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Series HSV-180AD AC Servo Amplifier User`s Manual

1. motors GK601 Outline dimension drawing N LLL Type K mm df 40 r Ad di pe S d g GK6011 83 5 J g 3 o A GK6013 98 5 9d od c TI 3al U i m GK6015 133 5 bs ca 48 CH R3 K K M GK602 Outline dimension drawing Type K min Kam with brake o p 60 x GK6021 110 5 139 5 eg am LI dg 2 uU GK6023 120 5 149 5 4 z caf GK6025 140 5 169 5 E de KO GK603 Outline dimension drawing Type K mm Km with brake PEE GK6031 l 180 5 d e INI D M ud i GK6032 169 5 200 5 S Lu les KO Type aa K nm GK604 Outline dimension drawing Yp K mm TE cio dre d GK6040 169 5 176 2195588 z GK6041 185 5 192 SR GK6042 201 5 208 d 23 S p KE fe N Sy d N Es e 34 Series HSV 180AD AC Servo Amplifier User s Manual GESES Coles
2. J Y QO o Oo 7 E amp Pig e Z Titre AC SEAVO HSV SERIES E d Ms v A804 100 E Es SCH YW Q LI QO N N We O Q j F F m M cl e ms nS Sa p gs S E S E Ge 7 Ca uni 7 3m 100 S ET EG SE AE 2100 8 E 100 812 7 fe LI EJ zm Ee om es E za P3 Ei Z f Z Sa a 7 i i BK U W PE e gt BK U W V P j 7 P BK U PE s amp F EK wy DU V FE O amp P BK U PE tA Lol De Le De S e Z UT KT D U d SECH 4 3 3Instllation method of HSV 180AD 200 300 450 1 Installation Methods There are two types of wall installation directly installed with auxiliary devices and external heat sink installation For their installation diagrams see Figure 4 12 Figure 4 13 You can use any of the three methods and install the Servo Amplifier vertically 2 Installation Interval For the installation interval of single Servo Amplifier see Figure 4 14 and Figure 4 15 For the installation interval of multiple Servo Amplifiers see Figure 4 16 During installation leave enough intervals as possible to ensure a good heat emission 53 Series HSV 180AD AC Servo Amplifier User s Manual 3 Cool
3. 51 Series HSV 180AD AC Servo Amplifier User s Manual Figure 4 10 Installation interval of HSV 180AD 100 150 single Servo Amplifier Uf LELLEL EL ti if SE DA P ZA L Z 7 Le 7 100 L TA 7 sak B y f Z y PEK UW UTE m E A Wall Ir r cs p ls gt 250mm 52 Series HSV 180AD AC Servo Amplifier User s Manual Figure 4 11 Installation interval of HSV 180AD 100 150 multiple Servo Amplifiers
4. 61 SM TERMINALCONFIGURA TION Pe PL M 63 sx TERMINAL CONFIGURATION et 65 5 3 1 Terminals of HSV 180AD 035 050 075 100 Tt 65 5 3 2 Terminal Configuration HSV 180AD 200 200 A0 67 5 3 2 Side WING of malt Creu IN DUE miritaia cite vestito beo ATEENAAN 68 35 24 COMMON DONO VITIO caccia de inta tutae iata belga eati DEI laud nhu 70 5 3 5 Output side wiring of main tee E 70 SAL CONNECTION OF CONTROL SIGNAL TERMINALS issoisuedssasetaseuactee decur quud Orta eant ax O xv ode iivad tasse ua aae Ne tuus 73 5 4 1 XS4 COMMAND input output terminals eee 73 5 4 2 X55 Input oUtbDUt TENO EE 84 5 5 CONNEBISIISESSIBEUSSBEDSISURL TERMINAL o ree nee rrr nnne nnn nnn nnnm nnnm nnnm nnn nnn nnn 85 5 5 1 XS3 ENCODER1 Servo Motor Input Interface EN 85 5 6 CONNECTION OF THE COMMUNICATION SIGNAL TERMINAL eese ENEE 98 LENS 0 00 0 009070 EEN SUE MEM 98 SA STEEN N 0 99 5 0 STEEN Aer EE 100 5 8 1 Standard Wiring for Position Control Mode Pulse Interface eee 101 5 8 2 Standard Wiring for External Speed Control Mode Analog Interface 102 5 8 3 Standard Wiring for Closed loop Control Mode pulse interface 105 Zi AED 20000 e TT 107 OVEREN as een T I ax Ec chasse choc NRE 107 6 2 OPERATION IN TH
5. 10 EK 9 7 5 3 7 1 ZR IS ER 3 b 19 M JI E Ti S 7 96 Series HSV 180AD AC Servo Amplifier User s Manual 5 5 2 2 XS2 ENCODER2 Servo Encoder Input Interface Function 1 Drive servo connect to Incremental photoelectric encoder Figure 5 11 Signal function of XS2 ENCODER2 connect Incremental photoelectric encoder Terminal Symbol Servo motor encoder feedback A EE Line driver receiver Servo motor encoder feedback B input RS422 standard Servo motor encoder 5V power output terminal Connect the servo motor 7 8 TON optical electrical encoder wm 5V DC 5V 150mA power supply If the cable is too long use multiple wires to form serial connection GNDD Servo encoder power ground 0V 20 CLOCK 17 18 Shield ground It is connected to PE owe M 97 Series HSV 180AD AC Servo Amplifier User s Manual 5 6 Connection of the communication signal terminal 5 6 1 XS1 Serial Interface Figure 5 41 XS1 Serial interface plug Figure 5 43 Soldering terminal of XS1 Serial interface plug looking from the soldering terminal Eg e c 7 out Le Ss hh ad H l i f Hm u E Ee H1 uu di MD Ee I i T AR Bn K ur 6999434391 _ Figur5 12 Function of the communication signal terminal XS1 Terminal NO Signal Function Symbol It is connected to the serial data receiving interface RS232 Data kin ME 2 TX uu R
6. Series HSV 180AD AC Servo Amplifier User s Manual The control circuit board adopts the CMOS IC When maintaining do not touch it directly with your fingers because electrostatic induction could damage the control circuit board 6 System Configuration Caution The rated torque of the servo motor must be larger than continuous effective load torque Otherwise the servo motor could be damaged by long time overload operation The ratio of load inertia and servo motor inertia must be less than the recommended value Make sure that the motor is properly matching the Servo Amplifier Failure to follow this instruction could result in damage of the equipment 7 Others Danger Do not make alterations independently Failure to follow this instruction could result in electric shock and injury 10 Series HSV 180AD AC Servo Amplifier User s Manual Z Overview Series HSV 180AD AC Servo Amplifier is a new generation of full digital AC servo amplifier developed by Wuhan Huazhong Numerical Control Co Ltd This product features high performance compact structure easy to use operation and high reliability 2 1 Introduction Series HSV 180AD AC Servo Amplifier adopts the latest technologies such as special motion control digital signal processor DSP and intelligent power module IPM and achieves the closed loop servo control of servo motor It has various specifications such as035 050 075 100
7. encoder 18 B E RS422 36 ncoder b output EE DEE PNP output 21 22 Z OUT Z phase pulse output j in en e ZPLS OUT Z phase pulse output 23 24 GNDDM Digital signal ground Analog output Analog output terminal DC 10 terminal 10Vor 0 10V Sege Input 27 28 GNDAM Analog signal ground servo enable input terminal 0Vcommon EN ON Enable the Servo point Amplifier OV input EN OFF The Servo effective Amplifier stops working and SW input signal EN the motor is idle Alarm clear input terminal ACL ON Clear system A CL alarm 2 ail ACL OFF Keep system NW Position error counter clearance input terminal CLEE ON In the position control mode clear the position error counter Command pulse prohibition alarm INH Command pulse prohibition input terminal CCW drive prohibition input terminal OFF CCW drive is allowed ON CCW drive is not prohibited cancelled L CCW 74 Series HSV 180AD AC Servo Amplifier User s Manual Reserve SW output signal Position finished output L CW drive prohibition input terminal OFF indicates that CW drive is allowed ON indicates that CW drive is prohibited Reserve Position finished output terminal When the position error is in the preset range the signal 1s connected Speed reached output terminal When the speed reaches or exceeds the preset speed the signal is connected Servo ready output terminal O
8. filter when gain switching Zero speed output P S 1 100 10 Unit rpm detection range Unit ms Servo motor delay pe Time of input PWM 10 0 3000 20 caused by power off after servo OFF delay Torque inertia ratio 10 20000 Unit Nm Kgm Pi 1 Load inertia ratio come 107 300 ae Junie or Digital output O4 9 9 Refer to function O1 function Invalid Input Servo enable Alarm Clear Deviation Clear Pulse ban Digital inputs 1 Reverse over 15 16 16 function travel Forward over travel Zero speed lock Gain switch Electronic gear Series HSV 180AD AC Servo Series HSV 180AD AC Servo Amplifier User s Manual o User s Manual switch 0 10 Electronic gear switch 1 11 Positive torque limit 12 Negative torque limit 13 Emergency stop switch 14 Internal speed selection 1 15 Internal speed selection 2 16 Internal speed selection 3 The negative sign indicates input level negated os LE function function 16 16 16 16 the same as above the same as above Invalid Digital inputs I5 function Digital inputs I6 function 0 53 Digital Output O1 function Forced valid 0 l 2 Servo ready 3 Alarm Output 4 Reach zero speed 5 Positioning completed 6 Speed reached 7 Torque limits 8 Electromagnetic Series HSV 180AD AC Servo Series HSV 180AD AC Servo Amplifier Users Manual User s Manual bra
9. 1 Set range of position tolerance PA 12 0 1 ring Or PA 12 0 1 motor pulses pulse 2 Under the position control mode PA 23 0 when the position deviation counter exceeds the range of the parameter the Servo Amplifier gives alarm If set PA 12 20 motor runs 10000 pulses per revolution Then the Range of position tolerance 20 0 1 20120 0 1 10000 20000 pulses 4 NO Parameter Scope Default Unit value Position command pulse 1932967 1 PA 13 frequency molecular Position command pulse 1439967 1 PA 14 f requency denominator Function and setting 132 Series HSV 180AD AC Servo Amplifier User s Manual 1 Set the position command pulse sub octave electronic gear 2 Under position control mode PA 23 0 through setting the PA 13 and PA 14 parameter could be easily matched with a variety of pulse source in order to achieve ideal control resolution angle pulse 3 PxG NxC P the number of pulses input commands G electronic gear ratio G Position command pulse frequency molecular Position command pulse frequency denominator N motor rotation number C the motor encoder pulses 4 If instruction input pulse is 6000 the servo motor rotates 1 circles the motor encoder is 2500 lines of incremental photoelectric G N xC 1x2500x4 3 P 6000 3 setting PA 13 to 5 PA 14 to 3 5 The range of electronic gear ratio is 50 lt G lt 50 PA 22 Parameter Scope Default Un
10. Terminal P and BK is used to DC current input or an external braking resistor Note Terminal P and BK cannot be shorted Otherwise the Servo Amplifier may be damaged Terminal P and BK 1s used to DC current input Note Terminal P and BK cannot be shorted Otherwise the Servo Amplifier may be damaged 67 Series HSV 180AD AC Servo Amplifier User s Manual There is no build in braking resistors must use an Connection external braking resistor terminal P and BK must terminal for be connected to an external braking resistor Note Terminal P and BK cannot be shorted Otherwise the Servo Amplifier may be damaged external braking resistor Three phrase output terminal of the Servo Amplifier It must be linked to the motor U V and W terminals correspondingly Ground terminal Ground Ground resistance is less than 4Q terminal Servo Amplifier housing ground terminal 5 3 3 Side wring of main circuit input Figure 5 6 Soldering terminal of main circuit input jp MC ACL Three phase c O CY so e A 50 G60Hz Dun The Servo Amplifier The Fault chain MC MG 1 Circuit Breaker MCCB B Circuit breaker must be connected between the three phrase AC power supply and power input terminals L1 L2 L3 on XT1 so as to cut off the power when the Servo Amplifier is over circuited or short circuited B MCCB capacity is generally 1 5 to 2 times of the rat
11. 85 Series HSV 180AD AC Servo Amplifier User s Manual 5 5 1 2 XS3 ENCODER Servo Motor Input Interface Function Il The Servo Amplifier connect incremental photoelectric encoder Chart5 8 signal function of XS3 ENCODERI connect Incremental photoelectric encoder Symbol Terminal E Function standard NO Symbol 5 7 Servo motor encoder feedback Z or R input i ME Servo motor encoder feedback Z or R Line Acar 7 RS422 standard U DATAt Servo motor encoder feedback U Servo motor encoder feedback U input U DATA Servo motor encoder feedback U input E V CLOCK Servo motor encoder feedback V input 10 V CLOCK Servo motor encoder feedback V input W Servo motor encoder feedback W input Pam Servo motor encoder feedback W input 177i Motor overheat detection input terminal It is connected to the motor overheat detection sensor Servo motor encoder 5V power output terminal 16 17 psy Connect the servo motor optical electrical 18 19 encoder with 5 V power supply Int the DC 45V 150mA cable is too long use multiple wires to form serial connection 23 24 GNDD Servo encoder power ground 0V 21 Reserved 14 15 PE ground It is connected to the motor housing NOTE The homonyms pin connected has been shorting together in the internal circuit board 86 Series HSV 180AD AC Servo Amplifier User s Manual 2 The Servo Amplifier connect with ENDAT2 1 encoder Chart5
12. 91 Series HSV 180AD AC Servo Amplifier User s Manual 2 The Servo Amplifier connect with ENDAT2 1 agreement EQN1325 1313 of Absolute encoder and Dench motor Dench motor 92 Series HSV 180AD AC Servo Amplifier User s Manual 3 The Servo Amplifier connect with BISSagreement of Absolute encoder Dench motor 93 Series HSV 180AD AC Servo Amplifier User s Manual 4 The Servo Amplifier connect with Hiper FACE agreement of Absolute encoder HIPERFACE REFSIN Dench motor 94 Series HSV 180AD AC Servo Amplifier User s Manual 5 The Servo Amplifier connect with Hiper FACE agreement of Absolute encoder and Dench motor Dench motor 6 The Servo Amplifier connect with Hiper FACE agreement of Absolute encoder and Huada motor SS TPIM 3 EV Power Supplr 95 Series HSV 180AD AC Servo Amplifier User s Manual 5 5 2 1XS2 ENCODER2 Servo Encoder Input Interface Figure Figure 5 38 XS2 Servo Encoder Input interface plug Figure 5 39 XS2 Servo Encoder Input interface plug looking from the plug Figure 5 40 Soldering terminal of XS2 Servo Encode Input interface plug looking from the soldering terminal
13. Do not perform any change to the Servo Amplifier and motor Before installation and wiring read through this manual Before operation understand the safety information safety precautions and operating instruction of this equipment 1 1 Symbols of Safety Precautions Symbols of safety precautions are displayed on the front panel of the Servo Amplifier Figure 1 1 Symbol of safety precaution for HSV 180AD 035 050 075 elerlererele E NE E RET pne E Ze Iw 100 078 e Danger High voltage a Oo not move cables or touch bergmminals while applying DOET as Disconnect incoming power and wait 5 minutes before connecting cables or opening terminal cover Series HSV 180AD AC Servo Amplifier User s Manual 1 2 Meaning of Safety Precaution Symbols Warning lt __ Safety precaution signage Danger High Voltage Don t move cables or touch terminals while applying power Disconnect incoming 4 The meaning of each symbol power and wait 5 minutes before connecting cables or opening terminal cover Symbols of Safety Precaution 1 3 Explanation of Safety Precaution Symbols Danger It indicates a potentially hazardous situation which if not avoided will result in death Caution It indicates a potentially hazardous situation which if not avoided will result in minor or moderate injury or death and damage to the machine Series HSV 180AD AC Servo Amplifier User s Ma
14. Therefore it needs two wires to connect the controller and the Servo Amplifier see Figure 5 13 b The differential connection is superior to the signal ended connection for its good anti common mode interference characteristic The input voltage cannot exceed the range from 10V to 10V Otherwise it may damage the Servo Amplifier It is recommended that the shield cable be used to reduce the noise disturbance It is normal for the analog input interface has a zero bias which can be compensated by setting the movement parameter PA 8 The analog interface is non isolated 81 Series HSV 180AD AC Servo Amplifier User s Manual 6 Servo Motor optic electrical encoder Servo Encoder Output Interface Figure 5 26 Servo motor optic electrical encoder servo encoder output interface cnc Servo Amplifier up AMZ26LS32 PR paaa ij EN GND AMZol Si The encoder signal is outputted by the differential drive AM26LS31 The controller input terminal can adopt AM26LS32 receiver and must be connected to an approximate 330Q termination resistor The controller ground wire and the Servo Amplifier ground wire must be reliably connected The output must be non isolated output The controller input terminal can also adopt an optical coupler receiver However the receiver must be a high speed optical coupler such as 6N137 Figure 5 27 Servo motor optic electrical encoder servo encoder output interface Series HSV 180AD AC Servo Amplifier
15. and press land to enter the secondary menu for the control parameter mode 2 Series HSV 180AD Servo Amplifier contains 16 types of control parameters 6 70peration in the Auxiliary Mode 1 On the main menu select STA 0 and press land to enter the secondary menu for the control parameter mode 2 Series HSV 180 AD Servo Amplifier contains 16 types of control parameters Figure 6 10 Secondary menu for the auxiliary mode 114 Series HSV 180AD AC Servo Amplifier User s Manual EE Ge PR f es NIRE EE VEI SEAT EBS 45 bebe ay m imm ze 6 8 Control Parameter Setting and Saving Caution The control parameter setting cannot take effect immediately The new parameter can be confirmed by pressing S only in the EE WRI of auxiliary mode and it takes effect after restarting the Servo Amplifier Wrong settings may cause improper operation that leads to accidents 1 Select PA on the main menu press f and to select a control parameter number and then press S to display the value of the parameter Press and to change the parameter value 2 The parameter value increase or decrease every time you press for respectively 3 After the parameter modification is completed the corresponding decimal point on the LED digital tube light press S to return to the control parameter mode menu 3 The control parameter setting cannot take eff
16. resistor W Quantity 3 8 1e Recomand value of main 2 circute cable mm 15 Series HSV 180AD AC Servo Amplifier User s Manual 3 1 3 Technical Specification of HSV 180AD The following table describes the technical specification of HSV 180AD Table 3 2 Technical specification of HSV 180AD Servo Amplifier Rated 150A and below specifications Three phase AC380V voltage 15 10 50 60Hz jour Range of 200A and above Specifications power voltage 1 Single phase AC220V control power 1596 1096 50 60Hz 2 Three phase AC380V strong power 15 10 50 60Hz Position control External speed control JOG control Control modes Internal speed control Speed frequency 300Hz or higher response fluctuation Frequency Characte ti Lower than 0 1 load 0 100 Lower than 0 2 power ristic Speed volatility supply 15 10 Speed range 1 10000 D Direction pulse train CCW pulse CW pulse 3 Two phase A B quadrature pulse Types of pulse command Form of pulse Non insulated wire drive Cabout 5V command Frequency of pulse lt 500kHz command Types of 1 Direction pulse train 2 CCW pulse CW pulse l d 3 Two phase A B quadrature pulse Form of pulse Non insulated wire drive about 45V command Frequency Sneed of pulse 500kHz command control Electron gear command Acceleratio n and 1 32000ms Position control deceleration 0
