Shihlin electric SDE-020A2 User Manual

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Preface
We appreciate very much for your purchasing of Shihlin servo products. This manual will be a
helpful instruction to install, wire, inspect, and operate your Shihlin servo drive and motor.
Before using the servo drive and motor, please read this user manual to prevent from electric
shock, fire, and injury.
In this manual, the safety instruction levels are classified into "DANGER" and "CAUTION".
It indicates that incorrect operation may cause hazardous
conditions, resulting in death or injury.
It indicates that incorrect operation may cause hazards,
resulting in injury to person or damage to the product.
Note that the CAUTION level may lead to a serious consequence by cases. Be sure to follow
the instructions of both levels to keep personnel safety well.
What must not be done and what must be done are indicated by the following marks:
: It indicates what must not be done.
: It indicates what must be done.
In this manual, instructions at a lower level than the above, instructions for other functions, and
so on are classified into "NOTE".
After reading this user manual, always keep it accessible to the operator.
!

Shihlin electric SDE-020A2 Specifications

General

Brand	Shihlin electric
Model	SDE-020A2
Category	DC Drives
Language	English

Summary

Preface

Safety Instruction Levels

Classification of safety instructions into DANGER and CAUTION levels for hazard communication.

2. Installation

Installation Cautions and Environment

Important precautions and recommended environmental conditions for installing servo drives.

2.3 Installation Direction and Clearances

3. Wiring and Signals

3.2. Drive Terminals and Sockets

3.3. CN1 I/O Socket and Pin Assignment

3.3.3. CN1 Pin Name List

3.3.4. CN1 Pin Function Description

3.3.5. CN1 DI Signals

3.3.6. CN1 DO Signals

3.4. CN2 Encoder Signal Wiring and Description

CN3 Communication Port and CN4 USB Port

3.8. Standard Wiring Method

Wiring Safety and Precautions

Critical safety warnings and precautions for wiring procedures to prevent electric shock and damage.

3.8.1. Wiring Diagram: Position Control (Pr Mode)

3.8.2. Wiring Diagram: Position Control (Pt Mode)

3.8.3. Wiring Diagram: Speed Control (S Mode)

3.8.4. Wiring Diagram: Torque Control (T Mode)

4. Startup

Startup Safety and Precautions

Critical safety warnings before startup and precautions for handling hot components.

4.1. Switching Power On for the First Time

Initial Startup Procedures

4.5. Diagnostic Display

4.5.1. External I/O Signal Indication

4.5.3. Test Operation

JOG Operation

Positioning Operation

Inertia Estimation Operation

4.6. Automatic Offset of Analog Input

4.7. Alarm Display

4.8. Parameter Display

4.9. Startup in Various Control Modes

4.9.1. Startup in Position Control Mode

Step-by-step guide for starting up the servo drive in position control mode.

4.9.2. Startup in Speed Control Mode

4.9.3. Startup in Torque Control Mode

5. Parameters

5.1. Parameter Definition

Classification of parameters into basic, gain/filter, expansion, and I/O settings groups.

5.2. Parameter List

(1) Basic Parameters (PA)

Detailed list of basic (PA) parameters, their default values, and applicable control modes.

Gain, Filter Parameters (PB)

Expansion Parameters (PC)

I/O Setting Parameters (PD)

Pr Stroke 1 Programming Parameters

Pr Stroke 2 Programming Parameters

5.3. Parameter Details List

PB01 Machine Resonance Suppression Filter 1

PB11 Gain Switch Option

PB27 Auto Resonance Suppression Mode

PB33 Vibration Suppression Frequency 2

PC01 Acceleration Time Constant

PC12 Output Speed of Maximum Analog Command

PD19 Alarm Code Output Option

PE01 Origin Return Definition

PE04 PATH#1 Data

PE21 PATH#10 Definition

PE53 PATH#26 Definition

PE67 PATH#33 Definition

PE69 PATH#34 Definition

PE81 PATH#40 Definition

PE85 PATH#42 Definition

PF01 PATH#49 Definition

PF23 PATH#60 Definition

PF81 Protection Trigger Deceleration Time

Digital Input (DI) Function Definition

Digital Output (DO) Function Definition

6. Gain Adjustment and Control Mode

6.1. Different Adjustment Methods

Overview of different gain adjustment methods like manual and auto-tuning based on PA02 setting.

