INVT DA180-S2R8SG0 User manual

DA180 series basic AC servo drive Preface
-I-
Preface
Thanks for choosing DA180 series basic AC servo drive (DA180 drive for short).
DA180 drive is a new generation of basic servo drive that INVT develops, using the modular design,
USB communication with the upper computer software, and bus control options Modbus and
CANopen. In addition, DA180 drive supports online and offline inertia identifying, gain switching, auto
and manual notch filters, auto and manual vibration control filters, medium-frequency vibration
suppression, internal point-to-point (PTP) control, fully-closed loop control, and multiple types of
encoders.
The electromagnetic compatibility design enables DA180 drive to provide strong anti-electromagnetic
interference capacity but also achieve low noise and electromagnetic interference weakening in the
application sites.
This manual describes the installation, wiring, parameter setting, fault diagnosis, and daily
maintenance. Read this manual carefully before installing DA180 drive so that it works properly.
If the product is ultimately used for military affairs or weapon manufacture, it will be listed on the
export control formulated by Foreign Trade Law of the People's Republic of China. Rigorous reviews
and necessary export formalities are required before the export.
INVT reserves the right to update manual information without prior notice.

DA180 series basic AC servo drive Safety precautions
-II-
Safety precautions
Safety symbols
Read this manual and follow the instructions.
Do not touch terminals within 15 minutes after power-on
or power-off. Otherwise, electric shock may result.
Do not touch the heat sink. Otherwise, burns may result.
The contact current can reach 0.5mA. Reliable grounding
must be complete before the use.
The safety symbols are marked in the front or side of the servo drive. Follow the safety instructions
when operating on the servo drive.
Recycling symbol
Check the following safety precautions before the installation, wiring, operation, maintenance,
or inspection:
Ensure that the AC power supply is consistent with the rated voltage of the drive. Otherwise,
drive damages, body injuries, or fire may result.
Do not connect an input power cable to an output terminal. Otherwise, drive damages may result.
Do not carry out any insulation and voltage withstand test to the drive directly, and do not test the
control circuit of the drive by megameter.
Connect the drive and motor in the correct phase sequence. Otherwise, drive faults or damages
may be caused.
To avoid accidents, disconnect the motor from the drive before trial operation, and then run the
motor independently.
Ensure that the drive can be disconnected from the power supply by the emergency switch
before mechanical running.
Set the corresponding parameters before operation. Otherwise, the drive may run abnormally or
unexpectedly due to load issues.
Only qualified electrical engineers can carry out the wiring. Otherwise, electric shock or fire may
result.
When the life cycle ends, the product should enter the recycling system.
Dispose of it separately at an appropriate collection point instead of placing it
in the normal waste stream.

DA180 series basic AC servo drive Safety precautions
-III-
Do not touch the conductive parts directly, and do not connect any external cables (especially
heavy-current related) to the housing or in short-circuited way. Otherwise, electric shock or short
circuit may result.
Rewire the drive at least 15 minutes after disconnecting it from the power supply. Otherwise,
electric shock may result.
Use proper grounding techniques because the touch current may reach 0.5mA. Otherwise,
electric shock may result.
Do not touch the heat sink or external brake resistor during operation. Otherwise, burns may
result due to high temperature.
Install the overcurrent protector, leakage current protector, and emergency brake, and ensure the
normal usage after wiring. Otherwise, electric shock, body injuries, or fire may result.
The leakage current may exceed 2mA during the drive running. Ground with proper techniques.
Ensure that the grounding resistance is less than 10Ω and the PE earth conductor and the phase
conductor are the same in conductivity (with the same cross-sectional area).
Dispose of a scrap drive as industrial waste.

