Savch SDA2 Series User manual

SDA2 Series Servo System
High performance type
User Manual
User Manual

SDA2 Series Servo System
High performance type
User Manual
File No. 520001301813
Vision No. V1.3
Filing time 2020-06-01
SAVCH electric provide a full range of technical support for our customers.
All users could contact with the nearest SAVCH office or service center,
also could contact with our headquarters directly.
SAVCH Electric reserves the copyrights and all rights,
Subject to change without further notice.

CONTENT
PREFACE ......................................................................................................................................1
1 SAFETY PRECAUTIONS ...........................................................................................................3
1.1 Notes for Operation..........................................................................................................3
1.2 Notes for Operation Environment ...................................................................................6
2 HARDWARE DESCRIPTION AND INSTALLATION ...................................................................7
2.1 Operation Environment....................................................................................................7
2.2 Model Description ..........................................................................................................11
2.3 Product Specification.....................................................................................................12
2.4 Servo Motor Rotation Direction Definition....................................................................13
2.5 Basic Wring Diagram .....................................................................................................14
2.6 External Dimensions......................................................................................................17
2.7 Basic Wiring Diagram Under Different Control Modes................................................20
2.8 Interfaces ........................................................................................................................23
2.9 Input / Output Interface Type.........................................................................................27
3 DESCRIPTION OF KEYPAD FUNCTIONS...............................................................................35
3.1 Description of Keypad Functions..................................................................................35
3.2 List Of Descriptions For Functional Parameters..........................................................38
3.3 Control Status Display Mode.........................................................................................40
3.4 Alarm Mode.....................................................................................................................41
3.5 Parameter Editing Mode ................................................................................................42
3.6 Positioning Data Editing Mode......................................................................................43
4 OPERATION .............................................................................................................................45
4.1 Signal Description (Input Signal Order)........................................................................45
4.2 Operation Procedure......................................................................................................46
4.3 Operation Check.............................................................................................................47
4.4 Operation........................................................................................................................49
5 List of function parameter ......................................................................................................65
6 Detail description of function parameter ...............................................................................74
6.1 Basic setting parameters (P1.01~50) ............................................................................74
6.2 Control Gain and Filter Setting Parameters (P1.51~99)...............................................90
6.3 Automatic Operation Setting Parameters (P2.01~50) ..................................................99
6.4 Extended Function Setting Parameters (P2.51~99) ...................................................115
6.5 Input Terminal Function Setting Parameters (P3.01~50)...........................................123
6.6 Output Terminal Function Setting Parameters (P3.51~99)........................................138
7 COMMUNICATIONS...............................................................................................................156
7.1 Settings for Servo Motor Drive....................................................................................156
7.2 Communication Specifications ...................................................................................157
7.3 Transmission Protocol.................................................................................................158

8 MAINTENANCE AND INSPECTION.......................................................................................166
8.1 Inspection .....................................................................................................................166
8.2 Status Display...............................................................................................................166
8.3 Troubleshooting Method..............................................................................................168
9 OPTIONS................................................................................................................................175
9.1 About Optional Parts....................................................................................................175
9.2 Standard Configuration For Drive Braking parts........................................................175
9.3 Optional Regenerative Or Braking Parts.....................................................................176

1
PREFACE
Thank you for choosing SAVCH servo motor & drive! This instruction manual, which includes operation
descriptions and notes for maintenance, shall be delivered to the end-user.
For safety running and effective operation, this instruction manual shall be read thoroughly prior to use,
which shall also be preserved for later use. Provided problems occur and solution is not provided in this
instruction manual, contact your SAVCH ELECTRIC representative or contact with our company directly. Our
professional technicians will serve for you actively. And please continue to adopt products of SAVCH, give
valuable opinion and advice.
1. Reading Instructions
Symbols of” DANGER” and” CAUTION” in the manual indicates that, for safety running or maintenance of
servo motor drive or other electrical products, attention shall be attached during deliver, installation, operation and
checks for the servo motor drive.And these notes shall be applied for a better and safer operation.
DANGER
If not used correctly, personnel damage even death may be caused.
△
!CAUTION
If not used correctly, serious damage to servo motor drive or machine may be resulted.
DANGER
●Never connect wires while power on. Do not check components or signal for circuit board During operation.
●Do not dismantle or change servo motor drive wire, circuit or components.
●Make sure grounding terminals are correctly grounded.
△! CAUTION
●Do not perform a withstand voltage test for components of servo motor drive, it can cause semi-conductor
components to be damaged by high voltage.
●Never connect the output terminals U, V, W to AC power.
●CMOS IC on control circuit of the servo motor drive shall be damaged by electrostatic influence. Do not touch
main circuit board.

