Series HSV-180AD AC Servo Amplifier. User's Manual (V1.00 2012.4)

CONTENTS

1SAFETY PRECAUTIONS

1.1 SYMBOLS OF SAFETY PRECAUTIONS

1.2 MEANING OF SAFETY PRECAUTION SYMBOLS

1.3 EXPLANATION OF SAFETY PRECAUTION SYMBOLS

1.4 SAFETY REGULATIONS

2 OVERVIEW

2.1 INTRODUCTION

2.2 INTRODUCTION TO CONTROL MODES

3 ORDER INFORMATION

3.1 SPECIFICATIONS OF SERVO AMPLIFIER

3.1.1 Specification for HSV-180AD

3.1.2 Current Type of HSV-180AD

3.1.3 Technical Specification of HSV-180AD

3.1.4 Dimension and Size of Servo Amplifier

3.2 SPECIFICATION OF SERVO MOTOR

3.2.1 Introduction to Series GK6 AC Servo Motor

3.2.2 Features of Series GK6 AC Servo Motor

3.2.3 Technical index of Series GK6 AC servo motor

3.2.4Order information of series GK6 AC Permanent Magnet Servo

3.2.5 Technical Specification of Series GK6 AC Permanent Magnet Servo Motor

3.2.6 Installation Dimension of the Motor

3.2.7Recommended shaft keyway

3.2.8 Recommended C-type center hole

3.2.9 GK6 Series AC permanent magnet servo motor interface definition

4 INSTALLATION

4.1 PRODUCTS CHECK

4.2 INSTALLATION ENVIRONMENT

4.2.1 Environment Temperature

4.2.2 Humidity

4.2.3 Altitude

4.2.4 Vibration and Impulsion

4.2.5 Water

4.2.6 Air Pollution

4.3 INSTALLATION OF SERVO AMPLIFIER

4.3.1 Installation Methods of HSV-180AD-035,050,075

4.3.2 Installation Methods of HSV-180AD-100,150

4.3.3Instllation method of HSV-180AD-200,300,450

4.4 INSTALLATION OF SERVO MOTOR

4.4.1 Installation Environment

4.4.2 Installation Method

5 WIRING

5.1 CONNECTORS

5.2 TERMINAL CONFIGURATION

5.3 TERMINAL CONFIGURATION

5.3.1 Terminals of HSV-180AD-035ˈ050ˈ075ˈ100ˈ150

5.3.2 Terminal Configuration HSV-180AD-200,300,450

5.3.3 Side wring of main circuit input

5.3.4 Control power wiring

5.3.5 Output side wiring of main circuit

5.4 CONNECTION OF CONTROL SIGNAL TERMINALS

5.4.1 XS4 COMMAND input/ output terminals

5.4.2 XS5 Input/output Terminal

5.5 CONNECTION OF THE ENCODER SIGNAL TERMINAL

5.5.1 XS3 ENCODER1 Servo Motor Input Interface

5.6 CONNECTION OF THE COMMUNICATION SIGNAL TERMINAL

5.6.1 XS1 Serial Interface

5.7 WIRING

5.8 STANDARD WIRING

100

5.8.1 Standard Wiring for Position Control Mode (Pulse Interface)

101

5.8.2 Standard Wiring for External Speed Control Mode (Analog Interface)

102

5.8.3 Standard Wiring for Closed-loop Control Mode (pulse interface)

105

6. OPERATION AND DISPLAY

107

6.1 OVERVIEW

107

6.2 OPERATION IN THE DISPLAY MODE

108

6.3 STATE SURVEILLANCE MODE

109

6.4 OPERATION IN THE MOVEMENT PARAMETER MODE

111

6.5OPERATION IN THE AUXILIARY MODE

112

6.6 OPERATIONS IN THE CONTROL PARAMETER MODE

114

6.7OPERATION IN THE AUXILIARY MODE

114

6.8 CONTROL PARAMETER SETTING AND SAVING

115

7. PARAMETER SETTING

117

7.1 FUNCTION MENU

117

7.1.1 Parameters illustration

117

7.1.2 Parameter operation instructions

118

7.2 MOVEMENT PARAMETER MODE

119

7.2.1 Movement parameters

119

7.2.2Extension movement parameters

124

7.2.3 Description of the parameter setting:

129

7.2.4 Parameters Related to Movement Control

131

7.2.5 Parameters Related to Speed Control Mode

136

7.2.6 Parameters Related to Output Torque Regulation

138

7.2.7 Non standard motor parameter settings

141

7.3 CONTROL PARAMETER MODE

142

7.3.1 Control Parameter

142

7.3.2 Extended control parameters

143

8. OPERATION AND MODIFICATION

145

8.1 POWER CONNECTION

145

8.1.1 Checking Before Running

145

8.1.2 Power On Sequence

