HANPOSE "ASD" series Servo

System Quick start guide

GUANGZHOU HANBUILD MOTOR CO.,LTD

2022-05 version 1.3

 Cautions

Thank you for using the HANPOSE "ASD" AC servo system! This operating
manual provides information about the ASD series drivers and SS series
motors. Before use, please read the manual carefully to ensure proper use!
Please disconnect the power supply for more than 5 minutes before removing or
disassembling the driver, otherwise it may cause electric shock due to residual voltage.
Please never touch the inside of the servo driver, otherwise it may cause electric shock
Please insulate the connection part of the power supply terminal, otherwise it may cause
electric shock.
Please do not damage or pull on the cable, subject the cable to excessive force, put it
under heavy objects or clamp it. Doing so may result in electric shock, which may cause
the product to stop or burn out.
Unless designated personnel, please do not set up, disassemble or repair, otherwise it may
cause electric shock or injury.
Please do not remove the cover, cables, connectors and optional accessories while the
power is on, otherwise it may cause electric shock and damage the drive.
Please follow the steps required by this manual for trial operation.
If an operation error occurs while the servo motor is connected to the machine, it will not
onlycause damage to the machine, but also sometimes cause personal accidents.
Please do not change the maximum speed value, except for special purposes. Inadvertent
change may damage the machine or cause injury.
When the power is turned on and for a period of time after the power is cut off, the heat sink
of the servo driver, the external braking resistor, and the servo motor may become hot.
Please do not touch it, otherwise it may cause burns. To prevent accidental contact with
hands or parts (cables, etc.), please take safety precautions such as installing an enclosure.
Please do not touch the rotating part of the servo motor while it is running, as this may
result in injury.
If the servo motor is installed on the supporting machine and starts to run, make sure that
the servo motor can be stopped at any time, otherwise you may get injured.
Please install a stop device on the machine side to ensure safety.
The brake of the servo motor with brake is not a stopping device to ensure safety. If a stop
device is not provided, it may cause injury.
If power is restored after a momentary power failure occurs during operation, the machine
may restart suddenly, so please do not approach the machine.
Please take measures to ensure that personal safety will not be endangered when
restarting, otherwise it may cause injury.
Please do not modify the product in any way, otherwise it may cause injury or
mechanical damage.
Please install the servo driver, servo motor, and external braking resistor on
non-combustible materials, otherwise it may cause a fire.
Between the power supply and the main circuit power supply of the servo driver
(L1, L2 for single-phase, L1, L2, L3 for three-phase), please connect an electromagnetic
contactor and a non-fuse circuit breaker. Otherwise, when the servo driver fails, the
large current cannot be cut off, which may cause a fire.

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Model combination list

485 communication port

(CN3, CN4)

Panel operator

Input and output signal

terminals (CN1)

Power supply input

Encoder interface (CN2)

Braking resistor
(can be external)
Motor interface

Grounding port

Servo driver dimension drawing

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 List of standard model combinations
Motor base Model Rated power Matching driver Encoder cable Power cable
40 40SS05 50W ASD210(E) HBBM-SV-YC3000 HBDL-SV-YC3000