2
2. Products receiving
All products have been performed with strict test and inspection. After receiving the servo motor drive, the
following checks shall be performed.
●To check that SAVCH servo motor drive, an instruction manual is inside of the package
●To check whether model number correspond with model and capacity your purchase order.
●To check whether there are damaged parts during transportation and deliver. If there are, do not connect
with power.
If any of the above checkpoints are not satisfactory, contact your SAVCH ELECTRIC representative for a
quick resolution.
3. About the user manual
Description feed in this user manual may be inconsistent to the product due to improvement added to the
product. Additionally, description feed in this manual is subject to change without further notice.
The illustrations in user manual are about some specified capacity of the servo motor drive or servo motor,
and they may be different with the product you purchase.
4. Icon description
Note
Negligence of description shown with this sign will undermine the true performance of the product.
Tip
Reference items helpful for operation and data setting of the servo motor and servo motor drive are
described.

3
1 SAFETY PRECAUTIONS
1.1 Notes for Operation
Installation Precautions
△!CAUTION
● Do not step on the servo motor or place a heavy matter on it.
● Do not block the exhaust port or put the foreign particles into them.
● Observe the installation method and direction of the servo motor drive.
● Do not give strong impact shock to it.
● The shaft-through hole of the servo motor is not water proof or oil proof. Take measures on the machine side
to block entry of water, coolant or similar from enter inside the servo motor.
● If case of application when massive water or oil is splashed on the main body of the servo motor, install a
water or oil splash guard or take similar measures on the machine side.
● In a humid and high oil mist environment, install the lead wires and connectors in a face down orientation.
Wiring Precautions
△! CAUTION
● Perform ground wires to prevent electric shock and fire hazards.
● Do not connect the 220V drive power to the 380V power, otherwise it may cause an electric shock or damage
to the equipment or fire hazards.
● Do not connect three-phase power to the output terminals U、V、W, otherwise, it may cause injuries or fire.
● Connect the output terminals U、V、W with wiring terminals U、V、W respectively, otherwise, it may cause
damage to the equipment due to the racing of the servo motor and injuries.
● Please tightly fix the power to the output terminal, otherwise, it may cause the fire hazard.
● Refer to the cable for the wiring to prevent the accidents.

4
Operation Precautions
△! CAUTION
● Specify the proper function parameter data in accordance with the machinery equipment before it starts the
operation, otherwise, it may cause out of control or breakdown.
● Confirm the quick stop function is available before operating the servo motor drive.
● Check whether the servo motor can operate under no-load state first, after that, make the servo motor
running with load to avoid any unnecessary loss.
● Do not turn on or turn off the power frequently, otherwise, it may cause inside overheat of servo motor drive.
Test Run Precautions
△! CAUTION
● Do not connect with the machine when the servo motor drive is having the test run.
● Fix the servo motor when the servo motor drive is having test run, since the servo motor may cause an impact
to the machine During acceleration and deceleration.
● Please do not perform the switching frequently when it is power on, it is better to keep the frequence of turn
on/off in 2 times per hour and daily with 10 times or below.
Running Precautions
DANGER
● When the servo motor is running, do not touch any running parts, otherwise, it may cause personal injury.
● When the machinery equipment is running, do not touch the servo motor and servo motor drive, otherwise, it
may cause an electric shock or burn.
● When the machinery equipment is running, do not move the cable, otherwise, it may cause personal injury or
damage to the equipment.

