INOVANCE SV660F Series Servo Drive User Guide

SV660F Series Servo Drive

Product Information

Specifications

• Power range: 0.05 kW to 7.5 kW

• Supports Profinet communication protocol

• Ethernet communication interfaces for networked operation

• Supports stiffness level setting, inertia autotuning, and
  vibration suppression

• Works with MS1 series medium-to-small inertia high response
  servo motors

• Configured with a 23-bit multiturn absolute encoder

• Suitable for lithium battery PACK, printing and packaging,
  logistics, automobile manufacturing, tobacco, and other
  industries

Product Usage Instructions

Commissioning

The commissioning process involves the following steps:

1. Connect the servo drive to the host controller using Ethernet
   communication interfaces.

2. Configure the Profinet communication settings.

3. Perform stiffness level setting, inertia autotuning, and
   vibration suppression.

4. Adjust the parameters using the operating panel or
   commissioning software.

5. Refer to the parameter list for detailed descriptions of each
   parameter.

Installation

To install the servo drive, follow these steps:

1. Ensure proper mechanical installation by securely mounting the
   drive.

2. Complete the electrical installation by connecting the
   necessary cables.

Troubleshooting

If you encounter any faults or issues with the servo drive,
refer to the troubleshooting guide for assistance. It provides
information on fault levels, troubleshooting process, warning
codes, and fault codes.

Maintenance

For maintenance and repair instructions, refer to the
maintenance guide. It provides detailed instructions on how to
properly maintain and repair the equipment.

Safety

The servo drive comes with safety functions and related
certifications and standards. Ensure proper wiring, follow the
commissioning process, and refer to the safety guide for detailed
information on safety precautions and functions.

FAQ

Q: What is the power range of the SV660F series servo

drive?

A: The power range is from 0.05 kW to 7.5 kW.

Q: What communication protocol does the servo drive

support?

A: The servo drive supports the Profinet communication
protocol.

Q: What industries is the SV660F series servo drive suitable

for?

A: The servo drive is suitable for lithium battery PACK,
printing and packaging, logistics, automobile manufacturing,
tobacco, and other industries.

Preface

Preface

About this guide
The SV660F series high performance AC servo drive provides a power range from 0.05 kW to 7.5 kW. It supports Profinet communication protocol and carries Ethernet communication interfaces to work with the host controller for a networked operation of multiple servo drives.
The SV660N series servo drive supports stiffness level setting, inertia autotuning and vibration suppression to simplify the operation process. It allows a quiet and stable operation through cooperating with the MS1 series mediumtosmall inertia high response servo motors configured with a 23bit multiturn absolute encoder.
It is suitable for lithium battery PACK, printing and packaging, logistics, automobile manufacturing, tobacco and other industries to achieve fast and accurate collaborative control.
This manual presents drive commissioning, parameter descriptions, including the operating panel, commissioning software, commissioning procedure and a parameter list.

More documents Name
SV660F Series Servo Drive Selection Guide
SV660F Series Servo Drive Hardware Guide
SV660F Series Servo Drive Commissioning Guide
SV660F Series Servo Drive Communication Guide
SV660F Series Servo Drive Function Guide

Data Code 19011667 19011666 19011668 19011670 19011669

Description
Provides instructions on product selection, including the list of supporting components, technical data on the drive and motor, and the selection guide of cables.
Presents electrical design guidance of the equipment, description of terminals, required certificates and standards and solutions to common EMC problems.
Presents servo commissioning, parameter descriptions, including the operating panel, commissioning software, commissioning procedure and a parameter list.
Presents functions and parameters of the servo drive, including Profinet communication configuration, parameter description, and communication application cases.
Presents functions and parameters, including function overview, basic servo functions, adjustment and parameter list.

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Preface

Name

Data Code

Description

SV660F Series Servo Drive installation Guide

19012103

Presents installation of the servo drive, including installation steps, mechanical installation, and electrical installation.

SV660F Series Servo Drive Troubleshooting Guide
SV660F Series Servo Drive Maintenance Guide

19012104 19012105

Introduces faults and fault levels, the troubleshooting process, warning codes and fault codes.
Provides instructions on maintenance and repair of the equipment.

SV660F Series Servo Drive Safety Guide

19012110

Presents the safety function and related certifications and standards, wiring, commissioning process, troubleshooting, and functions.

SV660F Series Servo Drive Manual Package

PS00005951

Provides information on selection, installation, commissioning, function, troubleshooting and parameters of the equipment.

Revision History Date of Revision
202211
202207

Version A01 A00

Revision
Added warranty information in the preface. Changed the MS1Z motor to MS1R motor. Adjusted of the structure of section Commissioning
and Operation. Optimized the description of H02.18, and groups H03,
H07.07, H0A.27, H0A.90, H0A.91, H0A.92, H17 and H29.27. First release.

Access to the guide This guide is not delivered with the product. You can obtain the PDF version in either of the following ways: Do keyword search at http://www.inovance.com. Scan the QR code on the equipment to acquire more.
Warranty Inovance provides warranty service within the warranty period (as specified in your order) for any fault or damage that is not caused by improper operation of the user. You will be charged for any repair work after the warranty period expires. Within the warranty period, you will be charged if the product is damaged due to the following causes. Failure to operate this product as specified in this guide.
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Preface Fire, flood, or abnormal voltage. Unintended use of the product. Operation beyond the product’s ratings. Force majeure (natural disaster, earthquake, and lightning strike). The maintenance fee is charged according to the latest Price List of Inovance. If otherwise agreed upon, the terms and conditions in the agreement shall prevail. For details, see Product Warranty Card.
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Table of Contents
Table of Contents
Preface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 General Safety Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 1 Commissioning Tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
1.1 Operating Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 1.1.1 Components of Servo Drives and Servo Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 1.1.2 Display Panel Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 1.1.3 Parameter Settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
1.2 Commissioning Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 1.2.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 1.2.2 Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 1.2.3 Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 1.2.4 Introduction to the Software Tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 1.2.5 Multidrive Adjustment. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
2 Commissioning and Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 2.1 Commissioning Flowchart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 2.2 Preliminary Check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 2.3 Poweron . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 2.4 Jog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 2.5 Setting Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44 2.6 Drive Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59 2.7 Servo OFF. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
3 Adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73 3.1 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73 3.2 Inertia Identification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76 3.2.1 Offline Inertia Autotuning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78 3.2.2 Online Inertia Autotuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79 3.3 Auto Gain Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 3.3.1 ETune . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 3.3.2 STune . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88 3.3.3 ITune . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96 3.4 Manual Gain Tuning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97 3.4.1 Basic Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97 3.4.2 Gain Switchover . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101 3.4.3 Position Reference Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106 3.4.4 Feedforward gain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106 3.4.5 PDFF Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109 3.4.6 Torque disturbance observer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111 3.4.7 Speed Observer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
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Table of Contents
3.4.8 Model Tracking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114 3.4.9 Friction Compensation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116 3.5 DSC Mode Adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117 3.6 Parameter Adjustment in Different Control Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118 3.6.1 Parameter Adjustment in the Position Control Mode . . . . . . . . . . . . . . . . . . . . . . . . . . 118 3.6.2 Parameter Adjustment in the Speed Control Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120 3.6.3 Parameter Adjustment in the Torque Control Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . 121 3.7 Vibration suppression . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121 3.7.1 LowFrequency Resonance Suppression at the Mechanical End . . . . . . . . . . . . . . . . . 122 3.7.2 Mechanical Resonance Suppression . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124 3.8 Mechanical Characteristic Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130 4 Description of Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132 4.1 H00 Servo Motor Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132 4.2 H01 Servo Drive Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134 4.3 H02 Basic Control Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139 4.4 H03 Terminal Input Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150 4.5 H04 Terminal Output Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163 4.6 H05 Position Control Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169 4.7 H06 Speed Control Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185 4.8 H07 Torque Control Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192 4.9 H08 Gain Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200 4.10 H09 Autotuning Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 217 4.11 H0A Fault and Protection Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231 4.12 H0b Monitoring Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 247 4.13 H0d Auxiliary Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 265 4.14 H0E Communication Function Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 269 4.15 H12 MultiSpeed. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 275 4.16 H17 Virtual DI/DO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 291 4.17 H18 Position Comparison Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 312 4.18 H19 Target Position Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 317 4.19 H24 PN Bus Communication Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 339 4.20 H25 AC3 Control Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 349 4.21 H27 Program Block Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 353 4.22 H28 Program Block Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 370 4.23 H29 PN Message Value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 384 4.24 H30 Related Variables Read through Communication . . . . . . . . . . . . . . . . . . . . . . . . . . 400
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Table of Contents
4.25 H31 Communication Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 401 5 Parameter List. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 403
5.1 Parameter Group H00 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 403 5.2 Parameter Group H01 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 403 5.3 Parameter Group H02 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 405 5.4 Parameter Group H03 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 410 5.5 Parameter Group H04 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 414 5.6 Parameter Group H05 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 415 5.7 Parameter Group H06 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 419 5.8 Parameter Group H07 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 421 5.9 Parameter Group H08 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 423 5.10 Parameter Group H09 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 428 5.11 Parameter Group H0A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 432 5.12 Parameter Group H0b. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 436 5.13 Parameter Group H0d. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 442 5.14 Parameter Group H0E . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 443 5.15 Parameter Group H12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 444 5.16 Parameter Group H17 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 447 5.17 Parameter Group H18 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 453 5.18 Parameter Group H19 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 455 5.19 Parameter Group H24 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 461 5.20 Parameter Group H25 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 463 5.21 Parameter Group H27 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 464 5.22 Parameter Group H28 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 467 5.23 Parameter Group H29 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 471 5.24 Parameter Group H30 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 480 5.25 Parameter Group H31 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 480 6 Appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 481 6.1 Display of Monitoring Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 481 6.2 DIDO Function Assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 488
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General Safety Instructions

General Safety Instructions

Safety Precautions
This section explains the safety precautions that need to be observed to use this product correctly. Before using this product, please read the instruction manual and correctly understand the relevant information of safety precautions. Failure to comply with the safety precautions may result in death, serious injury, or equipment damage.
“CAUTION”, “WARNING”, and “DANGER” items in the guide only indicate some of the precautions that need to be followed; they just supplement the safety precautions.
Use this equipment according to the designated environment requirements. Damage caused by improper use is not covered by warranty.
Inovance shall take no responsibility for any personal injuries or property damage caused by improper use.
Safety Levels and Definitions
Indicates that failure to comply with the notice will result in death or severe personal injuries.

Indicates that failure to comply with the notice may result in death or severe personal injuries.

Indicates that failure to comply with the notice may result in minor or moderate personal injuries or equipment damage.

General Safety Instructions
Drawings in the selection guide are sometimes shown without covers or protective guards. Remember to install the covers or protective guards as specified first, and then perform operations in accordance with the instructions. Install the covers or protective guards as specified, and use the equipment in accordance with the instructions described in the user guide.
The drawings in the guide are shown for illustration only and may be different from the product you purchased.

7

General Safety Instructions

Unpacking

Do not install the equipment if you find damage, rust, or signs of use on the equipment or accessories upon unpacking.
Do not install the equipment if you find water seepage or missing or damaged components upon unpacking.
Do not install the equipment if you find the packing list does not conform to the equipment you received.

Check whether the packing is intact and whether there is damage, water seepage, dampness, and deformation before unpacking.
Unpack the package by following the unpacking sequence. Do not strike the package violently.
Check whether there is damage, rust, or injuries on the surface of the equipment and equipment accessories before unpacking.
Check whether the package contents are consistent with the packing list before unpacking.
Storage and Transportation

Largescale or heavy equipment must be transported by qualified professionals using specialized hoisting equipment. Failure to comply may result in personal injuries or equipment damage.
Before hoisting the equipment, ensure the equipment components such as the front cover and terminal blocks are secured firmly with screws. Looselyconnected components may fall off and result in personal injuries or equipment damage.
Never stand or stay below the equipment when the equipment is being hoisted by the hoisting equipment.
When hoisting the equipment with a steel rope, ensure the equipment is hoisted at a constant speed without suffering from vibration or shock. Do not turn the equipment over or let the equipment stay hanging in the air. Failure to comply may result in personal injuries or equipment damage.

