Introduction
In the field of industrial automation, AC servo drives serve as the core components of precision motion control systems. The SV630 series servo drives, developed by Inovance Technology, are standard-type servo products designed for small-to-medium power applications. With flexible control modes, rich communication interfaces, and powerful debugging capabilities, they have been widely deployed across industries such as electronics manufacturing, robotic arms, packaging machinery, and machine tools. This article systematically covers the product features, panel operation, wiring specifications, control mode commissioning, fault diagnosis, and routine maintenance of the standard SV630 (non-P version) series, helping engineers quickly get up to speed and operate efficiently.
It should be noted that the SV630 family encompasses multiple specifications. This article focuses on the standard SV630 series features and usage, complementing the SV630P economy-type products to provide differentiated selection references for various application scenarios.
1. SV630 Product Overview and Model Designation
1.1 Product Positioning
The SV630 series is a small-to-medium power AC servo drive manufactured by Inovance Technology. It employs IGBT PWM control with sinusoidal current drive and supports single-phase or three-phase full-wave rectification. Paired with MS1 series high-response servo motors (equipped with 18-bit magnetic encoders), the SV630 achieves fast and precise position control, speed control, and torque control, making it suitable for automation equipment requiring high positioning accuracy and dynamic response.
1.2 Model Coding Rules
The model designation of SV630 series drives encodes key information including voltage class, power rating, and machine type. Understanding the coding rules facilitates correct model selection:
| Code Segment | Meaning | Example |
|---|---|---|
| SV630 | Product series identifier | SV630 |
| Voltage identifier | S=220V class, T=380V class | S (single/three-phase 220V) |
| Power identifier | Rated current value code | R6=1.6A, R8=2.8A |
| Suffix | I=standard model | I |
For example, model SV630S2R8I indicates an SV630 series, 220V voltage class, 2.8A rated output current, standard model, corresponding to approximately 0.4kW rated power in the SIZE A form factor.
1.3 Size Classification
SV630 series drives are classified into multiple SIZE grades by power range. Each grade differs in physical dimensions, terminal layout, and cooling method:
| SIZE Grade | Rated Power Range | Voltage Class | Cooling Method |
|---|---|---|---|
| SIZE A | 0.2kW ~ 0.4kW | Single-phase 220V | Natural cooling |
| SIZE B | 0.75kW | Single-phase 220V | Natural cooling |
| SIZE C | 1.0kW ~ 1.5kW | Single/three-phase 220V, three-phase 380V | Forced air |
| SIZE D | 1.5kW ~ 3.0kW | Three-phase 220V, three-phase 380V | Forced air |
| SIZE E | 5.0kW ~ 7.5kW | Three-phase 380V | Forced air |
1.4 Basic Technical Specifications
The core technical specifications of the SV630 series are as follows:
- Control method: IGBT PWM control, sinusoidal current drive
- Encoder feedback: 18-bit multi-turn absolute encoder (can function as incremental encoder without battery), resolution 262,144 P/r
- Operating temperature: 0 to 55°C (average load rate must not exceed 80% at 45°C~55°C); storage temperature -20°C to +70°C
- Operating humidity: Below 90% RH (non-condensing)
- Protection rating: IP20
- Altitude: No derating up to 1000m; 1% derating per 100m above 1000m; maximum 2000m
- Speed variation rate: Load variation below 0.5%, voltage variation below 0.5%, temperature variation below 0.5% (all at rated speed)
- Speed control range: 1:5000
- Frequency response: 2kHz
- Torque control accuracy: ±2%
- Overvoltage category: Category III
