colors mentioned in this user guide refer to Inovance's cable colors. NOTE...
  • Page 67 3 Wiring Lead wires of the battery box: Pin No. Color Definition Power supply (+) Pin No. Color Definition Black Power supply (-) Figure 3-13 Color of the lead wires of the absolute encoder battery ◆ Store the battery in environments within the required temperature range and ensure reliable contact and sufficient battery power.
  • Page 68 3 Wiring Table 3-17 Cable connectors of the lead wire-type motor encoder (9-pin connector) Applicable Motor Outline Drawing and Pin Layout of the Connector Frame 9-pin connector Lead wire-type Viewed from motor: this side 40 (lead wire-type) 60 (lead wire-type) Signal Color Pin No.

  • Page 69: Connection Of The Control Signal Terminal Cn1

    3 Wiring 3.5 Connection of the Control Signal Terminal CN1 +24V DO3+ COM- DO3- COM+ DO2+ DO2- DO1+ D01- Figure 3-14 Pin layout of CN1 terminal connector CN1 terminal: Plastic housing of the plug on the cable side: DB15P (SZTDK), black housing Core: HDB15P (SZTDK) ◆...

  • Page 70: Di/Do Signals

    3 Wiring 3.5.1 DI/DO signals Table 3-18 Description of DI/DO signals Signal Name Function Pin No. Function P-OT Positive limit switch N-OT Negative limit switch HomeSwitch Home switch TouchProbe2 Touch probe 2 TouchProbe1 Touch probe 1 +24V Internal 24 V power supply, voltage range: 20 V to 28 V, maximum output current: 200 mA COM- General...
  • Page 71 3 Wiring ■ For use of an external power supply Servo drive Servo drive External +24 VDC Two power supplies 24 V 24 V +24 V power used External +24 VDC supply COM+ COM+ 4.7 kΩ 4.7 kΩ DI1 (CMD1) DI1 (CMD1) Relay COM-...
  • Page 72 3 Wiring ■ For use of an external power supply Servo drive Servo drive 24 V 24 V External +24 VDC External +24 VDC COM+ COM+ 4.7 kΩ 4.7 kΩ DI1 (CMD1) DI1 (CMD1) External 0 V External 0 V PNP and NPN input cannot be used mixedly.

  • Page 73: Wiring Of The Brake

    3 Wiring Servo drive Servo drive External External 5‒24 VDC 5‒24 VDC Relay not connected Relay Wrong polarity of the DO1+ flywheel diode DO1+ DO1- DO1- External External The host controller provides optocoupler input. Servo drive External Servo drive External 5‒24 VDC 5‒24 VDC Current limiting...
  • Page 74 ■ When deciding the length of the motor brake cable, take the voltage drop caused by cable resistance into consideration. The input voltage must be at least 21.6 V to enable the brake to work properly. The following table lists brake specifications of Inovance servo motors. Table 3-19 Brake specifications...

  • Page 75: Wiring Of Communication Signals Cn3/Cn4

    3 Wiring 3.6 Wiring of Communication Signals CN3/CN4 Figure 3-17 Networking topology 0 1 2 3 4 5 6 7 EtherCAT CANRUN CANERR RUN / STOP Servo drive to PLC communication cable EtherCAT Servo drive EtherCAT communication cable Figure 3-18 Wiring of communication cables -74-...

  • Page 76: Pin Definition Of The Communication Signal Connector

    ■ Principle for cable selection Cable Specifications Supplier 0.2 m to 10 m Inovance Above 10 m Haituo ■ Basic information of Inovance EtherCAT communication cables Cable models are shown in the following figure. S6-L-T04-3.0 Cable Length (unit: m) Symbol Product Series Symbol...

  • Page 77: Communication Connection With Pc (Rs232 Communication)

    3 Wiring ■ Cable ordering information Material Code Cable Model Length (m) 15040261 S6-L-T04-0.3 15040262 S6-L-T04-3.0 15041960 S6-L-T04-0.2 15041961 S6-L-T04-0.5 15041962 S6-L-T04-1.0 15041963 S6-L-T04-2.0 15041964 S6-L-T04-5.0 15041965 S6-L-T04-10.0 10.0 ■ Specifications Item Description UL certification UL-compliant Cat 5e cable Cat 5e cable Double shield Braided shield (coverage: 85%), aluminum foil shield (coverage: 100%) Environment...
  • Page 78 3 Wiring The definition of DB9 terminal on PC side is shown in the following table. Table 3-22 Pin definition of DB9 ("B" in the Figure 3-19) on PC side Pin No. Definition Description Terminal Pin Layout PC-RXD PC receiving end PC-TXD PC transmitting end Ground...

  • Page 79: Definition And Connection Of Sto Terminal

    3 Wiring 3.7 Definition and Connection of STO terminal This section describes the definition and function of the I/O connecting terminal (CN6) for safe torque off (STO). 1 Terminal layout STO1 STO2 Pin map of the input connector Terminal Pin No. Name Value Description...
  • Page 80 3 Wiring 24V shorted to STO1/STO2 Short-circuit jumper removed in normal use 2 Electrical specifications and connections of the input circuit This section describes the characteristics of the input signals assigned to the CN6 connector. ■ Specifications The servo drive can operate normally only if the input status of STO1 and STO2 are both "1" or "H". If the input status of either STO1 or STO2 (or both ) is "0"...

  • Page 81: Anti-Interference Measures For Electrical Wiring

    3 Wiring ■ Example of internal 24 V connection 3 EMC requirements ■ To avoid short circuit between two adjacent conductors, either use a shielded cable with its shield connected to the protective ground or a flat cable with one earthed conductor between each signal conductor.

  • Page 82: Anti-Interference Wiring Example And Grounding

    3 Wiring It is recommended to adopt D class (or higher) grounding (grounding resistance below 100 Ω). Adopt single-point grounding. ■ Use a noise filter to prevent radio frequency interferences. In domestic applications or an unfavorable environment with strong power noise interference, install a noise filter on the input side of the power cable.

  • Page 83: Instructions For Use Of The Noise Filter

    3 Wiring Connect the grounding terminal of the servo motor to the PE terminal of the servo drive and ground the PE terminal properly to reduce potential electromagnetic interferences. Grounding the encoder cable shield Ground both ends of the encoder cable shield. 3.8.2 Instructions for Use of the Noise Filter To prevent interference from power cables and reduce impact of the servo drive to other sensitive devices, install a noise filter on the input side of the power supply according to the magnitude of the...

  • Page 84: Precautions For Use Of Cables

    3 Wiring power power Noise Noise filter filter Servo Servo Servo Servo drive drive drive drive Shield grounded Shield grounded Figure 3-24 Single-point grounding ■ Ground the noise filter installed inside the control cabinet. If the noise filter and the servo drive are installed in the same control cabinet, fix the noise filter and the servo drive on the same metal plate.
  • Page 85 3 Wiring ■ Ensure the space factor inside the cable drag chain is below 60%. ■ Do not use cables with different sizes together. This is to prevent thin cables from being crushed by thick cables. If thick and thin cables need to be used together, use a spacer plate to separate them. Cable drag chain Cable Cable end...

  • Page 86: Keypad Display And Operations

    4 Keypad Display and Operations 4 Keypad Display and Operations 4.1 Introduction to the Keypad Keypad display MODE Figure 4-1 Appearance of the LED keypad The keypad on the SV660N servo drive consists of five LEDs and five push buttons. The keypad is used for data display, parameter settings, password settings and general function executions.

  • Page 87: 1Transition Relation Between Keypad Display And Operation Objects

    4 Keypad Display and Operations 4.2.1Transition Relation Between Keypad Display and Operation Objects The mapping relation between the parameter (decimal) displayed by the keypad and the object dictionary operated by the host controller (hexadecimal, "Index" and "Sub-index") is as follows: Object dictionary index = 0x2000 + Parameter group number Object dictionary sub-index = Hexadecimal offset within the parameter group + 1 Example:...

  • Page 88: Status Display

    4 Keypad Display and Operations 4.2.3 Status Display Display Name Display Condition Meaning The servo drive is in initialization or reset reset status. Upon power-on (servo After initialization or reset is done, the initialization) servo drive automatically switches to other status. The main circuit is not powered on, and Initialization done, the servo drive is not ready to run.
  • Page 89 4 Keypad Display and Operations ■ Display of the parameter group Display Name Description XX: Parameter group No. (decimal) HXX.YY Parameter group YY: Parameter No. (hexadecimal) For example, H02-00 is displayed as follows. Display Name Description 02: Parameter group No. Parameter H02-00 00: Parameter No.

  • Page 90: Fault Display

    4 Keypad Display and Operations For example, 1073741824 is displayed as follows. Segment "–" in the first left LED indicates the current page. SHIFT SHIFT Four low bits First page Four middle bits Second page Four high bits Third page Figure 4-4 Display of "1073741824"...

  • Page 91: Monitoring Display

    4 Keypad Display and Operations ■ Set the fault record to be viewed in H0B-33 (Fault record). View the selected fault or warning code in H0B-34. ■ Set H02-31 (Parameter initialization) to 2 (Clear fault records) to clear the latest 10 faults or warnings stored in the servo drive.
  • Page 92 4 Keypad Display and Operations Para. No. Name Unit Meaning Display Example In cases where DI1 is low level and DI2 Displays the corresponding to DI5 are high level, the corresponding level status of five DIs: binary value is 11110, and the value Upper LED segment turned of H0B-03 read by the software tool is on: High level (indicated by...
  • Page 93 4 Keypad Display and Operations Para. No. Name Unit Meaning Display Example Display of 3000 RPM: Speed information Displays the speed corresponding corresponding to the position H0B-11 to the input reference in a single control Display of -3000 RPM: position cycle.
  • Page 94 4 Keypad Display and Operations Para. No. Name Unit Meaning Display Example Display of 311.0 V rectified from 220 VAC: Displays the main circuit DC H0B-26 Bus voltage 0.1 V bus voltage between P and -. Display of 537.0 V rectified from 380 VAC: Display of 27℃...
  • Page 95 4 Keypad Display and Operations Para. No. Name Unit Meaning Display Example Display of 3000 RPM: Displays the servo motor Motor speed speed when the fault defined upon occurrence by H0B-37 occurred H0B-37 of the selected Display of -3000 RPM: When there is no fault, H0B-37 fault displays "0".
  • Page 96 4 Keypad Display and Operations Para. No. Name Unit Meaning Display Example Displays the high/low level status of the three DOs when the fault defined by H0B-34 Display of H0B-43 = 0x0003: occurred. Output terminal The viewing method is the status upon H0B-43 same as that of H0B-05.
  • Page 97 4 Keypad Display and Operations Para. No. Name Unit Meaning Display Example Display of 2147483647 encoder units: Displays the mechanical Mechanical SHIFT absolute position (low 32 bits) H0B-58 absolute position Encoder unit when an absolute encoder is (low 32 bits) used.

  • Page 98: Parameter Setting

    4 Keypad Display and Operations Para. No. Name Unit Meaning Display Example Display of 2147483647 encoder units: Single-turn Displays the position feedback position feedback SHIFT of the mechanical load (low 32 H0B-81 of the load in Encoder unit bits) when the absolute system rotation mode works in rotation mode.

  • Page 99: User Password

    4 Keypad Display and Operations : Used to switch the keypad display mode and return to the previous menu. ■ ■ " "/" ": Used to increase or decrease the value of the blinking digit. ■ " ": Used to shift the blinking digit. ■...

  • Page 100: General Functions

    4 Keypad Display and Operations 4.5 General Functions 4.5.1 Jog The jog function requires the S-ON signal to be deactivated. Otherwise, jogging cannot be executed. Users can perform trial running on the servo motor and the servo drive through jogging. ■...

  • Page 101: Forced Di/Do Signals

    4 Keypad Display and Operations ■ Exiting from jog Press to exit from the jogging status and return to the previous menu. 4.5.2 Forced DI/DO Signals There are five DI signals and three DO signals on terminal CN1 of SV660N. Users can allocate the DI/ DO function and terminal logic to parameters in group H03/H04 by using the keypad (or host controller communication), so that the host controller can control corresponding servo functions through the DI or the DO signal output by the servo drive.
  • Page 102 4 Keypad Display and Operations Description Remarks Code Name Function The probe logic is only related Invalid - Probe not triggered TouchProbe1 Touch probe 1 to the probe function (60B8h) Valid - Probe can be triggered instead of the terminal logic. The probe logic is only related Invalid - Probe not triggered TouchProbe2...
  • Page 103 4 Keypad Display and Operations ■ Operating process Start Set the DI function and logic according to group H03. Set H0D-17 to 1 or 3 to enable forced DI function. Set H0D-18 to set the high/low level of the DI. Monitor DI terminal level status through...
  • Page 104 4 Keypad Display and Operations Level Figure 4-9 Description of H0D-18 setting ■ Monitoring the DI level status through H0B-03 If the DI function is normal, the displayed value of H0B-03 is always the same as that of H0D-18. In this case, DI1 is displayed as low level and DI2 to DI9 are displayed as high level on the keypad, and the value of H0B-03 read by the software tool is 1E (hexadecimal).
  • Page 105 4 Keypad Display and Operations ■ Operating process Start Set the DO function and logic according to group H04. Set H0D-17 to 2 or 3 to enable forced DO function. Set H0D-19 to activate or deactivate the DO function. Monitor the DO terminal level status through H0B-05.
  • Page 106 4 Keypad Display and Operations ■ Monitoring the DO level status through H0B-05 If the logic of all the three DO terminals are active at low level, the DO1 is high level and DO2 to DO5 terminals are low level, and the corresponding binary number is "001". In this case, the value of H0B-05 (Monitored DO signal) read by the software tool is 1 (decimal).
  • Page 107 4 Keypad Display and Operations ■ Operating process Start Set H0D-17 to 4 to enable bus forced DO function. Select the DOs to bit16 to bit18 in 60FE-02h( Bit mask for be set through enabling physical output) are used to set communication whether to control the output level of DO1, by 60FE-02h.
  • Page 108 4 Keypad Display and Operations ■ Exit The bus-controlled forced DO signal is not retentive upon power-off. Normal DOs apply after restart, or you can set H0D-17 (Forced DI/DO selection) to 0 (No operation) to return to the normal DO mode. -107-...

  • Page 109: Commissioning And Operation

    Switch on the power supply. Power on • Switch off the S-ON signal. • Perform jogging through the keypad. • Start jogging Perform jogging through Inovance • software tool. Set common parameters. • Parameter setting Set parameters related to each control •...

