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

sequence control. Switch on the main circuit power

supply after ALM signal OFF (alarm cleared).

! Warning

 Even if the power supply is turned off, high voltage may remain in the servo drive. To prevent electric shock, do

not touch the power terminals. After the discharge is completed, the CHARGE indicator will go out. Please

connect and check after confirming that the CHARGE indicator is off.

4.3.4

Power wiring diagram

 Example of wiring for three-phase power input:

Servo unit

(For servo alarm

display)

Servo

power on

power off

1Ry: relay

1QF: circuit breaker for wiring

1PL: Indicator for Display

1FLT: noise filter

1KM: electromagnetic contactor (for

1SA: Surge Absorber

controlling power supply)

2SA: Surge absorber

2KM: electromagnetic contactor (for

3SA: Surge Absorber

main circuit power supply)

1D: Bypass Diode

* HSD7-24D, HSD7-35D No built-in resistor, no short circuit between B2 and B3. Please do not short-circuit.

4.3.5

Connection of Regenerative Resistance

The connection of the external regenerative resistor will be described below.

! Warning

 Do not mistake the wiring of the regenerative resistor. In particular, do not short-circuit B1/⊕ -B2.

Otherwise, the regenerative resistor and servo drive will be damaged and fire will occur.

Connection method of regenerative resistor

1. Remove the wire between terminals B2-B3 of servo drive

2. Connect external regenerative resistor to B1/⊗ and B2 terminals.

3. Set Pn600 (regenerative resistance capacity) and Pn603 (regenerative resistance value).

(Note) HSD7-24D and HSD7-35D no built-in regenerative resistor, and cannot be shorted between B2 and B3.

External regenerative resistor shall be connected between B1/⊗ and B2.

4.4 Servo motor connection

4.4.1

Terminal symbol and terminal name

Servo drive terminals and connectors required for connection between servo drive and servo motor are as

follows.

Terminal/connector

Terminal/connector name

symbol

Servo motor power supply connection

U, V, W

terminal

Ground terminal

CN2

Servo motor encoder connector

4.4.2

Pin Arrangement of Connector (CN2) for Encoder

Terminal pin

Signal name

Function

number

PG5V

Encoder Power +5V

PG0V

Encoder Power 0V

E+^*

Battery (+) for absolute value encoder

E-^*

Battery for absolute value encoder (-)

SD+

Encoder serial data (+)

SD-

Encoder serial data (-)

Housing

Shielded

——

* Incremental encoders do not require wiring.

4.4.3

Connection of Servo Drive and Encoder

Absolute value encoder

When using absolute value encoder, please install battery on encoder cable with battery unit.

• Example of Wiring Using Encoder Cable with Battery Unit

Servo driver

Absolute position

Command Controller (Client)

Bus receiver

A Phase

B Phase

C Phase

Choke

R (termination resistance): 220-470Ω

C (decoupling capacitor): 0.1μF

Connector housing (PE)

Shielded wire

The number of connector pins varies depending on the servo motor used.

Indicates a multi-stranded shielded wire.

4.4.4

Wiring of Servo Drive and Brake

y When using a motor with a brake, please select a surge absorber according to the brake current and power

supply used.

y Please confirm the brake action time through the user equipment after connect the surge absorber.

Important

The brake action time will vary depending on the type of surge absorber.

y Please form a relay circuit to enable the brake to operate in case of emergency stop.

Example of relay circuit

Servo unit

Emergency stop

Photocoupler

y The brake control output (/BK) signal can change the distribution of the output signal.

y When using the 24V brake, the DC 24V power supply must be separated from the input and output signals

(CN1) and other power supplies separately.

Common power supply will lead to misoperation of input and output signals.

Servo motor

Servo unit

with brake

Power supply

Surge

suppressor

Direct current side

Brake power supply

BK-RY: brake control relay

1D: Bypass Diode

* Please install it near the brake terminal of servo motor.

4.5 Connection of input and output signals

4.5.1

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

In factory setting, the pin number, name and function of input and output signals are as follows.

Needl

Function

Needl

Function

Name

numb

Uniaxial driver

Biaxial drive

numb

Uniaxial driver

Biaxial drive

APULS

BPULS+

A axis command pulse

b axis command pulse

Command pulse input

Reservation

APULS

input

BPULS-

BSIGN

Command symbol

A axis command

BSIGN+

b axis command symbol

Reservation

input

symbol input

input

BSIGN-

ANA1+

A axis speed command

ANA2+

Torque command

b axis speed command

Speed command input

ANA1-

input

ANA2-

input

OUT0+

Output outlet 0,

OUT3+

Output outlet 0,

Output outlet 3,

redistributable

OUT0-

(Ex-factory: A axis

OUT3-

(Factory: ALM)

(Factory Reservation)

(Ex-factory: b axis ALM)

ALM)

OUT1+

Output outlet 1,

OUT4+

Output outlet 4,

Output outlet 1,

Output outlet 4,

redistributable

OUT1-

(Ex-factory:

OUT4-

(Ex-factory: b axis /

(Ex-factory:/COIN)

(Factory Reservation)