17. 1000r min or 1000 0r min function 16 Series HSV 180AD AC Servo Amplifier User s Manual TTL composite incremental photoelectric encoder 1024line 2048line 2500 line 6000 line Type of servo motor encoder Servo encoder encoder Optical encoder TTL type Sine and cosine analog signal 1Vpp Run enable Alarm clear Control Forward and reverse running enable input Servo orientation ready Input and Control modes switch output Indexing incremental orientation ratio input selection Signal Servo ready Control Servo alarm output Servo orientation finished Speed reached Zero speed reached Servo Accuracy lpulse Position adjustment Parameter orientation setting Servo Rigid I 1 function Tapping deviation 2 Other C axis control Thread cutting function RS232 use MODBUS protocol function Speed Flux current Torque current Monitoring function Motor load current Switch value input status display Switch value output status display Control mode display Provides protection against Over speed Main power over voltage and under voltage Over current Protecting function Overload Motor over heat Big speed error IPM fault etc 17 Series HSV 180AD AC Servo Amplifier User s Manual Six LED digital tubes two light emitting diodes LED five Operation bottoms 2 2K W SIKWAC servo motor Non corrosive flammable gas prevent conductive objects Use place metal dust oil mist and liqu
18. 12 Wo scene GK6138 658 5 55 59 16 GK61310 683 5 55 59 16 GK618 Outline dimension drawing Type im m B ss i 6K6180 359 693 PENE Ie e E GK6181 389 123 11 i GK6182 419 153 A JI GK6183 449 183 edm el GK6184 509 843 8 agg GK6185 569 903 10 GK6186 629 963 1 eg Lc GK6187 689 1023 32 L GK6188 749 1083 GK6189 809 1143 NOTE After GK610 GK613 assembling well total length is K 61 36 Series HSV 180AD AC Servo Amplifier User s Manual 3 2 7Recommended shaft keyway Figure 3 11 Connect terminal of series GM7 AC servo motor Ge ge SS ex eg DEE JOANE ejeje 37 Series HSV 180AD AC Servo Amplifier User s Manual 3 2 9 GK6 Series AC permanent magnet servo motor interface definition Servo motor power terminal GEE02 CEHE03 SERIES SERVO MOTOR GEE04 CRE05 CREOS SERIES SERVO MOTOR GR604 CRE08 CEE10 GE608 GEE10 SERIES SERVO MOTOR SERIES SERVO MOTOR GE610 Forced cooling trpe CE613 CE6158 SERIES SERVO MOTOR 6 ere KTVS4 Brake d 3 L3 Fan Power supplr 2 2 AC380V 30Hz 3PH 1 La Servo motor encoder Servo motor power output Interface terminal Note Ifthe mo
19. 150 200 300 450A and different ranges of power options Users can configure various types of servo Amplifier and AC servo motor to form high reliability and performance AC Servo Amplifier systems Characteristics of Series HSV 180AD AC Servo Amplifier 1 Easy and flexible operation By modifying the parameter you can modify the control methods of the Servo Amplifier and the interior parameters so as to meet the requirements for different environment and conditions and can be compatible with various types of servo motors 2 Full display of status Series HSV 180S provide a series of status display which enables users to view related status parameters of the Servo Amplifier during commissioning and operation In addition it provides a range of troubleshooting information 3 Various interfaces and flexible control methods HSV 180AD Servo Amplifier can provide various interfaces and flexible control methods as follows Pulse input interface Analog input interface 11 Series HSV 180AD AC Servo Amplifier User s Manual Feedback interface of servo motor optical electrical encoder Feedback interface of servo motor encoder Serial communication interface Programmable I O interface 4 Servo orientation function Series HSV 180AD can provide an independent function for servo orientation Through feedback devices such as servo motor optic electrical encoder servo encoder and zero switch it can realize the servo orientation contr
20. 180AD AC Servo Amplifier User s Manual ee XT1 power input terminal Bag 5 100100 e Se eee dk XS1 RS232 Communication interface lesen XS2 ENCODER Second position encoder input interface p Les 1 XS3 ENCODER1Servo motor encoder input interface s XS4 COMMAND Command input output ape interface M b b gt XS5 input output terminal XT2 Power output terminal 64 Series HSV 180AD AC Servo Amplifier User s Manual 5 3 Terminal Configuration 5 3 1 Terminals of HSV 180AD 035 050 075 100 150 ATI Ll I2 L3 PE 220A 220E XI2 SISISISISIe P BE U V W PE Figure 5 3 Soldering terminal of HSV 180AD 035 050 075 XTI SISISIS Ll I2 L PE Figure 5 4 Soldering terminal of HSV 180AD 100 150 Gram5 1 XT1 power input terminal of HSV 180AD 035 050 075 Function Reserved Ground Ground terminal and the ground resistance 1s terminal less than AC Three phrase Main circuit power supply input terminal main circuit Three phrase AC380V 50Hz power input Note terminal Do not connect to the output terminal U V W 65 Series HSV 180AD AC Servo Amplifier User s Manual Gram5 2 XT1 power input terminal of HSV 180AD 100 150 XT1 power input terminal of HSV 180AD 100 150 Terminal NO Signal Function Symbol Ground Ground terminal and the ground resistance is l PE terminal less than 4Q Three phrase Main circuit power supply input terminal main circuit T
21. 2 2 2 2 J J 88688898989 X N NN V N H N J IN A p N bi N NI N V N V AM Ou ci l5 j Oo 95 49 Series HSV 180AD AC Servo Amplifier User s Manual Figure 4 8 Wall installation diagram for external heat sink of HSV 180AD 100 150 servo Amplifier X egressus h 4 M516 screws NENENMESEN MAAS VAT e e fA 146 A install wit T o A p SS 50 Series HSV 180AD AC Servo Amplifier User s Manual Figure 4 9 Wall installation diagram of HSV 180AD 100 150 Servo Amplifier with auxiliary devices SEN SM LU Z z 7 Sp S f J Ga l A Jj Le A al Y i ap ga o 4100 L T 7 e IA SW Gg 2 d E D as g PUETE e 7 E WW H de H A e z 7A Ve Wy E gq 9s sf 77 PR 3 0mm
22. 3 The cut off frequency increases and speed feedback response becomes faster as the value decreases If high speed feedback response required decrease the value Deceleration 1 The value indicates the time required for PA 38 time motor slow down from the 1000 speed to Or min 1 32000 constant 2 Deceleration features linearity Acceleration 1 The value indicates time required for motor PA 6 time speed up from 0 r min to 1000 speed 1 32000 constant 2 Acceleration features linearity Set this parameter to the relationship between voltage and rotary speed under analogue speed Analogue command mode PA JEN gt The value i 0 6000 SE The value is the speed corresponding to the input gain 10 V voltage unit r min 3 The valve is effective under the external speed control mode 1 In the speed control mode this parameter is used to adjust zero drift input by external Speed analogue speed command The method of command adjustment is as follows poen zero drift 1 Perform short connection between the SEDED cendi a analogue control input terminal and E grounding wire for signal Set this parameter to the value that stops the operation of the motor 1 Set parameters to the internal speed when PA 23 3 d 2 In the internal control mode select the internal 32000 unit Ir min Internal speed speed as the speed command JOG 1 Set this parameter to the speed in the JOG 0 2000 unit lr
23. 39 Position of serial PoI 1 63 communication axis Unit ms Brak tput del 40 Brake Output Delay S 0 2000 aa time after the servo OFF Unit Irpm Permissible speed P S Only below this 4 g 10 brake output threshold UU Ll setting allows the brake action 121 Series HSV 180AD AC Servo Amplifier User s Manual thousand 0 HSV 180AD hundred 35A 50A 75A Specifications and 100A Servo Amplifier type 150A code 200A 300A 450A Ten and a bit indicates the type of motor See form7 3 Note If changing parameter you should firstly set PA 34 to I2 38 otherwise it s invalid Table 7 2 Movement parameters with Dench motor Rated Electric Adapter Adjusted Servo Were current Amplifier Parameters Servo Amplifier A GK6073 6AC61 2000 u 6 00 o men me HSV 180AD 035 GK os sacs 2000 21 10 o 102 cxoos3 6acer 2000 27 n3 os ws COE AMET GNE TN GK6087 6AC61 2000 37 185 AM 42 NEN GK6105 8AC61 2000 45 195 GK6107 8AB61 1500 55 179 EL emma 1500 70 md 0 122 Series HSV 180AD AC Servo Amplifier User s Manual Table 7 3 Movement parameters with Huada motor Rated Rated ate Motor Power Toran Electric eet PA 43 Adjusted current vu Type Nm Amplifier Parameters Servo Amplifier KW A L10ST M02515HMBB 1500 2 5 2 9 20 20 1308T M03215HMBB 1500 3 2 2 5 26 26 1500 INUST MO
24. Amplifier User s Manual Figure 4 4 Installation interval of HSV 180AD 035 050 075 Servo Amplifier Wall installation e 320MM 46 ngle Servo Amplifier erval of HSV 180AD 035 050 075 si Figure 4 5 Installation int MILI EL MENS mm Series HSV 180AD AC Servo Amplifier User s Manual Figure 4 6 Installation intervals of HSV 180AD 035 050 075 multiple Servo Amplifiers zz SN Od mm gt dmm I EET 4 3 2 Installation Methods of HSV 180AD 100 150 1 Installation Methods There are two types of wall installation directly installed with auxiliary devices and external heat sink installation For their installation diagrams see Figure 4 7 Figure 4 8 You can use any of the three methods and install the Servo Amplifier vertically 2 Installation Interval For the installation interval of single Servo Amplifier see Figure 4 9 and Figure 4 10 For the installation interval of multiple Servo Amplifier see Figure 4 11 During installation leave enough intervals as possible to ensure a good heat emission 48 Series HSV 180AD AC Servo Amplifier User s Manual 3 Cooling In the electric cabinet there must be air blew through the radiator to prevent the ambient temperature of the Servo Amplifier from overheating Figure 4 7 Wall installation diagram of HSV 180AD 100 150 Servo Amplifier with auxiliary devices REL l leeeeoeeoewel l 2 2
25. In the formula G position command pulse frequency molecular position command pulse frequency denominator 8 3 3Start and Stop Adjustment The Servo Amplifier start and stop feature namely acceleration and deceleration time 1s determined by the over load inertia and start and stop frequency and limited by the Servo Amplifier and servo motor performance Frequent start and stop short acceleration and deceleration time large load inertia will cause over heat to the Servo Amplifier and motor and over voltage to the main circuit You need to adjust them as required a Overload inertia and start and stop frequency adjustment The adjustment is required when the start and stop frequency is too high Check whether the frequency is in the frequency range The frequency range varies with different motor types capacities load inertias and motor speeds If the overload inertia is M times of the motor inertia the start and stop frequency and recommended deceleration time movement parameter PA 6 is as in the following table Load inertia ratio and allowed start and stop frequency Times gt 100 times mins acceleration and deceleration time is 60 ms or less m lt 5 60 to 100 times mins acceleration and deceleration time is 150 ms or less Series HSV 180AD AC Servo Amplifier User s Manual b m gt 5 lt 60 times mines acceleration and deceleration time 1s 150 ms or more Impact of the servo motor Different type of servo moto
26. busbar voltage 2 210 V 3 300 V amp 00 V Rated speed A 1200 rmm Bd C 2000 tmir F 3000 t min Coling modes A natural cooling E forced cooling Potanty quantity 4 4 polanties 6 6 polarities 5 5 polarities Servo motor specification codes Cental height the integer number of central height divide 10 ceres GEB AC servo motor 3 2 5 Technical Specification of Series GK6 AC Permanent Magnet Servo Motor Adhere to the following principles when choosing the Servo Amplifier Generally the maximum current or rated current of the Servo Amplifier must be equal or greater than 2 Forthe situation that requires great dynamic response characteristics the maximum current or rated current must be equal or greater than 3 The following tables describe the technical specification of series GK6 AC permanent magnet servo motor 28 Series HSV 180AD AC Servo Amplifier User s Manual Table 3 4 Technical specification of series GK6 AC permanent magnet servo motor 1 Natural cooling Type Adaptive AC Servo Amplifier Overload Ratio GK6062 6AC61 HSV 180AD 035 5 7 GK6062 6AF61 HSV 180AD 035 3 8 2000 HSV 180AD 035 3 9 3000 HSV 180AD 035 2 6 2000 23 HSV 180AD 035 3 5 3000 HSV 180AD 035 2 4 GK6072 6AC61 2000 _ 3 8 E jog HSV 180AD 035 5 7 GK6072 6AF61 3000 5 7 3000 8 3 3000 9 1 sc ass 3000 10 2 1200 61 2000 10 357 195 3000 15 1200 8 1 2000 13 3 P 22 5 3000 20 1200 9 9 2
27. immemaion havr mE 35 Series HSV 180AD AC Servo Amplifier User s Manual GK610 Outline dimension drawin K amp Type K mm of fam n m GK6100 237 5 237 5 GK6101 263 9 263 5 EE GK6103 289 5 289 5 oO 80 GK6105 315 5 315 5 l j W iss GK6107 341 5 341 5 K K GK6109 380 5 380 5 GK610 Forced cooling type Outline dimension drawing ER K mm e GK6100 FORCED 336 5 GK6101 FORCED 362 5 GK6 103 FORCED 388 5 2 38 0 002 E 3 Sege GK6105 FORCED 414 5 SE P pai F z GK6107 FORCED 440 5 S 7 T7 7 GK6109 FORCED 479 5 to GK61011 FORCED SE Ms GK613 Outline dimension drawing Type K mm Wan mm b mm e GK6130 458 5 42 45 12 MET DOE EE 45 17 BES 3 l cK6132 513 5 42 45 12 GK6133 553 5 42 45 12 0 2 250 0 046 288 GK6135 593 5 42 45 12 D E 260 GK6137 633 5 42 45
28. min operating mode speed 137 Series HSV 180AD AC Servo Amplifier User s Manual 4 This parameter is used to select the control mode for Servo Amplifier 0 Position control mode receiving computer position command pulse 1 indicates the external speed control mode Selection of receiving speed analog input command control 2 indicates the external speed control mode mode receiving speed pulse input command 3 indicates the internal speed control mode The internal speed command 1s set by movement parameter PA 20 4 multi speed mode 7 the motor encoder zero mode 1 Set parameters to speed reached 1 500r min 2 In the speed control mode if the motor speed is less than the set value the rate reaches the switch signal to ON otherwise OFF speed reached range 7 2 6 Parameters Related to Output Torque Regulation 5 NO Parameter Scope Default Unit value Maximum torque output 30 500 250 1 PANE rate Function and setting 1 Set the maximum torque output rate 2 The value represents the maximum output torque is multiple of the motor torque 3 Anytime this limitation 1s effective 4 30 500 means the set range 0 3 5 times of the rated torque 5 This parameter will be corresponding adjusted according to PA 43 9 NO Parameter Scope Default Unit value Torque command input PA 9 bum 80 32000 20000 Function and setting l Set the relationship of voltage and torque of exter
29. owiput a MI AY Open collector servo READY 8 Ee EZ EI ready ouipui de d 19 Open collector a n E E n i se co 2 Optic GOEN CH Segoe H colle Nor wei ENZ 31 ZPLS OUT r Open collector Z phase mua cin gms on y Crece Izeg L Lyc Failure chain Mc2 2 At 23 DM asi mime m ender X84 xmi y E 9 Encoder signal output Speen analoz a E SET ejm yr Ho J0V 0V LI e imr Ine 23 empu GHD zH i Shell Shell 103 Series HSV 180AD AC Servo Amplifier User s Manual Figure 5 47 Standard wiring for external speed control mode analog interface Configured with Dench motor force coolingGK610 GK613 and GK618 Servo Amplifier APE Dench serwo motor AIA4 XTI uoc E MN NE AC380 L1 delt 50HZ 60HZ L 10 15X Se KE da 13 om T External braking p EJ vis 2 Ek EE i 5V_ENC ENC VH Servo enable sn 23 24 GNDP Wu Sor ware Boge ear op A CL 2 MEN EN a LCS CE Is Error count clear ri CLEE Bm Za DE B E Pede rue oca mala PP oie s es eee ES aue DIE E EE Go L CCW 5 Ren Br S i le Lo Gehe ps ve Low e LR np TIG poten a OO MERO SH2S 57 ars IET fepe che e CH oma o pe s n ey tt he tuae Le nu ef fale fe Aa servo ready output de d a m Ky aie Open collector ALM 9 12 F zi E servo alarm ouiput mula F aisle U ott COM 19 Optical leste Ze xs X54 encoder plug Open collector Z phaze SE BREAK 4 E F ENZ ason nyf Ge ouput
30. set 139 Series HSV 180AD AC Servo Amplifier User s Manual NO Parameter Scope Default Unit value 40 32000 1000 Function and setting 1 Set this parameter to the allowable overloading time of the system 2 The value indicates the overloading time per time unit unit 0 1s For example if the value is 1000 the allowable overloading time is 10s 3 The value is effective at any time Parameter Scope Default Unit value NO PA 23 Control mode selection 03 0 Function and setting 0 Position control mode receiving computer position command pulse 1 indicates the external speed control mode receiving speed analog input command 2 indicates the external speed control mode receiving speed pulse input command 3 indicates the internal speed control mode The internal speed command is set by movement parameter PA 20 4 multi speed mode 7 the motor encoder zero mode 7 NO Parameter Scope Default Unit value Current control PA 27 10 32767 2600 proportional gain Function and setting 1 Set this parameter to the proportional gain of current loop 2 Decrease the value to decrease the loud noise of current during motor operation 3 However a small value will decrease the feedback response 140 Series HSV 180AD AC Servo Amplifier User s Manual NO Parameter Scope Default Unit value Current control integration PA 28 g e 10 32767 2600 Function an
31. the three phase AC380V of strong electric 6 Ifthere are no alarms or abnormal situation the green enable light EN is on which indicates the Servo Amplifier working properly The motor is activated and in the zero speed state 7 PC sends pulse command to the 27 28 12 13 CGNDAM AN AN pins on the command input output interface XS4 The motor runs according to the command 153 Series HSV 180AD AC Servo Amplifier User s Manual 8 2 5 Position Running Mode Impulse interface For wiring see Figure 5 8 1 in Chapter 5 2 For HSV 180AD 150 Servo Amplifier and below disconnect motor coding cable and motor power line connect the main circuit power three phase AC380V of the servo Amplifier For HSV 180AD 200 Servo Amplifier and a above disconnect motor coding cable and motor power line connect the main circuit power single phase AC220V of the servo Amplifier 3 Modify control parameters and movement parameters Setting STA Oto 0 STA 6to0 PA 34to2003 Setting PA 25 PA 26 PA 43 Setting PA 23 to 0 According to the demand setting parameter PA 22 4 Save the parameter to EEPROM after setting PA 41to 1230 Turn off the power wait for 30seconds 5 Connect encoder and power line of motor For HSV 180AD 150 and below specifications only need to connect the three phase AC380V of strong electric For HSV 180AD 200 and above specifications Firstly connect single phase AC220V of control power and then connect the
