SD Series Servo Drive User Manual SD Series V2.0 ‘Shenzhen Guanhong Automation CO.,LTD. Website: www.szghauto.com Add: Room 503 Anxin Building, No 536 Shenhui Road, Liuyue community, Henggang Street ,Longgang District, Shenzhen City,Guangdong Province, China Post code: 518115=ShenzhenGuanhong Automation Co.,Lid- -SD Series AC Servo System-=ShenzhenGuanhong Automation Co.,Lid- -SD Series AC Servo System- Warning and Alert D sci © Donot proceed to the assembly of the line while electrifying. ‘@Input power of servo driver have two series: 220V & 380V , please pay more attention during using @All needs to add isolation transformer; add electrical reactor when using 380V servo driver. © Circuit & change components between entering shutting down the power supply and stopping showing LED light of the Servo Driver. © The output of servo drive[U,V,W]must NOT touch the AC power, and UVW is connected to UVW of servo motor one by one. @Before remove servo driver, must power offover 5 minutes. A... Install the famif the temperature around is too high while the Servo Driver is installed in the Control Board $ Do not proceed to the Anti-Pressure-Test to the Servo Driver. % Confirm the quick stop function is available before operate ServoDriver. Matching up machine to change the user parameter sotting before machine performs.If there is no according correct setting number,it could lead to out of control ar breakdown, Safety Proceeding: Check the covering letter details before installing,running,maintaining and examining, Furthermost, only the profession-qualified people can proceed to the line-assembly. Safety proceeding in the covering letter discriminate between “Warning” & “Alert”.=ShenzhenGuanhong Automation Co.,Lid- -SD Series AC Servo System- A Warsiine: j: audtchigng’ the;posiib ile damceiwun sitmakinn te could Gauneithie'desth on! serious damage if being ignored. A Alert : Indicating the possibility dangerous situation. It could cause smaller or lighter human injured and damage of equipment. Please read the user manual detail before using Servo Driver. First of all.thank yon for using SZGH SD series Servo Driver and Servo Motors. SZGH Servo Driver can be controlled by CNC Controller ormotion control card, and provide excellent performance fora wide range of applications and different requirement from customers. Read this user manual before using SZGH SD Series Servo Driver. Contents of the manual comprises. @ Servo System checking.installing and procedure of assembly line. © Controller procedure for digital board. Status displaying unusual alarm and strategy explanation. @ Servo System control functionzunning testing and procedures adjusted @Explanation for all parameter of Servo Driver. In orderto daily examinemaintain and understand the reason of unusual situation and handle strategy.please put this user manual in safe place to read it anytime. P.S: The end user should own this user manual,in order to make the Servo Driver bring the best performance.=ShenzhenGuanhong Automation Co.,Lid- -SD Series AC Servo System- -Catalog- ‘Chapter 1 Checking and Installing. 1.1 Checking Products 1 1.2 Front Panel of Servo Driver. 3 1.3 Motor and Drive Installation. 4 Chapter 2 Specifications.. 2.1 Introduction of Specifications 6 2.2 Motors table. 6 (2.3 Mechanical Dimensions. 1 2.4 Mechanical Dimensions 9 Chapter 3 Wirin; 3.1 Servo Drive Wiring Configuration 13 3.2 Witing Explanations And Notes. 13 3.3 Wires Specification. 4 3.4 Terminals Explanation. 14 3.5 Terminal For Control Signals 15 3.6 Wiring Diagram & Parameter Explanation. 18 3.7 Homing(Zero point). 24 Chapter 4 Operation and display. 4.1 Introduction to Front Panel. AndFunction. 26 4.2 Main Menu. 27 4.3 Stams Monitoring. 27 4.4 Process of Setting Parameter. 29 4.5 Setting Analog Quantity to 0. 29 4.6 Recovery Parameters To Default Values 29 4.7 Parameter Set for Servo Motor Code. 30 Chapter 5 Parameters.. 5.1 PA Group Parameter. 31 5.2 P3 Group Parameter. 43 5.3 PA Group Parsmeter 49 Chapter 6 Alarm. Chapter 7 Solution for Solve Alarm.=ShenzhenGuanhong Automation Co.,Lid- -SD Series AC Servo System- Chapter 1 Checking and Installing 1.1 Checking Products ‘Our Servo Pack have already completely been functionally examined before leaving the factory. In order to protect the products from the damage during transportation, please check the items below before sealing off the pack: © Check if themodel of servo driver and motor are the same with the models of ordexing. (About the model explanation, please check the chapters below) © Check iftthere are damage or scrape out side of the servo driver and motor. (lfthere is any damage during transportation, do not power ON) © Check if there are any bad assembly or slipped component in the Servo Driver and Motor. © Check ifthe Motor’s rotor and shaft can be rotated smoothly by hand (The Serve Motor with Mechanical-Brake can not be rotated directly) © Check if there is user manual and accessories in the servo pack. There must be the “QC”-seal in each servo chive. if not.please do not proceed Power ON. Ifthece is any bug ot irregular under the situation aboveplease contact with us or SZGH Local sales representative or distributor instantly. 1.1.1 Confirming with Servo Drivers SZGH-SD2010 [ T T 1 SzGH Sb: Servo Driver Serie Zinput Votage) (Mac Output Power Note: LSZGH-SD2004 servo driver can drive SZGH-06060DC max. 2.SZGH-SD2026 servo driver can drive SZGH-13360CC max. 3.SZGH-SD4038 servo driver can drive SZGH-18370AC max. 4.SZGH-SD4075 serve driver can drive SZGH.18750CC max.=ShenzhenGuanhong Automation Co.,Lid- -SD Series AC Servo System- 1.1.1 Confirming with Servo Motor SZGH-08075DC-T Es szo (Frame size) (pated Pow fated Speed) (rater /Absoite [eerie se cxoan | was | acommrursonmt | patter Co xosc0¥ 2084 esl 20008 1o200n10 coro (imbue Eo 212100 ensosaw tester 22280mm rao3000W fesation tts 1250 o.20W 360mm 1s0is000 2000004 20030000 2eoneon 7s02sa0W ‘Note: These are only some model of servo motors display above as limit,not all model. Any asks ,please discuss with our sales representative or distributor.=ShenzhenGuanhong Automation Co.,Lid- 1.2 Front Panel of Servo Driver -SD Series AC Servo System- 1.2.1 Front Panel of SZGH-SD2004/SD2010/SD2026 Main Power Input Terminals (L1,L2,L3) External Brake Resistor Terminals (RBP,RBD,RBC) ‘Servo Motor [Connection Terminals U,V. W) Ground Terminal oe == Mounting Hole Bia Dieplay 0 J 5 Digit Display LED = 4 Operation Buttons RS-485 Interface Connector CN1 For Input bb And Outout Signals Connector CN2 For Servo Motor Encoder lo tay ob tammy og WV 1.2.2 Front Panel of SZGH-SD4038/SD4075 ‘Main Power input ke Terminals(L1,l2,13) [External Brake Resistor [Terminals(P,B1,82) -—~ [External DC Reactor [Terminals(Na,N2) jervo motor Connectior Terminals(U.v.w) _|~} |Ground Terminal , — = [Mounting Hole _1————___ 1 5-Digit LED Display ——— | 4 operation Button ee | | JRS-485 Interface JS | cnI Control Terminals es | EN? Encoder Terminals=ShenzhenGuanhong Automation Co.,Lid- -SD Series AC Servo System- 1.3 Motor and Drive Installation 1.3.1 Method of Installation of drive In order to get good cooling the servo drive should normally mount in vertical direction with the topside down, ©For installing the servo drive, fasten the backboard of servo driver with M4 screw. ‘@Reserve enough space around the servo drives as shown in the reference diagram. In order to guarantee the performance of the servo drive and the lifetime. please make the space as full as possible. @To provide vertical wind to the heat sink of the servo dhive should install ventilating fans in the control cubicle. ‘©Prevent the dust or the iron filings entering the servo drive when install the control cubicle. Keep enough space between drives in the electric cabinet, a ee _ 250m >100mm_ \\ Ww«c >100mm T T T Ventilating Direction YM, 1.3.2 Environmental Conditions for Installation of drive Since the environment conditions for servo chive installation have the direct influence to the normal function and service life of the servo driver, therefore the environment conditions must be conformedto the following conditions @Ambient temperature: 0 to 40°C, Ambient humidity, less than 80% (no dew). ‘@Storage temperature: -40 to 50 °C, Storage humidity, less than 93% (no dew) © Vibration: less than 0.5G. ‘@Preventive measure shall be taken against raindrop or moist environment. ‘@Preventive measure shall be taken against corrosion by oil mist and salinity.=ShenzhenGuanhong Automation Co.,Lid- -SD Series AC Servo System- @When several drive installments in a control cubicle, for good ventilation please reserve enough space around each driver, install fans to provide effective cooling, keep less than 40°C for long-term trouble-free service. @lf there are vibration sources nearby (punch press for example) and no way to avoid it, please use absorb or anti-vibration rubber filling piece. @lf there is disturbance from interfering equipment nearby along the wiring to the servo. anti-jamming measure must be used to guarantee nonnal work of the servo drive. However, the noise filter can increase curent leakage: therefore an insulating transformer in the input terminals of power supply should be installed 1.3.3 Method of Servo motor Installation ‘For horizontal installation: in order to prevent water, oil, etc. fiom entering inside of the servo motor, please pat the cable connector downward. (©For vertical installation: if the shaft of the servo motor is in upward direction with a speed reducer, some prevention measure shall be taken against entering inside of the servo motor by oil come from the speed reducer. Motor shaft extension should be long enough, or may cause vibration while motor isin running @ in case of installation or removing the servo motor, please do not hit the servo motor with a hammer, otherwise the shaft and the encoder can be damaged. 1.3.4 Definition of Rotation Direction for Servo Motor ‘The motor rotating direction description in this manual is defined as facing the shaft of the servo motor. If the rotating shaft is in counterclockwise direction it will be called as positive direction, and in clockwise as reversal direction. Positive Rotation versal Rotation (ccw) (CW)=ShenzhenGuanhong Automation Co.,Lid- -SD Series AC Servo System- Chapter 2 Specifications 2.1 Introduction of Specifications SD Series SD2004 SD2010 SD2026 SD4038 SD4075 Output Power 50W-600W 400W-1kW 600W-3.8kW | 2kW-3.8kW 3kW-7.5kW oes ‘Single/Three ee a 15% 10% Three Phase 380V Control Mode | 0: Position Control: 1:Speed Control: 2: Torque Control: 3:Position/Speed Control: 4Position/T orque Control; 5:Speed/Torque Control Protective Over-speed/Over-voltage/Under-voltage/Over-current/ Overload Encoder Exor Function Control Power Enror! Position Offset Exror ‘Monitor Function SpeedPosition/Pulses/Offiet Torque Current Status. Digital Input 1Servo Enable; 2:Alanm Reset; 3:CCW-Forbidden; #:CW Forbidden; 5:Clear Position Ofiiet; 6:Pulse Input Forbidden; 7:CCW Torque Limit; :CW Torque Limit Digital Output Servo Ready On/Alunn/Orientation End Braker Control ‘Energy Braking ‘Support built-in/Extemal Resistor Braking Drive Load Less than 3 times of rotor inertia Display 5 bits LED Indicator display , 4 Operate keys ‘Communication RS485 0: Pulse+Direction rat Mode L:CCW/CW Pulse Position Control 2: AB Phase Orthogonal Pulse 3cInner Position Control Hoa ‘Numerator of Electric Ratio: 132767 Denominator of Electric Ratio: 1~32767 2.2 Motors table Flange Model. Power (W) | Torque (N.m.)