BEIJING P100 Operating Manual

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Distributor

CTB technology

BEIJING CTB TECHNOLOGY CO., LTD.

Address: Wanggezhuang Industry Base, Shilipu Town, Miyun County,

Beijing

Tel.: [phone]

Fax: [phone]

24-hour national free service Tel.:[phone]

Data No.: ZL-12-808-IBCN

The data may subject to change without notice as improvement of the

product.





CTB technology

GS DRIVER

P100 operating manual

AC servo spindle driver

Model: BKSC-□ □ □ □ GS □

Class 400V, 1.5 ~ 315KW (2.5 ~ 460KVA)

Please send the manual to final user, and keep it properly.

BEIJING CTB TECHNOLOGY CO.,LTD.

Data No.: Z L-12-808-I B C N

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GS DRIVER CTB

Preface

Thank you for purchasing GS series servo driver produced by Beijing CTB Technology Co.,

Ltd. The GS series AC servo spindle driver is a high-quality, multi-functional and low-noise

AC servo driver that was researched, developed and manufactured by Beijing CTB

Technology Co., Ltd. The spindle driver is servo driver for AC induction motor (IM) and AC

permanent magnet synchronous motor (PM). It can control the position, speed,

acceleration and output torque of various AC servo spindle motor appropriately. The wide

application of GS series AC servo spindle driver brings infinite vitality to field of machine

tool spindle drive control.

In command to achieve control functions of various machine tools, GS series AC servo

spindle driver is equipped with dual 32-bit CPU and abundant control function module. It

may be conveniently connected with various domestic and foreign CNC systems through

standard control interfaces to allow full play to spindle function of CNC system. The

characteristics of torque, acceleration and deceleration, precision and efficiency of machine

tool spindle which is equipped with GS series AC servo spindle driver are remarkable, and

accurate stop, C-axis, rigid tapping, electronic shift, multi-axis synchronization and other

spindle functions can be realized easily. GS series AC servo spindle driver is the first

choice of electric spindle drive products.

As the first choice of driving product of various machine tool power shaft (spindle), GS

series AC servo spindle driver can be widely used for spindle drive of product such as CNC

milling machine, vertical machining center, horizontal machining center, CNC boring

machine, CNC lathe, vertical lathe, heavy horizontal lathe and gantry machine tool.

For proper application, please read the manual carefully before using the GS series AC

servo spindle driver. Abnormal operation, fault or reduction of service life, and even

personal injury accident may be caused by inappropriate use. Therefore, the manual shall

be read repeatedly before use, and operate in strict accordance with the instructions. The

manual is attachment with the equipment. Please keep it properly after using for future

repair and maintenance of the driver.

01

GS DRIVER CTB

Safety -related symbol description

The following symbols are used for safety-related content in the manual. Sentences

marked by the safety symbols describes important content, and must be abided. If the

requirements in the safety-related content are not abided, application of the product may

led to abnormal product operation, damage to the product, even danger and personal

injury.

Danger

Caution

Forbid Prohibited matters (matters that cannot do).

Important

Use the symbol where danger, even personal injury or death when
wrong about the described content.

Use the symbol where danger, even mild or moderate personal
injury and equipment damage when wrong about the described
content.

Certain matters do not belong to "danger", and "caution", but they
are required to be abided by user. They are marked in the relevant
sections.

02

GS DRIVER CTB

Safety precautions

◆ Unpacking inspection

Caution

● For risk of injury, please do not install damaged or part missing driver.

◆ Installation

Caution

● For risk of fire, please install the equipment on nonflammable metal plate without

combustible materials around.

● Please be sure to tighten the mounting screws of the driver. Falling and damage of the

driver or personal injury may be caused by mounting screws loosing.

●Please do not install the equipment in environment with flammable gas where an

explosion is caused easily.

◆ Wiring

Danger

● For risk of electric shock and fire, please make sure that the input power supply is in
the OFF state before wiring.

●For risk of electric shock, the operation on main circuit terminal of the controller shall be
conducted after the power is cut off for five minutes, and the power charge indicator
CHARGE in the controller completely extinguished.

●For risk of electric shock and fire, the wiring shall be carried by professional electrical
engineering personnel.

●For risk of electric shock and fire, the ground terminal must be grounded reliably. (earth
resistance shall be lower than 4Ω)

● It's prohibited to directly connect terminals of P / PB and N, or connect the zero line or
the earth wire to the N terminal. Otherwise, the rectifier bridge will be shorted and the
main loop will be burned.

●It's prohibited to connect the high-voltage line to control terminal of the driver.
Otherwise, the control board will be burned.

●For risk of injury, please set emergency stop and locking circuit at the outside of the
controller (user is responsible for the wiring) .

● There is a risk of electric shock and short circuit.

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GS DRIVER CTB

◆ Wiring

Caution

●For risk of injury and fire, please ensure that the voltage of the main circuit AC input

power and the rated voltage of the driver are consistent.

● Please do not conduct withstand voltage and insulation test to the controller

arbitrarily. Otherwise, the semiconductor and other components in the controller may

be damaged.

●For risk of fire, please connect braking resistor and braking unit according to the

wiring diagram.

● Please do not connect the AC input power cord to the output U, V, W terminals.

Otherwise, damage to inside of the controller may be caused.

●For risk of fire and malfunction of the controller, please tighten the terminals of main

loop and control circuit with appropriate torque.

●Please do not connect the phase shifting electrolytic capacitor and LC / RC noise

filter to the output circuit. Otherwise, damage to inside of the controller may be

caused.

●Please do not connect the electromagnetic switch and electromagnetic contactor to

the output circuit to connect or disconnect the load. During loaded operation of the

controller, the surge current will arose protection circuit action of the controller.

◆ Trial run

●For risk of electric shock and short circuit, please do not touch the terminals of the

main circuit directly after power-on.

●Please confirm the input and output signals to guarantee safe operation.

Malfunction of the system will cause casualties and damage to the work piece and

nearby equipment..

●For risk of injury, alarm reset only can be done after ensuring that the operating

Danger

04

signal is cut off. Alarm reset with operating signal will lead to suddenly re-start.

●For risk of driver burning, the inside of long term stored driver shall be checked for

water and condensation.

