SERVO

DRIVE MECHANISM
POSITION | VELOCITY | TORQUE

PLC
(TRANSISTOR TYPE)

CONTROL SIGNAL (IN PULSES)

POWER SOURCE

SERVO
1/3 220 VAC

CONTA
CTOR

DRIVER
FEEDBACK SIGNAL

Conveyor
SERVO LOAD
Pump
Grinder Wheel
MOTOR Machine
Fans/
Compressor
SIMPLE MOTOR CONTROL CIRCUIT
For ON-OFF Operation

POWER SOURCE

3 PHASE LOAD
MOTOR

Conveyor
Pump
Grinder Wheel
Machine
Fans/ Compressor
 Remote ON/OFF MOTOR CONTROL CIRCUIT

ON/OFF Control can be made by providing Signal to Contactor

POWER SOURCE

Conveyor
CONTACT

Pump
3 PHASE LOAD Grinder Wheel
OR

MOTOR Machine
Fans/ Compressor
Remote ON/OFF MOTOR CONTROL CIRCUIT
 ON/OFF & DIRECTION MOTOR CONTROL
CIRCUIT
ON/OFF Control can be made by providing Signal to Contactor
POWER SOURCE

Conveyor
CONTACT

Pump
3 PHASE LOAD Grinder Wheel
OR

MOTOR Machine
Fans/
Compressor
CONTACT
OR
ON/OFF & DIRECTION MOTOR CONTROL
CIRCUIT
ON/OFF & DIRECTION MOTOR CONTROL
CIRCUIT
 ON/OFF, DIRECTION & SPEED CONTROL OF
MOTOR THROUGH VFD

SPEED CAN BE CONTROLLED BY VFD

(FREQUENCY IS DIRECTLY PROPORTIONAL TO SPEED OF
MOTOR)
POWER SOURCE

Conveyor
VFD

Pump
3 PHASE LOAD Grinder Wheel
MOTOR Machine
Fans/
Compressor

Control Signal:

0 ~ 10 VDC
4 ~ 20 mA
Digital Signals from PLC or Digital
Controller
ON/OFF, DIRECTION & SPEED CONTROL OF
MOTOR THROUGH VFD

A
B X

X X
X

1 2 3 220V

3_pHASE
inc
1

RA
2

dec
1

RB
2

GND
AFM

10V
AVI
ACI
M0
M1
M2
M3
M4
M5
3

4 - 20mA
RC
rpm = 120x f /p
1 2 3 4 5 6 1 1 2 3 4
 SERVO POSITION CONTROL MODE
 POSITION CONTROL MODE
• FREQUENCY CONTROL (Pulses)
PLC • ANGLE CONTROL (Pulses)
(TRANSISTOR
TYPE)

CONTROL SIGNAL (IN PULSES)

POWER SOURCE

CONTACT

SERVO
1/3 220 VAC

OR

DRIVER
FEEDBACK SIGNAL

Conveyor
Pump
SERVO LOAD Grinder Wheel
MOTOR Machine
Fans/
Compressor
System Configuration
Application of Servo Motors
Servo Indexing: 30 degree, 45 degree, 90 degree
• By PB or Sensor
• By Timer & making loop
Application of Servo Motors
Limiting the motion by Limit Switches
Understanding
Servo Wiring
 Power Terminals : 220 VAC
Single Phase or Three Phase

Motor Terminals U, V, W

Se rvo
Drive r

1
2
220 VAC

3
2

4
Source

5
6
7
8
Control Terminals
9
Encoder

10
1

11
2

12
3

13
Servo

14
15
16
1

17
2

18
19
Sign

20
21
Puls e Input

22
23
24
25
Program m ing Port
Power Terminals : 220 VAC
Single Phase or Three Phase

Motor Terminals U, V, W

Control Terminals
25 Control Pins
For
• Start/Stop Operation
• Speed Change
• Pulse/Velocity/ Torque Input
• Feedback Terminals
 Se rvo
Power Terminals : 220 VAC
Drive r Single Phase or Three Phase

