Servo Dynamics DigiDrive 2000 Series Quick setup guide

Servo Dynamics Corp.
28231 Avenue Crocker, Ste 10
Valencia, CA. 91355
PH: [phone]
DigiDrive
I NFORMATION M ANUAL
2000 / 4000

www.servodynamics.com

DigiDrive Manual Series 2000 / 4000
Rev . A 10-99
Pg 2
Servo Dynamics Corp. 21541-D Nordhoff St. Chatsw orth, CA 91311 www.servodynamics . com
CHAPTER A DESCRIPTION AND TECHNICAL DATA 6
1. INTRODUCTION 6
2. DESCRIPTION 6
3. TECHNICAL DATA 7
3.1 GENERAL DATA FOR ALL TYPES 7
3.2 ELECTRICAL DATA 8
3.3 SMALL DRIVE OUTLINES 10
3.4 MEDIUM DRIVE OUTLINES 11
3.5 LARGE DRIVE OUTLINES 12
3.6 SMALL AND MEDIUM WITH SPECIAL CLAMP TYPE PHOENIX (OPTION) 13
3.7 MOTORS 14
3.8 POSITION FEEDBACK 14
4. FUSES 15
5. OPTION LIST 15
6. ADD-ON BOARDS 16
7. EXTERNAL MODULES 17
Contents

DigiDrive Manual Series 2000 / 4000
Rev . A 10-99
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Servo Dynamics Corp. 21541-D Nordhoff St. Chatsw orth, CA 91311 www.servodynamics . com
CHAPTER B USER UTILITIES 19
1. DOS USERS 19
1.1 FPRGU.EXE : FLASH PROGRAMMING USER 19
1.2 2000U.EXE : 2000 USER 20
2. WINDOWS USERS 21
2.1 2000WU.EXE : 2000 WINDOWS USER 21
3. SERIAL LINK 23
3.1 DIALOGUE PROTOCOL 23
3.2 DIALOGUE EXAMPLES 25
CHAPTER C DRIVE PARAMETERS 26
1. PARAMETERS DESCRIPTION 26
1.1 GLOBAL LIST OF PARAMETERS 27
1.2 SCOPE PARAMETERS 34
CHAPTER D SETTING TO WORK 35
1. WIRING 35
1.1 CABLE LENGTHS AND CROSS-SECTIONS 35
1.2 GLOBAL WIRING PLAN 36
1.3 CONTROL UNIT WIRING 37
1.3.1 XRESOLVER 38
1.3.2 XCOMMAND 39
1.3.3 XENCODER 40
1.3.4 XSERIAL 232 AND XSERIAL 485 41
1.3.5 AXIS SELECTOR 43

DigiDrive Manual Series 2000 / 4000
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Servo Dynamics Corp. 21541-D Nordhoff St. Chatsw orth, CA 91311 www.servodynamics . com
1.4 XMOTOR CONNECTOR 43
1.4.1 DETERMINING THE MOTOR PHASES (WITHOUT DRIVE) 44
2. DISPLAY INDICATIONS 45
2.1 ALARMS 46
2.2 WARNINGS 47
3. PARAMETERS SETTINGS 48
3.1 MOTOR PARAMETERS 48
3.1.1 EXAMPLE OF MOTOR PARAMETERS 50
3.2 INSTALLATION PARAMETERS 51
3.2.1 ENCODER CONFIGURATION 52
3.2.2 END-SWITCH CONFIGURATION 54
3.2.3 SSI CONFIGURATION (OPTION) 54
3.2.4 GENERAL CONFIGURATION 55
3.3 REGULATION PARAMETERS 57
3.3.1 CONFIGURATION 57
3.3.2 CURRENT LOOP 58
3.3.3 SPEED LOOP 60
4. HOW TO SET THE PARAMETERS 61
4.1 HOW TO SET THE RESOLVER SHIFT ANGLE PARAMETER 63
4.2 HOW TO SET THE CURRENT LOOP PARAMETERS 65
4.3 HOW TO SET THE SPEED LOOP PARAMETERS 67
5. TROUBLE SHOOTING 69
CHAPTER E ASYNCHRONOUS MOTOR 73
1. CHANGE OF MOTOR AND FEEDBACK TYPE 73
2. SPECIAL PARAMETERS FOR ASYNCHRONOUS MOTORS 73