●For risk of electric shock and burning the equipment, it's prohibited to touch the

terminals of the driver with hand during operating.

GS DRIVER CTB

Caution

●For risk of scalding, the running servo driver and motor may have a high

temperature rise, please do not touch.

●For risk of scalding and electric shock as the braking resistor has a high

temperature rise for discharging, please do not touch.

●For risk of damage to the equipment and accident, please do not change the

settings of the drive arbitrarily.

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GS DRIVER CTB

◆ Maintenance and inspection

Danger

●For risk of electric shock, please do not directly touch terminals of the controller.

Some of them have high voltage and very dangerous.

●For risk of electric shock, please do install the housing before power-on; and must

disconnect the power firstly before removing the housing.

●For risk of electric shock and fire, please confirm that the power source is in the OFF

state or not before wiring.

● Inspection and maintenance only can be carried out after cut off the main circuit input

power and confirm that the power charge indicator CHARGE completely extinguished.

There is a risk of electric shock as residual power in electrolytic capacitor.

●Please make designated professional electrical engineering personnel to conduct

inspection and maintenance. Before work, please take off metal object (watch, rings

etc.), and use tools with insulation protection during operation. Otherwise, it may cause

electric shock.

●For risk of explosion and fire, used battery, circuit printing plate must not be throw into

fire. Otherwise, it may cause explosion.

Caution

●CMOS IC integrated circuit is installed on main control panel. Full attention shall be

paid during operating. The electrostatic induction due to direct touching of finger on the

main control panel may cause damage to the main control panel.

●For risk of electric shock, please do not conduct wiring and removing terminal when

the equipment is energized.

●For risk of damage to the equipment, the appropriate parameter settings must be

carried out before running after control panel replacing.

06

GS DRIVER CTB

Table of contents

Preface……………………………………………………………………………………………1

Safety -related symbol description…………………………………………………………..2

Safety precautions………………………………………………………………..……………..3

Chapter 1 - Installation…………………………………………..……………………………1-1

Introduction to GS DRIVER…………………………………..……………………………1-2

Unpacking inspection…………………………………………..……………………………1-2

Standard specifications and performance parameters…………………………………1-3

Driver nameplate description………………………………………………………………1-4

External dimensions and installation dimensions…………………………………………1-4

Confirmation and requirements of the installation space………………………………1-7

Notes on motor and load……………………………………………………………………1-7

Notes on the driver…………………………………………………………………………1-8

Notes on scrapping…………………………………………………………………………1-9

Chapter 2 – wiring…………………………………………………………………………….2-1

Selection and connection of peripheral devices…………………………………………2-2

Wiring of the main circuit terminals………………………………………………………2-3

Wiring of control circuit ……………………………………………………………………2-10

Connection of the encoder interface……………………………………………………2-15

Connection of the serial communication port ……………………………………………2-16

Chapter 3 - Manipulator application……………………………………………………….3-1

0.4 ~ 18.5kw driver:

Configuration and key functions of the manipulator………………………………………3-2

Operative mode of the driver………………………………………………………………3-3

Operative mode of the manipulator………………………………………………………3-4

Use method of the manipulator……………………………………………………………3-5

Modify the parameters with the manipulator……………………………………………3-6

Monitor operating state with the manipulator……………………………………………3-7

22 ~ 315kw driver:

Configuration and key functions of the manipulator……………………………………3-8

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GS DRIVER CTB

Operative mode of the driver…………………………………….………………………3-10

Operative mode of the manipulator…………………………….………………………3-10

Use method of the manipulator………………………………….………………………3-12

Modify the parameters with the manipulator………………….………………………3-12

Monitor operating state with the manipulator……………….………………………3-13

Chapter 4 - Test run…………………………………………………………………..………..4-1

Basic procedure of test run…………………………………………………………………4-2

Confirmation of connection of the main circuit……………………………………………4-2

Control circuit wiring confirmation…………………………………………………………4-3

Initial power-on of the driver………………………………………………………………4-3

Motor and driver parameters confirmation………………………………………………4-4

No-load test run………………………………………………………………………………4-4

Loaded test run………………………………………………………………………………4-4

Chapter 5 - Parameter list……………………………………………………………………5-1

Parameter list description.............................................................................................5-2

Monitor parameter U1................................................................................................5-2

Monitor parameter U2..............................................................................................5-3

Monitor parameter U3..............................................................................................5-3

Initialize parameter An..............................................................................................5-3

Basic control parameter Bn..........................................................................................5-5

User parameter Cn.......................................................................................................5-6

Motor drive parameter Dn..........................................................................................5-8

Function parameter Fn.......... ........................................................................5-9

Function parameter In.................................................................................................5-9

Protection parameter Pn.............................................................................................5-10

System communication parameter Sn......................................................................5-11

Chapter 6 - Operation by function…………………………...………………………………6-1

Spindle control timing sequence state diagram…………………………………………6-2

Motor basic parameters setting……………………………………………………………6-2

Motor operating parameters……………………………………………………………..6-3

Operation panel operation……………………………………………………………..……6-3

Analog quantity speed control……………………………………………………………..6-3

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GS DRIVER CTB

Acceleration and deceleration control parameters………………………………………6-5

Accurate stop parameters………………………………………………………………6-6

Rigid tapping…………………………………………………………………………….. 6-7

PULSE control…………………………………………………………….. ………………6-8

Swing control…………………………………………………………….. …………………6-9

Multi-function terminal control……………………………………….. …………………6-10

Chapter 7 – Troubleshooting………………………………………………………………..7-1

List of fault alarm and remedies …………………………………………………………..7-2

Common fault analysis……………………………….……………………………………..7-3

Alarm reset method………………………………………………………………...………..7-7

Chapter 8 - Routine maintenance...................................................................................8-1

Prompt..........................................................................................................................8-2

Routine maintenance .................................................................................................8-2

Regular maintenance..................................................................................................8-3

Wearing parts of the driver ..........................................................................................8-3

Driver storage..............................................................................................................8-4

Driver warranty.............................................................................................................8-4

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GS DRIVER CTB

Installation

The chapter describes matters to be confirmed and installation requirements for the user

after getting the GS driver.

