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IS550Series Servo Driver User Manual foreword

foreword

First of all, thank you for purchasing Shenzhen Inovance Technology Co., Ltd.IS550Series servo drives!

IS550The series AC servo driver is a new generation of high-performance AC servo driver launched by Shenzhen Inovance Technology Co., Ltd. This series of

drivers has the function of a general AC servo driver, and can drive a variety of servo motors (rotary, linear, torque, ordinary permanent magnet synchronous),

and has a wealth of industry-specific application functions and modules, such as center curling control, flying shears control, fixed-length control, etc.; drive

power range7.5~250kW, the built-inRS485,RS232The communication function can be flexibly configured and controlled by the host computer.

This manual isIS550Operation instruction manual of the series servo drive.

This manual provides relevant precautions and guidance for users on model selection, installation, parameter setting, on-site commissioning and fault diagnosis.

In order to use this series of servo drives correctly, please read this manual carefully in advance, and please keep it properly for future use. Equipment supporting customers

Please send this manual along with the device to the end user.

Unpacking inspection:

When unpacking, please confirm carefully:

Confirm item illustrate

Is the arriving product the same as the product model you ordered? The box contains the machine, product, certificate of conformity, user operation manual and warranty card you

match? ordered. Please check the "model number" on the nameplate of the servo motor and servo driver.

Please check the appearance of the whole machine to see if the product is damaged during transportation; if you find any

Is the product damaged? omission or damage, please contact our company or your supplier as soon as possible.

Merchant contact to solve.

It is normal to be able to turn it gently by hand. The exception is servo motors "with power-off
Is the servo motor rotary shaft running smoothly?
brake".

First time use:

For users who use this product for the first time, please read this manual carefully. If you have doubts about some functions and performance, please

Consulting our company's technical support personnel for help is beneficial to the correct use of this product.

Due to the continuous improvement of the servo drive, the information provided by the company is subject to change without prior notice.

-1-
 No.1Chapter Safety Information and Precautions
1

No.2Chapter Servo System Selection 2

No.3Chapter Servo Motor Specifications and Outline Drawings 3

No.4Chapter Servo Drive Specifications and Outline Drawings 4

No.5Chapter Cable Specifications and Outline Drawings 5

No.6Chapter Wiring 6

No.7Chapter Interface Display and Key Operation 7

No.8Chapter Common Function Code Setting of Servo Drive 8

No.9chapter run 9

No.10Chapter Communication Function 10

No.11Chapter Maintenance and Inspection 11

No.12Chapter Appendix 12
 Table of contents

Foreword................................................ ................................................... ...................................................1

No.1Chapter Safety Information and Precautions................................... ................................................... .........10

1.1Safety Precautions................................................ ................................................... ................................................10

1.2Electrical Design Considerations ................................................ ................................................... ...................................11

1.2.1Motor insulation check................................... ................................................... ...................................11

1.2.2Some precautions when using the motor................................... ................................................... …11

No.2Chapter Servo System Selection ................................................ ................................................... ...................................14

2.1Servo motor model description................................... ................................................... ...................................14

2.2Servo drive model description................................... ................................................... ................................15
2.3List of servo system configuration specifications................................... ................................................... ..........15
2.4Matching cables and models................................... ................................................... ................................................18

2.5Peripheral Brake Accessories ................................................ ................................................... ...................................18

No.3Chapter Servo Motor Specifications and Outline Drawings................................... ................................................... …twenty two

3.1Electrical Specifications of Servo Motors................................... ................................................... ...................................twenty two

3.1.1 ISMGsMechanical characteristic parameter specifications of series motors................................... ...................................................twenty two

3.1.2 ISMGsMotor Rating Specifications..................................... ................................................... .........twenty two

3.2Outline dimension drawing of servo motor................................... ................................................... ...................................twenty three

3.2.1Solid shaft, naturally cooled motor (ISMG1) ................................................ ................................................twenty three

3.2.2Solid shaft, forced air cooled motor (ISMG1) ................................................ ................................................twenty four

3.2.3Solid shaft, naturally cooled motor (ISMG2) ................................................ ................................................twenty four

