Inovance SV660N Series Assembly instructions

Advanced User Guide
SV660N Series Servo Drive
SV660N Series Servo Drive Advanced User Guide
User Guide
A00
Data code 19011236
Copyright Shenzhen Inovance Technology Co., Ltd.
Shenzhen Inovance Technology Co., Ltd.
Add.: Building E, Hongwei Industry Park, Liuxian Road, Baocheng No. 70 Zone, Bao’an District, Shenzhen
Tel: [phone]
Fax: [phone]
Service Hotline: [phone]
http: //www.inovance.com
Suzhou Inovance Technology Co., Ltd.
Add.: No. 16 Youxiang Road, Yuexi Town, Wuzhong District, Suzhou 215104, P.R. China
Tel: [phone]
Fax: [phone]
Service Hotline: [phone]
http: //www.inovance.com

-1-
Preface
Preface
Thank you for purchasing the SV660N series servo drive developed by Inovance.
The SV660N series high-performance AC servo drive covers a power range from 200 W to 7.5 kW. It
supports EtherCAT communication protocol and carries Ethernet communication interfaces to work with
the host controller in achieving a networked operation of multiple servo drives.
󶍽
suppression to simplify the operation process. It allows a quiet and stable operation through
󶍾
a 23-bit single-turn absolute encoder or 23-bit multi-turn absolute encoder.
The SV660N series servo drive aims to deliver fast and accurate control in automation equipment such



and fault diagnosis. First-time users must read through this user guide. For concerns regarding product

Safety Instructions
◆The drawings in the user guide are sometimes shown without covers or protective guards. Remember to
󶍾󶍾
instructions described in the user guide.
◆The drawings in the user guide are shown for descriptions only and may not match the product you purchased.
◆󶍾󶍾
󶍽
◆
guide.
◆Contact our customer service centers for concerns during use.
Unpacking Inspection
Check the following items upon unpacking.
Items Description
Check whether the delivered product
complies with your order.
󶍾
box comply with your order.
Check whether the product is intact. Check whether the overall appearance of the product is intact. If there is any

Revision History
Date Version Description
January 2020 A00 First edition

-2-
Preface
Standards Compliance
■󶍾
comply with the following international standards.
󶍾 Mark Directive Standard
CE
󶍾
EMC directive 2014/30/EU
Servo drive
EN 61800-3
IEC 61800-3
IEC 61800-5-2
Servo motor EN 60034-1
LVD directive 2014/35/EU Servo drive EN 61800-5-1
IEC 61800-5-1
Servo motor EN 60034-1
RoHS directive 2011/65/EU EN 50581
NOTE
◆󶍾
requirements described in this user guide are observed.
◆󶍾
assembly has the responsibility of ensuring compliance with CE standards and the European
Norm.
◆󶍾

-3-
Contents
Contents
 ...........................................................................................................................................1
Unpacking Inspection.........................................................................................................................1
Revision History ..................................................................................................................................1
Standards Compliance .......................................................................................................................2
Safety Instructions......................................................................................................................10
............................................................................................................................10
󶍾...........................................................................................................10
Safety Instructions............................................................................................................................10
Safety Signs .......................................................................................................................................14
 ................................................................................................................15
1.1 Introduction to the Servo Drive .................................................................................................15
1.1.1 Nameplate and Model Number.........................................................................................................15
1.1.2 Components .......................................................................................................................................16
󶍾 ....................................................................................................................19
󶍾 .....................................................................................23
1.2 Introduction to the Servo Motor ................................................................................................24
1.2.1 Motor Nameplate and Model Number..............................................................................................24
1.2.2 Components .......................................................................................................................................25
󶍾 ....................................................................................................................26
1.3 󶍾.....................................................................................................31
1.4 Cable Models ...............................................................................................................................32
1.5 Communication Cable Options..................................................................................................34
1.6 Connector Kit...............................................................................................................................34
1.7 Servo System Wiring Diagram....................................................................................................35
2 Installation................................................................................................................................ 37
2.1 Installation of the Servo Drive....................................................................................................37
2.1.1 Installation Location ..........................................................................................................................37
2.1.2 Environment Conditions....................................................................................................................38
2.1.3 Dimension Drawings ..........................................................................................................................38
2.1.4 Installation ..........................................................................................................................................40
2.2 Installation of the Servo Motor ..................................................................................................42
2.2.1 Installation Location ..........................................................................................................................42

