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

5
2.2 Overall dimensions of servo driver
◆HSD7-03Ａ
40
160
Mounting Hole Diagram
安装孔图
单位：毫米
Unit : mm
2×M4
170
160
5
150±0.5
(mounting pitch)
（安装间距）
35 5
5
◆HSD7-06Ａ
70
160
180
Mounting Hole Diagram
安装孔图单位：毫米
Unit : mm
64
160
6
148±0.5
(mounting pitch)
（安装间距）
63×M4
6
58±0.5
（安装间距）
(mounting pitch)
◆HSD7-10Ａ
Mounting Hole Diagram
安装孔图单位：毫米
Unit : mm
160
90 180 84
160
6
148±0.5
(mounting pitch)
（安装间距）
6 78±0.5
（安装间距）
(mounting pitch)
6
3×M4

6
◆HSD7-03/06/10Ａ
单位：毫米
Unit : mm
190
90 180
Mounting Hole Diagram
安装孔图
6
190
178±0.5
(mounting pitch)
（安装间距）
6
2×M5
78±0.5
（安装间距）
(mounting pitch)
6
◆HSD7-16A/HSD7DS-25A HSD7-15D/HSD7-18D
110
单位：毫米
Unit : mm
220
200
Mounting Hole Diagram
安装孔图
98±0.5 66
220
6209±0.5
(mounting pitch)
（安装间距）
（安装间距）
(mounting pitch)
◆HSD7-24D/HSD7-35D
350
236 194
Mounting Hole Diagram
安装孔图
单位：毫米
Unit : mm
3317033
350
9335±0.5
(mounting pitch)
（安装间距）
4×M6
（安装间距）
(mounting pitch)

7
Chapter 3 Installation of servo drive
3.1 Precautions for setting
For the set environmental conditions, please refer to the following.
2.1.2 Specifications
■ When installed near the heating element
To make the temperature around the servo drive conform to the environmental conditions, please control the
temperature rise caused by the heat radiation or convection of the heating element.
■ When installed near a vibration source
Please install anti-vibration equipment on the installation surface of servo drive to prevent vibration from being
transmitted to servo drive.
■ Other
Do not set it in hot and humid places, places with water droplets or cutting oil splashing, places with more dust
or iron powder in ambient gas, places with corrosive gas and radiation fields.
3.2 Mounting Types and Orientation
The servo driver can be installed in various ways, but in any case,
the servo driver must be installed in the vertical direction, as shown
in the right figure.
In addition, please make the front surface (panel display part) of
servo drive face the operator for installation.
(Note) Please firmly fix the servo drive on the mounting surface through 2 ~ 4
mounting holes (the number of mounting holes varies according to the
capacity).
3.3 Mounting hole dimensions
Please use the mounting hole to firmly fix the servo drive on the
mounting surface.
Please refer to 2.3 outline dimensions of servo drive for specific
installation dimensions.
(Note) During installation, please prepare a screwdriver with a length greater than the
depth of servo drive.
3.4 Installation interval
Please ensure that the following intervals are left around the servo drive.
Important
To prevent the ambient temperature of the servo drive from rising locally, please set a cooling fan on the
upper part of the servo drive. In addition, please refer to the figure below to leave enough space in order to
make use of fans and natural convection to cool the servo drive.
Installing panel
Air convection direction
Fan
Fan
Above 40mm
Above 40mm
Above 1mm
Above 30mm

