Astraada SRV-64 User manual

The owner of Astraada brand is ASTOR Sp. z o.o.
Operation Manual
Astraada SRV-64
AC Servo drives

AS64 series AC servo drive Preface
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Preface
Thanks for choosing Astraada AS64 series AC servo drive (AS64 drive for short).
Using the modular structure, AS64 drive provides abundant functions and achieves excellent
performance. The upper computer software uses USB communication, and the available control bus
options include Modbus, CANopen, and EtherCAT. In addition, the drive supports online and offline
inertia identifying, gain switching, auto and manual notch filters, auto and manual vibration control
filters, medium-frequency vibration suppression, internal point-to-point (PTP) control, fully-closed loop
control, safe torque off (STO), multiple types of encoders, and 16-bit analog input.
The electromagnetic compatibility design enables AS64 drive to provide strong anti-electromagnetic
interference capacity but also achieve low noise and electromagnetic interference weakening in the
application sites.
This manual describes the installation, wiring, parameter setting, fault diagnosis, and daily
maintenance. Read this manual carefully before installing AS64 drive so that it works properly.
If the product is ultimately used for military affairs or weapon manufacture, it will be listed on the export
control formulated by Foreign Trade Law of the People's Republic of China. Rigorous reviews and
necessary export formalities are required before the export.
Our company reserves the right to update manual information without prior notice.
Note: Models mentioned in this manual are standard unless otherwise specified.

AS64 series AC servo drive Safety precautions
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Safety precautions
Safety symbols
Read this manual and follow the instructions.
Do not touch terminals within 15 minutes after power-on
or power-off. Otherwise, electric shock may result.
Do not touch the heat sink. Otherwise, burns may result.
The contact current can reach 0.5mA. Reliable grounding
must be complete before the use.
The safety symbols are marked in the front or side of the servo drive. Follow the safety instructions
when operating on the servo drive.
Recycling symbol
Check the following safety precautions before the installation, wiring, operation, maintenance,
or inspection:
⚫Ensure that the AC power supply is consistent with the rated voltage of the drive. Otherwise, drive
damages, body injuries, or fire may result.
⚫Do not connect an input power cable to an output terminal. Otherwise, drive damages may result.
⚫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 in the correct phase sequence. Otherwise, drive faults or damages
may be caused.
⚫To avoid accidents, disconnect the motor from the drive before trial operation, and then run the
motor independently.
⚫Ensure that the drive can be disconnected from the power supply by the emergency switch before
mechanical running.
⚫Set the corresponding parameters before operation. Otherwise, the drive may run abnormally or
unexpectedly due to load issues.
⚫Only qualified electrical engineers can carry out the wiring. Otherwise, electric shock or fire may
result.
⚫Do not touch the conductive parts directly, and do not connect any external cables (especially
heavy-current related) to the housing or in short-circuited way. Otherwise, electric shock or short
circuit may result.
When the life cycle ends, the product should enter the recycling system.
Dispose of it separately at an appropriate collection point instead of placing it
in the normal waste stream.

AS64 series AC servo drive Safety precautions
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⚫Rewire the drive at least 15 minutes after disconnecting it from the power supply. Otherwise,
electric shock may result.
⚫Use proper grounding techniques because the touch current may reach 0.5mA. Otherwise, electric
shock may result.
⚫Do not touch the heat sink or external brake resistor during operation. Otherwise, burns may result
due to high temperature.
⚫Install the overcurrent protector, leakage current protector, and emergency brake, and ensure the
normal usage after wiring. Otherwise, electric shock, body injuries, or fire may result.
⚫The leakage current may exceed 3.5mA during the drive running. Ground with proper techniques.
Ensure that the grounding resistance is less than 10Ω and the PE earth conductor and the phase
conductor are the same in conductivity (with the same cross-sectional area).
⚫Drive components contain heavy metals. Dispose of a scrap drive as industrial waste.

