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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 

11  /P-CON 

proportion 

action 

command ditto   

－

 

※

1 

※

3 

● 

All the 

modes 

5-5-4 

12  /P-OT forward drive prohibition 

ditto 

－

 

※

1 

※

3 

● 

All the 

modes 

5-2-3 

13  /N-OT reverse drive prohibition 

ditto 

－

 

※

1 

※

3 

● 

All the 

modes 

5-2-3 

14  /ALM-RST alarm reset 

ditto 

－

 

※

1 

※

3 

● 

All the 

modes 

5-11-1 

15  /P-CL  forward  external  torque 

limit 
ditto 

－

 

※

1 

※

3 

● 

All the 

modes 

5-5-7-2 

16  /N-CL  reverse  external  torque 

limit 
ditto 

－

 

※

1 

※

3 

● 

All the 

modes 

5-5-7-2 

17  /SPD-D internal speed selection 

ditto 

－

 

※

1 

※

3 

● 

1,2,3,4 

5-6-3 

18  /SPD-A internal speed selection 

Same to above 

－

 

※

1 

※

3 

● 

3,5,6 

5-6-3 

19  /SPD-B internal speed selection 

ditto 

－

 

※

1 

※

3 

● 

3,5,6 

5-6-3 

20  /C-SEL control mode selection 

ditto 

－

 

※

1 

※

3 

● 

All the 

modes 

5-10 

21  /ZCLAMP zero clamp 

ditto 

－

 

※

1 

※

3 

● 

3,5 

5-5-5 

22  /INHIBIT 

command 

pulse 

prohibition 
ditto 

 

※

1 

※

3 

● 

5,6 

5-3-8 

23  /G-SEL gain switch 

ditto 

－

 

※

1 

※

3 

● 

All the 

modes 

6-1-5 

24  /CLR clear pulse offset 

ditto 

－

 

※

1 

※

3 

● 

5,6 

5-3-5 

25  /CHGSTP step change signal 

ditto 

－

 

※

1 

※

3 

● 

5 

5-4-4 

26  Reserved   

 

 

 

 

 

 

27  Reserved   

 

 

 

 

 

 

28  /COIN positioning finished 

0000: not output to the terminal 
0001:  output  positive  signal 
from SO1 
0002:  output  positive  signal 
from SO2 
0003:  output  positive  signal 
from SO3 
0011:  output  negative  signal 
from SO1 
0012:  output  negative  signal 

－

 

※

2 

※

4 

● 

5,6 

5-3-6 

Summary of Contents for DS2 series

Page 1: ...DS2 series servo drive User manual WUXI XINJE ELECTRIC CO LTD Serial No SC2 00 20140320 1 0 ...

Page 2: ...JE ELECTRIC 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 ...

Page 3: ... accessories or not the same with the model ordered Doing so may result in electric shock Installation WARNING 1 Cut off external power supply before installation Not doing so may result in electric shock CAUTION 1 Always use the 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 combust...

Page 4: ...ve minutes after the power has been turned OFF Residual voltage may cause electric shock CAUTION 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 operation with a machine connected change the settings to match the parameters of the machine Starting operation without...

Page 5: ... 3 1 1 The terminal arrangement 10 3 1 2 Main circuit terminals 11 3 1 3 Winding Terminals on Servo motor 13 3 1 4 CN0 CN1 CN2 terminals 13 3 1 5 Communication port 15 3 2 Signal terminals 16 3 2 1 Pulse signal 16 3 2 2 SI input signal 17 3 2 3 Analog input circuit 18 3 2 4 Output signal 18 3 2 5 Encoder feedback signal 19 3 3 Standard wiring example 19 3 3 1 Position Control Mode 19 3 4 Regenerat...

Page 6: ...ontrol mode selection 43 5 4 2 Internal position mode 43 5 4 3 Position parameters from segment 1 to 16 46 5 4 4 Change step CHGSTP 46 5 4 5 Pause current signal INHIBIT 46 5 4 6 Skip current signal ZCLAMP 47 5 4 7 Reference origin 47 5 4 8 Set segment through communication 49 5 5 Speed control analog voltage command 49 5 5 1 Control mode selection 49 5 5 2 Analog value of rated speed 50 5 5 3 Spe...

Page 7: ...witch the control mode 61 5 11 Other output signals 61 5 11 1 ALM and ALM RST 61 5 11 2 WARN 61 5 11 3 Rotation checking TGON 61 5 11 4 Servo ready S RDY 62 5 11 5 Encoder Z phase output Z 62 5 11 6 AB phase feedback signal of encoder 62 5 12 I O signal distribution 63 5 12 1 Input signal distribution 63 5 12 2 Default setting of input terminal 64 5 12 3 Output terminal distribution 64 5 12 4 Defa...

Page 8: ...iv Appendix 2 Application 89 ...

Page 9: ...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 drives Intended User This manual is intended for the following users Those designing D...