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Contents
2.2.2 Environment Conditions....................................................................................................................42
.....................................................................................................................43
2.2.4 Dimension Drawings ..........................................................................................................................45
3 Wiring........................................................................................................................................49
....................................................................................................................51
3.2 Wiring of the Main Circuit ...........................................................................................................52
3.2.1 Main Circuit Terminals .......................................................................................................................52
3.2.2 Wiring Example of the Regenerative Resistor...................................................................................54
󶍾 ................................................54
...........................................................................................................57
3.2.5  ..................................................................................................58
󶍾..............................................................................................59
 ..............................................60
3.4 Connection of the Servo Drive and Servo Motor Encoder Cables...........................................62
3.5 Connection of the Control Signal Terminal CN1.......................................................................68
3.5.1 DI/DO signals ......................................................................................................................................69
 .............................................................................................................................72
3.6 Wiring of Communication Signals CN3/CN4.............................................................................74
󶍾.................................................................75
3.6.2 Selection of Communication Cables ................................................................................................75
 .....................................................76
󶍾..............................................................................78
3.8 Anti-interference Measures for Electrical Wiring ......................................................................80
3.8.1 Anti-interference Wiring Example and Grounding...........................................................................81
3.8.2 Instructions for Use of the Noise Filter .............................................................................................82
 ....................................................................................................83
4 Keypad Display and Operations..............................................................................................85
4.1 Introduction to the Keypad........................................................................................................85
4.2 Display .........................................................................................................................................85
............................................86
4.2.2 Display Mode Switchover...................................................................................................................86
4.2.3 Status Display .....................................................................................................................................87
 ..............................................................................................................................87
4.2.5 Fault Display .......................................................................................................................................89
4.2.6 Monitoring Display .............................................................................................................................90

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Contents
 .......................................................................................................................97
.............................................................................................................................98
4.5 General Functions.......................................................................................................................99
4.5.1 Jog.......................................................................................................................................................99
4.5.2 Forced DI/DO Signals ...................................................................................................................... 100
5 Commissioning and Operation............................................................................................. 108
 ....................................................................................................................109
....................................................................................................................................109
5.3 Jog..............................................................................................................................................109
 .....................................................................................................110
5.4.1 Rotation Direction ............................................................................................................................110
...................................................................................................................................111
5.4.3 Regenerative Resistor Settings........................................................................................................116
5.5 Servo Running...........................................................................................................................122
5.6 Servo Stop .................................................................................................................................128
5.7 Conversion Factor Setting ........................................................................................................132
6 Gain Tuning ............................................................................................................................ 135
6.1 Overview....................................................................................................................................135
6.2 Inertia Auto-tuning....................................................................................................................136
󶎁.............................................................................................................. 137
6.2.2 Online Auto-tuning.......................................................................................................................... 139
6.3 Instructions for ETune Operations...........................................................................................139
6.3.1 Overview .......................................................................................................................................... 140
6.3.2 Description of Operations............................................................................................................... 140
...................................................................................................................................... 144
6.3.4 Troubleshooting .............................................................................................................................. 145
6.4 Instructions for STune Operations...........................................................................................145
6.4.1 Overview .......................................................................................................................................... 145
6.4.2 Description of Operations............................................................................................................... 146
...................................................................................................................................... 147
6.5 Manual Gain Tuning ..................................................................................................................149
............................................................................................................................. 149
6.5.2 Gain Switchover............................................................................................................................... 152
6.5.3 Comparison of Filters...................................................................................................................... 156
6.5.4 Feedforward Gain............................................................................................................................ 157

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Contents
............................................................... 158
6.5.6 Torque Disturbance Observation ................................................................................................... 159
6.5.7 Speed observer................................................................................................................................ 160
6.5.8 Model Tracking ................................................................................................................................ 162
6.5.9 Friction Compensation ................................................................................................................... 165
󶍽 ................................................................166
................................................................... 166
...................................................................... 168
..................................................................... 168
6.7 Vibration Suppression ..............................................................................................................168
6.7.1 Suppression of Mechanical Resonance......................................................................................... 169
6.7.2 Low Frequency Suppression at the Mechanical End.................................................................... 173
6.8 Mechanical Characteristic Analysis..........................................................................................175
6.8.1 Overview .......................................................................................................................................... 175
 ..................................................................................................................... 176
7 Control Mode.......................................................................................................................... 178
7.1 Servo Drive State Setting..........................................................................................................179
7.1.1 Control Word 6040h ........................................................................................................................ 181
7.1.2 Status Word 6041h .......................................................................................................................... 182
7.2 Servo Mode Setting...................................................................................................................183
7.2.1 Introduction to Servo Drive Modes................................................................................................ 183
7.2.2 Communication Cycle..................................................................................................................... 185
................................................................................185
󶍾 ......................................................................................................... 185
7.3.2 Related Objects................................................................................................................................ 185
7.3.3 Related Function Settings............................................................................................................... 186
󶍾........................................................................................................ 186
......................................................................................................................... 187
.................................................................................................................. 189
 ................................................................................190
󶍾 ......................................................................................................... 190
7.4.2 Related Objects................................................................................................................................ 190
7.4.3 Related Function Settings............................................................................................................... 190
󶍾........................................................................................................ 191
......................................................................................................................... 191

