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HSD7-E Series AC Servo Drive. User's Manual (Version: V0.1) - page 1

Introduction

This manual describes the information required for the selection of HSD7 series AC servo drivers, the design

of servo drivers, trial operation, adjustment, operation and maintenance. To correctly use the HSD7 series AC

servo driver, please read this manual carefully.

Please take good care of this manual so that it can be read and referenced at any time when necessary.

How to use the manual

The basic terminology used in this manual

The terms used in this manual are described below.

Basic terms

Meaning

Servo driver

HSD7 series servo driver

Servo motor

S, SA, SC series servo motors

Servo drive

Servo driver and servo motor combination

A servo control system that includes the combination of a Servo Drive with a host

Servo system

设置格式[周]: 字体颜色: 自动设置

controller and peripheral devices.

Servo ON

Supplying power to the motor.

设置格式[周]: 字体颜色: 自动设置

Servo OFF

Not supplying power to the motor.

A state in which the motor is stopped and is in a position loop with a position

设置格式[周]: 字体颜色: 自动设置

Servo lock

reference of 0.

设置格式[周]: 字体颜色: 自动设置

Cables connected to main circuit terminals (main circuit power cable, control power

Main loop cable

cable, servo motor main circuit cable, etc.)

Labeling of icons

The following icons are designed in this book to make readers understand the distinction between the

contents of the commands. And use these icons where necessary.

Indicates precautions and restrictions that must be observed.

Meanwhile, it also indicates that an alarm will be raised, but it will not cause damage to the device.

Important

Indicates the explaining of difficult terms and explaining the terms that have not been explained in advance.

Terminology

explanation

Case

Indicates examples of operations or settings, etc.

Supplementary

Indicates additional items or information that is helpful to use after understanding.

notes

Precautions for safety

Safety-related warning signs

The following identification terms are used in this manual to explain matters to be observed in preventing

casualties and equipment damage. Distinguish the hazards and damages caused by misoperation through

identification terms. The contents are all important contents related to safety. Please observe them.

! Danger

 Indicates an emergency situation that is likely to result in death, serious injury and fire if not avoided.

! Warning

 Indicates a dangerous situation that may lead to death, serious injury and fire if not avoided.

! Notes

 Indicates a dangerous situation that may lead to moderate, minor injuries and fire if not avoided.

Notice

 Indicates a hazardous condition that may cause equipment damage if not avoided.