1
2
220 VAC
Motor Terminals U, V, W

3
2

4
Source

5
6
Control Terminals

7
25 Control Pins

8
For

Control Terminals
9
Encoder

10
• Start/Stop Operation
1

11
2

• Speed Change

12
3

13
• Pulse/Velocity/ Torque Input
Servo

14
• Feedback Terminals

15
16
1

17
2

18
19

Sign
20
21

Puls e Input
22
23
24
25

Program m ing Port

Servo Control
Terminals
Analog-Reference
Motor speed command: -10V to +10V, corresponds to the maximum speed
programmed P1-55 Maximum Speed Limit (Factory default 3000 RPM).
Torque Reference
Motor torque command: -10V to +10V, corresponds. to -100% to +100%
rated torque command.
Pulse & Sign
These pins are used to get Pulse input from the External controller
Example: PLC.
Encoder Pins
The motor encoder signals are available through
these terminals- A, B, Z output signals. The output
maximum voltage is 5V and the maximum
permissible current is 200mA.
VDD
VDD is the +24V source voltage provided by the drive. Maximum
permissible current is 500mA.
COM+ & COM-
COM+ is the common voltage rail of the Digital Input and Digital Output signals.
Connect VDD to COM+ for source mode. For external applied power sink mode
(+12V to +24V), the positive terminal should be connected to COM+ and the
negative to COM-.
GND
Analog input signal ground.
DO Signal- Digital Output
- To get feedback from the Servo on various signals like SERVO ON,
SERVO READY, ZERO SPEED etc.
DI Signal- Digital Input
- To give commands from External source for operation control like
SERVO ON, Clockwise limit, Counter Clockwise Limit, Alarm Reset,
Emergency Stop etc.
Power Terminals : 220 VAC
Single Phase or Three Phase

Motor Terminals U, V, W

Control Terminals
25 Control Pins
For
• Start/Stop Operation
• Speed Change
• Pulse/Velocity/ Torque Input
• Feedback Terminals

Encoder Feedback Cable

To read the feedback from the
encoder attached to the motor
Power Terminals : 220 VAC
Single Phase or Three Phase

Motor Terminals U, V, W

Control Terminals
25 Control Pins
For
• Start/Stop Operation
• Speed Change
• Pulse/Velocity/ Torque Input
• Feedback Terminals

Encoder Feedback Cable

To read the feedback from the
encoder attached to the motor
Servo Programming Cable
To read/write the parameter/
operations in the servo.
PC Servo
2 ------------------------------ 2
3 ------------------------------ 3
5 ------------------------------ 5
Understanding Servo Model Number
Servo – PC Communication
Connect the Wire
Servo – PC Communication

Open ASDB
& Select
COM Port
Servo – PC Communication

Click
Auto-Detect
AUTO- TUNING OF SERVO
 DI Signal- Servo ON
- It switch Servo to Servo Ready
Wiring Diagram

Assign the Function

Response
Servo Velocity
Control Mode
Servo- Velocity Control Mode
In this mode, the speed of the motor is controlled by control signal as Specified pin of
Servo Driver. The speed of the motor is directly proportional to control signal

Control Signal: 0 ~ 10VDC

Parameter: Control Mode- Velocity/Speed
Pr 1.01 = 2
Circuit for Forward Direction
Velocity Control M ode

10 VDC
8
G/C
1

V-re f
2

9
3
4

0 ~ 10VDC
5

1
Servo
Forward
6

2
7

3
0 VDC = Stop
8

5 VDC = 1500 rpm

10 VDC= 3000 rpm
Servo- Velocity Control Mode
In this mode, the speed of the motor is controlled by control signal as Specified pin of
Servo Driver. The speed of the motor is directly proportional to control signal

Control Signal: 0 ~ 10VDC

Parameter: Control Mode- Velocity/Speed
Pr 1.01 = 2
Circuit for Reverse Direction
Velocity Control M ode

10 VDC
8
G/C
1

V-re f
2

9
3
4

Servo
0 ~ 10VDC
5

1
Driv e
Re ve rse
6

2
7

3
0 VDC = Stop
8

5 VDC = 1500 rpm

10 VDC= 3000 rpm
Servo- Velocity Control Mode
Circuit for Forward/Reverse
Switching Direction
Velocity Control M ode
R2
10 VDC
8 R1
G/C

