User Manual - ATO
User ManualAC ser vo driverModel: SG0.2 5.5KWAPlease send the manual to the end user, and properly keptDealerADD: 23555 Golden Springs DR. K-1, Diamond Bar, CA91765 USATEL: 1 800-585-1519WEB: https://www.ato.com/E-mail: sales@ato.comAll specifications and designs are subject to change without notice.
ForwordThank you for purchasing and using SG series servo driverwhich R&D and produced by Wenling Yuhai electromechanicalCO.,LTD.SG series servo driver has high quality, multi-functionand low noise ,and can control the servo motor’s position, speedacceleration and output torque very easily. The successfuldevelopment of SG series servo driver has brought the infinitevitality to transmission control field .SG series servo driver core using 32 bit CPU. realize themotor full digital control, and is the most competitive electricaldriver products for mechanical manufacturing industry.SG series universal servo driver, is developed based onthe requirement of automation fields, including the control ofposition, speed and torque. It’s the preferred product of motioncontrol field, such as CNC lathe, textile machinery, plasticmachine, Paper-making industry and all kinds of automatedassembly line.Please read this manual carefully before using SG seriesservo drivers in order to use it correctly.Misuse may cause thedriver run abnormally, malfunction or reduce the service life,and even personal injury accidents. So Reading this manualrepeatedly, before using it and follow the instruction carefully,his manual is sent out along with the machine, please makesure it’s well kept, in order to use it in the future when the driverneeds to repair and maintain.
2.WiringDangerSafety informationBefore the product storage, installation, wiring, running, inspectionor maintenance, The user must be familiar with and comply with thefollowing important items, to ensure to use this product safely.Warning :If operation is incorrect, a dangerous situationmay occur, resulting in death or serious injuries.Caution: If operation is incorrect, a dangerous situationmay occur, resulting in injuries to personnel or damageto equipment.Forbid : If operation is incorrect, damage to system orequipment may occur.Please connect the ground terminal reliable grounding, or it mayresult in electric shock or fire.Do not connect the 220v driver to 380v power supply, otherwise itmay cause equipment damage and electric shock or fire.Do not connect the U,V,W motor output terminal to three phasepower supply, otherwise it will cause casualties or fire.Ensure U, V, W motor output terminal and motor wiring terminalU, V, W one-to-one correspondence connection, Otherwise motormay cause equipment damage and casualties by racing. Pleasetighten power and motor output terminal, otherwise may cause fire.Refer to the wire selection when wiring. otherwise may cause fire.3.OperationAttention1.Using occasionsPlease set the parameters to proper value before running themechanical equipment. Inappropriate value may cause themechanical equipment out of control or malfunction.DangerBefore running the machine, please confirm that the emergencyswitch is available at any time to stop the machine.Forbid to use products in the place which is exposed to moisture,corrosive gas, combustible gas. Or it will cause electric shockor fire.To avoid unnecessary loss, please check whether the servo motoris in a normal operation under no-load condition first, and make itloaded after that.Forbid to use products in the place of direct sunlight, dust, saltand more metal powder.Please do not turn the power on and off too frequently, otherwise itwill cause the driver overheating inside.Forbid to use products in the place with the dripping of water,oil and drug .
4. RunningCatalogChapter 1 ProductProhibitionForbid to touch any rotating parts while the motor is running,otherwise may cause casualties.Forbid to touch drive and motor when running, otherwise maycause electric shock or burn.Forbid to move the connection cable while the motor is running ,otherwise may cause personal injury or equipment damage.5.Maintenance and repairinspection and installation11.2 Installation and wiring11.3 Installation21.4 Servo motor installation31.4.1 Ambient conditions of installation31.4.2 Installation method31.5 Definition of motor rotation directionChapter 2 WiringProhibitionProhibit to touch the drive and motor internal, otherwise maycause electric shockProhibit to open the drive panel when the power is on, otherwiseit will cause electric shock.Do not touch the terminal within 5 minutes after the power is cutoff, otherwise may cause