AS64 series AC servo drive Contents
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Contents
Preface .............................................................................................................................................
Safety precautions.........................................................................................................................II
Contents........................................................................................................................................IV
1 Overview .....................................................................................................................................1
1.1 Servo drive ................................................................................................................................2
1.2 Servo motor ...............................................................................................................................8
1.3 Cables .......................................................................................................................................9
1.4 Brake resistor specifications..................................................................................................... 11
2Installation instructions ..........................................................................................................12
2.1 Drive dimensions .....................................................................................................................13
2.2 Drive installing .........................................................................................................................14
2.3 Motor outline and mounting dimensions ...................................................................................16
2.4 Motor installing.........................................................................................................................17
2.5 Servo-motor technical parameters............................................................................................17
3 Wiring instructions ...................................................................................................................19
3.1 System wiring ..........................................................................................................................20
3.2 Main circuit terminal wiring .......................................................................................................23
3.3 Motor power cable wiring .........................................................................................................25
3.4 Wiring for control I/O terminal CN1...........................................................................................26
3.5 Wiring for encoder terminal CN2 ..............................................................................................26
3.6 Wiring for RS485/CAN terminal CN3 ........................................................................................28
3.7 Wiring for USB terminal CN4....................................................................................................29
3.8 Wiring for second-encoder terminal CN5..................................................................................29
3.9 Wiring for STO terminal CN11 ..................................................................................................30
4 Control modes ..........................................................................................................................31
4.1 Standard wiring diagram for position control .............................................................................32
4.2 Standard wiring diagram for speed control................................................................................33
4.3 Standard wiring diagram for torque control ...............................................................................34
4.4 Function description for CN1 ....................................................................................................35
4.5 Wiring description for CN1 .......................................................................................................51
4.6 Wiring description for CN5 .......................................................................................................56
4.7 Wiring description for CN11......................................................................................................57
5 Operating and running .............................................................................................................58
5.1 Running ...................................................................................................................................59
5.2 Display and operating ..............................................................................................................69
6 Function codes .........................................................................................................................77
6.1 Basic control (group P0)...........................................................................................................78
6.2 Autotuning control (group P1).................................................................................................106
6.3 Motor control (group P2) ........................................................................................................ 113

AS64 series AC servo drive Contents
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6.4 I/O management (group P3)...................................................................................................128
6.5 Extension and application (group P4) .....................................................................................146
6.6 Program Jog, homing, and PTP control (group P5).................................................................165
6.7 Application functions (group P6) .............................................................................................179
6.8 PTP control (groups PtP0, PtP1, and PtP2)............................................................................185
6.9 Status monitoring...................................................................................................................219
7 Commissioning....................................................................................................................... 237
7.1 Instructions on identifying inertia ............................................................................................238
7.2 General methods for adjusting parameters.............................................................................239
7.3 Mechanical resonance suppressing........................................................................................245
7.4 Gains switching......................................................................................................................246
8 Communication.......................................................................................................................250
8.1 General description................................................................................................................251
8.2 RS485 ...................................................................................................................................251
8.3 CANopen...............................................................................................................................256
8.5 Upper computer software .......................................................................................................262
9 Fault handling .........................................................................................................................266
9.1 Servo drive faults and workarounds........................................................................................267
9.2 CANopen communication faults and workarounds..................................................................279
10 Appendix ...............................................................................................................................282
10.1 Parameters about settings....................................................................................................283
10.2 Parameters about monitoring ...............................................................................................309
10.3 Common monitoring parameters ..........................................................................................312
10.4 Fault codes ..........................................................................................................................314
10.5 Parameter setting history .....................................................................................................318

AS64 series AC servo drive Overview
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1Overview
1.1 Servo drive ................................................................................................................................2
1.1.1 Drive introduction .....................................................................................................2
1.1.2 Outline drawing ........................................................................................................6
1.1.3 Drive naming............................................................................................................7
1.1.4 Drive nameplate .......................................................................................................8
1.1.5 Drive ratings and frame sizes....................................................................................8
1.2 Servo motor ...............................................................................................................................8
1.2.1 Motor nameplate ......................................................................................................8
1.2.2 Motor naming ...........................................................................................................9
1.3 Cables .......................................................................................................................................9
1.3.1 Cable nameplate ......................................................................................................9
1.3.2 Power cable naming ...............................................................................................10
1.3.3 Encoder cable naming............................................................................................10
1.3.4 Encoder cable with battery box naming...................................................................11
1.4 Brake resistor specifications..................................................................................................... 11

