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Applied Motion Products SV200 User Manual
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SV200 AC Ser
vo
User Manual
920-0096H
2/6/2018
2
Table of Contents
Table of Contents
2
Introduction
9
About this Manual
9
Documentation Set for SV200 Series AC Servo
9
Safety
9
Safety Symbols
9
Safety Instructions
10
Product Description
11
Unpacking Check
11
Servo Drive Model Introduction
11
Drive Name Plate Description
11
Drive Model Description
12
Drive Specification
13
Drive Dimensions (Unit: MM)
15
Servo Motor Model Introduction
16
Motor Name Plate Description
16
Motor Model Description
16
40Mm Motor Specification and Dimension
17
40Mm Dimensions
18
40Mm Torque Curve
19
60Mm Specification and Dimension
20
60Mm Dimensions
21
60Mm Torque Curves
22
80Mm Specification and Dimension
24
80Mm Dimensions
25
80Mm Torque Curve
26
Servo Drive and Servo Motor Combination
27
120VAC Power Input
27
220VAC Power Input
28
System Configuration
29
Installation
30
Storage Conditions
30
Installation Conditions
30
Installation Space
31
Motor Installation
32
Connections and Wiring
33
Connecting to Peripheral Devices
33
System Configuration
33
Servo Drive Connectors and Terminals
34
Connections and Wiring Notes
34
Wiring Methods for Power Supply P1
35
Single-Phase Power Supply Connection (120VAC and 220VAC)
35
Three-Phase Power Supply Connection (AC220V)
36
Wiring to the Connector P2
37
Motor Power Cable Configuration
37
Motor Power Cable Connector Specifications
37
Wiring Diagram of Motor Extension Cable
38
Encoder Connector CN3
38
Motor Encoder Feedback Cable Configuration
38
The Layout of CN3 Connector
38
Connect to Motor Encoder
39
Specifications of Encoder Connector
39
15PIN AMP Connector
39
Wiring Diagram of Motor Encoder Extend Cable
40
Electromagnetic Brake
41
Wiring Diagram
41
Brake Motor
41
Timing Charts of the Electromagnetic Brake
41
Regenerative Resistor
42
Recommended Cable Specifications
42
Connect to Host Computer, CN1
43
Input and Output Signal Interface Connector, CN2
43
Input and Output Interface Specifications and Diagram
43
Signals Description of Connector CN2
45
The Layout of CN2 Connector
45
Input Signals
45
Inputs Function List
46
Output Signals
47
Outputs Function List
47
Input Signal Interface Connector CN2
48
Position Pulse Signal Input
48
Analog Signal Input for Velocity and Torque Mode
49
High Speed Input Port X1, X2, X3, X4
50
General Digital Input X5, X6, X7, X8
52
X9, X10, X11, X12 Input with Common Com Port
54
CN2 Output Signal Specification
56
CN2 Output Signal Diagram
56
Y1, Y2, Y5, Y6 Output Connection Diagram
56
Y3, Y4 Connection Examples
57
Encoder Feedback Output
57
A/B/Z Connection Diagram
57
Z Phase Open Collector Output
57
Display and Operation
58
Description of Control Panel
58
Mode Switch Control
58
LED Display Description
60
Decimal Point and Negative Sign Description
60
Parameter View Setting
60
Parameter Save Setting
60
Point to Point Motion Mode
60
Jog Mode
61
Control Panel Lock
61
Status Monitoring Selection Mode
61
Function Mode Control
63
Function Mode Description
63
Operation Flow Chart
64
Parameter Setting Mode
65
Parameter Setting Description
65
Parameter Editing Examples
66
Control Panel Lock
67
Warning and Fault Display
67
Preoperational Mode
69
Inspection before Trial Run
69
Trial Run Procedure
69
Manual Motor Configuration
70
Use Drive Control Panel to Setup
70
Using Software to Configure Motor
71
Using JOG Mode
72
Configuration by Personal Computer
72
Operation Mode Selection
74
General Function Setting
74
Drive Servo on Settings
74
Alarm Reset
75
CW/CCW Limit
76
Global Gain Switch Function
77
Control Mode Switch
78
Drive on Fault Output
79
Motor Brake Control
80
Servo Ready Output
81
Servo on Status Output
82
Timing Diagram
83
Timing Diagram at Power up
83
Timing Diagram for Fault Alarm
83
Position Mode
84
Digital Pulse Position Mode Connection Diagram
84
Input Pulse Type and Input Noise Filter
85
Input Pulse Type Setting
85
Input Noise Filter Setting
85
Input Pulse Dividing Ratio Setting and Dividing Switch
87
The Pulse Dividing Ratio Setting
87
Control Pulse Dividing Switch Function
87
Pulse Inhibit Function
88
Electronic Gearing Ratio
89
Jerk Smoothing Filter
90
In-Position Error Output
90
Gain Parameters for Position Control Mode
91