32. three phase AC380V of strong electric 6 Ifthere are no alarms or abnormal situation the green enable light EN is on which indicates the Servo Amplifier is working properly The motor is activated and in the zero speed state 7 The PC sends pulse command to the 14 15 16 17 pins on the command input output interface XS4 The motor runs according to the command 8 2 6 Full closed loop 1 For wiring see Figure 5 8 3Standard wiring diagram in Chapter 5 2 For HSV 180AD 150 Servo Amplifier and below disconnect motor coding cable and motor power line connect the main circuit power three phase AC380V of the servo Amplifier For HSV 180AD 200 Servo Amplifier and above disconnect motor coding cable and motor power line connect the main circuit power single phase AC220V of the servo Amplifier 3 Modify control parameters and movement parameters Setting STA Oto 0 STA 6to 0 setting STB 14 to O select forbid full closed loop function Setting PA 34 to 2003 setting PA 25 PA 26 PA 43 PA 22 Setting PA 23 to 0 4 Save the parameter to EEPROM after setting PA 34to 1230 Turn off the power wait for 30seconds 154 Series HSV 180AD AC Servo Amplifier User s Manual 5 Connect encoder of motor For HSV 180AD 150 and below specifications connect the three phase AC380V of strong electric For HSV 180AD 200 and above specifications connect single phase AC220V of control power 6 Manually rotate the servo
33. u HaE Eu LP SEE Av Figure 6 8 Secondary menu for the auxiliary mode A EEPROM mode This method is effective only during the parameter changes and settings If changing or setting parameters you should firstly set PR HA to dE 38 then save the new parameter values by pressing S in 112 Series HSV 180AD AC Servo Amplifier User s Manual this mode When FINISH is displayed the parameter change and setting is completed Press Mi to switch to another mode or press T and to select other operations in the auxiliary mode B JOG mode This mode is effective only in JOG running When the JOG speed parameter PA 21 is a non zero value on the main menu press M to select the auxiliary mode and press 1 and to select the JOG running mode JOG is displayed through the digital display Press S R 1s displayed which indicates that the system enters into the running state Press and hold t then the Servo Amplifier and motor run at the speed specified by PA 21 Press n then the motor run at the speed specified by PA 21 in the opposite direction Release the T or to stop the motor Press a to return to the auxiliary mode Press M to switch to another mode or press f and to select other operations in the auxiliary mode C Alarm resetting mode When the Servo Amplifier generates an alarm press to reset the system in this mode If the fault is cleared the Servo Amplifier returns to norm
34. 000 16 5 53 5 25 5 3000 24 8 1200 114 2000 18 5 62 4 28 5 3000 27 8 1200 12 6 2000 21 713 315 3000 315 Series HSV 180AD AC Servo Amplifier User s Manual Type Static Rotational Adaptive Inertia AC Servo Amplifier ue Overload Ratio 1200 18 5 1500 jj 231 an ag 2000 28 2 GK6109 8AF61 3000 42 3 HSV 180AD 200 2 6 30 Series HSV 180AD AC Servo Amplifier User s Manual 2 Forced cooling Adaptive AC Servo Amplifier Overload Ratio BE 57 2 21 ms om TET id ess EN GK61011 8SB61 1500 115 36 6 270 7 57 HSV 180AD 150 2 3 GK61011 8SC61 2000 l HSV 180AD 200 2 3 GK6130 8SW61 500 7 5 HSV 180AD 035 2 9 GK6130 8SV61 750 11 HSV 180AD 050 2 5 75 GK6130 8SE61 1000 15 451 SR GK6130 8SA61 1200 18 GK6130 8SB61 1500 23 GK6130 8SC61 2000 30 Series HSV 180AD AC Servo Amplifier User s Manual Type Rated Static Phase Rotationa Weight Adaptive Speed Torque Current I Inertia Kg AC Servo r min Mu 10 10 kom Amplifier Nm A Overload Ratio GK6131 8SW61 500 9 HSV 180AD 035 2 4 GK6131 8SV61 750 14 GK6131 85E61 1000 X 18 ge GK6131 8SA61 1200 22 GK6131 8SB61 1500 27 GK6131 8SC61 2000 36 HSV 180AD 150 2 3 GK6132 8SW61 12 GK6132 8SV61 18 GK6132 8SE61 24 GK6132 8SA61 29 GK6132 8SB61 36 GK6132 8SC61 48 GK6133 8SW61 15 GK6133 8SV61 23 GK6133 8SE61 30 GK6133 8SA61 36 GK6133 8SB61 46 GK6133 8SC61 60 GK6135 85W61 18 GK6135 8SV61 27 m GK6135 8SE
35. 5 Figure 3 6 Dimension and size of HSV 180AD 200 300 450 without auxiliary devices Unit mm mfr anal ae M id iM ip wb Le ebe Kee denn e o o i l 23 Series HSV 180AD AC Servo Amplifier User s Manual 6 Figure 3 7 Dimension and size of HSV 180AD 200 300 450 with auxiliary devices Unit mm Heert Fire Ld a 24 Series HSV 180AD AC Servo Amplifier User s Manual 3 2 Specification of Servo Motor 3 2 1 Introduction to Series GK6 AC Servo Motor GK6 series of AC servo motors and the Servo Amplifier can be widely used in various fields such as machine tools textile printing and building materials GK6 AC servo motor uses self cooling motor and its protection class reaches IP64 IP67 GK6 AC servo motor is a three phase AC permanent magnet synchronous motor that uses high performance rare earth permanent magnetic materials to form air gap magnetic field Pulse width modulation PWM inverter is used to control operation to achieve good torque performance and wide speed range A temperature sensor is installed in the stator windings of the servo motor which is used for overheat protection GK6 series of AC servo motors consist of stator rotor and high precision feedback devices such as optical encoder and resolver 3 2 2 Features of Series GK6 AC Servo Motor Compact architecture and high power density small rotor inertia and rapid response Super high coercively rare earth permanent magnet Over
36. 5 Connection of the encoder signal terminal 5 5 1 XS3 ENCODER1 Servo Motor Input Interface HSV 180AD support three types of motor encoder Incremental photoelectric encoder sine and cosine incremental encoder ENDAT2 1 2 20f Absolute encoder Details are as follows Incremental NDAT2 1 2 20f Absolute encoder encoder BISS of Absolute encoder Hiper FACE of Absolute encoder TAMAGAWA of Absolute encoder 5 5 1 1 XS3 ENCODERI Servo Motor Input Interface Figure Figure 5 29 XS3 Servo Motor Input interface plug Absolute encoder 26 14 Figure 5 30 XS3 Servo Motor Input interface plug looking from the plug i 13 ef of a Of ff Ww UM Figure 5 31 Soldering terminal of XS3 Servo Motor Input interface plug looking from the soldering terminal 12 10 8 6 4 13 l1 29 20 9 al T 19 D 17 24 22 20 18
37. 61 36 GK6135 8SA61 43 GK6137 8SW61 21 GK6137 8SV61 32 GK6137 8SE61 42 GK6137 8SA61 50 32 Series HSV 180AD AC Servo Amplifier User s Manual Type Rated Static Phase Rotational Weight Adaptive Speed Torque Current Inertia Kg AC Servo r min Mu 10 10 kom Amplifier Nm A Overload Ratio GK6138 8SW61 500 24 HSV 180AD 100 2 3 GK6138 8SV61 750 36 HSV 180AD 150 2 3 GK6138 8SE61 1000 240 48 1360 148 HSV 180AD 200 2 3 GK6138 8SA61 1200 57 HSV 180AD 300 2 9 GK6138 8SB61 1500 73 HSV 180AD 300 2 3 GK6139 8SW61 26 HSV 180AD 100 2 2 GK6139 8SV61 39 HSV 180AD 150 2 2 GK6139 8SE61 270 52 aia 109 HSV 180AD 200 2 2 GK6139 8SA61 62 HSV 180AD 300 2 7 GK6180 8SE61 1000 51 HSV 180AD 200 2 2 GK6180 8SA61 1200 250 61 2200 277 HSV 180AD 300 2 7 GK6180 8SB61 1500 76 ER HSV 180AD 300 2 2 GK6181 8SE61 1000 61 5 HSV 180AD 300 2 7 GK6181 8SA61 1200 300 73 5 2800 300 HSV 180AD 300 2 3 GK6181 8SB61 1500 91 5 ER HSV 180AD 450 2 4 GK6182 8SE61 1000 72 HSV 180AD 300 2 3 1200 86 343 HSV 180AD 450 2 6 GK6183 8SA61 1200 98 HSV 180AD 450 2 3 33 Series HSV 180AD AC Servo Amplifier User s Manual 3 2 6 Installation Dimension of the Motor This section describes the installation dimension of series GK6 AC permanent magnet servo motors Figure 3 10 Dimension and size of series GK6 AC permanent magnet servo
38. 9 Signal function of XS3 ENCODERI ENDAT2 1 encoder Symbol Function standard Terminal Symbol l AMSINA SINA Servo motor encoder feedback A input 2 A SINA Servo motor encoder feedback A input B COSB Servo motor encoder feedback B input B COSB Servo motor encoder feedback B E Line driver receive add 10 56 Reserved 11 12 Reserved ST om on Motor overheat detection input terminal om Is connected to the motor overheat EE uos sensor Servo motor encoder 5V power output terminal Connect the servo motor en optical electrical encoder with 5 V 18 19 i DC 5V 150mA power supply If the cable is too long use multiple wires to form serial connection ETJ 524 25 GNDD Servo encoder power ground 0V ESCH ground 14 15 It is connected to the motor housing NOTE The homonyms pin connected has been shorting together in the internal circuit board 87 Series HSV 180AD AC Servo Amplifier User s Manual 3 The Servo Amplifier connect BISS agreement of Absolute encoder Chart5 10 Signal function of XS3 ENCODERI connect BISS agreement of Absolute encoder Terminal ymo NO Function standard Symbol U DATA Servo motor encoder feedback U input U DATA Servo motor encoder feedback U input V CLOCK Servo motor encoder feedback V input 7 10 V CLOCK Servo motor encoder feedback V input L2 jReenved 1 34 Reserved 6 Reserved 11 12 Reserved Motor
39. Amplifier The motor runs according to the command 3 power connection and alarm sequence Figure 8 1 HSV 180AD 035 050 075 100 150 Sequential diagram for power connection analog command 146 Series HSV 180AD AC Servo Amplifier User s Manual Main circuit power supply Servo ready output Servo enable input OFF TR Analog command 15 Figure 8 1 HSV 180AD 035 050 075 100 150Sequential diagram for power connection analog command Main circuit power 35 supply Control power Servo ready output Servo enable input OFF ON is i Analog command Figure 8 2 HSV 180AD 200 300 450 Sequential diagram for power connection pulse command 147 Series HSV 180AD AC Servo Amplifier User s Manual Main circuit power supply Servo ready output Servo enable input IS Pulse command lS Figure 8 3 HSV 180AD 035 050 075 100 150 Sequential diagram for power connection pulse command Control power Main circuit power 55 supply Servo ready outputt Servo enable input ON 15 Pulse command ls Figure 8 4 HSV 180AD 200 300 450Sequential diagram for alarming Figure 8 5 Time sequence alarm When a Servo Amplifier alarm is reported cut off the external control circuit power immediately based on the servo alarm output signal ALM or the failure chain input output terminal X S5 148 Series HSV 180AD AC Servo Amplifier User
40. E DISPLAY IVIODE xo 2255595653cdacossdaue sueta usua uoo ratu va Dunt e sadi Cast PI ERR SNP CEa n PRI M RIA PUE AM NSTMNE 108 D SOIATESBRUEIEDANCETAODE ee 109 6 4 OPERATION IN THE MOVEMENT PARAMETER Mont 111 D SOPERATIONIN THE AUXILIARY MODE ee 112 6 6 OPERATIONS IN THE CONTROL PARAMETER Mont 114 6 7 OPERATION IN THE AUXILIARY MODE deeg 114 6 8 CONTROL PARAMETER SETTING AND SAVING egene Een EENS 115 t PIE ERR SE FING resorna e 117 NN Use dMu Uc 117 Zad Parameters tico E 117 7 1 2 Parameter operation InSEFUCLIOTI aues t oerte bre i ttrt aie e Lo re OETAN er meh 118 ZA MOVEMENT PARAMETER EE 119 VIN Movement ee elen 119 7 2 ZEXTCNSION movement DOFORIOLOES uec ute oko EXEAT eT Anere A EN AANAND ERE 124 7 2 3 Description of the parameter setting eee seen nnns annes nnns 129 2 Series HSV 180AD AC Servo Amplifier User s Manual 7 2 4 Parameters Related to Movement Control 131 7 2 5 Parameters Related to Speed Control Mode 136 7 2 6 Parameters Related to Output Torque Regulation eese nnns 138 7 2 7 Non standard motor parameter settings sessi eese nennen nnne nnns 141 7 3 CONTROL road 142 ZO CODO PNAN E 142 7 3 2 Extended control leegen 143 8 OPERATION AND MODIFICATION oto eeuo eessen Eegen 145 NM a ER CONNECTION M E 145 8 1 1 CCC ON B
41. Manual PIN S PIN 6 PIN 4 PIN 2 PIN 7 PIN S PIN 3 PIN 1 OFF ON OFF ON OFF ON N OFF A ON The stroke light OFF The next stroke light Figure 5 15 Status of switch output signal 2 Switch value Output Interface 1 Two common wiring example OUT means out point ZSP READY ALM GET ORN FIN Figure 5 16 Connections of switch output signal 2 Input mode NPN The input switch value state is determined by the Servo Amplifier When the input of isolation optical coupler is conducted the input switch value state is ON When the input of isolation optical coupler is turned off the input switch value state is OFF 77 Series HSV 180AD AC Servo Amplifier User s Manual POL o POL A POU POU 5 POU 3 POU 1 E OV VOV VON OFF ON OFF ON ON ON ON The stroke light OFF The next stroke light 3 It provides open collector output with a maximum of 100 mA current and 25 V external power supply voltage Therefore the load of the switch value output signal must meet the requirements If the value exceeds the maximum value or the output terminal 1s directly connected to the power supply it may damage the Servo Amplifier 4 If the load is an inductance load such as relay it must be anti parallel with the freewheeling diode FWD at both ends The FWD cannot be reversed Otherwise it may damage the Servo Amplifier 5 The output transistor is Darlington Transistor When it is conducted the voltage
42. N indicates proper power supply and no drive alarm The signal is connected OFF indicates the main power is not switched on or a servo Amplifier alarm 1s reported The signal is disconnected Servo alarm output terminal ALM ON indicates a Servo Amplifier alarm is reported The signal is connected ALM OFF indicates no servo Amplifier alarm The signal is disconnected output 00mA POUS Reserve 0000 30 POU6 eene 1920 Series HSV 180AD AC Servo Amplifier User s Manual 5 4 1 3 XS4 COMMAND Input Output Interface 1 Switch value Input Interface Servo Amplifier Figure 5 14 Switch value input interfaces of HSV 180AD Note 1 Two common wiring example IN means input point EN ALM RST FWD REW INC Sell INC Sel2 Mode SW ORN 2 The COM signal of the XS4 command input output interface must be connected to the power ground of the external DC24V power supply Otherwise the Servo Amplifier may work improperly 3 The Darlington transistor is served as the output transistor which needs to be connected to a relay or an optical coupler The external power supply is provided by users Make sure that the polarity is not reversed Otherwise it may damage the Servo Amplifier 4 XS4 command input output interface of the COM signal must be connected with the ground signal of external DC24V otherwise Servo Amplifier cannot work properly 76 Series HSV 180AD AC Servo Amplifier User s
43. No Ne ON No correct Closed loop encoder Whether connections of closed loop encoder are signals proper N oo Communication Whether settings of closed loop encoder type are breakdown correct Servo Amplifier and Whether setting of PA 43 is correct motor model code matching fault 162 Series HSV 180AD AC Servo Amplifier User s Manual Version history of HSV 180AD Servo Amplifier Series HSV 180AD Servo Amplifier User s Manual V1 00 2012 4 a Applicable to HSV 180AD 035 050 075 100 150 200 300 450 Servo Amplifier b Software version V 1 13 163
44. OG speed Release t and then the motor stops and enters the zero speed state Press and hold ni the motor runs 151 Series HSV 180AD AC Servo Amplifier User s Manual at the JOG speed in the opposite direction Release LL and then the motor stops and enters the zero speed state 8 2 2 Internal Speed Running Mode For wiring refer to Figure 5 8 in Chapter 5 2 For HSV 180AD 150 Servo Amplifier and below disconnect motor coding cable and motor power line connect the main circuit power three phase AC380V of the servo Amplifier For HSV 180AD 200 Servo Amplifier and above disconnect motor coding cable and motor power line connect the main circuit power single phase AC220V of the servo Amplifier 3 Modify control parameters and movement parameters Setting STA Oto 0 STA 6to 1 Setting PA 34to 2003 Setting PA 23 to 3 Servo Amplifier to work in the internal speed mode SettingPA 25 26 43 4 Save the parameter to EEPROM after setting PA 34to 1230 Turn off the power wait for 30seconds 5 Connect encoder and power line of motor For HSV 180AD 150and below specifications only need to connect the three phase AC380V of strong electric For HSV 180AD 200 and above specifications Firstly connect single phase AC220V of control power and then connect the three phase AC380V of strong electric6 6 Ifthere are no alarms or abnormal situation the green enable lamp EN 1s light which indicates the Servo Amplifier is o
45. SGISHMBB 1500 9 6 60 29 29 1308T M09620HMBB 2000 9 6 75 33 13 ISOISTMIGISHMBB I0 146 90 35 Bs IS0ST MIA320HMBB 2000 143 90 39 239 HSV I80AD 07s 15 HSV 180AD 035 123 Series HSV 180AD AC Servo Amplifier User s Manual 7 2 2Extension movement parameters Select PA 34 to2003 in the PA motion parameters could see the extension movement parameter model PB parameter model HSV 180AD have 44 extended motion control parameters Table 7 4 Extension movement parameters Applicable Default Method The second position 20 10000 400 0 1Hz proportional gain s qmm speed 20 10000 250 seme gain 15 500 The second torque command filter time P S 0 500 constant Gain switching condition The second integration time constant speed Fixed for the first gain Fixed to the second gain 2 Switch control cutover 0 5 3 Command frequency control Bias pulse control Motor speed control Command frequency 0 1 Kpps unit 0 10000 Deviation pulse pulse Motor speed 1rpm 124 Gain switching threshold Series HSV 180AD AC Servo Amplifier User s Manual Gain switching mE 1 10000 9 the same as above hysteresis width Unit ms Gain switching lag Gain switching 7 0 10000 2 7 time conditions are met to start switching time Unit ms 8 l l Set the position gain Position gain switch 0 1000 5 first order low pass delay time
46. Series HSV 180AD AC Servo Amplifier User s Manual V1 00 2012 4 Wuhan Huazhong Numerical Control Co LTD Wuhan China Series HSV 180AD AC Servo Amplifier User s Manual CONTENTS TSAFETY PRECAUTIONS m T M 4 1L SYMBOLS OF SAFETY e Ehe 4 1 2 MEANING OF SAFETY PRECAUTION SYMBOLS i225 aere SE S iiean ripa ce tuae qud PFapaVav Un deus ana pet Pau RPM PRM UE PBEEE 5 1 3 EXPLANATION OF SAFETY PRECAUTION SYMBOLS eege dee Een 5 E ST IRE GUI LOIN fe 6 DOVER IBY mt 11 PANNI pile iee M 11 2 2 INTRODUCTION TO CONTROL eege 12 3 ORDER INFORMATION cris cexecuidianctaveccnedenvewiessinsetecwelsxcutavdedeapcetewsetaicteressodowretivendsoadevexsersaetusteiecen 14 3 SPECIFICATIONS ee ER TEE 14 Dialed SPeCHIGOUON relance p siete is nrn e NEE ERATOR OOTAN 14 S42 Cunen TUDE Oy HSV TSOA D rra ror iON O EEA OTOES 14 3 1 3 Tee ee e TT EE 16 3 1 4 Dimension and Size of Servo Amplifier aeos senes nnn nn ann 19 EK EEN e eo Me H 25 3 2 1 Introduction to Series GK6 AC Servo Motor 25 EI elle Sech EE EE 25 3 2 3 Technical index of Series GKG AC servo motor eee eee eee nena anna nhanh anna 26 3 2 40rder information of series GK6 AC Permanent Magnet Serge 28 3 2 5 Technical Specification of Seri
47. UE ES E servo ready output Open collector servo alarm ouput n is XA gl US z s e e 3 8 v 8 E mr m 2 gt ii mi A E amp ETSI III Ge Hu ij A ie c electric encoder plug pet Open collector Z phaze Open collector pulse ouipur GHD braking owiput n ala E c T zz Z m x US Failure chain position command PLUS A T J E C Ale ely d z IE f Encoder signla B output p A A M EE ajen e HER t ges ese 3E zz c rz kel Le m m sew J position command 21 CHDDE CHD SIGN L shell 101 Series HSV 180AD AC Servo Amplifier User s Manual Figure 5 45Standard wiring for position control mode pulse interface Configured with Dench motor force coolingGK610 GK613 and GK618 Servo Amplifier RE XII WW AC 280 L1 5OHZ 60HZ L 10 15 L3 AI o B aiden DENE BK HOME l resistor 18 19 5V ENC Servo enahle ER 23124 GNDP I Alarm clear L an UT iT Ar EE O O MIGEAR M a a eI Error count clear A CLEE EI MN eecht degt CY Lu XL TENE prr s ERE Jp AGE CW drive prohibition LA CR nun T p HE EN Zero zpeed locked CY ZERO sH26 ee Receiver pipa RR dE A v te to i Ead GET IZ Ir E sup erh XT Open collector D E 10 v al servo ready ouiput LH a t Open collector az w fe LL servo alarm owiput Ki ele CS S n olol le c dk zz
