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User Manual (SZGH-SD Series) v2.0
User Manual (SZGH-SD Series) v2.0
User Manual
SD Series V2.0
War ning
• Input power of servo driver have two series: 220V & 380V , please pay more
attention during using
• All needs to add isolation transformer; add electrical reactor when using 380V servo
driver.
• Circuit & change components between eatering shutting down the power supply
and stopping showing LED light of the Servo Driver.
• The output of servo drive[U,V,Wl must NOT touch the AC power, and UVW is
connected to UV\V of servo motor one by one.
A
~Alert
+ Install the fan if the tempe.rature around is too high while the Sen~o Driver is installed in the
Control Board
+ Confirm the quick stop function is available before operate Servo Driver.
+ l\btc.hing up mac.h ine to c.h ange the user parameter setting before mac.h ine perfonnslf there. is no
ac.c.ording correc.t setting numbe.r ,it c.o uld le.ad to out of c.o ntrol or breakdo,,n,
Safety Proceeding:
Safety proceeding in the covering letter discriminate between " \Varning" & " Alert".
-ShenzhenGuanhong Automation Co.,Ltd- -SD Series AC Servo System -
ill Warning Indicating the possibility dangerous situation. It could cause the death or
serious damage if being ignored.
Please read the user manual detail before using Servo Driver.
First of all,thank you for using SZGH SD series Servo Driver and Servo Motors. SZGH Servo
Driver can be controUed by CNC ControUer or motion control card, and provide exceUent performance
Read this user manual before using SZGH SD Series Servo Driver.Contents of the manual
comprises:
+ ControUer procedure for digital board,Status displa ying,unusual alarm and strategy explanation.
In order to daily examine,maintain and understand the reason of unusual situation and handle
P.S: Tlte e11.d user sltou.ld o>Wt tit is user maJtua.~m order to make tlte Servo Driver briltg tlte
best performattce.
-ShenzhenGuanhong Automation Co.,Ltd- -SD Series AC Servo System -
-Catalog-
Our Servo Pack have already completely been fmtctionally examined before leaving the factory. In
order to protect the products from the damage during transportation, please check the items below before
sealing offthepack:
• Check if the model of servo driver and motor .rre the same with the models of ordering.
• Check if there are damage or scrape out side of the servo driver and motor.
• Check if there are any bad assembly or slipped component in the Servo Driver and Motor.
• Check if the Motor's rotor and shaft can be rctated smoothly by hand
• There must be the "QC"-seal in each servo drive, ifnot,please do not proceed Power ON.
If there is any bug or irregular under the situation above,please. contact with us or SZGH Local
ISZGH-502010 I
I
I [ l
8 e.s;-~rvo Driv~ 2: Input Volu~ge (M~l( Output ~
Q04:60Wr/
OIO.lOOOW
0263800\V
0757SOOW
SZGH-080750(-T
I
,-~_ I I I
(szGH) (Frame Size) ( Rated Powe:r) ( Rated Speed ( Braker/Absolute)
;---'
lS.lSCmrn U01200W
18'180mm 1501SOOW
180JBOOW
200:2000W
230;2300YI
260:2600Yi
m3ooow
3-.80:3800V/
.o1S&.-4SOOVI
5SO.SSOOW
7S07SOOW
Note: These are only sonte model ofservo 11wtors display abiJVe as lilltit,not all11todeL Any asks ,plellse discuss wiih
our sales representative or distributor.
2
-ShenzhenGuanhongAutomation Co.,Ltd- -SD Series AC Servo System -
Mounting Hole
RS-485 Interface
External Brake
Resistor Terminals Connector CN1 For Input
(RBP,RBD,RBC ) And Output Signals
Servo Motor
onnection Terminals Connector CN2 For
U, V, W) Servo Motor Encoder
Ground Terminal
u~
"""" I
Main Power lnpu\~
Terminals(Ll,L2,L3~ M IRS-485 Interface j
~ Ll
~ li
External Brake Resi~
Terminals(P,Bl,B2)1 _r-::::
~
L2
L3 n
lJ IIi
~ CNl Control Terminals I
l_
External DC Reactor
Terminals(Nl,N2) "
~
:n Itars- ru 1..
-; CN2 Encoder Terminals I
Servo motor Con nee~
,_·
:1
u
L2...
Terminals(U,V W) I ___,.
v
~ -~
v
Ground Terminal
-(t
@
~
\fV
3
-ShenzhenGuanhong Automation Co.,Ltd- -SD Series AC Servo System -
- -
./0\
,/
......
~
000~
@~
•m·
• ufi
Ill·
La.
~ ..
function and service life of the servo driver, therefore ihe environment. conditions must be conformed to
the following conditions:
• Ambient temperature: 0 to 40 ° C, Ambient humidity, less than 80% (no dew).
e Storage temperature: -40 to 50 •c, Storage humidity, less than 93% (no dew).
e Vibration: less than 0.5G.
• Preventive measure shall be taken against raindrop or moist environment.
• Preventive measure shall be taken against corrosion by oil mist and salinity.
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-ShenzhenGuanhong Automation Co.,Ltd- -SD Series AC Servo System -
e \Vhen several drive installments in a control cubicle, for good ventilation please reserve enough
space around eaclt driver, install fans to provide effective cooling, keep less than 40 ° C for
long-term trouble-free service.
• If there are vibration sources nearby (puncit press for example) and no way to avoid it, please use
absorb or anti-vibration rubber filling piece.