Introduction to GS DRIVER……………………………………….1-2

Unpacking inspection………………………………………………1-2

Standard specifications and performance parameters…………1-3

Driver nameplate description……………………….……………..1-4

External dimensions and installation dimensions.………..……..1-4

Confirmation and requirements of the installation space.……....1-7

Notes on motor and load…………………………….……………..1-7

Notes on the driver…………………………….……………….…..1-8

Notes on scrapping………………………….………………….…..1-9

GS DRIVER CTB

Introduction to GS DRIVER

GS DRIVER is a type of spindle driver that specifically designed for CNC machine tool.

Precise control of position, speed, acceleration and output torque of AC induction servo

motor and ordinary inverter motor is allowed through the driver. It can be used for control of

spindle motor of machining center, CNC milling machine, CNC drilling machine, CNC lathe,

CNC grinder, and feed motor of large gantry equipment and vertical lathe. To achieve the

best operation effect, please complete wiring with CNC system by the " CTB servo

application manual ", and carry out installation and commissioning in accordance to the

manual.

Model description

● GS driver series servo driver is suitable for motor with capacity from 1.5 to 315kw. Please

see the 21 models shown in Table 1-1.

Table 1-1 GS driver model (rated voltage: 400v)

Driver model

BKSC-41P5GS□ 2.5 4 3 1.5 Yes

BKSC-42P2GS□ 3 6 5 2.2 Yes

BKSC-43P7GS□ 5.5 9 8 3.7 Yes

BKSC-45P5GS□ 8.5 14.2 13 5.5 Yes

Rated

capacity(KVA)

Rated input

current (A)

Rated output

current (A)

Adapt motor

power (kW)

Built-in

brake unit

BKSC-47P5GS□ 11 18 17 7.5 Yes

BKSC-4011GS□ 17 26 25 11 Yes

BKSC-4015GS□ 21 35 32 15 Yes

BKSC-4018GS□ 24 38.5 37 18.5 Yes

BKSC-4022GS□ 30 46.5 45 22 Yes

BKSC-4030GS□ 40 62 60 30 Yes

GS DRIVER CTB

BKSC-4037GS□ 50 76 75 37 Yes

BKSC-4045GS□ 60 92 90 45 Yes

BKSC-4055GS□ 72 113 110 55 Yes

BKSC-4075GS□ 100 157 152 75 Yes

BKSC-4090GS□ 116 190 185 90 No

BKSC-4110GS□ 138 236 230 110 No

BKSC-4132GS□ 167 288 280 132 No

BKSC-4160GS□ 200 345 336 160 No

Unpacking inspection

Please confirm the following items when you get the product. Please contact directly with

the dealer or manufacturer that purchased from for any adverse situation. Please see Table

1-2 for detail.

Table 1-2 Confirm items

Confirm item Confirm method

Confirm that the materials listed on
the packing list are complete.

Are they in line with the ordered

Check the materials in the packing against the
packing list stuck to the external packing.

Please confirm the label at the side of the driver.

merchandise?

Is there any damage? Check the overall appearance for damage during

transportation.

GS DRIVER CTB

Standard specifications and performance parameters

Please see Table 1-3 for standard specifications and performance parameters of 3-phase Class 400V driver

Table 1-3 Standard specifications and performance parameters of GS □ driver

Model BKSC-××××GS□ 41P5 42P2 43P4 45P5 47P5 4011 4015 4018 4022 4030 4037 4045 4055 4075 4090 4110 4132 4160 4185 4220 4315

Adapt motor power kW 1.5 2.2 3.7 5.5 7.5 11 15 18.5 22 30 37 45 55 75 90 110 132 160 185 220 315

Capacity KVA

Output

Current A

Maximum output voltage V

Maximum output speed rpm

Power

Rated voltage and frequency

Allowed voltage pulsation

Control mode Sine wave PWM modulation, entirely closed-loop vector control

Torque feather

Control characteristics

Range of speed regulation 1: 5000

Speed control accuracy ±0.1%

Frequency set resolution

Position control accuracy ±1PULSE

Acceleration

2.5 3 5.5 8.5 11 17 21 24 30 40 50 60 72 100 116 138 167 200 280 340 460

3 5 8 13 17 25 32 37 45 60 75 90 110 152 185 230 280 336 370 450 630

3-phase 380/400/415/440V corresponding input voltage

4-pole motor 15000rpm: 500Hz

3-phase 380/400/415/440V: 50/60Hz±5％

＋10％, －15％

200% rated torque output below the fundamental frequency. Accuracy: ±5％

Digital quantity: : 0.01Hz; analog quantity: Unipolar, maximum output frequency is /4092; bipolar, maximum output
frequency is / 2046

0.05～3000Hz/s

Brake mode

Overload capacity 200% rated current 30s

dynamic braking. 125％ rated torque: built-in braking unit (external braking resistor)

GS DRIVER CTB

Digital quantity input 7-channel isolation photo-coupler input; input mode: PNP, NPN optional

Digital quantity output 2-channel isolation photo-coupler output; 24V, 10mA

Input output interface

Analog quantity input

Analog quantity output None

Relay output 1 channel N.O. type; AC250V/DC30V, 1A

Fault output relay 1 channel: a group of N.O/N.C contact; AC250V/DC30V, 1A

Encoder input interface One: maximum receive frequency is 300KHz; cable driven receive mode: RS422 standard

PULSE input interface One: direction PULSE or orthotropic PULSE

Encoder output interface One: maximum output frequency is 300KHz; cable driven output mode: RS422 standard

3-channel; －10V～+10V 1 channel, 0～10V 2-channel

function

Spindle

Protection

function

environment

Service

Bus interface

Speed control

Accurate stop Accuracy: ±1PULSE; position adjustment: set by user's parameter

Rigid tapping

Other function C-axis control, thread cutting, electronic gear, reaming, swing control

Spindle motor over-current Greater than 200% rated current output

Motor overload Specified time of exceeding overload alarm value. Alarm output: set by parameters

Overvoltage The voltage of main circuit bus is higher than 800V. Alarm output

Low voltage The voltage of main circuit bus is lower than 400V. Alarm output

Service site Free of dust, corrosive gas and inflammable gas

Temperature

Humidity

Vibration

RS232，can，Ethernet network

Range: 0～15000rpm; turning: positive and negative; speed order: analog quantity, imPULSE frequency and bus

May be connected to several domestic and foreign system. Tapping error: ±2％

－10～45℃

Lower than 95％RH (no condensation)

2

vibration frequency≤20Hz: 9.8m/s

；20Hz≤vibration frequency≤50Hz: 2m/s2；

GS DRIVER CTB

Driver nameplate description

Nameplate which indicates model and rated values of the driver is affixed to the lower right

of housing of the driver. The content of the nameplate is shown in Figure 1-1.