2. Operation Panel and Parameter Settings
2.1 Panel Composition
The SV630 servo drive is equipped with a 5-digit, 8-segment LED display and 5 operation buttons, supporting status display, parameter setting, fault diagnostics, and function execution. The button functions are as follows:
| Button | Function |
|---|---|
| MODE | Switch between display modes; return to previous menu level |
| UP | Increase the value of the blinking digit |
| DOWN | Decrease the value of the blinking digit |
| SHIFT | Change the blinking digit; view higher-order digits (long press 2+ seconds to switch pages) |
| SET | Enter next-level menu; execute parameter storage and other commands |
2.2 Display Modes
The panel supports four display modes, switched via the MODE key:
- Status display: Shows current servo operating status, such as “Rdy” (ready), “Run” (running), “Jog” (jog operation), “Nrd” (not ready)
- Parameter display: Shows parameter group and value in HXX.YY format (XX = group number in decimal, YY = offset in hexadecimal)
- Fault display: Automatically switches on fault occurrence, displaying “Er.XXX” format codes with synchronized blinking of all 5 digits
- Monitor display: Real-time monitoring of operating data via H0b group parameters, e.g., H0b.00 shows actual motor speed (rpm)
2.3 Parameter System
SV630 series servo drive parameters are organized into 19 groups, addressed in “HXX.YY” format. The main parameter groups are:
| Group | Category | Key Parameters |
|---|---|---|
| H00 | Motor parameters | H00.00 (motor ID) |
| H01 | Drive parameters | H01.02 (drive model) |
| H02 | Basic parameters | H02.00 (control mode), H02.31 (parameter initialization) |
| H03 | DI/DO configuration | H03 group (I/O terminal function assignment) |
| H05 | Position control | H05.00 (position command source), H05.20 (positioning completion width) |
| H06 | Speed control | H06.02 (speed command source), H06.03 (internal speed command) |
| H07 | Torque control | H07.05 (torque command filter time constant) |
| H08 | Gain parameters | H08.00 (speed loop gain), H08.02 (position loop gain) |
| H09 | Auto-tuning | H09.00 (tuning mode), H09.01 (rigidity level) |
| H0A | Auxiliary parameters | H0A.08 (overspeed threshold), H0A.10 (position deviation threshold) |
| H0b | Monitor parameters | H0b.00 (actual speed), H0b.03 (DI status) |
| H0d | Debug functions | H0d.02 (inertia identification), H0d.18 (forced DI input) |
2.4 Key Parameter Setting Methods
Common parameter setting scenarios include:
Control mode switching: Set H02.00 to select the control mode — 0 for speed control, 1 for position control, 2 for torque control. A power cycle is required after switching (the panel displays Er.941 warning to prompt restart).
Factory reset: Set H02.31 to 1. The drive executes system parameter initialization; the panel displays “F.InIt”. Re-apply control power after completion.
Clear fault history: Set H02.31 to 2 to clear the stored last 10 fault/warning records.
User password protection: Set a user password via H02.30. Once enabled, only users with the password can modify parameters; others can only view. Incorrect password entry displays “Error”.
2.5 Forced DI/DO Input/Output
The SV630 provides forced digital signal input/output functions for debugging and wiring verification:
- Forced DI input (H0d.18): Sets DI terminal levels in hexadecimal, independent of external DI signal states. For example, setting H0d.18=19E (binary 110011110) means DI1 is active low, DI2~DI9 are high. The function is not retained after power-off; normal DI resumes on re-power.
- Forced DO output (H0d.19): Sets DO function validity in hexadecimal. For example, setting H0d.19=1E (binary 11110) means DO1 is inactive, DO2~DO5 are active. Not retained after power-off, or set H0d.17=0 to return to normal DO mode.
