Applied Motion Products SV200 DC User manual

SV200 DC
Servo System
Applied Motion Products, Inc.
Hardware Manual
920-0126A
4/14/2017

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Table of Contents
1 Introduction..................................................................................................................................................... 7
1.1 About This Manual ..............................................................................................................................................7
1.2 Documentation Set for the SV200 DC Series Servo Drive ....................................................................................7
1.3 Safety ...................................................................................................................................................................7
1.4 Safety Symbols ....................................................................................................................................................7
1.5 Safety Instructions................................................................................................................................................8
1.6 Standards Compliance .........................................................................................................................................8
2 Product Description ........................................................................................................................................ 9
2.1 System Checklist..................................................................................................................................................9
2.2 Servo Drive Model Introduction ...........................................................................................................................9
2.2.1 Drive Name Plate Description ....................................................................................................................9
2.2.2 Drive Model Description............................................................................................................................9
2.2.3 Drive specifications...................................................................................................................................10
2.2.4 Drive Dimensions (Unit: mm) ...................................................................................................................11
2.3 Servo Motor Model Introduction .........................................................................................................................11
2.3.1 Motor Name Plate Description..................................................................................................................11
2.3.2 Motor Model Description..........................................................................................................................11
2.3.3 Motor Specifications and Dimensions ......................................................................................................12
2.3.3.1 40mm Specifications and Dimensions.......................................................................................................... 12
2.3.3.2 60mm Specifications and Dimensions.......................................................................................................... 15
2.3.3.3 80mm Specifications and Dimensions.......................................................................................................... 21
3 Installation ...................................................................................................................................................... 24
3.1 Storage Conditions..............................................................................................................................................24
3.2 Installation Conditions ........................................................................................................................................24
3.3 Installation Space................................................................................................................................................25
3.4 Motor Installation................................................................................................................................................26
4 Connections and Wiring.................................................................................................................................. 27
4.1 Connecting to Peripheral Devices .......................................................................................................................27
4.1.1 System Configuration ...............................................................................................................................27
4.1.2 Servo Drive Connectors and Terminals.....................................................................................................28
4.1.3 Connections and Wiring Notes .................................................................................................................28
4.1.4 Wiring Methods for P1 Power Supply Connector......................................................................................29
4.2 Wiring to the P2 Connector ................................................................................................................................30
4.2.1 Motor Power Cable Configuration ............................................................................................................30
4.2.2 Motor Power Cable Connector(-CD Winding ,6Amps)..............................................................................30
4.2.2.1 PIN Assignment............................................................................................................................................ 30
4.2.2.2 Motor Connector Specifications.................................................................................................................... 30
4.2.2.3 Motor Extension Cable Wiring Diagram........................................................................................................ 31
4.2.3 Motor Power Cable Connector(-CF Winding,10Amps).............................................................................32
4.2.3.1 PIN Assignment............................................................................................................................................ 32
4.2.3.2 Motor Extension Cable Wiring Diagram........................................................................................................ 32
4.3 Encoder Connector CN3......................................................................................................................................33
4.3.1 Motor Encoder Feedback Cable Configuration..........................................................................................33
4.3.2 Layout of CN3 Connector..........................................................................................................................33
4.3.3. Connection to Motor Encoder..................................................................................................................34
4.3.3. Connection to Motor Encoder..................................................................................................................36
4.3.4 Specifications of Encoder Connector ........................................................................................................36
4.3.5 Motor Encoder Extension Cable Wiring Diagram......................................................................................37
4.4 Electromagnetic Brake.........................................................................................................................................38
4.4.1 Wiring Diagram.........................................................................................................................................38
4.4.2 Brake Motor..............................................................................................................................................38
4.4.3 Timing Charts of the Electromagnetic Brake..............................................................................................38