8

General Safety Instructions
Handle the equipment with care during transportation and mind your steps to prevent personal injuries or equipment damage.
When carrying the equipment with bare hands, hold the equipment casing firmly with care to prevent parts from falling. Failure to comply may result in personal injuries.
Store and transport the equipment based on the storage and transportation requirements. Failure to comply will result in equipment damage.
Avoid storing or transporting the equipment in environments with water splash, rain, direct sunlight, strong electric field, strong magnetic field, and strong vibration.
Avoid storing the equipment for more than three months. Longterm storage requires stricter protection and necessary inspections.
Pack the equipment strictly before transportation. Use a sealed box for longdistance transportation.
Never transport the equipment with other equipment or materials that may harm or have negative impacts on this equipment. Installation
The equipment can be operated by welltrained and qualified professionals only. Non professionals are not allowed.
Read through the guide and safety instructions before installation. Do not install this equipment in places with strong electric or magnetic fields. Before installation, check that the mechanical strength of the installation site can bear
the weight of the equipment. Failure to comply will result in mechanical hazards. Do not wear loose clothes or accessories during installation. Failure to comply may
result in an electric shock. When installing the equipment in a closed environment (such as a cabinet or casing),
use a cooling device (such as a fan or air conditioner) to cool the environment down to the required temperature. Failure to comply may result in equipment overtemperature or a fire. Do not retrofit the equipment. Do not fiddle with the bolts used to fix equipment components or the bolts marked in red. When the equipment is installed in a cabinet or final assembly, a fireproof enclosure providing both electrical and mechanical protections must be provided. The IP rating must meet IEC standards and local laws and regulations. Before installing devices with strong electromagnetic interference, such as a transformer, install a shielding device for the equipment to prevent malfunction. Install the equipment onto an incombustible object such as a metal. Keep the equipment away from combustible objects. Failure to comply will result in a fire.
9

General Safety Instructions
Cover the top of the equipment with a piece of cloth or paper during installation. This is to prevent unwanted objects such as metal chippings, oil, and water from falling into the equipment and causing faults. After installation, remove the cloth or paper on the top of the equipment to prevent overtemperature caused by poor ventilation due to blocked ventilation holes.
Resonance may occur when the equipment operating at a constant speed executes variable speed operations. In this case, install the vibrationproof rubber under the motor frame or use the vibration suppression function to reduce resonance. Wiring
Equipment installation, wiring, maintenance, inspection, or parts replacement must be performed only by professionals.
Before wiring, cut off power connections with all equipment. Residual voltage exists after power cutoff. Therefore, wait at least the time designated on the equipment warning label before further operations. Measure the DC voltage of the main circuit and make sure it is below the safe voltage, otherwise there will be the danger of electric shock.
Do not perform wiring, remove the equipment cover, or touch the circuit board with power ON. Failure to comply will result in an electric shock.
Check that the equipment is grounded properly. Failure to comply will result in an electric shock.
Do not connect the input power supply to the output end of the equipment. Failure to comply will result in equipment damage or even a fire.
When connecting a drive to the motor, check that the phase sequences of the drive and motor terminals are consistent to prevent reverse motor rotation.
Cables used for wiring must meet cross sectional area and shielding requirements. The shield of the cable must be reliably grounded at one end.
Fix the terminal screws with the tightening torque specified in the user guide. Improper tightening torque may overheat or damage the connecting part, resulting in a fire.
After wiring is done, check that all cables are connected properly and no screws, washers or exposed cables are left inside the equipment. Failure to comply may result in an electric shock or equipment damage.
During wiring, follow the proper electrostatic discharge (ESD) procedure, and wear an antistatic wrist strap. Failure to comply will damage the equipment or the internal circuits of the equipment.
Use shielded twisted pairs for the control circuit. Connect the shield to the grounding terminal of the equipment for grounding purpose. Failure to comply will result in equipment malfunction. Power-on
10

General Safety Instructions
Before poweron, check that the equipment is installed properly with reliable wiring and the motor can be restarted.
Check that the power supply meets equipment requirements before poweron to prevent equipment damage or a fire.
After poweron, do not open the cabinet door or protective cover of the equipment, touch any terminal, or disassemble any unit or component of the equipment. Failure to comply will result in an electric shock.
Perform a trial run after wiring and parameter setting to ensure the equipment operates safely. Failure to comply may result in personal injuries or equipment damage.
Before poweron, make sure that the rated voltage of the equipment is consistent with that of the power supply. Failure to comply may resulting in a fire. Failure to comply may result in a fire.
Before poweron, check that no one is near the equipment, motor, or machine. Failure to comply may result in death or personal injuries. Operation
The equipment must be operated only by professionals. Failure to comply will result in death or personal injuries.
Do not touch any connecting terminals or disassemble any unit or component of the equipment during operation. Failure to comply will result in an electric shock.
Do not touch the equipment casing, fan, or resistor with bare hands to feel the temperature. Failure to comply may result in personal injuries.
Prevent metal or other objects from falling into the equipment during operation. Failure to comply may result in a fire or equipment damage. Maintenance
Equipment installation, wiring, maintenance, inspection, or parts replacement must be performed only by professionals.
Do not maintain the equipment with power ON. Failure to comply will result in an electric shock.
Before maintenance, cut off all the power supplies of the equipment and wait for at least the time designated on the equipment warning label.
In case of a permanent magnet motor, do not touch the motor terminals immediately after poweroff because the motor terminals will generate induced voltage during rotation even after the equipment power supply is off. Failure to comply will result in an electric shock.
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General Safety Instructions
Perform routine and periodic inspection and maintenance on the equipment according to maintenance requirements and keep a maintenance record. Repair
Equipment installation, wiring, maintenance, inspection, or parts replacement must be performed only by professionals.
Do not repair the equipment with power ON. Failure to comply will result in an electric shock.
Before inspection and repair, cut off all the power supplies of the equipment and wait for at least the time designated on the equipment warning label.
Submit the repair request according to the warranty agreement. When the fuse is blown or the circuit breaker or earth leakage current breaker (ELCB)
trips, wait for at least the time designated on the equipment warning label before poweron or further operations. Failure to comply may result in death, personal injuries or equipment damage. When the equipment is faulty or damaged, the troubleshooting and repair work must be performed by professionals that follow the repair instructions, with repair records kept properly. Replace quickwear parts of the equipment according to the replacement instructions. Do not use damaged equipment. Failure to comply may result in death, personal injuries, or severe equipment damage. After the equipment is replaced, check the wiring and set parameters again.
Disposal
Dispose of retired equipment in accordance with local regulations and standards. Failure to comply may result in property damage, personal injuries, or even death.
Recycle retired equipment by observing industry waste disposal standards to avoid environmental pollution.
Additional Precautions Cautions for the dynamic brake Dynamic braking can only be used for emergency stop in case of failure and sudden power failure. Do not trigger failure or power failure frequently. Ensure that the dynamic braking function has an operation interval of more than 5 minutes at high speed, otherwise the internal dynamic braking circuit may be damaged.
12

General Safety Instructions

Dynamic braking is common in rotating mechanical structures. For example, when a motor has stopped running, it keeps rotating due to the inertia of its load. In this case, this motor is in the regenerative state and shortcircuit current passes through the dynamic brake. If this situation continues, the drive, and even the motor, may be burned.

Safety Label
For safe equipment operation and maintenance, comply with the safety labels on the equipment. Do not damage or remove the safety labels. See the following table for descriptions of the safety labels.

Safety Label

Description
Never fail to connect the protective earth (PE) terminal. Read through the guide and follow the safety instructions before use.
Never fail to connect Protective Earth (PE) terminal. Read the manual and follow the safety instructions before use.
Do not touch terminals within 15 minutes after disconnecting the power supply to prevent the risk of electric shock.
Do not touch terminals with 15 minutes after Disconnect the power. Risk of electrical shock.
Do not touch the heatsink with power ON to prevent the risk of burn. Do not touch heatsink when power is ON. Risk of burn.

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Commissioning Tool
1 Commissioning Tool
1.1 Operating Panel 1.1.1 Components of Servo Drives and Servo Motors

Figure 11 Magnified view of the keypad

The operation panel of the SV660F Series servo drive consists of an LED (5digit, 8 segment) and five buttons. The keypad is used for value display, parameter setting, user password setting and general function execution. The following table takes parameter setting as an example to describe the general functions of the keys.

Name MODE

Table 1­1 Descriptions of keys

Symbol

Description

Switches among different modes. Returns to the previous menu.

UP

Increases the value of the blinking digit for the LED.

DOWN SHIFT SET

Decreases the value of the blinking digit for the LED.
Shifts the blinking digit for the LED. You can view the high digits of the number consisting of more than 5 digits.
Switches to the lowerlevel menu. Executes commands such as storing parameter setting value.

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1.1.2 Display Panel Indicators
The operating panel can display the running status, parameter, faults, and monitoring information during running of the servo drive.
Status display: Displays current servo drive status, such as servo ready or servo running.
Parameter display: Displays parameters and their setpoints Fault display: Displays faults and warnings that occurred on the servo drive. Monitored value display: Displays values of monitoring parameters.

Transition relation between the panel display and the operation object of the host controller
The mapping relation between the parameter displayed on the keypad (in decimal) and the object dictionary operated by the host controller (in hexadecimal, “Index” and “Subindex”) is as follows.
Object dictionary index = 0x2000 + Parameter group number
Object dictionary subindex = Hexadecimal offset within the parameter group + 1 For example:

Display Panel Indicators H02.15

Object dictionary operated by the host controller 2002.10h

Note
The following section only describes the display and parameter settings on the keypad side (in decimal), which are different from those displayed in the software tool (in hexadecimal). Make necessary value conversions during use.
Display mode switchover

Figure 12 Switchover among different display modes The keypad enters status display immediately upon poweron.
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Commissioning Tool

Press MODE to switch among different display modes based on the conditions shown in “Figure 1­2 ” on page 15 .
In status display, set H02.32 to select the parameter to be monitored. When the motor rotates, the keypad automatically switches to monitored value display. After the motor stops, the keypad automatically returns to status display.
In the parameter display mode, after you select the parameter to be monitored in group H0b, the keypad switches to monitored value display.
Once a fault occurs, the keypad switches to fault display immediately, with all the five LEDs blinking. Press SET to stop the LEDs from blinking, and then press MODE to switch to parameter display.

Status display Display

Name
reset Servo drive initializing

Applicable Occasion
Upon poweron

Meaning
The servo drive is in the initialization or reset status. After initialization or reset is done, the servo drive automatically switches to other status.

nr Servo not ready

Initialization done, but servo drive not ready.

The servo drive is not ready to run because the main circuit is not powered on. For details, see the Troubleshooting Guide.

ry Servo ready

The servo drive is ready to run Servo drive ready and waits for the enabling
signal from the host controller.

rn Servo running

Servo ON (SON) signal activated (SON signal switched on)

The servo drive is running.

1­4: operation modes

1­4: communica tion statuses

Displays present operation mode of the servo drive in hexadecimal digits. 1: AC1 3: AC3 4: AC4
Displays the status of the Profinet state machine of a slave in characters. 1: Initialization 2: Preoperational 4: Running

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Commissioning Tool

Display

Name
CN4 connection indication
CN3 connection indication

Applicable
Occasion
CN4 indicates Profinet output connection status.
CN3 indicates successful Profinet input connection.

Meaning
OFF: no communication connection is detected in the physical layer. ON: communication connection is detected in the physical layer.

Parameter Display Parameters are divided into 14 groups based on their functions. A parameter can be located quickly based on the parameter group it belongs to. Display of parameter groups

Display HXX.YY

Name Parameter group

Description
XX: Parameter group No. (Hexadecimal) YY: Offset within the parameter group (decimal)

For example, “H02.00” is displayed as follows.

Display

Name

Description

H02.00

02: Parameter group No. 00: Offset within the parameter group

Display of negative numbers and numbers with different lengths Signed number with 4 digits and below or unsigned number with 5 digits and below Such numbers are displayed in a single page (five digits). For signed numbers, the highest bit “” represents the negative symbol.
For example, “9999” is displayed as follows:

For example, “65535” is displayed as follows:

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Commissioning Tool
Signed number with more than 4 digits or unsigned number with more than 5 digits Such numbers are displayed from low to high bits in several pages (5 digits per page): current page + values on current page, as shown in the following figure. Hold down SHIFT for more than 2s to switch to the next page. For example, “1073741824” is displayed as follows:

Figure 13 Display of “1073741824” Example: “1073741824” is displayed as follows:

Figure 14 Display of “1073741824”
Display of the decimal point The segment “.” of the ones indicates the decimal point, which does not blink.

Display

Name

Description

Decimal point

100.0

Display of parameter setting status

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Commissioning Tool

Display

Name

Applicable Occasion

Done Parameter setting complet ed

The parameter is set successfully.

F.InIt (Restored to default settings)

Parameter initialization is in progress (H02.31 = 1).

Error (wrong password)

The user password (H02.30) is activated and the password entered is wrong.

TunE

Autotuning with onekey enabled

Meaning
The parameter is set and saved to the servo drive (Done). The servo drive can execute other operations.
The servo drive is in the process of parameter initialization. After parameter initialization is done, switch on the control power supply again.
A wrong password is entered. You need to enter the password again.
The function of autotuning with onekey is in progress.

FAIL

Autotuning with onekey enabled

The function of autotuning with onekey fails.

Fault Display
The panel displays the active or history faults and warning codes. For troubleshooting, see the Troubleshooting Guide.
When a fault or warning occurs, the operating panel displays the corresponding fault or error code immediately. When multiple faults or errors occur, the keypad displays the fault or error code of the highest fault level.
You can select the previous fault/warning to be viewed through H0b.33 and view the code of the selected fault/warning in H0b.34.
You can clear the latest 10 faults or warnings saved in the servo drive by setting H02.31 to 2.
For example, “E941.0” is displayed as following:

Display

Name

Description

E941.0 Warning code

E: A fault or warning occurs on the servo drive. 941.0: Warning code

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Commissioning Tool

Monitored value display
Group H0b: Displays parameters used to monitor the operating state of the servo drive.
Set H02.32 (Default keypad display) properly. After the motor operates normally, the keypad switches from status display to parameter display. The parameter group number is H0b and the offset within the group is the setpoint of H02.32.
For example, if H02.32 is set to 00 and the motor speed is not 0 rpm, the keypad displays the value of H0b.00.
The following table describes the monitoring parameters in H0b.00.

Parameter

Name

Unit

Meaning

Example Display of 3000 rpm:

H0b.00

Actual motor speed

RPM

Displays the actual value of the motor speed after roundoff, which can be accurate to 1 rpm.

3000 rpm:

1.1.3 Parameter Settings
Example of parameter settings You can set parameters through the keypad. For details on parameters, see Chapter “List of Parameters”. The following figure shows how to switch from position control mode to speed control mode using the keypad after poweron.