Page 10: ...however cannot be turned manually Is there any damage Check the overall appearance and check for damage or scratches that may have occurred during shipping Are there any loose screws Check screws for looseness using a screwdrive Is the motor code the same with the code in drive Check the motor code marked on the nameplates of the servomotor and the parameter F0 00 on the servo drive If any of the ...

Page 11: ...t AS2 series simple model BS series no encoder feedback BS6 series no encoder feedback support AB phase pulse input BSW series no encoder feedback BSW6 series no encoder feedback support AB phase pulse input Voltage level 2 220V 4 380V Suitable motor capacity 0P2 0 2KW 0P4 0 4KW 0P7 0 75KW 1P5 1 5KW 2P3 2 3KW 3P0 3 0KW Configure type Series name Suitable motor capacity Voltage level ...

Page 12: ...Size Motor Series Name Base number 60 80 90 110 130 180 Feedback component no M Optical pulse encoder Performance parameter no First 3 bits mean rated torque last 2 bits mean rated speed Such as 00630 rated torque 0 6N m rated speed 3000rpm 06025 rated torque 6 0N m rated speed 2500rpm 19015 rated torque 19 0N m rated speed 1500rpm Shaft spec A No bond B With bond Encoder part Frame Flange Output ...

Page 13: ...P7 AS AS6 DS2 20P7 BSW BSW6 MS 80ST M02430 20P7 1011 0011 MS 80ST M03520 20P7 0012 MS 90ST M02430 20P7 0021 DS2 21P5 AS AS6 DS2 21P5 AS2 MS 110ST M04030 21P2 0031 3 phase 220V MS 110ST M05030 21P5 0032 MS 130ST M06025 21P5 1042 0042 MS 130ST M10015 21P5 0044 DS2 22P3 AS AS6 MS 130ST M07725 22P0 0043 3 phase 220V MS 130ST M15015 22P3 0046 DS2 41P5 AS AS6 MS 110ST M04030 41P2 0131 3 phase 380V MS 11...

Page 14: ...servomotor 2 1 1 Storage Temperature Store the servomotor within 20 60 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 Free of corrosive or explosive gases Well ventilated and free of dust and moisture Ambient temperature of 0 to 50 C Rela...

Page 15: ...hat 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 3mm2 2 2 Servo Drive The DS2 AS series servo drives are compact model Incorrect installation will cause problems Follow the installation instructions below 2 2 1 Storage Conditions Store the servo dr...

Page 16: ...to vibration Installation at a Site Exposed to Corrosive Gas Corrosive gas does not have an immediate effect on the servo drives but will eventually cause electronic components and terminals to malfunction Take appropriate action to avoid corrosive gas Other Situations Do not install the servo drive in hot and humid locations or locations subject to excessive dust or iron powder in the air 2 2 3 O...

Page 17: ...ion When install servo drives side by side as shown in the figure above make at least 10mm between and at least 50mm above and below each servo drive Install cooling fans above the servo drives to avoid excessive temperature rise and to maintain even temperature inside the control panel Environmental Conditions in the Control Panel Ambient Temperature 0 50 Humidity 90 RH or less Vibration 4 9m s2 ...

Page 18: ... 3 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 4 Avoid frequently turning power 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 fo...

Page 19: ...inal of motor then connect to the ground DS2 21P5 AS AS6 AS2 DS2 22P3 AS AS6 DS2 41P5 AS AS6 Terminal Function Explanation R S T Power supply input of main circuit 3 phase AC 200 240V 50 60Hz DS2 2 P AS R S T Power supply input of main circuit 3 phase AC 360 400V 50 60Hz DS2 4 P AS Vacant U V W Motor terminals Connect the motor Terminal Color U brown V black W blue PE Yellow green P D C Internal r...

Page 20: ... resistor between P and C disconnect P and D set P0 10 1 P P Bus terminal Real time check the bus voltage please take attention of this terminal DS2 20P4 BS BS6 Terminal Function Explanation L N Power supply input of main circuit Single phase AC 200 240V 50 60Hz Vacant U V W Motor terminals Connect the motor Terminal Color U brown V black W blue PE Yellow green P PB External regenerative resistor ...

Page 21: ...oltage please take attention of this terminal 3 1 3 Winding Terminals on Servo motor Symbol 60 80 90 Series 110 130 180 Series PE 4 yellow green yellow green 1 yellow green U 1 brown red 2 brown V 3 black blue 3 black W 2 blue yellow 4 blue Terminal for brake 1 24V 2 GND 3 1 4 CN0 CN1 CN2 terminals CN0 terminals No Name Explanation No Name Explanation 1 P Pulse input PUL 8 SI2 Input 2 2 P 5V 5V di...

Page 22: ...8 Z Encoder output Z CN1 DB15 terminals DS2 20P4 BS BS6 DS2 20P7 BSW BSW6 DS2 21P5 AS2 No Name Explanation 1 NC Reserved 2 NC Reserved 3 SI5 Input 5 4 SO3 Output 3 CN2 terminals Drive port Motor encoder port Name Drive port Motor encoder port Name 60 80 90 series 110 130 180 series 60 80 90 series 110 130 180 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 1...

