INVT DA180-S2R8SG0, DA180-S1R3SG0, DA 180 Series, DA180-S1R8SG0, DA180-S5R0SG0 Operation Manual

DA180 series basic AC servo drive Preface

Preface

Thanks for choosing DA180 series basic AC servo drive (DA180 drive for short). DA180 drive is a new generation of basic servo drive that INVT develops, using the modular design, USB communication with the upper computer software, and bus control options Modbus and CANopen. In addition, DA180 drive supports online and offline inertia identifying, gain switching, auto and manual notch filters, auto and manual vibration control filters, medium-frequency vibration suppression, internal point-to-point (PTP) control, fully-closed loop control, and multiple types of encoders. The electromagnetic compatibility design enables DA180 drive to provide strong anti-electromagnetic interference capacity but also achieve low noise and electromagnetic interference weakening in the application sites. This manual describes the installation, wiring, parameter setting, fault diagnosis, and daily maintenance. Read this manual carefully before installing DA180 drive so that it works properly. If the product is ultimately used for military affairs or weapon manufacture, it will be listed on the export control formulated by Foreign Trade Law of the People's Republic of China. Rigorous reviews and necessary export formalities are required before the export. INVT reserves the right to update manual information without prior notice.

-I-

DA180 series basic AC servo drive Safety precautions

Read this manual and follow the instructions. Do not touch terminals within 15 minutes after power-on

or power-off. Otherwise, electric shock may result. Do not touch the heat sink. Otherwise, burns may result. The contact current can reach 0.5mA. Reliable grounding

must be complete before the use.

When the life cycle ends, the product should enter the recycling system. Dispose of it separately at an appropriate collection point instead of placing it in the normal waste stream.

Safety precautions

Safety symbols

The safety symbols are marked in the front or side of the servo drive. Follow the safety instructions when operating on the servo drive.

Recycling symbol

Check the following safety precautions before the installation, wiring, operation, maintenance, or inspection:

 Ensure that the AC power supply is consistent with the rated voltage of the drive. Otherwise,

drive damages, body injuries, or fire may result.

 Do not connect an input power cable to an output terminal. Otherwise, drive damages may result.  Do not carry out any insulation and voltage withstand test to the drive directly, and do not test the

control circuit of the drive by megameter.

 Connect the drive and motor in the correct phase sequence. Otherwise, drive faults or damages

may be caused.

 To avoid accidents, disconnect the motor from the drive before trial operation, and then run the

motor independently.

 Ensure that the drive can be disconnected from the power supply by the emergency switch

before mechanical running.

 Set the corresponding parameters before operation. Otherwise, the drive may run abnormally or

unexpectedly due to load issues.

 Only qualified electrical engineers can carry out the wiring. Otherwise, electric shock or fire may

result.

-II-

DA180 series basic AC servo drive Safety precautions  Do not touch the conductive parts directly, and do not connect any external cables (especially

heavy-current related) to the housing or in short-circuited way. Otherwise, electric shock or short circuit may result.

 Rewire the drive at least 15 minutes after disconnecting it from the power supply. Otherwise,

electric shock may result.

 Use proper grounding techniques because the touch current may reach 0.5mA. Otherwise,

electric shock may result.

 Do not touch the heat sink or external brake resistor during operation. Otherwise, burns may

result due to high temperature.

 Install the overcurrent protector, leakage current protector, and emergency brake, and ensure the

normal usage after wiring. Otherwise, electric shock, body injuries, or fire may result.

 The leakage current may exceed 2mA during the drive running. Ground with proper techniques.

Ensure that the grounding resistance is less than 10Ω and the PE earth conductor and the phase conductor are the same in conductivity (with the same cross-sectional area).

 Dispose of a scrap drive as industrial waste.

-III-

DA180 series basic AC servo drive Contents

1 Overview

1.1 Servo drive ........................................................................................................................... 2

1.1.1 Drive introduction ..................................................................................................... 2

1.1.2 Outline drawing ........................................................................................................ 6

1.1.3 Drive naming ............................................................................................................ 7

1.1.4 Drive nameplate ....................................................................................................... 7

1.1.5 Drive ratings and frame sizes.................................................................................... 8

1.2 Servo motor .......................................................................................................................... 8

1.2.1 Motor nameplate ...................................................................................................... 8

1.2.2 Motor naming ........................................................................................................... 8

1.3 Cables ................................................................................................................................ 10

1.3.1 Cable nameplate .................................................................................................... 10

1.3.2 Power cable naming ............................................................................................... 10

1.3.3 Power cable accessory naming .............................................................................. 11

1.3.4 Encoder cable naming ............................................................................................ 11

1.3.5 Encoder cable accessory naming ........................................................................... 12

1.3.6 Motor brake cable naming ...................................................................................... 12

1.4 Brake resistor specifications ................................................................................................ 13

-1-

DA180 series basic AC servo drive Overview

DA180 series servo drive (100W–1kW)

Specification

Description

Power supply

220V system input

voltage

1PH/3PH, AC 220V (±15%), 47Hz–63Hz

Port

Control

signal

Input

10 inputs (The function is configurable through parameter settings.)

Output

4 outputs (The function is configurable through parameter settings.)

Analog

Input

Two 12-bit analog inputs

Pulse signal

Input

1 group (of open collector input or differential input)

Output

1 group of differential outputs (A+/A-; B+/B-; Z+/Z-)

Encoder 2

Input

Incremental encoder (or grating ruler) interface

Communi-

cation

USB

1:1 communication upper computer software

RS485

1:n communication

CANopen

1:n communication

Control mode

1: Position control 2: Speed control 3: Torque control 4: Switching between the position and speed modes 5: Switching between the speed and torque modes 6: Switching between the position and torque modes 7: Fully-closed loop control 8: CANopen mode

Function

Position

control

Control input

1: Clearing residual pulses 2: Inhibiting command pulses 3: Switching electronic gear ratios 4: Switching vibration control

Control

output

Such as positioning completion output

Pulse input

Max. pulse input frequency

Photoelectric coupling: differential input of 4Mpps or open collector input of 200kpps

Pulse input

1: Pulse + direction 2: Clockwise + counterclockwise (CW + CCW)

1.1 Servo drive

1.1.1 Drive introduction

-2-

DA180 series basic AC servo drive Overview

DA180 series servo drive (100W–1kW)

Specification

Description

mode

3: Orthogonal coding

Electronic gear

1/10000—1000

Filter

1. Command smoothing filter

2. FIR filter

Analog input

Torque limit command input

This allows independent CW or CCW torque limit.

Vibration

control

This can suppress 1Hz–200Hz front-end vibration and entire-machine vibration.

Pulse output

1: This allows arbitrary frequency division settings under the encoder resolution. 2: This supports phase-B reserving.

Speed control

Control input

1: Internal command speed 1 2: Internal command speed 2 3: Internal command speed 3 4: Zero-point clamping

Control

output

Such as speed reaching

Analog input

Speed command input

You can enable speed command inputs after performing relevant settings based on the analog voltage DC±10V.

Torque limit input

This allows independent CW or CCW torque limit.

Internal

speed

command

The internal eight-step speeds can be switched based on external control inputs.

Speed command ACC/DEC

adjustment

This supports both independent ACC/DEC time setting and S-curve ACC/DEC setting.

Zero-point

clamping

In speed mode, this allows the hybrid speed or position working manner.

-3-

DA180 series basic AC servo drive Overview

DA180 series servo drive (100W–1kW)

Specification

Description

Speed command

filter

First-order delay filter from the analog input speed command.

Speed command

zero-drift

control

Zero-drift suppression on external interference.

Torque control

Control input

Such as zero-drift clamping input.

Control

output

Such as speed reaching.

Analog input

Torque command input

This allows gain and polarity settings based on analog voltage.

Speed limit input

This allows analog speed limits.

Speed limit

Speeds can be limited through parameter settings.

Torque

command

filter

First-order delay filter of the analog input speed command.

Torque

command

zero drift

Zero-drift suppression on external interference.

Internal

position

planning

Segment

planning

This supports 128-segment internal position planning. The positioning can be controlled through communication.

Route setting

1: Position 2: Speed 3: ACC time 4: DEC time 5: Stop timer 6: Status output 7: Running mode

Homing

1: LS signal 2: Phase-Z signal 3: LS signal + phase-Z signal

-4-

DA180 series basic AC servo drive Overview

DA180 series servo drive (100W–1kW)

Specification

Description

4: Torque limit signal

Protection

For hardware

Such as protection against overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder fault, and power outage detection.

For software

Such as protection against ROM fault, initialization fault, I/O distribution exception, and excessive position deviation.

Fault recording

1: Ten faults can be recorded. 2: Key parameters can be recorded when a fault occurs.

Environment

Working temperature

0–45°C

Storage temperature

-20–80°C (no frozen)

Working/storage humidity

≤90%RH (no condensation)

IP rating

IP20

Altitude

Below 1000m

Vibration

≤5.88m/s

2

, 10–60Hz (not allowing work at the resonance

point)

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DA180 series basic AC servo drive Overview

CHARG E in dica tor

Main circ uit powe r

Motor

Regen erat ive resi stor

Groun ding

CN2: Enco der inte rface

LED d ispl ay

Opera tion pan el

CN5: Full y-cl osed loop

CN3: CAN/ RS48 5 co mmuni ca tion int erfac e

CN4: Uppe r co mput er in te rfac e

CN1:I /O c ontr ol i nterf ac e

1.1.2 Outline drawing

-6-

DA180 series basic AC servo drive Overview

DA180-S 2R8 S G 0

① ② ③ ④ ⑤ ⑥

No.

Description

Example

①

Product category

DA180: Servo drive series

②

Voltage class

S: 220V

③

Rated output current

1R3: 1.3A 1R8: 1.8A 2R8: 2.8A 4R5: 4.5A 5R0: 5.0A

④

Communication type

S: Support for RS485 and CAN

⑤

Function category

G: Basic

⑥

Encoder type

0: Absolute and incremental

上海英威腾工业技术有限公司

INVT INDUSTRIAL TECHNOLO G Y (SHANGHAI)CO ., L TD

Made in China

MODEL: INPUT:

OUTPUT:

S/N:

DA180-S2R8SG0 1PH, AC 220V ( 15%),47~63Hz,

3.6A

±

3PH, AC 0~220V,0 ~400Hz,2.8A,400W

1.1.3 Drive naming

1.1.4 Drive nameplate

-7-

DA180 series basic AC servo drive Overview

Model

Input

Output

Frame

size

Voltage (V)

Rated

current (A)

Power (kW)

Rated

current (A)

DA180-S1R3SG0

1PH 220

0.9

0.1

1.3

A

DA180-S1R8SG0

1PH 220

1.8

0.2

1.8

A

DA180-S2R8SG0

1PH 220

3.6

0.4

2.8

A

DA180-S4R5SG0

1PH 220

6.8

0.75

4.5

B

DA180-S5R0SG0

1PH 220

9.1

1.0 5 B

S/N:

INPUT: AC 3PH 220V 2.8A

OUTPUT(RATED): 400W 3000r/min 1.3N·m

MADE IN C HINA

INVT INDUSTRIAL TECHNOLOGY CO.,LTD.

MODEL: SV-ML06-0R4G-2-SA0-1000

IP65 S1 CLASS F NO.3010004

No.

Description

Example

①

Product category

SV: Servo system product

②

Product series

M: Series M C: Series C S: Series S

1.1.5 Drive ratings and frame sizes

1.2 Servo motor

1.2.1 Motor nameplate

Note: "No. 3010004" in the nameplate indicates the motor model code (motor code for short). Enter

this code to the servo parameter P0.00, which is a long parameter and can be set through the keypad. For details, see Step 8 "Set long parameters (with 6 digits at least)" in "Operation flowchart" in section

5.2.1 "Display". Incorrect setting may cause abnormal running of the servo system or even a major fault to the drive and motor.

1.2.2 Motor naming

-8-

DA180 series basic AC servo drive Overview

No.

Description

Example

③

Inertial

classification

L: Small inertia M: Medium inertia H: Large inertia

④

Base model no.

06: 60mm 08: 80mm 13: 130mm

⑤

Rated power

0R2: 200W 0R4: 400W 0R7: 750W 1R0: 1.0kW

⑥

Rated revolutions

per minute

(RPM)

A: 1000rpm

(2)

B: 1500rpm E: 2000rpm F: 2500rpm G: 3000rpm

⑦

Voltage class

2: 220VAC

⑧

Encoder type

9: 23-bit multiturn absolute S: 17-bit single-turn absolute

(1)

⑨

Shaft end

connection

A: Solid with threaded hole and key (standard) B: Solid optical axis

(1)

⑩

Optional part

0: With oil seal but no brake 1: Without oil seal or brake

(1)

2: With oil seal and permanent magnet brake 3: Without oil seal but with permanent magnet brake

(1)

4: With oil seal and electromagnetic brake

(2)

5: Without oil seal but with electromagnetic brake

⑪

Lot no.

Manufacturer lot number

(3)

Remarks:

(1)

: For a model without standing inventory, the lead time is longer than usual.

(2)

: When an electromagnetic brake motor is used, since the electromagnetic brake will have backlash, there will be a small clearance (less than  0.5°) in the rotating direction if the motor brake is closed. Pay attention to this in vertical shaft application scenarios. There is no clearance when a permanent magnetic brake is used.

(3)

: Leave it empty for the first-time model selection.

-9-

DA180 series basic AC servo drive Overview

67002-01105

MAD E IN CH INA

Shielded 3m power cable w ith 4-pin m etal plu g and 3-pin 20A plug, 0.75m m dia meter

DAM L- 07 5- 03 -CCA -00

R

INVT IN DUS TRIAL T ECHNOL OGY( SHANG H AI) CO.,LTD .

上海英威腾工业技术有限公司

2

No.

Description

Example

①

Product series

Manufacturer use only

②

Power cable

ML: Power cable

③

Cable diameter

075: 0.75mm2

④

Cable length

03: 3 meters 05: 5 meters 10: 10 meters 15: 15 meters 20: 20 meters ...

⑤

Motor connection plug

B: 4-pin regular aviation plug YD28 C: 4-pin metal plug

⑥

Drive connection plug

C: European 3-pin 20A plug

⑦

Cable material

0: Common cable A: Common shielded cable B: Shielded flexible towline cable F: Flexible towline cable

1.3 Cables

1.3.1 Cable nameplate

1.3.2 Power cable naming

-10-

DA180 series basic AC servo drive Overview

No.

Description

Example



Serial no.

00: Standard part 01: Serial number for a non-standard part ...

No.

Description

Example

①

Product series

Manufacturer use only

②

Power cable

ML: Power cable

⑤

Motor connection plug

B: 4-pin regular aviation plug YD28 C: 4-pin metal plug

⑥

Drive connection plug

C: European 3-pin 20A plug

No.

Description

Example

①

Product series

Manufacturer use only

②

Encoder cable

EL: Encoder cable

③

Number of cores

06: 6-core cable 15: 15-core cable

④

Cable length

03: 3 meters 05: 5 meters 10: 10 meters 15: 15 meters 20: 20 meters ...

⑤

Motor connection plug

B: 15-pin regular aviation plug YD28 C: 9-pin metal plug

1.3.3 Power cable accessory naming

1.3.4 Encoder cable naming

-11-

DA180 series basic AC servo drive Overview

No.

Description

Example

⑥

Cable material

0: Common cable F: Flexible towline cable

⑦

Encoder type

04: 17-bit/23-bit absolute



Serial no.

00: Standard part 01: Serial number for a non-standard part ...

No.

Description

Example

①

Product series

Manufacturer use only

②

Encoder cable

EL: Encoder cable

⑤

Motor connection plug

B: 15-pin regular aviation plug YD28 C: 9-pin metal plug

⑨

Drive connection plug

A: 15-pin DB plug

No.