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4.5 Regeneration Resistor .........................................................................................................................................39
4.6 Recommended Cable Specifications ...................................................................................................................39
4.7 Connecting to the Host Computer - CN1.............................................................................................................39
4.8 Input and Output Signal Interface Connector - CN2 ............................................................................................39
4.8.1 Input and Output Interface Specifications and Diagram.............................................................................39
4.8.2 Signal Description of Connector CN2.......................................................................................................40
4.8.2.1 Layout of CN2 Connector.............................................................................................................................. 41
4.8.2.2 Input Signals................................................................................................................................................. 41
4.8.2.3 Input Function List........................................................................................................................................ 42
4.8.2.4 Output Signals .............................................................................................................................................. 43
4.8.2.5 Output Function List ..................................................................................................................................... 43
4.8.3 Input Signal Interface Connector, CN2......................................................................................................44
4.8.3.1 Position pulse signal input ........................................................................................................................... 44
4.8.3.2 Analog Signal Input For Velocity And Torque Mode...................................................................................... 45
4.9.3.3 High Speed Input Ports X1, X2, X3, X4......................................................................................................... 46
4.8.3.4 General Digital Input X5, X6, X7, X8............................................................................................................. 48
4.8.3.5 X9, X10, X11, X12 Inputs with common COM Port....................................................................................... 50
4.8.5 Encoder Feedback Output .........................................................................................................................52
4.8.5.1 A/B/Z Connection Diagram........................................................................................................................... 52
4.8.5.2 Z Phase Open Collector Output..................................................................................................................... 52
5 Display and Operation........................................................................................................................................ 53
5.1 Control Panel Description ...................................................................................................................................53
5.2 Mode Switch Control ..........................................................................................................................................54
5.3 LED display description ......................................................................................................................................55
5.3.1 Decimal Point And Negative Sign Description ..........................................................................................55
5.3.2 Parameter View Setting.............................................................................................................................55
5.3.3 Parameter Save Setting.............................................................................................................................55
5.3.4 Point To Point Motion Mode ....................................................................................................................56
5.3.5 Jog Mode..................................................................................................................................................56
5.3.6 Control Panel Lock ...................................................................................................................................56
5.4 Status Monitoring Selection Mode......................................................................................................................57
5.5 Function Control Mode .......................................................................................................................................59
5.5.1 Function Mode Description.......................................................................................................................59
5.5.2 Operation Flow Chart................................................................................................................................60
5.6 Parameter Setting Mode......................................................................................................................................61
5.6.1 Parameter Setting Description...................................................................................................................61
5.6.2 Parameter Editing and Save Examples ......................................................................................................62
5.7 Control Panel Lock..............................................................................................................................................63
5.8 Warning And Fault Display..................................................................................................................................63
6 Preoperational mode.......................................................................................................................................... 65
6.1 Inspection Before Trial Run..................................................................................................................................65
6.2 Trial Run Procedure.............................................................................................................................................65
6.3.2 Using SVX Servo Suite Software for configuration....................................................................................66
6.4 Operations of JOG Mode.....................................................................................................................................67
6.5 Configuration by Personal Computer ..................................................................................................................68
7 Operation Mode Selection.................................................................................................................................. 69
7.1 General Function Settings ...................................................................................................................................69
7.1.1 Drive Servo On Settings............................................................................................................................69
7.1.2 Alarm Reset...............................................................................................................................................70
7.1.3 CW/CCW limit..........................................................................................................................................71
7.1.4 Global Gain Selection ...............................................................................................................................72
7.1.5 Control Mode Selection............................................................................................................................73
7.1.6 Drive On Fault Output ...............................................................................................................................74
7.1.7 Motor Brake Control ................................................................................................................................75
7.1.8 Servo Ready Output .................................................................................................................................76

