Inovance SV660N Series Manual

2022
INOVANCE TECHNOLOGY EUROPE
V1.4
Start up procedure
SV660N

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SV660N Startup Procedure_EN_v1.4_20220826.docx
TABLE OF CONTENTS
1General data................................................................................................................................................... 3
2Purpose of this document .............................................................................................................................. 3
3Revision History.............................................................................................................................................. 3
4Wiring & Communication............................................................................................................................... 4
4.1 Connection of STO terminals................................................................................................................. 5
5Serial Communication cable........................................................................................................................... 6
6InoDriverShop................................................................................................................................................. 7
6.1 Install and execute InoDriverShop......................................................................................................... 7
6.2 Create a new project ............................................................................................................................. 7
6.3 User interface ........................................................................................................................................ 9
6.4 Commisioning and operation .............................................................................................................. 10
6.4.1 Power Supply................................................................................................................................... 11
6.4.2 Factory Default................................................................................................................................ 11
6.4.3 Jogging............................................................................................................................................. 11
6.4.4 Motor parameters........................................................................................................................... 13
6.5 Parameter Management ..................................................................................................................... 16
6.5.1 Backup............................................................................................................................................. 16
6.5.2 Restore ............................................................................................................................................ 17
6.5.3 Offline edit ...................................................................................................................................... 18
6.5.4 Comparison ..................................................................................................................................... 19
6.6 Gain tuning .......................................................................................................................................... 21
6.6.1 Inertia Auto-tuning.......................................................................................................................... 22
6.6.2 STUNE.............................................................................................................................................. 24
6.6.3 ETUNE................................................................................................................................................ 1
6.6.4 Inertia ratio calculation ..................................................................................................................... 3
6.6.5 Rigidity level calculation.................................................................................................................... 5
6.6.6 Mechanical analysis........................................................................................................................... 8
6.6.7 Filter adjustment............................................................................................................................. 14
6.6.8 Model tracking function.................................................................................................................. 19
6.6.9 Gain adjustment parameters .......................................................................................................... 20
6.7 Continuos oscilloscope ........................................................................................................................ 25
6.8 Trigger oscilloscope ............................................................................................................................. 26
6.8.1 EtherCAT position interpolation...................................................................................................... 27
6.8.2 SYNC and IRQ phase position (µs) [49]............................................................................................ 29
6.9 Blackbox............................................................................................................................................... 33
6.11 Change Interface Language ................................................................................................................. 34

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7Axis Scaling ................................................................................................................................................... 35
7.1 SV660N scaling configuration.............................................................................................................. 35
7.2 InoProShop scaling configuration........................................................................................................ 36
7.2.1 Velocity calculation ......................................................................................................................... 39
8Absolute encoder system............................................................................................................................. 40
8.1 Linear mode......................................................................................................................................... 40
8.1.1 Master controller home .................................................................................................................. 42
8.1.2 Local home ...................................................................................................................................... 43
8.2 Data range in the absolute position linear mode ................................................................................ 44
8.3 Absolute encoder system parameters diagram................................................................................... 46
9Appendix ...................................................................................................................................................... 47
9.1 Phase Angle tuning .............................................................................................................................. 47
9.2 Drive loops cycle time.......................................................................................................................... 48
9.3 Position reference filter....................................................................................................................... 49
9.4 CiA402 Object Dictionary..................................................................................................................... 50

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SV660N Startup Procedure_EN_v1.4_20220826.docx
1GENERAL DATA
Authors: RSR
Date: 26.08.2022
Hardware: SV660N
Software: InoDriverShop v3.2.1.1
Info: SV660N Start up procedure guide
2PURPOSE OF THIS DOCUMENT
The purpose of this document is to facilitate the start-up and diagnosis of the SV660 servo drive. The SV660N
series high-performance AC servo drive covers a power range from 50 W to 7.5 kW. It supports EtherCAT
communication protocol to work with the host controller for a networked operation of multiple servo drives.
The document is divided into different sections to explain the basic wiring, communication with the diagnostic
PC and the operation of the InoDriverShop program, which is used to perform the configuration and diagnostic
functions of the servo drive.
In order to use the InoProShop software, you need the serial communication cable S6-L-T00-3.0, described in
the section 5. Serial Communication cable.
3REVISION HISTORY
Revision
Date
Author
Description
1.2
4 February 21
RSR
First release
1.3
5 March 21
RSR
The following sections have been added:
6.5.4 Comparison
6.8.1 EtherCAT position interpolation
7 Axis Scaling
8 Absolute encoder system
9.4 CiA402 Object Dictionary
1.4
26 August 21
RSR
The following sections have been added:
8.2 Data range in the absolute position linear mode
6.6.4 Inertia ratio calculation
The following sections have been modified:
6.4.4 Motor parameters
6.6.2 STUNE

