Xinje DS3 series servo User Manual Download

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DS3/DS3E/DS3L series servo drive

User manual

WUXI XINJE ELECTRIC CO., LTD.

Serial No. SC3 02 20171010 1.0

Summary of Contents for DS3 series servo

Page 1: ...DS3 DS3E DS3L series servo drive User manual WUXI XINJE ELECTRIC CO LTD Serial No SC3 02 20171010 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: ...essories 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 combustible...

Page 4: ...inutes 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 mat...

Page 5: ... 3 1 2 Signal terminals 22 3 1 2 1 Pulse signal 22 3 1 2 2 SI input signal 23 3 1 2 3 SO output signal 23 3 1 2 4 Analog input circuit 24 3 1 2 5 Encoder feedback signal 25 3 1 3 Standard wiring example 25 3 1 3 1 Position Control Mode 25 3 1 4 Regenerative Resistor 27 3 2 DS3E DS3L PFA 28 3 2 1 Main circuit wiring 28 3 2 1 1 The terminal arrangement 28 3 2 1 2 Main circuit terminals 29 3 2 1 3 Wi...

Page 6: ... 2 4 Overtravel Limit P OT N OT 58 5 2 5 Power off Brake BK 59 5 2 6 Alarm output 61 5 2 7 Anti block run alarm 61 5 3 Position mode external pulse command 61 5 3 1 External position mode 62 5 3 2 Pulse command and pulse form 62 5 3 3 Electronic gear ratio 63 5 3 4 Position command filter 66 5 3 5 Pulse deviation clear CLR 67 5 3 6 Positioning complete COIN COIN_HD 67 5 3 7 Positioning near NEAR 7...

Page 7: ... WARN 89 5 11 3 Rotation checking TGON 89 5 11 4 Hysteresis loop 90 5 11 5 Servo ready S RDY 90 5 11 6 Encoder Z phase output Z only for DS3 PQA DS3 PTA 90 5 11 7 ABZ phase feedback signal of encoder CN1 15 pin support 91 5 11 8 User defined output signal 92 5 11 9 IO filter time 93 5 11 10 Switch the control mode 93 5 12 I O signal distribution 94 5 12 1 Input signal distribution 94 5 12 2 Defaul...

Page 8: ...ions 115 7 2 Servo drives 119 7 2 1 DS3E DS3L DS3 PTA DS2 comparison table 119 7 2 2 Servo drive dimensions 121 8 Alarm Information 124 Appendix 1 Parameter list 130 Appendix 2 UX XX monitoring parameters 139 Appendix 3 FX XX auxiliary function 142 Appendix 4 Modbus address 142 Appendix 5 General debug steps 145 Appendix 6 Application 146 Appendix 7 Compatible table of servo and motor 148 ...

Page 9: ...rs with brakes 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 P0 33 on the servo drive...

Page 10: ...P0 3 0KW 5P5 5 5KW 7P5 7 5KW Configuration type P Input command type pulse Encoder type Q quadrature encoder F compatible quadrature encoder T 17 bits absolute value encoder A Design order A Configure type Series name Suitable motor capacity Voltage level XINJE SERVO DRIVER DS3 20P7 PQA WARNING CAUTION AC INPUT 1PH 3PH 200 240V 50 60Hz 3 5A AC OUTPUT 3PH 0 200V 3 5A 0 75KW 12052013 WUXI XINJE ELEC...

Page 11: ...aft Motor label XINJE AS SERVO MOTOR MS 80ST M02403B 20P7 0 75 XJY1410714180480701 Motor model Motor specification Serial no KW IP 65 MOTOR CODE 1011 WUXI XINJE ELECTRIC CO LTD N M A rpm 3000 3 2 2 39 Shaft length power voltage level body length power loss brake shaft specification performance parameter code feedback component code oil seal base no ...

Page 12: ...coder N 20 bits absolute value 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 Power loss brake Vacant No Z With power off brake Body length Vacant Normal models S Short body ...

Page 13: ... 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 Rel...

Page 14: ... 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 DS3 series PQA servo drives are base type servo drive Incorrect installation will cause problems Follow the installation instructions below 2 2 1 Storage Conditions Store the servo drive within 20 60 as long as it is stored with the power cable disconnected 2 2 2 Installati...

Page 15: ...ediate 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 Orientation Install the servo drive perpendicular to the wall as shown in the figure The servo d...

Page 16: ...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 17: ...ores 2 0 DS3 43P0 PQA DS3E 43P0 PFA DS3L 43P0 PFA DS3 43P0 PTA 2 0 2 5 0 2 14 cores 2 0 DS3 45P5 PQA DS3L 45P5 PQA DS3 47P5 PQA DS3L 47P5 PQA 6 0 6 0 0 2 14 cores 6 0 DS3 411P0 PQA DS3 415P0 PQA 10 0 10 0 0 2 9 cores 10 0 Caution 1 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 2 Use twisted pair wires or multi...

Page 18: ...h 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 DS3 PQA series 3 1 1 Main circuit wiring 3 1 1 1 Servo drive terminal arrangement ...

Page 19: ...er value P0 26 resistor value see chapter 3 4 P P Bus terminal Real time check the bus voltage please take attention of this terminal DS3 21P5 PQA DS3 22P3 PQA DS3 41P5 PQA Terminal Function Explanation R S T Power supply input of main circuit DS3 21P5 22P3 PQA 3 phase AC 200 240V 50 60Hz Note for single phase 220V connect power supply to terminal R T otherwise it will affect the power off retenti...

Page 20: ...erative resistor between P and C disconnect P and D set P0 24 1 P0 25 power value P0 26 resistor value see chapter 3 1 4 P P Bus terminal Real time check the bus voltage please take attention of this terminal 3 1 1 3 Winding Terminals on Servo motor Symbol 40 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 yello...

Page 21: ... A 14 A2 RS485 7 A Encoder output A 15 B2 RS485 8 Z Encoder output Z DS3 series above 750W servo drive No Name Explanation No Name Explanation 1 NC Reserved 9 Z Encoder output Z 2 NC Reserved 10 B Encoder output B 3 SI5 Input 5 11 T REF Torque analog input 4 SO3 Output 3 12 V REF Speed analog input 5 B Encoder output B 13 GND GND for analog input 6 A Encoder output A 14 A RS485 7 A Encoder output ...

Page 22: ...ompany Communication parameters RS232 default communication parameters baud rate 19200bps data bit 8 stop bit 1 even parity Modbus station no setting Parameter Function Default setting Range Modify Effective P7 10 Modbus station no 1 1 255 Servo OFF At once Please set the following parameters through P7 11 Parameter no Function Default value Range Effective time n xx Baud rate 06 00 10 00 300 01 6...

Page 23: ...s data bit 8 stop bit 1 even parity Modbus station no 1 The Modbus station no can be set through P7 00 Parameter Function Default value Range Effective time P7 00 Modbus station no 1 0 255 At once The communication parameters can be set through P7 01 Parameter Function Default value Range Effective time n xx Baud rate 06 00 10 00 300 01 600 02 1200 03 2400 04 4800 05 9600 06 19200 07 38400 08 5760...

Page 24: ...t signal Chapter P0 10 xxx 0 CW CCW double pulse mode CW CCW 5 3 2 1 AB phase mode A phase B phase 2 Pulse direction mode Pulse Direction Collector open circuit 24V input positive signal P 24V D 24V Differential mode 5V input positive signal P 5V D 5V The interface circuit of Pulse direction and CW CCW mode DS3 2 P PQA DS3 4 P PQA Open collector 24V PLC SCM etc servo drive Note 1 P P 24V D D 24V p...

