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IS620P Series Servo Drive User Manual

1. own A 3 wO A 3 eure A 5 3 Q A i d EB N 1 ED I ES pH N tul ae a gr N ee nl IE MESS I Ea SIF 20 mm all ES ell E aell E2 Tow i e ror gt o3 Ko 20 mm reli TET JE IE oy ml Ea li Ke d H e 288 A el ssel a EB xl 2 5 ALES i El i amp 2 PI amp
2. B KB2 e lt KB1 ii as m oo e CN i e S LG 1010A EN Y 56 5 54 LO a5 v d yv o ME v9 i A o 3 j 10 02 A hed 6 L LL 63 lt N 5 o F ly GO 0145 co Y 2 N 0 l bud gt YY j J l 1 0 wel s Hg L f 0 09 afi X L fa 24 02 e cO Y UE Shaft end Flat key EQS Connector Power Side Brake Side Encoder Side MIL DTL 5015 MIL DTL 5015 MIL DTL 5015 Aviation plug series series series 3102E20 18P 3102E10SL 4P 3102E20 29P ISMH2 30C30CD Y_ 30C30CD UY 209 5 ISMH2 30C30CD Y 209 5 5 6 1885 5 10 73 73 a rss faa 2 3 3 Overall Dimensions of the ISMH3 Series Servo Motor Vn 1500 RPM Vmax 3000 RPM 1 850 W 1 3 kW 1 8 kW
3. Servo unit Analog speed Signal input 10V an Al1 20 ow pass filter Impedance about 9 kO AO1 uu Wee N E Bi directional Analog output 10 to 10 V TEM 2 1 mA meter Maximum output 1 mA Analog torque limit d AI2 118 ip 1 Signal input 10 V uU i Low pass filter GND Impedance about 9 kO LLL SND 19 J bs a VW AO2 i Bi directional Analog output 10 to 10 V 1 mA meter Maximum output 1 mA b GND By default the terminals are ON when being conducted You can modify the 24 V power 24V positive and negative logics nterna power supply suppl Voltage range 20 28 V HE 17 7 S RDY DO1 Maximum working current 200 mA COM 41 K 6 S RDY DO1 i 5 COIN DO2 Forward drive P OT DI1 9 4 7 kO h E forbidden b B N 4 COIN DO2 Reverse drive N OT DI2 10 4 7 KOA EK 3 ZERO DO3 State output forbidden EN 2 ZERO DO3 J 1 ALM DO4 Provided by users 5 24 VDC INHIBIT DIS 34 4 7 KOATEN H b AN c Maximum allowable voltage 30 VDC Pulse forbidden DO4 Maximum allowable current 50 mA 28
4. Chapter 1 Servo System Selection Cable Name Cable Model Cable Appearance Communicati on cable for multi drive S62 L T01 0 3 parallel 300410 mm connection Servo drive to PLC communicati on cable S62 L T02 2 0 2000 20 mm Resistor plug for servo drive S62 L T03 0 0 communicati on terminal 20 mm end 1000430 mm 1 4 Braking Resistor Specifications l Braking Resistor Specs Min Allowed Max Braking Servo Drive Model Resistance Energy Absorbed Resistance Q Capacity W Q by Capacitor J Single Three p Three phase 380 V IS620PTO121 25 Models IS620PS1R6 and IS620PS2R8 are not configured with a built in braking resistor Use an external braking resistor if necessary For selecting proper external braking resistors contact Inovance for technical support 11 Chapter 2 Installation and Mounting Dimensions of the Servo Drive and Servo Motor Chapter 2 Installation and Mounting Dimensions of the Servo Drive and Servo Motor 2 1 Installation of the Servo Motor 2 1 1 Installation Location 1 Do not install the servo motor in an environment with corrosive
5. e e e e LO LO lt 4416 _ 244 __ 0 04 A Ei e e ss ENS a 0 02 8 o S 15 5 LG j 2 5 LL 4 25 22 lt 2 o eo SPA i 3 d N TP l JZ d tO 0 S S9 E 3 0014 6 2 99 00 1 1160 Flat key 046 Shaft end 2x 04 5 Plastic housing EL 4Y CWB AMP 172165 1 AMP 172169 1 422 6006 0 CWB AMP 770834 1 AMP 770834 1 Servo Motor Model DEN ie LM mm Weight kg ISMH1 10B30CB 104 5 137 6 0 59 0 77 ISMH1 10B30CB 2 200 W 400 W Vn 3000 RPM Vmax 6000 RPM soo d L 500 ia J _ LG od e p me 006A amp i 16 5 roe G LO oma a 0 02 A A J L 11 3 LL 30 16 Chapter 2 Installation and Mounting Dimensions of the Servo Drive and Servo Motor 27 lO 070 4 x 5 5 4x R5 EQS
6. T T AC a EMI P AC dde i power filter S power EMI Aa S supply aa supply p filter a T o pdt ae Lic L2C o aqa 77 3 Use a separate grounding cable as short and thick as possible for the EMI filter Do not share the same grounding cable with other grounding devices 54 Chapter 3 Wiring of the Servo Drive and Servo Motor Figure 3 18 Grounding to one point L1C L2C L1C L2C ro P R T pd R AC AC S S power EMI ja power EMI p supply filter supply filter N A 4 T gt as P T Servo Servo Servo Servo Drive Drive Drive Drive a D D e E E 77 Shielded layer grounded 77 Shielded layer grounded 4 Grounding the EMI inside the cabinet If the EMI filter and the servo drive are installed in the same cabinet fix the EMI filter and the servo drive on the same metal plate Make sure the contact part is in good conductive condition and ground the metal plate properly They can also be grounded separately as shown in Figure 3 16 Figure 3 19 EMI filter grounding
7. CN3 and CN4 are two same communication signal terminals connected in parallel Do not 49 Chapter 3 Wiring of the Servo Drive and Servo Motor connect wires to the reserved pins Table 3 19 Communication signal terminal pin definition CANH communication port GNDG CAN communication ground RS485 RS485 communication port RS485 RS232 RS232 sending end o TXD connected to the receiving end of the host controller RS232 RS232 receiving end RXD connected to the sending end of the host controller The following table lists definition of DB9 terminal at the PC end Table 3 20 Definition of DB9 terminal pins at PC end e PC RXD PC receiving end PC TXD PC sending end sh PE Shield ell Figure 3 12 Communication cable appearance COIN OO A OIN gt A B Table 3 21 Pin connection relation of the communication cable FJ45 at Servo Drive End A DB9 at PC End B o9 s 9 50 Chapter 3 Wiring of the Servo Drive and Servo Motor PE shielded layer Shell PE shielded layer Shell If the host computer provides only the USB interface use the serial to USB cable for conversion Figure 3 13 Serial to USB conversion diagram fu 220V Inevance Ro
8. KB2 E lt KB1 oS a g i PN e LG KI 010A RU Y 51 5 36 l z 1 l 99 2 r y l A M 002A i 1 6 j LL 55 19 Chapter 2 Installation and Mounting Dimensions of the Servo Drive and Servo Motor lt N E z E gt 145 Ew 2 BL j gl KR 7 0 09 s 18 02 49 cO EY Shaft end Flat key S EQS MIL DTL 5015 MIL DTL 5015 MIL DTL 5015 Aviation plug series series series 3102E20 22P 3102E10SL 4P 3102E20 29P co 2 2 9 kW 4 4 kW 5 5 kW 7 5 kW lt i KB2 KB1 l z 18 010A o 9 S T E 2 LW 4d l i Y poji e jx 2 LL gt LR x 9 B a 9200 gt et e RIEN A n
9. Servo unit Analog torque E Signal input 10V LM AM 20 Low pass filter AO4 Impedance about 9 kO AID iN Bi directional Analog output 10 to 10 V Aral tational d limit o converter B4 nA meter Maximum output 1 mA c m MINI ip Al2 18 1 ow pass filter id GND Signal input 10 V GND 19 Impedance about 9 kO tH iu d id AO2 ce l Bi directional Analog output 10 to 10 V l 1 mA meter Maximum output lt 1 mA Y GND By default the terminals are ON when being conducted You can modify the 24 V power 24V position and negative logics Internal 24 V power supply supply 17 7 S RDY DO1 Voltage range 20 28 V d E E Maximum working current 200 mA COM 11 oo eee 5 COIN DO2 Forward drive P OT D11 9 14 7 kOa k lt 4 COIN DO2 forbidden 34 ZERO DO3 State output D s drive N OT DI2 10 4 7 KQ AYEK sx 2 ZERO DO3 i orbidden 4 ALM DO4 Mona vedi e d be t m aximum allowable voltage Pulse forbidden INHIBIT DI3 34 4 7 KQ 2v lt 26 ALM DO4 Maximum allowable current 50 mA 28 HomeAttain DO5 DO Warning reset signal ALM RST DI4 B 4 7 KQ s A 27 HomeAttain DOS The above are default functions You can also t asp configure functions of the Servo drive enabled KONDISI S9 Hu KEEN DOs in function codes Zero clamp enabled ZCLAMP DI6 32 4 7 KO tt A z asai j 22 PAO Phase A output Pe puc Encoder frequency
10. d AM 20 9 kO 10t0 10V F amp E if AI2 18 9kO 10 to101V F eH 1 GND 19 gt e gt NZ Nu 3 3 3 Position Reference Input Signals Table 3 14 Position reference signal description Pulse input status Direction pulse Phase A B quadrature Reference pulse input mode Differential drive input pulse oO CWICCW pulse HPULS 38 HPULS High speed reference pulse input 40 Position referenc e Chapter 3 Wiring of the Servo Drive and Servo Motor HSIGN E HSIGN ES High speed position reference symbols PULLHI External power input terminal of reference pulse An output circuit for the reference pulse or symbol signal at the host controller can either be differential drive output or OC output The following table lists the maximum input frequency and minimum pulse width of these output modes Table 3 15 Correspondence between maximum input frequency and minimum pulse width Pulse Mode Max Frequency Min Pulse Width pps us mm m High E differential If the output pulse width of the host controller is smaller than the minimum value the servo drive will receive wrong pulses 1 Differential mode Host computer Servo drive 35 2 4 KQ puts 41 200 Q Common pulse EY osition refer
11. Servo drive H05 07 Electronic gear ratio 1 numerator H05 09 Electronic gear ratio 1 H05 00 Main position denominator reference source H05 11 Electronic gear ratio 2 H05 01 Pulse reference numerator selection H05 13 Electronic gear ratio 2 1105 04 First order low H05 15 Pulse reference denominator pass filter time form H05 02 Pulses for one motor 105 06 Average filter time Pulse input revolution of position references gt Reference input Electronic gear Position 4 setting ratio gt reference filter V POSDirSel Input gt Reference direction selection gt Host INHIBIT computer PEE Pulse input forbidden Position CLR input regulator Frequency Position deviation cleared division pulse output 1 Frequency division output gt L H05 17 Encoder V frequency vision pulses H05 38 Servo pulse COIN output UE E Positioning completed Sup Seige H05 20 Output condition of positioning completed signal COIN H05 21 Amplitude for positioning completed The position control mode is the most common mode of the servo drive The main use procedure is as follows 1 Connect the power cables of the main circuit and control circuit of the servo drive motor power cables and encoder cables correctly After power on the keypad of the servo drive 57 Chapter 4 Running and Commissioning displays rdy indicating that the wiring is corre
12. Servo unit Torque limit 0 10 V as di Impedance about9kQ T p AI14 20 low pass filter m n m O1 A D a N m Bi directional Analog output 10 to 10 V Torque limit 10 to 0 V converter 1 mA meter Maximum output lt 1 mA Impedance about 9 kQ m AI2 18 Low pass filter Y GND Hn GND 19 v x AO2 24V e g Bidireciona Analog output 10 to 10 V Internal 24 V power supply sae ael 1 mA meter Maximum output 1 mA Voltage range 20 28 V d GND By default the terminals are ON Maximum working current 200 mA COM 11 when being conducted You can modify the positive and negative t neue logics Forward drive P OT DH 9 4 7 KOE 7 S RDY DO1 Reverse drive N OT DI2 10 14 7 ka 4X forbidden V ca hs 5 COIN DO2 lt 4 COIN DO2 INHIBIT DI3 34 14 7 kOla Pulse forbidden M 34 ZERO DOS State output ES 2 ZERO DO3 Warning reset signal ALM RST DI4 18 4 7 kKOleY Eh 14 ALM DO4 Provided by users 5 24 VDC E 26 ALM DO4 Maximum allowable voltage 30 VDC Maximum allowable current 50 mA S ON DI5 3314 7 kQ Y k 28 HomeAttain DO5 DC aD eee a 2 HomeAtiain D05 The above are default functions You can also Zero clamp enabled ZCLAMP DI6 32 4 7 kQ Y z configure functions of the DOs in function codes Gain switchover GAIN SEL DI7 31 4 7 KQ aE 21 PAO Home switch HomeSwitch DI8 30 4 7 kO sv E 22 PAO gt Phase A output 25
13. lt O 5 Oo oo ly LO i l 0 1 1536 t do 2 0018 Shaft end PALKEY Plastic housing EL 4Y CWB AMP 172165 1 AMP 172169 1 422 6006 0 CWB AMP 770834 1 AMP 770834 1 Servo Motor Model LL mm Weight kg ISMH1 20B30CB 114 153 ISMH1 40B30CB 139 178 3 750 W Vn 3000 RPM Vmax 6000 RPM 80 Connector Plastic housing Terminal eo pe p lt e eo ul oo 500 s 500 o 8 J LG o EJ eec 0 06 A I n 25 e prid pM 002A L LL 3 40 27 x N eo p o z CEN o o9 tol A i e JA JU ON 9010 I lx E 0 eo 6 0 018 15 50 10 Ke y 4x 7 EQS EI 4 x R8 Shaft end Flat key TP EQS Servo Motor Model ISMH1 75B30CB 135 5 182 5 EL 4Y CWB AMP 172165 1 422 6006 0 CWB AMP 770834 1 Encoder Side AMP AMP 172169 1 770834 1 Weight kg M6 x 10 2 7 3 1 17 Chapter 2 Installation and Mounting Dimensions of the Servo Drive and Servo Motor 2 3 2 Overall Dimension
14. SIGH aye HSIGN PBO DO4 COM PULS DO5 BIS HSIGN DO5 PZO PULS GND COM PZ OUT DI8 44 5V 30 Nor Chapter 3 Wiring of the Servo Drive and Servo Motor Terminal Terminal Name Terminal Function Symbol IS620P S1R6 Main circuit single phase power input Only R and S terminals are used Connect 220 VAC power supply S2R8 S5R5 between R and S terminals Main circuit S620P S5R5 as i power input S7R6 S012 Main circuit three phase 220 V power input terminals IS620P T3R5 T5R4 T8R4 T012 T017 T021 T026 L1C L2C Control power Connect to control power input For specific value refer to the rated voltage j input terminals on the nameplate Connect an external braking resistor between Po IS620P S1R6 S2R8 and C if the braking capacity is insufficient You need to purchase the external braking resistor Main circuit three phase 380 V power input External gt D C braking resistor terminals Short connect P and D by default Remove the jumper between P and D and connect an T5R4 T8R4 T012 external braking resistor between Pe and C if the TO17 TO21 T026 braking capacity is insufficient i i You need to purchase the external braking resistor Common DC For common DC bus connection when multiple servo drives are used in bus terminal parallel
15. Actual Actual acceleration time deceleration time Acceleration ramp time Deceleration ramp time H06 05 H06 06 3 Speed reference limit The speed references in the speed control mode can be limited e H06 07 specifies the amplitude limit of speed reference The forward or reverse speed references must not exceed the limit If speed references exceed the limit value the servo drive outputs the limit value e H06 08 specifies the forward speed limit If the speed reference of the forward direction exceeds the value the servo drive outputs the value e H06 08 specifies the reverse speed limit If the speed reference of the reverse direction exceeds the value the servo drive outputs the value Ihe maximum motor rotational speed changes with the actual motor parameters Note When the rotational speed is restricted the smallest value of HO6 07 HO6 08 and H06 08 takes effect as shown in the following figure where the value of H06 09 is larger than the value of HO6 07 the actual forward rotational speed limit is the value of HO6 08 and the reverse rotational speed limit is the value of H06 07 Figure 4 11 Speed reference limit Speed reference A Maximum motor rotational speed f Maximum rotational speed limit H06 07 T Forward speed limit HO6 08 Actual rotational speed amplitude Maximum rotational speed limit H06 07 Reverse speed limit H06 09
16. L1C L2C a R power mS EMI Lu IS Servo supply filter drive E79 e IT T Servo drive fee Shielded layer grounded Grounding AA 3 7 Precautions of Using Cables 1 Do not bend or apply tensions to cables The core wire of a signal cable is only 0 2 or 0 3 mm thin Handle the cables carefully 2 Use flexible cables if they need to be moved Common cables are easily damaged after being bent for a long time Cables configured together with low power servo motors cannot be used for movement 3 If cable towline is used make sure The bending radius of the cable must be at least 10 times of the diameter of the cable e Do not fix or bundle the cables inside the cable towline You can bundle them at both ends of the cable towline 55 Chapter 3 Wiring of the Servo Drive and Servo Motor Cables must not be wound or warped Space factor inside the cable towline must not exceed 60 e Do not mix cables of great difference in size together Otherwise thick cables may crush thin cables If you need to use them together place a spacer plate to separate them Figure 3 20 Cable towline Cable towline Cable end 56 Chapter 4 Running and Commissioning Chapter 4 Running and Commissioning Based on the command modes and running characteristics the servo drive supports three running modes position control sp
17. j e EI ISO The recommended cable is as follows Z TEK model ZE551A 0 8 m USN extension cable chip model FT232 3 5 Analog Monitoring Signal Wiring The following figures shows pin layout of the analog monitoring signal terminal CN5 Figure 3 14 Analog monitoring signal terminal No 1 2 3 4 Signal GND AO1 GND AC2 51 Chapter 3 Wiring of the Servo Drive and Servo Motor Corresponding interface circuit Analog output 10 to 10 V Maximum output current 1 mA Servo drive ac 2 a Pe Single direction 1mA 3 e GALV v GND ur T Mae I Single direction 1mA GALV M GND The monitored objects of analog signals are listed in the following table Table 3 22 Monitored objects of analog signals 0 Motor rotational speed 1 Speed reference 2 Torque reference 3 Position deviation 4 Position amplifier deviation 5 Position reference speed 6 Positioning completed reference 7 Speed feedforward
18. Multiple terminals share the same current limiting resistor resulting in that pulses are inaccurately received Terminals are connected with current limit resistors Servo drive A separately vcc PULLHI ag 24 KQ Rt PULS 41 200 o lt PULS 43 amp YEK x 2 4kO RE SIGN 37 200 1 5 SIGN 39 EC NM COM Servo drive B PULLHI 35 2 4 KO Rt PULS 41 200 a t PULS 43 amp YEK 24 kQ ARE SIGN J 37 200 x n P j _ a vr SIGN 39 v COM 44 Chapter 3 Wiring of the Servo Drive and Servo Motor Ubi m ssa Servo drive A current limit resistors vece N PULLHI 35 24KQ R1 PULS J41 200 A E we e PULS 43 4 YEK J x 2 4 kQ 200 Q AES SIGN 37 ES ar _ Eds SIGN N 39 t lt WY COM Servo drive B PULLHI 35 ir PULS 41 200 PULS 43 amp EK x 2 4 kQ SIGN 37 200
19. v COM Wrong connection 2 Multiple terminals share the same current limiting resistor resulting in that pulses are inaccurately received Multiple terminals share f the same resistor Servo drive We ee y Qnis PULLHI 35 a 2 N PULS 44 200 i PULS 43 amp EK X a 2 4 kQ SIGN 37 200 5 SIGN y 39 A EK K d x i lt COM 43 Chapter 3 Wiring of the Servo Drive and Servo Motor Wrong connection 3 SIGN terminals are not connected resulting in that these two terminals receive no pulses Servo drive vec PULLHI J35 24 K R1 PULS 41 200 d PULS 43 a YT lt SIGN terminals not 2 4 KQ de E CUOI SIGNe 137 200 Seed SIGN 39 EEK Aa v NAM a v COM X Wrong connection 4 Terminals are inaccurately connected resulting in burnout of terminals Servo drive OC iua Te VCC iei uan tandi PULLHI 435 e o e n PULS 41 200 Q T xs PULS 43 A Yt E i 24KQ R1 SIGN 37 2000 umi SIGN 39 iv VW COM X
20. Servo motor connection Connect to U V and W phases of the servo motor terminals IS620P S5R5 S R6 S012 T3R5 Two grounding terminals are respectively connected to the power supply grounding terminal and the servo motor grounding terminal The entire system must be grounded Grounding terminal R ip ees p E S 5 5 T E o M I ies o 2a Remove the jumper between P e and D and wm connect an external braking resistor between E s P e and C E ds P 5 cp Ex P o Dae Pur D ae m o KA Q U s CN2 V E O W T o O O 25 Chapter 3 Wiring of the Servo Drive and Servo Motor CN1 RIES Ty O S gt No connected to an m b external braking resistor nip alae T N T l MN es 9t Pa 26 D IN o SIT IRE l 3 U S7 ah CN2 A viil TE gt gt Wi o a ma Observe the following precautions when wiring the external braking resistor 1 Do not directly connect the external braking resistor to the positive and negative poles of Pe Failure to comply will lead to damage of the servo drive or even cause a fire 2 Remove the jumper between P and D before using t
21. b Speed reference direction switchover Set the function FunIN 26 to switch over the speed reference direction by a DI Function Function a Speed ae FunIN 26 SPDDirSel reference Valid Forward direction Set the logic of the dredi Invalid Reverse direction corresponding DI to O or 1 67 Chapter 4 Running and Commissioning c Speed reference selection In the speed control mode five methods of obtaining speed references are available and you can select one in H06 02 Function Parameter Settna Ranae Min Default Effective Propert Control Code Name g g Unit Setting Time pery Mode 0 Main speed reference A source 1 Auxiliary speed reference B source 1 bd Atstop S 2 A B 3 A B switchover 4 Communication setting When H06 02 is set to 3 you need to allocate a DI with the A B switchover function to determine whether A reference input or B reference input is active currently Invalid Current Main Auxiliary A reference FunlN 4 CMD SEL reference ag A Valid Current switchover i running reference being B 2 Reference ramp parameter setting The ramp control function is to change the speed references with large difference to smoother speed references with constant acceleration and deceleration that is controlling acceleration and deceleration by setting the acceleration and deceleration time If the set speed references change greatly the motor may jitter or vibrate greatly In this
22. 24 VDC S5 L M TTA Brake power supply 24 VDC power supply used when the servo o motor is configured with brake RI Ur Ia Electromagnetic contact i The brake controls signals to turn ON OFF of the brake power supply EE E i H Install a surge suppressor E e E when using this contactor ISMoo oo00000 o0000 servo motor The IS620P servo drive is directly connected to an industrial power supply with no isolation such as using a transformer In this case you need to connect a fuse or molded case circuit breaker on the input power supply to prevent cross electric accidents in the servo system The IS620P servo drive is not configured with built in protective grounding circuit Thus connect a residual current circuit breaker RCCB against overload or short circuit or a specialized RCCB combined with the protective grounding Do not use magnetic contactors for running or stopping the servo motor Since motor is a large inductance element instantaneous medium voltage generated may break down the contactors Pay attention to the power capacity when connecting an external control power supply or 24 VDC especially when the power supply is for powering up multiple drives or brakes Insufficient power supply will lead to lack of supply current thus causing failure of the drives or brakes The brake shall be powered up b
23. 62 L T01 0 3 Communication cable for multi drive parallel connection S62 L T02 2 0 Servo drive to PLC communication cable 62 L T03 0 0 Resistor plug for servo drive communication terminal Table 1 3 Physical appearance of cables for the servo motor and servo drive Cable Name Cable Model Cable Appearance S5 L M03 3 0 3000 10045 mm S5 L M03 5 0 5000 c em 10045 mm J L 30 mm S5 L M03 10 0 10000 S5 L M24 3 0 3000 Servo motor a main circuit aid cable S5 L M24 5 0 5000 Cee S5 L M24 10 0 10000 L 30 mm S5 L M25 10 0 10000 S62 L P00 3 0 3000 S62 L P00 5 0 5000 L 15 mm S62 L P00 10 0 10000 Servo motor encoder cable 62 L P21 3 0 3000 62 L P21 5 0 5000 L 15 mm 62 L P21 10 0 10000 Servo drive to PC 562 1 T00 3 0 3000 communicati on cable 3000 30 mm 10 BES FZ Inovanee
24. ewes m wo 35 Chapter 3 Wiring of the Servo Drive and Servo Motor 5 Shielded layer of the encoder cable must be properly grounded Differential signals shall be connected to the two wires of the twisted pair cable 6 To determine the length of the signal cable consider voltage drop caused by the cable resistance Pay attention to the capacity of the power supply and make sure that the signal and power are strong enough when arriving at the input side of the servo drive It is recommended to use twisted pair cable of size AWG26 and above 7 The encoder cable and signal cable must be separated by at least 30 cm 8 If the encoder cable is too short and an additional cable is to be added make sure the shielded layers of two separate cables are well connected to ensure reliable grounding 3 3 Connecting Control Signal Terminals Figure 3 8 Pin Layout of control terminal connectors of servo drive CN1 GND DO4 DI7 CN1 24V 16 DO3 DI6 1 31 Al2 17 m x m DO3 DI5 18 GND 3 33 DO2 DI3 19 AI z T PAO 21 DO1 HPULS 6 136 P
25. 1 Pulse reference synchronous Poweron output again At stop 2 Frequency divisio output forbidden 0 Enabled after position pulse reference remaining O for 10 Immediate At stop ms 1 Enabled in real time coordinate for home return trigger home return and find home reversely after reaching limit switch 1 H05 36 as relative offset for home return trigger home return and find home reversely after reaching limit eer zs Immediate At stop coordinate for home return automatically find zero position reversely after reaching limit relative offset for home return automatically find zero position reversely after reaching limit switch 0 Positive Z pulse being high level Power on At stop 1 Negative Z again pulse being low level Group H06 Speed Control Parameters 110 Chapter 7 Function Code Table Function Parameter Schna Rande Min Default Effective Proven Control Code Name g g Unit Setting Time pery Mode 0 Digital setting Immediate At stop S H06 03 1 AI Immediate At stop S Immediate At stop S 4 Communication setting 2 Al2 0 Digital setting H06 03 1 AI1 Hoe a3 Seting value ooo5 5006 RPM 1 1200 RPM Immediate of speed RPM reference Hoe 04 109 SPeed o sooo RPM 1 RPM100 RPM immediate During setting value running Acceleration Hoo 5 ramp time of 65535 ms 1 ms speed reference Deceleration HO6 ramp time of l0 65535 ms 1 ms speed reference M
26. 1 The UVW phase sequence of the motor is incorrect Check the UVW phase Correct the motor wiring sequence of the motor 2 The input reference value exceeds the speed Check the input reference Er 500 limit motor overspeed Reduce the reference value or adjust the gain Reduce the gain of the regulator and adjust the gain of the servo gain or the running conditions Repair or replace the servo drive Calculate the corresponding Change the frequency division pulse frequency division setting to within the speed range of the servo Check the waveform of the motor speed 3 The motor speed overshoots 4 The servo drive is faulty The pulse frequency of he encoder requency division output frequency based on the encoder frequency division upper limit allowed by the output under the rotational Er 510 frequency division 90 Chapter 6 Troubleshooting Fault Display Probable Cause Confirming Method Solution and Description hardware 2 MHz speed and check whether calculated value exceeds the limit Remove the load or increase the current loop gain Observe whether the motor rotates during auto tuning 1 The load is too heavy Er 602 angle auto tuning failure 2 The encoder wiring is insecure and the Z signal cannot be detected Observe whether the motor Replace the encoder rotates properly cable 1 Wiring of the motor and encoder is incorrect or poor Check wi