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Contents
.................................................................................................................. 193
..................................................................................194
󶍾 ......................................................................................................... 194
7.5.2 Related Objects................................................................................................................................ 194
7.5.3 Related Function Settings............................................................................................................... 195
󶍾........................................................................................................ 197
......................................................................................................................... 197
.................................................................................................................. 199
󶍾........................................................................................................199
󶍾 ......................................................................................................... 200
7.6.2 Related Objects................................................................................................................................ 203
7.6.3 Related Function Settings............................................................................................................... 203
󶍾........................................................................................................ 206
......................................................................................................................... 206
.................................................................................................................. 209
󶍾 ........................................................................................................209
󶍾 ......................................................................................................... 209
7.7.2 Related Objects................................................................................................................................ 209
7.7.3 Related Function Settings............................................................................................................... 210
󶍾........................................................................................................ 213
......................................................................................................................... 213
.................................................................................................................. 215
󶍾..........................................................................................................215
󶍾 ......................................................................................................... 215
7.8.2 Related Objects................................................................................................................................ 216
7.8.3 Related Function Settings............................................................................................................... 216
......................................................................................................................... 220
󶍾........................................................................................................ 221
.................................................................................................................. 221
...................................................................................................................222
󶍾 ......................................................................................................... 222
7.9.2 Related Objects................................................................................................................................ 222
7.9.3 Related Function Settings............................................................................................................... 223
7.9.4 Homing Operation........................................................................................................................... 225
......................................................................................................................... 263

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Contents
󶍾........................................................................................................ 266
.................................................................................................................. 267
7.10 Auxiliary Functions..................................................................................................................267
..................................................................................... 267
7.10.2 Software Limit ............................................................................................................................... 270
..................................................................................................................... 272
7.11 Absolute System......................................................................................................................278
7.11.1 Descriptions for Use of the Absolute System .............................................................................. 278
..................................................................................................... 280
................................................................................................. 282
7.11.4 Single-Turn Absolute Mode .......................................................................................................... 285
........................................................................................ 287
󶍾 ........................................................................................... 288
 .........................................................................................288
 ...................................................................................................................289
 ......................................................................................................... 289
............................................................................................................. 289
 ..............................................................................................290
󶍾 ..................................................................................... 290
8.3.2 Communication Structure.............................................................................................................. 290
8.3.3 State Machine .................................................................................................................................. 291
 .................................................................................................................................... 292
 .............................................................................................................. 296
..................................................................................................................... 297
8.3.7 Status Indication ............................................................................................................................. 297
8.3.8 Overview of CiA402.......................................................................................................................... 299
 ....................................................................................................................... 300
9 Troubleshooting..................................................................................................................... 302
9.1 Faults and Warnings..................................................................................................................302
9.2 Communication Faults and Warning Codes ...........................................................................302
9.3 Solutions to Faults ....................................................................................................................305
9.4 Solutions to Warnings...............................................................................................................328
9.5 Solutions to Communication Faults........................................................................................334
10 Application Cases................................................................................................................. 337

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Contents
Case 1 AM600 series controller as the host controller..................................................................337
................................................................343
󶍽 ........................................................................355
11 Appendix............................................................................................................................... 370
11.1 Standards Compliance ...........................................................................................................370
󶍾.............................................................................................................................. 370
11.1.2 Low Voltage Directive Compliance............................................................................................... 370
11.1.3 EMC Directive Compliance............................................................................................................ 371
󶍾................................................................................................................ 372
11.1.5 Selection of EMC Filters ................................................................................................................ 372
11.1.6 Cable Requirements and Routing................................................................................................ 377
11.1.7 Solutions to Leakage Current....................................................................................................... 378
 ......................................................................................... 379
󶍾.............................................................................................................................. 380
11.2 List of Object Groups ..............................................................................................................381
Description of Object Groups .................................................................................................................. 381
Object Group 1000h ................................................................................................................................. 381
Object Group 2000h ................................................................................................................................. 387
Object Group 6000h ................................................................................................................................. 405
SDO Abort Transfer Code ........................................................................................................................ 409
............................................................................................410
11.3.1 Description of Technical Terms.................................................................................................... 410
11.3.2 Standards Compliance.................................................................................................................. 413
11.3.3 General Safety Information .......................................................................................................... 414
󶍾 ............................................................................................................................... 415
11.3.5 Installation..................................................................................................................................... 416
11.3.6 Terminal and Wiring...................................................................................................................... 416
..................................................... 416
..................................................................................................................... 418
11.3.9 Trouble Shooting........................................................................................................................... 421
 ................................................................................................................... 421
.................................................................................................................................. 423