3.2.4Solid shaft, forced air cooled motor (ISMG2) ................................................ ................................................25

3.3Servo motor installation..................................................... ................................................... ................................................26

3.3.1Precautions for Servo Motor Installation................................... ................................................... .........26

3.3.2Servo motor installation accuracy requirements................................... ................................................... .........27

3.3.3Direction of Servo Motor Rotation .............................................. ................................................... ...................27

3.3.4Shock resistance of servo motor................................... ................................................... ...................................28

3.3.5Vibration Resistance of Servo Motors................................... ................................................... ...................................28

3.3.6Servo Motor Vibration Levels ................................................ ................................................... ...................28

No.4Chapter Servo Drive Specifications and Outline Drawings................................... ................................................... .....30

4.1Servo Drive Specifications................................... ................................................... ...................................30

4.1.1The main technical parameters of the drive unit................................... ................................................... .........30

4.1.2General Specifications of Servo Drivers................................... ................................................... .........30

4.2Servo drive installation................................................ ................................................... ...................................33
4.2.1Operating environment during mechanical installation .............................................. ................................................... .........33

4.2.2Heat Dissipation Issues During Mechanical Mounting .............................................. ................................................... .........33

4.2.3Removing and installing the lower cover ................................... ................................................... ...................34

4.3Dimension drawing of servo drive................................... ................................................... ...................35

4.3.1 IS550AT017I~IS550AT032ISchematic diagram of external dimensions and installation dimensions................................... .........35

4.3.2 IS550AT037I~IS550AT304ISchematic diagram of overall dimensions and installation dimensions................................... .........35

4.3.3 IS550AThe shape of the servo drive and the size of the installation hole (mm) ................................................ ...................36
 4.3.4Dimensions of external keyboard...................................... ................................................... ..........36
4.3.5Dimensions of installation opening for external keyboard................................... ................................................... .........37

No.5Chapter Cable Specifications and Outline Drawings................................... ................................................... ..........40

5.1Servo motor encoder cable................................................ ................................................... ...................................40

5.1.1Outline drawing of servo motor encoder cable................................... ................................................... .....40
5.1.2Servo motor encoder cable model................................................... ................................................... …40
5.1.3Servo motor encoder cable signal connection ................................... ...................................................40
5.2server DriverPCCommunication Cable................................................ ................................................... ..........41
5.2.1server DriverPCOutline drawing of communication cable................................... ...................................................41

5.2.2server DriverPCCommunication cable type................................... ...................................................41

5.2.3server DriverPCCommunication cable signal connection relationship................................... ................................................41

5.3server DriverPLCCommunication Cable................................................ ................................................... .........41

5.3.1server DriverPLCOutline drawing of communication cable................................... ...................................................41

5.3.2server DriverPLCCommunication cable type................................... ...................................................41

5.3.3server DriverPLCCommunication cable wiring diagram................................... ...................................................41

5.4Servo drive multi-machine parallel communication cable................................... ................................................... .........42

5.4.1Outline drawing of communication cable for multi-machine parallel connection of servo drives................................... ...................................................42

5.4.2Model of communication cable for multi-machine parallel connection of servo drives................................... ...................................................42

5.4.3The signal connection relationship of the multi-machine parallel communication cable of the servo driver................................... ...................................42

5.5Precautions for use of signal cables................................... ................................................... ...................42

No.6Chapter Wiring ................................................ ................................................... ...................................44

6.1Main circuit wiring................................... ................................................... ................................................44

6.1.1Names and functions of the main circuit terminals................................... ................................................... .........44

6.1.2Precautions for main circuit wiring...................................... ................................................... ..........44

6.2Encoder signal wiring...................................... ................................................... ...................................45
6.2.1Encoder signal line processing (wire-saving incremental encoder) ................................... ................................................45

6.2.2Encoder connector (J1) of the terminal arrangement ................................................ ...................................................46

6.2.3ResolverPGCardMF38PG4ofJ3definition................................................. ...................................46
6.2.4Incremental fully closed loop position encoder connectorJ7Terminal Description................................................ ...................................46