electric shock by residual high voltageProhibit to change the wiring when the power is on, otherwise maycause electric shockProhibit to dismantle the servo motor, otherwise may cause electricshock6.Range of applicationAttentionThe products referred in this manual are for general industrial use,do not use it in the device which may directly endanger the personalsafety , such as nuclear-energy equipment, aerospace equipment, lifesupport and maintenance equipment and various of safety devices. Ifyou have needs as mentioned, please contact us.11.1 Product inspection452.1 Wiring specification52.2 Wiring method52.3 Precautions62.4 Standard connection7Chapter3Interface83.1 Power terminal TB of servo driver83.2 Control signal input/output terminal CN193.3 The encoder signal input terminal CN2153.4 Interface terminal configuration173.5 Input/output interface of switching volume173.5.1 Input interface of switching volume173.5.2 Output interface of switching volume183.5.3 Pulse volume input interface193.5.4 Analog input interface223.5.5 The encoder signal output interface233.5.6 Encoder Z phase signal open-collectoroutput interface3.5.7 Servo motor photoelectric encoderinput interface2424
Chapter 4 Parameter25Chapert 8 Specifications724.1 Parameter list258.1 AC servo drive unit specifications diagram724.2 Parameter function288.2AC servo drive unit installation size diagram72458.3 AC servo drive unit specifications735.1 Alarm list458.4 The comparison table of servo code parameters and motors745.2 Alarm troubleshootings468.5 Servo motor model766.1 Keyboard operation5454548.6 Servo motor wiring76Chapter 5 protection function6.1 Keyboard operation6.1.2 the first layer6.2 The sencond layer6.2.1 Monitoring mode6.2.2 Parameter setting6.2.3 Parameter management6.2.4 Trial speed run6.2.5 JOG run6.2.6 Analog automatic zero555557586060608.6.1.1 Winding wiring(Aviation plug wire)768.6.1.2 Winding wiring( Plastic plug wire)768.6.2 Brake wiring8.6.3.1 Standard encoder(Aviation plug wire)8.6.3.2 Standard encoder(Plastic plug wire)8.6.4 Economic incremental encoder wiring8.7 Servo motor parameters8.7.1 60-S series servo motor parameters8.7.2 80-S series servo motor parametersCharpert 7 Running618.7.3 80 series servo motor parameters8.7.4 90 series servo motor parameters7.1 Grounding617.2 Operation time sequence618.7.6 130 series servo motor parameters7.2.1 Power supply connection618.7.7 180 series servo motor parameters7.2.2 Time sequence of power on and alarm627.3 Mechanical brakes637.4 Precautions647.5 Trial run657.5.1 Check before running657.5.2 Trial run after power on657.6 User torque overload alarm function687.7 Adjustment687.8 FAQ697.8.1 Restore default parameters697.8.2 Frequent alarm Err-15, Err-30, Err-31, Err-32717.8.3 POWER light can't light up718.7.5 110 series servo motor parameters767777787878797980808181Appendix1.YUHAI CNC system connection822.KND CNC system connection833.GSK CNC system connection844.SIEMENS CNC system connection85
Chapter 1 Product inspection and installation1.1 Product inspectionProduct has been taken a complete functional test beforeleaving the factory, In order to prevent products abnormal causedby negligence in the process of transporting, please check thefollowing items in detail after opening it:Check whether the models of servo driver and servo motor are boththe same models as ordered.Check whether the servo driver and servo motor have any damageand scratches in appearance, If any damage is found duringtransport, please do not wiring electrify.Check whether the servo driver and servo motor has loose phenomenon of parts. Whether it has a loose screw, or the screw is notstrengthened or fallen off.Check whether the servo motor rotor shaft can manually berotated,Motor with brake would not be rotated directly.If any malfunction or abnormal phenomenon happened as mentionedabove, please contact the dealer immediately.1.2 Installation and wiringThe installation of electrical control cabinet :Considering the heating of electrical equipment in the electricalcontrol cabinet, and the cooling condition of control cabinet. Thesurrounding temperature of servo motor will be rising. so consideringthe cooling of the drive and configuration of control cabinet long-termsecurity working temperature should be below 40ºC.heat generating equipment near servo driver:Working in high temperature conditions will cause the servo driver’slife cycle get reduced significantly, and may cause fault. So pleasemake sure that the surrounding temperature is below 40ºC, while theservo motor is under the conditions of thermal convection and thermalradiation.
