INVT CHS100 Operation Manual

Operation Manual of INVT CHS100 AC Servo Drive Contents

Contents

Contents .....................................................................................................................I

Preface........................................................................................................................1

Safety precautions.....................................................................................................1

1 General....................................................................................................................3

1.1 General technical specifications..................................................................3

1.2 Nameplate of the servo drive ......................................................................7

1.3 Power specification of every model............................................................8

1.4 Illustrations of every parts of the servo drive .............................................8

1.5 External dimensions and installations sizes of the servo drive ..................9

2. INSPECTION........................................................................................................8

3. INSTALLATION ..................................................................................................9

3.1 Environmental Requirement .....................................................................10

3.2 Installation of the servo drive....................................................................11

4 Signal and wiring .................................................................................................14

4.1 System configuration.................................................................................15

4.2 W iring of the main circuit (Connectors X1 and X2) ................................17

4.4 Connection with the PC or HOST (CN3 connector) ................................21

4.5 I/O signal wiring (CN1 connector) ...........................................................22

4.6 W iring of the electromagnetic brake.........................................................39

5 Running and operation ........................................................................................40

5.1 Running .....................................................................................................40

5.2 Display and operation................................................................................53

6 Detailed parameter description..........................................................................60

6.1 Basic parameters (PA group parameters)..................................................60

6.2 Gain and filter parameters (Pb group parameters)....................................71

6.3 Expansion parameters (Pc group parameters) ..........................................79

6.4 Status monitoring parameters (Pd group parameters)...............................94

7 Gain adjustment...................................................................................................99

7.1 General method for adjusting parameters.................................................99

7.2 Suppression of mechanical resonance.....................................................105

7.3 Gain switching function ..........................................................................106

8 Communication function...................................................................................108

8.1 General.....................................................................................................108

8.2 T opological structure...............................................................................108

8.3 Communication protocol.........................................................................109

8.3.1 Protocol Content...................................................................................109

8.3.3 Communication Protocol Format.........................................................110

8.3.4 Command code and the communication data instructions ..................111

8.3.5 Error checkout of the communication frame means............................118

9 Fault processing..................................................................................................124

9.1 Meanings of the fault alarm codes and countermeasures .......................124

9.2 Meanings of the warning codes...............................................................126

Appendix A Signal arrangement diagram of each connector of the servo d rive

.................................................................................................................................127

Operation Manual of INVT CHS100 AC Servo Drive Contents

A.1 CN1 pin signal arrangement:..................................................................127

A.2 CN2 pin signal arrangement:..................................................................127

A.3 CN3 pin signal arrangement:..................................................................128

Appendix B: List of function parameters...........................................................129

B.1 PA group parameters (Basic parameters) ...............................................129

B.2 Pb group parameters (Gain and filter parameters).................................130

B.3 Pc group parameters (Expansion parameters)........................................131

B.4 Pd group parameters (monitoring parameters).......................................134

Operation Manual of INVT CHS100 AC Servo Drive Preface

Preface

Thank you for using AC servo drive of the permanent magnet synchronous motor

(hereinafter called “servo drive”) from Shenzhen INVT Electric Co., Ltd. Please

carefully read and master the user’s manual before proper use. Improper use may

cause abnormal running or shorten its service life or even directly damage the drive.

Please carefully keep this manual for later reference.

Operation Manual of INVT CHS100 AC Servo Drive Safety Precautions

Safety precautions

The precautions related to safe operation are classified into “Warnings” and “Notes”.

Points out potential danger which, if not avoided, may cause

physical injury or death.

Points out potential danger which, if not avoided, may result in mild or moderate physical injury and damage to the equipment. It’s also available to warns about unsafe operations.

In some cases, even the content described in “Note” may also cause serious accidents.

So please follow these important precautions in any situations.

Warning signs are presented on the sides of the servo drive. Please follow these

instructions when using the servo drive.

Warning signs:

Warning

Read the manual and follow the safety instructions before use.

High Voltage

Do not touch terminals within 15 minutes after disconnecting the power. Risk

of electric shock.

High Temperature

DO not touch heat sink when power is ON. Risk of burn.

Please pay attention to the following safety precautions during installation, wiring,

operation, maintenance and inspection.

Installation:

 Please use the servo drive and servo motor with the

instructed combination mode. Otherwise it may cause

malfunction or even fire of the equipment.

 Never expose the product to an environment containing

moisture, corrosive gas, or flammable gas. Otherwise it may

cause electrical shock or fire.

Warning

Note

Operation Manual of INVT CHS100 AC Servo Drive Safety Precautions

Wiring:

 Only qualified electricians are allowed to carry out the wiring.

Otherwise there is danger of electrical shock or fire.

 The grounding terminals of the drive and motor must be

grounded with proper techniques. Otherwise there is danger

of electrical shock.

 Do not touch the conductive components directly. Do not

connect the output lines of the drive with the enclosure..

Avoid short circuit of the output lines. Otherwise there is the

danger of electrical shock or short-circuit.

 Ensure the installation of available overcurrent protector,

leakage protector and Emergency stop devices after

distribution. Otherwise there may be danger of electrical

shock, injury and fire.

 Redistribute the drive in at least 15 minutes after

disconnecting the power supply.

 Make sure the voltage of the AC power supply equals to the

rated voltage of the servo drive. Otherwise there is danger of

injury, fire and damage to the drive.

 Never connect the input power lines to the output terminals as

this will damage the drive.

 Never conduct voltage withstand test on the drive or its

connection wires as this will cause damage to the drive.

 Connect the drive and motor with correct phase sequence.

Otherwise it may cause malfunction or damage the drive.

Operation:

 Please de-coupled the load from the drive before the trial

operation for the avoidance of accidents.

 Check that the supply power of the drive can be disconnected

with the E-stop switch all the time before running.

 Verify and adjust all parameters before running. Otherwise

the drive may run abnormally or act unexpectedly due to the

load.

Warning

Note

Operation Manual of INVT CHS100 AC Servo Drive Safety Precautions

 Do not touch the radiator or the external braking resistor

during running. They may become very hot and burn your

fingers.

Maintenance and inspection:

 Before doing any inspection and maintenance, be sure to

disconnect the power supply, wait for 15 minutes and then

confirm with a multimeter. Otherwise electric shock may

occur.

 Only qualified electricians are allowed to inspect the servo

drive. Otherwise electric shock may occur.

Warning

Operation Manual of INVT CHS100 AC Servo Drive 1 General

1 General

1.1 General technical specifications

The standard specifications of the AC permanent magnet synchronous servo drive are

listed in the table below:

Table 1-1 Standard specifications of servo drive

Specifications

Servo drive

100W~400W 0.75kW~1.5kW 2kW~5kW

Voltage

degree

Single

phase,

3-phase

220V/50Hz

Single phase,

3-phase

220V/50Hz

3-phase

220V/50Hz

Input voltage

range

AC 220V±15%

Power supply

for the main

circuit

Input frequency

range

47Hz~63Hz

Voltage degree Single phase 220V/50Hz

Input voltage

range

AC 220V±15%

Power supply

for the control

circuit

Input frequency

range

47Hz~63Hz

Voltage DC 12V~24V

Allowable

voltage

fluctuation

±10%

Power supply

for interfaces

Power capacity

Larger than 500mA (the local 24V can only

provide 100mA current)

Control method Vector control, SVPWM

Control mode

Position control mode, speed control mode,

torque control mode

Dynamic brake Yes

Regenerative braking unit

Built-in braking resistor, as well as the external

braking resistor can be connected

AC reactor None

Operation Manual of INVT CHS100 AC Servo Drive 1 General

Specifications

Servo drive

100W~400W 0.75kW~1.5kW 2kW~5kW

Input 13 ways of optical coupling isolation input

Switch signal

Output 7 ways of open-collector output

Input 2 ways, range: DC -10V~+10V

Analog

Output 2 ways, range: DC 0V~+10V

Input 2 ways, differential input or open-collector input

Pulse

Output

4 ways, 3 ways of encoder A/B/Z phase

frequency division differential output, 1 way of Z

phase open-collector output

Protection functions

Protection for overcurrent, overvoltage, overload,

overheating, encoder fault, regeneration fault,

undervoltage, overspeed and high tracking fault,

etc.

Input pulse

frequency

500kHz (differential input), 200kHz

(open-collector input)

Positioning

feedback

pulse

A/B orthogonal pulse, resolution: 10000

pulses/rev

Pulse

amplification

range

Electronic gear A/B：A=1~65535，B=1~65535；

1/50<A/B<500

Positioning

accuracy

±1 pulse

Setting the

range for

reaching the

designated

position

±10 pulses

Range of fault Can set within the range of ±5 revs

Position control

To rq ue

control range

Set via the parameter or external analog input of

DC 0~±10V

Max torque: 300% of rated torque

Operation Manual of INVT CHS100 AC Servo Drive 1 General

Specifications

Servo drive

100W~400W 0.75kW~1.5kW 2kW~5kW

Frequency

response

500Hz

Speed control

range

The max speed is 5000r/min, the min speed is

0.1r/min, and the speed regulation range is

1:50000

Analog speed

command

input

DC 0~±10V／max rotation speed

Speed

fluctuation

rate

±0.03%

Speed control

To rq ue

control range

Set via the parameter or external analog input of

DC 0~±10V

Max torque: 300% of rated torque

Analog torque

command

input

DC 0~±10V／max torque

To rq ue

linearity

Below ±10%

Torque control

Speed control

range

Set via the parameter or external analog input of

DC 0~±10V (max rotation speed)

Allowable max inertia 15 times

RS232 Host 1: 1 communication

Communication

RS485 Host 1: n communication, n≤32

Structure

Natural

cooling: IP20

Air cooling: IP20

Operating

temperature

0~45℃

Storage

temperature

-20~80 (without freezing)℃

Environment

Humidity Operating/storage: ≤90％RH (non-condensing)

Operation Manual of INVT CHS100 AC Servo Drive 1 General

Specifications

Servo drive

100W~400W 0.75kW~1.5kW 2kW~5kW

Other

environmental

conditions

Indoor (without direct sunshine), free from

corrosive, flammable gasses, oil mist, dust

Allowable

operating

altitude

Should be derated if the altitude is higher than

1000m

Vibration

≤5.88m/s

，10~60Hz (not allowed to run at the

resonant point)

Operation Manual of INVT CHS100 AC Servo Drive 1 General

1.2 Nameplate of the s e rvo drive

Fig. 1-1 Nameplate of the servo drive

Fig. 1-2 Meanings of the model

Operation Manual of INVT CHS100 AC Servo Drive 1 General

1.3 Power specification of every model

The power of every model is listed in the table below:

Table 1-2 Power specification of every model

Inputs Outputs

Models

Capacity

(kV/A)

Voltage (V)

Power

(kW)

Rated current

(A)

CHS100-0R1-2 0.3 Single phase/3-phase 220 0.1 1.2

CHS100-0R2-2 0.5 Single phase/3-phase 220 0.2 1.8

CHS100-0R4-2 0.9 Single phase/3-phase 220 0.4 2.8

CHS100-0R7-2 1.3 Single phase/3-phase 220 0.75 4.5

CHS100-1R0-2 1.7 Single phase/3-phase 220 1.0 5.7

CHS100-1R5-2 2.5 Single phase/3-phase 220 1.5 8.0

CHS100-2R0-2 3.5 3-phase 220 2.0 10.0

CHS100-3R0-2 4.8 3-phase 220 3.0 15.0

CHS100-4R0-2 6.2 3-phase 220 4.0 20.0

CHS100-5R0-2 7.5 3-phase 220 5.0 30.0

1.4 Illustrations of every parts of the servo drive

Fig. 1-3 Illustrations of every parts of 0.75kW-1.5kW servo drives

Mode selection ke

Power indicato

Status indicato

ENT ke

Power supply terminal of

Motor terminal

Braking resistor terminal

Grounding terminal

Digitron SHIFT key DOWN key

UP key

Serial communication

I/O signal interface

Encoder interface

Operation Manual of INVT CHS100 AC Servo Drive 1 General

1.5 External dimensions and installations sizes of the servo drive

Fig. 1-4 External dimensions of 100W~1.5kW servo drive

Table 1-3 External dimensions and installations sizes

External dimensions Installation sizes

Models

(mm) W (mm)D (mm)A (mm)

(mm)

Installation

hole

diameter

(mm)

CHS100-0R1-2 CHS100-0R2-2 CHS100-0R4-2

160 68 186 56 150 194

CHS100-0R7-2 CHS100-1R0-2 CHS100-1R5-2 CHS100-2R0-2

160 98 186 86 150 194

Operation Manual of INVT CHS100 AC Servo Drive 2 Inspection

2. INSPECTION

● Don’t install or use any servo drive that is damaged or has fault parts, otherwise physical injury may oc cur.

Check the following items after unpacking the servo drive and servo motor,

1． Inspect the entire exterior of the servo drive and servo motor to ensure there

are no scratches or other damage caused by the transportation.

2． Ensure there is operation manual and warranty card in the packing box.

3． Inspect the nameplate and ensure it is what you ordered.

4． Ensure the optional parts are what you need if you have ordered ones.

Please contact the local agent if there is any damage to the servo drive and servo

motor or optional parts.

CAUTION

Operation Manual of INVT CHS100 AC Servo Drive 3 Installation

3. INSTALLATION

● Only qualified people are allowed to operate on the drive device/system. Ignoring

the instructions in “warning” may cause serious physical injury or death or property

loss. Only qualified electricians are permitted to design, install, commission and

operate on the device/system.

● Connect the input power lines tightly and permanently. And ground the device with

proper techniques.

● Even when the servo drive is stopped, dangerous voltage is present at the

terminals:

- Power Terminals: R, S, T, r, t

- Motor Connection Terminals: U, V, W.

- Regenerative braking Resistor Connection Terminals: B1, B2, B3.

● Stop the drive and disconnect it from the power line. Wait for 15 minutes to let the

drive discharge and then begin the installation.

● Install the servo drive on the non-flammable materials (such as metal) to prevent

fire.

● Install a cooling fan to ensure the air temperature is lower than 45°C when two

drives are needed in one cabinet. Otherwise fire or damage to the devices may

occur.

WARNING

CAUTION

Operation Manual of INVT CHS100 AC Servo Drive 3 Installation

3.1 Environmental Requirement

3.1.1 Temperature

Environment temperature range: -10°C ~ +45°C.

3.1.2 Relative humidity RH≤ 90%.

No condensation is allowed.

3.1.3 Altitude

The servo drive can run at the rated power if the installation site is less than

1000m(including 1000m) above the sea level. But it has to derate if the altitude

exceeds 1000m. See the following figure for details:

Figure 3.1 Relationship between output current and altitude.

3.1.4 Other environment requirements

The servo drive can not bear fierce impact or shock. So the oscillation range should be

less than 5.88m/s

(0.6g), 10Hz~60Hz.

