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HSV-180D Series AC Servo Drive Unit

1. Signal input Pulse Command pulse pin CW CCW input mode movement parameter PA 22 setting CP me A 0 quadrature pulse XS2 6 0 XS2 5 2 2 DIR CP CP 1 pulse direction XS2 8 DIR sz 1 XS2 7 CW o CCW L JCCW CW CCW 7 2 3 Parameters Related to Speed Torque Control Mode Table 7 6 describes the parameters related to speed torque control mode Table 7 6 Parameters related to speed torque control mode NO Parameter Description Value Range 2 Speed 1 Specify the proportional gain for the 25 to 32767 proportional speed regulator gain 2 Gain and rigidity will be enhanced as the parameter value increases This parameter is determined by the actual servo drive system type and the load Generally load inertia grows as the value increases 3 It is recommended that the value be larger if no oscillation exists 3 Speed integral 1 Set this parameter to the speed regulator 5 to 1000 mS time constant integral time constant 2 Integration speeds up as the value decreases This parameter is determined by the actual servo drive system type and the load Generally load inertia grows as the value increases 3 It is recommended that the value be Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit smaller i
2. Servo Motor Type Power of Circuit Contactor Input AC Reactor Main Motor Breaker A Current Inductance Circuit A Cable mm KW A a mH mm3 HSV 180D 025 2 2 KW 16 10 7 2 0 25 3 0 KW 25 16 10 1 4 4 HSV 180D 035 3 7 KW 25 16 15 0 93 4 HSV 180D 050 5 5 KW 32 25 15 0 93 4 HSV 180D 075 7 5 KW 40 32 20 0 7 4 Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit 4 Installation 4 1 Products Check After receiving products users must check the information shown in Table 4 1 Table 4 1 Information required to be checked after receiving products Item Reference Whether the product Check the product appearance to make sure that is damaged the product is not damaged during transportation Whether the product Check and make sure the type of the servo drive type is in accordance and motor is in accordance with that ordered with that ordered Whether the Check the packing list and make sure that the accessories are accessory type and quantity is correct complete Whether the motor Check and make sure that the motor shaft can be shaft can be easily easily turned by hand except motors with brakes turned by hand If there is any problem contact directly with the supplier or our company Caution Do not install the servo system which is damaged or whose parts are incomplete The servo drive must be use
3. time constant 34 Trap frequency 1 Specify the trap frequency of the wave Value range of the wave trap filter 150 to 1200 trap filter 2 This value is determined by STA 14 The range is 3 Normally the parameter is set to 1200 between 150 to 1200 Hz 38 Deceleration 1 Specify the time required for motor 1 ms to 30s slow down from rated rotary speed to 0 7 3 Control Parameter Mode Series HSV 180D servo drive provides 16 control parameters see Table 7 12 For the parameter operation setting modifying and saving see 6 7 Control Parameter Operation and 6 8 Control Parameter Modifying and Saving Table 7 7 Control Parameters No Parameter Description Description 0 indicates that the maximum positive and negative torque This parameter is used to limit input is controlled by 0 STA 0 select the negative and PA 15 and PA 16 positive analog torque 1 indicates that the maximum limitation input positive and negative torque limitation input is controlled by external analog input f l This parameter is used to noma is 1 opposite direction of specify the inverse of position ae 1 STA 1 position command pulse or command pulse or speed speed command command input This parameter is used to 0 Allow 2 STA 2 specify whether feedback break off alarm is allowed 1 Nalo This parameter is used to 0 Allow 3 STA 3 specify whether system 1 Not allow overs
4. Controller Servo drive unit WAN VR KCI Zy 1 The analog input interface is differential According to different connection methods it provides two forms connection differential and signal ended connection The input voltage range is 10 V to 10 V 2 Inthe differential connection the analog ground wire is connected to the input reference terminal at the side of the controller Therefore it needs three wires to connect the controller and drive see figure 5 15 c 3 Inthe signal ended connection the analog ground wire is connected to the input reference terminal at the side of the drive Therefore it needs two wires to connect the controller and drive see figure 5 15 d 4 The differential connection is superior to the signal ended connection for its good anti common mode interference characteristic 5 The input voltage cannot exceed the range from 10 V to 10 V Otherwise it may damage the drive 6 It is recommended that the shield cable be used to reduce the noise disturbance 7 It is normal for the analog input interface has a zero bias which can be compensated by setting the movement parameter PA 8 8 The analog interface is non isolated Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit 5 2 9 Z phase Pulse Open Collector Output Interface 1 It provides open collector output with a maximum of 50 mA current and 25 V external power supply voltage Therefore
5. HSV 180D Series AC Servo Drive Unit position feedback A B phase signal 11 Orientation finished P 0 to 2000 20 Pulse range Speed reached range 1 r min 12 Position tolerance P 1 to 32767 20000 Pulse test range 13 Position command P 1 to 32767 1 pulse frequency molecular 14 Position command P 1 to 32767 1 pulse frequency denominator 15 Current amplitude P S T 10 to 25000 32767 limit for positive 32767 indicates torque the short time maximum current of the servo drive 16 Current amplitude P S T 32767 to 25000 32767 limit for negative 16 indicates torque the counter clo ckwise short time maximum current of the servo drive 17 Maximum speed P S 100 to 2500 1 r min limitation 6000 18 Overload current P S T 10 to 20000 32767 30000 indicates the short time maximum current of the servo drive 19 Software overload P S 10 to 20000 0 25 ms time 30000 20 Internal speed S 6000 to 0 1 r min 6000 21 JOG operation speed P S 0 to 500 300 1 r min 22 Position command P 0 to 2 1 pulse input mode Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit 23 Selection of control P S T 0 to 3 0 mode 24 Magnetic pole P S T 1 to 4 3 logarithm of the servo motor 25 Encoder resolution P S T 0to3 2 26 Secondar
6. 1 The servo motor must be static before the servo drive switches from EN OFF to EN ON 2 Input commands at least 50 ms after the servo drive switches from the EN OFF to EN ON 3 You can shield this function or you can keep the servo drive in the state of ON by setting the control parameter STA 6 A CL Alarm clearance Alarm clearance input terminal ACL ON Clear system alarms ACL OFF keep system alarms CLEE Position error counter clearance Position error counter clearance input terminal CLEE ON In the position control mode clear the position error counter INH Command pulse prohibition Command pulse prohibition input terminal INH ON The command pulse input is prohibited INH OFF The command pulse input is effective L CCW CCW drive prohibition CCW drive prohibition input terminal OFF CCW drive is allowed ON CCW drive is not prohibited Note Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit 1 For mechanical over limitation when the switch is set to ON the torque in CCW is 0 2 You can shield this function by setting STA 9 or setting the switch to permanent OFF L CW drive prohibition input terminal OFF indicates that CW drive is allowed ON indicates that CW drive is prohibited Note 6 L CW CW drive prohibition 1 For mechanical over limitation when the switch is set to ON the torque in CW is
7. Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit 3 2 Installation Dimension The following figures show the installation dimension of series HSV 180D servo drives Figure 3 2 Installation dimension of HSV 180D 025 035 050 075 without auxiliary devices unit mm Figure 3 3 Installation dimension of HSV 180D 025 035 050 075 without auxiliary devices unit mm Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit NN 3 3 Specification of Servo Motor 3 3 1 Introduction to Series AGK6 AC Permanent Magnet Servo Motor GK6 series of AC servo motors and servo drives can be widely used in various fields such as machine tools textile printing and building materials GK6 AC servo motor uses self cooling motor and its protection class reaches IP64 IP67 GK6 AC servo motor is a three phase AC permanent magnet synchronous motor that uses high performance rare earth permanent magnetic materials to form air gap magnetic field Pulse width modulation PWM inverter is used to control operation to achieve good torque performance and wide speed range A temperature sensor is installed in the stator windings of the servo motor which is used for overheat protection GK6 series of AC servo motors consist of stator rotor and high precision feedback devices such as optical encoder and resolver 3 3 2 Features of Series GM7 AC Servo Servo Motor
8. pressl 4 Press IM to switch the operation mode on the main menu Press to enter the secondary menu of the mode The secondary menu is the functional menu for each operation mode 5 The 6 bit LED digital tube displays various status and data of the system If the first bit of the digital tube displays A and at the same time the light emitting diode blinks red an alarm is generated The follow up bit of the digital tube displays the alarm code After the process of fault diagnosis and troubleshooting you can reset the system by the alarm reset mode under the auxiliary mode or cutting off the power and then re power to the servo drive If the red light emitting diode is off the system is reset Figure 6 2 Alarm display H 6 2 Operation in the Display Mode 1 On the main menu select DP EPS and press It and n to enter the secondary menu for the display mode 2 Series HSV 180D servo drive contains 14 types of display modes see Table 6 1 Press IN and y to select a display mode as required The display status can only be viewed and cannot be modified or set Press S to display the Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit detailed status press S to return to the secondary menu and then press again to return to the main menu Figure 6 3 Secondary menu for the display mode press p
9. 3 Be 4 Camigia Sop rali E FE ICT atr Foe E L cew 5 Toa Ts he CW ime prokabition Oo ewe HIF age eT eh Zero speed locked ONO ZERO sP 26 FA Receiver He iipit HB uy 7 ee Toy pe ey Hata output T i READY 10 v 9 aad rll F me IE Open collector am 9 nape ke LL r servo alarm output c 4 mick WY a COM 19 Optic conja m a Open collector r collector Z phase braking ouiput ENZ epea ic aa P BREAK 4 pE E eom ia Failure chain Mc2 2 parz At E maj 1 26L 31 me dj i Sender ERB Encoder si l dee E s aa ta Position command CP ENZ i PLUS a er hejett ol satan I Position command DIR si n j om 2 I a cRDDE H GHD 5 4 2 Standard Wiring for External Speed Control Mode analog interface The following figures show the standard wiring for external speed control mode Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit Figure 5 18 1 Standard wiring for external speed control mode analog interface configured with Dench motor GK604 GK606 GK607 GK608 and GK610 Servo drive Dench servo motor AC380 50HZ 60HZ 10 15 ha AAEE ETE TE z _ SV 12 a a oy sameer So 2H mee o a Secondary electric p ay electric S o p GEAR_M 25 SWOT gear ratio switching Hal nee T 3 Error count clear 4 CLEE 3 261532 13 Be B 4 Command pulse So mH 4 Recewer Fa Tp fe A 8 gh rin OOH COW s H Sle ER CW drive prof
10. The motor is activated and in the zero speed state Use position controller to output signal to the command input output interfaces 14 15 16 17 pin CP CP DIR DIR to make motor running according to the command Check the table position sensor and its connection carefully if the motor is out of control If A B phase of the table position sensor are reverse you can set the movement parameter PA 10 indicating A B phase signal counting inverse of the table position sensor to 512 to invert the A B phase signal of table position feedback to make the motor working normally Note In the closed loop mode connect the servo motor optical electrical encoder and the table position sensor The control parameter STA 13 must be set to 1 indicating table position sensor is allowed Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit 8 4 Running Modification Note e Wrong parameter setting may cause equipment failure or accidents Make sure the parameter settings are correct before starting the servo drive It is recommended that the overload commissioning be performed after the non load commissioning 1 Basic Gain A Speed Control Speed proportional gain specified by the movement parameter PA 2 Gain and rigidity will be enhanced as the parameter value increases The value is determined by the actual servo drive system type and the load It is recommended that the
11. Torque 1 1 Nm to 70 Nm Sine wave AC servo motor Rated speed 1200 1500 2000 and 3000 rpm e Compact architecture and high power density Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit Optical electrical encoder 2500 lines Small rotor inertia and rapid response Power off brake power supply DC 24 V Super high coercivity rare earth permanent magnet Overheat protection capability Strong anti demagnetization capability Various frame installation size Full closed design Figure 3 4 GK6 series AC permanent magnet servo motor 3 3 3 Technical Specification of Series GK6 AC Permanent Magnet Servo Motor Table 3 3 describes the technical specification of series GK6 AC permanent magnet servo motor Table 3 3 Technical specification of series GK6 AC permanent magnet servo motor Magnetic material e Super high coercivity rare earth permanent magnetic material Insulation level e Class F insulation level When the environmental temperature is 40 degree Celsius the rotor winding temperature can reach 100 K AT 100 K Class H or Class C insulation level is optional in which case the rotor winding temperature can reach 125 K or 145 K respectively Feedback system e Standard square wave optic electrical encoder with U V and W signal Options Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit Temperature protection Resolver u
12. the load of the switch value output signal must meet the requirements If the value exceeds the maximum value or the output terminal is directly connected to the power supply it may damage the servo drive 2 The external power supply is provided by users Make sure that the polarity is not reversed Otherwise it may damage the servo drive 3 Z phase pulse signal is outputted by the open collector If there is Z phase pulse signal the signal is connected Otherwise the signal is disconnected 4 The Z phase pulse signal is usually very narrow Therefore the PC must use a high speed optical coupler receiver such as 6N137 5 The output must be non isolated output non insulated Figure 5 16 Z phase pulse open collector output interface max 25V 50mA Servo drive unit ZPLS_OUT 5 3 Wiring 1 Power input terminal XT1 and heavy current output terminal XT2 a Diameter The cross sectional area of P BK R S T U V W and PE on TX1 of HSV 180D 025 035 050 075 is greater than or equal to 2 5 mm 2 2 kw Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit The cross sectional area of P BK R S T U V W and PE on TX2 of HSV 180D 025 035 050 075 is greater than or equal to 4 mm 3 0 3 7 5 5 7 5 kw b Grounding Grounding wire should be thick The servo drive and servo motor must be connected to PE Grounding resistance less than 4 Q c Use cold pre insulated ter
13. 18 1 and Figure 5 18 2 the standard diagram for external speed control mode in Chapter 5 Connect the main circuit power three phase AC 380 V of the drive and then the displayer of drive is on If an alarm is reported check the connection External enable setting Press M to select the control parameter mode Press f or to select the control parameter STA 6 indicating the state for servo enable and press S to enter the parameter setting mode press f or to set the parameter to 1 internal enable is allowed Press S to return to the control parameter mode Set the movement parameter PA 23 to 3 indicating the internal speed control mode and set the movement parameter PA 20 to 0 at first indicating that the Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit internal speed is 0 rpm Save the parameter settings to EEPROM Turn off the power wait for 30 minutes and then connect the power again If there are no alarms or abnormal situation the green enable lamp EN is light which indicates the drive is operating normal The motor is activated and in the zero speed state Set the movement parameter PA 20 internal speed Press S to enter the parameter setting mode press or to set the parameter to the running speed of the motor unit 1 r min Press S to confirm and then the motor will run at the specified speed 8 3 3 Position Running Mode 1 For wiring see Figure 5 17 1 and Figu
