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DS2 series servo drive

1. B 052 220 0 052 20 0 3 phase 220V 50 60Hz FIL ex LS LI U 12 i 22 L3 Regenerative P resistor PB ena PE Well operate with the shield wire 7 EX gt cx JPULPCNO I EL Shield layer s E 2 2502 CS Bo connects to OV _ DIR4CN0 4 vat at signal side EE Tor Encoder be vacant at s 0 signal drive side 3 output FN ENI GND 24VIN CNO 9 3 3K 9 Servo enable ON S ON CNO 4 Servo enables when ON CNO 8 Alarm reset ALM RSTCNO 5 pi va COIN Clear the alarm when ON EUM 24VIN CNI S TT CRO ALM The outputs Forward prohibit CNI 7 can be Forward prohibit when OFF 1 s CNI 1 SOM Self defined oH lt amp Reverse prohibit INOT CNI2 ET S RDY Reverse prohibit when OFF ro 2 CNI 6 s gt lt COM Speed selection ISPD A CNI 3 Fh Speed selection SPD B CNI 4 lt 3 5 Communication Port 3 5 1 Serial Port 1 COM1 COMI supports RS232 and is often used to connect with PC for debugging DS2 20P2 DS2 20P4 DS2 20P7 052 2 52 2 Pin Name Explanation 1 TXD RS232 send l 5 2 RXD RS232 receive 5 pin port 3 GND RS232 ground
2. DS2 20P2 DS2 20P4 DS2 21P5 DS2 20P7 CNI CN CNI DBI5 PUL 1 A cR B PUL OM O1 PUL Vit DIR DIR SI1 DIR 2 O SI2 si 1 511 O15 O5 SO1 SI2 502 24V 10 COM sO 502 12 3 2 2 CNO and CN1 DS2 20P2 DS2 20P4 No Name Description No Name Description DS2 20P7 1 A RS485 6 50 Input terminal 2 2 B RS485 7 24V 24V for input 3 PUL Pulse A pulse signal 8 SOI Output terminal 1 4 DIR Pulse B direction signal 9 SO2 Output terminal 2 5 SII Input terminal 1 10 COM Ground of output DS2 21P5 M one No Name Description No Name Description 1 SOI Output terminal 1 4 COM Ground of output 2 SO2 Output terminal 2 5 A RS485 3 SO3 Output terminal 3 6 B RS485 B No Name Description No Name Description l PUL Pulse A pulse signal 5 SD Input terminal 2 13 DS2 2 DS2 2 DS2 2 DS2 2 P B B 2 DIR Pulse B pulse signal 6 513 Input terminal 3 3 V 24V for pulse terminal 7 SI4 Input terminal 4 4 SII Input terminal 1 8 24V 24V for input B CNO No Name Description No Name Description l PUL Pulse input PUL 7 SII Input
3. Type LA Normal Band type brake MS 180ST M1901500 23P0 232 289 7 2 Servo drivers This section introduces the specification and dimension of servo drive 7 2 1 General specification Servo unit DS2 series 220V servo drive Encoder Incremental encoder 2500 ppr DS2 2o0Pr single phase AC200 240V 50 60Hz Input power DS2 2nPn A 3 phase AC200 240V 50 60Hz DS2 2nPn B 3 phase AC200 240V 50 60Hz Control mode 3 phase full wave rectifier control IPM PWM sine wave current dirve Temperature 0 50 20 85 Using Below 90 RH no condensation Vibration Ampact 4 9m s 19 6752 resistance Structure Base installation 75 7 2 2 Performance specification 1 DS2 20P4 Servo drive type DS2 20P2 DS2 20P7 DS2 21P5 DS2 20Po A DS2 2uPr B 2 Speed control range 1 4000 the lower limit of speed control range not stop at rated load torgue 8 0 100 load below 0 01 rated speed E 5 Sposi Voltage change E change E Rated voltage 10 0 rated speed S rate amp EISE Temperature 55 5 sec below 0 1 rate
4. Power supply input servo motor terminals CN2 To connect the encoder on the servo motor B 052 20 0 052 20 0 POWER LED Turn on when the drive power on G CHARGE LED Turn on when main circuit power on Do not touch the servo when LED is ON after power off because there are charges in the capacitance Panel display To show the servo state alarm parameters Output terminal Command or seguence output Power supply and motor power Power supply input and servo motor power terminal COMI 5 pin port debug with PC communicate with HMI PLC and other devices DIP switch STA ESC INC DEC ENTER 000 Aye 9 9 9 E ibe 1 FI Sd Elle EI sh EJ e XONIE Panel To set the parameters Command and sequence input CN2 To connect the encoder on the servo motor For internal updating 2 Installations This chapter describes precautions for servomotor and servo driver installation 2 1 Servomotor MS series servomotors
5. Host device servo drive 24 t PuL o Ko BUI YO 3 V1t E 4 R 2 2KQ _ 14 DIR UA vi ZN NU 44 BDIRL Je V R 2 2K ovi Shield layer J When the host device is open collector output PUL 2 and DIR 5 must be vacant Differential output power supply is 5V Host device servo drive PUL PUL 1 PUL A 2 PUL 3 V1 R 2 2K Q 4 DIR UN Z 57 5DIRt 125 U v i 2 gt DIR DIR K oV Shield laye When the host device is 5V differential signal output V1 3 and V2 6 must be vacant 16 The interface with the input circuit Use relay or open collector transistor circuit to connect Please choose micro current relay when using relay Otherwise the contact will be not good Open collector output 24V power supply Relay output 24V power supply Host device servo drive Host device servo drive 24 24V 24V 24V te RN N ov Si LE OS 1 ov Si R 2 2KQ R 2 2KQ Y2 2 COM2 COM2 Notes the max allowable voltage and current of open collector output Voltage
6. 14 13 11 B CN2 Connector Terminal Description Encoder Side On Motor Encoder Side On Motor Driver Driver 60 80 90 110 130 180 Name Nije 60 80 90 110 130 180 Name series series series series 1 9 4 A 2 4 5 B 3 7 6 Z 4 6 10 U 5 11 12 W 6 13 7 A 7 14 8 B 8 5 9 Z 9 8 13 U 10 15 15 W 11 1 1 Shield 12 3 3 GND 13 2 2 5V 14 10 11 V 15 12 14 V 3 4 Standard connection examples This chapter explains the standard connection examples as the spec and control type The I O signals used on input and output terminals are assigned by default This assignment could be changed in various conditions Please refer to 5 12 18 Besides the control signal wires must connect to the ground the ground method is shown as below The shield method of control signal wires Host device Servo DIR K A CDIRH PUL PULA 1 V2 S11 3 4 1 Position Control Mode DS2 20P2 DS2 20P4 and DS2 20P7 single ground the shield layer Single phase AC 220V 50 60Hz _ dem Regenerative resistor U Com y FIL 5
7. 5 6 3 Input signal setting Switch the running speed by below input signal mode 1 SPD D SPD A SPD B can be distributed to input signal by parameter P5 17 P5 18 P5 19 Refer to chapter 5 12 1 2 When the running mode is 5 6 SPD D auto switch to origin setting SPD A auto switch to forward finding reference origin SPD B auto switch to reverse finding reference origin 1 Function realization Input signal Direction Running speed SPD D SPD A SPD B Forward Internal speed is zero P3 01 SPEED 1 P3 02 SPEED2 Reverse Internal speed is zero P3 01 SPEED 1 P3 02 SPEED2 l l 0 0 TNIH tm W 01 56 E mo oo Note 1 SPEED1 SPEED2 SPEED3 switch as 01 11 10 but not 01 10 11 This can avoid the speed become zero at the space time of signal switching 2 Please differ the signal state from terminal state 2 Running example Speed 3 SPEED3 Speed switching will be excuted P3 05 P3 06 soft 4SPEED2 start time Speed 1 SPEED1 SPEED1 5 2 3 7 Speed control pulse freguency command Basic parameter Parameter Name Reference P0 01 Control mode selection P5 10 Servo ON signal S ON 5 2 1 P2 00 Pulse command form P2 06 Command pulse freguency at rated speed 5 7 3 Other parameters 5 5 5 Speed 5 5 7
8. When the servo motor operates in generator mode power is returned to the servo driver side This is called regenerative power The regenerative power is absorbed by charging the smoothing capacitor but when the capacitor s charging limit is exceeded the 22 regenerative power needs to be reduced by the regenerative resistor The servomotor is driven in regeneration generator mode in the following conditions gt While decelerating to a stop during acceleration deceleration operation gt With a load on the vertical axis gt During continuous operation with the servomotor driven from the load side negative load Connecting Regenerative Resistors Connect an external regenerative Servo Drive resistor between P and PB Regenerative resistor Pt PB a External regenerative resister prepared by user Note Adeguate cooling must be provided for regenerative resistors because they reach very high temperatures Also use heat resistant non flammable wire and make sure that the wiring does not come into contact with the resistors Motor model suggested resistor MS 60ST M00630 MS 60ST M0133000 MS 80ST M02430 MS 90ST M02430 MS 110ST M04030 MS 110ST M05030 MS 130ST M06025 MS 130ST M07725 MS 130ST M10015 MS 130ST M15015 MS 180ST M19015 Note The Recommended Power means that the value may be suitable to most applications Nervertheless in real conditions actual power could be more or less than
9. Mm g oo ENS FS Kal S I S c rn KJ J pa o BLS c cmm 77 B 052 20 0 052 20 0 unit mm O S s 02000000000 212 54 CTI 161 3 Cd E 1 8 Alarm Information This chapter describes the alarm information of DS2 series servo drivers Alarm Code Description Reason Solution Re download the program or E 001 Program damage program self test failed contact Xinje or an authorized distributor Parameter self test Restart the drive to reset the parameters If it occurs for many opnar failed times please contact Xinje or an authorized distributor Power grid is over votage or need a ti istor heck th id t E 008 B siovercvollae regenerative resistor Check the power grid connect the regenerative resistor and check the regenerative resistor damage or its value is too large E 004 Bus under Power grid is under IE grid voltage votage E 005 Regenerative Regenerative re
10. 4 L oj 50 ma ed ue Well operate with the shield wire gas 2 CN1 syrtes PUL 1 Bii 3 3K9 2 Shield layer E connects to OV Positioning finished at signal side S 0N 5 9 ALM The outputs ie brun at NLN RSE BL Yi Alarm output can be rive side defi ian 10 coy self defined 24V IN gt 19 B 052 21 5 single phase AC220V 50 60Hz 1 RSEN i Me i 2 U T L 2 amp 7 D S CN2 i pg 12 SE den E regenerative be sure to properly resistor operate the end of the PB shield wire CN1 n PUL Shield layer s AT connects to OV at SIGN CNO positioning signal side be 7 gecl DM completed vacant at drive side Vocr 24VIN3 gt COIN 2 ALM S ON 4 yt alarm output User defined 3 3KO 3 S RDY ALM RST5 Vs ready mas 4 si COM cs 5 Nc oN ioe DOC 20
11. 53 5 5 7 5 Output torque up to limit value signal 54 OO AA NA etm S AE EEA RE e bd 54 323 9 A ER AO SE O META D M E 54 5 5 10 Speed command input dead voltage 55 5 6 Speed control internal speed 55 2 01 Control mode selection e 56 5 6 2 Internal speed setting sided van neis 56 556 3 SEDE oi anre ea do 56 5 7 Speed control pulse frequency 57 5 7 1 Control mode selection i eee tee e eter eite d retia 58 5 7 2 Pulse frequency COMMA cs seo se cou etra eos etse bead aua 58 5 7 3 Command pulse frequency at rated speed 58 5 7 4 Speed command pulse filter time 58 5 8 Torque control analog voltage 58 2 01 Control Mode selee lobi ese m na pn d me eeu a 59 5 8 2 The analog value of rated torque 59 5 8 3 Torque command offset autoadjustment F1 04 59 5 8 4 Torque command filter time Sa cr atre a 59 2 5 OPUS et Ep E e 60 5 8 5 1 Internal BE
12. 21 Note 1 Please use the cable provided by Xinje company 2 the types in the table cannot use RS232 COMI and RS485 2 at the same time The communication parameters of COM1 and COM2 will be changed at the same time B DS2 21P5 Number Name Description 2 UPGRADE Self Upgrade 4 RXD RS232 receive 5 TXD RS232 send 8 GND RS232 ground 8 pin DB port 3 5 2 Serial Port 2 COM2 Communication parameters of COM2 can be set via 0 04 It supports Modbus RTU communication Parameter Name Default Setting Range Number P0 04 0 Baud rate 6 0 300 1 600 2 1200 3 2400 4 4800 5 9600 6 19200 7 38400 8 57600 9 115200 P0 04 1 Data Bits 0 0 8 bits P0 04 2 Stop Bits 2 0 2 bits 2 1 bit P0 04 3 Parity 2 0 No Parity 1 Odd Parity 2 Even Parity Modbus station number can be set freely depending on the following parameter 2 Name Unit Default Setting Range P0 03 Modbus Station Number 1 1 255 Note Parameters above will take effect after repower on 2 of all the types Type COM2 Remark DS2 20P2 DS2 20P4 a oo RS485 The communication port on CN1 cannot be used with DS2 20P7 5 pin ladder port at the same time A CNO 5 DS2 21P5 B CN0 6 RS485 DS2 20Po A DS2 20Po B A CNI 14 RS485 The communication port on CNI cannot be used with CNI 15 5 pin ladder port at the same time 3 6 Regenerative Resistor
13. P0 06 H 8 Speed 2 86 2 96 Direction CCW Direction CW Z signal quantity Z signal quantity P2 94 P2 94 Reference origin of forward side Reference origin of reverse side The timing diagram of finding reference origin of forward side SPD A P OT 7 A 8 2 95 252 2 94 2 96_ in Steps 1 Install limit switch at forward and reverse side At the rising edge of SPD A motor runs forward at the speed of P2 95 to find the reference origin of forward side 2 After the working table hit the limit switch the motor stop as the mode set by parameter P0 06 H 3 Motor leaves the limit switch at the speed of P2 96 After the working table left the limit switch the motor run at the Z phase signal position of No n optical encoder This position is considered as the coordinates origin n is decided by parameter P2 94 2 Define the reference origin Function In external pulse command postion mode mode 6 and internal position mode mode 5 define the current position as the reference origin at the rising edge of SPD D Signal setting mode 5 17 SPD D Input n 0000 Need 3 5 6 Any Re power distribute on 1 SPD D can be distributed to input terminal by P5 17 Refer to chapter 5 12 1 2 In internal speed mode mode 3 SPD D auto switch to the direction select signal of i
14. 94 The signal guantity pass Z A 2 1 F Hex 5 4 7 XXX phase signal at the direction of leaving the limit switch 95 The speed of closing the 0 1rpm 600 0 50000 o 5 4 7 proximity switch 96 The speed of leaving the 0 1rpm 100 0 50000 o 5 4 7 proximity switch P3 speed control Modbus address 0300 03FF P3 Name Unit Default Range Effective Chapter 00 Analog value of rated 0 01V 1000 150 3000 o 5 5 2 speed 01 Internal setting speed 1 rpm 100 5000 5000 V 5 6 2 02 Internal setting speed 2 rpm 200 5000 5000 V 5 6 2 03 Internal setting speed 3 rpm 300 5000 5000 5 6 2 04 JOG speed rpm 100 0 1000 V 4 4 2 05 Soft start acceleration time 1ms 0 0 65535 o 5 5 8 06 Soft start deceleration time 1ms 0 0 65535 o 5 5 8 07 Speed command filter 0 01ms 0 0 65535 o 5 5 9 time 08 Speed feedback filter time 0 01ms 20 0 65535 o 5 5 9 09 Max speed limit MAX rpm Different for 0 5000 5 8 5 10 Speed command input 0 01V 0 0 100 o 5 5 10 dead area voltage P4 torgue control Modbus address 0400 04FF P4 Name Unit Default Range Effective Chapter 00 Analog value of rated torque 0 01V 1000 150 3000 o 5 8 2 01 Torque command filter time 0 01ms 0 0 65535 o 5 8 4 02 Forward torgue li
15. DS2 21P5 A DS2 21P5 B 3 phase 220V MS 110ST M04030 21P2 MS 110S T M05030 21P5 MS 130ST M06025 21P5 MS 130ST M10015 21P5 MS 130ST M07725 22P0 0043 DS2 22P3 A 3 phase 220V MS 130ST M15015 22P3 0046 DS2 22P3 A 3 phase 220V MS 180ST M19015 23P0 0052 DS2 23P0 A 3 phase 220V 1 2 Product Part Names 1 2 1 Servomotors Encoder part Frame Flange Output transmission shaft 1 2 2 Servo Drivers B DS2 20P2 052 20 4 DS2 20P7 COMI 5 pin port for RS232 communication POWER LED Turn on when the drive power on CHARGE LED Turn on when main circuit power on Do not touch the servo when LED is ON after power off because there are charges in the capacitance Panel display Show the servo state alarm and parameters Panel keys To set the parameters CN2 To connect the encoder on the servo motor CNI Command and sequence input signal RS485 communication Power supply and servo motor terminals Power supply input servo motor terminals B DS2 21P5 POWER LED Turn on when the drive power on CHARGE LED Turn on when main circuit power on Do not touch the servo when LED is ON after power off because there are charges in the capacitance Panel display To show the servo state alarm parameters Panel keys To set the parameters COM2 Connect to PC HMI PLC CNO Command and sequence output CNI Command and seguence input Power supply and servo motor terminals