6.2.5Precautions for Encoder Signal Wiring................................... ................................................... .........47

6.3Interface Circuit................................................ ................................................... ................................................47
6.3.1Control board interface layout diagram................................... ................................................... ...................................47

6.3.2Connection Diagram of Input and Output Signals................................... ................................................... .........48

6.3.3Interface with Command Input Circuit ................................................ ................................................... .........49

6.3.4Interfacing with Output Circuitry ................................................ ................................................... ...................................51

6.4Holding Brake Wiring ................................................ ................................................... ................................................52

6.5Analog monitor signal wiring................................................... ................................................... ...................................52

6.5.1Analog monitor signal connector (J2) of the terminal arrangement ................................................ ...................................52

6.5.2What can be monitored................................... ................................................... ...................................53

6.6Communication signal wiring................................... ................................................... ...................................53
6.7Wiring and anti-interference countermeasures................................... ................................................... ...................................53

6.7.1Wiring Recommendations................................... ................................................... ...................................53

6.7.2Anti-interference wiring................................... ................................................... ...................................54
No.7Chapter interface display and key operation................................... ................................................... .........58

7.1Interface Introduction................................................ ................................................... ................................................58

7.1.1Key function description..................................................... ................................................... ...................................58

7.1.2Servo drive status display................................... ................................................... .........58

7.1.3Browsing and modifying operation methods of servo drive parameters................................... ................................................59

7.2Parameter setting and display................................... ................................................... ...................................59

7.2.1Modification properties and display characteristics of parameters................................... ................................................... .....59

7.2.2Setting of parameters below five digits................................... ................................................... ..........59

7.2.3Setting of more than six parameters................................................ ................................................... ..........59

7.3List of parameters that can be monitored................................... ................................................... ...................................60

No.8Chapter Common Function Code Setting of Servo Driver................................... ...................................................64

8.1Operation mode and selection................................... ................................................... ................................................64

8.2Speed mode related settings................................... ................................................... ...................................65

8.2.1Acquisition method of speed command................................... ................................................... ...................65

8.2.2Ramp function control ................................................ ................................................... ...................................66

8.2.3Speed command limit ................................................ ................................................... ...................................67

8.2.4Servo pulse output and its setting................................... ................................................... .........68

8.3Position mode related settings................................... ................................................... ...................................70
8.3.1Ways to acquire position command................................... ................................................... ...................70
8.3.2Pulse command input acquisition method................................... ................................................... .........71
8.3.3Pulse Deviation Clear................................... ................................................... ...................................73
8.3.4Setting of electronic gear function................................... ................................................... ..........73
8.3.5Position command smoothing function................................... ................................................... ...................74

8.3.6Output of positioning completion signal................................... ................................................... .........75

8.3.7Positioning proximity signal output................................... ................................................... .........75
8.3.8Position command prohibition function................................... ................................................... ...................76

8.3.9Handwheel function................................................ ................................................... ...................................76

8.3.10Multi-segment position function setting................................... ................................................... ..........77
8.3.11Interrupt fixed length setting................................... ................................................... ...................................80

8.3.12Return-to-origin function setting..................................... ................................................... ..........81

8.3.13External position fully closed loop function................................... ................................................... .........84
8.4Torque mode related settings................................... ................................................... ...................................87
8.4.1Torque command acquisition method................................... ................................................... ...................87
8.4.2Speed limitation during torque control................................... ................................................... .........89
8.4.3Torque limit selection function................................... ................................................... ...................90
8.5Common basic function settings................................... ................................................... ...................................91
8.5.1servoONset up................................................ ................................................... ...................................91
8.5.2Switching the direction of rotation of the motor................................... ................................................... .........92

8.5.3Overtravel setting................................................... ................................................... ................................................94

8.5.4Setting and protection of braking resistor................................... ................................................... .........94

8.6General purpose input and output signal settings................................... ................................................... ...................................95

8.6.1Configuration method of digital signal................................... ................................................... .........96

8.6.2How to configure the analog input .............................................. ................................................... .........97
8.6.3Other output signals ................................................ ................................................... ...................................101
No.9Chapter Run................................................ ................................................... ................................................104