14. DP UVW Display the status of encoder U V W 14 DP CNT Display the control mode of the current servo drive Table 6 2 Meaning of the switch value input status for DP PIN Switch value Input Switch value Meaning of Switch value Input Status Display Input Terminal Terminal DP PIN DP PIN 1 PIN O Servo drive enable 2 PIN 1 Alarm status reset 4 PIN 2 Error counter clearance 8 PIN 3 Command pulse prohibition 16 PIN 4 CW drive prohibition 32 PIN 5 CCW drive prohibition 64 PIN 6 Secondary electronic gear ratio switch 128 PIN 7 Zero speed locked input Note When the switch value input terminal PIN O is effective the drive is enabled You Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit can view the status of DP PIN is 1 When the switch value input terminal PIN 1 is effective the drive is reset You can view the status of DP PIN is 2 6 3 Operation in the Movement Parameter Mode On the main menu select PA 0 and press Tf and to enter the secondary menu for the movement parameter mode HSV 180D series of servo drive contains 40 movement parameters see Chapter 7 for specific meaning Press f and to select a required parameter Press S to display the detailed parameters and you can view modify and set the parameter After modifying or setting parameters press S to return to the secondary menu and then press S again to retur
15. EN on the drive unit panel Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit is off and the red alarm lamp AL is on indicates alarm e After disconnect the main circuit power the internal capacitor storage energy of the servo drive could not be released immediately Do not connect nor disconnect wire within five minutes Avoid frequently turning on and off the main circuit power in a short period of time which may damage the soft start circuit 3 Alarm Clearance There are three methods to clear the alarm e Turn off the power three phase main power After the fault source is cleared repower the servo drive to clear the alarm some alarms can only be cleared by this method Do not turn off the power After the fault source is cleared enter the auxiliary mode to reset the internal alarm to clear the alarm After the alarm is reset the red alarm light is off indicating the alarm is cleared the servo alarm ALM output signal is connected and the failure chain relay normally open contact on the input output terminal XS5 is connected Do not turn off the power After the fault source is cleared reset the external alarm to clear the alarm by using the alarm clear input signal ALM_RST see Figure 8 4 After the alarm is reset the red alarm light is off indicating the alarm is cleared the servo alarm ALM outputs signal is connected and the failure chain relay normally open contact o
16. Mode analog interface 65 5 4 3 Standard Wiring for Closed loop Control Mode pulse interface 67 5 4 4 Connection of External Braking RESIStor c ccxscesesesnawevessesonshscnseuestunseves antes 69 6 Operation and Display scscjicsscipccctsespassssdatadeacusscustessbcastenspsccteusgeacdeve bestusspoesasuspeustentpoameasiemtes 71 6L OV ORV ACW aiina aeniea aa i aaia aa a nada aa Baa a nude a aia ta seket ltes 71 6 2 Operation in the Display Mode e sssesseiesssesiesssiesrsrsresesresrertsrertsrtsrrinresrerenrertsrerrere 72 6 3 Operation in the Movement Parameter Mode ssssiesseessiesesiesreresierrererrererrerrererrene 75 6 4 Operation in the Auxiliary Mode isicccca ci apioddaiciouaioiiated asain 76 6 5 Operations in the Control Parameter Mode sssseseeeeiesreierierrsrerrererrersrerrereereres 78 6 6 Operation in the Alarm History Display Mode Operation 79 6 7 Movement Parameter Setting and Saving ssssssgeez e e r rer kete r rens 80 6 8 Control Parameter Setting and Saving cisesisissitieciesttecsascteesasstbannsasieueteaseonnsacteontss 81 7 Parameter SOTINLE orninn e a e e aa a a a a aA 83 7 1 Function Menti 25 04 secs catetessantaietietteseat nn da iol g ton jel g t n a AS 83 72 Movement Param ter Modere oi E a E ER lte si 84 7 2 1 Parameters Related to Servo MOotor esssessieeeiesiersierisrsrerrsrerrersresrsresrere
17. Unit 6 Operation and Display 6 1 Overview 1 The drive panel consists of 6 LED digital displays 5 buttons Ml Uh K IMI S and 2 light emitting diodes e The function of each button is as follows MI used for main menu mode switching S used for entering into the secondary menu returning to the main menu mode and input confirmation f used for an increase in number and value or moving to the next option i used for a decrease in number and value or moving back to the previous option lt used for shifting 2 After the control power supply of the servo drive is connected the six LED digital displays on the panel all display 8 and change to R O a second later 3 Users must operate based on the multi level menus The first level menu is the main menu which includes five operation modes display mode movement parameter mode auxiliary mode control parameter mode and failure history mode Each operation mode contains a secondary menu Figure 6 1 shows the operation on the main menu Figure 6 1 Main menu of series HSV 180D servo drive Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit a IJP EPS IPA 0 4 EE En SEFR DO A A SE i J e E press M1 Movement parameter mode gm pressivl Control parameter mode Alarm history display mode
18. Wol 0 3 3 GK6131 8SV as 90 H 509 60 HSV 180D 7 61 0 3 1000 18 GK6131 8SE HSV 180D 7 61 5 2 4 GK6132 8S HSV 180D 5 Wol 500 12 0 2 5 GK6132 8SV 750 re 18 ee i HSV 180D 7 61 5 2 4 GK6133 8S 500 150 ig 819 98 HSV 180D 7 Wol 5 2 8 GK6135 8S HSV 180D 7 500 180 18 975 117 Wol 5 2 4 Interface Definition of GK6 Servo Motor Power socket 4 pin plastic butt joint G Pin No 1 2 3 4 Signal Ground U V W o 2 Looking from the socket Power socket 4 pin aviation socket 4 Pin No 1 2 3 4 Signal Ground U V W Power socket 6 pin aviation socket 6 Pin No 1 2 3 4 Left Right Signal Ground U V W Brake Brake Power socket 7 pin aviation socket with brake Pin NO 2 3 4 5 6 7 Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit Signal Groun U V W None Brake Brake d Encoder socket 3 Row DB15 connector Pin 1 2 3 4 5 6 7 8 9 10 1 12 13 14 15 No 1 Signal A B C U V A B C UJ V W W 5 V 0 None V Encoder socket 17 pin aviation socket Pin No 1 2 3 4 5 6 7 8 9 10 1 12 13 14 15 16 Signal Ground A A B B U U V V WI Wy s OV None None Z v 3 3 5 Installation Dimension of Series GK6 Servo Motor This section describes the installation dimension of series GK6 AC permanent magnet s
19. alarm information see Chapter 9 Fault Troubleshooting If the servo drive does not have ten records of alarm status then the alarm status 1 is displayed You can only view alarm information but cannot change or set alarm information After viewing the alarm information press I to return to the secondary menu Press S to return to the main menu Figure 6 7 Secondary menu for the alarm history display mode Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit 5 prosz preset t Pyrs press Table 6 4 Meaning of each symbol in the alarm history display mode 1 HIS 0 The latest alarm status the tenth alarm status 2 HIS 1 The ninth alarm status 3 HIS 2 The eighth alarm status 4 HIS 3 The seventh alarm status 5 HIS 4 The sixth alarm status 6 HIS 5 The fifth alarm status 7 HIS 6 The fourth alarm status 8 HIS 7 The third alarm status 9 HIS 8 The second alarm status 10 HIS 9 The first alarm status 6 7 Movement Parameter Setting and Saving The movement parameter setting takes effect immediately after confirmation Wrong settings may cause improper operation that leads to accidents e After changing a parameter you can confirm the parameter change Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit by pressing S only in the EE WRI auxiliary
20. control mode receiving speed analog input command 2 indicates the analog torque control mode receiving analog torque command 3 indicates the internal speed control mode The digital speed command is set by movement parameter PA 20 0 to 3 32 Feed forward control filter time constant 1 Specify the filter time constant for feed forward command 2 The high speed response is improved as the time constant decreases This can cause instability and oscillation 3 If fast response is not required the parameter can be set to 0 The range is between 0 to 50 ms 35 Position command filter time constant 1 Specify the filter time constant for the position command 2 The control system response becomes slower as the system orientating time increases It is equivalent to the acceleration and deceleration function of the position command 3 Generally this parameter is set to 0 The range is 0 to 25 ms Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit Note In the position control mode HSV 180D servo drive can receive three types of pulse command You can select one of the three pulse commands by setting the movement parameter PA 22 indicating the command pulse input mode Table 7 5 Position command pulse mode
21. drive When the output of Darlington Transistor is connected the output switch value state is ON When the output of Darlington Transistor is disconnected the output switch value state is OFF 5 2 3 Pulse Command Input Interface Figure 5 10 a Differential drive mode of the pulse input Figure 5 10 b Single ended drive mode of pulse input Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit 1 It is recommended that you use the differential drive mode to correctly receive the pulse command 2 Itis recommended that you use the differential drive mode especially when the cable is too long which uses AM26LS31 MC3487 drives or RS422 servo drives 3 The single ended drive mode can reduce the action frequency You can determine the value of R according to a 10 to 15 mA drive current and a maximum of 25 V external power supply voltage e Generally if the value of VCC is 24 V the value of R is 1 3 K to 2 K VCC 24V R 1 3 K to2 K e Ifthe value of VCC is 12 V the value of R is 510 Q to 820 Q VCC 12 V R 510 Q to 820 Q e Ifthe value of VCC is 5 V the value of R is 82 Q to 120 Q VCC 5 V R 82 Q to 120 Q 4 Inthe single ended mode users provide the external power supply Make sure that the polarity is not reversed Otherwise it may damage the servo drive 5 2 4 Servo Motor Optical electrical Encoder Input Interface Figure 5 11 Servo motor optical electrical encoder input interface Wu
22. electrical encoder Z output setting the control parameter STA 13 34 Z ae 0 Servo motor optical electrical encoder Table position sensor ae Z phase pulse output Z output L ae 1 Table position sensor Z phase pulse output Z pulse open collector output terminal NOTE You can set the pulse output mode by 3 ZPLSOUT Z pulse setting the control parameter STA 13 open collector output 0 Servo optical electrical encoder Z phase pulse open collector output 1 Table position sensor Z phase pulse open collector output ZEROSP ON In the analog speed mode the analog speed command must be 0 to prevent from zero drift 26 ZEROSP nee speed locked in pu ZEROSP OFF In the analog speed mode the analog speed command is specified by the external analog voltage Secondary electrical gear ratio switch Secondarv electrical GEAR M ON indicates that the 25 GEAR M Hi ae electronic gear ratio is PA 29 PA 14 E GEAR_M OFF indicates that the electronic gear ratio is PA 13 PA 14 29 DOUTPUT7 Reserved 30 DOUTPUTS Reserved 27 28 GN Analog signal ground Analog signal ground terminal 23 24 GD Digital signal ground Digital signal ground terminal Z phase pulse output to Siemens Series 801 Note Note The pulse output mode can be 21 22 Z Z phase pulse output specified by the control parameter STA 13 0 servo optical electrical encoder Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit Z phase output 1 t
23. gt CLR AL Alarm history Clearing alarm history clearance 6 AUT TU Single parameter The controller parameter is set automatic according to the load inertia ratio modification specified by PA 36 and load rigidity specified by PA 37 Figure 6 5 Secondary menu for the auxiliary mode Wuhan Huazhong Numerical Control Co Ltd and n to enter the secondary HSV 180D Series AC Servo Drive Unit aa fy dFE P press t i DE ad mes fee PSE AL press te i D U m C 0 pes tf gre dd FE UM me eee E Ls E E L J press al Oh CLO AL press press 1 1 EEPROM mode This method is effective only during the parameter changing and settings After changing or setting parameters you can save the new parameter values by pressing S in this mode When FINISH is displayed the parameter change and setting is complete Press IMI to switch to another mode or press IN and p to select other operations in the auxiliary mode 2 JOG mode This mode is effective only in JOG running Set the movement parameter PA 21 JOG speed to a non zero value On the main menu press MI to select the auxiliary mode and press h and n to select the JOG running mode JOG is displayed through the digital display Press IS R is displayed which indicates that the system enters into the running state Press and hold i then the servo drive and motor run at th
24. history of HSV 180D servo drive 1 Series HSV 180D servo drive User s Manual V1 0 2010 1 a Applicable to HSV 180D 025 035 050 075 servo drive b Software version V2 5 2 Series HSV 180D servo drive User s Manual V2 0 2010 11 a Applicable to HSV 180D 025 035 050 075 servo drive Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit b Software version V2 5 c Remove the control power AC 220 V modify the wiring diagram sequential diagram and the corresponding description Wuhan Huazhong Numerical Control Co Ltd
25. in Chapter 5 Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit 2 Connect the main circuit power three phase AC 380 V of the drive and then the displayer of drive is on If an alarm is reported check the connection External enable setting Press M to select control parameter mode Press or to select the control parameter SAT 6 indicating the state for servo enable and press S to enter the parameter setting mode press f or to set the parameter to 0 external enable is allowed Press S to return to the control parameter mode Set the movement parameter PA 23 control mode selection to 2 indicating the torque running mode According to the actual requirement set the movement parameter PA 9 indicating the torque command input gain and PA 10 indicating the torque command zero drift compensation Save the parameter settings to EEPROM Turn off the power wait for 30 minutes and then connect the power again If there are no alarms or abnormal situation the green enable light EN is on which indicates the drive is operating normal The motor is activated and in the zero speed state Use analog controller outputs analog signal to the 27 28 12 13 pin GNDAM AN AN on the command input output interface XS4 to make the motor running according to the command 8 3 6 Closed loop Running Mode Pulse Interface l For wiring see Figure 5 19 1 and 5 19 2 the standard wiring for closed
26. loop control mode pulse interface Connect the main circuit power three phase AC 380 V of the drive and then the displayer of drive is on If an alarm is reported check the connection External enable setting Press M to select control parameter mode Press or to select the control parameter SAT 6 indicating the state for servo enable and press S to enter the parameter setting mode press f or to set the parameter to 0 external Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit 10 enable is allowed Press f or to select the control parameter SAT 13 indicating that whether use the table position sensor and press S to enter the parameter setting mode press Tf or to set the parameter to 1 table position sensor is allowed Press S to return to the control parameter mode Set the movement parameter PA 23 control mode selection to 0 indicating the position running mode According to the controller output signal mode set the movement parameter PA 22 position command pulse input mode and based on PA 13 position command pulse frequency molecular and PA 14 position command pulse frequency denominator to set the proper electrical gear ratio Save the parameter settings to EEPROM Turn off the power wait for 30 minutes and then connect the power again If there are no alarms or abnormal situation the green enable light EN is on which indicates the servo drive is operating normal
