Servo Drive & Motor

SD20-GA

SD20-GA Series Servo Drive has a 3.0kHz frequency response, which could meet the wide range of customer's requirement. The feedback options are incremental encoder, absolute encoder and resolver. The rich functionality includes full close loop, multi-position control, gain switchover, moving fixed-length cutting, etc. Built-in PLC is open for customer to make simple programming.

SD20-E

SD20-E Series Servo Drive is similar to GA series, but has a 3.2kHz frequency response and supports EtherCAT, Profinet and CANopen. Dual-core processor, hardware current loop, 16kHz position loop and 16kHz speed loop helps to double the performance compared to the last generation.

Passed EtherCAT CTT test, SD20-E has better compatibility to work with different brands of PLC or automation controller. Bidirectiona data transmission can reach 100Mbps. The minimum communication cycle is 250uS. Due to gain autotuning function and model feedforward control, regardless of gain tuning command, it helps customers make gain autotuning and simple commissioning easily.

Servo Motor

Our permanent magnet synchronous servo motor is a new generation of high-efficiency permanent magnet cylinder servo motor, carefully crafted by our company using the new "motor electromagnetic design" technology. It has high efficiency, small size, low inertia and fast dynamic response.

High efficiency, high reliability, high overload capability
Small frame size and light weight
Low noise
Self cooling and air cooling
Rated power: 0.2kw-75kw
Rated torque: 0.64N.m ~ 321N.m
Rated speed: 1000r/min, 1500r/min, 1700r/min, 2000r/min, 2500r/min, 3000r/min

Fast & Convenient

응답 주파수 3.2kHz (SD20–E), 3.0kHz (SD20–GA)
Dual–core processor
23-bit 앱솔루트 엔코더
편리한 배선을 위한 DB 시리즈 플러그
노치 필터 설정으로 관성 학습을 통한 간편한 디버깅

Practical

Full closed-loop control
Gantry synchronization function
Interrupted position control
Gain switching
Multi-segment position control

Powerful

입력 명령 주파수 최대 4MHz
내장형 고속 DI 채널
내장형 PLC, Electronic CAM 기능 지원
여러 유형의 엔코더 지원

Power supply

S2/T2 series

220VAC -15 ~ +10% 50/60Hz

T3 series

380 ~ 440VAC -15 ~ +10% 50/60Hz

Control mode

Pt: Position pulse mode
Pr: Internal register position mode
Sz: Analog speed mode
Sr: Internal register speed mode
Tz: Analog torque mode
Tr: Internal register torque mode

Brake

Built-in or External (External braking should be selected and purchased)
M1 model: No built-in braking resistor
7.5kW and above: No built-in braking resistor
Others: Built-in braking resistor

Control
characteristics

Control mode

PMSM

Frequency response

3.0kHz

Speed fluctuation

±0.01％ (VC, load fluctuation 0 to 100%)

Speed control range

1：10000

Input pulse frequency

500kHz (differential drive); 200kHz (Open collector)
At high-speed pulse circuit, receiving frequency is 4MHz (differential).

Input signal

Control input

Servo on, Alarm reset, Pulse clear, Pulse prohibited, Forward run prohibited, Reverse run prohibited, Forward torque limit, Reverse torque limit, Internal speed selection, Internal position triggered, “Home” searching triggered, Zero speed clamp

Speed Feedback

1. Absolute encoder
2. Incremental encoder
3. Resolver
4. BiSS C encoder
5. Magnetic encoder
6. Hiperface encoder

Output signal

Control output

Servo ready, Servo alarm activated, At positioning completed, At speed reached, Electromagnetic brake control, Rotation Detection, At speed limit, Homing completed, At torque limit, etc.

Encoder signal frequency-division
output

Encoder Z phase open-collector output
Encoder signal output (A, B Z Line Driver) frequency-division output Z pulse time extend function

Position control

Input mode

1. A phase + B phase

2. Forward pulse + Reverse pulse
3. Pulse + Direction

4. Internal register

Electronic gear

0.01≤ B / A ≤100
Two groups of electronic gear can be selected by users

Analog speed control

-10V～+10V analog speed signal input, the voltage scope can be set by function code.

Analog torque control

-10V～+10V analog torque signal input, the voltage scope can be set by function code.

Acceleration /

Deceleration

Accel/decel time is set to 1～30000ms (related to 0←→rated speed)

Communication

RS485 communication port is connected to PC to set control parameters and to monitor
servo.

Parameters
setting

Keypad

The parameters are set by keypad, which is displayed by 5 LEDs.

PC/PLC

RS485 communication can set parameters by some PC/PLC software.

