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Chapter 1 Safety Precautions

1. MC AT Chapter 5 Wiring Figure 5 5 HSV 160B 020 030 AC servo drive interface terminal configuration Mains terminals PE BK1 BK2 COM COMMAND ENCODER Fault interlock terminals The terminal sequence is 1 2 3 4 looking from the external to the internal after drive installation 38 Chapter 5 Wiring Plugs lugs and pins of the COMMAND and ENCODER sockets are shown as follows Figure 5 6 Lugs and pins of the Command control terminals looking in the face of the lugs pe pe wj m m e 8 4 2 E pe pu puppe ep BI E SCE pep EU A ep pu jer m mp ep pep wl pep ep pep 6 Figure 5 7 Plug of the control terminals Command looking in the face of the plug 36 19 Q Q 18 l Figure 5 8 Lugs of the encoder socket looking in the face of the plug e jd a per pup p pH up pu pe ope Be per per pep psp pap pu Chapter 5 Wiring Figure 5 9 Plug of
2. O O O L S L 296 Chapter 4 Installation Figure 4 6 Installation spacing for a solo HSV 160B 050 075 AC servo drive 10 260 AC SERVO HSV SERIES Bre usv 1608 050 aaaadcd A v4 ALO OEN M S 245 ONVININOO c J3te ei u3a09N3 220 Figure 4 7 Installation spacing for the HSV 160B 050 075 AC servo drive multiple units gt 100mm co AC SERVO HSV SERIES Bae usv 1608 050 aaaodg M SAY 4 ALO OEN WOO ONVIINOO
3. ROB MM iA D n ud Sy S gt ap gt Figure 3 2 HSV 160B 020 030A servo drive installation dimension 82 174 6 10 g y GS AC SERVO CP Ja RU R HSV e SERIES ar Ere usv 1608 030 0 ala sisi DOaOodolco M SAV lt 4 ALO OEN n WOOD 178 190 G BK2 2 ONVINIWOO Ife J3Q009N3 mz c ofe e 1 slo SAE aA
4. D ile gt e Ka e fes eds Chapter 3 Specification Figure 3 3 HSV 160B 050 0754 servo drive installation dimension 00 10 2 R5 H SV SERIES Eae usv 1608 050 245 220 260 INO ONVWINOO Sr YSAGOONS 100 me 219 5 3 2 Isolating transformer specification HSV 160B AC servo drive uses 3 phase or single phase AC 220v power supply 3 phase 380 220v servo isolating transformer is recommended and the capacity of isolating transformer depends on the servo drive system capacity When you select the isolating transformer it 1s necessary to take the servo drive system capacity for each axis into account comprehensively You can consider step by step in the following way 1 Select suitable motors based on the mechanical load inertia torque and trasmission method adopted 2 Select the servo drive type based on the se
5. M SAV 4 ALO OEN T 21 00mn eN E PE L amp rn BKI Oo E BK2 U co o v on P 8 PE a 5 e e n co c Co N N e 300 J Figure 4 5 Installation spacing for the HSV 160B 020 030 AC servo drive multiple units J AC SERVO AC SERVO AC SERVO HSV seres HSV seres HSV seres Bre Hsv 160Bt 030 Bre usv 1608 030 Bre usv 1608 030 21 00mm 2nnan o 22omp MS AV 4 M S AV lt 4 M SAV lt 4 ALO OEN ALO OEN ALO OEN A e OE 9 E illia 100mm i EE Ee i 8 8 8 i z t t 5 H Taze o s 9 2 o LI Li Cc W3GOON3 mex p n aS LT LI YaGOONSa Peasc o 22 2 o U U Y3d09N3
6. COMMAND P aa 2I E WIESE E mh vamus did emma AID FEL ARAS AN 13 4 B 5 B as Samui d ECE N Z 17 Z Hee 3 eg a T SER cue Pye 10 V i fite PL UO per Eeg un ED Ws pl Pe CN BEE be INH 4 LL tote Horg row s T 24v vut Operation Connect the main circuit power and Command terminals Disconnect the motor power cable terminal U V W Setting of the parameter ERR depends on the motor type See 6 2 for the operation method of the parameter saving and power removal 27 Connect the motor power cable terminal U V W to conduct the main circuit power supply Connect the Command terminals Activate the drive enable and it outputs control signal ON The indicator lamp EN on the drive is on If an alarm is reported you should check the wirings 3 Setting and saving the parameters in accordance with the following list See 6 2 for the operation method Parameter Parameter Factory Description NO Value Default 95 Chapter 8 Operation Tuning setting l l according to Command input gain the requirement NENNEN Defined by Acceleration time 200 users E Defined by Deceleration time 200 users 4 The parameter value setting can be saved to EEPROM See 6 2 for the operation method 5 Shut down the main circuit power and wait 30 seconds After verifying that no alarm is report
7. LE O v E Z 8 m o PE tenni L gt 25MM Lr HSV Bang usv 1608 050 SERIES aaagaogdg M S Av 4 ALO OEN amp WO GNVWINWOS uSGOONS of 2D gt 25M co HSV Bre usv 160B 050 SERIES gapgaoaog MSAV lt ALO OEN WOO ONVININOO Lr O v es 7 8 m o PE te La 100mm Chapter 4 Installation 4 4 Installation of servo motors To prevent the motor from vibration and impact knocking on the motor rotor or encoder is forbidden When transport the motor you should not drag at the motor rotor the outlet wires or the encoder Motor rotor cannot be overloaded otherwise the motor could be damaged Make sure the motors are fastened and take measures to avoid loose or drop out 4 4 1 Installation environment 1 Protection If the servo motor is not waterproof type you should prevent liquids splash on the motor during installation and operation especially avoid entry of grease into the motor internal via lead wires or the motor rotor Note
8. Occurs when connecting the main value is too small and the constant for acceleration System speed overshooting is too and deceleration 11 t overspeed great D Input ree One ey Correct the setting the process ratio value is too ia of motor Encoder failure Change the servo motor operation Encoder cables are not DChange the encoder in the good condition cables Drive system is instable 1 Reset the related gains which causes overshooting 2 If changing the gain setting can not reduce the system instability you can reduce the load rotary inertia ratio 112 Chapter 9 Diagnostics and Troubleshooting Occurs when the motor 1s started Occurs when connecting the main Connecting the power supply and the control wires input the command pulses motor stands still Tracking error overtolerance Occurs in the process of motor operation Motor overload Control parameters reading error DSP fault 1 Reduce the load inertia 2 Change a drive and D Load inertia is too great motor with greater power 1 Change the motor 2 Tuning the encoder zero DEncoder zero point error 1 Incorrect wiring of motor U V W 2 Incorrect wiring of encoder cable down lead DCorrect wirings DCircuit board failure DChange the servo drive 1 Incorrect wiring of motor U V W 2 Incorrect wiring of encod
9. ccccccscsssssccssessscsescsscsescssscscsescsecsees 115 LOA Routine ThSDOGLOP qr dtt e ome btte TE Dole eius 15 10 2 Regulat CHECKING aos quip ons Ett uv cup CvuiNE eu Us qUpadu deus uie etu UU Seded a ann e QUEE 15 O CACO Wal Sita niee dades ont beatos dos seni ent si concn cones es iode deca etat nidore 116 PATRI NUNC HDD 116 Chapter 1 Safety Precautions Chapter 1 Safety Precautions Thank you very much for your using AC Servo Drive Unit HSV 160B We provide servo drives and motors for common industrial applications However the following instructions must be strictly observed Do not place the servo drive and motor in the environmental conditions of strong vibration Do not use the servo drive and motor for life safety concerned medical equipment gt Do not subject the servo drive to the rain or direct sunshine since it is not waterproof structured gt Do not make any changes or modification to the servo drive and motor Attention Before correct installation and wiring read through this manual carefully Before operation you should have good knowledge of safety information and precautions and device usage 1 1 Warning symbols on the product Warning Be careful of electric shock and personal injury hazard Wait 5 minutes for wiring and cover removal after power shutdown Chapter 1 Safety Precautions 1 2 Meanings of symbols for warning Warning Safety sign board
10. IL ips E row s Tt 24v tbi D Connect the main power circuit and COMMAND terminals Disconnect the motor power cable terminal U V W Setting of the parameter EE ias depends on the motor type See 6 2 for the operation method of parameter saving and power removal 27 Connect the motor power cable terminal U V W to conduct the main circuit power supply Connect the COMMAND terminals Activate the drive enable and it outputs control signal ON The indicator lamp EN on the drive is on If an alarm is reported you should check the wirings 3 Setting and saving the parameters in accordance with the following list See 6 2 for the operation method 97 Chapter 8 Operation Tuning Parameter Description Parameter Value Factory Default Control mode selection mode selection To MEE defined as per HH Command input gain 20000 requirements Command zero compensation Highest speed limit Defined by users 2500 4 The parameter value setting can be saved to EEPROM See 6 2 for the operation method 5 Shutdown the main circuit power and wait 30 seconds Connect the main circuit power supply After verifying that no alarm is reported and no fault occurs the indicator lamp EN on the drive is on The motor is excited and operating at zero speed 7 Add one adjustable DC voltage supply to the analog speed input terminal the voltage increases from 0 to the greater Make sure the motor outp
11. 110 Chapter 9 Diagnostics and Troubleshooting DMotor insulation is Change the motor damaged DDrive is damaged DChange the servo drive 1 Check the loads 2 Lower the start up and stop frequency Operation in the over 3 Reduce the torque torque condition limit 4 Change a drive and motor with greater 1 One of the phases in DCheck the wirings the line U V W disconnects 2 Encoder wiring incorrect DMotor overheat Occurs protective wire is not DShielding this alarm when connected connecting B board fault Change the servo drive Cables disconnect Motor internal Check the wirings temperature relay is Check the motor damaged the main power supply Reduce the load Lower the start up and stop frequency Reduce the torque limit Mot load MION ONEN Reduce the related Motor gains 6 i overtheat Change a drive and motor with greater Occurs in power the process DCheck the load of motor 2 Lower the start up and operation Long time operation in stop frequency the condition of over m omia incu 3 Reduce the torque limit 4 Change a drive and motor with greater power DMechanical transmission Check the mechanical is not in good condition parts D Motor internal faults DChange the servo motor DEncoder wirings are DCheck the wirings incorrect DEncoder is damaged Change the motor 7 Encoder CDExternal interference 1 Add line
12. 32767 to 32767 correspond to the angle range 180 to 180 Set the current control loop proportional Current a h E control loop If the current noise 1s too big whilst the 10 nal motor operation the set value can be duly 25000 to 32767 proportiona reduced gain S If the set value is too small the speed response could lag behind DSet the current control loop integral time Z If the current noise is too big whilst the motor operation the set value could be duly increased If the set value is too big the speed response could lag behind The second position command Set the second position command pulse pulse numerator frequency numerator frequency The third position command Set the third position command pulse pulse numerator frequency numerator DSet the filter time constant in the torque command mode 2 As the time constant decreases the response speed of the controller increases but it could result in instability and oscillation of the system S If low response characteristic is not required 0 to 255 indicates the range 0 to 25 5ms command filter time constant es Chapter 7 Parameter Setting SS this parameter value is normally set to 0 pf 1 Set the filter time constant of the position loop feedforward Position loop 2 As the time constant decreases the response 0 to 255 feedforward speed of the controller increases but it could indicates filter time result in instability and oscil
13. 5 0 3000 6 0 05 110ST M06020LFB 6 0 2000 6 0 06 110ST M06030LFB 6 0 3000 8 0 07 2 130ST M04025LFB 4 0 2500 4 0 08 30A 130ST M0S020LFB 5 0 2000 5 0 09 130ST M05025LFB 5 0 2500 5 0 10 130ST M06025LFB 6 0 2500 6 0 11 130ST M07720LFB 7 7 2000 6 0 130ST M07725LFB 7 7 130ST M07730LFB 7 7 130ST M10015LFB 10 130ST M10025LFB 10 130ST M15015LFB 15 130ST M15025LFB 15 150ST M15025LFB 15 150ST M18020LFB 18 150ST M23020LFB 23 150ST M27020LFB 27 1313 ines x 50A 1316 OO 37 7 F ie ia um So aaa _79 Chapter 7 Parameter Setting Table 7 5 Code parameter list for Golden motors Phase Servo P43 matching Golden Motor current drive code Type A code setting 2 configurable Recommended combination GK6023 8AF3 1 EN 3000 TUS 2000 GK6025 8AF31 1 6 3000 Ol 2101 GK6031 8AF31 3000 aa Du 2102 GK6032 8AF31 43 300 63 03 GK6042 6AC31 32 200 30 04 2204 GK6061 6AC31 6 2000 55 06 2206 GK6062 6AC31 75 2000 62 07 d eee ee 3 2308 O GK6080 6AC31 16 2000 16 09 504 Paxeoss eacsi 27 209 f 265 Mu it T N 42 3s GK6089 64A31 42 120 252 14 pe 7 3 Expansion parameter mode GK6064 6AC31 2000 GS 2205 Select the parameter PH 3 in the motion parameter mode set zn 2nna PAS SSH to enter the expansion parameter mode HSV 16
14. Free status Motor current Power on status Position Speed M command 50ms Alarm sequence Figure 8 3 Alarm sequence Alarm output OFF ON Dri d ON rive ready OFF Drive enable input ON OFF IET Free status Motor status Pees ee 1S Note When the alarm is reported the main power should be cut off immediately via the external control circuit when the output alarm signal is generated 8 2 Trial Operation 8 2 1 Checking before operation After completion of the installation and connection you should check the following items before connecting the power Are all the power terminal wirings correct and reliable Is the input 88 Chapter 8 Operation Tuning voltage correct Is there any short circuit of power cables or servo motor wires Are they grounded Arethe encoder cable connections correct Arethe control signal terminal connections correct Are the mains polarity and power correct Arethe servo drive and motor fixed firmly Is the motor shaft not connected to the loads 8 2 2 Power on Trial Operation 1 Before power on Free the motor from all loads Fix the motor tightly to reduce the impact of acceleration and deceleration 2 Wirings See Figure 8 4 for wirings D The main circuit terminals are 3 phase AC 220V and should be well connected with the terminal R S T 27 Encoder signal wire connect with encoder plug in and servo motors 3 See t
15. READY 8 E dE Drive ready ox Drive alarm XM 9 soe DA ye Chapter 5 Wiring Figure 5 3 Standard wiring in the speed and torque control mode AC servo Drive HSV 160B 010 020 030 050 075 Golden Age motor 6 5 single or 3 phase c s ds BL dw AC22v f her WE h NFB MC OPE PED External braking eA BKI 7 resistor J BK COMMAND ENCODER Encoder A 18 19 signal umge psv feedback END eg Analogue NE St ae AN 12 3 a eam I GN 27 EN EZ i ue n 10 to 10v Sa o s Lez dM ie TF ae Es dM SEE V Boe REX ds TEL AEG du Alarm cleared Ale hae eo um o o p TM y motor Deviation B m OI po TA 26 Om qu VAS eme overheat counter clear TM TAE PE Command pulse e i prohibition i E CCW drive Lir prohibition at Mna 9 v M9 LOW 6 p r T Fault interlock terminals eem Drive ready dco 24v mains earthing T it Fault interlock arget position Eu achieve nu ault interloc target speed ac 4 GET 7 j gt tE hieve ceu Drive ready L READY 8 jx amp Drive alarm AM 9 A fab 235 Chapter 5 Wiring 52 Signals and functions 5 2 1 HSV 160B 010 020 030 AC servo drive terminal configuration Figure 5 4 shows configuration of HSV
16. Be careful of electric shock and personal injury Meaning of each safety sign hazard Wait 3 minutes for wiring and cover removal after power shutdown Symbol 1 3 Explanation of safety concerned symbols Incorrect use of the product could result in hazards personal injuries and even death Danger Incorrect use of the product could result in light or medium level personal injuries and damages to the product Caution 1 4 Safety notice B Check and confirm on delivery Caution B Installation B Wiring Caution Danger Chapter 1 Safety Precautions Do not install the damaged servo drives otherwise you may get injured Use the servo motor and drive in the specified combination otherwise it could result in fire or fault e Lift the bottom of the device for displacement If you hold only the panel the servo drive host may drop from your hand and you may get injured This product should be fit to the noncombustible flat surface such as metals Failure to follow this instruction could result 1n fire Make sure the inlet and outlet of the product are unobstructed Prevent foreign bodies from entering the product Failure to follow this instruction could result in aging of internal components and thereby cause fire and or fault Keep the specified space for servo drive and the switching cabinet and other devices when carry out installation Failure to follow this instr
