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H2N Series User Manual-3.0

1. quit ov EE 5Et Parameter Write Press for Success y 2 3 seconds F in 15H j EE rd Parameter Read art ene SERE Fail NES bA Parameter Backup Error ux c5 Restore Backups v EE dEF Restore Defaults s Figure 4 5 Diagram for the operational processes of parameter management e EE set Write operation the parameters will be writen in the parameters district of the EEPROM Even if the power is down the parameter Will not be lost e EE rd Read operation read the data from the parameter district of the EEPROM to the parameter list of the software If the parameter are modified to result in an error by improper operation you could use 26 H2N AC Servo Drive this feature to restore the parameters e EE rs Restore the parameter read the data svaed in the backup area of the EEPROM into the parameter list of the software If you want the backup parameter be long term effective you need to perform a write operation e EE def Restore the default parameters read all of the defaults into the parameter list and then write the parameters into the EEPROM Even if the drive is restart the defaults is still effective After this operation you should ensure that the motor code PA1 is adapted for the using motor 4 6 Speed trial run without load Sr You can enable the Sr operation mode by set parameter PA4 3 You could find the Sr on the main menu by using the Up and Do
2. Table 5 8 On off frequency VS Load inertia Inertia multiples On off frequency and ACC DEC time f gt 100 min less than 70mS 60 lt f lt 100 min less than 130mS f lt 60 min greater than 150mS Note The above table only gives the on off frequency in the general case the specific circumstances will vary with the motor type and the load condition 5 6 2 Adjustment When the load inertia is at least five times greater than the motor inertia some error will occur such as position overshoot excessive position deviation and speed response fault etc If the above situation occurs you could adjust the relative parameters as the following Step 1 Increase the value of PAS and PA6 Step 2 Decrease the value of PAY Stpe 3 Increase the value of the parameter PA40 PA41 and PA42 ACC DEC time contant Step 4 Increase the ACC DEC time contant of the host controller On the other hand you could select a motor which has larger inertia instead of the using motor 48 H2N AC Servo Drive Chapter 6 Parameters 6 1 Parameter summary The defaults of the following talbe is shown as an example of H2N TD drive the GG 3 value of the parameters marked may be different from other types In the table applicable mode means that the parameter can play a role in a certain control mode P refers to position control mode S refers to speed control mode T refers to torque control mode and ALL refers to all of
3. Step 2 Gradually increase the value of the proportional speed control loop gain PA5 setting untill the resonance occurs and then decrease the gain setting value Step 3 Gradually decrease the integral time of the speed control loop PAG untill the resonance occurs and then increase the setting value Step 4 If the resonance occurs as a result the ideal responsiveness of the system could not be achieved For this case you could adjust the value of the low pass filter for torque PA7 to suppression the resonance And then you could repeat the above steps in order to achieve a better responsiveness for the position and speed control loop 5 3 3 Adjustment for position control loop If the inertia of the machinery and conditions of applications is larger or the resonance occurs you could adjust the relative parameters as the following step otep 1 Increase the integral time of the speed control loop PA6 Step 2 Gradually increase the value of the proportional speed control loop gain PAS setting untill the resonance occurs and then decrease the gain setting value Step 3 Gradually decrease the integral time of the speed control loop PAG untill the resonance occurs and then increase the setting value Step 4 Gradually increase the value of the proportional position control loop gain PAY setting untill the resonance occurs and then decrease the gain setting value Step 5 For achiving better track error of the position control loop use
4. Before speed trial run fix and secure the motor as possible to avoid the danger from the reacting force when motor speed changes 1 Parameters Table 5 2 Parameters about the speed trial run Parameter Select the operation mode PA04 Control mode 3 as speed trial running control mode PA20 RED ili 1 1 Ignore the drive prohibition Function PA53 Conto ward 4 1 1 Enable the drive without the external signal 2 Operation Step 1 Enable the drive and the running indicator will be lit by setting the parameter PA53 0001 And then the servo drive and motor is at zero speed running state Step 2 Set parameter PA04 3 choosing the speed trial running mode as the current mode Step 3 The speed command of the speed trial running is input by pressing Up and Down keys and the minimum given value is 0 1r min Use the Up or Down key to select the Sr mode on the main menu and the press the Set key to enter the operation interface for the speed trial running And the LED display should be shown as the following S 0 0 r min 32 H2N AC Servo Drive Positive instruction means that the servo motor runs in the CCW direction and the negative instruction means that the motor runs in the CW direction SrA 100 100 N Display C Increase C 08 C ETERNI 5 inn 5 Increase Operation Press Lossen Press W Lossen Press A Figure 5 2 Diagram for speed trial run 5 2 Posit
5. osrwomso 06 2 300 sr mosramosozo 12 6 2000 as mostmososo 18 6 30 5 T3OST M06025 15 6 290 others Wosrwouo 12 4 390 s PS afs sss PS SS QD sala O a cn O OT 66 H2N AC Servo Drive Chapter 8 Troubleshooting When any trouble occurs the Err xx would be dispalyed on the digital keypad and blink xx is the code for the error kind The common errors are Err 3 Err 6 Err 9 Err 11 Err 12 Err 17 and Err 38 which would be due to improper wiring or mechanical problem Generally the drive could work properly after repowering If the error still occurs or the occurs frequently please contact with our SE or FAE 8 1 Fault messages table Table 8 1 Fault messages Display id Fault Name Fault Decription Code a Normal There Is no error Motor s control speed exceeds the limit of 1 Overspeed normal speed Max circuit voltage exceeds its maximum 2 Overvoltage allowable value Max circuit voltage is below its minimun 3 Undervoltage w specified value Excessive position Position control deviation value exceeds the deviation limit of its allowable setting value Limit switch error Forward or Reverse limit switch is activated KE Position counter overflow Position counter overflow occurs es Encoder error Pulse signal is in error Current error has exceeded the specified value m euren response fault for a long time Main circu
6. 10000 S1 Screw pitch of the mechanical transmission mm The ideal range of the gear ratio is from 1 50 to 50 0 1000 x0 1ms Electronic 393 sa Refer to parameter PA12 Denominato 0 r M1 External There are three inputting type kinds for external Pulse Input pulse Type 0 pulse direction 0 2 1 CCW pulse CW pulse 2 AB phase pulse 0 Normal direction Positioning Completed Excessive Position Error Range Excessive Position Function Selection Smooth Constant of Position Command Inhibition Function Selection H2N AC Servo Drive he value is the position error range to judge whether the positioning is completed or not In the position control mode the COIN signal will be on when the value of the position error is less then the value of the PA16 In other control mode the COIN signal will be ON when the speed reachs the target speed command The value is the detection range for error 4 In the position control mode if the position error is larger than the value of PA17 the servo drive will be disabled and the error code would be displayed 0 Enable detection function for excesive position error 1 Disable the function for detecting the position error omooth the position command by exponential deceleration the value of PA19 is the time contant for the exponential deceleration The pulse would not be lost but the position command may be delay You could use the function at
7. 2 1 3 2 KES AE 9 REESE ERE 2 1 3 3 VAC EEE 2 1 3 4 NN PES 2 135 CIN DOM m 3 1 3 6 ENN 3 1 3 7 AP 3 CHAPTER 2 INSTALLATION AND WIRING 4 2 1 UNPACKING CHEC uu l analice 4 22 WOIZEXOPIDRIEL S S uuu usu su uuu as 4 2 3 SIZE DATASFORINSTALLATION verrei 5 2 4 INSTALLATION ENVIRONMENT veneree irene iene 6 2 5 INSTALLATION PROCEDURE AND MINIMUM CLEARANCES T 20 GONNETPORIS NG BE 8 CHPATER 3 PORTS AND CONNECTLTIT AI 12 3 1 SUSA 12 c ENCODER CONNECTOR CIN uu uuu aa es 12 3 2 1 The Layout and View of CN1 12 9 2 2 Signal detinitlon Tor ONTu uy u uu uu u uuu uu u u uu uu us uu usaha sassa 13 9 9 LHEJLAYOUT AND VIEW OR ONZ all b pd d db 13 3 4 SIGNALS EXPLANATION OF CONNECTOR CN2 14 So VON ENE io sanu HEC MEM susu 16 3 5 1 Digital signal input interface 16 5 2 Digital signal output interface 16 3 93 Position pulse input interface 17 3 5 4 Analog signal input interface 1
8. 500 wmn PA 20 nag Torque Command 10 100 50 0 1V 100 Gain Direction of 30 T 0 1 PA 34 Zero offset Compensation for T 2000 2000 Torque Command limit of T is Max speed limit o MN Command 3 PA 34 Proportion of load inertia PA 35 Max speed limit of motor 0 3600 1000 a E WWW MN Op gt E PAT Reserved 1 ft Torque Command Limit for i Mi limit f PA 30 in speed limit for analog 0 1000 3 speed control mode PA 40 Acceleration Time 8 0 099 me S x WN PA 41 Deceleration Time 0 10000 O mS PA 42 Accel Decel S curve 0 10000 O mS PA 43 leng B L S 10 3000 rImin V PAAA Direction of Speed Command S 0 S PA 45 Zero offset Compensation for 2000 Analog Speed Command 2000 PA 46 Low pass Fiterfor Speed 8 0 00 3 m 50 Op H2N AC Servo Drive rie E On Delay Time 0 300 OS Electromagneti c Brake Off Delay Time of 0 300 Ade Electromagnetic Brake T ff Target Speed for Turning o 0 3600 P Electromagneti c Brake B Bao Ping on SV ALL 10 3000 511 ORAE NN 3 Ll AL 9 1 1 PAS4 Z output pulse wide select ALL 04 3 PA SS AB output dividing factor AL OG o Outport effect level set DO1 redefine DO2 redefine PA 59 DO3 redefine Reserved e Lele 933m 2 P Pon effect level set ES w mE Dime pap Paea DI2 redefme AL 2 Pae DIS re
9. FSTP 6 Dix is defined to RSTP DI2 redefine Refer to PA63 1 6 WA 9 H2N AC Servo Drive DI3 redefine Refer to PA63 66 DI4 redefine Refer to PA63 60 H2N AC Servo Drive Chapter 7 Match servo driver and servo motor Before you power the driver and enable it to work the motor code parameter PA1 must be correcltly set Or the driver might alarm and can t work normally even the motor might be out of control Change of PA1 need specially authority Only after PA2 is set to 302 PA1 is allowed to change After the right PA1 is set you should write the parameters into the driver When EE SET is displayed please press the key for 3 seconds and then FIniSh would occur on the display which means the saving operation is completed chapter 4 shows how to write parameters into the driver The PA1 could be effective after repower the drive For each drive model the adaptation scope for the motor is shown as the following Drive H2N LD is adaptive for 40 60 80 and 90 series motor Drive H2N DD is adaptive for 60 80 90 and 110 series motor Drive H2N TD is adaptive for 80 90 110 and 130 series motor Drive H2N FD is adaptive for 110 130 and 150 series motor Drive H2N GD is adaptive for 130 150 and 180 series motor If client want to match other motors which is not producted by our company please contect our technical support 61 7 1 H2N AC Servo Drive Motor code list for H2N DD Table 7 1 Motor
