INOVANCE SV660NT021I (01) PDF MANUAL

The drawings in the user guide are sometimes shown without covers or protective guards. Remember to install the covers or protective guards as specified first, and then perform operations in accordance with the instructions described in the user guide.

The drawings in the user guide are shown for descriptions only and may not match the product you purchased.

This user guide is subject to change without notice due to product upgrade, specification modifications as well as efforts to improve the accuracy and convenience of the user guide.

Check the following items upon unpacking:

SV660N series servo drives and MS1 series servo motors have passed CE certification and comply with the following standards:

NOTE:

The preceding certification and standards are complied with only when the EMC-related electrical installation requirements described in this user guide are observed.

The integrator who integrates this drive into other products and attaches the CE mark to the final assembly has the responsibility of ensuring compliance with CE standards and the European Directives.

For more information on product certification, contact our agents or sales representatives.

1) Before installing, using, and maintaining this equipment, read the safety information and precautions thoroughly, and comply with them during operations.

2) To ensure the safety of humans and equipment, follow the signs on the equipment and all the safety instructions in this user guide.

3) “CAUTION”, “WARNING”, and “DANGER” items in the user guide do not indicate all safety precautions that need to be followed; instead, they just supplement the safety precautions.

4) Use this equipment according to the designated environment requirements. Damage caused by improper usage is not covered by warranty.

5) Inovance shall take no responsibility for any personal injuries or property damage caused by improper usage.

DANGER: Indicates that failure to comply with the notice will result in severe personal injuries or even death.

WARNING: Indicates that failure to comply with the notice may result in severe personal injuries or even death.

CAUTION: Indicates that failure to comply with the notice may result in minor or moderate personal injuries or equipment damage.

CAUTION

Check whether the packing is intact and whether there is damage, water seepage, damp, and deformation.

Unpack the package by following the package sequence. Do not hit the package with force.

Check whether there are damage, rust, or injuries on the surface of the equipment or equipment accessories.

Check whether the number of packing materials is consistent with the packing list.

WARNING

Do not install the equipment if you find damage, rust, or indications of use on the equipment or accessories.

Do not install the equipment if you find water seepage, component missing or damage upon unpacking.

Do not install the equipment if you find the packing list does not conform to the equipment you received.

CAUTION

Store and transport this equipment based on the storage and transportation requirements for humidity and temperature.

Avoid transporting the equipment in environments such as water splashing, rain, direct sunlight, strong electric field, strong magnetic field, and strong vibration.

Avoid storing this equipment for more than three months. Long-term storage requires stricter protection and necessary inspections.

Pack the equipment strictly before transportation. Use a sealed box for long-distance transportation.

Never transport this equipment with other equipment or materials that may harm or have negative impacts on this equipment.

WARNING

Use professional loading and unloading equipment to carry large-scale or heavy equipment.

When carrying this equipment with bare hands, hold the equipment casing firmly with care to prevent parts falling. Failure to comply may result in personal injuries.

Handle the equipment with care during transportation and mind your step to prevent personal injuries or equipment damage.

Never stand or stay below the equipment when the equipment is lifted by hoisting equipment.

WARNING

Thoroughly read the safety instructions and user guide before installation.

Do not modify this equipment.

Do not rotate the equipment components or loosen fixed bolts (especially those marked in red) on equipment components.

Do not install this equipment in places with strong electric or magnetic fields.

When this equipment is installed in a cabinet or final equipment, protection measures such as a fireproof enclosure, electrical enclosure, or mechanical enclosure must be provided. The IP rating must meet IEC standards and local laws and regulations.

DANGER

Equipment installation, wiring, maintenance, inspection, or parts replacement must be performed only by professionals.

Installation, wiring, maintenance, inspection, or parts replacement must be performed only by experienced personnel who have been trained with necessary electrical information.

Installation personnel must be familiar with equipment installation requirements and relevant technical materials.

Before installing equipment with strong electromagnetic interference, such as a transformer, install an electromagnetic shielding device for this equipment to prevent malfunctions.

DANGER

Equipment installation, wiring, maintenance, inspection, or parts replacement must be performed only by professionals.

Never perform wiring at power-on. Failure to comply will result in an electric shock.

Before wiring, cut off all equipment power supplies. Wait at least 15 minutes before further operations because residual voltage exists after power-off.

Make sure that the equipment is well grounded. Failure to comply will result in an electric shock.

During wiring, follow the proper electrostatic discharge (ESD) procedures, and wear an antistatic wrist strap. Failure to comply will result in damage to internal equipment circuits.

WARNING

Never connect the power cable to output terminals of the equipment. Failure to comply may cause equipment damage or even a fire.

When connecting a drive with the motor, make sure that the phase sequences of the drive and motor terminals are consistent to prevent reverse motor rotation.

Wiring cables must meet cross sectional area and shielding requirements. The shielding layer of the shielded cable must be reliably grounded at one end.

After wiring, make sure that no screws are fallen and cables are exposed in the equipment.

DANGER

Before power-on, make sure that the equipment is installed properly with reliable wiring and the motor can be restarted.

Before power-on, make sure that the power supply meets equipment requirements to prevent equipment damage or even a fire.

At power-on, unexpected operations may be triggered on the equipment. Therefore, stay away from the equipment.

After power-on, do not open the cabinet door and protective cover of the equipment. Failure to comply will result in an electric shock.

Do not touch any wiring terminals at power-on. Failure to comply will result in an electric shock.

Do not remove any part of the equipment at power-on. Failure to comply will result in an electric shock.

DANGER

Do not touch any wiring terminals during operation. Failure to comply will result in an electric shock.

Do not remove any part of the equipment during operation. Failure to comply will result in an electric shock.

Do not touch the equipment enclosure, fan, or resistor for temperature detection. Failure to comply will result in heat injuries.

Signal detection must be performed only by professionals during operation. Failure to comply will result in personal injuries or equipment damage.

WARNING

Prevent metal or other objects from falling into the device during operation. Failure to comply may result in equipment damage.

Do not start or stop the equipment using a contactor. Failure to comply may result in equipment damage.

DANGER

Equipment installation, wiring, maintenance, inspection, or parts replacement must be performed only by professionals.

Do not maintain the equipment at power-on. Failure to comply will result in an electric shock.

Before maintenance, cut off all equipment power supplies and wait at least 15 minutes.

WARNING

Perform daily and periodic inspection and maintenance for the equipment according to maintenance requirements and keep a maintenance record.

DANGER

Equipment installation, wiring, maintenance, inspection, or parts replacement must be performed only by professionals.

Do not repair the equipment at power-on. Failure to comply will result in an electric shock.

Before inspection and repair, cut off all equipment power supplies and wait at least 15 minutes.

WARNING

Require for repair services according to the product warranty agreement.

When the equipment is faulty or damaged, require professionals to perform troubleshooting and repair by following repair instructions and keep a repair record.

Replace quick-wear parts of the equipment according to the replacement guide.

Do not operate damaged equipment. Failure to comply may result in worse damage.

After the equipment is replaced, perform wiring inspection and parameter settings again.

WARNING

Dispose of retired equipment by following local regulations or standards. Failure to comply may result in property damage, personal injuries, or even death.

Recycle retired equipment by following industry waste disposal standards to avoid environmental pollution.

Read the user guide before installation and operation.

Reliably ground the system and equipment.

Danger!

High temperature!

Prevent personal injuries caused by machines.

High voltage!

Wait 15 minutes before further operations.

For safe equipment operation and maintenance, comply with safety signs on the equipment, and do not damage or remove the safety labels. The following table describes the safety signs:

The model number SV 660 N S 2R8 I – FH is structured as follows:

SV: Product Family – Servo

660: Product Series – 660 series

N: Product Type – Network type

S: Voltage Class

• S: 220 V
• T: 380 V

2R8: Rated output current

• 1R6: 1.6 A
• 2R8: 2.8 A
• 3R5: 3.5 A
• 5R4: 5.4 A
• 5R5: 5.5 A
• 7R6: 7.6 A
• 8R4: 8.4 A
• 012: 12 A
• 017: 17 A
• 021: 21 A
• 026: 26 A

I: Installation Mode – Baseplate installation (standard)

FH: Customized Function

• None: Standard
• FH: High protection
• FS: STO function

The serial number, for example 010501934H700001, indicates the servo drive is manufactured in July 2017. The encryption is as follows:

01****: Internal part number

4: Manufacturer Code (Suzhou Inovance)

H: Year

• 9: 2009
• A: 2010
• B: 2011
• … (By analogy, letters I, L, O, or Q are not used)

7: Month

• 1: January
• 2: February
• 3: March
• …
• A: October
• B: November
• C: December

00001: Product No. (1st to 99999th in current month)

NOTE:

Built-in regenerative resistors or jumper bars are not included in S1R6 and S2R8 models. If an external regenerative resistor is needed, connect it between terminals P and C.

To connect an external regenerative resistor to S5R5 models, remove the jumper bar between terminals P and D first and connect the resistor between terminals P and C.

NOTE: S7R6 and S012 models support single-phase 220 V power supply and derating is not required upon single-phase power input.

[1] Install the servo drive in environments that meet the allowable ambient temperature range. When it is installed inside an electric control cabinet, the temperature inside the cabinet must also be within this range.

NOTE:

Select the external regenerative resistor according to actual operating conditions.

S7R6 and S012 models support single-phase 220 V power supply and derating is not required upon single-phase power input.

The model number MS1 H1 – 20B 30C B – A331 Z – S is structured as follows:

MS1: Product Family (M: Motor), Product Type (S: Servo), Product Generation (1: 1st generation)

H1: Type (H: Motor with max. speed > rated speed, V: Motor with max. speed = rated speed), Inertia/Capacity (1: Low inertia and small capacity, 2: Low inertia and medium capacity, 3: Medium inertia and medium capacity, 4: Medium inertia and small capacity)

20B: Rated Power (W) – Comprised of two digits and a letter (B: x10, C: x100). Example: 40B = 400W.

30C: Rated Speed (RPM) – Comprised of two digits and a letter (B: x10, C: x100). Example: 30C = 3000 RPM.

B: Voltage Class (B: 220V, D: 380V)

A331: Encoder Type – Comprised of a digit and a letter (A3: 23-bit multi-turn absolute encoder). Shaft Connection Mode (3: Solid, with key and threaded hole).

Z: Sub-series No. (Z: Terminal type, natural cooling; Z-S: Lead-wire type, natural cooling)

S: Brake, Reducer, Oil Seal (0: None, 1: Oil seal, 2: Brake, 4: Oil seal+Brake)

NOTE: SV660N series servo drives can work with a motor equipped with a 23-bit single-turn or multi-turn encoder.

Components include:

Encoder connector

Power connector

Flange mounting face

Mounting screw through hole

Shaft extension (with key)

Cable outlet direction can be front or rear.

Components include:

Encoder connector

Power connector

(Other general motor components like flange, shaft etc.)

Components include:

Encoder aviation connector

Power cable aviation connector

Mounting flange face

Mounting screw through hole

Shaft extension (with key)

Disassembly hole

Ratings of MS1H1 (Vn = 3000 RPM, Vmax = 6000 RPM) Series Motors

Ratings of MS1H2 (Vn = 3000 RPM, Vmax = 6000/5000 RPM) Series Motors

Ratings of MS1H3 (Vn = 1500 RPM, Vmax = 3000 RPM) Series Motors

Ratings of MS1H4 (Vn = 3000 RPM, Vmax = 6000 RPM) Series Motors

[1] The motor with oil seal must be derated by 10% during use.

[2] Values inside parentheses “()” are for motors with brake.

NOTE: Values in the preceding table are obtained when motors equipped with the following heatsinks are working with Inovance servo drives under an armature coil temperature of 20° C.

MS1H1/MS1H4: 250 mm x 250 mm x 6 mm (aluminum)

MS1H2-10C to 25C: 300 mm x 300 mm x 12 mm (aluminum)

MS1H2-30C to 50C: 400 mm x 400 mm x 20 mm (aluminum)

MS1H3-85B to 18C: 400 mm x 400 mm x 20 mm (iron)

MS1H3-29C to 75C: 360 mm x 360 mm x 25 mm (double-layer aluminum plate)

NOTE:

The maximum torque of H1 and H4 models is 3.5 times the rated torque.

The maximum torque of H2 models is three times the rated torque.

The maximum torque of H3 models (2.9 kW models excluded) is 2.5 times the rated torque.

The maximum torque of 2.9 kW models is two times the rated torque.

NOTE:

The brake cannot share the same power supply with other electrical devices. This is to prevent malfunction of the brake due to voltage or current drop caused by other working devices.

It is recommended to use cables of 0.5 mm² and above.

NOTE: S7R6 and S012 models support single-phase 220 V power supply and derating is not required upon single-phase power input.

This seems to be a duplicate entry or a typo in the PDF, as Table 1-6 (for MS1H3 below 2.9kW) and Table 1-4 (for MS1H3 below 2.9kW) show different cable models (M112/B112 vs M111/B111). Assuming Table 1-6 is specific:

NOTE: If highly flexible cables fit for cable carriers are needed, add a suffix “-T” to the end of the cable model.

