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Preface

1. Built in Regenerative Resistor Minimum Servodrive Model Specification Allowable Resistance Q Capacity W Resistance Q IS500L1SORT7I Single phase IS500L1SORQI i add IS5000S1R6l IS5000S2R8l Single 3 IS5000S3R8I 50 phsae 220V IS5000S5R5I 40 50 40 IS5000S7R6I 35 18500L180121 30 3 phsae 220V I8500L18018l 25 100 20 18500L18025I 15 40 100 18500L18033l 10 IS500L TT1R9I 100 40 T IS500L 1T3R5I 100 40 IS500L 1T5R4I 50 40 45 IS500L 1T8R4I 3 phsae 380V 100 100 60 18500L1T012l 18500L1T0171 35 IS500L1T0211I 40 100 IS500L1T026l Note Inovance does not prepare the DC24V braking power supply now 10 IS500 Servodrive User Manual 1 6 System Structure Single Phase 220V Main Circuit Power supply Single phase 220V AC MCCB cut off circuit upon detection of over current Noise filter prevent external noise from the power line Magnetic contactor turn on off main power of servo Servodrive drive Install a Magnetic contactor turn on off main power of servo drive Install a surge suppressor together with it Brake power supply used for a servomotor with a brake issoo0 00000 Chapter 1 Selection of Servo System a SE Analog monitoring cable 85 L A01 1 0 Refer to 5
2. Input Signal Direction Running Speed OFF OFF OFF OFF fou 197 Segment speed ON OFF OFF OFF uma speed OFF ON OFF OFF Heat Segment spesd a QM ORE ERE through W120 OFF OFF ON OFF oe an c P ON Jen Oe Sn through H1238 nn ee OE ere ee throughHi2a8 nn Set the 8th t speed OFF OFF OFF ON set direction rain th segment apace on ore ore fon ne OFF ON OFF ON iam 1i segment speed os fon ore on o a orr for o fon o ae oO ier jem e through H1280 en ee qe DOR en through T2 a ON ON ON ON Set the 16th segment speed through H12 65 Complement If the control mode is set to a switching mode that is HO2 00 3 4 5 6 Switching of control modes may be performed B MS Speed Running Example The following figure shows an MS speed running example illustrating the running effect when during acceleration down time The reference acceleration deceleration function can effectively lighten shocks to the machine during speed reference switching 100 IS500 Servodrive User Manual Chapter 7 Setting of Servodrive General Function Codes Motor Speed Speed 3 Speedide s sya se es re ee RT ee ene NENNEN Sped2 xS lt i CS l Speed 1 M aaa ae petu a a a rare p I I I I I 0 t i I I I I Spedlpllgpll22 p L Li L PONES a Aho RUN l l I I l 1 I Sp
3. Function 4 Factory When Data Related Code Reme pop RENEE Maiin Unik Setting Enabled Type Mode Speed Hos 18 ESedforward 0 00ms 64 00ms 0 01ms 0 00ms Immediately P9 p Filtering Time Setting Parameter Speed 5 Running H08 19 Feedforward Gain 0 096 100 096 0 196 0 096 Immediately Setting P Torque Hog 20 Feestorward 0 00ms 64 00ms 0 01ms 0 00ms Immediatey Running p Filtering Time Setting Parameter Torque Running H08 21 Feedforward Gain 0 0 100 0 0 1 0 0 Immediately Setting P 0 Disable speed Speed Feedback feedback filter Stop HOS 22 Filtering 1 Enable speed 9 Immediately Setting PS feedback filter 0 PI Contorl Speed loop 1 P PI switch Stop 10823 Control Method control 1 0 Immediately Setting PS 2 PI Contorl 0 Base on internal torque insutruction 1 Base on speed z instruction Hos 26 P Switch 5 Base on 1 0 Immediately StP PS Control Condition Setting acceleration 3 Base on position deviation pulse 4 Base on external Switch DI P PI Switch S H08 27 Condition Torque 0 0 800 0 0 196 30 0 Immediately S am PS Reference 9 P PI s H08 28 Switch Condition Orpm 9000rpm 1rpm Orpm Immediately sen PS Speed Reference 9 P PI Switch Hos 29 Condition Orpm s 30000rpm tepms 200PM immediatety Stop PS f ms Setting Acceleration P PI 1 0 H08 30 Switch Condition oo rererenge reference reference Immediately bed
4. Key Function Press this key to shift between function code groups in turn or return to the upper level menu e Press this key to increase the set value of the current flash bit and long press it to A rapidly increase the value e Press this key to decrease the set value of the current flash bit and long press it to v rapidly decrease the value o Press this key to shift to the next digit on the left 4 Long press Can be used for page turning when contents of more than 5 digit Nixie tubes are displayed bes Press this key to save the change and enter the next menu Note When an alarm is output please find the reason and clear the fault first before resetting the alarm 6 1 2 Servodrive Status Display The servodrive status is displayed in a 5 digit Nixie tube Code LED Display Meaning rESEt Fi E mi E H Software is in the start or reset status nrd Servo is not ready after start or reset For example the Oe main circuit is not powered on 78 IS500 Servodrive User Manual Chapter 6 Digital Operator Servo is in the normal running status In this case you ri Lr can query the servo s running status and variables via function codes of Group HOb idy Servo is in the normal state waiting for the host y Ci controller to initiate an enabled signal 4 Er xxx Servo error occurs xxx indicates the error code i
5. Type Signal Name Pin No Name PULS CN1 7 Pulse reference input PULS CN1 8 Pulse reference input TN SIGN CN1 11 Pulse direction input SIGN CN1 12 Pulse direction input W Wiring Pulse Reference Input Signals 1 Wiring differential drive output Host controller Servodrive Line driver CN1 150 PULS Eu PULS T Lt CW phase A I PULS Is yt 11 1508 SIGN SIGN CCW phae B SIGN 12 I 1500 m axo 7 ed I i y4 m j 5 T Twisted pair 2 Wiring open collector output Host controller Servodrive E L Twisted pair Set the current limiting resistance R1 and make sure the input current is within the range of 6 10mA 103 Chapter 7 Setting of Servodrive General Function Codes 1S500 Servodrive User Manual For example If Vcc 24 V then R1 2 4 kQ If Vcc 12 V then R121 5 kQ If Vec 5 V then R1 200 Wiring open collector through PL1 PL2 PL3 for pull up helps to utilize the 24V power supply in the servodrive Servodrive Host controller Note Terminals 3 13 and 18 indicate PL1 PL2 and PL3 respectively H Setting the pulse reference input form There are four pulse reference input forms set in H05 15 Function HOS Code 15 Name Reference Pulse Form 0 Direction pulse positive logic default value Setting 1 Direction pulse negative logic Range 2 Phase A Phase B
6. Synchronous belt drive chain drive reducer with fluctuation gear i Flow through either Correspond the reducer ball to 10 times of screw inertia ratio controlled by the reducer or the machinery connected by the ball such as general work machines handling machines etc Ball Screws connect to the machinery directly such as surface mounting machines machine tools etc 185 Chapter 9 Adjustments IS500 Servodrive User Manual How to Set Servo Rigidity To set the rigidity level do as follows 1 Ensure that inertia identification has been performed or inertia identification ratio is reasonable Select the appropriate rigidity level HO9 05 according to inertia ratio Rigidity level 10 matches approximately 10 times of inertia ratio Bigger the mechanical load inertia ratio lower the servo allowable rigidity level 2 H0d11 enters JOG trail operation Check whether the operation is normal and whether there is vibration noise If vibration noise exists reduce the rigidity level Otherwise try to increase the rigidity level until meeting the system requirements Speed loop gain integral and torque filter parameters are matched reasonable Only the setting of position loop gain is conservative You can increase the position loop gain by 30 for actual debugging When rigidity level HO9 05 is changed speed and position loop gain will be changed Then you can perform fine tu
7. Ew ME fe I Rem A B 3 Wiring Specification for S5 L T00 3 0 A B Signal Pin Pin Signal GND 5 1 GND PC TXD 3 2 RS232 RXD PC RXD 2 3 RS232 TXD PE shielding layer Housing Housing PE shielding layer 4 5 Servodrive PLC Communication Cable S5 L T02 2 0 1 Servodrive PLC Communication Cable Model Model Length Remark S5 L T02 2 0 2 0m It is applicable to all servodrive models 2 4 5 2 Servodrive PLC Communication Cable Appearance Direction A TN Direction j zw 3 4 5 3 Wiring Specification for S5 L T02 2 0 A A B Signal Pin S GND1 1GND NE RS48544 4RS485 ien RS485 5 5RS485 Se CANH6 6CANH CANA CANL7 7CANL SU PE Housing PE Housing PE Shielding layer 47 e B Twisted Pair 4 5 6 7 Chapter 4 Cable Specifications and Dimension Diagram 1S500 Servodrive User Manual 4 6 Multi Servodrive Communication Cable S5 L T01 0 2 1 Multi Servodrive Communication Cable Model Model Length Remark S5 L T01 0 2 0 2m It is applicable to all servodrive models 2 Multi Servodrive Communication Cable Appearance Elli IE f A B 3 Wiring Specification for S5 L T01 0 2
8. 98 IS500 Servodrive User Manual Chapter 7 Setting of Servodrive General Function Codes Motor Rotation Input Signal Direction Running Speed Set the 1st segment speed through H12 20 Set the 2nd segment speed through H12 23 Set the 3rd segment speed through H12 26 Set the 4th segment speed through H12 29 Set the 5th segment speed through H12 32 Set the 6th segment speed through H12 35 Set the 7th segment speed through H12 38 Speed Set the 8th segment speed ON ON ON OFF reference through H12 41 id ea Set the 9th t d as the set et the Segment spee did ridi OFF BH direction through H12 44 OFF OFF OFF OFF ON OFF OFF OFF OFF ON OFF OFF ON ON OFF OFF OFF OFF ON OFF ON OFF ON OFF OFF ON ON OFF Set the 10th segment speed through H12 47 Set the 11th segment speed through H12 50 Set the 12th segment speed through H12 53 Set the 13th segment speed through H12 56 Set the 14th segment speed through H12 59 Set the 15th segment speed through H12 62 Set the 16th segment speed through H12 65 ON OFF OFF ON OFF ON OFF ON ON ON OFF ON OFF OFF ON ON ON OFF ON ON OFF ON ON ON ON ON ON ON 99 Chapter 7 Setting of Servodrive General Function Codes 1S500 Servodrive User Manual Motor Rotation
9. A B Twisted Pair Signal Pin Pin Signal 4 5 RS485 4 4 RS485 6 7 RS485 5 5 RS485 CANH 6 6 CANH CANL T T CANL PE fe Housing Housing PE Shielding layer 4 7 Servodrive Analog Monitoring Cable S5 L A01 1 0 1 Servodrive Analog Monitoring Cable Model Model S5 L A01 1 0 Length 1 0m Remarks It is applicable to all servodrive models 2 Servodrive Analog Monitoring Cable Appearance 3 Wiring Specification for S5 L A01 1 0 A B Pin Signal Wire Color Wire Color 1 AO1 Red Red 2 AO2 White White 3 GND Black Black 4 GND Black Black 48 IS500 Servodrive User Manual Chapter 4 Cable Specifications and Dimension Diagram 4 8 Precautions on Using Bending Wires It is recommended that the bending radius be less than 90 mm Even if the recommended bending radius is respected in the mechanical design incorrect wiring may cause early disconnection Observe the following precautions when wiring Cable Twisting Ensure that cables are straightened when wiring Twisted cables cause early disconnection Check the indication on the cable surface to make sure that the cable is not twisted Fixing Method Do not fix the moving points of the cable Otherwise stress on the fixed points may cause early disconnection Fix the cable at the minimum number of points Cable Length If the cable length is too long it may cause the cable s sagging
10. Servo unit High accuracy analog AI35 08 signal input p Low pass filter 5y Max input 12V AI3 49 TQ oy External 5V Anal d ants power supply na oe spee All Low pass filter Ayp 1k GND Max 200mA put 2 Max input 12V T GND 6 g Y GND gt iL GND Analog torque AI2 9 Low pass filter input ian Max input 12V T GND 10 deua E 34 PAO 35 Encod 1500 E PBO ncoder PULS PULS 7 S6 pgo Pulse output ICW Phase Ar PULS 8 Fad E ND SIGN SIGN 111500 20 p70 2 Siete ai aR ISIGN Sia Fad 174 pz oy Origin signal referenc CLR CLR pts 5 50k com open collector ICLR 44 2g L output 24V Open PL1 gt p3 24k T Value inside the bracket collector 13 is the default function reference PL2 E a I DO function can be power PL3 18 flexibly configured supply V m 24V through function code 4 29 suppl H sot p W lt DO1 S RDY Biyomor ff Bal ad QK po1 s Rpv Value inside the m B bracket is thd DI2 CMD2 lad 34 214 DO2 V CMP default function D L TR 28D 02 V CMP function can b DIS DIR SEL 4 zd E f iat Er DM ALM RST 44 3K F Hor sats ERO cede nalor ey 3 Tad 42 amp pos ERO T gt DISS ON ad Leti f DO4 ALM 2 L32 DO4 ALM ON valid in the_ DIG ZCLAMP aq 3k B default status E dr PIN Drm 4C ostio pi Sat 38 negative logic DI amp CMD4 4 EI X DO7 AL1 39 PISJOGCMD o3 yu DOB AL2 J ON valid in the default JaMO JOGCMD 24 EM COM status which can COM kn i S modify its positive and Note T
11. Encoder cable ISMOO OOOOOOO OO0O0D Servomotor 12 IS500 Servodrive User Manual Three Phase 380V Main Circuit Power supply 3 phase 380V AC MCCB cut off circuit MEF upon detection of over current Noise filter prevent external noise from the power line Magnetic contactor turn on off main power of servo drive Install a surge suppressor together with it Regenerative resistor A Brake power supply used for a servomotor with a brake Magnetic contactor turn on off main suppressor together with it Chapter 1 Selection of Servo System Analog monitoring cable S5 L A01 1 0 Refer to 5 7 Multi servodrive in parallel comm cable S5 L T01 0 2 Refer to 5 6 PC comm cabl S5 L T00 3 0 Refer to 5 4 Note 3 si PLC comm cable S5 L TO2 2 0 Refer to 5 5 Refer to 5 3 Servomotor main circuit cable S5 L M Refer to 5 1 R L r VO cable S5 L S00 Encoder cable S5 L P Refer to 5 2 ISMOO O0OOO0O000 OO000 Servomotor 13 Chapter 1 Selection of Servo System IS500 Servodrive User Manual 14 Servomotor Specification and External Dimension IS500 Servodrive User Manual Chapter 2 Servomotor Specification and External Dimension Chapter 2 Se
12. ISMH servomotor with maximum rotating speed higher than rated value IS500 servodrive with 380V AC power input Rated Max Servomotor Model E ess Speed Speed Capacity Wisma rude Three phase AC380V 6000rpm 1000W 10C30CD T5R4 1500W 15C30CD T5R4 2000W H2 Low 20C30CD T8R4 3000rpm 5000rom 2500W inertia medium 25C30CD T8R4 P 3000W capacity 30C30CD T012 4000W 40C30CD T017 5000W 50C30CD T017 850W 85B15CD T3R5 1300W 13C15CD T5R4 1800W 18C15CD T8R4 1500rpm 3000rpm 2900W H3 Medium 29C15CD T012 4400W Inertia small 44C15CD TO17 5500W capacity 55C15CD T021 7500W 75C15CD T026 870W 87B10CD T3R5 edd 2009rpm F 7777 12C10CD T5R4 IS500 Servodrive User Manual ISMV servomotor with maximum rotating speed equaling rated value 18500 servodrive with 380V AC power input Chapter 1 Selection of Servo System Servodrive Model Rated Max Servomotor Model 1S500 I Capacit Peres Speed Speed PM ISMLILI F Three phase AC380V 2900W 29C15CD T8R4 4400W V3 Medium 44C15CD T012 1500rpm 1500rpm Inertia small 5500W capacity 55C15CD T017 7500W 75C15CD T021 1 4 Cable Sele
13. Heat Sink Overheated Input Phase Missing Exceed the error setting value of the heat sink not reach the error setting value Two phase running with three phase driver input Communication Module Self checking Failure The communication module fails to self check Communication Module Abnormal Communication module has abnormal communication 11 1 3 Troubleshooting of Errors When an error occurs to the servodrive the digital panel will display Er xxx The troubleshooting is shown in the following table If the error cannot be cleared please contact our service center 208 IS500 Servodrive User Manual Chapter 11 Inspection and Maintenance Error Name Er 101 The parameter data in the servo is incorrect Cause The control power supply voltage suddenly dropped Confirmation Measure the power supply voltage Solution Set the power supply voltage within the specified range and restore the factory setting of H02 31 The power supply is turned OFF while changing a parameter setting Check the power off time Restore the factory setting of HO2 31 and then set the parameter again The number of times that parameters were written exceeded the limit Check whether the parameters are frequently changed at the host controller Change the parameter write in method and then re write The servodrive may fail Repair or replac
14. Reverse Setting of Output Polarity DO7 Terminal 0 1 H04 13 Logic Level 0 Output low level Selection when enabled 1 Output high level when enabled Output Code 1 16 0 No Definition DO8 Terminal 1 16 Sto H04 14 Function FunOUT 1 16 1 14 Immediately Setting Selection Refer to DIDO function selection code definition Immediately Firm Ee eo Reverse Setting of Output Polarity DO8 Terminal 0 1 H04 15 Logic Level 0 Output low level Selection when enabled 1 Output high level when enabled Bit0 DO1 Source Bit7 DO8 Source Bit8 Bit15 Ho4 22 DO Source Reserved 0 Immediately StP Selection eed Setting 0 Driver Reference 1 Communication Reference Immediately Sang eo PST 245 Chapter 12 Appendix 1S500 Servodrive User Manual Function h Factory When Data Related Code Mame potting Range Mica Setting Enabled Type Mode 00 Default motor speed 1V 1000rpm 01 Speed reference 1V 1000rpm 02 Torque reference 1V 100 03 Position deviation 0 05V 1 Reference units 04 Amplifier AO1 Signal deviation Running Selection electronic gear 1 p Immediately Setting 7 0 05V 1 encoder pulse unit 05 Position reference speed 1V 1000 rpm 06 Positioning completion reference complete 5V incomplete OV 07 Speed feedforward 1V 1000rpm H04 50 Hog 51 AOT offset 0 10000mV 1mV 500
15. The other parameters can only be modified by manufacturers and the debugger can be modified without a password Group H02 Control Parameters H02 Control Mode Selection 0 Speed mode 1 Position mode default 2 Torque mode 3 Speed mode Torque mode 4 Position mode Speed mode 5 Position modes Torque mode 6 Position mode Speed mode Torque mode Immediately Stop Setting H02 02 Mode Reference Direction Selection 0 Reference direction is positive 1 Reference direction is negative Immediately Running setting rol H02 H02 03 05 Output Feedback Direction Selection Error Stop Mode NO 1 Selection 0 Take CCW direction as the forward direction Aleading B 1 Take CW direction as the forward direction Reverse mode A is delayed 0 Coast to stop keep the running status eo After Restart Immediately Stop Setting PSI Stop Setting PST H02 06 Error Stop Mode NO 2 Selection 0 Coast to stop 1 Zero velocity Stop o Immediately Stop Setting mE 235 Chapter 12 Appendix 1S500 Servodrive User Manual Function r Factory When Data Related Code Mame poring Range Minuni Setting Enabled Type Mode 0 Coast to stop 1 Take the emergency stop torque setting as the maximum torque so as to stop the motor reducer and
16. c Directly connect the noise filter ground wire to the ground Do not connect the noise filter ground wire to other ground wires x O Noise Filter Noise Filter gt L Servodrive Servodrive Servodrive Thick amp N SK short Shielded i Shield d wi ground wire H3 ielded ground wire Tit Casing Casing 75 Chapter 5 Cabling IS500 Servodrive User Manual d Upon grounding a noise filter inside a unit If a noise filter is located inside a unit connect the noise filter ground wire and the ground wires from other devices inside the unit to the ground plate for the unit first and then ground these wires gt gt gt Unit i Servodrive i 4 Noise LATE fitter um j i l i Servodrive I Qj i i i s i Ground UTI 76 Digital Operator Chapter 6 Digital Operator IS500 Servodrive User Manual Chapter 6 Digital Operator 6 1 Introduction to Operation Interface The operation interface of the servodrive consists of five 7 segment LED Nixie tubes and five key which are used for servodrive s status display and parameter setting The interface layout is as follows oe o o o MODE A v 4 SET 6 1 1 Key Names and Functions
17. 25 Chapter 2 Servomotor Specification and External Dimension IS500 Servodrive User Manual 2 3 Installation of Servomotor 2 3 1 Precautions on Installing Servomotor Servomotor can be installed either horizontally or vertically Incorrect inappropriate installation may shorten service life of servomotor or cause unexpected accident Do not connect servomotor directly to a commercial power line Otherwise servomotor will be damaged Servomotor cannot operate without being connected to specified servodrive Item Description Alignment Alignment accuracy Measure the distance at four different positions on the circumference The difference of the maximum and minimum measurements must be 0 03mm or less Note Turn together with the coupling When connecting servomotor with a machine align the servomotor shaft with the machine shaft and then couple the shafts based on the alignment accuracy described above If the shafts are not aligned accurately vibration will occur which may damage the bearings and encoder Mounting Direction Servomotor can be installed either horizontally or vertically Water Oil Mist In water mist application confirm the protection mode of servomotor except for through shaft section before using In application where oil splashes on the through shaft section use the servomotor with an oil seal Precautions on using the servomo
18. Digital input DI Input positive and negative external torque limit selection signal P CL NCL Code FunIN 16 FunIN 17 Signal Name P CL N CL cael Positive External Torque Limit Negative External Torque Limit Desertion ON External Torque Limit active ON External Torque Limit active p OFF External Torque Limit inactive OFF External Torque Limit inactive Status Allocation Allocation Digital output DO Output torque limit signal P CL NCL Code FunOUT 7 Signal Name C LT Function ree Name Torque Limit Signal Enabled motor torque limited Description Disabled motor torque not limited Status Allocation Note DI DO related function code setting and logic allocation are required Analog input Al Designate the T LMT variable via HO7 08 and then set the corresponding relationship between rotating speed and analog voltage 121 Chapter 7 Setting of Servodrive General Function Codes Wi Related function codes 1S500 Servodrive User Manual Function H07 H07 Code 7 8 Name Torque Limit Source T LMT selection 0 Positive and Negative Internal Torque Limit default Settin 1 Positive and Negative Torque Limit use 1 AM ara P CL N CL selection 2 Al2 9 2 Take T LET as External Torque Limit Input 3 AI3 3 Take Positive and Negative External Torque and minimum T LMT value as Torque Limit Min Unit 1 1 Fa
19. 127x107 kgm 2zxl Ball Screw Jb aie Beds x7 87x10 x1 4x 0 04f 27 7x10 ke n Coupling Jc AU d QU 06 4 510 kgm 5 Loading Travelling Power Po 27mm TL 2a x 1500x1 73 _ 272 W 60 60 6 Loading Accelerating Power 227 Chapter 12 Appendix 1S500 Servodrive User Manual Pa mu 4 x 1500 gue 1108 W 60 ta 60 0 1 7 Temporary Setting of Servo Motor a Selection Conditions Ti Motor Rated Torque Pa Po 2 xMotor Rated nu lt MotorRated Rotating Jt Allowable Loading Momentof Inertia of Servo Unit Follow the Selection Conditions e Servo Motor ISMH3 85B15CD U131X e Servo Drive IS500AT5RA4I b Parameters of Servo Motor and Servo Drive Rated Output 850 W Rated Rotation Speed 1500 min 1 Rated Torque 5 39 N m Max Torque 13 8 N m Motor Rotor Moment of Inertia 13 0 x 10 4 kg m2 Allowable Loading Moment of Inertia 69 58 x 10 4 kg m2 8 Servo Motor Confirmation Torque Confirmation 2zmuw JM JL _ 22x 1500x 13 0 44 9 x 10 u Tp tT 1 73 60ta 60x 0 1 11 N m lt Instant Max Torque Available Torque Confirmation r4 T 2znM JM JL n 2z x 1500x 13 0 44 9 x 10 173 60ta 60x0 1 7 5 N m lt Instant Max Torque Available Torque Effective Value Confirmation TP eta T ote Ts ta jt Y x0 1 L3 x1 0 7 5 x0 1 t 1 5 3 2 N m lt Rated Torque Available Trms 9 Sele
20. 1st segment Displacement H11 12 is Servo shaft address 03 11 oc 00 02 CRCL CRCH When writing 32 bit function codes via MODBUS reference 0x06 write the high address first and then the low address For example the MODBUS reference for writing 0x12345678 into 1st segment Displacement H11 12 is Servo shaft address 06 11 OD 12 34 CRCL CRCH 198 IS500 Servodrive User Manual Chapter 10 Communication Servo shaft address 06 11 0C 56 78 CRCL CRCH When writing 32 bit function codes via MODBUS reference 0x10 only one reference is required For example the MODBUS reference for writing 0x12345678 into 1st segment Displacement H11 12 is Servo shaft 10 11 oc 00 02 04 12 34 56 78 CRCL CRCH address 10 3 9 Definition of Communication Address of Function Code Function code communication address is made up of function code group number and offset For example communication address of H11 12 is 0x110C When modifying function codes via communication pay attention to the function code setting range unit when enabled data type and HEX conversion of positive and negative numbers For more details refer to the function code description When PLC HMI MODBUS reference is programmed the register address is not actual register address but actual register address 1 This is because standard MODBU
21. 3 Select the Jog Source A Select Jog reference via HO6 00 4 reference Source B Select Jog reference via H06 01 4 2 Set the speed reference source Set jog input terminals DI through H03 HO03 18 18 DI9 forward jog JOGCMD H03 18 19 DI10 reverse jog JOGCMD Switch on signal S ON to enable the servodrive factory setting DI5 is set to S ON Execute Jog operation through DI9 and DI10 Set the Jog input terminals DI 5 Execute Jog operation 8 2 2 Jog Run via Panel In this case it s unnecessary to connect I O terminals of CN1 Connect the motor only After power on rdy is displayed on the panel Input HOd 11 on the keypad to enter the Jog mode You can adjust the Jog running speed by pressing the UP DOWN button The Jog running speed is 100 rpm by default Press the SET button to enter the Jog status Then the panel displays Jog You can implement jog forward reverse rotation by pressing the UP DOWN button 8 2 3 Jog Run via Debugger Step Item Operation 1 Connect Connect the computer 2 Open the jog Enable the Jog trial operation function on the auxiliary function menu interface of the back segment control software 3 Execute jog Set the jog speed and realize forward reverse Jog operation by operation pressing the UP DOWN button 8 3 Examples of Trial Operation in Speed Mode 8 3 1 Continuous Running WB Purpose The servomotor runs stably at a
22. Display P Deviation Counter position deviations Enabled only when in the position control 1 reference Display P unit HOb 12 Enter Reference Pulse Counter 1 HOb 13 32 bit decimal reference Display P display unit Feedback Pulse counter Encoder pulse of 4 times frequency data HOb 17 display 32 bit 1p Display P decimal can be the power off memory Total Power HOb 19 on Time 32 bit 0 0 429496729 6s 0 1s Display decimal display Al1 Sampling nib ed Voltage 1mV Display 259 Chapter 12 Appendix 1S500 Servodrive User Manual Function 7 Factory When Data Related Code Name poring Range lel Setting Enabled Type Mode Al2 Sampling z HOb 22 Voltage 1mV Display AI3 Sampling E HOb 23 Voltage 1mV Display Phase current HOb 24 RMS 0 01A Display HOb 26 Bus Voltage 0 1V Display Module E HOb 27 Temperature C Display Turns of Multi HOb 31 Loop Absolute r Display Encoder 0 Current Error 1 Previous error Hob 33 Error Record 2 Previous 2 1 0 Immediately Running Display errors Setting 9 Previous 9 errors First error HOb 34 Error Code code Hob a5 Eor Time 0 1s Display stamping Rotating speed HOb 37 upon Selected 1rpm Display Error Present Current HOb 38 U upon Selected 0 01A Di
23. Error Name Er 108 Parameter storage Error Cause Parameter storage error is occurred Confirmation Change a parameter and then power on again to see whether the parameter value is saved Solution Turn the power supply OFF and then ON again If the error still occurs the servodrive should be replaced Er 110 Encoder Output Pulse Setting Error The encoder output pulse is out of the setting range and does not satisfy the setting conditions Incremental encoder encoder frequency pulse value cannot exceed the number of lines of the encoder Absolute encoder encoder pulse value cannot exceed the number of its resolution of 1 4 Change the pulse value function code of the encoder to satisfy the specified range Er 120 Product Matching Error Several product combinations are not proper for example the motor and the driver power level do not match each other Set the parameter to a value within the specified range Replace the mismatched products Access the unsupported encoder for the selection driver for example the P A type driver and the absolute encoder do not correspond View the user manual to check the product specifications and select the correct model Select the proper encoder or replace the other driver After executing the Check whether executing the utility function to Er 121 auxiliary function to turn
24. Related Code Nae Siig RENEE Mir Unik Setting Enabled Type Mode 0 Zero Acceleration Deceleration Time 1 Acceleration Deceleration Time 1st 1 Segment 2 Acceleration Stop FILE 22 Acceleration Deceleration Time i 7 Immediately Setting S Deceleration Time 2 3 Acceleration Deceleration Time 3 4 Acceleration Deceleration Time 4 2nd Segment 9000rpm to Stop H12 23 Reference 9000rpm 1rpm 100rpm Immediately Setting S 2nd Segment 0 1s Stop H12 24 Running Time 0 6553 5 min 5 0s min Immediately Setting S 0 Zero Acceleration Deceleration Time 1 Acceleration Deceleration Time 2nd Segment H12 25 Acceleration 2 Acceler tioni a 0 Immediately StP S Deceleration Time Setting Deceleration Time 3 Acceleration Deceleration Time 3 4 Acceleration Deceleration Time 4 3rd Segment 9000rpm to Stop H12 26 Reference 9000rpm 1rpm 300rpm Immediately Setting S 3rd Segment 04s St H12 27 Reference Running 0 6553 5 i 5 0s min Immediately P S Time min Setting 269 Chapter 12 Appendix 1S500 Servodrive User Manual Function h Factory When Data Related Code Mame zolondiange Mica Setting Enabled Type Mode 0 Zero Acceleration Deceleration Time 1 Acceleration Deceleration Time 1 3rd Segment H12 28 Acceleration 2 Acceleration 0 Immediately StP s Deceleration Time Settin
25. S S Displacement selected through Cmd1 4 T1 Acceleration Deceleration time of the selected segment Sequence Run Vmax Max motor speed T1 Segment 1 Acceleration Deceleration time 80 81 82 1st 2nd 3rd displacement Function H11 H11 H11 H11 H11 E o 1 2 3 4 Name Ru mE cm Po sai Gee dine praedia Mode Method Selection In any MS 0 Single run running mode 0 Relative 1 Cycle run except the DI displacement Setting 2 DI switch 1 16 Switch mode 0 ms reference Range run 0 Continue to 1 s 1 Absolute 3 Sequence run displacement run 1 Run again reference from segment 1 Min Unit 1 1 1 1 1 Factory Setting 1 1 D E When A Enabled Immediately Immediately Immediately Immediately Immediately zs Chapter 7 Setting of Servodrive General Function Codes 1S500 Servodrive User Manual Tee Stop Setting Stop Setting Stop Setting Stop Setting Stop Setting Related Mode P P P P P For function codes of other 15 segments refer to the Appendix 7 3 11 Setting the Interrupt Length Function In the condition that a motor is running or stops in the position mode when H05 23 is enabled and DI9 is triggered it will continue to run the preset length towards the previous direction During execution of interrupt length reference the motor is locked That is it does not respond to any other position references the second interrupt tr
26. Selection Refer to DIDO function selection code definition Output polarity reversal setting VDO3 Terminal 0 1 Sto H17 38 Logic Level 0 Output 1 upon 1 0 Immediately Setting Selection enabled 1 Output 0 upon enabled Output Code 1 16 0 No Definition VDOA Terminal 1 16 Sto H17 39 Function FunOUT 1 16 1 0 Immediately Setting Selection Refer to DIDO function selection code definition Output polarity reversal setting VDO4 Terminal 0 1 H17 40 Logic Level 0 Output 1 upon Selection enabled 1 Output 0 upon enabled Immediately Se eo 281 Chapter 12 Appendix 1S500 Servodrive User Manual Function h Factory When Data Related Code Mame poling Range Mica Setting Enabled Type Mode Output Code 1 16 0 No Definition VDO5 Terminal 1 16 Sto H17 41 Function FunOUT 1 16 1 0 Immediately Setting Selection Refer to DIDO function selection code definition Output polarity reversal setting VDO5 Terminal 0 1 H17 42 Logic Level 0 Output 1 upon Selection enabled 1 Output 0 upon enabled Output Code 1 16 0 No Definition VDO6 Terminal 1 16 Sto H17 43 Function FunOUT 1 16 1 0 Immediately Setting Selection Refer to DIDO function selection code definition Immediately E E eo Output polarity reversal setting VDO6 Terminal 0 1 H17 44 Logic Level 0 Output 1 upon Selection enabled 1
27. regenerative Setting Setting resistance and forced air cooling 3 Without the regenerative resistance dependent on the capacity Different External models Regenerative have Stop H02 28 Resistance Power OSI different Immediately Setting Capacity default values Different External mode s St H02 27 Regenerative 1 2 1000 Q 19 Immediately 2 0P different Setting Resistance default values After Stop H02 30 User Password 0 65535 1 0 Restart Setting 0 No operation 1 Restore factory Parameter default setup After Stop POZASI Initialization value i 0 Restart Setting 7 2 Clear error record 00 Switch to HOB 00 Panel Default 01 Switch to i Stop H02 32 Display Function HOB 01 1 50 Immediately Setting And so on 50 No switching Ho2 40 Reserved B s i Parameters Ho2 41 Reserved N Parameters Group H03 Terminal Input Parameter 237 Chapter 12 Appendix 1S500 Servodrive User Manual Function Code Name Setting Range When Enabled Factory Min Unit Setting Data Type Related Mode H03 00 FunINL is not allocated HEX 0 OxFFFF BitO corresponds to FunIN 1 Bit1 corresponds to FunIN 2 Bit15 corresponds to FunIN 16 After Restart Running Setting H03 01 FunlNH is not allocated HEX 0 OxFFFF BitO corresponds to FunIN 17 Bit1 corresponds to FunIN 18 Bit15 corresponds to Fu
28. time deceleration H0904 Time The motor performs forward rotation as shown in the following figure After you release the key the motor enters the position addressing status Set H Od 02 to 1 and long press the down arrow key The curve in JOG mode is shown as follows Rotating speed rpm JOG running speed 0d11 In the JOG mode long press the down arrow key The Release the key motor performs forward rotation to enter the zero After you release the key the eed lock mod motor enters the zero speed lock SERIOUS state t ms IHOd 11 In the JOG mode long pres he down arrow key The motor performs reverse rotation After you release the key the motor enters thd ero speed lock state After a complete identification the nixie tube automatically updates the current inertia ratio The whole off line inertia identification requires Acceleration Deceleration which may result in big starting and stopping impact This can be solved by reasonably setting the maximum identification maximum speed and acceleration deceleration time HO900 and H0901 HM How to Perform Load Inertia Ratio Identification To perform load inertia ratio identification do as follows 1 Ensure the servo is in rdy state and set HOd02 to 1 Then the servo enters the position mode and the nixie tube displays the inertia that moment which is similar to the JOG mode 2 Long press t
29. 357 KB2 fani 188 243 274 326 LR mm 79 79 113 113 40 01 40 01 0 0 S mm 35 35 42 42 0 0 0 0016 0 0016 QK mm 60 60 90 90 Weight 20 9 29 4 34 5 43 2 kg 32 40 42 5 62 5 Note The values inside are values of the motor with a brake i28 Chapter 2 Servomotor Specification and External Dimension IS500 Servodrive User Manual 2 2 4 ISMH4 Vn 3000rpm Vmax 6000rpm 400W Section Y Y With key and thread shaft enlarged view Model ISMH4 40B30CB L mm 177 5 LL mm 147 5 LM mm 101 5 Weight kg du 24 IS500 Servodrive User Manual 2 2 5 ISMV3 Vn 1500rpm Vmax 1500rpm 2 9kW 4 4kW 5 5kW 7 5kW ISM 3 29C15C D wwwww ISMH 3 44015C D wwwwew 5 12 1 L JSMVv3 e9C15CD wwwww 1SMVy3 4ACISCD wwwww 5 161 2L Section Y Y Chapter 2 Servomotor Specification and External Dimension With key and thread shaft enlarged view ISMV3 75C15CD ISMV3 44C15CD ISMV3 55C15CD Model IEEE SCD Xe Xe Xe 328 383 445 500 bon 405 460 522 577 249 304 332 387 LL mm 323 381 409 464 202 257 285 340 EM mm 275 330 358 413 225 280 308 363 KBA mm 302 357 385 357 KB2 mm 188 243 271 326 LR mm 79 79 113 113 0 01 0 01 0 0 S mm 35 35 42 42 0 0 0 01 0 01 QK mm 60 60 90 90 20 9 29 4 34 5 43 2 Weight kg 32 40 42 5 62 5 Note The values inside are values of the motor with a brake
30. Bervomplorana are correctly wired encoder y f Check the Reconsider the load Operation beyond the servomotor conditions and operation Er 610 overload protection overload features conditions Drive features and executed run Or increase the overload reference servomotor capacity Er 620 Motor Excessive load overload was applied during Check the running Improve the mechanical problems Servo Drive Error The servodrive may fail Replace the servo drive 215 Chapter 11 Inspection and Maintenance 1S500 Servodrive User Manual Error Name Cause Confirmation Solution Decrease the ambient The ambient Check the ambient temperature by temperature is too high temperature improving the servomotor installation conditions The overload error has been reset by turning Check overload mle the ee OFF the power too error Mernag COnsigering Ne Er 650 many times load operation conditions Radiator overheated Pant installation irections Check the setting Install according to the Tne space o the servo status of the servo standard installation of CURA drive the servo drive other servo drive is unreasonable The servodrive may fail Servo Drive Error Replace the servo drive There was interference Take the shielding Encoder Z UVAN wiring i incorrect in Ine encoder cable Mic Mc interference The encoder cable is 9 Tighten the encoder loosened wiring te
31. Chapter 2 Servomotor Specification and External Dimension IS500 Servodrive User Manual 2 2 3 ISMH3 Vn 1500 1000rpm Vmax 3000 2000rpm 1 850W 870W 1 2KW 1 3kW 1 8kW L LL Til Jil With key and thread shaft enlarged view ISMH3 ISMH3 ISMH3 ISMH3 ISMH3 Model 85B15CB D 13C15CB D 18C15CB D 87B15CB D 12C15CB D Lon 226 5 252 5 278 5 252 5 278 5 285 5 311 5 337 5 311 5 337 5 168 5 194 5 220 5 194 5 220 5 LL mm 227 5 253 5 279 5 253 5 279 5 LM mm 124 150 176 150 176 KB1 95 5 121 5 147 5 121 147 5 mm 154 5 180 5 206 5 180 5 206 5 KB2 a 1475 5 171 5 197 5 171 5 197 5 0 S mm 22 0 013 Weight 8 23 10 57 12 7 10 57 12 7 kg 10 73 13 0 15 2 13 0 15 2 22 IS500 Servodrive User Manual Chapter 2 Servomotor Specification and External Dimension 2 2 9kW 4 4kW 5 5kW 7 5kW ISMH3 29C1SCD zMH3 29C15CD wwwww JSMH3 44C15CD wwwww SMH3 44C15CD wvwww r 5 16 1 2L Section Y Y With key and thread shaft enlarged view uu ISMH3 ISMH3 ISMH3 ISMH3 29C15CD 44C15CD 55C15CD 75C15CD 328 383 445 500 L mm 405 460 522 577 249 304 332 387 LL mm 323 381 409 464 202 257 285 340 LM mri 275 330 358 413 KB1 225 280 308 363 mm 302 357 385
32. Disabled motor speed is not confined Enabled Brake Signal Output simultaneously Enabled Closed with the servo FunOUT 9 BK Brake Output remove the brake Allocation ON signal and 9 Disabled Start the output only brake after servo OFF Warning Enabled when warning 2 FunOUT 10 WARN Output is detected Allocation Enabled when error is FunOUT 11 ALM Error Output detected Allocation FunOUT 12 ALMO1 Output digit Output 3 digit error Allocation Allocate these Output 3 digit Output 3 digit error three signals FunOUT 13 ALMO2 Error Code code Allocation to terminal m e DO6 7 8 Output 3 digit Output 3 digit error FunOUT 14 ALMO3 rror Code cod Allocation Interrupt Length Output after interrupt FunOUT 15 Xintcoin Completion length completion Allocation signal c Origin Return Status FunOUT 16 OrgOk Sheu Enabled Origin return Allocation p Disabled Not return Electric Return Output Electric Status Return to Enabled Electric FunOUT 17 OrgOkElectric Origin Return to Origin Allocation Output Disabled Electric not Return to Origin 12 4 Commonly Used Function Code Reference Table Function Min Factory When Data Related Code Neima Sailing Renge Unit Setting Enabled Type Mode 0 65534 65535 Motor model is After HOO 00 Motor Model null Factory 1 XXXX Restart Stop setting value is Setting associated with the drive model 291
33. Mode Note If H05 06 is set to O the filter is disabled The function does not affect the displacement total position references Filtering Effect Comparison between Two Different Position References Rectangle Position Reference Trapezoid Position Reference P Referenca Unit Before filtering After filtering H05 06 P Reference Unit Before filtering After filtering 7 3 6 Output of Positioning Completion Signals In the position control mode the servodrive outputs the positioning completion signal when the difference position error pulse between the number of given position references and the displacement distance of the servomotor equals or is less than the value set in H05 21 The output signal is as follows 107 Chapter 7 Setting of Servodrive General Function Codes 1S500 Servodrive User Manual Code FunOUT 5 Signal Name COIN Function Name Position Arrival In the position control mode it is enabled when position Description deviation arrives position complete amplitude H05 21 Status Allocation The related function code is as follows H05 H05 Function Code 20 21 Positioning Name Positioning completion Signal COIN Output Condition Completion Amplitude 0 Position deviation absolute value is less than position completion amplitude output 1 Position deviation absol
34. Servo ON ON the power to the turn ON the power Change the incorrect Reference motor the servo ON the servo ON operation modes Disabled reference was sent from the host controller reference was sent from the host controller Er 130 Check whether Different DI can The same variable can there is the same m be allocated be assigned for DI for configuration platen a d to the same DI assignment among H03 02 function H03 04 to H03 20 Er 131 Check whether Different DO The same variable can there is the same TT can be allocated be assigned for DO configuration Change dE aie to the same assignment among H04 00 i function H04 02 to H04 14 210 IS500 Servodrive User Manual Chapter 11 Inspection and Maintenance Error Name Er 135 Motor Encoder EEPROM Parameter Error Cause Serial encoder motor EEPROM error occurred during read write Confirmation Check whether the motor encoder wiring is correct and the motor encoder is serial Solution Reconnect the encoder cable or replace the correct motor type Motor storage Error Turn the power supply OFF and then ON again Er 136 still occurs after removing the above reasons Repair or replace the servo motor Er 136 Motor encoder EEPROM Data Checksum Error Serial Encoder Motor EEPROM Checksum Error Check whether the motor encoder wiring is correct and the motor encoder is serial Reconnect the encoder cable o
35. The signal is disabled when an error occurs Code FunOUT 1 Signal Name S RDY Function MES Servo Ready Servo is ready to receive S ON signal Description Enabled Servo ready Disabled Servo Not ready Status Allocation Remarks Refer to Part 6 2 1 for allocation method 147 Chapter 7 Setting of Servodrive General Function Codes 1S500 Servodrive User Manual 148 Operation Chapter 8 Operation 1S500 Servodrive User Manual Chapter 8 Operation 8 1 Pre trial Checking To ensure safety and proper trial operation check the following items before the trial 1 Status of the servomotor Ensure fixed parts of the servomotor are securely connected Ensure servomotor shaft rotates fluently note that oil sealed motor shaft is normally a bit tight Ensure the servomotor s encoder connector and power supply s connector are wired properly and securely 2 Status of the servodrive Ensure terminals of the servodrive are properly wired and securely connected Check the external power supply of the servodrive and make sure that the voltage is normal Connect the encoder cable and power lines of the servodrive and servomotor 3 Connection and status of input signals Step Item Operation Connect the input signal circuit necessary for trial to control terminal CN1 under the following conditions Confirm Servo ON input signal S ON must be input capable
36. Then the maximum value of H05 17 is calculated as below Max value of H05 17 1 6 x 10 6 2000 60 48000 Multiplied by 4 the resolution ratio amounts to 192000 P Rev providing that the encoder pulse count does not exceed the resolution ratio of the encoder H Position Pulse Reference Synchronous Output Connect the pulse output terminal of a servo to that of another servo or multiple servos which helps to realize synchronous control of several servos Differential outputs of signals PAO and PBO correspond to PULS and SIGN Then the host controller can output pulse references to other servos through one servo In synchronous control applications all servos must be of the same parameters and similar loading condition Do not power off the host controller when the controller is outputting pulses Otherwise synchronization fails because of pulse attenuation due to instant power disconnection If it happens adjust the position of the slave servos again 7 2 7 Setting the MS Speed Function The multi segment MS speed function indicates that the servo automatically realizes a control of up to 16 motor speeds through 16 groups of speed parameters No external speed and pulse generators are required The MS operation reference direction selection enlarges the speed choices to 32 The following table lists the input signals for switching the operation speed Code FunIN 5 FunlN 6 FunIN 7 FunIN 8 F
37. gem 230 IS500 Servodrive User Manual Chapter 12 Appendix 7 a b Loading Travelling Power Po 27mm e Tt 22x 3000x 0 139 43 7 W 60 60 Loading Accelerating Power 2 2 4 pope i SY Eus x 3000 I1 123409 60 J amp 60 0 1 Temporary Setting of Servo Motor Selection Conditions Tz Motor Rated Torque Pa Po 1 22 x Motor Rated Output nM Motor Rated Torque Jt Allowable Loading Momentof Inertia of Servo Unit Follow the Selection Conditions e Servo Motor ISMH1 20B30CB U131X e Servo Drive IS500AS2R8I Parameters of Servo Motor and Servo Drive e Rated Output 200 W Rated Rotation Speed 3000 min 1 Rated Torque 0 637 N m Max Torque 1 91 N m Motor Rotor Moment of Inertia 0 158 X 10 4 kg m2 Allowable Loading Moment of Inertia 2 79 10 4 kg m2 Encoder Pulse Number 2500 P R Servo Motor Confirmation Torque Confirmation _ 2zn JM Jo T 27 x 3000x 0 1584 1 25 x 10 Tp 0 139 60ta 60x0 1 0 58 N m lt Instant Max Torque Availabld Torque Confirmation 4 n 2znM JM JL n 22 x 3000x 0 158 1 25 x 10 0 139 60ta 60x0 1 231 10 11 12 Chapter 12 Appendix 18500 Servodrive User Manual 0 303 N m lt Instant Max Torque Available Torque Effective Value Confirmation ae s las TP tes Ts eta 0 581 x0 12 0 139 x 0 9 0 303 x 0 1 t 1 5 0 201 N
38. i iD i I a ee EE 57 Chapter 5 Cabling IS500 Servodrive User Manual Multi drive Wiring Alarm Output Signal is Normally Closed Terminal Power Power Open circuit upon w l Wits OFF pow L Sroaam ORY a s 4 Servomotor yaya Wiring er i prese circuit 1 T i breaker Th Sltge o2 uU t i ON upon suppressor Bie te Servo alarm display T b Noise filter RY B2 wh MJ d j B3 l eo 1KM t i aM i 1 nm i 4 l i i 13 i i H i i d T I i 1 i i 24V ENS i TRY Relay i amp DO4 ALM i i i 1D diode i 32 l L DO4 ALM i i r3 I T i i i E 4 7 T Servomotor i Maahas i B1 4 t i i B2 V t i i je wi i i L1 i i i S i L2 1 i T 413 i 63 uc l ju T L a M 4 cnt f 3i i K D04 ALM i i a2 i DO4 ALM i i i i Sell Servomotor r i f T wi hd T L 81i _ DO4 ALM I 32 O4 ALM y K ALM COM a A Si oS if IS500 Servodrive User Manual Chapter 5 Cabling W Multi drive Wiring Alarm Output Signal is Normally Open Terminal Open circuit l l J zd Power Powerupon servo YYY Wiring circuit breaker OF ON alarm CARY ON upon Serv
39. resources Solution Change the value of the related function code 212 IS500 Servodrive User Manual Chapter 11 Inspection and Maintenance Error Name Er 200 Over current 1 Er 201 Over current 2 Cause Incorrect wiring or Confirmation Check the wiring Solution contact error of main Refer to the circuit cable or motor main circuit Correct the wiring main circuit cable cable for detail Check for short Short circuit or ground error of main circuit cable or motor main circuit cable circuits across the servomotor terminals U V and W or between the grounding and servomotor terminal U V or W Replace damaged cables Short circuit or ground error inside the servomotor Check for short circuits across the servomotor terminals U V and W or between the grounding and servomotor terminal U V or W The servomotor may fail Replace the servomotor Short circuit or ground error inside the servomotor Check for short circuits across the servomotor terminals U V and W or between the grounding and servomotor terminal U V or The servomotor may fail Replace the servomotor The encoder wiring is aging and corrosive The encoder plug is loosened The drive signal cable is loosened Function code H0a 04 is set too small Check the encoder wiring and check the drive signal cable Check the value of H0a 04 Weld