• If there is disturbance from interfering equipment nearby along the wiring to the servo,
anti-jamming measure must be used to guarar,tee normal work of the servo drive. However, the
noise filter can increase current leakage; therefore an insulating transformer in the input
terminals of power supply should be installed.
5
-ShenzhenGuanhong Automation Co.,Ltd- -SD Series AC Servo System -
Chapter 2 Specifications
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-ShenzhenGuanhong Automation Co.,Ltd- -SD Series AC Servo System -
SZGH-SD2004
0000
oo
0
n
-<>·
7
-ShenzhenGuanhong Automation Co.,Ltd- -SD Series AC Servo System -
SZGH-SD2010 ·4, ~
~I
0000
oo
0•
0
0
0
\fV
SZGH-SD2026
0000
-<>-
SZGH-SD4038
0000
. r. .-" D
0
·o. '---
Ln_ JlJ
s
-ShenzhenGuanhongAutomation Co.,Ltd- -SD Series AC Servo System -
'
~
- D
I
0
0 -
.fl.. J\.J
Model L L
SZGH-W005D 75 >ZGH-040050-T(with brake) 109
SZGH-WOJOD 190 >ZGH-WOIOD-T(wi1h brake) 124
2.4.2 Flange 60mm Series (Unit:mm)
s
~~ 1:1 1l
~ l ~ fl
·'I
~
1.. ...2ll.S-
L
,. -r!OL
Model L Model L
SZGH-06020DC 116 SZGH-06020DC-T(wi1h brake) 164
SZGH-06010DC 141 SZGH-06010DC-T(wi1h brake) 189
SZGH-06060DC 169 SZGH-06060DC-T(wi1h brake) 217
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-ShenzhenGuanhongAutomation Co.,Ltd- -SD Series AC Servo System -
LF
A-A
~
w ~-
~
M odel LA LB LC LD LE LF LG LZ s LI w H
SZGH-OS040DC 124 35 3 s 70 S0.4 90 6 19 25 6 15.5
SZGH-OS040DC-T 164 35 3 s 70 S0.4 90 6 19 25 6 15.5
SZGH-OS075DC 151 35 3 s 70 S0.4 90 6 19 25 6 15.5
SZGH-OS075DC-T(with brake) 191 35 3 s 70 S0.4 90 6 19 25 6 15.5
SZGH-OS075BC 179 35 3 s 70 S0.4 90 6 19 25 6 15.5
SZGH-OS075BC-T(with brake) 219 35 3 s 70 S0.4 90 6 19 25 6 15.5
SZGH-OS1OOCC 191 35 3 s 70 S0.4 90 6 19 25 6 15.5
SZGH.OS100CC-T(with brake) 23 1 35 3 s 70 S0.4 90 6 19 25 6 15.5
SZGH-09075DC 150 35 3 s so S6.6 100 6.5 16 25 5 13
SZGH-09075DC-T(with brake) 19S 35 3 s so 86.6 100 6.5 16 25 5 13
SZGH.Q9075DC 172 35 3 s so 86.6 100 6.5 16 25 5 13
SZGH-09075DC-T(with brake) 220 35 3 s so S6.6 100 6.5 16 25 5 13
SZGH-09100DC 1S2 35 3 s so 86.6 100 6.5 16 25 5 13
SZGH-09100DC-T(with brake) 230 35 3 s so S6.6 100 6.5 16 25 5 13
2.4.4 Flange llOmm / l30mm Senes
A F
8
LC
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-ShenzhenGuanhong Automation Co.,Ltd- -SD Series AC Servo System -
Model LA LB LC LD LE LF LG LZ s H w u
SZGH-11060DC 159 55 5 12 95 110 130 9 19 21.5 6 40
SZGH-11060DC -T(wilh brake) 215 55 5 12 95 110 130 9 19 21.5 6 40
SZGH-11080DC 189 55 5 12 95 110 130 9 19 21.5 6 40
SZGH-11080DC-T(wi1h brake) 245 55 5 12 95 110 130 9 19 21.5 6 40
SZGH-11120DC 189 55 5 12 95 110 130 9 19 21.5 6 40
SZGH-11120DC-T(wi1h brake) 245 55 5 12 95 110 130 9 19 21.5 6 40
SZGH-11150DC 204 55 5 12 95 110 130 9 19 21.5 6 40
SZGH-111 50DC-T(wi1h brake) 260 55 5 12 95 110 130 9 19 21.5 6 40
SZGH-11120BC 219 55 5 12 95 110 130 9 19 21.5 6 40
SZGH-11120BC-T(with brake) 275 55 5 12 95 110 130 9 19 21.5 6 40
SZGH-11180DC 219 55 5 12 95 110 130 9 19 21.5 6 40
SZGH-111 80DC-T(wi1h brake) 275 55 5 12 95 110 130 9 19 21.5 6 40
SZGH-13100CC 166 57 5 14 110 130 145 9 22 24.5 6 40
SZGH-13100CC-T(wi1h brake) 236 57 5 14 110 130 145 9 22 24.5 6 40
SZGH-13130CC 171 57 5 14 110 130 145 9 22 24.5 6 40
SZGH-13130CC-T(wilh brake) 241 57 5 14 110 130 145 9 22 24.5 6 40
SZGH-13150CC 179 57 5 14 110 130 145 9 22 24.5 6 40
SZGH-13150CC-T(wi1h brake) 249 57 5 14 110 130 145 9 22 24.5 6 40
SZGH-13200CC 192 57 5 14 110 130 145 9 22 24.5 6 40
SZGH-13200CC-T(wi1h brake) 262 57 5 14 110 130 145 9 22 24.5 6 40
SZGH-13100AC 213 57 5 14 110 130 145 9 22 24.5 6 40
SZGH-13100AC-T(wi1h brake) 283 57 5 14 110 130 145 9 22 24.5 6 40
SZGH-13150AC 213 57 5 14 110 130 145 9 22 24.5 6 40
SZGH-13150AC-T(wi1h brake) 283 57 5 14 110 130 145 9 22 24.5 6 40
SZGH-13260CC 209 57 5 14 110 130 145 9 22 24.5 6 40