27. 1 CW direction as AR At stop the forward direction g reverse rotation mode phase A lagging phase B H02 04 Minimum speed 0 2 14 0 RPM 0 1 14 0 RPM POWeron Ac stop RPM again Stop mode at H02 05 servo drive disabled H02 Stop mode 2 at fault Stop mode at overtravel H02 Stop mode 1 at fault 0 Coast to stop keeping free running state 1 Stop at zero speed 1 Immediate At stop PST keeping free running state 0 Coast to stop free running state 1 Stop at zero speed 1 Immediate At stop PST free running state 0 Determined by H02 08 is Stop a ot Speed 1 1 Immediate At stop PST position locking state 2 Stop at zero speed free running state E Coast tO SOD Wee 1 Immediate At stop PST running state 99 Chapter 7 Function Code Table Function Min Default Effective Control Brake release H02 command delay 20_500 ms 1ms 200 ms Immediate PUPS ps at servo drive running enabled Servo drive Ho2 10 Sable delay at 4500 ms 1ms 100 ms Immediate DUIng ps brake apply running command Output speed Durin H02 11 limit of brake 0 1000 RPM 1 RPM 100 RPM Immediate SE PS reference g P Waiting time from servo Durin H02 12 disable signal to 1 1000 ms 1 500 ms Immediate pu S brake apply g command Rotational Poweron H02 13 speed detection O 3000 RPM 1 RPM 100 RPM At stop PST threshold LE Display of 0 Immediate outp
28. 290C15CD 180 T012 10004 medium 4400 capacity 44C15CD 180 T017 10005 5500 55C15CD 180 T021 10006 7500 75C15CD 180 T026 10007 Chapter 1 Servo System Selection Servo Motor Model Servo Drive Drive Drive No ISMHa annanman W 2900 H3 29C15CD Speed Speed teen Model 1S620P aon TASA 4400 Medium 44c15cD 1500 3000 inertia 5500 medium 55C15CD capacity 7500 75C15CD 1 3 Adapted Cables Table 1 1 Adapted cables for servo motor Servo sir Circuit Servo Motor Encoder Cable Connector Kit Standard Motor CN1 terminal CN2 ISMH1 S5 L S5 L S621 S624 S62 L e oy ISMH4 M03 3 0 0 M03 10 0 P00 3 0 P00 5 0 POO 10 0 4 pin connector 9 pin connector CN1 CN2 ISMH2 terminal ISMH3 S62 L S62 C2 50 18 M24 10 0 P21 3 0 P21 5 0 P21 10 0 elbow aviation plug and below elbow 20 29 aviation plug elbow S5 C1 CN1 terminal CN2 ISMH3 Y terminal 2 9 kW S62 L S62 C3 20 22 and above P21 3 0 P21 5 0 P21 10 0 elbow aviation plug elbow 20 29 aviation plug elbow ISMH3 Z S5 L S5 L S5 L S62 L S62 L S62 L S62 C3 CN1 i 2 9 kW M25 3 0 M25 5 M25 10 0 P21 3 0 P21 5 0 P21 10 0 elbow terminal T terminal 20 22 aviation plug elbow Chapter 1 Servo System Selection 20 29 aviation plug elbow Table 1 2 Communication cables S62 L T00 3 0 Servo drive to PC communication cable
29. Input pulse reference sampling read by communication Group H31 Variables Set via Communication The values are not displayed on the keypad Function Min Default Effective Control Bito VDI1 virtual H31 VDI virtual level 1 Immediate iai Bit15 VDI16 9 virtual level 139 Chapter 7 Function Code Table Function Min Default Effective Control Bit0 DO1 Bit1 DO2 _ Bit2 DO3 H31 04 Mis AE Bit3 DO4 Immediate did Bit4 DO5 Bit5 15 Reserved Speed reference set 9000 000 9000 0 001 During pn via 000 RPM RPM Immediate running gt communication Torque s 0 __ s H31 41 reference set ee 100 0 001 mediate During T via 000 running communication DI DO Basic Functions Table 7 1 DI DO basic function table No Function Function Deccan l Symbol Name p Input Function Description Servo Invalid Servo motor disabled EHI so es e Servo motor enabled FunlN 2 ALM RST Alarm reset The servo drive can continue to work after edge valid alarms of certain types are reset FunlN 3 GAIN SEL Gain valle Speed loop PI control first gain switchover Valid Loop PI control second gain Main Auxilia E FuniN 4 CMD SEL ry reference D Current running reference being A Valid Current running reference being B switchover FunlN 5 DIR SEL Multi referen nyag Default reference direction ce direction Walid Reverse reference direction Multi referen FunIN 6 CMD1 e Used to select one from the 16 re
30. Internal multi position enabled Interruption T FunlN 29 XintFree fixed length nyana Not respond to position references Valid Unlock position references cleared l Home Invalid Not triggered DE E G switch Valid Triggered Invalid Disabled FunIN 32 omingStart Home retum i Enabled Interruption p min FunIN 33 Xintlnhibit fixed length 2i Interruption is oe lace forbidden Invalid Interruption fixed length allowe EmeraencvSt Valid Position lock after stop at zero FunIN 34 Braking speed P Invalid Not affect current running state Position Walid Clear FunIN 35 ClrPosErr deviation ie Invalid Not clear cleared Internal speed limit FunlN 36 V LmtSel source selected by DI Valid HO6 19 as internal forward speed limit HO7 17 2 Invalid HO7 20 as internal reverse speed limit HO7 17 2 Output Function Description The servo drive is in ready state and can FunOUT 1 S RDY Servo drive recelve the S ON signal ready alid Servo drive ready Invalid Servo drive not ready Motor hen the motor rotational speed exceeds FunOUT 2 TGON rotation deine OEO Sa alid Motor rotation signal valid p Invalid Motor rotation signal invalid hen the servo motor stops rotation Zero speed Walid Motor rotational speed being zero ee PERO signal Invalid Motor rotational speed being not ero In the speed control mode when the Speed absolute value of the deviation between FunOUT 4 V CMP poo he motor rotational speed an
31. Output low level when valid optocoupler ON 1 Output high level when valid optocoupler OFF Upon stop 104 Control During running During running During running During running During running During running During running During running Chapter 7 Function Code Table Function Parameter Senna Rande Min Default Effective ProDed Control Code Name g g Unit Setting Time pery Mode 0 19 DOS 0 No function H04 function 1 19 FunOUT 1 19 1 selection refer to the DI DO basic function table Output polarity reverse setting 0 1 H04 DO5 logic 0 Output low level when 1 selection valid optocoupler ON 1 Output high level when valid optocoupler OFF BitO0 DO1 source Bit DO8 source Bit8 to Bit15 Reserved H04 22 DO source Bit 0 DO x 1 signal given by the servo drive Bitx 1 DO x 1 signal given via communication During running Upon stop During WpOIretop running Immediate At stop 0 Motor rotational speed 1 V 1000 RPM by default 1 Speed reference 1 V 1000 RPM 2 Torque reference 1 V 100 3 Position deviation 0 05 V 1 reference unit 4 Position amplifier deviation 0 05 V 1 H04 50 AU Signal encoder pulse unit 1 Immediate During selection l i running 5 Position reference speed 1 V 1000 RPM 6 Positioning completed reference positioning completed 5 V positioning uncompleted 0 V 1 Speed feedforward 1 V 1000 RPM 8 AI1
32. PBO i UE Encoder frequency Not defined DIS 1 4 7 Ka fe X 23 PBO I a Phase B output Encoder frequency 13 PZO NE differential output COM 14 ex 24 PZO tg Phase Z output The above are default L P functions You can also d configure functions of the 29 GND Dis in function codes i 1 Internal 24 V power 24kQ supply for open PULLHI 35 ee PULS aa goo oO c 44 PZ OUT eis ncoder phase Z open CW phase A PULS 43 1T K 29 GND collector output Position 2 4 KQ reference id eu SIGN 37 200 INN GND CCW phase B SIGN 39 5V 45 Internal 5 V power supply HPULS JHPULS 38 m 5V maximum allowable current 200 mA eee CW phase A HPULS 1 36 lt k GND reference HSIGN 42 v HSIGN i GND CCW phase BA HSIGN 40 Frequency range 0 4 MHz GND GND J29 Connect to y i the housing The shield of the PE is connected to the housing of the connector 58 Chapter 4 Running and Commissioning l indicates the twisted pair Note The signal cables and power cables must be laid separately with the distance at least above 30 cm When the signal cable is not long enough and an extension cable needs to be connected ensure that the shield is connected reliably and the shielding and grounding are reliable 5V is referenced to GND and 24V is referenced to COM The current must not exceed the maximum allowable current Otherwise the ser
33. S 29 GND GND The 5 V ground of the host controller must be connected to GND terminal of the servo drive to reduce noise interference The maximum allowable voltage and current of the optocoupler output circuit inside the servo drive are as below Maximum voltage 30 VDC Maximum current DC 50 mA 3 3 5 Wiring Holding Brakes The holding brake is used when the servo motor controls a vertical axis The servo 46 Chapter 3 Wiring of the Servo Drive and Servo Motor motor with brake prevents the movable part from shifting due to gravity when the power supply turns off Note The holding brake built in the servo motor is only used for holding the stopped status Do not use it to stop running of the servo motor Brake coils are of no polarity When the servo motor with brake runs the brake may generate click sound Function of the brake will be not affected When brake coils are powered the brake is ON magnetic flux leakage may occur at the shaft end Thus pay special attention when using magnetic sensors around the servo motor Models of holding brake connectors Table 3 17 Models of holding brake connectors for frame 40 60 80 servo motor 1 Wiring example of holding brake The connector of the holding brake is of no polarity You needs to prepare a 24 V external power supply The following figure shows the standard wiring of brake signal BK and power supply of the brake Figure 3 10 Wiring of t
34. displacement 41824 reference unit S ni running unit Maximum H11 gg nning speed 4_9000 RPM 1 RPM 200 RPM Immediate PUring P of 16th running displacement Acceleration Deceleration 1 ms During time of 16th 0 65535 ms s s 10 ms s Immediate running displacement Waiting time dons Durin after 16th 0 10000 ms s 10 ms s Immediate ng s running displacement Group H12 Multi Speed Function Parameters Function Parameter Default Effective Control Code Setting Range Min Unit Setting m property Genel 0 Stop after a single E running speed Multi speed election in H12 01 running 1 Cvcli 1 1 Immediate At stop 9 dde Cyclic running speed selection in H12 01 2 Switchover by DI End speed H12 01 No in speed 1 16 1 16 Immediate At stop S reference H12 o2 Running 0 sec 1 Immediate Atstop S time unit 1 min 128 Chapter 7 Function Code Table Function Parameter Default Effective Code NEHME Setting Range Min Unit Setting Time Property H12 B5 m speed 9000 9000 RPM 1 RPM reference Running rmeror TS 0 6553 5 s min 0 1 s min 5 0s min Immediate At stop speed reference 0 No acceleration deceleratio n time 1 Acceleration Decelerati Acceleration on time 1 Deceleratio 2 H12 22 n time of 1st Acceleration Decelerati 1 speed on time 2 reference 3 Acceleration Decelerati on time 3 4 Acceleration Decelerati on time 4 2nd spee
35. i 85 3 amp d Il x i SENI Td E e a IL Bd 1 e Lill E I EB amp 3 PIER TT pe gie pi i TES a c T SEL 5 c i ED S c Hl SN c zu Eu Dess AEAEE Dares E PeT M o of O o O o u 9 oJ 50mm Install the servo 7 Yj pP yy if drive vertically upward Air inlet Air inlet Air inlet Air inlet Install the servo drive vertical to the wall making its front panel faces outward 2 Cooling As shown in the above figure keep sufficient clearances around the servo drive to ensure cooling by cooling fans or natural convection Install cooling fans above the servo drive to avoid excessive temperature rise and maintain even temperature inside the control cabinet 3 Installation side by side When installing multiple servo drives side by side keep at least 10 mm between two servo drives if installation space is limited such clearance between servo drives can be ignored and at least 50 mm above and below each servo drive 4 Grounding The grounding terminal must be properly grounded Failure to comply may cause electric shock or malfunction due to interference 2 3 Overall Dimensions of the Servo Motor 2 3 1 Overall Dimensions of the ISMH1 Series Servo Motor 1 100 W Vn 3000 RPM Vmax 5000 RPM 15 Chapter 2 Installation and Mounting Dimensions of the Servo Drive and Servo Motor
36. 13th running displacement Acceleration Deceleration 1 ms During H11 75 time of 13th 0 65535 ms s s 10 ms s Immediate running displacement Waiting time ims Durin H11 76 after 13th 0 10000 ms s 10 ms s Immediate ng s running displacement 1 14th 1073741824 10737 refere 10000 During H11 77 referenc Immediate l displacement 41824 reference unit En running Maximum H11 zg running speed 4 goo RPM 1 RPM 200 RPM Immediate During of 14th running displacement Acceleration Deceleration 1 ms During H11 time of 14th 0 65535 ms s s 10 ms s Immediate running displacement Waiting time qe Durin H11 81 lafter 14th 0 10000 ms s 10 ms s Immediate ng l s running displacement 1 15th 1073741824 10737 refere 10000 During H11 82 l referenc Immediate displacement 41824 reference unit Sun running Maximum H11 g4 Tunning speed 4 goo RPM 1 RPM 200 RPM Immediate Ping of 15th running displacement Acceleration Deceleration 1 ms During H11 85 time of 15th 0 65535 ms s s 10 ms s Immediate running displacement 127 Chapter 7 Function Code Table Function Parameter Sane Rande Min Default Effective Propert Control Code Name g g Unit Setting Time Peay Mode Waiting time 4 ak Durin H11 after 15th 0 10000 ms s s 10 ms s Immediate bn displacement g 1 16th 1073741824 10737 refere 10000 During H11 87 referenc Immediate l
37. CHARGE status Indicator ON Capacitors inside the servo drive still contain electricity even the main circuit power is OFF Thus do not touch the power supply terminal when CHARGE indicator is ON to prevent electric shock L1C L2C control circuit power supply input terminals Input control circuit power supply as per the rated voltage on the nameplate R S T main circuit power supply input terminals Input main circuit power supply as per the rated voltage on the nameplate P O servo drive bus terminals P D C braking resistor connection terminals Used when multiple servo drives share the same DC bus P D is shorted by default Remove jumper between P D when connecting an external braking resistor and connect the resistor between P C U V W servo motor connection terminals Connect U V and W phases of the servo motor PE grounding terminal Connect to power supply and grounding terminal of the servo motor CN2 encoder connection terminal Connect to the motor encoder CN1 control terminal Used for reference input signals and other I O signals CN3 CN4 communication terminals Connected in parallel inside the servo drive Connect to RS232 or R8485 communication devices SAS s620P S5R5 RU 0000 Chapter 1 Servo System Selection Power supply Single phase 220
38. Gain switchover GAIN SEL DI7 31 4 7 KO 4t 29 PBO division pulse zi 23 PBO i gt Phase B output differential output HomeSwitch DI8 t Pa 194 PZO Home switch QU er KARTA 24 PZO Ji g Phase Z output Moderna Not defined DI9 47KO Fasc 29 LGND COM 14 w Y The above are default functions You can also 44 PZ OUT configure functions of the 4 Encoder phase Z Dis in function codes 29 GND open collector output GND ov 15 45 Internal 5 V power 29 supply maximum X K GND allowable current 200 mA GND Connect to the housing i indicates the twisted pair VW The shield of the PE is connected to the housing of the connector Note The signal cables and power cables must be laid separately with the distance at least above 30 cm When the signal cable is not long enough and an extension cable needs to be connected ensure that the shield is connected reliably and the shielding and grounding are reliable 5V is referenced to GND and 24V is referenced to COM The current must not exceed the maximum allowable current Otherwise the servo drive cannot work properly 4 3 2 Function Code Setting of the Torque Control Mode 1 Torque reference input setting a Torque reference source 72 Chapter 4 Running and Commissioning In the torque control mode there are two torque reference sources source A and source B set as follows Digital setting is performed on t
39. H04 50 H04 53 Note After the control power turns OFF the analog monitoring output terminal may output around 5 V voltage for 50 ms at most Take this into full consideration when using this terminal 3 6 Anti interference Measures for Electrical Wiring Take the following measures to suppress interference 1 Use as short cables such as reference input and encoder cables as possible 2 Use as thick cables as possible gt 2 0 mm for grounding a D class or higher class grounding is recommended grounding resistance is below 100 Q b Ground to one point only 3 Use an EMI filter to prevent radio frequency interference In home application or application with noise interference install the EMI filter on the input side of the power supply line 4 To prevent malfunction due to electromagnetic interference take the following measures a Install the upper devices and EMI filter as close to the servo drive as possible b Install a surge absorber on the relay solenoid and electromagnetic contactor coils C The distance between a strong current cable and a weak current cable shall be at least 30 cm Do not put these cables in the same duct or bundle them together d Do not share the power supply with an electric welder or electrical discharge machine When the servo drive is placed near a high frequency generator install an EMI filter on the input side of the power supply line 3 6 1 Anti interference Wiring Example
40. H05 17 exceed the encoder PPR revolution in H05 17 Ds 2n For the absolute encoder i encoder he frequency division PIAN pulses must not exceed 1 4 Set the frequency division Er 110 The frequency division The value of setting error ofipulses per revolution frequency divisiof the encoder do no on pulse meet the output specifications 93 1 The home switch 2 The search time is Er 601 home return timeout too short 3 The motor stops immediately after reaching the home at high speed running and there is no low speed reverse creeping process 1 The wiring is incorrect Er 831 Al zero drift too large 2 The servo drive is faulty Er 900 DI emergency braking is triggered Er 920 1 The cable of the braking external braking resistor resistor is in poor overload connection becomes loose or breaks The jumper across The DI braking switch Chapter 6 Troubleshooting TaLi Coe Probable Cause Confirming Method Solution Principle and Description of the encoder resolution There is only high speed searching and no low speed searching during the operation of returning to home Check whether the time for home return set in H05 35 is too short Check whether the motor stops immediately after reaching the home at high speed running Check the wiring according o the wiring diagram Disconnect the external cables and view the Al sampling value in g
41. IS620Poccoc Pep RUD ED RUN po Nu pem epia RUE pee RE pee Nim oe a TI roms VR 1 25 3 TVR2 3M TVR2 3M TVR 2 3M TVS 125 3 TVS 2 3W TVS 2 3W TVS 2 3W reg TVR 1 25 3 TVR2 3M TVR2 3M TVR 2 3M TVS 125 3 TVS 2 3W TVS 2 3W TVS 2 3W TVR 1 25 3 TVR2 3M TVR 2 3M T8R4 Hys 125 3 ITVS 2 3W TVS 5 5 3 Tys2 3W TVR 1 25 3 TVR2 3M TVR 2 3M 1012 ys 125 3 TVS 2 3W TVS 5 5 3 ys 2 3W ro VR 1254 TVR 5 5 4 TVR 5 5 4 TVR5 5 4 TVS 1 25 4W ITVS 5 5 4 TVS 5 5 4 ITVS 5 5 4 SIZE E loo TVR 1 25 4 TVR 5 5 4 TVR 5 5 4 TVR55 4 TVS 1 25 4W ITVS 5 5 4 TVS 5 5 4 ITVS 5 5 4 rog TVR 1 25 4 TVR 5 5 4 TVR 5 5 4 TVR 5 5 4 TVS 1 25 4W ITVS 5 5 4 TVS 5 5 4 ITVS 5 5 4 The recommended lugs are manufactured by Suzhou Yuanli Metal Enterprise Co Ltd 4 j lt lt e lt 3x2 ij amp i a A eq A A A J lt lt lt lt AJ AJ A AJ o o N Oo Oo oO EN IN I I I Table 3 5 Sizes and appearance of lugs D d2 B series B rasa fao jas feo pou Jas fer fes et 28 Chapter 3 Wiring of the Servo Drive and Servo Motor pepe Ba fos 4 0 4 3 12 1 25 4 3 1 3 Power Supply Wiring Example Figure 3 4 Main circuit wiring of single phase 220 V servo drive Single phase 220 VAC
42. Immediate At stop S reference RPM Running time H12 57 OF 13th 0 6553 5 s min 01s 903 jmmediate Atstop S speed min min reference 0 No acceleration deceleratio n time 1 Acceleration Decelerati Acceleration jon time 1 Deceleratio 2 H12 58 n time of Acceleration Decelerati 1 Immediate At stop S 13th speed jon time 2 reference 3 Acceleration Decelerati on time 3 4 Acceleration Decelerati on time 4 14th speed 9006 19600 RPM 1 RPM 900 RPM Immediate At stop reference Running time o 0 6553 5 s min 2 Immediate At stop speed min reference i i Immediate At stop 14th speed 1 reference Acceleration Decelerati 133 Chapter 7 Function Code Table Control Mode Function Parameter Default Effective on time 1 2 Acceleration Decelerati on time 2 3 Acceleration Decelerati on time 3 4 Acceleration Decelerati on time 4 19th speed 9000 9000 RPM 1 RPM 600 RPM Immediate At stop reference Running time Ha 55 9 190 0 6553 5 s min 01s 5 08 jnmediate At stop speed min min reference 1 0 No acceleration deceleratio n time 1 Acceleration Decelerati Acceleration jon time 1 Deceleratio 2 H12 64 n time of Acceleration Decelerati 15th speed jon time 2 reference 3 Acceleration Decelerati on time 3 4 Acceleration Decelerati on time 4 m2 o5 76 speed 9000 9000 RPM 1 RPM 300 RPM Immediate At stop reference
43. Maximum motor rotational speed 69 Chapter 4 Running and Commissioning Note By default the limit does not exceed the maximum motor rotational speed The actual motor rotational speed amplitude meets the following requirements Amplitude of forward speed lt min maximum motor rotational speed HO6 07 HO6 08 Amplitude of reverse speed lt min maximum motor rotational speed HO6 07 HO6 09 The related function codes are set in the following table Function Parameter Setna Rande Min Default Effective Proper Control Code Name g g Unit Setting Time perty Mode Maximum Durin HO6 O7 rotational 0 9000 RPM 1 RPM 9000 RPM Immediate ng et running speed limit HO6 Forward o oogo RPM 41 RPM 9000 RPM Immediate During S speed limit running H06 Reverse lo 9000RPM 1 RPM 9000 RPM Immediate PUrng S speed limit running 4 Zero clamp function In the speed control mode if the ZCLAMP function is valid and the speed reference amplitude is smaller than or equal to the value of HO6 15 the servo motor enters the zero clamp state If oscillation occurs at this moment you can adjust the position loop gain When the speed reference amplitude is larger than the value of H06 15 the servo motor exits the zero clamp state T This function is FunIN 12 CLAMP Zero clamp Walid Zero clamp enabled snorted only in the function Invalid Zero clamp disabled speed control mode The related function code is set i
44. Table 3 9 Connectors of encoder cables at servo motor end eic p Twisted ps per ee LENS Plastic housing AMP 172161 1 Terminal AMP 770835 1 MIL DTL 5015 series 3108E20 29S aviation plug 20 29 aviation plug 34 Chapter 3 Wiring of the Servo Drive and Servo Motor Frame Size of Connector Appearance Terminal Pin Layout Adaptable Motor Table 3 10 Pin connection relation of encoder cables l Motor End DB9 at Servo Drive End Function Description a serar commneatonsoa 6 Fo T meme eee 8 8 ENTIRE NN ma meme T 3 Observe the following precautions when wiring the encoder 1 Servo drive and shielded layer at servo motor end must be properly grounded Otherwise the servo drive will report false error 2 It is recommended that twisted pair cables of size from AWG26 to AWG16 be used The cables shall not exceed 20 m 3 Do not connect wires to the reserved pins 4 To determine the length of the encoder cable consider voltage drop caused by the cable resistance and signal attenuation caused by the capacitors Since the minimum working voltage of the motor encoder is 4 75 V it is recommended to use twisted pair cable of size AWG26 or above as per UL2464 standard and with a length within 10 m The following table lists the recommended cable sizes Table 3 11 Recommended cable sizes
45. attention to the following aspects during automatic gain adjustment When the rigid table is valid HO8 00 H08 01 H08 02 and H07 05 are set automatically based on the rigidity level in H09 01 and the manual setting of these four parameters are invalid When the rigidity level is increased vibration may occur Use a trap to suppress the vibration see section 4 5 4 Increase the rigidity level gradually to prevent vibration due to abrupt increase of the rigidity level Check whether there is margin for the gain to prevent the situation in which the servo system approaches the unstable state Function Parameter Default Effective Control Gain 0 Manual Durin H09 adjustment A l 1 Immediate 1g mod Automatic running Hog 1 Rigiaity level 1 12 Immediate PUNI ps selection running 81 Chapter 4 Running and Commissioning Sea IS giay Type of Load Mechanism Level Level 4 to level 8 Large scale machinery Level 8 to level 15 Applications with low rigidity such as belt Level 15 to level 20 Applications with high rigidity such as ball screw and direct connected motor 4 5 3 Manual Gain Adjustment Set H09 00 to 0 and then manually adjust the related parameters When the position loop gain and speed loop gain are increased the system response becomes faster but too large gains causes instability In addition when the load inertia ratio is basically correct the speed loop gain and position loop gain mus
46. brake Figure 1 4 Designation rules of the servo drive IS620 P S 5R5 I e Pue 7 Mounting Method O Substrate installation standard Rated Output 46a 28a 5 54 76A 84A Current Voltage Class Chapter 1 Servo System Selection 1 2 Servo Motor and Servo Drive Configuration B 220V Servo Drive Model Servo Motor Model IS620Pnunul Drive Drive No pese Spec EIS ene ui seterste e 5 Size HO1 02 Single phase Three phase 220 V AC 220 VAC 5000 10B30CB S1R6 ro 00002 H1 Low inertia 20B30CB 60 00002 small 40B30CB 1 60 1 S2R8 ZEN 00003 capacity 1000 H2 10C30CB 100 00006 Low inertia 5000 1500 Medium 45C30CB 100 00007 capacity H3 85B15CB 130 f 00006 Medium 1500 3000 inertia 1300 medium 13C15CB 130 00007 capacity 00003 H4 S2 3000 6000 inertia A 750 small 75B30CB S5R5 00005 capacity B 380V Servo Drive Motor Model Frame IS620Pnanul Drive Drive No E Size H01 02 Z Three phase 380 VAC 6000 10C30CD 100 1500 15C30CD 100 3000 5000 Servo Motor Model ISMHa annanan Speed Speed Power Low inertia 2500 dium 25C30CD 100 T8R4 10003 3000 capacity 30C30CD 130 T012 10004 4000 40C30CD 130 TO17 10005 5000 50C30CD 130 T017 10005 85B15CD 130 T3R5 10001 1300 13C15CD 130 T5R4 10002 1800 H3 18C15CD 130 T8R4 10003 Medium 1500 3000 2900 inertia
47. cables are grounded Replace the motor if the insulation is poor 87 Er 207 shaft D Q current overflow Er 208 FPGA system Sampling operation timeout Er 210 output to ground short circuit Er 220 UVW phase sequence error Er 234 runaway fault Chapter 6 Troubleshooting Fault Display Probable Cause Confirming Method Solution and Description cables are short circuited and whether glitch occurs are short circuited cables correctly Check whether the resistance Replace the motor if the 6 The motor is damaged between the motor cables is resistance is balanced unbalanced Check whether the motor oscillates or produces abnormal noise or view the running graph 7 The gain setting is improper and the motor oscillates Adjust the gain 8 The encoder cable is incorrectly wired Check whether the encoder Weld again or fasten corrosive or inserted cable is connected securely the encoder cable loosely Check whether the fault is reported after the motor cables are disconnected and the servo drive is powered on again 9 The servo drive is faulty Replace the servo drive If the servo drive is powered off and powered on again several The servo drive is faulty times but the fault persists it Replace the servo drive indicates that the servo drive is aulty If the servo drive is powered off and powered on again several The servo drive is fa