40SS10 100W ASD210(E) HBBM-SV-YC3000 HBDL-SV-YC3000

60 60SS20 200W ASD240(E) HBBM-SV-YC3000 HBDL-SV-YC3000

60SS40 400W ASD240(E) HBBM-SV-YC3000 HBDL-SV-YC3000

80 80SS75 750W ASD275(E) HBBM-SV-YC3000 HBDL-SV-YC3000

80SS100 1KW ASD275(E) HBBM-SV-YC3000 HBDL-SV-YC3000

110 110SS120-4030 1.2KW ASD2200(E) HBBM-SV-3000 HBDL-SV-3000

110SS150-5030 1.5KW ASD2200 (E) HBBM-SV-3000 HBDL-SV-3000

110SS120-6020 1.2KW ASD2200 (E) HBBM-SV-3000 HBDL-SV-3000

110SS180-6030 1.8KW ASD2200 (E) HBBM-SV-3000 HBDL-SV-3000

130 130SS130-5025 1.3KW ASD2200 (E) HBBM-SV-3000 HBDL-SV-3000

130SS150-6025 1.5KW ASD2200 (E) HBBM-SV-3000 HBDL-SV-3000

130SS200-7725 2.0KW ASD2200 (E) HBBM-SV-3000 HBDL-SV-3000

130SS250-10025 2.5KW ASD3300(E) HBBM-SV-3000 HBDL-SV-3000

130SS230-15015 2.3KW ASD3 300(E) HBBM-SV-3000 HBDL-SV-3000

130SS380-15025 3.8KW ASD3 300(E) HBBM-SV-3000 HBDL-SV-3000

* Driver with E is EtherCAT function

** Wiring is 3 meters as standard, other specifications please specify when ordering

Servo cable list

Naming of AC servo supporting cables

Hanbuild cable type Cable category Motor type

HB BM-SV-YC 3000 BM:Encoder extension
cable
SV:Servo motor use
SP:Stepper motor use
DL:Motor power cable

Cable length
3000: 3000mm length
YC: 80mm and below
none: 110 and 130mm

Cable of 80mm and below

Motor cable HBDL-SV-YC3000

Color definition：

Red Blue Brown Yellow-green

110mm / 130mm Cable

Motor cable HBDL-SV-3000
Color definition：

Red Blue Brown Yellow-green

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Motor model description

60 SS P 40-G 13 30

Motor flange size Brake Motor rated torque

P: With off power brake 13: 1.3nm
60: 60mm 13:130mm none: witout Standard can be omitted
Motor Type
Motor power
SS: Standard servo motor 40: 400w 75: 750w Motor rated speed
SB: Ball screw of shaft 30: 3000rpm
Encoder resolution Standard can be omitted
SK: Hollow shaft
none: 17 bit Single-turn absolute encoder
SF: Telescopic shaft
G: 17bit magnetic Multi-turn absolute encoder

Main circuit wiring definition

Functions Terminal symbol Description Diagram

Input power L1
Single-phase 220 VAC
supply L2
P When using an internal braking
resistor, short P and D
Braking D
resistance When using an external braking resistor, P and D are
P short-circuited and disconnected, and then the external
braking resistor wiring is connected between P and C
D respectively. P and N are forbidden to connect.

U
V
Motor wiring
W Connect the motor extension cable

PE

CN2 Encoder terminal wiring definition

Pin numbers Terminal symbol Description Diagram
5 Vcc The encoder power supply is
6 Gnd provided by the driver
6 4 2
1 SD+
Encoder communication terminal
2 SD-
5 3 1
3 Reserved
4 Reserved
CN3,CN4 Communication 485 interface
Pin num Description Color Diagram
1 —— orange&white

2 E 0V orange

3 CAN H green&white

4 RS485-A blue
5 RS485-B blue&white

6 CAN L green

7 GND brown&white
Dual RS-485 interface
8 —— brown

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CN1-DB44 control signal interface definition

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1
30

16
44

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Functions Signal Pin number Signal definition Default function Description

PUL+ 5 Differential pulse positive

PUL- 21 Differential pulse negative

Differential input
External
pulse DIR+ 6 Differential direction positive 5-24V
interface
DIR- 22 Differential direction negative
Additional 24V power input
PULLHI 7 interface for command pulse

GND 11 Internal digital signal gnd

DI1(SV-ON) 20 Input 1 Servo enable Photoelectric isolation input,

function programmable,
DI2(ALMRST) 4 Input 2 Alarm clear defined by P3 group
Digital
parameters P3-0~P3-17.
input DI3(NOT) 19 Input 3 Positive limit Note: The COM terminal is a
common anode or common
DI4(NOT) 3 Input 4 Negative limit cathode interface, and the
input level is 12V-24V.
INCOM 16 Input common terminal

DO1+ 31 Servo is ready+

DO1- 32 Servo is ready-

DO2+ 33 Alarm Output+ Photoelectric isolation

output, function
Digital DO2- 34 Alarm Output-
programmable,
output DO3+ 35 Positioning completed+
defined by P3 group
parameters P3-
DO3- 36 Positioning completed- 20~P3-23.

