INVT CHS100 Manuale utente
Operation Manual of INVT CHS100 AC Servo Drive Contents
I
Contents
Contents .....................................................................................................................I
Preface........................................................................................................................1
Safety precautions.....................................................................................................1
1 General....................................................................................................................3
1.1 General technical specifications..................................................................3
1.2 Nameplate of the servo drive ......................................................................7
1.3 Power specification of every model............................................................8
1.4 Illustrations of every parts of the servo drive .............................................8
1.5 External dimensions and installations sizes of the servo drive ..................9
2. INSPECTION........................................................................................................8
3. INSTALLATION ..................................................................................................9
3.1 Environmental Requirement .....................................................................10
3.2 Installation of the servo drive....................................................................11
4 Signal and wiring .................................................................................................14
4.1 System configuration.................................................................................15
4.2 Wiring of the main circuit (Connectors X1 and X2) ................................17
4.4 Connection with the PC or HOST (CN3 connector) ................................21
4.5 I/O signal wiring (CN1 connector) ...........................................................22
4.6 Wiring of the electromagnetic brake.........................................................39
5 Running and operation........................................................................................40
5.1 Running .....................................................................................................40
5.2 Display and operation................................................................................53
6 Detailed parameter description..........................................................................60
6.1 Basic parameters (PA group parameters)..................................................60
6.2 Gain and filter parameters (Pb group parameters)....................................71
6.3 Expansion parameters (Pc group parameters) ..........................................79
6.4 Status monitoring parameters (Pd group parameters)...............................94
7 Gain adjustment...................................................................................................99
7.1 General method for adjusting parameters.................................................99
7.2 Suppression of mechanical resonance.....................................................105
7.3 Gain switching function ..........................................................................106
8 Communication function...................................................................................108
8.1 General.....................................................................................................108
8.2 Topological structure...............................................................................108
8.3 Communication protocol.........................................................................109
8.3.1 Protocol Content...................................................................................109
8.3.3 Communication Protocol Format.........................................................110
8.3.4 Command code and the communication data instructions..................111
8.3.5 Error checkout of the communication frame means............................118
9 Fault processing..................................................................................................124
9.1 Meanings of the fault alarm codes and countermeasures.......................124
9.2 Meanings of the warning codes...............................................................126
Appendix A Signal arrangement diagram of each connector of the servo drive
.................................................................................................................................127
Operation Manual of INVT CHS100 AC Servo Drive Contents
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A.1 CN1 pin signal arrangement:..................................................................127
A.2 CN2 pin signal arrangement:..................................................................127
A.3 CN3 pin signal arrangement:..................................................................128
Appendix B: List of function parameters...........................................................129
B.1 PA group parameters (Basic parameters) ...............................................129
B.2 Pb group parameters (Gain and filter parameters).................................130
B.3 Pc group parameters (Expansion parameters)........................................131
B.4 Pd group parameters (monitoring parameters).......................................134
Operation Manual of INVT CHS100 AC Servo Drive Preface
1
Preface
Thank you for using AC servo drive of the permanent magnet synchronous motor
(hereinafter called “servo drive”) from Shenzhen INVT Electric Co., Ltd. Please
carefully read and master the user’s manual before proper use. Improper use may
cause abnormal running or shorten its service life or even directly damage the drive.
Please carefully keep this manual for later reference.
Operation Manual of INVT CHS100 AC Servo Drive Safety Precautions
1
Safety precautions
The precautions related to safe operation are classified into “Warnings” and “Notes”.
Points out potential danger which, if not avoided, may cause
physical injury or death.
Points out potential danger which, if not avoided, may result in
mild or moderate physical injury and damage to the equipment.
It’s also available to warns about unsafe operations.
In some cases, even the content described in “Note” may also cause serious accidents.
So please follow these important precautions in any situations.
Warning signs are presented on the sides of the servo drive. Please follow these
instructions when using the servo drive.
Warningsigns:
Warning
Read the manual and follow the safety instructions before use.
High Voltage
Do not touch terminals within 15 minutes after disconnecting the power. Risk
of electric shock.
High Temperature
DO not touch heat sink when power is ON. Risk of burn.
Please pay attention to the following safety precautions during installation, wiring,
operation, maintenance and inspection.
Installation:
Please use the servo drive and servo motor with the
instructed combination mode. Otherwise it may cause
malfunction or even fire of the equipment.
Never expose the product to an environment containing
moisture, corrosive gas, or flammable gas. Otherwise it may
cause electrical shock or fire.
Warning
Note
Note
Operation Manual of INVT CHS100 AC Servo Drive Safety Precautions
1
Wiring:
Only qualified electricians are allowed to carry out the wiring.
Otherwise there is danger of electrical shock or fire.
The grounding terminals of the drive and motor must be
grounded with proper techniques. Otherwise there is danger
of electrical shock.
Do not touch the conductive components directly. Do not
connect the output lines of the drive with the enclosure..
Avoid short circuit of the output lines. Otherwise there is the
danger of electrical shock or short-circuit.
Ensure the installation of available overcurrent protector,
leakage protector and Emergency stop devices after
distribution. Otherwise there may be danger of electrical
shock, injury and fire.
Redistribute the drive in at least 15 minutes after
disconnecting the power supply.