6.2. Auto-Gain Tuning Mode

Auto-Gain Tuning Mode 1 & 2

Auto Tuning Sequence

Auto Tuning Response Level

6.3. Manual Gain Tuning Mode

6.5. Torque Control Mode

Torque Analog Command Offset & Smoothing

6.5.4. Torque Limit of Torque Control Mode

6.5.5. Speed Limit of Torque Control Mode

6.6. Speed Control Mode

6.6.2. Output Speed of Maximum Speed Analog Command

6.6.3. Speed Analog Command Smoothing

6.6.4. Torque Limit of Speed Control Mode

6.6.5. Adjustment of Speed Loop Gain

Parameters for Manual-Gain Tuning Mode

6.6.6. Resonance and Vibration Suppression Filter

Vibration Suppression

6.6.7. Gain Switch Function

Gain Switching Parameters

Gain Switch Condition Value CDS (PB12)

6.7. Position Control Mode

6.7.1. External Pulse-Train Command (Pt Mode)

6.7.2. Inner Register Command (Pr Mode)

6.7.3. Position Command Smoothing

6.7.4. Electronic Gear

Calculation of Electronic Gear Ratio

6.7.5. Torque Limit of Position Control Mode

6.7.6. Position Loop Gain

6.8. Control Mode Switch

6.8.1. Position/Speed Mode Switch

6.8.2. Speed/Torque Hybrid Mode

6.8.3. Torque/Position Control Mode Switch

Brake Resistor Power Calculation (Without External Load)

Brake Resistor Power Calculation (With External Load)

6.9.2. Analog Monitor Output

6.9.3. Operation of Electromagnetic Brake Interlock

7. PR (Procedure) Sequence Control Introductions

7.1. PR Introduction

7.3. DI/DO and Sequences

7.4. Relevant Parameter Settings of PR

PR Motion Stroke Definition

Home Return Definition

8. Communication Functions

8.1. Communication Interface and Wiring

8.2. Relevant Communication Parameters

8.3. Modbus Protocol

Modbus Data Packet Structure

RTU Mode Communication

Command and Exception Codes

8.4. Communication Parameter Write-in and Read-out

Status Monitor (Read Only)

Digital I/O Monitor (Read Only)

Parameter Management and Factory Reset

DO Forced Output and JOG Test

JOG and Positioning Test Operations

9. Troubleshooting

9.1. Alarm List

A list of alarm codes, their corresponding CN1 DO states, names, and recovery methods.

Alarm Causes and Remedies (AL01-AL09)

Alarm Causes and Remedies (AL0B-AL16)

Alarm Causes and Remedies (AL17-AL22)

Alarm Causes and Remedies (AL24-AL31)

Alarm Causes and Remedies (AL32-AL34, AL1A-AL1C)

Alarm Causes and Remedies (AL61-AL64)

10. Specifications

10.1. Drive Specifications

10.3. Motor Specifications

10.3.1. Low Inertia, Small Capacity Motor Specifications

10.3.2. Medium Capacity, Low Inertia Motor Specifications

10.3.3. Medium Capacity, Medium Inertia Motor Specifications

10.6. Overload Protection

11. Compliance with Global Standards

11.1. About Safety

Safety information for users and machine operators, with critical warnings about electrical shock.

11.4. Correct Use

Power Wiring, Terminal Torque, and MCCB Selection

11.5. Inspection and Maintenance

Basic Inspection and Maintenance Procedures

11.5.3. Life of Consumable Components

12.2. Brake Resistor

Built-in and External Brake Resistor Specifications

12.3. Parameter Communication Address