48. l dad braking energy increase the insufficient acceleration deceler ation time 6 The speed is too high and the Reduce the load deceleration process View the motor graphics and improve the is not and check whether the 2 ape fay capacities of the completed within the motor is in power servo motor servo required time The generation state for a long l n drive and braking braking resistor is in time resistor continuous braking state Improve the T The load inertia Ghacleibeibad neni capacities of the exceeds the limit servo drive motor and braking resistor Select the braking S INE Sn of View the resistance of the resistor with proper the external braking l l l l braking resistor resistance and resistor is too large l capacity 9 The resistance of Check whether the setting Set H02 27 he braking resistor setiof H02 27 is consistent with Barcel in H02 27 is incorrect the actual value y Do not connect the main circuit power supply but 10 The servo unitis connect the control circuit Replace the servo faulty power supply and drive check whether the warning is still reported When the external braking resistor is used you must set the resistance in H02 27 and capacity in H02 26 correctly The resistance of the external braking resistor is smaller than The resistance of the external braking resistor is smaller han the minimum alue required by the servo drive Er 922 res
49. lines to the output terminals U V and W Failure to comply will cause damage to the servo drive 2 When cables are bundled in a duct take current reduction into consideration since the cooling condition becomes poor 3 Common cables become quickly aged in high temperature environment and easily sclerotic and broken in low temperature environment Thus use high temperature cables in high temperature environment and low temperature cables in low temperature environment 4 The bending radius of a cable shall exceed 10 times that of its outer diameter to prevent the internal wire core from breaking due to long time bending 5 Select and use cables with withstand voltage of 600 VAC and above and temperature of 75 C and above Under the ambient temperature of 30 C and with normal cooling conditions the allowable current density of the cables shall not exceed 8 A mm when the 30 Chapter 3 Wiring of the Servo Drive and Servo Motor total current is below 50 A or 5 A mm when the total current is above This value shall be adjusted when the ambient temperature is high or when the cables are bundled The allowable current density A mm can be calculated as below Allowable current density 8 x Current reduction coefficient of conductor x Current augmenting coefficient Currentaugmenting coefficient Max allowable temperature of cable Ambient temperature 3 0 T ET Duct Cables Table 3 6 Current reducti
50. of parameters exceeds Set the servo drive the limits Er 101 is 4 The software is Check whether the software is model and motor model reported upgraded upgraded again and restore the default setting If the servo drive is powered off and powered on gain several 5 The servo drive is times and the default setting is faulty restored but the fault persists it indicates that the servo drive is faulty Replace the servo drive Check whether the software ersions HO1 00 H01 01 Update the software match 1 The FPGA and MCU versions do not match Er 102 programmable logic If the servo drive is powered off configuration fault and powered on again several times but the fault persists it Replace the servo drive indicates that the servo drive is faulty 2 The logic component is If the servo drive is powered off and powered on again several imes but the fault persists it Replace the servo drive indicates that the servo drive is aulty If the servo drive is powered off 2 The communication and powered on again several between the FPGA and times but the fault persists it Replace the servo drive he MCU is abnormal indicates that the servo drive is aulty Restore the default Er 105 1 An EEPROM fault Check the causes according to setting via HO2 31 and internal program Occurs he method of Er 101 power on the servo abnormal drive again 2 The servo drive is If the servo drive is powered off Re
51. of H05 17 and then outputs the processed pulses via the frequency division output terminal The value of H05 17 corresponds to the pulses from PAO PBO at each revolution before 4 frequency multiplication Function UE UE ERES Setting Min Default Effective Provert Control Code Range Unit Setting Time pery Mode Encoder 35 32767 2500 Power on Table 4 3 Output phase pattern Forward Rotation Phase A Advancing Reverse Rotation Phase B Advancing Phase B by 90 Phase A by 90 PAO PAO PBO PBO The phase pattern of output pulse feedback can be modified in H02 23 Function Parameter Settina Rande Min Default Effective Braned Control Code Name g g Unit Setting Perty Mode 0 CCW direction as the forward direction phase advancing phase B 1 CW direction as the 63 Chapter 4 Running and Commissioning 4 2 Use of the Speed Control Mode Figure 4 5 Diagram of the speed control mode H06 00 Main speed reference A source command B source Servo drive H06 01 Auxiliary speed H06 05 Acceleration ramp time of speed reference speed limit H06 07 Maximum rotational Speed H06 02 Speed H06 06 Deceleration ramp H06 08 Forward speed limit reference reference selection time of speed reference H06 09 Reverse speed lim
52. or inflammable gases or combustible goods such as hydrogen sulfide chlorine anmonia sulphur gas chloridize gas acid soda and salt 2 Select and use the servo motor with oil seal when the motor is to be used in a place with grinding fluid oil spray iron powder or cuttings 3 Install the servo motor away from heat sources such as heating stove 4 Do not use the servo motor in an enclosed environment Working in the enclosed environment will lead to high temperature of the servo motor which will shorten its service life 2 1 2 Installation Environment Table 2 1 Installation environment Working temperature 0 40 C non freezing Working humidity 20 90 RH no condensation Storage temperature 20 to 60 C Peak temperature ensurance 80 C for 72 hours Storage humidity 20 90 RH no condensation ISMH1 H4 IP65 except for the shaft through portion IP level and motor connectors Other series IP67 except for the shaft through portion and motor connectors Altitude lt 1000 m de rated if the altitude is above 1000 m 2 1 3 Installation Precautions Table 2 2 Installation precautions Rust proof Wipe up the antirust agent at the motor shaft end before installing the servo motor and treatment then take rust proof treatment Do not strike the shaft ee curing installation Failure to comply will lead to damage to Encoder f 3 the internal encoder 12 Chapter 2 Installation and Mounting Dimensio
53. parameters Group H30 Servo state variables read by p communication not displayed on keypad Variables set via communication not ead displayed on keypad Group H00 Servo Motor Parameters Function z Default Effective 0 65534 Power on Hoo 00 hos SN 65535 motor SN null SOM again ALSOP Customized Rated motor 0 220V Power on Hoo 10 Fate motor 01 655 35 kW 0 01 kW POWETONII Arsip power again Hoo 1 ste motor _9 01 655 35 A 0 01A IS Power on stop current again Hoo 12 Fst motor 40 655 35 Nm 0 01 Nm ew FOWEEODA Neston orque again orque again 97 Chapter 7 Function Code Table Function Default Effective Code Parameter Name Setting Range Setting Property At stop Hoo 14 Rated motor oor ooo RPM 1 RPM EON rotational speed Hoo 15 Maximum motor oo 5509 RPM 1 RPM rotational speed HOO 16 Rotating inertia 0 01 655 35 kgcm 0 01 g a een kgcm again Number of pole Power on again Power on At stop again Power on At stop At stop HOO 18 bit resistance 0 001 65 535 Q 0 001 Q m HOO Da inductance o4 655 35 mH 0 01 mH Line back EMF 0 01 Power on At stop again Q Power on At stop again Power on i At stop again Torque 0 01 Power on Hoo 23 Electrical 0 01 655 35 ms 001ms POweron stop constant Te again Hoo 24 Mechanical o4 ob5 35 ms 0 01 ms Poweron Aesop constant Tm again Position offset of 1 pulses rev again encoder V 0x000 in
54. pery Mode Speed correspondi ng to 10 V Torque correspondi ng to 10 V 1 8 times of rated torque 0 9000 RPM 1 RPM elle Immediate At stop RPM Group H04 Output terminal Parameters Function Parameter Setting Ranae Min Default Code Name g g Unit Setting DO1 function selection DO1 logic selection DO2 function selection lo Ho4 03 202 logic selection DO3 H04 04 eje function selection DO3 logic selection DO4 function selection DO4 logic selection Effective Time 0 19 0 No function 1 19 FunOUT 1 19 refer to the DI DO basic function table Upon stop Output polarity reverse setting 0 1 0 Output low level when valid optocoupler ON Upon stop 1 Output high level when valid optocoupler OFF 0 19 0 No function 1 19 FunOUT 1 19 refer to the DI DO basic function table n Output polarity reverse setting 0 1 0 Output low level when valid optocoupler ON 1 Output high level when valid optocoupler OFF e Ea Upon stop Upon stop 0 19 0 No function 1 19 FunOUT 1 19 refer to the DI DO basic function table Upon stop Output polarity reverse setting 0 1 0 Output low level when valid optocoupler ON 1 Output high level when valid optocoupler OFF Upon stop 0 19 0 No function 1 19 FunOUT 1 19 refer to the DI DO basic function table Upon stop Output polarity reverse setting 0 1 0
55. refere 10000 referenc Immediate 41824 reference unit nce i i e unit unit 9000 RPM 1 RPM 200 RPM Immediate 1 0 65535 ms s 10 ms s 0 10000 ms s 10 ms s 1 1 1073741824 410737 refere 10000 i referenc Immediate 41824 reference unit nce e unit unit 9000 RPM 1 RPM 200 RPM Immediate 1 1 ms 0 65535 ms s 10 ms s 0 10000 ms s 10 ms s 1073741824 10737 eee Immediate 41824 reference unit refere referenc nce e unit 126 During running During running During running During running During running During running During running During running During running During running During running During running During running During running During running Chapter 7 Function Code Table Function Parameter Schna Rande Min Default Effective Code Name g g Unit Setting Time H11 running speed 4 9000 RPM 1 RPM 200 RPM Immediate During of 12th running displacement Acceleration Deceleration 1 ms l During H11 70 time of 12th 0 65535 ms s s 10 ms s Immediate running displacement Waiting time dons Durin H11 71 after 12th 0 10000 ms s 10 ms s Immediate ng i s running displacement 1 13th 1073741824 10737 refere 10000 During H11 72 referenc Immediate displacement 41824 reference unit EM running Maximum H11 74 unning speed 4 9065 RPM 1 RPM 200 RPM Immediate Puring of
56. servo drive The mode of the self adaptive trap is determined in HO9 02 When H09 02 1 only trap 3 is valid when the servo is enabled and detects resonance the parameters of trap 3 are 82 Chapter 4 Running and Commissioning set automatically to suppress the resonance When H09 02 2 both traps 3 and 4 are valid and their parameters can be set automatically The self adaptive trap is preferred during the use If the self adaptive trap cannot produce satisfactory performance use the manual trap When using the manual trap set the frequency to the actual resonance frequency which is obtained by the mechanical feature analysis tool of the background software Use the default value 2 of the width level Adjust the depth level based on the actual conditions The smaller the value is the better the resonance suppression result is The larger the value is the worse the resonance suppression result is If the depth level is set to 99 the resonance suppression almost does not work Reducing the depth level enhances the suppression result but causes phase lag and system instability Do not reduce the depth level if not necessary More precautions about the trap are as follows The trap can be used in only the speed control and position control modes When H09 02 is always 1 or 2 the updated parameters of the self adaptive trap are automatically written to EEPROM every 30 minutes and the update within 30 minutes is not written to EEPRO
57. state between terminals P and the 2 acceleration deceleration time if possible Adjust the bus voltage sampling again under the instruction of the technical support personnel 6 The bus voltage Check whether the sampling sampling value has a value in HOB 26 is large deviation from the consistent with the actually actually measured value measured value Do not connect the main circuit power supply but connect the control circuit power supply Replace the servo drive and check whether the fault persists T The servo drive is Er 410 Measure the power voltage Increase the power undervoltage voltage is lower than 220 jand check the bus voltage voltage and replace the V 380 V or the power during running power supply voltage is lower than the input voltage limit Ensure that the power Measure the power voltage voltage remains within the specifications 3 The input reactor is too Check whether the input power Use a proper reactor arge voltage meets the 2 The power voltage drops during running 89 Chapter 6 Troubleshooting Fault Display TM 4 Instantaneous power 5 Phase loss exists supply is used for the three phase servo drive Adjust the power voltage Aire occurs Measure the power voltage to within the specifications Check the required and actual power supply specifications of Use the correct power Single phase power the servo drive and supply and connec
58. such mounting holes depends on the capacity of the servo drive 14 Chapter 2 Installation and Mounting Dimensions of the Servo Drive and Servo Motor Figure 2 1 Installation diagram of the servo drive Air outlet Air outlet f Air outlet Air outlet YY Z Z 50mm
59. to the rated 0 300 0 Immediate motor torque 0 300 09 5 100 corresponds to the rated 0 300 0 Immediate motor torque 4 4 Check Before Running Disconnect the servo motor from the load the coupling connected to the motor shaft and other related components To prevent potential risks check that the servo motor can work properly without load and then connect the load Before running check that the following requirements are met 1 There is no obvious damage on the appearance of the servo drive 2 The wiring terminals have been insulated 77 Chapter 4 Running and Commissioning 3 There are no conductive objects such as screw or metal sheet or flammable objects inside the servo drive and there are no conductive objects around the wiring terminals 4 The servo drive or external braking resistor is not placed on flammable subjects 5 The wiring is complete and correct Power cables auxiliary power cables and grounding cable of the servo drive All control signal cables Limit switches and protection signals 6 The servo drive enable switch is in OFF state 7 The power circuit is cut off and the emergency stop circuit is ON 8 The external voltage reference of the servo drive is correct When the host computer does not send the running reference power on the servo drive Then check that 1 The servo motor can rotate properly without vibration or loud noise 2 All parameter setting is correct Unexpec
60. torque reference H02 09 H02 11 Motor speed Ne Description of brake output time sequence When the servo drive is ON wait for the operation delay time of the brake as set in H02 09 before sending commands to the servo drive Otherwise the servo drive does not respond When the servo drive is OFF the brake turns OFF servo motor stops running after the delay time set in H02 12 or when the motor speed is lower than the value set in H02 11 48 Chapter 3 Wiring of the Servo Drive and Servo Motor 4 Servo motor stopping when servo drive is OFF ON OFF OFF Servo drive ON DI input ON OFF OFF Servo motor ON gt lt H02 10 Brake OFF OFF DO output Position speed a Aorque reference H02 09 Motor speed Description of brake output time sequence When the servo drive is ON wait for the operation delay time of the brake as set in H02 09 before sending commands to the servo drive Otherwise the servo drive does not respond When the servo drive is OFF the brake signal is immediately sent out The servo motor is still ON within the delay time as set in HO2 10 to prevent heavy objects from falling due to gravity 3 4 Communication Signal Wiring Figure 3 11 Communication wiring
61. 0 1 ms Immediate At stop time HO5 05 Step size S dom dd CN referenc Immediate At stop reference unit l i Average filter H05 time of position 0 128 0 ms 0 1 ms Immediate At stop references Electronic gear Durin HO5 07 ratio 1 1 1073741824 1 1048576 Immediate ng running numerator H05 Electronic gear 4_1073741824 1 10000 Immediate Puring ratio 1 running 106 Chapter 7 Function Code Table Function Default denominator Effective Bebe Control Time perty Mode Electronic gear HO5 11 ratio 2 1 1073741824 numerator During running 1048576 Immediate Electronic gear ratio 2 1 1073741824 denominator 0 Direction pulse positive logic 1 Direction pulse negative Pulse reference logic Power on LE form 2 Phase A again Boso phase B orthogonal pulse 4 frequency multiplication 3 CW CCW 0 Clear position deviation pulses upon servo drive disabled or fault 1 Clear position HO5 16 Clear action deviation pulses 1 Immediate At stop upon fault 2 Clear position deviation pulses upon ClrPosErr signal from DI HO5 17 frequency divisio 35 32767 P Rev 1 P Rev a Poweron Atsiop n pulses ev again 0 No speed Speed HO5 19 feedforward Immediate At stop control selection feedforward Output condition of HO5 20 positioning completed signal COIN During 10000 running Immediate 1 Internal position completed 1 Positi
62. 073741824 p 1p 3149 28 immediate Purng eviation p running fault LESER HOA 12 Runaway 0 Disabled 1 medale During protection 1 Enabled running time again time again Sigma Delta HOA 22 modulator filter HOA 23 I4 Signal o 41 ns 25ns 15ns POWEN at stop filter time again Filter time of HOA 24 eWwspeed 555 ns 15ns Power On stop pulse input again pin Filter time of HOA 25 SPeed 0 5000 ms 50 ms Immediate At stop feedback display Motor HOA 26 overload o nol Se Immediate At stop mares 1 Shield shielding DO filter time HOA 27 of speed 0 5000 ms 10 ms Immediate At stop feedback Quadrature Poweron HOA 28 encoder filter 0 255 ns 15 ns At stop i again time again Filter time of HOA 30 high speed o 555 ns ane PONCE OM diues pulse input again pin Group HOB Display Parameters Function Default Effective Control HOB ee neon 1 RPM At display PST rotational speed Internal torque reference 5 HOB 02 relative to rated 0 1 At display PST motor torque 118 Chapter 7 Function Code Table Function Default Effective Control HOB o5 Monitored DO states At display Absolute position counter 32 bit decimal display Mechanical angle d encedar starting from the unit pulses of home HOB 10 Rotation angle electrical angle Speed corresponding HOB to input position reference Input reference pulse 1 counte
63. 15 59 Chapter 4 Running and Commissioning Function Parameter cenna Rande Min Default Effective Propert Control Code Name g g Unit Setting Time pery Mode 0 Direction pulse positive logic 1 Direction Pulse Pee negative logic Power on pele eoe 2 Phase A Phase B again orm orthogonal pulse 4 frequency multiplication 3 CW CCW The following table describes the principles of the three pulse reference forms Table 4 1 Principles of pulse reference forms Pulse Positive Logic Positive Logic NegativeLogie Logic Reference Form Forward Reverse Forward Reverse Rotation Rotation Rotation Rotation S is PULS PULS i 1 1 PUL Direction send Pulse SIGN __ SIGN SIGN __ PULS PULS SIGN SIGN UO PULS UO SIGN CW CCW PULS PULS SIGN SIGN e Pulse input forbidden Set the function FunIN 13 for a DI to forbid pulse reference input Function Function Description Setting Remarks No Name Valid Pulse reference input Set the logic of the Pulse input forbidden corresponding DI to O FuniN 13 INHIBIT forbidden Invalid Pulse or 1 reference input allo
64. 20000 on 50 Immediate Atstop X PS mode Based 0 20000 on 30 Immediate Atstop X PS mode 0 120 00 Chapter 7 Function Code Table Function Parameter Setna Rande Min Default Effective Brod Control Code Name g g Unit Setting Time pery Mode Speed 08 feedforward 9_64 00 ms 0 01 ms filter time constant Speed 08 feedforward 0 100 0 0 1 Immediate gain Torque Hos bo feedforward 4 e 00 ms 0 01 ms 0 50 ms Immediate PU p filter time running constant S Cutoff frequency of speed 100 4000 Hz 1 Hz 4000 Hz Immediate PS feedback low pass filter Hog 24 PDPFF control 100 0 0 1 400 099 Immediate PU 9 ps coefficient running Group H09 Auto adjusting Parameters Function Min Default Effective Control 0 i Disabled manual adjusting 1 Enabled gain Self tuning mode parameters 1 Immediate automatically adjusted based on rigidity table Rigidity level _34 1 12 Immediate PUNI lps selection running H 18 H 19 Torque HO8 21 feedforward 0 200 09 6 Immediate gain 0 Disabled t 08 4 0 Not updated 1 Only one trap trap 3 valid 2 Both traps taps 3 and 4 valid 3 Only detec Working mode of resonance 1 l mmediate self adaptive trap frequency displayed i H09 24 update parameters 4 Restore parameters to default setting 0 Disabled Online inertia 1 Enabled l Immediate auto tuning mode change slowly 2 Enabled always 115 Chapter 7 Fun
65. 6 Taking current position as the home 108 Chapter 7 Function Code Table Function Default Effective Control position and home as motor Z signals 3 Reverse home return deceleration position and home as motor Z signals 4 Forward home return deceleration position as home switch and home as motor Z signal 5 Reverse home return deceleration position as home switch and home as motor Z signal 6 Forward home position and home as forward limit switches 7 Reverse home position and home as reverse limit switches 8 Forward home return deceleration position as forward limit switch and home as motor Z signal 9 Reverse home return deceleration position as reverse limit switch and home as motor Z signal Speed of home switch signal at H05 high speed 0 3000 RPM 1 RPM 100 RPM Immediate At stop searching Speed of home switch signal at H05 low speed 0 1000 RPM 1 RPM 10 RPM Immediate At stop searching Acceleration De celeration time H05 ABO 0 1000 ms 1 ms 1000 ms Immediate At stop searching Time of home 109 Chapter 7 Function Code Table Function Default Effective Control Mechanical home offset Servo pulse output source Electronic gear ratio switchover by DI Home offset and action after reaching limit switch Output polarity of Z pulse 1073741824 10 13741824 Tm Immediate At stop reference unit i 0 Encoder frequency division output
66. 7 47 function selection function table 1 19 FunOUT 1 19 function table H17 46 VDO7 logic 0 Output 1 when valid selection 1 Output O when valid 1 19 FunOUT 1 19 refer to the DI DO basic H17 48 VDO8 logic 0 Output 1 when valid selection 1 Output 0 when valid VDO9 0 No function H17 49 funcion efer to the DI DO basic selection l function table H17 50 VDOS logic 0 Output 1 when valid selection 1 Output O when valid VDO10 H17 51 function selection 0 No function 1 19 FunOUT 1 19 refer to the DI DO basic function table 0 Output 1 when valid 1 Output O when valid VDO10 H17 52 logic selection VDO1 1 H17 53 function selection VDO1 1 H17 54 logic selection VDO12 H17 55 function selection VDO12 H17 56 logic selection VDO13 H17 57 function selection VDO13 H17 58 logic selection VDO14 H17 59 function selection 0 No function 1 19 FunOUT 1 19 refer to the DI DO basic function table 0 Output 1 when valid 1 Output O when valid 0 No function 1 19 FunOUT 1 19 refer to the DI DO basic function table 0 Output 1 when valid 1 Output O when valid 0 No function 1 19 FunOUT 1 19 refer to the DI DO basic function table 0 Output 1 when valid 1 Output 0 when valid 0 No function 1 19 FunOUT 1 19 refer to the DI DO basic function table 138 Default Setting Effective Time Upon stop Upon stop Du
67. AN 8 0 09 x Flat key WYelaxoiss MH m d7 COH Shaft end Ax R30 EQS Servo Motor LL LW WK KA1 Model mm mm mm mm mm mm mm ay mm ISMH3 29C 249 0 0 M12 x 19 65 35 30 10 10 138 74 20 Chapter 2 Installation and Mounting Dimensions of the Servo Drive and Servo Motor ISMH3 55C 332 408 5 ISMH3 75C 387 15CD Y 464 125 12 55 ap 15CD Z 273 273 79 35 30 102 ccc 10200 is 138 ISMH3 44C 230 15CD Z 307 UR 15CD Z 350 90 43 42 37 12954 122 907 i 138 ISMH3 75C 330 15CD Z 407 2 3 4 Overall Dimensions of the ISMH4 Series Servo Motor Vn 3000 RPM Vmax 6000 RPM 1 400 W lt eo pnoy _ _LG S e RET St J En 006A 6 16 5 TN e f LO L v 7 0 02 A A J i x 3 LL k 30 lt _ 2U o o eo i o eo BE LO Y l a 5 49 T 5 ots 11 010 Jan Shaft end Flat key Plastic housing EL 4Y CWB AMP 172165 1 AMP 172169 1 422 6006 0 CWB AMP 770834 1 AMP 770834 1 Servo Moto
68. AO 22 7 37 DO1 SIGH 23 PBO 8 38 DI4 HPULS 24 PZO 9 39 PME 25 SIGH 10 40 PBO DI2 HSIGN 11 57 41 DO4 12 2 COM PULS 28 DO5 13 29 43 DI9 HSIGN4 14 44 Dos 30 PZO PULS 15 GND COM PZ OUT DI8 5V Y CN1 terminal Plastic housing the connector plug DB25P TELE DATA COM black housing Core HDB44P TELE DATA COM 36 Chapter 3 Wiring of the Servo Drive and Servo Motor Figure 3 9 Wiring examples in speed position torque control mode Wiring in speed control mode Analog speed in AI1 20 Low pass filter l AID E converter Servo unit Max forward LL 9 Al2 18 Low pass filter eo GND 19 imi ivf L AO1 a
69. Code Name g g Unit Setting Time pery Mode External 0 300 0 100 HO7 11 forward corresponds to the 0 1 300 096 Immediate torque limit rated motor torque External 0 300 096 10096 HO7 112 reverse corresponds to the 0 1 300 0969 Immediate torque limit rated motor torque Emenee 0 300 096 10096 HO7 115 gency corresponds to thej 0 19e 100 0 Immediate Atstop PST stop torque rated motor torque 0 Internal in torque control HO7 47 Speed limit 1 _ External V LMT TE T source setting running 2 H07 19 H07 20 selected by DI Hor Wes Were Io 1 h Immediate PUIng ir selection 2 AI2 running Forward speed Hoz ho imi Speed 5 9000 RPM 1RPMPOU0 immediate limit 1 in RPM running torque control Reverse speed Ho7 po limi Speed 9000 RPM 1RPMPOU0 immediate PUNS limit 2 in RPM running torque control Base value O 300 0 HO7 21 ifor torque 10096 corresponds to0 196 Immediate MIND reached the rated motor torque g ae Jo 300 0 During HO7 22 100 corresponds toj0 1 20 096 Immediate reached running the rated motor torque valid oa Jo 300 0 During HO7 23 100 corresponds toj0 19e 110 0 Immediate reached running l i the rated motor torque invalid Detection HO7 amg Or 0 5 30 0 ms 0 1 ms1 0ms Immediate speed limit running exceeded Group H08 Gain Parameters Parameter Setna Range Min Default Effective Propert Control Name g g Unit Sett