The servo drive should keep away from the electromagnetic radiation source.

The servo drive should keep away from water and condensation.

The servo drive should keep away from contaminative air, such as corrosive gas, oil

mist and conductive dust.

The servo drive should keep away from direct sunlight, oil mist, steam and vibration

environment.

Operation Manual of INVT CHS100 AC Servo Drive 3 Installation

3.2 Installation of the servo drive

3.2.1 Installation

The drive can be rack mounted. On the rear panel of the drive, there are two M5

mounting holes in the bottom left corner and top right corner to fix the drive tightly on a

vertical plane.

Fig. 3-2 Mounting holes of the servo drive

Operation Manual of INVT CHS100 AC Servo Drive 3 Installation

The servo drive can be shelf mounted by mounting bracket.

Fig. 3-3 Schematic diagram of the shelf mounting form of the servo drive

3.2.2 Installation direction and spacing

Please install the servo drive vertically and keep sufficient space around it for

ventilation. If necessary, please fit a fan to control the temperature in the cabinet below

45 . ℃

1) To install only one set:

Fig. 3-4 Installation of single servo drive

Mounting bracket

Operation Manual of INVT CHS100 AC Servo Drive 3 Installation

2) To install several sets:

Fig. 3-4 Installation of several servo drives

3.2.3 Avoid intrusion of foreign objects

1. When assembling the control cabinet, do not allow metal chips to intrude into

the servo drive;

2. Do not allow oil, water, metal chips and other foreign objects intrude into the

servo drive through the gaps on the control cabinet or the fan.

3. When the control cabinet is installed in a place with harmful gas or dust,

ventilation is confirmedly required (to blow clean air into the control cabinet

and keep the pressure inside is higher than outside) to avoid these matters

coming into the control cabinet.

100mm or more

40mm or more

100mm or more

20mm or more

Operation Manual of INVT CHS100 AC Servo Drive 4 Signal and wiring

4 Signal and wiring

y Only qualified electricians are allowed to operate on the drive for the insurance

of a safe running of the servo drive.

y Never carry out any insulation or voltage withstand tests on the cables

connecting with the servo drive.

y Even if the servo drive is stopped, dangerous voltage is present at the input

power lines, DC circuit terminals and motor terminals. Wait for 15 minutes even

when the drive is switched off until is discharge before operation.

y Ground the grounding terminals of the drive with proper techniques. Otherwise

there is danger of electrical shock and fire.

y Never do wiring or other operations on the servo drive with wet hands.

Otherwise there is danger of electric shock.

y Verify that the rated voltage of the servo drive equals to the voltage of the AC

power supply.

y The power wires and motor wires must be permanently fastened and

connected.

Operation Manual of INVT CHS100 AC Servo Drive 4 Signal and wiring

4.1 System configuration

4.1.1 Connection diagram of the servo drive and external equipment

Fig. 4-1 Connection diagram of the servo drive and external equipment

 The electromagnetic contactor is used to switch on/off the power supply of

the main circuit of the servo drive. Do not use it to start/stop the servo

drive.

 In the figure above, the built-in regenerative braking resistor is used as

default. If an external regenerative braking resistor is used, please refer to

relevant wiring diagram. The regenerative braking resistor must be

mounted on non-flammable materials, such as metal.

Operation Manual of INVT CHS100 AC Servo Drive 4 Signal and wiring

4.1.2 Cable diameter selection

Table 4-1 Cable diameter selection

Drives Cable diameter of the main circuit

CHS100-0R1-2

CHS100-0R2-2

CHS100-0R4-2

0.75 to 2.0mm

AWG14 to AWG18

CHS100-0R7-2

CHS100-1R0-2

CHS100-1R5-2

CHS100-2R0-2

2.0mm

AWG14

CHS100-3R0-2

CHS100-4R0-2

CHS100-5R0-2

3.5mm

AWG12

Notes:

1. Cable diameter is the diameter of copper cables.

2. The diameter of the protective grounding wire: not less than 2.0mm

（AWG14）

for 50W – 2kW models; not less than 3.5mm

（AWG12）for 3kW – 4kW models; not less

than 5.3mm

（AWG10）for 5kW model.

Operation Manual of INVT CHS100 AC Servo Drive 4 Signal and wiring

4.2 Wiring of the main circuit (Connectors X1 and X2)

4.2.1 Overview

Fig. 4-2 Wiring diagram of the main circuit

Motor

Breaker

Noise filter

Electromagnetic

contactor

AC reactor

z Check whether the phase number/voltage grade

of the AC power supply are consistent with those identification on the nameplate of the drive.

z Non-fuse breaker or leakage switch. z Be sure to fit a noise filter. z Do not use this electromagnetic contactor to

start/stop the servo drive.

z Please fit an AC reactor.

z Do not disconnect the short circuit wire between B2

and B3 unless an external regenerative braking resistor is used.

z When an external regenerative braking resistor is

used, disconnect the short circuit wire between B2 and B3, and connect it according to the dashed in the figure.

z Be sure to ground the servo drive with prope

techniques to avoid the accident of electrical shock.

z Please set a circuit which can activate the

electromagnetic brake not only through the servo drive but also through the external emergency stop device. Please refer to section 4.6.

z The electromagnetic brake has no polarity. z The electromagnetic brake uses 24V power supply

which should be provided by the user. Do not share

The distance between the servo motor and the servo drive should not exceed 20m. Keep a distance of at least 30cm between the encoder wire, motor cable and power cable.

Green/yellow

E-stop

Surge absorber

Fuse

Correctly connect to output U, V, and W of the drive according to the phase sequence of the motor cable of the servo motor. Wrong phase sequence will cause drive fault.

Operation Manual of INVT CHS100 AC Servo Drive 4 Signal and wiring

4.2.2 Wiring diagram of single phase 220V power input

Fig. 4-3 Wiring diagram of single phase 220V power input

Noise filter

Use 3-phase

C reactor

Motor

Green/yellow

E-stop

Surge absorber

Fuse

z The user is required to make this

emergency stop protection circuit.

z Fit surge absorbing devices on both

ends of the electromagnetic contacto

winding.

z The input voltage range of main circuit

and control circuit is 220V±15%

z Please connect terminal R with

terminal T.

z Connect the output U, V, and W of the drive

to the servo motor correctly according to the phase sequence of the motor cable of the servo motor. Wrong phase sequence will cause drive fault.

z Do not disconnect the short circuit wire

between B2 and B3 unless an external regenerative braking resistor is used.

z When an external regenerative braking

resistor is used, disconnect the short circuit wire between B2 and B3, and connect it according to the dashed in the figure.

z Be sure to ground the servo drive to avoid

accident of electrical shock.

z Please refer to sectoin 4.6 for connection o

the electromagnetic brake.

z The electromagnetic brake uses 24V powe

supply which should be provided by the user. Moreover, it must be isolated with the 12-24V power supply which is used for the control signal.

z Pay attention to the connection of the

freewheeling diode. Reversed polarity may damage the drive.

Operation Manual of INVT CHS100 AC Servo Drive 4 Signal and wiring

4.2.3 Wiring diagram of three-phase 220V power input

ALM

COM-

ALM

ALMON OFF

12~24V

(±10%)

DC 24V±10%

CN1

Fig. 4-4 Wiring diagram of three-phase 220V power input

Green/yellow

Motor

E-stop

Breaker

Noise filter

Surge absorber

Fuse

3-phase AC reacto

z The user is required to make this

emergency stop protection circuit.

z Fit surge absorbing devices on both

ends of the electromagnetic contacto

winding.

z The input voltage range of main circuit

and control circuit is 220V±15%

z Correctly connect to output U, V, and W of

the drive according to the phase sequence of the motor cable of the servo motor. Wrong phase sequence will cause drive fault.

z Do not disconnect the short circuit wire

between B2 and B3 unless an external regenerative braking resistor is used.

z When and external regenerative braking

resistor is used, disconnect the short circuit wire between B2 and B3, and connect it according to the dashed in the figure.

z Be sure to ground the servo drive to

avoid accident of electrical shock.

z Please refer to sectoin 4.6 fo

connection of the electromagnetic brake.

z The electromagnetic brake uses 24V

power supply which should be provided by the user. Moreover, it must be isolated with the 12-24V power supply which is used for the control signal.

z Pay attention to the connection method

of the freewheeling diode. Reversed polarity may damage the drive.

Operation Manual of INVT CHS100 AC Servo Drive 4 Signal and wiring

4.3 Wiring of the encoder (c onnector CN2)

4.3.1 Overview

4.3.2 CN2 pin arrangement and signal definition of the servo drive

Fig. 4-5 CN2 pin arrangement

Power supply

Servo motor

30cm or more

Within 20m

z The distance between the servo motor

and the servo drive should not exceed 20m.

z Keep a distance of at least 30cm

between the encoder wire, motor cable and power cable. Neither laying them in one conduit nor binding them together.

Connector

Encoder wire

Connector

Encoder wire

z The encoder connector has two types:

air connector and cannon connector. It depends on the model of the motor.

z If the user wants to make the encoder

wire by themselves, please select shielded wire with good bending strength and the diameter should be

0.18mm

(AWG24) or more. Please connect it correctly according to the figure below.

Operation Manual of INVT CHS100 AC Servo Drive 4 Signal and wiring

Table 4-2 CN2 signal definition table

CN2 pin

No.

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15

Definition V+ W+ A+ A- 5V U+ V- W- B- B+ U- GND Z- Z+ T_MT

4.4 Connection with the PC or HOST (CN3 connector)

The servo drive provides two kinds of communication interface – RS232 and RS 485,

both are drawn out via the connector CN3.

CN3 pin arrangement and signal definition:

Fig. 4-6 CN3 pin arrangement

Table 4-3 CN3 signal definition table

CN3 pin No. 1 2 3 4 5 6 7 8

Definition RXD GND TXD CANL / CANH RS485- RS485+

Operation Manual of INVT CHS100 AC Servo Drive 4 Signal and wiring

4.5 I/O signal wiring (CN1 connector)

4.5.1 Overview

Fig. 4-7 I/O signal wiring diagram

Controller

Power supply

Servo drive

Within 3m

30cm or more

The peripheral equipment such as the controller must be within 3m from the servo drive. The control cable must be kept at least 30cm away from the power cable and motor cable. Do not bind them togethe

or lay them in one cable ducts.

The user is recommended to prepare the 12-24V DC power supply of 500mA or more capacity used for the control signal. The local 24V power supply of the drive can only provide 100mA current. The signal wires for pulse command input and encoder output should adopt shielded twisted pair.

Do not apply a voltage higher than 30V or a load over 50mA on the digital output terminal. The digital output signals drives inductive loads directly such as relay, etc. Be sure to fit a freewheeling diode on each end o

the load.

Operation Manual of INVT CHS100 AC Servo Drive 4 Signal and wiring

4.5.2 Wiring of the digital input circuit

connection diagram when the power supply is self-provided by user:

Fig.4-8 Wiring diagram of the digital input circuit (power supply is self-provided by user)

Connection diagram when the local power supply is used:

Fig. 4-9 Wiring diagram of the digital input circuit (local power supply)

 The digital input circuit can be connected with mechanical switch

connection and the open-collector connection of audion shown in the

figure.

 The user can use either the 24V power supply (it only can provide 100mA

Digital input terminals such as SON, etc.

Operation Manual of INVT CHS100 AC Servo Drive 4 Signal and wiring

current) of the servo drive or 12V – 24V power supply provided by the user.

4.5.3 Wiring of the pulse input circuit

Fig. 4-10 Wiring diagram of the pulse input circuit

 Connection method 1, the maximum frequency of input pulse is 500kHz;

with the best anti-noise capability, this signal transmit method is

recommended as the preferred.

Connection method 1

Connection method 2

Connection method 3

Shielded

Twisted

Operation Manual of INVT CHS100 AC Servo Drive 4 Signal and wiring

 Connection method 2, the maximum frequency of input pulse is 200kHz;

please select the current-limiting resistance as listed in the table below:

1.5 10mA

0.22

−

≈

 Connection method 3, the maximum frequency of input pulse is 200kHz;

use the local 24V power supply (it only can provide 100mA current) or 24V

power supply provided by the user. The current-limiting resistance is

needless.

 For all the 3 methods, shielded twisted-pair must be used and the length

must be less than 3m.

4.5.4 Wiring of the analog input circuit

Fig. 4-11 Wiring diagram of the analog input circuit

 There are two analog input circuits – VA and TA. The input impedance is

10kΩ. The input voltage range is -10V~+10V. If the voltage is higher than

±11V, the circuits may damage.

4.5.5 Wiring of the digital output circuit

connection diagram when the power supply is self-provided by user:

Parameters of the resistor

Controller

Servo drive

Please connect the shielded

wire according to the

equipment requirements

Operation Manual of INVT CHS100 AC Servo Drive 4 Signal and wiring

Fig.4-12 Wiring diagram of the digital output circuit (power supply is self-provided by user)

Connection method when the local power supply is used:

Fig. 4-13 Wiring diagram of the digital output circuit (local power supply)

 There are 7 digital output circuits in total and all of them adopt the

open-collector output as shown in the figure. They can be used to drive the

relay coil or optical coupled load. The loading capacity is as shown in the

figure.

 When inductive loads such as relay coil are connected, a freewheel diode

must be fitted as shown in the figure. Otherwise the drive will be damaged.

 The local 24V power supply only can provide 100mA current. If the actual

load current is larger than 100mA, the user should provide the power

supply by themselves. The recommended capacity is greater than 500mA.

4.5.6 Wiring of the frequency division output circuit of the encoder feedback signal

Differential mode:

When an inductive load is connected, be sure to fit this freewheeling diode.

The max. loading capacity of each output terminal: 30V, 50mA

Output terminals such as

ALM,

etc.

Output terminals such as ZSO

etc.

The max. loading capacity of each output terminal: 30V, 50mA

Output terminals such as ALM, etc.

Output terminals such as ZSO, etc.

Operation Manual of INVT CHS100 AC Servo Drive 4 Signal and wiring

Fig. 4-14 Wiring diagram of the frequency division output circuit of the differential

encoder feedback signal

Servo drive

Twisted

Te rm in al resistor

AM26LS32 or

equivalent chip

Shielded wire

Please connect the shielded wire according to equipment requirements

Operation Manual of INVT CHS100 AC Servo Drive 4 Signal and wiring

Open-collector mode:

  30V,50mA.

OCZ

GND

Fig. 4-15 Wiring diagram of the frequency division output circuit of the open-collector

encoder feedback signal

 Phase A and B of the encoder only provides differential output signal,

phase Z provides differential output and open-collector output signals.

 For differential output signal, to use AM26C32 or equivalent differential

receiving chip and be sure to fit a terminal matching resistor of about 220Ω

is recommended .

 For the phase Z signal of open-collector output, as the signal pulse width is

very narrow, the user shall use high speed optical coupler to receive this

signal.