DigiDrive Manual Series 2000 / 4000
Rev . A 10-99
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Servo Dynamics Corp. 21541-D Nordhoff St. Chatsw orth, CA 91311 www.servodynamics . com
2.1 FIELD WEAKENING 74
2.2 ASYNCHRONOUS ALARM 74
2.3 FEEDBACK TYPE 75
2.3.1 RESOLVER FEEDBACK 75
2.3.2 ENCODER FEEDBACK 75

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Servo Dynamics Corp. 21541-D Nordhoff St. Chatsw orth, CA 91311 www.servodynamics . com
Chapter A - Descrip tion an d T ech ni cal Data
Rev . A 10-99
DigiDrive Manual Series 2000 / 4000
CHAPTER A DESCRIPTION AND TECHNICAL DATA
The servo-amplifiers series 2000 and 4000 are intended for the control of 3 phases brushless
servo-motors equipped with resolver and asynchronous servo-motors equipped with resolveror
encoder.
To avoid any confusion, the motors regulated by the series 2000 and 4000 servo-amplifiers
should have the following characteristics:
 Rotor constructed with permanent magnets or winding cage arranged in 1, 2, 3, 4, 5 or
6 pole pairs, without commutator.
 Stator constructed with 3 windings connected in star or delta.
 Brushless motors : electronic commutation is only effected by means of a speed one
resolver (motors with Hall effect sensors and tachogenerator are not suitable).
 Asynchronous motors : electronic commutation is only effected by means of a speed
one resolver or an incremental encoder.
The servo-amplifier series 2000 and 4000 are fully digital. High-performance torque, speedand
positioning control fulfils all requirements for rapid response and control accuracy.
Digital control allows comprehensive diagnostics, motor parameters tuning, data andfault
logging, etc.. using a PC based user program.
A wide range of firmware assures that it will meet the requirements of practically anyapplication.
The particular features of the servo-amplifiers series 2000 and 4000 are described there under:
Power supply
 Single-Axis unit incorporating a braking module for connection to 3 phase power. The
drive also can be run from a common DC-bus voltage.
2. Description
1. Introduction

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Servo Dynamics Corp. 21541-D Nordhoff St. Chatsw orth, CA 91311 www.servodynamics . com
Chapter A - Descrip tion an d T ech ni cal Data
Rev . A 10-99
DigiDrive Manual Series 2000 / 4000
 Series 2000: 230V three-phase power source.
 Series 4000: Direct 400V three-phase main supply.
 Option: Internal filters in power source reducing noise emission.
Power driver
 Galvanic isolation between control and power electronics.
 IGBT output stage.
 Digital PWM current loop provides very low ripple motor currents and high motor
efficiency.
Digital controller
 Full-digital servo-amplifier for Brushless motor with resolver.
 Software updates are fully programmable through serial link RS232 or RS485.
 Accepts customised network INTERFACE boards.
 Energy managing system for fan-cooling.
 Multi loop control (torque and speed).
 Sinusoidal current output ensures smooth torque and optimal performance at low
speed.
 7 segment status indicator for diagnostic display.
User's inputs
 Analogue speed or current input command +/- 10V or digital input command.
 RS232 serial port and RS485 serial port for multi axis controller system.
 Limit switches for overrun protection in both directions.
 External power supply to the Control and Interface boards to keep position data and
alarms in case of main power supply interruption.
User's outputs
 Incremental encoder output simulation with adjustable resolution from 1 to 2048 ppr
and adjustable marker pulse. Differential line driver outputs.
 Ready relay contact.
Protections
 Protection and rugged construction for use in adverse conditions.
 Power stage fully protected against short-circuit and over-temperature.
 Motor protection by I2t limitation.
 Detection of resolver fault, motor wiring failure, motor overheating.
3.1 General data for all types
Description
Unit
Series 2000
Series 4000
3. Technical data

