HNC Electric HSD7-E Series User manual

HSD7-E Series AC Servo Drive
User's Manual
HNC Electric Limited

Introduction
This manual describes the information required for the selection of HSD7 series AC servo drivers, the design
of servo drivers, trial operation, adjustment, operation and maintenance. To correctly use the HSD7 series AC
servo driver, please read this manual carefully.
Please take good care of this manual so that it can be read and referenced at any time when necessary.
How to use the manual
The basic terminology used in this manual
The terms used in this manual are described below.
Basic terms
Meaning
Servo driver
HSD7 series servo driver
Servo motor
S, SA, SC series servo motors
Servo drive
Servo driver and servo motor combination
Servo system
A servo control system that includes the combination of a Servo Drive with a host
controller and peripheral devices.
Servo ON
Supplying power to the motor.
Servo OFF
Not supplying power to the motor.
Servo lock
A state in which the motor is stopped and is in a position loop with a position
reference of 0.
Main loop cable
Cables connected to main circuit terminals (main circuit power cable, control power
cable, servo motor main circuit cable, etc.)
Labeling of icons
The following icons are designed in this book to make readers understand the distinction between the
contents of the commands. And use these icons where necessary.
Important
Indicates precautions and restrictions that must be observed.
Meanwhile, it also indicates that an alarm will be raised, but it will not cause damage to the device.
Terminology
explanation
Indicates the explaining of difficult terms and explaining the terms that have not been explained in advance.
Indicates examples of operations or settings, etc.
Indicates additional items or information that is helpful to use after understanding.
Case
Supplementary
notes
字体颜色:自动设置
设置格式[周]:
字体颜色:自动设置
设置格式[周]:
字体颜色:自动设置
设置格式[周]:
字体颜色:自动设置
设置格式[周]:

Precautions for safety
Safety-related warning signs
The following identification terms are used in this manual to explain matters to be observed in preventing
casualties and equipment damage. Distinguish the hazards and damages caused by misoperation through
identification terms. The contents are all important contents related to safety. Please observe them.
△!Danger
Indicates an emergency situation that is likely to result in death, serious injury and fire if not avoided.
△!Warning
Indicates a dangerous situation that may lead to death, serious injury and fire if not avoided.
△!Notes
Indicates a dangerous situation that may lead to moderate, minor injuries and fire if not avoided.
Notice
Indicates a hazardous condition that may cause equipment damage if not avoided.

Table of contents
Chapter 1 Basic Information of Servo Drive...........................................................................................................................1
1.1 HSD7 Series AC Servo Driver................................................................................................................................... 1
1.2 Distinguishing Method of Nameplate........................................................................................................................1
1.3 Model Description........................................................................................................................................................ 2
1.3.1 Servo drive model description example........................................................................................................2
Chapter 2 Selection of Servo Drive......................................................................................................................................... 3
2.1 Ratings and specifications..........................................................................................................................................3
2.1.1 Rating value.......................................................................................................................................................3
2.1.2 Specification table............................................................................................................................................ 4
2.2 Overall dimensions of servo driver............................................................................................................................5
Chapter 3 Installation of servo drive........................................................................................................................................7
3.1 Precautions for setting................................................................................................................................................ 7
3.2 Mounting Types and Orientation................................................................................................................................7
3.3 Mounting hole dimensions..........................................................................................................................................7
3.4 Installation interval....................................................................................................................................................... 7
Chapter 4 Connection of Servo Unit........................................................................................................................................8
4.1 Wiring and Connecting precautions..........................................................................................................................8
4.1.1 General precautions.........................................................................................................................................8
4.1.2 Anti-interference countermeasures................................................................................................................9
4.1.3 Grounding........................................................................................................................................................13
4.2 Basic connection diagram........................................................................................................................................ 14
4.3 Power supply wiring for servo drive........................................................................................................................ 14
4.3.1 Terminal symbol and terminal name............................................................................................................14
4.3.2 Wiring Operation Steps of Main Loop Connector..................................................................................... 15
4.3.3 Power on sequence control.......................................................................................................................... 15
4.3.4 Power wiring diagram.................................................................................................................................... 16
4.3.5 Connection of Regenerative Resistance.................................................................................................... 16
4.4 Servo motor connection............................................................................................................................................17
4.4.1 Terminal symbol and terminal name............................................................................................................17
4.4.2 Pin Arrangement of Connector (CN2) for Encoder................................................................................... 17
