HSD3 Series AC Servo Drive. User's Manual (Version: 3.1.14)

- 52 -

(2) Operation steps of speed control mode

（

□

000=H.

□□

□）

The following external input signal circuit and the equivalent signal circuit shall be configured.

Step

Content

Confirmation method and supplementary description

Please confirm the power and input signal circuit again

and verify the speed instruction input (the voltage

between V-REF and GND) is 0V.

Please refer to the input signal circuit shown in the above figure.

Please set the servo ON (/S-ON) input signal ON.

If the servo motor makes tiny rotation, please reference "adjustment

of instruction offset" for the non-rotation setting of servo motor.

Please input the speed instruction (the voltage between

V-REF and GND) slowly increase from 0V.

Default factory is 150(r/min)/V.

Please confirm that the speed instruction value

(Un004[r/min]) input to the servo drive.

For the display method, please refer to “Basic mode of selection and

operation”

Please confirm the servo motor speed (Un000[r/min])

value.

For the display method, please refer to “Basic mode of selection and

operation”

Please confirm that value of step 4 is equal to the step 5

(Un004 and Un000).

For speed change instruction, input voltage to confirm whether

Un004=Un000 is achieved under the mode of multiple speed

instruction values.

Please confirm the input gain of speed instruction or the

direction of motor rotation.

If input gain (P□300) is conducted to the speed change instruction,

please reference the following formula.

Un004

＝

P□300[rpm/V]×(V-REF voltage)[V]

If you want to change the direction of motor rotation under the

condition of keeping the input voltage polarity of the speed

instruction, please reference the "switching for the direction of motor

rotation".

Please start execution from step 2 after change. → check from

step 2 again.

If it gets into servo OFF status when speeds input

instruction is set as 0V, it shows the test run completion of

the servo motor unit.

-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------



Position control is configured on the instruction control unit

When servo is placed in speed control and position control is configured on the instruction control unit, please confirm the following

items after the above "operating steps of speed control mode".

Step

Content

Confirmation method and supplementary description

Please confirm the power and input signal circuit again

and verify the speed instruction input (the voltage

between V-REF and GND) is 0V.

Please set the servo ON (/S-ON) input signal ON.

If the servo motor makes tiny rotation, please reference "adjustment

of instruction offset" for the non-rotation setting of servo motor.

Issue the instruction of the motor rotation amount (e.g.,

motor rotates 1 circle) easy to be confirmed in advance

from the instruction control unit, and confirm the issued

motor rotation amount and the rotated motor rotation

amount via visual inspection and motor's real angle

monitoring (Un015[pulse]).

Motor rotation angle 1 (Un015 [pulse]): number of pulses starting

from the origin.

Whether the rotation value of step 11 is different, please

set the PG frequency ratio (Pn201) of the output encoder

pulse from the servo unit correctly.

Please refer to the "Encoder signal output” for the setting method.

PG frequency ratio (Pn201[P/Rev]): the number of encoder pulses

per rotation for 1 cycle.

Enter the servo into OFF state when the speed input

instruction is set at 0V, and then it is indicated that the trial

running of the command controller as position control has

been completed.

-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------

(3) Operation steps of position control mode

（

□

000=H.

□□

□）

The following external input signal circuit and the equivalent signal circuit shall be configured.

- 53 -

Step

Content

Confirmation method and supplementary description

Please confirm whether the shape of the instruction pulse keeps

consistent with the pulse output form of the up controller pulse.

The Command pulse form shall be set up by P□200=H.××□×. Please refer to

"user parameters setting".

Set instruction unit and the number of electronic gear ratio according to

the instruction controller.

The electronic gear ratio is set by (Pn202/Pn203). Please refer to "Setting of

electronic gear".

Please switch on the power, set the servo ON (/S-ON) input signal ON.

Make use of an easily predetermined motor rotation (such as 1 circle

motor rotation) and output the slow instruction pulse from the

command controller.

Please set the instruction pulse speed to the safety speed of the motor speed at

around 100 r/min.

Please confirm the change volume in the input to the instruction pulse

counter (Un010[pulse]) is input to the instruction pulse number in the

servo unit.