DA180 series basic AC servo drive Contents
-IV-
Contents
Preface............................................................................................................................................I
Safety precautions.........................................................................................................................II
Contents........................................................................................................................................IV
1Overview...................................................................................................................................1
1.1 Servo drive...........................................................................................................................2
1.2 Servo motor..........................................................................................................................8
1.3 Cables................................................................................................................................10
1.4 Brake resistor specifications................................................................................................13
2Installation instructions .........................................................................................................14
2.1 Drive dimensions................................................................................................................15
2.2 Drive installing....................................................................................................................16
2.3 Motor outline and mounting dimensions..............................................................................18
2.4 Motor installing ...................................................................................................................19
2.5 Servo-motor technical parameters.......................................................................................19
3Wiring instructions.................................................................................................................20
3.1 System wiring .....................................................................................................................21
3.2 Main circuit terminal wiring (1PH 220V)...............................................................................24
3.3 Motor power cable wiring....................................................................................................25
3.4 Motor encoder cable wiring.................................................................................................25
3.5 Wiring for control I/O terminal CN1......................................................................................26
3.6 Wiring for encoder terminal CN2.........................................................................................27
3.7 Wiring for RS485/CAN communication terminal CN3...........................................................27
3.8 Wiring for USB terminal CN4...............................................................................................28
3.9 Wiring for second-encoder terminal CN5.............................................................................28
4Control modes........................................................................................................................30
4.1 Standard wiring diagram for position control........................................................................31
4.2 Standard wiring diagram for speed control ..........................................................................32
4.3 Standard wiring diagram for torque control..........................................................................33
4.4 CN1 function description.....................................................................................................34
4.5 Wiring description for CN1 ..................................................................................................50
4.6 Wiring description for CN5 ..................................................................................................54
5 Operating and running...........................................................................................................55
5.1 Running..............................................................................................................................56
5.2 Display and operating.........................................................................................................66
6 Function codes.......................................................................................................................74
6.1 Basic control (group P0)......................................................................................................75
6.2 Autotuning control (group P1)............................................................................................102
6.3 Motor control (group P2)...................................................................................................109
6.4 I/O management (group P3)..............................................................................................123

DA180 series basic AC servo drive Contents
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6.5 Extension and application (group P4)................................................................................140
6.6 Program Jog, homing, and PTP control (group P5) ...........................................................158
6.7 Application functions (group P6)........................................................................................172
6.8 PTP control (groups PtP0, PtP1, and PtP2).......................................................................178
6.9 Status monitoring..............................................................................................................212
7Commissioning ....................................................................................................................229
7.1 Instructions on identifying inertia.......................................................................................230
7.2 General methods for adjusting parameters........................................................................231
7.3 Mechanical resonance suppressing ..................................................................................237
7.4 Gains switching ................................................................................................................238
8Communication....................................................................................................................242
8.1 General description...........................................................................................................243
8.2 RS485..............................................................................................................................243
8.3 CANopen..........................................................................................................................248
8.4 Upper computer software..................................................................................................254
9Fault handling.......................................................................................................................258
9.1 Servo drive faults and workarounds ..................................................................................259
9.2 CANopen communication faults and workarounds.............................................................269
10 Appendix............................................................................................................................. 272
10.1 Parameters about settings ..............................................................................................273
10.2 Parameters about monitoring..........................................................................................299
10.3 Common monitoring parameters.....................................................................................303
10.4 Fault codes.....................................................................................................................304
10.5 Parameter setting history................................................................................................309

DA180 series basic AC servo drive Overview
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1 Overview
1.1 Servo drive...........................................................................................................................2
1.1.1 Drive introduction .....................................................................................................2
1.1.2 Outline drawing ........................................................................................................6
1.1.3 Drive naming............................................................................................................7
1.1.4 Drive nameplate.......................................................................................................7
1.1.5 Drive ratings and frame sizes....................................................................................8
1.2 Servo motor..........................................................................................................................8
1.2.1 Motor nameplate ......................................................................................................8
1.2.2 Motor naming...........................................................................................................8
1.3 Cables................................................................................................................................10
1.3.1 Cable nameplate....................................................................................................10
1.3.2 Power cable naming...............................................................................................10
1.3.3 Power cable accessory naming ..............................................................................11
1.3.4 Encoder cable naming............................................................................................ 11
1.3.5 Encoder cable accessory naming ...........................................................................12
1.3.6 Motor brake cable naming ......................................................................................12
1.4 Brake resistor specifications................................................................................................13

