Action technology A3 User manual

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SERVO DRIVE
A3 SERIES INSTRUCTION MANUAL
Preface................................................................................................................................2
1. About the instruction manual....................................................................................2
2. Confirm the following items before unpacking.........................................................2
3. Safety precautions....................................................................................................2
1. Product introduction and model selection.................................................................6
1.1 Introduction of nameplate and model name (For servo motor and drive) .............6
1.2 Parts name of servo motor and drive.....................................................................7
1.3 Model name of servo drive and motor....................................................................8
1.4 Model selection of peripheral braking resistor .......................................................8
1.5 Selection of cables and connector accessories for A3 products...........................9
2. Installation and size of servo motor and drive.........................................................10
2.1 Installation environment conditions......................................................................10
2.2 Dustproof and waterproof.....................................................................................10
2.3 Installation method and space..............................................................................10
2.4 Dimensions of servo motor...................................................................................12
2.5 Dimensions of servo drive....................................................................................17
3. Wiring explanation for servo motor and drive .........................................................19
3.1 Wiring diagram .....................................................................................................19
3.2 Drive connector and pins arrangement................................................................22
3.3 Terminal arrangement and wiring color of motor connector.................................24
4. Parameter Description ................................................................................................27
5. Operation......................................................................................................................50
5.1 Preface.................................................................................................................50
5.2 Position control mode (Pulse position command input).......................................55
5.3 Speed control mode (Analog speed command input)..........................................66
5.4 Speed control mode (Internal speed command)..................................................71
5.5 Torque control mode (Analog torque command input).........................................75
5.6 Position control mode(Internal position command)..............................................81
5.7 Description of User I/O connector (CN1) terminal arrangements........................82
6. Troubleshooting and countermeasures....................................................................90
6.1 Alarm display........................................................................................................90
6.2 Alarm handling and alarm reset ...........................................................................90
6.3 Troubleshooting....................................................................................................93

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Thank you for purchasing the Action Technology products.
This Instruction Manual provides instructions for advanced use of the A3 series servo motors.
●Before use, read this manual and manuals of relevant products fully to acquire proficiency in handling and operating the
product.
●Please read the safety precautions before using.
●Store this manual in a safe place so that you can take it out and read it whenever necessary.
●As for products under development, specifications are subject to change without notice.
Preface
Incorrect operation and handling, couldn’t have a full display of the various performance that designed, and may cause
hazardous conditions and shorten the service life. Please operate the product correctly before you have read through the
instruction manual correctly.
1. About the instruction manual
○,1We make an effort to perfect this instruction manual, but if you have found some mistakes or uncertain points, please
contact Action Technology at any time.
○,2Please note the following items on the instruction manual
●Danger exists as it’s the high-voltage device.
●There are some residual voltage on the terminals or the units after power OFF and it is dangerous.
●High temperature locally
●Disassembling is prohibited.
○,3The product specifications and functions may change and increase, as the product performance upgraded. They are
subject to change without notice.
○,4Plan to obtain the Certificate of safety specification for the product’s device, please consult our sales representative.
○,5To extend the service life of motor and drive, it is necessary to use it under the correct conditions. Please follow the
instruction manual for details.
○,6The latest information should be recorded in the instruction manual and manual will be updated accordingly. If you need
the latest version, please contact the Action Technology.
○,7Without the approval of company, it is forbidden to reprint some or all of the instruction manual.
2. Confirm the following items before unpacking.
●Check if the products are the ones you ordered.
●Check if there are some damage to the products during transportation.
●Any questions, please contact theAction Technology.
3. Safety precautions
Please pay attention to the flowing safety precautions anywhere and any time during acceptance inspection, installation,