1
2
R1
V-re f
3
9
0 ~ 10VDC
4
5 R2

1
Servo
6

2
7

3
8

0 VDC = Stop
5 VDC = 1500 rpm
10 VDC= 3000 rpm

A
R1
Here, Relay R1 & R2 are interlocked such
R1 R2 that,
When R1 is ON, Motor will run in forward
direction & when R2 is ON, motor will run in
B
R2

R2 R1 reverse direction
Analog Speed Scaling
The analog voltage between V_REF & GND determines the motor speed
command. Using this parameter 1-40 (Max. Analog Speed Command) can
adjust the speed control ramp & its range
 Servo- Internal Velocity Control Mode, Sz
Assign the function to DI Pins
Control Mode- Internal Speed
Pr 1.01 = 4

Assign the Speed

1
2
3

18 DI2
4

Servo
5 DI3
5

Drive
6
7

13 Response
8
 Acceleration Time: Pr. 1-34
Range: 0 ~ 20000 | Unit ms
It’s the time taken by drive to reach rated speed from 0 rotation
speed.

Deceleration Time: Pr. 1-35

Range: 0 ~ 20000 | Unit ms
It’s the time taken by drive to reach from its rated rotational speed to 0
speed.

Note: If 1-36 is set to 0, Acc/Dec time is disabled

Servo Position
Control Mode
 Servo- Position Control Mode

Serv o
Driv er

1
2
220 VAC
1

3
2

4
Source

5
6
7
8
9
Control Terminals
Encoder

10
1

11
2

12
3

Servo 13
14
15

Servo_ON
Control Mode-
16
1

17
2

Position
1 Kilo Ohm
18
19

Sign
20

Pr 1-01 = 0
21

Pulse Input PC
22
23
24
25

Gear Ratio
Programming Port
1-1OC1
OUT0
Setting
Y1
Y2
OUT1
OUT2
Pr 1-45 = 720
OUT3
OUT4
OUT5
OUT6
OUT7
COM
Servo- Position Control Mode

Input to start the Command

Pulse Command

K12 = RPM (12 = 0.1 rpm)

K720 = No of Pulse (720 = 36 degree)

Y1 = Output from where we will get the pulses

Servo- Position Control Mode

Input to start the Command

Reverse Command Direction Change Command

Wiring
 Servo- Position Control Mode

Feedback bit

Will be ON
every time
when servo
completes its
pulses Delay for Next Loop
Used to provide the delay in
running the Loop again
 Servo- Position Control Mode

Pulses for Indexing: 900 pulses

Time Delay: K20 for 2 seconds

Pulses for Indexing: 900 pulses

Here we would be using Sensor/Switch Signal for Next Index | X0 ~ X7 |

Pulses for Indexing: ____________

Here we would be using Sensor/Switch Signal for Next Index | X0 ~ X7 |

Pulses for 20 rev: 144000 pulses & 200 rpm 24000 pulses
Pulses for 10 revolutions 72000 pulses & 100 rpm 12000 pulses
Servo Dual
Control Mode
 Servo- Dual Control Mode
Position & Speed Mode
Serv o
Driv er

1
2
220 VAC
Sink/Source

3
POT

4
5
6
7

1
G/C

2
2500 ppr
V-ref

3
Encoder

10
1

11
2

12
Control Terminals
3

13
Servo

14
15
Servo_ON

16
1

17
2

DI2

18
Dual_Mode

19
Sign

20
21
Pulse Input
22
23
24
25 PC

1-1OC1
Programming Port
OUT0
Y1 OUT1
Y2 OUT2
Control Mode- Dual OUT3

Position & Speed

OUT4
OUT5

Pr 1.01 = 6 OUT6
OUT7
COM
 Servo- Dual Control Mode
Position & Speed Mode
Response Assign the function to DI Pins