 Both kinds of output circuits have no isolation.

4.5.7 Wiring of the analog output circuit

Fig. 4-16 Wiring diagram of the analog output circuit

 There are two analog output circuits in all. The output voltage range is 0 –

Max. 30V, 50mA.

Please use high speed optical coupler

Twisted pair

Twisted

Shielded wire

Measuring instrument or external circuit

Please connect the shielded wire according to e

quip

ment requirements

Operation Manual of INVT CHS100 AC Servo Drive 4 Signal and wiring

10V. The max output current is 3mA.

Operation Manual of INVT CHS100 AC Servo Drive 4 Signal and wiring

4.5.8 CN1 pin arrangement and signal explanation:

4.5.8.1 See the figure below for CN1 pin signals:

Fig. 4-17 CN1 pin signal diagram

4.5.8.2 Power signal

Table 4-4 Power signal table

Symbol Pin No. Name Function

24V 40

24V power

supply

It’s supplied by the drive. COM- is the ground terminal of

the 24V power. Its capacity is 100mA. If the actual load is

higher than this value, the user shall provide the power

supply by themselves.

GND 19，35

Signal

ground

The ground of the internal power supply (except the 24V

power supply) of the servo drive, it is also the ground of the

phase Z open-collector signal of the encoder and the

analog output signal. It is isolated with COM-.

COM+ 2

Common

terminal of

the digital

input signals

y If the DC power supply is provided by the user, the

positive pole of the DC power supply must be

connected to this terminal.

y If the 24V power supply of the drive is used, the 24V

terminal (pin 40) must be connected on this terminal.

COM- 12

Negative

pole of the

power

supply

The ground of the local 24V power supply, common

terminal of the digital output signals.

Pin arrangement of connector CN1

Signal arrangement of connector CN1

Operation Manual of INVT CHS100 AC Servo Drive 4 Signal and wiring

4.5.8.3 Digital input signals and their functions

Table 4-5 Function table of digital input signals

Symbol Pin No. Name Function Mode

CLA 10 Alarm clear

When a fault alarm occurs, you can short connect

this terminal with COM-. If the fault condition is

removed, the fault alarm display will be cleared. If

the fault condition is not removed, the fault will be

reported again. Please remove the fault and short

connect this terminal with COM- again. In this way

the fault alarm display will be cleared. This terminal

signal takes effect when receiving a pulse.

P. S . T

EMG 39

Emergency

stop

When parameter PA.17 (E-stop masking) is set as 1,

i.e. Emergency stop terminal signal is active, this

terminal can be used to execute emergency stop

function: after disconnecting this terminal with

COM-, the servo drive cuts off the output, the servo

motor coast to stop and Emergency stop warning

will occur. After emergency stopping, even if this

terminal recovers short-circuit with COM-, it needs

to enable the servo to run the drive. If internal servo

enabling is used, it needs to switch on the control

power again and then activate the internal servo

enabling. This terminal signal takes effect when

receiving a pulse.

When parameter PA.17 is set as 0, Emergency stop

terminal signal is invalid.

P. S . T

Operation Manual of INVT CHS100 AC Servo Drive 4 Signal and wiring

Symbol Pin No. Name Function Mode

MCH 1

Control

mode

switching

When parameter PA.01 (control mode selection) is

set as 3 – 5, this terminal can be used to switch

between different control modes. The corresponding

relationships of this terminal’s state and the control

modes are listed in the table below:

Value of

parameter

PA.01

MCH is

open-circuited with

COM-

MCH is

short-circuited

with COM-

Postion control

mode

Speed control

mode

Speed control

mode

Torque control

mode

P. S . T

PLC 36

Gain

switching

When parameter Pb.17 (gain switching condition) is

set as 0, i.e. manual gain switching, this terminal

can be used to switch gain. Parameter Pb.16 is

used to select the type of gain switching. See the

explanation of Pb.16 and Pb.17 for details.

P. S . T

PLL 22

Pulse input

disabling

In position control mode, this terminal can be used

to disable input of position pulse signal, i.e. the

inputted position pulse signal is invalid. This terminal

signal takes effect when receiving a pulse.

When this terminal is short-circuited with COM-,

pulse input is disabled, and the servo is in locked

state. When this terminal is disconnected with

COM-, pulse input is allowed, and the servo can run.

PSL 3

positive

travel

limitation

When parameter PA.16 (Travel limit switch masking)

is set as 1, i.e. the signal of travel limitation terminal

is active, this terminal can be used to execute

forward travel limitation function:

When this terminal is disconnected with COM-, the

positive speed will return to zero immediately and a

positive travel limitation alarm will occur until the

positive travel limitation terminal recovers

P. S . T

Operation Manual of INVT CHS100 AC Servo Drive 4 Signal and wiring

Symbol Pin No. Name Function Mode

short-circuit with COM-. In the positive travel

limitation, the drive can automatically respond to the

reverse speed command. This terminal signal takes

effect when receiving a pulse.

In the speed mode and torque mode, the servo is in

zero speed clamp state.

In the position mode, the servo is in locked state.

When parameter PA.16 is set as 0, this travel

limitation terminal signal is invalid.

RPC 18

Speed

reversing/

retention

pulse

clearing

In the speed mode, short connecting this terminal

with COM- can reverse the direction of the internal

speed command and analog speed command.

In the position mode, short connecting this terminal

with COM- can clear the position command pulse

counter, the position feedback pulse counter, and

the position deviation pulse counter.

This terminal signal takes effect when receiving a

pulse.

P. S

RVL 4

Reverse

travel

limitation

When parameter PA.16 (Travel limit switch masking)

is set as 1, i.e. the travel limitation terminal signal is

active, this terminal can be used to execute negative

travel limitation function:

When this terminal is disconnected with COM-, the

negative speed will return to zero immediately and a

negative travel limitation alarm will occur until the

positive travel limitation terminal recovers

short-circuit with COM-. In negative travel limitation,

the drive can automatically respond to the positive

speed command. This terminal signal takes effect

when receiving a pulse.

In the speed mode and torque mode, the servo is in

zero speed clamp state.

In the position mode, the servo is in locked state.

P. S . T

Operation Manual of INVT CHS100 AC Servo Drive 4 Signal and wiring

Symbol Pin No. Name Function Mode

When parameter PA.16 is set as 0, this travel limit

terminal signal is invalid.

SC1 34

Speed option

1/electronic

gear option 1

SC2 17

Speed option

2/electronic

gear option 2

Internal speed command (speed mode)/speed limit

(torque mode) or electronic gear (position mode) is

selected by combination of these two terminal

signals as listed in the table below (ON indicates

SCX is short-circuited with COM-, OFF indicates

SCX is open-circuited with COM- (X=1 or 2)):

SC2 SC1 Speed/torque mode

Position

mode

OFF OFF

Internal speed/speed

limit 1

Electronic

gear 1

OFF ON

Internal speed/speed

limit 2

Electronic

gear 2

ON OFF

Internal speed/speed

limit 3

Electronic

gear 3

ON ON

Internal speed/speed

limit 4

Electronic

gear 4

P. S . T

SON 16

Servo

enabling

External servo enabling can be conducted by this

terminal: the drive comes into servo enabling state

after this terminal is short-circuited with COM-. After

switching on the power, the motor will run according

to the command of the drive. After this terminal is

disconnected with COM-, the drive will disconnect

P. S . T

Operation Manual of INVT CHS100 AC Servo Drive 4 Signal and wiring

Symbol Pin No. Name Function Mode

the output and the motor will stop. This terminal

signal takes effect when receiving a pulse.

When this terminal is disconnected with COM-,

internal servo enabling can be conducted through

parameter PA.03. See the explanation of parameter

PA.03 for details.

Notes:

●After SON is short-circuited with COM-, please wait

for at least 100ms before entering any command

pulse;

●When SON is disconnected with COM-, the

position deviation counter is cleared.

●Avoid to start/stop the servo drive with this terminal

continually. You can realize start/stop with the zero

speed clamp terminal (ZRS). See function

description of terminal ZRS for details.

TQC 6

Torque limit

selection

In the speed or position mode, if parameter

PA.08=0, when this terminal is short-circuited with

COM-, the torque limit command is external analog

torque limit, when this terminal is disconnected with

COM-, the torque limit command is internal torque

limit, and the value is given by parameter PA.12. If

parameter PA.08=1, the torque limit command is

internal torque limit, this terminal signal is inactive.

P. S

ZRS 37

Zero speed

clamp

After short-circuiting this terminal with COM-, the

servo motor will stop and come into locked state.

When this terminal is disconnected with COM-, the

servo motor will recover running. This terminal

signal takes effect when receiving a pulse.

In the speed mode, after short-circuiting this

terminal with COM-, the stopping mode of the

servo motor can be set via the parameter Pc.09. In

the position mode and torque mode, after

P. S . T

Operation Manual of INVT CHS100 AC Servo Drive 4 Signal and wiring

Symbol Pin No. Name Function Mode

short-circuiting this terminal with COM-, the servo

motor will stop instantly.

In the table above: the polarity of terminals SON, ZRS, CLA, PLL, and RPC can be

reversed by setting parameter PC.58. See the explanation of PC.58 in chapter 6.3.

4.5.8.4 Pulse input signals and their functions

Table 4-6 Function table of pulse input signals

Symbol Pin No. Name Function

OCP 38

PULSE+ 23

PULSE- 24

Position

command

pulse input 1

OCS 31

SIGN+ 32

SIGN- 33

Position

command

pulse input 2

y In the position control mode, they are used as

the input terminals of the position command;

y In other control modes, this group of terminals

is inactive;

y Allowed max. input pulse frequency: 500kHz in

differential mode, 200kHz in open-collector

mode.

4.5.8.5 Analog input signals and their functions

Table 4-7 Function table of analog input signals

Symbol Pin No. Name Function

VA+ 20

VA- 5

Analog

input 1

TA+ 7

TA- 8

Analog

input 2

y External analog input terminals. The input

impedance is 10kΩ. The input voltage range is

-10V~+10V. A voltage exceeding ±11V may

damage the drive.

y Refer to parameters of Pc.28~Pc.35 and

Pc.44~Pc.45 for their range and deviation setting

and function definition.

4.5.8.6 Digital output signals and their functions

Table 4-8 Function table of digital output signals

Operation Manual of INVT CHS100 AC Servo Drive 4 Signal and wiring

Symbol Pin No. Name Function

ALM 15 Servo alarm

When the servo drive is in normal state, this signal

output transistor is breakover. When the power supply

is disconnected or the servo drive is in alarm state,

this signal output transistor switches off.

LM 13 Torque limit

When the servo system is in torque limit, this signal

output transistor is breakover.

PLR 11

Position

reaching

When the position reaches to the command range,

this signal output transistor is breakover.

BRK 9

Brake

releasing

When it comes into the brake releasing sequence and

needs to release the brake, this signal output

transistor is breakover.

RDY 14 Servo read

When the control power and main power are applied

normally and the drive is not in alarm state, this signal

output transistor is breakover, it means the drive can

be started.

SR 30

Speed

reaching

When the speed reaches the range of speed setting,

this signal output transistor is breakover.

ZSO 29

Zero

speed

When the speed reaches the range of zero speed, this

signal output transistor is breakover.

4.5.8.7 Encoder output signals and their functions

Table 4-9 Function table of encoder output signals

Symbol Pin No. Name Function

OA+ 44

OA- 43

Phase A

output

OB+ 41

OB- 42

Phase B

output

OZ+ 28 Phase Z

y Output the frequency divided encoder signal,

comply with the standard of TIA/EIA-422-B;

y The output phase A pulse and phase B pulse is

still orthogonal. When it rotates forward, phase

B leads phase A by 90º. When it rotates in

Operation Manual of INVT CHS100 AC Servo Drive 4 Signal and wiring

Symbol Pin No. Name Function

OZ- 27

reverse, phase A leads phase B by 90º.

y The frequency division coefficient of phase A

and phase B can be set through parameter

Pc.55 and Pc.56. Frequency division with any

integer and decimal fraction is allowable but

frequency multiplication is not allowed;

y The output signals have no isolation.

OCZ 26

output

Output the open-collector signal of phase Z,

without isolation.

4.5.8.8 Analog output signals and their functions

Table 4-10 Function table of analog output signals

Symbol Pin No. Name Function

AO1 21

Analog

output 1

Its output function can be defined by setting

parameter of Pc.48. The range and deviation can

be set via parameters Pc.36~Pc.39 and Pc.46.

AO2 25

Analog

output 2

Its output function can be defined by setting

parameter of Pc.49. The range and deviation can

be set via parameters Pc.40~Pc.43 and Pc.47.

Operation Manual of INVT CHS100 AC Servo Drive 4 Signal and wiring

4.6 Wiring of the electromagnetic brake

In the case the servo motor is used in a vertical shaft, the electromagnetic brake can be

used to prevent or keep the falling speed of heavy objects when the servo drive is

powered off. The connection of the electromagnetic drive is shown in the figure below:

Fig. 4-18 Wiring of the electromagnetic brake

 The user needs to prepare a special power supply for this electromagnetic

brake. Do not share the power supply with the power which is used for

control signal.

 The electromagnetic brake is used for keeping the speed. It cannot be

used for normal stop;

 Though the electromagnetic brake has the function to prevent or keep the

falling speed of heavy objects, the user must install an external braking

device at the same time.

When the local 24V power supply of the drive is used, connect the dashed in the figure and remove the external power supply.

Be sure to connect this freewheeling diode

Motor

Speci al po we r supply for the braking winding

Surge absorber

Fuse (5A)

Braking winding

Operation Manual of INVT CHS100 AC Servo Drive 5 Running and operation

5 Running and operation

5.1 Running

5.1.1 Example of standard wiring

5.1.1.1 Standard wiring diagram for the position mode

Fig. 5-1 Wiring diagram for the position mode

Servo drive

Note 3

Note 4

Note 1

Note 2

Emergency stop

Servo enabling

Zero speed clamp

Electronic gear selection 1

Electronic gear selection 2

Forward travel limit

Reverse travel limit

Retention pulse clea

Pulse input disabling

Gain switching

Torque limit selection

Pulse signal

differential input

Pulse direction

differential input

Pulse signal input

Pulse direction input

Analog torque limit

Communication cable

Fault alarm(Note 5)

Servo ready

Zero speed

Position reaching

To r

ue limitin

Encoder phase A output

Encoder phase B output

Encoder phase Z output

Open-collector output of phase Z

ulse

nalog output 1

nalog output 2

Encoder cable

Motor

Operation Manual of INVT CHS100 AC Servo Drive 5 Running and operation

5.1.1.2 Standard wiring diagram for the speed mode

Fig. 5-2 Wiring diagram for the speed mode

Notes:

 The pulse input can be either differential mode or open-collector mode. For

detailed wiring instruction, please refer to chapter 4.5.3. To avoid

interference to the input pulse, be sure to ground the drive reliably.