17. C 2500 windings revolution This value can be set via the parameter PA 25 Encoder Resolution Via calculation we know that P 10000 pulses revolution The command pulse can be converted into position control pulse via multiplying the electronic gear ratio G Therefore one pulse command travel A can be calculated as follows Al eee P Thereof position control pulse frequency division numerator position control pulse frequency division denominator 8 6 3 Tuning start up and stop characteristic The drive system start up and stop characteristic is namely the acceleration and deceleration time It depends not only on the load inertia start up and stop frequency but also on the servo motor and drive performance limitation Frequent start up and stop too short periods for acceleration and deceleration and too great load inertia all these factors could result in alarms of drive and motor overtemperature or main circuit over voltage etc Therefore the tuning should be done in accordance with the actual situations 1 Load inertia amp start up and stop frequency In case of frequent start up and stop frequency occasions you should first check whether the frequency is permitted by the drive The permitted frequency range varies with the motor type capacity load inertia and the motor rotary speed In the condition load inertia m motor inertia the 101 Chapter 8 Operation Tuning permissible start up and stop fr
18. HSV I60B 010 680 200W HSV 160B 020 560 500W HSV 160B 030 560 500W HSV 160B 050 350 500W HSV 160B 075 3502 500W 117
19. If users demand for waterproof type servo motors please declare in the indent 2 Temperature and relative humidity Ambient temperature should be kept between 0 and 40 C No icing The motor temperature increases as the operating time last for long therefore enforcing heat dissipation should be taken into account if the ambient space is inadequate or other devices also heat the air The relative humidity should not be higher than 90 and no condensation 3 Vibration Avoid vibration for the servo motor installation Vibration should be less than 0 5G 4 9m S 4 4 2 Servo motor installation method 1 Way of installation GK6 motor series can be installed in a horizontal position or a vertical 20 Chapter 4 Installation position 2 Installation instructions When you assemble or disassemble the belt drive of the motor do not knock on the motor or rotor to avoid damage to the encoder And use helical drawing tools for thermal expansion joint assembly and disassembly GKO6 motors can t afford overload in the axial and radial direction Recommendation Use resilient expansion joint to connect the loads When mounting the motors you need to use spring plug to fasten the bolts and thereby avoid loose of drop out 290 Chapter 5 Wiring Chapter 5 Wiring Warning Wiring and checking personnel must be qualified for this job Wait 5 minutes for wiring and checking after power off to avoid electri
20. Parameter recovery saving fails Reconnect the power supply after powerdown the parameters can not recover to defaults Parameter defaults depend on the servo motor brands selected Now we use 66 Chapter 6 Operation and Display Huada servo motors and Golden servo motors The servo motor brand can be told via the kilobit value of the parameter ERE If you use Huada servo motors the parameters recover to Huada motor parameter defaults If you use Golden servo motors the parameters recover to Golden motor parameter defaults ds Chapter 7 Parameter Setting Chapter 7 Parameter Setting The technical persons who attend parameter adjustment should understand the indications of the parameters Wrong setting could result in damages and or injuries Suggestion After parameter adjustment first carry out the free load test run of the motor 7 1 Function menu HSV 160 B has various parameters with which you can adjust or set the drive performance and functions In this chapter it describes the usages and functions of various parameters It 1s crucial to master the optimal use of the parameters and the operation of the drive HSV 160B parameters can be divided into three categories First motion parameters Second expansion parameters Third control parameters These three categories respectively corresponding to the three parameter modes namely motion parameter mode expansion parameter mode and contr
21. Selection and connection of the braking resistor The braking voltage of the HSV 160B AC servo drive is DC 400 V and the max braking currents are listed in the table 12 1 The internal braking resistor of the drive is 70 2 200W and the max overload permitted is 1 5 times of the internal braking resistor for 5 seconds continuously When the drive loads or the inertias are great external braking resistors should be installed Generally as the loads and inertias increase the braking time will be shortened If the selected braking resistor value decreases the resistor power will be increased but the max braking current should not exceed the max braking current of the drive If only use the internal braking resistor the mains terminal BK1 and BK2 of the drive should be disconnected the drive factory default indicates only internal braking resistor Warning Short circuit of the mains terminal BK1 and BK2 will result in drive burnt 116 Chapter 10 Service and Maintenance If you use external braking resistors the external braking resistors should be connected to the drive mains terminal BK1 and BK2 The internal braking resistor and the external braking resistors are connected in parallel The recommended values of the external braking resistors are listed 1n the table 1251 Table 12 1 The recommended values of the external braking resistors Specification Max braking External braking resistor p current A recommended
22. gt decimal point is bright If you set PEAR CEE you can change the value of the parameter F RRRA via operating ditto Press M to switch to Pp h I ae expansion parameter H and you can modify expansion parameters via operating ditto Otherwise press S to return to parameter selection menu without effecting To save the parameter modification or setting first you need to input the password SMES to the parameter ELEJA and Eun then press M to switch to AL CECI mode diese do cave tic modification or set value to the drive EEPROM After saving complete the nn nu ab segment displays Fini an Or if it fails the segment displays E Press M you can switch to other modes Or press to change the motion parameters 2 Modifying and saving motion parameters A 23 To modify and save the control parameters ERE to PASC EHE to ERESSE AU to ERE and control status parameter DEAR to DERREN First select FH in the first layer press to select the parameter number Press S to view the parameter value Press v to change the parameter value Press or w once the 65 Chapter 6 Operation and Display parameter value changes 1 Keep pressing 4 or w the parameter value changes continuously Press 4 the modifiying position moves one bit left left cycle When you change the parameter the LED display right end decimal point 1s bright And then you can change the parameter
23. 160B 010 020 030 AC servo drive interface terminals including mains terminals serial port communication terminals COM signal control socket Command encoder interface and fault interlock terminals Figure 5 4 HSV 160B 010 020 030 AC servo drive interface terminal configuration Mains terminals BK1 BK2 COMMAND 01000000109 V ENCODER W N7 N7 N7 N 1 2 3 4 Fault interlock terminals The terminal sequence is 1 2 3 4 looking from the external to the internal after drive installation 2 36 Chapter 5 Wiring 5 2 2 HSV 160B 050 075 AC servo drive terminal configuration Figure 5 5 shows HSV 160B 050 075 servo drive interface terminal configuration including mains terminals serial port communication terminals COM control terminals Command encoder signal terminals and fault interlock terminals O O AC SERVO HSV SERIES Bac 4sv 160Bt 050 Oooongm M S A V 4 ALO OEN L dn R EE S PE z e Lo UJ UJ lt A A We HddOOoNH OQNVININOO oP PE D O
24. 2 Overview speed adjustment ratio 1s 1 12000 4 Small size easy to install HSV 160B AC servo drive adopts a compact structure and a small size body which makes it easy to install and disassemble 5 Gain switch function To improve the transient characteristic of the operating motor with dynamic loads you can preset standby characteristic parameters and alternate automatically according to machining situations 6 User defined Signal Inputs Outputs function HS V 160B AC servo drive system preset 13 types of input functions and 10 output functions of which users can conveniently select 6 input functions and 3 output functions for setting and define the validity of I O signals high low level 7 Servo motor code setting and autotuning function of the motor parameters HSV 160B AC servo drive sets the motor code according to the motor type and accesses to the motor parameters via autotuning 22 Introduction of operating mode There are five control modes for HSV 160B AC servo drives Position control mode pulse interface HSV 160B AC servo drive can receive 3 types of pulse commands orthogonal pulse pulse direction positive and negative pulse via setting internal parameters Speed control mode analogue interface HSV 160B servo drive can receive analogs whose amplitudes are not higher than 10v that is from 10v to 410v via setting the internal parameters to switch to the speed control mode Torque c
25. For selection and connection of brake resistors see the rake Annexure 4 Chapter 3 Specification Speed frequency 300 Hz or higher response lt 0 1 load 0 to 100 lt 0 02 Power Speed supply 15 to 10 Dn fluctuation Characteristics This value should be corresponding to the ratio nominal speed Speed adjustment Pul frequency DServo enable 2 Alarm clear 3 Deviation counter clear Input control ar 4 Command pulse prohibition 5 CCW servo drive prohibition 6 CW servo drive prohibition DServo ready for output Output control Servo alarm output Output of target position achieve target speed achieve D Two phase A B orthogonal pulses Mode of c l 2 Pulse direction nm 3CCW pulse CW pul Position ees Dies Electroni control T 1 to 32767 1 to 32767 gear Feedback Motor encoder windings 1024 Pulse r pulses 2000 Pulse r 2500 Pulse r 6000 Pulse r Parameter setting 1 to 10000 ms 0 to 2000 r min or 2000 to 0 r min Ramp function Acceleration and deceleration Motor rotary speed current and torque monitoring Momentary position monitoring MSS Position deviation monitoring Monitoring Command pulse accumulation and frequency monitoring function aS AC Rotor position monitoring Operating status monitoring Input output terminal signals monitoring etc 15 Chapter 3 Specification Overspeed protection Mains overcurrent overvoltage an
26. Segment Display l dE EPRS dP SPd NM EN EM EN Note Description Display of position tracking error Unit pulse Display of actual speed Unit 1r min Display of motor torque Unit 0 1 Display of position specified 4 bits low Display of position specified 4 bits high Display of position feedback 4 bits low Display of position feedback 4 bits high Display of position command input frequency Unit 0 1 Kpps Display of speed command Unit r min Display of motor current Unit 0 1 A Display of alarm interface status Display of input interface status Display of output interface status Display of U phase current feedback Unit digital 32767 indicates the max positive current Display of motor magnetic pole position Display of motor absolute position mechanical angle Display of pumping braking load ratio Unit 96 Display of motor actual load ratio 1n the past 10s Unit 96 Reserved 1 When the motor operates in the clockwise direction reverse dP 5Pd displays decimal when the motor operates in the counter clockwise direction dP 5Pd displays integer 2 Ifthe display of zie sd increases 10000 then the display of 59 3 4 5 6 7 Chapter 6 Operation and Display dP PPA will increase 1 If the display of OPT PEL increases 10000 then the display of dP PFH will increase 1 PARER displays the command frequency unit 0 1 KPPS F
27. excited and operates at the 0 speed 00 5 1 2 3 4 5 Chapter 8 Operation Tuning Press S and then M to enter the auxiliary mode menu 4 thi a 2 Press to select the operation status in JOG operation mode dn 5E Press S the segment displays 2 Keep pressing 4 the motor operates at the speed and direction specified by the parameter PA 21 Keep pressing v the motor operates at the specified speed in the opposite direction If the external enable is not convenient to use press S and then M to d mI n enter the control parameter mode menu JERR i Press to select SER s 5 Press S the segment displays d press 4 to change the value to See 6 2 for saving After power removal to restart the drive see the operation described in 4 Manual control mode for speed Connect the main circuit power and command terminals Disconnect the motor power cable U V W Setting of the parameter xL LED je depends on the motor type See 6 2 for parameter saving and power removal Connect the motor power cable U V W to conduct the main circuit power supply Connect the command terminals Activate the drive enable and it outputs control signal ON The indicator lamp EN on the drive is on If an alarm is reported you should check the wirings In the motion parameter mode to set the value of the parameter ERIT control method selection to 3 it switches to the internal speed control mode See 6
28. filters signal fault 2 Away from the interference source DEncoder cables are not DChange the cables in the good condition 111 Chapter 9 Diagnostics and Troubleshooting 1 Shorten the cable length 2 Use multi core cables CDEncoder cables are too long so the voltage supply to the encoder is reduced in the parallel connection for power supply DEncoder wirings are DCheck the wirings incorrect DEncoder is damaged Change the motor External interference 1 Add line filters Encoder U 2 Away from the 8 V W fault interference source Encoder cables are not Change the cables in the good condition DEncoder cables are too 3 Shorten the cable length long so the voltage supply 4 Use multi core cables to the encoder is reduced for the power supply DShort circuit exists in DCheck the wirings the drive line U V W Reduce the load Lower the start up and stop frequency Reduce the torque limit DMotor overload Reduce the related 10 Over current gains Change a drive and motor with greater DOWer DNot well grounded DCorrect the grounding D Motor insulation is Change the motor damaged DDrive is damaged DChange the servo drive 1 Control circuit board 1 Change the servo fault drive 2 Encoder failure 2 Change the servo motor frequency is too high command pulse DAcceleration and deceleration time constant Increase the time
29. method 5 Shutdown the main circuit power supply and wait 30 seconds 6 Connect the main circuit power supply After verifying that no alarm is reported and no fault occurs the indicator lamp EN on the drive is on The motor is excited and in the free status 7 Operate the position controller and it triggers output signal to enable the motor to rotate according to the command 3 Electronic Gear setting The encoder installed in this servo drive features 10000 PPR pulse per revolution Via setting the electronic gear parameter PA13 and PAI4 any pulse equivalent can be obtained Table 8 2 The relationship between input pulse quantity and rotary revolutions Input pulse Motor rotary Electronic gear Electronic gear quantity revolutions denominator numerator Pulses PulsesxPA13 10000xPA14 20000 5000 8 4 Simple wirings in the speed control mode 1 Wirngs See figure 8 5 for the wirings 1D Main circuit terminals are 3 phase AC 220V to be connected with the terminals R S T 27 The encoder signal plug in unit should be well connected with the servo motor 3 Connect the command signal plug in unit according to the drawing Figure 8 5 Simple wiring in the speed control mode 204 c 2 Chapter 8 Operation Tuning AC Servo Drive HSV 16UB U1U UZU U3U U5U U7S AC20V 6 d NFB MC See HAREN m ann epg 38 ua QD ENCODER