AS64 series AC servo drive Overview
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1.1 Servo drive
1.1.1 Drive introduction
AS64 series servo drive (100W–2kW)
Specification
Description
Power
supply
220V system input
voltage
1PH/3PH, AC 220V (±15%)，47Hz–63Hz
Port
Control
signal
Input
8 inputs for the standard, pulse, and CANopen bus types;
7 inputs for the EtherCAT bus type (The function is
configurable through parameter settings.)
Output
6 single-way outputs for the standard, pulse, and
CANopen bus types; 4 differential outputs for the
EtherCAT bus type
Analog
Input
2 standard inputs (two 16-bit analog inputs);
2 other inputs (two 12-bit analog inputs)
Output
2 analog outputs
Pulse
signal
Input
1 group (of open collector input or differential input)
Output
1 group of differential outputs (A+/A-; B+/B-; Z+/Z-)
Encoder
2
Input
Incremental encoder (or grating ruler) interface or serial
communication interface
Communi
-cation
USB
1:1 communication upper computer software
(preconfigured)
RS485
1:n communication (preconfigured)
CANopen
1:n communication (optional)
EtherCAT
1:n communication (optional)
Safety
terminal
STO
STO, conforming to the latest European safety standards
SIL3, (optional)
Control mode
1: Position control 2: Speed control 3: Torque control
4: Switching between the position and speed modes
5: Switching between the speed and torque modes
6: Switching between the position and torque modes
7: Fully-closed loop control
8: CANopen mode 9: EtherCAT mode
Function
Position
control
Control input
1: Clearing residual pulses
2: Inhibiting command pulses

AS64 series AC servo drive Overview
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AS64 series servo drive (100W–2kW)
Specification
Description
3: Switching electronic gear ratios
4: Switching vibration control
Control
output
Such as positioning completion output
Pulse input
Max. pulse
input
frequency
Photoelectric coupling: differential input of
4Mpps or open collector input of 200kpps
Pulse input
mode
1: Pulse + direction
2: Clockwise + counterclockwise (CW +
CCW)
3: Orthogonal coding
Electronic
gear
1/10000—1000
Filter
1. Command smoothing filter
2. FIR filter
Analog input
Torque limit
command
input
This allows independent CW or CCW
torque limit.
Vibration
control
This can suppress 5Hz–200Hz front-end vibration and
entire-machine vibration.
Pulse output
1: This allows arbitrary frequency division settings under
the encoder resolution.
2: This supports phase-B reserving.
Speed
control
Control input
1: Internal command speed 1
2: Internal command speed 2
3: Internal command speed 3
4: Zero speed clamp
Control
output
Such as speed reaching
Analog input
Speed
command
input
You can enable speed command inputs
after performing relevant settings based on
the analog voltage DC±10V.
Torque limit
input
This allows independent CW or CCW
torque limit.

AS64 series AC servo drive Overview
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AS64 series servo drive (100W–2kW)
Specification
Description
Internal
speed
command
The internal eight-step speeds can be switched based on
external control inputs.
Speed
command
ACC/DEC
adjustment
This supports both independent ACC/DEC time setting
and S-curve ACC/DEC setting.
Zero speed
clamp
In speed mode, this allows the hybrid speed or position
working manner.
Speed
command
filter
First-order delay filter from the analog input speed
command.
Speed
command
zero-drift
control
Zero-drift suppression on external interference, accurate
to 0.3mV.
Torque
control
Control input
Such as zero-drift clamping input.
Control
output
Such as speed reaching.
Analog input
Torque
command
input
This allows gain and polarity settings
based on analog voltage, accurate to
4.88mV.
Speed limit
input
This allows analog speed limits.
Speed limit
Speeds can be limited through parameter settings.
Torque
command
filter
First-order delay filter of the analog input speed
command.
Torque
command
zero drift
Zero-drift suppression on external interference, accurate
to 4.88mV.
Internal
position
planning
Segment
planning
This supports 128-segment internal position planning.
The positioning can be controlled through
communication.