INVT Servo drive basic training · INVT Servo drive basic training . DA200 High Performance AC Servo System . DA200 Selection Servo drive loop control Servo hardware Content . 1.1

INVT Servo drive basic training

DA200 High Performance AC Servo System

DA200 Selection

Servo drive loop control

Servo hardware

Content

1.1 Servo drive selection

1.2 Servo motor selection

1.3 Load inertia calculation

1.4 Encoder introduction

1、DA200 Selection

Chapter 1

1.1 DA200 Servo drive selection

SV-DA200-0R4-2-E0-XXXX① ② ③ ④ ⑤ ⑥ ⑦

No. Instruction Naming instance

① Product category SV：Servo system product

② Product series DA200：Product series

③ Powder class

0R1：100W 0R2：200W 0R4：400W 0R7：750W 1R0：1.0kW 1R5：1.5kW 2R0：2.0kW 3R0：3.0kW 4R4：4.4k 5R5：5.5kW 7R5：7.5kW 011：11kW 015：15kW 022：22kW 037：37kW 045：45kW 055：55kW

④ Input voltage class 2：220VAC 4：400VAC

⑤ Servo type E：Pulse mode S：Standard mode C：CANopen P：PROFIBUS-DP N：EtherCAT

⑥ Encoder type 0：Photoelectric encoder 7：Rotary transformer

⑦ Lot no. Manufacture lot no.

1. Confirm voltage class The input voltage class is in accordance with the rated voltage of the servo motor. Divided into 220VAC and 400VAC (two type). Q： Can 220VAC drive be connected to 380V power supply? A：Can not，If connect to 380V power supply, it will cause serious damage to the drive. Q： Can the 220VAC driver be connected to a single-phase 220V power supply ? A： 1KW and below power drivers support access to single-phase 220V power supplies ； 1.5KW and above, must be connected to three-phase 220V power supply, if there is only single-phase 220V power supply, it will affect the torque ,Stationarity, maximum torque and maximum speed of the drive output, need to be derated. Q： Can 400VAC drive be connected to the 220V power supply ? A：Can not, if connect to 220V power , the drive will report the low voltage error.


2. Confirm the rated power class Based on the rated current of the servo motor to choose the drive The table below shows the output rated current and max current for each power class driver. When you select the drive, It is necessary to confirm whether the current can meet the rated current of the motor. 220VAC drive：

Power class Rated current

Max current


Max current

50W 0.7A 2.1A 1KW 5A 15A

100W 1.1A 3.3A 1.5KW 7.6A 22.8A

200W 1.8A 5.4A 2KW 10A 25A

400W 3.3A 9.9A 3KW 13A 32.5A

750W 4.5A 13.5A 4.4KW 16.5A 41.25A



Max current


Max current

1KW 3.5A 10.5A 11KW 42A 81.9A

1.5KW 4.5A 13.5A 15KW 64A 124.8A

2KW 6.5A 19.5A 22KW 92A 179.4A

3KW 8.5A 25.5A 37KW 115A 224.25A

4.4KW 12A 30A 45KW 144A 280.8A

5.5KW 16A 40A 55KW 172A 335.4A

7.5KW 32A 62.4A

400VAC drive：


3. Confirm the encoder type According to the encoder type of the motor, to choose the servo drive Photoelectric encoder ：2500-PPT standard incremental、2500-PPR multiplexed incremental/17 bit/23 bit single-turn absolute/multi-turn absolute Resolver： Resolver encoder Note：DA200 can support other brand encoder，but it need customize and make the non-standard function. 4. Confirm the model of the servo drive ① Check whether it need CanOpen/EtherCAT/PROFIBUS-DP communication。 ② Check if the analog input requires 16-bit precision AD. If necessary, select the standard type,

otherwise select the pulse type. ③ Check if the motor is with the resolver encoder.

9




① ② ③ ④ ⑤ ⑥ ⑦ ⑧ ⑨ ⑩ ⑪

SV-MM13-3R0E-4-1A0-XXXX

Symbol Instruction Naming instance

① Product category SV：Servo system product

② Product series M：M series C：C series S：S series

③ Inertial class L：Small inertia M：Medium inertia H： Large inertia

④ Flange 04：40mm 06：60mm 08：80mm 11：110mm 13：130mm 18：180mm 20：200mm 26：263mm

⑤ Rated power

0R1：100W 0R2：200W 0R4：400W 0R7：750W 0R8：800W/850W 1R0：1.0kW 1R2：1.2kW 1R3：1.3kW 1R5：1.5kW 1R8：1.8kW 2R0：2.0kW 3R0：3.0kW 4R4：4.4kW 5R5：5.5kW 7R5：7.5kW 011：11kW 015：15kW 022：22kW 037：37kW 045：45kW 055：55kW ……