40. setting H03 is disabled Correct reverse drive input signal P OT setting HO3 Incorrect servomotor stop method selection Improper Over travel Position H02 05 Check emergency stop setting when servo OFF H02 05 Correct emergency stop setting when servo OFF H07 15 Check emergency stop setting when torque control The over travel limit switch position is too short for the coasting distance H07 15 Correct emergency stop setting when torque control Set the over travel limit switch position to proper status Noise interference due to the length of input output signal cable The encoder cable must be tinned annealed copper twisted pair or shielded twisted pair cables with a core of 0 12 mm2 min Use the specified input signal wires Noise interference due to length of encoder cable wiring Check if the maximum wiring length is 20m Use the specified input signal wires Noise interference due to damaged encoder cable Check if noise interference due to cable meshing and damaged Replace the encoder cable and modify the encoder cable layout Terminal potential varies because of influence of machines such as welders at the servomotor Check whether the machines are correctly grounded Ground machines correctly and prevent diversion to the encoder wires Servo drive pulse counting error due to noise interference Noise interference to the encode
41. signals DO2 V CMP 27 It turns ON when servomotor speed within the DO2 V CMP 28 setting range is in line with speed reference DO3 ZERO 25 It turns ON when servomotor speed is below DO3 ZERO 26 speed threshold DO4 ALM 31 DO4 ALM 52 It turns ON when an error is detected PAO 33 Phase A pulse dividing Phase A PAO 34 output B orthogonal frequency dividing PBO 35 Phase B pulse dividing pulse output PBO 36 output signal PZO 19 Phase Z pulse dividing Zero point pulse General PZO 20 output output signal e meee Zero point pulse PZ OUT 17 ae 2 pulse dividing open collector p output signal DO6 ALO1 37 Alarm code output output 3 bit alarm code DO7 ALO2 38 Open collector output 30 V and 20 mA at DO8 ALO3 39 maximum 24V 47 Internal 24V power supply voltage range 20 28V COM 50 Maximum output current 200mA 5V 16 Internal 5V power supply GND Maximum output current 200mA PE Shell 5 3 4 Interface for Reference Input Circuit 1 Analog Input Circuit CN1 connector terminals 5 6 Al1 analog input 9 10 AI2 analog input and 48 49 AI2 analog input are described here 67 Chapter 5 Cabling IS500 Servodrive User Manual Analog signals are either speed or torque reference signals The input standard is as follows Maximum allowable voltage 12 V Input impedance about 14 k O Servodrive Servodrive 2 Position Reference Input Circuit CN1 connector t
42. 0 No Definition 1 32 FunIN 1 32 Refer to DIDO basic function table Es After Restart Running Setting H17 31 VDI16 Terminal Logic Selection Input polarity 0 1 0 Valid VDI16 by writing value 1 1 Valid VDI16 by writing value change from 0 to 1 After Restart Running Setting H17 32 VDO Virtual Level BitO VDO1 Virtual Level Bit15 VDO16 Virtual Level H17 33 VDO1 Terminal Function Selection Output Code 1 16 0 No Definition 1 16 FunOUT 1 16 Refer to DIDO function selection code definition Immediately Stop Setting 280 IS500 Servodrive User Manual Chapter 12 Appendix Function 4 Factory When Data Related Code Nae poo REMEE au OU Setting Enabled Type Mode Output polarity reversal setting VDO1 Terminal 0 1 Sto H17 34 Logic Level 0 Output 1 upon 1 0 Immediately Setting Selection enabled 1 Output 0 upon enabled Output Code 1 16 0 No Definition VDO2 Terminal 1 16 Sto H17 35 Function FunOUT 1 16 1 0 Immediately Setting Selection Refer to DIDO function selection code definition Output polarity reversal setting VDO2 Terminal 0 1 Sto H17 36 Logic Level 0 Output 1 upon 1 0 Immediately Setting Selection enabled 1 Output 0 upon enabled Output Code 1 16 0 No Definition VDO3 Terminal 1 16 Sto H17 37 Function FunOUT 1 16 1 0 Immediately Setting
43. 01mV rpm 0 01mV 21 EMF coefficient 655 35mV rpm rpm H00 22 Torque 0 01Nm Arms 0 01Nm 7 coefficient Kt 655 35Nm Arms Arms HOO 54 dl Constant 9 91ms 655 35ms 0 01ms H0054 Mechanical 0 01ms 655 35ms 0 01ms Constant Tm HOO Initial Position of 28 absolute Encoder 01079741824 1 i HOO 0000 Incremental encoder UVW ABZ 001 Wire saving encoder ABZ UVW 002 Incremental encoder without UVW 010 Tamagawa 30 Encoder absolute encoder E T Selection HEX single ring amp multi ring encoder and automatic Identification 012 Serial encoder Incremental or absolute 020 SIN COS encoder 021 Resolver H00 Encoder TUB rev 1 pulse 2500 Revolution 10 314 rev pulse rev P 1824 pulse rev HOO 33 Initialization 0 0 360 0 0 1 0 0 i Electric Degree HOO 34 U phase Electric 0 0 360 0 0 1 0 0 E Degree 234 IS500 Servodrive User Manual Chapter 12 Appendix Function 4 Factory When Data Related Code Bus ponendo BL Setting Enabled Type Mode This parameter can only be modified by manufacturers and the debugger can be modified without a password Group H01 Factory Parameters Type XXY YY XX specification 00 p model Software version 01 A model H01 00 Number 02 H model Display 2 Y YY specification Software version number FPGA Software HOT es version Number Display
44. 1 00 Immediately Setting Load Inertia Ratio 255 Chapter 12 Appendix 1S500 Servodrive User Manual Function r Factory When Data Related Code Mame po ting REIRE Mica Setting Enabled Type Mode 0 Disable Gain Switch to fix the 1st gain 1 Manual gain switch via external input signal G SEL switching gain 2 Use position pulse difference for automatic gain switch the gain can switch condition amplitude H0811 3 The position instruction filtering Gain Switching output is 0 subject Selection Switch to position pulse 4 Automatically gain switch subject to the speed instruction meanwhile gain can switch the amplitude H0812 5 Automatically gain switch subject to the torque instruction meanwhile the gain switch condition is amplitude H0813 Stop Ho8 10 Econo as eo Immediately PS Gain Switch Stop H08 11 Position Deviation 0 65535 P 30 Immediately Setting Gain SWITCH Speed Reference H08 12 Condition 0 65535 rpm 100 Immediately Amplitude Threshold Stop Setting Fe Gain Switch Torque Reference H08 13 Condition 0 300 0 0 196 20 0 Immediately Amplitude Threshold Stop Setting x Load Rotating Inertia Ratio Stop H08 15 1 00 200 00 0 01 1 00 Immediately Setting PST 256 IS500 Servodrive User Manual Chapter 12 Appendix
45. 1 2 1000 resistor and forced air cooling 3 No regenerative resistor dependent on the capacity Min Unit 1 1W 19 Different models Different models Haie 0 have different default have different 9 values default values EU Immediately Immediately Immediately Data Type Stop Setting Stop Setting Stop Setting uude PST PST PST Note 1 The H02 21 gives the allowable minimum value of regenerative resistor based on rated current and over voltage point of servodrive s resistor triode 2 The H02 22 gives the power capacity of the built in regenerative resistor if exists The debugger determines whether the resistance overloads and whether it alarms through the parameter 3 The H02 23 gives the value of the built in regenerative resistor if exists 4 You must set H02 25 according to the actual condition By default H02 25 is set to 0 If an external resistance is used H02 25 should be set to 1 or 2 If you want to disable the bleeding function set H02 25 to 3 Improper setting may cause abnormal regenerative braking 5 You must set H02 26 based on the power capacity of actually connected regenerative resistor For example if an external resistance indicates 800w power on its label you should set H02 26 to 800 Improper setting of H02 26 may cause damage to triode or resistor The servodrive is capable of protecting the regenerative resistor based on the power you set If the bleeding
46. 1 Hardware Connection See ee ee ed 0 2 Communication Parameter Setting 0 3 MODBUS Communication Protocol r2ttretetettenetertentiesecenee vesesse dani obsides erben Chapter 11 Inspection and Maintenance 1 1 Troubleshooting 1 2 Maintenance and 2 4 Commonly Used Inspection OP Servo D Ve Arse hin edd aonn relates pen Meque Chapter 12 Appendix isis als au weed ER Ro RII aep RUNS MUS E AUR ao R E RR RUE REN ETE EA R MUS a E ere e E E Wie RN RAE 2 1 Capacity Selection of Servo Motor 22 Function Code Table R DORE Rol qo RR A UR Se oi OR ADR ee heed en ee doa d E ened ede od o bdo ER CR Mo LA d n de qo do d 2 3 DIADO Basic P nction Description t resien scp uhebunsiav uten tinsde v openga er iedeluliepeide Function Code Reference Table i trennen actions 2 5 Motor SN Reference Table eerte eo rete a heboe ere kosieses iib obeiede vidi eibedaad iden 2 6 Common Servo Configuration Specifications n Preface IS500 Servodrive User Manual Selection of Servo System Chapter 1 Selection of Servo System IS500 Servodrive User Manual Chapter 1 Selection of Servo System 1 1 Servomotor Model 1 1 1 Servomotor Designation Rules ISM H1 75B 30C B U1 31 X Mark Series No ISM IS Series servomotor Mark Features H H Series V V Series Mark Specifications 1 Low inertia small capacity 2 Low inertia medium c
47. 1 and H08 26 is set to 4 input signal P CON serves as switch to change between PI control and P control P control is valid in speed position control This mode is named as Proportional Operation Reference Function H08 H08 Code 25 26 Name Speed Loop Control Method P PI Switch Control Condition 0 Use torque reference as detecting point 0 PI control ene 1 Use speed reference as detecting point Sn 2 bs da 2 Use acceleration as detecting point g 3 PDFF control 3 Use position error pulse as detecting point 4 Mode switch by an external DI Min Unit 1 1 Factory Setting 9 When 7 Enabled Immediately Immediately Data Type Stop Setting Stop Setting Related Mode PS PS When sending speed reference from host device to the servodrive P control mode can be selected from the host device in particular operating conditions This mode can suppress overshooting and shorten the adjustment time 2 Adjustment of Mode Switch The mode switch function is used in the following cases For speed control suppress overshooting during acceleration or deceleration For position control suppress undershooting during positioning and reduce the adjustment time 168 IS500 Servodrive User Manual Chapter 9 Adjustments Speed Overshoot p W Actual motor E motion Reference Time undershoot Time adjustment The mode switch function automatically switches the s
48. 12 Appendix Function 4 Factory When Data Related Code Nae Siig RENEE Mir Unik Setting Enabled Type Mode 0 Zero Acceleration Deceleration Time 1 Acceleration Deceleration Time 1 13th Acceleration 2 Acceleration Stop Be 28 Deceleration Time Deceleration Time i 7 Immediately Setting S 2 3 Acceleration Deceleration Time 3 4 Acceleration Deceleration Time 4 14th Segment 9000rpm to Stop H12 59 Reference 9000rpm 1rpm 900rpm Immediately Setting S 14th Segment 0 1s St H12 60 Reference Running 0 6553 5 a 5 0s min Immediately P S Time min Setting 0 Zero Acceleration Deceleration Time 1 Acceleration Deceleration Time 14th Segment i F H12 61 Acceleration 2 Acceleration i 0 Immediately StOP s Deceleration Time Setting Deceleration Time 2 3 Acceleration Deceleration Time 3 4 Acceleration Deceleration Time 4 15th Segment 9000rpm to i Stop H12 62 Refrence 9000rpm 1rpm 600rpm Immediately Setting S 15th Segment 0 4s St H12 63 Reference Running 0 6553 5 d 5 0s min Immediately P S Time min Setting 275 Chapter 12 Appendix 1S500 Servodrive User Manual Function Code Name Setting Range Min Unit Factory Setting When Enabled Data Type Related Mode H12 15th Segment Acceleration Deceleration Time 0 Zero Acceleration Decele
49. 2 6 A Z Z B 3 2 B 5V GND B 4 5 B Z 5 1 Z Z 6 4 Z 5V 13 9 5V GND 14 8 GND PE ped Housing 1 PE ern 2 Wiring Specification for S5 L P21 3 0 S5 L P21 5 0 and S5 L P21 10 0 CN2 Terminal 20 29 Aviation Plug Twisted Pair Signal Pin Pin Signal A A A 1 A A B B A 2 B A Z Z B 3 C B 5V GND B 4 D B Z 5 E Z Z 6 F Z 5V 13 G 5V GND 14 H GND PE Pea Housing J PE Oe a 4 3 Servodrive I O Cable S5 L S00 1 Servodrive I O Cable Model Model Length Remark S5 L S00 1 0 1 0m Itis applicable to all servodrive models S5 L S00 2 0 2 0m S5 L S00 3 0 3 0m 44 IS500 Servodrive User Manual Chapter 4 Cable Specifications and Dimension Diagram 2 Servodrive I O Cable Appearance Direction 1i Pin 1 Pin 26 B 3 Wiring Specification for S5 L S00 A B Twisted Pair Pin No Signal Wire Color Relation 1 3 1 SG White 2 4 One pair 3 PL1 Blue 5 6 2 SG White 7 8 One pair 4 DI3 Orange 9 10 5 AI1 White 11 12 One pair 6 SG Green 13 39 7 PULS White 14 15 One pair 8 PULS Brown 16 17 9 Al2 White 18 44 One pair 10 SG Gray 19 20 11 SIGN White 21 22 One pair 12 SIGN Red 23 24 13 PL2 White 25 26 One pair 39 DO8 Yellow 27 28 14 CLR White 29
50. 30 One pair 15 CLR Purple 31 32 16 5V Red 33 34 One pair 17 PZ OUT Blue 35 36 18 PL3 Red 37 38 One pair 44 DI4 Orange 40 41 19 PZO Red 42 43 One pair 20 PZO Green 45 46 21 Reserved Red 47 50 One pair 22 Reserved Brown 48 49 23 DI9 Red One pair 24 DI10 Gray 45 Chapter 4 Cable Specifications and Dimension Diagram 1S500 Servodrive User Manual 4 4 Servodrive PC Communication Cable S5 L T00 3 0 1 Servodrive PC Communication Cable Model A B Twisted Pair Pin No Signal Wire Color Relation 1 3 25 DO3 Red One pair 26 DO3 Yellow 27 DO2 Red One pair 28 DO2 Purple 29 DO1 Red One pair 30 DO1 Black 31 DO4 Black One pair 32 DO4 Blue 33 PAO Black One pair 34 PAO Orange 35 PBO Black One pair 36 PBO Green 37 DO6 Black One pair 38 DO7 Brown 40 DI5 Black One pair 41 DI6 Gray 42 DI7 Black One pair 43 DI8 Yellow 45 DI2 Black One pair 46 DI Purple 47 24V Black One pair 50 COM White 48 AI3 Brown One pair 49 Al3 Orange PE shielding PE shielding Black thermal PE shielding layer layer casing layer Model Length Remark S5 L T00 3 0 3 0m It is applicable to all servodrive models 46 IS500 Servodrive User Manual Chapter 4 Cable Specifications and Dimension Diagram 2 Servodrive PC Communication Cable Appearance
51. 300rpm Immediately Setting S 11th Segment H12 51 Reference Running 9 6553 5 04S 5 0s min immediately St P s Time min Setting 273 Chapter 12 Appendix 1S500 Servodrive User Manual Function r Factory When Data Related Code Name pouing Range Minas Setting Enabled Type Mode 0 Zero Acceleration Deceleration Time 1 Acceleration Deceleration Time 11th Segment H12 52 Acceleration Acceleration 4 0 Immediately StP s Deceleration Time Setting Deceleration Time 3 Acceleration Deceleration Time 3 4 Acceleration Deceleration Time 4 12th Segment 9000 rpm to 5 Stop H12 53 Referenc 9000rpm 1rpm 500rpm Immediately Setting S 12th Segment 0 1s P Stop H12 54 Instruction Running 0 6553 5 5 0s min Immediately S Ti min Setting ime 0 Zero Acceleration Deceleration Time 1 Acceleration Deceleration Time 12th Segment P H12 55 Acceleration 2 Acceleration 0 Immediately S P S Deceleration Time Setting Deceleration Time 3 Acceleration Deceleration Time 3 4 Acceleration Deceleration Time 4 13th Segment Stop H12 56 Reference 9000 9000rpm 1rpm 700rpm Immediately Setting S 13th Segment 0 1s St H12 57 Reference Running 0 6553 5 Ki 5 0s min Immediately P S Time min Setting 274 IS500 Servodrive User Manual Chapter
52. 7 Multi servodrive in parallel comm cable 5 L T01 0 2 Refe to 5 6 PC comm cable S5 L T00 3 0 Refer to 5 4 PLC comm cable S5 L TO2 2 0 Refer to 5 5 I O cable S5 L S00 Refer to 5 3 Ka Encoder cable S5 L P Refer to 5 2 Servomotor main circuit cable S5 L M Refer to 5 1 ISMOO OOO0O0000 OO00O servomotor 11 Chapter 1 Selection of Servo System Three Phase 220V Main Circuit Power supply 3 phase 220V AC IS500 Servodrive User Manual MCCB cut off circuit upon detection of over current Noise filter prevent external noise from the power line Magnetic contactor turn on off main power of servo drive Install a surge suppressor together with it Regenerative resistor Brake power supply used for a servomotor with a brake Magnetic contactor turn 1S500 on off main y power of servo Servodrive suppressor together with it Analog monitoring cable S5 L A01 1 0 Refer to 5 7 Multi servodrive in parallel comm cable S5 L T01 0 2 Refer to 5 6 PC comm cable S5 L T00 3 0 Refer to 5 4 Note 3 PLC comm cable S5 L TO2 2 0 Refer to 5 5 I O cable S5 L S00 Refer to 5 3 Ex Servomotor mai circuit cable S5 L M Refer to 5 1
53. 78 62 Parameter setting and Display 1s eseveseesessseressose tes nese presos s eWARnkeu pos seen sete pes 80 6 3 Monitoring Display Parameter List 99 t nsSess tv ag eeseg prestito ipe nies press esis EYebedo ges 80 Chapter 7 Setting of Servodrive General Function Codes nn 86 7A Selection of Running Mode 2s sesiat secs eet ee bena ianen eai ae aaeeea ue 86 7 2 Speed Gontrol nM 87 7 3 Position Gontrol Memeesee eese he reser sh hh t nn nnn 101 7 4 Torque Control nM 1 17 7 5 Setting General Basic F rictions 55 56 SS HESINS HIR ERASIR IHRE teienei naenda gaea 123 7 6 Setting General I O Signals 493559959 SEIRESERETIEREARERASURNERUAESUIRTAMRENURUUUERESUMINCR Een i 137 Chapter 8 Operation rt ada ee eee ee ee ee Ra ee E 150 8 1 Pre trial Checking vistas ebanduiqdiios audiet o Cobsicnv ag olde violate b Ela dd ur Lo adea ok dede edidi 50 8 2 Examples ofJog Run See esses esser hrs n BB 5 8 3 Examples of Trial Operation in Speed Mode 51 8 4 Examples of Trial Operation in Position Mode t teense es 53 8 5 Examples of Trial Operation in Torque Mode 7t 54 8 6 Operation with the Servomotor Connected to the Machine 56 Chapter 9 Adjus menist aeie ER Ae GRE See ES GI SSIEAEORURCRPFCUUR LN E Up USE 160 9 1 Basic Adjustments PPM 60 9 2 Servo Response 63 OS Servo Gain fetmseded oberen 72 9 4 Manual Gain Tuning Function 81 Chapter 10 Communication Vidas raa etes are lS Mar ava aa ae adem wed ER Nd ee a ese QUE 0
54. Chapter 12 Appendix 1S500 Servodrive User Manual Function Min Factory When Data Related Code Nemo Seime Ranee Unit Setting Enabled Type Mode 0 Speed Mode 1 Position Mode Default 2 Torque Mode 3 Speed Mode Torque Mode 4 Position Control Mode d Stop H02 00 Selection Mode Speed 1 1 Immediately Setting Mode 5 Position Modee Torque Mode 6 Position ModeeSpeed Mode Torque Mode 0 Take CCW direction as the forward direction Rotation A leading B H02 02 Direction 1 Take CW 1 0 ER Eu PST Selection direction as the 9 forward direction Reverse mode A is delayed 0 No Operation 1 Restore to System factory setting H02 31 Parameter value except 1 0 od iru Initialization group H0 1 g 2 Clear fault record Electronic Sto H05 07 Gear Ratio 1 1 1073741824 1 4 Immediately Som P Numerator 9 Electronic Sto H05 09 Gear Ratio 1 1 1073741824 1 1 Immediately Eu P Denominator 9 0 Direction pulse positive logic default value 1 Direction pulse negative Hos 15 Rees log GE ME E 2 Phase A 9 Phase B Orthogonal pulses 4 multiple frequency 3 CW CCW Speed loop _ Running H08 00 Gain 1 0Hz 2000 0Hz 0 1Hz 400 0Hz Immediately Setting PS Speed loop Integration Running H08 01 Time 0 15ms 512 00ms 0 01ms 20 00ms Immediately Setting PS Parameters 292 IS500 Servodrive User M
55. Enabled Type Mode 0 Internal speed limit speed limit T upon torque Ho7 17 Dir control 1 0 Immediately p T 1 Take V LMT as 8 external speed limit input 1 AI St H07 18 V LMTSelection 2 AI2 1 3 Immediately Cath T 3 AI 9 Internal Speed St H07 19 Limit Value upon Orpm 9000rpm 1rpm 1000rpm Immediately arta Ti Torque Control 9 Group H08 Gain Parameters 1 Running H08 00 Speed loop Gain 1 0Hz 2000 0Hz 0 1Hz 400 0Hz Immediately Setting PS Speed loop Runnin H08 01 Integration Time 0 15ms 512 00ms 0 01ms 20 00ms Immediately Settin g PS Parameters g Hag oa Position loop 1 0Hz 2000 0Hz 0 1Hz 20 0Hz Immediately ing p Gain Setting Hos o3 2nd speed loop J 4 oHz 2000 0Hz o4Hz 400 0Hz Immediately RUNS pg Gain Setting 2nd Speed R nnih H08 04 Integration Time 0 15ms 512 00ms 0 01ms 20 00ms Immediately Settin 9 PS Parameters 9 Hos os 2 dPosition loop 4 oii s000 0Hz o 1Hz 20 0Hz Immediately Running p Gain Setting Hos og Cain Switching o 65535 1ms 0 Immediately Running p Time 1 Setting Gain Switching Running H08 07 Time 2 0 65535 1ms 0 Immediately Setting P Gain Switching Running H08 08 Waiting Time 1 0 65535 1ms 0 Immediately Setting PS Gain Switching A Running H08 09 Waiting Time 2 0 65535 1ms 0 Immediately Setting PS Average Value of Running H08 15 Load Inertia Ratio 0 90 120 00 0 01 1 00 Immediately Setting Current Value Ruini HO8 16 of 0 90 120 00 0 01
56. Given motor speed Max motor speed Actual N Actual acceleration deceleration time time Acceleration slope time H06 05 Deceleration slope time H06 06 7 2 3 Speed Reference Limit The following table lists related function codes Function Code H06 H06 H06 07 08 09 Name Maximum Speed Limit Forward Speed Limit Reverse Speed Limit Setting Range Orpm 9 000rpm Orpm 9 000rpm Orpm 9 000rpm Min Unit 1rpm 1rpm 1rpm Factory Setting 9 000rpm 9 000rpm 9 000rpm When Enabled Immediately Immediately Immediately Data Type Stop Setting Stop Setting Stop Setting Related Mode S S S In the speed control mode the servodrive can realize speed reference limit Speed reference limit involves the following four aspects 1 Maximum speed limit is set through H06 07 Forward reverse speed reference cannot exceed it If exceeding the reference will be output at this limit Forward speed limit is set through H06 08 Any forward speed reference exceeding the limit will be output at this limit Reverse speed limit is set through H06 09 Any reverse speed reference exceeding the limit will be output at this limit The maximum motor speed is considered as the upper limit by default It varies with the motor parameter 91 Chapter 7 Setting of Servodrive General Function Codes 1S500 Servodrive User Manual Note When speed limits are set through H06 07 H
57. HOS 22 Setting 0 Disable Interrupt Interrupt Length Length I After Enabled 1 Enable Interrupt Restart Length H05 23 Interrupt Length 0 1073741824 1 Stop Reference reference units ES 10009 Immediately Setting H05 24 249 Chapter 12 Appendix 1S500 Servodrive User Manual Function i Factory When Data Related Code Name poring Range Minuni Setting Enabled Type Mode Ho5 26 da Fac 1rpm 9000rpom rpm 200 Immediately Hem P Interrupt Length Stop H05 27 Acceleration 0 1000 1ms 10ms Immediately Settin P ORUM g Deceleration time Interrupt Length sia Ho5 29 Completion Lock SEE ien 1 1 Immediately seis P Status Enabled 0 Disable origin return function 1 Enable origin return via DI Input OrgChufa 2 Enable origin return via DI Input OrgChufa Origin Return one cae Runnin H05 30 Enabled Control 1 0 Immediately RUNN S p on Setting 4 Origin return immediately when this funcode is set 5 Start electric return to origin command 6 Take the current position as origin 250 IS500 Servodrive User Manual Chapter 12 Appendix Function 4 Factory When Data Related Code Nae Seii RENEE inun Setting Enabled Type Mode 0 Origin of forward origin return deceleration point represents origin switch 1 Origin of reverse or
58. ISSOOLIT8R4I IS500L1T0121 x screw hole product appearance E RE Installation dimension 3 3 5 Size E Appearance and Specification Three phase 380V IS500L1T0171 IS500L1TO211 IS500L1TO261 m RANA a BE screw hole Product appearance Installation dimension 40 Cable Specifications and Dimension Diagram Chapter 4 Cable Specifications and Dimension Diagram 1S500 Servodrive User Manual Chapter 4 Cable Specifications and Dimension Diagram 4 1 Servomotor Main Circuit Cable S5 L M 4 1 1 Servomotor Main Circuit Cable Models Model Length Adaptable Servomotor Connector S5 L M03 3 0 3 0m S5 L M03 5 0 5 0m ISMH1 ISMH4 ISMV1 Series 4 Pin connector S5 L M03 10 0 10 0m S5 L M24 3 0 30m ISMH2 ISMV2 Series and S5 L M24 5 0 5 0m ISMH3 ISMV3 Series 1 8kw or 20 18 aviation plug S5 L M24 10 0 100m PCW S5 L M25 3 0 3 0m S5 L M25 5 0 5 0m S5 L M25 10 0 10 0m ISMH3 ISMV3 Series 2 9kw or above 20 22 aviation plug 4 1 2 Servomotor Main Circuit Cable Connectors 1 S5 L M03 3 0 S5 L M03 5 0 and S5 L M03 10 0 Cable Connector 4 Pin Connector 4PIN Connector Signal Name Pin No Direction A U 1 3 Red e e uir V 2 4 Yellow green BS 4 2 Black Ww 3 PE 4 2 S5 L M24 3 0 S5 L M24 5 0 S5 L M24 1
59. Immediately Setting Selection Refer to DIDO function selection code definition Output polarity reversal setting VDO10 Terminal 0 1 Stop H17 52 Logic Level 0 Output 1 upon 1 Immediately Setting Selection enabled 1 Output 0 upon enabled Output Code 1 16 0 No Definition VDO11 Terminal 1 16 H17 53 Function FunOUT 1 16 1 Immediately Selection Refer to DIDO function selection code definition Output polarity reversal setting VDO11 Terminal 0 1 Stop H17 54 Logic Level 0 Output 1 upon 1 Immediately Setting Selection enabled 283 Chapter 12 Appendix 1S500 Servodrive User Manual Function Code Name Setting Range Min Unit Factory Setting When Enabled Data Type Related Mode H17 55 VDO12 Terminal Function Selection Output Code 1 16 0 No Definition 1 16 FunOUT 1 16 Refer to DIDO function selection code definition Immediately Stop Setting H17 56 VDO12 Terminal Logic Level Selection Output polarity reversal setting 0 1 0 Output 1 upon enabled 1 Output 0 upon enabled E Immediately Stop Setting H17 57 VDO13 Terminal Function Selection Output Code 1 16 0 No Definition 1 16 FunOUT 1 16 Refer to DIDO function selection code definition Immediately Stop Setting H17 58 VDO13 Terminal Logic Level Selection Output polarity reversal setting 0 1 0 Output 1 upon e
60. L L H excessive position error Electronic gear Erb03 Gear Setting atio exceeds the NO 2 Resetabe L L JH i Error 9 specification range 0 001 4000 11 1 2 Warning Display List The relationships between warning codes and coding H L are shown in the following table Warning code is displayed as Er 9xx 207 Chapter 11 Inspection and Maintenance Error Name Too large Position pulse deviation Meaning Accumulated position pulse deviation exceeds preset value 1S500 Servodrive User Manual Error Code Output Motor Overload Warning before reaching the motor overload value Driver Overload Warning before reaching the driver overload value External Regenerative Resistance Insufficient External regenerative resistance is less than the minimum value required by the servodrive Change of Parameters Requires Restart The changed parameters will be effective after a restart Write EEPROM Frequent EEPROM is operated frequently Over travel 1 Pot and Not will be efficient at the same time generally in the table will not occur at the same time 2 Servo shaft will over travel in a certain direction and can be automatically relieved Absolute Encoder Angle Initialization Encoder deviation angle is excessive upon re initialization Under voltage Bus voltage is lower than the error value the error display for nearing the under voltage error
61. Li For specific error codes refer to Chapter 11 run 6 1 3 Servodrive Parameter Browsing and Modification To view the servodrive variable status press the MODE key to shift to the Group H and select corresponding function code MODE L oe Re J N a E E run lt _ LUE MODE t Running status Parameter setting monitoring mode mode level 0 menu After switching to parameter display mode the parameter group number is first displayed as Hxx also called level 0 menu The digit that flashes indicates the status The flashing digit will increase decrease 1 if you press the UP DOWN key The flashing digit will shift if you press the SHIFT key Then you can set the group number UP y d SHIFT HOO HO1 HOI an I DOWN ms supr 8 Once you set the group number press the SET key Then the function code number is displayed as Hxx xx also called level l menu Once you set the function code as required press the SET key Then the function code is displayed also called level ll menu If the function code can be modified the rightmost digit flashes You can perform modification by pressing the SHIFT UP DOWN key shown as below RE Level 0 menu Wh diua SET en a digit flashes you can pe vim edi H07 x B press the UPDOWN SHIFT key icd A v to mod
62. Low inertia 3000rpm 5000rpm 2500W medium capacity 25C30CD T8R4 3000W 30C30CD T012 4000W 40C30CD T017 5000W 50C30CD T017 295 Chapter 12 Appendix 1S500 Servodrive User Manual n S MEOS Servodrive Model ate 3 ervomotor Mode IS500 nanul Speed Max Speed Capacity ISSUES EE EEeE 3 phase AC380V 850W 85B15CD T3R5 1300W 13C15CD T5R4 1800W 18C15CD T8R4 1500rpm 3000rpm 2900W H3 Medium 29C15CD T012 4400W inertia medium 44C15CD T017 5500W capacity 55C15CD T021 7500W 75C15CD T026 870W 87B10CD T3R5 1000rpm 2000rpm 1200W 12C10CD T5R4 ISMV Maximum speed equals rated speed and the motor does not have the short time over speed capacity 380V Servodrive Model Rated Max Caneel Servomotor Model 1 500 oo00 Speed Speed pacity SMoo ooo00000 3 phase AC380V 2900W 29C15CD T8R4 1580 M 4400W V3 Medium inertia 44C15CD T012 rpm rpm P P P 5500W medium capacity 55C15CD T017 7500W 75C15CD T021 296 Inovance Warranty Agreement The warranty period of the product is 18 months refer to the barcode on the equipment body During the warranty period if the product fails or is damaged under the condition of normal use by following the instruction Our Company will be responsible for free maintenance Within the warranty period maintenance will be charged for th
63. MODE key to exit the inertia identification and view H 0815 inertia value 9 4 2 Setting of Rigidity Level WB About Servo Rigidity IS500 Servodrive User Manual Servo rigidity indicates the capacity of rotor against the load inertia also self locking capacity of the rotor Bigger the servo rigidity level bigger the speed loop gain or position 184 IS500 Servodrive User Manual Chapter 9 Adjustments loop gain and faster the system response Servo rigidity must be matched with the load inertia ratio Bigger the mechanical load inertia ratio smaller the servo rigidity If the servo rigidity is much higher than the matching range of inertia ratio high frequency free running oscillation will occur that is the motor makes a harsh noise Conversely if the servo rigidity is too low the motor will be weak that is the load needs more time to get to the designated position H Description of function of Setting Servo Rigidity Only the load inertia ratio is measured via inertia identification The speed and position parameters are not matched Thus remember to set the rigidity level HO9 05 after identification is complete The parameters associated with rigidity level HO9 05 include position gain speed loop gain integral and torque filter system Their corresponding relationship is shown as below Rigidity Position Loop Speed Loop Speed T r E Corresponding Integral X a Mechanical H0802 ms Standard
64. Orthogonal pulses 4 multiple frequency 3 CW CCW Min Unit 1 Factory 0 Setting When Enabled After Restart Data Type Stop Setting Related P Mode 104 IS500 Servodrive User Manual Chapter 7 Setting of Servodrive General Function Codes Wi Principle of pulse reference forms is as below Pulse Positive Logic Negative Logic Reference Form Forward Reverse Forward Reverse Direction mus PULS NN PuLs pulse SIGN SIGN SN oto SIGN Orthogonal pulses is s TULL u Phase At PhaseB UL mas L Phase B CW Cw 1 j CW CCW CEW HE mes i 7 3 3 Clearing Pulse Offset The setting of pulse offset clearing signal is as follows Type Signal Name Connector Pin No Name err CLR CN1 15 Pulse offset clearing input npu P CLR CN1 14 Pulse offset clearing input Note If it is not necessary to input an external clearing reference do not wire the connector but just set H05 16 to 1 clear position offset pulse upon error The clearing mode of pulse offset clearing signals is set in HO5 16 as below gn Sae Description 0 Servo OFF and clear position offset pulse upon error default 1 Clear position offset pulse upon error 2 Clear with signal CLR connected H05 16 3 Clear with signal CLR disconnected 4 Clear with signal CLR rising 5 Clear with s
65. Position Deviation Unit Unit a Group H09 Auto tuning Parameters Max Speed St Hog 00 at Inertia 300 2000rpm 1rpm 600rpm Immediately Sein PST Identification 4 257 Chapter 12 Appendix 1S500 Servodrive User Manual Function 7 3 Factory When Data Related Code Name SEMN Range Mice Setting Enabled Type Mode Max Speed Runni H09 01 lat Inertia 20ms 400ms 1ms 120ms Immediately Suma PST satis etting Identification Waiting Time B rifi H09 04 of Inertia Oms 10000ms 1ms 50ms Immediately o 9 PST ST etting Identification Hog os CurentRigid o 5g 1 0 Immediately SP pst Level Setting Circles the motor rotates for one One 1 200 iud d Inertia ratio Circle Circles Display Display update Group HO0a Error and Protection Parameter 0 Enable error and Power Input Open sable warn H0a 00 Phase Protection 1 0 Immediately P and warning Setting Selection 2 Disable error and warning Motor Overload 9 4 amp n9 5 B Stop H0a 04 Protection Gain 50 150 1 100 mmediately Setting Overload Warning gt Stop H0a 05 Value 1 100 1 80 mmediately Setting Motor Overload Stop 7 HOa 06 Current Derating 10 100 1 100 mmediately Se tting 0 Non detect Pd err main circuit under Main circuit is due voltade warnind St HOa 08 to the voltage of 9 Ing 0 mmediately Md 1 Detect main Setting
66. Pulse Counter Encoder pulse of 4 times frequency data display 32 bit decimal 1p Display HOb 19 Total Power on Time 32 bit decimal display 0 0 429496729 6s 0 1s Display Total time after power on HOb 21 Al1 Sampling Voltage 0 001V Display H0b 22 AI2 Sampling Voltage 0 001V Display HOb 23 AI3 Sampling Voltage 0 001V Display HOb 24 Phase current RMS 0 01A Display HOb 26 Bus Voltage 0 1V Display HOb 27 HOb 31 Module Temperature Multi circle Absolute Encoder C Display Display Displayed only on H type drives H0b 33 Error Record Display Immediately 0 Current error factory setting 1 Last error 2 Last 2 error 9 Last 9 error Running Setting Feature in backward display showing error code and type H0b 34 Error Code Factory setting first error code If Er O00 is displayed it indicates that no error occurs HO0b 35 Error Time stamping 0 1s Display On the scatter point of the total running time shaft H0b 37 Rotating speed upon Selected Error 1rpm Display H0b 38 Present Current U upon Selected Error 0 01A Display HO0b 39 Present Current V upon Selected Error 0 01A 82 Display IS500 Servodrive User Manual Chapter 6 Digital Operator Function Re
67. Replace the servomotor occurred Servomotor The ambient temperature Measure the ambient Overheated is too high temperature of the The ambient temperature is below 40 C Clean the dust and oil on the surface of servo motor Reduce load or replace with larger capacity servomotor servomotor Inspection Servo motor surface is not clean Overload No load trail operation 11 2 Maintenance and Inspection of Servo Drive 11 2 1 Servo Motor Inspection It is necessary to carry out routine maintenance on AC servo motor without brush The inspection time in the table is the general standard Please decide the most appropriate inspection time according to the service condition and operational environment IMPORTANT Do not remove the servo motor for the maintenance and inspection Item Frequency Procedure Comments Vibration and Daily Touch and listen Vibration and noise Noise must not be greater than normal levels Exterior According Clean with cloth or air gun to degree to contamination Insulation At least once a Disconnect the motor from the Contact our Resistance year servo drive and test insulation service centre Measurement resistance at 500V megger Must if the insulation exceed 10M 9 measure across resistance is below the servomotor FG and the 10M 9 phase U V and W power line Replacing Oil Atleast once Remove the servo motor and then Applies only to Seal every 5000 hours re
68. User Manual N caution Communication speed of the servodrive must be consistent with that of the host computer Otherwise there will be no communication Function 0c Code 3 Name Data format 0 No check Seung 1 Even parity check 9 2 Odd parity check Min Unit 1 Factory 0 Setting When Enabled Immediately Data Type Running Setting Upon even parity or odd parity actual transmission bit of each byte is 11 bit in which 1 start bit 8 data bit 1 parity bit and 1 stop bit When selecting no parity actual transmission bit of each byte is 11 bits actual transfer in which 1 start bit 8 data bits and 2 stop bits Data format of the servodrive must be consistent with the host computer s data format otherwise there is no communication 10 3 MODBUS Communication Protocol Servodrives support MODBUS RTU protocol to read function code 0x03 write 16 bit function code 0x06 and write 32 bit function code 0x10 10 3 1 Read Function Code 0x03 WB Request Frame Format START It is greater than or equals 3 5 characters free time indicating that one frame start ADDR Servo shaft address 1 247 Note Numbers from 1 to 247 are expressed in decimal format here and need to be converted to HEX format when they are filled in ADDR CMD Reference code 0x03 DATA O Start function code group number For example in function code H06 11 06 is the group
69. change of the radius You can set the servodrive s running mode via H02 00 Meanwhile the reference sources in various running modes can be set flexibly Function Code H02 00 Name Running Mode Selection 0 Speed Mode default 1 Position Mode 2 Torque Mode Setting Range 3 Speed Mode Torque Mode 4 Position ModeeSpeed Mode 5 Position Mode Torque Mode 6 PositioneSpeedeTorque Mixed Mode Factory Setting 1 Min Unit 0 When Enabled Immediately Type Stop setting 86 IS500 Servodrive User Manual Chapter 7 Setting of Servodrive General Function Codes When H02 00 is set to 0 1 or 2 it indicates the current control mode is single control mode speed mode position mode or torque mode When you need to switch the control mode set H02 00 3 4 5 6 speed mode torque mode position mode speed mode position mode torque mode speed The switching is implemented via DI terminals Code FunIN 10 FunIN 11 Signal Name M1 SEL M2 SEL Function m TRA Name Mode switching Mode switching Switching among speed position Switching among speed position Description and torque according to the and torque according to the selected control modes 3 4 5 selected modes 6 Status Allocation Allocation Remarks Two Dls are required Two Dls are required When selecting modes 3 to 6 corresponding DI function should be configured Please refer to
70. error still occurs the servodrive may fail Replace the servo drive Acceleration deceleration was executed under the high voltage condition Check the power supply voltage and the speed and torque during operation Set AC power supply voltage within the specified range Bus voltage sampling value has big deviation Check the sampling value and actual value Adjust the bus voltage sampling gain ask for the technical support Servo Drive Error Then turn the power supply ON again If the error still occurs the servodrive may fail Replace the servo drive Er 410 Under voltage For AC220V AC380 with DC power supply input The power supply voltage is below 220V 380V The power supply voltage is below the input voltage Measure the power supply voltage Set the power supply voltage within the specified range The power supply voltage dropped during operation Measure the power supply voltage Increase the power supply capacity Transient power failure Measure the power supply voltage Set the power supply voltage within the specified range Servo Drive Error The servodrive may be fail Replace the servo drive 214 IS500 Servodrive User Manual Chapter 11 Inspection and Maintenance Over speed of Encoder Output pulse output frequency exceeded the limit Check the encoder output pulse output settin
71. fR kai default status which can medi DIY CMD3 43 Bl 37 DOG ALO its positive an Ra 4 38 negative logic DIB CMD4 43 B AT DO7 AL1 3 7 I 39 DOB AL2 pie JOGCMD lod a yx 4 AL2 c L ON valid in the 10 JOGCMD 24 IR COM default status which COM 50 can modify its positive COM Connector and negative logic Note The servodrive can provide24 shell optocoupler drive power without the external 24V industrial control powe Note PE shield connects to the connector shell T represents twisted pair wires 63 Chapter 5 Cabling 2 Position Control Mode AI3 Servo unit High accuracy 8 analog signal input Low pass filter Max input 12V AI3 89 A D AI2 49 Analog torque input_ _ di Low pass filter Max input 12V GNDJIO i i 24N 24V power supply 4 Rr PX errs bracket is the DI2 CMD2 45 fr Value inside the default function D function can be DIS DIR SEL 4 tL flexibly configured H through function DI4 ALMRST 44 EAA code _ __DI5 S ON ad gt ad ON valid in the DI6 ZCLAMP i44 ER default status E which can modif its positive an negative logic DI7 CMD3 44 DIB CMD4 lad PI9JOGCMD lod gs Wy EN DMO JOGCMD 4 EA COM Note The servod
72. feature selection abs circuit under voltage warning Position Deviation 32767 Excessive 1 32767 reference Stop H0a 10 reference reference Immediately i Warning units Setting unit units Value Position Deviation 32767 H0a 11 FxcessiveError e l foreinue reference reference Immediately Stop Value units Setting unit units 0 Speed limit Speed limit protection disabled protection ER 234 OFF Stop 7 Hoa 12 t mction switch 1 Speed limit 1 1 Immediately Setting ER 234 protection enabled ER 234 ON Group HOb Display Parameter Hob oo Actual Motor trom l s Display PST Speed 258 IS500 Servodrive User Manual Chapter 12 Appendix Function A 4 Factory When Data Related Code Keme Seii REMEE Min Hn Setting Enabled Type Mode HOb 01 Speed Reference 1rpm Display PS Internal Torque Reference 7 HOb 02 relative to rated 0 196 Display PST torque Input Signal t100 08 Monitoring DI j 7 a Display PST Output Signal Heh 03 Monitoring DO j F E Display PST Absolute position counter 32 bit 1 HOb 07 decimal display reference Display P can be the power unit off memory Mechanical Angle Hob og Starting from the 1p Display P origin of pulse number Rotation Angle HOb 10 Electrical 0 1 Display PST angle Enter Position HOb 11 Corresponding Speed 1rpm
73. filtering time as long as possible in the condition that the reference bandwidth is satisfied The filtering time can be properly decreased based on your requirement on reference response No Aix Setting Variable Recommended Filtering Time 1 Speed reference 2ms 2 Torque reference ims 144 IS500 Servodrive User Manual Chapter 7 Setting of Servodrive General Function Codes The following table lists the function codes for setting the filtering time of analog channels Function H03 H03 H03 Code 56 63 70 Name Al1 Input Filtering Time Al2 Input Filtering Time AIS3 Input Filtering Time eed 0 00ms to 655 35ms 0 00ms to 655 35ms 0 00ms to 655 35ms Min Unit 0 01ms 0 01ms 0 01ms Factory Setting 2 00ms 2 00ms 2 00ms When Enabled Immediately Immediately Immediately Data Type Stop Setting Stop Setting Stop Setting 7 6 3 Other Output Signals The servodrive alarm is graded into two levels Level Error The servodrive alarms and has to stop when an error occurs DO outputs signal ALM Level Il Warning The servodrive sends out warning status which will not damage the machine temporarily But there will be a higher level of error output if the warning status is not handled timely DO outputs signal WARN Note 24V represents the 24 power servodrive can provide supply internal 24V power supply Max Output Current 200mA E Relay Servodrive
74. function Otherwise fault Er 130 occurs If the Interrupt Length function is enabled DI9 is allocated with external position interrupt signals by default If the Handwheel function is enabled DI9 and D110 are considered as input terminals for PHIP and NHIP by default In other cases DI9 and DI10 are used as common terminals 137 Chapter 7 Setting of Servodrive General Function Codes 1S500 Servodrive User Manual The following table lists the function codes of DI1 Function H03 H03 Code 02 03 Name DI1 Terminal Function Selection DI1 Terminal Logic Selection Input Polarity 0 4 Input Function Code 0 1 32 0 Low level is enabled Setting 0 No Definition 1 High level is enabled Range 1 32 FunIN 1 32 Refer to the DI 2 Rising edge enabled DO Basic Function Code Table 3 Falling edge enabled 4 Both rising and falling edges are enabled Min Unit 1 1 Factory Setting 9 9 When Enabled After Restart After Restart Data Type Running Setting Running Setting Explanation of I O terminal logic Low level switch ON High level switch OFF Rising edge switch from ON to OFF Falling edge switch from OFF to ON Select the terminal logic based on the selected function For unallocated Dis configure them based on H03 00 unallocated FunINL signals and H03 01 unallocated FunINL signals Set H03 00 and H03 01 to HEX values Each H03 00 binary bit corresponds to Fu
75. gain settings via external signals according to the load equipment Manual gain switching external input signal G SEL e G SEL disabled Gain 1 G SEL enabled Gain 2 WB Relationship Between Gain Switching Waiting Time and Gain For example use the position pulse difference as detecting point to perform automatic switchover Switch from gain 1 to gain 2 The gain switching waiting time HO8 08 is 10ms gain switching time H08 06 is 7ms and gain switching position pulse difference H08 11 is 200p 178 IS500 Servodrive User Manual Chapter 9 Adjustments Waiting Switching 4 time TROU Gain 1 i i Position ami i deviation Switching condition 200p Switching condition is satisfied here WB Related Parameters Ee 108 H08 H08 H08 H08 M 3 4 5 6 7 Speed loop d T Pare Nama SPE loop integral time Bch loop oe oe EL MM 9 parameter 2 9 Setting 1 0 to 0 15 to 1 0 to Range 2000 0Hz 512 00ms 2000 0Hz 0 to 65535 osse Min Unit 0 1Hz 0 01ms 0 1Hz 1ms 1ms Factory Setting 400 0Hz 20 00ms 20 0Hz 0 0 Hive Immediatel Immediatel Immediatel Immediatel Immediatel Enabled y y y y y Data Running Running Running Running Running Type Setting Setting Setting Setting Setting Related Mode PS PS P P P Function H08 H08 H08 Guci 8 9 10 Gain switching Gain switching Name waiting time 1 waiting time 2 Gain Switching Selection 0 Disable gain swi
76. gain via the following function codes as required Function H08 H08 Ged 00 01 Name Speed Loop Gain Speed Loop Integral Time Constant Setting Range 1 0Hz 2000 0Hz 0 15ms 512 00ms Min Unit 0 1Hz 0 01ms Factory Setting 400 0Hz 20 00ms When Enabled Immediately Immediately Data Type Running Setting Running Setting Related Mode PS PS The table here shows the servodrive internal speed loop gain and integral time constant Higher the speed loop gain or smaller the speed loop integral time constant faster the speed control response will be But due to machine feature machine vibration may result due to excessive speed loop gain The unit of speed loop gain Kv is Hz 163 Chapter 9 Adjustments IS500 Servodrive User Manual Speed Speed loop gain reference Speed feedback H Setting of Load Moment of Inertia Ratio The load moment of inertia ratio is set via HO8 15 Function H08 15 Code 15 Name Load Moment of Inertia Ratio Setting Range 1 00 200 00 Min Unit 0 01 Factory 1 Setting When Enabled Immediately Data Type Stop Setting Related Mode dud Motor shaft conversion load moment 6 inertia JL Roter moment 6 inertia JM The factory setting is Motor shaft conversion load moment of inertia Rotor moment of inertia According to the formula above the moment of inertia ratio is 1 Then set the value of function c
77. ground terminal of servomotor to of servodrive and tie to ground If the servomotor is grounded via the machine a switching noise current will flow from the servodrive power unit through servomotor stray capacitance b Interference on the reference input line If the reference input line receives noise ground the OV line SG of input line The servomotor main circuit wire runs through a metal conduit so ground the conduit and its junction box For all grounding ground at one point only 3 Precautions on Using the Noise Filter Use an inhibit type noise filter to prevent noise from the power supply line Install a noise 74 IS500 Servodrive User Manual Chapter 5 Cabling filter on the power lines for peripheral devices as necessary When installing and wiring a noise filter please obey the following precautions Otherwise the effect of noise filter will be lowered greatly a Do not put the input and output lines in the same duct or bundle them together x O yaa oise E gt Noise H filter filter H4 g7 d Casing Casing ww Ahh i i ral Noise H zd Noise h 7 filler HY i filter i 777 i q Casin i w Casing 9 Separate these circuits b Separate the noise filter ground wire from the output lines x O oise filter E gt oise filter Casing Casing