 The analog input power supply is provided externally. For detailed wiring

instruction, please refer to chapter 4.5.4.

 The digital input can use internal 24V power supply. At this time, connect

the 24V to COM+ and the other end of the switch to COM-. For detailed

wiring instruction, please refer to chapter 4.5.2.

 Be sure to connect the diode with correct polarity. Otherwise the protection

circuit may not be work normally. If the internal 24V power supply is used,

the sum of the external relays current should be less than 100mA. For

Servo drive

Note 3

Note 4

Note 2

Fault alarm (Note 5) Servo ready Zero speed

Position reaching Torque limiting

Encoder phase A output

Encoder phase B output

Encoder phase Z output

Open-collector output of phase Z

pulse

nalog output 1

nalog output 2

Encoder cable

Motor

Emergency stop

Servo enabling

Zero speed clamp

Speed selection 1

Speed selection 2

FWD/REV selection

Forward travel limi

Reverse travel limi

Gain switching

Torque limit selection

Analog quantity o

speed reference

Analog quantity of

torque limitation

Communication cable

Operation Manual of INVT CHS100 AC Servo Drive 5 Running and operation

detailed wiring instruction, please refer to chapter 4.5.5.;

 Fault alarm terminal (ALM) transistor is ON in normal (no fault) cases.

5.1.1.3 Standard wiring diagram for the torque mode

Fig. 5-3 Wiring diagram for the torque mode

Notes:

 The pulse input can be either differential mode or open-collector mode. For

detailed wiring instruction, please refer to chapter 4.5.3. To avoid

interference to the input pulse, be sure to ground the drive reliably.

 The analog input power supply is provided externally. For detailed wiring

instruction, please refer to chapter 4.5.4;

 The digital input can use internal 24V power supply. At this time, connect

the 24V to COM+ and the other end of the switch to COM-. For detailed

Note 3

Note 4

Note 2

Encoder cable

Motor

Communication cable

Fault alarm (Note 5) Servo ready Zero speed

Emergency stop

Servo enabling

Zero speed clamp

Speed limit selection 1

Speed limit selection 2

Forward travel limi

Reverse travel limi

Gain switching

Analog quantity of

speed limitation

Analog quantity o

torque reference

Encoder phase A output

Encoder phase B output

Encoder phase Z output

Open-collector output of phase Z

ulse

nalog output 1

nalog output 2

Servo drive

Operation Manual of INVT CHS100 AC Servo Drive 5 Running and operation

wiring instruction, please refer to chapter 4.5.2;

 Be sure to connect the diode with correct polarity. Otherwise the protection

circuit may not be work normally. If the internal 24V power supply is used,

the sum of the external relays current the should be less than 100mA. For

detailed wiring instruction, please refer to chapter 4.5.5;

 fault alarm terminal (ALM) transistor is ON in normal (no fault) cases.

5.1.2 Powering on for the first time

Before powering on, be sure to check the following items:

1) Wiring

 The power (R, S, T, r, t) of the servo drive must be connected correctly;

 The output (U, V, W) phases of the servo drive must be consistent with the

phases of the servo motor;

 There must be no short-circuit between the output (U, V, W) and the input

(R, S, T);

 All wirings comply with the standard wiring diagram shown in chapter 5.1.1;

 Ensure the external servo enabling terminal (SON) is in OFF state;

 The servo drive and the servo motor must be grounded reliably;

 When the external braking resistor is used, the shorting wire between B2

and B3 on terminal X2 must be removed;

 Connector CN1 cannot be applied with a voltage higher than DC24V;

 The stress on the cables is within the specified range.

2) Environment

 There is no wire piece, metal chip and other foreign objects which can

cause short-circuit of the signal lines and the power lines in the

surrounding.

3) Mechanical parts

 The installation and the connection of shaft and mechanism must be

reliable;

 The servo motor and its connected machinery must be ready for operation;

 Do not operate the motor with a negative load. The so-called negative load

means the output torque direction of the motor is opposite to the direction

of the motor speed.

Operation Manual of INVT CHS100 AC Servo Drive 5 Running and operation

After all the above items are checked OK, switch on the power supply:

1) Sequence of powering ON/OFF

The control circuit and the main circuit of the drive are supplied separately. In principle,

when powering on, switch on the power supply of the control circuit (terminals r, t) first

and then switch on the power supply of the main circuit (terminals R, S, T). When

powering off, switch off the power supply of the main circuit first and then switch off the

power supply of the control circuit.

After switching on the control circuit power supply and before switching on the main

circuit power supply, "AL-PoF” will display on the front panel as the main circuit

power-off alarm. it means the bus voltage of the main circuit is 0 or too low.

Operation Manual of INVT CHS100 AC Servo Drive 5 Running and operation

 After switching on the power supply of the main circuit, do

not touch the motor line terminals even if the servo is not

started as this may cause electrical shock.

 After switching on the power supply, do not touch the

electriferous parts as this may cause electric shock.

2) Checking after powering-on

After switching on both of the control circuit and main circuit power supplies, if the

power supply is OK, the Power indicator lamp on the front panel will illuminate in red

and the servo drive and servo motor will not generate abnormal noise. If there is no

fault alarm of the servo drive, the LED on the front panel displays the current speed of

the servo motor as default. You can set the default display parameter through

parameter PA.02. The 3-color indicator lamp on the front panel illuminates as blue. If

there is a fault of the servo drive, the LED displays current alarm sign and the 3-color

indicator lamp on the front panel illuminates as red. Please fix the fault by referring to

chapter 9.1.

5.1.3 Self-test before running of the servo

The self-test before running the servo is very essential, it includes the following items:

1) whether there are broken lines of the motor encoder

Rotate the motor shaft with hands at least one cycle to see if it reports an encoder

line break fault (Er-EC1 or Er-EC2).

2) whether there is abnormality of current detection

Verify whether the motor shaft is rotating while switching on the power, whether it

reports a current detection fault (Er-iTE) during power-on.

5.1.4 Parameter setting before running the servo

Parameter setting must be conducted before running the servo. You can set relevant

parameters via the front panel or communication to meet the function and performance

requirements of the site application. See chapter 6 for the detailed description of all

parameters of the servo drive. Some of these parameters need to be set according to

the site application demand. For examples, pulse input mode, electronic gear,

frequency division coefficient of encoder output, upper/lower limit of analog input, etc.

Some of these parameters need to be set according to the site debugging. For

Warning

Operation Manual of INVT CHS100 AC Servo Drive 5 Running and operation

example, the parameters of the regulator loop which affect the system performance

and other similar parameters. For most parameters the factory default values are

appropriate.

Hereunder only some necessary parameters are listed:

1) Mode setting

The control mode (position mode, speed mode, torque mode) can be set through

setting parameter PA.01 according to the control requirements on the site. After the

setting the servo should be powered off and re-on electricity to validate the settings.

2) Command entering

Set or enter relevant commands to control the position, speed or torque of the servo

motor’s shaft according to the setting of parameter PA.01.

 In the position mode: pulse command (3 kinds of input mode), internal

torque limit command or external analog torque limit command;

 In the speed mode: internal speed command or external analog speed

command, internal torque limit command or external analog torque limit

command;

 In the torque mode: internal torque command or external analog torque

command, internal speed limit command or external analog speed limit

command;

5.1.5 JOG test run

With inching test run you can test whether the servo drive and the servo motor are

intact and conduct preliminary debugging of the system including the servo drive, servo

motor and peripheral equipments. You can test run the servo motor by JOG operation

after you have ensured that the wiring is correct and there is no fault alarm and no

abnormal running, See chapter 5.2.4 for detailed instructions. Before jog running, make

sure that:

 The motor isn’t in running state. If the motor is running, JOG operation is

invalid;

 The load inertia shouldn’t exceed 15 times of the motor inertia. Otherwise it

may cause serious mechanical vibration;

 The jog speed can be set via parameter PA.15.

 The accelerating/decelerating time during jogging can be set via

parameters Pc.00, Pc.02 and Pc.01, Pc.03.

Operation Manual of INVT CHS100 AC Servo Drive 5 Running and operation

5.1.6 Servo enabling

 Do not operate the switches with wet hand as this may

cause electric shock.

 Please confirm the parameter setting before running.

Otherwise unexpected running state of the machinery may

occur;

 The radiator, regenerative braking resistor, servo motor and

other components may become very hot in a period after

they are powered on and powered off. Don’t touch them!

You can enable the servo via the external servo enabling terminal (SON) or internal

servo enabling parameter (PA.03). See the function description of terminal SON and

detailed explanation of parameter PA.03 in chapter 4.5.8.3.

When servo enabling:

 If no alarm occurs, the state indicator of servo will turn to green;

 When the dynamic braking is triggering, you will hear light clatter;

 The fan starts to run;

 In the position mode, if there is no pulse command input, the servo is in

locked state;

 In the speed mode, the servo motor runs at the given speed;

 In the torque mode, if no torque is applied externally, the servo motor

accelerates from zero speed to the limit speed. If the external torque is

larger than the internal setting one, the servo motor maintains the state of

zero speed output;

 If a servo alarm occurs, the servo status indicator will turn to red and the

servo motor will get into the inertia running state.

5.1.7 Coast to Stop / DEC to Stop of the servo

If the servo drive is in the following conditions, the servo motor will coast to a stop or

stop normally. Coast to a Stop means the drive cuts off output immediately, the motor

coasts to rest under the action of inertia, and does not keep in locked state after that.

DEC to Stop means the drive outputs reverse torque to make the motor to decelerate to

Warning

NOTE

Operation Manual of INVT CHS100 AC Servo Drive 5 Running and operation

zero speed and, after that, the motor is in a locked state.

 When the servo enabling terminal (SON) signal is set to OFF, the servo

motor will stop. You can select the stopping method through setting

parameter Pc.52. See description of Pc.52 for details. This process will not

cause regenerative braking.

 When an fault alarm occurs, the servo motor will stop. You can select the

stopping method of the servo motor when an alarm occurs through setting

parameter Pc.52. See description of Pc.52 for details. This process will not

cause regenerative braking.

 When the zero speed clamp terminal (ZRS) signal is set to ON, the servo

motor will stop. In the position mode and torque mode, the servo motor will

stop immediately. In the speed mode, you can set parameter Pc.09 to

select whether the servo motor stops immediately or decelerates to stop

according to the settings of parameter Pc.01 and Pc.03. After stop the

servo is in a locked state. This stop process may cause regenerative

braking. If a braking overload fault alarm occurs, please install an external

braking resistor.

 If the travel limit terminal signal is valid (parameter PA.16=1), and the travel

limit terminal (PSL/RVL) signal is set to OFF, the servo motor will

immediately decelerate to a stop and get into a locked state. After it stops

running, if a reverse running command is valid, the motor can run in

reverse direction.

 If the emergency stop terminal signal is valid (parameter PA.17=1), and the

emergency stop terminal (EMG) signal is set to OFF, the servo motor will

coast to stop.

Operation Manual of INVT CHS100 AC Servo Drive 5 Running and operation

5.1.8 Sequence diagram

5.1.8.1 Sequence diagram of power-on and servo ON

50m s

 200ms

200ms

100m

Fig. 5-4 Sequence diagram of Power-on and servo ON

Power-on process

Servo on process

Main power supply

Control power supply

CPU reset level

Servo fault (ALM) output

Servo ready

(RDY) output

Servo enabling

(SON)

Dynamic brake signal

Fan signal

PWM output

Electromagnetic

brake signal

Position/speed/torque

command input

Main circuit powered on

Control circuit powered on

Program starts running

No fault alarm

Note 1

Note 2

Dynamic braking relay closed (note 3)

Fan is running

Servo has output

Motor releases the brake

Command input is valid.

Fan does not run

Servo has no output

Motor brakes

Command input is invalid

Note 1: The conditions for the servo ready (RDY) output signal level to become low is the servo with no fault

and the bus voltage has been built up (bus voltage is higher than 220V). There will be AL-PoF warning

when the bus voltage is below 220V;

Note 2: The servo enabling signal is invalid only when the servo ready (RDY) output signal is low level;

Note 3: The drives below 400W (inclusive) have no dynamic brake. But they provide dynamic braking functions.

Approx.200ms

Operation Manual of INVT CHS100 AC Servo Drive 5 Running and operation

5.1.8.2 Sequence diagram of power loss during running

Fig. 5-5 Sequence diagram of power loss during running

Main circuit power loss

Control circuit power fail

Fault alarm

Servo has output

Servo has no output

Note 1

Dynamic braking relay disconnected (note 3)

Note 2

Note 4

Note 5

Program stops running

Fan stops running

Motor brakes

Fan is running

Motor releases the brake

Main power supply

Control power supply

Servo fault (ALM)

output

PWM output

Servo ready

(RDY) output

Dynamic brake signal

CPU reset level

Fan signal

Electromagnetic brake

signal (BRK) output

Note 1: When the bus voltage of the control circuit drops below 200V, an undervoltage fault will occur. At this time the

servo fault (ALM) output becomes high level;

Note 2: Pc.52 can set the function of immediate disconnection of the dynamic braking relay at undervoltage fault

Note 3: The drives below 400W (inclusive) have no dynamic brake. But they provide dynamic braking functions;

Note 4: When the module temperature is less than 45℃, the fan will stop. If the module temperature is higher than

45℃, the fan stops running after the CPU reset level becomes lower;

Note 5: The output delay time of the electromagnetic brake signal can be set by the function code Pc.51.At the same

time, if the speed drops below 30r/min within the time set of Pc.51, the electromagnetic brake signal (BRK) will also become stronger.

Operation Manual of INVT CHS100 AC Servo Drive 5 Running and operation

5.1.8.3 Servo OFF sequence in a locked state

Fig. 5-6 Servo OFF sequence diagram in a locked state

No fault alarm

Dynamic braking relay disconnected (note 2)

Note 1

Motor brakes

Note 3

Servo has no output

Motor releases the brake

Servo has output

Servo enabling (SON)

Servo fault (ALM)

output

Servo ready

(RDY) output

Dynamic brake signal

Electromagnetic brake

signal (BRK) output

PWM output

Note 1: Pc.52 can set the function of immediate disconnection of the dynamic braking relay at undervoltage fault

Note 2: The drives below 400W (inclusive) have no dynamic brake. But they provide dynamic braking functions;

Note 3: The motor power-off delay time can be set by function code Pc.50.