Description

Example

①

Product series

BRKL: Motor brake cable

②

Cable length

10: 10m

③

Motor connection plug

A: 2-pin metal plug B: 3-pin regular aviation plug C: 3-pin metal plug

1.3.5 Encoder cable accessory naming

1.3.6 Motor brake cable naming

-12-

DA180 series basic AC servo drive Overview

Drive model

Specification of built-in

brake resistor

Min. resistance of external

brake resistor

DA180-S1R3SG0

/

60Ω

DA180-S1R8SG0

/

60Ω

DA180-S2R8SG0

/

60Ω

DA180-S4R5SG0

45Ω 60W

30Ω

DA180-S5R0SG0

45Ω 60W

30Ω

1.4 Brake resistor specifications

-13-

DA180 series basic AC servo drive Installation instructions

2 Installation instructions

2.1 Drive dimensions ................................................................................................................ 15

2.1.1 Dimension drawing for frame size A/B ..................................................................... 15

2.1.2 Models and dimensions .......................................................................................... 15

2.2 Drive installing .................................................................................................................... 16

2.2.1 Installation mode .................................................................................................... 16

2.2.2 Installation directions and clearances...................................................................... 17

2.3 Motor outline and mounting dimensions .............................................................................. 18

2.3.1 For base-60 motors ................................................................................................ 18

2.3.2 For base-80 motors ................................................................................................ 18

2.3.3 For base-130 motors .............................................................................................. 19

2.4 Motor installing ................................................................................................................... 19

2.5 Servo-motor technical parameters....................................................................................... 19

2.5.1 For motors (using multiturn absolute encoders)....................................................... 19

-14-

DA180 series basic AC servo drive Installation instructions

2

N

C

W

V

U

C

3

N

1

N

C

L1

B3

B2

L2

CH A RG E

4

N

C

Frame size

Model

Outline dimensions

Mount

dimensions

Mount hole

(mm)

H

(mm) W (mm)

D

(mm)

A

(mm) B (mm)

A

DA180-S1R3SG0

160

42

141

32

150

M4(Φ5) DA180-S1R8SG0

DA180-S2R8SG0

B

DA180-S4R5SG0

160

50

141

40

150

M4(Φ5) DA180-S5R0SG0

2.1 Drive dimensions

2.1.1 Dimension drawing for frame size A/B

2.1.2 Models and dimensions

-15-

DA180 series basic AC servo drive Installation instructions

2.2 Drive installing

2.2.1 Installation mode

Base installation mode

There is a Φ5 installation hole at the upper left corner and one at the lower right corner of the rear panel.

-16-

DA180 series basic AC servo drive Installation instructions

> 100mm

> 40mm

> 20mm > 20mm

> 100mm

Upper

Lower

>

20mm

Lower

>

100mm

>

20mm

>

20mm

> 100mm

>

40mm

Upper

2.2.2 Installation directions and clearances

Install the servo drive vertically and keep enough space for good ventilation. If necessary, install a fan to ensure the temperature inside the control cabinet is lower than 45°C.

Installing one drive

Installing multiple drives

-17-

DA180 series basic AC servo drive Installation instructions

-0. 025

14

-0.011

5

11

+0

-0. 1

SECTION A-A

□60

M5(Height: 12)

L

3

30

0

50

23

70

2

6.5

A

16. 6

75.5

0

54.4-

Motor model

L(mm)

Without brake

With brake

SV-ML06-0R2G-2-SA

100.5

137.5

SV-ML06-0R4G-2-SA

124.5

161.5

S

22

35 L

3

74-

6

10

19.5

2

SECTION S -S

-0.013

0

19

M5(Height : 12)

6

15.5

+0

-0. 2

90

95.5



-0. 03

0

70

Motor model

L(mm)

Without brake

With brake

SV-ML08-0R7G-2-SA

126.5

173

2.3 Motor outline and mounting dimensions

Note: Motor structural dimensions may vary with design modification. If you are sensitive to motor

mounting dimensions, check the dimensions with sales staff before ordering. In this section, if not otherwise specified, all the dimensions are expressed in millimeter (mm).

2.3.1 For base-60 motors

2.3.2 For base-80 motors

-18-

DA180 series basic AC servo drive Installation instructions

SEC TION A- A

A

M6( Heig ht: 22 )

24.5

24

54

12

L

2

424.

6

55

130

145



179. 5

9

4-

(83)

(114 .5)

165

(h7)

-0.035

0

110

Motor model

L(mm)

Without brake

With brake

SV-MM13-1R0E-2-SA

143

185

Motor model

(2500 PPR/multiturn

absolute)

Rated power (kW)

Rated current

(A)

Max.

transient

current

(A)

Rated

torque

(Nm)

Max.

transient

torque (Nm)

Rated

RPM

Max.

RPM

Rotation

inertia

without/with

brake

(kg·cm²)

Voltage

(V)

Weight

without/

with brake

(kg)

ML series with small inertia

SV-ML06-0R2G-2-SA

0.2

1.5

4.5

0.64

1.92

3000

5000

0.198/0.294

220

1.4/1.6

SV-ML06-0R4G-2-SA

0.4

2.8

8.4

1.3

3.9

0.33/0.426

1.8/2.0

SV-ML08-0R7G-2-SA

0.75

4.5

13.5

2.4

7.2

1.28/1.51

3.0/3.5

MM/SM series with medium inertia

SV-MM13-1R0E-2-SA

1

4.8

14.4

4.78

14.3

2000

2750

6.4/8.3

220

5.8/7.5

Insulation class

Class F(155°C)

IP rating

IP65

Application environment

Temperature: -20°C–+40°C (non-frozen); RH: below 90% (no condensation)

2.3.3 For base-130 motors

2.4 Motor installing

 Do not pull the motor leads or output shaft when moving the motor.  Do not beat or hammer the motor during the motor assembly. Otherwise, the encoder or shaft

may be damaged.

 Wipe the anti-rust oil from the motor shaft before use.

2.5 Servo-motor technical parameters

2.5.1 For motors (using multiturn absolute encoders)

-19-

DA180 series basic AC servo drive Wiring instructions

3 Wiring instructions

3.1 System wiring ..................................................................................................................... 21

3.1.1 Input power cable requirements .............................................................................. 22

3.1.2 Control cable requirements ..................................................................................... 22

3.1.3 Main circuit cable diameters ................................................................................... 23

3.1.4 EMI filter models ..................................................................................................... 23

3.2 Main circuit terminal wiring (1PH 220V) ............................................................................... 24

3.3 Motor power cable wiring .................................................................................................... 25

3.3.1 Power cable for base-60/80 motors using 17- or 23-bit encoders ........................... 25

3.3.2 Power cable for base-130 motors using 17- or 23-bit encoders ............................. 25

3.4 Motor encoder cable wiring ................................................................................................. 25

3.4.1 Cable for 17- or 23-bit encoder used by base-60/80 motors .................................... 25

3.4.2 Cable for 17- or 23-bit encoder used by base-130 motors ....................................... 26

3.5 Wiring for control I/O terminal CN1 ...................................................................................... 26

3.6 Wiring for encoder terminal CN2 ......................................................................................... 27

3.7 Wiring for RS485/CAN communication terminal CN3........................................................... 27

3.8 Wiring for USB terminal CN4 ............................................................................................... 28

3.9 Wiring for second-encoder terminal CN5 ............................................................................. 28

-20-

DA180 series basic AC servo drive Wiring instructions

To cut off the circuit if the power l ine encounters overcurrent.

To prevent

interference from

the outside of the

power line

Filter

Circuit breaker for wiring

To turn on/off the servo power. If it is needed, install the surge suppressor.

Extern al regene ra tiv e brake re sis tor

Elec trom ag ne tic co ntact or

Com p ute r

MiniUSB cable

Upp er de vic e

Grating rul er

CAN/RS485 communication

Signal (I/O) cable

Motor main-circuit cable

Servo mo tor

Encoder connection cable

Bat ter y u nit

(needed when absolute multiturn encoder used)

Encoder signal

Power

L1 L2

Bra ke power

(DC24V, user provided)

3.1 System wiring

 Before turning on the driver input power, ensure that the input power supply specifications

 The electromagnetic contactor is used to switch on or off the main-circuit power supply of the

 In the figure, as the external regenerative brake resistor is connected, the short-connection cable

indicated on the nameplate are consistent with those of the grid.

servo drive. Do not use this contactor to start or stop the servo drive.

between B2 and B3 must be removed. For details about the connection, see section 3.2 "Main circuit terminal wiring". The resistor must be installed on nonflammable material with good heat dissipation performance, such as metal.

-21-

DA180 series basic AC servo drive Wiring instructions

Conductor

Sleeve Insulation

PE

Shielded layer

Four-core cable with shielded layer

Multiple double-shielded twisted pairs Multiple single-shielded twisted pairs

3.1.1 Input power cable requirements

The input power cable dimensions must comply with local regulations.

 The input power cable must be able to withstand the load current.  The maximum rated temperature margin of the input power cable cannot be lower than 70°C

under continuous running.

 The PE grounding conductor and phase conductor are the same in conductivity (since they are

the same in cross-sectional area).  See IEC/EN 61800-3:2004 for EMC requirements. The shielded four-core cable is recommended as the input power cable.

When the shielded cable and phase conductor use the same type of material, in order to protect the conductors properly, the shielded cable and phase conductor must be the same in cross-sectional area, which helps reduce grounding resistance to improve impedance continuity. To suppress the emission and transmission of RF, the conductivity of the shielded cable must be at least 1/10 of phase conductor conductivity. The shielded-layer coverage rate must be at least 85%.

3.1.2 Control cable requirements

All analog control cables and cables used for frequency input must be shielded cables. Analog signal cable use double-shielded twisted pairs (shown in figure a). Each type of signal occupies an independent shielded twisted pair. Different types of analog signal must occupy different grounding wires.

For low voltage digital signals, double-layer shielded cables are recommended, though unshielded pairs or single-shielded pairs (shown in figure b) can be used. However, for pulse input signals, only shielded cables can be used. Only shielded twisted pairs can be used as communication cables.

-22-

DA180 series basic AC servo drive Wiring instructions

Main circuit cable diameters for models in the small power range (100W–1kW)

Drive model

Recommended cable

diameter (mm2)

Connectable cable

diameter (mm2)

Terminal

screw

size

Tightening

torque

(Nm)

L1\L2\L3

UVW

PE

L1C\L2C

L1\L2\L3

UVW

(+) B2

B3(-)

PE

DA180-S1R3SG0

0.75

0.75~4

M2.5

0.3~0.6

DA180-S1R8SG0

DA180-S2R8SG0

DA180-S4R5SG0

DA180-S5R0SG0

1.5

0.75

1.5~4

M2.5

0.3~0.6

Drive model

EMI filter model

DA180-S1R3SG0

FLT-P04006L-B DA180-S1R8SG0

DA180-S2R8SG0

DA180-S4R5SG0

DA180-S5R0SG0

FLT-P04016L-B

3.1.3 Main circuit cable diameters

3.1.4 EMI filter models

Note: The EMI filter models in the table are INVT models. The EMI filter is used at the power input

end.

-23-

· Keep the cable for connecting B2 and B3 in place unless an external regenerative brake resistor is used.

· If you use an external regenerative brake resistor, remove the connection cable between B2 and B3 and connect the resistor as shown in the dashed box.

· Connect the servo motor cables to the drive output terminals U, V, and W according to the correct phase sequence. Incorrect phase sequence may cause a drive fault.

· Ground the servo drive properly. Otherwise, electrical shocks may be caused.

· Prepare the 24VDC power for electromagnetic braking by yourself and isolate it from the DC12~24V power for signal control.

· Pay attention to free-wheeling diode connection. Reversed polarity may cause drive damage.

· Employ this emergency stop circuit.

· Add a surge absorber to each end of the electromagnetic contactor coil.

· Input voltage of power:

AC 220V(-15%)~240V(+10%)

Yellow/

Green

Surge absorber

Fuse

Breaker

MC

ALM

CN1

Emergency stop button

RY

EMI

Filter

DC 12~24V

(±10%)

DC 24V

(±10%)

OFF

ALM

ON

+

-

+

-

Motor

L1 L2

B3

+

B2

U

V

W

-

DO-

DO+

DA180 series basic AC servo drive Wiring instructions

3.2 Main circuit terminal wiring (1PH 220V)

-24-

DA180 series basic AC servo drive Wiring instructions

WVU

X1

X2

View in

direction A

A A

1

23

4

PE

1

2

3

Wiring mapping

Definition

X1

X2

Core wire

color

U

X1.1

X2.4

Blue

V

X1.2

X2.3

Red

W

X1.3

X2.1

Brown

PE

Ground terminal

X2.2

Yellow/green

+ shield

PE

WVU

X1

X2

4

213

1

2

3

View in direction A

A

Wiring mapping

Definition

X1

X2

Core wire

color

U

X1.1

X2.2

Blue

V

X1.2

X2.3

Red

W

X1.3

X2.4

Brown

PE

Ground terminal

X2.1

Yellow/green

+ shield

View in direction A

View in direction B

X2

10

6

5

15

11

1

X1

9 8

1

2

3

4

5

6

7

Wiring mapping

Signal

X1

X2

Core wire

color

SD+

X1.1

X2.1

Twisted pair

SD-

X1.7

X2.2

5V

X1.5

X2.3

Twisted pair

3.3 Motor power cable wiring

3.3.1 Power cable for base-60/80 motors using 17- or 23-bit encoders

3.3.2 Power cable for base-130 motors using 17- or 23-bit encoders

3.4 Motor encoder cable wiring

3.4.1 Cable for 17- or 23-bit encoder used by base-60/80 motors

-25-

DA180 series basic AC servo drive Wiring instructions

Wiring mapping

Signal

X1

X2

Core wire

color

GND

X1.12

X2.4

VB-3.6V

/

X2.5

Twisted pair VB-GND

/

X2.6

PE

Metal

shell

Metal shell

Woven

1

11

15

5

6

10

X1

12

3

5

610

11

13

1415

X2

B

Vie w in d i rec t ion A

Vie w in d i rec t ion B

Wiring mapping

Signal

X1

X2

Core wire

color

SD+

X1.1

X2.1

Twisted pair

SD-

X1.7

X2.2

5V

X1.5

X2.3

Twisted pair

GND

X1.12

X2.4

VB-3.6V

/

X2.5

Twisted pair VB-GND

/

X2.6

PE

Metal

shell

Metal shell

Woven

24

PULS-23PULS+

CN1 plug pin and signal layout

44

OA+43OA-42OB-41OB+4012V39DI438OCP37DI236-35DO4-34DI533SIGN-32SIGN+31OCS

30-29

DO4+28OZ+27OZ-26-25-

22

DI1021-20AD119DO2-18DI917DI6

15

DO2+14DO1+13-12GND11DO3+10DI39-8DO3-7AD26GND5DO1-4DI83DI72COM+

16

DI1

1

-

3.4.2 Cable for 17- or 23-bit encoder used by base-130 motors

3.5 Wiring for control I/O terminal CN1

Note: For details about the terminal functions and applications, see chapter 4 "Control modes".

-26-

DA180 series basic AC servo drive Wiring instructions

5 4 3 2 1

10 9 8 7 6

15 14 13 12 11

CN2 functions

Name

Function

Remarks

1

V+/ SD+

Parallel encoder V+ / Serial encoder data+

Cables vary with encoders.

2

W+

Parallel encoder W+

3

A+

Parallel encoder A+

4

A-

Parallel encoder A-

5

5V

Encoder power supply

6

U+

Parallel encoder U+

7

V- /SD-

Parallel encoder V- /Serial encoder data-

8

W-

Parallel encoder W-

9

B-

Parallel encoder B-

10

B+

Parallel encoder B+

11

U-

Parallel encoder U-

12

GND

Power ground

13

Z-

Parallel encoder Z-

14

Z+

Parallel encoder Z+

15

-

Unused

Pin8

Pin1

CN3 functions

Name

Function

Remarks

1

GND_CAN

Power ground for CAN chip

The same interface is provided for RS485 and CAN communication.

2

GND_485

Power ground for RS485 chip

4

RS485+

RS485 data+

5

RS485-

RS485 data-

3.6 Wiring for encoder terminal CN2

3.7 Wiring for RS485/CAN communication terminal CN3

-27-

DA180 series basic AC servo drive Wiring instructions

CN3 functions

Name

Function

Remarks

7

CAN_L

CAN data-

Each signal occupies two pins, for easy multidevice networking.

8

CAN_H

CAN data+

3, 6

-

Unused

Pin5Pin1

CN4 functions

Name

Function

Remarks

2

D-

Data-

The standard cable for converting mini USB to USB-A can be used.