Table of contents

Chapter 1 Basic Information of Servo Drive

1.1 HSD7 Series AC Servo Driver

1.2 Distinguishing Method of Nameplate

1.3 Model Description

1.3.1 Servo drive model description example

Chapter 2 Selection of Servo Drive

2.1 Ratings and specifications

2.1.1 Rating value

2.1.2 Specification table

2.2 Overall dimensions of servo driver

Chapter 3 Installation of servo drive

3.1 Precautions for setting

3.2 Mounting Types and Orientation

3.3 Mounting hole dimensions

3.4 Installation interval

Chapter 4 Connection of Servo Unit

4.1 Wiring and Connecting precautions

4.1.1 General precautions

4.1.2 Anti-interference countermeasures

4.1.3 Grounding

4.2 Basic connection diagram

4.3 Power supply wiring for servo drive

4.3.1 Terminal symbol and terminal name

4.3.2 Wiring Operation Steps of Main Loop Connector

4.3.3 Power on sequence control

4.3.4 Power wiring diagram

4.3.5 Connection of Regenerative Resistance

4.4 Servo motor connection

4.4.1 Terminal symbol and terminal name

4.4.2 Pin Arrangement of Connector (CN2) for Encoder

4.4.3 Connection of Servo Drive and Encoder

4.4.4 Wiring of Servo Drive and Brake

4.5 Connection of input and output signals

4.5.1 Name and function of input/output signal connector (CN1)

4.5.2 Pin Arrangement of Input and Output Signal Connector (CN1)

4.5.3 Examples of wiring for input and output signals

4.5.4 Input-output loop

Chapter 5 Basic functions to be set before operation

5.1 Operation of Parameters (Pn)

5.1.1 Classification of the parameter

5.1.2 Writing Method of Parameters

5.1.3 How to Set Parameters

5.1.4 Write inhibit setting of parameters

5.1.5 Initialization of parameter settings

5.2 Setting of Communication Specifications for MECHATROLINK-II

5.2.1 Communication specification setting

5.2.2 Station address setting

5.3 Setting of Communication Specifications for MECHATROLINK-III

5.3.1 Communication specification setting

5.3.2 Station address setting

5.4 Setting of EtherCAT communication specifications

5.4.1 Setting of Communication Specifications

5.4.2 Station address setting

5.5 Setting of Power Supply Types for Main Circuit and Control Circuit

5.5.1 Setting of AC Power Input/DC Power Input

5.5.2 Setting of Single-Phase AC Power Input/Three-Phase AC Power Input

5.6 Function and setting of servo ON input (/S-ON) signal

5.6.1 Function of servo ON input (/S-ON) signal

5.6.2 Set to Constant Servo ON (Motor Energized)

5.7 Setting of Motor Rotation Direction

5.8 Functions and settings of over-travel prevention

5.8.1 Overtravel signal

5.8.2 Select whether the over-travel prevention function is valid/invalid

5.8.3 Selection of Motor Stopping Method for Over-travel Prevention Function

5.8.4 Overtravel warning function

5.9 Brake

5.9.1 Action sequence of brake

5.9.2 Brake Control Output (/BK) Signal

5.9.3 Output Time of Brake Control Output (/BK) Signal when Servo Motor Stopped

5.9.4 Output Time of Brake Control Output (/BK) Signal in Servo Motor Rotation

5.10 Servo OFF and Motor Stop Method in Alarm

5.10.1 Motor Stop Method when Servo OFF

5.10.2 Motor stopping method when alarm occurs

5.11 Motor overload detection value

5.11.1 Detection time of overload warning (A.910)

5.11.2 Detection time of overload alarm (A.720)

5.12 Setting of Electronic Gear

5.12.1 Setting of Electronic Gear Ratio

5.12.2 Setting Examples of Electronic Gear Ratio

5.13 Setting of Absolute Value Encoder

5.13.1 Precautions in Setting (Initializing)

5.13.2 Confirmation before execution

5.13.3 Operable tool

5.14 Setting of Regenerative Resistance Capacity

Chapter 6 Application function

6.1 Distribution of input and output signals

6.1.1 Distribution of input signals

6.1.2 Distribution of output signals

6.1.3 Servo Alarm Output (ALM) Signal

6.1.4 Warning output (/WARN) signal

6.1.5 Rotation detection output (/TGON) signal

6.1.6 Ready output (/S-RDY) signal

6.1.7 Speed consistent output (/V-CMP) signal

6.1.8 Positioning Completion (/COIN) Signal

6.1.9 Position nearby output (/NEAR) signal

6.1.10 Speed limit function during torque control

6.2 Operation for Momentary Power Interruptions

6.3 SEMI F47 Specification Support Function

6.4 Setting of Maximum Speed of Motor

6.5 Encoder frequency division pulse output

6.5.1 Signal output by encoder frequency division pulse

6.5.2 Setting of Encoder frequency division pulse output

6.6 Soft limit function

6.6.1 The valid/invalid choice of soft limit function

6.6.2 Setting of soft limit value

6.6.3 Carry out soft limit check according to commands

6.7 Selection of torque limit

6.7.1 Internal torque limit

6.7.2 Exterior torque limit

6.7.3 Torque limit detection output (/CLT) signal

6.8 Absolute position

6.9 Forced stop function

6.9.1 Forced Stop Input (FSTP) Signal

