Applied Motion SV7-C-CE User Manual

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Page 1

SV7

Hardware Manual

• SV7-S • SV7-Q • SV7-Si • SV7-IP • SV7-C

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SV7 Hardware Manual

Contents

Introduction ..........................................................................................................................................................................................................................................................3

Features ................................................................................................................................................................................................................................................................... 3

Block Diagrams ....................................................................................................................................................................................................................................................4

Geing Started .................................................................................................................................................................................................................................................... 6

Mounting the Drive .......................................................................................................................................................................................................................................... 8

Connecting to the PC using RS-232 ....................................................................................................................................................................................................... 8

Connecting the Drive to Your PC using Ethernet ............................................................................................................................................................................ 9

Addresses, Subnets, and Ports ..........................................................................................................................................................................................................9

Option 1: Connect a Drive to Your Local Area Network ............................................................................................................................................. 11

Option 2: Connect a Drive Directly to Your PC.................................................................................................................................................................15

Option 3: Use Two Network Interface Cards (NICs)......................................................................................................................................................17

Connecting to a host using RS-485 option card ........................................................................................................................................................................... 18

RS-232 to RS-485 2-wire Converter ..........................................................................................................................................................................................19

Converting USB to RS-485 .............................................................................................................................................................................................................. 19

Connecting the Power Supply ................................................................................................................................................................................................................ 20

Choosing a Power Supply..........................................................................................................................................................................................................................22

Connecting the Motor.................................................................................................................................................................................................................................23

Driving a Brushed Motor: ................................................................................................................................................................................................................. 25

Connecting Input Signals............................................................................................................................................................................................................................26

Connector Pin Diagram ..................................................................................................................................................................................................................... 26

High Speed Digital Inputs ................................................................................................................................................................................................................ 27

Using High Speed Inputs with 12-24 Volt Signals .................................................................................................................................................... 28

Connecting Limit Switches ............................................................................................................................................................................................................... 32

Wiring a Mechanical Limit Switch .......................................................................................................................................................................................33

Wiring a Limit Sensor ................................................................................................................................................................................................................ 33

Analog Inputs .......................................................................................................................................................................................................................................... 34

Connecting a Potentiometer to Analog Input 1 ..................................................................................................................................................................34

Connecting a Motion Controller to the Analog Input.....................................................................................................................................................34

Programmable Outputs ..............................................................................................................................................................................................................................35

Wiring Integral Holding Brakes ............................................................................................................................................................................................................... 36

Interfacing to a Motion Controller ........................................................................................................................................................................................................ 39

Encoder Outputs ............................................................................................................................................................................................................................................ 39

Seing Drive Current Limits ...................................................................................................................................................................................................................... 40

What is “Peak Current Limit”? ........................................................................................................................................................................................................ 40

Reference Materials ....................................................................................................................................................................................................................................... 41

Recommended NEMA Motors..................................................................................................................................................................................................... 41

Additional Motor Information: ...................................................................................................................................................................................................... 41

Recommended Metric Motors ..................................................................................................................................................................................................... 42

Motor Outlines ...................................................................................................................................................................................................................................... 43

Torque-Speed Curves .......................................................................................................................................................................................................................46

Mechanical Outline ..............................................................................................................................................................................................................................50

Technical Specications .....................................................................................................................................................................................................................51

Mating Connectors and Accessories ......................................................................................................................................................................................... 51

Alarm Codes ............................................................................................................................................................................................................................................53

Connector Diagrams ........................................................................................................................................................................................................................... 53

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12/18/2014

Introduction

ank you for selecting an Applied Motion Products motor control. We hope our dedication to performance, quality and economy will make your motion control project successful.

If there’s anything we can do to improve our products or help you use them beer, please call or fax. We’d like to hear from you. Our phone number is (800) 525-1609, or you can reach us by fax at (831) 761-6544. You can also email support@applied-motion.com.

Features

• Programmable, digital servo motor driver in compact package

• Operates from a 24 to 80 volt DC power supply

• Operates in torque, velocity or position mode

• Accepts analog signals, digital signals and RS-232 serial commands

• PID position loop with acceleration and velocity feedforward

• Highly responsive digital “DQ” current loop

• Optional RS-422/485 communication

• Optional CANopen DS301 communication with DS402 motion control

• Optional 100 Mbit Ethernet communication using SCL and Q

• Optional Ethernet/IP communication

• Quadrature encoder feedback

• Motor current up to 7 amps rms continuous, 14 amps peak

• Eight optically isolated digital inputs

• Four optically isolated digital outputs

• Two ±10 volt analog inputs for torque, speed and position control. Can also be congured for 0 to 10V, ±5V or 0 to 5V signal ranges.

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Block Diagrams

SV7 Hardware Manual

Note: analog inputs are

currently not supported

24 - 80 VDC

INPUT X1

INPUT X2

INPUT X3

INPUT X4

INPUT X5

INPUT X6

X7/CWLIM

X8/CCWLIM

OUTPUT Y1

OUTPUT Y2

OUTPUT Y3

OUTPUT Y4

ANALOG IN1

ANALOG IN2

by Si Programmer™

to PC/MMI

24 - 80 VDC

INPUT X1

INPUT X2

INPUT X3

INPUT X4

INPUT X5

INPUT X6

X7/CWLIM

X8/CCWLIM

OUTPUT Y1

OUTPUT Y2

OUTPUT Y3

OUTPUT Y4

ANALOG IN1

Optical

Isolation

RS-232

Optical

Isolation

Internal

Logic

Supply

DSP

SV7-Si

Internal

Logic

Supply

DSP

Status

MOSFET

PWM

Power

Amplifier

Interface

Si™

Chip

Option Card

MOSFET

PWM

Power

Amplifier

Interface

motor

encoder

RS-485

motor

encoder

ANALOG IN2

to PC/MMI

RS-232

SV7-Q and SV7-S

Option Card

RS-485

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24 - 80 VDC

INPUT X1

INPUT X2

INPUT X3

INPUT X4

INPUT X5

INPUT X6

X7/CWLIM

X8/CCWLIM

OUTPUT Y1

OUTPUT Y2

OUTPUT Y3

OUTPUT Y4

ANALOG IN1

ANALOG IN2

to PC/MMI

Optical

Isolation

RS-232

Internal

Logic

Status

Supply

DSP

SV7-Q-EE and SV7-IP-EE

MOSFET

PWM

Power

Amplifier

Interface

Ethernet

Option Card

motor

encoder

to Ethernet switch or network interface card

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SV7 Hardware Manual

Geing Started

is manual describes the use of three dierent drive models. What you need to know and what

you must have depends on the drive model. For all models, you’ll need the following:

• a 24 to 80 volt DC power supply. Please read the section Choosing a Power Supply for help

in choosing the right power supply.

• a compatible motor (see Recommended Motors)

• a small at blade screwdriver for tightening the connectors (included).

• a personal computer running Windows 98, 2000, NT, Me, XP, Vista or 7. 32 or 64-bit.

• Applied Motion soware (available for free download at www.applied-motion.com/soware)

• An Applied Motion programming cable (included with non-Ethernet drives).

• For Ethernet drives you will need a CAT5 cable (not included).

If you’ve never used an SV drive before you’ll need to get familiar with the drive and the set

up soware before you try to deploy the system in your application. We strongly recommend the following:

1 For -S drives, download and install the For -Q and IP drives, download and install For -Si models, install and use the For -C drives, install the

Q Programmer™

3 Launch the soware by clicking Start...Programs...Applied Motion... 4 Connect the drive to your PC using the programming cable. 5 Connect the drive to the power supply. 6 Connect the drive to the motor.

7 Apply power to the drive.

8 For RS-232 connections, the soware will recognize your drive, display the model and rmware

version and be ready for action.

9 For Ethernet drives, once the proper IP address has been entered, the soware will recognize your drive, display the model and rmware version and be ready for action.

soware may also be installed, if needed.

