Veichi SD700 series User manual

Contents
I SD700 Series Servo Technical Manual
Contents
Contents.................................................................................................................................................I
Abstract.......................................................................................................................................11.
Series Introduction................................................................................................................11.1.
Name of Each Part of the Servo Drive.................................................................................11.2.
Basic Information of Servo Unit............................................................................................21.3.
Installation Dimensions ............................................................................................21.3.1.
Installation Way ........................................................................................................31.3.2.
Rated electrical parameters .....................................................................................31.3.3.
Basic specifications ..................................................................................................41.3.4.
System Diagram ...................................................................................................................81.4. System Configuration Example............................................................................................91.5.
Name the Drive...................................................................................................................101.6.
Maintenance and Inspection of Servo Unit........................................................................111.7.
Overhaul of Servo Motor ........................................................................................111.7.1.
Overhaul of Servo Drive.........................................................................................111.7.2.
Approximate Standards for Changing Internal Parts of Servo Units.....................111.7.3.
Panel Operation .......................................................................................................................122.
Basic Operation ..................................................................................................................122.1.
Keys’ Names and Functions of the Panel Operator ..............................................122.1.1.
Functions Switch ....................................................................................................132.1.2.
Status Display.........................................................................................................132.1.3.
Auxiliary Functions Operation of Fn group.........................................................................142.2.
Parameter Pn Group’s Operation.......................................................................................142.3.
Operations of Monitoring Display Un Group......................................................................152.4.
Wiring and Connections...........................................................................................................163.
Main Circuit Wiring..............................................................................................................163.1.
Terminals Explanation: ...........................................................................................163.1.1.
Wiring Diagram.......................................................................................................173.1.2.
B/C/D-volume three-phase wiring diagram............................................................183.1.3.
Definition of CN1 Terminal..................................................................................................193.1.
CN7 USB Communication Terminal Connection ...............................................................203.2.
CN6A and CN6B Communication Terminal Connection....................................................203.3.
CN5 Full Closed Loop Port.................................................................................................213.4.
Switch-Value Input Signal...................................................................................................233.5.
Input Signal Explanation.........................................................................................233.5.1.
Input Signal Configuration......................................................................................243.5.2.
Confirming the Input Status....................................................................................263.5.3.
Switching Output Signal .....................................................................................................273.6.
Output Signal Explanation......................................................................................273.6.1.
Output Signal Configuration...................................................................................273.6.2.
Confirming the Output Status.................................................................................283.6.3.
Connection with the Upper Device.....................................................................................293.7.
Analog Input Circuit 3 .............................................................................................293.7.1.

Contents
II SD700 Series Servo Technical Manual
Position Instruction Input Circuit ............................................................................293.7.2.
Connection example of open collector outtput ......................................................303.7.3.
Sequence Control Input Circuit ..............................................................................333.7.4.
Sequence Output Loop ..........................................................................................343.7.5.
Position Control Wiring Diagram........................................................................................373.8.
Speed Control Wiring Diagram ..........................................................................................383.9.
Torque Control Wiring Diagram........................................................................................393.10.
CN2 Encoder Connection.................................................................................................403.11.
Regenerative Resistor Connection ..................................................................................403.12.
Connection of Regenerative Resistors ................................................................403.12.1.
Selection of Regenerative Resistor..................................................................................403.13.
Noise and High Harmonic Countermeasures..................................................................413.14.
Trial operation...........................................................................................................................414.
Inspections and Notes before Trail Operation ...................................................................414.1.
Conditions of the Servo Motor:...............................................................................424.1.1.
Conditions of the Servo Drive ................................................................................424.1.2.
Installation...............................................................................................................424.1.3.
JOG trail operation .............................................................................................................424.2.
Operation..................................................................................................................................435.
Basic Functions ..................................................................................................................435.1.
Quick Guide............................................................................................................435.1.1.
Servo Enable and Over-range Setting...................................................................435.1.2.
Motor Rotation Direction.........................................................................................455.1.3.
Stop Mode...............................................................................................................455.1.4.
Electromagnetic Brake ...........................................................................................465.1.5.
Regenerative Resistor............................................................................................485.1.6.
Overload .................................................................................................................485.1.7.
Multi-turn Absolute Encoder...................................................................................495.1.8.
Torque Limit ............................................................................................................505.1.9.
Position Mode.....................................................................................................................525.2.
Quick Guide............................................................................................................535.2.1.
Basic Settings.........................................................................................................535.2.2.
Deviation Clearance ...............................................................................................565.2.3.
Command Pulse Prohibition...................................................................................575.2.4.
Positioning Approach..............................................................................................575.2.5.
Positioning Completion...........................................................................................585.2.6.
Command Pulse Input Magnification Switching ....................................................595.2.7.
Smooth Settings .....................................................................................................605.2.8.
Frequency Output...................................................................................................615.2.9.
Speed Mode........................................................................................................................635.3.
Quick Guide............................................................................................................645.3.1.
Basic Settings.........................................................................................................645.3.2.
Soft Start.................................................................................................................675.3.3.
Zero Fixed Functions..............................................................................................685.3.4.
Rotation Detection Signal.......................................................................................695.3.5.
Consistent Speed ...................................................................................................705.3.6.
Torque Mode.......................................................................................................................715.4.
Quick Guide............................................................................................................725.4.1.
Basic Settings.........................................................................................................725.4.2.

Contents
III SD700 Series Servo Technical Manual
Adjustment of Instruction Offset .............................................................................745.4.3.
Speed Limit in Torque Control................................................................................745.4.4.
Hybrid Control Mode Selection ..........................................................................................745.5.
Other Output Signals..........................................................................................................785.6.
Servo Ready Output Signal....................................................................................785.6.1.
Warning Output Signal ...........................................................................................785.6.2.
Timing..................................................................................................................................795.7.
Power Enable ON Timing.......................................................................................795.7.1.
Power-Off Enable OFF Timing...............................................................................805.7.2.
Adjustment................................................................................................................................806.
Adjustments ........................................................................................................................806.1.
Adjustments Steps..................................................................................................806.1.1.
Safety Precautions When Adjusting.......................................................................816.1.2.
Robust Control....................................................................................................................836.2.
Profile......................................................................................................................836.2.1.
Steps.......................................................................................................................846.2.2.
Supplement.............................................................................................................846.2.3.
Relevant Parameters..............................................................................................846.2.4.
Inertia Recognition..............................................................................................................866.3.
Profile:.....................................................................................................................866.3.1.
Steps.......................................................................................................................866.3.2.
Supplyment.............................................................................................................866.3.3.
Intelligent Setting ................................................................................................................876.4.
Profile......................................................................................................................876.4.1.
Steps.......................................................................................................................876.4.2.
Supplyment.............................................................................................................896.4.3.
Related Parameters................................................................................................906.4.4.
Bandwidth Setting...............................................................................................................916.5.
Profile......................................................................................................................916.5.1.
Steps.......................................................................................................................916.5.2.
Supplyment.............................................................................................................926.5.3.
Related Parameters................................................................................................936.5.4.
Manual Adjustment Function..............................................................................................946.6.
Servo Gain..............................................................................................................946.6.1.
Gain Switching........................................................................................................966.6.2.
Speed Feedforward................................................................................................996.6.3.
Torque Feedforward .............................................................................................1006.6.4.
P/PI Switching.......................................................................................................1006.6.5.
Accessibility ............................................................................................................................1057.
List of Auxiliary Functions.................................................................................................1057.1.
Displaying Alarm Logs (Fn000)........................................................................................1057.2.
Overview...............................................................................................................1057.2.1.
Operating Procedure ............................................................................................1067.2.2.
Clear Alarm Record (Fn001) ............................................................................................1067.3.
Summary...............................................................................................................1067.3.1.
Operating Procedure ............................................................................................1067.3.2.
Software Reset (Fn002) ...................................................................................................1067.4.
Summary...............................................................................................................1067.4.1.
Operating Procedure ............................................................................................1077.4.2.

Contents
IV SD700 Series Servo Technical Manual
Restoring Factory Parameters (Fn003) ...........................................................................1077.5.
Overview...............................................................................................................1077.5.1.
Operating Procedure ............................................................................................1077.5.2.
JOG Operation (Fn005)....................................................................................................1077.6.
Summary...............................................................................................................1077.6.1.
Operating Procedure ............................................................................................1087.6.2.
Program JOG Operation (Fn006).....................................................................................1087.7.
Summary...............................................................................................................1087.7.1.
Operating Procedure ............................................................................................1097.7.2.
Automatic Adjustment of Instruction Offset (Fn100) ........................................................1097.8.
Summary...............................................................................................................1097.8.1.
Operating Procedure ............................................................................................1097.8.2.
Speed Command Offset Manual Adjustment (Fn101).....................................................1107.9.
Summary...............................................................................................................1107.9.1.
Operating ..............................................................................................................1107.9.2.
Summary...............................................................................................................1107.9.3.
Operating Procedure ............................................................................................ 1117.9.4.
Current Offset Automatic Adjustment (Fn103)............................................................... 1117.10.
Summary............................................................................................................. 1117.10.1.
Operating Procedure .......................................................................................... 1117.10.2.
Current Offset Manual Adjustment (Fn104) ................................................................... 1117.11.
Overview ............................................................................................................. 1117.11.1.
Operating Procedure ..........................................................................................1127.11.2.
Initializing the Detection Value of Vibration Detection (Fn105).....................................1127.12.
Summary.............................................................................................................1127.12.1.
Operating Procedure..........................................................................................1137.12.2.
Bandwidth Settings (Fn303)...........................................................................................1137.13.
Summary.............................................................................................................1137.13.1.
7.14.2 Operating Procedure ...........................................................................................114
EasyFFT (Fn401)............................................................................................................1147.14.
Summary.............................................................................................................1147.14.1.
Operating Procedure ..........................................................................................1157.14.2.
Online Vibration Monitoring (Fn402)..............................................................................1157.15.
Overview.............................................................................................................1157.15.1.
Operating Procedure..........................................................................................1157.15.2.
Function Code Instructions ....................................................................................................1168.
Basic Control Related Pn0 Group Parameters................................................................1168.1.
Gain Related Pn1 Group ..................................................................................................1218.2.
Position Related Pn2 Group Parameters.........................................................................1288.3.
Speed Related Pn3 Group Parameters ...........................................................................1338.4.
Torque Related Pn4 Group Parameters...........................................................................1358.5.
Jogging Related Pn0 Group Parameters.........................................................................1378.6.
Switch Configuration Related Pn6 Group Parameters....................................................1378.7.
Expansion Related Pn7 Group Parameters.....................................................................1408.8.
Monitoring Parameters...........................................................................................................1419.
Fault Code and Countermeasures.........................................................................................14410.
Fault Code ......................................................................................................................14410.1.
Warning Code.................................................................................................................14910.2.
Communication.......................................................................................................................15011.

Contents
V SD700 Series Servo Technical Manual
Communication introduction...........................................................................................15011.1.
RS485 communication protocol description...................................................................15011.2.
Communication frame structure .....................................................................................15011.3.
Command code and communication data description...................................................15111.4.
Communication frame error check mode:......................................................................15311.5.
Error message response ................................................................................................15411.6.
Host Debugging Instruction....................................................................................................15512.
System Requirements....................................................................................................15512.1.
System Configuration.........................................................................................15512.1.1.
Connection Configuration...................................................................................15512.1.2.
Main Interface.................................................................................................................15612.2.
Features..........................................................................................................................15812.3.
Real-Time Monitoring .....................................................................................................16212.4.
Auxiliary Functions..........................................................................................................16312.5.
JOG.....................................................................................................................16312.5.1.
Inertia Identification ............................................................................................16412.5.2.
Mechanical Characteristics ................................................................................16612.5.3.
Analysis...............................................................................................................16812.5.4.
Bandwidth setting ...............................................................................................16812.5.5.
Offset Adjustment ...............................................................................................17012.5.6.
Soft Reset ...........................................................................................................17112.5.7.
Restoring the Factory Value...............................................................................17112.5.8.
Fault Information.................................................................................................17212.5.9.
Digital Oscilloscope ........................................................................................................17212.6.
Real-Time Acquisition.........................................................................................17512.6.1.
Trigger Acquisition ..............................................................................................17512.6.2.
Graphic Operations ............................................................................................17612.6.3.
Others .............................................................................................................................18112.7.
Window Display ..................................................................................................18112.7.1.
Help.....................................................................................................................18112.7.2.