Figure 1-1 Servo driver nameplate

External dimensions and installation dimensions

1. 1.5-3.7kw driver

Please see diagram 1-2 for external dimensions and installation dimensions

Figure 1-2

Table 1-4 Dimensions (mm) and weight (kg) of GS DRIVER (1.5-3.7kw) driver

Model

Dimension

A B W H D

Connecting

terminal screw

Installati

on screw

Weight (kg)

BKSC-41P5GS□

BKSC--42P2GS□

BKSC--43P7GS□

2. 5.5～11kw driver

45.5 276 91 290 200

Wire nail width

3mm

M6 3

GS DRIVER CTB

Please see diagram 1-3 for external dimensions and installation dimensions

Figure 1-3

Table 1-5 Dimensions (mm) and weight (kg) of GS DRIVER (5.5-11kw) driver

Dimension

Model

BKSC--45P5GS□

BKSC--47P5GS□

BKSC--4011GS□

A B W H D

80 276 132 290 200

Connecting

terminal screw

Wire nail width

3mm

Installation

screw

M6 5

3. 15～45kw driver

Please see diagram 1-4 for external dimensions and installation dimensions.

Weight

(kg)

Figure 1-4

Table 1-6 Dimensions (mm) and weight (kg) of GS DRIVER (15-45kw) driver

GS DRIVER CTB

Dimension

Model

BKSC--4015GS□

BKSC--4018GS□

BKSC--4022GS□

BKSC--4030GS□

BKSC--4037GS□

BKSC--4045GS□

A B W H D

140 376 194 390 228 M6 M6 14

236 376 282 390 228 M6 M8 20

300 376 380 390 269 M8 M8 26

Connecting

terminal screw

Installation

screw

Weight

(kg)

4. 55～160kw driver

Please see diagram 1-5 for external dimensions and installation dimensions

Figure 1-5

Table 1-7 Dimensions (mm) and weight (kg) of GS DRIVER (55-160kw) driver

Dimension
Model

BKSC--4055GS□

BKSC--4075GS□

BKSC--4090GS□

BKSC--4110GS□

BKSC--4132GS□

BKSC--4160GS□

A B W H D E

392 376 472 390 269 196 M10 M8 33

360 690 464 720 320 180 M10 M16

Connecting

terminal screw

5.185 ~ 315kw driver

Please see diagram 1-6 for external dimensions and installation dimensions

Installati

on screw

Weight

(kg)

90

GS DRIVER CTB

Figure 1-6

Table 1-8 Dimensions (mm) and weight (kg) of GS DRIVER (185-315kw) driver

Dimension

Model

BKSC -4185GS□

BKSC -4220GS□

BKSC -4315GS□

A B W H D

- - 800 1800 450 - - 230

Connecting

terminal screw

Installation

screw

Weight

(kg)

Confirmation and requirements of the installation space

Installation environment

The following items shall be noted when selecting the installation environment:

1. Ambient temperature: operate in -10℃ ~ 45℃; if the ambient temperature is higher than

45℃, the equipment shall be used with 30% derating for each 5℃ temperature rise.

★ Note: If the ambient temperature is higher than 45 ℃ , the ventilation shall be

strengthened, and use by the specified derating.

2. The humidity of the installation site shall lower than 95%, and free of condensing;

3. Do not install the equipment in place with dust or metal powder;

4. The equipment shall be installed at place without corrosive, explosive gas;

5. The equipment shall be installed at place that meet the requirements of vibration. The

vibration frequency ≤ 20Hz: 9.8m/s2; 20Hz ≤ vibration frequency ≤ 50Hz: 2m/s2;

6. The equipment shall be installed at place away from direct sunlight.

Installation direction and space

●Installation spacing and distance requirements of single driver are shown in Figure 1-7.

● Generally, abreast installation mode is adopted when multiple drivers are installed in the

GS DRIVER CTB

control cabinet, and air inlet, outlet and dedicated cooling fan shall be equipped; if up and

down installation mode is adopted, stream guidance clapboard shall be added between

drivers to guarantee good cooling effect as shown in Figure 1-8.

Figure 1-7 Single controller installation Figure 1-8 Multiple controllers installation

Notes on motor and load

Compared with frequency conversion operation

GS DRIVER is full closed-loop vector servo driver. It adjusts output voltage and current

automatically according to the load change. It's more energy-efficient than inverter with

higher speed control accuracy and wider speed regulation range. As the controlled motor

and driver are closed loop, the control of position, speed and torque can be achieved

conveniently.

Constant torque operation

When motor works in constant torque area, the output torque of the motor is required by the

mechanical operation instead of the rated torque of the motor. However, the maximum

continuous output torque of the motor must not exceed the rated torque.

High-speed operation in constant power area

For high-speed operation in constant power area, the increased vibration and noise shall

be considered, and the service speed range of motor bearing and mechanical devices must

be confirmed, and consulted in advance. It's strictly prohibited to make the machine operate

above the rated speed.

GS DRIVER CTB

Lubrication of the mechanical device

For reduction box and gear head motor and other mechanical device that requires

lubrication, damage may be caused due to deterioration of lubricating effect in long-term

low-speed operation. It must be consulted in advance.

Negative torque load

Negative torque load occurs frequently for load such as lifting. The driver will generate

over-current and overvoltage alarm and trip. Equipping of brake components or mechanical

safety devices shall be considered.

Reciprocating load

Please pay attention to unstable phenomenon in output current when the driver is driving

piston reciprocating load. The phenomenon is more prominent in long-term low-frequency

operation. The capacity of driver shall be increased.