48. User s Manual G6N137 Servo Amplifier AM26L583 FE Series HSV 180AD AC Servo Amplifier User s Manual 5 4 2 XS5 Input output Terminal XS5 Input output Terminal Figure Figure 5 25 XS5 Input output Terminal 5 4 2 2 XS5 I O Input output Terminal Function T inal n Failure chain output terminal The relay 1s connected when the relay 1s 1n the Failure Normal Open state and the Servo Amplifier runs chain m properly The relay is disconnected if there are any Servo Amplifier faults Public terminal connection terminal If the brake function is required The COM signal of the XS4 command input output interface must be connected to the external DC 24 V power Sen i UE ground signal Otherwise the Servo Amplifier may work improperly Otherwise the Servo Amplifier may work improperly Brake output terminal If the main power is proper and no Servo Amplifier fault 1s reported the signal is connected after the servo enable signal is input Otherwise the signal 1s disconnected 5 4 2 3 XS5 I O Input output Terminal Notations 1 Ifthe output terminal of the Servo Amplifier inductive loads such as electromagnetic relays electromagnetic contactor should be retrofitted surge suppressor The surge suppressors should be nearby installed on end of electromagnetic relay or electromagnetic contactor coil 84 Series HSV 180AD AC Servo Amplifier User s Manual 5
49. X of the controller or PC to achieve the serial transmission E communication It is connected to the serial data transmitting 3 RX interface TX on the controller or PC to achieve Data reception TC the serial communication GNDD Signal ground Data signal ground CANL 6 CANH 98 Series HSV 180AD AC Servo Amplifier User s Manual 5 7 Wiring 1 Power input terminal XT1 and heavy current power output terminal XT2 Diameter The terminal diameters ofL3 L2 L1 on XT1 of HSV 180AD 035 050 075 100 150 The terminal diameters of P BK U V W PE on XT2 of HSV 180AD 035 050 075 100 150 The terminal diameters ofP BK L3 L2 L1 U V W PEon XT2 of HSV 180AD 200 300 450 The terminal diameters 220A 220B on XT1 of HSV 180AD 200 300 450 gt 1 5mm7 3 0 3 7 5 5 7 5 kw Grounding Grounding wire must be thick The Servo Amplifier and servo motor must be connected to PE Grounding resistance lt 4Q Use cold pre insulated terminals to connect terminals and make sure that the connection 1s firm Install the non fuse circuit breaker to promptly cut off the external power when a Servo Amplifier fault occurs It is recommended that shield cable be used to prevent other electrical equipments from interference 2 Control signal XS4 feedback signal XS3 for servo motor optic electrical encoder servo encoder feedback signal XS2 and XSI Serial Interface Diameter Shield cable is used stranded shield cable is the best choice a
50. XT2 are connected to the external braking resistor Terminal P and BK cannot be shorted Otherwise it will damage the Servo Amplifier Shell in the wiring diagram refers to the mental shell of the wiring plug The cable shield must be connected to the metal shell First unravel the shield and avoid twisting together Then loop part of the shield and cut off the rest Last cover the looped shield with casing and weld the exposed shield to the metal shell Avoid too much solder to make sure the plug shield can be covered It will be better if you use a metal cable clip to form a 360 degree access and perform nearby grounded 100 Series HSV 180AD AC Servo Amplifier User s Manual 5 8 1 Standard Wiring for Position Control Mode Pulse Interface Figure 5 44 Standard wiring for position control mode pulse interface Configured with Dench motor GK604 GK 606 GK607 GK608 and GK610 Servo Amplifier APE Dench servo motor Ala XII Uo VO RT PE AC380 L1 FE SOHZ H L3 10 15X S X583 L3 xT External braking o B resistor BE 17 X54 Servo enable T EN Len Alarm clear E 5 nen a LS nd nanc 28 gear ratio zwi CLEE 3 Bm Za 261232 ra Carel Error count clear L Command pulse EET recelver i prohubibon CCW drive prohibition C CW drive prohibit LCW 6 Cen P i fero speed locked 0347 ek E p m LC Open collector a LE orientation finished GET EN F Ye ee
51. al Press Mi to switch to another mode or press f and to select other operations in the auxiliary mode D Default restoration mode This mode is used to set the parameters to the default values In this mode press S to restore system parameters to default values Press Mi to switch to another mode or press fand to select other operations in the auxiliary mode E Alarm history clearance mode This mode is used to clear alarm history records In this mode press S to clear the alarm history records Press M to switch to another mode or press 1 and to select other operations in the auxiliary mode TEIL F Encoder zero calibration LRL Wiad Auxiliary correct encoder zero calibration of the motor G Parameter self adjustment H LH t nu E 113 Series HSV 180AD AC Servo Amplifier User s Manual Automatically adjust parameters of the Servo Amplifier to match the inertia of load I H The encoder reset PESEE Support automatic reset of several encoders 6 6 Operations in the Control Parameter Mode 1 On the main menu select STA 0 and press land to enter the secondary menu for the control parameter mode 2 Series HSV 180AD Servo Amplifier contains 16 types of control parameters Figure 6 9 Secondary menu for the control parameter mode Y d nl PR 0 ER EE YRI SEAS A E Bo HB Av weem e a gf F k b wg 1 On the main menu select STA 0
52. an be connected only after the wiring is correct Emergency stop circuit must be provided to make sure the power could be stopped at once in case of emergency If a Servo Amplifier alarm is reported make sure the alarm is cleared and the servo enable input signal EN 1s ineffective before restarting the Servo Amplifier After the Servo Amplifier and motor are power off do not touch the Servo Amplifier within 5 minutes to avoid electronic shock Be cautious to prevent burning as the temperature may get higher after the Servo Amplifier and motor running for a period of time 8 1 Power Connection 8 1 1 Checking Before Running After the installation and connection is completed check the following items before power on Whether the type of Servo Amplifier HSV 180AD 200 and above is correct and reliable Whether the input voltage 1s correct Whether the strong power terminal Ll L2 L3 U V Wy Py BK PE is correct and reliable Whether the input voltage is correct Whether the power lines or motor lines is short circuited or grounded Whether the encoder cable connection is correct Whether the control signal terminal connection is correct Whether the polarity and size are proper 145 Series HSV 180AD AC Servo Amplifier User s Manual Whether the Servo Amplifier and motor are fixed firmly 8 1 2 Power On Sequence 8 1 For HSV 180AD 035 050 075 100 150 connect the main circuit power three
53. arameter value is determined according to the type of Servo Amplifier and operating load Function and setting 1 Set Position forward gain 2 When setting 100 position lag is always 0 in any frequency command pulse 3 The greater of gain the position loop the greater of the high speed response characteristic of the control system but it will make the system more prone to oscillation 4 The parameter is usually set to 0 when there is not need very high response characteristics 131 Series HSV 180AD AC Servo Amplifier User s Manual PA 11 NO Parameter Scope Default Unit value Positioning complete 0 3000 100 0 0001r PA 11 range Function and setting 1 Set the positioning complete pulse range under position control mode PA 11 0 0001 motor pulses If set PA 11 1000 motor runs 10000 pulses per revolution Positioning complete range is 1000 0 0001 10000 1000 pulses 2 This parameter judges whether Servo Amplifier complete positioning under the position control mode when the remaining pulse in the deviation counter 1s less than or equal to the parameter setting range it means the Servo Amplifier has been complete positioning The positioning complete switch signal output ON otherwise OFF 3 Under the position control mode PA 23 0 output positioning complete signal PA 12 NO Parameter Scope Default Unit value e Range of position 1 100 20 0 1 ring tolerance Function and setting
54. ategories movement parameter expanding movement parameter control parameter and expanding control parameter applicable to movement parameter mode expanding movement parameter mode control parameter mode respectively and expanding control parameter mode These parameters can be viewed set and modified by keys or computer serial ports on the wire control box Table 7 1 Description of the three types of modes Description Movement Able to set speed regulator specially parameter mode modification and motor related parameters Expanding Able to set parameters I O I O interface movement function notch filter the nominal motor parameter mode current speed etc 117 Series HSV 180AD AC Servo Amplifier User s Manual Control ER e Able to set servo orientation speed orientation parameter mode position Expanding Able to set control functions can be enabled control ot h E 0 15 or disabled etc parameter mode 7 1 2 Parameter operation instructions This section describes the modify and view parameters during debugging and precautions does not include the adjustment and adaptation of parameters 1 The Servo Amplifier can only view the movement parameter PA status monitoring auxiliary parameters and control parameters STA parameters after power on 2 Set PA 34to 2003 you could view or modify parameters PA and STB 3 Anytime PA 23 PA 24 PA 25 PA 26 are effective only when saving parameters an
55. be XH ince MENS EH ls um cow Tt E eseu Failure chain SE ERE MC1 1 LE A NL KA BED Hid AS al EHB 1 CP 14 ze ENZ PLUS ee REG RE Kees Position command PEE ye 23 enn dli DIR 17 j E i 5hell 102 Be rm en re een We bi i 1 Dench servo motor as ES ES EX Di D 8 9 E D ET Optic electrical encoder plug Open collector Z phaze pulse ouput GHD AT A B Encoder signal B output i I Series HSV 180AD AC Servo Amplifier User s Manual 5 8 2 Standard Wiring for External Speed Control Mode Analog Interface Figure 5 46 Standard wiring for external speed control mode analog interface configured with Dench motor GK604 GK606 GK607 GK608 and GK610 Servo Amplifier PE Dench servo motor XT2 XTI o n vo Wo AC380 L1 PEG 50HZ 60HZ L 10 15 8 X53 13 om XT2 om External braking resisto Qo F E TeZ1sIDI 5 BK 16 17 5V XS MV 18 D Servo enable OER 1 men EJ Alarm clear 5 ole LE E Secondary electric L n cram 2s UE 1 e servo alarm ouiput md RUBE Sel 7 8 Ils At a E AT erii HERE RN gear ratio switching E A 3 Error count clear VM aum s S 261s32 etl B A Command pulse Sop mH 4 LEO Receiver A Il ay prohibition E B 5 a Los pew s iee tt ee Fz B y CW drive prolubition SS oer ER fero speed locked C baa pm e output L3 v T wa maze ele yt ote finished
56. clear the alarm Some alarm can only be cleared by this method 149 Series HSV 180AD AC Servo Amplifier User s Manual Do not turns off the power after the fault source is cleared and enter the auxiliary mode to reset the internal alarm to clear the alarm After the alarm is reset the red alarm light is off indicating the alarm is cleared the servo alarm ALM output is disconnected and the failure chain relay normally open contact on the input output terminal XS5 is connected Do not turns off the power after the fault source is cleared reset the external alarm to clear the alarm via the alarm clear input signal ALM RST see Figure 8 4 After the alarm is reset the red alarm light is off indicates the alarm is cleared the servo alarm ALM output is disconnected and the failure chain relay normally open contact on the input output terminal XS5 is connected Figure 8 6 Sequential diagram for external alarm clear Alarm dear iHe Spindle alarm output ON OFF 8 2 Trial Operation Before operating any modes as follows you must check whether the motor parameter setting of Servo Amplifier and phase sequence of motor power line is right Steps as follows Il For HSV 180AD 150 Servo Amplifier and below disconnect motor coding cable and motor power line connect the main circuit power three phase AC380V of the servo Amplifier 2 For HSV 180AD 200 Servo Amplifier and above disconnect motor coding cable and mo
57. com gl ors j timoan MG T GC MCI 1 58L S31 gt ee a Sender ae E B Encoder signal ouiput X84 eee y B uM SESSEL UE a H AN 12 qo M 35 ENZ it AD UT His s RW Kee I EDAM Hem GND 2 t 7 Shell Shell 104 Series HSV 180AD AC Servo Amplifier User s Manual 5 8 3 Standard Wiring for Closed loop Control Mode pulse interface Figure 5 48 Standard wiring for closed loop control mode pulse interface configured with Dench motor GK604 GK606 GK607 GK 608 and GK610 Servo Amplifier Dench servo motor o PE ST AC380V bu sten E ti JS e External braking resistor x Bk Serve enable i NW Secondary P ud BE ER 16 17 TANI gear ratio switching d c GEAR M 25 NE scipit eue cum 3 FECE 18 19 5Y ENC mE ommnandpulseproelihrhon co INH Ke Ze COW dive prohibition 7 ecew s Lom spe j iti oc LCW Sia eames Soporte E oed TL Aer Gra EB NET ario finished LA VL r4 SS Bi Wg Open collector servo a s D E ready cuiu ug ts Kee servo Receiver Se ONA DUIDU rm 17 zi Ob wl vy 2 CLE braking owiput D r Rer Failure chain MC2 2 feel Jan Mc LUlr Wm U xr Di E54 Optic Position command CR i PLUS X e As E D Seine Position command gt nme 1s ze rl SIGN gt DIR 1T4 OX mul X81 E ENCODERZ yy Ras I 26L532 58V a Dn LAO Receiver WEE B 4 aes oe s31 npe r BEE A eS Sender 13 14 pp ENZ Y Open colle
58. ctor m disc Z phase pulse owiput i d EES oUr 31 LE ele Pz CND __GNDDM 233 H 17 14 PE Te PE Shall fene E Series HSV 180AD AC Servo Amplifier User s Manual Figure 5 49 Standard wiring for closed loop control mode pulse interface Configured with Dench motor force cooling GK610 GK613 and GK618 Servo Amplifier Dench servo motor Li PE ATI Ur AC380V Z 50H A L3 External braking resistor P X54 Servo enables Re Secondary electric E gear ratio santching S c GEAR MISE L Error count clear Ac CLEE 3 Sm Za Comme pulse prohibitin ana a INH 4 Pes CCW drive prohibition Ke ecw s Lese CW drive prohibition Lcw e O Ea Zero speed locked l ZFROSP EE E input Open collector orientation KE URSEEN CUUEX finished ouiput Open collector servo ready output pel fe Open collector servo alarm output ALIM Ch cens COM 20 Open collector ss braking owiput sg tpe r COM l Failure chain MC2 2 MCI 1 f Esd Position command CP ami PLUS Xe ist O Posr on command yT DIES 16 5 F SIGN T DIR T E CUT s Xm 95 26LS32 signal oulput p y wee 4 Receiver 9 10 ENDEP B 4 ENB 36 26LS31 o VINE SED Sender S ENE 34 Open collector Les Z phase pulse ENZ output Wi ZPLS OUT 31 ep Hl eNDDM 23 24 Gah A sran She 106 Series HSV 180AD AC Servo Amplifier User s Manual 6 Operation and Displa
59. d IMB35 IMB5 e P64 Options IP 65 and IP67 eNatural cooling eFlat grey paint Options customized paint eDouble row deep groove ball bearing eDrive shaft seal eStandard Type a Plain shaft no keys Option Typeb Shaft with keyway keys or customized shaft Series HSV 180AD AC Servo Amplifier User s Manual Vibration level amp Rotation accuracy Connection Options oN Options R and S eN Option R and S GK603 lt 55dB A GK604x55dB A GK605 lt 60dB A GK606x65dB A GK607 lt 65dB A GK608 lt 70dB A GK610 lt 70dB A GK613 lt 70dB A GK618 lt 76dB A eSocket connector GK603 GK 610 Option Outlet box GK603 GK 610 eOutlet box GK613 or a later version Option Socket connector eMaintenance free high reliability permanent magnet safe brake made in Germany eHigh precision planetary gear reducer or other reducers 27 Series HSV 180AD AC Servo Amplifier User s Manual 3 2 4O0rder information of series GK6 AC Permanent Magnet Servo npectal description GK 6 06 1 6 C3 1 F B YI Ze Y Hon standard shaft extension and installation dimension The following number is the sequence number b b type shaft extension with standard keys Braker B with braker E without braker Feedback KL 2000 pir PF 2500 pt H a pair of positive rotary encoder Apparatus N 2045 nik positive consine encoder Installation modes 1 1 MES 2 IMV 3 1 MV3 4 1ME3 o IME3S Adaptive DC
60. d external braking resistor 2 There is no braking resistor built in HSV 180AD 100 150 200 250 300 450 you have to connect to external braking resistor The braking time is shorter when the load or inertia 1s bigger and the resistance value is smaller and its power is bigger However the maximum braking current cannot exceed the Servo Amplifier s maximum braking current Generally the total braking power of the braking resistor is 10 to 20 of the rated motor power Connect P and BK terminals of the Servo Amplifier with the external braking resistor if an external braking resistor is used In this case the internal resistor and the external resistor are serial connected Table 5 8 shows the recommended external braking resistor 71 Series HSV 180AD AC Servo Amplifier User s Manual H A JO IK DUI E qj EUI Figure 5 8 single external braking resistor standard wiring Multiple exter rakin resis stor See era s Tring Figure 5 9 multiple external braking resistor standard wiring 3 Ground Connection B Ground terminal or PE or D be sure to ground E Ground resistance is less than 4Q B Ground wire of Servo Amplifier cann t use with welder and other power equipment at the same time Figure 5 10 Ground connection 72 Series HSV 180AD AC Servo Amplifier User s Manual 5 4 connection of control signal terminals 5 4 1 XS4 COMMAND input output terminals Figure 5 11 XS4 command input outpu
61. d restarting power 4 Before the Servo Amplifier running you must modify parameter PA 43 Notice modify parameter PA 43 after setting PA 34 to 2003 If the Servo Amplifier and motor code is not in Table 7 3 you need to set the parameters related to the motor manually and refer to 7 2 7 Non standard motor parameters 5 The Servo Amplifier performance debugging please refer to the relevant sections of 7 2 6 The steps of trial operation of the Servo Amplifier please reference the relevant sections of Chapter 8 118 Series HSV 180AD AC Servo Amplifier User s Manual 7 2 Movement Parameter Mode 7 2 1 Movement parameters Series HSV 180AD Servo Amplifier can provide 44 movement parameters For details about the movement parameters see Table 7 2 and Table 7 3 In the application control mode P indicates position control S indicates speed control T torque mode Table 7 2 Movement parameters No Parameter I Default Unit i Value W Position proportional 20 10000 1000 0 01 Hz gain 0 the Speed proportional gain 2010000 FEE LS constant Speed feedback filter factor for maximum torque constant gain Speed command Zero S 6000 6000 drift compensation Sech Te m gain 10 Torque command zero E ET 23 1023 drift compensation Inversion of Table position feedback 0 or 512 signal Orientation finished RE 0 3000 0 0001 r range 119 Series HSV 180AD AC Servo Amplifier User s Manual range P