16. lt IMIE DS2 series servo drive User manual Xinje Electronic Co Ltd Serial No SC02 20101119 1 0 copyrights reserved by Xinje Electronic Co Ltd Any copying transferring or any other usage is pro hibited Otherwise Xinje will have the right to pursue legal responsibilities All rights including patent and pemission of modules and designs are reserved January 2010 Safety Precautions Be sure to review this section carefully before use this product In precondition of security wire the product correctly The following defines the symbols used in this manual to indicate varying degrees of safety precautions and to identify the corresponding level of hazard inherent to each Failure to follow precautions provided in this manual can result in serious possibly even fatal injury and or damage to the persons products or related equipment and systems CAUTION Indicates a potentially hazardous situation which 1f not heeded could result in death or serious injury WARNING Indicates a potentially hazardous situation which if not avoided may result in minor or moderate injury Checking Products upon Delivery 1 DO NOT install any driver which is damaged lack of accessories or not the same with the model ordered Doing so may result in electric shock Installation 1 Cut off external power supply before installation Not doing so may result in electric shock 1 Always use th
17. 2 torque analog 3 speed command 4 speed analog 5 position internal 6 position pulse 7 speed pulse 02 Submode2 0 0 7 o 5 1 0 7 same as submode 1 03 Modbus station of serial port 2 l 1 e 3 5 2 255 04 Parameter of serial port 2 n 2206 n 0000 3 5 2 2209 05 Rotation direction selection 0 1 5 2 2 06 06 L stop mode when servo OFF or alarm 2 0 2 e 5 2 4 DS2 series default is inertia stop Keep the inertia motion after stop 06 H over range OT stop mode 2 0 3 e 5 2 3 0 1 inertia stop Keep inertia motion after stop 2 deceleration stop Change to zero clamp after stop Torque P4 06 urgent stop torque 3 deceleration stop Change to inertia motion after stop Torque P4 06 urgent stop torque 07 T REF distribution 0 0 3 o 5 5 7 0 undefined 1 make T REF as external torque limit input 2 undefined 3 when P CL N CL is ON make T REF as external torque limit input 08 V REF distribution 0 0 1 o 5 8 5 0 1 make V REF as external speed limit input P1 control parameters Modbus address 0100 01FF P1 Name Unit Default Range Effective Chapter 00 The gain of speed loop 1Hz 100 1 5000 V 6 1 1 01 Speed loop integ
18. 43 5 4 Position mode internal position 44 5 4 1 Control mode selection seca ce eae own 44 5 4 2 Internal position given 44 5 4 3 Position parameters from segment 1 to 16 47 5 4 4 Change step 222 2 1 212 2 010 4 4 2 47 5 4 5 Pause current signal 47 5 4 6 Skip current signal 48 5 4 7 Reference OI 48 5 5 Speed control analog voltage command 50 5 5 1 Control fiode selee On o we 50 5 5 2 Analog value of rated speed 50 5 5 3 Speed command offset auto adjustment 1 03 51 5 5 4 Proportion action command 51 5 5 5 Zero clamp ZCDANMDP yo esed ete et o reed 51 5 5 6 Speed coincidence checking V CMP sse 52 3524 Torque MI ence o ntc EH Gea deae je x vestit dejanja 52 5 5 7 1 Internal torque limit output torque max value limit 52 5 5 7 2 External torque limit via input signal 22 5 5 7 3 External torque limit via analog voltage command 53 5 5 7 4 External torque limit via external input analog voltage
19. A phase pulse PUL 5 3 2 PUL P2 00 2 pulse DIR P2 00 1 B phase pulse DIR P2 00 2 i dit cti 5 3 2 DIR 00 2 pusle direction sign B Output Signals Class Name Functions Reference chapter Digital Output SO1 S03 Multi functions Output Terminals 5 12 2 Notes the control signal must be grounded please refer to chapter 3 4 3 2 4 Interface Circuits This section shows examples of servo driver I O signal connection to the host controller The interface with the command input circuit 1 Analog input circuit 052 20 0 052 20 0 10 Host device servo drive 11 T REF 12 V REF R 13KQ _ 13 GND OV 2 Position command input circuit The analog signal is speed command or torgue command The input impedance is shown as below speed command input about 13K torque command input about 13K max allowed voltage of input signal 10V 15 DS2 20P2 DS2 20P4 DS2 20P7 DS2 21P5 DS2 2uP DS2 2uP Open collector output power supply is 24V servo drive Host device 4 4 COMO Shield layer oV Open collector output power supply is 24V
20. Deceleration ratio 2 1 Deceleration ratio 3 1 2500x4 1 B _ 250004 3 B 2500x4 2 6000 1 A 3600 1 A 15700 5 P2 02 10000 5 2 02 30000 25 P2 02 20000 200 P2 03 6000 2 03 3600 3 P2 03 15700 157 5 3 4 Position command filter The servo can filter the command pulse at certain frequency Filter mode selection select the filter as the following parameters Select the position command filter Unit Default Range Suitable mode Modify Effective 0 0 1 6 7 Servo OFF Re power on 41 Select 1 time delay feature or moving average filter P2 01 MM First order inertia filter Smooth filter Set the filter time Position command filter time parameters Unit Default Range Suitable mode Modify Effective ms 0 0 100 6 7 Servo OFF Re power on Addition The comparison of P2 04 in First order inertia filter and smooth filter mode First order inertia filter Smooth filter Before filter After filter 5 3 5 Pulse error clear CLR Pulse error the difference between command pulse of controller such as PLC and feedback pulse of servo in position mode Its unit is 1 reference unit it is related to the reference unit of electronic gear ratio Parameter Signal Default Meaning Suitable Modify Effective mode P5 24 CLR n 0000 Need distribution on Notes 1 CLR can be used as input terminal please ref
21. but the actual motor speed is max speed Then the pulse offset will accumulate servo will show E 010 alarm 5 8 5 2 External speed limit Limit the speed output of torque control mode by the analog voltage command input from V REF terminal Modify P0 08 V REF function 1 V REF as external Servo stop Immediately distribution speed limit input 1 The analog voltage has no polarity The absolute value of the voltage is suitable for forward and reverse direction 2 The parameter value is related to voltage command and P3 00 when it is used as speed limit value For example P3 00 500 voltage of rated speed is 5 0V T REF voltage command is 1 0V the speed limit is 2096 of rated speed 3 P0 08 1 the actual limit value is the smaller value among V REF speed limit input and P4 07 5 8 5 3 Speed up to limit value output mode distribute on 1 if the motor speed is up to speed limit value in torque control mode it will output VLT signal 2 VLT can be distributed to output terminal via parameter P5 33 Refer to chapter 5 12 3 5 8 6 Torque command input dead area voltage P4 10 Torque command input dead area voltage Suitable mode Modify 00IV 0 0 100 Servo OFF Immediately Note if the input torque command voltage is smaller than this parameter the torque command is 0 60 5 9 Torque control internal setting Basic parameter Other parameters Speed limit 5 8 5 5 9 1 Contr
22. switc servo N OT drive 34 2 Set the overtravel signal 5 12 P OT Any Repower on n 0003 SI3 OFF prohibit the forward running default value id terminal The setting method is the same as P OT 1 P OT N OT can be changed to other terminal input via parameter P5 12 and P5 13 Please refer to chapter 5 12 1 2 In position control there is position offset pulse when stop the motor via overtravel signal Please input clear signal CLR to clear the offset 3 In position control if the servo still can receive pulse when stop the motor via overtravel signal these pulses will accumulate until the servo alarm Notes below is the default setting of P OT and N OT for each type DS2 20P4 DS2 20P4 B P5 12 n 0000 DS2 20P7 DS2 20P7 B P5 13 n 0000 DS2 21P5 B E AU P5 12 n 0003 DS2 20P7 A DS2 21P5 P5 13 DS2 21P5 A As the output terminals are different from each type the default setting will be different n 0004 3 Motor stop mode when use overtravel signal When use overtravel signal please set the motor stop mode as the below table range use overtravel signal OFF on P0 06 H value Explanation 0 1 Inertia stop Keep on inertia motion after stop Torque setting P4 06 urgent stop torque Torque setting P4 06 urgent stop torque Notes 1 P0 06 H 0 1 servo enable signal will be forced OFF when overtravel signal arrives P0 06 H 3 servo enable signal will be forced OFF after motor stop
23. 2 5 33 5 2 1 Servo ON setting When servo ON signal is ineffective the servo motor cannot run P5 10 S 0N n 0001 When 511 is ON servo motor Any Repower default powers on and enables to run on value n 0010 Always effective no need to S ON signal can be set to other input via parameter P5 10 please refer to chapter 5 12 1 5 2 2 Switch the motor rotate direction Change the motor rotate direction without changing the motor wiring The standard forward rotate direction is CCW rotate look at the load side Reverse mode will change the motor rotate direction Standard setting CCW is forward rotate Reverse mode is forward rotate Setthe rotate direction P0 05 0 default Standard setting CCW is forward on Reverse mode CW is forward After changing the direction the servo received signal is negated but it will not affect the direction of P OT and N OT 5 2 3 Overtravel Limit P OT amp N OT The limit switch can prevent the moving part on the machine out of the setting range When the limit switch is connected to the servo and enabled the servo will forced stop 1 Use the overtravel signal Please connect P OT and N OT to the limit switch Make sure to wiring as the following diagram when linear driving to avoid machine damagement Reverse Forward side side Servo motor limit limit switch
24. LA Normal Band type brake MS 60ST M00630c0 20P2 102 145 MS 60ST M0133000 20P4 146 189 B Dimensions of 80 series servo motors unit mm 72 Type LA Normal Band type brake MS 80S T M02430na 20P7 150 191 B Dimensions of 90 series servo motors unit mm 0802 LA 1354 fe LA Normal Band type brake MS 90S T M02430na 20P7 149 194 73 B Dimensions of 110 series servo motors unit mm LA 55 9507 0 03 3 1 7 15 504 Normal Band type brake MS 110ST M04030na 21P2 189 263 MS 110ST M05030c0 21P5 204 278 B Dimensions of 130 series servo motors unit mm 57 011017 514 LA Type LA Normal Band type brake MS 130ST M06025c0 21P5 179 236 MS 130ST M10015a00 21P5 213 270 MS 130ST M07725na 22P0 192 249 MS 130ST M1501500 22P3 241 298 130 go 74 B Dimensions of 180 series servo motors unit mm
25. P5 01 Zero clamp speed Speed P5 29 V CMP speed coincidence checking coincidence P5 03 speed coincidence checking signal width checking V CMP Torgue limit P4 02 forward torgue limit 5 5 7 P4 03 reverse torque limit P1 07 T REF distribution P4 04 Forward external torque limit P4 05 Reverse external torque limit P5 15 Forward external torgue limit P CL P5 16 Reverse external torgue limit N CL 5 32 Torgue up to limit value output CLT soft start acceleration time soft start deceleration time Speed command filter time Speed feedback filter time 55 5 6 1 Control mode selection Parameter Set value Meaning Modify Effective P0 01 3 Speed control internal speed selection Servo OFF Immediately Function internal speed selection will set 3 motor speeds and select the speed by external signal It is not need to configure external speed generator or pulse generator Servo unit SPD D v Input SPD A TO SPD B Servo motor Speed selection SPEEDI P3 01 SPEED2 P3 02 No need external speed or SPEED3 P3 03 Run the motor ulse generator at set speed 5 User parameter p 5 6 2 Internal speed setting Internal speed 1 Unit Default Range Suitable mode Effective Irpm 100 5000 5000 3 Immediately Internal speed 2 Unit Default Range Suitable mode Effective Irpm 200 5000 5000 3 Immediately P3 03 Internal speed 3 Suitable mode Modify 5000 5000 Immediately
26. can be installed either horizontally or vertically The service life of the servomotor can be shortened or unexpected problems might occur if it is installed incorrectly or in an inappropriate location Follow these installation instructions carefully ZN CAUTION 1 The end of the motor shaft 15 coated with antirust Before installing carefully remove all of the paint using a cloth moistened with paint thinner 2 Avoid getting thinner on other parts of the servomotor 2 1 1 Storage Temperature Store the servomotor within 20 60 C as long as it is stored with the power cable disconnected 2 1 2 Installation Site MS series servomotors are designed for indoor use Install the servomotor in environments that satisfy the following conditions gt Free of corrosive or explosive gases gt Well ventilated and free of dust and moisture Ambient temperature of 0 to 50 C gt Relative humidity r h of 20 to 80 with no condensation gt Accessible for inspection and cleaning 2 1 3 Concentricity Please use coupling when connecting to machine keep the shaft center of servo motor and machine at the same line It should be accord to the following diagram when installing the servo motor Measure it at 4 places of the circle the difference should be below 0 03mm Rotate NL Measure it at 4 places of the the difference should be below 0 03mm Rotate Note 1
27. coincidence P5 03 Coincidence speed checking signal width checking V CMP P4 03 P1 07 T REF distribution P4 04 Forward external torque limit P4 02 Forward torque limit 57 P4 05 Reverse external torgue limit P5 15 Forward external torgue limit P CL P5 16 Reverse external torque limit N CL P5 32 Torque up to limit value output CLT P3 08 Speed feedback filter time 5 7 1 Control mode selection Parameter Set value Meaning Modify Effective Speed control pulse frequency speed command Function speed command is decided by external pulse frequency but not related to pulse quantity The wiring is the same as position command Select CW CCW mode or direction pulse mode P0 01 7 Servo OFF Immediately 5 7 2 Pulse frequency command Pulse frequency command is the same as external pulse command position control mode 6 refer to chapter 5 3 2 5 7 3 Command pulse frequency at rated speed command pulse frequency at rated speed Unit Default Range Suitable mode Modify Effective 100Hz 5000 1 10000 7 Immediately Note the unit is 100Hz Example 2 06 1000 command pulse frequency at rated speed 100kHz P2 06 300 command pulse frequency at rated speed 30kHz 5 7 4 Speed command pulse filter time P2 07 speed command pulse filter time Unit Default Range Suns mode Modify Effective 0 1ms 0 1000 Servo OFF Immediately When the command p
28. detection speed P5 02 unit rpm Positioning Completed COIN Near NEAR Rotation Detection TGON B The code contents Code Descrption Standby L Servo OFF motor power OFF Run Servo ON motor power Forward Run Prohibited L P OT is OFF Please refer to 5 2 3 Overtravel Limit Reverse Run Prohibited lal N OT is OFF Please refer to 5 2 3 Overtravel Limit 4 3 Monitoring Mode The Monitoring Mode can be used to monitor the reference values I O signal status and servo driver internal status The monitor mode can be set when the motor is running 26 B Using the Monitor Mode Now we take the monitor code U 16 as an example 1 Press the STATUS ESC key to select the monitoring mode LI Ldbg 2 Press the INC or DEC key to select the monitor number U 16 and then press and hold ENTER to enter the monitor mode 3 The value 0 is now displayed 4 Press STATUS ESC key to return to the monitoring number switching state Display contents of Monitoring Mode 21 I O signals status 22 I O terminals status Number Monitor Display Unit U 00 Actual speed of motor Rpm U 01 Input speed command Rpm U 02 Internal torque command U 03 Rotate angle mechenism angle 0 1 U 04 Rotate angle electrical angle 0 1 U 05 Bus v