-10-
Safety Instructions
Safety Instructions
Safety Precautions
 

 
instructions in this user guide.
 󶙓󶙓󶙓󶙓󶙓󶙓

 Use this equipment according to the designated environment requirements. Damage caused by
improper usage is not covered by warranty.
 Inovance shall take no responsibility for any personal injuries or property damage caused by
improper usage.
Safety Levels and De󶍾nitions
DANGER
Indicates that failure to comply with the notice will result in severe personal
injuries or even death.
WARNING
Indicates that failure to comply with the notice may result in severe personal
injuries or even death.
CAUTION
Indicates that failure to comply with the notice may result in minor or moderate
personal injuries or equipment damage.
Safety Instructions
Unpacking
CAUTION
◆
◆Unpack the package by following the package sequence. Do not hit the package with force.
◆
◆Check whether the number of packing materials is consistent with the packing list.
WARNING
◆󶍾
◆󶍾
◆󶍾

-11-
Safety Instructions
Storage and Transportation
CAUTION
◆Store and transport this equipment based on the storage and transportation requirements for humidity and
temperature.
◆
󶍾󶍾
◆Avoid storing this equipment for more than three months. Long-term storage requires stricter protection and
necessary inspections.
◆
◆Never transport this equipment with other equipment or materials that may harm or have negative impacts on
this equipment.
WARNING
◆Use professional loading and unloading equipment to carry large-scale or heavy equipment.
◆󶍾
falling. Failure to comply may result in personal injuries.
◆Handle the equipment with care during transportation and mind your step to prevent personal injuries or
equipment damage.
◆Never stand or stay below the equipment when the equipment is lifted by hoisting equipment.
Installation
WARNING
◆Thoroughly read the safety instructions and user guide before installation.
◆Do not modify this equipment.
◆󶍾
components.
◆󶍾
◆󶍾󶍾

standards and local laws and regulations.
DANGER
◆
professionals.
◆
personnel who have been trained with necessary electrical information.
◆Installation personnel must be familiar with equipment installation requirements and relevant technical
materials.
◆
electromagnetic shielding device for this equipment to prevent malfunctions.

-12-
Safety Instructions
Wiring
DANGER
◆
professionals.
◆Never perform wiring at power-on. Failure to comply will result in an electric shock.
◆󶍽
󶍽
◆Make sure that the equipment is well grounded. Failure to comply will result in an electric shock.
◆
Failure to comply will result in damage to internal equipment circuits.
WARNING
◆Never connect the power cable to output terminals of the equipment. Failure to comply may cause equipment
󶍾
◆
are consistent to prevent reverse motor rotation.
◆Wiring cables must meet diameter and shielding requirements. The shielding layer of the shielded cable must be
reliably grounded at one end.
◆

DANGER
◆
restarted.
◆
󶍾
◆
equipment.
◆
in an electric shock.
◆Do not touch any wiring terminals at power-on. Failure to comply will result in an electric shock.
◆Do not remove any part of the equipment at power-on. Failure to comply will result in an electric shock.
Operation
DANGER
◆Do not touch any wiring terminals during operation. Failure to comply will result in an electric shock.
◆Do not remove any part of the equipment during operation. Failure to comply will result in an electric shock.
◆
injuries.
◆Signal detection must be performed by only professionals during operation. Failure to comply will result in
personal injuries or equipment damage.
WARNING
◆
equipment damage.
◆Do not start or stop the equipment using the contactor. Failure to comply may result in equipment damage.

-13-
Safety Instructions
Maintenance
DANGER
◆
professionals.
◆Do not maintain the equipment at power-on. Failure to comply will result in an electric shock.
◆󶍽
WARNING
◆
requirements and keep a maintenance record.
Repair
DANGER
◆
professionals.
◆Do not repair the equipment at power-on. Failure to comply will result in an electric shock.
◆󶍽
WARNING
◆Require for repair services according to the product warranty agreement.
◆
following repair instructions and keep a repair record.
◆Replace quick-wear parts of the equipment according to the replacement guide.
◆Do not operate damaged equipment. Failure to comply may result in worse damage.
◆
Disposal
WARNING
◆Dispose of retired equipment by following local regulations or standards. Failure to comply may result in

◆Recycle retired equipment by following industry waste disposal standards to avoid environmental pollution.