Figure 15 Example of parameter setting
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Commissioning Tool
MODE: Used to switch the keypad display mode and return to the previous interface.
UP/DOWN: Used to increase or decrease the value of the blinking digit. SHIFT: Used to shift the blinking digit. SET: Used to save the present setpoint or switch to the next interface. After parameter setting is done, that is, “donE” is displayed on the keypad, press MODE to return to the parameter group interface (interface of “H02.00″). Forced DI/DO signals There are five DI and DO signals on the CN1 terminal. Users can allocate the DI/DO function and terminal logic to parameters in group H03/H04 by using the keypad (or host controller communication), so that the host controller can control corresponding servo functions through the DI or use the DO signal output by the servo drive. The servo drive also provides the forced DI feature. The forced DIs can be used to test the DI functions of the servo drive. Forced DO is not available for the PN bus. Forced DI signal input
After this function is enabled, all DI signal levels are controlled by the forced DI setting (H0d.18), independent of external DI signal status. Operating procedure:
Figure 16 Procedure for setting forced DI function
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Commissioning Tool
Related parameters: See ” H0d_en.17″ on page 267 for details. H0d.18 is used to set the forced DI level. The keypad displays the value in hexadecimal. After the hexadecimal value is converted to a binary value, the value “1” indicates high level and “0” indicates low level. The DI logic is defined by parameters in group H03. H0b.03 is used to monitor the DI level status. The keypad displays the level, and the value of H0b.03 (Monitored DI signal) read in the software tool is hexadecimal. Example: To activate the DI function allocated to DI1 and deactivate DI functions allocated to DI2 to DI5 (all the DIs are active at low level), set as follows: As the value “1” indicates high level and the value “0” indicates low level, the corresponding binary value and hexadecimal value are “11110” and “1E” respectively. Therefore, set H0d.18 to “1E” through the keypad.
Figure 17 Meaning of the H0d.18 setpoint Monitoring the DI level status through H0b.03: If the DI function is normal, the display value of H0b.03 is always the same as that of H0d.18. In this case, DI1 is displayed as low level and DI2 to DI5 are displayed as high level on the keypad, and the value of H0b.03 read by the software is 1E (hexadecimal).
22

Display on the operating panel:

Commissioning Tool

Figure 18 DI level status corresponding to H0b.03
Exit The forced DI signal function is not retentive upon poweroff. Normal DIs apply after restart, or you can set H0d.17 to 0 (No operation) to return to the normal DI mode.
User password After the user password (H02.30) is activated, only authorized operators can set parameters. Set bit5 of H0A. 71 to 1. After setting the user password, you can’t view and change the parameters after H02 group through the panel and Inovance servo commissioning platform. Setting the user password The following figure shows how to set the user password to “00001”.

23

Commissioning Tool
SET
UP
SET
Figure 19 Procedure for setting the user password To change the user password, input current password first to authorize the access to parameter setting. Next, enter H02.30 again to set a new password based on the procedure shown in the preceding figure.
Note
If the last bit does not blink, the access to parameters is password protected. If the last bit blinks, password is not needed or the password entered is correct. Canceling user password
Enter the set user password, and set H02.30 to “00000” to cancel the user password.
1.2 Commissioning Software 1.2.1 Overview
The software tool InoDriverShop can be downloaded from http://www.inovance.com. Use an S6LT003.0 communication cable for communication between the drive and the PC. InoDriverShop supports 32bit/64bit Windows 7 and 64bit Windows 10 operating systems. For details on how to use InoDriverShop, see the help document of InoDriverShop.
24

Commissioning Tool

1.2.2 Installation

1. Software a. Visit the official website of Inovance as shown below. http://www.inovance.com
b. Choose Support Download, and then type in the keyword InoDriverShop and click Search.
c. Click Download. 2. Unzip the package downloaded.

3. Click

to start installing InoDriverShop.

4. Click Next. 25

Commissioning Tool
5. You can select the directory for installation as needed through the Browse button. The default directory for installation is “C:Program FilesInovanceInoDriverShop”. In online upgrade, InoDriverShop will be upgraded directly in the original directory. After selecting the directory for installation, click Next.
26

Commissioning Tool 6. Click Install to start installation.
27

Commissioning Tool
7. After installation is done, click Finish.
8. A shortcut icon for InoDriverShop will be generated automatically on the desktop.
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Commissioning Tool

1.2.3 Connection
1. Start InoDriverShop.

Doubleclick

to start the InoDriverShop.

If there is no shortcut for InoDriverShop on your desktop, click Start and search

for InoDriverShop.

2. Create a project.

a. Click shown in the following figure to create a project.

Figure 110 Start interface
Note
You can click 2 or 3 shown in the preceding figure to open the project saved before. b. Open the Project Guide interface.
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Commissioning Tool Click Online or Offline in area . Next, click the product series in area . Finally, load default communication parameters in area based on the product series selected.
Figure 111 Project Guide interface c. Click Next page to create a project.
Creating a project for online device brings you to the following interface. The device is scanned automatically. Select the device to be commissioned and click Finish.
Figure 112 Scan interface
30

Commissioning Tool Creating a project for offline device brings you to the following interface.
You can select the Slave ID, Object Type, and Software Version as needed and add different standards or customized devices. You can also designate the directory for storage or create multiple offline devices.
Figure 113 Project Guide interface for offline device
Note
Station No., Project name, and the storage directory can be changed as needed. d. The project has been created.
3. The main interface is shown as follows.
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Commissioning Tool
Figure 114 Main interface
1.2.4 Introduction to the Software Tool
InoDriverShop features the following functions: Oscilloscope: Detects and saves the instantaneous data during operation.
Parameter management: Reads and downloads parameters in batches.
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Commissioning Tool Inertia autotuning: Generates the load inertia ratio automatically.
33

Commissioning Tool
Mechanical characteristic analysis: Analyzes the resonance frequency of the mechanical system.
Motion JOG: Generates position references to make the motor reciprocate.
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Commissioning Tool
Gain tuning: Adjusts the stiffness level and monitors the motion data.
1.2.5 Multi-drive Adjustment
1. Click the SV660F icon, select TCP_DCP on the right, and then click Next.
2. In the next page, devices are scanned with the default network card. If the network card connected to the device is not the currently selected network card, click Stop Scan and select the correct network card from the dropdown box on the left. 35

Commissioning Tool
3. Click Scan and wait the connected device to be displayed. The network requires that the IP of the network card and that of the device are in the same network segment. You can modify the device name, IP, subnet mask, and default segment in this screen. Click the Set button to write the modifications to the device. Then click Next.
Note
After modifying the IP of the device, if the IP of the network card is not on the same network segment as the device, you need to manually adjust the IP of the network card.
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Commissioning Tool
4. Enter the scan screen. The scan result is displayed in the screen. After the scan is correct, click the Finish button. You can create a multidrive project. 37

Commissioning Tool
38

2 Commissioning and Operation
2.1 Commissioning Flowchart

Commissioning and Operation

· ·
· ·
· ·
· ·
· · · · · · ·
Figure 21 Commissioning flowchart of the drive
39

Commissioning and Operation

2.2 Preliminary Check
Check the following items before operating the servo drive and the servo motor.

Record

Table 2­1 Checklist before operation

No.

Description

Wiring

The power input terminals (L1C, L2C, L1, L2, L3, R, S, T) of the

1

servo drive are connected properly.

The main circuit cables (U, V, W) of the motor are connected to

2

the U/V/W terminals of the drive correctly.

No short circuit exists in the power input terminals (L1, L2, L3,

3

R, S, T) or main circuit output terminals (U, V, W) of the servo

drive.

The control signal cables, such as the brake signal cable and

4

overtravel protection signal cable, are connected properly.

5

The servo drive and servo motor are grounded properly.

6

The stress suffered by the cable is within the specified range.

7

All the wiring terminals are insulated properly.

Environment and Mechanical Conditions

No unwanted objects (such as cable terminals and metal

1

chippings) that may cause short circuit are present inside or

outside the servo drive.

The servo drive and the external regenerative resistor are

2

placed on incombustible objects.

The servo motor is installed properly. The motor shaft is

3

connected to the machine securely.

The servo motor and the machine it is connected to are in

4

good condition and ready to run.

2.3 Power-on
Switching on the input power supply The power input terminals are L1C/L2C (control circuit power input terminals) and L1/ L2/L3 or R/S/T (main circuit power input terminals). After the power supply is switched on, if the bus voltage indicator is in the normal state and the keypad displays “reset” “nr” “ry” in sequence, the servo drive is ready to run and waits for the SON signal.

40

Commissioning and Operation
Note
To connect the main circuit to a singlephase 220 VAC power supply, use any two of terminals L1, L2, L3.
If the operation panel keeps displaying “nr” or a fault code, rectify the fault according to the Troubleshooting Guide.
2.4 Jog
To use the jog function, deactivate the SON signal first. The jog function can be used in trial run to check whether the motor rotates properly, without abnormal vibration or noise generated during rotation. You can activate the jogging function through the keypad, or the software tool. Jogging through the keypad Commissioning Steps
41

Commissioning and Operation

SET SHIFT/UP SET

UP

DOWN

CCW (Counterclockwise)

CW (Clockwise)

Figure 22 Procedure for setting the jog function

Note
[1] Press the UP or DOWN key to increase or decrease the jog speed. After exiting from the jog mode, the initial speed applies.
[2] Press the UP or DOWN key to make the motor rotate forwardly or reversely. After you release the key, the motor stops immediately.
Procedure: 1. Enter the jog mode by setting H0d.11 through the keypad. The keypad displays the default jog speed at this moment.
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Commissioning and Operation 2. Adjust the jog speed through the UP/DOWN key and press the SET key to enter
the jog state. The keypad displays “JOG”. 3. Press the UP/DOWN key to make the motor run forwardly or reversely. 4. Press the MODE key to exit the jog mode and return to the upperlevel menu. The jogging speed returns to the default value. Exiting the jog running Press the MODE key to exit from jog and return to the previous menu. Jogging through the software tool Enter the jog interface of the software tool first, and then set the jog speed. After clicking the SON button, you can perform forward or reverse jog through the forward/reverse button. When you close the jog interface to exit from the jog mode, the jogging speed returns to the default value, with previous setpoint abandoned.
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Commissioning and Operation
2.5 Setting Parameters
Figure 23 General Parameter Setting Flowchart Identify and set the encoder.
Check whether parameter H00.00 (motor code) agrees with the motor. Set H02.02 to change the direction of rotation directly. Related parameters: See ” H00_en.00″ on page 132 for details. See ” H02_en.02″ on page 139 for details. The change of H02.02 does not affect the pulse output form or the sign (+/) of monitoring parameter values. The direction of “forward drive” in overtravel prevention is the same as that defined by H02.02. Stop mode The stop modes include Brake setting, Servo stop mode at SON OFF, Stop mode at No.2 fault, Stop mode at overtravel, and Stop mode at No.1 fault. 1. Select the stop mode for stop at SON OFF.
Related parameters: See ” H02_en.05″ on page 141 for details.
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Commissioning and Operation
2. Select the stop mode at No.2 fault. Related parameters: See ” H02_en.06″ on page 142 for details.
3. Select the stop mode at overtravel. Related parameters: See ” H02_en.07″ on page 142 for details.
4. Select the stop mode at No.1 fault. Related parameters: See ” H02_en.08″ on page 143 for details.
Brake setting The brake is used to prevent the motor shaft from moving and lock the position of the motor and the motion part when the drive is in the nonoperational status.
Use the builtin brake for positionlock purpose only. Do not use this brake for any other purposes (such as braking) other than position lock in the stop state.
The brake coil has no polarity. After the motor stops, switch off the SON signal. When the motor with brake runs, the brake may generate a click sound, which
does not affect its function. If instruments such as a magnetic sensor is operating near the motor, flux leakage
may occur on the motor shaft end when brake coils are energized (brake released).
Figure 24 Application of the brake
45

Commissioning and Operation

Motor Model

Holding Torque (N·m)

MS1H105B/10B 0.32
MS1H410B MS1H120B/40B
1.5 MS1H420B/40B MS1H175B/10C
3.2 MS1H475B/10C MS1H210C/
8 15C/20C/25C MS1H230C/
16 40C/50C MS1H385B/
16 13C/18C MS1H329C/
50 44C/55C/75C

Table 2­2 Brake specifications

Supply Voltage (VDC) ±10%

Rated power
(W)

Coil Resistance
()±7%

Exciting Current
(A)

6.1

94.4

0.25

7.6

75.79

0.32

10

57.6

0.42

24

17.6

32.73

0.73

24

24

1

24

24

1

31

18.58

1.29

Release Time (ms) 20 20 40 40 60 60 100

Apply Time (ms)

Backlash (°)

40

1.5

60

1.5

60

1

100

1

120

1

120

1

200

1

Note
Do not use a holding brake for braking. The release time and operation time of the brake depend on the discharge circuit.
Be sure to confirm the operation delay of your equipment before use. You need to prepare the 24 VDC power supply yourself.
Brake sequence in normal state The brake sequence in the normal state is further divided into the following two types: Standstill: The actual motor speed is lower than 20 RPM. Rotating: The motor speed is equal to or higher than 20 RPM.
Brake sequence for motor at standstill If the servo enabling (SON) signal changes from ON to OFF, and the present motor speed is lower than 20 RPM, the servo drive acts according to the brake time sequence in the static state of the motor.