3

D+

Data +

5

GND

Signal ground

1, 4

-

Unused

5 4 3 2 1

10 9 8 7 6

15 14 13 12 11

3.8 Wiring for USB terminal CN4

3.9 Wiring for second-encoder terminal CN5

-28-

DA180 series basic AC servo drive Wiring instructions

Name

Function

Remarks

3

EXA+

Parallel (or second) encoder A+

4

EXA-

Parallel (or second) encoder A-

5

EX5V

+5V power

9

EXB-

Parallel (or second) encoder B-

10

EXB+

Parallel (or second) encoder B+

12

EX0V

Power ground, connected to the internal

GND

13

EXZ-

Parallel (or second) encoder Z-

14

EXZ+

Parallel (or second) encoder Z+

1, 2, 6, 7, 8, 11, 15

/

-29-

DA180 series basic AC servo drive Control modes

4 Control modes

4.1 Standard wiring diagram for position control ........................................................................ 31

4.2 Standard wiring diagram for speed control .......................................................................... 32

4.3 Standard wiring diagram for torque control .......................................................................... 33

4.4 CN1 function description ..................................................................................................... 34

4.4.1 CN1 pins ................................................................................................................ 34

4.4.2 CN1 pin functions ................................................................................................... 34

4.4.3 Power signals ......................................................................................................... 35

4.4.4 Default digital settings in different modes ................................................................ 35

4.4.5 Pulse input signals and functions ................................ ............................................ 49

4.4.6 Analog input signals and functions .......................................................................... 49

4.4.7 Encoder output signals and functions ...................................................................... 49

4.5 Wiring description for CN1 .................................................................................................. 50

4.5.1 Digital input circuit wiring ........................................................................................ 50

4.5.2 Pulse input circuit wiring ......................................................................................... 50

4.5.3 Analog input circuit wiring ....................................................................................... 52

4.5.4 Digital output circuit wiring ...................................................................................... 53

4.5.5 Frequency-division output circuit wiring of encoder feedback signals ...................... 53

4.5.6 Electromagnetic brake wiring .................................................................................. 54

4.6 Wiring description for CN5 .................................................................................................. 54

-30-

DA180 series basic AC servo drive Control modes

Frequency

divider

External controller

Note: user-provided

DC12~24V

- +

DI common terminal

EMG 39 SON 16 ZRS 37 POT 3 NOT 4 CLA 10 SC1 34 SC2 17 RPC 18 PLL 22

Command pulse

inhibiting

Residual pulse clearing

Electronic gear

selection 2

Electronic gear

selection 1

Alarm clearing

Servo enabling

Zero speed clamp

COM+ 2

44 OA+ 43 OA41 OB+ 42 OB-

FG

AD1 20 GND 6 AD2 7 GND 6 FG

AM26LS32

or equivalent chip

Differential command

pulse input (max.

4Mpps)

28 OZ+ 27 OZ-

󴘐 󴘐

6 GND GND

CN1

Analog input 1

Analog input 2

Analog signal GND

Max load capability for each output terminal: DC30V, 50mA

15 ALM+ 19 ALM-

Fault alarm output

14 RDY+ 5 RDY-

Servo being ready

29 ZSO+ 35 ZSO-

Zero speed output

11 PLR+ 8 PLR-

Positioning completion

PULS+ 23 PULS- 24

SIGN- 33 FG

SIGN+ 32

24V power, with a built-in current limit resistor

12–24V power, with an external current limit resistor

VDC(12~24V)

OCP 38 PULS- 24

SIGN- 33 FG

OCS 31

VDC(24V)

R

VDC-1.5 R+68

10mA

Note: The max. open collector input is 200kpps.

12V 1k,1/4W 24V 2k,1/3W

V

DC

Resistor reference

+

-

+

-

PULS+ 23 PULS- 24

OCP 38

2kΩ

SIGN+ 32 SIGN- 33

OCS 31

2kΩ

FG

12V 40

Internal DC12V power

Note: Capacity 100mA

12 GND

Emergency stop

Forward drive disabling

Reverse drive disabling

Position control mode

1. ( ) is shielded twisted cable.

2. ( ) is user-provided power.

3. ( ) is GND, corresponding to pin 6/12.

Note:

4.1 Standard wiring diagram for position control

-31-

DA180 series basic AC servo drive Control modes

Frequency

divider

External

controller

Note: user provided

DC12~24V

- +

DI

common terminal

EMG 39 SON 16 ZRS 37 POT 3 NOT 4 CLA 10 SPD1 34 SPD2 17 S/SIGN 18 PLC 22

Gain switching

Speed command

sign

Internal speed

selection 2

Internal speed

selection 1

Alarm clearing

Servo enabling

Zero speed clamp

COM+ 2

44 OA+ 43 OA41 OB+ 42 OB-

FG

AD1 20 GND 6 AD2 7 GND 6 FG

AM26LS32

or equivalent chip

28 OZ+ 27 OZ-

󴘐 󴘐

6 GND GND

CN1

Analog input 1

Analog input 2

Analog signal GND

Max load capability for each output terminal: DC30V, 50mA

15 ALM+ 19 ALM-

Fault alarm output

14 RDY+ 5 RDY-

Servo being ready

29 ZSO+ 35 ZSO-

Zero speed output

11 COIN+ 8 COIN-

Speed consistency

12V 40

Internal DC12V power Note: Capacity 100mA

12 GND

Emergency stop

Forward drive

disabling

Reverse drive

disabling

Speed control mode

1. ( ) is shielded twisted cable.

2. ( ) is user-provided power.

3. ( ) is GND, corresponding to pin 6/12.

Note:

4.2 Standard wiring diagram for speed control

-32-

DA180 series basic AC servo drive Control modes

Frequency

divider

External

controller

Note: user provided

DC12~24V

- +

DI

common terminal

EMG 39 SON 16 ZRS 37 POT 3 NOT 4 CLA 10 SPD1 34 SPD2 17 T/SIGN 18 PLC 22

Gain switching

Torque command

sign

Speed limit

selection 2

Speed limit

selection 1

Alarm clearing

Servo enabling

Zero speed clamp

COM+ 2

44 OA+ 43 OA41 OB+ 42 OB-

FG

AD1 20 GND 6 AD2 7 GND 6 FG

AM26LS32

or equivalent chip

28 OZ+ 27 OZ-

󴘐 󴘐

6 GND GND

CN1

Analog input 1

Analog input 2

Analog signal GND

Max load capability for each output terminal: DC30V, 50mA

15 ALM+ 19 ALM-

Fault alarm output

14 RDY+ 5 RDY-

Servo being ready

29 ZSO+ 35 ZSO-

Zero speed output

11 TRCH+ 8 TRCH-

Torque reached

12V 40

Internal DC12V power Note: Capacity 100mA

12 GND

Emergency stop

Forward drive

disabling

Reverse drive

disabling

Torque control mode

1. ( ) is shielded twisted cable.

2. ( ) is user-provided power.

3. ( ) is GND, corresponding to pin 6/12.

Note:

4.3 Standard wiring diagram for torque control

-33-

DA180 series basic AC servo drive Control modes

24

PULS-23PULS+

CN1 plug pin and signal layout

44

OA+43OA-42OB-41OB+4012V39DI438OCP37DI236-35DO4-34DI533SIGN-32SIGN+31OCS

30-29

DO4+28OZ+27OZ-26-25-

22

DI1021-20AD119DO2-18DI917DI6

15

DO2+14DO1+13-12GND11DO3+10DI39-8DO3-7AD26GND5DO1-4DI83DI72COM+

16

DI1

1

-

Sign

Function

Sign

Function

1

-

Unused

23

PULS+

Differential command pulse +

2

COM+

Common DI input port

24

PULS-

Differential command pulse -

3

DI7

Digital input 7

25

-

Unused

4

DI8

Digital input 8

26

-

Unused

5

DO1-

Digital output 1-

27

OZ-

Phase-Z differential output -

6

GND

Signal ground

28

OZ+

Phase-Z differential output +

7

AD2

Analog input 2

29

DO4+

Digital output 4+

8

DO3-

Digital output 3-

30

-

Unused

9

-

Unused

31

OCS

Open collector command

direction

10

DI3

Digital input 3

32

SIGN+

Differential command

direction +

11

DO3+

Digital output 3+

33

SIGN-

Differential command

direction -

12

GND

Signal ground

34

DI5

Digital input 5

13 - Unused

35

DO4-

Digital output 4-

14

DO1+

Digital output 1+

36 - Unused

15

DO2+

Digital output 2+

37

DI2

Digital input 2

16

DI1

Digital input 1

38

OCP

Open collector command

pulse

17

DI6

Digital input 6

39

DI4

Digital input 4

18

DI9

Digital input 9

40

12V

12V power

19

DO2-

Digital output 2-

41

OB+

Phase-B differential output +

20

AD1

Analog input 1

42

OB-

Phase-B differential output -

21 - Unused

43

OA-

Phase-A differential output -

22

DI10

Digital input 10

44

OA+

Phase-A differential output +

4.4 CN1 function description

4.4.1 CN1 pins

4.4.2 CN1 pin functions

-34-

DA180 series basic AC servo drive Control modes

Sign

Name

Function

GND

6, 12

Signal ground

Ground for analog input signals and A/B/Z frequency division output signals

COM+

2

Common DI input

port

 If DI is active low (0V), COM+ connects to the

positive polarity of the external 12V–24V power.

 If DI is active high (12V–24V), COM+ connects to

the reference ground of the external 12V–24V power.

FG

Housing

Housing ground

The CN1 terminal housing connects to the drive housing.

Sign

Name

Position mode

Speed mode

Default

Symbol

Function

Default

Symbol

Function

DI1

16

Digital input 1

0x003

SON

Enabling servo

0x003

SON

Enabling servo

DI2

37

Digital input 2

0x00D

ZRS

Zero-point

clamping

0x00D

ZRS

Zero-point

clamping

DI3

10

Digital input 3

0x004

CLA

Clearing alarms

0x004

CLA

Clearing alarms

DI4

39

Digital input 4

0x016

EMG

Emergency

stop

0x016

EMG

Emergency

stop

DI5

34

Digital input 5

0x019

SC1

Numerator

selection for

electronic gear

ratio

0x00A

SPD1

Internal speed

command

selection 1

DI6

17

Digital input 6

0x01A

SC2

Numerator

selection 2 for

electronic gear

ratio

0x00B

SPD2

Internal speed

command

selection 2

DI7 3 Digital input 7

0x001

POT

Disabling

forward drive

0x001

POT

Disabling

forward drive

DI8 4 Digital input 8

0x002

NOT

Disabling

reverse drive

0x002

NOT

Disabling

reverse drive

DI9

18

Digital input 9

0x007

RPC

Clearing

residual pulses

0x00E

S-SIGN

Speed

command sign

DI10

22

Digital input

10

0x008

PLL

Inhibiting

command

pulses

0x006

PLC

Switching gains DO1

14/5

Digital output

0x001

RDY

Servo

0x001

RDY

Servo

4.4.3 Power signals

4.4.4 Default digital settings in different modes

-35-

DA180 series basic AC servo drive Control modes

Sign

Name

Position mode

Speed mode

Default

Symbol

Function

Default

Symbol

Function

1

readiness

output

readiness

output

DO2

15/19

Digital output

2

0x003

ALM

Fault output

0x003

ALM

Fault output

DO3

11/8

Digital output

3

0x007

PLR

Position

completion

0x009

COIN

Speed

consistency

DO4

29/35

Digital output

4

0x00D

ZSO

Zero-speed

output

0x00D

ZSO

Zero-speed

output

DO5

9/26

Digital output

5

0x005

BRK

Electromagnetic

brake release

signal

0x005

BRK

Electromagnetic

brake release

signal

DO6

13/30

Digital output

6

0x00E

LM

Torque being

limited

0x00E

LM

Torque being

limited

Sign

Name

Torque mode

Default

Symbol

Function

DI1

16

Digital input 1

0x003

SON

Enabling servo

DI2

37

Digital input 2

0x00D

ZRS

Zero-point clamping

DI3

10

Digital input 3

0x004

CLA

Clearing alarms

DI4

39

Digital input 4

0x016

EMG

Emergency stop

DI5

34

Digital input 5

0x00A

SPD1

Internal speed command selection 1

DI6

17

Digital input 6

0x00B

SPD2

Internal speed command selection 2

DI7 3 Digital input 7

0x001

POT

Disabling forward drive

DI8 4 Digital input 8

0x002

NOT

Disabling reverse drive

DI9

18

Digital input 9

0x00F

T-SIGN

Torque command sign

DI10

22

Digital input 10

0x006

PLC

Switching gains

DO1

14/5

Digital output 1

0x001

RDY

Servo readiness output

DO2

15/19

Digital output 2

0x003

ALM

Fault output

DO3

11/8

Digital output 3

0x010

TRCH

Torque reaching

DO4

29/35

Digital output 4

0x00D

ZSO

Zero-speed output

DO5

9/26

Digital output 5

0x005

BRK

Electromagnetic release signal

DO6

13/30

Digital output 6

0x00E

LM

Torque being limited

-36-

DA180 series basic AC servo drive Control modes

Signal

Symbol

Function

Applicable

mode

Disabling forward drive

POT

0x01

P S T

Disabling reverse drive

NOT

0x02

P S T

Signal of disabling the drive to the forward or reverse direction. The detailed action is associated with the setting of P3.40 [Disable travel limit switch]. If P3.40 is set to 0:  When the input of forward drive disabling is valid, the motor stops at the current position

and accepts the reverse command input only.

 When the input of reverse drive disabling is valid, the motor stops at the current position

and accepts the forward command input only. If P3.40 is set to 1, this function is invalid. If P3.40 is set to 2 when the input of forward or reverse direction drive disabling is valid, the drive alarms.

Signal

Symbol

Function

Applicable

mode

Enabling servo

SON

0x03

P S T

Signal of controlling whether to enable servo. If it is valid, the drive powers on the motor. If it is invalid, the drive powers off the motor.

Signal

Symbol

Function

Applicable

mode

Clearing alarms

CLA

0x04

P S T

Signal of controlling whether to clear an alarm after the drive reports the alarm. It may not be used to clear some alarms. For details, see section 10.4 "Fault codes".

Signal

Symbol

Function

Applicable

mode

Switching control modes

MCH

0x05

P S T

If P0.03 [Control mode] is set to 3, 4, or 5, the signal specifies control mode switching. If the control mode is set to 0, 1, 2, 6, or 7, it is invalid.

Signal

Symbol

Function

Applicable

mode

Switching gains

PLC

0x06

P S T

Signal of controlling the switching between the first gain and second gain.

4.4.4.1 Digital input functions

-37-

DA180 series basic AC servo drive Control modes

Signal

Symbol

Function

Applicable

mode

Clearing residual pulses

RPC

0x07

P

Control signal of clearing residual pulses. The detailed action is associated with the setting of P3.45 [Residual pulse clearing mode]. If P3.45 is set to 0, which indicates electrical-level clearing, residual pulses are always 0 when this digital input is valid. If P3.45 is set to 1, which indicates rising-edge clearing, residual pulses are cleared only once when the digital input changes from 0 to 1.

Signal

Symbol

Function

Applicable

mode

Inhibiting command pulses

PLL

0x08

P

Signal of controlling whether to suspend receiving command pulse input. The detailed action is associated with the setting of P3.44 [Disable command pulse inhibition]. If P3.44 is set to 0, the function takes effect. When the digital input is valid, the drive suspends receiving command pulse input. If P3.44 is set to 0, the function is invalid.

Signal

Symbol

Function

Applicable

mode

Switching torque limits

TLC

0x09

P S

Signal of controlling the switching between the first torque limit and second torque limit. For the settings and switching methods of various torque limits, see P0.09 [Torque limit mode].

Signal

Symbol

Function

Applicable

mode

Internal-speed command 1

SPD1

0x0A

S T

Internal-speed command 2

SPD2

0x0B

S T

Internal-speed command 3

SPD3

0x0C

S

-38-

DA180 series basic AC servo drive Control modes

Signals of selecting from internal-speed commands 1 to 8 or from internal speed limits 1 to 4.

Control mode

Setting of P0.40

SPD3

SPD2

SPD1

Associated parameter

and setting

Speed mode

0

0 0 0

P0.46, internal speed 1

0 0 1

P0.47, internal speed 2

0 1 0

P0.48, internal speed 3

0 1 1

P0.49, internal speed 4

1 0 0

P0.50, internal speed 5

1 0 1

P0.51, internal speed 6

1 1 0

P0.52, internal speed 7

1 1 1

P0.53, internal speed 8

Torque mode

0

0 0 0

P0.46, speed limit 1

0 0 1

P0.47, speed limit 2

0 1 0

P0.48, speed limit 3

0 1 1

P0.49, speed limit 4

Signal

Symbol

Function

Applicable

mode

Zero-point clamping

ZRS

0x0D

S T

Signal of controlling zero-point clamping. The detailed action is associated with the setting of P0.58 [Zero-point clamping mode]. For details, see the description for P0.58.

Signal

Symbol

Function

Applicable

mode

Speed command sign

S-SIGN

0x0E

S

Signal of selecting the sign for speed command input in speed mode. If P0.41 [Speed command direction setting] is set to 1, this digital input takes effect. If P0.41 is set to 0, it does not take effect.