5
Maintenance and Inspection Precautions
DANGER
● Do not touch the inside of the servo motor drive and servo motor, otherwise, it may cause an electric shock.
● Do not remove servo motor drive control panel when it is power on, otherwise, it may cause an electric shock.
● Do not touch the wire terminal when the power is turned off in 5 minutes, otherwise, the residual high voltage
may cause an electric shock.
● Do not change the wiring when it is power on, otherwise, it may cause an electric shock.
● Do not remove the servo motor, otherwise, it may cause an electric shock.
Using range Precautions
△! CAUTION
● This instruction manual is for industrial general purpose, such as the nuclear equipment, aerospace
equipment, life support and maintain equipment and other safety equipment etc., if you have any
requirements, please contact with our company directly
Please do not use it on the equipment that is dangerous to the human safety.
Disposal Precautions
△! CAUTION
● The electrolytic capacitor on the main circuit and PCB may cause an exposition when burning and the control
panel or plastic parts may cause the poisonous gas, please dispose them as the industrial rubbish.

6
1.2 Notes for Operation Environment
Direct sunlight Corrosive gas or fluids Oil
Radioactive materials Locations of inflammable
materials
Extreme low temperatures Extreme high ambient
temperatures (Above 40℃)
Large impelling
Salt or saline Rain, moisture Iron chips and dust
？
Electromagnetic waves
and ultra high-angle rays
(For example：locations of
welding machines and etc.)
Oil
cool
Below 10 degrees Celsius
Force
Force
Force
Force
Force
Force
Salt

7
2 HARDWARE DESCRIPTION AND INSTALLATION
2.1 Operation Environment
2.1.1 Servo motor drive installation and environment
Since operation environment can directly influence functions and operation life, to ensure proper
performance and long operation, follow the recommendations below when choosing allocation for installing the
servo motor drive:
● Ambient temperature:0℃~ + 50℃; Ambient humidity:Below 90% RH (no condensation)
● Storage temperature:-20 ~ +75℃；Storage temperature:Below 90% RH (no condensation)
● Vibration :Below 0.5G
● Avoid Rain, moisture
●Avoid Direct sunlight.(Avoid using outdoors)
● Corrosion of oil sprays or salt
● Corrosive fluid and methane
●Dust or batting and metallic particles in the air
● Radioactive materials and inflammable materials
● When assembling the servo motor drive, try to prevent the drillings and other foreign materials dropping in
the servo motor drive.
● In the installation, please ensure to fasten with the M4 screws.
●When there is vibration source (punch) around and it can not be avoided, please use the resonance
absorber or anti-vibration rubber gasket.
●When there are strong noise and interference sources around the servo motor drive, such as the big
magnetic switches, butt fusion welding machine etc., the servo motor drive will be easily be disturbed,
causing the error operation, so the noise filter is required at that time. However, the noise filter increases
the leakage current, therefore the transformer is required to be installed on the input terminal of the servo
motor drive.
2.1.2 Servo motor drive installation direction and interval
● For cooling off, please install the servo motor drive vertically standing way, face shall be toward front and
upper parts shall be upwards. Or the performance will decline and the service life will be shortened.
● When the servo motor drive is installed in the control cabinet, the stated clearance should be left between
servo motor drive and control cabinet inside walls, and other machines to get enough air for the cooling;
Besides, install an additional cooling fan to ensure that the environment temperature around the servo
motor drive is lower than 50℃, otherwise, the performance will decline, and the service life will be
shortened.

8
2.1.2.1 The occasion with one servo motor drive
Control cabinet
50mm or above 100mm or above
30mm
or above
50mm or above
Up
Down
2.1.2.2 Occasions with 2 or over 2 servo motor drives
Big enough intervals should be left between servo motor drives and between them and control cabinet inside
walls, air inlet and out let should be left on cabinet body. It is suggested that a fan with enough ventilation to
reduce the internal temperature of control cabinet as possible. As follows:
Control cabinet
50mm or above
10mm
or above
30mm
or above
50mm or above
30mm
or above

9
2.1.2.3 Others
Heat dispersion shall be taken into consideration when using regenerative resistor and heating parts, in order
to avoid the impact to the servo motor drive.
2.1.3 Installation environment conditions and methods of servo motor
2.1.3.1 Installation environment conditions
● Ambient temperature:-10 ~ +40℃；Ambient temperature:Below 90% RH (no condensation)
● Storage temperature:-20 ~ +60℃；Storage temperature:Below 90% RH (no condensation)
● Vibration :Below 2.5G
● Draught, less humidity and dirty
● No corrosive, incendivity gas, oil-gas, cutting fluid, cutting powder, iron powder etc.
● No steam and direct sunlight
2.1.3.2 Installation method
●Horizontal installation
Please install the cable outlet under the servo motor to avoid the water, oil and other liquid to inflow into the
inside of the servo motor through the output cable
Precautions
Mechanical brake
Encoder
●Vertical installation:
If the servo motor shaft is mounted facing up and with a reducer, please use the servo motor with oil seal to
avoid the oil leftover of the reducer to inflow into the inside of the servo motor through the servo motor axis.