Installation caution:Vibration equipment near servo driver:Prevent dust or iron scrap from entering into servodrive when installing the electrical control cabinet,Please use a variety of vibration control measures to ensure that theservo driver is not affected by vibration, ensure that vibration is under 0.5G(4.9m/s2).servo driver used in bad environment:Severe environment, such as corrosive gas, damp, metal dust, waterand processing liquid, makes the driver malfunction. So when installing themotor, please make sure that the driver is under good environment.Jamming equipment near servo driver:Jamming equipment near servo driver has great influence on the powerline and the control line of the servo drive, which may cause the drivermalfunction. Add noise filters and other various anti-interference measures,to ensure the driver is in normal condition, Note that adding noise filter willincrease leakage current, in order to avoid this problem, you can use isolationtransformers. Specially pay attention to that the driver control signal linesare susceptible to interference, there should be reasonable line and shieldingmeasures.1.3 InstallationDiagram 1.1 servo driver installation1.4 Servo motor installation1.4.1 Ambient conditions of installationInstallation direction:Ambient temperature: 0 40º C; Ambient humidity: below 80%( no frost )The normal installation direction is vertical upright directionStorage temperature: -40 50º C; storage humidity: below 80% ( no frost )Fixing installation :Vibration: 0.5G (4.9m/s2)Please tighten up the two M5 screw behind the servo driver when ininstallation.Place keep well ventilated、few moisture and few dustInstallation interval:The installation distance between servo drivers and other devices,please refer to figure 1.1, note that it’s the minimum size that markedin the figure, in order to ensure the performance and the service lifeof the driver, please make sure there are enough interval space amongdevices.Cooling:Servo driver uses the natural cooling mode. Cooling fans must beinstalled in the electric control cabinet, and ensure that direction of windis perpendicular to the direction of the radiator for servo drive.Environment with no corrosive, flammable gas, oil gas, cutting fluid, cuttingpowder, iron powder and so on.Place with no water vapor or direct sunlight1.4.2 Installation methodHorizontal installation: To avoid water, oil and other liquids into the interiorfrom the motor wire end, please put cable outlet at the bottom.
Vertical installation: If the motor shaft is installed upwards, and therehas reducer, please pay attention to prevent the reducer’s oil runningthrough the motor shaft and getting into the internal of the motor.The motor should be long enough to stretch out, if not, the motor will beeasy to get vibrated when it’s in operation.When Installing and uninstalling the motor, please do not use hammer toknock the motor, otherwise it will be easy to cause the motor shaft andthe encoder damaged.Chapter 2 Wiring2.1 Wiring specificationWire diameter: wire diameter of PE,R,S,T,U,V,W terminal : 1.5mm²（AWG14-16），wire diameter of r、t terminal 0.75mm2（AWG18）The terminal is pre-insulated cold pressed terminal, be sure to connectit firmly.1.5 Definition of motor rotation directionDefinition of motor rotation direction described in this manual:Recommended to use three-phase isolation transformer to supply power.When facing the motor shaft extension, if the rotation of the axis iscounter-clockwise(CCW), then it’s called forward, if it’s clockwise,2.2then we call it reversal.Wiring methodInput/output signal wire and encoder signal wire: please use therecommended cable or similar shielded wire, the wiring length:Input/output signal wire below 3m,encoder signal wire below 20m.wiring should be in accordance with the shortest connectiondistance when wiring, the shorter the better, main circuit wiringand signal wire should be separated.Grounding wire must be thick grounds as one point servo motorgrounding terminal and servo driver grounding terminal PE mustbe iagram1.2 The definition of motor rotation directionTo avoid misoperation caused by interference, it’s recommendedto install a noise filter, and notes:1)Noise filter, servo drive and upper controller should be installedas close as possible.2)Be sure to install surge suppressor in the coils of electromagnetic contactor, relay, brake, etc.3)Main circuit and signal wire shouldn't pass through in the samepipe and shouldn’t be tied together.When strong interference sources is nearby(such as electricwelding machine, EDM machine, etc.), please use isolationtransformer on the input power supply to prevent misoperationcaused by the interference.Please install the No Fuse Breaker (NFB),which can cut off theexternal power supply in time when the driver breaks down.Connect cable shielding layer correctly.