DA180 series basic AC servo drive Overview
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1.1 Servo drive
1.1.1 Drive introduction
DA180 series servo drive (100W–1kW)
Specification
Description
Power
supply
220V system input
voltage
1PH/3PH, AC 220V (±15%), 47Hz–63Hz
Port
Control
signal
Input
10 inputs
(The function is configurable through parameter settings.)
Output
4 outputs
(The function is configurable through parameter settings.)
Analog
Input
Two 12-bit analog inputs
Pulse
signal
Input
1 group (of open collector input or differential input)
Output
1 group of differential outputs (A+/A-; B+/B-; Z+/Z-)
Encoder 2
Input
Incremental encoder (or grating ruler) interface
Communi-
cation
USB
1:1 communication upper computer software
RS485
1:n communication
CANopen
1:n communication
Control mode
1: Position control 2: Speed control 3: Torque control
4: Switching between the position and speed modes
5: Switching between the speed and torque modes
6: Switching between the position and torque modes
7: Fully-closed loop control
8: CANopen mode
Function
Position
control
Control input
1: Clearing residual pulses
2: Inhibiting command pulses
3: Switching electronic gear ratios
4: Switching vibration control
Control
output
Such as positioning completion output
Pulse input
Max.
pulse
input
frequency
Photoelectric coupling: differential input of
4Mpps or open collector input of 200kpps
Pulse
input
1: Pulse + direction
2: Clockwise + counterclockwise (CW + CCW)

DA180 series basic AC servo drive Overview
-3-
DA180 series servo drive (100W–1kW)
Specification
Description
mode
3: Orthogonal coding
Electronic
gear
1/10000—1000
Filter
1. Command smoothing filter
2. FIR filter
Analog input
Torque
limit
command
input
This allows independent CW or CCW torque
limit.
Vibration
control
This can suppress 1Hz–200Hz front-end vibration and
entire-machine vibration.
Pulse output
1: This allows arbitrary frequency division settings under
the encoder resolution.
2: This supports phase-B reserving.
Speed
control
Control input
1: Internal command speed 1
2: Internal command speed 2
3: Internal command speed 3
4: Zero-point clamping
Control
output
Such as speed reaching
Analog input
Speed
command
input
You can enable speed command inputs after
performing relevant settings based on the
analog voltage DC±10V.
Torque
limit input
This allows independent CW or CCW torque
limit.
Internal
speed
command
The internal eight-step speeds can be switched based on
external control inputs.
Speed
command
ACC/DEC
adjustment
This supports both independent ACC/DEC time setting and
S-curve ACC/DEC setting.
Zero-point
clamping
In speed mode, this allows the hybrid speed or position
working manner.

DA180 series basic AC servo drive Overview
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DA180 series servo drive (100W–1kW)
Specification
Description
Speed
command
filter
First-order delay filter from the analog input speed
command.
Speed
command
zero-drift
control
Zero-drift suppression on external interference.
Torque
control
Control input
Such as zero-drift clamping input.
Control
output
Such as speed reaching.
Analog input
Torque
command
input
This allows gain and polarity settings based on
analog voltage.
Speed
limit input
This allows analog speed limits.
Speed limit
Speeds can be limited through parameter settings.
Torque
command
filter
First-order delay filter of the analog input speed command.
Torque
command
zero drift
Zero-drift suppression on external interference.
Internal
position
planning
Segment
planning
This supports 128-segment internal position planning. The
positioning can be controlled through communication.
Route setting
1: Position
2: Speed
3: ACC time
4: DEC time
5: Stop timer
6: Status output
7: Running mode
Homing
1: LS signal
2: Phase-Z signal
3: LS signal + phase-Z signal

DA180 series basic AC servo drive Overview
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DA180 series servo drive (100W–1kW)
Specification
Description
4: Torque limit signal
Protection
For hardware
Such as protection against overvoltage, undervoltage,
overcurrent, overspeed, overload, overheating, encoder
fault, and power outage detection.
For software
Such as protection against ROM fault, initialization fault, I/O
distribution exception, and excessive position deviation.
Fault recording
1: Ten faults can be recorded.
2: Key parameters can be recorded when a fault occurs.
Environment
Working temperature
0–45°C
Storage temperature
-20–80°C (no frozen)
Working/storage humidity
≤90%RH (no condensation)
IP rating
IP20
Altitude
Below 1000m
Vibration
≤5.88m/s2, 10–60Hz (not allowing work at the resonance
point)

