Home

HSD2 Series Servo Drive User Manual (V2)

1. HSD2 Series AC Servo Drive MOTOR UO Ule VO Vi 3 WO W 4 PEO Gri CNT T coe Mc 4 8 OV 3 4 A po a i i M SC2 9 f AY et 9 A lt 7 R AY zt C Bt 2 i BALRS 7 l 10 B 8 SE 6 CN RX Sp 9 encoder 6 13 S ed 2e sau 13 V je 11 pS 5 v le 14 E COIN 20 se 4 Wile E 12 Ww ike UCUM 4 DoM 23 lo PE 4 gt CM P CN2 a deu st sel ee o PULS nl ui Bee gt y SIGNA 24 SIGN d ltr Y SIGN4 25 H CN2 A 19 Y A 4 10 B 4 B 11 COLS3l _ H IX B el GE Ed J 7 4 Z 12 Z output CZ 4 S S IGNI PE Ov PE 21 3 6 2 Speed Torque control mode Of 99 DRIVER bm x SO a fe 3PHSE T Ga UO U 2 ACN D s
2. Servo Drive R PULS 1210 Y i gt N 4 SIGN Dio l A y N A H SIGN 1212 gt Jz Figure 3 6 Pulse input interface circuit type 3 Open collector input circuit li gt HSD2 Series AC Servo Drive 3 5 4 Analog signal input interface There are two different input circuit types of analog signal differential input mode and single ended input mode The differential input circuit can inhibit the common mode interference so the differential input mode is recommended Either analog speed command or torque command is needed for H series servo drive The voltage range for the analog command is DC 10V 10V and the input impedance is 10kO The zero drift of the analog signal could be compensated by adjusting the parameters Servo Drive E n 2 S Lov d d Y Y Figure 3 7 Analog signal input interface circuit type 4 differential input mode Servo Drive E y A S LUN d d Y NA Figure 3 8 Analog signal input interface circuit type 4 single ended input mode 1 Three connecting wires are needed in differen
3. CONDO Qn ON O 0 19 9 Reserved 10 Present control mode 11 Input frequency of pulse command 12 Speed command Integrated 13 Torque command Integrated 14 Motor feedback current position 15 Reserved 16 Reserved 17 Voltage of the DC bus Drive status Error code 22 ISS HS Series AC Servo Drive 1 Speed control mode 2 Torque control mode 3 Speed trial run control mode 4 JOG control mode 5 Control mode for adjusting the zero of the encoder Proportional The stif ness and responsiveness of the speed Speed Loop control loop is determined by the proportional Gain speed gain and integral time The default value is 11000 170 Generally if the load inertia is greater the Hz value should be modified larger You could increase the value until the resonance or noise occurs and then decrease the value Integral Time The value of the integral time has an effect on the of Speed stiffness and responsiveness of the speed control Control Loop loop If the value is too small overshoot would occur While the value is too large the response 1 1000 would be slow ms Generally the value should be modified according to the load inertia Larger inertia needs larger integral time Low pass Time constant for torque low pass filter has an Filter for effect on the responsiveness of the torque control Torque The function of this parameter is to restrain HEE 1 1000 Increasing the value
4. AA A rstgo osomas 13 5 emie 15 5 3000 rstao osomas 15 6 250 rstao o7rmao 16 77 maes 2 TI mauan 24 7I rstao toomto 1 30 aaas 15 40 rstgo toomas 26 40 rstgo tsomis 23 145 rstgo tsoma5 38 15 250 sam 3 15 2000 sange 38 15 2500 Others 130 077M20 2000 O N O G O O 3 2 2 1 1 N o oO G 1 C2 G 1 O A 51 000 4 53 5 55 56 58 61 500 4 63 000 45 64 5 65 67 70 2500 7 5 71 72 000 5 73 500 75 10 78 79 500 17 82 000 14 83 17 2 4 5 4 5 5 5 1 1 TE Cl 10 10 10 15 15 15 15 18 64 7 4 HSD2 Series AC Servo Drive Motor code list for HSD2 065 Table 7 4 Motor code list for HSD2 065 Rated Rated Power Torque Code Motor model Speed Current T T T 1 S130 050M30 s130 060M25 S130 060M25 N O O O S130 077M20 2000 2 3 2 2 N C O O 15 15 16 S130 077M25 2 7 S130 077M30 24 S130 100M10 1 8130 100M15 15 8130 100M25 2 6 S130 150M15 23 9 S130 150M25 38 2600 03 38 36 47 55 EUM 3 0 45 EEN 37 1 NO C O O N C O O 2500 23 2000 20 5 27 2000 20 5 50 2 50 NIN le je O O O dl 19 Ta o 1500 35 1000 rsteo s5omi5 55 35 1600 Others 130 150M15 9 5 A 65 1 5 5 67 1 5 1 6 v 70 2 Y 5 71 2 4 Y 12 1 10 5 13 1 5 10 15 2 6 10 10
5. Fera etel Name Description Maung Defaults NO range Increasing the value PA 09 Position loop proportional can improve the 0 1000 50 gain response frequency of the position Increasing the value PA 10 Position feed forward gain can reduce the 0 100 position track error Be smoother to PA 11 omooth constant of PA10 decrease the 0 1000 position overshoot For the positional control loop includes the speed control loop the position loop bandwidth would be restricted by the one of the speed loop It is reconmmended that the speed loop responsiveness should be at least four times faster than the position loop responsiveness This means that the setting value of the proportional speed loop gain PAO5 should be at least four times faster than proportional position loop gain PAO9 The equation is shown as following Fp s fv 4 Fv speed loop responsiveness HZ Fp position loop responsiveness Hz PA09 2 rr fp For example the desired position loop responsiveness is equal to 40 Hz Then PAO9 2 Tr 40 251 rad s 39 HSD2 Series AC Servo Drive Position feed L Smooth Constant forward gain PA 10 PA 11 Position loop t Speed proportional gain PAO9 Command Position Counter Figure 5 6 Flowchart of the position control loop Increasing the position proportional gain can improve the stiffness of the system expedite position loop response and
6. you could adjust the relative parameters as the following Step 1 Increase the value of PAS and PA6 Step 2 Decrease the value of PAY Step 3 Increase the value of the parameter PA40 PA41 and PA42 ACC DEC time constant Step 4 Increase the ACC DEC time constant of the host controller On the other hand you could select a motor which has larger inertia instead of the using motor 48 HSD2 Series AC Servo Drive Chapter 6 Parameters 6 1 Parameter summary The defaults of the following table is shown as an example of HSD2 030 drive the KK 3 value of the parameters marked may be different from other types In the table applicable mode means that the parameter can play a role in a certain control mode P refers to position control mode S refers to speed control mode T refers to torque control mode and ALL refers to all of the control mode Only when the password parameter PAO is 315 the parameters can be changed except PA1 Change of PA1 needs PAO equal to 302 and you can just change PA1 at this time Table 6 1 Parameter List Applicabl Function Description e Range Default Unit Mode ALL mars mmm 0 PAI Morcos mm E PAZ Version AL 098999 RRR au Homar Saa AL 98 9 Pe emen HE IG CI s ALL P L A EE ERE S LXI M ES MENU PAS A 8 Speco Detection Filter 1 1000 Dim 1ms Gain PA 10 Position Feed Forward Gain 0 100 Eed Smooth Constant of PA10 1
7. 1000 E DA 19 Electronic Gear Ratio 1 30000 Numerator N1 PA 13 Electronic Gear Ratio 1 30000 Denominator M1 PA 14 External Pulse Input Type ee PA 15 Direction of External Pulse PA 16 Positioning Completed Width 0 30000 NES PA 17 Excessive Position Error P 0 30000 49 HSD2 Series AC Servo Drive page 1 TT PA 18 SO EH Error en Function Selection S th Constant of Positi PA 19 moo onstant of Position 024006 ae Command 0 1 1 Inhibit Drive Function SS Selection dwg PASS Reserved d PA 23 Speed Command selection S 0 8 0 P st Speed Command S 3600 3600 O rmn 3rd Speed Command Gain 0 1V 1 10 100 50 ae Direction of PA 30 T 0 1 T PA 31 Zero offset Compensation for 2000 2000 Torque Command Command PASS Resened e 0 1000 10 PAS Max speed imt of motor AlL 0 35600 1000 PAST Resev gl Torque Command Limit for T e 2 y PA 39 Min speed limit for analog S 0 1000 3 speed control mode PA 40 Acceleration Time 010000 0 mS S PAA Decelerati n tme 5 ooo o ms P AwelDece Scume 5 ooo o mS S Anal Mp a eee NEM 10 3000 r min V Gain DA 44 Direction of Speed S 0 4 Command PA 45 Zero offset Compensation for S 2000 Analog Speed Command 2000 50 HSD2 Series AC Servo Drive Low Filter f PA 46 ow pass Filter for Speed S 0 1000 3 E E PA 47 o NE 0 300 x10mS vil s Brake ff Delay Ti f pa HERD MEO 0 300 x10mS Electromagnetic
8. 4 1 DESCRIPTION OF THE DIGITAL KEYPAD ccccssssssccccssssssssscccssssssssssccssssescanssesoees 23 As MAIN MEN rra 24 4 3 MONITOR DISPLAY DP sn 24 4 4 PARAMETER SETTING PA ia 25 4 5 PARAMETER MANAGEMENT EE 26 4 6 SPEED TRIAL RUN WITHOUT LOAD SR sssseseeeeeeeee nennen nnns 21 4 7 JOG TRIAL RUN WITHOUT LOAD L 2f 4 8 ZERO OFFSET ADJUSTMENT ci reet EVE eet eeu beue oras oe vaut oir eub VIE EE 20 CHAPTER 5 TRIAL RUN AND TUNING PROCEDURE e eere 29 5 1 INSPECTION WITHOUT LOAD cir 29 5 1 1 Appling power to the drive sss sss sese eee 30 5 1 2 JOG trial run without oad essen 30 5 1 3 Speed rialran seh d ee estoi ini 32 5 2 POSITION CONTROL MODE nana 33 5 2 1 Simple position control System eee eee eee 33 5 2 2 Parameters for the position Control 35 5 2 9 Electronic gedr Tao ui itte btt tet bec E 37 5 2 4 Position proportional dam 39 9 9 ENEE ERAS ris DE A Ee 40 5 3 1 Steps Tor gain adjustment nia 41 5 3 2 Adjustment for speed control lop sss sse 42 5 3 3 Adjustment for position control lOO sese sees eee 42 54 ELECTROMAGNETIC EE 43 5 4 1 Parameters about electromagnetic Drake eee eee 43 5 4 2 Matters for electromagnetic Drake eee ee 44 5 5 MINS tl da 45 5 5 1 TIMO Or DOW CP T AAA 45 5 9 2 Timing for enable Operation eee 46 SoS iind TORQ AN suiit epi oreet ice ted debo Pe besseres 47 5 6 SIARISSTOP CHARACTERISTICS ii an is 47 5 6 1 On off frequency and load
9. 5 Su Cu D ole g UTE RR 3 1 3 6 SNADO GE 3 1 3 7 CNS Pola 3 CHAPTER 2 INSTALLATION AND WIRING oooooooooooccccoooocoocccccooooooooooooooooooos 4 2 1 UNPACKING CHEO initis ri ida 4 2 SIE OP DRIVERS A AI 5 2 9 SIZE DATAS FOR INS nle D 24 INSTALLATION ENVIRONMENT tte D 2 5 INSTALLATION PROCEDURE AND MINIMUM LLEARANCES eee T 20 CONNECT PORTS ANDCABLE Sn 9 CHPATER 3 PORTS AND CONNEQGT 5 ee Eeer 12 SG GB C gt EE 12 92 ENCODER CONNECTOR O TTT 12 3 2 1 The Layout and View of CNT sse 12 3 2 2 Signal definition for CNT 13 39 CTHEJEAYOUT AND VIEW OF CINA ee 13 3 4 SIGNALS EXPLANATION OF CONNECTOR CN2 eene 14 Io IUOINIERFAGE TYPE eeh 16 3 5 1 Digital signal input mtertface ccc cceesessecccecseeeeeesssseceeesseeeeeeees 16 3 5 2 Digital signal output mtertace eee cc ccccccceesssscceccsssceeeeseseseeeeessseees 16 3 5 9 Position pulse input Imtertace eee ee 17 3 5 4 Analog signal input mmiertace cece ccccsssceeeesssseccccssseeeesssseeseeens 18 9195 Encoder signal output Interface eee eee 18 3 5 6 Encoder Open collector Z pulse output interface 20 3 5 f Encoder feedback signal input miertace cece cceccssseeeeessseeeeens 20 3 6 STANDARD CONNECTION EXAMPLE aunar 21 3 6 1 Sea eel eh niee m iia ici 21 3 6 2 Speed Torque control iee T 22 CHAPTER 4 DISPLAY AND OPERATION eene sss sonnn 23 HSD2 Series AC Servo Drive VI HSD2 Series AC Servo Drive
10. Brake Target Speed for Turning off 0 3600 See Electromagnetic Brake B piso ee San i 10 3000 511 NC current PA 52 Reserved 167 1467 S IE D aen PASS AB output dividing factor AL o o f PA 56 Output efiectlevel st ALL oom o0 f PAST DO 1 redefine Ali Pas DOZ redeine AL 4 2 EM O Reserved PA 61 Input filter time time mss E E e 1111 Deere PAA a 2 II II r6 3 Es aane j NL 5 4 5 HSD2 Series AC Servo Drive 6 2 Detailed parameter setting Table 6 2 Detailed settings for the parameter Value Name Function description b range y 1 Generally prevent some parameters modified falsely If you need to modify the parameters you need to modify this parameter to the password first 1 1000 2 Password for general parameters is 315 3 Password for DAT is 302 Motor Code The value should be adapted for the motor you used Refer to section 6 3 for specific value and ARAG N password is 302 Version View the software version which couldnt be 0 9999 modified 9 a Initial Monitor Monitoring variables for the initial display when the drive powered on Feedback speed Low data of the feedback position High data of the feedback position Low data of the position command High data of the position command 3 Low data of the position error High data of the position error Feedback torque Feedback current
