preface - veichi solar pump inverter, vfd, servo, motor ... · danger of servo system damage. as...

1

Preface Thanks for using SD700 series AC servo drive.

VEICHI SD700 series is the general purpose high performance servo drive which

adopts a series of advanced motor control algorithm and 24-bit high precision encoder,

featuring high control precision, fast tracking response, simple and convenient

debugging to meet the function and performance requirements in high-end general

purpose servo applications. Rich application functions such as built-in point control

function, electronic cam, RS485 interface, CANopen interface and 16-bit analog input

can provide high reliability and high cost performance solutions for machine tools,

electronic equipments, robots, textile applications, packaging industry and etc.

This manual is delivered with equipment and only introduces safety precautions,

installation and wiring, function code table, fault diagnoses and processing, monitoring

parameters and etc. For detailed function explanations and application specifications

please refer to SD700 series product instructions or consult VEICHI company. As it is

the basic guide for proper use and safe operation, please carefully read and keep it

and be sure to handle it to end users.

If any problems or special requirements, please feel free to contact our company,

dealers or the customer service center, we will provide dedicated service for you.

This manual is subject to change without notice, thanks for your kind support.

2

Safety Precautions

For safety concerns, please fully understand the safety requirements and cautions

before using.

Operational Qualifications Only professional trained person are allowed to operate the equipment. In addition,

operators must undergo professional skills training and be familiar with the equipment

installation, wiring, operation and maintenance, and can correctly respond to various

emergency situations in use.

Safety Guidance Safety regulations and warning signs come for your security. They are measures to

prevent the operator and machine system from damage. Please carefully read this

manual before using and strictly observe the regulations and warning signs while

operating.

● Correct transport, store, installation and careful operation and maintenance are

important for servo system safe operation. In transport and store process,

make sure the servo system is free from impact and vibration. It must be stored

where is dry without corrosive air and conductive dust, and the temperature

bust be lower than 60℃。

● This product carries dangerous voltage and controls driver machine with

potential danger. If you don’t abide by the regulations or requirements in this

manual, there is danger of body injury even death and machine damage.

● Do not wire while the power is connected. Otherwise, there is danger of death

for electric shock. Before wiring, inspection, maintenance, please cut off power

supply of all related equipments and ensure main DC voltage in safe range.

And operate it after 10 minutes.

● Power line, motor line and control line must be fastened. The grounding

terminal must be grounded reliably and the grounding resistance is less than

10Ω.

● Human body static electricity will seriously damage the internal sensitive

devices. Before operation, please follow ESD measures, or there will be

danger of servo system damage.

● As the output volatge of servo system is pulse weave, if components such as

capacitors for improving power factor or pressure-sensitive resistances for

anti-thunder are installed at the output side, please dismantle them or change

to input side.

3

● No switch components such as breaker and contactor at the output side (if

necessary, please be sure the output current is 0 while the switch acting).

● No matter where the fault is, there is danger of serious accident. So there must

be additional external prevent measures or backup device.

● Only used in application fields as maker stated. No use in equipments related

to special fields such as emergency, rescuer, ship, medical treatment, avigation,

nuclear and etc.

● Maintenance of this product can only be carried out by the company or the

authorized professionals, unauthorized modification or using non-approved

parts may lead to product faults. Any defective devices must be replaced in

time during maintenance.