30. servo drive main menu Status display mode Motion parameter mode Press S Press Submenu M Expansion parameter mode 4 Press S Auxiliary function mode Status control mode Press M to change the operation mode in the main menu Via pressing v you can enter the function submenu Select SFE in the main menu press 4 w to enter the display mode HSV 160B AC servo drive has 19 displays see table 6 1 Users can select the required display usage via pressing w and then press S to observe the status information of the servo drive in the selected display mode To quit the selected display mode press S again To return to the main menu press M Ey Chapter 6 Operation and Display Figure 6 3 Status monitoring mode menu and demonstrations Position deviation 634 pulses Actual speed 463 r min Display of motor torque Unit 0 1 Target position command pulses 1436875 Actual feedback position pulses 1436875 Position command input frequency 75 Kpps Target speed command 463 r min Display of motor current 1 2 A Alarm code 0 No alarm reported Input interface status Output interface status U phase momentary current feedback Current position of motor magnetic pole Motor absolute position mechanical angle Pumping braking load ratio Motor actual load ratio 1n the past 10s Reserved 58 Chapter 6 Operation and Display Table 6 1 Display modes list
31. signal arises it outputs ON signal to conduct the access otherwise it outputs OFF signal to stop the access Non isolated output not insulated In PC the width of the Z phase signal pulse 1s normally narrow therefore you should use high speed photoelectric coupler receiver like 6N137 Figure 5 19 Open collector output interface for the encoder Z phase signal PC device Servo drive E Chapter 6 Operation and Display Chapter 6 Operation and Display 6 1 Keypad operation and display e Figure 6 1 shows the panel Figure 6 1 HSV 160B 010 020 030 50 075A AC Servo drive panel Bae HSV 160B 010 ojo M S The drive panel comprises 6 LED segment displays and 5 keys 4 7 4 M S which are used to show various status of the system and parameter settings etc Functions of the keys M Mode changing in the main menu category S Entry of the submenu or return or input saving A Increase in serial number or value or forward to the next option Decrease in serial number or value or back to the previous option v q Replacement B After connecting the drive power the 6 LED segment will appear on the display BI Users are supposed to operate on the multi level menus The first level menu is the main menu which includes five operation modes In each operation mode there s a function submenu Figure 6 2 shows the main menu diagram 56 Chapter 6 Operation and Display Figure 6 2 HSV 160B Series
32. the encoder looking in the face of the plug 26 14 Q Q 13 1 5 2 3 HSV 160B 010 AC servo drive mains terminals Table 5 1 HSV 160B 010 020 030 mains terminals Terminal Terminal Signal Decription No Mark Designation P Main circuit power input terminal supply AC220V 50Hz Main circuit Single phase power supply is not q power recommended which only can be Single or used in low power occasions Note Do not connect the mains input terminal with the motor put terminal U V W Grounding terminal Grounding resistor 4 Motor output terminal and power input terminal should share one connection point The external and internal braking resistor should be parallelly connected The internal braking resistance is of HSV160B 030A is External 200W 700 For selection and braking connection of the braking resistors resistor see the Annexure Warning Do not short circuit BK1 and BKO otherwise the drive could be burnt grounding The servo motor output terminals should be Servo motor connected with the terminal U V W correspondingly in the right order 40 Chapter 5 Wiring System grounding System grounding 5 2 4 HSV 160B 050 075 mains terminals Table 5 2 HS V 160B 050 075 mains terminals Terminal Mark 41 Terminal Signal Designation Main circuit power single phase or three phase Grounding terminals Grounding resistance 4 Q Servo motor output terminal a
33. the event of mechanical limit exceed In the switch ON condition motor torque outputs 0 in CCW direction Note 2 You can shield this signal via parameter STA 8 or always keep the switch OFF Input terminal of L CW clock wise direction drive prohibition OFF CW drive is permitted ON CW drive is prohibited Note 1 This signal is used for mechanical limit exceed In the switch ON condition motor torque outputs 0 in CW direction Note2 You can shield this signal via parameter STA 9 or always keep the switch OFF Output terminal of Target position achieve If the position deviation counter value is within the preset positioning area the target position achieve terminal outputs signal ON Output terminal of target speed achieve When the target speed is reached or exceeded this terminal outputs signal On Output terminal of drive ready SRDY ON Power supply is normal no alarm occurs and the drive is ready for the output of signal ON SRDY OFF No power supply is available or alarm occurs so the drive is ready for the output of signal OFF m O NO o2 CA IL ON o2 O2 oO o2 NO UJ ON eS GN Chapter 5 Wiring ALM Reserved Reserved AN O po Q DIR DIR UJ Hs N EE Drive alarm output signal input positive signal input negative signal Command pulse input signal PL
34. via operating ditto Press S to return to the parameter selection menu without effecting To save the parameter modification or setting first you need to input the password SRARJD to the parameter 5 LU and then press M to switch to EEUU mode Press S to save the modification or set value to the drive EEPROM After saving complete the segment displays Fini and Or 1f 1t fails the segment displays EPFBF7 Press M you can switch to other modes Or press to change the motion parameters 6 2 2 Parameter recovery Press M to switch to DETRE mode select EETRI in the first layer and press w to select the parameter dEEZPR Press S the segment displays FE REB The parameter recovery is completed However it takes effect only after saving Press S again and then press M to switch to P E zs il Press or w to select the parameter and set or change its value Press S to return to the parameter without effecting To save the parameter modification or setting first you need to input the n oodPae password E du LAJ Tae to the parameter PASSO and then press M to switch to AU Ut 2 2 mode Press S to save the modification or set value to the drive EEPROM After saving complete the segment displays Pink ort Parameter recovery saving is complete Reconnect the power supply after powerdown the parameters will recover to defaults If the saving fails the afl Fa aly mf segment displays ERRORZ
35. 0B has 28 expansion parameters and thereof 3 are reserved Table 7 7 Expansion parameter list S N Parameter bium Range of the Factory 2n designation E parameters default Unit applicable The second 20 to 10000 400 0 1Hz proportional gain proportional gain IF second speed d to 500 constant The second torque 0 to 500 0 1ms time constant Gain changeover 0 to 5 condition a first gain 1 Fixed second gain 2 Switch control changeover 3 Command frequency control 4 80 Chapter 7 Parameter Setting 0 to 10000 1 to 10000 0 to 10000ms ms changeover 8 Hysteresis time for 0 to 1000ms ms position gain shift Deviation pulse control 5 Motor rotary speed control Hysteresis band Unit ditto 10 Command frequency 0 1Kp ps unit pulse deviation Motor rotary speed 1 rpm width of the gain a changeover Hysteresis time of the gain Gain threshold changeover when the output wth oupi i me _ ye 1000 to 4500 1800 100 to 20000 1253 Ld 10 to 400 10 Unit Unit Nm Kgm2 _ 12 to 12 speed is 0 Motor powerdown delay after the enable turned off Starting speed of the weak magnetic field T inertia ratio EN current of the weak magnetic Digital input nenon Il function I2 ES e 3191 function I3 NE RN CR RN NN RN function I4 Di ne function I5 Ei NN NN a NN NN function I6 micum E E function O1 EHE NN RN RN NR RN function O2 rpm oq mp fun
36. 1 Safety Precautions B Troubleshooting Danger Caution B Adoption of servo motors Caution Wait 5 minutes for wire removal after power shutdown of the servo drive since the voltage may still remain high for some time Failure to follow this instruction could result in electric shock Operations such as wiring installation running disassembly and maintenance must be performed by the specified professional personnel Failure to follow this instruction could result 1n risks of electric shock and or damages to the servo drive The control circuit board adopts CMOS integrated circuit IC therefore you should take anti static measures in maintenance otherwise the electrostatic induction could damage the control circuit board The nominal voltage of the servo motor must be greater than the constant torque loads valid Otherwise the servo motor could be damaged for long time overload The ratio of load inertia and servo motor inertia should be less than the recommended value Otherwise the device could be damaged Usethe servo motor and drive in the specified combination Failure to follow this instruction could result in damages to the device Chapter 1 Safety Precautions B Others Danger 10 Do not make changes or modifications to the device by yourself Failure to follow this instruction could result in risks of electric shock and injuries Chapter 2 Overview Chapter
37. 2 Overview HSV 160B is a new product of full digital AC servo drive after HSV 11 HSV 16 and HSV 160 developed by Wuhan Golden Age Motor Technology Co Itd It features all characteristics of compact structure ease of use and high reliability 2 1 Product introduction HSV 160B AC servo drive adopts the latest technological designs such as Digital Signal Processing DSP for motion controller and Intelligent Power Module IPM It features a few characteristics A small size body Easy to install and operate e High reliability Highlights of HSV 160B AC servo drive 1 Easy and flexible control To meet different work requirements and or environmental conditions you can make revisions to the servo drive parameters to change its operating mode and or internal parameters You can also preset a few sets of characteristic parameters and alternate automatically according to the machining situations 2 Full status display HSV 160B AC servo drive provides a series of status display It enables users to browse the related status parameters of the servo drive easily during debugging and operation And it also provides a series of fault diagnostic information 3 Wide range of speed adjustment ratio relative to the motor itself and the feedback component selected The setpoint of maximum rotary speed of the motor can reach 12000 rpm in HSV 160B AC servo drive system and the minimum is 1 rpm The range of Chapter
38. 2 for the operation method Shut down the main circuit power supply and wait 30 seconds before switching on again After verifying that no alarm 1s reported and no fault occurs the indicator lamp EN on the drive is on In the motion parameter mode the motor operates at the set speed via rm parameter PASE internal speed Press S to set the motor testing speed the motor will operate at the set speed It is not necessary to save 9 Chapter 8 Operation Tuning this setting See 6 2 for the operation method 6 In particular conditions if you need to start the motor immediately after power switching on save the parameter F PURURI setting in the motion parameter mode See 6 2 for the operation method Wait 30 seconds for switching on the drive again The servo drive operates at the set speed via parameter PREFED Generally this method is not recommended 8 3 Simple wirings in the position control mode 1 Wirngs See figure 8 4 for the wirings D Main circuit terminals 3 phase AC 220v to be connected with terminals R S T 2 Connect the encoder signal plug in and the servo motor 3 Connect the control signal plug in unit according to the drawing Figure 8 4 Simple wiring in position control mode AC Servo Drive HSV 160B 010 020 030 050 075 6 To 4Q saza c e sas AC220v 6 o C T NFB MC PE COMMAND ES HLA umm aoe EE OCC PLUS 7p DAEL
39. 2767 l numerator The third position command pulse 1 to 32767 l numerator frequency 0 to 3000 mn ms 1 Password for modifying expansion parameters o motor related command filter time constant Position feedforward filter time constant Software version user s password parameters 0t02806 100 5o03 2 Password for parameter saving 1230 0 to 3000 m ms Position command for smoothing filter time Chapter 7 Parameter Setting Tem fa Piwis 1 The fourth position command pulse 1 to 32767 l numerator frequnc Velocity reno P S 10 to 300 100 allowed for brake output Communication baud rate Axis address Deceleration time constant Brake output dela Range of 42 target speed 1 to 500 10 achieve Kilobit 1 indicates Huada motor 2 indicates Golen Age motor Hundred bit 0 10A Drive type code pu 2206 20A HM 30A 3 50A HET 75A 5 100A tens place and units order indicate the motor type To enable the parameters marked with 1 2 3 4 5 after changing you Note should save the changes first and then restart To enable other parameters you can direct make changes on line However the changes can not be automatically saved 7 2 1 Elaborate on motion parameter Table 7 3 Parameter function list S N Parameter proportional eain m Position loop D Set position controller proportional gains 2 The
40. E N i SION edu CHE ps UR Ue eM EN pp ra gus A ra gus Ay E uz 24V hil 92 Chapter 8 Operation Tuning 2 Operation D Connect the main power and Command terminals Disconnect the power cable terminal U V W Setting of the parameter RASA depends on the motor type See 6 2 for the operation method of parameter saving and power removal 27 Connect the power cable terminal U V W to conduct the main circuit power Connect the command terminals Activate the drive enable and it outputs control signal ON The indicator lamp EN on the drive is on If an alarm is reported you should check the wirings 3 Setting and saving the parameters in accordance with the following list See 6 2 for the operation method Control mode selection Table 8 1 User defined Ph ec Pulse input method parameter list Electronic gear Defined by users l numerator Electronic gear ERE Defined by users l denominator Table 8 1 Position command pulse Pulse Form Position Parameter No Signal Input Pin Rotation in the Rotation inthe Command Pulse pos direction neg direction Input Setting CP Control terminal 14 15 DIR direction control terminal 16 17 93 Chapter 8 Operation Tuning 4 The parameter value setting can be saved to EEPROM See 6 2 for the operation
41. HSV 160B Series Full Digital AC Servo Drive Unit User s Manual Version 1 0 Wuhan Golden Age Motor Technology Co Ltd Nov 2011 Contents Chapter 1 Safety Precautions eee eee eere eee esee eese eoe ene sens testes ttes tasto staoe 4 1 1 Warning symbols on the product sene 4 1 2 Meanings of symbols for WAEnIne oie eoo eote teneo de eot teneur derieuted 5 1 3 Explanation of safety concerned symbols sss 5 Anafe NON Ceca boa E ab cata ciebat rdi tine 5 Chapter 2 OvVeEvIeW ronde dieron deco e esiti ioc rue e cu eeepc UE 11 ZI Product IDEOQUE OD cce HUE EE eee 11 22 Introduction OL operating Modenni iiss ie t de E 12 Chapter 3 Specificatinissccscessccsdsccsscesscastcesscessccssccsscesseeuseessessscesseesseabsessstessessseeboens 14 9 1 Servo drive specifications eo n tse ee 14 3 2 Isolating transformer specification esseseeeeeeeeeen e 18 Chapter 4 Installation ini ceeteei ceoseco cente cn oense reason e oead eno SaSao ni 20 d check on delye ynom mo T E ee ren ED ets 20 AD Installation enviEOBIeD E oobis estilo iine eit inea deiectis oi oie 2 2 2 EL Protection BOGUT CIC DIES d aede Renate Set Rave Oe E ae ape Cds vuDe E uut 21 42 2 Temperature requirements tud teet se ete dete actetuer 21 423 Vibratonand shock Tod IHE siio arit o essai race ab dibus 21 dq 5ervo lrtvednstalatiODis