Page 23: ...eive 3 GND RS232 ground RS 485 port DS2 2 P AS AS6 DS2 4 P AS AS6 Pin no Name CN1 14 A CN1 15 B 1 Please use the cable provide by XINJE Company 2 For above servo drives RS232 COM1 and RS485 COM2 cannot be used at the same time 3 The communication parameters of COM1 and COM2 will be changed at the same time 1 5 9 10 15 14 13 12 11 1 2 3 4 5 6 7 8 Communication port RS232 Can connect PC and HMI ...

Page 24: ... 0 2 bits 2 1 bit P0 04 3 Parity bit 2 0 2 0 no parity 1 odd parity 2 even parity Parameter Function Default setting Setting range Effective time P0 03 Modbus station no 1 1 255 Power on again 3 2 Signal terminals 3 2 1 Pulse signal Input terminal Function Reference chapter P P 5V P 24V P2 00 0 CW CCW two pulses mode P2 00 2 pulse direction mode 5 3 2 D D 5V D 24V P2 00 0 CW CCW two pulses mode P2...

Page 25: ...onnect When using relay please choose micro current relay Otherwise the contact will be not good Type Input terminal Function Reference chapter Digital input SI1 SI5 Multi functional input 5 12 1 P 24V PUL PUL P R 3 3K DIR D R 3 3K P 5V D 5V Shield layer 0V D 24V DIR COM0 Y0 24V P R 3 3K COM1 Y1 D R 3 3K P 5V D 5V Shield layer 0V D 24V P 24V When upper device is open collector output please use th...

Page 26: ...l is speed command or torque command Input impedance speed command input about 13KΩ torque command input about 13KΩ max allowable voltage of input signal is 10V 3 2 4 Output signal Type Output terminal Function Reference chapter Optocoupler output SO1 SO3 Multi functional output terminal 5 12 3 Optocoupler type Relay type Servo drive upper device Servo drive upper device SI 24V COM2 Y2 0V 24V R 2 ...

Page 27: ...l Mode DS2 20P AS AS6 PG A A B B Z Z U U V V W W 5V GND SHIELD cover A A B B Z Z U U V V W W 5V GND Connector cover CN2 AO AO BO BO ZO ZO 0V 24V AO AO BO BO ZO ZO X0 X1 X2 COM Incremental encoder Upper device 0V Shield cable Shiled layer COM Z B A Servo unit Differential to collector ...

Page 28: ...W V Single phase 3 phase AC 220V 50 60Hz CN2 L1 FIL Self define the Terminal function CN0 8 CN0 7 S ON 24VIN U L2 L3 CN0 10 N OT ALM RST 3 3KΩ P 24V CN0 3 Vcc 2 2K Ω CN1 5 CN1 10 B0 BO CN1 9 CN1 8 Z0 ZO Servo motor Encoder CN2 5 W CN2 4 CN2 3 U Z CN2 2 CN2 1 B A Differential encoder feedback Self define The terminal function P PB CN0 14 CN1 4 CN0 13 CN0 12 COM S RDY ALM COIN ...

Page 29: ...AS6 3 phase AC220V 50 60Hz DS2 4 P AS AS6 3 phase AC380V 50 60Hz CN2 R S RDY ALM COIN FIL Self define the Terminals function CN0 8 CN0 7 S ON 24VIN U S T CN0 10 N OT ALM RST 3 3KΩ P 24V CN0 3 Vcc 2 2 K Ω CN1 5 CN1 10 B0 BO CN1 9 CN1 8 Z0 ZO C D P Servo motor Encoder CN2 5 W CN2 4 CN2 3 U Z CN2 2 CN2 1 B A Differential encoder feedback Self define the terminals function D 24V D P CN0 6 CN0 4 CN1 7 ...

Page 30: ...0V at signal side Be vacant at Drive side Vcc CN0 1 2 2K Ω W V DS2 20P4 BS BS6 single phase AC220V 50 60Hz CN2 R L S RDY ALM COIN FIL Self define the output terminals CN0 8 CN0 7 S ON 24VIN U S N T CN0 10 N OT ALM RST 3 3KΩ P 24V CN0 3 Vcc 2 2K Ω PB C D P Servo motor Encoder CN2 5 W CN2 4 CN2 3 U Z CN2 2 CN2 1 B A Self define the terminals function Regenerative resistor DS2 21P5 AS2 3 phase AC220V...

Page 31: ... 1 Use external regenerative resistor resistor type please refer to the following table The type of regenerative resistor Servo drive Internal regenerative resistor External regenerative resistor DS2 20P2 AS AS6 DS2 20P4 BS BS6 No internal regenerative resistor External regenerative resistor is 40Ω to 50Ω 100W connect to P and PB This resistor needs to purchase DS2 20P4 AS AS6 DS2 20P7 AS AS6 No i...

Page 32: ...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 Display mode Monitor Function U XX XX means the number of the monitor function Auxiliary Function FX XX...