62. d setting 1 Set this parameter to the integration time of current loop 2 Increase the value to decrease the loud noise of current during motor operation 3 A big value will decrease the feedback response NO Parameter Scope Default Unit value Torque command filter 0 500 0 1ms time constant Function and setting Il Set the Torque command filter time constant 2 The greater of the time constant the slower of response of the control system it will make the system unstable oscillation 7 2 7 Non standard motor parameter settings Select HSV 180AD series Servo Amplifier refer to table7 3 If the code cannot be found in Table 7 3 or use other manufacturers IM servo motor you must manually set the operating parameters Details as follows 1 Confirm whether the servo motor specifications match with the Servo Amplifier specifications 2 Confirm whether the Servo Amplifier is installed to support the servo motor encoder 3 Setting parameters according to the type of IM servo motor setting PA 34 to 2003 setting PA 43 according to the type of servo motor HSV 180AD 035 Setting PA 59 to 1 HSV 180AD 050 Setting PA 59 to 102 HSV 180AD 075 Setting PA 59 to 203 HSV 180AD 100 Setting PA 59 to 304 HSV 180AD 150 Setting PA 59 to 405 According to the actual requirement set PA 17 PA 24 PA 25 PA 26 PB 42and PB 43 4 Setting PA 34 to 1230 saving parameters in the secondary menu and restart th
63. drop between the collector and the emitter Vce is about 1 V which cannot meet the requirement of the TTL low level So it cannot be directly connected to the TTL 3 Z phase Pulse Open Collector Output Interface 1 Incremental photoelectric encoder Z signal send to the CNC system by open collector meanwhile providing two types of output Z OUT PNP and ZPLS OUT NPN max 100mA COM Servo Amplifier Figure 5 18Z phase pulse open collector output interface PNP 78 Series HSV 180AD AC Servo Amplifier User s Manual max 25V ye max 100m 5ervo Amplifier Figure 5 19Z phase pulse open collector output interface NPN 2 Z phase pulse signal is outputted by the open collector with a maximum of 100mA current 3 The Z phase pulse signal is usually very narrow Therefore the PC must use a high speed optical coupler receiver such as 6N137 4 The output must be non isolated output non insulated 4 Pulse Command Input Interface Figure 5 20 Differential drive mode of the pulse input Figure 5 21 Single ended drive mode of the pulse input 79 Series HSV 180AD AC Servo Amplifier User s Manual PO UZLIIZLZLZIIZILILIIEZNZLX cl Ce It is recommended that you use the differential drive mode especially when the cable is too long which uses AM26LS31 MC3487 drives or RS422 drives The single ended drive mode can reduce the action frequency Yo
64. e Servo Amplifier 5 Confirmation weather phase sequence of the servo motor is correct 6 The Servo Amplifier access systems up to running after confirmation 141 Series HSV 180AD AC Servo Amplifier User s Manual 7 3 Control Parameter Mode Series HSV 180AD Servo Amplifier provides 16 control parameters see Table 7 6 7 7 For the parameter operation setting modifying and saving 7 3 1 Control Parameter Table 7 6 Control Parameters state control number is 1 STA 0 Position command interface 0 Serial pulse selection l NCUC This parameter is used to 0 Allow 2 STA 2 specify whether feedback break off alarm is allowed This parameter is used to specify whether system overspeed alarm is allowed 1 Not allow 0 Allow pos 1 Not allow 0 Allow This parameter is used to specify whether position over tolerance alarm is allowed STA 4 1 Not allow This parameter is used to 0 Allow STA 5 specify whether Software 1 Not allow overheating alarm is allowed This parameter is used to specify whether the internal 1 Internal enable SVR ON control start is 0 External enable allowed This parameter is used to specify whether system main 1 Not allow STA 6 SE power undervoltage alarmis 0 Allow allowed This parameter is used to specify whether the forward Allow SC over travel switch input 1s Not allow allowed This parameter is used to specify whether the rever
65. ect immediately If changing or setting parameters you should firstly set PH 3M as ie 38 then save the parameter change by pressing S to return to the main menu and pressing M to select the auxiliary mode Then press T and to select EE WRI and then 115 Series HSV 180AD AC Servo Amplifier User s Manual press S to save the changed parameter value to EEPROM The wire control box displays FINISH indicating that the parameter value is saved 4 The changed control parameter takes effect as a default control parameter after restarting the Servo Amplifier NOTE If changing PA 24to PA 28 PA 59 you should firstly set PRP FSA as i230 116 Series HSV 180AD AC Servo Amplifier User s Manual 7 Parameter Setting Attention Personnel that set parameters must understand the meanings of the parameters Wrong setting could result in damage to the equipment and injuries It is recommended that parameter modification be performed under the condition that servo motor run without load 7 1 Function Menu 7 1 1 Parameters illustration Users can set various parameters for series HSV 180AD Servo Amplifier to adjust or set the performances and functions of the Servo Amplifier This section describes the purpose and functions of these parameters Understanding these parameters is essential for a best use and operation of the Servo Amplifier series HSV 180 AD Servo Amplifier parameters can be divided into four c
66. ed motor current refer to Table 3 1 68 Series HSV 180AD AC Servo Amplifier User s Manual B MCCB s time characteristics should considerate the Servo Amplifier motor rated current 1 5 to 2 times 1 min and time characteristics B Each Servo Amplifier must be corresponding to a MCCB when multiple Servo Amplifiers share a MCCB In order to cut off the power supply and prevent the failure expanding suggest using the failure chain output relay of Servo Amplifier to control the line magnetic contactor to ensure safety 2 leakage circuit breaker B When choosing a specific leakage circuit breaker please select Operating current of Servo Amplifier above 30mA B When choosing a general leakage circuit breaker please select Operating current of Servo Amplifier above 200mA time is above 0 1S B Installing isolation transformer between a general leakage circuit breaker and Servo Amplifier could effectively avoid the breaker malfunction 3 Line electromagnetic contactor B Line electromagnetic contactor capacity is generally 1 5 to 2 times the rated motor current selection please refer to Table 3 1 B Frequently using open closed magnetic contactor will cause heating of the soft start resistance and even burning B Interval time of open closed magnetic contactor should be more than 10 minutes 4 Surge Suppressors In order to eliminate arc and damage extend the life of the contactor connect a three phase AC interrupter serve
67. eed mode 7 Motor encoder Zero calibration mode 134 Series HSV 180AD AC Servo Amplifier User s Manual PA 29 Parameter Scope Default Unit value NO The second position 12232767 1 PA 29 command pulse frequency molecular Function and setting 1 Set the second position command pulse frequency molecular 2 This parameter is valid when STA 13 is 1 PA 30 NO Parameter Scope Default Unit value The third position 1432767 PA 30 command pulse frequency molecular Function and setting 1 Set the third position command pulse frequency molecular PA 33 NO Parameter Scope Default Unit value Position forward filter time E constant Function and setting l Set position forward filter time constant 2 The smaller the time constant the faster of response characteristics of the control system make the system unstable oscillation 35 NO Parameter Scope Default Unit value Position command Se smoothing time Function and setting 1 Set position command smoothing time 135 Series HSV 180AD AC Servo Amplifier User s Manual 2 The smaller the time constant the faster of response characteristics of the control system 3 The larger the filter time constant the slower response of the control system this parameter is usually set to 0 39 value The fourth position 1732767 EE PA 39 command pulse frequency molecular Function and setting 1 Set the fourth pos
68. efore RH E 145 gL Vol Cl OSC Ce RT 146 8 1 3 power connection and alarm sequence esee na annes ssa a anna aaa 146 B Eege 149 PUI CLOG T 149 GEAR O o so EEN 150 8 2 1 000 0000 70 7 co E res 151 8 2 2 Internal Speed Running Mode ANERER 152 8 2 3 External Speed Running Mode Analog interface esses nnne 152 8 2 4 Torque Running Mode Analog interface eese eese 153 8 2 5 Position Running Mode Impulse interface sees 154 ET LO e EE EE en 154 ey OS OTe NEED raga orn sao cer HH 156 MU uU a ef e E 156 See aU uetting EMEN EE 157 e Adjustment PRENNE MEER ESSE 158 9 FAULT TROUBLE SHOOTING itr eana UE oue epi ous 029 US spe sexu appe puS an va epi cU UE RE S5S ceu ice eu p2DUE eot esICU E Pr du 160 9 4 PROTECTION AND FAULT IDENTIFICATION iuo iasussssist tapa ah ca eaa pU ua phu SEG CO Ux ume d Ss to Op Su E EAER aiii 160 Series HSV 180AD AC Servo Amplifier User s Manual 1Safety Precautions Thank you very much for buying AC Servo Amplifier HSV 180AD AC Servo Amplifier and servo motor are applicable to the general industrial environment not to the strong vibrating environment Pay attention to the followings Itis inapplicable to the medical equipment which related to life safety The Servo Amplifier is not water proof It must be avoid moisture and direct sunlight
69. en enable lamp EN is on which indicates the Servo Amplifier 1s working properly The motor is activated and in the zero speed state 7 Use PC outputs forward or reverse control signal to the third pin FWD and the forth pin REW and outputs analog signal to the 27 28 12 13 pin GNDAM AN AN on the command input output interface XS4 The motor rotate forward or reverse 8 2 4 Torque Running Mode Analog interface 1 For wiring see Figure 5 8 2 in Chapter 5 2 For HSV 180AD 150 Servo Amplifier and below disconnect motor coding cable and motor power line connect the main circuit power three phase AC380V of the Servo Amplifier For HSV 180AD 200 Servo Amplifier and above disconnect motor coding cable and motor power line connect the main circuit power single phase AC220V of the servo Amplifier 3 Modify control parameters and movement parameters Setting STA Oto 0 STA 6to0 PA 34to2003 Setting PA 25 PA 26 PA 43 Setting PA 23 to 2 Servo Amplifier in the external speed control mode According to the demand setting parameter PA 9 and PA 10 4 Save the parameter to EEPROM after setting PA 34to 1230 Turn off the power wait for 30seconds 5 Connect encoder and power line of motor For HSV 180AD 150 and below specifications only need to connect the three phase AC380V of strong electric For HSV 180AD 200 and above specifications Firstly connect single phase AC220V of control power and then connect
70. ency stop circuit check whether the wiring is effective Failure to follow this instruction could result in injury Users shall be responsible for the wiring Do not touch the output terminal directly nor connect external shield to the output wire of a Servo Amplifier Avoid short circuit of output wires Failure to follow this instruction could result in electric shock and short circuit Caution Confirm whether the power voltage of the main AC circuit is subject to the rated voltage of the Servo Amplifier Failure to follow this instruction could result in injury and fire hazard Series HSV 180AD AC Servo Amplifier User s Manual Do not make withstand test for the Servo Amplifier Failure to follow this instruction could result in damage to components such as semi conductor Do not connect power cable to the output U V W terminals so as to avoid damage of Servo Amplifier internal parts Caution Do not connect capacitance and LC or LR noise filter to the output circuit so as to avoid damage of the Servo Amplifier Do not connect electromagnetic switch and electromagnetic contactor to the U V and W output circuit When the Servo Amplifier running with load surging current could activate over current protection of the Servo Amplifier 4 Testing and Commissioning Danger Do not remove or modify anything when the external wirings are made or the power is on Failure to follow this in
71. ers read Resave parameters 14 fault Whether PA17 parameter set is reasonable after given an instruction frequency more than it 15 E E BEE Whether PA23 parameter set is reasonable V e Whether the system of electronic gear ratio the encoder type or operating mode is correct Whether PB42andPB4 is reasonable Control board hardware DSP and FPGA communication failure failure Resave parameters Temperature of the Servo Amplifier exceeds the set ON Servo Amplifier overheat value 100 C STB 4 1s set to 1to shield alarm IS Reserved fF ADconversion data communications failure or current ADConversion failure 9 sensor failure Reverse over travel input switch input is active Reverse over travel fault Forward over travel input switch input is active Forward over travel fault Inertia recognition errors O Li J 20 21 Self tuning error Check the operation parameters especially parameters N recognition system such asPA18 med O S S 4 Reserved fF a5 Revered Motor encoder signals Whether the connection of encoder cable is correct Whether system inertia and motor is reasonable Absolute encoder communication failure Communication fault Whether parameter PA 25 is consistent with the motor encoder Whether connections of closed loop encoder are Closed loop cosine proper encoder signal distortion Whether settings of closed loop encoder type are NO m No No
72. es GK6 AC Permanent Magnet Servo Motor 28 Seon erage menage nsion of thes NEN e 34 Bee eee haftkeywagfE EM EE 37 Socio ecOumendcua tyDe Cen er TIOIG Emmer 37 3 2 9 GK6 Series AC permanent magnet servo motor interface definition 38 AINSTALLATION HE 40 ME Je Usie sq 40 A2 INSTALLATION ENVIRONMENT f 40 AAL ENV OMNENT Tem Pera TUTE E 40 AFD eer 40 E 41 4 2 4 Vibration and Impulsion 41 LA M e TC X Y 41 VE UI Ruso PDT cette 41 4 3 INSTALLATION OF SERVO AMPLIFIER s udusdscucu ts orina an oues E EEEE EAA EARTE n ide SUP cadet Ebenen OE 42 4 3 1 Installation Methods of HSV 180AD 035 050 075 ccccccessccccssecccsesececseeseceseeseseseeecesseseseeeees 42 4 3 2 Installation Methods of HSV 180AD 100 150 ccccccsssssececcnesseccecccesssecccsesecesssueseessssaaensees 48 4 3 3Instllation method of HSV 180AD 200 300 450 cccccccccccessccccesececceesececeeseccsensesesesecessseeseeees 53 AnA INSTALLATION OF SERVO et 59 Series HSV 180AD AC Servo Amplifier User s Manual AAT IASCOMOHOM ENVIFON IONE EE 59 BAD ANS COMOLON MENOU MM SHE 60 S WIRING 61 se lee m
73. heat protection capability Strong anti demagnetization capability Various frame installation size Full closed design Figure 3 4 Series GK6 AC servo motor Series HSV 180AD AC Servo Amplifier User s Manual 3 2 3 Technical index of Series GK6 AC servo motor The following table describes the technical index of series AC GK6 servo motor Table 3 3 Technical index of series GM7AC servo motor Magnetic material Insulation level Feedback system Temperature protection e Super high coercively rare earth permanent magnetic material e Class F insulation level When the environmental temperature is 40 C the rotor winding temperature can reach 100 K AT 100 K Class H or Class C insulation level is optional in which case the rotor Winding temperature can reach 125 K or 145 K respectively e Standard square wave optic electrical encoder with U V and W signal Options Resolver used in the environment with big vibration and impacts Sine and cosine optic electrical encoder which resolution can reach 220 Absolute encoder e Positive temperature coefficient PTC thermistor When the temperature is 20 the resistance cannot greater than 250 Q R lt 250 Q Option Heat sensitive switch Temperature positive temperature coefficient PTC thermistor protection Types of mounting Protection level Cooling surface paint Bearing Radial shaft seal Shaft eMb5 Options IMV1 IMV3 an
74. hree phrase AC380V 50Hz power input Note terminal Do not connect to the output terminal U V W Build in 70Q 500W braking resistors If only use the braking resistor the terminal P and BK must be disconnected to Connection avoid short circuit terminal for If an external braking resistor 1s used terminal P and BK must be connected to an external external braking resistor braking resistor Note Terminal P and BK cannot be shorted Otherwise the Servo Amplifier may be damaged Three phrase output terminal It must be linked to the motor U V and W w lx the Servo terminals correspondingly Ww Amplifier Ground Ground terminal terminal Ground resistance is less than AC Ground terminal Ground Ground resistance is less than AC terminal servo Amplifier housing ground terminal 66 Series HSV 180AD AC Servo Amplifier User s Manual 5 3 2 Terminal Configuration HSV 180AD 200 300 450 XTI Figure 5 5 Soldering terminal of HSV 180AD 200 300 450 Gram5 4 XT1 power input terminal of HSV 180AD 200 300 450 se input terminal of control power Three phrase main circuit power input Li terminal Positive Of generator Negative of generator single phrase input terminal of main circuit power AC220V 50Hz Main circuit power supply input terminal Three phrase AC380V 50Hz Main circuit power supply input terminal Three phrase AC380V 50Hz Note Do not connect to the output terminal U V W
75. ic power 5 3 5 Output side wiring of main circuit 1 Motor Connection Output terminals U V W of Servo Amplifier should connected to terminals U V W ofthe three phase AC motor according to the correct phase B If A30 motor phase sequence error alarm appears at the first running B prompt users motor terminal phase sequence error will be wrong you just need to exchange V W B Distance between Servo Amplifier and motor wiring should generally be less than 40 m 70 Series HSV 180AD AC Servo Amplifier User s Manual 2 External Braking Resistor The braking voltage of HSV 180AD Servo Amplifier is DC700 V For the maximum braking current see Table 3 1 DA 70 Q 500 W braking resistor has been built in HSV 180AD 035 050 075and a maximum of five times overload is allowed continuing for one second An external braking resistor 1s required when the Servo Amplifier s load or inertia 1s big The braking time is shorter when the load or inertia is bigger and the resistance value is smaller and its power is bigger However the maximum braking current cannot exceed the Servo Amplifier s maximum braking current Generally the total braking power of the braking resistor is 10 to 20 of the rated motor power Connect P and BK terminals of the Servo Amplifier with the external braking resistor if an external braking resistor is used In this case the internal resistor and the external resistor are serial connected Table 5 8 shows the recommende
