Automation Technology iSV2-CAN Series User manual

User Manual Of iSV2-CAN Series
Integrated Servo Motor
Version 0.4
1

2
Introduction
Thanks for purchasing our integrated servo motor, this instruction manual provides
knowledge and attention for using this motor.
Incorrect operation may cause unexpected accident, please read this manual carefully before using
product.
We reserve the right to modify equipment and documentation without prior notice.
We won’t undertake any responsibility with customer’s any modification of product, and the warranty of
product will be cancel at the same time.
Be attention to the following warning symbol:
Warning indicates that the error operation could result in loss of life or serious injury.
Caution indicates that the error operation could result in operator injured, also make
equipment damaged.
Attention indicates that the error use may damage product and equipment.
Safety precautions
Warning
The design and manufacture of product doesn’t use in mechanic and system which have a threat to operator.
The safety protection must be provided in design and manufacture when using this product to prevent
incorrect operation or abnormal accident.
Acceptance
Caution
The product which is damaged or have fault is forbidden to use.
Transportation
Caution
The storage and transportation must be in normal condition.
Don’t stack too high, prevent falling.
The product should be packaged properly in transportation,
Don’t hold the product by the cable, motor shaft or encoder while transporting it.
The product can’t undertake external force and shock.

3
Wiring
Warning
The workers of participation in wiring or checking must possess sufficient ability do this job.
Ground the earth terminal of the motor and drive without fail.
The wiring should be connected after servo drive and servo motor installed correctly.
After correctly connecting cables, insulate the live parts with insulator.
Caution
The wiring must be connected correctly and steadily, otherwise servo motor may run incorrectly, or damage
the equipment.
We mustn’t connect capacitors, inductors or filters between servo motor and servo drive.
The wire and temperature-resistant object must not be close to radiator of servo drive and motor.
The freewheel diode which connect in parallel to output signal DC relay mustn’t connect reversely.
Debugging and running
Caution
Make sure the servo drive and servo motor installed properly before power on, fixed steadily, power
voltage and wiring correctly.
The first time of debugging should be run without loaded, debugging with load can be done after
confirming parameter setting correctly, to prevent mechanical damage because of error operation.
Caution
Install a emergency stop protection circuit externally, the protection can stop running immediately to
prevent accident happened and the power can be cut off immediately.
The run signal must be cut off before resetting alarm signal, just to prevent restarting suddenly.
The servo drive must be matched with specified motor.
Don’t power on and off servo system frequently, just to prevent equipment damaged.
Forbidden to modify servo system.
Fault Processing
Caution
The reason of fault must be figured out after alarm occurs, reset alarm signal before restart.
Keep away from machine, because of restart suddenly if the drive is powered on again after momentary
interruption(the design of the machine should be assured to avoid danger when restart occurs)
System selection
Attention
The rate torque of servo motor should be larger than effective continuous load torque.
The ratio of load inertia and motor inertia should be smaller than recommended value.
The servo drive should be matched with servo motor.