78. installation An encoder error occurred An encoder error occurred Replace the servomotor 220 IS500 Servodrive User Manual Chapter 11 Inspection and Maintenance according to the user manual Probl C Confirmation Solution dou ipid Turn the Servodrive OFF Before Troubleshooting Servomotor Speed loop gain value Factory setting 400 0Hz Correctly set speed loop gain Vibrates at H08 00 too high Perform gain adjustment H08 00 Frequency of according to the user manual Approx 200 to Position loop gain value Factory setting 20 0Hz Correctly set speed loop 400 Hz H08 02 too high Perform gain adjustment H08 02 Incorrect speed loop integral time Pn101 setting Factory setting 20 00ms Perform gain adjustment according to the user manual Correct the speed loop integral time constant H08 01 setting Incorrect moment of inertia ratio data HO8 17 Check the moment of inertia ratio setting H08 17 Correct the moment of inertia ratio H08 17 setting High Rotating Speed Overshoot on Starting and Stopping Speed loop gain value H08 00 too high Factory setting 400 0Hz Perform gain adjustment according to the user manual Correctly set speed loop gain value H08 00 Position loop gain value H08 02 too high Factory setting 20 0Hz Perform gain adjustment according to the user manual Correctly set position loop gain val
79. m lt RRated Torque Available The above servo motor and servo drives are available The analysis for position control is shown below PG Feedback pulse frequency division ratio Setting of Electronic Gear Since electrical stop accuracy set position detection units A 0 01 mm pulse 1a 8 eco d 2500x4 A 0 01 A 2 2500x4 A 500 Reference Pulse Frequency 1000x Vi 1000x 15 ja 25 00 60xA 60x0 01 pps Offset Counters Stay Pulse Set Position Loop Gain Kp 30 1 s 25000 833 pulse K 30 pulse Electrical Stop Accuracy Md i mE E servo unit control range x oo 5000 x nR 3000 0 17 lt 1 pulse 22 0 01 mm pulse The above servo motor and servo drives are available 12 2 Function Code Table Parameter Description Group HOO Servomotor Parameters H01 Factory Parameters H02 Basic Control Parameters H03 Terminal Input Parameters H04 Terminal Output Parameters H05 Position Control Parameters 232 IS500 Servodrive User Manual Chapter 12 Appendix H06 Speed Control Parameters H07 Torque Control Parameters H08 Gain Parameters H09 Auto tuning Parameters H0a Error and Protection Parameters HOb Display Parameters HOc Communication Parameters HOd Auxiliary Function Parameters H11 MS Position Functions H12 MS Speed Functions H17 VDI VDO Functions H30 Communications
80. mmediately Setting H03 56 AI1 Filtering Time 0 00ms 655 35ms 0 01ms 2 00ms Immediately S Hos 57 A minimum 10 00V 10 00V 0 01V 10 00V Immediately StP input Setting Al1 Minimum Value St H03 58 Corresponds to 100 0 100 0 0 1 100 0 Immediately Fino the setting 3 Value Ho3 59 I2 Maximum 10 00v 10 00v oov 1000V Immediately StoP gt Input Setting 242 IS500 Servodrive User Manual Chapter 12 Appendix Function 4 Factory When Data Related Code ane Siig RENEE Mie Unik Setting Enabled Type Mode Al2 Maximum Value St H03 60 Correspondsto 100 0 100 0 0 1 100 0 Immediately EP the setting 9 Value 500 0mV Running H03 61 AI2 Zero Offset 500 0mV 0 1mV OmV Immediately Setting Ho3 oa A 2 Input Filtering 0 ooms 655 35ms 0 01ms 2 00ms Immediately St P P Time Setting Ho3 leg A13 Minimum 10 00V 10 00V o 01v 10 00V Immediately OP P Input Setting Al1 Minimum Value S H03 65 Corresponds to 100 0 100 0 0 1 100 0 Immediately f the Setting 9 Value Ho3 ee Al3 Maximum 10 00V 10 00V o 01v 10 00V Immediately SP s Input Setting AI3 Maximum Value St H03 67 Correspondsto 100 0 100 0 0 1 100 0 Immediately EP the setting 9 Value 500 0mV Running H03 68 AI3 Zero Offset 500 0mV 0 1
81. motor is in the speed control mode and the reference source is analog Related function code is as follows H06 Function Code 15 Name Zero Clamp Rotation Limit Value Setting Range Orpm 1000rpm Min Unit 1rpm Factory Setting 10rpm When Enabled Immediately Data Type Stop Setting Related Mode S 93 Chapter 7 Setting of Servodrive General Function Codes 1S500 Servodrive User Manual Note The zero clamp function works only when speed reference source A or B is selected in the speed control mode This function can be enabled only in the following control modes Function Code H02 00 0 Speed Mode default 3 Speed Mode Torque Mode 4 Position ModeeSpeed Mode 6 PositioneSpeedeTorque Mixed Mode Setting Range Speed Reference ea Z E 2 3 Function Code Setting 1106 02 0 1 Used Input Signal ZCLAMP When Enabled Immediately In the speed control mode the servomotor is under control by the zero clamp function if the following conditions are satisfied ZCLAMP is enabled The input analog speed reference works as the speed control reference The analog speed reference equals or is lower than the value set in H06 15 Once the analog speed reference exceeds the value set in H06 15 the servomotor is not controlled by the zero clamp function 7 2 6 Servo Pulse Output and Setting The servo pulse output source is set thr
82. motor stop mode by setting HO2 05 when the servo is OFF Select the motor stop mode and status by setting HO2 07 upon over travel Function H02 Code 07 Name Stop mode upon over travel 0 The motor coasts to a stop Saia 1 Take the emergency stop torque as the maximum torque to make the motor Ran d decelerate to a stop The motor then enters servo locked state 2 Take the preset emergency stop torque as the maximum torque to make the motor decelerate to a stop The motor then enters free operation state Min Unit 1 Factory 0 Setting When Enabled Immediately 126 IS500 Servodrive User Manual Chapter 7 Setting of Servodrive General Function Codes Data Type Stop Setting Related Mode PS You can set the emergency stop torque upon over travel via H07 15 Function Hoz Code 15 Name Emergency Stop Torque Seung 0 0 800 0 100 equals one time of the rated torque ange Min Unit 0 10 Factory Setting 100 00 When Enabled Immediately Data Type Stop Setting Related Mode per Select the motor stop mode and status by setting H02 05 or H02 06 based on the fault type No 1 fault and No 2 fault When No 1 fault occurs select the stop mode and status by setting H02 05 When No 2 fault occurs select the stop mode and status by setting H02 06 Function H02 Code 06 Name Stop Mode Upon Faul
83. o o goi g 9o 2 Qo S o 10 40 160 140 Torque N m 15 50 Torque N m Torque N 29 Chapter 2 Servomotor Specification and External Dimension IS500 Servodrive User Manual 2 5 Overload Feature of Servomotor Overload detection value is set under the condition of servomotor ambient temperature 40 C and hot start Load Times of Rated Servomotor Current Operation Time s 120 230 130 80 140 40 150 30 160 20 170 17 180 15 190 12 200 10 210 8 5 220 7 230 6 240 5 5 250 5 300 3 30 Servodrive Specification and External Dimension Chapter 3 Servodrive Specification and External Dimension 1S500 Servodrive User Manual Chapter 3 Servodrive Specification and External Dimension 3 1 Servodrive Specification 3 1 1 Single Phase 220V Servodrive Size SIZE A SIZE B Drive model IS500 SOR7 SOR9 S1R6 S2R8 S3R8 S5R5 Continuous Output Current Arms 0 66 0 91 1 6 2 8 3 8 5 5 Max Output Current Arms 2 1 2 9 5 8 9 3 11 16 9 Power Supply for Main Circuit Single phase AC200V 240V 10 to 15 50 60Hz Power Supply for Control Circuit Single phase AC200V 240V 10 to 15 50 60Hz Brake Processing External brake resistor ee 3 1 2 Three Phase 220V Servodrive Size SIZE B SIZE C Drive model IS500 S3R8 S5R5 S7R6 S012 Continuous Output Current Arms 3 8 5 5 7 6 11 6 Max Ou
84. of Servodrive General Function Codes Data Running Type Stop Setting Stop Setting Stop Setting Setting Related Mode 05 iki iii 2 W DI DO Terminal Setting To trigger the Interrupt length function via DI9 set HO3 18 to O and H03 19 to rising edge or falling edge enabled Define a DI as FunIN 29 This DI becomes XintFree interrupt status clear signal Set the DI logic level to rising edge or falling edge enabled Define a DO as FunOUT 15 This DO becomes Xintcoin interrupt length completed signal Set the DO logic level to low or high level enabled Interrupt length and handwheel cannot be used at the same time DI9 shall not be allocated with common function when interrupt length function is used 7 3 12 Setting the Origin Return Function The origin return function in the position mode indicates that servodrive actively completes origin positioning of the driven machine The origin return is divided into two phases After the servodrive s origin return function is enabled the motor searches the deceleration point at specified high speed H05 32 based on the origin return mode H05 31 After meeting the rising edge of the deceleration point it decelerates to O at the preset deceleration time The motor searches the location of the origin switch at specified low speed H05 33 based on the reverse of high speed origin return direction After meeting the falling edge of th
85. of the servodrive face outward Cooling As shown in the figure above allow sufficient space around each servodrive for cooling by cooling fans or natural convection Side by side Installation When installing multiple servodrives side by side allow at least 10mm between servodrives and at least 50mm above and below each servodrive Install cooling fans above the servodrives to avoid excessive temperature rise and to maintain even temperature inside the unit 37 3 3 Servodrive Power Supply Capacities and Power Loss Chapter 3 Servodrive Specification and External Dimension IS500 Servodrive User Manual The following table shows servodrive s power supply capacities and power losses at the rated output Output Main Regenerative Control Total 6 Current Circuit Resistor Circuit Power SSN Effective Power Power Loss Power Loss Value A Loss W W Loss W W IS500L1S0R7I 0 66 5 23 Single IS500L1S0R9I 0 91 10 28 phase 18 220V IS500L1S1R6l 1 6 15 33 IS500L1S2R8l 2 8 20 38 Single IS500C1S3R8l 3 8 30 58 Three phase issoorjssRsl 5 5 40 20 68 220V i 8 IS500L1S7R6l 7 6 55 84 21 185000180121 11 6 92 121 Three phase 1I8500L180181l 18 5 120 23 165 220V 185000180251 24 8 150 20 198 28 IS500 0
86. read servo status variables the panel is not available H31 Communications give related variables the panel is not available Function 7 4 Factory When Data Related Code Nome SEUMEREN Min unit Setting Enabled Type Mode Group H00 Servo Motor Parameters 0 65534 65535 Motor HOO 00 Motor Model nedshis ont 1 XXXX After restart Stop Factory setting setting depends on drive model Motor Power H00 08 Cable Phase BUE 1 Clockwise Sequence H00 0 220V 09 Rated Voltage 4 380V H00 10 Rated Power 0 01 655 35KW 0 01KW H00 11 Rated Current 0 001 655 35A 0 01A H00 0 10Nm 12 Rated Torque 655 35Nm 0 01Nm H00 0 10Nm 13 Max Torque 655 35Nm 0 01Nm H00 14 Rotation Speed 1rpm 9000rpm 1rpm H00 15 Max Speed 1rpm 9000rpm 1rpm H00 16 Moment of Inertia 0 01kgcm 655 35 0 01 E Jm kgcm kgcnr Group H00 Servo Motor Parameters 233 Chapter 12 Appendix 1S500 Servodrive User Manual Function A Factory When Data Related Code Neme SEMN REEE Minani Setting Enabled Type Mode H00 Permanent Magnet One pair 17 Synchronous 2 to 360 pair poles ida Motor of Pole P Pairs H00 18 Stator Resistance 0 001 9 65 5359 0 0010 HOO Stator Inductance 0 01mH 19 feq 655 35mH mou i d HOO Stator Inductance 0 01mH 20 ig 655 35mH 0 01m r i d H00 s 0
87. represents origin switch origin return via DI 1 Reverse return to zero deceleration point origin 2 Input OrgChufa enable represents origin switch electric return to origin via DI 2 Forward return to zero deceleration point origin 3 Start orgin return after represents motor signal Z power on 3 Reverse return to zero deceleration point origin 4 Start origin return represents motor signal Z 5 Start electric return to 4 Forward return to zero deceleration point origin command represents origin switch origin represents motor Z 6 Start with current position 5 Reverse return to zero deceleration point as the origin represents origin switch origin represents motor Z Min Unit 1 1 Factory 0 0 Setting When Immediately Immediately Enabled Data Type Running Setting Stop Setting Related P P Mode 7 4 Torque Control 7 4 1 Acquiring the Torque Reference In the torque control mode torque references come from Source A and Source B You can acquire torque references in the following five modes source A Source B Source A source B Source A B switching through an external DI Communication given The five modes are set via H07 02 Name Function Code H07 2 Torque Reference Selection ait Chapter 7 Setting of Servodrive General Function Codes 1S500 Servodrive User Manual 0 Master Torque Reference Source A 1 Auxiliary Torque Reference Source B 2 Source
88. resistor terminals PE Grounding terminals More than 2 0mm2 5 1 4 Typical Main Circuit Wiring Examples WB Single phase 220V l l l Wiring circuit breaker Noise filter SS Power Power OFF ON m 1 1 ON upon servo alarm Note 1 is prohibited Open circuit upon servo alarm 1RY 4 M servo alarm display 24V alt Relay al Surge suppressor l l l DO4 ALM l i i l 1D diode l l l 32 DO4 ALM y com In the single phase 220V wiring servodrive does not use L2 Thus wiring L2 55 Chapter 5 Cabling B Three phase 220V Ld Wiring circuit breaker Noise filter Power Open circuit upon jid ON servo alarm T CARY 1KM 4KM Surge suppressor Servo alarm display ON upon servo alarm 1RY IS500 Servodrive User Manual Servomotor evt i 1RY Relay 2 i DO4 ALM i i I 1D diode DO4 9 m RM COM i iD i EEEE A J 56 IS500 Servodrive User Manual B Three phase 380V eee circuit breaker Noise filter Power Power Open circuit upon OFF QN servo alarm m 1 1 r 1KM ON upon Servoalarm servo alarm QR Y 1KM Surge suppresso Chapter 5 Cabling Servomotor ICN1 i i i 24V i 31 1RY Relay DO4 TR i i i Ds 1D diode i DO4 ALM P 341 l COM
89. run Perform H1201 1 16 n See 9 segment selection 2 Switch via external DI Min Unit 1 1 1 Factory Setting 1B 0 When Enabled Immediately Immediately Immediately Data Type Stop Setting Stop Setting Stop Setting When H12 02 is set to 0 the unit of the Reference Running Time of a certain segment such as H12 21 is s Min resolution ratio 0 1 s When H12 02 is set to 1 the unit of the Reference Running Time of a certain segment such as H12 21 is min Min resolution ratio 0 1 min There are three MS speed reference running modes which are set in H12 00 H12 00 0 Single run After H12 01 and H12 02 are set the motor runs from segment 1 to the end segment set in H12 01 based on the selected time unit H12 01 and then stops H12 00 1 Cycle run After H12 01 and H12 02 are set the motor runs from segment 1 to the end segment set in H12 01 based on the selected time unit H12 01 and then re starts from segment 1 H12 00 2 Switch via external DI The system selects the position reference through the 16 bit number that corresponds to four external signals CMD1 CMD2 CMD3 CMD4 If CMD1 CMD2 CMD3 CMD4 corresponds to the 16 bit number 1 the 2nd speed reference is selected If CMD1 CMD2 CMD3 CMD4 corresponds to the 16 bit number 15 the 16th speed reference is selected and the like Motor Rotation Input Signal Direction Running Speed DIR SEL CMD1 CMD2 CMD3 CMD4
90. segment 1 to segment n n is set in H1101 Switching between segments requires the set waiting time 1 Cycle run Re run the segments H1101 from segment 1 Switching between segments requires the set waiting time 2 DI switch run Trigger the selected segment through an external DI The constant running speed Acceleration Deceleration time and displacement are determined by the parameters of the selected segment For details refer to 3 External Terminal Signals Required for DI Mode Running Mode Segments after the selected end segment will not be executed End Segment Selection This parameter is disabled when H11 00 is set to 2 111 Chapter 7 Setting of Servodrive General Function Codes IS500 Servodrive User Manual Margin Processing Method 0 Continue to run 1 Run again from segment 1 Waiting Time Unit le Constant Indicates constant running speed upon trapezoid reference Running Speed Running Indicates the fixed length Single Displacement Positive and negative signs indicate directions segment Unit Reference unit parameter Acceleration Corresponds to the rising or falling time upon trapezoid setting Deceleration reference total 16 Time Unit ms segments Waiting Time Indicates the time from when a segment is completed finishing sending reference not requiring position arrival to the time when the next segment is started Value range 0 10000 s This
91. set t0 t1 to 1 2 seconds 6 Turn OFF the servo 0 2 to 1 second after the brake is turned OFF Refer to the following table to calculate the motor stopping time 130 IS500 Servodrive User Manual Chapter 7 Setting of Servodrive General Function Codes Calculation Using SI Units Traditional Calculation c EG CS u O 1 Ny pti 375x T T JM Rotor Moment of Inertia kg m2 GDM2 Motor GD2 kgf m2 JL Loading Moment of Inertia kg m2 GDL2 Loading GD2 kgf m2 NM Motor Speed rpm NM Motor Speed rpm TP Motor Deceleration Torque N m TP Motor Deceleration Torque N m TL Loading Deceleration Torque N m TL Loading Deceleration Torque N m Standard wiring example for the brake signal BK and brake power is shown as below Servodrive Servomotor Power supply in L1 uU Le i L3 LIC 3 Lec Brake control relay BK RY fpi 04 UB CHI CHA Brake power supply BK RY AC DC The brake signal output is shown as below Code FunOUT 9 Signal Name BK Function Name Brake Output Signal Brake Signal Output Description Enabled Closed remove the brake Disabled Start the brake Status Allocation Note When DO is allocated with the BLK signal the DO should be set to the default value low effective The BLK signal is not output upon over travel For more details on allocating
92. sinl Selection Refer to DIDO Basic Function Code Table Input polarity 0 4 0 Low level is enabled 1 High level is enabled DI9 Terminal 2 Rising edge is After Running Logic Selection enabled Restart Setting 3 Falling edge is enabled 4 Both rising and falling edge are enabled H03 19 241 Chapter 12 Appendix 1S500 Servodrive User Manual Function i Factory When Data Related Code Mame pening Range adipe Setting Enabled Type Mode Input function code 0 1 32 DI10 Terminal 0 NHip input HO3 20 Function 4 32 FunIN 1 32 1 0 aner a lee Selection Refer to DIDO 8 Basic Function Code Table Input polarity 0 4 0 Low level is enabled 1 High level is enabled H03 21 DI10 Terminal 2 Rising edge is 1 0 After Running 7 Logic Selection enabled Restart Setting 3 Falling edge is enabled 4 Both rising and falling edge are enabled Ho3 50 A Minimum 10 00V 10 00V o 01v 10 00V immediately StP 5 Input Setting Al1 Minimum Value St H03 51 Corresponds to 100 096 100 096 0 1 100 0 Immediately Soin E the Setting 3 Value Ho3 52 Al Maximum 405040 09y ootv 1000V Immediately StP Input Setting Al1 Maximum Value St H03 53 Corresponds to 100 0 100 0 0 1 100 0 Immediately Seih E the setting 8 Value 500 0mV Running H03 54 Al1 Zero Offset 500 0mV 0 1mV OmV
93. the excessive position deviation error value HOa 11 can be set according to the following formula HOA gt Motor Max Rotating Speed rpm x Motor Pulses revolution Reference Unit x02 2 6 H8 Q Double underlined part 1 2 2 is the surplus coefficient that prevents frequently occurring faults due to excessive position deviation As long as you set the value based on the formula above the excessive position deviation error will not occur in normal operation When the acceleration deceleration of the position reference exceeds the motor tracking capacity the servomotor will not keep up with the position reference As a result position deviation cannot meet the above formula In this case reduce acceleration deceleration of the position reference to the motor tracking value or increase the excessive position deviation error value Function Hoa Code 11 Name Excessive Position Deviation Error Value 162 IS500 Servodrive User Manual Chapter 9 Adjustments Setting Range 1 32767 reference unit Min Unit 1 reference unit Factory Setting 32767 reference unit When Enabled Immediately Data Type Stop Setting 9 2 Servo Response This section introduces how to implement high speed positioning 9 2 1 Adjustment of Speed Loop 1 Adjustment of Servo Gain You can adjust servo gain through the following settings H Setting of Speed Loop Gain You can set speed loop
94. the table below Mode Selection M1 SEL M2 SEL Operation mode 3 Speed mode 1 S e torque mode 0 z T 4 Position mode 1 P 2 speed mode 0 7 5 Position mode 1 P e torque mode 0 T 6 Position 1 0 P speed torque mixed mode 0 1 S Note P Position Control S Speed Control T Torque Control 1 Terminal enabled 0 Terminal disabled Unrelated 7 2 Speed Control 7 2 1 Acquiring the Speed Reference WB Related Function Codes 87 Chapter 7 Setting of Servodrive General Function Codes 1S500 Servodrive User Manual Function H06 H06 H06 H06 Code 00 01 03 04 Master Speed Speed Jog Speed Name Reference A Auxiliary Speed Reference Setting Source Reference B Source Keypad Setting Value Value 0 Digital given 0 Digital given HO6 H06 03 03 1 AM 1 AM i 9000rpm to Orpm to Setting Range 2 AI2 2 AI2 3 AIS 3 AI3 9000rpm 9000rpm 4 Jog speed 4 Jog speed reference reference 5 MS speed reference Min Unit 1 1 1rpm 1rpm Factory Setting 0 1 200rpm 300rpm CECI Immediatel Immediatel Immediatel Immediatel Enabled y y y y Running Data Type Stop Setting Stop Setting Running Setting Setting Related Mode S S S S Note Digital given can be realized by setting HO6 03 This function code is running setting DI can be used to control direction switch of speed reference The corresponding function co
95. the value set in H05 21 7 3 8 Setting the Position Reference Inhibit Function In the position control mode this function inhibits reference pulse input via signal INHIBIT When it is enabled the position reference input is zero and the servodrive remains locked The input signal is as follows Code FunIN 13 Signal Name INHIBIT Function Name Pulse Disabled Enabled Reference pulse input prohibited Description Disabled Reference pulse input allowed Status Allocation Remark Enabled only when the position loop is with pulse control 109 Chapter 7 Setting of Servodrive General Function Codes 1S500 Servodrive User Manual The input terminal that corresponds to signal INHIBIT is allocated by function code group H03 Signal INHIBIT is always disabled if it is not allocated to a DI In this case pulse input is allowed Once it is allocated whether this function is enabled depends on the enabled mode of signal INHIBIT and the corresponding DI s electrical level 7 3 9 Setting the Handwheel Function The handwheel function provides source for position references which is enabled only in the position control mode and in applications with control mode switching In the position control mode do as follows to enable the handwheel function Step Operation 1 Check and make sure that the allocation status of DI9 and DI10 is 0 That is DI9 and DI10 signals are orthogonal handwheel
96. then enter the servo H02 07 has M Cod locked 1 0 Immediately STOP PS 3 2 Take the 3 emergency stop torque setting as the maximum torque so as to stop the motor reducer and then enter the free running Holding Brake Reference Stop H02 10 Servo OFF Delay 1ms 500ms 1ms 100ms mmediately Setting P Time Holding Brake St H02 11 Reference Output Orpm 1000rpm 1rpm 100rpm Immediately op P ie etting Speed Limit Value Servo OFF Holding Brake Stop H02 12 Reference Waiting 100ms 1000ms 1ms 500ms mmediately Setting P Time 0 LED Immediately output warning signals H02 15 ci LN 1 0 Immediately a PST pay 1 LED do not 3 output warning signals Drive Allowable Minimum Value 1 1000 9 Read Model Stop 7 Hee 21 of Regenerative only vs dependen Immediately Setting Resistance Built in Regenerative 1 65535W Read Model Stop n Hoa ee Resistance Power only id dependen Immediately Setting Capacity Built in 1 2 1000 Read Model St H02 23 Regenerative 19 ee Immediately Op only dependen Setting Resistance 236 IS500 Servodrive User Manual Chapter 12 Appendix Function 4 Factory When Data Related Code Nae pong RENEE BE Setting Enabled Type Mode 0 Built in regenerative resistance 1 External regenerative resistance and natural cooling Regenerative i H02 25 Resistance 2 External 1 0 Immediately St P
97. unit Servomotor Position reference t Current E loop Integral us Velocity calculation Position feedback Encoder Kp Position loop gain KFF Servo speed feed forward gain W Related Parameters Speed feed forward sources can be selected via H05 19 Function H05 Code 19 Name Speed Feedback Control Selection 0 Non speed feed forward 1 Internal speed feedback EE 2 Use AI1 as speed feed forward input 9 3 Use AI2 as speed feed forward input 4 Use AI3 as speed feed forward Min Unit 1 Factory 1 Setting 165 Chapter 9 Adjustments IS500 Servodrive User Manual When Enabled Immediately Data Type Stop Setting Related Mode P When selecting Al set the corresponding relationship between voltage and rotating speed via related function code and then set the feed forward gain via H08 19 Function H08 H08 Code 18 19 Name Speed Feed forward Filter Time Parameter Speed Feed forward Gain Setting Range 0 00ms 64 00ms 0 0 100 0 Min Unit 0 01ms 0 10 Factory Setting 0 00ms 0 00 HABER Immediately Immediately Data Type Running Setting Running Setting Related Mode Inside the servodrive feed forward compensation is performed in the position control so as to reduce the positioning time However it may cause machine vibration if the setti
98. using provided tool or a standard flat blade screwdriver IS500 Servodrive User Manual Hang the provided tool in one terminal of the connector and press the connection hook end into the slot as shown in Figure A Use a standard flat blade screwdriver blade width of 3 0 to 3 5 mm Put the blade into the slot as shown in Figure B and press it down firmly Figure A Figure B 4 Put the wire into the opening terminal 5 1 3 Main Circuit Connection Cable Specification For AC 220V Terminal MUN Model IS500 S000 Symbols OR7 ORO 1R6 2R8 3R8 5R5 7R6 012 018 025 033 Main circuit 1 25mm2 2 0mm2 3 5mm2 5 5 ELLA power mm2 L3 supply input terminal L1C Control 1 25mm2 L2C power input erminals U VW Servomotor 1 25mm2 2 0mm2 3 5 5 5 8 0 connection mm2 mm2 mm2 erminals B1 e External 1 25mm2 2 0 3 5 5 5 B3 braking mm2 mm2 mm2 resistor erminals PE Ground More than 2 0mm2 erminals 54 IS500 Servodrive User Manual Chapter 5 Cabling For AC 380V Terminal Res Model IS500 Toon Symbols 1R9 3R5 5R4 8R4 012 017 021 026 L1 L2 13 Main circuit power 1 25mm2 2 0mm2 3 5mm2 5 5mm2 ot supply input terminal L1C L2C Control power 1 25mm2 input terminals U V W Servomotor 1 25mm2 2 0mm2 3 5mm2 5 5mm2 connection terminals B1 6 B3 External 1 25mm2 2 0mm2 3 5mm2 regenerative
99. 0 0 S5 L M25 3 0 S5 L M25 5 0 and S5 L M25 10 0 Cable Connector 20 18 Aviation Plug 20 18 aviation plug Signal Name Pin U B V I Ww F PE 42 IS500 Servodrive User Manual Chapter 4 Cable Specifications and Dimension Diagram 20 22 Aviation Plug 20 22 aviation plug fo O a d 4 2 Servomotor Encoder Cable S5 L P 4 2 1 Servomotor Encoder Cable Models Model Length oa eM Adaptable Encoder Connector S5 L P00 3 0 3 0m Wire saving S5 L P00 5 0 5 0m ISMH a incremental 9 Pin connector S5 L P00 10 0 10 0m engodo S5 L P21 3 0 3 0m ISMH2 ISMV2 Series and Wire saving S5 L P21 5 0 5 0m ISMH3 ISMV3 incremental 20 29 aviation plug S5 L P21 10 0 10 0m Series enpor 4 2 2 Servomotor Encoder Cable Connectors 1 S5 L P00 3 0 S5 L P00 5 0 and S5 L P00 10 0 Cable Connector CN2 terminal 9 Pin Connector Direction A Jl NI i Pin 1 Pin 11 Direction A 2 S5 L P21 3 0 and S5 L P21 5 0 Cable Connector CN2 terminal 20 29 aviation plug Direction A Wi mI ch Pin1 Pin 11 43 Chapter 4 Cable Specifications and Dimension Diagram 4 2 3 Servomotor Encoder Wiring 1S500 Servodrive User Manual 1 Wiring Specification for S5 L P00 3 0 S5 L P00 5 0 and S5 L P00 10 0 CN2 Terminal 9 Pin Connector Twisted Pair Signal Pin Pin Signal A A A 1 3 At B B A
100. 0 5 V is handled as 0 5V Take Al1 as an example The correspondence can be set via the following function codes 141 Chapter 7 Setting of Servodrive General Function Codes 1S500 Servodrive User Manual Burcin H03 H03 H03 H03 Code 50 51 52 53 ini Al1 Minimum Value Al Al1 Maximum Value Name TUN Corresponds to the Maximum Corresponds to the p Setting Value Input Setting Value Setting 10 00V to 7 D o 10 00V to iS P S Range 10 00V 100 0 to 100 0 10 00V 100 0 to 100 0 Min Unit 0 01V 0 1 0 01V 0 10 Factory 7 3 o Setting 10 00V 100 0 10 00V 100 00 Winen Immediatel Immediatel Immediatel Immediatel Enabled y y y y Data Type Stop Setting Stop Setting Stop Setting Stop Setting Note When setting these function codes H03 50 and H03 52 are associated That is H03 50 is smaller than H03 52 But H03 51 and H03 53 can be designated freely based on actual condition It is suggested that H03 51 and H03 53 are set to their maximum absolute values For example Function Code Setting Setting Result Description H03 50 10V H03 51 100 H03 52 10V H03 53 100 I2V 10V SV AN Lo Bipolarity signal input indicates the bipolarity variable H03 50 10V H03 51 100 H03 52 10V H03 53 100 100 14 iy 8V py 12V Bipolarity signal input indicates the reverse bipolarity variable 142 IS500 Servodr
101. 03 DI6 Terminal Logic Selection Input polarity 0 4 0 Low level is enabled 1 High level is enabled 2 Rising edge is enabled 3 Falling edge is enabled 4 Both rising and falling edge are enabled After Restart Running Setting H03 DI7 Terminal Function Selection Input function code 0 1 32 0 No Definition 1 32 FunIN 1 32 Refer to DIDO Basic Function Code Table After Restart Running Setting 240 IS500 Servodrive User Manual Chapter 12 Appendix Function 4 Factory When Data Related Code Keme pong RENEE Min Unik Setting Enabled Type Mode Input polarity 0 4 0 Low level is enabled 1 High level is enabled DI7 Terminal 2 Rising edge is After Running Logic Selection enabled Restart Setting 3 Falling edge is enabled 4 Both rising and falling edge are enabled H03 15 Input function code 0 1 32 DI8 Terminal 0 No Definition After Runnin HO3 16 Function 1 32 FunIN 1 32 1 9 Restart Being Selection Refer to DIDO Basic Function Code Table Input polarity 0 4 0 Low level is enabled 1 High level is enabled DI8 Terminal 2 Rising edge is After Running Logic Selection enabled Restart Setting 3 Falling edge is enabled 4 Both rising and falling edge are enabled H03 17 Input function code 0 1 32 DI9 Terminal 0 PHip input P H03 18 Function 1 32 FunIN 1 32 l1 0 Es
102. 0350 H0351 Speed variable correspondence Torque variable correspondence Chapter 7 Setting of Servodrive General Function Codes Al1 Speed Alt Torg Generate MAIT Per unit unique output rarre Zero Filtering tuning Time H0354 H0356 Designate analog using method based on the function codes below H0519 Speed Feedforward Control Selection H0600 Master Speed Reference A Source H0601 Auxiliary Speed Reference B Source H0700 Master Torque Reference A Source H0701 Auxiliary Torque Reference Source B H0708 T LMT Selection H0718 V LMT Selection Reserved 1 Reserved 2 Corresponding rule of analog voltage and control variable is Analog input range is 12V and normal inspection range is 4 10V For details refer to technical specifications H03 12V 1 EIE In the above figure the shaded areas can realize full scale 100 at any voltage In other areas full scale cannot be realized or the analog voltage precision cannot be fully utilized It is suggested that the range between maximum voltage and minimum voltage be not set too small Otherwise the analog sampling scale cannot be effectively utilized Currently the allowable minimum voltage difference Max input voltage Min input voltage is 0 5V LA BERN nisso L _ 100 wF l l 4V S8VIOVI2V H03 50 8V 100 Difference of less than
103. 06 08 and H06 09 the minimum limit shall prevail As shown in the following figure the actual forward speed limit is the value set in HO6 08 and reverse speed limit is the value set in H06 07 since the value set in H06 09 is larger than that set in HO6 07 Speed reference Max motor speed ARM Max speed limit H06 07 Forward speed limit H06 08 Actual speed limit range Max speed limit H06 07 everse speed limit H06 09 jJ _y Max motor torque The actual speed limit range should satisfy the following formulas Forward speed reference lt Min value amongst maximum motor speed H06 07 and HO6 08 Reverse speed reference lt Min value amongst maximum motor speed H06 07 and H06 09 7 2 4 Speed Feedback Filtering The servodrive is designed with a low pass filter that removes high frequency from the feedback speed making the speed reference much smoother You can enable disable the function through H08 22 When enabling it do not set the speed loop gain to an overlarge value Otherwise vibration may result Function Code H08 22 Name Speed Feedback Filtering Setting Range 0 Disable speed feedback filter 1 Enable speed feedback filter Min Unit 1 Factory Setting 0 When Enabled Immediately Data Type Stop Setting Related Mode PS 7 2 5 Zero Clamp Function If signal zero clamp ZCLAMP is ON and the speed reference
104. 0mV Immediatey Running Voltage Setting H04 52 AO1 MF 99 99 99 99 eM 1 immediately Running times Setting 246 IS500 Servodrive User Manual Chapter 12 Appendix Function Code Name Setting Range Min Unit Factory Setting When Enabled Data Type Related Mode H04 AO2 Signal Selection 00 Default motor speed 1V 1000rpm 01 Speed reference 1V 1000rpm 02 Torque reference 1V 100 03 Position deviation 0 05V 1 Reference units 04 Amplifier deviation electronic gear 0 05V 1 encoder pulse unit 05 Position reference speed 1V 1000 rpm 06 Positioning completion reference complete 5V incomplete OV 07 Speed feedforward 1V 1000rpm Immediately Running Setting H04 54 AO2 offset Voltage 0 10000mV 1mV 5000mV Immediately Running Setting H04 55 AO2 MF 99 99 99 99 0 01 times 1 00 Immediately Running Setting Group H05 Positio n Control P arameters H05 00 Master Position Reference A Source 0 Pulse Reference default 1 Stepping Given 2 MS Position Reference Given 3 Communication Given Immediately Stop Setting H05 03 Stepping 9999 9999 reference units 1 reference unit Immediately Stop Setting H05 04 S curve Acceleration Slope Time Oms 1000ms 1ms Oms Immediately S
105. 1 CN4 Forward drive disabled P OT and reverse drive disabled N OT terminal input signals must be in the OFF state forward reverse drive is supported Resume the standard setting after trial is complete When inputting reference ensure that the reference is 0 V or pulse reference is 0 Confirm Power on the servodrive If the panel displays rdy it indicates 2 power on normal Otherwise check whether wiring is proper If an alarm is given status clear the fault based on Troubleshooting Otherwise the servodrive cannot operate Confirm The holding brake is controlled by signal BK of servodrive signals of To prevent maloperation caused by gravity or external force check the 3 holding operation of the holding brake in the condition that the servomotor and brake the machine are disconnected Then connect the servomotor to the machine and proceed with the trial Make sure that the parameters of the servomotor s group HOO are consistent or compatible to the actually connected servomotor If abnormality is found please feel free to contact Inovance s service department 150 IS500 Servodrive User Manual Chapter 8 Operation 8 2 Examples of Jog Run 8 2 1 Jog Run via Function Codes and Dis Step Item Operation Set the running Set the motor s running speed via H06 04 speed Setting range 9000 to 9000 rpm Set the speed reference source via H06 02 H06 02 0 source A H06 02 1 source B
106. 1 zero offset via H03 54 300 300mV which depends on the motor current rotating speed Tune the value of H03 54 until servomotor stops 13 Turn the servo ON and twist the power supply s knob You will find the motor torque varies with voltage When the input voltage exceeds the preset value the motor torque remains unchanged and is finally limited at 1096 Note The input voltage is no higher than 12V 155 Chapter 8 Operation 1S500 Servodrive User Manual You will also find the motor accelerates to rotate but is finally limited at approximately 1 200rpm Note Motors of different inertias rotates at different speeds Thus it is probable that the speed is not limited 14 15 You will find different situations from HOb 00 and HOb 02 if you change speed value limit and torque limit value To implement a continuous change of torque within 0 to 10 set HO3 51 100 10 Then restart the servo and you will find the motor rotates in the reverse direction and 16 torque varies with voltage When the input voltage exceeds the preset value the motor runs at a constant torque Note The input voltage is no higher than 12V 8 6 Operation with the Servomotor Connected to the Machine Before trial operation with the servomotor connected to the machine perform zero load trial as described above first AN J DANGER Once the servomotor is connected to the machine maloperation may result in machin
107. 1073741824 reference reference Immediately Running p Displacemen 3 3 Setting reference units unit units Maximum Running Speed i Running H11 19 at 2nd Segment Orpm 9000rpm rpm 200 Immediately Setting P Displacemen Acceleration H11 20 Deceleration Time digan 1ms 100ms Immediately Running p at 2nd Segment y Setting Displacemen Waiting Time after H114 24 end Segment 0 10000 1ms 1s 10 Immediately Running p Displacemen Setting Completion 1073741824 1 10000 Hii 22 3rd Segment 1073741824 reference reference Immediately Running p Displacemen Setting reference units unit units Maximum Running Speed f Running H11 24 at 3rd Segment Orpm 9000rpm rpm 200 Immediately Setting P Displacement Acceleration H11 25 Deceleration Time 1999 1ms 100ms Immediately Running p at 3rd Segment y Setting Displacement 263 Chapter 12 Appendix 1S500 Servodrive User Manual Function 3 Factory When Data Related Code Mame SEMN REEE Minuni Setting Enabled Type Mode Waiting Time H11 2e after 3rd Segment 0 10000 1ms 1s 10 Immediately Running p Displacement Setting Completion 1073741824 1 10000 H11 27 4th Segment 1073741824 reference reference Immediately Running p Displacement Setting reference units unit units Maximum Running Speed Running H11 29 at 4th Segment Orpm 9000rpm rpm 200 I
108. 13 Servo Running Status Bit14 15 TNT Reserved Communication ae io pM Bit12 13 0 Servo i 5 PST Not Ready Bit12 13 1 Servo Ready Bit12 13 2 Servo Running Status FunOut BitO FunOUT1 H30 01 Communication 1 E PST Read Bit15 FunOUT16 FunOut Bit0 FunOUT17 H30 02 Communication 1 E PST Read Bit15 FunOUT32 Communication Read Input H30 03 Pulse Reference 1 N i P Sampling Value H31 Communications give related variables the panel is not available Bit0 VDI1 Virtual Level H31 00 VDI Virtual Level E PST Bit15 VDI16 Virtual Level 285 Chapter 12 Appendix 1S500 Servodrive User Manual Function h Factory When Data Related Code Mame pening Rene Mica Setting Enabled Type Mode Bit0 DO1 Bit1 DO2 Bit2 DO3 Bit3 DO4 Bit4 Blank Bit5 DO6 Communication B DOS Running H31 04 Given DO Output Bit8 Bit15 Immediately Setting PST Status Reserved 1 DO output low level Optocoupler conduction 0 DO output high level Optocoupler OFF Communication 1 H31 07 Given Position ESSE reference 0 Immediately Selina P Increment unit Communication 9000000 Runnin H31 09 Given Speed 9000000 0 001rpm 0 Immediately Setting S H31 11 Torque Reference 100000 100000 0 001 o Immediately Seti T Max Motor Speed When Communication Given Position Running H31 15 0 9000 1rpm 1500 Immediatel
109. 2 02 0 second 1 Set acceleration time 1 via H12 03 3000 3 000ms and deceleration time 1 via H12 04 3000 3 000ms Set 1st segment speed parameters 8 Speed H12 20 50 50rpm Running time H12 21 5 0 5s Acceleration Deceleration time H12 22 1 acceleration deceleration time 1 9 Set 2nd segment speed parameters H12 23 H12 24 and H12 25 as you do in step 8 10 Set 3rd segment speed parameters H12 26 H12 27 and H12 28 as you do in step 8 11 Change segments via H12 01 2 2 segments Then the servomotor runs at two speeds in cycle from HOb 00 12 Change MS speed running mode via H12 00 0 single run Then the servomotor stops after running at two speeds 13 You can change the speed of each segment and observe the change from HOb 00 8 3 3 Analog Control B Purpose Take AI1 in source A as the speed reference source The rotating speed can change 4159 IS500 Servodrive User Manual Chapter 8 Operation continuously from Orpm to 1 000 rpm when voltage changes in the range of 0V 10V WB Procedure Step Operation 1 Prepare a DC power supply Wire its positive polarity with Al1 and wire negative polarity with GND 2 Select the control mode via H02 00 0 speed control Select speed reference via HO6 02 0 source A Select speed reference source A via H06 0071 Al1 Set parameters related to Al1 Min input HO3 50 0 OV 5 Min input corresponding to setting v
110. 5 C a Ambient Storage Humidity 90 RH or less no condensation o 2 Vibration Shock os 4 9m s2 19 6m s2 M Conditions Resistance Protection Level IP10 Pollution Level Altitude Level 2 Below 1 000m derated when used at an altitude of higher than 1 000m 33 Chapter 3 Servodrive Specification and External Dimension 1S500 Servodrive User Manual Speed and Torque Control Modes Item Description Load 0 100 load 0 01 or less at Regulation rated speed Speed Vol Rated voltage 10 0 d Regulation oltage ated voltage 10 0 at rate 2 Regulation speed Temperature Rated voltage 10 0 at rated Regulation speed 1 5000 At the lower limit of the speed Performance Speed Control Range control range the servodrive will not stop with a rated torque load Frequency Features 400Hz when JL equals JM Torque Control Accuracy Repeatability t2 0 10s can be set for Acceleration Soft Start Time Setting Deceleration respectively DC 3 10V Rated speed default factory setting that can be changed by Instruction modifying function code Voltage 3 Input voltage 12V at maximum Speed servodrive rotates forward upon Instruction positive instruction Input nait npu Impedance About 14k 2 Circuit Time Constant About 47 u s DC 10 V Rated torque default setting upon delivery can change the Input Signal Instruction se
111. 6 After 9th Segment 5 556p 1ms 1s 10 Immediately Running p Displacemen Setting completion 1073741824 1 10000 r H11 57 10th Segment 1075741824 reference reference Immediately U9 p Displacemen Setting reference units units units 265 Chapter 12 Appendix 1S500 Servodrive User Manual Function 3 Factory When Data Related Code Mame pening Range apa Setting Enabled Type Mode Maximum Running Speed Running H11 59 at 10th Segment Orpm 9000rpm rpm 200 Immediately Setting P Displacement Acceleration H11 gg DPeceleration Time ocean 1ms 100ms Immediately Running p at 10th Segment y Setting Displacement Waiting Time after H11 gy 10th Segment 0 10000 1ms 1s 10 mmediately Running p Displacement Setting completion 1073741824 1 10000 H11 62 ds segment 1073741824 reference reference Immediately Running P Displacement h Setting reference units units units Maximum Running Speed Running H11 64 at 11th Segment Orpm 9000rpm rpm 200 mmediately Setting P Displacement Acceleration H11 65 Deceler tion Time 0 1000 ims 100ms Immediately Running P at 11th Segment Setting Displacement Waiting Time after H11 fee th Segment 0 10000 1ms 1s 10 Immediately Running p Displacement Setting completion 1073741824 1 10000 H11 67 12th Segment 1073741
112. 7 10C30CD 1 0 3 18 9 54 3 65 3000 6000 0 87 3 12 ISMH2 2 46 15C30CD 1 5 4 9 14 7 4 48 3000 5000 1 09 3 71 16 IS500 Servodrive User Manual Chapter 2 Servomotor Specification and External Dimension Rated Rated Instantaneous Rated Rated Max Torque HERE UE Servomotor Output Torque Max Torque Current Speed Speed Parameter EE Model Kw N m N m Arms min 1 min 1 N m Arms 10 Akg m2 Er SET MN ES 19 1 5 89 3000 5000 1 08 9 ME OLET 796 23 9 7 56 3000 5000 1 05 49 al 29 4 10 3000 5000 0 98 16 22 dne nas cie 26 37 8 13 6 3000 5000 0 93 14 son M Z 5 0 15 8 47 6 16 3000 5000 1 07 d 29 senio ess 0 85 5 39 13 5 6 6 1500 3000 0 6 155 NULLE 8 34 20 85 10 1500 3000 0 66 Qi 8 S 0 87 8 34 20 85 6 8 1000 2000 1 2 218 Gece e 12 TAE 10 6 1000 2000 1 1 a aee 0 87 8 34 20 85 3 4 1000 2000 25 18 MEME 28 75 48 1000 2000 24 Q5 Seb ton won 0 85 5 39 13 5 3 8 1500 3000 1 63 15 5 Geren we 1 3 8 34 20 85 5 1500 3000 1 67 Qi 6 Oal LE Ae 28 75 6 6 1500 3000 174 By Saber ous 29 iB 45 1 119 1500 3000 1 7 572 ae eee 44 284 71 1 16 5 1500 3000 1 93 608 cocer 5 5 35 87 6 20 8 1500 3000 1 8 1095 phe en ae enc 119 257 1500 3000 1 92 143 4 aceon owe OF Apa 3
113. 80331 32 9 240 288 IS500L1T1R9I 1 9 20 49 IS500L1T3R5I 3 5 35 8 21 64 IS500L1T5RA4I 5 4 55 84 Three IS500L1T8RA4I 8 4 83 126 phase 23 380V IS500L1T0121 11 9 120 163 IS500L1T0171 16 5 180 20 228 IS500L1T02411 20 8 220 28 268 IS500L1T026l 25 7 250 298 3 4 Servodrive Dimension Diagram 3 4 1 Size A Appearance and Specification Single phase 220V IS500L1 SORTI IS500L1SOR9l IS500L181R6l and IS500L1S2R8 38 IS500 Servodrive User Manual Chapter 3 Servodrive Specification and External Dimension 2 M screw hole product appearance E mc Installation dimension 75 173 l 3 4 2 Size B Appearance and Specification Single phase 220V IS500L1S3R8l IS500L1S5R5I Three phase 220V IS500L1S3R8l IS500L1S5R5I 7 3 M4 screw hole inus appearance i p ara E Installation dimension 173 27D 3 4 3 Size C Appearance and Specification Three phase 220V IS500LI1S7R6l IS500L180121 Three phase 380V ISSOOLIT1R9l ISSOOLIT3R5I and IS500L1T5RA4I x screw hole Fre appearance Installation dimension 39 Chapter 3 Servodrive Specification and External Dimension 1S500 Servodrive User Manual 3 3 4 Size D Appearance and Specification Three phase 380V
114. 82 2 8 3000 6000 0 51 0 67 2a M anel 29 186 45 1 84 1500 1500 2 21 572 Ma ee da casa 714 11 63 1500 1500 2 44 90 8 Een tob ete Eb ids 87 6 14 56 1500 1500 2 4 409 5 oS 75 48 119 18 1 1500 1500 2 65 b 75C15CD 143 1 17 Chapter 2 Servomotor Specification and External Dimension IS500 Servodrive User Manual Note Values of parameters in the table above are obtained when the motor runs in connection with Inovance servodrive and the armature coil works at 20 C The values inside are values of the motor with a brake The values are obtained with the following heat sink used for cooling ISMH1 ISMH4 250 X 250 X 6mm aluminum ISMH2 10C 25C 300 X 300 x 12mm aluminum ISMH2 30C 50C 400 X 400 x 20mm aluminum ISMH3 85B 18C 400 400 X 20mm iron ISMH3 29C 75C 360 X 360 x 5mm double layer aluminum plate ISMV3 29C 75C 360 X 360 X 5mm double layer aluminum plate s Derate 10 when motor with oil seal is used 2 2 Servomotor External Dimension 2 2 1 ISMH1 Vn 3000rpm Vmax 6000rpm 1 200W 400W Section Y Y 3 With key and thread shaft enlarged view Model ISMH1 20B30CB ISMH1 40B30CB L mm 183 208 LL mm 153 178 LM mm 68 93 Weight kg d 2 d 3 18 IS500 Servodrive User Manual 2 550W 750W 1000W Section Y Y Chapter 2 Servomotor S
115. 824 reference reference Immediateiy RUNS p Displacement F Setting reference units unit units Maximum Running Speed Running H11 69 at 42th Segment Orpm 9000rpm rpm 200 Immediately Setting P Displacement Acceleration Deceleration Time Running H11 70 at 12th Segment 0 1000 1ms 100ms Immediately Setting P Displacement Waiting Time after H11 71 12th Segment 10 10000 1ms 1s 10 immediately Running p Displacement Setting completion 1073741824 1 10000 H11 72 19th Segment 1073741824 reference reference Immediately RUS p Displacement Setting reference units unit units Maximum Running Speed Running H11 74 at 43th Segment Orpm 9000rpm rpm 200 Immediately Setting P Displacement 266 IS500 Servodrive User Manual Chapter 12 Appendix Displacement Function 4 Factory When Data Related Code Keme Seii REMEE Maiin Unik Setting Enabled Type Mode Acceleration Hit 75 Deceleration Time 5 955 ims 100ms_ _ immediately Running p at 13th Segment Setting Displacement Waiting Time after H11 ze 19t Segment 0 10000 ims 1s 10 Immediately Running p Displacement Setting completion 1073741824 1 10000 H11 77 4th Segment 1073741824 reference reference Immediately RUNG p Displacement i Setting reference units unit units Maximum Running Speed Run
116. A B 3 A B Switching 4 Communication given Min Unit 1 Factory Setting 0 When Enabled Data Type Stop Setting Related Mode T Setting Range Immediately If HO7 02 is set to 3 you need to allocate the DI terminal with the function independently Then the DI can work normally and it can be figured out whether the current reference input is A or B through this DI terminal Code FunIN 4 pal ICMD SEL ee Operation reference switching Description Pnabied Current running reference is B Status Allocation Besides both source A and source can be generated in the following two modes Digital setting keypad setting You can set a torque value via function code H07 03 on the keypad This value is a percentage of rated torque and must be given within the range of the rated torque Analog torque reference source The externally input analog voltage signal is converted into a torque reference signal which can freely designate the corresponding relationship between analog and torque reference HM Related Function Codes 118 Function H07 H07 H07 Code 0 1 3 Name Master Torque Auxiliary Torque Torque Reference Reference A Source Reference B Source Keypad Setting Value 0 Digital Given HO7 0 Digital Given HO7 Settin 03 93 RAT J 1 AM 1 AM 100 0 to 100 0 9 2 Al2 2 Al2 3 AI3 3 AI3 Min Unit 1 1 0 1096 Factory 9 Settin