DO4+ 37 Brake positive

DO4- 38 Brake negative

Internal E0V 43 Internal 0V Internal isolated 24V power

isolated output, voltage range 20V~28V,
power output E24V 44 Internal 24V maximum output current 100mA.

AS+、AT+ 24
Analog Analog input of speed/
command AS+、AT+ 9 rotation, range: -
input 10V~+10V.
AGND 25

Analog differential input Analog single-ended input

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 Display and panel operation
Functions Symbol Description Diagram
Esc key Escape key
Increase Switch up selection or increase value
Switch down selection or decrease
Decrease the value
Confirm SET Confirm operation

The first layer is the main menu, there are 8 operation modes, press 、 keys to change the mode, press
the SET key to enter the second layer, perform specific operations, and press to return to the main menu
from the second layer.

The parameter is represented by parameter segment + parameter

number, the hundreds digit is the segment number, and the tens and
one digits are the parameter number. For example, parameter PA53,
the segment number is "PA", the parameter number is "53", and the
display shows "PA-53".

Select parameter setting "P-" in the main menu, and press SET key
to enter the parameter setting mode. First, use the keys to
select the parameter section, after selecting it, press the "SET" key
to enter the parameter number selection of this section. Next, use
the keys to select the parameter number, after selecting it,
press the "SET" key to display the parameter value.

Use the keys to modify the parameter value. Press the or

- key once, the parameter increases or decreases by 1, press and
hold the or key to continuously increase or decrease the
parameter. When the parameter value is modified, press the SET
key, the decimal point of the rightmost LED digital tube lights up and
flashes twice, that is, the modification is completed, and the modified
value will be reflected in the control immediately (some parameters
need to be saved and then powered on to take effect. ).

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Alarm and handling method

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Alarm and handling method

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Alarm and handling method

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Alarm and handling method

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Alarm and handling method

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Alarm and handling method

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Operation guide for position control mode

Remarks:
Position mode is a common working mode of servo drives, and its main use
steps are as follows:
1) Correctly connect the power supply of the servo main circuit and control
circuit, as well as the motor power line and the encoder line. After power-on,
the servo panel displays "r 0", which means that the servo power supply and
encoder wiring are correct.
2) Press the button to perform the servo JOG test run to confirm whether the
motor can run normally.
3) Refer to the wiring instructions in the diagram to connect the pulse
direction input and pulse command input in the CN1 terminal and the
required DI/DO signals, such as servo enable, alarm clear, positioning
completion signal, etc.
4) Set the position mode related settings. Set the DI/DO used according to
the actual situation.
5) Servo enable, control the rotation of the servo motor through the position
command issued by the host computer. First, rotate the motor at low speed,
and confirm whether the rotation direction and electronic gear ratio are
normal, and then adjust the gain.

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Wiring diagram of holding brake

Remarks:
Brake wiring The connection of the brake input signal has no polarity, and the user needs
to prepare a 24V power supply. The standard wiring example of the brake signal BK and the
brake power supply is shown in the figure above

Basic parameters of position control

mode
Parameters to be adjusted in position control mode
l Gain and smoothing filter parameter adjustment
Required Parameter Description parameter value Factory default
parameters
PA4 Control method selection 0 0

PA9 Position proportional gain 1-1000 80

Position command smoothing

PA19 0-1000×0.1ms 100
filter

PA100 Command filter selection 0-1 0

l DI input related parameter adjustment

Required Parameter Description parameter value Factory default
parameters
The number of command 0-30000 10000
PA11 pulses for 1 revolution of the
motor
Position command pulse 1-32767 0
PA12
electronic gear first numerator
Position command pulse 1-32767 10000
PA13
electronic gear denominator
Position command pulse input 0-3 0
PA14
method
Position command pulse 0-1 0
PA15
direction inversion

