Astor Astraada SRV-63 series User manual

- 1 -
Operation Manual
The owner of Astraada brand is ASTOR Sp. z o.o.
Astraada SRV-63
AC Servo drives

SRV-63 series AC servo drives Preface
-I-
Preface
Thanks for selecting SRV-63 servo drives.
SRV-63 servo drive series products adopt modular design with abundant functions and powerful
performance. The upper PC software uses USB communication and the bus control is optional
among Modbus bus, CANopen bus, EtherCAT bus, MotionNet bus and the PROFIBUS-DP bus which
can be selected via extension card. Meanwhile, this product is equipped with online/offline inertia
identification, gain switching, auto/manual notch filter, auto/manual vibration control filter, internal
point-to-point (PTP) control, fully-closed loop control safety terminal STO, 16-bit analog input and
supports multiple types of encoders, etc.
SRV-63 drive adopts electromagnetic compatibility design to ensure strong anti-electromagnetic
interference capacity while realizing low noise and weakening electromagnetic interference in the
application sites.
This manual presents installation and configuration, parameters setup, fault diagnoses and daily
maintenance and relative precautions to customers. Please read this manual carefully before
installation to ensure SRV-63 drive is installed and operated properly to give full play to its excellent
performance.
If the product is ultimately used for military affairs or manufacture of weapon, it will be listed on the
export control formulated by Foreign Trade Law of the People's Republic of China. Rigorous
review and necessary export formalities are needed when exported.
Our company reserves the right to update the information of our products.
Note: Models mentioned in this operation manual are standard type unless otherwise specified.

SRV-63 series AC servo drives Safety precautions
-II-
Safety precautions
Safety icons:
Following safety precautions should be paid attention to before any installation, configuration,
operation, maintenance and inspection:
Check whether theAC power supply is the same as the rated voltage of the servo drive, otherwise
fire, hurt, damage to the drive may occur.
Do not connect the input power cables to the output terminals, otherwise damage to the drive may
occur.
Do not carry out any insulation and voltage withstand test to the drive directly, and do not test the
control circuit of the drive by megameter.
Connect the drive and motor as correct phase sequence, otherwise drive fault or damage may
occur.
De-couple the motor load and run the motor independently before operation to avoid accidents.
Please ensure the drive can be disconnected from the power supply by E-switch before any
operation.
Set the corresponding parameters before operation, otherwise the drive may run abnormally or
beyond the expectation because of the load.
Only qualified electrical engineers can carry out the wiring, otherwise electric shock or fire may
occur.
Do not touch the conductive parts directly; do not connect any external cables (especially those
related to electricity) to the enclosure or short connect the external cables, otherwise electric
shock or short circuit may occur.
Rewire the drive after 15 minutes when disconnecting the power supply, otherwise electric shock
may occur.
Do ground with proper techniques because the touch current may be 0.5mA, otherwise electric
shock may occur.

SRV-63 series AC servo drives Safety precautions
-III-
Do not touch the heat sink and external braking resistor during operation, otherwise burning may
occur for the hot sides.
Do install the overcurrent protector, leakage current protector and emergency device and ensure
the normal usage after wiring, otherwise electric shock, hurt and fire may occur.
The leakage current may exceed 3.5mA during the drive running. Do ground with proper
techniques and ensure the grounding resistor is less than 10Ω. The conductivity of PE earth
conductor is the same as the phase conductor (with the same cross area).
The components inside the drive contain heavy metal which should be disposed as industrial
waste.