Mechanical resonance point of the load device

The driver may encounter the mechanical resonance point of the load device in certain

output frequency range. It can be avoided by setting jump frequency.

Notes on the driver

Applications not in rated voltage

The servo driver shall not be used in voltage that not in the working voltage range. Please

conduct voltage transformation with appropriate step-up or step-down unit as required.

Note on the drive phase input into 2-phase input

The device shall not be changed into 2-phase input, otherwise, default phase protection will

occur.

Capacitor or pressure-sensitive device to improve power factor

As shown in Figure 1-9, the output of the driver is PULSE wave, drive failure tripping or

damage to the device will be caused due to capacitor or pressure-sensitive device for

lightning to improve power factor installed at the output side. They must be removed.

GS DRIVER CTB

Figure 1-9 Capacitor is prohibited at the output end of controller

Lightning attack protection

lightning over-current device is equipped in the driver for self-protection to induction stroke

Altitude and derating operation

For areas with altitude over 1000 m, derating operation is necessary due to deterioration of

cooling effect of the drive caused by thin air. The relationship curve of rated current of driver

and altitude is shown in Figure 1-10.

Figure 1-10 Derating curve of rated current of driver and altitude

Notes on scrapping:

Explosion of electrolytic capacitor: the electrolytic capacitors on main circuit and printed

panel may explode when incinerated.

Plastic incineration waste gas: toxic gases will be generated in incineration of front panel

and other plastic parts.

Processing method: please process the waste as industrial waste.

★ Description: The contents of the manual are subject to change due to product upgrade

or optimize. The new version shall prevail.

GS DRIVER CTB

Wiring

The chapter describes the wiring specifications of power supply terminals and control circuit

terminals, and install wiring specifications of control board jumpers and expansion interface

board.

Selection and connection of peripheral devices………………………..2-2

Wiring of the main circuit terminals………………………………………2-3

Wiring of control circuit ………………………………………………….2-10

Connection of the encoder interface…………………………………..2-15

Connection of the serial communication port ………………………..2-16

GS DRIVER CTB
Selection and connection of peripheral devices

Spindle driver and peripheral devices connection diagram, take 15kw drives as an example

in Figure 2-1.

Figure 2-1 Spindle driver and peripheral devices connection diagram

Parts selection description

Item Usage Selection note Remarks

Air circuit breaker

Electromagnetic

contactor

Input side reactor

Input noise filter

Braking resistor

Filtering magnet

ring

Turn on or off driver

power

For automatic power on

of driver

Improve power factor of

power grid

Suppress interference of

driver to power supply

Consume regenerated

energy of the driver

Suppress wireless

interference of the driver

to outside

Select by 150% of rated

current of the driver

Select by 150% of rated

current of the driver

Select by 100% of rated

current of the driver

Select by 150% of rated

current of the driver

Select by standard provided

by the factory

Select by standard provided

by the factory

Refer to Table 2 - 3

Refer to Table 2 - 3

Refer to Table 2 - 2

Refer to GS model

selection sample

GS DRIVER CTB

Wiring of the main circuit terminals

The structure of the main circuit

See Figure 2-2A, 2-2B and 2-2C for internal structure diagram of the main circuit.

Figure 2-2A 1.5～15kw main

circuit composition

Figure 2－2B 18.5～75kw main

circuit composition

Main circuit terminals composition

1.5～22kw main circuit terminals composition

37～75kw main circuit terminals composition

Figure 2－2C 90～160kw main

circuit composition

90～160kw main circuit terminals composition

Main circuit terminals and functional description

Item Function Notes

R S T

3-phase AC supply input terminal.

Need to install breaker for protection

GS DRIVER CTB

380~440V, 50/60Hz

P P1 DC bus positive pole

P2 DC reactor wiring terminal P1 and P2 are for external DC reactor

Pb Braking resistor wiring terminal

n DC bus negative pole

U V w Driver output terminal

E Earth terminal

P and N are for input of external

braking unit or DC power input

P, P2 and PB are for external braking

resistor

N and P are for external braking unit

or DC power input

Consistent with the phase sequence

of the motor during wiring

C type grounding, the grounding

resistance≤ 4Ω

Wiring of input side of the main circuit

Please pay attention to the following items for wiring of input side of the main circuit. See

Figure 2-3 for standard wiring.

Incoming line circuit breaker (MCCB)

The main circuit power input terminals (R, S, T) must be connected to 3-phase AC power

through line protection circuit breaker (MCCB).

● The selection of MCCB must be in accordance with requirements in Table 2-3.

●The time characteristics of MCCB must take overload characteristics (rated output current

200%/min) and time characteristics of the servo driver into account.

●Each servo driver shall be equipped with independent breaker; when multiple drivers

share a circuit breaker, to cut off the power supply and prevent the failure expansion during

driver failure, it's recommended to control the incoming line electromagnetic contactor with

the fault output relay of the driver to ensure safety.

GS DRIVER CTB

Installation of the residual current circuit breaker

The output of the servo driver is a high frequency PULSE wave so that there is

high-frequency leakage current generated. Residual current circuit breaker can be used at

the incoming line side of the driver to remove high-frequency leakage current, and only

inspect channel current that dangerous to human body. Please select special residual

current circuit breaker for servo (inverter) for wiring.

● When select special residual current circuit breaker, please select model for control of

one driver with an induction current over 30ma.

●When select normal residual current circuit breaker, please select model for control of one

driver with an induction current over 200ma, and a time over 0.1s.

●Installing isolation transformer between normal residual current circuit breaker and servo

driver can effectively avoid malfunction of the breaker.

Incoming line electromagnetic contactor

Incoming line electromagnetic contactor may be used to cut off the power in sequential

control. It cannot be used as start of servo driver. When cut off power of servo driver

compulsorily with incoming line electromagnetic contactor, servo driver is in power-off

alarm state, motor only can slide freely and stop.

● Frequent turning on/off incoming line magnetic contactor may cause heating, even

burning of charging resistor of the driver (driver interior).

● The time interval of turning on/off incoming line magnetic contactor shall be longer than

10 minutes.