The servo drive is directly connected to an industrial power supply, with no isolation such as a transformer. To prevent damages in case of short circuit, install a fuse or a circuit breaker on the input power supply. The servo drive is not configured with the built-in earth fault protection circuit. For the sake of safety, install a residual current device (RCD) to provide protection against electrical shock and/or fire.

Do not run or stop the motor by using an electromagnetic contactor. As a high-inductance device, the motor may generate high voltage instantaneously, which may damage the contactor.

Pay attention to the power capacity when connecting an external control power supply or a 24 VDC power supply, especially when the power supply is used to power up multiple servo drives or brakes. Insufficient power supply will lead to insufficient supply current, resulting in failure of the servo drive or the brake. The brake must be powered by a 24 VDC power supply, and the brake power must match the motor model and meet the brake power requirements.

Key components in wiring diagrams often include:

CN5: Serial communication connector, connected to the software tool.

CN6: Functional safety terminal, connected to external functional safety signal.

Circuit breaker: Used to protect power cables by cutting off the circuit upon overcurrent.

Noise filter: Used to prevent external noise.

Electromagnetic contactor (for main power): Used to switch on/off the power supply of the servo drive. Install a surge protection device during use.

Regenerative resistor: Connected between P-C terminals when the bus capacitor is insufficient.

Brake power supply (24 VDC): Used when the servo motor is equipped with a brake.

Electromagnetic contactor (for brake): Brake control signal, used to turn on/off the brake power supply. Install a surge protection device. It is recommended to use an electromagnetic contactor controlled by the DO terminals of the servo drive.

System grounding is critical.

WARNING: Read through the safety instructions in “Safety Instructions”. Failure to comply may result in serious consequences.

CAUTION:

Follow the installation directions described in this chapter. Failure to comply may result in device faults or damage.

Do not run a damaged or defective device. Failure to comply will result in physical injuries.

Do not install the device in an environment exposed to water or corrosive objects. Failure to comply will result in device faults.

Do not install the device near flammable gases or combustible materials. Failure to comply will result in a fire or electric shock.

Install the device inside a fire-proof cabinet with electrical protections. Failure to comply may result in a fire.

Ensure the specified clearances are reserved among the servo drive, the interior surface of the electric cabinet, and other machines. Failure to comply will result in a fire or device faults.

Do not put heavy objects on the device. Failure to comply may result in physical injuries or device damage.

Do not exert large impact force on the device. Failure to comply may result in device damage.

Do not block the air inlet/outlet port of the servo drive or allow unwanted matters to fall into the device. Failure to comply may result in a fire or device faults.

Install the servo drive into a cabinet free from sunlight and rain.

Install the servo drive in a place that meets the following requirements:

a) Free from corrosive and inflammable gases and combustible materials, such as the hydrogen sulfide, chlorine, ammonia, sulphur gas, chloridize gas, acid, soda and salt

b) Free from high temperature, humidity, dusts and metal powders

c) Free from vibration

d) Pollution degree: PD2

Models: SV660NS7R6I, SV660NT3R5I, SV660NT5R4I

Dimensions (Unit: mm):

– Height: 170

– Front width: 55±1

– Left view depth: 173±1

– Rear view width: 44 (between mounting holes)

– Rear view height: 160 (between mounting holes)

– Top view width: 44 (between mounting holes)

Mounting Holes: 2 x M4 screw through hole

Fixing screw: 2-M4

Recommended tightening torque: 1.2 N·m

The weight of a servo drive in size C is 1.3 kg.

Models: SV660NS012I, SV660NT8R4I, SV660NT012I

Dimensions (Unit: mm):

– Height: 170

– Front width: 80±1

– Left view depth: 183

– Rear view width: 71

– Rear view height: 160 (between mounting holes)

– Top view width: 71

Mounting Holes: 3 x M4 screw through hole (Ø5)

Fixing screw: 3-M4

Recommended tightening torque: 1.2 N·m

The weight of a servo drive in size D is 1.8 kg.

Models: SV660NT017I, SV660NT0211, SV660NT026I

Dimensions (Unit: mm):

– Height: 250

– Front width: 90

– Left view depth: 230

– Rear view width: 78

– Rear view height: 240.5 (between mounting holes)

– Top view width: 78

Mounting Holes: 4 x M4 screw through hole (4xØ5.0)

Fixing screw: 4-M4

Recommended tightening torque: 1.2 N·m

The weight of a servo drive in size E is 3.6 kg.

Ensure the servo drive is installed vertically to the wall, with its front side (actual mounting side) facing the operator. Fix the servo drive securely on the mounting surface through two to four mounting holes (number of mounting holes depends on the capacity of the servo drive).

Cool the servo drive down with natural convection or a cooling fan. Reserve sufficient space around the servo drive to ensure proper cooling. Install the cooling fan to the upper part of the servo drive to avoid excessive regional temperature rise and maintain an even temperature inside the electric cabinet.

For heat dissipation purpose, reserve a clearance of:

– At least 10 mm on the left and right sides of each servo drive.

– At least 50 mm above and below each servo drive.

(Additional minimum clearance of ≥ 20 mm may be indicated visually on diagrams for cabinet walls or other obstructions.)

For compact installation of servo drives in size A and size B, take the installation tolerance into account and reserve a clearance of at least 1 mm between every two drives. In this case, the rms load should be lower than or equal to 75%.

Yes, servo drives in size C, size D, and size E can be installed side by side without clearance, and derating is not required.

The grounding terminal must be grounded properly. Failure to comply may cause electric shock or malfunction due to interference.

Route the servo drive cable downwards to prevent liquids from flowing into the servo drive along the cable.

Insert the dust-proof cover into the unused CN5 port. This is to prevent unwanted objects (such as solids or liquids) from falling into the servo drive and causing faults.

Yes, the dust-proof cover is included in the standard configuration and delivered along with the servo drive. Keep the dust-proof cover in a proper place. Such dust-proof covers can be purchased separately if required (model: NEX-02-N2B; manufacturer: PINGOOD).

Install the servo motor in a place free from corrosive and inflammable gases and combustible materials, such as hydrogen sulfide, chlorine, ammonia, sulphur gas, chloridize gas, acid, soda and salt.

Install the servo motor away from heating sources such as a heating stove.

Use the servo motor equipped with an oil seal when the motor is used in a place with grinding fluids, oil mists, iron powders or cuttings.

Do not use the servo motor in an enclosed environment. Running in an enclosed environment may overheat the motor, shortening its service life.

Wipe up the anti-rust agent applied at the motor shaft extension before installing the servo motor, and then take rust-proof measures.

Do not strike the shaft extension during installation. Failure to comply will damage the encoder.

Mounting (with keyway):

– Use the screw hole at the shaft end.

– Insert a double-end screw into the screw hole of the shaft.

– Put a washer on the surface of the coupling end, and then use a nut to push the pulley in.

Mounting (without keyway):

– Use friction coupling or similar methods.

Removing:

– When removing the pulley, use a pulley remover to protect the shaft from suffering severe impact from the load.

To ensure safety, install a protective cover or similar device on the rotary area such as the pulley mounted on the shaft.

When connecting the servo motor to a machine, use a coupling and keep the motor shaft center and the machine shaft center in the same line.

Make sure the servo motor fulfills the required alignment precision. Measure the distance at four different positions on the circumference. The difference between the maximum and the minimum measured values must be less than 0.03 mm. Failure to comply will result in vibration or damage the bearing and the encoder.

Yes, the servo motor can be installed horizontally or vertically.

– Do not submerge the motor/cable in water or oil.

– Check the IP rating of the servo motor when the application location is exposed to water drops (except the shaft opening).

– Mount the motor with the cable connecting terminal facing downwards if the application location is exposed to liquid. This is to prevent the liquid from flowing into the motor along the cable.

– In environments where the shaft opening is exposed to oil drops, use a motor with oil sealing.

– Observe the following requirements when using a motor with oil sealing:

1) Make sure the oil level is lower than the oil sealing lip during use.

2) Avoid oil accumulation on the oil sealing lip when the motor is installed vertically upward.

Do not bend or apply tension to the cables, especially the signal cables whose core wire is only 0.2 mm or 0.3 mm in thickness. Do not pull the cables too tight during wiring.

Observe the following requirements:

1) When connecting the connectors, make sure there is no waste or sheet metal inside the connector.

2) Connect the connector to the main circuit cable side of the servo motor first, and ensure the grounding cable of the main circuit is connected properly. If the connector is connected to the encoder cable side first, the encoder may become faulty due to the potential difference between PE terminals.

3) Ensure the pins are correctly arranged during wiring.

4) Do not strike the connector as they are made up of resins.

5) When moving a servo motor with cables connected, hold the servo motor by its main body instead of by the cable. Failure to comply may damage the connector or cable.

6) If flexible cables are used, do not apply stress on the connector during wiring. Failure to comply may damage the connector.

The tightening torque for terminal screws is 0.19 N·m to 0.21 N·m. Violation of this may damage the terminal.

Note: Dimensions in the tables are in millimeters. Values inside parentheses “()” are for the servo motor with a holding brake.

Read through the safety instructions in “Safety Instructions”. Failure to comply may result in serious consequences.

– Feed the servo drive with power from grounded (TN/TT) systems. Failure to comply may result in electric shock.

– Connect an electromagnetic contactor between the input power supply and the main circuit power supply of the servo drive (L1 and L2 for single-phase servo drives; L1, L2, and L3 for three-phase servo drives) to form an architecture that allows independent power cutoff on the servo drive power side. This is to prevent fire accidents caused by continuous large current upon fault.

– Ensure the input power supply of the servo drive is within the specified voltage range. Otherwise, the servo drive may become faulty.

– Do not connect output terminals U, V, and W of the servo drive to a three-phase power supply. Failure to comply may cause physical injuries or fire accidents.

– Do not connect the motor connecting terminals U, V, and W to a mains frequency power supply. Failure to comply may cause physical injuries or fire accidents.

Use the ALM (fault signal) to cut off the main circuit power supply. When the braking transistor is faulty, the regenerative resistor may be overheated, leading to a fire accident.

– Connect the PE terminal of the servo drive to the PE terminal of the control cabinet. Failure to comply may cause electric shock.

– Ensure the entire system is grounded. Otherwise, malfunction may occur on the servo drive.

After cutting off the power supply, wait for at least 15 minutes before further operations because residual voltage is still present in the internal capacitor after power-off. Failure to comply may result in electric shock.

1) Set the safety device properly to prevent the workpiece from falling under such status as warning and overtravel.

2) Ensure the polarity of the 24 V power supply is correct. Otherwise, the shaft may fall and cause physical injuries or damage the servo drive.

1) When the main circuit terminal is a connector, remove the connector from the servo drive before wiring.

2) Insert one cable to one terminal of the connector. Do not insert multiple cables to one cable terminal.

3) Insert the cable with enough care to prevent the conductor burrs from being short circuited to the neighboring cable.

4) Insulate the connecting part of the power terminals to prevent electric shock.

5) Do not connect a 220 V servo drive to a 380 V power supply directly.

6) Install safety devices such as a circuit breaker to prevent fire accidents caused by short-circuit in external circuits.

7) Cut off the main circuit power supply and switch from S-ON to S-OFF after a warning signal is detected.

Connect the servo drive to the motor directly. Do not use an electromagnetic contactor during wiring. Failure to comply may cause faults.

Do not put heavy objects onto the cables or pull the cable with large force. Otherwise electric shock may occur due to cable damage.

When connecting DO terminals to relays, ensure the polarity of the flywheel diode is connected correctly. Otherwise, the servo drive will be damaged and the signal output may be abnormal.

Reserve a clearance of at least 30 cm between main circuit cables and I/O signal/encoder cables. Failure to comply may cause malfunction of the servo drive.

Use twisted pair cables or multi-core shielded twisted cables as the I/O signal/encoder cables. Failure to comply may cause malfunction of the servo drive.

The maximum wiring length of the I/O signal cable and the encoder cable is 3 m and 20 m respectively.

Use a noise filter to reduce the electromagnetic interference on electronic devices surrounding the servo drive.

To prevent damage to the servo drive, take proper shielding measures when the servo drive is used in the following application locations:

1) Locations suffering from interferences caused by static electricity

2) Locations suffering from strong electric field or strong magnetic field

3) Locations with radioactive rays

Connect the external regenerative resistor between terminals P and C of the servo drive main circuit terminal block.

– Remove the jumper between P and D (if present, e.g., on Size B, C, D, E drives) before connecting the external regenerative resistor. Failure to comply will cause overcurrent and damage the braking transistor.

– Do not connect the external regenerative resistor to the positive/negative pole of the bus directly. Failure to comply will damage the servo drive and cause a fire.

– Do not select any resistor with a resistance lower than the minimum permissible value. Failure to comply will result in E201 (Overcurrent) or damage the servo drive.

– Make sure parameters H02-25 (Regenerative resistor setting), H02-26 (Power of external regenerative resistor) and H02-27 (Resistance of external regenerative resistor) are set properly before use.

– Install the external regenerative resistor on incombustible objects such as a metal.

