User’s Manual

For

Integrated Servo Motor

iSV Series

BLDC Servo Motor + Drive, 24-50VDC, Frame 57mm ,90W-180W

#7 Zhongke Road, Jiangning, Nanjing, China

T: 0086-2587156578
Web site: www.omc-stepperonline.com
E-Mail: [email protected]
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1. Introduction
An iSV57T servo motor is a NEMA23 (57mm) brushless motor integrated with a 16-bit magnetic encoder and servo
driver, which making performance better andtuning easier. And the compact design saves installation space,
eliminates encoder and motor wiring time, reduces interference and costs.

2. Specifications
Parameter Min Typical Max Unit
Input Voltage 20 36 50 VDC
Continuous Current 0 - 6.0 A
Pulse Input Frequency 0 - 300 kHz
Pulse Voltage 5 5 24 V
Logic Signal Current 7 10 16 mA
Isolation Resistance 100 - - MΩ

Part Number iSV57T-090 iSV57T-130 iSV57T-180

Rated Power(W) 90 130 180
Rated Torque(N.m) 0.3 0.4 0.6
Peak Torque(N.m) 0.9 1.2 1.8
Rated Speed(rpm) 3000 3000 3000
Peak Speed(rpm) 4000 4000 4000
Rated Voltage(Vdc) 36 36 36
Weight(kg) 0.95 1.25 1.54
L1(mm) 75 95 115
L(mm) 108 128 148

3.Connectors and Pin Assignment

Control Signal Connector
Pin Name I/O Description

1 PUL+ I Pulse signal: Pulse active at rising edge; 4-5V when PUL-HIGH, 0-0.5V when PUL-LOW.
Minimal pulse width of 2.5μs. It’s recommend dutycycle 50%. Add a resistor for
2 PUL- I current-limiting at +12V or +24V input logic voltage (1K for +12V, 2k for +24V).

3 DIR+ I DIR signal: Pulse active at rising edge; 4-5V when PUL-HIGH, 0-0.5V when PUL-LOW. The
low/high voltage levels to represent two directions of motor rotation. Add a resistor for
4 DIR- I current-limiting at +12V or +24V input logic voltage (1K for +12V, 2k for +24V). The DIR signal
at least 5μs in advance of PUL signal
Alarm Signal: OC output signal, activated when one of the following protection is activated:
5 ALM+ O over-voltage and over current error. They can sink or source MAX 50mA current at 24V. By
default, the impedance between ALM+ and ALM- is low for normal operation and becomes high
6 ALM- O when any protection is activated. The active impedance of alarm signal is software configurable.
Note : The enable signal is not configurable,it is enabled on power-up by default, and cannot be modified by software.

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Power Connector
Pin Name I/O Description
Power Supply Input (Positive)
1 +Vdc I 24-36VDC recommended. Please leave reasonable reservation for voltage fluctuation and
back-EMF during deceleration.
2 GND GND Power Ground (Negative)

RS232 Communication Connector

Pin Name I/O Description
1 +5V O +5V power output ( Note: Do not connect it to PC’s serial port)
2 TxD O RS232 transmit.
3 GND GND Ground.
4 RxD I RS232 receive.
5 NC - Not connected.

4. DIP Switch
4.1 Microstep (S1-S3)

Pulse/rev S1 S2 S3
Pr0.08 off off off
1600 on off off
2000 off on off
3200 on on off
4000 off off on
5000 on off on
6400 off on on
8000 on on on

4.2 Stiffness Setting(S4-S5)

Stiffness S4 S5
Pr0.03 off off
9 on off
10 off on
11 on on

4.3 Motor Direction (S6)

The DIP switch S6 is used to change the initial direction of the motor (offline), not as a real-time operation to
modify the direction.Online modification of the motor direction is via the DIR signal

S6 Direction
off CCW
on CW

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5. Typical Connections
5.1 Control Signal Connection

5.2 Alarm Output Connection

6. Quick Setting of Parameters

6.1 Connect to Tuning Software
When you open the "communication" window, just select the correct COM port and keep the default for other else,
like this baud-rate, keep the default 38400, no need to change it to 19200

