smartris Servo Drive

Maintenance Manual No.DM1802E-2

This product should be handled by only those who have been trained for the work.

Please read this manual carefully before use.

Deliver this manual to the customer who will actually use the product.

This instruction manual should be carefully stored.

<Note>

Introduction: Safety Precautions

- Carefully read this maintenance manual and all accompanying documents before use (installation, op-

eration, maintenance, inspection, etc.). Please use this product after thoroughly understanding the ma-

chine, information about safety, and all precautions for correct operation.

After reading, retain this manual for future reference.

- Pay close attention to the "DANGER" and "CAUTION" warnings regarding safety and proper use.

DANGER

Improper handling may result in physical damage, serious personal injury and

/ or death.

CAUTION

Improper handling may result in physical damage and/ or personal injury.

Matters described in

CAUTION

may lead to serious danger depending on the situation.

Be sure to observe important matters described herein.

DANGER

- Transport, installation, wiring, operation, maintenance, and inspections should be performed by

trained technicians; otherwise, electric shock, injury, re, or damage to the equipment may result.

- When the unit is to be used for the personnel transport vehicle, install a safety protecting device

on the elevator side to prevent it from falling; otherwise, personal injury or damage to the equip-

ment due to falling of hoisting equipment.

Introduction: Reading the Maintenance Manual, Table of Contents

This is the maintenance manual for the smartris servo drive unit.

For handling of motor and gear units, see the smartris Gearmotor Maintenance Manual (No. DM1801E).

Contents

Introduction: Safety Precautions ………………………………………………………………… 1

Introduction: Reading the Maintenance Manual, Table of Contents ………………………… 2

1. Overview ………………………………………………………………………………………… 4

1-1 Purpose of This Document ……………………………………………………………… 4

1-1 Safety Precautions ……………………………………………………………………… 4

1-3 Warranty ………………………………………………………………………………… 6

1-4 Power Source Specications …………………………………………………………… 6

1-5 Installation and Terminal Connections ………………………………………………… 7

1-6 Ambient Conditions ……………………………………………………………………… 11

1-7 Certication ……………………………………………………………………………… 11

1-8 Motor and Circuit Protection …………………………………………………………… 12

1-9 Startup …………………………………………………………………………………… 13

1-10 Location of Installation ………………………………………………………………… 13

1-11 Maintenance ……………………………………………………………………………… 13

2. Dimensions ……………………………………………………………………………………… 14

2-1 Dimensions ……………………………………………………………………………… 14

2-2 Installation ……………………………………………………………………………… 15

2-3 Wiring Precautions ……………………………………………………………………… 15

2-4 Power Adapters and Supplied Voltage ………………………………………………… 15

3. Technical Data …………………………………………………………………………………… 16

3-1 Power Cables ……………………………………………………………………………… 16

4. Operation Mode Functions ……………………………………………………………………… 17

4-1 Communication Mode …………………………………………………………………… 17

4-2 Motor Brake ……………………………………………………………………………… 17

4-3 Digital I/O ………………………………………………………………………………… 20

4-4 Torque Limit ……………………………………………………………………………… 22

4-5 Overload Management (I

T) …………………………………………………………… 22

5. STO Safety Function (Optional) ………………………………………………………………… 24

5-1 STO (Safe Torque O) …………………………………………………………………… 24

5-2 Hardware Specications ………………………………………………………………… 24

5-3 Software Specications ………………………………………………………………… 25

Introduction: Reading the Maintenance Manual, Table of Contents

5-4 Safe Operation Sequence Procedures ………………………………………………… 26

5-5 Example of Schematic Application …………………………………………………… 26

5-6 Function Check …………………………………………………………………………… 26

6. CANopen Communication ……………………………………………………………………… 27

6-1 CANopen Network Topology …………………………………………………………… 27

6-2 CANopen Bitrate and Node ID ………………………………………………………… 27

6-3 CANopen Overview ……………………………………………………………………… 28

6-4 DSP402 State Machine …………………………………………………………………… 38

6-5 Speed Polarity …………………………………………………………………………… 40

6-6 Store and Restore ………………………………………………………………………… 40

7. Modbus Communication

Note

…………………………………………………………………… 43

7-1 Connection for Modbus Communication ……………………………………………… 43

7-2 Modbus Communication Settings ……………………………………………………… 43

7-3 List of Read Input Holding Registers …………………………………………………… 44

7-4 List of Read Holding Registers ………………………………………………………… 44

7-5 List of Write Single Holding Registers ………………………………………………… 45

8. Measurement Unit Conversion ………………………………………………………………… 48

8-1 Conversion Parameters for Measurement Unit ……………………………………… 49

9. Diagnostic ………………………………………………………………………………………… 51

9-1 Diagnostic ………………………………………………………………………………… 51

10. Connections …………………………………………………………………………………… 53

10-1 Connection Diagram …………………………………………………………………… 53

10-2 Nameplate and Codes …………………………………………………………………… 54

11. Cables (Optional) ……………………………………………………………………………… 55

12. Warranty ………………………………………………………………………………………… 57

Note: [RS-485 Modbus RTU Communication] is written as [Modbus Communication].

1. Overview

1-1 Purpose of This Document

This document describes the safe installation and operation of this product.

Please read it before using, and follow all safety warnings and cautions herein to ensure safe handling of

this product.

Keep this document in a location where you can use it at any time.

CAUTION

This document is a maintenance manual for qualied persons who will use this product.

Only qualied persons should transport, wire, install, and operate this motor.

The contents of this document are subject to change without notice as a result of product improve-

ments, etc.

1-2 Safety Precautions

Follow the safety procedures described in this document to ensure safe operation.

When operating this product and its peripheral devices, It is required to protect its operators and the

surrounding area.

CAUTION

- It is necessary to conrm that all system switches are working properly and that there are no

warning indicators.

- Before startup, check wiring and conrm that there is no damage to the drive unit.

- Applying voltages other than those specied or reversed cable connections may cause faults in

the drive unit.

- Do not connect or disconnect cables while the power is on or during operation.

- Operators are responsible for performing safe installations in compliance with any applicable

laws and standards.

Note: Thoroughly read this document before performing installation.

This product contains parts that are sensitive to static electricity; improper handling may result in faults.

To prevent electrostatic faults, avoid contact with highly insulating plastic lms and synthetic bers.

Place this product on a conductive material and ground it to discharge static electricity.

Keep covers and control panels closed to avoid worker injury and product faults.

1. Overview

DANGER

- Never connect or disconnect drive unit wiring when the power is ON; otherwise, faults or electro-

cution due to arcing discharge may occur.

- High voltage is applied to cables even when the motor is stopped. Never remove any cables.

- When disconnecting power connections after turning the power o, wait at least one minute

before touching the device, because capacitors and contacts will remain charged.

We recommend using an instrument to measure voltage before touching the device.

DANGER

The drive unit surface can become dangerously hot.

Note that the heat sink and cables can also reach high temperatures.

CAUTION

The following are cautions for avoiding personal injury and faults in the product and other devices.

- Only apply DC power within the voltage specications listed in this document.

- When connecting power cables to this product, isolate it from dangerous high-voltage lines and

use insulation that complies with safety standards.

- Before operating this product, ensure it was installed according to the procedures in this manual.

- Conrm proper operation before using the Safe Torque O function.

- If the device catches re, never throw water directly on it to extinguish it.

CAUTION

- This is information for conrmation to ensure normal operation and understanding of the prod-

uct.

Safety checks must be performed for workers and devices according to the appropriate standards.

1. Overview

1-3 Warranty

This manual presents information that is guaranteed to prevent accidents due to faults or wiring tasks

for this product.

Strictly adhere to the specications described in this document and catalogs.

- Do not remove the cover from the main unit.

Do not remove any warning labels.

Modications to the drive unit or its parts will void the warranty.

Also, faults due to failure to perform actions described in this Maintenance Manual will void the war-

ranty.

See “11. Warranty” for details regarding the product warranty.

1-4 Power Source Specications

Table 1-1

Power Source Specications

Item Description

Power supply voltage 48 Vdc (30 - 60 Vdc)

STO power supply voltage 24 Vdc (20 - 28 Vdc)

Note: Never connect power supplies with voltages exceeding specications.

Supplying high voltage to the drive unit may result in faults in its internal parts.

1. Overview

1-5 Installation and Terminal Connections

X2 – Motor feedback

X1 – Control wiring

LED status

48Vdc power input

Motor phases

Motor brake

Fig. 1-1 Eternal Appearance of the smartris Servo Drive Unit

Table 1-2 Power Connections

Pin No. Signal Description

+ +VBUS Connection to +VBUS (+48 Vdc)

－

-VBUS Connection to –VBUS

Table 1-3 Motor Connections

Pin No. Signal Description

U phase U Motor phase U

V phase V Motor phase V

W phase W Motor phase W

Note: See “3-1 Power Cables” regarding recommended cables.

 Terminal:M6screw,7N• mtighteningtorque

Table 1-4 Bake Connections

Pin No. Signal Description

+ +VBUS “Brake+” and +VBUS connection

B BRAKE “Brake” and B connection

Note: Cable with 1 mm

-AWG19 or higher is recommended

1. Overview

■

X1 Connector Connections (Control Signals)

Note: See “11. Cables (Optional)” regarding cables.

Pin 1 Pin 12

Pin 24 Pin 35

Table 1-5 X1 Connector Control Signals

Pin No. Signal Description Electrical Characteristics

1 0V24 GND (control board power)

2 COMMON Digital input common

3 IN1 Digital input: Reserved

DC24V±20%

Input Impedance 3KΩ

4 IN2 Digital input: Reserved

5 IN3 Digital input: Emergency stop

6 IN4 Digital input: Reset

7 TX/485+ TX232 signal/485+signal

8 RX/485– RX232 signal/485–signal

9 485_T 120Ω terminal resistor 485 (connected to 485+)

10 GND_COM GND (RS232 Serial communication)

11 RET1 Safety relay1(output) Max. DC30V 0.5A (contact)

12 STO1 Safety relay STO1 (input) DC20~28V, 29mA (typ.)

13 GND_REF GND (analog command) -

14 REF– Analog input–

Input DC±10V or 0 to 10V

15 REF+ Analog input+

16 +10V 10Vdc output Output DC10V±4%

17 OUTDAC Analog output Output DC0 to 10V

Load Impedance 1kΩ or more

18 GND_DAC GND (analog output)

19 GND_CAN/GND_RS485 GND (CAN or Modbus communication)

Note:1

20 CAN_T/RS485_T 120Ω terminal resistor(connected to CAN_H or RS485+)

Note:1

21 NC -

22 COM_RET Common (RET1/RET2: output)

23 STO2 Safety relay STO2 (input) DC20~28V, 29mA (typ.)

24 24/48V Control board power (input) DC20~60V, 6W (typ.)