29. each motor When user needs to change a motor please refer to the Quick Guide to ensure the motor match the driver The following steps are how to change motor type 1 Press STATUS ESC key to select Auxiliary Function mode 2 Press INC or DEC key to set group No to 2 and press ENTER to confirm 3 Press and hold ENTER key to display current motor type 4 Press INC DEC or ENTER key to show the motor type and press and hold ENTER key to confirm 30 5 Repower on the servo drive to make this function effective 4 4 4 Check Alarm Information Set group No to 2 in auxiliary function mode and enter checking alarm information mode The following steps show how to check alarm information 1 Press STATUS ESC key to select Auxiliary Function mode 2 Press INC or DEC key to set group No to 3 and press ENTER key 3 Press INC DEC or ENTER key to modify the alarm No 4 Press and hold ENTER key to display corresponding alarm information Member No Description Unit F3 00 Current alarm code X1 F3 01 Current warn code X2 F3 02 Alarm warn code 1 when alarm F3 03 U phase current when alarm A F3 04 V phase current when alarm A F3 05 DC bus voltage when alarm V F3 06 IGBT module temperature when alarm F3 07 Speed when alarm rpm F3 08 Internal torque command when alarm 96 F3 09 V REF value when alarm V F3 10 T REF value when alarm V F3 11 Alarm warn code 2 when alarm F3 1
30. loop gain Kp P1 01 Speed loop integral time constant Ki Speed loop gain UN T comman 3 kis Speed feedback To set the speed loop gain larger and the speed integral time constant smaller can realize high response speed controlling But servo will restrict by machine performance 6 1 2 Gain setting of position loop 6 1 2 1 Position loop proportion gain Gain parameter about position loop P1 02 Position loop gain Kp Range Suitable mode 1 2000 Immediately To do position control with high response and less offset needs to set the position loop gain larger But servo will restrict by machine performance Position loop gain Position command gt T Kp Position feedback In position control mode the servo will alarm when the offset pulse over the limit value The value is offset pulse limit parameter Offset pulse limit Unit Default Range Suitable mode Effective 256 command 1000 0 65535 5 6 Immediately pulse 66 The offset pulse will not be checked when offset pulse limit value is 0 alarm E 10 Normal control Offset pulse 0 alarm E 10 6 1 2 2 Position loop feedforward gain position loop feedforward gain Kp Unit Default Range Suitable mode i Effective 1 0 1 100 5 6 Immediately The unit is 1 of offset pulse To increase the feedforward gain of position loop in the case that requires quick respons
31. selectioti ea o ete e her a Re Fera v a s 33 5 2 ABASIC function setting 5525 Mat adr 33 92s Servo ON SENA ou e uet duae 34 5 2 2 Switch the motor rotate direction eost ot oen enne aeo 34 5 2 3 Overtravel Limit P OT amp N OT 34 5 2 4 Motor stop mode when servo 36 52255 Power otf Brake BK au o aei o e RE ua DR 36 5 3 Position mode external pulse command 38 5 3 1 Control mode seleci 100 39 5 3 2 Pulse command uie e o ERG REX a CREE UIS 39 5 3 2 1 Pulse mode selection es s n ener NAM 39 5 3 2 2 Explanation of command pulse ceci e a en pee tatc tre tas 39 5 3 2 3 Signal conmectiofi sos ortas e tere as ri eae aes 40 5 3 3 Electronic gear TA MO a esce xr ex I gr v to Rer wane 40 5 33 EET PR 40 5 3 3 2 Set the electronic gear is oin 40 5 3 3 3 Example of setting the electronic gear 41 5 3 4 Position command filter a a o US ae aei 41 5 3 5 Pulse error clear 42 5 3 6 Positioning complete i iiia tein uo tia et ton da Rein kakec 42 5 3 7 Positioning near 43 5 3 8 Command pulse prohibition
32. speed Whatever the position of 1 2 or 3 will touch 1 at first and push 1 to another side until 2 and 3 all touch 1 The result is the motor torque will increase At this time 1 will at the symmetrical position A and B will return to the origin position after soldering is finished Analysis 1 Make sure the work mode 6 2 It needs to judge whether 2 and 3 touch 1 when finding the symmetrical point The sign is servo output torgue will increase It needs to use torgue limit P4 02 P4 03 and torgue limit output signal CLT 3 As the dimension of workpiece is larger than standard offset pulse will remain in servo when the symmetrical point is found CLR signal can clear the pulse The servo motor running distance is different from PLC pulse number If it needs to know the actual distance servo encoder feedback BO and AB phase count are needed 4 The motion direction of A and B Signal and terminal COIN positioning finished signal SO1 CLT torque up to upper limit output SO2 CLR pulse offset clear input SI1 Encoder feedback signal AO BO Calculate the electronic gear ratio Load shaf y P EN P pitch P 1 rotation Command unit Confirm the encoder pulse number 2500P R Decide the command unit 1 command unit 0 001mm 4 Calculate the motion value of load 5mm 0 001mm lt 5000 shaft rotate 1 circle Confirm the mechanical specification Ba
33. when overtravel signal arrives P0 06 H 2 servo enable signal will not be forced OFF as long as the servo enable signal is always effective 2 stop condition depends on rotate checking speed P5 02 unit rpm Related parameter settings P4 06 Urgent stop torque Unit Default value Range Suitable Modify Effective mode 1 rated torque 300 0 300 the Servo Immediately 35 modes OFF Notes if this parameter set too small the motor will stop slowly 5 2 4 Motor stop mode when servo OFF DS2 series servo drive will close the servo enable as the following condition gt The power is on input signal is OFF S ON gt Analarm occurs ALM gt Power is OFF Default Parameter Description Unit Setting Range Setting P0 06 L Motor stop mode when servo OFF 0 2 2 P0 06 L range Inertia stops After stop keep on inertia motion state Notes DS2 series servo drive doesn t have built in DB brake So no matter what value P0 06 L is servo will keep on inertia motion after stop 5 2 5 Power off Brake BK It is used when servo drive controls the vertical shaft The function of power off brake is the moveable part will not shift when servo is OFF Servo motor The brake built into the MS series servomotor with brakes is a de energization brake which is used only to hold and cannot be used for Power off brake bra
34. 0 Set the signal to be no output always close 0 ConnecttoCOM signal from 50 Note If the distributed terminal has other signal please set the signal to other terminal or set to unused Setting range of input terminal for each type Input terminal parameter P5 28 P5 38 DS2 20P2 n 0000 n 0002 DS2 20P4 n 0010 n 0012 DS2 20P7 DS2 21P5 n 0000 n 0003 n 0010 n 0013 Example take BK signal of DS2 21P5 A as an example to explain output terminal distribution Output terminal wiring example BK RY 6 S03 d 03 output of DS2 21P5 A is at Y a T _ 393 CNI DB15 Pin of 503 is CNI 6 pin no of COM is CNI 7 1 1780 Parameter Setvalue S ON P5 34 n 0013 1 503 connect to COM Brake power on and loosen motor EN ES adc pat o ciui EE 503 disconnect to Brake power off and tighten motor COM cannot work Note the default output of S03 is S RDY Set the P5 31 S RDY to other terminal or unused in order to avoid terminal signal conflict BK RY S 12 4 Default setting of output terminal DS2 20P2 DS2 20P4 DS2 20P7 DS2 21P5 DS2 2uP 052 20 65 6 Servo gain adjustment This chapter will introduce some skills about servo gain adjustment 6 1 Servo gain setting 6 1 1 Gain setting of speed loop Gain parameters about speed loop P1 00 Speed
35. 03 P2 03 0x0203 P3 03 0x0303 P0 04 0x0004 P1 04 0x0104 P2 04 0x0204 P3 04 0x0304 P0 05 0x0005 P1 05 0x0105 P2 05 0x0205 P3 05 0x0305 P0 06 0x0006 P1 06 0x0106 P2 06 0x0206 P3 06 0x0306 P0 07 0x0007 P1 07 0x0107 P2 07 0x0207 P3 07 0x0307 P0 08 0x0008 P1 08 0x0108 P3 08 0x0308 P1 09 0x0109 P3 09 0x0309 P1 10 0x010A P3 10 0x030A Parameter Modbus Parameter Modbus Parameter Modbus Parameter Modbus address address address address P4 00 0x0400 P5 00 0x0500 P5 13 0x050D P5 26 0x051A P4 01 0x0401 P5 01 0x0501 P5 14 0x050E P5 27 0x051B P4 02 0x0402 P5 02 0x0502 P5 15 0x050F P5 28 0x051C P4 03 0x0403 P5 03 0x0503 P5 16 0x0510 P5 29 0x051D P4 04 0x0404 P5 04 0x0504 P5 17 0x0511 P5 30 0 051 4 05 0 0405 5 05 0 0505 5 18 0x0512 P5 31 0 051 P4 06 0x0406 P5 06 0x0506 P5 19 0x0513 P5 32 0x0520 P4 07 0x0407 P5 07 0x0507 P5 20 0x0514 P5 33 0x0521 P4 08 0x0408 P5 08 0x0508 P5 21 0x0515 P5 34 0x0522 P4 09 0x0409 P5 09 0x0509 P5 22 0x0516 P5 35 0x0523 P4 10 0x040A P5 10 0x050A P5 23 0x0517 P5 36 0x0524 P5 11 0x050B P5 24 0x0518 P5 37 0x0525 P5 12 0x050C P5 25 0x0519 P5 38 0x0526 B Monitor state address Modbus im Modbus address address Motor speed 0x0700 current alarm code 0x0716 Speed command 0x0701 Current warn code 0x0717 Internal torgue command 0x0702 Alarm warn code 1 0x0718 R
36. 0C prohibition P CL forward external torque limit 0x0805 G SEL gain switch 0x080D N CL reverse external torque limit 0x0806 CLR pulse clear 0x080E SPD D internal speed selection 0x0807 CHGSTP change step 0x080F Output state signal I Modbus ree Modbus address address Positioning finished COIN 0x08 12 Brake lock BK 0x0818 Maro 0x0813 Warn WARN 0 0819 Rotation checking TGON 0x0814 Near NEAR 0x081A Ready S RDY 0x0815 Alarm output ALM 0x081B Torque limit CLT 0x0816 Encoder Z signal Z 0x081C Speed limit checking VLT 0x0817 Appendix 2 Application Mode 6 pulse command position mode A B Eguipment introduction This is a welder Workpiece 1 2 3 are the object to be operated 2 and 3 is fixed on B and A individually A and B can whole move and be pushed by ball screw E and F The screw pitch is 5mm C and D is servo motor G and H is reducer The deceleration ratio is 40 It needs to adjust the machine with standard dimension workpiece and find the origin of A and B Workpiece 1 lies on the worktable and moves left and right Its dimension is positive tolerance cannot shorter than standard workpiece The process to put the workpiece is random It requires that the left and right soldering is symmetrical A and B move toward 1 with 3 and 2 at the same
37. 14 Encoder ABZ encoder broken re connect the encoder after wire break encoder is not power off or replace the damaged connected encoder Speed changes too The encoder wiring is Check the wiring of encoder or E 015 fast encoder error or the encoder add shield layer for the encoder feedback error has interference wire Rui overload for long Reduce the overload running time E 016 Overload unis change a motor with larger rated power E 017 Power off when Bus voltage is too low Re power on after the bus voltage running when running is normal E 018 Erase parameter 2 i Check the power supply and error re power on erase the parameter E 031 Motor code error zalet coe cannot Set the motor code in F2 00 again match to drive type 099 Titono System chip is Contact Xinje or an authorized damaged distributor 80 Appendix 1 Parameter list o means the parameter can be modified when the servo is OFF and effective when servo is ON e means the parameter can be modified any time and effective when re power on the servo V means the parameter can be modified any time and effective immediately Adding n before the parameter means the value is hex Parameter PX XX n xx xx l amp PX XXL P0 function selection Modbus address 0000 00 0 Function Unit Default Range Effective Chapter 00 Main mode 0 0 5 1 01 Submode 1 6 0 7 o 5 1 0 idle 1 torque command
38. 2 Alarm warn code 3 when alarm F3 13 Alarm warn code 4 when alarm F3 14 Alarm warn code 5 when alarm F3 15 Alarm warn code 6 when alarm F3 16 Alarm warn code 7 when alarm F3 00 0 indicates that there is no alarm X2 F3 01 0 indicates that there is no warn 4 4 5 Reset Parameters to Default The following steps show how to reset parameters to default 1 Press STATUS ESC key to select Auxiliary Function 2 Press INC or DEC key to set group No to 4 and press ENTER key 3 Press and hold ENTER key and the panel displays 0 and 15 blinking 4 Set the value to 1 Press and hold ENTER key to confirm 5 Repower on the drive and the parameters are all reset to default 4 4 6 External monitoring Select F5 00 in auxiliary function the panel displays which means external monitoring mode COMI is effective operate panel is ineffective At this time user can debug the servo via PC Press STATUS ESC to return 4 5 Parameter Setting Select or adjust the functions via parameter setting Please refer to appendix 1 for parameters list The following steps show how to change a parameter Check the permitted range of the parameters in appendix 1 31 The example below shows how to change parameter P3 09 from 2000 to 3000 1 Press the STATUS ESC key to select the parameter setting mode 2 At this time the second LED is blinking and press INC or DEC key to set the gro
39. 28 28 54 62 Torque coefficient N m A 0 5 0 8 Rotor inertia 0 438x107 Winding resistor Q 3 49 Winding inductance mH 8 47 Electrical time constant ms 2 4 Weight Kg 1 78 Encoder ppr PPR Pole pairs Motor insulation level Class B 130 C Protection level Temperature 20 C 50 C Ambient Humidity Voltage level Relative humidity lt 90 no condensation Motor type MS 130ST 180ST M06025 M10015 M15015 19015 21P5 21P5 22P3 23 0 Motor code 0042 0044 0046 0052 Rated power KW 1 5 1 5 2 3 3 0 Rated current A 6 0 6 0 9 5 12 0 Rated speed rpm 2500 1500 1500 1500 69 Max speed rpm Rated torque N m Peak torque N m Back EMF constat V krpm Torque coefficien N m A Rotor inertia Kg m Winding resistor Q Winding inductance mH Electrical time constant ms Weight Kg Encoder ppr PPR Pole pairs 4 Motor insulation level Class B 130 C Protection level IP65 Temperature 20 C 50 C Ambient Humidity Relative humidity lt 90 no condensation 60 80 and 90 series servomotors winding connect
40. All the modes Servo OFF Immediately Set the brake time when servo OFF caused by S ON signal or alarm S ON input or alarm S OFE Occurs power off Servo ON SENE DB stop Motor speed Ficostop rpm 5 07 RR qM Brake OFF Brake ON _ 5 08 The brake is used to protect the position The brake must be effective at suitable time when servo motor stop Users can adjust the parameters according to the machine action The BK signal from ON to OFF under either of the following conditions 1 Motor speed drops below the value of P5 07 after servo OFF 2 over the time of P5 08 after servo OFF The real speed is max speed P3 09 even set the speed higher than max in P5 07 3 3 Position mode external pulse command Below parameters are used in position mode with pulse Basic parameter Parameter Reference Control mode selection Pulse command mode Electronic gear ratio numerator Electronic gear ratio denominator Servo ON signal S ON Other available parameters Key words Param Name Reference eter Command filter P2 01 Position command filter selection 5 3 4 Clear error pulse P5 24 Pulse error clear 5 3 5 38 Positioning finish P5 28 Positioning finish signal output COIN 5 3 6 P5 00 Positioning finish width Positioning near P5 36 Positioning near signal outpu NEAR 5 3 7 P5 04 Positioning
41. B Far dst ase ROT Ga E I a abr be 66 6 1 1 Gain setting of speed erede UI dM eth 66 6 1 2 Gain setting of position 2 66 6 1 2 1 Position loop proportion 66 6 1 2 2 Position loop feedforward 67 6 1 3 The experience of parameter adjustment 67 6 1 4 Proportion action command 67 6 1 5 Gain Switch G SEL uoces eue ts held be een a ka a 68 7 Specification and dimensiofks i o oes a ROMS Ee RE De 69 EE eerte teda TEE ed 69 7 1 1 Servo motor TE EE CIARA TA SIMA YARD Rosin 69 7 1 2 Torque Speed Feature x eoo eta qe pude da dS 71 7 1 3 Servo motor dimensions Ie AN 72 7 2 usse aii sita ae aad ia e oua ul era ids 15 7 2 1 General S pPECIMEA MO IRE ea oe 75 7 2 2 Performance specification uideo dor edt a b en DU ao HIDE RO RR US 76 7 2 3 Servo driver dimensions eset estet od e tse o duod ues TI 8 Alarm Information pe eios et on ad cru eed rie e OP CHR RIVE GI SATA TIR Ut 79 Appendix T Parameter aii 81 Appendix tg oe 87 Preface Preface This chapter describes the constitution of this manual the intended user and how to acquire this manua