4

Chapter 1 Installation and wiring 1.1 Installation Dimensions

Dimension

Structure Model

Dimensions（mm） Installation dimensions (mm) Mounting aperture

W H D W1 W2 H1 H2 A B

SIZE A SD700-1R1A-**

45 168 170 \ 20 160 \ 7.5 5 2-M4 SD700-1R8A-**SD700-3R3A-**

SIZE B

SD700-5R5A-**

71 168 180 58 58 160 \ 6.5 5 3-M4 SD700-7R6A-**SD700-9R5A-**SD700-2R5D-**SD700-3R8D-**

SIZE C

SD700-160A-**

92.5 188 182 82.5 75 180 \ 5 5 3-M4 SD700-6R0D-**SD700-8R4D-**SD700-110D-**

SIZE D SD700-170D-**

120 260 210 100 84.5 250 236 \ \ 4-M5 SD700-240D-**SD700-300D-**

5

1.2 Main circuit terminal size

L1 L2 L3 L1C

L2C

B1

B2

B3

U V W

+ /

Main circuit interface Pins

number

Sign nam

e Function

1 L1 Power input of the main circuit Please determine whether the input power is 220V or 400V according to the nameplate 220V models: 200V ~ 240V, -15% ~ +10% 50 / 60Hz 400V models: 380V ~ 440V, -15% ~ +10% 50 / 60Hz Note: "L3" terminal, SD700-1R1A, 1R8A, 3R3A models are single-phase inputs without this pin

2 L2

3 L3

4 L1C Control power input Power input requirements same with L1, L2, L3 5 L2C

6 B1/+

Regenerative resistor connection terminal SD700-1R1A, 1R8A, 3R3A. When regenerative braking capacity is insufficient, connect an external regenerative resistor between B1 / + and B2; other models remove short wiring or short connection between B2 and B3, Connect an external regenerative resistor between B1 / + and B2, The external regenerative resistor need be purchased separately. "B1 / +" terminals can be used for common DC bus positive power supply terminals Note: "B3" terminal, SD700-1R1A, 1R8A, 3R3A models without this pin

7 B2

8 B3

9 - "-" terminal can be used for common DC bus negative power supply terminals

10 U

Connect the U, V, W phase of the motor 11 V

12 W

13 Safe ground

6

1.3 CN1 Control Terminal

No.1No.2

No.24

No.25

No.26

No.27

No.49

No.50

The appearance seen from the

arrow direction is shown below.

7

1.4 Position Control Wiring Diagram

8

1.5 Speed Control Wiring Diagram

9

1.6 Torque Control Wiring Diagram

10

1.7 Output Port Attentions

1.8 Brake Wiring

When servo motor is used for vertical axis situations, the brake can be used to

prevent or keep the falling speed of heavy loads when servo drive is in power off state.

Wiring diagram of electromagnetic brake is shown as below:

+-

RY

12V~24VSO1-

SO1+

Servo driver

+-

Motor

Brake winding

Surge absorption

Fuse（5A）

Power supply for brake winding

Emergency stopRY

DC24V

Note: brake winding must use specialized 24V power supply, and do not share power source with control power or RY relay coil.

Electromagnetic brake must be provided with a dedicated 24V power supply, be

prohibited to share power source with control signal; means relay coil, please note the diode direction ; Electromagnetic brakes are for holding and can not be used for normal parking; Though electromagnetic brake has function to prevent or keep heavy objects from

falling, external braking devices are still necessary.

RY

11

1.9 CN2 Encoder Signal Terminal

BA

1

2 3

4

56

789

2 14 36 5

Sign Define AEnd Pins Number BEnd Pins Number+5V0V

SD+SD-

PE(Shield）

12

56

12

56

Iron Shell 7

Pins Define

BAT+ 3 3BAT- 4 4

1.10 Motor Power Terminal

34

1 2

PE

W

V

U

Sign Define Terminals Pins Number

Pins Define

U 2

V 3

W 4

PE 1

1.11 CN6A/CN6B Bus Communication Terminal

Pin 8

Pin 1

Pin 8

Pin 1

Port function table

Pin No. Name Function Remarks

1 CANH CAN Data+ CN6A and

CN6B has

exactly same

signal

distribution,

and the internal

parallel can

facilitate multiple

network

connections.

2 CANL CAN Data -

3 CANG

CAN Signal GND

4 485- 485 Data -

5 485+ 485 Data +

6 - -

7 GND 485Signal GND

8 - -

Shell Shield

12

1.12 Keyboard Layout and Function Specifications

MODE

SET

DATA

Key Function

MODE/SET Switch modes and return to menu interface

Assist function execution

▲ Select up parameters or increase values;

Switch between high, middle and low section value display.

▼ Select down parameters or decrease values;

Switch between high, middle and low section value display.

DATA/◀

Long press=DATA (about 1 second)

Enter sub-menu under parameter mode and enter parameter

modification under editing mode, then confirm after parameter

modification by shortly pressing =◀;

Change group code under parameter mode, and move the blinking

characters left to select the modification parts under editing mode.