SZGH-13260CC-T(wilh brake) 279 51 5 14 110 130 145 9 22 24.5 6 40
SZGH-13230AC 241 57 5 14 11 0 130 145 9 22 24.5 6 40
SZGH-13230AC-T(wi1h brake) 311 57 5 14 110 130 145 9 22 24.5 6 40
SZGH-13380CC 23 1 57 5 14 110 130 145 9 22 24.5 6 40
SZGH-13380CC-T(wi1h brake) 301 57 5 14 110 130 145 9 22 24.5 6 40
2.4.4 Flange 150mm / lSOmm Sen es
II
-ShenzhenGuanhong Automation Co.,Ltd- -SD Series AC Servo System-
~~ LA LB LC LD LE LF LG LZ s H w Ll
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-ShenzhenGuanhong Automation Co.,Ltd- -SD Series AC Servo System -
Chapter 3 Wiring
3-1 Servo Drive Wiring Configuration
No Fuse Break(NFB)
~ ~Over-current Prot ection I
Noise Filter
'-r-.-.J.d
-<Prevent Ext ern aI Noise Interference I
Bectromagnetic
Contactor MC)
Neetto Install
6 - [l
RS485 Communication(RJ45)
':1
' ---i-[E- ZGH CNC System
pper Control Units
Braking
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-ShenzhenGuanhong Automation Co.,Ltd- -SD Series AC Servo System -
e Pay attention to the correct direction of diode which is connected to the relay at the output
tenninal, otherwise will cause the output circuit breakdown.
• In order to protect the servo drive from noise interference that can cause malfunction, please use
an insulation transformer and noise filter on the power lines.
e Power lines (power supply lines, main circuit lines, and motor power cable) MUST be laid apart
from the control signal wires (at least 30cm) . Do not lay them in one conduit
• Install a non-fuse circuit breaker that can shut off the main power supply immediately in case of
the servo drive fault.
• Because there are some big capacitor in inner side of servo drier,even if power off, high voltage
still exist in inner circuit, so please don't touch servo driver and motor within 5 minutes power
off.
Ground ~ 1.5-4mm2
User must use a m4sted-pair cable for the encoder signal wiring. Ifthe encoder signal cable is too
long(> 20m), in which the encoder power supply can be insufficient, multi-wires or thick wire must be
used for the encoder power supply wiring.
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-ShenzhenGuanhong Automation Co.,Ltd- -SD Series AC Servo System -
01 Power Suppfy
CW Orlve Bani Digital Input 4
CCW Drive Ban/ Olgitallnput 3
Alarm Clearance/ Digital Input 2
Servo Enablel Olgltallnput1
Command Pulse Input Oigilal Output 2/ Aiarm Signal Output
CN1 Connector
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-ShenzhenGuanhongAutomation Co.,Ltd- -SD Series AC Servo System -
004- 24
PULS+ 3
High-speed opto-coupler input,
Position PULS- 13
Working mode set by parameter PA1 4,
Cormnand Pulse SIGN+ 4
Pulse+ Dir, CCW/CW Pulse, AlB Orthogonal pulse
SIGN- 14
Analog AS+!AT+ 5
Analog velocity / torque input, range: -l OV- l OV
Cormnand Input AS-/ AT-/GN D 15
OA+ 16
OA- 7
OB+ 17
Encoder Signal
OB- 8 1\l!otor encoder signal output
Output
OZ+ 18
OZ- 9
cz 6
Shielded Cable
Metal case of
Ground Shielded "'i re for connection with shielded cable
cormector
Protection
3.5.4 CN2 Connector For Encoder
The encoder signal connector CN2 connects to the servo motor encoder. A three-row DB1 5 plug
(VGA plug) is used . The contour and pin configuration is as following:
A+ 6
..............
Encoder lnpul Terminal
A- 1 11 V+ Encoder lnpul Terminal
B+ 7
encOder lnpul Terminal
8- 2 12 V-
EncodtH Input Terminal
Z+ 8
Z- 3 13 W+
E ncoder Input Termina l
U+ g
Enco<lcr 1np1.11 Terminal
u- 4 14 W-
Ground GND 10
Power Supply •SV vee s 1S GND Ground
_.
.,...
CN2 Connector
0 1·.:;::;:;~: 0
~:n '-.o?~ ..
Connector CN2 Soldering ,;ew
3.5.5 CN2 Connector ExplanaUon
Signal Name Of
Pin No. Function
Encoder
Encoder SV 5 Use 5V power supply provided by servo drive. If the cable is longer
Power than 20m, in order to prevent encoder from voltage-drop, use
Supply
ov 10
multi-wire or thick \vires for power line and ground line.
