SV200 AC Servo
User Manual
920-0096A
8/27/2015
920-0096A
8/27/2015
SV200 Hardware Manual
Table of Contents
1 Introduction ................................................................................7
1.1 About This Manual ............................................................................ 7
1.2 Documentation Set for SV200 series AC servo ................................ 7
1.3 Safety ................................................................................................ 7
1.4 Safety Symbols ................................................................................. 7
1.5 Safety Instructions ..................................................................8
Installation ............................................................................................... 8
Wiring ...................................................................................................... 8
1.6
Standards Compliance .................................................................. 8
2. Product Description ..................................................................9
2.1 Unpacking Check .............................................................................. 9
2.2 Servo Drive Model Introduction ......................................................... 9
2.2.1 Drive Name Plate Description ............................................................9
2.2.2 Drive Model Description .....................................................................10
2.2.3 Drive specification
..............................................................................11
2.2.4 Drive Dimensions (Unit: mm) .............................................................12
2.3 Servo Motor Model Introduction..............................................13
2.3.1 Motor Name Plate Description ....................................................... 13
2.3.2 Motor Model Description ................................................................ 13
2.3.3 Motor Specification And Dimension
................................................ 14
□ 40mm Series
........................................................................................ 14
40mm Dimensions.....................................................................................15
□ 40mm Torque curve..................................................................................16
2.3.3.2 □60mm Specification and Dimension
..............................................17
60mm Dimensions......................................................................................18
2.5
System Configuration
.............................................................25
3.Installation..................................................................................26
3.1 Storage Conditions ............................................................................ 26
3.2 Installation Conditions ....................................................................... 26
3.4 Installation Space ............................................................................. 27
□ 60mm Torque curves
......................................................................... 19
2.3.3.3 □80mm Specification and Dimension
.......................................... 20
□ 80mm Torque Curve
............................................................................. 23
3.5 Motor Installation ....................................................................28
4. Connections and Wiring............................................................29
4.1 Connecting to Peripheral Devices ..................................................... 29
4.1.1 System Configuration
.........................................................................29
4.1.2 Servo Drive Connectors and Terminals .......................................... 30
4.1.3 Connections and Wiring Notes ....................................................... 30
4.1.4 Wiring Methods For Power supply P1 ............................................ 31
4.1.4.1 Single-Phase Power Supply Connection (AC220V) ........................31
4.1.4.2 Three-Phase Power Supply Connection (AC220V) ........................32
4.2 Wiring to the Connector P2.....................................................33
4.2.1 Motor Power Cable Configuration
................................................. 33
4.2.2 Motor Power Cable Connector Specifications
................................ 33
4.2.3 Wiring Diagram Of Motor Extension Cable .................................... 34
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SV200 Hardware Manual
4.3 Encoder Connector CN3.........................................................34
4.3.1 Motor Encoder Feedback Cable Configuration
.............................. 34
4.3.2 The Layout of CN3 Connector........................................................ 35
4.3.3 Connect to Motor Encoder ............................................................. 36
4.3.4 Specifications of Encoder Connector
............................................. 36
15PIN AMP Connector ............................................................................ 36
4.3.5 Wiring Diagram of Motor Encoder Extend Cable ........................... 37
920-0096A
8/27/2015
4.4 Electromagnetic Brake............................................................38
4.4.1 Wiring Diagram............................................................................... 38
4.4.2 Brake Motor .................................................................................... 38
4.4.3 Timing Charts Of The Electromagnetic Brake ................................ 39
4.5 Regenerative Resistor ............................................................40
4.7 Connect to Host Computer,CN1 .............................................40
4.8 Input and Output Signal Interface Connector,CN2 .................41
4.8.1 Input and Output Interface Specifications and Diagram
................. 41
4.8.2 Signals Description of Connector CN2 ........................................... 43