46

Commissioning and Operation
After the brake output signal changes from “OFF” to “ON”, do not input a position/ speed/torque reference within the time defined by H00.61. Otherwise, reference loss or an operation error may occur. (The system defaults to output position/ speed reference after the time set in H00.61. When H01.91 bit = 1, the position/ speed reference is output after the time set in H02.09.)
When the motor is used to drive a vertical axis, the motion part may move slightly under the influence of gravity or external force. If the SON signal is switched off, the brake output is set to “OFF” immediately when the motor is at standstill. However, within the time defined by H02.10, the motor is still energized, preventing the load from moving under the influence of gravity or external force.
Figure 25 Brake sequence for motor at standstill
47

Commissioning and Operation
Note
[1]: When the SON signal is switched on, the brake output is set to “ON” at a delay of about 80ms, with motor being energized at the same time.
[2]: For delay of brake contactor actions, see “Table 2­2 ” on page 46. [3]: The interval time, starting from the moment when brake output is set to “ON”
to the moment when a command is input, must be higher than the setpoint of H00.61. (The system defaults to output position/speed reference after the time set in H00.61. When H01.91 bit = 1, the position/speed reference is output after the time set in H02.09.) [4]: When the SON signal is switched off with motor at standstill (motor speed lower than 20 rpm), the brake output is set to “OFF”. You can set in H02.10 the delay of the motor in entering the deenergized state after the brake output is set to “OFF”.
Related parameters: See ” H02_en.09″ on page 143 for details. See ” H02_en.10″ on page 143 for details.
Brake sequence for motor in the rotation state If the SON signal changes from ON to OFF, and the present motor speed is equal to or higher than 20 RPM, the servo drive acts according to the brake time sequence in motor rotating state.
When the SON signal is switched on, do not input a position/speed/torque reference within the time defined by H00.61. Otherwise, reference loss or an operation error may occur. (The system defaults to output position/speed reference after the time set in H00.61. When H01.91 bit = 1, the position/speed reference is output after the time set in H02.09.)
If the SON signal is switched off when the motor is still rotating, the motor enters the “Stop at zero speed” state, but the brake output can be set to “OFF” only when one of the following conditions is met: — The motor has decelerated to the value defined by H02.11, but the time defined by H02.12 is not reached. — The time defined by H02.12 has been reached, but the motor speed is still higher than the value defined by H02.11.
The motor is still energized within 50 ms after the brake output changes from “ON” to “OFF”. This is to prevent the motion parts from moving under the influence of gravity or external force.
48

Commissioning and Operation
Figure 26 Brake sequence for a rotating motor
Note
[1]: When the SON signal is switched on, the brake output is set to “ON” at a delay of about 80ms, with motor being energized at the same time.
[2]: For delay of brake contactor actions, see “Table 2­2 ” on page 46. [3]: The interval time, starting from the moment when brake output is set to “ON”
to the moment when a command is input, must be higher than the setpoint of H00.61. (The system defaults to output position/speed reference after the time set in H00.61. When H01.91 bit = 1, the position/speed reference is output after the time set in H02.09.) [4]: When the motor is rotating and SON is OFF, the motor enters a nonenergized state when the brake outputs OFF after the delay set in H02.12 or the speed feedback is less than H02.11. Related parameters: See ” H02_en.11″ on page 144 for details.
49

Commissioning and Operation

See ” H02_en.12″ on page 144 for details.
Brake sequence in the fault state Based on stop mode, servo faults are classified into class 1 (No.1) faults and class 2 (No.2) faults. For details, see the Troubleshooting Guide. The brake sequences in the fault state are further divided into the following two types:
In case of No. 1 faults: The condition for brake output is the same as the brake sequence for the motor in the rotation state. Which is to say: The brake output can be set to “OFF” only when any one of the following conditions is met:
The motor has decelerated to the value defined by H02.11, but the time defined by H02.12 is not reached.
The time defined by H02.12 has been reached, but the motor speed is still higher than the value defined by H02.11.
In case of No. 2 faults: When a No. 2 fault occurs and the brake is enabled, the stop mode is forced to “Stop at zero speed, keeping dynamic braking status”.
In this case, the servo motor stops at zero speed first. When the actual motor speed is lower than 20 RPM, the brake output signal immediately becomes OFF, but the motor is still in the energized state within the time defined by H02.10.

Regenerative resistor setting
When the motor torque direction is opposite to the direction of rotation, the energy is fed back to the servo drive from the motor side, leading to bus voltage rise. Once the bus voltage rises to the braking threshold, the excessive energy must be consumed by a regenerative resistor. Otherwise, the servo drive will be damaged. The regenerative resistor can be a builtin or an external one. The internal and builtin regenerative resistors must not be used together. Specifications of the regenerative resistor are as follows.

Servo Drive Model
SV660FS1R6I SV660FS2R8I SV660FS5R5I

Table 2­3 Specifications of the regenerative resistor

Specifications of Builtin Regenerative Resistor

Resistance ()

Power (Pr) (W)

Processing Power (Pa) (W)

50

50

25

External regenerative
resistor Min. Allowable Resistance ()
(H02.21) 50 45 40

50

Commissioning and Operation

Servo Drive Model
SV660FS7R6I SV660FS012I SV660FT3R5I SV660FT5R4I SV660FT8R4I SV660FT012I SV660FT017I SV660FT021I SV660FT026I

Specifications of Builtin Regenerative Resistor

Resistance ()

Power (Pr) (W)

Processing Power (Pa) (W)

25

80

40

100

80

40

100

80

40

50

80

40

35

100

50

External regenerative
resistor Min. Allowable Resistance ()
(H02.21) 20 15 80 60 45 40 35
25

Note
The builtin braking resistor is not available in standard S1R6 or S2R8 models. You can install an external regenerative resistor as needed or contact Inovance to order customized S1R6 and S2R8 models that carry the builtin regenerative resistor.
The processing power (P a ) of the builtin regenerative resistor is affected by the ambient temperature and actual load rate of the drive.
Without external load torque The kinetic energy generated upon braking of a reciprocating motor is converted into electric energy that fed back to the bus capacitor. When the bus voltage rises above the braking voltage threshold, the regenerative resistor starts consuming the excessive energy fed back by the motor. The following figure shows the motor speed curve in noload operation from 3000 rpm to a standstill.

51

Commissioning and Operation

Figure 27 Example of motor speed curve (without external load torque)

Energy calculation The builtin braking resistor is not available in SV660FS1R6I and SV660FS2R8I models. The energy that can be absorbed by a capacitor is described in section “Design of Peripherals” in SV660F Series Servo Drive Hardware Guide. An external regenerative resistor is needed when the rotational energy of the motor and the load exceeds the values listed in the following table.

Drive Model
SV660FS1R6I SV660FS2R8I

Regenerative Energy That Can Be Absorbed (W)

Remarks

13.15 26.29

The input voltage of the main circuit power supply is 220 VAC.

The following table shows the energy generated by a 220 V motor in decelerating from the rated speed to a standstill during noload operation.

Capacity (kW)

Servo Motor Model MS1H*****

MS1H105B30CBA330Z 0.05
MS1H105B30CBA332Z

MS1H110B30CBA330Z 0.1
MS1H110B30CBA332Z

MS1H120B30CBA331R 0.2
MS1H120B30CBA334R

MS1H140B30CBA331R 0.4
MS1H140B30CBA334R

0.55

MS1H155B30CBA331R

MS1H175B30CBA331R 0.75
MS1H175B30CBA334R

Rotor Inertia J (10 4 kgm 2)
0.026 (0.028) 0.041 (0.043) 0.0938 (0.106) 0.145 (0.157)
0.55 0.68 (0.71)

EO Generated During Decelerating from Rated Speed to a
Standstill (J)

Max. Braking Energy Absorbed by Capacitor E
C (J)

0.13 (0.14)

0.20 7.86
(0.21)

0.46 (0.52)

0.72 (0.78)

15.72

2.72

22.39

3.36 (3.51)

22.39

52

Commissioning and Operation

Capacity (kW)

Servo Motor Model MS1H*****

MS1H110C30CBA331R 1
MS1H110C30CBA334R

MS1H210C30CBA331R 1
MS1H210C30CBA334R

MS1H215C30CBA331R 1.5
MS1H215C30CBA334R

MS1H220C30CBA331R 2.0
MS1H220C30CBA334R

MS1H385B15CBA331R 0.85
MS1H385B15CBA334R

MS1H313C15CBA331R 1.3
MS1H313C15CBA334R

MS1H410B30CBA330Z 0.1
MS1H410B30CBA332Z

MS1H420B30CBA331R 0.2
MS1H420B30CBA334R

MS1H440B30CBA331R 0.4
MS1H440B30CBA334R

0.55

MS1H455B30CBA331R

MS1H475B30CBA331R 0.75
MS1H475B30CBA334R

MS1H410C30CBA331R 1.0
MS1H410C30CBA334R

Rotor Inertia J (10 4 kgm 2)
0.82 (0.87) 1.78 (2.6) 2.35 (3.17) 2.92 (3.74) 13.56 (15.8) 19.25 (21.5) 0.102 (0.104) 0.22 (0.23) 0.43 (0.44) 1.12 1.46 (1.51) 1.87 (1.97)

EO Generated During Decelerating from Rated Speed to a
Standstill (J)

Max. Braking Energy Absorbed by Capacitor E
C (J)

4.05 (4.30)

32.39

8.80 (12.86)

32.39

11.6 (15.68)

32.39

14.44 (18.49)

32.39

16.45 (17.3)

32.39

22 (22.86)

32.39

0.50 7.86
(0.51)

1.09 7.86
(1.14)

2.13 (2.18)

15.72

5.54 7.22 (7.47)

22.39 22.39

9.25 (9.74)

32.39

The following table shows the energy generated by a 380V motor in decelerating from the rated speed to a standstill during noload operation.

­ Capacity (kW)

Servo Motor Model MS1H*****

MS1H210C30CDA331R 1.0
MS1H210C30CDA334R MS1H215C30CDA331R 1.5 MS1H215C30CDA334R MS1H220C30CDA331R 2.0 MS1H220C30CDA334R MS1H225C30CDA331R 2.5 MS1H225C30CDA334R MS1H230C30CDA331R 3.0 MS1H230C30CDA334R MS1H240C30CDA331R 4.0 MS1H240C30CDA334R

Rotor Inertia J (10 4 kgm 2)
1.78 (2.6) 2.35 (3.17) 2.92 (3.74) 3.49 (4.3) 6.4 (9.38)
9 (11.98)

Braking Energy E O

Max. Braking Energy

Generated During

Absorbed by Capacitor E

Decelerating from Rated

Speed to a Standstill (J)

C (J)

8.8 (12.86)

28.18

11.62 (15.68)

34.22

14.44 (18.49)

50.32

17.26 (21.26)

50.32

31.65 (46.38)

50.32

44.51 (59.24)

82.53

53

Commissioning and Operation

­ Capacity (kW)

Servo Motor Model MS1H*****

MS1H250C30CDA331R 5.0
MS1H250C30CDA334R MS1H385B15CDA331R 0.85 MS1H385B15CDA334R MS1H313C15CDA331R 1.3 MS1H313C15CDA334R MS1H318C15CDA331R 1.8 MS1H318C15CDA334R MS1H329C15CDA331R 2.9 MS1H329C15CDA334R MS1H344C15CDA331R 4.4 MS1H344C15CDA334R MS1H355C15CDA331R 5.5 MS1H355C15CDA334R MS1H375C15CDA331R 7.5 MS1H375C15CDA334R

Rotor Inertia J (10 4 kgm 2)
11.6 (14.58) 13.56 (15.8) 19.25 (21.5)
24.9 (27.2) 44.7 (52.35) 64.9 (72.55) 86.9 (94.55) 127.5 (135.15)

Braking Energy E O

Max. Braking Energy

Generated During

Absorbed by Capacitor E

Decelerating from Rated

Speed to a Standstill (J)

C (J)

57.36 (72.10)

100.64

16.76 (19.53)

28.18

23.8 (26.58)

34.22

30.78 (33.63)

50.32

55.26 (64.72)

50.32

80.23 (89.69)

82.53

107.43 (116.89)

100.64

157.62 (167.08)

100.64

Note
Values inside the parentheses “()” are for the motor with a brake.
Regenerative resistor selection

54

Commissioning and Operation
Figure 28 Flowchart for selecting the regenerative resistor
55

Commissioning and Operation
Note
Take the process in which the motor decelerates from 3000 RPM to 0 RPM as an example. Assume that the load inertia is (N x Motor inertia), then the braking energy is (N + 1) x E O when the motor decelerates from 3000 RPM to 0 RPM. The energy consumed by the braking resistor is (N + 1) x E O E C (E C represents the energy absorbed by the capacitor). Suppose the reciprocating cycle is T, then the power of the regenerative resistor needed is 2 x [(N + 1) x E O E C ]/T. For values of E O and E C , see Calculated Energy Data in the Commissioning Guide.
Determine whether to use the regenerative resistor according to the preceding figure and select a builtin or an external regenerative resistor as needed. Then, set H02.25 accordingly.
The resistor with aluminum case is recommended.
Take the H1 series 750 W model as an example. Assume that the reciprocating cycle (T) is 2s, the maximum speed is 3000 RPM, and the load inertia is (4 x Motor inertia), then the required power of the braking resistor is as follows:
The calculated result is smaller than the processing capacity (P a is 40 W) of the builtin braking resistor, so a builtin braking resistor is enough. If the inertia ratio in the preceding example is changed to 10 x motor inertia, and other conditions remain the same, the power of the regenerative resistor required will be as follows:
The calculation result is larger than the processing capacity (P a is 40 W) of the builtin braking resistor, so an external braking resistor is required. The recommended power of the external braking resistor is P b ÷ (1 70%) = 142.14W. Related parameters: See ” H02_en.21″ on page 145 for details. See ” H02_en.24″ on page 147 for details. See ” H02_en.25″ on page 148 for details. See ” H02_en.26″ on page 148 for details. See ” H02_en.27″ on page 148 for details. Using an external regenerative resistor
56