70. DI8 function selection DI8 logic selection DI9 function selection DI9 logic HO3 19 selection States of 0 36 0 No function 1 36 FunIN 1 36 1 31 refer to the DI DO basic function table Upon stop Input polarity 0 4 0 Low level valid 1 High level valid 2 Rising edge valid 3 Falling edge valid 4 Both rising edge and Upon stop falling edge valid 0 36 0 No function 1 36 FunIN 1 36 refer to the DI DO basic function table Upon stop Input polarity 0 4 0 Low level valid 1 High level valid functions not OCOxFFFF allocated H03 among States of functions not OCOxFFFF allocated H03 among FunIN 49 64 HEX Al1 offset c3 CS 03 Al2 filter time 03 I x 03 5000 5000 mV a0 Al filter 0 655 35 ms time 2 Rising edge valid 1 0 Upon stop 3 Falling edge valid 4 Both rising edge and falling edge valid BitO FunIN 33 Poweron Bit1 FunIN 34 1 l again BitO FunIN 49 Bowern Bit1 FunIN 50 1 again Bit15 FunlN 64 0 655 35 ms 103 CERE running CODE zone mV running mV running running EIE TN ms running mV running mV running During running During running During running During running During running During running During running Chapter 7 Function Code Table Function Parameter Senna Rande Min Default Effective Propert Control Code Name g g Unit Setting Time
71. ER During rate l l running 0 No check 2 stop bits 1 Even parity check 1 Modbus data stop bit 1 imediate During format 2 Odd parity check 1 running stop bit 3 No check 1 stop bit reference At display unit GAN i Power on Durin communication 1 5 ng PST again running rate 7 1 Mbit s Communication 0 Disabled Bit0 VDI1 default value Default virtual Power on During HOC 10 level of VDI at si c VDI16 default again running power on value Communication 0 Disabled 120 Chapter 7 Function Code Table Function Min Default Effective T Parameter Name Setting Range Unit Setting Time Property X BitO VDO1 default Control Mode Default virtual level of VDO allocated with function O Immediate At stop Bit15 VDO16 default value Update function code values written 0 Disabled via 1 Enabled communication to EEPROM New protocol 0x0001 Illegal function command code 0x0002 Illegal data address station device fault Old protocol 0x0002 command code not being 0x03 0x06 0x10 Modbus error 0x0004 CRC checksum received by code servo computer different from checksum in data frame 0x0008 Accessed function code not exist 0x0010 Written function code value exceed limits 0x0080 Written function code modifiable only in stop state but servo being in running state Immediate During running At display Power on At s
72. FunIN 16 States of functions not O OxFFFF allocated BitO FunIN 17 Poweron Durin H03 among Bit1 FunIN 18 1 um c FunlN 9 g 17 32 Bit15 FunIN 32 HEX 0 36 14 Upon stop During running 4 Both rising edge and 0 No function 1 1 Upon stop nnd running falling edge valid 0 36 0 No function H03 D12 function 1_36 FuniN 1 36 1 15 Uponstop Puring refer to the DI DO g basic function table H03 DI1 function 4 46 FunIN 1 36 EE refer to the DI DO basic function table Input polarity 0 4 0 Low level valid 1 High level valid 2 Rising edge valid 3 Falling edge valid DI1 logic H03 selection 1 High level valid 2 Rising edge valid 3 Falling edge valid 4 Both rising edge and falling edge valid DI2 logic H03 selection Input polarity 0 4 0 Low level valid Durin peor ete Reno Durin PP Orr Saale 0 36 0 No function H03 a 1 36 FunIN 1 36 refer to the DI DO basic function table 101 Chapter 7 Function Code Table Function Parameter Senna Rande Min Default Code Name g g Unit Setting Input polarity 0 4 0 Low level valid 1 High level valid o7 2 logie 2 Rising edge valid 3 Falling edge valid Effective Time P pom Stop running 4 Both rising edge and a oO falling edge valid 0 36 0 No function H03 mind 1 36 FunIN 1 36 refer to the DI DO basic function table During HDOIUSIOD running Input polarit
73. HomeAttain DO5 DC Warning reset signal ALM RST DM 8 4 7 KOT A 27 HomeAttain DO5 The above are default functions You can also T E configure functions of the Servo drive enabled SOM poc AT RIEN DOs in function codes vt CON Zaio damp enavied ZCLAMP DIG 32 4 7 KOATEN 21 PAO 3 a 22 PAO Phase A output suf GAIN SEL DI7 31 4 7 ko 25 PBO Encoder frequency Gain switchover eX 23 PBO l Phase B output division pulse P differential output e Ive 13 PZO n Home switch HomeSwitch DI8 30 4 7 KQ EN N 24 PZO Phase Z output Not defined DI9 Not defined 12 4 7 kQ 4 29 GND VY N COM 44 A4 The above are default 2d PZ OUT functions You can also configure functions of the Sa dl dea at Dls in function codes 294 GND P P GND w 15k 45y Internal 5 V power supply 29 maximum allowable current L XX GND 200 mA GND S Connect to the housing indicates the twisted pair The shield of the PE is connected to the housing of the connector Note The signal cables and power cables must be laid separately with the distance at least above 30 cm When the signal cable is not long enough and an extension cable needs to be connected ensure that the shield is connected reliably and the shielding and grounding are reliable 5V is referenced to GND and 24V is referenced to COM The current must not exceed the maximum allowable current Otherwise the servo drive
74. IS620P Series Servo Drive User Manual IS620P Series Servo Drive User Manual shenzhen Inovance Technology Co Ltd All Rights Reserved Preface Preface Thank you for purchasing the IS620P series servo drive developed by Shenzhen Inovance Technology Co Ltd The IS620P series is a high performance AC servo drive for small and medium power applications The IS620P series ranges from 100 W to 7 5 kW It supports Modbus communication protocol via RS232 RS485 communication port and thus multiple IS620P servo drives can work on the same network by using together with a host PC The IS620P is easy to use due to the functions of rigid table setting inertia identification and oscillation suppression It works quietly together with Inovance ISMH series small medium inertia high response servo motor configured with 20 bit incremental encoder This servo drive is able to realize rapid and accurate position speed and torque control and is applicable for such automation equipment as semiconductor manufacturing equipment chip mounter PCB punching machine transport machinery food processing machinery machine tool and conveying machinery This manual describes the correct use of the IS620P series servo drive including safety information mechanical and electrical installation commissioning and maintenance Read and understand this manual before use Contact our customer service center if you have any question during the use The instructions
75. IS620P servo drive Noise filter e L1C U e L2G V e W e o T Stop E button i NB CN2 RUN 9 Main circuit C button power input d d contactors PG ANN f vo Surge O suppressor R S ALM 4 T COM ID 24V Fault output relay 1Ry LA ES N S ALM er Fault signal Fault output 69 indicator 29 Chapter 3 Wiring of the Servo Drive and Servo Motor Figure 3 5 Main circuit wiring of three phase 220 380 V servo drive Three phase 220 380 VAC Noise filter IS620P servo drive s L1C e L2C U e EO amp Oo ud e as Stop Po 9 button a m D Main circuit CN2 RUN F 4 power input c button contactors O oO e Surge R suppressor T ALM zi COM D SM 1D Fault output relay 1Ry P a 7 rE ALM T Fault signal O output Fault indicator Note 1KM electromagnetic contactor 1Ry relay 1D flywheel diode Connect the main circuit power supply according to Figure 3 3 and Figure 3 4 DOs ALM are set as fault output Power supply is automatically cut off when the servo drive reports an error Meanwhile the fault indicator goes ON Observe the following precautions when wiring the main circuit 1 Do not connect the input power
76. LMT Immediate source setting 2 H07 19 H07 20 selected by DI V LMT 1 AM eda Duro f running Forward Spoon 3000 HO7 49 imit Speed 0 9000 RPM Immediate E RPM limit 1 in torque control Reverse speed 3000 HO7 20 limit Speed 0 9000 RPM Immediate Neh RPM running limit 2 in torque control 3 Torque reference limit The output torque needs to be limited to protect the mechanism Set the torque limit in HO07 07 Function Parameter Sandi E Min Default Effective Proper Control Code Name g g Unit Setting Time perty Mode 0 Internal setting 1 External setting P CL and N CL selection Torque 2 External T LMT setting immediat HO7 07 3 Smaller of external 1 limit source l e setting and external T LMT setting P CL and N CL selection Allocate DIs with the P CL N CL function for external forward reverse torque limit selection Function REDE No on Description Setting Remarks i Name Valid External torque limit enabled FunIN 1 pg External forward invalid External 6 torque limit e torque limit disabled Valid External torque limit enabled FunIN 1 N CL External reverse valid External g T torque limit e torque limit disabled When the output torque is limited the DO terminal outputs the C LT signal described in the following table ame 76 Chapter 4 Running and Commissioning ame Confirming torque limit FunOUT 7 Torque limit Valid MONGOL torque limited Invalid
77. M When H09 02 is set to 0 the current parameters of the self adaptive trap will keep unchanged After the self adaptive trap is used for suppression and the system becomes stable for a certain period you can set H09 02 to O to fix the parameters of the self adaptive trap It is recommended that at most two traps work at the same time Otherwise the resonance may become severe When the resonance frequency is below 300 Hz the suppression effect of the self adaptive trap may degrade When the vibration cannot be cleared after a long time use of the self adaptive trap disable the servo drive The related function code is set in the following table Function Parameter Setting Ranae in Default Effective Propert Control Code Name g g it Setting Time perty Mode S e trap not updated 1 Only one trap trap 3 Workin valg g 2 Both traps traps 3 and i mode of During HO9 02 4 valid Immediate l self adaptiv running 3 Only detect resonance e trap frequency displayed in H09 24 not update parameters 4 Restore parameters to default setting requency Hz running Hog 43 irap 1 width o 5o 2 immediate PUMI 15e level running Trap 1 Durin HO9 414 3jattenuation Immediate 1g PS level running 83 Chapter 4 Running and Commissioning Function Parameter Schna Rande Min Default Effective Propert Control Code Name g g Unit Setting Time pery Mode PS 1H 2000 Immediate During running 2 Hz
78. Motor torque not limited Allocate the functions and logics to DIs and DOs by setting the related function codes For example when setting Al specify T LMT in H07 08 and then set the corresponding relationship between the torque and the analog voltage When H07 07 1 the external setting is triggered by the Dls with functions P CL and N CL and torque limit is implemented according to the values of HO7 11 and H07 12 When the external torque limit or T LMT value is larger than the internal limit value the internal limit value is used That is among all the limit conditions the smallest limit value is used During forward rotation the torque is limited to the positive value of T LMT during reverse rotation the torque is limited to the negative value of T LMT Function Parameter Gating Rande Min Default Effective Proper Control Code Name g g Unit Setting Time perty Mode Torque limit source 0 Internal setting 1 External setting P CL and N CL selection External T LMT setting 1 Immediate At stop 3 Smaller of external setting and external T LMT setting P CL and N CL selection T LMT E Alt Internal forward torque limit Internal 10 reverse torque limit External 11 forward torque limit External 12 reverse torque limit 0 300 0 100 a to the rated 300 0 motor torque 0 300 0 100 corresponds to the rated 0 300 0 motor torque 0 300 09 5 100 corresponds
79. PROM set HOC 14 to O before overflows the wiring operation of the host Check whether the host computer performs frequent and fast parameter writing on he servo drive Check the running mode Send a reverse reference or rotate the motor making the motor not reach the forward limit switch Check whether the forward limit switch is triggered Check the running mode Send a Check whether the reverse Io Ward reference or rotate the motor limit switch is triggered making the motor not reach the reverse limit switch If the servo drive is powered off and powered on again several times but the warning is still reported it indicates hat the encoder is faulty If the warning is reported when three phase cables are connected according to the requirements handle the warning Its principle is as Er 420 power similar to that cable phase loss of the phase If the warning is loss fault reported when two phase cables are connected according to the requirements set HOA 00 to O Check whether the servo drive is three phase but only wo phases are connected during running Check whether CANIink communication is normal by powering off and then powering on the servo drive several times Update the software or contact Inovance for technical support 96 Chapter 7 Function Code Table Chapter 7 Function Code Table Function Code Parameters Group Group HOO Servo motor
80. Running time H12 ore 0 6553 5 s min 01s 30S Immediate Atstop S speed min min reference 0 No acceleration deceleratio n time 1 Acceleration Decelerati Acceleration on time 1 Deceleratio 2 H12 67 n time of Acceleration Decelerati 1 Immediate At stop S 16th speed jon time 2 reference 3 Acceleration Decelerati on time 3 4 Acceleration Decelerati on time 4 Group H17 VDI VDO Parameters Function Parameter Gating Randa Min Default Effective probed Control Code Name g g Unit Setting Time perty Mode 134 S S Immediate At stop S Function Parameter VDI1 function selection VDI1 logic selection VDI2 function selection VDI2 logic selection VDI3 function selection VDI3 logic selection VDI4 VDI4 logic selection selection selection selection selection selection selection un function selection T Chapter 7 Function Code Table 0 No function 1 36 FunIN 1 36 refer to the DI DO basic function table 0 Valid when the written value is 1 1 Valid when the written value changes from 0 to 1 0 No function 1 36 FunIN 1 36 refer to the DI DO basic function table 0 Valid when the written value is 1 1 Valid when the written value changes from 0 to 1 0 No function 1 36 FunIN 1 36 refer to the DI DO basic function table 0 Valid when the written value is 1 1 Valid when the written value
81. SIGN 39 amp YEK k X v COM High speed reference pulse and symbol signals at the host controller can only be output to the servo drive via differential drive output Host computer Servo drive 3 HPULS 38 iu High speed pulse reference I HPULS 36 d Max input frequency 4 Mpps EN PONE 42 Min pulse width 0 125 us HSIGN 40 Eo GND GND 29 D NA Make sure the differential input is 5 V Otherwise input pulses of the servo drive are unstable which will cause When inputing reference pulses pulse loss occurs When inputing reference direction the direction will reverse The 5 V ground of the host controller must be connected to GND terminal of the servo drive to reduce noise interference 3 3 4 Encoder Frequency Dividing Output Circuit Default Fa Function Description PAO El Phase A output signal Phases A B quadrature seas 2 Phase B output signal a PBO 23 p g PZO Phase Z output signal Origin pulse output signal PZ OUT Phase Z output signal Origin pulse OC output 45 Chapter 3 Wiring of the Servo Drive and Servo Motor l Default Pin e BENE SN Ss Origin pulse OC output signal ground 5 V internal power supply Maximum output current 200 mA Encoder frequency dividing output circuit outputs differential signals via differential drive Normally the encoder output circuit provides feedback signals to the ho
82. U ON Locations evt tb bee i Dac de v e gia x Ev ds 12 2 1 2 Installation ENVirOnMent ccccc ccc ecceeeseceeeceeeeeseeseeeseeseeseeteeeseeeeetaeeas 12 2 159 SAN ALON 4 1 CC AUTON S ustastsdodd a appa E 12 2 2 Installation of the Servo Drive ccccccceccsseeseeteecceecseeeeeeeeeeseeeeeeeseteeeteeeneeeaeeees 14 22 1 Aistallauon EOCQllOElu sso etos nt Over Eo aUas SOM HEU SUME FEE deREU n Merc vidi D E 14 2 2 2 Installation ENViIrONMen ccccc ccc ecc eee seeseeceeeeeeeeeeeeeeeseeseetetaeeaeesaeees 14 2 2 3 Installation Precautions seraa E 14 2 3 Overall Dimensions of the Servo MoOtol ccccccccseccceeeeeeeeeeeeseeeseeeeseeeseeesauss 15 2 3 1 Overall Dimensions of the ISMH1 Series Servo Motor 15 2 3 2 Overall Dimensions of the ISMH2 Series Servo Motor Vn 3000 RPM Vmax 6000 3000 RPM 2i rare eto denen dade att oe oe etos var meus t Eu eumd eeis 18 2 3 3 Overall Dimensions of the ISMH3 Series Servo Motor Vn 1500 RPM Vmax 9000 RPM isis d erts a e a ebat basta din o ead 19 2 3 4 Overall Dimensions of the ISMH4 Series Servo Motor Vn 3000 RPM idenzoauo orici T 21 2 4 Overall Dimensions of the Servo Drive ccccccecccseccceeeteeeeeeeseeeceeeesueeeeeesaues 22 Chapter 3 Wiring of Servo Drive and Servo Motor 24 3 1 Servo Drive Main Circuit Wiring cccccc cece eccceeeeee cece eeceeeeseeeseeeseeeesueeaeee
83. UT 17 home return A ttain Invalid Not return to electrical home output Torque alid Absolute value reaches the setting FunOUT 18 ToqReach reached Invalid Absolute value smaller than the output setting Speed alid Speed feedback reaches the setting FunOUT 19 VArr reached Invalid Speed feedback smaller than the output setting FunOUT 8 143 Appendix Version Change Record Appendix Version Change Record BL OMNEM NEM 144
84. VAC Servo drive analog monitoring cable ns S5 L A01 1 0 Moulded case circuit breaker MCCB Cut off circuit if over current occurs to protect power supply line EMI filter Prevent external noise from power supply line Communication cable for multi drive parallel connection S62 L T01 0 3 Electromagnetic contactor Turn ON OFF UL power of the servo drive E Install a surge u suppressor when Hj iene this L Servo drive to PC communication cable contactor a 2 S62 L T00 3 0 R S Ie i T D Braking resistor AN Note1 te Servo drive to PLC communication cable Connect a braking V Plo GD S62 L T02 2 0 resistor between P C D EX when bus voltage C E 5 dmi W lesbl is insufficient i ervo drive I O cable Rp provided by user ed gr E2 8 om We E TOTUM D Servo motor encoder cable PPE Jo 9 S62 L P System grounded Servo motor main circuit cable
85. aking or poor contact exists View the setting of HOO 00 the value must be 14000 for the serial encoder For the motor Set the motor model model for the 2500 PPR encoder see the motor model table Connect the encoder cable rotate the motor shaft for several revolutions by hand and check whether the fault persists Replace the encoder 92 Chapter 6 Troubleshooting Fault Display Probable Cause Confirming Method Solution and Description 2 The cable is connected Rotate the motor shaft for Connect the encoder several revolutions by hand incorrectly or in poor ma ehidckwhetherdhe fault cable correctly or replace contact the cable persists 1 The motor UVW cables Check wiring of the main circuit Connect the motor UVW are connected incorrectly cables of the motor cables again 2 The servo drive gain is Check whether the servo drive Increase the servo drive too low gain is too low gain Reduce the pulse Reduce the pulse frequency of frequency of position position references and references and check whether the fault acceleration rate or persists adjust the electronic gear ratio 3 The pulse frequency of position references is too high Er BOO position follow up deviation too large Implement the smooth Reduce the acceleration rate function by setting the of position references acceleration deceleration time H05 06 4 The acceleration rate of the position references is too l
86. ame duct or bundle iple aO EAE EE T T NN AT E T 53 3 7 Precautions of Using Cables ccccccccsecccsccceseeee cece ceseeessueeseeeseeeesueeseeeseesaaes 55 Chapter 4 Running and Commissioning s seceeeesseeeceenseeeeeenseeecennseeseenneessoeneees 57 4 1 Use of the Position Control Mode 2 0 0 ccccccccceecceeeeeeeeeeeeeeeeeaeeeseeeseeesaeeeseees 57 4 1 1 Wiring of the Position Control Mode eeeeeeeeeeeeeeeene 58 4 1 2 Function Code Setting of the Position Control Mode o9 4 2 Use of the Speed Control Mode eseeeeesseseeeeneern 64 4 2 1 Wiring of the Speed Control Mode eeeeeeeeeeeeene 65 4 2 2 Function Code Setting of the Speed Control Mode 65 4 3 Use of the Torque Control Mode aisis ecrane 71 Preface 4 3 1 Wiring of the Torque Control Mode cccccccceeceeeeeceeeeeeeseeeseeeeeeeeeaees 72 4 3 2 Function Code Setting of the Torque Control Mode 72 4 4 Check Before RUNNING cccccccceccseeeceeeceeeeseeeseeeceeeeseeeseeeeeneeseeseeessuesseeeaaeess 77 4 5 Load Inertia Auto tuning and Gain AdjUStMenN cccccececeeeeeeeeceeeceeeeeeeeeeues 78 4 5 1 iiie Lm 19 4 5 2 Automatic Gain ACjUStMeN ccccccceecceeeeceeecceeceeeeeeeseeeseeeseueeseeeeaaes 81 4 5 3 Manual Gain AdjUStMent cccceccceccceecc
87. and Grounding The servo drive uses high speed switching element in the main circuit Switching noise from these elements may affect normal operation of the servo drive due to improper wiring or grounding Thus the servo drive must be properly wired and grounded An EMI filter can be added if necessary 1 Anti interference wiring example 52 Chapter 3 Wiring of the Servo Drive and Servo Motor Figure 3 15 Anti interference wiring example Servo drive o zs p A EMI EP IR R U filter o E S V Yt O p t O T W i D Grounding Grounding plate Note For the grounding cable connected to the casing use a thick cable with a thickness of at least 3 5 mm Plain stitch copper wires are recommended If an EMI filter is used observe the precautions as described in section 3 6 2 2 Grounding To prevent potential magnetic interference conduct grounding correctly according to the following instructions a Grounding the motor housing Connect the grounding terminal of the servo motor to the PE terminal of the servo drive and ground the PE terminal to reduce potential magnetic interference b Grounding the shielded layer of the power line Ground both ends of the shielded layer or metal conduit of the motor main circuit Crimping is preferable to ensure good contact c Grounding the se
88. are subject to change without notice due to product upgrade specification modification as well as efforts to increase the accuracy and convenience of the manual If you are an equipment manufacturer forward this manual to the end user aE A Vidal MEN ETT t2c er Puen ee ET e boll tog NEA i EN BB CN2 5 Preface Product Checking Upon unpacking check the items described in the following table The box contains the IS620P servo drive and user manual Check the models of the servo drive and servo motor on the nameplate Whether the delivered products are consistent with your order Check the overall appearance of the product If there is any omission or damage contact Inovance or your supplier immediately Whether the servo drive is damaged during transportation The servo motor shaft is normal if it can be Whether the rotating shaft of the turned manually Servo motor configured with a servo drive rotates smoothly power off brake however cannot be rotated manually This drive is a general industrial automation product and is not designed for use in machinery or system on which lives depend Wiring operation maintenance and inspection of the produ
89. arge 5 The position deviation threshold HOA 10 is too Check whether the value of Set the value of HOA 10 HOA 10 is proper properly Replace the servo drive or motor if there is input but no feedback 6 The servo drive or Check the running graphics in motor is faulty the background software Check the output frequency of frequency is higher than the host computer and the Change the maximum the maximum frequency maximum frequency set in frequency HOA 09 HOA 09 ErBO1 l das COD Check whether the references ae Lia Ce d 2 There is interference are abnormal in the nnd l shielded cables on the input background software and l separate the input cables check grounding of cables and power cables The setting of the Ensure that the ratios of Er B03 i hs Check the ratios of electronic gear ratio is H05 11 H05 10 and electronic gear ratio H05 11 H05 10 and H05 09 H05 07 outside the range setng eHor 0 001 4000 eae are within 0 001 4000 Er D03 CAN communication interrupted The CAN communication Power on the servo drive is interrupted again 6 2 Analysis and Handling of Warnings When a warning occurs on the servo drive the keypad displays Er xxx The following table describes the analysis and handling of warnings Paull Code Probable Cause Confirming Method Solution Principle and Description For the incremental encoder the requency division pulses per revolution must not pulses per
90. arm reset edge valid Servo enabled Chapter 3 Wiring of the Servo Drive and Servo Motor unction ZCLAMP EN Zero clamp Zero clamp function EN GAIN SEL 831 JBenswthower switchover Home Be oe pene Ie le 24V 17 Internal 24 V power supply Voltage range 20 to 28 V COM 14 Maximum output current 200 mA COM Power supply input 12 to 24 V S RDY BEEN ON when the servo drive is ready and the S ON signal can Position reached Zero speed ON when a fault occurs Home DO5 28 Emm ON at home return is H completed DO5 pid 27 Attain 1 DI circuit DI1 to DIY circuits are the same The following takes DI1 circuit as an example a When output signal of the upper device is relay output Use 24 V didus Servo drive Use 24 V external Servo drive power Supply power supply 24V d 2e power supply 17 Nr LI 5 17 COM 111 COM M1 n DI1 CMD1 9 47kQ Y 24Vbc DI CMD1 9 azko EK xi kO Relay COM 5 14 cone 14 Relay s L L No using any single Servo drive power supply 24V 24V power SUPPE 17 b TE COM N1 DM CMD1 9 47ko 4 n MSN gt COM 14 f y D p nn ee NA xX 38 Chapter 3 Wiring of the Servo Drive and Servo M