Operation Manual of INVT CHS100 AC Servo Drive 5 Running and operation

5.1.8.4 Servo OFF sequence in running state

Fig. 5-7 Servo OFF sequence diagram in running state

No fault alarm

Dynamic braking relay disconnected (note 2)

Note 1

Motor brakes

Note 3

Servo has no output

Motor releases the brake

Servo has output

Servo enabling (SON)

Servo fault (ALM)

output

Servo ready

(RDY) output

Dynamic brake signal

Electromagnetic brake

signal (BRK) output

PWM outpu

Note 1: Pc.52 can set the function of immediate disconnection of the dynamic braking relay at undervoltage fault

Note 2: The drives below 400W (inclusive) have no dynamic brake. But they provide dynamic braking functions;

Note 3: The output delay time of the electromagnetic brake signal can be set by function code Pc.51. At the same if the speed

drops below 30r/min within the time set of Pc.51, the electromagnetic brake signal (BRK) will also become stronger

Operation Manual of INVT CHS100 AC Servo Drive 5 Running and operation

5.1.8.5 Sequence of fault alarm

Fig. 5-8 Sequence diagram of fault alarm

5.2 Display and operation

5.2.1 Display flow

No fault alarm

Dynamic braking relay disconnected (note 2)

Note 1

Motor brakes

Note 3

Servo has no output

Motor releases the brake

Servo has output

Servo fault (ALM)

output

Servo ready

(RDY) output

Dynamic brake signal

Electromagnetic brake

signal (BRK) output

PWM output

Note 1: Pc.52 can set the function of immediate disconnection of the dynamic braking relay at undervoltage fault

Note 2: The drives below 400W (inclusive) have no dynamic brake. But they provide dynamic braking functions;

Note 3: The output delay time of the electromagnetic brake signal can be set by function code Pc.51. At the same, if the

speed drops below 30r/min within the time set of Pc.51, the electromagnetic brake signal (BRK) will also become

stronger.

Operation Manual of INVT CHS100 AC Servo Drive 5 Running and operation

Fig 5-8 Schematic diagram of the keypad

Table 5-1 State of the 3-color indicator

Color Function

Green Normal running state

Red Fault alarm state

Blue The control board is powering on but the servo is not started

Table 5-2 Key function definition

Key Key name Function

MODE key

Used to switch between different

modes or return to previous menu

SET key

Used to enter next menu or execute

setting command

UP key

Used to select parameter upwards or

increase value

DOWN key

Used to select parameter downwards

or decrease value

SHIFT key

When setting a parameter, it is used to

select the position of the current digit

Operation modes:

There are 5 operation modes in total. You can switch among them with

key.

a) Status monitoring mode: used to display the values of the status parameters;

Manufacturer’s LOGO

POWER indicator o

the main circuit

3-color indicator

Six 8-bit Nixie tubes

5 operate keys

Operation Manual of INVT CHS100 AC Servo Drive 5 Running and operation

b) Basic parameter setting mode: used to set the basic parameters; c) Gain and filtering parameter setting mode: used to set gain or filtering

parameters;

d) Expansion parameter setting mode: used to set the expansion parameters;

e) Auxiliary function mode: used for JOG control and to restore parameters to

default value.

Operation flow chart:

Fig. 5-8 Flow chart of front panel operation

5.2.2 Status display

When “Status monitoring mode” is selected by pressing

, the panel displays

“dP-xxx” (xxx represents identifiers of different parameters). At this time, you can press

or to select the identifier of the parameter to be displayed. After the

Status

onito

ring

Basic

parameters

Gain

parameters

Expansion

parameters

Auxiliary

unctions

Hold down for about 5s

Hold down, forwardrotating

Hold down, reverserotating

Select the digit to be set with SHIFT k ey

Operation Manual of INVT CHS100 AC Servo Drive 5 Running and operation

selection, press , the panel will display the value of corresponding parameters.

Press

again to return. See chapter 5.2.1 for the setting flow chart.

Identifier Name Unit Accuracy

Motor speed r/min 0.1

Lower 5 digits of feedback pulse accumulation pulse 1

Higher 5 digits of feedback pulse accumulation pulse 1

Lower 5 digits of command pulse accumulation pulse 1

Higher 5 digits of command pulse accumulation pulse 1

Detention pulse pulse 1

Analog speed command voltage V 0.01

Analog torque command voltage V 0.01

Bus voltage of main circuit power V 1

Bus voltage of control circuit power V 1

RMS value of current output current A 0.01

Current torque % 1

Module temperature ℃ 0.1

Ratio of average load % 1

Position of the rotor relative to Z pulse pulse 1

Ratio of load inertia Times 1

Third latest fault alarm code - -

Second latest fault alarm code - -

Latest fault alarm code - -

Digital input state - -

Digital output state - -

Motor temperature - -

DSP software version - -

FPGA software version - -

Encoder feedback value - -

Instantaneous value of U phase output current A 0.01

Instantaneous value of V phase output current A 0.01

Operation Manual of INVT CHS100 AC Servo Drive 5 Running and operation

Identifier Name Unit Accuracy

Instantaneous value of U phase output current

when a fault occurs

A 0.01

Instantaneous value of phase V output current

when a fault occurs

A 0.01

Bus voltage when a fault occurs V 0.1

5.2.3 Parameter setting

When “Basic parameter setting” is selected by pressing

, the panel displays

“PA.xx” (xx represent identifiers of different parameters). At this time, you can press

or to select the identifier of the parameter to be set. After the selection,

press SET key, the panel will display the value of corresponding parameter with the

lowest digit flashing. You can change the value of the flashing digit by pressing

and move the flashing to modify the values of other digits by pressing . After

finishing the modification, press

to execute the modified value, then the flashing

stops at the same time. You can press

again to modify the value of other

parameters. Press

to return.

The parameter selection flow chart is shown in the figure below:

Fig. 5-8 Flow chart of parameter selection

Please refer to chapter 5.2.1 for the operation flow after the related parameters are

selected.

The setting methods of the gain parameters and expansion parameters are the same

as the basic parameters.

5.2.4 Auxiliary functions

When auxiliary function mode is selected by pressing

, the panel will display the

identifier for auxiliary function. At this time, you can press

or to select the

auxiliary function to be completed. The servo drive has the following auxiliary functions:

Operation Manual of INVT CHS100 AC Servo Drive 5 Running and operation

a) JOG function: identifier is ;

b) Restore default parameter function: identifier is

PE-dAF

;

When

is selected, press , the system will switch into JOG mode

automatically, the 3-color indicator will become green, and the panel will display the

value of jog speed. At this time, press and hold

or , the servo motor will

forward- rotating or reverse-rotating with the jog speed set by parameter PA.12.

Release the key, the servo motor will decelerate to stop. Press

, the system will

exit JOG mode automatically and the 3-color indicator will become blue.

When

PE-dAF

is selected, press and hold for about 5 seconds, the drive will

restore the default parameters automatically. When the parameters are written in

successfully, the panel will display

. Otherwise it will display . After

that, press

to return. The control circuit should be powered off and re-on to

execute the default values.

Please refer to chapter 5.2.1 for the setting flow.

5.2.5 Alarm display

When the servo drive runs abnormally, it will perform fault alarm or warning protection.

At this time the panel will display the fault alarm or warning identifier.

The meanings of the alarm or warning identifiers are listed in the table below:

Table 5-2 Comparison table of faults or warning identifiers

Identifier Name

EEPROM fault

Encoder line break fault 1

Encoder line break fault 2

Current test fault

Hardware overcurrent fault

Line-to-ground short circuit fault

Brake overload fault

Overvoltage fault

Undervoltage fault

Overload fault

Ground abnormality fault

Overspeed fault

Operation Manual of INVT CHS100 AC Servo Drive 5 Running and operation

Identifier Name

Drive overtemperature fault

Software overcurrent fault

Over-pulse fault

Communication fault

Write/read overtime fault

Forward travel limit warning

Reverse travel limit warning

Emergency stop warning

Main circuit power-down warning

Communication abnormality warning

5.2.6 Alarm clear

For fault alarms, if the fault condition is removed, the fault alarm display can be

removed by short connecting the alarm clear terminal CLA with COM-. If the servo is

still in enabled state at this time, the drive will recover running automatically. Please

note that when EC2 fault or OC2 fault is reported, even if the fault is removed, it can be

cleared only after the control circuit is powered off and re-on. For warnings, if it is the

travel limit warning, once the warning condition is removed, the drive will clear the

warning display automatically. If the servo is still in enabled state at this time, the drive

will recover running automatically. If it is the emergency stop warning, if the warning

condition is removed, the warning display can be removed by short connecting the

alarm clear terminal CLA with COM-. But the servo must be enabled again to allow the

drive to continue running. If you want to set parameters when an fault alarm or warning occurs but they are not

removed, press and hold

for about 3 seconds while the panel displays the fault

alarm or warning identifier to enter the parameter setting mode. After the parameters

are set, press and hold down

for about 3 seconds to exit the parameter setting

mode and the panel recovers displaying of the fault alarm or warning identifier.

Operation Manual of INVT CHS100 AC Servo Drive 6 Detailed parameter description

6 Detailed parameter description

Sign description: P – position mode; S – speed mode; T – torque mode.

The setting of the parameters marked with * can only take effect when the control

circuit is powered-off and re-on.

The parameters marked with # can only be set effectively under the non-operating

conditions.

Definition of the direction: when facing the motor and viewing from the direction of

motor shaft, the counterclockwise direction is forward, abbreviate as CW. The

clockwise direction is reverse, abbreviate as CCW. For speed and torque settings,

positive value indicates forward and negative value indicates reverse.

6.1 Basic parameters (PA group parameters)

Function

code

Name Unit Range Default Mode

PA.00

Parameter

modification operation

locking

- 0~1 0 P.S.T

This parameter is used to mask the parameter setting function and thus to avoid

incorrect modification of the parameters by the user.

0: parameter setting is active

1: parameter setting is inactive

When this parameter is set to 1, if it is operated by the keypad, only the current value of

all parameters can be displayed, but no parameter can be modified except for this one.

If it is operated by communication, you can not only read the current values of all

parameters but also write in for all the parameters.

Function

code

Name Unit Range Default Mode

*PA.01 Mode selection - 0~6 1 P.S.T

This parameter can be used to set the operating mode of the system. The servo drive

system has the following modes:

0: Position mode

The standard wiring diagram for the position mode is shown in chapter 5.1.1.1. In the

Operation Manual of INVT CHS100 AC Servo Drive 6 Detailed parameter description

position mode, it can control the angular displacement of the servo motor with the pulse

command and thus achieve the goal to control the displacement of the mechanical

movement.

1: Speed mode

The standard wiring diagram for the speed mode is shown in chapter 5.1.1.2. In the

speed mode, it can control the rotation speed of the servo motor with the internal speed

command or external analog speed command.

2: Torque mode

The standard wiring diagram for the torque mode is shown in chapter 5.1.1.3. In the

torque mode, it can control the output torque of the servo motor with the internal torque

command or external analog torque command.

3: Position/speed mode

In this mode, you can switch between the position mode and speed mode with the

control mode switching terminal (MCH). The corresponding relationships of the

terminal status and modes are:

MCH Control mode

0 Position mode

1 Speed mode

0：OFF (the terminal is disconnected with COM-);

1：ON (the terminal is connected with COM-).

For safety, after changing the MCH terminal input status, the switching between

position mode and speed mode can be performed only when the motor speed

becomes lower than the value of zero speed range (PC.05). The switching process is

shown in the figure below:

OFF

Fig. 6-1 Schematic diagram of position/speed mode switching

4: Speed/torque mode

Position mode Speed mode Position mode

Zero speed

threshold (set with

PC.05)

Motor speed

Mode switching

signal (MCH)

Operation Manual of INVT CHS100 AC Servo Drive 6 Detailed parameter description

In this mode, it can switch between the speed mode and torque mode with the control

mode switching terminal (MCH). The corresponding relationships of the terminal status

and modes are:

MCH Control mode

0 Speed mode

1 Torque mode

0：OFF (the terminal is disconnected with COM-);

1：ON (the terminal is connected with COM-).

The switching between the speed mode and the torque mode can be performed at any

moment. The switch process is shown in the figure below:

Fig. 6-2 Schematic diagram of speed/torque mode switching

5: Position/torque mode

In this mode, you can switch between the position mode and torque mode with the

control mode switching terminal (MCH). The corresponding relationships of the

terminal status and modes are:

MCH Control mode

0 Position mode

1 Torque mode

0：OFF (the terminal is disconnected with COM-);

1：ON (the terminal is connected with COM-).

For safety, after changing the MCH terminal input status, the switching between

position mode and torque mode can be performed only when the motor speed

becomes lower than the value of zero speed range (PC.05). The switching process is

shown in the figure below:

Motor speed

Mode switching

signal (MCH)

To rq u e

command

Speed mode Speed modeTorque mode

Operation Manual of INVT CHS100 AC Servo Drive 6 Detailed parameter description

Fig. 6-3 Schematic diagram of position/torque mode switching

6: Factory reserved mode. Setting by the user is prohibited.

Function

code

Name Unit Range Default Mode

PA.02

Default monitored

parameters

- 0~26 0 P.S.T

This parameter is used to set the parameters which can be monitored while

powering-on of the system:

0: Motor rotation speed;

1: Lower 5 digits of feedback pulse accumulation;

2: Higher 5 digits of feedback pulse accumulation;

3: Lower 5 digits of command pulse accumulation;

4: Higher 5 digits of command pulse accumulation;

5: Retention pulse

6: Analog speed command voltage;

7: Analog torque command voltage;

8: Main circuit power bus voltage;

9: Control circuit power bus voltage;

10: Effective value of current output current;

11: Current torque;

12: Drive module temperature;

13: Average load rate;

14: Position of the rotor relative to Z pulse;

15: Inertia ratio of load;

16: Third latest fault alarm code;

17: Second latest fault alarm code;

Position mode Torque mode Position mode

Zero speed

threshold (set

with PC.05)

Motor speed

Mode switching

signal (MCH)

Operation Manual of INVT CHS100 AC Servo Drive 6 Detailed parameter description

18: Latest fault alarm code

19: Digital input state;

20: Digital output state;

21: Motor temperature;

22: DSP software version;

23: FPGA software version;

24: Encoder UVW feedback value;

25: Instantaneous value of phase U output current

26: Instantaneous value of phase V output current

See chapter 6.4 for the specific meanings of the status parameters.

Function

code

Name Unit Range Default Mode

PA.03

Internal servo

enabling

- 0~1 0 P.S.T

Under the condition when the servo enabling terminal (SON) signal is in OFF state, you

can set this parameter to enable the servo drive to enter the running state.

0: Internal servo enabling is inactive. You can only enable the servo drive to run by the

external servo enabling terminal (SON);

1: Internal servo enabling

For safety, this parameter will automatically become 0 when an fault alarm occurs and

after the control circuit is powered on and the system is reset. If you want to run the

servo drive, this parameter must be set to 1 again.