117. Besides the cable length is too short it may cause the excessive tension on the fixed points that will cause the early disconnection Use a flexible cable with the optimum length Interference between Cables Avoid interference between cables Interference limits the motion of cables which causes early disconnection Keep sufficient distance between cables or provide a partition when wiring 49 Chapter 4 Cable Specifications and Dimension Diagram 1S500 Servodrive User Manual 50 Cabling Chapter 5 Cabling IS500 Servodrive User Manual Chapter 5 Cabling 5 1 Wiring Main Circuit This section describes typical examples of main circuit wiring functions of main circuit terminals and the power ON sequence Analog Monitoring JscDisplay and Keys sjeuiuJe PNO ule speuiuue O I yndino 1 MOd 52 IS500 Servodrive User Manual Chapter 5 Cabling 5 1 1 Names and Functions of Main Circuit Terminals Terminal Name Description Symbols L1 L2 Main circuit power input IS500L1 SORT SORS Main circuit power supply L3 terminal S1R6 S2R8 input only L1 and L2 AC220V can be input between L1 and L2 IS500L1 S3R8 S5R5 Main circuit power input S7R6 S012 S018 should refer to rated S025 S033 T1R9 voltage on nameplate T3R5 T5R4 T8R4 T012 T017 T021 T026 Lic Control power input Control circuit power input should re
118. H05 36 value to the current coordinate 4 Generally electric zero return is used when the coordinate is determined after origin return W Input Signals Code FunIN 31 P CON FunIN 32 P OT Signal Name OrgNear OrgChuFa Function Name Origin Switch Signal Origin Return Trigger Doccnntion OFF Not touched the origin switch OFF Disable origin return p ON Touched the origin switch ON Start origin return Status Not allocated Not allocated Logic level low or high can be selected rising edge falling edge z Remark and rising falling trigger cannot be m M enabled selected otherwise return to zero may P not be precise H Output Signals Code FunOUT 16 FunOUT 17 Signal Name ORGOK ELECTOK fea Origin Return Output Electrical Return To Zero Output OFF upon power on enable origin OFF upon power on enable origin I reset or enable origin reset return to reset or enable origin reset return to Description zero failed zero failed ON Enable origin reset return to zero ON Enable origin reset return to zero Status Not allocated Not allocated 146 IS500 Servodrive User Manual W Related Function Codes Chapter 7 Setting of Servodrive General Function Codes Function H05 H05 d as 30 31 Name Origin Return Enable Control Origin Return Mode Setting 0 Close origin return 0 Forward return to zero deceleration point origin Range 1 Input OrgChuFa enable
119. IS500 Servodrive User Manual Preface Preface Thank you for purchasing the IS500 Series Servodrive 18500 Series is an AC servodrive developed by Inovance Technology Co Ltd It has the following features X Itreaches maximum power of 7 5kW and grades the power into 16 levels X t has five external dimensions and specifications X It supports the MOBUS CANlink and CANopen communication protocols adopting RS232 RS485 CAN communication port X It can implement multi drive networking with a host controller This manual is a guideline on selection installation parameter setting on site commissioning and troubleshooting Before using the servodrive please read this manual carefully so that you fully understand the features of the product Please hold the manual for safekeeping and forward it to the end user Upon Unpacking Please Check Item Description Whether the products you receive match your Check the servomotor model and servodrive order model on nameplate Whether the equipment is damaged during If there is any omission or damage contact transportation Innovance or our agents Whether the rotating shaft of servomotor except motor with power off brake runs normally It is normal if you can slightly run the shaft with your finger First time Use The users who use this product for the first time shall read the manual carefully For any doubt on some functions and performances plea
120. In the position mode Allocation receive the handwheel pulse signal for position control SE R Electronic aie Electronic Gear Ratio FuniN 24 SEL conan Disabled Electronic Gear Allocation Ratio 2 Torque Reference Disabled Forward FunIN 25 TOQDirSel Direction Enabled Reverse Allocation Setting Speed Reference Disabled Forward FunIN 26 SPDDirSel Direction Enabled Reverse Allocation Setting Position 3 Reference Disabled Forward FunIN 27 POSDirSel Direction Enabled Reverse Allocation Setting MS Running Reference Disabled Not trigger A FunIN 28 PosInSen Trigger Enabled Trigger Allocation Signal quati Disabled No response FunIN 29 XintFree E Clear Enabled Clear interrupt Allocation Signal response status Disabled 1st gain FunIN 30 G SEL Gain Switch Enabled 2nd gain Allocation Origin Disabled Without trigger FunIN 31 OrgNear Switch Enabled Trigger Allocation Origin T Disabled Prohibited FunIN 32 OrgChufa neum Enabled Enabled Allocation 289 Chapter 12 Appendix 1S500 Servodrive User Manual Function Name DO Output Signal Function Description Code Signal Name Description Status Remarks Servo is ready to receive S ON signal FunOUT 1 S RDY Servo Ready Enabled Servo ready Allocation Disabled Servo Not ready The rotation speed of servo motor is faster than the speed ae threshold values HO6 l FunOUT 2 TGON O
121. Ix value is determined by H31 00 that can be written and read VDO value is determined by H31 01 that is readable only 199 Chapter 10 Communication IS500 Servodrive User Manual Function H31 H17 Code 00 32 Name VDI Virtual Level VDO Virtual Level Setting Bito VDI1 virtual level Bilt VDO1 virtual level Renge Bit15 VDI16 virtual level Bit15 VDO16 virtual level Min Unit Factory Setting When Enabled Data Type Related Mode PST 7 Note that bit operation is not allowed for the communication to modify VDIx value The write action on H31 00 will affect all VDIs To configure VDI with FunIN 1 and enable servo via MODBUS reference do as follows 1 Set HOc 09 to 1 The communication virtual VDI is enabled 2 Make sure that FunIN 1 is not allocated to any DI or VDI As factory setting FunIN 1 is allocated to DI5 and H03 10 is 1 3 Set H17 00 to 1 and map FunIN 1 to VDI1 4 Setlogical selection of VDI1 The default value is 0 indicating VDI is enabled when 1 is written 5 Write 1 to BitO in H31 00 to complete servo enabled If O is written to BitO the servo is disabled Suppose shaft address is 1 The MODBUS reference for enabling the servo is as follows 01 06 31 00 00 01 CRCL CRCH If VDIx is set to 0 it is equivalent to setting DI to low level or high level enabled If VDIx is set to 1 it i
122. MH3 29C15CD U1 00214 H3 Medium inertia x 4 medium capiti ISMH3 44C15CD U1 00215 ISMH3 55C15CD U1 00216 ISMH3 75C15CD U1 00217 ISMH3 87B10CD U1 00222 ISMH3 12C10CD U1 00223 ISMV3 29C15CD U1 00514 T V3 Medium inertia ISMV3 44C15CD U1 00515 medium capacity ISMV3 55C15CD U1 00516 ISMV3 75C15CD U1 00517 294 IS500 Servodrive User Manual Chapter 12 Appendix 12 6 Common Servo Configuration Specifications Please make sure to configure the appropriate cable ISMH Maximum speed is greater than rated speed and the motor has short time over speed capacity 220V Servodrive Model Rated Max Capacity Servomotor Model IS500 nonol Speed Speed ISMan nnnnuun Single phase 3 phase AC220V AC220V 200W 20B30CB S1R6 H1 Low odd 400W inertia small 40B30CB S2R8 rpm it 3000rpm 750W capacity 75B30CB S5R5 1000W H2 Low 10C30CB S7R6 inertia medium 5000rpm 1500W capacity 15C30CB S012 3500 ndo 850W 85B15CB S7R6 rpm rpm P d 1300W H3 Medium 13C15CB S012 870W nera DN 87B10CB S7R6 1000rpm 2000rpm capacity 1200W 12C10CB S012 H4 Medium 3000rpm 6000rpm 400W inertia small 40B30CB S2R8 capacity 380V aed S Mel Servodrive Model ate ervomotor Mode IS500 o0001 Speed MarS pecd Capacity ISMan oanonauun 3 phase AC380V 6000rpm 1000W 10C30CD T5R4 1500W 15C30CD T5R4 2000W 20C30CD T8R4 H2
123. N 1 32 1 0 Restart Seld Selection Refer to DIDO basic function table Input polarity 0 1 0 Valid VDI2 by VDI2 Terminal writing value 1 After Running Logic Selection 1 Valid VDI2 Restart Setting by writing value change from 0 to 1 H17 03 Input Function Code 0 1 32 VDI3 Terminal 0 No Definition After Runnin H17 04 Function 1 32 FunIN 1 32 1 0 Restart esting Selection Refer to DIDO basic function table Input polarity 0 1 0 Valid VDI3 by VDI3 Terminal writing value 1 After Running Logic Selection 1 Valid VDI3 Restart Setting by writing value change from 0 to 1 H17 05 Input Function Code 0 1 32 VDI4 Terminal 0 No Definition Aier Runnin H17 06 Function 1 32 FunIN 1 32 1 0 Restart Seia Selection Refer to DIDO basic function table Input polarity 0 1 0 Valid VDI4 by VDI4 Terminal writing value 1 After Running Logic Selection 1 Valid VDI4 Restart Setting by writing value change from 0 to 1 H17 07 Input Function Code 0 1 32 VDI5 Terminal 0 No Definition Afet R nniti H17 08 Function 1 32 FunIN 1 32 1 0 Restart Seld Selection Refer to DIDO basic function table Input polarity 0 1 0 Valid VDI5 by VDI5 Terminal writing value 1 After Running Logic Selection 1 Valid VDI5 Restart Setting by writing value change from 0 to 1 H17 09 277 Chapter 12 Appendix 1S500 Servodrive User Manual F
124. NE NO 2 Resettable L E L UVW output might be open phase or phase sequence error 206 IS500 Servodrive User Manual Chapter 11 Inspection and Maintenance Error Code Output Error Error Name Meaning Stop Error Code Method Reset ALO AL1 ALS Run with load it will exceed the overload time which is set by Motor the inverse time limit Er 620 Overload Alive NO 2 Resettable L L IE UVW output might be open phase or phase sequence error A The heat sink Er 650 B a Sl d temperature exceeds NO 2 Resettable L L L the setting value Encoder Incremental Encoder Er 740 Interference Z Signal with NO 1 N R H H H Error 1 Interference Encoder Noise Incremental Encoder Er 741 interference AB Signal with NO 1 N R H H H Error 2 Interference Er g31 AD Sampling AD initialization Error NO 1 N R H H JH Error 1 Erga2 AD Sampling AD Conversion Error NO 1 N R H H H Error 2 Current Current Detection PEGS Sampling Error Circuit Error NO 1 NIR H H Excessive Encoder Er 850 Encoder Angle Deviation Angle NO 1 NR H H JH upon Re initialization The Programmable ErA21 programmable logic initialization is NO 1 N R L H IL 9 unfinished Encoder Encoder Er A34 Echoback communication is NO 1 N R L H L Error error Position error exceeded the value Er b00 Position Error HOa 11 set in the NO 1 N R
125. Note Optical Coupling output Host device Max voltage DC30V Max Output Current DC50mA Note Collector Open Output Max voltage DC30V Max Output Current DC50mA 1 Servo Error Output Signal ALM with Error Code ALMO1 ALMO2 and ALMO3 Servo Error Output Signal ALM DO outputs signal ALM when the servodrive detects an error When designing the control System use the output of this error signal to implement a sequence control circuit that can break the main circuit of the servodrive 145 Chapter 7 Setting of Servodrive General Function Codes IS500 Servodrive User Manual Code FunOUT 11 Signal Name ALM pune Error Output Signal Description ON when error is detected Status Allocation Remarks Refer to Part 6 2 1 for Allocation Methods Error Code ALMO1 ALMO2 and ALMO3 The type of error detected by servodrive can be displayed via ON OFF of this group of signals This group pf signals is used in the applications without on site bus supporting where host devices expect a display of error contents Code FunOUT 12 FunOUT 13 FunOUT 14 Signal Name ALMO1 ALMO2 ALMO3 Function New Error code 1 Error code 2 Error code 3 Description Error code Error code Error code Status Allocation Allocation Allocation Remarks It is suggested to allocate the three signals to terminals DO6 7 8 How to Set the Alarm IMPORTANT When the error signal ALM is ou
126. Output 0 upon enabled Output Code 1 16 0 No Definition VDO7 Terminal 1 16 Sto H17 45 Function FunOUT 1 16 1 0 Immediately Setting Selection Refer to DIDO function selection code definition Immediately NU E eo Output polarity reversal setting VDO7 Terminal 0 1 Sto H17 46 Logic Level 0 Output 1 upon 1 0 Immediately Sethi Selection enabled 1 Output 0 upon enabled Output Code 1 16 0 No Definition VDO8 Terminal 1 16 Sto H17 47 Function FunOUT 1 16 1 0 Immediately Setting Selection Refer to DIDO function selection code definition 282 IS500 Servodrive User Manual Chapter 12 Appendix 1 Output 0 upon enabled Function 4 Factory When Data Related Code Nae poo REMEE au OU Setting Enabled Type Mode Output polarity reversal setting VDOS6 Terminal 0 1 Stop H17 48 Logic Level 0 Output 1 upon 1 Immediately Setting Selection enabled 1 Output 0 upon enabled Output Code 1 16 0 No Definition VDO9 Terminal 1 16 Stop H17 49 Function FunOUT 1 16 1 Immediately Setting Selection Refer to DIDO function selection code definition Output polarity reversal setting VDO9 Terminal 0 1 H17 50 Logic Level 0 Output 1 upon 1 Immediately Selection enabled 1 Output 0 upon enabled Output Code 1 16 0 No Definition VDO10 Terminal 1 16 Stop H17 51 Function FunOUT 1 16 1
127. Parameters 0 Digital given H0603 Master Speed 1 AI1 St H06 00 Reference A 2 Al2 1 0 Immediately en S Source 3 AI3 9 4 Jog speed reference 0 Digital given H0603 Auxiliary Speed 1 A Ref eB SA St Hos o1 oe erenc 3 AI3 1 3 Immediately 2 0P S Source Setting 4 Jog speed reference 5 MS speed reference 0 Master speed instruction A source Speed Reference i tto B st H06 02 Selection 1 0 Immediately 9P S Source Setting 2 A B 3 A B switch 4 Communication given Speed Reference H06 03 Ketboard Setting 79000 P M trom 200rpm Immediateiy Running s 9000rpm Setting Value Jog Speed Setting Runni HO6 04 Value Orpm 9000rpm rpm 300rpm Immediately Setting S Speed Reference Hos os acceleration slope oms 10000ms fams loms mmediately SIOP s time Setting Speed Reference Hos oe deceleration slope oms 10000ms fams foms mmediately SIOP s time Setting Maximum St H06 07 Rotation Sped Orpm 9000rpm 1rpm 9000rpm Immediately S am S Limit Value 3 Speed Forward Stop H06 08 Limit Orpm 9000rpm 1rpm 9000rpm Immediately Setting S 252 IS500 Servodrive User Manual Chapter 12 Appendix Function 4 Factory When Data Related Code Reme pound RENEE Maiin Unik Setting Enabled Type Mode Speed Reverse Stop H06 09 Limit Orpm 9000rpm 1rpm 9000rpm Immed
128. S reference register address starts with O but register address of many devices begins from 0 such as servodrive For compatibility PLC HMI manufacturers subtract 1 from programming register address during actual physical transmission Programmers must read and write servodrive s function codes correctly when MODBUS communication is implemented between such PLC HMI and servodrive For example read write register address is 0x0201 during programming But the actually read write function code is H02 00 If you re not sure whether the PLC HMI register address is actual register address when programming MODBUS reference select two adjacent function codes that have unequal values Use 0x03 read reference to read the larger one for the function code If the function code you have read is equal to the smaller one then register address the actual register address 1 when programming 10 3 10 Communication Virtual DI DO VDI VDO Like DI terminals VDI can be allocated with FunIN x When VDI is enabled it means DI terminals are increased There are a total of 16 VDIs namely VDI1 VDI16 If VDI and DI are allocated with the same FunIN x DI Er 130 will be reported Like DO terminals VDO can be allocated with FunOUT x When VDO is enabled it means DO terminals are increased There are a total of VDOs namely VDO1 VDO16 If VDO and DO are allocated with the same FunOUT x Er 131 will be reported The VD
129. User Manual Bearings are defective misalignment of couplings Probl c Confirmation Solution joco gos Turn the Servodrive OFF Before Troubleshooting Servomotor Speed control Speed Check V REF and SG to Correct the control mode Rotates reference input is confirm if the control method selection parameter or the Without incorrect and the input are agreed input signal Reference Torque control Torque Confirm whether the control Correct the control parameter Input reference input is mode H02 00 and the input Jor the input signal incorrect are agreed Speed reference offset is The servo motor offset is Adjust the servo drive offset incorrect adjusted incorrectly Position control Check 05 15 reference Correct the control parameter Reference pulse inputis pulse form or sign pulse or the input signal incorrect signal Servo Drive Error Servo drive circuit board Replace the servo drive error Abnormal A mechanical installation Check if there are any loose Tighten the mounting screws Noise from is incorrect mounting screws Servomotor Check if there is Align the couplings Check if there are unbalanced couplings Check for noise and vibration around the bearings Balance the couplings Contact our service centre Noise interference due to input signal wire specifications The encoder cable must be tinned annealed copper twisted pair or shielded twisted pair cables with
130. a core of 0 12 mm2 min Use the specified encoder cable Noise interference due to length of encoder cable wiring Check the length of the encoder cable is 3m The impedance is below 100 9 Use the specified input signal wire length Noise interference due to the length of input output signal cable The encoder cable must be tinned annealed copper twisted pair or shielded twisted pair cables with a core of 0 12 mm2 min Use the specified input signal wires Noise interference due to the length of input output signal cable Check the maximum length is 20m Use the specified input signal wire length Noise interference due to damaged encoder cable Check if the encoder cable is damaged or bent Replace the encoder cable and modify the encoder cable layout Terminal potential varies because of influence of machines such as welders at the servomotor Check whether the machines are correctly grounded Ground machines correctly and prevent diversion to the encoder wires Servo drive pulse counting error due to noise interference Noise interference to the encoder signal cables Take measures against noise in the encoder wiring Excessive vibration and shock to the encoder Check if vibration from the machine occurred or servomotor installation is incorrect mounting surface accuracy fixing alignment Reduce vibration from the machine or secure the servomotor
131. agent Maintenance time and content Failure information Maintenance personnel
132. ake built in the servomotor is used to hold the motor at a specific position when a servodrive is OFF thus preventing the machine movable part from moving due to gravity or external force 129 Chapter 7 Setting of Servodrive General Function Codes IS500 Servodrive User Manual Vertical Shaft Shaft Bearing External Force Servomotor Movable part of the machine External Holding brake force Servomotor Prevent servomotor from moving upon power OFF Holding brake Movable part of the oe machine Prevents working platform from moving due to external force The brake built in the servomotor is a de energized brake that cannot be used for braking Use it only to hold a stopped motor Turn OFF the servo when the brake is applied The holding brake runs with a delay time as shown in the following figure If brake interlock signal output is applied timing for brake ON OFF is easy to handle Servo control OFF l power Servo main OFF 1 power Servo ON OFF Brake power OFF l l tl Brake contact 2 1 2 E l 6 Speed l reference Motor speed 1 The servo and holding brake can be turned ON at the same time Delay of the holding brake depends on the motor model Turn ON the brake and then wait for at least 200ms before inputting speed reference 2 3 4 In the following formula tO indicates the motor stopping time 5 Do not turn OFF the brake before the motor stops Normally
133. alue HO3 51 0 0 Max input HO3 52 10 10V Max input corresponding to setting value HO3 53 1000 100 6 Designate the speed indicated by 100 of analog via HO3 80 1000 1 000rpm Reduce the voltage to OV If the motor rotates set Al1 zero offset via H03 54 300 T 300mV which depends on the motor current rotating speed Tune the value of H03 54 until servomotor stops Turn the servo ON and twist the power supply s knob You will find the motor rotating 8 speed varies with voltage When the input voltage exceeds the preset value the motor runs at a constant speed Note The input voltage is no higher than 12V If you want to make the rotating speed change continuously in the range of Orpm 1 000rpm set HO3 51 1000 100 Then turn the servo ON You will find the motor 9 rotates counterclockwise and the speed varies with voltage When the input voltage exceeds the preset value the motor runs at a constant speed Note The input voltage is no higher than 12V 8 4 Examples of Trial Operation in Position Mode 8 4 1 Stepping Given WB Purpose Turn the servo ON The motor stops after it rotates one revolution at 48rpm WB Procedure Step Operation 1 Select the control mode via H02 00 1 position control 2 Select position reference source A via H05 0071 stepping given 3 Set stepping via HO5 03 5000 5 000 reference units 4 Designate electric gear ratio via H05 07 H05 09 2 2 5 A
134. ames For example to write H0507 only DATA 2 is 00 DATA 3 is 02 and M H0002 DATA 3 The number of function codes low 8 bits M L DATA 4 The number of function codes corresponding to the number of bytes M 2 For example to write H0507 only DATA 4 is H04 DATA 5 High 8 bits of write in start function code hexadecimal DATA 6 Low 8 bits of write in start function code hexadecimal DATA T High 8 bits of write in start function code 1 hexadecimal DATA 8 Low 8 bits of write in start function code 1 hexadecimal DATA 9 High 8 bits of write in start function code 2 hexadecimal DATA 10 Low 8 bits of write in start function code 2 hexadecimal CRCL CRC checksum low enabled byte CRCH CRC checksum high enabled byte END It is greater than or equals 3 5 characters free time indicating that one frame ends WB Response Frame Format START It is greater than or equals 3 5 characters free time indicating that one frame starts ADDR Servo shaft address hexadecimal CMD Reference code 0x10 DATA 0 Written start function code group number For example function code H11 12 is written as Ox11 DATA 1 Written start function code offset For example function code H11 12 is written as OxOC DATA 2 The number of written function code high 8 bits M H DATA 3 The number of written function code low 8 bits M H CRCL CRC checksum low enabled byte CRCH CRC checksum high enabled by
135. and has to stop when an error occurs DO outputs signal ALM Level Il Warning The servodrive sends out warning status which will not damage the machine temporarily But there will be a higher level of error output if the warning status is not handled timely DO outputs signal WARN 11 1 1 Error Display List Errors are classified into NO 1 Error non resettable NO 1 Error resettable NO 2 Error resettable Where NO 1 and NO 2 indicate error stop method NO 1 Corresponding to H02 05 NO 2 Corresponding to HO2 06 The relationships between error codes and coding H L are shown in the following table Error code is displayed as Er xxx Error Code Output EU Error Name Meaning zu Sier Code Method Reset ALO AL1 A EEPROM The parameter in the Non ETT oo servo is incorrect NO 1 resettable n H j The logic device error or device Programmable Logic de Er 102 configuration is NO 1 N R H H H e onrguration inconsistent with the drive models Restore to the factory default value Er 105 System Error when the data of NO 1 N R H H H the parameter in the servo is incorrect Model Disabled motor model Er 107 selection error or driver model NO 1 N R H H H Er108 Parameter Parameter storage NO 1 N R H H H storage error device error 204 IS500 Servodrive User Manual Chapter 11 Inspection and Maintenance Error Code O
136. ant this filter causes a delay in the operation of the servo system Therefore do not increase it if unnecessary H Setting Corresponding Relationship Between Speed Reference and Analog 174 IS500 Servodrive User Manual Chapter 9 Adjustments When the speed reference source is selected to analog input the speed reference gain can be adjusted by changing the corresponding relationship between analog input 10V and speed reference For example analog input 10V which corresponds to 2000rpm is changed to correspond to 3000rpm Then host device s position loop gain is reduced by 1 5 times It indicates that an equivalent decrease of position loop gain follows an increase of the speed reference input gain You can use this function to adjust the corresponding relationship when it is necessary to correspond the speed reference output voltage range at the host controller to a specified speed range in the case that the host controller does not have the function for adjusting the position loop gain In normal operation use the factory setting Note If the servodrive is used in speed control mode the position loop gain H08 02 is effective in zero position fixed mode only In normal control operation change the position loop gain via the host or change the speed reference input gain in the servo W How to Perform Adjustment 1 Set the position loop gain to a relatively low value in the host controller Then increase the spe
137. anual Chapter 12 Appendix Function Min Factory When Data Related Code Neme Sailing Renge Unit Setting Enabled Type Mode Position loop E Running H08 02 Gain 1 0Hz 2000 0Hz 0 1Hz 20 0Hz Immediately Setting P Load Rotating Stop H08 15 Inertia Ratio 1 00 200 00 0 01 1 00 Immediately Setting PST Moment of 0 No Operation inertia of 1 Enable moment Stop wae Identification of inertia of 1 Immediately Setting 7 Function identification 293 Chapter 12 Appendix 1S500 Servodrive User Manual 12 5 Motor SN Reference Table Motor Rated Servo Motor Model Type Volt ISMan nannann Morter SIN ubt t ISMH1 20B30CB U1 00003 H1 Low inertia 7 as smali capacity ISMH1 40B30CB U1 00004 ISMH1 75B30CB U1 00006 H2 Low inertia ISMH2 10C30CB U1 00150 medium capacity ISMH2 15C30CB U1 00151 220V ISMH3 85B15CB U1 00261 H3 Medium inertia ISMH3 13C15CB U1 00262 medium capacity ISMH3 87B10CB U1 00272 ISMH3 12C10CB U1 00273 H4 medium inertia E small capacity ISMH4 40B30CB U1 00600 ISMH2 10C30CD U1 00100 ISMH2 15C30CD U1 00101 ISMH TN ISMH2 20C30CD U1 00102 ow inertia medium capacit ISMH2 25C30CD U1 00103 ISMH2 30C30CD U1 00104 ISMH2 40C30CD U1 00105 ISMH2 50C30CD U1 00106 ISMH3 85B15CD U1 00211 380V ISMH3 13C15CD U1 00212 ISMH3 18C15CD U1 00213 IS
138. apacity 3 Medium inertia medium capacity 4 Medium inertia small capacity Mark Power Mark Speed Consist of 2 digit and a Consist of 2 digit and a letter letter A x1 A x1 B x10 B x10 C x100 C x100 D x1000 D x1000 E x10000 E x 10000 Mark Voltage Ty iit Customized Requirement Xx Standard Y Aviation plug connection Brake Reducer amp B Cc D 1 1 2 Servomotor Nameplate Inovance MODEL 750W 2 39Nm S N HC SERVO MOTOR ISMH1 75B30CB U 131X 200V 4 6A 3000rpm IF55 B Ins Nameplate oceccsseosecooseossocesocseseseeooscoseocceccseocccceseceseoi Shenzhen Inovance Technology Co Ltd Mark Oil Seal Consist of a letter and a digit Mark Encoder Type o None A 1 Oil seal Consist of a letter and a digit U Incremental 2 Brake 2500P R wire 3 Reducer U1 saving incremental encoder 4 Oil seal Brake Trbtsena d 5 Oil seal Reducer U2 incremental encoder 6 Brake Reducer A Absolute bit si i Shaft Connection A1 17 bit single ring Mark absolute encoder Mode A2 17 bit multering Consist ofa letter and a digit absolute encoder R Resolver 1 Optical Shaft R1 One pair pole 2 Solid with key resolver R2 Two pair pole 4 Solid with a key wee threaded holes S Solid threaded resolver 5 holes IS500 Servodrive User Manual Chapter 1 Select
139. arameters which can conveniently realize automatic MS fixed length running or selecting segment through an external terminal input signal and then operating based on the setting It is not necessary to install an external pulse generator since the operations are performed through servodrive s dU IS500 Servodrive User Manual Chapter 7 Setting of Servodrive General Function Codes internal parameters Flexible using of this function can realize n point track planning In MS running mode except the DI switch mode signal PosInSen FunIN 28 is used as the triggering signal When signal PosInSen is disabled the MS running mode is disabled When signal PosinSen is enabled the MS running mode is enabled The speed is instantly reduced to 0 when the MS running mode is changed from enabled to disabled If signal PosInSen is disabled and then enabled during n segment running the system continues to run from segment n 1 H1102 0 or re runs from segment 1 H11 02 1 according to the value set in H11 02 Margin Processing Method The DI switch mode uses an external DI to trigger and change the required segment One segment is run when the DI triggering signal PosInSen FunIN 28 changes from disabled to enabled The specific segment number is selected through CMD1 FunIN 6 CMD2 FunIN 7 CMD3 FunIN 8 and CMD4 FunIN 9 CMD1 4 corresponds to 4 bit binary number bit0 3 For details refer to 3 External Terminal Signals Required for DI Mod
140. ard Setting When the torque reference exceeds the value set in H08 27 the speed loop is P Control The servodrive regards this mode as the standard mode factory setting 169 Chapter 9 Adjustments IS500 Servodrive User Manual Ref peg Motor Speed p EN L Internal torque H08 27 reference acceleration H08 27 PI control PI control PI control P control P control Example If the mode switch is not used PI control is enabled the motor may overshoot or undershoot due to torque saturation during acceleration or deceleration Once the mode Switch is used torque saturation is suppressed and overshooting or undershooting is eliminated Without mode switch With mode switch D Overshoot VN Motor PES Time M Time i W Use Speed Reference as Detecting Point Motor speed When the speed reference exceeds the value set in H08 28 the speed loop is switched to P control Speed Speed reference X p Motor speed 7 N N N H08 28 p WT EA Time l l PI control P control PI control rr Example It is necessary to increase the speed loop gain to reduce the adjustment time resulting in overshooting or undershooting which can be suppressed by using the mode switch via speed reference 170 IS500 Servodrive User Manual Chapter 9 Adjustments Without mode switch ii Without mode switch otor Speed reference speed O
141. brake signals refer to DI DO allocation description When DO is not allocated with the BK signal default setting the brake is not applied In 131 Chapter 7 Setting of Servodrive General Function Codes 1S500 Servodrive User Manual this case the delay setting related to the brake is invalid The brake works immediately after the BK signal is allocated Once DO terminal of the BK signal is re allocated with other signals the brake will become invalid after re power on WB Brake Signal Output Time When Servomotor Stops The BK signal is output when the S ON signal is OFF You can change the time servo OFF delay from external S ON signal OFF to motor actually powered off by setting H02 10 H02 Function Code 10 Name Holding Brake Reference Servo OFF Delay Time Setting Range 1ms 500ms Min Unit 1ms Factory Setting 100ms When Enabled Immediately Data Type Stop Setting Related Mode PST On a vertical shaft the machine movable part may slightly shift due to gravity or external force By setting H02 10 the motor can enter the power off state after the brake finishes operation This parameter is used to set the stopping time of the servomotor OFF External S ON__ON BLK Remove the brake ON Internal S ON ON OFF motor powered off Ho210 Note The servomotor will turn OFF immediately when a fault occurs regardless of the setting of this parameter The movable part
142. ce 16 segment reference FunIN 6 CMD1 Switch s lection Allocation TE CMD1 belle is of zero velocity Internal Reference 16 segment reference FunIN 7 CMD2 Switch selection Allocation CMD2 Internal Reference 16 segment reference i FunIN 8 CMD3 Switch selection Allocation CMD3 Internal Reference 16 segment reference FunIN 9 CMD4 Switch selaction Allocation CMD4 Switch among speed position and toque according to the Mode Switch i Switch with FunIN 10 M1 SEL M SEL 2 m control mode 3 4 Allocation Two DI Mode Switch Switch among speed position M SEL and toque according to the Switch with FunIN 11 M2 SEL selected control mode 3 4 Allocation Two DI 6 287 Chapter 12 Appendix 1S500 Servodrive User Manual Signal Function Code Rama Narnia Description Status Remarks ZCLAM Zoro er Position Enabled Enabled zero fixed the speed Fixed function FuniN 12 ZCLAMP Function Disabled Zero position fixed Allocation PE Enabled function prohibited f Signal references source is analog Only the Enabled Reference pulse position Pulse input prohibited loop with FuniN 13 INHIBIT Disabled Disabled Reference pulse Allocation pulse input allowed control is enabled When the mechanical motion exceeds the range enter the Forward overtravel disabled function FunIN 14 P OT Drive Enabled Forward drive Allocation Disabled pro
143. check code 0x0008 Access function code does not exist 0x0010 Write HOC 14 ER 992 error type ction code Display Display value exceeds the upper lower limit 0x0030 0x10 writes 16 digit function code 0x0060 Read data length is 0 0x0080 Function code is written only in the status to modify the servo while the servo is currently running 261 Chapter 12 Appendix 1S500 Servodrive User Manual Function h Factory When Data Related Code Name SEMN RENEE Minuni Setting Enabled Type Mode Group HOd Auxiliary Function Parameter 0 No Operation Stop HOd 00 Software Reset 1 Software Reset 0 mmediately Setting 0 No Operation Stop HOd 01 Error Reset 1 Error Reset 1 0 mmediately Setting Moment of eria Q No coenae HOd 02 of Identification xs 1 0 mmediately P A of inertia of Setting Function op identification 0 No operation Hop fog Encoder Angle start Angle 1 0 mmediately S OP Identification T Setting Identification Analog Channel 0 No Operation St HOd 10 Automatic 1 3 Al1 3 1 0 mmediately Sam Adjustment Adjustment g 0 Rated Rotation Stop HOd 11 JOG Function Speed 1rpm 100 mmediately Setting Group H11 MS Position Function 0 Single run Perform H1101 segment selection 1 Cycle run Perform MS Position H1101 segment Stop H11 00 Running Mode
144. conversion If the data is negative its complementary code OxFFFF absolute value 1 To write in 16 bit signed function code it is necessary to express the data in the HEX complementary code format If the data is greater than or equals 0 the value of complementary code equals that of original code without conversion If the data is negative its complementary code OxFFFFFFFF absolute value 1 For example the HEX complementary code of 16 bit number 100 is 0x0064 So the HEX complementary code of 16 bit number 100 is OXFFFF 0x0064 0x0001 FF9C The HEX complementary code of 32 bit number 100 is 0x00000064 So the HEX complementary code of 32 bit number 100 is OXFFFFFFFF 0x00000064 0x00000001 FFFFFF9C 10 3 8 32 bit Function Code Addressing 32 bit function codes are with setting range out of 65535 to 65535 such as H05 07 H05 09 and H11 12 A 32 bit function code covers two consecutive function code SNs For example H11 12 and H11 13 together express 1st segment Displacement The function code of low SN stores low 16 bit value while that of high SN stores high 16 bit value For example if the 1st segment Displacement is 0x40000000 1073741824 in decimal format reference units H11 12 stores 0x0000 and H11 13 stores 0x4000 When reading 32 bit function code via MODBUS reference take the address of lower SN as base address and one time reading length is 2 For example the MODBUS reference for reading
145. ction ISMH2 ISMH3 coe noes pesos brosse eos Item SMET ISMH3 ISMV3 SMIE U1 ener iae Soie p yap dee U1 1 8kw or below 2 9kw or above Motor L 3 0m S5 L M03 3 0 S5 L M25 3 0 S5 L M03 3 0 S5 L M24 3 0 main circuit L 5 0m S5 L M03 5 0 S5 L M25 5 0 S5 L M03 5 0 S5 L M24 5 0 cable L 10 0m S5 L M03 10 0 S5 L M25 10 0 S5 L M03 10 0 S5 L M24 10 0 Motor L 3 0m S5 L P00 3 0 S5 L P21 3 0 S5 L P00 3 0 S5 L P21 3 0 main encoder L 5 0m S5 L P00 5 0 S5 L P21 5 0 S5 L P00 5 0 S5 L P21 5 0 cable 100m S5 L P00 10 0 S5L P21 10 0 S5 L P00 10 0 5 L P21 10 0 y S5 C6 bent S5 C7 bent 3 Sect S5 C9 straight S5 C40 straight 991 CN1 terminal CN1 terminal CN1 terminal Connector Set CN1 terminal CN2 terminal CN2 terminal CN2 terminal CN2 terminal 4PIN connector 9PIN connector 20 18 aviation 20 22 aviation plug Note plug bent H 4PIN connector straight bent straight 20 29 aviation m 20 29 aviation plug plug bent A 9PIN connector straight bent straight The Servomotor encoder cable is packed together with CN1 connector The connector set contains CN1 connector CN2 connector connector and pin of the main circuit and encoder at the motor side Straight aviation plug is not available temporarily Chapter 1 Selection of Servo System IS500 Servodrive User Manual 1 5 Selection of Peripheral Optional Parts Braking Resistor amp Brake Power Supply Units
146. ction Result 228 IS500 Servodrive User Manual Chapter 12 Appendix The above servo motor and servo drives are available Torque diagram is shown below Nm Torque Speed 11 12 1 2 Example of Position Control Selection Mechanical Specification Linear movable part SOLVOITIOLOR Loading Speed Vz 15m min e Weight of Linear Motion Part m 80kg Ball Screw Length 5 0 8m Diameter of Ball Screw dz 0 016m e Ball Screw Pitch Ps 0 005m Coupling Weight m 0 3kg Outside Diameter of Coupling dc 0 03m Feeding Number of Times n 40 Times min Feeding Length 0 25m Feeding Times tm 1 2s below Electrical Stop accuracy 0 01 mm Friction Coefficient 42 0 2 Mechanical Efficiency 7 0 9 90 229 Chapter 12 Appendix 1S500 Servodrive User Manual 1 Speed Diagram 60 4 la tm ts 1 2 0 1 Vi tc 1 2 0 1 0 1x2 0 96 2 Rotating Speed Rotating speed of Bearing Axle N15 E Go e Rotating Speed of Motor Shaft Due to coupling directly links reduction ratio 1 R 1 1 nm ni R 3000x1 3000 min 3 Loading Torque 9 8u me PB 9 8x0 2x80x 0 005 0 139 N m 2mRen 22 x1x0 9 TL 4 Loading moment of inertia Linear Motion Part 2 2 Ju m 80x 2 0 507107 kg m 2aR 2zxl Ball Screw Jp p pedi 5x T8710 x 0 8x 0 016 0 405x 107 kg m 32 Coupling Jc aude x x0 3x 0 03 20 338x10
147. ctory Setting 0 E When Fnabled Immediately Immediately Data Type Stop Setting Stop Setting Related Mode T PST Eme H07 H07 H07 H07 E EM o 10 11 12 Name Forward Internal Reverse Internal Internal Torque Limit External Torque Torque Limit Torque Limit at Forward Side Limit at Reverse o 0 o 0 0 096 to 0 0 to 800 0 0 0 h to 800 0 0 0 to 800 0 800 0 100 Setting corresponds to 100 corresponds 100 corresponds corresponds to Kenge a rated a rated to rated torque one time rated q 3 torque Min Unit 0 1096 0 1096 0 1096 0 1096 Factory 0 o 9 o Setting 300 00 300 00 300 00 300 00 Dd Immediatel Immediatel Immediatel Immediatel Enabled y y y y Data Stop Setti Stop Setti Stop Setti Stop Setti Type top Setting top Setting top Setting top Setting Related Mode PST PST PST PST HM Operation Description 122 IS500 Servodrive User Manual Chapter 7 Setting of Servodrive General Function Codes When H07 07 1 forward reverse external torque limit is set by DI P CL NCL The torque is limited according to the value set in HO7 11 12 Take internal limit if external limit T LMT and their combined limit exceed internal limit That is take the minimum limit to control torque amongst all limit values Finally torque is controlled within the motor s maximum torque range T LMT is symmetrical limit torque according to T LMT value when forward reverse rotating 7 5 Setting General Basic Functio
148. de is FunIN 26 which is applied in applications where direction switch is required B Related Signal Code Signal Name FunIN 26 SPDDirSel Function Name Speed Reference Direction Setting Disabled Forward Esp Enabled Reverse Status Allocation Remark Set the logic of the corresponding terminal to 0 or 1 In the speed control mode there are two speed reference sources source A and source B The speed reference can be acquired in the following five ways Source A Source B Source A source B Source A B switching through an external DI Communication given 88 IS500 Servodrive User Manual The five ways can be set via function code H06 02 Function Code H06 2 Name Speed Reference Selection Setting Range 0 Master speed reference A source 1 Auxiliary speed reference B source 2 A B 3 A B switch 4 Communication given Min Unit 1 Factory Setting 0 When Enabled Immediately Data Type Stop Setting Related Mode S If HO6 02 is set to 3 you need to allocate the DI terminal with the function independently Then the DI can work normally and it can be figured out whether the current reference input is A or B through this DI terminal Code FunIN 4 Signal Name CMD SEL Function y 3 Name Operation Reference Switch are Enabled Current operation reference is B Description Disabled Current operatio
149. e Load moment of inertia varies within the travel range Load torque changes greatly within the travel range Mechanical dynamic friction is large Vibration occurs upon low rigid and positioning Motor rotates less or more revolutions for a complete identification The load inertia ratio is extremely large The flow chart of inertia identification is shown as below 183 Chapter 9 Adjustments Check whether the servo power supply is closed Y Combine the motor and mechanical structure Y Servo power supply ON Set H0900 JOG Speed and H0901 acceleration deceleration time m nsure H0907 is withi iei oe shortest echanical trav Set H0800 400 H0801 20 and z20 Set HOd02 to 1 positioning mode 1e NO Increase H0900 or decrease H 0901 n i _ Tf mechanical YES vibration occurs Decrease H0800 and H0802 NO Y Nixie tube can display the current inertial value EI Y Press the up arrow forward down arrow reverse key to enter inertial identification _ Nixie tube bud dns Increase H0901 or decrease follow the given speed NO H0900 or Increase H 0800 ipertial ratio changes or the feedback speed does not i YES Y Operate repeatedly within the allowable mechanical travel range forward reverse rotation Press
150. e in this section In the single run mode the selected segments are executed only once when signal PosInSen FunIN 28 is enabled If you need to re execute the selected segments re enable signal PosInSen FunIN 28 after the first run is completed This mode can realize n point track planning and change information of a certain segment through communication in real time You can set to re execute from segment 1 or continue to execute subsequent segments through H11 02 in case of urgent interruption The cycle run mode is similar to the single run mode The system automatically re executes the selected segments after a single run is executed The margin processing method in the cycle run mode is the same as that in the single run mode The sequence run mode is similar to the single run mode There is no waiting time between segments in the sequence run mode Therefore this mode is of a higher running efficiency This mode starts the next segment at the maximum speed of the previous segment and the total displacement is the same as the preset value Note In the DI switch run mode the signal for segment selection must be sent before the trigger signal High low level logic is enabled when signal PosInSen works as the enabled signal Change from Disabled to Enabled takes effect when signal PosInSen works as the trigger signal of the DI switch mode The main parameters are as follows Parameter Description 0 Single run Run from
151. e damage and even personal injury During no load trial operation overtravel protection signals P OT and N OT are not allocated to terminals In this case allocate them to the DI terminal to enable the protection function WB Procedure Step Operation Turn ON the control power and main circuit power and make protective settings such as over travel braking resistor and brake Select the braking resistor according to the load Enable the over travel protective function and properly set the over travel stop 1 parameters When a servomotor with brake is used before checking the brake operation take advance measures to prevent the machine from falling due to gravity or vibrating due to external force and make sure that operations of servomotor and brake are normal 2 Set the operation mode and the reference source in this mode 3 Connect the servomotor to the machine with coupling etc in the state of power OFF After ensuring that the servodrive is turned OFF turn ON the power of host controller 4 Check again that the settings of protective function in step 1 are normal For steps 5 to 8 take advance measures for emergency stop so that the servomotor can stop safely when an error occurs during operation Perform trial operation according to 8 1 5 Trial Operation in the Position Control 5 Mode Check that the result is the same as the trial operation for servomotor witho
152. e function code H06 11 is written as 0x06 DATA 1 Written function code offset For example function code H06 11 is written as OxOB DATA 2 Write in date high byte hexadecimal DATA 3 Write in date low byte hexadecimal CRCL CRC checksum low enabled byte CRCH CRC checksum high enabled byte END It is greater than or equals 3 5 characters free time indicating that one frame ends 10 3 3 Write 32 bit Function Code 0x10 WB Request Frame Format START It is greater than or equals 3 5 characters free time indicating that one frame starts ADDR Servo shaft address 1 247 Note Numbers from 1 to 247 are expressed in decimal format here and need to be converted to HEX format when they are filled in ADDR CMD Reference code 0x10 DATA 0 Written start function code group number For example to write function code H11 12 11 is the function code group number Note that 11 is a hexadecimal number here and does not need conversion when it is filled in DATA 0 DATA 1 Written start function code offset For example to write function code H11 12 12 is the offset Note 12 is a decimal number here and needs to be converted to hexadecimal Ox0C when it is filled in DATA 1 194 IS500 Servodrive User Manual Chapter 10 Communication DATA 2 The number of function codes high 8 bits M H A 32 bit function code is expressed in two fr
153. e the servodrive outputs the positioning approach signal when the difference between the number of given position references and the displacement 108 IS500 Servodrive User Manual Chapter 7 Setting of Servodrive General Function Codes distance of the servomotor equals or is less than the value set in H05 22 Normally the host controller receives positioning approach signals before confirming positioning completion signals The output signal is as follows Code Signal Name FunOUT 6 NEAR Function Name Positioning Approach Signal In the position control mode this signal is enabled when the value of Description position deviation pulse arrives at the set value of Positioning Completion Approach Signal Amplitude H05 22 Status Allocation The related functi on code is as follows Function Code H05 22 Name Positioning Completion Approach Signal Amplitude Setting Range 1 32767 reference units Min Unit 1 reference unit Factory Setting 32767 reference units When Enabled Immediately Data Type Stop Setting Related Mode P Note The setting unit of Positioning Completion Approach Signal Amplitude H05 22 is reference unit which is determined by the set electronic gear ratio Signal NEAR is output when the absolute value of position offset is smaller than the value set in H05 22 Normally the value set in H05 22 is larger than
