SD700 User Manual 20230516 (EN)

Редакция 06/2023 Contents Contents .............................................................................................................................................. I 1 Abstract ........................................................................................................................................... 1 Safety Precautions .............................................................................................................. 1 Series Introduction ............................................................................................................

10 Name of Each Part of the Servo Drive ............................................................................... 11 Basic Information of Servo Drive ...................................................................................... 12 Installation Dimensions ......................................................................................... 12 Installation Way ..................................................................................................... 14 Specifications and Electric Parameters ................................................................

15 System Diagram................................................................................................................ 20 Basic specifications ............................................................................................... 16 System Configuration Examples ....................................................................................... 21 Drive Name ....................................................................................................................... 22 Maintenance and Inspection of Servo Drive .....................................................................

23 Inspection of Servo Motor ..................................................................................... 23 Approximate Standards for Changing Internal Parts of Servo Drive ..................... 24 Inspection of Servo Drive ...................................................................................... 23 Motor Name ...................................................................................................................... 25 Precautions during Operation and Running .......................................................... 24 Dimension of Motors .......................................................................................................

26 2 Panel Operation ............................................................................................................................ 32 2.1.1 Keys’ Names and Functions of the Panel Operator .............................................. 32 2.1.2 Functions Switch ................................................................................................... 33 2.1.3 Status Display ....................................................................................................... 33 2.2 Operations of Auxiliary Functions (Fn group) ...................................................................

34 2.3 Operations of Parameter (Pn Group) ................................................................................ 34 2.4 Operations of Monitoring Display Un Group ..................................................................... 35 3 Wiring and Connections ................................................................................................................ 36 2.1 Basic Operation................................................................................................................. 32 3.1 Main Circuit Wiring ............................................................................................................

36 3.1.1 Terminals Description ............................................................................................ 36 3.1.2 Recommended Model and Specification of Main Circuit Connection Cable......... 37 3.1.3 Wiring Diagram ..................................................................................................... 38 3.1.4 Main Circuit Wiring Requirements......................................................................... 41 3.2 Motor Power Line Connection ...........................................................................................

42 3.3 CN2 Encoder Connection ................................................................................................. 44 3.4 Holding Brake Line Connection ........................................................................................ 45 3.5 CN7 USD Communication Terminal (Connect to Host Machine) ...................................... 47 3.6 Connection of CN6A and CN6B Communication Terminal ............................................... 47 3.7 CN5 Full Closed Loop Port ...............................................................................................

48 3.8 CN1 Multifunctional Control Terminal Definition ............................................................... 50 3.9 Digital Input Signal ............................................................................................................ 51 3.9.1 Input Signal Descriptions ...................................................................................... 51 3.9.2 Input Signal Configuration ..................................................................................... 52 I SD700 Series Servo Technical Manual

Стр. 1

3.9.3 Confirming the Input Status ................................................................................... 54 3.10 Digital Output Signal ....................................................................................................... 54 3.10.1 Output Signal Descriptions .................................................................................. 54 3.10.2 Output Signal Configuration ................................................................................ 56 3.10.3 Confirming the Output Status ..............................................................................

56 3.11 Connection with the Upper Device .................................................................................. 57 3.11.1 Analog Input Circuit ............................................................................................. 57 3.11.2 Position Instruction Input Circuit .......................................................................... 57 3.11.3 Sequence Control Input Circuit ........................................................................... 61 3.11.4 Sequence Output Loop .......................................................................................

61 3.12 Position Control Wiring Diagram ..................................................................................... 63 3.13 Speed Control Wiring Diagram ....................................................................................... 64 3.14 Torque Control Wiring Diagram ....................................................................................... 65 3.15 Regenerative Resistor Connection ................................................................................. 66 3.15.1 Connection of Regenerative Resistors ...............................................................

66 3.15.2 Selection of Regenerative Resistor ..................................................................... 66 3.16 Fuse ................................................................................................................................ 67 3.17 Circuit Breaker ................................................................................................................ 68 3.18 EMC Filter ....................................................................................................................... 69 3.19 Noise and High Harmonic Countermeasures .................................................................