25 V_OUT Digital output common -

26 OUT1 Digital out1: Drive OK

DC24V±20%

27 OUT2 Digital out1: Drive warning

28 OUT3 Digital out1: Reserved

29 OUT4 Digital out1: Brake status (release/operation)

Note:2

30 CAN_L/RS485– Connected to CAN_L or RS485–

Note:1

-31 CAN_H/RS485+ Connected to CAN_H or RS485+

Note:1

32/33 NC -

34 RET2 Safety relay2 (output) Max. DC30V 0.5A (contact)

35 STO_COM Common (STO1/STO2: input) -

Notes: 1. CANopen or Modbus communication can be used this product.

Check the drive model that communication can be used. See 10-2 Nameplate and codes.

2. Valid if the brake is connected.

1. Overview

■

X2 Connector Connections (for Feedback)

Pin 1 Pin 5

Pin 10 Pin 14

Table 1-6 X2 Connector, Feedback Signals

Pin No. Resolver Absolute encoder

1 S2 (SIN+) SIN

6 S4 (SIN-) REFSIN

2 S1 (COS+) COS

7 S3 (COS-) REFCOS

3 R1 (REF+) DATA+

8 R2 (REF-) DATA-

10 - +8V

11 - GND

4 - -

9 - -

14 - -

5 SCH SCH

12 NTC1a NTC1a

13 NTC1b NTC1b

Note: See “10. Cables (Optional)” regarding cables.

DANGER

The following are precautions for avoiding injury and risk of death due to improper use.

■ Avoid ground loops in wiring for control devices.

- When connecting the PC, the encoder, switches, actuators, etc., to the control connector, never

connect ground (pins 1, 10, 13, 18, 19) and battery negative (–) terminals.

Never disconnect the battery negative (–) terminal while the battery positive (+) terminal is con-

nected to the drive unit. Excess current ows from the ground pin, so disconnecting a wire or

connector can result in damage or faults to controllers and peripherals.

- The controller connector grounds (pins 1, 10, 13, 18, 19) are connected to drive unit by internal

negative (–) terminals.

- Be sure to connect battery negative (–) terminals in controller ground wiring.

- Do not use power ground cables for connectors and switches.

- Shield external I/O signals to prevent eects from main power.

1. Overview

■

Connection Example

M: Motor

B: Brake

F: Feedback

Notes: 3.

Notes: 2.

Notes: 1.

Drive unit

Controller

: Sink connection

* : Source connection

Notes: 1. The potentiometer connections

Backup power supply for logic

CAN terminal connection: Pin 20 and Pin 31 (CAN H signal)

Fig. 1-2 Connection Example for Drive Unit and Controller

1. Overview

1-6 Ambient Conditions

This product must be installed in appropriate ambient conditions to ensure safe operation.

Faults due to modications or inappropriate storage conditions will void the product warranty.

Keep the device covered for protection from dust, metal lings, water, oil, etc.

Item Details

Ambient temperature

IEC60068-2-2

-10 °C - 40 °C

Ambient humidity ≤85% RH, no condensation

Altitude Altitude: 1000 m max.

Protection class IP54

Contamination level 2(EN 2, 61800, EN61800-5-1)

Storage Details

Storage temperature -10 °C - 70 °C

Storage humidity ≤90% RH, no condensation

1-7 Certication

(1) CE Compliance

This product is certied for the conformance with the following EC Directives by Certication Bodies.

- EMC Directive (2014/30/EU)

- RoHS Directive (2011/65/EU)

- WEEE Directive (2012/19/UE)

(2) Safety

This product is compliant with the following EN safety standards:

- EN 61800-5-1: Adjustable speed electrical power drive systems - Part 5-1: Safety requirements – Electri-

cal, thermal and energy.

(3) EMC Requirements

This product satises category requirements for emission and immunity conditions for “type-2 environ-

ments” (industrial environments).

- EN 61800-3: Adjustable speed electrical power drive systems - Part 3: EMC requirements and specic

test methods.

1. Overview

(4) Safety Conformity (STO)

This product is equipped with two-channel Safe Torque O (STO) input compliant with safety functions.

(Optional)

This function halts PWM output and safely stops torque of the drive unit.

The circuit designs have been tested and certied by TÜV SÜD.

The STO safety function for circuit designs in this product are compliant with the following EN standards:

- EN61508: Functional safety of electrical/electronic/programmable electronic safety-related systems

- EN61800-5-2 and category: Adjustable speed electrical power drive systems – Part 5-2: Safety require-

ments – Functional

- EN ISO 13849-1:2015: Safety of machinery — Safety-related parts of control systems — Part 1: General

principles for design.

Subsystems include safety conditions with the following characteristics:

EN 13849-1 EN 61508 PFHD [1/h]

PLe SIL3 -

(5) Ambient Conditions for Vibration and Shock

The drive unit satises the following specications:

•Vibration:DINEN60068-2-6:2008

•Vibrationfrequencyrange:10–150Hz

•Acceleration:5G

1-8 Motor and Circuit Protection

There is no need for connecting a thermal relay for motor protection. Overload protection is possible with

the I

t function (electronic thermal).

Protection function parameters are as follows:

•Nominalcurrent

•Peakcurrent

•Overload

Nominal current and peak current are motor characteristics. The overload time is the initial value due to

the load and motor, but can be set programmatically.

Drive behavior after the overload time has elapsed can be set as follows:

•Occurrenceofoverloadalarms

•Operationunderpeaknominalcurrent

The motor’s temperature sensor has a function for protecting the motor from overheating.

In that case, drive operation can be set as follows:

•Evenwiththesensordetectingtemperaturesabovethethreshold,continueoperationuntilthemotor

overheat alarm.

・ It is possible to read sensor temperature values and reduce the load or speed to lower the motor

temperature.

Drive Output Current

Model No. Nominal Current Peak Current (2sec)

AG110D4-A60## 11.5A 41.7A

AG110D4-1A5## 25.8A 96.3A

AG110D4-2A0## 35.8A 136.2A

1. Overview

1-9 Startup

EMC directives forbid startup before conrmation that this product was installed in compliance with EC

Directive standards.

Also, standards for machinery directives (2006/42/EC) and EMC directives (2014/30/EU) prohibit applica-

tion and operation of this product with incompatible mechanical systems.

Machine and system manufacturers must ensure EMC thresholds satisfying the requirements of EMC

standards.

(1) Proper Usage

This product can be applied to drive synchronous servo motors using permanent magnets

(servo motors compatible with machine and system feedback systems).

This product is certied for use in industrial applications. Note that its use in residential areas requires

additional EMC countermeasures.

The customer will need to prepare a risk analysis for the nal product.

CAUTION

Customers planning use for nonindustrial applications must rst obtain our approval.

(2) Inappropriate Uses

This product is incompatible with motors other than synchronous servo motors. It also cannot be used

in motors incompatible with feedback systems.

Note that installation in areas presenting the danger of ammable materials, ammable gases, dust,

etc., can result in re or explosion.

Do not install the drive unit or gearmotor of this product in such environments.

1-10 Location of Installation

Install this Protection Standard IP54 product in a place where it can operate reliably.

It must be installed in a location conforming to IP54 class or higher protective structures.

1-11

Maintenance

Perform periodic maintenance and inspections to ensure that the drive unit is free of abnormal appear-

ances, dust adhesion, and loose connectors or terminals.

Disassembling this product will void its warranty. When disassembling, safety functions corresponding

to standards are not guaranteed.

2. Dimensions

2-1 Dimensions

84.25

116

609

4-Ø6.4

Unit: mm Mass: 1.6kg

98.3

34.65 116.7

84.25 (with plug)

(34.65)

168.3

186

2. Dimensions

2-2 Installation

Safety Precautions

•Installthedriveunitinsideacontrolpaneltopreventhumidity,waterdroplets,andmetaldust.

•Beforeinstallation,conrmthatthedriveunitisnotdamaged.

•Ensuresucientventilationwithinthecontrolpanel.

•Donotoperatethedriveunitifcondensationgenerates.

2-3 Wiring Precautions

Safety Precautions

CAUTION

- Ensure that the system is displaying no alarms to conrm safety.

- Before operation, check that the wiring with the drive unit is correct and theses cables have no

damage.

Before operation, conrm there are no problems with the drive unit and wiring.

- Non-specication voltages, reversed polarity of connections, improper wiring, etc., can result in

drive unit faults or damage.

- Improper protection against excess power can result in damage to the drive unit or wiring.

- See “5. STO Safety Function (Optional).”

2-4 Power Adapters and Supplied Voltage

24V for STO logic and 48Vdc power supply must supply constant voltage.

CAUTION

- Using power adapters that do not conform to SELV/PELV designs can produce dangerously high

voltages that may result in injury or death.

48 Vdc power adapters must allow regeneration up to 60 Vdc during motor regeneration operation.

Power adapters must be designed to accommodate the above regeneration operation.

3. Technical Data

3-1 Power Cables

Thetablebelowshowsanexampleofcablesizeselectionforwiringtotheservomotorandpowersup-

ply.

Table 3-1 Example of Power Cable Selection

AGV load

(kg)

Motor output

(W)

Power source cable

(mm

) - AWG

Protective fuse

(A)

600 430 2.5 - AWG14 25

1000 600

4 - AWG12 50

1500 1000

6 - AWG10 100

2500 1500

Note: Power supply voltage is 48 Vdc (max. 60 Vdc)

Cables in the table are reference examples. Applicable to Lafert or similar servo motors.

■

This document is applicable to the following feedback.

・

Resolver

・

Absolute encoder

4. Operation Mode Functions

CAUTION

This product optionally includes a Safe Torque O (STO) safety feature.

Please conrm correct operation of circuits for this function before operation.

See “5. STO Safety Function (Optional)” for details.

4-1 Communication Mode

The open network CANopen or Modbus communication can be used this product.

Check the drive model that communication can be used. (See 10-2 Nameplate and codes)

See CANopen Communication Manual (No.DM1803E) or Modbus Communication Manual (No.