Reference data for recommended cable lugs (Manufacturer: Suzhou Yuanli Metal Enterprise Co., Ltd)

Note that the values listed in the table cannot be exceeded during use.

Connect Single-phase 220 VAC through a Noise Filter to terminals L1 and L2. Connect the motor phases to U, V, W. Connect the motor PE to PE. Connect the motor PG signals to CN2. Use an electromagnetic contactor (1KM) controlled by RUN/STOP buttons between the noise filter and L1/L2. Connect the DO alarm output (ALM+/ALM-) through a relay (1Ry) and flywheel diode (1D) to control external indicators or systems, powered by 24V/COM. SV660NS1R6 and SV660NS2R8 require an external regenerative resistor between P and C if needed.

Components: 1KM: Electromagnetic contactor; 1Ry: Relay; 1D: Flywheel diode.

Function: DO is set as alarm output (ALM+/-). When the servo drive alarms, the power supply will be cut off automatically via the contactor.

Connect Single-phase or Three-phase 220 VAC through a Noise Filter to terminals L1C, L2C (control power) and R, S, T (main power, connect L1/L2 from filter for single-phase). Connect the motor phases to U, V, W. Connect the motor PE to PE. Connect the motor PG signals to CN2. Use an electromagnetic contactor (1KM) controlled by RUN/STOP buttons between the noise filter and R, S, T. Connect the DO alarm output (ALM+/ALM-) through a relay (1Ry) and flywheel diode (1D) to control external indicators or systems, powered by 24V/COM.

Components: 1KM: Electromagnetic contactor; 1Ry: Relay; 1D: Flywheel diode.

Function: DO is set as alarm output (ALM+/-). When the servo drive alarms, the power supply will be cut off automatically via the contactor, and the alarm indicator will turn on.

Connect Three-phase 380 VAC through a Noise Filter to terminals L1C, L2C (control power) and R, S, T (main power). Connect the motor phases to U, V, W. Connect the motor PE to PE. Connect the motor PG signals to CN2. Use an electromagnetic contactor (1KM) controlled by RUN/STOP buttons between the noise filter and R, S, T. Connect the DO alarm output (ALM+/ALM-) through a relay (1Ry) and flywheel diode (1D) to control external indicators or systems, powered by 24V/COM.

Models: SV660NT3R5I, SV660NT5R4I, SV660NT8R4I, SV660NT012I, SV660NT0211, SV660NT0261

Components: 1KM: Electromagnetic contactor; 1Ry: Relay; 1D: Flywheel diode.

Function: DO is set as alarm output (ALM+/-). When the servo drive alarms, the power supply will be cut off automatically via the contactor, and the alarm indicator will be turned on.

– Do not connect the input power cables to the output terminals U, V, and W. Failure to comply will damage the servo drive.

– When cables are bundled in a duct, the cooling effect will be deteriorated. Take the reduction ratio of the allowable current into consideration.

– If the temperature inside the cabinet is higher than the cable’s limit, use a Teflon cable with a higher temperature limit. Insulate regular cables in low-temperature environments as their surface may harden and crack.

– The bending radius of a cable must be 10 times longer than its outer diameter to prevent internal conductor breakage.

– Use cables with a rated voltage above 600 VAC and rated temperature above 75° C.

– Under 30° C ambient temperature with normal cooling, the allowable current density is ≤ 8 A/mm² (total current < 50 A) or ≤ 5 A/mm² (total current > 50 A). Adjust based on the formula for high ambient temperatures or bundled cables: Allowable current density = 8 x Reduction coefficient of conductor current-carrying density x Current correction coefficient.

– Do not bundle power cables and signal cables together or route them through the same duct. Separate them by at least 30 cm to prevent interference.

– High voltage may still be present for 5 minutes after power-off. Do not touch terminals within this time.

– Avoid frequent power ON/OFF (interval < 1s can cause faults E740, E136, E430). Frequent ON/OFF affects components due to high inrush current (0.2s). If required, ensure the ON/OFF interval is at least one minute.

– Use a grounding cable with the same cross-sectional area as the main circuit cable. If the main circuit cable area is < 1.6 mm², use a grounding cable of 2.0 mm².

– Ground the servo drive properly.

– Do not power on the servo drive if any screw of the terminal block or any cable is loose. Failure to comply may cause a fire.

Note: Power cable colors are subject to the colors of the actual product. Cable colors mentioned in this user guide refer to Inovance’s cable colors.

Recommendations:

– Plastic housing: MOLEX-50361736

– Terminal: MOLEX-39000061

Note: Power cable colors are subject to the colors of the actual product. Cable colors mentioned in this user guide refer to Inovance’s cable colors.

Note: Power cable colors are subject to the colors of the actual product. Cable colors mentioned in this user guide refer to Inovance’s cable colors.

The S6-C4 battery box contains the following items:

– One plastic box

– One 3.6 V/2600 mAh battery

– Terminal block and crimping terminal

Installing: Follow the visual guide (Figure 3-16) showing the assembly steps for connecting the battery, placing it in the box, and closing the cover.

Removing: Remove the battery box in steps reverse to those shown in the installation figure. Replace the battery every two years due to potential leakage.

Caution: When closing the battery box cover, do not pinch the connector cables.

Improper use of the battery may result in battery leakage, corroding components, or causing battery explosion. Observe the following:

– Insert the battery with correct +/- polarity.

– Replace the battery regularly (recommended interval: every 2 years) to prevent liquid leakage from old or constantly used batteries. The electrolyte is corrosive and conductive.

– Do not disassemble the battery; internal electrolyte can cause physical injuries.

– Do not throw a battery into the fire or heat it up; it may cause an explosion.

– Do not short-circuit the battery or strip off the battery tube. Contact between terminals +/- and metal generates large current, deteriorating power and risking explosion from overheating.

– This battery is non-rechargeable.

– Dispose of the retired battery according to local regulations.

Output: 3.6 V, 2600 mAh

Recommended manufacturer and model: Shenzhen Jieshun LS14500

Note: The preceding data is obtained under an ambient temperature of 20°C.

[1] During normal operation, the absolute encoder supports single-turn or multi-turn data counting and data transceiving. A well-connected encoder will, upon switch-on of the servo drive, enter normal operation status and transmit/receive data after a delay of 5s. Switching from standby mode to normal operation mode upon power-on requires the motor to rotate at a speed less than 10 RPM. Otherwise, the servo drive reports E740 (Encoder fault), In this case, you need to power on the servo drive again.

[2] Standby mode means the servo drive is not powered on and the absolute encoder is powered up by an external battery to count the multi-turn data. In this case, data transceiving stops.

The calculation covers current consumed by the encoder. Suppose the servo drive works normally for T1 hours, the motor rotates for T2 hours after power-off, and stops rotating for T3 hours after power-off daily.

Example:

Capacity consumed in 1 year = (8 h x 2 μΑ + 0.1 h x 80 μΑ + 15.9 h x 10 μΑ) x 313 + (0 h x 2 μΑ + 0 h x 80 μΑ +24 h x 10 μΑ) x 52 ≈ 70 mAH

Design life = Battery capacity/Annual consumption = 2600 mAH/70 mAH = 37.1 years

The wiring diagram of absolute encoder cables connects the encoder connector on the motor to the CN2 connector on the servo drive, with an inline battery box for absolute position retention. The wiring is similar to that of incremental encoders (without a battery box).

– Pin 1: Red, Power supply (+)

– Pin 2: Black, Power supply (-)

– Store the battery under an allowable temperature.

– Ensure reliable contact and sufficient battery power. Failure to comply may cause encoder data loss.

– Model of the battery box (battery included): S6-C4

Servo Drive Side (6-pin male):

– Pin 1: +5V (Red, Twisted pair)

– Pin 2: GND (Orange, Twisted pair)

– Pin 5: PS+ (Blue, Twisted pair)

– Pin 6: PS- (Purple, Twisted pair)

– Enclosure: PE

Motor Side (7-pin):

– Pin 1: PS+ (Blue, Twisted pair)

– Pin 2: PS- (Purple, Twisted pair)

– Pin 3: DC+ (Brown, Twisted pair)

– Pin 4: DC- (Black, Twisted pair)

– Pin 5: +5V (Red, Twisted pair)

– Pin 6: OV (Orange, Twisted pair)

– Pin 7: PE

Servo Drive Side (9-pin connector, connected to CN2):

– Pin 1: Battery (+)

– Pin 4: Battery (-)

– Pin 3: PS+ (Twisted pair)

– Pin 6: PS- (Twisted pair)

– Pin 9: +5V

– Pin 8: GND

– Pin 7: Shield

Motor Side (Encoder lead wire, 9 signals):

– Pin 1: Battery (+) (Blue)

– Pin 4: Battery (-) (Blue and black)

– Pin 3: PS+ (Yellow, Twisted pair)

– Pin 6: PS- (Yellow and black, Twisted pair)

– Pin 9: +5V (Red)

– Pin 8: GND (Black)

– Pin 7: Shield

Recommendations:

– Plastic housing: AMP 172161-1

– Terminal: AMP 770835-1

Servo Drive Side (Connector of encoder lead wire, connected to CN2):

– Pin A: PS+ (Twisted pair)

– Pin B: PS- (Twisted pair)

– Pin E: Battery +

– Pin F: Battery –

– Pin G: +5V

– Pin H: GND

– Pin J: Shield

Motor Side (Encoder connector, 20-29 aviation plug):

– Pin A: PS+ (Yellow, Twisted pair)

– Pin B: PS- (Yellow and black, Twisted pair)

– Pin E: Battery+ (Blue)

– Pin F: Battery- (Blue and black)

– Pin G: +5V (Red)

– Pin H: GND (Black)

– Pin J: Shield

CN1 is a 15-pin D-sub connector:

– Pin 1: DO1+ (S-RDY+)

– Pin 2: DO2- (ALM-)

– Pin 3: DO2+ (ALM+)

– Pin 4: DO3- (BK-)

– Pin 5: DO3+ (BK+)

– Pin 6: DO1- (S-RDY-)

– Pin 7: DI4 (TouchProbe2)

– Pin 8: DI3 (HomeSwitch)

– Pin 9: DI2 (N-OT)

– Pin 10: DI1 (P-OT)

– Pin 11: DI5 (TouchProbe1)

– Pin 12: Not Used

– Pin 13: COM+

– Pin 14: COM-

– Pin 15: +24V

– CN1 terminal: Plastic housing of the plug on the cable side: DB15P (SZTDK), black housing.

– Core: HDB15P (SZTDK), male.

– It is recommended to use cables of 24AWG to 26AWG.

Connect the host controller’s relay contact between the DIx pin (e.g., Pin 10 for DI1) and the COM- pin (Pin 14). The internal 24V supply is provided between COM+ (Pin 13) and COM- (Pin 14) via the internal 4.7 kΩ pull-up resistor.

Connect the external +24 VDC supply to the COM+ pin (Pin 13). Connect the relay contact between the DIx pin (e.g., Pin 10 for DI1) and the external 0 V (ground). Ensure the external 0 V is connected to the COM- pin (Pin 14).

Alternatively, connect the external +24 VDC supply to one side of the relay contact. Connect the other side of the relay contact to the DIx pin (e.g., Pin 10 for DI1). Connect COM+ (Pin 13) also to the external +24VDC. Connect the external 0 V to COM- (Pin 14).

Note: The PDF shows an ‘X’ mark indicating that using two separate power supplies (one internal, one external for the relay coil) might be problematic or incorrect wiring practice for this specific setup. Use a single external supply for consistency.

For NPN open-collector output: Connect the NPN collector to the DIx pin (e.g., Pin 10 for DI1). Connect the NPN emitter to the COM- pin (Pin 14). The internal 24V supply (Pin 15) and pull-up resistor provide power via COM+ (Pin 13).

For PNP open-collector output: Connect the PNP collector to the DIx pin (e.g., Pin 10 for DI1). Connect the PNP emitter to the COM+ pin (Pin 13) which is connected to the internal +24V (Pin 15). Ensure the controller’s ground is connected to COM- (Pin 14).

For NPN open-collector output: Connect the external +24 VDC to COM+ (Pin 13). Connect the NPN collector to the DIx pin (e.g., Pin 10 for DI1). Connect the NPN emitter and the external 0V to COM- (Pin 14).

For PNP open-collector output: Connect the external +24 VDC to the PNP emitter and COM+ (Pin 13). Connect the PNP collector to the DIx pin (e.g., Pin 10 for DI1). Connect the external 0 V to COM- (Pin 14).

Note: PNP and NPN inputs cannot be mixed in the same servo drive.

Connect the external 5-24 VDC supply positive terminal to one side of the relay coil. Connect the other side of the relay coil to the DOx+ pin (e.g., Pin 1 for DO1+). Connect the DOx- pin (e.g., Pin 6 for DO1-) to the external 0 V (ground). A flywheel diode must be installed in parallel with the relay coil (cathode to DOx+, anode to DOx-).

When the output terminal is connected to a relay-type device, a flywheel diode must be installed. Otherwise, the DO terminals may be damaged.

If the flywheel diode is not connected, or if its polarity is wrong, the back EMF from the relay coil can damage the servo drive’s output circuit.