8
Chapter 4 Connection of Servo Unit
4.1 Wiring and Connecting precautions
4.1.1 General precautions
△!Danger
Do not change the wiring during power-on.
Otherwise, it will lead to electric shock or injury.
△!Warning
Please be connected or checked by professional technicians.
Otherwise, it will lead to electric shock or product failure.
Please carefully confirm the wiring and power supply.
The output circuit may be short-circuited due to wrong wiring and application of abnormal voltage. Mechanical
damage or casualties caused by the above failures.
Please connect with designated terminals when AC power supply and DC power supply are connected with servo
drive.
AC power supply should be connected to L1/L2/L3 terminal and L1C/L2C terminal of servo drive.
Please connect DC power supply with B1/⊕terminal and terminal of servo drive, L1C/L2C.
Failure to do so may result in failure or fire.
Please connect the external dynamic brake resistor conforming to the specifications of machinery and devices
with the designated terminal when the servo drive uses the external dynamic brake option. Otherwise,
unexpected actions will be caused during emergency stop, causing equipment damage, burning damage and
personal injury.
△!Notes
Please confirm that the (CHARGE) lamp is off after the power supply is turned off for at least 5 minutes, and then
conduct wiring and inspection. Even if the power supply is turned off, high voltage may still remain inside the
servo drive. Therefore, do not touch the power terminal while the (CHARGE) lamp is on.
Otherwise, it will lead to electric shock.
Please follow the precautions and procedures recorded in this manual for wiring and trial operation.
Servo drive failure caused by wrong wiring of brake circuit and application of abnormal voltage may lead to
mechanical damage or casualties.
Please wire correctly and reliably.
The connector and the pin arrangement of the connector vary depending on the model. Please be sure to confirm
the pin arrangement through the technical data of the model used.
Otherwise, it will lead to product failure or misoperation.
Please be sure to tighten and effectively connect the wires of the power supply terminal and the motor connection
terminal according to the specified method and torque. If it is not tightened sufficiently, the wires and terminal
blocks will heat up and cause fire due to poor contact.
For input and output signal cables and encoder cables, please use shielded double stranded wires or multi-core
double stranded integrated shielded wires.
When wiring the main loop terminal of servo drive, please observe the following precautions.
After all wiring including the main loop terminals is completed, the servo drive power supply is switched on.
When the main circuit terminal is of connector type, please remove the connector from the servo drive body and
wire again.
Only one wire can be inserted into one wire socket of the main circuit terminal.
When inserting wires, do not make burrs of core wires contact with adjacent wires to cause short circuit.
Please set up safety devices such as circuit breakers for wiring to prevent external wiring from short-circuiting.
Otherwise, it will lead to fire or failure.
段落间距段前: 1 行
设置格式[侯]:

9
△!Notice
Please use the cables designated by our Company as far as possible when connecting.
Please confirm the rated current and operating environment of the model when using cables other than those
specified by our Company. Use the wiring materials designated by the Company or equivalent products.
Please tighten the fixing screw and locking mechanism of cable connector.
If the fastening is not sufficient, the cable connector may fall off during operation.
Do not use the same sleeve for high-voltage wires (main loop cables) and low-voltage wires (cables for input and
output signals and encoder cables), nor tie them together. Please keep a spacing of more than 30cm when wiring
when not placing strong and weak current wires into separate bushings.
It will cause misoperation due to interference of weak current wires if it is too close.
Please install the battery on either side of the upper device or encoder cable.
If batteries are installed on the upper device and encoder cable at the same time, a circulation loop will be formed
between the batteries, resulting in product damage or burning.
Pay attention to the polarity when connecting the battery.
Battery rupture can cause encoder failure.
△!Important
Please use circuit breakers or fuses for wiring to protect the main circuit.
The servo drive is directly connected to a commercial power supply without using transformers or the like for
insulation. To prevent the servo system from being mixed with the outside world, be sure to use circuit breakers
or fuses for wiring.
Please set the leakage breaker.
Servo drive has no built-in ground short circuit protection loop. To build a safer system, please configure the earth
leakage breaker for overload and short circuit protection, or install the earth leakage breaker for short circuit
protection in combination with the circuit breaker for wiring.
Please avoid frequently turning ON/OFF the power supply.
Frequent ON/OFF power supply will lead to aging of internal components of servo drive, so do not frequently
ON/OFF power supply except for necessary applications.
The power ON/OFF interval should be more than 1 hour (roughly standard) after starting the actual operation
(normal operation).
Please observe the following precautions when wiring to use the servo system safely and stably.
Please use standard cables for each connecting cable. In addition, when designing and configuring the
system, please shorten the cable as much as possible.
Please be careful not to bend or tighten it when the core diameter of signal cable is less than 0.3 mm2.
4.1.2 Anti-interference countermeasures
Important
No anti-radio interference measures have been taken since the servo drive is industrial equipment.
The peripheral equipment may be affected by switching interference since the servo-driven main circuit uses
high-speed switching elements.
Please take anti-interference measures when using near residential buildings or when you are worried about
radio interference.
The servo drive is internally provided with a microprocessor. Therefore, it may be affected by noise from
servo-driven peripheral equipment.
To suppress the noise interference between servo drive and peripheral equipment, the following
anti-interference countermeasures can be taken as required.
Please set the input command equipment and noise filter as close to the servo drive as possible.
Be sure to connect surge absorbers to the coils of relays, solenoid valves and electromagnetic contactors.
Please do not put the following cables into the same sleeve or tie them together. In addition, please keep an
interval of more than 30cm when wiring.
Main loop cable and cable for input and output signals
Main loop cable and encoder cable
Do not use the same power source as electric welding machine, electric spark machine, etc. Even if it is not
the same power supply, when there is a high frequency generator nearby, please connect the noise filter at
the input side of the main loop power cable and the control power cable.