QuickTuner™

Si Programmer™

and the

CANopen Example Program

soware application.

and

Q Programmer™

soware for conguration and programming.

soware.

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e connectors and other points of interest are illustrated below. Depending on your drive model

and application, you’ll need to make connections to various parts of the drive. ese are detailed later in the manual.

grounding screw

HD-15 connector

• encoder feedback

RD=Red

GR=Green

Serial No

SV7-Q

screw terminal connector

• motor

• power supply

X1 / STEP -

X1 / STEP+

GND

VOLTAGE LOW 2 GR + 4 RD

VOLTAGE HIGH 1 GR + 4 RD

DRIVE OVER TEMP 1 GR + 3 RD

CAN’T MOVE (DISABLED) 2 GR + 1 RD

CW LIMIT 2 GR + 2 RD

CCW LIMIT 1 GR + 2 RD

MOTOR STALL 1 GR + 1 RD

MOTOR ENABLED GR-GR-GR

MOTOR DISABLED SOLID GREEN

LED Codes

DRIVER

SERVO MOTOR

communication option

• RS-485

• Ethernet

• CANopen

ANALOG IN1

ANALOG IN2

X6 / CCWJOG

X5 / CWJOG

X4 / ALARM RESET

X3 / ENABLE

X COMMON

X2 / DIR -

X2 / DIR+

COMM ERROR 1 GR + 7 RD

BAD ENCODER SIGNAL 2 GR + 6 RD

OPEN MOTOR PHASE 1 GR + 6 RD

MOTOR OHMS 2 GR + 5 RD

OVER CURRENT 1 GR + 5 RD

V-V+V-

V+

GND

Y4+

Y COMMON

+5V OUT

Y4 -

X7 / CWLIMIT+

X7 / CWLIMIT -

X8 / CCWLIMIT+

X8 / CCWLIMIT -

• Motion Controller Feedback (MCF)

Y1 / BRAKE

Y2 / MOTION

Y3 / FAULT

RJ11 connector

• RS-232 port

(not used on Ethernet model)

LEDs

• status & error codes

DB-25 connector

• digital inputs

• digital outputs

• analog input

For applications requiring encoder outputs to a motion controller, please request the

Motion Controller Feedback (MCF) option.

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ground (to PC ground)

TX (to PC RX)

No connection

RX (to PC TX)

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SV7 Hardware Manual

Mounting the Drive

You can mount your drive on the wide or the narrow side of the chassis using #6 screws. If pos-

sible, the drive should be securely fastened to a smooth, at metal surface that will help conduct heat away from the chassis. If this is not possible, then forced airow from a fan may be required to prevent the drive from overheating. e SV7 will automatically remove power from the motor and generate an overtemperature fault at a chassis temperature of 65°C.

• Never use your drive in a space where there is no air ow or where other devices cause the surrounding air to be more than 40°C.

• Never put the drive where it can get wet or where metal or other electrically conductive particles can get on the circuitry.

• Always provide air ow around the drive. When mounting multiple SV drives near each other, maintain at least one half inch of space between drives.

Connecting to the PC using RS-232

(for Ethernet drives, see Connecting the Drive to Your PC using Ethernet)

• Locate your computer within 8 feet of the drive.

• Your drive was shipped with a communication cable. Plug the large end into the serial port of

your PC and the small end into the PC/MMI jack on your drive. Secure the cable to the PC with

the screws on the sides.

Never connect a drive to a telephone circuit. It uses the same connectors and cords as telephones and modems, but the voltages are not compatible.

If your PC does not have a serial port, you should purchase a “USB Serial Converter”. We recommend the USB-COM-CBL from byterunner.com. is

adapter is compatible with all versions of Windows including Windows 7, 64 bit.

Pin Assignments of the PC/MMI Port

(RJ11 connector)

Not used for Ethernet drives.

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Connecting the Drive to Your PC using Ethernet

is process requires three steps

• Get the drive physically connected to your network (or directly to the PC)

• Set the drive’s IP address

• Set the appropriate networking properties on your PC.

Note: the following pages are an excerpt from the “eSCL Communication Reference Guide”, which is available on the SV7-Q-EE product page at hp://www.applied-motion.com/products/servo-drives/sv7-q-ee. For more information on Ethernet communications with the drive please refer to this guide.

Addresses, Subnets, and Ports

Every device on an Ethernet network must have a unique IP address. In order for two devices to

communicate with each other, they must both be connected to the network and they must have IP addresses that are on the same subnet. A subnet is a logical division of a larger network. Members of one subnet are generally not able to communicate with members of another unless they are con-

nected through special network equipment (e.g. router). Subnets are dened by the choices of IP

addresses and subnet masks.

If you want to know the IP address and subnet mask of your PC, select Start…All Programs…Accessories…Command Prompt. en type “ipcong” and press Enter. You should see something like

this:

If your PC’s subnet mask is set to 255.255.255.0, a common seing known as a Class C subnet mask,

then your machine can only talk to another network device whose IP address matches yours in

the rst three octets. (e numbers between the dots in an IP address are called an octet.) For example, if your PC is on a Class C subnet and has an IP address of 192.168.0.20, it can talk to a de-

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vice at 192.168.0.40, but not one at 192.168.1.40. If you change your subnet mask to 255.255.0.0

(Class B) you can talk to any device whose rst two octets match yours. Be sure to ask your system

administrator before doing this. You network may be segmented for a reason.

Your drive includes a 16 position rotary switch for seing its IP address. e factory default address for each switch seing is shown in the table below.

Rotary Switch IP Address

0 10.10.10.10 1 192.168.1.10 2 192.168.1.20 3 192.168.1.30 4 192.168.0.40 5 192.168.0.50 6 192.168.0.60 7 192.168.0.70 8 192.168.0.80 9 192.168.0.90 A 192.168.0.100

B 192.168.0.110 C 192.168.0.120 D 192.168.0.130

E 192.168.0.140

F DHCP

SV7 Hardware Manual

Seings 1 through E can be changed using the “10.10.10.10”, the universal recovery address. If someone were to change the other seings and

not write it down or tell anyone (I’m not naming names here, but you know who I’m talking about)

then you will not be able to communicate with your drive. e only way to “recover” it is to use the

universal recovery address.

Seing F is “DHCP”, which commands the drive to get an IP address from a DHCP server on the network. e IP address automatically assigned by the DHCP server may be “dynamic” or “static”

QuickTuner™

soware. Seing 0 is always

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depending on how the administrator has congured DHCP. e DHCP seing is reserved for

advanced users.

Your PC, or any other device that you use to communicate with the drive, will also have a unique

address.

On the drive, switch seings 1 through E use the standard class B subnet mask (i.e. “255.255.0.0”). e mask for the universal recovery address is the standard class A (i.e. “255.0.0.0”). One of the great features of Ethernet is the ability for many applications to share the network at the

same time. Ports are used to direct trac to the right application once it gets to the right IP address.

e UDP eSCL port in our drives is 7775. To send and receive commands using TCP, use port

number 7776. You’ll need to know this when you begin to write your own application. You will also need to choose an open (unused) port number for your application. Our drive doesn’t care

what that is; when the rst command is sent to the drive, the drive will make note of the IP address

and port number from which it originated and direct any responses there. e drive will also refuse

any trac from other IP addresses that is headed for the eSCL port. e rst application to talk to a drive “owns” the drive. is lock is only reset when the drive powers down.

12/18/2014

If you need help choosing a port number for your application, you can nd a list of commonly used port numbers at hp://www.iana.org/assignments/port-numbers.

One nal note: Ethernet communication can use one or both of two “transport protocols”: UDP and TCP. eSCL commands can be sent and received using either protocol. UDP is simpler and more ecient than TCP, but TCP is more reliable on large or very busy networks where UDP pack-

ets might occasionally be dropped.

Option 1: Connect a Drive to Your Local Area Network

PC NIC

SWITCH

LAN DRIVE

ROUTER

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If you have a spare port on a switch or router and if you are able to set your drive to an IP address that is compatible with your network, and not used by anything else, this is a simple way to get

connected. is technique also allows you to connect multiple drives to your PC. If you are on a

corporate network, please check with your system administrator before connecting anything new to

the network. He or she should be able assign you a suitable address and help you get going.