Page 33: ... Torque Limit CLT Light when actual torque exceeds preset value Forward Torque Limit P4 02 Reverse Torque Limit P4 03 P5 30 Rotation Detection TGON Light when the motor speed exeeds the rotation detection speed Rotation Detection Speed Level P5 02 Unit rpm P5 21 Zero Clamp ZCLAMP Light when zero clamp signal is ON P5 33 Speed Limit VLT Light when actual speed exceeds preset value Speed Limit durin...

Page 34: ...nitoring Mode Display contents of Monitoring Mode 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 voltage V U 06 Module temperature 0 1 U 07 Input command pulse speed Rpm U 08 Pulse value of shift command 0000 9999 1 Command pulse U 09 0000 9999...

Page 35: ...ernal torque limit at reverse side LED4_7 CHGSTP change the step LED5_7 SPD D internal set speed selection Output signals status Segment Description Segment Description LED1_0 NEAR near LED2_0 COIN positioning completed LED1_1 ALM alarm output LED2_1 V CMP speed synchronization checking LED1_2 Z encoder Z phase output LED2_2 TGON rotate checking LED2_3 S RDY ready LED2_4 CLT torque limit LED2_5 VL...

Page 36: ...s not connected to the machine before jogging P3 04 JOG speed Unit Default Setting range Suitable mode Change Effective 1Rpm 100 0 1000 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 drive is connected with non original encoder line or power line trial operation must be run first to ensure that the ...

Page 37: ...Forced servo enables The forced servo enable will invalid after repower on 4 4 3 Change the motor type F2 00 The servo drive can match multi servo motor with close power classes printed on the nameplate of each motor Please confirm the motor code F0 00 match the nameplate Motor nameplate XINJE MS 80ST M02430B 20P7 KW N M A rpm IP 0 7 2 4 3 0 3000 65 MOT0R CODE 0011 DB2012052013 Xinje Electronic Co...

Page 38: ...et all the parameters to default value F4 00 1 Please make the servo OFF before the operation 4 4 6 External monitoring F5 XX Select F5 00 in auxiliary function the panel displays C OUT which means external monitoring mode COM1 is effective operate panel is ineffective At this time user can debug the servo via PC Press STATUS ESC to return 4 5 Alarm E XX The alarm code will show when there is erro...

Page 39: ... 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 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 ...

Page 40: ...voltage command Control the speed of servo motor via analog voltage command It is mostly used to close loop speed control with upper device 5 5 5 Position control internal position command Control the position via internal position command it can set pulse quantity and torque 5 4 6 default setting Position control external pulse command Control the position of servo motor via pulse command Control...

Page 41: ...ion is CCW rotate look at the load side Reverse mode will change the motor rotate direction Mode Forward rotate Reverse rotate Standard setting CCW is forward rotate Reverse mode CW is forward rotate Set the rotate direction Parameter Setting Explanation P0 05 0 default setting Standard setting CCW is forward running 1 Reverse mode CW is forward running P0 05 is functional in mode 2 4 6 7 5 2 3 Mo...

Page 42: ...T and N OT to the limit switch Make sure to wiring as the following diagram when linear driving to avoid machine damagement 2 Set the overtravel signal Parameter Signal Setting Meaning Modify P5 12 P OT n 0003 default SI3 ON prohibit the forward running Range 0000 0015 n 0013 SI3 ON allow the forward running P5 13 N OT n 0004 default SI4 ON prohibit the reverse running Range 0000 0015 n 0014 SI4 O...

Page 43: ...y Effective 1ms 0 0 500 All the modes Servo OFF Immediately This parameter is used to set the output time from the brake control signal BK to the servo OFF operation servomotor output stop The setting is under the condition of motor stop and TGON invalid Parameter Signal Type Default Explanation Modify P5 34 BK Output n 0000 Need to distribute Range 0000 0013 BK signal can output from output termi...

Page 44: ...nditions 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 5 2 6 Alarm output P5 07 Brake command output speed Unit Default Range Suitable mode Modify Effective rpm 100 0 5000 All the modes Servo OFF Immediately P5 08 Brake command waiting time Unit Default Range Suitab...

Page 45: ... value P4 13 Torque over limit time Note P4 13 0 this function is effective Motor output torque U 02 P4 11 12 in the time of P4 13 it shows alarm E 019 5 3 Position mode external pulse command Basic parameter Parameter Name Reference P0 01 Control mode selection 5 3 1 P2 00 Pulse command mode 5 3 2 P2 02 Electronic gear ratio numerator 5 3 3 P2 03 Electronic gear ratio denominator P5 10 Servo ON s...

Page 46: ... P support setting value 0 and 2 DS P 6 support setting value 1 and 2 2 Details explanation of pulse command mode Command pulse mode Electrical specification Remark Direction pulse DIR PUL signal Max frequency Bus drive is 500kbps Transistor open circuit is 200kbps t1 t2 0 1μs t3 t7 0 1μs t4 t5 t6 3μs τ 2 5μs τ T 100 40 60 Direction DIR 1 forward command 0 reverse command CW CCW mode Max frequency...