DM1804E).

The following chapter is written using CANopen communication as an example.

4-2 Motor Brake

Motor brake operates by being supplied power of the drive.

The DIG-OUT4 (digital output 4) signal operates the brake relay.

(The relay requires external power.)

The brake can be set to automatic or manual.

•Automaticmode: InputtingtheRUN/Enableoperationcommandallowsautomaticbrakerelease.

Brake power (+24 V)

•Manualmode: ThebrakereleasecommandcanbeissuedbyCANopencommunicationorapa-

rameter.

Brake -

Brake +

■

Automatic Mode

State

"Operation Enabled"

(RUN)

Brake delay Brake release time

Motor speed

Brake status

Output torque

Motor locked

Motor free

Set point = 0

(2) (3)

Fig. 4-1 Automatic Brake Operation

4. Operation Mode Functions

■

Manual Mode

In CANopen mode, set bit 1 of 60FEh (subindex 1).

•Setbrake[60FEh(subindex1),bit0]=1forbrakerelease.

(1) Standby to Operation Phase (STBY

→

RUN)

In STBY, the brake is released and the motor is locked.

During the time set by Delay 1, the motor is in the stop status even if the RUN signal is input.

Even after the Delay 1 time elapses and the brake is released, the motor remains stopped for the time

set by Delay 2.

After the Delay 2 time, RUN mode starts and the motor reaches the set speed.

Even when the motor is stopped, stall torque (retention torque) is generated.

Note: Brake delay time is the time from issuance of the brake release command to motor lock release.

Motor speed

Delay 1 Delay 2

Stop status

State

"Operation Enabled"

(RUN)

Brake

Brake Brake release

Set point = 0

Motor brake delay

3002h Sub-Index 2

Brake release time

3002h Sub-Index 3

Fig. 4-2 Automatic Brake Delay Time

4. Operation Mode Functions

(2) Phases from Operation to Standby (RUN

→

STBY)

In the RUN state, the brake is released. When halting, stop operation diers according to whether dy-

namic brake is enabled, as shown in the gure below.

Motor speed

Brake status

Output torque

State:

"Operation Enabled" (RUN)

State:

"Switched ON" (STBY)

Dynamic brake status

Brake timeout

3002hSub-Index 4

No dynamic brake

Dynamic brake Status = 1

Holding torque time

3007hSub-Index 2

With dynamic brake

Motor locked state

Decrement step ramp

3007hSub-Index 4

Stop delayDynamic Brake

Motor locked state

(4) (2)

Fig. 4-3 Dynamic Brake

The motor decelerates at the free run speed without dynamic brake.

Thebrakelocksthemotorwhenthespeedreacheszero,orwhenthedecelerationtimeexceedstheset

brake timeout time.

If there is the function of dynamic brake, deceleration occurs in the time set in the dynamic brake pa-

rameters.

After ramp deceleration completes, the brake's locking the motor, and the motor's stopping with the

delay time set in the dynamic brake parameters, the drive unit turns to be STBY mode.

4. Operation Mode Functions

4-3 Digital I/O

The following digital I/O are available.

・

Digital input 4: DIG-INx

・

Digital input 4: DIG-OUTx

・

Safety digital input 2: DIG- STO

(1) Digital Input

This is an analog mode for operating the motor by using two digital inputs.

・

DIG-IN1 : reserved

・

DIG-IN2 : reserved

DIG-IN3 can be programmed as “Enable Input Emergency.”

In this case, DIG-IN3 is used for transition from RUN to STANDBY in an emergency with dynamic brake.

This function is enabled through the following settings:

•CANopen:Setobject0x3008h(EmergencyInputEnable)subindex1.

Logic for dynamic brake input (DIG-IN3) can be selected.

•CANopen:Setobject0x3008h(EmergencyInputEnable)subindex2.

DIG-IN4 resets the drive unit hardware.

(2) Digital Input, Safety STO

DIG-STO : STO input is shown in the following circuits.

Fig. 4-4 STO Output Feedback Relay

If the application requires deceleration and stop (controlled deceleration and stop) before use of the

STO function, rst perform deceleration and stop operation, then activate the STO function after stop.

1. Drive deceleration and stop operation

2. In the case of stop state, disable the drive unit.

3. If there is a suspended load, mechanically lock the drive as well.

4. Activate the STO function.

4. Operation Mode Functions

CAUTION

The drive unit cannot generate torque when the STO function operates, so load cannot be main-

tained.

When the STO function is operated during driving, the drive unit stops without control.

If the drive unit has an STO function, it is necessary to conrm that all circuits for the drive unit

are correct in addition to function settings for it.

■

STO 2 Input Feedback

Feedback signals for each STO input can be monitored by two-channel relay output (RET1, RET2).

The status of STO commands can be monitored by output from each relay. (Safety functions can be

completely monitored.)

The state of digital input can be read with CANopen DSP402 (60FDh: Sub-Index 0)

(3) Digital Output

DIG-OUT1: Indicates the drive state.

•1=DriveOK

•0=Drivefault

DIG-OUT2 : Indicates the drive warning.

•1=Thereisawarningactivate.

•0=Nowaring.

DIG-OUT3 : Reserved.

DIG-OUT4 : Indicates the brake status.

•1=Brakerelease,motorshaftfree.

•0=Brakeoperation,motorlock

CANopen DSP402: 0x60FE can can be read with the status of digital output.

4. Operation Mode Functions

4-4 Torque Limit (Add from FW Ver.2.0.1)

NOTE

It is possible to set a torque limit to set the congured maximum torque in the motor. The value shall be

given percent of rated current.

Setting value for peak current (0x3003:2) is depend on the drive model.

Model No. Peak Current

AG110D4-A60## 41.7A

AG110D4-1A5## 96.3A

AG110D4-2A0## 136.2A

while in CANopen there are di󰮏erent values of maximum torque:

・Positive takes e󰮏ect in the case of motive operation is positive velocity or regenerative operation is

negative velocity.

・Negative torque takes e󰮏ect in the case of motive operation is negative velocity or regenerative op-

eration is positive velocity

The default value of torque limit is 100% and modies can't be saved in EEPROM memory but it can be

saved in RAM.

WARNING

・ This object is controlled by some limits of drive. If the value is not correct the drive sends an

AbortCode.Ifthevalueisnotcorrectduringinitializationthedrivesendsanerrormessageswith

Emergency Protocol. See Error Code 0x8B23. The range is [1 to 100] %.

・ The setting value of torque limit returns to 100% (default value) when the power is turned o. It

is not saved in EEPROM.

4-5 Overload Management (I

T) (Add from FW Ver.2.0.1)

NOTE

The smartris drive uses the I

t protection method to prevent motor winding and insulation damage

caused by high motor temperature due to motor excessive work.

The I

t algorithm evaluates the motor dissipating heat without any sensor. When the evaluated tem-

perature exceeds the maximum, I

t algorithm protects the motor placing the drive in Fault Overload

The I

t principal algorithm calculation is as follows:

T=(I

– I

) * T

Output Current [A]

Time [s]

: Motor peak current (rms)

:Motor nominal current (rms)

: Motor peak current time in seconds

Fig.4-5 Overload Management I2T

Note: FW ver. is listed in the nameplate. See 10-2 Nameplate and codes.

4. Operation Mode Functions

The smartris drive manage also 2 kind of Overload:

・

Overload at low speed (default 30 rpm - settable only by manufacturer)

・

Protection to Overload close events

4.5.1 Overload at low speed

In smartris drive there is a function to modify the Overload function depending by speed.

Under a specic value the Energy is reduced. This means that at low speed the I

t time is reducing to half

and the Rated Current is around 70% of the standard.

At normal speed there is no eect.

It is possible with CANopen DSP402 read the status with the bit 11 of statusword (0x6041 object).

During the limitation there is emergency message that describes when the drive is in Warning Limita-

tion i

t for Overload (error code 0x2351) and in alarm (error code 0x2350).

4.5.2 Overload with closer events

There is a function that prevent the drive goes to Run if numerous close I

t events have occurred.

After 2 consecutive Fault Overload Events it is necessary to wait one minute before enabling the drive,

otherwise the drive will go into Fault I

t Overload Protection (LED status code 5,2).

When re-enabling the drive, reset after unlocking the interlock.

It is possible with CANopen DSP402 read the alarm (error code 0x2352).

5. STO Safety Function (Optional)

Safety circuits include safety functions based on IEC 61800-5-2.

The STO module conforms to uncontrolled stop in “Stop category 0: IEC 60204-1,” shutting o torque

output.

5-1 STO (Safe Torque O)

In the STO state, power for the motor to generate torque is not supplied.

The motor therefore cannot rotate.

Notes: 1. This safety function is compatible with uncontrolled stop.

2. Use this function when required to shut o output to prevent unexpected start-up.

3. In the presence of external inuences (falling due to suspended load, etc.), it is necessary to

use an additional measures (a mechanical brake, etc.) to prevent danger.

(1) STO Connections

Pin 11–12

Pin 22–23

Pin 34–35

Table 5-1 I/O signals (AGV)

Pin No. Signal Description

11 RET1 Safety relay 1 (output)

12 STO1 Safety relay STO1 (input)

22 COM_RET Common (RET1/RET2: output)

23 STO2 Safety relay STO2 (input)

34 RET2 Safety relay 2 (output)

35 STO_COM Common (STO1/STO2: input)

5-2 Hardware Specications

•STOinput:STO1,STO2(common:STO_COM)

•Relayoutput:RET1,RET2(common:COM_RET)

Table 5-2 STO Input Specications

STO Input Data

STO Inactive status (normal operation) input voltage 20 - 28 Vdc

STO Active (SAFETY) input voltage < 2.4 Vdc

Input current 29 mA

Active response time (time from normal to STO operation) 10 ms

RET1, RET2 connection specications (Max. voltage/current for contact) 30 V/0.5 A

5. STO Safety Function (Optional)

Table 5-3 I/O Relay Operation

Input 1 Input 2 Output 1 Output 2 Output Status

STO1 STO2 RET1 RET2 Status

0 V

Closed

Safety24V Open

24V

Closed

Open

24V Open Normal mode

■

IfeitherSTO1orSTO2is0V,safetymode(zerotorque)operates.

Fig. 5-1 STO Output Feedback Relay

5-3 Software Specications

Safety procedure: RUN

→

STANDBY

→

SAFETY

Recovering from SAFETY to STANDBY mode requires setting STO and RUN to reactive.