If you are not sure which addresses are already used on your network, you can nd out using “Angry IP scanner”, which can be downloaded free from hp://www.angryip.org/w/Download. But be careful: an address might appear to be unused because a computer or other device is currently turned o. And many networks use dynamic addressing where a DHCP server assigns addresses “on demand”. e address you choose for your drive might get assigned to something else by the DHCP server at another time.

Once you’ve chosen an appropriate IP address for your drive, set the rotary switch according to the address table above. If none of the default addresses are acceptable for your network, you can enter a new table of IP addresses using with 192.168.0, the most common subnet, you will want to choose an address from switch seings 4

through E. Another common subnet is 192.168.1. If your network uses addresses in this range, the

compatible default selections are 1, 2 and 3.

If your PC address is not in one of the above private subnets, you will have to change your subnet mask to 255.255.0.0 in order to talk to your drive. To change your subnet mask:

SV7 Hardware Manual

QuickTuner™

If your network uses addresses starting

1. On Windows XP, right click on “My Network Places” and select properties. On Windows 7, click Computer. Scroll down the le pane until you see “Network”. Right click and select properties. Select “Change adapter seings”

2. You should see an icon for your network interface card (NIC). Right click and select properties.

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3. Scroll down until you see “Internet Properties (TCP/IP)”. Select this item and click the Properties

buon. On Windows 7 and Vista, look for “(TCP/IPv4)”

4. If the option “Obtain an IP address automatically” is selected, your PC is geing an IP address and

a subnet mask from the DHCP server. Please cancel this dialog and proceed to the next section of

12/18/2014

this manual: “Using DHCP”.

5. If the option “Use the following IP address” is selected, life is good. Change the subnet mask to

“255.255.0.0” and click OK.

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Using DCHP

If you want to use your drive on a network where all or most of the devices use dynamic IP ad-

dresses supplied by a DHCP server, set the rotary switch to “F”. When the drive is connected to

the network and powered on, it will obtain an IP address and a subnet mask from the server that is

compatible with your PC.

e only catch is that you won’t know what address the server assigns to your drive.

can nd your drive using the Drive Discovery feature, as long as your network isn’t too large. With the drive connected to the network and powered on, click the Drive Discovery buon on the Drive tab. You will see a dialog such as this:

SV7 Hardware Manual

QuickTuner™

Normally, Drive Discovery will only detect one network interface card (NIC), and will select it

automatically. If you are using a laptop and have both wireless and wired network connections, a

second NIC may appear. Please select the NIC that you use to connect to the network to which you’ve connected your drive. en click OK. Drive Discovery will notify you as soon as it has

detected a drive.

If you think this is the correct drive, click Yes. If you’re not sure, click Not Sure and Drive Discovery will look for additional drives on you network. Once you’ve told Drive Discovery which drive

is yours, it will automatically enter that drive’s IP address in the IP address text box so that you are ready to communicate.

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Option 2: Connect a Drive Directly to Your PC

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It doesn’t get much simpler than this:

1. Connect one end of a CAT5 Ethernet cable into the LAN card (NIC) on your PC and the other

into the drive. You don’t need a special “crossover cable”; the drive will automatically detect the

direct connection and make the necessary physical layer changes.

2. Set the IP address on the drive to “10.10.10.10” by seing the rotary switch at “0”.

3. To set the IP address of your PC:

a. On Windows XP, right click on “My Network Places” and select properties. b. On Windows 7, click Computer. Scroll down the le pane until you see “Network”. Right click

and select properties. Select “Change adapter seings”

4. You should see an icon for your network interface card (NIC). Right click and select properties.

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a. Scroll down until you see “Internet Properties (TCP/IP)”. Select this item and click the Proper-

ties buon.

b. On Windows 7 and Vista, look for “(TCP/IPv4)”

SV7 Hardware Manual

5. Select the option “Use the following IP address”. en enter the address “10.10.10.11”. is will give your PC an IP address that is on the same subnet as the drive. Windows will know to direct

any trac intended for the drive’s IP address to this interface card.

6. Next, enter the subnet mask as “255.255.255.0”.

7. Be sure to leave “Default gateway” blank. is will prevent your PC from looking for a router on this

subnet.

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8. Because you are connected directly to the drive, anytime the drive is not powered on your PC will

annoy you with a small message bubble in the corner of your screen saying “e network cable is unplugged.”

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Option 3: Use Two Network Interface Cards (NICs)

PC NIC1 NIC2 LAN DRIVE

is technique allows you to keep your PC connected to your LAN, but keeps the drive o the LAN, preventing possible IP conicts or excessive trac.

1. If you use a desktop PC and have a spare card slot, install a second NIC and connect it directly to

the drive using a CAT5 cable. You don’t need a special “crossover cable”; the drive will automati-

cally detect the direct connection and make the necessary physical layer changes.

2. If you use a laptop and only connect to your LAN using wireless networking, you can use the built-

in RJ45 Ethernet connection as your second NIC.

3. Set the IP address on the drive to “10.10.10.10” by seing the rotary switch at “0”.

4. To set the IP address of the second NIC:

a. On Windows XP, right click on “My Network Places” and select properties. b. On Windows 7, click Computer. Scroll down the le pane until you see “Network”. Right click

and select properties. Select “Change adapter seings”

5. You should see an icon for your newly instated NIC. Right click again and select properties.

a. Scroll down until you see “Internet Properties (TCP/IP)”. Select this item and click the Proper-

ties buon.

b. On Windows 7 and Vista, look for “(TCP/IPv4)”

6. Select the option “Use the following IP address”. en enter the address “10.10.10.11”. is will

give your PC an IP address that is on the same subnet as the drive. Windows will know to direct

any trac intended for the drive’s IP address to this interface card.

7. Next, enter the subnet mask as “255.255.255.0”. Be sure to leave “Default gateway” blank. is will

prevent your PC from looking for a router on this subnet.

8. Because you are connected directly to the drive, anytime the drive is not powered on your PC will

annoy you with a small message bubble in the corner of your screen saying “e network cable is unplugged.”

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RX+

–

TX+

GND

RS-485/422

+RX- +TX- GND +RX- +TX- GND +RX- +TX- GND

to PC TX+

to PC TX-

to PC RX+

to PC RX-

to PC GND

Drive #1 Drive #2 Drive #3

120

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SV7 Hardware Manual

Connecting to a host using RS-485 option card

RS-485 allows you to connect more than one drive to a single host PC, PLC, HMI

or other computer. It also allows the communication cable to be long (more than

1000 feet). But the device to which you connect must have an RS-422 or RS-485

port.

e RS-422/485 pin diagram is shown to the right. Wiring diagrams can be found below. We recommend the use of Category 5 cable. It is widely used for computer networks, it is inexpensive, easy to get and certied for quality and data integrity.

e SV drives can be used with either two wire or four wire RS-485 implementations. e connec-

tion can be point to point (i.e. one drive and one host) or a multi-drop network (one host and up to 32 drives).

Four wire systems utilize separate transmit and receive wires. One pair of wires must connect the host computer’s transmit signals to each drive’s RX+ and RX- terminals. Another pair connects the TX+ and TX- drive terminals to the host computer’s receive signals. A logic ground terminal is pro-

vided on each drive and can be used to keep all drives at the same ground potential. is terminal

connects internally to the DC power supply return (V-), so if all the drives on the RS-485 network

are powered from the same supply it is not necessary to connect the logic grounds. You should still connect one drive’s GND terminal to the host computer ground.

Four wire systems are beer than two wire types because the host can send and receive data at the same time, increasing system throughput. Furthermore, the host never needs to disable its transmitter, which simplies your soware. We recommend that a 120 ohm terminating resistor be connected between RX+ and RX- at the farthest drive from the host.