Commissioning and Operation
When P b is greater than P a , use an external braking resistor. Set H02.25 to 1 or 2 based on the cooling mode of the braking resistor. Use the external braking resistor with 70% derated, that is, P r equals to P b /(1 70%), and ensure the resistance of the braking resistor is higher than the minimum allowed resistance allowed by the servo drive. Remove the jumper bar between terminals P and D, and connect the external regenerative resistor between terminals P and C. See section “Wiring of the Regenerative Resistor” in SV660F Series Servo Drive Hardware Guide for the wiring diagram of the external regenerative resistor and the specifications of the jumper bar. Set H02.25 to 1 or 2 based on the cooling mode of the braking resistor. Related parameters: See ” H02_en.21″ on page 145 for details. See ” H02_en.26″ on page 148 for details. See ” H02_en.27″ on page 148 for details.
Set the power (H02.26) and resistance (H02.27) of the external regenerative resistor.
Ensure the resistance of the external regenerative resistor is higher than or equal to the permissible minimum resistance.
When the regenerative resistor is used at its rated power rather than the processing power (average value) in environments within the specified temperature range, the temperature of the resistor will rise to above 120°C under continuous braking. To ensure safety, cool the resistor down through forced air cooling, or use the resistor with thermal switch. For the load characteristics of the regenerative resistor, consult with the manufacturer.
Set the heat dissipation coefficient based on the heat dissipation condition of the external regenerative resistor. Related parameters: See ” H02_en.24″ on page 147 for details.
Note
Higher resistor heat dissipation coefficient indicates higher braking efficiency.
57

Commissioning and Operation Using the builtin braking resistor When P b is smaller than P a and E 1 is greater than E C , use the builtin braking resistor. In this case, set H02.25 to 0. When using the builtin regenerative resistor, connect terminals P and D with a jumper bar. Regenerative resistor not needed When E 1 is smaller than E C , no braking resistor is required because the braking energy can be absorbed by the bus capacitor. In this case, set H02.25 to 3. External load torque applied, motor in generating state When the motor direction of rotation is the same with the shaft direction of rotation, the motor outputs energy to the outside. In some applications where the motor direction of rotation is opposite to the shaft direction of rotation, the motor is in the generating state and feeds the electric energy back to the servo drive. When the load is in the generating state continuously, it is recommended to adopt the common DC bus mode.
Figure 29 Example of the curve with external load torque Take H1 series 750 W models (rated torque: 2.39 N·m) as an example. When the external load torque is 60% of the rated torque and the motor speed reaches 1500 RPM, the power fed back to the drive is (60% x 2.39) x (1500 x 2/60) = 225 W. As
58

Commissioning and Operation

the braking resistor needs to be derated by 70%, the power of the external braking resistor is 225/(1 70%) = 750 W, with resistance being 50 .
Input/Output signal setting The input/output signal setting is the same as “DI/DO setting mode selection”. See “6.2 DIDO Function Assignment” on page 488 for details.

2.6 Drive Operation
Switch on the SON signal. When the servo drive is ready to run, the keypad displays “run”. If there is no reference input at this moment, the motor does not rotate and stays locked. After a reference is input, the motor starts rotating.

Table 2­4 Checklist before operating the drive

Log

No.

Description

During initial operation, set a proper command to make the

1

motor run at low speed and check whether the motor rotates

properly.

Observe whether the motor rotating direction is correct. If the

direction of rotation is opposite to the expected direction,

2

check the reference signal input and the reference direction

setting signal.

If the motor rotates in the correct direction, you can view the

3

actual speed in H0b.00 and the average load rate in H0b.12

through the keypad or the software tool.

After checking preceding conditions, adjust related

4

parameters to make the motor operate as desired.

5

Commission the drive according to Chapter “Adjustment”.

59

Commissioning and Operation
Power-on sequence diagram
Figure 210 Poweron sequence diagram
Note
[1] The reset time is determined by the setup time of the +5V power supply of the microprocessor.
[2] The dynamic brake is included in the standard configuration. [3] For delay of brake contactor actions, see “Table 2­2 ” on page 46. [4] If the brake is not used, H00.61 is invalid. (The system defaults to output
position/speed reference after the time set in H00.61. When H01.91 bit = 1, the position/speed reference is output after the time set in H02.09.) Sequence diagram for stop at warning or fault No. 1 fault: Coast to stop, keeping deenergized status
60

Commissioning and Operation
Figure 211 Sequence of “Coast to stop, keeping deenergized state” at No. 1 fault
Note
[1] If the brake is not used, H02.11 and H02.12 are ineffective. [2] For delay of brake contactor actions, see “Table 2­2 ” on page 46. [3] The dynamic brake is included in the standard configuration. No. 1 fault: Dynamic braking stop, keeping deenergized state
61

Commissioning and Operation
Figure 212 Sequence of “Dynamic braking stop, keeping deenergized state” at No. 1 fault
Note
[1] If the brake is not used, H02.11 and H02.12 are ineffective. [2] For delay of brake contactor actions, see “Table 2­2 ” on page 46. [3] The dynamic brake is included in the standard configuration. No. 1 fault: Dynamic braking stop, keeping dynamic braking state
62

Commissioning and Operation
Figure 213 Sequence of “Dynamic braking stop, keeping dynamic braking state” at No. 1 fault
Note
[1] If the brake is not used, H02.11 and H02.12 are ineffective. [2] For delay of brake contactor actions, see “Table 2­2 ” on page 46. [3] The dynamic brake is included in the standard configuration. No. 2 fault (without brake): Coast to stop, keeping deenergized state
Figure 214 Sequence of “Coast to stop, keeping deenergized state” at No. 2 fault
63

Commissioning and Operation No. 2 fault (without brake): Stop at zero speed, keeping deenergized status
Figure 215 Sequence of “Stop at zero speed, keeping deenergized state” at No. 2 fault (without brake)
No. 2 fault (without brake): Stop at zero speed, keeping dynamic braking state
Figure 216 Sequence of “Stop at zero speed, keeping dynamic braking state” at No. 2 fault (without brake)
No. 2 fault (without brake): Dynamic braking stop, keeping dynamic braking state
64

Commissioning and Operation
Figure 217 Sequence of “Dynamic braking stop, keeping dynamic braking state” at No. 2 fault (without brake)
No. 2 fault (without brake): Dynamic braking stop, keeping deenergized state
Figure 218 Sequence of “Dynamic braking stop, keeping deenergized state” at No. 2 fault (without brake)
No. 2 fault (with brake): Stop at zero speed, keeping dynamic braking status 65

Commissioning and Operation
Figure 219 Sequence of “Stop at zero speed, keeping dynamic braking state” at No. 2 fault (with brake)
Note
[1]: If the brake is not used, H02.10 is invalid. [2] For delay of brake contactor actions, see “Table 2­2 ” on page 46. When a No. 3 warning occurs on the servo drive, such as E900.0 (DI emergency
braking), E950.0 (Positive limit switch warning), and E952.0 (Negative limit switch warning), the servo drive stops according to “Figure 2­20 Sequence for warnings that cause stop” on page 67. Warnings that cause stop: Stop at zero speed, keeping position lock status
66

Commissioning and Operation
Figure 220 Sequence for warnings that cause stop The other warnings do not affect the operation state of the drive. The sequence diagram for these warnings is shown in “Figure 2­21 Sequence for warnings that do not cause stop” on page 68. Warnings that do not cause stop
67

Commissioning and Operation
Figure 221 Sequence for warnings that do not cause stop Fault reset
Figure 222 Sequence for fault reset
68

Commissioning and Operation

Note
[1] The DI signal used for fault reset (FunIN.2: ALMRST) is edge triggered. [2] For delay of brake contactor actions, see “Table 2­2 ” on page 46. [3] If the brake is not used, H00.61 is invalid. (The system defaults to output
position/speed reference after the time set in H00.61. When H01.91 bit = 1, the position/speed reference is output after the time set in H02.09.)

2.7 Servo OFF
Five type of stop modes are available for the servo drive: coast to stop, stop at zero speed, ramp to stop, stop at emergencystop torque, and dynamic braking stop, along with three kinds of stop status: deenergized, position lock, and dynamic braking. See the following table for details.

Table 2­5 Comparison of the stop modes

Stop Mode Coast to stop
Stop at zero speed
Ramp to stop Stop at emergencystop torque Dynamic braking

Description

Feature

The motor is deenergized and coasts to 0 RPM. The deceleration time is affected by the mechanical inertia and mechanical friction.
The motor decelerates to 0 rpm immediately and stops.
The motor decelerates to 0 rpm smoothly upon position/speed/torque reference input.

This mode features smooth and slow deceleration with small mechanical shock.
Features quick deceleration with obvious mechanical shock. Features smooth and controllable deceleration with small mechanical shock.

The servo drive outputs reverse braking torque to stop the motor.

Features quick deceleration with obvious mechanical shock.

The servo motor is in the dynamic braking status.

Features quick deceleration with obvious mechanical shock.

69

Commissioning and Operation

Stop Status Deenergized Position Lock Dynamic Braking

Table 2­6 Comparison of the stop status
Description
The motor is deenergized and the motor shaft can be rotated freely after the motor stops rotating.
The motor shaft is locked and cannot be rotated freely after the motor stops rotating. The motor is deenergized and the motor shaft can be rotated freely after the motor stops rotating.

The stop events can be divided into the following types: stop at SON OFF, stop at fault, stop at overtravel, emergency stop, quick stop, and halt. See the following descriptions for details.
Stop at S-ON OFF Deactivate the SON signal through communication to make the drive stop according to the stop mode at SON OFF. Related parameters: See the description of H02.05.
Fault reaction The stop mode varies according to the fault type. For fault classification, see SV660F Series Servo Drive Troubleshooting Guide. Related parameters: See ” H02_en.06″ on page 142 for details. See ” H02_en.08″ on page 143 for details.
Stop at overtravel Definition of terms: “Overtravel”: The mechanical motion exceeds the designed range of safe movement. Stop at overtravel: When a motion part moves beyond the range of safe movement, the limit switch outputs a level change signal, and the servo drive forcibly stops the motor. Related parameters: See ” H02_en.07″ on page 142 for details. When overtravel occurs on a motor used to drive a vertical axis, the workpiece may fall. To prevent the risk of falling, set H02.07 (Stop mode at overtravel) to 1. When the workpiece moves linearly, install the limit switch to prevent mechanical damage. When overtravel occurs, input a reverse running command to make the motor (workpiece) run in the opposite direction.

70

Commissioning and Operation

Figure 223 Installation of limit switches

To use the limit switches, assign FunIN.14 (POT, positive limit switch) and FunIN.15 (NOT, negative limit switch) to two DIs of the servo drive and set the active logic of these DIs. This is to enable the servo drive to receive the level signals input from the limit switches. The servo drive determines whether to enable the limit switch function based on the state of the DI terminal level.
Related parameters:

Code FunIN.14 FunIN.15

Name POT NOT

Function Name
Positive limit switch
Negative limit switch

Description
When the machine moves beyond the specified range, overtravel prevention applies. Inactive: Forward drive permitted Active: Forward drive inhibited When the machine moves beyond the specified range, overtravel prevention applies. Inactive: Reverse drive permitted Active: Reverse drive inhibited

Emergency stop The servo drive supports two emergency stop modes: Using DI function 34: FunIN.34 (EmergencyStop) Using the auxiliary function: emergency stop (H0d.05) When emergency stop is enabled, the motor stops according to the mode specified by the parameter H02.18. Related parameters:

71

Commissioning and Operation

Code FunIN.34

Name
Emergency Stop

Function Name Braking

Description
Inactive: Current operating state unaffected Active: Stop quickly as defined by H02.18, keeping position lock status, with E900.0 (DI emergency braking) reported.

Related parameters: See ” H02_en.05″ on page 141 for details. See ” H02_en.15″ on page 144 for details. See ” H02_en.18″ on page 145 for details.

72

3 Adjustment

Adjustment

3.1 Overview
The servo drive must drive the motor as quick and accurate as possible to follow the commands from the host controller or internal setting. Gain adjustment needs to be performed to meet such requirement.

Figure 31 Example of gain tuning
The gain is defined by a combination of multiple parameters that affect each other. Such parameters include the position loop gain, speed loop gain, filter and load moment of inertia ratio. The values of these parameters must be balanced against each other during gain tuning.
Note
Before gain tuning, perform a trial run through jogging to ensure the motor operates properly.
The following figure shows the general flowchart for gain tuning.

73

Adjustment Figure 32 Steps
74

Adjustment

Table 3­1 Description of gain tuning

Steps

Offline

1

Inertia Identification

Online

2

Gain autotuning

Description
The servo drive calculates the load inertia ratio automatically through inertia autotuning.

Reference
“3.2.1 Offline Inertia Auto tuning” on
page 78

The host controller sends a command to make the motor rotate, and the servo drive calculates the load inertia ratio in real time.
The servo drive generates a group of gain parameters based on the correct inertia ratio.

“3.2.2 Online Inertia Auto tuning” on
page 79
“3.3.1 ETune” on page 81, “3.3.2 STune” on page 88 and “3.3.3 ITune” on page 96

Basic gains

If the autotuned gain values fail to deliver desired performance, finetune the gains manually to improve the performance.

“3.4.1 Basic Parameters”
on page 97

“3.4.3 Position

Reference filter

Smoothens the position, speed, Reference

and torque references.

Filter” on page

106

3

Manual gain adjustment

Feedforward gain

Improves the followup behavior.