Software Configuration for Position Mode
92
Velocity Mode
93
Velocity Mode Connection Diagram
94
Parameter Settings for Analog Velocity Control Mode
95
Basic Settings for Analog Velocity Control Mode
96
Command Signal for Analog Velocity Mode
96
Analog Velocity Gain
97
Analog Input Voltage Offset
97
Analog Input Deadband
98
Run/Stop and Direction Signal
98
Torque Limit
99
Target Velocity Reached
99
Velocity Mode Control Type
100
Velocity Ripple Range
101
Analog Input Filter
102
Software Configuration for Analog Velocity Mode
103
Torque Mode
104
Analog Torque Mode Connection Diagram
105
Parameters for Analog Torque Mode
106
Basic Settings for Analog Torque Mode
106
Command Signal for Analog Torque Mode
106
Analog Torque Gain
107
Analog Input Offset
108
Analog Deadband
108
Run/Stop and Direction Signal
109
Velocity Limit
109
Torque Reached
110
Software Configuration for Analog Torque Mode
111
Parameters and Functions
112
Parameter Category
112
Parameter List
112
Parameter Description
116
Communication
138
What Is SCL
138
Connections
138
Communication
139
PIN Definition
139
Connection Method
140
Modbus/Rtu Communication
141
Data Encoding
141
Communication Address
141
Communication Baud Rate and Framing
141
Power up Mode
141
Modbus/Rtu Data Framing
142
SV200 Series AC Servo Drive Register Address and Function List
142
Command Opcode Description
146
Function Code
147
Function Code 0X03, Reading Multiple Holding Registers
147
Function Code 0X06, Writing Single Register
148
Function Code 0X10, Writing Multiple Registers
148
Modbus/Rtu Applications
150
Position Control
150
JOG Mode
153
Canopen Communication
156
RJ45 (8P8C) Pin Definitions
156
Canopen NODE-ID
156
Canopen Communication Baud Rate
156
Ethernet Communication
157
Connecting PC Using Ethernet
157
Setting the IP Address
157
Connecting to Drive from PC
158
Select Driver's IP Address
158
SVX Servo Suite Software
158
Set IP Address from Drive
160
Editing IP Address Table
161
SV200 Tuning Guide
162
Servo Tuning - Adjustment of Gain Parameters
162
Gain Parameter Introduction
163
Auto-Tuning
164
Step 1: Select Motor
164
Step 2: Setting the Software Position Limits
165
Step 3 Auto-Tuning Function
167
Fine Tuning
168
Position Loop Gain (KF)
168
Integrator Gain (KI)
170
Damping Gain (KV)
171
Derivative Gain (KD)
172
Inertia Feedforward Constant (KK)
174
Follow Factor (KL)
175
Using Auto Trigger Sampling
176
STO Function
177
Operation and Maintenance Procedures
177
The Replacement of Components
177
Preventing Hazardous Event
177
Maintenance Procedures of STO Faults or Failures
177
Commissioning and Testing
177
The Implementation of Safe Torque off
177
Safety Functional Specification
177
Safety Input Signal
178
External Device Monitor (Edm)Output Signal
178
5VDC Source
178
The Fault Reaction Function
178
Response Time
178
Operating Timing Chart for Safety Status
178
Return Timing from Safety State
179
Safety Function Activated or Prohibit
179
STO Function as the Highest Priority
179
The Safety Integrity Information
179
The Environmental and Operating Conditions for Safety Function
179
The Environmental and Operating Conditions
179
Safety Function Constraints
180
Failure Rate
180
Mission Time and Proof Test
180
Testing, Calibration or Maintenance Requirements
180
Avoiding Systematic Failure
180
SIL Capability
180
Identify the Hardware and Software Configuration
180
The Installation and Commissioning Guidance
181
Installation
181
Example of Connection to Safety Switch
181
Example of Connection to Safety Light Curtain
181
Commissioning
181
Requirements for Safety Functions Configuration Test
182
Inspection Requirments
182
Safety Relevant Parameters and Their Values
182
The Test Procedures of Safety Functions
182
The Description of the Safety Related Components
182
Trouble Shooting
183
Drive Alarm List
183
Drive Alarm Troubleshooting
184
Appendix
187
Appendix 1: LED Character Reference
187
Appendix 2: Accessories
188
Mating Connectors
188
Servo Motor Power Cable (Recommended)
188
Servo Feedback Cable (Recommended)
189
I/O Accessories (Not Included)
189
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Applied Motion Products SV200 Specifications
General
Brand
Applied Motion Products
Model
SV200
Category
Controller
Language
English
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