RS-485 Four Wire System

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+RX- +TX- GND +RX- +TX- GND +RX- +TX- GND

to PC TX+ (B)

to PC TX- (A)

to PC GND

Drive #1 Drive #2 Drive #3

120

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Two wire systems transmit and receive on the same pair of wires, which can lead to trouble. e host must not only disable its transmier before it can receive data, it must do so quickly, before a drive begins to answer a query. e SV drives include a “transmit delay” parameter that can be adjusted to compensate for a host that is slow to disable its transmier. is adjustment can be made

over the network using the TD command, or it can be set using the

QuickTuner™

soware. It is not

necessary to set the transmit delay in a four wire system.

RS-485 Two Wire System

RS-232 to RS-485 2-wire Converter

Model 485-25E from Integrity Instruments (800-450-2001) works well for converting your PC’s RS232 port to RS-485. It comes with everything you need. Connect the adaptor’s “B” pin to the

drive’s TX+ and RX+ terminals. Connect “A” to the drive’s TX- and RX- terminals.

Converting USB to RS-485

e USB-COMi-M from www.byterunner.com is an excellent choice for USB to RS-485 conversion. It can

be used with 2 wire or 4 wire systems.

For two wire RS-485, set SW1 to ON and SW2-4 to OFF. On the USB-COMi-M screw terminal connector: Pin1 goes to RX- and TX-. Connect pin 2 to RX+ and TX+.

Pin 6 is ground.

e DB-9 is not used.

Page 20

920-0012F 12/18/2014

For four wire RS-485, set SW1,3,4 to ON and SW2 to OFF. On the USB-COMi-M screw terminal connector:

USB-COMi-M SV Drive

pin1 RX- pin 2 RX+ pin 3 TX+ pin 4 TX pin 6 GND

Assigning Addresses in Multi-axis RS-485 Systems

Before wiring the entire system, you’ll need to connect each drive individually to the host computer so that a unique address can be assigned to each drive. Use the RS-232 programming cable and

the

QuickTuner™

soware that came with your drive for this purpose.

SV7 Hardware Manual

Connect the drive to your PC, then launch have already congured your drive, then you should click the Upload buon so that the

er™

seings match those of your drive. Click on the Motion buon, then select the “SCL” operating mode. If you have a Q drive, you may want to select “Q Programming”. Either way, you’ll see the RS-485 Address panel appear. Just click on the address character of your choice. You can use the numerals 0..9 or the special characters ! “ # $ % & ‘ ( ) * + , - . / : ; < = > ? @ . Just make sure that

each drive on your network has a unique address. If you are using a 2 wire network, you may need

to set the Transmit Delay, too. 10 milliseconds works on the adapters we’ve tried. Once you’ve made your choices, click Download to save the seings to your drive.

QuickTuner™

. Finally, apply power to your drive. If you

QuickTun-

Connecting the Power Supply

If you need information about choosing a power supply, please read Choosing a Power Supply located elsewhere in this manual.

Connect the motor power supply “+” terminal to the driver terminal labeled “V+”. Connect power supply “-” to the drive terminal labeled “V-”. Use 18 or 20 gauge wire. e SV drives contain an internal fuse that connects to the power supply + terminal. is fuse is not user replaceable. If you want to install a user servicable fuse in your system install a fast acting fuse in line with the + power supply lead. Use a 7 amp fuse.

e green ground screw on the corner of the chassis should be connected to earth ground.

Page 21

920-0012F

B-

B+

A-

A+

V-

V+

B-

B+

A-

A+

V-

V+

LED Codes

GR=Green

RD=Red

MOTOR DISABLED SOLID GREEN

MOTOR ENABLED GR-GR-GR

MOTOR STALL 1 GR + 1 RD

CCW LIMIT 1 GR + 2 RD

CW LIMIT 2 GR + 2 RD

CAN’T MOVE (DISABLED) 2 GR + 1 RD

DRIVE OVER TEMP 1 GR + 3 RD

VOLTAGE HIGH 1 GR + 4 RD

VOLTAGE LOW 2 GR + 4 RD

OVER CURRENT 1 GR + 5 RD

MOTOR OHMS 2 GR + 5 RD

OPEN MOTOR PHASE 1 GR + 6 RD

BAD ENCODER SIGNAL 2 GR + 6 RD

COMM ERROR 1 GR + 7 RD

GND

+5V OUT

Y COMMON

Y3 / FAULT

Y2 / MOTION

Y1 / BRAKE

X8 / CCWLIMIT+

X8 / CCWLIMIT -

X7 / CWLIMIT -

X7 / CWLIMIT+

Y4 -

Y4+

X COMMON

X3 / ENABLE

X5 / CWJOG

X4 / ALARM RESET

ANALOG IN2

ANALOG IN1

X2 / DIR -

X2 / DIR+

X1 / STEP+

X1 / STEP -

GND

X6 / CCWJOG

Serial No

SERVO MOTOR

DRIVER

grounding screw

to earth ground

SV7 Hardware Manual

12/18/2014

Be careful not to reverse the wires. Reverse connection will destroy your driver, void your warranty and generally wreck your day.

If you plan to use a regulated power supply you may encounter a problem with regeneration. If you rapidly decelerate a load from a high speed, much of the kinetic energy of that load is transferred back to the power supply. is can trip the overvoltage protection of a switching power

supply, causing it to shut down. We oer the RC050 “regeneration clamp” to solve this problem. If in doubt, buy an RC050 for your rst installation. If the “regen” LED on the RC050 never ashes, you don’t need the clamp.

RC050 Regen Clamp

Page 22

920-0012F 12/18/2014

SV7 Hardware Manual

Choosing a Power Supply

When choosing a power supply, there are many things to consider. If you are manufacturing equipment that will be sold to others, you probably want a supply with all the safety agency approvals. If

size and weight are an issue get a switching supply.

And you must decide what size of power supply (in terms of voltage and current) is needed for

your application.

Voltage

PWM drives like the SV7 work by switching the voltage to the motor terminals on and o while monitoring current to achieve a precise level of phase current. Depending on how fast you

want to run the motor, you may not need a power supply equal to the rated voltage of the motor.

To get a rough estimate of how much voltage you need, multiply the voltage constant of the motor (Ke) by the maximum speed required for your application. For example, if you want to operate the M0100-103-4 at 4000 rpm, you’ll need V = Ke * rpm = (4.6V/krpm)(4 krpm) = 18.4 volts. To produce any real torque at that speed, add 30%, for a total of 24 V.

Always check the “no load” voltage of the power supply before using it with the drive, to be sure that it does not exceed 80 VDC.

Current

e maximum supply current you could ever need is three times the motor current.

However, you will generally need a lot less than that, depending on the motor type, voltage, speed and load conditions. at’s because the SV servo uses a switching amplier, converting a high volt-

age and low current into lower voltage and higher current. e more the power supply voltage exceeds the motor voltage, the less current you’ll need from the power supply. A motor running from a 48 volt supply can be expected to draw only half the supply current that it would with a 24

volt supply. Furthermore, the servo loop only commands the amplier to provide as much current

as load conditions require.

We recommend the following selection procedure:

1. If you plan to use only a few drives, get a power supply with at least 3X the rated con-

tinuous current of the motor.

2. If you are designing for mass production and must minimize cost, get one power supply

with more than twice the rated current of the motor. Install the motor in the application and moni-

Page 23

920-0012F

V+

–

MOTOR

MOTOR/POWER

CONNECTOR

SV7 Hardware Manual

12/18/2014

tor the current coming out of the power supply and into the drive at various motor loads. is will tell you how much current you really need so you can design in a lower cost power supply.

supply, causing it to shut down. See

Connecting the Power Supply

for details on the RC-050

regeneration clamp. Unregulated power supplies are beer because they generally do not have

overvoltage protection and have large capacitors for storing energy coming back from the drive. ey are also less expensive.

Connecting the Motor

Never connect or disconnect the motor while the power is on.