13

Chapter 1 Function Code List

Function code

Parameters Min value Max value Default Unit Effective way

Pn0 basic control

Pn000 Control mode selection 0 11 3 - RST

Pn002 Motor rotation direction selection

0 1 0 - RST

Pn003 Default monitoring parameters 0x0000 0x0fff 0x0fff - INST

Pn004 Servo OFF and stop method selection when occurs alarm 1

0 2 0 － RST

Pn005 Servo stop method selection when occurs alarm 2

0x0000 0x0001 0 － RST

Pn006 Selection of overtaking alarm detection

0 1 0 － RST

Pn007 Stop method selection while servo overtaking

0 2 0 － RST

Pn008 Servo locking time after electromagnetic brake action

0 50 0 10ms INST

Pn009 Electromagnetic brake action delay

10 100 50 10ms INST

Pn010 Motor speed setting when electromagnetic brake is released

0 10000 100 rpm INST

Pn012 External braking resistor power 0 5000 0 10W INST

Pn013 External braking resistor value 1000 65535 0 mΩ INST

Pn015 Overload warning value 1 100 20 % INST

Pn016 Base current derating at motor overload detection

10 100 100 % RST

Pn030 Retention parameter 0 65535 0 - INST

Pn031 Parameter modification operation lock

0 1 0 - RST

Pn039 Upper limit value of multi rotating circles

0 65535 65535 Rev RST

Pn040 Instructions of absolute encoder

0 1 0 - RST

Pn045 Function selection of under voltage

0x0000 0x0002 0 － RST

14

Pn046 Torque limit while main circuit voltage drops

0 100 50 % INST

Pn047 Delay time of torque limit release while main circuit voltage drops

0 1000 100 ms INST

Pn050 Torque limitation set 0 3 1 - INST

Pn051 Max torque limitation 1 0 500 300 % INST

Pn052 Max torque limitation 2 0 500 300 % INST

Pn053 Emergency stop torque 0 800 800 % INST

Pn061 Operator parameter display selection

0x0000 0x0001 1 － RST

Pn062 DB resistance power 0 65535 0 10W INST

Pn070 Encoder frequency-dividing pulse

16 262144 2048 - RST

Pn072 Reverse direction of output frequency division output

0 1 0 - RST

Pn080 Local communication address 0x0000 0x007F 1 － RST

Pn081 RS485 communication baud rate selection

0 4 1 － RST

Pn082 RS485 communication verification mode

0 5 1 － RST

Pn1 Gain parameters

Pn100 Rotary inertia ratio 0 10000 100 % INST

Pn101 First speed gain 1.0 2000.0 40.0 Hz INST

Pn102 First velocity integral time constant

0.15 512.00 20.00 ms INST

Pn103 First position gain 1.0 2000.0 40.0 1/s INST

Pn104 First torque command filter 0.00 655.35 1.00 ms INST

Pn105 Second speed gain 1.0 2000.0 40.0 Hz INST

Pn106 Second velocity integral time constant

0.15 512.00 20.00 ms INST

Pn107 Second position gain 1.0 2000.0 40.0 1/s INST

Pn108 Second torque command filter 0.00 655.35 1.00 ms INST

Pn110 Gain switching mode selection switch

0x0000 0x001 0 － INST

Pn111 Automatic position control gain switching condition

0x0000 0x005 0 － INST

15

Pn112 Gain switching transition time 1 0 65535 0 ms INST

Pn113 Gain switching transition time 2 0 65535 0 ms INST

Pn114 Gain switching delay time 1 0 65535 0 ms INST

Pn115 Gain switching delay time 2 0 65535 0 ms INST

Pn120 Position integral time constant 0.0 5000.0 0.0 ms INST

Pn121 Speed feedforward gain 0 100 0 % INST

Pn122 Speed feedforward filter time 0.00 64.00 0.00 ms INST

Pn123 Use V-REF as the speed feedforward selection

0x0000 0x0001 0 － RST

Pn124 Speed/Position control selection (T-REF distribution)

0 1 0 － RST

Pn126 Speed detection method selection (speed feedback moving average filter valid)