27. optical electrical encoder looking from the soldering terminals 2 25 e 21 17 15 e e 4 Connecting terminal for AMP JEEZ KERN EZT A se ps ea A 162 E e S Ee eE e bes e e e bed el Connecting terminal for 3M Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit Figure 5 5 Plugs of XS3 servo motor optical electrical encoder looking from the plug l Lo o EZT o 14 26 Figure 5 6 Soldering terminals of XS2 table position feedback input interface looking from the soldering terminals Be fa E bel ae eI zt Led B Le Ge ee e ek US a e Figure 5 7 Plugs of XS2 table position feedback input interface looking from the plug 5 1 2 XT1 Power Input Terminal 220 B Reserved 2 220A Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit Ground terminal Ground 3 PE i Ground resistance less than 4 Q terminal 4 L3 Main circuit Main circuit power supply input terminal 5 L2 power three phrase Three phrase AC 380 V 50 Hz 6 L1 input terminal Note Do not connect with the output terminal U V or W 5 1 3 XT2 Heavy Current Input Terminal HSV 180D 025 035 050 075 XT2 heavy current input terminal Terminal s an NO Signal Description Symbol e Built in 70 Q 500 W braking resistor is 1 P used e fan internal b
28. return to the movement parameter mode Set the internal enable Press M to select movement parameter mode Press f or to select the movement parameter STA 6 specify the state for enabling and press S to Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit enter the parameter setting mode press f or to set the parameter to 1 internal enable is allowed Press S to return to the movement parameter mode Save the parameter and disconnect the main circuit power three phase AC 380 V Connect the main circuit power three phase AC 380 V of the drive If there are no alarms or abnormal situation the green enable lamp EN is light which indicates the drive is operating normal The motor is activated and in the zero speed state In the auxiliary mode press 1 or to select the JOG mode and JOG is displayed through the digital cube Press to enter into the JOG mode RUN is displayed through the digital cube Press and hold f the servo motor runs at the JOG speed Release Tf and then the motor stops and enters the zero speed state Press and hold the motor runs at the JOG speed in the opposite direction Release and then the motor stops and enters the zero speed state The JOG speed is specified by the movement parameter PA 21 unit 1 r min 8 3 2 Internal Speed Running Mode 1 For wiring see Figure 5 17 1 and Figure 5 17 2 the standard diagram for position control mode or Figure 5
29. 0 2 You can shield this function by setting STA 9 or setting the switch to permanent OFF f Position finished output terminal Position finished When the position error is in the preset output range the signal is connected 7 GET Speed reached output terminal Speed reached output When the speed reaches or exceeds the preset speed the signal is connected Servo ready output terminal SRDY ON indicates proper power supply and no drive alarm The signal is Servo ready output 8 READY connected SRDY OFF indicates the main power is not switched on or a servo drive alarm is reported The signal is disconnected Output terminal for servo alarm ALM OFF No servo drive alarm is reported and the signal is disconnected 05 PPE ER ALM ON A servo drive alarm is reported and the signal is connected 10 SM Speed feedback Speed feedback monitoring terminal monitoring signal Speed feedback analog input il IM Torque current Torque current monitoring terminal monitoring signal Torque current analog output Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit Analog input terminal Speed analog command input 12 AN The range of input voltage is DC 10 to 10 V or 0 to 10 V 13 AN Analog input Speed torgue analog input command reference terminal reference terminal 14 CP Command pulse Externa
30. 3 Various interfaces and flexible control methods Series HSV 18D servo drives can provide various interfaces and flexible control methods as follows Pulse input interface Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit Analog input interface Feedback interface of servo motor optical electrical encoder Feedback interface of servo motor optical electrical encoder Serial communication interface Programmable I O interface 2 2 Introduction to Control Modes Series HSV 180D servo drives provide five control modes Position control mode pulse interface In this mode HSV 180D servo drive can set to external position control mode by setting internal parameters It can receive three types of external pulse command such as orthogonal pulse command pulse direction command and positive and negative pulse command External speed control mode analog interface In this mode HSV 180D servo drive can set to external speed control mode by setting internal parameters It can receives external analog command with amplitude varies from 10 V to 10 V or from 0 V to 10 V Torque control mode analog interface In this mode HSV 180D servo drive can set to torque control mode by setting internal parameters It can receives external analog command with amplitude varies from 10 V to 10 V or from 0 V to 10 V JOG mode In this mode HSV 180D servo drive can run based on the key setting instead of exter
31. 61 2 3 GK6089 6A HSV 180D 50 1200 42 12 6 71 3 31 5 A61 12 4 GK6100 8A HSV 180D 25 A61 3 1 GK6100 8A 1200 4 7 HSV 180D 25 B61 1500 5 9 2 5 18 57 2 21 GK6100 8A 2000 7 8 HSV 180D 35 C61 3000 11 7 2 7 GK6100 8A HSV 180D 50 F61 2 5 GK6101 8A HSV 180D 35 A61 3 GK6101 8A 1200 7 0 HSV 180D 35 Bol 1500 8 8 2 4 27 89 5 26 GK6101 8A 2000 11 7 HSV 180D 50 C61 3000 17 5 2 5 GK6101 8A HSV 180D 75 F61 12 4 GK6103 8A HSV 180D 50 A61 3 1 GK6103 8A ae on HSV 180D 50 1500 36 11 8 121 5 30 Bol 2 5 2000 15 7 GK6103 8A HSV 180D 75 C61 2 7 GK6105 8A HSV 180D 50 A61 1200 11 7 2 5 45 153 5 34 GK6105 8A 1500 14 5 HSV 180D 75 B6l 2 9 GK6107 8A HSV 180D 75 se 55 a 185 5 38 GK6107 8A 1500 17 9 HSV 180D 75 B61 2 4 GK6109 8A HSV 180D 75 1200 70 18 5 233 5 45 A61 2 3 2 Forced cooling Type Rated Static Phase Rotational Weight Adaptive Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit Speed Torque Current Inertia Kg Motor r min M0 10 10 4Kgm Overload Nm A Ratio GK6130 8S HSV 180D 3 Wol 5 2 8 GK6130 8SV 500 7 5 HSV 180D 5 61 750 11 0 2 7 GK6130 8SE 1000 18 15 k HSV 180D 7 61 1200 18 5 2 8 GK6130 8SA HSV 180D 7 61 5 2 4 GK6131 8S HSV 180D 5
32. B T90748 1988 four screws Figure 4 3 Installation diagram of HSV 180D 025 035 050 075 with external heat sink Combination screws with pad M4 x20 GB T9074 8 1988 four screws Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit Figure 4 4 Installation interval of HSV 180D 025 035 050 075 servo drives wall installation Gym La Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit Figure 4 6 Installation intervals of multiple servo drives Z W QF p pae vaj bosma band Cona re A mm od gt 100mm Uc IC i i m 4 4 Installation of Servo Motor Warning Do not knock the motor or encoder to prevent the motor from oscillation or impact e When carrying the motor do not drag the motor shaft leading out wire or encoder Do not overload motor shaft or the motor may be damaged e The motor must be firmly installed and prevent from loosening 4 4 1 Installation Environment 1 Prevention The servo motor is not water proof During installation and operation the motor must be protected against liquid spilling and prevent oil mist from entering the Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit motor through motor leads and motor shaft If you need a water proof servo motor make it clear when ordering Temperature and Humidity The
33. Co Ltd HSV 180D Series AC Servo Drive Unit repower the servo drive after the fault source is cleared Table 9 1 Alarm information No Alarm Description Type 1 A 1 Under voltage The main power supply voltage is less supply than AC 200 V 2 A 2 Over voltage The main power supply voltage is greater supply than AC 560 V 3 A 3 Inverter fault An inverter power part fault occurs 4 A 4 Brake fault Over working of the braking circuit 5 A 5 Servo drive The servo drive temperature exceeds the overheat specified maximum temperature 6 A 6 Servo motor The servo motor temperature exceeds the overheat specified maximum temperature T A 7 Encoder A B Z The encoder feedback line is fault disconnected 8 A 8 Encoder U V W The servo orientation is unfinished fault 9 A 10 Over current fault The winding current of the servo motor is too large 10 A 11 Motor over speed The speed of the servo motor exceeds the specified maximum speed 11 A 12 Overlarge speed The value of speed steady state error deviation exceeds 25 of the specified speed 12 A 13 System overload The servo motor load exceeds the specified maximum over current 13 A 14 System parameter The parameters saved in EEPROM are error incorrect 14 A 15 Control panel A control panel element or soldering fault circuit fault occurs 15 A 16 DSP fault DSP A control program execution fault occurs Version
34. Figure 5 14 a Worktable position feedback output interface Servo drive Figure 5 14 b Worktable position feedback output interface Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit Servo drive IN4148 220 AM26LS31 1 The encoder signal is output by the differential drive AM26LS31 2 The controller input terminal can adopt AM26LS32 receiver and must be connected to an approximate 180 Q terminal resistor 3 The controller ground wire and the drive ground wire must be reliably connected 4 The output must be non isolated output 5 The controller input terminal can also adopt an optical coupler receiver However the receiver must be a high speed optical coupler such as 6N137 5 2 8 Analog Command Input Interface The following figures show the differential analog input interface Figure 5 15 a Differential analog input interface Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit PC AN t XX AN dlr GNDAM Figure 5 15 b Single ended analog input interface PC ares drive unit Figure 5 15 c Differential analog potentiometer input interface ee ee ER 7 Controller Servo drive unit L NIW Za a au 2K 1 2W ZIN p NKW Figure 5 15 d Single ended analog potentiometer input interface Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit Seven erage erete ev ie et eee BT
35. HSV 180D Series AC Servo Drive Unit Series HSV 180D AC Servo Drive User s Manual V2 0 2010 11 Wuhan Huazhong Numerical Control Co LTD Wuhan China Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit Contents T Safety Precautions esonera sco agreed epee sacra ant TE A a ue don AE 5 1 1 Symbols of Safety PRE CAUL OHS Trix csscasec as auvstayseupscersaaeeabecangdgnscdays eaeeeaaspaedousaesaengaestseaee 5 1 2 Meaning of Safety Precaution Sym Dols ixc ciccisescauatavereunnjaies Aepaieraoepnescaysinmensnsceees 6 1 3 Explanation of Safety Precaution Symbols is iscjcscccisciecsssrscetsdspensasesteecvsesnusensdsnenevetsoonces 6 TA Saf ty ROP UI AON Stats iai letes ezet sleep ese tl a E EEES 7 2 OV CLV IW oats rass ihe aes ates eet ict iad a ae sak aL nach ates A aU Nats wat nA 3 A EL et ea 12 XF inrod ctiom non vasa ae erste tte E ates E s elerese l rates ou gall R S 12 2 2 Introduction to Control Modes sisjsistcascstangucitodiesdlaniasiotitdasieuesentonjontedeetiere 13 3 Order TOT ALLON sah et s t ten vess iket a A a atraceeaoreuteyneds 14 3 1 Specifications of Series HSV 180D Servo Drives cess eseseteeeeeeeeseseneneeees 14 3 1 1 Specifications of Series HSV 180D Servo Drives eee eeeseeeeeeeeeeees 14 3 12 Types of Servo DEL Ve cstessisccdescrcosasacitesieaitonusay aselaussiastabstedeleeesteiviebeleusiecieertes 14 3 1 3 Technical DPC CUICALION 2550122 iott ace iota seeatotangeaiatharssde
36. T2 must be connected to the motor windings in corresponding order and cannot be reversed e Cables and wires must be fixed and cannot be near the radiator of the drive or motor Otherwise the insulation properties may be reduced due to overheat e In the servo drive large capacity of electrolytic capacitor exists which leads to the remaining of high voltage even after power off Therefore do not touch the drive or motor within five minutes after the power off Terminal P and BK on XT2 are connected to the external braking resistor Terminal P and BK cannot be short circuited Otherwise it will damage the servo drive e Shell in the wiring diagram refers to the mental shell of the wiring plug The cable shield must be connected to the metal shell Unravel the shield and avoid twisting together loop part of the shield and cut off the rest cover the looped shield with casing and then weld the exposed shield to the metal shell Avoid too much solder to make sure the plug shield can be covered e It will be better if you use a metal cable clip to form a 360 degree access and perform nearby grounding 5 4 1 Standard Wiring for Position Control Mode Pulse Interface The following figures show the standard wiring for position control mode Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit Figure 5 17 1 Standard wiring for position control mode pulse interface Configured with Dench mo
37. The relay is connected when the relay is in the Normal Open state and the servo drive runs properly The relay is disconnected if there are any servo drive faults COM Common terminal Public terminal connection terminal If the brake function is required The COM signal of the XS4 command input output interface must be connected to the external DC 24 V power ground signal Otherwise the servo drive may work improperly Otherwise the servo drive may work improperly BREAK Brake output Brake output terminal If the main power is proper and no servo drive fault is reported the signal is connected after the servo enable signal is input Otherwise the signal is disconnected 5 2 Interface Circuit 5 2 1 Switch value Input Interface Figure 5 8 Switch value input interfaces for HSV 180D servo drive Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit Servo drive unit Internal DC 24V External DC 24V power power supply supply External DC 24V power ground Note 1 The COM signal of the XS4 command input output interface must be connected to the external DC 24 V power ground signal Otherwise the servo drive may work improperly 2 Input mode NPN The input switch value state is determined by the servo drive When the input of isolation optical coupler is connected the input switch value state is ON When the input of isolation optical coupler is d
38. V 180D Series AC Servo Drive Unit Motor Adhere to the following principles when choosing servo drives e Generally the maximum current or rated current of the servo drive must be equal or greater than 2 For the situation that requires great dynamic response characteristics the maximum current or rated current must be equal or greater than 3 The following tables describe the technical specification of series GK6 AC permanent magnet servo motor Table 3 4 Technical specification of series GK6 AC permanent magnet servo motor 1 Natural cooling Type Rated Static Phase Rotational Weight Adaptive Speed Torque Current Inertia Kg Motor r min M0 I0 10 Kgm Overload Nm A Ratio GK6040 6A HSV 180D 25 C l 2000 0 9 16 6 1 6 1 87 3 7 GK6040 6A 3000 1 4 HSV 180D 25 F61 10 7 GK6041 6A HSV 180D 25 C l 2000 1 4 10 7 2 5 2 67 4 3 GK6041 6A 3000 2 2 HSV 180D 25 F61 6 8 GK6042 6A HSV 180D 25 C l 2000 1 9 7 8 3 2 3 47 5 0 GK6042 6A 3000 2 8 HSV 180D 25 F61 5 3 GK6060 6A HSV 180D 25 C l 2000 1 5 10 3 4 4 8 5 GK6060 6A 3000 2 3 HSV 180D 25 F61 6 5 GK6061 6A HSV 180D 25 C l 2000 3 0 5 6 8 7 10 6 GK6061 6A 3000 4 5 HSV 180D 25 F61 3 3 GK6062 6A HSV 180D 25 C l 2000 3 8 3 9 TAS 12 9 12 8 GK6062 6A 3000 5 7 HSV 180D 35 F61 3 6 GK6063 6A 2000 11 5 6 17 14 5 HSV 180D 25 Wuhan Huazhong Numerical Control C
39. a trapping 1 Allow wave filter is allowed 0 not to select the line saving b STA 15 This parameter is used to encoder select the line saving encoder 1 select the line saving encoder Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit 8 Operation and Modification Caution The servo drive and motor must be reliably grounded and PE terminal must be connected with the grounded terminal of the equipment reliably e The power can be connected only after the wiring is correct Emergency stop circuit must be provided to make sure the power could be stopped at once in case of emergency e Ifa drive alarm is reported make sure the alarm is cleared and the servo enable input signal EN is ineffective before restarting the drive After the servo drive and motor are power off do not touch the drive within 5 minutes to avoid electronic shock Be cautious to prevent burning as the temperature may get higher after the servo drive and motor running for a period of time 8 1 Power Connection 1 Power On Sequence Connect the main circuit power three phase AC 380 V and external DC 24 V power The digital tube of the drive is light the servo alarm ALM signal is connected and the failure chain relay normally open contact on interface XS5 closed If an alarm is reported power the servo drive off and check the trouble After one second the servo enable signal EN is recei