Page 25: ...Function Reference chapter Digital input SI1 SI5 Multi functional input 5 12 1 Open collector 24V power supply Relay 24V power supply Upper device servo drive Upper device servo drive Note the max allowable voltage and current of open collector output circuit Voltage max DC30V Current max DC50mA 3 1 2 3 SO output signal Type Output terminal Function Reference chapter Optocoupler output SO1 SO3 Mul...

Page 26: ...1 2 4 Analog input circuit DS3 2 P PQA DS3 4 P PQA Upper device servo drive Note analog terminal 11 T REF analog torque 12 T REF analog speed 13 analog GND come from CN1 DB15 refer to chapter 3 1 1 4 Analog signal 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 COM SO X3 COM 0V 24V 10V 10...

Page 27: ...ings The setting can be changed please see chapter 5 12 3 1 3 1 Position Control Mode DS3 21P5 PQA 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: ... 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 CN1 6 CN0 14 CN1 4 CN0 13 CN0 12 CN1 3 CN0 9 P OT SPD A Regenerative resisto...

Page 29: ...ue P0 26 resistor value Parameter Signal name Setting Meaning Effective Modify P0 24 Choose regenerative resistor 0 Use internal regenerative resistor At once Servo OFF 1 Use external regenerative resistor resistor type please refer to the following table Parameter Signal name Setting Unit Effective P0 25 Discharge resistor power 1 self cooling mode natural convection cooling below 20 of regenerat...

Page 30: ... PQA DS3 415P0 PQA 18 Ω 18 Ω 45 Ω Above 3000W 1 The temperature will be very high when the regenerative resistor is discharging please using heat resistant non flammable wire Don t touch the regenerative resistor when wiring 2 When you choose the regenerative resistor please make the resistor value close to the min value of recommend value The resistor power is decided by the actual consition spec...

Page 31: ...pter 3 4 P P Bus terminal Real time check the bus voltage please take attention of this terminal DS3E 21P5 PFA DS3E 22P3 PFA DS3E 41P5 PFA DS3L 21P5 PFA DS3L 22P3 PFA DS3L 41P5 PFA Terminal Function Explanation R S T Power supply input of main circuit DS3E 21P5 22P3 PFA 3 phases AC 200 240V 50 60Hz DS3E 41P5 PFA 3 phases AC 360 400V 50 60Hz Vacant U V W Motor terminals Connect the motor Terminal C...

Page 32: ...egenerative resistor between P and C disconnect P and D set P0 24 1 P0 25 power value P0 26 resistor value see chapter 3 1 4 P P Bus terminal Measure the real time bus voltage please be careful 3 2 1 3 Winding Terminals on Servo motor Symbol 40 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 Termin...

Page 33: ... No Name Explanation No Name Explanation 1 NC Reserved 2 NC Reserved 3 NC Reserved 4 NC Reserved 5 B Encoder output B 6 A Encoder output A 7 A Encoder output A 8 Z Encoder output Z 9 Z Encoder output Z 10 B Encoder output B 11 NC Reserved 12 NC Reserved 13 NC Reserved 14 NC Reserved 15 NC Reserved Note The fieldbus module is necessary to connect to CN1 to perform X NET fieldbus function The module...

Page 34: ...d rate 19200bps data bit 8 stop bit 1 even parity Modbus station no Parameter Function Default setting Range Effective time P7 10 Modbus station no 1 1 255 Servo OFF Please set the following parameters through P7 11 Parameter no Function Default value Range Effective time n xx Baud rate 06 00 10 00 300 01 600 02 1200 03 2400 04 4800 05 9600 06 19200 07 38400 08 57600 09 115200 0A 192000 0B 256000 ...

Page 35: ...t RS485 and fieldbus Communication parameters RS485 default communication parameters baud rate 19200bps data bit 8 stop bit 1 even parity Modbus station no 1 The Modbus station no can be set through P7 00 Parameter Function Default value Range Effective time P7 00 Modbus station no 1 0 255 Servo OFF The communication parameters can be set through P7 01 Parameter Function Default value Range Effect...

Page 36: ...0 xxx 1 AB phase mode A phase B phase 5 3 2 2 Pulse direction mode Pulse Direction Collector open circuit 24V input positive signal P 24V D 24V Differential mode 5V input positive signal P 5V D 5V The interface circuit of Pulse direction and CW CCW AB phase mode DS3E 2 P PFA DS3E 4 P PFA DS3L 2 P PFA DS3L 4 P PFA Open collector 24V PLC SCM etc servo drive Note 1 P 24V P D 24V D power supply range ...

Page 37: ...rence chapter Digital input SI1 SI4 Multi functional input 5 12 1 Open collector 24V power supply Relay 24V power supply Upper device servo drive Upper device servo drive Note the max allowable voltage and current of open collector output circuit Voltage max DC30V Current max DC50mA 3 2 2 3 SO output signal Type Output terminal Function Reference chapter Optocoupler output SO1 SO2 Multi functional...

Page 38: ...ries servo drive cannot support analog input function 3 2 2 5 Encoder feedback signal DS3E series servo drive cannot support encoder feedback output function 3 2 3 Standard wiring example The input and output terminal function is out of factory settings in wiring example The setting can be changed please see chapter 5 12 3 2 3 1 Position mode Refer to chapter 3 1 3 DS3E series servo drive cannot s...

Page 39: ...ct L1 L3 to the power supply otherwise it will affect the power off retentive function Vacant terminal U V W Motor terminals Connect the motor Terminal Color U brown V black W blue PE Yellow green Note the ground wire is on the cooling fin do not connect to P or P please check it before power on P D C Internal regenerative resistor Short P and D disconnect P and C set P0 24 0 External regenerative...

Page 40: ...24 0 External regenerative resistor Connect regenerative resistor between P and C disconnect P and D set P0 24 1 P0 25 power value P0 26 resistor value see chapter 3 1 4 Ground Connect to ground terminal of motor then connect to the ground DS3 43P0 PTA Terminal Function Explanation R S T Power supply input of main circuit 3 phases AC 360 400V 50 60Hz Vacant U V W Motor terminals Connect the motor ...

Page 41: ...e side CN0 terminals No Name Explanation No Name Explanation 1 P Pulse input PUL 8 SI2 Input 2 2 P 5V 5V difference input 9 SI3 Input 3 3 P 24V Open collector input 10 SI4 Input 4 4 D Direction input DIR 11 24V Input 24V 5 D 5V 5V difference input 12 SO1 Output 1 6 D 24V Open collector input 13 SO2 Output 2 7 SI1 Input 1 14 COM Ground of output CN1 DB9 terminals No Name Explanation No Name Explana...

Page 42: ...2 3 3 SD 3 3 SD 4 4 SD 4 4 SD 5 5 Shield layer 5 6 6 0V 6 6 0V 7 7 battery 7 7 battery 8 8 5V 8 8 5V 9 9 battery 9 9 battery 3 3 1 5 Communication port RS 232 communication 5 pin port Pin no Name Explanation 1 TXD RS232 send 2 RXD RS232 receive 3 GND RS232 ground Note please use the cable supplied by XINJE Company Communication parameters RS232 default communication parameters baud rate 19200bps d...

Page 43: ...ive side No Name CN1 2 A CN1 3 B CN1 is not functional port the pin has no meaning The fieldbus module can connect to CN1 to perform X NET fieldbus function The module cannot hot plug Please use Profibus cable to ensure the communication reliability Communication parameters RS485 default communication parameters baud rate 19200bps data bit 8 stop bit 1 even parity Modbus station no 1 The Modbus st...