The recovery procedure is as follows.

•InCANopenmode: SAFETY

→

SWITCH ON DISABLED

→

READY TO SWITCH ON

→

SWITCH ON

→

OPERATION ENABLED

SAFETYRUN

STANDBY

(Run not active)

(RUN active)

(STO not active) and

(RUN not active)

STO active

Fig. 5-2 STO State Machine

5. STO Safety Function (Optional)

5-4 Safe Operation Sequence Procedure

If deceleration and stop (controlled deceleration and stopping) is required before using the STO func-

tion, rst perform deceleration and stop operation, then operate the STO function.

1. Drive deceleration and stop operation.

2. In the case of stop state, disable the drive unit.

3. If there is a suspended load, mechanically lock the drive as well.

4. Activate the STO function.

CAUTION

The drive unit cannot generate torque when the STO function operates, so load cannot be main-

tained.

When the STO function is operated during driving, the drive unit stops without control.

5-5 Example of Schematic Application

Drive unit

Safety controller

Fig. 5-3 STO Application Example

■

STO 2 Input Feedback

Feedback signals for each STO input can be monitored by two-channel relay output (RET1, RET2).

The status of STO commands can be monitored by output from each relay. (Safety functions can be

completely monitored.)

The state of digital input can be read with CANopen DSP402 (60FDh: Sub-Index 0)

5-6 Function Check

The STO function should be conrmed on rst startup after system wiring or parts replacement.

Please conrm that STO circuits are functioning correctly every six months.

6. CANopen Communication

6-1 CANopen Network Topology

Table 6-1 CANopen Signals

Pin No. Signal Description

19 GND_CAN/GND_RS485 GND (CANopen or RS485 Modbus)

20 CAN_T/RS485_T

Termination resistor 120Ω

(Connection for CAN_H/RS485+)

30 CAN_L/RS485- Connection for CAN_L or RS485-

31 CAN_H/RS485+ Connection for CAN_H or RS485+

Connector X1

Fig. 6-1 CANopen Wiring

The two ends of the CAN cables have to be terminated by a resistor of 120Ω.

The CAN bus can be closed with a resistance terminator into to the drive using Pin 20. The CAN_T pin

has to connect to CAN_H pin on Connector X1.

6-2 CANopen Bitrate and Node ID

Compliance with CiA DS301 v4.02 and DSP402 v2.0 directives.

•CANopenbaudrate:50K,125K,250K,500K,800K,1000K(initialsetting:1000Kb)

•NodeID(initialsetting:1)

6. CANopen Communication

6-3 CANopen Overview

Features

•TPDO7,RPDO7, event timer, access unit 8 bits

•Heartbeat,nodeguarding

•Baudratesetting:50K,125K,250K,500K,800K,1000K(initialsetting:500K)

•Enableinput(standbymodeatL-levelinput,switchONdisabled).

•NodeIDsetting(default:ID1)

•Parametersarestoredinnonvolatilememory(communication+manufacturername+deviceprole)

•LoadinitialCANopenparametervaluefrom ROM by command.

Compliance with CiA DS301 v4.02 and DSP402 v2.0 directives.

See “CiA DS301 Standards” for additional information.

■

Reference Materials

• CANopen Manual (No.DM1803E)

- CiA 301 (310_1v01010005_cor.pdf)

- CiA 402 (CiA® 402 Draft Standard Proposal.pdf)

(1) Object 6040h: Controlword

This object is used in CiA-402 FSA and CiA-402 modes and for control of manufacturer-specic entities.

Controlword comprise the following bits.

15 11 10 9 8 7 6 5 4 3 2 1 0

ms r oms h fr oms eo qs ev so

MSB LSB

ms: manufacturer-specic h: halt qs: quick-stop

r: reserved fr: fault reset ev: enable voltage

oms: operation mode specic eo: enable operation so: switch ON

Command

Controlword Bits

Transition

Bit 7 Bit 3 Bit 2 Bit 1 Bit 0

Shutdown 0 X 1 1 0 2, 6, 8

Switch ON 0 0 1 1 1 3

Switch ON + operation

enabled

0 1 1 1 1 3 + 4 Note)

Voltage disabled 0 X X 0 X 7, 9, 10, 12

Quick stop 0 X 0 1 X 7, 10, 11

Operation disabled 0 0 1 1 1 5

Operation enabled 0 1 1 1 1 4, 16

Fault reset

X X X X 15

Note: After performing switch ON, operation automatically transfers to enabled. This transition interval re-

quires 20 ms or more.

・

Bits 9, 6, 5, 4: Operation mode specic

・

Bit 8 (halt function): This is an operation mode specic function.

At bit 1 commands are interrupted and drive unit execution halts at the dened option code. After

canceling the stop function, the command operation continues.

・

Bit 10 (reserved): Please set to 0.

・

Bit 11 (manufacturer-specic, warning recognition): Setting to 1 clears the statusword warning bit.

・

Bits 12, 13, 14, 15 (manufacturer-specic): Not used

6. CANopen Communication

(2) Object 6041h: Statusword

This object indicates the current FSA status. There are operation mode and manufacturer-specic bits.

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

ms oms ita tr rm ms w sod qs ve f oe so rtso

MSB LSB

Bit Description M/O

0 Ready to switch ON

1 Switched ON

2 Operation enabled

3 Fault

4 Voltage enabled

5 Quick stop

6 Switch ON disabled

7 Warning

8 Manufacturer-specic

9 Remote

M10 Target reached

11 Internal limit operation

12 - 13 Operation mode specic

14 - 15 Manufacturer-specic

・

Bit 4 (voltage enabled): 1 indicates that high voltage is supplied to the drive unit.

・

Bit 5 (quick stop): 0 indicates on a quick stop request.

・

Bit 7 (warning): 1 indicates that a warning status occurs.

Note that warnings are not errors or faults (ex: temperature increase, job halt, etc.) The drive unit FSA

status therefore does not change.

Warning denitions can be read from the warning parameter object (2003h).

・

Bit 10 (target reached): 1 indicates that the target reached its set value.

The set value is operation mode specic, and dened in clauses corresponding to some of the prole

specications.

Bit 10 is set to 1 when the operation mode changes.

This bit changes on software updates of target value.

・

Bit 11 (internal limit active): 1 indicates that the internal limit functions.

・

Bits 12, 13: Operation mode specic (depends on prole set).

・

Bit 14 (manufacturer specic: safety): 1 indicates that the drive unit is in safety mode.

・

Bit 15 (manufacturer specic: fault): 1 indicates that the drive unit faults.

6. CANopen Communication

(3) Object 6060h: Mode of Operation

This object can be used to set operation modes and

shows value for required operation modes. Actual operation modes are reected in the Modes_of_op-

eration_display object.

Bit denitions are as follows.

Bit Description Access

0 No mode change/No mode assignment

1 Prole position mode (Coming soon)

2 Reserved

3 Prole velocity mode

4 Torque prole mode

5 to 10 Reserved

-1 Manufacturer specications

Usable operation modes

•Mode3:Prolevelocitymode

•Mode4:Proletorquemode

Note: When setting measurement unit conversion, see chapter 8.

(4) Object 6061h: Mode of Operation Display

This object denes the actual operation mode.

Object description

Index Object Code Data Type Category

6061h VAR Integer 8 Mandatory

Entry description

Subindex Access PDO Mapping Value Range Default Value Unit

00h ro YES (default) -128 - 10 - -

Bit denitions are as follows.

Bit Description Access

0 No mode change/No mode assignment

1 Prole position mode (Coming soon)

2 Reserved

3 Prole velocity mode

4 Prole torque mode

5 to 10 Reserved

-1 Manufacturer specications

6. CANopen Communication

■

Control Composition in Prole Velocity Mode

Velocity window (606Dh)

Velocity window time (606Eh)

Speed controller

Target reached

(Statusword bit 10 6041h)

Encoder

Motor

PWM

amps

Velocity demand

value

(606Bh)

Target

velocity

(60FFh)

Ramp

generator

Velocity actual value

(606Ch)

–

PID

Velocity/position

calculation

t current limit

Velocity threshold (606Fh)

Velocity threshold time (6070h)

Set point acknowledge

(Statusword bit 12 6041h)

Current

Velocity

Fig. 6-2 Control Composition in Prole Velocity Mode

6. CANopen Communication

Target velocity

Maximum prole

Comparator

Velocity unit

multiplier

velocity unit

multiplier

Multiplier

Motor

Encoder

Velocity reached

window

Velocity unit

multiplier

Limit value

Velocity actual value (606Ch)

Velocity window (606Dh)

Acceleration

limit function

velocity limit

function

Maximum motor speed

Polarity (607Eh)

Acceleration prole

Prole

Target reached

Statusword (6041h)

Velocity limit

function output

Motion prole

Maximum acceleration

Maximum deceleration

Quick stop deceleration

Velocity window

time (606Eh)

Speed

control

loop

Velocity demand value

(606Bh)

Velocity trajectory generators

Target limit

Fig. 6-3 Speed Control Composition

■

Prole Velocity Mode (3)

In prole velocity mode, prole movement is dened according to velocity and acceleration/decelera-

tion commands.

Start velocity control prole:

(1) Writingobject6060h=Byinputting3,thedriveunitmovestotheoperationmodeofproleveloc-

ity mode.

(2) Operation enabled

(3) Set acceleration and deceleration in objects 6083/6084h, respectively.

(4) Operation starts when the target velocity is set in Object 60FFh.

To start operation, clear bit 8 in object 6040h.

The target velocity can be changed during operation. Operation stops when any of the following condi-

tions are satised:

・

 Thetargetvelocityissettozero.

・

The Halt command is issued.

・

An error occurs.

6. CANopen Communication

■

Prole Velocity Characteristics

Speed

Acceleration

Prole velocity

(60FFh)

Maximum acceleration

(60C5h)

Maximum deceleration (60C6h)

Prole deceleration

(6084h)

Prole acceleration

(6083h)

Velocity window (606Dh)

Fig. 6-4 Prole Velocity Characteristics

6. CANopen Communication

■

Run Sequence

(1) Power switch ON

(2) Verify LED status 1, 2 initial state (INIT mode)

(3) Congure prole velocity: 0x6060

→

0x03

(4) Ready to switch ON setting: Controlword write 0x6040

→

0x06

(5) Switched ON setting: Controlword write 0x6040

→

0x07

(6) Verify whether smartris drive state is switched ON: Statusword read 0x6041

→

0x23

(7) Operation enabled setting: Controlword write 0x6040

→

0x0F

(8) Verify whether LED status is enabled

Verify whether smartris drive state is enabled: Statusword read 0x6041

→

0x27

Verify brake release.