“3.4.4
Feedforward gain” on page

106

Pseudo differential regulator

Adjusts the speed loop control mode to improve the anti interference capability at low frequency range.

“3.4.5 PDFF Control” on
page 109

Torque disturbance observer

Improves the resistance against torque disturbance.

“3.4.6 Torque
disturbance observer” on
page 111

75

Adjustment

Steps

Description

Reference

“3.7.2

Mechanical resonance

Suppresses mechanical resonance through the notch.

Mechanical
Resonance Suppression”

on page 124

Vibration

4

suppression

“3.7.1 Low Frequency

Low

Activate the filter used to

Resonance

frequency

suppress lowfrequency

Suppression at

resonance resonance.

the Mechanical End” on page

122

3.2 Inertia Identification
The load inertia ratio (H08.15) is calculated through the following formula:

The load inertia ratio is a critical parameter of the servo system. A correct load inertia ratio facilitates commissioning.
You can set the load inertia ratio manually or get the inertia ratio through inertia autotuning.
The following two inertia autotuning modes are available:
Offline Inertia Autotuning To enable offline inertia autotuning, use H0d.02 (Offline inertia autotuning) and make the motor rotate and execute inertia autotuning through the keypad. Offline inertia autotuning does not involve the host controller
Online Inertia Autotuning Send a command to the servo drive through the host controller to make motor act accordingly to finish inertia autotuning. Online inertia autotuning involves the host controller.

76

Adjustment
Note
The following conditions must be fulfilled for an accurate calculation of the load inertia ra tio during inertia autotuning: The actual maximum speed of the motor is higher than 150 rpm. The acceleration rate during acceleration/deceleration of the motor is higher than
3000 rpm/s. The load torque is stable without dramatic changes. The actual inertia ratio does not exceed 120. Inertia autotuning may fail in case of a large backlash of the transmission
mechanism.
77

Adjustment
3.2.1 Offline Inertia Auto-tuning
Figure 33 Offline inertia autotuning flowchart Check the following before performing offline inertia autotuning: The motor must meet the following requirements: A travel distance of more than one revolutions in the forward/reverse direction is
available between the mechanical limit switches. Ensure limit switches are installed to the machine and a travel distance as described above is reserved to prevent overtravel during inertia autotuning. The required number of revolutions (H09.09) is fulfilled.
78

Adjustment
View the values of H09.06 (Maximum speed of inertia autotuning), H09.07 (Time constant for accelerating to the maximum speed during inertia autotuning), and H09.09 (Number of revolutions per inertia autotuning) to ensure the travel distance that starts from the stop position is larger than the value of H09.09. Otherwise, decrease the value of H09.06 or H09.07 until this requirement is met. Operating procedure: 1. Switch off the SON signal. 2. In parameter display mode, switch to H0d.02 and press SET to enable offline inertia autotuning. 3. Press the UP/DOWN key to perform offline inertia autotuning. 4. To stop the drive, release the UP/DOWN key. To restart autotuning, press the UP/ DOWN key again. The operating direction at start is determined by the UP/DOWN key. For applications requiring unidirectional movement, set H09.05 to 1. 5. Wait until the value displayed on the keypad is stabilized. 6. Hold the SET key down until the keypad displays “SAVE”. 7. Press the MODE key to exit. For applications requiring large load inertia, set H08.15 (Load moment of inertia) to the approximate value. preventing intense system vibration caused by a low initial inertia. The following figure shows general flowchart for offline inertia autotuning. Related parameters: See ” H0d_en.02″ on page 265 for details. See ” H09_en.05″ on page 219 for details. See ” H09_en.06″ on page 219 for details. See ” H09_en.07″ on page 219 for details. See ” H09_en.08″ on page 220 for details. See ” H09_en.09″ on page 220 for details.
3.2.2 Online Inertia Auto-tuning
The servo drive supports online inertia autotuning. The online inertia autotuning flowchart is shown as follows.
79

Adjustment
Figure 34 Online inertia autotuning flowchart
Note
H09.03 defines the realtime updating speed of the load inertia ratio (H08.15). H09.03 = 1: Applicable to cases where the actual load inertia ratio rarely changes,
such as the machine tool and wood carving machine. H09.03 = 2: Applicable to cases where the load inertia ratio changes slowly. H09.03 = 3: Applicable to cases where the actual inertia ratio changes rapidly, such
as handling manipulators. Related parameter See ” H09_en.03″ on page 218 for details.
80

Adjustment
3.3 Auto Gain Tuning 3.3.1 ETune
Overview ETune is a wizardtype autoadjustment function used to guide users to set corresponding curve trajectories and response parameters. After the curve trajectories and response parameters are set, the servo drive performs autotuning automatically to generate the optimal gain parameters. The autotuned parameters can be saved and exported as a recipe for use in other devices of the same model. The ETune function is intended to be used in applications featuring slight load inertia change.
Description of ITune operation Operation flowchart
81

Adjustment
Figure 35 Operation flowchart Detailed Description
1. Click Usability adjustment in the software tool, and then click ETune.
82

Adjustment
2. Select any of the following three operation modes based on the operating direction allowed by the machine. In the Reciprocating po… mode, the motor keeps reciprocating within the positive and negative position limits. In the Oneway forward mode, the motor takes the difference between the positive and negative position limits as the maximum distance per action and keeps running in the forward direction. In the Oneway forward mode, the motor takes the difference between the positive and negative position limits as the maximum distance per action and keeps running in the reverse direction.
83

Adjustment 3. Designate the positive and negative limit positions allowed by the motor. The difference between the positive and negative limits defines the position reference pulses for the motor, which is also the value before multiplication/ division by the electronic gear ratio. You can set the positive and negative position limits through the following two methods. Method 1: Click “Enable ON”, and then click to make the motor move to the positive position limit. Next, click “Set to positive limit position”. Follow the same procedure for setting the negative position limit, and click “Enable OFF” (the “Enable ON” button turns to “Enable OFF” after a click). Method 2: Enter the positive and negative limits directly.
Note
The difference between the positive and negative position limits must be larger than 1/8 of one revolution. The larger the value of the limit position, the better the adaptability of the autotuned parameters, but the longer will ETune adjustment take.
4. Click Next to switch to the mode parameter setting interface. The adjustment mode is divided into Positioning mode and Track mode. Autotuning of the inertia ratio is optional. If you choose not to perform inertia autotuning, set the correct inertia ratio (the inertia ratio can be
84

Adjustment modified directly). You can adjust the response level and position filter time constant based on the responsiveness needed and the position reference noise generated during operation. Then configure the motion profile by setting the maximum speed, acceleration/deceleration time and interval time for autotuning.
5. Click “Next” to start autotuning. If you choose to perform inertia autotuning, the drive starts inertia auto tuning based on the set motion profile. After inertia autotuning is done, the drive starts gain autotuning. If you choose not to perform inertia autotuning on the start page, the drive starts gain autotuning directly after start.
85

Adjustment
6. During gain autotuning, if you modify the Response finetuning coefficient and click “Update”, gain autotuning will be continued based on the finetuning coefficient entered. After gain autotuning is done, you can click “Done” to save parameters to EEPROM and export parameters as a recipe file.
86

Adjustment
Precautions You can adjust the maximum speed and acceleration/deceleration time of the motion profile based on actual conditions. The acceleration/deceleration time can be increased properly because positioning will be quickened after autotuning. If the acceleration/deceleration time is too short, overload may occur. In this case, increase the acceleration/deceleration time properly. For vertical axes, take antidrop measures beforehand and set the stop mode upon fault to “Stop at zero speed”. For lead screw transmission, shorten the travel distance if the tuning duration is too long.
87

Adjustment

Solutions to Common Faults Fault Symptom

Cause

E662.0: ETune error

During ETune operation, the gain drops to the lower limit: Position loop gain < 5. Speed loop gain < 5. Model loop gain < 10.

Vibration cannot be suppressed.

The autotuned values fluctuate dramatically.

E600.0: Inertia autotuning failure

Mechanical couplings of the load are loose or eccentric.
A warning occurs during autotuning and causes interruption.
The position reference filter time is set to an excessively high value.

Solution Set the notch manually when vibration cannot be suppressed automatically. Modify the electronic gear ratio to improve the command resolution, increase the command filter time constant or in the parameter configuration interface. Increase the value of H09.11 as appropriate. Check whether the current of the machine fluctuates periodically. Check whether the positioning threshold is too low. Increase the reference acceleration/deceleration time. Enable vibration suppression manually and perform the ETune operation. Increase the maximum operating speed and decrease the acceleration/ deceleration time. For the lead screws, shorten the travel distance.
Rectify the mechanical faults.
Clear the fault and perform ETune again.
Decrease the values of H05.04…H05.06 and perform ETune again.

3.3.2 STune
Overview STune performs gain autotuning based on the set stiffness level to fulfill the needs for rapidity and stability. STune (mode 4) is turned on by default and will be turned off automatically after the drive operates as commanded for 5 min. STune is intended to be used in applications featuring slight load inertia change. For applications featuring dramatic inertia change or where inertia autotuning is unavailable (due to low operating speed or low acceleration rate), turn off STune after initial poweron.
88

Adjustment
Note
In STune modes 3, 4 and 6, you need to perform load inertia autotuning through online in ertia autotuning and ensure the following conditions are met: The load inertia changes quickly. The load torque changes quickly. The motor is running at a speed lower than 120 r/min. Acceleration/Deceleration is slow (lower than 1000 r/min per second). The acceleration/deceleration torque is lower than the unbalanced load/viscous
friction torque. If the conditions for online inertia autotuning cannot be fulfilled, set the correct inertia ratio manually. Description of ITune operation Operation flowchart
89

Adjustment
Figure 36 Operation flowchart Detailed Description
You can set the gain autotuning mode through the keypad or the software tool.

1. Select the gain autotuning mode.
   In modes 0, 1 and 2 shown in the following table, you need to set the inertia ratio before stiffness tuning. If the inertia is unknown, adjust the inertia manually. If vibration occurs on the machine, decrease the stiffness level before adjusting the inertia manually.
   90

Adjustment

In modes 3, 4, and 6 shown in the following table, you can perform adjustment through the wizardtype interface directly, without the need for setting an inertia ratio.

Mode

Name

Description

0

Inactive

The gains need to be adjusted manually.

1

Standard stiffness level mode

Gains are set automatically based on the set stiffness level.

2

Positioning mode

Gains are set automatically based on the set stiffness level. This mode is applicable to occasions requiring quick positioning.

Gains are set automatically based on the set

Interpolation mode +

stiffness level. In this mode, inertia is autotuned

3

Inertia autotuning

and vibration is suppressed automatically. This

mode is applicable to multiaxis interpolation.

4

Normal mode + Inertia autotuning

Gains are set automatically based on the set stiffness level. The inertia is autotuned and vibration is suppressed automatically.

Gains are set automatically based on the set

6

Quick positioning mode + Inertia autotuning

stiffness level. Inertia is autotuned and vibration is suppressed automatically. This mode is applicable to occasions requiring quick

positioning.

2. Adjust the stiffness level gradually during operation of the load. The present stiffness level value will be written to the drive automatically. Keep monitoring the operating waveform after increasing the stiffness level (increase by one level at a time) until desired performance is achieved.
3. In STune modes 3, 4, and 6, when the speed keeps higher than 100 r/min for more than 5 min, H09.00 returns to 0 automatically. In this case, the drive will exit from the STune mode.

After tuning, you can set H09.00 to 0 to exit the STune mode.

To modify the STune time, set H09.37. 4. In STune modes 3, 4, and 6, resonance will be suppressed automatically. If the
performance of automatic resonance suppression is inadequate, set H09.58 to 1 to clear resonance suppression parameters, reduce the stiffness level, and perform STune again. 5. For multiaxis trajectories, perform singleaxis commissioning first to determine the highest response of each axis and modify the response of each axis manually to ensure position responses of different axes are consistent.

In STune modes 3 and 4, determine the minimum value of H08.02 (Position loop gain). Then set H09.00 of each axis to 0 and set H08.02 of each axis to the same value.

91

Adjustment In STune mode 6, determine the minimum value of H08.43 (Model gain). Then set H09.00 of each axis to 0, and set H08.43 of each axis to the same value.
Note
To ensure a stable operation of STune modes 3 and 4, gain parameters will be adjusted along with the inertia ratio when the inertia ratio is higher than 13. In multiaxis trajectories, responses may be inconsistent under the same stiffness level.
Precautions Load inertia ratio range In scenarios requiring high response, the inertia ratio must be lower than 500% and should not exceed 1000%. For belt pulley or gear rack requiring not high rigidity and accuracy, the inertia ratio should not exceed 1000%. For lead screw or cardan shaft requiring high rigidity and accuracy, the inertia ratio should not exceed 500%. In scenarios where high positioning accuracy or response is required, the inertia ratio should not exceed 200%. In scenarios requiring a certain accuracy and dynamic response, the inertia ratio should not exceed 3000%.
92

Adjustment

When the inertia ratio exceeds 3000%, it is hard to adjust and the trajectory control cannot be performed. It is only applicable to mechanisms for pointto point control and rotary motion but the acceleration/deceleration time should be large.
Rigidity meter setting
The setting range of H09.01 (Stiffness level selection) is 0­41. The level 0 indicates the weakest stiffness and lowest gain and level 41 indicates the strongest stiffness and highest gain.
The following table lists the stiffness levels for different load types for your reference.