Z-axis/COIN)

COIN)

OUT2+

Output outlet 2,

OUT5+

Output outlet 5,

redistributable

OUT2-

OUT5-

(Ex-factory:/BK)

(Ex-factory: A axis / BK)

(Factory Reservation)

(Ex-factory: b axis / BK)

DICOM

Input signal common terminal

Input outlet 0,

Input outlet 4,

Input outlet 0,

Input outlet 4,

redistributable

IN0

redistributable

IN4

redistributable

(Ex-factory: A axis / S-

(Ex-factory: b axis / S-

(Ex-factory:/ S- ON)

(Factory Reservation)

ON)

Input outlet 1,

Input outlet 5,

Input outlet 1,

Input outlet 5,

redistributable

IN1

redistributable

IN5

redistributable

(Ex-factory: A axis /P -

(Ex-factory: b axis / P-

(Ex-factory:/P- CON)

(Factory Reservation)

CON)

Input outlet 2,

Input outlet 6,

Input outlet 2,

Input outlet 6,

redistributable

IN2

redistributable

IN6

redistributable

(Ex-factory: A axis /P -

(Ex-factory: b axis / P-

(Ex-factory:/P- OT)

(Factory Reservation)

OT)

Input outlet 3,

Input outlet 7,

Input outlet 3,

Input outlet 7,

redistributable

IN3

redistributable

IN7

redistributable

(Ex-factory: A axis /N -

(Ex-factory: b axis /N -

(Ex-factory:/N- OT)

(Factory Reservation)

OT)

APAO+

PG frequency division

A Axis PG frequency

BPAO+

A Axis PG frequency

Reservation

APAO-

output phase A

division output phase A

BPAO-

division output phase A

APBO+

PG frequency division

A Axis PG frequency

BPBO+

b Axis frequency division

Reservation

APBO-

output phase B

division output phase B

BPBO-

output phase B

APCO+

PG frequency division

A Axis PG frequency

BPCO+

b Axis frequency division

Reservation

APCO-

output phase C

division output phase C

BPCO-

output phase C

GND

Signal ground

GND

Signal ground

(Note) 1. Do not use the vacant terminals.

2. Please connect the shielded wire of the input and output signal cable to the connector housing.

4.5.2

Pin Arrangement of Input and Output Signal Connector (CN1)

PULS+

No. 1 niddle

PULS-

SIGN+

No. 26 niddle

No. 2 niddle

SIGN-

VREF+

TREF+

No. 27 niddle

VREF-

TREF-

ALM+

OUT3+

ALM-

OUT3-

No. 24 niddle

OUT1+

OUT4+

No. 49 niddle

OUT1-

OUT4-

No. 25 niddle

OUT2+

OUT5+

No. 50 niddle

OUT2-

OUT5-

DICOM

IN0

IN4

The appearance when the

IN1

IN5

connector housing is not installed

as seen from the arrow direction

IN2

IN6

is as follows.

IN3

IN7

PAO+

PAO-

PBO+

PBO-

PCO+

PCO-

GND

4.5.4

Input-output loop

Sequential control input loop

◆ Optocoupler Input Loop

The CN1-IN0 ~ CN1-IN7 terminals of CN1 port will be described below.

Example of relay circuit

Example of open collector Circuit

Servo unit

etc.

(Note) The external power supply (DC24 V) must have a capacity above 50 mA.

The servo-driven input loop uses a bidirectional optocoupler.

Please select common collector loop connection or common emitter loop connection according to mechanical

specifications.

Common collector loop

Common emitter loop

Servo unit input side

Photocoupler

Internal

signal

Switch

level

Photocoupler

Internal

signal

Switch

level

Polarity of input signal

Photocoupler

Internal level signal

Photocoupler

Internal level signal

L level

OFF

H level

OFF

H level

Sequential control output loop

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

The brake does not operate, which may lead to mechanical damage or casualties when the above-mentioned

faults occur.

Important

◆ Optocoupler output Loop

Servo alarm output (ALM) signal, servo ready output (/S-RDY) signal and other sequence control output

signals are optocoupler output loops. Connect via relay circuit or line receiver circuit.

Example of relay circuit

Example of open collector Circuit

Servo unit

Relay

(Note) The maximum allowable voltage and current ranges of the output loop of the photocoupler are as follows.

• Maximum allowable voltage: DC30 V

• Current range: DC5 ~ 50 mA

◆ Output loop of linear driver

Next, the CN1-19 ~ 24 (A, B, C phase signals) terminals of CN1 port will be described.

The serial data of the encoder is converted into output signals (PAO+, PAO-, PBO+, PBO-) of 2-phase

(A-phase, B-phase) pulses and origin signals (PCO+, PCO-) in one coil of the encoder are output through the

output loop of the linear driver. On the upper device side, please use the line receiver circuit to receive.

Example of Line Receiver Loop

Servo unit

Upper device

Chapter 5

Basic functions to be set before operation

5.1 Operation of Parameters (Pn)

The following describes the classification, writing method and setting method of parameters used in this

manual

5.1.1

Classification of the parameter

The servo drive parameters are divided into the following 2 categories.