11. and the layout of the CN1 is shown as the following a Cut MEE lo SJ 9 Figure 3 1 The view and layout of the CN1 encoder signal interface terminal HSD2 Series AC Servo Drive 3 2 2 Signal definition for CN1 Table 3 1 Terminal signal definition for CN Terminal PIN No n Description Identification Connected to A signal Connected to B signal Connected to B signal Connected to Z signal Connected to Z signal Connected to U signal Connected to U signal Connected to V signal Connected to V signal Connected to W signal Connected to W signal Power supply 5V GND Gnd for power supply 3 3 The Layout and View of CN2 CN2 is the control signal l O interface which terminal is named as DB26M The view and the layout of the CN2 is shown as the following CA C 5 55 05 N oso EC OS AA SE OD QUO D EK 10 10 2 Joos 18 17 16 15 14 13 12 11 10 nl OMM 26 25 24 23 22 21 20 19 O Figure 3 2 The view and layout of the CN2 I O interface terminal HSD2 Series AC Servo Drive 3 4 Signals Explanation of Connector CN2 Table 3 2 CN2 Terminal Signal definition PIN Terminal o MM Description No Identification O OB Encoder signal output A B Z Line driver output The motor encoder signals are available through these O terminals
12. current is 50ma and the external max DC voltage is 25V 3 When the load is relays or other inductive load freewheeling diode is needed to parallel at the both ends of the inductive components Ensure the polarity of the diode otherwise damage maybe occur HSD2 Series AC Servo Drive 3 5 3 Position pulse input interface The drive can accept two different types of pulse inputs Line drive input and Open collector input The maximum input frequency of line drive input with strong anti jamming capability is 500Kpps has and the one of the Open collector input is 200Kpps For reliable pulse signal the Line drive input circuit is recommended 1 Diagram for Line drive input circuit In the Line drive mode AM26LS31 MC3487 or RS422 is used in the Line drive output circuit of the host controller Servo Drive PULS 1219 121Q Ba PULS V SIGN 1219 gt X 1219 TT Ss T SIGN Figure 3 5 Pulse input interface circuit type 3 Line drive input circuit 2 Diagram for Open collector input circuit The source of pulse input is from the open collector NPN equipment and use the external power supply This input mode will reduce the operating frequency The driving current of the circuit is 10 15mA please determine the desired resistance of the resistor R by the DC power supply voltage DC 12 24V PULS 1218
13. following Drive HSD2 020 is adaptive for 60 80 90 and 110 series motor Drive HSD2 030 is adaptive for 80 90 110 and 130 series motor Drive HSD2 050 is adaptive for 110 130 and 150 series motor Drive HSD2 065 is adaptive for 130 150 and 180 series motor If client want to match other motors which is not produced by our company please contact our technical support 61 7 1 HSD2 Series AC Servo Drive Motor code list for HSD2 020 Table 7 1 Motor code list for HSD2 020 Torqu Rated Rated Power Code Motor model e Speed Current Nm a egen 02 06 390 15 25 Lamae 06 19 300 35 5 enaner o6 2 3000 4 a Lenze 12 6 2x0 6 others S80 024M30 24 3000 62 7 2 Motor code list for HSD2 030 Table 7 2 Motor code list for HSD2 030 5 T Rated Code Motor model Tren usus opeed HSD2 Series AC Servo Drive Rated Current namna 04 43 9390 26 x 3 41 45 48 91 53 55 56 61 63 64 65 67 12 13 63 7 3 HSD2 Series AC Servo Drive Motor code list for HSD2 050 Table 7 3 Motor code list for HSD2 050 Rated Rated Power Torque Code Motor model Speed Current 2 2 2 S110 020M30 3000 S110 040M30 Q9 O O O Q9 O O O S110 050M30 S110 060M30 N O O O N C O O LO C Q9 O O O S110 060M30 S130 040M25 2500 200 2500 N C O O E 2 az 4 15 5 12 6 18 6
14. occurs the BRK signal will turn off Turning off when the feedback speed is slower than the value Electromagn of the parameter etic Brake The actual delay time is chosen between PA48 and the operation time of PA49 Sampling The value is the linear gain for DC Bus voltage 50 Gain for Bus sampling signal The value is prohibited to be Voltage modified LU bs It is the linear gain of output current and its 10 H Ee of prohibited to be modified HSD2 Series AC Servo Drive output S2 Resev OOO Inside force 1 the driver is enabled input SON is invalid enable O driver enable accord to input signal SON Z output 0 Z output signal is original Z signal o4 pulse wide 1 Z output pulse wide is wider than 0 2ms 0 1 select AB output O AB output is original AB signal 59 dividing 1 AB output frequency is 10 divided 0 1 factor Output effect PA56 2 0 DO3 COIN effective level is low level set PA56 2 1 DO3 effective level is high PA56 1 i 56 56 EE BV is low 000 111 PA56 1 1 DOZ2 effective level is high PA56 0 0 DO1 ALM effective level is low PA56 0 1 DO1 effective level is high DO1 redefine 1 DOXx is defined to ALM 2 DOx is defined to SRDY 57 3 DOx is defined to COIN 1 4 4 DOXx is defined to BRK X 1 2 3 4 DO2 redefine Refer to PA57 DO3 redefine Refer to PA57 re Reed O 64 Input X filter The time constant for anti shaking function of the 0 100m time input terminal S Input ef
15. of the digital keypad and the features it offers 4 1 Description of the digital keypad The digital keypad includes 4 function keys and the display panel which is composed of 6 LED The Figure 4 1 shows all of the features of the digital keypad and an overview of their functions AC zZZ W NENNEN HSD2 020 Power _ am O A v s s Figure 4 1 Overview about the keypad Table 4 1 Function instructions for the digital keypad Power The LED light to indicate the control power is Power supply applied Run Running he LED lights to indicate the main power is status applied to the circuit and the drive is enabled Up key Pressing the Up and Down key can scroll through and change monitor codes parameter groups and Down key various parameter settings Return ke Pressing the Return key can exit the menu or y cancel the operation or the settings Pressing the Set key can enter the menu or Set determine and save the operation or the parameter settings Note If some fault occurs the 6 bit LED display will be blinking 23 HSD2 Series AC Servo Drive 4 2 Main menu As the first layer of the operational processes the main menu consists of six parts You can use the Up and Down key to change the content of the main menu display and press the Set key to enter the second layer as well you could press the Return key to quit the second layer to the main menu Monitor po E PAR Parameter po Managemen
16. the foreign matter could be prevented to be inside the drive when the drive is operating 5 Make sure to tighten the screws for securing drive or motor Failure to observe this precaution may result in damage 6 As the drive conducts heat away via the mounting the mounting plane or surface should not conduct heat into the drive from external sources Correct Incorrect Figure 2 3 The correct direction for installation Minimum Clearances HSD2 Series AC Servo Drive BABBAR Figure 2 4 Clearances for one or more drives To increase ventilation to avoid ambient temperatures that exceed the specification please install a fan A minimum spacing of two inches must be maintained above and below the drive for ventilation and heat dissipation Additional space may be necessary for wiring and cable connections When installing two or more drives adjacent to each other please follow the clearances as shown in figure 2 4 2 6 Connect ports and cable The cable of ports should be chosen carefully Please follow the requirement as table 2 3 and 2 4 Table 2 3 Appellation and intention for the ports Terminal Terminal Identification Description DENN Used to connect three phase AC mai Main circuit E circuit power depending on connecting terminal servo drive model Used to connect single phase AC Control circuit D control circuit power depending on terminal connecting servo drive model ISS HS Series AC Servo Driv
17. the gain setting value There are three control loop in the servo drive system including the outermost position control loop the intermediate speed control loop and the innermost current control loop The flowchart for the servo system is shown as below 40 HSD2 Series AC Servo Drive Position Control Loop Speed Control Loop Current Control Loop Position Speed Current Power Control gt Filter kontrol mm Conversion Motor Block Block Block gt oer bs Position Detection Figure 5 7 Diagram for the servo closed loop control system Position Command The responsiveness of the inner control loop should be greater than the outer control loop otherwise the control system will be unstable generating vibration or noise Therefore the value of the gain for the three control loop should be set correctly Generally the value of the current control loop gain should be the maximum and the one of the position control loop is the minimum The responsiveness of the current control loop which couldn t be change by the customers is set automatically within the system And then the users should set the values of the speed and position control loop gain properly avoiding that the inside and outside responsiveness are not matched 5 3 1 Steps for gain adjustment In order to obtain a stable system please do not make ma
18. the servo motor will run in CCW direction After releasing Down key the motor will stop running Step 6 When pressing Return key the drive could exit JOG operation mode CCW and CW definition CCW counterclockwise when facing the servo motor shaft CCW is running in the counterclockwise direction CW clockwise when facing the servo motor shaft CW is running in clockwise direction 31 HSD2 Series AC Servo Drive SrA 100 0 c 100r E 1 in dg nn ij oon 1 nn Display J 00 J DD J 00 J U U Operation Press A Lossen Press Y Lossen Figure 5 1 Diagram for the JOG trial run without load 5 1 3 Speed trial run without load Before speed trial run fix and secure the motor as possible to avoid the danger from the reacting force when motor speed changes 1 Parameters Table 5 2 Parameters about the speed trial run Parameter SC Select the operation mode PAO4 Control mode 3 as speed trial running control mode PA20 Ho RUNE 1 1 Ignore the drive prohibition Function PA53 Gantrob Word 4 1 1 Enable the drive without the external signal 2 Operation Step 1 Enable the drive and the running indicator will be lit by setting the parameter PA53 0001 And then the servo drive and motor is at zero speed running state Step 2 Set parameter PAO4 3 choosing the speed trial running mode as the current mode Step 3 The speed command of the speed trial