For the display method, please refer to “Basic mode of selection and operation”

Un010 (input pulse counter [pulse])

Please confirm the actual rotation of the motor rotation (Un011[ pulse])

with the amount of change before and after the feedback pulse counter

(Un011[pulse).

For the display method, please refer to “Basic mode of selection and operation”

Feedback pulse counter(Un011[pulse])

Please confirm that the values of step 5 and 6 meet the following

condition.

Un011=Un010

Please confirm whether it is consistent with the rotation direction of the

servo motor issuing instructions.

Please confirm whether the polarity of the input pulse and the shape of the input

instruction pulse.

Please refer to the "selection of pulse command form".

Please confirm the direction of the motor rotation.

To change the direction of motor rotation without changing the input instruction

pulse form, please refer to "switch in the direction of motor rotation". Please start

execution from step 9 after change.

If it gets into servo OFF status when stop the pulse instruction input,

the test run of the servo motor unit using higher position instruction has

been completed under the mode of position control.

5.1.3 Test operation of machine and servo motor

Danger

Please follow the instructions as shown in this section.

In case of occurring operation mistake under the mode of connection between servo motor and machinery, it not only causes mechanical damage, but also

causes personal injury accident sometimes.

Operation is carried out according to the following steps:

Step

Content

Confirmation method and supplementary description

Please turn on the power to carry out the mechanical formation

setting related to over travel, brake and other protection functions.

Please reference the "setting of general functions".

When the brake-provided servo motor is used, please confirm the action of the

brake under the condition of taking the corresponding measures to prevent the

natural drop of machinery and the vibration caused by external force in advance.

Please confirm whether the action of servo motor and brake is in normal condition.

Please refer to “ Holding brake setting”

Please set the required user parameters according to the control

mode used.

According to the using control mode, please refer to

"Speed control (analog voltage instruction) operation"

"Position control operation"

"Torque control operation"

Please connect servo motor and the machine with the coupling, and

in the state of power off.

Please refer to "Notes to the installation of servo motor".

Please connect the power of the machinery (instruction control unit)

after confirming that servo controller changes into servo OFF

(non-power up state of the servo motor). Please reconfirm whether

the protection function works normally again in step1

Please reference the "setting of general functions".

If the subsequent step suffers abnormal condition, execute the emergency stop

capable of achieving safety stop.

- 54 -

Step

Content

Confirmation method and supplementary description

Test run is implemented under the condition of installing machinery

and servo motor well based on the each item of "test run for the

servo motor unit through up controller instruction".

Please reconfirm whether the result is same as the test run of the servo motor unit.

In addition, please further confirm whether the instruction unit and the like accord

with the machinery.

Please confirm that the user parameter setting is consistent with the

control mode in step 2 again.

Please confirm that whether the servo motor operates according to the mechanical

action specification.

Please adjust the servo gain to improve the responsiveness of servo

motor as required.

It is possible to appear the "running-in" insufficiency with the machinery during test

run, therefore, please carry out the test run fully.

Please record the user parameter set for maintenance in the "12.4

Memorandum of user parameter setting".

And so far, the "supporting test run between machinery and servo

motor" has been completed.

5.1.4 The trial run of the servo motor with brake

The holding brake action of the brake-provided servo motor is controlled via the brake interlocking output (/BK) signal.

Before confirming the brake action, please take the corresponding measures to prevent the natural drop of machinery and the

vibration caused by external force in advance. Please confirm the action of the servo motor and holding brake action under the

condition that servo motor is separated from the machinery. If the action of the both two is in normal condition, connect the servo

motor and machinery for test run.

For the wiring and user parameter settings of the brake-provided servo motor, please reference the "setting of holding brake".

5.1.5 Conduct position control through instruction controller

As previously mentioned, please be sure to carry out the test run of servo motor unit after confirming that the servo motor is

separated from the machinery. Please refer to the following table for confirmation of the motor action and specification beforehand.

Instruction of the

instruction controller

The items to be

confirmed

The methods to be

confirmed

The places revised

Reference

JOG action

(a certain speed instruction

input by instruction

controller )

Servo motor

RPM

The method below is used to

confirm the speed of the servo

motor.