91. aximum HO6 07 rotational 0 9000 RPM speed limit HOG Forward o o000 RPM speed limit HO6 Reverse 0 9000 RPM speed limit Torque 0 No torque feedforward HOG 11 feedforward 1 Internal torque selection feedforward Speed limit HO6 15 for zero 06000 RPM 1 RPM Hoe he tational 5 506 RPM 1 RPM speed threshold HOG 117 0 100 RPM 1 RPMM1O RPM consistent signal 111 Main speed reference A 2 Al2 3 0 No function 4 0 No function 5 Multi speed reference 0 Main speed reference A source 1 Auxiliary speed reference B source 2 A B 3 A B switchover During running During Immediate running During Immediate running During running rr m running During running Immediate af a D z AJ D lt AJ D z Immediate During l running O Immediate During 10 RPM running Immediate During 20 RPM running Immediate AJ AJ C NO sls JS lt o o o During running Immediate Chapter 7 Function Code Table 9 c a5 O 5 J o me o 3 D r D AN setna rane Min Default Effective Banat Control Name rane Unit Setting Time peny Mode Threshold of speed z 1000 During reached 10 6000 RPM 1 RPM RPM Immediate running signal Threshold of zero speed 1 6000 RPM 1 RPM10 RPM Immediate output signal Group H07 Torque Control Parameters 100 of the torque referen
92. cannot work properly 4 2 2 Function Code Setting of the Speed Control Mode 1 Speed reference input setting 65 Chapter 4 Running and Commissioning a Speed reference source In the speed control mode there are two speed reference sources source A and source B Function Parameter in Default i Control Code Name i Setting Main speed HO6 reference A source 0 0 Digital setting Auxiliary H06 03 1 AI1 speed 2 Al2 jd reference B 3 0 No function source 4 0 No function 5 Multi speed reference Keypad setting HO6 03 value of speed 9000 9000 RPM 1 RPM reference Hos o4 Jogspeed 5 3555 RPM i100 RPM mmedia setting value e The digital setting is performed on the keypad and the speed set in H06 03 is used as the speed reference The analog setting means that the externally input analog voltage signal is converted to the speed reference signal The following table takes Al2 as an example to describe the analog setting of the speed reference Table 4 4 Analog setting of speed reference Set H06 00 Main speed reference A source to 2 AI2 and H06 02 Keypad setting value of speed reference to O Digital setting Set the speed reference source in the speed control mode Set related parameters of AI2 a Zero drift correction set in H03 59 or auto correction in HOD 10 Adjust AI2 sampling by setting the zero drift offset and dead zone b Offset setting HO3 55 c Dead zo
93. case the soft start acceleration and deceleration time can implement smooth running of the motor and prevent vibration and damage to the mechanical parts The related function codes are set in the following table Function Sees et pa ane Setting Min Default Effective Propert Control Code Range Unit Setting Time pery Mode Acceleration l i ms e running speed reference Deceleration l l HOG ramp time of 0 65535 T Immediat During ms e running speed reference The ramp control function converts the stepped speed references to smooth speed references with constant acceleration deceleration implementing smooth speed control including internally set speed reference Figure 4 9 Ramp control diagram Stepped speed reference After ramp control e x ALN lt gt H06 05 H06 06 H06 05 specifies the time for the speed reference to accelerate from zero to 1000 RPM 68 Chapter 4 Running and Commissioning H06 06 specifies the time for the speed reference to decelerate from1000 RPM to zero The formulas of calculating the actual acceleration and deceleration time are as follows Actual acceleration time Speed reference 1000 x Acceleration ramp time of speed reference Actual deceleration time Speed reference 1000 x Deceleration ramp time of speed reference Figure 4 10 Acceleration Deceleration time diagram 1000 RPM Set motor ra ET rotational speed
94. ce corresponds to the rated motor torque Function Parameter Seina Rande Min Default Effective Proven Control Name g g Unit Setting Time perty Mode Main torque oa setting reference A 1 AM Immediate Atstop T Source 2 AID Auxiliary 0 Digital setting torque H07 03 reference B 1 Al1 Du ALSOP E source 2 Al2 0 Main torque Immediate At stop IT of torque 0 1 Immediate reference Torque 0 01 reference 0 30 00 ms 0 7 9ms Immediate ms filter time 1 0 m O e o I 07 TE o ES reference A source 1 Auxiliary torque Torque f B SUN reference B source 2 A B 3 A B switchover 4 Communication setting source Keypad setting value E N OO L O N N 300 0 300 0 TL N i91 PST H07 PST Torque 01 reference 0 30 00 ms i 0 7 9 ms Immediate filter time 2 0 Internal 1 External setting P CL and N CL selection HO7 07 Torque limit 2 _ External T LMT Immediate Atstop PST source setting 3 Smaller of external setting and external T LMT setting P CL and N CL selection T LMT 1 Alt Internal 0 300 0 100 HO7 forward corresponds to thej 0 19e 300 0 Immediate torque limit rated motor torque Internal 0 300 0 100 HO7 10 reverse corresponds to the0 1 300 0 Immediate torque limit rated motor torque 112 Chapter 7 Function Code Table Function Parameter Gatling Range Min Default Effective Proben Control
95. changes from 0 to 1 0 No function 1 36 FunIN 1 36 refer to the DI DO basic function table 0 Valid when the written value is 1 1 Valid when the written value changes from 0 to 1 0 No function 1 36 FunIN 1 36 refer to the DI DO basic function table 0 Valid when the written value is 1 1 Valid when the written value changes from 0 to 1 0 No function 1 36 FunIN 1 36 refer to the DI DO basic function table 0 Valid when the written value is 1 1 Valid when the written value changes from 0 to 1 0 No function 1 36 FunIN 1 36 refer to the DI DO basic function table 0 Valid when the written value is 1 1 Valid when the written value changes from 0 to 1 135 Min Unit Default Setting Effective Time Upon stop Upon stop Upon stop Upon stop Upon stop Upon stop Upon stop Upon stop Upon stop Upon stop Upon stop Upon stop Upon stop Upon stop Control During running During running During running During running During running During running During running During running During running During running During running During running During running During running Function Parameter VDI8 function selection VDI8 logic selection VDI9 function selection VDIO9 logic selection VDI10 function selection VDI10 logic selection VDI11 function selec
96. coder 0 No operation l Analog 0 No operation HOD 10 automatic 1 Al1 adjustment 1 Immediate At stop adjustment 2 Al2 adjustment UV phase l HOD 12 current balance E operation 1 POWEr ON At stop l 1 Enabled again correction HOD 17 Forced output o No operation 1 imedai During mode of 1 Simulated DI running 122 Chapter 7 Function Code Table Function Min Default Effective simulated DI D enabled and DO enabled setting of 0 0x01FF simulated DI Forced output Durin OxO1FF Immediate ng running Forced output Durin setting of 0 0x001F 1 Immediate e simulated DO J Group H11 Multi Position Function Parameters Function Parameter Setting Rande Min Default Effective Code Name g g Unit Setting Time 0 Stop after a single running position selection in H11 01 1 Cyclic running position selection in Multi position H11 01 RN running mode 2 DI switchover MERAB ALSOP position selection by DI 3 Sequential running position selection in End position NO d Immediate At stop displacement reference Valid when H11 00 2 0 Complete ie Immediate At stop remaining distance 1 Start running again from position 1 0 Relative displacement Immediate At stop displacement reference 1073741824 10737 refere 10000 j referenc Immediate 41824 reference unit Sanit running 123 Chapter 7 Function Code Table Function Parameter DUE TE Min Default Effective Pro
97. cremental Encoder type encoder UVW ABZ Power on OIN eo EX 0x013 Inovance ONS MN agai AVSIOP 20 bit serial encoder 1 1048576 HOO 31 Encoder PPR I TOER pulses re pulses re ROANET ON At stop pulses rev y M again Hoo 33 Electrical angle 6 460 o 0 15 180 0 FOWer On at stop of Z signal l l l i again Electrical angle Poweren HOO 34 of phase U rising 0 0 360 0 0 1 180 0 again At stop edge Group H01 Servo Drive Parameters Function Parameter Default Effective Code Name Setting Range Min Unit Setting Time Property m en ENTRE Spr version FPGA software 0 1 At display version Servo drive Model Power on 98 Chapter 7 Function Code Table Group H02 Basic Control Parameters Function Min Default Effective Control Control mode Ho2 o2 Rotating direction Direction of H02 03 output pulse feedback 0 Speed mode 1 Position mode 2 Torque mode 3 Switchover between speed mode and torque mode 4 Switchover between position mode and speed 1 1 Immediate At stop mode 5 Switchover between position mode and torque mode 6 Switchover between position mode speed mode and torque mode 0 CCW direction as the forward direction phase A advancing p Power on 1 CW direction as Om At stop PST the forward direction g reverse rotation mode phase A lagging phase B 0 CCW direction as the forward direction phase A advancing prace B Power on
98. ct 2 Perform trial jog running by pressing keys and ensure that the motor can run properly 3 Connect the signals of terminal CN1 such as the pulse direction input pulse reference input and required DI DO signals servo drive enabled and positioning completed according to Figure 4 1 4 Perform the setting related to the position control mode Set the DI DO functions in group H03 and H04 based on actual requirements You may also need to set the home return and frequency division functions based on actual requirements 5 Enable the servo drive Send a position reference from the host computer to enable the servo motor to rotate Make the motor rotate at a low speed and ensure that the rotating direction and electronic gear ratio are normal Then adjust the gain For details see the commissioning procedure in section 4 5 4 1 1 Wiring of the Position Control Mode Figure 4 2 Wiring of the position control mode
99. ct can only be conducted by qualified person When selecting the tightening torque of the screw consider the strength of the screw and material of the installation part Select a proper value while the screw is fixed solidly and the installation part will not be damaged Install an appropriate safety device when this product is to be used on machinery which may cause series accident or loss due to trips of the product Contact Inovance when this product is to be used on special applications such as atomic energy control aerospace equipment transport equipment medical apparatus safety devices and other equipment that require high cleanliness Although this product has passed all QC testing it may react unexpectedly due to trips arising from ambient noise static interference input power supply wiring optional parts and etc Take mechanical safety measure into fully consideration to ensure safety in the application site where all possible actions of the equipment occur When the motor shaft runs without being grounded based on the actual mechanical and installation conditions the motor bearing may suffer from electric corrosion or large noise Trips of this product may cause rising smoke Pay special attention to such condition when the product is to be used in purification workshop and environment alike Note that the chip resistor disconnection or poor contact condition may occur due to sulfuration reaction if the product is to be
100. cted When using a 24 V external power supply OC pulse position reference l Max input frequency 200 kpps Servo drive Min pulse width 2 5 us PULLHI 35 2 4 KO PULS 41 200 Ca PULS j43 kek ac 2 2 4 kQ Ea SIGN 37 200 Q External 3 gt pun joe t iis 24VDC AX e S COM 42 Chapter 3 Wiring of the Servo Drive and Servo Motor Servo drive vec PULLHI 35 2 4 k R1 PULS 41 200 i PULS 43 amp EK dt mu 2 4 kQ R1 SIGN 37 2000 i SIGN 39 amp EK af e v Vcc 1 5 _ Value of resistor R1 shall satisfy the following formula 2 7559 10mA Table 3 16 Recommended R1 resistance 24 V 2 4 kO 12V 1 5 kO Wrong connection examples Wrong connection 1 Current limiting resistor is not connected resulting in burnout of terminals Current limit resistor Servo drive not connected VEG PULLHI 35 2 4 kO ON es PULS A 200 uj PULS 43 amp YR x 2 4 kQ em SIGN 137 200 sicn 1 39 amp EK N e x
101. ction Code Table Function Min Default Effective Control change 3 Enabled change quickly Maximum speed H09 for inertia 100 1000 RPM 1 RPM500 RPM Immediate At stop auto tuning Acceleration Decel HO9 07 eration time for 20 800 ms 1ms 250ms Immediate At stop inertia auto tuning Hog Interval after an leq 10000ms Mms B00ms Immediate At stop inertia auto tuning Motor revolutions j H09 for an inertia At display auto tuning During HO9 412 Trap 1 frequency 50 2000 Hz 1Hz 2000Hz Immediate running PS HO9 13 1 2 PS Trap 1 width level 0 20 During running HO9 4 Trap 1 attenuation 1 ameda During PS level running During HO9 15 Trap 2 frequency 50 2000 Hz 1 Hz 2000 Hz Immediate running PS running HO9 47 Trap 2 attenuation 1 EUR During PS level running During HO9 18 Trap3 frequency 50 2000 Hz 1Hz 2000Hz mmediate running PS running level running l During HO9 21 Trap4 frequency 50 2000 Hz 1Hz 2000 Hz Immediate running PS running HO9 23 Trap 4 attenuation 1 Immediate During PS level running Obtained HO9 24 resonance 1 Hz At display PS frequency Disturbance HO9 BO torque 100 0 100 0 0 1 Immediate compensation 116 0 Positive and l 4 negative HO9 05 LL eria triangular wave 1 Immediate At stop auto tuning mode mode 1 Jog mode Immediate Chapter 7 Function Code Table Function Min Default Effective Control o9 l4 Disturbance o 55 65 ms 2 Observer filter t
102. d p506 19000 RPM 1 RPM one RPM Immediate At stop reference Running H12 24 time of 2nd abs 5 s min 0 1 s min Immediate At stop speed reference 0 No acceleration deceleratio n time 1 Acceleration Decelerati Acceleration jon time 1 Deceleratio 2 H12 25 n time of Acceleration Decelerati 1 Immediate At stop S 2nd speed jon time 2 reference 3 Acceleration Decelerati on time 3 4 Acceleration Decelerati on time 4 3rd speed 5606 19000 RPM 1 RPM 300 RPM Immediate At stop reference Running H12 27 time of 3rd o 6553 5 s min 0 1s min 20S Immediate Atstop S speed min reference 0 No acceleration deceleratio Acceleration e Deceleratio Acceleration Decelerati H12 28 n time of 3rd 1 Immediate At stop S on time 1 speed 2 reference Acceleration Decelerati on time 2 3 129 Control Mode Immediate At stop 21 O Immediate At stop Chapter 7 Function Code Table Control Mode Function Parameter Default Effective Setting Range Min Unit Setting Time Property Acceleration Decelerati on time 3 4 Acceleration Decelerati on time 4 4th speed 9000 9000 RPM 500 RPM Immediate At stop reference time of 4th speed reference 0 No acceleration deceleratio n time le Acceleration Decelerati Acceleration jon time 1 Deceleratio 2 n time of 4th Acceleration Decelerati speed on time 2 reference 3 Acceleration Dec
103. d down the UP key and the motor rotates in the forward and then reverse directions A repeatedly After you release the key the motor coasts to stop It is similar when you hold down the DOWN key The keypad displays the obtained inertia ratio Does the displayed inertia ratio change Increase the inertia ratio in HO8 15 Does the displayed inertia ratio become stable after repeated operations No Is long travel running supported Can the maximum speed for inertia auto tuning HO9 06 be increased onsite The inertia auto tuning may not be supported Manually set the inertia ratio or contact Inovance Hold down the SET key until the keypad displays SAVE and then the obtained inertia ratio is written to HO8 15 Then release the key End and exit HOD 02 je When H08 15 1 default value the actual speed may not reach the reference due to too small inertia ratio and the auto tuning will fail In this case you need to set H08 15 It is recommended that H08 15 be set to 5 initially and then increased gradually so that the auto tuning can be performed successfully For offline inertia auto tuning the triangular wave mode is suggested For scenarios with poor auto tuning effect the step rectangular wave mode is suggested When H09 05 1 pay attention to the mechanical travel and pr
104. d i E E ETT a Y GND Wiring in position control mode A02 ur i PULLHI 35 24k ii PULS PULS 41 po E CW phase AJ PULS 43 a State output Position 2 4 kQ l 7 DO1 reference l lt SIGH 37 2000 lt 6 D01 cued SIGH 39 p CCW phase B 5 DO2 4 4 DO2 3 DO3 HPULS __ _HPULS 38 amp 2 D03 EE CW phase A eR HPULS 36 der 1 DO4 pulse E position HSIGN ET HSIGN 42 26 DO4 reference CCW phase B HSIGN 40 a 28 DO5 GND GND 29 A 27 DO5 24V Encoder frequency division 1 24 V power E pulse differential output TT Supply 17 Wiring in torque control mode m COM 11 21 PAO i l Pe 22 AO 4 Analog torque f AI1 20 Low pass filter DH 9 47KQ ad X 25 PBO i 23 PBO N i A D l e rN Q converter DI2 410 4 7 kQ A E 13 PZOt i u ius dabei 3 Al2 18 Low pass filter 24 PZO H o analog spee l l Hz j Suge Lat L GND m DI3 34 4 7 KQ YK ee b Sus i 7v i Vv 7 D teen E E E i D14 8 4 7 KQ AYER Encoder phase Z OC output D15 33 14 7 KQ Ay 5 ale at D16 32 14 7 KO A K 29 GND i GND D17 131 14 7 kQ 4v E 5V D18 30 4 7 kQ 4 Y X 154 sy L 2S GND DI9 12 4 7 KQ a GND COM 14 3 3 1 DI DO Signals Table 3 12 DI DO signal description Default Function INHIBIT ALM RST Al
105. d may cause Maximum mechanical damage rotational a gt Ihe speed speed y p is limited a When the rotational speed is limited the DO terminal outputs the signal described in the following table Function Functio Description Setting Remarks No n Name Confirming rotational speed limit in Rotational torque control FunOUT 8 V LT Valid Motor rotational speed limited speed limit Invalid Motor rotational speed not limited Note The V LT function needs to be allocated to a certain DI The speed limit source can be internal or external When the internal speed limit source is used H07 17 0 directly set the forward speed limit HO7 19 and reverse speed limit H07 20 When HO7 17 2 the DI allocated with FunIN 36 is used to select HO 19 or HO07 20 as speed limit When the external speed limit source is used HO7 17 1 the analog setting is specified in HO7 18 and the corresponding relationship between the speed limit and the analog setting is set based on actual requirements In addition the externally set speed limit must be lower than the internally set speed limit to prevent faults due to improper setting of external speed limit The speed limit setting modes are set in the following function codes 75 Chapter 4 Running and Commissioning Function Parameter Setting Ranae Default Effective Code Name g g Setting Time 0 Internal setting in torque control Speed limit 1 External V
106. d the speed consistent reference is smaller than the value of H06 17 this signal is valid Position In the position control mode when the FunOUT 5 COIN iG dd position deviation pulses reach the value of H05 21 this signal is valid Positioning In the position control mode when the FunOUT 6 NEAR almost position deviation pulses reach the value completed of H05 22 this signal is valid 142 Chapter 7 Function Code Table No Function Function Deccan l Symbol Name p Confirming torque limit FunOUT 7 C LT Torque limit alid Motor torque limited Invalid Motor torque not limited Confirming rotational speed limit in torque Rotational control speed limit alid Motor rotational speed limited Invalid Motor rotational speed not limited FunOUT 9 BK alid Brake released Invalid Brake applied FunOUT 10 WARN E The warning output is active conducted FunOUT 11 Fault output This signal is valid when a fault occurs FunouT 12 ALMO4 9 digitfault 4 digit fault code is output code output FunOUT 13 ALMO2 S dioit fault 5 dicit fault code is output code output FunouT 14 ALMOS S digit fault 5 diit fault code is output code output Interruption Valid Interruption fixed length completed FunOUT 15 Xintcoin fixed length Invalid Interruption fixed length not completed completed FunOUT 16 lHomeAttain Home return alid RAUN to home Invalid Not return to home ElecHomeA iion alid Return to electrical home FunO
107. e of Aih 0 65535 ms s s 10 ms s Immediate running displacement 1 31 Watting ime 5 5600 ms s 1 T 40 ms s Immediate n9 after 4th s running 124 Chapter 7 Function Code Table Function Parameter DUE TE Min Default Effective Code Name g g Unit Setting Time 5th 1073741824 10737 refere 10000 During H11 32 l referenc Immediate l displacement 41824 reference unit Sanit running Maximum At 345 ein speed 9000 RPM 1 RPM 200 RPM Immediate siia displacement Acceleration D H11 35 Soeerallon 0 65535 ms s ai 10 ms s Immediate ed displacement Waiting time qns Durin H11 36 after 5th 0 10000 ms s 10 ms s Immediate ng s running displacement 1 6th 1073741824 10737 refere 10000 During H11 37 referenc Immediate displacement 41824 reference unit DTE running Maximum Ad 304 end speed 9000 RPM 1 RPM 200 RPM Immediate ibd displacement Acceleration D H11 40 os 0 65535 ms s ru 10 ms s Immediate edd displacement Waiting time jus Durin H11 41 after 6th 0 10000 ms s 10 ms s Immediate ng i s running displacement 1 7th 1073741824 10737 refere 10000 During H11 42 referenc Immediate displacement 41824 reference unit aunk running Maximum H11 44 n speed 9000 RPM 1 RPM 200 RPM Immediate aie displacement Acceleration D eceleration 1 ms During H11 45 time of 7th 0 65535 ms s s 10 ms s Immed
108. eed control and torque control In the position control mode the displacement is determined based on the number of pulses and the speed is determined based on the input pulse frequency The position control mode strictly controls the position and speed and is often used in the positioning device It is the most commonly used mode of the servo drive applicable to the mechanical arm mounter engraving and milling machine and computer numerical control CNC machine tool In the speed control mode the speed is controlled by the Al setting DI setting or communication setting It is often used in scenarios with constant speed For example for the analog engraving and milling machine the host computer uses the position control mode and the servo drive uses the speed control mode In the torque control mode the torque is changed by changing the analog setting or the address value by means of communication This mode is mainly applied to the winding and unwinding devices with strict tension requirements for example tension control scenarios of the winding device or fiber pulling device In these scenarios the torque always changes with the winding radius so that the tension will not change along with the change of the winding radius 4 1 Use of the Position Control Mode Figure 4 1 Diagram of the position control mode
109. eeeeseeeeeeeeeeeeeeeeeseeeseeessueeeeeesanes 82 ASA MaDe P 02 Chapter 5 Background Software 1 eee cLeee eec Lesser eeeee nennen nn nn nhan annt 85 Chapter 6 Troubleshooting 2 5 cios eodiuc co ue dE ooo ed Ecc oio aee Ee occ o ova LEE REC coc dae de ous 86 6 Analysis and Handling of Fags seii tices hr EPI RRUo uem uud D mE Orca cites 86 6 2 Analysis and Handling of WarningS ccccccceecceeceseeeceeeceeeeeeeeseeeeseeeseeeseeeeaess 93 Chapter 7 Function Code Table 2 0 93170 aa r1 ura 3220 OR ae EE F2 SEHR DEO s a Era see nnmnnn 97 Group HOO Servo Motor Parameters aaisan E eene 97 Group H01 Servo Drive Parameters ssssseeem nn 98 Group H02 Basic Control Parameters eeeeem en 99 Group H03 Input Terminal Parameters eseeeenm 101 Group H04 Output terminal Parameters seeeemmRH 104 Group H05 Position Control Parameters eeeeem 106 Group HOA Faulband Proteci n sss odes Vere SUN ape e hd epa EET era ERU ed aen HE d 117 Group HOB Display Parameters ccccccecccseceeeceeeceeseeeseeeseteeteeeseeteeeteeeeeeeaes 118 Group HOC Communication Parameters sseeeeeemn 120 Group HOD Auxiliary Function Parameters ccccccecceeceeeeeeeeeeeeeeeeeeeaeeesereeeees 122 Gr
110. elerati on time 3 4 Acceleration Decelerati on time 4 oth Speed 006 19000 RPM 1 RPM 700 RPM Immediate At stop reference SEU 0 6553 5 s min 0 1 s min 29 S Immediate At stop speed min reference 0 No acceleration deceleratio n time 1 Acceleration Decelerati Deceleratio 2 H12 34 n time of Acceleration Decelerati 1 Immediate At stop S othspeed on time 2 reference 3 Acceleration Decelerati on time 3 4 Acceleration Decelerati on time 4 6th speed o600 19000 RPM 1RPM 900 RPM Immediate At stop reference Running H12 36 me of 6th o 6555 5 s min 0 1s min 20S Immediate Atstop S speed min reference S Immediate At stop S Immediate At stop 130 Chapter 7 Function Code Table Function Parameter Default Effective 0 No acceleration deceleratio n time 1 Acceleration Decelerati Acceleration jon time 1 Deceleratio 2 H12 37 n time of 6th Acceleration Decelerati 1 speed on time 2 reference 3 Acceleration Decelerati on time 3 4 Acceleration Decelerati on time 4 th speed o600 19000 RPM 1 RPM 600 RPM Immediate At stop reference Running H12 39 time of 7th o 6553 5 s min 0 1s min 999 Immediate At stop speed min reference 0 No acceleration deceleratio n time 1 Acceleration Decelerati Acceleration jon time 1 Deceleratio 2 H12 40 n time of 7th Acceleration Decelerati 1 Immediate At stop speed on
111. ence a aoe PULS 43 A vel ax input frequency 500 kpps J 24 KQ Min pulse width 1 us SIGN 37 d 200 Q SIGN 39 4 rE UN e GND GND 29 NA VY Make sure 2 8 V s H level L level lt 3 7 V Otherwise input pulses of the servo drive are unstable which will cause When inputting reference pulses pulse loss occurs When inputting reference direction the direction will reverse 2 OC mode When using the 24 V internal power supply of the servo drive 41 Chapter 3 Wiring of the Servo Drive and Servo Motor OC pulse position reference Servo drive Max input frequency 200 kpps Min pulse width 2 5 us 24V 24 V power supply 17 PULLHI 35 E kQ PULS 41 2000 au PULS 43 vq X 2 4kO gine 437 2000 SIGN 39 YQ E COM 14 Wrong connection Pin 14 COM is not connected which cannot form a closed loop circuit Servo drive 24V 24 V power supply 17 PULLHI 35 2 4 K PULS At 200 Q CO PULS 43 amp YEK 2 31 2 4 KQ SIGN 37 200 Q SIGN 39 amp YEK 2T i EN COM 14 X x x 2 Pe Pin 14 COM not conne
112. er time H05 04 H05 04 Function Min Default Effective Control eo popar asa poenom pe pom mem nem po When H05 06 0 the average filter is invalid Table 4 2 Different filter effects of two position reference types under the average filter Rectangular Position Reference Ladder Position Reference Position Before filter Before filter Position 4 Average filter time reference After filter reference Before filter P p y After filter After filter After filter L Time ny Average filter time Average filter time Average filter time 05 06 H05 06 4 Clearing position deviation Set the function FunIN 35 for a DI to determine whether to clear the position deviation ame Position Valid Clear Set the logic of the FunlN 35 Clr deviation Invalid Not corresponding DI to cleared clear 0 or 1 5 Frequency division output This parameter is used to select the pulse output source The pulse reference synchronous output is used in the synchronous control scenario 62 Chapter 4 Running and Commissioning Function Parameter eating Rande Default Effective Provert Contro Code Name g g Setting Time perty Mode 0 Encoder frequency division output Servo pulse 1 Pulse reference Power on A t stop output source synchronous output again 2 Frequency division and synchronous output forbidden The servo drive performs frequency division on the pulses from the encoder based on the value