19. 2 Series AC Servo Drive e EE rs Restore the parameter read the data svaed in the backup area of the EEPROM into the parameter list of the software If you want the backup parameter be long term effective you need to perform a write operation e EE def Restore the default parameters read all of the defaults into the parameter list and then write the parameters into the EEPROM Even if the drive is restart the defaults is still effective After this operation you should ensure that the motor code PA1 is adapted for the using motor 4 6 Speed trial run without load Sr You can enable the Sr operation mode by set parameter PA4 3 You could find the Sr on the main menu by using the Up and Down key and then enter the speed trial run operation interface by pressing the Set key When Sr 0 0 is displayed and the units is r min you could change the speed command by pressing Up or Down key Geet Y Dress K Figure 4 6 Diagram for the speed command entering of speed trial run 4 7 JOG trial run without load Jr You can enable the Sr operation mode by set parameter PA4 4 and change the JOG speed command by setting parameter PA 21 You could find the Jr on the main menu by using the Up and Down key and then enter the JOG trial run operation interface by pressing the Set key When J 0 0 is displayed and the units is r min you could press Up or Down key to jog the motor CCW or CW direction The m
20. 3 DOOM INT 10 14 SON OA 11 16 OMC FG case 7 ew PE ONG DB25M ZOP 3 A 26 PULS ZCP 15 A 18 PULS ZDIR 4 A 24 SIGN ZDR 16 A 25 SIGN ZZOt 2 i 2 LL ZZO 14 A 12 OZ ALM 12 21 ALM d 13 23 23 DOOM INT 10 14 SON OA 11 16 COMH FG case e Se 9 PE 73 HSD2 AC Servo Drive Version history Published time HNC Automation Limited Tel 86 20 84898493 Fax 86 20 61082610 URL www hncautomation com Email info ghncautomation com
21. 78 2 3 15 5 19 3 8 15 17 82 3 15 14 83 3 8 15 17 3 6 18 l 4 7 3 92 5 5 T 94 2 1 CZ 95 3 0 19 12 4 5 16 97 4 3 T 16 3 35 16 9 9 35 19 65 7 9 HSD2 Series AC Servo Drive Motor code list for HSD2 030A Table 7 5 Motor code list for HSD2 030A Power Torque Rated speed Code Motor Model Kw N m 60ST 006M30 Eg 0 64 3000 60ST 013M30 04 1 27 3000 60ST 019M30 06 1 91 3000 Rated current A CO Ml gt NY K er m 1 4 280 4 CAE 3 5 AJIN NIO 0 75 24 5 50 MN 2500 2000 3000 1500 2500 0 2 0 4 0 4 1 2 1 5 1 2 1 3 62 1308T 120M20 24 1 110ST 040M30 4 5 Tf Tf 10 10 5 2 A 2 3 4 5 6 T U 1 2 3 4 5 6 T 8 4 5 5 6 T 8 9 50 51 l 52 EN 06 ER EA EA AER 10 1808T050M25 13 15 16 ER EA 28 EA 20 alto O o 66 HSD2 Series AC Servo Drive Chapter 8 Troubleshooting When any trouble occurs the Err xx would be displayed on the digital keypad and blink xx is the code for the error kind The common errors are Err 3 Err 6 Err 9 Err 11 Err 12 Err 17 and Err 38 which would be due to improper wiring or mechanical problem Generally the drive could work properly after repowering If the error still occurs or the occurs frequently please contact with our SE or FAE 8 1 Fault messages table Table 8 1 Fault messages Display P Fault Name Fault Description Code NIME N
22. Al VO V aH QF KM WO W 4 TIE d PEO OI Ot DC12 24V CN2 CM eae 16 qum 7 DN Ee 8 SON CN SON M e 2 de T E 1 We A QE N QE 17 E o 9 ak 7 SC 4 Y Sco 8 Ey N RS n AN 5 2 OBt i 5 e cR 10 El 8 2832 3 y 6 CN2 S RS o encoder AM lt Allee ul U le 10 E el U 13 Ge ERK 1 2 Mg 13 Vr 1 pes 5 C ke 14 CON lt N 2 ag 4 d ng 12 A 12 W B 15 DOOOM lt DOCM 23 lb PE gt CM metal case ON input of AS E 13 y 10V 10V PAS 13 1G GND K AGND 5 CN A d ON SCA A d OA 10 B 4 Bt St En D 4 0B 1 7 4 Z d 7 4 Le 12 Z OO lt GZ 4 DGND lt DGND UNE LU DEND NY Ae HSD2 Series AC Servo Drive 22 HSD2 Series AC Servo Drive Chapter 4 Display and Operation This chapter describes the basic operation
23. HNC Automation HSD2 Series Servo Drive User Manual V2 HNC Automation Limited HSD2 Series AC Servo Drive Thank you very much for purchasing our AC servo products This manual will be helpful in the installation wiring inspection and operation of Our AC servo drive Before using the product please read this user manual to ensure correct use Contents of this manual This manual is a user guide that provides the information on how to operate and maintain HSD2 series AC servo drives The contents of this manual are including the following topics Installation of AC servo drives Configuration and wiring Parameter settings Control functions and adjusting methods of AC servo drives Trial run steps Trouble shooting Who should use this manual This user manual is intended for the following users Those who are responsible for installing or wiring Those who are responsible for operating or programming Those who are responsible for trouble shooting Important precautions Before using the product please read this user manual thoroughly to ensure correct use and store this manual in a safe and handy place for quick reference whenever to be necessary Besides please observe the following pre cautions Do not use the product in a potentially explosive environment Install the product in a clean and dry location free from corrosive and inflammable gases or liquids Ensure that the drive is correctly connected to a gr
24. Inertia sese 48 5 6 2 AUS UN MFM ita E 48 CHAPTER 6 ESCH Eeer 49 6 1 PARAMETER eebe 49 0 DETAILED PARAMETER SETTING orti pe EE llei 52 CHAPTER 7 MATCH SERVO DRIVER AND SERVO MOTOR 61 15 1 MOTOR CODE LIST FOR E9D2 020 iita foc ete epit eb RO 62 7 2 MOTOR CODE LIST FOR H9D2 030 usen aaa 63 fo MOTOR CODE LIST FOR HSD2 050 cnori ehe eee eite tabe eec cette 64 1 4 MOTOR CODE LIST FOR H9D2 065 needles iiim eti berba bre evertere 65 13 MOTOR CODE LIST FOR ESD2 030A E 66 VII HSD2 Series AC Servo Drive CHAPTER 8 TROUBLESHOOTING iii 67 SN FAULT MESSAGES TABLE ao ai 67 8 2 POTENTIAL CAUSE AND CORRECTIVE ACTIONS sees 69 CHAPTER 9 CONNECTION TO MOTOR cccsssscssssscccsssscccssssccssscsssssscesees 72 CHAPTER 10 SYSTEM CONNECTION icons danita 73 VIII HSD2 Series AC Servo Drive Chapter 1 HSD2 Driver summary 1 1 The HSD2 series HSD2 series drivers include HSD2 020 HSD2 030 HSD2 050 HSD2 065 and HSD2 030A P D C R S T r t U V W PE are power port The power port of HSD2 030A is different from the others CN1 CN2 CN3 are signal port The power level of HSD2 series drivers show as table 1 1 Table 1 1 Power level of HSD2 series drivers 1 2 Appearance The appearance of HSD2 030 HSD2 050 HSD2 065 are the same They all include P D C R S T r t CN1 CN2 CNS HSD2 020 dose not include P D C and CN3 HSD2 030A dose not include P D C HSD2 Serie
25. O 1 B 2 OZ 2 o a cz Encoder signal open colestor output Ground for encoder signal COM is the common voltage rail of the DI and DO 6 COM signals The range is DC12 24V and the available current should be greater than 100mA Servo enable signal input terminal SON ON enable the drive SON OFF drive off and the motor is in a free state S Note 1 The motor must be still before enable the drive Note 2 Any other command should be inputted after the son on signal at least 50ms In the speed control mode when PA22 1 the input terminal is defined as the zero speed clamping function When PA4 0 the terminal is defined as deviation counter reset function A B Z OZ CZ ON ZCLAMP CLE SC1 d A E a o The input terminal is defined as the speed command selection SC1 in the speed control model PA4 1 when the parameter PA22 0 The input terminal is defined as the speed command selection in the speed control model when PA4 1 and PA22 0 Used to select the different internal speed through the combination of SC1 and SC2 SC1 OFF SC2 OFF internal speed 1 SC1 ON SC2 OFF internal speed 2 SC1 OFF SC2 ON internal speed 3 HSD2 Series AC Servo Drive SGON SGhON memasped In the position control mode PA4 0 COIN is activated when the position error is equal and below the setting value of PA16 In the speed control mode PA 1 COIN will be a
26. OFF the main circuit will work and the work will not be powered off for some time to hold the position until the electromagnetic brake is disabled for some time set by PA47 lt 10ms Servo Enable Signal SON OFF B T Motor Current Signal OFF ON motor drived OFF OFF BRK Siena OFF ON motor free CC Set By PA47 Figure 5 11 Enable operation timing flowchart when motor is still 2 Enable operation timing when the motor is running When the motor is running if the SON turn off the main circuit of the drive will be disabled and the motor will be powered off The electromagnetic brake will still be ON for some delay time set by PA48 or PA49 while the motor could be slow down avoiding to damage the brake at the high speed The delay time would be selected the one which is smaller between the time set by PA48 and the time motor slow down to the target speed 46 Servo Enable HSD2 Series AC Servo Drive Signal SON ON OFF Motor Current ON TE Signal motor drived BRK Signal ON motor free OFF Motor speed r min PA49 PA48 Or min Figure 5 12 Disable operation timing flowchart when motor is running 5 5 3 Timing for alarm Alarm Signal DO ALM Ready Signal DO SRDY Motor Current Signal Servo Enable Signal SON BRK Signal Motor speed r min No Al
27. able FSTP or RSTP is OFF Err07 Limit switch error Inhibition function iS enabled Check the digital input signal Disable the function ON NO Err08 ErrO9 Err11 Err12 TI E E 3 Err14 Err17 Err19 Err20 Position counter overflow Encoder error Current response fault Short circuit Drive temperature error Regeneration error opeed response fault Warm reset EEPROM error The motor is stuck Pulse signal is abnormal Encoder fault Encoder cable fault The encoder cable is too long Servo drive fault Short circuit between U V and W Poorly grounded Winding insulation of the motor is damaged Short circuit between U V and W The load is too heavy Servo motor fault Servo drive fault Run for a long time with overload Brake circuit fault The capacity of regeneration system is not enough Parameter is set incorrectly Interval time between start and stop is too short Wiring fault for U V W The power supply instability Servo drive fault HSD2 Series AC Servo Drive Check the mechanical structure Check the pulse signal Replace the motor Replace the cable Please shorten the cable or bold the core Replace the servo drive Check the wiring Confirm to be grounded normally Replace the motor Check the wiring Replace the drive by a larger O gt D Replace the motor Replace the drive Decrease t
28. arm Alarm Error occurs ON OFF Not Ready ON Power OFF Motor Drived ON OFF ON motor free OFF lt P AS PA49 Or min Figure 5 13 Alarm timing flowchart when motor is running or still 5 6 Start stop characteristics The start stop characteristics of the servo system is determined by many aspects such as the load inertia the characteristics of the drive and motor and the on off frequency 47 HSD2 Series AC Servo Drive 5 6 1 On off frequency and load inertia When the servo drive and motor is used in the applications which need high on off frequency please confirm whether the frequency is in the permissible range of H series servo drive in advance The frequency range is determined by the motor the load inertia and the speed of the motor To determine the frequency range you could refer to the following table Table 5 8 On off frequency VS Load inertia Inertia multiples On off frequency and ACC DEC time f gt 100 min less than 70mS 60 lt f lt 100 min less than 130mS fs60 min greater than 150mS Note The above table only gives the on off frequency in the general case the specific circumstances will vary with the motor type and the load condition 5 6 2 Adjustment When the load inertia is at least five times greater than the motor inertia some error Will occur such as position overshoot excessive position deviation and speed response fault etc If the above situation occurs