Category

Meaning

Setting parameters

Basic setting parameters required for operation

Parameters for adjustment

Adjust parameters of servo performance

Supplementary

notes

When using the digital operator to display and set the adjustment parameters, the adjustment

parameters under factory setting will not be displayed.

Please set to Pn00b = n.  1 (all parameters are displayed).

Effective

Parameter

Meaning

Category

time

n.0

Only set parameters are displayed

Power

Pn00B

[Factory setting]

Setup

restart

n.1

Display all of the parameters

5.1.2

Writing Method of Parameters

There are two writing methods for parameters: numerical setting type for setting numerical value and function

selection type for selecting function.

Numerical setting type

Indicates the control mode in which this parameter can be used.

Speed speed control

Position position control Torque

torque control

Velocity loop gain

Speed

Position

Setting range

Setting Unit

Factory setting

Effective time

Category

Effective immediately

Adjustment

Parameter

number

Indicates the "minimum"

Indicates

when the

setting unit

(scale of the

Indicates the factory

parameter changes andIndicatestheclassification

Represents a configurable

of the parameter.

setting value) that can be

parameter settings.

the change takes effect.

parameter range.

set in the parameter.

Function selection type

Parameter

Meaning

Effective time

Category

Use the encoder according to its specifications.

[Factory setting]

After switching on the

Setup

The encoder is used as an incremental encoder.

power again

The absolute value encoder is used as a 1-turn absolute value encoder.

Parameter

n.  indicates that it is a function selection

Functional Selection

number

type.

Description.

The value of  indicates the set value of each digit.

The third digit from the right here is "2".

5.1.3

How to Set Parameters

Parameters can be set using the panel operator or using iWatch+ debugging software.

5.1.4

Write inhibit setting of parameters

This function prohibits the use of panel operators to change parameters. However, iWatch+ debugging

software can be used to change parameters.

5.1.5

Initialization of parameter settings

Restore the parameters to the function used when factory setting. You can choose whether to initialize.

The values adjusted using Fn00C, Fn00D, Fn00E, Fn00F will not be initialized due to the execution of this

function.

In order for the setting to take effect, the power supply for servo drive must be switched on again after

operation.

Important

Confirmation before execution

Please confirm the following settings before initializing the parameter settings.

• The write inhibit setting of the parameter must not be set to "write inhibit"

• Must be in servo OFF state

5.2 Setting of Communication Specifications for MECHATROLINK-II

The communication specification of MECHATROLINK-II is set by servo drive parameters PA013 and PA014.

5.2.1

Communication specification setting

Effective

Parameter

Meaning

Category

time

n.0

Communication speed setting

n. 1

0: 4Mbps

[Factory setting]

1: 10Mbps

Power

Pn014

Setup

n.0

Transfer byte settings

restart

n.1

0: 17 bytes

[Factory setting]

1: 32 bytes

5.2.2

Station address setting

Address of MECHATROLINK-II station

Speed

Position

Torque

Pn013

Setting range

Setting Unit

Factory setting

Effective time

Category

0000〜00FF

0001

Power restart

Setup

5.3 Setting of Communication Specifications for MECHATROLINK-III

The communication specification of MECHATROLINK-III is set by servo drive parameters PA013 and PA014.

5.3.1

Communication specification setting

Effective

Parameter

Meaning

Category

time

n.0

Transfer byte settings

Power

Pn014

n.1

0: 32 bytes

Setup

restart

[Factory setting]

1: 48 bytes

5.3.2

Station address setting

Address of MECHATROLINK-III station

Speed

Position

Torque

Pn013

Setting range

Setting Unit

Factory setting

Effective time

Category

0000〜00FF

0021

Power restart

Setup

5.4 Setting of EtherCAT communication specifications

The communication specification of EtherCAT communication is set by servo drive parameters PA013 and

PA014.

5.4.1

Setting of Communication Specifications

Effective

Parameter

Meaning

Category

time

n.0

EtherCAT station address selection mode

[Factory setting]

0: set the parameter Pn013

as the station address of

Power

Pn014

EtherCAT.

Setup

restart

n.1

1: Take the value of SII area (0004h) as the station address of

EtherCAT

5.4.2

Station address setting

EtherCAT station address

Speed

Position

Torque

Pn013

Setting range

Setting Unit

Factory setting

Effective time

Category

0000〜FFFF

Power restart

Setup

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

Servo drive can also run when the main loop and control loop are AC power input or DC power input. When

selecting AC power input, the servo drive can be operated using single-phase power input or three-phase

power input. The relevant settings for the power supply are as follows.

5.5.1

Setting of AC Power Input/DC Power Input

Whether the main loop power supply for servo drive uses AC power input or DC power input is set by Pn 001 =

n.X (setting of AC/DC input for main loop power supply).

When the set value is Pn 001 = n.X, if it does not conform to the actual power input specification, A.330

(main circuit power supply wiring error) will occur.

Example of A.330 (Main Circuit Power Supply Wiring Error)

Case

 When it is set to input AC power for use (Pn 001 = n. 0), DC power is input between B1/⊗ -terminals.