  • Page 110: Pre-Running Check

    Perform jogging to check whether the servo motor can rotate properly without abnormal vibration or noise. The jog function can be enabled through the keypad (jogging in speed mode/jogging in position mode) and Inovance software tool (jogging in speed mode). The acceleration/deceleration time constant of the speed/position reference can be set through H06-12 (2006-0Dh) during jogging.

  • Page 111: General Parameter Settings

    Press to exit from the jog mode. ■ Through Inovance servo commissioning software (jogging in speed mode) Open the "Speed JOG" interface (as indicated by the red square frame in the following figure) in the software tool and set the jog speed.

  • Page 112: Brake Settings

    5 Commissioning and Operation Defines the forward direction of the motor when viewed from the motor axis side. Value Rotation direction Remarks CCW direction as the forward direction when forward run command is input, CCW as the forward indicating the motor rotates in CCW direction when viewed from the motor axis direction side CW as the forward...
  • Page 113 When deciding the length of the cable on the motor brake side, take the voltage drop caused by cable resistance into consideration. The input voltage must be at least 21.6 V to enable the brake to work properly. The following table lists brake specifications of Inovance MS1 series servo motors. Table 5-2 Brake specifications...
  • Page 114 5 Commissioning and Operation 3 Brake time sequence in normal servo status The brake time sequence in normal servo status is divided into the following two conditions: Motor at standstill: The actual motor speed is less than 20 RPM. Motor rotating: The actual motor speed is equal to or higher than 20 RPM. ■...
  • Page 115 5 Commissioning and Operation ☆ Related parameters: Setting Delay from brake Any condition Condition Data Data H02-09 Name output ON to & Uint16 & Effective Structure Type command received Immediately Time Related 2002-0Ah Access Mapping Data Range 0–500 (ms) Default Mode Defines the delay from the moment the brake output signal becomes ON to the moment when the servo drive starts to receive input commands after power-on.
  • Page 116 5 Commissioning and Operation S-ON Motor energized 2002-0Bh Brake output (BK) 2002-0Dh ON (brake deactivated) Brake OFF (brake activated) contactor Position/Speed/Torque reference Motor 2002-0Ch speed Figure 5-5 Brake time sequence at motor rotating "5 Electrical specifi cations for the motor with brake" [1] For the delay of brake contactor actions, see for details.

  • Page 117: Regenerative Resistor Settings

    The following table lists the specifications of the regenerative resistor. Table 5-3 Specifications of the regenerative resistor for SV660N series servo drive Specifications of Built-in Regenerative Resistor Min. Permissible Resistance of External...
  • Page 118 5 Commissioning and Operation ■ Energy data The following table lists the energy data generated during no-load running of a 220 V motor from 3000 RPM to 0 RPM. Rotor Max. Braking Energy Servo Motor Model Braking Energy E (J) Generated Capacity Inertia J Absorbed by Capacitor...
  • Page 119 T (s). Determine the speed based on Determine the actual working conditions or motor speed V through reading the value from (RPM). Inovance software tool. Determine the See Chapter 6 for details. inertia ratio. J×V Calculate the braking energy J: Inertia ratio (J).
  • Page 120 5 Commissioning and Operation ☆ Related parameters Parameter Setting Name Value Range Function Effective Time Default Condition 0- Reserved Defines the mode 1: External, natural ventilation Regenerative of absorbing and 2002h At stop Immediately 2: External, forced air cooling resistor type releasing the braking 3: No regenerative resistor energy.
  • Page 121 5 Commissioning and Operation ☆ Related parameters Parameter Setting Effective Name Value Range Unit Function Default Condition Time Minimum Displays the minimum permissible permissible resistance of Model 2002h 16h resistance of Non-settable At display the external regenerative dependent regenerative resistor. resistor Defines the power of the external regenerative...
  • Page 122 5 Commissioning and Operation ☆ Related parameters: Parameter Value Setting Name Unit Function Effective Time Default Range Condition Used to set resistor heat dissipation coefficient when an external regenerative resistor is used. Resistor heat The value cannot be larger than 2002h 19h dissipation 10–100...

  • Page 123: Servo Running

    If the rotation direction is correct, observe the actual motor speed in 200B-01h and average load □ ratio in 200B-0Dh through the keypad or Inovance software tool. After checking the preceding running conditions, set related parameters properly to adapt the □...
  • Page 124 5 Commissioning and Operation Time sequence for stop upon warning or fault ■ Fault 1: Coast to stop, keeping de-energized state Fault Fault occurs? Normal About 0.1 ms to 4 ms Absolute value of the motor speed 0 RPM Motor De-energized Energized energized...
  • Page 125 5 Commissioning and Operation ■ Fault 1 (with brake): DB stop, keeping DB state About 0.1 ms Fault Fault occurs? Normal to 4 ms Absolute value of 2002-0Ch the motor speed 0 RPM Motor De-energized Energized energized Servo alarm Non-fault Err fault status output status...
  • Page 126 5 Commissioning and Operation About 0.1 ms Fault Normal Fault occurs? to 4 ms Absolute value of the motor speed 0 RPM Motor Energized energized De-energized Servo alarm Non-fault status output Err fault status status Dynamic brake output (DB) Figure 5-15 Time sequence of "Coast to stop, keeping de-energized state" at No. 2 fault [1] After DB is enabled.
  • Page 127 5 Commissioning and Operation ■ Fault 2 (with brake): Ramp to stop, keeeping DB state About 0.1 ms Fault Fault occurs? Normal to 4 ms Absolute value of 2002-0Ch the motor speed 0 RPM Ramp to stop 2002-0Bh Motor Energized De-energized energized Servo alarm...
  • Page 128 5 Commissioning and Operation Figure 5-18 Time sequence for warnings that cause stop Except Er.950 and Er.952, the other warnings do not affect the servo running status. The time sequence upon occurrence of these warnings is as follows: ■ Warnings that do not cause stop Normal Warning occurs? Normal...

  • Page 129: Servo Stop

    5 Commissioning and Operation 5.6 Servo Stop The stop modes can be coast to stop, stop at zero speed, ramp to stop, stop at emergency torque, and DB braking. The stop states can be de-energized state, position lock state, and DB state. See the following table for details.
  • Page 130 5 Commissioning and Operation ☆ Related parameters: Setting Condition Data Name Stop mode at S-ON OFF condition & Data Type int16 & Effective Structure At stop 605Ch Time Related Access Mapping Data Range -4 to 1 Default Mode Defines the deceleration mode of the servo motor from rotating to stop and the servo motor state after stop at S-ON OFF.
  • Page 131 5 Commissioning and Operation ☆ Related parameters: Setting Stop mode at At stop & Data Data H02-07 Name Condition & Uint16 overtravel Immediately Structure Type Effective Time 2002-08h Access Mapping - Related Mode Data Range 0–7 Default Defines the deceleration mode of the servo motor from rotating to stop and the servo motor state after stop at overtravel.
  • Page 132 5 Commissioning and Operation Function Name Function Description When the mechanical movement is beyond the movable range, the overtravel prevention function will be applied. Negative FunIN.15 N-OT limit switch Invalid: Reverse drive permitted Valid: Reverse drive inhibited ■ Emergency stop The emergency stop can be implemented through the following means: DI function 34 (FunIN.34: EmergencyStop) 200D-06h (Emergency stop)

  • Page 133: Conversion Factor Setting

    5 Commissioning and Operation ■ Halt The halt function applies when bit8 in the control word 6040h is set to 1 (Valid). The halt mode is defined by 605Dh. Setting Condition Any condition Data Data Name Halt mode int16 & Effective &...
  • Page 134 Take the ball screw as an example: Minimum reference unit fc = 1 mm Lead pB = 10 mm/r Reduction ratio n = 5:1 Inovance 20-bit serial encoder motor resolution P = 1048576 (PPR) The position factor is calculated as follows: -133-...
  • Page 135 5 Commissioning and Operation Motor resolution P x n Position factor 1048576 x 5 5242880 524288 Therefore, 6091-1h = 524288, 6091-2h = 1, which means when the load shaft displacement is 1 mm, the motor displacement is 524288. Reduce the values of 6091-1h and 6091-2h to a point where there is no common divisor, and take the final value.

  • Page 136: Gain Tuning

    6 Gain Tuning 6 Gain Tuning 6.1 Overview Set the gain parameters of the servo drive to proper values so that the servo drive can drive the motor as quick and accurate as possible based on internal references or commands sent from the host controller. Gain: High+Feedforward Gain: Low Gain: High...

  • Page 137: Inertia Auto-Tuning

    6 Gain Tuning Table 6-1 Gain tuning process Process of Gain Tuning Description Reference Offline The servo drive calculates the inertia ratio automatically. 6.2.1 Inertia The host controller sends a command to make the motor rotate, auto-tuning Online 6.2.2 and the servo drive calculates the inertia ratio in real time. The servo drive automatically generates the values of gain Gain auto-tuning parameters that match the inertia ratio (the inertia ratio must be...

  • Page 138: Offline Inertia Auto-Tuning

    6 Gain Tuning ◆ The following requirements must be met to ensure correct calculation of the load inertia ratio: 1) The actual maximum motor speed is higher than 150 RPM. 2) The actual acceleration rate during acceleration/deceleration is higher than 3000 RPM/s. 3) The load torque is stable without dramatic changes.
  • Page 139 6 Gain Tuning Start The S-ON signal is set to OFF. The servo S-ON switched off drive is in "ry" status. The value of H0D-02 displayed initially is H0D-02=1 the present value of H08-15. Press UP/DOWN to make the motor Operations may vary with offline inertia rotate in forward/ auto-tuning modes.

  • Page 140: Online Auto-Tuning

    6 Gain Tuning 6.2.2 Online Auto-tuning The servo drive supports online inertia auto-tuning. The following figure shows the process of online inertia auto-tuning. Start The S-ON signal is switched off. The S-ON switched off servo drive is in "ry" status. Set H09-03 to a non-zero value to Set H09-03.

  • Page 141: Overview

    6 Gain Tuning 6.3.1 Overview The ETune is a wizard-type function used to guide users to set corresponding curve trajectories and response parameters for auto-tuning. After the curve trajectories and response parameters are set, the servo drive performs auto-tuning to generate the optimal gain parameters. The auto-tuned parameters can be saved and exported as a recipe for use in other devices of the same model.
  • Page 142 6 Gain Tuning 2 Detailed descriptions Click " 易用性调整 " (Usibility adjustment) on the software tool, and click "ETune". There are two running modes, which can be selected according to the motion direction allowed by the machine. In " 往复正反 " (Forward/Reverse reciprocating)mode, the motor keeps reciprocating within the positive and negative limits.
  • Page 143 6 Gain Tuning positive/negative limit position directly. The difference between the positive and negative limits must be larger than 1/8 of one revolution. The larger the value of the limit position, the better the adaptability of the auto-tuned parameters, and the longer time will ETune adjustment take. Click "...
  • Page 144 6 Gain Tuning Click " 下一步 " (Next) to start auto-tuning. If you choose to perform inertia auto-tuning, the servo drive will perform inertia auto-tuning based on the set curve. After auto-tuning is done, the servo drive starts gain tuning automatically. If you choose not to perform inertia auto-tuning on the Start interface, the servo drive starts gain tuning directly after started.

  • Page 145: Precautions

    6 Gain Tuning 6.3.3 Precautions ■ The maximum speed and acceleration/deceleration time of the running curve can be set based on actual needs. You can also increase the acceleration/deceleration time properly to enable quick positioning after auto-tuning is done. ■ If the acceleration/deceleration time is set to a too small value, overload may occur. In this case, increase the acceleration/deceleration time properly.

  • Page 146: Troubleshooting

    6 Gain Tuning ■ For the ball screw applications, if the adjustment time is too long, shorten the stroke length. 6.3.4 Troubleshooting Fault Symptom Cause Measure 1) The vibration cannot be 1) Enable vibration suppression manually to eliminate the suppressed. vibration.

  • Page 147: Description Of Operations

    6 Gain Tuning 6.4.2 Description of Operations Operation flowchart Start Click "调整" (Adjustment) on the menu bar, and click "STUNE". Set the gain tuning mode. Input the inertia ratio directly or click "手动惯量识别" (Manual inertia tuning) to start inertia tuning. Set the inertia ratio.

  • Page 148: Precautions

    6 Gain Tuning Mode Name Applicable Occasion Standard stiffness table mode Gain auto-tuning is performed based on the set stiffness level. Gain auto-tuning is performed based on the set stiffness level. Positioning mode This mode is applicable to occasions requiring quick positioning. Gain auto-tuning is performed based on the set stiffness level.
  • Page 149 6 Gain Tuning The servo drive supports five gain auto-tuning modes. ◆ If H09-00 (Gain auto-tuning mode) is set to 3, 4, or 6, the servo drive will suppress the vibration and perform inertia auto-tuning automatically within 5 min (or other time defined by H09-37) after power-on or stiffness level setting, and then it exits from auto-tuning.

  • Page 150: Manual Gain Tuning

    6 Gain Tuning Gain switchover is enabled automatically in the positioning mode. Para. No. Name Value Description In the positioning mode, switchover between the 1st gain (H08-00 to H08-02, H07-05) and the 2nd gain (H08-03 to H08-05, H07-06) is H08-08 2nd gain mode activated.
  • Page 151 6 Gain Tuning The default gain of the current loop is already designed with the highest level of response, removing the need for adjustment. You only need to adjust the position loop gain, speed loop gain and other auxiliary gains. When executing gain tuning in the position control mode, increase the speed loop gain as well after increasing the position loop gain, and ensure the response level of the position loop is lower than that of the speed loop to keep the system stable.
  • Page 152 6 Gain Tuning Para. Step Name Description ◆ Parameter function: It determines the maximum frequency of the position loop in following the varying position references. Maximum following angle frequency of position loop = H08-02 Position reference Increase the value of Actual speed H08-00 and H08-02 ◆...