29. before performing the trial run with load 5 1 Inspection without load In order to prevent accidents and avoid damaging the servo drive and mechanical system the trial run should be performed without load Please disconnect all couplings and belts and do not run servo motor while it is connected to load or mechanical system for the unassembled parts on motor shaft may easily disassemble during running and it may damage mechanical system or even result in personnel injury Please perform trial run without load first and then perform trial run with load connected Before the servo is powered please observe the following cautions 1 Ensure whether there is obvious damage on the appearance of the drive and motor 2 Check whether all of the wiring is correct or not especially for the R S T U V W and PE terminal The terminals should be connected to the specified cable and terminal 3 Ensure that there is no foreign matter inside the drive such as conductive objects and flammable objects 4 Confirm that the electromagnetic brake could work normally if the brake is being used 5 Ensure that the specification for the power is applicable 6 Make sure that the cable and the mechanical parts are not intertwined to avoid wear or pulling phenomenon at the run time 7 Verify that the servo drive and motor are connected to the ground reliably 8 Make sure control switch is OFF After the control power is applied please obse
30. bient humidity should be less than 80 without condensing 2 Please keep the servo drive or motor away from the heat radiating elements or in direct sunlight 3 Please do not mount the drive or motor in a location subjected to corrosive gases liquids or airborne dust or metallic particles 4 Please do not mount the servo drive or motor in a location where it will be subjected to high levels of electromagnetic radiation 5 Please do not mount the servo drive or motor in a location where temperatures and humidity will exceed specification 6 Please do not mount the servo drive or motor in a location where vibration and shock will exceed specification HSD2 Series AC Servo Drive 2 5 Installation Procedure and Minimum Clearances Incorrect installation may result in a drive malfunction or premature failure of the drive Please follow the guidelines in this manual when installing the servo drive 1 The servo drive should not be tilted or upside down Please mount the drive perpendicular to the wall or malfunction and damage will occur 2 The servo drive should be mounted in the control panel with a cooling fan to enhance air circulation and cooling 3 In order to ensure the drive is well ventilated ensure that the all ventilation holes are not obstructed and sufficient free space is given to the servo drive To define the free space please refer to the section Minimum Clearances 4 Please mount the servo drive in a location where
31. ctivated when the drive has detected the motor has reached the Target Rotation Speed setting as defined in parameter PA28 Motor speed command 10V 10V corresponds to 3 AS 3000 3000 r min command and the input impedance is 10kO AGND The reference ground for analog input signals pulse Position Pulse Input Position Sign Input SIGN ni PE Shielding connected to ground HSD2 Series AC Servo Drive 3 5 lO Interface Type 3 5 1 Digital signal input interface Digital signal input interface circuit is generally composed by optocouplers switches relays open collector transistors or other components as shown in the following figures Servo Drive DC 12 24V Servo Drive Figure 3 3 Digital signal input interface circuit type 1 1 The voltage of the external power is DC12 24V and available current should be 100mA at least 2 Ensure that the polarity of the power is correct otherwise it will damage the drive 3 5 2 Digital signal output interface The digital signal output interface circuit composed by optocouplers should be connected to the optocoupler or relay to achieve transferring the isolated digital signal DC 5 24V T ee Servo Drive Servo Drive In du a 4 a P Y NA Figure 3 4 Digital signal output interface circuit type 2 1 The voltage of the external power is DC5 24V 2 The output form of optocoupler is open collector the max
32. dicates that the electromagnetic brake is disabled and motor is stop running and locked If the digital output BRK is set to ON it indicates electromagnetic brake is enabled and motor can run freely The electromagnetic brake is usually used in perpendicular axis Z axis direction to reduce the large energy generated from servo motor Using electromagnetic brake can avoid the load may slip since there is no motor holding torque when power is off Without using electromagnetic brake may reduce the life of servo motor To avoid malfunction the electromagnetic brake should be activated after servo system is off 5 4 1 Parameters about electromagnetic brake The on delay time of the electromagnetic brake is set within the servo drive except this there are three parameters about the off delay time speed of the electromagnetic brake The users can use these three parameters to set the off delay time of electromagnetic brake Table 5 7 Parameters about the electromagnetic brake Parameter Value Name Defaults Units NO range On delay time of electromagnetic PA47 0 200 brake when motor is still Off delay time of electromagnetic PA48 0 200 50 10ms brake when motor is running 00 10ms Off speed of the motor for PA49 electromagnetic brake when the 0 3000 1 r min motor is running 43 HSD2 Series AC Servo Drive 5 4 2 Matters for electromagnetic brake Wiring of the electromagnetic brake is shown as below When eme
33. e Used to connect servo motor Terminal Wire color symbol u Bom Servo motor Us V W PE Y output mmm Yellow and green Ground Used to connect grounding wire of terminal power supply or servo motor Used to connect encoder of servo Encoder motor Please refer to section 3 2 for connector details Used to connect external controllers CN2 I O connector Please refer to section 3 3 for details Communication Used for RS 232 communication connector Option connection Table 2 4 Cable specifications for ports Terminal Terminal geg Weg Power Cable Wire gauge Identification Description Main circuit H S T 1 5 2 5mm terminal Control circuit r t 0 75 1 mm terminal Servo motor U V W 1 5 2 5 mm output Ground terminal 1 5 2 5 mm eM Encoder 20 14 mm 7 pair shielded connector twisted pair cable 20 14 shielded I O connector twisted pair cable HSD2 Series AC Servo Drive Wiring Notes Please observe the following wiring notes while performing wiring and touching any electrical connections on the servo drive or servo motor 1 Ensure to check if the power supply and wiring of the power terminals R S T r t is correct 2 Please use shielded twisted pair cables for wiring to prevent voltage coupling and eliminate electrical noise and interference 3 Ensure to check if the U V W terminal is correct or the motor maybe not turn or cause galloping 4 The ground t
34. ectricity encoder includes 6 signals U VW A B Z It takes differential signal output and includes 15 wire output The definition of CN1 pins shows as table 3 1 1 3 6 CN2 port CN2 port is control signal port the definition of CN2 pins show as table 3 2 1 3 7 CN3 port This port is use for communication between driver and PC The port is reserved in HSD2 series HSD2 Series AC Servo Drive Chapter 2 Installation And Wiring This chapter is about storage and installation environment as well as the installation considerations for the HSD2 series AC Servo Drive Please do notice these 1 If the driver is damaged in transportation do not power it Please contact the provider 2 Do not power the driver with AC 380V 3 Please ensure PE is well connected with ground 2 1 Unpacking Check After receiving the AC servo drive please check for the following Ensure that the product is what you have ordered Verify the part number indicated on the nameplate corresponds with the part number of your order Please refer to Section 1 1 and 1 3 for details about the model explanation Check for damage Please inspect the unit to insure that it was not damaged during shipment Ensure that the servo motor shaft freely Rotate the motor shaft by hand a smooth rotation will indicate a good motor However a servo motor with an electromagnetic brake can not be rotated manually Check for loose screws Ensure that all necessary sc
35. erminal of the servo drive and motor should be connect to the terminal which is well grounded into a single point ground and the ground wire should be rough 5 As a residual hazardous voltage may remain inside the drive please do not immediately touch any of the power terminals R S T r t U V amp W or the cables connected to them after the power has been turned off and the charge LED is lit 6 Please use a twisted shield signal wire with grounding conductor for the encoder cable CN1 and the position feedback signal connector CN2 The wire length should be 20m or less If the length is greater than 20m the wire gauge should be doubled in order to lessen any signal attenuation 7 The shield of shielded twisted pair cables should be connected to the SHIELD end ground terminal of the servo drive 8 The cable connected to R S T and U V W terminals should be placed in separate conduits from the encoder or other signal cables Separate them by at least 30cm 9 Ensure to check if the direction of the diode for the relay is correct or damage will occur as a result 10 Please install a NFB to prevent excessive current which may arise due to short circuit or flow when power on an power off so as to avoid the damage on the servo drive 11 Please turn off the power supply if the drive will not be used for a long time 12 The direction definition of rotation facing the motor shaft the counter clockwise directi
36. f electromagnetic brake is locked if the delay time set by PA48 is not reached but the motor speed is still lower than the setting value of PA49 5 5 Timing 5 5 1 Timing for power on Step 1 Control power supply should be turned on earlier than the main power or turned on simultaneously otep 2 Delay 1 2s after the main power turn on the servo ready SRDY will be ON And then the servo drive could receive the enable signal SON from the host controller When the servo drive is enabled the main circuit will work and the motor will run If the drive couldn t receive the SON signal or detect some error the main circuit will be disabled and the motor will be at zero speed status Step 3 As the cautions please do not restart frequently B ad SEE POWER ON ja E lt 0 5ms Control power ON 45V Main Power Supply p ON Lis Tos 3 i i dons mem servo Ready Output ON OFF CDO RDY gt 5ms Servo Enable Signal s ON DI SON lt 5ms Servo Output Power U V W terminal i S BRK si 1 s1gna OFF ON DO Figure 5 10 Timing flowchart about drive power on 45 HSD2 Series AC Servo Drive Note Even if the host controller output the SON signal before the SRDY signal of the drive the servo drive couldn t receive the SON until the SRDY signal is ON for 5 ms 5 5 2 Timing for enable operation 1 Enable operation timing for still motor When the motor is still if the SON is