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Table of Contents
Introduction.......................................................................................................................................................... 2
Chapter 1 Introduction.......................................................................................................................................... 7
1.1 Product Introduction............................................................................................................................... 7
1.1.1 Specification and feature............................................................................................................. 7
1.1.2 Part Numbering Information ....................................................................................................... 8
1.2 Inspection of product.............................................................................................................................. 8
Chapter 2 Installation ........................................................................................................................................... 9
2.1 Storage and Installation Circumstance................................................................................................... 9
2.2 Servo Drive Installation.......................................................................................................................... 9
Chapter 3 Wiring................................................................................................................................................ 10
3.1 Wiring................................................................................................................................................... 10
3.1.1 Wire Gauge................................................................................................................................ 10
3.1.2 Wiring........................................................................................................................................ 12
3.2 Drive Terminals Function..................................................................................................................... 13
3.2.1 Control Signal Port-CN1 Terminal............................................................................................ 13
3.2.2 Power Port................................................................................................................................. 14
3.2.3 Communication Port.................................................................................................................. 14
3.2.4 CAN bus connector ................................................................................................................... 14
3.2.5 CAN Node-ID and Baud rate switch......................................................................................... 14
3.3 I/O Interface Principle.......................................................................................................................... 15
3.3.1 Digital Input Interface ............................................................................................................... 15
3.3.2 Digital Output Interface............................................................................................................. 15
Chapter 4 Parameter........................................................................................................................................... 18
4.1 Parameter List ...................................................................................................................................... 18
4.1.1 Drive Parameters (Group 2000h) .............................................................................................. 18
4.1.2 Manufacturer Parameters (Group 5000h).................................................................................. 21
4.1.3 Device Profile Parameters (Group 6000h) ................................................................................ 23
4.2 Parameters Function............................................................................................................................. 25
4.2.1【Class 0】Basic Setting........................................................................................................... 25
4.2.2【Class 1】Gain Adjust ............................................................................................................. 29
4.2.3【Class 2】Vibration Suppression............................................................................................. 33
4.2.4【Class 3】Velocity/ Torque Control......................................................................................... 35
4.2.5【Class 4】I/F Monitor Setting ................................................................................................. 36
4.2.6【Class 5】Extended Setup ....................................................................................................... 41
4.2.7【Class 6】Special Setup........................................................................................................... 44
4.2.8【Class 7】Factory setting......................................................................................................... 46
4.3 402 Parameters Function...................................................................................................................... 47
Chapter 5 CANopen........................................................................................................................................... 52
5.1 CAN Interface ...................................................................................................................................... 52
5.2 CANopen protocol ............................................................................................................................... 52
5.2.1 CANopen frame ........................................................................................................................ 52
5.2.2 CANopen objects ...................................................................................................................... 53

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5.3 NMT..................................................................................................................................................... 54
5.3.1 NMT services ............................................................................................................................ 55
5.3.1 NMT error control..................................................................................................................... 55
5.4 SDO...................................................................................................................................................... 57
5.5 PDO...................................................................................................................................................... 58
5.6 SYNC................................................................................................................................................... 59
5.7 EMCY.................................................................................................................................................. 59
Chapter 6 Trial Run............................................................................................................................................ 61
6.1 Inspection Before trial Run .................................................................................................................. 61
6.2 iSV2-CAN motion control procedure .................................................................................................. 61
6.3 CIA402 State Machine ........................................................................................................................ 62
6.4 Common Functions for All Modes....................................................................................................... 63
6.4.1 Motor Rotation Direction .......................................................................................................... 63
6.2.2 Drive Stop.................................................................................................................................. 63
6.4.3 Electronic Gear Ratio................................................................................................................ 63
6.4.4 Control Word............................................................................................................................. 64
6.4.5 Status Word................................................................................................................................ 65
6.4.6 Drive Enable.............................................................................................................................. 66
6.5 Profile position mode ........................................................................................................................... 66
6.5.1 Controlword in profile position mode ....................................................................................... 66
6.5.2 Statusword in profile position mode.......................................................................................... 67
6.5.3 Related objects .......................................................................................................................... 68
6.5.4 Example of profile position mode ............................................................................................. 68
6.6 Profile velocity mode ........................................................................................................................... 69
6.6.1 Controlword in profile velocity mode ....................................................................................... 69
6.6.2 Statusword in profile velocity mode.......................................................................................... 69
6.6.3 Related objects .......................................................................................................................... 70
6.6.4 Example of profile velocity mode ............................................................................................. 70
6.7 Profile torque mode.............................................................................................................................. 71
6.7.1 Controlword in profile torque mode.......................................................................................... 71
6.7.2 Statusword in profile torque mode ............................................................................................ 71
6.7.3 Related objects .......................................................................................................................... 72
6.7.4 Example of profile torque mode................................................................................................ 72
6.8 Homing mode....................................................................................................................................... 73
6.8.1 Controlword in profile homing mode........................................................................................ 73
6.8.2 Statusword in profile homing mode .......................................................................................... 73
6.8.3 Related objects .......................................................................................................................... 74
6.8.4 Example of homing mode ......................................................................................................... 74
6.8.5 Homing Method ........................................................................................................................ 75
6.9 Security Features.................................................................................................................................. 90
6.9.1 BRK-OFF output....................................................................................................................... 90
6.9.2 Servo stop mode........................................................................................................................ 91
6.9.3 Emergency stop function........................................................................................................... 91
6.10 Inertia ratio identification................................................................................................................... 91