3. Wiring and Terminal Definitions
3.1 Main Circuit Terminals
The main circuit terminal layout of SV630 series drives varies by SIZE grade, but the core terminal definitions are consistent. For SIZE A (0.2kW~0.4kW), the main circuit terminals include:
| Terminal | Function |
|---|---|
| L1 / L2 | Main power input (single-phase 220V) |
| R / S / T | Main power input (three-phase 220V or 380V) |
| L1C / L2C | Control power input |
| U / V / W | Motor power output |
| P / D | External brake resistor terminals (shorted by default) |
| P / C | External brake resistor connection |
| N | DC bus negative |
| PE | Protective earth |
| N1 / N2 | Harmonic suppression terminals (shorted by default; remove short to suppress harmonics) |
3.2 Main Circuit Wiring Precautions
- Never connect input power lines to output terminals U, V, W — this will damage the drive
- Maintain at least 30cm separation between main circuit cables and signal cables to prevent electromagnetic interference coupling
- Internal capacitors retain residual voltage after power-off — wait at least 15 minutes before touching power terminals
- Do not cycle power within 1 second, or faults Er.740/Er.136/Er.430 may be triggered. Limit repeated power cycling to once per minute maximum
- S1R6 and S2R8 models have no built-in brake resistor. When using an external brake resistor, connect it between P and C
- When using an external brake resistor, the shorting bar between P and D must be removed, or the brake transistor will be damaged by overcurrent
- The drive and motor must be directly connected — never use magnetic contactors in the motor cable path
3.3 CN1 Control Terminal
CN1 is a 44-pin D-Sub connector carrying position command inputs, DI/DO signals, and encoder divided output. The main signal groups are:
3.3.1 Position Command Input Signals
| Signal | Pin | Function |
|---|---|---|
| PULSE+ / PULSE- | 41 / 43 | Low-speed pulse command input (differential/open-collector, max 200kpps) |
| SIGN+ / SIGN- | 37 / 39 | Low-speed pulse direction signal |
| PULLHI | 35 | Open-collector power supply input |
| HPULSE+ / HPULSE- | 38 / 36 | High-speed pulse command input (differential, max 4Mpps) |
| HSIGN+ / HSIGN- | 42 / 40 | High-speed pulse direction signal |
Three pulse command formats are supported: direction + pulse, A/B quadrature, and CW/CCW pulse. High-speed and low-speed pulse inputs cannot be used simultaneously. High-speed differential input must be 5V system; otherwise, pulse loss or direction inversion may occur.
3.3.2 DI/DO Signals
| Signal | Default Function | Pin | Description |
|---|---|---|---|
| DI1 | P-OT | 9 | Positive overtravel switch |
| DI2 | N-OT | 10 | Negative overtravel switch |
| DI3 | INHIBIT | 34 | Pulse inhibit |
| DI4 | ALM-RST | 8 | Alarm reset (edge-triggered) |
| DI5 | S-ON | 33 | Servo enable |
| DI8 | HomeSwitch | 30 | Home switch |
| DO1 | S-RDY | 7/6 | Servo ready |
| DO2 | COIN | 5/4 | Positioning complete |
| DO3 | BK | 3/2 | Brake output |
| DO4 | ALM | 1/26 | Fault output |
| DO5 | HomeAttain | 28/27 | Homing complete |
DI1~DI5 support maximum input frequency of 1kHz; DI8~DI9 have hardware delay less than 1ms. DO load capacity is 50mA, voltage range 5V~30V. An internal +24V power supply (pin 17, max output 200mA) is provided for DI circuits.
3.4 Communication Interfaces
The SV630 supports RS232, RS485, and CAN communication interfaces via RJ45 connectors:
- RS485: Supports Modbus protocol, up to 128 nodes. At 115.2kbps, transmission distance is 100m; at 19.2kbps, up to 1000m. Termination resistors of 120Ω are required at both bus ends, using daisy-chain topology
- RS232: Used for PC connection and debugging. Drive-side RJ45 pins 6(TXD)/7(RXD)/8(GND) correspond to PC DB9 pins 2/3/5
- CAN: Supports CANlink (with axis control function) and CANopen protocols
4. Control Modes and Commissioning
4.1 Control Mode Overview
The SV630 series supports multiple control modes, selected via parameter H02.00, with mode switching capabilities:
| H02.00 Value | Control Mode | Description |
|---|---|---|
| 0 | Speed control | Controls motor speed via internal command, analog voltage, or multi-segment speeds |
| 1 | Position control | Precise positioning via pulse command or internal position command |
| 2 | Torque control | Controls motor output torque |
| 3 | Position/Speed switching | Switched via external DI signal |
| 4 | Speed/Torque switching | Switched via external DI signal |
| 5 | Torque/Position switching | Switched via external DI signal |
| 6 | Torque/Speed/Position switching | Three-mode switching |
4.2 Position Control Mode
Position control mode (H02.00=1) is the most commonly used mode for SV630. The core parameter setup process is as follows:
- Position command source (H05.00): Set to 0 for pulse command input; other values select internal position commands (multi-segment position or interrupt fixed-length)
- Pulse command format (H05.01): Select from direction+pulse, A/B quadrature, or CW/CCW pulse
- Electronic gear ratio: Range 0.0262144 ≤ B/A ≤ 1,048,57.6, converts input pulses to encoder unit displacement. If the ratio exceeds limits, fault Er.B03 is triggered
- Positioning completion width (H05.20): Sets the position deviation threshold below which positioning is considered complete, range 1~65535 encoder units
- Position deviation excessive threshold (H0A.10): When position deviation absolute value exceeds this threshold, fault Er.B00 is triggered
The position control mode supports homing function. When servo enable is ON and homing is triggered, the motor actively searches for the zero point. Encountering a limit switch during homing triggers Er.950 (positive overtravel) or Er.952 (negative overtravel) warning. Homing timeout triggers Er.601 fault.