PA59 Command pulse valid edge 0-1 0

Position command pulse 1-32767 0

PA77 electronic gear ratio second
numerator
Position command pulse 1-32767 0
PA78 electronic gear ratio third
numerator
Position command pulse 1-32767 0
PA79 electronic gear ratio fourth
numerator
Command direction signal 0-1 0
PA80
effective level
Command pulse PULS signal 0-15 4
PA81
filtering
Command pulse SIGN signal 0-15 4
PA82
filtering
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l DO output related parameter adjustment
Required Parameter Description parameter value Factory
parameters default

PA16 Positioning complete range 0-3000 pulses 130

Position out-of-tolerance 0-30000×100 pulses 6000

PA17
detection
Position out of tolerance 0-1 0
PA18
error is invalid
CWL, CCWL direction 0-1 0
PA83
prohibition method
Positioning complete 0-32767 65
PA84
hysteresis

PA85 Positioning proximity range 0-32767 6500

Positioning close to 0-32767 650

PA86
hysteresis

l Input and output terminal related parameter adjustment

Required Parameter Description parameter value Factory
parameters default
Input terminal effective level 0000-1111 0000
PA55
control word
Output terminal effective 0000-1111 0000
PA57
level control word
IO input terminal debounce 1-20ms 2
PA58
time constant

P3-0 Digital input DI1 function 0-99 1

P3-1 Digital input DI2 function 0-99 2

P3-2 Digital input DI3 function 0-99 3

P3-3 Digital input DI4 function 0-99 4

Digital input DI is forced to 00000000-11111111 00000000

P3-15
be valid 1
Digital input DI is forced to 00000000-11111111 00000000
P3-16
be valid 2
The digital input DI is forced 00000000-11111111 00000000
P3-17
to be valid 3

P3-20 Digital output DO1 function 0-99 2

P3-21 Digital output DO2 function 0-99 3

P3-22 Digital output DO3 function 0-99 5

P3-23 Digital output DO4 function 0-99 8

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 l Internal position Pr mode position command description and related parameters
Pr position command source is the use of parameters (P4-2, P4-3)-(P4-23, P4-24) 8 groups of
built-in position command registers, which can be used with external I/O (CN1, POS0-POS 2 and
CTRG) Choose one of eight groups to use as a position command :

moving
location correspond
POS2 POS1 POS0 CTRG illustrate speed
command parameter
register
P4-2 Number of turns
P4-4 _
P1 0 0 0 ↑ (+/-30000)
(V1)
P4-3 _ Pulse (+/-max cnt)
P4-5 _ Number of turns
P4-7 _
P2 0 0 1 ↑ (+/-30000)
(V2)
P4-6 _ Pulse (+/-max cnt)
P4-8 _ Number of turns
P4-10 _
P3 0 1 0 ↑ (+/-30000)
(V3)
P4-9 _ Pulse (+/-max cnt)
P4-11 _ Number of turns
P4-13 _
P4 0 1 1 ↑ (+/-30000)
(V4)
P4-12 _ Pulse (+/-max cnt)
P4-14 _ Number of turns
P4-16 _
P5 1 0 0 ↑ (+/-30000)
(V5)
P4-15 _ Pulse (+/-max cnt)
P4-17 _ Number of turns
P4-19 _
P6 1 0 1 ↑ (+/-30000)
(V6)
P4-18 _ Pulse (+/-max cnt)
P4- 20 Number of turns
P4- 22
P7 1 1 0 ↑ (+/-30000)
(V7)
P4- 21 Pulse (+/-max cnt)
P4- 23 Number of turns
P4- 25
P8 1 1 1 ↑ (+/-30000)
(V8)
P4- 24 Pulse (+/-max cnt)

Status of POS0-2: 0 represents contact open circuit (open), 1 represents contact access (close). CTRG
↑ represents the moment when the connection changes from open circuit (0) to open circuit (1). max
represents the command pulse for one revolution of the motor.
The application of absolute position register is very wide, which is equivalent to a simple program control.
The user can easily complete the periodic operation by using the above table. For example, the position
command P1=10 revolutions, P2=20 revolutions, first issue the position command P1, and then issue the
position command P2. The difference between the two is as follows:

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Speed Control Mode

Speed Mode Description

The main steps to use the speed mode are as follows:
1) Correctly connect the power supply of the servo main circuit and control circuit, as well as the
motor power line and encoder line. After power-on, the servo panel displays " r 0 ", which means
that the servo power supply and encoder wiring are correct.
2) Press the button to perform the servo JOG test run to confirm whether the motor can run
normally.
3) Refer to Figure 5.4 for wiring instructions to connect the required DI/DO signals in the CN1
terminal, such as servo enable, alarm clear, positioning completion signal, etc.
4) Set the speed mode related settings. Set the DI/DO used according to the actual situation.
5) Servo enable, control the rotation of the servo motor through the position command issued by
the host computer. First, rotate the motor at low speed, and confirm whether the rotation
direction and electronic gear ratio are normal, and then adjust the gain.

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Parameters to be adjusted in speed control mode
l Related parameters to be adjusted in the speed control mode
Required parameters Parameter Description parameter value Factory default

PA4 Control method selection 1 0

PA5 Speed proportional gain 5-2000Hz 150

PA6 Speed integral constant 1-1000ms 75

Internal and external speed 0-5 0

PA22
command selection

PA24 Internal speed 1 -6000-6000r/min 100

PA25 Internal speed 2 -6000-6000r/min 500

PA26 Internal speed 3 -6000-6000r/min 1000

PA27 Internal speed 4 -6000-6000r/min 2000

PA28 Arrival speed 0-3000r/min 3000

PA40 Acceleration time constant 1-10000ms 100

PA41 Deceleration time constant 1-10000ms 100

S-type acceleration/deceleration 0-1000ms 0

PA42
time constant

PA43 Analog speed command input gain 10-3000r/min/v 300

Reverse the direction of the analog 0-1 0

PA44
speed command

Analog speed command zero offset -5000-5000 0

PA45
compensation

PA46 Analog speed command filter 1-300Hz 300

PA75 Zero speed detection point 0-1000r/min 10

PA76 Speed consistent setting value 0-1000r/min 10

PA87 Arrival speed hysteresis 0-5000r/min 30

PA88 Arrival velocity polarity 0-1 0

PA92 Zero speed detection hysteresis 0-1000r/min 5

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 Torque control mode

The main steps of using torque mode are as follows:

1) Correctly connect the power supply of the servo main circuit and control circuit, as well as the
motor power line and encoder line. After power-on, the servo panel displays " r 0 ", which means
that the servo power supply and encoder wiring are correct.
2) Press the button to perform the servo JOG test run to confirm whether the motor can run
normally.
3) Refer to Figure for wiring instructions to connect the required DI/DO signals in the CN1
terminal, such as servo enable, alarm clear, positioning completion signal, etc.
4) Set the torque mode related settings. Set the DI/DO used according to the actual situation.
5) Servo enable, control the rotation of the servo motor through the position command issued by
the host computer. First, rotate the motor at low speed, and confirm whether the rotation
direction and electronic gear ratio are normal, and then adjust the gain.

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Parameters to be adjusted in speed control mode
l Torque control mode needs to adjust parameters
Required parameters Parameter Description parameter value Factory default

PA4 Control method selection 2 0

PA29 Analog torque command input gain Set as needed 30

PA32 Internal and external torque 0-2 0

command selection

PA33 Reverse the input direction of the 0 0

analog torque command

PA39 Analog torque command zero 0 0

offset compensation

PA50 Speed limit during torque control Set as needed Rated speed

PA64 Internal torque 1 -300-300 0

PA65 Internal torque 2 -300-300 0

PA66 Internal torque 3 -300-300 0

PA67 Internal torque 4 -300-300 0

PA83 Prohibited way 0-1 0

PA89 Arrival torque -300%-300% 100

PA90 Reaching torque hysteresis 0%-300% 5

PA91 Arrival torque polarity 0-1 0

Origin return function and related parameter description

Related setting parameters
Required parameters Parameter Description parameter value Factory default

Type of origin detector and setting

P4-32 0-5 0
of search direction

Short-distance movement method

P4-33 0-2 0
setting to reach the origin

P4-34 Origin trigger start mode 0-2 0

P4-35 Origin stop mode setting 0-1 0

The first stage of high-speed origin

P4-36 1-2000r/min 1000
return speed setting

The second stage of low-speed

P4-37 1-500r/min 50
origin return speed setting

P4-38 Origin return offset circles +/-30000 0

P4-39 Origin return offset pulse number +/-max cnt 0

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 Description of origin return mode