Table 3­2 Reference of stiffness levels

Recommended Stiffness Level
Level 8 to level 12 Level 12 to level 18
Above level 18

Load Mechanisms
Largescale machineries Applications with low stiffness such as the conveyors Applications with high stiffness such as the ball screws and directconnected motors

The following five gain autotuning modes are available.
Standard rigidity meter mode (H09.00 set to 1) The 1st gain parameters (H08.00 to H08.02 and H07.05) are automatically updated and saved based on the rigidity level set in H09.01. Table 3­3 Parameters updated automatically in the standard mode

Parameter H08.00 H08.01 H08.02 H07.05

Speed loop gain

Name

Speed loop integral time constant

Position loop gain

Filter time constant of torque reference

Positioning mode (H09.00 = 2) Based on “Table 3­3 ” on page 93, the 2nd gain parameters (H08.03 to H08.05 and H07.06) are also automatically updated and saved based on the rigidity level set in H09.01. In addition, the position loop gain in the 2nd gain parameters has a higher rigidity level than that in the 1st gain parameters.

93

Adjustment

Table 3­4 Parameters updated automatically in the positioning mode

Parameter H08.03

Name 2nd speed loop gain

Description

H08.04

2nd speed loop integral time constant

If H08.04 is set to remain at 512.00 ms, the 2nd speed loop integral action is invalid and only proportional control is used in the speed loop.

H08.05

2nd position loop gain

H07.06

2nd torque reference filter time constant

Values of speed feedforward parameters are fixed.

Table 3­5 Parameters with fixed values in the positioning mode

Parameter H08.19 H08.18

Name Speed feedforward gain Speed feedforward filter time constant

Values of gain switchover parameters are fixed.

Gain switchover is activated automatically in the positioning mode.

Parameter

Name

H08.08 2nd gain mode

H08.09

Gain switchover condition

H08.10

Gain switchover delay

H08.11

Gain switchover level

H08.12

Gain switchover hysteresis

Value 1
10 5.0ms
50 30

Description
Switchover between the 1st gain set (H08.00…H08.02, H07.05) and 2nd gain set (H08.03…H08.05, H07.06) is active in the positioning mode. In other modes, the original setting is used.
In positioning mode, the gain switchover condition is that H08.09 is set to 10. In other modes, the original setting is used.
In positioning mode, the gain switchover delay is 5.0 ms. In other modes, the original setting is used.
In the positioning mode, the gain switchover level is 50. In other modes, the original setting is used.
In the positioning mode, the gain switchover dead time is 30. In other modes, the original setting is used.

94

Adjustment
Note
In the gain autotuning mode, parameters updated along with H09.01 and those with fixed setpoints cannot be modified manually. To modify these parameters, set H09.00 (Gain au totuning mode) to 0 first.
In STune mode 3, 4, or 6, resonance suppression will be performed automatically. When the load changes or the mechanical structure is reinstalled, the system resonance frequency changes accordingly. Set H09.58 to 1 (Enable) and enable the STune mode again after clearing resonance suppression parameters. See ” H08_en.37″ on page 210 for details. See ” H08_en.38″ on page 210 for details. See ” H08_en.39″ on page 211 for details. See ” H09_en.18″ on page 223 for details. See ” H09_en.19″ on page 223 for details. See ” H09_en.20″ on page 223 for details. See ” H09_en.21″ on page 223 for details. See ” H09_en.22″ on page 224 for details. See ” H09_en.23″ on page 224 for details. See ” H09_en.58″ on page 230 for details.
Note
If H09.00 is set to 3, 4, or 6, the drive will suppress vibration and perform inertia autotuning automatically within 10 min (or other time defined by H09.37) after poweron or stiffness level setting, and then the drive exits from autotuning. If inertia autotuning is deactivated automatically, switching to modes 3, 4, or 6 will not activate inertia autotuning.
Do not set H09.00 to 3, 4, or 6 in applications with slow acceleration/deceleration, strong vibration, and unstable mechanical couplings.
In applications where the inertia does not change, set H09.03 (Online inertia auto tuning mode) to 1 (Enabled, changing slowly). In applications where the inertia changes quickly, set H09.03 to 3 (Enabled, changing quickly).
Solutions to Common Faults E661.0: STune error
95

Adjustment

When the torque fluctuation detected by the drive exceeds the setpoint of H09.11 and cannot be suppressed, the rigidity level will be reduced automatically until reaching level 10 where E661 is reported.
Vibration cannot be suppressed. Enable vibration suppression manually. The current fluctuates. Check whether the current of the machine fluctuates
periodically. See ” H08_en.37″ on page 210 for details. See ” H08_en.38″ on page 210 for details. See ” H08_en.39″ on page 211 for details. See ” H09_en.58″ on page 230 for details.
3.3.3 ITune

Overview ITune serves to stabilize responsiveness through autotuning based on the device and load types.
ITune is intended to be used in applications featuring slight load inertia change or where inertia autotuning is unavailable.

Description of ITune operation

Step 1
2

Para. H09.27
H09.28 H09.29

Name
ITune mode
Minimum inertia ratio of ITune Maximum inertia ratio of ITune

Description
Function: Setting H09.27 to 1 enables the ITune function. Note: ITune mode 2 is manufacturer commissioning mode, which should be used with caution.
Function: Used to adjust the inertia ratio range controlled by ITune. Adjustment method: The minimum and maximum inertia ratios of ITune are 0.0 and 30.0 by default. If the actual maximum load inertia ratio is higher than 30.0, increase the value of H09.29 to prevent positioning jitter. If the actual load inertia change range is small, set H09.28 and H09.29 based on actual conditions to achieve optimal control effect.

96

Adjustment

Step 3

Para. H09.26

Name

Description

ITune response

Function: Used to adjust the response capacity of ITune. Note: If the response capacity of ITune cannot deliver desired effect, increase H08.20 properly. If resonance cannot be suppressed, decrease H08.26 properly.

See ” H09_en.18″ on page 223 for details. See ” H09_en.19″ on page 223 for details. See ” H09_en.20″ on page 223 for details. See ” H09_en.21″ on page 223 for details. See ” H09_en.22″ on page 224 for details. See ” H09_en.23″ on page 224 for details. See ” H09_en.24″ on page 224 for details. See ” H09_en.27″ on page 225 for details. See ” H09_en.28″ on page 225 for details. See ” H09_en.29″ on page 225 for details.

Precautions After ITune is enabled, inertia autotuning and gain switchover will be inhibited.

Solutions to Common Faults

Fault Symptom

Cause

E663.0: ITune error

Check whether resonance that occurred during ITune operation cannot be suppressed.

Solution
Set the notch manually when vibration cannot be suppressed automatically.
Modify the electronic gear ratio to improve the command resolution, increase the command filter time constant or in the parameter configuration interface.
Increase the value of H09.11 as appropriate.
Check whether the current of the machine fluctuates periodically.

3.4 Manual Gain Tuning
3.4.1 Basic Parameters
When gain autotuning cannot fulfill the application needs, perform manual gain tuning. to achieve better result.
97

Adjustment The servo system consists of three control loops, which are position loop, speed loop, and current loop from external to internal. The basic control diagram is shown in the following figure.
Figure 37 Basic control for manual gain tuning
Note
The response level of the inner loop must be higher than that of the outer loop. If it is not observed, the system may be unstable. The current loop gain has been set with the highest level of responsiveness by default, avoiding the need for adjustment. you only need to adjust the position loop gain, speed loop gain and other auxiliary gains. For gain tuning in the position control mode, the position loop gain must be increased together with the speed loop gain, and the responsiveness of the former must be lower than the latter. The following table describes how to adjust the basic gain parameters.
98

Adjustment

Step Parame ter

Table 3­6 Adjustment of gain parameters

Name

Description
Function: Determines the maximum frequency of a variable speed reference that can be followed by the speed loop. When H08.15 (Load inertia ratio) is set correctly, the maximum frequency that can be followed by the speed loop is the setpoint of H08.00.

Speed loop

1

H08.00 gain

Note:

Increasing the setpoint without incurring extra

noise or vibration shortens the positioning time,

stabilizes the speed, and improves the followup

behavior.

If noise occurs, decrease the setpoint.

If mechanical vibration occurs, enable mechanical resonance suppression. For details, see ” Vibration suppression” on page 121.

Function: Eliminates the speed loop deviation.

Note:

Set H08.01 according to the following formula: 500

Speed loop H08.00 x H08.01 1000

2 H08.01 integral time For example, if H08.00 is set to 40.0 Hz, the setpoint of

constant

H08.01 must meet the following requirement: 12.50 ms

H08.01 25.00 ms

Decreasing the setpoint strengthens the integral action

and shortens the positioning time, but an excessively

low setpoint may easily lead to mechanical vibration.

An excessively high setpoint prevents the speed loop

deviation from being cleared.

When H08.01 is set to 512.00 ms, the integral is invalid.

99

Adjustment

Parame Step
ter

Name

Description
Function: It sets the position reference maximum frequency followed by the position loop. The maximum followup frequency of the position loop equals the value of H08.02.

Note:

To ensure system stability, the maximum followup

frequency of the speed loop must be 3 to 5 times higher

3

Position loop H08.02 gain

than that of the position loop.

For example, when H08.00 is set to 40.0 Hz, H08.02 must meet the following requirement: 50.2 Hz H08.02 83.7 Hz Adjust the setting based on the positioning time. Increasing the setpoint shortens the positioning time and improves the antiinterference capacity of a motor at standstill. An excessively high setpoint may easily lead to system instability and oscillation.

100

Adjustment

Parame Step
ter

Name

Description
Function: Eliminates the highfrequency noise and suppresses mechanical resonance.

Note: Ensure the cutoff frequency of the torque reference low pass filter is 4 times higher than the maximum followup frequency of the speed loop, as shown in the following formula: Torque 4 H07.05 reference filter time constant For example, when H08.00 is set to 40.0 Hz, the setpoint of H07.05 must be lower than or equal to 1.00 ms. If vibration occurs after H08.00 is increased, adjust H07.05 to suppress the vibration. For details, see ” Vibration suppression” on page 121. An excessively high setpoint weakens the responsiveness of the current loop. To suppress vibration upon stop, increase the setpoint of H08.00 and decrease the setpoint of H07.05. If strong vibration occurs upon stop, decrease the setpoint of H07.05.
Related parameters: See ” H07_en.05″ on page 194 for details. See ” H08_en.00″ on page 200 for details. See ” H08_en.01″ on page 200 for details. See ” H08_en.02″ on page 201 for details.
3.4.2 Gain Switchover
Gain switchover, which is active in the position control and speed control modes only, It is only effective in position and speed control modes. achieve the following purposes:
Switching to the lower gain when the motor is at a standstill (servo ON) to suppress vibration
Switching to the higher gain when the motor is at a standstill to shorten the positioning time
Switching to the higher gain during operation of the motor to achieve better reference tracking performance
101

Adjustment Switching between different gain settings through an external signal to fit different conditions of the load devices
H08.08 = 0 When H08.08 is set to 0, the 1st gain (H08.00 to H08.02 and H07.05) is used, but you can switch between proportional control and proportional integral control through FunIN.3 (GAIN_SEL, gain switchover) for the speed loop.
Figure 38 Gain switchover flowchart when H08.08 is set to 0 H08.08 = 1
You can switch between the 1st gain set (H08.00…H08.02, H07.05) and 2nd gain set (H08.03…H08.05, H07.06) based on the condition defined by H08.09.
102

Adjustment
Figure 39 Gain switchover flowchart when H08.08 is set to 1 Table 38 shows diagrams and parameters for 11 kinds of gain switchover conditions. The following table describes the diagrams and related parameters of different conditions.
103

Adjustment

Table 3­7 Conditions for gain switchover

Gain Switchover Condition

H08.09 Setpoint

Condition

Diagram

Fixed to the 1st

0 gain set

External DI

1 signal

Related Parameters

Gain

Switchover

Delay Time switchover

Dead Time

(H08.10)

level

(H08.12)

(H08.11)

Inactive Inactive Inactive

Inactive Inactive Inactive

2

Torque reference

Active Active (%) Active (%)

3

Speed reference

Speed 4 reference
change rate

Speed

5

reference high/ lowspeed

threshold

6

Position deviation

Active

Active

Active

Active

Active (10 Active (10

rpm/s)

rpm/s)

Inactive

Active (rpm)

Active (rpm)

Active

Active (encoder
unit)

Active (encoder
unit)

104

Gain Switchover Condition

H08.09 Setpoint

Condition

Diagram

7

Position reference

Adjustment

Related Parameters

Gain

Switchover

Delay Time switchover

Dead Time

(H08.10)

level

(H08.12)

(H08.11)

Active Inactive Inactive

Positioning 8 uncompleted

Active Inactive Inactive

9 Actual speed

Active

Active (rpm)

Active (rpm)

Position 10 reference +
Actual speed

See the following note for details.

Active

Active (rpm)

Active (rpm)

H08.10 (Gain switchover delay) is valid only during switching to the 1st gain set.
Note

105

Adjustment

Related parameters: See ” H08_en.08″ on page 202 for details. See ” H08_en.09″ on page 202 for details. See ” H08_en.10″ on page 204 for details. See ” H08_en.11″ on page 205 for details. See ” H08_en.12″ on page 205 for details. See ” H08_en.13″ on page 205 for details.
3.4.3 Position Reference Filter

Name
Position reference filter

Description
Filters the position references (encoder unit) divided or multiplied by the electronic gear ratio to smoothen the operation process of the motor and reduce shock to the machine.

Applicable Occasion

Impact of Excessive Filtering

The acceleration/

deceleration process is not

performed on the position The response

references sent from the delay is

host controller.

prolonged.

The electronic gear ratio is

larger than 10.