Monitor function

Output current, PN voltage, motor speed, motor feedback pulse, motor feedback rotation, given pulse, given pulse error, given speed, given torque, analog speed given, analog torque given.

Protection function

Overvoltage, Undervoltage, Overload, Overcurrent, Encoder error, Overspeed, Abnormal pulse control command, Emergency stop, Servo overheat, Input power phase loss, Regeneration error, Overposition.

Applicable load inertia

Lower than 5 times of servo motor inertia

Power supply

S2/T2 series

220VAC -15 ~ +10% 50/60Hz

T3 series

380 ~ 440VAC -15 ~ +10% 50/60Hz

Control mode

Profile position control mode (PP)
Profile velocity mode (PV)
Profile torque mode (PT)
Homing mode (HM)
Cycle synchronous position mode (CSP)
Cycle synchronous velocity mode (CSV)
Cycle synchronous torque mode (CST)

Brake

Built-in or External (External braking should be selected and purchased)
M1 model: No built-in braking resistor
7.5kW and above: No built-in braking resistor
Others: Built-in braking resistor

Control
characteristics

Control mode

PMSM motor

Frequency response

PMSM servo: 3.2kHz

Speed fluctuation

±0.01％ (VC, load fluctuation 0 to 100%)

Speed control range

1：10000

EtherCAT

specifications

Communication protocol

Support service

EtherCAT protocol

CoE (PDO, SDO)

Synchronous method

DC distributed clock

Physical layer

100BASE-TX

Transmission speed

100 Mbit/s (100Base-TX)

Duplex mode

Full duplex

Transmission media

CAT5E class and above shielded cable

Transmission distance

Distance between 2 nodes < 100m (good surroundings and cables)

Slave station

Max 65535 (Lower than 100 in practical use)

Synchronization jitter

1us

CANopen

specifications

Link layer protocol

CAN bus

CAN-ID type

11 bit-CAN 2.0A(standard frame)

Synchronization method

Software synchronization

Baud rate

500kbit(default)
1Mbit/s , 800kbit/s, 250kbit/s,125kbit/s, 100kbit/s, 50kbit/s, 20kbit/s

CAN frame length

Application layer CAN frame type

0~8 bytes

Data frame, remote frame

Terminal match resistor

120Ω

Max number of sites

Support sub-protocol

CiA-301 V4.02 CANopen application layer and communication protocol
CiA Draft Standard Proposal 402 V2.0: drive and motion control sub-protocol

Transmission distance

Distance between 2 nodes < 100m (good surroundings and cables)

Input signal

Control input

Servo enabled, alarm reset, command pulse clear, command pulse prohibited, forward prohibited, reverse prohibited, forward torque limit, reverse torque
limit, internal speed selection, internal position triggered, origin/mechanical origin searching triggered, zero speed clamp, probe etc.

Encoder

1. Absolute encoder
2. Incremental encoder
3. Resolver
4. BiSS C encoder
5. Magnetic encoder
6. Hiperface encoder

Output signal

Control output

Servo ready, servo alarm, positioning reach, speed reach, electromagnetic brake output, rotation detection, speed limit, homing complete, torque limit etc.

Encoder signal frequency-division
output

1. Encoder Z phases open-collector output;
2. Phase -A, -B: frequency-division differential output (not isolated, any frequency-division ratio)

Phase-Z is not frequency-division output.
3. Z pulse time extended function.

Position control

Input mode

CANopen communication set, EtherCAT communication set, internal register.

Electronic gear

0.01≤ B / A ≤100
Two groups of electronic gear can be selected by users

Acceleration /

Deceleration

Accel/decel time is set to 1～30000ms (related to 0←→rated speed)

Communication

1.RS485/RS232 communication port is connected with PC, to set control parameters and to monitor servo.
2.Support EtherCAT bus.
3.Support CANopen bus.

Parameters
setting

Keypad

The parameters are set by keypad, which is displayed by 5 LEDs.

PC/PLC

PC/PLC software can be used to set servo parameter through RS485 communication interface.

Monitor function

Output current, PN voltage, motor speed, motor feedback pulse, motor feedback revolution, given pulse, given pulse error, given speed, given torque etc.

Protection function

Main circuit overvoltage, undervoltage, overload, overcurrent, encoder error, overspeed, abnormal pulse control command, emergency stop, servo overheat, main-circuit power phase-loss, regeneration brake error, position, over position control, lithium battery alarm, sync. loss, network initialization failure, sync. cycle setting error, sync. cycle excessive error, etc.

Applicable load inertia

Lower than 5 times of servo motor inertia