4.4.3 Connection of Servo Drive and Encoder.................................................................................................... 17
4.4.4 Wiring of Servo Drive and Brake................................................................................................................. 18
4.5 Connection of input and output signals.................................................................................................................. 19
4.5.1 Name and function of input/output signal connector (CN1).....................................................................19
4.5.2 Pin Arrangement of Input and Output Signal Connector (CN1)..............................................................19
4.5.3 Examples of wiring for input and output signals........................................................................................20
4.5.4 Input-output loop.............................................................................................................................................22
Chapter 5 Basic functions to be set before operation........................................................................................................ 24
5.1 Operation of Parameters (Pn).......................................................................................................................24
5.1.1 Classification of the parameter.....................................................................................................................24
5.1.2 Writing Method of Parameters......................................................................................................................24
5.1.3 How to Set Parameters................................................................................................................................. 25
5.1.4 Write inhibit setting of parameters............................................................................................................... 25
5.1.5 Initialization of parameter settings............................................................................................................... 25
5.2 Setting of Communication Specifications for MECHATROLINK-II.................................................................... 25
5.2.1 Communication specification setting...........................................................................................................25
5.2.2 Station address setting.................................................................................................................................. 25
5.3 Setting of Communication Specifications for MECHATROLINK-III................................................................... 25
5.3.1 Communication specification setting...........................................................................................................25
5.3.2 Station address setting.................................................................................................................................. 26
5.4 Setting of EtherCAT communication specifications..............................................................................................26
5.4.1 Setting of Communication Specifications................................................................................................... 26
5.4.2 Station address setting.................................................................................................................................. 26
5.5 Setting of Power Supply Types for Main Circuit and Control Circuit................................................................. 26
5.5.1 Setting of AC Power Input/DC Power Input............................................................................................... 26
5.5.2 Setting of Single-Phase AC Power Input/Three-Phase AC Power Input...............................................27
5.6 Function and setting of servo ON input (/S-ON) signal....................................................................................... 27
5.6.1 Function of servo ON input (/S-ON) signal.................................................................................................27
5.6.2 Set to Constant Servo ON (Motor Energized)........................................................................................... 27
5.7 Setting of Motor Rotation Direction.........................................................................................................................27

5.8 Functions and settings of over-travel prevention..................................................................................................28
5.8.1 Overtravel signal.............................................................................................................................................28
5.8.2 Select whether the over-travel prevention function is valid/invalid.........................................................29
5.8.3 Selection of Motor Stopping Method for Over-travel Prevention Function............................................29
5.8.4 Overtravel warning function.......................................................................................................................... 30
5.9 Brake 30
5.9.1 Action sequence of brake..............................................................................................................................31
5.9.2 Brake Control Output (/BK) Signal...............................................................................................................31
5.9.3 Output Time of Brake Control Output (/BK) Signal when Servo Motor Stopped..................................33
5.9.4 Output Time of Brake Control Output (/BK) Signal in Servo Motor Rotation........................................ 33
5.10 Servo OFF and Motor Stop Method in Alarm......................................................................................................34
5.10.1 Motor Stop Method when Servo OFF....................................................................................................... 34
5.10.2 Motor stopping method when alarm occurs.............................................................................................34
5.11 Motor overload detection value............................................................................................................................. 35
5.11.1 Detection time of overload warning (A.910).............................................................................................35
5.11.2 Detection time of overload alarm (A.720).................................................................................................36
5.12 Setting of Electronic Gear...................................................................................................................................... 36
5.12.1 Setting of Electronic Gear Ratio................................................................................................................ 36
5.12.2 Setting Examples of Electronic Gear Ratio..............................................................................................37
5.13 Setting of Absolute Value Encoder....................................................................................................................... 37
5.13.1 Precautions in Setting (Initializing)............................................................................................................ 37
5.13.2 Confirmation before execution................................................................................................................... 38
5.13.3 Operable tool................................................................................................................................................ 38