  • Page 153: Gain Switchover

    6 Gain Tuning Value Setting Effective Para. No. Name Unit Function Default Range Condition Time 0.0 to Defines the proportional gain During H08-02 Position loop gain Immediately 64.0 2000.0 of the position loop. running Filter time constant 0.00 to Defines the filter time constant During H07-05 Immediately...
  • Page 154 6 Gain Tuning Start Set H08-00 to 1. Set the gain switchover condition (H08-09). H08-09 = 0？ H08-09 = 1？ Allocate FunIN.3 to the DI. DI logic valid? Fixed at the Use the 2nd Use the 1st gain. 1st gain gain.
  • Page 155 6 Gain Tuning Gain Switchover Condition Related Parameters Gain Gain Delay switchover switchover H08-09 Condition Diagram level hysteresis (H08-10) (H08-11) (H08-12) Speed reference Switchover delay Speed Valid Valid Valid reference Switchover level Speed reference Speed Speed reference Valid Valid change rate Switchover delay Switchover delay reference...
  • Page 156 6 Gain Tuning Gain Switchover Condition Related Parameters Gain Gain Delay switchover switchover H08-09 Condition Diagram level hysteresis (H08-10) (H08-11) (H08-12) Speed reference Switchover delay Valid Valid Actual speed Valid Switchover level (RPM) (RPM) Position Valid Valid reference + See the following note for details. Valid (RPM) (RPM)

  • Page 157: Comparison Of Filters

    6 Gain Tuning Para. Setting Effective Name Value Range Unit Function Default Condition Time Gain Based on the Defines the During Immedi- H08-12 switchover 0 to 20000 switchover gain switchover running ately hysteresis condition hysteresis. Defines the gain Position gain switchover time During Immedi-...

  • Page 158: Feedforward Gain

    6 Gain Tuning 6.5.4 Feedforward Gain 1 Speed Feedforward Speed feedforward selection (H05-19) Speed feedforward No speed controller feedforward Reference Position Position Internal speed position Position deviation Motor reference Electronic feedforward reference input Position Speed loop Current source and gear ratio ×...

  • Page 159: Pseudo Derivative Feedback And Feedforward Control

    6 Gain Tuning 2 Torque feedforward Torque feedforward selection Torque (H06-11) feedforward controller Speed Speed No torque deviation Motor reference feedforward input Speed loop Current loop × × control control Internal torque feedforward Speed feedback Speed calculation Encoder Figure 6-9 Operating procedures for torque feedforward control The torque feedforward used in the position control mode improves torque reference responsiveness and decreases the position deviation during acceleration/deceleration at a constant speed.

  • Page 160: Torque Disturbance Observation

    6 Gain Tuning Position Position reference deviation H08-24 = 50% 20 ms Position Position reference deviation H08-24 = 100% 160 ms Position Position reference deviation H08-24 = 80% 90 ms Figure 6-10 Example PDFF control enhances the anti-interference capacity of the speed loop and improves the performance in following the speed reference through adjustment of the speed loop control mode.

  • Page 161: Speed Observer

    6 Gain Tuning Position Speed loop Current loop Motor loop control control control Disturbance observer ◆ 1/S: Integral element NOTE Para. No. Name Description Disturbance H08-31 observation cutoff The higher the cutoff frequency is, the more easily will the vibration occur. frequency Disturbance observation...
  • Page 162 6 Gain Tuning Speed reference Speed loop Current Load control loop control Speed Torque feedback observed Speed observer Actual feedback speed 1 Commissioning procedures Restore the default gain values. Cancel gain-autotuning, gain switchover, and feedforward. Set a correct inertia ratio. Set the observer filter (H08-29 = 60).

  • Page 163: Model Tracking

    6 Gain Tuning 2 Related parameters: Min. Setting Para. No. Name Value Range Default Effective Time Unit Condition During H08-00 Speed loop gain 0.1 Hz 1 to 20000 Immediately running Speed observation cutoff During H08-27 1 Hz 10 to 2000 Immediately frequency running...
  • Page 164 6 Gain Tuning Speed Move Speed mode command Model tracking control mKp, mVFF, mLPF Time Speed Torque feedforwrd feedforward Position control Speed control loop loop Speed Servo motor reference Current Position Speed control Power Deviation control loop gain loop conver counter loop Kv, Ti...
  • Page 165 6 Gain Tuning 1 Commissioning procedures Perform mechanical characteristic analysis and set a correct resonance point . . Set a correct inertia ratio. Improve the speed loop stiffness (H08-00 to H08-01) and reduce the corresponding torque filter (H07-05). The speed feedback matches the speed reference ? Enable the model...

  • Page 166: Friction Compensation

    6 Gain Tuning Setting Effective Para. No. Name Min. Unit Value Range Default Condition Time During H08-43 Model gain 0 to 10000 Immediately running During H08-46 Feedforward gain 0 to 1024 Immediately running During H08-51 Model filter time 2 0.01 ms 0 to 2000 Immediately running...

  • Page 167: Parameter Adjustment In Different Control Modes

    6 Gain Tuning The diagram for friction compensation is as follows. Speed Forward Gravity Positive friction compensation compensation (H09-32) (H09-33) Time Negative friction compensation (H09-34) Reverse Motor de-energized Motor energized ON ◆ When the speed is less than the speed threshold, static friction applies. When the speed exceeds the speed threshold, dynamic friction applies.
  • Page 168 6 Gain Tuning Para. No. Name Function Default 2nd speed loop integral time Defines the integral time constant of the H08-04 20.00 ms constant speed loop. Defines the proportional gain of the H08-05 2nd position loop gain 64.0 ms position loop. H08-08 2nd gain mode Defines the mode of the 2nd gain.

  • Page 169: Parameter Adjustment In The Speed Control Mode

    6 Gain Tuning H08-19 Speed feedforward gain Defines the speed feedforward gain. 6.6.2 Parameter Adjustment in the Speed Control Mode Parameter adjustment in the speed control mode is the same as that in the position control mode except for the position loop gain (H08-02 and H08-05). See section "6.6.1 Parameter Adjustment in the Position for details.

  • Page 170: Suppression Of Mechanical Resonance

    6 Gain Tuning Para. Max. Val- Setting Effective Name Default Unit Min. Value Condition Time Medium- and low- During H08-60 frequency jitter suppression Immediately running compensation 4 Medium- and low- During H08-61 frequency jitter suppression Immediately running phase modulation 4 ◆...
  • Page 171 6 Gain Tuning Table 6-8 Description of the notch Manual Notch Manual/Adaptive Notch Item 1st Notch 2nd Notch 3rd Notch 4th Notch Frequency H09-12 H09-15 H09-18 H09-21 Width level H09-13 H09-16 H09-19 H09-22 Depth level H09-14 H09-17 H09-20 H09-23 ◆ When the "frequency" is the default value (4000 Hz), the notch is invalid. ◆...
  • Page 172 6 Gain Tuning ■ Steps for setting the adaptive notch Set H09-02 (Adaptive notch mode) to 1 or 2 based on the number of resonance frequency points. When resonance occurs, set H09-02 to 1 to enable one adaptive notch first. If new resonance occurs after the gain is adjusted, set H09-02 to 2 to enable two adaptive notches.
  • Page 173 6 Gain Tuning When the depth level is 0, the input is completely suppressed at the center frequency. When the depth level is 100, the input can be fully received at the center frequency. Therefore, the smaller the depth level is, the larger the notch depth is, and the stronger the suppression effect will be.

  • Page 174: Low Frequency Suppression At The Mechanical End

    6 Gain Tuning Para. Setting Effective Name Value Range Unit Function Default Condition Time Defines the Depth level of During H09-17 0 to 99 attenuation level of Immediately the 2nd notch running the 2nd notch. Frequency of Defines the frequency During H09-18 50 to 4000...
  • Page 175 6 Gain Tuning Start Perform tests (three modes optional). Input the low frequency resonance suppression filter parameters. (H09-38, H09-39, H09-44 to H09-52) Figure 6-15 Procedures for setting low frequency resonance suppression filter First, collect the position deviation waveform in the motor positioning mode by using the oscilloscope function of the software tool and calculate the position deviation fluctuation frequency, which is the low frequency resonance frequency.

  • Page 176: Mechanical Characteristic Analysis

    6 Gain Tuning Para. Value Setting Effective Name Unit Function Default Range Condition Time Defines the width of the 2nd Width of low-frequency group of low frequency resonance resonance suppression 0 to During H09-47 suppression. Increase the value of Immediately 1.00 2 at the mechanical 2.00...

  • Page 177: Operating Procedures

    6 Gain Tuning 6.8.2 Operating Procedures Open the software tool, and click "机械特性分 析" (Mechanical characteristic analysis) on the menubar. Perform tests . （three mode optional). Vibration Reduce current Excessive vibration Reduce the gain excitation and distortion occurs ? Motor overtravel occurs? Increase the Excessive waveform...
  • Page 178 6 Gain Tuning Figure 6-18 Example of the waveform -177-...

  • Page 179: Control Mode

    7 Control Mode 7 Control Mode The servo system consists of three major parts: servo drive, servo motor, and encoder. Servo drive Reference Motor input + Position loop Current loop Speed loop × × × control control control Position Speed Current feedback feedback...

  • Page 180: Servo Drive State Setting

    7 Control Mode 7.1 Servo Drive State Setting Follow the process stipulated in the standard 402 protocol when operating the SV660N servo drive. Failure to comply may cause the servo drive to run in the wrong state. Start Stop upon fault Initialization Fault No fault...
  • Page 181 7 Control Mode CiA402 State Switchover Control Word 6040h bit0 to bit9 of Status Word 6041h Natural transition, control command Power-on → Initialization 0x0000 not required Natural transition, control command not required Initialization → No fault 0x0250/0x270 If an error occurs during initialization, the servo drive directly goes to state No fault ->...

  • Page 182: Control Word 6040H

    7 Control Mode 7.1.1 Control Word 6040h Setting During Condition Data Name Control word running & Data Type Uint16 & Effective Structure Index Immediately Time 6040h Related Access Mapping RPDO Value Range 0 to 65535 Default Mode 6040h is used to set the control command. Name Description Switch on...

  • Page 183: Status Word 6041H

    7 Control Mode 7.1.2 Status Word 6041h Setting Condition Data Name Status word Data Type Uint16 & Effective Structure Index Time 6041h Related Access Mapping TPDO Value Range Default Mode Shows the servo drive status. rtso Description： ms=manufacturEr-specific；omS=operation mode sPecific；iLa=internal limit actIve； tr=target rEach；rm=remote；w=warning；sod=switch on disabled；qs=quick stop；ve=voltage enabled；f=fault；oe=operation enabled；so=switch on；rtso=ready to switch on Name...

  • Page 184: Servo Mode Setting

    7 Control Mode 7.2 Servo Mode Setting 7.2.1 Introduction to Servo Drive Modes The SV660N supports seven modes, as defined in 6502h. Setting Condition Data Name Supported drive modes Data Type UINT32 & Effective Structure Index Time 6502h Related Value Access Mapping Default...
  • Page 185 7 Control Mode ■ 6060h (Modes of operation) Setting During Condition Data Data Name Modes of Operation running & int 8 Index & Effective Structure Type Immediately Time 6060h Related Value Access Mapping RPDO 0 to 10 Default Mode Range Defines the mode of servo drive operation.

  • Page 186: Communication Cycle

    7 Control Mode 7.2.2 Communication Cycle SV660N series servo drives support a synchronization cycle of 125 µs (or an integral multiple of 125 μs). 7.3 Cyclic Synchronous Position Mode (CSP) In this mode, the host controller generates the position references and sends the target position to the servo drive cyclically.

  • Page 187: Related Function Settings

    7 Control Mode 7.3.3 Related Function Settings 1 Position deviation monitoring function ☆ Related parameters Setting During Condition Data Data Name Following error window running & UINT 32 & Effective Structure Type Immediately Index Time 6065h 0 to (2 Related Value Access Mapping RPDO...

  • Page 188: Related Parameters

    7 Control Mode 7.3.5 Related Parameters Setting During Condition Data Name Control word running & Data Type Uint16 Index & Effective Structure Immediately Time 6040h Related Value Access Mapping RPDO 0 to 65535 Default Mode Range Defines the control commands. Name Description Switch on...
  • Page 189 7 Control Mode Setting During Condition Data Data Name Target position running & int32 & Effective Structure Type Index Immediately Time 607Ah to +(2 Related Value Access Mapping RPDO PP CSP Default Mode Range (position unit) Defines the target position in PP mode and CSP mode. In CSP mode, 607Ah represents the absolute target position.

  • Page 190: Function Block Diagram

    7 Control Mode Setting Condition Data Name Velocity actual value Data Type int 32 & Effective display Structure Index Time 606Ch (unit: Related Value Access Mapping TPDO velocity Default Mode Range unit/s) Shows the actual speed feedback value (velocity unit/s). Setting Condition Data...

  • Page 191: Cyclic Synchronous Velocity (Csv) Mode

    7 Control Mode 7.4 Cyclic Synchronous Velocity (CSV) Mode In this mode, the host controller sends the target speed to the servo drive using cyclic synchronization. Speed control and torque control are performed by the servo drive. 7.4.1 Configuration Block Diagram CSV mode (0x6060= 9) Velocity offset (0x60B1) Target velocity (0x60FF)

  • Page 192: Recommended Configuration

    7 Control Mode ☆ Related parameters Setting During Condition Data Data Name Polarity running & Uint8 Index & Effective Structure Type Immediately Time 607Eh Related Value Access Mapping RPDO 0 to 255 Default Mode Range Defines the polarity of the position, speed, and torque reference. Description Velocity reference polarity 0: Multiply by 1...
  • Page 193 7 Control Mode Setting Condition Data Name Status word Data Type Uint16 & Effective Structure Index Time 6041h Related Value Access Mapping TPDO Default Mode Range Shows the servo drive status. Name Description Ready to switch on 1: Valid, 0: Invalid Switch on 1: Valid, 0: Invalid Operation enabled...

  • Page 194: Function Block Diagram

    7 Control Mode Setting Condition Data Name Position actual value Data Type int32 & Effective display Structure Index Time 6064h Related Access Mapping TPDO Value Range Default (unit: position Mode unit) Represents the absolute position feedback (position unit). In the case of an absolute encoder used in the rotary mode, 6064h represents the single-turn position feedback (position unit) of the mechanical load.

  • Page 195: Cyclic Synchronous Torque Mode (Cst)

    7 Control Mode 7.5 Cyclic Synchronous Torque Mode (CST) In this mode, the host controller sends the target torque to the servo drive using cyclic synchronization. Torque control is performed by the servo drive. 7.5.1 Configuration Block Diagram Figure 7-5 SCT mode 7.5.2 Related Objects Sub-index Index (hex)

  • Page 196: Related Function Settings

    7 Control Mode 7.5.3 Related Function Settings 1 Speed Limit in the torque control mode In the torque control mode, 607Fh can be used to limit the maximum speed in forward/reverse running. Note that the maximum speed cannot exceed the maximum running speed allowed by the motor. + max.
  • Page 197 7 Control Mode + max. drive torque + max. motor torque + max. torque (6072h) + Forward torque limit (60E0h) - Reverse torque limit (60E0h) - max. torque (6072h) - max. motor torque - max. drive torque ☆ Related parameters Setting During Condition...