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Servo Dynamics Corp. 21541-D Nordhoff St. Chatsw orth, CA 91311 www.servodynamics . com
Chapter A - Descrip tion an d T ech ni cal Data
Rev . A 10-99
DigiDrive Manual Series 2000 / 4000
Supply Voltage
VAC
3x230 +10% -20%
3x400 +10% -20%
Supply frequency
Hz
45 to 65
Operating temperature range
° C
0 to 60
Operating temperature range at full power
(from 45°C, reduce output current by
2% / °C to 60°C)
° C
0 to 45
Storage temperature range
°C
-25 to +55
PWM chopper frequency
kHz
7.5
Differential input reference
V
+ 10 to -10
Speed control range
1/32768
Speed loop bandwidth
Hz
max. 150
Current loop bandwidth
Hz
max. 2000
Max. output voltage tomotor
V
3 x 220
3 x 390
Output frequency to motor
Hz
0 to 500
Incremental encoder simulation
ppr
1 to 2048
Theoretical max. speed for motor with resolver
"speed one"
rpm
7500
ON-Switching threshold of brake module
VDC
385
670
OFF-Switching threshold of brake module
VDC
380
660
ON-Trip threshold of overvoltage
VDC
410
710
OFF-Trip threshold of overvoltage
VDC
400
690
OFF-Trip threshold of undervoltage
VDC
230
395
ON-Trip threshold of undervoltage
VDC
220
380
Serial link
Standard baud rate
Bd.
9600
Transmission
Full duplex
Format
1start bit, 8 data bits, no parity, 1 stopbit
International Protection
IP20
Indicative weight
kg
Small: 3.2, Medium: 6.1,Large:10.5
3.2 Electrical data
Driv
e
Size
Drive
Model
Number
Rated rms
Current
(I rms)
Rated pk.
Current
(I peak rated)
Max. rms
Current
(I rms max)
Max. peak
Current
(I peak max)
Rated
power
(P rated)
Max.
Power
(P max)

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Servo Dynamics Corp. 21541-D Nordhoff St. Chatsw orth, CA 91311 www.servodynamics . com
Chapter A - Descrip tion an d T ech ni cal Data
Rev . A 10-99
DigiDrive Manual Series 2000 / 4000
(A)
(A)
(A)
(A)
(kW)
(kW)
DSSA 0510-34
5
7
10
14
2
4
DSSA 1020-34
10
14
20
28
4
8
Small
DSSA 1836-34
18
25
36
50
7
14
DSSA 0306-56
3
4
6
8.5
2
4
DSSA 0510-56
5
7
10
14
3.5
7
DSSA 0918-56
9
13
18
25
6
12
Medium
DSSA 2040-56
20
28
40
56
13.5
27
Large
DSSA 2040-56
20
28
40
56
13.5
27
DSSA 3060-56
30
42
60
84
20
40
Note:
Irms = Ipeak / 1,41 Vrms = 220V or 390V
P = 1,73 x Irms x Vrms or P = 3 x Irms/phase x Vrms/phase
Braking power :
Driv
e
Size
Drive
Model
Number
R braking
()
Peak
braking
Power
(W)
Max.
continuous
braking power
(W)
Surge energy
(T=300K)
(J)
DSSA 0510-34
39
3’800
150
1’800
DSSA 1020-34
39
3’800
150
1’800
Small
DSSA 1836-34
39
3’800
150
1’800
DSSA 0306-56
56
8’000
250
2’600
DSSA 0510-56
56
8’000
250
2’600
DSSA 0918-56
56
8’000
250
2’600
Medium
DSSA 2040-56
20
22’000
500
5’200
Large
DSSA 2040-56
11
41’000
1’000
21’000
DSSA 3060-56
8
56’000
1’000
24’000
The surge energy rating is the maximum permitted dynamic brake application from cold. To a
first approximation, heat is then removed at the rate given by the continuous power figure : thus
about 20 seconds interval must be allowed between full energy stops.