10. Up or Down key and then you should press and hold the Set key for 3 seconds till the LED displays FINISH Press for Success 3 seconds c la Cu H T EEN C L G _ f SPg J Analog speed command Enter gt Start Fail i p Er ror ES Analog torque command dl i Figure 4 8 Diagram for the operational processes of analog zero offset adjustment 28 H2N AC Servo Drive Chapter 5 Trial Run and Tuning Procedure This chapter describes trial run for servo drive and motor including the trial run without load and introductions about the operation mode of the drive Ensure to complete the trial run without load first before performing the trial run with load 5 1 Inspection without load In order to prevent accidents and avoid damaging the servo drive and mechanical system the trial run should be performed without load Please disconnect all couplings and belts and do not run servo motor while it is connected to load or mechanical system for the unassembled parts on motor shaft may easily disassemble during running and it may damage mechanical sysytem or even result in personnel injury Please perform trial run without load first and then perform trial run with load connected Before the servo is powered please observe the following cautions 1 Ensure whether there is obvious damage on the appearance of the drive and motor 2 Check whether all of
11. YO R 3 PHASE oa S U O U 2 AC220V x VO V3 xx a T K QF KM WO W o PEO Of em DC12 24V ON CN1 COM 16 7 EN 2n 2 AK2 8 SON gt SON 14 DE lb V COR 1 ot k 4 QE GE 17 S2 M SC 8 Leas s l i e 2 0B 5 ALRS i gt ALRS 7 AY z lt V 10 BK 8 N RS ill wee 9 encoder AM lt ALM 21 ETE 14 U 10 6 U lt 13 BIS BRA 22 0 S 13 Ve lt 11 D VW lt 14 CON lt CON 20 PE 4 H 12 12 W lt E 15 DOCOM lt DooM 23 l PE lt y 1 CN1 metal case CN gt input of AS ME 13 10V 10V PAS 13 T GND gt AGD 5 CN2 A lt One S CLA A lt OA 10 B lt 0B Er 26LS31 2 B TX B lt OB 1 7 4 OZ 2 n i4 7 7 4 dM 12 Z OO lt CZ 4 DGND lt DGND 6 E DGND PE ee 22 H2N AC Servo Drive Chapter 4 Display and Operation This chapter describes the basic operation of the digital keypad and the features it offers 4 1 Description of the digital keypad The digital keypad includes 4 function keys and the display panel which is composed of 6 LED The Figure 4 1 shows all of the features of the digital keypad and an overview of their functions A Hirden AC 220V Power H2N TD an A Y S E Figure 4 1 Overview about the keypad Table 4 1 Function instructions for the digital keypad Power The LED
12. between the time set by PA48 and the time motor slow down to the target speed 46 Servo Enable H2N AC Servo Drive Signal SON ON OFF Motor Current ON Eris uS Signal motor drived BRK Signal ON motor free OFF Motor speed r min PA49 PA48 Or min Figure 5 12 Disable operation timing flowchart when motor is running 5 5 3 Timing for alarm Alarm Signal DO ALM Ready Signal DO SRDY gt Motor Current Signal Servo Enable Signal SON BRK Signal Motor speed r min No Alarm Alarm Error occurs ON OFF Not Ready ON Power OFF Motor Drived ON OFF ON motor free OFF E PA48 PA49 Or min Figure 5 13 Alarm timing flowchart when motor is running or still 5 6 Start stop characteristics The start stop characteristics of the servo system is determined by many aspects such as the load inertia the characteristics of the drive and motor and the on off frequency 47 H2N AC Servo Drive 5 6 1 On off frequency and load inertia When the servo drive and motor is used in the applications which needs high on off frequency please confirm whether the frequency is in the permissible range of H series servo drive in advance The frequency range is determined by the motor the load inertia and the speed of the motor To determine the frequecy range you could refer to the following table
13. clean and dry location free from corrosive and inflammable gases or liquids Ensure that the drive is correctly connected to a ground The grounding metho must comply with the electrical standard of the country Do not connect a commercial power supply to the U V W terminals of drives otherwise the drive will be damaged Do not attach modify and remove wiring when power is applied to the AC servo H2N AC Servo Drive drive Do not disconnect the drive and motor when the power is ON Do not touch the heat sink of the drive duiring operation If you do not understand please contact your local sales representative Please place this user manual in a safe location for future reference H2N AC Servo Drive Safety Caution Installation The applications should be kept away from the water vapor corrosive gases flammable gases and so on Otherwise it may result in electric shock fire or personal injury The application environment should be without direct sunlight dust salt and metal powder and so on he applications should be kept away from the place which the oil and pharmaceutical will attach or be dipped Wiring amp Connect the ground terminals to a class 3 ground Ground resistance should not exceed 100 Q The H series AC servo drive is suitable for AC 220V single phase or three phase power Please do not connect to the power AC 380V Failure to observe this precaution may damage the drive Do not connect any
14. code list for H2N DD Rated Rated Power Torque Code Motor model Speed Current iS i i 51 11000200008 2 3000 5 ss 110 608020 12 6 2000 Others 2 4 4 2 62 7 2 H2N AC Servo Drive Motor code list for H2N TD Table 7 2 Motor code list for H2N TD i T Rated Rated Code Motor model P Speed Current 35 aocosaso 1 ss 9000 s _ 22 feo cno1sso 04 13 3000 23 34 80 GD02430 075 24 3000 4 41 3 5 48 FEE VE ER 51 110 602030 06 2 3000 4 56 110 606020 12 6 2000 6 61 NEM 63 130 G05000 1 5 2000 45 _ 64 5 65 5 6 67 130 G06025 15 6 2500 6 69 130 G07720 16 77 2000 6 78 130 G10015 15 10 1500 6 63 H2N AC Servo Drive 7 3 Motor code list for H2N FD Table 7 3 Motor code list for H2N FD Rated Rated Power Torque Code Motor model Speed Current A s 10608020 12 6 2000 6 se 110 608030 1 8 6 3000 s er 130 606025 1 5 6 2500 E 64 H2N AC Servo Drive 7 4 Motor code list for H2N GD Table 7 4 Motor code list for H2N GD Rated Rated Power Torque Code Motor model Speed Current T er 130 600025 15 6 2500 r T 7 s r 16 9 65 7 9 H2N AC Servo Drive Motor code list for H2N ED Table 7 5 Motor code list for H2N ED Rated Power Torque Rated speed Code Motor Model Kw N m current A 4 299 4 3
15. counter CLE SC1 reset function A B Z OZ CZ ON The input interminal is defined as the speed conmand selection SC1 in the speed control model PA4 1 when the parameter PA22 0 The input interminal is defined as the speed conmand selection in the speed control model when PA4 1 and PA22 0 Used to select the different internal speed through the combination of SC1 and SC2 SC1 OFF SC2 OFF internal speed 1 SC1 ON SC2 OFF internal speed 2 SC1 OFF SC2 ON internal speed 3 H2N AC Servo Drive 861 ON S02 ON intemal speed In the position control mode PA4 0 COIN is activated when the position error is equel and below the setting value of PA16 In the speed control mode PA 1 COIN will be activated when the drive has detected the motor has reached the Targe Rotation Speed setting as defined in parameter PA28 Motor speed command 10V 10V corresponds to 3 AS 3000 3000 r min command and the input impedance is 10kO AGND The reference ground for analog input signals PULS Position Pulse Input PULS SIGN w Position Sign Input SIGN 9 P Shielding connected to ground H2N AC Servo Drive 3 5 I O Interface Type 3 5 1 Digital signal input interface Digital signal input interface circuit is generally composed by optocouplers switches relays open collector transistors or other components as shown in the following figures Servo Drive DC 12 24V Servo D
16. for CN1 Table 3 1 Terminal signal definition for CN1 Terminal PIN No _ Description Identification 0 8 Connected to B signal I 3 3 The Layout and View of CN2 CN2 is is the control signal I O interface which terminal is named as DB26M The view and the layout of the CN2 is shown as the following 000000 Figure 3 2 The view and layout of the CN2 I O interface terminal H2N AC Servo Drive 3 4 Signals Explanation of Connector CN2 Table 3 2 CN2 Terminal Signal definition PIN Terminal o MONS Description No Identification O OB Encoder signal output A B Z Line driver output The motor encoder signals are available through these O terminals O 1 2 Oz 12 om gt 4 CZ Encoder signal Z open collector output COM is the common voltage rail of the DI and DO A 10 6 COM signals The range is DC12 24V and the available current should be greater than 100mA Servo enable signal input terminal SONON enable the drive SON OFF drive off and the motor is in a free state Note 1 The motor must be still before enable the drive Note 2 Any other command should be inputted after the son on signal at least 50ms In the speed control model when PA22 1 the input interminal is defined as the zero speed clamping function ZCLAMP When PA4 0 the terminal is defined as deviation
17. power supplies to the U V W terminals Failure to observe this caution may result in injury damage to the drive or fire Ensure that all screws wire terminations and connectors are secure on the power supply servo drive and motor Failure to observe this precaution may result in damage fire or personal injury In order to prevent fire hazard and accidents please form the wiring by the cable specifications outlined in this manual Operation Before starting the operation with a mechanical system connected change the drive parameters to match the user defined parameters of the mechanical system Starting the operation without matching the correct parameters may result in servo drive or motor damage or damage to the mechanical system Do not touch or approach any rotating parts e g heatsink while the servo is running Failure to observe this caution may cause serious personal injury Do not remove the operation panel while the drive is connected to an III H2N AC Servo Drive electrical power source otherwise electrical shock may result Do not disassemble the servo drive as electrical shock may result Do not connect or disconnect wires or connectors while power is applied to the drive Wait at least 10 minutes after power has been removed before touching any drive or motor teminals or performing any wiring or inspection as an electrical charge may still remain in the servo drive IV H2N AC Servo Dr