(9) Read speed command set value 0x60FF

→

0x03e8 (Ex: set 1000 r/min)

(10) If motor revolutions are conrmed, verify motor speed (after acceleration is complete):

Read 0x606C

→

0x03e8 (Ex: 1000 r/min)

Note: The motor immediately stops upon issuance of the STO safety command (

SAFETY ).

Commands being executed are immediately halted upon issuance of a stop command (

STOP ).

Commands being executed are immediately halted when a fault (

FAULT ; see 8. Diagnostic Table

8-2) occurs.

6. CANopen Communication

SAFETY

Safety

3) Congure prole velocity

4) Ready to Switch ON

5) Switched ON

7) Operation enable (ENABLE)

Quick stop active

Fault

Fault detection

INIT

FAULT

STOP

RUN

STANDBY

6) Verify switched ON

9) Set point speed

8) Verify enable

10) Verify motor running

and speed

2) Verify LED status INIT

1) Switch ON power supply

Fig. 6-5 CANopen Run Sequence

6. CANopen Communication

6-4 Torque Prole (Add from FW Ver.2.0.1)

NOTE

In the prole Torque operating mode, the motor executes a movement according to a target torque or

current sent by the master controller. The current regulator (torque control) is specied a current pro-

portional to the target torque. Note: FW ver. is listed in the nameplate. See 10-2 Nameplate and codes.

Position Actual Value (6064h)

Position

Trajectory

generator

Target Torque (6071h)

Target Demand (6074h)

Torque

Control

and

Power

Stage

Motor

Torque slope (6087h)

Torque Prole Type (6088h)

Max Torque (6072h)

Torque Actual Value (6077h)

Velocity Actual Value (606Ch)

Enc

Velocity

Max Current (6073h)

Max Rated Torque (6076h)

Max Rated Current (6075h)

Torque Limit (60E0h) (60E1h)

■

Object Entries

The following objects are available for the control prole velocity and the behavior of the drive.

Index Object Name Type M/O Attr. Description

6071h VAR Target torque INT16 M rw

This object shall indicate the congured input value for the torque controller in

prole torque mode. The value shall be given per thousand of rated torque.

6087h VAR Torque slope U32 M ro

This object shall indicate the congured rate of change of torque. The value shall

be given in units of per thousand of rated torque per second.

6088h VAR

Torque prole

type

INT16 O rw

This object shall indicate the congured type of prole used to perform a torque

change.

6073h VAR Max current U16 O rw

This object shall indicate the congured maximum permissible torque creating

current in the motor.

6075h VAR

Motor rated

current

U32 O rw

This object shall indicate the congured motor rated current. It is taken from the

motor's nameplate. Depending on the motor and drive technology, this current is

DC, peak or current (rms). All relative current data refers to this value. The value

shall be given in mA.

6077h VAR

Torque actual

value

I16 O ro

This object shall provide the actual value of the torque. It shall correspond to the

instantaneous torque in the motor. The value shall be given per thousand of mo-

tor nominal current.

6078h VAR

Current actual

value

I16 O ro

This object shall provide the actual value of the current. It shall correspond to the

current in the motor. The value shall be given per thousand of motor nominal

current. This value is ltered.

6079h VAR

DC link circuit

voltage

U32 O ro

This object shall provide the instantaneous DC link current voltage at the drive

device. The value shall be given in mV.

6074h VAR

Torque

demand

I16 O ro

This object shall provide the output value of the trajectory generator. The value

shall be given per thousand of rated torque.

60E0h VAR

Positive torque

limit value

U16 O rw

This object shall indicate the congured maximum positive torque in the motor.

The value shall be given percent of rated current. Positive torque takes effect

in the case of motive operation is positive velocity or regenerative operation is

negative velocity.

60E1h VAR

Negative

torque limit

value

U16 O rw

This object shall indicate the congured maximum negative torque in the motor.

The value shall be given percent of rated current. Positive torque takes effect

in the case of motive operation is positive velocity or regenerative operation is

negative velocity.

Note: Torque prole characteristic depends on the setting of torque prole type (6088h).

6. CANopen Communication

Torque Prole Type”(6088h):“0”: Linear Ramp

Torque Prole Type”(6088h):“-1”: Immediately

Actual Torque

Target Torque (6071h)

Actual Torque

1sec

Torque Slope (6087h)

Target Torque (6071h)

1sec

Torque Slope (6087h) Invalid

■

Torque Prole Operation Mode

In the Prole Torque operation mode, a movement is made with a specied target torque.

To initiate a torque-controlled movement:

・

Switch the operation mode to Prole Torque mode by writing 4 to object 6060h.

・

Enable operation.

・

Start motion by setting the target torque in object 6071h.

Target torque can be changed on-the-y during motion. The Torque slope can be changed in run time,

the other objects must be saved in EEPROM.

If changed, reset is required. (Do not change the other objects during the drive operation.)

The motion ends when one of the following conditions is met:

・

Target torque is set to 0.

・

Stop caused by Halt or Quick Stop

・

Stop caused by an error

6. CANopen Communication

6-4 DSP402 State Machine

For additional information, see denitions in “DSP402 v2.0.”

Start

Fault

Fault reaction active

Operation enable

Not ready to

switch ON

Ready to

switch ON

Switch ON

disabled

Switched ON

Quick stop active

Power

enabled

Power disabled

Fault

Fig. 6-6 DSP402 State Machine

The actual status can be read from the statusword. (standard code: dened in CiA DSP402).

State N° Description

Not ready to switch ON S0

Performingself-testduringdriveunitinitialization.

Brake output status. Drive unit function is

disabled.

An internal state, where communication is possible only at the end of this

state.

Users cannot acquire or monitor this state.

Switch ON disabled S1

Driveunitinitializationcompleted.Driveunitparametersetupiscom-

pleted.

Drive unit parameters are modiable. Drive unit function is disabled.

Note: Errors are not displayed in this state.

Application-side state transition processing is required.

6. CANopen Communication

State N° Description

Ready to switch ON S2

Drive unit parameters are modiable.

Drive unit function is disabled.

Switched ON S3

Power amp is standby.

Drive unit parameters are modiable. Drive unit function is disabled.

Operation enabled S4

No faults are detected. Drive unit functions are enabled and power is sup-

plied to the motor.

Drive unit parameters are modiable.

The brake is automatically released at the timing set by brake parameters.

Quick stop active S7

Drive unit parameters are modiable. Activating the quick-stop function.

Drive unit functions are enabled and power is supplied to the motor.

The motor is stopped or is stopping by the quick stop active.

Motor deceleration is completed and the drive unit is stopping.

If the quick stop active code (object 0X605A) is 0, the state of the drive is

switch ON disabled.

Fault reaction active SE

Drive unit parameters is modiable. Drive unit fault occurred.

Performing fault reaction. Drive unit function is disabled.

Users cannot acquire this status. This status automatically transfers to the

fault status.

Fault SF

Drive unit parameters are modiable.

Drive unit fault occurred. Drive unit function is disabled.

6. CANopen Communication

6-5 Speed Polarity

Speed set value can be inverted by a CANopen mode (either clockwise or counterclockwise).

This object aects the signs on “Position_demand_value” and “Velocity_demand_value.”

Object description

Index EDS Name Object Code Data Type Category

607Eh Polarity VAR Unsigned 8 Mandatory

Entry description

Subindex Description Access PDO Mapping Value Range Default Value

0 Polarity rw None 0 - 192 00h

Bit

7 6 5 4 3 2 1 0

Positional

polarity

Speed

polarity

Reserved region (0)

MSB LSB

The following value denitions are valid:

•Bitvalue=0:+1timestherequiredvalue

•Bitvalue=1:-1timestherequiredvalue

6-6 Store and Restore

The CiA CANopen protocol specications dene objects that store and restore parameters.

•Object1010h:Storeparameter

•Object1011h:Restoreparameter

In order to save all parameters, the master writes in the SDO 1010h index the value “save” to one of the

subentries of the object.

By this processing, corresponding parameter is written in nonvolatile memory.

Parameters are automatically loaded into the object dictionary after an NMT reset node or NMT reset

communication.

The following objects are modified by writing to object 1010h:2h (communication parameters) and

saved in EEPROM:

•1000h:Devicetype

•1001h:Errorregister

•1002h:Manufacturer-specicstatusregister

•1003h:Predenederroreld(historylist)

•1005h:COB-IDSync

•100Ch:Guardtime

•100Dh:Lifetimefactor

•1014h:COB-IDEMCY

•1017h:Producerheartbeattime

•1018h:IdentityObject

6. CANopen Communication

•1029h:Errorbehavior

•1400h:RxPD01parameter

•1401h:RxPD02parameter

•1402h:RxPD03parameter

•1403h:RxPD04parameter

•1600h:RxPD01mapping

•1601h:RxPD02mapping

•1602h:RxPD03mapping

•1603h:RxPD04mapping

•1800h:TxPD01parameter

•1801h:TxPD02parameter

•1802h:TxPD03parameter

•1803h:TxPD04parameter

•1A00h:TxPD01mapping

•1A01h:TxPD02mapping

•1A02h:TxPD03mapping

•1A03h:TxPD04mapping

The following objects are modied by writing to object 1010h:3h (application parameters) and saved in

EEPROM:

•6073h:Peakcurrent

•607Eh:PolarityNote

•607Fh:Maximumprolevelocity

•6080h:Maximummotorspeed

•6083h:AccelerationproleNote

•6084h:DecelerationproleNote

•6096H:Velocityfactor

•6097h:Accelerationfactor

•60C5h:Maximumacceleration

•60C6h:Maximumdeceleration

The following objects are modied by writing to object 1010h:4h (manufacturer settings parameters)

and saved in EEPROM:

•2000h:IDNode

•2001h:Baudrate

•3002h:BrakeparametersNote

•3007h::DynamicBrakeparametersNote

•3200h:PIDcurrentNote

•3201h:PIDvelocityNote

•3202h:PIDpositionerNote

•3203h:PIDdecouplingNote

Note: Parameters modiable in real time that will be lost if the drive unit is shut o.