1.2 DA200 Servo motor selection

① ② ③ ④ ⑤ ⑥ ⑦ ⑧ ⑨ ⑩ ⑪

SV-MM13-3R0E-4-1A0-XXXX

Symbol Instruction Naming instance

⑥ Rated speed A：1000rpm B：1500rpm E：2000rpm F：2500rpm G：3000rpm

⑦ Voltage class 2：220VAC 4：380VAC

⑧ Encoder type

1：2500-PPT standard incremental 3：17 bit single-turn absolute 4：17 bit multi-turn absolute 7： Resolver encoder 9： 23 bit multi-turn absolute

⑨ Shaft end connection A：Solid with threaded hole and key ( standard) B：Solid optical axis

⑩ Optional part

0：with oil seal but no brake 1：without oil seal or brake 2：with oil seal and permanent magnet brake 3：without seal but with permanent magnet brake 4： with oil seal and electromagnetic brake 5：without oil seal but with electromagnetic brake

⑪ Lot no. Manufacture lot no.(4)


1. According to the load inertia , Select the appropriate motor; The ratio of load inertia to motor rotor inertia is generally 0 to 5 times, and optimally 3 times or less. 。 The spindle of a low inertia motor is relatively flat and generally has a relatively small torque. Suitable for high frequency reciprocating motion, such as some linear high speed positioning mechanisms. The spindle of a high inertia motor is relatively bad and long. In large loads, high requirements for smoother requirements, such as some circular motion mechanisms and some machine tool industries. In Section 3 introduces load inertia calculation for simple load model


2. Based on the mechanical structure, to confirm the frame number, shaft end connection, and optional parts . Base no.(Flange size) 04：40mm 06：60mm 08：80mm 11：110mm 13：130mm 18：180mm 20：200mm 26：263mm The figure below shows the motor size corresponding to the 60 Flange

L30

7.53

16

5h9A-A

60

.260.2

Φ70

Φ5

0h

7

2

220.5

M4深10

4-Φ5.5

A

AΦ1

4h

7


3. According to the system, check the rated power, rated speed and voltage class. Q： whether the motor with the lower rated speed can run at higher speed? A： It is not recommended that the maximum speed limit be based on this motor parameter in the program. The motor with lower rated speed has a larger back electromotive force. Even if the maximum speed limit is released, the output voltage saturation will cause the motor to fail to output higher speed. Q： Can 220VAC motor be driven by a 380V drive? A： Not recommended, it may damage the insulation of the motor. Q： Can 380VAC motor be driven by a 220V drive? A： It is not recommended that the drive output voltage capability is small, which will cause the motor to fail to run to the rated speed.


4. Drive brake selection Permanent magnet brake is a new type of adjustable constant torque output device 。 Feature : Low calorific value, fast suction speed, small slip when holding brake. 24V voltage direction is fixed. (24+, 24-) Electromagnetic brake ：When the motor is connected to the power supply, the electromagnetic brake coil is also energized, and the armature is pulled in. The brake will be open, and the motor can normally run. Feature：The heat is large, the suction speed is slow, and the slip is large when the brake is held. The 24V voltage has no fixed direction.


Disc As shown in the figure, the disc rotates around the central axis, and the moment of inertia is proportional to the mass of the object and the radius of rotation.


J is the moment of inertia；m is the mass of the sphere ； R is the radius of rotation.

R

Ring As shown in the figure, the circle rotates around the central axis, and the moment of inertia is proportional to the mass of the object and the radius of rotation.


21

5J mR

2J mR

2R

Sphere As shown in the figure, the sphere rotates around the central axis, and the moment of inertia is proportional to the mass and radius of rotation of the object.

Cylinder As shown in the figure, the cylinder body rotates around the central axis, and the moment of inertia is proportional to the mass of the object and the length of the cylinder.

L


J is the moment of inertia；m is the mass of the sphere ； L is the length of the cylinder.

22

5J mR

21

12J mL

21

12J mL


Inertia calculation for linear motion of load JL(kg • m2) (calculation of moment of inertia based on motor shaft center)

Linear motion section ：

𝐽𝐾 = 𝑚 · (𝑃𝐵

2𝜋)²

Moment of inertia after passing through the reducer ：

𝐽𝐿 = (𝐽𝐾𝑅²)

Note: The reducer has a gap and there is a error during repeatedly motion.