 When the input DC power source is set to be used (Pn 001 = n. 1), AC sources are input to L1, L2 and L3

terminals.

Effective

Parameter

Meaning

Category

time

n.0

For AC power input

Power

Pn001

[Factory setting]

Setup

restart

n.1

For DC power input

! Warning

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

drive.

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

 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.

 When using DC power input, be sure to set it as DC power input (Pn 001 = n.1) before inputting the main

loop power.

When DC power is input without setting it as DC power input (Pn 001 = n.  1   ), it will lead to burning of

servo-driven content components and cause fire and equipment damage.

 When DC power is input, it takes a certain time to discharge after the main power is cut off. After the power supply

is cut off, high voltage will remain inside the servo drive, please pay attention to avoid electric shock.

 When inputting DC power supply, please set fuse on the power supply wiring.

 The servo motor returns the regenerative energy to the power supply during the regenerative action. Servo drive

does not undergo regeneration processing when using DC power input, so please conduct regeneration energy

processing on the power supply side.

5.5.2

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

Three-phase AC220V power supply input servo drive is of three-phase power supply input specifications, as

well as models that can be used under single-phase AC200V power supply input.

The servo drive models that can support single-phase AC220V power input are as follows.

 HSD7-B(E)S-03A, HSD7-B(E)S-06A, HSD7-B(E)S-10A,

HSD7-B(E)W-03A, HSD7-B(E)W-06A, HSD7-B(E)W-10A,

When using the above servo-driven main loop power supply under single-phase AC220V power supply,

please change it to pn00b = n.1 (single-phase power input is supported).

Effective

Parameter

Meaning

Category

time

n. 0

For three-phase AC power input

Power

Pn00B

[Factory setting]

Setup

restart

n. 1

For single phase AC power input

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

The servo ON input (/S-ON) signal is a signal that enables the servo motor to enter an operational state.

The function and setting of the /S-ON signal will be described below.

5.6.1

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

Signal

Type

Connector pin number

Signal status

Meaning

name

The servo motor is energized to enter a drivable

ON (closed)

state.

Output

/S-ON

Distribution required

Servo motor is not energized and cannot be

OFF (OFF)

driven.

The /S-ON signal can be set to Pn50a = n. X (servo ON input (/S-ON) signal distribution) and distributed

to terminals of other input signals.

1. Please be sure to input speed command/position command/torque command after turning on /S-ON

signal to start or stop servo motor. If a command is input first, and then the motor is started or stopped by

turning on or off the /S-ON signal and AC power supply, internal components may be aged, resulting in

motor failure.

2. Please input /S-ON signal when the servo motor is stopped. The servo cannot be turned ON when

Important

the motor rotates.

5.6.2

Set to Constant Servo ON (Motor Energized)

Pn50A = n.   X  (servo ON input (/S-ON) signal distribution) is set to 9 (when /S-ON signal is set to

constant servo on (motor on)), it can be set to constant servo on (motor on).

Effective

Parameter

Meaning

Category

time

n.0

[Factory

Use the /S-ON signal to turn servo ON/ servo OFF.

Power

Pn50A

setting]

Setup

restart

Set to Constant Servo ON (Motor Energized). (Fix the /S-ON

n.9

signal to always "active".)

1. If the servo ON is set to always be valid, the motor will be powered on when the power supply of the

servo drive main loop is turned on. When the speed command/position command/torque command is input,

the servo motor or mechanical system may have unexpected actions, so please take safety measures.

2. Even if an inoperable state (non-energized state) is entered due to a resettable alarm, it will

automatically return to an operable state (energized state) as long as alarm reset is performed.

Important

If the alarm reset is performed in the state of servo ON when it is set to normal, the servo motor or

mechanical system may have unexpected actions, so please pay attention.

5.7 Setting of Motor Rotation Direction

The rotation direction of the servo motor can be switched without changing the polarity of the speed

command/position command (command direction) (Pn 000 = n.X).

At this time, although the rotation direction of the motor will change, the polarity (phase relationship between

phase A and phase B) of output signals such as encoder frequency division pulse output will not change.

Please set according to the system.

The "forward rotation direction" set by the factory is "counterclockwise rotation (CCW)" as viewed from the

load side of the servo motor.

Forward/rever

Motor rotation direction and encoder frequency division

Effective

Parameter

se command

pulse output

overtravel (OT)

Encoder frequency division

Prohibit

Torque command

pulse output

positive

n.    0 the

Forward

Time

rotation side

CCW direction

command

drive input

is the forward

Motor speed

Phase B lead

(P-OT) signal

rotation

Encoder frequency division

direction.

Torque command

pulse output

Disable

Factory

Reverse

reverse side

setting]

Time

Phase A lead

command

drive input

(N-OT) signal

Motor speed

Pn000

Encoder frequency division

Torque command

Prohibit

pulse output

positive

n.    1 the

Forward

Time

rotation side

CW direction

instruction

drive input

is the forward

Motor speed

Phase B lead

(P-OT) signal

rotation

Encoder frequency division

direction.