Page 47: ...the electronic gear ratio B A using the following steps Step Content Explanation 1 Confirm the machine specification Confirm the deceleration ratio ball screw distance pulley diameter 2 Confirm the encoder pulse Confirm the servo motor encoder pulses 3 Set the reference unit Set the actual distance or angle corresponding to 1 pulse of the command controller Workpiece Ball screw pitch 6mm Encoder p...

Page 48: ...ting the electronic gear The example for different loads Step Ball screw Round table Belt pulley 1 Ball screw pitch 6mm Machine deceleration ratio 1 1 1 circle rotate angle 360 Deceleration ratio 3 1 Pulley diameter 100mm Deceleration ratio 2 1 2 2500P R 2500P R 2500P R 3 1 reference unit 0 001mm 1 reference unit 0 1 1 reference unit 0 02mm 4 6mm 0 001mm 6000 360 0 1 3600 314mm 0 02mm 15700 5 2500...

Page 49: ...Meaning Modify P5 28 COIN n 0001 Output positioning complete signal from SO1 Range 0000 0013 distribute to output terminal through P5 28 When it set to 0002 it means output from SO2 n 0011 SO1 and COM cut off when positioning complete The output terminal distributed by function parameter cannot be same Please refer to chapter 5 12 3 P5 00 Width of positioning complete Unit Default Range Suitable m...

Page 50: ...tput from terminal by setting P5 36 please see chapter 5 12 3 P5 04 Width of positioning near signal Unit Default Range Suitable mode Modify Effective 1 reference unit 50 0 10000 5 6 Servo OFF Immediately Function when the pulse error signal is lower than P5 04 output NEAR signal Set the parameter wider than positioning complete signal Monitor the pulse error value via U 08 5 04 5 00 NEAR 信号状态0 1 ...

Page 51: ...mode P5 19 SPD B find the reference origin at reverse side in position mode Pulse error clear P5 24 Pulse error clear 5 3 5 Positioning complete P5 28 Positioning complete signal output COIN 5 3 6 P5 00 Positioning complete width Positioning near P5 36 Positioning near signal output NEAR 5 3 7 P5 04 Positioning near signal width Set segment no through communication P2 97 Any setting of 16 segments...

Page 52: ...he 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 0ms Wait mode 1 adjust time 0ms After the drive output 1 segment position command it will not wait for the completion of motor positioning and start the next position command at once After the drive output 1 segment position command it will not wait for the ...

Page 53: ...e are 2 segments t1 P2 14 CHGSTP signal is ineffective when one cycle has not been finished such as the second CHNGSTP signal in the diagram 3 set segment no through communication Servo is ON set parameter P2 97 0 then set the running segment 3 Positioning mode n xxx Meaning 0 Relative positioning 1 Absolute positioning 0 relative positioning 1 absolute positioning take the accumulate position ori...

Page 54: ... 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 same the servo motor will not run but the wait mode...

Page 55: ...ult Range Suitable mode Modify Effective 1 2 1 F 5 6 Servo OFF Immediately P2 95 The speed hitting the proximity switch Unit Default Range Suitable mode Modify Effective 0 1rpm 600 0 50000 5 6 Servo OFF Immediately P2 96 The speed leaving the proximity switch Unit Default Range Suitable mode Modify Effective 0 1rpm 100 0 50000 5 6 Servo OFF Immediately Parameter Signal Default Meaning Modify P5 21...

Page 56: ...al encoder This position is considered as the coordinates origin n is decided by parameter P2 94 2 Define the reference origin SPD A P OT Z V t P2 96 P2 95 P2 94 Parameter Signal Default Meaning Modify P5 17 SPD D n 0000 Mode 1 2 3 4 not distribute to the terminal To switch the rotation direction Range 0000 0015 Distribute to input terminal through P5 17 When it set to 0001 it means input signal f...

Page 57: ...ero clamp speed Speed coincidence checking P5 29 V CMP speed coincidence checking 5 5 6 P5 03 Coincidence speed signal checking width V CMP Torque limit P4 02 Forward torque limit 5 5 7 P4 03 Reverse torque limit P0 07 T REF distribution P4 04 Forward external torque limit P4 05 Reverse external torque limit P5 15 Forward external torque limit P CL P5 16 Reverse external torque limit N CL P5 32 Ou...

Page 58: ...CLAMP 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 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 ...

Page 59: ...his 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 actio...

Page 60: ... the voltage the torque limit value based on the absolute value is suitable for forward and reverse direction 2 When it is used as torque 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...

Page 61: ...e internal speed Other cases please set to 0 2 accerlation 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 1 100 0 300 All modes Servo OFF Immediately Note the unit is the percent of motor rated torque the default value if 100 Parameter Signal Type Default Mean...