69 4 Trial Operation .............................................................................................................................. 71 4.1 Inspections and Notes before Trail Operation .................................................................. 71 4.1.1 Conditions of the Servo Motor............................................................................... 71 4.1.2 Conditions of the Servo Drive ............................................................................... 71 4.1.3 Installation .............................................................................................................

71 4.2 JOG Trail Operation .......................................................................................................... 71 5 Operation ...................................................................................................................................... 72 5.1 Basic Functions ................................................................................................................. 72 5.1.1 Quick Guide........................................................................................................... 72 5.1.2 Servo Enable and Over-Travel Setting .................................................................

72 5.1.3 Motor Rotation Direction ....................................................................................... 74 5.1.4 Stop Mode ............................................................................................................. 74 5.1.5 Electromagnetic Brake .......................................................................................... 75 5.1.6 Regenerative Resistor ........................................................................................... 77 5.1.7 Overload ................................................................................................................

77 5.1.8 Multi-turn Absolute Encoder .................................................................................. 79 5.1.9 Torque Limit ........................................................................................................... 80 5.2 Position Mode ................................................................................................................... 82 5.2.1 Quick Guide........................................................................................................... 82 5.2.2 Basic Settings .......................................................................................................

83 5.2.3 Deviation Clearance .............................................................................................. 84 5.2.4 Command Pulse Prohibition .................................................................................. 86 5.2.5 Positioning Approach ............................................................................................ 86 5.2.6 Positioning Completion ......................................................................................... 87 5.2.7 Command Pulse Input Magnification Switching ....................................................

88 5.2.8 Smooth Settings .................................................................................................... 89 5.2.9 Frequency-division Output .................................................................................... 90 5.3 Speed Mode ...................................................................................................................... 93 5.3.1 Quick Guide........................................................................................................... 93 II SD700 Series Servo Technical Manual

Стр. 2

5.3.2 Basic Settings ....................................................................................................... 93 5.3.3 Soft Start ............................................................................................................... 96 5.3.4 Zero Fixed Functions ............................................................................................ 97 5.3.5 Rotation Detection Signal ...................................................................................... 98 5.3.6 Consistent Speed ..................................................................................................

99 5.4 Torque Mode ................................................................................................................... 100 5.4.1 Quick Guide......................................................................................................... 101 5.4.2 Basic Setting ....................................................................................................... 101 5.4.3 Adjustment of Command Offset .......................................................................... 103 5.4.4 Speed Limit in Torque Control .............................................................................

104 5.5 Hybrid Control Mode Selection ....................................................................................... 104 5.6 Other Output Signals ...................................................................................................... 107 5.6.1 Servo Ready Output Signal ................................................................................. 107 5.6.2 Warning Output Signal ........................................................................................ 107 5.7 Timing Sequence ............................................................................................................

109 5.7.1 Power Enable ON Timing sequence ................................................................... 109 5.7.2 Power-Off Enable OFF Timing Sequence ............................................................ 110 5.8 Full Closed Loop Control ................................................................................................. 110 5.8.1 What Is a Fully Closed Loop System ................................................................... 110 5.8.2 Parameter Setting of Full Closed-Loop Control ................................................... 111 5.8.3 Control Block Diagram of Full Closed Loop Control ............................................

112 5.8.4 Setting of Motor Rotation Direction And Machine Moving Direction .................... 112 5.8.5 Resolution of External Grating Ruler ................................................................... 113 5.8.6 Setting of Frequency Division .. 114 6 Adjustment ................................................................................................................................... 119 6.1 Adjustments...................................................................................................................... 119 6.1.1 Adjustments Steps ...............................................................................................

119 6.1.2 Safety Precautions When Adjusting .................................................................... 120 6.2 Robust Control ................................................................................................................ 121 6.2.1 Summary ............................................................................................................. 121 6.2.2 Operating Procedure ........................................................................................... 122 6.2.3 Additional Notes ..................................................................................................

122 6.2.4 Related Parameters ............................................................................................ 123 6.3 Inertia Identification ......................................................................................................... 124 6.3.1 Summary ............................................................................................................. 124 6.3.2 Steps ................................................................................................................... 124 6.3.3 Additional Notes ..................................................................................................