Make sure the voltage of the AC power supply equals to the
rated voltage of the servo drive. Otherwise there is danger of
injury, fire and damage to the drive.
Never connect the input power lines to the output terminals as
this will damage the drive.
Never conduct voltage withstand test on the drive or its
connection wires as this will cause damage to the drive.
Connect the drive and motor with correct phase sequence.
Otherwise it may cause malfunction or damage the drive.
Operation:
Please de-coupled the load from the drive before the trial
operation for the avoidance of accidents.
Check that the supply power of the drive can be disconnected
with the E-stop switch all the time before running.
Verify and adjust all parameters before running. Otherwise
the drive may run abnormally or act unexpectedly due to the
load.
Warning
Note
Note
Operation Manual of INVT CHS100 AC Servo Drive Safety Precautions
2
Do not touch the radiator or the external braking resistor
during running. They may become very hot and burn your
fingers.
Maintenance and inspection:
Before doing any inspection and maintenance, be sure to
disconnect the power supply, wait for 15 minutes and then
confirm with a multimeter. Otherwise electric shock may
occur.
Only qualified electricians are allowed to inspect the servo
drive. Otherwise electric shock may occur.
Warning
Operation Manual of INVT CHS100 AC Servo Drive 1 General
3
1 General
1.1 General technical specifications
The standard specifications of the AC permanent magnet synchronous servo drive are
listed in the table below:
Table 1-1 Standard specifications of servo drive
Specifications
Servo drive 100W~400W 0.75kW~1.5kW 2kW~5kW
Voltage
degree
Single
phase,
3-phase
220V/50Hz
Single phase,
3-phase
220V/50Hz
3-phase
220V/50Hz
Input voltage
range AC 220V±15%
Power supply
for the main
circuit
Input frequency
range 47Hz~63Hz
Voltage degree Single phase 220V/50Hz
Input voltage
range AC 220V±15%
Power supply
for the control
circuit Input frequency
range 47Hz~63Hz
Voltage DC 12V~24V
Allowable
voltage
fluctuation
±10%
Power supply
for interfaces
Power capacity Larger than 500mA (the local 24V can only
provide 100mA current)
Control method Vector control, SVPWM
Control mode Position control mode, speed control mode,
torque control mode
Dynamic brake Yes
Regenerative braking unit Built-in braking resistor, as well as the external
braking resistor can be connected
AC reactor None
Operation Manual of INVT CHS100 AC Servo Drive 1 General
4
Specifications
Servo drive 100W~400W 0.75kW~1.5kW 2kW~5kW
Input 13 ways of optical coupling isolation input
Switch signal Output 7 ways of open-collector output
Input 2 ways, range: DC -10V~+10V
Analog Output 2 ways, range: DC 0V~+10V
Input 2 ways, differential input or open-collector input
Pulse Output
4 ways, 3 ways of encoder A/B/Z phase
frequency division differential output, 1 way of Z
phase open-collector output
Protection functions
Protection for overcurrent, overvoltage, overload,
overheating, encoder fault, regeneration fault,
undervoltage, overspeed and high tracking fault,
etc.
Input pulse
frequency
500kHz (differential input), 200kHz
(open-collector input)
Positioning
feedback
pulse
A/B orthogonal pulse, resolution: 10000
pulses/rev
Pulse
amplification
range
Electronic gear A/B：A=1~65535，B=1~65535；
1/50<A/B<500
Positioning
accuracy ±1 pulse
Setting the
range for
reaching the
designated
position
±10 pulses
Range of fault Can set within the range of ±5 revs
Position control
To r q u e
control range
Set via the parameter or external analog input of
DC 0~±10V
Max torque: 300% of rated torque
Operation Manual of INVT CHS100 AC Servo Drive 1 General
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Specifications
Servo drive 100W~400W 0.75kW~1.5kW 2kW~5kW
Frequency
response 500Hz
Speed control
range
The max speed is 5000r/min, the min speed is
0.1r/min, and the speed regulation range is
1:50000
Analog speed
command
input
DC 0~±10V／max rotation speed
Speed
fluctuation
rate
±0.03%
Speed control
To r q u e
control range
Set via the parameter or external analog input of
DC 0~±10V
Max torque: 300% of rated torque
Analog torque
command
input
DC 0~±10V／max torque
To r q u e
linearity Below ±10%
Torque control
Speed control
range
Set via the parameter or external analog input of
DC 0~±10V (max rotation speed)
Allowable max inertia 15 times
RS232 Host 1: 1 communication
Communication RS485 Host 1: n communication, n≤32
Structure Natural
cooling: IP20 Air cooling: IP20
Operating
temperature 0~45℃
Storage
temperature -20~80 (without freezing)℃
Environment
Humidity Operating/storage: ≤90％RH (non-condensing)
Operation Manual of INVT CHS100 AC Servo Drive 1 General
6
Specifications
Servo drive 100W~400W 0.75kW~1.5kW 2kW~5kW
Other
environmental
conditions
Indoor (without direct sunshine), free from
corrosive, flammable gasses, oil mist, dust
Allowable
operating
altitude
Should be derated if the altitude is higher than
1000m
Vibration ≤5.88m/s2，10~60Hz (not allowed to run at the
resonant point)
Indice
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