Page 44: ... Default setting Range Effective time P7 02 RS485 communication protocol 1 1 Modbus Rtu protocol 2 Xnet bus Servo OFF 1 Support standard Modbus RTU protocol it is used as Modbus slave device 2 RS232 port and RS485 port can be used at the same time 3 3 2 Signal terminals 3 3 2 1 Pulse signal Command Choice Meaning P input signal D input signal Chapter P0 10 xxx 0 CW CCW double pulse mode CW CCW 5 3...

Page 45: ... 50mA 1 channel pulse can connect 5 servo drives We suggest it cannot over 3 servo drives 3 3 2 2 SI input signal Please use relay or open collector transistor to connect When using relay please choose micro current relay Otherwise the contact will be not good Type Input terminal Function Reference chapter Digital input SI1 SI4 Multi functional input 5 12 1 P 24V PUL PUL P R 3 3K DIR D R 3 3K P 5V...

Page 46: ...ference chapter Optocoupler output SO1 SO2 Multi functional output terminal 5 12 3 Note please use twisted shielded pair to avoid interference Optocoupler type Servo drive upper device Relay type Servo drive upper device Note SO output max allowable load current is 400mA please check the brake current if the SO controls the brake motor it needs to use auxiliary relay for current larger than 400mA ...

Page 47: ... is on when the servo drive is powered on 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 and hold Decrease the value continuously ENTER Press Shift the editing digit Press and hold Enter a status Enter the operate panel will self check after power all the LED will light fo...

Page 48: ...tor actual speed and command speed is the same Speed coincidence signal checking width P5 04 unit rpm P5 42 Torque Limit CLT Light when actual torque exceeds preset value Forward Torque Limit P3 28 Reverse Torque Limit P3 29 P5 40 Rotation Detection TGON Light when the motor speed exeeds the rotation detection speed Rotation Detection Speed Level P5 03 Unit rpm P5 31 Zero Clamp ZCLAMP Light when z...

Page 49: ...e same Positioning accomplishment width P5 00 unit command pulse P5 36 Near NEAR Light when set position and actual position is the same Near signal width P5 06 P5 40 Rotation Detection TGON Light when the motor speed exceeds the rotation detection speed Rotation detection speed P5 03 unit rpm B The code contents Code Descrption Standby Servo OFF motor power OFF Run Servo ON motor power ON Reset S...

Page 50: ...us 1 U0 24 Output signal status 2 U0 25 Input pulse frequency 0000 9999 1 Hz U0 26 0000 9999 10000 U0 27 U phase current sampling zero value related to current value 0 01A U0 28 V phase current sampling zero value related to current value 0 01A U0 29 W phase current sampling zero value related to current value 0 01A U0 30 VREF input analog zero value related to digital value 0 4095 U0 31 TREF inpu...

Page 51: ...rming rpm U1 10 The alarm occurred time second low 16 bits count from power on s U1 11 The alarm occurred time second high 16 bits count from power on s U1 12 Run error times count from power on U1 13 Warning times count from power on U1 14 History alarm times U1 15 History warning times U1 16 The second time alarm code recently U1 17 The third time alarm code recently U1 18 The fourth time alarm ...

Page 52: ...re generation date year U2 23 Firmware generation date month day U2 24 Firmware generation time hour minute U0 21 input signal status U0 21 input signal 1 assignment Segment code Explanation Segment code Explanation 1 S ON servo enable signal 2 P CON proportion action command 3 P OT forward run prohibited 4 N OT reverse run prohibited 5 ALM RST alarm reset 6 P CL forward side external torque limit...

Page 53: ...t For example 0x0001 means C SEL has input 0x0041 means C SEL and I SEL has input is reserved bit it is always 0 U0 23 output signal status U0 23 output signal 1 assignment Segment code Explanation Segment code Explanation 1 Positioning complete maintain COIN_HD 2 Positioning end COIN 3 Same speed detection V CMP 4 Rotate detection TGON C SEL ZCLAMP INHIBIT G SEL CLR I SEL CHGSTP Light means signa...

Page 54: ... V RDY 16 Self defined output 1 17 Self defined output 2 18 19 20 Note read the status through communication the binary value from right to left are related to ALM 0 means no output 1 means has output For example 0x0001 means ALM has output 0x0041 means ALM and self defined output 2 has output is reserved bit it is always 0 4 4 Auxiliary Function Group No Content F0 Clean the alarm back to out of ...

Page 55: ...e Suitable mode Change Effective 1Rpm 100 0 1000 JOG Servo OFF Immediately 2 Test run F1 01 Make sure that the motor shaft is not connected to the machine before test run When servo drive is connected with non original encoder line or power line test run must be run first to ensure that the encoder line or power line is connected correctly Test run can detect the connection of power line and encod...

Page 56: ...is error in the drive Set F0 00 1 to reset the alarm If the servo is OFF caused by alarm it is no need to reset the alarm Note please find out the alarm reason before reset the alarm 4 6 Example 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...

Page 57: ... ESC key to return when the parameters are over the setting range the drive will show E 021 alarm 4 7 Change the motor code One servo drive can match several servo motors with same power level Before using the servo system please make sure the motor code on the servo motor label is the same to P0 33 Motor label If the servo motor code set error the servo will show E 310 alarm Please clean the alar...

Page 58: ...f servo drive doesn t have analog input port it cannot use this mode 5 4 5 Position control internal position command only DS3E DS3L support Control the position via internal position command it can set pulse quantity and torque Note hardware version need v3 2 1 and higher 6 default setting Position control external pulse command Control the position of servo motor via pulse command Control the po...

Page 59: ...he input terminal assigned by function parameters cannot be duplicated 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 Mode Forward rotate Reverse rotate Standard setting CCW is forwa...

Page 60: ...e out alarm Stop mode when overtravel Parameter Function Range Default value P0 28 Motor stop mode when overtravel 0 3 2 P0 28 Meaning 0 Deceleration stop the torque is 0 in overtravel direction after stop receive command 1 Inertia stop the torque is 0 in overtravel direction after stop receive command 2 Deceleration stop not receive command in overtravel direction after stop 3 Alarm E 260 1 The b...

Page 61: ...nd brake power The following diagram shows a standard wiring example Note 1 the working voltage of brake is DC 24V 2 In the above diagram BK signal output from SO1 please set P5 44 to n 0011 2 Brake signal Parameter Signal Type Default Explanation Modify P5 44 BK Output n 0000 Need to distribute Range 0000 0013 BK signal can output from output terminal via setting parameter P5 44 When set P5 44 00...

Page 62: ...OFF ahead P5 07 lock brake 4 Brake ON parameter When servo motor is rotating 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 Set the brake time when servo OFF caused by S ON signal or alarm The brake is used to protect the position The brake...

Page 63: ...ter P0 01 Control mode selection 5 3 1 P0 09 Pulse command positive direction 5 3 2 P0 10 Pulse command form P0 11 Motor pulse per rotation 1 5 3 3 P0 12 Motor pulse per rotation 10000 P0 13 Electronic gear ratio numerator P0 14 Electronic gear ratio denominator P5 20 Servo ON signal S ON 5 2 1 Other available parameters Key word Parameter Name Reference Command filter P1 24 Position command filte...

Page 64: ...direction If motor rotation direction is not same to expected direction in position mode please set this parameter 2 Pulse command form selectoin Parameter Set value Command form Suitable mode Change Effective P0 10 xxx 0 CW CCW mode DS3E DS3L cannot support CW CCW mode 6 7 Servo OFF At once 1 AB phase 2 Pulse direction default Parameter Set value Command form Suitable mode Change Effective P0 10 ...