4.8.2.1 The Layout of CN2 Connector .........................................................43
4.8.2.2 Input Signals....................................................................................43
4.8.2.3 Inputs Function List .........................................................................45
4.8.2.4 Output Signals .................................................................................45
4.8.2.5 Outputs Function List ......................................................................46
4.8.3 Input Signal Interface Connector CN2............................................ 46
4.8.4 CN2 Output Signal Specification
.................................................... 55
4.8.4.1 CN2 Output Signal Diagram ............................................................55
4.8.4.2 Y1, Y2, Y5, Y6 Output Connection Diagram ...................................55
4.8.4.3 Y3, Y4 Connection Examples ..........................................................56
4.8.3.1 Position pulse signal input ...............................................................46
4.8.5 Encoder Feedback Output ............................................................. 56
4.8.5.1 A/B/Z Connection Diagram ..............................................................56
4.8.5.2 Z Phase Open Collector Output ......................................................56
5.Display and Operation ...............................................................57
5.1 Description of Control Panel.............................................................. 57
5.2 Mode Switch Control ......................................................................... 57
5.3 LED display description ..........................................................59
5.3.1 Decimal Point And Negative Sign Description................................ 59
5.3.2 Parameter View Setting.................................................................. 59
5.3.3 Parameter Save Setting ................................................................. 59
5.3.4 Point To Point Motion Mode .......................................................... 59
5.3.5 Jog Mode........................................................................................ 60
5.3.6 Control Panel Lock ......................................................................... 60
5.4 Status Monitoring Selection Mode ..........................................60
5.5 Function Mode Control ...........................................................62
5.5.1 Function Mode Description............................................................. 62
5.6 Parameter Setting Mode .........................................................64
5.6.1 Parameter Setting Description ....................................................... 64
5.6.2 Parameter Editing Examples .......................................................... 65
5.7 Control Panel Lock .................................................................66
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920-0096A
8/27/2015
SV200 Hardware Manual
5.8 Warning And Fault Display .....................................................66
6. Preoperational mode ................................................................68
6.1 Inspection Before Trial Run ............................................................... 68
6.2 Trial Run Procedure .......................................................................... 68
6.3 Manual Motor Configuration
.............................................................. 69
6.3.1 Use Drive Control Panel To Setup ......................................................69
6.3.2 Using Software To Configure Motor
...................................................70
6.4 Using JOG Mode ....................................................................71
6.5 Configuration by Personal Computer
......................................72
7. Operation Mode Selection ........................................................73
7.1 General Function Setting................................................................... 73
7.1.1 Drive Servo on settings ......................................................................73
7.1.2 Alarm Reset .................................................................................... 74
7.1.3 CW/CCW limit ................................................................................ 75
7.1.4 Global Gain Switch Function .......................................................... 76
7.1.5 Control Mode Switch ...................................................................... 77
7.1.6 Drive On Fault Output .................................................................... 78
7.1.7 Motor Brake Control ...................................................................... 79
7.1.8 Servo Ready Output ...................................................................... 80
7.2 Position Mode ........................................................................80
7.2.1 Digital Pulse Position Mode Connection Diagram .......................... 81
7.2.2 Input Pulse Type And Input Noise Filter ........................................ 82
7.2.2.1 Input Pulse Type Setting .................................................................82
7.2.2.2 Input Noise Filter Setting .................................................................82
7.2.2.3 Parameter P-43 (SZ) Setting ...........................................................83
7.2.3 Control Pulse Dividing Switch Function.......................................... 84
7.2.4 Pulse Inhibit Function .................................................................... 85
7.2.5 Electronic Gearing Ratio ................................................................ 85
7.2.6 Jerk Smoothing Filter ..................................................................... 86
7.2.7 In-Position Error Output.................................................................. 87
7.2.8 Gain Parameters For Position Control Mode ................................. 87
7.2.9 Software Configuration For Position Mode