37. fect PA62 3 0 DI4 effective level is low level set PA62 3 1 DI4 effective level is high PA62 2 0 DI3 effective level is low PA62 2 1 DI3 effective level is high 0000 PA62 1 0 DI2 effective level is low 1111 PA62 1 1 DI2 effective level is high PA62 0 0 DI1 effective level is low PA62 0 1 DI1 effective level is high DI1 redefine 1 Dix is defined to SON 2 Dix is defined to CLE SC1 ZCLAMP 63 3 Dix is defined to INH SC2 1 6 4 Dix is defined to ALRS 5 Dix is defined to FSTP 6 Dix is defined to RSTP 62 59 DI2 redefine Refer to DAG DI3 redefine Refer to PA63 HSD2 Series AC Servo Drive 66 DI4 redefine Refer to PA63 60 HSD2 Series AC Servo Drive Chapter 7 Match servo driver and servo motor Before you power the driver and enable it to work the motor code parameter PA1 must be correctly set Or the driver might alarm and can t work normally even the motor might be out of control Change of PA1 need specially authority Only after PA2 is set to 302 PA1 is allowed to change After the right PA1 is set you should write the parameters into the driver When EE SET is displayed please press the key for 3 seconds and then Finish would occur on the display which means the saving operation is completed chapter 4 shows how to write parameters into the driver The PA1 could be effective after repower the drive For each drive model the adaptation scope for the motor is shown as the
38. free without FSTP signals MEM Set the operation speed command for JOG control mode 0 Analog input voltage control the speed 1 select the 1 speed command 2 select the 2 speed command 3 select the 3 speed command 4 select the 4 speed command 5 accord SC1 SC2 to select the speed command When PA4 1 and PA23 5 the value of the parameter PA24 is the source of the speed command if SC1 and SC2 are OFF When PA4 1 and PA23 5 the value of the parameter PA24 is the source of the speed command if SC1 is ON and SC2 is OFF When PA4 1 and PA23 5 the value of the parameter PA24 is the source of the speed command if SC1 is OFF and SC2 is ON When PA4 1 and PA23 5 the value of the parameter PA24 is the source of the speed command if SC1 and SC2 are ON Set the speed reached value In all control mode excepting position control mode if the motor feedback speed is larger than the value of the parameter the SCMP signal would be ON otherwise SCMP would be OFF Set the proportional relationship between analog input voltage and the value of torque command Only in the torque control mode the function is effective The unit is 0 1V 100 The default is 30 which means that the value of the torque command would be set to 100 rate torque when the value of the voltage is 3V 0 The direction of the torque is CCW when analog voltage is bigger than O 1 The direction of the torque is CW when analog voltage is bigge
39. he load or choose a larger drive Replace the drive Increase the deceleration time Decrease the system inertia Modify or recover the parameters oet the Accel and Decel time correctly Confirm the wiring Check wiring or replace the drive Replace the servo drive 70 HSD2 Series AC Servo Drive Check DI function set PA63 PA64 PA65 PA66 Err21 MEN Set right parameter data error there is duplication among these 4 parameters Current sensor Err23 Servo drive fault adjustment fault The load is too heavy Replace the servo drive Decrease the load or choose a larger drive and motor Motor code is choose a larger drive and Overload for Err29 inapplicability motor motor torque Modify or recover the Parameter is set incorrectly parameters about motor code and torque Encoder fault Replace the servo motor Err30 Pulse Z error Encoder cable fault U VW signal Err32 error for encoder The load is too high for Decrease the load or choose a Instantaneous motor larger motor overload for mE Confirm the wiring and Err37 The motor is short circuited motor terminals The motor code is Confirm the code parameter incorrectly The load torque is too high Decrease the load or choose a 738 Motor for motor larger motor rr temperature error The motor code is set Confirm and modify the incorrectly parameter Replace the encoder cable Shielding ground fault Confirm interface and I O c
40. he proportional relationship between analog Speed input voltage and the speed command Only when Command PA4 1 and PA22 1 the function is effective 10 300 0 r min V Gain The unit is r min V The default is 300 which means that the value of the speed command would be set to 2 HSD2 Series AC Servo Drive O DN 3000r min when the value of the voltage is 10V MEM Direction of Select the direction for the external speed Speed command Command 0 When the voltage of the external speed command is positive the speed direction is CCW 1 When the voltage of the external speed command is positive the speed direction is CW Zero offset Compensatio n for Analog Speed Command Low pass The value is the time constant of the low pass filter Filter for for the analog speed command Speed The value is larger the responsiveness is slower Command and the noise is smaller And then if the value is smaller the responsiveness would be faster and the noise may be larger The function is effective only in the following conditions 1 PA4 4 and PA22 1 2 PA4 2 The value is the bias compensation for the analog signal of speed command of The value is the delay time for the electromagnetic Electromagn brake turning on etic Brake Delay The value is the delay time for the electromagnetic brake turning off Electromagn etic Brake When the motor is running if the servo on signal opeed for turn off or error
41. ircuit Encoder fault Replace the servo motor Cable or shielding fault Replace the cable Encoder signal circuit fault Replace the drive Chapter 9 HSD2 Series AC Servo Drive Connection to motor The welding definition of the encoder cable is shown as the following TT oF N N driver CN DB15M name pin A A Bt B 10 Zt 3 Z 11 U 14 U 6 Vr 13 V 5 Wr 4 W 12 0V OV 8 FG 15 Figure 9 1 Connecting diagram for encoder cable between HNC drive and motor motor AYD28K15TS pin name 4 A T A 5 B 8 B 6 Z 9 Z 10 Ut 13 U 11 VT 14 V 12 We 15 VV 2 5 3 OV 1 FG 12 HSD2 Series AC Servo Drive Chapter 10 System connection The connection between HSD2 Driver and HNC CNC controller show as below control system driver CN5 DB25F CN2 DB25M name pin pn name XCP 6 A 26 PULS XCP 18 A 18 PULS XDIR 7 A 24 SIGN XDR 19 A 25 SIGN XZO 5 2 Oz XO 17 N 12 Oz ALM 12 21 ALM OV 13 23 2
42. iring diagram of the simple system is shown as below 33 HSD2 Series AC Servo Drive 77 ES MOTOR OD e o R U c KI ia 3P AC 220V S De O O S V lt 3 Sod O gt T Driver W c gt 4 e NFB MC PE es d Q r O t CN2 DC 12 24V y COM 16 4 Tk Enable Go gt SON 14 YK CNI E T 5V 7 8 om 1 A 4 9 A A T 2 B lt W 5 26LS32 10 B E 8 RX 3 Z W 6 Hes 9 ENCODER CN2 14 U W 10 Alam lt ola E AY 6 UU a 13 lt E i3 y Md W i 5 V 14 4 Wt lt W 12 12 W 15 15 PE d 1 P PULS 26 SCH PUES AN p PULS 18 M 220 SIGN W P SIGN 24 TE p SIGN 25 g MS 220 4 CZ i s NECS 6 ND LE Z output FG 9 S ZZ FG Figure 5 3 wiring diagram for the simple position control system Note Refer to the section 3 6 1 you could find the detailed wiring diagram for the position control system 34 HSD2 Series AC Servo Drive 5 2 2 Parameters for the positi
43. jor alteration at only one parameter related to the control loop when one parameter is modified some other relevant parameters should also be adjusted further to achieve the best results Therefore to modify the parameters related to the control loop we follow the following steps 41 HSD2 Series AC Servo Drive Table 5 6 The basic rule for modifying the closed loop parameters och Reduce vibration or overshoot Increase responsiveness e speed control loop PA6 speed control loop PA6 Decrease the proportional speed Increase the proportional position control loop gain PA5 control loop gain PA9 5 3 2 Adjustment for speed control loop If the inertia of the machinery and conditions of applications is larger you could adjust the relative parameters as the following step Step 1 Increase the integral time of the speed control loop PA6 otep 2 Gradually increase the value of the proportional speed control loop gain PA5 setting until the resonance occurs and then decrease the gain setting value Step 3 Gradually decrease the integral time of the speed control loop PA6 until the resonance occurs and then increase the setting value otep 4 If the resonance occurs as a result the ideal responsiveness of the system could not be achieved For this case you could adjust the value of the low pass filter for torque PA7 to suppression the resonance And then you could repeat the above steps in order to achieve a better responsivene
44. ller could be corresponded to the actual moving distance by setting the electronic gear ratio Electronic gear ratio of the servo system could be calculated as the following N1 Numerator of the electronic gear ratio PA12 M1 Denominator of the electronic gear ratio PA13 P1 Number of pulses corresponding to 1mm in the host controller F2 Number of encoder pulses per circle o1 Screw pitch of the mechanical transmission mm F1 Number of pulses required by actual moving distance 1mm F1 N1 P1 M1 pulses mm F1 F2 S1 pulses mm for actual moving distance without gearbox Therefore the electronic gear ratio N1 M1 is equal to F2 S1 P1 For example if P1 of the host is 1000 pulses mm F2 of the H series servo drive is 10000 S1 of the screw is 6mm the electronic gear ratio N1 M1 10000 1000 6 5 3 So you could set the parameter PA12 N1 5 and the PA13 M1 3 If there is a gearbox between screw and motor the ratio of the gearbox is N2 M2 N2 rotation number of the motor M2 rotation number of the screw F1 N1 P1 M1 pulses mm for host controller F1 F2 N2 S1 M2 pulses mm for actual moving distance with gearbox Therefore the electronic gear ratio N1 M1 is equal to F2 N2 S1 P1 M2 For the above mentioned example if the ratio of the gearbox is N2 M2 5 3 37 HSD2 Series AC Servo Drive According to the formula the electronic gear ratio N1 M1 10000 5 1000 6 3 25 9 So you should set the para
45. meter PA12 N1 5 and the PA13 M1 3 for the mechanical transmission system with a gearbox tl t2 t3 t4 gt gt dd INH signal E OFF ON OFF Pulse command input Ist ratio 2nd ratio Ist ratio Electronic gear ratio PAIZ PA52 PA12 PAIS PA13 PAIS t1 t2 t3 147 US Figure 5 5 Diagram for dynamic electronic gear ratio Note HSD2 series servo drive provides two sets of dynamic electronic gear ratio which could be switched online The second numerator of the electronic gear ratio is set in the parameter PA 52 and denominator is the same as the one of the first one When the PA51 is equal to 1 the function of the dynamic electronic gear is enabled and signal connected to pin 15 of the I O interface CN2 could control the switching of the electronic gear When the level of the signal is low the servo drive would choose the second electronic gear ratio PA52 PA13 38 HSD2 Series AC Servo Drive 5 2 4 Position proportional gain The positional control loop includes the speed control loop therefore you should complete the speed control setting first by using manual mode before performing position control setting position control block diagram Then adjust the proportional position loop gain PAO9 and position feed forward gain PA10 Table 5 5 The parameters about the position proportional gain
46. n control mode if the position error is larger than the value of PA17 the servo drive will be disabled and the error code would be displayed 0 Enable detection function for excessive position error 1 Disable the function for detecting the position error omooth the position command by exponential deceleration the value of PA19 is the time constant for the exponential deceleration The pulse would not be lost but the position command may be delay You could use the function at the following condition e he host controller does not have a deceleration acceleration function e The electronic gear ratio is larger than 10 e The position frequency is low e Stepping jump and vibration occurs when the motor is running The function will be disabled when the value is O O Enable the inhibition function and the FSTP signal is effective If the CCW FSTP signal is ON the drive could be driven in CCW direction If the signal is OFF the drive could not be drive in the CCW direction It s the same to CW FSTP signal When both of the FSTP signals are OFF the drive Will be disabled 1 Disable the inhibition function The motor could 55 21 30 JOG Operation Command Speed Command selection 1st Speed Command 2nd Speed Command 3rd Speed Command 4th Speed Command Target Motor Speed Analog Torque Command Gain Direction Torque Command of HSD2 Series AC Servo Drive O A run