10
2.1.3.3 Other
1. Please ensure that the cable is kept dry.
2. To avoid falling off and break of the wires due to mechanical movement, please ensure to fix the wires.
3. Please ensure enough protrusion for the servo motor axis, otherwise, the servo motor movement is easy to
cause the vibration.
False example
Correct examples
Mechanical brake
Encoder
Mechanical brake
Encoder
4. Please do not strike the servo motor with the hammer when you are installing or removing the servo motor,
otherwise, the servo motor axis and back-encoder will be easily to be damaged.
Precautions
Mechanical brake
Encoder

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2.2 Model Description
2.2.1 Nameplate
TYPE: SDA2-4T2.0G
SOURCE: 3PH 380~460V 50/60Hz
OUTPUT: 3PH 0~380V 7.5A
FREQUENCY RANGE: 0.1~250Hz
S/N:
NJ3019380000037
SAVCH ELECTRIC CO.,LTD
Designed by Taiwan Savch Electric
Model
Input power supply Spec
Output power supply Spec
Output frequency
2.2.2 Model description
Input voltage(V)：
2S：AC220V Single / Three phase
2T：AC220V Three phase
4T：AC380V Three phase
Model
Type code
G: General
C: With CANopen
E: With EtherCAT
No. Power(kW)
0.4 0.4kW
0.75 0.75 kW
1.0 1.0 kW
1.5 1.5 kW
2.0 2.0kW
3.0 3.0kW
4.0 4.0kW
5.5 5.5kW
7.5 7.5kW
SDA2 - 2T 2.0 G

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2.3 Product Specification
Model
SDA2-口口口口 G
Input Power
Single/ three phase 220V three phase 380V
Voltage variation range (-15%~+10%) 50/60Hz
Cooling Method
Fan Cooling
Main circuit control mode
Sinusoidal PWM drive
Feedback
17-bit (standard) / 20- bit
Control Mode
①Position control, ②Speed control, ③Torque control, ④Position/speed
mode switch, ⑤Position/torque mode switch, ⑥Speed/torque mode
switch, ⑦Positioning operation mode
Position control
Max input pulse
frequency
Low speed pulse: Max input 500kHz(Line Drive input), Max input 200kHz
(Open Collector Input)
High Speed pulse: Max input 4MHz(Line Drive input)
Command pulse input
mode
①Command pulse/command signal , ②Forward rotating pulse and
reverse rotating pulse, ③A/B phase orthogonal pulse
Command control mode
①External command pulse input control, ②Internal position data control
Electronic Gear
Electronic Gear N/M times(N:1~32767)/M:1~32767) (1/50<(N/M)<5000)
Torque Limitation
Parameter control(Forward rotating and reverse rotating can be set
respectively)/External analog torque control
Speed control
Analog command input
VREF 0~±10VDC
Speed Variation Rate
±1r/min or below(load range 0~100%)
Speed range
1:5000
Acceleration and
deceleration time setting
Acceleration time and deceleration time can be set respectively, and have
two groups, and can accelerate and decelerate with S curve
Speed control mode
External analog input/Internal speed setting
Torque Limitation
Parameter control(Forward rotating and reverse rotating can be set
respectively)/External analog torque control
Torque
control
Analog command input
TREF 0~±10VDC
Torque Limitation
Parameter control/External analog speed limitation
Digital
input/ou
tput
Input
EI1~EI8 8 lines input, the function can be set freely according to the
parameter
Output
Encoder pulse outputs by frequency division, A/B/Z phase output by line
drive and open collector (Total 6 lines)
EOUT1~EOUT5 5 lines output, the function can be set freely according to
the parameter