6.9.2 Selection of Stop Method for Forced Stop Function

6.9.3 Methods of Recovery from Compulsory Stop

Chapter 7 Trial operation

7.1 Commissioning process

7.1.1 Process of servo motor test run

7.2 Inspection and Precautions Before Commissioning

7.3 Commissioning of Servo Motor Unit

7.3.1 Confirmation before execution

7.3.2 Operable tool

Chapter 8 Panel Display and Use of Panel Operators

8.1 Panel operator

8.1.1 Name and function of panel operator keys

8.1.2 Switching of functions

8.1.3 Status display mode

8.2 Operation of Parameters (PA) in Panel Operator

8.2.1 Setting Method of "Numerical Setting Type"

8.2.2 Setting Method of "Function Selection Type"

8.3 The operation of the monitor display (Un) in the panel operator

8.3.1 Basic operation of monitoring display

8.3.2 Monitoring of input and output signals (Un005/ Un006)

8.4 Operation of Auxiliary Function (FA) in Panel Operator

8.4.1 Display of alarm records (FA000)

8.4.2 JOG operation (FA002)

8.4.3 Origin search (FA003)

8.4.4 Program JOG run (FA004)

8.4.5 Initialization of parameter settings (FA005)

8.4.6 Deletion of Alarm records (FA006)

8.4.7 Absolute value encoder Setup（initialization）（FA008）

8.4.8 Automatic Adjustment of Analog (Speed and Torque) Command Bias (FA009)

8.4.9 Manual Adjustment of Speed Command Bias (FA00A)

8.4.10 Manual Adjustment of Torque Command Bias (FA00B)

8.4.11 Automatic Adjustment of Offset of Motor Current Detection Signal（FA00E）

8.4.12 Write inhibit setting of parameters（FA010）

8.4.13 Displays the motor model (FA011)

8.4.14 Display software version (FA012)

8.4.15 Single parameter adjustment (FA203)

8.4.16 EasyFFT（Fn206）

8.4.17 Load Inertia/Mass Detection (FA208)

Chapter 9 Maintenance

9.1 Inspection and component replacement

9.1.1 Inspection

9.1.2 Battery Replacement

9.2 Alarm display

9.2.1 Warning list

9.2.2 Cause of Alarm and Treatment Measures

9.2.3 Alarm reset

9.2.4 Display of alarm records

9.2.5 Deletion of Alarm records

9.3 When warning is displayed

9.3.1 Warning list

9.3.2 Reasons for Warning and Countermeasures

9.4 Monitoring of communication data when alarms and warnings occur

9.5 The fault causes and treatment measures can be judged from the actions and states of servo motors

Chapter 10 List of parameter

10.1 List of servo parameters

10.1.1 Method for distinguishing the list

10.1.2 List of servo parameters

Chapter 11 Operation of Debugging Software (iWatch+)

111

11.1 Connection and login of iWath+ debugging software

111

11.2 Automatic adjustment (no upper command)

111

Motor code is written to encoder EEROM operation（FA301）

114

Motor zero position check and reset operation （FA300）

115

Chapter 1

Basic Information of Servo Drive

1.1 HSD7 Series AC Servo Driver

HSD7 series servo drive is mainly used for occasions requiring "high speed, high frequency and high

positioning accuracy". The servo drive can maximize the performance of the machine in the shortest possible

time and help to improve production efficiency.

HSD7 series servo drivers include single-axis HSD7-ES（BS） series servo drivers and double-axis HSD7-EW

（BW）series servo drivers.

1.2 Distinguishing Method of Nameplate

The basic information marked on the drive nameplate is shown in the following figure.

1.3 Model Description

1.3.1

Servo drive model description example

■ Three-phase 220VAC

HSD7

HSD7 Series

Axis

Continuous Output

Power

Interface

Number

Current

Supply Voltage

Type

Axis Number

Contionous Output Current

Power Supply Voltage

Interface Type

Single

3.0 A

220VAC

Analog (standard resolution)/Pulse

Axis

6.5 A

8.5 A

CANopen Communications

W Double

10.5 A

Axis

Analog (high resolution )/Pulse

12 A

MECHATROLINK-Ⅱ

16A

Communications

25 A

MECHATROLINK-Ⅲ

Communications

EtherCAT Communications

* The maximum specification of continuous output current for biaxial drive is 10.

■ Three-phase 380VAC

HSD7

HSD7 Series

Axis

Continuous Output

Power

Interface

Number

Current

Supply Voltage

Type

Axis Number

Contionous Output Current

Power Supply Voltage

Interface Type

Single

15 A

380VAC

Analog (standard resolution )/Pulse

Axis

18 A

24 A

CANopen Communications

35 A

Analog (high resolution)/Pulse

MECHATROLINK-Ⅱ

Communications

MECHATROLINK-Ⅲ

Communications

EtherCAT Communications

* Servo motor model commands refer to the current product selection sample book

Chapter 2

Selection of Servo Drive

2.1 Ratings and specifications

2.1.1

Rating value

■ Three-phase 220VAC

Model

03A□□

06A□□

08A□□

10A□□

12A□□

16A□□

25A□□

Continuous Output Current[Arms]

6.1

8.5

16.0

25.0

Instantaneous Max. Output Current [Arms]

10.6

14.1

21.2

24.8

29.7

49.5

63.6

AC220V，-15% to +10%,

Power Supply

50 Hz / 60 Hz

Main Circuit

Input Current[Arms]

