Sumitomo Drive Technologies
<Note> ■ 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. � Sumitomo Heavy Industries, Ltd.
- 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. Improper handling may result in physical damage, serious personal injury and / or death. Improper handling may result in physical damage and/ or personal injury. Matters described in  / N cwmon 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, fire, 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.
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).
Note: [RS-485 Modbus RTU Communication] is written as [Modbus Communication].
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 qualified persons who will use this product. Only qualified 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.
A CAUTION
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 films and synthetic fibers. 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.
/\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 off, 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.
/NDANGER
- 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 specifications 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. - Confirm proper operation before using the Safe Torque Off function. - If the device catches fire, never throw water directly on it to extinguish it.
ACAUTION
- This is information for confirmation to ensure normal operation and understanding of the prod- uct. Safety checks must be performed for workers and devices according to the appropriate standards.

1-3 Warranty
This manual presents information that is guaranteed to prevent accidents due to faults or wiring tasks for this product. Strictly adhere to the specifications described in this document and catalogs. - Do not remove the cover from the main unit. - Do not remove any warning labels. - Modifications 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 Specifications
Table 1-1  Power Source Specifications
Note:  Never connect power supplies with voltages exceeding specifications. Supplying high voltage to the drive unit may result in faults in its internal parts.
Table 1-3  Motor Connections
Note:  See "3-1 Power Cables" regarding recommended cables. Terminal: M6 screw, 7 N • m tightening torque Table 1-4  Bake Connections
Note:  Cable with 1 mm²-AWG19 or higher is recommended
■ X1 Connector Connections (Control Signals)

Check the drive model that communication can be used. See 10-2 Nameplate and codes. 2. Valid if the brake is connected.
■ X2 Connector Connections (for Feedback)

/NDANGER
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 flows 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 effects from main power.
■ Connection Example Notes: 1. The potentiometer connections 2. Backup power supply for logic 3. CAN terminal connection: Pin 20 and Pin 31 (CAN H signal) Fig. 1-2  Connection Example for Drive Unit and Controller
1-6  Ambient Conditions
This product must be installed in appropriate ambient conditions to ensure safe operation. Faults due to modifications or inappropriate storage conditions will void the product warranty. Keep the device covered for protection from dust, metal filings, water, oil, etc.

1-7 Certification
(1) CE Compliance
This product is certified for the conformance with the following EC Directives by Certification 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 satisfies 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 specific test methods.
(4) Safety Conformity (STO)
This product is equipped with two-channel Safe Torque Off (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 certified 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:

(5) Ambient Conditions for Vibration and Shock
The drive unit satisfies the following specifications: • 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 l²t 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.

1-9 Startup
EMC directives forbid startup before confirmation 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 certified 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 final product.
↑ CAUTION
- Customers planning use for nonindustrial applications must first 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 flammable materials, flammable gases, dust, etc., can result in fire 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. 2-1  Dimensions
2-2 Installation
Safety Precautions • Install the drive unit inside a control panel to prevent humidity, water droplets, and metal dust. • Before installation, confirm that the drive unit is not damaged. • Ensure sufficient 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 confirm safety. - Before operation, check that the wiring with the drive unit is correct and theses cables have no damage. Before operation, confirm there are no problems with the drive unit and wiring. - Non-specification 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.

3-1  Power Cables
The table below shows an example of cable size selection for wiring to the servo motor and power sup- ply.
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

A CAUTION
- This product optionally includes a Safe Torque Off (STO) safety feature. Please confirm 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) The brake release command can be issued by CANopen communication or a pa- • Manual mode: rameter.
■ Automatic Mode
Fig. 4-1  Automatic Brake Operation

■ 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. Fig. 4-2  Automatic Brake Delay Time

(2) Phases from Operation to Standby (RUN → STBY)
In the RUN state, the brake is released. When halting, stop operation differs according to whether dy- namic brake is enabled, as shown in the figure below. 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.