A+ 6
A-Phase Connect 'vith A-phase output of encoder
A- 1
B-Phase B+ 7 Connect with B-phase output 0f encoder
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-ShenzhenGuanhong Automation Co.,Ltd- -SD Series AC Servo System -
B- 2
Z+ 8
Z-Phase Connect with Z-phase output of encoder
Z- '~
U+ 9
U-Phase Connect with U -phase output of encoder
U- 4
V+ 11
V-Phase Connect with V -phase output of encoder
V- 12
W+ 13
W-Phase Connect with W-phase output of encoder
W- 14
Ground OV 15 Encoder Power supply OV
Shield Metal
Connect with cable shield wire
Ground Case
Note: The U, V, W signals of encoder does not exist on wire.saving encoder which has only A, B, Z.
3.5.6 CN3A and CN3B Terminal Definition
Can be connected to the PC or controller through special serial cable.
RS485 Don'tplug it to any power supply. Twisted-pair shielded wires are suggested with less than
2 meters in length.(CAN bus is for spare)
Terminal CN3A Name CN3B Name Pictute
1 vee Positive power supply NC Null
2 GND Ground GND Ground
3 CANH CAN Bus Pin CANH CAN Bus Pin
~
4 RS485- RS485-
RS485 Communication RS485 Communication
5 RS485+ RS485+
6 CANL CAN Bus Pin CANL CAN Bus Pin
7 GND Ground GND Ground
8 vee Positive power supply NC Null
3.5.7 Regenerative Resistor Connection
!fuse the built-in resistor, please connect P and D (The built-in resistor has been connected by
factory, so you can use directly) , as showed in pict.u re A .
When an external regenerative resistor is needed to be c01mected to the servo drive, firstly, the
short circuit between terminal P and D must be discomtected .
Then external regenerative resistor should be connected betw een P and C, as showed in picture B.
Note: RBP=P, RBD=D, RBC=C, RBN=N
b v .c. sa
0000
0 0
0 0
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-ShenzhenGuanhong Automation Co.,Ltd- -SD Series AC Servo System -
Motor
NFB MC
DC
12-24V
.,,
CN1
A Encod&r
8
_ Feedback
8
z Signal
l
Z Open collector
o utput
The wiring example (above) is for servo motors with flange size 60mm, 80mm and 90mm.
When connected with flange sizel l Omm and 130mm, 150mm, 180mm servo motors,seri es please
make connections as following:
Signal u v w PE
Power
Pin No. 2 3 4 I
Signal 5V ov A+ B+ Z+ A- B- Z- U+ V+ W+ U- V- W- PE
E ncoder
Pin No. 2 3 4 5 6 7 8 9 10 11 12 13 14 15 I
Notes:
I. !fuse 3-phase AC220V main power, please connect with terminal Ll, L2, L3.
2. !fuse 3-phaes AC380V main power, please connect \\~th terminal Ll,L2,L3(SZGH-SD4038/SZGH-SD4075).
3. !fuse !-phase AC220V main power, please connect \Vith terminal Ll , L3.
3. Current capacity of the external power supply for digital inputs and outputs (12- 24vdc) should be more than IOOmA.
4. AWG24-26 shielded c.able is recommended for control and feedback signals. DO ground the shield of the cable.
5. Cable for control signals (CNI) should be less than 3 meters long, and c.able for feedback signals (CN2) should be
less than I 0 meters long.
6. A Circuit breaker (NFB) is recommended to cut off power in case of an overload. Use an electromagnetic contactor
to S\\~tch servo motor ON and OFF.
IS
-ShenzhenGuanhong Automation Co.,Ltd- -SD Series AC Servo System -
0-30,000
PAll Command pulses for one rotation of motor 10,000
pulse
PA1 2 1" numerator of electronic gear for position command pulse 1-32,767 0
PA13 Denominator of electronic gear for position command pulse 1-32,767 10,000
19
-ShenzhenGuanhong Automation Co.,Ltd- -SD Series AC Servo System -
Command Source ofPr mode are using Parameter (P4-2,P4-3) -(P4-23, P4-24) 8 groups built-in
position command registers, Mode ofPr model s set b y P4-0: a: absolute type; b :Increment type.It works
with external I/O(CN1,POSO-POS2 & CTRG), to sele:t one group among of8 groups as position
Code register
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-ShenzhenGuanhong Automation Co.,Ltd- -SD Series AC Servo System -
Inner position control mode can be applied to ma.11y occasions, it looks like one simple control
program . User could make cycle operations only according to above t able. Example: PI position
command is 10 revs, P2 position command is 20 revs, firstly run Pl,and then P2, this is difference
Absolute h lCC'CffiCJ\ta l
20 Revs
20 Revs
lOReY>
21
-ShenzhenGuanhongAutomation Co.,Ltd- -SD Series AC Servo System -
AC220V/380V
NFB MC
A
Encoder
8
e Feedbac.k
z Signal
Ground !;
ZOpen Collector
Output
The wiring example (above) is for servo motors with flange size 60mm, 80mm and 90mm.
When connected with servo motors with flange sizellOmm and 130mm,l50mm,l80mm, please connect
as following :
I I I
Signal u v w PE
Power
Pin No. 2 3 4 I
Signal )V ov A+ B+ Z+ A- B- Z- U+ V+ W+ U- V- W- PE
Encoder
Pin No. 2 3 4 5 6 7 8 9 10 11 12 13 14 J) I
Notes
!.!fuse 3-phase AC220V main power supply, please cmmect with tenninal Ll, L2, L3.