PB

Screw pitch ：PB Reduction ratio ：1/R


Inertia calculation for belt type transmission JL (kg • m2) (calculation of moment of inertia based on motor shaft center) Motor torque ： T (N.m) Small wheel 1 quality ：M1(kg) Small wheel 1 radius ： r1(m) Small wheel 2 quality ：M2(kg) Small wheel 2 radius ：r2(m) Weight quality ： M3(kg) Reduction ratio ： r1/r2=1/R JL=1/2·M1·r1

2 + (1/2·M2·r22)/R2 + M3·r1

2

JL=1/2·M1·r12 + 1/2·M2·r1

2 + M3·r12

Note: The belt transmission structure is simple and smooth, and the belt can absorb the

shock and vibration; but it is easy to slip and the transmission precision is low.

M1 M2

M3

2r1

2r2


Photoelectric encoder classification Divided into output form: incremental encoder, absolute encoder. Main components: grating disk, photoelectric detection device. Working principle: Converting the mechanical geometric displacement of the output shaft into a pulsed or digital sensor by photoelectric conversion

2.4 Motor encoder introduction

Resolver transformer The mechanical rotation or linear displacement is accurately converted into an electrical signal by the principle of electromagnetic induction. According to the working principle, it is divided into: electromagnetic resolver transformer and magnetoresistive resolver transformer.


Magnetic encoder The main part consists of a magnetoresistive sensor, a drum, and a signal processing circuit. The drum is recorded into small magnetic poles of equal spacing, and a cyclically distributed spatial leakage magnetic field is generated when rotated. The magnetic sensor probe converts the changed magnetic field signal into a resistance value change through the magnetoresistance effect. Under the action of the applied potential, the changed resistance value is converted into a voltage change, and the encoder function is realized by the subsequent signal processing circuit processing.


2.1 Position mode

2.2 Speed mode

2.3 Torque mode

2.4 Mechanical system and responsiveness setting relationship

Servo drive loop control

Chapter 2

2.1 Position mode

Position mode principle

2.1 Position mode

Position mode process

Assume that the pulse command is 1 pulse, and the input action is: 1. deviation counter becomes +1; 2. convert into a speed command corresponding to one pulse into the speed loop; 3. speed loop output command current, after the SVPWM, drive the servo motor to rotate; 4. the encoder also rotates accordingly, giving an increment of 1 pulse; 5. the increment of 1 pulses is input to the deviation counter again, and the increment of 1 pulse is subtracted from the original instruction +1, and the counter value becomes 0; 6. results in the command current is 0, the control servo motor stops; 7. Complete the positioning of 1 pulse.

2.1 Position mode

Position gain【P2.02】 This parameter affects the responsiveness of the position loop. The larger the setting, the higher the corresponding frequency of the position loop. The better the follow-up of the position command, the less the position error and the shorter the settling time. This set value is too large to cause mechanical vibration or overshoot of positioning. Position loop response bandwidth(Hz): 𝐾𝑝[𝑃2.02]

2𝜋

2.1 Position mode

Position loop gain verification As shown in the figure below, the given position command frequency is 10 Hz. The position loop gain is set to 62.8.

2.1 Position mode

Retention pulse R0.04 unit: pulse； Retention pulse【R0.04】 = Command pulse accumulation【R0.03】 – feedback pulse accumulation【R0.02】 R2.06 Encoder retention pulse； Encoder retention pulse 【R2.06】= Encoder command pulse accumulation【R2.04】 – Encoder feedback pulse accumulation【R2.05】

2.1 Position mode

(Retention pulse * Position loop gain + Pulse command increment * Speed loop feed forward gain * Program execution period [8000]) / Encoder single-turn pulse resolution * 60 . For example, the speed feed forward gain is set to 0, the position loop gain is 48, and the motor is a 17-bit encoder. Speed command: 22773 * 48 * 60 / 131072 = 500r/min

2.1 Position mode

Speed command = (Retention pulse * position loop gain + pulse command increment * speed loop feed forward gain * program execution cycle [8000]) / encoder single-turn pulse resolution * 60. For example, the speed feed forward gain is set to 100, the position loop gain is 48, and the motor is a 17-bit encoder. Speed command: 144 *1* 8000 * 60 / 131072 = 500r/min If the electronic gear setting is too large, prone to noise..

speed mode

2.2 Speed mode

Speed loop gain This parameter determines the responsiveness of the speed loop. The larger the Kv setting, the higher the corresponding frequency of the speed loop, and the better the followability to the speed command, but the set value is too large to cause mechanical resonance. Speed loop gain[Hz] > （2~3）* Position loop gain[1/s] / 2pi。 When the position loop response frequency is higher than the speed loop response frequency, it

may cause machine shake or overshoot of the positioning.