4-3  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, first 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.

A 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 confirm 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.

4-4  Torque Limit (Add from FW Ver.2.0.1) ***
It is possible to set a torque limit to set the configured 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.
while in CANopen there are different values of maximum torque: • Positive takes effect in the case of motive operation is positive velocity or regenerative operation is negative velocity. • Negative torque takes effect 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 modifies can't be saved in EEPROM memory but it can be saved in RAM.
/NWARNING
•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 off. It is not saved in EEPROM.
4-5  Overload Management (l²T) (Add from FW Ver.2.0.1) Note
The smartris drive uses the I ² t protection method to prevent motor winding and insulation damage caused by high motor temperature due to motor excessive work. The I²t algorithm evaluates the motor dissipating heat without any sensor. When the evaluated tem- perature exceeds the maximum, I ² t algorithm protects the motor placing the drive in Fault Overload The l²t principal algorithm calculation is as follows: l͡T = (l̥² − l̥² ) * T̥p Output Current [A] Note: FW ver. is listed in the nameplate. See 10-2 Nameplate and codes.
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 specific value the Energy is reduced. This means that at low speed the l ² t time is reducing to half and the Rated Current is around 70% of the standard. At normal speed there is no effect. 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 i²t 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 l ² 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 l²t 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).
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 off torque output.
5-1   STO (Safe Torque Off)
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 off output to prevent unexpected start-up. 3. In the presence of external influences (falling due to suspended load, etc.), it is necessary to use an additional measures (a mechanical brake, etc.) to prevent danger.
(1) STO Connections

5-2  Hardware Specifications
• STO input: STO1, STO2 (common: STO_COM) • Relay output: RET1, RET2 (common: COM_RET)
■ If either STO1 or STO2 is 0 V, safety mode (zero torque) operates.
5-3  Software Specifications
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

5-4  Safe Operation Sequence Procedure
If deceleration and stop (controlled deceleration and stopping) is required before using the STO func- tion, first 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.
/Â\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
■ 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 confirmed on first startup after system wiring or parts replacement. Please confirm that STO circuits are functioning correctly every six months.

6-1  CANopen Network Topology

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)

6-3  CANopen Overview
Features
• TPDO 7, RPDO 7, event timer, access unit 8 bits • Heartbeat, node quarding • 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 profile) • 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_1v010005_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-specific entities. Controlword comprise the following bits.
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 specific • Bit 8 (halt function): This is an operation mode specific function. At bit 1 commands are interrupted and drive unit execution halts at the defined option code. After canceling the stop function, the command operation continues. • Bit 10 (reserved): Please set to 0. • Bit 11 (manufacturer-specific, warning recognition): Setting to 1 clears the statusword warning bit. •  Bits 12, 13, 14, 15 (manufacturer-specific): Not used

(2) Object 6041h: Statusword
This object indicates the current FSA status. There are operation mode and manufacturer-specific bits. •  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 definitions 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 specific, and defined in clauses corresponding to some of the profile specifications. 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 specific (depends on profile set). • Bit 14 (manufacturer specific: safety): 1 indicates that the drive unit is in safety mode. • Bit 15 (manufacturer specific: fault): 1 indicates that the drive unit faults.

(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 reflected in the Modes_of_op- eration_display object.
Bit definitions are as follows. Usable operation modes • Mode 3: Profile velocity mode • Mode 4: Profile torque mode Note: When setting measurement unit conversion, see chapter 8.
(4) Object 6061h: Mode of Operation Display
This object defines the actual operation mode. Object description
Bit definitions are as follows.
■ Control Composition in Profile Velocity Mode

■ Profile Velocity Mode (3)
In profile velocity mode, profile movement is defined according to velocity and acceleration/decelera- tion commands. Start velocity control profile: (1) Writing object 6060h = By inputting 3, the drive unit moves to the operation mode of profile 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 satisfied: • The target velocity is set to zero. • The Halt command is issued. • An error occurs.
■ Profile Velocity Characteristics