42. S to return to the parameter selection menu without saving To save the gg changes or settings you should input the password SACS to the parameter PAZ 24 Press M to switch to EEZZEE mode Press S to save the changes and settings to the drive EEPROM After saving complete the segment displays Fini and or otherwise it displays 103 Chapter 8 Operation Tuning aa Se 3 After parameter recovery saving complete the parameter values will be recovered to defaults after switching on again 4 Parameter recovery values depend on the parameter PRIR The kilobit of the parameter indicates the motor brand Huada motor or Golden Age motor If you use Huada motors the parameter values will be recovered to Huada motor defaults If you use Golden Age motors the parameter values will be recovered to Golden Age motor defaults 8 7 2 Deficient output contributions in the process of tuning With the default values of the parameters ER xi EIER PASSO and FAS AG the drive output contribution is not satisfying but the drive alarm already reports software overtemperature AEE You should adjust the parameter PREEAB Motor Overload Factor provided the setting of the parameter FH 3 is correct 8 7 3 Current loop tuning If the drive and motor code parameter PAF FAS is correct the parameters Pacem Pace FAs Ree PRESS will be automatically tuned It is not necessary to set the parameters manually unless some special oc
43. Troubleshooting Attention Only qualified personnel who have the corresponding professional knowledge and capabilities can work on the drive system To touch the drive and motor you should wait at least 5 minutes after power removal Failure to follow this instruction could result in electric shock and burnt If the drive triggers an error response in the event of a fault you should clear the error depending on the error code After that you can use the drive Before the alarm reset verify that the EN signal 1s disabled Otherwise the abruptly started motor could cause unexpectable accidents 9 1 Protective diagnostic function HSV 160B type drives provide 18 protective functions and diagnostics When one of the protective functions 1s activated the segment on the drive panel displays the corresponding error response and a drive alarm will be reported When use the drive the alarm output and fault interlock output circuit should be connected in the emergency stop loop If the drive protective function 1s activated the main power supply can be cut off in time Cut off the 3 phase main power supply but the control power supply is still on After troubleshooting switch on the drive power again to clear the alarms Or pressing keys on the operation panel to enter the auxiliary mode and clear the alarms via alarm reset function Some of the alarms can not be eliminated via alarm reset function You can c
44. US mode Command pulse input signal SIGN mode Encoder A phase output signal Encoder A phase output signal Encoder B phase output signal Encoder B phase output signal Encoder Z phase output signal 46 Output terminal of drive alarm ALM OFF When no drive alarm occurs this terminal will output OFF ALM ON When drive alarm occurs this terminal will output ON Analog input command positive Connect with PC analogue command output terminal Analog input command negative Input terminal of external command pulses Note 1 Set pulse input mode via parameter PA22 1 Command pulse Sign mode Q CCW CW command pulse mode 2 phase command pulse mode Servo motor encoder A phase output terminal Servo motor encoder A phase output terminal Servo motor encoder B phase output terminal Servo motor encoder B phase output terminal Servo motor encoder Z phase output terminal Chapter 5 Wiring Encoder Z 34 Z phase output Servo motor encoder Z phase output terminal signal L3 1 S EBENEN NENNEN NN ox omm o o BEEN NENNEN x 91 1 eround terminal signal ground signal siemens 801 System Power ground of the input terminal It is used to drive the optoelectronic coupler of the input terminal DC24V power ground current gt 100 mA Power input signal ground 5 2 8 Encoder signal terminals Table 5 6 Encoder signal terminals Termin
45. al Terminal Signal Description No Mark Designation Connect with servo Encoder A input motor optical encoder A Connect with servo 2 Encoder A input motor photoelectric encoder A Connect with servo 3 Encoder B input motor photoelectric encoder B Connect with servo 4 Encoder B input motor photoelectric encoder B Connect with servo Encoder Z input motor photoelectric encoder Z Connect with servo Encoder Z input motor photoelectric encoder Z eds Chapter 5 Wiring Connect with servo Encoder U input motor photoelectric encoder U Connect with servo Encoder U input motor photoelectric encoder U Connect with servo Encoder V input motor photoelectric encoder V Connect with servo Encoder V input motor photoelectric encoder V Connect with servo Encoder W input motor photoelectric encoder W Connect with servo Encoder W input motor photoelectric encoder W I 11 1 3 OMI Themalresistor_ Servo motor thermal 26 OH2 Themalresistor_ resistor output 20 21 Encoder power 22 feedback Encoder power feedback the servo drive automatically performs voltage compensation according to the encoder 16 17 Servo motor 9 Wot j uses 5 V power If the cable is long E Power output you should use multiple cables to connect parallelly Connect with the servo iid EM e motor external shell Note 1 Control signal terminals No 1
46. alue as possible If the parameter set value 1s too small the response speed is improved but it easily produces oscillation Therefore set a smaller value as possible when no oscillation occurs If the parameter set value is too great the motor speed changes greatly as the load varies In general the parameter set value should be greater as the load inertia increases Position control B Setting the appropriate values to the parameters speed ratio gain and speed integral time constant in the same operation method B If the parameter value of 22 UE position loop feedforward gain is great the response speed of the system will be improved but it easily leads to the systematic position instability and the oscillation Normally we set 0 to this parameter value B Setting the value of the parameter A LU Position loop proportional gain If the set value of the parameter becomes 99 Chapter 8 Operation Tuning greater the gains and stiffness also increase In the same frequency command pulse conditions the hysteresis decreases The parameter set value depends on the servo drive type and the load conditions Set a greater value as possible when no oscillation occurs But if the set value of the parameter Position loop proportional gain is too great it easily produces oscillation in spite of good tracking characteristic of position command and less hysteresis B If the requirement for position tracking characteris
47. antity displays on the position deviation counter is not greater than the set value the drive takes it as positioning completed The positioning complete switch outputs signal ON Otherwise it outputs signal OFF 3 In the position control mode it outputs positioning completion signal DSet the positioning deviation out of tolerance 2 In the position control mode if the display of the positioning deviation counter excelled this parameter value the alarm of positioning deviation out of tolerance is reported 1 to 32767 Pulses SUA Chapter 7 Parameter Setting Set the position command pulse fractional octave band electronic gear 2 In the position control mode via setting the parameter No 13 and No 14 the device can be matched with various pulse types and the optimal control resolution angle pulses can be achieved 8 PXG NxCx4 P Input command pulses G Electronic gear ratio Postion G Frequency division numerator frequency earn division denominator pulse N Number of turns of the motor 1 to 32767 renee C Photoelectricity encoder winding round frequency for this system C 2500 4 For example if the input command pulse is 6000 the servo motor rotates per revolution Set the value of parameter No 13 5 and No 14 3 cg ICM 125004 5 P 6000 3 5 The recommended range for the electronic gear ratio should be lt G lt 50 ae command pulse 1 See the parameter No 13 l to 32767 denominat
48. are damaged or with incomplete parts Use the specified combination of servo drives and servo motors Do not touch the motor rotor by hand directly otherwise it could cause corrosion 20 Chapter 4 Installation 4 2 Installation environment The servo drive are supposed to be installed in the well protected Caution switching cabinet to prevent dust corrosive gas conductive foreign bodies fluids and inflammables from entry The servo drives are supposed to be installed in accordance with the specified direction and side distance to ensure good heat dissipation conditions The servo drives and motors are supposed to be free from vibration and shock The servo drives are not supposed to be installed near combustibles in order to avoid fire hazard 4 2 1 Protection requirements Structural protection are not specifically designed for the servo drives therefore it 1s supposed to be installed in the well protected switching cabinet to prevent corrosion combustible gas conductive foreign bodies metal powder atomized oil and other fluids from entry of the servo drive 4 2 2 Temperature requirements Ambient temperature 0 C to 50 C Safety long time operating temperature below 45 C Ensure good heat dissipation 4 2 3 Vibration and shock loading Avoid vibration during servo drive installation and adopt Vibration damping measures to restrain the vibration below 0 5G 4 9m S No vibration and sh
49. c shock Wiring is supposed to be done according to the terminal voltage and polarity to avoid damage to the device and or personal injuries The high frequency oscillated current flows through the servo motor and the leakage current will be heavy Therefore the servo motor earthing terminal and the servo drive earthing terminal PE should be together reliably grounded When assemble disassemble the mechanical connection parts of the motor rotor do not use the hammer to knock on the rotor direclty otherwise the motor encoder could be damaged Align the end faces of the motor rotor to the best condition otherwise vibration could arise or the motor bearing could be damaged 30 Chapter 5 Wiring 5 1 Standard wiring The external connection of the servo drive depends on the selected control mode 5 1 1 Position control mode For standard wiring a in the position control mode see Figure 5 1 for standard wiring b applicable to Siemens controller 801 in the position control mode see Figure 5 2 5 1 2 Speed and torque control mode For standard wiring in the speed and torque control mode see Figure 5 3 5 1 3 Conductor configuration 1 Mains terminals Cross section of the wires for terminal R S T PE U V W gt 1 5 mn AWG14 16 Grounding The cross section of the grounding wires should be as large as possible The servo drive and motor are supposed to be connected to the PE terminal an
50. casions as follows 1 In the operation the motor current produces loud noises You can lower PA 27 the value of the parameter Current control loop proportional gain and increase the value of the parameter PRCE Current control loop integral time If the effect is not obvious you can change the value of the parameter LL VEL Speed feedback filter factor to the range of 0 to 2 In the ordinary course of events do not change the parameter LA N 2 When the motor is operating at 0 speed the drive is enabled and the motor is excited If the motor shaft produces low frequency vibration 104 Chapter 8 Operation Tuning noise you should lower the value of the parameter ELEELE Current control loop proportional gain and increase the value of the parameter PHszEB Current control loop integral time If the effect is not obvious you can change the value of the parameter PAs dc Torque command loop filter time constant to the range of 4 to 15 Besides you can set the value of the parameter LLL LULU Speed feedback filter factor to the range of 0 to 2 In the ordinary course of events do not change the parameter Ee LULU f 8 7 4 Change of parameters should be done regardless of the motor and drive combination type In the particular conditions the relationship between the drive and motor is not listed in the table 7 4 or table 7 5 or there is no corresponding motor code If the ratio of the motor nominal c
51. ction O3 eem rer om o current rotary speed a ea O o ee e inertia 81 Chapter 7 Parameter Setting o dew 0 00 ooo o o d To effect the gain changeover function of the parameter gd cheese you should set FEA 14 The mapping relation is listed below 0 1s defined as the first gain 1s defined as the second gain 2 1s defined as switch control changeover The mapping of the corresponding switch value input for example set Ph 41 8 if this switch value is effective after setting delay time via parameter EXHI the gain value will shift from the first gain value to the second gain value and vice versa 3 1s defined as command frequency control When BEZPEF gt EB EES after setting the delay time via prameter ROSA the gain value will shift from the first gain value to the second gain value When RARER lt F BM PREISE after setting the delay time via the parameter EBERS the gain value will shift from the first gain value to the second gain value 4 1s defined as deviation pulse control When HESERFAz F BM RURSUS after setting the delay time via the prameter ERIR i the gain value will shift from the second gain value to the first gain value When BEZEPA E GEHN EEEE after setting the delay time via the parameter 2 ELE the gain value will shift from the second gain value to the first gain value 5 1s defined as motor rotary speed control When 8F 5F d g
52. cy is too high se the orthogonal command pulse form Command frequency failure System Positive limit switch operating disconnect over travel in the pos direction Check the positive limit switch status System Negative limit switch operating disconnect over travel in the neg direction Check the negative limit switch status Parameter Incorrect motor parameter Check and reset the motor autotuning or incorrect recognition of parameter or the load failure the inertia due to great load device connection elasticity Incorrect Inappropriate motor and Reset the motor and drive motor and drive type code settings type code drive combination 114 Chapter 10 Service and Maintenance Chapter 10 Service and Maintenance The drive guarantee period 18 months after out of factory date or 1 year from the handover date to users Q You can not carry out the repairs yourself Power connection switch off should be carried out by a certified customer service operator Q Even after power removal the circuit still maintains high voltage charging status for a period of time Wait 5 minutes for checking after power is removed and the LED light is off Q Do not carry out the insulation resistance measuring This can damage the drive 10 1 Routine inspection When the system operates in common conditions please check the followings items 1 Whether the ambient temperature and humidity are norma
53. d thereby grounded Grounding resistor lt 4 2 Adopt UT1 5 4 cold pressed pre insulated terminals Make sure the terminals are tightly connected It is recommended to use 3 phase isolating transformer for power supply in order to reduce the possibility of electric shock tis recommended to use mains filter before supply to reduce interference Install No Fuse Breaker NFB to enable the power shutdown of the external mains in the event of drive fault 2 Command signals and encoder signals Cross section of the wires Use shielded cables shielded cables with twisted pair are recommended The cross section of the wires 0 12 gt mm AWG24 26 The shielding is supposed to be connected with the PE terminal Cable lengths The cables should be as short as possible Control cable length 10 meters feedback signal cable lenth lt 40 meters 3 Chapter 5 Wiring Wiring layout The signal wirings should be kept away from the power cables to prevent the entry of interference Install surge absorbers with inductive components coils for related circuits Freewheeling diodes are antiparallelly connected to the DC coils and RC absorbed circuits are parallelly connected to the AC coils U V W must be connected to the motor windings exactly in corresponding order Note that you can not adjust the positions of the three terminals to make the motor run in the reverse direction This is different from the async