Monitor the motor speed with

the panel operator(Un000)

Trial running the servo motor

at low speed. For example,

enter the speed instruction of

the 60r/min and confirm that

1 cycle in 1 second.

Please confirm the setting value

by user parameter, determine

the speed command input gain

P□300 and if it is correct.

Simple positioning

Servo motor

Rotation amount

Input is equivalent to the

instruction of the 1 circle

rotation of the servo motor, and

the visual inspection confirms

that the servo motor axis

rotates 1 cycles.

Please confirm that the setting

value via user parameter,

determine the PG frequency

dividing ratio P□201 and if it is

correct.

Over travel action

(when using POT and NOT

signals)

Enter POT, NOT

signal, whether the

servo motor stops.

Please confirm that the servo

motor stops running after the

POT and NOT signal is set to

ON when the servo motor is

rotated continuously.

Please correct the wiring of POT

and NOT again If the servo

motor does not stop running.

- 55 -

5.2 Control mode selection

Below is the description of the control method (control mode) that can be carried out by the servo drive.

User parameters

Control method (Control mode)

Reference

P□000

□□

□

Speed control (analog voltage instruction)

The revolving speed of the servo motor is controlled by the analog voltage speed

instruction. Please use it on the following occasions.

When you want to control the revolving speed

Feedback the frequency output by using the encoder from the servo and configures

the position ring and position control in the instruction controller.

□□

□

Position control (pulse train instruction)

Position of the servo motor is controlled by the pulse train position command.

Position is controlled by the number of input pulse and the speed is controlled by the

frequency of the input pulse.

Please use it when the position action is needed.

□□

□

Torque control (analog voltage instruction)

The output torque of the servo motor is controlled by the analog voltage and torque

instruction. Please use the torque when you want to output the compression-extrusion.

□□

□

Speed control (internal speed selection)

Use /P-CON

，

/P-CL

，

/N-CL total 3 input signals and the speed control is achieved by

setting the running speed in the servo in advance. The servo can set 3 operating

speeds. (Analog voltage instruction is not required at this time.)

□□

□

·
·
·

□□

□

It is a switch mode that matches with the 4 control methods mentioned above. Please

select the switch mode that is suitable for customer using.

□□

□

Motion control mode

- 56 -

5.3 Setting of general basic function

5.3.1 Servo ON setting

Set the servo ON signal (/S-ON) of servo motor at power on / the non-power state command.

(1) Servo ON signal (/S-ON)

Category Signal name

Connector pin number

(leave factory)

Setting

Significance

A axis

B-axis

Input

/S-ON

CN1-IN1

CN1-IN5

ON =L electrical level

Servo motor power on state (servo ON

state). It may be operated.

OFF=H electrical level

The power off state of the servo motor

(servo OFF state). It can't run.



Important

Please be sure to send the input instruction to start/stop the servo motor after sending the servo ON signal. Please do not

send out the input instruction first, then use the /SON signal to start / stop the servo motor. If the AC power supply is repeated

ON and OFF, the internal components will be aged and the accident will occur.

The input connector pin number can be assigned to other place via user parameters by /S-ON signal. Please refer to the

"signal distribution of the input circuit".

(2) Choose to use / do not use servo ON signal

User parameters can be used to set the constant time servo ON. No need /S-ON wiring at this time, but as the servo drive changes

into the action state at the same time as the power ON, therefore, please handle it carefully.

User parameters

Significance

P□509

A axis

H.□□□1

From the input terminal CN1-IN1 input /S-ON signal. ( set up at the time leaving

factory)

H.□□□9

The /S-ON signal is fixed to constant time "valid"

B-axis

H.□□□5

From the input terminal CN1-IN5 input /S-ON signal. ( set up at the time leaving

factory)

H.□□□9

The /S-ON signal is fixed to constant time "valid"

It is necessary to restart the power to make the setting effective after change the user parameters.

The alarm can be reset only by the restarting of the power supply when the signal is fixed to a constant time "valid"

condition. (Alarm reset is not valid.)

5.3.2 Switch of rotation direction of motor

It only needs to reverse the rotation direction of the servo motor instead of changing the instruction pulse of the input servo drive

and the polarity of instruction voltage.