DA180 series basic AC servo drive Overview
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1.1.2 Outline drawing
CHARGE in di ca tor
Main circ ui t po wer
Motor
Regener at iv e resistor
Groundi ng
CN2: Enco de r in terface
LED displ ay
Operati on p an el
CN5: Full y- cl osed loop
CN3: CAN/ RS 48 5 communicati on i nt erface
CN4: Uppe r co mp uter interfac e
CN1:I/O c on tr ol interface

DA180 series basic AC servo drive Overview
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1.1.3 Drive naming
DA180-S 2R8 S G 0
①②③④⑤⑥
No.
Description
Example
①
Product category
DA180: Servo drive series
②
Voltage class
S: 220V
③
Rated output current
1R3: 1.3A
1R8: 1.8A
2R8: 2.8A
4R5: 4.5A
5R0: 5.0A
④
Communication type
S: Support for RS485 and CAN
⑤
Function category
G: Basic
⑥
Encoder type
0: Absolute and incremental
1.1.4 Drive nameplate
上海英威腾工业技术有限公司
INVT INDUSTRIAL TECHNO LO G Y (SHANG HAI)CO ., LTD
Made in China
MODEL:
INPUT:
OUTPUT:
S/N:
DA180-S2R8SG0
1PH, AC 220V
( 15%),47~63Hz,
3.6A
±
3PH, AC 0~220V,0
~400Hz,2.8A,400W

DA180 series basic AC servo drive Overview
-8-
1.1.5 Drive ratings and frame sizes
Model
Input
Output
Frame
size
Voltage (V)
Rated
current (A)
Power (kW)
Rated
current (A)
DA180-S1R3SG0
1PH 220
0.9
0.1
1.3
A
DA180-S1R8SG0
1PH 220
1.8
0.2
1.8
A
DA180-S2R8SG0
1PH 220
3.6
0.4
2.8
A
DA180-S4R5SG0
1PH 220
6.8
0.75
4.5
B
DA180-S5R0SG0
1PH 220
9.1
1.0
5
B
1.2 Servo motor
1.2.1 Motor nameplate
S/N:
INPUT: AC 3PH 220V 2.8A
OUTPUT(RATED): 400W 3000r/min 1.3N·m
MADE IN CHINA
INVT INDUSTRIAL TECHNOLOGY CO.,LTD.
MODEL: SV-ML06-0R4G-2-SA0-1000
IP65 S1 CLASS F NO.3010004
Note: "No. 3010004" in the nameplate indicates the motor model code (motor code for short). Enter
this code to the servo parameter P0.00, which is a long parameter and can be set through the keypad.
For details, see Step 8 "Set long parameters (with 6 digits at least)" in "Operation flowchart" in section
5.2.1 "Display". Incorrect setting may cause abnormal running of the servo system or even a major
fault to the drive and motor.
1.2.2 Motor naming
No.
Description
Example
①
Product category
SV: Servo system product
②
Product series
M: Series M
C: Series C
S: Series S

DA180 series basic AC servo drive Overview
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No.
Description
Example
③
Inertial
classification
L: Small inertia
M: Medium inertia
H: Large inertia
④
Base model no.
06: 60mm
08: 80mm
13: 130mm
⑤
Rated power
0R2: 200W
0R4: 400W
0R7: 750W
1R0: 1.0kW
⑥
Rated revolutions
per minute
(RPM)
A: 1000rpm(2)
B: 1500rpm
E: 2000rpm
F: 2500rpm
G: 3000rpm
⑦
Voltage class
2: 220VAC
⑧
Encoder type
9: 23-bit multiturn absolute
S: 17-bit single-turn absolute(1)
⑨
Shaft end
connection
A: Solid with threaded hole and key (standard)
B: Solid optical axis(1)
⑩
Optional part
0: With oil seal but no brake
1: Without oil seal or brake(1)
2: With oil seal and permanent magnet brake
3: Without oil seal but with permanent magnet
brake(1)
4: With oil seal and electromagnetic brake(2)
5: Without oil seal but with electromagnetic brake
⑪
Lot no.
Manufacturer lot number(3)
Remarks:
(1): For a model without standing inventory, the lead time is longer than usual.
(2): When an electromagnetic brake motor is used, since the electromagnetic brake will have
backlash, there will be a small clearance (less than 0.5°) in the rotating direction if the motor
brake is closed. Pay attention to this in vertical shaft application scenarios. There is no clearance
when a permanent magnetic brake is used.
(3): Leave it empty for the first-time model selection.