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wiring, operation and maintenance.
Indicates that incorrect handling may result in death or severe injury.
Indicates that incorrect handling may result in medium or slight personal injury or physical damage.
Indicates “Prohibitions”(Indicates what must not be done.)
Indicates “Forced”.(Indicates what must be done.)
Installing and wiring
Do not connect the motor to the commercial power.
To prevent fire or malfunction.
Do not place the combustibles around the servo motor and drive.
To prevent fire.
Be sure to protect the drives through the case, and leave specified
clearances between the case or other equipment and the drive.
To prevent electric shock, fire or
malfunction.
Install it at the place free from excessive dust and dirt, water and oil mist
To prevent electric shock, fire ,
malfunction or damage
Install the equipment to incombustibles, such as metal.
To prevent fire.
Any person who is involved in wiring and inspection should be fully
competent to do the work.
To prevent electric shock.
FG terminal of motor and drive must be grounded.
To prevent electric shock.
Perform the wiring correctly after cut off the breaker.
To prevent electric shock, injury,
malfunction or damage
Have the insulation processing when connecting cables.
To prevent electric shock, fire or
malfunction.
Operation and running
During operation, never touch the internal parts of the drive.
To prevent burns or electric shock.
The cables should not be damaged, stressed loaded, or pinched.
To prevent electric shock, malfunction
or damage.
During operation, never touch the rotating parts of the servo motor.
To prevent injury.
Do not install the equipment under the conditions with water, corrosive
and flammable gas.
To prevent fire.
Do not use it at the location with great vibration and shock.
To prevent electric shock, injury or
fire.
Do not use the servo motor with its cable soaked in oil or water.
To prevent electric shock, malfunction
or damage
Operate the switches and wiring with dry hand.
To prevent electric shock, injury or
fire.
Do not touch the keyway directly when using the motor with shaft-end
keyway
To prevent injury.
Do not touch the motor and drive heat sink, as they are very hot.
To prevent burns or parts damaged.
Do not drive the motor by external drive.
To prevent fire.
Other safety instructions
Confirm the equipment’s safety after the earthquake happens.
To prevent electric shock, injury or
fire.
Installing and setting correctly to prevent the fire and personal injury when
To prevent injury, electric shock, fire,

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earthquake happens.
malfunction or damage.
Provide an external emergency stop circuit to ensure that operation can
be stopped and power switched off immediately.
To prevent injury, electric shock, fire,
malfunction or damage.
Before wiring or inspection, turn off the power and wait for 5 minutes or
more.
To prevent electric shock.
Installing and wiring
Please follow the specified combination of the motor and drive.
To prevent fire or malfunction.
Do not touch the terminals of connector directly.
To prevent electric shock or
malfunction.
Do not block intake and prevent the foreign matters from entering into the
motor and drive.
To prevent electric shock or fire.
Fix the motor and have the test run away from the mechanical system.
After confirming the operation, the motor can be securely mounted to
mechanical system.
To prevent injury.
The servo motor must be installed in the specified direction.
To prevent injury or malfunction.
Install the equipment correctly in accordance with its weight and rated
output.
To prevent injury or malfunction.
Operation and running
Do not climb or stand on servo equipment. Do not put heavy objects on
equipment.
To prevent electric shock, injury, fault
or damage.
The parameter settings must not be changed excessively. Operation will
be instable.
To prevent injury.
When power is restored after an instantaneous power failure, keep away
from the machine because the machine may be restarted suddenly
(design the machine so that it is secured against hazard if restarted).
To prevent injury.
Keep it away from the direct sunlight.
To prevent malfunction.
Do not put strong impact on the motor, drive and motor shaft.
To prevent malfunction.
The electromagnetic brake on the servo motor is designed to hold the
servo motor shaft and should not be used for ordinary braking.
To prevent injury or malfunction.
Do not install or operate a faulty servo motor or drive.
To prevent injury, electric shock or fire
Check the power specification.
To prevent fault.
The electromagnetic brake may not hold the servo motor shaft. To ensure
safety, install a stopper on the machine side.
To prevent injury.
A sudden restart is made if an alarm is reset with the run signal on.
To prevent injury.
Connect the relay for emergency stop and for brake in series.
To prevent injury or malfunction.
Transportation and storage
Do not subject the equipment to the place with rain, waterdrop, poisonous
gases or liquids.
To prevent malfunction.
Do not carry the servo motor by the cables, shaft or encoder during
transportation.
To prevent injury or malfunction.