And at this time, the axis (+,-) rotates reversely, while the coder pulse output, analog monitoring signal and other output signal from

the servo keep same polarity.

The "forward direction" under the mode of standard setting is "counterclockwise rotation" viewed from the angle of "servo motor

load".

User parameters

Name

Directives

Forward rotation instruction

Reversal instruction

□

000

□□□

Standard settings

(CCW is forward

rotation)

(Factory setting)

□□□

Inversion mode

(CW is positive

rotation)

Switch the direction of POT and NOT. When it is P

□0

00= H.

□□□

0 (standard setting)

，

CCW direction is POT

，

□

000=

□□□

1 (inversion mode)

，

CW direction is POT.

5.3.3 Over travel setting

Over travel refers to the status of making the limit switch acting (ON) when the movable part of the machinery exceeds removable

setting region, and the over travel function of the servo drive refers to the function of force stop under such situation.

- 57 -

(1) Connection of over travel signal

In order to use the over travel function, please correctly connect the input signal of the following over travel limit switch to the

corresponding pin No. of the servo drive CN1 connector.

Category Signal name

Connector pin number

(leave factory)

Setting

Significance

A axis

B-axis

Input

POT

CN1-IN3

CN1-IN7

ON =L electrical level

It can be forward run (normal running)

OFF=H electrical level

It is prohibited forward

( forward turn and over travel)

Input

NOT

CN1-IN4

CN1-IN8

ON =L electrical level

It can reversal run (normal running)

OFF=H electrical level

It is prohibited reversal

( reversal turn and over travel)

In order to prevent machinery damage under the condition of

linear driving, etc., please be sure to connect the limit switch

according to the figure below.

Although it is in over travel status, it still drives towards the

opposite side.

For example, it drives towards the reversal side under the

condition of forward over travel.



Important

If motor stops running via over travel under the mode of position control, there exists position offset pulse.

In order to eliminate the position offset pulse, be sure to input clear signal (CLR).

Notes

When servo motor is used in vertical axis, the work piece may drop under over travel status.

In order to prevent the work piece falling down during the process of over travel, please be sure to set P

□

000= H.1

□□□

so that enter zero clamping state after stop. (please refer to "The selection of the motor stop method when using the over

travel")

(2) Choose to use / do not use over travel signal

When the over travel signal is not used, it can be set as non-use by setting the internal user parameters of the servo drive. Then,

the wiring of the input signal is not needed for the over travel.

User parameters

Significance

P□509

A axis

□

□□

The forward turn drive signal (POT) is prohibited from the CN1-IN3 input. Set up

at the time leaving factory

□

□□

The prohibition of the forward turn drive signal (POT) is invalid. (It can be forward

turn and side drive usually)

B-axis

□

□□

The forward turn drive signal (POT) is prohibited from the CN1-IN17 input. Set up

at the time leaving factory

□

□□

The prohibition of the forward turn drive signal (POT) is invalid. (It can be forward

turn and side drive usually)

A axis

H.4

□□□

The reversal turn drive signal (NOT) is prohibited from the CN1-IN4 input. Set up

at the time leaving factory

H.9

□□□

The prohibition of the reversal turn drive signal (NOT) is invalid. (It can be

reversal turn and side drive usually)

B-axis

H.9

□□□

The reversal turn drive signal (NOT) is prohibited from the CN1-IN8 input. Set up

at the time leaving factory

H.9

□□□

The prohibition of the reversal turn drive signal (NOT) is invalid. (It can be

reversal turn and side drive usually)

Effective control methods: speed control, position control, torque control

It is necessary to restart the power to make the setting effective after change the user parameters.

* POT, NOT signal can freely assign the input number of the input connector via the user parameters. For detail, please refer

to the "signal distribution of the input circuit".

- 58 -

(3) The selection of the motor stop method when using the over travel

The stop method of the input over travel (POT, NOT) signal during the rotation of the servo motor.

User parameters

Motor stop method

After motor stop

Significance

P□000

□

□□

Reverse braking stop

Inertial operating state

It stops and slow down by emergency stop torque

□

407) and the servo motor enters the inertial

running (power off) state after the servo motor

stopped.