0x0000 0x0001 0 － RST

Pn130 Speed loop control method (PI/IP)

0 1 0 － RST

Pn131 Speed loop P/PI switch condition switch

0x0000 0x0004 0 － INST

Pn132 Speed loop P/PI switching condition (torque command)

0 800 200 % INST

Pn133 Speed loop P/PI switching condition (speed command)

0 10000 0 rpm INST

Pn134 Speed loop P/PI switching condition (acceleration)

0 30000 0 rpm/s INST

Pn135 Speed loop P/PI switching condition (position deviation)

0 10000 0 Command unit

INST

Pn140 Medium frequency vibration suppression control selection

0x0000 0x0013 0x0010 － INST

Pn142 First medium frequency vibration suppression frequency

1.0 2000.0 100.0 Hz INST

Pn143 First medium frequency vibration suppression attenuation gain

0 300 0 % INST

Pn150 Notch filter 1 automatic adjustment selection

0x0000 0x0001 1 － INST

Pn151 Notch filter 2 automatic adjustment selection

0x0000 0x0001 1 － INST

16

Pn152 Automatic trap resonance detection sensitivity

1 200 100 % INST

Pn153 Notch filter 1 frequency 50 5000 5000 Hz INST

Pn154 Notch filter 1 Q value 0.50 10.00 0.70 - INST

Pn155 Notch filter 1 depth 0.000 1.000 0.000 - INST

Pn156 Notch filter 2 frequency 50 5000 5000 Hz INST

Pn157 Notch filter 2 Q value 0.50 10.00 0.70 - INST

Pn158 Notch filter 2 depth 0.000 1.000 0.000 - INST

Pn160 Disturbance compensation function selection

0x0000 0x0001 0 － INST

Pn161 Disturbance observer cutoff frequency

1.0 1000.0 150.0 Hz INST

Pn163 Disturbance compensation coefficient

0 100 0 % INST

Pn165 Disturbance observer inertia correction factor

1 1000 100 % INST

Pn166 Speed observer switch 0 1 0 RST

Pn167 Speed observer cutoff frequency

1 500 80 Hz INST

Pn170 Friction torque compensation cutoff speed

0 1000 20 rpm INST

Pn171 Friction torque forward compensation coefficient

0 100 0 %/100rp

m INST

Pn172 Friction torque reverse compensation coefficient

0 100 0 %/100rp

m INST

Pn175 Robust control options 0x0000 0x0001 0 － RST

Pn177 Robust control tuning values 10.0 80.0 40.0 Hz INST

Pn178 Minimum load values of robust control

0 500 0 % INST

Pn185 Vibration detection selection 0x0000 0x0002 0 － INST

Pn186 Vibration detection sensitivity 50 500 100 % INST

Pn187 Vibration detection value 0 5000 50 rpm INST

Pn2 Positional parameters

Pn200 Command pulse input selection (low/high speed filter)

0 2 0 - RST

Pn201 Pulse input form 0 6 0 - RST

Pn202 Reversed pulse input direction 0 1 0 - RST

17

Pn203 Command pulse input magnification

1 100 1 x1 INST

Pn204 Electronic gear ratio molecule 1 1073741824 4 - RST

Pn206 Electronic gear ratio denominator

1 1073741824 1 - RST

Pn211 Position instruction low pass filter time constant

0 6553.5 0 ms STOP

Pn212 Position command slide average filter time

0 1000.0 0 ms STOP

Pn230 Low frequency vibration suppression selection

0x0000 0x0002 0 － INST

Pn231 Low frequency vibration suppression function automatic tuning selection

0x0000 0x0001 1 － INST

Pn232 Low-frequency vibration detection sensitivity (relative positioning is completed)