Torque command

pulse output

Disable

Reverse

reverse side

Time

Phase A lead

Mode)

command

drive input

(N-OT) signal

Motor speed

5.8 Functions and settings of over-travel prevention

The over-travel prevention function of servo drive refers to the safety function of forcing the servo motor to

stop by inputting the signal of limit switch when the movable part of the machine exceeds the designed safe

movement range.

The overtravel signal includes a P-OT signal that prohibits forward rotation and an N-OT signal that prohibits

reverse rotation. The P-OT and N-OT signals are used to set a limit switch at the position to be limited when

starting the machine under the drive of the servo motor, and then stop the machine through the signals.

Examples of servo drive wiring are shown below.

Motor forward rotation direction

Servo unit

Servo

motor

Limit

switch

Rotary applications such as round tables and conveyors do not require over-travel prevention function, and

there is no need to wire the over-travel prevention input signal at this time. The following is a description of the

parameter setting related to the over-travel prevention function.

! Notes

 In order to prevent accidents caused by poor contact and disconnection of contact parts, please use "normally closed

contact" for limit switches.

In addition, do not change the factory setting of the polarity of over-travel signals (P-OT, N-OT).

 When the servo motor is used as a vertical shaft, the brake control output (/BK) signal will remain in the ON (brake

on) state in the overtravel state, so the workpiece may fall off when overtravel occurs. In order to prevent the

workpiece from falling off, please set it to a zero fixed state after the servo motor stops (Pn 001 = n.1).

 In case of overtravel, it will enter the base blocking state after stopping, but it may be dragged back when the load

shaft side receives external force. In order to prevent the servo motor from being dragged back due to external force,

please set it to a fixed zero position after the servo motor stops (Pn 001 = n.1).

5.8.1

Overtravel signal

The overtravel signal includes a P-OT signal that prohibits forward rotation and an N-OT signal that prohibits

reverse rotation.

Signal

Connector

Signal

Type

Meaning

name

pin number

status

Forward-turning side can be driven (normal operation)

P-OT

CN1-IN2

It is forbidden to drive the forward rotation side (forward rotation

OFF

Input

side over travel)

The reverse side can be driven (normally operated)

N-0T

CN1-IN3

OFF

Reverse side drive is prohibited (reverse side overtravel)

Even in the over-travel state, it is still allowed to drive in the opposite direction by inputting command.

5.8.2

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

The valid/invalid over-travel prevention function can be selected by PN50A = n.X   

(prohibiting the

distribution of the forward-rotation-side drive input (P-OT) signal) and PN50B = n. X (prohibiting the

distribution of the reverse-rotation-side drive input (N-OT) signal).

When the selection is invalid, there is no need to connect the input signal for over-travel prevention.

Effective

Parameter

Meaning

Category

time

n. 2

After the overtravel function takes effect, input the No Forward

[Factory setting]

Drive Input (P-OT) signal from CN1-IN2.

Power

Pn50A

Setup

Overtravel function fails. Forward rotation side drive is always

restart

n. 8

allowed.

n 3

After the overtravel function takes effect, input the drive input

Power

Pn50B

[Factory setting]

(N-OT) signal from CN1-IN3 on the reverse side.

Setup

restart

n. 8

Overtravel function fails. Reverse side drive is always allowed.

5.8.3

Selection of Motor Stopping Method for Over-travel Prevention Function

The servo mOTor stop method when the overtravel prevention function operates is selected by Pn001 = n

XX (stop method when servo OFF and Gr.1 alarm occurs, stop method when overtravel (ot)).

Effective

Parameter

Stop method of motor *

Turn state after motor stops

Category

time

n.00

[Factory setting]

Dynamic brake

Free-running operation

n. 01

n. 02

Free-running operation

Power

Pn001

Setup

n. 1

Decelerate according to

Zero position fixing

restart

n. 2

Pn406 setting

Free-running operation

n. 3

Decelerate according to

Zero position fixing

n. 4

Pn30A setting

Free-running operation

* Torque control cannot slow down to stop. According to the setting of Pn001 = n. X (servo OFF and stop method in

case of Gr.1 alarm), the dynamic brake stops or the free running stops, and enters the free running state after the servo

motor stops.

When the emergency stop torque is set to stop the servo motor

When the emergency stop torque is set to stop the servo motor, Pn406 (Emergency Stop Torque) is set.

When Pn001 = n.X is set to 1 or 2, the servo motor will be decelerated with the set torque of Pn406 as

the maximum value.

The factory setting is "800%". This is a large enough value to ensure that the servo motor must output

maximum torque. However, the actual effective maximum limit of emergency stop torque is the maximum

torque of the servo motor.

Emergency stop torque

Speed

Position

Torque

Setting range

Setting Unit

Factory setting

Effective time

Category

Pn406

Effective

0〜 800

1% *

800

Setup

immediately

* Percentage relative to rated torque of motor.

When the deceleration time is set to stop the servo motor

When setting the deceleration time of the servo motor to stop the servo motor, Pn30A (deceleration time at

servo OFF and forced stop) is set.