154. e damages caused by the following reasons a The damage caused by improper use or repair modification without prior permission b The damage caused by fire flood abnormal voltage other disasters and second disaster c The hardware damage caused by dropping or transportation upon the procurement d The damage caused by the improper operation e The damage or failure caused by the trouble out of the equipment e g external device If there is any failure or damage to the product please correctly fill out the Product Warranty Card in detail The maintenance fee is charged according to the newly adjusted Maintenance Price List by our company In general the warranty card will not be re issued Please keep the card and present it to the maintenance personnel when asking for maintenance If there is any problem during the service please contact the agent of our company or our company directly This agreement shall be interpreted by Shenzhen Inovance Technology Co Ltd Shenzhen Inovance Technology Co Ltd Service Department Address Block E Hongwei Industry Park Liuxian Road Baocheng No 70 Zone Bao an District Shenzhen Service Hotline 400 777 1260 P C 518101 Website www inovance cn ai Product Warranty Card Inovance Add of unit Name of unit Contact person Customer information PC Tel Product model Body barcode Attach here Product information Name of
155. e origin switch it immediately stops and sets the current absolute position HOB 07 to H05 36 The origin return is successful and the output is 1 Then origin return ends If the origin switch location is not found within the origin search time limit origin return overtime error ER 601 is output The schematic diagram of origin return is shown as below High speed Speed Time p Deceleration point trigger Low speed trigger Note Electrical zero return indicates that a fixed distance is taken from the current coordinate to the coordinate set in H05 36 The fixed distance is obtained by origin coordinate minus the current coordinate 115 Chapter 7 Setting of Servodrive General Function Codes 1S500 Servodrive User Manual The schematic diagram of electrical zero return is shown as below Speed High speed gt Time The differences between electrical zero return and origin return are described as follows 1 Electrical zero return does not require the origin switch or signal Z to determine the physical location of the origin 2 The moving distance of electrical zero return is obtained by origin coordinate minus the current coordinate But the distance of origin return is the distance when it runs into signal Z or the distance of rising edge of deceleration point 3 The coordinate after electrical zero return is H0536 while the coordinate after origin return is to re assign the
156. e paint that coats the end of the motor shaft Anticorrosive paint is coate here Vibration from improper alignment of shafts may damage the bearings Do not allow direct impact to be applied to the shafts when installing the coupling as the encoder mounted on the opposite end of the shaft may be damaged 2 3 2 Servomotor Installation Accuracy The table below shows accuracy for ISMH and ISMV type servomotor s output shaft and external installation For the installation accuracy of various servomotors refer to their dimensions Accuracy Reference Diagram A Perpendicularity between the flange face and output shaft 0 06 mm ex B Mating concentricity of the flange 0 04mm Run out at the end of the shaft 0 02mm In A 2 3 3 Servomotor Rotating Direction Seen from the load side positive rotation of the servomotor is counterclockwise CCW Counterclockwise 27 Chapter 2 Servomotor Specification and External Dimension IS500 Servodrive User Manual 2 3 4 Shock Resistance When the servomotor is mounted with its shaft horizontal it can withstand the following vertical shocks Shock acceleration 490m s2 Shock occurrences 2 2 3 5 Vibration Resistance When the servomotor is mounted with its shaft horizontal it can withstand vibration acceleration of 49m s2 in three directions vertical side to side and front to back Vertical lt gt Front to bacl S
157. e phase 380V The input voltage depends on the drive model You can select phase missing protection through HOa 00 H0a 00 Function Code Name Power Input Phase Missing Protection Selection 0 Enable fault and disable alarm 1 Enable fault and alarm 2 Disable fault and alarm Min Unit 1 Factory Setting 0 When Enabled Data Type Setting Range Immediately Stop Setting When H0a 00 is set to 2 the servodrive can be powered on or off independently That is the main power can be turned off when the control power is on This can quickly bleed the electricity in the capacitor ensuring safety Currently the bus voltage of the main circuit cannot be connected in parallel When H0a 00 is set to 2 ensure that three phase 220V or three phase 380V input is normal since phase missing fault is disabled Otherwise damage to modules may result 133 Chapter 7 Setting of Servodrive General Function Codes 1S500 Servodrive User Manual 7 5 9 Overload Feature All Servodrives have a peak current Imax that allows operation but it does not mean that servodrives can operate under this peak current for long The time when the servodrive works continuously under the peak current is called Continuous Operation Time under Peak Current The critical current that allows long time operation is called Threshold Current for Motor Overload Protection Ic Overload curve of the servodrive s
158. e the servo drive Malfunction caused by noise from the AC power supply or grounding line static electricity noise etc Turn the power supply ON and OFF several times If the error still occurs there may be noise interference Take countermeasures against noise Gas water drops or cutting oil entered the servo drive and caused failure of the internal components Check the setting conditions The servodrive may fail Repair or replace the servodrive Change the parameter write in method 6 Servo Drive Error Turn the power supply ON and OFF several times If the error still occurs the servodrive fails The servodrive may fail Repair or replace the servodrive Programmable Logic Configuration Error Logic device error Turn the power supply ON and OFF several times If the error still occurs the servodrive fails Repair or replace the servodrive 1 EEPROM error According to Re power on the servodrive after restoring Er 101 the default value of H02 Er 105 31 par Turn the power ure t supply ON and incorrect UE Aie Repair or replace the 2 Servo drive error times If the error servodrive still occurs the servodrive fails Er 107 The product code Check whether the diea oa does not exist such as product code is in ee motor the manual p 209 Chapter 11 Inspection and Maintenance 1S500 Servodrive User Manual
159. ect the MS speed reference then set H06 00 to select the speed reference from source A finally set HO6 02 to 3 There are 5 options for the acceleration deceleration time between segments of the MS speed reference By default Zero Acceleration Deceleration Time is selected that is the corresponding parameter is set to 0 Take 1st segment Acceleration Deceleration Time as an example H12 22 is set to 0 The values for the other four options are set through function codes from H12 03 to H12 10 Note When MS speed reference is selected the acceleration deceleration time is determined by each segment Providing that A B or A B Switch is selected if source B H06 01 is set to 5 MS Speed Reference the acceleration deceleration time from A B or A B Switch to source B is determined by that of the current segment Besides the speed reference acceleration deceleration time in the speed control mode is determined by the values set in H06 05 and H06 06 WB Related Function Codes Function codes related to MS speed reference belong to group H12 Function H12 H12 H12 Code 00 01 02 Nama MS Speed Reference Running Speed Reference End Running Time Mode segment Selection Unit Selection 97 Chapter 7 Setting of Servodrive General Function Codes 1S500 Servodrive User Manual 0 End of single run Perform H1201 segment selection Seung 1 Cycle
160. ed When an excessive torque reference is set the output torque will be higher than the load torque at the machine side Accordingly the servomotor will greatly speed up and may result in over speed In this case it is necessary to limit the servomotor speed When motor speed is out of the limit a torque that is proportional to the difference between the actual speed and the speed limit is used as negative feedback to bring the speed back within limit The actual motor speed limit varies with the load condition Note 119 Chapter 7 Setting of Servodrive General Function Codes IS500 Servodrive User Manual Max speed Without Speed Limit Damage to machine may result due to over speed Motor speed Speed limit gt With Speed Limit Safe operation with speed limit Signals output during servomotor speed limit is shown as follows Code FunOUT 8 Signal Name Pete Function iiem Rotating Speed Limit Signal Speed limit signal in torque control Description Enabled motor speed is limited Disabled motor speed is not limited Status Allocation V LT needs to allocate signals Speed limit is set through the function codes below Function H07 H07 H07 Code 17 18 19 Internal Speed Limit Name Speed Limit Source V LMT Selection Value in Torque Control 0 Internal speed limit speed 1 AM Setting limit in torque c
161. ed feed forward 1V 1000rpm Min Unit 1 1mV 0 01 times Factory Setting 0 5000mV 1 161 Chapter 9 Adjustments IS500 Servodrive User Manual When ERAI Immediately Immediately Immediately Data Running Running Type Running Setting Setting Setting 9 1 3 Adjustment of Safety Items Setting of Over travel Perform the over travel setting H Setting of Torque Limit Torque limit is set to prevent the output torque from exceeding the torque required for machine operation It helps to reduce the impact caused by machine interference or collision If the torque limit you set is less than the operation torque overshoot or vibration may occur You can set torque limit via HO7 07 H Setting of Excessive Position Deviation Error Value Excessive position deviation alarm is a protective function when the servodrive performs position control When the motor motion is inconsistent with the reference set an appropriate error value for excessive position deviation to detect abnormality and stop the motor Motor position deviation indicates the difference between position reference value and the actual position Position deviation can be obtained by the following formula including the position gain and the motor rotating speed Motor Rotating Speed rpm x Motor Pulses revolution Reference Unit 6 H8 a Position Deviation Note that H08 02 Position loop gain Min unit is 0 1Hz Thus
162. ed from the machine 3 Do not bend or apply tension to cables The core wire of a signal cable is 0 2mm or 0 3 mm thin Thus handle the cables carefully 4 Use a noise filter to prevent noise interference If the equipment is to be used near private houses or may receive noise interference install a noise filter on the input side of the power supply line 5 To prevent malfunction due to noise take the following methods Install the input reference device and noise filter as close to the servodrive as possible Install a surge suppressor in the relay solenoid and magnetic contactor coils Separate a power line and a signal line by at least 30cm Do not bundle or run them in the same duct Do not share power supply with an electric welder or electrical discharge machine Remember to install a noise filter on the input side of the power line when the servodrive is installed near a high frequency generator 6 Use a molded case circuit breaker QF or fuse to protect the power line The servodrive connects directly to a commercial power line without a transformer so always use a QF or fuse to protect the servodrive from accidental high voltage 7 Install an earth leakage breaker for protection against overloads and short circuiting or install an earth leakage breaker combined with a wiring circuit breaker for ground protection since the servodrive has no internal ground protection circuits 5 7 2 Anti interference W
163. ed loop gain H08 00 within a range where no noise or oscillation occurs 2 Ifthe position loop gain cannot be changed via the host controller increase the speed reference input gain set in Pn300 to a larger value 3 Decrease the speed loop gain a little from the value set in step 1 Then increase the position loop gain via the host controller to a range where there is no noise or oscillation Decrease the set value of Pn300 even if the position loop gain cannot be changed via the host controller 4 Set the speed loop integral time constant in H08 01 while observing the positioning settling time and the vibration of the mechanical system If the constant is too large positioning settling time will be long 5 Set the torque reference filter to a small value in HO7 05 if the mechanical system has no apparent shaft torsional resonance If the mechanical system generates oscillation noise in a high pitched tone shaft torsional resonance may be occurring In that case Set H07 05 to a larger value 6 Finally progressively make fine adjustments to parameters such as the position loop gain speed loop gain and integral time constant to find the optimal point 2 n Position Control Here introduces the parameters in position control mode WB Speed Loop Gain H08 00 This parameter is used to determine the speed loop response Within the range where the mechanical system does not vibrate bigger the value set in HO8 00 better the s
164. ed reference AO2 02 Torque reference 03 Position b 04 Position amplifier deviation 05 Position speed reference 06 Positioning completed 07 Speed feedforward H04 50 H04 53 Note Upon control power OFF analog monitor output terminal may output 5V voltage during 50ms Please take full consideration 5 6 Wiring Communication Signals 5 6 1 Communication Signal Connector CN3 and CN4 Terminal Layout SN Definition Description 1 GND Ground 2 RS232 RS232 receive terminal can connect to the 603 O RXD host computer 7010 OTL O2 Z 3 RS232 RS232 receive terminal can connect to the Os C2 TXD host computer Os 4 RS485 Reserved 5 RS485 4 603 o 6 Reserved O7 o gt 7 Reserved Os Os A 8 5V 5V power supply Shell PE shell Note s Both CN3 and CN4 are the internal parallel communication signal connectors Do not wire the reserved terminals 72 IS500 Servodrive User Manual Chapter 5 Cabling 5 7 Wiring and Anti interference 5 7 1 Precautions on Wiring To ensure safe and stable operation observe the following wiring precautions 1 For wiring for reference inputs and encoders select specified cables 2 For ground wiring select a cable of 2 0mm2 or thicker At least D type ground 100 9 max is recommended Ground to one point only Ground the servomotor directly if servomotor is insulat
165. eed2 Le 1L 1 SED EDU SNe eee HEREDES I l I l l I l E a E EE eee eo ee E E Bs l l l I I I l I I I l I I l cmpi OFF ON OFF ON ore on er ox OFF 1 i I I l CMD2 orri ort ONI on OFF OFF on ON OFF i i i CMD3 OFF OFF 4 OFF OFF oFF OFF OFF om OFF I T t 1 I I l l I l I l CMD4 OFFI Du OFFI OFF OFF OFF 4 or orr OFF t t l o i i DIR SEL orr orr OFF y OFF OFF ON on ON OFF 7 3 Position Control 7 3 1 Acquiring the Position Reference The position reference is acquired through H05 00 Its values are described as follows 0 The servodrive selects external pulse reference as the position reference source 1 The servodrive selects the stepping given as the position reference source 2 Multi segment position reference 3 Communication given H05 0 Function Code Name Master Position Reference A Source 0 Pulse Reference default 1 Stepping Given 2 MS Position Reference 3 Communication Given Setting Range 101 Chapter 7 Setting of Servodrive General Function Codes IS500 Servodrive User Manual Min Unit 1 Factory 0 Setting Koen ed Immediately Data Type Stop Setting Related Mode P You can set the direction of position reference FunIN 27 by an external DI Signal Name POSDirSel Function m Position Reference Direction Setting m Disabled Positive direct
166. eference Direction Bipolarity Motor Rotation Direction Encoder Feedback Output Direction Reverse reference Servomotor rotates CW viewed from the shaft end UL pao U U B leads Aby 90 PAO Set the encoder feedback pulse output via H02 03 shown as below H02 Function Code 03 Name Ouput Pulse Feedback Direction Selection Setting Range O reference direction is forward 1 reference direction is reverse Min Unit 1 Factory Setting 0 When Enabled After Restart Data Type Stop Setting Related Mode PST Function code H02 03 assists the function code H02 02 and is designed to set the encoder feedback pulse output direction Set the encoder feedback pulse output direction as follows i d Encoder Feedback Pulse Output Motor Rotation Direction Function Code Setting Direcdion PAO i Va H02 03 0 PBO pi 9 A leads B by 90 Servomotor rotates CCW PAO L viewed from the shaft end H02 03 1 PBO T B leads A by 90 PAO L T H02 03 0 PBo B leads A by 90 Servomotor rotates CW PAO j viewed from the shaft end H02 03 1 PBO pi A leads B by 90 125 Chapter 7 Setting of Servodrive General Function Codes IS500 S
167. elay input Photocoupler Input Servodrive Servodrive DC5V 24V Jejdnooojug Maximum allowable voltage current of servodrive internal photocoupler output circuit is as follows Voltage DC30V Maximum Current DC50mA Maximum b DO6 DOS8 Open collector Output 70 IS500 Servodrive User Manual Chapter 5 Cabling Relay Input Photocoupler Input Servodrive Servodrive DC5V 24V Jejdnooojougd Maximum allowable voltage current of Servodrive internal photocoupler output circuit is as follows Voltage DC30V e Current DC50mA 5 4 Wiring Holding Brake There is no polarity for holding brake input signal Therefore 24V power supply should be prepared The standard connection between brake signal BK and the brake power supply is shown as below Servodrive Servomotor Power supply Lec Brake controls relay CN CN BK _RY BK 24V T uo D lt lt Brake power supply BK RY A A AC DC 71 Chapter 5 Cabling IS500 Servodrive User Manual 5 5 Wiring Analog Monitoring Signals 5 5 1 Analog Monitoring Signal Connector CN5 Terminal Layout SN Definition SN Definition 1 GND 3 GND 2 AO1 4 AO2 5 5 2 Monitoring Content Signal Monitoring Content AO1 00 Motor rotating speed 01 Spe
168. em Therefore do not increase it if unnecessary H Position Loop Gain H08 02 The responsiveness of the servo system is determined by the position loop gain The response increases if the position loop gain is set to a high value and the time required for positioning will be shortened In order to set the position loop gain to a high value the rigidity and natural frequency of the mechanical system must be high The responsiveness of the whole servo system may become unstable if only the position loop gain is increased Because the speed reference as output from the position loop is likely to become unstable Increase the speed loop gain while observing the response W How to Perform Adjustment 1 Set the position loop gain to a comparatively low value Then increase the speed loop gain set in Pn100 to within a range where there is no noise or oscillation 2 Decrease the speed loop gain a little from the value set in step 1 Then increase the position loop gain to within a range where there is no overshooting or oscillation 3 Set the speed loop integral time constant in Pn101 while observing the positioning settling time and the vibration of the mechanical system If the constant is too large the positioning settling time will be too long 4 Set the torque reference filter to a small value in Pn401 if the mechanical system has shaft torsional resonance If the mechanical system generates oscillation noise in a high pitched tone s
169. erminals 7 8 reference pulse input 11 12 reference symbol input and 15 14 Clear inputs are described below An output circuit for the reference pulse and error counter clearing signals at the host controller can be either differential driver or open collector output a Differential driver output Servodrive PULS SIGN CLR 7 11 15 gt 1502 Fly gt PULS SIGN CLR 8 12 14 Please ensure that 2 8V lt Hlevel L level lt 3 7V If the formula above is not satisfied pulse input of servodrive will be instable This will result pulse loss upon reference pulse input or reverse reference upon reference direction input b Open collector output When servodrive internal 24V power supply is used the circuit is as follows Servodrive PL1 PL2 PL3 PULS SIGN CLR PULS SIGN CLR 68 IS500 Servodrive User Manual Chapter 5 Cabling When external power supply is used the circuit is as follows Servodrive vec i PULS SIGN CLR 7 11 15 T 1500 V2 V PULS SIGN CLR 8 12 14 wv VF TEHOS To ensure the current within 6mA 10mA set R1 resistance as follows VCC Voltage R1 Resistance 24V 2 4k Q 12V 1 5k 9 5V 200 2 3 Digital Output Circuit CN1 connector terminal 46 DI digital input is described below The output circuit at host controller can be re
170. ervodrive User Manual 7 5 3 Setting the Over travel Disabled Function The over travel disabled function of the servodrive switches ON the limit switch to forcibly stop the servomotor when the movable machine parts exceed the allowable range The setting of the over travel signals is as follows Code FunIN 14 FunIN 15 Signal Name P OT N OT T Forward Drive Disabled Reverse Drive Disabled ame When the machine moves out of the When the machine moves out of allowable range the over travel disabled the allowable range the over travel Description function takes effect disabled function takes effect Enabled Forward drive prohibited Enabled Reverse drive prohibited Disabled Forward drive allowed Disabled Reverse drive allowed Status Allocation Allocation Set the DI allocation function code corresponding to the over travel signal Remark The over travel limit switch works when these two signals over travel simultaneously Drive in opposite direction through reference input is still allowed in the over travel state A CAUTION The servomotor rotates in the original direction when the over travel signal is removed manually Ensure safety when removing the over travel signal 7 5 4 Selecting the Motor Stop Mode When Servo is OFF The motor may stop due to over travel servo OFF or fault You can select the motor stop mode and status by setting corresponding function code Select the
171. eter value of 10501080 10 which is displayed in three pages of 10 5010 and 80 10 Long pressing the SHIFT button can realize page turning The sign blinking on the left indicates the displayed segment Pressing the SHIFT button can automatically switch between segments Pagel First 2 digits Page Il Middle 4 digits Page Ill Last 4 digits These signs indicate that the displayed value is negative and the signs are not displayed if the value is positive The screen will automatically switch to the corresponding segment after you press the SHIFT button Suppose the screen currently blinks at the kilobit Once the SHIFT button is pressed the screen displays the succeeding four digits and blinks at the myriabit rightmost digit of this segment In this case pressing the UP DOWN button indicates increasing or decreasing 10000 For settable parameters you can perform modification by pressing SHIFT But for displayable parameters long pressing the SHIFT button can realize page turning 6 3 Monitoring Display Parameter List Monitoring display is a function of displaying reference values set in the servo drive status of I O signals and the internal status of the servo drive The monitoring display parameters are shown as below 80 IS500 Servodrive User Manual Chapter 6 Digital Operator Functi
172. eters speed position gain filter and load moment of inertia ratio When setting the servo gain balance of values of these parameters must be taken into consideration Therefore parameter adjustment may only be performed by qualified personnel or you can ask Inovance for technical support Servo gain parameters have been set to a conservative stable value upon delivery The user can adjust servo gain according to the machine status so as to improve the servo response performance 9 1 2 Adjustment of Analog Control Signals To observe the signal status while adjusting the servo gain connect the oscilloscope and other measuring instruments to the servodrive s analog monitor connector Analog monitor specifications are as follows Item Specification Remark CH No 2CH Output range 0 10V Linear effective range within 2 to 8V Resolution 0 1 Accuracy 5 Allowable maximum 10mA load current Setting Time 3ms typ Upon control power ON analog monitor may output approximate 10V voltage within up to 200ms Take it into consideration during the use For wiring of analog monitoring connector refer to CN5 terminal definition H Setting of Analog Monitoring Magnification CH1 analog monitoring output voltage CH1 signal selection H04 50 X signal 160 IS500 Servodrive User Manual magnification H04 52 offset voltage 1 H04 51 Chapter 9 Adjustments CH2 analog monitorin
173. evel Error Level is low Pn520 to see oni set the HOa 11 against the operating if it is set to an E condition appropriate value Turn the power supply ON again If the error still Servo Drive Error occurs the servodrive may fail Replace the Servo drive Er b03 ecironig gear Check ratio ofthe Set the H05 11 H05 10 ratio within the specified range 11 1 4 Troubleshooting of Warnings When the servodrive sends out a warning the digital panel will display Er 9xx The 217 Chapter 11 Inspection and Maintenance 1S500 Servodrive User Manual troubleshooting is shown in the following table If the warning cannot be reset please contact our service center regenerative resistance is too small resistance is less than the minimum value of the driver and check the function code H02 27 Error Code Cause Confirmation Solution Replace with the External Wf Er 922 External regenerative Measure the resistance specified external regenerative resistance while change the function code H02 27 Er 960 Absolute Encoder Angle initialization Error Initialize the serial motor for the first use Re initialize the motor and the error will disappear Ignore the error Motor shaft is braking or excessive load torque Check the connection between the motor and the machine Run the motor with no load and restart the initialization Motor encoder or ser
174. fer to rated L2C terminals voltage of the nameplate B1 External braking resistor IS500L1 SORT SORS If the regenerative B2 B3 terminals S1R6 S2R8 capacity is insufficient connect an external regenerative resistor option between B1 and B3 IS500L1 S3R8 S5R5 If the internal braking S7R6 S012 S018 resistor is insufficient S025 S033 T1R9 remove the wire between T3R5 T5R4 T8R4 B1 and B2 Connect an T012 T017 T021 T026 external braking resistor option DC reactor connection 1 and 2 are short circuited by default Oi terminals for power supply If a countermeasure against power supply harmonic eo harmonic suppression waves is required connect a DC reactor between 1 and O 2 U V W Servomotor connection Servo motor connection terminals are connected to terminals motor U V W phase connection e PE Grounding terminals Two grounding terminals that are connected to the power supply ground terminal and servomotor ground terminal 5 1 2 Wiring Main Circuit Power Supply Connector Spring Type SIZE A SIZE B and SIZE C servodrives have removable connectors for main circuit power supply and control power supply terminals To wire the connector do as follows 1 Check the wire size Applicable wire sizes are Single wire 0 5 1 6mm Twisted pair wire AWG28 AWG12 2 Strip back the wire outer coating by 8 to 9mm 53 Chapter 5 Cabling det 3 Open the connector wiring terminal
175. g Error Name Cause Confirmation Solution Er 420 Incorrect power cable a Confirm that the power Saal ecg wiring Check the wiring cable is correctly wired The order of phases Confirm that the U V and W in the Check the servomotor is correctl servomotor wiring is servomotor wiring wired y incorrect d Reference input value exceeding the over Check the input Reduce the reference Er 500 speed detection level reference value or adjust the gain Motor Over was input speed Reduce the speed The motor speed Check the reference input gain exceeded the servomotor speed adjust the servo gain or maximum waveform reconsider the operation conditions The servodrive may fail Servo Drive Error 7 Replace the servo drive Er 510 The encoder output Decrease the setting of the encoder output pulse operation because the servomotor was not driven due to mechanical problems reference and motor rotating speed Pulse Rate 1 6MHZ Remove mechanical Er 600 Load torque is reasons against motor abe BASH too large such as shaft stalling or replace Viu PNE ertia Identification motor was stalling the motor that is matching Error or excessive load the current system motor inertia inertia match and power levels match ipia UVW identification Perform angle Er 602 Angle identification fault error identification again Incorrect wiring or contact error of Gonnnm that the Check the wiring servomotor and encoder
176. g Deceleration Time 5 3 Acceleration Deceleration Time 3 4 Acceleration Deceleration Time 4 4th Segment 9000rpm to 5 Stop H12 29 R f rence 9000rpm 1rpm 500rpm Immediately Setting S 4th Segment 0 1s Stop H12 30 Reference Running 0 6553 5 5 0s min Immediately S Ti min Setting ime 0 Zero Acceleration Deceleration Time 1 Acceleration Deceleration Time 4th Segment H12 31 Acceleration 2 Acceleration 0 Immediately S P S Deceleration Time Setting Deceleration Time 3 Acceleration Deceleration Time 3 4 Acceleration Deceleration Time 4 5th Segment 9000rpm to Stop H12 32 Reference 9000rpm 1rpm 700rpm Immediately Setting S 5th Segment 0 1s s Stop H12 33 Reference Running 0 6553 5 5 0s min Immediately S Time min Setting 270 IS500 Servodrive User Manual Chapter 12 Appendix Function 4 Factory When Data Related Code Nae Seii RENEE Mir Unik Setting Enabled Type Mode 0 Zero Acceleration Deceleration Time 1 Acceleration Deceleration Time 1 5th Segment H12 34 Acceleration Aceelaa ligni 0 Immediately St P s Deceleration Time Setting Deceleration Time 5 3 Acceleration Deceleration Time 3 4 Acceleration Deceleration Time 4 6th Segment 9000rpm to Stop H12 35 Reference 9000rpm 1rpm 900rpm Immediately Setting S 6th Segment 0 1
177. g E 0 00 IS500 Servodrive User Manual Chapter 7 Setting of Servodrive General Function Codes When i Enabled mmediately Immediately Immediately Data T Stop Setting Stop Setting Operation Setting ype Related Mode n T T If analog torque reference source is adopted perform the following settings take Al1 as an example Step Operation Remarks 1 H07 02 1 Set reference source as Set reference source in torque control auxiliary torque reference B source mode Corresponding relationship of AI1 setting H03 50 10V 2 H03 51 80 ee relationship of 10V H03 52 10V Input H03 53 80 3 Set 100 corresponding torque value Designate nominal torque corresponds H03 81 3 times rated torque to 10096 As the figure shown below set a straight line via H03 50 53 and fix the slope K For any given U the reference T ref k U 100 Corresponding Value 4H0381 _ _ __ LLLL2lL2222l222 2 H03 51 8096 E e e c T ref 1 gt H03 50 10V Voltage H03 52 10V 1 elc i IH03 53 80 You can view the given torque reference via HOb 02 Relative to motor maximum torque percentage 7 4 2 Speed Limit in Torque Control Speed limit in torque control is required to protect the connected machine In the torque control mode servomotor must output torque according to the reference but its speed is not controll
178. g Enabled Type Mode Waiting Time after 16th Segment Running H11 91 Displacement 0 10000 ims 1s 10 Immediately Setting P completion Group H12 MS Speed Running Reference 0 Single run Perform H1201 segment MS Speed eum st H12 00 Reference Running y 1 1 Immediately Op S Mode Perform Setting H1201 segment selection 2 Switch via external DI Speed Reference St H12 01 End segment 1 16 1 16 mmediately 2 0P S Setting Selection Running Time Unit 0 sec Stop H12 ge Selection 1 min 1 9 mmediately Setting H12 og Acceleration Time lors 10069ms tms 10ms Immediately S P s 1 Setting H12 04 Deceleration 1 Oms 10000ms 1ms 10ms mmediately B S H12 os Acceleration Time ors 10060ms 4ms 50ms Immediately StP s 2 Setting H12 06 Deceleration 2 Oms 10000ms 1ms 50ms mmediately Sand S H12 o Acceleration Time lors 10069ms tms 100ms Immediately S P s 3 Setting H12 08 Deceleration 3 Oms 10000ms 1ms 100ms mmediately eh S H12 Jog Acceleration Time lors 10009ms tms 150ms Immediately S OP s 4 Setting H12 10 Deceleration 4 Oms 10000ms 1ms 150ms mmediately ah S 1st Segment Stop H12 20 Reference 9000 9000rpm 1rpm Orpm mmediately Setting S 1st Segment 0 1s St H12 21 Reference Running 0 6553 5 a 5 0s min Immediately XP S Time min Setting 268 IS500 Servodrive User Manual Chapter 12 Appendix Function 4 Factory When Data
179. g depends on servomotor model 3 6 9 8 7 pin number for the ISMH1 ISMH4 and ISMV1 servomotors A B G H Pin number for the ISMH2 and ISMV2 series ISMH3 and 12 4 ISMV3 series servomotors represents twisted pair wires 5 2 2 Encoder Connector CN2 Terminal Layout Pin No Signal Name Pin No Signal Name 1 A 2 A 3 B 4 B 5 Z 6 Z T Reserved 8 Reserved 9 Reserved 10 Reserved 11 Reserved 12 Reserved 13 5V 14 GND 15 PS 16 PS 17 Reserved 18 Reserved 19 Reserved 20 Reserved Shell PE Shield 5 2 3 Precautions on Wiring Encoder Sequence of wiring encoder and servodrive depends on encoder and servomotor model AWG26 AWG16 twisted pair shielded cable is recommended with wiring length of no more than 20m Do not wire the reserved terminals 61 Chapter 5 Cabling 5 3 Wiring I O Terminals 5 3 1 Typical I O Terminal Wiring Examples IS500 Servodrive User Manual The connection between I O signals of servodrive and host device is shown as below
180. g output voltage CH2 signal selection H04 53 X signal magnification H04 55 offset voltage H04 54 WB Related Signals AO1 output variables can be specified via H04 50 The corresponding relationship between output variable and analog can be specified via H04 51 and H04 52 Function H04 H04 H04 Code 50 51 52 Name AO1 Signal Selection ae P 00 Motor rotating speed 1V 1000rpm default 01 Speed reference 1V 1000rpm 02 Torque reference 1V 100 03 Position deviation 0 05V 1 reference Setting unit Range 04 Amplifier deviation after electronic gear 0 10000mV 99 99 to 99 99 0 05V 1 encoder pulse unit 05 Position reference speed 1V 1000 rpm 06 Positioning complete reference complete 5V incomplete OV 07 Speed feed forward 1V 1000rpm Min Unit 1 1mV 0 01times Factory Setting 0 5000mV 1 When i Enabled Immediately Immediately Immediately Data Running Type Running Setting Setting Running Setting EO H04 H04 H04 code 53 54 55 Name AO2 signal selection ee Reines 00 1V 1000rpm Motor speed default 01 Speed reference 1V 1000rpm 02 Torque reference 1V 100 03 Position deviation 0 05V 1 reference units Setting 04 Amplifier deviation after electronic gear 0 10000mV 99 99 to Range 0 05V 1 encoder pulse unit 99 99 05 Position reference speed 1V 1000 rpm 06 Positioning complete reference complete 5V incomplete OV 07 Spe
181. g value 1 After Running Logic Selection 1 Valid VDI9 Restart Setting by writing value change from 0 to 1 H17 17 x eo 278 IS500 Servodrive User Manual Chapter 12 Appendix Function 4 Factory When Data Related Code Nae poniendo Mir Unik Setting Enabled Type Mode Input Function Code 0 1 32 VDI10 Terminal 0 No Definition Afet R nnfti H17 18 Function 1 32 FunIN 1 32 1 0 Restart Seld Selection Refer to DIDO basic function table Input polarity 0 1 0 Valid VDI10 by VDI10 Terminal writing value 1 After Running Logic Selection 1 Valid VDI10 Restart Setting by writing value change from 0 to 1 H17 19 Input Function Code 0 1 32 VDI11 Terminal 0 No Definition After Runnin H17 20 Function 1 32 FunIN 1 32 1 0 Restart esting Selection Refer to DIDO basic function table Input polarity 0 1 0 Valid VDI11 by VDI11 Terminal writing value 1 After Running Logic Selection 1 Valid VDI11 Restart Setting by writing value change from 0 to 1 H17 21 Input Function Code 0 1 32 VDI12 Terminal 0 No Definition Aier Runnin H17 22 Function 1 32 FunIN 1 32 1 0 Restart Seia Selection Refer to DIDO basic function table Input polarity 0 1 0 Valid VDI12 by VDI12 Terminal writing value 1 After Running Logic Selection 1 Valid VDI12 Restart Setting by writing value change from 0 to 1 H17 23 Input Func
182. haft torsional resonance may occur In that case set Pn401 to a larger value 176 IS500 Servodrive User Manual Chapter 9 Adjustments 5 Finally progressively make fine adjustments to parameters such as the position loop gain speed loop gain and integral time constant to find the optimal points 3 Functions of Improving Response Performance The functions that can improve response performance include mode switch and feed forward compensation Such functions are not always effective If they are used improperly they will worsen the response Please make adjustments while observing the actual responsiveness W Mode Switch Use the mode switch function to improve the transient characteristics of the servo system if there is torque reference saturation at the time of acceleration or deceleration The speed loop in PI proportional and integral control is switched over to P proportional control when the operation speed exceeds the set value in this function WB Feed forward Compensation The responsiveness is increased by using the feed forward function This function is not effective if the position loop gain is set to a high value To adjust the feed forward do as follows 1 Adjust speed and position loops according to the method described on this page 2 Gradually increase feed forward H08 19 so that the positioning completion signal COIN is output as early as possible 3 Make sure that the positioning comple
183. he servodrive can provide COM Connector negative logic 24V optocoupler drive power shell without the external 24V industrial control powej Note PE shield connects to the connector shell T represents twisted pair wires 62 IS500 Servodrive User Manual Chapter 5 Cabling 1 Speed Control Mode Servo unit S 1Qcasy External 5V 1 power supply a GND Max 200mA K GND GND B PAO PAO 35 Encoder 1500 PBO Enco PULS PULS SZ C 364 pgo Pulse output CW phase A PULS 8 yag 19 Pile SIGN sien 11 1900 204 IPZO CW phase a isin tio ul DAMES YN 17 kpz ou 0 igin signal Position CLR CLR NAE 2 504 com open collector instructio b ICLR M4 yag En output 24 M fo 24k Value inside the Open collector PL15 EM instruction PL2 eae tor pOWSFSUDP PL3 configured through 24V function code 24V power supply s47 2 DO1 S RDY _ __DIV CMDISad B Mag 3 pot s Rpv Value inside the CS bracket is the _ __DI2 CMD2 44 ii S 214 DO2 V CMP default function i l 28 DO2 V CMP DI function can bg DIS DIR SEL 4 B Feci flexibly configured 2 DO3 ZERO through function DM ALM RST a 3 End 26 Do3 ZERO code i T E L_ __DIS S ON 40 J gm EDI DO4 ALM Te 42 no4 ALw ON valid in the_ DIGZCLAMPIl4y
184. he setting value of input parameters H03 Correctly set the input parameter and servo ON status Speed control speed reference input is incorrect Torque control torque reference input is incorrect Check the control mode and input Check the control mode and input Set or input the control parameter correctly Set or input the control parameter correctly Position control Reference input is incorrect Check H05 15 reference pulse form or sign pulse signal Set or input the control parameter correctly Deviation count clear signal stay ON Status Check CLR and CLR input CN1 14 15 Set CLR and CLR input to OFF The forward run disabled P OT and reverse run disabled N OT input signals are turned OFF Check P OT or N OT input signal Turn P OT or N OT input signal OFF Servo Drive Error Servo drive circuit board error Replace the servo drive Servomotor Moves Instantaneously and then Stops Motor wiring is incorrect Check the motor wiring Correct the wiring Encoder wiring is incorrect Check the encoder wiring Correct the wiring Servomotor Speed Unstable Wiring connection to servomotor is incorrect Check connections of main circuit cable phases U V and W and encoder connectors Tighten any loose terminals or connectors 219 Chapter 11 Inspection and Maintenance 1S500 Servodrive
185. he up arrow or the down arrow 182 IS500 Servodrive User Manual Chapter 9 Adjustments The motor starts forward or reverse rotation to perform identification Once you release the key identification stops immediately and the motor enters the positioning status After a complete identification the nixie tube automatically updates the current inertia ratio After several forward reverse rotations the program automatically filters the previous identification result and takes the average value In addition pay attention to the travel safety during identification Note If the nixie tube does not update the identification result increase the speed loop gain or to extend the acceleration time H0901 Press the MODE key to exit the inertia identification status Check whether the average inertia H0815 is reasonable Otherwise set H0815 manually Note If mechanical travel is very short for example the motor is allowed to rotate one revolution to identify the inertia within the allowable travel you can adjust H0900 maximum speed during identification and H0901 acceleration deceleration time during identification so as to make the H0907 revolutions required for each identification will be shorter than the allowable mechanical travel In addition to ensure the commissioner has enough reaction time it is recommended to set longer waiting time H0904 to 3000ms The following items may influence the identification performanc
186. he vibration The following figure shows the speed reference when the position loop gain and response of speed loop are unbalanced Speed ve reference f Actual output speed reference form the controller Speed reference calculated inside the controller Time In general the position loop gain cannot exceed the mechanical system natural vibration frequency range For example multi joint robot s overall structure has low rigidity since it uses volatile gear reducer Its natural vibration frequency is 10 20Hz So the position loop gain of such machine is 10 20Hz only 173 Chapter 9 Adjustments IS500 Servodrive User Manual In contrast SMT IC couplers and other high precision machines natural vibration frequency is more than 70Hz and there are machines that the position loop can be set to 70Hz above Therefore except a demand for good responsiveness the responsiveness of the used servo system including controller servo amplifier motor and detector is also very important Meanwhile please improve the rigidity of the mechanical system 9 3 3 Manual Adjustment of Servo Gain The factory setting of the servodrive cannot satisfy the responsiveness in some special applications And the servodrive may not well adapt to the mechanical system with big interval or weak rigidity You can adjust the servo gain manually based on the actual mechanical situation 1 In Speed Control Here introduces the parameters in speed c
187. heating time constant of H01 21 which affects the resistor initial braking continuous time and lowering speed Setting for long may burn out the resistor 7 5 11 Motor Startup Angle and Phase Sequence Identification If servomotor s UVW three phase power lines are connected properly the servodrive does not deed the motor startup angle and phase sequence identification function If you are not sure whether the phase sequence is correct when connecting UVW power lines you can make the servomotor operate normally by using the startup angle and phase sequence identification function The identification steps are as follows 1 Ensure that the servomotor encoder signal is connected properly 2 Ensure that the servomotor is connected to zero or light load 3 Ensure that the servo is in the disabled state 4 Set function code H0d03 to 1 The servo enters into the identification status and automatically operates for 20 seconds If ER 602 is found the servo needs to identify again Once angle identification completes if connecting sequence of servomotor s UVW power lines complies with the specification function code H00 08 is displayed as 0 Conversely H00 08 is automatically set to 1 which indicates connecting sequence error In this case check UVW phase sequence and re identify until HOO 08 is 0 After identification completes H00 33 initialized electric angle and H00 34 phase U electric angle have been refreshed Please back up the
188. hibited Disabled Forward drive allowed When the mechanical motion exceeds the range enter the Reverse overtravel disabled function FunIN 15 N OT Drive Enabled Reverse drive Allocation Disabled prohibited Disabled Reverse drive allowed Forward Enabled External torque limit External enabled FunIN 16 P CL Torque Limit Disabled External torque limit Allocation 7 ON disabled Reverse external Pi uet External torque FunIN 17 N CL me limit Disabled External torque limit Allocation disabled Enabled Input according to External the reference pop up FunIN 18 JOGCMD Forward Jog Disabled Running reference Allocation button stop input Enabled Reverse input External according to the reference FunIN 19 J JOGCMD Reverse Jog Disabled Running reference Allocation pop up stop input Position Enabled Execute the External FunIN 20 POSSTEP Step Input reference of reference step Allocation pop up DI Variable Disabled Reference is zero button 288 IS500 Servodrive User Manual Chapter 12 Appendix Signal Function aA Code Nma MES Description Status Remarks HX1 enabled HX2 disabled Handwheel X10 FunIN 21 HX1 MF Signal 1 HX1 enabled HX2 disabled Allocation X100 Others X1 Handwheel FunlN 22 HX2 MF Signal 2 Allocation Disabled Position control Handwheel according to H05 00 function Enable code A FunIN 23 HX EN Signal Enabled
189. hows one one correspondence between a specific current and the continuous operation time under this current The continuous operation time depends on the heat generated under the specific current The following figure shows the overload curves of servodrives with different power rates Overload Curve Diagram 10000 1000 100 10 s eui peopeAQ 200 250 Torque Reference 96 7 5 10 Setting and Protecting the Brake Resistance The servodrive can protect the regenerative resistor through corresponding function codes as follows H02 H02 H02 Function Code 21 22 23 Name E ONE of Built in Regenerative Built in Regenerative Regenerative Resistor Resistor Power Capacity Resistor Resistance 19 10009 19 10000 Setting Range Readable 1 65535W Readable Readable Min Unit 19 1W 19 Factory Setting Model dependent Model dependent Model dependent When Enabled Immediately Immediately Immediately Data Type Stop Setting Stop Setting Stop Setting Related Mode PST PST PST Function H02 H02 H02 Code 25 26 27 134 IS500 Servodrive User Manual Chapter 7 Setting of Servodrive General Function Codes External Regenerative External Name Regenerative Resistor Setting Resistor Power Regenerative Capacity Resistor 0 Built in regenerative resistor 1 External regenerative Setting resistor and natural cooling Range 2 External regenerative 1W 60000W
190. iately Setting S 0 No torque Torque d Ho6 11 Feedforward feedforward 0 Immediately StP PS 1 Internal torque Setting Selection feedforward Zero Fixed Rotation Limit Stop H06 15 Value Orpm 1000rpm 1rpm 10rpm Immediately Setting S Motor Rotation S HO6 16 Signal Speed Orpm 1000rpm rpm 20rpm Immediately bd PST Threshold 8 Speed Arrive S HO6 17 Signal Width Orpm 100rpm 1rpm 10rpm Immediately Setting PST Group H07 Torque Control Parameters 0 Digital given Master Torque H07 03 St H07 00 Reference A 1 Al1 1 0 Immediately urd T Source 2 Al2 9 3 AI3 0 Digital given Auxiliary Torque H07 03 St H07 01 Reference Source 1 AI1 1 1 Immediately Set T B 2 Al2 8 3 AI 0 Master reference A Source 1 Auxiliary torque Hoz o2 Torque Reference reference B 1 0 Immediately Stop T Selection Source Setting 2 A B source 3 AJB switching 4 Communication given Torque Reference R nri H07 03 Keyboard Setting 100 0 100 0 0 1 0 0 Immediately tial T Value 9 Torque Reference St H07 05 Filtering Time 0 00ms 655 35ms 0 01ms 0ms Immediately Setting PST Ho7 loe Torque Reference e 655 35ms 0 01ms 0ms Immediately StP PST Filtering Time 2 Setting 253 Chapter 12 Appendix 1S500 Servodrive User Manual Function Code Name Setting Range Min Unit Factory Setting When Enabled Data Type Related Mode H07 Torque Limit Source 0 Positive and negati