-14-
Safety Instructions
Safety Signs
■Description of safety signs in the user guide
i
Read the user guide before installation and operation.
Reliably ground the system and equipment.
Danger!
High temperature!

High voltage!
15min
Wait xx minutes before further operations.
■Description of safety signs on the equipment

damage or remove the safety labels. The following table describes the safety signs.
Safety Sign Description
危险
DANGER
高压注意
Hazardous
Voltage
高温注意
High
Temperature

Read the user guide and follow the safety instructions before use.

󶍽

supply is ON.

-15-
1 Product Information
1 Product Information
1.1 Introduction to the Servo Drive
1.1.1 Nameplate and Model Number
SV 660 N S 2R8 I - FH
Code Product Family
SV Servo
Code Installation Mode
Baseplate installation
(standard)
I
Code Customized Function
StandardNone
Code Product Series
660 660 series
Code Product Type
N Network type
Code Voltage Class
S 220 V
T 380 V
Rated output current
8.4 A
8R4
Symbol
12 A
012
17 A
017
21 A
021
26 A
026
6.6 A
6R6
5.5 A
5 R 5
1.6 A
1R6
2.8 A
2R8
3.5 A
3R5
5.4 A
5R4
Rated output current
Symbol
High protectionFH
STO functionFS
7.6 A
7R6
CHARGE
Nameplate
MODEL：SV660NS2R8I
INPUT：1PH AC 200-240V 4.6A 50/60Hz
S/N：01050843xxxxxxxx
Suzhou Inovance Technology Co., Ltd.
Product
model
Rated input
Rated
output
Serial No.
Certifications
OUTPUT：3PH AC 0-240V 2.8A 0-400Hz 400W CN1
CN2
󶙽Nameplate and model number

-16-
1 Product Information
1.1.2 Components
1
2
3
4
5
6
7
8
9
10
CN5
CN6
11
11
12
󶙽Layout of servo drives in size A
No. Name Description
1Terminals
CN6 and CN5

connected to the external functional safety signal

2LED display 󶍾
parameter settings
3Operation buttons

 
 
 
󶍾
󶍾
4


communication



5CN1
 Used by reference input signal and other I/O signals.
6
CN2


Connected to motor encoder terminals.

-17-
1 Product Information
No. Name Description
7CHARGE

Used to indicate that the bus capacitor carries electric charge.

in the internal capacitor of the servo unit even if the main circuit power supply
󶍽

indicator lights up.
8

 See the nameplate for the power input of rated voltage class.

 Used as the common DC bus for multiple servo drives.
9


external regenerative


10




11 
 Connected to the grounding terminal of the power supply and the motor.
12  Used to hold the battery box of an absolute encoder.
CN6
CN5
1
2
3
4
5
6
8
9
7
10
11
12
󶙽
SN Name Description
1
terminals

connected to external functional safety signal

2LED display 󶍾
settings

-18-
1 Product Information
SN Name Description
3Operation
buttons

 
 
 
󶍾
󶍾
4


communication



5CN1
 Used for reference input signal and other I/O signals.
6
CN2

connecting

Connected to motor encoder terminals.
7
CHARGE


Used to indicate that the bus capacitor carries electric charge.

󶍽

up.
8



See the nameplate for the power input of the rated voltage class.


and L2






Used as the common DC bus for multiple servo drives.
9


connecting
external
regenerative


󶍾
10


connecting


11



Connected to the grounding terminals of the power supply and the motor.
12  Used to hold the battery box of an absolute encoder.
NOTE
◆

◆
󶍾

-19-
1 Product Information
1.1.3 Technical Speci󶍾cations
1 Electrical speci󶍾cations
■Single-phase 220 V servo drives
Item Size A 
 S1R6 S2R8 S5R5
 1.6 2.8 4.8
 5.8 10.1 16.9
Main circuit power supply 
Control circuit power supply 
 External regenerative resistor available in size A

■Three-phase 220 V servo drives
Item  Size C Size D
 S6R6 S7R6 S012
 6.6 7.6 11.6
 16.5 23 32
Main circuit power supply 
Control circuit power supply 
 
■Three-phase 380 V servo drives
Item Size C Size D Size E
 T3R5 T5R4 T8R4 T012 T017 T021 T026
 3.5 5.4 8.4 11.9 16.5 20.8 25.7
 11 14 20 29.75 41.25 52.12 64.25
Main circuit power supply 
Control circuit power supply 
 