1.9

3.9

5.4（14.3）

6.3（16.8）

7.6

10.1

15.7

（5.1）

（10.3）

AC220 V， -15% to +10%,

Control Power Supply

50 Hz / 60 Hz

Power Supply Capacity*[kVA]

0.9（2.1）

1.7（4.2）

2.4（5.8）

2.8（6.8）

3.4

4.0

5.9

Resistance[Ω]

Built-In

——

Regenerative

Resistor

Capacity[W]

——

150

120

Regenerative

Resistor

Minimum Allowable

External Resistance[Ω]

Overvoltage Category

III

■ Three-phase 380VAC

Model No.

15D

18D

24D

35D

Continuous output current [Arms]

Maximum instantaneous output current

35.3

44.1

58.9

88.3

[Arms]

AC30V，-15% ～ +10%,

Input power requirements

Main power

50 Hz / 60 Hz

supply

Input current [Arms]

8.6

14.5

21.7

31.8

Input control power requirements

DC 24V，-10% ～ +10%,

Input power capacity [kVA]

7.1

11.7

14.4

21.9

Resistance

Built-in

[Ω]

regenerative

resistor

Regenerative

Power [W]

150

resistor

Minimum allowable external

resistance [Ω]

Overvoltage category

III

2.1.2

Specification table

Item

Specifications

Control model

Position control, JOG operation, Speed contacts, etc.

Encoder feedback

Serial data encoder: 17-bit or 23-bit (single or multiple turns)

Operating ambient

temperature/storage

Operating ambient temperature: 0~+50℃, storage temperature: -20~+85℃

temperature

Conditions of use

Ambient humidity/storage

Below 90%RH (no freezing or condensation)

humidity

Vibration/impact strength

4.9m/s²／19.6m/s²

Structure

Base mounting type

1:10000 (the lower limit of the speed control range is stable operation without crawling under rated

Speed control range

load)

Speed response

3.1KHz

Speed Volatility (Load

0 ~ 100% load: Under ±0.01%(at rated speed)

Performance

Change)

Velocity fluctuation rate

Rated voltage ±10%: 0% (at rated speed)

(voltage change)

Velocity fluctuation rate

25±25℃：Below ±0.1%（at rated speed）

(temperature change)

Command voltage

DC±10V

Analog speed

Input impedance

Around 20KΩ

command input

Circuit time parameter

47μs

Command voltage

DC±10V

Analog torque

Input impedance

Around 20KΩ

command input

Circuit time parameter

47μs

Point

8 points

Servo ON (/S-ON), P action (/P-CON), prohibition of forward rotation side drive (P-OT), prohibition

Sequential control

of reverse rotation side drive (N-OT), alarm reset (/ALM-RST), forward rotation side torque limit

input signal

Function (assignable)

(/P-CL), reverse rotation side torque limit (/N-CL), position deviation reset (/CLR), internal set

speed switching, etc.

Distribution of the above signals and change of positive/negative logic can be performed

Point

6 points

Servo Alarm (ALM), Positioning Complete (/COIN), Speed Consistent Detection (/V-CMP), Servo

Sequential control

Motor Rotation Detection (/TGON), Servo Ready (/S-RDY), Torque Limit Detection (/CLT), Brake

output signal

Function (assignable)

(/BK), Encoder Zero Output (PGC)

Distribution of the above signals and change of positive/negative logic can be performed

Encoder frequency division pulse output

Phase A, phase B, phase C: linear drive output; Frequency division pulse number: can be

arbitrarily set

Communication protocol

MODBUS

RS-485

1: N communication

The maximum can be N = 127 stops.

communication

Axis address setting

Through parameter setting

Communication protocol

CANOpen (DS301+DS402 line gauge)

CAN communication

1: N communication

The maximum can be N = 127 stops.