42. DC30V max Current DC50mA max The interface with the output circuit The signal output circuit of servo unit is open collector signal Please build the input circuit at the host side according to the output circuit condition Photocoupler input Relay input Servo drive host device Servo drive host device 24V 24V u c SO SO UREJE oe D LE Icom V OV OV 3 3 Wiring Encoders The following sections describe the procedure for wiring a servo driver to the encoder 3 3 1 Encoder Connections 17 Incremental encoder servo unit host device 2 0815 amp RA B B 9BO 1 T T B je B 7 Z 10 ZO 2 T T z bo 22 m U U 13 GND u dii m V V Bi OV ve IP v Shield cdbles W W wo vra 5V 5V GND te GND SHIELD Connector shell A MET shell ie Shield calbes Means twisted wire shield cables Ne 3 3 2 CN2 Encoder Connector Terminal Layout B CN2 Connector Terminal Layout The following diagrams are the layout of CN2 connector face the solder pin 5 4 3 2 1
43. If the concentricity is not enough it will cause the vibration and bearing 4 damage 2 When installing the coupler prevent direct impact to the shaft This can damage the encoder mounted on the shaft end at the opposite side of the load 2 1 4 Orientation MS series servomotors can be installed either horizontally or vertically 2 1 5 Handling Oil and Water Install a protective cover over the servomotor if it is used in a location that is subject to water or oil mist Also use a servomotor with an oil seal when needed to seal the through shaft section Through part of the shaft EUN 2 1 6 Cable Stress Make sure that the power lines are free from bends and tension Be especially careful to wire signal line cables so that they are not subject to stress because the core wires are very thin measuring only 0 2 to 0 3mm 2 2 Servo Drivers The DS2 series servo drivers are base mounted servo drivers Incorrect installation will cause problems Follow the installation instructions below 2 2 1 Storage Conditions Store the servo driver within 20 85 C as long as it is stored with the power cable disconnected 2 2 2 Installation Site The following precautions apply to the installation site Panel temperature around the servo drivers does not exceed 50 C Installation Near a Minimize heat radiated from the heating unit as well as any temperature Heating Unit rise caused by natu
44. M RST n 0002 Input always open signal from 512 Find the alarm reason and fix it then clear the alarm via this signal ALM RST can be distributed to input terminal via this parameter As the alarm signal is related to the safe running of servo ALM RST signal cannot be set to always effective n 0010 The alarm related to encoder such as E 013 E 014 cannot be reset via ALM RST ALM RST can be distributed to input terminal via parameter P5 14 refer to chapter 5 12 1 S 11 2 WARN 5 35 WARN n 0000 Need to distribute When the warning happens servo will not be force OFF but output the warning 5 11 3 Rotation checking TGON 1 Signal setting P5 30 TGON n 0000 Need to distribute 1 The servo will be considered in the rotation when the servo motor speed is higher than P5 02 2 The application function related to TGON is BK power off brake 3 TGON can be distributed to output terminal via parameter P5 30 refer to chapter 5 12 3 2 Parameter setting P5 02 Internal torque command setting Suitable mode _ Modify 1 1000 All modes Immediately Set the range of rotation checking output If servo motor speed is up to P5 02 the servo motor is considered to be running and output rotation checking signal TGON 5 11 4 Servo ready S RDY 5 31 S RDY n 0000 Need to distribute 1 The servo is ready to receive S ON signal servo motor can power on S RDY will output when the
45. P5 00 Positioning complete width Positioning near P5 36 Positioning near signal output NEAR P5 04 Positioning near signal width 5 4 1 Control mode selection Parameter Default Meaning Modify Effective P0 01 5 Internal position mode control Servo OFF Immediately Function control the position with the value in servo internal register 5 4 2 Internal position given mode mode P2 10 Internal position n 0000 mode setting OFF on Parameter setting Default noex No meaning 0 1 X Change step 0 2 mode 44 Positioning mode Mode explanation 1 Wait mode XX Wait for the completion of positioning Not wait for the completion of positioning Notes the wait mode means wether the drive waiting for the completion of positioning in internal position setting mode This is effective in any change step mode COIN Signal state After the drive output l segment position command it will wait for the completion of motor positioning and then start the next position command at once T1 is positioning time which means the time from pulse output complete to the output of positioning completion signal Wait mode 1 adjust time 0ms gt t After the drive output 1 segment position command it will not wait for the completion of motor positioning and sta
46. RE eoo Ud I qd ped pa dE LS OI RR 60 5 8 5 2 External speed limit aoa reed eet eet E ae rs 60 5 8 5 3 Speed up to limit value output 60 5 8 6 Torque command input dead area voltage 60 5 9 Torque control internal 61 5 9 1 Control mode Solectron s oo e cs orn tein e elja 61 5 9 2 Internal torque command c etse eot De coe eno Re 61 5 10 Switch the control mode ocean tree nete eed terea Yea seen 61 delil Other utp t signals gt t a t e one gua due e li i end 62 and ALNE RST ene ase aii dei cota Nit ae ES te non 62 ERIN sae sitate astu duin NO 62 5 11 3 Rotation checking TGON udo dee t neo 62 Servo teady S RDY ooa a ka eb qu Ra p 62 5 11 5 Encoder Z phase 2 63 5 11 6 AB phase feedback signal of encoder 63 5 12 VO signal distributio N ah aa et m e ato 63 5 12 1 Input signal distribution ic err rrt ed ei dona 63 5 12 2 Default setting of input 64 2512 5 Output terminal distr IDUUlot s eee coss Res patte eer rcd tee etes 65 5 12 4 Default setting of output terminal 65 6 Servo sam add uiu eR tetas Pure E uud 66 6 1 Setvo Salt settin
47. Range Suitable mode Modify Effective 196 100 0 300 All modes Servo OFF Immediately Note the unit is the percent of motor rated torgue the default value if 100 2 Input signal setting Modify distribute Deer puse kali ae en distribute Note P CL N CL signal can be distributed to input terminal by parameter P5 15 P5 16 pm to chapter 5 12 1 3 Function realization Limit value P CL Forward external torque P4 02 limit OFF 1 Forward external torgue The min value among P4 02 P4 04 and analog voltage limit ON command 53 N CL Reverse external torque P4 03 limit OFF 1 Reverse external torgue The min value among 4 03 P4 05 and analog voltage limit ON command 5 5 7 5 Output torque up to limit value signal The signal means the motor output torque reaches limit value mode distribute Note CLT signal can be distributed to output terminal by parameter P5 32 Refer to chapter 5 12 3 5 5 8 Soft start Soft start can transform the step speed command to command with acceleration deceleration Soft start acceleration time Unit Default Range Suitable mode Effective 1195 0 0 65535 3 4 7 Immediately Soft start deceleration time Unit Default Range Suitable mode Modify Effective 1195 0 0 65535 3 4 7 Servo OFF Immediately 1 Enable to do smooth speed control when input step speed command or choose internal speed Other cases please set to 0 2 accerla
48. Then set 05 to 1 re power on the servo b Check the servo stability and response adjust the servo gain XINJE Xinje Electronic Co Ltd 4th Floor Building 7 Originality Industry park Liyuan Development Zone Wuxi City Jiangsu Province 214072 Tel 510 85166657 Fax 510 85111290 www xinje com
49. ame the servo motor will not run but the wait mode is effective 5 4 4 Change step CHGSTP mode distribute on Note CHGSTP can be distributed to other input terminal by setting the parameter P5 25 Refer to chapter 5 12 1 5 4 5 Pause current signal INHIBIT When INHIBIT signal is ON the internal position pulse will stop in internal position mode When INHIBIT signal is OFF the motor will continue running this stage Input signal setting Parameter Signal Default Meaning Suitable Effect setting mode P5 22 INHIBIT n 0000 Need to distribute 5 6 Repower on 1 INHIBIT signal is distributed to I O terminal via P5 22 refer to chapter 5 12 1 47 5 4 6 Skip current signal ZCLAMP When ZCLAMP signal is triggered in internal position mode cancel the current stage running enter the next stage as different conditions of change step mode Z CLAMP signal Change step mode Execution 0 Cancel current stage execute the next stage at once 1 Cancel current stage execute the next stage when the change step signal is ON 2 Cancel current stage execute the next stage at once Input signal setting Parameter Signal Type Default Meaning Suitable Effect mode P5 21 Z CLAMP Input n 0000 Need to 3 4 7 Re power distribute on 1 Z CLAMP can be distributed to input terminal by P5 21 Refer to chapter 5 12 1 2 Z CLAMP is zero clamp function in
50. ast 10mm between and at least 50mm above and below each servo driver Install cooling fans above the servo drivers to avoid excessive temperature rise and to maintain even temperature inside the control panel B Environmental Conditions in the Control Panel Ambient Temperature 0 50 C Humidity 90 RH or less Vibration 4 9m s Condensation and Freezing None Ambient Temperature for Long term Reliability 50 C maximum 10 3 Wiring This chapter describes the procedure used to connect DS2 Series products to peripheral devices and gives typical examples of main circuit wiring as well as I O signal connections 3 1 Main Circuit Wiring This section shows typical examples of main circuit wiring for DS2 Series servo products functions of main circuit terminals and the power ON sequence Observe the following precautions when wiring ZN Caution Do not bundle or run power and signal lines together in the same duct Keep power and signal lines separated by at least 11 81inch 30cm Use twisted pair wires or multi core shielded pair wires for signal and encoder PG feedback lines The maximum length is 118 11inch 3m for reference input lines and is 787 40inch 20m for encoder PG feedback lines Do not touch the power terminals for 5 minutes after turning power OFF because high voltage may still remain in the servo amplifier Please make sure to check the wiring after the CHARGE light is going off Avoid frequently turning po
51. ation Detection TGON Speed Limit VLT Zero Clamp ZCLAMP A Bit contents Bit Data Description Speed Coincidence Light when the motor actual speed and command speed is the same Speed coincidence signal checking width 5 03 unit V CMP rom Light when actual torgue exceeds preset value Torgue Limit CLT Forward Torgue Limit P4 02 Reverse Torgue Limit P4 03 Rotation Detection Light when the motor speed exeeds the rotation detection speed 25 TGON Rotation Detection Speed Level P5 02 Unit rpm Zero Clamp ZCLAMP Light when zero clamp signal is ON m Light when actual speed exceeds preset value Spend Tamat VED Speed Limit during Torque Control P4 07 B The code contents Code Descrption Standby 7 Servo OFF motor power OFF Servo ON motor power ON Forward Run Prohibited P OT is OFF Please refer to 5 2 3 Overtravel Limit Reverse Run Prohibited N OT is OFF Please refer to 5 2 3 Limit gt Position Control Mode positoning COIN completed rotation TGON detection A The bit contents Bit Data Description Light when set position and actual position is the same Positioning accomplishment width P5 00 unit command pulse Light when set position and actual position is the same Near signal width P5 04 Light when the motor speed exeeds the rotation detection speed Rotation
52. ation Poft 5o oes cate in ip E 2 Serial Port COM vette nati 21 325225 Serial Port COMI iin en eet tin t dua ever dead ec en en 22 3 6 Regenerative RGSISLOT e M D i A t sade ti Au e aids 22 4 Lsethe operate uoto Modena td 24 4 1 Basic Operation E 24 4 1 1 Functions of operate 24 Catalog 4 1 2 Basic Mode Switching 2 ajda jav d 24 4 2 Runne status mode tie a oo e 23 4 3 Monitoring ea ease chev ees epe Y ies eva ena 26 TE Nds MAT s ce ANT 28 4 4 1 Check System Infomation 29 44 7 Auxiliary R n VOUS esc eoo edite e be alat ede idus 29 4 4 3 Change the motor type eos tee rrt n enar eo ie e io eae Lanes 30 4 4 4 Check Alarm InformstiODs doce heo etes da ade te aa edes duod 31 4 4 5 Reset Parameters to Default ha ces 31 4 4 6 External monitoring Mae 31 Parameter Setit a a t a a da ome a t na des 31 428 Ala Mi a a a ja ba 32 S R nth servo systemes sano O a AA NA 33 5 1 Control mode
53. ation with a machine connected change the settings to match the parameters of the machine Starting operation without matching the proper settings may cause the machine to run out of control or malfunction 3 Before starting operation with a machine connected make sure that an emergency stop can be applied at any time Not doing so may result in injury 4 Do not touch the heat sinks during operation Not doing so may result in burns due to high temperatures 5 Do not attempt to change wiring while the power is ON Doing so may result in electric shock or injury M m EO TE 1 Checking Product and Part Names AO RA ba 1 1 Checking Products on Delivery thereto etn eo enean ded 151 1 142 Setvo DEIVE ve JA kan 1 1 3 Adaptation table of servo drive and 1 2 Product Part Names sika ee te Ee bedel SSETVOMO OT usce hon tocco dus cat eios oss 1 2 2 Servo DIVES ne Dee ni AN S NS a 24151 Storage Temperature scia ae doen id eoe Bae ENI 2 1 2 Installation iste ies es erro e etos eye i RR 251 3 0 418124010 S165 JEVA usate vos ux evened ve Ua vast d
54. bit LED4 4 INHIBIT prohibit pulse command LEDS 4 ALM RST clear the alarm LED4 5 G SEL switch the gain qi forward side LED4 6 CLR clear the pulse jpg 1 O oe reverse side LED4 7 CHGSTP change the step LED5 7 SPD D internal set speed selection gt Output signals status Segment Description Segment Description LEDI 0 NEAR near LED2 0 COIN positioning completed LEDI 1 ALM alarm output LED2 1 bien m checking LEDI 2 Z encoder Z phase output LED2 2 TGON rotate checking LED2 3 S RDY ready LED2 4 CLT torgue limit LED2 5 VLT speed limit checking LED2 6 BK brake lock LED2 7 WARN warn B U 22 displays I O terminals status The following diagram describes the input and output terminals status JU aa 1918 sm 4 LED1 LED2 LED4 1 05 78 27 Diagram 1 Diagram 2 In diagram 1 LEDS stands for input signals status and LED2 stands for output signals status In diagram 2 there shows the segment No of each LED Input terminals Output terminals Segment Description Segment Description LED5 0 Input status of 511 LED2 0 Output status of SO1 LEDS 1 Input status of SI2 LED2 1 Output status of SO2 LED5 2 Input status of SI3 LED2 2 Output status of SO3 LEDS 3 Input status of SI4 LEDS 4 Input status of 515 LED5 5 Input status of 516 4 4 Auxiliary Function Use the operate panel to do applicat
55. ch as the second CHNGSTP signal in the diagram 3 Positioning mode Absolute positioning 1 absolute positioning take the accumulate position origin as the absolute positioning origin Segment 1 46 5 4 3 Position parameters from segment 1 to 16 P2 5 n 1 1 Pulse number low bit Ipuse 0 9999 9999 Servo Immediately P2 5 n 1 2 Pulse number high bit Unit Default Range dm Modify Effective mode pulses P2 5 n 1 3 Speed mode Olpm 0 0 50000 Servo Immediately P2 5 n 1 4 Adjust time mode EZERRE eday P2 5 n 1 5 Filter time mode O lms o 0 65535 Servo I Notes 1 Set pulse number pulse number high bit x10000 pulse number low bit 2 In formula P2 5 n 1 1 n is the segment no of internal position the range is 1 16 3 If one of the segment speed is zero servo will skip this segment and run the next segment 4 In relative positioning mode if one segment speed is not zero but the pulse number is zero the motor will not run but the wait mode is effective The servo will run the next segment when the adjust time is out 5 In absolute positioning mode if one segment speed is not zero but the pulse number is zero the motor will return to the reference origin with the speed of this segment 6 In absolute positioning mode if 2 consecutive segments speed are not zero but the pulse number is the s