All parameters can be stored in EEPROM. Modication requests are not accepted until a power reset or

6. CANopen Communication

until the CANopen “RESET COMM (NMT)” message is sent to the drive unit.

Manufacturer setting parameters are stored in a protected EEPROM called “Golden Image.”

You can use the restore parameter 0x1011 to return EEPROM parameters to factory parameters.

In order to avoid the restoring of default parameters by mistake, the master sends the SDO 1011h and

writes the signature "load" to one of sub-index.

■

Function Mode for Restoring Factory Parameters:

Restore default (Index 1011)

Power ON/NMT reset

Boot up message

Parameters store (Index 1010)

Factory parameters

active

If actual settings are not stored, fac-

tory parameters will be reloaded and

enabled before the next reset.

Factory settings stored

7. Modbus Communication

7-1 Connection for Modbus Communication

Table 7-1 Modbus Signals

Pin No. Signal Description

19 GND_CAN/GND_RS485 GND (CANopen or RS485 Modbus)

20 CAN_T/RS485_T

Termination resistor 120Ω

(Connection for CAN_H/RS485+)

30 CAN_L/RS485- Connection for CAN_L or RS485-

31 CAN_H/RS485+ Connection for CAN_H or RS485+

Connector X1

GND_COM

RS485

−

RS485+

GND_COM

RS485

−

RS485+

GND_COM

RS485

−

RS485+

120 120

Fig. 7-1 Connection for Modbus Communication

The two ends of the CAN cables must be terminated by a resistor of 120Ω.

The CAN bus can be closed with a resistance terminator into to the drive using Pin 20. The CAN_T pin

has to connect to CAN_H pin on Connector X1.

7-2 Modbus Communication Settings

Write Single Holding Resistor (0x06) / Read Holding Resistors (0x03)

Physical Address

Variable PDU Address (W/R) Default Value Choice

Modbus Address 0x0028 1 1 ~ 247

Baud Rate

Variable PDU Address (W/R) Default Value Choice

Modbus Baud Rate 0x0035 192

→

19200

→

9600 b

192

→

19200 b

384

→

38400 b

576

→

57600 b

1152

→

115200 b

Communication Settings

Variable PDU Address (W/R) Default Value Choice

Parity

Stop Bits

Data Bits

0x002B 0

→

NO parity/ 2 Stop Bits/ 8 Data Bits

→

ODD Parity/1 Stop bit/ 8 Data bits

→

EVEN Parity/1 Stop Bit/8 Data Bits

WARNING

・

The Modbus Address is the physical address and depends if there are more devices together.

・

The modies of Baud rate or Parity can cause communication issues.

・

They depend to Hardware connection.

・

The smartris drive is always set as a slave.

7. Modbus Communication

7-3 List of Read Input Registers

Read from Drive (0x04)

Default Value Unit

HEX DEC Name

0x0042 66 Speed setpoint 0 RPM

0x0047 71 Current torque setpoint 0 Arms/100

0x005E 94 Digital inputs

- -

0X005F 95 Digital outputs

0x0060 96 Drive status

0x0061 97 Warning code Low

0x0062 98 Warning code High

0x0063 99 Error code

0x0064 100 Bus DC Link - V/100

0x0065 101 Motor temperature

- ℃ /100x0066 102 Heat-sink temperature

0x0067 103 Board temperature

0x0068 104 Motor speed 0 RPM

0x0069 105 Torque current 0

A/100

0x006A 106 I

T Energy value 0 %

0x006B 107 Axis position Low

Pulse0x006C 108 Axis position High

0X006D 109 Feedback pulse -

0x006E 110 Filtered velocity 0 RPM

7-4 List of Read Holding Registers

Read Only (0x03)

Default Value Unit

HEX DEC Name

0x0001 1 Controlword - -

0x0003 3 Full scale velocity L=3000, M=4500, S=4500 RPM

0x0028 40 Modbus address 1

0x002B 43 Communication settings 0

0x0035 53 Modbus baud rate 192

0x0036 54 Communication loss time 0

0x003C 60 PID velocity KP L=300, M=200, S=70

i.u.0x003D 61 PID velocity KI L=700, M=400, S=300

0x003E 62 PID velocity KV L=1000, M=600, S=500

0x003F 63 Speed ramp state 1: Ramp enable -

0x0040 64 Speed ramp up time

2000 ms

0x0041 65 Speed ramp down time

0x0043 67 Speed/Torque polarity 0 -

0x0044 68 Limit torque positive

100 %

0x0045 69 Limit torque negative

0x0046 70 Slope ramp (Torque) 0 (Motor rated current/1000)/s

0x004E 78 Brake managed 1: Blake enable

0x004F 79 Brake mode 1: Manual brake enable

0x0050 80 Brake type Depend on brake type

0x0051 81 Dynamic brake enable 1: Dynamic brake enable

0x01FF 511 FW release customer Depend on FW release

0x0201 513 HW release Depend on HW release

0x0202 514 Parameter release

Depend on parameter

release

0x0203 515 Motor type Depend on motor

0x0204 516 STO check

Depend on drive

0x0205 517 Feedback

0x0207 519 Operation mode -

7. Modbus Communication

7-5 List of Write Single Holding Registers

Write Parameters (0x06)

Default Value Unit

HEX DEC Name

0x0000 0 Store EEPROM -

0x0001 1 Controlword 0

0x0028 40 Modbus address 1

0x002B 43 Communication settings 0

0x0035 53 Modbus baud rate 192

0x0036 54 Communication loss time 0 ms

0x003C 60 PID velocity KP L=300,M=200,S=70

i.u.0x003D 61 PID velocity KI L=700,M=400,S=300

0x003E 62 PID velocity KV L=1000,M=600,S=500

0x003F 63 Ramp enable 1: Ramp enable -

0x0040 64 Speed ramp up time

2000 ms

0x0041 65 Speed ramp down time

0x0042 66 Speed setpoint 0 RPM

0x0043 67 Speed/Torque polarity 0 -

0x0044 68 Limit torque positive

100 %

0x0045 69 Limit torque negative

0x0046 70 Slope ramp (Torque) 1000 (Motor rated current/1000)/s

0x0047 71 Current torque setpoint 0 Arms/100

0x004E 78 Brake managed 1: Blake enable

0x004F 79 Brake mode 1: Manual brake enable

0x0051 81 Dynamic brake enable 1: Dynamic brake enable

0X0207 519 Operation Mode

-0x5A5A 23130 Restore manufacturer data

0xA5A5 42405 Reset Drive

7. Modbus Communication

START

NOT READY TO SWITCH ON

FAULT

FAULT REACTION ACTIVE

T10

STAND BY

Fault

STOP

RUN

Power Disabled

Power Enabled

Safety

EMERGENCY

T11

T12

STAND BY

ENABLE

STOP

Fig. 7-2 Modbus State Machine (With Safety State)

■

Run Sequence

(1) Switch ON Power Supply [T0]

(2) Wait Standby (SWITCHED ON) State [T1]

(3) Verify Operation Mode by reading [Func. 0x03 – Addr. 0x0207] Operation Mode:

・

Value equal to 1

→

Torque mode

・

Value equal to 2

→

Velocity mode

7. Modbus Communication

WARNING

If the customer wants to switch from Torque Mode to velocity Mode or vice-versa he must set it

by write to [Func.06 – Addr.0x0207] Operation Mode.

To make changes eective, the customer must rst save to memory with command [Func.06 –

Addr. 0x0000] Store EEPROM Data and then reset drive with command [Func.06 – Addr.0xA5A5]

System Reset.

(4) Verify that the smartris drive is in SWITCHED ON. (See chapter 9)

(5) Set OPERATION ENABLED State : write [0x06] Controlword

→

0x0001=0x0003[T2]

(6) Verify that the brake is released.

(7) Verify LED STATUS ENABLED. (See chapter 9)

Verifybyread[Func.0x03-Addr.0x0060],thattheSmartrisDriveisinENABLED[DriveStatus=

0x0001

→

RUN)]

(8) Set velocity or torque command and drive the motor.

If[Func.0x06-Addr.0x0207]-OperationMode=2–Velocitymode

→

Write to [Func.0x06 – Addr.

0x0042] Speed Set Point

→

i.e. 0x03e8 (1000

→

1000 rpm)

If[Func.0x06-Addr.0x0207]-OperationMode=1–Torquemode

→

Write to [Func.0x06 – Addr.

0x0047] Torque Set Point

→

i.e. 0x03e8 (1000

→

10 Arms)

(9) Verify if the motor is running

・

Verify the motor speed (after ramp) by read to [Func. 0x04 – Addr. 0x0068] Motor Speed.

・

Verify the motor current by read to [Func. 0x04 – Addr. 0x0069] Torque Current.

(10) Stop the motor with Stop Command

→

write to [Func. 0x06 - Addr. 0x0001] - Control Word

→

0x0001 [T4] – Drive goes immediately in Stop state with MAX torque (it is equal to a STOP com-

mand).

If you want to Stop the motor with ramp, just write to [Func.06 – Addr.0x0042] Speed Set Point the

value 0 (0 rpm).

Stop the motor with Standby Command

→

write to [Func. 0x06 - Addr. 0x0001] - Control Word

→

0x0002 [T3] – The motor brake is ON after the motor ramp stop, Drive goes in Standby state.

Table 7-2 Transfer Description - State Machine

Transfer Description Transfer Description

T0 Switch ON – Supply to drive T7 Fault reaction active

T1 Standby – No Alarm T8 Fault - Drive in Alarm

Run command – Drive Enabled Standby - Run

T9 Reset command Fault - Standby

T3 Standby command – Drive Disabled T10 STO (SAFETY) Command

T4 Stop command – Drive Run - Stop

T11

Emergency (If active) - the motor will dec-

rement speed with a programmed ramp.

T5 Run command - Drive Enabled Stop - Run

T6 Standby command – Stop - Standby T12 Emergency (If active)

Note: The STO (SAFETY) and the stop command may can stop the running command immediately.

A FAULT (see table in Diagnostic) can stop the running command immediately.

8. Measurement Unit Conversion

This chapter is relevant to CANopen communication when setting measurement unit conversion.

To more easily set parameters in dierent applications, you can use the measurement unit conversion

module to convert user parameters into units used within the drive unit.

User units

Position scaling

Internal units

Position encoder resolution

Polarity

Feed constant

Gear ratio

Encoder

Motor

Reducer

Linear shaft

Fig. 8-1 Factor Groups

Factor group objects convert internal position value, speed value, and acceleration/deceleration value

into user-dened units.