4.3 Speed Control Mode
Speed control mode (H02.00=0) provides five speed command sources via parameter H06.02:
- Digital command (internal speed command via H06.03)
- Analog voltage input (AI1 channel, -10V~+10V, only -PS models)
- Multi-segment speed command (16 internally stored speeds, selected via DI combination)
- JOG operation
- Communication command
In speed control mode, H06.17 sets the speed arrival judgment threshold, and H0A.08 sets the overspeed fault threshold. When actual motor speed exceeds H0A.08, fault Er.500 (motor overspeed) is triggered. The zero-clamp function (FunIN.12: ZCLAMP) maintains position lock when the speed command amplitude falls below a set value.
4.4 Gain Adjustment
SV630 gain adjustment follows the sequence: “Inertia Identification → Auto Gain Tuning → Manual Gain Adjustment”:
4.4.1 Inertia Identification
The load inertia ratio (H08.15) is a critical servo system parameter that can be automatically identified through offline or online methods:
- Offline inertia identification (H0d.02): The motor rotates via panel operation without upper controller intervention. Supports forward-reverse triangular wave mode (H09.05=0) and JOG mode (H09.05=1). Ensure the motor has at least 1 full rotation of travel in both directions with limit switches installed before identification
- Online inertia identification: The upper controller sends commands; the drive calculates the inertia ratio in real-time as the motor moves
Identification conditions: motor maximum speed above 150rpm, acceleration/deceleration above 3000rpm/s, stable load torque, actual load inertia ratio not exceeding 120x.
4.4.2 Auto Gain Tuning
The SV630 provides 5 auto-tuning modes (H09.00). Simply set the rigidity level (H09.01) to automatically match gain parameters:
- H09.00=1 (Standard rigidity table mode): Automatically updates H08.00 (speed loop gain), H08.01 (speed loop integral time constant), H08.02 (position loop gain), and H07.05 (torque command filter time constant)
- H09.00=2 (Positioning mode): Updates both first and second gain parameters and automatically enables gain switching
- H09.00=3/4/6: Automatically suppresses vibration and identifies inertia within 5 minutes of power-on or rigidity level change, then exits automatically
Rigidity level reference: Levels 1-11 for low-rigidity applications such as belts; levels 12-18 for medium-rigidity mechanisms; levels above 18 for high-rigidity applications such as ball screws and direct-coupled systems.
4.4.3 Manual Gain Adjustment
When auto-tuning does not achieve the desired results, manually fine-tune the following core gain parameters:
| Parameter | Name | Adjustment Principle |
|---|---|---|
| H08.00 | Speed loop gain | Increase to speed up positioning and improve tracking; decrease if noise occurs |
| H08.01 | Speed loop integral time constant | Recommended: 500 ≤ H08.00×H08.01 ≤ 1000; set to 512.00ms to disable integral action |
| H08.02 | Position loop gain | Ensure speed loop bandwidth is 3~5 times the position loop bandwidth |
| H07.05 | Torque command filter time constant | Cutoff frequency should be at least 4x the speed loop bandwidth |
| H08.15 | Load inertia ratio | Correct setting is the prerequisite for gain adjustment |
4.5 Vibration Suppression
The SV630 is equipped with 4 notch filters (50Hz~4000Hz), 2 of which are adaptive. When increasing gain causes mechanical resonance, notch filters can suppress it. Additionally, low-frequency resonance suppression filters and torque disturbance observer functions are available to reduce system vibration.