  • Page 198: Recommended Configuration

    7 Control Mode 3 Torque reference polarity You can change the torque reference direction through setting the torque reference polarity. Setting During Condition Data Name Polarity running & Data Type Uint8 Index & Effective Structure Immediately Time 607Eh Related Value Access Mapping RPDO...
  • Page 199 7 Control Mode Setting Condition Data Data Name Status word Uint16 & Effective Structure Type Index Time 6041h Related Value Access Mapping TPDO Default Mode Range Shows the servo drive status. Name Description Ready to switch on 1: Valid, 0: Invalid Switch on 1: Valid, 0: Invalid Operation enabled...

  • Page 200: Function Block Diagram

    7 Control Mode Setting Condition Data Name Torque actual value Data Type int16 & Effective Structure Index Time 6077h Related Value Access Mapping TPDO Default Mode Range (0.1%) Shows the actual torque output of the servo drive. The value 100.0% corresponds to the rated motor torque. Setting During Condition...

  • Page 201: Configuration Block Diagram

    7 Control Mode 7.6.1 Configuration Block Diagram Figure 7-6 PP mode In PP mode, the target position is triggered and activated based on the time sequence of bit4 of the control word (New set-point) and bit12 of the status word (Set-point acknowledge). The controller sets the New set-point bit to 1 to inform the servo drive of the new target position.
  • Page 202 7 Control Mode In sequential mode, the time sequence of bit4 of the control word (New set-point) and bit12 of the status word (Set-point acknowledge) is as follows. ① ② Displacement reference data 6040h bit4 6040h bit5 6041h bit12 Position reference ②...
  • Page 203 7 Control Mode ① ② Displacement reference data 6040 bit4 6040 bit5 6041 bit12 Position reference ② ① 6041 bit10: Position reached Note: To modify any parameter of the displacement reference, send a trigger signal again. Figure 7-8 Time sequence in the single-point mode In the single-point mode, the servo drive supports cache of one target position, which means the servo drive can cache a new segment of target position when the present target position is running.

  • Page 204: Related Objects

    7 Control Mode 7.6.2 Related Objects Sub-index Index (hex) Name Access Data Type Unit Value Range Default (hex) 6040 Control word UINT16 0 to 65535 6041 Status word UINT16 Modes of 6060 INT8 0 to 10 operation Modes of 6061 operation INT8 display...
  • Page 205 7 Control Mode The position arrival threshold only reflects the threshold of the absolute position deviation value when the positioning completed signal is active. It is unrelated to the positioning accuracy. 2 Position deviation monitoring ☆ Related parameters Setting During Condition Data Data...
  • Page 206 7 Control Mode ☆ Related parameters Setting During Condition Data Data Name Max. profile velocity running & UINT32 & Effective Structure Type Immediately Index Time 607Fh 0 to (2 Related PP/PV/PT/HM/ Value Access Mapping RPDO Default 104857600 (Velocity Mode Range unit/s) Defines the speed limit in PP, PV, PT, and CST modes.

  • Page 207: Recommended Configuration

    7 Control Mode Defines the polarity of the position, speed, and torque reference. Description Position reference polarity 0: Multiply by 1 1: Multiply by -1 PP: Invert the target position 607Ah 7.6.4 Recommended Configuration The basic configuration for PP mode is described in the following table. RPDO TPDO Description...
  • Page 208 7 Control Mode Setting Condition Data Name Status word Data Type Uint16 & Effective Structure Index Time 6041h Related Access Mapping TPDO Value Range Default Mode Shows the servo drive status. Name Description Ready to switch on 1: Valid, 0: Invalid Switch on 1: Valid, 0: Invalid Operation enabled...
  • Page 209 7 Control Mode Setting During Condition Data Data Name Profile velocity running & UINT32 & Effective Structure Type Immediately Index Time 6081h 0 to (2 Related Value Access Mapping RPDO Default 174762 (velocity Mode Range unit/s) Defines the constant running speed for the target position in PP mode. Setting During Condition...

  • Page 210: Function Block Diagram

    7 Control Mode 7.6.6 Function Block Diagram Speed feedforward Speed feedforward gain filter (2008-14h) (2008-13h) Target position (607Ah) Profile velocity (6081h) Profile acceleration (6084h) Profile deceleration (6084h) Polarity (607Eh) Profile Electronic gear position ratio Position loop gain trajectory (6091-01h, (2008-03h) generator 6091-02h) Position actual value...

  • Page 211: Related Function Settings

    7 Control Mode Index Sub-index Data Name Access Unit Value Range Default (hex) (hex) Type 6061 Modes of operation display INT8 606C Velocity actual value INT32 Velocity unit/s 606D Velocity window UINT16 0 to 65535 606E Velocity window time UINT16 0 to 65535 606F Velocity threshold...
  • Page 212 7 Control Mode 2 Zero speed monitoring Zero speed monitoring is used to confirm whether the absolute value of motor speed feedback is less than the set threshold. If yes, the motor is approaching static state (zero speed). ☆ Related parameters Setting During Condition...
  • Page 213 7 Control Mode 3 Speed limit In PV mode, 607Fh can be used to limit the maximum speed in forward/reverse running. Note that the maximum speed cannot exceed the maximum running speed allowed by the motor. ☆ Related parameters Setting During Condition Data...

  • Page 214: Recommended Configuration

    7 Control Mode 5 Polarity You can change the velocity reference direction through setting the velocity reference polarity. ☆ Related parameters Setting During Condition Data Name Polarity running & Data Type Uint8 & Effective Structure Index Immediately Time 607Eh Related Value Access RW Mapping...
  • Page 215 7 Control Mode Setting Condition Data Name Status word Data Type Uint16 & Effective Structure Index Time 6041h Related Value Access Mapping TPDO Default Mode Range Shows the servo drive status. Name Description Ready to switch on 1: Valid, 0: Invalid Switch on 1: Valid, 0: Invalid Operation enabled...

  • Page 216: Function Block Diagram

    7 Control Mode Setting During Condition Data Data Name Profile deceleration running & UINT32 & Effective Structure Type At stop Index Time 6084h 0 to (2 Related Value Access RW Mapping RPDO PP/PV Default 17476266667 (acceleration Mode Range unit/s Defines the speed reference deceleration in PV mode. For 6084h, the set value 0 will be forcibly changed to 1.

  • Page 217: Related Objects

    7 Control Mode 7.8.2 Related Objects Sub-index Index (hex) Name Access Data Type Unit Value Range Default (hex) 6040 Control word UINT16 0 to 65535 6041 Status word UINT16 Modes of 6060 INT8 operation Modes of 6061 operation INT8 display –3000 to 6071 Target torque...
  • Page 218 7 Control Mode ☆ Related parameters Setting During Condition Data Data Name Max. profile velocity running & UINT32 & Effective Structure Type Immediately Index Time 607Fh 0 to (2 Related PP PV PT HM Value Access Mapping RPDO Default 104857600 (velocity Mode Range...
  • Page 219 7 Control Mode Setting During Condition Data Data Name Positive torque limit value running & Uint16 Index & Effective Structure Type Immediately Time 60E0h Related Value 0 to 3000 Access Mapping RPDO Default 3000 Mode Range (unit: 0.1%) Defines the maximum torque limit of the servo drive when running in the forward direction. Setting During Condition...
  • Page 220 7 Control Mode If the absolute difference value between the torque reference and 2007-16h (Base value for torque reached) is larger than 2007-17h (Torque output value when torque arrival DO signal turned on), the torque reached signal is valid. Otherwise, the original status applies. If the absolute difference value between the torque reference and 2007-16h (Base value for torque reached) is smaller than 2007-17h (Threshold of valid torque arrival), the torque reached signal is invalid.

  • Page 221: Related Parameters

    7 Control Mode 7.8.4 Related Parameters Setting During Condition Data Name Control word running & Data Type Uint16 Index & Effective Structure Immediately Time 6040h Related Value Access Mapping RPDO 0 to 65535 Default Mode Range Defines the control command. Name Description Switch on...

  • Page 222: Recommended Configuration

    7 Control Mode Setting Condition Data Name Torque demand value Data Type int16 & Effective Structure Index Time 6074h Value Access Mapping TPDO Related Mode Default Range (0.1%) Represents the torque reference output value during running. The value 100.0% corresponds to the rated motor torque. Setting Condition Data...

  • Page 223: Homing Mode (Hm)

    7 Control Mode 7.9 Homing Mode (HM) The homing mode is used to search for the mechanical home and determine the position relation between the mechanical home and mechanical zero. ■ Mechanical home: a fixed position on the machine, which can correspond to a certain home switch or a motor Z signal.

  • Page 224: Related Function Settings

    7 Control Mode Sub-index Index (hex) Name Access Data Type Unit Value Range Default (hex) 607C Home offset INT32 Position unit –2 to +(2 –1) 2005 Timeout UINT16 10 ms 100 to 65535 50000 7.9.3 Related Function Settings 1 Homing timeout When the homing duration exceeds the value defined by 2005-24h (Duration limit of homing), the servo drive reports E601.0 (Homing timeout).
  • Page 225 7 Control Mode Setting During Condition Data Data Name Home offset running int32 & Effective Structure Type Index & At stop Time 607Ch –2 to +(2 –1) Related Value Access Mapping RPDO Default Mode Range (position unit) Defines the physical distance between the mechanical zero and the motor home in homing mode. The home offset takes effect on the condition that the homing operation is done upon power-on and bit15 of 6041h is set to 1.