18. the power terminals R S T r t U V amp W or the cables connected to them after the power has been turned off and the charge LED is lit 6 Please usd a twisted shield signal wire with grounding conductor for the encoder calbe CN1 and the position feedback signal connector CN2 The wire length should be 20m or less If the length is greater than 20m the wire gauge should be doubled in order to lessen any signal attenuation 7 The shield of shielded twisted pair cables should be connected to the SHIELD end ground terminal of the servo drive 8 The cable connected to R S T and U V W terminals should be placed in separate conduits from the encorder or other signal cables Separate them by at least 30cm 9 Ensure to check if the direction of the diode for the relay is correct or damage will occur as a result 10 Please install a NFB to prevent excessive current which may arise due to short circuit or flow when power on an power off so as to avoid the damage on the 10 H2N AC Servo Drive servo drive 11 Please turn off the power supply if the drive will not be used for a long time 12 The direction definition of rotation facing the motor shaft the counter clockwise direction is defined as the CCW And the clockwise direction of rotation is defined as the CW The CCW is the positive direction and CW as negative direction Figure 2 5 The definition of the direction for the rotation Chpater 3 H2N AC S
19. the wiring is correct or not especially for the R S T U V W and PE terminal The terminals should be connected to the specified calbe and terminal 3 Ensure that there is no foreign matter inside the drive such as conductive objects and flammable objects 4 Confirm that the electromagnetic brake could work normally if the brake is being used 5 Ensure that the specification for the power is applicalbe 6 Make sure that the cable and the mechanical parts are not intertwined to avoid wear or pulling phenomenon at the run time 7 Verify that the servo drive and motor are connected to the ground reliably 8 Make sure control switch is OFF After the control power is applied please observe the following cautions 29 H2N AC Servo Drive 1 Ensure that the power indicator and LED display is normal If there is any abnormal condition of the power indicator and LED display please contact your distributor for assistance or contact with us 2 Check that all user defined parameters are set correctly For the characteristics of different machinery equipment are not the same in order to avoid accident or cause damage do not adjust the parameter abnormally and ensure the parameter setting is not an excessive value 3 Make sure that the servo drive is off when you reset some parameters 4 Check for abnormal vibrations and sounds during operation If the servo motor is vibrating or there are unusual nosies while the motor i
20. 00 1000 6 5 3 So you could set the parameter PA12 N1 5 and the PA13 M1 3 If there is a gearbox between screw and motor the ratio of the gearbox is N2 M2 N2 rotation number of the motor M2 rotation number of the screw F1 N1 P1 M1 pulses mm for host controller F1 F2 N2 S1 M2 pulses mm for actual moving distance with gearbox Therefore the electronic gear ratio N1 M1 is equal to F2 N2 S1 P1 M2 For the above mentioned example if the ratio of the gearbox is N2 M2 5 3 37 H2N AC Servo Drive According to the formula the electronic gear ratio N1 M1 10000 5 1000 6 3 25 9 So you should set the parameter PA12 N1 5 and the PA13 M1 3 for the mechanical transmission system with a gearbox INH signal Pulse command input Electronic gear ratio OFF t2 ON t3 t4 dA OFF lst ratio PA12 PA13 2nd ratio PA52 PA13 tl t2 t3 t4 gt 10mS lst ratio PA12 PA13 Figure 5 5 Diagram for dynamic electronic gear ratio Note H2N series servo drive provides two sets of dynamic electronic gear ratio which could be swithced online The second numerator of the electronic gear ratio is set in the parameter PA 52 and denominator is the same as the one of the first one When the PA51 is equal to 1 the function of the dynamic electronic gear is ena
21. 16 4 Tk Enable NO DSN 14 v Nl p 7 BV gt 2 21 OV p 5 l A 4 4 9 M 7 2 B 4 y 5 201532 10 B 4 8 RX 3 7 lt W 6 m He M 9 ENCODER 14 Ur y 10 AM 21 U lt 13 Alam iV E lt DOREM 23 3 y M Wy 11 V s 14 HW lt 12 12 Ww w x E 15 15 PE 14 l E ov P PULS 26 MER M p PUS 18 220 P SIGN 24 SIGN M p SIGN 25 y Y 220 4 Z UJ Z a 6 lap M gt Z output iG 9 al y 77 FG Figure 5 3 wiring diagram for the simple position control system Note Refer to the section 3 6 1 you could find the detailed wiring diagram for the position control system 34 H2N AC Servo Drive 5 2 2 Parameters for the position control Table 5 3 Parameters about the position control mode PAO4 Control mode PAOO T Position Loop 0 1000 EE PA10 Feed Forward 0 100 PA11 Smooth Constant of PA10 1 1000 Electronic Gear Ratio PA12 Numerator N1 1792167 NS Electronic Gear Ratio sal Denominator M1 or KE PA14 External Pulse Input Type 0 2 O PA15 Direction of External Pulse 04 O0 Positioning Completed PA16 Width 0 30000 TA PA17 Excessive Position Error 0 30000 100 Range T Excessive Position Error PA18 Function Selection Smooth Constant PA S Position Command a a an PA20 Inhibit Drive Function 0 1 Selection Digital Input i PA53 Function Selection Enabled Word 1 35 H2N AC Servo Drive 1 External pulse input type Table 5 4 Type and waveform of t
22. 2 34 35 36 8 9 0 1 2 3 Command Limit for JOG and Trial Run Min speed limit for analog speed control mode Acceleration Time Deceleration Time Accel Decel S curve Analog Speed Command Gain The value is the maximum torque provided by the motor when the operation mode is JOG 5 3009 The function of internal or external torque limit is effective at the same time 0 1000 Limit the min speed when PA4 1 PA23 0 A The value is the acceleration time for motor from 0 to 1000r min and the process is linear The function is effective only in speed control mode The value is the deceleration time for motor from 0 to 1000r min and the process is linear The function is effective only in speed control m mode S curve filter is for the speed smoothing of motion 0 1000 command The value is the acceleration or deceleration time for the S curve Set the proportional relationship between analog input voltage and the speed command Only when PA4 1 and PA22 1 the function is effective 10 300 The unit is r min V The default is 300 which 0 r min V 0 1000 OmS 0 1000 OmS 0 means that the value of the speed command would be set to 3000r min when the value of the voltage is 10V 57 Direction of Speed Command Zero offset Compensatio n for Analog Speed Command Low pass Fliter Speed Command for On Delay Time of Electromagn eti c Brake Off Delay Time of Electromagn etic Brak
23. 3 Please do not mount the drive or motor in a location subjected to corrosive H2N AC Servo Drive gases liquids or airborne dust or metallic particles 4 Please do not mount the servo drive or motor in a location where it will be subjected to high levels of electromagnetic radiation 5 Please do not mount the servo drive or motor in a location where temperatures and humidity will exceed specification 6 Please do not mount the servo drive or motor in a location where vibration and shock will exceed specification 2 5 Installation Procedure and Minimum Clearances Incorret installation may result in a drive malfunction or premature failure of the drive Please follow the guidelines in this manual when installing the servo drive 1 The servo drive should not be tilted or upside down Please mount the drive perpendicular to the wall or malfunction and damage will occur 2 he servo drive should be mounted in the control panel with a cooling fan to enhance air circulation and cooling 3 In order to ensure the drive is well ventilated ensure that the all ventilation holes are not obstructed and sufficient free space is given to the servo drive To define the free space please refer to the section Minimum Clearances 4 Please mount the servo drive in a location where the foreign matter could be prevented to be inside the drive when the drive is operating 5 Make sure to tighten the screws for securing drive or motor Failure to obse
24. 7 910 9 Encoder signal output interface 18 3 5 6 Encoder Open collector Z pulse output interface 19 3 5 7 Encoder feedback signal input interface 20 9 0 STANDARD CONNECTION EXAMPLE sii Go Qao podp in 21 3 6 1 POSIMOMPCOMUO 11010 gt ian 21 3 62 Speed Torque control Mode m m e metet me edt 21 CHAPTER 4 DISPLAY AND OPERATION 23 VI H2N AC Servo Drive 4 1 DESCRIPTION OF THE DIGITAL KEYPAD ooo 23 42 MAN MENU didus L L u ddnde deutet atacado taie deett S aaa 24 45 O ES DS A NN 24 4 4 PARAMETER SETTING P ll i 25 4 5 PARAMETER MANAGEMENT EE m enne nnn 26 4 6 SPEED TRIAL RUN WITHOUT LOAD SR 27 4 7 JOGTRIAL RUN WITHOUT LOAD JR Lui 27 4 8 ZERO OFFSET ADJUSTMENT teatro 28 CHAPTER 5 TRIAL RUN AND TUNING PROCEDURE 29 5 1 INSPECTION WITHOUT EO AD unicidad 29 5 1 1 Appling power to the driVe nn 30 5 1 2 JOS trial turi witout load tdt actes u u L u adt 30 5 1 3 Speed trial run without load 32 OZ POS TIONGONTREOLDTMODE u u uu uu uu uu uuu sassssssatssa asatssatasatssatssstasa asatuss usckusa 33 5 2 1 Simple position contr
25. H2N AC Servo Drive JF AC Servo Drive for Industrial Control Application H2N Series User Manual 2 Version Sanmen Jingfei Industry Co Limited Tel 00 86 576 89310525 Fax 0086 576 88476611 Email flyfish fob gmail com H2N AC Servo Drive Thank you very much for purchasing our AC servo products This manual will be helpful in the installation wiring inspection and operation of Our AC servo drive Before using the product please read this user manual to ensure correct USE Contents of this manual This manual is a user guide that provides the information on how to operate and maintain H2N series AC servo drives The contents of this manual are including the following topics Installation of AC servo drives Configuration and wiring Parameter settings Control functions and adjusting methods of AC servo drives Trial run steps Troubleshooting Who should use this manual This user manual is intended for the following users Those who are responsible for installling or wiring Those who are responsible for operating or programming Those who are responsible for troubleshooting Important precautions Before using the porduct please read this user manual thoroughly to ensure correct use and store this manual in a safe and handy place for quick reference whenever to be necessary Besides please observe the following precautiongs Do not use the product in a potentially explosive environment Install the porduct in a
26. OR NT an 63 to MOTOR CODE LIST FOR PAN FDI usanne aa t nha maaa 64 7 4 MOTORCODELISTFORHZN GD i 65 Ro MOTOR CODE USTFOR FANSED u uu u uuu u tenestene 66 VII H2N AC Servo Drive CHAPTER 8 TROUBLESHOOTING 67 Od FAUPEMESSAGESTABLEQ usando 67 8 2 POTENTIAL CAUSE AND CORRECTIVE ACTIONS 69 CHAPTER 9 CONNECTION TO MOTQOR 72 CHAPTER 10 SYSTEM CONNECTION usina 73 VIII H2N AC Servo Drive Chapter 1 H2N Driver summary 1 1 The H2N series H2N series drivers include H2N DD H2N TD H2N FD H2N GD and H2N ED P D C R S T r t U V W PE are power port The power port of H2N ED is different from the others CN1 CN2 CN3 are signal port The power level of H2N series drivers show as table 1 1 Table 1 1 Power level of H2N series drivers 1 2 Appearance The appearance of H2N TD H2N FD H2N GD are the same They all include P D C R S T r t CN1 CN2 CNS H2N DD don t include P D C and CN3 H2N ED don t include P D C H2N TD H2N ED H2N AC Servo Drive z TRA e TAS gt d 4 Up La VA Si a e mg tae N R ANT s I TU Na ATS tt PE R S T U v al W PE E t CI ATA AN E AS EN R R i NA NIA NP INI GN S Figure 1 1 a