113. event accidents due to overtravel during offline inertia auto tuning The related function code is set in the following table Function Parameter 4 Default EE Offline inertia auto tuning mode 80 0 Positive and negative triangular wave mode 1 Jog mode Effective Time Control Property ui Chapter 4 Running and Commissioning speed for RPM inertia auto tuning Acceleration D HO9 07 Pon 20 800 ms 1 ms 250 ms mmediate At stop time for inertia auto tuning Interval after an inertia 50 10000 ms 1 ms 800 ms Immediate At stop auto tuning Motor revolutions for 0 01 revolution auto tuning The conditions for successful inertia auto tuning are as follows The actual maximum rotational speed of the motor is larger than 150 RPM The actual acceleration rate during acceleration deceleration is higher than 3000 RPM s The load torque is stable without dramatic change A maximum of 120 times of inertia can be auto tuned The auto tuning may fail when the mechanical rigidity is very low or the back clearance of the transmission mechanism is large 4 5 2 Automatic Gain Adjustment The automatic gain adjustment is performed as follows Set H09 00 to 1 and send a reference to make the servo motor rotate Observe the running and meanwhile adjust the setting of HO9 01 until the satisfactory effect is achieved If the effect is unsatisfactory anyway perform manual gain adjustment Pay
114. ferences switchover CMD1 Multi referen FunIN 7 CMD2 x Used to select one from the 16 references switchover CMD2 Multi referen FunlN 8 CMD3 d Used to select one from the 16 references switchover CMD3 Multi referen FunIN 9 CMDA ve Used to select one from the 16 references switchover CMD4 Perform switchover between speed Mode control position control and torque control FunlN 10 M1 SEL switchover p q M1 SEL based on the selected control mode values 3 4 5 of H02 00 140 Chapter 7 Function Code Table No Function Function DOOR Symbol Name p Perform switchover between speed MOLE control position control and torque control FunIN 11 M2 SEL switchover j M2 SEL based on the selected control mode values 6 of H02 00 FunlN 12 ZCLAMP Zero clamp Valid Zero clamp enabled function Invalid Zero clamp disabled Pulse input Walid pulse reference input forbidden forbidden Invalid Pulse reference input allowed When the mechanical movement is Forward outside the movable range the overtravel FunlN 14 P OT drive prevention function is implemented forbidden Valid Forward drive forbidden Invalid Forward drive allowed When the mechanical movement is Reverse outside the movable range the overtravel FunIN 15 N OT drive prevention function is implemented forbidden Valid Reverse drive forbidden Invalid Reverse drive allowed External T oe FunIN 16 P CL io Valid Eterna torque limit enabled 4 nvalid Externa
115. fset torque reference curve After offset torque reference curve Torque A Torque No offset After offset Torque corresponding to 10 V H03 81 7 10V 10V Dead zone H03 53 Voltage cre Torque corresponding to 10 V H03 81 Offset HO3 50 74 Chapter 4 Running and Commissioning View the set torque reference a percentage relative to the rated motor torque in H03 02 2 Speed limit in torque control In the torque control mode the rotational speed of the servo motor needs to be limited to protect the mechanism In the torque control mode only the output torque reference of the servo motor is limited and the rotational speed is not controlled Therefore if the set torque reference is larger than the load torque on the mechanical side the motor will keep acceleration This may cause overload In this case the rotational speed limit needs to be set When the actual speed exceeds the limit the difference between the actual speed and the limit is converted to a certain percentage of torque and cleared negatively so that the speed reaches the limited range The actual rotational speed limit changes with the load The speed limit can be set internally or by analog sampling similar to speed reference in the speed control mode Table 4 6 Speed limit diagram Without speed limit With speed limit Rotational Rotational sped speed Overspee
116. he Servo Drive and Servo Motor Screw hole a Screw Tightening se s CECE ep eoe De feo SIZE E 100 90 240 75 4 M4 10 6 1 2 23 Chapter 3 Wiring of the Servo Drive and Servo Motor Chapter 3 Wiring of Servo Drive and Servo Motor Figure 3 1 Terminal pin arrangement of the servo drive L1C L2C rue tg 3 1 Servo Drive Main Circuit Wiring 3 1 1 Introduction to the Main Circuit ee AO1 AO2 CNS GND GND CN3 CN4 1 CANH CANL GNDG RS485 RS485 RS232 TXD RS232 RXD GND GND CN2 20 bit encoder pee 1 PS PS 5V Les Figure 3 2 Servo drive main circuit wiring example L1C L2C s ace o o g ol E ere Table 3 1 Names and functions of main circuit terminals 24 CN1 16 GND 31 DO4 DI7 24V DO3 DI6 DO3 DI5 Al2 DO2 GND DI3 DO2 PULLHI Alt PAO DO1 HPULS PAO DO1 SIGH D14 PBO HPULS4 bi PZO
117. he external braking resistor Failure to comply will cause overcurrent trip and thus damage the braking tube 3 For selection of external braking resistors refer to section 1 4 Do not select any resistor lower than the minimum resistance value Otherwise the servo drive will report Er201 or be damaged 4 Make sure that HO2 25 H02 26 and H02 2 are accurately set before using the servo drive 5 Install the external braking resistor on incombustible matters Such as metal 3 1 2 Recommended Models and Specifications of Main Circuit Cables Figure 3 3 Dimension drawing of the servo drive terminal block C i Lic L2C Chapter 3 Wiring of the Servo Drive and Servo Motor Main Circuit Terminal PE Grounding Terminal Tightening Screw Tightening M3 Table 3 2 Rated input and output currents of IS620P series servo drive Servo Drive Model Rated Output Current IS620P anal Rated Input Current A S5R5 single phase 3 E EE peee phase m mu go ms Table 3 3 Recommended main circuit cable sizes of IS620P se
118. he holding brake Servo drive a e R U EMI Motor Three phase filt S V m 220 380 VAC er W Lf EN T B Encoder L1C Brake control relay ex BK RY DOS BK lt lt E Brake T NN Bk DO5 BK Brake power supply 2 Precautions during wiring a To decide the length of the cable on the motor brake side consider voltage drop caused by the cable resistance The input voltage must be at least 21 6 V to make the brake work The following table lists brake specifications of ISMH servo motors 47 Chapter 3 Wiring of the Servo Drive and Servo Motor Table 3 18 Brake specifications Holding Supplied Resistance Supplied Braking Servo Motor Model Voltage Current Time V 10 Range A ms ISMH1 20B 40B 82 3 0 25 0 34 20 NH 10C 15C 20C 25 5 gaai 40 SMH3 85B 13C 180 tat ae 095 1 CB x ISMH3 29C b The brake shall not share the same power supply with other devices Otherwise the brake may conduct false operation due to voltage or current drop resulted from working of other devices c Cables of 0 5 mm and above are recommended 3 Servo motor running when servo drive is OFF ON OFF OFF Servo drive ON DI input ON OFF OFF Servo motor ON OFF OFF Brake DO output bs gt lt H02 12 Position speed a
119. he keypad and the percentage of the torque relative to the rated torque set in HO7 03 is used as the torque reference The analog setting means that the externally input analog voltage signal is converted to the torque reference signal of motor speed The relationship between the analog and the torque reference can be defined based on actual requirements The related function codes are set in the following table Function Min Default Effective Control Main dorqu 0 Digital setting oaa HO7 reference A 1 e source Auxiliary torque HO7 01 reference B 4 1 ua source Keypad setting HO7 03 value of torque 300 0 300 0 0 196 E reference b Torque reference selection In the torque control mode five methods of obtaining torque references are available and you can select one in H07 02 Parameter Min Default Effective Control Function code Parameter Setting Range Setting Time Property 0 Main torque reference A source HO7 02 d ULM VH fi si 1 Immediat Ateo T source 2 AtB x k 3 A B switchover 4 Communication setting c Torque reference direction switchover Set the function FunIN 25 to switch over the torque reference direction by a DI ame Torque d Pi Set the logic of the FunIN 25 TOQDirSel reference Ws corresponding DI to Invalid Reverse direction 0 or 1 direction When H07 02 3 you need to allocate a DI with the A B switchover function to determine whether A reference input
120. iate running displacement Waiting time qs Durin H11 46 after 7th 0 10000 ms s 10 ms s Immediate ng s running displacement 1 8th 1073741824 10737 refere 10000 During H11 47 referenc Immediate l displacement 41824 reference unit SiN running Maximum H11 49 running speed 4 9999 RPM 1 RPM 200 RPM Immediate Puring of 8th running displacement 125 E H11 H11 time of 8th displacement Waiting time after 8th displacement 9th displacement Maximum running speed of 9th displacement Acceleration D eceleration time of 9th displacement Waiting time after 9th displacement 10th displacement Maximum running speed of 10th displacement Acceleration Deceleration time of 10th displacement Waiting time after 10th displacement 11th displacement Maximum running speed of 11th displacement Acceleration Deceleration time of 11th displacement Waiting time after 11th displacement 12th displacement Chapter 7 Function Code Table Function Parameter Schna Rande Min Default Effective Propert Control Code Name g g Unit Setting Time Peay Mode Acceleration Deceleration 0 65535 ms s 10 ms s 0 10000 s 10 ms s Immediate 1 40000 1073741824 10737 refere referenc Immediate 41824 reference unit nce Gail e unit 1 9000 RPM 1 RPMI 200 RPM 0 65535 ms s 10 ms s 0 10000 ms s 10 ms s 1 1 1073741824 10737
121. ime m 0 i No compensation 1 Based on Friction i l position reference During compensation l 1 Immediate 2 Based on speed running mode reference 3 Based on torque reference running Forward maximum Durin static friction O 50 0 0 1 Immediate 1g l running compensation Reverse maximum Durin static friction O 50 0 0 1 Immediate 1g l running compensation Forward coulomb Durin friction 0 50 0 0 1 Immediate 1g l running compensation Reverse coulomb Durin 37 friction 0 50 096 0 196 Immediate S p l running compensation Group HOA Fault and Protection Function Parameter SERO Rande Min Default Effective PrODSH Control Code Name g g Unit Setting Time perty Mode 0 Allow faults and weed forbid warnings put 4 Allow faults During phase loss 1 Immediate i lation and warnings running P 2 Forbid faults and warnings DE Retentive at y Disabled During Immediate running PS H09 32 PS H09 33 PS HO9 34 PS H09 35 PS H09 36 PS H09 37 S Coulomb and Durin static friction O 200 RPM 1 RPM Immediate ig running switchover speed sia 1 Enabled 0 10000 RPM Overspeed 0 to 1 2 times of the During ihreshold maximum motor 1 RPM Immediate running rotational speed in HO00 14 117 gt n E Motor HOA 04 Overload 55o amp 300 1 100 Immediate protection gain e B a mn Chapter 7 Function Code Table Function Code Threshold of HOA 10 Postion 1 1
122. ing Time perty Mode IOOP o 1 2000 0 Hz pate so Hz meae Dura running l During integral time 0 15 512 00 ms 0 01 ms 31 83 ms Immediate PS running constant running 113 Second speed loop gain Second speed loop integral time constant Second position gain Second gain mode setting switchover condition Gain switchover delay L 08 Gain switchover level L 08 Gain switchover hysteresis E 08 Position gain switchover time T 08 Average value of load inertia ratio L 08 loop 0 2000 0 Hz Chapter 7 Function Code Table ERU RUSSE Min Default Effective Proned Control g g Unit Setting Time perty Mode 0 1 2000 0 Hz bake Hoo Hz meae Dura running 0 15 512 00 ms 0 01 ms 20 00 ms 0 1 Hz 64 0 Hz During Immediate 0 First again fixed P PI switchover by DI 1 Gain switchover based on H08 09 Note P proportional control PI proportional integral control 0 First gain fixed PS 1 Switchover by DI PS 2 Torque reference being large PS 3 Speed reference being large PS 4 Speed reference change rate being large PS 5 Speed reference high speed 1 i low speed thresholds PS 6 Position deviation being large P T Position reference available P 8 Positioning uncompleted P 9 Actual speed P 10 Position reference available Actual speed P During running During running Based 0
123. istance of the external braking resistor too small Select a proper braking resistor and change the setting of HO2 27 Measure the resistance and check the setting of H02 27 reference is too large above 5096 or maximum the feedback current is too small 10 or the speed is too small Connect the motor power cables again or replace them Er 939 motor power cable breaking The motor power cables break Check the motor power cables 95 Chapter 6 Troubleshooting paul ode Probable Cause Confirming Method Solution Principle and Description Er 941 parameter modification taking effect only after power on again The modification of certain parameters he servo drive is powered on again Er 942 parameter storage too frequent Parameters are Stored frequently to EEPROM The forward limit overtravel warn switch is triggered Er 952 reverse The reverse limit overtravel warn switch is triggered ing Er 980 encoder fault The encoder is faulty internally hen HOA 00 is set o 1 the three phase Servo drive can run 0 4 0 75 kW when wo phases are connected but a warning is reported in this case Er 990 input phase loss warning Er 994 CAN address conflict CANIink address conflict occurs akes effect only after Power on the servo drive again Check the running mode For the parameters that need not be stored The memory in EE
124. it input gt Reference input E setting L Reference ramp E Reference limit SPDbDirSel input E Reference direction selection gt a ZCLAMP input Comput o Zero clamp function H06 15 gt V LT output Rotational speed limit output V ARR output Speed reached output V CMP output Speed consistent output Ds H06 18 Threshold of speed reached signal consistent signal i H06 17 Width of speed Speed regulator The main use procedure of the speed control mode is as follows 1 Connect the power cables of the main circuit and control circuit of the servo drive motor power cables and encoder cables correctly After power on the keypad of the servo drive displays rdy indicating that the wiring is correct 2 Perform trial jog running by pressing keys and ensure that the motor can run properly 3 Connect the required DI DO signals and analog speed references of terminal CN1 according to Figure 4 5 4 Perform the setting related to the speed control mode 5 Make the motor rotate at a low speed and ensure that the rotating direction is normal Then adjust the gain For details see the commissioning procedure in section 4 5 64 Chapter 4 Running and Commissioning 4 2 1 Wiring of the Speed Control Mode Figure 4 6 Wiring of the speed control mode
125. l torque limit disabled torque limit External Valid External torque limit enabled FunIN 17 N CL reverse invalid External torque limit disabled torque limit Valid Reference input zs JS CMDS Onward og Invalid Reference input stopped Malid Reference input THIS pee Reverse jog Vale Reference input stopped DI position Valid Execute step reference FunIN 20 POSSTEP step Invalid Reference being zero in reference positioning state Handwheel FunlN 21 HX1 ae m 4 HX1 valid HX2 invalid X10 HX1 invalid HX2 valid X100 Handwheel Other X1 FunIN 22 Hx2 oping factor signal 2 Invalid Position control based on the Handwheel setting of H05 00 FunIN 23 HX EN enable Valid Receive pulse signal from the signal handwheel for position control in position control mode Electronic T FuniN 24 GEAR SEL gearratio Vella Electronic gear ratio 1 l Valid Electronic gear ratio 2 switchover Torque on I FunIN 25 TOQDirSel reference Valid ronald direction amr Invalid Reverse direction direction Speed s ipt FunIN 26 SPDDirSel reference Valld Forward direction redio Invalid Reverse direction 141 FunIN 13 INHIBIT Chapter 7 Function Code Table No Function Function Deccan l Symbol Name p Position 2 NE FunIN 27 POSDirSel reference Mane Forward direction E Invalid Reverse direction direction Internal Valid at edges FunIN 28 PosInSen multi positio Walid Internal multi position ignored n enable Invalid
126. ls same function Check whether any two values of H03 02 to H03 20 are the same Set the related function codes again 1 A parameter check error occurs or no Check whether the cable parameter is stored in the between the motor and the serial encoder ROM encoder is connected securely Er 136 memory data check error or no parameter stored in 2 The motor model is set the motor ROM incorrectly Connect the encoder cable again Check whether the motor model set in HOO 00 matches the servo drive Set the motor model correctly 3 The servo drive model 3 Check whether the servo and the motor model do Idrive model matches the motor not match model Replace the servo drive or motor Er 200 1 The reference input is overcurrent 1 at the same time with the servo drive startup or the Er 201 reference input is too overcurrent 2 early Input the reference after Check the time sequence of the servo drive starts up reference input and enters the rdy state 2 The external braking Measure whether the resistor provides too resistance of the braking small resistance or is resistor meets the short circuited specifications 3 The motor cables are in Check whether the cable Fasten the cable poor contact connectors become loose connectors Check the insulation resistor between the UVW cables and grounding cable of the motor Select a proper braking resistor according to the manual 4 The motor
127. n 2 Multiple terminals share the same current limiting resistor resulting in that pulses are inaccurately received Servo drive 5 24 VDC Yo Relay 7 DO1 wrong polarity of X flywheel diode 6 DO1 x 39 Chapter 3 Wiring of the Servo Drive and Servo Motor b When input signal of the upper device is optocoupler input Servo drive Servo drive 5 24 VDC 5 24 VDC ToS No current limit a X ER D resistor connected 7 DO1 v Opto coupler 7 DO1 Opto coupler 4 E 6 DO1 4 6 DO1 x The maximum allowable voltage and current of the optocoupler output circuit inside the servo drive are as below Maximum voltage 30 VDC Maximum current DC 50 mA 3 3 2 Al Signals Table 3 13 Al signal description Signal Pent Pin No Function Description Function E NN Common analog input signals Resolution 12 Input voltage maximum 12V 1 7 Analog input signal ground Speed and torque analog signal input terminals are Al1 and AI2 resolution of which is 12 bit Corresponding voltage values are set via parameters of HO3 group Input voltage range 10 to 10 V resolution 12 bit Maximum allowable voltage 12 V Input impedance 9 KQ Servo drive
128. n the following table Function Parameter Senna Rande Min Default Effective OOE Control Code Name g g Unit Setting Time i Mode Speed limit Durin HO6 115 for zero 0 6000 RPM RPM 10 RPM Immediate SURE clamp 70 Chapter 4 Running and Commissioning 4 3 Use of the Torque Control Mode Figure 4 12 Diagram of the torque control mode Host computer Servo drive H07 00 Main torque reference A source H07 01 Auxiliary torque reference B source H07 02 Torque H07 05 Torque reference source reference filter time 1 HO07 07 Torque limit source H07 08 T LMT selection H07 09 Internal forward torque limit H07 10 Internal reverse torque limit H07 11 External forward torque limit H07 12 External reverse torque limit Reference input setting gt Reference filter gt Reference limit Reference direction selection Torque reference input V SPDDirSel input gt External Al speed limit input gt U Torque limit H07 17 Speed limit source H07 18 V LMT selection H07 19 Forward speed limit Speed limit 1 in torque control H07 20 Reverse speed limit V LT output lt 4 C LT output lt Speed limit function Speed limit 2 in torque control i Toq Reach output Torque limit output Torque reached output l
129. ne setting H03 58 Set the maximum speed value of H03 80 corresponding to 10 V Set the minimum speed negative value of H03 80 corresponding to 10 V Set H03 80 Speed corresponding to 10 V to 3000 RPM When there is interference on the AI2 input signal set the AI2 input filter time HO3 56 66 Chapter 4 Running and Commissioning Figure 4 7 No offset Al2 Speed A Speed corresponding to 10 V H03 80 V_Ref 10V Dead zone Voltaae H03 58 Al 10 V g Speed corresponding to 10 V H03 80 Figure 4 8 After offset Al2 __ No offset speed reference curve After offset speed reference curve Speed A Speed No offset After offset Speed corresponding to 10 V g 10 V Voltage Dead zone H03 58 ME Speed corresponding to 10 V H03 80 Offset H03 55 View the set speed reference value in HOB 01 The multi speed references refer to the 16 groups of speed references and related control parameters stored in the internal register specified via an external DI or internally The multi speed references can be used in all the three working modes For the jog speed references two Dis or the host control software is configured with the jog running functions FunIN 18 and FunIN 19 the jog running speed is the speed stored in H06 04 and the speed reference direction is determined based on the DI states
130. nectors to prevent them from being damaged Hold the servo motor body during transportation when the cables are well connected instead of catching the cables Otherwise the connectors may be damaged or the cables may be broken If bending cables are used do not attach stress on the cables during wiring Failure to comply may cause damage to the connectors Connectors 2 2 Installation of the Servo Drive 2 2 1 Installation Location 1 Install the servo drive inside a cabinet free of sun light and rain 2 Do not install the servo drive in an environment with corrosive or inflammable gases or combustible goods such as hydrogen sulfide chlorine anmonia sulphur gas chloridize gas acid soda and salt 3 Do no install the servo drive in the environment with high temperature moisture dust and metal powder 4 Install the servo drive in a place with no vibration 2 2 2 Installation Environment Table 2 3 Installation environment m Bm 0 to 55 C The average load rate must not exceed 80 at the temperature of 40 C to 55 C no freezing Working temperature Working humidity Storage ke 90 RH no condensation 2 2 3 Installation Precautions 1 Installation Method Make sure the installation direction of the servo drive is vertical with the wall Cool the servo drive with natural air or via a cooling fan Fix the servo drive solidly on the mounting surface via two to four mounting holes number of
131. ng is incorrect Install the servo drive according to the requirements Check the installation of the servo drive Power off the servo drive restart it after five minutes and check whether the fault persists Replace the servo drive Use the twisted shielded cable as the encoder Check the encoder wiring encoder wiring terminals Separate the motor cables and encoder cable Check the encoder wiring E Lem Connect the encoder cable again and fasten the wiring terminal Check the encoder wiring Rotate the motor shaft manually to check whether the value of HOB 10 changes slowly within 0 360 Replace the encoder or contact Inovance for technical support Ensure that the input voltage is not higher than 11 5 V Check the wiring according to n e Perform the wiring again the correct wiring diagram Check connection of the Connect the encoder encoder cable to see whether cable correctly or replace incorrect connection wire the cable Separate the breaking or poor contact motor cables and exists encoder cable Measure the Al voltage If the servo drive is powered off and powered on again several times but the fault persists it indicates that the encoder is faulty Replace the servo motor Connect the encoder cable correctly or replace the cable Separate the motor cables and encoder cable Check connection of the encoder cable to see whether incorrect connection wire bre
132. ng of H09 01 trap HO9 12 or H09 15 Yes Is there vibration Perform manual gain adjustment HO9 00 0 H08 00 H08 01 H08 02 H07 05 H08 18 H08 19 H08 20 H08 21 and H08 22 Is performance OK 4 5 1 Inertia Auto tuning Before performing automatic or manual gain adjustment perform inertia auto tuning to obtain the actual load inertia ratio The following figure is the inertia auto tuning flowchart 79 Chapter 4 Running and Commissioning Figure 4 17 Inertia auto tuning flowchart After the wiring and basic setting are complete the servo drive enters the rdy state Note To prevent accidents due to overtravel during inertia auto tuning install the limit switches on the mechanical side and ensure that the movable travel of at least one revolution on the forward and reverse directions is allowed for the motor Is preset inertia ratio smaller than 10 Preset the inertia ratio in HO8 15 Does the actual motor movable travel satisfy the setting of HO9 09 Reduce the maximum speed for inertia auto tuning HO9 06 Enter HOd 02 and the keypad displays the inertia ratio set in H08 15 Increase the value of HO9 06 properly auto tuning result larger the value the more accurate the the m Set H09 05 to 1 Hol
133. ns of the Servo Drive and Servo Motor Use the screw hole at the shaft end when mounting a pulley to the servo motor shaft with a keyway To fit the pulley insert a double end screw into the screw hole of the shaft put a washer against the coupling end and then use a nut to push the pulley in For the servo motor shaft without a keyway use friction coupling or the like When removing the pulley use a pulley remover to protect the shaft from suffering severe impact from load To ensure safety install a protective cover or similar device on the rotary area such as the pulley mounted on the shaft mms Screw TH _washer gf trie 1 E Flange coupling pulley Align the shaft of the servo motor with the shaft of the equipment and then couple the shafts When installing the servo motor make sure the alignment accuracy satisfy the requirement as described in the following figure If the shafts are not properly aligned vibration will be generated and may damage the bearings and encoder Measure the distance at four different positions on the circumference The Alignment fix difference between the maximum and x minimum measurements must be 0 03 mm or less Confirm the IP level of the servo drive when using it in a place with water drops except for the shaft through portion In the environment