0.1 300.0 40.0 % INST

Pn235 Low frequency vibration suppression 1 frequency

1.0 200.0 200.0 Hz INST

Pn236 Low frequency vibration suppression 1 correction

10 1000 100 % INST

Pn237 Low frequency vibration suppression 2 frequency

1.0 200.0 200.0 Hz INST

Pn238 Low frequency vibration suppression 1 correction

10 1000 100 % INST

Pn250 Instructions of external encoders under full closed loop control mode

0 3 0 － INST

Pn251 Speed feedback selection under full closed loop control mode

0x0000 0x0001 0 － RST

Pn252 Division coefficient of tuning 1 cycle between motor and load

0 100 20 % INST

Pn253 External grating ruler resolution 4 1048576 32768 P/Rev RST

Pn257 Large mixed deviation set 0 1073741824 1000Command unit

INST

Pn259 Encoder output resolution 1 4096 20 P/pitch RST

Pn260 NEAR signal length 1 10737418241073741824

Command unit

INST

18

Pn262 Position coverage area 0 1073741824 7 Command unit

INST

Pn264 Position deviation maximum tolerance value

1 1073741823524288

0 Command unit

INST

Pn266 Large position deviation alarm 10 100 100 % INST

Pn267 Alarm value of large position deviation when servo is on

1 1073741823524288

0 Command unit

INST

Pn269 Alarm threshold of large position deviation when servo is on

10 100 100 % INST

Pn270 Speed limitation when servo is on

0 10000 10000 rpm INST

Pn272 Retention pulse reset mode 0x0000 0x0003 0 － RST

Pn273 Position deviation reset mode selection

0x0000 0x0002 0 － RST

Pn274 / COIN output time 0x0000 0x0002 0 － RST

Pn3 Speed parameters

Pn300 Analog speed command gain 150 3000 600 0.01/rated speed

INST

Pn301 Reversed analog speed command

0 1 0 - INST

Pn302 Analog speed command filter time

0.00 655.35 0.40 ms INST

Pn303 Analog speed command dead zone range

0 3 0 V INST

Pn304 Internal speed 1 0 10000 100 rpm INST



Pn310 Speed command trapezoidal acceleration time

0 10000 0 ms INST

Pn311 Speed command trapezoidal deceleration time

0 10000 0 ms INST

Pn312 Speed zero-clamp mode 0 3 3 - INST

Pn313 Speed zero-clamp threshold value

0 10000 10 rpm INST

Pn317 Rotation judgment value 1 10000 20 rpm INST

Pn320 Speed matching range 0 100 10 rpm INST

19

Pn4 Torque parameters

Pn400 Torque command selection 0 1 1 - INST

Pn401 Torque command 2nd order low pass filter cutoff frequency

100 5000 5000 Hz INST

Pn402 Torque command 2nd order low pass filter Q value

0.50

1.00 0.50 1 INST

Pn403 Torque command direction setting

0 1 0 - INST

Pn404 Analog value torque command filter time

0.00 655.35 0.00 ms INST

Pn405 Analog value torque command gain

10 100 30 0.1V/rat

ed torque

INST

Pn406 Reversed analog value torque command

0 1 0 - INST

Pn407 Analog torque command dead zone range

0 3 0 V INST

Pn410 Internal torque command under torque control

-500.0 500.0 0 % INST

Pn411 Speed limitation mode setting under torque control

0 1 1 - RST

Pn412 Speed limitation selection 0x0000 0x0001 0 － RST

Pn413 speed limitation under torque control

0 10000 1000 rpm INST

Pn5 JOG related parameters

Pn500 JOG speed 0 1000 500 rpm INST

Pn502 Program JOG running mode 0x0000 0x0005 0 － INST

Pn503 Program JOG moving distance 1 107374182

4 32768

Command unit

INST

Pn505 Program JOG acceleration/deceleration time

2 10000 100 ms INST

Pn506 Program JOG waiting time 0 10000 100 ms INST

Pn507 Program JOG moving times 0 1000 1 次 INST

Pn508 Program JOG moving speed 1 10000 500 rpm INST

Pn6 Switch configuration related parameters

Pn600 Switch input signal distribution mode

0 1 1 - RST

Pn601 Switch 1 input configuration 0 0x114 0x001 - RST

20









Pn610 Switch input internal configuration 1

0 0x14 0x00 - RST


0 0x14 0x00 - RST


0 0x14 0x00 - RST

Pn613 Switch 1 output configuration 0 0x109 0x000 - RST