146

8.1.3 power connection and alarm sequence

146

8.1.4 Power Off Sequence

149

8.1.5. Alarm Clear

149

8.2 TRIAL OPERATION

150

8.2.1 JOG Running Mode

151

8.2.2 Internal Speed Running Mode

152

8.2.3 External Speed Running Mode (Analog interface)

152

8.2.4 Torque Running Mode (Analog interface)

153

8.2.5 Position Running Mode (Impulse interface)

154

8.2.6 Full closed-loop

154

8.3 RUNNING MODIFICATION

156

8.3.1Basic Gain

156

8.3.2Electrical Gear Setting

157

8.3.3Start and Stop Adjustment

158

9 FAULT TROUBLE SHOOTING

160

9.1 PROTECTION AND FAULT IDENTIFICATION

160

1Safety Precautions

Thank you very much for buying AC Servo Amplifier, HSV-180AD AC Servo

Amplifier and servo motor are applicable to the general industrial environment,

not to the strong vibrating environment. Pay attention to the followings:

z It is inapplicable to the medical equipment which related to life safety .

z The Servo Amplifier is not water proof. It must be avoid moisture and direct

sunlight.

z Do not perform any change to the Servo Amplifier and motor.

Before installation and wiring, read through this manual. Before operation,

understand the safety information, safety precautions and operating instruction of

this equipment.

1.1 Symbols of Safety Precautions

Symbols of safety precautions are displayed on the front panel of the Servo

Amplifier.

Figure 1-1 Symbol of safety precaution for HSV-180AD-035ˈ050ˈ075

1.2 Meaning of Safety Precaution Symbols

Warning

Safety precaution signage

z Danger! High Voltage

z Don’t move cables or

touch terminals while

applying power

z Disconnect incoming

The meaning of each symbol

power and wait

minutes

before

connecting cables or

opening

terminal

cover

Symbols of Safety Precaution

1.3 Explanation of Safety Precaution Symbols

Danger

It indicates a potentially hazardous situation which, if not avoided, will result in

death.

Caution

It indicates a potentially hazardous situation which, if not avoided, will result in

minor or moderate injury or death and damage to the machine.

1.4 Safety Regulations

1. Products Confirmation

Caution

Do not install damaged the Servo Amplifier.

Failure to follow this instruction could result in injury.

2. Installation

Caution

z Hold the bottom of the machine.

If only hold the panel, the main engine may fall off which may result in

injury.

z Fit to noncombustible such as metal.

Failure to follow this instruction could result in fire hazard.

z If necessary, set a cooling fan and keep the inlet air at 45ć or less.

Overheating may result in fire and other hazards.

z Don’t block the inlet and outlet. Avoid foreign matter entering into the

internal part of the machine.

It may cause the aging of internal components, which can result in

malfunction or fire hazard.

z When installing, make sure a specified intervals between the Servo

Amplifier and control cabinet or other machines.

Failure to follow this instruction could result in fire hazard or malfunction.

3. Wiring

Danger

Before wiring, confirm whether the power is off.

Failure to follow this instruction could result in electric shock and fire

hazard.

Only electrical engineer can do the wiring.

Failure to follow this instruction could result in electric shock and fire

hazard.

Make sure the ground terminal grounded.

Failure to follow this instruction could result in electric shock and fire

hazard.