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Rev . A 10-99
DigiDrive Manual Series 2000 / 4000
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Servo Dynamics Corp. 21541-D Nordhoff St. Chatsw orth, CA 91311 www.servodynamics . com
Dis position
Air f low
3.3 Small drive outlines
Rear mounting Enclosure mounting
Installation, drill and cut out plan :
Rear mounting Enclosure mounting

Chapter A - Descrip tion an d T ech ni cal Data
Rev . A 10-99
DigiDrive Manual Series 2000 / 4000
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Servo Dynamics Corp. 21541-D Nordhoff St. Chatsw orth, CA 91311 www.servodynamics . com
3.4 MEDIUM DRIVE OUTLINE
Enclosure mounting
Installation, drill and cutout plan :
Rear mounting Enclosure mounting
Rear mounting
Dis position
Air f low

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Rev . A 10-99
DigiDrive Manual Series 2000 / 4000
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Servo Dynamics Corp. 21541-D Nordhoff St. Chatsw orth, CA 91311 www.servodynamics . com
3.5 LARGE DRIVE OUTLINE
Rear mounting Enclosure mounting
Installation, drill and cutout plan :
Rear mounting Enclosure mounting
Dis position
Air f low

Chapter A - Descrip tion an d T ech ni cal Data
Rev . A 10-99
DigiDrive Manual Series 2000 / 4000
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Servo Dynamics Corp. 21541-D Nordhoff St. Chatsw orth, CA 91311 www.servodynamics . com
3.6 Small and Medium with special clamp type Phoenix (option)
Drill and cutout plan for enclosure mounting : Phoenix clamp
type SK8

Chapter A - Descrip tion an d T ech ni cal Data
Rev . A 10-99
DigiDrive Manual Series 2000 / 4000
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Servo Dynamics Corp. 21541-D Nordhoff St. Chatsw orth, CA 91311 www.servodynamics . com
3.7 Motors
D Brushless3phasesservo-motors
D Asynchronous,3phasesmotors
3.8 Position feedback
D Resolver:
Characteristics :
 Speed One (1 sine period and 1 cosine period per revolution)
 Ratio 0.5
 Reference frequency : 5..10 kHz
D Incremental encoder for asynchronous motor only.
D Absolute encoder Stegmann SinCos (HIPERFACE compatible).
D Absolute encoder Stegmann SinCoder (HIPERFACE compatible).

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DigiDrive Manual Series 2000 / 4000
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Servo Dynamics Corp. 21541-D Nordhoff St. Chatsw orth, CA 91311 www.servodynamics . com
The following are the fuses equipped in the appropriate Drive Models.
Drive
Size / Model
DC-BUS (FBUS)
Braking module (FBR)
Internal Power Supply
(FDEC)
DSSA
0510-34
10A LF326
Littelfuse 6.3 x32
3.15A Wick.
19354
6.3 x 32
(Rbrak.=39)
1A WICKM.
19181
5 x 20
DSSA
1020-34
15A LF326Littelfuse
6.3 x 32
3.15A Wick.
19354
6.3 x 32
(Rbrak.=39)
1A WICKM.
19181
5 x 20
DSSA
1836-34
20A LF326
Littelfuse
6.3 x 32
3.15A Wick.
19354
6.3 x 32
(Rbrak.=39)
1A WICKM.
19181
5 x 20
Small
DSSA
0306-56
8A gG
Ferraz
10.3 x 38
500VFA 4A
Ferraz
6.3 x 32
(Rbrak.=56)
1A WICKM.
19181
5 x 20
DSSA
0510-56
8A gG
Ferraz
10.3 x 38
500VFA 4A
Ferraz
6.3 x 32
(Rbrak.=56)
1A WICKM.
19181
5 x 20
DSSA
0918-56
25A gRB
Ferraz
10.3 x 38
500VFA 4A
Ferraz
6.3 x 32
(Rbrak.=56)
1A WICKM.
19181
5 x 20
Medium
DSSA
2040-56
40A URGB
Ferraz
14 x 51
12.5A gRB
Ferraz
10.3 x 38
(Rbrak.=20)
1A WICKM.
19181
5 x 20
Large
DSSA
2040-56
40A URGB
Ferraz
14 x 51
25A URGB
Ferraz
14 x 51
(Rbrak.=11)
1.6A WICKM.
19354
6.3 x 32
DSSA
3060-56
50A URGA
Ferraz
22 x 58
32A URGB
Ferraz
14 x 51
(Rbrak.=8)
1.6A WICKM.
19354
6.3 x 32
Notes:
No replacement of any fuse should be carried out until the reason for it’s blowing has been
rectified.
5. Option list
4. Fuses