Connect the external 5-24 VDC supply positive terminal to the DOx+ pin (e.g., Pin 1 for DO1+). Connect the DOx- pin (e.g., Pin 6 for DO1-) to the anode of the external optocoupler’s input LED. Connect the cathode of the optocoupler’s input LED to the external 0 V (ground). A current limiting resistor is required in series with the optocoupler LED, typically placed between DOx- and the optocoupler anode.

Failure to connect a current limiting resistor can damage the optocoupler or the servo drive’s output circuit due to excessive current.

– Voltage: 30 VDC

– Current: DC 50 mA

The brake is used to prevent the servo motor shaft from rotating during non-operating status of the servo drive. This keeps the motor and mechanical load locked, preventing movement due to external forces or gravity when power is off.

– Use the built-in brake for position-lock in the stop state only.

– The brake coil has no polarity.

– Switch off the S-ON signal after the servo motor stops.

– When the servo motor with a built-in brake runs, the brake may generate a clattering sound. Such sound can be considered normal.

– When brake coils are energized (brake released), magnetic flux leakage may occur at the shaft end. Be cautious when using magnetic sensors around the servo motor.

The brake input signal is connected without polarity differentiation. A 24 V external power supply is needed. Connect the +24V supply through a brake control relay contact (BK-RY) to one terminal of the brake coil (BK). Connect the other terminal of the brake coil to the 0V of the 24V supply. The servo drive DOx+/DOx- terminals (e.g., DO3+/DO3- assigned to BK+/BK-) control the BK-RY relay.

– The brake cannot share the same power supply with other electrical devices. This is to prevent malfunction of the brake due to voltage or current drop caused by other working devices.

– It is recommended to use cables of 0.5 mm² and above.

– When deciding the length of the motor brake cable, take the voltage drop caused by cable resistance into consideration. The input voltage must be at least 21.6 V to enable the brake to work properly.

CN3 and CN4 are EtherCAT interface connectors. CN3 (IN) connects to the master (e.g., AM600) or the previous slave device’s CN4 (OUT). CN4 (OUT) connects to the next slave device’s CN3 (IN) in a daisy-chain topology.

Use standard EtherCAT communication cables. Connect the cable from the PLC (master) EtherCAT OUT port to the first servo drive’s EtherCAT IN port (CN3). Connect a cable from the first servo drive’s EtherCAT OUT port (CN4) to the second servo drive’s EtherCAT IN port (CN3), and so on.

Note: Pins 9-16 correspond to the OUT port (CN4) signals internally linked or passed through from the IN port (CN3).

Cable selection is subject to the cable supplier. See “Instructions for purchasing servo encoder cables/power cables” in the Inovance business system.

Suppliers include Inovance, Haituo, and others.

Pricing depends on length and order magnitude. For lengths above 10m, the price is typically based on the 10m price plus an increment for each additional meter.

Example: S6-L-T04-3.0

– S6: Product Series (S6 series)

– L: Type (Line)

– T: Meaning (Communication cable)

– 04: Meaning (Multi-drive EtherCAT communication cable)

– 3.0: Cable Length (unit: m) (Available lengths: 0.2, 0.3, 0.5, 1.0, 2.0, 3.0, 5.0, 10.0 m)

Note: Cables need to be purchased from Haituo. Guide price is based on the 10.0m cable, with additions for longer lengths, related to order magnitude.

The thickness of the head of dual network ports cannot be too large, otherwise, interference may occur. The recommended thickness is 2.4 mm, as shown in the diagram (thickness of network cable protection cover ≤ 2.4 mm).

Connect the servo drive and the PC using the PC communication cable. It is recommended to use the common communication interface RS232. Connect the RJ45 end (A) of the cable to the servo drive’s RS232 port and the DB9 end (B) to the PC’s serial port.

Pinout Diagram (Looking at Male Connector):

Top row: 1 2 3 4 5

Bottom row: 6 7 8 9

If the host controller is not equipped with serial ports and offers a USB interface only, use a serial-to-USB converter. Connect the RJ45-to-DB9 cable to the servo drive and the converter, then plug the converter’s USB end into the PC.

Recommendation:

– Manufacture: Z-TEK

– Model: ZE551A, equipped with a 0.8 m USB extension cable

– Chip model: FT232

CN6 is an input terminal with 4 pins:

– Pin 1: COM (STO reference ground)

– Pin 2: 24V (24 V power supply)

– Pin 3: STO1 (Control input for STO1)

– Pin 4: STO2 (Control input for STO2)

It features two isolated inputs (STO1, STO2) for dual-channel safety and an integrated +24V pin for convenience.

By default, a jumper typically connects Pin 2 (24V) to Pin 3 (STO1) and Pin 4 (STO2) for normal operation without STO. Remove the short-circuit jumper when the STO function is needed in actual applications.

The servo drive can operate normally only if the input status of STO1 and STO2 are both “1” or “H” (High).

If the input status of either STO1 or STO2 (or both) is “0” or “L” (Low), the servo drive cannot run (Safe Torque Off is active).

Connect the external +24V source to the safety switches/contacts for STO1 and STO2. Connect the output of the STO1 safety contact to CN6 Pin 3 (STO1). Connect the output of the STO2 safety contact to CN6 Pin 4 (STO2). Connect the external 0V (ground) reference of the 24V source to CN6 Pin 1 (STO_GND/COM).

Use the internal +24V power supply available on CN6 Pin 2. Route this 24V through the safety switches/contacts for STO1 and STO2. Connect the output of the STO1 safety contact to CN6 Pin 3 (STO1). Connect the output of the STO2 safety contact to CN6 Pin 4 (STO2). CN6 Pin 1 (COM) serves as the reference ground.

– To avoid short circuits between adjacent conductors, use a shielded cable with its shield connected to protective ground, or a flat cable with an earthed conductor between signal conductors.

– Double-shielded or single-shielded twisted multi-pair cables are strongly recommended.

– Fix and ground the cable shield using a piece of conductive metal (e.g., cable clamp). Remove paint from the mounting surface for good contact.

The maximum allowable cable length between the drive STO inputs and the activation switch is 30 m.

– All cables must be well protected, routed, and clamped where practicable.

– Ensure there is no pulling or pinching on the cables during installation.

– For cabling the DIs of the STO, route the two channels through two separate routes, or the cable must be protected using a double shield to avoid common faults.

– Cable Type: Low voltage, double-shielded or single-shielded twisted multi-pair cable.

– Maximum size: 0.8 mm² (18 AWG)

– Minimum size: 0.3 mm² (28 AWG)

Take the following measures to suppress interference:

– Ensure the lengths of the command input cable and the encoder cable are below 3 m and 20 m respectively.

– Use a thick cable as the grounding cable (above 2.0 mm²).

1) It is recommended to adopt D class (or higher) grounding (grounding resistance below 100 Ω).

2) Adopt single-point grounding.

Use a noise filter to prevent radio frequency interferences. In domestic applications or an unfavorable environment with strong power noise interference, install a noise filter on the input side of the power cable.

For the grounding cable connected to the enclosure, use a cable of at least 3.5 mm² (braided copper cables recommended).

To prevent malfunction due to electromagnetic interference, take the following measures:

1) Install the host controller and the noise filter near the servo drive.

2) Install a surge protection device on the relay, solenoid and electromagnetic contactor coils.

3) Separate the electrical circuit from the electronic circuit during wiring and keep a distance of at least 30 cm between them. Do not put these cables in the same duct or bundle them together.

4) Do not share the same power supply with an electric welder or electrical discharge machine. When the servo drive is placed near a high-frequency generator, install a noise filter on the input side of the power cable.

The servo drive uses high-speed switch elements in the main circuit. The switching noise may affect the normal operation of the system due to different peripheral wiring and grounding of the servo drive. Therefore, the servo drive must be properly wired and grounded. A noise filter can be added if necessary.

To prevent potential electromagnetic interferences, observe the following instructions during grounding:

1) Grounding the motor enclosure: Connect the grounding terminal of the servo motor to the PE terminal of the servo drive and ground the PE terminal properly to reduce potential electromagnetic interferences.

2) Grounding the encoder cable shield: Ground both ends of the encoder cable shield.

To prevent interference from power cables and reduce impact of the servo drive to other sensitive devices, install a noise filter on the input side of the power supply according to the magnitude of the input current. In addition, install a noise filter on the power cable part of peripheral devices if necessary.

To ensure the filtering effect, observe the following requirements when installing and wiring the noise filter:

Do not put the input and output cables of the noise filer in the same duct or bundle them together. (See Figure 3-27 for illustration)

Do not lay the grounding cable and the power output cable of the noise filer in the same duct. (See Figure 3-28 for illustration)

Use a separate, thick grounding cable as short as possible for the noise filter. Do not share the same grounding cable with other grounding devices. Adopt single-point grounding. (See Figure 3-29 for illustration)

Ground the noise filter installed inside the control cabinet.

If the noise filter and the servo drive are installed in the same control cabinet, secure the noise filter and the servo drive on the same metal plate. Make sure the contact part is conductive and well bonded, and ground the metal plate properly. (See Figure 3-30 for illustration)

If a noise filter is used, observe the precautions described in “3.7 Definition and Connection of STO terminals”.

Do not bend or apply any tension to cables. The conductor of a signal cable is only 0.2 mm or 0.3 mm in diameter. Handle the cables carefully to prevent fracture.

Use flexible cables for cable carriers. Ordinary cables may be easily damaged after being bent for a long time. Cables suitable for small-power servo motors do not fit for cable carriers.

Ensure the following requirements are fulfilled for use of cable carriers:

The bending radius of the cable must be 10 times longer than its outer diameter.

Do not secure or bundle the cables inside the cable carrier. Cables can be bundled and secured only at the two fixed ends of the cable carrier.

Do not wind or twist the cables.

Ensure the space factor inside the cable carrier is below 60%.

Do not use cables with different sizes together. This is to prevent thin cables from being crushed by thick cables. If thick and thin cables need to be used together, use a spacer plate to separate them.

The keypad on the SV660N servo drive consists of five LEDs and five buttons. The keypad is used for data display, parameter settings, password settings and general function executions. When the keypad is used for parameter settings, the functions of the buttons are described as follows:

The keypad displays the status, parameters, faults, and monitored values during operation.

Status display: Displays current servo drive status, such as servo ready or running.

Parameter display: Displays parameters and their setpoints.

Fault display: Displays faults and warnings that occur on the servo drive

Monitored value display: Displays present running parameters of the servo drive

The mapping relation between the parameter (decimal) displayed by the keypad and the object dictionary operated by the host controller (hexadecimal, “Index” and “Sub-index”) is as follows:

Object dictionary index = 0x2000 + Parameter group number

Object dictionary sub-index = Hexadecimal offset within the parameter group + 1

Example:

NOTE: The displayed content and parameter settings on the keypad (decimal) side are different from those displayed on the software tool (hexadecimal). Make necessary conversions when performing operations through the software tool in the host controller.

After power-on, the keypad enters status display mode.

Press the MODE button to switch between different modes (Status display -> Parameter display -> Monitored value display (if H0B parameters set) -> Status display). (See Figure 4-2 for illustration).

In the status display mode, set H02-32 (Default keypad display) and select parameters to be monitored. When the motor rotates, the keypad automatically switches to the monitored value display mode. After the motor stops, the keypad automatically reverts to the status display mode.

In the parameter display mode, set parameters in group H0B to select the parameters to be pre-monitored. After setting, the keypad switches to the monitored value display mode.

Once a fault occurs, the keypad enters the fault display mode immediately, and all five LEDs blink. Press the SET button to stop the LEDs from blinking, and then press the MODE button to switch to the parameter display mode.

SV660N servo drive parameters are divided into 14 groups based on parameter functions. A parameter can be located quickly based on the group it belongs to. See “12.2 List of Object Groups” to view the parameter list.

Display of the parameter group:

For example, H02-00 is displayed as “H02.00” (02: Parameter group No., 00: Parameter No. within the group).

Display of negative numbers and data of different lengths:

1) Signed number of 4 digits and below or unsigned number of 5 digits and below: Such numbers are displayed in a single page (five LEDs). For signed numbers, the highest bit “-” indicates the negative symbol. Examples: “-9999”, “65535”.

2) Signed number of more than 4 digits or unsigned number of more than 5 digits: Such numbers are displayed from low to high digits through several pages with each page displaying five digits. Hold down the SHIFT button for more than 2s to switch to the next page. The display shows the current page indicator and the value segment for that page. (See Figure 4-3 for “-1073741824” and Figure 4-4 for “1073741824” display examples).

Decimal point display: The segment “.” of the ones position indicates the decimal point, and this segment does not blink. Example: “100.0”.

The keypad can display present or previous faults and warnings. For analysis and solutions to the faults and warnings, see “10 Troubleshooting”.

When an individual fault or warning occurs, the keypad displays the fault or warning code immediately. When multiple faults or warnings occur, the keypad displays the warning code of the highest level.

Set the fault to be viewed in H0B-33 (Fault log). View the fault code of the selected fault in H0B-34.

Set H02-31 (Parameter initialization) to 2 (Clear fault log) to clear the latest 10 faults or warnings saved in the servo drive.

