SERVO DRIVE SV-E3 SERIES. INSTRUCTION MANUAL (v1.5)

SET

Item or value select/confirm

Selected value (flicker) increase

UP (long-press)

Selected value (flicker) increase rapidly

DOWN

Selected value(flicker) decrease

DOWN(long-press)

Selected value(flicker) decrease rapidly

SHIFT

Selected cursor moves left.

SHIFT+DOWN

The screen lock/unlock

SHIFT+UP

Reset the servo drive

SHIFT+S, long press for

The servo drive enabling ON/OFF

2s or more

5.3 Operation mode change

The operation procedures of changing operation mode by set panel are shown below.

Turn on the control power to the drive, the set panel will show

. Press the MODE button once, it will show

Speed feedback(motor speed r/min). Press the MODE button once again, it comes to the Status display mode and shows

「 dP_St 」 . When press the MODE button again, it will come to Alarm display mode, Parameter setting mode, Auto tuning

mode, Parameter saving mode in turn. Press the MODE button again, it returns to the Status display mode. Press the SET

button to come to the selection of operation mode.

5.4 Status display mode

The operation procedures of Status display mode are shown below.

Press the “MODE” button twice from the beginning to get into status display mode and 「dP_St」 displays. Model code and

serial number can be checked in this mode.

Status mark number will be displayed on the right side of「St_」 when press “SET” button. As for the meaning of status mark,

refer to 「Status display list」 or

「Status description」. The status mark number will display alternatively when press “UP”

or “DOWN” button. When status displays, press "SET" button to display its value.

Model code and serial number will be displayed after the status when press “UP” or “DOWN” button. The status mark number

will display alternatively. Model code will be displayed in 「Pt_[AAA]」 and serial number displayed on 「Ps_[AAA]」. In the

display _[AAA], 「Jot」indicates the motor, 「drv」indicates the drive and 「Enc」indicates the encoder.

Figure 5.4.1

Table 5.4.1 Status display list

Mark number

Status

Parallel I/O status

Display the bit number of assigned parallel IO.

For details, refer to [About parallel I/O status]

Temperature at the control part[℃].

Temperature at the control part of servo drive.

Command pulse input (position)[pulse]

To confirm the number of pulse from upper controller.

Command pulse input (speed)

Differential of Command pulse input (position)

Less than 750W: [pulse/160μs], more than 1kW: [pulse/200μs]

Analog command input(command value)[r/min]

By adding input filter and gain, the analog speed command from

upper control device can be regarded as input value of speed

command.

Positioning completion

0: during positioning; 1: positioning completed.

ABS position command [pulse]

Display the position command value according to the command

pulse

ABS position feedback[pulse]

Display the motor position feedback by encoder according to

command pulse

Command position deviation[pulse]

Display the difference value between the position command and

position feedback according to command pulse.

Position command[pulse]

Pulse command input(position). The command value input after

division and multiplication smoothing in internal position command.

Encoder pulse.

Position feedback [pulse]

The actual position values detected by encoder.

Position differential [pulse]

Display the differential between position command value and position

feedback value.

Speed command [r/min]

The value input into the position and speed control of drives.

Speed feedback [r/min]

Motor speed detected by encoder.

Speed deviation[r/min]

Differential between speed command and speed feedback value.

Torque command[0.1%]

The corresponding rated torque of 1000 is 100%, and corresponding

rated torque of 3000 is 300%.

Load ratio[digit]

Permissible value is about 1000(load ratio 100[%]), overload error

occurs when the load continuously exceed 1440s.

Encoder/Rotor mechanical angle (1 rotation) [pulse]

1 rotation absolute angle data of rotor output by the encoder

Encoder/Rotor mechanical angle (integrate) [pulse]

Multi-rotation integrate angle data of rotor output

the

encoder

when using absolute encoder.

Regenerative status

Display regeneration status.

For details, refer to [4-4-4 Regenerative status].

Main circuit voltage[0.1V]

Display the main circuit voltage.(reference value)

※Display only in the model「DA2□□2*」

Model code of servo drive.

Display the model code of servo drive.

Model code of servo motor.

Display the model code of servo motor.

Model code of encoder.

Display the model code of encoder.

Serial number of servo drive.

Display the serial number of servo drive.

Serial number of servo motor.

Display the serial number of servo motor.

Serial number of encoder.

Display the serial number of encoder.

Table 5.4.2 Corresponding display for the letters

[About LCD display]

The LCD can display the parameter of more than 6 digits and shows the following screens. Take the positive value

「123456789」and negative value 「-123456789」as example..