2.3 CautionsDrive U, V, W terminals must be connected to motor terminalsU, V, W one-to-one correspondence, Please note that do notchange the three-phase terminal to make motor reversal, asit’s totally different from asynchronous motor.Because the high frequency switching current flows through theservo motor ,so the leakage current is relatively large. The motorgrounding terminal and servo driver grounding terminal PE mustbe connected together and grounded well.Because servo drive internal has a large capacity electrolyticcapacitor, even if the power supply is cut off, there is still a highvoltage in the internal circuit. So wait for at least 5 minutes totouch the drives and motors after the power is cut off.After the power is switched on ,the operator should keep acertain distance with the drive and motor.Please cut-off the power supply, if it’s not used for a long time.2.4 Standard connection2.4.1 Wiring of position/speed control modeSGA seriesservo drivesServo Motor3-phase AC 220VMotoror single phase AC 220Vinstruction pulsedisableservo enablealarm cleardeviation counter clearovertravel protectionanalog input terminalanalog input groundEncoderservo readyservo alarmmechanical brake releaseoutput common terminal.position instruction PULSEncoder signaloutputposition instruction SIGNChassis groundDiagram 2.1 Wiring of position/speed control modeEncoder signal groundEncoder Z phase signalopen-collector output
Chapter33.2 Control signal input/output terminal CN1InterfaceControl mode abbreviate: P represents position control modeS represents speed control mode3.1 Power terminal TB of servo 4TTB-5UTB-6VTB-7WTB-8rTB-9tSignal nameFunctionSystem groundingGround terminalMain circuit powerinput 3-phaseAC220VServo motor poweroutputTable 3.2 Control signal input/output terminal CN1TerminalNo.SignalnameCN1-08PowersupplyPositive ofinputterminalsMain circuit power input terminalAC220V 50HZAttention: not connect with theoutput terminal UVW of themotorControl power inputsingal phase AC220COM The output power of the servomotor must be one-to-onecorrespondence connected withU, V, W terminal.CN1-21SRV-ONModeMarkSONPower supply positive of inputterminals,used to drive thephotoelectric coupler of theinputterminal .DC12-24v.current 100mAType1Type1FunctionP.SControl input terminal ofcircuit power AC220V 50HzInput terminal of servo enable.SON ON:AC servo drive unit enableSON OFF :AC servo drive unit offand disabled and the motor is infree state.Note 1: The motor must be restingbefore it is switched from SONOFF to SON ON;Note 2: Wait for at least 50msbefore inputting new commandafter it is switched to SON ON.Note 3:If open internal enabled,the SON signal don’t inspect.Chat 3.1 Power terminal TBCN1-09AlarmclearALRSType1P.SAlarm clear input terminalALRS ON： alarm clearALRS OFF： alarmNote :For the alarm whose codeis more than 8 it can’t be clearedby this means. It needs to cut offthe power for reparation and thenrepower.
ction 1 SCIType1Type1ModeFunctionPIn the position control mode ,parameter PA4 0. The functionof this input terminal is positiondeviator clear.CLE ON:position deviator clear inposition controlSCN1-23ZerospeedZERO Type1SPDSIn the speed control mode parameterPA4 1,when select internal speedparameter PA22 0. The defaultvalue of input terminal is speedselection 1The combination of SC1 and SC2is used for selecting differentinternal speed in speed controlmodeSC1 OFF,SC2 OFF: internal speed 1SC1 ON,SC2 OFF: internal speed 2SC1 OFF,SC2 ON:internal speed 3SC1 ON,SC2 ON: internal speed 4Note The values of internal speed1 4can be modified by parameters.In the speed control mode. parameterPA4 1,When select external analogspeed parameter PA22 1, thedefault value.ZEROSPD ON: No matter howmuch is the analog input, forcedspeed instruction is zero.ZEROSPD OFF:Speed instructionis analog input seINHdisableType1PSpeedselection 2SC2Servo readyoutputSRDYType1Type2SP.SFunctionIn the position control mode,parameter PA4 0, Input terminalof position instruction pulse disable.INH ON: input disable of instructionpulseINH OFF: instruction pulse inputvalidIn the speed control mode,parameter PA4 1, when selectinternal speed parameter PA22 0.The default value of input terminalis speed selection 2The combination of SC1 and SC2is used for selecting differentinternal speed in speed controlmode.SC1 OFF,SC2 OFF: internal speed 1SC1 ON,SC2 OFF: internal speed 2SC1 OFF,SC2 ON: internal speed 3SC1 ON,SC2 ON:internal speed 4Servo ready output terminal.SRDY ON：If control and mainpower are normal, the AC servodrive unit has no alarm, the servoready is set for ON；If main power is not making, orthe AC servo drive unit has analarm, the servo ready is set forOFF.
n pe2P.SType2P.SMechanicalbrakereleaseBRKType2Note 1:The BRK function isciontrolledNote2:The interface is sharedwith COIN, factory default isBRK.Output terminal of servo alarmALM ON:If AC servo driveunit has no alarm, servo alarmis set for ON.ALM OFF:If AC servo driveunit has an alarm, servo alarmis set for OFF.Output terminal of positioningcompletion.COIN ON：When the positiondeviator value is within the setpositioning range, the positioningcompletion is set for ON, otherwiseoutput OFF (output cut-off).Instruction speed reach outputterminal.COIN ON: When the actual speedreaches or exceeds the speedspecified, speed in-position is setfor ON, otherwise the output OFFNOTE: The interface is sharedwith BRK, the factory defaultBRK. Board need to jump line byusing COIN function , let us knowwhen make an order.PLUS inputof instructiPLUS CN1-06PLUS-CN1-19SIGN Ins
servo motor is under the conditions of thermal convection and thermal radiation. heat generating equipment near servo driver: Check whether the servo driver and servo motor have any damage and scratches in appearance, If any damage is found during transport, please do not wiring electrify.
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