After the wiring of the emergency stop circuit, check whether the wiring is

effective.

Failure to follow this instruction could result in injury. (Users shall be

responsible for the wiring.)

Do not touch the output terminal directly nor connect external shield to the

output wire of a Servo Amplifier . Avoid short circuit of output wires.

Failure to follow this instruction could result in electric shock and short

circuit.

Caution

z Confirm whether the power voltage of the main AC circuit is subject to the

rated voltage of the Servo Amplifier .

Failure to follow this instruction could result in injury and fire hazard.

z Do not make withstand test for the Servo Amplifier .

Failure to follow this instruction could result in damage to components such

as semi-conductor.

z Do not connect power cable to the output U, V, W terminals so as to avoid

damage of Servo Amplifier internal parts.

Caution

z Do not connect capacitance and LC or LR noise filter to the output circuit so

as to avoid damage of the Servo Amplifier.

z Do not connect electromagnetic switch and electromagnetic contactor to the

U, V, and W output circuit. When the Servo Amplifier running with load,

surging current could activate over-current protection of the Servo

Amplifier .

4. Testing and Commissioning

Danger

z Do not remove or modify anything when the external wirings are made, or

the power is on.

Failure to follow this instruction could result in electric shock.

z Do not approach to the machine on the trial-operations, after resetting of the

Servo Amplifier (Take physical safety into consideration when perform

electrical and mechanical design).

z Arrange an external emergency stop device.

Failure to follow this instruction could result in injury.

Caution

z Before operating, reconfirm some information such as the use range of the

motor and machines.

Failure to follow this instruction could result in injury.

z Do not touch the machine while operating or just cut off the power, because

the radiator, brake resistor motor etc. may be at high temperature.

Failure to follow this instruction could result in burn.

z If necessary, arrange external brake. Do not touch the machine.

Failure to follow this instruction could result in injury.

z Do not check signal while operating to avoid damage to the equipment.

5. Troubleshooting

Danger

z Do not remove wiring within 5 minutes nor touch terminals after power-off

of the Servo Amplifier , because the high voltage will last for a while.

Failure to follow this instruction could result in electric shock.

z Operations (such as wiring, installation, operation, remove and maintenance)

must be performed by the specified professional personnel.

Failure to follow this instruction could result in electric shock and damage to

the Servo Amplifier .

Caution

z The control circuit board adopts the CMOS IC. When maintaining, do not

touch it directly with your fingers, because electrostatic induction could

damage the control circuit board.

6. System Configuration

Caution

z The rated torque of the servo motor must be larger than continuous effective

load torque. Otherwise, the servo motor could be damaged by long-time

overload operation.

z The ratio of load inertia and servo motor inertia must be less than the

recommended value.

z Make sure that the motor is properly matching the Servo Amplifier .

Failure to follow this instruction could result in damage of the equipment.

7. Others

Danger

z Do not make alterations independently.

Failure to follow this instruction could result in electric shock and injury.

2 Overview

Series HSV-180AD AC Servo Amplifier is a new generation of full digital AC

servo amplifier developed by Wuhan Huazhong Numerical Control Co., Ltd..

This product features high performance, compact structure, easy-to-use operation,

and high reliability.

2.1 Introduction

Series HSV-180AD AC Servo Amplifier adopts the latest technologies such as

special motion control digital signal processor (DSP), and intelligent power

module (IPM), and achieves the closed-loop servo control of servo motor. It has

various specifications such as035ǃ050ǃ075ǃ100ǃ150ǃ200ǃ300ǃ450A

and different ranges of power options. Users can configure various types of

Servo Amplifier and AC servo motor to form high reliability and performance

AC Servo Amplifier systems.

Characteristics of Series HSV-180AD AC Servo Amplifier:

1. Easy and flexible operation

By modifying the parameter, you can modify the control methods of the Servo

Amplifier and the interior parameters so as to meet the requirements for different

environment and conditions, and can be compatible with various types of servo

motors.