2.Ifuse 3-phaes AC380V main power, please connect with tenninal LI,L2,L3 (SZGH-SD4038/SZGH-SD4075).
3 .If use ! -phase AC220V main power supply, please connect with tenninal L1, L3.
4.Current capacity of the ex1:emal power supply for digital mputs and outputs (12-24vdc) should be more than
IOOmA
5AWG24-26 shielded cable is recommended for control and feedback signals. DO ground the shield of the cable.
6.Cable for control signals (CNI) should be le.ss than 3 meters long, and cable for feedback signals (CN2) should
be le.ss than I 0 meters long.
7 A Circuit breaker (NFB) is recommended to cut offpower in case. of an overload. Use an electromagnetic
contactor to S\-..itch servo motor ON and OFF.
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-ShenzhenGuanhong Automation Co.,Ltd- -SD Series AC Servo System -
23
-ShenzhenGuanhong Automation Co.,Ltd- -SD Series AC Servo System -
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-ShenzhenGuanhong Automation Co.,Ltd- -SD Series AC Servo System -
P4-32=1: Go homing with CW direction,and take CWL as 1st input point for homing . After
homing,GWL as limit input, and GWL be on again, it will hint limit alarm . If using GWL as homing
input point too, suggest detect Z Phase signal(set P4-33=0)
P4-32=2: Go homing with CCW direction,and take ORGP(alone input point for homing) as 1st
input point forhoming.Ifusing ORGP as homing input point, it can detect Z Phase signal( set P4-33=0)
or not (P4-33=1)
P4-32=3: Go homing with CW direction,and take ORGP(alone input point for homing) as 1st input
point for homing .I fusing ORGP as homing input point, it can detectZ Phase signal(set P4-33=0) or not
(P4-33=1)
P4-32=4: Z-Phase signal as home(zero point), Move Detect Z phase signal with CCW direction,this
apply to servo work within one rev,and no need any switches.
P4-32=5: Z-Phase signal as home(zero point), Move DetectZ phase signal with CW direction,this
apply to servo work within one rev,and no need any switches.
C. Mode after homing (P4-33)
P4-33=0: After detect homing switch,andreverse movement and find Z-phase signal of servo motor
encoder, which is mechanical zero point.
P4-3 3=1: After detect homing switch,and keep movement and find Z-phase signal of servo motor
encoder, which is mechanical zero point.
P4-33=2: After detect homing switch(up edge ofORGP) & stop, where set to mechanical zero
point.(when P4-32=2 or 3); or when find Z phase signal(Z pulse) & stop(when P4-32=4 or 5).
D. Mode of Stop Homing (P4-35)
P4-35=0: After detecting homing switch, motor decelerate speed & reverse move to zero point.
After detect homing switch with homing speed_2ndperiod(set by P4-3 7),motor decelerate & stop.After
stop,and then reverse move to mechanical zero point with P4-3 7 speed.
P4-35=1 : After detecting homing switch, motor decelerate speed & keep moving to zero point.
After detect homing switch with homing speed_2ndperiod(set by P4-37),motor decelerate & stop. It
don't After stop,and position offset cannot be revise,but it doesn't means zero point changed as different
position offset.
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-ShenzhenGuanhong Automation Co.,Ltd- -SD Series AC Servo System -
The panel consists of 5 digital LED and 4 buttons including T, ! , - , SET to display all system
status and set parameters.
The operation is hierarchical. -button indicates "Back" and SET button indicates "forward" while
it also has the meaning of "Enter" . -button also has the meaning of "Cancel" and " Exit". Tbutton
indicates "Increase" and ! but.ton indicates "Decrease". If you press and hold the Tbutton or ! button,
you would get a duplicate result and when hold longer, the repetition rate is higher.
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-ShenzhenGuanhongAutomation Co.,Ltd- -SD Series AC Servo System -
- 2nd
- Level
dP -SPd r • n nn
IUU U Speed • 1000 r I min
dP -CPo. r
L. 12 1245810 pulse
ISETI
dP -EPo E y
Position Deviation • 4 pulse
dP-EPo. E. n
u
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-ShenzhenGuanhongAutomation Co.,Ltd- -SD Series AC Servo System -
dP - I
I I 2.3 Motor Current 2.3A
n
dP-Cnt: [ nt: u Control Method 0
dP-t:EP
Analog Quantity input speed
dP- CS r. SOD
500 r/ min
dP-RPo R 3265
Absolute Rotor Position : 3265
dP-RPo. R .0
dP - ln ln I I I I I Digital Input Terminal
dP-FPR.
rl- on Relay on Opening State
r n - on Running State
rn.- oF Disable
dP- rn
rn- CH Uncharged
rn- Er Alarm
U-Err Alarm
dP- R5
dP- R5.
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-ShenzhenGuanhong Automation Co.,Ltd- -SD Series AC Servo System -
Use I 't r111to choose required parameter and pU!h SET button to display the parameter value. You
can mo 1 y Ivi ·Press 1•1 or IYI button one time, the parameter
e parameter value with 1•1 or
increases or decreases by 1. Pressing and holding [•I or 1¥1 key can continuously increase or
decrease the value. After modifying the value oft e parameter press SET button and when the LED
flashes t wo times, it me.ans modification is completed. Finall y turn the drive OFF and ON again to
activate the changes.