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6.2 Key Parameters

Usually the setting for Pr0.01-0.04 and Pr2.22 can be :
Pr0.01 = 0; Pr0.02 = 1; Pr0.03 = 10 – 15; Pr0.04 = 100 – 1000; Pr2.22 is for smooth movement
Range unit default
Pr0.01 Control Mode Setup
0-10 - 0
0: Position Control Mode;
1-10: Unsupported Control Modes;
Range unit default
Pr0.02 Real-time Auto-gain Tuning
0 -2 - 1
You can set up the action mode of the real-time auto-gain tuning.
Setup
Mode Varying degree of load inertia in motion
value
0 Invalid Real-time auto-gain tuning function is disabled.
1 Interpolation motion Used for interpolation motion, such as CNC, engraving machine, etc.
2 Point-to-point motion Mainly used for point-to-point movement
Note: If Pr0.02=1 or 2 , the values of Pr1.01 – Pr1.13 are all read only, they are automatically generated .
Range unit default
Pr0.03 Stiffness
0 -31 - 11
It can be set by S4 and S5. If they are “off & off”. Screw-coupling load recommended stiffness range
10~14; pulley load recommended stiffness range 9~13. It is recommended to set a suitable value of
Pr0.04 first, and then adjust the stiffness value.

Note: Higher the setup value, higher the velocity response and servo stiffness will be obtained. However, when
increasing the value, need to avoid oscillation or vibration.
Range unit default
Pr0.04 Load inertia ratio
0 -10000 % 300
It means that the ratio of load inertia against the motor rotor inertia. Recommended below 1000;
Pr0.04=( load inertia/rotate inertia)×100%
If the value of inertia ratio is set correctly, the unit of Pr1.01 and Pr1.06 will change to “Hz”. If this
value is too small, the motor will stop unstably, if the value is larger than the actual, the motor will
shake when running,. How to get the correct value can be referred to Appendix A
Range unit default
Pr0.08 Microstep
0-32767 pulse 4000
The number of pulses required for one revolution of the motor.
For some special users, it can use Pr0.09 (1st numerator of electronic gear) and Pr0.10 (Denominator
of electronic Gear) to set required pulses number , they are availale when Pr0.08 is set to value 0.
Range unit default
Pr2.22 Positional Command Smoothing Filter
0 -32767 0.1ms 0
 Set up the time constant of the1st delay filter in response to the positional command.
 When a square wave command for the target speed Vc is applied ,set up the time constant of
the 1st delay filter as shown in the figure below.

Note: Restart the power to make new value

available .

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6.3 Save Parameters

If you want the modified parameters continue to be valid after power off, please click both “Download” and
“Save”.

6.4 Restore to Factory

If you need to restore the factory settings, it can import the file with our factory parameter values, and then click
both “Download” and “Save”, then valid after re-power.

7. Fault Protections & Troubleshooting

To improve reliability, the drive incorporates some built-in protection features.

Blink
Sequence wave of red LED Description Trouble shooting
time(s)
5S Turn off the power immediately.
1 Over-current a) Check if the machinery is stuck;
0.2S

b) Re-import factory parameters.

5S Turn off the power immediately.
0.3S 0.2S

2 Over-voltage a) Check if the power supply is below

50V, over-voltage point is 72VDC
Turn off the power immediately.
4 Over-load c) Check if the machinery is stuck;
a) Re-import factory parameters.
Restart the power supply, if the drive is
5 Encoder error
still alarm, please contact after-sale
5S a) Motor torque is not enough;
0.3S 0.2S Position following
7 b) Check if the machinery is stuck;
error
c) Re-import factory parameters.

When above protections are active, the motor shaft will be free or the red LED blinks. Reset the drive by
repowering it to make it function properly after removing above problems.

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Appendix A. How to get the correct Load inertia ratio

Load inertia ratio is a very important parameter for iSV57T servo, and users need to set the correct load inertia
ratio parameter before adjusting the correct rigidity parameter. Then the setup steps are as follows:
Note: Do make the axis can be moved in safe distance, any interference should be avoided to ensure safety and
accuracy of testing .
(1) Connect motor with load, if there is no load, the value of load inertia ratio will be set to “0”.

(2) Click “run test” , motor motion parameters and operating procedures are as follows:

The value of the load inertia ratio obtained from the above steps can satisfy most applications, but for some cases
where the load inertia is very high, the value of Pr0.04 can be increased to more than 1000.

Appendix B. Parameters List

The screenshot of the parameter list is provided for reference only. The figure is the factory parameter value of
180W integrated servo motor, because there are three motor models in this series, so the default parameters may
not be the same.

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