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4WIRING & COMMUNICATION

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4.1 CONNECTION OF STO TERMINALS
This section describes the definition and functions of the I/O terminal (CN6) for the safe torque off (STO)
functional safety function.
Two isolated inputs are configured to dual-channel inputs of STO function: STO1/STO2.
To make it more convenient and safe for installation, an additional pin with supply voltage (+24V) is integrated.
The bridging of the 24 volts is needed in case the safety circuit is installed but no STO function is needed.
NOTE The servo drive can operate normally only if the input status of STO1 and STO2 are both "1" or "H". If
the input status of either STO1 or STO2 (or both ) is "0" or "L", the servo drive cannot run.
Figure 1. Example of external 24 V connection
Figure 2. Example of internal 24 V connection

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5SERIAL COMMUNICATION CABLE
The cable used to connect the SV660N with the computer is S6-L-T00-3.0. It is a DB9 (PC side) to RJ45 (drive
side) cable. The physical layer is according to RS232 communication.
Model Number: S6-L-T00-3.0
Material Code: 15041243
Figure 1. Connection relation between the servo drive and PC communication cable pins
Figure 2. Pin definition of DB9 ("B" in the preceding figure) on the PC side
A female USB / RS232 converter will be needed if your computer is not equipped with a RS232 serial port.

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6INODRIVERSHOP
InoDriverShop is the commissioning and diagnostic tool for SV660N drives series. This document explain the
InoDriverShop version v3.2.1.1
6.1 INSTALL AND EXECUTE INODRIVERSHOP
This program does not need to be installed. Unzipping the file in a folder on your computer is enough to run it.
Once the file has been decompressed in the resulting folder, the executable InoDriveShop appears. Executing
this file opens the user environment.
6.2 CREATE A NEW PROJECT
To create a new project, click on the new project icon or the command from the start screen:
The corresponding dialog to select the type of drive is show. It is possible to create a new project online or
offline. The offline project allows you to create a project without being connected to the computer.
If you connect with the drive, select the appropriate communication parameters. Connect the servo drive and
the PC by using the PC communications cable.
The default parameters of the SV660N are:

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•Communication: Serial port
•Baud Rate: 115200
•Data bit:8
•Check bit: none
•Stop bit: 1
Select the corresponding drive model (in this case SV660N) and click “Next Page” button.
The next image shows the dialog for scanning drives:
1. When the dialog opens, the scan of the devices starts automatically. But using this buttons it is
possible to start and stop the scanning procedure.
2. In this text box there is the range node Id to search devices. Usually the drive uses no Id 1
3. When a device is detected it is shown in this list.
4. This message shows when the search ends
5. Name of the project
6. Folder where project is stored
Select the SV660N Drive which connected on the serial port communication and define the project name then
press the button “Finish”

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6.3 USER INTERFACE
The main screen is divided into three sections:
1. Buttons to access the most common functions
2. Project tree, where it is possible to access all the program options
3. This section shows the different screens of the program
4. Parameter monitor.
By dragging the tabs it is possible to organize the different windows or sections of the program as shown in the
following image:

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6.4 COMMISIONING AND OPERATION
The following figure shows the general procedure for axis commissioning:
No
Power ON
Power ON Axis
Yes
Reset fault
No
Yes
Disable STO.
See 4.1 Connection of STO terminals
No
Check:
From InoDriverShop: Communications
From EtherCAT: Control & Status word
Yes
Inertia Auto-tunig
Gains Auto-tunig
Yes
Yes
No
Manual Gains tuning
No
Yes
Factory Default
Yes
End
Vibration Suppression
See 6.6.1 Inertia Auto-tuning
See 6.6.2 STUNE or 6.6.3 ETUNE
See 6.4.2 Factory Default
No
Axis Not Ready (nr)
Check parameter H0B-63
“Not Ready Status”
No
OK?
OK?
Power ON by:
From InoDriverShop: see 6.4.3 Jogging
From EtherCAT Master: ex. MC_Power