| Speed (rpm) Matched Servo Drive SZGH-04005D 50 0.16 3000 SZGH-SD2004 40mm SZGH-04010D 100 0.32 3000 SZGH-SD2004 ‘SZGH-06020DC 200 06 3000 SZGH-SD2004 60mm | SZGH-06040DC 400 13 3000 SZGH-SD2004 SZGH-06060DC 600 19 3000 SZGH-SD2004 SZGH-08040DC 400 13 3000 SZGH-SD2010 SZGH-08075DC 750 24 3000 SZGH-SD2010 80mm sacH.os07sEc | 750 35 2000 SZGH-SD2010 SZGH.081006C 4 2500 SZGH-SD2010 SZGH-09075DC 24 3000 SZGH-SD2010 0mm | SZGH-090758C 35 2000 SZGH-SD2010 ‘SZGH-091000C 2500 SZGH-SD2010=ShenzhenGuanhong Automation Co.,Lid- -SD Series AC Servo System- SzGH-11060DCc | 600 a 3000 SZGH-SD2026 szGH-110sopc | 800 4 2000 SZGH-SD2026 omm | SZ6H11120Dc | _ 1200 4 3000 SZGH-SD2026 szcH-i1isopc | 1500 +3000 SZGH-SD2026 szGH-i1120BC | 1200 6 2000 SZCH-$D2026 szGH-i1isopc | 1800 6 3000 SZGH-SD2026 SZGH-13100CC | 1000 4 2500 SZGH-SD2026 SZGH-13130CC | 1300 2500 SZGH-SD2026 SZGH-13150CC | 1500 6 2500 SZGH-SD2026 SZGH-13200cC | 2000 1 2500 | SZGH-SD2026SZGH-sD4038380V) 130mm | SZGH-13100AC | 1000 10 1000 SZGH-SD2026 SZGH-13150AC | 1500 10 1500 SZGH-SD2026 S7GH-13230ac | 2300 15 1500 SZGH-SD2026'SZGH-4038(380V) sZzGH-13260cc | 2600 10 2500 SZGH-SD2026/SZGH-4038(380V) szGH-i3380cc | 3800 15 2500 SZGH-SD2026/SZGH-4038(380V) sZGH-isssocc | 3800 15 2500 SZGH-4038 SZGH-15300BC | 3000 15 2000 SZGH-4038 150mm | SZGH-15360BC | 3600 18 2000 SZGH-4038 SZGH-15470BC | 4700 23 2000 SZGH-4075 SZGH-15550BC | 5500 7 2000 SZGH-4075 SZGH-18270BC | 2700 172) 1500 SZGH-4075 SZGH-18200BC | 2000 a 1000 SZGH-4075 szGH-isz00cc | 3000 19 1500 SZGH-4075 sZGH-18370BC | 3700 35 1000 SZGH-4075 180mm, SZGH-18430Ac | 4300 27 1500 SZGH-4075 szcH-isssocc | 4500 21.5 200 SZGH-4075 SZGH-18550CC | 5500 35 1500 SZGH-40: SZGH-18750cC | 7500 48 1500 SZGH-4075 2.3 Mechanical Dimensions SZGH-SD2004-SD Series AC Servo Systom- =ShenzhenGuanhong Automation Co.,Ltd- ———————— me lal t Wii oa OG Ui Ga Os - +f ' : re A —=ShenzhenGuanhong Automation Co.,Lid- -SD Series AC Servo System- SZGH-SD4075, 2.4 Mechanical Dimensions 2.4.1 Flange 40mm series (Unit:mm) Model iz Model in SZGH-01005D 5 108 SZGH-ONIOD 190 Py 2.42 Flange 60mm Series (Unit:mm) Model U Model U SZGH.06020D¢ 116 SZGH-06020DC-T(with brake) 164 SZGH.060#0DC ia SZGH.06040DC-T(with brake) 189 SIGH 06000DC 16 SEGHO6060DC Tewith beaks) 27=ShenzhenGuanhong Automation Co.,Lid- -SD Series AC Servo System- 2.43 Flange 80mm / 90mm Series (Unit:mm) il Lo Medel i ]mDlmlrlml@zis |ujlwlf SZGH-68040DC ws [as [3 | s | 7 | 4 | o | 6 | | 25 | 6 [ass SZGH-08040DC-T wa [as | 3 [| s | 7 | wa | o | 6 | 9 | 25 | 6 [ass SZGH.(807EDC a [as {3 | s | m | wal o | « [| | a | « [iss SZGH-08079DC-Tewith brako| 191 | 35 | 3 | 8 | 7 | 904 | 9 [| 6 | 19 [| 25 | 6 [155 SZGHAS0TIBC i [3 [ 3 [| s | m | 4a | o | 6 | 9 | 25 | 6 [ass SZGHOSOTSBCTivith brake)| 219 | 35 [ 3 | s | 7 | soa | 9 | 6 | 19 | 25 | 6 [iss SZGH-ASI00CC im [3 [3 | s | m | 4 | o | 6 | 9 | 25 | 6 [ass SZGHOS100CC-Tewith brake)| 231 | 35 [ 3) Sf 7 [04 | 9 | 6 [ 19 | 25 | 6 [ass SZGH-(9075DC uso | 35[ 3 [8 [80 | s66 | 100 | 6s | 1 | a [5 [3 SZGH-09075DC-Towith brake) 198 | 35 | 3 [| 8 | 80 [866 | 100 [ 65 | 16 | 25 [5 [13 SZGH-(2075DC mi [3 [3 [| s | s0 | s66 | 10 | 6s | i | 5 [5 [3 SZGH-09075DC-T(with brak)| 220 | 35, | 3 | 8 | 0 | s66 | 100 | 65 | a6 | 25 | 5 [13 SZGH-(9100DC iw [3s | 3 | s | so | s66 | 100 | 6s | 1 | 2 | 5 [as SZGH-09100DC-T(with brake [230 [35 [ 3 | 8 | go [| s66 | 100 | 65 | a6 | 25 [5 [23 2.44 Flange 110mm / 130mm Series 10=ShenzhenGuanhong Automation Co.,Lid- -SD Series AC Servo System- Model ia [ww [icjw [iu lmwlic [w[s| a [wiu SZGH-11060DC wo [35 [5 | 2 [ 95 | 10 | 30 [9 [9 | as | 6 | 40 SZGH-110600C Twit brake) | 25 | 55 [5 | 2 | 95 | a0 | 130 | 9 | a9 | ms | 6 | 40 SZGHALGODC w [ss [5 | 2 [3 [io] a [9 [fas fe | 0 SZGH-A10800C-T(with brake) | 245 | 55 | 5 | 2 | 95 [110 | 130 | 9 | a9 | 25 [ 6 | 40 SEGH-IL0DC we [os [> | 2 [9% [af 0 |» [a fas fo | 40 SZGHLDODC Twit brace) | 285 | 55 | 3 | 2 | 95 | uo | a0 | 9 [as | 2s [ 6 | 40 SZGH-I110DC ma [oss fs [2 | 9s [mo [ a0 | 2 [as [as [6 [ao SZOH-1150DC-Towitk brace) | 260 | 55 | 5 | 2 | 95 [ao | ao [2 [as [2s [6 [4 SZGHII0BC ao [ss fs [2 | 9s | uo | a0 | o [aw [as [6 [a SZGHANIN0RC Twit beaks) | 275 | 55 | 5 | 12 | 95 [sto | a30 | 9 | 9 | 25 [ 6 | 40 SZGH11I80DC no [ss [5s | 12 [ 9s [ato | 30 [© | | as [6 | 40 SZGH-L1180DC-Tewith braked [275 [55 [5 | 2 [ 95 [110 [ 130 [9 | a9 [ 2s [6 | 40 SZGH-131000¢ 16 | 57 | 5 | 14 [ 10 | 130] 145 [ 9 [2 | 245 | 6 | 40 SZGH-131000C-Tiwith brake) [236 [57 | 5 | 14 [ 110 [130 [ 145 [9 | 2 [245 [ 6 | 40 SZGH-1313000 m_ [37 [5 | 1 [a0 [130] 45 [ 9 [| 25 | 6 | 40 SZGH-A31300C-Towith brakes) | 241 | 57 | 5 | 14 | tio [| 130 | 145 [| 9 | 2 | 245 [ 6 | 40 SZGH-131500C mo | 37 | 5 | 14 [ a0 | 130 | 145 | 9 mas [6 | 40 SZGH-131500C-Towith brake) | 249 | 37 [| 5 [a4 [ 0 [130 | uas [ 9 ms [| 6 | 40 SZGH-132000C wz [ s7 [5 | 4 [ a0 [130 | as | 9 ms [6 | 40 SZGH-132000C-Towitk brakes) | 262 | 357 | 5 | 1 | au0 | 30) m5 | 9 | 2] 25 | 6 | 40 SZGH-ABI00AC m3 [oa fs | | no [30 | ms [9 ms | 6 | 0 SZGH-LSI00AC-Twitt brace) | 283 | 37 | 5 [as | 0 [ago faa [9 ms [6 | 0 SZGHISIBOAC a3 [os fs | [a [30 [ ms [9 [a [os [6 [ao SZGH-ISI30AC-TOWin brace) |_283 || 37 |S) [P| uo fase | aas |e [22 [2s [ 6 | a0 SZGH-1326006 20 [am fs | aay) te | aso [ as [9 [mo [2s [6 [40 SZOH-12600C-Twittak | a9 [os7 | = | ae | no [aso | as | 2 [2 [2s [6 | 40 SZGHIS2B0AC mi [ 37 fs [4 | no | a0 [ ms [9 [a [os [6 [a0 SZGH.132300C-T(with brake) | 311 [57 | 5 [a4 | ato [30 [ as [9 [m2 [ 245 [ 6 | a0 STZGH-133800C wi_| s7 [5 | 14 [ a0 [130 | 145 [9 [2 | 25 [6 | 40 szou.133s0cc-Towith brake) [301 [57 [| 5 | a4 [| 110 [130 [ 145 [9 [ 2 [ 245 [ 6 | 40 2.4.4 Flange 150mm / 180mm Series zy} AA ig MBx<122 Be hi u=ShenzhenGuanhong Automation Co.,Lid- -SD Series AC Servo System- aS ta | tp | tc| to {te |r |ic | wz] s|u wou SZGH-15380CC 230 | 58 5 | 14 |130 [150 | 165} 11 | 28 [31 a | 45 SZGH-15380cC-T | 303 | 58 5 | 14 |130 [150 | 165 | 41 | 28 [34 a | 45 S7GH-1530080 230 | 58 5 | 14 [130 [150 | 165 | 41 | 28 [34 a | 4s szoH-1s30080T | 303 | 58 5 | 14 |130 [150 | 165 | 11 | 20 [34 a | 45 SZGH-1530086 248 | 58 5 | 14 [130 [150 | 105 | 11 | 28 [31 a | 4s S2GH-153608C-T | 321 | 58 5 | 14 [130 [150 | 165 | 11 | 28 [31 a | 45 SZGH-154608C 278 | 58 5 | 14 |130 [150 | 165} 11 | 28 [31 a | 45 SZGH-154608C-T | 351 | 58 5 | 14 |130 [150 | 165} 11 | 28 [31 a | 45 SZGH-155508C 302 | 58 5 | 14 |130 [150 | 165 | 11 | 28 [31 a | 45 SZGH-155508C-T | 375 | 58 5 | 14 |130 [150 | 165 | 11 | 28 [31 a | 45 SZGH-18270BC 226 | 65 5 | 14 |130 [180 | 200 | 135] 35 |38 40 | 51 SZGH-182708C-T _| 298 | 65 5 | 14 |130 [180 | 200 | 135] 35 |38 40 | 51 S7GH-182908C 232 | 65 5 | 14 [130 [180 | 200 | 135] 35 |38 40 | 51 szsH-182708c-T | 304 | 65 5 | 14 [130 [180 | 200 | 135] 35 | 38 40 | 51 SZGH-183006C 243 | 85 5 | 14 |130 [190 | 200 | 135] 35 | 98 40 | 51 szcHisz00cc-T | 315 | 05 5 | 14 |130 | 180 | 200 | 135] 35 |38 10 | 54 262 | 65 5 | 14 |130 [180 | 200 | 135] 35 |38 10 | 51 364 | 55 5 | 14 [130 [180 | 200 | 135] 35 |38 10 | 51 SZGH-184500C 262 | 65 5 | 14 [130 [180 | 200 | 135] 35 |38 40 | 51 SZGH-AS450CC-T 334 | 65 5 |.14_|130 | 180. | 200 | 135] 35 |38 40 | 51 SZGH-18550CC 292 | 65 5 | 14 |130 [180 | 200 | 135] 35 |38 40 | 51 SIGHIS550CCT | 364 | 55 5 |ot4 | 130 [180 | 200 | 135] 35 |38 40 | 51 SZGH-18750CC 346 | 65 5 | 14 |130 [180 | 200 | 135] 35 |38 40 | 51 SZGHA8750CC-T 418 | 65 5 | 14 [130 [180 | 200 | 135] 35 |38 40 | 51=ShenzhenGuanhong Automation Co.,Lid- -SD Series AC Servo System- Chapter 3 Wiring 3.1 Servo Drive Wiring Configuration No Fuse Break(NFB) q —Over-current Protection] Noise Filter | Prevent External Noise Interference Bectromagnetic Contactor(MC) Neet to install Eee. o—- 9 S485 Communication(RI45) GH CNC System - jpper Control Units Main Circuit Voltage is Control Cable '3 Phase 220VAC or 380V/ (3,124.3) [external Braking Resistor (Optional) Ground Fig 4.1 Wiring Diagram for Servo System 3.2 Wiring Explanations And Notes ©The control cable length should be less than 3 meters and the encoder cable length less than 20 meters Check if MAIN power voltage (20VAC/380VAC) and witing of L1, L2, L3 is correct. Do not connect to 380V power supply to 220V Servo Driver. ©The output tenninals of drive (U,V, W) must be connected to the servo motor connections (U, V. W) correspondingly, otherwise the servo motor will stop or over-speed. However, by exchanging three-phase terminal cannot cause the motor to reverse: this point is different from asynchronous motor. Earth wiring must be reliable with a single-point connection. B=ShenzhenGuanhong Automation Co.,Lid- -SD Series AC Servo System- ‘@Pay attention to the comect direction of diode which is connected to the relay at the output terminal, otherwise will cause the output circuit breakdown. in order to protect the servo chive from noise interference that can cause malfunction, please use an insulation transformer and noise filter on the power lines. ‘@Power lines (power supply lines, main circuit lines, and motor power cable) MUST be laid apart from the control signal wires (at least 30cm). Donot lay them in one conduit. ‘@lnstall a non-fuse circuit breaker that can shut off the main power supply immediately in case of the servo drive fault. @Because there are some big capacitor in inner side of servo drier even if power off. high voltage still exist in inner circuit, so please don’t touch servo driver and motor within 5 minutes power off. 3.3 Wires Specification Terminal Symbol Wire Specification Main Power Supply LBL 14m? ServoMotr UW Ltn? Ground ® 1 tmnt Cour Signals cnt = O.Lémm (AWG26), Shielded Encoder Siguls cx2 2 O.4um? (AWG26), Shiided Regenerative Resistors Terminals P.DIP.C 154m? User must use a twisted-pair cable for the encoder signal witing. Ifthe encoder signal cable is too Jong(>20m), in which the encoder power supply cai’be insufficient, multi-wires or thick wire must be used for the encoder power supply wiring. 3.4 Terminals Explanation Ground ‘Terminal Name Symbol Detailed Explanation For L- phase supply: 11,13 Single phase 220VAC -15% ~ +10%, 50/60Hz Main Power Supply For3-phase supply: 1,12, 13 ‘Three phase 220VAC -15% ~+10%, 50/60Hz L121: Three Phase 380VAC (for SZGH-SD4038/SZGH-SD4075) BP, RED When use the builtin resistor, Please connect P and D. Regenerative Resistor ‘When the extemal regenerative resietor ie needad, please disconnect? and D and| Teminal REP, RBC connect theresistor to temninal P and C. Leave unconnected, u U-phase outyut to servo motor Servo Motor terminal vy \V-phase output toservo motor W \W-phase output to servo motor ®@ PE Ground tenninalof serve motor Note: The builtin resistor has been set as default by factory.RBP & RBD is short circuit. “4=ShenzhenGuanhong Automation Co.,Lid- -SD Series AC Servo System- 3.5 Terminal For Control Signals 3.5.1 CN1 Terminal For Control Signals The CN1 connector DB26 plug (26-pin) provides the signals interfaced with the host-controller. They are: 4 programmable input 4 programmable output Analog command input Pulse commend input Encoder signal output 3.5.2 CN Terminal Connector ‘The CN1 comnector plug uses DB26 male head, the contour and pin configuration is as the following. DIPower Supply coms gt CWDrive Ban’ Digtal input 4 (CCW Drive Ban’ Digtal input Alacm Clearance’ Digital Input 2 Sevo Enable’ Digtal input SONL 19_Dorsapy+ 20%/SRDY- Command Pulseinpw! DOZsALMY pita! Output Alarm Sional Output Command Puleeinput Analog Velocty/Toraue Input ZsinalOpen-collector Output Encoder Signal A Output ASAT Digital Output A1Brato Release Digital Ouput sPostioning Or Speed Encoder Signal 8 Output Conpleton Signal Encader Signal Z Outpu Connector CN1 Soldering view 3.5.3 CN1 Connector Explanation ‘Name Of Signal Pin Number Funetion Dit 12 tical Isolation Input; = 2 sainiaieo ction is programmuble; Digital Input DB 1 ek Defined by parameter Pi-series (P3-0 ~ P3-17) 1 10 1s 20 = Opto-coupler output; = Functon is programmeble: Digital Output 2 ore = Defined byparameter P3 series (F3-20 ~ P3-23 26 23-Shenzhentuanhong Automation Co.,Lid- -SD Series AC Servo System- Dos 24 PULS~ 3 sis on igh-speed opto-coupler input, Position PULS. B eee ‘Working mode set by parameter PAL, Conmand Pulse SIGN 4 Pulse+Dir, CCWICW Pulse, A/B Orthogonal pulse SIGN. 4 ‘Analog ASH/ATS 5 ‘Analog velocity /torque input, range: 10V~ 10V Conmand Input | _AS/AT/GND OA 16 OA. 7 op 7 Encoder Signal = 7 senieat Output ~ Seen oz 18 oz. 2 oz 6 Shielded Cable Metal ease of Groua Shielded wire for comection with shielded cable connector Protection 3.5.4 CN2 Connector For Encoder ‘The encodersignal connector CN2 connects to the servo motor encoder. A three row DBS plug (VGA plug) is used. The contour and pin configuration is as following. Encoder Ingu Terminal Encoder Ingut Termin Power Supay +5¥ ‘Grouns Ereoder Input Terminal Sela Ptacton Grund (Conestor Case) Connector CN2 Soldering view 3.5.5 CN2 Connector Explanation ‘Signal Name Of z Z fe Pin No. Function Encoder Vv 3__| Use 5V power supply provided by servo drive. Ifthe cable is longer Power wv 10 than 20m, in order toprevent encoder from voltage-drop. use Supply multi-wire or thick wires for power line and ground line. + A Phase * . Connect with A-phase output of encoder BPhase Be 7 Connect with B-phase output of encoder 16=ShenzhenGuanhong Automation Co.,Lid- -SD Series AC Servo System- B- 2 Ze 8 ZPhase |S 7 Connect with Z-phase output of encoder Ut 9 5 UPhase | 7 Connect with U-phase output of encoder ; ve i , VPhase = Connect with V-phase output of encoder we | Comnect with W-phase output of encoder W- 14 ov 15 Encoder Power supply 0V Metal, i Connect with cable shield wire ”, W signals of encoder does not exist on wire-saving encoder which has only A, B,Z. 3.5.6 CN3A and CN3B Terminal Definition Can be connectedte the PC or controller through special serial cable. RS45_| Don't plug it to any power supply. Twisted pair shielded wires are suggested with less than 2meters in length (CAN bas is for spare) Terminal | CN3A Name CN3B ‘Name Picture 1 VCC _| Positive power supply | NC Null 2 GND Ground, GND Ground 3 CANH CAN Bus Pin CANE CANBus Pin 4 RS485- RSA 5 ReAgse | RS485 Communication [Reyer | RS485 Communication Cd 6 CANL CANBus Pin CANL CANBus Pin q 7 GND Ground GND Ground 8 VCC _| Positivepowersupply | NC Null 3.5.7 Regenerative Resistor Connection Ifuse the built-in resistor, please connect P and D (The built-in resistor has been connected by factory, so you can use directly), as showedin picture A. ‘When an external regenerative resistor is neededto be connected to the servo chive, firstly, the short circuit between terminal P andD must be disconnected. ‘Then extemal regenerative resistor should be connected between P andC, as showed in picture B. Note: RBP=P, RBD=D, RBC: a: oe os 8: eap pomp eal 7 pee an iy ea 4=ShenzhenGuanhong Automation Co.,Lid- -SD Series AC Servo System- 3.6 Wiring Diagram & Parameter Explanation 3.6.1 Wiring Example in Position Mode Pe 3 2 ‘Acz20v/380! Motor = OS Encoder Servo Ready-Sm Plus stax , 2 encoder e Feedback 2 Signal IGND of Cover Open collector output The wiring example (above) is for servo motors with flange size 60mm, 80mm and 90mm. ‘When connected with flange sizel 10mm and 130mm, 150mm,180mm servo motors,series please make connections as following: Signal u ¥ Ww PE Pin No. 2 3 4 1 sima [sv [ov [a-[s-[z [a |e [z]u |v [wel ue |v | w]e wane. [2] 3 [4 [5 [6 [7] [s[wlu |e] [asf [a ‘Notes: 1. Ifuse 3-phase AC220V main power , please connect with terminal L1, L2, L3. 3(S7GH-SD4038/SZGH-SD4075) 2. Ifuse 3-phaes AC380V main power, please connect with terminal L1.1 3, Ifuse L-phase AC220V main power . please connect with terminal L1. L3. 3. Current capacity of the external power supply for digital inputs and outputs (12~24vidc) should be more than LOOmA. 4, AWG24-26 shielded cable is recommended for control and feedback signals. DO grouné the shield of the cable. 5. Cable for control signals (CN1) should be less than 3 meters long, and cable for feedback signals (CN2) should be less than 10 meters long, 6. A Circuit breaker (NFB) is recommended to cut off power in case of an overload. Use an electromagnetic contactor to switch servo motor ON and OFF. 18=ShenzhenGuanhong Automation Co.,Lid- 3.6.2 Parameters in Position Mode -SD Series AC Servo System- ‘The following parameters need to be adjusted when in position mode: 3.6.2.1 Gain & Smooth-Filter Parameter Parameter Definition Value Default Value PAd Control mode 0 0 PAS Position Proportional Gein 1-100 80 PAIg Position Command Smooth Filter 0-30,000%0.1ms 300 3.6.2.2 Parameter for DI Input Parameter Define Value | Default Value 0-30,000 PALL Command pulses for one rotation of motor 10,000 pulse PA12 | 1*numerator of electronic gear for position command pulse | 1~32,767 0 PA13 | Denominator of electronic gear for position command pulse | 1~32,767 10,000 PAM mode of position command pulse 02 ° PAIS Direction change of position command pulse 0-4 0 PAS9 The effective edge of command pulse 04 0 PAT | 2* numerator of electronic gear for position command pulse | 1~32,767 0 PA78 | 3¢ numerator of electronic gear for position command pulse | 1~32,767 0 PAT9 | 4% numecator of electronic gear for position command pulse | 1~32,767 0 PASO Effective level of command direction signal 0-4 0 PASI Command pulse (PULS) signal filter 0-15 4 PAR? Command pulse (SIGN) signal filter 0-15 4 3.6.2.3 Parameter for DO Output Parameter, Define Value Default Value PAIG Range of positioning completion 0~3000 pulse 10 PAIT Detection of over-travel range 0~30,000«100 pulse 400 PAIS Invalid error of over travel 0-1 0 PAS3 CWL, CCWL direction prohibited mode 0-1 0 Past Hysteresis for position completion 0-32,767 pulse 5 PASS Range for approach positioning 0~32,767 pulse 500 19=ShenzhenGuanhong Automation Co.,Lid- -SD Series AC Servo System- PAS6 Hysteresis for approach positioning 0~32.767 pulse 50 3.6.2.4 Parameters related to Input and Output Terminals Parameter Definition Value Default Value PASS Effective level control for input terminals 0000-1111 0000 PAST Effective level contro! for outputtemminals 0000-1111 0000 PASS | Antijitters time constant of digital input terminals | _ 1-10000.1ms 2 P3-0 Digital Input DI! function 0-99 1 P3-1 Digital Input DI2 fiction 099 2 23.2 Digital Input DIB fimetion 099 3 23-3 Digital Input DI4 function 099 4 3-15 Force digital input 1 00000000-11111111 | 09000000 3-16 Force digital input 2 00000000-11111111 | 99000000 23-17 Force digital input 3 00000000-11111111 | 09000000 3-20 Digital Input DO! fimetion 099 2 3-21 Digital Input DO? function 0-99 3 3-22 Digital Input DO3 function 0-99 4 3-23 Digital Input DO4 function 099 8 3.6.2.5 Parameters & Explanation for Inner Position Control (Px)Mode Command Source of Pr mode are using Parameter (P4-2,P4-3)-(P4-23, P4-24) 8 groups built-in position command registers, Mode of Pr modeis set by P4-0: a: absolute type; b:Increment type It works with extemal 1/O(CN1,POS0-POS2 & CTRG), to select one group among of 8 groups as position command, shown as following table Position | POS2 | POSI | POSO | CTRG | Para. Explanation Speed Code register Pl 0 1 0 + | P42 | Revolutions(+/-30000) P44 P43 | Pulses(+/- max ent) wi) P2 0 ° 1 + | P&S | Revolutions(+/-30000) P47 P46 | Pulses(+/- max ent) v2) Sy 5 7 é x P48 | Revolutions(+/-30000) P40 P49 | Pulses(+/- max ent) 3)=ShenzhenGuanhong Automation Co.,Lid- -SD Series AC Servo System- P4 oO 1 1 t P4-11 | Revolutions(+/-30000) P43 P4-12 | Pulses(+/- max cnt) wa) PS 1 0 0 + | P414 | Revolutions(+/-30000) P4-16 P45 | Pulses(+/ max ent) ws, P6 1 0 1 ; | P&IT | Revolutions(+/-30000) P4-19 P418 | Pulses(+/- max ent) 1) P7 1 1 0 + | P420 | Revolutions(+/-30000) P42 P4-21 | Pulses(+/- max ent) w7 eS i hi i ; | P4.23 | Revolutions(+/-20000) P425 P4-24 | Pulses(+/- max ent) ws) Status of POSO~POS2: 0 : input pointis OFF(open). 1: Input point is ON(Close). CTRG} : Up edge (input point is fiom OFF to ON) Inner position control mode can be applied to many occasions, it looks like one simple control, program. User could make cycle operations only according to above table. Example: Pl position command is 10 revs , P2 position command is 20 revs, firstly run Pl.and then P2, this is difference between Absolute & Incremental modeas following picture shown, Incremental Absolute 20 Rews 20Revs 10 Revs. TORevs=ShenzhenGuanhong Automation Co.,Lid- -SD Series AC Servo System- 3.6.3 Wiring Example in Speed / Torque Mode Servo-Enable Ls Servo Ready Or Analog toot cN1 A 2 encoder ' Feedback 2 Signal Ground 2Open Collector Output ‘The wiring example (above) is for servo motors with flange size 60mm, 80mm and 90mm. ‘When connected with servo motors with flange size] 10mm and 130mm ,150mm,180mm, please connect as following: Signal U v Ww PE Pin No. sima [sv |ov [a+ |[ae[af[al[s [zlelwiwli eu [lv iw Pnno. | 2/3 | 4/15 | 6 | 7] 8 |9 | 10 | 1 | a2 | 13 | 14 | 15 Notes 1 Ifuse 3-phase AC220V main power supply. please connect with terminal L1,L2,L3. 2 Ifuse 3-phaes AC380V main power, please connect with terminal L1,L2,L3 (SZGH-SD4038/SZGH-SD4075). 3 fuse 1-phase AC220V main power supply, please connect with terminal L1,L3. 4.Current capacity of the extemal power supply for digital inputs and outputs (12~24vde) should be more than 100mA_ 5.AWG24-26 shielded cable is recommended for control and feedback signals. DO ground the shield of the cable. 6 Cable for control signals (CN1) should be less than 3 meters long, and cable for feedback signals (CN2) should belessthan 10meerslong. 7.A Circuit breaker (NFB) is recommended to cut off power in case ofan overload. Use anelectromagnetic contactor to switch servo motor ON and OFF.