For example, E941.0 is displayed as follows:

Group H0B displays parameters used to monitor the operating state of the servo drive.

Set H02-32 (Default keypad display). After the servo motor runs, the keypad switches from the status display mode to the parameter display mode and displays the parameter No. defined by H02-32 in group H0B.

For example, if H02-32 is set to 00, the keypad displays the value of H0B-00 when the motor speed is not 0 RPM.

See details of the monitored value display mode in the following table:

Parameter settings can be performed through the keypad. For details on parameters, see “12.2 List of Object Groups”. The following procedure shows how to change from position control mode to speed control mode after the power supply is switched on (Example starting from “ry” status):

1. Press MODE to enter parameter group display (e.g., “H00”).

2. Use UP/DOWN buttons to navigate to the desired parameter group (e.g., “H02”). Press SET.

3. The display shows the parameter number within the group (e.g., “H02.00”). Use UP/DOWN buttons to navigate to the desired parameter (e.g., “H02.30” for user password, or another parameter like H00-01 for control mode change).

4. Press SET to view/edit the parameter value. The first digit will blink.

5. Use UP/DOWN buttons to change the blinking digit’s value.

6. Use SHIFT button to move the blinking digit to the left.

7. Repeat steps 5 and 6 until the desired value is set.

8. Press SET to save the new parameter value. The display shows “donE” briefly.

9. Press MODE to return to the parameter group display (e.g., “H02”). Press MODE again to return to the status display if needed.

Keypad Button Summary for Parameter Setting:

MODE: Used to switch the keypad display mode and return to the previous menu.

UP/DOWN: Used to increase or decrease the value of the blinking digit.

SHIFT: Used to shift the blinking digit.

SET: Used to save present setpoint or switch to the next menu.

After parameter setting is done, that is, “Done” is displayed on the keypad, press MODE to return to parameter group display.

After the user password (H02-30) is enabled, only the authorized user can perform parameter settings; other operators can only view the parameter.

Setting the user password (e.g., to “00001”):

1. Navigate to parameter H02-30 using the keypad.

2. Press SET. The current value (e.g., “00000”) is displayed with the last digit blinking (if no password is set or correct password entered).

3. Use UP/DOWN and SHIFT buttons to set the desired password (e.g., “00001”).

4. Press SET to save the password. The display shows “donE”. The password is now set.

NOTE: If the last digit does not blink when viewing H02-30, access to parameters is password protected. If the last digit blinks, no password is set or a correct password has been entered.

Changing the user password:

1. Navigate to parameter H02-30.

2. Press SET. The display shows “—–” because it’s password protected.

3. Press SET again.

4. Enter the current password using UP/DOWN and SHIFT buttons.

5. Press SET. If the password is correct, the value “donE” will appear briefly, then H02-30 value is displayed with the last digit blinking. If incorrect, “Error” is displayed.

6. If correct, use UP/DOWN and SHIFT to enter the new password.

7. Press SET to save the new password. The display shows “donE”.

Canceling user password:

1. Enter the currently set user password as described in the “Changing” steps to gain access.

2. Once H02-30 is displayed with the last digit blinking, set the value to “00000” using UP/DOWN and SHIFT buttons.

3. Press SET to save. The display shows “donE”. The user password is now canceled.

Users can perform trial running on the servo motor and the servo drive through jogging. CAUTION: The jog function requires the S-ON signal to be deactivated. Otherwise, jogging cannot be executed.

Operating process (Speed Jog using H0D-11):

1. Power on the servo drive.

2. Navigate to parameter H0D-11 using the keypad.

3. Press SET. The display shows the initial/current motor jogging speed (e.g., “0200”).

4. Use UP/DOWN buttons to set the desired motor jogging speed (e.g., “0300”).

5. Press SET. The keypad displays “JOG”, indicating the motor is energized and jog is available.

6. Press and hold the UP button to make the motor rotate forwardly (CCW). Release the button to stop.

7. Press and hold the DOWN button to make the motor rotate reversely (CW). Release the button to stop.

Note [1]: Press UP or DOWN to increase or decrease the motor jogging speed. After exiting from the jog mode, the motor reverts to the initial speed setpoint (or default).

Note [2]: Press UP or DOWN to make the servo motor rotate in forward or reverse direction. After you release the button, the servo motor stops immediately.

Exiting from jog:

Press MODE to exit from the jog status (“JOG”) and return to the previous menu (H0D-11 display).

Note: A similar procedure exists for Position Jog using H0D-08, where the display shows “JOG-P”.

Users can assign DI/DO functions and logics to parameters in group H03/H04 using the keypad (or host controller communication). The servo drive offers five DI signals and three DO signals on the CN1 terminal.

Functions of DI signals:

Functions of DO signals:

The forced DI function can be used to test the DI function of the servo drive without relying on external signals.

Operating process:

1. Set the desired DI functions and logic levels using parameters in group H03.

2. Set parameter H0D-17 (Forced DI/DO selection) to 1 (Forced DI enabled, forced DO disabled) or 3 (Forced DI and DO enabled).

3. Set parameter H0D-18 (Forced DI value) to define the high/low level of each DI signal. H0D-18 is a hexadecimal value. Convert it to binary; ‘1’ represents high level, ‘0’ represents low level for DI5 down to DI1.

4. Monitor the DI level status through H0B-03 (Monitored DI status) on the keypad. The display should match the binary representation set in H0D-18.

Example: To activate the function assigned to DI1 (assuming active low logic) and deactivate functions for DI2-DI5:

The desired binary state is “11110” (DI5=High, DI4=High, DI3=High, DI2=High, DI1=Low). This corresponds to hexadecimal “1E”.

Set H0D-17 to 1 or 3.

Set H0D-18 to “1E” using the keypad.

Check H0B-03; the keypad should display the segments corresponding to High, High, High, High, Low for DI5 to DI1.

Related parameter H0D-17 (200D-12h):

Exit: The forced DI function is not retentive upon power-off. Normal DIs apply after restart, or you can set H0D-17 to 0 (No operation) to return to the normal DI mode immediately.

The forced DO function can be used to check the DO signal connection between the host controller and the servo drive. CAUTION: In cases where the servo motor is used in vertical motion, if the brake output signal (FunOUT.9: BK) is forced ON, the brake is released and the load may fall. Take protective measures.

Operating process:

1. Set the desired DO functions and logic levels using parameters in group H04.

2. Set parameter H0D-17 (Forced DI/DO selection) to 2 (Forced DO enabled, forced DI disabled) or 3 (Forced DI and DO enabled).

3. Set parameter H0D-19 (Forced DO value) to activate or deactivate the DO functions. H0D-19 is a hexadecimal value. Convert it to binary; ‘1’ usually represents the active state, ‘0’ the inactive state for DO3 down to DO1 (check H04 logic settings).

4. Monitor the DO level status through H0B-05 (Monitored DO signal) on the keypad and check the physical output state.

Example: To activate DO functions assigned to DO2 and DO3, and deactivate DO1 (assuming active high logic):

The desired binary state is “110” (DO3=Active, DO2=Active, DO1=Inactive). This corresponds to hexadecimal “6”.

Set H0D-17 to 2 or 3.

Set H0D-19 to “6” using the keypad.

Check H0B-05; the keypad should display segments corresponding to High, High, Low for DO3, DO2, DO1.

Exit: The forced DO function is not retentive upon power-off. Normal DOs apply after restart, or you can set H0D-17 to 0 (No operation) to return to the normal DO mode immediately.

After this function is enabled, all DO signal levels are controlled by EtherCAT object 60FE-01h (Physical output). CAUTION: In cases where the servo motor is used in vertical motion, if the brake output signal (FunOUT.9: BK) is forced ON via EtherCAT, the brake is released and the load may fall. Take protective measures.

Operating process:

1. Set parameter H0D-17 (200D-12h, Forced DI/DO selection) to 4 to enable bus forced DO function.

2. Use EtherCAT object 60FE-02h (Physical Output Enable) to select which DOs (DO1, DO2, DO3 corresponding to bits 16, 17, 18) are to be controlled via communication. Set the corresponding bit to 1 to enable control for that DO.

3. Use EtherCAT object 60FE-01h (Physical Output) to set the output level (ON/OFF) of the selected DOs. Set the corresponding bit (16, 17, 18) to 1 for ON or 0 for OFF.

4. Monitor the DO level status through H0B-05 (Monitored DO signal) on the keypad and check the physical output state.

Relationship Table:

Note: When 200D-12h is set to 4 and any bit among bit16 to bit18 of 60FE-02h is set to 1, the corresponding forced DO is initially OFF.

Example: To make DO1 output low level (OFF) and DO2/DO3 output high level (ON) via EtherCAT:

Set 200D-12h to 4.

Set 60FE-02h to 0x00070000 (enable control for DO1, DO2, DO3).

Set 60FE-01h to 0x00060000 (DO3=ON, DO2=ON, DO1=OFF).

Check H0B-05; keypad display should show High, High, Low for DO3, DO2, DO1.

Exit: The EtherCAT-controlled forced DO function is not retentive upon power-off. Normal DOs apply after restart, or you can set H0D-17 (Forced DI/DO selection) to 0 (No operation) to return to the normal DO mode.

The general process is as follows (See Figure 5-1):

1. Start

2. Pre-running check: Check cable connections. Check the ambient environment and the machine.

3. Power on: Switch on the power supply. Ensure the S-ON signal is switched off.

4. Start jogging: Start jogging using the keypad or Inovance software tool.

5. Parameter setting: Set common parameters. Set parameters related to each control mode.

6. Servo running: Run the servo drive at low speed during initial operation. Set related parameters to achieve desired performance. Perform commissioning on the servo drive.

7. Servo stop: Conditions causing stop include: The S-ON signal is switched off. A fault occurs. The limit switch signal is activated. Emergency stop is applied.

8. End

Check the following items before operating the servo drive and the servo motor:

Switching on the input power supply:

The input terminals for single-phase 220 V power supplies are L1 and L2.

The input terminals for three-phase power supplies are L1/L2/L3 or L1C/L2C (control circuit power input terminals) and R/S/T (main circuit power input terminals)

After switching on the input power supply, if the bus voltage indicator is in normal status and the keypad displays “reset” -> “ry” in sequence, it indicates the servo drive is ready to run and waits for the S-ON signal to be sent from the host controller.

If the keypad keeps displaying “nr”, see “10 Troubleshooting” for solutions.

If the keypad displays the fault code, see “10 Troubleshooting” for solutions.

Deactivating the S-ON signal:

Before proceeding with jogging or parameter settings, ensure the S-ON signal is deactivated. Switch the servo state machine and deactivate the S-ON signal sent from the host controller. Deactivate the DI enable signal or the internal auxiliary function enable signal if applicable.

Perform jogging to check whether the servo motor rotates properly without unusual vibration or noise. Ensure the S-ON signal is OFF before starting.

NOTE: The acceleration/deceleration time constant for jogging can be set via H06-12 (2006-0Dh).

Using the keypad (jogging in the speed mode):

1. Enter jogging in the speed mode by setting H0D-11 through the keypad.

2. The keypad displays the default jogging speed, which can be modified by pressing UP/DOWN.

3. Press SET to enter the jogging status, and the keypad displays “JOG”.

4. Ensure the motor power is enabled if required by the system (this step implies S-ON is conceptually needed for power stage, but logically OFF for jog command).

5. Hold down UP or DOWN to switch between forward and reverse jogging as needed.

6. Press MODE to exit from the jogging mode.

Using Inovance software tool (jogging in the speed mode):

1. Open the “Speed JOG” interface in the software tool.

2. Set the jog speed.

3. After switching the servo status to ON (within the software context for jog), press the forward/reverse arrow displayed on the interface to switch between forward and reverse jog as needed.

Using the keypad (jogging in the position mode):

1. Enter jogging in the position mode by setting H0D-08 through the keypad.

2. The keypad displays the default jogging speed, which can be modified by pressing UP/DOWN.

3. Press SET to enter the jogging status, and the keypad displays “JOG-P”.

4. Ensure motor power is enabled.

5. Hold down UP or DOWN to switch between forward and reverse jogging as needed.

6. Press MODE to exit from the jogging mode.

Related Parameter H06-12 (2006-0Dh): Acceleration ramp time of jog speed

Unit: ms. Range: 0 to 65535. Default: 10. Sets the time constant for the servo motor to accelerate from 0 RPM to 1000 RPM during jog.

Set parameter H02-02 (2002-03h) (Direction of rotation) to change the motor direction of rotation without changing the polarity of the input reference.

Related Parameter H02-02 (2002-03h): Direction of rotation

Value:

0: CCW as the forward direction (Default). Defines the CCW direction as the forward direction when a forward run command is received, indicating the motor rotates in the CCW direction when viewed from the motor shaft side.

1: CW as the forward direction. Defines the CW direction as the forward direction when a forward run command is received, indicating the motor rotates in the CW direction when viewed from motor shaft side.

Setting Condition: At stop & Effective Time: Next power-on.