13
Model
SDA2-口口口口 G
Monitor
Feedback speed, reference speed, reference torque, motor current,
feedback of current location , Location Difference, reference pulse
frequency, Feedback Pulse Accumulation, Reference Pulse Accumulation,
VREF input voltage, TREF input voltage, input terminal signal, output
terminal signal etc
Protection(Alarm display)
Overcurrent (oc1, oc2)、Over speeding(oS)、Overvoltage(Hv)、Memory
Error (dE)、Encoder Error(Ec)、Overload(oL1，oL2)、Main circuit under
voltage(Lu)、EI Repeat(ctE)、Deviation overflow (oF)、Servo motor drive
overheat(AH) etc.
Application Environment
Site location
Indoors (Avoid direct sunlight), No corrosive gas (Avoid smoke, methane)
Ambient Temperature
0~50 ℃(When the ambient temperature is higher than the required
one,please introduce air circulation)
Storage Temperature
-20℃~75℃
Relative humidity
RH 90% lower (No condensation)
Altitude
Lower than 1000m
Atmospheric pressure
86~106kPa
Vibration
≤0.5G
2.4 Servo Motor Rotation Direction Definition
In this user manual, servo motor rotation direction definition as below: By facing with the motor shaft, If the
servo motor rotate with counter clockwise, it is defined as Forward rotating; If the servo motor rotate with
clockwise is defined as reverse rotating.
Forward rotating
Counter clockwise (CCW)
Reverse rotating
Clockwise (CW)

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2.5 Basic Wring Diagram
2.5.1 Servo Motor & Drive Wiring Diagram
To prevent the large instant
current received by the
power-on, power-off or the
short circuit and damage
the drive.
When fault alarm was
received,the servo drive
could be used together to
output alarm signal (ALARM)
and control the contactor
(MC),and stop the servo
drive power.
No-Fuse Breaker (NFB)
*Connect to the computer software
Servo drive cascade connection
*Connect to grating ruler
STO Safety circuit interface
Grounding terminal
Servo motor Power cable
External retrogradation
resistor
Magnetic Contactor (MC)
Connect to the host controller
Power Supply
( optional )
( optional )
( optional )
Three phase AC 200 ~ 230V
Three phase AC 380 ~ 460V
Encoder cable
SDA2 Servo Drive
Servo Drive
Installation Notes:
1. Check the R, S, T and the L1C ,L2C power and connecting wire.
2. Check the servo motor output U, V, W terminal phase wires (Unable to run when the connection is wrong).
3. External connected regeneration resistor is the selective spare, adopt according to the actual needs.
4. When fault or emergent stop was received, cut the power of magnetic contactor (MC) throughALARM output
to stop the power of drive.
5. * indicates being developed.

15
2.5.2 Wiring instructions
Wiring Precautions:
● Please perform the wiring with the shortest length, the length of the reference cable should be within 3m
and encoder cable is within 15m.
● Please perform the wiring according to the standard wiring diagram and the cable should not be connected
to the signal which is not assigned.
● Check whether the Power and connection of the power terminal R, S, T and L1C,L2C is correct, the Power
voltage of the servo motor drive is 220V, do not connect it to the 380V power.
● The phase sequence of the servo motor drive output terminal U, V, W must be corresponded to that of the
servo motor respectively, otherwise, it may cause servo motor stop or out of control.
● The method of exchanging the output terminal U, V, W to make the servo motor reversible does not work,
which is completely different with that of the synchronous servo motor, please do not use it.
● Perform ground wires, the ground resistance is 100Ω or below and single ground. If the insulation
state between the servo motor and machine is required, please make the servo motor ground wire.
● The direction of the diode for absorbing on the output signal relay must be connected correctly, otherwise, it
may cause fault and disable the output signal.
● In order to avoid the error action due to the noise, please add the insulation transformer and noise filter to
the power.
● Please do not install the capacitor, overvoltage absorber and noise filter to the servo motor drive output
● Please wire the cable (power line, servo motor line and strong circuit) and the signal cable with 30m or
above and do not put into the same wiring instrumentation to avoid the interference causing the error
action.
● Please install the non-fuse circuit breaker to cut off the Power when the servo motor drive fault occurs.
● Normally, fixing the regenerate braking unit is unnecessary, if any requirement, please contact with the
manufacturer or distributor.
2.5.3 Example for main circuit /control circuit power
△
!CAUTION
1.The input Power stated by servo motor drive should be used(voltage level and frequency)
2.Wrong wiring of U, V, W will lead that the servo motor can not work normally, so please carry out the wiring
correctly!

16
a.Single-phase 220V
b.Three-phase 220V
C.Three-phase 380V