=ShenzhenGuanhong Automation Co.,Lid- -SD Series AC Servo System- 3.6.4 Parameters in Speed/Torque Control Mode 3.6.4.1 Parameters in Speed Control Mode ‘The following parameters need to be adjusted when in Speed control mode: Parameter Definition Value Default Value PA4 Control Mode 1 0 PAS Gzin Of Speed Loop 5.2000 Hz 150 PAG Tntegral time constant of Speed loop 1.1000 ms 5 PA22 The source of Speed Command 05 0 24 Internal Speed 1 -6000~6000 rpm 100 PA25 Intemal Speed 2 -6000~6000 rpm 500 PA26 Intemal Speed 3 -6000~6000 xpm 1000 PA2T Intemal Speed 4 -6000~6000 pm 2000 PA28 Amival Speed 0-3000 rpm 3000 PAAO Acceleration Time Constant of Speed Command 110,000 ms 100 PAAI Deceleration Time Constant of Speed Command 110,000 ms 100 PAS Gain of Analog Speed Command 10-3000 spm/V. 10 Padd Direction of Analog Speed Command O41 0 PA4S _| Zero Offset Compensation of Analog Speed Command | _-5000~5000 mv 0 PASG Filter of Analog Speed Command 11000 Hz 100 PATS Range For “Zero-Speed” Detection 0-1000 rpm 10 PAT6 Speed Coincidence Range 0-1000 xpm 10 PAST Hysteresis Of Arival Speed 0-5000 xpm 30 PASS Polarity Of Arrival Speed on o Pag? Hysteresis For “Zero-Speed” Detection 0-1000 rpm 3.6.4.2 Parameters in Torque Mode The following parameters need to be adjusted when in Torque mode. Parameter Definition Value __| Default Value PAL Control Mode 5 0 PAI9 Gain of Analog Torque Command Set by user 30 PA32__| Selection For Intemal And Extemal Torque Command 0.2 0 PAR Direction of Analog Torque Command 0 0 PAI9 | Zero Offset Compensation of Analog Speed Command oO 0 PASO Speed Limit In Torque Control Mode Set byuser_| Ratedspeed Pass Intemal Torque 1 -3000~3000 0 PAGS Intemal Torque 2 -3000~3000 0 PAGE Intem:l Torque 3 -3000~3000 0 AGT Intemal Torque 4 -3000~3000 0=ShenzhenGuanhong Automation Co.,Lid- -SD Series AC Servo System- PASB Inhibition Method at 0 PASO Anival Torque -300% ~ 300% PAgO Hysteresis of Anival Torque 0% ~ 300% Pasi Polarity of Anival Torque ot 0 3.6.4.3 Parameters relaied fo ModBus communication Parameter Definition Value Default Value PATI MODBUS ID No. 12 1 PAT2 MODBUS Communication Baud Rate 48-1152x100 96 PAT3 MODBUS Protocol Selection 02 1 PATS Communication Error Handling O41 0 3.7 Homing(Zero point) 3.7.1 Parameters for Homing(Zero point) Parameter [Explanation Value | Default Value 432 | Type & Direction of Homing 05 0 P433__ | Mode After Homing 02 0 P434 | Mode of Start Homing 02 0 P435___ | Mode of StopHoming O41 0 P436 [Homing Speed_Ist period 1-2000 pm 1000 P4-37 | Homing Speed_2nd period 1-500 rpm 30 P438___ | Homing Offset Revs + 30000 O P439 [Homing Offset Pulses +7 max ent 0 3.7.2 Explanation of Homing A. Mode of Start Homing (P4-34) There are two modes that start homing-one is automatically homing when booting, another one is inpat points activate homing P4.34-0: OFF Homing function. When P4-34 set to 0, tum off the function of homing(retum to zero point),cannot do homing whatever other parameters set. P4.34=1: Automatically homing when power on servo ctiver ‘When power on driver é& before starting work, it will do homing. Itnomally apply to that it no needs to homing often. It can save one input point for homing. ‘P4-34=2: Input to SHOM point to activate homing function ‘When set this function, it must configure one input point of DI inputs (from P3-0 to P3-3) 10 SHOM inpat point. Itcan do homing at anytime when SHOMis ON. B. Type & Direction of Homing(P4 32) Limit switches at positive direction or negative direction, can be as homing switch , and also one alone switch(Sensor/Proximity Switch) can as homing switch, Ifservo motor run within one rev. we can set Z-Phase signal as home (zero point) P4.32=0: Gohoming with CCW drrection.and take CCWL as 1st input point for homing. Afier homing, CCWL as limit input, and CCWL be on again, it will hint limit alam. fusing CCWL as homing input point too, suggest detect Z Phase signal (set P4-33=0)=ShenzhenGuanhong Automation Co.,Lid- -SD Series AC Servo System- P4.32=1: Gohoming with CW direction.and take CWL as Ist input point for homing. After homing,CWL as limit input, and CWL be on again, it will hint limit alam. Ifusing CWL as homing inpat point too, suggest detect Z Phase signal set P4-33=0) P4-32=2: Go homing with CCW drection.and take ORGP(¢lone input point for homing) as Ist inpat point for homing If using ORGP as homing input point, it can detect Z Phase signal(set P4-33=0) or not (P4-33=1) P4.32=3: Go homing with CW direction.and take ORGP(alone input point forhoming) as 1st input point for homing If using ORGP as homing input point, it can detect Z Phase signal(set P4.33-0) or not (P4.33=1) P4.32=4: Z-Phase signal as home(zero point), Move Detect Z phase signal with CCW direction this apply to servo work within one rev.and no need any switches P4.32=5: Z-Phase signal as home(zero point), Move Detect Z phase signal with CW direction, this apply to servo work within one rev.and no need any switches C. Mode after homing (P4-33) P4-33=0: Afier detect homing switch,andreverse movement and find Z-phase signal of serve motor encoder,which is mechanical zero point. P4-33=1: After detect homing switch,andkeep movement and find Z-phase signal of servo motor encoder,which is mechanical zero point. P4-3342: After detect homing switch(up edge of ORGP) & stop, where set to mechanical zero point.(when P4-32=2 or 3); or when find Z phase signal(Z pulse) & stop(when P4-32=4 or 5). D. Mode of Stop Homing (P4-35) P4.35=0: Afier detecting homing switch, motor decelerate speed & reverse move to zero point. Afier detect homing switch with homing speed_2nd period (set by P4-37),motor decelerate & stop Afier stop.and then reverse move to mechanical zero point with P4-37 speed. P4.35=1: Afier detecting homing switch, motor decelerate speed & keep moving to zero point Afier detect homing switch with homing speed_2nd period (set by P4-37),motor decelerate & stop. It don’t After stop.and position ofet cannot be revise,but it doesn’t means zero point changed as different position offset.=ShenzhenGuanhong Automation Co.,Lid- -SD Series AC Servo System- Chapter 4 Operation and display 4.1 Introduction to Front Panel And Function 4.1.1 Front Panel oO 5 LEDs ABB AD Av 4 SET 2999 4 Operated Buttons~ 7 Fig4.1 Front Panel “SET™ Button: Enter the parameter settings or set the values to select parameters and exit. A. UP Button: Increase the selected value by 1 V DOWNButton: Decrease the selected value by 1 <4 BACK Bution: Press this to come back to before data The panel consists of 5 digital LED and 4 buttons including } , |, —, SET to display all system status and set parameters ‘The operation is hierarchical. — button indicates “Back” and SET button indicates “forward” while it also has the meaning of “Enter” . — button also has themezning of “Cancel” and “Exit”. | button indicates “Increase” and | button indicates “Decrease”. Ifyou press and hold the ] button or | button, ‘you would get a duplicate result and when hold longer, the repetition rate is higher. 4.1.2 Front Panel keys explanation Symbol Name Function Increase number or value; Press down and holdto repeat A Increase increasing, ¥ Deceease number or value; Press down and hold to repeat Decrease decreasing, [<] Exit, Back Menu exit; Cancel the operation SET Confirm, Set ‘Menm entered: Confirm the operation=ShenzhenGuanhong Automation Co.,Lid- -SD Series AC Servo System- 4.2 Main Menu The first layer is the main menu and has four operating modes. Press 7 or { button to change the operation mode. Then press SET button to enter into the second layer. Press < button retums to the main menu ftom the second layer. [status Monitor PA Parameter IP3 Parameter Ea - |... = -\ pa Parameter [Speed Dry Run bloc Mode: [Analog Zero Fig4 2 Operating display layer 4.3 Status Monitoring In the first layer, please select “dP_” and press the SET button to enter into monitoring mode. There are 16 statuses to be displayed in total. You can select the desired display mode with 7 or | button, and then press SET button to enter into the specific status. Monitoring | Operation | Example Definition dP-SPd r (000 Speed: 1000 r/ min dP-PoS PHSBO6 | The current position of rotor dP-PoS. Poi 1245806 pulse dP-£Po CusBIo Position Command dP-CPo. C {2 1245810 pulse dP-EPo EB 4 > Position Deviation: 4 pulse dP-EPo. | «— E a dP-Er9 bt Motor Torque 70%=ShenzhenGuanhong Automation Co.,Lid- -SD Series AC Servo System- dp- | ' 23 Motor Current 2.34, dP-Cnt {nt 0 Control Method 0 dP-tEP P= CS = son | Anata Quantity incut speed 500 1/ min dP- Ce & O50 | Torque 50% in Torque Mode dP-APo A 3265 Absolute Rotor Position : 3265 dP-APo. AO dP- in intents Digital Input Terminal dP-otte ole vat Dicital Output Terminal dP-fod Codi an Encoder Signal dP-UdC UC 335 Bus Voltage: 336V dP-FPAL rL- on Relay on Opening State dP- -L cL oF Relay on Closing State rL- Er Alarm rn on Running State dP- cn rn.- oF Disable rn- CH Uncharged rn- Er Alarm dP-Err Err 9 Alam No9 U- on Normal dP- US UbLoU Main wire under Voltage U-Err Alarm dP- AS dP- AS.=ShenzhenGuanhong Automation Co.,Lid- -SD Series AC Servo System- 4.4 Process of Setting Parameter Please firstly select “PA~", and press SET button to enter the status of parameter setting mode. Use iat choose rented parameter andpush SET button to dsplay the parameter value. You can meaty tne Parameter value with Jy] ox [gy] Press| go egy] button onetime, the parameter increases or decreases by 1. Pressing and holding gor Fy] key can continuously increase or decrease the value. After modifying the value of the parameter press SET button and when the LED flashes two times, it means modification is completed. Finally tum the chive OFF and ON again to activate the changes. 4.5 Setting Analog Quantity to 0 After the setting, driver will test offet of analog quantity and reserve it into PA39(or PA45). It need not to write parameter again because the operation of setting analog to 0 reserved the parameter to EEPROM. Firstly, choose the parameter “A-A(’, then press SET to enter. Next choose “A-SPd’ (Setting speed analog quantity to 0) or ‘A-Trq” (Setting torque analog quantity to O)by [gg] and Jy] . choose one of the operation and Holding & press ‘SET’ button formore than 3 seconds, wait for displaying ‘don’ on the screen, activate the operation. After that, you can press [10). (3. The command frequency is low.=ShenzhenGuanhong Automation Co.,Lid- -SD Series AC Servo System- (4. When the motor runs, there are step jumps in speed. (5. When set to value"G’, the fiter does not work. 20 drive inhibition 0: COW drive inhibition or GW drive inhitition is effective I the digital input of COW drive inhibition is ON (N.C. contact on its Jigttal input), CCW drwve is permitted. If te switch of CCW arve Inniption is OFF (the contact nas been opened), CCW torque keeps 0 {The similer definition is for CW erive inhitition butin opposite Jirecton. If both COW and CW dive inhibition aro OFF, it will come to ror alarm of rive inhietion input }: CancelCCW or CW dive inhibtion. No matter what state ofthe Jcantact of CCW or CW five inhibition inputs are, CCW or CW lriveis allowed. Meanwhile ifthe contacts of CCV and CW drive inhibtion are OFF, it wil noi cause any alarm. o4 24 JOG speed [Set the running speed of JOG operaing, 0-6000 pm. 100 22 ‘The source of speed command In speed control mode, it sets the source of speed command, 0: Analog Terminal AS+, AS- inputanaiog speed command. }: Intemal speed commandis decided by SP1 and SF2 digital Inputs DI Signal sr [spi 0 0 | internal Speed (Parameter PA24) 0 1_| internal Speed 2 (Parameter PA25) 4 0 _| Internal Speed (Parameter PA26) 4 1_| internal Speed 4 (Parameter PA27) Note: 1=ON, 0=OFF 2: Analog speed command + internal speed command DI Signal sP2 | spi 0 a Analog Speed Command 0 1__ | iniemai Speea (Parameter PAZ5) 1 0 _| iniemat Speeu (Parameter PAZ0) 4 + | iniernal Speed 4 (Parameter PAZ7) Speed Command Speed Command 13: JO8 speed command, ifearry outJOG operation. 4: Keyboard speed command, ifcarry out St—operation 5: control of JOG operation from digtal input terminals. 