Page 62: ... Speed command input dead voltage 5 6 Speed control internal speed Basic parameter Parameter Name Reference P0 01 Control mode selection 5 6 1 P5 10 Servo ON signal S ON 5 2 1 P3 01 Internal speed 1 5 6 2 P3 02 Internal speed 2 P3 03 Internal speed 3 P5 17 SPD D internal speed direction selection 5 6 3 P5 18 SPD A internal speed selection P5 19 SPD B internal speed selection P3 10 Speed command in...

Page 63: ...d filter time 5 5 9 P3 08 Speed feedback filter time 5 6 1 Control mode selection 5 6 2 Internal speed setting P3 01 Internal speed 1 Unit Default Range Suitable mode Modify Effective 1rpm 100 5000 5000 3 Any Immediately P3 02 Internal speed 2 Unit Default Range Suitable mode Modify Effective 1rpm 200 5000 5000 3 Any Immediately P3 03 Internal speed 3 Unit Default Range Suitable mode Modify Effect...

Page 64: ...stribute Range 0000 0015 Distribute to input terminal through P5 19 Input signal Direction Running speed SPD D SPD A SPD B 0 0 0 Forward Internal speed is zero 0 1 P3 01 SPEED1 1 1 P3 02 SPEED2 1 0 P3 03 SPEED3 1 0 0 Reverse Internal speed is zero 0 1 P3 01 SPEED1 1 1 P3 02 SPEED2 1 0 P3 03 SPEED3 SPEED3 0 SPEED2 SPEED1 SPEED1 SPEED2 SPEED3 SPD A SPD B SPD D OFF OFF ON ON ON ON ON ON ON ON ON ON O...

Page 65: ...ward external torque limit P CL P5 16 Reverse external torque limit N CL P5 32 Torque up to limit value output CLT Filter P3 08 Speed feedback filter time 5 5 9 5 7 1 Control mode selection 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 P2 06 command pulse freque...

Page 66: ...eed control MAX speed P0 08 V REF function distribution P5 33 Speed up to limit value output Dead area P4 10 Torque command input dead area voltage 5 8 6 SPD D direction selection P5 17 Speed direction changing 5 6 3 5 8 1 Control mode selection 5 8 2 The analog value of rated torque P4 00 The analog value of rated torque Unit Default Range Suitable mode Modify Effective 0 01V rated torque 1000 15...

Page 67: ...ue 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 20 of rated speed 3 P0 08 1 the actual limit value is the smaller value among V REF speed limit input and P4 07 P4 07 internal speed li...

Page 68: ...distribution P5 33 Speed up to limit value output SPD D direction selection P5 17 Speed direction change 5 6 3 5 9 1 Control mode selection 5 9 2 Internal torque command P4 10 Torque command input dead area voltage Unit Default Range Suitable mode Modify Effective 0 01V 0 0 100 2 Servo OFF Immediately Note if the input torque command voltage is smaller than this parameter the torque command is 0 P...

Page 69: ...As the alarm signal is related to the safe running of servo ALM RST signal cannot be set to always effective n 0010 3 The alarm related to encoder such as E 013 E 014 cannot be reset via ALM RST 4 ALM RST can be distributed to input terminal via parameter P5 14 refer to chapter 5 12 1 Parameter Signal Type Default Meaning Range P5 35 WARN Output n 0000 Need to distribute 0000 0013 When the warning...

Page 70: ...speed 5 11 6 AB phase feedback signal of encoder DS2 2 P AS and DS2 4 P AS support differential output AB phase feedback signal Please see the following wiring diagram of DS2 21P5 AS and Xinje PLC XC3 32RT E Drive CN1 DB15 differential signal to collector PLC considered to be running and output rotation checking signal TGON Parameter Signal Default Meaning Range P5 31 S RDY n 0003 SO3 and COM pass...

Page 71: ...connect to 0V 1 L Connect to 0V 0 Note if the distributed terminal has other signal set the signal to other terminal or set to unused Example take the input signal CLR P5 24 of DS2 21P5 AS as an example to explain the terminal distribution Wiring example of input signal Parameter Set value Terminal state Signal state Meaning P5 24 n 0001 Disconnect to 0V 0 Clear the pulse offset at the moment of S...

Page 72: ...1 Cut off with COM Note If the distributed terminal has other signal please set the signal to other terminal or set to unused Example take CLT signal of DS2 21P5 AS as an example to explain output terminal distribution Output terminal wiring example Parameter Set value CLT Terminal state Meaning P5 32 n 0001 0 SO1 and COM pass through Output limit signal when motor torque reaches the set value 1 S...

Page 73: ...p Gain parameter about position loop In position control mode the servo will alarm when the offset pulse over the limit value The value is offset pulse limit parameter P5 05 Offset pulse limit Unit Default Range Suitable mode Modify Effective 256 command pulse 1000 0 65535 5 6 Servo OFF Immediately The offset pulse will not be checked when offset pulse limit value is 0 P1 02 Position loop gain Kp ...

Page 74: ...ng P1 00 100 P1 01 1000 P1 02 80 4 Mechanical system rigidity coupling 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 4 Propor...