76. id from entering inside the Servo Amplifier Use Temperatur Use temperature 0 C 40 C More than 40 C shall be e Storage derated Temperatur Storage temperature 20 C 60 C e Use Environ ment Use humidity Storage humidity Vibration impact Vibration Resistance 4 9m S Impact resistance 19 6m S resistance Below 90 RH non condensing 18 Series HSV 180AD AC Servo Amplifier User s Manual 3 1 4 Dimension and Size of the Servo Amplifier The following figures show the installation dimension of series HSV 180AD Servo Amplifier 1 Figure 3 2 Dimension and size of HSV 180AD 035 050 075 without auxiliary devices Unit mm install with 4 M4 X 20 screws Be HSV 180U 075 888888 2 Figure 3 3 Dimension and size of HSV 180AD 035 050 075 with auxiliary devices Unit mm 19 Series HSV 180AD AC Servo Amplifier User s Manual T Bae Hsv 180U 075 La EE I 3 Figure 3 4 Dimension and size of HSV 180AD 100 150 without auxiliary devices Unit mm 20 Series HSV 180AD AC Servo Amplifier User s Manual install with 4 M5 X 20 screws 4 Figure 3 5 Dimension and size of HSV 180AD 100 150 with auxiliary devices Unit mm 21 Series HSV 180AD AC Servo Amplifier User s Manual install with 4 M5 X 16 screws EE TE CEEEEEFEE Ee 4Sv 130 100 LJ Ed E s Oe mm 2 es es es QN ee me Wes 22 Series HSV 180AD AC Servo Amplifier User s Manual
77. ided for users to test whether the Servo Amplifier system 1s correctly installed and connected 13 Series HSV 180AD AC Servo Amplifier User s Manual 3 Order Information 3 1 Specifications of Servo Amplifier 3 1 1 Specification for HSV 180AD The following figure shows the specification of HSV 180AD Figure 3 1 Current type of HSV 180AD HSV 180AD 000 Servo Amplifier current type 035 050 075 100 150 200 300 450 3 1 2 Current Type of HSV 180AD Table 3 1 Current Types of HSV 180AD Servo Amplifier HSV 180AD 075 Maximum power of 3 7K W applicable Motor KW 7 Rated output current A 125 Short time Peak Current 2 A exchange A reactor Inductance 1 4 0 93 0 7 a mm 15 A Resistor 510 51 27 Braking Power 1500W resistor W Quanlity Recomand value of main 4 circute cable mm 14 16 28 2 12 5 2 5 10 Series HSV 180AD AC Servo Amplifier User s Manual HSV 180AD 100 HSV 180AD 150 Maximum power of applicable Motor KW Rated output current A 130 Il Short time Peak Current A 56 84 Circute breaker A 18 00 E enert pL Input exchange ree 0 47 0 28 reactor mum m o A Resistor Recommended Brak Pn Power W 1500W 2000W resistor BEE circute cable mm Maximum power of 30K W 37K W SIKW applicable Motor KW oe a a A 200 400 0 0 00 150 exchange A mH Input filter A 80 oo 250 E a e A Resistor
78. inertia increases Speed integration time constant specified by the movement parameter PA 3 Integration speeds up as the value decreases The response speed increases as the parameter value decrease but oscillation may occur It 1s recommended that the value be smaller if no oscillation exists A big parameter value may leads to great changes in speed when the load changes In general the value increases as the load inertia increases B Position control Set an appropriate value for speed proportional gain and speed integration time constant based on the information in Speed control 156 Series HSV 180AD AC Servo Amplifier User s Manual Position forward feedback gain It is specified by the movement parameter PA 1 The system response enhanced as the value increases but instability or oscillation may occur It is recommended that the value be set to 0 Position proportional gain It is specified by the movement parameter PA 0 Gain and rigidity will be enhanced as the parameter value increases but the position hysteresis decreases under the condition of the same pulse frequency The value is determined by the actual Servo Amplifier system type and the load It is recommended that a big value be set The position command tracking feature is enhanced but the lag error decreases as the parameter value increases However oscillation easily occurs after the orientation 1s complete If high position command tracking feat
79. ing In the electric cabinet there must be air blew through the radiator to prevent the ambient temperature of the Servo Amplifier from overheating Figure 4 12 Wall installation diagram of HSV 180AD 200 300 450 Servo Amplifier with auxiliary devices install with 4 M8X20 screws 54 Series HSV 180AD AC Servo Amplifier User s Manual Figure 4 14 Installation interval of HSV 180AD 200 300 450 single Servo Amplifier wall station n 7 ll 56 Series HSV 180AD AC Servo Amplifier User s Manual Figure 4 15 Installation interval of HSV 180AD 200 300 450 single Servo Amplifier T il Series HSV 180AD AC Servo Amplifier User s Manual Figure 4 16 Installation interval of HSV 180AD 200 300 450 multiple Servo Amplifiers 58 Series HSV 180AD AC Servo Amplifier User s Manual 4 4 Installation of Servo Motor Warning Do not knock the motor or encoder so as to prevent the motor from oscillation or impact When carrying the motor do not drag the motor shaft leading out wire or encoder Do not overload motor shaft otherwise the motor may be damaged The motor must be firmly installed and prevent loosening 4 4 1 Installation Environment 1 Prevention The servo motor is not water proof When installing and operating the motor must be guard against liquid spilling and prevent oil mist from entering the motor through motor leads and motor shaft If users need water proof motor make it clear
80. ion and Fault Identification l Series HSV 180AD Servo Amplifier provides 30 different protection functions and fault identification If one protection function 1s activated alarm information can be displayed through the digital tube on the Servo Amplifier panel the servo alarm output ALM is connected and the failure chain relay normally open contact on the input output terminal XS5 is disconnected 2 Itis required to connect the alarm output ALM or XS5 terminal to the PC When the protection function of the Servo Amplifier 1s activated the PC can promptly take emergency measures 3 After the fault source is cleared you can turn off three phase main power and then the repower the Servo Amplifier to clear the alarm or enter the auxiliary mode to reset the internal alarm to clear the alarm or reset the external alarm to clear the alarm via the alarm clear input signal ALM RST 4 The protection function with cannot be cleared by resetting the external or internal alarm It can only be cleared by cutting off the power and then repower the Servo Amplifier after the fault source is cleared Table 9 1 Alarm information Series HSV 180AD AC Servo Amplifier User s Manual Normal No alarming Cem ar Whether the three bows main voltage is too low Whether the built in braking resistor of Servo Amplifier is intact 2 Over voltage supply Whether external braking resistor specifications and wiring is correct Whether the ci
81. it Zr PA 22 Command Command pulse input mode input mode Function and setting 1 Set parameters to the command pulse mode 2 Set parameters to one of the 3 types of input mode 0 indicates two phase positive pulse input 1 indicates pulse direction 2 indicates CCW pulse CW pulse 3 CCW is defined as forward for the servo rotating counterclockwise looking from the axial direction 4 CW 1s defined as reverse for the servo rotating clockwise looking from the axial direction 133 Series HSV 180AD AC Servo Amplifier User s Manual Table 7 5 Command pulse Ipse 00 puse Command Pulse Input Mode l sigue movement input pin Forward Reverse parameter PA 22 Setting B ALLE 0 positive pulse cP LJ LI LI LI cP DIR l pulse T ET cw J LIL LIL eow cw ITT CW CCW CW CCW PA 23 Parameter Scope Default Unit E 2 P PA 23 Selection of control mode of control mode Function and setting This parameter is used to select control mode for the Servo Amplifier 0 indicates the C axis position control mode receiving the position pulse input command 1 indicates the external speed control mode receiving speed analog input command 2 indicates the external speed control mode receiving speed pulse input command 3 indicates the internal speed control mode The internal speed command is set by movement parameter PA 20 4 Multi sp
82. ition command pulse frequency molecular 7 2 5 Parameters Related to Speed Control Mode Table 7 6 Parameters related to speed control mode Function Value Range 1 Set parameters to the proportional gain for the speed regulator 2 Gain and rigidity will be enhanced as the parameter value increases This parameter is Speed determined by the actual Servo Amplifier system PA 2 proportional type and the load Generally load inertia grows 20 10000 gain as the value increases 3 It is recommended that the value be larger if no oscillation exists 4 this parameter will be automatically adjusted after setting PA 43 1 Set this parameter to the speed regulator integration time constant 2 Integration speeds up as the value decreases This parameter is determined by the actual Servo Speed PA 3 integral time constant 1 Amplifier system type and the load Generally eta 5 500mS load inertia grows as the value increases 3 It is recommended that the value be smaller if no oscillation exists 4 this parameter will be automatically adjusted after setting PA 43 136 Series HSV 180AD AC Servo Amplifier User s Manual 1 Set this parameter to the features of low pass filter for speed feedback 2 Noise produced by motors and cut off frequency decreases as the value increases If the Speed feedback filter factor load inertia is large decrease the value to prevent from slow response or oscillation
83. ke output 9 Zero speed Locking minus sign indicates that the output level is inverted Digital Output O2 2 j E P 5 9 4 9 2 the same as above function Digital Output O3 23 E g P 5 07 49 3 the same as above function 6000 Internal speed 1 5609 r min 6000 Internal speed 2 600 tr min S 6000 26 Internal speed 3 r min S 6000 27 Internal speed 4 ER lr min S 6000 l 28 Internal speed 5 M r min S 6000 l 29 Internal speed 6 Sonn r min S 6000 30 Internal speed 7 Senn lr min 32767 31 State control 2 nee STB15 STBO The first notch P S 39 100 2000 1500 Hz frequency The first notch P S 33 j 0 20 2 width The first notch ET depth The second notch EE sms filter frequency Series HSV 180AD AC Servo Amplifier User s Manual The second notch P S 36 0 20 2 filter width The second notch P S 37 i 0 100 filter depth Notch filter application mode Position command smoothing factor Feedback pulse output divider factor Command pulse input Corresponding motor Feedback pulse number 0 Notch filter is invalid 1 Notch filter 1 is valid 2 Notch filter2 is valid 3 Notch filter1 2 are valid Moving Average number of position command FIR filter Motor feedback output to the number of pulses per revolution of the PC x4 Unit Pulse PC output pulse number corresponding to the motor rotation lap x4 When STB4 zero electronic gear parame
84. motor observe the value of DP PFL DP PFM confirm the count direction of feedback pulse when reversing 7 Setting STB 14 to 1 select closed loop function Setting STB 12 STB 13 select the second position encoder type The second position encoder type STB 13 STB 12 Square Incremental Encoder TTL 0 o ENDAT2 1 2 2 Agreement absolute l encoder Cosine encoder 1Vpp Analog signals 8 Save the parameter to EEPROM after setting PA 34to 1230 Turn off the power wait for 30seconds 9 Connect the second position encoder For HSV 180AD 150 and below specifications connect the three phase AC380V of strong electric For HSV 180AD 200 and above specifications connect single phase AC220V of control power 10 Manually rotate the servo motor observe the value of DP PFL DP PFM confirm the count direction of feedback pulse when reversing is consist with the direction as steps 6 If the count direction is not consist with the direction as steps 6 set PA 10 to 512 and invert servo encoder feedback pulse 11 Save the parameter to EEPROM after setting PA 34to 1230 Turn off the power wait for 30seconds 12 Connect power line of motor For HSV 180AD 150 and below specifications connect the three phase AC380V of strong electric For HSV 180AD 200 and above specifications Firstly connect single phase AC220V of control power and then connect the three phase AC380V of strong electric 13 Adjust parameters PA 17 PA 21 to be smaller
85. nal analog torque command 2 Only in the torque control mode PA 23 2 effectively 138 Series HSV 180AD AC Servo Amplifier User s Manual PA 10 Parameter Scope Default Unit value Torque command zero 1023 PA 10 drift compensation 1023 Function and setting 1 In the torque control mode PA 23 2 adjust the zero drift of external analog torque 2 Adjustment methods are as follows The external analog input terminal and the signal ground short circuit set the Teer until the motor does not turn PA 1 PA 15 PA 16 LIMEN UE value output rate output rate Function and setting Il Set the internal torque limiting value in the CCW CW direction of the servo 2 The value is the desired positive negative maximum output torque 34 When STAIO is set to 1 the two limit are effective 4 If PA I52PA 5 or PA 16 gt PA 5 the actual output rate is restricted to a maximum torque output rate permitted by PA 5 o The corresponding range 0 5 times of the positive negative output torque M PA 15 PA 5 PA 18 Parameter Scope Default Un aa ae PA PA 18 overload overloadtorque 30 200 0 200 it E Function and setting Set the system overload torque Any time this limitation 1s effective PA 18 lt PA 5 l 2 A 30 200 means the set range 0 3 2times of overload torque 4 o The parameter will be automatically adjusted after PA 43
86. nd the cross sectional area is greater than or equal to 0 12mm AWG24 26 The shielded layer must be connected to the metal shell of the connection plug Cable length The cable must be short The length of the control signal cable XS4 is not greater than 10 meters and the length of the feedback signal cable XS2 XS3 1s no more than 40 meters Wiring The wiring must be away from the electric power circuit to prevent interference Install surge absorbers with inductive components coils of related circuits Freewheeling diodes are antiparallel connected to the DC coils and RC absorbed circuits are paralleling connected to the AC coils 3 I O input output terminal XS5 1 Diameter use ordinary cable or shielded cable wire cross sectional area gt 1 5mm2 2 Cable length cable length as short as possible and not more than 10 meters 99 Series HSV 180AD AC Servo Amplifier User s Manual 5 8 Standard Wiring Caution U V W on XT2 must be connected to the motor windings in corresponding order and cannot be reversed Cables and wires must be fixed and cannot be near the radiator of the Servo Amplifier or motor Otherwise the insulation properties may be reduced due to overheat In the Servo Amplifier large capacity of electrolytic capacitor exists which leads to the remaining of high voltage even after power off Therefore do not touch the Servo Amplifier or motor within five minutes after the power off Terminals P BK on
87. nstallation Environment 4 2 1 Environment Temperature The working environment temperature is between 0 C to 40 C If the temperature over 40 C de rating required 4 2 2 Humidity Air relative humidity is equal or less than 90 No condensation 40 Series HSV 180AD AC Servo Amplifier User s Manual 4 2 3 Altitude The Servo Amplifier must be installed below 1000m altitude If over 1000m altitude de rating required 4 2 4 Vibration and Impulsion The Servo Amplifier is not load bearing and anti collision When installing and working it must be free from oscillation and impact and take measures to control the oscillation below 0 5G 4 9m S 4 2 5 Water The Servo Amplifier cannot be installed in the water spray or condensation location 4 2 6 Air Pollution The Servo Amplifier must be free from air pollution It must be installed in the electric cabinet which is resistant to corrosive and flammable gas as well as prevent conductive object mental dust oil mist and liquid from entering to the interior of the equipment 41 Series HSV 180AD AC Servo Amplifier User s Manual 4 3 Installation of Servo Amplifier Warning The Servo Amplifier must be installed in the electric cabinet with fine protective function The Servo Amplifier must be installed in accordance with the specified direction and interval to ensure enough cooling The Servo Amplifier cannot be installed near combustibles that may cause fire haza
88. nual 1 4 Safety Regulations 1 Products Confirmation Caution Do not install damaged the Servo Amplifier Failure to follow this instruction could result in injury Installation Caution Hold the bottom of the machine If only hold the panel the main engine may fall off which may result in injury Fit to noncombustible such as metal Failure to follow this instruction could result in fire hazard Ifnecessary set a cooling fan and keep the inlet air at 45 C or less Overheating may result in fire and other hazards Don t block the inlet and outlet Avoid foreign matter entering into the internal part of the machine It may cause the aging of internal components which can result in malfunction or fire hazard When installing make sure a specified intervals between the Servo Amplifier and control cabinet or other machines Failure to follow this instruction could result in fire hazard or malfunction Series HSV 180AD AC Servo Amplifier User s Manual 3 Wiring Danger Before wiring confirm whether the power is off Failure to follow this instruction could result in electric shock and fire hazard Only electrical engineer can do the wiring Failure to follow this instruction could result in electric shock and fire hazard Make sure the ground terminal grounded Failure to follow this instruction could result in electric shock and fire hazard After the wiring of the emerg
89. ol independently 2 2 Introduction to Control Modes Series HSV 180AD AC Servo Amplifier provides four control modes 1 Position control mode pulse interface Under this mode HSV 180AD Servo Amplifier can set to external position control mode by setting internal parameters It can receive three types of external pulse command such as orthogonal pulse command pulse direction command and positive and negative pulse command 2 External speed control mode pulse interface Under this mode HSV 180AD Servo Amplifier can set to external speed control mode by setting internal parameters It can receive three types of external pulse command such as orthogonal pulse command pulse direction command and positive and negative pulse command 3 External speed control mode analog interface Under this mode HSV 180AD Servo Amplifier can set to external speed control mode by setting internal parameters It can receives external analog command with amplitude varies from 10V to 10V or from OV to 10V 4 JOG mode Under this mode HSV 180S Servo Amplifier can run based on the key setting instead of external instruction This mode is provided for users to test whether the Servo Amplifier system is correctly installed and connected 12 Series HSV 180AD AC Servo Amplifier User s Manual 5 Internal speed control mode Under this mode HSV 180AD Servo Amplifier can run at a present speed in the system without external instruction This mode is prov