Toggle Mode Output

Mode Changing
Servo Torque
Control Mode
 Servo Torque Control Mode
In this mode, the Torque of the motor is controlled by control signal as
Specified pin of Servo Driver.
The torque of the motor is directly proportional to control signal -10V ~ +10V

Parameter: Control Mode- Torque

Pr 1.01 =_3
Forward Direction Torque Control
Torque Control Mode

10 VDC
G/C 8
1

V-ref 6
2
3
4

0 ~ 10VDC
5

1
Servo
Forward
6

2
0 VDC = Minimum Torque
7

3
5 VDC = 50% of Rated Torque
8

10 VDC= 100% of Rated Torque

 Servo Torque Control Mode
In this mode, the Torque of the motor is controlled by control signal as
Specified pin of Servo Driver.
The torque of the motor is directly proportional to control signal -10V ~ +10V

Parameter: Control Mode- Torque

Pr 1.01 =_3
Reverse Direction Torque Control

Torque Control Mode

10 VDC
G/C 8
1

V-ref 6
2
3
4

Servo
0 ~ 10VDC
5

1
Drive
Reverse
6

2
0 VDC = Minimum Torque
7

3
5 VDC = 50% of Rated Torque
8

10 VDC= 100% of Rated Torque

 Servo- Internal Torque Control Mode, Tz
Assign the function to DI Pins
Control Mode- Internal Torque
Pr 1.01 - 5

Assign the Torque (-300% ~ +300%) | Default 100%

1
2
3

18 DI2
4

Servo
5 DI3
5

Drive
6
7

13 Response
8
Analog Torque Scaling
The analog voltage between T_REF & GND determines the motor torque
command. Using this parameter 1-41 (Max. Analog Torque Command) can
adjust the torque control ramp & its range
Digital Output
Signals
To read feedback
DO Signal- Servo Ready
- To get feedback signal when servo is ready to run, all alarms & fault signals
have been cleared Assign the Function

Wiring Diagram
Response
DO Signal- Servo ON
- SON is active when control power is applied to the Servo, there may be
fault condition or not. Assign the Function

Wiring Diagram
Response
 DO Signal- Zero Speed
- Zero Speed is active when drive senses that motor is running at or below
10 RPM. Zero Speed will remain activated until the speed increases above 10
rpm Assign the Function

Wiring Diagram

Response
Digital Input Signals
To Control the
Servo Commands
 DI Signal- Servo ON
- It switch Servo to Servo Ready
Wiring Diagram

Assign the Function

Response
 DI Signal- CMDINV
- Run Motor Reverse Forcefully
Wiring Diagram
If this switch is activated
Motor will RUN in
reverse direction
forcefully irrespective of
Direction command
from External source
(like PLC)

Assign the Function

Response
Wiring Diagram DI Signal- INHP
- Pulse Inhibit Input

When the Drive is in

Position Mode & if Pulse
Inhibit is activated, the
external pulse command
input is not valid

Assign the Function

Response
Wiring Diagram DI Signal- CWL
- Reverse Inhibit Limit

of the ServoThis input is used to limit the

Clockwise Position
When this contact is closed, drive will stop & ALE
14 Error will occur.

Assign the Function

Response
Wiring Diagram DI Signal- CCWL
- Forward Inhibit Limit

This input is used to limit the Counter Clockwise Position

of the Servo
When this contact is closed, drive will stop & ALE 15 Error
will occur.

Assign the Function

Response
Wiring Diagram DI Signal- CWL & CCWL
- Reverse Inhibit Limit

This input is used to limit the Counter Clockwise &

Clockwise Position of the Servo
When these contact is Open, drive will stop & ALE 14/ALE
15 Error will occur respectively
Assign the Function

Response
Wiring Diagram DI Signal- EMGS
- Emergency Stop
This input will stop the Drive Immediately &
fault ALE 13 will be displayed

Assign the Function

Response
 DI Signal- Alarm Reset
- To Clear the Fault or Alarm externally
Wiring Diagram

Assign the Function

Response
 Rajvir Singh
Associate Director, NFI
-Mechatronic Engineer

Write to me at:
[email protected]

“….The future is here only, its just not evenly

distributed”

THANK YOU