2.2 Speed mode

Speed loop gain

Load inertia ratio

Load inertia ratio = Load inertia / motor inertia

Note: Mare sure to set the correct inertia ratio.

Refer to R0.51 [Real-time observation of load inertia ratio].

2.2 Speed mode

(1 1.01/100)fv= v* Hz

(1 )

:

L

M

M L

PK

J

J

J J

电机惯量：负载惯量JM: motor inertia, JL: load inertia

2.2 Speed mode

Motor speed

Motor speed = encoder feedback increment * 60 / encoder single circule resolution /

program execution cycle [0.000125s]

2500 line encoder with minimum speed fluctuation = 48 r/min

17-bit encoder with minimum speed fluctuation = 3.7 r/min

23-bit encoder with minimum speed fluctuation = 0.057 r/min

Torque mode

2.3 Torque mode

Current torque

Current torque[%] = q Shaft current / motor rated current

Current loop gain

Current loop gain = current loop bandwidth * motor inductance

2.3 Torque mode

Responsive advice settings P1.03

The larger the mechanical rigidity setting value, the higher the position loop bandwidth and

the speed loop bandwidth, but the vibration becomes easier to generate. Under the premise of

stable system operation, the rigidity can be set higher to obtain fast response.

2.4 Mechanical system and responsiveness setting relationship

3.1 Main circuit

3.2 Braking resistor

Servo hardware

Chapter 3

3.1 Main circuit

整流单元

Rectifier

Filter

Power indicator

Capacitor

Internal braking resistor

IGBT

DBU

Temperature

Varistor

Current detection

Buffer

Rectifier unit: The alternating current is converted into direct current with the energy storage filter capacitor. Filter circuit (X capacitor, Y capacitor): Filter common mode (Y capacitor) and differential mode interference (X capacitor) in the system. DC Capacitor: The alternating current is converted into direct current with the rectifying unit, and the energy is temporarily stored when the power is turned off or generated. IGBT inverter circuit: The task of chopping the DC bus voltage into U, V, W three-phase AC power. Pre-charge circuit: reduce the impact of a large current at the moment of power-on.

3.1 Main circuit

At present, only 750W-5.5kW has a built-in braking resistor. Below 400W and medium power of 7.5kW or more, there is no built-in braking resistor.

Driver Internal resistor Min. resistor value

SV-DA200-0R1-2 / 60Ω

SV-DA200-0R2-2 / 60Ω

SV-DA200-0R4-2 / 60Ω

SV-DA200-0R7-2 30Ω 60W 30Ω

SV-DA200-1R0-2 30Ω 60W 30Ω

SV-DA200-1R5-2 30Ω 60W 20Ω

SV-DA200-2R0-2 15Ω 120W 15Ω

SV-DA200-3R0-2 15Ω 120W 15Ω

SV-DA200-4R4-2 15Ω 120W 15Ω

SV-DA200-1R0-4 60Ω 60W 60Ω


Driver Internal resistor Min. resistor value

SV-DA200-1R5-4 60Ω 60W 60Ω

SV-DA200-2R0-4 60Ω 60W 40Ω

SV-DA200-3R0-4 60Ω 60W 30Ω

SV-DA200-4R4-4 30Ω 120W 30Ω

SV-DA200-5R5-4 30Ω 120W 30Ω

SV-DA200-7R5-4 / 30Ω

SV-DA200-011-4 / 20Ω

SV-DA200-015-4 / 15Ω

SV-DA200-022-4 / 10Ω

SV-DA200-037-4 / 10Ω

SV-DA200-045-4 / 5Ω

SV-DA200-055-4 / 5Ω


Normally, the resistance of the braking resistor does not exceed 100 Ω.

Minimum braking resistor value: If the braking resistor resistance is too small, the current through the brake IGBT and the braking resistor will be too large and the driver may be damaged.

Maximum braking resistor resistance: Excessive braking resistor resistance makes the power generated by the driver larger than the braking resistor can consume, resulting in overvoltage of the bus.

Larger than the minimum allowable value of the driver and does not cause overvoltage;

The power required for the braking resistor is closely related to the actual operating state, load inertia, deceleration rate, and the like.

Frequent deceleration, large load inertia, fast deceleration rate, choose larger power.

Slow deceleration, small load inertia, slow deceleration rate, choose less power

Ordinary aluminum shell brake resistors can not damage the surface if temperature up to 200 ℃, and can be cooled by a fan when the temperature is too high.

Note: Do not touch the cable on the surface of the braking resistor.


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INVT Servo drive basic training · INVT Servo drive basic training . DA200 High Performance AC Servo System . DA200 Selection Servo drive loop control Servo hardware Content . 1.1