□

□□

Inertial operation stop

It stops based on the stop method (inertia running

stop) same as the servo OFF, and the servo motor

gets into the inertia running (non-power on) status

after stop.

H.0

□□□

Reverse braking stop

Inertial operating state

It stops and slow down by emergency stop torque

□

407) and the servo motor enters the inertial

running (power off) state after the servo motor

stopped.

H.1

□□□

Reverse braking stop

Zero clamping state

It stops and slows down by emergency stop torque

□

407) and the servo motor enters the zero

clamp position (power off) state after the servo

motor stopped.

H.2

□□□

Inertial operation stop Inertial operating state

It stops based on the stop method (inertia running

stop) same as the servo OFF, and the servo motor

gets into the inertia running (non-power on) status

after stop.

It is necessary to restart the power to make the setting effective after change the user parameters.

Set H.

□

□□

during the inertia in the process of operation, If the servo ON signal is received, the servo motor can be

controlled.



Wording

The friction resistance of the motor is stopped automatically through the friction resistance of the rotation of motor.

Reverse braking stop: slow down (brake) torque (P

□

407) stop.

Zero clamping position state: using position instruction zero configuration position ring state.

* For servo OFF and stop method when alarm occurs, please refer to "stop method selection when servo OFF".

(4) Stop torque setting at the time of over travel

5.3.4 Holding brake setting

It is used for servo motor to drive the vertical shaft. When the power supply of the servo drive is OFF, the servo motor with brake is

used to keep the movable part away from moving by gravity. (Please refer to the "trial run of the servo motor with brake".)

-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------

1. The built in servo motor with brake is the special brake for non-excitation action type. It can't be used for braking it can only be

used for keeping the servo motor in the stop state. The braking torque is above 120% of the rated torque of the servo motor.

2. When only use the speed ring to make the servo motor move, the servo is set to OFF and the input instruction is set to "0V".

3. When the servo motor is stopped, so do not make the mechanical brake action when the position ring is configured due to the

servo motor is in a servo lock state.

-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------

- 59 -

(1) Connection instance

The sequential output signal of the servo drive "/BK" and the brake power supply formed the ON/OFF circuit of the brake. The

standard connection instances are shown as follows.

(2) Brake interlocking output

Category Signal name

Connector pin number

(leave factory)

Setting

Significance

A axis

B-axis

Output

/BK

Distributed through

□

514

ON =L electrical level

Release the brake,

OFF=H electrical level

Hold the brake.

The output signal of the brake is controlled when the servo motor with a brake is used. Moreover, the output signal is not

used in the factory setting. Distribution of output signals is required (P

□

514 setting). Do not connect when using a motor

without brake.

(3) Distribution of the brake signal (/BK)

The brake signal (/BK) cannot be used in the factory setting state. Therefore, the distribution of the output signals is required.

User parameters

Connector Pin number

Significance

P□514

□□

□

——

Not use /BK signal. (Default factory setting)

□□

□

OUT1

Output /BK signal from the CN1-OUT1 output terminal.

□□

□

OUT2

Output /BK signal from the CN1-OUT2 output terminal.

□□

□

OUT3

Output /BK signal from the CN1-OUT3 output terminal.

□□

□

OUT4

Output /BK signal from the CN1-OUT4 output terminal.

□□

□

OUT5

Output /BK signal from the CN1-OUT5 output terminal.

□□

□

OUT6

Output /BK signal from the CN1-OUT6 output terminal.



Important

It is invalid for the brake signal (/BK) set at the factory setting. Output by OR logic, when multiple signals are assigned to the

same output terminal. Only if the /BK signal output is valid, other signals assigned to the output terminal of the distribution

/BK signal are assigned to other output terminals or to be invalid. For the distribution of other output signals of the servo unit,

please refer to the "Signal distribution of the output circuit".

- 61 -

5.3.5 Stop method selection while servo OFF

Select the stop method when the servo unit is in the servo OFF state.

User parameters

Motor stop method

After motor

stop

Significance

□

000

□

□□

Reverse braking stop

Inertial

operating state

It stops and slow down by emergency stop torque

□

407) and the servo motor enters the inertial running

(power off) state after the servo motor stopped.