27. PE O O 1 Ot Mu Ch2 CM gae 16 N 47ko NA Be n 8 0v 3 b SON 14 T 4 T x A 4 AV gt QE 17H i THE Ata o lt 7 ta 2 i x 7 AY 10 BK 8 26L 32 6 CN RX 31 7 4 g encoder 4 AM 21 fog Ti a 6 lt lt PK ec TD ag 13 V Il 0 V 14 4 N 205774 AS T e m 12 W ke 15 CUM lt 4 DOOM 23 i PE gt CM PE CN a eg eer PULS n y NE gt SIGNA 24 ref SIGN i 4 E SIGN 25 i gt CN2 A lt t 19 Ku A lt D 10 B lt B 11 e6LS31 ul n TX R lt B 1 7 lt Zee lt Z 7 lt e Z output lt CZ 4 GND lt DAND 6 l IGND NZ PE I PE 3 6 2 Speed Torque control mode 21 H2N AC Servo Drive Motor COS DRIVER x lt
28. V oe Main Power Supply P ON Ed o 133 Sai lt 1 2ms dd servo Ready Output ON OFF CDO RDY gt 5ms Servo Enable Signal set b ON DI SON lt 5ms Servo Output Power U V W terminal i BRK si signa OFF ON DO Figure 5 10 Timing flowchart about drive power on 45 H2N AC Servo Drive Note Even if the host controller output the SON signal before the SRDY signal of the drive the servo drive couldn t receive the SON untill the SRDY signal is ON for 5 msec 5 5 2 Timing for enable operation 1 Enable operation timing for still motor When the motor is still if the SON is OFF the mian circuit will work and the work will not be powered off for some time to hold the position until the electromagnetci brake is disabled for some time set by PA47 lt 10ms lt gt Servo Enable Dr OFF servo ON OFF Motor Current signal OFF ON motor drived OFF OFF BRK ens OFF ON motor free Set By PA47 Figure 5 11 Enable operation timing flowchart when motor is still 2 Enable operation timing when the motor is running When the motor is running if the SON turn off the main circuit of the drive will be disabled and the motor will be powered off The electromagnetic brake will still be ON for some delay time set by PA48 or PA49 while the motor could be slow down avoiding to damage the brake at the high speed The delay time would be selected the one which is samer
29. ace the motor Encoder cable fault Replace the cable The max speed setting Modify or recover the error parameter Servo drive default Replace the drive Err02 Overvoltage high The power waveform is abnormal Servo drive default Replace the drive The power voltage is too T Check the power supply Err03 Undervoltage Transformer capacity is not Replace the transformer by a enough larger one The cable is loose Check and fix the cable Encoder fault Replace the motor Increase the PA5 and PA9 Check the funciton for torque gt D pa O D lt r O O D T rm O O Check the power supply The rigidity is not enough EE Excessive The output torque of motor limit rr position deviation is not enough Decrease the load Replace the motor and drive The pulse frequency is Decrease the frequency Inapplicable FSTP or RSTP is OFF ErrO7 Limit switch error Inhibition function iS enabled Check the digital input signal Disable the function ON NO Err08 Err09 Err11 Err12 T 3 Err14 Err17 Err19 O D D O D O s RI D 2 Q O D r I D Err20 Position counter overflow Encoder error Current response fault Short circuit Drive temperature error Regeneration error Speed response fault Warm reset EEPROM error The motor is stuck Pulse signal is abnormal Encoder fau
30. and it s prohibited to be modified H2N AC Servo Drive mem o 52 Reserved 1 the driver is enabled input SON is invalid NE enable O driver enable accord to input singal SON Z output 0 Z output singal is original Z singal o4 pulse wide 1 Z output pulse wide is wider than 0 2ms 0 1 select AB output O AB output is original AB singal 55 dividing 1 AB output frequency is 10 divided 0 1 factor Outport PA56 2 0 DO3 COIN effective level is low effect level PA56 2 1 DO3 effective lecel is high 56 set PA56 1 EE IL eve is low 000 111 PA56 1 1 D02 effective lecel is high PA56 0 0 DO1 ALM effective level is low PA56 0 1 DO1 effective lecel is high DO1 redefine 1 DOx is defined to ALM 2 DOx is defined to SRDY 57 3 DOx is defined to COIN 1 4 4 DOx is defined to BRK X 1 2 3 4 Reserved O Input filter The time contant for anti shaking function of the 0 100m time input terminal Inport effect PA62 3 0 DI4 effective level is low level set PA62 3 1 DI4 effective level is high PA62 2 0 DI3 effective level is low 6 0000 1111 PA62 2 1 DI3 effective level is high PA62 1 0 DI2 effective level is low PA62 1 1 DI2 effective level is high PA62 0 0 DI1 effective level is low EN PA62 0 1 DI1 effective level is high 2 DI1 redefine 1 Dix is defined to SON 2 Dix is defined to CLE SC1 ZCLAMP 3 Dix is defined to INH SC2 1 6 4 Dix is defined to ALRS 5 Dix is defined to
31. as following Fp lt fv 4 Fv speed loop responsiveness Hz Fp position loop responsiveness Hz PA09 2 rr fp For example the desired position loop responsiveness is equal to 40 Hz Then PA09 2 Tr 40 251 rad s 39 H2N AC Servo Drive Position feed EN Smooth Constant forward gain PA 10 PA 11 Position loop t Speed proportional gain PA09 Command Position Counter Figure 5 6 Flowchart of the position control loop Increasing the position proportional gain can improve the stiffness of the system expedite position loop response and reduce position error However if the setting value Is over high it may generate vibration or noise When the value of proportional position loop gain is too great the position loop responsiveness will be increased and it will result in small phase margin If this happens the rotor of motor will oscillate At this time you have to decrease the value of the PA09 until the rotor stop oscillating When there is an external torque command interrupted over low PA09 value will let the motor cannot overcome the external strength and fail to meet the requirement of reasonable position track error demand Adjust feed forward gain PA10 to efficiently reduce the dynamic position track error 5 3 Gain Adjustment The position and speed frequency response selection is depending on and determined by the control stiffness of machine
32. bled and signal connected to pin 15 of the I O interface CN2 could control the switching of the electronic gear When the level of the signal is low the servo drive would choose the second electronic gear ratio PA52 PA13 38 H2N AC Servo Drive 5 2 4 Position proportional gain The positional control loop includes the speed control loop therefore you should complete the speed control setting first by using manual mode before performing position control setting position control block diagram Then adjust the proportional position loop gain PAOY and position feed forward gain PA10 Table 5 5 The parameters about the position proportional gain Ed Name Description wae Defaults NO range Increasing the value PA 09 Position loop proportional can improve the 0 1000 50 gain response frequency of the position Increasing the value PA 10 Position feed forward gain can reduce the 0 100 position track error Be smoother to omooth constant of PA10 decrease the EN position overshoot For the positional control loop includes the speed control loop the position loop bandwidth would be restricted by the one of the speed loop It is reconmmended that the speed loop responsiveness should be at least four times faster than the position loop responsiveness This means that the setting value of the proportional speed loop gain PAO5 should be at least four times faster than proportional position loop gain PA09 The equation is shown
33. ce of the speed command if SC1 is OFF and SC2 is ON 4th Speed When PA4 1 and PA23 5 the value of the Command parameter PA24 is the source of the speed command if SC1 and SC2 are ON Target Motor Set the speed reached value In all control mode excepting position control mode if the motor feedback speed is larger than the value of the parameter the SCMP signal would be ON otherwise SCMP would be OFF Set the proportional relationship between analog input voltage and the value of torque command Only in the torque control mode the function is effective The unit is 0 1V 100 The default is 30 which means that the value of the torque command would be set to 100 rate torque when the value of the voltage is 3V Direction of 0 The direction of the torque is CCW when analog Torque voltage is bigger than 0 30 C d ibo 0 1 omman 1 The direction of the torque is CW when analog voltage is bigger than 0 31 Zero offset The value is the bias compensation for the analog 2000 Compensatio signal of torque command 2000 56 10 100 0 1V 10 0 Proportion of speed load inertia speed limit of motor 0 3600 Limit the max speed of motor bd r min nteral torque Limit he max t motor Tmax PA36 Trated 196 H2N AC Servo Drive n for Torque Command Max Limit the max speed when PA4 2 0 3600 r min 0 1000 Set load nertia Jload PA34 Jmotor 1 9 0 torque of 5 800 IE 3
34. chased the product from or your local JF sales representative 2 2 Size of drivers oize of H2N series drivers show as figure 2 1 and table 2 1 H2N AC Servo Drive Figure 2 1 size sketch map Table 2 1 size datas for H2N series drivers L3 LI H2N GD 215 105 207 H2N ED 195 155 2 3 Size datas for installation The size for installation is show as figure 2 2 and table 2 2 H2N AC Servo Drive Figure 2 2 size sketch map of installation Table 2 2 installation size data for H2N series driver Size data of installation H2N DD 2 4 Installation Environment The operating temperature for the H series servo drive is from 0 C 32 F to 55 C 131 F If the ambient temperature of servo drive is higher than 45 C please install the drive in a well ventilated location and do not obstruct the airflow for the cooling fan The ambient temperature of servo drive for long term reliability should be under 45 C 113 F If the servo drive and motor are installed in a control panel please ensure sufficient space around the units for heat dissipation Pay particular attention to vibration of the units and check if the vibration has impacted the electric devices in the control panel Please observe the following cautions when selecting a mounting location 1 The ambient humidity should be less than 8096 without condensing 2 Please keep the servo drive or motor away from the heat radiating elements or in direct sunlight
35. defme AL 3 Pase Darei AL 8 4 5 H2N AC Servo Drive 62 Detailed parameter setting Table 6 2 Detailed settings for the parameter De Value Oi Function description F4 range K 1 Generally prevent some parameters modified falsely If you need to modify the parameters you need to modify this parameter to the password first 1 1000 2 Password for general parameters is 315 3 Password for PA1 is 302 Motor Code The value should be adapted for the motor you used Refer to section 6 3 for specific value and pasword is 302 Version View the software version which couldnt be 0 9999 modified 9 n Initial Monitor Monitoring variables for the initial display when the drive powered on Feedback speed Low data of the feedback positon High data of the feedback positon Low data of the position command High data of the position command 3 20 200 Low data of the position error High data of the position error Feedback torque CONDO 0 Q NO O Feedback current 0 19 9 Reserved 10 Present control mode 11 Input frequency of pulse command 12 Speed command Integrated 13 Torque command Integrated 14 Motro feedback current position 15 Reserved 16 Reserved 17 Voltage of the DC bus Drive status Error code i HIN AC Servo Drive 1 Speed control mode 2 Torque control mode 3 Speed trial run control mode 4 JOG control mode 5 Contr