1) Screen 1

Display lower 5 digits(lower)

Positive

Negative

2) Screen 2

Display upper 5 digits(middle)

Positive

Negative

3) Screen 3

Symbol display(upper)

Positive(Display「＋」)

Negative(Display「-」)

Starting from the right (lower bits) digit, the select cursor moves left when press “SHIFT” button. When the fifth digit

flashes

, press “SHIFT” button and it comes to the next screen. Press “SHIFT” button in Screen 3(Symbol display) and it

comes back to Screen 1(Display for lower 5 digits). That is to say, the screen changes the order of Screen 1(Display for lower

5 digits)→Screen 2(Display for upper 5 digits) →Screen 3(Symbol display) →Screen 1 (Display for lower 5 digits). 「-」on the

left indicates digit position. 「＿」indicates the lower digits「―」middle digits; 「￣」upper digits. When display negative values,

the left point at the button will always light from lower digit to upper digit. However this left point won’t light When the displayed

digital number is less than 6 even if it’s negative.,

[Parallel IO status]

Display the control signal input (8 points) and output (8 points) status of I/O connector (CN1).

The following table lists the signal name of I/O connector (CN1) and parallel IO status display. For the details of user I/O

connector(CN1), refer to 「8.7.1 Signal description」

Table 5.4.3

Display

Signal name

Contents

ot00

(MBRK)

O1 (Brake release output) Output status

ot01

(SERVO)

O2（Servo output）Output status

ot02

(POSIN/-)

O3（Positioning completed /reserved）Output status

ot03

(-)

O4（Reserved）Output status

ot04

(-)

O5（Reserved）Output status

ot05

(OCZ)

O6（Encoder Z phase Open collector output）Output status

ot06

(SRDY)

O7（Servo ready）Output status

ot07

(ALM)

O8（Alarm output） Output status

in00

（SVON）

I1（Servo ON Input） Input status

in01

（RESET）

I2（Alarm reset input） Input status

in02

(HOLD/VCRUN1)

I3（Command input inhibit/Internal speed command-Start 1）Input status

in03

(PCLR/VCRUN2)

I4 （ Deviation counter clearing input /Internal speed command-Start 2 ） Input

status

in04

(-/VCSEL1)

I5（Reserved/ Internal speed command—Speed command selection 1）Input

status

in05

(CCWL/VCSEL2)

I6（CCW drive restriction /Speed command selection 2 Input） Input status

in06

(CWL/VCSEL3)

I7（CW drive restriction / Speed command selection 3 Input） Input status

in07

(TLSEL1)

I8（Torque limit input）Input status

The operation procedures of parallel IO status are shown below.

Press the “UP” or “DOWN” button, the number will be displayed alternatively. When input signal displays, press “SHIFT”

button and it will shift to output signal 「ot00」. When output signal displays, press “SHIFT” button and it will shift to input signal

「in00」.

Figure 5.4.3

[Regenerative status]

Display main circuit DC power supply of drive and the working status of regenerative power circuit.

When

displays in the set panel, press SET button to show the following

Figure 5.4.4

Table 5.4.4 Display list of regenerative status

Display

Name

Description

ot00

Regenerative control output

Indicates the drive working status of regenerative power circuit. When the signal is

ON, regenerative power is under the operation by regenerative resistor.

ot01

Reserved

『-』fixed

：

ot07

Reserved

『-』fixed

in00

When the DC voltage of main circuit reaches the regenerative voltage alarm, the

Regenerative voltage alarm

signal is ON, which indicates the drive regeneration circuit may be on working state. A

regenerative resistor is recommended to be connected.

When voltage is less than regenerative threshold voltage, the signal is ON.

in01

When the DC voltage of main circuit reaches regenerative threshold voltage, the

Regenerative

thresholdsignal is ON, which indicates the drive regeneration circuit is on working state. A

voltage

regenerative resistor must be connected. If not, the power failure may occur.

in02

Reserved

『-』fixed

：

in07

Reserved

『-』fixed

Operating procedures of regenerative status are as follows.

Press the “UP” or “DOWN” button, the number will be displayed alternatively. When input signal displays, press “SHIFT”

button and it will shift to output signal 「ot00」. When output signal displays, press “SHIFT” button and it will shift to input signal

「in00」

Figure 5.4.5

Follow above operating procedures to confirm whether a regenerative resistor is needed or not. When the display changes

from 「in00_-」 to 「in00_A」, the regenerative discharge is opened and the regenerative resistor is needed. For details, refer

to [Regenerative resistor]. Starting from low speed (20% of the highest speed), operating the motor to the expected movement

slowly and observing if the display value changes from「in00_-」to「in00_A」 If 「in00_A」displays, a regenerative resistor

is needed. Operation panel displays as follow:

Need a regenerative resistor

Do not need any regenerative resistor

5.5 Alarm display mode

The following shows the operating procedures of alarm display.