191. ication and External Dimension 2 Installed near a heating unit Minimize the heat radiating from the heating unit as well as any temperature rise caused by natural convection so that the temperature around the servodrive is controlled within 40 C 3 Installed near a source of vibration Install a vibration isolator on the servodrive to avoid subjecting it to vibration 4 Installed at a Site Exposed to Corrosive Gas Corrosive gas does not have an immediate effect on the servodrive but will eventually cause the electronic components and contactor related devices to malfunction Take appropriate action to avoid corrosive gas 5 Other Situations Do not install the servodrive in hot humid locations or locations subject to excessive dust or iron powder in the air 3 2 2 Installation Direction Install the servodrive perpendicular to the wall as shown in the following figure The servodrive must be oriented this way because it is designed to be cooled by natural convection or a cooling fan Secure the servodrive using two to four mounting holes The number of holes depends on the capacity Fan 50mm above e ae Worl fla Tell eda lier eri feries Je s lon lan Lies pa 03 E D E luo oj aji pE eq j Gs 9 i es 2 Me lea z Ventilation 50mm above Install the servodrive perpendicular to the wall and make the front panel
192. ide to 2nd gm Horizontal 2 3 6 Vibration Level The vibration level for servomotor at rated rotating speed is V15 Note Vibration level V15 indicates maximum vibration amplitude of 15u m or less when servomotor singly rotates at rated speed 28 IS500 Servodrive User Manual Chapter 2 Servomotor Specification and External Dimension 2 4 Corresponding Relationship between Torque and Speed In the following figures A indicates continuous working area and B indicates short time working area ISMH1 20B ISMH1 40B ISMH1 758 O ex D go o Ba 3 son 3 Q an Q 402 2 ea a E 30 3 Zi 2031 0 EET z gt o z Torque N m ISMH2 10C30CCl ISMH2 15C30C0 IstiH2 20C30CD ISMH2 25C30CD O e209 wo 8 o zB o E xos Z wo os 15 1 20 a Ss 10 1 20 24 30 Torque N m Torque N m Torque N m Torque N m ISMH2 40C30CL ISMH2 50C30CD p eoo Y uo stoo gt 00 B 4 05 amp cor gt o EL 2009 F 2009 Z uo Zw 9 10 20 20 4 10 29 39 40 o 10 20 30 5 0 Torque N m Torque Nm Torque N m SMH3 23C ISIMH3 44C ESMH3 35B15CC ISMH3 13C15CC1 ISMH3 18C15CD IS MSS EMT SIS 3520 o 9 so SES pd E o Qa Qa 5 E 2 a E s 9 10 1 29 10 20 33 40 Torque N m Torque N m Torque N m Torque N m ISMH32 55C ISMH3 75C ISMH3 87810CD ISMH3 12C10CC 6 1020 30 45 Led 10 gt 7 o us Torque N m Torque N m Torque Nm Torque N m ISMV2 28C ISMV3 44C ISMV3 55C ISMV 75C M2000 30 0 3 3
193. ify the flashing digit Level I menu lt um Select function NODE HO 7 0 3 E 71s code number A A Y Level II menu MODE B 0 pa SEL done Set function code value wart lt SET MODE After a change is saved by pressing SET done is displayed done is not displayed if the modified value remains the same You can exit from the status monitoring 79 Chapter 6 Digital Operator IS500 Servodrive User Manual mode and enter the parameter mode to query and perform modification by pressing MODE 6 2 Parameter Setting and Display 6 2 1 Parameter Modification Property and Display Characteristics For displayable parameters running parameters that are displayed without flashing digit after entering level Il menu the SHIFT UP DOWN key becomes invalid For parameters that are settable after shutdown they can be changed only after the servo is disabled 6 2 2 Setting Parameters of 5 Digits or Less The 5 digit parameters within the range of 9999 to 99999 can be displayed or edited on the Nixie tube display interface 6 2 3 Setting Parameters of 6 Digits or More For parameters out of the range of 9999 to 99999 6 or more digits will be required The digital operator displays the parameters of 6 digits or more in the 4 digit X 3 page mode The sign blinking on the leftmost of each page indicates the displayed segment The following figure shows a param
194. igger included Once the execution is complete the allocated DO terminal outputs the interrupt length completed signal FunOUT 15 enabled At this time the host computer should set DI interrupt clearing signal enabled edge enabled The motor is unlocked and then responds to other position references If the lock state is unnecessary during execution of interrupt length reference set H05 29 to 0 The lock clear signal is disabled The motor responds to position reference after completion of interrupt length reference W Related Function Code To enable the interrupt length function set H05 23 enabled To start the function enable the interrupt length trigger signal DI9 The speed of interrupt length is set via HO5 26 It should be noted that the displacement and speed are set before electronic gear and should be adjusted when electronic gear changes so as to prevent malfunction Function H05 H05 H05 H05 H05 Code 23 24 26 27 29 Interrupt Interrupt Length pud ration Length lock Name Length Length Running Deceleration clear signal Enabled Displacement Speed time enabled Setting 0 Disabled 0 Disabled Range 1 Enabled 0 1073741824 1 9000 0 1090 1 Enabled 1 Reference Min Unit 1 Unit 1rpm 1ms 1 Factory Setting 0 10000 200rpm 10ms 1 When Enabled upon j E power on Immediately Immediately Immediately Immediately 114 IS500 Servodrive User Manual Chapter 7 Setting
195. igin return deceleration point represents origin switch 2 Origin of forward origin return deceleration point Origin Return represents signal Stop H05 31 Mode Zz 1 0 Immediately Setti P e etting 3 Origin of reverse origin return deceleration point represents signal Z 4 Origin of forward origin return deceleration point represents 5 Origin of reverse origin return deceleration point represents origin switch High speed Search for Stop H05 32 Original Switch 0 3000 1rpm 100rpm Immediately Setting P Signal Speed Low speed Stop H05 33 Search for Origin 0 1000 1rpm 10rpm Immediately Setti P s etting Switch Speed Limit Acceleration Deceleration Sto H05 34 Time when 0 1000 ms 1000 Immediately S P P etting Search Origin Limit the time to Sto H05 35 search origin 0 65535 ms 10000 Immediately Setin P g WT 1 Mechanical Origin 1073741824 Stop HOS 336 offset 1073741824 eal la Immediately Setting P Servo Pulse ef aes eee After Stop H05 38 Output Source 1 0 PST Selection synchronous Restart Setting output 251 Chapter 12 Appendix 1S500 Servodrive User Manual Function 7 A Factory When Data Related Code Name pening Range Meee Setting Enabled Type Mode Gear ratio real 0 Non real time time modification switching Stop HOS 39 and DI switching 1 Real time f E Immediately Setting enable switching Group H06 Speed Control
196. ignal CLR falling Note Signal CLR connected indicates a current of 6 10mA flows into signal CLR For the wiring refer to 5 3 1 7 3 4 Setting the Electronic Gear The electronic gear is set through function codes from H05 07 to H05 13 There are two electronic gear ratios and the selection of an electronic gear ratio is set through signal FunIN 24 If it is disabled ratio 1 is selected by default If it is enabled ratio 2 is selected Note The two gear ratios can be switched only when the time of non position reference input exceeds 10ms 105 Chapter 7 Setting of Servodrive General Function Codes 1S500 Servodrive User Manual Function H05 H05 H05 H05 H05 Code 7 9 11 13 39 Gear Ratio Electronic Electronic Electronic Electronic tae on Name Gear Ratio 1 Gear Ratio 1 Gear Ratio 2 Gear Ratio 2 and DI Numerator Denominator Numerator Denominator Switching Enabled 0 No real time Setting 1 to 1 to 1 to 1 to switching Range 1073741824 1073741824 1073741824 1073741824 1 Real time switching Min Unit 1 1 1 1 1 Factory Setting 4 1 4 1 0 OEC Immediately Immediately Immediately Immediately Immediately Enabled Data Type Stop Setting Stop Setting Stop Setting Stop Setting Stop Setting Related Mode P P P P P Note that 0 001 lt Gear Ratio lt 4000 If the deceleration ratio of the servomotor and the load shaft is given as n m where m is the ro
197. imes In general control applications the inertia ratio is about 10 times In applications not requiring high response and precision the inertia ratio can be less than 30 times It is more difficult to adjust if the inertia ratio is more than 30 times which is applicable for a small number of the rotary device and the acceleration deceleration time cannot be too short In high response applications with large inertia it can be compensated by PID algorithm that means increasing the rigidity level increasing speed position loop gain However the allowable rigidity level is limited by the servo bandwidth In this application the system oscillation will occur WB Description of Load Inertia Ratio Identification Off line inertia identification function means that the motor can drive the load according to the forward reverse rotation curve The function is similar to JOG and its running curve speed time is shown as below 181 Chapter 9 Adjustments IS500 Servodrive User Manual Rotor revolutions Core H0907 for a Speed rpm complete Set H Od 02 to 1 and long press the identification only down arrow key The motor performs for display reverse rotation as shown in the following figure After you release the Max speed Release key the motor enters the position H0900 the key t ddressing status enter the position positioning mode ms k lerati cceleration W a Waiting Time H0901
198. in overshooting or undershooting which can be suppressed by using the mode switch via position error pulse Without mode switch Without mode switch Motor Speed reference Motor speed Motor speed p Overshoot Undershoot Time V Increase speed speed ut loop gain Long adjustment time PR Control overshoot With mode switch andiundersho t Adjustment time 9 3 Servo Gain 9 3 1 Parameters of Servo Gain The servo gain is adjusted via the following parameters H08 00 Speed loop gain H08 01 Speed loop integral time constant H08 02 Position loop gain H07 05 Torque reference filter time constant Servodrive is used with the analog voltage reference in the speed control mode The position loop is controlled on host controller so adjust the position loop gain on the host controller When the gain cannot be adjusted on host controller you can adjust the gain by corresponding analog to speed dimension Depending on the setting sometimes the servo motor will not reach maximum speed 9 3 2 Basic Principle of Servo Gain Adjustment The servo system has three feedback loops position loop speed loop and current loop 2472 IS500 Servodrive User Manual Chapter 9 Adjustments The innermost loop must have the highest responsiveness And the middle loop must have higher responsiveness than the outermost If this principle is not followed vibration or responsiveness decreases will result Since the curren
199. ing edgeis 1 0 id Ruming Logic Selection Restart Setting enabled 3 Falling edge is enabled 4 Both rising and falling edge are enabled Input function code 0 1 32 DI4 Terminal 0 No Definition After Runnin H03 08 Function 1 32 FunIN 1 32 1 2 Restart Setting Selection Refer to DIDO Basic Function Code Table Input polarity 0 4 0 Low level is enabled 1 High level is enabled R 2 Rising edgeis 1 0 RM a enabled 3 Falling edge is enabled 4 Both rising and falling edge are enabled Terminal Logic H0S 03 Selection 239 Chapter 12 Appendix 1S500 Servodrive User Manual Function Code Name Setting Range Factory Min Unit Setting When Enabled Data Type Related Mode H03 Terminal Function Selection Input function code 0 1 32 0 No Definition 1 32 FunIN 1 32 Refer to DIDO Basic Function Code Table After Restart Running Setting HO3 11 DI5 Terminal Logic Selection Input polarity 0 4 0 Low level is enabled 1 High level is enabled 2 Rising edge is enabled 3 Falling edge is enabled 4 Both rising and falling edge are enabled After Restart Running Setting H03 DI6 Terminal Function Selection Input function code 0 1 32 0 No Definition 1 32 FunIN 1 32 Refer to DIDO Basic Function Code Table After Restart Running Setting H
200. input through AI1 Al2 Al13 is lower than the zero clamp value set in H06 15 the servodrive enters the servolock state In the servolock state the servomotor is locked within zero clamp effective unit one pulse That is the servomotor will return to the zero clamp position even if it rotates due to 92 IS500 Servodrive User Manual Chapter 7 Setting of Servodrive General Function Codes an external force The zero clamp function is enabled in the speed control mode when the host controller does not form a position loop control Servolock It indicates that servomotor is locked through the zero Terminology position reference in the position control mode Servo unit CN1 Speed V REF speed reference Speed reference Alx Zero clamp value analog Alx H06 15 Zero clamp DI i ON l signal DIx x ZCLAMP signal input OFF Zero clamp is l l n performed l OFF Pl OFF x y indicates No such as 1 2 on oNI ION If vibration occurs when zero position fixed function is enabled you can set the position loop gain through H08 02 If the 2nd gain switching function is enabled 2nd Position loop Gain H08 05 also needs to be adjusted The input signal is as follows Code FunIN 12 Signal Name ZCLAMP Function Name Zero Clamp Function Enabled Signal Enabled Zero Clamp Function enabled Description Disabled Zero Clamp Function prohibited Status Allocation Remar ZCLAM function takes effect when the
201. ion Enabled Reverse direction It s necessary to set the logic of corresponding DI to 0 or 1 To select stepping given as the position reference source set H05 00 to 1 and then set the position reference units for stepping in H05 03 The motor speed during execution of the stepping is determined by the electronic gear and a default parameter as below Steady state motor speed 24 rpm X Electronic gear Note The speed reference range is determined by the above formula while the speed reference direction is determined by the set position direction Signal POSSTEP must be enabled when stepping given is selected as the position reference source Only in this case can the servodrive start acquiring the stepping position reference After signal POSSTEP is enabled servodrive starts to execute the position reference set in H05 03 and then accepts signal POSSTEP If signal POSSTEP is always disabled the position reference output is zero Signal POSSTEP will not be accepted during servodrive operation H05 Function Code 03 Name Stepping Setting Range 9999 to 9999 reference units Min Unit 1 reference unit Factory Setting 50 When Enabled Immediately Data Type Stop Setting Related Mode P 102 IS500 Servodrive User Manual Chapter 7 Setting of Servodrive General Function Codes 7 3 2 Acquiring the Pulse Reference E Setting Pulse Reference Input Signals
202. ion of Servo System 1 2 Servodrive Model 1 2 1 Servodrive Designation Rules Mark Series No IS500 Servodrive IS500 A S 5R5 Mark Mounting Mode Substrate installation standard Product Category General Mark vos orresponding eve Rated Output Current S 220V RU Corresponding Rated Output 38A 55A 7 6A 84A 11 6A Current 1 2 2 Servodrive Nameplate MODEL I8500AS5R5I POWER In 5 5A Imax 16 9A INPUT 3PH AC220V 3 7A 50Hz 60Hz OUTPUT 3PH AC220V 5 5A 0 400Hz S N Nameplate Shenzhen Inovance Technology Co Ltd Chapter 1 Selection of Servo System IS500 Servodrive User Manual 1 3 Servo System Configuration Standard ISMH servomotor with maximum rotating speed higher than rated value 1S500 servodrive with 220V AC power input Servodrive model IS500 nnnunl Rated Max Servomotor Model Single Three phase Speed Speed Capacity 1SMoo oooooo0 phase AC220V AC220V 200W H1 Low 20B30CB S1R6 6000rom 400W inertia small 40B30CB S2R8 P 750W capacity 75B30CB S5R5 3000rpm 1000W H2 Low 10C30CB S7R6 inertia 5000rpm 1500W medium 15C30CB S012 capacity 850W 85B15CB S7R6 1500 3000 H3 Low iid rpm 4300w inertia 13C15CB S012 870W medium 87B10CB S7R6 1000rpm 2000rpm zoow capacity 12C10CB 5012 H4 Medium 3000rpm 6000rpm 400W Inertia small 40B30CB S2R8 capacity
203. iring 1 Wiring Example The servodrive uses high speed switching components in the main circuit which may result in switch noise To prevent this correctly wire and ground the servodrive The servodrive has an internal microprocessor CPU Thus install a noise filter properly to protect it from external noise An anti interference wiring is shown as below 73 Chapter 5 Cabling IS500 Servodrive User Manual Noise filter Note 3 Servodrive AC200V A L1 U or L2 V 4 M AC380V le d L3 Ww 9 Casing A above 3 5mm CN1 FX j PG Note 1 T L1C L lt Y L2C CN2 a 3 L e Operation relay sequence e Signal generation circuit provided by customer AAAA Note 3 Note 2 More than Above i 2 0mm 3 5mm AVR HE ALE nes J E ae nn M fe Casing L Casing abov above 2 0mm Casing Above 35mm Noted 3 5mm Note 1 az Ground Ground Ground to ree m plate an independent ground For ground wires connected to the casing select a wire of at least 3 5mm2 thick preferably plain stitch cooper wire p represents twisted pair wires When installing a noise filter follow the precautions on using the noise filter described below 2 Correct Grounding a Grounding the servomotor shell Make sure to connect
204. ite 32 bit function code H05 07 There are two request frames to write 32 bit function code 0x06 and 0x10 If 0x06 is used two write in references are required to write HO5 07 and H05 08 respectively 01 06 05 07 00 02 CRCL CRCH 01 06 05 08 00 01 CRCL CRCH Note This frame writes 0x00010002 that is 65538 into function code H05 07 Only one write in reference is required if Ox10 is used 01 10 05 07 00 02 04 00 01 00 02 CRCL CRCH Note High bit 0x0001 is before low bit 0002 10 3 6 CRC Communication between the host computer and servodrive is implemented via consistent CRC algorithm Otherwise it may result in CRC error The servodrive use 16 bit CRC with low byte followed by high byte CRC function is as follows Uint16 COMM CrcValueCalc const Uint16 data Uint16 length Uint16 crcValue Oxffff int16 i 197 Chapter 10 Communication IS500 Servodrive User Manual while length crcValue data for i 0 i lt 8 i if crcValue amp 0x0001 crcValue crcValue gt gt 1 0xA001 else crcValue crcValue gt gt 1 return crcValue 10 3 7 Signed Number in HEX To write in 16 bit signed function code it is necessary to express the data in the HEX complementary code format If the data is greater than or equals 0 the value of complementary code equals that of original code without
205. ive User Manual Chapter 7 Setting of Servodrive General Function Codes Function Code Setting Setting Result Description n 100 H03 53 100 HENCE e dies H03 50 10V Dod H03 51 100 En uc Eas H03 52 OV m AV SVIOVI2V Unipolarity signal input indicates the bipolarity signal Determine the control variable range that corresponds to 100 full scale through function codes H03 80 and H03 81 H03 H03 Function Code 80 81 Name Analog100 Corresponding Analog100 Corresponding Speed Value Torque Value One time to eight times of Setting Range Orpm to 9000 rpm rated torque Min Unit 1rpm One time rated torque Factory Setting 3000rpm One time rated torque When Enabled Immediately Immediately Data Type Stop Setting Stop Setting W Zero Tuning Analog channels also have the zero tuning function When the reference analog voltage is OV a ground voltage difference exists In this case you can remove the voltage difference through zero tuning function Note that the analog scale may be shortened if zero tuning is overlarge Zero tuning includes automatic tuning and manual tuning For automatic tuning you can set HOd 10 to 1 2 or 3 to select the corresponding analog channel Tuning values are saved in H03 54 H03 61 and H03 68 respectively Function HOd H03 H03 H03 Code 10 54 61 68 Analog channel Name automatic adjustment Al1 Zer
206. k Error selection may be faulty support Error Name Cause Confirmation Solution Sliding phenomena Er850 appeared for long time Ask for technical pare ru M al i working of the servo support 3 sin motor ppott Replace the servo drive Er A21 ERU S Logic ded ales or asking for technical pport support Encoder disconnected Encoder cable is Check the wiring M eder i or contact loosened error of encoder Er A34 Encoder The motor model Ask for technical Ask for technical support Encoder type selection may be faulty Ask for technical support Ask for technical support Encoder wiring or Electronic Gear Setting Error ratio exceeds the specification range 0 001 4000 function code H05 11 H05 10 ER A35 Signal Z loss contact error Check wiring m Check the main Incorrect wiring or contact UVW wiring is incorrect circuit cable error of encoder Check the servo Servodrive gain is too drive gain is too Increase the small small gain H08 02 Reduce the position The frequency of the Reduce the pulse reference pulse frequency position reference pulse frequency to or reference acceleration is too high operate Or reconsider the electronic gear ratio Apply the smoothing Reduce the 4 A Er b00 The position reference reference ieee acceleration is too fast Soca pranan to accaleration deceleration P time constant Excessive Position Check the error Error l
207. lated AU Code Name Setting Range Min Unit Type Mode Description Bus Voltage H0b 40 upon Selected 0 1V Display Error Input Terminal H0b 41 Status upon Display Error Input Terminal H0b 42 Status upon Display Selected Error Note In the speed torque position mode HOb 07 HOb 13 and HOb 17 are able to count When the mode is switched they are not reset Codes HOb 17 and HOb 07 supports power off memory and HOb 13 counts only when the servo is enabled In three facultative modes enabled or standby set H05 30 origin return to 6 and HOb 07 and HOb 17 are cleared to zero providing that H05 36 is zero You can set HOb 17 to the value as required by setting H05 36 Note Monitoring of I O Terminals A Nixie tube displays two DIs DOs Upper blinking indicates high electrical level Lower blinking indicates low electrical level All displayed contents correspond to physical DI DO The status of DI DO uses 16 status digits In standard configuration there are 10 Dis and 7 DOs The following figure shows the status of DI Upper 8 digits Lower 8 digits 4 High level status imm pia eg lt Low level status 10 9 8 7 65 4 3 2 1 Terminal layout 2 y GQ9OURUDRD DD o T on o a RO N ll o y dH WW W HW HW W d o oo gt O o0 O 83 Chapter 6 Digital Operator IS500 Servodrive User Manual 84 Setting of Servodrive Ge
208. lay output or open collector output Relay output Open collector output Servodrive Servodrive 24V 24V 3 3k2 3 3kQ DH y 46 8 Dn 46 ERAI COM 50 COM 50 5 3 5 Interface for Output Circuit 1 Encoder Output Circuit CN1 connector terminals 33 34 phase A output 35 36 phase B output and 19 20 phase Z output are described below Encoder circuit outputs signals through differential driver It comprises the position control system at the host controller and meanwhile provides feedback Use the differential receiving circuit at the host controller Servodrive PAO PBO PZO 33 35 19 PAO PBO PZO 34 36 20 69 Chapter 5 Cabling IS500 Servodrive User Manual CN1 connector terminals 17 50 phase Z open collector output terminals are described below In addition the encoder phase Z pulse dividing output circuit outputs signals through open collector It comprises the position control system at the host controller and meanwhile provides feedback Use the photocoupler circuit relay circuit or bus receiving circuit at the host controller side Servodrive Maximum allowable voltage current of the servodrive internal photocoupler output circuit is as follows Voltage DC30V Current DC50mA 2 Digit Output Circuit CN1 connector terminal 29 DO digital output is described below a DO1 DO4 Photocoupler Output R
209. llocate DI4 with signal FunIN 20 POSSTEP via H03 08 20 so that the motor rotates after switching on DI4 6 Restart the servo and switch on DI4 You will find the motor stops after it rotates one revolution at 48rpm from HOb 00 153 Chapter 8 Operation 1S500 Servodrive User Manual 7 To change the rotating speed change the electric gear ratio Speed rpm 24 x Electrictric gear ratio rpm 8 To change the motor travel change the stepping and electric gear ratio Revolutions r Stepping X Electric gear ratio 10 000 8 4 2 Pulse Reference WB Purpose Take PLC pulse output as reference source The motor rotates if there is pulse input and stops once the pulse input stops The forward reverse rotation is also controlled The motor stops after it rotates one revolution at 6rpm every time HM Procedure Step Operation 1 Prepare a PLC that has been programmed and can implement intermittent output of 100kHz pulse Each output lasts 10 seconds 2 Wire YOO of PLC with PULS of CN1 COM1 of PLC with COM of CN1 and SIGN of CN1 with COM of CN1 3 Select the control mode via H02 0071 position control 4 Select position reference source A via H05 00 0 pulse reference Designate electric gear ratio via H05 07 H05 0971 100 1 100 Turn the servo ON first Then enable the PLC output 6 Note Do not reverse the sequence Otherwise an error occurs From HOb 00 you will find the motor r
210. low ani lackz 6 Choke coil 45V Red j J 5V 13 Black 1 1 GND 14 PCV ONI zr S gt PGOV Ts t 1 ov ov Smoothing capacitor Connector shell 77 7 C tor shell Shield wi R terminator 220 470 Q Connector shell ield wire Pemestr snel C Decoupling Capacitor 0 1 1 F Note 1 The pin number for the connector wiring depends on servomotor model 3 6 2 5 1 4 9 8 7 pin number for the ISMH1 ISMH4 and ISMV1 servomotors A B C D E F G H Pin number for the ISMH2 and ISMV2 series Ay ISMH3 and ISMV3 series servomotors o Wd represents twisted pair wires T 60 IS500 Servodrive User Manual 2 Serial Incremental Encoder Chapter 5 Cabling Note Servodrive Host controller r Line receiver Phase A PAO pn Ew lt PAO T R Phase A Ww PhaseB 35 PBO h Phas B TNZ R36 PBO 171 R POCHRS C Phase Z lt Yd 3 A Blue PStJ 15 T 19 PCO i A Phasd Z 6 B Purple PS 7 16 20 PCO 7 R t Yt rd 1 oy oa 4 r C rc ov LIA SV 9 G White 5V 13 PG 5 P 8 H P Black 17 GND 14 ane S to 5V a CN1 e ov 14 86 ov Smoothing capacitor Connector C R terminator 220 4700 7 Connector shell Shield wire Connector shell termina tor D C Decoupling Capacitor 0 1 u F 1 The pin number for the connector wirin
211. mV OmV Immediately Setting Ho3 zo A 3 Input Filtering 0 Goms 655 35ms 0 01ms 2 00ms Immediately St Time Setting Analog100 St H03 80 Corresponding Orpm 9000rpm 1rpm 3000rpm Immediately Setia Speed Value 9 Analog100 i One time One time H03 81 Corresponding s rated rated Immediately Ed Torque Value q torque torque 8 Group H04 Terminal Parameters Output Code 1 16 0 No Definition DO1 Terminal 1 16 St Ho4 00 Function FunOUT 1 16 1 1 Immediately Pari Selection Refer to DIDO 9 function selection code definition Reverse Setting of Output Polarity DO1 Terminal 0 1 St H04 01 Logic Level 0 Output low level 1 0 Immediately an Selection when enabled 9 1 Output high level when enabled 243 Chapter 12 Appendix 1S500 Servodrive User Manual Function Code Name Setting Range Factory Min Unit Setting When Enabled Data Type Related Mode H04 02 DO2 Terminal function selection Output code 1 16 0 No Definition 1 16 FunOUT 1 16 Refer to DIDO function selection code definition Immediately Stop Setting H04 03 DO2 Terminal Logic Level Selection Reverse Setting of Output Polarity 0 1 0 Output low level when enabled 1 Output high level when enabled zx eo Immediately Stop Setting H04 04 DOS Terminal Function Selection Output Code 1 16 0 No Definition 1 16 FunOUT 1 16 Refer to DIDO func
212. me peng REMEE iin Unik Setting Enabled Type Mode 1073741824 1 10000 Hii 42 Hh Segment 1073741824 reference reference Immediatey Running p Displacement z Setting reference units unit units Maximum Running Speed Running H11 44 at 7th Segment Orpm 9000rpm rpm 200 Immediate Setting P Displacemen Acceleration Deceleration Time Running H11 45 at 7th Segment 0 1000 1ms 100ms Immediate Setting P Displacemen Waiting Time H11 4e After 7th Segment 5 550p 1ms 1s 10 Immediately Running p Displacemen Setting Completion 1073741824 1 10000 H11 47 oth Segment 1073741824 reference reference Immediately Running p Displacemen Setting reference units unit units Maximum Running Speed j Running H11 49 at 8th Segment Orpm 9000rpm rpm 200 Immediate Setting P Displacemen Acceleration Deceleration Time Running H11 50 at 8th Segment 0 1000 1ms 100ms Immediate Setting P Displacemen Waiting Time H11 51 After 8th Segment 0 10000 1ms 1s 10 Immediately Running p Displacemen Setting completion 1073741824 1 10000 H11 52 Sh Segment 1073741824 reference reference Immediately RUNING p Displacemen 3 3 Setting reference units unit units Maximum Running Speed f Running H11 54 at 9th Segment Orpm 9000rpm rpm 200 Immediate Setting P Displacemen Acceleration Deceleration Time Running H11 55 at 9th Segment 0 1000 1ms 100ms Immediate Setting P Displacemen Waiting Time H11 5
213. mmediately Setting P Displacement Acceleration Deceleration Time Running H11 30 at 4th Segment 0 1000 1ms 100ms Immediately Setting P Displacement Waiting Time H11 a1 after 4th Segment I5 0509 1ms 1s 10 immediately Running Displacement Setting Completion 5th 1073741824 1 10000 Runni H11 32 Segment 1073741824 reference reference Immediately cum P Displacement reference units unit units 8 Maximum Running Speed E Running H11 34 at 5th Segment Orpm 9000rpm rpm 200 Immediately Setting P Displacement Acceleration Deceleration Time Running H11 35 at 5th Segment 0 1000 1ms 100ms Immediately Setting P Displacement Waiting Time after 5th Segment gt Running H11 36 Displacement 0 10000 ims 1s 10 Immediately Setting P Completion 1073741824 1 10000 H11 37 8th Segment 1073741824 reference reference Immediately Running p Displacement Setting reference units unit units Maximum Running Speed Running H11 39 at 6th Segment Orpm 9000rpm rpm 200 mmediately Setting P Displacement Acceleration Deceleration Time Running H11 40 at 6th Segment 0 1000 ims 100ms mmediately Setting P Displacement Waiting Time after 6th Segment Running H11 41 Displacement 0 10000 ims 1s 10 mmediately Setting P Completion 264 IS500 Servodrive User Manual Chapter 12 Appendix Function 4 Factory When Data Related Code Ke
214. n reference is A Status Allocation Chapter 7 Setting of Servodrive General Function Codes Both sources A and B can be generated in the following ways 1 Digital setting also called keypad setting A preset speed is saved in H06 03 which is used to generate the speed reference Analog speed reference It is a speed reference generating mode that transforms externally input analog voltage signals into speed reference signals that control the motor The IS500 servodrive has three analog speed signal input channels Al1 and Al2 are common input sources AI3 is a high precision input source which is generated by an external high precision AD AI3 of P model does not have a high precision AD Jog speed reference A preset speed reference is saved in H06 04 You can select the speed direction by configuring two external Dis or through the debugger The Jog speed reference direction changes with external DI input MS speed reference The internal register stores 16 groups of speed references and related control parameters You can select MS speed reference from 1 segment to maximum 16 segments through an external DI or in an internal designated mode 89 Chapter 7 Setting of Servodrive General Function Codes 1S500 Servodrive User Manual 7 2 2 Ramp Function Control In the speed control mode jumping speed reference may make the motor jump or vibrate fiercely which may damage machine parts In this case the ramp func
215. nIN 32 After Restart Running Setting H03 02 DI1 Terminal Function Selection Input Function Code 0 1 32 0 No Definition 1 32 FunIN 1 32 Refer to DI DO Basic Function Code Table After Restart Running Setting H03 03 DI1 Terminal Logic Selection Input Polarity 0 4 0 Low level is enabled 1 High level is enabled 2 Rising edge enabled 3 Falling edge enabled 4 Both rising and falling edge are enabled After Restart Running Setting H03 04 DI2 Terminal Function Selection Input function code 0 1 32 0 No Definition 1 32 FunIN 1 32 Refer to DIDO Basic Function Code Table After Restart Running Setting 238 IS500 Servodrive User Manual Chapter 12 Appendix Function 4 Factory When Data Related Code Keme pong RENEE Min Unik Setting Enabled Type Mode Input polarity 0 4 0 Low level is enabled 1 High level is enabled DI2 Terminal 2 Rising edge is After Running Logic Selection enabled Restart Setting 3 Falling edge is enabled 4 Both rising and falling edge are enabled H03 05 Input function code 0 1 32 DI3 Terminal 0 No Definition After Runnin H03 06 Function 1 32 FunIN 1 32 1 5 Restart Being Selection Refer to DIDO Basic Function Code Table Input polarity 0 4 0 Low level is enabled 1 High level is enabled Ho3 o7 P S Terminal 2 Ris
216. nabled 1 Output 0 upon enabled E Immediately Stop Setting H17 59 VDO14 Terminal Function Selection Output Code 1 16 0 No Definition 1 16 FunOUT 1 16 Refer to DIDO function selection code definition Immediately Stop Setting H17 60 VDO14 Terminal Logic Level Selection Output polarity reversal setting 0 1 0 Output 1 upon enabled 1 Output 0 upon enabled Immediately Stop Setting H17 61 VDO15 Terminal Function Selection Output Code 1 16 0 No Definition 1 16 FunOUT 1 16 Refer to DIDO function selection code definition Immediately Stop Setting 284 IS500 Servodrive User Manual Chapter 12 Appendix Function 4 Factory When Data Related Code Nae pono REMEE Min Ens Setting Enabled Type Mode Output polarity reversal setting VDO15 Terminal 0 1 H17 62 Logic Level 0 Output 1 upon 1 0 Immediately Selection enabled 1 Output 0 upon enabled Output Code 1 16 0 No Definition VDO16 Terminal 1 16 H17 63 Function FunOUT 1 16 1 0 Immediately Selection Refer to DIDO function selection code definition Output polarity reversal setting VDO16 Terminal 0 1 H17 64 Logic Level 0 Output 1 upon 1 0 Immediately Pim Selection enabled 1 Output 0 upon enabled H30 Communications read servo status variables the panel is not available Bit0 11 Reserved Bit12
217. ne KENIA TRE eiennenn 38 Chapter 4 Cable Specifications and Dimension Diagram 0nn 42 4 1 Servomotor Main Circuit Cable 55 L M seien nnn irer inrer tenete Enter denda 42 4 2 Servomotor Encoder Cable 85 L P sees inrer en nnns irerhenei Enea nies 43 4 3 Servodrive VO Cable S5 L SQQ raters sr eene sree ese ain eenri er rt4m edu repeat Entesed es ini 44 4 4 Servodrive PC Communication Cable 85 L T00 3 0 s 46 4 5 Servodrive PLC Communication Cable S5 L T02 2 0 s terest terres estes 47 4 6 Multi Servodrive Communication Cable S5 L T01 0 2 s estes 48 4 7 Servodrive Analog Monitoring Cable S5 L A01 1 0 s e n 48 4 8 Precautions on Using Bending Wires eee ireeetet inest in is 49 Chapter 5 Cabling 38 98 5 STR RATIS UI UE PUE Rus cR US Oils A ade Sue ets sud Susie ih E A ELM exe ioe ee Sic anevalla foie areca AUS eue eg 52 5 1 Wiring Main Circuit ebsbsateteteteasassssssatatcsbsetascsscset eatacosesssccssshtsteseececessssscsctoseeceont 52 52 Wiring Encoder DOPO 60 5 3 Wiring I O Terminals sosasasoososasasoososasasooossasesooossasasosossesassososesecooossasassoossasasoo 62 5 4 Wiring Holding Brake a cae Al 5 5 Wiring Analog Monitoring Signals 72 5 6 Wiring Communication Signals 72 5 7 Wiring and Anti interference octies ee enses niesese nee metis n metam nenne sisi nene 73 Chap er 6 Digital Operator eee ere eT RR RUE EN RS RE RE RR RUE RE E S qe E NE RR ssa e toe 78 6 1 Introduction to Operation Interface n Uo
218. neral Function Codes Chapter 7 Setting of Servodrive General Function Codes 1S500 Servodrive User Manual Chapter 7 Setting of Servodrive General Function Codes 7 1 Selection of Running Mode According to command source and running characteristics the servedrive has the following three running modes Position Control Generally displacement and rotating speed are determined by the number of input pulses and the frequency of input pulses They can also be directly given by communication This mode with strict requirements on velocity and position is mostly used in positioning devices 90 of servodrive s applications adopt the position control mode such as manipulator chip mounter engraving and milling machine and CNC machine Speed Control Speed control is realized by analog input digital given or communication given This mode is used by the constant speed feeding control system Some device like analog CNC engraving and milling machine puts position control in host controller and makes servo implement speed control only Torque Control Torque control is realized by changing the analog setting in real time or by changing corresponding address value via communication It is mainly applied in winding unwinding devices that have strict requirements on stress of the material such as coiling device or optical device The torque setting varies with the winding radius so that the stress of the material will not vary with the
219. ng edge 5 Not clear position deviation clear via CLR falling edge Stop Setting 16 1073741824 P 2500P After Stop H05 17 Encoder pulse Rev 1P Rev Rev Restart Setting 248 IS500 Servodrive User Manual Chapter 12 Appendix Function 4 Factory When Data Related Code Nae Seii RENEE Mir Unik Setting Enabled Type Mode 0 No speed feedforward 1 Internal speed feedforward 2 Al1 is used Speed to be the speed H05 19 Feedforward feedforward input 1 1 Immediately Control Selection 3 AI2 is used to be the speed feedforward input 4 AI3 is used to be the speed feedforward Stop Setting 0 Position deviation absolute value is less than position completion amplitude output 1 Position deviation absolute value is less than position completion Positioning amplitude output Completion Signal and the reference Stop COIN Output is zero after 1 9 Immediately Setting Condition position reference filtering 2 Position deviation absolute value is less than position completion amplitude output and the reference is zero after position reference filtering H05 20 Positioning 1 7 H05 21 Completion iid reference reference reference Immediately Amplitude unit units Stop Setting Positioning Completion 1 65535 reference Approach Signal units Amplitude 1 65535 reference reference Immediately unit units Stop
220. ng value is too large Generally set the speed feed forward gain below 8096 The logic block diagram of speed feed forward is shown as below 4 A3 gt 3 Al2 gt 2 Alt Different ial H05 19 0 H08 18 H08 19 Null Position loop gain H08 02 Position reference input Encoder feedback 7 Feed forward Control It indicates the necessary corrective action that is performed prior to external interference in the control system Once it is activated servo gain will rise and the response performance will be improved 9 2 2 Adjustment of Torque Loop 1 Adjustment of Torque Reference Filter Torque reference is configured with first order low pass filter Servo drive may result in the mechanical vibration Thus it is possible to eliminate vibration by adjusting the torque 166 IS500 Servodrive User Manual Chapter 9 Adjustments reference filter time parameters Smaller the value better high response control will be But it will be subject to mechanical inertia and load constraints Function Ge H07 Code 5 6 Name Torque reference filter time Torque reference filter time 2 Setting Range 0 00ms 655 35ms 0 00ms 655 35ms Min Unit 0 01ms 0 01ms Factory Setting 0 00ms Oms When Enabled Immediately Immediately Data Type Stop Setting Stop Setting Related Mode PST PST Tor
221. ning H11 79 at 14th Segment Orpm 9000rpm rpm 200 Immediate Setting P Displacemen Acceleration H11 go Deceleration Time 1999 ims 100ms_ _ immediately Running p at 14th Segment Setting Displacemen Waiting Time after H11 a1 14th Segment 9 49900 1ms 1s 10 Immediately Running p Displacemen Setting completion 1073741824 1 10000 H11 jaz 19h Segment 1073741824 reference reference Immediatey RUnning p Displacemen i Setting reference units unit units Maximum Running Speed Running H11 84 at 15th Segment Orpm 9000rpm rpm 200 Immediate Setting P Displacemen Acceleration H11 a5 Deceleration Time 1999 1ms 100ms Immediately Running p at 15th Segment Setting Displacemen Waiting Time after H11 sg 15th Segment 0 10000 1ms 1s 10 Immediately Rumning p Displacemen Setting completion 1073741824 1 10000 Hii jar 90 Segment 1073741824 reference reference Immediatey Running p Displacemen 3 Setting reference units unit units Maximum Running Speed Running H11 89 at 16th Segment Orpm 9000rpm rpm 200 Immediate Setting P Displacement Acceleration H11 g0 Deceleration Time 01000 1ms 100ms Immediately Running p at 16th Segment Setting 267 Chapter 12 Appendix 1S500 Servodrive User Manual Function 7 Factory When Data Related Code Mame SEMN RETRE Minuni Settin
222. ning ofHO8 00 H08 01 H08 02 and H07 05 which will have no impact on H09 05 System default rigidity level O indicates the default gain parameter HO800 400 H0801 20 H0802 20 The flow chart on setting rigidity level is shown as below Ensure inertia identification is performed or inertia ratio value is reasonable Y Select the appropriate rigidity level H09 05 according to the inertia ratio Y H0d11 enters JOG for trial operation Reduce the rigidity level H09 05 If mechanical YES vibration occurs NO Enlarge rigidity level H09 05 Check the esponding speed In the position mode H08 02 can be increased by 30 186 IS500 Servodrive User Manual WB Related Parameters Chapter 9 Adjustments Fumesion H08 H08 H09 Nama Average Value of Current Value after Moment Maximum Speed during Load Inertia Ratios of Inertia Ratio Filter Inertia Identification Setting 0 90 time to 120 00 0 90 time to 120 00 times 300rpm 1000rpm Range times Min Unit 0 01 0 01 1rpm Factory Setting 1 1 500 When Eae Immediately Immediately Immediately Data Type Stop Setting Stop Setting Stop Setting Related Mode PST PST PST Function H09 H09 H09 H09 Code 1 4 5 7 Acceleration Inertia Identification Rigidity Level Rotating Namal decelerati
223. nln 1 Funln 16 from low to high 0 always disabled 1 always enabled Each H03 01 binary bit corresponds to Funln 17 Funin 32 from low to high 0 always disabled 1 always enabled These two function codes are running setting effective after re power on The following table lists DI terminal signals Function Signal Definition Function Signal Definition Code Code Reverse FunIN 1 S ON Servo Enabled FunIN 17 N CL External Torque Limit ON Error Reset FunIN 2 ALM RST Signal FunIN 18 JOGCMD Forward Jog Proportional FunIN 3 P CON Motion Switch FunIN 19 JOGCMD Reverse Jog 138 IS500 Servodrive User Manual Chapter 7 Setting of Servodrive General Function Codes Function Signal Definition Function Signal Definition Code Code Main and T FunIN 4 CMD SEL Auxiliary Running FunIN 20 POSSTEP Niels Reference Switch p MS Running Reference Handwheel MF FunIN 5 DIR SEL Direction FunIN 21 HX1 Signal 1 Selection CMD 1 Internal FunIN 6 CMD1 Reference Switch FunIN 22 HX2 eae ignal 2 CMD1 Internal FunIN 7 CMD2 Reference Switch FunIN 23 HX EN Handwheel Enable Signal CMD2 Internal i FunlN 8 CMD3 Reference Switch FunIN 24 GEAR sEL Electronic Gear Selection CMD3 CMD 1 Internal Torque FunIN 9 CMD4 Reference Switch FunlN 25 TOQDirSel Reference CMD4 Direction Setting i Speed Funin 10 m1 sEL M
224. not bundle or run power and signal lines together in the same duct Keep power and signal lines separated by at least 30cm Otherwise malfunction may result Use twisted pair shielded wires as signal and encoder PG feedback lines Reference input lines must be no longer than 3m and encoder lines must be no longer than 20m Do not touch power terminals within 5 minutes after power off because high voltage may still remain in the servodrive Otherwise electric shock may result Perform inspection after ensuring the CHARGE indicator LED is OFF Avoid frequently turning power ON and OFF Do not turn the power ON or OFF more than once per minute Since the servodrive has a capacitor in the power supply a high charging current flows for 0 2 seconds when the power is turned ON Frequently turning the power ON and OFF may result deterioration in main power devices 5 2 Wiring Encoder 5 2 1 Encoder Signal Line Handling 1 Wiring saving Incremental Encoders Servodrive Host controller ry Line receiver Phase PAO 1 L eb PAO R gt Phase A W Phase B 35 PBO 1 K i d cna AL 36 JS PBO 3 RG Phase B n 3 A Blue 1 At 1 Phase C 19 PCO h T T Phase Z Blue ana pra A S 2 HK 20 PCO y RE Green A Bt 3 1 Green an Widck B5 4 Sr ov C 5v UT HH Yellow n Z 5 Yel
225. ns This section describes how to set general basic functions during servo operation 7 5 1 Setting the Servo ON Signal H Signal setting Code FunIN 1 Signal Name S ON Function MEOS Servo Enabled Dasein When enabled the servomotor enters the enabled status When disabled p the servomotor stops operating Status Allocation Remark Set the DI allocation function code corresponding to this signal Note FunIN x indicates that the function code of the DI input signal is x Setting the servo ON signal to always enabled If the S ON signal is not allocated as input through an external DI you can set the data bit corresponding to the function code H03 00 to allocate the S ON signal as always enabled or disabled Function H03 H03 Code 0 1 Nama FunINL is not allocated setting the DI FunINL is not allocated setting the DI to always enabled to always enabled 0 65535 0 65535 Settin BitO corresponds to FunIN 1 BitO corresponds to FunIN 17 R 9 Bit1 corresponds to FunIN 2 Bit1 corresponds to FunIN 18 ange ee is Bit15 corresponds to FunIN 16 Bit15 corresponds to FunIN 32 Unit 1 1 Factory Setting p 9 When Fnabled After Restart After Restart Chapter 7 Setting of Servodrive General Function Codes 1S500 Servodrive User Manual Data Type Running Setting Running Setting If the S ON signal is set to always enabled the servodrive enters the operation enabled
226. number Note Number 06 is expressed in HEX format and does not need conversion when it is filled in the DATA 0 192 IS500 Servodrive User Manual Chapter 10 Communication DATA 1 Start function code offset In function code H06 11 11 is the offset Notes Number 11 is expressed in decimal format here and needs to be converted to Hexadecimal number OxOB when it is filled in the DATA 1 DATA 2 Read function code number high 8 bits hexadecimal DATA 3 Read function code number low 8 bits hexadecimal CRCL CRC checksum low enabled byte CRCH CRC checksum high enabled byte END It is greater than or equals 3 5 characters free time indicating that one frame ends WB Response Frame Format START It is greater than or equals 3 5 characters free time indicating that one frame starts ADDR Servo shaft address hexadecimal CMD Reference code 0x03 DATALENGTH Function code byte number is equal to the read function code number N 2 DATA 0 Start function code value high 8 bits DATA 1 Start function code value low 8 bits DATA DATA N 2 1 Final function code low 8 bits CRCL CRC checksum low enabled byte CRCH CRC checksum high enabled byte END It is greater than or equals 3 5 characters free time indicating that one frame ends Note When reading 32 bit function code the function code value in the response frame follows the princi
227. ny speed in the allowable range WB Procedure Step Operation 1 Select the control mode via H02 00 0 speed control 2 Select speed reference via H06 02 0 source A 151 Chapter 8 Operation 1S500 Servodrive User Manual 3 Select speed reference source A via HO6 00 0 digital given 4 Set the speed via HO6 03 2000 2 000rpm 5 Set the acceleration time HO6 05 1000 1 000ms 6 Set the deceleration time HO6 05 1000 1 000ms 7 Set the maximum speed H06 07 3000 3 000rpm 8 Set the maximum speed in forward direction via HO6 08 1000 1 000rpm 9 Set the maximum speed in reverse direction via HO6 08 800 800rpm 10 Turn ON the Servo enabled S ON input signal The motor is found to rotate at the speed of 1 000rpm from HOb 00 11 Set H06 08 3000 The speed becomes the preset 2 000rpm from HOb 00 8 3 2 MS Speed B Purpose The servomotor runs at three speeds 50rpm 100rpm and 300rpm in cycle continuously It runs at each speed for 5 seconds requiring smoother speed change and smaller shock W Procedure Step Operation 1 Select the control mode via H02 00 0 speed control 2 Select speed reference via H06 0271 source B 3 Select speed reference source B via HO6 01 5 MS speed 4 Select MS speed running mode via H12 00 1 cycle run 5 Designate segments via H12 01 3 3 segments 6 Select running time unit via H1