Function

code

Name Unit Range Default Mode

#PA.04

Numerator of the 1st

electronic gear

- 1~65535 1 P

#PA.05

Denominator of the 1st

electronic gear

- 1~65535 1 P

Concept of the electronic gears: for discretional pulse input, the number and frequency

of the pulse actually received by the drive can be changed by multiplying a certain

coefficient. This coefficient is just the electronic gear. We can show it separately with

two parts: numerator and denominator:

Operation Manual of INVT CHS100 AC Servo Drive 6 Detailed parameter description

Electronic gear =

1 2

；

In the formula,

： The numerator of the electronic gear；

： The denominator of the electronic gear；

Below is the schematic diagram of the electronic gear in the system:

Fig. 6-4 Schematic diagram of the electronic gear

Hereunder we explain the use of the electronic gear with an example. Below is a case where 1 pulse is equivalent to a feed rate of 10

Mechanical specifications:

Feed of the ball screw

=10mm;

Reduction ratio

n =3/5;

Resolution of the servo motor encoder

=10000;

At this time calculate the electronic gear:

1 10000 50

10 10

2(35)103

gPtPt

gSnPb

−

=Δ • =Δ • = × • =

Δ⋅ ⋅

In the formula,

Δl

：Feed rate corresponding to per pulse (mm/pulse);

SΔ

：Feed rate corresponding to per revolution of the motor (mm/rev);

i.e. in this example,

=50， 2

=3.

Therefore, in this case, parameter PA0.4 can be set as 50 and PA.05 as 3.

The servo drive provides 4 groups of electronic gears: parameters A.04, PA.05, Pc.12,

Pc.13, Pc.14, Pc.15, Pc.16, and Pc.17. With the electronic gear selection terminal

Input pulse train

Electronic

gear

Deviation

counter

Feedback

pulse

Intermediate

link

Motor

Operation Manual of INVT CHS100 AC Servo Drive 6 Detailed parameter description

(SC1, SC2) we can select which group of parameters is used to give out the electronic

gear. The corresponding relationships are listed in the table below:

SC2 SC1 Positi on mode

0 0 Electronic gear 1

0 1 Electronic gear 2

1 0 Electronic gear 3

1 1 Electronic gear 4

0：OFF (the terminal is disconnected with COM-);

1：ON (the terminal is connected with COM-).

Function

code

Name Unit Range Default Mode

*PA.06 Pulse input form - 0~2 0 P

This parameter is used to set the manner of pulse input. There are 3 types of pulse

input manners:

0: Pulse + sign;

1: FWD/REV pulse train;

2: Orthogonal encoder pulse.

The 3 types of input manners are shown in the figure below:

Fig. 6-5 Schematic diagram of the pulse input manner

Function

code

Name Unit Range Default Mode

PA.07

Speed command

selection/speed limit

selection

- 0~1 0 S．T

This parameter is used to select the input manner of the speed command in the speed

mode:

0: Internal speed command. At this time we can select internal multi-step speed (the

values of PA.09, PA.10, Pc.10, Pc.11) through the speed selection terminal (SC1 and

Rotate forward (CW) Rotate reverse (CCW)

Pulse + sign

mode

CW/CCW

pulse mode

Orthogonal

encoder mode

Operation Manual of INVT CHS100 AC Servo Drive 6 Detailed parameter description

SC2). See chapter 4.5.8.3 for details.

1: External analog speed command. At this time we can control the speed of the servo

motor by applying a voltage between -10V and 10V on the analog speed input

terminals (VA). By factory default, positive value means forward and negative value

means reverse. But it can be changed by setting parameters Pc.28 – Pc. 31. In the

case of analog speed command input, the ACC/DEC time parameters (Pc.00, Pc.01,

Pc.02, Pc.03) are inactive. In order to make the speed reach the speed setting

smoothly, the speed command filter time (Pb.12) can be set to filter the speed

command.

This parameter is used to select the input manner of the speed limit in the torque mode:

0: Internal speed limit. At this time we can select the internal multi-speed limit through

the speed selection terminal (SC1 and SC2). See chapter 4.5.8.3 for details. The

magnitude of the speed limit value is the absolute value of the corresponding

parameter, the direction of it is the same as that of the torque command.

For example, if the speed limit 1 is selected through the terminals (SC1=0, SC2=0,

PA.09=100.0), then the speed limit is as shown in the figure below:

Fig 6-6 Schematic diagram of the torque limit

1: External analog speed limit. At this time we can limit the motor speed by applying a

voltage between -10V and 10V on the analog speed limit terminals (VA). The

magnitude of the speed limit value is the absolute value of the analog input, the

direction of it is the same as that of the torque command.

Please note that in the torque mode, do not allow the motor to run under the condition

of negative load.

Function

code

Name Unit Range Default Mode

PA.08

Torque command/torque

limit selection

- 0~1 0 P.S.T

Limit speed

Reference torque

Operation Manual of INVT CHS100 AC Servo Drive 6 Detailed parameter description

It is used to select the input manner of the torque command in the torque mode:

0: Internal torque command. At this time we can set the desired torque by setting the

internal torque command parameter (PA.11).

1: External analog torque command. At this time we can control the output torque by

applying a voltage between -10V and 10V on the analog torque input terminals (TA). By

factory default, the positive value means forward and negative value means reverse.

But it can be changed by setting parameters Pc.32 – Pc. 35.

In the speed mode or position mode, it is used to select the input manner of the torque

limit:

0: internal torque limit. At this time we can limit the magnitude of the output torque by

setting the internal torque limit parameter (PA.12). The direction of the torque limit is

the same as that of the speed command.

1: External analog torque limit. At this time we can limit the output torque by applying a

voltage between -10V and 10V on the analog torque limit terminals (TA). The

magnitude of the torque limit is the absolute value of the analog input, the direction of it

is the same as that of the torque command.

Please note that in the torque mode, do not allow the motor to run under the condition

of negative load.

Function

code

Name Unit Range Default Mode

PA.09

Internal speed/speed limit

r/min -5000.0~5000.0 100.0 S.T

PA.10

Internal speed/speed limit

r/min -5000.0~5000.0 200.0 S.T

The servo drive provides 4 steps of internal speed command/internal speed limit:

parameters PA.09, PA.10, Pc.10, Pc.11.

In the speed mode, this group of parameters is used to set the value of internal speed

setting. We can select which parameter gives out the internal speed command through

the speed selection terminal (SC1 and SC2). The corresponding relationships are

listed in the table below:

SC2 SC1 Speed/torque mode

0 0 Internal speed/speed limit 1

0 1 Internal speed/speed limit 2

Operation Manual of INVT CHS100 AC Servo Drive 6 Detailed parameter description

SC2 SC1 Speed/torque mode

1 0 Internal speed/speed limit 3

1 1 Internal speed/speed limit 4

0: OFF (the terminal is disconnected with COM-);

1: ON (the terminal is connected with COM-).

In the torque mode, this group of parameters is used to set the value of the internal

speed limit. We can select which parameter gives out the internal speed limit through

the speed limit selection terminal (SC1 and SC2). The corresponding relationships are

listed in the table above. Please note that the magnitude of the speed limit is the

absolute value of the corresponding parameter, the direction of it is the same as that of

the torque command.

Function

code

Name Unit Range Default Mode

PA.11

Internal torque

command

% -250.0~250.0 10.0 T

This parameter is used to set the internal torque setting. Taking the rated torque of the

servo motor as 100%, this setting is the percentage of the rated torque of the servo

motor. In the torque mode, if the absolute value of this parameter is larger than the max

torque limit (PA.14), the magnitude of the output torque is the setting value of PA.14,

and the direction is the same as that of the parameter.

Function

code

Name Unit Range Default Mode

PA.12 Internal torque limit % 0~300.0 250.0 P.S

In the speed and position modes, this parameter is used to set the value of internal

torque limit. Taking the rated torque of the servo motor as 100%, this setting is the

percentage of the rated torque of the servo motor. In the speed and position modes, we

can select whether the torque limit is the internal torque limit or external analog torque

limit through the torque limit selection terminal (TQC). See chapter 4.5.8.3 for details.

Function

code

Name Unit Range Default Mode

PA.13 Max speed limit r/min 0~5000.0 - P.S.T

This parameter can be used to set the highest speed the servo motor can run. If the

Operation Manual of INVT CHS100 AC Servo Drive 6 Detailed parameter description

absolute value of the speed command is larger than the value of this parameter, the

magnitude of the actual speed setting will be limited by this parameter, the direction is

the same as that of the original speed command. This parameter is active in all modes.

The default of this parameter is related to the power level of the drive. The default of

the drives over 1.0kW (inclusive) is 2500.0，and the power which less than1.0kW is

5000.0.

Function

code

Name Unit Range Default Mode

PA.14 Max torque limit % 0~300.0 300.0 P.S.T

This parameter can be used to set the maximum torque of the servo motor can output.

Taking the rated torque of the servo motor as 100%, the setting is the percentage of the

rated torque of the servo motor. If the absolute value of the torque command is larger

than the value of this parameter, the magnitude of the actual output torque will be

limited by this parameter, the direction is the same as that of the original torque. This

parameter is active in all modes.

Function

code

Name Unit Range Default Mode

PA.15 Jog speed r/min 0~1000.0 200.0 P.S.T

This parameter can be used to set the jog speed. For jogging, please refer to chapter

5.1.4. During jogging, the ACC/DEC time parameters (Pc.00, Pc.01, Pc.02, Pc.03) are

active. The motor will accelerate, decelerate, start and stop according to the settings.

Function

code

Name Unit Range Default Mode

PA.16 Travel limit switch shield - 0~1 0 P.S.T

This parameter is used to set the input signals of the forward travel limit terminal (PSL)

and reverse travel limit terminal (RVL) are active or inactive. If you want to shield the

function of the travel limit switch, you can set this parameter.

0: Signals of the travel limit terminals are inactive;

1: Signals of the travel limit terminals are active.

Operation Manual of INVT CHS100 AC Servo Drive 6 Detailed parameter description

Function

code

Name Unit Range Default Mode

PA.17 E-stop shield - 0~1 0 P.S.T

This parameter is used to set the input signal of the emergency stop terminal (EMG) is

active or inactive. If you want to shield the function of the E-stop, you can set this

parameter.

0: Signal of the emergency stop terminal is inactive;

1: Signal of the emergency stop terminal is active.

Function

code

Name Unit Range Default Mode

PA.18 Factory password - 0~65535 00000 P.S.T

This parameter is the factory parameter password. The factory parameters are not

open to the user. The user is advised not to try to get into this group of factory

parameters. Otherwise it may cause malfunction or damage to the drive.

6.2 Gain and filter parameters (Pb group parameters)

Function

code

Name Unit Range Default Mode

Pb.00 Moment of inertia ratio Time 0~30 0 P.S.T

This parameter is used to set the ratio of the load inertia converted into the rotor shaft

to the inertia of the servo motor.

Function

code

Name Unit Range Default Mode

Pb.01 1st position gain - 1~30000 800 P

This parameter is used to set the gain of the position loop. When the setting is

increased, the position response will be improved, but it may easily cause vibration and

noise. This parameter is the 1st position gain. We can select the 1st position gain or

2nd position gain or conduct switching between the 1st position gain and the 2nd

position gain according to the required position loop. See description of parameters

Pb.17 and Pb.16 for details. Refer to chapter 7 for the debugging method of this group

of parameters.

Operation Manual of INVT CHS100 AC Servo Drive 6 Detailed parameter description

Function

code

Name Unit Range Default Mode

Pb.02 Position feed-forward gain % 0~100.0 0.0 P

This parameter is used to set the position feed-forward gain. When it is set as 100%,

the retention pulse at a certain speed is almost zero. However, the overshoot will be

enlarged when it accelerates or decelerates suddenly.

Function

code

Name Unit Range Default Mode

Pb.03

Position feed-forward

filter time constant

512μs 0~6000 0 P

This parameter is used to set the position feed-forward filter time constant.

Function

code

Name Unit Range Default Mode

Pb.04 1st speed gain rad/s 1~10000 1000 P.S

This parameter is used to set the gain of the speed loop. When the setting is increased,

the speed response will be improved, but it may easily cause vibration and noise. This

parameter is the 1st speed gain. We can select the 1st speed gain or 2nd speed gain or

conduct switching between the 1st speed gain and the 2nd speed gain according to the

required speed loop. See description of parameters Pb.17 and Pb.16 for details. Refer

to chapter 7 for the debugging method of this group of parameters.

Function

code

Name Unit Range Default Mode

Pb.05

1st speed integration

time constant

256μs 1~1000 100 P.S

This parameter is used to set the integration time constant of the speed loop. The

response may be improved by decreasing the setting, but this parameter may easily

cause vibration and noise. It should be noted particularly that when this parameter is

set as 1000, it means the integral action is invalid. This parameter is the 1st speed

integration time constant. We can select the 1st speed integration time constant or 2nd

speed integration time constant or conduct switching between the 1st speed integration

time constant and the 2nd speed integration time constant according to the required

speed loop. See description of parameters Pb.17 and Pb.16 for details. Refer to

Operation Manual of INVT CHS100 AC Servo Drive 6 Detailed parameter description

chapter 7 for the debugging method of this group of parameters.

Function

code

Name Unit Range Default Mode

Pb.06 2nd position gain - 1~30000 1000 P

This parameter is used to set the gain of the position loop. When the setting is

increased, the position response will be improved, but this parameter may easily cause

vibration and noise. This parameter is the 2nd position gain. We can select the 1st

position gain or 2nd position gain or conduct switching between the 1st position gain

and the 2nd position gain according to the required position loop. See description of

parameters Pb.17 and Pb.16 for details. Refer to chapter 7 for the debugging method

of this group of parameters.

Function

code

Name Unit Range Default Mode

Pb.07 2nd speed gain rad/s 1~10000 2000 P.S

This parameter is used to set the gain of the speed loop. When the setting is increased,

the position response will be improved, but this parameter may easily cause vibration

and noise. This parameter is the 2nd speed gain. We can select the 1st speed gain or

2nd speed gain or conduct switching between the 1st speed gain and the 2nd speed

gain according to the required speed loop. See description of parameters Pb.17 and

Pb.16 for details. Refer to chapter 7 for the debugging method of this group of

parameters.

Function

code

Name Unit Range Default Mode

Pb.08

2nd speed integration

time constant

256μs 1~1000 200 P.S

This parameter is used to set the integration time constant of the speed loop. The

response may be improved by decreasing the setting, but this parameter may easily

cause vibration and noise. It should be noted particularly that when this parameter is

set as 1000, it means the integral action is invalid. This parameter is the 2nd speed

integration time constant. We can select the 1st speed integration time constant or 2nd

speed integration time constant or conduct switching between the 1st speed integration

time constant and the 2nd speed integration time constant according to the required

Operation Manual of INVT CHS100 AC Servo Drive 6 Detailed parameter description

speed loop. See description of parameters Pb.17 and Pb.16 for details. Refer to

chapter 7 for the debugging method of this group of parameters.

Function

code

Name Unit Range Default Mode

Pb.09 Speed feed-forward gain - 0~30000 0 P.S

This parameter is used to set the speed feed-forward gain.