Abstract
1
Abstract1.
Series Introduction1.1.
SD700 series servo drives are mainly used for the occasion of high speed, high frequency
and high positioning accuracy. The servo unit can maximize the performance of the machine in the
shortest time, which can improve the production efficiency.
Name of Each Part of the Servo Drive1.2.
Motor
encoder
line
port
Multi-function
control
port
Communication
RJ45
Host computer
micro USB
Operation
keyboard
Digital display tube
Rotate the
keyboard cover
Top full-closed
loop port
Heat sink
Servo nameplate
Power Indicator
Main circuit
power
Control power
Motor power
Safety
grounding
Braking unit
Main circuit power
protection cover

Abstract
2
Basic Information of Servo Unit1.3.
Installation Dimensions1.3.1.
W
H
DW1
H1
B
A
安装孔径
W2
Structure
Machine model
External size(mm)
Installation size(mm)
Installation
aperture
W
H
D
W1
W2
H1
H2
A
B
SIZE A
SD700-1R1A-**
45
168
170
\
20
160
\
7.5
5
2-M4
SD700-1R8A-**
SD700-3R3A-**
SIZE B
SD700-5R5A-**
71
168
180
58
58
160
\
6.5
5
3-M4
SD700-7R6A-**
SD700-9R5A-**
SD700-2R5D-**
SD700-3R8D-**
SIZE C
SD700-160A-**
92.5
188
182
82.5
75
180
\
5
5
3-M4
SD700-6R0D-**
SD700-8R4D-**
SD700-110D-**
SIZE D
SD700-170D-**
120
260
210
100
84.5
250
236
\
\
4-M5
SD700-240D-**
SD700-300D-**
Mounting aperture

Abstract
3
Installation Way1.3.2.
150mm
30mm
150mm
30mm
单台安装空间
150mm
30mm30mm 30mm
150mm
150mm 150mm
多台安装空间
Single installation Multiple installation
Rated electrical parameters1.3.3.
Drive specification
1R1A
1R8A
3R3A
5R5A
7R6A
9R5A
Continuous output
current Arms
1.1
1.8
3.3
5.5
7.6
9.5
Maximum output
current Arms
3.9
6.3
11.6
16.5
22.8
23.8
Case
A
B
Drive specification
2R5D
3R8D
6R0D
8R4D
110D
170D
240D
300D
Continuous output
current Arms
2.5
3.8
6
8.4
11
17
24
30
Maximum output
current Arms
7.5
11.4
18
25.2
27.5
42.5
60
70
Case
B
C
D

Abstract
4
Basic specifications1.3.4.
Project
Specifications
Control Mode
IGBT, PWM Control, Sine wave current drive
mode
Feedback
Rotary Motor Combination
Serial communication encoders: 17-bit, 20-bit,
24-bit (absolute encoder)
Pulse encoder: Provincial linear encoder: 2500
line
Rotary transformer type encoder
Environmental
conditions
Environment temperature
-5℃～55℃（55 ° C ~ 60 ° C, can reduce the
rated value to use）
Storage temperature
-20℃～85℃
Environmental humidity
Less 95%RH（No freezing, no condensation）
Storage humidity
Less 95%RH（No freezing, no condensation）
Vibration resistance
4.9m/s²
Impact resistance
19.6m/s²
Protection level
IP20
Cleanliness
Non-corrosive and flammable gas
No water, oil, pharmacy splash
Dust, salt, and metal powder are less in the
environment
Altitude
Below 1000m (1000m～2000m, can reduce
the rated value to use)
others
No static electricity interference, strong electric
field, strong magnetic noise, radiation, etc.
Applicable standard
EN 61800-5-1:2007
EN 61800-3:2004/A1:2012
Installation type
Base mounting Type: All models
Shelf mounting type: All models
Performa
nce
Speed control range
1:6000 (The lower limit of the speed control
range is the value under non-stop condition at
the rated torque load)
Speed fluctuation
rate
Load fluctuation
Below ± 0.01% of rated speed (load
fluctuation: 0%~100%)
Voltage fluctuation
Rated speed 0% (rated voltage ± 10%)
Temperature
fluctuation
Below ± 0.1% of rated speed (temperature
fluctuation: 25± 25° C)
Torque control accuracy
± 1%
Soft-start time setting
0～10s (acceleration and deceleration can be
set separately)