Deceleration Time for Servo OFF and Forced Stop

Speed

Position

Torque

Setting range

Setting Unit

Factory setting

Effective time

Category

Pn30A

Effective

0〜 10000

1ms

Setup

immediately

When Pn30A is set to "0", zero speed stops.

The deceleration time set by Pn30A is the time from the highest speed of the motor to the stop of the motor.

Maximum speed

Actual deceleration time =^Actionspeed

Maximum speed

x Deceleration Time (Pn30A)

Action speed

Actual

deceleration

time

5.8.4

Overtravel warning function

The over-travel warning function refers to the function of detecting A.9A0 (over-travel warning) when entering

the over-travel state during servo ON. When using this function, even if the over-travel signal is input

instantaneously, the servo drive can notify the upper device of the occurrence of a warning. This function is

only valid when the servo is ON. When the servo is OFF, even if it enters the overtravel state, the overtravel

warning will not be detected.

y Even if A.9A0 occurs, the motor stop and the motion control action of the upper device will not be affected.

In case of over-travel warning, the next step (motion control and other commands) can still be executed.

However, according to the processing specifications and procedures of the upper-level device for warning,

the actions in case of over-travel warning may change (motion control stops or motion control does not

stop, etc.). Please confirm the specifications and procedures of the upper device.

y In case of overtravel, the servo drive will stop the overtravel, so when A.9A0 occurs, the servo motor has

Important

not reached the target position set by the upper device. Please confirm whether the shaft is stopped in a

safe position through feedback position.

This function is set by the following parameters.

Effective

Parameter

Meaning

Category

time

n.0

No over-travel warning is detected.

Power

Pn00D

[Factory setting]

Setup

restart

n.1

Check out over-travel warning.

The timing chart for detecting warnings is as follows.

Command

Motion instructions, etc

Command

Servo ON state

Over-travel signal

Invalid Effective

Invalid

Effective

Invalid

(P-OT, N-OT signal)

Overtravel Warning

Normal status

Alarm status

(A.9A0)

Warning is not detected due to

servo OFF state.

Supplementary

1. Warnings will be detected for overtravels in the same direction as the command.

notes

2. Warning cannot be detected for overtravel in the direction opposite to the command direction.

For example, even if the N-OT signal is ON, a warning will not be issued during the movement under the

command of the positive direction.

3. In the absence of commands, warnings will be detected for overtravels in either the positive direction or

the reverse direction.

4. In the over-travel state, no warning will be detected when changing from the servo OFF state to the servo

ON state.

5. The release of the warning has nothing to do with servo ON/servo OFF and overtravel signal status. Use

the ALM_CLR command to release the warning.

6. In the over-travel state, when the warning is released by using the ALM_CLR command, the warning will

not be checked out until the over-travel state is released.

7. If soft limit is detected, over-travel warning will still be detected.

5.9 Brake

The brake is a component that maintains a fixed position when the servo-driven power supply is OFF so that

the movable part of the machine will not move due to self-weight or external force. The brake is built into the

servo motor with brake, please set it on the mechanical side.

Please use it in the situation shown below.

Vertical axis

Axis subject to external

Servo motor

The moving part of a

External

machine

Brake

force

Servo motor

Prevent power supply

from falling due to dead

weight when OFF

Brake

The moving part of a

The movable part of the machine is

machine

prevented from moving due to external force

The brake built in the servo motor is a fixed special brake with no excitation action and cannot be used for

braking purposes. Please only use it when the servo motor is stopped.

Important

5.9.1

Action sequence of brake

Considering the opening time and operating time of the brake, please set the operating time of the brake as

follows.

Brake opening time

The time between when the brake cONtrol output (/BK) signal is turned on and when the brake is actually

turned on.

Terminology

Brake action time

explanation

The time from when the brake control output (/BK) signal is turned OFF to when the brake actually operates.

Servo OFF

Servo ON (SV_ON)

Servo NO

command

Non-

Electrical machine

energized

Energized

Non-energized

energized state

Brake Control Output

(/BK) Signal

Brake action

Brake on

Brake action

Brake contact (bushing)

Position and speed

command

Motor speed

*1. The brake action of servo motor with brake will have a delay time, which is determined by the electrical characteristics of the

brake.

*2. After SV_ON command is sent, please wait for the brake to be on for more than +50ms before outputting the commands of the

upper device to servo drive.

*3. Please use the following parameters to set the brake action and servo OFF time.

Pn506 (brake command-servo OFF delay time), Pn507 (brake command output speed value), Pn508 (servo OFF- brake

command wait time)

5.9.2

Brake Control Output (/BK) Signal

Control the output signal of the brake. The connector pin number of the allocation target can be changed.

Please refer to "Distribution of Brake Control Output (/BK) Signal" for details. When the servo is OFF or

an alarm is detected, the /BK signal is OFF (brake action). The time when the brake is operated (the time

when the /BK signal is turned OFF) is adjusted by the servo OFF delay time (Pn506).

Signal

Type

Connector pin number

Signal status

Meaning

name

ON (closed)

Release the brake

Output

/BK

Distribution required

OFF (OFF)

Make the brake action

The /BK signal remains ON in the overtravel state. At this time, the brake is released.