■ Run Sequence
Power switch ON (1) Verify LED status 1, 2 initial state (INIT mode) (2) (3) Configure profile velocity: 0x6060 → 0x03 Ready to switch ON setting: Controlword write 0x6040 → 0x06 (4) Switched ON setting: Controlword write 0x6040 → 0x07 (5) Verify whether smartris drive state is switched ON: Statusword read 0x6041 → 0x23 (6) (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. Read speed command set value 0x60FF → 0x03e8 (Ex: set 1000 r/min) (9) (10) If motor revolutions are confirmed, 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.

6-4  Torque Profile (Add from FW Ver.2.0.1) NOTE
In the profile 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 specified a current pro- portional to the target torque.  Note: FW ver. is listed in the nameplate. See 10-2 Nameplate and codes.
■ Object Entries

● Torque Profile Type"(6088h):"0": Linear Ramp Actual Torque ● Torque Profile Type"(6088h):"-1": Immediately Actual Torque
■ Torque Profile Operation Mode
In the Profile Torque operation mode, a movement is made with a specified target torque. To initiate a torque-controlled movement: • Switch the operation mode to Profile 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-fly 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

6-4  DSP402 State Machine
For additional information, see definitions in "DSP402 v2.0." The actual status can be read from the statusword. (standard code: defined in CiA DSP402).

6-5  Speed Polarity
Speed set value can be inverted by a CANopen mode (either clockwise or counterclockwise). This object affects the signs on "Position_demand_value" and "Velocity_demand_value." Object description
Entry description
Bit
0 MSB LSB The following value definitions 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 specifications define 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-specific status register • 1003h: Predefined error field (history list) • 1005h: COB-ID Sync • 100Ch: Guard time • 100Dh: Lifetime factor • 1014h: COB-ID EMCY • 1017h: Producer heartbeat time • 1018h: Identity Object
• 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 modified by writing to object 1010h:3h (application parameters) and saved in EEPROM: • 6073h: Peak current • 607Eh: Polarity  Note • 607Fh: Maximum profile velocity • 6080h: Maximum motor speed • 6083h: Acceleration profile  Note • 6084h: Deceleration profile  Note • 6096H: Velocity factor • 6097h: Acceleration factor • 60C5h: Maximum acceleration • 60C6h: Maximum deceleration The following objects are modified 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 modifiable in real time that will be lost if the drive unit is shut off. All parameters can be stored in EEPROM. Modification requests are not accepted until a power reset or
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. Factory parameters active If actual settings are not stored, fac- _ tory parameters will be reloaded and enabled before the next reset. Factory settings stored

7-1  Connection for Modbus Communication
Table 7-1  Modbus Signals Connector X1
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)

/NWARNING
• The Modbus Address is the physical address and depends if there are more devices together. • The modifies of Baud rate or Parity can cause communication issues. • They depend to Hardware connection. • The smartris drive is always set as a slave.

7-3  List of Read Input Registers
7-4  List of Read Holding Registers

7-5  List of Write Single Holding Registers

■ Run Sequence
(1) Switch ON Power Supply [TO] (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

/NWARNING
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 effective, the customer must first save to memory with command [Func.06 – Addr. 0x000] 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.
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.
This chapter is relevant to CANopen communication when setting measurement unit conversion. To more easily set parameters in different applications, you can use the measurement unit conversion module to convert user parameters into units used within the drive unit. Factor group objects convert internal position value, speed value, and acceleration/deceleration value into user-defined units. Internal position value are entered as increments and depend on the resolution of the feedback used. User-defined units depend on the encoder resolution and the mounted linear moving device (the linear shaft). All parameters are recorded by using internal units. Parameters can be converted using factor-group values on a per-user basis.
Factors defined in factor groups set relations between internal units (increments) and physical units. User units are defined as [uu] and internal units are defined as [iu].