56. d shaft rotates 1 circle value the load shaft based on reference unit rotates 1 circle 5 Calculate the electronic Calculate the electronic gear ratio based on the formula B A gear ratio 6 Setthe parameters Set the result as the electronic gear ratio 1 Formula Suppose the machine deceleration ratio of motor shaft and load shaft is m n calculate the electronic gear ratio as the below formula when servo motor shaft rotates m circles load shaft rotates n circles P2 02 A P205 Encoder pulses x 4 RES unit value of load shaft rotates 1 circle n If it exceeds the setting range please reducible the molecular and denominator in the setting range The reducible will not affect the using 2 Reference unit doesn t mean the precision Refine the reference unit based on machine precision can improve the servo positioning precision For example in the application of screw the machine precision can up to 0 01mm so the reference unit 0 01mm is more accurate than 0 1mm Electronic gear ratio 5 3 3 3 Example of setting the electronic gear The example for different loads Round table Belt sem Load shaft P d E shaft P pitch Load y P shaft 360 lrotate mn Reference unit Reference unit D pulley diameter lrotate oma unit Ball screw pitch 6mm l circle rotate angle Pulley diameter 100mm Machine deceleration ratio 1 1 360
57. d speed S o change rate B Frequency feature 250Hz JLSJM 8 Soft start time 0 65535ms set acceleration deceleration individually Input signal RS485 BL 0 100 resolution is 1 compensation Performance Positioning 5 za ar 2 Bnished width 0 250 command unit resolution is 1 command unit o E O hili Signtpulse CW CCW mode 8 pulse type 86 5 ae ean Collector 24V 052 20 0 and 052 20 0 support differential signal 3 Input signal nom amp Open collector input 200kbps Differential input 500kbps frequency Controlsignal Clear signal CLR DUM 052 20 0 open collector output M TT 052 20 0 differential output other types don t support this function External input 2 2 4 6 6 5 signal Miu S ON P CON P OT N OT ALM RST PCL NCL SPD D SPD A gt EE SPD B C SEL ZCLAMP CLR G SEL CHGSTP distribution B 5 External 2 2 3 3 3 Output signal Changeable CON TGON S RDY CLT BK WARN NEAR signal EUR ALM Z distribution Dynamic brake DB No Regeneration Built in regeneration unit external regenerative resistor Overrange OT protection For P OT N OT action deceleration stop or inertia stop Electronic gear 0 01 B Ax100 Program error parameter error overvoltage undervoltage regeneration t error overtemperature overcurrent overspeed analog input error position Protection w offset overflow
58. e between P4 02 and P4 04 N CL 0 Reverse external torque limit OFF P4 03 Reverse external torgue limit ON Min value between P4 03 and P4 05 5 5 7 3 External torque limit via analog voltage command T REF terminal is used as analog voltage command terminal Please note in external analog torque control mode this function cannot be used P0 07 Distribute function to 1 Make T REF as external 1 For analog voltage command input of torgue limit Get the absolute value of the voltage the torgue limit value based on the absolute value is suitable for forward and reverse direction 2 When it is used as torgue limit the value is related to voltage command and P4 00 For example P4 00 1000 T REF voltage command is 5 0V the torque limit value is 50 of rated torque 5 5 7 4 External torque limit via external input analog voltage External torque limit via external input and analog voltage can be used together Input analog voltage signal from T REF the torque limit function cannot be used when servo is in analog command torque control mode Use P CL and N CL signal when limit torque via external input 1 Parameters Modify P0 07 T REF function 3 When P CL N CL is ON Servo Re power distribution make T REF as external OFF on torque limit input Forward external torque limit Unit Default Range Suitable mode Modify Effective 196 100 0 300 modes Servo OFF Immediately Reverse external torque limit Unit Default
59. e of position loop If set it too large the speed loop will overshoot P1 10 feedforward filter time Unit Default Range Suitable mode Modify Effective 0 01ms 0 0 65535 5 6 Any Immediately 6 1 3 The experience of parameter adjustment First it is important to know the mechanical structure Common synchronous machine with driving has less rigidity decrease the servo rigidity to match it Large inertia mechanical system has long response time it needs to decrease the servo rigidity and set more accerlation deceleration time for speed command For the mechanical system with small load inertia and strong rigidity such as coupling it needs to increase the servo rigidity to improve the positioning efficiency Servo parameter adjustment method in position mode for typical mechanical system 1 Mechanical system synchronous with coupling large load inertia Servo system decrease the rigidity increase speed loop integral time P1 01 decrease the position loop gain P1 02 If the response is not enough after adjusting increase the speed loop gain P 1 00 Typical setting P1 00 200 P1 01 2000 P1 02 50 2 Mechanical system synchronous with coupling small load inertia and load torque Servo system follow the default parameter 3 Mechanical system rigidity coupling large load inertia Servo system same to 1 Typical setting P1 00 100 P1 01 1000 P1 02 80 4 Mechanical system rigidity c
60. e servomotor and servo amplifier in one of the specified combinations Never use the products in an environment subject to water corrosive gases inflammable gases or combustibles Doing so may result in electric shock fire or malfunction 2 DO NOT touch any metallic part Doing so may result in malfunction Wiring 1 Cut off external power supply before wiring Not doing so may result in electric shock 2 Connect AC power supply to the corresponding terminals Faulty wiring may result in fire 1 Do not connect a three phase power supply to the U V or W output terminals Doing so may result in injury or fire 2 Use 2mm wire to grounding the groud terminals Not doing so may result in electric shock 3 Securely fasten the power supply terminal screws and motor output terminal screws Not doing so may result in fire Operation 1 Never touch any rotating motor parts while the motor is running Doing so may result in injury 2 DO NOT touch the inside the driver Doing so may result in electric shock 3 Do not remove the panel cover while the power is ON Doing so may result in electric shock 4 Do not touch terminals for five minutes after the power has been turned OFF Residual voltage may cause electric shock 1 Conduct trial operation on the servomotor alone with the motor shaft disconnected from machine to avoid any unexpected accidents Not doing so may result in injury 2 Before starting oper
61. eed 3000rpm 06025 rated torque 6 0N m rated speed 2500rpm 19015 rated torque 19 0N m rated speed 1500rpm No Power loss Vacant brake Z With DC99V power off brake 1 1 2 Servo Drivers B External App DS2 20P2 DS2 20P4 DS2 20P7 earance DS2 21P5 B Nameplate DS2 2 Configure type suitable motor capacity IPS A 22 Series DS2 2 DS2 2 Configure type Voltage level A B Suitable motor capacity B Difference mode AB phase feedback 22222220200 le e a a Voltage level lt 1 1 3 Adaptation table of servo drive and motor MS 60ST M00630 20P2 0003 220 DS2 20P2 A 3 phase 220V MS 60ST M01330 20P4 0004 pores DS2 20P4 A 3 phase 220V DS2 20P7 phase 220V MS 80ST M02430 20P7 0011 DS2 20P7 A 3 phase 220V MS 90S T M02430 20P7 0021 im DS2 20P7 A 3 phase 220V DS2 21P5 1 phase 220V 0031 DS2 21P5 A DS2 21P5 B 3 phase 220V DS2 21P5 1 phase 220V 0032 DS2 21P5 A DS2 21P5 B 3 phase 220V DS2 21P5 1 phase 220V 0042 DS2 21P5 A DS2 21P5 B 3 phase 220V DS2 21P5 1 phase 220V 0044
62. er to chapter 5 12 1 2 Monitor the pulse error via U 08 Function after set on CLR signal the error counter is set to 0 position loop given position is set to current position Clear the pulse error at the rising edge of CLR signal 1 CLR signal Clear once here So after the CLR signal is ON the error will accumulate if the servo still receive pulses 5 3 6 Positioning complete COIN Use the signal when the controller needs to confirm the completion of positioning mode P5 28 COIN n 0001 Output positioning complete 5 6 Any Re power signal from SO1 on Note COIN can be output from other terminals please refer to chapter 5 12 3 P5 00 Width of positioning complete 42 Suitable mode Modify 0 250 Servo OFF Immediately Function when the pulse error value is lower than P5 00 output COIN signal Monitor the pulse error value via U 08 5 3 7 Positioning near NEAR Positioning near signal means the servo motor is near the positioning complete It prompts the device to prepare the next operation Parameter Signal Default Meaning Suitable Modify Effective mode P5 36 NEAR n 0000 Need to distribute on Note NEAR can be output from terminal by setting P5 36 please see chapter 5 12 3 P5 04 Width of positioning near signal Suitable mode Modify unit Function when the pulse error signal is lower than P5 04 output NEAR signal Set the parameter wider than positio
63. et the output time from the brake control signal BK to the servo OFF operation servomotor output stop S ON input Servo OFF Servo ON BK output Brake OFF Brake ON Servo action Motor power on Motor Motor Power ON power OFF Servo OFF Delay time With the standard setting the servo will be OFF when the BK signal brake operation output However depending on machine configuration and brake characteristics there is a period from BK signal output to brake action During the time motor will not output torque brake doesn t brake the machine may move slightly due to gravity Now we use 37 parameter P5 06 to delay the servo OFF make sure the servo isn t OFF until the brake action in order to delete the machine moving Note this parameter is the time when motor stop and TGON is invalid 4 Brake ON parameter When servo motor is rotating The brake action setting during the motor is rotating parameter P5 07 P5 08 Notes the motor will power OFF when alarm occurs The machine will move as gravity until the brake action Set below parameters in order to use brake when motor speed decreases to setting value or waiting time ends Brake command output speed Unit Default Range Suitable mode Modify Effective rpm 100 0 5000 All the modes Servo OFF Immediately Brake command waiting time Unit Default Range Suitable mode Modify Effective lms 500 10 1000
64. ion in auxiliary function mode Group No Content F0 Check system information display the system code and data 1 Auxiliary run mode display the auxiliary run command result 2 Set the motor code F3 Check the alarm information clear the alarm F4 00 Reset parameters to default F5 00 External communication monitoring 28 4 4 1 Check System Infomation Press STATUS ESC to switch to the auxiliary function mode Set the group No to 0 to check system information Press INC or DEC key to select different No and press and hold ENTER key to check current information Press STA TUS ESC key to return The following table describes the meaning of each No Function No Description Function No Description F0 00 Motor Code F0 01 Servo Series F0 02 Servo Model F0 03 Produce Date Year F0 04 Produce Date Month F0 05 Produce Date Day F0 06 Software Version F0 07 Hardware Version 4 4 2 Auxiliary Run Mode Press the STATUS ESC key to select the auxiliary function mode Set the group No to 1 Press INC or DEC key to select different No and press and hold ENTER key to use current function Press STATUS ESC key to return 1 Jog F1 00 Make sure that the motor shaft is not connected to the machine before jogging Press ENTER to power on the motor servo on Press INC for forward jogging press DEC for reverse jogging Press STATUS ESC
65. key to power off the motor servo off and press STATUS ESC key again to return 4 different states of jogging State Panel Display State Panel Display Forward HO ae od 01 1 Reverse eov Set the related parameters JOG speed Default Setting range Suitable mode Change Effective 100 0 500 JOG Servo OFF Immediately 2 Trial Operation F1 01 Make sure that the motor shaft is not connected to the machine before trial operation When servo driver is connected with non original encoder line or power line trial operation must be run first to ensure that the encoder line or power line is connected correctly Set the display value to 1 and press and hold ENTER key to enter trial operation mode The operate panel displays 29 jaj let LU IE If correctly wired the motor would rotate in 5 seconds in forward direction fixed to counter clockwise otherwise the motor would shock or viberate raising an alarm for worse In this case the power must be switched off immedietely and check the wiring again Press STATUS ESC key to return 3 Current Offset Auto Adjustment F1 02 After the servo driver is updated to latest software version or the motor does not revolve smoothly for long time the current offset auto adjustment is recommended Select F1 02 and enter curren
66. king Use the holding brake only to hold a stopped motor Brake torque is about 120 of Prevent the part the rated motor torque moving as gravity when servo is OFF 1 Wiring Example The ON OFF circuit of brake includes sequence signal BK and brake power The following diagram shows a standard wiring example 36 Servo motor with brake Servo drive i U a Power V N Wc W L1 L2 BEC PE BK RY SS zak me 24V m COM PL Power supply CN2 BK RY for brake DC Note the working voltage of brake is DC 24V current is about 0 6A In above diagram BK signal is output from SO1 set parameter P5 34 to n 0011 2 Brake signal The signal controls the brake Do not have to connect the signal if the motor without brake Modity P5 34 BK Output n 0000 Need to distribute Any Re power on BK signal can output from output terminal via setting parameter P5 34 please refer to chapter 5 12 2 3 Servo OFF delay time after servo motor stop If the machine moves slightly due to gravity because of the brake has action delay time Please adjust the time as below parameter Servo OFF delay time brake command Unit Default Range Suitable mode Effective 1ms 0 0 500 ALI the modes Immediately This parameter is used to s
67. l Constitution of This Manual This manual is divided into 7 chapters 1 Checking Product and Part Names This chapter describes the procedure for checking products upon delivery as well as names for product parts 2 Installation This chapter describes precautions for servomotor and servo driver installation 3 Wiring This chapter describes the procedure used to connect DS2 Series products to peripheral devices and gives typical examples of main circuit wiring as well as I O signal connections 4 Parameter Settings and Functions This chapter describes the procedure for setting and applying parameters 5 Use Digital Panel This chapter describes the basic operation of the digital panel and the features it offers 6 Ratings and Characteristics This chapter provides the ratings torque speed characteristics diagrams and dimensional drawings of the DS2 series servo drives and MS series servomotors 7 Alarm Information This chapter describes the alarm information of DS2 series servo drivers Intended User This manual is intended for the following users Those designing DS2 Series servodrive systems gt Those installing or wiring DS2 Series servodrives gt Those performing trial operation or adjustments of DS2 Series servodrives Those maintaining or inspecting DS2 Series servodrives How to AcquireThis Manual 1 Electrical Manual 1 Log on Xinje official website www xinje com to download 2 Ac