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7.1.9 Servo On Status Output ...........................................................................................................................77
7.1.10 Timing Diagram .....................................................................................................................................78
7.1.10.1 Timing Diagram at Power up....................................................................................................................... 78
7.1.10.2 Timing Diagram for Fault alarm .................................................................................................................. 78
7.2 Position Mode ....................................................................................................................................................79
7.2.1 Digital Pulse Position Mode Connection Diagram....................................................................................79
7.2.2 Input Pulse Type And Input Noise Filter ...................................................................................................80
7.2.3 Input Pulse Dividing Ratio Setting and Dividing Switch............................................................................82
7.2.4 Pulse Inhibit .............................................................................................................................................83
7.2.5 Electronic Gearing Ratio............................................................................................................................84
7.2.6 Jerk Smoothing Filter................................................................................................................................85
7.2.7 In-Position Error Output............................................................................................................................85
7.2.8 Gain Parameters For Position Control Mode.............................................................................................86
7.2.9 Software Configuration For Position Mode...............................................................................................87
7.3 Velocity Mode ....................................................................................................................................................88
7.3.1 Velocity Mode Connection Diagram..........................................................................................................89
7.3.2 Parameter Settings For Analog Velocity Control Mode .............................................................................90
7.3.3 Basic Settings For Analog Velocity Control Mode.....................................................................................91
7.3.3.1 Command Signal For Analog Velocity Mode ................................................................................................ 91
7.3.3.2 Analog Velocity Gain..................................................................................................................................... 92
7.3.3.4 Analog Input Deadband................................................................................................................................. 93
7.3.3.5 Run/Stop And Direction Signal .................................................................................................................... 93
7.3.3.6 Torque Limit ................................................................................................................................................. 94
7.3.3.7 Target Velocity Reached ................................................................................................................................ 94
7.3.3.8 Velocity Mode Control Type.......................................................................................................................... 95
7.3.3.9 Velocity ripple............................................................................................................................................... 96
7.3.4 Analog Input Filter ....................................................................................................................................97
7.3.5 Software Configuration for Analog Velocity Mode.....................................................................................98
7.4 Torque Mode .......................................................................................................................................................99
7.4.1 Analog Torque Mode Connection Diagram ..............................................................................................100
7.4.2 Parameters For Analog Torque Mode.......................................................................................................101
7.4.3 Basic Settings For Analog Torque Mode ..................................................................................................101
7.4.4 Software Configuration for Analog Torque Mode .....................................................................................106
7.5 Position Table Mode...........................................................................................................................................107
7.5.1 Linear motion...........................................................................................................................................107
7.5.1.1 Linear Motion Software Configuration ......................................................................................................... 107
7.5.1.2 Basic Configuration ..................................................................................................................................... 108
7.5.1.3 Homing settings........................................................................................................................................... 109
7.5.1.4 Print............................................................................................................................................................. 109
7.5.1.5 Position Definition ....................................................................................................................................... 109
7.5.1.6 Simulate....................................................................................................................................................... 110
7.5.1.7 Linear motion input definition...................................................................................................................... 110
7.5.2 Rotary motion .........................................................................................................................................110
7.5.2.1 Rotary motion software configuration .......................................................................................................... 111
7.5.2.2 Rotary motion input definition...................................................................................................................... 112
8 Parameters and Functions .............................................................................................................................. 113
8.1 Parameter Category............................................................................................................................................113
8.2 Parameter List ....................................................................................................................................................113
8.3 Parameter Description........................................................................................................................................118
9 Communication .............................................................................................................................................. 140
9.1 RS-232 communication .....................................................................................................................................140
9.1.1 What is SCL?...........................................................................................................................................140
9.1.2 RS-232 Connections................................................................................................................................140
9.2 RS-485 Communication.....................................................................................................................................141
9.2.1 RS-485 PIN definition .............................................................................................................................141
9.2.2 RS-485 Connection Method ...................................................................................................................142
9.3 Modbus/RTU Communication............................................................................................................................143
9.3.1 Data Encoding..........................................................................................................................................143

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9.3.2 Communication Address..........................................................................................................................143
9.3.3 Communication Baud Rate And Framing .................................................................................................143
9.3.4 Power Up Mode ......................................................................................................................................144
9.3.6 SV200 DC Servo Drive Register Addresses and Function List: ................................................................144
9.3.7 Command Opcode Description................................................................................................................152
9.3.8 Function Code .........................................................................................................................................154
9.3.9 Modbus/RTU Applications ......................................................................................................................157
9.4 CANopen Communication..................................................................................................................................163
9.4.1 RJ45 (8p8c) Pin Definitions.....................................................................................................................163
9.4.2 CANopen NODE-ID..................................................................................................................................163
9.4.3 CANopen Communication Baud Rate ......................................................................................................163
9.5 Ethernet Communication....................................................................................................................................164
9.5.1 Connecting PC using Ethernet.................................................................................................................164
9.5.1.1 Setting the IP Address.................................................................................................................................. 164
9.5.1.2 Connecting to Drive from PC....................................................................................................................... 165
9.5.2 Select Driver’s IP Address........................................................................................................................165
9.5.2.1 SVX Servo Suite Software ........................................................................................................................... 165
9.5.2.2 Set IP address from Drive ........................................................................................................................... 167
9.5.3 Editing IP address table ...........................................................................................................................168
11 SV200 Tuning Guide ...................................................................................................................................... 169
11.1 Servo Tuning – Adjustment of Gain Parameters ...............................................................................................169
11.1.1 Gain Parameter Introduction ..................................................................................................................170
11.2 Auto-Tuning .....................................................................................................................................................171
11.2.1 Step 1: Select Motor ..............................................................................................................................171
11.2.2 Step 2: Setting the Software Position Limits ..........................................................................................172
11.3.2 Position loop gain (KF)..........................................................................................................................176
11.3.3 Integrator Gain (KI) ................................................................................................................................177
11.3.4 Damping gain (KV) ................................................................................................................................178
11.3.5 Derivative gain (KD) ..............................................................................................................................179
11.3.6 Inertia Feedforward Constant (KK) .........................................................................................................181
11.3.7 Follow Factor (KL) .................................................................................................................................182
11.4 Using Auto Trigger Sampling ...........................................................................................................................183
10 Trouble Shooting............................................................................................................................................ 184
10.1 Drive Alarm List ...............................................................................................................................................184
Appendix............................................................................................................................................................. 188
Appendix 1: LED Character Reference ......................................................................................................................188
Appendix 2: Accessories ..........................................................................................................................................189