..................................... 88
7.3 Velocity Mode ................................................................................... 89
7.3.1 Velocity Mode Connection Diagram ............................................... 90
7.3.2 Parameter Settings For Analog Velocity Control Mode .................. 91
7.3.3 Basic Settings For Analog Velocity Control Mode .......................... 91
7.3.3.1 Command Signal For Analog Velocity Mode ...................................91
7.3.3.2 Analog Velocity Gain .......................................................................92
7.3.3.3 Analog Input Voltage Offset .............................................................93
7.3.3.4 Analog Input Deadband ...................................................................94
7.3.3.5 Run/Stop And Direction Signal .......................................................95
7.3.3.6 Torque Limit
....................................................................................96
7.3.3.7 Target Velocity Reached ..................................................................97
7.4 Torque Mode
...........................................................................100
7.4.1 Analog Torque Mode Connection Diagram
..................................... 101
7.4.2 Parameters For Analog Torque Mode
............................................ 102
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7.3.4 Analog Input Filter .......................................................................... 98
7.3.5 Software Configuration For Analog Velocity Mode
......................... 99
SV200 Hardware Manual
7.4.3 Basic Settings For Analog Torque Mode
........................................ 102
7.4.3.1 Command Signal For Analog Torque Mode
...................................102
7.4.3.2 Analog Torque Gain
.........................................................................103
7.4.3.3 Analog Input Offset ..........................................................................104
7.4.3.4 Analog Deadband ............................................................................104
7.4.3.5 Run/Stop and Direction signal ........................................................105
7.4.3.6 Velocity Limit ..................................................................................105
7.4.3.7 Torque Reached
.............................................................................106
920-0096A
8/27/2015
7.4.4 Software Configuration For Analog Torque Mode
.......................... 107
8. Parameters and Functions .......................................................108
8.1 Parameter Category .......................................................................... 108
8.2 Parameter List ................................................................................... 109
8.3 Parameter Description ............................................................113
9. Communication ........................................................................136
9.1 RS-232 communication ..................................................................... 136
9.1.1 What is SCL.................................................................................... 136
9.1.2 RS-232 Connections ...................................................................... 136
9.2 RS-485 Communication..........................................................137
9.2.1 RS-485 PIN definition
.................................................................... 137
9.2.2 RS-485 Connection Method .......................................................... 138
9.3 ModBUS/RTU Communication ...............................................139
9.3.1 Data Encoding ................................................................................ 139
9.3.2 Communication Address ................................................................ 140
9.3.3 Communication Baud Rate And Framing ....................................... 140
9.3.4 Power Up Mode ............................................................................. 140
9.3.5 Modbus/RTU Data Framing ........................................................... 140
9.3.6 SV200 Series AC Servo Drive Register Address And Function List:
9.3.7 Command Opcode description ....................................................... 143
9.3.8 Function Code ................................................................................ 144
9.3.8.1 Function Code 0X03, Reading Multiple Holding Registers .............144
9.3.8.2 Function Code 0x06, Writing Single Register ..................................145
9.3.8.3 Function Code 0X10, Writing Multiple Registers ............................146
141
9.3.9 Modbus/RTU Applications ............................................................. 147
9.3.9.1 Position Control ..............................................................................147
9.3.9.2 JOG mode .......................................................................................150
9.4 CANopen Communication ......................................................153
9.4.1 RJ45 (8p8c) Pin Definitions
............................................................ 153
9.4.2 CANopen NODE-ID........................................................................ 153
9.4.3 CANopen Communication Baud Rate ........................................... 153
9.4.4 Setting IP Address via the Front Control Panel .......................... 154
9.4.5
Setting IP address with SVX ServoSUITE ............................................155
9.4.6 How to edit the IP address table in SVX ServoSUITE ................ 155
9.4.7
Read IP address from drive, Save IP address to the disk: ...................156
10.Trouble Shooting .....................................................................157
10.1 Drive Alarm List ............................................................................... 157
10.2 Drive alarm troubleshooting .................................................158
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