36. e Target Speed for Turning off Electromagn eti c Brake Sampling Gain for Bus Voltage Sampling Gain of output i HIN AC Servo Drive 2000 2000 0 1000 ms 0 300 x10mS 0 300 x10mS 0 3600 r min 10 300 0 10 300 0 Select the direction for the external command 0 When the voltage of the external speed command is positive the speed direction is CCW 1 When the voltage of the external speed command is positive the speed direction is CW speed The value is the bias compensation for the analog signal of speed command The value is the time contant of the low pass filter for the analog speed command The value is larger the responsiveness is slower and thenosie is smaller And then if the value is smaller the responsiveness would be faster and the nosie may be larger The function is effective only in the following conditions 1 PA4 4 and PA22 1 2 PA4 2 The value is the delay time for the electromagnetic brake turning on The value is the delay time for the electromagnetic brake turning off When the motor is running if the servo on signal turn off or error occurs the BRK siganl will turn off when the feedback speed is slower than the value of the parameter The actual delay time is chosed between PA48 and the operation time of PA49 The value is the linear gain for DC Bus voltage sampling signal The value is prohibited to be modified It is the linear gain of output current
37. e a The load is too heavy larger drive and motor Motor code is choose a larger drive and Inapplicability motor Overload for Err29 motor torque Modify or recover the Parameter is set incorrectly parameters about motor code and torque U V W signal Err32 Cable or shielding fault Replace the cable error for encoder Encoder signal circuit fault Replace the drive The load is too high for Decrease the load or choose a Instantaneous motor larger motor overload for Confirm the wiring and Err37 The motor is short circuited motor terminals The motor code is Confirm the code parameter Incorrectly The load torque is too high Decrease the load or choose a Err38 Motor for motor larger motor rr temperature error The motor code is set Confirm and modify the incorrectly parameter 7 Chapter 9 Connection to motor H2N AC Servo Drive The welding definition of the encoder cable is shown as the following gt gt gt gt gt driver CN DB15M name pin A A B 2 B 10 Z 3 Z 11 U 14 U 6 V 13 V 5 Wr 4 W 12 5V f OV FG 15 Figure 9 1 motor AYD28K15TS pin name 4 A M A 5 B 8 B 6 Z 9 Z 10 U 13 U 11 V 14 V 12 We 15 W 2 5V 3 OV FG Connecting diagra
38. e dirve mode AM26LS31 MC3487 or RS422 is used in the Line drive output circuit of the host controller Servo Drive PULS 1219 l z gt 121Q A PULS SIGN 1219 De LH hz gt 1219 A SIGN Figure 3 5 Pulse input interface circuit type 3 Line drive input circuit 2 Diagram for Open collector input circuit The source of pulse input is from the open collector NPN equipment and use the external power supply This input mode will reduce the operating frequency The driving current of the circuit is 10 15mA please determine the desired resistance of the resistor R by the DC power supply voltage pr Servo Drive PULS 1210 R PULS 1212 gne T gt E gt AL SIGN 1210 Il gt Y i R SIGN 1210 A X Figure 3 6 Pulse input interface circuit type 3 Open collector input circuit 3 5 4 Analog signal input interface H2N AC Servo Drive There are two different input circuit types of analog signal differential input mode and single ended input mode The differential input circuit can inhibit the common mode interference so the differential input mode is recommended Either analog speed command or torque command is needed for H series servo dr
39. ee parameters to set the off delay time of electromagnetic brake Table 5 7 Parameters about the electromagnetic brake Parameter Value Name Defaults Units NO range On delay time of electromagnetic PA47 0 200 10ms brake when motor is still Off delay time of electromagnetic 0 200 50 10ms brake when motor is running Off speed of the motor for electromagnetic brake when the 0 3000 100 r min motor is running 43 5 4 2 Matters for electromagnetic brake Wiring of the electromagnetic brake is shown as below Servo drive Do not connect VDD and COM When emergency stop signal is activated this circuit breaker will be enabled a O Z Cu ce JE Relay VDD SE BRK DC24V Ensure the polarity of Diode is correct or 1t may damage the drive H2N AC Servo Drive Brake Figure 5 8 Diagram for electromagnetic brake The BRK signal is used to control the brake operation The VDD DC24V power supply supplied externally should be used to power the relay coil When BRK is on the motor brake will be activated The coil of the brake has no polarity But the diode has polarit please ensure the polarity of the diode is corret or it may damage the drive At last the power supply for brake is DC24V Never use it for VDD the 24V source voltage Timing chart for using s
40. ervo Drive ports and connect The singal connect ports include CN1 CN2 CN3 and CN3 is reserved This chapter gives the definition of CN1 CN2 and show 3 standard connection 3 1 Summary 1 CN1 is encoder cable connector used for receiving encoder singals of motor 2 H2N series drivers just match incremental photo electricity encoder 3 incremental photo electricity encoder include 6 singals U V W A B Z It takes differential singal output and include 15 wire output 4 CN2 port is control singal port used to receive control singal from the controller and also output the feedback singals which are necessary for the controllor 5 control singals of the controller always include pulse singals as PULS PULS and direction singals as SIGN SIGN analog voltage singals for speed control as AS AS enable singal AS SON and so on 6 The feedbake singal for controller always include encoder singals as A A B B Z Z Z singal OC output CZ driver alarm singal ALM ALM and so on 3 2 Encoder Connector CN1 3 2 1 The Layout and View of CN1 CN1 is is motor encoder singal port which terminal is named as DB26M The view and the layout of the CN1 is shown as the following 9 AE MER n lo SJ 9 Figure 3 1 The view and layout of the CN1 encoder signal interface terminal H2N AC Servo Drive 3 2 2 Signal definition
41. ervo motor with electromagnetic brake SON Signal ON CN2 24 input OFF OFF ON BRK Signal OFF OFF CN2 30 input SE UI T2 PA 49 Motor Speed PA 48 Figure 5 9 Timing chart for electromagnetic brake 44 H2N AC Servo Drive BRK output timing explanation 1 when servo off when DI SON is not activated the BRK output goes off electromagnetic brake is locked after the delay time set by PA48 is reached and the motor speed is still higher than the setting value of PA49 2 when servo off when DI SON is not activated the BRK output goes off electromagnetic brake is locked if the delay time set by PA48 is not reached but the motor speed is still lower than the setting value of PA49 5 5 Timing 5 5 1 Timing for power on otep 1 Control power supply should be turned on earlier than the main power or turned on simultaneously otep 2 Delay 1 2s after the main power turn on the servo ready SRDY will be ON And then the servo drive could receive the enable signal SON from the host controller When the servo drive is enabled the main circuit will work and the motor will run If the drvie couldn t receive the SON siganl or detect some error the main circuit will be disabled and the motor will be at zero speed status Step 3 As the cautions please do not restart frequently E POWER ON E I lt 0 5ms Control power ON 45
42. g the Up and Down key and then press the Set key to enter the specific monitor and display interface 24 4 4 Figure 4 3 Feedback Feedback Speed r min Feedback Position Command Low Position Position Error Low Position Feedback Torque Feedback Current A Reserved Present Control Mode Pulse frequency kHz Speed Command r min Torque Command Motor Current Position Reserved Reserved Voltage of DC Bus Drive status Error code Reserved Parameter setting PA Position Low Position X100000 Command X100000 Error X100000 Enter i lt Cr 1000 Pu5BDB P 5B 1D Lt dw HE T E k 1D 123 ET Ent DJ F 106 r 35 b 20 R 3eB5 GT ol HHJ UU 310 rn an Err 9 iu DJ H2N AC Servo Drive Motor speedl000r min Position 1245806 Pulse Command 1245810 Pulse Position Error 4 Pulse 70 Rated Torque Motor current 2 3A Reserved Control mode 0 Pulse frequency 12 6kHz Speed command 35r min Torque Command 20 Present Position 3265 Reserved Reserved DC Bus Votage is 310V Servo Un Status Error 9 occurs Diagram for the operationa
43. he external input pulse Pulse Type Forward Reverse PA14 Pulse ue TA EAS 0 Direction SIGN CCW bube ep a t l cw se SLIDE AD us p ly y Phase 9 Pulse i n A v Host controller could drive the servo drive and motor running and positioning by external pulse Referring to parameter PA14 you could see there are three types of the pulse In the table 5 5 the types of the pulse are diagramed and the pulse edge Indicated by arrows could be counted by drive in each pulse type You could change the direction of the pulse count by setting parameter PA15 The pins 26 PULSE 18 PULSE 24 SIGN 25 SIGN of the terminal interface CN2 are set for external pulses input For the details of the interface CN2 please refer to the section 3 43 2 Filter for positon control The filter is for the position smoothing of motion command Using filter not only can improvethe performance when servo motor accelerate or decelerate but also can make motor to operate more smoothly When the load is change the motor usually run not smoothly when starts to run and stop due to the friction and inertia change At this moment users can increase the value of the PA19 to improve the performance But if the vaule is too large the command delay phenomenon would be more obvious When the parameter PA19 0 the filter is disable T
44. he value of the PA19 is the time that the frequency of the position command increasee from 0 to 63 of the external pulse frequency Diagram of the filter is shown as below The non filtering and the filtering waveform are contrasted 36 H2N AC Servo Drive 5 Before Filter kHz Input Pulse Frequency 0 f Filtered Pulse Frequency T Figure 5 4 Diagram for comparison between the filtering and non filtering waveform 5 2 3 Electronic gear ratio Mechanical transmission ratio and the pulses per circle of the servo motor encoder couldn t be identified by the host controller But the unit pulse generated by host controller could be corresponded to the actual moving distance by setting the electronic gear ratio Electronic gear ratio of the servo system could be calculated as the following N1 Numerator of the electronic gear ratio PA12 M1 Denominator of the electronic gear ratio PA13 P1 Number of pulses corresponding to 1mm in the host controller F2 Number of encoder pulses per circle S1 Screw pitch of the mechanical transmission mm F1 Number of pulses required by actual moving distance 1mm F1 N1 P1 M1 pulses mm F1 F2 S1 pulses mm for actual moving distance without gearbox Therefore the electronic gear ratio N1 M1 is equal to F2 S1 P1 For example if P1 of the host is 1000 pulses mm F2 of the H series servo drive is 10000 S1 of the screw is 6mm the electronic gear ratio N1 M1 100