Applied Motion motor: To connect an Applied Motion servo motor to your SV7, you’ll need a set of extension cables. For M series (as well as N and A series) motors, use the BLUENC and the BLuMTR cables. For V series motors, use the 3004-214 and 3004-230 cables. For JSeries motors use 3004-300 and 3004-301 cables.

Connect the motor to one end of the cable. e other end of the motor

extension cable has lead wires that connect to the drive’s motor screw terminal

connector as follows: A = red wire B = white wire C = black wire chassis ground screw = green wire Leave the last pin on the motor/power connector unconnected.

e encoder on the back of the V series motors can connect directly to the encoder connector on

the SV7, or a 3004-230 extension cable can be used when the motor must be located further than 18” from the drive. For M, N and A series motors, use a BLUENC series encoder extension cable.

Page 24

920-0012F

inside drive

A-

A+

GND

+5V

HD-15 Connector

B-

B+

Z-

Z+

12.5K

8.3K

12.5K

8.3K

+5V

12.5K

8.3K

inside drive

H1-

H1+

GND

+5V

HD-15 Connector

H2-

H2+

H3-

H3+

499

830

1.25K

499

830

1.25K

499

+5V

830

1.25K

encoder Z+ (5)

Hall 1-(10)

encoder B- (4)

Hall 1+ (9)

encoder B+ (3)

Hall 3+ (13)

Hall 3- (14)

GND (15)

(12) Hall 2-

(11) Hall 2+

(6) encoder Z-

(1) encoder A+

(7) +5VDC 200mA

(2) encoder A-

(8) GND

Front View

12/18/2014

SV7 Hardware Manual

Non-Applied Motion motor:

Connect the motor leads to the screw terminal connector as follows: A = motor phase A, R or U B = motor phase B, S or V C = motor phase C, T or W chassis ground screw = green wire

e encoder connections use a HD-15 connector,

which you must connect to your encoder as shown

on the right. See

Accessories

for mating connector

Pin Assignments (facing drive)

information.

If your encoder is single ended, connect the encoder outputs to the A+, B+ and Z+ inputs. Leave A-, B- and Z- unconnected. (Z is the encoder index signal and is optional.)

Single-end halls should also be connected to the “+” inputs with the “-” inputs le unconnected.

Internal Encoder Circuits

Page 25

920-0012F

SV7 Hardware Manual

Driving a Brushed Motor:

1. Connect the encoder so the counts increase when the sha is turned CW as viewed from the

front.

2. Connect motor leads to A and B, leave C open.

3. e + direction of commanded motion will result in terminal B being positive with respect to

terminal A.

4. Armature inductance should be between .5mH and 15mH for best performance.

5. Use the Motor-Encoder tab in

QuickTuner™

to congure the drive for a brushed motor.

12/18/2014

Page 26

920-0012F

Front View

X COMMON

not used

X3 / Enable

X5 / CWJOG

X4 / Alarm Reset

Analog IN2

Analog IN1

X2 / DIR-

X2 / DIR+

X1 / STEP +

X1 / STEP -

GND

+5V OUT

Y COMMON

Y3 / FAULT

Y2 / MOTION

Y1 / BRAKE

2 3

20 21 22 23 24 25

X6 / CCWJOG

IN/OUT

X8/CCWLIMIT+ X8/CCWLIMIT-

X7/CWLIMIT-

X7/CWLIMIT+

Y4-

Y4+

12/18/2014

SV7 Hardware Manual

Connecting Input Signals

e SV drives have 8 digital inputs and 2 analog inputs categorized as follows:

· Two high speed digital inputs, 5 volt logic: X1/STEP and X2/DIR. Digital signals for commanding position. Quadrature signals from encoders can also be used. ese inputs can also be connected to sensors, switches and other devices for use with Q and Si™ commands such as Wait input, Seek Home, Feed to Sensor, If Input and others.

· Four single-ended digital inputs, 12-24 volt logic: X3, X4, X5, and X6. Soware programmable inputs can be used for motor enable, alarm reset or jogging. ese inputs can also be connected to sensors, switches and other devices for use with Q and Si™ Wait Input, Seek Home, Feed to Sensor, If Input and other commands.

· Two dierential digital inputs, 12-24 volt logic: X7/CWLIMIT and X8/CCWLIMIT. Can be used to inhibit motion in a given direction, forcing the motor and load to travel within mechanical limits. Can be congured for active closed, active open, or not used which makes the

inputs act as general purpose inputs.

· Two single-ended analog inputs, +/-10 volt logic: Analog IN1 and Analog IN2. Support 0-10, +/-5, or 0-5 volt logic as well. Can be wired together to create one dierential analog input. Analog velocity or position command signal. Note: the analog inputs are currently not

supported by the

Connector Pin Diagram

Si Programmer™

soware.

IN/OUT1 (DB-25) Connector

Page 27

920-0012F

IN/OUT 1

COM

X2/DIR-

DIR X2/DIR+

X1/STEP-

STEP X1/STEP+

Indexer

with

Sourcing

Outputs

IN/OUT 1

+5V OUT

X2/DIR+

DIR X2/DIR-

X1/STEP+

STEP X1/STEP-

Indexer

with

Sinking

Outputs

SV7 Hardware Manual

12/18/2014

High Speed Digital Inputs

e SV drives include two high speed inputs called STEP and DIR. ey accept 5 volt singleended or dierential signals, up to 2 MHz. Normally these inputs connect to an external controller that provides step & direction command signals. You can also connect a master encoder to the high

speed inputs for following applications. Or you can use these inputs with Wait Input, If Input, Feed to Sensor, Seek Home and other such commands.

Connection diagrams follow.

X1/STEP+

X1/STEP

X2/DIR+

X2/DIR

SV7 Step & Direction Inputs

Connecting to indexer with Sourcing Outputs

330

220 pF

330

220 pF

inside SV7

Connecting to Indexer with Sinking Outputs

Page 28

920-0012F

IN/OUT1

Master

Encoder

GND

X2/DIR-

X2/DIR+

X1/STEP-

X1/STEP+

GND

B-

B+

A-

A+

IN/OUT 1

DIR+

X2/DIR+

DIR- X2/DIR-

X1/STEP+

STEP-

STEP+

X1/STEP-

Indexer

with

Differential

Outputs

12/18/2014

SV7 Hardware Manual

Connecting to Indexer with Dierential Outputs

(Many High Speed Indexers have Dierential Outputs)

Wiring for Encoder Following

Using High Speed Inputs with 12-24 Volt Signals

Most PLCs don’t use 5 volt logic. You can connect signal levels as high as 24 volts to the STEP and DIR inputs if you add external dropping resistors, as shown below.

• For 12 volt logic, add 820 ohm, 1/4 wa resistors

• For 24 volt logic, use 2200 ohm, 1/4 wa resistors

e maximum voltage that can be applied to an input terminal is 24 volts

DC. Never apply AC voltage to an input terminal.

e pulse and direction wiring can pick up noise especially if resistors are placed on terminal strips next to “noisy” wiring, resulting in stray step

pulses and a loss of position accuracy.

Page 29

SV7 Hardware Manual

IN/OUT 1

+12-24V

X2/DIR+

DIR X2/DIR-

X1/STEP+

STEP X1/STEP-

PLC

with Sinking Outputs

IN/OUT 1

X2/DIR+

X2/DIR-

X1/STEP+

- X1/STEP-

+24VDC

Power

Supply

2200

direction switch

run/stop switch

(closed=run)

IN/OUT 1

+12-24V

GND

X2/DIR-

OUT1 X2/DIR+

X1/STEP-

OUT2 X1/STEP+

PLC

with

Sourcing

Outputs

Connecting to PLC with Sourcing (PNP) Outputs

(Most PLC’s use 24 volt logic)

920-0012F

12/18/2014

Connecting to PLC with Sinking (NPN) Outputs

Using Mechanical Switches at 24 Volts

(Most PLC’s use 24 volt logic)

Page 30

920-0012F

2200

inside drive

XCOM

X3/EN

X4/RST

X8/CCWLIM-

X8/CCWLIM+

2200

X7/CWLIM-

X7/CWLIM+

DB-25 Connector

12/18/2014

SV7 Hardware Manual

Other Digital Inputs

As we mentioned in the previous section, the high

speed STEP and DIR inputs are congured for ve

volt logic. All other digital inputs are designed for

operation between 12 and 24 volts DC.