Axis address setting

Through parameter setting

Communication protocol

MECHATROLINK-II

Set slave address

41 to 5F (hexadecimal) (maximum number of slave stations supported: 30), via parameter setting

MECHATROLINK-Ⅱ

Baud rate

10 Mbps, 4 Mbps, via parameter setting

Bus

Transmission period

250 microseconds or 0.5 milliseconds to 4.0 milliseconds (multiples of 0.5 milliseconds)

Number of bytes transferred

There are 17 or 32 bytes for each site and the same is set by parameters

Communication protocol

MECHATROLINK-III

Set slave address

03 to EF (hexadecimal) (maximum number of slave stations supported: 62), via parameter setting

MECHATROLINK-Ⅲ

Baud rate

100 Mbps

Bus

250 microseconds, 500 microseconds, 750 microseconds, or 1.0 milliseconds to 4.0 milliseconds

Transmission period

(multiples of 0.5 milliseconds)

Number of bytes transferred

There are 16, 32 or 48 bytes for each site and the same is set by parameters

Communication protocol

CoE (CANOpen over EtherCAT)

Control model

csp, pp, hm, csv, cst, pv, tq

EtherCAT bus

Zero return mode

1-14, 17-30, 33, 34, 35, 37

Synchronization mode

DC, SM2, FreeRun

Minimum command cycle

125 μs

Display function

CHARGE Indicator, 7-segment Digital Tube 5-bit

Regeneration treatment

Internal Regenerative Resistor or External Regenerative Resistor (Optional)

Overtravel (OT) prevention function

Dynamic brake (DB) stops, deceleration stops or free running stops when P-OT and N-OT input

actions are performed.

Protection function

Overcurrent, overvoltage, undervoltage, overload, overspeed, regeneration fault, encoder

feedback error, etc.

Monitoring function

Revolving speed, current position, command pulse accumulation, position deviation, motor

current, running state, input and output signals, etc.

Auxiliary function

Gain adjustment, alarm recording, JOG operation, origin search, inertia detection, etc.

Intelligent function

Built-in Gain Auto Tuning

Applicable load inertia

Less than 5 times of motor inertia

Feedforward compensation

0 ~ 100% (set unit 1%)

Symbol+pulse sequence, CW+CCW pulse sequence, 90 °phase difference two-phase pulse

Type of input pulse

(phase A+phase B)

Input pulse form

Support linear drive, open collector

y Linear drive

Position control

Symbol+pulse sequence, CW+CCW pulse sequence: 500K pps

Maximum input pulse

90° phase difference two-phase pulse (phase A+phase B): 500K pps

frequency

y Open collector

Symbol+pulse sequence, CW+CCW pulse sequence: 200K pps

90° phase difference two-phase pulse (phase A+phase B): 200K pps

2.2 Overall dimensions of servo driver

◆ HSD7-03Ａ

2×M4

170

单位：毫米

安装孔图

Unit : mm

Mounting Hole Diagram

◆ HSD7-06Ａ

58±0.5

3×M4

（安装间距）

(mounting pitch)

180

单位：毫米

安装孔图

Unit : mm

Mounting Hole Diagram

◆ HSD7-10Ａ

78±0.5

3×M4

（安装间距）

(mounting pitch)

180

单位：毫米

安装孔图

Unit : mm

Mounting Hole Diagram

◆ HSD7-03/06/10Ａ

2×M5

180

78±0.5

（安装间距）

(mounting pitch)

单位：毫米

安装孔图

Unit : mm

Mounting Hole Diagram

◆ HSD7-16A/HSD7DS-25A HSD7-15D/HSD7-18D

110

200

98±0.5

（安装间距）

(mounting pitch)

单位：毫米

安装孔图

Unit : mm

Mounting Hole Diagram

◆ HSD7-24D/HSD7-35D

4×M6

236

194

170

（安装间距）

(mounting pitch)

单位：毫米

安装孔图

Unit : mm

Mounting Hole Diagram

Chapter 3

Installation of servo drive

3.1 Precautions for setting

For the set environmental conditions, please refer to the following.

2.1.2 Specifications

■ When installed near the heating element

To make the temperature around the servo drive conform to the environmental conditions, please control the

temperature rise caused by the heat radiation or convection of the heating element.

■ When installed near a vibration source

Please install anti-vibration equipment on the installation surface of servo drive to prevent vibration from being

transmitted to servo drive.

■ Other

Do not set it in hot and humid places, places with water droplets or cutting oil splashing, places with more dust

or iron powder in ambient gas, places with corrosive gas and radiation fields.

3.2 Mounting Types and Orientation

The servo driver can be installed in various ways, but in any case,

the servo driver must be installed in the vertical direction, as shown

in the right figure.

In addition, please make the front surface (panel display part) of

servo drive face the operator for installation.

(Note) Please firmly fix the servo drive on the mounting surface through 2 ~ 4

mounting holes (the number of mounting holes varies according to the

capacity).