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Do not drop or dump the motor during transportation and installation.
To prevent injury or malfunction.
Store the unit in a place in accordance with the instruction manual.
To prevent malfunction.
Other safety instructions
Please dispose the battery according to your local laws and regulations.
When disposing of the product, handle it as industrial waste.
Maintenance and inspection
Do not disassemble and/or repair the equipment on customer side.
To prevent malfunction.
Do not turn on or switch off the main power frequently.
To prevent malfunction.
Do not touch the servo drive heat sink, regenerative resistor, servo motor
etc. Their temperatures may be high while power is on or for some time
after power-off.
To prevent burns or electric shock.
When the drive become faulty, switch off the control circuit and main
power.
To prevent fire.
If the servo motor is to be stored for a long time, switch off the power.
To prevent mis-operation and injury.
Warranty period
The term of warranty for the product is 12 months from the date of manufacture. It’s exceptional to brake motors as they are
warranted when acceleration / deceleration times is not beyond the specified service life.
Warranty coverage
This warranty applies only when the condition, method, environment, etc. of use are in compliance with the terms and
conditions and instructions that are stated in the instruction manual and user manual for the Product.
However, even during warranty period, the repair cost will be charged on customer in the following cases.
1) A failure caused by improper storing or handling, repair and modification.
2) A failure caused by the parts which have dropped down or damaged during transportation
3) A failure caused when the products have been used beyond the product specification
4) A failure caused by external factors such as inevitable accidents, including but not limited to fire, earthquake, lightning
stroke, windstorm disaster, flood, salt damage, abnormal fluctuation of voltage and other natural disaster.
5) A failure caused by the intrusion of water, oil, metal and other foreign matters.
The warranty coverage is only for the product itself. We assume no responsibilities for any losses of opportunity and/or profit
incurred by you due to a failure of the Product.

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1. Product introduction and model selection
1.1 Introduction of nameplate and model name (For servo motor and drive)
Servo motor nameplate
Servo driver nameplate
Model name
1) Servo motor
2) Servo drive

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1.2 Parts name of servo motor and drive
Figure 1.2.1 Parts name of servo motor
Figure 1.2.2 Parts name of servo drive.

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1.3 Model name of servo drive and motor
Capacity
Motor model
SV-A3□□□□□-*HN**
Motor size
(Flange
installation size)
Drive model
Drive size
400W
Low inertia
L1.27
60
SD-A3W0400V2E-HN
FrameA
High inertia
H1.27
750W
Low inertia
L2.39
80
SD-A3W0750V2E-HN
High inertia
H2.39
1kW
Middle inertia
M4.77
130
SD-A3W1000V2I-HN
Frame B
High inertia
H4.77
1.5kW
Middle inertia
M7.16
SD-A3W1500V2I-HN
High inertia
M7.16
2kW
Middle inertia
M9.55
SD-A3W2000V2I-HN
1.4 Model selection of peripheral braking resistor
Rated output
400W
750W
1kW
1.5 kW
2 kW
Resistance
40～50Ω
40～50Ω
30Ω
30Ω
20Ω
Allowable
power
20W
20W
40W
40W
60W
The Status monitoring mode on the setting panel can be used to confirm whether a regenerative resistor is needed. Select
「St_REG」on the setting panel to display 「in00_-」. When the display changes from 「in00_-」to 「in00_A」, it means the
regenerative resistor is needed. For details, refer to [5.4 Status display mode [Regenerative resistor]].
Starting from low speed operation (20% of the max. speed) to the desired operation and observing if the display value
changes from 「in00_-」to 「in00_A」If 「in00_A」displays, a regenerative resistor is needed.
If the regenerative resistor is needed, refer to the installation of regenerative resistor. The use of regenerative resistor cannot
necessarily guarantee the performance. When heating temperature is too high, please increase the resistance, or the
permissible power.