Page 75: ...elect P control mode the servo will stop 6 5 Gain switch G SEL This function can switch the gain online For example set different first and second gain by the external signal when the motor is running or stop Select the input terminal for G SEL signal Function realization Parameter Signal Type Default Meaning Suitable mode Modify Effective P5 23 G SEL Input n 0000 Need to distribute 3 4 5 6 7 Any ...

Page 76: ... 48 56 6 71 Torque coefficient N m A 0 37 0 5 0 68 0 8 0 92 1 17 Rotor inertia Kg m2 0 18 10 4 0 438 10 4 0 53 10 4 1 82 10 4 0 65 10 3 2 63 10 4 Winding resistor Ω 3 5 3 49 3 8 2 88 2 7 3 65 Winding inductance mH 8 32 8 47 11 51 6 40 6 25 8 80 Electrical time constant ms 2 38 2 4 3 03 2 22 2 3 2 41 Weight Kg 1 1 1 78 1 72 2 9 2 87 3 7 Encoder ppr PPR 2500 Pole pairs 4 Motor insulation level Class...

Page 77: ...0 50 Humidity Relative humidity 90 no condensation Voltage level 220V Motor type MS 130ST M10015 M07725 M15015 21P5 22P0 22P3 Motor code 0044 0043 0046 Rated power KW 1 5 2 0 2 3 Rated current A 6 0 7 5 9 5 Rated speed rpm 1500 2500 1500 Max speed rpm 2000 3000 2000 Rated torque N m 10 7 7 15 Peak torque N m 25 22 30 Back EMF constat V krpm 103 68 114 Torque coefficient N m A 1 67 1 03 1 58 Rotor ...

Page 78: ...26 10 3 1 94 10 3 1 125 10 3 3 8 10 3 2 8 10 3 Winding resistor Ω 3 30 2 28 3 50 4 37 0 46 1 15 0 67 Winding inductance mH 8 78 7 40 10 75 15 00 1 52 6 40 2 68 Electrical time constant ms 2 66 3 25 3 07 3 46 3 33 5 57 4 00 Weight Kg 5 5 6 1 8 9 11 5 11 4 20 5 17 1 Encoder ppr PPR 2500 Pole pairs 4 Motor insulation level Class B 130 Protection level IP65 Ambie nt Temperatur e 20 50 Humidity Relativ...

Page 79: ... W PE Connector 2 3 4 5 6 7 8 9 10 11 12 13 14 15 1 7 1 2 Torque Speed Feature A continuous using area B repeated using area MS 60ST M00630 20P2 MS 60ST M01330 20P4 MS 80ST M02430 20P7 MS 90ST M02430 20P7 MS 110ST M04030 21P2 MS 110ST M05030 21P5 MS 110ST M04030 41P2 MS 110ST M05030 41P5 ...

Page 80: ...P5 MS 130ST M10015 21P5 MS 130ST M06025 41P5 MS 130ST M10015 41P5 MS 130ST M15015 22P3 MS 180ST M19015 43P0 MS 130ST M10030 43P0 MS 180ST M20015 43P0 7 1 3 Servo motor dimensions Dimensions of 60 series servo motors unit mm ...

Page 81: ...or type LA Normal With brake MS 60ST M00630 20P2 110 MS 60ST M01330 20P4 141 189 Dimensions of 80 series servo motors unit mm Type LA Normal With brake MS 80ST M02430 20P7 150 191 MS 80ST M03520 20P7 178 219 ...

Page 82: ...ors unit mm Type LA Normal With brake MS 90ST M02430 20P7 149 194 Dimensions of 110 series servo motors unit mm Type LA Normal With brake MS 110ST M04030 21P2 MS 110ST M04030 41P2 189 263 MS 110ST M05030 21P5 MS 110ST M05030 41P5 204 278 ...

Page 83: ...P5 MS 130ST M06025 41P5 179 236 MS 130ST M10015 21P5 MS 130ST M10015 41P5 213 270 MS 130ST M07725 22P0 192 249 MS 130ST M15015 22P3 241 298 MS 130ST M10030 43P0 230 288 Dimensions of 180 series servo motors unit mm Type LA Normal With brake MS 180ST M19015 43P0 232 289 MS 180ST M20015 43P0 215 ...

Page 84: ...at rated load torque Speed change rate Load change rate 0 100 load below 0 01 rated speed Voltage change rate Rated voltage 10 0 rated speed Temperature change rate 20 25 below 0 1 rated speed Frequency feature 250Hz JL JM Soft start time 0 65535ms set acceleration deceleration individually Input signal RS485 DS2 21P5 AS2 DS2 20P7 BSW DS2 20P4 BS don t have this function Position control mode Perf...

Page 85: ... gear 0 01 B A 100 Protection Program error parameter error overvoltage undervoltage regeneration error overtemperature overcurrent overspeed analog input error position offset overflow output shorting current error encoder cut encoder error overload power off when running write parameter error LED display Charge power supply 7 segment LED 5 built in digital operate communication COM1 Connector RS...