Pn622 Warning detection selection 0x0000 0x0001 0 － RST

Pn7 Extension related parameters

Pn705 Inertia identification initial value 0 20000 300 % INST

Pn723 Scan torque command amplitude

1 800 15 % INST

Pn730 No motor test function selection 0x0000 0x0001 0 － RST

Pn731 No motor test function encoder resolution selection

0 3 1 － RST

Pn732 No motor test function encoder selection

0x0000 0x0001 0 － RST

Monitoring parameters 1

Un000 Motor rotation speed 0x800000

00 0x7fffffff 0 rpm INST

Un001 Speed command 0x800000


Un002 Internal torque command 0x800000

00 0x7fffffff 0 % INST

Un003 Rotor pulse position relative to the Z axis

0x80000000

0x7fffffff 0 pulse INST

21

Un004 Electrical angle 0x800000

00 0x7fffffff 0 deg INST

Un005 Speed of input pulse command 0x800000


Un006 Counter of input command pulse

0x80000000

0x7fffffff 0 Command unit

INST

Un007 Counter of feedback pulse 0x800000

00 0x7fffffff 0

Command unit

INST

Un008 Counter of feedback pulse 1 0x800000

00 0x7fffffff 0

Encoder pulse unit

INST

Un009 Position deviation 0x800000

00 0x7fffffff 0 pulse INST

Un00A Cumulative load rate 0x800000


Un00B Regeneration load rate 0x800000


Un00C Electricity consumption of DB resistance

0x80000000

0x7fffffff 0 % INST

Un00D Effective gain monitoring 1 2 1 － INST

Un00E Total running time 0 0xFFFFFFFF 0 100ms INST

Un00F Overload rate 0 0xFFFFFFFF 0 % INST

Un035 DSP software version 0 0xFFFF 0 - INST

Un036 FPGA software version 0 0xFFFF 0 - INST

Un090 Heat sink temperature 0 0xFFFF 0 ℃ INST


Un100 IO port input signal monitoring 0 0xFFFF 0 － INST

Un101 IO port output signal monitoring 0 0xFFFF 0 － INST

Un102 T-REF monitoring 0 0xFFFF 0 % INST

Un103 V-REF monitoring 0 0xFFFF 0 rpm INST

Un104 Pulse command input frequency

0 0xFFFFFFFF 0 pps INST

Un105 Safety terminal HWBB input signal monitoring

0 0xFFFF 0 － INST

Un108 External input command pulse counter

0 0xFFFFFFFF 0 Command unit

INST

Un110 Integrated monitoring of internal signal status

0 0xFFFFFFFF 0 － INST

22

Un120 Integrated monitoring of internal input signal status


Un130 Integrated monitoring of internal output signal


Un140 Main circuit bus voltage 0 0xFFFF 0 V INST

Un141 Effective current feedback 0 0xFFFF 0 % INST

Un142 Instantaneous load rate 0 0xFFFF 0 10% INST

Un143 Instantaneous regenerative load rate

0 0xFFFF 0 % INST

Un144 Electricity consumption of instantaneous DB resistance

0 0xFFFF 0 % INST

Un145 Maximum cumulative load rate 0 0xFFFF 0 % INST

Un14B Command monitoring of D-axis current

0 0xFFFF 0 % INST


Un300 Current alarm code 0 0xFFFF 0 － INST

Un301 Last alarm code 0 0xFFFF 0 － INST

Un302 Timestamp while alarm occurs 0 0xFFFFFFFF 0 100ms INST

Un303 Motor speed while alarm occurs

0 0xFFFF 0 rpm INST

Un304 Speed command while alarm occurs

0 0xFFFF 0 rpm INST

Un305 Internal torque command while alarm occurs

0 0xFFFF 0 % INST

Un306 Input command pulse speed while alarm occurs

0 0xFFFF 0 rpm INST

Un307 Deviation counters (position deviation)while alarm occurs

0 0xFFFFFFFF 0 pulse INST

Un308 DC bus voltage while alarm occurs

0 0xFFFF 0 V INST

Un309 Effective current feedback while alarm occurs

0 0xFFFF 0 % INST

Un30A Cumulative load rate while alarm occurs

0 0xFFFF 0 % INST

Un30B Regenerative load rate while alarm occurs

0 0xFFFF 0 % INST

Un30C Electricity consumption of DB resistance while alarm occurs

0 0xFFFF 0 % INST

23

Un30D Maximum cumulative load rate while alarm occurs

0 0xFFFF 0 % INST

Un30E Rotation inertia ratio while alarm occurs

0 0xFFFF 0 % INST

Un30F Abnormal times of serial encoder communication while alarm occurs

0 0xFFFF 0 － INST

Un310 Internal signal monitoring while alarm occurs

0 0xFFFFFFFF 0 - INST