23 Maximum speed limit Set the highest speed of the servo motor. tis independent to rotating direction. Ifthe setting value is beyond the rated speedof the motor, the rated speed ofthe motor is considered as the maximum permissibie value o-6000 pm 5000 24 Internalspeed 1 In speed contiol mode (PAZ2=1), when SP1 and SP2 are OFF, internal speed 4 isas the speed command, 5000-6000 100=ShenzhenGuanhons Automation Co.,Lid- -SD Series AC Servo System- 25 Internalspeed2 In speed control made (PA22=1 or 2), when SP1 is ON, while SP2 is OFF, internal speed 2 is as the speed command, 6000-6000 pm. 500 26 Internalspeed3 In speed control mode (PA22=1 or 2), when SP1 is OFF, while [SP2 is ON, internal speed 3 is as the speed command 6000-8000 pm 4000 27 Internaispeed 4 In speed control mode |PA22=1 or 2), when SP1 andSP2 are ON, internal speed 4 is as the speed command, |At speed (Speed anival) [Set the detection timing of the speed arrival output. [When the servomotor speed surpasses this parameter. the digital output (DO) ASP (anival speed) is ON. Jotherwise is OFF. |The comparator has hysteresis fimction set by PAST [Detection is associated with 10 rimin hysteresis. Speed wore [omy o . the soos 3. _Italso has the polarity setting function: [PAS 8 PA28 | Comparator oso Speed independent to direction =O [Only detect CCW speed <0 Only detect CW speed 6000-6000 rpm 2000 10-3000 apm 3000 29 Gain of analogtorque| commana }. Setthe retain between input anslog voltage fortoraue Jcommandandthe actual motor running torque 2, The setting value untis 0.1v/100% [2 The defauttvalue is 30, corresponcingto 3V/100%. it means if the input volage is 3V, it would generate 100% retedtoraue. 40-100 (aawir00% 30 30 The alarmvalue of torque overload }1. The valueis the percentage of rated torque. The lira is independent to direction and CW or CCW direction is protectea 2. When PA31>9, motor torque>PA30and duration>PA31, the crive alarms andthe code is Er-29. The motor stops working. must repower on after clearing errors 300 4 [The detecton time for| torque overload 4. The detection tme fortorque overload, unit:ms. Detection ABIX O14 2. When setio 0-9, the function of torque overlcad alartring is Prohibited in generalthe value's set to 0 0.32767 22 The source of torque command lo: Analoginput torque command py terminals AS~ ana AS-. 4: Internal torcue commandby combination of TRA and TRA2 digital inputs (D1) which points to one of the paramotors PABA, PAGS PAS6, and PAGT Di Signal traz | TRO1 0 0 _| internal Torque’ (Parameter PAG4) TorqueCommand 04=ShenzhenGuanhong Automation Co.,Lid- -SD Series AC Servo System- 0 1_| internal Torque? (Parameter PAGS) 1 0 _| internal Torque3 (Parameter PAGB) 1 4_| internal Torqued (Parameter PAG7) Note: 0=OFF, 1=0N 12: Analogtorque command + internal torque command Di signal TorqueCommand traz | TRa1 o ° ‘Analog Torque Command. ° 4 _| intornal Torque? (Paramotor PAGE) 4 0 _| internal Torque? (Parameter PAGE) 4 4__| internal Torgued (Parameter PAG7) When setto 0 andthe analog torque command is postive, torque 43. | Ditedtionot analog |arecton is cow. a , torquecommand |When setto 1 andthe analogtorque command is postive, torque direction is CW. }. The setiingvalueis he percentage ofrated torque. 2. It is always valid independence of the drive cortrol mode. Internal CCW torque 34 ae [3 If the setting valueis bigger than the maximumoverload 0~300% 300% ir capacity ofthe drive for the matched motor, the rrax overload [capacly Is concemed as the actual torque limit Internal CW terque 35 wine Referto PA34 -300-0% 300% 4. Its valid only when the input terminal (FIL) of CCW torque lit is ON 2. When the limit function is vali, the actual torque lim is the Externally controlled 36 Minimum value of. 0~300% 100% Cow torque timt 1: max overload capacty of the drive for matched motor, 2: internal CCW torque limit (PA34), 3: externally controlled CCW torque limit (PA36). tis valid only when the input terminal (RIL) of CW torque lim is oN. 2. When the limit function is vali, the actual torque limit is the External CW torque a7 ni Minimum value of. -300-0% 100% }: max overload capacty of the drive for matched motor, 2: internal CW torque limt (PA35), 3: extaraly controlled CW torque limit (PA37). Zero offset compensation of 30 oe ake an offset adjustment for analog torque command. 2000-2000 0 analogtorque command Linear acceleration / deceleration characterises are available {The setting value means the acceleration time of the motor from 0 romto 1000 rem (or from 1000 rpm to 0 1pm) ao | Accelerationtime |r Bm (¢ mpmto 0 1pm). We cue 100 constant —_|it only applies in speed corirol made, wtile is invalid in position control mode. [This parameter should be set to 0 ifthe criveis usedin 36=ShenzhenGuanhons Automation Co.,Lid- -SD Series AC Servo System- Jcombination with an external position loop controler (ike CNC controller) to avoidextra accidec which is not decidedby the controler. Deceleration time a Reterto Pa4o ‘oenom: | 100 constant 1. Setthe relaion betweeninput anelog voltage forspeed ommandandtne actual motor tunringspeed. Gainct analogspeed 10-3000 43 2. The setingvalueuntis 0.100% 300 command rer 3. The deft value is 10; cortesponangto 10 ppm, it means it ine ino votaye is 5V, it would un the motor at 50 rpm. 1 Selo 0 andanalog speed commands postive, the speed Direcionof analog |srecton is Cow. “4 o4 0 speedcomrrand |2if Set to1 andaralog speed commandis postive, the speed irecton is Cv. Zero tect compensation of |Make an ofset adjustment for analog speed commandwith this 45 -s000-5000 0 aralogspe2d {parameter command [The np iow pais iter of analog speed command iter of analog speed] 21" the setingvalues bigger, the response frequency is quickerto 46 ae a ne ee aes 4-4000H2 300 command speed input analog quantity and the influence of signa noise is righes F. Use the electromagnetic brake when SONs from ON to OFF or alarm cousin the sero diver. This parameter defines th dolay ime fromine actionthe BRK is OFF fromDO terminals) of the electomeanetc brake until exckation renova ofthe servomotor during he servomatar tobe in static l2after seting the parameter should not be smaller than the delay lime in wrich tne machinery apples he brake. This parameter wil Delay tme or |makethe brake reliable and then tums ofthe servomator electromagnetic fexctationto guarantee aganst he small displacement of the 0-200 47 | prakewnen —|servomotor or depreciaionof the wark piece 0 xt0™ms servornotoris in standstill la. The timing char as follow: now” OF] | ow oF 1=ShenzhenGuanhong Automation Co.,Lid- -SD Series AC Servo System- 1. Use the electromagnetic brake when SONis fromON to OFF or alarm occurs in the servo diver. This parameter defines the delay ime from exctation removal of the servomotor until the acion(ine JERK is OFF from DO terminals) of the electromagnetic brake Jcuring the servometor to bein motion. 2. This perarreter will make the servometor deceleration from high| Js0e0d downto low speed andthen appli tho brake fo avoid Jdamagingthe brake Ia. The adual action time is the smaller value between the Wattingtime for parameter PAS andthe time in which the servomotor decelerates electromagnetic [to the value of PA49. 4g brakewhen _|4. The timing chart as below: O09 50 10m seromtor i in motion ‘Servo ON on a ‘son Denke Relenee _olftelease)| omens ‘oan —— | oto Speeaepm) 1 | wens ‘Adion speedtor electromagnetic 0-300 49°] —brakewnen Refers to ne explanation ofparameler PAA. 300 tem servomotor is in P motion Fin toque control mode, the mtorrunning speed sited inthe Speedtimtintoraue 0-5000 50 range of this parameter. 3000 centro! mode mm 2: It prevents overspeed due tothe lightload 0: The enable signal is contolled by SON of digital input (DI) 52. | Serve Force Enable o4 ° 4: Sotware forces to servoON. fgg. | Serva enable delay |afterine servo signa is deactvatedon the digtal input, it celaysto] 030.000 7 time et SERVO-OFF [out the current of motor by this delay time. o.Ams Represented by a byte of 4 bits. Each bit correspondsto one digital input any be is 0, trmeans the related digital input terminal acs as normal anacoes not revrse (sacvetea when closec, whte s 1, means ne terminallogie reversed (s actvated wnen Effective level control pee 55 [The byte represents the digtal inputterminals as following: 000-1111 000 of digtl inputs bit a [2 1 [0 definition | ow | os | pe [ on 0: High level is valid (is activated when closed) 4: Low level is valid (is activatedwhen opened)=ShenzhenGuanhong Automation Co.,Lid- -SD Series AC Servo System- Represented by abyte of 4 bits. Each bit correspendsto one digital output. If any bit is 0, it means the related digtal output terminal Jacts as normal and does net reverse (is activated when switched JON). While it is 1, t means the terminal logics reversed (Is activated when swiched OFF), Effective level control 57 000-1111 0000 of dgtaloutputs | Te be represents the diotalcutpt terminals a following bit 3 [2 [1]o detintion | Doa | D03 | Doe | 001 Jo: High level is valid (Is activated when switched ON) 4: Low level is valid (is activatedwhen switched OFF) +f the value is smater, the input terminal frequency response is Ant ter time ‘ eee aster 58 | constantof digtal 4-20ms 2h 2. Ifthe values bigger, the antijtter performance of inputterrrinal Input terminals is better, but the response frequency becomes slower. Effedive command |0: the rising edge is effective 59 o4 o pulseedge the faling edges effective 60 Softreset o4 0 Soft reset is effective anc the system will be restart F 0: Sot reset isinvaid Ei fo Systemalam clear is nvalia 61 | System alarmcleer o4 0 4. Systemalaim clear is effective 0: 451ine incremental 2500tine encoder (A, B, Z, U,V, W) 62 | Encoderselection 04 0 4: wire-saving 2500-tine encoder (A, B, Z) [Set the ratio of load inertia to motor inertia. 63 | Loadinertiaratio |The setting value = [ (load inertia + rotating inertia) / (rotating 1-500 100 inertia) 100. In torque control mode (PA4=2 and PA32=1), when TRA1=OFF 64 | Intomal torque 4 300-300 ° Jand TRO2=OFF, internal torque is as the torque command, cs | tntematroraue 2 |" frau contol mode (PAI=2 and PAS2=1),when TRGT=ON mien 6 Inemal Toraue 2 lang TRA2=OFF, intemal torque? is as the torque command, : In torque contol mode (PAS=2 and PA32=1), when TRA 1=OFF 66 | IntemalTorque 3 -300-300 0 [and TRO2=ON, intemal torque 9 is ¢s the torque command, In torque contiol mode (PAS=2 and PA32=1), when TRQ1=ON 67 | intemalTorque 4 300-300 0 [and TRO2=0N internaltorque 4s as the torque command - 2: 8, 0, 1 (MODBUS, RTU) selection represents the transmitted data is 8 bits long, IN, E, 0 indicates “none’, “event and “odd” priority, respectively value 1 or 2 indicates communication of 1 byie or2 bytes.