228. o Offset AI2 Zero Offset AI3 Zero Offset Setting 500 0mV to 500 0mV to 500 0mV to Range Orpmi to 2000 prm 500 0 mV 500 0mV 500 0mV Min Unit 1rpm 0 1mV 0 1mV 0 1mV 143 Chapter 7 Setting of Servodrive General Function Codes 1S500 Servodrive User Manual Factory Setting 3000 rpm 0 mV 0mV OmV When Enabled Immediately Immediately Immediately Immediately mes Stop Setting Running Setting Running Setting Running Setting Operation steps of manual tuning are as follows 100 Offset range 500mV S00mV Offset in need of adjustment 12V Step Operation Description Designate an analog channel Al1 as reference source in the speed mode Set the function codes of group HOO Set function codes H03 52 H03 53 H03 2 Set the corresponding speed range 50 and H03 51 Enable the servo and set the analog reference of the host controller to 0 4 Observe whether the motor rotates If the motor does not rotate zero tuning 5 is not necessary If the motor speed reference increases If the motor rotates adjust H03 54 in h 6 the rotation direction until the motor speed increase with the increasing of H03 54 decrease the value of H03 54 stops vice versa H Setting the analog filtering time The filter is a 1st order filter that is used for filtering high frequency noise in analog sampling signals Set the
229. o alarm Surge Bqrvo alarm display suppressdr filter L1 L2 L3 M L1C L J Lac 31 DO4 ALM 32 DO4 ALM 24V 1RY Relay 1D diode COM WB Designing a Power ON Sequence When designing the power ON sequence please pay attention to the following precautions 1 Design the power ON sequence so that main circuit power supply is turned OFF when a servo alarm is output For more details on wiring see the previous circuit diagram 2 Upon the servodrive power on status changes of the output signal are shown as follows Control Power Supply Control Power Supply ON l 5V I Control program I initialization DO output O Normal output status Within Within During control power setup and control procedure initialization DO output is OFF When using the default logical method ON valid DO output state is determined to be invalid during power on initialization However the output logic can be flexibly configured When using the ON and OFF valid logic DO outputs may be mistaken for output valid Please pay attention to this 59 Chapter 5 Cabling IS500 Servodrive User Manual 5 1 5 Precautions on Wiring Main Circuit Do not connect the input power lines to output terminals U V and W Otherwise damage to the servodrive may result Braking resistor cannot be directly connected to between P and N terminals of the DC bus Otherwise fire may result Do
230. ode H08 15 Moment 6 inertia ratio H Setting of Position Loop Gain You can set position loop gain via the following function codes as required Function H08 Code 2 Name Position Loop Gain Setting Range 1 0Hz 2000 0Hz Min Unit 0 1Hz Factory Setting 20 02 When sells Immediately Data Type Running Setting 164 IS500 Servodrive User Manual Chapter 9 Adjustments Related P Mode The table here shows the servodrive internal position loop gain Higher the position loop gain faster the position control response will be with fewer errors But due to machine feature machine vibration may result due to excessive position loop gain The position loop gain is enabled in the zero position fixed mode 2 Adjustment of Speed Feed forward Speed feed forward reference is the function that reduces the positioning time by feed forward compensation in position control Speed feed forward can be connected externally In this case position reference is differentiated by host device to generate feedback reference Feedback reference and position reference are input into the servodrive simultaneously B Connection Mode Position reference from the host device can be connected via reference pulse terminal The speed feed forward reference is connected via analog input terminals Analog can be flexibly set to Al x via function codes where x 1 2 or 3 Host computer device Servo
231. ode Switch M1 Fun 26 SPDDirSel Reference Direction Setting Position FuniN 11 M2 SEL MSEL Mode FuniN27 POSDirSel Reference Direction Setting Zero position Internal MS FunIN 12 ZCLAMP Fixed Function FunIN 28 PosInSen Position Enabled Signal Enabled Signal Interrupt Length FunIN 13 INHIBIT Pulse Disabled FunIN 29 XintFree Status Clear Signal Forward Drive FunIN 14 P OT Disabled FunIN 30 G SEL Gain Switch FunlN 15 N OT Reverse Drive FuniN 31 OrgNear Origin Switch Forward External Origin Return FunIN 16 P CL Torque Limit ON FunIN 32 OrgChufa nabled For details of DI variables refer to the appendix Function Code Parameter List B Allocating DO Signals Dos output 17 effective variables FunOut 1 FunOut 2 FunOut 17 These variables are effective when they are allocated to DOs You can configure DO terminals freely through the panel or host controller For example to configure DO1 with signal S RDY set H04 00 to 1 There are two options for DO terminal logic 139 Chapter 7 Setting of Servodrive General Function Codes 0 Low level is enabled optocoupler ON 1 High level is enabled Optocoupler OFF 1S500 Servodrive User Manual If you want to set signal S RDY to high level enabled set H04 01 to 1 The following table lists DO terminal signals Note Do not allocate different DOs with the same function Otherwise DO setting fault occurs F
232. of the machine may shift due to gravity or external force before the brake operates WB Setting Brake Signal Output Time When Servomotor Rotates If a fault occurs or the servo is OFF during motor rotation the servomotor stops and the brake signal BK turns OFF In this case you can adjust the brake signal output time by setting H02 11 and H02 12 Note If a NO 2 fault occurs select zero velocity stop mode and follow the operation in Setting the brake signal BK output time when servomotor stops H02 H02 11 12 Function Code 132 IS500 Servodrive User Manual Chapter 7 Setting of Servodrive General Function Codes Name Holding Brake Reference Output Speed Limit Value Servo OFF Holding Brake Reference Waiting Time Setting Range O rpm to 1000 rpm 100 ms to 1000 ms Min Unit 1 rpm 1ms Factory Setting 100 rpm 500 ms When Enabled Immediately Immediately Data Type Stop Setting Stop Setting Related Mode PST PST The brake operates when either of the following conditions is satisfied After the motor enters the power off state its rotation speed is below H02 11 After the motor enters the power off state the rotation time is longer than the preset value of H02 12 7 5 8 Setting the Power Input Phase Missing Protection Drive models have different main power input mode The IS500 servodrive series supports single phase 220V three phase 220V and thre
233. on Related T OE Name Setting Range Min Unit Type Mode Description Actual Motor H0b 00 Speed 1rpm Display PST rpm Speed HO0b 01 C ENCE 1rpm Display S rpm Internal Torque Reference HO0b 02 relative to 0 196 Display PST rated torque Input Signal Refer to HOb 03 Monitoring DI Display PST 8 2 2 Output Signal Refer to HOb 05 Monitoring DO Display PST 8 2 2 Relative to origin displacement When maximum aa alg value of HOb positon 07 HOb 13 or H0b 07 counter 32 reference Display P HOb 17 exceeds bit decimal unit 1073741824 display ji 1073741824 the counter re counts from 0 H0b 09 Mechanical Angle the number of pulses from the origin 1p Display Relative to the origin angle P and related to the number of encoder lines HOb 10 Rotating Angle 2 Electrical angle 0 1 Display PST HOb 11 Enter Position Corresponding Speed 1rpm Display P Pulse frequency HO0b 12 Deviation Counter position deviations Enabled only when in the position control 1 reference unit Display P Reference unit H0b 13 Enter Reference Pulse Counter 32 bit decimal display 1 reference unit Display 81 Chapter 6 Digital Operator IS500 Servodrive User Manual Function Code Name Setting Range Min Unit Type Related Mode Description HO0b 17 Feedback
234. on Time Waiting Time revolutions during Inertia required for each Identification Inertia ratio update Setting 40ms 400ms 0 10000ms 0 30 levels 7 Range Min Unit 1ms 1ms level 0 001 Factory 0 Setting 100 50 1 2 When z Enabled Immediately Immediately Immediately Display Data Type Stop Setting Stop Setting Stop Setting Related Mode PST PST PST PST 187 Chapter 9 Adjustments IS500 Servodrive User Manual 188 Communication Chapter 10 Communication IS500 Servodrive User Manual Chapter 10 Communication 10 1 Hardware Connection The servodrive supports RS232 RS485 communication function You can query change parameters and monitor the servodrive system via PC communication software The RS485 protocol supports multi drive networking in Single master Multi slave mode RS232 does not support such networking 1 RS 232 Connection Diagram RS 232 Host Freely connected to Computer CN3 or CN4 2 RS 485 Connection Diagram Oo RS 485 l Host amp Freely connected to Computer CN3 or CN4 O Z rw 3 Multi drive networking Connection Diagram O RS 485 Host Freely connected Computer to CN3 or CN4 O Z RS 485 Oo Zz Oo Z amp 190 IS500 Servodrive User Manual Cha
235. ontrol Range 1 Take V LMt as external 3 AS Orpm 3000rpm speed limit input i Min Unit 1 1 1rpm Factory Setting 0 3 3000rpm When Enabled Immediately Immediately Immediately Data Type Stop Setting Stop Setting Stop Setting Related Mode 1 i y Limit source is divided into internal speed limit and external speed limit To select internal speed limit directly set H07 19 To select external speed limit designate Al first via H07 18 and then set analog corresponding relationship based on needs But when selecting 120 IS500 Servodrive User Manual Chapter 7 Setting of Servodrive General Function Codes external speed limit the external limit must be less than internal speed limit so as to avoid danger caused by improper setting of external speed limit 7 4 3 Selection of Torque Limit We can limit the output torque by setting HO7 07 so as to protect the connected machine You can set torque limit in the following four ways Function Code H07 7 Name Torque Limit Source Setting Range 0 positive and negative internal torque limit default 1 positive and negative torque limit by P CL and N CL 2 Take T LMT as external torque limit input 3 Take positive and negative external torque and minimum T LMT value as the torque limit Min Unit 1 Factory Setting 0 When Enabled Immediately Data Type Stop Setting Related Mode Lu WB Related Signals
236. ontrol mode HM Speed Loop Gain H08 00 This parameter is used to determine the speed loop response Within the range where the mechanical system does not vibrate bigger the value set in H08 00 better the speed loop response When moment of inertia ratio HO8 15 is set properly the speed loop gain equals the value of H08 00 The speed loop gain Kv equals the value of H08 00 and their unit is Hz Please set H8 15 to the following value Motor shaft conversion load moment of inertia Rotor moment of inertia JM WB Speed Loop Integral Time Constant H08 01 Value of H08 15 x100 96 The speed loop has an integral element so that the speed loop can respond to minute inputs This integral element delays the operation of the servo system resulting in a longer positioning settling time As the value of the time constant increases the response becomes slower If the load inertia is large or the mechanical system is likely to vibrate make sure that the speed loop integral time constant is large enough Use the following formula to calculate the optimum integral time constant Tiz zjx l 22x Kv Where Ti Integral time constant s Kv Speed loop gain calculated from the formula above Hz HM Torque Reference Filter Time Constant H07 05 If the mechanical system uses ball screws torsional resonance may result In this case the oscillation may be minimized by increasing this parameter Like the integral time const
237. or plug encoder cables and drive signal cables Change H0a 04 to an appropriate value The external regenerative resistance Measure the Replace with the satisfied Er 210 4 regenerative will be too small or bs iie regenerative resistance short circuit Check short The servo motor is short circuited circuits for the power cable UVW Replace the motor The power cable UVW is short circuit or ground error Check short circuits for the power cable UVW Correct the wiring 213 Chapter 11 Inspection and Maintenance 1S500 Servodrive User Manual Error Name ER 234 Over speed pre warning fault Cause UVW phase sequence error Confirmation Check the phase sequence of UVW Solution Reconnect UVW Encoder wiring error or model error Check the encoder information Re check the motor type encoder type the encoder wiring Er 400 Over voltage For AC220V AC380 with DC power supply input The power supply voltage exceeded 420V 760V The power supply voltage is higher than the input voltage Measure the power supply voltage Set AC power supply voltage within the specified range The power supply is unstable or is influenced by a lightning surge Measure the power supply voltage Improve the power supply conditions by installing a surge absorber etc Then turn the power supply ON again If the
238. ough H05 38 H05 Function Code 38 Name Servo Pulse Output Source 0 Encoder output 1 Pulse Reference synchronous output Min Unit 1 Setting Range Factory Setting 0 When Enabled After Restart Data Type Stop Setting Related Mode PST B Encoder Output After H05 17 is set the servo divides the pulses from the encoder and outputs them through the dividing output terminal The value of this function code corresponds to the pulse before X4 multiplier of PAO PBO per rotation 94 IS500 Servodrive User Manual Function Code H05 17 Name Encoder Pulse Count Setting Range 16P Rev to 1 073 741 824P Rev Min Unit 1P Rev Factory Setting 2500P Rev When Enabled After Restart Data Type Stop Setting Chapter 7 Setting of Servodrive General Function Codes The following table lists corresponding signals and output phases Type Output Signal PAO PAO PBO PBO PZO PZO Name Connector CN1 33 CN1 34 CN1 35 CN1 36 CN1 19 CN1 20 Pin No Name Encoder Encoder Encoder Encoder Encoder Encoder pulse pulse pulse pulse pulse pulse output output output output output output phase A phase A phase B phase B phase Z phase Z Remark When an absolute encoder is used the dividing One pulse is output per coefficient decides the output pulse squares to the motor rotation phase per motor
239. parameter is disabled when H11 00 is set to 2 External Term inal Signals Required for DI Mode Code FunIN 28 FunIN 6 FunIN 7 FunIN 8 FunIN 9 Signal Name PosInSen CMD1 CMD2 CMD3 CMD4 Function MS Running Internal Internal Internal Internal Name Reference Reference Reference Reference Reference Trigger Signal Switch CMD1 Switch CMD2 Switch CMD3 Switch CMD4 OFF Not 16 segment 16 segment 16 segment 16 segment Description trigger reference reference reference reference ON Trigger selection selection selection selection Status Allocation Allocation Allocation Allocation Allocation FunIN Cmd1 to FunIN Cmd4 corresponds to 4 bit binary number bit3bit2bit1bitO 0000 indicates segment 1 Remark 0002 indicates segment 2 Cmd1 corresponds to bitO Cmd2 corresponds to bit1Cmd3 corresponds to bit2 Cmd4 corresponds to bit3 Example Charts in Different Running Modes Mode Chart Remarks Single Run Vmax Max motor speed T Segment 1 waiting time T1 Segment 1 Acceleration Deceleration time S0 S1 1st 2nd displacement 112 IS500 Servodrive User Manual Chapter 7 Setting of Servodrive General Function Codes Mode Chart Remarks Cycle Run Vmax Max motor speed T Segment 1 waiting time T1 Segment 1 Acceleration Deceleration time S0 S1 1st 2nd displacement DI Switch Run Vmax Max motor speed PosInSen Triggering terminal enabled
240. pecification and External Dimension With key and thread shaft enlarged view kkkkk kkkkk ISMH1 Model ISMH1 55B30CB ISMH1 75B30CB 10C30CB 166 175 5 L mm 213 222 5 194 126 135 5 LL mm 173 182 5 153 6 LM mm 80 5 90 108 Weight 2 3 2 7 32 kg 2 7 3 1 Note The values inside are values of the motor with a brake 19 Chapter 2 Servomotor Specification and External Dimension IS500 Servodrive User Manual 2 2 2 ISMH2 Vn 3000rpm Vmax 6000 5000rpm 1 1 0kW 1 5kW 2 0kW 2 5kW Section Y Y With key and thread shaft enlarged view ISMH2 ISMH2 ISMH2 ISMH2 10C30CB D 15C30CB D 20C30CB D 25C30CB D Lk Uke LAKK 209 234 259 284 Ed 164 189 214 239 e m as 94 5 119 5 144 5 169 5 ET 146 5 171 5 196 5 221 5 2m s 5 11 6 22 7 39 8 55 Weight kg 6 41 7 52 8 69 9 83 20 IS500 Servodrive User Manual Chapter 2 Servomotor Specification and External Dimension 2 3 0kW 4 0kW 5 0kW Section Y Y With key and thread shaft enlarged view WT ISMH2 30C30CD ISMH2 40C30CD ISMH2 50C30CD 272 5 315 357 5 L mm 331 5 374 409 5 209 5 252 294 5 LL mm 268 5 311 353 5 LM mm 165 207 5 250 136 5 179 221 5 KBT mMm 195 5 238 280 5 KB2 mm 186 5 229 271 5 10 73 15 43 16 2 Weight kg 13 23 17 93 18 7 Note The values inside are values of the motor with a brake 21
241. peed control mode from PI control mode to P control based on a comparison between the servo s internal values Note The mode switch is used in high speed positioning when it is necessary to maximize the benefits of its capabilities The speed response waveform must be observed to adjust Mode Switch For normal use complete speed position control is implemented by setting Speed Loop Gain and Position Loop Gain Even if overshooting or undershooting occurs they can be suppressed by setting the host controller s acceleration deceleration time constant the servodrive s Soft Start Acceleration Deceleration Time H06 05 H06 06 or Position Reference Acceleration Deceleration Time Constant H05 06 According to H08 26 the servodrive has five mode switches for choice H08 26 Parameter Containing Setting Mode Switch Selection Detection Point Setting Setting Unit 0 Use torque reference as detecting point H08 27 0 196 1 Use speed reference as detecting point H08 28 1rpm 2 Use acceleration as detecting point H08 29 1rpm s 3 Use position error pulse as detecting point H08 30 1 reference unit 4 Mode switch by an external DI Note PI control indicates proportional integral control and P control indicates proportional control In short switching from PI control to P control reduces effective servo gain making the servo system more stable WB Use Torque Reference as Detecting Point Stand
242. peed loop response When moment of inertia ratio HO8 15 is set properly the speed loop gain equals the value of H08 00 The speed loop gain Kv equals the value of H08 00 and their unit is Hz Please set H8 175 Chapter 9 Adjustments IS500 Servodrive User Manual 15 to the following value Motor shaft conversion load momentof inertia JL Valueof H08 15 x 100 Roter momentof inertia JM To adjust servo gain manually the user needs to set the value of H08 15 HM Speed Loop Integral Time Constant H08 01 The speed loop has an integral element so that the speed loop can respond to minute inputs This integral element delays the operation of the servo system resulting in a longer positioning settling time As the value of the time constant increases the response becomes slower If the load inertia is large or the mechanical system is likely to vibrate make sure that the speed loop integral time constant is large enough Use the following formula to calculate the optimum integral time constant Ti gt 2 3x 1_ 22x Kv Where Ti Integral time constant s Kv Speed loop gain calculated from the formula above Hz HM Torque Reference Filter Time Constant H07 05 If the mechanical system uses ball screws torsional resonance may result In this case the oscillation may be minimized by increasing this parameter Like the integral time constant this filter causes a delay in the operation of the servo syst
243. peeds Thus it is probable that the speed is not limited 11 You will find different situations from HOb 00 and HOb 02 if you change speed value limit and torque limit value 8 5 2 Analog Control B Purpose Take Al1 in source A as the speed reference source Torque can change continuously from 0 to 10 when voltage changes in the range of OV to 10V To ensure safety limit the motor speed within 1 200rpm and the torque within 20 of rated value WB Procedure Step Operation 1 Prepare a DC power supply Wire its positive polarity with Al1 and wire negative polarity with GND Select the control mode via H02 00 2 torque control Select torque reference via H07 0270 source A Select torque reference source A via H07 0071 AI1 Set parameters related to AI1 Min input HO3 50 0 OV Min input corresponding to setting value H03 51 0 0 Max input HO3 52 10 10V Max input corresponding to setting value HO3 53 100 1096 Designate the Torque indicated by 100 of analog via HO3 81 100 one time of rated torque Select speed limit source via HO7 17 0 internal limit Set speed limit via HO7 19 1200 1 200rpm Select torque limit source via HO7 07 0 internal limit 10 Set forward torque limit via HO7 09 200 20 0 11 Set reverse torque limit via HO7 10 200 20 0 12 Reduce the voltage to OV If the motor rotates set Al
244. place the oil seal servo motors with oil seals 223 Chapter 11 Inspection and Maintenance 1S500 Servodrive User Manual At least once every 20000 hours or 5 years Overhaul Contact our service centre Do not remove the servo motor by yourself 11 2 2 Servo Drive Inspection Although you do not carry out routine inspection please check more than once a year Item Frequency Procedure Comments At least once every year Clean main circuit and circuit board Loosened Screws Part error Without dust oil stains etc Clean with cloth or air gun Check if any loose mounting screws for the installation of the terminal and connector Tighten No discoloration breakage and dash due to heating Contact our service centre 11 2 3 Standard of Servodrive Internal Parts Replacement Electrical and electronic components will suffer mechanical wear and aging Therefore it is necessary to perform periodical maintenance For servodrives repaired by Inovance the parameters are restored to the factory setting Remember to reset these parameters before operation Part Name Service Life Replacement Operating Condition Cooling Fan 4 to 5years Replace with the new one Ambient temperature 30 C every year Smooth Capacitor 7 to 8 years Replace with the new one Load dpt ae 80 After checking D Relay Dete
245. ple that high 16 bit is before low 16 bit 10 3 2 Write 16 bit Function Code 0x06 E Request Frame Format START It is greater than or equals 3 5 characters free time indicating that one frame starts ADDR Servo shaft address 1 247 Note Numbers from 1 to 247 are expressed in decimal format here and need to be converted to HEX format when they are filled in ADDR CMD Reference code 0x06 DATA 0 Written function code group number For example in writing function code H06 11 06 is the group number Note Number 06 is expressed in HEX format and does not need conversion when it is filled in the DATA 0 193 Chapter 10 Communication IS500 Servodrive User Manual DATA 1 Written function code In function code H06 11 11 is the offset Notes Number 11 is expressed in decimal format here and needs to be converted to hexadecimal OxOB when it is filled in the DATA 1 DATA 2 Write in date high byte hexadecimal DATA 3 Write in date low byte hexadecimal CRCL CRC checksum low enabled byte CRCH CRC checksum high enabled byte END It is greater than or equals 3 5 characters free time indicating that one frame ends WB Response Frame Format START It is greater than or equals 3 5 characters free time indicating that one frame starts ADDR Servo shaft address hexadecimal CMD Reference code 0x06 DATA 0 Written function code group number For exampl
246. power during operation exceeds the bleeding capacity the servodrive will bleed off the electricity at the originally constant power This may lead to over voltage 135 Chapter 7 Setting of Servodrive General Function Codes 1S500 Servodrive User Manual Note The power capacity should be calculated based on the actual working conditions such as the rotating inertia and deceleration time For details refer to the appendix Over small power leads to insufficient regenerative ability which can easily cause over voltage 6 You must set H02 27 correctly according to actually connected regenerative resistor The external regenerative resistor cannot be smaller than the value of H02 21 For example if actually connected resistance is 33 2 you should set H02 27 to 33 Improper setting of HO2 27 may cause damage to triode or resistor The servodrive can judge whether the input resistance is smaller than the minimum value If yes the servodrive reports Er 922 Then you should re input the resistance until the alarm is reset If you leave it the servodrive disables the bleeding function to prevent hardware This can easily cause over voltage The resistance should be calculated based on the actual working conditions For details refer to the appendix If the external resistance is smaller than the minimum value or is short circuited resistor triode may be burnt out 7 You can improve the bleeding capacity by increasing resistance wire
247. pter 10 Communication Under low noise environment the communication cable is 15 meters long If the communication rate is more than 38400bps A cable within 15 meters is recommended to ensure the transmission accuracy RS485 can be connected to 32 servodrives simultaneously If more servodrives need to be connected you must install an amplifier which can extend the connection of up to 247 servodrives If RS485 communication is adopted but the PC supports RS232 only it s recommended to use RS232 RS485 converter 10 2 Communication Parameter Setting Function HOc Code 00 Name Servo Shaft address Setting L Range 1 247 0 indicates broadcast address Min Unit 1 Factory 1 Setting When enabled Immediately Data Type Running Setting Specify the shaft address via HOc 00 Upon multi servodrive networking each servodrive have a unique address Otherwise abnormal communication will result The host computer performs the write in operation via broadcast address Then the servodrives receive the frame of the broadcast address and perform corresponding operation without any response Function Hoc Code 02 Name Serial Baudrate Setting 0 2400 1 4800 Setting 2 9600 Range 3 19200 4 38400 5 57600 Min Unit 1 Factory 5 Setting When Saed Immediately Data Type Running Setting 191 Chapter 10 Communication IS500 Servodrive
248. pter 11 Inspection and Maintenance 1S500 Servodrive User Manual Error Error Code Output Code Stop Error Error Name Meaning Method Reset mA The power cable wiring of the servo motor has the phase sequence error open phase and power cable short circuit to ground The power transistor is detected to be NO 1 N R L LL H over current by the software Encoder wiring error or encoder damaged The blow off pipe is detected to be over current is by the hardware Driver over Er 201 current 2 Short circuit to The servo power Er 210 ground upon cable is short circuit NO 1 N R L L H self checking to ground when self Main circuit DC Er 400 Over voltage voltage is excessively NO 1 Resettable L L H high Main circuit DC Er 410 Under voltage voltage is excessively NO 2 Resettable H H L low With the open phase Power Cables voltage was low for Er 420 Open Phase more than 1 second NO 2 Resettable H m L in an R S or T phase The servomotor Er 500 Over speed speed is excessively NO 2 Resettable L H L high Over speed The motor speed of Encoder upper limit of the set Er 510 Output encoder output pulse NO 1 Resettable L le L Pulse Rate is exceeded Inertia m Er600 Identification Inertia Identification N54 Resettable L L L runs timeout Error Run with load it will exceed the overload time which is set by Driver the inverse time limit Er 610 Overload U
249. pulse input signals by default Allocate signal HX EN FunIN 23 to the DI terminal Set HX1 and HX2 if DI terminal selection is required After the handwheel function is enabled switching between position reference and handwheel reference can be performed through signal HX EN That is when signal HX EN is enabled the servo position reference is the handwheel pulse When signal HX EN is disabled MF terminals are defined as below Code FunIN 21 FunIN 22 FunIN 23 Signal Name HX1 HX2 HX_EN Function Handwheel MF Signal Handwheel MF Name 1 Signal 2 Handwheel Enable Signal OFF Position control according to HX1 1 HX2 0 10X H05 00 function code Description HX1 0 HX2 1 100X Enzo 10X ON In the position mode receive HX1 1 HX2 1 10X 25d the handwheel pulse signal for position control Status Allocation Allocation Allocation Check and Check and judge Remark judge through through the debugger the debugger Note The handwheel function and Interrupt Length function cannot be enabled at the same time When the handwheel function is enabled DI9 and DI10 cannot be allocated as common DI terminals 7 3 10 Setting the MS Position Function You can realize the MS position function by setting H05 00 to 2 The servodrive stores 16 groups of position related parameters A maximum of 16 different speeds running distances and waiting time can be set through these p
250. put outpu Frequency Dividing Ratio Any frequency division 10 channel DI Servo enabled alarm reset proportional motion switch operation 9 Digital Input Signal allocation can be instruction switch zero position fixed e Signal modified function enabled pulse disabled o forward drive disabled reverse drive E disabled forward external torque limit reverse external torque limit forward jog reverse jog position step input Digital Output Signal Signal allocation can be modified 7 channel DO Servo ready motor rotating zero speed speed arrival position arrival position approach signal torque limit brake output alarm servo error 3 digit alarm code 35 Chapter 3 Servodrive Specification and External Dimension 1S500 Servodrive User Manual Over travel Stop N OT Item Description Deceleration to a stop at P OT or Electronic Gear Ratio 0 001 lt B A lt 4000 Protection Over current over voltage low voltage overload main circuit error radiator overheated power supply phase missing over speed encoder error CPU error parameter error others LED Display Main power Charge 5 digit LEDs Internal Functions Analog Monitoring monitoring speed torque and other Communications Built in analog connector for instruction signals Connected Devices RS232 RS485 1 N Communications RS485 max N 247 Shaft address Setting Set based on user paramete
251. que reference filter time is set as follows IIR first order low pass filter T s amp s where o is the reciprocal of time constant o 2mnF F Bandwidth T sampling period Time constant setting has an impact on control loop gain Speed loop gain of H08 00 HZ and torque filter time constant of H07 05 ms Adjustment value setting of stable control range is H07 05 lt 1000 2x H08 00 4 Adjust the value of the limit set HO7 05 lt 1000 21 H08 00 1 2 Adjustment of Torque Feed forward Torque feed forward is the function that reduces the positioning time It is valid in speed control and position control Torque feed forward can be selected via H06 11 The gain of torque reference input can be set via H08 21F The feed forward filter time constant is set via H08 20 FUREN H06 H08 H08 Code 11 20 21 Nama Torque Feed forward Torque Feed forward Torque Feed forward Selection Filter Time Parameter Gain Settin 0 No torque feed forward Ran y 1 Internal torque feed 0 00ms 64 00ms 0 0 100 0 9 forward Min Unit 1 0 01ms 0 10 Factory Setting 0 0 00ms 0 00 When 7 Ea Immediately Immediately Immediately 167 Chapter 9 Adjustments IS500 Servodrive User Manual Data Type Stop Setting Related Mode s Running Setting P Running Setting P 9 2 3 Other Adjustments 1 Adjustment of Proportional Operation Reference If H08 25 is set to
252. r replace the correct motor type Our H type drive with the initialization serial type motor have not used Check whether the serial type motor is initialized by our driver Contact us to rewrite the motor parameter to EEPROM Motor storage Error Turn the power supply OFF and then ON again Er 136 still occurs after removing the above reasons Repair or replace the servo motor 211 Chapter 11 Inspection and Maintenance 1S500 Servodrive User Manual Error Name Er 140 Al Setting Error Cause Al is repetitively allocated in any control mode for example Al1 can be not only theA reference source for the torque control but also the V_LMT source for the speed limit Confirmation In the torque mode check H07 00 H07 01 H07 07 and H07 08 H07 07 is enabled when it s set to 2 3 and then determine whether there is repetitive configuration of Al resources In the speed mode including the combination mode for the speed control view H06 00 H06 01 H06 11 and H07 08 H07 07 is enabled when it s set to 2 3 and then determine whether there is repetitive configuration of Al resources In the position mode including the combination mode for the position control view H06 00 H06 01 H06 11 and H07 08 H07 07 is enabled when it ssetto2 3 and then determine whether there is repetitive configuration of Al
253. r signal cables Take measures against noise in the encoder wiring Excessive vibration and shock to the encoder Check if vibration from the machine occurred or servomotor installation is incorrect mounting surface accuracy fixing alignment Reduce vibration from the machine or secure the servomotor installation The encoder error occurred Check if the encoder error occurred Replace the servomotor The drive error occurred Check if the drive error occurred Replace the servodrive 222 IS500 Servodrive User Manual Chapter 11 Inspection and Maintenance Problem Cause Confirmation Solution Turn the Servodrive OFF Before Troubleshooting Position Error The coupling between the mechanism and servo motors is abnormal Check if position error occurred on couplings between the mechanism and servo motors Correctly connect the couplings between the mechanism and servo motors Noise interference due The encoder cable must Use the specified encoder to input signal wire cable specifications be tinned annealed copper twisted pair or shielded twisted pair cables with a core of 0 12 mm2 min Check the length of the encoder cable is 3m The Noise interference due to length of encoder cable Use the specified length for the input signal wire wiring impedance is below 100 2 The encoder error The encoder error occurred
254. ration Time 1 Acceleration Deceleration Time 2 Acceleration Deceleration Time 3 Acceleration Deceleration Time 3 4 Acceleration Deceleration Time 4 Immediately Stop Setting H12 16th Segment Reference 9000rpm to 9000rpm 1rpm 300rpm Immediately Stop Setting H12 16th Segment Reference Running Time 0 6553 5 0 1s min 5 0s min Immediately Stop Setting H12 16th Segment Acceleration Deceleration Time 0 Zero Acceleration Deceleration Time 1 Acceleration Deceleration Time 2 Acceleration Deceleration Time 3 Acceleration Deceleration Time 3 4 Acceleration Deceleration Time 4 Immediately Stop Setting H17 VDI V DO Functio ns H17 VDI1 Terminal Function Selection Input Function Code 0 1 32 0 No Definition 1 32 FunIN 1 32 Refer to DIDO basic function table After Restart Running Setting H17 VDI1 Terminal Logic Selection Input polarity 0 1 0 Valid VDI1 by writing value 1 1 Valid VDI1 by writing value change from 0 to 1 After Restart Running Setting 276 IS500 Servodrive User Manual Chapter 12 Appendix Function 4 Factory When Data Related Code Keme Seii RENEE Mir Unik Setting Enabled Type Mode Input Function Code 0 1 32 VDI2 Terminal 0 No Definition Afet R nnfti H17 02 Function 1 32 FunI
255. rive can provide 24V optocoupler drive power without the external 24V industrial control power Note vy EX 50 COM S IS500 Servodrive User Manual External 5V power supply GND Max 200mA GND 5V TQ sy 14 ND EE 34 IPAO 4 35 PBO PBO PZO PZO Pz ouTO igin signal 50 com open collector output Value inside the bracket is the default function DO function can be flexibly configured through function code Encoder pulse output Y PED DO1 S RDY ET 3 Do1 S RDY Y 214 DO2 V CMP 28 DO2 V CMP D vy Sok DO3 ZERO 128 pos ZERO e DO4 ALM 132k DOA ALM 37 T NIU a 38 38 DO7 AL1 T adoos ON valid in the vy zy COM default status which can modify Connector its positive and shell negative logic PE shield connects to the connector shell T represents twisted pair wires 64 IS500 Servodrive User Manual Chapter 5 Cabling 3 Torque Control Mode Servo unit 5V 6 External 5V Sed A power supply Analog speed limit L OW pass Tei ZK GND Max 200mA Max input 12V L GND GND Low pass fer Torque reference Max input 12V 7 14 24 TRE PAO 34 PAO 35 pgo Encoder 36 IPBO pulse output 19 PZO 20 IPZO sof Pz ourT Origin signal 50 com open collector output COM Value inside the bracket is the default func
256. rminals There was interference Take the shielding Encoder AB UVW wiring ie incorrect pnis ihe eneoder Sable P interference The encoder cable is 9 Tighten the encoder loosened wiring terminals Turn the power supply A i is abnormal OFF and then ON again ata is abnormal AD module error Er 831 If the error still occurs The drive signal cable or servo drive error e po Ind is loosened when Check the drive e biis d Servo rror rive asking for the ep anng the control signal cables technical support or plug the cables again Turn the power supply AD data is abnormal OFF and then ON again Er 832 The drive signal cable AD module error If the error still occurs AD Sampling is loosened when OE CM please replace the servo Error 2 replacing the control signal cables drive asking for the board 9 technical support or plug the cables again Turn the power supply Current sampling Current sampling OFF and then ON again Er 833 The drive signal cable module error or If the error still occurs Current is lacsened ee servo drive error please replace the servo sampling Error replacing the control Check the drive drive asking for the Be 9 signal cables technical support or plug the cables again Check the cable is Er 834 Al channel over voltage Me connected correctly or i fault 11 Er analog voltage is too high 216 IS500 Servodrive User Manual Chapter 11 Inspection and Maintenance Echobac
257. rmine whether to operation ratio 20 replace after Inspection hours every day Fuse 10 years Replace with the new one Aluminium Electrolysis 5 years Replace with the new Capacitor on Printed circuit board After Circuit Board checking 224 Appendix Chapter 12 Appendix 1S500 Servodrive User Manual Chapter 12 Appendix 12 1 Capacity Selection of Servo Motor 12 1 1 Example of Speed Control Selection Mechanical specification Linear movable part Servomotor Loading Speed Vz 15m min e Weight of Linear Motion Part m 500kg Ball Screw Length 8 1 4m Diameter of Ball Screw ds 0 04m Ball Screw Pitch Ps 0 01m Coupling Weight me 1kg Outside Diameter of Coupling dc 0 06m Feeding Number of Times n 40 times min Feeding Length 2 0 275m Feeding Times t 1 2s below Friction Coefficient 4 0 2 Mechanical Efficiency 7 0 9 90 1 Speed Diagram 226 IS500 Servodrive User Manual Chapter 12 Appendix zi ai n la la um 12 60x0 275 _ 9 1 Vi 15 tc 1 2 0 1x2 1 06 2 Rotating speed Rotating speed of Bearing Axle V 15 1500 min Ps 0 01 e Rotating Speed of Motor Shaft Due to coupling directly links reduction ratio 1 R 1 1 nm n R 1500x1 1500 min 3 Loading Torque T 9 8 ue me PB 9 8x 0 2 x 500x0 01 _ L73 N m 2zR 7 2z x1x0 9 4 Loading Moment of Inertia Linear Motion Part Ju nl 500 oot
258. rotation Note Phase Z is an origin pulse which is a signal indicating that one pulse is output per motor rotation Servodrive Host controller CN1 gt 334 PAO 4 TE V 34g pao 1 output I 36 PBO Servomotor PZO y Feedback encoder gt gezo d 20 pzo Encoder output Output Phase Form Forward Rotation phase A leads by 90 Reverse Rotation phase B leads by 90 pao UUL PBO pao UUL PBO 95 Chapter 7 Setting of Servodrive General Function Codes 1S500 Servodrive User Manual If the encoder feedback pulse output signal is not in the same direction as the host controller reference you can adjust rotation direction HO2 02 or output feedback direction HO2 03 The encoder pulse shall not exceed the resolution ratio of the encoder Incremental not exceeding the encoder wire count Absolute not exceeding 1 4 of the resolution ratio per rotation Otherwise Er 110 Encoder Output Pulse Setting Error is reported Take the 2500 wire encoder as an example If H05 17 is set to 2501 the servodrive will misjudge and report Er 110 The upper limit of the encoder output is 1 6M A B Make sure that the servo s maximum frequency does not exceed the upper limit when the servo works within the operation speed range Otherwise Er 510 Overspeed of Encoder Output Pulse is reported The motor speed range is 2000 rpm
259. rs Status display parameter setting monitor display error trace back Functions display JOG and auto tuning operations monitoring of speed amp torque instruction signals etc Others Gain adjustment alarm record JOG DC reactor connection terminal for harmonic suppressions Note 1 Install servodrive within the ambient temperature range When servodrive is stored in a cabinet temperature inside the cabinet cannot exceed the range 2 Speed regulation is defined as follows No load speed Full oad speed Speed Regulation x 100 Rated speed Actually processing resistance may change due to amplifier drift arising from voltage temperature variations This will finally result in a change in rotating speed which is speed regulation because of voltage temperature variations 3 Forward rotating means servomotor rotates clockwise viewed from reverse load side Servomotor rotates counterclockwise viewed from the load and shaft side 4 The built in open collector power supply is not electrically insulated from the control circuit in the servodrive 3 2 Installation of Servodrive 3 2 1 Installation Site 1 Installed in a cabinet Design the cabinet size servodrive configuration and cooling method so that the temperature around the servodrive is controlled within 40 C 36 IS500 Servodrive User Manual Chapter 3 Servodrive Specif
260. rvo stop status only but the servo is running currently 10 3 5 Communication Examples 1 The master a request frame is 01 03 02 02 00 02 CRCL CRCH Read 0x0002 word length data from H02 02 of the servodrive with shaft address 01 to start register The slave response frame is 01 03 04 00 01 00 00 CRCL CRCH The salve returns 2 word 4 byte length data and data content is x0001 and 0x0000 If the slave response frame is 01 03 80 01 00 02 CRCL CRCH Communication error occurs and the error code is 0x0002 0x8001 indicates the error 4 The master request frame is 01 06 02 02 00 01 CRCL CRCH 196 IS500 Servodrive User Manual Chapter 10 Communication Write 0x0001 into function code H02 02 of the servodrive with shaft address 01 The slave response frame is 01 06 02 02 00 01 CRCL CRCH The write in is successful If the slave response frame is 01 06 80 01 00 02 CRCL CRCH Communication error occurs and the error code is 0x0002 0x8001 indicates the error 5 Read 32 bit function code H05 07 The master request from is 01 03 05 07 00 02 CRCL CRCH The slave response frame is 01 03 04 00 00 00 01 CRCL CRCH Value of function code H05 07 is 0x00000001 6 Wr
261. rvomotor Specification and External Dimension 2 1 Servomotor Specification 2 1 1 ISMH ISMV Series Servomotor Mechanical Specification Item Description Rated time Continuous Vibration level V15 Insulation resistance DC500V 10M 9 above Ambient temperature 0 40 C Magnetization mode Permanent magnet Mounting Flange Heat resistance level H1 and H4 B Others F Isolation voltage AC1500V for one minute 200V level AC1800V for one minute 400V level Protection mode H1 and H4 IP65 except for through shaft section Others IP67 Ambient humidity 2096 8096 no condensation Connection mode Direct connection Rotating direction Upon a forward instruction servomotor rotates counterclockwise CCW seeing from the load side 2 1 2 ISMH ISMV Series Servomotor Rated Value Specification Rated Rated Instantaneous Rated Rated Max Torque Ms Servomotor Output Torque Max Torque Current Speed Speed Parameter Mena Model Kw N m N m Arms min 1 min 1 N m Arms 10 4kg m2 ISMH1 0 158 20B30CB 0 2 0 63 1 91 1 6 3000 6000 0 45 0 16 ISMH1 0 274 40B30CB 0 4 127 3 82 2 8 3000 6000 0 51 0 284 ISMH1 1 3 75B30CB 0 75 2 39 7 16 4 6 3000 6000 0 53 1 312 ISMH2 1 87 10C30CB 1 0 3 18 9 54 TS 3000 6000 0 43 3 12 ISMH2 2 46 15C30CB 1 5 4 9 14 7 10 8 3000 5000 0 45 3 74 ISMH2 1 8
262. ry default functions 1 Input Signals Default Pin Signal Name Funcion No Function DI1 CMD1 46 MS speed selection 1 DI2 CMD2 45 MS speed selection 2 Direction selection for MS speed operation reference pis DIR SEL default direction or reverse direction DI4 ALM RST 44 Alarm reset reset servo alarm General DI5 S ON 40 Control servo motor ON OFF DIG ZCLAMP 41 Zero clamp function enabled DI7 CMD3 42 MS speed selection 3 DI8 CMD4 43 MS speed selection 4 DI9 JOGCMD 23 Forward jog DI10 JOGCMD 24 Reverse jog PULS T Input mode PULS 8 E dms Direction pulse SIGN 11 Phase A B orthogonal pulse SIGN 12 Open collector CCWICW pulse Position rd iA Clear error counter during position control PL1 3 24V working power is supplied when PULS SIGN PL2 13 and CLR reference are open collector output signals PL3 18 The internal 24V power supply of servodrive is generated by 2 4k resistor 66 IS500 Servodrive User Manual Chapter 5 Cabling Default Pin f Signal Name Function No Function Al1 5 Al2 9 Analog input signal input voltage maximum 12V Analog AI3 48 AI3 49 GND o Analog input signal ground 2 Output Signals Signal Name Default Pin Function No Finden DO1 S RDY 29 It turns ON when servo is ready to receive servo DO1 S RDY 30 ON S ON
263. s St H12 36 Reference Running 0 6553 5 I 5 0s min Immediately 7 0 S Time min Setting 0 Zero Acceleration Deceleration Time 1 Acceleration Deceleration Time 1 6th Segment F H12 37 Acceleration 2 Acceleration 0 Immediately StP S Deceleration Time Setting Deceleration Time 2 3 Acceleration Deceleration Time 3 4 Acceleration Deceleration Time 4 7th Segment 9000rpm to i Stop H12 38 Reference 9000rpm 1rpm 600rpm Immediately Setting S 7th Segment 04s St H12 39 Reference Running 0 6553 5 s 5 0 s min Immediately P S Time min Setting 271 Chapter 12 Appendix 1S500 Servodrive User Manual Function h Factory When Data Related Code Mame zolondiange Mica Setting Enabled Type Mode 0 Zero Acceleration Deceleration Time 1 Acceleration Deceleration Time 1 7th Segment H12 40 Acceleration 2 Acceleration 0 Immediately StP s Deceleration Time Setting Deceleration Time 5 3 Acceleration Deceleration Time 3 4 Acceleration Deceleration Time 4 8th Segment 9000rpm to 5 Stop H12 41 Reference 9000rpm 1rpm 300rpm Immediately Setting S 8th Segment 0 1s Stop H12 42 Reference Running 0 6553 5 5 0s min Immediately S Ti min Setting ime 0 Zero Acceleration Deceleration Time 1 Acceleration Deceleration Time 8th Segment H12 43 Acceleration 2 Accelera
264. s equivalent to setting DI to edge enabled To configure VDO with FunOUT 5 do as follow 1 Set HOC 11 to 1 The communication virtual VDO is enabled 200 IS500 Servodrive User Manual Chapter 10 Communication 2 Make sure that FunOUT 5 is not allocated to any DO or VDO 3 Set H17 33 to 5 and map FunOUT 5 to VDO1 4 Set logical selection of VDO1 The default value is 0 indicating that 1 is o6utput when it is enabled 5 Read H17 32 If position is reached H17 32 BitO is 1 If the position is not reached H17 32 BitO is 0 Suppose shaft address is 1 The MODBUS reference for reading H17 32 is as follows 01 03 17 20 00 01 CRCL CRCH 10 3 11 Function Code Change Via Communication not Stored in EEPROM If you frequently modify function codes via communication the modification will be updated to EEPROM simultaneously which will lower service life of EEPROM If it is not necessary to update the value stored in EEPROM set HOC 13 to 0 10 3 12 Servo Delays to Reply HOC 25 Servo Delays to Reply indicates that servo delays the time set in HOC 25 and then replies to the host controller after it receives the reference Function HOG Code 25 Name MODBUS reference replay delay Setting Range 0 5000ms Min Unit 1 Factory 0 Setting When Enabled Immediately Data Type Running setting Related E Mode 10 3 13 High Low 16 bit Transmission Seq
265. se contact the technical support personnel of our company so that you can use the product properly With commitment to constant improvement of the servodrive our company may change the information without additional notice Contents Preface xsueRa E ueque a ra as d Eee qa re LE acra sae RR RR urere ducis s aie ieee air a Si 1 Chapter 1 Selection of Servo System ile 1 Servomotor Model PPP 12 Servodrive Model estbocshsecctcosssssostsestencooostostcsossotsascocestoasec ostcooecsaeeoccsosesaeoocnes 7 1 3 Servo System Configuration Standard n 8 1 4 Cable Selection eetacssstsosateocshbostoesaoonsesecteseoostsstatoosesstessooatassescesntsaseoseosseseoocsoseceoonnos 9 1 5 Selection of Peripheral Optional Parts eu sx M 1 6 System Structure Meseesee essere reser hh hh hh t ntn 1 1 Chapter 2 Servomotor Specification and External Dimension 76 16 2 l Seryotnotor Specification 9 ness essemeesPobresse iterates peet aasii esat e IG 2 2 Servomotor External Dimension 18 2 3 Installation of Servomotor 26 2 5 Overload Feature of Servomotor 55 9 rire eere teeter in ap tineri Ee nsei NES neins ee 30 Chapter 3 Servodrive Specification and External Dimension 32 3 1 Servodrive Specification pes 32 3 2 Installation of Servodtive 5299 99 9 6 orbe ete t ead ae Bae a DaS atin aUe idis ud dedisti ei ind 36 3 3 Servodrive Power Supply Capacities and Power Loss een 38 S4 Servodrive Dimension Diagram 566m SERA SUAR ARE RE SE sha