5.14 Setting of Regenerative Resistance Capacity.................................................................................................... 38
Chapter 6 Application function............................................................................................................................................... 39
6.1 Distribution of input and output signals.................................................................................................................. 39
6.1.1 Distribution of input signals...........................................................................................................................39
6.1.2 Distribution of output signals........................................................................................................................ 40
6.1.3 Servo Alarm Output (ALM) Signal............................................................................................................... 40
6.1.4 Warning output (/WARN) signal................................................................................................................... 40
6.1.5 Rotation detection output (/TGON) signal.................................................................................................. 40
6.1.6 Ready output (/S-RDY) signal...................................................................................................................... 41
6.1.7 Speed consistent output (/V-CMP) signal...................................................................................................41
6.1.8 Positioning Completion (/COIN) Signal.......................................................................................................42
6.1.9 Position nearby output (/NEAR) signal....................................................................................................... 42
6.1.10 Speed limit function during torque control................................................................................................43
6.2 Operation for Momentary Power Interruptions......................................................................................................44
6.3 SEMI F47 Specification Support Function.............................................................................................................44
6.4 Setting of Maximum Speed of Motor...................................................................................................................... 46
6.5 Encoder frequency division pulse output............................................................................................................... 46
6.5.1 Signal output by encoder frequency division pulse...................................................................................46
6.5.2 Setting of Encoder frequency division pulse output..................................................................................47
6.6 Soft limit function....................................................................................................................................................... 49
6.6.1 The valid/invalid choice of soft limit function.............................................................................................. 49
6.6.2 Setting of soft limit value............................................................................................................................... 49
6.6.3 Carry out soft limit check according to commands................................................................................... 49
6.7 Selection of torque limit............................................................................................................................................ 49
6.7.1 Internal torque limit.........................................................................................................................................50
6.7.2 Exterior torque limit........................................................................................................................................ 50
6.7.3 Torque limit detection output (/CLT) signal.................................................................................................51
6.8 Absolute position........................................................................................................................................................51
6.9 Forced stop function..................................................................................................................................................52
6.9.1 Forced Stop Input (FSTP) Signal.................................................................................................................52
6.9.2 Selection of Stop Method for Forced Stop Function.................................................................................52
6.9.3 Methods of Recovery from Compulsory Stop............................................................................................53
Chapter 7 Trial operation.........................................................................................................................................................54
7.1 Commissioning process........................................................................................................................................... 54
7.1.1 Process of servo motor test run................................................................................................................... 54
7.2 Inspection and Precautions Before Commissioning............................................................................................ 54
7.3 Commissioning of Servo Motor Unit....................................................................................................................... 54
7.3.1 Confirmation before execution..................................................................................................................... 54
7.3.2 Operable tool...................................................................................................................................................55
Chapter 8 Panel Display and Use of Panel Operators.......................................................................................................56

8.1 Panel operator............................................................................................................................................................56
8.1.1 Name and function of panel operator keys................................................................................................ 56
8.1.2 Switching of functions....................................................................................................................................56
8.1.3 Status display mode.......................................................................................................................................57
8.2 Operation of Parameters (PA) in Panel Operator...................................................................................... 58
8.2.1 Setting Method of "Numerical Setting Type".............................................................................................. 58
8.2.2 Setting Method of "Function Selection Type".............................................................................................59
8.3 The operation of the monitor display (Un) in the panel operator.............................................................59
8.3.1 Basic operation of monitoring display......................................................................................................... 60