Press the “MODE” button three times from the beginning, 「dP_Err」 indicates the alarm display mode. Press the “SET” button

to display the drive alarm status and 「Err.--」indicates no alarm. If an alarm has occurred, the corresponding alarm number is

output on the right side of 「Err.」. For the details of alarm number, refer to the following [Alarm items]. If several alarms have

occurred, press “UP” or “DOWN” button to display the alarm number.

When an alarm has occurs, 「Err.**」will be displayed on the operation panel except these four modes. (** indicates the alarm

number) ①Parameter setting mode, ②Auto tuning mode , ③In Parameter saving mode, ④Auxiliary functions, when press

“MODE” button and the display can change from this mode to another, 「Err.**」 will display.

For the remedies and reset method of alarm, refer to [9.2 Alarm disposal and reset].

Figure 5.5.1

Table 5.5.1 Alarm No.

Alarm No.

Alarm description

Alarm No.

Alarm description

System error

Encoder error (receive data)

EEPROM data error

Encoder error(no response)

Encoder error (circuit)

Model code error

Overspeed

Encoder error (communication)

Speed deviation error

Encoder error(multi-rotation data)

Position deviation error

Encoder error(voltage drops)

Overload error

Power error (control power)

Command overspeed error

Switch circuit error

Encoder pulse output frequency error

Overcurrent error

Internal position command overflow error/

Inverter error 1

Home position return failure

Encoder error(multi-rotation counter

Inverter error 2

overflow)

Overheat

Current sensor error

Overvoltage

Power error (drive internal)

Power supply error(main circuit)

5.6 Parameter setting mode

The operating procedures of parameter setting are shown below.

When pressing “MODE” button three times from the initial display, 「P」will be displayed on the leftmost of LCD and it comes

to parameter setting mode. 3 digits, a decimal point, 1 digit and a blank will be displayed in turn on the right side of 「P」. The

combination of 3 digits, a decimal point and1 digit constitute the parameter No. Press UP or DOWN button to the parameter

No. to be set and press SET button to display the parameter value on the servo drive.

For the details of parameter number, refer to [Section 6 Parameter Description]. When「r」is displayed on the rightmost side ,

it means the drive power supply must be restarted after saving the parameter. For the methods of parameter saving, refer to

「Section 5.8 Parameter saving mode」

Restart the power supply to the drive

No need to restart the power supply to the drive

The operating procedures of parameter change are shown below. If parameters displayed, the rightmost LCD will flash and it

comes to the state that parameters can be input.

On the condition that parameter is beyond the range from -99999 to 99999(only for No.087.0 position deviation error

detection value), as said in [Status display mode] and [Signed 6-digit or more parameter on LCD], 5 digits can be displayed

every time. The flashing digit can be changed and press “SHIFT” to select the digit to be changed (flash). Parameter value can

be changed by pressing “UP” or “DOWN” button. Press “SET” button to set the parameter on the drive and the digit will no

longer flicker. If you do not want to change the parameter value and just confirm it, press “MODE” button to return. If the drive

is powered off, the parameter value will return to the state before change.

In order to save the parameter after change in the EEPROM of drive, refer to [Section 5.8 Parameter saving mode] for details.

Figure 5.6.1

5.7 Auto tuning mode

Auto tuning mode includes 「Simple adjustment」 and 「Fine adjustment」.

「Simple adjustment」

Select gain level among 5, 10, 15, 20, 30 and then start auto tuning and setting automatically the expected inertia ratio to

achieve the desired operation. Meanwhile, the inertia ratio can be set manually. The most suitable gain can be set

corresponding to inertia ratio.

「Fine adjustment」

To achieve the optimum operation effect after Simple adjustment, some gain parameters need to be set. It’s generally

optimized in accordance with the order of gain level

→ Inertia ratio → FF1 gain. It can also be optimized more easily in

accordance with the order of integral gain→FF2 gain→damping ratio.

「A_TunE」(Auto tuning mode) will be displayed after press “MODE” button five times from the initial display status.

In auto tuning mode, parameters which are set in Parameter setting mode can be displayed after the 「Simple adjustment」

and 「Fine adjustment」.Please follow the procedures below to operate. This mode will show under position control or speed

control mode.