Page 65: ...on 10000 Unit Default value Range Suitable mode Change Effective P 0 0 9999 6 Any At once P0 13 Electronic gear ratio numerator Unit Default value Range Suitable mode Change Effective 1 1 65535 6 Any At once P0 14 Electronic gear ratio denominator Unit Default value Range Suitable mode Change Effective 1 1 65535 6 Any At once Note P0 11 P0 14 are parameters about electronic gear ratio P0 11 and P0...

Page 66: ...Electronic gear ratio is 2 1 or pulses per rotation is 5000 PLC max output pulse frequency is 200KHz 2 Set the actual length per command pulse for precise positioning For example the object moves 1um per command pulse The command pulses of load rotating one circle 6mm 1um 6000 In the case of deceleration ratio is 1 1 set pulse per rotation P0 11 6000 P0 12 0 Then if the PLC outputs 6000 pulses the...

Page 67: ...d pulses of motor rotate 1 circle The priority of pulses per rotation is higher than electronic gear ratio Only when pulses per rotation is 0 the electronic gear ratio will be effective If the pulses per rotation is fractional it is better to use electronic gear ratio 2 When P0 13 and P0 14 is over the range please use the integer in the range from the reduction of the decimal number 3 The motor e...

Page 68: ...tion of the fraction P0 13 25 P0 14 3 P0 13 20000 P0 14 15700 Reduction of the fraction P0 13 25 P0 14 3 5 3 4 Position command filter P1 24 Position command filter Default value Range Suitable mode Meaning Change Effective 0 0 1 6 10 Filter certain frequency command pulse Servo OFF At once P1 24 setting Contents 0 First order inertia filter 1 Smoothing filter Filter time fitler time constant or s...

Page 69: ...h P5 34 When it set to 0001 output the signal from SI1 The input terminal distributed by function parameter cannot be same Please refer to chapter 5 12 1 5 3 6 Positioning complete COIN COIN_HD Use the signal when the controller needs to confirm the completion of positioning Parameter Signal Type Default setting Suitable mode Meaning Modify Effective P5 37 COIN HD Output n 0000 6 After COIN signal...

Page 70: ...ffective 1 command unit 7 0 65535 6 Servo OFF Immediately Function when the pulse deviation value is lower than P5 00 output COIN signal Monitor the pulse deviation value via U0 08 P5 01 Positioning complete detection mode Default setting Range Suitable mode Meaning Change Effective 0 0 3 6 Set the positioning complete detection mode Servo OFF At once P5 02 Positioning complete hold time Unit Defa...

Page 71: ...d end 2 output COIN signal when the command end and motor speed below P5 03 rotation detection speed pulse difference below P5 00 S ON U 08 ΔU 12 Pulse difference 1 0 COIN Pulse command 1 0 P5 00 S ON U 08 ΔU 12 Pulse difference 1 0 U 00 Pulse command COIN 1 0 Actual speed ...

Page 72: ...0 0013 distribute to output terminal via P5 46 When it set to 0001 it means output from SO1 Note NEAR can be output from terminal by setting P5 46 please see chapter 5 12 3 P5 06 Width of positioning near signal Unit Default Range Suitable mode Modify Effective 1 command unit 50 0 65535 6 Servo OFF Immediately Function when the pulse difference signal is lower than P5 06 output NEAR signal Set the...

Page 73: ...sic parameters Parameter Name Reference P0 01 Select the control mode 5 4 1 P3 00 V REF distribution 5 4 2 P3 01 Rated speed of the corresponding analog voltage P3 02 Analog voltage speed filter P3 03 Speed command input dead zone voltage P3 14 Forward direction max speed command limit P3 15 Reverse direction max speed command limit P5 20 Servo ON signal S ON 5 2 1 Other parameters Key words Param...

Page 74: ...ontrol mode selection 5 4 2 Analog value of rated speed 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 Note direction switching positive or negative voltage SPD D P5 27 P3 00 Name Set Meaning Suitable mode Change Effective V REF function distrib...

Page 75: ...or use zero clamp 5 4 4 Proportion action command P CON Parameter Signal Type Default State Meaning Modify Effective P5 21 P CON Input n 0000 Effective Run in P control mode Any Re power on Ineffective Run in PI control 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 ...

Page 76: ...d speed command is 0 when the speed below P3 13 switch to position mode and the servo lock in this position 1 ZCLAMP input signal is ON forced set the speed command to 0 2 ZCLAMP input signal is ON the speed below P3 13 switch to position mode and the servo lock in the position Note after entering zero clamp mode present setting speed is higher than P3 13 motor doesn t run the ZCLAMP signal must b...

Page 77: ...cessary condition to use forward external torque limit Range 0000 0015 P5 26 N CL Input n 0000 The necessary condition to use reverse external torque limit Range 0000 0015 Notes these parameres are the necessary conditions for using forward or reverse external torque limit P CL N CL can be distributed to input terminal by parameter P5 25 P5 26 Refer to chapter 5 12 1 3 External torque limit via an...

Page 78: ...Modify Effective 1ms 0 0 65535 3 4 7 Any Servo OFF 1 Enable to do smooth speed control when input step speed command or choose 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 09 the time from stop state to rated speed P3 10 the time from rated speed to stop state TREF distribution P CL N CL s...

Page 79: ...signal 3 4 7 Any At once Range 0000 0013 distribute to the output terminal via P5 29 When P5 29 0002 it means output from SO2 terminal the output terminal only can have one function at the same time Please refer to chapter 5 12 3 P1 23 Speed command filter time Unit Default setting Range Suitable mode Change Effective 0 1ms 0 0 65535 3 4 7 Any At once P5 05 Reach detection speed Unit Default setti...

Page 80: ...ble mode Change Effective 1rpm 120 of rated speed 0 10000 All Servo OFF At once P3 22 Reverse alarm speed Unit Default setting Range Suitable mode Change Effective 1rpm 120 of rated speed 0 10000 All Servo OFF At once Note 1 the parameters P3 21 and P3 22 are effective in all the modes 2 the default value is 120 of rated speed for example rated speed is 1500 max speed is 1800 rated speed is 3000 m...

Page 81: ...1 Control mode selection 5 5 2 Internal speed setting P3 05 Internal speed 1 Unit Default Range Suitable mode Modify Effective 1rpm 0 9999 9999 3 Any Immediately P3 06 Internal speed 2 Unit Default Range Suitable mode Modify Effective 1rpm 0 9999 9999 3 Any Immediately P3 07 Internal speed 3 Unit Default Range Suitable mode Modify Effective 1rpm 0 9999 9999 3 Any Immediately 5 5 3 Input signal set...

Page 82: ...tribute to input terminal through P5 29 Input signal Direction Running speed SPD D SPD A SPD B 0 0 0 Forward Internal speed is zero 0 1 P3 05 SPEED1 1 1 P3 06 SPEED2 1 0 P3 07 SPEED3 1 0 0 Reverse Internal speed is zero 0 1 P3 05 SPEED1 1 1 P3 06 SPEED2 1 0 P3 07 SPEED3 0 SPEED1 Stop SPEED2 SPEED3 SPEED1 SPEED2 SPEED3 Speed 1 Speed 2 Speed 3 stop Speed 1 Speed 2 Speed 3 Stop Speed up down is decid...

Page 83: ...ernal torque limit P CL P5 26 Reverse external torque limit N CL P5 42 Torque up to limit value output CLT Speed reach detection P5 51 Speed reach output V RDY 5 4 11 P5 05 Reach detection speed 5 6 1 Control mode selection 5 6 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 6 3 Command pulse frequency at rate...

