6
SV200 AC Servo Drive User Manual
920-0096H
2/6/2018
9.3.9 Modbus/RTU Applications ........................................................................................................................................................................ 150
9.3.9.1 Position Control
............................................................................................................................................................................. 150
9.3.9.2 JOG mode
....................................................................................................................................................................................... 153
9.4 CANopen Communication
.................................................................................................................................................................................... 156
9.4.1 RJ45 (8p8c) Pin Definitions
....................................................................................................................................................................... 156
9.4.2 CANopen NODE-ID
.................................................................................................................................................................................... 156
9.4.3 CANopen Communication Baud Rate
........................................................................................................................................................ 156
9.5 Ethernet Communication
....................................................................................................................................................................................... 157
9.5.1 Connecting PC using Ethernet
................................................................................................................................................................... 157
9.5.1.1 Setting the IP Address
..................................................................................................................................................................... 157
9.5.1.2 Connecting to Drive from PC
.......................................................................................................................................................... 158
9.5.2 Select Driver’s IP Address
.......................................................................................................................................................................... 158
9.5.2.1 SVX Servo Suite Software
.............................................................................................................................................................. 158
9.5.2.2 Set IP address from Drive
.............................................................................................................................................................. 160
9.5.3 Editing IP address table
............................................................................................................................................................................. 161
10 SV200 Tuning Guide
................................................................................................................................................... 162
10.1 Servo Tuning – Adjustment of Gain Parameters
.................................................................................................................................................. 162
10.1.1 Gain Parameter Introduction
.................................................................................................................................................................... 163
10.2 Auto-Tuning
........................................................................................................................................................................................................ 164
10.2.1 Step 1: Select Motor
................................................................................................................................................................................ 164
10.2.2 Step 2: Setting the Software Position Limits
............................................................................................................................................ 165
10.2.3 Step 3 Auto-Tuning Function
................................................................................................................................................................... 167
10.3 Fine tuning
.......................................................................................................................................................................................................... 168
10.3.1 Position loop gain (KF)
............................................................................................................................................................................ 168
10.3.2 Integrator Gain (KI)
.................................................................................................................................................................................. 170
10.3.3 Damping gain (KV)
.................................................................................................................................................................................. 171
10.3.4 Derivative gain (KD)
................................................................................................................................................................................ 172
10.3.5 Inertia Feedforward Constant (KK)
........................................................................................................................................................... 174
10.3.6 Follow Factor (KL)
................................................................................................................................................................................... 175
10.4 Using Auto Trigger Sampling
.............................................................................................................................................................................. 176
11 STO Function
.............................................................................................................................................................. 177
11.1 Operation and maintenance procedures
.............................................................................................................................................................. 177
11.1.1 The replacement of components
.............................................................................................................................................................. 177
11.1.2 Preventing hazardous event
.................................................................................................................................................................. 177
11.1.3 Maintenance procedures of STO faults or failures
.................................................................................................................................. 177
11.1.4 Commissioning and testing
..................................................................................................................................................................... 177
11.2 The implementation of Safe Torque off
............................................................................................................................................................... 177
11.2.1 Safety Functional Specification
................................................................................................................................................................ 177
11.2.1.1 Safety input Signal
........................................................................................................................................................................ 178
11.2.1.2 External device monitor (EDM)output signal
................................................................................................................................ 178
11.2.1.2 +5VDC Source
............................................................................................................................................................................... 178
11.2.2 The fault reaction function
....................................................................................................................................................................... 178
11.2.3 Response time
......................................................................................................................................................................................... 178
11.2.3.1 Operating timing chart for safety status
........................................................................................................................................ 178
11.2.3.2 Return timing from safety state:..................................................................................................................................................... 179
11.2.4 11.2.4 Safety function activated or prohibit
............................................................................................................................................. 179
11.2.5 11.2.5 STO function as the highest priority.
............................................................................................................................................. 179
To Next Page
Loading...
Need help?
General