Internal position value are entered as increments and depend on the resolution of the feedback used.

User-dened units depend on the encoder resolution and the mounted linear moving device (the linear

shaft).

Factor group

Position factor

Velocity factor

Acceleration factor

Position unit

Default (inc)

Speed unit

Default (inc/s)

Acceleration unit

Default (inc/s

)

Position unit

(inc)

Speed unit

(inc/s)

Acceleration unit

(inc/s

)

User units (u.u.)

Internal units (i.u.)

Fig. 8-2 Factor Group Units

All parameters are recorded by using internal units.

Parameters can be converted using factor-group values on a per-user basis.

Default is as follows.

Object Name User Units Description

Length Position unit Inc Increment/gear ratio

Speed Speed unit Inc/s Increment/s

Acceleration Acceleration unit Inc/s

Increment/s/s

Factors dened in factor groups set relations between internal units (increments) and physical units.

User units are dened as [uu] and internal units are dened as [iu].

8. Measurement Unit Conversion

8-1 Conversion Parameters for Measurement Unit

The factor is the result calculated from numerator and denominator parameters.

Index Name Object Code Data Type Attribute Remarks

608Fh

Encoder resolution

(position)

ARRAY Unsigned 32 rw

Unused

6090h Encoder resolution (velocity)

6091h Gear ratio

6092h Feed constant

6096h Velocity factor

Used

6097h Acceleration factor

■

Object 6096h: Velocity Factor

This object can be used to match velocity units with user-dened velocity units.

Object description:

Index EDS Name Object Code Data Type Category

6096h Velocity factor ARRAY Unsigned 32 Mandatory

Entry description:

Subindex Description Access PDO Mapping Data Type Default Value

0 Highest subindex ro

None Unsigned 32

1 Numerator rw 1

2 Denominator rw 1

Velocity factor numerators and denominators are input separately.

Velocityfactor=(numerator/denominator)

Default for user units [inc/s] is 1 for both numerator and denominator.

Velocity[iu]=velocity[uu]×(60/resolution)×(numerator/denominator)

Resolution is one rotation of the encoder, or a measurement segment at a 1 in/mm linear scale, or the

number of units.

e.g.: Velocity settings are dened as revolutions/min (rpm).

Velocity[inc/s]=velocity[rpm]×(60/resolution)×(numerator/denominator)

If the encoder resolution is 2

bits=16,384,thenumeratoris16,384andthedenominatoris60.

Factor groups are used for the following objects:

・

60FFh: Target velocity

・

606Dh: Velocity window

・

606Fh: Velocity threshold

8. Measurement Unit Conversion

■

Object 6097h: Acceleration Factor

This object can be used to match acceleration units with user-dened acceleration units.

Object description

Index EDS Name Object Code Data Type Category

6097h Acceleration factor Array Unsigned 32 Mandatory

Entry description

Subindex Description Access PDO Mapping Value Range Default Value

0 Highest subindex ro

None Unsigned 32

1 Numerator rw 1

2 Denominator rw 1

Acceleration factor numerators and denominators are input separately.

Accelerationfactor=(numerator/denominator)

Default for user units [inc/s

] is 1 for both numerator and denominator.

Acceleration[iu]=velocity[uu]×(60/resolution)×(numerator/denominator)

Resolution is one rotation of the encoder, or a measurement segment at a 1 in/mm linear scale, or the

number of units.

e.g.: Acceleration settings are dened as revolutions/min (rpm).

Acceleration [inc/s

]=acceleration[rpm/s]×(60/resolution)×(numerator/denominator)

If the encoder resolution is 2

bits=16,384,thenumeratoris16,384andthedenominatoris60.

Factor groups are used for the following objects:

•6083h:Proleacceleration

•6084h:Proledeceleration

•60C5h:Maximumacceleration

•60C6h:Maximumdeceleration

9. Diagnostic

9-1 Diagnostic

• LEDs 1 and 2 on the right side of the main unit show the drive status;

the green LED shows status 1, and the yellow LED shows status 2

Status 1

Status 2

Table 9-1 Status LEDs

Drive State CANopen Status

Status 1

LED (Green)

Status 2

LED (Yellow)

LED Display

INIT

Not ready to switch ON "Blink" "Blink"

1 Simultaneously

blink

2 Simultaneously

blink

Not ready to switch ON

Switch ON disabled

Ready to switch ON

Alternately

"Blink"

Alternately

"Blink"

1 Alternately

blink

2 Alternately

blink

STANDBY Switched ON "Blink" OFF

1 Blink 50%

2 OFF

FAULT

Fault

Fault reaction fault

"Blink"

Code [x]

"Blink"

Code [y]

1 See Fig. 8-2

RUN Operation enabled ON OFF

1 ON

2 OFF

STOP Quick stop active ON ON

1 ON

2 ON

SAFETY - OFF "Blink"

1 OFF

2 Blink

9. Diagnostic

Table 9-2 List of Alarms

Category Alarm

Status 1

LED (Green)

Status 2

LED (Yellow)

Alarm Description

Code [x] Code [y]

Temperature

Motor

over temperature

Motor temperature exceeds the temperature setting.

Operation is impossible due to high motor temperature.

Heat sink

over temperature

Heat sink temperature exceeds the temperature setting.

Operation is impossible due to high heat sink tempera-

ture.

Heat sink

temperature out

of range

Heat sink temperature is beyond range of the tempera-

ture sensor.

Temperature sensor malfunction

PCB

over temperature

PCB temperature exceeds the temperature setting.

Operation is impossible due to high PCB temperature.

PCB

temperature out

of range

PCB temperature is beyond range of the temperature

sensor.

Temperature sensor malfunction

Motor

temperature out

of range

Motor temperature sensor is out of range.

Temperature sensor malfunction

Feedback

Resolver

10 Check resolver connector and wiring

Resolver

initialization

4 Resolverinitializationerror

Absolute

encoder

6 Absolute encoder fault

Current

sensor oset

10 Current sensor oset is out of range

Overcurrent 1

Motor overcurrent

Check motor wiring for shorts

Voltage

Undervoltage

DC bus voltage is below set value

Check +/– power terminal voltages

Overvoltage 2

DC bus voltage exceeds set value

Check +/– power terminal voltages

Functionality

Speed fault

Large error between commanded speed and actual

speed

Overload

protection (I

2 Motor overload protection (I

Hardware 3 Hardware fault

External

hardware

4 CANopen interface fault

Overspeed 8 CANopen overspeed fault

Communica-

tion

EEPROM

1 Erroneous parameter stored in EEPROM

Canopen 2 Canopen communication fault

Absolute fault 3 Internal communication fault

Parameter

initialization

4 Parameterinitializationfault

Prole 5

Prole setting fault

Torque prole 6 Torque prole fault

Velocity prole 7 Velocity prole fault

Conguration

Program fault

7 × Code Programming Fault

Manufacturer

1 Data Manufacturer image is not written.

Store/Restore

2 General Error for Store and Restore Process

Modbus error

9 1 Communication Fault with Modbus

10. Connections

10-1 Connections Diagram

Power source (+48Vdc)

Connection to:

• I/O

• CANopen or Modbus

• Serial communication

RS232

• STO

Cable for motor brake

Cable for motor power

Feedback cable

Power source cable

Note: Also see “1-5. Installation and Terminal Connections” regarding cable wiring.

The gure above is a block diagram for easier understanding of wiring.

Cable for motor power and brake is connected to the motor through the cable ground. (Cable length:

1m)

Table 10-1 Power Connections

Pin No. Signal Name Description Color (Example)

+ +VBUS Connection to +VBUS (+48 Vdc) Red

－

-VBUS Connection to –VBUS Black

Table 10-2 Motor Connections

Pin No. Signal Name Description Color (Example)

U phase U Motor phase U Black

V phase V Motor phase V White

W phase W Motor phase W Red

Table 10-3 Brake Connections

Pin No. Signal Name Description Color (Example)

+ +VBUS Connection to “Brake +” and +VBUS Orange

B BRAKE Connection to “Brake –” and B Gray

10. Connections

10-2 Nameplate and Codes

■

Nameplate

Model

number

Input voltage

code

HW (hardware) version

FW (rmware) version

Output current

Ambient temperature

Serial

number

Fig. 10-1 Nameplate of smartris

■

Nomenclature

Power Capacity

D4 DC48V

Series Name

AG110 (ECO-S, ECO-M, PRO-M)

AG120 (PRO-L)

Drive Unit Capacity

A60 600W (ECO-S)

1A5 1500W (ECO-M, PRO-M)

2A0 2000W (PRO-L)

Safety/Communication Function

0 Without STO/CANopen

1 With STO/CANopen

2 Without STO/Modbus

3 With STO/Modbus

STO : Safety Torque O

Feedback

0 Resolver

Absolute Encoder

Absolute Encoder (safety compatible)

1A5AG110 0D4 0

11. Cables (Optional)

X1- control cable: supplied by customer

10 cm (Unsheathed cable)

Hausing AMPSEAL 776164-1

Contactor AMPSEAL 770520-1

Back shell AMPSEAL 776463-1

X2- Resolver cable: CABF2C01SS0

Hausing AMPSEAL 776273-1

Contactor AMPSEAL 770520-1

Back shell AMPSEAL 2138530-1

M23 Intercontec A ST A 013 FS 04 41 0235 000

Phoenix CA-12F2N8A8503 - 1619618

Pin 1

Connector pin topology

Included:

cable length = 1 m

Note: Twisted pair (white–brown) (green–yellow) (gray–pink) (blue-red)

776273-1

(14 pins)

Signal Color M23 (12 pins)

1 S2 White 1

2 S1 Green 2

7 S3 Yellow 3

- NC - 4

- NC - 5

6 S4 Brown 6

3 R1 Red 7

5 Shield - 8

12 NTC1a Pink 9

13 NTC1b Gray 10

8 R2 Blue 11

- NC - 12

11. Cables (Optional)

X2— Absolute encoder cable: CABF6C01SS0

Pin 1

M23 Intercontec A ST A 013 FS 04 41 0235 000

Phoenix CA-12F2N8A8503 - 1619618

Hausing AMPSEAL 776273-1

Contactor AMPSEAL 770520-1

Back shell AMPSEAL 2138530-1

Connector pin topology

Included: cable length = 1 m

Note: Twisted pair (green–brown) (blue–violet) (red–black) (gray–pink) (brown 0.5–white 0.5)

776273-1

(14 pins)

Name Color M23 (12 pins)

1 +SIN Brown 7

6 REF SIN Green 3

2 +COS Blue 8

7 REF COS Violet 4

3 DATA+ Red 5

8 DATA- Black 6

10 +V Brown (0.5 mm

) 1

11 GND White (0.5 mm

) 2

12 NTC1a Pink 9

13 NTC1b Gray 10

5 Shield - NC

1 +SIN Brown 7

12. Warranty

The scope of warranty of our delivered products is limited only to what we manufactured.