Page 84: ...fset auto adjustment 5 7 3 Filter P3 25 Torque command filter time 5 7 4 Speed limit P3 00 V REF distribution 5 7 5 P3 16 Internal forward speed limit for torque control P3 17 Internal reverse speed limit for torque control P5 43 Speed reach limit output VLT SPD D direction selection P5 27 Speed direction changing 5 5 3 5 7 1 Control mode selection 5 7 2 The analog value of rated torque parameter ...

Page 85: ...ncrease the dead area voltage 5 7 3 Torque command offset autoadjustment F1 04 The motor will run at microspeed even the command voltage is 0V 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 Take away the analog signal from servo CN1 port in servo bb state no...

Page 86: ... to 0001 it means output from SO1 5 8 Torque control internal setting Basic parameter Parameter Name Reference P0 01 Control mode selection 5 8 1 P5 20 Servo ON signal S ON 5 2 1 P3 33 Internal torque command 5 8 2 Other parameters Key words Parameter Name Reference Filter P3 25 Torque command filter time 5 7 4 Speed limit P3 16 Internal forward speed limit of torque control 5 7 5 P3 17 Internal r...

Page 87: ...nalog 5 position internal cannot support 6 position pulse 7 speed pulse 10 fieldbus position mode 10 6 Servo OFF at once P0 03 Enable mode 1 IO enable 2 software enable 3 fieldbus enable 3 1 Servo OFF At once P7 00 RS485 station no 1 20 1 Servo OFF At once P7 01 RS485 serial port parameters n xx Baud rate 06 19200 07 38400 08 57600 09 115200 0A 192000 0B 256000 0C 288000 0D 384000 0E 512000 0F 576...

Page 88: ...nization frame servo will not alarm right now 5 10 Absolute encoder servo drive Basic parameters Parameter Name Use U0 57 Absolute encoder present position feedback Read double word address 0x1039 hex it is present encoder position with negative and positive pulses U0 58 F1 06 Absolute encoder clear circles Write 1 in address 0x2106 hex can clear the circles effective when servo is in bb state wri...

Page 89: ...e AMP plug 5 shield 4 blue SD 3 blue black SD 2 1 10 9 green battery 8 red 5V 7 green black battery 6 black 0V 15 14 13 12 11 5 10 2 Read the absolute encoder servo position The encoder position information is transferred through RS485 port according to Modbus RTU protocol 17 bit absolute encoder the pulse per circle is 131072 U0 57 Modbus address is H1039 double word encoder present position RS 4...

Page 90: ... keep the absolute encoder position information When the servo power is on again the upper device can read the motor encoder present position through Modbus communication Battery specification No 5 battery 3 6V ER14505 AA 3 6V When the battery voltage is below 2 75V servo drive will show E 222 alarm absolute encoder battery under voltage The alarm only outputs when the servo is ON Note 1 Please ch...

Page 91: ...signal cannot be set to always effective n 0010 3 The alarm related to encoder such as E 013 0 1 2 E 014 0 1 2 cannot be reset via ALM RST 4 The range is 0000 0015 ALM RST can be distributed to input terminal via parameter P5 24 Parameter Signal Type Default Meaning Range P5 45 WARN Output n 0000 Warning output 0000 0013 When the warning happens servo will not be forced OFF but output the warning ...

Page 92: ...ll output S RDY signal when servo power on and no alarm 5 11 6 Encoder Z phase output Z only for DS3 PQA DS3 PTA Parameter Signal Default setting Meaning Range Modify Effective P5 48 Z n 0000 Default not distribute to terminal 0000 0013 Any At once P5 19 Z phase pulse width 2ms Z phase pulse width 2 20 Any At once 1 Z signal can be distributed to the output terminal through P5 48 refer to chapter ...

Page 93: ...Effective 1 1 65535 All Servo OFF At once P0 21 Encoder pulse frequency division denominator Unit Default setting Range Suitable mode Change Effective 1 1 65535 All Servo OFF At once Explanation 1 encoder feedback pulse is decided by P0 18 P0 19 When P0 18 P0 19 0 encoder pulse frequency division will work For example the motor feedback 2500 pulses per circle P0 18 P0 19 0 P0 20 1 P0 21 4 the calc...

Page 94: ... 2 P5 10 absolute value P5 11 SOx output 3 P5 10 absolute value P5 11 SOx output P5 13 User defined output 1 hysteresis loop Unit Default setting Range Suitable mode Change Effective Related to trigger condition 0 9999 9999 All the modes Servo OFF At once P5 52 Output terminal setting of user defined output 1 Signal name Default setting Meaning Change User defined output 1 n 0000 Default setting i...

Page 95: ... 9 IO filter time 5 11 10 Switch the control mode Servo can switch between submode 1 and 2 by external input signal 1 Switch signal 0 P5 14 P5 15 SOx output 0 All the modes Servo OFF At once 1 P5 14 P5 15 SOx output 2 P5 14 absolute value P5 15 SOx output 3 P5 14 absolute value P5 15 SOx output P5 17 User defined output 2 hysteresis loop Unit Default setting Range Suitable mode Change Effective Re...

Page 96: ...ted terminal has other signal set the signal to other terminal or set to unused Example take the input signal CLR P5 24 of DS3 21P5 PQA as an example to explain the terminal distribution Note Range 0000 0015 C SEL can be distributed to input terminal via parameter P5 14 refer to chapter 5 12 1 Wiring example of input signal Parameter Set value Terminal state Signal state Meaning P5 34 n 0001 Disco...

Page 97: ... set the signal to other terminal or set to unused Example take CLT signal of DS3 21P5 PQA as an example to explain output terminal distribution Output terminal wiring example Parameter Set value CLT Terminal state Meaning P5 42 n 0001 0 SO1 and COM pass through Output limit signal when motor torque reaches the set value 1 SO1 and COM cut off Output limit signal when motor torque reaches the set v...

Page 98: ... through RS485 port and Modbus RTU protocol The pulse numbers per circle is 131072 for 17 bit absolute encoder U0 57 Modbus address is H1039 double words encoder present position RS 485 port CN1 port at drive side Pin no Name CN1 14 A CN1 15 B Communication parameters RS485 port default parameters baud rate19200bps data bi 8 stop bit 1 even parity modbus station no 1 Modbus station no setting Para...

Page 99: ...The servo drive will show E absolute encoder low battery alarm when the battery voltage is under 2 7V Note if the battery voltage is low the absolute encoder data will lose when the servo power on again The steps to change the battery 1 Please change the battery when the servo is power on otherwise the absolute encoder information will lose 2 After changing the battery please restart the servo dri...

Page 100: ...meter Default Meaning Modify Effective P0 01 5 Control the position through servo internal register value Servo OFF Immediately 5 14 2 Internal position mode Parameter Content Unit Default Suitable mode Modify Effective P4 03 Internal position mode setting n 0000 5 Servo OFF Re power on Parameter setting Function Default Range n xxx No meaning n x xx Wait mode 0 0 1 n xx x Change step mode 0 0 4 n...

Page 101: ...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 completion of motor positioning but pass the adjust time and then start the next position command T2 is adjust time Refer to parameter P4 11 2 Change step mode n xx x Explanation 0 Change the step when signal is ON recycling t1 P4 11 t2 P4 21 1 If CHGSTP is ON...

Page 102: ...P5 58 PREFC P5 59 Choose the segment the range is segment 1 3 PREFC PREFB PREFA Segment 0 0 0 0 0 1 1 segment 1 position 0 1 0 2 segment 2 position 0 1 1 3 segment 3 position The following input signal can switch the segment 1 to 3 Parameter Signal name Default setting Suitable mode Setting range Modify effective P5 57 PREFA internal position segment 1 n 0000 5 Range 0000 0014 distribute to input ...