Note: Changes in the setpoint of H02-02 do not affect the pulse output form or the positive/negative attribute of monitoring parameters. The “Forward drive” and direction of rotation in the overtravel prevention function are the same as the settings in H02-02.

The brake is used to prevent the servo motor shaft from rotating when the servo drive is in the non-operating state, keeping the motor and load locked.

CAUTION:

Use the built-in brake for position-lock in the stop state only.

The brake coil has no polarity.

After the servo motor stops, switch off the S-ON signal.

When the servo motor with built-in brake runs, the brake may generate a clattering sound (normal).

When brake coils are energized (brake released), magnetic flux leakage may occur at the shaft end. Pay attention when using magnetic sensors nearby.

1. Wiring of the brake:

The motor brake input signal (BK terminals on motor) is connected without polarity differentiation. A 24 V DC power supply is needed.

Standard Wiring (See Figure 5-3):

Connect a dedicated 24V power supply.

Connect the +24V from the supply to one side of the brake control relay contact (BK-RY).

Connect the other side of the BK-RY contact to one of the motor’s BK terminals.

Connect the second motor BK terminal to the 0V (GND) of the 24V power supply.

Connect the servo drive’s assigned Brake DO output (e.g., DO3 by default: DOx+(BK+), DOx-(BK-)) to control the coil of the brake control relay (BK-RY).

Precautions: Consider voltage drop due to cable resistance. Input voltage at the brake must be at least 21.6 V. Use cables of 0.5 mm² or above. Do not share the brake power supply with other devices.

Brake Specifications (Table 5-2 Summary):

Refer to Table 5-2 for specific motor model details regarding Holding Torque, Supply Voltage (24 VDC ±10%), Rated Power, Coil Resistance, Excitation Current, Apply Time, Release Time, and Backlash.

2. Brake software setting:

Allocate DO function 9 (FunOUT.9: BK, brake output) to a specific DO terminal (DO3 is default) using H04 parameters.

Set the active logic for this DO (e.g., active high means DO ON = brake released).

Related DO Function FunOUT.9 (BK):

Inactive: Brake power supply is switched off, brake applies (motor locked).

Active: Brake power supply is switched on, brake is released (motor can rotate).

The working time sequence depends on the servo drive state (normal or fault).

The sequence depends on whether the motor is standstill or rotating.

Motor at a standstill (Actual motor speed < 20 RPM):

(See Figure 5-4 for timing diagram)

If S-ON signal is OFF and speed < 20 RPM:

When S-ON turns ON: Brake output (BK) turns ON (brake released) after a delay [1]. After a further delay [2] (defined by H02-09 / 2002-0Ah), position/speed/torque commands can be accepted.

When S-ON turns OFF: Brake output (BK) turns OFF immediately [3] (brake applied). Motor remains energized for a delay [4] defined by H02-10 (2002-0Bh) before de-energizing to prevent load movement.

CAUTION: Do not input commands during delay [2]. Load may move slightly on vertical axes during delay [4].

Related Parameters:

H02-09 (2002-0Ah): Delay from brake output ON to command received (0-500 ms, Default 250). Defines delay [2].

H02-10 (2002-0Bh): Delay from brake output OFF to motor de-energized (50-1000 ms, Default 150). Defines delay [4].

Motor rotating (Actual motor speed >= 20 RPM):

(See Figure 5-5 for timing diagram)

If S-ON signal changes from ON to OFF while rotating:

Motor enters ramp-to-stop state (defined by 6085h).

Brake output (BK) turns OFF [3] only after one of these conditions is met:

1. Motor speed decelerates below threshold H02-11 (2002-0Ch), AND time delay H02-12 (2002-0Dh) has NOT been reached.

2. Time delay H02-12 (2002-0Dh) IS reached (even if speed is still above H02-11).

After Brake output (BK) turns OFF, the motor stays energized for delay H02-10 (2002-0Bh) [4] before de-energizing.

CAUTION: Do not input commands during brake release delay [2] when S-ON turns ON. Motor stays energized during delay [4] after BK turns OFF.

Related Parameters:

H02-11 (2002-0Ch): Motor speed threshold at brake output OFF in rotation state (20-3000 RPM, Default 30). Speed threshold for condition 1 above.

H02-12 (2002-0Dh): Delay from S-ON OFF to brake output OFF in the rotating state (1-1000 ms, Default 500). Time delay for condition 2 above.

H02-09, H02-10 also apply as in standstill case.

Brake time sequence in quick stop:

Depends on the stop mode (605Ah). For de-energized state (605Ah < 4), the brake output condition is the same as the sequence under normal state (motor rotating).

Brake time sequence under fault state:

Faults are classified as Level 1 (No. 1) and Level 2 (No. 2). See “10 Troubleshooting”.

1) No. 1 faults: If brake is used, stop mode is forced to “Dynamic braking stop, keeping dynamic braking state”. The brake output condition is the same as the brake time sequence under normal state (motor rotating). (See Figure 5-13 for timing).

2) No. 2 faults: If brake is used, stop mode is forced to “Ramp to stop, keeping dynamic braking state”. The brake output condition is the same as the brake time sequence under normal state (motor rotating). (See Figure 5-17 for timing).

NOTE: Recommended setpoint for 6085h (Stop deceleration) when brake is used: Deceleration time < H02-12 (2002-0Dh). If not met, deceleration is based on H02-12.

When motor torque opposes rotation, energy returns to the drive, raising bus voltage. A regenerative resistor consumes this surplus energy above the braking threshold to prevent damage.

The resistor can be built-in or external. They cannot be used together. Some models (SV660NS1R6I, SV660NS2R8I) require an external resistor if needed.

Specifications (Table 5-3 Summary):

Refer to Table 5-3 for drive model specifications: Built-in Resistance (Ω), Built-in Power (Pr W), Processable Power (Pa W), Minimum Permissible External Resistance (Ω, set by H02-21).

Selection Process (See Figure 5-7 Flowchart):

1. Determine the reciprocating motion cycle time T (s).

2. Determine the maximum motor braking speed (RPM).

3. Determine the load to motor inertia ratio (N). (Use inertia auto-tuning if needed).

4. Calculate braking energy (E1): Find the energy generated at rated speed to standstill (Eo) from Tables (p36-37). Calculate E1 = (N + 1) * Eo.

5. Determine max energy absorbed by capacitor (Ec) from Tables (p36-37).

6. Compare E1 and Ec:

If E1 <= Ec: No regenerative resistor needed. Set 2002-1Ah to 3.

If E1 > Ec: Regenerative resistor is needed.

7. Calculate required resistor power (Pb): Pb = 2 * (E1 – Ec) / T (Watts).

8. Compare Pb with drive’s processable power (Pa) from Table 5-3:

If Pb <= Pa: Built-in resistor is sufficient (if available). Set H02-25 (Regenerative resistor type, old parameter?) or 2002-1Ah to 0 (if representing built-in).

If Pb > Pa: External resistor is required.

9. Select External Resistor: Recommended power = Pb / (1 – DeratingFactor). Use 70% derating (DeratingFactor=0.7), so Recommended Power = Pb / 0.3. Ensure the resistor’s resistance (Ω) is >= Minimum Permissible Resistance (H02-21 / 2002-16h). Use a resistor with an aluminum housing.

Example Calculation (H1 750W): T=2s, Speed=3000 RPM, N=4. From table, Eo=6.8J (approx), Ec=22.4J. E1=(4+1)*6.8 = 34J. E1 > Ec. Pb = 2*(34-22.4)/2 = 11.6W. Pa=25W (from Table 5-3). Since Pb < Pa, built-in is sufficient.

Example Calculation (H1 750W): T=2s, Speed=3000 RPM, N=10. E1=(10+1)*6.8 = 74.8J. E1 > Ec. Pb = 2*(74.8-22.4)/2 = 52.4W. Pa=25W. Since Pb > Pa, external is required. Recommended power = 52.4 / 0.3 = 175W. Resistance >= Minimum (check H02-21).

Connection and Setting (External Resistor):

Use resistor with 70% derating. Ensure resistance >= minimum permissible value.

Remove jumper between terminals P and D (if present).

Connect external resistor between terminals P and C. (See Figure 5-8).

Set 2002-1Ah (Regenerative resistor type) to 1 (natural ventilation) or 2 (forced air cooling).

Set related parameters:

2002h 16h: (Read-only) Minimum permissible resistance.

2002h 1Bh: Power of external regenerative resistor used (W). Set >= calculated Pb.

2002h 1Ch: Resistance of external regenerative resistor used (Ω). Set actual value, ensure >= 2002-16h.

2002h 19h: Resistor heat dissipation coefficient (%). Set based on cooling (<=30% natural, <=50% forced air).

CAUTION: Improper settings impact performance. Ensure resistance >= minimum. Resistor temperature can exceed 120°C; ensure safety (cooling, thermal switch).

Continuous Generating State:

If load is in continuous power-generating status (e.g., lowering a weight), common DC bus topology is recommended. If using resistor, calculate power based on continuous load torque and speed. Example: H1 750W, 60% rated torque @ 1500 RPM -> 225W back to drive. Required resistor power = 225 / 0.3 = 750W (with 50 Ω resistance).

Related Parameters:

1) Switch on the S-ON signal: When the servo drive is ready (“ry”), switch on the S-ON signal (via host controller or DI if configured). The keypad displays “rn”, indicating the drive is running. If no command input is given, the motor stays in a locked state without rotating.

2) Input command: After a command (position/speed/torque) is input, the servo motor starts rotating.

Checks during operation:

Power-on Timing Diagram (Figure 5-10): Shows typical timings for power supply setup, microprocessor initialization, servo ready output (ry), S-ON signal activation, dynamic brake release, motor energization, brake release (if applicable), and command acceptance.

The stopping behavior depends on the fault level (No. 1 or No. 2), whether a brake is used, and the specific warning.

Fault 1 (e.g., Overcurrent, Overvoltage):

Stop Mode: Default is H02-08 = 2 (Dynamic braking stop, keeping dynamic braking status). If brake is enabled, this mode is forced.

Without Brake:

Coast to stop, keeping de-energized status (H02-08=0): Motor de-energizes and coasts. (Fig 5-11)

Dynamic braking stop, keeping de-energized status (H02-08=1): Dynamic brake engages, motor de-energizes. (Fig 5-12)

Dynamic braking stop, keeping dynamic braking state (H02-08=2): Dynamic brake engages, motor stays in dynamic braking. (Fig 5-14)

With Brake (H02-08 forced to 2): Dynamic brake engages, motor stays in dynamic braking state, brake applies according to normal rotating sequence. (Fig 5-13)

Fault 2 (e.g., Encoder error, Overload):

Stop Mode: Default is H02-06 = 2 (Ramp to stop as defined by 6085, keeping de-energized status). If brake is enabled, mode is forced to -4 (Ramp to stop 6085h, keeping dynamic braking).

Without Brake:

Coast to stop, keeping de-energized status (H02-06=0): Motor de-energizes and coasts. (Fig 5-15)

Ramp to stop/Emergency torque stop, keeping de-energized/dynamic braking (H02-06 options): Motor stops per selected mode. (Fig 5-16)

With Brake (H02-06 forced to -4): Motor ramps to stop (6085h), keeps dynamic braking state, brake applies according to normal rotating sequence. (Fig 5-17)

Warnings that Cause Stop (Overtravel Er.950, Er.952):

Stop Mode: Stops at zero speed (as defined by 6085h) if brake function enabled, keeping position lock status. Stops at zero speed if brake function not enabled, keeping position lock status.

Timing: Motor decelerates, position lock engages. (Fig 5-18)

Warnings that Do Not Cause Stop (Other Warnings):

These warnings do not affect the operating status of the servo drive. The motor continues running normally. (Fig 5-19)

Fault Reset:

A fault reset signal (edge-triggered via DI or communication) clears the fault status. The drive returns to a ready state (Rdy) after about 3ms. Commands can be accepted after brake release delay if applicable. (Fig 5-20)

Comparison of stop modes (Table 5-5):

Comparison of stop status (Table 5-6):

The servo drive stops under the following situations:

S-ON OFF: Switch off the S-ON signal through communication or DI. The servo drive stops according to the stop mode configured in H02-05 or 605Ch.

Stop at fault: The stop mode varies with the fault type (No. 1 or No. 2) and is configured in H02-08 and H02-06 respectively.

Stop Mode at S-ON OFF:

Defined by parameter H02-05 (2002-06h) or 605Ch. If either value changes, the other changes accordingly.

Parameter: H02-05 (Stop mode at S-ON OFF), Int16, Effective Immediately.

Values for H02-05 / 605Ch:

NOTE: If brake output function is enabled, stop mode at S-ON OFF is forcibly set to “Ramp to stop as defined by 6085h, keeping dynamic braking status” (Value -4 for 605Ch logic).

Stop Mode at No. 1 Fault:

Defined by parameter H02-08 (2002-09h).

Parameter: H02-08 (Stop mode at No. 1 fault), Uint16, Effective Immediately, Default 2.

Values for H02-08:

NOTE: If brake output function is enabled, stop mode at No. 1 fault is forcibly set to “Dynamic braking stop, keeping dynamic braking status” (Value 2).