Air convection direction

3.3 Mounting hole dimensions

Please use the mounting hole to firmly fix the servo drive on the

mounting surface.

Please refer to

2.3

outline dimensions of servo drive for specific

installation dimensions.

(Note) During installation, please prepare a screwdriver with a length greater than the

depth of servo drive.

3.4 Installation interval

Please ensure that the following intervals are left around the servo drive.

To prevent the ambient temperature of the servo drive from rising locally, please set a cooling fan on the

upper part of the servo drive. In addition, please refer to the figure below to leave enough space in order to

Important make use of fans and natural convection to cool the servo drive.

Fan

Above 40mm

Above 30mm Above 1mm

Above 40mm

Chapter 4

Connection of Servo Unit

4.1

Wiring and Connecting precautions

设置格式[侯]: 段落间距段前:

行

4.1.1

General precautions

! Danger

y Do not change the wiring during power-on.

Otherwise, it will lead to electric shock or injury.

! Warning

y Please be connected or checked by professional technicians.

Otherwise, it will lead to electric shock or product failure.

y Please carefully confirm the wiring and power supply.

The output circuit may be short-circuited due to wrong wiring and application of abnormal voltage. Mechanical

damage or casualties caused by the above failures.

y Please connect with designated terminals when AC power supply and DC power supply are connected with servo

drive.

y AC power supply should be connected to L1/L2/L3 terminal and L1C/L2C terminal of servo drive.

y Please connect DC power supply with B1/⊕ terminal and terminal of servo drive, L1C/L2C.

Failure to do so may result in failure or fire.

y Please connect the external dynamic brake resistor conforming to the specifications of machinery and devices

with the designated terminal when the servo drive uses the external dynamic brake option. Otherwise,

unexpected actions will be caused during emergency stop, causing equipment damage, burning damage and

personal injury.

! Notes

y Please confirm that the (CHARGE) lamp is off after the power supply is turned off for at least 5 minutes, and then

conduct wiring and inspection. Even if the power supply is turned off, high voltage may still remain inside the

servo drive. Therefore, do not touch the power terminal while the (CHARGE) lamp is on.

Otherwise, it will lead to electric shock.

y Please follow the precautions and procedures recorded in this manual for wiring and trial operation.

Servo drive failure caused by wrong wiring of brake circuit and application of abnormal voltage may lead to

mechanical damage or casualties.

y Please wire correctly and reliably.

The connector and the pin arrangement of the connector vary depending on the model. Please be sure to confirm

the pin arrangement through the technical data of the model used.

Otherwise, it will lead to product failure or misoperation.

y Please be sure to tighten and effectively connect the wires of the power supply terminal and the motor connection

terminal according to the specified method and torque. If it is not tightened sufficiently, the wires and terminal

blocks will heat up and cause fire due to poor contact.

y For input and output signal cables and encoder cables, please use shielded double stranded wires or multi-core

double stranded integrated shielded wires.

y When wiring the main loop terminal of servo drive, please observe the following precautions.

y After all wiring including the main loop terminals is completed, the servo drive power supply is switched on.

y When the main circuit terminal is of connector type, please remove the connector from the servo drive body and

wire again.

y Only one wire can be inserted into one wire socket of the main circuit terminal.

y When inserting wires, do not make burrs of core wires contact with adjacent wires to cause short circuit.

y Please set up safety devices such as circuit breakers for wiring to prevent external wiring from short-circuiting.

Otherwise, it will lead to fire or failure.

! Notice

y Please use the cables designated by our Company as far as possible when connecting.

Please confirm the rated current and operating environment of the model when using cables other than those

specified by our Company. Use the wiring materials designated by the Company or equivalent products.

y Please tighten the fixing screw and locking mechanism of cable connector.

If the fastening is not sufficient, the cable connector may fall off during operation.

y Do not use the same sleeve for high-voltage wires (main loop cables) and low-voltage wires (cables for input and

output signals and encoder cables), nor tie them together. Please keep a spacing of more than 30cm when wiring

when not placing strong and weak current wires into separate bushings.

It will cause misoperation due to interference of weak current wires if it is too close.

y Please install the battery on either side of the upper device or encoder cable.

If batteries are installed on the upper device and encoder cable at the same time, a circulation loop will be formed

between the batteries, resulting in product damage or burning.

y Pay attention to the polarity when connecting the battery.