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-ShenzhenGuanhongAutomation Co.,Ltd- -SD Series AC Servo System -
PA~315
- 60 160mm servo motor I
t
[§g] 80 180mm servo motor I
PA~385 r+ •
90 190mm servo motor I
PA-l
~
g] •
110 1110mm servo motorJ
- •
130 f lomm servo motor I
Pic 3. Choose motor type
Note: I. The parameter PA-01 ofdrive must be configured with the exact sen•o motor thatyou are using,if
not, which will affect effiCient ofservo motor would be down or alarm.
].Normally we set PAl parameter weU before ex.-factory,please use relaled SZGH-SD series drh•er forrelated
SZGH series servo motor.
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Chapter 5 Parameters
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Dl Signal
Numerator
Gear2 Gear1
0 0 1sr Numerator (Parameter PA 12)
0 1 ':!" Numerator (Parameter PA 77)
1 0 3'0 Nume·ator (Parameter PA 78)
1 1 4~ Nume·ator (Parameter PA 79)
Note: O=OFF, 1=ON.
Denominator of
13 position command Refers to parameter PA 12 1-32,767 10,000
pulse
To set one of 3 input modes:
0: Pulse+Direction
mode of position
14 1: ccw pulse/CW pulse 0-3 0
command pulse
2: A-phase and 8-phase orthogonal nput.
3:External position input
Direction of 0: Normal
15 0-1 0
command pulses 1: Reverse position command pulse
1. To Set the pulse range of positioring completion under the
position control mode.
1. To set the pulse range of positioning completion under the
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(4. When the motor runs, there are step jumps in speed.
(5. When set to value·o·, the filter does not work.
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In speed control mode (PA22=1 or 2), when SP1 is ON, while SP2 -0000~
25 Internal speed 2 500
is OFF, internal speed 2 is as the speed command. rpm
In speed control mode (PA22=1 or 2), when SP1 is OFF, while - 0000~
26 Internal speed 3 1000
SP2 is ON, internal speed 3 is as the speed command. rpm
In speed control mode (PA22=1 or 2), when SP1 and SP2 are ON, -~
27 Internal speed 4 2000
internal speed 4 is as the speed command. rpm
Set the detection t iming of the speed arri val output.
When the servomotor speed surpasses this parameter,
the digital output (DO) ASP (arrival speed) is ON,
otherwise is OFF.
The comparator has h ysteresis function set b y PA87.
Detection is associated with 10 r/min h ysteresis.
Speed
rrlt'ri'l)
\MOIO'&pee<l
PAU! •IO
PA28 ·10 ;<
At speed -( PAlS -10)
::::~::::::::::::::!:\--·--·--·········/ llme 0-3000
3000
28
(Speed arri val)
• ( PA28 tlO)
lhe spoocl
. . . . rpm
ON LllF'l I
""""l<><'""''
AT·SPEED
OFF
""
3. I t also has the polarity setting function:
PA8
PA28 Comparator
8
Speed independent to
0 >0
direction
>0 Only detect CCW speed
1
<0 Only detect CW speed
1. Set the relation between input analog voltage fortorque
command and the actual motor runring torque.
Gain of analog torque 10-100
29 2. The setting value unit is 0.1v/100%. 30
command (0.1v/100%)
3. The default value is 30, correspora ngto 3v/100%. it means if
the input vo•age is 3V, it would generate 100% rated torque.
1. The value is the percentage of ra:ed torque. The lim~ is
independent to direction and CW or :;cw direction is protected.
The alarmvalue of
30 2. When PA31> 9, motortorque> PA30 and duration> PA3 1, the 1-300 300
torque overload
drive alarms and the code is Err-29. The motor stops working. It
must repower on after clearing errors.
1. The detection time for torque overload, unit:rns. Detection
The detection time for time=PA31 X 0.1 ;
31 0-32,767 0
torque overload 2. When set to 0- 9, the function oftorque overload alarming is
prohibited In general,the value is set to 0.
O: Analog input torque command by terminals AS+ and AS-.
1: Internal torque command by combination ofTRQ1 andTRQ2
dig~al inputs (DI) which points to one of the parameters PA64,
The source of torque
32 PA65, PA66, and PA67. 0-1 0
command
Dl Signal
Torque Command
TRQ2 TRQ1
0 0 Internal Torque1 ( Parameter PA64)
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1. It is valid only when the input terrrinal (FIL) of CCW torque limit
is ON.
2. When the li~ function is valid, the actual torque lim~ is the
Externally controlled
36 Minimum value of: 0-300% 100%
CCW torque lim~
1: max overload capacity of the drive for matched motor,
2: internal CCW torque limit (PA34),
3: externally controlled CCW torque l i ~ (PA36).
1. It is valid only when the inputterrrinal (RIL) of CWtorque lim~ is
ON.
2. When the lim~ function is valid, the actual torque lim~ is the
External cw torque
37 Minimum value of: -30(}-·0% -100%
lim~
1: max overload capacity of the drive f or matched motor,
2: internal CW torque lim~ (PA35),
3: oxtornally controllod CW torquo lim~ (PA37}
Zero offset
compensation of
39 Make an offset adjustment for analog torque command -200()-2000 0
analog torque
command
Linear acceleration I deceleration characteristics are available.
The setting value means the acceleration time of the motor from 0
Acceleration time rpm to 1000 rpm (or from 1000 rpm to 0 rpm).