40. able position sensor Z phase pulse output 19 20 COM Common terminal Public terminal of XS4 terminal switch value input output signal Note The signal must be connected with the external DC 24V power GND signal of XS4 terminal switch value input output Otherwise the servo drive may work improperly 5 1 6 XS3 ENCODER Servo Motor Optical electrical Encoder Input Interface No Terminal Signal Description Symbol 1 A Servo motor It is connected to the servo motor optical electrical optical electrical encoder A phase encoder A input 2 A Servo motor It is connected to the servo motor optical electrical optical electrical encoder A phase encoder A input 3 B Servo motor It is connected to the servo motor optical electrical optical electrical encoder B phase encoder B input 4 B Servo motor It is connected to the servo motor optical electrical optical electrical encoder B phase encoder B input 5 Z Servo motor It is connected to the servo motor optical electrical optical electrical encoder Z phase encoder Z input 6 Z Servo motor It is connected to the servo motor optical electrical optical electrical encoder Z phase encoder Z input 7 U Servo motor It is connected to the servo motor optical electrical optical electrical encoder U phase encoder U input 8 U Servo motor It is connected to the servo motor optical electrical optical electrical
41. ation time is 150 ms or less m gt 5 lt 60 times mines acceleration and deceleration time is 150 ms or more b Impact of the servo motor Different type of servo motor allows different overload conditions running Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit c times loading rate and environment temperature See related manual and adjust the settings as reguired to prevent overheat or short service life Adjustment method Generally the overload inertia must be less than 5 times of the motor rotor inertia The large overload inertia may cause overvoltage during deceleration or abnormal braking Use the following methods to adjust it Increasing the acceleration and deceleration time movement parameter PA 6 and PA 38 You can set the parameter to a bigger value and then gradually reduce it to the appropriate value Reducing the maximum output torque value movement parameter PA 5 to reduce the current limit value Reducing the maximum speed limit of the servo motor movement parameter PA 17 Installing external braking device Changing the servo motor to one with larger power and inertia motor the servo motor must match with the servo drive Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit 9 Fault Troubleshooting Caution e Maintenance personnel must have related knowledge and abilities Do not touch the servo drive
42. bition si L CW 6 upp Le jr Zampecdiohad do0cAIZERO 5126 nrp TT ouiput g eM a 7 ian j7 pe ey Hy Fe ae READY 8 rol e At 5 ready output MI 10 Open collector LT MIL am servo alarm ouiput aie Uo at Peels aes cont 20 lect Open collector i BUEN n f Open collector Z phas braking ouiput BREAK 4 aco an a comf 3 soe t Failure chain 4 MC2 2 ERA At mafi m nied oy j ne Encoder signal output Spena analog Ni 10V 10V AN is ee ed Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit Figure 5 18 2 Standard wiring for external speed control mode analog interface configured with Dench motor GK613 and GK618 Servo drive 50HZ 60HZ AC380 10 15 External braking resistor Servo enable oo Njn Alarm clear co 2 Secondary electric Erio Erro icle H et po aja HE Do probition OO el te mine T s es lyes ve Pera pes Receiver CW drive So _L cw 6 Zone speed lochad SO ZERO SP 26 output a finished raa a servo ready ouiput ee tt Como Font 30 a Open collector Z phase ZPLS_OUT phengeuut BREAK 4 SOUT hy f Pein see EE ow Failure chain Mc2 2 A me eee NI B Encoder signal ouput i nye Speed analog O ANH Tf ERZ H Z erovov AS ses se tt z H SDan GNDDE GRD 5 4 3 Standard Wiring for Closed loop Control Mode pulse interface The following figures show the standard wiring for closed loo
43. ck and injury Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit 2 Overview Series HSV 180D AC servo drive is a new generation of full digital AC servo drive developed by Wuhan Huazhong Numerical Control Co Ltd This product features high performance compact structure easy to use operation and high reliability 2 1 Introduction Series HSV 180D AC servo motor drive adopts the latest technologies such as special motion control digital signal processor DSP large scale field programmable logic arrays FPLA and intelligent power module IPM to achieve the closed loop servo control It has various specifications such as 25 A 35 A 50 A 75 A and different ranges of power options Users can configure various types of servo drive motor and AC servo motor to form AC servo drive systems with high reliability and performance Characteristics of Series HSV 180D Servo Drives 1 Easy and flexible operation By modifying the parameter you can modify the control methods of the servo drive and the interior parameters so as to meet the requirements for different environment and conditions and can be compatible with various types of servo motors 2 Full display of status Series HSV 180D servo drives provide a series of status display which enables users to view related status parameters of the servo drive during commissioning and operation In addition it provides a range of troubleshooting information
44. creases However oscillation easily occurs after the orientation is complete e If high position command tracking feature is required set the parameter to a bigger value However it may cause overshoot or oscillations For the Position proportional gain parameter setting see the following table Recommended values for Position proportional gain Rigidity Value Low 1000 to 2000 Middle 2000 to 5000 High 5000 to 7000 2 Electrical Gear Setting In the position control mode by changing the position command pulse frequency molecular movement parameter PA 13 and position command pulse frequency denominator movement parameter of PA 14 users can easily match with the pulse controller to achieve position control resolution as required The position resolution a pulse travel 41 is determined by the servo motor travel per turn 4S and encoder feedback pulses per revolution Pt The formula is as follows _ AS t In the formula l Indicates a pulse travel mm AS Indicates servo motor travel per turn mm turn Pt indicates encoder feedback pulse per revolution pulse rev Fourfold frequency circuit is provided for the servo drive Pt 4 x C C indicates the number of encoder lines per revolution In this system C is 2500 lines turn specified by encoder resolution and movement parameter PA 25 then Pt 1000 pulses rev Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo D
45. ctrical Encoder Input Interface 48 5 1 7 XS2 ENCODER Table Position Feedback Input Interface 49 5 1 8 XS5 I O Input output Terminals icsacuiin cus valet cerewtiravectpereeeiesaaseiesaiuies 50 92 Interface CHcuit c cusmnaitanae main Geach Daun Neh RNubuNcimwRN t 50 5 2 1 Switch value Inprlt Unter ta ee ins sch yocescncuictaast atte incanansisesncasouabaraintaciteinestraiceeus 50 5 2 2 Switch value Output MIterLaee iiss oset cal otal tise nrakstintst od lestt tt an ant shins 51 5 2 3 Pulse Command Input Interface iii ce ougs ce tiecs tes iesceasnndetcouug reed vectuacerte 53 5 2 4 Servo Motor Optical electrical Encoder Input Interface 54 5 2 5 Servo Motor Optical electrical Encoder Output Interface 55 5 2 6 Worktable Position Feedback Input Interface ssssss 56 5 2 7 Worktable Position Feedback Output Interface s ss 57 5 2 8 Analog Command Input Interface sii cicaieiscassivisdeiatatietiedasalonsuteneenee 58 5 2 9 Z phase Pulse Open Collector Output Interface 61 SPEA ATAT th AEE E E E rae at eka EEE AEE EE E E deh s s tt ais ta 6l 54 Standard WiINE n cadet insta s eltemesse tee tool m s ezsz sslv 63 5 4 1 Standard Wiring for Position Control Mode Pulse Interface 63 5 4 2 Standard Wiring for External Speed Control
46. d with compatible servo motors Do not touch the servo motor shaft directly Otherwise it can cause corrosive Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit 4 2 Installation Environment 4 2 1 Environment Temperature The working environment temperature is between 0 degree Celsius and 40 degree Celsius If the temperature is over 40 degree Celsius de rating is required 4 2 2 Humidity The relative humidity of air must be equal or less than 90 and there must be no condensation 4 2 3 Altitude The servo drive must be installed below 1000 m altitude If the altitude is over 1000 m de rating is required 4 2 4 Vibration and Impulsion The servo drive is not load bearing and anti collision During installation and working it must be free from oscillation and impact and you must take measures to control the oscillation below 0 5 G 4 9 m S 4 2 5 Water The servo drive cannot be installed in the water spray or condensation location 4 2 6 Air Pollution The servo drive must be free from air pollution It must be installed in the electric cabinet which is resistant to corrosive and flammable gas to prevent conductive object mental dust oil mist and liquid from entering to the interior of the equipment 4 3 Installation of HSV 180D Servo Drive Caution The servo drive must be installed in the electric cabinet with fine protective function The servo drive mus
47. e rated speed 2 Acceleration features linearity 1 to 10000 ms Speed command input gain 1 In the external speed control mode set this parameter to the relationship between the voltage and speed 2 The value is the speed corresponding to the 10 V voltage unit 1 r min 3 The valve is effective under the analog 10 to 2500 Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit speed input mode 8 Speed 1 In the external speed control mode 1023 to 1023 command zero this parameter is used to adjust zero drift drift input by analogue speed compensation command The method of adjustment is as follows a Perform short connection between the analogue control input terminal and analogue grounding wire for signal b Set this parameter to the value that stops the operation of the servo motor 9 Torque 1 In the torque control mode set this Value range 0 command input parameter to the relation between to 32767 gain voltage and rotary The short time 2 The value is the torque corresponding maximum to the 10 V voltage X r min current of the 3 The value is effective only in the servo drive 0 to analogue torque input mode 100 10 Torque 1 Jn the torque control mode this 1023 to 1023 command zero parameter is used to adjust zero drift drift input by analogue torque command compensation The method of adjustment is as follows a Pe
48. e speed specified by PA 21 Press ul then the motor run at the speed specified by PA 21 in the opposite direction Release the iN or p to stop the motor Press S to return to the auxiliary mode Press IMI to switch to another mode or press iN and p to Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit select other operations in the auxiliary mode 3 Alarm resetting mode When the servo drive generates an alarm press to reset the system in this mode If the fault is cleared the servo drive returns to normal Press MJ to switch to another mode or press IN and y to select other operations in the auxiliary mode 4 Internal test mode This mode is used only for commissioning or testing the connection between the servo drive and motor In this mode press S the servo drive drives the motor at the speed specified by the internal programming of the servo drive Press MI to switch to another mode or press it and n to select other operations in the auxiliary mode 5 Default restoration mode This mode is used to set the parameters to the default values In this mode press IS to restore system parameters to default values Press MI to switch to another mode or press IN and to select other operations in the auxiliary mode 6 Alarm history clearance modes This mode is used to clear alar
49. ely The new parameter can be confirmed by pressing S only in the EE WRI of auxiliary mode and it takes effect after restarting the servo drive Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit accidents e Wrong settings may cause improper operation that leads to 1 Select the control parameter mode on the main menu press IN and p to select a control parameter number and then press to display the value of the parameter Press IN and n to change the parameter value 2 The parameter value increase or decrease 1 every time you press IN or p respectively 3 After the parameter modification is completed press to return to the control parameter mode menu Press IN or n to continue to modify other parameters 4 The control parameter setting cannot take effect immediately You can save the parameter change by pressing S to return to the main menu and pressing MI to select the auxiliary mode Then press IN and n to select EE WRI and then press to save the changed parameter value to EEPROM The panel displays FINISH indicating that the parameter value is saved 5 The changed control parameter takes effect as a default control parameter after restarting the servo drive Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit 7 Parameter Sett
50. encoder U phase encoder U input 9 V Servo motor It is connected to the servo motor Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit optical electrical optical electrical encoder V phase encoder V input 10 V Servo motor It is connected to the servo motor optical electrical optical electrical encoder V phase encoder V input 11 W Servo motor It is connected to the servo motor optical electrical optical electrical encoder W phase encoder W input 12 W Servo motor It is connected to the servo motor optical electrical optical electrical encoder W phase encoder W input 13 OHI Motor overheat Motor overheat detection input terminal 26 OH2 It is connected to the motor overheat detection sensor 14 15 PE Shield ground It is connected to the servo motor shell 16 17 5V_ENC Servo motor Connect the servo motor 18 19 optical electrical optical electrical encoder with 5 V encoder 5 V power power supply If the cable is too long output terminal use multiple wires to form serial 23 24 GNDPG Servo motor connection 25 optical electrical encoder 5 V power 20 21 5V_MI Servo motor Servo motor optical electrical encoder 22 optical electrical power feedback encoder 5 V The servo drive can automatically feedback input perform voltage compensation based on terminal the encoder feedback information 5 1 7 XS2 ENCODER2 Table Positio
51. environmental temperature must be between 0 degree Celsius and 40 degree Celsius Humidity cannot greater than 90 RH and there is no condensation After long time operation the motor will heat up It is recommended that you use forced cooling or use derating motors if there is less space or the motor is closed to heating equipments Oscillation The motor must be free from oscillation and the oscillation must be below 0 5 G 4 9 m S2 4 4 2 Installation Method 1 2 Installation Method Series GK6 servo motors can be installed vertically or horizontally Installation Principles e During the uninstallation of pulley do not knock the motor or motor shaft to prevent damage to the encoder Use the spiral drawing tools to uninstall the thermal expansion type coupling Series GK6 servo motors cannot withstand large axial load or radial load It is recommended that you use flexible couplings to connect it with the load e When fixing the motor use spring washer to tighten the bolts to prevent from loosening Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit 5 Wiring Wiring e Wiring and wiring inspection personnel must have required capabilities e Wiring and wiring inspection personnel must wait 5 minutes after power off for all wiring or wiring check to prevent from electronic shock Caution The wiring must be in accordance with the terminal voltage and the polarity t
52. ervo motors Figure 3 5 Dimension and size of series GK6 AC permanent magnet servo motors Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit Wuhan Huazhong Numerical Control Co Ltd 1795 195 5 211 5 143 45 154 224 248 186 if t with brake 179 Y t with brake 179 5 LIJ 211 5 243 45 if t with brake 154 169 184 199 214 if with brake 188 213 238 263 201 HSV 180D Series AC Servo Drive Unit Type bhodrd bho71 MELER bh60T3 TELER Type GK6N8 bh oust TELLS 646085 MALER 646089 Type GK 100 GK 101 46103 6105 6107 46109 Type GK 130 DELIT 46142 TEISE 46145 Wuhan Huazhong Numerical Control Co Ltd 22 243 186 431 445 485 525 565 if with brake 188 213 248 263 201 FA 285 10 145 160 185 with brake 24 HSV 180D Series AC Servo Drive Unit Recommended shaft keyway Recommended C type center hole Type GK603 GK604 GK605 GK606 GK607 GK608 GK610 GK613 GK618 Center M5 M6 M6 M8 M8 M10 M12 M16 M24 Hole Thread 12 12 12 14 14 18 22 26 34 Depth 3 3 6 Order Information The following figure shows the order information of series GK6 AC servo motor Wuhan Huazh