Signal

Symbol

Function

Applicable

mode

Torque command sign

T-SIGN

0x0F

T

Signal of selecting the sign for torque command input in torque control mode. If P0.61 [Torque command direction setting] is set to 1, this digital input takes effect, If P0.61 is set to 0, it does not take effect.

Signal

Symbol

Function

Applicable

mode

Internal position command 1

POS1

0x10

P

Internal position command 2

POS2

0x11

P

Internal position command 3

POS3

0x12

P

-39-

DA180 series basic AC servo drive Control modes

Signal

Symbol

Function

Applicable

mode

Internal position command 4

POS4

0x13

P

Internal position command 5

POS5

0x20

P

Internal position command 6

POS6

0x21

P

Internal position command 7

POS7

0x22

P

These signals are used to select from position commands 0–127 in point-to-point (PTP) control mode, with the same function as P5.20 [PTP trigger signal] in bus control mode. They are valid only when P0.20 [Position command source] is set to 2. The combination of 7 digital inputs is used to select the different PTP position of PtP0.00– PtP2.55 and the corresponding target speed, ACC/DEC time and the delay time of P5.21–P5.68.

Control

mode

POS7

POS6

POS5

POS4

POS3

POS2

POS1

Associated

parameter and

setting

Position

0 0 0

0

PtP0.01[Position of

segment 00]

0 0 0

1

PtP0.03[Position of

segment 01]

0 0 0

0 0 1

0

PtP0.05[Position of

segment 02]

0 0 0

0 0 1

1

PtP0.07[Position of

segment 03]

0 0 0

0 1 0

0

PtP0.09[Position of

segment 04]

0 0 0

0 1 0

1

PtP0.11[Position of

segment 05]

0 0 0

0 1 1

0

PtP0.13[Position of

segment 06]

0 0 0

0 1 1

1

PtP0.15[Position of

segment 07]

0 0 0

1 0 0

0

PtP0.17[Position of

segment 08]

0 0 0

1 0 0

1

PtP0.19[Position of

segment 09]

0 0 0

1 0 1

0

PtP0.21[Position of

segment 10]

0 0 0

1 0 1

1

PtP0.23[Position of

segment 11]

0 0 0

1 1 0

0

PtP0.25[Position of

segment 12]

-40-

DA180 series basic AC servo drive Control modes

Signal

Symbol

Function

Applicable

mode

x x x x x x x

xxx

1 1

1 1 1

0

PtP2.53[Position of

segment 126]

1 1 1

1

PtP2.55[Position of

segment 127]

Signal

Symbol

Function

Applicable

mode

External fault

EXT

0x14

P S T

Signal of reporting an external fault alarm. If this digital input is valid, the drive reports the alarm Er10-3 and stops.

Signal

Symbol

Function

Applicable

mode

Switching inertia ratios

JC

0x15

P S T

Signal of controlling the switching between the first inertia ratio and second inertia ratio. If this digital input is valid, the internal software uses P1.02. If it is invalid, the internal software uses P1.01.

Signal

Symbol

Function

Applicable

mode

Emergency stop

EMG

0x16

P S T

Signal of controlling emergency stop. If P3.41 [Disable emergency stop] is set to 0 and this digital input is valid, the drive stops and report the alarm Er10-4.

Signal

Symbol

Function

Applicable

mode

Home switch input

HOME

0x17

P

Input signal of the Home switch. When the drive executes the homing action in some homing mode, , the drive completes the homing action if this digital input is valid. For details, see the description for P5.10 [Homing mode].

Signal

Symbol

Function

Applicable

mode

Homing trigger

HTRG

0x18

P

-41-

DA180 series basic AC servo drive Control modes

Signal of controlling the triggering of homing which is led by the drive. It is valid in the rising edge. This digital input has no relation with bus control. P5.15 [Homing trigger command] has the same function.

Signal

Symbol

Function

Applicable

mode

Numerator selection 1 for

electronic gear ratio

SC1

0x19

P

Numerator selection 2 for

electronic gear ratio

SC2

0x1A

P

This group of signal is used to switch between a maximum of four electronic gear ratios. Before using this function group, set P0.22 [Pulses per motor resolution] to 0 and then set numerators (P0.25–P0.29). Note: If the electronic gear ratio is switched through digital input, P4.10 [Upper computer type] must be 0.

SC1

SC2

Electronic gear ratio

Numerator

Denominator

0 0 P0.25

P0.26

1 0 P0.27

P0.26

0 1 P0.28

P0.26

1 1 P0.29

P0.26

Signal

Symbol

Function

Applicable

mode

PTP control trigger

TRIG

0x1B

P

In PTP control mode, it works with the position commands 1–4 to trigger target position switching. It is valid in the rising edge. During the use, the target position is selected through the internal position commands 1–4, and then the rising edge of this digital input triggers the switching.

Signal

Symbol

Function

Applicable

mode

Vibration control switching input

VS-SEL

0x1C

P

Signal of controlling the switching between the first vibration control frequency and second vibration control frequency. If this digital input is valid, the internal software uses P1.38 [Vibration control frequency 2] and associated parameters. If it is invalid, the internal software uses P1.36 [Vibration control frequency 1] and associated parameters.

-42-

DA180 series basic AC servo drive Control modes

Signal

Symbol

Function

Applicable

mode

Quick stop

Q-STOP

0x1D

P S T

Signal of externally controlling quick stop. If this digital input is valid, the control motor of the drive decelerates from current speed to 0 according to the regular curve set by P0.69 [DEC time for quick stop]. If it changes from valid to invalid, the motor restores to the state prior to quick stop.

Signal

Symbol

Function

Applicable

mode

PTP control stop

PTP-ST

0x1E

P

Signal of controlling whether to stop PTP running in PTP mode, valid in the rising edge. In bus control mode, if P5.20 [PTP trigger signal] is set to 2048, the same function can be achieved also.

Signal

Symbol

Function

Applicable

mode

Clearing absolute position

PCLR

0x1F

P

Signal of clearing the multiturn absolute encoder. If this digital input is valid, the multiturn data is clear while the single-turn data remains unchanged, but the absolute position in the feedback is cleared.

Signal

Symbol

Function

Applicable

mode

Forward jogging

FJOG

0x23

P

If this digital input is valid, the motor executes forward jogging.

Signal

Symbol

Function

Applicable

mode

Reverse jogging

RJOG

0x24

P

If this digital input is valid, the motor executes reverse jogging.

Signal

Symbol

Function

Applicable

mode

Switching high/low jogging speed

JOGC

0x25

P

Signal of switching between the high jogging speed and low jogging speed. If this digital input is valid, the drive jogs at high speed.

-43-

DA180 series basic AC servo drive Control modes

Signal

Symbol

Function

Applicable

mode

Enabling terminal jogging

DJOG

0x2C

P

If this digital input is valid, terminal jogging is valid.

Signal

Symbol

Function

Applicable

mode

Gantry synchronization

cancellation input

GIN

0x2D

P

If this digital input is valid, gantry synchronization is cancelled.

Signal

Symbol

Function

Applicable

mode

Master gantry synchronization

alignment sensor

GSM

0x2E

P

Signal used by the master gantry synchronization alignment sensor.

Signal

Symbol

Function

Applicable

mode

Slave gantry synchronization

alignment sensor

GSS

0x2F

P

Signal is used by the slave gantry synchronization alignment sensor.

Signal

Symbol

Function

Applicable

mode

Dynamic brake relay feedback

DBS

0x30

P S T

If this digital input is valid, the dynamic brake relay is closed.

Signal

Symbol

Function

Applicable

mode

Auto/manually switching turrets

DAT

0x31

P

If this digital input is valid, the turret runs in manual mode.

Signal

Symbol

Function

Applicable

mode

Turret forward jogging

DFJ

0x32

P

If this digital input is valid, the turret jogs forward.

-44-

DA180 series basic AC servo drive Control modes

Signal

Symbol

Function

Applicable

mode

Turret reverse jog

DRJ

0x33

P

If this digital input is valid, the turret jogs reversely.

Signal

Symbol

Function

Applicable

mode

Magnetic pole check

PDET

0x34

P

If this digital input is valid, the magnetic pole is checked.

Signal

Symbol

Function

Applicable

mode

Servo readiness output

RDY

0x01

P S T

This signal indicates that the drive is ready. If it is valid, the drive is enabled to power on the motor. If it is invalid, the drive does not respond to the servo enabling command.

Signal

Symbol

Function

Applicable

mode

Servo running output

RUN

0x02

P S T

This signal indicates that the drive is enabled. If it is valid, the motor is powered on.

Signal

Symbol

Function

Applicable

mode

Fault output

ALM

0x03

P S T

This signal indicates that the drive reports a fault alarm. If it is valid, the drive encounters a fault.

Signal

Symbol

Function

Applicable

mode

Electromagnetic brake release

BRK

0x05

P S T

This signal outputs the release of the electromagnetic brake. If it is valid, the brake is released, and the motor control command is received. If it is invalid, the brake is disconnected.

4.4.4.2 Digital output functions

-45-

DA180 series basic AC servo drive Control modes

Signal

Symbol

Function

Applicable

mode

Position command existence

PCMD

0x06

P

This signal outputs whether there is a position command. If it is valid, there is a non-zero position command which executes motor control.

Signal

Symbol

Function

Applicable

mode

Positioning completion

PLR

0x07

P

This signal outputs positioning is completed. If it is valid, the positioning is completed.

Signal

Symbol

Function

Applicable

mode

Control mode switching status

MCHS

0x08

P S T

This signal indicates the switching between different control modes. If it is valid, control mode 1 is switched to control mode 2. This function output becomes invalid when control mode 2 is switched to control mode 1.

Signal

Symbol

Function

Applicable

mode

Speed consistency

COIN

0x09

P S T

This signal outputs speed consistency. If it is valid, the speed difference between the current speed feedback and speed command falls in the setting of P3.53 [Speed consistency range].

Signal

Symbol

Function

Applicable

mode

Speed reaching

SR

0x0A

P S T

It is the status signal which outputs that the speed is reached. If it is valid, the current speed feedback reaches the setting of P3.54 [Speed reaching range].

Signal

Symbol

Function

Applicable

mode

Speed being limited

SL

0x0B

T

This signal outputs the speed is being limited. If it is valid, in torque mode, the current torque output does not match the torque command, but the speed feedback reaches the speed limit setting.

-46-

DA180 series basic AC servo drive Control modes

Signal

Symbol

Function

Applicable

mode

Speed command existence

SCMD

0x0C

P S T

This signal outputs whether there is a speed command. If it is valid, there is a non-zero speed command which executes motor control.

Signal

Symbol

Function

Applicable

mode

Zero-speed output

ZSO

0x0D

P S T

This signal outputs whether the current speed feedback is zero.

Signal

Symbol

Function

Applicable

mode

Torque being limited

LM

0x0E

P S T

This signal outputs the torque is being limited. If it is valid, the current torque output reaches the maximum torque limit.

Signal

Symbol

Function

Applicable

mode

Homing completion

HEND

0x0F

P

This signal outputs homing is completed. If it is valid, the homing led by the drive is completed.

Signal

Symbol

Function

Applicable

mode

Torque reaching

TRCH

0x10

T

This signal outputs torque reaching. If it is valid, the difference between the current torque output and torque command falls in the setting of P3.59 [Torque reaching range]. The detection may lag by 5%.

Signal

Symbol

Function

Applicable

mode

PTP reaching

PTPF

0x16

P

This signal outputs PTP is reaching.

Signal

Symbol

Function

Applicable

mode

PTP output 1

PTPO1

0x17

P

It is the signal of PTP output 1.

-47-

DA180 series basic AC servo drive Control modes

Signal

Symbol

Function

Applicable

mode

PTP output 2

PTPO2

0x18

P

It is the signal of PTP output 2.

Signal

Symbol

Function

Applicable

mode

PTP output 3

PTPO3

0x19

P

It is the signal of PTP output 3.

Signal

Symbol

Function

Applicable

mode

PTP output 4

PTPO4

0x1A

P

It is the signal of PTP output 4.

Signal

Symbol

Function

Applicable

mode

PTP output 5

PTPO5

0x1B

P

It is the signal of PTP output 5.

Signal

Symbol

Function

Applicable

mode

PTP output 6

PTPO6

0x1C

P

It is the signal of PTP output 6.

Signal

Symbol

Function

Applicable

mode

PTP output 7

PTPO7

0x1D

P

It is the signal of PTP output 7.

Signal

Symbol

Function

Applicable

mode

Gantry synchronization

cancellation output

GSC

0x1E

P

It is the output signal of gantry synchronization cancellation.

Signal

Symbol

Function

Applicable

mode

Dynamic brake relay control

DBRC

0x1F

P S T

It is the output signal of dynamic brake relay control.

-48-

DA180 series basic AC servo drive Control modes

Sign

Signal

Function

OCP

38

Position command

pulse input 1

 In position control mode, the terminals function as

position command input terminals.

 In other control modes, the terminals are invalid.  The maximum input pulse frequency is 4 MHz in

differential mode and 200 kHz in open collector mode.

PULS+

23

PULS-

24

OCS

31

Position command

pulse input 2

SIGN+

32

SIGN-

33

Sign

Signal

Default

Input

Function

AD1

20

Analog input 1

0x03

Speed

command

 AD1 and AD2 are accurate to 12 bits.  For external analog input terminals,

the input impedance is 13kΩ, and the input voltage ranges from -10V to +10V. If the voltage is out of the range of -11V–+11V, the drive may be damaged.

 The range, offset, and function

definition are configurable.

AD2 7 Analog input 2

0x04

Torque

command

GND

6

Signal ground

-

Sign

Signal

Function

OA+

44

Phase-A output

 The output of encoder signal that is frequency

divided is compliant with TIA/EIA-422-B.

 The output phase-A pulse and phase-B pulse are

still orthogonal. In forward rotation, phase A leads phase B by 90°. In reverse rotation, phase B leads phase A by 90°.

 The frequency can be divided or multiplied by any

integer or fraction.

OA-

43

OB+

41

Phase-B output

OB-

42

OZ+

28

Phase-Z output OZ-

27

4.4.5 Pulse input signals and functions

4.4.6 Analog input signals and functions

4.4.7 Encoder output signals and functions

-49-

DA180 series basic AC servo drive Control modes

Drive side

2 COM+

DC12~24V

- +

16 DI1

Drive side

2 COM+

DC12~24V

- +

16 DI1

Drive side

2 COM+

16 DI1

DC12~24V

+ -

Active low Active high

PNP

NPN

Drive side

2 COM+

16 DI1

DC12~24V

+ -

Control module

side

Drive side

23 PULS+

24 PULS-

33 SIGN-

FG

PULS

SIGN

32 SIGN+

Shielded

cable

Twisted

pair

4.5 Wiring description for CN1

4.5.1 Digital input circuit wiring

 The digital input power is user provided.  As shown in the figure, the digital input circuit supports mechanical switch connection and open

collector connection using NPN or PNP triodes, disallowing the hybrid of the two types.

4.5.2 Pulse input circuit wiring

Method 1: Differential connection

 The differential pulse input signal voltage is ±5V and maximum frequency is 4 MHz.  This signal transmission method is recommended since it has excellent anti-nose capability.

-50-

DA180 series basic AC servo drive Control modes

Control module

side

Drive side

38 OCP

24 PULS-

33 SIGN-

FG

Y1

Y0

PULSE

SIGN

31 OCS

+

-

Shielded

cable

Twisted

pair

DC24V

Control module

side

Drive side

38 OCP

24 PULS-

33 SIGN-

FG

Y1

Y0

PULSE

SIGN

31 OCS

+

-

Shielded

cable

Twisted

pair

DC24V

Control module

side

Drive side

23 PULS+

24 PULS-

33 SIGN-

FG

Y1

Y0

PULSE

SIGN

32 SIGN+

+

-

Current

limit

resistor R

Current

limit

resistor R

Shielded

cable

Twisted

pair

DC12~24V

Method 2: Open collector connection 1

Control module using NPN triodes with common cathode:

Control module using PNP triodes with common anode:

The maximum input pulse frequency is 200 kHz. If the 24V power is provided by yourself, no current limit resistor is needed. Generally, the PLC from a Japanese manufacturer uses the NPN type, while that from a European manufacturer uses the PNP type.