Un313 Internal input signal monitoring while alarm occurs


Un317 Internal output signal monitoring while alarm occurs


Un320 Fault code history 1 0 0xFFFF 0 - INST










Un330 Fault time history 1 0 0xFFFFFFFF 0 100ms INST










Note: Effective ways INST: effective immediately; RST: restart effect; STOP:

effective after motor stop.

24

Chapter 3 Fault Code and Countermeasure

Fault code

Fault type Countermeasures

Er.020 Parameters and check exception

1.Input parameters again after formatting 2. Servo drive malfunction and needs replacement

Er.021 Parameters formatted exception (inconsistent version)

1. Write in parameters of other servo drive that has the same software version and mode, then turn on power supply. 2. Servo drive malfunction and needs replacement

Er.022 System and check exceptions Servo drive malfunction and needs replacement

Er.030 Main circuit detection part exception

Servo drive malfunction and needs replacement

Er.040 Parameters setting exception

1. The modified parameters should be within the set range. 2. The electronic gear ratio must be within the set range. 3. Servo drive and servo motor capacity must match.

Er.041 Frequency-dividing pulse output setting exception

Set proper value for the encoder frequency-dividing pulse.

Er.042 Parameter combination exception

1. The electronic gear ratio must be within the set range. 2. Make the program JOG setting meet logic.

Er.050 Mismatching drive and motor capacity

The drive does not match the motor capacity

Er.0B0 Invalid alarm of servo on command

1. Turn on the drive power again. 2.Reset software;

Er.100 Over current

1. Might be cable short circuit. Change cable. 2. Might be servo motor fault. Change servo motor. 3. Servo drive fault, change servo unit.

25

Er.300 Regenerative fault

1.Correctly wire the external regenerative resistance. 2. After troubleshooting the wiring, change servo drive if it has fault.

Er.320 Regenerative overload

1. Set the supply voltage within the specification range. 2. Correctly set the value of resistor and capacity . 3. Servo drive malfunction and needs replacement.

Er.400 Over voltage

1. Adjust the AC/DC power voltage to the specification range. 2. According to the actual situation, analyze the capacity of the regenerative resistance.

Er.410 Under voltage 1. Adjust the AC / DC power voltage to the specification range. 2. Expand power capacity.

Er.510 Over speed 1. Check motor wiring. 2. Reduce speed command value, or adjust the gain

Er.511 Over speed of frequency dividing pulse

1. Reduce frequency diving pulses. 2. Reduce running speed.

Er.520 Vibration alarm 1. Reduce motor speed or speed loop gain. 2. Correctly set rotation inertial ratio .

Er.550 Max speed setting exception Correctly set max speed

Er.710 Overload (instantaneous max load)

1. Check motor wiring and encoder wiring 2. Inappropriate motor or encoder selection.

Er.720 Overload (constant max load)

1. Check motor wiring and encoder wiring. 2. Inappropriate motor or encoder selection.

Er.730 BD overload 1

1. Reduce motor command speed 2. Decrease rotation inertial ratio. 3.Servo drive malfunction and needs replacement.

26

Er.731 BD overload 2

1. Reduce motor command speed. 2. Decrease rotation inertial ratio. 3. Servo drive malfunction and needs replacement.

Er.7A0 Heat sink overheat

1.Improve installation environment and decrease ambient temperature. 2. Re-confirm the load conditions and operating conditions. 3. Servo drive malfunction and needs replacement.

Er.B33 Safe terminals input Correctly connect safe terminals

Er.BF4 Hardware over current

1. Might be cable short circuit. Change cable. 2. Might be motor fault. Change servo motor. 3.Servo drive malfunction and needs replacement.