40 1-1 0,000ms 100
constant It only applies in speed control mode, while is invalid in position
control mode.
This parameter should be set to 0 if :he drive is used in
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Sei"'''tnotor Stllll.l<l
UrH:Xr..ited
I Qxdted
I I
Ur:>e!relt<'d
-...
PA47
I
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Motor Speed(rpm)
PA-19 · - - - - - - - - - - - - 0 r/rnin
as normal and does not reverse (is activated when closed). While it
is 1, it means the terminal logic is reversed (is activated when
opened).
Effective level control
55 The byte represents the dig~al inputterminals as following: 000().1111 0000
of dig~al inputs
M 3 2 1 0
definition 014 Olo 012 0 11
0: High level is valid (is activated when closed)
1: Low level is valid (is activated when opened)
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M 3 2 1 0
definition 004 003 002 001
0: High level is valid (is activated when switched ON)
1: Low level is valid (is activated when switched OFF)
1. If the value is smaller, the input te·minal frequency response is
Anti- jitter time
faster.
58 constant of dig~al 1-20ms 2
2. If the value is bigger, the anti-jitter performance of input terminal
input terminals
is better, but the response frequenC}' becomes slower.
Effective command 0: the rising edge is effective
59 0-1 0
pulse edge 1: the falling edge is effective
0: Soft reset is invalid
60 Soft reset 0-1 0
1: Soft reset is effective and the system will be restart.
0: System alarm clear is invalid
61 System alarm clear 0-1 0
1: System alarm clear is effective
0: 15-line incremental2500-line encoder (A, B, Z, u, V, W)
62 Encoder selection 0-1 0
1: wire-saving 2500-line encoder (A, B, Z)
Set the ratio of load inertia to motor inertia.
63 Load inertia ratio The setting value = ( (load inertia + Dtating inertia) I (rotating 1-500 100
inertia) ]X100.
In torque control mode (PA4=2 and PA32=1), when TRQ1=0 FF
64 Internal Torque 1 -30D--300 0
and TRQ2=0FF, internal torque 1 is as the torque command.
In torque control mode (PA4=2 and PA32=1), when TRQ 1=0N
65 Internal Torque 2 -30D--300 0
and TRQ2=0FF, internal torque 2 is as the torque command.
In torque control mode (PA4=2 and PA32=1 ), when TRQ 1=OFF
66 Internal Torque 3 -30D--300 0
and TRQ2=0 N, internal torque 3 is as the torque command.
In torque control mode (PA4=2 and PA32=1), when TRQ1 =0N
67 Internal Torque 4 -30D--300 0
and TRQ2=0 N internal torque 4 is as the torque command.
71 MOOBUS 10 No. MOOBUS communication 10 No. 1-254 1
MOO BUS
48-1152
72 communication baud MOOBUS communication baud rate 96
X100
rate
0: 8, N, 2 (MOOBUS, RTU)
1: 8, E, 1 (MOOBUS, RTU)
2: 8, 0 , 1 (MOOBUS, RTU)
MOOBUS protocol The parameter decides the commurication protocol. Value 8
73 0-2 0
selection represents the transmitted data is 8 ~~s long;
N, E, 0 incicates •none' , · even• and "odd' priority, respectively.
Value 1 or 2 indicates communicatim of 1 byte or 2 bytes.
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Speed Coincidence
76 0-1000 rpm 10
Range
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Range for approach output (DO) NEAR(approach pos~io1ing ) is ON, otherwise is OFF. 0-32,767
85 500
positioning 3. The comparator has hysteresis fu1ction set by PA86. pulse
4. Use this function in case that in near positioning, the host
controller is accepting the NEAR sig1a1 to carry on the preparation
to the next step. In general, this parameter value should be bigger
than PA16.
Hysteresis of arrival
87 Refer to parameter PA28. 0-5000 rpm 30
speed
Refer to parameter PA28.
The polarity setting function:
PA88 PA28 Comparator
Polar~ of arrival
88 0 >0 Speed independent to direction 0-1 0
speed
>0 Only detect CCW speed
1
<0 0 11ly u.tocl CW ·~•.U
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Hysteresis of arrival
90 Hysteresis for PA89. 0-300% 5%
torque
Refer to parameter PA89.
The polarity setting function:
Polarity of arrival PA91 PA89 Comparator
91 0-1 0
torque 0 >0 Torque independent to direction
>0 Only detect CCW torque
1
<0 Only detect CW torque
Hysteresis of zero
92 Hysteresis for PA75. 0-1000 rpm 5
speed detection
The delay time of This parameter defines the delay tirr.e from the servomotor
94 0-200 X 10ms 0
brake on energized until the action( the digital output( DO) BRK is ON ).
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PA 35 in CW direction.
When the following conditions are satisfied, the function of zero speed
clamping is activated (speed is forced to zero):
1: speed control mode (PA 4=1) and external speed source is chosen
Zero Speed (PA22=0) .
7 ZCLAMP
Clamping 2: ZCLAMP digtal input is ON .
3: speed command is lower than the v alue of PA 75.
When any one of the above conditions is not satisfied, it will perform
normal speed control.
In speed or torque control mode, speed or torque input command will be:
8 CZERO Zero Cornman d OFF: Normal command
ON: Zero command
In speed or torque control mode, speed or torque command will be:
Command
9 CINV OFF: Normal command
inverse
ON: Rev erse Cornman d
In speed control mode (PA4=1) and internal speed selection (PA22=1 ).