54. d undervoltage protection Overload protection Protective Braking malfunction protection function Encoder malfunction protection Control mains undervoltage protection Overtemperature protection Positioning out of tolerance protection etc Operati 6 bit LED segment with 5 keys panel Adaptive load 5 times of motor inertia inertia Servo drive unit installation dimension Unit mm 16 Chapter 3 Specification Figure 3 1 HSV 160B 010A servo drive installation dimension 1 S re re T D 2 AC SERVO F4 HER Eri Rr HSV suis EHI Bre usv 1608 010 BH 9 0 G O MS AV 4 ALO OEN S llo e E T O 112 X E XS d INVIIWOO ele WHOOONA HG ofe s slo x
55. de the external power should be provided by the users Note If you invert the connection of power polarities the servo drive could be damaged 5 3 4 Servo motor photoelectric encoder input interface Figure 5 14 Servo motor photoelectric encoder input interface 5V 10K l 10K A B Z AB Z A B Z 5 3 5 Analog command input interface Figure 5 15 Analog command input interface a Analog differential input interface Servo drive b Analog single ended input interface 52 1 2 3 4 5 6 7 8 Chapter 5 Wiring PC Servo drive If the analog input interface adopts differential mode weather to use differential input interface or single ended input interface depends on the connecting methods The resistor is 765 KQ and the input voltage supply range from 10 V to 10 V or 0 V to 10V In the differential connection mode the analog grounding wire and the input terminal negative should be connected at the controller side Besides three wires are required for the connection of controller and the servo drive In the single ended mode the analog grounding wire and the input terminal negative should be connected at the controller side Besides two wires are required for the connection of the controller and the servo drive Differential connection mode excels single ended connection mode since 1t can inhibit interference of common mode The input voltage supply can not exceed th
56. e fault 5 2 7 Control Signal terminals COMMAND Table 5 5 Control terminals COMMAND Terminal Terminal No Mark Signal Designation Drive enable signal Alarm clear signal Deviation counter clear signal Command pulse prohibition signal CCW servo drive prohibition signal 44 Description Input terminal of drive enable EN ON Servo drive operating is permitted EN OFF If the servo drive shut off operating stops the motor will be in the free state Note 1 Before you change the state from EN OFF to EN ON the motor should be at a standstill Note 2 After tuning to EN ON state wait at least 50ms to input commands Note 3 You can shield this signal via parameter STA 6 or always keep the switch ON Input terminal of alarm clear ACL ON System alarm cleared ACL OFF Hold system alarm Input terminal of position deviation counter clear CLEE ON In the position control mode position deviation counter clear Input terminal of position command pulse prohibition INH ON Command pulse input prohibition INH OFF Command pulse input effect Input terminal of L CCW counter clockwise direction drive prohibition OFF CCW drive permitted ON CCW drive prohibited Chapter 5 Wiring CW servo drive prohibition Target position achieve output signal Target speed achieve output signal Drive ready for output signal 45 Note 1 This signal is used in
57. e range 10 V to 10 V otherwise the drive could be damaged It is suggested to use shielding cables for connection in order to reduce noise interference Existing of zero drift at the analog input interface 1s normal but zero drift compensation can be made via adjusting parameter PAS The analog interface is not isolated non insulated 5 3 6 Analog command output interface Figure 5 16 Analog command output interface 2 53 Chapter 5 Wiring DA I 5 3 7 Position feedback signal output interface Figure 5 17 Position feedback signal output interface a PC device Servo drive AM26LS31 AM26LS32 Figure 5 18 Position feedback signal output interface b PC device Servo drive 2209 QWuES XX TS Q 2 Q AM26LS31 54 1 2 3 4 5 Chapter 5 Wiring Encoder position feedback signals output via differential drive AM26LS31 Controller input interface may use AM26LS32 receiver which 1s supposed to be connected with the terminal resistor about 330Q The controller grounding wires should be reliably connected with the servo drive grounding wires Non isolated output The controller input interface may also use photoelectric coupler for receipt however it 1s supposed to be the high speed photoelectric coupler like 6N137 5 3 8 Open collector output interface for the encoder Z phase signal 6 7 8 The encoder Z phase signal outputs via open collector When the encoder Z phase
58. ed and no fault occurs the indicator lamp EN on the drive is on The motor is excited and operating at zero speed 6 Add one adjustable DC voltage supply to the analog speed input terminal the voltage increases from 0 to the greater Make sure the motor speed varies with the set command If you set a negative voltage the motor operates reversely 7 Set the analog command voltage to 0 the motor still operates at low speed You can adjust the parameter PRTA to stop the motor Operate the analog controller output signal and it triggers output signal to enable the motor to rotate according to the command speed 8 5 Simple wirings in the torque mode 1 Wirings see figure 8 6 for the wirings D Main circuit terminals are 3 phase AC 220V to be connected with the terminals R S T 2 The encoder signal plug in unit should be well connected with the servo 06 Chapter 8 Operation Tuning motor 3 Connect the command signal plug in unit according to the drawing 2 Operation Figure 8 6 Simple wiring diagrams in the torque control mode AC Servo Drive HSV 160B 010 020 030 050 075 aaa m p a AC220V e Nani MC Cw OMMAND ws mes i Brot He EEE a oa CE 7p 10V 10V C aa eZ OA me 7 Ut 6 xa op ARX LIEN 10 V fantet MM hI A LOTES om pa posu N LAE Mr tH z xr i
59. el in the neg direction disconnets Parameter autotuning Motor parameter setting 1s incorrect or failure the inertia cannot be recognized due to great load connection elasticity Wrong combination of The settings of motor and drive codes motor and drive are not appropriate 9 2 Troubleshooting Table 9 2 Error causes and troubleshooting status Circuit board failure Mains fuse blows out Occurs Soft start circuit when failure connecting Commutator is the main damaged power Power supply is Main circuit supply undervoltage DCheck the power supply undervoltage Temporary powerdown for more than 20mS Mains capacity is Occurs in inadequate the process Instantaneously of motor powerdown operation DChange the servo drive 1 Check the power supply Occurs when Power supply is connecting overvoltage the main Mains voltage wave is unconventional DCheck the power supply Main circuit 2 DCheck the external E l brak overvoltage DExternal braking resistor brdlinscucui dote Occurs in wires disconnect up wirings again the process of motor operation 1 Braking transistors are damaged 2 Internal braking resistors are damag DChange the servo drive 109 Chapter 9 Diagnostics and Troubleshooting Lower the start up and stop frequency Increase the time constant for acceleration and deceleration Reduce the torque limit Reduce the load inertia Change a drive and mot
60. equency of the motor and the recommended settings of the acceleration and deceleration time parameter LAA PA HU are listed below Table 8 3 Load inertia factor and the permissible start up and stop frequency Load Inertia Factor Permissible Start up and Stop Frequency m 3 gt 100 times per min Acceleration and deceleration time lt 60m S m lt 5 60 to 100 times per min Acceleration and deceleration INNEN d m gt 5 lt 60 times per min Acceleration and deceleration time WEN 2 Motor type influence The permissible start up and stop frequency and the acceleration and deceleration time depend on the motor type load conditions operating time load occupying ratio and ambient temperature etc Tuning 1s supposed to be done in accordance with the actual situations with reference to the motor manual Avoid overtemperature alarms or other influences otherwise the drive and motor service life will be shortened 3 Tuning method In general the value of the load inertia should be within 5 times of the motor rotor inertia If the load inertia is great during deceleration the overvoltage or unconventional braking could occur in the main circuit You can use the following method to deal with it Increase the acceleration and deceleration time via the parameters PH 5B and PAT 38 First set a greater value and then gradually reduce to an appropriate one Reduce the max output torque setting value via param
61. er cable down lead DCorrect wirings Encoder failure DSet the range of DWiden the range of positioning out of tolerance positioning out of tolerance DPosition loop proportional gain is too small DChange the servo motor DIncrease the gain 1 Check the torque limit 2 Reduce the load capacity 3 Change a drive and motor with greater power Command pulse 1 Lower the frequency frequency is too high Torque deficient D Check the torque limit 2 Reduce the load apacity 3 Change a drive and motor with greater Interference 1 Increase the line filters 2 Away from the interference source 1D Check mains voltage 2 Check the mains power Torque deficient DInstability of the input power supply Servo drive failure 1 Change the servo drive DInterference Increase line filters 2 Away from the interference source Instability of the input power supply 1 Check the mains voltage 2 Check the mains power 113 Chapter 9 Diagnostics and Troubleshooting DInterference Increase the line filters p Away from the interference source DInstability of the input Check the mains power voltage Check the mains power ep 16 Alarm 1 Servo drive failure DChange the servo drive L Increase the line filters Interference 2 Away from the interference source Lower the frequency Position command pulse command pulse frequen
62. ers are the same and the functions of the corresponding pins are the same 7 4 Control parameter mode Table 7 7 Control parameter list Designation we 84 Chapter 7 Parameter Setting Position command pulse direction or speed command I bun direction input in the reverse direction Whether it allows response E BM off alarm 1 Not allow Whether it allows system ye 0 Allow overspeed alarm 1 Not 1 Notallow Whether it allows over 0 Allow position tolerance alarm 1 Not allow Whether it allows software 0 Allow overtemperature alarm 1 Not allow Whether it allows start of 1 Allow SVR ON control from the internal system 0 Not allow Whether it allows main 0 Allow power under voltage alarm 1 Not allow Whether it allows switch 0 Not allow input of over travel in the jl pT Allow 000 me positive direction Whether it allows switch 0 Not input of over travel in the negative direction 1 kAlow Whether it allows positive a 0 Not allow and negative torque limit 1 Allow 0 Use no weak magnetic field Allow weak magnetic field control control 1 Use weak 1 Use weak magnetic control control motor overheat alarm Dynamic switch selection of selection of electronic gear ratio electronic gear ratio selection of electronic gear ratio 0 Not allow gain changeover 1 Allow gain changeover 0 Use the first order low pass filter epee son Desse
63. eter EREE and lower the current limit Te Donzzcun Lower the motor max speed limit via parameter ELE EE E Install an external regenerative braking device 102 Chapter 8 Operation Tuning Replacing a motor with greater power and inertia Note The motor should be configurable with the drive 8 7 Frequently Asked Problems 8 7 1 Parameter default setting recovery Use the parameter default setting factory setting recovery function in the event of following situations If the parameter settings are incorrect the drive system can not operate normally If the system power shuts down when you are saving the parameter settings the system parameter settings will automatically recover to defaults But the drive and motor type code parameter PARRAS can not be matched with the motor Use the original motor to configure with the drive If the new motor type is different from that of the original you should recover the parameter default settings following the approaches below og epi 00E L UHHt Press M to switch to EE mode Select EE in the first layer Press w to select the parameter d EXER Press S the segment displays FEARSA The parameter setting recovery is completed but it takes effect only after saving Press S again and then M Press w to select the parameter JER PH U Press 4 once the parameter value changes 1 Keep pressing or v the parameter value changes continuously Press
64. gain and rigidity increase as the set 2 Position loop feedforward gain Velocity loop proportional gain Velocity loop integral time constant feedback filter factor Max output torque percentage setting Chapter 7 Parameter Setting value increases and in the same frequency command pulse condition the position lag is less But if the set value is too great the oscillation or overshooting may arise 3 Parameter values depend on the drive type CDSet position loop feedforward gain 2 When set 100 it indicates the position lag is zero in any command pulse frequency condition 3 As the position loop feedforward gain increases the position controller response speed enhances but the oscillation may occur easily 4 When no fast response characteristic is required the parameter value is normally set to 0 DSet the velocity controller proportional gain 2 The gain and rigidity increase as the set value increases The parameter values depend on the drive system type and load conditions In general the set value should increase as the load inertia increases S Set a great value as possible provided no oscillation of the system occurs DSet velocity controller integral time constant 2 The integral speed increases as the set value decreases The parameter values depend on the drive system type and load conditions In general the set value should increase as the load inertia increases 3 Set a smal
65. he figure below for connection of control signal wire and encoder plug in 89 Chapter 8 Operation Tuning Figure 8 4 Trial operation wiring diagram 2 3 4 AC Servo Drive HSV 160B 010 020 030 050 075 Sean To Q up U sanza Lo is WO seu ce am m wh NFB MC CPE PO f ENCODER a SV 25 GND I3 GND 3 At 2 A 5C B ERE E EE 4 4 5 p To 6 Z SEEN COMMAND a u 3 v fg PM EEE anma Pe 10 v ETT Sop NT D Howe Ile A ir CLEE 3 ie al 14 15 PE 1 m EA 3 i s UTE a P iew TF 24V T dh JOG mode Operation Connect the main power supply and command terminals Disconnect the motor power cable U V W For setting and saving the parameter WI Connect the motor power cable U V W to conduct the main circuit see 6 2 Parameter Saving and Power Removal power supply Activate the drive enable and it outputs control signal ON The drive display indicator is on However if an alarm is reported you should check the wirings Set a value other than 0 to the JOG mode operation speed parameter FAZ E and the unit is 1 r min Make sure that no alarm 1s reported and no fault occurs Turn on the drive enable When the indicator of the enable is bright the motor is
66. hronous motors Cables and lead wires are supposed to be fixed avoiding the heat sink of the drive and the servo motor Otherwise the insulation property could be reduced due to overtemperature There is large capacity of electrolytic capacitance storing in the servo drive even after power removal the voltage supply will remain high for a period of time Do not touch the servo drive or motor within 5 minutes after power removal 235 Chapter 5 Wiring Figure 5 1 Standard wiring a in the position control mode AC Servo Drive HSV 160B 010 020 030 050 075 Golden age motor single phase f id vp or 3 phase 3 sls YD WO Acnoy 6 b 6 OT Wo NFB MC OPE PE External braking e BKI g resistor 9L COMMAND ENCODER Encoder Ari TE n M pSV NEAN B 36 25 GND 13 GND Z 35 1 At 2 Bt position nme HANC eno Par E mM cH ae E ER pen o position O E wen qc us sign o eA 7 V V ee OCT Servo enable EN n lau ree 9 w EN fi Tt Ir we 10 W LB em mu a oa Adsditcleated Oop ACL 2 IT 13 OHI 14 Lr eee ae crop A uem motor overheat Mohan IM amp ih counter clear Ber Pod E Command Ege 9 pulse at li xp prohibition 0 P Lew sper mE CCW drive plow 6 T USO WT prohibition k Drive ready CW d