45. include 15 wire output The define of CN1 pins shows as table 3 1 1 3 6 CN2 port CN2 port is control singal port the define of CN2 pins show as table 3 2 1 3 7 CN3 port This port is use for communication between driver and PC The port is reserved in H2N series H2N AC Servo Drive Chapter 2 Installation And wiring This chapter is about strorage and installation environment as well as the installation considerations for the H2N series AC Servo Drive Plesae do notice these 1 If the driver is damaged in transportation do not power it Please contact the provider 2 Do not power the driver with AC 380V 3 Please ensure PE is weel conncet with ground 2 1 Unpacking Check After receiving the AC servo drive please check for the following Ensure that the product is what you have ordered Verify the part number indicated on the nameplate corresponds with the part number of your order Please refer to Section 1 1 and 1 3 for details about the model explanation Check for damage Please inspect the unit to insure that it was not damaged duiring shipment Ensure that the servo motor shaft freely Rotate the motor shaft by hand a smooth rotation will indicate a good motor However a servo motor with an electromagnetic brake can not be rotated manually Check for loose screws Ensure that all necessary screws are tight and secure If any items are damaged or incorret please inform the distributor whom you pur
46. ion control mode The position control mode is usually used for the applications requiring precision positioning such as industry positioning machine indexing talbe etc Before position trial run please observe the following cautions 1 Ensure that all wiring is correct and wiring terminals of the servo drive and motor are correctly insulated or damage and malfunction may result 2 Check whether the motor and the drive is fixed and secure or the motor or drive may be damaged by the reacting force when motor speed changes 5 2 1 Simple position control system A simple position control sysytem only needs two sets of position pulse command signals drive enable sigal prohibited drive signal servo ready and servo alarm output signals The wiring diagram of the simple system is shown as below 33 H2N AC Servo Drive p ES MOTOR 6 0 OR U 2 SPACZZOV de OA S i V p 3 Es T Driver W c p 4 NFB MC PE pl x o E D 02 DC 1224V p O
47. it current is higher than 1 5 Short circuit multiple of drive s instantaneous maximum current value Drive temperature error The temperature of drive is over high Regeneration control operation is in error Speed error has exceeded the specified value 17 Speed response fault for a long time 67 H2N AC Servo Drive An error accurs when writing the curret settings EE PROM error into EE PROM DI function set error Digtal output port function seting duplicated Adjusted value of the current sensor exceeds Current sensor adjustment nm the limit of its allowable setting value when perform electrical adjustment Overload for motor Servo motor is overload The pulse Z of the encoder is lost The wiring connections of U V W for encoder U V W error Interface are in error The instantaneous load of the motor is heavier Instantaneous overload for than 1 5 multiple of motors maximum load value Motor temperature error The motor is overload for a long time 5 6 10 15 16 18 22 24 25 26 Reserved 27 28 31 33 34 35 36 68 H2N AC Servo Drive 8 2 Potential Cause and Corrective Actions Table 8 2 Corrective actions for trouble shooting Fault Name Cause Corrective Actions Improper input instrucion Check the pulse frequency and pulse the electronic gear ratio The load inertia is too Decrease the load inertia large Increase the Accel Decel time Err01 Overspeed Encoder fault Repl
48. ive Important warn Before you use the driver please do notice the follows 1 H2N series drivers are AC 220V power input Do not use AC 380V input Or the drivers will be damaged and it possibly cause hurt to people Please set the right motor code parameter PA1 to match the motor and the driver When the load inertia of motor is large please set the right parameter PA34 When high speed start stop is frequent needed the driver must add break resistor Please follow the user manual or contact our technical support use a right break resistor for the driver Please set the right Electronic Gear Ratio parameter PA12 PA13 Please set the right parameter PA14 The change of PA1 PA14 PA34 PA35 is active after repower So when you change these paramaters you should shut down the power and repower If client decide to make motor encoder cable which connect the motor encoder and CN1 of the driver by yourself please do use shielded cable and the length should less than 15m Normal cable can t be used If client decide to make the control cable which connect the controller and CN2 of the driver by yourself shidlded cable should be used and the length should less than 10m H2N AC Servo Drive Contents IMPORTANT WARN NS V CHAPTER 1 H2N DRIVER SUMMARFRY 1 1 1 TEA NERE dd 1 VA 1 1 3 EXPLANATION FOR PORTS OF DRIVER u Qu un up u uy D u uu u ua au 2 1 3 1 A
49. ive The voltage range for the analog command is DC 10V 10V and the input impedance is 10kO The zero drift of the analog signal could be compensated by adjusting the parameters Servo Drive sal di 2 2 10V x lt Y Figure 3 Analog signal input interface circuit type 4 differential input mode Servo Drive casal sE 2 10V x lt Y Figure 3 8 Analog signal input interface circuit type 4 single ended input mode 1 Three connecting wires are needed in differential input mode but only two connecting wires in single ended input mode 2 The voltage of the signal should not be beyond the specified range 10V 10V or may damage the drive 3 This interface is a non isolated input interface so the shielded cable is recommended to reduce the noise 3 5 5 Encoder signal output interface The drive output the motor encoder feedback position signals by Line drive transmitter chip AM26L S31 The user could receive the encoder A phase B phase and Z phases signals by two types Line drive receiver chip and the high speed optocoupler The host controller receive the encoder signals by Line drive receiver chip The 18 H2N AC Servo Drive circuit c
50. l processes of the monitor display You could find the PA on the main menu by using the Up and Down key and then enter the parameter selection interface by pressing the Set key By using the Up and Down key you could select the parameter which you want to change and then press the Set key to enter the parameter modification interface You could use the Up and Down key to change parameter to the value you required When the parameters is modified the point of the last LED digital tube will be light that means the parameter is changed but not ye be effective You could press the Set key to make it then the point 25 H2N AC Servo Drive will go out You could use the Return key to quit PA Parameter 1 PH hl Parameter 57 p PA GH Parameter 58 Figure 4 4 Diagram for the operational processes of parameter setting 4 5 Parameter Management EE You could find the EE on the main menu by using the Up and Down key and then enter the parameter management interface by pressing the Set key The representative meaning of each symbol is shown in the figure 4 5 By using the Up and Down key you could select the operation which you need And then press and hold the Set key for 3 seconds when FINISH is displayed on the LED means the operation is completed But if Error is displayed the operation fails and then please press the Return key to
51. light to indicate the control power is Power supply applied Run Running The LED lights to indicate the main power is status applied to the circuit and the drive is enabled Up key Pressing the Up and Down key can scroll through EN and change monitor codes parameter groups and Y Down key various parameter settings Pressing the Return key can exit the menu or Return key cancel the operation or the settings Pressing the Set key can enter the menu or Set determine and save the operation or the parameter settings Note If some fault occurs the 6 bit LED display will be blinking 23 H2N AC Servo Drive 4 2 Main menu As the first layer of the operational processes the main menu consists of six parts You can use the Up and Down key to change the content of the main menu display and press the Set key to enter the second layer as well you could press the Return key to quit the second layer to the main menu Monitor Parameter gt PEE Management v LI 3 Trial Run JOG I L UM l Adjustment First Laver Figure 4 2 Flowchart for the main menu of the operational processes 4 3 Monitor Display DP Uers could press the Up and the down key to find the monitor display of the main menu When dp is displayed please press the Set key to enter the layer for monitor mode There are 19 kinds status for the monitor display shown as the following You could select the display you need usin
52. lt Encoder cable fault The encoder cable is too long Servo drive fault Short circuit between U V and W Poorly grounded Winding insulation of the motor is damaged Short circuit between U V and W The load is too heavy Servo motor fault Servo drive fault Run for a long time with overload Brake circuit fault The capacity of regeneration system is not enough Parameter is set incorrectly Interval time between start and stop is too short Wiring fault for U V W The power supply Instability Servo drive fault H2N AC Servo Drive Check the mechanical structure Check the pulse signal Replace the motor Replace the cable Please shorten the cable or bold the core Replace the servo drive Check the wiring Confirm to be grounded normally Replace the motor Check the wiring Replace the drive by a larger O I D Replace the motor Replace the drive Decrease the load or choose a larger drive Replace the drive Increase the deceleration time Decrease the system inertia Modify or recover the parameters Set the Accel and Decel time correctly Confirm the wiring drive Replace the servo drive 70 H2N AC Servo Drive Check DI function set PA63 PA64 PA65 PA66 Err21 wu Set right parameter datas there is duplication among these 4 parameters Current sensor Err23 Servo drive fault Replace the servo drive adjustment fault Decrease the load or choos
53. m for encoder cable between JF drive and motor T2 H2N AC Servo Drive Chapter 10 System connection The connection between H2N Driver and HNC control system show as below control system driver ONS DB25F CN2 DE25M name pin pn name XCP 6 26 PULS XCP 18 A 18 PULS XDIR 7 A 24 SIGN XDIR 19 A 25 SIGN XZO 5 A 2 OZ XZ0 17 A 12 04 AM 12 21 AM OV 13 23 23 DOOOM INT 10 14 SON 24V 11 16 COMH FG case 7 he g PE CN2 DB25M ZCP 3 26 PULS ZCP 15 18 PULS ZDIR 4 24 SIGN ZDR 16 25 SIGN ZZO 2 A 2 OZ ZZO 14 A 12 OZ AM 12 21 AM OV 13 23 23 DOOM INT 10 14 SON 24V 11 16 cow FG case i 9 PE 73 H2N AC Servo Drive Version history Published time Sanmen Jingfei Industry Co Limited ADD 131NO Xiqudadao Haiyou Town Sanmen County Zhejiang 317100 China Tel 0086 576 89306621 Fex 0086 576 88476611 Technical Support flyfish fob pgmail com