Method 3: Open collector connection 2

Control module using NPN triodes with common cathode:

-51-

DA180 series basic AC servo drive Control modes

Control module

side

Drive side

23 PULS+

24 PULS-

33 SIGN-

FG

Y1

Y0

PULSE

SIGN

32 SIGN+

+

Current limit

resistor R

Current limit

resistor R

Shielded

cable

Twisted

pair

VDC-1.5

R+68

10(mA)

V

DC

R specs 12V 1kΩ,1/4W 24V 2kΩ,1/3W

0

20 AD1

6 GND

7 AD2

A D C

FG

Connect the shielded cable according to device requirements

Twisted

pair

6 GND

0

Drive side

Control

module side

Control module using PNP triodes with common anode:

The maximum input pulse frequency is 200 kHz. You can use the 12V power (able to provide only 100mA current) equipped with the drive or the 12–24V power provided by yourself. You need to connect current limit resistors externally. Select current limit resistors according to the following:

For each method, the shielded twisted pair is required, and you are recommended that the pair cable length be less than 3 meters.

4.5.3 Analog input circuit wiring

There are two channels of analog input circuit, AD1 and AD2, both of which are accurate to 12 bits. The input impedance is 13kΩ. The input voltage ranges from -10V to +10V. If the voltage is ±11V less or greater, the circuit may be damaged.

-52-

DA180 series basic AC servo drive Control modes

Connect a free-wheeling diode if an inductive load is connected.

Max load capacity of each output terminal: 30V, 50mA

DC

12~24V

+

-

Drive side

DO1- 5

Max. load capacity of each output terminal: 30V, 50mA

+

-

RY

DC

12~24V

 Connecting to a relay coil

 Connecting to an optical coupler

DO1- 5

Connect to a current limit resistor if an optical coupler is connected.

Drive side

DO1+ 14

Drive side

OA+ 44

OA- 43 OB+ 41

OB- 42 OZ+ 28

OZ- 27

GND 6

Twisted

pair

Terminal

resistor

AM26LS32

or equivalent chip

GND

Shielded

cable

Connect the shielded cable according to device requirements

4.5.4 Digital output circuit wiring

Wiring method in which user-provided power is used

 There are six digital output circuits in total, which use the open-collector output structure as

shown in the figure. They can be used to drive the relay coil or optical coupler load. The loading capacity is shown in the figure.

 If an inductive load such as the relay coil is connected, a free-wheeling diode must be connected,

as shown in the figure. If an optical coupler is connected, a current limit resistor must be connected; otherwise, the drive may be damaged.

4.5.5 Frequency-division output circuit wiring of encoder feedback signals

Differential method

 Phases A, B, and Z of the encoder provide differential output signals. You are recommended to

 No isolation is made for any output circuit.

use AM26C32 or equivalent chip and connect an end-matching resistor of about 220Ω.

-53-

DA180 series basic AC servo drive Control modes

DC1224V

external power

BRK- 26

BRK+ 9

Motor

Brake

winding

Surge

absorber

Fuse (5A)

Emergency-stop

button

RY

DC24V

power

special for

brake

winding

Note: The brake winding must use independent 24V power and cannot share the control power or relay

coil power.

+

-

+

-

Drive side

RY

Second encoder

Differential

command pulse

input

EXA+ 3 EXA- 4

EXB+ 10 EXB- 9

EXZ+ 14 EXZ- 13 FG

5 EX5V

12 EX0V

EX0V

EX5V

CN5

Note: ( ) is shielded twisted pair.

4.5.6 Electromagnetic brake wiring

If the servo motor is used to drive the vertical shaft, the electromagnetic brake can be used to prevent against the falling of heavy objects or keep the falling speed when the servo drive is out of power. See the following wiring diagram for the electromagnetic brake.

 You must provide independent 24V power for the electromagnetic brake, which cannot use the

signal-control power.

 In the figure,  The electromagnetic brake is used for holding but not for common stop.  Though the electromagnetic brake can prevent the falling of heavy objects or keep the falling

speed, you must install an external brake device.

4.6 Wiring description for CN5

Wiring for the second-encoder terminal circuit

indicates relay coil. Pay attention to the diode direction.

-54-

DA180 series basic AC servo drive Operating and running

5 Operating and running

5.1 Running .............................................................................................................................. 56

5.1.1 First power-on ........................................................................................................ 56

5.1.2 Trial run by jogging ................................................................................................. 57

5.1.3 Running in position control mode ................................ ............................................ 58

5.1.4 Running in speed control mode .............................................................................. 59

5.1.5 Running in the torque control mode ........................................................................ 60

5.1.6 Setting parameters before servo running ................................ ................................ 61

5.1.7 Servo enabling ....................................................................................................... 61

5.1.8 Servo stop and running stop ................................................................................... 62

5.1.9 Timing sequence ................................................................................................ .... 63

5.2 Display and operating ......................................................................................................... 66

5.2.1 Display ................................................................................................................... 66

5.2.2 Common monitoring mode ...................................................................................... 68

5.2.3 Monitoring mode ..................................................................................................... 69

5.2.4 Parameter setting mode ......................................................................................... 69

5.2.5 Auxiliary function mode ........................................................................................... 70

5.2.6 Alarm reporting ....................................................................................................... 72

5.2.7 Alarm clearing......................................................................................................... 73

-55-

DA180 series basic AC servo drive Operating and running

5.1 Running

5.1.1 First power-on

Ensure the following before the power-on:

Wiring

 The power supply (L1 and L2) of the servo drive is connected correctly. For details, see

section 3.2 "Main circuit terminal wiring".

 The servo drive output phases (U, V, and W) are consistent with servo motor cable

phases.

 There is no short circuit between the servo drive outputs (U, V, and W) and the input

power (L1 and L2).

 Wiring complies with the standard wiring diagrams for different control modes in chapter 4

"Control modes".

 The external servo enabling terminal SON is set to OFF.  The servo drive and the servo motor are grounded properly.  If an external brake resistor is used, for products with small power range, the

short-connection cable between B2 and B3 must be removed.

 The voltage applied to CN1 cannot be greater than DC24V.  Stresses applied to cables are within the allowed ranges.

Environment

There are no foreign materials, such as wire leads and metal filings, which can cause short connection between signal and power cables.

Mechanical parts

 The installation of the servo motor and the connection between shafts and machines are

reliable.

 The servo motor and connected machines are operational.  Do not run the motor with a negative load, which indicates the motor output torque

direction is opposite to the motor speed direction.

You can turn on the power only after all the preceding conditions are met.

5.1.1.1 Sequence of power-on and power-off

The control circuit and main circuit of the drive are powered together, thus indicating L1 and L2 are powered together.

-56-

DA180 series basic AC servo drive Operating and running

5.1.1.2 Checking after power-on

After the power is switched on, if the powering is normal, each position on the LED panel displays 0 and then 8. If the servo drive does not report a fault alarm, the default monitoring menu (motor speed by default) is displayed, and the servo drive and servo motor do not sound abnormally. The parameter P0.15 indicates the default display for power-on. If the servo drive reports a fault alarm, the LED panel displays the symbol of the current alarm and blinks. See chapter 9 "Fault handling" to handle the fault.

5.1.1.3 Setting the motor code

Before enabling the motor, set the parameter P0.00 according to the motor code on the motor nameplate. Otherwise, the motor cannot run properly or it runs in the reverse direction, which may cause safety risks.

5.1.2 Trial run by jogging

Trial jogging can be used to check whether the servo drive and the servo motor are in good condition and to commission the system including the servo drive, servo motor, and peripherals. If the system is wired and powered on properly, without reporting a fault alarm, execute jogging operations to perform trial run for the servo motor. See section 5.2.5.2 "Jogging test" for detailed instructions. Before jogging running, ensure that:

 The motor is not in running state. Jogging operations are invalid for a motor in running state.  It is recommended that the load inertia not be greater than 15 times of the motor inertia.

Otherwise, serious mechanical vibration may be caused.

 The jogging speed has been set through P0.05.  The ACC time and DEC time can be set through P0.54, P0.55, P0.56, and P0.57.

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DA180 series basic AC servo drive Operating and running

SON 16

DC

12~24V

     

PULS+ 23 PULS- 24 SIGN+ 32 SIGN- 33

FG

Upper

pulse

genera-

tor

Servo drive

CN1

COM+ 2

Parameter

Function

Setting

P0.031

Control mode

0

P0.221

Pulses per motor

resolution

Depends on

the actual

situation.

P0.231

Pulse input mode

Depends on

the actual

situation.

P0.241

Reverse pulse input

direction

0

5.1.3 Running in position control mode

Simplified wiring

Procedure

1. Complete the connect between the servo drive and servo motor.

2. Set P0.03 to 0, which indicates the position control mode.

3. Check the pulse output mode of the upper controller. Adjust P0.23 to keep the pulse mode the same as that of the upper controller. See the description for P0.23 for details.

4. Switch off and re-switch on the main power for the settings of P0.03 and P0.23 to take effect.

5. Connect the plug of CN1 to the drive, switch on the power, and ensure that SON and 24V GND are connected. The motor enters the locking state.

6. Wait the upper controller to send the low frequency pulse command. The motor rotates at a low speed.

7. Check whether the motor rotation direction is consistent with the design. If not, change the direction through the upper controller or perform the reverse operation through P0.24.

8. Ensure the input pulse count complies with the design. You can set P0.22 [Pulses per motor resolution] or the electronic gear ratio parameters P0.25 and P0.26 to divide or multiply frequency. See the description for P0.22, P0.25 and P0.26 for details.

-58-

DA180 series basic AC servo drive Operating and running

DC

12~24V

     

Servo drive

CN1

+

-

Upper analog

input 1

indicating

speed

command

0±10V

SON 16

COM+ 2

AD1 20 GND 6

Parameter

Function

Setting

P0.031

Control mode

1

P0.40

Speed command

source

1

P3.26

Function of AI 1

3

P0.42

Gain of AI 1

500

P3.20

Offset of AI 1

Depends on

the actual

situation.

5.1.4 Running in speed control mode

Simplified wiring

Procedure

1. Complete the connect between the servo drive and servo motor.

2. Set P0.03 to 1, which indicates the speed control mode.

3. Switch off and re-switch on the main power for the setting of P0.03 to take effect.

4. Set P0.40 to 1, which indicates that the speed command source is external analog.

5. Set P3.26 to 3, which indicates that analog input 1 is a speed command.

6. Set P0.42 as required. See the description for P0.42 for details.

7. Connect the plug terminals for CN1.

8. Connect the plug of CN1 to the drive, switch on the power, and ensure that SON and 24V GND are connected. The servo enters the locking state.

9. The motor shaft may rotate at a low speed if there is no upper command voltage. It is necessary to adjust P3.20. See the description for P3.20 for details.

-59-

DA180 series basic AC servo drive Operating and running

DC

12~24V

     

Servo drive

CN1

Upper analog

input 2

indicating

torque

command

0±10V

SON 16

COM+ 2

AD2 7 GND 6

+

-

Parameter

Function

Setting

P0.031

Control mode

2

P0.60

Torque command source

1

P3.27

Function of AI 2

4

P0.61

Torque command direction setting

Depends on

the actual

situation.

P0.62

Gain of AI 2

10

P3.23

Offset of AI 2

Depends on

the actual

situation.

P0.46

Speed limit 1

100

5.1.5 Running in the torque control mode

Simplified wiring

Procedure

1. Complete the connect between the servo drive and servo motor.

2. Set P0.03 to 2, which indicates the torque control mode.

3. Switch off and re-switch on the main power for the setting of P0.03 to take effect.

4. Set P0.60 to 1, which indicates the torque command source is external analog.

5. Set P0.61 as required. See the description for P0.61 for details.

6. Set P3.27 to 4, which indicates that analog input 2 is a torque command.

7. Set P0.62 as required. See the description for P0.62 for details.

8. Connect the plug terminals for CN1.

9. Connect the plug of CN1 to the drive, switch on the power, and ensure that SON and 2V GND are connected. The servo enters the locking state.

10. The motor shaft may rotate at a low speed if there is no upper command voltage. It is necessary

11. In torque control mode, adjust P0.46, which indicates the speed limit. See the description for

to adjust P3.23. See the description for P3.23 for details.

P0.46 for details.

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DA180 series basic AC servo drive Operating and running

5.1.6 Setting parameters before servo running

To meet onsite application function and performance requirements, you must set parameters by using the LED panel, PC software, or communication means before servo running. Chapter 6 describes all parameters, among which some must be set depending on the actual application requirements, such as the pulse input manner, electronic gear ratio, encoder output frequency division coefficient, and analog input upper or lower limit, while some must be set depending on the actual commissioning status, such as the regulator loop parameter affecting system performance, but most parameters use the default settings. The following lists only part of mandatory parameters:

Control mode

The control modes include the position, speed, and torque control modes, and any combination of the three modes. Depending on actual control requirements, set the control mode through P0.03. You must switch off and re-switch on the main power for the setting of P0.03 to take effect.

Command input

Based on the setting of P0.03, set or enter commands to control the position, speed, or torque of the servo motor shaft.  In position control mode, the applicable command can be the pulse command (with three input

methods), internal torque limit command, or external analog torque limit command.

 In speed control mode, the applicable command can be the internal speed command, external

analog speed command, internal torque limit command, or external analog torque limit command.

 In torque mode, the applicable command can be the internal torque command, external analog

torque command, internal speed limit command, or external analog speed limit command.

5.1.7 Servo enabling

You can enable the servo through the external servo enabling terminal SON or P0.04. When the servo is enabled:

 If no alarm is reported, the servo panel displays the default monitoring parameters.  The fan starts running.  In position control mode, if there is no pulse command input, the servo enters the locked state.  In speed control mode, the servo motor runs at the given speed.  In torque control mode, if no torque is applied externally, the servo motor accelerates from the

zero speed to the limited speed. If the external torque is greater than the torque in the internal torque command, the servo motor remains the state of zero speed output.

 If a servo alarm is reported, the servo panel displays ErXX-X and blinks. The servo motor enters

the inertia running state.

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DA180 series basic AC servo drive Operating and running

5.1.8 Servo stop and running stop

The drive cuts off output immediately, and the motor coasts to stop until it decelerates to the zero speed, but it does not keep in locked state, which is servo stop. The drive outputs reverse torque, and the motor decelerates to the zero speed and enters the locked state, which is running stop. The servo motor stops or it stops running if the servo drive is in any of the following conditions:  The servo enabling terminal SON is set to OFF. This does not cause regenerative brake.

You can select a stop manner through P4.30.

 A fault alarm is reported. This does not cause regenerative brake.

You can select a servo motor stop manner through P4.30.

 When the digital input terminal configured as zero speed clamp (ZRS) is set to ON and P0.58 is

set to a non-zero value, the servo motor stops running. When P0.58 is set to 1–3, the motor stops running based on the DEC time set by P0.55 and P0.57 in speed mode, and servo is in locked state after stop; in torque mode, the servo motor stops running immediately. Such stopping process may cause regenerative braking. If a braking overload fault alarm occurred, connect a proper external brake resistor.

 If the travel limit switch function is invalid (that is, P3.40=0), and the digital input terminal signal of

travel limit (POT/NOT) is set to ON, the motor decelerates to stop running based on the settings of P0.55 and P0.57 and it enters locked state. If there is reverse direction command input after the motor stops, the motor can run in reverse direction.

 If the emergency stop disabling function is invalid (that is, parameter P3.41=0), and the digital

input terminal of EMG is set to ON, the servo motor coasts to stop.

 If the servo disabling signal duration is too short (that is, less than 500ms), the PWM signal may

be in off state after the servo is enabled again.

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DA180 series basic AC servo drive Operating and running

Main power

PWM output

Electromagnetic

brake release signal output

(BRK)

Servo enabling

(SON)

Microprocessor

state

Note 1: The delay time from microprocessor initialization completion to servo readiness output can be set through P4.54. Note 2: The condition for the RDY output signal electric level to become low is: The servo has no fault and main circuit DC voltage has been established, with voltage higher than 250V/430V (for 220V/400V series). If the main circuit DC voltage is less than 170V/310V (for 220V/400V series), the Er13-1 alarm is reported. The time interval from servo readiness to servo enabling can be user controlled. Note 3: The servo enabling signal can be valid only when the RDY output signal is valid.

Note 4: The actual electric levels corresponding to valid I/O states can be set through P3.00–P3.15.