Stop Mode at No. 2 Fault:

Defined by parameter H02-06 (2002-07h).

Parameter: H02-06 (Stop mode at No. 2 fault), Int16, Effective Immediately, Default 2.

Values for H02-06:

NOTE: If brake output function is enabled, stop mode at No. 2 fault is forcibly set to “Ramp to stop as defined by 6085h, keeping dynamic braking status” (Value -3 logic).

Parameter 605Eh (Fault reaction option code) defines the deceleration mode of the servo motor for stopping rotation and the servo motor state after stops at a No. 2 fault. The available stop modes are:

Note: After the brake output function is enabled, the stop mode at No. 2 fault is forcibly set to “Ramp to stop as defined by 6085h, keeping dynamic braking status”.

The “Stop mode at No. 2 fault” can be set in parameter H02-06 or 605E. If the value of H02-06 or 605E changes, the value of the other parameter (605E or H02-06) also changes accordingly.

Definition of terms:

“Overtravel”: The distance of the mechanical movement exceeds the designed range of safe movement.

“Stop at overtravel”: When the motion part moves beyond the range of safe movement, the limit switch changes the signal level on the digital input, and the servo drive forces the motor to stop.

Parameter H02-07 (Stop mode at overtravel) defines the deceleration mode of the servo motor for stopping rotation and the servo motor state after stops due to overtravel. The settings are:

For safety when the servo motor drives a vertical axis, set 2002-08h (H02-07) to 1 to make the motor shaft stay in the position lock status after overtravel occurs. If the servo motor enters the overtravel status when driving a vertical axis, the workpiece may fall. To prevent this risk, set 2002-08h to 1.

After the brake output function is enabled, the stop mode at overtravel is forcibly set to “Stop as defined by 6085h, keeping position lock status”.

When the workpiece moves linearly, install limit switches to prevent mechanical damage. To use limit switches for overtravel prevention:

1. Allocate FunIN.14 (P-OT, positive limit switch) and FunIN.15 (N-OT, negative limit switch) to two Digital Inputs (DIs) of the servo drive.

2. Set the active logic of these DIs.

This enables the servo drive to receive the level signals from the limit switches. The servo drive enables or cancels the stop-at-overtravel status based on the DI level status. In the overtravel status, you can input a reverse run command to make the motor (workpiece) run in the reverse direction.

The related DI functions are:

The emergency stop can be implemented using the following two methods:

1) FunIN.34: EmergencyStop DI function

2) 200D-06h (HOD-05): Emergency stop parameter

Related DI function:

Related parameter HOD-05 defines whether to enable emergency stop:

When HOD-05 is enabled (set to 1), the servo drive stops in the stop mode defined by 605Ch regardless of the operating state.

Quick stop applies when bit2 (Quick stop) in the control word 6040h is set to 0 (Valid). The quick stop mode is defined by parameter 605Ah (Quick stop option code).

Parameter 605Ah defines the deceleration mode of the servo motor for stopping rotation and the servo motor state after quick stop:

Note: When the brake function is enabled and the setpoint of 605Ah is less than 4, the stop mode is forced to “Ramp to stop as defined by 6085h, keeping de-energized state”.

The halt function applies when bit8 in the control word 6040h is set to 1 (Valid). The halt mode is defined by parameter 605Dh (Stop option code).

Parameter 605Dh defines the deceleration mode of the servo motor for stopping rotating and the servo motor state after halt:

PP/PV/HM mode:

PT mode:

No. Do not set the acceleration/deceleration time to an excessively small value. An excessively small value will lead to an overlong stop distance, causing the risk of collision.

When the stop mode is set to “Ramp to stop as defined by 6084h/609Ah (HM)” or “Ramp to stop as defined by 6085h”, the parameter HOA-72 (Maximum time for ramp-to-stop) should be set to prevent an overlong stop distance caused by an excessively small deceleration setpoint. If 6084h/609Ah (HM) or 6085h is set to an excessively small value, the stop deceleration is restricted by the setpoint of H0A-72.

HOA-72 defines the maximum time taken by the motor in decelerating from 6000 RPM to 0 RPM under these ramp-to-stop modes.

Gear ratio refers to the motor displacement (in encoder units) corresponding to the load shaft displacement of one reference unit. It determines the proportional relation between the load shaft displacement (in reference units) and the motor displacement (in encoder units).

Motor displacement = Load shaft displacement x Gear ratio

The gear ratio is comprised of the numerator 6091-01h and denominator 6091-02h. It is related to the mechanical reduction ratio, mechanical dimensions, and motor encoder resolution.

Calculation formula:

Gear ratio = (Motor encoder resolution) / (Load shaft resolution)

Related parameters define this proportional relation:

Relations:

Motor position feedback = Load shaft position feedback x Gear ratio

Motor speed (RPM) = (Load shaft speed x Gear ratio 6091h / Encoder resolution) x 60

Motor acceleration (RPM/ms) = (Load shaft acceleration x Gear ratio 6091h / Encoder resolution) x (1000 / 60)

Yes, take a ball screw example:

Minimum reference unit fc = 1 mm

Lead pB = 10 mm/r

Reduction ratio n = 5:1

Inovance 23-bit serial-type motor encoder resolution P = 8388608 (PPR)

The position factor is calculated as follows:

Position factor = (Encoder resolution P x n) / pB

Position factor = (8388608 x 5) / 10

Position factor = 41943040 / 10

Position factor = 4194304

Therefore, 6091-1h (Motor revolutions) = 4194304, and 6091-2h (Shaft revolutions) = 1. This means when the load shaft displacement is 1 mm, the motor displacement is 4194304 encoder units.

Reduce the values of 6091-1h and 6091-2h to a point where there is no common divisor, and take the final value.

The purpose of Gain Tuning is to set the gain parameters of the servo drive to proper values so that the servo drive can drive the motor as quickly and accurately as possible based on internal references or commands sent from the host controller. The gain is defined by a combination of multiple mutually-affected parameters (including position loop gain, speed loop gain, filter, and inertia ratio). Setting these parameters to proper values helps keep a balanced performance.

The general procedure for gain tuning is as follows:

1. Start.

2. Perform a trial run through jogging to ensure the motor operates properly (NOTE).

3. Perform Inertia auto-tuning (Offline or Online). See section “Inertia Auto-tuning” for details.

4. Perform Gain auto-tuning (using ETune or STune). See relevant sections for details.

5. Check if performance is OK.

6. If OK, proceed to step 9 (End).

7. If not OK, perform Manual gain tuning. See section “Manual Gain Tuning” for details.

8. Check if performance is OK.

9. If OK, proceed to step 11 (End).

10. If not OK (vibration occurs), perform Vibration suppression. See section “Vibration Suppression” for details. Then proceed to step 11 (End).

11. End.

The available gain tuning procedures are:

Inertia Auto-tuning automatically calculates the load inertia ratio (parameter 2008-10h), which is a critical parameter for the servo system. A proper inertia ratio facilitates the commissioning process.

The load inertia ratio is calculated using the formula:

Load inertia ratio = (Total moment of inertia of the mechanical load) / (Moment of inertia of the motor)

The servo drive supports two inertia auto-tuning methods:

1) Offline inertia auto-tuning: Enabled via parameter 200D-03h and initiated using the keypad, without involving the host controller.

2) Online inertia auto-tuning: Initiated by a command from the host controller, involving the host controller.

The following requirements must be met to ensure a correct calculation of the load inertia ratio:

1) The actual maximum motor speed is higher than 150 RPM.

2) The actual acceleration rate during acceleration/deceleration is higher than 3000 RPM/s.

3) The load torque is stable without dramatic changes.

4) The actual inertia ratio does not exceed 120.

Additional Notes:

If the actual inertia ratio is large but the gain is low, the motor may not reach the required speed and acceleration. Increase the speed loop gain (2008-01h) and perform auto-tuning again.

If vibration occurs during auto-tuning, stop inertia auto-tuning immediately and reduce the gain.

Inertia auto-tuning may fail if the backlash of the transmission mechanism is too large.

1. Confirm pre-tuning requirements:

Ensure limit switches are installed and a travel distance of more than one revolution in either forward or reverse direction is available between the limit switches to prevent overtravel.

Ensure the required number of revolutions (H09-09) is fulfilled. Check H09-06 (Max speed), H09-07 (Accel time constant), and H09-09 (Revolutions) to ensure motor travel distance > H09-09 value. Adjust H09-06 or H09-07 if needed.

Increase stiffness level (H09-01) if necessary so the actual motor speed can reach the value defined by H09-06.

2. Enable Offline Inertia Auto-tuning:

In the parameter display mode, switch to parameter HOD-02 (Offline inertia auto-tuning).

Press SET to enable it (set HOD-02 = 1). The drive should be in “ry” status (S-ON signal OFF).

3. Execute Auto-tuning:

Press the Up/Down arrow key ( / ) to make the motor run in the forward/reverse direction. The operating direction at the start depends on the key pressed. For unidirectional motion applications, set H09-05 to 1.

Observe the displayed value on the keypad (which initially shows the current value of H08-15).

Wait until the displayed value stabilizes. The stabilized value is the auto-tuned inertia ratio.

To stop the servo drive during tuning, release the Up/Down key. To restart, press the key again.

4. Save the Result:

Hold the SET key down until the keypad displays “SAVE”. This saves the auto-tuned value into parameter H08-15 (Load moment of inertia ratio).

5. Finish:

Press the MODE key to exit the HOD-02 interface and finish inertia auto-tuning.

Online Inertia Auto-tuning allows the servo drive to calculate the load inertia ratio (H08-15) in real time based on commands from a host controller. The servo drive supports this method, and the following figure shows the procedure.

Prerequisites/Conditions for correct calculation:

Ensure the following conditions are fulfilled before performing online inertia auto-tuning:

The load inertia changes quickly.

The load torque changes quickly.

The motor is running at a speed lower than 120 r/min.

Acceleration/Deceleration is slow (lower than 1000 r/min per second).

The acceleration/deceleration torque is smaller than the unbalanced load/viscous friction torque.

Do not use online inertia auto-tuning in applications involving hitting against limit switches and press fitting.

1. Start with the S-ON signal off (servo drive ready, “ry” status).

2. Set parameter H09-03 (Online inertia auto-tuning mode) to a non-zero value (1, 2, or 3) to enable it.

3. Switch on the S-ON signal. The servo drive is now ready to receive commands.

4. Input a command through the host controller to make the motor rotate.

5. The servo drive calculates the average value of the load inertia ratio in real time and saves the auto-tuned values into H08-15 every 30 min.

6. End.

Parameter H09-03 defines the online inertia auto-tuning mode and sets the updating speed of the load inertia ratio (H08-15) in real time.

ETune is a wizard-type function designed to guide users to perform auto-tuning by setting the motion profile and the desired response level. After these are set, the servo drive performs auto-tuning to obtain optimal gain parameters. These parameters can be saved and exported as a recipe for use in other devices of the same model. ETune is intended for applications featuring slight load inertia changes.

1. Initialize the servo drive parameters.

2. Set the electronic gear ratio to a proper value.

3. Click “Usability adjustment” on the menu bar and click “ETUNE”.

4. Set the positive/negative limit position in the position setting interface.

5. Check if vibration occurs during jogging.

6. If Yes: Reduce the gain. Repeat step 5.

7. If No: Configure the mode and the motion profile.

8. Click “Next” to start.

9. Tuning process runs.

10. Check if tuning result is OK.

11. If No: Adjust the response level. Repeat step 9.

12. If Yes: Save parameters.

13. End.

1. Open ETune: Click “Usability adjustment” on the software tool, then click “ETune”. Select the ETune scenario (Small inertia change, Torque mode not supported).

2. Select Operation Mode: Choose one of the three modes based on the machine’s allowed operating direction:

Reciprocating po…: Motor reciprocates within positive and negative position limits.

One-way forward: Motor uses the difference between limits as max distance per action, running in the forward direction.

One-way reversal: Same as one-way forward, but in the opposite direction.

3. Set Position Limits: Enter appropriate positive and negative position limits for the motor (in position reference pulses before electronic gear ratio). The difference must be larger than 1/8 of one revolution. Larger limits improve adaptability but increase tuning time.

Method 1: Click “Enable ON”, use the arrow button to move the motor to the positive limit, click “Set to the posi…”. Repeat for the negative limit. Click “Enable OFF”.

Method 2: Enter the limit values directly.

4. Configure Parameters: Click “Next”.

Adjustment mode: Select “Positioning mode” or “Track mode”.

Inertia auto-tuning: Optional. If not chosen, set the correct inertia ratio manually.

Response level: Adjust based on required responsiveness.

Position filtering: Adjust based on position reference noise.

Motion profile: Set maximum speed, acceleration/deceleration time, and waiting time interval for auto-tuning.

5. Start Auto-Tuning: Click “Next”.

If inertia auto-tuning was chosen, it runs first, followed by gain tuning.

If not chosen, gain tuning starts directly.

6. Fine-Tune and Save: During gain tuning (“In tuning” status), you can modify the “Response fine-tuning coefficient (%)” and click “Update” to continue tuning with the new coefficient. After tuning is completed (“Tuning completed” status), click “DONE” to save the parameters to EEPROM and export them as a recipe file.