53. f no oscillation exists Speed feedback filter factor 1 Set this parameter to the features of low pass filter for speed feedback 2 Noise produced by motors and cut off frequency decreases as the value increases If the load inertia is large decrease the value to prevent from slow response or oscillation 3 The cut off frequency increases and speed feedback response becomes faster as the value decreases If high speed feedback response required decrease the value 0 to 4 Current amplitude limit for maximum torque 1 Set parameters to the current amplitude limit for maximum torque 2 The value of PA 5 is 32767 x IMmotor IMservo and the value of PA 5 is less than or equal to 32767 3 IMmotor indicates the maximum overload current that the motor allowed and 1 5 or 3 times of the rated current in general Set large value for small torque motors and small value for big torque motors 4 IMservo indicates the short time maximum current of the servo drive For the 25 A servo drive the short time maximum current is 16 4 A For the 50 A servo drive the short time maximum current is 32 8 A For the 70 A servo drive the short time maximum current is 47 1 A 5 The limit is effective at any time Value range 1 to 32767 The short time maximum current of the servo drive 0 to 100 Acceleration time constant 1 The value indicates time required for the motor speed up from 0 r min to th
54. g interface in Chapter 5 Connect the main circuit power three phase AC 380 V of the drive and then the displayer of drive is on If an alarm is reported check the connection External enable setting Press M to select control parameter mode Press or to select the control parameter SAT 6 indicating the state for servo enable and press S to enter the parameter setting mode press f or to set the parameter to 0 external enable is allowed Press S to return to the control parameter mode Set the control parameter PA 23 control mode selection to 1 indicating the speed running mode According to the actual requirement set the movement parameter PA 7 indicating the speed command output gain and PA 8 indicating the speed command zero drift compensation Save the parameter settings to EEPROM Turn off the power wait for 30 minutes and then connect the power again If there are no alarms or abnormal situation the servo drive enable outputs ON signal The green enable light EN is on which indicates the drive is operating normal The motor is activated and in the zero speed state Use analog controller outputs analog signal to the 27 28 12 13 pin GNDAM AN AN on the command input output interface XS4 to make the motor rotate forward or reverse 8 3 5 Torque Running Mode Analog Interface 1 For wiring see Figure 5 18 1 and Figure 5 18 2 standard wiring for external speed control mode analog interface
55. greater The short time torque than that specified by PA 5 maximum 3 Ifthe value exceeds that specified by current of the movement parameter PA S5 the actual servo drive 0 to current amplitude limit for negative 100 torque is the value of PA 5 Current amplitude limit for maximum torque 4 When the value of STA 10 is 1 and the value of STA 0 is 0 the limit is effective 18 Overload 1 Set this parameter to the torque value Value range 0 current for the servo motor overload to 32767 protection The short time 2 The value is equal to x 32767 x IR maximum motor IM servo current of the 3 The value cannot be greater than that servo drive 0 to specified by PA 5 1 4 In the value e jy indicates the overload ratio generally 1 5 to 3 times of the rated current of the motor Set large value for small torque motors and small value for big torque motors e IR motor indicates the rated current of the motor Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit e IM servo indicates short time maximum current of the servo drive For the 25 A servo drive the short time maximum current is 15 A For the 35 A servo drive the short time maximum current is 21 A For the 50 A servo drive the short time maximum current is 30 A For the 75 A servo drive the short time maximum current is 43 A 5 This value is effective at any time 19 Software 1 Set this para
56. gtageadoeatetasetangeaseiaetatiageanoten 15 3 2 Installation Dimensions st sic attains attend ieee zkt eine eatin ates 16 3 3 Specification f Servo Motofone enrian eaudus eerdleaaumas yabiad ea idetee teats 17 3 3 1 Introduction to Series AGK6 AC Permanent Magnet Servo Motot 17 3 3 2 Features of Series GM7 AC Servo Servo Motor ssssg eeeeeee sese 18 3 3 3 Technical Specification of Series GK6 AC Permanent Magnet Servo Motor18 3 3 4 Technical Specification of Series GK6 AC Permanent Magnet Servo Motor20 3 3 5 Installation Dimension of Series GK6 Servo Motor 24 3 3 6 Order Information ccccccccccessessssseseseeseeseescsecseeseeseeecseeseeseeececseeseneeseesesseeseneens 27 3 4 Specification of External Braking Resist mt resc cxccaccasescsscsdaecseestusaasescbecpovasnse vo Besascatoees 28 3 5 Circuit Breaker Contactor Input AC Reactor and Cable Specification 30 4 Installations ii ccsya sz ages sasanz ini ask dedi ER 32 4 1 Products Checks asc 2diecd iat nde a a A E aad nied R 32 4 2 Installation Environment cccccecccsseeseeseesseseeeseeseesececeaeesecaeseeeaeeaecaeceeeeseeaeeaeeeseeaees 33 4 2 1 Environment Temperature ccccscesceeescnessesseeeseeeeseseecseeesseeessessesseeetaees 33 4 2 2 Humidity serienn inn ena iak aaa EKE Ei AE Eai biena 33 AD S AVEO ATECA T T A Chore Sotki ree 33 42 4 Vibration arid Impulsion sss sas aiint
57. han Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit Servo motor Servo drive unit optical electrical encoder X A AM26LS31 AM26LS832 X A B Z U V W 5 2 5 Servo Motor Optical electrical Encoder Output Interface Figure 5 12 a Servo motor optical electrical encoder output interface Servo drive unit GND AMR26LS31 1 The encoder signal is output by the differential drive AM26LS31 2 The controller input terminal can adopt AM26LS32 receiver and must be connected to an approximate 330 Q terminal resistor 3 The controller ground wire and the drive ground wire must be reliably connected 4 The output must be non isolated output 5 The controller input terminal can also adopt an optical coupler receiver However the receiver must be a high speed optical coupler such as 6N137 Figure 5 12 b Servo motor optical electrical encoder output interface Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit Servo drive unit IN4148 220 AM26LS31 5 2 6 Worktable Position Feedback Input Interface Figure 5 13 shows the worktable position feedback input interface Figure 5 13 Worktable position feedback input interface Servo drive unit AM26LS32 Table position sensor X PA PB PZ Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit 5 2 7 Worktable Position Feedback Output Interface
58. he load or inertia is bigger and the resistance value is smaller and its power is bigger However the maximum braking current cannot exceed the drive s maximum braking current Generally the total braking power of the braking resistor is 10 to 20 of the rated motor power Connect P and BK terminals of the servo drive with the external braking resistor if an external braking resistor is used In this case the internal resistor and the external resistor are serial connected Table 3 6 shows the recommended external braking resistor Figure 3 7 Standard wiring diagram of the external braking resistor Servo drive to pa 3 2 T z a 5 iy o Nn O n a a Table 3 6 Recommended value of the external braking resistor of HSV 180D servo drive Maximum External Braking Resistor Recommended Specification Braking Value Current A HSV 180D 025 15 Use build in braking resistor only HSV 180D 035 20 Resistance 68 2 power 2 500 W Resistance 68 Q power gt 600 W BON ROLAIN a Resistance 56 Q power gt 1000 W Resistance 30 Q power gt 1200 W saa eas aed bud Resistance 27 Q power gt 1500 W Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit 3 5 Circuit Breaker Contactor Input AC Reactor and Cable Specification Circuit breaker must be installed between the three phrase AC power supply and power input terminals L1 L2 L3 on XT1 to cut off the power w
59. he machine Failure to follow this instruction could result in injury Do not check signal while operating to avoid damage to the equipment Troubleshooting Danger Do not remove wiring within 5 minutes nor touch terminals after power off of a servo drive because the high voltage will last for a while Failure to follow this instruction could result in electric shock Operations such as wiring installation operation remove and maintenance must be performed by the specified professional personnel Failure to follow this instruction could result in electric shock and damage to the servo drive Caution e The control circuit board adopts the CMOS IC During maintaining do not touch it directly with your fingers because electrostatic induction could damage the control circuit board System Configuration Caution Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit e The rated torque of the servo motor must be larger than continuous effective load torque Otherwise the servo motor could be damaged by long time overload operation e The ratio of load inertia and servo motor inertia must be less than the recommended value Make sure that the motor is properly matching the servo drive Failure to follow this instruction could result in damage of the equipment Others Danger Do not make alterations independently Failure to follow this instruction could result in electric sho
60. hen the servo drive is over current or short circuited In order to cut off the input power immediately when the servo drive break down an electromagnetic contactor can be installed on the input side of the servo drive to switch on or off the main circuit power However you cannot frequently switch on and off the main circuit power in a short period of time through contactor less than twice per minute In order to protect the rectifier components from damage caused by the high current s impacting to the input power circuit the power input side needs to connect to an input AC reactor and increase its power factor It can effectively eliminate the influence of high harmonics prevent other equipments from damage caused by the voltage wave changes and eliminate the unbalanced input current caused by phase voltage unbalanced In order to reduce the interference to other equipments and improve the anti jamming capability of the servo drive you can connect the power input with an input filter For the wiring see figure 3 8 Figure 3 8 Standard wiring diagrams of circuit breaker contactor input AC reactor and input filter Three phase AC 380 V Braking resistor 15 to 10 50 60 Hz Circuit breaker Contactor Input AC nput filter So diive Servo motor reactor Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit Table 3 7 Recommended value of circuit breaker contactor input AC reactor and cable
61. ing Attention Personnel that set parameters must understand the meanings of the parameters Wrong setting could result in damage to the equipment and injuries It is recommended that parameter modification be performed under the condition that servo motor runs without load 7 1 Function Menu Users can set various parameters for series HSV 180D servo drives to adjust or set the performances and functions of the drive This section describes the purpose and functions of these parameters Understanding these parameters is essential for a best use and operation of the drive Series HSV 180D servo drives parameters can be divided into two categories movement parameter and control parameter applicable to movement parameter mode and control parameter mode respectively These parameters can be viewed set and modified by keys or computer serial ports on the panel Table 7 1 Description of the two types of modes Mode Group Parameter Description No Movement Motor 17 24 25 Able to set parameters related to servo parameter parameter 30 36 37 motor mode setting Position control 0 1 10 14 Able to set position command pulse 29 22 23 input mode and pulse frequency 26 32 35 dividing frequency doubling Speed torque 2 11 15 16 Able to set modify zero drift and control 18 21 23 speed torque control 27 28 33 38 Control Function 0 15 Able to select user defined input parameter
62. ing resistor Servo enable Alarm clear S Secondary electne gear ratio switching Error count clear Command pulse prohibition CCW dive prohibition Zero speed locked fT at input arog HES finished output 3 Be Open collector servo ready output BHES Open collector 5 z servo alarm ouiput z 9 7 Open collector 101 v braking output j w Failure chain 12 w Position command p EH PLUS wie CP Position command MTT DIR 16 SIGN ita At ENA Encoder yy 1 signal ouiput p ss a i o B wie 5S z4 W E m Z S Open collector eee ej Z phase pulse output ZPLS_OUT a CND 23 CE ELE 5 4 4 Connection of External Braking Resistor A 70 Q 500 W braking resistor has been built in HSV 180D 035 050 075 and a maximum of ten times overload is allowed continuing for one second An external braking resistor is required when the drive unit s load or inertia is big Connect P and Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit BK terminals of the servo drive with the external braking resistor if an external braking resistor is used In this case the internal resistor and the external resistor are serial connected Figure 5 20 shows the standard connection of the external braking resistor Figure 5 20 Standard connection of the external braking resistor servo drive unit External brake resistor Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive
63. ion signage e Danger High Voltage Don t move cables or touch terminals while applying power Disconnect incoming power and wait 5 minutes before connecting cables he meaning of each symbol opening terminal cover Symbols of Safety Precaution 1 3 Explanation of Safety Precaution Symbols It indicates a potentially hazardous situation which if not avoided will result in death Caution It indicates a potentially hazardous situation which if not avoided will result in minor or moderate injury or death and damage to the machine Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit 1 4 Safety Regulations Products Confirmation Caution Do not install damaged drives Failure to follow this instruction could result in injury Installation Caution e Hold the bottom of the machine If you hold only the panel the main engine may fall off which may result in injury Fit to noncombustible panels such as metal panels Failure to follow this instruction could result in fire hazard e If necessary set a cooling fan and keep the inlet air at 45 degree Celsius or less Overheating may result in fire and other hazards Do not block the inlet and outlet Avoid foreign matter entering into the internal part of the machine It may cause aging of internal components which could result in malfunction or fire hazard e During installation make sure a specified inte
64. isconnected the input switch value state is OFF 5 2 2 Switch value Output Interface Figure 5 9 Relay Connection Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit Servo drive unit 1 The Darlington transistor is served as the output transistor which needs to be connected to a relay or an optical coupler 2 The external power supply is provided by users Make sure that the polarity is not reversed Otherwise it may damage the servo drive 3 It provides open collector output with a maximum of 50 mA current and 25 V external power supply voltage Therefore the load of the switch value output signal must meet the requirements If the value exceeds the maximum value or the output terminal is directly connected to the power supply it may damage the servo drive 4 Ifthe load is an inductance load such as relay it must be anti parallel with the freewheeling diode FWD at both ends The FWD cannot be reversed Otherwise it may damage the servo drive 5 The output transistor is Darlington Transistor When it is conducted the voltage drop between the collector and the emitter Vce is about 1 V which cannot meet the requirements for the TTL low level Therefore it cannot be directly connected to the TTL Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit voc max 25V max 50mA Servo drive unit Note The output switch value state is determined by the servo