SRV-63 series AC servo drives Product overview
-4-
Content
Preface ............................................................................................................................................I
Safety precautions.........................................................................................................................II
Content...........................................................................................................................................4
Chapter 1 Product overview..........................................................................................................6
1.1 Servo drive ...........................................................................................................................6
1.2 Servo motor........................................................................................................................12
1.3 Cables................................................................................................................................13
Chapter 2 Installation instruction................................................................................................16
2.1 Drive dimension..................................................................................................................16
2.2 Drive installation .................................................................................................................17
2.3 Motor dimension .................................................................................................................19
2.4 Motor installation.................................................................................................................21
2.5 Technical parameters of servo motor...................................................................................22
Chapter 3 Wiring instruction .......................................................................................................24
3.1 System wiring .....................................................................................................................24
3.2 Terminal wiring of the main circuit........................................................................................27
3.3 Wiring of motor power cables..............................................................................................29
3.4 Control I/O-CN1 terminal layout ..........................................................................................30
3.5 Wiring of encoder-CN2 terminals.........................................................................................31
3.6 Wiring of 485/CAN-CN3 terminals.......................................................................................33
3.7 Wiring of USB-CN4 terminals..............................................................................................34
3.8 Encoder and STO-CN5 terminal wiring................................................................................34
3.9 Wiring of PROFIBUS-DP terminals......................................................................................35
Chapter 4 Control mode applications .........................................................................................36
4.1 Standard wiring of the position mode...................................................................................36
4.2 Standard wiring of the speed mode .....................................................................................37
4.3 Standard wiring of the torque mode.....................................................................................38
4.4 CN1 function instruction......................................................................................................39
4.5 CN1 wiring instruction.........................................................................................................51
4.6 CN5 wiring diagram ............................................................................................................58
Chapter 5 Running and operation...............................................................................................61
5.1 Running..............................................................................................................................61
5.2 Display and operation .........................................................................................................70
Chapter 6 Detailed parameter description ..................................................................................77
6.1 Basic control (P0 group parameters) ...................................................................................77

SRV-63 series AC servo drives Product overview
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6.2 Autotuning control parameters (P1) .....................................................................................99
6.3 Motor control parameters (P2)...........................................................................................105
6.4 I/O management parameters (P3)..................................................................................... 115
6.5 Extension and application (P4)..........................................................................................131
6.6 Program JOG, homing and PTP control (P5) .....................................................................147
6.7 Application function (P6) ...................................................................................................158
6.8 PTP (point-to-point) control (PtP0, PtP1, PtP2)..................................................................162
6.9 State monitoring................................................................................................................190
Chapter 7 Commissioning.........................................................................................................206
7.1 Operation instruction of inertia identification ......................................................................206
7.2 General method for parameters adjusting..........................................................................206
7.3 Suppression of mechanical resonance..............................................................................213
7.4 Gain switching function .....................................................................................................214
Chapter 8 Communication.........................................................................................................217
8.1 Overview ..........................................................................................................................217
8.2 RS485 communication protocol.........................................................................................217
8.3 CANopen communication protocol ....................................................................................222
8.4 PROFIBUS-DP communication protocol............................................................................227
8.5 Upper PC software............................................................................................................231
Chapter 9 Faults and solutions .................................................................................................236
9.1 Meanings of the fault alarm code and countermeasures....................................................236
9.2 CANopen communication fault code and countermeasures...............................................243
9.3 PROFIBUS-DP communication fault code and countermeasures ......................................245
9.4 EtherCAT communication fault code and countermeasures ...............................................245
Chapter 10 Appendix .................................................................................................................247
10.1 Setup parameter list........................................................................................................247
10.2 Monitoring parameter table..............................................................................................267
10.3 General monitoring parameters.......................................................................................270
10.4 Fault code.......................................................................................................................271
10.5 Record table of parameter setting....................................................................................274