67. ial port communication interface COM Terminal Terminal Terminal Description No Mark Designation This terminal should be BA connected with the controller 2 TXD or PC serial port TXD to receive realize serial port communication Pros This terminal should be 3 RXD und connected with the controller or PC serial port RXD to 42 Chapter 5 Wiring realize serial port communication 1 5 GND Data signal grounding erounding If you want to use serial port communication function please contact our after sale service or development department for the communication softwares For connection of communication cables see the drawing below PC serial port terminal Drive COM terminal DB pins Keypad socket 5 2 6 Fault interlock terminals Figure 5 4 Fault interlock terminals Terminal Terminal signal Description Mark Designation Drive ready for terminal output SRDY ON It indicates that power supply is normal no alarm occurs and the drive is ready for the output of signal output ON SRDY OFF It indicates that no Drive ready for power supply is available or alarm occurs so the drive 1s ready for the output of signal OFF Power supply of the input 24 V power input terminal is used to drive the optical coupler DC 24V current gt 100mA TUE Fault interlock output mS anani Loe terminals output relay sd3 Chapter 5 Wiring 1 MC2 Relay connection breaks off in the event of driv
68. ich the optical coupler can be connected Generally it 1s Ov Input of which voltage value can effect the function depends on the Du LLUng UM NI value of the 6 parameters PARAHI to at Pata ot If the parameter set values are positive the function effects when input Ov If the set parameter set values are negative the function effects when input 24v As for DINI to DIN6 represent which function it depends on the absolute values of the parameters RBZRAS to PORECO dP Pou indicates output interface status When the corresponding output function performs the upper part of the digital segment displays Input of which voltage can effect the function depends on the pos or neg of the set values of the parameters PB21 to PB23 61 Chapter 6 Operation and Display Figure 6 5 Indication of input interface status Bits DO3 DO2 DOI e E 1 j a 4 4 Z NWO oY YO OFF ON ON Status T ON upper part blinks OFF lower part blinks 9 Lata Dat displays motor magnetic pole position When the motor operates counter clockwise at low speed it blinks 3 1 5 4 6 2 sequential numbers in turn when the motor operates clockwise at low speed it blinks 2 6 4 5 1 3 invert numbers in turn Youcan select LL EU F in the main menu and then press 4 to enter the motion parameter mode HSV 160B AC servo drive has in total 44 motion parameters Figure 6 6 Motion parame
69. ies 1 Use the second order low pass filter Gain changeover enable 85 Chapter 8 Operation Tuning Chapter 8 Operation Tuning Attention The servo drive and motor are supposed to be reliably grounded PE terminal should be reliably connected with the grounding terminal of the equipment It is suggested that servo drive power be supplied via isolation transformer or power filter to ensure safety and avoid interference The wirings must be checked and confirmed before power connection An emergency stop circuit must be set to enable immediate power removal in the event of malfunctions If the malfunction alarm is reported before restart you need to confirm that the error is eliminated and the drive enable input signal is disabled Do not touch the servo drive or motor within 5 minutes after power removal otherwise it could result in electric shock Be cautious to prevent burnt since the temperature may go up after the servo drive and motor operate for a period of time 8 1 Power connection see Figure 8 1 for the power connection wirings Connect the power supply in the following sequence l Connect the mains to the main circuit power input terminal 3 phase connect with R S T respectively via electromagnetic contactor Note Terminal R S T should be correctly connected with the corresponding terminal U V W otherwise the servo drive could be damaged 2 After the main circuit power connected if no a
70. inal current 1 Set the max speed limit of the servo motor 2 Regardless of the rotatory direction 3 If the set value is greater than the nominal rotatory speed the nominal rotary speed will be taken as the actual max speed limit Unit 1 r min DSet the servo motor torque value for overload protection 2 The set value indicates the long time overload input current permitted by the motor 3Whensoever this limit is valid 4 The set value is the motor nominal torque percentage Thereof IRmotor indicates the nominal current of the motor In general motor max output torque 2 motor nominal current Unit of PA1 amp is 1 DSet the permissible overload time by the system 2 The set value indicates the quantity counted in one time unit and the unit of the value is 1 ms 1 e the set value 1000 it indicates that overload time permissible is Is 3 Whensoever this limit is applicable 1 Internal speed setting 2 In the internal speed control mode select the internal speed as the speed command Unit 0 1 r min 1 Set the operation speed in the JOG mode 2 Unit 1 r min DSet the form of the position command input pulse 2 Select one of the 3 input methods via parameter setting 0 2 phase orthogonal pulse input 1 Pulse direction P or N 2 CCW pulses CW pulses Looking from the axial direction of the motor CCW is defined as positive direction 4 Looking from the axial direc
71. is parameter 1s not applicable when the enable is turned off due to the alarm Input function mapping relations If the parameter set value is positive it functions when input Ov If the parameter set value is negative it functions Drive enable 2 Alarm clear EB nmm when input 24v 0 Input invalid En EN 83 Chapter 7 Parameter Setting 3 Deviation clear 4 Pulse prohibition 5 Over travel in the positive direction 6 Over travel in the opposite direction 7 Zero speed hold 8 Gain shift switch 9 Electronic gear changeover switch 0 10 Electronic gear changeover switch 1 11 Torque limit in the positive direction 12 Torque limit in the negative direction In the parameter PORTHEN to ERE 1f the set values absolute values of 2 parameters are the same the parameter with a larger serial number takes the priority However you d better avoid setting the same values to the Output function mapping relations If the parameter set value is positive it functions when DOUTI i T LH j i input Ov If the parameter set value is negative it functions when input 24v AU Invalid Force effective Servo ready Alarm output Reaching zero speed Positioning completed Reaching the set speed Under torque limit Electromagnetic brake output Zero speed hold wooco 1o pgutn d b c Of these three parameters EB to 2 uu I if the set values of 2 paramet
72. l Whether dust particles and foreign bodies etc exist 2 Whether motor produces abnormal noises and vibration 3 Whether it gives off heat and peculiar smell abnormally 4 Whether the ambient temperature 1s too high 5 Whether the panel is clean 6 Whether exist loose connections or incorrect pin positions 7 Whether the common current figures and the output current monitoring figures are quite different 8 Whether the cooling fan under the servo drive operates normally The cooling fan temperature is controlled by the temperature relay and it operates only when the heat sink temperature 1s gt 35 C 10 2 Regular checking When carry out the regular service please check the following items 1 Whether exist loose bolts 115 Chapter 10 Service and Maintenance 2 Whether exist overtemperature 3 Whether exist burnt terminals 10 3 Replacing parts Attention Q For checking or repairs the parts removal should be carried out by our technical personnel or our agent Parts replacing cycle depends on the actual operating conditions and device using conditions Disabled parts should be repaired or replaced immediately cycle About 3 years This standard replacing Drive Aluminium cycle is only for electrolytic reference any way the capacitor on the disabled parts should PCB board be repaired or replaced About 3 years 5000 hours found out 3 to 5 years immediately once Motor Annexure
73. l value as possible provided no oscillation of the system occurs DSet speed feedback low pass characteristic 2 As the set value increases the cut off frequency lowers and the motor noise decreases If the load inertia is great the set value can be duly reduced If the set value is too great the response slows down and the oscillation could arise 8 As the set value reduces the cut off frequency increases and the response speed enhances If high speed response is required the set value can be duly reduced DSet the internal torque limit of the servo motor 2 The set value is the max permissible nominal input current of the motor 8 Whensoever the limit is valid 4 30 to 500 indicates the set range 30 to 500 of the drive s max output current Thereof IRmotor indicates the motor nominal current expansion parameter PB24 In general you can select Max output current 3 R Unit of parameter PAS 1 m 0 1 Hz 150 indicates the range 0 to 150 200 to 20000 5 to 500 ms 0 to 9 30 to 500 Acceleration time constant Velocity command input gain Velocity command zero drift compensation Torque command input gain Torque command zero drift compensation Range of positioning completion Positioning deviation out of tolerance detection range Chapter 7 Parameter Setting The set value indicates the acceleration time required by the motor to speed up f
74. larm is reported from the drive the signal of servo ready should be valid The time of delay 1s 1 5 seconds At this moment the enable signal can be received If the 86 Chapter 8 Operation Tuning detected servo enable signal is valid the servo drive output will be effective and the motor can be excitated and operate If the detected servo enable signal is invalid or the alarm is reported the control circuit will shut down and the motor will be in the free status Figure 8 1 Power connection wirings HSV 160B 010 030 050 075 A Golden Age motor 3 phase AC220V Drive transformer External braking resistor Warning Do not BKI short BK1 and BK2 otherwise the drive could be BK2 burnt COMMAND 2 5 E Emergency Stop K ALM COM D de Note When the drive enable and the mains are connected the control circuit 1s supposed to be generated after about 1 5 seconds Frequent power on and off could damage the soft start circuit For the main circuit and energy consumption braking circuit the power on and off frequency is limited to 15 times per minute If the drive or motor is overtemperature you should first eliminate the faults and wait 30 minutes for connecting the power again Mains connection sequence Figure 8 2 Mains connection sequence 87 Chapter 8 Operation Tuning 3 phase AC 220 Power l Drive enable OFF A input Oms ON Drive ready OFF output
75. lation of the the range 0 constant system to 25 5ms If low response characteristic is not required this parameter value is normally set to 4 Display of default software version Software For parameter saving the password is 1230 0 to version user s For checking and changing PB expansion password parameters and the servo motor type the password is 2003 DSet the filter time constant in the position Position command mode command As the filter time constant decreases 0 to smoothing response speed of the controller increases 3000 filter time 3 As the filter time constant increases response speed of the controller slows down Set the communication baud rate Communicatio 0 2400 bps 36 i pus 1 4800 bps 2 0 to 3 B 2 9600 bps 3 19200 bps D The set value indicates the deceleration time DLA Lo required by the motor to reduce the speed from 1 to 32000 RAT 2000 to 0 r min 200 P 2 The characteristic of acceleration and deceleration is linear The fourth position command Set the fourth position command pulse 1 T pulse numerator frequency 32767 numerator frequency Brake output Output brake time delay after the drive shut mE 200 2000 delay down T Speed 10 threshold Brake activates when the actual value is under 100 to permitted for the set value 300 brake output rpm DSet the target speed 2 In the speed control mode if the actual motor speed is lower than the set value the Ran target speed achieve
76. lected motors 3 Calculate the servo isolating transformer capacity based on the motor technical datum Example If a system adopts three HSV 160 B AC servo drives whose motor powers are Pj P2 P5 the servo isolating transformer power must observe the following formula 18 Chapter 3 Specification Po Pi P2 P3 q n is a conversion coefficient and generally adopts a value 0 6 to 0 8 4 select the servo isolating transformer specification corresponds to the calculated servo 1solating transformer capacity 9 Chapter 4 Installation Chapter 4 Installation 4 1 Check on delivery On receipt of products users must check and confirm the following items Items to check Content for reference Whether the products are Visual inspection to check whether the products damaged or not damaged or not during transportation Whether the products are l l l l Check the nameplates of servo drive units and delivered in accordance with servo motors the indent or not Whether the accessories are Check the packing list and make sure that the complete or not accessory type and quantity is correct Whether the motor rotor can Check and make sure that the motor rotor can be be easily turned by hand easily turned by hand except motors with brakes Note For the items mentioned above if there s any problem please feel free to contact with the supplier or us Do not install servo drives and servo motors which
77. llation Figure 4 2 Schematic drawing of HSV 160B 020 030 AC servo drive base plate mounting aS 4 M418 Z a Combination of bolts with washer M4x14 Standard GB T9074 8 1988 Quantity 4 24 Chapter 4 Installation Figure 4 3 Schematic drawing of HSV 160B 050 075 AC servo drive base plate mounting 4 M438 un OQ T c p e iz OQ z QO st NS X gt L o un e z a z 3 a 49 O C T 0 co co O n co st N O O en O lt t S _ C U O 25 Chapter 4 Installation Figure 4 4 Installation spacing for a solo HSV 160B 020 030 AC servo drive ji 7 co 100mn 100mng AC SERVO H SV SERIES Baz Hsv 160B 050 21 00mm Doaoaogdg
78. muntedittedsdute d odo deam E dec apud dH ados 86 om aa EUIS oles rationae er enrctrs neers en Tre errr teers etre 88 8 2 1 Checking before operation sse 88 6 22 Power On rial OC peratiOn sari cecacatazessnsacdesrsdaatigensheceseaieavenereeewnae 89 8 3 Simple wirings in the position control mode sss 92 8 4 Simple wirings in the speed control mode eeeeeeeeeeeeeeeel 94 8 5 Simple wirings in the torque mode sese 96 06 TUNNE e a iai 98 80 1 BASIC COMMUN Olon E N 99 6 0 2 Electronic g ar SOLDTIE orice ea E stt uU euim 100 8 6 3 Tuning start up and stop characteristic sss 101 S Prequently Asked Problenisss odd sou utente uuu Ie 103 8 7 1 Parameter default setting recovery sese 103 8 7 2 Deficient output contributions in the process of tuning 104 9 y Current loop TONINO coco tros ot CAE ta UE eiae sto ete RUcP Due uS 104 8 7 4 Change of parameters should be done regardless of the motor and duve combmatottypexsoes oce catis e bud 105 Chapter 9 Diagnostics and Troubleshooting eere 107 9 l Protective diagnostic fUrIC DOE us reor ar Pea t o tae Dofus 107 9 2 3EroublesHOO HP ooa eui a i util vo dedo Die ioca E fad ma Metu eee du dod 109 Chapter 10 Service and Maintemance
79. n the output loop otherwise the servo drive could be damaged Do not connect electromagnetic switch or contactor with terminal U V W in the output loop In the load operation the surge current could activate the over current protection circuit of the servo drive Chapter 1 Safety Precautions B Debugging and Operation To avoid unexpected accidents servo motor test run should be carried out respectively free from connection to the transmission shaft Failure to follow this instruction could result in injuries Do not disassemble the servo drive with power present Failure to follow this instruction could result 1n electric shock Do not approach to the machine in trial operation with power present Take personal safety into consideration when perform mechanical and electrical design Danger Do not touch the servo drive heat sink brake resistor or the motor with power present or just switched off since the temperature of them could be high Failure to follow this instruction could result in burns Before operating reconfirm the technical datum of the servo motor and other devices Failure to follow this instruction could result 1n injuries If it is necessary to use external brakes prepare separately do not touch the brakes in operation Failure to follow this instruction could result 1n injuries Do not check signals in operation otherwise the servo drive could be damaged Caution Chapter