8.3.2 Monitoring of input and output signals (Un005/ Un006)...........................................................................60
8.4 Operation of Auxiliary Function (FA) in Panel Operator............................................................................61
8.4.1 Display of alarm records (FA000)................................................................................................................ 61
8.4.2 JOG operation (FA002)................................................................................................................................. 61
8.4.3 Origin search (FA003)................................................................................................................................... 62
8.4.4 Program JOG run (FA004)............................................................................................................................62
8.4.5 Initialization of parameter settings (FA005)................................................................................................63
8.4.6 Deletion of Alarm records (FA006).............................................................................................................. 63
8.4.7 Absolute value encoder Setup（initialization）（FA008）..................................................................... 63
8.4.8 Automatic Adjustment of Analog (Speed and Torque) Command Bias (FA009).................................. 64
8.4.9 Manual Adjustment of Speed Command Bias (FA00A)........................................................................... 64
8.4.10 Manual Adjustment of Torque Command Bias (FA00B)........................................................................ 64
8.4.11 Automatic Adjustment of Offset of Motor Current Detection Signal（FA00E）..................................65
8.4.12 Write inhibit setting of parameters（FA010）......................................................................................... 65
8.4.13 Displays the motor model (FA011)............................................................................................................ 65
8.4.14 Display software version (FA012)..............................................................................................................66
8.4.15 Single parameter adjustment (FA203)......................................................................................................66
8.4.16 EasyFFT（Fn206）.....................................................................................................................................67
8.4.17 Load Inertia/Mass Detection (FA208)....................................................................................................... 68
Chapter 9 Maintenance........................................................................................................................................................... 69
9.1 Inspection and component replacement................................................................................................................69
9.1.1 Inspection........................................................................................................................................................ 69
9.1.2 Battery Replacement..................................................................................................................................... 69
9.2 Alarm display.............................................................................................................................................................. 70
9.2.1 Warning list......................................................................................................................................................70
9.2.2 Cause of Alarm and Treatment Measures..................................................................................................72
9.2.3 Alarm reset...................................................................................................................................................... 78
9.2.4 Display of alarm records............................................................................................................................... 78
9.2.5 Deletion of Alarm records..............................................................................................................................78
9.3 When warning is displayed...................................................................................................................................... 78
9.3.1 Warning list......................................................................................................................................................78
9.3.2 Reasons for Warning and Countermeasures.............................................................................................80
9.4 Monitoring of communication data when alarms and warnings occur.............................................................. 81
9.5 The fault causes and treatment measures can be judged from the actions and states of servo motors.... 81
Chapter 10 List of parameter..................................................................................................................................................85
10.1 List of servo parameters.........................................................................................................................................85
10.1.1 Method for distinguishing the list............................................................................................................... 85
10.1.2 List of servo parameters............................................................................................................................. 86
Chapter 11 Operation of Debugging Software (iWatch+).................................................................................................111
11.1 Connection and login of iWath+ debugging software.......................................................................................111
11.2 Automatic adjustment (no upper command)......................................................................................................111
Motor code is written to encoder EEROM operation（FA301）.....................................................................114
Motor zero position check and reset operation （FA300）............................................................................115

1
Chapter 1 Basic Information of Servo Drive
1.1 HSD7 Series AC Servo Driver
HSD7 series servo drive is mainly used for occasions requiring "high speed, high frequency and high
positioning accuracy". The servo drive can maximize the performance of the machine in the shortest possible
time and help to improve production efficiency.
HSD7 series servo drivers include single-axis HSD7-ES（BS）series servo drivers and double-axis HSD7-EW
（BW）series servo drivers.
1.2 Distinguishing Method of Nameplate
The basic information marked on the drive nameplate is shown in the following figure.

2
1.3 Model Description
1.3.1 Servo drive model description example
■ Three-phase 220VAC
HSD7
_
ES
_
10
A
00
HSD7 Series
Axis
Number
Continuous Output
Current
Power
Supply Voltage
Interface
Type
Axis Number
Contionous Output Current
Power Supply Voltage
Interface Type
S
Single
03
3.0 A
A
220VAC
00
Analog (standard resolution)/Pulse
Axis
06
6.5 A
08
8.5 A
W
Double
10
10.5 A
01
CANopen Communications
Axis
05
Analog (high resolution )/Pulse
12
12 A
10
MECHATROLINK-Ⅱ
16
16A
Communications
25
25 A
20
MECHATROLINK-Ⅲ
Communications
30
EtherCAT Communications
* The maximum specification of continuous output current for biaxial drive is 10.