Warranty (period and description)

Period

The warranty period applies only to new products and represents 18 months after the ship-

ment or 12 months after the actual operation, whichever is shorter.

Descrip-

tion

If the product failed within the warranty period, in the case where mounting is done prop-

erly, connection and maintenance & administration are followed according to the mainte-

nance manual, and the product is properly run based on the specication on the catalog or

under conditions agreed between us, we will repair or provide an alternative product at our

discretion for free of charge, except the exclusions below.

However, as far as the product is connected with customers' other devices, we will not in-

demnify those expenses on dismounting from/mounting on the devices, etc. and other as-

sociated construction expenses, transportation expenses and opportunity loss and opera-

tion loss the customers suered from, and other indirect damages.

Exclusion

from the

warranty

The following items will be excluded from the warranty:

1. A breakdown resulting from defects in the mounting of the product and connection with

other devices, etc.

2.A breakdown resulting from insucient maintenance & administration and improper

handling of the product, including a case that the product is not stored according to our

dened storage manual.

3. A breakdown resulting from operation which does not fall within our specication and

other operation conditions and use status we hardly can know or a failure caused by the

use of lubricant which we do not recommended.

4. A breakdown resulting from defects, special specication, etc of device prepared and con-

nected by customer.

5. A breakdown resulting from modication or reconstruction of the product.

6. A secondary breakdown occurring in our product due to defects in sequence circuits.

7. A breakdown resulting from defects in parts supplied or specied by customers.

8. A breakdown caused by inevitable force including earthquake, re, ood disaster, salt

damage, gas damage, and lightning strike, etc.

9. Warranty of natural wear and tear, abrasion, and deterioration of consumable parts such

as Aluminum electrolytic capacitor etc. under normal usage.

10. A breakdown caused for reasons not attributable to each of the above item.

Power Transmission & Controls Group

Headquarter ThinkPark Tower, 1-1 Osaki 2-chome, Shinagawa-ku, Tokyo 141-6025, Japan

Speciﬁcations, dimensions, and other items are subject to change without prior notice.

No.DM1802E-2.0

EA13 Printed 2021.12

Worldwide Locations

U.S.A

Sumitomo Machinery Corporation of America

(SMA)

4200 Holland Blvd. Chesapeake, VA 23323, U.S.A.

TEL (1)757-485-3355 FAX (1)757-485-7490

Canada

SM Cyclo of Canada, Ltd. (SMC)

1453 Cornwall Road, Oakville, Canada ON L6J 7T5

TEL (1)905-469-1050 FAX (1)905-469-1055

Mexico

SM Cyclo de Mexico, S.A. de C.V. (SMME)

Av. Desarrollo 541, Col. Finsa, Guadalupe,

Nuevo León, México, CP67132

TEL (52)81-8144-5130 FAX (52)81-8144-5130

Brazil

Sumitomo Industrias Pesadas do Brasil Ltda.

(SHIB)

Rodovia do Acucar (SP-075) Km 26

Itu, Sao Paulo, Brasil

TEL (55)11-4886-1000 FAX (55)11-4886-1000

Chile

SM-Cyclo de Chile Ltda. (SMCH)

Camino Lo Echevers 550, Bodegas 5 y 6,

Quilicura, Región Metropolitana, Chile

TEL (56)2-892-7000 FAX (56)2-892-7001

Argentina

SM-Cyclo de Argentina S.A. (SMAR)

Ing Delpini 2230, B1615KGB Grand Bourg,

Malvinas Argentinas, Buenos Aires, Argentina

TEL (54)3327-45-4095 FAX (54)3327-45-4099

Guatemala

SM Cyclo de Guatemala Ensambladora, Ltda.

(SMGT)

Parque Industrial Unisur, 0 Calle B 19-50 Zona 3,

Bodega D-1 Delta Bárcenas en Villa Nueva, Guatemala

TEL (502)6648-0500 FAX (502)6631-9171

Colombia

SM Cyclo Colombia, S.A.S. (SMCO)

Parque Industrial Celta, Km 7.0 Autopista Medellín,

Costado Occidental, Funza, Cundinamarca, Colombia

TEL (57)1-300-0673

Peru

SM Cyclo de Perú, S.A.C (SMPE)

Jr. Monte Rosa 255, Oﬁcina 702, Lima,

Santiago de Surco, Perú

TEL (51)1-713-0342 FAX (51)1-715-0223

Germany

Sumitomo (SHI) Cyclo Drive Germany GmbH

(SCG)

Cyclostraße 92, 85229 Markt Indersdorf, Germany

TEL (49)8136-66-0 FAX (49)8136-5771

Austria

Sumitomo (SHI) Cyclo Drive Germany GmbH

(SCG)

SCG Branch Austria Oce

Gruentalerstraße 30A, 4020 Linz, Austria

TEL (43)732-330958 FAX (43)732-331978

Belgium

Hansen Industrial Transmissions NV (HIT)

Leonardo da Vincilaan 1, Edegem, Belgium

TEL (32)34-50-12-11 FAX (32)34-50-12-20

France

SM-Cyclo France SAS (SMFR)

8 Avenue Christian Doppler, 77700 Serris, France

TEL (33)164171717 FAX (33)164171718

Italy

SM-Cyclo Italy Srl (SMIT)

Via dell' Artigianato 23, 20010 Cornaredo (MI), Italy

TEL (39)293-481101 FAX (39)293-481103

Spain

SM-Cyclo Iberia, S.L.U. (SMIB)

C/Gran Vía Nº 63 Bis, Planta 1, Departamento 1B

48011 Bilbao–Vizcaya, Spain

TEL (34)9448-05389 FAX (34)9448-01550

United Kingdom

SM-Cyclo UK Ltd. (SMUK)

Unit 29, Bergen Way, Sutton Fields Industrial Estate,

Kingston upon Hull, HU7 0YQ, East Yorkshire,

United Kingdom

TEL (44)1482-790340 FAX (44)1482-790321

Turkey

SM Cyclo Turkey Güç Aktarım Sis. Tic. Ltd. Sti.

(SMTR)

Barbaros Mh. Çiğdem Sk. Ağaoğlu, Ofﬁce Mrk. No:1 Kat:4 D.18

Ataşehir, İstanbul, Turkey

TEL (90)216-250-6069 FAX (90)216-250-5556

India

Sumi-Cyclo Drive India Private Limited (SDI)

Gat No. 186, Raisoni Industrial Park, Alandi Markal Road,

Fulgaon-Pune, Maharashtra, India

TEL (91)96-0774-5353

China

Sumitomo (SHI) Cyclo Drive Shanghai, Ltd.

(SCS)

11F, SMEG Plaza, No. 1386 Hongqiao Road,

Changning District, Shanghai, China 200336

TEL (86)21-3462-7877 FAX (86)21-3462-7922

Hong Kong

SM-Cyclo of Hong Kong Co., Ltd. (SMHK)

Room 19, 28th Floor, Metropole Square, No.2 On

Yiu Street, Shatin, New Territories, Hong Kong

TEL (852)2460-1881 FAX (852)2460-1882

Korea

Sumitomo (SHI) Cyclo Drive Korea, Ltd. (SCK)

Room #913, Royal Bldg, Saemunan-ro 5 gil 19, Jongro-gu,

Seoul, Korea 03173

TEL (82)2-730-0151 FAX (82)2-730-0156

Taiwan

Tatung SM-Cyclo Co., Ltd. (TSC)

22 Chungshan N. Road 3rd., Sec. Taipei, Taiwan 104,

R.O.C.

TEL (886)2-2595-7275 FAX (886)2-2595-5594

Singapore

Sumitomo (SHI) Cyclo Drive Asia Pacic Pte.

Ltd. (SCA)

15 Kwong Min Road, Singapore 628718

TEL (65)6591-7800 FAX (65)6863-4238

Philippines

Sumitomo (SHI) Cyclo Drive Asia Pacic Pte. Ltd.

Philippines Branch Oce (SMPH)

C4 & C5 Buildings Granville Industrial Complex, Carmona,

Cavite 4116, Philippines

TEL (63)2-584-4921 FAX (63)2-584-4922

Vietnam

SM-Cyclo (Vietnam) Co., Ltd. (SMVN)

Factory 2B, Lot K1-2-5, Road No. 2-3-5A,

Le Minh Xuan Industrial Park, Binh Chanh Dist.,

HCMC, Vietnam

TEL (84)8-3766-3709 FAX (84)8-3766-3710

Malaysia

SM-Cyclo (Malaysia) Sdn. Bhd. (SMMA)

No.7C, Jalan Anggerik Mokara 31/56, Kota Kemuning,

Seksyen 31, 40460 Shah Alam, Selangor Darul Ehsan,

Malaysia

TEL (60)3-5121-0455 FAX (60)3-5121-0578

Indonesia

PT. SM-Cyclo Indonesia (SMID)

Jalan Sungkai Blok F 25 No. 09 K, Delta Silicon III,

Lippo Cikarang, Bekasi 17530, Indonesia

TEL (62)21-2961-2100 FAX (62)21-2961-2211

Thailand

SM-Cyclo (Thailand) Co., Ltd. (SMTH)

195 Empire Tower, Unit 2103-4, 21st Floor, South

Sathorn Road, Yannawa, Sathorn, Bangkok 10120,

Thailand

TEL (66)2670-0998 FAX (66)2670-0999

Australia

Sumitomo (SHI) Hansen Australia Pty. Ltd.

(SHAU)

181 Power St, Glendenning, NSW 2761, Australia

TEL (61)2-9208-3000 FAX (61)2-9208-3050

Japan

Sumitomo Heavy Industries, Ltd. (SHI)

ThinkPark Tower, 1-1 Osaki 2-chome, Shinagawa-ku,

Tokyo 141-6025, Japan

TEL (81)3-6737-2511 FAX (81)3-6866-5160