Position/speed/tor

que command

input

About 1.2s

Note 3

200ms

Main circuit powered on

Program started

running

Servo without output

Motor brake releasedMotor brake closed

Servo with output

Command input

invalid

Command input valid

Fan signal

Fan running

Fan not run

Powering-on

process

Servo turning-on

process

100ms

Program initialized

Servo readiness

(RDY)

Note 2

Note 1

Invalid

Valid

Note 4

Brake being

released

5.1.9 Timing sequence

5.1.9.1 Timing sequence for power-on and servo turning on

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DA180 series basic AC servo drive Operating and running

Main power

PWM output

Electromagnetic

brake release signal output

(BRK)

Servo readiness

output (RDY)

Microcontroller

state

Note 1: If main circuit voltage is less than 170V/330V(for 220V/400V series), the undervoltage fault occurs and the electrical level of the servo fault (ALM) output increases. Note 2: If the drive temperature is less than 45 °C, the fan stops. If the IGBT temperature is higher than 45 °C, the fan stops after the microprocessor stops. Note 3: The output delay of the electromagnetic brake release signal can be set through P3.57. If the speed slows down under the setting of P3.58 (30r/min by default) during the time specified by P3.57, the BRK signal becomes invalid. Note 4: The actual electrical levels corresponding to valid I/O states can be set through P3.00–P3.15.

Note 1

Main circuit power lost

Program stopped running

Servo with output

Motor brake closed

Motor brake

released

Servo without output

Fan signal Fan stopped runningFan running

Note 2

Note 3

Valid Invalid

Program running

Note 4

Dynamic brake

state

PWM output

Electromagnetic

brake release signal output

(BRK)

Servo readiness

output (RDY)

Servo fault output

(ALM)

Servo enabling (SON)

Note 1: Whether to immediately start the dynamic brake can be set through P4.30. Note 2: The servo locking time after braking can be set through P3.56. Note 3: The actual electrical levels corresponding to valid I/O states can be set through P3.00–P3.15.

No fault alarm

Servo with output

Motor brake closed

Motor brake released

Servo without output

Dynamic brake switched onNote 1

Note 2

Normal

Dynamic brake switched off

Enabled Disabled

Note 3

5.1.9.2 Timing sequence for power-off during running

5.1.9.3 Timing sequence for servo turning off in locked state

-64-

DA180 series basic AC servo drive Operating and running

Dynamic brake state

PWM output

Electromagnetic

brake release

signal output (BRK)

Servo ready

output (RDY)

Servo fault output

(ALM)

Servo enabling (SON)

Note 1: Whether to immediately enable the dynamic brake can be set through P4.30. Note 2: The output delay of the electromagnetic brake release signal is specified by P3.57. If the speed slows down under the setting of P3.58 during the time specified by P3.57, the BRK signal becomes invalid. Note 3: The actual electrical levels corresponding to valid I/O states can be set through P3.00–P3.15.

No fault alarm

Servo with

output

Motor brake closedMotor brake released

Servo without output

Dynamic brake switched onNote 1

Note 2

Enabled Disabled

Valid

Dynamic brake

switched off

Note 3

Dynamic brake state

PWM output

Electromagnetic

brake release signal

output (BRK)

Servo ready

output (RDY)

Servo fault output

(ALM)

Note 1: Whether to immediately enable the dynamic brake can be set through P4.30. Note 2: The output delay of the electromagnetic brake release signal is specified by P3.57. If the speed slows down under the setting (30r/min by default) of P3.58 during the time specified by P3.57, the BRK signal becomes invalid. Note 3: The actual electrical levels corresponding to valid I/O states can be set through P3.00–P3.15.

Fault alarm reported

Servo with output

Motor brake

closed

Motor brake

released

Servo without output

Dynamic brake switched onNote 1

Note 2

Dynamic brake

switched off

Normal

Valid Invalid

Note 3

5.1.9.4 Timing sequence for servo turning off in running state

5.1.9.5 Timing sequence for fault alarm reporting

-65-

DA180 series basic AC servo drive Operating and running

MODE key

Display

SET/SHIFT key

UP key DOWN key

MODE SET/

Character

Meaning

Character

Meaning

Character

Meaning

Character

Meaning

0 1 2

3

4 5 6 7 8 9 . - a b c d e f g

h

i j k

l

m n o

p

q r s

t u v w x

y z

5.2 Display and operating

5.2.1 Display

 Keypad diagram

 LED characters and meanings

-66-

DA180 series basic AC servo drive Operating and running

Key

Function

MODE

Used to switch between different modes or return to the previous menu.

UP

Used to select parameter upwards or increase values. For a parameter displayed in multiple segments, it can be used to shift to the most significant bit (MSB), middle, and least significant bit (LSB) segments.

DOWN

Used to select parameter downwards or decrease values. For a parameter displayed in multiple segments, it can be used to switch between the MSB, middle bit, and LSB segments.

SET/SHIFT

Hold this key (about 0.6s) = SET Used to enter a sub-level menu in parameter mode or to set parameters in editing mode. Press this key = SHIFT Used to change a group code in parameter mode or to enter a position where the digit needs to change in editing mode.

Fault mode STO mode

Parameter

mode

Monitoring

mode

Auxiliary

function mode

MODE

PTP mode

Common

monitoring mode

MODEMODE MODE MODE

MODE

 Key functions

 Operation flowchart

After the drive is powered on, the panel displays about 1 second and then about 1 second. After that, the common monitoring mode is entered.

1. Press MODE to circularly switch between different modes in the sequence of "Common

monitoring mode" → "Monitoring mode" → "Parameter mode" → "PTP mode" → "Auxiliary function mode" → "Fault mode" → "STO mode". If there is no fault or no STO input, the fault mode and STO mode can be skipped.

2. If a new fault occurs, the fault mode is entered automatically, but you can press MODE to switch

to another mode. If no key is pressed in 20 seconds, the fault mode is switched back automatically.

3. In common monitoring mode, UP/DOWN can be used to switch between monitoring

parameters. Parameter names are displayed for 2.5 seconds, and then the values are displayed.

4. In parameter mode, SHIFT can be used to switch between group codes, and UP/DOWN can be

used to select codes for parameters in a group.

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DA180 series basic AC servo drive Operating and running

SHIFT

UP

DOWN

SET

UP DOWN

SHIFT UP

DOWN

SHIFT

SET

SHIFT

UP

DOWN

SET

MODE

UP DOWN

DOWN

UP

MODE

Hold the key for 2.5s

MODE

Hold the key for 2.5s

MODE

Hold the key for 2.5s

5. In parameter setting mode, press SHIFT to move the cursor left and then press UP/DOWN to

change the setting for the MSB.

6. After parameters are set, press SET to save the parameter settings or execute commands.

7. After parameters are set, the LED panel displays (if the parameters are storage

parameters and P0.17 is set to 0 [Individually]) or (if the parameters are non-storage parameters or P0.17 is set to 1 [In batches]). Then the parameter mode is switched back automatically.

8. Set long parameters (with 6 digits at least).

5.2.2 Common monitoring mode

After the drive is powered on, the LED panel enters the common monitoring mode by default. It displays the names of monitoring parameters for 2.5 seconds, and then the values. You can press MODE to return to the parameter name display screen. Then you can press UP/DOWN to switch between monitoring parameters. For details, see section 10.3 "Common monitoring parameters". The monitoring parameters that are displayed by default can be set by P0.15. If no operation is performed on the non parameter value display screen in 20 seconds, the common monitoring parameter screen is displayed. Operation flowchart

-68-

DA180 series basic AC servo drive Operating and running

SHIFT

UP

DOWN

UP UP

SET MODE

DOWN DOWN

SET MODE

UPUPDOWN

DOWN

SHIFT

UP

DOWN

UP

DOWN

UP

SET MODE

SHIFT

UP

DOWN

SET

󰓇󰯇1󱾣

DOWN

MODE

5.2.3 Monitoring mode

You can press MODE to switch to the monitoring mode. Then you can press SHIFT to select group codes for monitoring parameters circularly in one way, press UP/DOWN to select codes for parameters in a group, or hold UP/DOWN for quick selection. After locating a target parameter, you can press SET to check the current value and then press MODE to switch to the parameter code display screen. If no operation is performed on an R3 menu screen in 20 seconds, the common monitoring parameter screen is displayed. If no operation is performed on an R0 or R1 menu screen in 20 seconds, the current parameter display screen is kept.

Operation flowchart

5.2.4 Parameter setting mode

You can press MODE to switch to the parameter setting mode. You can press SHIFT to select group codes for parameters circularly in one way, press UP/DOWN to select codes for parameters in a group, or hold UP/DOWN for quick selection. After locating a target parameter, you can press SET to enter the current parameter value display screen and then press SHIFT to enter the parameter setting screen where the parameter LSB blinks). After parameter setting, the LED displays (if the parameters are storable and P0.17 is set to 0) or (if the parameters are non-storage parameters or P0.17 is set to 1). The parameter mode is switched back automatically. Operation flowchart

-69-

DA180 series basic AC servo drive Operating and running

Symbol

Function

Program Jog

Factory restore

Program jogging

Zero-drift clearing for analog input 1

Zero-drift clearing for analog input 2

Zero-drift clearing for analog input 3

Inertia identifying

Absolute encoder clearing

MODE

SET

UP held

UP

released

DOWN held

DOWN

released

5.2.5 Auxiliary function mode

5.2.5.1 Functions

You can press MODE to enter the auxiliary function mode and press UP/DOWN to select auxiliary functions.

Note: All auxiliary functions can be executed only when the servo is disabled. The auxiliary function menu is inaccessible when the servo is enabled.

5.2.5.2 Jogging test

You can press MODE to switch to the auxiliary function mode. You can press UP/DOWN to enter the

menu and press SET to enter the jogging test screen, displaying the current rotation

speed of the motor. If you press and hold UP, the motor rotates at the specified speed counterclockwise. It stops if you releases the key. If you press and hold DOWN, the motor rotates at the specified speed clockwise. It stops if you releases the key.

5.2.5.3 Factory parameter restoring

You can press MODE to switch to the auxiliary function mode. You can press UP/DOWN to enter the

menu and press SET to enter the default parameter restoring screen, displaying

. Then you can press SET to restore parameters. During the restoring process, the screen

displays . When the process ends, the screen displays . The zero-drift clearing process for analog input 1, 2, and 3 is similar to the factory parameter restoring process.

-70-

DA180 series basic AC servo drive Operating and running

MODESET

SET MODE

SET

UP DOWN

MODE

SHIFTSHIFT

SHIFT

5.2.5.4 Program jogging

After the run parameters P5.00–P5.05 are set, you can press MODE to switch to the auxiliary function mode. Then you can press UP/DOWN to enter the menu and press SET to enter the program jogging screen, displaying . Then you can press SHIFT to switch between

and to enable and disable program jogging. On the screen,

you can press UP or DOWN to start program jogging. The use of the UP or DOWN key is associated with P5.00. If the motor running direction is counterclockwise, the UP key must be used for the starting. If the motor running direction is clockwise, the Down key must be used for the starting. After the starting, the current rotation speed of the motor is displayed.

5.2.5.5 Inertia identifying

You can press MODE to switch to the auxiliary function mode. You can press UP/DOWN to enter the

Then you can press SET to enable inertia identifying. After inertia identifying is complete, the result data such as is displayed about three seconds and then saved automatically. The screen returns to the parameter setting menu automatically after displaying about two seconds.

menu and press SET to enter the inertia identifying menu, which displays .

-71-

DA180 series basic AC servo drive Operating and running

SET

󰓇󰯇3󱾣

󰓇󰯇2󱾣

MODE

󰟡 󳋶

SET

SET MODE MODE

MODE

5.2.5.6 Absolute encoder clearing

If a multiturn absolute encoder is used, the homing operation for the mechanical system must be performed after the first power-on. Then you can press MODE to enter the auxiliary function mode, press UP/DOWN to enter the menu, and press SET to enter the absolute encoder clearing menu, which displays . Then you can press SET to enable absolute encoder clearing. The screen displays . If the clearing is successful, the screen displays

. If the encoder type does not match or the clearing fails, the screen displays .

5.2.6 Alarm reporting

If the servo drive runs abnormally, it reports a fault alarm and stops automatically, while the LED panel displays the fault alarm symbol in the format of ErXX-X, in which XX is the main code and X is the sub code. For details, see section 10.4 "Fault codes".

-72-

DA180 series basic AC servo drive Operating and running

5.2.7 Alarm clearing

For the fault alarms that can be cleared online, if there no are fault trigger conditions, the fault alarms can be cleared by short connecting the digital input fault clearing terminal (that is, parameters P3.00– P3.07 are set to 0x004 or 0x104) to COM-. If the servo still has enabling command input, the drive cannot clear the faults automatically. You can power off and repower on the drive to clear the fault alarms that cannot be cleared online.

-73-

DA180 series basic AC servo drive Function codes

6 Function codes

6.1 Basic control (group P0)...................................................................................................... 75

6.1.1 Basic settings ......................................................................................................... 75

6.1.2 Position control ....................................................................................................... 85

6.1.3 Speed and torque control........................................................................................ 90

6.1.4 Control mode switching ........................................................................................ 101

6.2 Autotuning control (group P1) ............................................................................................ 102

6.2.1 Inertia identifying (or automatic gain) .................................................................... 102

6.2.2 Self-adaptive vibration control ............................................................................... 105

6.3 Motor control (group P2) ................................................................................................... 109

6.3.1 Gain settings ........................................................................................................ 109

6.3.2 Gain switching ...................................................................................................... 113

6.3.3 Special motor control ............................................................................................ 118

6.4 I/O management (group P3) .............................................................................................. 123

6.4.1 Digital input/output ................................................................................................ 123

6.4.2 Analog input/output ............................................................................................... 129

6.4.3 Digital input/output associated settings ................................................................. 135

6.5 Extension and application (group P4) ................................................................................ 140

6.5.1 Communication .................................................................................................... 140

6.5.2 Servo types and communication control commands .............................................. 143

6.5.3 Extension and application ..................................................................................... 147

6.5.4 Frequency-division output and second-encoder settings ................................ ....... 152

6.5.5 Special commands ............................................................................................... 156

6.6 Program Jog, homing, and PTP control (group P5) ........................................................... 158

6.6.1 Program Jog settings ............................................................................................ 158

6.6.2 Homing................................................................................................................. 161

6.6.3 PTP control .......................................................................................................... 164

6.7 Application functions (group P6) ........................................................................................ 172

6.8 PTP control (groups PtP0, PtP1, and PtP2) ....................................................................... 178

6.9 Status monitoring .............................................................................................................. 212

6.9.1 System monitoring (group R0) .............................................................................. 212

6.9.2 I/O monitoring (group R1) ..................................................................................... 224

6.9.3 Fault recording (group R3) .................................................................................... 226

-74-

DA180 series basic AC servo drive Function codes

P0.001

Motor model

Setting range

Default

Unit

Applicable

mode

0–9999999

1010104*1

- P S

T

This parameter is set to 0 by default. Change the setting according to the specifications on the motor nameplate. If the motor model is 0 and it is connected to a standard communication-type encoder, the drive automatically reads motor parameters. For example, the nameplate of a 400W motor is as follows:

S/N:

INPUT: AC 3PH 220V 2.8A OUTPUT(RATED): 400W 3000r/min 1.3N·m

IP65 S1 CLASS F NO.3010004(236)

MADE IN CHINA

INVT INDUSTRIAL TECHNOLOGY CO.,LTD.

MODEL: SV-ML06-0R4G-2-4A0-3000

Note:

 In the Applicable mode column, P indicates position control mode, S indicates speed control

mode, and T indicates torque control mode.

 For directions, from the view of facing the motor shaft, the forward direction is counterclockwise

(CCW for short), and the reverse direction is clockwise (CW for short); in terms of speed and torque settings, a positive value corresponds to the forward direction and a negative value corresponds to the reverse direction.

 For function codes:

- Marked with the superscript "1", the parameter settings take effect only after the drive is restarted or repowered on.

- Marked with the superscript "2", the parameter settings take effect only when the servo stops. The modification during running does not take effect.

- Marked with the superscript "*", the parameter settings are not stored after the drive is powered off.

 For communication addresses

They are in decimal format when Modbus is used. They are in hexadecimal format when CANopen is used. The code with16 bits is the main code

and the code with 8 bits is the sub code.

6.1 Basic control (group P0)

6.1.1 Basic settings

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DA180 series basic AC servo drive Function codes

In the figure, 3010004 in "No.3010004" is the value of this parameter. Note: Incorrect setting of this parameter may cause abnormal running or even serious drive or motor fault. Ensure that the parameter setting matches the motor before the first power-on.