Battery rupture can cause encoder failure.

! Important

y Please use circuit breakers or fuses for wiring to protect the main circuit.

The servo drive is directly connected to a commercial power supply without using transformers or the like for

insulation. To prevent the servo system from being mixed with the outside world, be sure to use circuit breakers

or fuses for wiring.

y Please set the leakage breaker.

Servo drive has no built-in ground short circuit protection loop. To build a safer system, please configure the earth

leakage breaker for overload and short circuit protection, or install the earth leakage breaker for short circuit

protection in combination with the circuit breaker for wiring.

y Please avoid frequently turning ON/OFF the power supply.

y Frequent ON/OFF power supply will lead to aging of internal components of servo drive, so do not frequently

ON/OFF power supply except for necessary applications.

y The power ON/OFF interval should be more than 1 hour (roughly standard) after starting the actual operation

(normal operation).

Please observe the following precautions when wiring to use the servo system safely and stably.

y Please use standard cables for each connecting cable. In addition, when designing and configuring the

system, please shorten the cable as much as possible.

y Please be careful not to bend or tighten it when the core diameter of signal cable is less than 0.3 mm².

4.1.2

Anti-interference countermeasures

No anti-radio interference measures have been taken since the servo drive is industrial equipment.

The peripheral equipment may be affected by switching interference since the servo-driven main circuit uses

high-speed switching elements.

Please take anti-interference measures when using near residential buildings or when you are worried about

Important

radio interference.

The servo drive is internally provided with a microprocessor. Therefore, it may be affected by noise from

servo-driven peripheral equipment.

To suppress the noise interference between servo drive and peripheral equipment, the following

anti-interference countermeasures can be taken as required.

 Please set the input command equipment and noise filter as close to the servo drive as possible.

 Be sure to connect surge absorbers to the coils of relays, solenoid valves and electromagnetic contactors.

 Please do not put the following cables into the same sleeve or tie them together. In addition, please keep an

interval of more than 30cm when wiring.

y Main loop cable and cable for input and output signals

y Main loop cable and encoder cable

 Do not use the same power source as electric welding machine, electric spark machine, etc. Even if it is not

the same power supply, when there is a high frequency generator nearby, please connect the noise filter at

the input side of the main loop power cable and the control power cable.

 Please carry out proper grounding treatment.

Noise filter

Connect the interference filter at an appropriate place to avoid the adverse effect of interference on servo

drive.

The following is an example of wiring considering anti-interference measures.

Servo unit

Interference filter

Servo motor

Above

2.0mm²

Above

2.0mm²

Operation relay sequence

control loop

User signal generation loop

Interference filter *²

power

supply

Above 2.0mm²

(Grounding plate)

Earth grounding ... must be special for grounding

*1. Please try to use a thick wire of more than 2.0 mm² for grounding (flat braided copper wire is more suitable).

*2.

Please try to use double stranded wires for connection.

Noise Filter Wiring and Connection Precautions

Please observe the following precautions when wiring and connecting interference filters.

删除[侯]:

y Please separate the input wiring from the output wiring. In addition, do not put the input and output wires into

the same sleeve, nor bind them together.

Interference

filter

Grounding plate

Interference

filter

Grounding plate

Separate the circuit

y Please set the ground wire of interference filter separately from the output wire. In addition, the ground wire

should not use the same sleeve as the output wiring of the interference filter and other signal wires, nor

should it be tied together.

Interference

filter

Can be close to the

input line

Grounding plate

y Connect the ground wire of the interference filter to the ground plate separately. Do not connect other ground

wires.

Interference

filter

Servo unit Servo unit

Shield

earthing

Grounding plate

y Please connect the ground wire of this filter and the ground wire of other equipment in the control cabinet to

the ground plate of the control cabinet when there is an interference filter inside the control cabinet, and then

connect to the ground.

Control cabinet

Servo unit

Interference

filter

Servo unit

Grounding

Grounding plate

4.1.3

Grounding

Please follow the following for grounding treatment. If proper grounding treatment is adopted, misoperation

caused by interference can also be prevented.

When connecting the grounding cable, please pay attention to the following points:

y Please use the grounding above Class D (grounding resistance below 100Ω).

y One point must be grounded.

y When the servo motor and the machine are insulated from each other, please directly ground the servo

motor.