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6.4.1 POWER SUPPLY
Switching on the input power supply
The input terminals for single-phase 220 V power supplies are L1 and L2.
The input terminals for three-phase power supplies are L1C/L2C (control circuit power input terminals) and
R/S/T (main circuit power input terminals)
After switching on the input power supply, if the bus voltage indicator is in normal status and the keypad
displays "reset" →"ry" in sequence, it indicates the servo drive is ready to run and waits for the S-ON signal to
be sent from the host controller.
First status after power up. After initialization or
reset is done, the servo drive automatically
switches to other status.
The servo drive is ready to run and waits
for the S-ON signal to be sent from the
host controller.
STO enabled. Connect the STO1 and STO2 to the
24 V input voltage signal to switch to “Ready”
state
6.4.2 FACTORY DEFAULT
The factory default parameters of the drive can be restored through the software InoDriverShop or with
parameter “H02-31 System parameter initialization” changing the value from 0 to 1.
Some parameters need to be effective after powered on again. The parameters can be validated by software
reset. So, it is recommended to do a software reset after restore factory default parameters
6.4.3 JOGGING
The jog function can be started using the keypad (jogging in the speed mode/jogging in the position mode) or
Inovance software tool (jogging in the speed mode).
1. Open Jog screen

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2,3. Change speed and acceleration values
4. Enable drive (S-ON signal)
5,6. Move forward and reverse in jog mode

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6.4.4 MOTOR PARAMETERS
If the motor belongs to INOVANCE MS1 Series Servo Motor, the parameters are stored in the encoder.
Therefore, it is not necessary to configure the motor parameters, but it is important to verify that the
parameter "H00-00 Motor Code" corresponds to the motor code indicated on the nameplate.
6.4.4.1 NAMEPLATE AND MODEL

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Parram.
Name
Range
H00-00
Motor
code
14000 Inovance motor with incremental encoder.
Encoder resolution: 1048576 (220)
14101 Inovance motor with absolute encoder.
Encoder resolution: 8388608 (223)
H00-05
Serial-
type
motor
code
The definition of H00-05 shown as below table.
For example, 11408 means 750W MS1 H4 series motor with serial bus encoder without PTC.
11101 means 100W MS1 H1 series motor with serial bus encoder without PTC.
Ten
thousands
digit
Thousands digit
Hundreds digit
Tens
digit
Units
digit
Platform
version
Encoder type
Motor series
Power rating (follow
the rounding
principle)
1-first
generation
product
2-second
generation
product
1-serial bus without
PTC
2-serial bus with PTC
5-non serial bus
without PTC
6-non serial bus with
PTC
7-resolver without PTC
8-resolver with PTC
1-H1 series 220V
2-H2 series 380V
3-H3 series 380V
4-H4 series 220V
8-H2 series 220V
9-H3 series 220V
Power rating digits =
power (W)/100
For example, 100W
is 01, 750W is 08
5-G1 series
power rating digits =
power (kW)/1
6-G2 series
power rating digits =
power (kW)/10
for example, 31 kW
is 03

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6.4.4.2 MOTOR SAMPLE
Encoder Type A3: 23 bit Multi-turn absolute encoder
Rated Voltage H00-09 = 220 V
Rated Power H00-10 = 0.4 kW
Rated Current H00-11 = 2.8 A
Rated Torque H00-12 = 1.27 Nm
Max. Torque H00-13 = 4.46 Nm
Motor Code H00-00 = 14101

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6.5 PARAMETER MANAGEMENT
6.5.1 BACKUP
Following this procedure we can make a backup copy of the drive parameters.
1. Click on “Param List”
2. Select the axis group
3. Click on “Upload and save (Current page all)”
4. The following message appears. Select whether the parameters H00, H01 should be saved in the
parameter file.
5. Select the file to save the parameters

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6.5.2 RESTORE
This procedure shows us the steps to restore the drive parameters from a backup file:
1. Click on “Param List”
2. Click on “Open recipe”. The parameter file values are showed in the “Setting value” field
3. Click on “Write all (Except groups H00 and H01)”. A progress bar show the downloading process status
The following message appears. It is recommended to reset the drive after downloading parameters.
Click on Yes to reset the drive software.

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6.5.3 OFFLINE EDIT
To edit the values of a parameter file without being connected to the drive, follow these steps:
4. Click on “Open parameter file”
5. Select the corresponding parameter file in the open file dialog box
6. Select the corresponding parameter section
7. Edit the “current value” of the parameter
Changes made to the parameter values are automatically saved in the corresponding parameter file

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6.5.4 COMPARISON
The InoDRiverShop software has two options for comparing the project parameters.
The first option allows you to compare the current values of the project with a parameter file. The second
option allows you to compare the values of a file with the factory values.
6.5.4.1 COMPARE WITH CURRENT VALUES
To compare parameter file with actual values follow the next procedure:
1. Open parameter file. Click on “Open Recipe” button and select the corresponding parameter file.
After opening the parameter file the values of this file are loaded in the column "Setting value".
2. Click “Compare” button and select “The set value is different from the current value”
3. This is the comparison result: