Nidec Control Techniques Digitax-SF Series User manual

Instruction Manual
AC SERVO MOTOR and SERVO DRIVE
Series Digitax-SF
Part Number: 0478-0606-01
Issue: 1

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Digitax SF Instruction Manual
Thank you for your purchase of the Digitax SF products. This Instruction Manual includes
precautions for the product use.
■ Please study this manual rst and use the product properly and safely.
■ Before using the product, be sure to carefully read the Safety Instructions.
■ After reading this manual, please keep it for future reference.
■
Product specications are subject to change without notice in the course of product improvement.
Apr. 2019

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Overview of the Digitax SF Instruction Manual
1. Before Use
Safety Precautions, Safety Standards, Maintenance and Inspection
2. Specications
Model Codes, Component Identications, Specications, and Dimensions
3. Preparation
Installation, System Wiring, and Timing Diagrams
4. Connections
CN1 User I/O Connector Pinout Options and Control Modes
5. Setting Parameters
Setup Panel and Parameters
6. Operation
Operation Options for Control Mode, Internal Position Command (Point Table),
and Homing
7. Tuning
Tuning, Control Block Diagrams, Tuning Parameters
8. Troubleshooting
Warnings, Alarms, and Troubleshooting
9. Appendices
Absolute System, Emergency Stop, System Block Diagram, and Status Variables
Digitax SF Instruction Manual

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Digitax SF Instruction Manual
Contents
1. Before Use
2. Specications
3. Preparation
4. Connections
5. Setting Parameters
1. Important Safety Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
2. Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
1. Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2. Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3. Drive. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
1. Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
2. System Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
3. Timing Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
1. Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
2. Position Control Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
3. Velocity Control Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
4. Torque Control Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
5. Descriptions of CN1 Connector Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
1. Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
2. Setup Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
3. Using the Setup Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
4. Overview of Digitax SF Connect (Setup Software) . . . . . . . . . . . . . . . . . . . . . . . . . . . . .27
5. Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

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6. Operation
7. Tuning
8. Troubleshooting
9. Appendices
. . . . . . . . . . . . . . . . . . . . . . . . . . . 2
. . . . . . . . . . . . . . . . . . . . . . . 7
. . . . . . . . . . . . . . . . . . . . . 26
1. Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2. Tuning Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3. Tuning Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4. Using Digitax SF Connect to Measure Vibration Frequency (FFT). . . . . . . . . . . . . . .44
1. Checking Warnings and Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
2. Warnings and Remedies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
3. Alarms and Remedies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
4. Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
1. Absolute System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
2. Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
3. Technical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
4. Status Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
5. How to set Pulse train command: Input lter (33.0) . . . . . . . . . . . . . . . . . . . . . . . . . 32
Digitax SF Instruction Manual
1. Configuring Operating Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2
2. Position Control Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6
3. Velocity Control Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
4. Torque Control Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15
5. Position Control Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

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MEMO
Digitax SF Instruction Manual

1
1
Before Use
１. Important Safety Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . 2
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. . . . 13
2.
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
15
16

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Digitax SF Instruction Manual
1. Before Use
1. Important Safety Instructions
１. Important Safety Instructions
１．Safety Precautions
This manual uses the signs below to indicate serious but avoidable problems caused by misuse of
the product� One is for death or serious bodily harm� The other is for bodily injury or product or
equipment damage�
DANGER Identies information about imminent hazards that will
result in death or serious injury�
CAUTION Identies information about hazards that could result in
injury or equipment damage�
Throughout this document, the safety precautions that users must follow are marked as follows�
The possible hazardous events are marked as follows�
Safety Precaution - Prohibited Action
Safety Precaution - Mandatory Action
Cautions and Dangers
Causes unexpected, unstable, or uncontrolled motion�
Compromises the performance or reliability of the product�
Shortens the service life of the product�
Electric shock hazard
Burn hazard
Fire hazard
Injury hazard
Failure and damage hazard
Important safety information. Hazards. Competence of designers and
installers
This guide applies to products which control electric motors either directly (drives) or indirectly (controllers,
option modules and other auxiliary equipment and accessories). In all cases the hazards associated with
powerful electrical drives are present, and all safety information relating to drives and associated equipment
must be observed.
Specific warnings are given at the relevant places in this guide.

1. Before Use
1. Important Safety Instructions
Drives and controllers are intended as components for professional incorporation into
complete systems. If installed incorrectly they may present a safety hazard. The drive uses
high voltages and currents, carries a high level of stored electrical energy, and is used to
control equipment which can cause injury. Close attention is required to the electrical
installation and the system design to avoid hazards either in normal operation or in the event
of equipment malfunction. System design, installation, commissioning/startup and
maintenance must be carried out by personnel who have the necessary training and
competence. They must read this safety information and this guide carefully.
Responsibility
It is the responsibility of the installer to ensure that the equipment is installed correctly with
regard to all instructions given in this guide. They must give due consideration to the safety of
the complete system, so as to avoid the risk of injury both in normal operation and in the
event of a fault or of reasonably foreseeable misuse.
The manufacturer accepts no liability for any consequences resulting from inappropriate,
negligent or incorrect installation of the equipment.
Compliance with regulations
The installer is responsible for complying with all relevant regulations, such as national
wiring regulations, accident prevention regulations and electromagnetic compatibility (EMC)
regulations. Particular attention must be given to the crosssectional areas of conductors,
the selection of fuses or other protection, and protective ground (earth) connections.
This guide contains instructions for achieving compliance with specific EMC standards.
All machinery to be supplied within the European Union in which this product is used must
comply with the following directives:
2006/42/EC Safety of machinery.
2014/30/EU: Electromagnetic Compatibility.
Electrical Hazards
The voltages used in the drive can cause severe electrical shock and/or burns, and could be
lethal. Extreme care is necessary at all times when working with or adjacent to the drive.
Hazardous voltage may be present in any of the following locations:
• AC and DC supply cables and connections
• Output cables and connections
• Many internal parts of the drive, and external option units
Unless otherwise indicated, control terminals are single insulated and must not be touched.
The supply must be disconnected by an approved electrical isolation device before gaining
access to the electrical connections.
The control terminal functions of the drive do not isolate dangerous voltages from the
output of the drive or from any external option unit.
The drive must be installed in accordance with the instructions given in this guide. Failure to
observe the instructions could result in a fire hazard.
Digitax SF Instruction Manual 3

Digitax SF Instruction Manual
1. Before Use
1. Important Safety Instructions
Stored Electrical Charge
The drive contains capacitors that remain charged to a potentially lethal voltage after the AC
supply has been disconnected. If the drive has been energized, the AC supply must be isolated
at least ten minutes before work may continue.
Mechanical Hazards
Careful consideration must be given to the functions of the drive or controller which might
result in a hazard, either through their intended behaviour or through incorrect operation
due to a fault. In any application where a malfunction of the drive or its control system could
lead to or allow damage, loss or injury, a risk analysis must be carried out, and where
necessary, further measures taken to reduce the risk  for
example, an overspeed protection
device in case of failure of the speed control, or a failsafe mechanical brake in case of loss
of motor braking.
None of the drive functions must be used to ensure safety of personnel, i.e. they must not be
used for safetyrelated functions.
The system designer is responsible for ensuring that the
complete system is safe and designed correctly according to the relevant safety standards
Access to equipment
Access must be restricted to authorized personnel only. Safety regulations which apply at the
place of use must be complied with.
Environmental limits
Instructions in this guide regarding transport, storage, installation and use of the equipment
must be complied with, including the specified environmental limits. This includes
temperature, humidity, contamination, shock and vibration. Equipment must not be
subjected to excessive physical force.
Hazardous environments
The equipment must not be installed in a hazardous environment (i.e. a potentially
explosive environment).
Motor
The safety of the motor under variable speed conditions must be ensured.
To avoid the risk of physical injury, do not exceed the maximum specified speed of the
motor.
4
Mechanical brake control
Any brake control functions are provided to allow well coordinated operation of an external
brake with the drive. While both hardware and software are designed to high standards of
quality and robustness, they are not intended for use as safety functions, i.e. where a fault
or failure would result in a risk of injury. In any application where the incorrect operation of
the brake release mechanism could result in injury, independent protection devices of
proven integrity must also be incorporated.

Digitax SF Instruction Manual
1. Before Use
1. Important Safety Instructions
Adjusting parameters
Some parameters have a profound effect on the operation of the drive. They must not be
altered without careful consideration of the impact on the controlled system. Measures must
be taken to prevent unwanted changes due to error or tampering.
Electromagnetic compatibility (EMC)
Installation instructions for a range of EMC environments are provided in an EMC
datasheet. If the installation is poorly designed or other equipment does not comply with
suitable standards for EMC, the product might cause or suffer from disturbance due to
electromagnetic interaction with other equipment. It is the responsibility of the installer to
ensure that the equipment or system into which the product is incorporated complies with
the relevant EMC legislation in the place of use.
5

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Digitax SF Instruction Manual
1. Before Use
1. Important Safety Instructions
Installation and Wiring
Operations
Never connect the motor directly to the AC mains power supply�
Do not place any ammable items near the motor or drive�
Install the product in a place free from dust, water or oil splash�
Mount the motors and drives on metallic or other noncombustible
materials�
All wiring work must be performed by certied electricians�
Ground the F G terminals of motor
and drives�
Isolate the drive from the power supplies before attempting any wiring�
Wiring must be performed correctly
Ensure that cable connections are tight� The current-carrying
conductors must be insulated�
Never touch the inside of the drive�
Be careful not to damage the cables� Do not apply excessive force to them
or place heavy objects on top of them� Do not let any part of cables become
pinched or twisted�
Never touch the rotating component of the motor during operation�
Do not use the product where it may be subjected to water, corrosive
atmosphere, flammable gas, or combustible materials�
Do not use the product where excessive vibration or impact load is
present�
Do not use cables soaked in water or oil�
Do not handle wiring nor operate the motor with wet hands�
Do not touch the keyway if you are using a motor with a shaft-end
keyway�
Do not touch the motor or drive heat sink� It becomes very hot�
Do not connect the motor directly to the AC mains supply�
DANGER
Sign Precautionary Measures If Not Observed
Protect the drive with a protective enclosure and ensure the clearance
between the drive, the enclosure and other devices is as specified in
this manual

7
Digitax SF Instruction Manual
1. Before Use
1. Important Safety Instructions
Additional Precautions
Maintenance and Inspection
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

Hs arepresentdrive 
   of the terminal connections   
󱐯

DANGER
  
1Before Use 1. Important Safety Instructions

8
Digitax SF Instruction Manual
1. Before Use
1. Important Safety Instructions
CAUTION
Installation and Wiring
Operations
 parts of any connectors


drive















AC



supplieswithin specification
 





  
Do not use faulty, damaged motors or drives

9
Digitax SF Instruction Manual
1. Before Use
1. Important Safety Instructions
CAUTION
Transportation and Storage



drivemotor

greater than 1.5 years
the supplier
 

Additional Precautions
Maintenance and Inspection



repair
In the event of a failure, return the product to the supplier
drivebraking


drive

  
1Before Use 1. Important Safety Instructions

10
Digitax SF Instruction Manual
1. Before Use
1. Important Safety Instructions
2．Other Considerations and Precautions
Export of this product or its applications
Use of the product  suitable applications
Applications for special environments or purposes such as nuclear power, aerospace and transportation
Applications that could cause serious accidents or damage due to product failure
Applying voltage beyond the rated voltage of the product
 
export restrictions
Ensuretrade compliance and are completed 
.
 country


the supplier if the product is to be used in one of
these environments.

result in correct
power supply levels 

Operations with the motor shaft not electrically grounded


Operations in environment under signicant inuence of external noise and static electricity

 ' s environment


Use of the product in a manner not rated by the manufacturer
Such use shall void the manufacturer's warranty� Do not attempt to do so�

11
Digitax SF Instruction Manual
1. Before Use
1. Important Safety Instructions
3．Safety Standards

 
 
 
󱐯

Rating Motor Drive

 
 




  






  
  