3.4.4 Feedforward gain Speed feedforward

Figure 310 Operating procedure for speed feedforward control
Speed feedforward can be applied to the position control mode. The speed feedforward function can be used to improve the speed reference responsiveness and reduce the position deviation at fixed speed. Operating procedure for speed feedforward: 1. Set the speed feedforward signal source.
Set H05.19 (Speed feedforward control) to a nonzero value to enable the speed feedforward function. The corresponding signal source will be selected as well.
106

Adjustment

Parame ter

Name

H05.19

Speed feedforward control

Setpoint

Remarks

0: No speed feedforward

1: Internal speed feedforward
2: 60B1h used as speed offset

Defines the speed corresponding to the position reference (encoder unit) as the speed feedforward signal source.

3: Zero phase control

2. Set speed feedforward parameters. Set the speed feedforward gain (H08.19) and speed feedforward filter time constant (H08.18).

See ” H08_en.18″ on page 206 for details.

See ” H08_en.19″ on page 207 for details.

Zero phase control Zero phase control is used to compensate for the position deviation generated upon start delay of the position reference, reducing the position deviation upon start/stop in the position control mode.
The loop calculation model is shown in the following figure.

Figure 311 Zero phase control See ” H05_en.04″ on page 170 for details. See ” H05_en.19″ on page 173 for details. See ” H08_en.17″ on page 206 for details.
107

Adjustment
Torque feedforward

Figure 312 Operation diagram of torque feedforward control

In the position control mode, torque feedforward can be used to improve torque reference responsiveness and reduce the position deviation during operation at constant acceleration/deceleration rate. In the speed control mode, torque feedforward can be used to improve speed reference responsiveness and reduce the speed deviation during operation at constant speed.

The procedure for setting torque feedforward is as follows:

1. Set the torque feedforward signal source. Set H06.11 (Torque feedforward control) to 1 to enable the torque feedforward function. The corresponding signal source will be selected as well.

Parame ter

Name

H06.11

Torque feedforward control

Setpoint

Remarks

0: No torque feedforward
1: Internal torque feedforward

Use the speed reference as the source of the torque feedforward signal. In the position control mode, the speed reference is outputted from the position controller.

2. Set torque feedforward parameters.

108

Adjustment

Parame ter

Name

H08.20

Torque feedforward filter time constant

H08.21

Torque feedforward gain

Description
Function: Increasing the value of H08.21 improves the
response but may cause overshoot during acceleration/deceleration. Decreasing the value of H08.20 suppresses overshoot during acceleration/deceleration. Increasing the value of H08.20 suppresses the noise. Note: Keep H08.20 to the default value, and then gradually increase the value of H08.21 from 0 to a certain value at which torque feedforward achieves the desired effect. Adjust H08.20 and H08.21 repeatedly until a balanced performance is achieved.
See this section for details.

3.4.5 PDFF Control
The pseudo derivative feedback and feedforward (PDFF) control can be used to adjust speed loop control in the nontorque control modes.

109

Adjustment

Figure 313 Example of PDFF control

Through adjusting the speed loop control method, PDFF control enhances the anti disturbance capacity of the speed loop and improves the performance in following the speed references.

Param. No.

Name

H08.24

PDFF control coefficient

Description
Function: Defines the control method of the speed loop in
the nontorque control modes. Note: Setting H08.24 to an excessively low value slows
down the responsiveness of the speed loop. When the speed feedback overshoots, gradually
decrease the setpoint of H08.24 from 100.0 to a certain value at which the PDFF control achieves the desired effect. When H08.24 is set to 100.0, the speed loop control method does not change and the default proportional integral control is used.

110

Adjustment
3.4.6 Torque disturbance observer
This function is intended to be used in the nontorque control modes. Disturbance observer The disturbance observer is used to observe external disturbance. You can set different cutoff frequencies and compensation values to observe and suppress the disturbance within the frequency range. The following figure depicts the control block diagram for disturbance observer 1.

Note
1/s: Integral element

Parameter H08.31 H08.32
H08.33

Name Disturbance cutoff frequency
Disturbance compensation gain
Disturbance observer inertia correction coefficient

Description
The higher the cutoff frequency, the more easily will vibration occur.
Defines the compensation percentage for the observer.
H08.33 needs to be changed only when the inertia ratio does not reflect the actual condition. The acting inertia is the product of the set inertia and H08.33. It is recommended to use the default value of H08.33.

Related parameters See ” H08_en.31″ on page 209 for details. See ” H08_en.32″ on page 210 for details. See ” H08_en.33″ on page 210 for details.
3.4.7 Speed Observer
The speed observer, which facilitates quick positioning, applies in applications with slight load characteristic change and constant inertia.

111

Adjustment

It improves the responsiveness and filters high frequencies automatically, improving the gains and shortening the positioning time without incurring highfrequency vibration.
The block diagram for the speed observer is as follows.

M

Commissioning Steps

112

Adjustment
Related parameters See ” H08_en.00″ on page 200 for details. See ” H08_en.27″ on page 208 for details. See ” H08_en.28″ on page 209 for details. See ” H08_en.29″ on page 209 for details. See ” H08_en.40″ on page 211 for details.
113

Adjustment
Note
Before using the speed observer, set H08.15 (Load inertia ratio) to a proper value or perform inertia autotuning. A wrong inertia ratio can cause vibration.
Setting H08.27, H08.28, or H08.29 to excessively low or high values can result in motor vibration.
3.4.8 Model Tracking
The model tracking control, which is only available in the position control mode, can be used to improve responsiveness and shorten the positioning time. It is only available in the position control mode. Parameters used by model tracking are normally set automatically through ITune or ETune along with the gain parameters. However, manual tuning is needed in the following situations: The autotuned values cannot deliver desired performance. Improving the responsiveness takes priority over the autotuned or customized
values. Userdefined gain parameters or model tracking control parameters are needed. The block diagram for model tracking control is as follows.
Commissioning Steps
114

Adjustment
Related parameters See ” H07_en.05″ on page 194 for details. See ” H08_en.00″ on page 200 for details. See ” H08_en.01″ on page 200 for details. See ” H08_en.02″ on page 201 for details. See ” H08_en.42″ on page 211 for details.
115

Adjustment
See ” H08_en.43″ on page 211 for details. See ” H08_en.46″ on page 212 for details.
Note
Ensure the set inertia is accurate. Otherwise, motor vibration may occur.
3.4.9 Friction Compensation
Friction compensation is used to reduce the impact of the friction on the operating effect during mechanical transmission. Use different positive/negative compensation values according to the direction of operation.
Note
Friction compensation is effective only in the position mode. Related parameters See ” H09_en.32″ on page 226 for details. See ” H09_en.33″ on page 226 for details. See ” H09_en.34″ on page 226 for details. See ” H09_en.35″ on page 226 for details. See ” H09_en.36″ on page 227 for details. The diagram for friction compensation is as follows.
116

Adjustment

Note
Note: When the speed is less than the speed threshold, static friction applies. When the speed exceeds the speed threshold, dynamic friction applies. The compensation direction is determined by the direction of the actual position reference. Forward direction requires positive compensation value. Reverse direction requires negative compensation value.

3.5 DSC Mode Adjustment
The DSC feature (dynamic servo control) moves the position loop calculation and interpolation to the servo drive through telegram 105, and uses the servo fast speed control clock to improve positioning quality and performance. SV660F H01.00 = 802.8 and above support the DSC feature. You can select the DSC function by modifying the value of H24.32.

Parameter H24.32

Table 3­8 DSC function selection

Data 1 3

Description PLC position loop gain DSC manual adjustment

Note
When H24.32 0 (that is, in DSC mode), direct adjustment of parameter H09.00 is prohib ited, otherwise there is a risk of injury or damage to the product!
PLC adjustment (H24.32 = 1) Dynamically adjusts the servo gain parameters by adjusting the precontrol and gain parameters of the PLC. When the servo is in nonSTune mode, H09.00 must not be modified!

117

Adjustment

Figure 314 PLC side gain adjustment
Manual adjustment (H24.32 = 3) The servo gain parameter can be manually adjusted.

3.6 Parameter Adjustment in Different Control Modes
Perform parameter adjustment in the sequence of “Inertia autotuning” => “Gain autotuning => “Manual gain tuning” in all the control modes.

3.6.1 Parameter Adjustment in the Position Control Mode
Obtain the value of H08.15 (Load inertia ratio) through inertia autotuning. Gain parameters in the position control mode are listed in the following tables. 1st gain set:

Parameter H07.05 H08.00 H08.01 H08.02

Name

Function

Torque reference filter time constant 1

Defines the torque reference filter time constant.

Speed loop gain

Defines the speed loop proportional gain.

Defines the integral time

Speed loop integral time constant of the speed

constant

loop.

Position loop gain

Defines the position loop proportional gain.

2nd gain set:

Default 0.50 ms 40.0 Hz 19.89 ms 64.0 Hz

118

Parameter H07.06 H08.03 H08.04 H08.05 H08.08 H08.09 H08.10 H08.11 H08.12 H08.13

Name Torque reference filter time constant 2
2nd speed loop gain

Function
Defines the torque reference filter time constant.
Defines the speed loop proportional gain.

2nd speed loop integral time constant

Defines the integral time constant of the speed loop.

2nd position loop gain

Defines the position loop proportional gain.

2nd gain mode setting

Defines the mode of the 2nd gain set.

Gain switchover condition
Gain switchover delay

Defines the gain switchover condition.
Defines the gain switchover delay.

Gain switchover level
Gain switchover dead time

Defines the gain switchover level.
Defines the dead time of gain switchover.

Position gain switchover Defines the position loop

time

gain switchover time.

Common gain set

Parameter H08.18 H08.19 H08.20 H08.21 H08.22
H08.23 H08.24

Name
Speed feedforward filter time constant

Function
Defines the filter time constant of the speed feedforward signal.

Speed feedforward gain

Defines the speed feedforward gain.

Torque feedforward filter time constant

Defines the filter time constant of the torque feedforward signal.

Torque feedforward gain

Defines the torque feedforward gain.

Speed feedback filtering option
Cutoff frequency of speed feedback low pass filter

Defines the speed feedback filtering function.
Defines the cutoff frequency of the first order lowpass filter for speed feedback.

PDFF control coefficient

Defines the coefficient of the PDFF controller.

119

Adjustment Default 0.27 ms 75.0 Hz 10.61 ms 120.0 ms
1 0 5.0 ms 50 30 3.0 ms
Default 0.50 ms
0.0% 0.50 ms
0.0% 0
8000 Hz
100.0%

Adjustment

Parameter H09.30 H09.31 H09.04 H09.38 H09.39

Name
Torque disturbance compensation gain

Function
Defines the torque disturbance compensation gain.

Filter time constant of torque disturbance observer
Lowfrequency resonance suppression mode

Defines the filter time constant of the disturbance observer.
Defines the low frequency resonance suppression mode.

Frequency of low frequency resonance suppression 1 at the mechanical end

Defines the frequency of the lowfrequency resonance suppression filter.

Lowfrequency

Defines the setting of

resonance suppression 1 lowfrequency resonance

at the mechanical end suppression filter.

Default 0.0% 0.5 ms 0
100.0 Hz 2

Perform gain autotuning to get the initial values of the 1st gain set (or 2nd gain set) and the common gain set.
Finetune the following gains manually.

Parameter H07.05 H08.00 H08.01 H08.02 H08.19

Name Torque reference filter time constant 1
Speed loop gain

Function
Defines the torque reference filter time constant.
Defines the speed loop proportional gain.

Speed loop integral time constant

Defines the integral time constant of the speed loop.

Position loop gain

Defines the position loop proportional gain.

Speed feedforward gain

Defines the speed feedforward gain.

Default 0.50 ms 40.0 Hz 19.89 ms 64.0 Hz
0.0%

3.6.2 Parameter Adjustment in the Speed Control Mode
Parameter adjustment in the speed control mode is the same as that in the position control mode, except for the position loop gain (H08.02 and H08.05). For details, see “3.6.1 Parameter Adjustment in the Position Control Mode” on page 118.

120

Adjustment

3.6.3 Parameter Adjustment in the Torque Control Mode
Parameter adjustment in the torque control mode are differentiated based on the following conditions:
If the actual speed reaches the speed limit, the adjustment method is the same as that described in “3.6.2 Parameter Adjustment in the Speed Control Mode” on page 120.
If the actual speed does not reach the speed limit, the adjustment method is the same as that described in “3.6.2 Parameter Adjustment in the Speed Control Mode” on page 120, except the position/speed loop gain and speed loop integral time constant.

3.7 Vibration suppression
The block diagram for vibration suppression is as follows.

NTF 1

NTF 2

NTF 3

NTF 4

1/s
Where: NTF1­4: 1st notch to 4th notch VIBSUP3: Suppression of medium and lowfrequency vibration reduction applied
at a carrier frequency lower than 8 k under 300 Hz 1/s: Integral element Related parameters: See ” H08_en.53″ on page 212 for details. See ” H08_en.54″ on page 212 for details. See ” H08_en.56″ on page 213 for details.

121

Adjustment
Note
jitter suppression phase modulation coefficient: synchronous phase adjustment of the compensation value and vibration. It is recommended to use the default value. Adjustment is needed when the compensation value phase differs greatly from the vibration phase.
Jitter suppression frequency: Defines the jitter frequency that needs to be suppressed.
Jitter suppression compensation coefficient: Defines the compensation coefficient for jitter suppression.
3.7.1 Low-Frequency Resonance Suppression at the Mechanical End
Figure 315 Lowfrequency vibration at the mechanical end If the mechanical load end is long and heavy, vibration may easily occur in this part during emergency stop, affecting the positioning

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