80. nd power input terminal should share one connection point Grounding terminals Grounding resistance lt 4 Q Servo motor output terminal and power input terminal should share one connection point Description Main circuit power input terminal supply AC220V 50Hz single phase power supply is not recommended which only can be used in low power occasions Note Do not connect the mains input terminal with the motor output terminal U V W Grounding terminals Grounding resistance 4Q The servo motor output terminal and power input terminal should share one connection boint Chapter 5 Wiring The external and internal braking resistance are supposed to be connected parallelly The internal braking resistance is 200w 7 For selection and connection of see the Annexure Warning Do not short circuit BK1 and BK2 otherwise the drive could be burnt External braking resistance Servo motor output terminals are supposed Servo motor to be connected with output terminal U V W correspondingly in the right order ELENA Grounding terminals Grounding resistance 4Q 10 PE Gromdine The Servo motor output terminal and power input terminal should share one connection point D Grounding terminals Grounding resistance 4Q Grounding The Servo motor output terminal and power input terminal should share one connection point 5 2 5 Serial port communication interface COM Table 5 3 Ser
81. ock loading 1s permissible during servo drive installation 4 3 Servo drive installation Attention Servo drives are supposed to be installed in the well protected electrical cabinets 21 Chapter 4 Installation Servo drives are supposed to be installed in accordance with the specified direction and distance to ensure good heat dissipation conditions The servo drives are not supposed to be installed adjacent to combustibles in order to avoid fire hazard 4 3 1 Installation method 1 Installing the device Adopt base plate installation method and install the devie in a vertical position See Figure 4 1 4 2 4 3 for installing the device 2 Installation spacing Figure 4 4 4 6 shows the installing spacing for a solo servo drive and Figure 4 5 4 7 shows the installing spacing for multiple units In actual installation keep the spacing as large as possible to ensure good heat dissipation conditions 3 Ventilation In the electrical cabinet airflow to the heat sink should be maintained to ensure adequate cooling of the ambient temperature of the device oU Chapter 4 Installation Figure 4 1 Schematic drawing of HSV 160B 010 AC servo drive base plate mounting WEST MX 14 THUMBS GB T9074 8 1988 4 K z O 6 Cy Ost ax RU 32 t Os pa 49 O C 14 U co co O n co st N O O p aa O lt t S _ U 2 O 23 Chapter 4 Insta
82. ol parameter mode And the parameters can be checked set and adjusted via drive panel keys or computer serial ports Table 7 1 Explanation of parameter categorizing on Parameter Brief atego ispla E dd No Description Motion You can ajust various characteristics parameter At EIT 0 to 43 set control operation methods and mode motor related parameters Expansion en You can set the second gain the parameter FAm eee Oto23 third gain and the I O interface mode function etc Control You can select alarm shielding parameter c Otol5 function or selection methods of mode internal control function etc 7 2 Motion parameter mode HSV 160 B type servo drive has 44 motion parameters thereof 1 is 68 Chapter 7 Parameter Setting reserved The definitions are as follows e Table 7 2 shows the drive factory defaults when it is in combination with Golden Age motor GK 6060 6 3 Nm 2000 rpm If combined with other motor type the usage and value of the parameters marked with may be different P stands for position In the column control modes applicable control mode S stands for speed control mode T stands for torque control mode Table 7 2 Motion parameter list Parameter Control NO modes applicable Name of the Parameter Position loop proportional Position loop feedforward c E e Velocity loop proportional M un Velocity loop integral time c
83. onatina 49 5 9 0 Pulse array Opt INLeM ACE neue tot t nda Ep Etats ibat tuus 50 5 3 4 Servo motor photoelectric encoder input interface 52 5 3 5 Analog command input interface cue citet tlie eta 52 5 3 6 Analog command output interface esses 53 5 3 7 Position feedback signal output interface suse 54 5 3 8 Open collector output interface for the encoder Z phase SUS ch P assent 55 Chapter 6 Operation and Display cccccccccscsscsscescccsccccecccccsecccecssccseccsecseee 56 6 l Keypad operation and eisplayasssduncoasonieu oadut dva nsn 56 6 2 Parameter manage menica i Celiumi guion eode editae bud ee eet 64 6 2 T Parameter Chance and SAVING xascsohaceiates ioa cnibasts 65 x Contents 62 2 Parameter RECOV GLY auictesteentdodteiftve tcu dou thie dcos aftu ronis 66 Chapter 7 Parameter Settings sccsccscccccccsccsssescccesseesceoasosscooscesscooscosstooadsescoeacocctseasse 68 Pise 05 aan aaa 68 72 Moo parameter POCO so 0 eni p heeds Ex et uad pedo 68 7 2 1 Elaborate on motion pararmieter e oce eteeetetitecenes 72 7 2 Expansion pala Meter MOC 25 tob tto te tod utet tea on OEI 80 7A Control parameter mode iei t pepe ee bur b Ped be Nae UN eU NE 84 Chapter 8 Operation TUnlng u ier ice teet o tne rV oae V siaii ii eb EE epe E eU CE be Reb E uU 86 S ISJPOWOP CODO usde
84. onstant Nu un Velocity feedback filter factor para value time constant Velocity command input gain Velocity command zero drift compensation Torque command input JJ un un 69 Range of parameter l Factory defaults 20 to 10000 400 m 2500 2000 0 to 200 to 20000 5 to 500 0 to 7 30 to 500 1 to 32000 1 to 9000 1023 to 1023 1 to 300 Chapter 7 Parameter Setting Torque command zero 1023 to drift 1023 compensation Range of positioning completion Range of positioning out of tolerance 0 to 32767 1 to 32767 20000 Pulse Pulse Position command pulse numerator frequency to 32767 to 32767 Position command pulse denominator frequency Max torque output value in the positive direction 0 to 500 Max torque output value in the negative 500 to 0 250 1 direction 100 to 10 to 120 B 9o 40 to 32000 4000 time setting 32000 to Internal speed 32000 0 1 DO rimin operation n Position 22 command 0 to 2 l pulse input method selection 70 System overload torque setting Software overtemperature Chapter 7 Parameter Setting Servo motor magnetic pole earithm Encoder Zero position PST EQUES 150 Pulse D 32767 offset Current conte PS 10032767 2500 proportional Current control integral P S 1 to 2047 45 0 1 ms uni time The second position command pulse 1 to 3
85. ontrol mode analogue interface HSV 160B AC servo drive can receive analogues whose amplitudes are less than 10 v that is from 10v to 10v via setting the internal parameters to switch to the torque control mode Chapter 2 Overview JOG control mode In this mode users can operate HSV 160B AC servo drive manually with a keypad It is a way to check whether the installation and connection of servo drive unit are correct or not Internal speed control mode In this mode HSV 160B AC servo drive can run at the internal preset speed Ed Chapter 3 Specification Chapter 3 Specification 3 1 Servo drive specifications Denomination explanation HSV 160B XXX 160B type full digital Specifications AC servo drive 010 020 030 050 075 Table 3 1 Servo drive operating current Momentary Withstand Servo Continuous Current Drive A 30 min Specification virtual value virtual value Current A 1 min HSV 160B 030 14 4 ES VEIEUE 050 UR HSV 160B 075 Table 3 2 Servo drive specifications Power Input 3 phase AC 220V 15 to 10 50 60 Hz Ambient In operation 0 to 55 C temperature For storage 20 C to 80 C i Relati Operating ids 90 no icing environment humidity n 0 5G 4 9m S 10 to 60 Hz Vibration l l noncontinuous operating Control Position control mode Speed control mode mode 3 Internal speed control mode 4 JOG mode internal external Regenerative T
86. or example the century star triggers pulses BEER displays 840 840 x 0 1 x 1000 x 60 10000 840 x 0 1 x 6 84 x 6 504 value can be calculated by the following formula ERE displays speed command unit r min For example PR 320 100 IPTE will display 10 when FA 734 0 dP RHEn displays hardware alarm interface status When the lamp alarm indicator on the panel 1s red it means a servo drive hardware alarm 1s reported Alarms can be reported via this monitoring display for example H 8 After trouble shooting and fault clearance the servo drive system can be recovered via alarm reset function in the auxiliary mode or servo drive powerdown recovery dP Pin displays the input interface status It shows the input voltage situations of the 6 pins DINI to DIN6 For example if the DINI input voltage value 24v the input optical coupler is disconnect the corresponding segment displays lower parts blink If the input voltage value Ov the input optical coupler is connected the corresponding segment displays upper parts blink 60 Chapter 6 Operation and Display Figure 6 4 Indication of the input interface status Bits Dio DI5 DI4 DI3 DI2 Dli high level 1 lower part blinks low level 0 upper part blinks Note High level 1 indicates the voltage value with which the optical coupler 8 cannot be connected Generally it is 24v Low level 0 indicates the voltage value with wh
87. or frequency DSet the internal torque limit of the servo motor in the CW direction 2 The set value is the max input current of the servo motor If the set value excels the max output torque permitted by the system the actual torque limit should be the max output torque permitted by the system ae ene 4 0 to 500 corresponds to the range 0 to 250 0 to 500 500 of the drive max output current in the positive direction CCW torque max output current Thereof IRmotor indicates the motor nominal current expansion parameter PB24 In general the max output current in the pos direction 3 IRmotor The unit of the PAI5 is 1 1 Set the internal torque limit of the servo motor in the CW direction 2 The set value is the max input current of the servo motor 3 If the set value excels the max output CW torque torque permitted by the system the actual 250 500 to 0 limit torque limit should be the max output torque permitted by the system 4 500 to 0 corresponds to the range 500 to 0 of the max output current of the servo drive in the negative direction 75 Max speed limit Overload tolerance Software overload time setting Internal speed JOG operation speed Position command pulse input method Control modes selection Chapter 7 Parameter Setting Thereof IRmotor indicates the motor nominal current In general the max output current in the neg direction 3 motor nom
88. or with a greater power Occurs DCircuit board failure Change the servo drive when connecting the main Braking circuit capacity is inadequate 1 Voltage supply is low Check the servo drive 2 Servo drive is Switch on the power overtemperature again Change the servo drive D Short circuit exists in DCheck the wirings the drive line U V W 3 IPM fault D Not well grounded D Correct the wirings Occurs in DMotor insulation is DChange the motor the process damaged ofmotor Drive output current is 1D Increase the time operation too great constant for acceleration and deceleration 2 Reduce the torque limit Interference 1 Add line filters 2 Away from the interference source External braking resistor Orc wires disconnect D Braking transistors are damaged Change the servo drive 2 Internal braking resistors are damaged Occurs in 1 Lower the start up and the process stop frequency T Braking fault of motor 2 Increase the time operation constant for acceleration Braking circuit capacity ae and deceleration is inadequate 3 Reduce the torque limit 4 Change a drive and motor with greater power 1 Main circuit voltage is DCheck the main power too great supply 1 Short circuit exists in Check the wirings Occurs in the process the drive external line 5 Fuse blowing UR UV W out operation Not well grounded Correct the wirings
89. rive e 24v mains earthing prohibition MCI Fault interlock M MC2 Fault interlock 24v Mains T mamaw earthing Target position met Target speed READY 8 Hia achieve AM S PHI Drive ready Drive Alarm 2 09 Chapter 5 Wiring Figure 5 2 Standard wiring b applicable to Siemens controller 801 AC Servo drive D gt HSV 160B 010 020 030 050 075 Golden Age motor Single or amp o UQ U cic R 28 38H 220v V m ow Om PED PE External Cy braking MINE n resistor COMMAND ENCODER Z pulse output mo Position NE 16 17 command PLUS amr 12 15V Cn 25 BOND Position DIR 801 29 2 A Command EE E Hs SIGN zu Li Hi 24v mains 17 4 earthing nx 3 Drive enable tae Alarm cleared o o pP EN ijs e gt 3 Deviation Pn counter clear O p ACL 2 re Command pulse TIT ier f PUE o o p CLEE 3 Eni 14 motor overheat Command pulse li Zz ACL IE prohibition o o p NH 4 go LT ium Es DRE CCW drive Presa Se prohibition o p LCCW 5 IDE CW drive Timer prohibition o o J Lew fo IT l l jAy mahs Fault interlock terminals earthing READY Servo ready 24v mains MET earthing Peres Mes Fault interlock Target position ac 4 errs hii hale Fault interlock hieve target speed af achieve
90. rom 0 to 2000 r min The characteristic of acceleration and deceleration is linear 1 to 32000 2000 0 to 9000 1023 to 1023 10 to 300 0 to 30000 Pulses Set the relation between analog speed command voltage and rotary speed The set value indicates the corresponding rotary speed when the voltage supply is 10V Unit 1 r min Z It is available only under analog speed input mode In the analog speed control mode via this parameter you can adjust the analog speed command input zero drift Adjusting methods are as follows I Shorting the analog control input terminal and the signal ground terminal 2 Set the parameter value to stop the motor DSet the relation between analog torque command voltage and the torque The set value indicates the corresponding torque when the voltage supply is 10 V Z It is available only in the analog torque input mode 3 0 to 300 indicates the range 0 to 300 of the drive s max ouput current In the torque control mode use this parameter to adjust the analog torque command input zero drift The adjusting methods are as follows DShorting the analog control input terminal and the signal ground terminal 2 Set this parameter value to stop the motor Set pulse range of positioning completion in the position control mode 2 This parameter provides a basis for the drive to judge whether positioning is completed or not in the position control mode If the remaining pulse qu
91. rs including 6 reserved parameters Figure 6 9 Control parameter mode menu l Tir rm Press M HH H l EE vPE 6 bit LED segment displays various status and datum of the servo drive system When A appears at the first bit it indicates an alarm 1s reported and the rest segment indicates the alarm number Figure 6 7 Alarm display After trouble shooting and fault clearance the servo drive system can be recovered via alarm reset function in the auxiliary mode or servo drive powerdown recovery 6 2 Parameter management After parameter revision you should select EE WRI in the auxiliary mode and then press S to activate the revised parameter Parameter setting takes effect immediately so wrong setting could 64 Chapter 6 Operation and Display result in unexpected actions of the device or even accidents 6 2 1 Parameter change and saving 1 Motor and drive code amp expansion parameter changing and saving To change the paramter PH 43 and the expansion parameters from PREPS to PEREIRA select FATO in the first layer and then press a v to select FA a4 Press S the parameter value is displayed Press wv to change the parameter value Pressing 4 or w once the parameter value changes 1 Keep pressing 4 or v the parameter value changes continuously Press the modifying position moves one bit left left cycle When you change the parameter the LED display right end