47. nd the interface circuit is shown as the following Servo Drive Host Controller AM26LS31 High speed Optocoupler OA KI YZ AT VW Figure 3 10 Encoder positon signals output interface circuit type 5 optocoupler 3 5 6 Encoder Open collector Z pulse output interface HSD2 Series AC Servo Drive The width of the zero position pulse is narrow therefore the high speed optocoupler is recommended as the receiver This interface is a non isolated input interface the maximum current is 50mA and the maximum voltage is 30V The specific interface circuit is shown as the following VDD an Servo Drive i y T CZ J GND Figure 3 11 Encoder Open collector Z pulse output interface circuit type 6 3 5 7 Encoder feedback signal input interface The servo drive receive the encoder feedback signal by the Line drive receiver IC such as AM26L S32 and the circuit is shown as the following Motor Encoder Servo Drive 26LS32 d X X U V W A By Z Figure 3 12 Encoder feedback signal input interface circuit type 7 20 3 6 Standard Connection Example 3 6 1 Position control mode
48. o notice the follows 1 HSD2 series drivers are AC 220V power input Do not use AC 380V input Or the drivers will be damaged and it possibly cause hurt to people Please set the right motor code parameter PA1 to match the motor and the driver When the load inertia of motor is large please set the right parameter PA34 When high speed start stop is frequent needed the driver must add break resistor Please follow the user manual or contact our technical support use a right break resistor for the driver Please set the right Electronic Gear Ratio parameter PA12 PA13 Please set the right parameter DATA The change of PA1 DATA PA34 PA35 is active after repower So when you change these parameters you should shut down the power and repower If client decide to make motor encoder cable which connect the motor encoder and CN1 of the driver by himself please do use shielded cable and the length should less than 15m Normal cable can t be used If client decide to make the control cable which connect the controller and CN2 of the driver by himself shield cable should be used and the length should less than 10m Contents IMPORTANT WARN ontario V CHAPTER 1 HSD2 DRIVER SUMMARY eere eere erronee eee etta annee nnn 1 tI TAEHSDZSERE Si 1 Mila APPEARANCE EE EE 1 1 3 EXPLANATION FOR PORTS OF DRIVER esse eee 2 1 3 1 A O 2 1 3 2 A O 2 1 3 3 A A cu LE ADM M Uu E 2 1 3 4 NNN PEDO ter testet eal m oma cis 3 1 3
49. o the drive or fire Ensure that all screws wire terminations and connectors are secure on the power supply servo drive and motor Failure to observe this precaution may result in damage fire or personal injury In order to prevent fire hazard and accidents please form the wiring by the cable specifications outlined in this manual Operation Before starting the operation with a mechanical system connected change the drive parameters to match the user defined parameters of the mechanical system Starting the operation without matching the correct parameters may result in servo drive or motor damage or damage to the mechanical system Do not touch or approach any rotating parts e g heat sink while the servo is running Failure to observe this caution may cause serious personal injury Do not remove the operation panel while the drive is connected to an MI HSD2 Series AC Servo Drive electrical power source otherwise electrical shock may result Do not disassemble the servo drive as electrical shock may result Do not connect or disconnect wires or connectors while power is applied to the drive Wait at least 10 minutes after power has been removed before touching any drive or motor terminals or performing any wiring or inspection as an electrical charge may still remain in the servo drive IV HSD2 Series AC Servo Drive Important Warning Before you use the driver please d
50. occurs please check the main power supply and the parameter PA53 And at last you could refer to chapter 7 5 1 2 JOG trial run without load It is very convenient to use JOG trial run without load to test the servo drive and motor as it can save the wiring For safety it is recommended to set JOG speed at low speed such as 100r min The JOG speed could be set in the parameter PA21 30 HSD2 Series AC Servo Drive 1 Parameters Table 5 1 Parameters about the JOG trial run Select the operation PAO4 Control Mode 4 mode as JOG trial running mode PA20 Inhibit Drive Ignore the drive Function prohibition Reduce Acceleration Time Opportune acceleration shocks Reduce Deceleration Time Opportune deceleration shocks PA53 Enabled Word 1 q 1 Enable the drive without the external signal 2 Operation Step 1 Enable the drive and the running indicator will be lit by setting the parameter PA53 0001 And then the servo drive and motor is at zero speed running state otep 2 Set parameter PA21 as JOG speed After the desired JOG speed is set and then press the Set key the speed will be write into the control software otep 3 Enter the JOG operation interface by using the digital keypad and the digital LED display should be displayed as the following J 0 0 Cr min Step 4 Pressing the Up key and the servo motor will run in CCW direction After releasing Up key the motor will stop running Step 5 Pressing Down key and
51. on control Table 5 3 Parameters about the position control mode PAO4 Control mode PAOO i Position Loop 0 1000 EEUU PA10 rod Feed Forward 0 100 PA11 Bd Constant of PA10 1 1000 acid Electronic Gear Ratio PA12 Numerator N1 32767 nl Electronic Gear Ratio PAIS Denominator M1 32767 za PA14 External Pulse Input Type E t PA15 Direction of External Pulse O14 O0 Positioning Completed PA16 Width 0 30000 n PA17 Excessive Position Error 0 30000 100 Range EN PA18 Excessive Position Error Function Selection PA19 Smooth Constant 0 30000 R Position Command PAZO Inhibit Drive Function 0 1 Selection Digital Input edil PA53 Function Selection Enabled Word 1 35 HSD2 Series AC Servo Drive 1 External pulse input type Table 5 4 Type and waveform of the external input pulse Pulse Type Forward Reverse PA14 Pulse pus EE AAA ke T U Direction SIGN CCW pups TET Es l OW sto IC AB pus T fle FE y Phase Pulse SR c uw 2 v5 Host controller could drive the servo drive and motor running and positioning by external pulse Referring to parameter PA14 you could see there are three types of the pulse In the table 5 5 the types of the pulse are diagrammed and the pulse edge indicated by arrows could be counted by drive in each pulse type You could change the direction of the pulse co
52. on is defined as the CCW And the clockwise direction of rotation is defined as the 10 HSD2 Series AC Servo Drive CW The CCW is the positive direction and CW as negative direction Figure 2 5 The definition of the direction for the rotation Chapter 2 HSD2 Series AC Servo Drive Ports and Connection The signal connect ports include CN1 CN2 CNA and CN3 is reserved This chapter gives the definition of CN1 CN2 and show 3 standard connections 3 1 Summary 1 CNT is encoder cable connector used for receiving encoder signals of motor 2 HSD2 series drivers just match incremental optical electricity encoder 3 incremental optical electricity encoder include 6 signals U V W A B Z It takes differential signal output and includes 15 wire output 4 CN2 port is control signal port used to receive control signal from the controller and also output the feedback signals which are necessary for the controller 5 control signals of the controller always include pulse signals as PULS PULS and direction signals as SIGN SIGN analog voltage signals for speed control as AS AS enable signal AS SON and so on 6 The feedback signal for controller always include encoder signals as A A B B Z Z Z signal OC output CZ driver alarm signal ALM ALM and so on 3 2 Encoder Connector CN1 3 2 1 The Layout and View of CNT CN1 is motor encoder signal port which terminal is named as DB26M The view
53. ormal There is no error Motor s control speed exceeds the limit of 1 Over speed normal speed Max circuit voltage exceeds its maximum 2 Overvoltage allowable value Max circuit voltage is below its minimun 3 Under voltage specified value 4 Excessive position Position control deviation value exceeds the deviation limit of its allowable setting value Limit switch error Forward or Reverse limit switch is activated ECH Position counter overflow Position counter overflow occurs px Encoder error Pulse signal is in error Current error has exceeded the specified value om euren response fault for a long time Main circuit current is higher than 1 5 Short circuit multiple of drive s instantaneous maximum current value Drive temperature error The temperature of drive is over high Regeneration control operation is in error Speed error has exceeded the specified value 17 Speed response fault for a long time 67 HSD2 Series AC Servo Drive An error occurs when writing the current EE PROM error settings into EE PROM DI function set error Digital output port function setting duplicated Adjusted value of the current sensor exceeds Current sensor adjustment WW b the limit of its allowable setting value when perform electrical adjustment Overload for motor Servo motor is overload The pulse Z of the encoder is lost The wiring connections of U V W for encoder U V W error interface are in error The ins
54. otor will only rotate while the arrow key is activated CHEDE Press lt Figure 4 7 Diagram for the JOG trial run 27 HSD2 Series AC Servo Drive 48 Zero offset adjustment By the operation the drive could automatically detects the zero bias of the analog speed or torque command and write the value in the parameter PA45 or PA39 At last the drive will save the parameter in the EEPROM automatically You could find the AU on the main menu by using the Up and Down key and then enter the operation interface for Zero offset adjustment by pressing the Set key The AU SPD correspond to the speed zero offset adjustment and the AU trq correspond to torque zero offset adjustment You could select the process by Up or Down key and then you should press and hold the Set key for 3 seconds till the LED displays FINISH Press for Success 3 seconds Eta 15H L iS d lt L l LE Analog speed command Enter Jt hr E Fail Per Er ror L ker D Analog torque command a 44 d d Figure 4 8 Diagram for the operational processes of analog zero offset adjustment 28 HSD2 Series AC Servo Drive Chapter 5 Trial Run and Tuning Procedure This chapter describes trial run for servo drive and motor including the trial run without load and introductions about the operation mode of the drive Ensure to complete the trial run without load first