Page 86: ...78 DS2 21P5 AS AS6 DS2 21P5 AS2 DS2 22P3 AS AS6 DS2 41P5 AS AS6 unit mm 2 1 85 0 186 1 198 3 2 Φ5 0 ...

Page 87: ...79 DS2 43P0 AS AS6 unit mm DS2 20P7 BSW BSW6 unit mm 110 0 222 0 210 0 211 0 99 0 2 1 70 0 186 0 166 0 59 0 175 0 ...

Page 88: ...7 Over current UVW of drive is short circiut or the motor is error Replace the damaged motor check the UVW wiring E 008 Over speed Motor speed is too fast motor UVW connection is error Check if there is other device that make motor revolve too fast check the UVW wiring E 009 Analog input error Input voltage error when 2 channe analog zero calibrating Input correct voltage when zero calibration for...

Page 89: ...Run overload for long time Reduce the overload running time change a motor with larger rated power E 017 Power off when running Bus voltage is too low when running Re power on after the bus voltage is normal E 018 Erase parameter error Voltage is too low when power on cannot erase the parameter Check the power supply and re power on E 031 Motor code error Motor code cannot match to drive type Set ...

Page 90: ...f serial port 2 n 2206 n 0000 n 2209 All the modes 3 5 2 05 Rotation direction selection 0 0 1 2 4 6 7 5 2 2 06 06 L stop mode when servo OFF or alarm DS2 series default is inertia stop Keep the inertia motion after stop 2 0 2 All the modes 5 2 4 06 H over range OT stop mode 0 1 inertia stop Keep inertia motion after stop 2 deceleration stop Change to zero clamp after stop Torque P4 06 urgent stop...

Page 91: ...er time 0 01ms 0 0 65535 5 6 6 1 2 P2 position control Modbus address 0200 02FF P2 Function Unit Default Range Effective Suitable mode Chapter 00 Command pulse state 2 0 2 6 7 5 3 2 01 Position command filter selection 0 0 1 6 5 3 4 02 Electronic gear ratio molecular 1 1 65535 6 5 3 3 03 Electronic gear ratio denominator 1 1 65535 6 5 3 3 04 Position command filter time 1ms 0 0 128 6 5 3 4 05 Rese...

Page 92: ...0 5000 3 5 6 2 04 JOG speed rpm 100 0 1000 All the modes 4 4 2 05 Soft start acceleration time 1ms 0 0 65535 3 4 5 5 8 06 Soft start deceleration time 1ms 0 0 65535 3 4 5 5 8 07 Speed command filter time 0 01ms 0 0 65535 3 4 5 6 7 5 5 9 08 Speed feedback filter time 0 01ms 20 0 65535 3 4 5 6 7 5 5 9 09 Max speed limit MAX speed rpm Different for each type 0 5000 All the modes 5 8 5 10 Speed comman...

Page 93: ...ation checking speed TGON rpm 20 1 1000 All the modes 5 11 3 03 Coincide speed checking signal width V CMP rpm 10 1 250 All the modes 5 5 6 04 Near output signal width NEAR Command pulse 50 0 10000 5 6 5 3 7 05 Offset pulse limit value 256 command pulse 1000 0 65535 5 6 6 1 2 06 Servo OFF delay time brake command 1ms 0 0 500 All the modes 5 2 5 07 Brake command output speed rpm 100 0 5000 All the ...

Page 94: ...rnal speed selection ditto 1 3 1 2 3 4 5 6 3 18 SPD A internal speed selection Same to above 1 3 3 5 6 5 6 3 19 SPD B internal speed selection ditto 1 3 3 5 6 5 6 3 20 C SEL control mode selection ditto 1 3 All the modes 5 10 21 ZCLAMP zero clamp ditto 1 3 3 5 5 5 5 22 INHIBIT command pulse prohibition ditto 1 3 5 6 5 3 8 23 G SEL gain switch ditto 1 3 All the modes 6 1 5 24 CLR clear pulse offset...

Page 95: ...s 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 0x0103 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 0x...

Page 96: ...0 Rotation angle low 16 bits 0x070A F3 10 T REF value when alarming 0x0720 U 11 Rotation angle high 16 bits 0x070B F3 11 Alarm warn code 2 0x0728 U 12 Input command pulse low 16 bits 0x070C F3 12 Alarm warn code 3 0x0729 U 13 Input command pulse high 16 bits 0x070D F3 13 Alarm warn code 4 0x072A U 14 Feedback pulse low 16 bits 0x070E F3 14 Alarm warn code 5 0x072B U 15 Feedback pulse high 16 bits ...

Page 97: ... 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 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 ...

Page 98: ... 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 F1 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...

Page 99: ...WUXI XINJE ELECTRIC CO LTD 4th Floor Building 7th No 100 Dicui Rd Wuxi China Tel 86 0510 85134139 Fax 86 0510 85111290 www xinje com Email cheerfiona gmail com ...

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