10
Please carry out proper grounding treatment.
Noise filter
Connect the interference filter at an appropriate place to avoid the adverse effect of interference on servo
drive.
The following is an example of wiring considering anti-interference measures.
*1. Please try to use a thick wire of more than 2.0 mm2for grounding (flat braided copper wire is more suitable).
*2. Please try to use double stranded wires for connection.
Noise Filter Wiring and Connection Precautions
Please observe the following precautions when wiring and connecting interference filters.
Please separate the input wiring from the output wiring. In addition, do not put the input and output wires into
the same sleeve, nor bind them together.
Servo motor
Above
2.0mm2
Interference filter
Above 2.0mm2
Above
2.0mm2
Servo unit
Interference filter *2
CD
power
supply
(Grounding plate)
Operation relay sequence
control loop
User signal generation loop
Earth grounding ... must be special for grounding
Interference
filter
Grounding plate
Interference
filter
Interference
filter
Interference
filter
Grounding plate
Grounding plate
Grounding plate
Separate the circuit
删除[侯]:

11
Please set the ground wire of interference filter separately from the output wire. In addition, the ground wire
should not use the same sleeve as the output wiring of the interference filter and other signal wires, nor
should it be tied together.
Connect the ground wire of the interference filter to the ground plate separately. Do not connect other ground
wires.
Please connect the ground wire of this filter and the ground wire of other equipment in the control cabinet to
the ground plate of the control cabinet when there is an interference filter inside the control cabinet, and then
connect to the ground.
Can be close to the
input line
Interference
filter
Interference
filter
Grounding plate
Grounding plate
Grounding plate
Grounding plate
Interference
filter
Interference
filter
Shield
earthing
Servo unit
Servo unit
Servo unit
Servo unit
Grounding
Grounding plate
Interference
filter
Servo unit
Servo unit
Control cabinet

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4.1.3 Grounding
Please follow the following for grounding treatment. If proper grounding treatment is adopted, misoperation
caused by interference can also be prevented.
When connecting the grounding cable, please pay attention to the following points:
Please use the grounding above Class D (grounding resistance below 100Ω).
One point must be grounded.
When the servo motor and the machine are insulated from each other, please directly ground the servo
motor.
Grounding of motor housing or motor
The switch interference current will flow out from the servo drive main loop through the floating capacitor of the
servo motor when the servo motor is mechanically grounded. Please be sure to connect the motor housing
terminal (FG) or ground terminal (FG) of the servo motor with the ground terminal of the servo drive in order to
prevent this phenomenon. In addition, the ground terminal” ” must be grounded.
When noise occurs in cables for input and output signals
Please connect the shielded wire of the cable for input and output signals to the connector housing before
grounding when interference occurs in the cable for input and output signals. The metal sleeve and the
grounding box are grounded at a single point when the main loop cable of the servo motor is sheathed with a
metal tube.