90. on output main contact of electromagnetic contactor 5 Input AC reactor In order to protect the rectifier components from damage caused by the high current s impacting to the input power circuit the power input side need to connect to an input AC reactor and increase its power factor It can effectively eliminate the influence of high harmonics prevent other equipment from damage caused by the voltage wave changes and eliminate the unbalanced input current caused by phase voltage unbalanced B Input AC reactor capacity is generally 1 5 to 2 times of the rated motor current 69 Series HSV 180AD AC Servo Amplifier User s Manual please refer to the Table 3 1 6 Input filter In order to reduce a high frequency interference noise from source line coupling to Servo Amplifier suggest install matching input filter on the current input of Servo Amplifier B Input filter capacity is generally 1 5 to 2 times the rated motor current selection please refer to Table 3 1 B Please select the dedicated servo inverter input filter B Input filter should be well grounded MCCB Power Minh Supply 2 iod Special SE 8 input filter control device Figure 5 7 Input filter on the current input of Servo Amplifier 5 3 4 Control power wiring HSV 180AD 200 300 450 Servo Amplifier must connect AC220Vcontrol power during power on process you should connect AC220V control power firstly and then connect the AC380V strong electr
91. osition command pulse frequency molecular Position command pulse frequency denominator Maximum current amplitude limit for positive torque Maximum current amplitude limit for negative torque u RENE 0 120 2509 limitation setting 19 Software overload time 40 32000 1000 CSC speed ES 3200 3200 0 sign JOG operation speed 0 2000 CNN 22 command pulse input mode Selection of control 0 Position mode control 1 Simulation speed 2 Analog torque Internal rate Encoder Zero calibration 1024 2000 2500 6000 4 ENDAT2 1 5 BISS 6 HiperFACE 7 TAMAGAWA Be Beeson ae 2 Current control QS Poema p ero om Magnetic pole logarithm of the servo motor Series HSV 180AD AC Servo Amplifier User s Manual 28 Current control P S 1 204 integration time T 047 00 29 The second position command pulse P 32767 frequency molecular 30 The third position command pulse frequency molecular 31 32467 STA15 STAO rem EE me mee 32 Feed forward control P S 0 3000 T filter time constant time constant vm mi 35 Position command zm Ir jem o m Communication baud 0 2400bps 36 rate 0 3 1 4800bps 2 9600bps 3 19200bps Position of serial P S ge 17 15 communication axis 36 Ratio of load inertia 0 15 and rotary inertia 37 Mechanical load rigidity constant The fourth position command 7 pulse frequency 1 32767 molecular
92. overheat detection input terminal It is connected to the motor overheat detection sensor Servo motor encoder 5V power output terminal Connect the servo motor eed TS5V optical electrical encoder with 5 V 18 19 DC 5V 150mA power supply If the cable is too long use multiple wires to form serial connection 23 24 25 GNDD Servo encoder power ground 0V Cn ema 0 14 15 PE Shield ground It is connected to the motor housing NOTE The homonyms pin connected has been shorting together in the internal circuit board 88 Series HSV 180AD AC Servo Amplifier User s Manual 4 The Servo Amplifier connect HIPERFACE agreement of Absolute encoder Chart5 11 Signal function of XS3 ENCODERI connect HIPERFACE agreement of Absolute encoder Symbol Terminal Function standard Symbol A SINA Servo motor encoder feedback A input m A SINA Servo motor encoder feedback A input B COSB Servo motor encoder feedback B input B COSB Servo motor encoder feedback B input Line driver receive S t der feedback U input EN U DATA Servo motor encoder feedback U input ERE HN 910 Reserved fo 11 12 Reserved fo Motor overheat detection input terminal 26 OH2 It is connected to the motor overheat detection sensor Servo motor encoder 9V power output terminal Connect the servo motor 9V optical electrical encoder with 5 V power supply If the cable is too long DC 9V 150mA use multiple wires to form
93. perating normal The motor is activated and in the zero speed state 7 Set the movement parameter PA 20 internal speed Press S to confirm and then the motor will run at the specified speed 8 2 3 External Speed Running Mode Analog interface 1 For wiring see Figure 5 8 2 in Chapter 5 2 For HSV 180AD 150 Servo Amplifier and below disconnect motor cable and motor power line connect the main circuit power three phase AC380V of the Servo Amplifier For HSV 180AD 200 Servo Amplifier and above disconnect motor coding cable and motor power line connect the main circuit power single phase AC220V of the Servo Amplifier 3 Modify control parameters and movement parameters Setting STA Oto 0 STA 6to0 PA 34to2003 Setting PA 25 PA 26 PA 43 Setting PA 23 to 1 Servo Amplifier in the external speed control mode According to the demand setting the speed parameter PA 7 and PA 8 152 Series HSV 180AD AC Servo Amplifier User s Manual 4 Save the parameter settings to EEPROM after setting PA 34to 1230 Turn off the power wait for 30seconds 5 Connect encoder and power line of motor For HSV 180AD 150 and below specifications only need to connect the three phase AC380V of strong electric For HSV 180AD 200 and above specifications Firstly connect single phase AC220V of control power and then connect the three phase AC380V of strong electric 6 Verify no alarm or abnormal condition is reported The gre
94. phase AC380V and external DC 24V power supply The digital tube of the Servo Amplifier is light servo alarm ALM is disconnected and the failure chain relay normally open contact on interface XS5 closed If an alarm is reported power the Servo Amplifier off and check the trouble For HSV 180AD 200 300 450 connect the Servo Amplifier control power single phase AC380V and external DC 24V power supply The digital tube of the Servo Amplifier is light servo alarm ALM is disconnected and the failure chain relay normally open contact on interface XS5 closed If an alarm is reported power the Servo Amplifier off and check the trouble If an alarm is not appear connect the main circuit power three phase AC380V After 1 second the servo enable signal EN is received If the Servo Amplifier have no faults and the servo enabling function is effective the motor is activated and in the state for running If an alarm is reported and the servo enabling function is ineffective the motor is idle At this time power off the main circuit power and check the trouble In the external speed running mode analog interface the PC outputs the servo forward FWD or servo reverse REW control signal to Servo Amplifier And operate PC to send analog command to Servo Amplifier The motor runs according to the command In the position running mode pulse interface or the external speed running mode pulse interface the PC to send pulse command to Servo
95. que current Effective value dP EPq d unit 0 1A 4 d PFPL Display position command unit pulse dP PPH Actual position DP PRM 10000 DP PRL n dP FFE Display the actual position of motor unit pulse HdF PFH Actual position DP PFM 10000 DP PFL 109 Series HSV 180AD AC Servo Amplifier User s Manual Display the actual magnetic field current Effective value ok unit 0 1A Cep Display the magnetic field current command Rip e unit 0 1A 5 oP n dP PFL Display the actual position of motor unit pulse OP PFr Actual position DP PFM 10000 DP PFL dP PPF Display pulse frequency unit 0 1KHz Display speed command dP sPP CEU CETT unit 1r min Display magnetic current E n Display alarm status Display switch value input status PIN 1 Servo Amplifier enable PIN 2 alarm status reset PIN 3 CW control db Pln PIN 4 CCW control PIN 5 INC Sell PIN 6 INC Sel2 PIN 7 servo orientation control PIN 8 control mode switch pu aPet ur Display the actual feedback value of the U phase current Display switch value output status POU 1 zero speed reached POU 2 drive system ready 12 dF Fnu POU 3 alarm output POU 4 reserved POU 5 speed reached POU 6 servo orientation finished Display the actual load current Effective value dP rd amp unit 01A l4 d PJER V Display the number of the feedback pulse of the servo motor B optic electrical encoder cl P 4 H he Display the numbe
96. r Scope Default Unit value PA 26 Encoder zero offset 32767 32767 Function and setting l Set encoder zero offset 2 Adapter Dench motor mounting incremental encoder PA 25 0 1 2 3 the parameter is the number of pulses distance to zero pulse 3 When the motor encoder is absolute encoder the parameters is the number of pulses at 16 bit resolution for conversion Dench GK6 8 servo motor GK6 8 XXX XXX61 JE JB JE JB means installation Heidenhain EQN1325 encoder At this time GK6 8 XXX XX X61 JE JB JE JB NO Parameter Scope Default Unit value PA 42 300 15000 0 01A Function and setting 1 Set the motor rated current 2 The parameters will be adjusted automatically after matching PA 43 130 Series HSV 180AD AC Servo Amplifier User s Manual NO Parameter Scope Default Unit value Motor rated speed 100 9000 2000 Function and setting 1 Set the motor rated speed 2 The parameters will be adjusted automatically after matching PA 43 7 2 4 Parameters Related to Movement Control PA 0 NO Parameter Scope Default Unit value Position proportional gain 20 10000 Function and setting 1 Set position proportional gain 2 The greater of the parameter value the greater of the gain and the rigidity and the smaller of the position lag value at the same frequency of the command pulse Note the value is too large may cause oscillation or overshooting 3 The p
97. r allows different overload conditions running times loading rate and environment temperature See related manual and adjust the settings as required to prevent overheat or short service life Adjustment method Generally the overload inertia must be less than 5 times of the motor rotor inertia The large overload inertia may cause overvoltage during deceleration or abnormal braking Use the following methods to adjust it Increasing the acceleration and deceleration time movement parameter PA 6 and PA 38 You can set the parameter to a bigger value and then gradually reduce it to the appropriate value Reducing the maximum output torque value movement parameter PA 5 to reduce the current limit value Reducing the maximum speed limit of the servo motor movement parameter PA 17 Installing external braking device Changing the servo motor to one with larger power and inertia motor the servo motor must match with the Servo Amplifier 159 9 Fault Trouble shooting Caution Maintenance personnel must have related knowledge and abilities Do not touch the Servo Amplifier or motor within five minutes after power off to prevent electric shock or burns If a Servo Amplifier alarm is reported do not use the Servo Amplifier only after the alarm is cleared based on the alarm code Before the alarm reset make sure that the EN signal is ineffective to prevent accidents caused by a sudden start 9 1 Protect
98. r of feedback pulse of the servo encoder dP PES Display the speed deviation 110 Series HSV 180AD AC Servo Amplifier User s Manual l Display voltage reference output Display position command unit pulse dP PPA Actual position DP PRM 10000 DP PRL Display the single turn absolute position value of Absolute dP EPa Seet i i 21 dP FP Reserved 6 4 Operation in the Movement Parameter Mode 1 On the main menu select PA 0 and press land to enter the secondary menu for the movement parameter mode 2 Series HSV 180AD Servo Amplifier contains 44 movement parameters Y dP EPS ch FREE PER a armi EET 3ER atb gn ren a zc JEE Ar ES ED Figure 6 6 Secondary menu for the movement parameter mode e Sei I o oG could open extension movement parameter mode HSV 180AD Servo Amplifier have 44 extension parameters 111 Series HSV 180AD AC Servo Amplifier User s Manual Y de ze NT pai PRESB EE UV PA 6 i dE E Ep PR 75 SERPS ou UL Figure 6 5 Secondary menu for extension movement parameter mode 6 50peration in the Auxiliary Mode 1 On the main menu select EE WRI and press land to enter the secondary menu for the auxiliary mode 2 Series HSV 180AD Servo Amplifier contains 8 types of auxiliary modes ati dP EPS p gt BRE dob 5t ERE POENAE gc A E 5E nd UE dFE PR ath EHE SI d AEB
99. rcuit power supply voltage is too high Whether the cooling of Servo Amplifier is normal Whether the system is overload Whether parameter settings are appropriate 3 IPM failure Whether connection of motor power line is correct and reliable Whether connection of Shielded cable 1s complete and reliable Whether external braking resistor 1s correct 4 Brake failure 9 5 SP ee NNNM 939 Temperature of motor is too high Motor overheat The encoder data signal Whether encoder cable is connected and reliable 7 error Whether the encoder cable is too long The tvpe of encoder error Whether encoder cable is connected P Whether setting of P 25 is correct Whether the phase sequence of motor power line is system software overheat correct Whether setting of PA 10 PA 18 PA 19 is correct 10 Over current 9 Whether setting of PA 26 is correct Whether the Servo Amplifier is overload Whether setting of PA 17 is correct Whether the r feedback signal of encode is correct Whether external braking resistor specifications and wiring is correct If the system work in full closed loop mode whether direction of full closed loop feedback pulse 1s consistent with the direction of semi closed loop feedback pulse Whether setting of PA 18 PA 19 is correct Whether the phase sequence of motor is correct Motor overload for a long time 161 Series HSV 180AD AC Servo Amplifier User s Manual Control paramet
100. rd 4 3 1 Installation Methods of HSV 180AD 035 050 075 1 Installation methods There are three types of wall installation directly installed without auxiliary devices with auxiliary devices and external heat sink installation For their installation diagrams see Figure 4 1 Figure 4 2 and Figure 4 3 You can use any of the three methods and install the Servo Amplifier vertically 2 Installation Interval For the installation interval of single the Servo Amplifier see Figure 4 4 and Figure 4 5 For the installation interval of multiple the Servo Amplifier see Figure 4 6 During installation leave enough intervals to ensure good heat emission 3 Cooling In the electric cabinet there must be air blew through the radiator to prevent the ambient temperature of the Servo Amplifier from overheating 42 Series HSV 180AD AC Servo Amplifier User s Manual Figure 4 1 Wall installation of HSV 180AD 035 050 075 Servo Amplifier without auxiliary devices Screw with pad Mi Y GB T9074 Ken LAN 43 Series HSV 180AD AC Servo Amplifier User s Manual Figure 4 2 Wall installation of HSV 180AD 035 050 075 Servo Amplifier with auxiliary devices screw with pad Mi YT GB T9074 EIDEL 44 Series HSV 180AD AC Servo Amplifier User s Manual Figure 4 3 Installation diagram of HSV 180AD 035 050 075 with external heat sink Screw With pad Mi YT GB T9071 B 19884 45 Series HSV 180AD AC Servo
101. rvo Amplifier and below disconnect motor coding cable and motor power line connect the main circuit power three phase AC380V of the Servo Amplifier For HSV 180AD 200 Servo Amplifier and above disconnect motor coding cable and motor power line connect the main circuit power single phase AC220V of the Servo Amplifier 3 Modify control parameters and movement parameters Setting STA 0 to 0 Setting STA 6to 1 According to the type of Servo Amplifier setting follow parameters STB 1 IM 0 PM 1 Setting PA 34to 2003 PA 25 and PA 43 4 Save the parameter to EEPROM after setting PA 34to 1230 Turn off the power wait for 30seconds 5 Connect encoder and power line of motor For HSV 180AD 150 and below specifications only need to connect the three phase AC380V of strong electric For HSV 180AD 200 and above specifications Firstly connect single phase AC220V of control power and then connect the three phase AC380V of strong electric 6 Connect the main circuit power three phase AC380V of the Servo Amplifier If there are no alarms or abnormal situation the green enable lamp EN is light which indicates the Servo Amplifier is working properly The motor is activated and in the zero speed state 7 In the auxiliary mode select the JOG mode and JOG is displayed through the digital cube Press S to enter into the JOG mode RUN is displayed through the digital cube Press and hold n the servo motor runs at the J
102. s Manual Servo alarm output OFF Servo ready output an OFF 8 1 4 Power Off Sequence For HSV 180AD 035 050 075 100 150 disconnect the main circuit power three phase AC380V of the Servo Amplifier If the servo enable signal EN keep outputting ON signal A 1 indicates main power low voltage is displayed the green enable light EN on the Servo Amplifier panel is off and the red alarm light AL is on indicates alarm For HSV 180AD 200 300 450 firstly disconnect the main circuit power three phase AC380V of the Servo Amplifier and then disconnect the Servo Amplifier control power single phase AC380V and external DC 24V power supply When servo detect heavy electricity disconnected if the servo enable signal EN keep outputting ON signal A 1 indicates main power low voltage is displayed the green enable light EN on the Servo Amplifier panel is off and the red alarm light AL 1s on indicates alarm Atter disconnect the main circuit power the internal capacitor storage energy of the Servo Amplifier could not be released immediately Do not connect nor disconnect wire within five minutes Avoid frequently turning on and off the main circuit power in a short period of time which may damage the soft start circuit 8 1 5 Alarm Clear There are three methods to clear the alarm Turn off the power three phase main power after the fault source is cleared repower the Servo Amplifier to
103. se Allow STA 9 i over travel switch input 1s Not allow allowed 142 Series HSV 180AD AC Servo Amplifier User s Manual This parameter 1s used to 10 STA 10 specify whether positive and 1 Allow negative torque limit is 0 Notallow allowed STAI Reserved o This parameter is used to 1 Not allow 12 STA 12 specify whether motor 0 Allow overheat alarm is allowed Electronic gear ratio dynamic 1 Not allow STA 13 e omen selection 0 Allow 1 Not allow In staa 14 Gain switching enable 0 Allow This parameter is used to specify whether the Servo 1 Not allow Amplifier overheat alarm is 0 Allow allowed 7 3 2 Extended control parameters Set PA 34t02003 in the motion parameters could open the extension control parameter mode HSV 180AD have a total of 16 extended control parameters of STB Figure 7 7 Description of the extended control parameters State control word 2 0 The position pulse from the computer SIB 0 Command pulse source 1 The position pulse from the internal PA 20 0 Not allowed STB 1 Zero speed switch enable 1 Allowed Whether the output Z pulse STB 2 width is expanded 7 The position tracking error C es tioni Sen is less than the limit value mplete positioning o i 3 STB 3 ard s EUER l No position command input mode selection and the position tracking error is less than the limit value 0 Select PA 13andPA 14 The elec