□

□□

Inertial operation stop

It stops based on the stop method (inertia running stop)

same as the servo OFF, and the servo motor gets into

the inertia running (non-power on) status after stop.

The setting of the user parameters is valid in the following cases.

When the /S-ON input signal OFF (servo OFF)

When the main power supply (L1, L2, L3) OFF



Wording

Reverse braking stop: slow down (brake) torque (P□407) stop.

Inertial operation stop: Not braking, but stop automatically through the friction resistance of the rotation of motor.



Important

The following servo drive will force the reverse brake stop regardless of the above user parameters setting, when the

main circuit power (L1, L2, L3) OFF or control power (L1C, L2C) OFF.

The servo drive will be inertia stopped when the servo drive alarm occurs.

- 62 -

5.4 The using method of absolute value encoder

The absolute value detection system can be configured at the command controller (upper controller system) whether the servo

motor with the absolute value encoder is used. It can run directly without reset the original point and the result is that it is running

after the power supply ON.

Absolute value encoder

resolving ability

Multi - rotation data

output range

Action beyond the limit value

17 Bits

(131072 pulse / ring)

-32768 ~ +32767

The upper limit value above the forward direction (+32767) , the

multi rotation data will be changed into -32768

The upper limit value above the reversal direction (-32768) , the

multi rotation data will be changed into +32767

23 Digit

(8388608 pulse / ring)

-32768 ~ +32767

The upper limit value above the forward direction (+32767) , the

multi rotation data will be changed into -32768

The upper limit value above the reversal direction (-32768) , the

multi rotation data will be changed into +32767

5.4.1 Interface circuit

The standard connection of the absolute value encoder mounted on the servo motor is shown as follows.

The connection of SEN signal

/SEN signal description

Category

Signal

name

Connector pin number

(leave factory)

Setting

Significance

A axis

B-axis

Input

SEN

Not allocated

The position data of the absolute value encoder is not requested. (It is

the state when the power supply is connected)

OFF

The position data of the absolute value encoder requests to the servo.

The input signal must be used to output the absolute value data from the servo unit.

Please place SEN signal at the H electrical level after the power is connected for 3 seconds.

If SEN signal is switched to L electrical level → H electrical level, then, output multiple turn data and the initial increment pulse.

Even if the servo ON signal (/SON) is ON, the servo motor will not be powered on until the action is finished.

The operation panel displays "oFF".



Important

Set the SEN signal at ON state to OFF and reset it to ON

again, then, takes operation after the H electrical level

over 1.3 seconds as shown in the right figure.

/SEN signal distribution

User parameters

Significance

□

511

A axis

H.0

□□□

Not distributed input pin (Set up at the time leaving factory)

H.4

□□□

Input the SEN signal from IN4(CN1-17)

B-axis

H.0

□□□

Not distributed input pin (Set up at the time leaving factory)

H.8

□□□

Input the SEN signal from IN8(CN1-42)

- 63 -

5.4.2 Absolute value encoder selection

The absolute value encoder may also be used as an incremental encoder.

User parameters

Significance

□

001

□□□

The absolute value encoder is used as the absolute value encoder to enable the absolute

value data serial output (PG fractional frequency PAO

口

)

□□□

The absolute value encoder may be used as an incremental encoder.

□□□

The absolute value encoder is used as the absolute value encoder to unable the absolute

value data serial output (PG fractional frequency PAO

口

)

As incremental encoder, SEN signals and batteries are not required.

It is necessary to restart the power to make the setting effective after change the user parameters.

5.4.3 The method of using battery

The recommended lithium battery specifications:

ER36V



Battery replacement steps

1. Please replace the battery under the condition of maintaining the control power of the servo unit is ON.

2. After replacing battery, please clear away the absolute value encoder alarm via auxiliary function F□010, so as to relieve

the battery alarm of absolute value encoder.

3. If there is no abnormal action after restarting the power of servo drive, it shows the end of battery replacement.

Important:

The data in the absolute encoder will be lost when the servo power of the servo drive is set to OFF and the battery line is

removed. Then, it must set operation of the absolute value encoder. Please refer to “Absolute value encoder Settings

（

□

009

）

”

5.4.4 The receiving sequence of absolute value data

Servo drive receives the output from the absolute value encoder and sends the absolute value data to the sequence of the

command controller as shown below.