Distribution of brake control output (/BK) signal

Distribution of /BK signal is set by PN50F = n.X (distribution of brake control output (/BK) signal).

Connector pin

Effective

Parameter

Meaning

Category

number

time

Pn50F

n.0

CN1-7,8

Output /BK signal from CN1-OUT0

Power

Setup

n.1

CN1-9,10

Output /BK signal from CN1-OUT1

restart

n.2

CN1-11,12

Output /BK signal from CN1-OUT2

[Factory setting]

n.3

CN1-32,33

Output /BK signal from CN1-OUT3

n.4

CN1-34,35

Output /BK signal from CN1-OUT4

n.5

CN1-36,37

Output /BK signal from CN1-OUT5

n.6

---

Don't use /BK signal

When multiple signals are distributed to the same output terminal, OR logic is used for signal output. Please

avoid duplication with other signals when distributing /BK signals.

In particular, please avoid distributing the rotation detection output (/TGON) signal and /BK signal to the

same output terminal. If it is distributed to the same terminal, the /TGON signal will be turned ON at the

Important

speed of falling down on the vertical axis, which may cause the brake not to operate.

5.9.3

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

When the servo motor is stopped, the /BK signal will also be OFF when the servo OFF (SV_OFF) command is

input. By setting the servo OFF delay time (Pn506), the time when the SV_OFF command is input to the actual

motor is not energized can be changed.

Brake Command-Servo OFF Delay Time

Speed

Position

Torque

Setting range

Setting Unit

Factory setting

Effective time

Category

Pn506

Effective

0〜 10000

1ms

Setup

immediately

 When used for vertical shafts and the like, the dead

Servo OFF (SV_OFF)

Servo ON

Servo OFF

weight or external force of the mechanical moving

command input

ON (brake

part may cause the machine to move slightly. By

/BK signal

released)

OFF (brake action)

setting the servo OFF delay time (Pn506), the motor

The motor is

can be in an energized state after the brake is

Electrical machine

energized

The motor is

energized state

not energized

activated. To eliminate slight movement of the

machine.

 This parameter is used to set the time when the servo

motor is not energized when it is stopped.

When an alarm occurs, regardless of this setting, the servo motor immediately enters a non-energized state.

At this time, the machine sometimes moves before the brake is activated due to the

dead weight or external force of the movable part of the machine.

Important

5.9.4

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

When an alarm occurs during the rotation of the servo motor, the servo motor stops and the /BK signal is OFF.

At this time, the output time of the /BK signal can be adjusted by setting the brake command output speed

value (Pn507) and the servo OFF-brake command waiting time (Pn508).

(Note) When the stop method for alarm occurs is zero speed stop, the setting of Pn506 (brake command-servo OFF delay time)

shall be followed after the motor stops.

Brake command output speed value

Speed

Position

Torque

Setting range

Setting Unit

Factory setting

Effective time

Category

Pn507

Effective

0〜10000

1min^-1

100

Setup

immediately

Servo OFF- Brake Command Wait Time

Speed

Position

Torque

Setting range

Setting Unit

Factory setting

Effective time

Category

Pn508

Effective

10〜100

10ms

Setup

immediately

When any of the following conditions is met, the brake will act.

When the motor speed is less than the set value of Pn507 after the motor is not energized

Servo OFF

(SV_OFF) command

input or alarm power

Servo ON

Servo OFF

OFF

Rotating servo motor: Pn507

Linear servo motor: Pn583

Motor speed

DB stop or free running stop

Electrical machine

Energized

energized state

Not energized

ON (brake

/BK signal

released)

OFF (brake action)

When the set time of Pn508 elapses after the motor enters the non-energized state

Servo OFF

(SV_OFF) command

input or alarm power

Servo ON Servo OFF

OFF

Rotating servo motor: Pn507

Linear servo motor: Pn583

Motor speed

DB stop or free running stop

Electrical machine

Energized

Not energized

energized state

ON (brake

/BK signal

released)

OFF (brake action)

Even if the brake command output speed value (Pn507) is set to a value greater than the maximum speed of

the servo motor used, it will still be limited to the maximum speed of the servo motor.

Important

5.10 Servo OFF and Motor Stop Method in Alarm

Servo OFF and motor stop method when alarm occurs are as follows.

There are four ways to stop the motor.

Stop method of motor

Meaning

The dynamic brake (DB)

By short-circuiting the electrical circuit of the servo motor, the servo motor can be

stops

stopped urgently.

Free running stop

It stops naturally due to friction when the motor rotates.

Zero speed stop

Set the speed command to "0" to make the servo motor stop urgently.

Slow down and stop

According to the emergency stop torque deceleration stop.

There are three states after the motor stops.

Turn state after motor stops

Meaning

Turn state after motor stops

The state in which the servo motor stops after short-circuiting the electrical circuit.