■ Three-phase 380VAC
HSD7
--
ES
_
15
D
00
HSD7 Series
Axis
Number
Continuous Output
Current
Power
Supply Voltage
Interface
Type
Axis Number
Contionous Output Current
Power Supply Voltage
Interface Type
S
Single
15
15 A
D
380VAC
00
Analog (standard resolution )/Pulse
Axis
18
18 A
24
24 A
01
CANopen Communications
35
35 A
05
Analog (high resolution)/Pulse
10
MECHATROLINK-Ⅱ
Communications
20
MECHATROLINK-Ⅲ
Communications
30
EtherCAT Communications
*Servo motor model commands refer to the current product selection sample book

3
Chapter 2 Selection of Servo Drive
2.1 Ratings and specifications
2.1.1 Rating value
■ Three-phase 220VAC
Model
03A□□
06A□□
08A□□
10A□□
12A□□
16A□□
25A□□
Continuous Output Current[Arms]
3
6.1
8.5
10
12
16.0
25.0
Instantaneous Max. Output Current [Arms]
10.6
14.1
21.2
24.8
29.7
49.5
63.6
Main Circuit
Power Supply
AC220V，-15% to +10%,
50 Hz / 60 Hz
Input Current[Arms]
1.9
（5.1）
3.9
（10.3）
5.4（14.3）
6.3（16.8）
7.6
10.1
15.7
Control Power Supply
AC220 V，-15% to +10%,
50 Hz / 60 Hz
Power Supply Capacity*[kVA]
0.9（2.1）
1.7（4.2）
2.4（5.8）
2.8（6.8）
3.4
4.0
5.9
Regenerative
Resistor
Built-In
Regenerative
Resistor
Resistance[Ω]
——
40
20
20
20
12
20
Capacity[W]
——
80
80
80
80
150
120
Minimum Allowable
External Resistance[Ω]
40
20
15
15
15
15
10
Overvoltage Category
III
■ Three-phase 380VAC
Model No.
15D
18D
24D
35D
Continuous output current [Arms]
15
18
24
35
Maximum instantaneous output current
[Arms]
35.3
44.1
58.9
88.3
Main power
supply
Input power requirements
AC30V，-15% ～+10%,
50 Hz / 60 Hz
Input current [Arms]
8.6
14.5
21.7
31.8
Input control power requirements
DC 24V，-10% ～+10%,
Input power capacity [kVA]
7.1
11.7
14.4
21.9
Regenerative
resistor
Built-in
regenerative
resistor
Resistance
[Ω]
32
23
-
-
Power [W]
150
150
-
-
Minimum allowable external
resistance [Ω]
32
32
23
16
Overvoltage category
III

4
2.1.2 Specification table
Item
Specifications
Control model
Position control, JOG operation, Speed contacts, etc.
Encoder feedback
Serial data encoder: 17-bit or 23-bit (single or multiple turns)
Conditions of use
Operating ambient
temperature/storage
temperature
Operating ambient temperature: 0~+50℃, storage temperature: -20~+85℃
Ambient humidity/storage
humidity
Below 90%RH (no freezing or condensation)
Vibration/impact strength
4.9m/s2／19.6m/s2
Structure
Base mounting type
Performance
Speed control range
1:10000 (the lower limit of the speed control range is stable operation without crawling under rated
load)
Speed response
3.1KHz
Speed Volatility (Load
Change)
0 ~ 100% load: Under ±0.01%(at rated speed)
Velocity fluctuation rate
(voltage change)
Rated voltage ±10%: 0% (at rated speed)
Velocity fluctuation rate
(temperature change)
25±25℃：Below ±0.1%（at rated speed）
Analog speed
command input
Command voltage
DC±10V
Input impedance
Around 20KΩ
Circuit time parameter
47μs
Analog torque
command input
Command voltage
DC±10V
Input impedance
Around 20KΩ
Circuit time parameter
47μs
Sequential control
input signal
Point
8 points
Function (assignable)
Servo ON (/S-ON), P action (/P-CON), prohibition of forward rotation side drive (P-OT), prohibition
of reverse rotation side drive (N-OT), alarm reset (/ALM-RST), forward rotation side torque limit
(/P-CL), reverse rotation side torque limit (/N-CL), position deviation reset (/CLR), internal set
speed switching, etc.