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6.10.1 On-line inertia ratio identification........................................................................................... 92
6.10.2 Motion Studio inertia ratio identification ................................................................................ 92
6.11 Vibration Suppression......................................................................................................................... 93
6.12 Friction torque compensation............................................................................................................. 95
6.13 Regenerative resister setting............................................................................................................... 95
Chapter 7 Alarm and Processing ........................................................................................................................ 97
7.1 Alarm List............................................................................................................................................. 97
7.2 Alarm Processing Method .................................................................................................................... 99
Chapter 8 Product Accessory ........................................................................................................................... 107
8.1 Accessory selection ............................................................................................................................ 107

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Chapter 1 Introduction
1.1 Product Introduction
iSV2-CAN integrated servo is a special motion control product designed for machines and applications
that request a best balance between outstanding and reasonable cost.
Based on CIADS 301+DSP 402 sub-protocol, it can be seamlessly connected to the controller/drive that
supports this standard protocol.
Basic specification
Up to 750watt
Frame size : 60mm, 80mm
Voltage input : 24-60VDC
Encoder : 17bit incremental
Motor with or without brake
2.5 –3 times overload
4 programmable input
2 programmable output
RS232 for configuration
CANopen Communication
Up to 128 axes supported in one network
Link Layer Protocol : CAN Field-bus
Application Layer Protocol : CANopen Protocol
CAN-ID type : CAN 2.0A
Communication Rate : 1M/500k/250k/100k/50k/20k bit/s
Sub-protocol :DS301 V4.02 , DSP 402 V2.0
PDO Transmission Modes : Time trigger/event trigger/asynchronization/synchronization
Control mode : profile position, profile velocity , profile torque , homing
1.1.1 Specification and feature
Part Number
iSV2-CAN6020V24*
iSV2-CAN6020V48*
iSV2-CAN6040V48*
iSV2-CAN8075V48*
Rated Power(W)
200
200
400
750
Rated Torque(Nm)
0.64
0.64
1.27
2.39
Peak Torque(Nm)
1.92
1.92
3.81
7.17
Rated Speed(rpm)
3000
3000
3000
3000
Peak Speed(rpm)
4000
4000
4000
4000
Rated Voltage(VDC)
24
48
48
48
Input Voltage(VDC)
24~60
24~60
24~60
24~60
Continuous Current(Arms)
11
6.5
10
19
Peak Current(Arms)
34
20
28
57
Logic Signal Current(mA)
10
10
10
10
Isolation Resistance(MΩ)
100
100
100
100
Weight(kg)
0.93(1.32)
0.93(1.32)
1.26(1.65)
2.52(3.19)
Control method
IGBT PWM sinusoidal Wave Drive
Overload
250% ~ 300%
Brake resistor
External connection
Protection rank
IP20

8
Features
Drive model
iSV2-CAN6020*
iSV2-CAN6040*
iSV2-CAN8075*
Modes of operation
Profile Position/Profile Velocity/Profile Torque
Command source
Over the Network
Inputs/Outputs
4 programmable single-end inputs(24V);
2 programmable single-end outputs.
Brake Output (24vdc)
√
Feedback Supported
17bit Incremental
Communication
CANopen , RS-232 for tuning
1.1.2 Part Numbering Information
iSV2- CAN 6040 V48 G
H : Motor without brake, G: Motor with brake
Voltage，24: 24V , 48: 48V
Maximum Output Power :
6020: 60mm frame size, 200W
6040: 60mm frame size, 400W
8075: 80mm frame size, 750W
RS: RS-485(Pulse+Dir/RS-485)
CAN: CANopen
iSV2 servo motor ( 24-60Vdc)
1.2 Inspection of product
Check the following thing before using the products :
a. Check if the product is damaged or not during transportation.
b. Check if the servo drive & motor are complete or not.
c. Check the packing list if the accessories are complete or not