10 SP1 Speed Choice 1 SP1 and SP2 cJmbinations are used to select different internal speeds:
SP2= OFF, SPI = OFF: internal speed 1PA -24)
SP2= OFF, SPI= ON: internal speed 2 (PA -25)
11 SP2 Speed Choice 2 SP2= ON , SP1= OFF: internal speed 3 (PA -26)
SP2 =ON, SP1 = ON : internal speed 4 (PA -27)
In torque contrcl mode (PA 4=2) and internal torque selection (PA 32= 1).
13 TRQ1 Torque Choice 1 TRQ1 and TRQ2 combinations are used to select different internal torque:
TRQ2 =OFF, TRQ1 = OFF: internal torque 1 (PA -64)
TRQ2 =OFF, TRQ1 = ON: internal torque 2 (PA -65)
14 TRQ 2 Torque Choice 2 TRQ2 =ON, TRQ 1= OFF: internal torque 3 (PA -66)
TRQ2 =ON, TRQ 1= ON : internal torque 4 (PA -67)
When PA4 is set to 3, 4, 5, it is in mix control mode. It can change control
mode with this input terminal:
(1) PA4=3, CMODE =OFF, it is position control mode;
Mix Control CMO DE =ON, it is speed control mode;
16 CMODE
Mode (2) PA4=4, CMODE =OFF, it is position control mode;
CMODE =ON, it is torque control mode;
(3) PA4=5, CMODE= OFF, it is speed control mode;
CMO DE= ON , it is torque control mode.
When PA 11=0, Gear1 and Gear2 combinations are used to select
18 GEA R1 Electronic Gear 1 different numerator of gear ratio:
GEAR2 =OFF, 3 EAR1 =OFF: numerator 1 (PA -12) is selected.
GEAR2= OFF, GEA R1 =ON: numerator 2 (PA -77) is selected.
GEAR2= ON , GEAR1= OFF: numerator 3 (PA -78) is selected.
19 GEAR2 Electronic Gear 2
GEAR2= ON , GEAR1= ON : numerator 4 (PA -79) is selected .
Position In position cont·ol mode, it is the position dev iation counter clear input
20 CLR
Dev iation Clear terminals.
Input Pulse In position cont·ol mode it is position command pulse inhibit terminal:
21 INH
Inhibit OFF: permits the position command pulse to go through the drive.
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When at ~ntern<l reg1ster mode, the ong1n need to be tound and the
33 SHOM Start Homing searching origin function is started after the signal connected.(Piease
consult the sett ng about P4-34)
Searching origin when at internal register mode, the point will become
34 ORGP The Origin
origin after servo system connected.( Please consult the setting ofP4-32.)
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Parameter explanation:
Already Planned means functions of parameters has been chosen by P3-0-P3-3 in digital input
definition DII-DI4 section.
Unplanned means functions of parameters has not been chosen by P3-0-P3-3.
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P4-36
regression speed
setting at 1st high I f\ 1-2000
1000
speed
Z pulse
f\!3
: HSP2
r/min
range(HSPD1)
'n j,
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Chapter 6 Alarm
Alarm No. Fault Name Reason of alarm
- Normal
1 Ov er- speed Motcr speed is greater than the setting v alue
2 Main circuit over-voltage The voltage of main circuit is too high
3 Main circuit under-V oltage The voltage of main circuit is too low
The value of position dev iation counter is more than the
4 Ov er-travel
limitnlue.
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Emerge with connecting The board of power Exchange the servo driver
control power bre~down.
After everything were Zero point change for Adjust the zero point for
installed,the motor not to encoder. encoder.
rotate or reverse Encoder bre.~down. Exchange the servo driver.
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Emerge during the The board of circuit in Decrease the temple of driver.
5 Driver motion of driver trouble. Exchange the servo driver.
overheatin Driver overheating.
g
The speed Decrease the load .
increase Overload. Switch to more powerful
6 reach even Emerge with motor The motor was stuck by drivers and motors.
more than working machine. Check the load part of
the largest machine.
limitation
8
abnormal
The date
~17 I II I
Check the load part of
exceed the The motor was stuck by machine.
limitation machine. Check instruction pulse.
Position Input instruction pulse Check whether the motor
deviation abnormality. rotates according to the
counter instruction pulse.
Exchange the servo driver
Circuit board fault
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Relay
switch
18 failure Relay damage Return to factory for repair
Current
23 Acquisitio Current Acquisition Exchange the servo driver
n Circuit Circuit Fault
Fault
User PA30, PA31 parameters
Torque is Unreasonable. Modify parameters.
29 Overload Unexpected heavy load Inspection machinery
Alarm ~7.
\...!:0L Z pulse does not exist and
encoder is damaged
Poor cable
Z-pulse Poor shielding of cables. Exchange the encoder.
30 loss of Shielded ground wire not Check Coder Interface Circuit
encoder connected proper! y
Encoder Interface Circuit
Fault.
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-ShenzhenGuanhong Automation Co.,Ltd- -SD Series AC Servo System -
When
connect When connect dart Check the connection
36 dart enooder, the length of
encoder, illegal time excessi ve
the length
of illegal
time
excesstve
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Improper setting of
MODBUS communi cation Exchange the driver.
57 abnormal parameters.
communic Incorrect
ation communi cation address
format or value
61