54. ol System Lu u u uu unay 33 02 2 Parameters for the position control 35 9 2 3 Electone gear TANO Hansaen bebudede 37 0 2 4 POSIIIOIE POPOL JA 39 Dio GAINADJUSIMENT SN 40 5 9 1 Steps for gal hadjustuTieriluu SS 41 5 3 2 Adjustment for speed control loop 42 5 3 3 Adjustment for position control loop 42 Sid ELECTROMAGNETIC BRAKE narnia 43 5 4 1 Parameters about electromagnetic brake 43 5 4 2 Matters for electromagnetic brake 44 5 5 A mm 45 5 5 1 Tno TO TOW CT Okenia ice u u a e 45 5 5 2 Timing for enable operation 46 o 47 5 6 START STOPCHARACTERISTICS e cerro 47 9 6 1 On off frequency and load inertia 48 9 6 2 ACUS IM eta raros 48 CHAPTER 6 PARAMETER Socios 49 6 1 PARAMETER SUMMARY u uuu su aa aaa a a a a a 49 6 2 DETAILED PARAMETER SETTING cccccccceccccccecceccesceseceeeececseseeseuaecueeesseseeuenes 52 CHAPTER 7 MATCH SERVO DRIVER AND SERVO MOTOR 61 7 1 MOTOR CODE LIST FOR H2N DDLD 62 f MOTOR CODE LIST F
55. ol mode for adjusting the zero of the encoder Proportional The stiffness and responsiveness of the speed Speed Loop control loop is determined by the proportional speed gain and integral time The default value is 1 1000 170 Gernerally if the load inertia is greater the Hz value should be modified larger You could increase the value untill the resonance or noise occurs and then decrease the value Integral Time The value of the integral time has an effect on the opeed stiffness and responsiveness of the speed control Control Loop loop If the value is too samll overshoot would occur While the value is too large the response 1 1000 would be slow mS Gernerally the value should be modified according to the load inertia Larger inertia needs larger integral time Low pass Time contant for torque low pass filter has an effect Filter for on the responsiveness of the torque control The function of this parameter is to restrain us 1 1000 Increasing the value will decrease the cutoff Wn frequency resulted in the smaller noise and vibration but lower response If the interia of the load is large you could increase the value to restrain the resonance Time contant of the speed detection filter has an Detection effect on the stiffness and responsiveness of the Filter speed control loop Increasing the value will decrease the cutoff 1 1000 frequency resulted in the smaller noise If the value Some is too large the
56. onnect encoder of servo Encoder motor Please refer to section 3 2 for connector details Used to connect external CN2 I O connector controllers Please referto section 3 3 for details Communication me Used for RS 232 communication CN3 connector connection Option Table 2 4 Cable specifications for ports Terminal Terminal _ or Power Cable Wire gauge Indentification Description Main circuit 3 1 5 2 5mm terminal Control circuit 5 0 75 1 mm terminal 2 Ground terminal 1 5 2 5 mm 20 14 mm 7 pair shielded I Servo motor U V W 1 5 2 5 mm output H2N AC Servo Drive 20 14 mm shielded CN2 I O connector twisted pair cable Wiring Notes Please obseve the following wiring notes while performing wiring and touching any electrical connections on the servo drive or servo motor 1 Ensure to check if the power supply and wiring of the power terminals R S T r t is correct 2 Please use shielded twisted pair cables for wiring to pervent voltage coupling and eliminate electrical noise and interference 3 Ensure to check if the U V W terminal is correct or the motor maybe not turn or cause galloping 4 The ground terminal of the servo drive and motor should be connect to the terminal which is well grounded into a single point ground and the ground wire should be rough 5 As a residual hazardous voltage may remain inside the drive please do not immediately touch any of
57. onnected to the drive is shown as the following Servo Drive AMZOLS32 OZ Figure 3 9 Encoder positon signals output interface circuit type 5 Line drive The value of the resistance is 2200 4700 and the commond ground GND of the encoder should connect with the signal ground of the host controller For the interface is a non isolated input interface when the host controller receives the position signals by high speed optocoupler the current limiting resistance whose value is 2200 should be in series to the receiving circuit And the interface circuit is shown as the following Servo Drive Host Controller AM26LS31 High speed Optocoupler OZ Figure 3 10 Encoder positon signals output interface circuit type 5 optocoupler 3 5 6 Encoder Open collector Z pulse output interface The width of the zero position pulse is narrow therefore the high speed optocoupler 19 H2N AC Servo Drive Is recommended as the receiver This interface is a non isolated input interface the maximum current is 50mA and the maximum voltage is 30V The specific interface circuit is shown as the following VDD 2 Servo Drive L si SV bos CZ ba L GND I Figure 3 11 Encoder Open collector Z pulse output interface circ
58. ppearance of H2N 1 3 Explanation for ports of driver 1 3 1 P D C port 1 P D C port is used for add break resistor 2 Do not connect P and C direactlly that will damage the driver 3 When P connect to D the inner break resistor is active P is connected with D when the drivers leave the factory 4 If a extra break resistor is needed the extra resistor is connected between P and C 5 If P and D is connected and P C is also connected the inner break resistor and the extra break resistor are both active 1 9 2 R S T port R S T portis AC 220V 3PH power input port Do not use AC 380V power input that will damage the driver or even cause hurt to people 1 3 3 r tport This port is support power for control system in driver AC 220V must be required Do not use AC 380V That will damage the driver 1 34 U V W PE port H2N AC Servo Drive U V W PE is power output of driver it support power for motor The power cable is always support by the manufactor if client want make it by yourself please use the right wire And you must ensure the order of V W PE is correct or the motor maybe out of control Please follow table 2 3 table 2 4 1 3 5 CN1 port CN1 port is encoder singal port used for receive the singal of motor encoder H2N series drivers just match incremental photo electricity encoder Incremental photo electricity encoder include 6 singals U V W A B Z It takes differential singal output and
59. pportune deceleration shocks PA53 Enabled Word 1 2 Operation Enable the drive without the external signal otep 1 Enable the drive and the running indicator will be lit by setting the parameter PA53 0001 And then the servo drive and motor is at zero speed running state Step 2 Set parameter PA21 as JOG speed After the desired JOG speed is set and then press the Set key the speed will be write into the control software otep 3 Enter the JOG operation interface by using the digital keypad and the digital LED display should be displayed as the following J 0 0 r min Step 4 Pressing the Up key and the servo motor will run in CCW direction After releasing Up key the motor will stop running Step 5 Pressing Down key and the servo motor will run in CCW direction After releasing Down key the motor will stop running Step 6 When preesing Return key the drive could exit JOG operation mode CCW and CW definition CCW counterclockwis when facing the servo motor shaft CCW is running in the counterclockwise direction CW clockwis when facing the servo motor shaft CW is running in clockwise direction 31 H2N AC Servo Drive SrA 100 0 ct 100r n I nn ug E LJ L Display J nn y f nn uui HS ol Operation Press A Lossen Press W Lossen Figure 5 1 Diagram for the JOG trial run without load 5 1 3 Speed trial run without load
60. response will be slow and the vibration or resonance will occur Gernerally the value should be modified according to the load inertia Proportional Proportional gain of the position control loop has an 1 1000 Position effect on the stiffness and responsiveness of the IS i HIN AC Servo Drive Loop Gain control loop Increasing the value can improve the response frequency of the position Increasing the value will increase the stiffness and decrease the position offset when the position frequency is the same If the value is too large the vibration or resonance will occur Position Increasing the value can reduce the position track Feed error Forward 100 means that the track error may be zero at Gain any pos ie queney o 0 100 If the value is too large the vibration or resonance will occur Gernerally the value is 0 excepting high responsive required by the application condition omooth The value is the time contant of the low pass filter Constant for for position feed forward gain PA10 Be smoother to decrease the position overshoot Electronic Electronic gear ratio of the servo system could Gear Ratio match the position command of the host controller Numerator and the actual distance motor running N1 The electronic gear ratio can be calculated as the following N1 M1 F2 S1 P1 E P1 Number of pulses corresponding to 1mm in the 1 3000 host controller 0 F2 Number of encoder pulses per circle Default is
61. rive Figure 3 3 Digital signal input interface circuit type 1 1 The voltage of the external power is DC12 24V and available current should be 100mA at least 2 Ensure that the polarity of the power is correct otherwise it will damage the drive 3 5 2 Digital signal output interface The digital signal output interface circuit composed by optocouplers should be connected to the optocoupler or relay to achieve transferring the isolated digital signal DC 5 24V T po Servo Drive Serwo Drive i A 4 a V CR w Figure 3 4 Digital signal output interface circuit type 2 1 The voltage of the external power is DC5 24V 2 The output form of optocoupler is open collector the max current is 50ma and the external max DC voltage is 25V 3 When the load is relays or other inductive load freewheeling diode is needed to parallel at the both ends of the iinductive components Ensure the polarity of the diode otherwise damage maybe occur H2N AC Servo Drive 3 5 3 Position pulse input interface The drive can accept two different types of pulse inputs Line drive input and Open collector input The maximum input frequency of line drive input with strong anti jamming capability is 500Kpps has and the one of the Open collector input is 200Kpps For reliable pulse signal the Line drive input circuit is recommended 1 Diagram for Line drive input circuit In the Lin