(1) Outline of the absolute value signal

As shown below, the serial data and pulse of the absolute value encoder output by the servo drive are output through "PAO, PBO,

PCO".

Signal name

State

Signal content

PAO

Initial time

Serial Data

Initial incremental pulse

Usual time

Incremental type pulse

PBO

Initial time

Initial incremental pulse

Usual time

Incremental type pulse

PCO

Regularly

Origin point pulse

(2) The sending sequence and content of absolute value data

1. Set /SEN signal as H electrical level

2. After 100ms, it enters the serial data reception pending state. The reversible counter used for incremental pulse counts is

cleared to zero.

3. Receive 8-byte serial data

4. After received the final serial data, it becomes the usual incremental action state after around 25ms.

＊

Serial data

Represents the position of the motor shaft is located in the position from the base position (the value set at the setting).

＊

Initial incremental pulse

Pulse is input from the original location of the motor shaft to the current position of the motor shaft via the pulse speed same

as the rotation, namely, about 1250rpm (under the condition that the frequency-dividing pulse at 17-bit is the factory setting).

- 64 -

The final absolute value data PM can be calculated as follows:

PE =

M × R + P0

PM =

－

Note: the reverse mode

（

P□000.0 = 1

）

will adopt the following

formula,

PE =

－

M × R + P0

PM =

－

(3) Detailed specification of PAO serial data

The rotation quantity of the output 5 digits

Data transmission method

Start and stop synchronization (ASYNC)

Baud rate

9600 bps

Starting position

1 Digit

Park Position

1 Digit

Odd-even checking

Even checking

Character code

ASCII 7 bits

Data format

5 characters as shown in the figure below.

5.4.5 Absolute value encoder setting

Then, it must set operation of the absolute value encoder.

＊

Initial start of the machine

＊

The "bus type encoder multi-loop information error (A25/b25)" occurs.

＊

The "bus type encoder multi-loop information overflow (A26/b26)" occurs.

＊

The "bus type encoder battery alarm 1 (A27 / b27)"

＊

Set the multi rotation data of the absolute value encoder as 0.

Set up with the panel operator.

Important:

1. The encoder setting operation can be performed only in the servo OFF state.

2. Please perform auxiliary functions F / 010 operations to remove the alarm when the absolute encoder is in the display

alarm. The alarm cannot be dismissed when the alarm reset (/ALM-RST) by servo drive.

＊

The "bus type encoder multi-loop information error (A25/b25)"

＊

The "bus type encoder multi-loop information overflow (A26/b26)"

＊

The "bus type encoder battery alarm 1 (A27 / b27)"

＊

The "bus type encoder battery alarm 2 (A28 / b28)"

＊

Over speed of bus encoder (A41 / b41)

The current value read from the encoder

Multi rotation data (number of encoder rotations circle)

Initial incremental pulse number

The number of initial increment-type pulses read on the

point of setting (the value is kept and managed by

upper computer)

The current value that must be in the customer system

The number of pulses (the value of Pn201) in 1 rotation

circle of the encoder.

- 65 -

5.4.6 Clear the absolute value encoder multi-loop data (A27)

When using the bus absolute encoder, the multi loop information can be cleared by the operation.

Work

procedure

Work instruction

Action Keys Post operation display

Please press down F function key and select A axis auxiliary

function mode. Press UP key or DOWN key to set the FA009

whether FA009 is not displayed.

“PoSCL” is displayed by press down the settings key.

Please press down F function key and display "CLFIn" to

complete the multi loop information and complete the

removal of the encoder.

Return to the FA009 display by press down the settings key.

5.4.7 Clear the internal error of the bus encoder

When using the bus absolute encoder, the internal error of the encoder can be cleared by this operation.

Work

procedure

Work instruction

Action Keys

Post operation display

Please press down F function key and select A axis

auxiliary function mode. Press UP key or DOWN key to set

the FA010 whether FA010 is not displayed.

“ErrCL” is displayed by press down the settings key.

Please press down F function key and display "CLFIn" to

complete the multi loop information and complete the

removal of the encoder.