The state in which the servo drive does not control the servo motor (the machine will act

Free running state

when applying force from the load side)

A position ring is formed, and the position command is a stop state of "0" (the current

Zero position fixed state

stop position is maintained)

y Dynamic brake (DB) is a function of emergency stop. If starting and stopping are performed by power

supply ON/OFF or servo ON in the state where the command is input, the DB loop will operate frequently,

resulting in aging of internal components of servo drive. Please start and stop the servo motor by speed

input command or position command.

y During operation, when the servo is not OFF and the main circuit power supply is OFF or the control power

supply is OFF, DB stop is not adopted, but when free operation stop must be adopted, please use the

servo drive applicable to the dynamic brake option.

Important

y Regarding the stopping method during alarm, in order to try to shorten the inertial moving distance when

the alarm occurs, the factory settings are all zero-speed stop for alarms that allow the selection of

zero-speed stop. However, depending on the application, sometimes DB stop is more suitable than zero

speed stop.

5.10.1 Motor Stop Method when Servo OFF

The motor stop method for servo OFF is selected through Pn 001 = n.X (servo OFF and stop method for

Gr.1 alarm).

State after the servo motor

Effective

Parameter

Stop method Servo motor

Category

stops

time

n.0

Dynamic brake

[Factory setting]

Dynamic brake

Power

Pn001

Setup

n. 1

Free-running operation

restart

n. 2

Free-running operation

(Note) When Pn 001 = n.0 is set (the motor is stopped by the dynamic brake), when the servo motor stops or rotates at an

extremely low speed, no braking force will be generated as in the free running state.

5.10.2 Motor stopping method when alarm occurs

Alarms are divided into Gr.1 alarm and Gr.2 alarm. Parameters for setting the motor stop method when an

alarm occurs vary depending on the alarm type.

Motor Stop Method in Case of Gr.1 Alarm

When Gr.1 alarm occurs, the servo motor stops according to Pn 001 = n.X. Factory set to dynamic brake

stop.

Motor Stop Method in Case of Gr.2 Alarm

When Gr.2 alarm occurs, the servo motor stops according to the settings of the following 3 parameter

combinations. Factory set for zero speed stop.

• Pn001=n.X（Servo OFF and stop method when Gr.1 alarm occurs）

• Pn00A= n.X (stop method in case of Gr.2 alarm)

• Pn00B= n.X (stop method in case of Gr.2 alarm)

However, in torque control, Gr.1 stopping method is generally used. When set to Pn00B = n.1 (db stop

or free running stop), the same stop method as Gr.1 can be adopted. When using multiple servo motors in

coordination, this stopping method can be used to prevent the machine from being damaged due to different

stopping methods during alarm.

The combination and stopping method of parameter setting contents are described in the following table.

Parameter

Stop method Servo

State after the servo

Effective

Category

Pn00B

Pn00A

Pn001

motor

motor stops

time

n.0

n.0

Dynamic brake

[Factory setting]

[Factory

---

Zero speed

n. 1

Free-running

setting]

n. 2

operation

n. 0

Dynamic brake

[Factory setting]

Dynamic brake

n. 1

n. 1

Free-running

n. 2

operation

n. 0

Dynamic brake

n. 0

[Factory setting]

Dynamic brake

[Factory

n. 1

Free-running

setting]

Free-running

n. 2

operation

n. 0

Power

Dynamic brake

Setup

[Factory setting]

restart

n. 1

Taking the set

n. 1

Free-running

torque of Pn406 as

n. 2

operation

the maximum

n. 0

value to decelerate

n. 2

[Factory setting]

Free-running

n. 2

the motor

n. 1

operation

n. 2

n. 0

Dynamic brake

[Factory setting]

n. 3

n. 1

Decelerate the

Free-running

n. 2

motor according to

operation

n. 0

the setting of

[Factory setting]

Pn30A

Free-running

n. 4

n. 1

operation

n. 2

(Note) 1. When Pn001 = n.0 or n.1, the setting of Pn00A will be ignored.

2. The setting of PN00A = n.X is only valid for position control and speed control. The setting of Pn00A=n.X will

be ignored during torque control, and the setting of Pn001 = n.X will be followed.

5.11 Motor overload detection value

Motor overload detection value refers to the value (threshold) of detecting overload warning and overload

alarm when continuous load exceeding the rated value of servo motor is applied. Which can prevent the servo

motor from overheating.

Servo drive can change the detection time of A.910 (overload warning) and A.720 (overload (continuous

maximum) alarm). However, the detected value of A.710 (overload characteristic and overload (instantaneous

maximum) alarm) cannot be changed.

5.11.1 Detection time of overload warning (A.910)

The overload warning detection time at the factory is 20% of the overload warning detection time. By changing

the overload warning value (Pn52B), the overload warning detection time can be changed. This function can

be used as overload protection function of the used system to improve safety.

For example, as shown in the following figure, when the overload warning value (Pn52B) is changed from 20%

to 50%, the overload warning detection time will become half (50%) of the overload warning detection time.

Overload detection time

Overload alarm

Pn52B=50%

detection curve

overload warning

detection curve

Pn52B=20% (factory set) overload

warning detection curve

Torque command [%]

HSD7-E Series AC Servo Drive. User's Manual (Version: V0.1) - page 2