SRV-63 series AC servo drives Product overview
-6-
Chapter 1 Product overview
1.1 Servo drive
1.1.1 Instruction to the drive
SRV-63 series servo drive (200W~5.5kW)
Specification
Description
Power supply
230V system input voltage
1P/3PAC220V(-15%)~240V(+10%) 47Hz~63Hz
400V system input voltage
3PAC380V(-15%)~440V(+10%) 47Hz~63Hz
Interface
Control signal
Input
10 inputs for standard type, pulse type and
CANopen bus type; 7 inputs for EtherCAT bus type;
5 inputs for MotionNet bus type (the function can be
configured by relevant parameters)
Output
6 single-end outputs for standard type, pulse type
and CANopen bus type; 4 differential outputs for
EtherCAT bus type; 1 single-end output for
MotionNet bus type (the function can be configured
by related parameters)
Analog value
Input
3 inputs for standard type (one 16-bit, two 12-bit
analog inputs), 2 inputs for others (two 12-bit analog
inputs)
Output
2 outputs (analog output)
Pulse signal
Input
1 group (mode: open collector input or differential
input)
Output
1 group (differential outputs (A+,A-;B+,B-;Z+,Z-) or
open collector outputs (A;B;Z))
2nd encoder
Input
Incremental encoder interface (2nd encoder or linear
encoder)
Communication
USB
1:1 communication upper PC software (standard)
RS485
1:n communication (standard)
CANopen
1:n communication (optional)
Profibus-DP
1:n communication (optional)
EtherCAT
1:n communication (optional
Safety terminals
STO
Safe torque off (conform to the latest European
safety standards) (optional)
Control mode
1 Position control; 2 Speed control; 3 Torque
control; 4 Position/Speed mode switching; 5
Speed/Torque mode switching; 6 Position/Torque
mode switching; 7 Fully-closed loop control; 8
CANopen mode; 9 EtherCAT mode; 10 MotionNet
mode

SRV-63 series AC servo drives Product overview
-7-
SRV-63 series servo drive (200W~5.5kW)
Specification
Description
Function
Position
control
Control input
1. Retention pulse clearing;
2. Command pulse input disabled;
3. Electronic gear ratio switching;
4. Vibration control switching, etc
Control output
Positioning completion output, etc
Pulse input
Max. pulse
input
frequency
Optical coupling: differential input
4Mpps, open collector input 200kpps;
Pulse input
mode
1. Pulse + direction;
2. CW+CCW;
3. Quadrature
Electric
gear
1/10000~1000 times
Filter
1. Command smoothing filter;
2. FIR filter
Analog input
Torque limit
command
input
Can independently perform clockwise/
counterclockwise torque limit
Vibration control
Control 5~200Hz forward and whole machine
vibration
Pulse output
1. Can perform arbitrary frequency division settings
under the encoder resolution;
2. B phase reverse function
Speed
control
Control input
1. Internal command speed 1;
2. Internal command speed 2;
3. Internal command speed 3;
4. Zero speed clamp, etc
Control output
Speed reaching, etc
Analog input
Speed
command
input
Can be speed command input after
relevant setting based on analog
voltage DC±10V
Torque limit
input
Can independently arrange clockwise/
counterclockwise torque limit
Internal speed
commands
8 step speed can be switched according to the
external control input
ACC/DEC
adjustment of
speed command
ACC/DEC time setting and S curve setting
Zero speed
In the speed mode, it can set the operation mode as

SRV-63 series AC servo drives Product overview
-8-
SRV-63 series servo drive (200W~5.5kW)
Specification
Description
clamp
the speed mode and position mode
Speed command
filter
A delay filter of analog input speed command
Speed command
zero drift control
Zero drift control against outside interference with
0.3mV precision
Torque
control
Control input
Zero speed clamp input, etc
Control output
Speed reaching, etc
Analog input
Torque
command
input
Analog torque command input, gain
and polarity can be set based on
analog voltage with 4.88mV precision
Speed limit
input
Analog speed limit
Speed limit
Set the speed limit by parameters
Torque command
filter
A delay filter of analog input torque command
Torque command
zero drift control
Zero drift control against the outside interference
with 4.88mV precision
Internal
position plan
Plan bits
128 bits internal position planning, the positioning
can be controlled through communication
Route setting
1. Position; 2. Speed; 3. ACC time; 4. DEC time;
5. Stop timer; 6. Various state output;
7. Operational mode
Homing
1. LS signal; 2. Z phase signal; 3. LS signal+Z
phase signal; 4. Torque limit signal
Protection
Hardware protection
Overvoltage, undervoltage, overcurrent,
overspeed, overload, braking resistor overload,
drive overheat, encoder fault and so on
Software protection
Storage fault, initialization fault, I/O distribution
abnormalities and large position deviation
Protection and fault record
1. Record up to 10 faults
2. Can record the key parameters when fault
occurs
Environment
Operation temperature
0~45℃
Storage temperature
-20~80℃(no frozen)
Operation/storage humidity
Operation/storage: ≤90%RH (no condensation)
IP degree
IP20
Elevation
Below 1000m altitude
Vibration
≤5.88m/s2, 10~60Hz(Working at the resonance
point is not allowed)