  • Page 226: Homing Operation

    7 Control Mode ☆ Related parameters Setting During Condition Data Data Name Max profile velocity running & UINT32 & Effective Structure Type Immediately Index Time 607Fh 0 to (2 –1) Related PP/PV/PT/HM/ Value Access Mapping RPDO (velocity Default 104857600 Mode Range unit/s) Defines the speed limit in PP, PV, PT, HM and CST modes.
  • Page 227 7 Control Mode Figure 7-12 N-OT signal inactive at start Note: In the figure, "H" represents 6099-1h (Speed during search for switch), and "L" represents 6099-2h (Speed during search for zero). The N-OT signal is inactive at start, and the motor starts homing in the reverse direction at a high speed. After reaching the rising edge of the N-OT signal, the motor decelerates and changes to run in the forward direction at a low speed until it stops at the first Z signal upon reaching the falling edge of the N-OT signal.
  • Page 228 7 Control Mode 6098h = 2 Home: Z signal Deceleration point: positive limit switch (P-OT) Figure 7-14 P-OT signal inactive at start The P-OT signal is inactive at start, and the motor starts homing in the forward direction at a high speed. After reaching the rising edge of the P-OT signal, the motor decelerates and changes to run in the reverse direction at a low speed until it stops at the first Z signal upon reaching the falling edge of the P-OT signal.
  • Page 229 7 Control Mode 6098h = 3 Home: Z signal Deceleration point: home switch (HW) Figure 7-16 HW signal inactive at start The HW signal is inactive at start, and the motor starts homing in the forward direction at a high speed. After reaching the rising edge of the HW signal, the motor decelerates and changes to run in the reverse direction at a low speed until it stops at the first Z signal upon reaching the falling edge of the HW signal.
  • Page 230 7 Control Mode 6098 = 4 Home: Z signal Deceleration point: home switch (HW) Figure 7-18 HW signal inactive at start The HW signal is inactive at start, and the motor starts homing in the forward direction at a high speed. After reaching the rising edge of the HW signal, the motor decelerates and changes to run in the reverse direction at a low speed.
  • Page 231 7 Control Mode 6098h = 5 Home: Z signal Deceleration point: home switch (HW) Figure 7-20 HW signal inactive at start The HW signal is inactive at start, and the motor starts homing in the reverse direction at a high speed. After reaching the rising edge of the HW signal, the motor decelerates and changes to run in the forward direction at a low speed until it stops at the first Z signal upon reaching the falling edge of the HW signal.
  • Page 232 7 Control Mode 6098 = 6 Home: Z signal Deceleration point: home switch (HW) Figure 7-22 HW signal inactive at start The HW signal is inactive at start, and the motor starts homing in the reverse direction at a high speed. After reaching the rising edge of the HW signal, the motor decelerates and changes to run in the forward direction at a low speed.
  • Page 233 7 Control Mode 6098 = 7 Home: Z signal Deceleration point: home switch (HW) Figure 7-24 HW signal inactive at start, not hitting the positive limit switch The HW signal is inactive at start, and the motor starts homing in the forward direction at a high speed. If the motor does not hit the limit switch, it decelerates and changes to run in the reverse direction after reaching the rising edge of the HW signal.
  • Page 234 7 Control Mode Figure 7-26 HW signal active at start The HW signal is active at start, and the motor starts homing in the reverse direction at a low speed. After reaching the falling edge of the HW signal, the motor stops at the first Z signal. 6098 = 8 Home: Z signal Deceleration point: home switch (HW)
  • Page 235 7 Control Mode Figure 7-28 HW signal inactive at homing start, hitting the positive limit switch The HW signal is inactive at start, and the motor starts homing in the forward direction at a high speed. If the motor hits the limit switch, it changes to run in the reverse direction. After reaching the rising edge of HW signal, the motor decelerates and runs in the reverse direction.
  • Page 236 7 Control Mode 6098 = 9 Home: Z signal Deceleration point: home switch (HW) Figure 7-30 HW signal inactive at start, not hitting the positive limit switch The HW signal is inactive at start, and the motor starts homing in the forward direction at a high speed. If the motor does not hit the limit switch, it decelerates and runs in the forward direction at a low speed after reaching the rising edge of the HW signal.
  • Page 237 7 Control Mode Figure 7-32 HW signal active at start The HW signal is active at start, and the motor starts homing in the forward direction at a low speed. After reaching the falling edge of the HW signal, the motor changes to run in the reverse direction until it stops at the first Z signal upon reaching the rising edge of the HW signal.
  • Page 238 7 Control Mode Figure 7-34 HW signal inactive at start, hitting the positive limit switch The HW signal is inactive at start, and the motor starts homing in the forward direction at a high speed. If the motor hits the limit switch, it changes to run in the reverse direction. After reaching the rising edge of the HW signal, the motor decelerates and changes to run in the forward direction until it stops at the first Z signal upon reaching the falling edge of the HW signal.
  • Page 239 7 Control Mode 11) 6098 = 11 Home: Z signal Deceleration point: home switch (HW) Figure 7-36 HW signal inactive at start, not hitting the negative limit switch The HW signal is inactive at start, and the motor starts homing in the reverse direction at a high speed. If the motor does not hit the limit switch, it decelerates and changes to run in the forward direction after reaching the rising edge of the HW signal.
  • Page 240 7 Control Mode Figure 7-38 HW signal active at start The HW signal is active at start, and the motor starts homing in the forward direction at a low speed. After reaching the falling edge of the HW signal, the motor stops at the first Z signal. 12) 6098 = 12 Home: Z signal Deceleration point: home switch (HW)
  • Page 241 7 Control Mode Figure 7-40 HW signal inactive at start, hitting the positive limit switch The HW signal is inactive at start, and the motor starts homing in the reverse direction at a high speed. If the motor hits the limit switch, it changes to run in the forward direction. After reaching the rising edge of HW signal, the motor decelerates and runs in the forward direction at a low speed.
  • Page 242 7 Control Mode Figure 7-42 HW signal inactive at start, not hitting the negative limit switch The HW signal is inactive at start, and the motor starts homing in the reverse direction at a high speed. If the motor does not hit the limit switch, it decelerates and changes to run in the reverse direction after reaching the rising edge of the HW signal.
  • Page 243 7 Control Mode Figure 7-44 HW signal active at start The HW signal is active at start, and the motor starts homing in the reverse direction at a low speed. After reaching the falling edge of the HW signal, the motor changes to run in the forward direction until it stops at the first Z signal upon reaching the rising edge of the HW signal.
  • Page 244 7 Control Mode Figure 7-46 HW signal inactive at start, hitting the negative limit switch The HW signal is inactive at start, and the motor starts homing in the reverse direction at a high speed. If the motor hits the limit switch, it changes to run in the forward direction at a high speed. After reaching the rising edge of the HW signal, the motor decelerates and changes to run in the reverse direction until it stops at the first Z signal upon reaching the falling edge of the HW signal.
  • Page 245 7 Control Mode 15) 6098h = 17 Home: negative limit switch Deceleration point: negative limit switch (N-OT) Figure 7-48 N-OT signal inactive at start The N-OT signal is inactive at start, and the motor starts homing in the reverse direction at a high speed. After reaching the rising edge of the N-OT signal, the motor decelerates and changes to run in the forward direction until it stops upon reaching the falling edge of the N-OT signal.
  • Page 246 7 Control Mode 16) 6098h = 18 Home: positive limit switch Deceleration point: positive limit switch (P-OT) Figure 7-50 P-OT signal inactive at start The P-OT signal is inactive at start, and the motor starts homing in the forward direction at a high speed. After reaching the rising edge of the P-OT signal, the motor decelerates and changes to run in the reverse direction until it stops upon reaching the falling edge of the P-OT signal.
  • Page 247 7 Control Mode The HW signal is inactive at start, and the motor starts homing in the forward direction at a high speed. After reaching the rising edge of the HW signal, the motor decelerates and changes to run in the reverse direction until it stops upon reaching the falling edge of the HW signal.
  • Page 248 7 Control Mode Figure 7-55 HW signal active at start The HW signal is active at start, and the motor starts homing in the reverse direction at a low speed. After reaching the falling edge of the HW signal, the motor decelerates and changes to run in the forward direction until it stops upon reaching the rising edge of the HW signal.
  • Page 249 7 Control Mode Figure 7-57 HW signal active at start The HW signal is active at start, and the motor starts homing in the forward direction at a low speed. After reaching the falling edge of the HW signal, the motor stops. 20) 6098 = 22 Home: home switch (HW) Deceleration point: home switch (HW)
  • Page 250 7 Control Mode Figure 7-59 HW signal active at start The HW signal is active at start, and the motor starts homing in the forward direction at a low speed. After reaching the falling edge of the HW signal, the motor decelerates and changes to run in the reverse direction until it stops upon reaching the rising edge of the HW signal.
  • Page 251 7 Control Mode Figure 7-61 HW signal inactive at start, hitting the positive limit switch The HW signal is inactive at start, and the motor starts homing in the forward direction at a high speed. If the motor hits the limit switch, it changes to run in the reverse direction at a high speed until it decelerates after reaching the rising edge of the HW signal.
  • Page 252 7 Control Mode 22) 6098 = 24 Home: home switch (HW) Deceleration point: home switch (HW) Figure 7-63 HW signal inactive at start, not hitting the positive limit switch The HW signal is inactive at start, and the motor starts homing in the forward direction at a high speed. If the motor does not hit the limit switch, it decelerates and changes to run in the reverse direction after reaching the rising edge of the HW signal.
  • Page 253 7 Control Mode Figure 7-65 HW signal active at start The HW signal is active at start, and the motor starts homing in the reverse direction at a low speed. After reaching the falling edge of the HW signal, the motor changes to run in the forward direction until it stops upon reaching the rising edge of the HW signal.
  • Page 254 7 Control Mode Figure 7-67 HW signal inactive at start, hitting the positive limit switch The HW signal is inactive at start, and the motor starts homing in the forward direction at a high speed. If the motor hits the limit switch, it changes to run in the reverse direction. After reaching the rising edge of the HW signal, the motor decelerates and changes to run in the forward direction until reaching the falling edge of the HW signal where it changes to run in the reverse direction again.
  • Page 255 7 Control Mode 24) 6098 = 26 Home: home switch (HW) Deceleration point: home switch (HW) Figure 7-69 HW signal inactive at start, not hitting the positive limit switch The HW signal is inactive at start, and the motor starts homing in the forward direction at a high speed. If the motor does not hit the limit switch, it decelerates and runs in the forward direction after reaching the rising edge of the HW signal.
  • Page 256 7 Control Mode Figure 7-71 HW signal active at start The HW signal is active at start, and the motor starts homing in the forward direction at a low speed. After reaching the falling edge of the HW signal, the motor stops. 25) 6098 = 27 Home: home switch (HW) Deceleration point: home switch (HW)
  • Page 257 7 Control Mode Figure 7-73 HW signal inactive at start, hitting the negative limit switch The HW signal is inactive at start, and the motor starts homing in the reverse direction at a high speed. If the motor hits the limit switch, it changes to run in the forward direction. After reaching the rising edge of the HW signal, the motor decelerates and keeps running in the forward direction until reaching the falling edge of the HW signal where it decelerates and changes to run in the reverse direction.
  • Page 258 7 Control Mode 26) 6098 = 28 Home: home switch (HW) Deceleration point: home switch (HW) Figure 7-75 HW signal inactive at start, not hitting the negative limit switch The HW signal is inactive at start, and the motor starts homing in the reverse direction at a high speed. If the motor does not hit the limit switch, it decelerates and changes to run in the forward direction after reaching the rising edge of the HW signal.
  • Page 259 7 Control Mode Figure 7-77 HW signal active at start The HW signal is active at start, and the motor starts homing in the forward direction at a low speed. After reaching the falling edge of the HW signal, the motor changes to run in the reverse direction until it stops upon reaching the rising edge of the HW signal.
  • Page 260 7 Control Mode Figure 7-79 HW signal inactive at start, hitting the negative limit switch The HW signal is inactive at start, and the motor starts homing in the reverse direction at a high speed. If the motor hits the limit switch, it changes to run in the forward direction. After reaching the rising edge of the HW signal, the motor decelerates and changes to run in the reverse direction until it changes to run in the forward direction again upon reaching the falling edge of the HW signal.
  • Page 261 7 Control Mode 28) 6098 = 30 Home: home switch (HW) Deceleration point: home switch (HW) Figure 7-81 HW signal inactive at start, not hitting the negative limit switch The HW signal is inactive at start, and the motor starts homing in the reverse direction at a high speed If the motor does not hit the limit switch, it decelerates and keeps running in the reverse direction after reaching the rising edge of the HW signal.
  • Page 262 7 Control Mode Figure 7-83 HW signal active at start The HW signal is active at start, and the motor starts homing in the reverse direction at a low speed and stops after reaching the falling edge of the HW signal. 29) 6098h = 31/32 This mode is not defined in the standard 402 protocol.
  • Page 263 7 Control Mode 33) 6098 = –2 The servo motor runs in the forward direction at a high speed first. If the torque reaches the limit and the speed is near zero after the motor hits the mechanical limit, and such status persists, it indicates the motor reaches the mechanical limit position.

  • Page 264: Related Parameters

    7 Control Mode 7.9.5 Related Parameters Setting During Condition Data Name Control word running & Data Type Uint16 & Effective Structure Index Immediately Time 6040h Related Access Mapping RPDO Value Range 0 to 65535 Default Mode Defines the control commands. Name Description Switch on...
  • Page 265 7 Control Mode Setting During Condition Data Data Name Homing method running & int8 & Effective Structure Type Index At stop Time 6098h Related Access Mapping RPDO Value Range –2 to +35 Default Mode Defines the homing method. Mode Description Forward homing: –2 Home: Z signal...
  • Page 266 7 Control Mode Setting During Condition Data Data Name Homing method running & int8 & Effective Structure Type Index At stop Time 6098h Related Access Mapping RPDO Value Range –2 to +35 Default Mode Reverse homing: Home: Z signal Deceleration point: home switch (HW) The falling edge on the same side of the HW signal must be reached before reaching the Z signal.

  • Page 267: Recommended Configuration

    7 Control Mode Setting During Speed during search for Condition Data Data Name running & Uint 32 switch & Effective Structure Type Sub- At stop Time index 0 to (232-1) Related Value Access Mapping RPDO Default 1747627 (Velocity Mode Range unit/s) Defines the speed during searching for the deceleration point signal.

  • Page 268: Function Block Diagram

    7 Control Mode 7.9.7 Function Block Diagram Speed Speed feedforward gain feedforward filter (2008-14h) (2008-13h) Home method (6098h) Homing speeds (6099h) Homing acceleration (6098h) Homing timeout (2005-36h) Homing Gear ratio Position loop trajectory (6091-01h, gain (2008-03h) generator 6091-02h) Position actual value (6063h) Torque feedforward Torque...
  • Page 269 7 Control Mode ■ Related Objects Index Sub-index Data Name Access Unit Value Range Default (HEX) (HEX) Type 2003 DI1 function selection Uint16 0 to 65535 … 2003 DI5 function selection Uint16 0 to 65535 Touch probe function (latch 60B8 Uint16 0 to 65535 Function)
  • Page 270 7 Control Mode Description Remarks 6 to 7 Touch probe 2 function selection 0: Switch off touch probe 2 1: Enable touch probe 2 Touch probe 2 trigger mode 0: Single trigger mode (Latches the position at the first trigger event.) 1: Continuous trigger mode Touch probe 2 trigger signal selection 0: DI signal...

  • Page 271: Software Limit

    7 Control Mode Read the latch position of the touch probe. The four position values of the touch probe are saved in 0x60BA to 0x60BD. In this example, if the function of position latch at positive edge of touch probe 1 is executed, you can read the position value through 0x60BA (Touch probe 1 positive edge, position unit).
  • Page 272 7 Control Mode ■ Comparison between the hardware limit and software limit Hardware limit Software limit Restricted to linear movement and single-turn Applicable to linear movement and rotation rotation movement. movement. Removes the need for hardware wiring, External mechanical limit switches are required. preventing malfunction due to poor contact.

  • Page 273: Position Comparison

    7 Control Mode ◆ Ensure the value of 607D-01h is less than or equal to 607D-02h. If 607D-01h is set to a value larger than 607D-02h, the servo drive reports EE09.0 (Wrong software position limit). ◆ In the absolute rotation mode or single-turn mode, ensure 607D-01 and 607D-02 are within the mechanical position limit.
  • Page 274 7 Control Mode ■ Parameters for position comparison Group H18: Position comparison output Para. No. Name Description H18: Position Comparison Output H18-00 Position comparison switch 1: Enabled Defines the number of pulses per revolution. For example, if H18-02 is set to 2, the number of pulses per revolution is 2 0: 24-bit 1: 23-bit 2: 22-bit...
  • Page 275 7 Control Mode Para. No. Name Description Target position comparison Defines the 3rd target position comparison value. H19-06 point 3 Value range: –2 to 2 –1 Defines the attribute of the third comparison point. 0: Skip this point 1: Output DO active signal if current position changes from less than to Attribute of position H19-08 more than the comparison point...
  • Page 276 7 Control Mode Para. No. Name Description Defines the attribute of the 8th comparison point. 0: Skip this point 1: Output DO active signal if current position changes from less than to Attribute of position H19-23 more than the comparison point comparison point 8 2: Output DO active signal if current position changes from more than to less than the comparison point...
  • Page 277 7 Control Mode the related parameters in group H19 in advance. ■ Start point for comparison (H18-07) The start point indicates the position of the first comparison point. For example, if the start point is set to 5, the comparison starts from the fifth target position point. ■...
  • Page 278 7 Control Mode Position Actual position Position comparison value 2 Position comparison value 1 Time Position comparison output Pulse output width ■ Only one pulse will be output when the stop position is the same with the position comparison value, as shown in the following figure. Position Actual position Position comparison...

  • Page 279: Absolute System

    When using the absolute encoder, set 2000-01h (Motor code) to 14101 (Inovance 23-bit absolute encoder) and set 2002-02h (Absolute system selection) based on actual conditions. Er.731 will be reported when the battery is connected for the first time.
  • Page 280 Default 14101 Mode Range 65535 Defines the motor code. Value Motor SN Description 14000 Inovance motor with incremental encoder Encoder resolution: 1048576 (2 14101 Inovance motor with absolute encoder Encoder resolution: 8388608 (2 Setting At stop Condition Data H02-01 Name Absolute system mode &...