5. Fault Diagnosis and Alarm Codes
5.1 Fault Classification System
The SV630 series classifies faults and warnings into three major categories, with different reset methods:
| Category | Description | Reset Method |
|---|---|---|
| Type 1 (NO.1) Non-resettable | System-level severe faults, cannot be reset conventionally | Replace drive or contact technical support |
| Type 1 (NO.1) Resettable | Severe faults, recoverable via power cycle or fault reset signal | Power cycle or DI fault reset |
| Type 2 (NO.2) Resettable | General faults, recoverable via fault reset signal | DI fault reset or power cycle |
| Type 3 (NO.3) Warning | Non-stopping warnings, operation continues but attention required | Auto-recover when condition clears |
5.2 Common Fault Code Reference
5.2.1 Type 1 Non-resettable Faults
| Code | Fault Name | Common Cause |
|---|---|---|
| E101.0 | System parameter abnormal | Control power voltage dip, power loss during parameter write, parameter out of range after software update |
| E102.0 | FPGA communication establishment error | MCU cannot establish normal communication with FPGA |
| E102.8 | FPGA/MCU version mismatch | Firmware version inconsistency |
| E104.1 | MCU operation timeout | MCU watchdog or communication exception |
| E120.0 | Unrecognized encoder type | Motor ID does not exist or encoder model mismatch |
| E201.0 | P-phase overcurrent | Power module overcurrent |
| E210.0 | Ground short detection | Output side ground short circuit |
| E740.0 | Encoder communication timeout | Encoder communication interrupted |
5.2.2 Type 1 Resettable Faults
| Code | Fault Name | Recommended Action |
|---|---|---|
| E150.0 | STO safe state | Check STO input signals |
| E400.0 | Main circuit overvoltage | Check if supply voltage is too high; verify brake resistor configuration |
| E410.0 | Main circuit undervoltage | Check if supply voltage is too low or phase loss |
| E500.0 | Motor overspeed | Check H0A.08 overspeed threshold and command speed |
| E620.0 | Motor overload | Check if load is excessive; adjust H0A.04 overload protection gain |
| E630.0 | Stall motor overheat protection | Check for mechanical jam; adjust H0A.32 stall overheat protection time |
| E640.0 | Inverter IBT junction overheat | Check cooling conditions; reduce load or ambient temperature |
| E650.0 | Heatsink overtemperature | Check fan operation and ventilation |
| E660.0 | Motor overtemperature | Check motor cooling and load conditions |
| E939.0 | Motor power line break | Check U/V/W power cable connections |
5.2.3 Type 2 Resettable Faults
| Code | Fault Name | Recommended Action |
|---|---|---|
| E122.1 | DI function duplicate assignment | Check H03 group parameters; ensure unique DI function assignment |
| E420.0 | Main circuit phase loss | Check three-phase power input integrity |
| E430.0 | Control power undervoltage | Check L1C/L2C control power voltage |
| E661.0 | STune adjustment failure | Check mechanical conditions; retry auto-tuning |
| E731.0 | Encoder battery failure | Replace encoder battery; set H0D.20=1 to reset encoder fault |
| E735.0 | Encoder multi-turn count overflow | Can be masked via H0A.36 |
| EB00.0 | Excessive position deviation | Check H0A.10 threshold; verify load and gain parameters |
| EB03.0 | Electronic gear ratio out of range | Recalculate and set electronic gear ratio parameters |
| ED02.0 | Modbus communication timeout | Check communication cables and parameter settings |
| ED04.0 | CANopen communication timeout | Check CAN bus and communication configuration |
5.2.4 Common Warning Codes
| Code | Warning Name | Description |
|---|---|---|
| E900.0 | Emergency stop | DI emergency stop signal active; zero-speed stop with position lock |
| E909.0 | Motor overload warning | Load approaching overload threshold; reduce load or adjust protection parameters |
| E941.0 | Parameter change requires power cycle | A parameter requiring restart was modified; power cycle to activate |
| E950.0 | Positive overtravel warning | Positive limit switch triggered |
| E952.0 | Negative overtravel warning | Negative limit switch triggered |
| E730.0 | Encoder battery voltage low | Battery voltage below 3.0V; replace battery |
| E991.1 | SIGN pulse connection error | SIGN+ connected to 24V without current-limiting resistor; check wiring |
5.3 Fault Diagnosis Procedure
When a fault occurs, follow these diagnostic steps:
- Read fault code: The panel automatically switches to fault display mode; record the “Er.XXX” code and sub-code
- Review fault history: Use H0b.33 to select the fault index (0~9); H0b.34 displays the corresponding fault code. Up to 10 recent faults can be reviewed
- Analyze fault cause: Cross-reference the fault code table to confirm the mechanism and possible causes
- Investigate and confirm: Follow the confirmation methods in the fault handling guide — measure power voltages, check wiring, review parameter settings, etc.