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Revision History
Document History Date Remarks
v1.0 2016.06.20
Disclaimer
The information in this manual was accurate and reliable at the time of its release. Applied Motion Products reserves the right to
change the specifications of the product described in this manual without notice at any time.
Trademarks
All marks in this manual are the property of their respective owners
Customer Service
Applied Motion Products is committed to delivering quality customer service and support for all our products. Our goal is to provide
our customers with the information and resources required in such a way that they are available without delay, if and when they are
needed.
In order to serve you in the most effective way, we recommend that you contact your local sales representative for order status and
delivery information, product information and literature, and application and field technical assistance. If you are unable to contact your
local sales representative for any reason, please use the most relevant of the contact details below:
For technical support, contact: http://www.applied-motion.com/support

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1 Introduction
1.1 About This Manual
This manual describes the SV200 DC Servo Drive.
It provides the information required for installation, configuration and basic operation of the SV200 DC series servo drive.
This document is intended for persons who are qualified to transport, assemble, commission, and maintain the equipment described
herein.
1.2 Documentation Set for the SV200 DC Series Servo Drive
This manual is part of a documentation set. The entire set consists of the following:
• SV200 DC Quick Start Guide: Basic setup and operation of the drive
• SV200 DC Hardware Manual: Hardware installation, configuration and operation
• SVX Servo Suite Software User Manual: How to use the SVX Servo Suite software
1.3 Safety
Only qualified persons may perform the installation procedures. The following explanations are for procedures that must be observed
in order to prevent harm to people and damage to property.
The SV200 DC series utilizes hazardous voltages. Be sure the drive is properly grounded.
Before you install the SV200 DC, review the safety instructions in this manual.
Failure to follow the safety instructions may result in personal injury or equipment damage.
1.4 Safety Symbols
Safety symbols indicate a potential for personal injury or equipment damage if the recommended precautions and safe operating
practices are not followed.
The following safety-alert symbols are used on the drive and in the documentation:
Caution
Warning - Dangerous voltage
Protective earth
Caution - Hot surface

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1.5 Safety Instructions
Installation
DO NOT subject the product to water, corrosive or ammable gases, or combustibles.
DO NOT use the motor in a place subject to excessive vibration or shock.
Never connect the motor directly to the AC power supply.
DO NOT use cables soaked in water or oil.
DO NOT extrude or pull off the cable, or damage the cables as electrical shocks or damage may result
DO NOT block the heat dissipating holes. Prevent any metal lings from dropping into the drive during installation.
DO NOT switch the power supply on and off repeatedly.
DO NOT touch the rotating shaft when the motor is running.
DO NOT strike the motor when during indtallation as the motor shaft or encoder may be damaged.
To prevent accidents, the initial trial run for the servo motor should be conducted under a no-load condition
(separate the motor from its couplings and belts).
Starting system operation without rst matching the correct parameters may result in servo drive or motor
damage, or damage to the mechanical system.
DO NOT touch the drive heat sink, motor, or the regeneration resistor during operation as they may be very hot.
DO NOT hold the motor by the cable during transportation or installation.
Wiring
DO NOT connect any power supply to the U, V, or W terminals.
Install the encoder cable in a separate conduit from the motor power cable to avoid signal noise.
Use multi-stranded twisted-pair wires or multi-core shielded-pair wires for signal and encoder cables.
A hazardous voltage charge may still remain in the drive even after the power has been removed - Do not touch
the terminals when the charge led is still lit.
Please observe the specied voltage(s).
Make sure both the drive and the motor connect to a class 3 ground.
Please ensure the grounding wires are securely connected before power up.
1.6 Standards Compliance
The SV200 DC Series Servo drive has been designed according to standards:
Electromagnetic: Electrical Safety: Low
Standard EN 61800-3 (2004) Standard IEC 61800-5 (2007)