DA180 series basic AC servo drive Overview
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1.3 Cables
1.3.1 Cable nameplate
67002-01105
MADE IN CH INA
Shielded 3m power cable with 4-pin metal plug
and 3-pin 20A plug, 0.75mm diameter
DAML-075-03-CCA-00
R
INVT IN DUSTRIA L T ECHNOL OGY(SHA NG H AI) CO.,LTD .
上海英威腾工业技术有限公司
2
1.3.2 Power cable naming
No.
Description
Example
①
Product series
Manufacturer use only
②
Power cable
ML: Power cable
③
Cable diameter
075: 0.75mm2
④
Cable length
03: 3 meters
05: 5 meters
10: 10 meters
15: 15 meters
20: 20 meters
...
⑤
Motor connection plug
B: 4-pin regular aviation plug YD28
C: 4-pin metal plug
⑥
Drive connection plug
C: European 3-pin 20A plug
⑦
Cable material
0: Common cable
A: Common shielded cable
B: Shielded flexible towline cable
F: Flexible towline cable

DA180 series basic AC servo drive Overview
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No.
Description
Example

Serial no.
00: Standard part
01: Serial number for a non-standard part
...
1.3.3 Power cable accessory naming
No.
Description
Example
①
Product series
Manufacturer use only
②
Power cable
ML: Power cable
⑤
Motor connection plug
B: 4-pin regular aviation plug YD28
C: 4-pin metal plug
⑥
Drive connection plug
C: European 3-pin 20A plug
1.3.4 Encoder cable naming
No.
Description
Example
①
Product series
Manufacturer use only
②
Encoder cable
EL: Encoder cable
③
Number of cores
06: 6-core cable
15: 15-core cable
④
Cable length
03: 3 meters
05: 5 meters
10: 10 meters
15: 15 meters
20: 20 meters
...
⑤
Motor connection plug
B: 15-pin regular aviation plug YD28
C: 9-pin metal plug

DA180 series basic AC servo drive Overview
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No.
Description
Example
⑥
Cable material
0: Common cable
F: Flexible towline cable
⑦
Encoder type
04: 17-bit/23-bit absolute

Serial no.
00: Standard part
01: Serial number for a non-standard part
...
1.3.5 Encoder cable accessory naming
No.
Description
Example
①
Product series
Manufacturer use only
②
Encoder cable
EL: Encoder cable
⑤
Motor connection plug
B: 15-pin regular aviation plug YD28
C: 9-pin metal plug
⑨
Drive connection plug
A: 15-pin DB plug
1.3.6 Motor brake cable naming
No.
Description
Example
①
Product series
BRKL: Motor brake cable
②
Cable length
10: 10m
③
Motor connection plug
A: 2-pin metal plug
B: 3-pin regular aviation plug
C: 3-pin metal plug

DA180 series basic AC servo drive Overview
-13-
1.4 Brake resistor specifications
Drive model
Specification of built-in
brake resistor
Min. resistance of external
brake resistor
DA180-S1R3SG0
/
60Ω
DA180-S1R8SG0
/
60Ω
DA180-S2R8SG0
/
60Ω
DA180-S4R5SG0
45Ω 60W
30Ω
DA180-S5R0SG0
45Ω 60W
30Ω

DA180 series basic AC servo drive Installation instructions
-14-
2Installation instructions
2.1 Drive dimensions................................................................................................................15
2.1.1 Dimension drawing for frame size A/B.....................................................................15
2.1.2 Models and dimensions..........................................................................................15
2.2 Drive installing....................................................................................................................16
2.2.1 Installation mode....................................................................................................16
2.2.2 Installation directions and clearances......................................................................17
2.3 Motor outline and mounting dimensions..............................................................................18
2.3.1 For base-60 motors................................................................................................18
2.3.2 For base-80 motors................................................................................................18
2.3.3 For base-130 motors..............................................................................................19
2.4 Motor installing ...................................................................................................................19
2.5 Servo-motor technical parameters.......................................................................................19
2.5.1 For motors (using multiturn absolute encoders).......................................................19