P0.001

Data size

32bit

Data format

DEC

Modbus address

1000, 1001

CANopen address

0x2000, 0x00

P0.011

Encoder type

Setting range

Default

Unit

Applicable

mode

1–12

4*1

- P S

T

In most cases, if P0.00 is set correctly, the system assigns a value to this parameter. You do not need to set it. If an encoder disconnection fault is reported during power-on though the motor is connected correctly, check whether the drive supports the encoder used by the motor. For details, see section 1.1.3 "Drive naming". The servo motor code contains the encoder type. For details, see section 1.2.2 "Motor naming". The mapping between encoder types and settings of P0.01 is as follows:

Motor nameplate

encoder type*2

Setting

Meaning

3

17-bit single-turn absolute encoder

4

[4]

17-bit multiturn absolute encoder *3

9

10

23-bit multiturn absolute encoder *3

-

Other

Reserved

*1 The encoder type varies with the motor type. *2 See No. 8 in the table in section 1.2.2 "Motor naming" for encoder types. *3 If you use a multiturn encoder, change the battery only when the drive power is on, which prevents the absolute position from being lost. The standard battery is 2000 mAh and the replacement cycle is 1.5–2 years.

P0.011

Data size

16bit

Data format

DEC

Modbus address

1002, 1003

CANopen address

0x2001, 0x00

P0.02

1

Forward direction of

motor rotating *1

Setting range

Default

Unit

Applicable

mode

0–1

0

- P S

T

This parameter specifies the forward direction of motor rotating.

Setting

Meaning

[0]

The forward direction is counterclockwise.

1

The reverse direction is clockwise.

*1 The direction definition assumes that you face the output shaft of the motor.

P0.02

1

Data size

16bit

Data format

DEC

Modbus address

1004, 1005

CANopen address

0x2002, 0x00

-76-

DA180 series basic AC servo drive Function codes

P0.031

Control mode

Setting range

Default

Unit

Applicable

mode

0–9

0 - P S T

This parameter specifies the system working mode.

Setting

Primary

mode

Secondary

mode

Description

[0] P /

Position mode: The angular displacement of the servo motor is controlled through internal or external position commands, thus achieving the control over mechanical motion displacement.

1 S /

Speed mode: The rotation speed of the servo motor is controlled through internal or external speed commands.

2 T /

Torque mode: The torque of the servo motor is controlled through internal or external torque commands.

3 P S

Switching between the position and speed modes: The position mode and speed mode can be switched through the control mode switching terminal.

Speed modePosition mode Position mode

Motor speed

Mode

switching

signal (MCH)

ON

OFF

(P0.90)

(P0.92 = 0)

Switching after positioning

completion

(P0.91)

(P0.92 = 1)

Direct switching

Note: There are two methods (specified by P0.92) to switch from the position mode to the speed mode. In the process of switching from the speed mode to the position mode, the motor stops at the reference position specified by P0.91 before switching to the position mode.

4 P T

Switching between the position and torque modes: The position mode and torque mode can be switched through the control mode switching terminal.

Torque modePosition mode Position mode

Motor speed

Mode

switching

signal (MCH)

ON

OFF

(P0.90)

(P0.92 = 1)

Direct switching

(P0.92 = 0)

Switching after

positioning completion

(P0.91)

Note: There are two methods (specified by P0.92) to switch from the position mode to the torque mode. In the process of switching from the torque mode to the position mode, the motor stops at the reference position specified by P0.91 before switching to the position mode.

-77-

DA180 series basic AC servo drive Function codes

5

S

T

Switching between the speed and torque modes: The speed mode and torque mode can be switched through the control mode switching terminal.

Torque modeSpeed mode Speed mode

Motor speed

Mode

switching

signal (MCH)

ON

OFF

Torque

command

Load torque

Note: The switching is not limited by the current working condition. 6 / / Reserved

7

CANopen

/

CANopen mode (supported by the CANopen servo)

8

EtherCAT

/

EtherCAT mode (supported by the EtherCAT servo)

Remarks: If P0.03 is set, parameters P3.00–P3.07 are automatically switched according to the current control mode. The input settings of P3.00–P3.07 are described as follows: 0: Off (The internal optical coupler corresponding to the input is not conducted.) 1: On (The internal optical coupler corresponding to the input is conducted.)

P0.031

Data size

16bit

Data format

DEC

Modbus address

1006, 1007

CANopen address

0x2003, 0x00

-78-

DA180 series basic AC servo drive Function codes

P0.04*

Internal enabling

command

Setting range

Default

Unit

Applicable

mode

0–1

0 - P S T

This parameter is used to control the working status of the servo drive. The mapping between the settings of this parameter and external terminal enabling commands are as follows:

Setting

External terminal command

Servo drive is

0

0 (The internal optical coupler corresponding to the input is not conducted.)

Stand-by (OFF)

0

1 (The internal optical coupler corresponding to the input is conducted.)

Enabled (ON)

1

0 (The internal optical coupler corresponding to the input is not conducted.)

Enabled (ON)

1

1 (The internal optical coupler corresponding to the input is conducted.)

Enabled (ON)

Note:  If P0.04 is set to 1, but the external terminal command status is changed from 1 to 0, the drive

is disabled, that is, P0.04 is changed to 0 automatically.

 The method for setting this parameter on the LED panel is different from that for setting other

parameters. You can use only the SET key to switch between 0 and 1. The UP/DOWN key is invalid on the screen for setting this parameter.

P0.04*

Data size

16bit

Data format

DEC

Modbus address

1008, 1009

CANopen address

0x2004, 0x00

P0.05

Jogging speed

Setting range

Default

Unit

Applicable

mode

0–1000

200

r/min

P S T

This parameter specifies the jogging speed. For details, see 5.2.5.2 "Jogging test". During the jogging process, the ACC/DEC time parameters P0.54, P0.55, P0.56, P0.57 function, and the motor accelerates, decelerates, starts, or stops based on the settings.

P0.05

Data size

16bit

Data format

DEC

Modbus address

1010, 1011

CANopen address

0x2005, 0x00

-79-

DA180 series basic AC servo drive Function codes

P0.061

Numerator of

frequency division

output coefficient

Setting range

Default

Unit

Applicable

mode

0–(231-1)

10000

- P S

T

P0.071

Denominator of

frequency division

output coefficient

Setting range

Default

Unit

Applicable

mode

1–(231-1)

131072

- P S

T

By setting the numerator and denominator of the frequency division output coefficient, the position from the encoder feedback can be frequency divided by any integer or decimal fraction and then output through the encoder pulse output signal terminals (OA+, OA-, OB+ and OB-, corresponding to pins 44, 43, 41, and 42) of the CN1 plug.

Drive output pulses =

P0.06 P0.07

x Encoder resolution

Note:

1. In position control mode, if the encoder output signal of the upper-level servo motor is used as the position pulse command input of the current-level servo drive, that is, executing the master/slave follow-up of the start/stop type, in order to ensure high positioning accuracy of the current-level servo drive, the frequency division coefficient must be 1:1. Otherwise, the accuracy of master/slave position follow-up is affected.

2. By default, P0.07 is 131072 and P0.06 is 10000, indicating the encoder pulse output terminal outputs 10000 pulse signals each time the motor rotates a circle. If P0.06 is changed to 5000, the encoder pulse output terminal outputs 5000 pulse signals in the same situation.

P0.061

Data size

32bit

Data format

DEC

Modbus address

1012, 1013

CANopen address

0x2006, 0x00

P0.071

Data size

32bit

Data format

DEC

Modbus address

1014, 1015

CANopen address

0x2007, 0x00

-80-

DA180 series basic AC servo drive Function codes

P0.081

Reverse frequency

division output

Setting range

Default

Unit

Applicable

mode

0–1

0 - P S T

This parameter specifies whether to reverse the phase-B pulse logic of pulse output. Then the phase relationship between phase-A pulses and phase-B pulses can be changed.

Setting

Logic of phase B

CCW

CW

[0]

Not

reverse

Phase

A

Phase

B

Phase

A

Phase

B

1

Reverse

Phase

A

Phase

B

Phase

A

Phase

B

P0.081

Data size

16bit

Data format

DEC

Modbus address

1016, 1017

CANopen address

0x2008, 0x00

P0.09

Torque limit mode

Setting range

Default

Unit

Applicable

mode

0–6

1 - P S

This parameter specifies the torque limit mode.

Setting

Forward direction

Reverse direction

0

Torque limit (analog input 0V–

10V)

Torque limit (analog input -10V–0V)

[1]

Maximum torque limit 1 (P0.10)

2

Maximum torque limit 1 (P0.10)

Maximum torque limit 2 (P0.11)

3

TLC OFF → Maximum torque limit 1 (P0.10)

TLC ON → Maximum torque limit 2 (P0.11)

4

Forward torque limit

(analog input 0V–10V)

Reverse torque limit

(analog input -10V–0V)

5

Forward torque limit

(analog input 0V–10V)

6

Forward torque limit

(analog input 0V–10V)

Note: If P0.09 is set to 3, torque switching does not take effect immediately, but limited by the settings of P4.51 and P4.52. The torque switching limit is shown in the following:

-81-

DA180 series basic AC servo drive Function codes

P0.10

P0.11

Zero

torque

Ta Tb

P0.10

Ta[ms]=|P0.11[%]-P0.10[%]|×P4.51[ms/100%]/100

Tb[ms]=|P0.10[%]-P0.11[%]|×P4.52[ms/100%]/100

P0.09

Data size

16bit

Data format

DEC

Modbus address

1018, 1019

CANopen address

0x2009, 0x00

P0.10

Max. torque limit 1

Setting range

Default

Unit

Applicable

mode

0.0–500.0

300.0

% P S

T

P0.11

Max. torque limit 2

Setting range

Default

Unit

Applicable

mode

0.0–500.0

300.0

% P S

This group of parameter specifies the maximum torque that the servo motor can output. Assuming that the rated torque of the servo motor is 100%, the setting is a percentage of the rated torque. If the absolute value of the torque command is great than the setting, the actual output torque is limited by the setting. Note:

 This group of parameter is used with P0.09.  In torque mode, the torque limit is determined by P0.10.

P0.10

Data size

16bit

Data format

DEC

Modbus address

1020, 1021

CANopen address

0x200A, 0x00

P0.11

Data size

16bit

Data format

DEC

Modbus address

1022, 1023

CANopen address

0x200B, 0x00

-82-

DA180 series basic AC servo drive Function codes

P0.131

External brake resistor power

Setting range

Default

Unit

Applicable

mode

0–5000

200

W P S

T

P0.141

External brake

resistor resistance

Setting range

Default

Unit

Applicable

mode

1–1000

60

Ω P S

T

If an external brake resistor is used, the settings of the parameters must be the same as the power and resistance of the external brake resistor.

Note:

Brake overload detection should be used with P4.34. If P4.34 is set to 2, the brake overload detection logic uses the external brake resistor parameters to execute fault detection. If this group of parameter does not match the power and resistance of the external brake resistor, the brake overload fault (Er07-0) may be reported by mistake or even the brake resistor may be burnt down. The regenerative brake overload protection time of the external brake resistor is in direct proportion to the two parameters and is in inverse proportion to the brake rate during actual running. The two parameters are invalid when P4.34 is not 2.

P0.131

Data size

16bit

Data format

DEC

Modbus address

1026, 1027

CANopen address

0x200D, 0x00

P0.141

Data size

16bit

Data format

DEC

Modbus address

1028, 1029

CANopen address

0x200E, 0x00

P0.15

Default monitored

parameters

Setting range

Default

Unit

Applicable

mode

0–22

0 - P S T

This parameter specifies the status parameters that are monitored upon power-on:

Setting

Meaning

Display

Unit

[0]

Motor speed

r/min

1

Speed command

r/min

2

Accumulated feedback pulses

reference unit

3

Pulse command accumulation

reference unit

4

Residual pulses

reference unit

5

Hybrid control deviation

reference unit

6

Current torque

%

7

Main circuit DC voltage

V

8

Output voltage

Vrms

9

Output current

Arms

10

Drive temperature

°C

-83-

DA180 series basic AC servo drive Function codes

11

Torque limit

%

12

Encoder feedback value

pulse

13

Rotor position relative to phase-Z pulse

pulse

14

Load inertia ratio

%

15

Output power

%

16

Motor load ratio

%

17

Numerator of actual electronic gear ratio

-

18

Denominator of actual electronic gear

ratio

-

19

Pulse-corresponded speed command

r/min

20

Instantaneous speed

r/min

21

PTP state

-

P0.15

Data size

16bit

Data format

DEC

Modbus address

1030, 1031

CANopen address

0x200F, 0x00

P0.16

Parameter

modification lock

Setting range

Default

Unit

Applicable

mode

0–1

0 - P S T

This parameter specifies whether to lock the function of modifying parameters (excluding P0.16 and parameters that are not be saved after power-off), preventing maloperation.

Setting

Through the panel

Through communication

[0]

Unlock the function

1

Lock the function

P0.16

Data size

16bit

Data format

DEC

Modbus address

1032, 1033

CANopen address

0x2010, 0x00

P0.17

Mode for writing to

EEPROM

Setting range

Default

Unit

Applicable

mode

0–1

0 - P S T

This parameter specifies the mode for writing parameter settings that are modified through the panel to the EEPROM.

Setting

Meaning

[0]

Individually (that is, automatically saved after a modification)

1

In batches (that is, modifications saved in batches if P4.91 is set to 1)

P0.17

Data size

16bit

Data format

DEC

Modbus address

1034, 1035

CANopen address

0x2011, 0x00

-84-

DA180 series basic AC servo drive Function codes

P0.18*

Factory password

Setting range

Default

Unit

Applicable

mode

0–65536

0 - P S T

This parameter enables you to view factory parameters and modify menus.

P0.18*

Data size

16bit

Data format

DEC

Modbus address

1036, 1037

CANopen address

0x2012, 0x00

P0.19

Main circuit power

input type

Setting range

Default

Unit

Applicable

mode

0–65536

0 - P S T

This parameter specifies the power input type for the main circuit.

Setting

Meaning

[0]

Terminals L1, L2, and L3 input AC power.

1

Terminals + and – input DC power.

P0.19

Data size

16bit

Data format

DEC

Modbus address

1038, 1039

CANopen address

0x2013, 0x00

P0.201

Position command

source

Setting range

Default

Unit

Applicable

mode

0–4

0 - P

This parameter specifies the position command source in the position, fully-closed loop, and hybrid position control modes.

Setting

Meaning

[0]

Pulse input

1

Communication bus input

2

PTP control

3

Reserved

4

Second encoder input

P0.201

Data size

16bit

Data format

DEC

Modbus address

1040, 1041

CANopen address

0x2014, 0x00

P0.221

Pulses per motor

resolution

Setting

range

Default

Unit

Applicable

mode

0–(231-1)

10000

reference unit

P

This parameter specifies the number of pulses required per motor resolution. Note: If P0.22 is set to a non-zero value, the settings of P0.25–P0.29 are invalid. If a 17-bit or 20-bit encoder is used together, you are recommended to set a greater value to achieve higher accuracy.

6.1.2 Position control

-85-

DA180 series basic AC servo drive Function codes

P0.221

Data size

32bit

Data format

DEC

Modbus address

1044, 1045

CANopen address

0x2016, 0x00

P0.231

Pulse input mode

Setting

range

Default

Unit

Applicable

mode

0–2 0 -

P

This parameter specifies the pulse input mode. There are three pulse input modes available.

Setting

Meaning

Signal

form

Diagram

CCW

CW

[0]

Pulse + sign

Pulse+

Sign

1

CCW/CW

pulse train

CW+CCW

2

Quadrature

encoder pulse

mode

QEP

Note: The pulse direction specified by this parameter can be reversed by P0.241. See P0.241 for details.

P0.231

Data size

16bit

Data format

DEC

Modbus address

1046, 1047

CANopen address

0x2017, 0x00

P0.241

Reverse pulse input

direction

Setting

range

Default

Unit

Applicable

mode

0–1 0 -

P

By setting this parameter, the input pulse direction can be reversed. At this time, the actual output speed direction of the servo drive is opposite to the direction specified by P0.23.

Setting

Meaning

[0]

The pulse input direction remains unchanged.

1

The pulse input direction and original input direction are reverse.