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2 Product Description
2.1 System Checklist
A complete and workable SV200 DC servo system should include the following parts:
1. A matched servo drive and servo motor
2. A 4-PIN connector to connect P1 (V+, V-, AUX+) to supply power to the Drive
3. A 5-PIN connector to supply the servo motor with power from the drive through P2 (U, V, W)
4. STO connector for CN5 STO function (Inlucded)
5. An encoder cable with a 26-PIN connector to connect port CN3 for encoder feedback (Not included)
6. A mini USB cable to connect port CN1 to a PC for communication
7. An I/O cable with a 50-PIN connector to connect port CN2 for I/O ( (Not included)
8. Cables with RJ-45 connectors to connect ports CN6 and CN7 for RS-485 or CANopen communication ( (Not included)
9. Motor power extension cable ( (Not included)
10. Motor encoder extension cabel (Not included)
2.2 Servo Drive Model Introduction
2.2.1 Drive Name Plate Description
Model No.
Input/Output Voltage
Rated Current
Model No.XXXX-XXXXX
Serial No.
09450001
INPUT
6/10A
OUTPUT
VOLT. 0-60VDC24-60VDC
F.L.C
DC SERVO
DRIVE
SV200
Assembled in China
RoHS
2.2.2 Drive Model Description

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2.2.3 Drive specifications
Input Power SV2D10
SV2D6
Main Circuit 20 - 60VDC
Control Circuit 10- 60VDC
Environment
Temperature
Ambient temperature: 0°C to 50°C (if the ambient temperature of the servo
drive is
greater than 40°C, please install the drive in a well-ventilated location)
Storage temperature: -20°C to 65°C
Humidity Both operating and storage: 10 to 85%RH or less
Altitude Lower than 1000m
Vibration 5.88m/s2 or less, 10 to 60Hz (do not use continuously at resonance
frequency)
Control method IGBT PWM Sinusoidal wave drive
Encoder feedback 2500 ppr optical encoder with shared commutation signals
I/O
Control
Signal
Input 8 optically isolated multi function inputs, 5-24VDC, 20mA
4 optically isolated multi function high speed inputs, 5-24VDC, 20mA
Output 6 optically isolated multi function outputs, 5-24VDC, 20mA
Analog
signal Input 2 inputs (12Bit A/D: 2 input)
Pulse signal Input 2 photocoupler input compatible with both line driver I/F and open collector I/F
2 line receiver input compatible with line driver I/F
Output 3 line driver outputs, 1 open collector output
Communication
Mini USB Connection with PC or 1 : 1 communication to a host.
RS-232 RS-232 communication
RS-485 RS-485 communication & Modbus/RTU
CANbus CANopen communication
Ethernet EtherNET/IP or eSCL
Front panel 4 keys (MODE, UP, DOWN, SET), LED (5-digit)
Regeneration Resistor Built-in regenerative resistor (external resistor is also enabled)
Dynamic Brake Built-in
Control modes
(1) Position mode (2) Analog velocity mode (3) Analog position mode (4)
Position mode (5) Velocity change mode (6) Command torque mode (7)
Command velocity mode
Control inputs
(1) Servo-ON input (2) Alarm clear input (3) CW/CCW Limit (4) Pulse&
Direction or CW/CCW input (5) Gain Switch (6) Control mode Switch (7) Pulse
Inhibition (8) General Input
Control outputs
(1) Alarm output (2) Servo-Ready output (3) External brake release (4) Speed
arrival output (5) Torque arrival output (6) Tach out (7) General output (8)
Position arrival output
Certication RoHS, EN 61800-3:2004, EN 61800-5-1:2007