134. on deviation absolute value smaller than amplitude of positioning 1 completed and position reference after filter being O 2 Position deviation absolute positioning completed and position reference 107 Immediate During running Chapter 7 Function Code Table Function Default Effective Control Amplitude for 1 134 HO5 21 positioning oer eneode encoder encoder i unit completed unit unit Amplitude of EUN 1 65535 H05 22 posue ng m encouds encoder encoder Immediate Dung almost unit running unit unit completed Immediate During running Interruption 1 Enabled Power on Displacement of 1 HO5 24 interruption ees reference referenc Immediate During i reference unit running fixed length Constant speed HO5 26 for interruption 0 9000 RPM 1 RPM 200 RPM Immediate Puring i running fixed length Acceleration De celeration time 40 ie inmediate During of interruption running fixed length Interruption Tas HOS 29 fixed length Sabied 1 1 Immediate Puring arloek Enabled running l running 0 Forward home return deceleration position and home as home switches 1 Reverse home 1 position and home as home switches 2 Forward home ERN i 0 Disabled 1 Enabled upon ORGSET signal from DI 2 Electrical home return upon ORGSET signal from DI immediately upon power on 4 Started immediately 5 Electrical home return
135. on coefficient of conductor No of Cables in the Current Reduction Same Duct Coefficient 6 The braking resistor cannot be connected between terminals P and Failure to comply may cause a fire 7 Do not bundle power lines and signal lines together or run them through the same duct Power and signal lines shall be separated by at least 30 cm to prevent interference 8 High voltage may still remain in the servo drive when the power supply is cut off Do not touch the power terminals for 5 minutes after power off 9 Conduct maintenance after confirming that the CHARGE indicator is OFF 10 Do not frequently turn power ON and OFF Do not turn power ON or OFF more than once per minute Since the servo drive contains a capacitor in the power supply a high charging current flows for 0 2 seconds when power is turned OFF Frequently turning power ON and OFF will cause deterioration of performance to the main circuit components inside the servo drive 11 Use a grounding wire with the same cross area of the main circuit wire If the cross area of the main circuit wire is less than 1 6 mm use a grounding wire with a cross area of 2 0 mm 12 The servo drive must be reliably grounded 13 Do not power on the servo drive when any screw of the terminal block becomes flexible and any cable is loose Otherwise a fire may occur 31 Chapter 3 Wiring of the Servo Drive and Servo Motor 3 1 4 Connecting Servo Drive Output and Se
136. on jon time 1 Deceleratio 2 H12 49 n time of Acceleration Decelerati 1 Immediate At stop S 10th speed Jon time 2 reference 3 Acceleration Decelerati on time 3 4 Acceleration Decelerati on time 4 H12 50 11th speed o660 19000 RPM 1RPM 2390 Immediate At stop S reference RPM Running time Eja osa OP Mn 0 6553 5 s min 01s 50S jmmediate Atstop S speed min min reference 0 No acceleration deceleratio n time 1 Acceleration Acceleration Decelerati Deceleratio on time 1 H12 52 n time of 2 1 Immediate At stop S 11th speed Acceleration Decelerati reference on time 2 3 Acceleration Decelerati on time 3 4 132 Control Mode 5 0s min Immediate At stop Immediate At stop S Chapter 7 Function Code Table Function Parameter cenna Rande Min Unit Code Name g g Acceleration Decelerati on time 4 Control Mode Default Effective Setting Time FIR 500 H12 53 14th speed 9056 19000 RPM 1 RPM Immediate Atstop S reference RPM Running time ey 0 6553 5 s min 2 Immediate At stop S speed min reference 0 No acceleration deceleratio n time 1 Acceleration Decelerati Acceleration jon time 1 Deceleratio 2 n time of Acceleration Decelerati Immediate At stop 12th speed jon time 2 reference 3 Acceleration Decelerati on time 3 4 Acceleration Decelerati on time 4 H12 56 19th speed o660 19000 RPM 1RPM 2 29
137. on table H17 36 VDOZ2 logic 0 Output 1 when valid 1 selection 1 Output O when valid 0 No function H17 37 ean 1 19 FunOUT 1 19 eclaction refer to the DI DO basic function table H17 38 VDO3 logic 0 Output 1 when valid 1 selection 1 Output O when valid 0 No function H17 39 PERA 1 19 FunOUT 1 19 i ealaction refer to the DI DO basic function table H17 40 VDOA logic 0 Output 1 when valid 1 selection 1 Output 0 when valid 0 No function H17 41 era 1 19 FunOUT 1 19 selection refer to the DI DO basic function table H17 42 VDO5 logic 0 Output 1 when valid 1 selection 1 Output O when valid 0 No function H17 43 Met 1 19 FunOUT 1 19 selection refer to the DI DO basic function table 137 Effective TE Property During m pom Sop running During running Upon stop During pom stop running During apon stop running At display During running Durin During running Durin During running Durin During running Durin During running Durin During Upon stop Upon stop Upon stop Upon stop Upon stop Upon stop running Control Mode Chapter 7 Function Code Table Function Parameter Gade Name Setting Range H17 44 VDO6 logic 0 Output 1 when valid selection 1 Output O when valid VDO7 0 No function 1 19 FunOUT 1 19 EHE ps bn refer to the DI DO basic MESE 0 No function H1
138. or B reference input is active currently Function Function Description Setting Remarks No Name FunIN 4 CMD SEL Main Auxiliary Valid Euren running reference being A reference Invalid Current running reference being B 73 Chapter 4 Running and Commissioning l ewe Be The following table takes Al1 as an example to describe the analog setting of the torque reference Table 4 5 Analog setting of torque reference Set H07 02 Torque reference selection to 1 Auxiliary torque reference B source and H07 01 Auxiliary torque reference B source to 1 Al1 Set the torque reference source in the torque control mode Set related parameters of AI1 a Zero drift correction set in H03 54 or auto correction in Adjust Al2 sampling by setting the zero drift HOD 10 offset and dead zone b Offset setting HO3 50 c Dead zone setting H03 53 Set the maximum torque value of H03 81 corresponding to 10 V Set the minimum torque negative value of H03 81 corresponding to 10 V Set H03 81 Torque corresponding to 10 V to 3 times of the rated torque When there is interference on the AI1 input signal set the Al1 input filter time H03 51 Figure 4 14 No offset Al Torque A Torque corresponding to 10 V H03 81 T Ref 10 V Dead zone H03 53 Al 10V Voltage Torque corresponding to 10 V H03 81 Figure 4 15 After offset AI2 No of
139. otor b When output signal of the upper device is OC output Use 24 V internal Servo drive Use 24 V external Servo drive power supply for power supply for ADS U 24V NPN input 24V 24V power supply 7 24V power 17 supply COM 11 COM 11 DI1 CMD1 9 47kQ 4vzi DI CMD1 9 4 7 KO AYE n COM 14 24 VDC NPN NEM gt COM gt gt 4 NA NA NA Use 24 V internal Servo drive Use 24 V external Servo drive power supply for power supply for PNP input 24V PNP input 24V 24V power supply 17 24V power Tj supply E d COM 11 COM 11 PNP PNP DI1 CMD1 9 4 7 kQ amp i DI CMD1 9 4 7 KO iv 24 VDC COM 14 com gt gt 4 VW VW Note PNP and NPN input cannot be applied in the same circuit 2 DO circuit DO1 to DO5 circuits are the same The following takes DO1 circuit as an example a When input signal of the upper device is relay input Servo drive 5 24 VDC AO Relay N DO1 DO1 NA Wrong connection 1 Current limiting resistor is not connected resulting in burnout of terminals Servo drive 5 24 VDC Qus ns No relay f ps connected D RM 7 DO1 6 DO1 x Wrong connectio
140. oup H11 Multi Position Function Parameters een 123 Group H12 Multi Speed Function Parameters eeeeeennnne 128 Group E17 VDINDO ParamielelsS uucisiasvk ec vecs ER Ro Merake reU bZ vare Ra T Y RR Grae 134 H30 Servo State Variables Read by Communication ssuesssuss 139 Group H31 Variables Set via Communication eeeeeeeennnne 139 DIDO Basic FUNCIONS sarisini siad ge EMEN UE Diss aa bu wi ER NE d daas adu Cho ba aa ded 140 Appendix Version Change Record e leeeeeeeeee e eeeee nennen nnn n nnn nnn 144 Chapter 1 Servo System Selection Chapter 1 Servo System Selection Figure 1 1 Servo drive composition Name Purpose Description LED display 5 bit 7 segment LED display is used to display the running status and parameter setting of the servo drive CN5 analog monitoring signal terminal Connect measuring instrument such as an oscilloscope to facilitate viewing signal status when gains are adjusted Operation buttons OOOOO MODE A V 4q T L Save and enter the next menu Shift the blinking digit to the left Hold down Turn page when there are more than 5 digits Decrease value of the blinking digit Increase value of the blinking digit Switch function codes in turn CHARGE bus voltage indicator Used to indicate that the bus voltage is in
141. pert Control Code Name g g Unit Setting Time Peay Mode Maximum running speed 4_o999 RPM 1 RPM 200 RPM Immediate During of first running displacement Acceleration D peeleiation 0 65535 ms s us 10 ms s Immediate During time of 1st s running displacement Waiting time after 1st 0 10000 ms s Immediate displacement 2nd 1073741824 10737 refere Joe e During displacement 41824 reference unit Eo running Maximum running speed 4 9065 RPM 1 RPM 200 RPM Immediate During of 2nd running displacement Acceleration D eceleration 1 ms During fme of ond 0 65535 ms s s 10 ms s Immediate running displacement Waiting time qune Durin after 2nd 0 10000 ms s 10 ms s Immediate ng s running displacement 1 3rd 1073741824 10737 refere aes TEE During displacement 41824 reference unit nce Sunt running unit Maximum running speed 4 9065 RPM 1 RPM 200 RPM Immediate During of 3rd running displacement During running Acceleration D eceleration 1 ms l During time of 3rd 0 65535 ms s s 10 ms s Immediate running displacement Waiting time qune Durin after 3rd 0 10000 ms s 10 ms s Immediate ng i s running displacement 1 4th 1073741824 10737 refere 10000 During di referenc Immediate isplacement 41824 reference unit En running Maximum running Speed 4 goo RPM 1 RPM 200 RPM Immediate During of 4th running displacement Acceleration D eceleration 1 ms l During tim
142. place the servo drive 86 Chapter 6 Troubleshooting Fault Display Probable Cause Confirming Method Solution and Description faulty and powered on again several times but the fault persists it indicates that the servo drive is faulty If the fault persists after Modify a certain parameter the servo drive is Parameter storage is power on the servo drive again powered off and abnormal and check whether the powered on again modification is saved several times replace the servo drive Er 108 parameter storage fault The power classes of products such as motor and servo drive do not match Check whether the rated motor current is larger than the rated current of the servo drive Replace the product that does not match Read the manual and check whether the type of the Use the correct encoder currently used encoder is type or servo drive type supported by the servo drive 2 The encoder type does not meet the requirements 3 The product motor or Read the manual and servo drive SN does not check whether the set product exist SN exists Select the correct product SN hen the servo drive is Check whether the internally enabled the external DI with the S ON signal Correct the improper external S ON signal is is ON when the auxiliary operations active unction is used Er 121 Invalid servo ON Er 130 different DIs The same function is allocated with the allocated to different D
143. r HOB 13 32 bit decimal reference At display unit display Encoder position 1 deviation counter HOB 15 32 bit decimal encoder At display unit display Feedback pulse counter 1 encoder HOB 17 39 bit decimal unit y DIDI display Total power on time HOB 32 bit decimal At display display At display Lm ale unit At display At display At display At display At display I HOB PA Al2 sampling voltage ER a EUM At display EN value o1Vv 1V HOB 26 Bus voltage 26 Bus voltage At display EN 0 Current fault 1 Latest fault HOB 33 Displayed fault 2 Last 2nd 1 mue During record running Fr Last 9th EES HOB E Fautcode code At display D stamp upon g Current rotational HOB 37 speed upon displayed 1 RPM At display fault Current U upon 119 Chapter 7 Function Code Table Function Default Effective Control Current V upon i HOB Bus voltage upon ia Sai displayed fault p ay Input terminal state upon displayed fault E puclseey gt Output terminal state 2 upon displayed fault TN PEDIS x Function code At display group with abnormal parameter At display Offset in function code group with abnormal parameter Reference position deviation counter 32 bit decimal display Function Min Default Effective Control HOC Servo shaft 1 247 1 During address 0 broadcast address running Serial port baud l
144. r Model LG mm TP mm Weight kg 21 Chapter 2 Installation and Mounting Dimensions of the Servo Drive and Servo Motor 2 750 W lt e co i ee e 500 ty 500 o 8 eO d v au 7 LG e o 006 A 25 eg j is 0 02 A A Y d LL 3 40 lt N foe o 5 eo og i i Y i 0 aS L80018 15 50 10 Ke Y Flat ke L Ax R8 Shaft end y TP Plastic housing EL 4Y CWB AMP 172165 1 AMP 172169 1 422 6006 0 CWB AMP 770834 1 AMP 770834 1 Servo Motor Model LL mm LG mm TP mm Weight kg ISMH4 75B30CB 146 5 193 5 78 e x 10 2 9 3 3 2 4 Overall Dimensions of the Servo Drive Single phase 220 V IS620PS1R6l IS620PS2R8l I8620PS5R5I Three phase 220 V I8620PS5RS5I IS620PS7R6l IS620PS0121 Three phase 380 V IS620PT3R5I 18620PTS5RA4I IS620PT8R4I IS620PT012I IS620PT0171I I5620PTO211 IS620P T0261 Figure 2 2 Overall dimensions of the servo drive 22 Chapter 2 Installation and Mounting Dimensions of t
145. ratios which can be switched over by using the function FunIN 24 When H05 0 i Encoder resolution Electronic gear ratio A H05 02 Function Parameter INTR TEES Min Default Effective proe Control Code Name g g Unit Setting Time sud Mode Pulses for Poweron HO5 02 one motor 1 1048576 1p aN At stop revolution g When this parameter is set the electronic gear ratio is irrelative to H05 07 H05 09 H05 11 and H05 13 and the electronic gear ratio switchover is not supported 3 Position reference filter The input position references are filtered to make rotation of the servo motor smoother This function has obvious effects in the following scenarios Acceleration deceleration processing is not performed on the pulse references output by the host computer and the acceleration deceleration rate is large The pulse frequency is too low The electronic gear ratio is larger than 10 Note This function has no effect on the displacement total pulses of position references 61 Chapter 4 Running and Commissioning The parameter setting for the position reference filter is as follows Function Setting Default Effective 0 1 ms 0 0 ms Immediate 0 0 6553 5 ms Figure 4 4 Example of first order low pass filter Position A Reference before filter reference P mies Px0 632 Reference after filter PX 0358 Peete E et l gt m EE Time T Low pass filter time Low pass filt
146. rd and then reverse running Gain adjustment which supports the operation of adjusting the rigidity level and simple moving information monitoring Supporting the WindowsXP and Windows operating systems For details on how to use the IS Opera see the IS Opera help manual 85 Chapter 6 Troubleshooting Chapter 6 Troubleshooting 6 1 Analysis and Handling of Faults When a fault occurs on the servo drive the keypad displays Er xxx You can view the internal fault code in HOB 45 if a fault has no internal fault code the value of HOB 45 is the same as the display on the keypad The following table describes the analysis and handling of faults Fault Display Probable Cause Confirming Method Solution and Description Ensure that the power 1 The control power voltage is within the voltage drops Measure the power voltage specifications and instantaneously restore the default setting via H02 31 2 Instantaneous power Check whether instantaneous Restore the setting via failure occurs during power failure occurs during H02 31 and enter the parameter writing parameter writing parameter values again Er 111 Change the if the actual values of 3 The times of parameter writing groups HOO and H01 parameter writing within a method and write parameters again If the servo drive is Check whether parameter update is performed frequently from the host computer reported If the values faulty replace it of other groups
147. ries servo drive Servo Drive Model iG L2G R S T P C U V W PE IS620Poccol l sing 18AWG 16 AWG 16 AWG 16 AWG 14 AWG 0 82 mm 1 31 mm 1 31 mm 1 31 mm 2 09 mm SIZE A sogg 18 AWG 16 AWG 16 AWG 16 AWG 14 AWG 0 82 mm 1 31 mm 1 31 mm 1 31 mm 2 09 mm segs 18 AWG 16 AWG 14 AWG 16 AWG 14 AWG 0 82 mm 1 31 mm 2 09 mm 1 31 mm 2 09 mm SIZE C g7Rg 8 WG 16 AWG 12 AWG 16 AWG 14 AWG 0 82 mm 1 31 mm 3 30 mm 1 31 mm 2 09 mm s912 8AWG 14 ANG 10 AWG 14 ANG 14 ANG 0 82 mm 2 09 mm 5 27 mm 2 09 mm 2 09 mm rams 18 AWG 16 AWG 14 AWG 16 AWG 14 AWG 0 82 mm 1 31 mm 2 09 mm 1 31 mm 2 09 mm r5sR4 18AWG 16 AWG 14 ANG 16 ANG 14 ANG 0 82 mm 1 31 mm 2 09 mm 1 31 mm 2 09 mm T8R4 118 AWG 16 AWG 12 AWG 16 AWG 14 AWG 27 Chapter 3 Wiring of the Servo Drive and Servo Motor 0 82 mm 1 31 mm 3 30 mm Kc 31 mm 2 09 mm ro12 18 AWG 14 AWG 10 AWG 14 AWG 14 AWG 0 82 mm 2 09 mm 5 27 mm 2 09 mm 2 09 mm ro17 8AWG 10 AWG 10 AWG 10 AWG 10 AWG 0 82 mm 5 27 mm 5 27 mm 5 27 mm 5 27 mm SIZE E T021 18 AWG 10 AWG 10 AWG 10 AWG 10 AWG 0 82 mm 5 27 mm 5 27 mm 5 27 mm 5 27 mm TO26 18 AWG 10 AWG 10 AWG 10 AWG 10 AWG 0 82 mm 5 27 mm 5 27 mm 5 27 mm 5 27 mm Table 3 4 Recommended main circuit lugs of IS620P series servo drive Servo Drive Model L1C L2C R Si P C U V W
148. rin Upon stop Durin Upon stop Durin Upon stop Upon stop Upon stop Upon stop Upon stop Upon stop Upon stop Upon stop Upon stop Control Property Mode During running During running During running During running During running During running During running During running During running During running During running During running During running Chapter 7 Function Code Table Effective Time VDO14 logic selection 0 Output 1 when valid 1 Output O when valid During spon Stop running 0 No function 1 19 FunOUT 1 19 During refer to the DI DO basic function table VDO15 function selection ponstop running VDO15 logic selection 0 Output 1 when valid 1 Output O when valid During sponsio running 0 No function 1 19 FunOUT 1 19 Usomsto During refer to the DI DO basic p p running function table VDO16 function selection VDO16 logic selection 0 Output 1 when valid 1 Output O when valid During PO Siop running H30 Servo State Variables Read by Communication The values are not displayed on the keypad Function Min Default Effective Control BitO Servo drive ready Servo state Bit1 11 Reserved read by Bit12 13 Servo running At display PST communication state Bit1 15 Reserved FunOut state read by i PST communication FunOut state 2 read by communication
149. ring of the motor and Correct the wiring or encoder replace the cables Increase the capacity of the servo drive and motor reduce the load and increase the acceleration deceleration 2 The load is too heavy The valid torque exceeds Check the overload feature the rated torque The and running references of the motor keeps running for a motor and servo drive long time 3 The acceleration deceleration View the inertia ratio and the is too frequent or the load start stop period inertia is too large Increase the acceleration deceleration Er 610 servo drive overload Er 620 motor overload 4 The gain is improper Check whether the motor causing too high rigidity vibrates and produces and motor vibration and abnormal noise during abnormal noise running 5 The servo drive or View the setting of the related motor model is set necon codes Set the models correctly View the running references and motor rotational speed in Eliminate mechanical the background or on the factors keypad 6 Locked rotor occurs Restart the servo drive and check whether the fault Replace the servo drive persists Note that the faulty can be cleared or the servo drive can be restarted 30s after the overload fault occurs Improve the cooling conditions to reduce the ambient temperature 7 The servo drive is faulty Er 650 heatsink overheat Measure the ambient temperature 1 The ambient tempera
150. roubleshooting Pell Pi ele Probable Cause Confirming Method Solution and Description o Bet HOA 12 to 0 to shield this fault when the motor is dragged by the load The input of the safe Er 300 orque off STO Check the state of the STO STO protection protection terminal is Hearne TO pul voltage is 220 VAC 380 VAC the detected bus Measure the power voltage Adjust the AC power voltage is higher than 420 between terminals Po and ithi voltage to within the V 760 V or the power c eke rents voltage is higher than the input voltage limit Connect a surge 2 The power supply is Measure the power supply suppressor and then instable or affected by the Voltage between terminals P4 connect the power supply If the fault lightning strike and P replace the Servo drive If the resistance is 3 The braking resistor Measure the resistance co wire breaking occurs fails between terminals P and C In this case replace the external braking resistor 4 The resistance of the Er 400 braking resistor is too overvoltage large and the energy absorption during braking is insufficient Select a proper braking Check the resistance of the resistor based on the braking resistor If the input power voltage Check the deceleration ramp is too high adjust it 5 The motor is in abrupt time during running and to within the acceleration deceleration monitor the power voltage specifications Increase
151. roup HOB If the sampling value exceeds 500 mV when there is no input it indicates that the servo drive is faulty Check whether the DI braking switch is triggered 1 Check cable wiring of the external braking resistor according to the wiring diagram Replace the home switch Increase the value of H05 35 Increase the low speed creeping time and the search acceleration deceler ation time and decrease the high speed search speed Use the twisted shielded cables and The zero drift perform the wiring exceeds 500 again and shorten mV the cable distance Replace the servo drive Check the running mode and clear the DI braking terminals P and D is econ ec edian Check wiring of the jumper between power terminals Connect the jumper correctly the internal braking resistor is used 3 The setting of H02 25 is incorrect when the external braking resistor is used 4 The input power Measure the power voltage Replace the power VUILauUuc UU uc S UDDIV aliu c UIC Set H02 25 View the setting of H02 25 correctly 94 Fault Code E M and Description Probable Cause Confirming Method Principle Chapter 6 Troubleshooting specifications that the power voltage is within the specifications Increase the l capacity of the servo Spe capacity PNE View the motion graphics unit or braking servo amplifier or and calculate the maximum resistor and braking resistor is
152. running running Hoo a lraps 50 2000 Hz q Hz 4000 Immediate PUM ps frequency Hz running 09 M9 Trap 3 width level 1 During Trap 3 HO9 20 3ttenuation 1 Immediate PS running 5 2 meta james em running o9 p4 Trap4 50 2000 Hz 1Hz 2000 Immediate DU S Ps frequency Hz running o9 b2 Trap 4 width 9 5o 1 2 Immediate PUNS Ips level running Tape Durin HO9 23 attenuation 1 Immediate 1g PS TRUE running Obtained HO9 24 _ resonance 0 2000 Hz 1 Hz PS frequency 84 Chapter 5 Background Software Chapter 5 Background Software The background software IS Opera is provided at www inovance cn for free download and use Install a communication cable S6 L T00 3 0 and then the PC can communicate with the servo drive You can also make the communication cable yourself and connect the cable according to the instructions in chapter 3 The IS Opera supports the following functions Oscilloscope for detecting and saving instantaneous data during running of the servo system Electronic cam whose parameters can be set in graphical form Supported only by certain servo drive models Parameter management including reading and downloading of parameters in batches Database which can recognize customized function codes Inertia auto tuning Mechanical feature analysis which can analyze the resonance frequency of the mechanical system Jog running which supports position references to make the motor repeat forwa
153. rvo Motor Figure 3 6 Example of connecting servo drive output and servo motor Table 3 7 Connectors of power lines at servo motor end Frame Size of Connector Appearance Terminal Pin Layout Adaptable Motor 4 pin connector OL No Recommendation Plastic housing EL 4A CWB Terminal 421 6003 0 CWB MIL DTL 5015 series 3108E20 18S aviation plug 20 18 aviation plug 32 Chapter 3 Wiring of the Servo Drive and Servo Motor Frame Size of Connector Appearance Terminal Pin Layout Adaptable Motor regardless of positive or negative MIL DTL 5015 series 3108E20 22S aviation plug 20 22 aviation plug B Brake regardless of D positive or negative Note Frame size of motor indicates the width of motor flange 3 2 Connecting Servo Motor Encoder Signals Figure 3 7 Example of connecting encoder signals 33 Chapter 3 Wiring of the Servo Drive and Servo Motor Table 3 8 Connectors of encoder cables at servo drive end Connector Appearance Terminal Pin Layout O 8 END Recommendation Plastic housing of plug at cable side DB9P TELE DATA COM black housing Core DB9P plug TELE DATA COM blue glue
154. rvo drive Ground the PE terminal of the servo drive properly The screw of this terminal must be fixed solidly to ensure good contact 3 6 2 Using EMI Filters To prevent interference from power lines and reduce impact of the servo drive to other sensitive devices install an EMI filter on the input side of the power supply according to the input current In addition install an EMI filter on the power supply line of peripheral equipment if necessary Observe the following precautions when installing and wiring EMI filters 1 Do not put the input and output lines of the EMI filer in the same duct or bundle them together Figure 3 16 EMI filter input and output line wiring 53 Chapter 3 Wiring of the Servo Drive and Servo Motor C D L1C L2C RISIT L1C L2C R os a AC 2M E AC EMI power power filter supply EMI ps gt supply T a filter os p 4 Q 77 L1C L2C RIS LiC L2C P a A D A AC AC ox EMI EMI Fw E L filter Aa shee filter su supply pply KCN e We e e 8 77 77 2 Separate the grounding cable and output power supply line of the EMI filter Figure 3 17 EMI filter grounding cable and output line wiring
