Veichi SD780 Series User manual

Contents
I SD780 Series Servo Technical Manual
Contents
Contents ............................................................................................................................................I
1 Abstract..........................................................................................................................................1
1.1 Series Introduction..............................................................................................................1
1.2 Name of Each Part of the Servo Drive................................................................................1
1.3 Basic Information of Servo Drive ........................................................................................2
1.3.1 Installation Dimensions ...........................................................................................2
1.3.2 Installation Way.......................................................................................................4
1.3.3 Specifications and Electric Parameters .................................................................. 5
1.3.4 Basic specifications.................................................................................................6
1.4 System Diagram................................................................................................................10
1.5 System Configuration Examples....................................................................................... 11
1.6 Drive Name .......................................................................................................................12
1.7 Maintenance and Inspection of Servo Drive .....................................................................13
1.7.1 Inspection of Servo Motor .....................................................................................13
1.7.2 Inspection of Servo Drive......................................................................................13
1.7.3 Approximate Standards for Changing Internal Parts of Servo Drive.....................14
1.8 Motor Name ...................................................................................................................... 15
1.9 Dimension of Motors .........................................................................................................16
2 Panel Operation ..........................................................................................................................22
2.1 Basic Operation.................................................................................................................22
2.1.1 Keys’ Names and Functions of the Panel Operator.............................................. 22
2.1.2 Functions Switch ...................................................................................................23
2.1.3 Status Display .......................................................................................................23
2.2 Operations of Auxiliary Functions (Fn group) ...................................................................24
2.3 Operations of Parameter (Pn Group)................................................................................24
2.4 Operations of Monitoring Display Un Group .....................................................................25
3 Wiring and Connections.............................................................................................................26
3.1 Main Circuit Wiring............................................................................................................26
3.1.1 Terminals Description............................................................................................ 26
3.1.2 Wiring Diagram .....................................................................................................27
3.2 Motor Power Line Connection...........................................................................................30
3.3 CN2 Encoder Connection .................................................................................................32
3.4 CN7 USD communication terminal (connect to host machine).........................................33
3.5 Connection of CN6A and CN6B Communication Terminal ...............................................34
3.6 CN5 Full Closed Loop Port ...............................................................................................35
3.7 Definition of CN1 Terminal ................................................................................................36
3.8 Digital Input Signal ............................................................................................................ 37
3.8.1 Input Signal Descriptions ......................................................................................37
3.8.2 Input Signal Configuration.....................................................................................38
3.8.3 Confirming the Input Status...................................................................................40
3.9 Digital Output Signal .........................................................................................................41
3.9.1 Output Signal Descriptions....................................................................................41
3.9.2 Output Signal Configuration..................................................................................42
3.9.3 Confirming the Output Status................................................................................42

Contents
II SD780 Series Servo Technical Manual
3.10 Connection with the Upper Device..................................................................................43
3.10.1 Analog Input Circuit 3..........................................................................................43
3.10.2 Position Instruction Input Circuit..........................................................................43
3.10.3 Sequence Control Input Circuit ...........................................................................47
3.10.4 Sequence Output Loop .......................................................................................47
3.11 Position Control Wiring Diagram .....................................................................................49
3.12 Speed Control Wiring Diagram .......................................................................................50
3.13 Torque Control Wiring Diagram.......................................................................................51
3.14 Regenerative Resistor Connection .................................................................................52
3.14.1 Connection of Regenerative Resistors ...............................................................52
3.14.2 Selection of Regenerative Resistor.....................................................................52
3.15 Noise and High Harmonic Countermeasures .................................................................53
4 Trial operation .............................................................................................................................54
4.1 Inspections and Notes before Trail Operation ..................................................................54
4.1.1 Conditions of the Servo Motor...............................................................................54
4.1.2 Conditions of the Servo Drive ...............................................................................54
4.1.3 Installation .............................................................................................................54
4.2 JOG trail operation............................................................................................................ 54
5 Operation.....................................................................................................................................55
5.1 Basic Functions.................................................................................................................55
5.1.1 Quick Guide...........................................................................................................55
5.1.2 Servo Enable and Over-Travel Setting .................................................................55
5.1.3 Motor Rotation Direction .......................................................................................57
5.1.4 Stop Mode............................................................................................................. 57
5.1.5 Electromagnetic Brake..........................................................................................58
5.1.6 Regenerative Resistor...........................................................................................60
5.1.7 Overload................................................................................................................61
5.1.8 Multi-turn Absolute Encoder.................................................................................. 62
5.1.9 Torque Limit ............................................................................................63
5.2 Position Mode ...................................................................................................................65
5.2.1 Quick Guide...........................................................................................................66
5.2.2 Basic Settings .......................................................................................................66
5.2.3 Deviation Clearance..............................................................................................68
5.2.4 Command Pulse Prohibition..................................................................................70
5.2.5 Positioning Approach ............................................................................................70
5.2.6 Positioning Completion .........................................................................................71
5.2.7 Command Pulse Input Magnification Switching....................................................72
5.2.8 Smooth Settings....................................................................................................73
5.2.9 Frequency-division Output ....................................................................................74
5.3 Speed Mode......................................................................................................................77
5.3.1 Quick Guide...........................................................................................................77
5.3.2 Basic Settings .......................................................................................................77
5.3.3 Soft Start ...............................................................................................................80
5.3.4 Zero Fixed Functions ............................................................................................81
5.3.5 Rotation Detection Signal......................................................................................82
5.3.6 Consistent Speed..................................................................................................83
5.4 Torque Mode .....................................................................................................................84
5.4.1Quick Guide............................................................................................................85
5.4.2 Basic Setting ......................................................................................................... 85

Contents
III SD780 Series Servo Technical Manual
5.4.3 Adjustment of Command Offset ............................................................................87
5.4.4 Speed Limit in Torque Control...............................................................................88
5.5 Hybrid Control Mode Selection .........................................................................................88
5.6 Other Output Signals ........................................................................................................91
5.6.1 Servo Ready Output Signal...................................................................................91
5.6.2 Warning Output Signal ..........................................................................................91
5.7 Timing Sequence ..............................................................................................................93
5.7.1 Power Enable ON Timing sequence ..................................................................... 93
5.7.2 Power-Off Enable OFF Timing Sequence.............................................................94
5.8 Full closed-loop control.....................................................................................................94
5.8.1 What is a full closed-loop system..........................................................................94
5.8.2 Parameter setting of full closed-loop control.........................................................95
5.8.3 Control block diagram of full closed loop control .................................................. 96
5.8.4 Setting of motor rotation direction and machine moving direction........................96
5.8.5 Resolution of external grating ruler .......................................................................97
5.8.6 Setting of frequency division pulse output signal of grating ruler / encoder..........98
5.8.7 Setting of Electronic Gear .....................................................................................99
5.8.8 Setting example of electronic gear ratio..............................................................100
5.8.9 Setting of alarm detection ...................................................................................101
6 Adjustment ................................................................................................................................103
6.1 Adjustments.....................................................................................................................103
6.1.1 Adjustments Steps ..............................................................................................103
6.1.2 Safety Precautions When Adjusting....................................................................104
6.2 Robust Control ................................................................................................................105
6.2.1 Summary.............................................................................................................105
6.2.2 Operating procedure ...........................................................................................106
6.2.3 Supplement .........................................................................................................107
6.2.4 Related Parameters ............................................................................................107
6.3 Inertia Identification.........................................................................................................108
6.3.1 Summary.............................................................................................................108
6.3.2 Steps ...................................................................................................................108
6.3.3 Supplement .........................................................................................................108
6.4 Intelligent Setting ............................................................................................................109
6.4.1 Summary.............................................................................................................109
6.4.2 Steps ................................................................................................................... 110
6.4.3 Supplement ..........................................................................................................111
6.4.4 Related Parameters ............................................................................................ 112
6.5 Bandwidth Setting ........................................................................................................... 113
6.5.1 Profile .................................................................................................................. 113
6.5.2 Steps ................................................................................................................... 113
6.5.3 Supplement ......................................................................................................... 114
6.5.4 Related Parameters ............................................................................................ 115
6.6 Manual Adjustment Function........................................................................................... 116
6.6.1 Servo Gain .......................................................................................................... 116
6.6.2 Gain Switching .................................................................................................... 118
6.6.3 Speed Feedforward.............................................................................................121
6.6.4 Torque Feedforward ............................................................................................122
6.6.5 PI-P Switching.....................................................................................................122
7 Auxiliary Functions...................................................................................................................126

Contents
IV SD780 Series Servo Technical Manual
7.1 List of Auxiliary Functions ...............................................................................................126
7.2 Alarm Records Display (Fn000)......................................................................................126
7.2.1 Overview .............................................................................................................126
7.2.2 Operating Procedure...........................................................................................127
7.3 Clear Alarm Record (Fn001)...........................................................................................127
7.3.1 Summary.............................................................................................................127
7.3.2 Operating Procedure...........................................................................................127
7.4 Software Reset (Fn002)..................................................................................................127
7.4.1 Summary.............................................................................................................127
7.4.2 Operating Procedure...........................................................................................128
7.5 Restore Factory Parameters (Fn003) .............................................................................128
7.5.1 Overview .............................................................................................................128
7.5.2 Operating Procedure...........................................................................................128
7.6 JOG Operation (Fn005) ..................................................................................................128
7.6.1 Overview .............................................................................................................128
7.6.2 Operating Procedure...........................................................................................129
7.7 Program JOG Operation (Fn006) ...................................................................................129
7.7.1 Overview .............................................................................................................129
7.7.2 Operating Procedure...........................................................................................130
7.8 Automatic Adjustment of Command Offset (Fn100) .......................................................130
7.8.1 Overview .............................................................................................................130
7.8.2 Operating Procedure...........................................................................................130
7.9 Speed command Offset Manual Adjustment (Fn101).....................................................131
7.9.1 Overview .............................................................................................................131
7.9.2 Operating Procedure...........................................................................................131
7.10 Torque Command Offset Manual Adjustment (Fn102) .................................................131
7.10.1 Overview ...........................................................................................................131
7.10.2 Operating Procedure.........................................................................................132
7.11 Current Offset Automatic Adjustment (Fn103) ..............................................................132
7.11.1 Overview............................................................................................................132
7.11.2 Operating Procedure .........................................................................................132
7.12 Current Offset Manual Adjustment (Fn104) ..................................................................132
7.12.1 Overview ...........................................................................................................132
7.12.2 Operating Procedure.........................................................................................133
7.13 Initializing the Detection Value of Vibration Detection (Fn105).....................................133
7.13.1 Overview ...........................................................................................................133
7.13.2 Operating Procedure.........................................................................................134
7.14 Bandwidth Settings (Fn303)..........................................................................................134
7.14.1 Overview ...........................................................................................................134
7.14.2 Operating Procedure.........................................................................................135
7.15 EasyFFT (Fn401)..........................................................................................................135
7.15.1 Overview ...........................................................................................................135
7.15.2 Operating Procedure.........................................................................................136
7.16 Online Vibration Monitoring (Fn402).............................................................................136
7.16.1 Overview ...........................................................................................................136
7.16.2 Operating Procedure.........................................................................................136
8 Home Position Return and Internal Positions .......................................................................137
8.1 The principle of home position return function................................................................137
8.1.1 Home position return trigger................................................................................139

Contents
V SD780 Series Servo Technical Manual
8.1.2 Home position return SI terminal trigger .............................................................139
8.1.3 Home position return automatically trigger when power on................................139
8.1.4 Home position return triggered by point function ................................................140
8.1.5 Communication triggers home position return ....................................................141
8.2 Home position return function code ................................................................................141
8.3 Home position return method..........................................................................................143
9 Internal Position........................................................................................................................179
9.1 The Position Control Function Code Parameter Setting.................................................179
9.2 Position Control Related Function Code.........................................................................180
9.2.1 Position command trigger, select, stop ...............................................................180
9.2.2 Position Command Control Parameter Configuration.........................................182
9.2.3 Position Command Segment Control Word Definition........................................183
9.2.4 Position Command Segment Pulse Given..........................................................190
9.2.5 Position Command Segment Sharing Parameters .............................................191
9.3 The Point Function Operating Parameters .....................................................................195
9.3.1 Position Command..............................................................................................195
9.3.2 Acceleration and Deceleration Time ...................................................................196
9.3.3 Point Control Speed and Delay Time..................................................................197
9.4 The Interrupt Function.....................................................................................................198
9.4.1 Incremental Position Interrupt Position Command..............................................198
9.4.2 Equivalent Position Command Insertion Position Command .............................199
9.4.3 Absolute Position Interrupt Position Command...................................................199
9.4.4 Multi-segment Storage Function .........................................................................200
9.4.5 Overlapping Storage Function ............................................................................201
9.4.6 Interrupt Storage Function ..................................................................................202
9.5 Overlapping Function......................................................................................................202
9.6 Stop Function..................................................................................................................203
9.7 Jump Function.................................................................................................................204
9.8 Jog Function....................................................................................................................206
9.8.1 Jog Operation of External Terminals...................................................................207
9.8.2 Communication Jog ............................................................................................207
10 Function Code Instructions ...................................................................................................208
10.1 Pn0 Group Basic Control Related Parameters .............................................................208
10.2 Pn1 Group gain parameters..........................................................................................213
10.3 Pn2 Position Related Parameters.................................................................................219
10.4 Pn3 Group Speed Related Parameters ........................................................................225
10.5 Pn4 Group Torque Related Parameters........................................................................226
10.6 Pn5 JOG related parameters........................................................................................228
10.7 Pn6 Group Switch Configuration Related Parameters .................................................228
10.8 Pn7 Group Expansion Related Parameters..................................................................231
10.9 Pn8 Group Internal Position/Home Position Return Parameters..................................233
11 Monitoring Parameters...........................................................................................................240
12 Fault Code and Countermeasures ........................................................................................244
12.1 Fault Code.....................................................................................................................244
12.2 Warning Code ...............................................................................................................248
13 Communication.......................................................................................................................249
13.1 Communication introduction .........................................................................................249
13.2 RS485 communication protocol description .................................................................249
13.3 Communication frame structure....................................................................................249

Contents
VI SD780 Series Servo Technical Manual
13.4 Command code and communication data description..................................................250
13.5 Communication frame error check mode:.....................................................................252
13.5.1 Byte Bit Check...................................................................................................252
13.5.2 CRC check method --- CRC (Cyclical Redundancy Check) .............................252
13.6 Error message response...............................................................................................252
14 Host Debugging Instruction ..................................................................................................254
14.1 System Requirements...................................................................................................254
14.1.1 System Configuration........................................................................................254
14.1.2 Connection Configuration..................................................................................254
14.2 Main Interface ...............................................................................................................255
14.3 Features........................................................................................................................256
14.4 Real-Time Monitoring....................................................................................................260
14.5 Auxiliary Functions........................................................................................................260
14.5.1 JOG...................................................................................................................260
14.5.2 Inertia Identification...........................................................................................261
14.5.3 Program JOG ....................................................................................................263
14.5.4 Mechanical Characteristics ...............................................................................263
14.5.5 FFT Analysis......................................................................................................265
14.5.6 Bandwidth setting..............................................................................................265
14.5.7 Offset Adjustment..............................................................................................267
14.5.8 Back to Origin....................................................................................................267
14.5.9 Soft Reset (Same as Power on again)..............................................................268
14.5.10 Restoring the Factory Value............................................................................268
14.5.11 Fault Information..............................................................................................269
14.6 Digital Oscilloscope.......................................................................................................269
14.6.1 Real-Time Acquisition .......................................................................................272
14.6.2 Trigger Acquisition.............................................................................................272
14.6.3 Graphic Operations...........................................................................................273
14.7 Others ...........................................................................................................................277
14.7.1 Window Display.................................................................................................277
14.7.2 Help...................................................................................................................278

1 Abstract
1 SD780 Series Servo Technical Manual
1 Abstract
1.1 Series Introduction
SD780 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. SD780 servo drive not only support
PROFINET, EtherCAT,MECHATROLINK-II,MECHATROLINK-III,CANopen,RS-485 and other field
bus in the market, but also has a full closed loop, electronic CAM, flying shear,
gantrysynchronization and other non-standard application functions, through USB can be
connected to the PC for debugging, convenient and fast.
1.2 Name of Each Part of the Servo Drive
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

1 Abstract
2 SD780 Series Servo Technical Manual
1.3 Basic Information of Servo Drive
1.3.1 Installation Dimensions
W
H
DW1
H1
B
A
安装孔径
W2
Size
Model
(SD780-)
Allover size(mm)
Installation size(mm)
Mounting
aperture
W
H
D
W1
W2
H1
H2
A
B
A
1R1A-**
45
168
170
\
20
160
\
7.5
5
2-M4
1R8A-**
3R3A-**
B
5R5A-**
71
168
180
58
58
160
\
6.5
5
3-M4
7R6A-**
9R5A-**
2R5D-**
3R8D-**
C
120A-**
92.5
188
182
82.5
75
180
\
5
5
3-M4
160A-**
6R0D-**
8R4D-**
110D-**
D
170D-**
120
260
210
100
84.5
250
236
\
\
4-M5
240D-**
300D-**
Mounting aperture

1 Abstract
3 SD780 Series Servo Technical Manual
W
W1
H2
安装孔径
H1
H
D
W2
Size
Model
(SD780-)
Allover size(mm)
Installation size(mm)
Mounting
aperture
W
H
D
W1
W2
H1
H2
E
500D-**
210
471
254
140
140
457
434.
5
4-M6
600D-**
F
700D-**
240
558
310
176
176
544
520
4-M6
800D-**
121D-**
171D-**
270
638
350
195
195
615
580
4-M10
221D-**
350
738
405
220
220
715
680
4-M10
321D-**
360
940
495
200
200
911
880
4-M18
421D-**
370
1140
565
200
200
1111
1080
4-M18
Mounting aperture

1 Abstract
4 SD780 Series Servo Technical Manual
521D-**
420
1250
590
240
240
1213
1180
4-M20
1.3.2 Installation Way
150mm
30mm
150mm
30mm
150mm
30mm
30mm 30mm
150mm
150mm 150mm
Single installation Multiple installation
Notice
！
To ensure effective cooling through fans and natural convection, leave enough space around the driver
for heat dissipation during installation. To ensure good heat dissipation effect, install a fan above the
cabinet where the driver is installed to draw air outward. Ensure that the heat dissipation duct in the
cabinet is the air inlet under the cabinet and the air outlet above the cabinet.