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4.2 Basic connection diagram
4.3 Power supply wiring for servo drive
4.3.1 Terminal symbol and terminal name
The connection of servo-driven main circuit power supply and control circuit power supply uses servo-driven
main circuit connector or terminal strip.
△!Warning
Please refer to the following table and the description in the reference section for correct wiring. Incorrect
wiring will lead to servo drive failure and fire.
The main loop power input specifications for servo drive are as follows:
■ Single phase/three phase AC220V power input
Terminal
symbol
Terminal name
Specifications
L1, L2, L3
Main circuit power
supply input terminal
for AC power supply
input
Three phase AC 200V～240V，-15%～+10%，50/60Hz
Single phase AC 200V ~ 240V,-15% ~+10%, 50/60Hz
L1C, L2C
Control power
terminal
Single phase AC 200V ~ 240V,-15% ~+10%, 50/60Hz
B1/⊕、B2、
B3
Regenerative resistor
connection terminal
Remove the short wire or short piece between B2-B3 when the regeneration
capacity is insufficient and connect the external regeneration resistor between
B1/⊗and B2.
Please purchase an external regenerative resistor separately.

-
None (Do not connect it to the terminals.)
Non-fuse breaker
Three-phase AC 200~230V (50/60Hz)
Three-phase AC 380~420V (50/60Hz)
Surge
protector
(Servo Alarm Display)
Noise filter
Power
Please connect a surge arrester to the coil of the
electromagnetic contactor.
Power
Magnetic
contactor
series servo driver
Servo motor
Encoder
Connect external regenerative
resistor
Must be grounded

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■ Three phase AC380V power input
Terminal
symbol
Terminal name
Specifications
L1, L2, L3
Main circuit power
supply input terminal
for AC power supply
input
Three phase AC 380V～420V，-15%～+10%，50/60Hz
L1C, L2C
Control power supply
terminal
DC 24V，-10% ～+10%
B1/⊕、B2、
B3
Regenerative resistor
connection terminal
HSD7DS-15D   , HSD7DS-18D   , Remove the short wire or short piece
between B2-B3 when the regeneration capacity is insufficient and connect the
external regeneration resistor between B1/⊗and B2.
Please purchase an external regenerative resistor separately.
HSD7DS-24D   and HSD7DS-35D   no built-in regenerative resistor, and
cannot be shorted between B2 and B3. External regenerative resistor shall be
connected between B1/⊗and B2. Please purchase an external regenerative
resistor separately.

-
None (Do not connect it to the terminals.)
4.3.2 Wiring Operation Steps of Main Loop Connector
Prepare items
Prepare items
Remarks
Spring opener
or
Slotted screwdriver
Spring opener
Servo drive appurtenances
Slotted screwdriver
Commercial products with cutting edge width of 3.0mm-3.5mm
1. Remove the main circuit connector and motor connector from the servo drive.
2. Peel off the cladding of the used wires.
3. Use a tool to open the wire insertion part of the terminal connector. There are two methods of opening. You
can choose any of them.
①Use method of spring opener
②Use method of flat screwdriver
The opening operation is performed using a
spring opener as illustrated
As shown in the figure, insert a flat-blade
screwdriver into the screwdriver insertion opening
to open the wire insertion part.
4. Insert the core wire part of the wire into the wire insertion part. After insertion, pull out the spring opener or a
slotted screwdriver.
5. Repeat the above operations and make necessary connections.
6. After wiring is completed, install the connector to the servo drive.
4.3.3 Power on sequence control
Please consider the following points when designing the
power on sequence control.
After the control power is turned on, the servo alarm
output (ALM) signal is output within a maximum of 5.0
seconds. Please consider it when the power on
Spring opener
Wire
Control power supply
Main circuit power
supply
Servo Alarm Output
(ALM) Signal
Connect to the power
Alarm status
Alarm release status
Maximum 5.0s