SRV-63 series AC servo drives Product overview
-9-
1.1.2 External appearance of the drive
Standard model
CHARGE
MO D E
SET
L3
L1C
L2C
L2
L1
C
N
4
C
N
3
C
N
1
C
N
2
B2
B3
U
V
W
CHARGE light
Power supply of main circuit
Power supply of control circuit
Motor
Grounding
Regenerative resistor
Operation panel
LED display
CN3:CAN/485 communication
CN1:I/O control
CN2:Encoder
CN5:2nd encoder and STO
S1:STO selection
CN4:USB port of upper PC
-
+
Models which carry extension cards with DP function
CHARGE
MODE
L3
L1C
L2
L1
C
N
3
C
N
1
C
N
2
B2
B3
U
V
W
SE T
L2C
C
N
4
-
+
CHARGE light
Power supplyof main circuit
Power supplyof control circuit
Motor
Grounding
Regenerative resistor
Operation panel
LED display
CN3:CAN/485 communication
CN1:I/O control
CN2:Encoder
CN5:2nd encoder and STO
S1:STO selection
CN4:USB port of upper PC
PROFIBUS-DP interface

SRV-63 series AC servo drives Product overview
-10-
1.1.3 Naming of the drive
AS63SRV
2
0C2
-
S
A
B
C
D
Key
Description
A
Astraada SRV-63 series
B
Input voltage
2: 230VAC; 4: 400VAC
C
Power ratings:
C05: 50W 0C4: 400W 0C7: 750W 1C0: 1.0kW 2C0: 2.0kW
5C5: 5.5kW
D
Machine type
S: Standard; C: CANopen bus; P: PROFIBUS-DP bus;
E: EtherCAT bus;
Function difference between different machine types:
Code
Type
Pulse
input
16bit
analog
Full
closed-
loop
STO
RS485
CAN
open
PROFIBUS-
DP
Ether
CAT
Motion
Net
ECAM
S
Standard
√
√
√
√
√
×
×
×
×
×
C
CAN
×
×
×
×
×
√
×
×
×
×
P
PROFIBUS-
DP
×
×
×
×
×
×
√
×
×
×
E
EtherCAT
×
×
×
×
×
×
×
√
×
×
Note: In above table, “√” means this function is available, “×” means this function is unavailable.

SRV-63 series AC servo drives Product overview
-11-
1.1.4 Name plate of the drive
1.1.5 Power ratings and cabinet volumes
Model
Input
Output
Cabinet
volume
Voltage (V)
Rated current
(A)
Power
(kW)
Rated
current (A)
AS63SRV20C2
Single/Three phase 220
1.8/0.8
0.2
1.8
A
AS63SRV20C4
Single/Three phase 220
3.6/1.5
0.4
2.8
A
AS63SRV20C7
Single/Three phase 220
6.8/2.8
0.75
4.5
B
AS63SRV21C0
Single/Three phase 220
9.1/3.7
1.0
5
B
AS63SRV41C5
Three phase 400
3.1
1.5
4.5
B
AS63SRV42C0
Three phase 400
4.1
2.0
6.5
C
AS63SRV43C0
Three phase 400
6.2
3.0
8.5
C
AS63SRV44C4
Three phase 400
9.1
4.4
12
D
AS63SRV45C5
Three phase 400
11.3
5.5
16
D