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Chapter 2 Installation
2.1 Storage and Installation Circumstance
Table 2.1 Servo Motor Storage Circumstance Requirement
Item
iSV2 series motor
Temperature
-20-80℃
Humility
Under 90%RH (free from condensation)
Atmospheric environment
Indoor(no exposure)no corrosive gas or flammable gas, no oil or dust
Altitude
Lower than 1000m
Vibration
Less than 0.5G (4.9m/s2) 10-60Hz (non-continuous working)
Protection level
IP20
Table 2.2 Servo Motor Installation Circumstance Requirement
Item
iSV2 series motor
Temperature
0-80℃
Humility
Under 90%RH(free from condensation)
Atmospheric environment
Indoor(no exposure)no corrosive gas or flammable gas, no oil or dust
Altitude
Lower than 1000m
Vibration
Less than 0.5G (4.9m/s2) 10-60Hz (non-continuous working)
Protection level
IP20(no protection)
2.2 Servo Drive Installation
Notice
Must install in control cabinet with sufficient safeguarding grade.
Must install with specified direction and intervals, and ensure good cooling condition.
Don’t install them on inflammable substance or near it to prevent fire hazard.
Notice
Don’t hold the product by the cable, motor shaft or encoder while transporting it.
No knocking motor shaft or encoders, prevent motor by vibration or shock.
The motor shaft can’t bear the load beyond the limits.
Motor shaft does not bear the axial load, radial load, otherwise you may damage the motor.
Use a flexible with high stiffness designed exclusively for servo application in order to make a radial
thrust caused by micro misalignment smaller than the permissible value.
Install must be steady, prevent drop from vibrating.

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Chapter 3 Wiring
Warning
The workers of participation in wiring or checking must possess sufficient ability do this job.
The wiring and check must be going with power off after five minutes.
Caution
Ground the earth terminal of the motor and drive without fail.
The wiring should be connected after servo drive and servo motor installed correctly
3.1 Wiring
3.1.1 Wire Gauge
(1)Power supply terminal TB
●Wiring Diameter:
Drive
Wiring diameter (mm2/AWG)
Vdc, GND
PE
iSV2-CAN6020V24*
AWG16
AWG16
iSV2-CAN6020V48*
AWG16
AWG16
iSV2-CAN6040V48*
AWG16
AWG16
iSV2-CAN8075V48*
AWG14
AWG14
● Grounding: The grounding wire should be as thick as possible, servo motor the PE terminal point ground,
ground resistance <100 Ω.
●Use noise filter to remove external noise from the power lines and reduce an effect of the noise generated
by the servo drive.
● Install fuse (NFB) promptly to cut off the external power supply if drive error occurs.
(2) The control signal CN1
● Diameter: shielded cable (twisting shield cable is better), the diameter ≥ 0.14mm2(AWG24-26), the shield
should be connected to FG terminal.
● Length of line: cable length should be as short as possible and control CN1 cable is no more than 3 meters,
the CN2 cable length of the feedback signal is no more than 10 meters.
● Wiring: be away from the wiring of power line, to prevent interference input.
●Install a surge absorbing element for the relevant inductive element (coil), DC coil should be in parallel
connection with freewheeling diode reversely; AC coil should be in parallel connection with RC snubber
circuit.
(3) Regenerative resistor
When the torque of the motor is opposite to the direction of rotation (common scenarios such as deceleration,
vertical axis descent, etc.), energy will feedback from the load to the drive. At this time, the energy feedback is
first received by the capacitor in the drive, which makes the voltage of the capacitor rise. When it rises to a
certain voltage value, the excess energy needs to be consumed by the regenerative resistance
The recommended regenerative resistance specifications for the iSV2 series are as follows:
Drive
Recommend resister value (Ω)
Recommend resister power (W)
iSV2-CAN6020V24*
10
50
iSV2-CAN6020V48*
10
50