A. Origin trigger start mode ( P4-34)

The origin trigger start mode is divided into two categories: automatic execution of origin
return function and contact trigger origin return function:
P4-34 =0: Turn off the origin return function. When P4-34 is set to 0, no matter what other
setting values are, the origin return function cannot be activated.
P4-34 =1: Automatically execute the origin return function when the power is turned on. This
function is only valid for one time when the power supply and servo start are turned on, that is, it
is used under the working conditions that the return to the origin does not need to be repeated
during the servo operation. Use this function to omit an input contact for performing home
return.
P4-34 =2: The origin return function is triggered by the SHOM input contact. When setting
this function, any register in the input pin function planning register (P3-0~P3-3) must be set as
the SHOM trigger origin input function. During the servo operation, the SHOM contact can be
triggered at any time, and the origin return function can be executed.

B. Type of origin detector and setting of search direction ( P4-32)

The origin detector can use the left limit or right limit switch as the origin reference point, or
additional detectors (such as proximity or shutter switches) can be used as the origin reference
point. When the servo motor only moves within one revolution, the Z pulse can also be set as the
origin reference point.
P4-32 =0: Find the origin in the forward direction, and take the CCWL limit input point as the
rough reference point of the origin. When the origin positioning is completed, the CCWL will
switch to the limit input function. Subsequent retriggering will generate a limit warning. When
using the limit input point as the rough reference point of the origin, it is recommended to set the
Z pulse ( P4-33 = 0) to return to find the precise mechanical origin.
P4-32 =1: Reverse the direction to find the origin, and take the CWL limit input point as the
rough reference point of the origin. When the origin positioning is completed, CWL turns to the
limit input function. The subsequent retriggering will generate a limit warning. When using the
limit input point as the rough reference point of the origin, it is recommended to set the return to
find Z pulse ( P4-33 =0) as the precise mechanical origin.
P4-32 = 2: search for the origin in the forward rotation direction, and take ORGP (input point
of external detector) as the reference point of the origin. At this time, the precise mechanical
origin can be set to return to search ( P4-33 = 0) or not to return to search ( P4-33 =1) Z-phase
pulse. When the Z-phase pulse is not used as the machine origin, the positive edge of ORGP can
also be set as the machine origin ( P4-33 =2).
P4-32 =3: Reverse the direction to find the origin, and take ORGP (external detector input
point) as the reference point of the origin. At this time, the precise mechanical origin can be set as
the Z-phase pulse for returning to search ( P4-33 =0) or not to return to search ( P4-33 =1). When
the Z-phase pulse is not used as the machine origin, the positive edge of ORGP can also be set as
the machine origin ( P4-33 =2).
P4-32 = 4: Directly search for the zero point of the single-turn absolute position in the
forward rotation direction. This function is usually used for the motion control of the servo motor
with only one rotation range. At this time, no external detection switch is required.
P4-32 = 5: Directly search for the zero point of the single-turn absolute position in the
reverse direction. This function is usually used for the motion control of the servo motor only in

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Description of origin return mode

Warranty 12 months
Provide a one-year warranty for its products from the date of
shipment, and our company will provide free maintenance
services for the products during the warranty period.

Not covered by warranty

■ Improper wiring, such as reversed power supply polarity and
live plugging and unplugging of motor leads.
■ Use beyond electrical and environmental requirements.
■ Unauthorized changes to internal devices.

Repair process If you need to repair the product, follow the

process below:

1) Contact our customer service personnel to obtain permission

for repair.

2) A written description of the drive failure

phenomenon and the sender's contact information and mailing
method are attached with the goods.

Address: After-sales Department, 2nd Floor, No. 108, Dagang

Street, Baiyun District, Guangzhou , Guangdong CHINA

Tel: +86- 15013078821 Mr. Zhong

Web: www.hanpose.com www.hanbuild.com

Email: [email protected]

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