65. l command pulse input terminal 15 CP PLUS input Note You can set the pulse input mode by 16 DIR j i E setting the motion parameter PA 22 Command pulse 1 Command pulse characters DIR SIGN input 2 CCW CW command pulse mode 3 2 phase command pulse mode Servo motor A phase pulse monitoring output optical electrical 32 A encoder A output differential drive output Table position sensor Note A output Savio m tot 1 You can set the pulse output mode by optical electrical setting the control parameter STA 13 encoder A output 0 Servo motor optical electrical encoder 33 A A phase pulse output Table position sensor A output 1 Table position sensor A phase pulse output Servo motor B phase pulse monitoring output optical electrical 18 B encoder B output differential drive output Table position sensor Note B output Seo STT You can set the pulse output mode by optical electrical setting the control parameter STA 13 encoder B output 0 Servo motor optical electrical encoder 36 B Table position sensor B phase pulse output B output 1 Table position sensor B phase pulse output Servo motor optical electrical Z phase pulse monitor output 35 ZF encoder Z output differential drive output Table position sensor Note Z output Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit Servo motor You can set the pulse output mode by optical
66. lse number of the input command G indicates the electronic gear ratio G is frequency molecular frequency denominator N indicates the number of rotational circles C indicates the optical electrical encoder line numbers per turn For this system C is 2500 4 For example if the input command pulse is 6000 the motor rotates circle 10 Inversion for 1 Specify inversed values for worktable 0 or 512 worktable position feedback A B phase signal position 2 In the closed loop control mode if the motor feedback A out of control caused by the inversion of and B phase worktable position feedback A B phase signals signal you can set this value to 512 to make the motor work normally 11 Orientation 1 In the position control mode specify the 0 to 30000 finished range pulse range for orientation finished pulse 2 This parameter is used for testing whether the orientation is finished When the number of remaining pulses is less than or equal to this parameter value the orientation is finished The signal is connected Otherwise the signal is disconnected 3 In the position control mode output the position orientation finished signal 12 Position 1 Specify the position tolerance test range 0 to 32767 tolerance test 2 In the position control mode when the count pulse range value on the position tolerance counter exceeds the parameter value a position tolerance alarm is generated 13 Position 1 Specify the frequency d
67. m history records In this mode press to clear the alarm history records Press M to switch to another mode or press IN and to select other operations in the auxiliary mode 6 5 Operations in the Control Parameter Mode 1 On the main menu select STA O and press i and y to enter the secondary menu for the control parameter mode 2 HSV 180D series of servo drive contains 16 types of control parameters see Chapter 7 for specific meaning Press IN and n to select a required parameter Press IS to display the detailed parameters and you can view modify and set the parameter After modifying or setting parameters press to return to the secondary menu and then press IS again to return to the main menu Press IM to switch to another mode or press Ni and n to select other parameters in the control parameter mode Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit Figure 6 6 Secondary menu for the control parameter mode 6 6 Operation in the Alarm History Display Mode Operation 1 On the main menu select HIS 0 and press iland y to enter the secondary menu for the alarm history display mode 2 HSV 180D servo drive saves the last ten alarm records See Table 6 4 Press t and p to select a record of alarm status and press to display the detailed alarm information For detailed meaning of
68. meter to the time 10 to 30000 overload time tolerance for overload allowed by the system 2 The value indicates accumulation per time unit 0 25 ms For example if the value is 20000 the time tolerance for overload is 5s 3 This value is effective at any time 20 Internal speed 1 Set this parameter to the internal 3000 to 3000 speed of the servo drive unit 1 r min 2 In the internal speed control mode set the internal speed to the speed command 21 JOG operation 1 Specify the speed in the JOG mode 0 to 500 speed unit 1 r min 23 Selection of 1 This parameter is used to select 0 to 3 control mode control mode for the servo drive e 0 indicates the position control mode receiving the position pulse input command e I indicates the external speed control mode receiving analog speed command 2 indicates the analog torque control mode receiving analog torque command 3 indicates the internal speed control mode the digital speed command is specified by PA 20 33 Torque 1 Specify the time constant for torque Value range 0 command filter command filter to 25 time constant 2 The time constant value increase will The range is 0 Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit slow down the response of control system which may cause instability and oscillation 3 It is recommended that the parameter is set to 10 if no low response is required to 25 ms
69. minals to connect terminals and make sure that the connection is firm d Install the non fuse circuit breaker to promptly cut off the external power when a servo drive fault occurs e It is recommended that the power supply is connected after passing the input AC power reactor and input filter to improve the anti jamming capability f It is recommended that shield cable be used to prevent other electrical equipments from interference 2 Control signal XS4 servo motor optical electrical encoder feedback signal XS3 and worktable position sensor feedback signal XS2 a Diameter Shield cable is used stranded shield cable is the best choice and the cross sectional area is greater than or equal to 0 12 mm AWG24 26 The shielded layer must be connected to the metal shell of the connection plug b Cable length The cable must be short The length of the control signal cable XS4 cannot greater than 10 meters and the length of the feedback signal cable XS2 XS3 is no more than 40 meters c Wiring The wiring must be away from the electric power circuit to prevent interference Install surge absorbers with inductive components coils for related circuits Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit Freewheeling diodes are antiparallel connected to the DC coils and RC absorbed circuits are parallelly connected to the AC coils 5 4 Standard Wiring Caution UV W in terminal X
70. mode On the main menu press IN and n to select a parameter number and then press IS to display the value of the parameter Press d to shift and press IN and n to change the parameter value When a parameter is modified the right decimal point on the LED digital tube is bright Press the modification position of the changed parameter moves to the left left cycle and the corresponding decimal point on the LED digital tube light The parameter value increase or decrease 1 every time you press iN or y respectively The parameter value continuously increases or decreases if you press and hold A or p respectively After the parameter modification is completed Press IS to return to the movement parameter mode menu Press hi or p to continue to modify other parameters After changing a movement parameter you can save the parameter change as a default control parameter by pressing S to return to the main menu and pressing IM to select the auxiliary mode Then press IN and UU to select EE WRI and press to save the changed parameter value to EEPROM The wire control box displays FINISH indicating that the parameter value is saved Press IM to re select the parameter mode or other modes 6 8 Control Parameter Setting and Saving Caution The control parameter setting cannot take effect immediat
71. n Feedback Input Interface Terminal A AE No Signal Description Symbol Table position sensor power feedback Table position sensor 5 V The drive can automatically 19 20 5VPI power feedback perform voltage compensation based on the encoder feedback information Table position sensor 5 V aS 7 8 5VPO Connect it with 5 V power supply power output If the cable is too long use multiple Table position sensor 5 V f 9 10 GNDPP wires to form serial connection power ground Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit ia PA Table position feedback A It is connected to the table position i input sensor A phase Table position feedback A It is connected to the table position 11 12 PA f input sensor A phase 34 PB Table position feedback B It is connected to the table position input sensor B phase Table position feedback B It is connected to the table position 13 14 PB f input sensor B phase 5 6 iz Table position feedback Z It is connected to the table position i input sensor Z phase Table position feedback Z It is connected to the table position 15 16 PZ f input sensor Z phase 17 18 PE Shield ground It is connected to the motor shell 5 1 8 XS5 I O Input output Terminal No Terminal Symbol Signal Description MCI MC2 Failure chain Failure chain output terminal
72. n the input output terminal XS5 is connected Figure 8 3 Sequential diagram for external alarm clearance Al l wmm Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit 8 2 Checking Before Running After the installation and connection is completed check the following items before power on Whether the strong power terminal XT1 is correct and reliable Whether the input voltage is correct Whether the power lines or motor lines is short circuited or grounded e Whether the encoder cable connection is correct Whether the control signal terminal connection is correct Whether the polarity and size are proper Whether the servo drive and motor are fixed firmly e Whether the motor shaft is not connected to over loading 8 3 Trial Operation 8 3 1 JOG Running Mode 1 For wiring see Figure 5 17 1 and Figure 5 17 2 Standard diagram for position control mode or Figure 5 18 1 and Figure 5 18 2 Standard diagram for external speed control mode in Chapter 5 Connect the main circuit power three phase AC 380 V of the drive and then the display of drive is on If an alarm is reported check the connection Set JOG running speed Press M to select movement parameter mode Press f or to select the movement parameter PA 21 specifying JOG running speed and press S to enter the parameter setting mode press f or to set the parameter to a non zero value unit 1 r min Press S to
73. n to the main menu If the modified or preset parameters need to be saved press M to switch to the EE WRI mode and then press S to save them to the EEPROM in the servo drive When the saving is finished FINISH is displayed Press M to re select the movement parameter mode or other modes Figure 6 4 Secondary menu for the movement parameter mode aqbress s press n PA 33 press lt a a m press press PA 0 press press Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit On the main menu select EE WRI and press i menu for the auxiliary mode HSV 180D series of servo drive contains 7 types of auxiliary modes see 6 4 Operation in the Auxiliary Mode Table 6 3 Press itland y to select the required auxiliary mode and press to enter the detailed operation mode Table 6 3 Meaning of each symbol in the auxiliary mode No Symbol Operation Mode Function 0 EE WRI EEPROM mode Saving the parameter to the internal EEPROM 1 JOG JOG running mode The drive and motor run in the JOG mode at the speed that has been specified 2 RST AL Alarm resetting Resetting servo drive and clearing alarms 3 TST MD Internal testing Internal open loop test for drive mode Note the mode is only for short time test within three minutes 4 DFT PA Default settings Restoring the parameter setting to the restoration original default setting
74. nal instruction This mode is provided for users to test whether the servo drive system is correctly installed and connected e Internal speed control mode In this mode HSV 180D servo drive can run at a present speed in the system without external instruction This mode is provided for users to test whether the servo drive system is correctly installed and connected Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit 3 Order Information 3 1 Specifications of Series HSV 180D Servo Drives 3 1 1 Specifications of Series HSV 180D Servo Drives Figure 3 1 Description for specification of servo drive HSV 180D L IL IL I ied aia ia Servo drive unit Current type 025 035 050 075 3 1 2 Types of Servo Drive Table 3 1 describes the types of HSV 180D servo drives Table 3 1 Types of series of HSV 180D servo drives Continuous Short time Peak Maximum Power of Type Current A Current A Motor KW HSV 180D 025 TS 15 2 2 KW HSV 180D 035 10 5 21 3 7 KW HSV 180D 050 15 30 5 5 KW HSV 180D 075 21 5 43 7 5 KW 3 1 3 Technical Specification Table 3 2 describes the technical specification of HSV 180D servo drive Table 3 2 Technical specification of HSV 180D servo drive Item Description Three phase AC 380 V Main circuit power supply 15 to 10 50 60 Hz Position control External speed control Torque control JOG control Internal speed control Co
75. ntrol mode a sz zai Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit Speed frequency 300 Hz or more response Speed lt 0 1 Load 0 to 100 lt 0 02 Power supply fluctuation 15 to 10 the value corresponding to the rated Character rate speed Speed regulation 1 6000 ratio re lt 500 kHz frequency Servo enable Alarm clear Error clear Control input Command pulse inhabited CCW drive inhabited CW drive inhabited Zero speed locked Servo already Control output Servo alarm output Orientation finished output speed get output Two phase A B positive pulse Input mode Pulse direction CCW pulse CW pulse Position control aaa 1 to 32767 1 to 32767 Feedback Optical electrical encoder line number pulse 1024 p r 2000 p r 2500 p r 6000 p r Acceleration and Parameter setting 1 to 32000 ms 0 to 2000 r min or 2000 deceleration to 0 r min Speed Current position Command pulse accumulation Position error Monitoring function Motor torque Motor current Rotor position Running state Input and output signal state Over speed Overvoltage and under voltage of main power Over current Overload Overheat Position error Protection function Six LED digital tubes two light emitting diodes LED Operation five bottoms HSV 180D 025 035 050 075 Load inertia Five times less than the motor inertia
76. o Ltd HSV 180D Series AC Servo Drive Unit C61 3000 8 3 2 6 GK6063 6A HSV 180D 35 F61 2 5 GK6064 6A HSV 180D 25 C61 2000 2 2 6 8 4 5 6 7 9 GK6064 6A 3000 3 2 HSV 180D 25 F61 4 6 GK6070 6A HSV 180D 25 C61 2000 1 5 10 3 4 4 8 5 GK6070 6A 3000 2 3 HSV 180D 25 F61 6 5 GK6071 6A HSV 180D 25 C61 2000 3 0 5 6 8 7 10 6 GK6071 6A 3000 4 5 HSV 180D 25 F61 3 3 GK6072 6A HSV 180D 25 C61 2000 3 8 3 9 7 5 12 9 12 8 GK6072 6A 3000 5 7 HSV 180D 35 F61 3 6 GK6073 6A HSV 180D 25 C61 2000 5 6 2 6 11 17 14 5 GK6073 6A 3000 8 3 HSV 180D 35 F61 2 5 GK6074 6A HSV 180D 25 C61 2000 22 6 8 4 5 6 7 9 GK6074 6A 3000 3 2 HSV 180D 25 F61 4 6 GK6080 6A HSV 180D 35 C61 2000 6 8 3 16 26 7 16 5 GK6080 6A 3000 10 2 HSV 180D 50 F61 2 9 GK6081 6A HSV 180D 25 A61 2 5 1200 6 1 GK6081 6A HSV 180D 50 2000 21 10 35 7 19 5 C61 3 3000 15 GK6081 6A HSV 180D 75 F61 2 8 GK6083 6A HSV 180D 35 A61 1200 8 1 2 5 27 44 6 22 5 GK6083 6A 2000 13 3 HSV 180D 75 C61 3 2 GK6085 6A 1200 9 9 HSV 180D 50 33 53 5 25 5 A61 2000 16 5 3 Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit GK6085 6A HSV 180D 75 C61 2 6 GK6087 6A HSV 180D 50 A61 1200 11 1 2 7 37 62 4 28 5 GK6087 6A 2000 18 5 HSV 180D 75 C
77. o prevent from equipment damage or personal injury Servo drives and servo motors must be reliably grounded Do not directly hammer at the motor shaft during installation or uninstallation of mechanic parts to protect the encoder from being damaged e Try to align the motor shaft to the optimum level to prevent from oscillation or bearing damage 5 1 Signals and Functions 5 1 1 Terminal Configuration Figure 5 1 shows the interface configuration of HSV 180D In the figure XT1 and XT2 are the terminal blocks XS1 is a DB9 socket XS2 XS3 and XS4 are high density sockets XS5 is a wiring terminal Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit Figure 5 1 Interface configuration of HSV 180D XS1 O Loo lag a4 XS2 XS4 Gy oo O XS3 me Len XS5 Lex EA tai o XTI 220B 220A PE L3 L2 Figure 5 2 shows the plugs corresponding to XS2 XS3 and XS4 sockets and the pin seguence of the soldering terminals Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit Figure 5 2 Soldering terminals of XS4 command input output interface looking from the soldering terminals be e be Ge bel a s 8 2 ESM Ba eg E Og BP ete EJ E EJ E E EJ E El Figure 5 3 XS4 command input output interface plug looking from the plug 1 18 o EZT o 13 36 Figure 5 4 Soldering terminals of XS3 servo motor