SRV-63 series AC servo drives Product overview
-12-
1.2 Servo motor
1.2.1 Nameplate of the motor
Note:“2300” on the name plate is the motor model, and please input the number into P0.00 correctly
(P0.00 is long parameter which can be set via keypad. See details at chapter 5.2.1 (8), otherwise, the
servo system may not operate normally and major fault may occur to the drive and motor.
1.2.2 Naming of the servo motor
AS63
MTR
2
0C2
-
I
A
B
C
D
E
Key
No.
Description
Example
Product
A
Astraada
SRV-63
Brake
B
MTR –without brake
MTB –with brake
Voltage degree
C
Voltage
degree
2 - 230VAC
4 - 400VAC
Power +
Load/Speed
D
Rated
power
C02 –200W
0C4 - 400W
0C7 - 750W
1C0 - 1.0kW
1C5 - 1.5kW
3C0 - 3.0kW
5C5 - 5.5kW
Lot No.
E
Encoder
type
I - Incremental
A - Absolute value

SRV-63 series AC servo drives Product overview
-13-
1.3 Cables
1.3.1 Nameplate of cables
1.3.2 Naming of the power cables
AS63
CBL
07
03
-
A
A
B
C
D
E
Key
No.
Description
Example
Product
A
Manufacturer
Astraada SRV-63
Power cable
B
Power cable
CBL - Power cable
Coil diameter
C
Coil diameter
07 - 0.75mm2
10 - 1.0mm2
15 - 1.5mm2
25 - 2.5mm2
Length
D
Cable length
03 - 3 meters
05 - 5 meters
10 - 10 meters
20 - 20 meters
Pin for motors
E
Pin for motors
A - 4PIN plastic pin
B - 4PIN general aviation pin YD28
C - 4PIN metal pin

SRV-63 series AC servo drives Product overview
-14-
1.3.3 Naming of the encoder cables
AS63
CBE
06
03
-
A
D
A
B
C
D
E
F
Key
No.
Description
Example
Product
A
Manufacturer
Astraada SRV-63
Encoder cable
B
Encoder cable
CBE - Encoder cable
Cable core
C
Core
06 - 6 - core cable
09 - 9 - core cable
15 - 15 - core cable
Length
D
Cable length
03 - 3 meters
05 - 5 meters
10 - 10 meters
20 - 20 meters
Pin for motors
E
Pin for motors
A - 15PIN DB pin
B - 15PIN general aviation pin YD28
C - 9PIN metal pin
Options
F
Cable options
Null –without battery
D - with battery

SRV-63 series AC servo drives Product overview
-15-
1.4 Braking resistor specification
Drive model
Embedded braking
resistor
Min. resistance of external
braking resistors
AS63SRV20C2
/
60Ω
AS63SRV20C4
/
60Ω
AS63SRV20C7
30Ω 60W
30Ω
AS63SRV21C0
30Ω 60W
30Ω
AS63SRV41C5
60Ω 60W
60Ω
AS63SRV42C0
60Ω 60W
40Ω
AS63SRV43C0
60Ω 60W
30Ω
AS63SRV44C4
30Ω 120W
30Ω
AS63SRV45C5
30Ω 120W
30Ω

SRV-63 series AC servo drives Installation instruction
-16-
Chapter 2 Installation instruction
2.1 Drive dimension
2.1.1 A/B/C volume and dimension diagram
ADW
W1
B1
B2
H
2.1.2 D volume and dimension diagram
Volume
Model
External dimension
Installation dimension
Installation
hole (mm)
H(mm)
W(mm)
D(mm)
A (mm)
B1 (mm)
B2 (mm)
W1(mm)
A
AS63SRV20C2
170
45
170
33
162
185
22.5
M4(Φ5)
AS63SRV20C4
B
AS63SRV20C7
170
67
180
54
162
185
25
M4(Φ5)
AS63SRV21C0
AS63SRV41C5
C
AS63SRV42C0
170
84
180
71
162
185
42
M4(Φ5)
AS63SRV43C0
D
AS63SRV44C4
245
92
190
79
237
260
45
M4(Φ5)
AS63SRV45C5