Page 103: ...erating from 0 to rated speed P4 14 n 1 7 Trapezoid deceleration time Unit Default setting Range Suitable mode Modify Effective 1ms 0 0 65535 5 Servo OFF Immediately The time decelerating from rated speed to 0 P4 15 n 1 7 Reserved P4 16 n 1 7 Adjust time Unit Default setting Range Suitable mode Modify Effective ms 0 0 65535 5 Servo OFF Immediately Notes 1 Set pulse number pulse number high bit 100...

Page 104: ...e step mode Execution 0 Cancel current segment execute the next segment at once 1 Cancel current segment execute the next segment when the change step signal is ON 2 Cancel current segment execute the next segment at once 3 Cancel current segment set the F2 09 again 5 14 7 Reference origin 1 Find the reference origin To find out the physical origin of working table and make it as the coordinates o...

Page 105: ...gram Parameter Signal Default Meaning Modify P5 28 SPD A n 0000 Mode 3 internal speed selecting signal Range 0000 0014 distributes to input terminal through P5 28 When it set to 0001 it means input signal from SI1 Mode 5 6 find origin point at forward direction P5 29 SPD B n 0000 Mode 3 internal speed selecting signal Range 0000 0014 distributes to input terminal through P5 29 When it set to 0001 ...

Page 106: ...t No need step change signal This parameter can be changed through communication For example execute segment 2 Set F2 09 0 then set F2 09 02 5 14 9 Motion start signal MRUN Parameter Signal name Default setting Meaning Modification P5 50 MRUN n 0000 Default setting is no terminal output It is only valid in internal position mode similar to positioning complete signal in external pulse mode It will...

Page 107: ...Speed loop integral time constant Ki Unit Default Range Suitable mode Modify Effective 0 1ms 400 0 10000 3 4 6 7 10 Any Immediately Speed loop gain 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 We suggest to increase or decrease the parameter by the unit of 5 or 10 It will ca...

Page 108: ...e command filter time constant Unit Default Range Suitable mode Modify Effective 0 01ms 0 0 9999 All the modes Any Immediately Function the larger the filter time the smoother it is but the response will delay P1 07 Second Position loop gain Kp Unit Default Range Suitable mode Modify Effective 1 s 100 1 9999 6 10 Any Immediately P1 08 Second speed feedback response level Unit Default Range Suitabl...

Page 109: ...peed command less than P1 16 use group 1 when speed command larger than P1 16 use group 2 5 Position offset 1 command When position offset less than P1 16 use group 1 when position offset larger than P1 16 use group 2 6 Speed feedback rpm When speed feedback less than P1 16 use group 1 when speed feedback larger than P1 16 use group 2 P1 16 Position gain switching comparison value Unit Default set...

Page 110: ...ity 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 adjust...

Page 111: ...at V krpm 11 26 28 162 36 36 56 6 48 Torque coefficient N m A 0 18 0 37 0 5 0 68 0 51 0 51 0 92 0 8 Rotor inertia Kg m2 0 04 10 4 0 18 10 4 0 438 10 4 0 53 10 4 0 34 10 4 1 08 10 4 1 05 10 4 1 82 10 4 Winding resistor Ω 3 4 3 5 3 49 3 8 2 9 2 9 2 7 2 88 Winding inductance mH 2 7 8 32 8 47 11 51 10 4 10 4 6 25 6 4 Electrical time constant ms 0 8 2 38 2 4 3 03 3 6 3 6 2 3 2 22 Weight Kg 0 55 1 1 1 7...

Page 112: ...434 8 9 7 2 Encoder ppr PPR 2500 Pole pairs 4 Motor insulation level Class B 130 Protection level IP65 Ambient Temperature 15 40 Humidity Relative humidity 90 no condensation Voltage level 220V Motor type MS 130ST M10015 M07725 M15015 M10025 21P5 22P0 22P3 22P6 Motor code 0044 1044 0043 0046 0045 Rated power KW 1 5 1 5 2 0 2 3 2 6 Rated current A 6 0 8 0 7 5 9 5 10 0 Rated speed rpm 1500 1500 2500...

Page 113: ...3 1 272 10 3 1 272 10 3 Winding resistor Ω 3 30 2 28 3 50 4 37 0 3 0 3 Winding inductance mH 8 78 7 40 10 75 15 00 1 29 1 29 Electrical time constant ms 2 66 3 25 3 07 3 46 4 3 4 3 Weight Kg 5 5 6 1 8 9 11 5 9 34 9 34 Encoder ppr PPR 2500 Pole pairs 4 Motor insulation level Class B 130 Protection level IP65 Ambient Temperature 15 40 Humidity Relative humidity 90 no condensation Voltage level 380V ...

Page 114: ... 70 96 105 Back EMF constat V krpm 210 172 250 181 156 170 Torque coefficient N m A 3 37 2 7 4 1 2 92 2 4 2 8 Rotor inertia Kg m2 7 2 10 3 6 1 10 3 9 18 10 3 8 6 10 3 9 5 10 3 23 5 10 3 Winding resistor Ω 0 59 0 796 1 1 0 62 0 273 0 46 Winding inductance mH 14 4 4 83 15 1 4 0 2 14 5 54 Electrical time constant ms 24 4 6 07 13 7 6 45 7 84 12 Weight Kg 23 3 25 5 27 7 30 5 40 0 55 0 Encoder ppr PPR 2...

Page 115: ... 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 116: ...114 MS 130ST M06025 21P5 MS 130ST M10015 21P5 MS 130ST M06025 41P5 MS 130ST M10015 41P5 MS 130ST M15015 22P3 MS 130ST M10030 43P0 MS 180ST M19015 43P0 ...

Page 117: ...m Motor type LA Normal With brake X2 40ST M00330 20P1 99 1 Dimensions of 60 series servo motors unit mm Motor type LA Normal With brake MS 60ST M00630 20P2 115 5 159 5 MS 60ST M00630 S 20P2 90 127 MS 60ST M01330 20P4 145 189 MS 60ST M01330 S 20P4 112 149 X2 60ST M01330 20P4 133 ...

Page 118: ...unit mm Type LA Normal With brake MS 80ST M02430 20P7 150 199 MS 80ST M03520 20P7 178 219 MS 80ST M02430 S 20P7 121 162 X2 80ST M02430 20P7 151 Dimensions of 90 series servo motors unit mm Type LA Normal With brake MS 90ST M02430 20P7 149 194 ...

Page 119: ...0 41P5 204 278 Dimensions of 130 series servo motors unit mm Motor type Motor code LA Normal With brake MS 130ST M04030 21P2 1031 165 MS 130ST M10010 21P0 1040 194 265 MS 130ST M06025 21P5 1042 180 239 0042 179 236 MS 130ST M10015 21P5 1044 206 265 0044 213 294 MS 130ST M07725 22P0 0043 192 249 MS 130ST M15015 22P3 0046 241 322 MS 130ST M15015 42P3 1146 226 285 ...

Page 120: ...de LR LA Normal With brake MS 180ST M19015 43P0 1052 79 221 303 MS 180ST M19015 43P0 S 0156 65 232 289 1052 65 221 303 MS 180ST M21520 44P5 0150 59 243 300 MS 180ST M27015 44P3 1151 1161 79 247 329 MS 180ST M27015 44P3 S 0151 65 262 319 1151 65 247 329 MS 180ST M35015 45P5 1152 79 277 359 MS 180ST M35015 45P5 S 0152 59 292 349 1152 59 277 359 MS 180ST M48015 45P5 1153 1163 79 346 403 ...