Single Ended Inputs

e SV drives include four single ended, optically

isolated input circuits that can be used with sourcing or sinking signals, 12 to 24 volts. is allows

connection to PLCs, sensors, relays and mechanical switches. Because the input circuits are isolated,

they require a source of power. If you are con-

necting to a PLC, you should be able to get power from the PLC power supply. If you are using relays

or mechanical switches, you will need a 12-24 V power supply. is also applies if you are connecting the inputs to the programmable outputs of

an Si product from Applied Motion.

What is COM?

“Common” is an electronics term for an electrical connection to a common voltage. Sometimes “common” means the same thing as “ground”, but not always. In the case of the SV drives, if you are using sourcing (PNP) input signals, then you will want to connect COM to ground (power supply -). If you are using sinking (NPN) signals, then COM must connect to power supply +.

Note: If current is owing into or out of an input, the logic state of that input is low or closed. If no current is owing, or the input is not connected, the logic state is high or open.

e diagrams on the following pages show how to connect the inputs to various commonly used devices.

Page 31

SV7 Hardware Manual

IN/OUT1

X3..X6

XCOM

Si drive

OUT+

OUT–

12-24

VDC

Power

Supply

IN/OUT1

NPN

Proximity

Sensor

X3..X6

XCOM

output

–

12-24

VDC

Power

Supply

IN/OUT1

switch or relay

(closed=logic low)

X3..X6

XCOM

12-24

VDC

Power

Supply

Connecting an Input to a Switch or Relay

920-0012F

12/18/2014

Connecting another drive to the SV

(When output closes, input goes low).

Connecting an NPN Type Proximity Sensor to an input

(When prox sensor activates, input goes low).

Page 32

920-0012F

IN/OUT1

PNP

Proximity

Sensor

X3..X6

output

–

XCOM

12-24

VDC

Power

Supply

inside drive

IN/OUT 1 Connector

2200

X8/CCWLIM-

X8/CCWLIM+

2200

X7/CWLIM-

X7/CWLIM+

12/18/2014

SV7 Hardware Manual

Connecting a PNP Type Proximity Sensor to a an input

(When prox sensor activates, input goes low).

Connecting Limit Switches

e CWLIMIT and CCWLIMIT inputs are used for connecting end of travel sensors. ese inputs can be driven by signals that are sinking (NPN), sourcing (PNP) or dierential (line driver). By con-

necting switches or sensors that are triggered by the motion of the motor or load, you can force the motor to operate within certain limits. is is useful if a program or operator error could cause damage to your system by traveling too far.

e limit inputs are optically isolated. is allows you to choose a voltage for your limit circuits of

12 to 24 volts DC. is also allows you to have long wires on limit sensors that may be far from the

drive with less risk of introducing noise to the drive electronics. e schematic diagram of the limit switch input circuit is shown below.

Page 33

920-0012F

IN/OUT1

Power

Supply

–

Limit

Sensor

output

–

CW LIMIT+

CW LIMIT-

IN/OUT1

Power

Supply

–

Proximity

Sensor

output

–

CW LIMIT+

CW LIMIT-

IN/OUT1

12-24

VDC

SUPPLY

CW LIMIT+

CW LIMIT-

CCW LIMIT+

CCW LIMIT-

SV7 Hardware Manual

12/18/2014

Wiring a Mechanical Limit Switch

You can use normally open or normally closed limit switches. Either way, wire them as shown here. Be sure to set the polarity using the Si Programmer™ for Si™ drives or

QuickTuner™

soware for the

SV7-S and SV7-Q.

Wiring a Limit Sensor

Some systems use active limit sensors that produce a voltage output rather than a switch or relay

closure. ese devices must be wired dierently than switches.

If your sensor has an open collector output or a sinking output, wire it like this:

If the sensor output goes low at the limit, select the option “closed” (in the soware). If the output is open, or high voltage, choose “open”.

Other sensors have sourcing outputs. at means that current can ow out of the sensor output, but not into it. In that case, wire the sensor this way:

Page 34

920-0012F

inside drive

AIN1

AIN2

GND

DB-25 Connector

Signal

Conditioning

Signal

Conditioning

1-10kΩ

pot

ccw

IN/OUT1

GND

AIN1

+5V OUT

AIN2

12/18/2014

SV7 Hardware Manual

Analog Inputs

e SV drives feature two analog inputs. Each input can accept a signal range of 0 to 5 VDC, ±5 VDC, 0 to 10 VDC or ±10 VDC. e drive can be congured to oper-

ate in torque, speed or position modes. Input impedance

of each analog input is 10K ohms to GND.

Note: e analog inputs and the communications circuitry are referenced to GND only. erefore a connection must be made to the SV7 GND to complete the signal path.

Use

QuickTuner™

the

QuickTuner™

to set the signal function, range, oset, deadband and lter frequency. Please see

manual or consult the soware help for more information.

Connecting a Potentiometer to Analog Input 1

IN/OUT1

signal (from motion controller)

AIN1

AIN2

signal return

GND

Connecting a Motion Controller to the Analog Input

Page 35

920-0012F

IN/OUT1

YCOM

Y1/2/3

5-24 VDC

Power Supply

+ –

Load

IN/OUT1

YCOM

Y4+

Y4-

IN/OUT1

Y4-

Y4+

5-24 VDC

Power Supply

+ –

Load

SV7 Hardware Manual

12/18/2014

Programmable Outputs

e SV drives feature four digital outputs. ese outputs

can be set to automically control a motor brake, to signal a fault condition, to indicate when the motor is moving or to provide an output frequency proportional to motor speed (tach signal). Or the outputs can be turned on and

o by program instructions like Set Output.

Note: an electric brake cannot be connected directly to the programmable output of the SV. A relay must be added between the output and brake coil. See example relay wiring diagrams below.

e outputs can be used to drive LEDs, relays and the inputs of other electronic devices like PLCs and counters. For OUT4, the “+” (collector) and “-” (emier) terminals of each transistor are available at the connector. is allows you to congure each output for current sourcing or sinking. e OUT1-3 outputs can only sink current. e COM terminal must be tied to power supply (-).

Diagrams of each type of connection follow.

Do not connect the outputs to more than 30VDC. e current through each output terminal must not exceed 80 mA.

Sinking Output

Y1, Y2 or Y3

Sinking Output

Using Y4

Page 36

920-0012F

Y COMMON (pin 17)

Y1 / Brake (pin 14)

24 VDC

power supply

BLUE brake lead

YELLOW brake lead

24 VDC relay

clamp diode

12/18/2014

SV7 Hardware Manual

Wiring Integral Holding Brakes

e integral holding brakes of AMP servo motors require between 200 and 400 mA at 24 VDC to operate properly. To wire and operate a holding brake from the Y1/Brake output of an Applied Motion servo drive requires the following items:

• A 24 VDC power supply with minimum output of 450 mA

• A 24 VDC relay*

• A clamp diode such as 1N4935*

• An AMP servo motor with integral holding brake, designated by a “5” in the 7th position of the motor part number. Example: M0400-151-4-000

• A “BK” type motor power cable or separate brake cable. Example: BLUMTR-BK-FA-10

* Relays with an integral clamp diode, like IDEC part number RU2S-D-D24, greatly simplify the wir-

ing eort by including the relay and a clamp diode in one unit.

Following the diagram below, connect the power supply, relay, and diode to the brake leads of the servo motor, as well as the Y1/Brake output connections of the servo drive.