=ShenzhenGuanhong Automation Co.,Lid- -SD Series AC Servo System- 74 [Communication errr] when cormmunicaton is wrong, choose: o4 ° handing 0: keep working, OR_1: Alarm andstop working 4. ifthe motor running speed is less than the value ofthis parameter, the ZSP (zero speed) of digtal output (D0) is ON, and else Is OFF. Range for zero speed 75 2. I ZCLAMP of digitalinput (D})is ON and speed commend is | 0-100 cpm 40 detection loss than tho valuo of this parametor, the value of spood comrrand| is forced to be zero and the mator stops [3. The comparatorhas hysteresis functicn.Itis set by PAS }. Set the speed coincidence(VCOIN) output detection tiring, 2. Output the speed ccincidence(VCOIN ON) when the difference between the speed command andthe motor speedis equal to or [smaller than the speed spectied by this parameter PAT6, lothenvise is OFF. For example, PAT6= 10 andine command speed ts 1090rpr, while lhe actual speed ranges from 980rpm~1010rpm, thenthe digital output VCOIN is ON. = YT saree x|_or [ow 1_ ove Speed Coincidence 76 Range 0-100 rom 40 * Because the speed coincidence detection is association with 10 1imin tysteresis, actual detection range is as sown below: [Speed coincidence output OFF —» ON timing(PA76-10)rimin [Speed coincidence output ON + OFF timingPA76+10)eimin 7 2 ner Referto parameter PA12 0-32,767 0 electronic gear ratio 3° numerator of 78 Referto parameter PA12 o-s2767 ° electronic gear ratio 4 numerator of 79 Referto parameter PAI2 0-32,767 0 electronic gear ratio go | Ettectvetevelot [or Hic levelis postive drestion ba j Direction (SIGN) _|1: Low level is postive direction 4 4. To fter the input PULS command. J2. The default value (4)is correspondentto the maximum pulse input frequency, which is S00Kh2. Ifthe value of this parameter is bigger, the maximum workable input frequency wil be smaller PULS input a1 13. Tofiter the noise from the signal line in order to avoid incorrect | 0-15 4 commend fiter Jcountng.# it goes wrong dueto the incorrect counting, you can increase the value ofthis pararreter properly 4. After eciting this parameter, you mustsave it and tum the drive JOFF and ON to make'it effective [SIGN input command] 1. To iterthe input SIGN commrand 82 os 4 fiter 2 The default value (4) is correspondentto the maxirrum pulse 40=ShenzhenGuanhong Automation Co.,Lid- -SD Series AC Servo System- input frequency, which is 500Khz (when usedin CWICCW pulse mode), Ifthe value ofthis parameters bigger, the maximum lworksble input frecuency will be smaller. 3. To fiter the noise from the signal line in order to avoidincorrect Jcountng.f it coes wrong due to the incorrect counting, you can increase the value ofthis pararreter properly 4. After eciting this parameter, you must save it and turn the drive |OFF and ON to mekeit effective |Wnen the machine touches the mechanical limt switch at any end lor stroke and activates CWICCW lim, you can choose the cWUeCL 8 folowing mothods to work with this parametor. 04 ° inhibit method 0: To limit the torque in the current rection to be 0 4: The input pulse of the current direction is inhibited. Hysteresis for 032767 84 positioning _|Referto parameter PA16. : 5 pulse completion F. To sete pulserange of approach postoning under the poston conti made I. wnentne pulsenurroer postion denaten counteris smater nan or equal tothe seting vakie of is parameter, the distal Rango or approach foutput (00) NEAR(approach postioning|is ON, cthenvseis OFF. | 0.92767 ® positioning |3. The comparator has hysteresis function set by PA86. pulse 598 4 Usethis fureton incase tatin near positing, the host ‘controller is accepting the NEAR signal to carry on the preparation to tenes step. n general, this parameter value shoul be bigger han PA16, Hysteresis for 0-32767 86 Referto parameter PASS. 50 approach positoning pulse Hysteresis of arrival 87 Referto parameter PA28. (05000 rpm 30 speed Referto parameter PADS HThe polarity settino function: pase | PAB Comparator gs, | Noes 0 | >0 | Speedindependentto direction 04 ° epee % >0 Only detect COW speed 0 Only délect CW speed +. When the servomater torque surpasses this parameter, the cigtal output 00) ATRA (arival torque)is ON, otherwiseis OFF. 2. The comparator has hysteresis functicn set by PAG). lt also has the pola seting function: 29 | Anivattorque 200% -200%} 100% Paot | PAGS Comparator 0 | =0 | Torqueinaependent io diection 1 >0 Only detect COW torque a=ShenzhenGuanhong Automation Co.,Lid- -SD Series AC Servo System- 0 Only detect CW torque 90 ieee Hysteresis for PAB9. 0-300% 5% torque eferto parameter PAGS |The polarity setting function: or | Polatty of arival Pasi |_PA8S Comparator e 7 torque | _=0 _| Torqueindependent to direction >0 Only detact COW torque ' <0 Only detect CW torque Hysteresis ofzero 92 Hysteresis for PATS. 0-100 rpm 5 speed detecion The deley time of [This parameter detines the delay time fromthe servomotor oa ? . es 0-200 10ms 0 brake on __[enerdzedunti the action( the digital output( DO) BRK is ON ).=ShenzhenGuanhong Automation Co.,Lid- 5.2 P3 Group Parameter 5.2.1 Parameter Table SZGH-SD Series servo drivers have 4 Digital Input terminals and 4 Digital Output tenninals which can be re-defined their functions through P3 group parameters. Default valid level of Input pins is Low level. -SD Series AC Servo System- Parameter Definition Range Default Value 3.0 Digital Input DI Function 0.99 1 P3-1 Digital Input DI2 Function 0.99 2 P3-2 Digital Input DI3 Function 0-99 3 3.3 Digital Input DIé Function 0.99 4 3-15 Digital Input DI forced effectivel 00000000-11111111 00000000 P3-16 Digital Input DI forced effective? } 00000000-11111111 00000000 P3-17 Digital InputDIforced effective3 } 00000000-11111111 00000000 3-20 Digital Ouput DO1 Function 0-99 2 3.21 Digital Output DO2 Function 0.99 3 ‘3-22 Digital Output DO3 Function 0.99 5 3.23 Digital Output DO4 Function 0-99 8 3.30 Virtual Input Controt 0-1 0 P3-31 Virtual Input Statues Value 00000000-11111111 00000000 3.32 Virtual Ouput Control 0-1 0 ‘3-33 ‘Virtual Output Statues Value 00000000-11111111 00000000=ShenzhenGuanhons 5.2.2 DI Function Explanation Automation Co.,Lid- -SD Series AC Servo System- Digital Input teminals (4 input terminals are comesponding to the definitions of ?3-0, P3-1, P3-2 P33) Value Symbol Function Explanation 0 NULL No Input is deactivated SON Servo Enable Input terminal of servo enable OFF: servo drive is not enabled and servo motor is not energized ON: servo drive is enabled and servo motoris energized. ARST Alarm Clear Input terminal of alarm clear When an alarm occurs and the alarm has permission to be cleared, then the rising edge of ARST will clear the alarm. Attention: only some part of alarms has the permission to be cleared ccwL CCW Drive Inhibition 1. Input terminal of CCW drive inhibition: OFF: Inhibit CCW running ON: Enable CCW running. 2. Use this function for protection ofthe mechanical stroke limit. The function is contiolled by the parameter PA20. Pay attention that the default value of PA20 neglects this function. There fore you need to modify PA20 ifneedto use this function (1): When PA20=0, the function ofinput inhibition ic effective Order to inhibit for CCW direction is decided by PA83 (2) When PA2 the function ofinput inhibition is not effective 2s-Inhibition function is valid (PA20=0): CCW torque limits 0, but it does not limit CCW pulse input it inhibits CCW pulse input cwL CW Drive Inhibition 1. Input terminal of CW drive inhibition OFF: Inhibit CW running ON: Enable CW running 2. Use this tunction for protection ofthe mechanical stroke limit. The function is contiolled by the parameter PAZ0 Pay attention that the defauit value of PA20 neglects this function Therefore you need to modify PA20 if nsedto use this function: (1 When PA20=0. the function ofinput inhibition is effective Order to inhibit for CW direction is decided by PAB3 (2): When PA2(=1, the function ofinput inhibition is not effective 3. Inhibition functionis valid (PA20=0): (1) PA83=0, CWV torque limit is 0, but it does not limit CW pulse input (2) PA83=1, itinhibits CW pulse input Tecw CCW Torque Limitation OFF: Torque isnot limited by parameter PA36 in CCW direction. ON. Torque is limited by parameter PA36 in CCW direction. Attention: Whether the TCCW is effective or not, the torque is also limited by PA34 in CCW direction Tew CW Torque Limtation OFF: Torque is not limited by parameter PA3T in CW direction ON: Torque is limited by parameter PA37 in CW direction. Attention: Whether the TCW is effective or not, the torque is also lirrited by “4=ShenzhenGuanhong Automation Co.,Lid- -SD Series AC Servo System- PA35 in CW direction. When the following conditions are satisfied, the function of zero speed clamping is activated (speed is forced to zero) 1: speed control made (PA4=1) and extemal speed source is chosen ZeroSpeed | (PA22=0). Clamping | 2: ZCLAMP digtal inputs ON. 3: speed command is lower than the value of PAS 7 | ZcLAMP ‘When any one ofthe above conditions is nat satisfied, twill perform normal speed control In speed ortorque control mode, speed or torque input command will be 8 CZERO | Zero Command | OFF: Normal command ON: Zero command & ‘| I speed ortorque control mode, speed or torque command will be: 9 cINV OFF: Normal command ie ON: Reverse Command In speed control mode (PA4=1) and internal speed selection (PA22=1) 10 ?1 | SpeedChoice1 | SP1 and SP2 combinations are used to select different intemal speeds SP2= OFF, SP1= OFF: intemal speed 1PA24) SP2= OFF, SP1= ON: intemal speed 2 (PA25) 1" sp2 | SpeedChoice2 | SP2= ON, SP1= OFF: intemal speed 3 (PA.26) SP2=ON, SP1= ON: intemal speed4 (PA27) In torque control mode (PA4=2) and intemal torque selection (PA32=1) 8 TRQ1 | Torque Choice 1 | TRO1 and TRQ2 combinations are used to select different intemal torque TRQ2 =OFF, TRO1= OFF: intemal torque 1 (PA-64) TRQ2 =OFF, TRQ1= ON: intemal torque 2 (PA-65) 4 TRQ2 | Torque Choice 2 | TRQ2 =ON, TRA1= OFF: internal torque 3 (PA-G6) TRQ2 =ON, TRO1= ON: intemal toque 4 (PA-67) When PA4 is set to3, 4,5, itis in mix control mode. It can change control ‘mode with this input terminal (1)PA4=3, CMODE =OFF,, tis posttion control moce: 16 | cmope | MxCono! | CMODE -ON, itis speed contol mode Mode (@)PAd=4, CMODE =OFF. itis position control mode: CMODE =ON, itis torque control mode (@PAd=5, CMODE= OFF, tis speed control modo CMODE= ON, itistorque control mods When PAT1=0, Geart and Gear? combinations are used to select 48 | GEARI | Electronic Gear | different numerator of gear ratio GEAR2=OFF, GEAR1 =OFF: numerator 1 (PA-12) is selected GEAR2= OFF, GEAR1 =ON: numerator 2 (PA-77) is selected GEAR2= ON, GEAR1= OFF: numerator 3 PA-78) is selected 2 GEAR2 | Electronic Gear2 | GF spo- ON, GEARI= ON: numerator (PA-T3) is selected oun Position | In position control mode, iti the pesition deviation counter clear input Deviation Clear_| terminals 34 ‘ai Input Puise _ | In position contiol mode itis position command pulse inhibit terminal innibit__| OFF: permits the position commane pulse to go through the dive 45=ShenzhenGuanhons Automation Co.,Lid- -SD Series AC Servo System- ON: position command pulse is inhibited (motor stops even ifthe controler sends the command pulse) In speed control mode, ifPA22=5, by activating his input, motor starts in inching motion in CCW direction with a speed which is set by PA21 2 JocP | CCWinching ‘Attention: If both JOGP and JOGN inputs are activated simultaneously, inching function does not work. In speed control mode, ifPA22=5, by activating this input, moter starts in inching motion in CW direction with a speed which is set by PA21 B JOGN CW inching Attention: If both JOGP and JOGN inputs are activated simultane ously, inching function does not work. intemal Position | When at intermel position register mode, the signal ON and motor will stop a HOLD Control | moion.