9.1Inspection before trial operation................................... ................................................... ...................................104

9.2Jog test run example................................... ................................................... ...................................104
9.2.1By function code andDIInput terminal to realize jog test run..................................................... ...................................104

9.2.2Jog test run directly through the panel................................... ................................................... …105

9.2.3Jog test run through background control software................................... ...................................................105

9.3Example of speed control test run................................... ................................................... ...................................105

9.3.1continue to operate................................................ ................................................... ...................................105
9.3.2Multi-speed ................................................ ................................................... ...................................106
9.3.3Analog Control .............................................. ................................................... ...................................106
9.4Example of position control test run................................... ................................................... ...................................107

9.4.1Step setting method................................................... ................................................... ...................................107

9.4.2Pulse command mode................................................ ................................................... ...................................107

9.5Example of torque control test run................................... ................................................... ................................108

9.5.1Digital quantity setting method................................... ................................................... ...................108
9.5.2Analog Control .............................................. ................................................... ...................................108
9.6Trial run after the servo motor is connected to the mechanical structure................................... ................................................... ...109

No.10Chapter Communication Functions................................... ................................................... ................................112

10.1Hardware connection................................................ ................................................... ...................................112

10.2Communication parameter setting................................... ................................................... ...................................113

10.3 MODBUSletter of agreement................................................ ................................................... ...................113

10.3.1read function code (0x03) ................................................ ................................................... ..........113
10.3.2Write16bit function code (0x06) ................................................ ................................................... ..........114
10.3.3Write32bit function code (0x10) ................................................ ................................................... ..........115
10.3.4Error Response Frame................................................ ................................................... ...................................116

10.3.5Communication example................................... ................................................... ...................................116

10.3.6 CRCscheck................................................ ................................................... ...................................118
10.3.7signed16Hexadecimal representation................................................ ................................................... .....118

10.3.8 32Bit function code addressing................................... ................................................... ...................................119

10.3.9Definition of function code communication address................................... ................................................... .........119

10.3.10communication virtualVDI/VDO ................................................... ................................................... ..........119

10.3.11Communication is not performed when writing function codesEEPROMsave................................................. ...................................120

10.3.12Adding delay to servo response................................... ................................................... .........121

10.3.13 32Bit function code high and low16Transmission order of bits ................................................ ................................................121

No.11Chapter Maintenance and Inspection................................... ................................................... ...................................124

11.1Abnormal diagnosis and handling measures................................... ................................................... ...................124

11.1.1Fault display list ................................................ ................................................... ..........124

11.1.2List of warning displays................................... ................................................... ..........126
11.1.3Causes of failures and solutions................................................... ................................................... …126
11.1.4Causes of warnings and countermeasures..................................................... ................................................... …132

11.1.5Causes and solutions for other bad conditions................................... ...................................................133

11.2Servo drive maintenance and inspection................................................... ................................................... .........137

11.2.1Servo motor inspection..................................................... ................................................... ...................137

11.2.2Servo drive inspection..................................................... ................................................... .........137
 11.2.3Approximate standards for replacing internal parts of the servo drive................................... ................................................137

11.2.4Servo motor fan maintenance................................... ................................................... .........138

No.12Chapter Appendix................................................ ................................................... ...................................140

12.1List of function code parameters................................... ................................................... ................................140

12.2 DIDOsDefinition of basic functional specifications................................... ................................................... .........179

12.3Fault parameter table................................... ................................................... ...................................182

12.4Motor number................................................ ................................................... ...................................184
12.5 IS550Quick Commissioning Guide................................... ................................................... ...................................185

12.5.1wiring................................................. ................................................... ...................................185

12.5.2Select the motor model................................... ................................................... ...................186
12.5.3Initial angle identification (general resolvers need to perform this step, photoelectric motors do not need it) ................................... ...................................188

12.5.4Motor test run ................................................ ................................................... ...................................188

12.5.5Speed Gain Adjustment ................................................ ................................................... ...................188
12.6Version Change Notes................................... ................................................... ...................................190