P0.241

Data size

16bit

Data format

DEC

Modbus address

1048, 1049

CANopen address

0x2018, 0x00

-86-

DA180 series basic AC servo drive Function codes

P0.25

Numerator of

electronic gear ratio

1

Setting range

Default

Unit

Applicable

mode

0–(231-1)

0 - P

P0.26

Denominator of

electronic gear ratio

Setting range

Default

Unit

Applicable

mode

1–(231-1)

10000

- P

P0.27

Numerator of

electronic gear ratio

2

Setting range

Default

Unit

Applicable

mode

0–(231-1)

0 - P

P0.28

Numerator of

electronic gear ratio

3

Setting range

Default

Unit

Applicable

mode

0–(231-1)

0 - P

P0.29

Numerator of

electronic gear ratio

4

Setting range

Default

Unit

Applicable

mode

0–(231-1)

0 - P

Electronic gear ratio concept: For any pulse input, the quantity and frequency of pulse actually received by the drive can be changed by multiplying a certain coefficient. This coefficient is electronic gear ratio. It can be divided into two parts: numerator and denominator:

Electronic gear ratio = g1/ g2

Of which,

g1: indicates the numerator of the electronic gear ratio g2: indicates the denominator of the electronic gear ratio;

The following is the schematic diagram for the electronic gear ratio:

Deviation

counter

Motor

Encoder

Intermediate

link

Electronic gear ratio

Input pulse train

Feedback pulse

Example: The following is an example where 1 pulse is

equivalent to a feed rate of 10μm: Mechanical specifications: Feed of the ball screw Pb =10mm DEC ratio n=3/5 Resolution of the servo motor encoder =10000 The electronic gear ratio is as follows:

3

00

1 10000 50

10 10

2 (3 5) 10 3

g Pt Pt

g S n Pb



  ·   ·   · 

  

󰳞󱬆󰴋

n

Servo

motor

-87-

DA180 series basic AC servo drive Function codes

In the expression,

0



: Feed corresponding to each pulse (mm/pulse)

S

: Feed corresponding to each rotation motor (mm/rotation)

In this example: g1=50, g2=3 The servo drive has four groups of electronic gear ratio. You can determine which parameters are selected from P0.25, P0.26, P0.27 P0.28, and P0.29 to make up the electronic gear ratio through the electronic gear ratio selection terminals SC1 and SC2 of the CN1 plug.

SC1

SC2

In position mode

0

Numerator of electronic gear ratio 1

1

0

Numerator of electronic gear ratio 2

0

1

Numerator of electronic gear ratio 3

1

Numerator of electronic gear ratio 4

Note:

 This group of parameters is valid only when P0.221 is 0.  If SC1 and SC2 are used for electronic gear ratio switching, P4.10 must be set to 0.

P0.25

Data size

32bit

Data format

DEC

Modbus address

1050, 1051

CANopen address

0x2019, 0x00

P0.26

Data size

32bit

Data format

DEC

Modbus address

1052, 1053

CANopen address

0x201A, 0x00

P0.27

Data size

32bit

Data format

DEC

Modbus address

1054, 1055

CANopen address

0x201B, 0x00

P0.28

Data size

32bit

Data format

DEC

Modbus address

1056, 1057

CANopen address

0x201C, 0x00

P0.29

Data size

32bit

Data format

DEC

Modbus address

1058, 1059

CANopen address

0x201D, 0x00

P0.332

Position command

smooth filter time

Setting range

Default

Unit

Applicable

mode

0.0–1000.0

0.0

ms P

This parameter specifies the time constant for a first-order low pass filter corresponding to a position command, reducing the mechanical shock caused by sudden input pulse command frequency changes. See the following figure:

-88-

DA180 series basic AC servo drive Function codes

Position before filtering

Speed

Time

Position after filtering

P0.33P0.33

Vc

0.632Vc

0.368Vc

P0.332

Data size

16bit

Data format

DEC

Modbus address

1066, 1067

CANopen address

0x2021, 0x00

P0.342

Position command

FIR filter time

Setting range

Default

Unit

Applicable

mode

0.0–1000.0

0.0

ms P

This parameter specifies the time constant for the FIR filter corresponding to a position command, reducing the mechanical shock caused by sudden input pulse command frequency changes. See the following figure:

Position before filtering

Speed

Time

Position after filtering

Vc

Position after filtering

P0.34P0.34

Note: If this parameter is modified during servo running, the modification takes effect after stop.

P0.342

Data size

16bit

Data format

DEC

Modbus address

1068, 1069

CANopen address

0x2022, 0x00

P0.35

Software limit in

CCW position

control

Setting range

Default

Unit

Applicable

mode

-(231-1)–(231-1)

0

reference unit

P

This parameter specifies the software limit in CCW position control. If P0.35 is 0 and P0.36 is 0, software limit is invalid. Note: The software limit function is valid only when this parameter is greater than P0.36.

P0.35

Data size

32bit

Data format

DEC

Modbus address

1070, 1071

CANopen address

0x2023, 0x00

-89-

DA180 series basic AC servo drive Function codes

P0.36

Software limit in

CW position control

Setting range

Default

Unit

Applicable

mode

-(231-1)–(231-1)

0

reference unit

P

This parameter specifies the software limit in CW position control. If P0.35 is 0 and P0.36 is 0, software limit is invalid. Note: The software limit function is valid only when this parameter is less than P0.35.

P0.36

Data size

32bit

Data format

DEC

Modbus address

1072, 1073

CANopen address

0x2024, 0x00

P0.37

Position command

mode

Setting range

Default

Unit

Applicable

mode

0–1 0 - P

This parameter specifies the position command mode when P0.20 [Position command source] is set to 1, and it is invalid in other modes.

Setting

Meaning

[0]

Incremental (The position command input is the variation relative to the current position.)

1

Absolute (The position command input is the target position.)

P0.37

Data size

16bit

Data format

DEC

Modbus address

1074, 1075

CANopen address

0x2025, 0x00

P0.40

Speed command

source

Setting range

Default

Unit

Applicable

mode

0–5 1 -

S

This parameter specifies the command source in speed control.

Setting

Input mode

Description

0

Internal

speed

P3.00–P3.07 can be used to control the internal multi-step speed (SPD1 is 0x00A, SPD2 is 0x00B, SPD3 is 0x00C):

SPD3

SPD2

SPD1

Parameter

Speed mode

0 0 0

P0.46

Internal speed 1

0 0 1

P0.47

Internal speed 2

0 1 0

P0.48

Internal speed 3

0 1 1

P0.49

Internal speed 4

1 0 0

P0.50

Internal speed 5

1 0 1

P0.51

Internal speed 6

1 1 0

P0.52

Internal speed 7

1 1 1

P0.53

Internal speed 8

6.1.3 Speed and torque control

-90-

DA180 series basic AC servo drive Function codes

See the descriptions for P0.46–P0.53.

[1]

Analog input

You need to set either P3.26 [Function of AI 1] or P3.27 [Function of AI 2] to 3 [Speed command] and set associated parameters according to the actual situation.

2

Bus input

The communication bus interface can be used to receive speed commands from the upper computer. If P4.10 is 1 [Bus input], the motor speed can be changed by P4.13 [Bus speed command].

See the descriptions for P4.10 and P4.13.

3

Reserved

- 4 Reserved

-

5

High-resoluti

on internal

speed

Accurate to 0.1 r/min

P0.40

Data size

16bit

Data format

DEC

Modbus address

1080, 1081

CANopen address

0x2028, 0x00

P0.41

Speed command

direction setting

Setting range

Default

Unit

Applicable

mode

0–1 0 -

S

This parameter specifies the method for specifying the direction in a speed command when P0.40 is 0 or 1, and the speed command symbol is S-SIGN.

Setting

Internal speed/AI

Speed command

symbol

Speed command

direction

[0]

Positive speed

0V–10V

Not work

CCW

Negative speed

-10V–0V

Not work

CW 1 Not work

Valid

CCW

Not work

Invalid

CW

P0.41

Data size

16bit

Data format

DEC

Modbus address

1082, 1083

CANopen address

0x2029, 0x00

P0.42

Gain of AI 1

Setting range

Default

Unit

Applicable

mode

10–2000

100

[P3.26 unit]/V

P S T

This parameter specifies the gain of analog input 1, the gain unit is associated with P3.26. Note:  Analog input 1 indicates the signal input from the terminals (that is, AD1 and GND,

corresponding to pin 1 and pin 5) of analog input 1 of the CN1 plug.

 The voltage only in the -10V–+10V range can be applied to the connection between AD1 and

GND. Otherwise, the drive may be damaged.

Application example:

-91-

DA180 series basic AC servo drive Function codes

1. The function of analog input 1 is speed command.

2. The voltage of analog input 1 corresponds to the conversion gain of the motor command speed.

3. P0.40 is set to 1.

4. The relationship between the voltage of analog input 1 and speed command is as follows: Every 1V voltage corresponds to the 100 r/min speed by default. Actual speed command  Analog input voltage x P0.42

-10.0V

10.0V

5000

-5000

AD1 input voltage(V)

Speed(r/min)

P0.42=500(r/min)/V

P0.42=250(r/min)/V

2500

-2500

Note:

 This parameter is valid only when P0.40 is 1.  Set this parameter according to the motor working condition. If this parameter is set to a large

value, the motor speed may fluctuate sharply.

P0.42

Data size

32bit

Data format

DEC

Modbus address

1084, 1085

CANopen address

0x202A, 0x00

P0.43

Reverse of AI 1

Setting range

Default

Unit

Applicable

mode

0–1

0 - P S T

This parameter specifies the voltage polarity of analog input 1.

Setting

Actual detection result

[0]

Positive polarity

[+Voltage]→[Positive value],[- Voltage]→[Negative value]

1

Negative polarity

[+Voltage]→[Negative value],[- Voltage]→[Positive value]

P0.43

Data size

16bit

Data format

DEC

Modbus address

1086, 1087

CANopen address

0x202B, 0x00

P0.45

Dead zone of AI 1

Setting range

Default

Unit

Applicable

mode

0.000–3.000

0.000

V P S

T

If the absolute voltage value of analog input 1 falls in the range of this parameter, the corresponding command value is 0.

P0.45

Data size

16bit

Data format

DEC

Modbus address

1090, 1091

CANopen address

0x202D, 0x00

-92-

DA180 series basic AC servo drive Function codes

P0.46

Internal speed 1/speed

limit 1

Setting range

Default

Unit

Applicable

mode

-20000–20000

100

r/min

S T

P0.47

Internal speed 2/speed

limit 2

Setting range

Default

Unit

Applicable

mode

-20000–20000

0

r/min

S T

P0.48

Internal speed 3/speed

limit 3

Setting range

Default

Unit

Applicable

mode

-20000–20000

0

r/min

S T

P0.49

Internal speed 4/speed

limit 4

Setting range

Default

Unit

Applicable

mode

-20000–20000

0

r/min

S T

P0.50

Internal speed 5

Setting range

Default

Unit

Applicable

mode

-20000–20000

0

r/min

S

P0.51

Internal speed 6

Setting range

Default

Unit

Applicable

mode

-20000–20000

0

r/min

S

P0.52

Internal speed 7

Setting range

Default

Unit

Applicable

mode

-20000–20000

0

r/min

S

P0.53

Internal speed 8

Setting range

Default

Unit

Applicable

mode

-20000–20000

0

r/min

S

The servo drive supports the 8-step internal speed commands and 4-step internal speed limits.

Control

mode

Setting of

P0.40

SPD3

SPD2

SPD1

Associated parameter

and setting

Speed

0

0 0 0

P0.46 Internal speed 1

0 0 1

P0.47 Internal speed 2

0 1 0

P0.48 Internal speed 3

0 1 1

P0.49 Internal speed 4

1 0 0

P0.50 Internal speed 5

1 0 1

P0.51 Internal speed 6

1 1 0

P0.52 Internal speed 7

1 1 1

P0.53 Internal speed 8

Torque

0

0 0 0

P0.46 Speed limit 1

0 0 1

P0.47 Speed limit 2

0 1 0

P0.48 Speed limit 3

0 1 1

P0.49 Speed limit 4

-93-

DA180 series basic AC servo drive Function codes

Note: SPD1, SPD2, SPD3 are the digital inputs of internal speed commands 1, 2, and 3 (corresponding to 0x00A, 0x00B, and 0x00C). 0: OFF (The internal optical coupler corresponding to the input is not conducted.) 1: ON (The internal optical coupler corresponding to the input is conducted.) The speed limits depend on the absolute values of the parameters and, the directions are the same as those in torque commands.

P0.46

Data size

16bit

Data format

DEC

Modbus address

1092, 1093

CANopen address

0x202E, 0x00

P0.47

Data size

16bit

Data format

DEC

Modbus address

1094, 1095

CANopen address

0x202F, 0x00

P0.48

Data size

16bit

Data format

DEC

Modbus address

1096, 1097

CANopen address

0x2030, 0x00

P0.49

Data size

16bit

Data format

DEC

Modbus address

1098, 1099

CANopen address

0x2031, 0x00

P0.50

Data size

16bit

Data format

DEC

Modbus address

1100, 1101

CANopen address

0x2032, 0x00

P0.51

Data size

16bit

Data format

DEC

Modbus address

1102, 1103

CANopen address

0x2033, 0x00

P0.52

Data size

16bit

Data format

DEC

Modbus address

1104, 1105

CANopen address

0x2034, 0x00

P0.53

Data size

16bit

Data format

DEC

Modbus address

1106, 1107

CANopen address

0x2035, 0x00

P0.54

ACC time

Setting range

Default

Unit

Applicable

mode

0–30000

0

ms S

P0.55

DEC time

Setting range

Default

Unit

Applicable

mode

0–30000

0

ms S

ACC/DEC time is the time taken to accelerate from 0 r/min to the rated (3000 r/min by default) speed in the given command or decelerates from the rated speed to 0 r/min. If the given speed is not equal to the rated speed, the actual ACC/DEC time is the set ACC/DEC time multiplied by the ratio of the given speed to the rated speed. If the speed command is negative, the absolute value is used to calculate the ACC/DEC time. Example: If the given speed is 2000 r/min, the rated speed is 3000 r/min, and the ACC/DEC time (P0.54/P0.55) is set to 1500, then the actual ACC time t1 is 1500×(2000/3000)=1000ms and the DEC time t2 is 1500×(2000/3000)=1000ms. See the following figure:

-94-

INVT DA180-S2R8SG0, DA180-S1R3SG0, DA 180 Series, DA180-S1R8SG0, DA180-S5R0SG0 Operation Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Preface

Safety precautions

Contents

1 Overview

1.1 Servo drive

1.1.1 Drive introduction

1.1.2 Outline drawing

1.1.3 Drive naming

1.1.4 Drive nameplate

1.1.5 Drive ratings and frame sizes

1.2 Servo motor

1.2.1 Motor nameplate

1.2.2 Motor naming

1.3 Cables

1.3.1 Cable nameplate

1.3.2 Power cable naming

1.3.3 Power cable accessory naming

1.3.4 Encoder cable naming

1.3.5 Encoder cable accessory naming

1.3.6 Motor brake cable naming

1.4 Brake resistor specifications

2 Installation instructions

2.1 Drive dimensions

2.1.1 Dimension drawing for frame size A/B

2.1.2 Models and dimensions

2.2 Drive installing

2.2.1 Installation mode

2.2.2 Installation directions and clearances

2.3 Motor outline and mounting dimensions

2.3.1 For base-60 motors

2.3.2 For base-80 motors

2.3.3 For base-130 motors

2.4 Motor installing

2.5 Servo-motor technical parameters

2.5.1 For motors (using multiturn absolute encoders)

3 Wiring instructions

3.1 System wiring

3.1.1 Input power cable requirements

3.1.2 Control cable requirements

3.1.3 Main circuit cable diameters

3.1.4 EMI filter models

3.2 Main circuit terminal wiring (1PH 220V)

3.3 Motor power cable wiring

3.3.1 Power cable for base-60/80 motors using 17- or 23-bit encoders

3.3.2 Power cable for base-130 motors using 17- or 23-bit encoders

3.4 Motor encoder cable wiring

3.4.1 Cable for 17- or 23-bit encoder used by base-60/80 motors

3.4.2 Cable for 17- or 23-bit encoder used by base-130 motors

3.5 Wiring for control I/O terminal CN1

3.6 Wiring for encoder terminal CN2

3.7 Wiring for RS485/CAN communication terminal CN3

3.8 Wiring for USB terminal CN4

3.9 Wiring for second-encoder terminal CN5

4 Control modes

4.1 Standard wiring diagram for position control

4.2 Standard wiring diagram for speed control

4.3 Standard wiring diagram for torque control

4.4 CN1 function description

4.4.1 CN1 pins

4.4.2 CN1 pin functions

4.4.3 Power signals

4.4.4 Default digital settings in different modes

4.4.4.1 Digital input functions

4.4.4.2 Digital output functions

4.4.5 Pulse input signals and functions

4.4.6 Analog input signals and functions

4.4.7 Encoder output signals and functions

4.5 Wiring description for CN1

4.5.1 Digital input circuit wiring

4.5.2 Pulse input circuit wiring

4.5.3 Analog input circuit wiring

4.5.4 Digital output circuit wiring

4.5.5 Frequency-division output circuit wiring of encoder feedback signals

4.5.6 Electromagnetic brake wiring

4.6 Wiring description for CN5

5 Operating and running