(Only can be used when intemal position mode parameter Command Stops | PA-14=3) Chose POS0-2iinternal Position register control command) when at intemal Position intemal position register mode, then signal will be tiggered, and motor 2B cTRG Command motion according to the command. Only after output ZSPD=1, it would nog received the next intemal position command intemal Pesitien |] Position Corre spending 2» Paso Command || Command | POS? | POSt | POS | CTRG Parametor selection 0 Pia Pt 0 0 a 1 intemal Position PL3 30 Post Command P&S P2 ° ° 1 1 selection 4 PAG PLe P3 ° 1 f t Pig Patt PA ° 1 1 1 Pat2 intemal P Ps 1 0 o t Pata internal Pesitien 31 Pos2 Command oe PAT selection 2 PG 1 0 1 t PAB PaZ0 PT 1 1 ( t Pa2t Pas Pe 1 1 1 t aga When at intemal register mode, the origin needto be found and the 3 SHOM | Start Homing | searching origin function is started after the signal connected.(Please consultthe setting about P4-34) Searching origin when at intemal register mode, the point wil become 4 ORGP The Origin origin ater servo system connected.( Please consult the setting of 4-32.) 46=ShenzhenGuanhong Automation Co.,Lid- -SD Series AC Servo System- 5.2.3 DO Function Explanation Digital Output terminals (4 Output terminals are corresponding to the definitions of P3-20, P3-21 3-22, P3-23) Value | Symbol Function Explanation 1 ON. Always valid _| Forced Output ON. 7 se Sewo Resdy | OFF servo main power supply is OFF, or there s an alam | ON: servo main power supply is normal, no alam, OFF. there is an alarm 3 x — ON:no alarm Th speed or torque control mode: OFF: motor speed is higher than the value of PA-75 4 ZsP Zero Speed. (independent to direction). ON: motor speed is lower than the value of PA-75 (independent to direction). es Ih position control mode 5 | con Completion | OFF position deviation is bigger than parameter PA-16 ON: position deviation is smaller than parameter PA-16 In speed or torque control mode: Z xe angen OFF motor speedis lower than parameter PA28 ON: motor speed is higher than parameter PA28 Refer to the explanation of PA28 for polarity selection. OFF motor torqueis lower than parameter PA89 7 | ATRQ At Torque ON: motor torque is higher than parameter PAS9. Refer to the explanation of PA89 for polarity selection. ‘ rq | Electromagnetic | OFF electromagnetic brake engages the brake with rotor Brake ON: electromagnetic brake releases the brake from rotor. 4 can Shenae OFF servo motoris not energized ON: servo motor is energized. In position control mode: 10 NEAR | Approach Position | OFF: position deviation is bigger than parameter PA-85. ON: position deviation is smaller than parameter PA-85 OFF: motor torquehas notreached the limitation. 1 | TRQL | Torque Limitation | ON: motor torque has reached the limitation. Torque limitation is set by PA34, PA35, PA36 and PA37. Ih torque control mode OFF: motor speed has not reached the limitation. 2 Sa Secee EARN | ony tou aneeahay seached ghetandatipa! Speed limitation is set by PA-5O. ‘Output the speed coincidence(VOOIN ON) when the Speed Coincidence | difference between the speed command and the motor n° | SCORN Range speed is equal to or smaller than the speed specified by this parameter PA76, otherwise is OFF. Origin regression | OFF Origin regression not completed no output signal 15 HOME Fs complete ON:Origin regression completed, output signal 16 | camox | _temal Postion | OFF When intemal postion command not competed or Command complete stop.no output signal GP=ShenzhenGuanhong Automation Co.,Lid- -SD Series AC Servo System- ON: When internal position command competed or stop, cutpat signal after the time set by P4-1 5.2.4 DI Forced activated ‘There are 3 parameters (P3-15, P3-16, and P3-17) in P3-group which are used to tum the digital inpats ON and OFF by bits. They are useful when you need to communicate with chive through MODBUS protocol. (2) Corresponding functions for P3-15 is represented by 8-bit binary: bit Bit? Bit Bitd Bitt Bits BED Bil Bitd| Function | czero | zcLamp| tcw | tccw | cwL | ccwL | arsT SON (2) Comesponding functions for P3-16 is represented by 8-bit binary: bit BT Bit6 BitS Bit Bid BED Bil BO Function | cMope | NuLL | m@ | Ra | NULL SP SPI caNV (3) Comesponding fimetions for P3-17 is represented by 8-bit binary: bit Bit7 Bits Bits Bitt Bid Bi2 Bel BO Function | NULL | J0GN | 0G? INE cir | Gear2 | Geari | NULL (4) Comesponding fimctions for P3-18 is represented by 8-bit binary: bit Bit? Bit Bi Bitt Bit} Bed Bitl Bit Function | NULL | FOS? 2081 poso | cree | worp | nutz | Nuit (5) Comesponding fimetions for P3-19 is represented by 8 bit binary: bie Bit? Bits Bits Bits Bits Be Bitt Bito Function | Nutt | nut | nun | num | nu | nu | oxrc | sxom Parameter explanation: Already Planned means functions of parameters has been chosen by P3-0~P3-3 in digital input definition DII-DI section. ‘Unplamed means functions of parameters has not been chosen by P3-0~P3-3. ANY of3 parameters_| Corresponding Function Result Unplanned OFF (forced Deactivated) 0 Its function is according to its definition Already Planned zs through related parameter P3-0~P3-3. Either Unplanned Or ‘Acad Wiad ON (forced Activated) 48=ShenzhenGuanhong Automation Co.,Lid- -SD Series AC Servo System- 5.3 P4 Group Parameter ‘NO. | Paraname Function Parameter | Initial Range | Value PHO | Tntemal position | O:Absolute position instruction v1 0 instruction control _| 1-Incremental position instruction mode P41 Afier the internal command or stop and then 0~200ms 0 waiting for the while set by P4-1, Output intemal position to finish DO signal When P4-1 set to 0, the ZSPD set to 1. it will Intemal position _| received the signal to trigger internal position command completes | command. digital output delay | Setting P4-1 set to other number, or setting to 1 after DO signal finished Intemal Position Command complete(CMDOK), andthe Intemal Position Command can be triggered by DI Signal Command trigger(CTRG), P4-2_| Setting the laps of 3000-30 | 0 position of intemal | Setting the laps of position at the first step 000 position instruction | intemal position. 1 PHS | Setiing thepulse of | 1 Setting the position andpulse at the fist 0 internal position intemal position tamax, instruction 1 2 Intemal position instruction 1= the value of cntirev laps in positiontthe value of pulse at first intemal position. Setting speed of __| Setting speed of intemal position control 1 0-5000rmi | 1000 P44 | intemal position n control 1 Setting the laps at 0 P45 | position of Setting the laps at position of intemal position | -30000-30 intemal position _| instruction 2 000 instruction 2 Setting thepulse in| Setting the laps at position of intemal position one cycle at position | instruction 2 +/amax. P46 | ofintemal position | Intemal position instruction 2= the value of catirev 0 instruction 2 laps in position*the value of pulse at second intemal position. Setting speed of | Setting speed of intemal position control 2 0-5000r'mi P4-7 | intemal position a 1000 control 2 Setting the laps at 3000030 | 0 P48 | position of Setting the laps at position of intemal position 000 intemal position _| instruction 3 instruction 3 49=ShenzhenGuanhong Automation Co.,Lid- -SD Series AC Servo System- Setting thepulse in | Setting the laps at position of intemal position one cycle at position | instruction 3 +/amax. P49 | ofintemal position | Intemal position instruction 3= the value of catirev 0 instruction 3 laps in position*+the value of pulse at third intemal position. Setting speedof __| Setting speed of intemal position control 3 4-10 | intemal position 0-5000r'mi | 1000 control 3 a Setting thelaps at _ | Setting the laps at position of intemal position P4-11 | position of instruction 4 3000030 | 0 internal position, 000 instruction 4 Setting thepulse in | Setting the laps at position of intemal position one cycle at position | instruction 4 4-12 | ofintemal position | Intemal position instruction 4= the value of +/max. 0 instruction 4 laps in positionthe value of pulse at forth catirev intemal position. Setting speed of __| Setting speed of intemal position control 4 4-13 | intemal position 0-5000r'mi | 1000 control 4 a Setting thelaps at _ | Setting the laps at position of intemal position 4.14 | position of instruction 5 3000030 | 0 internal position 000 instruction 5 Setting the pulse in| Setting the laps at position of intemal position one cycle at position | instruction 5 +/max. 0 4-15 | offntemal position | Intemal position instruction 5= the value of catirev instruction 5 laps in position+the value of pulse at fifth intemal position. Setting speed of __| Setting speed of intemal position control 5 1000 4-16 | intemal position 0-5000r'mi control 5 a Setting thelaps at__| Setting the laps at position of intemal position P4417 | position of instruction 6 -30000-30 | 0 internal position 000 instruction 6 Setting the pulse in | Setting the laps at position of intemal position one cycle at position | instruction 6 +/max. 0 4-18 | offntemal position | Intemal position instruction 6= the value of catirev instruction 6 laps in positiontthe value of pulse at sixth intemal position Setting speed of __| Setting speed of intemal position control 6 1000 P4-19 | intemal position 0-5000r'mi control 6 a Setting thelaps at __ | Setting the laps at position of intemal position P4-20 | position of instruction 7 -30000-30 oO=ShenzhenGuanhong Automation Co.,Lid- -SD Series AC Servo System- intemal position 000 instruction 7 Setting thepulse in| Setting the laps at position of intemal position one cycle at position | instruction 7 imax. 0 P4.21 | ofintemal position | Intemal position instruction 7= the value of cutirey instruction 7 laps in positionthe value of pulse at seventh, intemal position. Setting speed of Setting speed of intemal position control 7 1000 internal position 0-5000r'mi control 7 n Setting thelaps at _ | Setting the laps at position of intemal position P4.23 | position of instruction 8 -30000-30 | 0 intemal position 000 instruction 8 Setting the pulse in| Setting the laps at position of intemal position one cycle at position | instruction +/amax. 0 P4.24 | of intemal position | 2. Intemal position instruction 8= the value of | cnt/rev instruction 8 laps in position+the value of pulse at seventh. intemal position. Setting speed of __| Setting speed of intemal position control 8 1000 4.25 | internal position 0-5000r'mi control § n 0; Retum to origin forward, as CCWL as origin Origin detectortype | 1 Retum to origin reverse. as CWL és origin 4.32 | and search direction | 2:Retum to origin forward, as ORGP as origin 0-5 0 setting 3-Retum to origin reverse, as ORGPas origin 4Search Zpulse and used it as origin forward. S-Search Zpulse and used it as origin reverse. 0; Found reference origin thea find Z pulse as ‘The setting of short | mechanical origin inversely 0 range movement —_| 1:Found reference origin and further to find Z P4.33 | modetoreach the | pulse as mechanical origin 0-2 origin 2Find the sising edge of ORGP detector as mechanical origin and then decelerate to stop(when P4-33 set to 2, P4-32 can set to 2, 3. 4.5. 434 0: Close 1: Execution automatically when power on 0 Origin regression _| 2: Origin regression activated when origin 02 startmode searching function(SHOM) input contact, P435 0: After origin detection finished, motor come 0 Origin cease mode _| back to origin with deceleration st setting 1: After origin detection finished, motor decelerate to stop further.