124 6.4 Intelligent Setting ............................................................................................................ 125 6.4.1 Summary ............................................................................................................. 125 6.4.2 Steps ................................................................................................................... 126 6.4.3 Additional Notes .................................................................................................. 127 6.4.4 Related Parameters ............................................................................................

128 6.5 Bandwidth Setting ........................................................................................................... 129 6.5.1 Profile .................................................................................................................. 129 6.5.2 Steps ................................................................................................................... 129 6.5.3 Additional Notes .................................................................................................. 130 6.5.4 Related Parameters ............................................................................................

131 III SD700 Series Servo Technical Manual 5.87 Seting of Electronic Gear5.87 Seting of Electronic Gear 5.8.6 Setting of Frequency Division Pulse Output Signal of Grating Ruler / Encoder 5.8.7 Setting of Electronic Gear 5.8 Seting of alrm detcion5.8 Seting of alrm detcion ......................... ...................................................... ................................................................................ 5.8.8 Setting of alarm detection

Стр. 3

6.6.1 Servo Gain .......................................................................................................... 132 6.6.2 Gain Switching .................................................................................................... 134 6.6.3 Speed Feedforward ............................................................................................. 137 6.6.4 Torque Feedforward ............................................................................................ 137 6.6.5 PI-P Switching .....................................................................................................

138 7 Auxiliary Functions ...................................................................................................................... 142 6.6 Manual Adjustment Function ........................................................................................... 132 7.1 List of Auxiliary Functions ............................................................................................... 142 7.2 Alarm Records Display (Fn000) ...................................................................................... 142 7.2.1 Overview .............................................................................................................

142 7.2.2 Operating Procedure ........................................................................................... 143 7.3 Clear Alarm Record (Fn001) ........................................................................................... 143 7.3.1 Summary ............................................................................................................. 143 7.3.2 Operating Procedure ........................................................................................... 143 7.4 Software Reset (Fn002) ..................................................................................................

143 7.4.1 Summary ............................................................................................................. 143 7.4.2 Operating Procedure ........................................................................................... 144 7.5 Restore Factory Parameters (Fn003) ............................................................................. 144 7.5.1 Overview ............................................................................................................. 144 7.5.2 Operating Procedure ...........................................................................................

144 7.6 JOG Operation (Fn005) .................................................................................................. 144 7.6.1 Overview ............................................................................................................. 144 7.6.2 Operating Procedure ........................................................................................... 145 7.7 Program JOG Operation (Fn006) ................................................................................... 145 7.7.1 Overview .............................................................................................................

145 7.7.2 Operating Procedure ........................................................................................... 146 7.8 Automatic Adjustment of Command Offset (Fn100) ....................................................... 146 7.8.1 Overview ............................................................................................................. 146 7.8.2 Operating Procedure ........................................................................................... 146 7.9 Speed command Offset Manual Adjustment (Fn101) .....................................................

147 7.9.1 Overview ............................................................................................................. 147 7.9.2 Operating Procedure ........................................................................................... 147 7.10 Torque Command Offset Manual Adjustment (Fn102) ................................................. 147 7.10.1 Overview ........................................................................................................... 147 7.10.2 Operating Procedure .........................................................................................

148 7.11 Current Offset Automatic Adjustment (Fn103) .............................................................. 148 7.11.1 Overview ............................................................................................................ 148 7.11.2 Operating Procedure ......................................................................................... 148 7.12 Current Offset Manual Adjustment (Fn104) .................................................................. 148 7.12.1 Overview ...........................................................................................................

148 7.12.2 Operating Procedure ......................................................................................... 149 7.13 Initializing the Detection Value of Vibration Detection (Fn105) ..................................... 149 7.13.1 Overview ........................................................................................................... 149 7.13.2 Operating Procedure ......................................................................................... 150 7.14 Bandwidth Settings (Fn303) ..........................................................................................

150 7.14.1 Overview ........................................................................................................... 150 7.14.2 Operating Procedure ......................................................................................... 151 7.15 EasyFFT (Fn401) .......................................................................................................... 151 7.15.1 Overview ........................................................................................................... 151 IV SD700 Series Servo Technical Manual

Стр. 4