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Servo Dynamics Corp. 21541-D Nordhoff St. Chatsw orth, CA 91311 www.servodynamics . com
1. FILTER ON 3 PHASES INPUT SUPPLY
2. MECHANICAL MOTOR BRAKE RELAY
3. RS485 BUS
4. AUXILIARY 24V SUPPLY.
D SDCPROFILE
Add-on board to perform simple movements and interfacing with 24V systems
(PLS).
Main characteristics :
 24 V powered.
 DC-DC conversion for drive power back-up
(the position value is kept when main supply of the drive is switched off).
 14 Outputs potential free (24V 100 mA).
 16 Inputs 24V potential free.
 Windows Profile User software for easy setting.
To obtain more information about Profile board, contact your SDC distributor.
6. Add-on boards

Chapter A - Descrip tion an d T ech ni cal Data
Rev . A 10-99
DigiDrive Manual Series 2000 / 4000
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Servo Dynamics Corp. 21541-D Nordhoff St. Chatsw orth, CA 91311 www.servodynamics . com
D SDC IR115 / IR116 / IR117
Synchro-Control, positioning and CANopen interface modulefor
SERVO DYNAMICS Series 2000 and 4000 drives.
D SDC SERVO net
Positioning control and SERVOnet (CAN-BUS type) interfacing module for
Servo Dynamics series 2000 and 4000 drives.
D Future product :
 Chip card module for parameters saving.
7. External modules

Chapter A - Descrip tion an d T ech ni cal Data
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DigiDrive Manual Series 2000 / 4000
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Servo Dynamics Corp. 21541-D Nordhoff St. Chatsw orth, CA 91311 www.servodynamics . com
D SDC,RS232<->RS485converter
Main characteristics :
 Connection of 1..15 drives to a RS232 interface (i.e. computer).
 24 V powered.
 RS232 header pinout same as drive XSERIAL232 header.
 RS485 header pinout same as drive XSERIAL485 header.
 Mounting on current DIN EN Profiles (Phoenix type UMK-FE).
To obtain more informations about
RS485-RS232 converter, contact
your SDC distributor.
Distributed by :
Official SDC distributors.

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Servo Dynamics Corp. 21541-D Nordhoff St. Chatsw orth, CA 91311 www.servodynamics . com
Chapter B - User utilities
Rev . A 10-99
DigiDrive Manual Series 2000 / 4000
CHAPTER B USER UTILITIES
This section of the manual describes the use of customer utilities. The software is for PC
compatible computer.
Two softwares are necessary for DOS users : FPRGU.EXE and 2000U.EXE
This software is used for updating FLASH memory, which contains the drive firmware.
For example, when a new firmware is developed, FPRGU.EXE is able to transfer it to the drive.
With this software, it is also possible to check the FLASH contentsintegrity.
Use of FPRGU.EXE
Connect RS232 Drive connector to the COM1 of the computer with a AT-Link cable. Verify that
the axis selector is on 0 and start the following sequence :
FPRGU <ENTER> Start software
M Call Monitor function of the drive
T Transfer
IRTxxxx.HEX <ENTER> Name of the file to transmit
Wait end of operation
I Initialise (Reset command)
The drive is ready to work with new firmware
1.1 FPRGU.EXE : Flash PRoGramming User
1. DOS Users