68. l from SO2 0003 output positive signal from SO3 0011 output negative signal from SO1 0012 output negative signal from SO2 0013 output negative signal from SO3 X2 X4 29 V CMP speed coincide checking ditto X2 X4 5 5 6 30 TGON rotation checking X2 X4 5 11 3 ditto 31 S RDY ready X2 X4 5 11 4 ditto 32 CLT torque limit x2 X4 5 5 7 5 ditto 33 VLT speed limit checking X2 X4 5 8 5 3 ditto 34 BK brake lock x2 X4 5 2 5 ditto 35 WARN warn X2 X4 5 11 2 ditto 36 NEAR near x2 X4 5 3 7 ditto 37 ALM alarm x2 X4 5 11 1 ditto 38 Z encoder Z signal X2 X4 5 11 5 ditto servo drives input terminal default value refer to chapter 5 12 2 X2 servo drive output terminal default value refer to chapter 5 12 4 X3 servo drive input terminal distribution refer to chapter 5 12 1 X4 servo drive output terminal distribution refer to chapter 5 12 3 Modbus address Hex Parameter address Parameter Modbus Parameter Modbus Parameter Modbus Parameter Modbus address address address address P0 00 0x0000 P1 00 0x0100 P2 00 0x0200 P3 00 0x0300 P0 01 0x0001 P1 01 0x0101 P2 01 0x0201 P3 01 0x0301 P0 02 0x0002 P1 02 0x0102 P2 02 0x0202 P3 02 0x0302 P0 03 0x0003 P1 03 0x01
69. le Modify Effective mode 0 01 V rated speed 1000 150 3000 Servo Immediately Function the speed command voltage V REF to run the servo motor at rated speed Such as P3 00 500 means the motor run at rated speed when analog input voltage 5 00V P3 00 800 means the motor run at rated speed when analog input voltage 8 00V Analog command input please refers to chapter 3 2 4 50 5 5 3 Speed command offset auto adjustment F1 03 When the servo is in analog voltage speed mode even if the command voltage is OV motor will run at very low speed The micro motion will happen when the command voltage micro offset mV of host controller or external circuit occurs Auto adjust the command offset by operate panel of servo Refer to chapter 4 4 2 5 5 4 Proportion action command P CON Modify P5 11 P CON Input n 0000 Any Re power mode on mode 1 P CON is the speed control mode signal selected from PI proportion integral and P proportion 2 If set to P control mode the motor rotate and micro vibration caused by speed command input drift can be decreased But the servo stiffness will decrease 3 P CON signal can be distributed to input terminal via parameter P5 11 Refer to chapter 5 12 1 5 5 5 Zero clamp ZCLAMP 1 Function This function is used when host controller uses speed command input and the servo system isn t configured the position loop In other words the function will be used when
70. ll screw pitch 5mm Reduction ratio 40 1 5 Calculate the electronic gear ratio 2500 4 2 40 80 A 5000 1 1 6 Set the user parameters P2 02 80 P2 03 1 Parameter setting Running mode 0 01 6 Pulse command state 2 00 2 Electronic gear ratio 2 02 80 2 03 1 Forward torque limit P4 02 150 Reverse torque limit 4 03 150 Positioning finished width P5 00 7 S ON 5 10 0010 CLR 5 24 0001 COIN 5 28 0001 CLT 5 32 0002 5 37 0000 Debug 1 Initial debug a Connect the cables correctly Connect U V W PE one to one don t cross them b open loop test running power on set 1 01 1 check if the motor can work normally If yes enter F1 00 If not check the cables c Jog test running enter F1 00 Press ENTER to enable the motor Press INC for forward jog press DEC for reverse jog Press STATUS ESC to quit the jog running 4 states when jogging State Panel display State Panel display Idle Forward I d E run LILI Enable ni A Reverse run d Current check offset auto adjustment Enter F1 02 it shows rEF Press ENTER it shows rEF and flickers After 5s the auto adjustment finished it shows donE Press STATUS ESC to exit 2 Debug the motor with machine a Check the motor rotation direction if it is reverse from the actual needs set F1 05 to 0 servo force OFF
71. main circuit is ON and no alarm 2 S RDY signal can be distributed to output terminal via parameter P5 31 Refer to chapter 5 12 3 62 5 11 5 Encoder Z phase output Z DS2 series servo supports encoder Z phase signal output 5 38 0000 Need to distribute 1 Z can be distributed to output terminal via parameter P5 38 refer to chapter 5 12 3 2 Z phase signal is single pulse output mode Pulse width is about 1 5ms and not related to motor rotation speed Encoder Z phase signal i P5 38 n 0001 SOI signal P5 38 n 0011 SOI signal 1ms 2ms Typical value1 5ms 5 11 6 AB phase feedback signal of encoder DS2 2nPn A supports open collector output AB phase feedback signal Please see the following wiring diagram of DS2 21P5 A and Xinje PLC XC3 32RT E Drive CN1 DB15 PLC 8 A0 x1 9 BO XO COM 13 GND AB phase feedback signal doesn t have parameters to set it is motor encoder 1 1 output Note 052 20 0 only supports AB phase feedback signal in differential signal mode 5 12 I O signal distribution S 12 1 Input signal distribution Parameter Set Meaning Terminal Terminal Signal value voltage state state 00 no meaning input y 0 always open 000 Input always open signal H Disconnect x input terminal L Connect to EN AN no 1 63 n 0010 Set the signal to be always valid Wl n 001x Input always close signal H Disco
72. mit The function is to limit the max output torque by parameters Forward torque limit Unit Default Suitable mode Modify Effective 196 300 All modes Servo OFF Immediately Reverse torque limit Unit Default Suitable mode Modify Effective 1 300 All modes Servo OFF Immediately 1 This parameter is always effective if this parameter value is less than external torque limit value the final limit value is this parameter 2 The unit is percent of the motor rated torque the default value is 300 The real output torque is different for each type 5 5 7 2 External torque limit via input signal This function is used in machine motion or timing torque limit For example press stop action or robot workpiece protection The torque limit value will be effective when the input signal is ON Forward external torque limit Unit Default Range Suitable mode Modify Effective 1 100 0 300 All modes Servo OFF Immediately Reverse external limit Unit Default Suitable mode Modify Effective 1 100 All modes Servo OFF Immediately The unit is the percent of motor rated torque the default value is 100 mode distribute on distribute on Notes P CL N CL can be distributed to input terminal by parameter P5 15 P5 16 Refer to chapter 5 12 1 Function realization 52 Effective limit value P CL 0 Forward external torque limit OFF P4 02 Forward external torgue limit ON Min valu
73. mit 1 300 0 300 V 5 5 7 03 Reverse torque limit 196 300 0 300 5 5 7 04 Forward external torgue limit 1 100 0 300 V 5 5 7 05 Reverse external torgue limit 1 100 0 300 V 5 5 7 06 Urgent stop torgue 1 300 0 300 o 5 2 3 07 Internal speed limit when rpm 2000 0 5000 o 5 8 5 torque controlling 08 Reserved 09 Internal torque command 196 0 300 300 Y 5 9 2 setting 10 Torque command input dead 0 01V 0 0 100 o 5 8 6 area voltage P5 signal parameter setting Modbus address 0500 05FF P5 Name Unit Default Range Effective Chapter 00 Positioning finished width COIN Command 7 0 250 o 5 3 6 pulse 01 Zero clamp speed ZCLAMP rpm 10 0 300 5 5 5 02 Rotation checking speed TGON rpm 20 1 1000 5 11 3 03 Coincide speed checking signal width rpm 10 17250 5 5 6 V CMP 04 Near output signal width NEAR Command 50 0 10000 o 5 3 7 pulse 05 Offset pulse limit value 256 1000 0 65535 o 6 1 2 command pulse 06 Servo OFF delay time brake lms 0 0 500 o 5 2 5 command 07 Brake command output speed rpm 100 0 5000 5 2 5 08 Brake command wait time lms 500 10 1000 5 2 5 09 Input filter time 5ms 0 100 10 S ON servo signal 0000 signal is always ineffective 0001 input positive signal to 51 0002 input positive signal to SI2 0003 input positive signal to SI3 0004 input positive signal to SI4 0005 input positive signal to 515 0006 input positi
74. nd hold Decrease the value continuously ENTER Press Shift the editing digit Press and hold Enter a status Enter 4 1 2 Basic Mode Switching The operate panel can display the status set parameter and run the command by switching the basic mode The running status auxiliary function parameter setting and monitoring are the basic modes The modes switch as the below diagram by pressing STATUS ESC 24 Power ON SO y p Running status LE Hd PI Parameter setting C T bw Monitoring E qr _ L IL Auxiliary function Display mode Monitor Function U XX XX means the number of the monitor function Auxiliary Function FX XX The first X means group No the last two X means the member No in the group Parameter Setting PX XX The first X means group No the last two X means the member No in the group Alarm XXX means the alarm code 4 2 Running status mode In running status mode bit data and codes indicate the status of the servo driver W Select the running status mode The servo will enter running status when power on If not press STATUS ESC to enter B The display content of running status mode The display contents are different in speed torque position control mode Speed and Torque Control Mode Speed Coincidence V CMP Torque Limit CLT Rot
75. near signal width Prohibit pulse P5 22 Command pulse prohibition INHIBIT 5 3 8 5 3 1 Control mode selection Parameter Meaning Modify Effective P0 01 Position control external pulse Servo OFF Immediately Function control the position by the external pulse command 5 3 2 Pulse command 5 3 2 1 Pulse mode selection Parameter Command mode Suitable Effective mode P2 00 CW CCW mode 6 7 Re power Pulsetdirection on Note DS2 series hardware version 3 2 cannot support AB phase pulse 5 3 2 2 Explanation of command pulse Command pulse mode Electrical specification Direction pulse DIR PUL signal Direction DIR Max freguency 1 forward Bus drive is 500kbps F d command Transistor open circuit is 0 reverse 200kbps command command t1 t2 lt 0 lus t3 t7 lt 0 lus 44546 gt 3us gt 2 5us t T x 100 40 60 CW PUL pulses DIR 0 CW CCW mode PUL Max frequency Bus drive is 500kbps Transistor open circuit is 200kbps L Forward Reverse run t1 t2 lt O 1us gt 2 5us x 100 lt 40 60 DIR CCW PUL 0 DIR pulses 39 5 3 2 3 Signal connection The signal connection please refer to chapter 3 2 4 3 3 3 Electronic gear ratio The electronic gear function is set any value for motor moving guantity corresponding to input pulse command The host device which sends command doesn
76. ning complete signal Monitor the pulse error value via U 08 Error pulse U 08 NEAR signal state i 0 COIN signal state 0 Note here is signal state but not terminal state 5 3 8 Command pulse prohibition INHIBIT To stop the commnad pulse counts in position control mode When INHIBIT signal is ON the command pulse stop counting 43 Input signal setting mode P5 22 INHIBIT n 0000 Need to distribute on Note INHIBIT can be input from input terminal by setting P5 22 Please refer to chapter 5 12 1 5 4 Position mode internal position mode Parameter P0 01 Control mode selection P2 10 Internal position given mode P2 11 P2 90 Internal 1 16 segment position parameters P5 25 Change the step signal CHGSTP 5 22 Pause current signal INHIBIT P5 21 Skip current signal Z CLAMP P5 10 Servo ON signal S ON Other parameters Key words Parameter Name Reference Find the origin P2 94 The guantity pass through the Z phase signal after 5 4 7 leaving the limit switch P2 95 The speed near the limit switch P2 96 The speed leave the limit switch 5 17 SPD D define the origin in position mode P5 18 SPD A find the reference origin at forward side in position mode P5 19 SPD B find the reference origin at reverse side in position mode Pulse error clear P5 24 Pulse error clear Positioning P5 28 Positioning complete signal output COIN complete
77. nnect 1 from SIx to OV ERN Connect to OV Note if the distributed terminal has other signal set the signal to other terminal or set to unused The setting range of input terminal for each type Input terminal parameter P5 10 P5 24 DS2 20P2 mmm pse PA n 0010 n 0012 DS2 20P7 DS2 21P5 n 0000 n 0004 n 0010 n 0014 DS2 20Po A n 0000 n 0006 DS2 20Po B n 0010 n 0016 Because the input terminal quantity is different for each type the setting range is different Example take the input signal CLR P5 24 of DS2 20P7 as an example to explain the terminal distribution Wiring example of input signal Terminal 7 of DS2 20P7 is 24V terminal 6 is SI2 _ CLR is distributed to 512 state state P5 24 n 0002 Clear the pulse offset at the moment of SI2 and to OV OV connected OV n 0012 1 Clear the pulse offset at the moment of 512 and to 0V OV disconnected Connect to Note the default input of SI2 is ALM RST make sure to distribute P5 14 ALM RST to other terminal or set to unused S 12 2 Default setting of input terminal DS2 20P2 ALM RST DS2 20P4 DS2 20P7 DS2 21P5 ALM RST 052 20 0 ALM RST DS2 20Po B 64 5 12 3 Output terminal distribution terminal input 00 pointless Output always open 0 Disconnectto COM y 0 always open signal from 50 1 always close n 001
78. nt F1 04 The motor will run at microspeed even the command voltage is OV in analog voltage torque mode This situation will happen when host controller or the command voltage of external circuit has micro offset mV Use the operate panel to auto adjust the offset Refer to chapter 4 4 2 5 8 4 Torque command filter time torque command filter time Unit Default Range Suitable mode Modify Effective 0 01ms 0 0 65535 1 3 4 5 6 7 Servo stop Immediately 1 time delay filter will smooth the torque command If set the value too large the reponse will be decreased 59 5 8 5 Torque limit 5 8 5 1 Internal speed limit Limit the speed of torque control by setting below parameters P4 07 internal speed limit in torque control mode Suitable mode Modify 2000 0 5000 Servo OFF Immediately Note the actual speed is max speed even this parameter speed is larger than the max speed P3 09 max speed limit Suitable mode Modify lrpm 1500 2000 0 5000 All modes Servo OFF Immediately 2500 3000 3000 4000 Note 1 P3 09 is effective in all modes 2 Default setting is different for each type For example max speed is 2000 for rated speed 1500 motor max speed is 4000 for rated speed 3000 motor 3 This parameter is related to E 008 and E 010 If motor speed is larger than max speed 200 servo will show E 008 over speed If the pulse frequency converts to motor speed the speed is larger than max speed
79. nternal speed 49 The reference origin defined by the two modes will be considered as the origin of absolute position control 5 5 Speed control analog voltage command Note only DS2 2nPnr A and DS2 20P0 B support this mode Basic parameters Name Analog value of rated speed Other parameters Zero drift F1 03 Analog voltage speed command offset 5 5 3 fo eee E ua 5 5 5 21 Zero clamp ZCLAMP 5 P5 01 Zero clamp speed Speed P5 29 V CMP speed coincidence checking coincidence P5 03 Coincidence speed signal checking checking width V CMP Torque limit P4 02 Forward torque limit 5 5 P4 03 P0 07 T REF distribution P4 04 Forward external torque limit 5 5 5 5 P4 05 Reverse external torque limit P5 15 Forward external torgue limit P CL P5 16 Reverse external torgue limit N CL P5 32 Output when torgue reaches limit value CLT 6 7 start 3 05 8 P3 06 Soft start deceleration time Filter P3 07 Speed command filter time 9 P3 08 Speed feedback filter time Death area P3 10 Speed command death area input voltage 5 5 10 5 5 1 Control mode selection Parameter Set value Meaning Modify Effective P0 01 4 Analog voltage command speed control Servo OFF Immediately Function control the speed by the signal analog voltage command input from V REF terminal 5 5 2 Analog value of rated speed P3 00 Analog value of rated speed Unit Default Range Suitab