The parameter group that can be set in position control or speed control mode is as follows. If pressing “SHIFT” button in auto

tuning mode, [Parameter name] on the operation panel will shift to [Parameter number]

Table 5.7.1

Position control

Display order

Name

Parameter

name/

number

displayed on panel

Inertia condition

P_GGLP / 113.1

Control gain setting

P_GSET / 113.0

Inertia

ratio

P_inEr /102.0

conversion ratio of Inertia ratio

P_inTr /104.0

Selection of real-time auto tuning

P_TUEn /110.1

Control level

P_CLEv /114.0

Integral gain

P_inTE /119.0

First gain FF compensation

P_GFF1/117.0

Second gain FF compensation

P_GFF2/118.0

Damping ratio

P_dAmP/103.0

Table 5.7.2

Speed control

Display order

Name

Parameter

name/

number

displayed on operation panel

Control gain level

P_GSET /129.0

Inertia ratio

P_inEr /102.0

Setting of auto tuning

P_ES7d /110.0

Selection of real-time auto tuning

P_TUEn /110.1

Control level

P_CLEv /130.0

Integral gain

P_inTE /133.0

First gain FF compensation

P_GFFS /132.0

Damping ratio

P_dAmP/103.0

Figure 5.7.1

mode. Please note that the newly-set parameters, which have been set in Parameter setting and auto tuning mode but not

saved to EEPROM, will disappear and return to the value before after power-off.

The operating procedures of saving parameters are shown below.

Figure 5.8.1 Parameter saving mode

In parameter setting mode when change the parameters that need restarting 24VDC control power supply, please restart the

control power supply after the above procedures done. The changed parameters become effective after restart control power

supply.(For the models of 1kW or more, power off the main circuit power supply and restart it after the screen display is off)

5.9 Auxiliary function

will display after press the MODE button seven times from the initial status

Please operate as the procedures shown in Figure 5.9.1.

Figure 5.9.1 Auxiliary function

5.9.1 Drive connector terminal description

JOG function is function for test run without the commands output by the upper controller. Please use the test run function for

the purpose of adjustment. For details.

Working conditions for JOG function

・ The JOG function is available in the pulse command modes of position control and speed control mode. Control the

machines according to the corresponding gain of control modes. Do not use the JOG function in the internal position

command mode (point table, test run) and torque control mode of position control.

・ When using JOG function in speed control mode/ internal speed command mode, the VCRUN1, VCRUN2, VCSEL1,

VCSEL2 and VCSEL3 of parallel I/O input become invalid.

・ Input the 24VDC control power and servo ON signal from I/O connector.

Operating procedures

1. Display the

according to the operating procedures as shown in Figure 5.9.1 Auxiliary function.

2. Set the following three parameters by the set panel .

For the details of parameters, please refer to [Chapter 6 Parameter Description].

Table 5.9.1 Relevant parameter of JOG function

No.

Parameters

385.0

JOG operation: Acceleration time

386.0

JOG operation: Deceleration time(※Note 1)

387.0

JOG operation: Target speed

3.Press SET button and show the

4. Make the servo OFF by I/O

5. Long-press LEFT(

) button and show the

. The alarm

will occur if operating at the servo

ON. If the alarm

occurs at this time, press MODE

button and the display returns to

and

reoperate from procedures 3.

6. Press the UP

button, the motor rotate in CCW direction; if Down

button, in CW direction.

The motor rotates when pressing the button, and stops as releasing the button.

7. Make the servo OFF by I/O and

shows to end the JOG operation. Then press MODE

button and show

, which means the operation status changes from JOG to the general. If the servo is ON, the operation cannot

change from JOG operation to general operation status and the alarm

will occur.

Note 1) Please note that if the JOG operation deceleration time is set longer, the time from pressing the UP

or Down

button to stopping the motor will become longer correspondingly.

Note 2) If press the UP

or Down

button simultaneously, the motor will stop. If the unexpected operating status

happens, switch off the main circuit power or make the servo OFF to stop the operation.

Figure 5.9.2

5.9.2 Parameter clearing function

This function is to return the parameters to the factory settings. After clearing the parameters, restart the power supply and the

parameters will change to the factory settings.

The parameter clearing should be operated at the servo OFF. If the servo is ON, an alarm will occur

Operation procedures

1. Operate as the procedures in section 4.9 Auxiliary function and display the

2.Press the SET

button and show the

3. Long-press the LEFT

button, then display the

and flicker, then change to

4. Restart the power supply and the parameter clearing is done.

Figure 5.9.3

5.9.3 Encoder clearing function

For details, please refer to [Reference SV-E3 series absolute system].