Page 121: ...error regenerative error overtravel Dynamic brake Communication function RS232 ModbusRtu RS485 ModbusRtu Xnet fieldbus max 20 axes RS232 ModbusRtu RS232 ModbusRtu RS485 ModbusRtu Xnet fieldbus max 20 axes RS232 ModbusRtu RS485 ModbusRtu Brake resistor Internal brake resistor can connect external brake resistor Display and operate 5 bit LED light power light 4 buttons Load rate of change 0 100 load...

Page 122: ...mmand unit resolution is 1 command unit Electronic gear ratio 1 100 B A 100 Speed control mode Control mode Internal three segment speed external speed mode Internal 3 segment speed external analog external speed mode Command smoothing mode Low pass filter smoothing filter Analog input Voltage range 10V 10V resolution 12 bits Input resistance 13KΩ Torque limit Internal parameter Internal parameter...

Page 123: ...E 20P2 PFA DS3E 20P4 PFA DS3E 20P7 PFA DS3L 20P1 PFA DS3L 20P2 PFA DS3E 20P4 PFA DS3E 20P7 PFA DS3 20P2 PNA DS3 20P4 PNA DS3 20P7 PTA Unit mm DS3 21P5 PQA DS3 22P3 PQA DS3 41P5 PQA DS3E 21P5 PFA DS3E 22P3 PFA DS3E 22P6 PFA DS3E 41P5 PFA DS3L 21P5 PFA DS3L 22P3 PFA DS3L 22P6 PFA DS3L 41P5 PFA DS3 21P5 PTA DS3 22P3 PTA 70 0 59 0 186 0 166 0 ...

Page 124: ...122 DS3 43P0 PQA DS3E 43P0 PFA 85 0 186 1 198 3 211 0 99 0 2 1 210 0 110 0 222 0 ...

Page 125: ...123 DS3 45P5 PQA DS3 47P5 PQA DS3L 45P5 PQA DS3L 47P5 PQA DS3 411P PQA DS3 415P PQA ...

Page 126: ...f range The setting value out of range Check the parameters and set again 2 E 022 Parameter conflict TREF or VREF function setting conflict Check the TREF or VREF setting 3 E 023 Sampling channel setting error User defined output trigger channel or data monitor channel setting error Check the setting parameter 4 E 024 Parameter lost Power supply voltage too low 1 for single phase 220V connect L1 L...

Page 127: ...ider change the motor capacity mointor U0 02 motor present torque decrease the load 2 good ventilation check if the fan is running when module temperature U0 06 45 3 check the UVW wiring 1 E 061 Motor temperature too high 1 long time running with large load 2 environment temperature too high 1 decrease the load 2 good ventilation 2 E 062 Drive too cold Environment temperature is too low The enviro...

Page 128: ...g zero calibration operation error Please not add analog value when calibrating 10 0 E 100 Position offset too large The difference between setting position and actual position is over the limit 1 check whether the motor stall decrease the position setting speed 2 increase the offset pulse limit P0 23 11 0 E 110 Motor UVW short circuit Not match the motor code Drive P0 33 must match the motor code...

Page 129: ...drive 2 change larger power motor 5 E 165 locked rotor alarm drive version U2 23 12 24 750 W and down model support Locked rotor time up to P0 70 unit is second and motor speed lower than P0 71 unit is 1rpm motor present output torque larger than P3 28 P3 29 1 monitor U0 02 motor torque check if P3 28 P3 29 torque limit value is reasonable 2 check the mechanical structure 17 0 E 170 Motor undervol...

Page 130: ... 30 3 increase brake torque P3 32 28 0 E 280 Vibration too serious Motor vibration too serious Decrease servo position loop or speed loop gain check the motor shaft connection 30 0 E 300 Motion bus lose synchronization Motion bus communication error Check the motion bus connection 31 0 E 310 Motor code error Motor code error Set the correct motor code 1 E 311 Motor code lost Motor code not set Set...

Page 131: ...resistor value is better close to the min resistor value The resistor power depends on the actual condition and heating power 2 The frequent discharging of regenerative resistor make the temperature too high please use high temperature resistant and flame retardant cable and the surface of regenerative resistor cannnot touch the cable ...

Page 132: ...de for DS3E 6 1 10 All the modes 5 1 02 Submode 2 1 torque command 2 torque analog for DS3 PQA 3 speed command 4 speed analog for DS3 PQA 5 position internal for DS3E DS3L Note hardware versoin v3 2 1 and above support this mode 6 position pulse 7 speed pulse 10 fieldbus position mode for DS3E 0 1 10 All the modes 5 1 03 Enable mode 0 not enable 1 IO SON input signal 2 software enable panel Modbus...

Page 133: ... power W 0 65535 All the modes 3 4 26 Discharge resistor value Ω 0 500 All the modes 3 4 27 Servo OFF stop mode 0 inertia running stop keep the inertia running state after stop 2 deceleration running stop keep inertia running state after stop 0 0 2 All the modes 5 2 3 28 Servo over range stop mode 0 deceleration stop over range direction torque is 0 after stop receive command 1 inertia stop over r...

Page 134: ...peed Feedforward gain 1 0 0 300 6 10 6 1 2 11 Speed feedforward filter time 0 01ms 50 0 10000 6 10 6 1 2 12 Torque feedforward 1 0 0 300 3 4 6 7 1 0 6 1 2 13 Torqaue feedforward filter time 0 01ms 0 0 10000 3 4 6 7 1 0 6 1 2 14 Position gain switching mode 0 fixed the first group 1 fixed the second group 2 G SEL signal 3 torque command 4 speed command 5 position offset 6 speed feedback 0 0 6 6 10 ...

Page 135: ...peed corresponding to analog voltage 0 01V 1000 150 3 000 1 2 4 6 5 4 2 02 Analog voltage speed filter 0 01ms 0 0 100 00 1 2 4 6 5 4 2 03 Speed command input dead area voltage 0 01v 0 0 100 1 2 4 6 5 4 2 05 Preset speed 1 rpm 0 9999 9999 3 5 5 2 06 Preset speed 2 rpm 0 9999 9999 3 5 5 2 07 Preset speed 3 rpm 0 9999 9999 3 5 5 2 09 Acceleration time ms 0 0 65535 3 4 5 4 8 10 Deceleration time ms 0 ...

Page 136: ...dition of external torque limit input compare to P3 28 P3 29 min value is effective 2 torque feedforward 0 0 1 2 All the modes 5 4 7 5 7 2 24 Rated torque corresponding to the analog value 0 01V 1000 150 3 000 All the modes 5 7 2 25 Analog voltage torque filter 0 01ms 0 0 100 00 All the modes 5 7 2 26 Torque command input dead area voltage 0 01V 0 0 100 All the modes 5 7 2 28 Internal forward torq...

Page 137: ...otal 35 segments Note 1 setting pulse number pulse numbers high byte 10000 pulse number low byte 2 total 35 segments Segment 1 12 parameters can be set through operate panel segment 13 35 can write in parameters through communication RS232 or RS485 P5 signal parameter setting P5 Name Unit Default Range Effective Suitable mode Chapter 00 Positioning finished width COIN Command pulse 7 0 65535 6 5 3...

Page 138: ... 7 13 User defined output 1 hysteresis loop Related to the trigger condition 0 0 65535 All the modes 5 11 7 14 User defined output 2 trigger condition 0 0 FFFF All the modes 5 11 7 15 User defined output 2 trigger condition comparison value Related to the trigger condition 0 9999 9999 All the modes 5 11 7 16 0 P5 14 P5 15 output SOx 1 P5 14 P5 15 SOx output 2 P5 14 absolute value P5 15 output SOx ...