80. og voltage command Control the output torgue of servo motor via analog voltage command It is mostly used to close loop torgue control with upper device such as tension control If servo drive doesn t have analog input port it cannot use this mode Speed control internal speed setting Use SPD D SPD A SPD B to select the speed which is set in the servo drive The servo drive can set 3 speeds Speed control analog voltage command Control the speed of servo motor via analog voltage command It is mostly used to close loop speed control with upper device Position control internal position command Control the position via internal position command it can set pulse guantity and torgue Position control external pulse command Control the position of servo motor via pulse command Control the Bid value position via pulse quantity control the speed via pulse frequency Speed control pulse frequency command Control the speed of servo motor via pulse frequency but not control the position Same as The servo will enter sub mode2 when C SEL signal is effective sub mode 1 5 2 Basic function setting Parameter Name Reference P5 10 Servo ON setting S ON 5 2 1 0 05 Switch motor rotate direction 5 2 2 P0 06 Motor stop mode setting 5 2 3 P4 06 Servo immediately stop torque 5 2 3 5 12 Prohibit forward running P OT 5 2 4 P5 13 Prohibit reverse running N OT 5 2 4 P5 34 Power loss brake BK 5
81. ol mode selection Parameter Set value Function Modify Effective P0 01 l Torgue control internal setting Servo OFF Immediately Function Control the torque by internal torque command 5 9 2 Internal torque command P4 09 Internal torque command Suitable mode Modify 1 rated torque 0 300 300 Servo OFF Immediately The unit of this parameter is 1 of the rated torque For example P4 09 50 motor forward run with 5096 of the rated torque P4 09 20 motor reverse run with 2096 of the rated torque 5 10 Switch the control mode Servo can switch between submode 1 and 2 by external input signal 1 Switch signal Suitable mode Modify 5 20 C SEL Input n 0000 Need to All modes Running Re power distribute on Note C SEL can be distributed to input terminal via parameter P5 20 refer to chapter 5 12 1 2 Function realization Control mode C SEL 0 PO 01 submode 1 P0 02 submode 2 61 5 11 Other output signals S 11 1 ALM and ALM RST Servo alarm output ALM P5 37 ALM n 0002 Output always open signal from SO2 1 The servo unit is force OFF when alarming the motor will move with external force including gravity If it is need to hold the motor please use power loss brake contracting brake and BK signal Refer to chapter 5 2 5 2 ALM can be distributed to output terminal via parameter P5 37 refer to chapter 5 12 3 z Alarm reset ALM RST P5 14 AL
82. oltage V U 06 Module temperature 0 1 C U 07 Input command pulse speed Rpm U 08 Pulse value of shift 0000 9999 1 Command U 09 command 0000 9999 10000 pulse U 10 Rotate angle encoder 0000 9999 1 U M value 0000 9999 10000 encoder pulse U 12 Pulse value of input 0000 9999 1 Pulse U 13 command 0000 9999 10000 command U 14 Pulse value of 0000 9999 1 Pulse U 15 feedback command 0000 9999 10000 command U 16 Current position 0000 9999 1 U 17 Accumulated 0000 9999 10000 encoder pulsg U 18 Current 1 bit decimal 0 1A U 19 Analog input V REF 0 01V U 20 Analog input T REF 0 01V U U B U 21 displays I O signals status The following diagram describes the input and output signals status displayed in U 21 di 516 l 4 LED1 LED2 LED4 LEDS E dA Diagram 1 Diagram 2 In diagram 1 LED4 and LEDS stand for input signals status and LED1 and LED2 stand for output signals status In diagram 2 there shows the segment No of each LED gt Input signals status Segment Description Segment Description Ebo RASA JSON Servo ioa selection 27 LED4 1 SPD B internal set speed selection LEDS 1 P CON proportion action command LED4 2 C SEL control mode selection LED5 2 P OT forward prohibit LED4 3 ZCLAMP zero clamp 5 3 N OT reverse prohi
83. or Motor Winding Winding Name U V W PE connector Connector 1 3 2 4 60 80 and 90 series servo motor encoder connector Signal 5 OV B Z U Z U A V W V A B W Connector 2 3 4 5 6 7 8 9 10 11 12 13 14 15 1 B 110 130 180 series servo motor winding connector Motor Winding Winding Name U V W PE connector Connector 2 3 4 1 B 110 130 180 series servo motor encoder connector Signal 5V OV A Z B Z U V W U V W Connector 2 3 4 5 6 7 8 9 10 11 12 13 14 15 1 70 7 1 2 Torque Speed Feature A continuous use area B repeated use area MS 60ST M0133000 20P4 4000 Rpm 4000 Rpm MS 110ST M04030c0 21P2 4000 3200 Rpm PM 3400 1600 800 5 1305 06025 0 21 5 2500 2000 Rpm MS 80ST M0243000 20P7 4000 3200 Rpm PM 1600 800 0 4 8 12 16 20 Nem MS 110ST M05030c0 21P5 4000 3200 Rpm MS 130ST M10015 2000 Rpm 71 7 1 3 Servo motor dimensions B Dimensions of 60 series servo motors unit mm Type
84. otation angle physical angle 0x0703 U phase current when alarming 0x0719 Rotation angle electricity angle 0x0704 V phase current when alarming 0x071A Bus voltage 0x0705 DC bus voltage when alarming 0x071B Module temperature 0x0706 IGBT temperature when alarming 0x071C Input command pulse speed 0x0707 The speed when alarming 0x071D Offset pulse value low 16 bits 0x0708 leno 0 071 alarming Offset pulse value high 16 bits 0x0709 V REF value when alarming 0x071F Rotation angle low 16 bits 0x070A T REF value when alarming 0x0720 Rotation angle high 16 bits 0x070B Alarm warn code 2 0x0728 d command pu e low JE unc Ldarm wari coded 0x0729 b command pulse ugh 16 0x070D Alarm warn code 4 0x072A Feedback pulse low 16 bits 0x070E Alarm warn code 5 0x072B Feedback pulse high 16 bits 0x070F Alarm warn code 6 0x072C Current ponpon 0x0710 Alarm warn code 7 0x072D low 16 bits Current accumulated position high 16 bits Present current 0x0712 Analog input speed 0x0713 Analog input torgue 0x0714 Input signal state Modbus IM Modbus address address S ON servo signal 0x0800 SPD A internal speed selection 0x0808 P CON proportion action command 0x0801 SPD B internal speed selection 0x0809 P OT forward drive prohibition 0x0802 C SEL control mode selection 0x080A N OT reverse drive prohibition 0x0803 ZCLAMP zero clamp 0x080B ALM RST reset alarm 0x0804 puse 0x08
85. oupling small load inertia strong rigidity Servo system P1 00 100 P1 01 300 P1 02 150 If it cannot meet the requirements please increase the position loop feedforward for example set P1 09 to 20 Note above typical settings only show the direction to adjust the parameters The settings cannot be suitable for all the conditions 6 1 4 Proportion action command P CON Input signal P CON is switch for P PI control of speed loop P control means proportion control this mode is called proportion action command Input terminal selection of P CON 67 Parameter Signal Type Default Meaning Modify Effective P5 11 P CON Input n 0000 Run in P control mode Any Re power Run in PI control mode on P CON can be distributed to input terminal via parameter P5 11 Refer to chapter 5 12 1 This command is suitable for the following cases 1 When the host device sends speed command to the servo and runs with it at the same time it only selects P mode running under special conditions The overrange can be deleted by this method and the adjustment time can be shortened 2 When there is command offset in speed controlling servo will not stop and run at low speed even getting zero speed command in PI control mode If select P control mode the servo will stop 6 1 5 Gain switch G SEL This function can switch the gain online For example set different first and second gain by the external
86. output shorting current error encoder cut encoder error E overload power off when running write parameter error Ej LED display Charge power supply 7 segment LED x5 built in digital operate Connector RS232 connect to PC 8 COMI Serial Baud rate 19200 data bit 8 stop bit 1 communication 8 parameter protocol ModubsRTU slave Modbus station No 1 Function Debug online communication Connector RS485 connect to PLC HMI PC and other devices Serial Serial parameter can be set communication protocol COM2 parameter ModbusRTU slave Modbus station No can be set State display user constant setting monitor display alarm Function A display alarm display special control online debug 76 7 2 3 Servo driver dimensions B DS2 20P2 DS2 20P4 DS2 20P7 unit mm 137 0 137 0 03 ues T p o 165 0 165 0 B DS2 21P5 unit mm 15 67 180 5 pr m S 88888 0666 oo ILL Ir 3 em 5 Fe v oo s S
87. quire this manual on a CD from an authorized distributor 1 Checking Product and Part Names This chapter describes the procedure for checking products upon delivery as well as names for product parts 1 1 Checking Products on Delivery Use the following checklist when products are delivered O Mma Comments Are the delivered products the ones Check the model numbers marked on the nameplates of the that were ordered servomotor and servo driver Does the servomotor shaft rotate The servomotor shaft is normal if it can be turned smoothly smoothly by hand Servomotors with brakes however cannot be turned manually scratches that may have occurred during shipping code in driver servomotor and the parameter F0 00 on the servo driver If any of the above is faulty or incorrect contact Xinje or an authorized distributor 1 1 1 Servomotors B External Appearance B Nameplate MS 80 ST M 02430 A Z 2 0P7 Capacity Rated Voltage Power loss brake Shaft Specifications Performance Specifications Feedback Component Sinewave drive Motors Base Size Motor Series Name 60 80 90 110 130 180 Feedback Optical pulse encoder component no Performance parameter no A No bond Shaft spec B With bond 2 220V Voltage level 4 380V Such as 0 4kW 7 0 75kW 3P0 3 0kW First 3 bits mean rated torque last 2 bits mean rated speed Such as 00630 rated torque 0 6N m rated sp
88. ral convection so the temperature around the servo drivers does not exceed 50 C Installation Near a Source Install a vibration isolator beneath the servo driver to avoid subjecting it to of Vibration vibration Installation at a Site Corrosive gas does not have an immediate effect on the servo drivers but Exposed to Corrosive Gas will eventually cause electronic components and terminals to malfunction Take appropriate action to avoid corrosive gas Other Situations Do not install the servo driver in hot and humid locations or locations Ko subject to excessive dust or iron powder in the air 2 2 3 Orientation Install the servo driver perpendicular to the wall as shown in the figure The servo driver must be oriented this way because it is designed to be cooled by natural convection or by a cooling fan t Ventilation 2 2 4 Installation Follow the procedure below to install multiple servo drivers side by side in a control panel 50mm minimum pesa d 50mm minimum minimum minimum B Servo Driver Orientation Install the servo driver perpendicular to the wall so the front panel containing connectors faces outward B Cooling As shown in the figure above allow sufficient space around each servo driver for cooling by cooling fans or natural convection B Side by side Installation When install servo drivers side by side as shown in the figure above make at le
89. ral time 0 1ms 400 1750000 V 6 1 1 02 The gain of position loop l s 100 17 2000 V 6 1 2 03 Reserved 04 The gain of second speed loop 250 1 5000 V 6 1 5 05 Integral time of second speed 0 1ms 10000 1750000 V 6 1 5 loop 06 The gain of second position loop 1 5 250 1 2000 V 6 1 5 07 Reserved 08 Reserved 09 The gain of position loop 196 0 0 100 Y 6 1 2 feedforward 10 Feedforward filter time 0 01ms 0 0 65535 V P2 position control Modbus address 0200 02FF P2 Function Unit Default Range Effective Chapter 00 Command pulse state 2 1 2 e 5 3 2 01 Position command filter 0 0 1 e 5 3 4 selection 02 Electronic gear ratio molecular 1 1 65535 5 3 3 03 Electronic gear ratio 1 1 65535 5 3 3 denominator 04 Position command filter time 1ms 0 0 100 5 3 4 05 Reserved 06 Command pulse freguency at 100Hz 5000 1 10000 o 5 7 3 rated speed 07 Speed command pulse filter time 0 1ms 20 0 1000 V 5 7 4 08 Reserved 09 Reserved 10 Internal position mode setting n 0000 5 4 2 11 First segment pulse low bit 1 0 9999 9999 o 5 4 3 12 First segment pulse high bit l 0 9999 9999 o 5 4 3 13 First segment speed 0 1rpm 0 0 50000 o 5 4 3 14 First segment adjustment time 1ms 0 0 65535 o 5 4 3 15 First segment command filter 0 1ms 0 0 65535 o 5 4 3 time 2 16 2 90 are 2 16 segments parameter setting 94 Find the original point 0 0 1 5 4 7 0 invalid 1
90. round Connect to the ground terminal of power to be grounded P PB Regenerative braking Connect regenerative braking resistor resistor connection between P and PB DS2 2cPo A DS2 21P5 B Terminal Function Explanation Pt PB Regenerative braking Connect regenerative braking resistor resistor connection between P and PB 11 12 13 Power input of main 3 phase AC 200 240V 50 60Hz circuit PE Ground Connect to the ground terminal of power to be grounded U V W Motor connection Connect to the motor 3 1 2 Typical Wiring Example 0 1MCCB FIL Braking resistor CN2 1MCCB breaker for inverter FIL noise filter Servo drive 3 1 3 Winding Terminals on Servo motor Symbol 60 80 90 Series 110 130 180 Series PE 4 l U 1 2 V 3 3 W 2 4 3 2 I O Signals This section describes I O signals for the DS2 series servo driver 3 2 1 Layout of CN0 CN1 Terminals The diagram shows the solder side
91. rt the next position command at once 2 Change step mode Wait mode 0 adjust time gt Oms 5 00 COIN Signal state 0 After the drive output 1 segment position command it will wait for the completion of motor positioning and pass the adjust time then start the next position command T1 is positioning time t2 is adjust time Refer to parameter P2 14 Wait mode 1 adjust time gt Oms t After the drive output 1 segment position command it will not wait for the completion of motor positioning but pass the adjust time and then start the next position command T2 is adjust time Refer to parameter P2 14 Explanation CHGSTP 1 Signal 0 0 Change the step when signal is ON recycling 45 t1 P2 14 t2 P2 19 1 If CHGSTP is ON servo will run segment 1 and 2 2 If CHGSTP is OFF in one segment servo will finish this segment and stop running the next segment 1 Change the step at the rising edge of the signal single step run Suppose there 2 segments tl P2 14 In this mode the adjust time is ineffective The servo will run the next command once the current pulse is finished 2 Start at the rising edge of the signal sequential run all not recycling Suppose there are 2 segments tl P2 14 CHGSTP signal is ineffective when one cycle has not been finished su
92. signal when the motor is running or stop Select the input terminal for G SEL signal Parameter Signal Type Default Meaning Suitable mode Modify Effective P5 23 G SEL Input n 0000 Need to 3 4 5 6 7 Re power distribute on G SEL can be distributed to input terminal via parameter P5 23 Refer to chapter 5 12 1 Function realization Input signal Signal state Gain group G SEL 0 P1 00 P1 01 P1 02 l P1 04 P1 05 P1 06 Note the 0 1 is signal state but not terminal state 68 7 Specification and dimension This chapter will introduce the specification and dimension of MS series servo motor and DS2 series servo drive 7 1 Servo motor 7 1 1 Servo motor specification Please refer to this chapter when selecting the servo drive 220V Voltage level Motor type MS 60ST 80ST 90ST 110ST M00630 M01330 M02430 02430 04030 05030 20 2 20 4 21P2 21P5 Motor code 0003 0004 0031 0032 Rated power KW 0 2 0 4 1 5 1 5 Rated current A 1 5 2 5 5 0 6 0 Rated speed rpm 3000 3000 3000 3000 Max speed rpm 4000 4000 3500 3500 Rated torque N m 0 637 1 27 4 5 Peak torque N m 1 91 3 8 12 15 Back EMF constat V krpm