6. Parameter Description

6.1 Parameter list

This section gives a detailed description of the displayed parameters on the panel.

The column of 「No.」is the parameter number. Two numbers separated by “/” are the numerator and denominator number of

parameters. Take 034.0/036.0 as the example, 034.0 is the numerator number and 036.0 is the denominator number. [Basic

setting] in Parameter list are the initial setting values determined by the device. [Adjustment] indicates gain and other

parameters that need to be adjusted to get the expected operation. [Special setting] indicates the parameters set according to

the actual needs. The parameters with 「r」displayed on the right side of parameter number, are the ones that need to restart

the drive control power supply after saving. 「Yes」will be displayed in the parameters of 「Whether to restart 24VDC power

supply」. After saving the parameters in 「Parameter saving mode」, 「Whether to restart 24VDC power supply」will be

displayed for the parameters which are valid after restarting 24VDC power supply. For the models of 750W or less, the control

power is supplied from external 24VDC. For the models of 1kW or more, the control power is supplied from internal power and

please cut off 220V power of main circuit if restart needed.

Each parameter has its setting range, but it also depends on the setting value of other parameter. There are some parameters

unable to set, even though they are in the setting range. The following is the interdependent parameter number.

No.102.0

Inertia ratio

No.103.0

Damping ratio

No.104.0

Conversion ratio of inertia ratio

No.115.0

Control gain 1 (Position control mode)

No.116.0

Control gain 2 (Position control mode)

No.117.0

Gain FF compensation 1（Position control mode）

No.118.0

Gain FF compensation 2（Position control mode）

No.119.0

Integral gain（Position control mode）

No.131.0

Control gain 1（Speed control mode）

No.132.0

Gain FF compensation 1（Speed control mode）

No.133.0

Integral gain（Speed control mode）

6.1.1 Parameters

Table 6.1.1 Parameters

Types

Names

No.

Common

Control mode

2.0

parameters

Command mode

3.0

Operation mode

9.0

Torque command range

Switch

144.0

Value 1

147.0

Value 2

148.0

Torque limit output

144.1

Delay time for Servo off

237.0

Delay time for mechanical brake release

238.0

Selection of an encoder system

257.0

Encoder pulse output

Rotation direction

272. 1

Division and

Numerator

276. 0

multiplication

Denominator

278. 0

RS-485

Switch

8.0

communication

Address

4.0

Communication speed

6.0

Stop bit

6.1

Parity

6.2

Minimum response time

11.0

Error detection

Position error

Switch

65.0

Value

87.0

Delay time

89.0

Speed error

Switch

65.1

Value

90.0

Delay time

91.0

Encoder pulse output

Upper limit for frequency

285.0

Delay time

286.0

Instantaneous voltage

Delay time

305.0

drop

Drive restriction

Settings

67.0

options

Deceleration method

67.1

Stop status

67.2

Keep position deviation counting

67.3

Deceleration stop

Method

224.0

Release condition

224.1

Operation time

226.0

Cancel deceleration stop

227.0

Power supply error

Switch

224.2

Operation time

228.0

Torque command range

151.0

Adjustment

Inertia ratio

102.0

Damping ratio

103.0

Auto tuning

Mode switch

110.0

Project

110.1

Position control mode

Control gain set

113.0

Inertia condition

113.1

Control level

114.0

Control gain 1

115.0

Control gain 2

116.0

Gain FF compensation

117.0

Gain FF compensation

118.0

Integral gain

119.0

Speed control mode

Control gain set

129.0

Control level

130.0

Control gain 1

131.0

Gain FF compensation

132.0

Integral gain

133.0

Current control gain

193.0

Position

Filter 1

Selection(*1)

66. 0

command filter

Smoothing filter 1

average moving times

80. 0

Notch frequency

74. 0

Notch width

75. 0

High frequency gain

76. 0

Notch depth

79. 0

Filter 2

Selection

82. 0

Notch frequency

83. 0

Notch width

84. 0

High frequency gain

85. 0

Notch depth

86. 0

Filter 3

Selection

82. 1

Notch frequency

357. 0

Notch width

358. 0

High frequency gain

359. 0

Notch depth

360. 0

Filter 4

Selection(*2)

66.1

SERVO DRIVE SV-E3 SERIES. INSTRUCTION MANUAL (v1.5) - page 3