  • Page 281: Absolute Position Linear Mode

    7 Control Mode Setting H0B-71 Single-turn position feedback of Condition Data Name Data Type Uint32 the absolute encoder & Effective Structure 200B-48h Time Related Value Access Mapping TPDO Default (unit: encoder Mode Range unit) Represents the single-turn position feedback of the encoder. If the encoder resolution is R (for example, R ), the range is 0 to (R...
  • Page 282 7 Control Mode Setting At stop Position offset in the absolute Condition Data 2005-2Fh Name & Next Data Type Uint32 position linear mode (low 32 bits) & Effective Structure power-on Time –2 –1) Related Value H05-46 Access Mapping Default Mode Range (encoder unit)

  • Page 283: Absolute Position Rotation Mode

    7 Control Mode Setting Condition Data Data Name Position actual value* int 32 & Effective Structure Type Time Index 6063h Related Value (unit: Access Mapping TPDO Default Mode Range encoder unit) Represents the absolute position of the motor (encoder unit). The value is equal to 200B-3Bh in the absolute position mode.
  • Page 284 7 Control Mode Target position Single-turn position of the rotating load Magnitude of rotation The variation law of the target position and the single-turn position of the rotating load during reverse running is shown as follows. Target position Rotation amount Single-turn position of the rotating load Magnitude of rotation...
  • Page 285 7 Control Mode Setting Position offset in the absolute Condition At stop & Data Data Name position rotation mode (high 32 int32 & Effective Immediately Structure Type bits) Time 2005-37h 0 to 127 Related Value (unit: Access Mapping Default Mode Range encoder unit)

  • Page 286: Single-Turn Absolute Mode

    7 Control Mode Setting Condition Data Data Name Position actual value* int 32 & Effective Structure Type Time Index 6063h Related Value (unit: Access Mapping TPDO Default Mode Range encoder unit) Represents the absolute single-turn position of the rotating load (encoder unit). This value is equal to 200B-52h in the absolute position mode.
  • Page 287 7 Control Mode Precaution for the motor position upon power-on The motor movement range is determined by the motor position upon power-on. (Take the 23-bit absolute encoder as an example) a） Position upon power-on: The motor movement range shown in the following figure is derived from the single-turn data range at the power-on position.

  • Page 288: Precautions For Use Of The Battery Box

    7 Control Mode 7.11.5 Precautions for Use of the Battery Box E731.0 (Encoder battery fault) will be reported when the battery is connected for the first time. Set 200D-15h (Absolute encoder reset selection) to 1 (Reset the encoder fault) to reset the fault, and then perform homing.

  • Page 289: Communication Configurations

    8 Communication Configurations 8 Communication Configurations Start Import XML. See the corresponding host controller • documents for details. Set system See section 8.2 for details. parameters. • Configure communication See section 8.3 for details. • parameters. Configure PDO. See section 8.3 for details. •...

  • Page 290: System Parameters

    8 Communication Configurations To support more types of devices and applications, the following EtherCAT-based application protocols are established: ■ CANopen over EtherCAT (CoE) ■ Safety over EtherCAT (SoE, servo drive safety compliant with IEC 61800-7-204) ■ Ethernet over EtherCAT (EoE) ■...

  • Page 291: Ethercat Communication Basis

    8 Communication Configurations Sub- Index Name Value Range Default index 0: Speed mode 1: Position mode 2002 Control mode 2: Torque control mode 9: EtherCAT mode 255: This axis is not used. 0: Not save Save parameter values 1: Save 2XXXh series parameters modified through 200E communication to...

  • Page 292: State Machine

    8 Communication Configurations Application Object dictionary layer EtherCAT state machine Register Mailbox Process data ESC DPRAM Link layer Physical layer Figure 8-2 EtherCAT communication structure at CANopen application layer The object dictionary in the application layer contains communication parameters, application process data and PDO mapping data.

  • Page 293: Process Data

    The PDO mapping is used to establish the mapping relation between the object dictionary and the PDO. 1600h to 17FFh are RPDOs, and 1A00h to 1BFFh are TPDOs. The SV660N series servo drive provides six RPDOs and five TPDOs, as listed in the following table.
  • Page 294 8 Communication Configurations Control Mode PP CSP Mapping objects (four, 12 bytes) 6040h (Control word) 1701h 607Ah (Target position) (Outputs) 60B8h (Touch probe function) 60FEh sub-index 1 (Physical outputs) Mapping objects (nine, 28 bytes) 603Fh (Error code) 6041h (Status word) 6064h (Position actual value) 1B01h 6077h (Torque actual value)
  • Page 295 8 Communication Configurations Mapping objects (10, 29 bytes) 603Fh (Error code) 6041h (Status word) 6064h (Position actual value) 6077h (Torque actual value) 1B03h 60F4 (Following error actual value) (Inputs) 6061h (Modes of operation display) 60B9 (Touch probe status) 60BA (Touch probe 1 positive edge) 60BC (Touch probe 2 positive edge) 60FD (Digital inputs) Control Mode...
  • Page 296 PDO mapping object list of the sync manager with 0x1C10 to 0x1C2F. The PDOs can be mapped to different sub-indexes. The SV660N series servo drive supports assignment of one RPDO and one TPDO, as described in the following table.

  • Page 297: Service Data Object (Sdo)

    8 Communication Configurations The index and sub-index define the position of an object in the object dictionary. The object length indicates the bit length of the object in hexadecimal, as shown below: Object Length Bit Length 8-bit 16 bit 32-bit For example, the mapping parameter of the 16-bit control word 6040h-00 is 60400010h.

  • Page 298: Distributed Clock (Dc)

    The DC enables all EtherCAT devices to use the same system time and allows synchronous task execution of the slaves. A slave can generate synchronous signals according to the synchronized system time. The SV660N series servo drive supports the DC synchronization mode only. The synchronization cycle, which is controlled by SYNC0, varies with different motion modes.
  • Page 299 8 Communication Configurations ■ Servo mode display The 3rd LED indicates the control mode of the servo drive, as described in the following table. Modes of operation (6060h) Display 1: Profile position mode 3: Profile velocity mode 4: Profile torque mode 6: Homing mode 8: Cyclic synchronous position mode 9: Cyclic synchronous velocity mode...

  • Page 300: Overview Of Cia402

    8 Communication Configurations 8.3.8 Overview of CiA402 The SV660N servo drive can run in the specified status only when it is instructed according to the flowchart defined in the standard CiA402 protocol. Start Stop upon fault Initialization Fault No servo fault Ready to switch on Wait to switch on Quick stop...

  • Page 301: Basic Characteristics

    8 Communication Configurations 8.3.9 Basic Characteristics ■ Interfaces The EtherCAT cables are connected to the network ports (including IN and OUT) equipped with metal shield. The electrical characteristics are compliant with IEEE 802.3 and ISO 8877 standards. Definition Description Data transmitting (+) Data transmitting (-) Data receiving (+) NULL...
  • Page 302 8 Communication Configurations ■ EMC standard The servo drive complies with the following standards: IEC/EN61800-3:2004 (Adjustable speed electrical power drive systems---part 3:EMC requirements and specific test methods) -301-...

  • Page 303: Troubleshooting

    9 Troubleshooting 9 Troubleshooting 9.1 Faults and Warnings Faults and warnings are divided into the following three levels based on severity: No.1 > No.2 > No.3. ■ No. 1 non-resettable fault ■ No. 1 resettable fault ■ No. 2 resettable fault ■...
  • Page 304 9 Troubleshooting Resettable Fault Display Name Type Fault Range or Not E120.0 Unknown encoder type No.1 Axis fault E120.1 Unknown motor model No.1 Axis fault E120.2 Unknown drive model No.1 Axis fault E120 Mismatch of the motor current and E120.5 No.1 Axis fault drive current...
  • Page 305 9 Troubleshooting Resettable Fault Display Name Type Fault Range or Not E731 E731.0 Encoder battery failure No.2 Axis fault E733 E733.0 Encoder multi-turn counting error No.2 Axis fault E735 E735.0 Encoder multi-turn counting overflow No.2 Axis fault E740.2 Absolute encoder error No.1 Axis fault Absolute encoder single-turn...

  • Page 306: Solutions To Faults

    9 Troubleshooting Resettable Warning Display Name Type Fault Range or not E902.0 Invalid DI setting No.3 Warning E902 E902.1 Invalid DO setting No.3 Warning E902.2 Invalid torque reached setting No.3 Warning E908 E908.0 Invalid check byte of model identification No.3 Warning E909 E909.0...
  • Page 307 Cause Confirming Method Solution Check whether the MCU firmware version (H01-00) is 9xx.x (the fourth Contact Inovance for technical digit displayed on the keypad is 9). The software version of MCU or FPGA support and update the software is wrong.
  • Page 308 9 Troubleshooting ■ E104.1: MCU running timeout Direct cause: Access to MCU times out. Root Cause Confirming Method Solution 1. The FPGA is faulty. 2. The communication handshake The fault persists after the servo between FPGA and host is abnormal. drive is powered off and on several Replace the servo drive.
  • Page 309 9 Troubleshooting Root Cause Confirming Method Solution Modify a certain parameter value, If the modified value is not saved An error occurs when writing power on the servo drive again, and and the fault persists after the servo parameters to EEPROM. check whether the modified value is drive is powered off and on again, saved.
  • Page 310 9 Troubleshooting ■ E120.2: Unknown drive model Direct cause: The servo drive detects the servo drive model (H01-10) during initialization upon power-on. If the servo drive model does not exist, the servo drive reports E120.2. Root Cause Confirming Method Solution The servo drive model is set Check whether H01-10 (Servo drive Set H01-10 to a proper value that matches the...
  • Page 311 Inovance is used. For Use the encoder cable provided by "1.4 Cable cable specifications, see Inovance. Ensure the cable is connected to Models" . Ensure the cable is intact the motor securely and tighten the screws 2. A parameter check error on the servo drive side.
  • Page 312 9 Troubleshooting ■ E136.1: Encoder communication error Direct cause: 1. The encoder cable is disconnected. 2. The encoder communication is disturbed. Root Cause Confirming Method Solution Check whether the encoder cables are connected properly. The FPGA and motor encoder Check whether the motor model is set communication is faulty Observe the value of H0B-28 to see properly.
  • Page 313 9 Troubleshooting ■ E150.3: STO upstream optocoupler detection failure Direct cause: Short circuit occurs on the optocoupler of the upstream hardware circuit of STO. Root Cause Confirming Method Solution The servo drive does not display Short circuit occurs on the upstream E150.0 when the 24 V power supply is Replace the servo drive.
  • Page 314 9 Troubleshooting ■ E201.2: Phase-V overcurrent Root Cause Confirming Method Solution ◆ Check whether H01-38 is set properly. ◆ Check whether the motor parameters are set properly. A current higher than the threshold Check the phase-V current (H0B-39) is collected in the phase-V current. when the fault occurs.
  • Page 315 9 Troubleshooting ■ E208.3: Current sampling fault Cause Confirming Method Solution ◆ Check whether the servo drive Check whether there is large and motor are grounded and equipment generating interferences shielded properly. on site and whether there are The phase-U and phase-V current multiple interference sources in the ◆...
  • Page 316 Inovance SV660N series servo drive nameplates to check whether the devices used is wrong or the wiring is and servo motor, ensure that 2000-01h are Inovance SV660N series servo drive and improper. is set to 14000. Re-confirm the motor servo motor.
  • Page 317 220 V servo drive: 200B-1Bh > 420 V 6. The bus voltage sampling value 380 V servo drive: 200B-1Bh > 760 V Contact Inovance for technical support. deviates greatly from Measure whether the DC bus voltage the measured value. between P and N is within the normal range and smaller than the value defined by 200B-1Bh.
  • Page 318 9 Troubleshooting Root Cause Confirming Method Solution 1. The main circuit Check the specifications of the main circuit power power supply is supply. Measure whether the input voltage of the main unstable or fails. circuit on the non-drive side and the drive side (L1, L2) complies with the following specifications: 220 V servo drive: 2.
  • Page 319 9 Troubleshooting ■ E500.0: Motor overspeed Direct cause: The actual speed of the servo motor exceeds the overspeed threshold. Root Cause Confirming Method Solution 1. The UVW phase Check whether UVW phase sequence on the Connect UVW cables according to the sequence of motor servo drive side is consistent with that on the correct phase sequence.
  • Page 320 Check the wiring among the servo It is recommended to use the cables 1. The motor and encoder cables are drive, servo motor and encoder provided by Inovance. connected improperly. according to the correct wiring If you use customized cables, ensure diagram.
  • Page 321 9 Troubleshooting Root Cause Confirming Method Solution View the servo drive nameplate and set the servo drive model in View the serial encoder motor model 5. The servo drive or motor models 2001-0Bh and use a matching servo in 2000-06h and servo drive model in are set improperly.
  • Page 322 9 Troubleshooting Root Cause Confirming Method Solution Check the RUN command and motor speed (H0B-00) through the software tool or the keypad. ◆ RUN command in the position control mode: H0B-13 (Position reference counter) ◆ RUN command in the speed control mode: H0B-01 4.
  • Page 323 9 Troubleshooting 4. The current fluctuates. Check whether the machine suffers periodic fluctuation. 5. The vibration cannot be suppressed if the load carries large inertia. In this case, increase the acceleration/deceleration time to ensure the motor current is unsaturated. ■ E731.0: Encoder battery failure Direct cause: The battery voltage of the absolute encoder is lower than 2.8 V.
  • Page 324 9 Troubleshooting ■ E740.3: Absolute encoder single-turn calculation error Root Cause Confirming Method Solution ◆ Check whether the encoder version (H00-04) is proper. An internal fault occurs on the Check whether bit7 of H0B-28 is 1. ◆ Check whether encoder cables are encoder.
  • Page 325 9 Troubleshooting Root Cause Confirming Method Solution ◆ CSP: Decrease the position Position control mode: reference increment for a single ◆ In CSP mode, view the gear ratio synchronization cycle. The host 6091-01h/6091-02h to check the controller should cover the speed reference increment for a position ramp when generating single synchronization cycle and...
  • Page 326 9 Troubleshooting Root Cause Confirming Method Solution Check the RUN command and motor speed (200B-01h) through the software tool or the keypad: ◆ RUN command in the position control mode: 200B-0Eh (Position reference counter) ◆ RUN command in the speed control 3.
  • Page 327 9 Troubleshooting Root Cause Confirming Method Solution 2. An error occurs when If the fault persists after the servo reading/writing the RS485 drive is powered off and on several Replace the servo motor. encoder parameters. times, the encoder is faulty. ■...
  • Page 328 9 Troubleshooting ■ EB01.4: Reference value beyond the single-turn position limits in the absolute mode Cause Confirming Method Solution The target position exceeds Check whether the set value of the upper/lower limit of the Set the target position to a value within the upper/ the target position is within the unit position in the single- lower limit.