Page 37

920-0012F

Motor Pow er (W) 30 50 100 100 200 400 200 400 600 750

Motor Frame Size

NEMA 17

40 mm

NEMA 17

40 mm

NEMA 17

40 mm

NEMA 23

60 mm

NEMA 23

60mm

NEMA 23

60 mm

NEMA 34

80 mm

NEMA 34

80 mm

NEMA 34

80 mm

NEMA 34

80 mm

Rate d Voltage

Static Friction (in-lb)

Input Power (W) 9

Input Curr e nt (A) 0.375

Arm ature Rele ase Tim e (m sec M ax)

Arm ature Pull-In Tim e (m sec M ax)

9.5

0.39

9.5

0.39

24 VDC

2.83 11.24 22.5

0.2

0.375

SV7 Hardware Manual

12/18/2014

e holding brakes of J Series servo motors are fail-safe brakes, which means they are engaged

when no power is applied to the brake. When seing up a servo drive in

QuickTuner™

, be sure

to set the Brake output options in the “Inputs-Outputs” tab as shown in the diagram below. Make sure to select the check box for “Automatically release brake when moving by” and selecting the radio buon “closing the Brake output”.

e engaging and disengaging of the brake is done automatically by the servo drive. When the

drive is enabled and not faulted the brake will be disengaged. When the drive is disabled and/or

faulted the brake will be engaged.

ere are two time delays associated with the Brake output function which are also set in

Tun er™

(see diagram above). e rst time delay controls how long the drive will delay a move

command if the move command immediately follows the disengagement of the brake. e second

time delay controls how long the drive will delay disabling the motor aer engaging the brake

when a motor disable command is issued.

Reference Information Below is a summary of specications for the integral holding brakes available with J Series servo motors. Refer to motor drawing for details.

Quick-

Page 38

920-0012F

IN/OUT1

YCOM

Y1/2/3

1N4935 suppression diode

5-24 VDC

Power Supply

+ –

relay

PLC

IN/OUT1

5-24 VDC

Power Supply

+ –

Y4-

Y4+

COM

IN/OUT1

Y4-

Y4+

1N4935 suppression diode

5-24 VDC

Power Supply

+ –

relay

12/18/2014

SV7 Hardware Manual

Sourcing Output

Using Y4

useful for connecting a motor brake

Driving a Relay

Y1, Y2 or Y3

Driving a Relay

Using Y4

Page 39

920-0012F

SV Servo Drive

Signal+

ANALOG+

DB-25 CONNECTOR DB-9 CONNECTOR

Connect cable shield to connector shell

Signal- GND

A+

A+ OUT

A- A- OUT

B+ B+ OUT

B- B- OUT

Z+ Z+ OUT

Z- Z- OUT

GND GND

Motion

Controller

RST OUT

X4/RESET

EN OUT X3/ENABLE

12-24VDC

XCOM

COM

YCOM

FAULT IN

Y3/FAULT

SV7 Hardware Manual

12/18/2014

Interfacing to a Motion Controller

In some applications, servo control is provided by a motion controller and the drive simply obeys a

velocity or torque command. e industry standard for this command signal is ±10V. In most cases, the encoder signals from the motor must feed back to the controller. e SV7-S-AF servo drive includes a special Motion Controller Feedback board to accomodate such applications.

To connect an SV7-S-AF to a motion controller, you must make a cable to connect the motion controller to the DB9 connector on the motion controller feedback board. Diagrams are shown below.

Providing the motion controller with access to the analog command, servo enable, alarm reset, and

fault output signals requires an additional cable to the SV7’s DB25 connector. See the diagram

below for pin numbers. Note: this diagram assumes that FAULT IN of the motion controller can accept a sinking signal.

You’ll also need to use our

QuickTuner™

soware to set the drive for torque or velocity mode, to

set the scaling and oset of the analog input, and to congure the motor.

Encoder Outputs

If you are using the SV servo in torque or velocity mode with a servo controller, you may need to feed the encoder signals back to the controller. e DB-9 connector on the motion controller

feedback option board includes encoder output signals for this purpose.

encoder B+ OUT (3) encoder A- OUT (2) encoder A+ OUT (1)

encoder Z- OUT (6)

Front View of Motion Controller Feedback

GND (7)

(MCF) connector

Connecting a Motion Controller with Analog (±10V) Output

(4) encoder B- OUT (5) encoder Z+ OUT

(9) Not Connected (8) Not Connected

Page 40

920-0012F 12/18/2014

SV7 Hardware Manual

Seing Drive Current Limits

e SV7 allows the user to set both the Motor Continuous and Peak current limits. Current seings are an RMS value. Using the

Seing the current limits requires the user to know the limitations of the motor. In most cases referring to the motor manufacturers specication will give the proper information. For AMP motors, motor seings are available in parameter les that are located on the PC where QuickTuner™ was

installed.

What is “Peak Current Limit”?

e SV7 uses this current value to establish the maximum possible RMS current that will be driven

to the motor. e peak current time is set to one second. at is, if the drive aempts to run at peak current for more then one second it will fold back the current to the continuous current seing.

e peak current time is actually calculated on a curve using an I²/T method. For current values that

are less than the peak but greater than the continuous, the current foldback time is calculated from the peak and continuous seings. As shown in the diagram below, current values below the peak value can be used for longer periods of time.

QuickTuner

™ the current seings can be uploaded and downloaded.

Page 41

920-0012F

SV7 Hardware Manual

12/18/2014

Reference Materials

Recommended NEMA Motors

Model V0050-214-A V0100-214-B V0200-214-B V0250-214-B Length “L” (mm) 45 52 78 104 Rated Output (W) 50 100 200 200 Power Supply (VDC) 48 48 48 48 Rated Current (A Peak Current (A Rated Torque N-m 0.095 0.19 0.38 0.57 oz-in 13.4 26.9 53.8 80.7 Peak Torque1 N-m 0.25 0.42 0.93 1.38

oz-in 34 59 132 195

Torque Constant2 N-m/A 0.019 0.03 0.07 0.1

oz-in/A 2.7 4.2 9.9 14.2

Rated Speed (RPM) 5000 5000 5000 3350 Max Speed(RPM) 8000 8000 5900 4000 Voltage Constant2 (V/kRPM) 2.00 3.5 7.4 10.7 Resistance (Ω)2 0.45 0.45 0.6 0.89 Rotor Inertia (g-cm2) 29 93 182 270

) 5.3 6.3 5.7 5.8

rms

)1 14.0 14.0 14.0 14.0

rms

Additional Motor Information:

Model V Series J Series

Encoder Counts/rev: 8192 CPT 2500 CPT Poles 4 8

With SV7 drive.

EDCM rating (equivalent DC motor). ese values simplify performance calculations but dier from values mea-

sured at motor terminals.

Page 42

920-0012F 12/18/2014

Recommended Metric Motors

Model J0100-303-3 J0200-304-4 J0400-305-4

Length “L” (mm) 110 106 118

Rated Output (W) 100 200 400

Power Supply (VDC) 24 48 60

Cont/Peak Current1 (A) 5.2/15.6 4.9/14.7 6.5/19.5

Cont/Peak Torque

N-m 0.32/0.91 0.64/1.7 1.27/3.5

Torque Constant

N-m/A 0.61 0.133 0.197

Rated Speed (RPM) 3000 3000 3000

Max Speed (RPM) 6000 6000 6000

Voltage Const2 (V/krpm) 3.8 7.6 11.4

Resistance (Ω)

Rotor Inertia (g-cm2) 42.2 94 190

SV7 Hardware Manual

0.48 0.57 0.57

With SV7 drive.

EDCM rating (equivalent DC motor). ese values simplify performance calculations but dier from values mea-

sured at motor terminals.