55. ound The grounding metho must comply with the electrical standard of the country Do not connect a commercial power supply to the U V W terminals of drives otherwise the drive will be damaged Do not attach modify and remove wiring when power is applied to the AC servo I HSD2 Series AC Servo Drive drive Do not disconnect the drive and motor when the power is ON Do not touch the heat sink of the drive during operation If you do not understand please contact your local sales representative Please place this user manual in a safe location for future reference HSD2 Series AC Servo Drive Safety Caution Installation The applications should be kept away from the water vapor corrosive gases flammable gases and so on Otherwise it may result in electric shock fire or personal injury The application environment should be without direct sunlight dust salt and metal powder and so on The applications should be kept away from the place which the oil and pharmaceutical will attach or be dipped Wiring Connect the ground terminals to a class 3 ground Ground resistance should not exceed 100 2 The H series AC servo drive is suitable for AC 220V single phase or three phase power Please do not connect to the power AC 380V Failure to observe this precaution may damage the drive Do not connect any power supplies to the U V W terminals Failure to Observe this caution may result in injury damage t
56. r 0 1000 Constant for for position feed forward gain x0 1ms PA10 Be smoother to decrease the position overshoot Electronic Electronic gear ratio of the servo system could Gear Ratio match the position command of the host controller Numerator and the actual distance motor running NT The electronic gear ratio can be calculated as the following N1 M1 F2 S1 P1 P1 Number of pulses corresponding to 1mm in the ius host controller F2 Number of encoder pulses per circle Default is 10000 S1 Screw pitch of the mechanical transmission mm The ideal range of the gear ratio is from 1 50 to 50 Electronic Ge Refer to parameter DAT 2 Denominato r M1 External There are three inputting type kinds for external Pulse Input pulse Type 0 pulse direction 1 CCW pulse CW pulse 2 AB phase pulse E 0 Normal direction Positioning Completed Excessive Position Error Range Excessive Position Error Function Selection Smooth Constant of Position Command Inhibition Function Selection HSD2 Series AC Servo Drive The value is the position error range to judge whether the positioning is completed or not In the position control mode the COIN signal will be on when the value of the position error is less then the value of the PA16 In other control mode the COIN signal will be ON when the speed reaches the target speed command The value is the detection range for error 4 In the positio
57. r than O 0 3600 r min 10 100 0 1V 10 0 The value is the bias compensation for the analog 2000 56 HSD2 Series AC Servo Drive Compensatio signal of torque command 2000 n for Torque Command Max speed Limit the max speed when PA4 2 32 limit of oo Torque r min Command 9 Reserved SSS D rti T 0 1000 34 dics M a Set load inertia Jload PA34 Jmotor 196 load inertia M d 0 3600 g ds Limit the max speed of motor limit of motor r min 35 Internal Limit the max torque of motor 36 5 800 torque limit Tmax PA36 Trated 1 j 37 E COS Torque The value is the maximum torque provided by the Command motor when the operation mode is JOG 5 300 Limit for JOG The function of internal or external torque limit is and Trial Run effective at the same time Min speed limit for u 0 1000 analog Limit the min speed when PA4 1 PA23 0 diaze speed control mode Acceleration The value is the acceleration time for motor from O Time to 1000r min and the process is linear 1000 The function is effective only in speed control mS mode O 0 Deceleration The value is the deceleration time for motor from O Time to 1000r min and the process is linear 0 1000 The function is effective only in speed Control OmS 0 m mode Accel Decel S curve filter is for the speed smoothing of motion S curve command The value is the acceleration or me deceleration time for the S curve Analog Set t
58. r the operational processes of parameter setting 4 5 Parameter Management EE You could find the EE on the main menu by using the Up and Down key and then enter the parameter management interface by pressing the Set key The representative meaning of each symbol is shown in the figure 4 5 By using the Up and Down key you could select the operation which you need And then press and hold the Set key for 3 seconds when FINISH is displayed on the LED means the operation is completed But if Error is displayed the operation fails and then please press the Return key to quit EE SEr Parameter Write Press for SUCCESS EE ae un 3 seconds E in 15H L EE cd Parameter Read ELA co les SERE Fail A EE bR Parameter Backup Error j Y oy 99 E r5 Restore Backups _v Restore Defaults m mi L D eaiile 7 Figure 4 5 Diagram for the operational processes of parameter management e EE set Write operation the parameters will be written in the parameters district of the EEPROM Even if the power is down the parameter will not be lost e EE rd Read operation read the data from the parameter district of the EEPROM to the parameter list of the software If the parameter are modified to result in an error by improper operation you could use this feature to restore the parameters 26 HSD
59. reduce position error However if the setting value is over high it may generate vibration or noise When the value of proportional position loop gain is too great the position loop responsiveness will be increased and it will result in small phase margin If this happens the rotor of motor will oscillate At this time you have to decrease the value of the PAO9 until the rotor stop oscillating When there is an external torque command interrupted over low PAO9 value will let the motor cannot overcome the external strength and fail to meet the requirement of reasonable position track error demand Adjust feed forward gain PA10 to efficiently reduce the dynamic position track error 5 3 Gain Adjustment The position and speed frequency response selection is depending on and determined by the control stiffness of machinery and conditions of applications Generally high responsiveness is essential for the high frequency positioning control of mechanical facilities and the applications of high precision process system However the higher frequency response may easily result in the resonance of machinery system Therefore for the applications of high frequency response the machinery system with control stiffness is needed to void the resonance Especially when adjusting the frequency response of unfamiliar machinery system you could gradually increase the gain setting value to improve frequency response until the resonance occurs and then decrease
60. rews are tight and secure If any items are damaged or incorrect please inform the distributor whom you purchased the product from or your local HNC sales representative HSD2 Series AC Servo Drive 2 2 Size of drivers Size of HSD2 series drivers show as figure 2 1 and table 2 1 Figure 2 1 size sketch map Table 2 1 size data for HSD2 series drivers 2 3 Size data for installation The size for installation is show as figure 2 2 and table 2 2 gt Power HSD2 020 w o HSD2 Series AC Servo Drive Figure 2 2 size sketch map of installation Table 2 2 installation size data for HSD2 series driver Size data of installation 160 HSD2 020 HSD2 050 15 HSD2 065 88 HSD2 030A 2 4 Installation Environment The operating temperature for the H series servo drive is from 0 C 32 F to 55 C 131 F If the ambient temperature of servo drive is higher than 45 C please install the drive in a well ventilated location and do not obstruct the airflow for the cooling fan The ambient temperature of servo drive for long term reliability should be under 45 C 113 F If the servo drive and motor are installed in a control panel please ensure sufficient space around the units for heat dissipation Pay particular attention to vibration of the units and check if the vibration has impacted the electric devices in the control panel Please observe the following cautions when selecting a mounting location 1 The am
61. rgency stop signal is activated this circuit breaker will be enabled Servo drive Do not connect VDD and COM PTS A O O 6 KS 7 E 1 Brake Relay VDD gens n BRK DC24V Ensure the polarity of Diode is correct or it may damage the drive Figure 5 8 Diagram for electromagnetic brake The BRK signal is used to control the brake operation The VDD DC24V power supply supplied externally should be used to power the relay coil When BRK is on the motor brake will be activated The coil of the brake has no polarity But the diode has polarity please ensure the polarity of the diode is correct or it may damage the drive At last the power supply for brake is DC24V Never use it for VDD the 24V source voltage Timing chart for using servo motor with electromagnetic brake SON Signal ON CN2 24 input OFF OFF ON CN2 30 input NEU T2 PA 49 Motor Speed PA 48 Figure 5 9 Timing chart for electromagnetic brake 44 HSD2 Series AC Servo Drive BRK output timing explanation 1 when servo off when DI SON is not activated the BRK output goes off electromagnetic brake is locked after the delay time set by PA48 is reached and the motor speed is still higher than the setting value of PA49 2 when servo off when DI SON is not activated the BRK output goes of
62. running is input by pressing Up and Down keys and the minimum given value is 0 1r min Use the Up or Down key to select the Sr mode on the main menu and the press the Set key to enter the operation interface for the speed trial running And the LED display should be shown as the following S 0 0 Cr min Positive instruction means that the servo motor runs in the CCW direction and the 32 HSD2 Series AC Servo Drive negative instruction means that the motor runs in the CW direction SrA 100r 100r Display 5 EEN 5 00 5 A 5 00 5 Increase Operation Press A Lossen Press Y Lossen Press A Figure 5 2 Diagram for speed trial run 5 2 Position control mode The position control mode is usually used for the applications requiring precision positioning such as industry positioning machine indexing table etc Before position trial run please observe the following cautions 1 Ensure that all wiring is correct and wiring terminals of the servo drive and motor are correctly insulated or damage and malfunction may result 2 Check whether the motor and the drive is fixed and secure or the motor or drive may be damaged by the reacting force when motor speed changes 5 2 1 Simple position control system A simple position control system only needs two sets of position pulse command signals drive enable signal prohibited drive signal servo ready and servo alarm output signals The w
63. rve the following cautions 29 HSD2 Series AC Servo Drive 1 Ensure that the power indicator and LED display is normal If there is any abnormal condition of the power indicator and LED display please contact your distributor for assistance or contact with us 2 Check that all user defined parameters are set correctly For the characteristics of different machinery equipment are not the same in order to avoid accident or cause damage do not adjust the parameter abnormally and ensure the parameter setting is not an excessive value 3 Make sure that the servo drive is off when you reset some parameters 4 Check for abnormal vibrations and sounds during operation If the servo motor is vibrating or there are unusual nosies while the motor is running please contact the dealer or manufacturer for assistance 5 If there is no contact sound or there be any unusual noises when the relay inside the servo drive is operating please contact your distributor for assistance or contact with us 5 1 1 Appling power to the drive Please check the wiring first If there is no abnormal condition you could turn on the control power supply the main power should be OFF If any error except error 3 is displayed on the LED please check the wiring and the parameter or you could refer to the chapter 7 Secondly please turn on the main power supply and the running indicator will be lit If the indicator has not been lighted or any other error