=ShenzhenGuanhong Automation Co.,Lid- -SD Series AC Servo System- Setting the origin regression speed at Ist high speed range ‘The origin regression speed 1000 4.36 | setting at Ist high 12000 speed rinin, range(HSPD1) P437 | The ongin regression speed —_| Setting the origin regression speed at 2nd 1.500 50 setting at 2nd high | high speed range rimin speed range(HSPD2) P438 | The number of offset cycles should | Setting the number of offset cycles -30000 0 move afier origin ~ regression +30000 (HOF1) P4£39 | The number of Setting the number offset pulse offset pulse should | When HOF1 and HOF? are setting to move after origin _| 0, the origin will be chosen to Z pulse or ORPG 0 regression. according to the type of origin regression If imax. (HoR2) setting to another value, origin will additionally | cutirev add (HOF~10000+HOF2) as new origin at the base of chosen Z pulse or ORGP=ShenzhenGuanhong Automation Co.,Lid- -SD Series AC Servo System- Chapter 6 Alarm Alarm No. | Fault Name Reason of alarm = Normal 1 Over-speed Motor speedis greater than the setting value 2 Main circuit over-volage The voltage of main circuit istoohigh Main circuit under-Voltage The voltage of main circuit istoolow The value ofposition deviation counter is more than the 4 Overcravel limit value 5 Drive over-heat The temperature of the drive is too high Motor speed has not reached tothe Speed command for 6 Speed amplifier saturation fault long time 7 Drive inhibition abnormal The inputs of CW/CCW drive inhibition are not effective 8 Position deviation accumulationis | Absolute value of position deviation accumulation is greater out of range than 2% pulses. 9 Encoder error Encoder Signal Error Power line UVW to moto is disconnected or one phase is, 10 Disconnection alarm disconnected “1 IPM module error IPM smart module ror Servo drive and motor overload (or over heat 3 Drive overload instantaneously) 14 | Brake fault Regenerative breke resistor circuit Enor 15 Encoder counter error Encoder counts wrongly 19 Delay to open the brake PAS4 was set too big 20 EEPROM enor EEPROM error 2 FPGA module error FPGA module function is abnormal 23 Current sampling circuit fault Current sensor or sampling circutt fault PA3U and PA31 settings are unreasonable: 29 | Alarm for torque overload Large load suddenly occurs 30 Encoder Z-pulse missing Encoder Z-pulse error Encoder UVW signal corupted: Encoder Z signal comupted Bad cables Hn Encoder UW signal error Bad shielding of cables The shielding ground is not connected wall The circuit around the encoder interface occurs error All UVW signal ofthe encoder are in high level or low level 32 legal coding of encoder UVW signal Or the encoder is mismatched 33 UVW signal fault No high-Z at encoder outputs in powering ON ofthe drive 34 | UVW signal unstable UVW signal unstable gg | When connecting to Sire encoder, | When connecting to S4ine encoder legal states for long illegal states forlong time time at encoder outputs=ShenzhenGuanhong Automation Co.,Lid- -SD Series AC Servo System- 42___| AC input under-voltage AC input under-voltage Over-voltage when main circuit in ar Over-voltage when main circuit in power ON power ON CRC check occurs errors for 3 times 55 ‘The check for intemal communication occurs error in a row 56___| MODBUS frame is too long DataReceiving fomMODBUS frame is too long MODBUS serial communication or Internal communication abnormal abnormal=ShenzhenGuanhong Automation Co.,Lid- -SD Series AC Servo System- Chapter 7 Solution for Solve Alarm ‘Alam | Alana Motion state Reason Measures No._| name Emerge with connecting | The board of control Exchange the servo diiver. control power electric circuit in trouble. | Exchange the servo motor. Encoder in trouble, The pulse Hequency input | Input pulse frequency conectly toohigh ‘Acceleration/Deceleration | Increase the number of time is so short that speed | acceleration/deceleration time overshoot is too large Emerge with motor Ttis large for the rate of | Setting it correctly working electronic gear Encoder in trouble Exchange the servo motor 1 | Overspeed Encoder cable in trouble | Exchange the encoder cable Reset the gain number The unstable servo Iunable to set to appropriate system lead to speed number, please try to decrease overshoot the dynamic inertia ratio. Decrease the loads Excessive load Replace driver and motor by Emerge once motor be in high power motion Exror for zero point of ‘Exchange the servo motor. encoder. Enror for connection of Demand manufacturer to reset motor cable(U, V, W). zero point of encoder Encor for connection of | Connection catle correctly. encoder cable. Emerge with connecting control power The circuit board Exchange the servo driver breakdown Emerge with connecting | Power supply voltageis main circuit toohigh Check up the power supply Power supply voltage waveform abnormally 2 Main Brake resistance Recover the connection circuit disconnected. over Brake wansistor voltage breakdown. Exchange the servo driver Internal brake resistance breakdown,=ShenzhenGuanhons Automation Co.,Lid- -SD Series AC Servo System- Emerge with motor working The resistance is insufficient Reduce the frequency of Start Stop Increase thenumber of acceleration/deceleration time Decrease the limited number of torque. Decrease the loads inertia. Replace the driver and motor by high power Emerge with connecting main circuit The board of circuit breakdown, The insurance of power supply breakdown, The soit-startup power supply in trouble Rectifier breakdown, Exchange servo driver The power supply under Main voltage 3. | circuit The time of power cut} Check the power supply under more than 20 seconds Se The power capacity is not enough Check the power supply Emerge with motor Instantaneous power working failure. Heatsink OT Check the case of loads Emerge with connecting | The board of power Exchange the servo diver coatral power breakdown, ‘Affer everything were | Zero point change for | Adjust the zero point for installed,the motor not to | encoder. encoder, rotate or reverse Encoder breakdown. Exchange the servo diver. The detection range of | Increase the detection of position overshoot is too | position overshoot small. Position proportional gain | Increase the number of gain Position is too small 4 | overshoot Emerge with motor working Torque deficiency Check the limited number of torque. Decrease the loads. Switch to more powerful drivers md motors.=ShenzhenGuanhons Automation Co.,Lid- -SD Series AC Servo System- The pulse frequency of instruction too high Decrease the frequency Zero change of encoder Reset the zero of encoder Emerge during the The board of circuit in Decrease the temple of driver. 5 | Driver | motion of driver trouble. Exchange the servo driver. overheatin Driver overheating. g ‘The speed, Decrease the load. increase Overload Switch to more powerful 6 | reach even | Emerge with motor The motor was stuck by _| drivers andmotors. more than | working machine, Check the load part of the largest machine. limitation 7 | The stop Check the connection of cable instruction The driver plug for input of driver is CW/CCW disconnected. abnonmal 8 | The date Check the load part of exceed the The motor was stuck by | machine. limitation machine, Check instruction pulse. Position Inpat instruction pulse | Check whesher the motor deviation abnonmality. rotates according to the counter instruction pulse Exchange the serve chiver Circuit board fault Check the driver Under voltage Power on again Emerge with connecting | Overheating Exchange the driver PM control power 11 | module Check the cable connection failure The motor cable(U, V.W) Short-circuit Bad contact of ground Connection comectly=ShenzhenGuanhong Automation Co.,Lid- -SD Series AC Servo System- Emerge with motor working The insulation was Exchange the motor damaged. ‘Addline Filter Be disturbed Far away fiom the disturb origin B Overload Emerge with connecting control power The circuit board fault Exchange the servo chiver Emerge with motor working Motion over rated torque Check the load. Decrease the frequency of Starstop, Decrease the limitation of torque witch to more powerful drivers and motors. Holding brake close Check the brake Motor unstable oscillation ‘Adjust the gain Increase thetime of acceleration/deceleration Reducing load inertia One of U, V.W cable disconnected. Error connection of encoder cable. Check the connection of cable 4 Brake failure Brake circuit failure Exchange the driver 15 Encoder counting exor Encoder breakdown Incorrect number of encoder line The encoder disc breakdown, False Z signal exist in encoder Exchange the encoder The encoder cable connection is incorrect Check the connection Imprefect grounding Conect grounding Check whether the shield line is grounded=ShenzhenGuanhons Automation Co.,Lid- -SD Series AC Servo System- Relay switch 18 | filure Relay damage Retum to factory for repair Brake Parameter values setting holding so large that the control | Decrease the number of 19 | delay not pulse is coming but the | PASS opened brake hasn't been opened yet Exchange the servo motor. EEPROM Chip or circuit board After repairing. driver model 20. | Fault damage must bereset(PA 10) then restored default parameters FPGA Module FPGA module Exchange the driver 21 | fiilure dysfunction Curent 23 | Acquisitio Current Acquisition Exchange the serve chiver n Circuit Circuit Fault Fault User PA30, PA3I parameters Torque is Unreasonable. Modify parameters. 29 | Ovetload Unexpectedheavy load _| Inspection machinery Alam Z palse does not exist and encoder is damaged Poor cable Z-palse Poor shielding of cables. | Exchange the encoder. 30 | loss of Shielded ground wire not_| Check Coder Interface Circuit encoder connected properly Encoder Interface Circuit Fault. Encoder and UVW Signal breakdown. The Z signal of encoder Encoder breakdown. Exchange the encoder. 31 | and UVW Bad cable. Check the encoder interface Signal Bad shielding of cables. _| circuit. Exror Shielded ground wire not connected properly. Encoder Interface Circuit Fault.=ShenzhenGuanhong Automation Co.,Lid- -SD Series AC Servo System- Encoder and UVW Signal breakdown. ‘The signal Bad cable. of encoder Bad shielding of cables. | Exchange the encoder. 32. | and U,V. Shielded ground wire not | Check the encoder interface Weede connected properly. circuit. illegal Encoder Interface Circuit Fault Setting parameter PA62 Dart comectly 33 | encoder Parameter mismatch alarm The signal Check the connection 34 | of U.V.W The signal of U, V, W instability instability ‘When connect When connect dart Check the connection 36 | dart encoder, the length of encoder, illegal time excessive thelengt ofiillegal time ACinput | Running on power failure | Normal. Check the input of AC 220V 42 | voltage is ACinput voltage is too too low low Overvolta Check the input of AC 220V. ge ofmain Extemal AC voltage Exchange driver 47 | circuit input is too high when Main Circuit Fault power on, 6~ShenzhenGuanhong Automation Co.,Lid- -SD Series AC Servo System- Three MODBUS Exchange driver consecutiv communication dita CRC 55. | eerors in calibration exor cRC continuously calibration Confirm the length of frame. MODBUS Communication protocol | Increase line filter. away from 56 | fiame mismatch interference overlength Be disturbed enor Improper setting of MODBUS communication Exchange the driver. 57 | abnormal parameters. communic Incorrect ation communication address format or value 6