  • Page 329: Solutions To Warnings

    9 Troubleshooting Root Cause Confirming Method Solution If the problem persists after master replacement, measure the 3. The slave controller chip is synchronization signal generated Replace the slave controller chip. damaged. from the slave controller chip with an oscilloscope. If there is no signal, the slave controller chip is damaged.
  • Page 330 9 Troubleshooting Root Cause Confirming Method Solution If a hardware DI is used, check whether FunIN.31 (HomeSwitch) has been allocated to a certain DI in group 2003h and then There is only high-speed search but no check the wiring of the DI. low-speed search during homing.
  • Page 331 Check the wiring among the servo drive, It is recommended to use the cables encoder cables are servo motor and encoder according to the provided by Inovance. connected improperly correct wiring diagram. If you use customized cables, ensure such or in poor contact.
  • Page 332 9 Troubleshooting Root Cause Confirming Method Solution Check the mechanical inertia ratio or 3. The acceleration/ perform inertia auto-tuning. Then view the deceleration is too Increase the acceleration/deceleration value of 2008-10h (Load inertia ratio). frequent or the load time. Confirm the single running cycle when the inertia is too large.
  • Page 333 "Table 5-3 Specifi cations of the external regenerative listed in according to Table 5-3. resistor used is too large. regenerative resistor for SV660N series servo drive" 5. The value of 2002-1Ch (Resistance of external Check whether the value of 2002-1Ch is...
  • Page 334 9 Troubleshooting Root Cause Confirming Method Solution ◆ If yes, connect an external regenerative When an external resistor that matches the servo drive regenerative resistor is between P and C and set 2002-1Ch used (2002-1Ah = 1, 2), Measure the resistance of the external (Resistance of external regenerative ensure the resistance of regenerative resistor connected between P...

  • Page 335: Solutions To Communication Faults

    9 Troubleshooting ■ E952.0: Reverse overtravel warning Root Cause Confirming Method Solution Check whether a DI in group Check the running mode and on the The logic of the DI allocated with 2003h is allocated with FunIN.15 prerequisite of ensuring safety, send FunIN.15 (Reverse driving inhibited) and check whether the DI logic of a reverse run command or rotate the...
  • Page 336 9 Troubleshooting ■ EE08.1: Network status switchover error Cause Confirming Method Solution When the servo is enabled, the Check whether the network status Check the network status switchover network status switches from OP to switches from OP to non-OP. program of the host controller. non-OP.
  • Page 337 9 Troubleshooting ■ EE12.0: External devices of EtherCAT being abnormal Direct cause: The EtherCAT network cannot be initialized. Root Cause Confirming Method Solution 1. The FPGA firmware is not Check whether the value of 2001-02h Program the FPGA firmware. programmed. is 09xx.Y.

  • Page 338: Application Cases

    10 Application Cases 10 Application Cases Case 1 AM600 series controller as the host controller This section describes how to configure the SV660N series servo drive in working with the AM600 series controller. 1) Opening the software and creating an AM600 project Select "AM600-CPU1608TP"...
  • Page 339 10 Application Cases 3) PDO mapping Select " 使能专家设置 " (Enable expert setting) and perform PDO mapping in the process data according to the control needs. In Case 1, CSP is used as the control mode and the default values of 1600 and 1A00 are used for PDO parameters.
  • Page 340 10 Application Cases 4) Configuring axis parameters Set the software limit and the running mode in basic axis settings. Select 16#800000 for the 23-bit encoder and 16#100000 for the 20-bit encoder during unit conversion. In Case 1, the single-circle stroke is set to 60 mm, and 1 mm/s equals to 1 RPM of the motor. Select the homing mode according to actual needs.
  • Page 341 10 Application Cases 5) Adding a program Add a program to control the servo axis position, as shown below. Implement the basic functions such as homing and positioning through adding the function block. To implement directional motion through the logic program, call variables through different POUs and set the variables as global variables.
  • Page 342 10 Application Cases After editing the program, click " 编译 " (Compile) to detect whether the program is correct. 6) Downloading and performing commissioning on the program After the program detection is done, download the program to PLC. The program can be activated upon running.
  • Page 343 10 Application Cases Monitor critical parameters through the monitoring function. Start the testing procedures to perform basic tests such as homing and positioning. After the testing is done, perform directional running program. -342-...

  • Page 344: Case 2 Omron Nx1P2 Controller As The Host Controller

    10 Application Cases Case 2 Omron NX1P2 controller as the host controller This section describes how to configure the SV660N series servo drive in working with Omron NX1P2 controller. 1) Installing the Sysmac Studio software It is recommended to install the Sysmac Studio software of V1.10 or later.
  • Page 345 10 Application Cases Value Related Setting Effective Para. No. Name Unit Default Value Range Mode Condition Time When an Omron controller is used, set the EtherCAT communication station number in H0E-21. It is recommended to set the station number according to the actual physical connection sequence to facilitate management. SV660N network configuration station No.
  • Page 346 10 Application Cases 7) Scanning the device Switch the controller to the online running mode. Observe the controller status in the lower right corner: online, running mode. A prompt is displayed if it is a new controller. Click " 是 " (Yes). The name here is the project name. -345-...
  • Page 347 10 Application Cases Scan the devices and add slaves. Right click " 配置和设置 " (Configuration and setting)"EtherCAT"" 主设备 " (Master device), and select " 与物理网络配置比较和合并 " (Compare and merge with physical network configurations). The controller scans all the slaves within the network (an error will be reported if the station number is 0). After scanning, click "...
  • Page 348 10 Application Cases 8) Setting parameters Switch the controller to the offline mode and set PDO mapping, axis parameters, and the DC clock. 8-1) Setting PDO mapping Select the editable RPDO and TPDO provided by SV660N for configuration. -347-...
  • Page 349 10 Application Cases Modify the PDO mapping object through " 添加 PDO 条目 " (Add PDO entries) and " 删除 PDO 条目 " (Delete PDO entries). The frequently used mapping parameters are shown below. RPDO TPDO 8-2) Setting axis parameters Right click "...
  • Page 350 10 Application Cases "MC_Axis000" can be renamed through a simple click. For example, if it is named as " 卷针轴 " (Rewind axis), the axis variable " 卷针轴 " (Rewind axis) used in the NX program represents control on this SV660N servo axis.
  • Page 351 10 Application Cases 60FDh must be mapped to objects by bit. The mapping must be consistent with that in the Omron controller. SV660N only support the positive/negative limit switch and home switch. The axis configuration of SV660N needs to be performed manually. 8-3) Unit conversion setting Set "...
  • Page 352 10 Application Cases Select the " 显示单位 " (Display unit) based on the actual running unit when setting the gear ratio. All the position-type parameters in the host controller will be displayed in this unit. 8-4) Operation settings ■ 速度 / 加速度 / 减速度 (Speed/Acceleration/Deceleration): Set the maximum speed of the load according to actual conditions.
  • Page 353 10 Application Cases 8-6) Homing The homing mode involves the servo drive and the host controller. Set the homing mode according to the following table. Description of NX Software Servo Drive Function Terminal Configuration Home proximity signal Home switch (FunIN.31) Positive limit input P-OT (FunIN.14) Negative limit input...
  • Page 354 10 Application Cases ■ Home input mask distance: The host controller masks the homing signal within a set distance after receiving the home proximity signal (for example, edge change of home proximity signal) and starts to receive the home signal only after the set distance is passed. ■...
  • Page 355 10 Application Cases 10) Online running After all the settings and programming procedures are done, switch to the online state, and click download the program to the controller. Click to use the synchronization function. This function serves to compare the difference between the current program and the program in the controller, allowing users to determine whether to download the program to the controller, upload it from the controller "...

  • Page 356: Case 3 Beckhoff Twincat3 As The Host Controller

    10 Application Cases Case 3 Beckhoff TwinCAT3 as the host controller The following section describes how to configure the SV660N servo drive in working with Beckhoff TwinCAT3. 1) Installing the TwinCAT software The TwinCAT3 software, which supports Win7 32-bit or 64-bit systems, can be downloaded from the official website of Beckhoff.
  • Page 357 10 Application Cases 2) Installing the TwinCAT network adapter drive Open "Show Real Time Ethernet Compatible Devices…" in the menu shown in the preceding figure. In the displayed dialog box, select the local website in "Incompatible devices", and click "Install". After installation is done, the installed network adapter will be displayed in "Installed and ready to use devices".
  • Page 358 10 Application Cases 3) Searching for devices a） Create a project and start searching for devices. Select " " , and click " " as shown below. b） Click " 确定 " (OK). -357-...
  • Page 359 10 Application Cases c） Click "OK". d） Click " 是 " (Yes). -358-...
  • Page 360 10 Application Cases e） Click "OK". f） Click " 否 " (No). -359-...
  • Page 361 10 Application Cases g） The device search is done, as shown below. SV660N slave searched and one axis added 4) Configuring servo drive parameters Configure the parameters through SDO communication in "CoE-Online" interface. When 200E-01h is set to 3, the parameter values modified through SDO communication will be saved upon power failure. To modify 6060h to the CSP mode (8), follow the procedures shown in the following image.
  • Page 362 10 Application Cases -361-...
  • Page 363 10 Application Cases 6) Activating the configuration and switching to the running mode a） Click b） Click " 确定 " (OK). c） After clicking " 确定 " (OK), the device enters OP status as shown in the "Online" interface, and the 3rd LED on the keypad displays 8, the keypad display_88RY.
  • Page 364 10 Application Cases 7) Controlling the servo drive through NC controller or PLC program 7-1) Servo drive running in the CSP mode a） Set the unit. The unit is "mm" during testing. b） Set the scaling factor. ■ Scaling factor: distance corresponding to the encoder pulses per position feedback For example, 8388608 pulses per motor revolution corresponds to the distance of 60 mm, and the scaling factor is: 60/8388608 = 0.000007152557373 mm/Inc.
  • Page 365 10 Application Cases c） Set the encoder feedback mode to "PosVelo". Descriptions for "Other Settings": ■ Encoder mode: There are three encoder modes: Pos, PosVelo, and PosVeloAcc. ■ Pos: The encoder only calculates the position and is used when the position loop is in the servo drive. ■...
  • Page 366 10 Application Cases 7-2) Controlling the servo operations through the PLC a） Create a PLC program. -365-...
  • Page 367 10 Application Cases b） Add a motion control library for the convenience of calling the motion control function block. c） Create a POU program. d） Call the motion module to implement some simple actions of the servo drive and input the final program to PLCtask.
  • Page 368 10 Application Cases e） Link the axis to the variable defined in the PLC. f） Compile the program. If there is not fault, activate the configuration and log onto the PLC. g） Click "Start" to make the servo drive run. -367-...
  • Page 369 10 Application Cases 8) Adding the HMI interface to control the servo drive through the HMI interface 9) Using the scope view function of Beckhoff. a） Add a scope view project as shown in the following figure. -368-...
  • Page 370 10 Application Cases b） Add parameters to be monitored to monitor these parameters during PLC running. -369-...

  • Page 371: Appendix

    11 Appendix 11 Appendix 11.1 Standards Compliance 11.1.1 CE Certification ■ CE Mark Figure 11-1 CE Mark The CE mark indicates compliance with European safety and environmental regulations. The European Norm includes the Machinery Directive for machinery manufacturers, the Low Voltage Directive for electronics manufacturers, and EMC directive for electromagnetic interference control.

  • Page 372: Emc Directive Compliance

    ■ In-cabinet installation to prevent entry of foreign objects The SV660N series servo drive must be installed in a cabinet with the fire-proof housing that provides effective electrical and mechanical protection. The installation must conform to local laws and regulations and related IEC requirements.

  • Page 373: Definition Of Emc Terms

    11 Appendix ◆ When applied in the first environment, the servo drive may generate radio interference. In addi- tion to the CE compliance requirements described in this chapter, take measures to prevent the radio interference if necessary. ◆ The manufacturer of the system integrated with this drive is responsible for compliance of the system with the European EMC directive and standard EN 61800-3:2004 +A1:2012 according to NOTE the system application environment.
  • Page 374 11 Appendix ■ Recommended Model Selection The recommended Schaffner models are listed in the following table. Table 11-2 Recommended EMC input filters Rated Input Current Filter Model Series Servo Drive Model (In) (Manufactuer: Schaffner) Single-phase 220 V SV660NS1R6I FN2090-3-06 Size A SV660NS2R8I FN2090-4-06 Size B...
  • Page 375 11 Appendix ■ Dimensions of Schaffner FN3258 series filters (7-180 A) Figure 11-5 Dimensions of FN3258 series filters (7-180 A) (unit: mm) Table 11-4 Dimensions of FN3258 series filters (7-180 A) Rated Input Current (mm) (mm) (mm) (mm) (mm) (mm) (mm) (mm) (mm) (mm) (mm)
  • Page 376 11 Appendix Figure 11-6 Installation of the capacitance box and the ferrite core ■ Dimension drawing of the safety capacitance box 6.5±0.2 4.5±0.2 Brown Brown Brown Yellow-green 38±2 45±0.5 65±2 72±2 Figure 11-7 Dimensions of the safety capacitance box -375-...
  • Page 377 11 Appendix Table 11-5 Dimensions of the safety capacitance box Safety Capacitance Box Dimension (Width x Mounting Dimension (Width x Code Model Depth x Height) (mm) Depth) (mm) Cxy-1-1 11025018 85 x 72 x 38 45 x 75 ■ Selection of the output ferrite core To reduce the noise current and the interference to neighboring devices, install the output ferrite core around the U/V/W power cables (PE excluded) near the servo drive side.

  • Page 378: Cable Requirements And Routing

    11 Appendix Figure 11-9 Appearance of the output ferrite core (external) Table 11-6 Model selection of the output ferrite core (external) Dimension (Outer Diameter x Inner Ferrite Core Model Code Diameter x Thickness) (mm) CTRC 0930 -1B 11013003 19.5 x 9 x 35 7427122S 11013046 32.8 x 13.5 x 28...

  • Page 379: Solutions To Leakage Current

    11 Appendix The motor cables must be routed away from other cables. The motor cables of several servo drives can be routed in parallel. It is recommended that the motor cables, power input cables and control cables be routed in different cable duct.

  • Page 380: Solutions To Common Emc Problems

    11 Appendix When the leakage current generated by the servo drive triggers the RCD to act, take the following measures: ■ Increase the rated action current of the RCD. ■ Replace the original RCD with a time-delay type-B RCD. ■ Reduce the carrier frequency. ■...

  • Page 381: Ul Certification

    ◆ When the fuse burns or the wiring breaker trips, do not switch on the power supply or operate the machine immediately. Check the wiring and the models of peripherals to identify the cause. If the cause cannot be identified, contact Inovance. Do not switch on the power supply or operate the machine without permission before identifying the cause.