- Resolve and reset: After eliminating the fault, reset via DI fault reset signal (FunIN.4: ALM-RST) or power cycle
6. Maintenance
6.1 Routine Inspection
To ensure long-term stable operation of the SV630 servo drive, the following inspection items are recommended on a regular basis:
- Operating environment: Verify cabinet temperature does not exceed 55°C, humidity is below 90% RH (non-condensing), and no dust or oil contamination is present
- Cooling system: SIZE C and above use forced air cooling — periodically verify fan operation and ensure heatsinks are free of dust accumulation
- Wiring inspection: Periodically check main circuit and control terminal screws for looseness and cable insulation for damage. Tightening torque must follow specification — SIZE E models require 1.36 N·m
- Power voltage check: 220V drive control power should be 198V~264V RMS; 380V drive should be 342V~484V RMS
- Motor insulation check: Periodically measure motor winding insulation resistance to ensure adequate insulation performance
6.2 Encoder Battery Maintenance
The SV630 uses an 18-bit multi-turn absolute encoder that requires a battery to retain multi-turn data. When battery voltage drops below 3.0V, the drive issues Er.730 (encoder battery warning), prompting battery replacement. The replacement procedure:
- Replace the battery while the servo is powered on to prevent multi-turn data loss
- Use the specified battery model, observing correct polarity
- After replacement, the drive automatically clears the Er.730 warning
- If the battery is replaced while the servo is powered off, Er.731 (encoder battery fault) will occur on re-power with multi-turn data discontinuity. Set H0D.20=1 to reset the encoder fault, then reconfigure the absolute position system
6.3 Scheduled Maintenance Recommendations
| Maintenance Item | Interval | Notes |
|---|---|---|
| Cooling fan | Every 6 months or as environment dictates | Replace promptly if abnormal noise or non-rotation detected |
| Terminal screw tightening | Every 12 months | Use torque tools to specified values |
| Filter capacitors | Approximately 5 years (varies with conditions) | Capacitance degrades with aging; contact manufacturer for replacement |
| Encoder battery | Approximately 2-3 years or when Er.730 occurs | Replace while servo is powered on |
| Cable appearance | Every 12 months | Check insulation for damage or aging |
7. Conclusion
The SV630 series servo drive, as Inovance Technology’s standard-type servo product, provides a cost-effective motion control solution for industrial automation equipment through its flexible multi-mode control, comprehensive parameter system, and robust fault protection mechanisms. This article has systematically covered the essential usage aspects of the standard SV630 model — from product overview, panel operation, and wiring specifications to control mode commissioning, fault diagnosis, and maintenance — with emphasis on H02.00 control mode selection, H05/H06/H07 control parameter groups, the H08/H09 gain adjustment workflow, and the meanings and handling of key fault codes from E101 through EB03.
In practical applications, engineers are advised to optimize parameters based on a thorough understanding of the product manual and specific operating conditions. During gain adjustment, strictly follow the “inertia identification → auto-tuning → manual fine-tuning” sequence to avoid system oscillation caused by blindly increasing gains. For fault troubleshooting, make effective use of H0b group monitoring parameters and historical fault records to accurately identify root causes. Through proper installation and wiring, scientific parameter commissioning, and regular maintenance, the SV630 series servo drive will provide long-term, reliable precision motion control for automation equipment.