8-1  Conversion Parameters for Measurement Unit
The factor is the result calculated from numerator and denominator parameters.

■ Object 6096h: Velocity Factor
This object can be used to match velocity units with user-defined velocity units. Object description:
Entry description:
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 defined as revolutions/min (rpm). Velocity [inc/s] = velocity [rpm] × (60 / resolution) × (numerator / denominator) If the encoder resolution is 2¹³ 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

■ Object 6097h: Acceleration Factor
This object can be used to match acceleration units with user-defined acceleration units.

Entry description

Acceleration factor numerators and denominators are input separately. Acceleration factor = (numerator / denominator) Default for user units [inc/s²] 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 defined as revolutions/min (rpm). Acceleration [inc/s²] = acceleration [rpm/s]  × (60 / resolution) × (numerator / denominator) If the encoder resolution is 2¹³ bits = 16,384, the numerator is 16,384 and the denominator is 60. Factor groups are used for the following objects: • 6083h: Profile acceleration • 6084h: Profile deceleration • 60C5h: Maximum acceleration • 60C6h: Maximum deceleration 9-1  Diagnostic
The figure 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 10-2  Motor Connections
Table 10-3  Brake Connections

10-2  Nameplate and Codes
■ Nameplate
Hausing ：AMPSEAL 776164-1 Contactor ：AMPSEAL 770520-1 Back shell ：AMPSEAL 776463-1 X2- Resolver cable: CABF2C01SSO M23 Intercontec A ST A 013 FS 04 41 0235 000 Phoenix CA-12F2N8A8503 - 1619618
Note: Twisted pair (white–brown) (green–yellow) (gray–pink) (blue-red)
X2— Absolute encoder cable: CABF6C01 SS0 Included: cable length = 1 m M23 Intercontec A ST A 013 FS 04 41 0235 000 Phoenix CA-12F2N8A8503 - 1619618
Note: Twisted pair (green–brown) (blue–violet) (red–black) (gray–pink) (brown 0.5–white 0.5) The scope of warranty of our delivered products is limited only to what we manufactured. Warranty (period and description)
U.S.A] Sumito mo Machinery Corporation of America (SMA) 4200 Holland Blvd. Chesapeake, VA 23323, U.S.A. TEL (1)757-485-3355     FAX (1)757-485-7490 Canadai SM Cyclo of Canada, Ltd. (SMC) 1453 Cornwall Road, Oakville, Canada ON L6J 7TS 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 (S2/81-8144-5130   FAX (S2/81-8144-5130 Brazill Sumitomo Industrias Pesadas do Brasil Ltda. (SHIB) Rodovia do Acucar (SP-075) Km 26 lbu, Sao Paulo, Brasil TEL (SS)11-4886-1000 FAX (SS)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 Asgentinas, Buenos Aires, Argentina TEL (S4)3327-45-4095   FAX (S4)3327-45-4099 Guatemala SM Cyclo de Guatemala Ensambladora, Ltda. (SMGT) Parque Industrial Unisur, 0 Calie B 19-50 Zona 3, Bodega D-1 Delta Bárcenas en Villa Nueva, Guatemala FAX (S02)6631-9171 TEL (S02)6648-0500 Colombia SM Cyclo Colombia, S.A.S. (SMCO) Parque Industrial Celta, Km 7.0 Aunopista Medellin, Costado Occidental, Funza, Cundinamarca, Colombia TEL (S7)1-300-0573 Perc SM Cyclo de Perù, S.A.C (SMPE) Jr. Monte Rosa 255, Oficina 702, Lima, Sandago de Surco, Perú TEL (S1)1-713-0342 FAX (S1)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 Office Gruentalerstraße 30A, 4020 Linz, Austria TEL (43)732-330958 Belgium Hansen Industrial Transmissions NV (HIT) Leonardo da Vincilaan 1, Edogem, 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