AC reactor

Installing AC reactor at the incoming line side of the servo driver can effectively suppress

the surge of power, avoid burning of rectification part of the driver, and also can improve the

power factor of the power supply side. Please see Figure 2-3 for connection of AC reactor,

see Table 2-1 for selection of AC reactor.

DC reactor

External DC reactor can be connected to GS servo driver above 22KW. It can effectively

suppress the surge of power, avoid burning of rectification part of the driver, and also can

improve the power factor of the power supply side. Please see Figure 2-4 for connection of

DC reactor.

External DC reactor shall not be connected to GS servo driver lower than 15 KW. For GS

servo driver above 22KW without external DC reactor shall have P1, P2 or D C + terminals

shorted as shown in Figure 2-5.

GS DRIVER CTB

L

Figure 2-4 DC reactor connection diagram Figure 2-5 Connection diagram without DC reactor

Precautions for wiring of DC reactor

1. Please do not connect DC reactor to any main circuit terminal except P1, P2, otherwise,

it may cause internal short circuit of the driver, and burn the driver.

2. Please see Table 2-3 for specifications of DC driver connecting cable, the standard of

the main circuit cable.

3. Please see Table 2-1 for selection standard of DC reactor.

4. With external DC reactor, the P2 terminal shall be multiplex terminal, and one end of

braking resistor also shall be connected to the terminal.

Table 2-1 Selection of AC reactor, DC reactor and input filter

Driver model 41P5 42P2 43P7 45P5 47P5 4011 4015 4018 4022 4030 4037 4045 4055 4075 4090 4110 4132 4160

Current (A) 5 7 10 15 20 30 40 50 60 80 90 120 150 200 230 250 290 330

AC

reactor

reactor

Model ACL 0005 0007 0010 0015 0020 0030 00400050 0060 0080 0090 0120 0150 0200 0230 0250 0290 0490

Current (A) 15 20 25 30 35 40 50 60 70 80 90 110 150 180 200 250 270 360

DC

Model DC

Current (A) 6 6 6 10 16 25 30 50 50 65 80 100 120 150 200 250 250 320

Input

filter

Model EMI 06 06 06 010 016 025 030 050 050 065 080 0100 0120 0150 0200 0250 0250 0320

015 020 025 030 035 040 050 060 070 080 090 0110 0150 0180 0200 0250 0270 0360

Power side noise filter

In command to reduce high-frequency interference noise from power line coupling to the

driver, and suppress the noise feedback to power from the driver, noise filter with

appropriate model and specifications at the power input side of the driver.

Set and connect the incoming line filter correctly as shown in Figure 2-6.

GS DRIVER CTB

Figure 2-6 Correct installation of noise filter at the input side of the power supply

Please see Figure 2-6 for examples of incorrect settings and connection

Figure 2-7 Incorrect settings and connection of noise filter at the input side of the power

supply

The wiring of output side of main circuit

The output terminals of U, V, and W of the driver shall be connected to the connecting

terminals of U, V, and W of three-phase AC motor by correct phase sequence; if the phase

sequence is connected wrongly, the driver will raise the wrong phase sequence alarm with

an alarm number of E.PV. To solve the problem, exchange phase sequence of any two

phases. Please see Figure 2-8 for standard wiring of the output side.

GS DRIVER CTB

Figure 2-8 Output side wiring

Caution The servo driver and motor must be well grounded, otherwise it may make

the driver not functioning properly, even burn the driver.

Forbid

● It's strictly prohibited to connect the input power cord to the output terminal.
Never connect the input power cord to the output terminal, otherwise, it will lead to
damage to internal components of the controller.

● It's strictly prohibited to connect make the output terminal shorted and
grounded.
Never touch the output terminal directly, or make the output line touch the
controller housing for risk of electric shock. In addition, never short the output line.

● It's strictly prohibited to use phase shift electrolytic capacitor, LC / RC noise
filter.
Never connect phase shift electrolytic capacitor, LC / RC noise filter in output
circuit. Damage to internal components of the controller may be caused when use
these components.

● It's strictly prohibited to connect or disconnect load with electromagnetic switch.
Never connect electromagnetic switch, electromagnetic contactor to connect or
disconnect the load in output circuit. During load operation, the protection circuit
action of the controller will be acurated by the surge current.
surge current will arose

● It's strictly prohibited to connect fan of spindle motor to U / V / W output
terminals of the driver.
It may burn the fan, and short-circuit the driver.

Wiring distance between the driver and motor

Generally, the wiring distance between the servo driver and motor shall be shorter than 50

m. For longer distance, please contact the manufacturer to select wire with samller

resistivity.

GS DRIVER CTB

Inductive interference countermeasures

Three methods of suppressing radio interference and inductive interference are provided in

the information: filter magnetic ring, shielded cable and output filter.

Filter magnetic ring

Installing filter magnetic ring at the output side near to the driver can suppress common

code interference at the output side effectively, as shown in Figure 2-9.

Figure 2-9 Filtering magnetic ring installation diagram

Output shielded cable

Use shielded cable for output line of the servo driver can effectively suppress radio

interference and inductive interference. The ends of shielding layer of the shielded cable

shall be grounded separately as shown in Figure 2-10.

Figure 2-10 Connecting method of shielded cable

For applications of input and output filters in occasions with relatively large radio

interference, output filter can be used to suppress interference. The input side and the drive

generate radio interference so that the effect is best by using the input, output filter at the

same time, as shown in Figure 2-11.

Figure 2-11 Supress radio interference with output filter

GS DRIVER CTB

Connection of the grounding wire

● The ground terminal is identified as E or , please do ground.

● Earth resistance: below 4Ω.

● Do not share grounding wire with welder and other power equipment.

● Please select wire diameter specification for grounding wire as specification in technical

standards of electrical equipment, and as short as possible.

● Please make grounding wire forming a loop where more than two drivers are used.

● Example: as shown in Figure 2-12

Figure 2-12 Connection of grounding wire

Connection of braking resistor

The P, PB terminals on main circuit block of servo driver are for connection with braking

resistor. Please do not connect braking resistor to other terminals, otherwise, the braking

resistor will heat up and burn out, or cause damage to the driver. Please see Table 2-2 for

braking resistor selection.