Return to the FA010 display by press down the settings key.

- 66 -

5.5 Speed control (analog voltage instruction) operation

5.5.1 User parameters setting

User parameters

Significance

□

000

□□

□

Control mode choice: speed control (analog voltage instruction)

5.5.2 Input signal setting

(1) Speed command Input

The speed control of the analog voltage instruction form is sent to the servo drive, and the servo motor is controlled at a rate
proportional to the input voltage.

Category Signal name

Connector pin number

(leave factory)

Significance

A axis

B-axis

Input

V-REF

CN1-

ANA1

CN1-

ANA2

Speed command Input

GND

Signal ground used for speed command input

It is used for speed control (analog voltage instruction). (P□000.1=0

，

Use P□300 to set speed input gain. For detailed instructions on setting, please refer to "user parameters setting”



Input specification

Input voltage range: DC ± 10V

The Maximum allowable input voltage: DC ± 12V

(2) Proportional action instruction signal (/P-CON)

Category

Signal

name

Connector pin number

(leave factory)

Setting

Significance

A axis

B-axis

Input

/P-CON

CN1-IN2

CN1-IN6

ON =L electrical level

Run the servo drive in P control mode.

OFF=H electrical level

Run the servo drive in PI control mode.

/P-CON signal is signal that selects the speed control mode from PI (proportional integral) or the P (proportional) control.

If P control is set, it can ease the motor rotation and minor vibration caused by the drift of the speed instruction input.

Input instruction: the rotation of the servo motor caused by the drift at 0V can be reduced, while the servo rigidity (braced

force) during stop drops.

The input connector pin number may be assigned to another location via /P-CON signal by user parameters. Please refer to

the "signal distribution of the input circuit".

- 67 -

5.5.3 Adjustment of instruction offset

When speed control mode is used, as the analog instruction voltage, it will also cause the minor rotation of the motor although issue the
0V instruction. Such situation will occur when the instruction voltage of the up controller or external circuit suffers tiny (unit: mV) offset
(amount). Under such situation, automatic adjustment • manual adjustment is implemented to the instruction offset via the panel operator.
Please reference the "4.2 Operation under the execution mode of auxiliary function".
The automatic adjustment of analog (speed • torque) instruction offset is the function to measure the offset and adjust voltage
automatically.
When the voltage instruction of the up controller and external circuit suffers offset, the servo drive makes the following adjustment to the
offset automatically.

The offset will be saved in the internal servo drive once the automatic adjustment of the instruction offset is conducted.
The offset can be confirmed via the manual adjustment (F

□

006) of speed instruction offset. Please reference the "5.5.3(2) Manual

adjustment of speed instruction offset".

(1) The automatic adjustment of velocity instruction offset

When the shift pulse at servo locking stop is set as 0 under the condition of configuring position loop on the instruction control unit, it

is not allowed to use the automatic adjustment of instruction offset (F□008). Under such situation, please use the manual adjustment
(F□00A) of speed instruction offset.

Under the condition of zero speed instruction, it is further equipped with the zero clamping speed control function capable of

achieving the forced execution of servo locking. Please reference the "5.5.5 Use of zero clamping function".

------------------------------------------------------------------------------------------------------------------------------------------------------------------------------

Please perform the automatic adjustment of the zero offset of the analog value when the servo is in OFF state.

------------------------------------------------------------------------------------------------------------------------------------------------------------------------------

Please adjust the A axis speed instruction offset automatically according to the following steps.

Work

procedure

Work instruction

Action Keys

Post operation display

Please set the servo unit as

servo OFF and input the 0V

instruction voltage through

the instruction controller or

external circuit.

Please press down F function key and select A axis

auxiliary function mode. Press UP key or DOWN key

to set the FA008 whether FA008 is not displayed.

“rEF_o” is displayed by press down the settings key.

Please press down F function key, start automatic

zero setting, flashing display "donE".

After complete the automatic zeroing, the flashing

display "donE" is finished, and "rEF_o" is displayed.

——

Return to the FA008 display by press down the

settings key.

HSD3 Series AC Servo Drive. User's Manual (Version: 3.1.14) - page 4