Function

code

Name Unit Range Default Mode

Pb.10

Speed feed-forward filter

time

256μs 0~6000 0 P.S

This parameter is used to set the speed feed-forward filter time constant.

Function

code

Name Unit Range Default Mode

Pb.11

Position command filter

time

512μs 0~6000 0 P

This parameter is used to set the time constant of the 1st order low-pass filter

corresponding to the position command. By setting this parameter we can reduce the

mechanical shock in the case when the input pulse command frequency changes

abruptly. See the figure below:

Fig. 6-7 Schematic diagram of the position command filter

Function

code

Name Unit Range Default Mode

Pb.12

Speed command filter

time

256μs 0~6000 0 S

This parameter is used to set the time constant of the 1st order low-pass filter

corresponding to the analog speed command. By setting this parameter we can make

Don’t setting the time constant

Setting the time constant

Servo motor speed

Pulse input

Operation Manual of INVT CHS100 AC Servo Drive 6 Detailed parameter description

the speed change more gently in the case the speed analog input changes largely. See

the figure below:

Fig. 6-8 Schematic diagram of the speed command filter

Function

code

Name Unit Range Default Mode

Pb.13 Torque command filter time 256μs 0~6000 0 T

This parameter is used to set the time constant of the 1st order low-pass filter

corresponding to the torque command. By setting this parameter we can make the

actual output torque changes more gently in the case the torque command changes

largely. See the figure below:

Fig. 6-9 Schematic diagram of the torque command filter

Function

code

Name Unit Range Default Mode

Pb.14 Low-pass filter time 256μs 0~6000 0 P.S

This parameter is used to set the time constant of the low-pass filter. See chapter 7.1.2

for details.

Spe ed

nalog speed command

fter filtering

Time t

fter filtering

To rq u e

Tor q u e c o mm a n d

Time t

Operation Manual of INVT CHS100 AC Servo Drive 6 Detailed parameter description

Function

code

Name Unit Range Default Mode

Pb.15 Speed detect filter time 256μs 0~6000 0 P.S

This parameter is used to set the time constant of the speed detect filter.

Function

code

Name Unit Range Default Mode

Pb.16

Gain switching

selection

- 0~1 1 P.S

In the case of parameter Pb.17=0, i.e. at the manual gain switching mode, this

parameter can be used to select the manner of gain switching when the gain switching

terminal (PLC) signal is ON:

0: Speed loop gain switching

Realize the switching between PI regulation and P regulation of speed loop. The

corresponding relationships between the terminal status and the speed loop regulator

are:

PLC Speed loop regulator

0 PI regulation

1 P regulation

0：OFF (the terminal is disconnected with COM-);

1：ON (the terminal is connected with COM-).

1: Switching the 1st gain to the 2nd

Realize the switching between the 1st gain and the 2nd gain. The corresponding

relationships between the terminal status and the 1st gain, the 2nd gain are:

PLC Gain

0 1st gain

1 2nd gain

0:OFF (the terminal is disconnected with COM-);

1:ON (the terminal is connected with COM-).

The 1st gain and the 2nd gain include not only the proportional parameters but also the

integral parameters. Specifically are:

1st gain 2nd gain

1st position gain (Pb.01) 2nd position gain (Pb.06)

1st speed gain (Pb.04) 2nd speed gain (Pb.07)

Operation Manual of INVT CHS100 AC Servo Drive 6 Detailed parameter description

1st gain 2nd gain

1st speed integration time

constant (Pb.05)

2nd speed integration

time constant (Pb.08)

Function

code

Name Unit Range Default Mode

Pb.17

Gain switching

condition

- 0~5 0 P.S

This parameter is used to select how to switch the gain under a special condition. The

switching modes are:

0: Manual gain switching;

At this time it can be switched between the 1st gain and the 2nd gain as well as speed

PI regulation and P regulation through the gain switching terminal (PLC). See the

description of parameter Pb.16 for details.

1: Fix to the 2nd gain;

2: When the retention pulse is too large, select the 2nd gain, otherwise select the 1st

gain and the threshold of the retention pulse is set with Pb.18;

3: When the speed command is too large, select the 2nd gain, otherwise select the 1st

gain and the threshold of the speed command is set with Pb.18;

4: When the speed command is relatively small, select the 2nd gain, otherwise select

the 1st gain and the threshold of the speed command is set with Pb.18;

5: Position command + speed gain switching mode. In the position mode, when no

position command pulse is inputted, it will select the 1st gain. When a position

command pulse is inputted, it will select the 2nd gain. After the position command pulse

stops input for 3ms and the motor speed falls below the speed threshold set with Pb.18,

it will switch to the 1st gain.

The 1st gain and the 2nd gain also include not only the proportional parameters but

also the integral parameters. See chapter 7 for the debugging methods of these

parameters.

Function

code

Name Unit Range Default Mode

pulse 0~5000 100

Pb.18

Gain switching

threshold

r/min 0~500.0 10.0

P. S

Operation Manual of INVT CHS100 AC Servo Drive 6 Detailed parameter description

When parameter Pb.17 is set as 2, it is used to set the retention pulse threshold for

gain switching.

When parameter Pb.17 is set as 3, it is used to set the speed threshold for gain

switching.

When parameter Pb.17 is set as 4, it is used to set the speed threshold for gain

switching.

When parameter Pb.17 is set as 5, it is used to set the speed threshold for gain

switching.

Function

code

Name Unit Range Default Mode

Pb.19

Gain switching time

constant

ms 0~1000 0 P.T.S

This parameter is used to set the time constant of the transition process when

switching between the 1st gain and 2nd gain. This parameter is active only for the

proportional parameters. By setting this parameter we can lighten the mechanical

shock caused by gain switching. See chapter 7.3 for details.

Function

code

Name Unit Range Default Mode

Pb.20

1st trap wave

frequency

Hz 50~2000 2000 P.S.T

This parameter is used to set the frequency of the 1st trap wave filter for suppressing

resonance. The trap wave filters can simulate the mechanical resonant frequency and

thus suppress the resonant frequency.

50~1999: trap wave frequency;

2000: invalid.

Function

code

Name Unit Range Default Mode

Pb.21

1st trap wave width

selection

dB 1~1000 15 P.S.T

This parameter is used to set the trap wave width of the 1st trap wave filter for

suppressing resonant. A larger trap wave width can be obtained with a larger setting.

Operation Manual of INVT CHS100 AC Servo Drive 6 Detailed parameter description

Function

code

Name Unit Range Default Mode

Pb.22

2nd trap wave

frequency

Hz 50~2000 2000 P.S.T

This parameter is used to set the frequency of the 2nd trap wave filter for suppressing

resonance. The trap wave filters can simulate the mechanical resonant frequency and

thus suppress the resonant frequency.

50~1999: trap wave frequency;

2000: invalid.

Function

code

Name Unit Range Default Mode

Pb.23

2nd trap wave width

selection

dB 1~1000 15 P.S.T

This parameter is used to set the trap wave width of the 2nd trap wave filter for

suppressing resonant. Larger trap wave width can be obtained with larger setting.

6.3 Expansion parameters (Pc group parameters)

Function

code

Name Unit Range Default Mode

Pc.00 ACC time ms 0~20000 0 S

ACC time means that in the case of internal reference speed command, the time

required for the speed setting to increase from 0r/min to 3000r/min. When the speed

setting is quicker or slower than 3000r/min, the actual ACC time is calculated at the

proportion. If the speed command is a negative value, the ACC time is calculated with

its absolute value.

For example, we assume the reference speed is 2000r/min and the ACC time (Pc.00)

is set as 1500, at this time the actual ACC time of the speed command is

1500×(2000/3000)=1000(ms). The meaning of the ACC time is shown in the figure as

below:

Operation Manual of INVT CHS100 AC Servo Drive 6 Detailed parameter description

Fig 6-10 Schematic diagram of ACC/DEC time

Function

code

Name Unit Range Default Mode

Pc.01 DEC time ms 0~20000 0 S

DEC time means that in the case of internal reference speed command, the required

time for the setting speed decrease from 3000r/min to 0r/min. When the setting speed

is quicker or slower than 3000r/min, the actual DEC time is calculated at the proportion.

If the speed command is a negative value, the DEC time is calculated with its absolute

value.

For example, we assume the reference speed is 2000r/min and the DEC time (Pc.01)

is set as 1500, at this time the actual DEC time of the speed command is

1500×(2000/3000)=1000(ms). The meaning of the DEC time is shown in Fig. 6-10.

Function

code

Name Unit Range Default Mode

PC.02 S curve ACC time ms 0~1000 0 S

In a case of internal reference speed command, this parameter is used to set the

duration of the circular arc segment during S curve accelerating and thus can achieve

the goal of smoothly starting. S curve ACC time is shown in the figure as below:

Time t

Spe ed

Max. speed Set speed

Operation Manual of INVT CHS100 AC Servo Drive 6 Detailed parameter description

Fig 6-11 Schematic diagram of S curve ACC/DEC time

Function

code

Name Unit Range Default Mode

Pc.03 S curve DEC time ms 0~1000 0 S

In a case of internal reference speed command, this parameter is used to set the

duration of the circular arc segment during S curve decelerating and thus to achieve

the goal of smoothly stopping. The DEC time of S curve is shown in Fig. 6-11.

Function

code

Name Unit Range Default Mode

*Pc.04

Pulse input direction

reversing

- 0~1 0 P

By setting this parameter we can reverse the direction of the input pulse. At this time

the actual output speed direction of the servo drive is opposite to the direction indicated

by the pulse input form in Fig. 6-5.

0: Pulse input direction does not change;

1: Pulse input direction is opposite to the original input direction.

Function

code

Name Unit Range Default Mode

Pc.05 Zero speed range r/min 0~10.0 5.0 P.S.T

This parameter is used to set the zero speed range. When the absolute value of the

speed feedback is in this range, it is considered as zero speed and the output transistor

of the zero speed terminal (ZSO) signal comes into conduction.

Time t

Spe ed

Operation Manual of INVT CHS100 AC Servo Drive 6 Detailed parameter description

Function

code

Name Unit Range Default Mode

Pc.06

Range of position

reaching

pulse 0~10 3 P

This parameter is used to set the range of position reaching. When the deviation

between the position feedback pulse and position command pulse are in this range, it

is considered that it has reached the position and the output transistor of the position

reaching terminal (PLR) signal comes into conduction.

Function

code

Name Unit Range Default Mode

Pc.07

Range of speed

reaching

r/min 0~10.0 3.0 S

This parameter is used to set the range of speed reaching. When the deviation

between the speed feedback pulse and speed command pulse are in this range, it is

considered that it has reached the speed and the output transistor of the speed

reaching terminal (SR) signal comes into conduction.

Function

code

Name Unit Range Default Mode

Pc.08 Overspeed level r/min 0~6000.0 - P.S.T

This parameter is used to set the overspeed level of the servo motor. When the rotation

speed of the motor exceeds this speed setting, an overspeed fault alarm will be

reported.

The default of this parameter is related to the power level of the servo motor: higher

than 1.0kW (inclusive) is 2600.0 and less than 1.0kW is 5100.0.

Function

code

Name Unit Range Default Mode

Pc.09 Stopping method - 0~1 0 S

This parameter is used to set how the servo motor stops running when the zero speed

clamp terminal (ZRS) signal is set to ON in the speed mode:

0: Decelerate to stop. The DEC time is the setting values of parameter Pc.01、

Pc.03;

1: Instantly stop. The DEC time is 0.

Operation Manual of INVT CHS100 AC Servo Drive 6 Detailed parameter description

Function

code

Name Unit Range Default Mode

Pc.10

Internal speed/speed

limit 3

r/min -5000.0~5000.0 500．0 S

Pc.11

Internal speed/speed

limit 4

r/min -5000.0~5000.0 1000.0 S

The functions of this group of parameter are the same as parameter PA.09, PA.10.

They can be used to set the values of internal speed/internal speed limit 3 and internal

speed/internal speed limit 4. We can select which parameter is used to give out the

internal speed command/internal speed limit through the speed selection terminal (SC1

and SC2). See the description of PA.09, PA.10 for details of this group of parameters.

Function

code

Name Unit Range Default Mode

#Pc.12

Numerator of the 2nd electronic

gear

- 1~65535 1 P

#Pc.13

Denominator of the 2nd electronic

gear

- 1~65535 1 P

#Pc.14

Numerator of the 3rd electronic

gear

- 1~65535 1 P

#Pc.15

Denominator of the 3rd electronic

gear

- 1~65535 1 P

#Pc.16

Numerator of the 4th electronic

gear

- 1~65535 1 P

#Pc.17

Denominator of the 4th electronic

gear

- 1~65535 1 P

The functions of this group of parameters are the same as parameter PA.04, PA.05.

They are used to set the 2nd, 3rd and 4th electronic gears.

The servo drive provides 4 groups of electronic gears: parameters A.04, PA.05, Pc.12,

Pc.13, Pc.14, Pc.15, Pc.16, Pc.17. With the electronic gear selection terminal (SC1,

SC2) we can select which group of parameters is used to set the electronic gear. See

the description of PA.09, PA.10 for details of this group of parameters.

Operation Manual of INVT CHS100 AC Servo Drive 6 Detailed parameter description

Function

code

Name Unit Range Default Mode

Pc.18 Factory reserved - - 0 -

Pc.19

Matching resistor

selection

- 0~1 0 P.S.T

When adopt 485 communication, the matching resistors of equal resistance should be

fitted at the starting end and finishing end of the network.

0: the matching resistors are inactive;

1: the matching resistors are active.

Function

code

Name Unit Range Default Mode

Pc.20

Local drive

communication

address

- 0~31 1 P.S.T

This parameter is used to set the communication address of the local drive for RS485

serial communication.

Function

code

Name Unit Range Default Mode

*Pc.21 Communication mode - 0~1 0 P.S.T

This parameter is used to select the communication mode. The communication modes

are:

0: RS232;

1: RS485.

Function

code

Name Unit Range Default Mode

Pc.22

Communication baud

rate selection

- 0~4 0 P.S.T

This parameter is used to select the communication baud rate. Available baudrate are

as follow:

0:9600bps;

1:19200bps;

2:38400bps;

Operation Manual of INVT CHS100 AC Servo Drive 6 Detailed parameter description

3:57600bps;

4:115200bps.