Er.C10 Out of control alarm 1. Check motor wiring. 2. Reduce speed command value or adjust gain.

Er.C90 Encoder communication fault: disconnection 1.Correctly select encoder cable.

2.Improve using environment and correctly wire the encoder. 3.Shorten encoder cable, correctly connect shield wires. 4. Might be servo drive fault and needs replacement.

Er.C91 Data acceleration exception of encoder communication position

Er.C92 Timer exception of encoder communication

Er.CA0 Encoder parameters exception

Er.CB0 Encoder loopback checking exception

Er.D00 Large position deviation

1. Correctly set gear ratio, gain, position filter, torque limit and etc. 2.Check the wiring of encoder cable. 3.Might be servo drive fault and needs replacement.

Er.D01 Large position deviation under servo ON

Correctly set value of position deviation under servo ON.

Er.D02 Large position deviation alarm caused by speed limitation under servo ON.

1.Correctly set speed limitation value under servo ON. 2.Reasonably set alarm value of position deviation under servo ON.

27

Alarm code

Alarm type Countermeasures

AL.900 Large position alarm deviation

1.Set correctly gear ratio, gain, position filter, torque limit etc. 2.Check connecting cable of motor and encoder 3.After eliminating reasons, it’s possible .that servo drive malfunction, please replace it.

AL.901 Alarm of position deviation excess when servo ON

Set correctly threshold value of position deviation excess when servo ON.

AL.910 Overload alarm 1. Check the wiring of motor and encoder. 2. Inappropriate motor or encoder selection.

AL.911 Vibration alarm 1. Reduce motor speed or speed loop gain. 2. Correctly set rotation inertial ratio.

AL.920 Regenerative overload alarm

1. Set power voltage within the specification range. 2. Correctly set the value of resistor and capacity. 3. Servo drive malfunction and needs replacement.

AL.921 DB overload alarm

1. Adjust the AC/DC power voltage within product specification range. 2. According to the actual situation, analyze the capacity of the regenerative resistance.

AL.941 Alarm of re-power due to parameters update

Restart drive after power down

AL.971 Under voltage alarm 1. Adjust the AC/DC power voltage to the product specification range. 2. Expand power capacity..

28

Appendix I: Braking resistor selection

Model Braking voltage

Built-in resistorsExternal

resistance minimum value

External resistor maximum value

SD700-1R1A 380 None 40 400

SD700-1R8A 380 None 40 200

SD700-3R3A 380 None 40 100

SD700-5R5A 380 40Ω 60W 25 70

SD700-7R6A 380 40Ω 60W 15 50

SD700-9R5A 380 40Ω 60W 15 40

SD700-160A 380 30Ω 200W 10 30

SD700-2R5D 700 80Ω 60W 80 225

SD700-3R8D 700 80Ω 60W 55 180

SD700-6R0D 700 40Ω 60W 35 110

SD700-8R4D 700 40Ω 60W 25 85

SD700-110D 700 40Ω 60W 25 70

SD700-170D 700 30Ω 200W 30 50

SD700-240D 700 30Ω 200W 15 40

SD700-300D 700 30Ω 200W 15 30

Note: If needing external braking resistor, please according to the onsite

braking frequency and the braking resistor heat dissipation condition to

choose proper braking resistance value on the above table. If any queries,

please consult the manufacturer.

29

Appendix II: Parameter record table

Recorder

Record time

Function code

Initial debugging

value

First modified

value

Second modified

value Remark

30

Packing list

Items Description Quantity

1 Servo Drive 1

2 SCSI Plus(50P) 1

3 Simple Manual 1

4 7P Pluggable Terminals Block 1

5 3P Pluggable Terminals Block 1

6 Terminal Handle 1

Remark: Item 4, 5 and 6 are only for below modes: SD700-1R1A-**/SD700-1R8A-**/SD700-3R3A-**

When open the package, please carefully check if the contents are consistent with the packing list. Any doubt, please contact your dealer.

preface - veichi solar pump inverter, vfd, servo, motor ... · danger of servo system damage. as...

Documents