64. rved T dP Ent Present Control Mode lt V Ent D Control mode 0 A e dP F 9 Pulse frequency kHz E leb Pulse frequency 12 6kHz Y dP ES Speed Command r min lad Speed command 35r min U A dP LE Torque Command E 20 Torque Command 20 Y dP APa Motor Current Position H 3265 Present Position 3265 Y A dF in Reserved ied Reserved Y A dP oUE Reserved oUk Hiji Reserved Y A Fr oF UU Voltage of DC Bus U 210 DC Bus Votage is 310V Y dP rn Drive status ra an Status Servo On Y A dP Ercr Error code Err g Error 9 occurs Y A dP ES Reserved el Ll U O Figure 4 3 Diagram for the operational processes of the monitor display 4 4 Parameter setting PA You could find the PA on the main menu by using the Up and Down key and then enter the parameter selection interface by pressing the Set key By using the Up and Down key you could select the parameter which you want to change and then press the Set key to enter the parameter modification interface You could use the Up and Down key to change parameter to the value you required When the parameters is modified the point of the last LED digital tube will be light that means the parameter is changed but not ye be effective You could press the Set key to make it then the point Will go out You could use the Return key to quit 25 HSD2 Series AC Servo Drive PARA l Parameter 1 oT r o8 Figure 4 4 Diagram fo
65. s AC Servo Drive HSD2 030 HSD2 030A et dguuucuo i Figure 1 1 appearance of HSD2 Explanation for ports of driver 1 3 1 P D C port 1 P D port is used for add break resistor 2 Do not connect P and C directly that will damage the driver 3 When P connect to D the inner break resistor is active P is connected with D when the drivers leave the factory 4 If a extra break resistor is needed the extra resistor is connected between P and C 5 If P and D is connected and P C is also connected the inner break resistor and the extra break resistor are both active 1 3 2 R S T port R S T port is AC 220V 3PH power input port Do not use AC 380V power input that will damage the driver or even cause hurt to people 1 3 3 r tport This port is support power for control system in driver AC 220V must be required Do not use AC 380V That will damage the driver HSD2 Series AC Servo Drive 1 3 4 U V W PE port U V W PE is power output of driver it support power for motor The power cable is always support by the manufacturer if client want make it by yourself please use the right wire And you must ensure the order of U V W PE is correct or the motor maybe out of control Please follow table 2 3 table 2 4 1 3 5 CN1 port CN1 port is encoder signal port used for receive the signal of motor encoder HSD2 series drivers just match incremental optical electricity encoder Incremental optical el
66. ss for the position and speed control loop 5 3 3 Adjustment for position control loop If the inertia of the machinery and conditions of applications is larger or the resonance occurs you could adjust the relative parameters as the following step Step 1 Increase the integral time of the speed control loop PA6 otep 2 Gradually increase the value of the proportional speed control loop gain PA5 setting until the resonance occurs and then decrease the gain setting value Step 3 Gradually decrease the integral time of the speed control loop PA6 until the resonance occurs and then increase the setting value Step 4 Gradually increase the value of the proportional position control loop gain PAQ setting until the resonance occurs and then decrease the gain setting value Step 5 For achieving better track error of the position control loop users could 42 HSD2 Series AC Servo Drive adjust position feed forward gain PA10 and PA11 the smooth constant of feed forward gain appropriately Step 6 If the resonance occurs as a result the ideal responsiveness of the system could not be achieved For this case you could adjust the value of the low pass filter for torque PA7 to suppression the resonance And then you could repeat the above steps in order to achieve a better responsiveness for the position and speed control loop 5 4 Electromagnetic Brake When the servo drive is operating if the digital output BRK is set to off it in
67. t Gr Trial Run Se a 2nd Laver Y JOG D L UM l Adjustment First Laver Figure 4 2 Flowchart for the main menu of the operational processes 4 3 Monitor Display DP Users could press the Up and the down key to find the monitor display of the main menu When dp is displayed please press the Set key to enter the layer for monitor mode There are 19 kinds status for the monitor display shown as the following You could select the display you need using the Up and Down key and then press the Set key to enter the specific monitor and display interface 24 HSD2 Series AC Servo Drive dP 5Pg Feedback Speed r min e r BOG Motor speed1000r min A dP Pa5 Feedback Position CLow Pq5BDB Y Position 1245806 Pulse dP Pae5 Feedback Position X100000 P 12 dP CPa Position Command CLow L45B 10 A m E Command 1245810 Pulse dP EPa Position Command X100000 GE lg Y A dP EPa Position Error Low CE Y R Position Error 4 Pulse dP EPa Position Error X100000 E D y dP tr Feedback Torque E 10 70 Rated Torque Y A A dP Feedback Current A di Motor current 2 3A Y Y dP L5P Reserved L DO Rese
68. tantaneous load of the motor is heavier Instantaneous overload for than 1 5 multiple of motor s maximum load value Motor temperature error The motor is overload for a long time 5 6 10 15 16 18 22 24 25 26 Reserved 2 7 28 31 33 34 35 36 68 HSD2 Series AC Servo Drive 8 2 Potential Cause and Corrective Actions Table 8 2 Corrective actions for trouble shooting Fault Name Cause Corrective Actions Improper input instruction Check the pulse frequency and pulse the electronic gear ratio The load inertia is too Decrease the load inertia large Increase the Accel Decel time Err01 Over speed Encoder fault Replace the motor Encoder cable fault Replace the cable The max speed setting Modify Or recover the error parameter Servo drive default Replace the drive he power voltage is too Err02 Overvoltage high The power waveform is abnormal Servo drive default Replace the drive he power voltage is too Check the power supply T OR Transformer capacity is not Replace the transformer by a enough larger one The cable is loose Check and fix the cable Encoder fault Replace the motor Increase the PAS and PAY Check the function for torque Check the power supply The rigidity is not enough ZER Excessive The output torque of motor limit rr position deviation is not enough Decrease the load Replace the motor and drive The pulse frequency is Decrease the frequency inapplic
69. tial input mode but only two connecting wires in single ended input mode 2 The voltage of the signal should not be beyond the specified range 10V 10V or may damage the drive 3 This interface is a non isolated input interface so the shielded cable is recommended to reduce the noise 3 5 5 Encoder signal output interface The drive output the motor encoder feedback position signals by Line drive transmitter chip AM26L S31 The user could receive the encoder A phase B phase and Z phases signals by two types Line drive receiver chip and the high speed optocoupler HSD2 Series AC Servo Drive The host controller receives the encoder signals by Line drive receiver chip The circuit connected to the drive is shown as the following Servo Drive o A 1 AM26L 832 i y ial v OZ Lee aN Le tess L eel NA Y Figure 3 9 Encoder position signals output interface circuit type 5 Line drive The value of the resistance is 2200 4700 and the command ground GND of the encoder should connect with the signal ground of the host controller For the interface is a non isolated input interface when the host controller receives the position signals by high speed optocoupler the current limiting resistance whose value is 2200 should be in series to the receiving circuit A
70. unt by setting parameter PA15 The pins 26 PULSE 18 PULSE 24 SIGN 25 SIGN of the terminal interface CN2 are set for external pulses input For the details of the interface CN2 please refer to the section 3 43 2 Filter for position control The filter is for the position smoothing of motion command Using filter not only can improve the performance when servo motor accelerate or decelerate but also can make motor to operate more smoothly When the load is change the motor usually run not smoothly when starts to run and stop due to the friction and inertia change At this moment users can increase the value of the PA19 to improve the performance But if the value is too large the command delay phenomenon would be more obvious When the parameter PA19 0 the filter is disable The value of the PA19 is the time that the frequency of the position command increase from 0 to 63 of the external pulse frequency Diagram of the filter is shown as below The non filtering and the filtering waveform are contrasted 36 HSD2 Series AC Servo Drive Before Filter T kHz Input Pulse Frequency 0 T Filtered Pulse Frequency T Figure 5 4 Diagram for comparison between the filtering and non filtering waveform 5 2 3 Electronic gear ratio Mechanical transmission ratio and the pulses per circle of the servo motor encoder couldn t be identified by the host controller But the unit pulse generated by host contro
71. will decrease the cutoff de frequency resulted in the smaller noise and vibration but lower response If the inertia of the load is large you could increase the value to restrain the resonance Speed Time constant of the speed detection filter has an Detection effect on the stiffness and responsiveness of the Filter speed control loop Increasing the value will decrease the cutoff 1 1000 frequency resulted in the smaller noise If the value x0 1mS is too large the response will be slow and the vibration or resonance will occur Generally the value should be modified according to the load inertia Proportional Proportional gain of the position control loop has an 1 1000 Position effect on the stiffness and responsiveness of the S ISS HS Series AC Servo Drive Loop Gain control loop Increasing the value can improve the response frequency of the position Increasing the value will increase the stiffness and decrease the position offset when the position frequency is the same If the value is too large the vibration or resonance will occur Position Increasing the value can reduce the position track Feed error Forward 100 means that the track error may be zero at Gain any position frequency 0 100 If the value is too large the vibration or resonance will occur Generally the value is 0 excepting high responsive required by the application condition Smooth The value is the time constant of the low pass filte

HSD2 Series Servo Drive User Manual (V2)

Contents

Download Pdf Manuals

Related Search

Related Contents