155. s from 0 to 1 136 Min Unit Default Setting Effective Time Upon stop Upon stop Upon stop Upon stop Upon stop Upon stop Upon stop Upon stop Upon stop Upon stop Upon stop Upon stop Upon stop Upon stop During running During running During running During running During running During running During running During running During running During running During running During running During running During running Control Chapter 7 Function Code Table Function Parameter S iting Ranae Min Default Code Name g g Unit Setting 0 No function H17 28 ae 1 36 FunIN 1 36 selection refer to the DI DO basic function table 0 Valid when the written VDI15 logic value is 1 selection 1 Valid when the written value changes from 0 to 1 H17 29 0 No function VDI16 1 36 FunIN 1 36 Aue leer ee refer to the DI DO basic function table 0 Valid when the written VDI16 logic value is 1 H17 31 selection 1 Valid when the written 1 value changes from O to 1 BitO VDO1 virtual level H17 32 dein virtual g Bit15 VDO16 virtual level 0 No function mr deett 1 19 FunOUT 1 19 refer to the DI DO basic selection function table H17 34 VDO1 logic 0 Output 1 when valid 1 selection 1 Output 0 when valid 0 No function TER ee 1 19 FunOUT 1 19 refer to the DI DO basic selection functi
156. s of the ISMH2 Series Servo Motor Vn 3000 RPM Vmax 6000 5000 RPM 1 1 0 kW 1 5 kW 2 0 kW 2 5 kW lt i 5 Be KB2 8 2 i 8 yo KB1 a o e 9 a 0 06 A i 37 5 m 36 e S NE lO oP f 99 rad D e i A b F7 0 02 A 1 5 p LL 45 CN o i e e I E e o E oe 0 S a Nae T 0 09 2002 a oo Shaft end Flat key Y MIL DTL 5015 MIL DTL 5015 series series 3102E10SL 4P 3102E20 29P LL LG TP KA1 KA2 KB1 KB2 Servo Motor Model mm mm mm mm mm mm mm MIL DTL 5015 series Aviation plug 3102E20 18P eee S 94 5 143 5 ISMH2 10C30CB D Y 101 192 5 ek E 119 5 168 5 Isura tecaoceipye 15C30CB D Y M8 x 16 128 219 5 emite 20C30CD Y 144 5 193 5 ISMH2 25C30CD Y Ne bo 169 5 218 5 2 3 0 kW 4 0 kW 5 0 kW 18 Chapter 2 Installation and Mounting Dimensions of the Servo Drive and Servo Motor
157. seeeeaees 24 3 1 1 Introduction to the Main Circuit eeeeseeeeeeeeeeeeenen 24 3 1 2 Recommended Models and Specifications of Main Circuit Cables 26 3 1 3 Power Supply Wiring Example eeeeseeeeeeeeennn e 29 3 1 4 Connecting Servo Drive Output and Servo Motor 32 3 2 Connecting Servo Motor Encoder Signals ccccccccecccseeeeeeeeeeeeaeeeseeeeeeeeaees 33 3 3 Connecting Control Signal Terminals cccccecccececeeeceeeeeeeeseseeaneeseeseeesaaes 36 CES RE BI DO SIG WANS RON EET 37 9 92 AT SIG Mal S zs aia ee ditmac hana diia rota E a di ahi inegE 40 3 3 3 Position Reference Input Signals ccccccccecceeeeeseeeceeeceeeeseeeeeeeeeneeees 40 3 3 4 Encoder Frequency Dividing Output Circuit ssesssus 45 9 9 5 VVririd Holding BIAKCS 255552 hue Pres o gd toxin on a e tae nant Dua asad 46 3 4 Communication Signal Wiring ccccccceccceeeceeeeeeeeceeeceeeeaueeeeeteueeeueeseeeseesaues 49 3 5 Analog Monitoring Signal Wiring c cccccececeeceeseecececeeeeeeeeseeeeeuceaeeeseeseeesaees 51 3 6 Anti interference Measures for Electrical Wiring sess 52 3 6 1 Anti interference Wiring Example and Grounding 52 9202 USMOEMLEF IRO S disrateni 53 1 Do not put the input and output lines of the EMI filer in the s
158. st controller The circuit and the host controller together form a closed loop position control system A differential or optocoupler circuit shall be used in the host controller to receive feedback signals The maximum output current is 20 mA 16 Shell Servo drive way output current 20 mA Host computer Servo drive wa output current 20 ma Host computer gt 38021 Pao 36021 PAO AUN Optocoupler 22 PAO gt ae 22 PAO veh 36 Q 36 Q 36 9 25 PBO 36 95 PBO lt 23 PBO gt L X 93 PBO yzk lt 4 36 0 360 36 143 PZO 36 0 Le 24 PZO gt Ww Bw iis lt T 24k PZO 36 Q ee 360 oe e e 29 GND GND 29 GND GND VW VW WZ NM Encoder phase Z output circuit outputs OC signals Normally the encoder phase Z output circuit provides feedback signals to the host controller The circuit and the host controller together form a closed loop position control system An optocoupler circuit relay circuit or bus receiver circuit shall be used in the host controller to receive feedback signals Servo drive 5 24 VDC Optocoupler 44 PZ OUT YA
159. t Speed regulator H07 21 Base value for torque reached H07 22 Threshold of torque reached valid H07 23 Threshold of torque reached invalid The main use procedure of the torque control mode is as follows 1 Connect the power cables of the main circuit and control circuit of the servo drive motor power cables and encoder cables correctly After power on the keypad of the servo drive displays rdy indicating that the wiring is correct 2 Perform trial jog running by pressing keys and ensure that the motor can run properly 3 Connect the required DI DO signals and analog speed references of terminal CN1 according to Figure 4 12 4 Perform the setting related to the torque control mode 5 Set a low speed limit send a forward or reverse torque reference and check whether the rotating direction of the motor is correct and whether the torque is correctly limited If yes the servo system can be used properly 71 Chapter 4 Running and Commissioning 4 3 1 Wiring of the Torque Control Mode Figure 4 13 Wiring of the torque control mode
160. t meet the following condition to guarantee system stability 1 _H08 00 Hz 3 H08 02 Hz Increasing the torque reference filter time in HO7 05 helps suppress the mechanical resonance but reduces the system response The filter time must not be increased randomly and must meet the following condition H07 05 ms lt 2 70 x H08 00 Hz Function Parameter Default Code Name Setting Range Min Unit Setting Effective Time Property Hos po Speed loop 45 5000 0 Hz 25 0 Hz Immediate PU NS ps gain running Speed loop HO8 01 integral time 0 15 512 00 ms 0 01 ms 1 83 ms Immediate running constant loop gain running Torque HO7 05 reference 0 00 30 00 ms 0 01 ms 0 79ms_ Immediate running filter time 4 5 4 Trap The mechanical system has a certain resonance frequency If the gain is too high resonance around the resonance frequency may occur and a trap can be used to solve the problem The trap reduces the gain of the specified frequency to suppress the mechanical resonance Therefore the gain can be set higher than that without using the trap A total of four traps can be used and each has three parameters frequency width level and attenuation level When the frequency is the default value 2000 Hz the trap is actually invalid Traps 1 and 2 are manual traps and their parameters need to set manually Traps 3 and 4 are self adaptive traps and their parameters are set automatically by the
161. t the check whether the power power cables again or supply cables are connected replace them properly Be Theasenouaveis Check whether the fault fault persists after the servo drive is Replace the servo drive y restarted several times 1 The three phase power cables are not connected well Connect the power cables again or replace them Check wiring of the power cables 2 The single phase power supply is used for the three phase servo drive Check the required and actual power supply specifications of the servo drive Use the correct power supply Er 420 power cable phase loss 3 The three phase power supply is unbalanced or the voltage is too low Ensure that the three phase power supply is balanced and the power voltage meets the specifications Check the voltage of each phase Check whether the fault persists after the servo drive is powered off and powered on again 4 The servo drive is faulty Replace the servo drive 1 The control power supply is instable or power failure occurs Measure the voltage between Ensure that the control L1C and L2C power supply is stable Er 430 undervoltage of control power Connect the control power cables again or replace them 2 The control power cables are in poor contact Check connection of the control power cables Restart the servo drive and check whether the fault persists 2 SERON Replace the servo drive faulty
162. ted actions may occur due to different mechanical characteristics and do not set the parameters too large or small 3 The bus voltage indicator and digital display are normal 4 5 Load Inertia Auto tuning and Gain Adjustment After completing the installation and wiring correctly and performing required parameter setting commission the inertia auto tuning rigid table and vibration suppression Perform inertia auto tuning see section 4 5 1 to obtain the correct load inertia ratio Then perform automatic gain adjustment see section 4 5 2 If the effect is not good perform manual gain adjustment see section 4 5 3 When using the trap to suppress the mechanical resonance you can set two resonance frequencies see section 4 5 4 The following figure is the general commissioning flowchart 78 Chapter 4 Running and Commissioning Figure 4 16 General commissioning flowchart Complete the installation and wiring correctly and set H00 00 H02 00 DI DO parameters in groups H03 and H04 electronic gear ratio and reference input mode in group HO5 Y Perform inertia auto tuning HOD 02 H08 15 H09 05 H09 06 H09 07 and H09 08 Y Perform automatic gain adjustment by using the rigid table HO9 00 1 Note that the manual setting of HO8 00 H08 01 H08 02 and H07 05 is invalid in this mode y The machanism repeats the operation to adjusts Reduce the rigidity level or use the the rigidity level based on the setti
163. time 2 reference 3 Acceleration Decelerati on time 3 4 Acceleration Decelerati on time 4 8th speed o600 19000 RPM 1 RPM 300 RPM Immediate At stop reference Running H12 42 ime of 8th o 6553 5 s min 01s 90S Immediate At stop speed min min reference 0 No acceleration deceleratio n time i Acceleration Decelerati Acceleration on time 1 Deceleratio 2 H12 43 n time of 8th Acceleration Decelerati 1 Immediate At stop S speed on time 2 reference 3 Acceleration Decelerati on time 3 4 Acceleration Decelerati on time 4 H12 44 9h speed 566 19000 RPM 1RPM 100 Immediate At stop S reference RPM 131 Control Mode Immediate At stop S S S S S S Chapter 7 Function Code Table Function Parameter Default Effective Running H12 45 me of 9th ly 6553 5 s min speed reference 0 1s min 0 No acceleration deceleratio n time 1 Acceleration Decelerati Acceleration on time 1 Deceleratio 2 H12 46 n time of 9th Acceleration Decelerati 1 speed on time 2 reference 3 Acceleration Decelerati on time 3 4 Acceleration Decelerati on time 4 H12 47 19th speed o600 19000 RPM 1RPM 21090 Immediate At stop S reference RPM Running time H12 4g OF 10th 0 6553 5 s min 01s 90S Immediate Atstop S speed min min reference 0 No acceleration deceleratio n time 1 Acceleration Decelerati Accelerati
164. tion VDI11 logic selection VDI12 function selection VDI12 logic selection VDI13 function selection VDI13 logic selection VDI14 function selection VDI14 logic selection Chapter 7 Function Code Table 0 No function 1 36 FunIN 1 36 refer to the DI DO basic function table 0 Valid when the written value is 1 1 Valid when the written value changes from 0 to 1 0 No function 1 36 FunIN 1 36 refer to the DI DO basic function table 0 Valid when the written value is 1 1 Valid when the written value changes from 0 to 1 0 No function 1 36 FunIN 1 36 refer to the DI DO basic function table 0 Valid when the written value is 1 1 Valid when the written value changes from 0 to 1 0 No function 1 36 FunIN 1 36 refer to the DI DO basic function table 0 Valid when the written value is 1 1 Valid when the written value changes from 0 to 1 0 No function 1 36 FunIN 1 36 refer to the DI DO basic function table 0 Valid when the written value is 1 1 Valid when the written value changes from 0 to 1 0 No function 1 36 FunIN 1 36 refer to the DI DO basic function table 0 Valid when the written value is 1 1 Valid when the written value changes from 0 to 1 0 No function 1 36 FunIN 1 36 refer to the DI DO basic function table 0 Valid when the written value is 1 1 Valid when the written value change
165. top again At display At display At display At display jek NN 0 CANIink protocol 1 CANopen protocol NodeGuard messages received from host computer Sync messages received from host computer SDO messages received from host computer PDO messages received from host computer 121 Chapter 7 Function Code Table Function Min Default Effective Control HOC 24 CAN frame type 0 Standard frame 1 Power on During 1 Extended frame again running Bois ees 0 5000 ms 1ms 1ms immediate During response delay running Modbus 32 bit 0 High 16 bits before function code low 16 bits T During transmission 1 Low 16 bits before running sequence high 16 bits Warning intervals of NodeGuard timeout Immediate At stop CANopen packet 0 Little endian i mnBdrs During transmission 1 Big endian running sequence Modbus error abs protocol During 1 Standard error Immediate frame format running protocol Group HOD Auxiliary Function Parameters Function Min Default Effective Control HOD Software reset pope taNon 1 Immediate At stop 1 Enabled HOD 01 Fault reset PFNO operation 1 Immediate At stop 1 Enabled HOD 02 Load inertia auto tuning Initial angle 0 No operation l 0 No operation HoD o4 Encoder ROM 1 Read ROM 1 Immediate At stop 2 Write ROM 0 No operation During HOD 07 Coulomb friction 0 No operation 1 Immediate At stop auto tuning 1 Enabled En
166. ture is too high Change the fault reset occurs wait 30s and then perform the reset operation Increase the capacity if the servo drive and motor increase the acceleration deceleration time and reduce the load i Observe whether the Contact Inovance to 3 The fan is damaged fan works during running replace the fan 91 2 The servo drive is powered off and powered on several times to reset the overload fault View the fault records and check whether the overload fault occurs Chapter 6 Troubleshooting Fault Display Probable Cause Confirming Method Solution and Description 4 The installation direction and clearance from other servo drives are improper 5 The servo drive is faulty of the encoder exists Er 740 encoder interference 3 Connection of the encoder cable becomes loose 4 The encoder is faulty 1 The Al voltage is too AD sampling Qyetvoliage 2 The Al wiring is incorrect 1 The cable of the serial encoder breaks or is not connected The encoder Er A33 cable becomes loose encoder data abnormal 2 Parameter reading and writing of the serial encoder are abnormal 1 The cable of the serial encoder breaks or is not connected The encoder Er A34 cable becomes loose encoder communication check abnormal 2 The motor model is improper Er A35 Z signal lost 1 The encoder is faulty 1 Interference on Z signal 2 The encoder wiri
167. ulty times but the fault persists it Replace the servo drive indicates that the servo drive is aulty 1 The power output Disconnect the UVW cables cables UVW of the servo Connect the cables drive are short circuited to easure ene Ie maor again or replace them ground UVW cables are short circuited l o ground Remove the motor UVW cables from the motor and measure whether the motor Replace the motor UVW cables are short circuited to the motor grounding cable 2 The motor is short circuited to ground Disconnect the motor UVW cables from the servo drive If the servo drive is powered off and powered on again several Replace the servo drive times but the fault persists it indicates that the servo drive is faulty 3 The servo drive is faulty Connect the UVW cables according to the correct sequence Connect the UVW cables according to the correct sequence The UVW cables are Check the phase sequence of connected incorrectly he UVW cables 1 The UVW phase Check the phase sequence of sequence is incorrect he UVW cables 2 The phase detection is Check whether the fault is Power off the servo incorrect due to reported when the UVW phase drive and then power it interference sequence is correct on again 3 The encoder type is set Correct the motor Check the encoder type incorrectly or the wiring is and wiring incorrect model encoder type and encoder wiring 88 Chapter 6 T
168. used in an environment with high density sulphur or sulfuretted gas Pay attention to the input voltage to the product Inputting a voltage far larger than the rated voltage may cause damage of the internal components thus resulting in smoke or even a fire End user decides whether the servo drive matches the structure size service life features specification change of the equipment to which the servo drive is to be installed and its parts and whether complies with local laws and regulations Note that use of this product beyond its specifications can be not guaranteed This product is subject to change of certain components as we are dedicated to continuous improvement of the product Preface Contents Chapter 1 Servo System Selection 4 iiri oo ocy octo eee eaon ros basa Ee toon Vau Les d ER Ese PA CUR Rea E EP ES 5 1 1 Designation Rules of the Servo Motor and Servo Drive 7 1 2 Servo Motor and Servo Drive Configuration ccccccccceeceeeeeceeeeeeeeseeeseeeaeeeaes 8 1 9 Adapted CableSsssetacidtiscionn cursu a claudi adic Pa ees 9 1 4 Braking Resistor Specifications ccccccccccccceccceeeeeeeeceeeceeeeeeeeseeseueeseeeseeeseeeeaes 11 Chapter 2 Installation and Mounting Dimensions of the Servo Drive and Servo MOTON gis 12 2 1 Installation of the Servo Motor seeeesseesseeseeeeenenmnne nnn 12 2 4 Lo MSTA A
169. ut keypad warning 1 Not output veep Smallest allowed At display coefficient dynamic At display H 0 Internal 1 External natural Dynamic cooling H02 25 braking resistor 2 External forced air type cooling H02 21 NO 02 23 built in dynamic braking resistor Resistor heat 02 24 dissipation 10 100 Power of built in H02 22 dynamic braking resistor Immediate At stop 3 No resistor using only capacitor 1 1 1 Resistance of 1 Power of H02 26 Fia 1 65535 W W dependen Immediate At stop ynamic braking resistor H 1 Resistance of 02 27 aul 1 1000 Q Q dependen Immediate At stop ynamic braking resistor 0 No operation Parameter 1 Restore default H02 31 hea setting except Immediate At stop initialization groups HO and H1 2 Clear fault records 100 ms 1 Q W Q 1 1 1 Chapter 7 Function Code Table Function Min Default Effective Control 0 Switchover to HOB 00 1 Switchover to H02 32 Default keypad HOB 01 I 50 Immediate During display 2 Switchover to running 50 Not switchover epum x elei SIsI wu a 1 1 Group H03 Input Terminal Parameters Function Parameter Senna Rande Min Default Effective roen Control Code Name g g Unit Setting Time pery Mode States of functions not 0 0xF FFF allocated Bit0 FuniN 1 Power on Durin H03 00 Bit1 FunIN 2 1 0 Ng among again running FunIN 1 16 ove HEX Bit15
170. vo drive cannot work properly 4 1 2 Function Code Setting of the Position Control Mode The parameters for the position control mode include the mode selection reference pulse form electronic gear ratio and DI DO setting 1 Position reference input setting a Position reference source Use the default value 0 of H05 00 or set this parameter based on the actual situation Contr Parameter Setting Range Min Unit Default Effective Prope E Name Setting Time rty Mode Main oe 0 Pulse reference position l At 1 Step setting Immediate reference m stop 2 Multi position setting source b Pulse reference source opecify whether the pulse reference source is high speed pulse input or low speed pulse input by setting the function code H05 01 Function Parameter Setting Ranae Min Default Effective Brocer Control Code Name g g Unit Setting Time PET Mode H05 01 Pulse reference 0 Low speed pulse input 1 Power on At stop selection 1 High speed pulse input again C Position reference direction switchover Set the function FunIN 27 to switch over the position reference direction by a DI Function Function er Valid Forward Set the logic of the 3 CE corresponding DI to 0 Position direction ob FunIN 27 POSDirSel reference Invalid m o This function is direction Reverse direction supported only when H05 00 is set to O or 1 d Pulse reference form Select the pulse reference form by setting H05
171. voltage 9 Al2 voltage Hoa 51 201 offset 6006 110000 mv 1 mV 5000 mV Immediate P ring voltage running H04 52 multiplying 99 99 99 99 times 0 01 1 00 immediate During times times running 105 Chapter 7 Function Code Table Function Parameter Senno Rande Min Default Effective Code Name g g Unit Setting Time 0 Motor rotational speed 1 V 1000 RPM by default 1 Speed reference 1 V 1000 RPM 2 Torque reference 1 V 100 3 Position deviation 0 05 V 1 reference unit 4 Position amplifier deviation 0 05 V 1 H04 53 e signal encoder pulse unit 1 Immediate Dunng selection 5 running 5 Position reference speed 1 V 1000 RPM 6 Positioning completed reference positioning completed 5 V positioning uncompleted 0 V 1 Speed feedforward 1 V 1000 RPM 8 AI1 voltage 9 AI2 voltage Hoa 54 O offset 45500 10000 mv 1 mV 5000 mV Immediate PUring voltage running multiplying 99 99 99 99 times Immediate Dung m running Group H05 Position Control Parameters Function Default Effective Control Main position P K a H05 reference i p ng 1 Immediate At stop 2 Multi position source setting 0 Low speed HO5 04 Pulse reference pulse input 1 Power on At stop selection 1 High speed again pulse input Hos o2 ulsesforone o 545576 P r 1 P r Power On at stop motor revolution again First order HO5 04 low pass filter 0 6553 5 ms
172. wed 2 Electronic gear ratio Set the electronic gear ratio based on the actual situation of the mechanism and host computer Function Min Default Effective Control Electronic gear HO5 07 ratio 1 1 1073741824 1 1048576 Immediate At stop numerator H05 Electronic gear 4 4074744824 h Immediate At stop 1 denominator Hos 41 Gear ratio 2 1 1073741824 1 1048576 mmediate At stop numerator 60 Chapter 4 Running and Commissioning Function Min Default Effective Control Hos 43 Cearratio2 4 4075741824 M Immediate At stop denominator The following figure shows the working principle of the electronic gear ratio Figure 4 3 Working principle of the electronic gear ratio y Position reference unit E B pulses Position Speed Current Pus af gt b gt Db A gt loop loop loop PG Position feedback pulses When H05 02 is 0 and the motor is connected to the load through the reduction gear assume that the reduction ratio between the motor shaft and the load mechanical side is n m the load shaft rotates n revolutions when the motor shaft rotates m revolutions and the formula of calculating the electronic gear ratio is as follows B H05 07 Encoder resolution m Electronic gear ratio X A H05 09 Displacement command unit when n the load shaft rotates one revolution The IS620P supports two electronic gear
173. where the shaft through portion is exposed to oil drops select and use a servo motor with oil seal Observe the following conditions when using the servo motor with oil seal e Make sure the oil level is lower than the oil seal lip during usage Use the servo motor with oil seal under the circumstance that the oil seal is maintaining good condition of splashing of oil sprays Protect the oil seal lip from accumulating oil sprays when the servo motor is installed vertically upward Flange face Handling oil and water Shaft through portion indicates the clearance of the shaft extension portion from the motor end face Transmission shaft Stress of Do not bend or apply tension to the cables especially the signal cables whose core wire cables is 0 2 or 0 3 mm thick Do not pull the cables tightly during wiring 13 Chapter 2 Installation and Mounting Dimensions of the Servo Drive and Servo Motor When connecting the connectors make sure there is no waste or sheet metal inside the connectors Connect the connectors to the main circuit cable side of the servo motor first and make sure that the grounding wire of the main circuit cable must be reliably connected If the connectors are first connected to the encoder cable side the encoder may become faulty due to the potential differences between PE Make sure the pins are correctly arranged during wiring The connectors are made up of resins Do not strike the con
174. y 0 4 0 Low level valid 1 High level valid 2 Rising edge valid 3 Falling edge valid 4 Both rising edge and falling edge valid 0 36 0 No function 1 36 FunIN 1 36 refer to the DI DO basic function table Input polarity 0 4 0 Low level valid l 1 High level valid oe 2 Rising edge valid 1 3 Falling edge valid 4 Both rising edge and falling edge valid DI4 logic selection During H03 running Upon stop DI5 function selection During pon Stop running During pon stop running 0 36 0 No function 1 36 FunlN 1 36 refer to the DI DO basic function table DI6 function selection During running Upon stop Input polarity 0 4 0 Low level valid 1 High level valid 2 Rising edge valid 3 Falling edge valid 4 Both rising edge and falling edge valid DI6 logic selection During H03 i running Upon stop 0 36 DI7 function 0 No function H03 i 1 36 FunIN 1 36 selection During P poRStop running refer to the DI DO basic function table Input polarity 0 4 0 Low level valid 1 High level valid 2 Rising edge valid 3 Falling edge valid 4 Both rising edge and During running DI7 logic H03 selection Upon stop falling edge valid 102 Chapter 7 Function Code Table Function Parameter Senna Rande Min Default Effective poner Control Code Name g g Unit Setting Time pery Mode HO3 16
175. y a 24 VDC power supply For power information refer to the model of the motor Observe the following precautions during wiring 1 Remove the jumper between the P and D terminals of the servo drive before connecting a braking resistor 2 CN3 and CN4 are two same communication ports which can be used at random 3 For the single phase 220 V servo drive T terminal is not necessary Do not use it during wiring Chapter 1 Servo System Selection 1 1 Designation Rules of the Servo Motor and Servo Drive Figure 1 3 Designation rules of the servo motor ISM H1 75B 30C B U131X ISM series servo motor i Rated Power W 1 letter 2 digits spe Customized Feature Natural cooling Y Aviation plug connection 2nd generation motor Seal ETE EE Shaft Connection Optical shaft Solid with key 3 Solid with key and threaded hole EX Solid with threaded 5 hole Rated Speed rpm 1 letter 2 digits E x 1000 x 10000 Example 75B 750 W 15C 1500 W Encoder Type 1 letter 1 digit 2500 resolution U 1 incremental incre mental 20 bit bus type Voltage Class C x 100 x 1000 E x 10000 Example 15B 150 RPM 30C 3000 RPM Note Models ending in U231 and U234 are standard models Prior ordering is required for non standard models All ISHM4 models and part of ISMH2 models ISMH2 20C 25C 30C 40C 50C are not configured with a

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