[taly]
SM-Cyclo Italy Srl (SMIT) Via dell' Artigianano 23, 20010 Comaredo (MI), Italy TEL (39)293-481101 FAX (39)293-431103 Spain SM-Cyclo Iberia, S.L.U. (SMIB) C/Gran Via N° 63 Bis, Planta 1, Departamento 18 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 OYQ, East Yorkshire, United Kinadom TEL (44)1482-790340  FAX (44)1482-790321 Turkey SM Cyclo Turkey Güç Aktarım Sis. Tic. Ltd. Sti. (SMTR) Barbaros Mh. Çiğdem Sk. Ağəəğlų, Office Mrk. No:1 Kac:4 D.18 Atasehir, Iszanbul, Turkey TEL (90)216-250-6099 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 Khina Sumitomo (SHI) Cyclo Drive Shanghai, Ltd. (SCS) 11F, SWEG Plaza, No. 1386 Hongqiao Road, Changning District, Shanghai, China 200336 TEL (85)21-3462-7877   FAX (85)21-3462-7922 Hong Kong SM-Cyclo of Hong Kong Co., Ltd. (SMHK) Room 19, 26th Floor, Metropole Square, No.2 On Yiu Street, Shasin, New Territories, Hong Kong TEL (852)2460-1881 FAX (852)2460-1882 Korea Sumitomo (SHI) Cyclo Drive Korea, Ltd. (SCK) Roam #913, Royal Eldo, Saemunan do 5 gil 19, Jongro-gu, Seoul, Korea 03173 TEL (82)2-730-0151 FAX (32)2-730-0156 Taiwan Tatung SM-Cyclo Co., Ltd. (TSC) 22 Chungshan N. Road 3rd., Sec. Taipei, Taiwan 104, ROC TEL (386)2-2595-7275   FAX (386)2-2595-5594 Singapore Sumitomo (SHI) Cyclo Drive Asia Pacific Pte. Ltd. (SCA) 15 Kwong Min Read. Singapore 628718 TEL ($5)6591-7800 FAX (55)6863-4238 Philippines Sumitomo (SHI) Cyclo Drive Asia Pacific Pte. Ltd. Philippines Branch Office (SMPH) C4 & CS Buildings Granville Industrial Complex, Carmona, Cavite 4116, Philippines TEL (53)2-584-4921 FAX (53)2-584-4922 Vietnam SM-Cyclo (Vietnam) Co., Ltd. (SMVN) Factory 28, Lot K1-2-5, Road No. 2-3-5A, Le Minh Xuan Industrial Park, Binh Chanh Dist, HCMC, Vietnam TEL (34)8-3766-3709    FAX (34)8-3766-3710 MD System 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 Slicon III, Lippo Cikarang, Bekasi 17530, Indonesia TEL (62)21-2961-2100   FAX (62)21-2961-2211 Theiland SM-Cyclo (Thailand) Co., Ltd. (SMTH) 195 Empire Tower, Unit 2103-4, 21st Floor, South Sathom Road, Yannawa, Sathom, Bangkok 10120, Thailand TEL (56)2670-0938 FAX (56)2670-0999 Australia Sumitomo (SHI) Hansen Australia Pty. Ltd. (SHAU) 131 Power St, Glendenning, NSW 2761, Australia TEL (51)2-9208-3000　FAX (51)2-9208-3050 Japan Sumitomo Heavy Industries, Ltd. (SHI) ThinkPark Tower, 1-1 Osaki 2-chome, Shinagawa-ku, Tokyo 141-6025, Japan TEL (31)3-6737-2511     FAX (31)3-6866-5160 Specifications, dimensions, and other iterna are subject to change without prior notice. � Sumitomo Heavy Industries, Ltd. Power Transmission & Controls Group Headquarter   ThinkPark Tower, 1-1 Osaki 2-chome, Shinagawa-ku, Tokyo 141-6025, Japan