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1.5 Selection of cables and connector accessories for A3 products
●For 750W or less
Items
Usage
Model name
Remark
1
Connector for drive and motor
Power connector - SY-A3CNPW750W-HN
2
Cable for drive and motor
Power cable - SY-A3CBPW750W0.5M-HN
Length: 0.5m
Power cable - SY-A3CBPW750W1.5M-HN
Length: 1.5m
Power cable - SY-A3CBPW750W3M-HN
Length: 3m
Power cable - SY-A3CBPW750W4M-HN
Length: 4m
Power cable - SY-A3CBPW750W5M-HN
Length:5m
Power cable - SY-A3CBPW750W6M-HN
Length:6m
Power cable - SY-A3CBPW750W7M-HN
Length:7m
Power cable - SY-A3CBPW750W10M-HN
Length: 10m
3
Brake connector
Not available
4
Encoder cable terminal
Encoder connector SY-A3CNEN750W-HN
5
Encoder cable
- SY-A3CBEN750W0.5M-HN
Length: 0.5m
- SY-A3CBEN750W1.5M-HN
Length: 1.5m
- SY-A3CBEN750W3M-HN
Length: 3m
-SY-A3CBEN750W5M-HN
Length:5m
- SY-A3CBEN750W10M-HN
Length: 10m
6
Encoder cable for absolute
Not available
●1KW or more
Items
Usage
Model name
Remark
1
Connector for drive and motor
Power connector SY-A3CNPW0102K-HN
2
Cable for drive and motor
Power cable - SY-A3CBPW0102K0.5M-HN
Length: 0.5m
Power cable - SY-A3CBPW0102K1.5M-HN
Length: 1.5m
Power cable - SY-A3CBPW0102K3M-HN
Length: 3m
Power cable - SY-A3CBPW0102K5M-HN
Length:5m
Power cable - SY-A3CBPW0102K10M-HN
Length: 10m
3
Brake connector
Not available
4
Encoder cable terminal
Encoder connector SY-A3CNEN0102K-HN
5
Encoder cable
- SY-A3CBEN0102K0.5M-HN
Length: 0.5m
- SY-A3CBEN0102K1.5M-HN
Length: 1.5m
- SY-A3CBEN0102K3M-HN
Length: 3m
- SY-A3CBEN0102K5M-HN
Length:5m
- SY-A3CBEN0102K10M-HN
Length: 10m

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6
Encoder cable for absolute
- Not available
Length: 0.5m
- Not available
Length: 1.5m
- Not available
Length: 3m
- Not available
Length:5m
- Not available
Length: 10m
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50P pulse connector
Pulse connector
2. Installation and size of servo motor and drive
2.1 Installation environment conditions
About the environmental conditions, make sure to follow the company’s instructions. If you need to use the product outside the
scope of the environmental conditions, please consult ACTION TECHNOLOGY in advance.
○,1Keep it away from the direct sunlight.
○,2 Drive must be installed in the cabinet.
○,3Keep it away from the water, oil (cutting oil, oil mist) and moisture.
○,4Do not install the equipment under the conditions with water, corrosive and flammable gas.
○,5Free from the dust, iron powder, cutting powder and so on.
○,6Keep it away from the area with high temperature, excessive vibration and shock.
2.2 Dustproof and waterproof
The servo drive is non-waterproof structure. Protection level of motor (excluding the connector) is IP65 according to IEC
34-5(International Electrotechnical Commission).
2.3 Installation method and space
Impact & load
①The impact that the motor can stand should be less than 200m/s2（20G）. Don’t apply excessive impact load to the motor
during transporting, installing and disassembling.And do not hold encoder, cable and connector to transport the motor.
②The pull claw device must be used when removing the belt pulley and coupler from the motor
Combination with mechanical system
①The motor specification in the user manual has specified the permissible load to the motor shaft. Exceeding the permissible
load will shorten the shaft life and cause damage to the shaft. Please use coupling which could fully absorb eccentric load.
②The stress on the encoder cable should be less than 6kgf during assembling.
③The bending radius of power cable and encoder cable should be R20mm and more.
Installation direction and clearance of drives
Leave sufficient space around the drive to ensure the heat dissipation and convection in the cabinet when installing the drive.
●Install the drives in the vertical direction. Please use two M5 screws to fix the drive, master drive and slave drive