 
Not
Applicable
1Before Use 1. Important Safety Instructions

5. The object of the declaration is in conformity with the relevant European Union harmonisation legislation.
Restriction of Hazardous Substances Directive (2011/65/EU)
Low Voltage Directive (2014/35/EU)
Electromagnetic Compatibility Directive (2014/30/EU).
6. References to the relevant harmonised standards used
The servo motor and drive products listed above have been designed and manufactured in accordance with the following European harmonised
standards:
EN 61800-5-1:2007+ A1:2017 Adjustable speed electrical power drive systems - Part 5-1: Safety requirements - Electrical, thermal
and energy
EN 60034-1:2010 Rotating electrical machines - Part 1: Rating and performance
EN 60034-5:2001 Rotating electrical machines - Part 5: Degrees of protection provided by the integral design of
rotating electrical machines (IP code) - Classification
EN 60034-11:2004 Rotating electrical machines - Part 11: Thermal protection
EN 55011:2009+A1:2010 Industrial, scientific and medical equipment - Radio-frequency disturbance characteristics – Limits
and methods of measurement
EN 61000-6-2: 2005 Electromagnetic compatibility (EMC) - Part 6-2: Generic standards - Immunity for industrial
environments
7. Signed for and on behalf of:
Jon Holman-White
Vice President of Research and Development
Nidec Control Techniques Ltd
Date: 22nd March 2019
Newtown, Powys, UK.
12 Digitax SF Instruction Manual
EU Declaration of Conformity
7. Signed for and on behalf of:
Servo Motors
MY500, MY101, MX201, MZ201, MX401, MZ401, MX751, MZ751, MM102, MH102, MM152, MH152, MM202
Motor Drives
DA2YZ23, DA2Z123, DA21223, DA22423, DA23823, DA24A23, DA26B23, DA28C23
The model numbers may be followed by other characters that do not affect the ratings.
3. The object ofthe declaration is in conformity with the relevant European Union harmonisation legislation.
Restriction of Hazardous Substances Directive (2011/65/EU)
Low Voltage Directive (2014/35/EU)
Electromagnetic Compatibility Directive (2014/30/EU).
4. References to the relevant harmonised standards used
The servo motor and drive products listed above have been designed and manufactured in accordance with the following
European harmonised standards:
EN 61800-5-1:2007+ A1:2017 Adjustable speed electrical power drive systems - Part 5-1: Safety requirements -
Electrical, thermal and energy
EN 60034-1:2010 Rotating electrical machines - Part 1: Rating and performance
EN 60034-5:2001 Rotating electrical machines - Part 5: Degrees of protection provided by the integral
design of rotating electrical machines (IP code) - Classification
EN 60034-11:2004 Rotating electrical machines - Part 11: Thermal protection
EN 55011:2009+A1:2010 Industrial, scientific and medical equipment - Radio-frequency disturbance
characteristics – Limits and methods of measurement
EN 61000-6-2: 2005 Electromagnetic compatibility (EMC) - Part 6-2: Generic standards - Immunity for
industrial environments
Jon Holman-White
Vice President ofResearch andDevelopment
Nidec Control Techniques Ltd
Date: 13th June 2019
Newtown, Powys, UK.
These electronic drive products and motors are intended to be used with controllers, electrical protection components
and other equipment toform complete endproducts or systems. Compliance with safety andEMC regulations
depends upon installing and configuring the drives and motors correctly, including using thespecified input filters.
The drives must beinstalled only byprofessional installers who are familiar with requirements for safety and EMC.
Refer tothe Product Documentation. An EMC data sheet isavailable giving detailed information. The assembler is
responsible for ensuring that the product orsystem complies with allthe relevant laws inthe country where it is to be
used.
This declaration is issued under the sole responsibility of the manufacturer
1. Name andaddress of the manufacturer
Nidec Control Techniques Ltd
The Gro
Newtown
Powys
SY16 3BE
UK
Registered in England and Wales. Company Reg. No. 01236886
Telephone: [phone]
Email: marketing.control [e-mail]
Web: www.controltechniques.com
2. Object of the declaration
Digitax SFvariable speed AC servo motors and motor drives

13
Digitax SF Instruction Manual
1. Before Use
1. Important Safety Instructions
4．Maintenance and Inspection
attempt to repair
For safe use of the product, be sure to perform regular maintenance and
inspection of the drive and motor�


Ambient Temperature 

Load Factor 
Operating Hours 
Maintenance
regular
Check the following before each operation:




movingparts e.g. fan 

Check the following at least once a year:
drive
drive
 or loose
1Before Use 1. Important Safety Instructions

14
Digitax SF Instruction Manual
1. Before Use
2. Overview
2. Overview
About This Product and This Instruction Manual
Check Items Upon Unpacking





the supplier
■ Product features and parts are subject to change without prior notice due to potential future
product improvement initiatives�
■ Please contact us in advance if you are to acquire safety standards certication etc� for equipmentwith
this product installed�
■ Include the following precautions in the User Guide of your Digitax SF application product:
・This is a high-voltage product which can be hazardous�
・Residual voltage exists at the terminals and inside the equipment (even after power shuto󱐯),
which is hazardous�
・The product contains high temperature components�
・It is prohibited to disassemble the product�
■ For optimal service life of the Digitax SF product, use of the product under proper conditions is
essential� Follow the safety precautions and instructions described in this manual�
■ We always strive to include up-to-date information in the instruction manual; therefore, it is subject
to change without prior notice�
■ For a copy of the latest version of the instruction manual, please contact us�
■ Reproducing or copying this document, in whole or in part, without prior approval of Control
Techniques, isstrictly prohibited