Page 43

SV7 Hardware Manual

Motor Outlines

920-0012F

12/18/2014

Dimensions in mm

56.4

47.14

Ø5h6

Ø22h7

4.5 Flat

4.3 MIN DEEP

20.00

20±1

45±1

15±.25

V0050 Outline Drawing

5.00

1.60

500±50

Ø4.50

REF

5.8 FLAT

Ø6.35h6

Ø38.1

15 ±0.25

500±50

V0100, V0200, V0250 Outline Drawing

Page 44

920-0012F





 

 

 





























 



 

 























 

 





















































































12/18/2014

SV7 Hardware Manual

J0100-303-3 Outline Drawing

J0200-304-4 Outline Drawing

Page 45

SV7 Hardware Manual

5.5

5 h9

0.00

0.03

-Key

+-0.300

0.118

0.011

0.000

118

±1

±0.2

0.025

0.000

±1

300 ±50

30 ±50

oil seal

0.04

J0400-305-4 Outline Drawing

920-0012F

12/18/2014

Page 46

920-0012F

0 500 1000 1500 2000 2500 3000 3500 4000 4500 5000

Torque (oz-in)

Speed (RPM)

V0050-214-A-000

14A (peak) 24V

5.3A (continuous) 24V

0 500 1000 1500 2000 2500 3000 3500 4000 4500 5000

Torque (oz-in)

Speed (RPM)

V0100-214-B-000

14A (Peak) 48V

14A (Peak) 24V

6.3A (Connuous) 48V

6.3A (Connuous) 24V

12/18/2014

Torque-Speed Curves

SV7 Hardware Manual

Page 47

SV7 Hardware Manual

100

120

140

160

0 500 1000 1500 200 0 2500 300 0 3500 400 0 4500 500 0

Torque (oz-in)

Speed (RPM)

VL0200-214-B-000

14A (Peak) 48V

14A (Peak) 24V

5.7A (Connuous) 48V

5.7A (Connuous) 24V

100

150

200

250

0 500 1000 1500 2000 2500 3000 3500 4000 4500 5000

Torque (oz-in)

Speed (RPM)

V0250-214-B-000

14A (Peak) 60V

14A (Peak) 48V

14A (Peak) 24V

5.8A (Connuous) 60V

5.8A (Connuous) 48V

5.8A (Connuous) 24V

920-0012F

12/18/2014

Page 48

920-0012F

100

120

140

torque, oz-in

J0100-303-3-000

5.2A

J0100-303-3-000 14A

SV724VDC

0 1000 2000 3000 4000 5000 6000

speed, rpm

100

150

200

250

300

torque, oz-in

J0200-304-4-000

4.9A

J0200-304-4-000 14A

SV748VDC

0 1000 2000 3000 4000 5000 6000

speed, rpm

12/18/2014

SV7 Hardware Manual

J0100-303-4

J0200-304-4

Page 49

SV7 Hardware Manual

150

200

250

300

350

400

450

torque, oz-in

J0400-305-4-000

6.5A

J0400-305-4-000 14A

SV760VDC

100

0 1000 2000 3000 4000 5000 6000

speed, rpm

J0400-305-4

920-0012F

12/18/2014

Page 50

920-0012F

3.0

1.775

5.0

6X SLOT 0.16 WIDE, FULL R

0.663

1.98

0.61

4.74

12/18/2014

Mechanical Outline

SV7 Hardware Manual

Page 51

SV7 Hardware Manual

Technical Specications

920-0012F

12/18/2014

Amplier

Digital Inputs

Analog Inputs

Outputs

Physical

Encoder Inputs

Digital MOSFET. 16 kHz PWM. Supply voltage: 18 - 88 VDC, motor current: 0.5 to 7 amps rms continuous,

0.5 to 14 amps rms peak (2 seconds max, i2t limiting)

Step & Direction: dierential, optically isolated, 5V logic. 330 ohms internal

resistance.

0.5 µsec minimum pulse width. 2 µsec minimum set up time for direction signal.

All other digital inputs: optically isolated, 12 - 24V logic. 2200 ohms. Maximum current: 10 mA.

±10VDC, 12 bit ADC, 100k ohms internal impedance.

Photodarlington, 80 mA, 30 VDC max. Voltage drop: 1.2V max at 80 mA.

1.775 x 3 x 5 inches overall. 10 oz (280 g) Ambient temperature range: 0°C to 40°C.

Dierential line receiver, 5V logic. Minimum resolution 400 lines (1600 counts/rev). Maximum resolution: 32768 lines (131,072 counts/rev)

Mating Connectors and Accessories

Mating Connectors

Motor/power supply: PCD P/N ELV06100, included with drive. IN/OUT1: DB-25 male. AMP P/N 747912-2. Shell Kit AMP P/N748678-3. Included. Optional encoder feedback: HD-15 male. Norcomp P/N 180-015-102-001. Shell Kit AMP P/N 748678-1. Not included.

Page 52

920-0012F 12/18/2014

Accessories

Breakout Box for DB-25 Connector BOB-1, includes cable

Screw Terminal Connectors that mate directly to the DB-25 connector on the front panel of the drive: Phoenix Contact P/N 2761622

is connector is not available from Applied Motion. You must purchase it from a Phoenix distributor.

See App. Note 16 for more detail: hp://www.applied-motion.com/sites/default/les/APPN0016_ Simple-25-pin-mating-connections.pdf

Mating Cable for IN/OUT connector with “ying leads” Black Box P/N: BC00702

is cable is not available from Applied Motion. You must purchase it from Black Box.

Useful for custom wired applications. is shielded cable has a DB-25 connector on each end. You can cut o the female end to create a 6 foot “DB-25 to ying lead cable”.

It’ll be easier to wire if you get the cable color chart from Black Box’s web site.

See App. Note 16 for more detail: hp://www.applied-motion.com/sites/default/les/APPN0016_ Simple-25-pin-mating-connections.pdf

SV7 Hardware Manual

Regeneration Clamp:

Applied Motion Products RC050.

Operator Terminal (-Si drives only)

Applied Motion Products MMI-01 or MMI-02 (backlit).

Page 53

Alarm Codes

Front View

X COMMON

not used

X3 / Enable

X5 / CWJOG

X4 / Alarm Reset

Analog IN2

Analog IN1

X2 / DIR-

X2 / DIR+

X1 / STEP +

X1 / STEP -

GND

+5V OUT

Y COMMON

Y3 / FAULT

Y2 / MOTION

Y1 / BRAKE

2 3

20 21 22 23 24 25

X6 / CCWJOG

IN/OUT

X8/CCWLIMIT+ X8/CCWLIMIT-

X7/CWLIMIT-

X7/CWLIMIT+

Y4-

Y4+

RX+

–

TX+

GND

RS-485/422

encoder Z+ (5)

Hall 1-(10)

encoder B- (4)

Hall 1+ (9)

encoder B+ (3)

Hall 3+ (13)

Hall 3- (14)

GND (15)

(12) Hall 2-

(11) Hall 2+

(6) encoder Z-

(1) encoder A+

(7) +5VDC 200mA

(2) encoder A-

(8) GND

Front View

Code Error

solid green no alarm, motor disabled flashing green no alarm, motor enabled 1 red, 1 green position error limit 1 red, 2 green move attempted while drive disabled 1 red, 3 green subroutine stack overflow (Si only) 2 red, 1 green ccw end of travel limit 2 red, 2 green cw end of travel limit 2 red, 3 green subroutine stack underflow (Si only) 3 red, 1 green drive overheating 3 red, 2 green internal voltage out of range 3 red, 3 green attempt to load blank Q segment 4 red, 1 green power supply overvoltage 4 red, 2 green power supply undervoltage 4 red, 3 green bad instruction in Si program 5 red, 1 green over current / short circuit 5 red, 2 green peak current foldback 6 red, 1 green bad hall pattern 6 red, 2 green bad encoder signal 7 red, 1 green serial communication error 7 red, 2 green flash memory error

GND

CAN_L

SHLD

CAN_H

In the event of an error, the green LED on the main board will ash one or two times, followed by a series of red ashes. e pattern repeats until the alarm is cleared.

Connector Diagrams

DB-25 I/O Connector HD-15 Encoder Connector

CANopen

Tel (831) 761-6555 (800) 525-1609 Fax (831) 761-6544

404 Westridge Drive Watsonville, CA 95076

www.appliedmotionproducts.com