104. serial connection 23 24 25 GNDD Servo encoder power ground 0V 20 Reserved ground 14 15 It is connected to the motor housing NOTE The homonyms pin connected has been shorting together in the internal circuit board 89 Series HSV 180AD AC Servo Amplifier User s Manual 5 The Servo Amplifier connect TAMAGAWA agreement of Absolute encoder Chart5 12 Signal function of XS3 ENCODERI connect TAMAGAWA agreement of Absolute encoder Symbol Function standard U DATA Servo motor encoder feedback U input EN U DATA Servo motor encoder feedback U input SS Tio wd 0 34 Reserved 0 Ls Rm 11 12 Reserved Motor overheat detection input terminal 26 OH2 It is connected to the motor overheat detection sensor Servo motor encoder 45V power output terminal 16 17 psy Connect the servo motor optical electrical 18 1 ith ly If th 8 19 encoder with 5 V power SR y the DC 5V 150mA cable is too long use multiple wires to form serial connection 23 24 95 GNDD Servo encoder power ground 0V pa frees 14 15 PE Shield ground It is connected to the motor housing NOTE The homonyms pin connected has been shorting together in the internal circuit board 90 Series HSV 180AD AC Servo Amplifier User s Manual 5 5 1 3 XS3 ENCODERI servo motor encoder input interface wiring diagram 1 Servo Amplifier connect with Incremental photoelectric encoder and Dench motor Dench motor
105. struction could result in electric shock Do not approach to the machine on the trial operations after resetting of the Servo Amplifier Take physical safety into consideration when perform electrical and mechanical design Arrange an external emergency stop device Failure to follow this instruction could result in injury Series HSV 180AD AC Servo Amplifier User s Manual Caution Before operating reconfirm some information such as the use range of the motor and machines Failure to follow this instruction could result in injury Do not touch the machine while operating or just cut off the power because the radiator brake resistor motor etc may be at high temperature Failure to follow this instruction could result in burn Ifnecessary arrange external brake Do not touch the machine Failure to follow this instruction could result in injury Do not check signal while operating to avoid damage to the equipment 5 Troubleshooting Danger Do not remove wiring within 5 minutes nor touch terminals after power off of the Servo Amplifier because the high voltage will last for a while Failure to follow this instruction could result in electric shock Operations such as wiring installation operation remove and maintenance must be performed by the specified professional personnel Failure to follow this instruction could result in electric shock and damage to the Servo Amplifier Caution
106. t interface Cum 1 36 19 V SS EUN Figure 5 12 Plug of XS4 command input output interface plug looking from the plug Figure 5 13Soldering terminal of XS4 command input output interface looking from the soldering terminal e Pp oie it et MS E b Gi QU 36 34 32 30 28 26 24 22 20 35 33 31 29 27 25 23 21 19 5 4 1 2 XS4 COMMAND Input output Interface Command Ch Input terminal for external Line pulse input command pulse drive Note receiving You can set the pulse input RS422 mode by setting the standard movement parameter PA 22 Command pulse characters CCW CW command pulse mode 2 phase command pulse mode Series HSV 180AD AC Servo Amplifier User s Manual Servo motor line drive E A t optic electrical 33 A BEER output
107. tal tube displays various status and data of the system If the first bit of the digital tube displays A and at the same time the red light emitting diode is on an alarm is generated The follow up bit of the digital tube displays the alarm code After the process of fault diagnosis and troubleshooting you can reset the system by the alarm reset mode under the auxiliary mode or cutting off the power and then re power to the Servo Amplifier When the red light emitting diode is off the system is reset Figure 6 3 A8 Alarm display 299 i E o am o am o am 6 2 Operation in the Display Mode 1 Press M to switch the operation mode on the main menu and press fand to enter the secondary menu for the display mode 108 Series HSV 180AD AC Servo Amplifier User s Manual uress pressi press H p xress dP EPS T i prese l Figure 6 4 Main menu for the display mode 6 3 state surveillance mode HSV 180AD Servo Amplifier contains 20 types of display modes see table 6 1 Press and to select a display mode as required The display status can only be viewed and cannot be modified or set Press S to display the detailed status then press Gi to return to the secondary menu and then press M to return to the main menu Table 6 1 Meaning of each symbol in the display mode Symbol Display the speed tracking error 1 dP Pd Display the actual speed unit 0 1r m Display the actual tor
108. ters PA13 PA14 valid When STB4 1 electronic gear for the servo motor revolution needed to Series HSV 180AD AC Servo Series HSV 180AD AC Servo Amplifier Users Manual User s Manual command input pulse direct calculation At this time the electronic gear parameter 1s invalid Motor rated P S 42 300 15000 680 0 01A current Rated motor P S 43 100 9000 2000 Ir min speed Note The label parameters will be automatically configured in the PA 43 7 2 3 een of the parameter setting PA 17 Parameter Scope Default Unit M PA 17 Maximum speed limit 100 12000 pem r min Function and setting 1 According to motor type set maximum speed of the servo motor 2 Regardless of the direction of rotation PA 24 NO Parameter Scope Default Unit value PA 24 Magnetic logarithm of ear ks 3 servo motor Function and setting a According to motor type set maximum speed of the servo motor PA 25 Parameter Scope Default Unit value Servo motor encoder 0 7 optical electrical resolution Function and setting Ix PA 25must be filled in based on the technical data of the motor 129 Series HSV 180AD AC Servo Amplifier User s Manual 2 Setting parameters 0 1024pps 2000pps 2500pps l 2 3 6000 Sine and cosine incremental encoder 4 ENDAT2 1 encoder 5 BISS encoder 6 HiperFACE encoder 7 TAMAGAWA encoder 8 9 Reserved NO Paramete
109. test by JOG point dynamic If tests are normal turn off the power and wait 30 seconds 14 Connect command line of motor For HSV 180AD 150 and below specifications connect the three phase AC380V of strong electric 155 Series HSV 180AD AC Servo Amplifier User s Manual For HSV 180AD 200 and above specifications Firstly connect single phase AC220V of control power and then connect the three phase AC380V of strong electric 15 Ifthere are no alarms or abnormal situation the green enable light EN is on which indicates the Servo Amplifier is working properly The motor 1s activated and in the zero speed state 16 Operate PC outputs pulse command to the 14 15 16 17 pin CP CP 4 DIR DIR on the XS4 interface The motor run according to the command 8 3 Running Modification Wrong parameter setting may cause equipment failure or accidents Make sure the parameter settings are correct before starting the Servo Amplifier It is recommended that the overload commissioning be performed after the non load commissioning 8 3 1 Basic Gain A Speed Control Speed proportional gain specified by the movement parameter PA 2 Gain and rigidity will be enhanced as the parameter value increases The value is determined by the actual Servo Amplifier system type and the load It is recommended that the value be larger if no oscillation exists In general the value of speed proportional gain increases as the loading
110. tor power line connect the main circuit power single phase AC220V of the servo Amplifier 3 Modify control parameters and movement parameters Setting STA 0 to 0 STA 6 to 1 According to the Servo Amplifier and type of motor encoder setting follow parameters PA 34 PA 25 PA 26 and PA 43 4 Changing PA 34 to 1230 after completing setting enter auxiliary parameter setting mode to save parameter and turn off at last 5 Connect encoder and power line of motor 150 Series HSV 180AD AC Servo Amplifier User s Manual For HSV 180AD 150 and below specifications only need to connect the three phase AC380V of strong electric For HSV 180AD 200 and above specifications Firstly connect single phase AC220V of control power and then connect the three phase AC380V of strong electric 6 After the Servo Amplifier digital display select the auxiliary mode TST MD open loop control mode press S to enter when display FINISH the green Servo Amplifier enable lights look up the DP PFL the actual status 1f the value is increasing without decimal point it indicates that the phase sequence of motor power line UVW is right Otherwise the motor power lines indicate the sequence is wrong switch off the Servo Amplifier power swap the motor power line V W phase sequence can be Note Operating steps above the motor shaft must be no load 8 2 1 JOG Running Mode 1 For wiring see Figure 5 8 in Chapter 5 2 For HSV 180AD 150 Se
111. tor without the brake or internal thermistor the corresponding pin is empty 38 Series HSV 180AD AC Servo Amplifier User s Manual Servo motor encoder output Interface GEGO02 GKG603 SERIES SERVO MOTOR Other SERIES SERVO MOTOR 0 E 1 4 n I BH Lj 35 I v 4 Uy T 5 TY yy 6 i av 1 B PE RS ZC VW o ad CR LA d amp vw HM b a0 oc ei m m m bw 39 Series HSV 180AD AC Servo Amplifier User s Manual 4 Installation 4 1 Products Check After receiving products users must check the items as the following table Whether the product is Check the product appearance to make sure that the damaged product is not damaged during transportation Whether the product type Check and make sure the type of the Servo Servo the is in accordance with that Servo Amplifier and motor 1s in accordance with that in order in order Whether the accessories Check the packing list and make sure that the are complete accessory type and quantity 1s correct Whether the motor shaft Check and make sure that the motor shaft can be can be easily turned by easily turned by hand except motors with brakes hand If there are any problems contact directly with the applier or our company Warning Q Do not install the Servo Amplifier which are damaged or with incomplete parts Q The Servo Amplifier must be matched with the compatible servo motor Q Do not touch the servo motor shaft directly which can cause corrosive 4 2 I
112. tronic gear function Lc Selle c 4 sungnnus 4 STB 4 2 pulse corresponding feedback selection number calculation of electronic gear ratio 143 Series HSV 180AD AC Servo Amplifier User s Manual 5 STB 5 Ppa adaptive feature 0 Not select selection 1 Select Se I 0 Low pass filter 7 STB 7 Position filter selection 1 Smoothing filter 0 Not allowed STB 8 Whether the emergency stop function is allowed 1 Allowed 0 General servo motor STB 9 Torque motor mode selection 1 Torque servo motor 0 Incremental encoder output ivi directl 10 STB 10 Pulse frequency divider irec bi output mode enable 1 Digital encoder output frequently 11 STB 11 Speed feedback filter 0 First order low pass filter En l Second order low pass filter Incremental encoder feedbackSTB 13 0 STB 12 Q Full closed loop position ENDAT absolute encoder 12 STB 12 feedback signal selection feedbackSTB 1321 STB 12 13 STB 13 E Q Sine cosine 1 Vpp analog signal feedback STB 13 1 STB 12 1 u 0 Not allowed STB 14 Full closed loop position j control enable 1 Allowe 0 Do not lock the operation k is STB 15 Lock control of the operation eys keys l Lock keys Unlock SET MODE 144 Series HSV 180AD AC Servo Amplifier User s Manual 8 Operation and Modification Caution The Servo Amplifier and motor must be reliably grounded and PE terminal must be connected with the grounded terminal of the equipment reliably The power c
113. u can determine the value of R according to a 10 to 15 mA drive current and a maximum of 25V external power supply voltage Generally if the value of VCC is 24 V the value of R is 1 3 K to 2 K VCC 24 V R 1 3 K to2 K If the value of VCC is 12 V the value of R is 510 to 820 Q VCC 12 V R 510 Q to 820 Q If the value of VCC is 5 V the value of R is 82 Q to 120 Q VCC V R 82 Q to 120 Q In the single ended mode users provide the external power supply Make sure that the polarity is not reversed Otherwise it may damage the Servo Amplifier 5 Analog Command Input Interface Figure 5 22 Differential analog input interface Figure5 23 Single ended analog input interface 80 Series HSV 180AD AC Servo Amplifier User s Manual Figure 5 24 c Differential analog potentiometer input interface Controller ADU LW VR IK LIW j JV 200 1 2W The analog input interface is differential According to different connection methods it has two forms connection differential connection and single ended connection The range of input voltage is 10V to 10V In the differential connection the analog ground wire 1s connected to the input reference terminal at the side of controller Therefore it needs three wires to connect the controller and Servo Amplifier see Figure 5 13 a In the single ended connection the analog ground wire 1s connected to the input reference terminal at the side of the Servo Amplifier
114. ure is required set the parameter to a bigger value However it may cause overshoot or oscillations For the Position proportional gain parameter setting see the following table Recommended values for Position proportional gain Rigidity 500 1000 Middle 1000 2000 2000 3000 8 3 2Electrical Gear Setting In the position control mode by changing the position command pulse frequency molecular movement parameter PA 13 and position command pulse frequency denominator movement parameter of PA 14 users can easily match with the pulse controller to achieve position control resolution as required The position resolution a pulse travel 41 is determined by the servo motor travel per turn 4S and encoder feedback pulses per revolution Pt The formula is as follows _ A3 P In the formula Al Indicates a pulse travel mm AS Indicates servo motor travel per turn mm turn Pt indicates encoder feedback pulse per revolution pulse rev 157 Series HSV 180AD AC Servo Amplifier User s Manual Fourfold frequency circuit is provided for the Servo Amplifier Pt 4 x C C indicates the number of encoder lines per revolution In this system C 1s 2500 lines turn specified by encoder resolution and movement parameter PA 25 then Pt 1000 pulses rev Multiply command pulse with the electronic gear ratio G to get the position control pulse The formula for one command pulse travel Z1l is as follows i us P t
115. ust be wiring in accordance with the terminal voltage and the polarity to prevent from equipment damage or personal injury The Servo Amplifier and servo motor must be reliably grounded Do not directly hammer at the motor shaft when connect or disconnect its mechanic part to protect encoder from being damaged e Try to align the motor shaft to the optimum level to prevent from oscillation or bearing damage 5 1 connectors 61 Series HSV 180AD AC Servo Amplifier User s Manual Figure 5 1 shows the interface configuration of HSV 180AD The power of three phase 380V Circuit breaker Electromagnetic contactor The input AG reactor The input filter Selection system Pulse signal Analog signal 10 signal 62 Series HSV 180AD AC Servo Amplifier User s Manual 5 2 Terminal Configuration Figure 5 2 shows the interface configuration of HSV 180AD In the figure XT1 and XT2 are the terminal blocks XS1 1s a DB9 socket XS2 XS3 and XS4 are high density sockets XS5 is a wiring terminal Figure 5 2 Interface configuration of HSV 180AD N p XT1 power input Panem terminal XS1 RS232 Communication interface XS2 ENCODER Second position encoder input interface X53 ENCODER1Servo motor encoder input interface AA COMMAND Command input output interface XS5 input output terminal XT2 Power output terminal 63 Series HSV
116. when ordering 2 Temperature and Humidity The environmental temperature must be between 0 degree Celsius and 40 degree Celsius Humidity cannot greater than 90 RH and there is no condensation After long time operation the motor will heat up It is recommended that you use forced cooling or use derating motors if there is less space or the motor is closed to heating equipments 3 Oscillation The motor must be free from oscillation and take measures to control the oscillation below 0 5 G 4 9m S 59 Series HSV 180AD AC Servo Amplifier User s Manual 4 4 2 Installation Method 1 Installation Method The GK6 series can be installed vertically and horizontally 2 Installation Notes B During installing and removing pulley do not knock the motor or motor shaft to prevent damaging the encoder Use the spiral drawing tools to install and remove the thermal expansion expansion type coupling B Series GK6 servo motors cannot withstand large axial load or radial load It is recommended that you use flexible couplings to connect it with the load E When fixing the motor use spring washer to tighten the bolts to prevent loosening 60 Series HSV 180AD AC Servo Amplifier User s Manual 5 Wiring Warning Wiring and wiring inspection personnel must have required capabilities e Wiring and wiring inspection personnel must wait 5 minutes after power off for all wiring or wiring check to prevent from electronic shock Caution M
117. y 6 1 Overview 1 The Servo Amplifier panel consists of 6 LED digital displays 5 buttons t LL k M S and 2 light emitting diodes Ee HSV 180AD 050 Figure 6 1 Digital display of series HSV 180AD Servo Amplifier The 6 LED digital displays are used to display various statuses and set parameters The red light emitting diode is an alarming lamp AL When it is on it means Servo Amplifier alarm The green light emitting diode is an enable lamp EN When it is on it means Servo Amplifier enable The function of each button is as follows M used for main menu mode switching S used for entering into the secondary menu returning to the main menu mode and input confirmation f used for an increase in number and value or moving to the next option lu used for a decrease in number and value or moving back to the previous option k used for shifting 107 Series HSV 180AD AC Servo Amplifier User s Manual 2 After the control power supply of the Servo Amplifier 1s connected the six LED digital displays on the panel all display 8 and change to R O a second later 3 Users must operate based on the multi level menus The first level menu is the main menu which includes five operation modes display mode movement parameter mode auxiliary mode control parameter mode and alarm history display mode Each operation mode contains a secondary menu Figure 6 2 R 0 display 4 The 6 bit LED digi

Series HSV-180AD AC Servo Amplifier User`s Manual

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