Function

code

Name Unit Range Default Mode

Pc.23

Communication parity

mode

- 0~17 0 P.S.T

0: None (8, N, 1) for RTU;

1: Even (E, 8, 1) for RTU;

2: Odd (8, O, 1) for RTU;

3: None (8, N, 2) for RTU;

4: Even (E, 8, 2) for RTU;

5: Odd (O, 8, 2) for RTU;

6: None (N, 7, 1) for ASCII;

7: Even (E, 7, 1) for ASCII;

8: Odd (O, 7, 1) for ASCII;

9: None (N, 7, 2) for ASCII;

10: Even (E, 7, 2) for ASCII;

11: Odd (O, 7, 2) for ASCII;

12: None (N, 8, 1) for ASCII;

13: Even (E, 8, 1) for ASCII;

14: Odd (O, 8, 1) for ASCII;

15: None (N, 8, 2) for ASCII;

16: Even (E, 8, 2) for ASCII;

17: Odd (O, 8, 2) for ASCII;

Function

code

Name Unit Range Default Mode

Pc.24

Communication

response delay time

ms 0~200 0 P.S.T

Communication response delay time means the interval time from the end of the data

received by the subordinate machine (the machine means the servo drive) to sending

of response data by the upper PC. If the response delay time is shorter than the

processing time of the system, the response delay time will take the system processing

time as final. If the response delay time is longer than the processing time of the

Operation Manual of INVT CHS100 AC Servo Drive 6 Detailed parameter description

system, after completion of data processing, the system will wait until the response

delay time is over before transmitting data to the upper PC.

Function

code

Name Unit Range Default Mode

Pc.25

Communication

overtime fault time

s 0~60.0 0.0 P.S.T

When this parameter is set as 0.0s, it does not perform communication overtime

detection.

When it is set as other virtual values, if the interval time between one communication

and the next communication exceeds the setting of the communication overtime fault

time, the servo drive will report a communication fault alarm (Er-CT).

In general, the communication overtime detection is set as inactive. In a system that

communicates continuously, the communication state can be monitored

instantaneously by setting this parameter.

Function

code

Name Unit Range Default Mode

Pc.26

Communication fault

processing method

- 0~1 0 P.S.T

This parameter is used to select the action of the servo drive when a communication

fault alarm occurs:

0: Alarms and stops (with the stopping mode set by parameter Pc. 52);

1: Do not alarm and continue to run.

Function

code

Name Unit Range Default Mode

PC.27

Communication

response enabling

- 0~1 1 P.S.T

This parameter is used to select whether a response is required when a parameter is

written through communication:

0: Response is unnecessary;

1: Response is necessary.

Operation Manual of INVT CHS100 AC Servo Drive 6 Detailed parameter description

Function

code

Name Unit Range Default Mode

Pc.28

Voltage lower limit of AI

V -10.00~10.00 -10.00 S.T

Pc.29

Corresponding setting

of lower limit of AI 1

r/min -5000~5000 - S.T

Pc.30

Voltage upper limit of AI

V -10.00~10.00 10.00 S.T

Pc.31

Corresponding setting

of upper limit of AI 1

r/min -5000~5000 - S.T

Pc.32

Voltage lower limit of AI

V -10.00~10.00 -10.00 P.S.T

Pc.33

Corresponding setting

of lower limit of AI 2

% -100.0~100.0 -100.0 P.S.T

Pc.34

Voltage upper limit of AI

V -10.00~10.00 10.00 P.S.T

Pc.35

Corresponding setting

of upper limit of AI 2

% -100.0~100.0 100.0 P.S.T

This group of parameters defines the relationships between the analog input voltage

and its corresponding setting. When the analog input voltage exceeds the set upper

limit or lower limit range, the part beyond will be calculated as the upper limit or lower

limit.

AI 1 indicates the signal inputted from the analog speed/speed limit terminal (VA). The

corresponding setting of the upper/lower limit is a speed value. In the speed mode, it is

used as a speed command signal. Its input has directionality. We can adjust the

corresponding relationship between the AI voltage and speed command by setting this

group of parameters to meet the requirements of different applications. In the torque

mode, it is used as the speed limit signal. Its absolute value is used to limit the

positive/negative speed (i.e. the absolute value of the actual speed is limited below this

value).

AI 2 indicates the signal inputted from the analog torque/torque limit terminal (TA). The

corresponding setting of the upper/lower limit is expressed with percentage. 3 times the

rated torque of the servo motor is taken as 100%. In the torque mode, it is used as

Operation Manual of INVT CHS100 AC Servo Drive 6 Detailed parameter description

torque command signal. Its input has directionality. We can adjust the corresponding

relationship between the AI voltage and torque command by setting this group of

parameters to meet the requirements of different applications. In the speed mode, it is

used as torque limit signal. Its absolute value is used to limit the positive/negative

torque (i.e. the absolute value of the actual torque is limited below this value).

Take a 1.5kW servo drive as an example. The motor speed is controlled by analog

input. It is required that ±8V correspond to ±4000r/min. We set Pc.28=-8.00,

Pc.30=8.00. Pc.29=-4000, Pc.31=4000. The relationship between the actual speed

setting and the input voltage is shown in the figure as below:

Fig. 6-12 Schematic diagram of AI setting

The defaults of the corresponding settings of the lower limit and upper limit of AI 1 are

related to the power level of the drive: higher than 1.0kW (inclusive) are -2500 and

2500, less than 1.0kW are -5000 and 5000.

Function

code

Name Unit Range Default Mode

Pc.36 Voltage lower limit of AO 1 V 0.00~10.00 0.00 P.S.T

Pc.37

Corresponding setting of

lower limit of AO 1

% 0.0~100.0 0.0 P.S.T

Pc.38 Voltage upper limit of AO 1 V 0.00~10.00 10.00 P.S.T

Pc.39

Corresponding setting of

upper limit of AO 1

% 0.0~100.0 100.0 P.S.T

Pc.40 Voltage lower limit of AO 2 V 0.00~10.00 0.00 P.S.T

Pc.41

Corresponding setting of

lower limit of AO 2

% 0.0~100.0 0.0 P.S.T

Speed

Vol tage

Operation Manual of INVT CHS100 AC Servo Drive 6 Detailed parameter description

Function

code

Name Unit Range Default Mode

Pc.42 Voltage upper limit of AO 2 V 0.00~10.00 10.00 P.S.T

Pc.43

Corresponding of upper

limit of AO 2

% 0.0~100.0 100.0 P.S.T

This group of parameters defines the relationships between the analog output voltage

and its corresponding setting. When the analog output voltage exceeds the set upper

limit or lower limit range, the part beyond will be calculated with the upper limit or lower

limit.

AO1 indicates the signal outputted from the analog output 1 (AO1) terminal. AO2

indicates the signal outputted from the analog output 2 (AO2) terminal. The output

signal has no directionality. All output values represent the absolute values of the

setting signals.

The specific meanings of AO signals are selected by Pc.48 and Pc.49. The

corresponding settings of the upper/lower limits are expressed by a percentage. The

maximum is taken as 100% and the determination of the maximum is listed in the table

below:

Outputs Maximum

Motor speed 5000r/min

Output torque 3 times of the servo motor rated torque

Output current 3 times of the servo motor rated current

Bus voltage 500V

Speed setting 5000r/min

Torque setting 3 times of the servo motor rated torque

Take a 1.5kW servo drive as an example. We want to output the actual speed from the

analog output 1 terminal (AO1) to observe and require that 8V corresponds to

5000r/min and 0V corresponds to 0r/min. On this condition, set Pc.44=0, Pc.36=0.00,

Pc.38=8.00, Pc.37=0.0, Pc.39=100.0, the relationship between the actual speed

setting and the output voltage is shown in the figure as below:

Operation Manual of INVT CHS100 AC Servo Drive 6 Detailed parameter description

Fig. 6-13 Schematic diagram of AO setting

Function

code

Name Unit Range Default Mode

Pc.44 Offset voltage of AI1 V -2.00~2.00 0.00 S.T

Pc.45 Offset voltage of AI2 V -2.00~2.00 0.00 P.S.T

Pc.46 Offset voltage of AO1 V -2.00~2.00 0.00 P.S.T

Pc.47 Offset voltage of AO2 V -2.00~2.00 0.00 P.S.T

This group of parameters is used to fine adjust AI1, AI2, AO1, AO2 as required and

thus to improve the effective accuracy of AI and AO.

For AI, due to zero drift of the AI devices and other reasons, the actual AI

corresponding value may deviate from the expected value. At this time it can be

eliminated by setting the offset of AI. Similarly, the deviation of the actual AO value from

the expected corresponding value caused by zero drift of AO devices and other

reasons can be eliminated by setting the offset of AO.

For example, after the analog setting signal is connected into the AI terminal (VA) of the

drive, even though the analog setting signal is 0, the front panel displays the analog

speed command voltage (dp-An1) is 0.02V. On this condition, parameter Pc.44 should

be set as 0.02. The drive will automatically subtract 0.02V from the AI value received. If

the front panel displays the analog speed command voltage is -0.02V, parameter Pc.44

should be set as -0.02. The drive will automatically add 0.02V to the AI value received.

The setting method of the AO offset is the same as that of the AI offset. The meaning of

the analog offset voltage is shown in the figure as below:

Voltag e

Speed

Operation Manual of INVT CHS100 AC Servo Drive 6 Detailed parameter description

Fig. 6-14 Schematic diagram of analog offset voltage

Function

code

Name Unit Range Default Mode

Pc.48 AO 1 selection - 0~5 0 P.S.T

Pc.49 AO 2 selection - 0~5 0 P.S.T

This group of parameters is used to select the monitoring parameters to be outputted in

analog form. The monitoring parameters are:

0: Motor speed;

1: Output torque;

2: Output current;

3: Bus voltage;

4: Speed setting;

5: Torque setting.

Function

code

Name Unit Range Default Mode

Pc.50

Locked time of servo

after braking

ms 100~1000 100 P.S.T

This parameter is used to set the locked time of the servo after braking in the locked

state. The servo is OFF in the locked state, the output transistor of the brake releasing

terminal (BRK) signal turns off. At this time, the servo will continue to be locked for a

period of time so that the motor will not rotate during the action of the relay. Refer to

chapter 5.1.8 for the sequence relationship.

Function

code

Name Unit Range Default Mode

Pc.51 Braking delay time of the ms 0~5000 1000 P.S.T

Sampled voltage value

Before setting

fter setting

ctual voltage value

Operation Manual of INVT CHS100 AC Servo Drive 6 Detailed parameter description

electromagnetic brake

This parameter is used to set the braking delay time of the electromagnetic brake. The

servo is OFF or an alarm occurs in the running state, in this condition, the speed may

be relatively high, so the output transistor of the brake releasing terminal (BRK) signal

can be turned off after a delay time. If the speed falls below 30r/min within the delay

time, the output transistor of the BRK signal will be turned off ahead of time. Please

refer to chapter 5.1.8 for its sequence relationship.

Function

code

Name Unit Range Default Mode

Pc.52

Stopping mode

selection

- 0~3 0 P.S.T

This parameter is used to set, when the servo is turned OFF and when an fault alarm

occurs, whether the dynamic brake works or not as well as the state selection of the

servo motor after stop:

0: Coast to stop and then keep the dynamic braking state;

1: Dynamic brake to stop and then keep the dynamic braking state;

2: Dynamic brake to stop and then keep the inertia running state;

3: Coast to stop and then keep the inertia running state.

Note: If the servo motor exceeds the rated speed and runs at high speed, please do not

activate the dynamic brake. If the servo motor runs at higher speed with a load which

has large inertia, please be prudent in activating the dynamic brake. Avoid by all means

activating the dynamic brake too frequently as this may damage the servo drive.

Function

code

Name Unit Range Default Mode

Pc.53

Resistance of the

external braking

resistor

Ω 1~100 1 P.S.T

Pc.54

Power of the external

braking resistor

W 0~1500 0 P.S.T

When an external braking resistor is connected, this group of parameters should be set

with the values equal to the resistance and power of the external braking resistor.

Please set this group of parameters correctly. Otherwise if the values of this group of

parameters are not matched with the parameters of the external braking resistor, it may

Operation Manual of INVT CHS100 AC Servo Drive 6 Detailed parameter description

report a braking overload fault (Er-bCE) by mistake or cause burnout of the braking

resistor. The regenerative braking overload protection time is proportional to these two

parameters. When Pc.54=0, the internal braking resistor is active.

Function

code

Name Unit Range Default Mode

Pc.55

Numerator of the frequency

division coefficient of encoder

pulse output

1 0~10000 0 P.S.T

Pc.56

Denominator of the frequency

division coefficient of encoder

pulse output

1 1~10000 1 P.S.T

By setting the numerator and denominator of the frequency division coefficient of

encoder pulse output, the phase A and phase B signals of the encoder can be

frequency divided by any integer or decimal fraction and then outputted through the

encoder’s pulse output signal terminals (OA+, OA-, OB+, OB-).

It should be noted that in the position control mode, if the encoder output signal of the

preceding stage servo motor is used as the position pulse command input of the

succeeding stage servo drive, i.e. as start/stop type master-slave follow-up, in order to

ensure high positioning accuracy of the succeeding stage servo drive, the frequency

division coefficient must be 1:1. Otherwise the accuracy of master-slave position

follow-up will be affected in this case.

Function

code

Name Unit Range Default Mode

Pc.57

Pulse range for

over-position

pulse 0~50000 20000 P

This parameter is used to set the alarm threshold for the over-position fault (ER-oE). In

the position mode, when the number of retention pulses exceeds this setting, an

over-position fault alarm will be reported.

Function

code

Name Unit Range Default Mode

Pc.58

Polarity reversing of

digital quantity

- 00000~ 11111 00 000 P

This parameter is used to reverse the polarity of the digital quantities. It is a binary

Operation Manual of INVT CHS100 AC Servo Drive 6 Detailed parameter description

number. Each bit corresponds to a digital input. 0 indicates that the polarity does not

change. 1 indicates to reverse the polarity of the digital quantity corresponding to this

bit. The corresponding relationships between each bit and the digital quantity are (see

chapter 4.5.8.3 for detailed description of the signs of the digital quantities):

BIT4 BIT3 BIT2 BIT1 BIT0

RPC PLL CLA ZRS SON

6.4 Status monitoring parameters (Pd group parameters)

Function code Symbol Name Unit Accuracy

Pd.00 dP-SPd Motor rev r/min 0.1

Display the actual rotation speed of the motor.

Function code Symbol Name Unit Accuracy

Pd.01 dP-FPL

Lower 5 bits of

feedback pulse

accumulation

pulse 1

Count and display the lower 5 bits of accumulated pulse fed back from the encoder of

the servo motor, with sign bit.

Function code Symbol Name Unit Accuracy

Pd.02 dP-FPH

Higher 5 bits of

feedback pulse

accumulation

pulse 1

Count and display the higher 5 bits of accumulated pulse fed back from the encoder of

the servo motor, with a sign bit.

Function code Symbol Name Unit Accuracy

Pd.03 dP-rPL

Lower 5 bits of

command pulse

accumulation

pulse 1

Count and display the lower 5 bits of the number of the accumulated input pulses. The

displayed number is the pulse number before being amplified by the electronic gear.

The display content may not be consistent with the accumulated number of the

feedback pulses, with a sign bit.

INVT CHS100 Operation Manual

Specifications and Main Features

Frequently Asked Questions

User Manual