2. Full display of status

Series HSV-180S provide a series of status display, which enables users to view

related status parameters of the Servo Amplifier during commissioning and

operation. In addition, it provides a range of troubleshooting information.

3. Various interfaces, and flexible control methods

HSV-180AD Servo Amplifier can provide various interfaces and flexible control

methods as follows:

z Pulse input interface

z Analog input interface

z Feedback interface of servo motor optical -electrical encoder

z Feedback interface of servo motor encoder

z Serial communication interface

z Programmable I/O interface

4. Servo orientation function

Series HSV-180AD can provide an independent function for servo orientation.

Through feedback devices such as servo motor optic-electrical encoder, servo

encoder and zero switch, it can realize the servo orientation control

independently.

2.2 Introduction to Control Modes

Series HSV-180AD AC Servo Amplifier provides four control modes:

1. Position control mode (pulse interface)

Under this mode, HSV-180AD Servo Amplifier can set to external position

control mode by setting internal parameters. It can receive three types of external

pulse command such as orthogonal pulse command, pulse + direction command,

and positive and negative pulse command.

2. External speed control mode (pulse interface)

Under this mode, HSV-180AD Servo Amplifier can set to external speed control

mode by setting internal parameters. It can receive three types of external pulse

command such as orthogonal pulse command, pulse + direction command, and

positive and negative pulse command.

3. External speed control mode (analog interface)

Under this mode, HSV-180AD Servo Amplifier can set to external speed control

mode by setting internal parameters. It can receives external analog command

with amplitude varies from -10V to 10V or from 0V to 10V.

4. JOG mode

Under this mode, HSV-180S Servo Amplifier can run based on the key setting

(instead of external instruction). This mode is provided for users to test whether

the Servo Amplifier system is correctly installed and connected.

3 Order Information

3.1 Specifications of Servo Amplifier

3.1.1 Specification for HSV-180AD

The following figure shows the specification of HSV-180AD.

Figure 3-1 Current type of HSV-180AD

HSV-180AD

-ƑƑƑ

Servo Amplifier

current type

035

050

075

100

150

200

300

450

3.1.2 Current Type of HSV-180AD

Table 3-1 Current Types of HSV-180AD Servo Amplifier

Type

HSV-180AD-035

HSV-180AD-050

HSV-180AD-075

Maximum power of

3.7KW

5.5KW

7.5KW

applicable Motor˄KW˅

Rated output current (A)

12.5

23.5

Short-time Peak Current

(A)

Circute breaker˄A˅

conector˄A˅

Input

Current

exchange

(A)

reactor

Inductance

1.4

0.93

0.7

(mH)

Input filter(A)

Maximum braking resistor

(A)

Resistor

51ȍ

27ȍ

Recommended

(ȍ)

Braking

Power

1500W

2000W

resistor

(W)

Quanlity

Recomand value of main

circute cable ˄mm²˅

Type

HSV-180AD-100

HSV-180AD-150

Maximum power of

11KW

15KW

applicable Motor˄KW˅

Rated output current (A)

Short-time Peak Current (A)

Circute breaker˄A˅

100

conector˄A˅

Input

Current (A)

exchange

Inductance

0.47

0.28

reactor

(mH)

Input filter(A)

Maximum braking resistor

(A)

Resistor

33ȍ

27ȍ

Recommended

(ȍ)

Braking

Power (W)

1500W

2000W

resistor

Quanlity

Recomand value of main

circute cable ˄mm²˅

Type

HSV-180AD-200

HSV-180AD-300

HSV-180AD-450

Maximum power of

30KW

37KW

51KW

applicable Motor˄KW˅

Rated output current (A)

64.3

128

Short-time Peak Current

110

168

224

(A)

Circute breaker˄A˅

125

200

400

conector˄A˅

150

250

Input

Current

150

250

exchange

(A)

reactor

Inductance

0.17

0.095

0.056

(mH)

Input filter(A)

150

250

Maximum braking resistor

100

150

(A)

Resistor

30ȍ

Recommended

(ȍ)

Braking

Power

2500W

resistor

(W)