● The connection of braking resistor shall be in strict accordance with Figure 2-13.

● The length of connecting wire between driver and braking resistor shall be less than 50

m.

● Please pay particular attention to: external braking unit may be connected to p (+) / DC +,

N (-) / DC side of the driver, but direct connecting with braking resistor is not allowed,

otherwise, damage to driver or fire may be caused.

1.5 ~ 15kw braking resistor
wiring diagram

18.5 ~ 75kw braking resistor
wiring diagram

90 ~ 150kw braking resistor

wiring diagram

Figure 2-13 Connection of braking resistor

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e

e

Table 2-3 Specification of braking resistor

BKSC-XXXX GSX 41P5 42P2 43P7 45P5 47P5 4011 4015 4018 4022 4030 4037 4045 4055 4075 4090 4110 4132 4160 4185 4220 4315

Power W 400 1000 1000 1500 2000 2000 1500 2000 2000 2500 2500 2500 2500 2500 2500 2500 2000 2000 2000 2000 2000

ripple

Braking
resistor

aluminum

housing

inside diameter φ(mm)1 5 1 5 1 5 1 8 1 8 23 23 23 27 27 38 38 38 38 38 44 44 44 ― ― ― Filtering

magnet

Thickness H(mm) 13 13 13 13 13 15 15 15 15 15 24 24 24 24 24 15 15 15 ― ― ―

ring

Note: above accessories data is standard data recommended by the manufacturer. For

special applications, please contact your supplier.

Selection of breaker, contactor and cable

esistanc

Power W 300 300 600 600 800 1000 600 800 800

esistanc

300 160 40 40 32 32 40 40 40 55 55 55 55 55 55 55 40 40 40 40 40

Ω

Qty. 1 1 1 1 1 1 2 2 2 3 3 3 4 6 8 8 10 1 2 1 2 1 2 1 6

100 100 50 50 40 32 50 40 40

Ω

Qty. 1 1 1 1 1 1 2 2 2

Same parameters for ripple resistor

Please see Table 2-3 for selection of breaker, contactor and input and output cable

Table 2-3 Specification of breaker, contactor and cable

Model
BKSC

Power

(kW)

Breaker

(air switch) (A)

Main circuit cable

(copper conductor

cable) (mm

2

)

41P5GS□ 1.5 10 2.5 9

42P2GS□ 2.2 10 2.5 9

43P7GS□ 3.7 16 4 16

45P5GS□ 5.5 32 4 18

47P5GS□ 7.5 40 6 25

4011GS□ 11 63 10 32

4015GS□ 15 63 16 50

4018GS□ 18.5 100 16 63

4022GS□ 22 100 25 80

Contactor

Voltage: 380V.

Current:(A)

4030GS□ 30 125 35 95

4037GS□ 37 160 35 115

4045GS□ 45 200 50 115

4055GS□ 55 200 70 150

4075GS□ 75 250 95 185

4090GS□ 90 315 95 250

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4110GS□ 110 400 120 250

4132GS□ 132 400 150 315

4160GS□ 160 630 185 400

Main circuit wiring precautions

● Please do connect breaker or fuse between power supply and power input terminals (R,

S, T) of the driver.

● Please do connect to earth wire at E terminal of the driver. Copper core cable over 4mm2

shall be used for earth wire with a grounding resistance lower than 4Ω.

● Please ensure the high reliability of wiring.

● Please check the following items after circuit wiring.

(1) Are all connections correct?

(2) Is there connection missing?

(3) Is there short circuit between terminals and connecting line or shorted to ground?

Control circuit wiring

Input and output signals of GS Series servo driver include: switching value input signal,

switching value output signal, analog quantity input signal, PULSE input signal, encoder

input / output signal.

Specifications of input and output signal cable

As the control signals are different, the requirements to cable for connector are strict.

Specifications of cable for different signal connectors are listed in Table 2-4. User shall

follow the standard for wiring.

Table 2-4 Specifications of input and output signal cable

Signal Signal name Cable

switching value

input /output

Relay output M0A/M0b/M0c M1A/M1b/M1c

analog quantity

signal

i1～i6 Q0～Q1

FI FV FS Fc FS FT shielded cable 0.2~1

common cable or

common cable or

shielded cable

shielded cable

Cable

specification

0.2~2

0.2~2

Encoder signal

PULSE signal SA+ SA- Pb+ Pb- Dz+ Dz-

enable reset

signal

PV1 G1 A+ A- B+ B- Z+ Z-

PV2 G2 OA+ OA- OB+ OB- OZ+ OZ-

ST

Shielded twisted

twin cable

Shielded twisted

twin cable

common cable or

shielded cable

0.2~1

0.2~1

0.2~1

GS DRIVER CTB

GS □ driver control panel specifications

GS Series driver provides two kinds of control board according to different power and

function of GS Series driver. Please see Table 2-5 for interface characteristics and

applicable model.

Table 2-5 GS □ driver main board specifications

Control

panel

model

cP100c 6 4 3 ○ RS232 ○ ○

cP100b 4 4 - ○ RS485/TcP/iP ○ ○

cP100A 6 4 3 ○ RS232 ○ ○ 1.5-15Kw

switching

value

input

switching

value

output

analog

quantity

input

PULSE

input

Communication

interface

Encoder

input

Encoder

input

Applicable

power

18.5～160Kw

GS DRIVER CTB

Control signal wiring diagram

Wiring diagram of GS □ driver equipped with CP100 series main board

Input and output signals description (CP100 Series)

Table 2-6 Input and output signal function description

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Port Type Pin Name Function Signal standard