SRV-63 series AC servo drives Installation instruction
-17-
2.2 Drive installation
2.2.1 Installation mode
1) Base installation (there is a Φ5 installation hole at the lower left corner and upper right corner of the
rear board respectively)
CHARGE
MODE
SET
L3
L1 C
L2 C
L2
L1
C
N
4
C
N
3
C
N
1
C
N
2
B2
B3
U
V
W
-
+
2) Bracket installation (the installation bracket is optional)
CHA RGE
MODE
SET
L3
L1 C
L2 C
L2
L1
C
N
4
C
N
3
C
N
1
C
N
2
B2
B3
U
V
W
-
+
Partition bracket

SRV-63 series AC servo drives Installation instruction
-18-
2.2.2 Installation space and direction
Please install the servo drive vertically and keep enough installation space for good ventilation. Install
fans if necessary to ensure the temperature inside the control cabinet is lower than 45℃.
1) Single drive installation
>100mm
>100mm
>20mm >20mm
>40mm
Up
Down
2) Multiple drives installation
>20mm
>20mm
Up
Down
>20mm
FAN FAN
>20mm
>20mm
>20mm >20mm

SRV-63 series AC servo drives Installation instruction
-19-
2.3 Motor dimension
Note: As motor structure and dimension may vary slightly with design modification, for those who are
sensitive to the installation length of motor, please confirm the installation length with our business
staff before ordering.
2.3.1 Motor dimensions with 60 and 80mm base (mm)
Model
Flange dimensions
Main dimensions
L1
L4
H1
H2
ST
D
L2
L6
P
H
AH
B
S
L
WK
HK
LK
HS
LS
AS63MTR20C2-A
50(h7)
3
6.5
70
5.5
45
60
14(h6)
30
5
5
22.5
11
25
114.5
41
38.5
45.5
M5 D10
AS63MTR20C4-A
50(h7)
3
6.5
70
5.5
45
60
14(h6)
30
5
5
22.5
11
25
138.5
65
38.5
45.5
M5 D10
AS63MTR20C7-A
70(h7)
3
10
90
7
45
80
19(h6)
35
6
6
22
15.5
25
140
68
48.5
55.5
M5 D10
AS63MTR20C2-I
50(h7)
3
6.5
70
5.5
45
60
14(h6)
30
5
5
22.5
11
25
114.5
41
38.5
45.5
M5 D10
AS63MTR20C4-I
50(h7)
3
6.5
70
5.5
45
60
14(h6)
30
5
5
22.5
11
25
138.5
65
38.5
45.5
M5 D10
AS63MTR20C7-I
70(h7)
3
10
90
7
45
80
19(h6)
35
6
6
22
15.5
25
140
68
48.5
55.5
M5 D10
AS63MTR21C0-I
70(h7)
3
10
90
7
45
80
19(h6)
35
6
6
22
15.5
25
183
68
48.5
55.5
M5 D10
AS63MTB20C2-A
50(h7)
3
6.5
70
5.5
45
60
14(h6)
30
5
5
22.5
11
25
151.5
41
38.5
45.5
M5 D10
AS63MTB20C4-A
50(h7)
3
6.5
70
5.5
45
60
14(h6)
30
5
5
22.5
11
25
175.5
65
38.5
45.5
M5 D10
AS63MTB20C7-A
70(h7)
3
10
90
7
45
80
19(h6)
35
6
6
22
15.5
25
186.5
68
48.5
55.5
M5 D10
AS63MTB21C0-I
70(h7)
3
10
90
7
45
80
19(h6)
35
6
6
22
15.5
25
237
68
48.5
55.5
M5 D10
AS63MTB20C2-I
50(h7)
3
6.5
70
5.5
45
60
14(h6)
30
5
5
22.5
11
25
151.5
41
38.5
45.5
M5 D10
AS63MTB20C4-I
50(h7)
3
6.5
70
5.5
45
60
14(h6)
30
5
5
22.5
11
25
175.5
65
38.5
45.5
M5 D10
AS63MTB20C7-I
70(h7)
3
10
90
7
45
80
19(h6)
35
6
6
22
15.5
25
186.5
68
48.5
55.5
M5 D10