Quanlity

Recomand value of main

120

circute cable ˄mm²˅

3.1.3 Technical Specification of HSV-180AD

The following table describes the technical specification of HSV-180AD

Table 3-2 Technical specification of HSV-180AD Servo Amplifier

Rated

150A and below specifications˖Three-phase AC380V

voltageǃ

-15%̚+10%

50/60Hz

Range of

200A and above Specifications˖

Input

voltage

1.Single phase AC220V control power

-15%̚+10%

power

fluctuation

50/60Hz

Frequency

2.Three-phase AC380V strong power

-15%̚+10%

50/60Hz

Position controlǃExternal speed controlǃJOG controlǃ

Control modes

Internal speed control

Speed

frequency

300Hz or higher

response

Characte

Lower than±0.1 (load 0%̚100%); Lower than±0.2(power

ristic

Speed

supply

volatility

-15%̚+10%)

Speed range

1:10000

Types of

ķ Direction

+ pulse train

②CCW pulse

+CW pulse

pulse

③Two-phase A / B quadrature pulse

command

Form of

Position

pulse

Non-insulated wire drive˄about +5V˅

control

command

Frequency

of pulse

500kHz

command

Types of

ķ Direction

+ pulse train

②CCW pulse

+CW pulse

pulse

③Two-phase A / B quadrature pulse

command

Form of

pulse

Non-insulated wire drive˄about +5V˅

command

Frequency

of pulse

500kHz

Speed

command

control

Electron

1Į/ȕ32767

gear

Analog

DC 0̚+10VorDC -10V̚+10V

command

Acceleratio

n and

1̚32000ms

deceleration

(0~1000r/min or

1000~0r/min)

function

TTL composite incremental photoelectric

Type of servo motor

encoder:1024lineǃ2048lineǃ2500 lineǃ6000 line

encoder

Servo encoder encoder

Optical encoder (TTL)

type

Sine and cosine analog signal˄1Vpp˅

Run enable

Alarm clear

Control

Forward and reverse running enable

input

Servo orientation ready

Input and

Control modes switch

output

Indexing incremental orientation ratio input selection

Signal

Servo ready

Servo alarm

Control

Servo orientation-finished

output

Speed-reached

Zero-speed reached

Servo

Accuracy˖±1pulse˗Position adjustment˖Parameter

orientation

setting

Servo

Rigid

Tapping deviation˖±2ˁ

function

tapping

Other

C-axis controlˈThread cutting

function

Communication

RS232 use MODBUS protocol

function

Speed

Flux current

Torque current

Monitoring function

Motor load current

Switch-value input status display

Switch-value output status display

Control mode display

Provides protection against:

Over speed

Main power over-voltage and under-voltage

Over current

Protecting function

Overload

Motor over heat

Big speed error

IPM fault etc.

Six LED digital tubes, two light-emitting diodes(LED), five

Operation

bottoms

Adaptive motor

2.2KW̚51KWAC servo motor

Non-corrosive, flammable gas, prevent conductive objects,

Use place

metal dust, oil mist and liquid from entering inside the Servo

Amplifier.

Use

Temperatur

Use temperature :0ć̚+40ćˈMore than 40 ć shall be

e Storage

deratedǄ

Temperatur

Storage temperature :-20ć̚+60ćǄ

Use

Environ

Use

ment

humidity

Below 90% RH, non-condensing.

Storage

humidity

Altitude

Below 1000mˈAltitude above 1000m shall be deratedǄ

Vibration /

impact

Vibration Resistance 4.9m/S² ˈImpact resistance 19.6m/S²

resistance

3.1.4 Dimension and Size of the Servo Amplifier

The following figures show the installation dimension of series HSV-180AD

Servo Amplifier.

1ǃFigure 3-2 Dimension and size of HSV-180AD-, 035, 050, 075 (without

auxiliary devices Unit: mm)

2ǃFigure 3-3 Dimension and size of HSV-180AD-035, 050, 075 (with auxiliary

devices Unit: mm)

Series HSV-180AD AC Servo Amplifier. User's Manual (V1.00 2012.4) - page 1