Distribution of the above signals and change of positive/negative logic can be performed
Sequential control
output signal
Point
6 points
Function (assignable)
Servo Alarm (ALM), Positioning Complete (/COIN), Speed Consistent Detection (/V-CMP), Servo
Motor Rotation Detection (/TGON), Servo Ready (/S-RDY), Torque Limit Detection (/CLT), Brake
(/BK), Encoder Zero Output (PGC)
Distribution of the above signals and change of positive/negative logic can be performed
Encoder frequency division pulse output
Phase A, phase B, phase C: linear drive output; Frequency division pulse number: can be
arbitrarily set
RS-485
communication
Communication protocol
MODBUS
1: N communication
The maximum can be N = 127 stops.
Axis address setting
Through parameter setting
CAN communication
Communication protocol
CANOpen (DS301+DS402 line gauge)
1: N communication
The maximum can be N = 127 stops.
Axis address setting
Through parameter setting
MECHATROLINK-Ⅱ
Bus
Communication protocol
MECHATROLINK-II
Set slave address
41 to 5F (hexadecimal) (maximum number of slave stations supported: 30), via parameter setting
Baud rate
10 Mbps, 4 Mbps, via parameter setting
Transmission period
250 microseconds or 0.5 milliseconds to 4.0 milliseconds (multiples of 0.5 milliseconds)
Number of bytes transferred
There are 17 or 32 bytes for each site and the same is set by parameters
MECHATROLINK-Ⅲ
Bus
Communication protocol
MECHATROLINK-III
Set slave address
03 to EF (hexadecimal) (maximum number of slave stations supported: 62), via parameter setting
Baud rate
100 Mbps
Transmission period
250 microseconds, 500 microseconds, 750 microseconds, or 1.0 milliseconds to 4.0 milliseconds
(multiples of 0.5 milliseconds)
Number of bytes transferred
There are 16, 32 or 48 bytes for each site and the same is set by parameters
EtherCAT bus
Communication protocol
CoE (CANOpen over EtherCAT)
Control model
csp, pp, hm, csv, cst, pv, tq
Zero return mode
1-14, 17-30, 33, 34, 35, 37
Synchronization mode
DC, SM2, FreeRun
Minimum command cycle
125 μs
Display function
CHARGE Indicator, 7-segment Digital Tube 5-bit
Regeneration treatment
Internal Regenerative Resistor or External Regenerative Resistor (Optional)
Overtravel (OT) prevention function
Dynamic brake (DB) stops, deceleration stops or free running stops when P-OT and N-OT input
actions are performed.
Protection function
Overcurrent, overvoltage, undervoltage, overload, overspeed, regeneration fault, encoder
feedback error, etc.
Monitoring function
Revolving speed, current position, command pulse accumulation, position deviation, motor
current, running state, input and output signals, etc.
Auxiliary function
Gain adjustment, alarm recording, JOG operation, origin search, inertia detection, etc.
Intelligent function
Built-in Gain Auto Tuning
Applicable load inertia
Less than 5 times of motor inertia
Position control
Feedforward compensation
0 ~ 100% (set unit 1%)
Type of input pulse
Symbol+pulse sequence, CW+CCW pulse sequence, 90 °phase difference two-phase pulse
(phase A+phase B)
Input pulse form
Support linear drive, open collector
Maximum input pulse
frequency
Linear drive
Symbol+pulse sequence, CW+CCW pulse sequence: 500K pps
90° phase difference two-phase pulse (phase A+phase B): 500K pps
Open collector
Symbol+pulse sequence, CW+CCW pulse sequence: 200K pps
90° phase difference two-phase pulse (phase A+phase B): 200K pps