93. sistor is Check the connection of resistor error ineffective regenerative resistor Reduce the load and enhance the li t heck if the fi Module over Run with large load for V 006 is revolving when motor is ON cool down the ambient temperature E 007 Over current WM GE check UVW wiring error Motor speed is too fast Check if there is other device that E 008 Over speed motor UVW make motor revolve too fast connection is error check the UVW wiring Input voltage error Input t volt h E 009 Analog input error when 2 channe analog S DIE d ee ne en DES calibration for analog Zero calibrating The difference between Check if the motor stalled E 010 Position offset too set position and actual decrease the set position speed large position exceeds the increase offset pulse limit value limit value P5 05 Motor UVW is External is short circuit Check the UVW wiring of motor E 011 00 short circiut when fist self test or replace the damaged motor E 012 Motor UVW Current collection Check the UVW wiring of motor current error circuit error or replace the damaged drive Encoder wiring error Check the wiring of encoder and Encoder UVW encoder broken re connect the encoder after E 013 wire break encoder is not power off or replace the damaged connected encoder 79 Encoder wiring error Check the wiring of encoder and E 0
94. speed mode 5 4 7 Reference origin 1 Find the reference origin To find out the physical origin of working table and make it as the coordinates origin of point position control Users can select finding reference origin at forward or reverse side Function setting P2 94 Unit Default Range Suitable mode Modify Effect D XXUX 0 0 1 5 6 ServoOFF Re power on Note P2 94 0 find reference origin function is invalid P2 94 1 this function is valid Signal setting mode distribute on 5 19 SPD B 3 5 6 Any Re power distribute on 1 SPD A SPD B can be distributed to the input terminal via parameter P5 18 P5 19 refer to chapter 5 12 1 2 In position mode SPD A can trigger the forward side to find the reference origin SPD B can trigger the reverse side to find the reference origin 3 In internal speed mode mode 3 SPD A and SPD B auto switch to internal speed selection signal Related parameter setting The quantity pass the Z phase signal after leaving the limit switch Servo OFF Immediately The speed hitting the proximity switch mode 600 0 30000 Servo OFF Immediately The speed leaving the proximity switch mode 0 50000 Servo OFF Immediately 48 Detailed explanation Find reference origin diagram REY irection irecti Stop mode P0 06 H
95. t need to consider the machine deceleration ratio and encoder pulse guantity Not use electronic gear Workpiece Encoder pulse 2500 Ball screw pitch 6mm The workpiece moves 10mm One rotation is 6mm 10 6 1 6666 2500x 4 pulse finishes one rotation Command input 16666 pulses Calculate these values in the host controller Use electronic gear Workpiece Command unit dum go Encoder pulse 2500 Ball screw pitch 6mm Define the machine condition and command unit by electronic gear The workpiece moves 10mm Command unit is 1 um 10mm tum 10000 pulse 5 3 3 1 Parameter Electronic gear numerator Unit Default Range Suitable mode Effective 1 Electronic gear denominator 1 65535 6 Immediately Unit Default Range Suitable mode Effective 1 1 65535 6 Immediately 5 3 3 2 Set the electronic gear Calculate the electronic gear ratio B A using the following steps Confirm the machine Confirm the deceleration ratio ball screw distance pulley specification diameter encoder Confirm the servo motor encoder pulses dec al pulse Set the reference unit Set the actual distance or angle corresponding to 1 pulse of the 40 Calculate the moving Calculate the actual unit value the loa
96. t offset auto adjustment function and the panel displays Press ENTER key to start current offset auto adjustment and the panel displays blinking TEF About 5 seconds later auto adjustment is finished and the panel displays donE to inform that the function is already finished Press STATUS ESC key to return 4 Speed command offset auto adjustment F1 03 Select F1 03 and enter speed command offset auto adjustment function and the panel displays o Press ENTER key to start speed command offset auto adjustment and the panel displays blinking rEF o About 1 second later auto adjustment is finished and the panel displays donE to inform that the function is already finished Press STATUS ESC key to return 5 Torque command offset Auto Adjustment F1 04 Select F1 04 and enter torque command offset auto adjustment function and the panel displays rEF o Press ENTER key to start torque command offset auto adjustment and the panel displays blinking rEF o About 1 second later auto adjustment is finished and the panel displays donE to inform that the function is already finished Press STATUS ESC key to return 6 Forced Servo enables F1 05 0 Cancel forced servo enables 1 Forced servo enables 4 4 3 Change the motor type Set the group No to 2 in auxiliary function mode The servo drive can match multi servo motor with close power classes printed on the nameplate of
97. terminal 1 Differential input 2 PULE 8 SI2 Input terminal 2 MET ZVE MER collector Direction input 4 DIR DUL 10 SOI Output terminal 1 Differential input 5 5 DIR DIR 11 SO2 Output terminal 2 6 24V for open 12 Ground of output collector terminal B CNI DBIS5 No Name Description No Name Description Input 1 SI3 terminal 3 9 BO Encoder output B Input 2 SI4 10 ZO Encoder output Z Input 3 SI5 cours 11 T REF Torque analog input Input 4 SI6 terminale 12 V REF Speed analog input 2 24 24V input 13 GND Ground for analog input amp goz ue 14 A RS485 terminal 3 Ground for 7 COM output 15 B RS485 terminal Encoder i a output A B DBI5 No Name Description No Name Description Input 1 SI3 tesminal3 9 Z Encoder output Z Input 2 SI4 enska 10 B Encoder output Input T RE 3 515 11 Torgue analog input Output V RE 4 SO3 terminal 3 12 F Speed analog input 5 B Encoder 13 GND GND for analog output B input Encoder 6 A 14 RS485 Encoder 7 A output As 15 B RS485 Encoder A output Z 14 3 2 3 I O Signal Names and Functions The following section describes servo driver I O signal names and functions B Input Signals Item Digital input Pulse input Input Function Reference chapter SI1 SI6 Multi functional input terminal 5 12 1 PUL P2 00 1
98. the recommended value so the rated power should be flexible to actual temperature of the regenerative resistor Suggested power Min resistor 23 4 Use the operate panel This chapter describes the basic operation of the operate panel and the features it offers ALI parameter settings and motor operations can be executed by simple convenient operations 4 1 Basic Operation This section provides information on the basic operation of the operate panel for setting operating conditions 4 1 1 Funetions of operate panel The operate panel can be used for parameter settings operating references and status displays 5 bit LED Displaying parameter settings status or alarm Power LED POWER The LED is on when the servo driver is powered on Charge LED CHARGE The LED is on when the main circiut is powered on When the power of main circiut is off electric charges remain in the capacitors and at this time DO NOT touch the servo This section provides information on the keys and their functions available from the initial displays POWER CHARGE O O O O OO STATUS INC ENTER ESC Key Name Function STATUS ESC Press Status switch status return INC Press Increase the value Press and hold Increase the value continuously DEC Press Decrease the value Press a
99. the motor must stop and enter lock state even the V REF input voltage is not zero After the zero clamp function is ON servo will configure the temporary position loop inside motor will clamp in 1 pulse Motor will return to zero clamp position even the motor is rotating with external force 2 Input signal setting Suitable mode 5 21 Z CLAMP Input 0000 Need to 3 4 7 Any Re power distribute on Note Z CLAMP signal is distributed to input terminal by parameter P5 21 refer to chapter 5 12 1 3 Parameter setting P5 01 Speed of zero clamp Speed of zero clamp 1 Zero clamp will act when meets the following conditions gt Speed control submode 3 or 4 gt Set ON ZCLAMP Speed command value is less than the value of P5 01 V REF speed command Zero clamp voltage Zero clamp acts 51 5 5 6 Speed coincidence checking V CMP When motor speed is equal to the command speed servo outputs speed coincidence signal V CMP Suitable mode P5 29 V CMP Output n 0000 Need to 3 4 7 Any Re power on distribute Note V CMP signal can be distributed to output terminal by parameter P5 29 Refer to chapter 5 12 3 P5 03 Speed coincidence signal width Suitable mode 1 250 Servo OFF Immediately If the difference between motor speed and command speed is less than the value of P5 03 servo outputs V CMP signal 5 5 7 Torque limit 5 5 7 1 Internal torque limit output torque max value li
100. tion deceleration time is from stop state to rated speed but not from current speed to target speed P3 05 the time from stop state to rated speed P3 06 the time from rated speed to stop state Speed command Soft start Rated speed Internal speed command P3 05 set the time Rated speed P3 06 set the time 5 5 9 Filter P3 07 speed command filter time Suitable mode Modify 0 01ms 0 65535 3 4 5 6 7 Servo Immediatel y The speed command passes the 1 time delay filter and become smooth speed command If set it too large the reponse will be slow P3 08 speed feedback filter time 54 Suitable mode Modify 0 0lms 0 0 65535 3 4 5 6 7 Servo OFF Immediately Smooth filter the speed feedback If set it too large the speed feedback will distort and affect the control result 5 5 10 Speed command input dead voltage P3 10 Speed command input dead voltage Suitable mode Modify 00IV 0 0 100 Servo OFF Immediately Note if the input speed command voltage is in the range of this parameter the input voltage is considered to be 0 3 6 Speed control internal speed Basic parameter Servo ON signal S ON 5 62 Internal speed 2 SPD D internal speed direction selection 5 6 3 E E en SPD B internal speed selection Other parameters Name Proportion P5 11 Proportion action command P CON 5 5 4 action Zero clam P5 21 Zero clamp ZCLAMP
101. ulse TTE is low setting a suitable vane for this parameter can decrease the speed fluctuation 5 8 Torque control analog voltage command Only 052 20 0 and 052 20 0 support this mode Parameter Parameter Reference P0 01 Control mode selection P4 00 The analog value of rated torque 58 P5 10 Servo ON signal S ON 5 2 1 Other parameters Zero drift F1 04 Torque command offset auto adjustment 5 8 3 adjustment P4 01 Torque command filter time Speed limit internal speed limit in torque control mode 5 8 5 Max speed control MAX speed V REF function distribution Speed up to limit value output P4 10 Torque command input dead area voltage 5 8 1 Control mode selection Parameter Set Function Modify Effective P0 01 2 Torque control analog voltage command Servo OFF Immediately Function Control the torque by the analog voltage signal input from T REF terminal S 8 2 The analog value of rated torque P4 00 The analog value of rated torque Suitable mode Modify 0 01 V rated torque 1000 150 3000 Servo OFF Immediately Function set the speed command voltage T REF to run the servo motor at rated speed Example P4 00 500 motor run at rated torque when analog input voltage is 5 00V P4 00 800 motor run at rated torque when analog input voltage is 8 00V Refer to chapter 3 2 4 for analog torque command input 5 8 3 Torque command offset autoadjustme
102. up No to 3 Press ENTER key to confirm 3 At this time the last LED is blinking and press INC or DEC key to set the member No to 9 Press and hold ENTER key to confirm E MEE 4 At this time the panel displays the value in P3 09 and the last decimal 0 is blinking Press ENTER to left shift the blinking decimal Press INC DEC or ENTER key to modify the value to 3000 and press and hold ENTER to confirm IS The parameter in P3 09 in changed from 2000 to 3000 Repeat steps 2 to 4 to change the parameter again 5 Press STATUS ESC key to return 4 6 Alarm Alarm code will pop up E XXX if there is error in servo The alarm state is invisible when there is no error in servo Press ENTER to reset the alarm It is no need to reset the alarm when the servo is OFF because of error Notes when there is alarm please clear the alarm reasons then reset the alarm 32 5 Run the servo system This chapter describes the basic function and using method of DS2 series servo 3 1 Control mode selection DS2 series servo has one main mode and two sub modes Sub mode 1 and 2 can be a to each other via C SEL signal Control mode Testing mode users cannot change Idle mode The motor will not power on even if the servo drive enables Torgue control internal setting Control the output torgue of servo motor via operating panel or communication Torgue control anal
103. ve signal to SI6 0010 signal is always effective 0011 input negative signal to 51 0012 input negative signal to SI2 0013 input negative signal to SI3 0014 input negative signal to SI4 0015 input negative signal to SI5 0016 input negative signal to SI6 X3 5 2 1 11 P CON proportion action command ditto X1 X3 5 5 4 12 P OT forward drive prohibition ditto X1 X3 5 2 3 13 N OT reverse drive prohibition ditto X1 X3 5 2 3 14 ALM RST alarm reset ditto X1 X3 5 11 1 15 P CL forward external torque limit ditto X1 X3 5 5 7 2 16 N CL reverse external torque limit ditto X1 X3 5 5 7 2 17 SPD D internal speed selection ditto X1 X3 5 6 3 18 SPD A internal speed selection Same to above XI X3 5 6 3 19 SPD B internal speed selection ditto X1 X3 20 C SEL control mode selection ditto X1 X3 21 ZCLAMP zero clamp ditto XI X3 5 5 5 22 INHIBIT command pulse prohibition ditto X1 X3 5 3 8 23 G SEL gain switch ditto XI X3 6 1 5 24 CLR clear pulse offset ditto X1 X3 5 3 5 25 CHGSTP step change signal ditto X1 X3 5 4 4 26 Reserved 27 Reserved 28 COIN positioning finished 0000 not output to the terminal 0001 output positive signal from 501 0002 output positive signa
104. vo FOU das dada S UI OA 231 55 Hand uno Oiband b ceo 2 2 Servo DEVENS 3c 2 2 1 Storage Codi anta aede pde enn qa ipe 2 22 Installation Site skies abd eda tla PR Nd ral cers 2 2 3 Orienta OM es eo a ea t mi aei i 2 2 4 Installation eiua ere ie 11 31 7 WINE esr ai ap da eo HOP aad ae 11 3 1 1 Names and Descriptions of Main Circuit Terminal 3 1 2 Typical Wiring Example er ie ri 12 3 1 3 Winding Terminals on Servo 13 3 25 mte IR 13 3 2 1 Layout of CNO CN1 Terminals ae aje tee od to dje deja 13 3 2 2 ONO and ae a OR E eo db ea ME 13 3 2 3 I O Signal Names and Functions 15 3 2 4 eben su 15 3 5 Witing 17 2 95 Encoder C obice OD a EUER S 17 3 3 2 CN2 Encoder Connector Terminal Layout 18 3 4 Standard connection examples 18 Position Control Mode et n Idiot teda ao RR E te 19 3 55 Comm ic
105. wer ON and OFF Do not turn power ON or OFF more than once per minute Since the servo amplifier has a capacitor in the power supply a high charging current flows for 0 2s when power is turned ON Frequently turning power ON and OFF causes main power devices like capacitors and fuses to deteriorate resulting in unexpected problems 3 1 1 Names and Descriptions of Main Circuit Terminal DS2 20P2 DS2 20P4 DS2 20P7 Terminal Function Explanation Pt PB Regenerative braking Connect regenerative braking resistor resistor connection between and PB U V W Motor connection Connect to the motor Ground Connect to the ground terminal of motor to be grounded L N Power supply for main Single phase AC 200 240V 50 60Hz circuit Ground Connect to the ground terminal of power to be grounded 11 NALALA DS2 21P5 Terminal Function Explanation 1 Suppress current high and 2 is short when out of factory harmonics to connect Connect DC reactor between and DC reactor 2 to suppress current high harmonics L N Power input of main Single phase AC 200 240V 50 60Hz circuit Ground Connect to the ground terminal of motor to be grounded U V W Motor connection Connect to the motor e G

DS2 series servo drive

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