The maximum speed and acceleration/deceleration time of the motion profile can be set as needed. You can also increase the acceleration/deceleration time properly to enable quick positioning after auto-tuning is done.

If the acceleration/deceleration time is set to a too small value, overload may occur. In this case, increase the acceleration/deceleration time properly.

For vertical axis applications, take anti-drop measures before execution and set the stop mode upon fault to “Stop at zero speed”.

For the ball screw applications, if the tuning time is too long, shorten the stroke length.

STune performs gain auto-tuning based on the set stiffness level. It aims to fulfill the requirements of rapidity and stability. The STune function is enabled by default with H09-00 (Gain auto-tuning mode) being set to 4 (Normal mode+Inertia auto-tuning). The servo drive is turned off automatically 10 min after command input.

STune is intended for applications featuring slight load inertia changes. For applications featuring dramatic inertia changes or where inertia auto-tuning is unavailable (due to operating speed too low or acceleration rate too small), disable the STune function after initial power-on.

If H09-00 is set to 4 or 6, online inertia auto-tuning is required. Ensure conditions for online inertia auto-tuning are met (load inertia/torque changes quickly, speed < 120 r/min, accel < 1000 r/min/s, accel torque < friction torque). If conditions cannot be fulfilled, set the correct inertia ratio manually.

1. Start.

2. Click “Usability adjustment” on the menu bar, and click “STUNE”.

3. Set the gain tuning mode (H09-00).

4. Set the inertia ratio (Input directly or use Manual/Auto inertia tuning depending on H09-00 setting).

5. Switch on the S-ON signal and input the command (Enable servo drive and input command via host controller).

6. Adjust the stiffness level (H09-01) during motor rotation and observe the waveform/behavior (response time, positioning time, vibration).

7. Check if desired performance is achieved.

8. If Yes: End.

9. If No: Perform manual gain tuning / vibration suppression. See relevant sections for details.

10. End.

a) Select the Gain Auto-tuning Mode (H09-00): Set via keypad or software tool.

If H09-00 is 0, 1, or 2, set the inertia ratio first (perform manual inertia tuning if unknown). If H09-00 is 3, 4, or 6, inertia ratio needs no setting.

b) Adjust Stiffness Level (H09-01): Gradually adjust during load operation. Monitor the waveform until desired performance is achieved (modify by one level each time). The level is written automatically.

c) Exit STune Mode: For modes 4 and 6, H09-00 restores to 0 after running > 100 r/min for 5 min (or time set in H09-37). Set H09-00 to 0 manually to exit earlier if commissioning is done. Modify H09-37 (Vibration monitoring time) for different operating times.

d) Automatic Resonance Suppression (Modes 4 & 6): Applied automatically. If resonance persists, set H09-58 (STune resonance suppression reset) to 1 (Enable) to clear parameters, reduce stiffness, and perform STune again.

e) Multi-axis Trajectories:

Perform single-axis commissioning first.

Mode 4: Determine the minimum H08-02 (Position loop gain) among axes, set H09-00=0 for all, set H08-02 of each axis to this minimum value.

Mode 6: Determine the minimum H08-43 (Model gain) among axes, set H09-00=0 for all, set H08-43 of each axis to this minimum value.

Stiffness Level (H09-01): Ranges from 0 (weakest) to 41 (strongest). Recommended levels:

Precautions:

Mode 4 Stability: To ensure stable operation in Mode 4 with default settings, gain parameters are adjusted with the inertia ratio if it’s higher than 13. This may cause different responses in multi-axis trajectories under the same stiffness level.

Modes 3, 4, 6 Operation: In these modes, the drive suppresses vibration via inertia auto-tuning automatically within 10 min (or H09-37 time) after power-on/stiffness setting, then exits inertia auto-tuning. It cannot be reactivated by setting H09-00 again. Do not use modes 3, 4, or 6 in applications with slow accel/decel, large vibration, or unstable couplings.

Inertia Setting (H09-03): In applications where inertia does not change, set H09-03 to 1 (Enabled, changing slowly). Where inertia changes quickly, set H09-03 to 3 (Enabled, changing quickly).

In Standard Stiffness Level Mode (H09-00 = 1), the values of the 1st group of gain parameters are updated automatically according to the stiffness level defined by H09-01 and saved into the corresponding parameters.

In Positioning Mode (H09-00 = 2), in addition to the 1st group of gains (see Standard Stiffness Level Mode), the 2nd group of gain parameters are also updated automatically based on the stiffness level (H09-01). The stiffness level of the position loop gain (H08-05) in the 2nd group is higher than that in the 1st group (H08-02) by one level.

Updated 2nd Group Parameters:

Fixed Parameters (Speed Feedforward):

Fixed Parameters (Gain Switchover – Enabled Automatically):

(In other modes, the original settings for these fixed parameters are used).

No. In the gain auto-tuning mode (STune, H09-00 = 1 to 6), parameters updated automatically along with H09-01 (stiffness) and those with fixed setpoints cannot be modified manually. If you need to modify these parameters, you must first set H09-00 to 0 to exit from the gain auto-tuning mode.

When H09-00 is set to 3, 4, or 6, automatic resonance suppression is applied. If load changes or mechanical structure is re-installed, resonance frequency might change. Set H09-58 to “Enable” and turn on STune mode after clearing resonance suppression parameters to re-tune.

The following parameters are related to this automatic suppression (likely corresponding to the 3rd and 4th notches and medium frequency suppression):

ER661: Gain too low occurs when the torque ripple detected by the servo drive exceeds the setpoint of H09-11 (Gain switchover level in Positioning Mode) and becomes uncontrollable. The stiffness level is automatically reduced until reaching level 10, where ER661 is reported.

Solutions:

1. For uncontrollable vibration: Enable vibration suppression manually (using notch filters or other suppression methods).

2. For current fluctuation: Check if the current of the machine fluctuates regularly.

Related resonance/vibration parameters (potentially involved in manual suppression):

Manual gain tuning should be performed when gain auto-tuning (ETune or STune) cannot fulfill the application needs.

The servo system provides three control loops: position loop, speed loop, and current loop (from external to internal). The response level of the inner loop must be higher than that of the outer loop to prevent instability. The default gain of the current loop is typically set for the highest response and usually does not need adjustment.

The basic gain parameters are adjusted as follows:

Gain switchover is available only in position control and speed control modes. It can be triggered by the internal status of the servo drive or by an external Digital Input (DI).

The following operations can be achieved through gain switchover:

Switching to the lower gain when the motor is at a standstill (servo ON) to suppress vibration.

Switching to the higher gain when the motor is at a standstill to shorten the positioning time.

Switching to the higher gain when the motor is running to achieve better command tracking performance.

Switching between different gain settings through an external signal to fit different conditions of the load devices.

When H08-08 is set to 0, only the first group of gain parameters (H08-00 to H08-02, H07-05) are used. However, within the speed loop, control can be switched between Proportional-Integral (PI) control and Proportional (P) control using DI function 3 (FunIN.3: GAIN_SEL, gain switchover). This is achieved by setting bit 26 of the status word 60FEh. If bit 26 is valid (typically logic active based on DI input), P control is used; otherwise, PI control is used.

When H08-08 is set to 1, switchover between the 1st group of gain parameters (H08-00 to H08-02, H07-05) and the 2nd group of gain parameters (H08-03 to H08-05, H07-06) is activated. The specific condition triggering the switchover is determined by the setting of H08-09 (Gain switchover condition).

The following table details the conditions defined by H08-09, triggering a switch from the 1st gain set to the 2nd gain set. The switch back occurs when the condition is no longer met, potentially with a delay (H08-10).

Note on Condition 10 & H08-10 Delay: The Gain switchover delay (H08-10) is valid only during switching from the 2nd gain set back to the 1st gain set. The logic involves comparing actual speed to the switchover level (H08-11) and potentially the switchover dead time (H08-12). If the motor is at standstill or moving slowly below the threshold (considering delay/dead time), it uses the 1st gain set. During operation above the threshold, it uses the 2nd gain set.

Function: Filters the position references (in encoder units) after division or multiplication by the electronic gear ratio. This smooths the running process of the motor and reduces the impact on the machine.

Applicable Occasion:

When the acceleration/deceleration process is not performed on the position references sent from the host controller.

When the pulse frequency is low.

When the electronic gear ratio is larger than 10.

Impact of Excessive Filter Time: The response delay is prolonged.

Speed feedforward can be applied in the position control mode to improve speed reference responsiveness and reduce position deviation during operation at a constant speed.

Operating Procedure:

1. Setting the speed feedforward signal source:

Set H05-19 to a non-zero value to enable the function and select the signal source.

2. Setting the speed feedforward parameters (H08-18 and H08-19):

Adjustment Method: Set H08-18 to a fixed value first. Then, increase H08-19 gradually from 0 until the desired effect is reached. Adjust H08-18 and H08-19 repeatedly until a balanced performance is achieved.

Zero phase control is used to compensate for the position deviation generated upon delay of position reference startup, reducing the position deviation upon start/stop of the position control mode. It essentially applies speed feedforward calculation in advance.

Setting Parameters:

Torque feedforward can be applied in the position control mode to improve torque reference responsiveness and reduce position deviation during acceleration/deceleration at a constant speed. It can also be applied in the speed control mode to improve torque reference responsiveness and reduce speed deviation during operation at a constant speed.

Operating Procedure:

1. Setting the torque feedforward signal source:

Set H06-11 to 1 to enable the function and select the internal source.

2. Setting torque feedforward parameters (H08-20 and H08-21):

Adjustment Method: Keep H08-20 at the default value. Increase H08-21 gradually from 0 until the desired effect is reached. Adjust H08-20 and H08-21 repeatedly until a balanced performance is achieved. For detailed gain adjustment, refer to section “6.5.4 Feedforward Gain”.

In non-torque control modes, Pseudo Derivative Feedback and Feedforward (PDFF) control can be used to adjust the speed loop control method. By adjusting the PDFF control coefficient (H08-24), PDFF enhances the anti-disturbance capacity of the speed loop and improves performance in following speed references.

Parameter Function & Adjustment:

Disturbance observer 1 is used in non-torque control mode to observe external disturbances. Disturbances within the frequency range defined by the cutoff frequency (H08-31) can be observed and suppressed using the compensation settings (H08-32, H08-33).

Parameter Overview:

The speed observer is intended for applications with slight load/inertia changes. It facilitates quick positioning by improving responsiveness and filtering high frequencies, shortening positioning time, and improving gain without incurring high-frequency vibration.

Caution:

Before using the speed observer, set H08-15 (Load inertia ratio) to a proper value or perform inertia auto-tuning. A wrong inertia ratio will cause vibration.

Setting H08-27, H08-28, or H08-29 to a too small or too large value will cause motor vibration.

1. Restore default gain values. Cancel parameter auto-tuning, gain switchover, and feedforward.

2. Set the correct inertia ratio (H08-15) (manually or via auto-tuning).

3. Set the observer filter (H08-29 = 60 recommended starting point, though default is 0.8).

4. Turn on the speed observer (H08-40 = 1).

5. Increase the speed loop gain (H08-00) to a value not exceeding 600.

6. Check if the speed feedback is close to the speed reference.

7. If No: Repeat step 5 (adjust H08-00).

8. If Yes: Increase the position loop gain (H08-02) to a value not exceeding H08-00.

9. Check if positioning performance is OK.

10. If No: Repeat step 8 (adjust H08-02).

11. If Yes: End.

The model tracking function, available only in position control mode, can be used to improve responsiveness and shorten positioning time. Parameters are normally set automatically via ITune or ETune along with gain parameters.

Manual tuning is needed in the following situations:

The auto-tuned values cannot fulfill the application needs.

Improving the responsiveness takes priority over the auto-tuned values.

Customized parameters for the gain or model tracking function are needed.

The parameters involved include: Kp (H08-02), Kv (H08-00), Ti (H08-01), Tf (H07-05), mKp (H08-43), mVFF (H08-46), mLPF (H08-51).

Caution: Ensure the inertia (H08-15) is set correctly. If the inertia deviates greatly from the actual condition, motor vibration will occur.

1. Perform mechanical characteristic analysis and set the correct resonance point.

2. Set the correct inertia ratio (H08-15).

3. Improve the speed loop stiffness (H08-00 and H08-01) and reduce the torque filter (H07-05).

4. Check if speed feedback is close to the speed reference.

5. If No: Repeat step 3.

6. If Yes: Enable the model tracking function (H08-42 = 1).

7. Set H08-46 to 920. Set H08-51 to 100.

8. Set H08-02 to the same value as H08-00.

9. Set H08-43 to the same value as H08-02.

10. Check if excessive overshoot occurs.

11. If Yes: Increase the value of H09-30 or decrease the value of H08-43. Go to step 13.

12. If No: Check if positioning performance is OK.

13. If No: Increase H08-43 to a value not exceeding 6000. Go back to step 10.

14. If Yes: End.

Friction compensation is used to reduce the impact of friction on the mechanical transmission. It uses different positive/negative compensation values according to the running direction. It is valid only in the position control mode.

Operation: