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HSD2 Series Servo Drive. User Manual - page 1

Chapter 1

Product Description

1.1 HSD2 Series Servo Drives

HSD2 series drives include five different models: HSD2-020, HSD2-030, HSD2-050,

HSD2-065 and HSD2-030A.

Except for HSD2-030A, which has a barrier screw secure terminal, the rest of above

mentioned models have pinhole type power terminals (P / D / C, R / S / T, r / t, U / V / W

/ PE)

CN1, CN2, CN3 are signal connectors.

Please refer to the power level table (1-1) for each HSD2 series servo drives:

Table 1-1

Power level of HSD2 series drivers

POWER

IPM

TYPE

LEVEL

(A)

(kw)

HSD2-020

20

1.0

HSD2-030

30

1.5

HSD2-050

50

2.5

HSD2-065

65

3.5

HSD2-030A

30

1.5

1.2 Appearance

The appearance of HSD2-030, HSD2-050, HSD2-065 are the same. They have

designed with P / D / C, R / S / T / r / t terminals and CN1, CN2, CN3 connectors..

HSD2-020 doesn’t have P / D / C terminals and CN3 connector..

The power terminal of HSD2-030A differs from the rest of four models, it has not

equipped with P / D / C ports additionally.

1

HSD2-030

HSD2-030A

Figure 1-1 appearance of HSD2

1.3

Explanation of Each Power Terminals

1.3.1 P / D / C terminals

1. P / D / C are the wiring terminals of brake resistor.

2. It is prohibited to connect P and C directly, this will damage the drive.

3. When P and D is connected, it means the inner brake resistor is effective, the

default setting is P and D being connected.

4. If an extra break resistor is needed, it will be connected between P and C.

5. If P and D is connected, an extra external break resistor is connected

between P and C, both the internal and external resistors are working on a

parallel basis.

1.3.2 R / S / T terminals

R / S / T are the three phased AC 220V power supply connection terminals, no

phase sequence requirement.

Do not connect AC 380V power supply to the R/S/T terminals, otherwise it will

damage the drive and cause personnel injury.

2

2.2 Product Size

Product size of HSD2 series servo drives, please refer to Figure 2-1 and table 2-1.

Figure 2-1

Dimensions sketch

Table 2-1

size details of HSD2 series drives

Heat sink

Type

C(mm)

D (mm)

E(mm)

depth(mm)

HSD2-020

170

77

172

16

HSD2-030

185

82

182

21

HSD2-050

200

92

186

31

HSD2-065

215

105

207

29.5

HSD2-030A

195

97

155

34

2.3 Size Data for Installation

Please refer to the installation size from Figure 2-2 and Table 2-2.

5

Figure 2-2

installation size sketch

Table 2-2

installation size data for HSD2 series drives

Installation size data

Type

A(mm)

B(mm)

HSD2-020

60

160

HSD2-030

65

175

HSD2-050

75

189.3

HSD2-065

88

203.5

HSD2-030A

25

208

2.4 Installation Environment

The operating temperature for the HSD2 series servo drive is ranging from 0℃

（32°F） to 55℃（131°F）. If the ambient temperature of servo drive is higher than 45℃,

please install the drive in a well-ventilated location and do not block the ventilation holes.

The ambient temperature of servo drive for long-term reliability should be under

45℃(113°F).

If you need to install the servo drive and motor in a confined space, please ensure

sufficient space around the units and make sure the ventilation status and size of the

confined space won’t cause overheating of the product. In addition, please also pay

6

Correct

Incorrect

Figure2-3

The correct direction for mounting

Figure 2-4

Installation Minimum Spacing

In order to increase ventilation to avoid ambient temperature being exceed to

specification, please install a fan. A minimum spacing of two inches must be maintained

above and below the drive for ventilation and heat dissipation. Additional space may be

necessary for wiring and cable connections. When installing two or more drives next to

each other, please follow the spacing diagram from the above Figure 2-4.

8

2.6 Connection Terminals

Please select the connecting terminals carefully and follow the instructions

from

table

2-3 and 2-4.

Table 2-3

Definition and function of the terminals

Terminal

Terminal

Descriptions

Identification

Description

Used to connect three-phase AC main circuit

Main circuit

power depending on connecting servo drive

R、S、T

terminal

model.

Used to connect single-phase AC control

Control circuit

circuit power. (Control circuit uses the same

R、t

terminal

voltage as the main circuit.)

Used to connect servo motor

Terminal

Wire colour

symbol

U、V、W、

Servo motor

U

Brown

PE

output

V

Black

W

Grey

Yellow and

PE

green

Ground

Used to connect with the grounding wires of

PE

terminal

power supply and servo motor.

Used to connect with the encoder of servo

Encoder

CN1

motor. Please refer to section 3.2 for more

connector

details.

Used to connect with external controllers.

CN2

I/O connector

Please refer to section 3.3 for more details.

Communicatio

Connect with personal computer

(PC or

CN3

n connector

laptop).

(Reserved)

9

Table

2-4

Cable specifications for the terminals

Terminal

Terminal

Cable specification

Identification

Description

Main circuit

R、S、T

1.5~2.5mm²

terminal

Control circuit

r、t

0.75~1 mm²

terminal

U、V、W

Servo motor output

1.5~2.5 mm²

PE

Ground terminal

1.5~2.5 mm²

≥0.14 mm², 7 pair shielded

CN1

Encoder connector

twisted-pair cable

≥0.14 mm², shielded twisted-pair

CN2

I/O connector

cable

Wiring Cautions

Please read and follow up the below wiring precautions while performing wire

connections with the servo drive and servo motor.

1. Please ensure that the wiring of the main power supply terminal R/S/T and

control power supply terminal R/T are properly selected and connected, power

specification is correct.

2. Please use shielded twisted-pair cables for wiring to voltage coupling and

eliminate electrical noise and interference.

3. Please ensure a correct connection for U, V, W terminals, or it may not be able to

start the motor or cause galloping.

4. The ground terminal of the servo motor should be connect with the PE of the

servo drive properly and ensure a single point grounding. The grounding cable requires

to be coarse as well.

5. As a residual hazardous voltage may remain inside the drive, please do not touch

any of the terminals (R, S, T, & U, V ,W) or the cables connected to them after the

power has just been turned off. Wait for at least 10 minutes until the charging light is off

10

before you take any further actions with the drive.

6. With regards to the I/O signal cable, please use the recommended cable or

similar shield cable. The total length of I/O signal cable shouldn’t exceed 3 meters,

while encoder cable should be less than 15 meters. Please use a twisted-shield signal

wire with grounding conductor for the encoder cable (CN1) and the position feedback

signal connector (CN2). The wire length shouldn’t exceed 20meters. If it exceeds 20m,

please choose a bigger wire diameter (double the existing one) of signal cable to

reduce the signal fading.

7. The shield of shielded twisted-pair cables (encoder cable) should be connected

to the SHIELD end (ground terminal) of the servo drive.

8. The cables which connected to R, S, T and U, V, W terminals should be placed

in separate conduits from the encoder or other signal cables. Separate them by at least

30cm.

9. Please ensure the diode connecting direction of signal output relay is correct,

otherwise it may lead to malfunction of the drive.

10. Please install a non fuse type circuit breaker (NFB) to achieve external power

cut offs when the servo drive is in a malfunction status.

11. Shut down the power supply if the servo drive is not being used for a long term.

12. Definition of rotating directions: face the motor shaft, the counter-clockwise

direction is defined as the CCW. And the clockwise direction of rotation is defined as the

CW. Generally, we refer the CCW as the positive direction, while CW as negative

direction.

Figure 2-5

Definition of rotating directions

11

8

7

6

5

4

3

2

1

15

14

13

12

11

10

9

Figure 3-1

The view and layout of the CN1 encoder connector interface

3.2.2

Signal definition for CN1

Table 3-1

Signal definition for CN1

PIN No.

Identification

Description

1

A+

Encoder signal A+

9

A-

Encoder signal A-

2

B+

Encoder signal B+

10

B-

Encoder signal B+

3

Z+

Encoder signal Z+

11

Z-

Encoder signal Z+

14

U+

Encoder signal U+

6

U-

Encoder signal U-

13

V+

Encoder signal V+

5

V-

Encoder signal V-

4

W+

Encoder signal W+

12

W-

Encoder signal W-

7

+5V

Power supply 5V

8

GND

GND for power supply

15

PE

Shielded wire

3.3 CN2 Connector View and Layout

CN2 is the signal I/O connector, please refer to the view and layout from the below

Figure 3-2.

13

9

8

7

6

5

4

3

2

1

18

17

16

15

14

13

12

11

10

26

25

24

23

22

21

20

19

Figure 3-2

The

view and layout of the CN2 I/O connector

3.4 Signal Definition of CN2 Connector

Table 3-2

CN2 Signal definition

Termin

Terminal

Description

al No.

Identification

19

OA+

10

OA-

Encoder signal output A, B, Z (Line-driver output ). The

11

OB+

motor encoder signals are available through these

1

OB-

terminals.

2

OZ+

12

OZ-

4

CZ

Encoder signal Z open-collector output.

6

DGND

Encoder digital signal ground

16

COM+

power input (DC 12-24V) positive end

Servo drive enable signal input terminal:

SON ON： enable the drive.

SON OFF：drive disabled and the motor is in free status.

14

SON

Note 1：The motor must be still before enabling the drive.

Note 2：Any other command should be inputted after the

SON on signal for 50ms

In the speed control model when PA23=1 the input

terminal is defined as the zero speed clamping function.

When PA4=0 the terminal is defined as deviation zero

ZCLAMP/

reset function

17

CLE/SC1

The input terminal is defined as the speed command

selection SC1 in the speed control model (PA4=1) when

the parameter PA23=0

14

The input terminal is defined as the speed command

selection in the speed control model when PA4=1 and

PA23=0. Used to select the different internal speed

through the combination of SC1 and SC2.

8

SC2

SC1 OFF, SC2 OFF: internal speed 1.

SC1 ON, SC2 OFF: internal speed 2.

SC1 OFF, SC2 ON: internal speed 3.

SC1 ON, SC2 ON : internal speed 4.

7

ALRS

Clear alarm signal

23

DOCOM

I/O signal output ground

21

ALM

Servo Alarm signal

22

BRK

Break release

In the position control mode (PA4=0),

COIN is activated when the position error is equal and

below the setting value of PA16.

20

COIN

In the speed control mode (PA=1),

COIN will be activated when the drive has detected the

motor has reached the Target Rotation Speed setting as

defined in parameter PA28.

13

AS+

Motor speed command:

-10V~+10V, corresponds to

3

AS-

-3000~+3000 r/min command

and the input impedance is 10KΩ

5,15

AGND

analog signal ground

26

PULS+

Position Pulse Input

18

PULS-

24

SIGN+

Position Sign Input

25

SIGN-

9

PE

Shielding earth cable

15

3.5 I/O Interface

3.5.1 Digital signal input interface

Digital signal input interface circuit is generally composed by optocouplers,

switches, relays, open-collector transistors or other components as shown in the

following diagram(3-3).

Diagram 3-3

Digital signal input interface circuit type 1

1. The voltage of the external power is DC12~24V and available current should be

100mA at least.

2. Ensure that the polarity of the power is correct, otherwise it will damage the drive.

3.5.2 Digital signal output interface

The digital signal output interface circuit is connected with optocoupler or

optocoupler and relays together, achieve the transferring of the isolated digital signal.

Diagram 3-4

Digital signal output interface circuit type 2

1. The voltage of the external power is DC5~24V.

2. The output form of optocoupler is open-collector, the max current is 50mA and

the external max DC voltage is 25V.

3. When inductive components (i.e relays) are on load, please parallel fly-wheel

diode at each end of the component, ensure the correct connection of the polarity,

otherwise, it may damage the drive.

16

3.5.3 Pulse command input interface

The drive can run two different types of pulse inputs: Line-drive input and

Open-collector input. The maximum input frequency of line-drive input is 500Kpps,with

strong anti-jamming capability, while the Open-collector input type is 200Kpps.In order

to ensure reliable signal transition, the Line-drive input circuit is recommended.

1. Diagram for Line-drive input circuit

In the Line-drive mode, AM26LS31,MC3487 or RS422 is used in the Line-drive

output circuit of the host controller.

Diagram 3-5 Pulse input interface circuit type 3（Line-drive input circuit）

2. Diagram for Open-collector input circuit

The source of pulse input is open-collector PNP equipment which applies the

external power of the servo drive. Please pay attention to the power polarity, incorrect

connection may damage the drive.

By adopting the open-collector input circuit, it reduces the motion frequency, the

driving current of the circuit is between 10~15mA, users can calculate the resistance

value of R according to the power supply voltage.

Diagram 3-6

Pulse input interface circuit type 3（Open-collector input circuit）

3.5.4 Analog signal input interface

There are two different input circuit types of analog signal: differential input mode

17

and single-ended input mode. It is recommended to use the differential input circuit as it

can inhibit the common-mode interference.

The valid voltage range of analog input command in speed and torque mode is

-10V~+10V, and the input impedance is 10KΩ .The command value can be set via

relevant parameters. The zero drift of the analog signal could be compensated by

adjusting the parameters.

Diagram3-8 Analog signal input interface circuit type 4 (single-ended input mode)

1. Three connecting wires are needed in differential input mode, but only two

connecting wires required in single-ended input mode.(The wires mentioned here

means the wire from the analog generator.)

Note: under the single ended input mode, the short-circuit is not pre-designed inside of

the servo drive in order to avoid the potential interference. Users need to create the

short-circuit for CN2 side.

2. The voltage of the signal should not exceed the specified range (-10V~+10V) or it

may damage the drive.

3. This interface is a non-isolated input interface, so the shielded cable is

recommended to reduce the noise interference.

3.5.5 Encoder signal output interface

The servo drive output the motor encoder feedback position signals by Line-drive

transmitter chip AM26LS31 to the controller signal input end. The user could receive the

encoder A, B and Z phase signals by two types: Line-drive receiver chip and the

18

high-speed optocoupler.

The host controller receives the encoder signals by Line-drive receiver chip. Please

refer to the wiring diagram from the below Diagram 3-9

Diagram 3-9 Encoder position signals output interface circuit type 5（Line-drive）

The value of the resistance is 220Ω~470Ω, and the command ground (GND) of the

encoder should connect with the signal ground of the host controller.

When the host controller is receiving the signal by high speed optocoupler, series

resistor is required to be added at the input end of host controller, resistance value is

220Ω approx. Detailed circuit please refer to the below Diagram 3-10.

Diagram 3-10

Encoder position signals output interface circuit type 5（optocoupler）

3.5.6 Encoder open-collector Z-pulse output interface

The drive transmit encoder zero position signal Z to the host controller via

open-collector output interface mode. The width of the zero position pulse is narrow,

therefore the high-speed optocoupler is recommended as the receiver. This interface is

a non-isolated input interface, the maximum current is 50mA and the maximum voltage

is 30V. The specific interface circuit is shown as the following.

Diagram 3-11 Encoder Open-collector Z-pulse output interface circuit type 6

3.5.7 Encoder feedback signal input interface

The servo drive adopts AM26LS32 or equivalent IC encoder to receive the

feedback signal, the detailed circuit please refer to the below Diagram 3-12.

Diagram 3-12 Encoder feedback signal input interface circuit type 7

20

3.6 Standard Connection Example

3.6.1 Position control mode

DRIVER

R

3 PHASE

U

U

AC 220V

S

V

V

T

W

W

r

PE

t

CN2

CN1

COM+

SON

CLE

SC2

ALRS

CN2

ALM

BRK

COIN

D OCOM

PE

C N1

CN2

CN2

CZ

DGND

PE CN2

Diagram 3-13 position control mode

21

3.6.2 Speed / torque control mode

Motor

DRIVER

R

3 PHASE

2

U

U

S

AC220V

V

V

3

T

W

W

4

QF

KM

r

PE

1

t

DC12-24V

CN2

CN1

COM+

16

7

5V

2

4.7kΩ

8

0V

3

SON

SON

14

1

OA+

4

CLE

CLE

17

9

OA-

7

SC2

SC2

8

2

OB+

5

ALRS

ALRS

7

10

OB-

8

26LS32

3

OZ+

6

CN2

RX

11

OZ-

9

encoder

ALM

ALM

21

14

U+

10

6

U-

13

BRK

BRK

22

13

V+

11

5

V-

14

COIN

COIN

20

4

W+

12

12

W-

15

15

PE

1

DOCOM

DOCOM

23

CN1 metal case

CN2

AS+

13

input of AS

(-10V～+10V)

AS-

3

10k

GND

AGND

5

CN2

A

OA+

19

A

OA-

10

A

26LS31

B

OB+

11

B

TX

B

OB-

1

Z

OZ+

2

Z

OZ-

12

Z

Z (OC)

CZ

4

DGND

DGND

6

DGND

PE

CN2 metal case

22

Chapter 4

Panel Display & Operation

This chapter describes the panel status and basic operations of the digital keypad.