78. ong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit Figure 3 6 Order information of series GK6 AC servo motor Special descripti GK 06 1 6 A C3 1 F B Yr Zumr Y Non standard shaft extension and installation dimension The following number is the sequence number b b type shaft extension with standard keys Braker B with braker E without braker Feedback E 2000 pir F 2500 p R apair of positive rotary encoder Apparatus N 2048 pit positive consine encoder Installation modes 1 1 MBS 2 IMVI 3 1 MV3 4 1MB3 6 1MB35 Adaptive DC busbar voltage 2 210 3 3007 6 600 V Rated speed A 1200 rimin Bs 1500 r min O 2000 r min F 3000 r min Collng modes A naturalcoolng B forced cooling Potatity quantity 4 4 polatities 6 6 polarities 8 8 polarities Servo motor specification codes Cental height the integer number of central height divide 10 Series GK6 AC servo motor 3 4 Specification of External Braking Resistor The braking voltage of HSV 180D servo drive is DC 700 V For the maximum braking current see Table 3 6 A 70 Q 500 W braking resistor has been built in HSV 180D 025 035 050 075 Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit and a maximum of ten times overload is allowed continuing for one second An external braking resistor is required when the drive unit s load or inertia is big The braking time is shorter when t
79. or motor within five minutes after power off to prevent electric shock or burns Ifa servo drive alarm is reported do not use the servo drive only after the alarm is cleared based on the alarm code Before the alarm reset make sure that the EN signal is ineffective to prevent accidents caused by a sudden start 9 1 Protection and Fault Identification 1 Series HSV 18D servo drive provides 15 different protection functions and fault identification If one protection function is activated alarm information can be displayed through the digital tube on the drive panel the servo alarm ALM outputs ON signal and the failure chain relay normally open contact on the input output terminal XS5 is disconnected 2 It is required to connect the alarm output ALM or the failure chain input output terminal on XS5 to the upper machine When the protection function of the servo drive is activated the upper machine can promptly take emergency measures 3 After the fault source is cleared you can turn off three phase main power and then the repower the servo drive to clear the alarm Or enter the auxiliary mode to reset the internal alarm to clear the alarm Or reset the external alarm to clear the alarm via the alarm clear input signal ALM_RST 4 The protection function with cannot be cleared by resetting the external or internal alarm It can only be cleared by cut off the power and then Wuhan Huazhong Numerical Control
80. oubling for the 1 to 32767 command position command pulse electronic gear pulse 2 In the position control mode by setting frequency PA 13 and PA 14 users can easily match with molecular the pulse controller to achieve position control Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit _NxCx4 1x2500x4 5 P 6000 3 So the movement parameter PA 13 can be set to 5 and PA 14 can set to 3 5 It is recommended that the range for the G electronic ratio is lt G lt 50 and the second position proportional gain 3 ZEROSP ON indicates that in the position control mode the second proportional gain is effective and the position proportional gain is ineffective ZEROSP OFF indicates that in the position control mode the position proportional gain is effective and the second position proportional gain is ineffective 4 Gain and rigidity will be enhanced as the parameter value increases and the position lag value decreases at the same frequency of command pulse 5 Note If the value is too large it may cause oscillation or overshooting 14 Position See movement parameter PA 13 1 to 32767 command pulse frequency denominator 22 Position 1 Set parameters to the position command pulse 0 to 2 command mode pulse input 2 Select one of the 3 types of input modes by mode setting the parameter 0 indicates two phase quadrature pulse input e I indica
81. p control mode Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit Figure 5 19 1 Standard wiring for closed loop control mode pulse interface configured with Dench motor GK604 GK606 GK607 GK608 and GK610 Servo drive Dench servo motor 50 60HZ 10 15 External braking resistor AC380V Servo enable Alarm clear Secondary electric gear ratio switching Error count clear Command pulse prohibition CCW drive prohibition CW drive prohibition Zero speed locked input Open collector orientation finished output Open collector servo ready output Open collector servo alarm output Open collector braking output B BREAK 4 coms Failure chain MC2 2 mcf 1 Position command CP PLUS of ce Position command qlee SIGN i DIR At E Encoder A IX Ee 261532 7 8 VPOJ VP 7 7 signal ouiput B L Receiver ohio Jenpprie H END J 7 B hl inp 136 alia P r lt z o aL 26L531 ifaj pa NH 8 Zz Li ENZ Sender 13114 pps a Ez ere je SmE Open collector __ Be PE g Z phase puls t PZ y fe nner SBS ZPLS_OUT bee XC 3 UL cnppm ee amp GND i shen Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit Figure 5 19 2 Standard wiring for closed loop control mode pulse interface Configured with Dench motor GK613 and GK618 Servo drive Dench servo drive AC380V 50 60HZ 10 15 External brak
82. peed alarm is allowed 4 STA 4 This parameter is used to 0 Allow Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit specify whether position over tolerance alarm is 1 Not allow allowed This parameter is used to 0 Allow 3 STA 5 specify whether system overload alarm is allowed 1 Not allow This parameter is used to 1 Allow specify whether the internal 6 STARS SVR ON control start is 0 Not allow allowed This parameter is used to 0 Allow 7 STA 7 specify whether system main power under voltage alarm is 1 Not allow allowed This parameter is used to 0 Allow 8 STA 8 specify whether clockwise over travel limit switch input 1 Not allow is allowed This parameter is used to 0 Allow specify whether i BARR counterclockwise over travel 1 Not allow limit switch input is allowed This parameter is used to 0 Not allow specify whether positive and i PLAI negative torque limit is 1 Allow allowed This parameter is used to set 0 Normal operation mode 11 STA 11 the system open loop control 1 The open loop control mode mode enable is enabled This parameter is used to 0 Allow 12 STA 12 specify whether motor 1 Not allow overheat alarm is allowed This parameter is used to 0 Not allow 13 STA 13 specify whether the table 1 Allow position sensor is allowed This parameter is used to 0 Not allow 14 STA 14 specify whether
83. r servomotor magnetic logarithm e I indicates one pair of servo motor magnetic logarithm 2 indicates two pairs of servo motor magnetic logarithm e 3 indicates three pairs of servo motor magnetic logarithm 4 indicates four pairs of servo motor magnetic logarithm 25 Encoder 0 to 3 if the evolution Set the parameter to the encoder eanne encoder resolution of the servo motor is used set STA 15 to 1 and STA 2 to 1 e 0 indicates that the encoder resolution is 1024 Pulse r e 1 indicates that the encoder resolution is 2000 Pulse r e 2 indicates that the encoder resolution is 2500 Pulse r e 3 indicates that the encoder resolution is 6000 Pulse r 30 Motor speed Set parameters to the back EMF constant 0 1 V K rpm to 300 0 back EMF of the servo motor V K rpm constant The accuracy of current control is high when the motor running at a high speed Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit Generally there is no need to set this parameter 36 Ratio of load inertia and rotary inertia Set the parameter to the load inertia and rotary inertia ratio load inertia rotary inertia You can set this parameter by single parameter self adjusting 0 to 15 37 Mechanical load rigidity 0 to9 Set this parameter based on the coupling method e Ball screw shaft straight connection 4 to 8 Ball screw shaft synchronous belt 3 to 6 e S
84. raking resistor is used Connector the terminals P and BK must be terminal for disconnected to avoid short circuit external braking resistor e fan external braking resistor is used 2 BK terminal P and BK must be connected to an external braking resistor Note Terminal P and BK cannot be short circuited Otherwise the drive may be damaged 3 U Servo drive It must be connected to the U V and W 4 V three phase terminals of the servo motor 5 W output terminal correspondingly Ground terminal Ground 6 PE i Ground resistance less than 4 Q terminal Ground Ground terminal D terminal Ground resistance less than 4 Q Servo drive shell ground terminal 5 1 4 XS1 RS232 Serial Interface No Terminal Signal Description Symbol 2 TX Data sending It is connected to the serial data Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit receiving interface RX of the controller or PC to achieve serial communication 3 RX Data receiving It is connected to the serial data sending interface TX of the controller or PC to achieve serial communication 5 GNDD Signal ground Data signal ground 5 1 5 XS4 Command Input output Interface No Terminal Symbol Signal Description EN Servo enable Servo enable input terminal EN ON Enable the servo drive EN OFF The servo drive stops working and the servo motor is idle Note
85. re 5 17 2 the standard diagram for position control mode Connect the main circuit power three phase AC 380 V of the drive and then the displayer of drive is on If an alarm is reported check the connection External enable setting Press M to select control parameter mode Press or to select the control parameter STA 6 and press S to enter the parameter setting mode press Tf or to set the parameter to 0 indicating that external enabling function is allowed Press S to return to the control parameter mode Set the movement parameter PA 23 indicating the position control mode to 0 and according to the controller signal output mode to set the movement parameter PA 22 indicating the command pulse input mode Save the parameter settings to EEPROM Turn off the power wait for 30 minutes and then connect the power again Verify no alarm or abnormal condition is reported The green enable lamp EN is on which indicates the drive is operating normal The motor is activated and in the zero speed state Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit 9 Use upper machine outputs pulse command to the 14 15 16 17 pins CP CP DIR DIR on the command input output interface XS4 to make the motor run according to the command 8 3 4 External Speed Running Mode Analog interface 1 For wiring see Figure 5 18 1 and Figure 5 18 2 standard wiring for external speed control mode analo
86. ress Table 6 1 Meaning of each symbol in the display mode D No Symbol Function 1 DP EPS Display the position tracking error unit pulse 2 DP SPD Display the actual speed unit 1 r m 3 DP TRQ Display the actual torque current command unit digital 32767 indicates the short time maximum current of the drive 4 DP PRL Display the low 16 bit of the specified position unit pulse 5 DP PRM Display the high 16 bit of the specified position unit pulse Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit 6 DP PFL Display the low 16 bit of the actual position unit pulse 7 DP PFM Display the high 16 bit of the actual position unit pulse 8 DP SPR Display speed command unit 11 m 9 DP ALM Display alarm status 10 DP PIN Display switch input status IN 0 servo drive enable IN 1 alarm status reset IN 2 error counter clear IN 3 command pulse prohibition IN 4 CW drive prohibition IN 5 CCW drive prohibition IN 6 Secondary electronic gear ratio switch yur ues Mlle IN 7 zero speed locked input 11 DP IUF Display the actual feedback value of the U phase current unit digital 32767 indicates the short time maximum current of the servo drive 12 DP IVF Display the actual feedback value of the V phase current unit digital 32767 indicates the short time maximum current of the servo drive 13
87. rform short connection between the analogue control input terminal and grounding wire for signal b Set this parameter to the value that stops the operation of the servo motor 11 Range for 1 Specify the range for speed reached in 0 to 2000 speed get the speed control mode 1 r min 2 In the speed control mode if the deviation between the specified speed and the actual speed is less than or equal to this value the speed reached signal is connected otherwise the signal is disconnected 3 Output the speed get signal under the speed control mode 4 The value has no relation to the rotate Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit direction 15 Current 1 Specify the internal torque limit for Value range 0 amplitude limit the servo motor in the CCW to 32767 for positive direction The short time torque 2 The value of PA 15 cannot be greater maximum than that specified by PA 5 current of the 3 Ifthe value exceeds that specified by servo drive 0 to the movement parameter PA S the 100 actual current amplitude limit for positive torque is the value of PA 5 Current amplitude limit for maximum torque 4 When the value of STA 10 is 1 and the value of STA 0 is 0 the limit is effective 16 Current 1 Specify the internal torque limit for Value range 0 amplitude limit the servo motor in the CW direction to 32767 for negative 2 The absolute value cannot be
88. rive Unit Multiply command pulse with the electronic gear ratio G to get the position control pulse The formula for one command pulse travel 41 is as follows AS x AT G 7 In the formula G position command pulse frequency molecular position command pulse frequency denominator 3 Start and Stop Adjustment The servo drive start and stop feature namely acceleration and deceleration time is determined by the over load inertia and start and stop frequency and limited by the servo drive and servo motor performance Frequent start and stop short acceleration and deceleration time large load inertia will cause over heat to the servo drive and motor and over voltage to the main circuit You need to adjust them as required a Overload inertia and start and stop frequency adjustment The adjustment is required when the start and stop frequency is too high Check whether the frequency is in the frequency range The frequency range varies with different motor types capacities load inertias and motor speeds If the overload inertia is M times of the motor inertia the start and stop frequency and recommended deceleration time movement parameter PA 6 is as in the following table Load inertia ratio and allowed start and stop frequency Load Inertia Allowed Start Stop Frequency Times m lt 3 gt 100 times mins acceleration and deceleration time is 60 ms or less m lt 5 60 to 100 times mins acceleration and deceler
89. rval between servo drive and control cabinet or other machines Failure to follow this instruction could result in fire hazard or malfunction Wiring Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit Before wiring confirm whether the power is off Failure to follow this instruction could result in electric shock and fire hazard e Only electrical engineer can do the wiring Failure to follow this instruction could result in electric shock and fire hazard Make sure the ground terminal grounded Failure to follow this instruction could result in electric shock and fire hazard e After the wiring of the emergency stop circuit check whether the wiring is effective Failure to follow this instruction could result in injury Users shall be responsible for the wiring Do not touch the output terminal directly nor connect external shield to the output wire of a servo drive Avoid short circuit of output wires Failure to follow this instruction could result in electric shock and short circuit Caution e Confirm whether the power voltage of the main AC circuit is subject to the rated voltage of the servo drive Failure to follow this instruction could result in injury and fire hazard Do not make withstand test for the servo drive Failure to follow this instruction could result in damage to components such Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit as