266. se robot and conveyor Position Loop Gain Speed Loop Gain Speed Loop Integral Time H08 02 Hz H08 00 Hz Constant H08 01 ms 20 40 300 500 10 40 W Low rigidity Machine Such machines are driven by timing belts chains or machines with harmonic gear reducers including conveyor and articulated robot Position Loop Gain s Speed Loop Integral Time H08 02 Hz H08 00 HZ Constant H08 01 ms 10 20 100 200 40 120 If the servodrive is used in speed control mode the position loop gain H08 02 is effective in zero position fixed mode only In normal control operation change the position loop gain via the host or change the speed reference input gain in the servo In speed control mode the position loop gain is set at the host controller If that is not possible set the position loop gain by adjusting the corresponding relationship between the servodrive s speed reference and analog In speed control position loop gain is effective in zero clamp mode only 9 3 5 Servo Gain Switchover You can perform automatic gain switchover via internal parameter and manual switchover via external signal X Switch to a lower gain to suppress vibration in motor stop servolock status X Switch to a higher gain to shorten the positioning time in motor stop status X Switch to a higher gain to get a better reference tracking performance in motor running status X Switch to different
267. se two function codes if necessary Note When the servomotor model is changed H00 08 will refresh to 0 Related function codes are shown as follows 186 IS500 Servodrive User Manual Chapter 7 Setting of Servodrive General Function Codes Function H00 Hod Code 08 03 Name Motor U V W Phase Sequence Angle Identification Range 0 1 0 1 Min Unit 1 1 Factory Setting 2 o When Enabled Immediately Immediately Data Type Stop setting Stop setting 7 6 Setting General I O Signals This section describes DI DO configuration and other I O signals in other control modes The 1S500 Servodrive Series has 10 digital inputs DI1 DI2 DI10 They are collector inputs There are 7 digital outputs DO1 DO2 DO3 and DO4 are ambipolar open collector outputs DO6 DO7 and DO8 are open collector outputs 7 6 1 Configuring Digital I O Signals H Allocating DI Signals You can configure DI terminals freely through the panel or host controller For example to configure DI1 with FunIN 6 CMD1 signal set HO3 02 to 6 There are five options for DI terminal logic 0 Low level is enabled 1 High level is enabled 2 Rising edge enabled 3 Falling edge enabled 4 Both rising and falling edges are enabled If you want to set DI1 to low level enabled set HO3 03 to 0 You can set function codes of other DI terminals in the same way Note Do not allocate different Dis with the same
268. selection 1 9 Immediately Setting d 2 DI switch run select via DI 3 Sequence run perform H1101 segment selection Displacement St H11 01 Reference End 1 16 1 1 Immediately op P etting Segment Selection The other three modes are enabled expect Margin Processing DI switch mode Stop H11 02 Method 0 Continueto 9 Immediately setting P run 1 Run again from segment 1 H11 03 waiting Time Unit S 1 0 Immediately StP P 9 1 s Setting 262 IS500 Servodrive User Manual Chapter 12 Appendix Function 4 Factory When Data Related Code Keme pong RENEE Min Unik Setting Enabled Type Mode 0 Relative Displacement paene a H11 04 Reference Type 1 0 Immediately 2 9P 2 d 1 Absolute Setting Selection displacement reference 1073741824 1 10000 Hit 142 19t Segment 1073741824 reference reference Immediately Running p Displacement 3 Setting reference units unit units Maximum Running Speed Running H11 14 at 1st Segment Orpm 9000rpm rpm 200 Immediately Setting P Displacemen Acceleration H11 15 Deceleration Time 1999 ims 100ms Immediately Running p at 1st Segment Y Set ing Displacemen Waiting Time H11 16 after Ist Segment I5 0559 4ms 1s 10 Immediately Rumning Displacemen Setting Completion 1073741824 1 10000 H114 47 20d Segment
269. splay Error Present Current HOb 39 V upon Selected 0 01A Display Error Bus Voltage upon HOb 40 Selected Error 0 1V Display Input Terminal HOb 41 status upon Error 7 7 Display 7 Input Terminal HOb 42 Status upon Display Selected Error Group HOc Communication Parameters 1 247 Servo Shaft 0 indicates i Stop Hoc 90 Address the broadcast 1 1 Immediately Setting E address 260 IS500 Servodrive User Manual Chapter 12 Appendix Function 4 Factory When Data Related Code Nae uiris BuU Setting Enabled Type Mode 0 2400 1 4800 Serial Baud rate 2 9600 Bps Error Stop HOc 02 Setting 3 19200 4 59 5 Immediately Setting 2 4 38400 5 57600 0 No check 1 Even parity HOc 03 ee Data Check 1 0 Immediately RA 2 Odd Parity 9 Check Virtual 0 Disabled Stop HOc 09 Communication 1 Enabled 1 o Immediately Setting PST Virtual ed Hoc 11 Communication 9 Disabled 1 0 Immediately StP PST 1 Enabled Setting VDO BitO VDO1 default VDO function value St HOc 12 jis selected toO 1 0 Immediately Sin PST default value Bit15 VDO16 9 default value Communication 0 EEPROM No write function update Running HOc 13 code value is 1 EEPROM 1 1 Immediately Setting PST updated to Update EEPROM P 0x0002 x03 0x06 0x10 is not the command code 0x0004 CRC check code is not the same as data frame
270. state when main circuit of the servodrive is powered on Once a position speed torque reference is input the servomotor or machine starts immediately This may result in accidents Please remember to take safety measures If the S ON signal is set to always enabled once an error occurs to the servo the error cannot be reset Please set the S ON signal to disabled through H03 00 and power on the servo again 7 5 2 Switching the Servomotor Rotation Direction This basic function is designed to follow the host controller The servomotor rotation direction can be set through function codes H02 02 and H02 03 Set the servomotor rotation direction via HO2 02 shown as below Function H02 Code 02 Name Rotation Direction Selection seing O reference direction is forward 1 reference direction is reverse ange Min Unit 1 Factory 0 Setting When Fnaoled After restart Data Type Stop setting Related Mode PST The correlation between the servomotor rotation direction and the reference is as follows Reference Direction E TN Bipolarity Motor Rotation Direction Encoder Feedback Output Direction L E pao LI Forward reference PBO l Servomotor rotates CCW A leads B by 90 viewed from the shaft end 124 IS500 Servodrive User Manual Chapter 7 Setting of Servodrive General Function Codes R
271. t Setting 0 Coast to a stop Range 1 Zero velocity Stop Min Unit 1 Factory 0 Setting Mnn Immediately Data Type Stop Setting E s 7 5 5 Setting the Detection Value of Motor Overload The servodrive can change the detection time of motor overload warning and overload fault alarm but cannot change the overload feature 127 Chapter 7 Setting of Servodrive General Function Codes 1S500 Servodrive User Manual The overload warning detection time is 80 of the overload fault alarm detection time by default You can change the warning detection time by changing the value of HOa 05 As shown in the figure below once the value of H0a 05 is changed from 80 to 50 the overload warning detection time is 5096 of the overload alarm detection time In addition the overload warming signal WARN can also be output at the corresponding time to improve safety tA Overload detection time sec Overload fault inverse time limit curve N gt s s Warning detection default 8096 Warning detection 50 rad 100 Iq The following table lists the overload feature of the servomotor R H0a Function Code 5 Name Overload Warning Value Setting Range 1 100 Min Unit 1 Factory Setting 80 When Enabled Immediately Data Type Stop Setting You can also detect overload fault in advance using the following formula Motor rated current X Motor overload c
272. t loop has good response performance the user only needs to adjust position loop gain and speed loop gain The block diagram for servo system is as follows Position control Speed control Host controller provided by user Servodrive Speed control mode 8 Servodrive Position control mode Host controller Kp Position Loop Gain provided by user Kv Speed Loop Gain Ti Speed Loop Integral Time In general the position loop response cannot be higher than the speed loop s Therefore to increase the position loop gain increase the speed loop gain first If only the position loop gain is increased speed reference vibration may result finally extending the positioning time When the mechanical system starts to vibrate after you increase the speed loop gain stop the increase Once position loop response is higher than speed loop responsiveness the speed references position loop s output which want to perform straight line acceleration deceleration will not catch up due to poor response Then position loop deviation increases so speed references need to be increased As a result the motor rotates excessively and position loop will begin to reduce the speed references However the speed loop s response will thus become worse leaving the motor not adaptable Then speed reference vibration occurs as shown below In this case decrease the position loop gain or increase the speed loop gain to eliminate t
273. tation of the servomotor and n is the rotation of the load shaft the electronic gear ratio is calculated as below Electronic gear ratio B H0507 _ Encoder resolution ratio m x A H05 09 Displacement per load shaft revolution referenceunits n Encoder resolution ratio indicates the count of pulses output by the encoder during one motor rotation Orthogonal incremental encoder resolution ratio Number of wires x 4 The working principle of the electronic gear is as follows Position reference reference units Position reference A B No of pulses Position Speed Current di PMS M loop loop loop Position feedback No of pulses 7 3 5 Position Reference Smoothing Position reference smoothing function indicates that the position references are filtered This function provides smooth motor rotation in the following cases 106 IS500 Servodrive User Manual Chapter 7 Setting of Servodrive General Function Codes Host controller cannot output acceleration deceleration reference The reference pulse frequency is too low The reference electronic gear ratio is 10 times or more Note Functional codes related to position reference smoothing Function HUS Code 6 Name Position Reference Moving Average Time Setting Range 0 0ms 28 0ms Min Unit 0 1ms Factory Setting Coms When Enabled Immediately Data Type Stop Setting Related P
274. tching to fix the gain 1 1 Manual gain switching via external input signal G SEL switching gain 2 Use position pulse difference for automatic gain switching while gain can switch amplitude Setting f 3 H0811 The position reference filtering Range 0769939 069935 output is 0 subject to position pulse 4 H0812 Automatic gain switching subject to the speed reference meanwhile gain switching amplitude 5 H0813 Automatic gain switching subject to the torque reference meanwhile the gain switching condition is amplitude H0813 179 Chapter 9 Adjustments IS500 Servodrive User Manual Min Unit 1ms ims 1 Factory Setting 0 0 0 When Enabled Immediately Immediately Immediately Data Running Running Type Setting Setting Stop Setting Related Mode PS PS PS Function H08 H08 H08 H07 E 1 12 13 6 Gain Switching Gain Switching Gai LE em s ain Switching Torque Name Wise Po le ee Torque Reference Reference Thresh old thre shold Amplitude threshold Filter time 2 Setting 0 00ms to Range 0 to 65535 0 to 65535 0 0 to 300 0 655 35ms p P rpm 0 01ms EM 30 100 50 0 50ms Setting i d Immediately Immediately Immediately Immediately Type Stop Setting Stop Setting Stop Setting Stop Setting Gd PS PS PS PST Note The switching threshold valves are all absolute values HM Function Principle Qu RS Fr BN Waiting time 1 H0808 a di Switching
275. te END It is greater than or equals 3 5 characters free time indicating that one frame ends Note Do not write in 16 bit function code in the 0x10 format Otherwise unexpected error may result 10 3 4 Error Response Frame WB Error Response Frame Format START It is greater than or equals 3 5 characters free time indicating that one frame starts ADDR Servo shaft address hexadecimal CMD Reference code 0x03 0x06 0x10 195 Chapter 10 Communication IS500 Servodrive User Manual DATA 0 0x80 DATA 1 0x01 DATA 2 Error code high 8 bit DATA 3 Error code low 8 bit CRCL CRC checksum low enabled byte CRCH CRC checksum high enabled byte END It is greater than or equals 3 5 characters free time indicating that one frame ends W Error Code Error Description Code 0x0002 Reference code is not 0x03 0x06 0x10 0x0004 The CRC code servo receives from data from is not equal to that in the data frame 0x0006 The input factory password is incorrect 0x0008 The accessed function code does not exist 0x0010 The value of the function code to be written exceeds the limit 0x0020 The written function code is readable only 0x0030 Write 16 bit function code in the 0x10 format 0x0040 The accessed function code is in the password locked status 0x0060 The read out data length is 0 0x0080 The written function code can be modified in se
276. time 1 H0806 gem em a Gain 1 N Gain 2 Hosoo H0803 H0801 H0804 H0802 HOB05 Ho705 Ho706 X Waiting time 2 H0809 Switching time 2 H0807 aah Pd iN a 180 P4 a ss T lt lt Condition B ine gt IS500 Servodrive User Manual Chapter 9 Adjustments 9 4 Manual Gain Tuning Function Servo now has built in inertia identification and manual gain tuning functions Load inertia can be obtained by JOG operation You can set the speed and position gain corresponding to each rigid level by changing a parameter value Different rigidity levels correspond to different response speeds The manual gain tuning function includes load inertia ratio identification and rigid level table setting The inertia identification part tests the load inertia ratio only but does not match the speed parameter with position parameter Thus make sure to set the rigid level after identification 9 4 1 Load Inertia Ratio Identification W About Load Inertia Ratio Load inertia ratio has great impact on motor control and acceleration deceleration time It is a physical quantity that determines the torque required for motor to accelerate decelerate Bigger load inertia ratio larger impact generated by the momentum between the motor and the load and longer time the servo will take to respond to the given speed Usually in high response and high precision applications the inertia ratio should be less than 3 5 t
277. tion 0 Immediately S P S Deceleration Time Setting Deceleration Time 3 Acceleration Deceleration Time 3 4 Acceleration Deceleration Time 4 9th Segment 9000rpm to Stop H12 44 Ref renc 9000rpm 1rpm 100rpm Immediately Setting S 9th Segment 0 1s s Stop H12 45 Reference Running 0 6553 5 5 0s min Immediately S Time min Setting 272 IS500 Servodrive User Manual Chapter 12 Appendix Function 4 Factory When Data Related Code Nae ponendo Mir Unik Setting Enabled Type Mode 0 Zero acceleration deceleration Time 1 Acceleration deceleration Time 1 9th Segment H12 46 Acceleration Z Acceleration 0 Immediately OP s deceleration Time Setting Deceleration Time 3 Acceleration Deceleration Time 3 4 Acceleration Deceleration Time 4 10th Segment 9000rpm to Stop H12 47 Reference 9000rpm 1rpm 100rpm Immediately Setting S 10th Segment 0 1s St H12 48 Reference Running 0 6553 5 a 5 0s min Immediately P S min Setting Time 0 Zero Acceleration Deceleration Time 1 Acceleration deceleration Time 1 10th Segment F H12 49 Acceleration 2 Acceleration 0 Immediately StP S deceleration Time Setting Deceleration Time 5 3 Acceleration deceleration Time 3 4 Acceleration deceleration Time 4 11th Segment 9000rpm to i Stop H12 50 Reference 9000rpm 1rpm
278. tion DO function can be flexibly configured through function code Sak DO1HS RDY RK 48 Do01 S RDY 44 pq 214 DO2 V CMP DH CMD1 Value inside the bracket is the DI2 CMD2 J 28 default function a ee m 2K 48k DO2 V CMP DI function can bo SERS 4 i i 38 flexibly configure 294 DO3 ZERO through function D 4 ALM RST ad i apt 126 DO3 ZERO BON 31K DO4 ALM Red RED DO4 ALM 4 2R i zx ox DO6 ALO 38 code DI5 S ON DI6 ZCLAMP ON valid in the default status which can modify DI7 CMD3 its positive and Li n negative logic DIB CMD4 43 iki S ERES DO7 AL1 39 pieJoGcMD oi m DOB AL2 ON valid in the DH0 JOGCMD 124 aan aq COM default status which COM 150 j can modify its Note The servodrive can provide COM Shell P cta 24V optocoupler drive power 9 9 without the external24V industrial PE shield connects to control power the connector Note J represents twisted pair wires 65 Chapter 5 Cabling IS500 Servodrive User Manual 5 3 2 I O Signal Connector CN1 Terminal Layout 5 3 3 I O Signal CN1 Names and Functions All logical control I O terminals can be flexibly allocated with other functions via function codes The following functions are the facto
279. tion Code 0 1 32 VDI13 Terminal 0 No Definition Afet R nniti H17 24 Function 1 32 FunIN 1 32 1 0 Restart Seld Selection Refer to DIDO basic function table Input polarity 0 1 0 Valid VDI13 by VDI13 Terminal writing value 1 After Running Logic Selection 1 Valid VDI13 Restart Setting by writing value change from 0 to 1 H17 25 279 Chapter 12 Appendix 1S500 Servodrive User Manual Function Code Name Setting Range Min Unit Factory Setting When Enabled Data Type Related Mode H17 26 VDI14 Terminal Function Selection Input Function Code 0 1 32 0 No Definition 1 32 FunIN 1 32 Refer to DIDO basic function table After Restart Running Setting H17 27 VDI14 Terminal Logic Selection Input polarity 0 1 0 Valid VDI14 by writing value 1 1 Valid VDI14 by writing value change from 0 to 1 sx After Restart H17 28 VDI15 Terminal Function Selection Input Function Code 0 1 32 0 No Definition 1 32 FunIN 1 32 Refer to DIDO basic function table ET After Restart Running Setting H17 29 VDI15 Terminal Logic Selection Input polarity 0 1 0 Valid VDI15 by writing value 1 1 Valid VDI15 by writing value change from 0 to 1 ES After Restart Running Setting H17 30 VDI16 Terminal Function Selection Input Function Code 0 1 32
280. tion control converts stepwise speed reference into to a consistent rate of Acceleration Deceleration so that the motor starts smoothly The following table lists related function codes H06 H06 Function Code 5 6 Speed Reference Speed Reference Name Acceleration Slope Deceleration Slope Time Time Setting Range Oms 0000ms Oms 10000ms Min Unit ims ims Factory Setting Oms Oms When Enabled Immediately Immediately Data Type Stop Setting Stop Setting Related Mode PS PS Note Set acceleration deceleration time to 0 factory setting in normal speed control mode H06 05 indicates the time the motor takes from start to max speed H06 06 Indicates the time the motor takes from max speed to stop The ramp function control converts a stepwise speed reference to speed reference with a consistent rate of Acceleration Deceleration Max motor Stepwise speed Ramp function A speed reference control Tn AS o qa E H06 05 H06 06 The acceleration deceleration slope time is determined by the time the motor takes from 0 to maximum speed or from maximum speed to 0 The actual acceleration deceleration slope time is calculated as below Actual acceleration deceleration time Speed reference Max motor speed X Speed reference acceleration deceleration slop time H06 05 H06 06 90 IS500 Servodrive User Manual Chapter 7 Setting of Servodrive General Function Codes
281. tion selection code definition Immediately Stop Setting H04 05 DOS Terminal Logic Level Selection Reverse Setting of Output Polarity 0 1 0 Output low level when enabled 1 Output high level when enabled zs eo Immediately Stop Setting H04 06 DO4 Terminal Function Selection Output Code 1 16 0 No Definition 1 16 FunOUT 1 16 Refer to DIDO function selection code definition 1 10 Immediately Stop Setting H04 07 DO4 Terminal Logic Level Selection Reverse Setting of Output Polarity 0 1 0 Output low level when enabled 1 Output high level when enabled E eo Immediately Stop Setting H04 10 DO6 Terminal Function Selection Output Code 1 16 0 No Definition 1 16 FunOUT 1 16 Refer to DIDO function selection code definition Immediately Stop Setting 244 IS500 Servodrive User Manual Chapter 12 Appendix Function 4 Factory When Data Related Code Nae Siig RENEE Mir Unik Setting Enabled Type Mode Reverse Setting of Output Polarity DO6 Terminal 0 1 H04 11 Logic Level 0 Output low level Selection when enabled 1 Output high level when enabled Output Code 1 16 0 No Definition DO7 Terminal 1 16 Sto H04 12 Function FunOUT 1 16 1 13 Immediately Setting Selection Refer to DIDO function selection code definition Immediately ie eo
282. tion signal COIN does not bounce i e turned ON and OFF repeatedly within a short period and that speed overshoot does not occur These will likely occur if the feed forward value is too high 4 Itis possible to add a primary delay filter HO8 18 to the feed forward function The primary delay filter may prevent the positioning completion signal from bouncing and the system speed from overshooting 9 3 4 Reference Value of Gain Setting Here lists the servo gain values for your reference when you adjust the gain in actual applications Perform optimal gain adjustment based on the reference values and rigidity of the mechanical system The value range is for reference only in which the mechanical system may have bad response performance sometimes due to vibration Make adjustments while observing the waveform Especially for high rigidity machine gain should be increased to a higher level B High rigidity Machine Such machines are directly connected to ball screws including chip mounting machine bonding machine and high precision machine tool Position Loop Gain Speed Loop Gain Speed Loop Integral Time H08 02 Hz H08 00 Hz Constant H08 01 ms 40 70 500 700 5 20 WB Medium rigidity Machine 177 Chapter 9 Adjustments IS500 Servodrive User Manual Such machines are driven by ball screws via speed reducers or long length machines directly driven by screws including general machine tool transver
283. top Setting H05 05 Position Reference S smoothing Oms 1000ms ims Oms Immediately Stop Setting H05 06 Position Reference Moving average Time 0 0ms 128 0ms 0 1ms 247 0 0ms Immediately Stop Setting Chapter 12 Appendix 1S500 Servodrive User Manual Function i Factory When Data Related Code Mame pening Rene Mice Setting Enabled Type Mode Electronic H05 07 Gear Ratio 1 1 1073741824 1 4 mmediately Numerator Running Setting Electronic H05 09 Gear Ratio 1 1 1073741824 1 1 mmediately Denominator Running Setting Electronic H05 11 Gear Ratio 2 1 1073741824 1 4 mmediately Numerator Running Setting Electronic H05 13 Gear Ratio 2 1 1073741824 1 1 mmediately Denominator Running Setting 0 Direction pulse positive logic default value 1 Direction pulse negative logic After Stop 2 Phase A Restart Setting Phase B Orthogonal pulses 4 multiple frequency 3 CW CCW Reference Pulse H05 15 Mode 0 Servo OFF and clear position deviation pulse upon error 1 Clear position deviation pulse upon error 2 Not clear position deviation pulse clear via CLR high level Hos 16 Clear Action 3 Not clear 1 0 Immediately Selection pa a position deviation pulse clear via CLR low level 4 Not clear position deviation pulse clear via CLR risi
284. tor with an oil seal Keep oil level under the oil seal lip Use oil seal in favorably lubricated condition Avoid oil accumulation at the oil seal lip when using a servomotor with its shaft upward direction Flange Through shaft section Refer to the gap where the shaft rotrudes from the end of the mot 26 IS500 Servodrive User Manual Chapter 2 Servomotor Specification and External Dimension Cable Stress Make sure there is no bending or tension on power lines Especially ensure core wires that are only 0 2mm to 0 3mm thin are not subject to stress while wiring Connector Observe the following precautions Make sure there are no foreign matters such as dust or metal chips in the connector before connecting When connecting a connector to motor be sure to connect the servomotor main circuit cables first If the encoder cable is connected first the encoder may fail because of voltage difference between PEs Make sure of the pin arrangement Connector is made from the resin Do not apply shock so as to prevent damage to the connector When moving a servomotor with its cables connected hold the main body of the servomotor If you hold the cables only connectors and cables may be damaged When using bending cables remember not to apply excessive stress to the connector section Otherwise the connector may be damaged Note Before installation thoroughly remove the anticorrosiv
285. tput clear the fault first Then set the input signal ALM RST to ON The alarm is reset Make sure of clearing the fault before resetting the alarm Code FunIN 2 Signal Name ALM RST Function Nene Error Reset Signal ES According to the error type the servo can continue to work after some Description alarms are reset Status Common use For allocating DO with the output signal refer to section7 6 1 146 IS500 Servodrive User Manual Chapter 7 Setting of Servodrive General Function Codes Form an external circuit so that the main circuit turns OFF when an error occurs The alarm can be reset automatically when the control power supply is turned OFF Alarms can also be reset using a panel 2 Servo Warning Output Signal WARN DO outputs warning signal WARN when overload warning regenerative warning or any other warning is detected by the servodrive Code FunOUT 12 Signal Name WARN Function Name Warning Output Signal Description ON when warning is detected Status Allocation When only warning is detected ALMO ALM1 and ALM2 output warning code when warning signal WARN is output When both warning and error are detected ALO AL1 and AL2 output error code when warning signal WARN and error signal ALM are output 3 Servo Ready Output Signal S RDY This signal indicates whether the servodrive completes the power on initialization work
286. tput Current Arms 11 16 9 17 28 Power Supply for Main Circuit Power Supply for Control Circuit Three phase AC200V 240V 10 to 15 50 60Hz Single phase AC200V 240V 10 to 15 50 60Hz Brake Processing Built in brake resistor 3 1 3 Three Phase 220V Servodrive Size SIZE C SIZE D SIZE E Drive model IS500 T1R9 T3R5 T5R4 T8R4 T012 T017 T021 TO26 Continuous Output Current Arms 1 9 3 5 5 4 8 4 11 9 16 5 20 8 25 7 Max Output Current Arms 5 5 8 5 14 20 28 42 55 65 Power Supply for Main Three phase AC380V 440V 10 to 15 50 60Hz Power Supply for i 450 Control Circuit Single phase AC380V 440V 10 to 15 50 60Hz Brake Processing Built in brake resistor 32 IS500 Servodrive User Manual Chapter 3 Servodrive Specification and External Dimension specified range An alarm may be given if servodrive works out of the input power range If the voltage exceeds the following values use a step down transformer so that the voltage will be within the 3 1 4 Servodrive General Specifications Item Description Control Mode IGBT PWM sine wave driven 220V 380V single or three phase full wave rectification Wire saving incremental type 2500 P Feedback R E Serial incremental type 17 bits i Ambient Storage Temp 0 40 C derated when used within g 1 40 C to 55 C 20 C to 8
287. tting range via function codes Torque Voltage Input voltage 12V at maximum Instruction servodrive rotates forward upon Input positive instruction Input Impedance About 14k 2 Circuit Time Constant About 47 u s Select speed of stages 0 to 15 by MS Speed Speed combing DI1 CMD1 DI2 CMD2 DI7 Instruction Selection CMD3 and DI8 CMD4 signals This function can be set to other terminals 34 IS500 Servodrive User Manual Chapter 3 Servodrive Specification and External Dimension Item Feed Forward Description 0 to 100 preset resolution 1 Compensation Performance Wien SUM Completed 0 to 65535 instruction units preset Setting resolution 1 instruction unit Direction pulse Input phase A B orthogonal pulse 5 Pulse Type CCW CW pulse 8 Instruction Pulse Differential driver e Input Form S Open collector 2 Input Differential driver 1Mpps max e Pulse 1 Input Signals Frequency Open collector 200kpps max a Clear signal input pulse form identical control Signal to instruction pulse Built in Open Collector TE Power Supply 4 24V built in resistor of 2 4k Select position of stages 0 to 15 by Multistage Position combing DI1 CMD1 DI2 CMD2 DI7 Instruction Selection CMD3 and DI8 CMD4 signals This function can be set to other terminals Output Form pol a B Z differential driver Position Out
288. ue H08 02 Incorrect speed loop integral time H08 01 setting Factory setting 20 00ms Perform gain adjustment according to the user manual Correctly set speed loop integral time HO08 01 Incorrect moment of inertia ratio data Check the moment of inertia ratio setting 221 Correct the moment of inertia ratio H08 17 setting or select switched mode Chapter 11 Inspection and Maintenance 1S500 Servodrive User Manual P OT or N OT Probl Confirmation Solution robiem Cause Turn the Servodrive OFF Before Troubleshooting Over travel Forward or reverse input Check whether the over Correct the over travel limit OT signal is disabled to reach travel limit switch operates switch wiring properly Check if the over travel limit Switch operates properly Correct the over travel limit switch wiring Forward or reverse run disabled signal malfunctioning Check if the over travel limit Switch operates correctly Stabilize the operation of the over travel limit switch Check if the over travel limit Switch wiring is correct Checks for damaged cables or loose screws Correct the over travel limit switch wiring Forward or reverse run disabled signal malfunctioning Check if forward drive input signal P OT setting H03 is disabled Correct forward drive input signal P OT setting HO3 Check if reverse drive input signal P OT
289. uence of 32 bit Function Code Function HOC Code 26 Name MODBUS 32 bit Function Code Transmission Sequence Settin 0 High 16 bit before low 16 bit Ran i It is set to O when function code is modified or read on backstage 9 1 Low 16 bit before high 16 bit Min Unit 1 201 Chapter 10 Communication IS500 Servodrive User Manual Factory Setting When Enabled Immediately Data Type Running setting Related Mode For example When HOC 26 0 the MODBUS reference for writing HO0010002 into H05 07 is the following references are expressed in HEX Host sends reference 01 10 05 07 00 02 04 00 01 00 02 5D 18 Slave feedback 01 10 05 07 00 02 FO C5 When HOC 26 1 the MODBUS reference for writing HO0010002 into H05 07 is Host sends reference 01 10 05 07 00 02 04 00 02 00 01 ED 19 Slave feedback 01 10 05 07 00 02 FO C5 When HOC 26 0 the current value of H05 07 is H00010002 Host reads reference 01 03 05 07 00 02 75 06 Slave feedback 01 03 04 00 01 00 02 2A 32 When HOC 26 1 the current value of H05 07H00010002 Host reads reference 01 03 05 07 00 02 75 06 Slave feedback 01 03 04 00 02 00 01 9A 33 202 Inspection and Maintenance Chapter 11 Inspection and Maintenance 1S500 Servodrive User Manual Chapter 11 Inspection and Maintenance 11 1 Troubleshooting The servodrive alarm is graded into two levels Level Error The servodrive alarms
290. unIN 9 Signal Name DIR SEL CMD1 CMD2 CMD3 CMD4 96 IS500 Servodrive User Manual Chapter 7 Setting of Servodrive General Function Codes MS Runnin MS Running MS Running MS Running MS Running Function Reference 9 Reference Reference Reference Reference Name Direction Selection Switch Switch Switch Switch CMD1 CMD2 CMD3 CMD4 Enabled Reference in the 16 segment 16 segment 16 segment 16 segment Description reverse direction reference reference reference reference Disabled Default selection selection selection selection reference direction Status Allocation Allocation Allocation Allocation Allocation Remark By default 0000 indicates segment 1 which is of zero velocity WB Speed Reference Source Selection The MS speed reference can be generated only by source B There are four modes for generating speed reference source A source B source A B A B switch Then the modes related to MS speed reference are source B source A B and A B switch If you want to select source B as the MS speed reference set H06 01 to 5 to select the MS speed reference then set H06 02 to 1 If you want to select source A B as the MS speed reference set H06 01 to 5 to select the MS speed reference then set H06 00 to select the speed reference from source A finally set HO6 02 to 2 If you want to select A B switch as the MS speed reference set H06 01 to 5 to sel
291. unction 3 Factory When Data Related Code Mame pening Range Minuni Setting Enabled Type Mode Input Function Code 0 1 32 VDI6 Terminal 0 No Definition After Runnin H17 10 Function 1 32 FunIN 1 32 1 0 Restart soni Selection Refer to DIDO basic function table Input polarity 0 1 0 Valid VDI6 by VDI6 Terminal writing value 1 After Running Logic Selection 1 Valid VDI6 Restart Setting by writing value change from 0 to 1 H17 11 Input Function Code 0 1 32 VDI7 Terminal 0 No Definition After Runnin H17 12 Function 1 32 FunIN 1 32 1 0 Restart Seting Selection Refer to DIDO basic function table Input polarity 0 1 0 Valid VDI7 by VDI7 Terminal writing value 1 After Running Logic Selection 1 Valid VDI7 Restart Setting by writing value change from 0 to 1 H17 13 Input Function Code 0 1 32 VDI8 Terminal 0 No Definition After Runnin H17 14 Function 1 32 FunIN 1 32 1 0 Restart Setting Selection Refer to DIDO basic function table Input polarity 0 1 0 Valid VDI8 by VDI8 Terminal writing value 1 After Running Logic Selection 1 Valid VDI8 Restart Setting by writing value change from 0 to 1 H17 15 Input Function Code 0 1 32 VDI9 Terminal 0 No Definition After Runnin H17 16 Function 1 32 FunIN 1 32 1 0 Restart soni Selection Refer to DIDO basic function table Input polarity 0 1 0 Valid VDI9 by VDI9 Terminal writin
292. unction Signal Definition Function Signal Definition Code Code FunOUT 1 S RDY Servo Ready FunOUT 10 WARN Warning Output Motor Rotation FunOUT2 TGON Detection FunOUT 11 ALM Error Output Signal Output 3 Digit FunOurT 3 ZERO Zero Speed FunOUT 12 ALMO1 Error Code f Output 3 Digit FunOUT 4 V CMP Speed Arrival FunOUT 13 ALMO2 Error Code P Output 3 Digit FunOUT 5 COIN Position Arrival FunOUT 14 ALMO3 Error Code Position Interrupt Length FunOUT 6 NEAR Approach FunOUT 15 Xintcoin Completion Signal signal Torque Limit Origin Return FunOUT 7 C LT Signal FunOUT 16 OrgOk Output Electric Return FunOUT 8 V LT Rotation Eunout 17 OrgOkElectric to Origin Speed Limit O utput Brake Output FunOUT 9 BK Signal For DO variables refer to the appendix Function Code Parameter List 7 6 2 Configuring Analog Input There are three analog inputs Al1 Al2 and AI3 You can set the correspondence between analog input and control variable by setting the corresponding function code For example to designate Al1 is as main operation reference input in speed mode and correspond analog 10 V to 5000 rpm set the function codes as below H06 00 H03 52 H03 53 H03 50 H03 51 H03 80 1 10 00 V 100 096 10 00 V 100 096 5000 rpm 140 IS500 Servodrive User Manual All Max value correspondence H0352 H0353 Min value correspondence H
293. uns CW at 6rpm and stops after rotating one revolution every time 1 After disconnecting SIGN you will find the motor immediately rotates CCW at 6rpm It still stops after rotating one revolution every time To change the motor speed and travel change the electrical gear ratio 8 Speed 0 006 X f Electrical gear ratio where f indicates pulse frequency Hz Revolutions r Speed X Time 8 5 Examples of Trial Operation in Torque Mode 8 5 1 Digital Given B Purpose Set the torque to be 1096 of rated torque by digital given To ensure safety limit the motor speed within 1 200rpm and the torque within 2096 of rated value WB Procedure Step Operation 1 Select the control mode via H02 00 2 torque control Select torque reference via HO7 02 0 source A 2 3 Select torque reference source A via H07 00 0 digital given 4 Set torque via HO7 03 100 10 0 154 IS500 Servodrive User Manual Chapter 8 Operation Select speed limit source via HO7 17 0 internal limit Set speed limit via HO7 19 1200 1 200rpm Select torque limit source via HO7 07 0 internal limit Set forward torque limit via HO7 09 200 20 0 o o oj o Set reverse torque limit via HO7 10 200 20 0 Turn the servo ON You will find the motor accelerates to rotate but is finally limited at approximately 1 200rpm Note Motors of different inertias rotates at different s
294. urrent derated HOa 06 Motor current after derated Suppose the motor rated current is 5A After HOa 06 is set to 50 the existing motor rated current becomes 2 5A In this case motor overload is detected once the rated current gets to 3A because motor overload is indicated upon 120 of the motor rated current Similarly if H0a 06 is set to 100 motor overload is detected once rated current gets to 6A 128 IS500 Servodrive User Manual Chapter 7 Setting of Servodrive General Function Codes tA 60 120 Overload Vv v detection l l time sec Ln Nt l 4 l I 4 H0A06 100 S i l erload fault curve i HO Ko6 50 gt gt l l ll ll gt 0 50 100 Torque reference H0a Function Code 6 Name Motor Overload Current Derating Setting Range 10 100 Min Unit 1 Factory Setting 100 When Enabled Immediately Data Type Stop Setting 7 5 6 Motor Overload Protection Gain Changing the value of HOa 04 based on motor heating can advance or delay the time when protection fault occurs If HOa 04 is set to 50 the time is a half If HOa 04 a motor overload is set to 150 th e time is 1 5 multiple Function Code H0a 4 Name Motor Overload Protection Gain Setting Range 50 150 Min Unit 1 Factory Setting 100 When Enabled Immediately Data Type Stop Setting 7 5 7 Setting the Holding Brake The br
295. ut load Also check that the reference unit and direction are consistent with the machine operation 156 IS500 Servodrive User Manual Chapter 8 Operation Step Operation Check that the parameter settings comply with each control mode again Check that the servomotor operates in accordance with the operating specifications of the machine Adjust the servo gain parameters and improve the control performance of the servomotor with load if necessary Note The servomotor will not be broken in completely during the trial operation Therefore let the system run for a sufficient amount of additional time to ensure that it is properly broken in Record the parameters set for maintenance in the Parameter Recording Table Then the trial operation with the servomotor connected to the machine is completed Note You can also manage the parameters in form of a file through the debugger 157 Chapter 8 Operation IS500 Servodrive User Manual 158 Adjustments Chapter 9 Adjustments IS500 Servodrive User Manual Chapter 9 Adjustments This chapter introduces the usage and precautions of various functions related to servomotor adjustments 9 1 Basic Adjustments 9 1 1 About Adjustment Once servodrive and servomotor are well matched adjustment is aimed to optimize the servodrive s response performance that depends on the servo gain setting Servo gain is set by a combination of param
296. ute value is less than Setting Range position completion amplitude output and the reference is zero after position reference filtering 2 Position deviation absolute value is less than position completion amplitude 1 32767 reference units Min Unit 1 1 reference unit Factory Setting 0 7 reference units When Enabled Immediately Immediately Data Type Stop Setting Stop Setting Related Mode P P Note The setting unit of Positioning Completion Amplitude H05 21 is reference unit which is determined by the set electronic gear ratio The value of Positioning Completion Amplitude H05 21 only reflects the thresholds of output positioning completion signals and is irrelevant to the positioning precision If the value of Positioning Completion Amplitude H05 21 is set overlarge the position offset decreases during operation at low speed and thus positioning completion signals may be continuously output In this case decrease the value of H05 21 until positioning completion signals are sensitively output In the conditions of small positioning completion amplitude and position offset you can change the output condition of signal COIN through H05 20 The position offset is relatively small in the following cases The servodrive always runs at a low speed The servodrive is of a relatively large speed feed forward gain 7 3 7 Output of Positioning Approach Signals In the position control mod
297. utput Error Error Name Meaning Stop Error Code Method Reset ALO AL1 ALS The encoder output Encoder pulse is out of the Er 110 Output Pulse setting range and NO 1 N R H H H Setting Error does not satisfy the setting conditions The power level of the motor cannot match the driver s Or the other Product Er 120 unsupported product NO 1 N R H H H Matching Error component types are connected into the servo such as the encoder etc Enter the servo ON reference to the PC Servo ON after executing the Er 121 reference relevant auxiliary NO 1 Resettable H H H disabled error function such as inertia identification JOG function Multiple DI are Er 130 DI Allocation allocated to the same NO 1 Resettable H H H Error function A Multiple DO are Er 131 Po PU allocated to the same NO 1 Resettable H H H function Read and write Encoder Er135 EEPROM Encoder EEPROM No 1 N R H H H Parameter Error Encoder Er 136 Checksum Encoder EEPROM No 4 N R H H H rror Error The same Al can be allocated to the Er 140 Al Setting Error different reference NO 1 Resettable H H H sources The power cable wiring of the servo motor has the phase sequence error open phase and power cable short circuit to Er200 Driver over ground NO 1 N R L IL JH The power transistor is detected to be over current by the software The encoder is abnormal 205 Cha
298. utput Signal 16 Allocation Enabled Motor rotation signal enabled Disabled Motor rotation signal disabled Servo motor output signal upon stop Enabled The rotation Zero Speed speed servo motor is zero Disabled The rotation speed of servo motor is not zero Output when Allocation feedback speed is zero FunOUT 3 ZERO In the speed control it is enabled when the difference absolute Speed Arrival value between servo motor speed and speed reference is less than H06 17 speed deviation FunOUTA V CMP Allocation In the position control e itis enabled when Position n en gt position deviation FunOUT 5 COIN Arrival arrives position Allocation complete amplitude H05 21 In the position control mode this signal is enabled when the ae value of position FunOUT 6 NEAR ae deviation pulse arrives Allocation 9 at the set value of Positioning Completion Approach Signal Amplitude H05 22 Torque limit confirm signal Torque Limit Enabled motor speed FunOUT 7 C LT Signal confined Allocation Disabled motor speed not confined 290 IS500 Servodrive User Manual Chapter 12 Appendix Code Signal Name Pcie Description Status Remarks ame Speed confined signal upon torque control Rotation Enabled motor speed FunOUT 8 V LT4 Speed Limit confined Allocation
299. ve internal torque limit default 1 Positive and negative external torque limit use P CL and N CL selection 2 Take T LMT as external torque limit input 3 Take positive and negative external torque and minimum T LMT value as the torque limit Immediately Stop Setting PST H07 08 T LMTSelection 1 AI1 2 AI2 3 AI3 Immediately Stop Setting PST H07 09 Forward Internal Torque Limit 0 0 800 0 100 corresponds to one time rated torque 0 1 300 0 Immediately Stop Setting PST H07 10 Reserve Internal Torque Limit 0 0 800 0 100 corresponds to one time rated torque 0 1 300 0 Immediately Stop Setting PST H07 11 External Torque Limit at forward Side 0 0 800 0 100 corresponds to one time rated torque 0 1 300 0 Immediately Stop Setting PST H07 12 External Torque Limit at Reserve Side 0 0 800 0 100 corresponds to one time rated torque 0 1 300 0 Immediately Stop Setting PST H07 15 Emergency Stop Torque 0 0 800 0 100 corresponds to one time rated torque 0 1 100 0 Immediately Stop Setting PST 254 IS500 Servodrive User Manual Chapter 12 Appendix Function 4 Factory When Data Related Code Keme po RENEE Min Unik Setting
300. vershoot Motor pae Increase speed h ee speed N loop gain j Undershoot pa L y a Long adjustment time A Time x With mode switch Control overshoot and undershoot Motor speed L D Adjustment timet a W Use Acceleration as Detecting Point When the motor acceleration exceeds the value set in H08 28 the speed loop is switched to P control Speed reference Speed Motor speed Motor H08 29 F f gt acceleration Acceleration i H08 29 li L eS Time bd PI control i j P control l PI control gt lt lt Pe Example If the mode switch is not used PI control is enabled the motor may overshoot or undershoot due to torque saturation during acceleration or deceleration Once the mode switch is used torque saturation is suppressed and overshooting or undershooting is eliminated Without mode switch With mode switch Motor speed Time Motor speed E Use Position Error Pulse as Detecting Point This setting is valid in position control only When the position deviation pulse exceeds the value set in Pn10F the speed loop is switched to P control 171 Chapter 9 Adjustments IS500 Servodrive User Manual Reference Motor Speed peed P d N b N b Time Position 4 Deviation H08 30 pese t PI control P control PI control ple It is necessary to increase the speed loop gain to reduce the adjustment time resulting
301. vo drive error Excluded for the reasons mentioned above operate again if this error is still reported Contact us to replace the servomotor or servodrive 218 IS500 Servodrive User Manual Chapter 11 Inspection and Maintenance 11 1 5 Troubleshooting of Other Abnormalities Problem Cause Confirmation Solution Turn the Servodrive OFF Before Troubleshooting Servomotor The control power supply Check voltage between Correct the control power does not start is not ON power supply terminals circuit The main circuit power supply is not ON Check the voltage between power supply terminals Correct the power circuit Wiring of I O signal connector CN1 error or disconnected Servomotor or encoder wiring disconnected Check the CN1 connector Check the wiring Correct the connector CN1 connection Correct the wiring Overload Trail run under no load status Reduce load or replace with larger capacity servomotor Speed position references not input Check the input speed position reference signal Input speed position references correctly Setting control mode is incorrect HO2 00 Check the setting of the control mode H02 00 Set the control mode H02 00 correctly Encoder type differs from parameter setting Check the encoder type Set the encoder type correctly Servo ON S ON input signal stays OFF Check t
302. y Increment equal Setting to actual speed when electronic gear ratio is 1 1 If VDIx logic is set to 0 DI terminal logic is set to low level enabled or high level enabled If VDIx logic is set to 1 DI terminal logic is set to edge enabled indicates that this item is irrelevant 12 3 DI DO Basic Function Description Signal Function EUR Code NES Naina Description Status Remarks DI Input Signal Function Description Enabled Servomotor power Servo on enabled FUENTE Dues Enabled Disabled Servo motor power Allocation on prohibited 286 IS500 Servodrive User Manual Chapter 12 Appendix Signal Function Sem Code Nma MES Description Status Remarks According to the warning type the servo can continue to work Error Reset after the warning reset This Fanible AEMRST Signal feature is edge enabled level Allocation The edge is enabled when the terminal is set to level enabled Proportional rena control loop is FunIN 3 P CON oe Disabled Speed control loop Allocation 7 is PI control Main and Enabled Current running FuniNA CMD SEL Running reference is B Allocation ees Disabled Current running Switch reference is A MS Running Enabled Reference in the Reference reverse direction FunIN S DIR SEL Direction Disabled Default reference Allocation 7 Selection direction By default piema e Referen

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