4.1 Panel Description

The operation panel is composed by an LED display panel, and 4 functional

keypads, for the use of displaying current status of the drive, and setting parameters etc.

Please refer the key functions from Table 4-1 and overview of the panel from Figure 4-1

Figure 4-1

Display Panel overview

Table 4-1

Function descriptions

Symbol

Name

Function

Power

The LED light indicates the control power is

Power

supply

applied to the circuit.

Running

The LED light indicates the main power is applied

Run

status

to the circuit and the drive is OK to be started.

Up key

Pressing the Up and Down key can scroll through

and change monitor codes, parameter groups and

Down key

various parameter settings.

Pressing the Return key can exit the menu or

Return key

cancel the operation or the settings.

Pressing the Set key can enter the menu or save

Enter

Set

the operation /the parameter settings.

Note :The 6 segment LED display is blinking means there is a failure or alarm.

23

4.2 Main Menu

As the first layer of the operation panel, the main menu consists six sections. You

can use the Up and Down key to change the content of the main menu display and

press the Set key to enter the secondary menu, you can also press the Return key to

quit the secondary menu and back to the main menu.

Figure 4-2 Flowchart for the main menu of the operational processes

24

4.3 Monitoring Display（DP--）

Press the Up and the Down key to find the monitor display from the main menu.

When “dp-” is displayed, please press the Set key to enter the monitor mode. There are

19 kinds status for the monitor display, details shown in the following Diagram .Use Up

and Down key to select the display and press the Set key to enter the specific monitor

and display interface.

Feedback Speed（r/min）

Motor speed1000r/min

Feedback Position（Low）

Position 1245806 Pulse

Feedback Position（X100000)

Position Command（Low）

Command 1245810 Pulse

Position Command（X100000）

Position Error（Low)

Position Error 4 Pulse

Position Error（X100000）

Feedback Torque（%）

70% Rated Torque

Feedback Current（A）

Motor current 2.3A

Enter

Reserved

Reserved

Present Control Mode

Control mode 0

Pulse frequency（kHz)

Pulse frequency 12.6kHz

Speed Command（r/min）

Speed command -35r/min

Torque Command（%）

Torque Command -20%

Motor Current Position

Present Position 3265

Reserved

Reserved

Reserved

Reserved

Voltage of DC Bus

DC Bus Votage is 310V

Drive status

Status：Servo On

Error code

Error 9 occurs

Reserved

Diagram 4-3 The operational process of the monitor display

4.4 Parameter Setting（PA--）

Find the “PA-” on the main menu by using the Up and Down key, and then enter the

parameter selection interface by pressing the Set key. By using the Up and Down key

25

you can select the parameters according to your requirement, and then press the Set

key to enter the parameter modification interface. When the parameter is being

modified, the LED digital display is ON , that means you are in the process of changing

the parameters but they are not yet being activated. Press the Set key to save them and

the light will go off. Press the Return key to cancel the settings if required.

Diagram 4-4 Operation process of parameter settings

4.5 Parameter Management（EE--）

Find the “EE-” from the main menu by using the Up and Down key, and then enter

the parameter management interface by pressing the Set key. The functions and

descriptions of each symbol are shown in the Diagram 4-5. By using the Up and Down

key you can select the operations according to your requirement. Press and hold the

Set key for 3 seconds, when “FINISH” is displayed on the LED panel, it means the

operation is completed. But if it displays “Error”, it means the operation failed, please

press the Return key to cancel.

Parameter Write

Press for

Success

3 seconds

Parameter Read

Enter

Fail

Parameter Backup

Restore Backups

Restore Defaults

Diagram4-5 Operation process of parameter management

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