  • Page 382: List Of Object Groups

    11 Appendix ■ Short-circuit withstand capacity This series of servo drives adopt the Bussmann FWH series fuses, which can be used in a 480 V (400 V class) and below mains circuit with short-circuit current less than 100,000 A. 11.2 List of Object Groups Description of Object Groups Parameter access address: Index + subindex, both are hexadecimal data.
  • Page 383 11 Appendix Index Sub-index Data Name Accessibility Unit Data Range Default (hex) (hex) Mapping Type RPDO mapping object in group 1600 Number of mapped application objects in UINT8 0–0x0A 0x03 group 1600 1st application object UINT32 0–0xFFFFFFFF 0x60400010 2nd application UINT32 0–0xFFFFFFFF 0x60600008 object...
  • Page 384 11 Appendix Index Sub-index Data Name Accessibility Unit Data Range Default (hex) (hex) Mapping Type RPDO mapping objects in group 1704 Number of mapped application objects in UINT8 0x09 group 1704 1st application object UINT32 0x60400010 2nd application UINT32 0x607A0020 object 1704 3rd application object...
  • Page 385 11 Appendix Index Sub-index Data Name Accessibility Unit Data Range Default (hex) (hex) Mapping Type Mapping objects in group 1B01 Number of mapped application objects in UINT8 0x09 group 1B01 1st application object UINT32 0x603F0010 2nd application UINT32 0x60410010 object 1B01 3rd application object UINT32...
  • Page 386 11 Appendix Index Sub-index Data Name Accessibility Unit Data Range Default (hex) (hex) Mapping Type Mapping objects in group 1B04 Number of mapped application objects in UINT8 0x0A group 1B04 1st application object UINT32 0x603F0010 2nd application UINT32 0x60410010 object 3rd application object UINT32 0x60640020...
  • Page 387 11 Appendix Index Sub-index Data Name Accessibility Unit Data Range Default (hex) (hex) Mapping Type Sync Manager 2 Synchronization input Number of synchroni- UINT8 0x20 zation parameters Synchronization type UINT16 0x0002 Cycle Time UINT32 Synchronization 1C33 UINT16 0x0004 types supported Minimum cycle time UINT32 0x0003D090...

  • Page 388: Object Group 2000H

    11 Appendix Object Group 2000h Parameter Group Hexadecimal Decimal Min. Setting Effective Name Option Description Value Range Default Width unit Condition Time Index Para. Group Code 2000h/H00 Servo motor parameters Next H00-00 Motor code 0–65535 14101 16 bits At stop power-on Customized H00-02...
  • Page 389 11 Appendix Parameter Group Hexadecimal Decimal Min. Setting Effective Name Option Description Value Range Default Width unit Condition Time Index Para. Group Code 0: Incremental mode 1: Absolute position linear mode 2: Absolute position rotation mode Absolute system Next H02-01 0–4 16 bits At stop...
  • Page 390 11 Appendix Parameter Group Hexadecimal Decimal Min. Setting Effective Name Option Description Value Range Default Width unit Condition Time Index Para. Group Code Delay from S-ON OFF to brake During Immedi- H02-12 1–1000 1 ms 16 bits output OFF in the running ately rotation state...
  • Page 391 11 Appendix Parameter Group Hexadecimal Decimal Min. Setting Effective Name Option Description Value Range Default Width unit Condition Time Index Para. Group Code 2003h/H03 Terminal input parameters 0: No definition 1: S-ON 2: Fault reset 14: Positive limit switch DI1 function 15: Negative limit During Immedi-...
  • Page 392 11 Appendix Parameter Group Hexadecimal Decimal Min. Setting Effective Name Option Description Value Range Default Width unit Condition Time Index Para. Group Code 2004h/H04 Terminal Output Parameters 0: No definition 1: Servo ready 2: Motor rotating 9: Brake output DO1 function During Immedi- H04-00...
  • Page 393 11 Appendix Parameter Group Hexadecimal Decimal Min. Setting Effective Name Option Description Value Range Default Width unit Condition Time Index Para. Group Code Pulses per revolution of the load in absolute Immedi- 2005 H05-54 0–4294967295 0 32 bits At stop position rotation ately mode (high 32...
  • Page 394 11 Appendix Parameter Group Hexadecimal Decimal Min. Setting Effective Name Option Description Value Range Default Width unit Condition Time Index Para. Group Code Forward internal During Immedi- H07-19 speed limit in 0–6000 3000 1 RPM 16 bits running ately torque control Reverse internal During Immedi-...
  • Page 395 11 Appendix Parameter Group Hexadecimal Decimal Min. Setting Effective Name Option Description Value Range Default Width unit Condition Time Index Para. Group Code 0: Fixed at 1st gain (PS) 1: Switchover through bit26 of 60FE 2: Torque reference too large (PS) 3: Speed reference too large (PS) 4: Speed...
  • Page 396 11 Appendix Parameter Group Hexadecimal Decimal Min. Setting Effective Name Option Description Value Range Default Width unit Condition Time Index Para. Group Code Speed observer During Immedi- H08-27 10–2000 1 Hz 16 bits cutoff frequency running ately Speed observer During Immedi- H08-28 inertia correction...
  • Page 397 11 Appendix Parameter Group Hexadecimal Decimal Min. Setting Effective Name Option Description Value Range Default Width unit Condition Time Index Para. Group Code 2nd position loop During Immedi- H08-63 integral time 15–51200 51200 0.01 16 bits running ately constant 2008 Speed 0: Disable During...
  • Page 398 11 Appendix Parameter Group Hexadecimal Decimal Min. Setting Effective Name Option Description Value Range Default Width unit Condition Time Index Para. Group Code Inertia Immedi- H09-08 auto-tuning 50–10000 1 ms 16 bits At stop ately interval Number of motor revolutions per H09-09 0–65535 0.01...
  • Page 399 11 Appendix Parameter Group Hexadecimal Decimal Min. Setting Effective Name Option Description Value Range Default Width unit Condition Time Index Para. Group Code Vibration During Immedi- H09-37 0–65535 1200 monitoring time running ately Low-frequency resonance During Immedi- H09-38 suppression 1–1000 1000 0.1 Hz 16 bits...
  • Page 400 11 Appendix Parameter Group Hexadecimal Decimal Min. Setting Effective Name Option Description Value Range Default Width unit Condition Time Index Para. Group Code 0: Disable Absolute position 1: Enable Immedi- H0A-01 0–2 16 bits At stop limit selection 2: Enabled after ately homing Motor overload...
  • Page 401 11 Appendix Parameter Group Hexadecimal Decimal Min. Setting Effective Name Option Description Value Range Default Width unit Condition Time Index Para. Group Code Runaway current During Immedi- H0A-55 1000–4000 2000 0.1% 16 bits threshold running ately Runaway speed During Immedi- H0A-57 1–1000 1 RPM...
  • Page 402 11 Appendix Parameter Group Hexadecimal Decimal Min. Setting Effective Name Option Description Value Range Default Width unit Condition Time Index Para. Group Code Time stamp upon H0B-35 occurrence of the 0–4294967295 0 0.1s 32 bits selected fault Motor speed upon H0B-37 occurrence of the -9999 to +9999 0...
  • Page 403 11 Appendix Parameter Group Hexadecimal Decimal Min. Setting Effective Name Option Description Value Range Default Width unit Condition Time Index Para. Group Code -2147483648 Mechanical H0B-60 absolute position 32 bits (high 32 bits) +2147483647 0: None 1: Abnormal control power H0B-63 NotRdy status 0–4 16 bits...
  • Page 404 11 Appendix Parameter Group Hexadecimal Decimal Min. Setting Effective Name Option Description Value Range Default Width unit Condition Time Index Para. Group Code 0: No operation 1: Forced DI enabled, forced DO disabled 2: Forced DI disabled, Forced DI/DO During Immedi- H0D-17 forced DO enabled...
  • Page 405 11 Appendix Parameter Group Hexadecimal Decimal Min. Setting Effective Name Option Description Value Range Default Width unit Condition Time Index Para. Group Code Maximum value of invalid frames H0E-26 and errors of 0–0xFFFF 16 bits EtherCAT port 1 per unit time Maximum value of transfer errors H0E-27...

  • Page 406: Object Group 6000H

    11 Appendix Parameter Group Hexadecimal Decimal Min. Setting Effective Name Option Description Value Range Default Width unit Condition Time Index Para. Group Code Modbus During Immedi- H0E-83 communication 0–600 1 ms 16 bits running ately timeout Modbus version H0E-90 0–65535 0.01 16 bits 200E...
  • Page 407 11 Appendix Sub- Index Data Setting Effective index Name Accessibility Unit Data Range Default (hex) Mapping Type Condition Time (hex) Velocity window During Immedi- 606E RPDO UINT16 ms 0–0xFFFF time running ately Velocity During Immedi- 606F RPDO UINT16 RPM 0–0xFFFF 0x0A threshold running...
  • Page 408 11 Appendix Sub- Index Data Setting Effective index Name Accessibility Unit Data Range Default (hex) Mapping Type Condition Time (hex) Homing speed Highest sub-index UINT8 0x02 supported 6099 Speed during Reference During Immedi- RPDO UINT32 0–0xFFFFFFFF 0x001AAAAB search for switch unit/s running ately...
  • Page 409 11 Appendix Sub- Index Data Setting Effective index Name Accessibility Unit Data Range Default (hex) Mapping Type Condition Time (hex) Supported Homing Methods Highest sub-index UINT8 0x1F supported 1st supported UINT16 - 0x0301 homing method 2nd supported UINT16 - 0x0302 homing method 3rd supported UINT16 -...

  • Page 410: Sdo Abort Transfer Code

    11 Appendix Sub- Index Data Setting Effective index Name Accessibility Unit Data Range Default (hex) Mapping Type Condition Time (hex) 25th supported UINT16 - 0x0319 homing method 26th supported UINT16 - 0x031A homing method 27th supported UINT16 - 0x031B homing method 28th supported 60E3h UINT16 -...

  • Page 411: Safety Protection Function: Sto

    11 Appendix Abort Code Function Description 0604 0043 General parameters are incompatible. 0604 0047 General device content is incompatible. 0606 0000 Accessing objects fails due to an hardware error. 0607 0010 The data type does not match and the service parameter length does not match. 0607 0012 The data type does not match and the service parameter is too long.
  • Page 412 11 Appendix ■ Description of technical terms: Terms Description The STO function brings the machine safely into a no-torque state and prevents it from Safe Torque Off (STO ) unexpected starting. If the motor is running when STO function is activated, it coasts to a stop.
  • Page 413 11 Appendix Figure 11-11 Overview of the safety drive -412-...

  • Page 414: Standards Compliance

    11 Appendix 11.3.2 Standards Compliance ■ North American Standards (UL) UL 61800-5-1 CSA C22.2 No. 274 ■ European Directives Low Voltage Directive 2014/35/EU EN 61800-5-1 and IEC 61800-5-1 Electromagnetic Compatibility Directive 2014/30/EU EN 61800-3, IEC 61800-3, and IEC 61800-5-2 Machinery Directive 2006/42/EC (functional safety) ■...

  • Page 415: General Safety Information

    11 Appendix 11.3.3 General Safety Information This section contains the warning symbols used in this user guide and the safety instructions which you must obey when you install, use or maintenance a safety option module of a servo drive. If you ignore the safety instructions, injury, death or damage may occur.

  • Page 416: Specifications

    11 Appendix 11.3.4 Specifications ■ Electrical safety complies with IEC 618:00-5-1:2016, over voltage category II. ■ The environment test requirement complies with IEC 618:00 -5-1:2016. ■ The operating conditions are as follows. Items Description Surrounding air/Storage temperature 0℃ to 55℃ /-20℃ to +70℃ Ambient/Storage humidity 20%–95% RH (without condensation) Subject...

  • Page 417: Installation

    11 Appendix ■ Others Items Description SV660NS1R6I-FS SV660NS2R8I-FS SV660NS5R5I-FS SV660NS6R6I-FS SV660NS7R6I-FS SV660NS012I-FS Applicable Servo Drive SV660NT3R5I-FS SV660NT5R4I-FS SV660NT8R4I-FS SV660NT012I-FS SV660NT017I-FS SV660NT021I-FS SV660NT026I-FS Placement Integrated in the control board of the servo drive Safety function - Inputs 2 channels: STO1/STO2 The STO subsystem elements must always be likely to operate within the range of temperature, humidity, corrosion, dust, vibration, and other items specified above.
  • Page 418 11 Appendix The acceptance test must be performed: 1) at initial start-up of the safety function 2) after any changes related to the safety function (including wiring, components, and settings) 3) after any maintenance work related to the safety function. The acceptance test of the safety function must be carried out by an authorized person with expertise and knowledge of the safety function.

  • Page 419: Safety Function: Sto

    11.3.8 Safety Function: STO 1 Description of safety function Safe Torque Off (STO) is a safety function that complies with IEC 61800-5-2:2016. It is built into Inovance SV660N series servo drives. The STO function prohibits the control signal of the power semiconductors of the drive output end, preventing the drive from generating torque at the motor shaft end.
  • Page 420 11 Appendix ■ The STO function table is as follows. STO1 Input STO2 Input PWM Signal Normal Inhibited Inhibited Inhibited STO (Safe Torque Off) Definition Cuts off the force-producing power to the motor. The STO function brings the machine safely into a no-torque state and prevents it from Description unexpected starting.
  • Page 421 11 Appendix ■ Fault codes related to the STO function are shown below. Fault code Status Description E150.0 STO activated by external request Both of STO1/STO2 in "Low" state Only one of STO1/STO2 in "Low" state, status of E150.1 Status of STO1/STO2 not consistent STO1/STO2 inconsistent E150.2 STO activated by diagnosis...

  • Page 422: Trouble Shooting

    11 Appendix 11.3.9 Trouble Shooting See the following table to identify the fault cause and the action to be taken. Contact your Inovance representative if the problem cannot be solved by the described corrective actions. Fault codes related to the STO function are shown below.
  • Page 423 11 Appendix Integrated structure means that the control parts and power parts are on the same PCB. NOTE Separated structure means that the control parts and power parts are on different PCBs. NOTE -422-...

  • Page 424: Precautions

    11 Appendix 11.3.11 Precautions This section describes the information needed before starting operation. Be sure to read the following safety instructions, risk assessment information, and limitations before starting operation. Safety function: use the STO function after properly understanding all of these information. 1 Safety protective measures Carefully read the following important precautions and observe them when using the safety function STO.
  • Page 425 STO function. ◆ This publication is a guide to the application of Inovance STO function, and also on the design of safety-related systems for machinery control.
  • Page 426 Service Hotline: 400-777-1260 http: //www.inovance.com Suzhou Inovance Technology Co., Ltd. Add.: No. 16 Youxiang Road, Yuexi Town, Wuzhong District, Suzhou 215104, P.R. China Tel: +86-512-6637 6666 Fax: +86-512-6285 6720 Service Hotline: 400-777-1260 http: //www.inovance.com Copyright 　 Shenzhen Inovance Technology Co., Ltd.

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