92. s the servo drive could be damaged 2 Output uses open collector circuit form The max current is 50 mA and the external power supply is DC 24V Therefore switch value output signal load should observe the limit Exceeding the limit or connecting the output with the mains directly will result in damage of the servo drive 3 If you use relay like inductive load the freewheeling diodes should be connected with the load at both ends in inverted parallel If the freewheeling diodes connect reversely the servo drive could be damaged 5 3 3 Pulse array input interface _ 50 Chapter 5 Wiring Figure 5 12 Differential drive mode of pulse input interface PC device Servo drive Figure5 13 Single ended drive mode of pulse input interface PC Servo drive 1 In order to send the pulse data correctly it is suggested to select differential drive mode for the input interface especially when the signal wires are long 2 In the differential drive mode use AM26LS31 or RS422 line to drive 3 Single ended drive mode will lower the action frequency As pulses input in the circuit the drive current varies between 10 and 15 mA The max external voltage supply should not be greater than 25 V based on EIE Chapter 5 Wiring which we can calculate the value of the resistance Data summarised via our experience for your reference VCC 24 V R 1 3 to 2 k VCC 12V R 510 to 820Q VCC SV R 82 to 120Q 4 Adopt single ended drive mo
93. sd oio etenis E 21 A Sl Installatioti tie HOO eor ieee eae eae 22 4 4 Installation Of Servo 1M OLONS vce nas ieee hha rsa nre esie Sa nesses 28 4 4 1 Installation environ Ment rcdaccicict adie seeded peg Dre setae dea eren 28 4 4 2 Servo motor installation method sess 28 Chapter 5 Winn Bedscssisciscatesssesssssescsssenssesscecessossteacenscsuvassteccssossdecuseesseeseensiccesesvesezecs 30 SAE ATU WAT TINS ext sG tec ala Reno eto et cna oad teeta as 3l S L TL PostttoB Control ode ioi eoe Moe E Oo bust 3l 5 1 2 Speed and torque control mode sss 31 DL Conductor con curaio zor toas Eo toas estes 31 Z2 and UNCON S eieiei eo e a 36 5 2 1 HSV 160B 010 020 030 AC servo drive terminal configuration 37 5 2 2 HSV 160B 050 075 AC servo drive terminal configuration 31 5 2 3 HSV 160B 010 AC servo drive mains terminals 40 5 2 4 HSV 160B 050 075 mains terminals 41 5 2 5 Serial port communication interface COM 42 9S2 Fault mtertoc E ermal Si aote E di ese 43 5 2 7 Control Signal terminals COMMAND eee 44 92 2 0 Encoder Sieriab terminals u oco olet een cM eoe ads 47 9 0 Inleriace Cie sin teeta tr ee a a O 49 So Swier value tin pitt nera Ce oce eene onte 49 5 3 2 Switch value output tterface ssa tope o ee beo S
94. switch outputs signal E On Otherwise it outputs signal OFF 1 to 500 target speed M 10 3 In the position control mode this parameter rpm achieve ES is invalid 4 This parameter is regardless of rotary direction Unit 1 r min 78 Chapter 7 Parameter Setting Kilobit indicates the bit indicates the motor motor brand indicates size the drive type Digit on kilobit 1 Huada Motor 1 Huada 0 10A 2 2 Golden Age 1 20A Golden 2 30A Motor 3 50A The digit 4 75A on the 5 100A hundred 0 10A Drive type code 1159s T 060201 FBindicates Huada motor 1 20A configuring HSV 160B 30A AC servo drive 2 30A set the parameter PA 43 1206 06 for Huada 3 50A motor 4 75A GK6083 6AC31 Golden Age motor 5 100A configuring HSV 160B 50A AC servo drive the digit on set the parameter PA 43 2411 11 for the unit Golden Age motor order and For the servo motor type see the table 7 4 and tens place table 7 5 indicates the servo motor type For example Note To change the drive type code and the motor related parameters first you need to set PA34 2003 To save the changes set the PA34 1230 Table 7 4 Code parameter list for Huada motors Rated Rated Rated Motor Servo P43 matching code Huada Motor Type Torque Speed Current Code drive setting 1 A code Recommended configurable combination 110ST M02030LFB rere yee o uae om 110ST M04030LFB 3000 110ST MOSO30LFB
95. t Fhz 5 e Fb 7 B after setting the delay time via the parameter Paints the gain value will shift from the first gain value to the second gain value 82 Chapter 7 Parameter Setting When BPEXAFH EM EORR Jafter setting the delay time via the parameter 2 ELE the gain value will shift from the second gain value to the first gain value e EDT indicates the gain changeover threshold e 5 B indicates the hysteresis band width of gain changeover The meanings of the above mentioned 2 parameters are influenced by the set value of the parameter Fh When set the parameter PERA A 5 respectively these 2 parameters indicate command frequency deviation pulse and motor speed correspondingly Oe ooo em Parameter 2 i indicates the gain changeover lag time or the duration between gain changeover preparation ready and changeover starts Parameter 5 7 B indicates position loop gain changeover delay function Via this parameter you can set a first order low pass filter for position loop gain at the time of gain changeover The gain value will not shift abruptly from parameter PA to PB instead after calculation of the slope based on this parameter and step by step converting to another set of parameters For calculating changeover step length Parameter 577 44 indicates motor powerdown delay after the enable is turned off or PWM close time delay after enable is turned off Note that th
96. ter mode menu Press p r 3 4 PR cU press M Select parameter PAT PSA in the motion parameters and set its E value to EH and then you may enter expansion parameter mode HSV 160B AC servo drive has 28 expansion parameters including 2 reserved parameters s62 Chapter 6 Operation and Display Figure 6 7 I O parameter setting mode menu e m E i EE EN uM E J ey E E NC o a 9 Ld Press M unm F in the main menu and then press to You can select EE 7 enter the auxiliary mode HSV 160B has 7 auxiliary operation functions see Table 6 2 Figure 6 8 Auxiliary operation mode menu Display ED NNNM ON muni Save the preset drive control SE SEIS EOE saving parameters to EEPROM mel a si he JOG operation Drive and motor operate at the preset pahe at mode speed in the JOG mode Alarm reset mode Drive reset clear the history faults Nm Chapter 6 Operation and Display Drive internal open loop testing Note This mode is not applicable to long time operation Internal testing mode Parameter defaults All PA parameters reset to factory recovery default values encoder 0 position position autotuning with the motor load inertia LDLIm You can select BEAU in the main menu and then press wv to enter the control parameter mode HSV 160B AC servo drive has 16 control paramete
97. tic is high the set value of position loop feedforward gain can be increased But if the set value is too great it leads to overshooting and oscillation Note 1 See the following list for the setting of the parameter position loop proportional gain Table 8 2 Recommended settings of the position loop proportional gain stiffness position loop proportional gain Low stiffness 100 to 300 0 1Hz Medium stiffness 3000 to 500 0 1 Hz High stiffness 5000 to 700 0 1Hz 8 6 2 Electronic Gear Setting In the position control mode via setting the parameter BAS SA Position command pulse numerator frequency and the parameter 22 UNE a Position command pulse denominator frequency it can easily adapt to the various controller pulses to achieve the optimal position control resolution The position resolution depends on the travel of the servo motor per revolution the stroke per pulse 4 S and the encoder feedback pulse quantity Pt per revolution The relationship can be explicit by the following formula az 2S 5 Thereof Zl indicates the travel length of a pulse mm 100 Chapter 8 Operation Tuning AAS indicates the travel length of the servo motor per revolution mm revolution P indicates the encoder feedback pulse quantity per revolution Pulses per revolution The quadruple frequency circuit exists in the system unit so P 4xC and C stands for encoder windings per revolution In this system
98. tion of the motor CW is defined as negative direction Use this parameter to select the control mode of the servo drive 0 indicates position control mode In this mode the drive can receive position pulse input command indicates analog speed control mode In this mode the drive can receive analog speed command 2 indicates analog torque control mode In this mode the drive can receive analog torque command 3 indicates internal speed control mode In this mode set the digital speed command via 100 to 12000 10 to 200 40 to 32000 32000 to 32000 0 to 2000 0 to 2 0 to 3 Chapter 7 Parameter Setting BEEN WENN Set the motor magnetic pole logarithm 1 the magnetic pole logarithm of the servo motor is 1 Motor 2 the magnetic pole logarithm of the servo magnetic pole motor is 2 1 to 4 logarithm 3 the magnetic pole logarithm of the servo motor is 3 Encoder zero position offset Current control loop integral time 4 4 the magnetic pole logarithm of the servo motor is 4 Set the motor photoelectricity windings 0 indicates the encoder resolution is 1024 pulse r Encde l indicates the encoder UN S resolution is 2000 pulse r o 2 0 to 3 2 indicates the encoder resolution is 2500 pulse r 3 indicates the encoder resolution is 6000 pulse r Set encoder zero position offset For Golden age motor the set value is 150 32767 to For Huada motor the set value 1s 1650 150 32767
99. to No 6 are used to specify input terminal signals The details can be defined via parameter EBENE to BB seH Table 5 5 shows the default definition of the terminal signal Control signal terminals No 7 to 9 are used to specify terminal output signals The details can be defined via parameter to Pps od Table 5 5 shows the default definition of the terminal signal You can customize the Input Output signal of the control signal terminals either low level access or high level access If the 48 Chapter 5 Wiring corresponding PB parameter is positive it indicates low level access If it is negative it indicates high level access See Z3 Expansion parameter mode for details 5 3 Interface circuit 5 3 1 Switch value input interface Figure 5 10 Switch value input interface PC device Servo drive 1 Power supply from servo drive internal is DC 24 V current gt 100 mA 2 Pin 19 and 20 pins of the control terminal should be duly connected with the PC 24 V ground Note Incorrect connection of 24 V ground will result in the abnormal function of the servo drive 5 3 2 Switch value output interface 49 Chapter 5 Wiring Figure 5 11 Switch value output interface PC device Servo drive A Relay connection PC device Servo drive B Optoelectronic coupler connection 1 The external power supply DC 24V should be provided by users Note If you invert the connection of power polaritie
100. uction could result 1n fire and or fault Wiring is supposed to be done by electrical engineers Failure to follow this instruction could result in electric shock and or fire Before wiring confirm the power 1s off Failure to follow this instruction could result in electric shock and or fire Power terminal and motor connection terminal should be fastened tightly Failure to follow this instruction could result in E Chapter 1 Safety Precautions electric shock and or fire Do not touch the output terminals directly or connect the output wires with the servo drive outside shell Never short the output terminals Failure to follow this instruction could result in electric shock and or short circuit Safety devices like breakers Caution should be installed to avoid short circuit of external layout Failure to follow this instruction could result in fire hazard Verify the power voltage of AC main circuit 1s corresponding to the nominal voltage of the servo drive Failure to follow this instruction could result in injuries and or fire hazard Do not do the voltage resistance test to the servo drive otherwise the semi conductor components of the servo drive could be damaged Do not connect the power cables with output terminal U V W otherwise when voltage adds on the output terminal the internal parts of the servo drive could be damaged Do not connect capacitor and LC LR noise filter with terminal U V W i
101. urrent and the drive effective current is not greater than 1 2 to change the parameter values you can follow the procedure below 1 Connect the drive power cable terminal R S T and the motor encoder terminals Note Do not connect the motor terminal U V W 2 Setting the value of the parameter Pei 2003 and change the motor related parameters ROTOR Nominal current 2L HILL Nominal rotary speed EBD Motor rotary inertia Nad oe Nominal torque 5 Motor pole logarithm RERO Motor encoder resolution ZU EA Motor deviation See 6 2 1 for the operation method 3 Setting the parameter ai g PA18xPB24 lt Effective current of the drive listed on the nameplate 4 Setting the parameter PASTE PA27 Lx 10 xK ex 1240 10 Note 105 Chapter 8 Operation Tuning 1 Motor inductance Unit mH 2 Current feedback factor Ks HSV 160B 010 Kee 120 HSV 160B 020 Ks 187 HSV 160B 030 Kee 250 HSV 160B 050 Kee 465 HSV 160B 075 Kee 667 5 Setting the parameter Pps nie PA28 L Motor inductance unit mH R Motor resistor unit Q unit ms x 10 6 Setting the value of the parameter PH 34 1230 Connect the motor power cable U V W to carry out the test operation In this situation do not perform the parameter recovery function otherwise the parameters will be recovered to the default settings Chapter 9 Diagnostics and Troubleshooting Chapter 9 Diagnostics and
102. ut off the power supply after troubleshooting switch on the power again to clear the alarms 107 Chapter 9 Diagnostics and Troubleshooting Table 9 1 Alarm list Alarm code Error response Description Bee I Main circuit undervoltage The main circuit power is undervoltage Main circuit overvoltage The main circuit power is overvoltage IPM module fault IPM intelligent power module fault occurs Encoder U V W signal Encoder U V W signal fault occurs fault ni DEM Overcurrent The motor is overcurrent System overspeed The servo motor speed exceeds the set value Tracking error is great The actual value displayed on the position deviation counter exceeds the set the value Motor long time The actual current value exceeds the set overtemperature and value via I t detection overload Control parameter reading EEPROM parameters can not be read correctly Control panel hardware The processor peripheral logic circuit fault fault occurs AD conversion fault AD conversion circuit or current sensor fault occurs 108 Chapter 9 Diagnostics and Troubleshooting Nd BEEN m I Command frequency fault The position loop pulse command frequency is too high System operating over Limit switch in the pos direction travel in the pos direction disconnects System operating over Limit switch in the neg direction trav
103. ut torque varies with the set command If you set a negative voltage the motor outputs torque in the reverse direction Set the analog command voltage to 0 the motor still triggers torque output You can adjust the parameter FA 44 to reduce the output torque to 0 9 Note that motor could easily run over speed when the load is too light Motor speed limit can be set via parameter ERES to prevent motor over speed with light load System overload occurs if the torque exceeds the nominal torque and the servo drive can run only for a short period For details about overload see system overload features 8 6 Tuning 98 Chapter 8 Operation Tuning Wrong parameter setting could result in device faults and accidents therefore before starting make sure the parameters are correctly set It is suggested that testing be done without load first and then with load 8 6 1 Basic gain Speed control B Setting the parameter Speed proportional gain ERES As the parameter set value grows the gain and stiffness increase The parameter set value depends on the servo drive type and the load conditions Set a greater value as possible when no oscillation occurs In general the parameter set value increases as the load inertia grows B Setting the parameter Speed integral time constant P LUE AS the parameter set value decreases the integral speed becomes faster According to the given conditions set a smaller v

Chapter 1 Safety Precautions

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