62. rs could adjust position feed forward gain PA10 and PA11 the smooth constant of feed forward gain 42 H2N AC Servo Drive appropriately otep 6 If the resonance occurs as a result the ideal responsiveness of the system could not be achieved For this case you could adjust the value of the low pass filter for torque PA7 to suppression the resonance And then you could repeat the above steps in order to achieve a better responsiveness for the position and speed control loop 5 4 Electromagnetic Brake When the servo drive is operating if the digital output BRK is set to off it indicates that the electromagnetic brake is disabled and motor is stop running and locked If the digital output BRK is set to ON it indicates electromagnetic brake is enabled and motor can run freely The electromagnetic brake is usually used in perpendicular axis Z axis direction to reduce the large energy generated from servo motor Using electromagnetic brake can avoid the load may slip since there is no motor holding torque when power is off Without using electromagnetic brake may reduce the life of servo motor To avoid malfunction the electromagnetic brake should be activated after servo system is off 5 4 1 Parameters about electromagnetic brake The on delay time of the electromagnetic brake is set within the servo drive except this there are three parameters about the off delay time speed of the electromagnetic brake The users can use these thr
63. rve this precaution may result in damage 6 As the drive conducts heat away via the mounting the mounting plane or surface should not conduct heat into the drive from external sources mw o ZW AAA Correct Incorrect Figure 2 3 The correct direction for installation Minimum Clearances H2N AC Servo Drive Figure 2 4 Clearances for one or more drives To increase ventilation to avoid ambient temperatures that exceed the specification please install a fan A minimum spacing of two inches must be maintained above and below the drive for ventilation and heat dissipation Additional space may be necessary for wiring and cable connections When installing two or more drives adjacent to each other please follow the clearances as shown in figure 2 4 2 6 Connect ports and cable The cable of ports should be choiced carefully Please fallow the requirment as table 2 3 and 2 4 Table 2 3 Appellation and intention for the ports Terminal Terminal Indentification Description TE Used to connect three phase AC mai Main circuit circuit power depending on connectinc terminal servo drive model Control circuit Used to connect single phase AC H2N AC Servo Drive terminal control circuit power depending on connecting servo drive model Used to connect servo motor Servo motor U V W PE Ground Used to connect grounding wire of terminal power supply or servo motor Used to c
64. ry and conditions of applications Generally high reponsiveness is essential for the high frequency positioning control of mechanical facilities and the applications of high precision process sysytem However the higher frequency response may easily result in the resonance of machinery system Therefore for the applications of high freqency response the machinery system with control stiffness is needed to void the resonance Especially when adjusting the frequency response of unfamiliar machinery system you could gradually increase the gain setting value to improve frequency response untill the resonance occurs and then decrease the gain setting value There are three control loop in the servo drive system including the outermost position control loop the intermediate speed control loop and the innermost current control loop The flowchart for the servo system is shown as below 40 H2N AC Servo Drive Position Control Loop Speed Control Loop Current Control Loop n Position Speed Current Power Control m Filter Control mm Conversion Motor Block Block Block e Position Detection Figure 5 7 Diagram for the servo closed loop control sysytem Position Command The responsiveness of the inner control loop should be greater than the outer control loop otherwise the control system will be unstable generating
65. s running please contact the dealer or manufacturer for assistance 5 If there is no contact sound or there be any unusual noises when the relay inside the servo drive is operating please contact your distributor for assistance or contact with us 5 1 1 Appling power to the drive Please check the wiring first If there is no abnormal condition you could turn on the control power supply the main power should be OFF If any error except error 3 is displayed on the LED please check the wiring and the parameter or you could refer to the chapter 7 Secondly please turen on the main power supply and the running indicator will be lit If the indicator has not been lighted or any other error occurs please check the main power supply and the parameter PA53 And at last you could refer to chapter 7 5 1 2 JOG trial run without load It is very convenient to use JOG trial run without load to test the servo drive and motor as it can save the wiring For safety it is recommended to set JOG speed at low speed such as 100r min The JOG speed could be set in the parameter PA21 1 Parameters Table 5 1 Parameters about the JOG trial run 30 H2N AC Servo Drive Select the operation PA04 Control Mode 4 mode as JOG trial running mode PA20 Inhibit Drive Ignore the drive Function prohibition PAD JOG speed 120 Speed command for JOG CICR Reduce PA40 Acceleration Time Opportune acceleration shocks Reduce PA41 Deceleration Time O
66. the control mode Only when the password parameter PAO is 315 the parameters can be changed except PA1 Change of PA1 needs PAO equal to 302 and you can just change PA1 at this time Table 6 1 Parameter List Applicabl Function Description e Range Default Unit Mode PA ALL 0 999 A A EA O PA 0 1 2 PA 3 Monitor Status LL PA 4 Control Mode LL PIG DOMIONO opeed Loop P S 1 1000 Gain PA 6 Speed Integral Time PA 7 Low pass Filter for Torque PA 8 Speed Detection Filter Proportional Position Loop Gain Position Feed Forward Gain Smooth Constant of PA10 Electronic Gear Ratio Electronic Gear Ratio gt dl 3 DE 50 0 00 0 34899 0 gt cO PA 1 PA 1 2 H L3 mm MEN 2 400 y gt wm 4 0 1 1 PA 14 External Pulse Input Type 15 PA Direction of External Pulse PA 16 Positioning Completed Width PA 17 Excessive Position Error H2N AC Servo Drive Re TO pluse PA 18 SC HORN Error 0 1 Function Selection S th Constant of Positi PA 19 moo onstant of Position 0 1000 dae Command L 0 1 1 PA 20 bre Drive Function A Selection Paz Reserved 1 1 o PA 23 Speed Command selection S 98 0 ist Speed Command 3600 3600 O wmm PA 25 2nd Speed Command 3600 3600 100 min 3rd Speed Command PA 27 dim Speed Command 3600 3600 100 wmn PA 28 Target Motor Speed 8 0 3600
67. the following conditon e he host controller does not have a deceleration acceleration function e he electronic gear ratio is larger than 10 e The position frequency is low e Stepping jump and vibration occurs when the motor is running The function will be disabled when the value is O 0 Enable the inhibition function and the FSTP signal is effective If the CCW FSTP signal is ON the drive could be drived in CCW direction If the signal is OFF the drive could not be drive in the CCW direction It s the same to CW FSTP signal When both of the FSTP signals are OFF the drive Will be disabled 1 Disable the inhibition function The motor could run free without FSTP signals 35 H2N AC Servo Drive JOG h Operation Set the operation speed command for JOG control mode Command 22 Reserved pp Speed 0 Analog input voltage control the speed Command 1 select the 1 speed command 23 selection 2 select the 2 speed command 3 select the 3 speed command 4 select the 4 speed command 5 accord SC1 SC2 to select the speed conmand 1st Speed When PA4 1 and PA23 5 the value of the 24 Command parameter PA24 is the source of the speed command if SC1 and SC2 are OFF 2nd Speed When PA4 1 and PA23 5 the value of the 25 Command parameter PA24 is the source of the speed command if SC1 is ON and SC2 is OFF 3rd Speed When PA4 1 and PA23 5 the value of the 26 Command parameter PA24 is the sour
68. uit type 6 3 5 7 Encoder feedback signal input interface The servo drive receive the encoder feedback signal by the Line drive receiver IC such as AM26LS32 and the circuit is shown as the following Motor Encoder Servo Drive AM26LS32 jo X XU V W A B Z Figure 3 12 Encoder feedback signal input interface circuit type 7 20 H2N AC Servo Drive 3 6 Standard Connection Example 3 6 1 Position control mode 99 DRVR MOTOR x YO HO y 3 PHASE A ES UO U am PTOS V V 3 AV NAT E 1 OF KM WO W
69. vibration or noise Therfoer the value of the gain for the three control loop should be set correctly Generally the value of the current control loop gain should be the maximun and the one of the position control loop is the minimum The responsiveness of the current control loop which couldn t be change by the customers is set automatically within the system And then the users should set the values of the speed and position control loop gain properly avoiding that the inside and outside responsiveness are not matched 5 3 1 Steps for gain adjustment In order to obtain a stable system please do not make major alteration at only one parameter related to the control loop when one parameter is modified some other relevant parameters should also be adjusted further to achieve the best results Therefore to modify the parameters related to the congtrol loop we follow the following steps Table 5 6 The basic rule for modifing the closed loop parameters 41 H2N AC Servo Drive Was Reduce vibration or overshoot Increase responsiveness speed control loop PA6 speed control loop PA6 Decrease the proportional speed Increase the proportional position control loop gain PAS control loop gain PA9 5 3 2 Adjustment for speed control loop If the inertia of the machinery and conditions of applications is larger you could adjust the relative parameters as the following step Step 1 Increase the integral time of the speed control loop PA6
70. wn key and then enter the speed trial run operation interface by pressing the Set key When Sr 0 0 is displayed and the units is r min you could change the speed command by pressing Up or Down key mb Press Figure 4 6 Diagram for the speed command entering of speed trial run 4 7 JOG trial run without load Jr You can enable the Sr operation mode by set parameter PA4 4 and change the JOG speed command by seting parameter PA 21 You could find the Jr on the main menu by using the Up and Down key and then enter the JOG trial run operation interface by pressing the Set key When J 0 0 is displayed and the units is r min you could press Up or Down key to jog the motor CCW or CW direction The motor will only rotate while the arrow key is activated c v Press Figure 4 7 Diagram for the JOG trial run 27 H2N AC Servo Drive 4 8 Zero offset adjustment By the operation the drive could automatically detects the zero bias of the analog speed or torque command and write the value in the parameter PA45 or PA39 At last the drive will save the parameter in the EEPROM automatically You could find the AU on the main menu by using the Up and Down key and then enter the operation interface for Zero offset adjustment by pressing the Set key The AU SPD correspond to the speed zero offset adjustment and the AU trq correspond to torque zero offset adjustment You could select the process by

H2N Series User Manual-3.0

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