Grounding of motor housing or motor

The switch interference current will flow out from the servo drive main loop through the floating capacitor of the

servo motor when the servo motor is mechanically grounded. Please be sure to connect the motor housing

terminal (FG) or ground terminal (FG) of the servo motor with the ground terminal of the servo drive in order to

prevent this phenomenon. In addition, the ground terminal”

” must be grounded.

When noise occurs in cables for input and output signals

Please connect the shielded wire of the cable for input and output signals to the connector housing before

grounding when interference occurs in the cable for input and output signals. The metal sleeve and the

grounding box are grounded at a single point when the main loop cable of the servo motor is sheathed with a

metal tube.

4.2 Basic connection diagram

Three-phase AC 200~230V (50/60Hz)

Non-fuse breaker

Three-phase AC 380~420V (50/60Hz)

Surge

protector

(Servo Alarm Display)

Noise filter

Power

Please connect a surge arrester to the coil of the

electromagnetic contactor.

Magnetic

Servo motor

contactor

series servo driver

Encoder

Connect external regenerative

resistor

Must be grounded

4.3 Power supply wiring for servo drive

4.3.1

Terminal symbol and terminal name

The connection of servo-driven main circuit power supply and control circuit power supply uses servo-driven

main circuit connector or terminal strip.

! Warning

Please refer to the following table and the description in the reference section for correct wiring. Incorrect

wiring will lead to servo drive failure and fire.

The main loop power input specifications for servo drive are as follows:

■ Single phase/three phase AC220V power input

Terminal

Terminal name

Specifications

symbol

Main circuit power

supply input terminal

Three phase AC 200V～240V，-15%～+10%，50/60Hz

L1, L2, L3

for AC power supply

Single phase AC 200V ~ 240V,-15% ~+10%, 50/60Hz

input

Control power

Single phase AC 200V ~ 240V,-15% ~+10%, 50/60Hz

L1C, L2C

terminal

Remove the short wire or short piece between B2-B3 when the regeneration

B1/⊕、B2、

Regenerative resistor

capacity is insufficient and connect the external regeneration resistor between

connection terminal

B1/⊗ and B2.

Please purchase an external regenerative resistor separately.



None (Do not connect it to the terminals.)

■ Three phase AC380V power input

Terminal

Terminal name

Specifications

symbol

Main circuit power

supply input terminal

L1, L2, L3

Three phase AC 380V～420V，-15%～+10%，50/60Hz

for AC power supply

input

Control power supply

L1C, L2C

DC 24V，-10% ～ +10%

terminal

HSD7DS-15D   , HSD7DS-18D   , Remove the short wire or short piece

between B2-B3 when the regeneration capacity is insufficient and connect the

external regeneration resistor between B1/⊗ and B2.

B1/⊕、B2、

Regenerative resistor

Please purchase an external regenerative resistor separately.

connection terminal

HSD7DS-24D   and HSD7DS-35D   no built-in regenerative resistor, and

cannot be shorted between B2 and B3. External regenerative resistor shall be

connected between B1/⊗ and B2. Please purchase an external regenerative

resistor separately.



None (Do not connect it to the terminals.)

4.3.2

Wiring Operation Steps of Main Loop Connector

y Prepare items

Prepare items

Remarks

y Spring opener

Spring opener

Servo drive appurtenances

y Slotted screwdriver

Slotted screwdriver

Commercial products with cutting edge width of 3.0mm-3.5mm

1. Remove the main circuit connector and motor connector from the servo drive.

2. Peel off the cladding of the used wires.

3. Use a tool to open the wire insertion part of the terminal connector. There are two methods of opening. You

can choose any of them.

①Use method of spring opener

②Use method of flat screwdriver

The opening operation is performed using a

As shown in the figure, insert a flat-blade

spring opener as illustrated

screwdriver into the screwdriver insertion opening

to open the wire insertion part.

Spring opener

Wire

4. Insert the core wire part of the wire into the wire insertion part. After insertion, pull out the spring opener or a

slotted screwdriver.

5. Repeat the above operations and make necessary connections.

6. After wiring is completed, install the connector to the servo drive.

4.3.3

Power on sequence control

Please consider the following points when designing the

Connect to the power

power on sequence control.

 After the control power is turned on, the servo alarm

Control power supply

Main circuit power

output (ALM) signal is output within a maximum of 5.0

supply

seconds. Please consider it when the power on^{ServoAlarmOutput}

(ALM) Signal Alarm status

Alarm release status

Maximum 5.0s

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