Page 139: ...e modes 5 4 7 27 SPD D internal speed direction choice ditto n 0000 n 0000 n 0015 1 2 3 4 5 5 3 28 SPD A internal setting speed choice ditto n 0000 n 0000 n 0015 3 6 5 5 3 29 SPD B internal setting speed choice ditto n 0000 n 0000 n 0015 3 6 5 5 3 30 C SEL control mode choice ditto n 0000 n 0000 n 0015 All the modes 5 10 31 ZCLAMP zero clamp ditto n 0000 n 0000 n 0015 3 4 7 5 4 5 32 INHIBIT comman...

Page 140: ...000 n 0013 All the modes 5 11 2 46 NEAR near ditto n 0000 n 0000 n 0013 5 6 5 3 7 47 ALM alarm ditto n 0002 n 0000 n 0013 All the modes 5 11 1 48 Z phase encoder signal n 0000 n 0000 n 0013 All the modes 5 11 1 51 V RDY speed arrived n 0000 n 0000 n 0013 3 4 7 5 5 10 52 user defined output 1 terminal setting n 0000 n 0000 n 0013 All the modes 5 11 7 53 user defined output 2 terminal setting n 0000...

Page 141: ... Stop bit 2 0 2 bits 2 1 bit 3 1 5 n xxx Parity bit 2 0 2 0 no parity 1 odd 2 even 3 1 5 Note data bit cannot set it is 8 bits 02 RS485 communication protocol 1 1 Modbus Rtu protocol 2 Xnet fieldbus protocol 3 1 5 10 RS232 station no 1 1 255 3 1 5 11 RS232 parameters 2206 Parameter setting same to P7 01 3 1 5 Appendix 2 UX XX monitoring parameters U0 XX Monitor code Contents Unit U0 00 Servo motor...

Page 142: ...ard 1 command unit U0 50 Speed feedforward rpm U0 51 Torque feedforward rated U0 52 Instant bus capacitance power 1W U0 53 Average bus capacitance power 1W U0 55 Instant regenerative brake discharge power 1W U0 56 Average regenerative brake discharge power 1W U0 57 Absolute encoder present position feedback 0000 9999 1 Encoder pulse U0 58 0000 65535 10000 U1 XX Monitor code Contents Unit U1 00 Pre...

Page 143: ...ctory date day U2 07 Firmware version U2 08 Hardware version U2 09 Total running time from power on at the first time Hour U2 10 Total running time from power on at the first time Minute U2 11 Total running time from power on at the first time Second U2 12 This time running time from power on this time Hour U2 13 This time running time from power on this time Minute U2 14 This time running time fr...

Page 144: ...0 05 0x0005 5 P0 22 0x0016 22 P0 06 0x0006 6 P0 23 0x0017 23 P0 07 0x0007 7 P0 24 0x0018 24 P0 08 0x0008 8 P0 25 0x0019 25 P0 09 0x0009 9 P0 26 0x001A 26 P0 10 0x000A 10 P0 27 0x001B 27 P0 11 0x000B 11 P0 28 0x001C 28 P0 12 0x000C 12 P0 29 0x001D 29 P0 13 0x000D 13 P0 30 0x001E 30 P0 14 0x000E 14 P0 31 0x001F 31 P0 15 0x000F 15 P0 32 0x0020 32 P0 16 0x0010 16 P0 33 0x0021 33 Parameter Modbus addre...

Page 145: ...P3 13 0x030D 781 P3 32 0x0320 800 P3 14 0x030E 782 P3 33 0x0321 801 P3 15 0x030F 783 P3 34 0x0322 802 P3 16 0x0310 784 P3 35 0x0323 803 P3 17 0x0311 785 P3 36 0x0324 804 P3 18 0x0312 786 Parameter Modbus address Modbus address Modbus address Hex Decimal Hex Decimal P4 00 0x0400 1024 P4 15 0x040F 1039 P4 01 0x0401 1025 P4 16 0x0410 1040 Parameter Modbus address Parameter Modbus address Hex Decimal ...

Page 146: ...096 U0 28 0x101C 4124 U0 01 0x1001 4097 U0 29 0x101D 4125 U0 02 0x1002 4098 U0 30 0x101E 4126 U0 03 0x1003 4099 U0 31 0x101F 4127 U0 04 0x1004 4100 U0 32 0x1020 4128 U0 05 0x1005 4101 U0 33 0x1021 4129 U0 06 0x1006 4102 U0 34 0x1022 4130 U0 07 0x1007 4103 U0 35 0x1023 4131 U0 08 0x1008 4104 U0 36 0x1024 4132 U0 09 0x1009 4105 U0 37 0x1025 4133 U0 10 0x100A 4106 U0 38 0x1026 4134 U0 11 0x100B 4107 ...

Page 147: ... U1 17 0x1111 4369 U2 17 0x1211 4625 U1 18 0x1112 4370 U2 18 0x1212 4626 U1 19 0x1113 4371 U2 19 0x1213 4627 U1 20 0x1114 4372 U2 20 0x1214 4628 U1 21 0x1115 4373 U1 22 0x1116 4374 U1 23 0x1117 4375 U1 24 0x1118 4376 U1 25 0x1119 4377 Parameter Modbus address Parameter Modbus address Hex Decimal Hex Decimal F0 00 0x2000 8192 F1 00 0x2100 8448 F0 01 0x2001 8193 F1 01 0x2101 8449 F0 02 0x2002 8194 F...

Page 148: ...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...

Page 149: ... Decide the command unit 1 command unit 0 001mm 4 Calculate the motion value of load shaft rotate 1 circle 5mm 0 001mm 5000 5 Calculate the electronic gear ratio B 2500 4 40 80 A 5000 1 1 6 Set the user parameters P0 13 80 P0 14 1 Parameter setting Running mode P0 01 6 Pulse command state P0 10 2 Electronic gear ratio P0 11 0 P0 12 0 P0 13 80 P0 14 1 Forward torque limit P3 28 150 Reverse torque l...

Page 150: ...T M01330 口口 20P4 1004 DS3E DS3L 20P4 PFA MS 60ST M01330 口口 S 20P4 short body F004 DS3E DS3L 20P7 PFA MS 80ST M02430 口口 S 20P7 F011 DS3 20P7 PQA DS3E DS3L 20P7 PFA MS 80ST M02430 口口 20P7 1011 MS 80ST M03520 口口 20P7 0012 MS 90ST M02430 口口 20P7 0021 DS3 21P5 PQA DS3E DS3L 21P5 PFA MS 110ST M04030 口口 21P2 0031 3 phase 220V MS 110ST M05030 口口 21P5 0032 MS 130ST M04030 口口 21P2 1031 MS 130ST M06025 口口 2...

Page 151: ...s the length is 2 meter the cable length can be customized 20 bit absolute encoder DS3 20P4 PNA MS 60ST T01330B 20P4 MS 60ST T01330BZ 20P4 DS3 20P7 PTA MS 80ST T02430B 20P7 MS 80ST T02430BZ 20P7 Encoder cable CP DL B 02 Power supply cable CM L15 02 note 02 means the length is 2 meter the cable length can be customized 17 bit absolute encoder DS3 21P5 PTA MS 110ST T05030B 21P5 MS 110ST T05030BZ 21P...

Page 152: ...WUXI XINJE ELECTRIC CO LTD 4th Floor Building 7 Originality Industry park Liyuan Development Zone Wuxi City Jiangsu Province 214072 Tel 510 85134136 Fax 510 85111290 www xinje com ...

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