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respectively which is less than 800W Please use three M5 screws to fix the drive and master drive respectively which is
more than 1kW.
●In order to ensure that surrounding temperature between internal boards is not more than 55℃, cooling fan or cooler need
to be installed to reduce the temperature, when the drives are installed in the sealed cabinet.
●The temperature on the surface of cooling plate would be 30℃higher than the surrounding temperature.
●Use heat-resistant material for the wiring and isolate wiring from the machine and other cables which are easily affected by
the temperature.
●The service life of servo drive depends on the temperature around the electrolytic capacitor. When the electrolytic capacitor
is close to the service life, the static capacity will decrease and internal resistance will increase. Consequently, it will lead to
overvoltage alarm, malfunction caused by noise and components damage. The service life of electrolytic capacitor is approx. 5
to 6 years under the condition「average annual temperature 30℃, load rate 80% and operation of less than 20 hours a day on
average」
Additional instructions
①The motor shaft is covered with anti-rust oil before leaving factory. Please have the antirust treatment again to the shaft to
prevent it from rust when installing load.

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②Never disassemble the encoder or motor.
③The GND of 24VDC input and the grounding cable of device can be connected to each other.
※Please use the same power supply for control voltage(24V and GND) and upper control device.
④Do not remove or maintain the encoder battery until the main power supply is switched OFF.
⑤After switching off the main power supply, please note that there is residual voltage of approx. 30 seconds on the power
components.
⑥Do not replace the fuse.
⑦The servo drives of more than 750W are installed with a cooling fan on the right side. Do not touch or block the ventilation
ports of servo drive
2.4 Dimensions of servo motor

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2.5 Dimensions of servo drive

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3. Wiring explanation for servo motor and drive
3.1 Wiring diagram
3.1.1 Wiring diagram

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[Points for correct wiring]
※24VDC and 200VAC input (main circuit) power supply should be wired from the same 200VAC main power supply.
※Do not access switch between 24VDC power supply and drive. If you need switch, put it on the 200VAC cable of 24VDC
input power supply.
※A twisted-pair shielded cable should be used when I/O cable length is over 50cm.
※The encoder cable should be less than 20m.
①Please note that there is high voltage in the solid line of wiring diagram when wiring and using.
②The broken lines in the wiring diagram indicates the non-dangerous voltage circuit.
3.1.2 Connection of servo drive and motor
Items
Description
Peripheral device
Conform to European EC Directive. Select the device which meets corresponding standards
and install them in accordance with User’s Manual.
Installation environment
Install the servo drive to the environment which conform to Pollution degree 2 or 1 of
IEC60664-1.
Power supply 1: 200～
230VAC (main circuit)
This product can be used under the conditions that conform to IEC60664-1 and overvoltage
category Ⅱ.
Power supply 2: 24VDC
♦control power supply of drive
♦I/O power supply
♦Power supply for brake
release
The specification of 24VDC external power supply should satisfy the following conditions.
Using SELV power supply(※) and power less than 150W. This is the CE corresponding
conditions.
※SELV: safety extra low voltage
(Reinforced insulation is needed for safety extra low voltage, non-dangerous voltage and
dangerous voltage.)
Wiring
Please use withstand voltage cables which are equivalent to AWG18/600V orAWG14/600V
for motor power cable, encoder cable, AC220 input cable, FG cable and main circuit power
distribution cable under multi-axis drive structure respectively when drives are less than