90. s 86 7 2 2 Parameters Related to Position COmttaloisi ciareresssaioranstegeuetebloventocarsracnoaiesiey 88 7 2 3 Parameters Related to Speed Torque Control Mode 92 7 3 Control Parameter Moderan ae a E A ware RR A RAE 97 8 Operation and Modi fiCa tone ciiccssespssstssstaaeisusitnctedspsavnstnrsacteusieestesspbestas spndonsisseustenspuseuserioueien 99 8 1 Power Connection d toed isesndoans catalina tdanhe nits debe cesdoakiadaates thes tosttessatie cans igabtanmblasstanboteds 99 8 2 Checking Before Running ciation setae arose ethene a aici as 102 8 3 Trial Operatloniseiise ccs iow k aheg ects es pes vea a a a 102 8 3 1 JOG Running Mode i cjcsiccahttiins aig dptnamiaiodaasahledinoeeiatpas 102 8 3 2 Internal Speed Running MOC ss o 25 ach 4casatensb0sthssd atonsetaaeracccatorsstuaarecn terse 103 8 3 3 Position Running MOG tos osiexsne2asycessaynycaseeounsesucssunatec veaden eageenaneceataaaseemeases 104 Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit 8 3 4 External Speed Running Mode Analog interface 105 8 3 5 Torque Running Mode Analog Interface ctstectsdicinusniatdeiontiats 105 8 3 6 Closed loop Running Mode Pulse Interface 106 8 4 R nning Modification sasn neie iiaia iiti 108 9 Fault Troubleshoot eera a a E is maya ten E E ER E ROR 112 9 1 Protection and Fault Ide mtifica
91. sed in the environment with big vibration and impacts Sine and cosine optic electrical encoder which resolution can reach 220 c Absolute encoder e Positive temperature coefficient PTC thermistor When the temperature is 20 the resistance cannot greater than 250 Q Cooling External paint R lt 250 Q Option Heat sensitive switch Installation mode eMB5 Options IMV 1 IMV3 and IMB35 IMB5 Protection level elP64 Options IP 65 and IP67 e Natural cooling eFlat grey paint Options customized paint Bearing Radial shaft seal Shaft Double row deep groove ball bearing eDrive shaft seal e Standard Type a Plain shaft no keys Option Type b Shaft with keyway keys or customized shaft Vibration level Rotation precision oN Options R and S oN Option R and S Noise GK603 lt 55 dB A GK604 lt 55 dB A GK605 lt 60 dB A GK606 lt 65 dB A GK607 lt 65 dB A GK608 lt 70 dB A GK610 lt 70 dB A GK613 lt 70 dB A GK618 lt 76 dB A Connection eSocket connector GK603 GK610 Option Outlet box GK603 GK610 eOutlet box GK613 or a later version Option Socket connector Options eMaintenance free high reliability permanent magnet safe brake made in Germany eHigh precision planetary gear reducer or other reducers 3 3 4 Technical Specification of Series GK6 AC Permanent Magnet Servo Wuhan Huazhong Numerical Control Co Ltd HS
92. selection output signal and internal control mode function mode Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit 7 2 Movement Parameter Mode Series HSV 180D servo drive can provide 40 movement parameters For details about the movement parameters see Table 7 2 In the application control mode P indicates position control suitable for servo position control and servo orientation S indicates speed control Note Do not modify the reserved parameters which may be applied by the internal system Failure to follow this instruction could result in unexpectations Table 7 2 Parameters No Parameter Application Value Default Unit Control Range Value Mode 0 Position proportional P 10 to 3000 0 01 Hz gain 32767 1 Position feed forward P 0 to 100 0 gain 2 Speed proportional P S 25 to 4000 gain 32767 3 Speed integral time P S 5 to 32767 20 ms constant 4 Speed feedback filter P S 0to4 0 factor 5 Current amplitude P S T 1 to 32767 25000 limit for maximum torque 6 Acceleration time P S 1 to 32000 2 1 ms 2000 constant r min 7 Speed command S 10 to 6000 2000 input gain 8 Speed command zero S 1023 to 0 drift compensation 1023 9 Torque command T 80 to 20000 input gain 32000 10 Torque command T 1023 to 0 zero drift 1023 compensation Inversion of Table P 0 or 512 0 Wuhan Huazhong Numerical Control Co Ltd
93. semi conductor Do not connect power cable to the output U V and W terminals to avoid damage of servo drive internal parts Caution Do not connect capacitance and LC or LR noise filter to the output circuit to avoid damage of servo drive Do not connect electromagnetic switch and electromagnetic contactor to the U V and W output circuit When the servo drives run with load surging current could activate over current protection of the servo drive Testing and Commissioning Danger Do not remove or modify anything when the external wirings are made otherwise the power is on Failure to follow this instruction could result in electric shock Do not approach to the machine on the trial operations after resetting of servo drive Take physical safety into consideration when perform electrical and mechanical design Arrange an external emergency stop device Failure to follow this instruction could result in injury Caution Before operating reconfirm some information such as the use range of the motor and machines Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit Failure to follow this instruction could result in injury Do not touch the machine while operating or just cut off the power because the radiator brake resistor motor etc may be at high temperature Failure to follow this instruction could result in burn e If necessary arrange external brake Do not touch t
94. t be installed in accordance with the specified direction and interval to ensure enough cooling The servo drive cannot be installed near combustibles that may cause fire hazard Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit 4 3 1 Installation Method 1 Installation methods There are three types of wall installation directly installed without auxiliary devices with auxiliary devices and external heat sink installation For their installation diagrams see Figure 4 1 Figure 4 2 and Figure 4 3 You can use any of the three methods and install the servo drive vertically 2 Installation Interval For the installation interval of single servo drive see Figure 4 4 and Figure 4 5 For the installation interval of multiple servo drives see Figure 4 6 During installation leave enough intervals to ensure good heat emission 3 Cooling In the electric cabinet there must be air blew through the radiator to prevent the ambient temperature of the servo drive from overheating Figure 4 1 Wall installation of HSV 180D 025 035 050 075 servo drive without auxiliary devices a A SE Combination screws with pad M4 x14 GB T9074 3 1933 four screws Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit Figure 4 2 Wall installation of HSV 180D 025 035 050 075 servo drive with auxiliary devices Combination screws with pad M4x14 G
95. ten cts n i hel ezette elt g ni 33 A 2 WAL OTS ead cect Salted cated fal R See et z al Nd ill dl Ned ctiins halted wendy 33 4 2 6 Air Pollution sssesseszs cities cigs Aoki g lata beke kele est s 33 4 3 Installation of HSV 180D Servo Drive ccccesseeseeseeseeeeseeseeseeseecseeseesesecseeseeseaeens 33 4 3 1 Installation Method ccccccceseessescsseseeseeseseeseeseeseeecsecseeseeececseeseeeeeeeeeseeseneeeees 34 4 4 Installation of Servo MOtor c ccccccescscessessesesseseesseseeeseeseeseeecseesenseeeesecseeseeeeeeeseeseeseaeens 37 4 4 1 Installation Environment ccccccescesceeseesceseeseeeeeeseeseeseceeeeseesecseeneeeseeaeeneeneeeaes 37 4 4 2 Installation Method ccccccccccessesseseseeseeseeseeeeseeseeseeeesesseeseeeeecseeseeseeesnesseeseeeenees 38 9 VV i aT AE ata aca aan Nk als arate A Ad Ee S lls SS ERENS 39 Db ORB TIALS and PUT CULO ses coho d Geen peeing hn rae ce aun ee ited E E E AE e a T 39 5 1 1 Terminal Config rationicescj cce cages sctietsn oaieiectpetee apes tigate atgeedt eapetnnngeadensd 39 5 1 2 XT1 Power Input Terminal eee E a E a EN aS 42 5 1 3 XT2 Heavy Current Input Terminal eee sees eseeeeeeseeesseeesseneeeeneees 43 Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit Dols ASL RS 257 Serial Interface iseenest e inii iaie kesen g t lade 43 5 1 5 XS4 Command Input output Interface 2c cccicundaikianndadiiawcd ies 44 5 1 6 XS3 ENCODER Servo Motor Optical ele
96. tes pulse direction 2 indicates CCW pulse CW pulse 3 CCW is defined as forward for the servo rotating counterclockwise looking from the axial direction 4 CW is defined as reverse for the servo rotating clockwise looking from the axial direction 26 Secondary 1 Specify the second position proportional gain 10 to 32767 position 2 In the position control mode the function of Unit 0 0 1 proportional input terminal ZEROSP is to control the Hz gain switching between position proportional gain Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit 29 Secondary position command pulse frequency molecular 1 Specify the frequency doubling for the second position command pulse 2 If the dynamic electronic gear is used the input terminal GEAR_M is a control terminal for electronic gear switching input 3 When the state of the GEAR_M terminal is OFF the input gear ratio is the value of PA 13 PA 14 when the state of the GEAR_M terminal is ON the input gear ratio is PA 29 PA I4 you can change the gear ratio by controlling the GEAR_M terminal 4 Note the first and the second electronic gear frequency denominator is the same 1 to 32767 23 Control mode selection 1 This parameter is used to select the control mode of the servo drive 0 indicates the position control mode receiving the position pulse input command e I indicates the external speed
97. tioniss css csssassseisesietensespsesnstsredeveisdvecteestoasaesmavaeveuecenens 112 Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit 1 Safety Precautions Thank you very much for buying series HSV 180D AC servo drive HSV 180D AC servo drive and servo motor are applicable to the general industrial environment but not to the strong vibrating environment Pay attention to the followings e It is inapplicable to medical equipment which is related to life safety e The servo drive is not water proof It needs to avoid moisture and direct sunlight Do not perform any change the servo drive and drive motor Before installation and wiring read through this manual Before operation understand the safety information safety precautions and operating instruction of this equipment 1 1 Symbols of Safety Precautions The symbols of safety precautions are displayed on the front panel of the servo drive Figure 1 1 Symbols of safety precaution for HSV 180D 025 035 050 075 servo drives en B52 PHBE e Se F077 HE B Danger High voltage Do not move cables or touch terminals while applying power Disconnect incoming power and wait 5 minutes before connecting cables or opening terminal cover Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit 1 2 Meaning of Safety Precaution Symbols Narning lt _Safety precaut
98. tor GK604 GK606 GK607 GK608 and GK610 Servo drive AC380 50HZ 60HZ 10 15 External braking resistor Sere enable o ERT Alarm clear tk O Secondary electric o gear ratio switching Error count clear D amh HE H Command pulse o prohibition CCW drive prohibition 070 CW drive prohibit S D a B Zero speed locked O O zRo sP 26 rpe Cana ca PE 261s32 receiver ir erint ished Pam I EBET TA ns aa Open collector pe ec READY 8 Open collector servo alarm output a pp CoM Oni __ coman electrical encoder plug ZPLS_OUT i f Open collector Z phase ue cen BREAK 4 EA pulse ouipur Tanp e _ gt E GHD lie Encoder signla B ouput i T position command H PLUS 7 position command lt GHD SIGN Figure 5 17 2 Standard wiring for position control mode pulse interface Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit Configured with Dench motor GK613 and GK618 Servo drive OPE Dench servo drive ie inl y O 0 wH vooo AC380 L1 PEU Ld 50HZ 60HZ L2 10 15 T xS xr ae s External braking x a Internal power supply 116 17 5 _ENC resister Hi 19 19 VNC m Servoensble Sos EN 1 HES enrum Alr leset io aala HEE 25 GNDPG meee Cl Secondary electric E TT ar fey 2 gear ratio switching GEAR M 25 ma a Tae fe A 57 Erercoumtclear Horoa CLEE 3 EEG eoa z
99. value be larger if no oscillation exists In general the value of speed proportional gain increases as the loading inertia increases Speed integration time constant specified by the movement parameter PA 3 Integration speeds up as the value decreases The response speed increases as the parameter value decrease but oscillation may occur It is recommended that the value be smaller if no oscillation exists A big parameter value may leads to great changes in speed when the load changes In general the value increases as the load inertia increases B Position control Set an appropriate value for speed proportional gain and speed integration time constant based on the information in Speed control Position forward feedback gain It is specified by the movement parameter PA 1 The system response enhanced as the value increases but instability or oscillation may occur It is recommended that the value be set to 0 Position proportional gain It is specified by the movement parameter PA 0 Gain and rigidity will be enhanced as the parameter value increases but the Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit position hysteresis decreases under the condition of the same pulse frequency The value is determined by the actual servo drive system type and the load It is recommended that a big value be set The position command tracking feature is enhanced but the lag error decreases as the parameter value in
100. ved If no servo drive fault occurs and the servo ready READY output signal is connected the enable lamp EN on the panel is light which indicates that the servo enabling function is effective The motor is activated and in a state for running e If an alarm is reported the enable lamp turned off and the red alarm lamp AL is light The enabling function is ineffective and the motor is idle At this time Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit power off the main circuit power and check the trouble e In the position running mode pulse interface or the external speed running mode pulse interface the host sends pulse command to the servo drive The motor runs according to the command e For the details see the sequential diagram for power connection and alarm Figure 8 1 Sequential diagram for power connection 3 phase AC 380 power Servo enabling input ON Servo ready output 3 OFF 15 Position speed command Figure 8 2 Sequential diagram for alarming Al tput i ON i Note When a drive alarm is reported cut off the external control circuit power immediately based on the servo alarm output signal ALM or the failure chain input output terminal XS5 2 Power Off Sequence Disconnect the main circuit power three phase AC 380 V of the drive If the servo enable signal EN keep outputting ON A 1 indicates main power low voltage is displayed the green enable lamp
101. y position P 10 to 3000 0 01 Hz proportional gain 32767 27 Current control P S 10 to 2560 proportional gain 32767 28 Current control P S 1 to 127 10 ms integration time 29 The second position P 1 to 32767 1 command pulse frequency molecular 30 Motor position back P S T Oto 10000 0 0 1 V K EMF constant rpm 31 Reserved 4100 32 Feed forward control P 0 to 500 0 0 1 ms filter time constant 33 Torque command P S T 0 to 250 3 0 1 ms filter time constant 34 Trap frequency of the 150 to 1200 1 Hz wave trap filter s T 1200 35 Position command 0 to 300 0 1 ms filter time constant 36 Ratio of load inertia P S 0 to 15 1 and rotary inertia 37 Mechanical load P S 0 9 4 rigidity 38 Deceleration time P S 1 to 2 1 ms 2000 constant 32000 r min 39 Position of serial P S T 1 to 63 1 communication axis 7 2 1 Parameters Related to Servo Motor Table 7 3 Parameters related to servo motor No Parameter Function Value Range 17 Maximum 1000 to 6000 unit 1 speed limit Set the parameter to the maximum speed of the servo motor The parameter value has no relation to rotary direction r min Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit e Ifthe parameter value is greater than the rated rotary speed the actual maximum speed is the rated rotary speed 24 Magnetic 1 to4 logarithm of Set the parameter to the servo moto
102. ynchronous belt 2 to 5 e Gear rack and pinion 1 to 3 Others 1 to 3 Low rigidity You can set this parameter by single parameter self adjusting 7 2 2 Parameters Related to Position Control Table 7 4 Parameters related to the position control No Parameter Description Value Range 0 Position proportional gain 1 Specify the proportional gain of the position loop regulator under the position control mode 2 Gain and rigidity will be enhanced as the parameter value increases and the position lag value decreases at the same frequency of command pulse Note A too large value may cause oscillation or overshooting 3 The parameter value is determined according to the type of servo drive and operating load 10 to 32767 Unit 0 01 Hz Position feed forward gain 1 Specify the position feed forward gain 2 When the parameter is set to 100 the position lag value is 0 at any frequency of the command pulse 3 The high speed response is improved as the 0 to 100 indicating the range is between 0 to 100 Wuhan Huazhong Numerical Control Co Ltd HSV 180D Series AC Servo Drive Unit feed forward gain of the position loop increased This can cause instability and oscillation 4 If fast response is not required the parameter can be set to 0 resolution as required angle pulse 3 PxG NxCx4 In the formula P indicates the pu

HSV-180D Series AC Servo Drive Unit

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