T0 Communication communicate with computer RS232

T1 Analog input

optocoupler

output

丁 2

Relay output

Control signal

input

T3

MIA/MIb/MIc driver fault output

FS

Fc analog input /output

FV

Fi

FT 0～10V analog input

Q1 speed reached Programmable

Q2 driver ready

MOA/MOb/M

Oc

ST control enabling and reset

i1

i2 reverse operation direction

i3

i4

i5

10V power for speed setting is
provided inside common port

-10V ～ +10V analog input, input
impedance: 20KΩ

Analog input impedance may be
selected for 0 ～ 10V , 4 ～ 20mA
impedance: ：20K/500Ω

output accurate stop end (in place)
output

foreword operation enabling PULSE
speed

accurate stop, close: start accurate
stop and maintain; open: cancel
accurate stop

rigid tapping signal, close : enter rigid
tapping state

Swing signal, close: enter swing state
for mechanical shifting

Dc10V 50mA

0V

24V optocoupler
output 10mA

Ac250V 1A
Dc30 1A

PNP: 0V input
effective

NPN:24V input
effective

Input mode of
PNP or NPN

Shall be selected
by software
parameter setting

i6

PV DC24V power output terminal

Control power

T4

Encoder output

Encoder

PULSE input

3/4 PV2/G2

5/15 OA + OA－ encoder A phase output

10/14 Ob + Ob- encoder B phase output

9/13 Oz + Oz－ encoder Z phase output

1/2

Sc

SA + SA－

multifunctional terminal (can be
defined)

DC24V power 0V terminal /control
signal common port

Preset power, provided by digital
system, system without electrify
inspection may go without.

encoder A phase/orthogonal PULSE
A phase input /single PULSE train
input P

Dc24V 500mA

Dc5V，100mA

line driver output
RS 422 standard

RS422/485
standard

GS DRIVER CTB

encoder B phase/orthogonal PULSE

7/6

12/11 Dz + Dz- encoder Z phase

Pb + Pb－

B phase input /single PULSE direction
input D

encoder power supply provides
terminal /power common port

Dc5V 100mA

line driver accepts
RS422standard

Communication

encoder input

T5

protection input

Thermal

12/13 PV1/G1

8/3 A + A－ encoder A phase input

9/4 b + b－ encoder B phase input

15/14 z + z－ encoder Z phase input

11 T1 Motor thermal protection signal input N.C./ N.O.

Connector terminal arrangement

T4 D-type 15-pin plug (pin)

T5 D-type 15-pin plug (hole)

Control power supply wiring

In addition to analog control terminal, all of other control terminals of GS series servo driver

are equipped with optocoupler isolation. Power of the optocoupler isolation may select from

internal of the driver or external power provided by the user according to the actual

requirements. To ensure better isolation effect, it is recommended to use external DC24V

isolation power provided by user.

The wiring of relay output signal

T3 interface of GS servo driver provides two relay output points.

Output standard: AC250V 1A DC30V 1A

Accurate stop relay output schematic diagram

Fault relay output schematic diagram

Transistor output wiring precautions

● The maximum oad capacity of output tape of transistor output QI/Q2 is 20 mA, and the

GS DRIVER CTB

output voltage is DC24V.

● If the output terminal needs 0V, intermediate relay may be installed for switching as

shown in Figure 2-14.

● If the output terminal drives inductive load (e.g., electromagnetic relay, intermediate

relay), surge voltage absorbing circuit shall be added as shown in Figure 2-14.

If follow current diode is installed in surge absorption circuit (for DC electromagnetic circuit),

attention must be paid to polarity during installation.

Figure 2-14 Transistor output circuit

Wiring of analog input signal

When GS □ servo driver selects C P100A/C P100B/C P100C main board, T1 port provides

three sets of analog input interfaces of FI, FV and FT, as well as a group of power interface

FS and fc for analog input. Please see Table 2-6 for signal function description.

Table 2-6 Analog interface signal description

Signal Function Signal standard

Select 4～20mA input

FT

FI

Signal Function Signal standard

j1

Unipolarity analog input

and plug J1

jumper

terminal
Bn02=1

Unipolarity analog input terminal

4～20mA, input impedance: 250Ω

0～10V, input impedance: 20KΩ

Bipolarity analog input

FV

FS

Fc analog common port 0V

E

inside provided speed

terminal

Bn02＝0

setting power

Shielding layer

-10V～+10V analog input,

input impedance: 20KΩ

DC10V，50mA,

GS DRIVER CTB

connecting terminal

Wiring requirements

● Connect to signal source or control signal with multi-core shielded cable or stranded

shielded wire.

● The near-end of shielding layer of the case (end near the driver) shall be connected to the

connector housing.

● During wiring, the control cables shall be arranged more than 30cm away from the main

circuit and strong power line (including power line, motor line, relay, contactor connecting

cable), and avoid parallel layout. Vertical wiring is recommended to prevent malfunction of

the driver due to interference.

●Filter magnetic ring provided by the manufacturer shall be used for long distance wiring. It

shall be installed at the side near the driver.

FI terminal wiring example

Use internal power for speed setting. The input signal is 0 ~ 10V as shown in Figure 2-16.

Figure 2-16 Conduct speed setting with internal power

FV terminal wiring example

CNC system uses bipolar (-10V ~ +10 V) analog output. The speed is determined by the

value of the analog, the direction of rotation is determined by polarity of the analog as

shown in Figure 2-17.

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Figure 2-17 Bipolar speed setting is conducted by CNC system

Forbid

● It's prohibited to connect the signal line and OV reversely. The signal line is likely
to be burned, and reverse operation may be caused for bipolar.

● It's prohibited to connect high-voltage to analog signal terminal. The driver may
be burned.

Connection of the encoder interface

A group of encoder input interface T5 and encoder input interface T4 are provided on main

board of GS series servo driver. Please see Table 2-7 and Table 2-8 for interface definition.

Table 2-7 Encoder input interface T5

Signal Description Signal standard

PV1 Encoder power supply DC5V

G1 Encoder power ground 0V

A+ A phase PULSE same-phase input (+)

A- A phase PULSE same-phase input (-)

B+ B phase PULSE same-phase input (+)

B- B phase PULSE same-phase input (-)

Z+ Z phase PULSE same-phase input (+)

Z- Z phase PULSE same-phase input (-)

T1 Motor thermal protection input terminal 24V optocoupler isolation input

DC5V/100mA

Line drive mode
RS422 standard

Table 2-8 Encoder input interface T4

Signal Pin Description Signal standard

PV2 3

G2 4 Encoder power ground 0V

OA+ 5 A phase PULSE same-phase input (+)

OA- 15 A phase PULSE same-phase input (-)

Encoder power supply

DC5V

Or external sensor

power

DC5V/100mA

OB+ 10 B phase PULSE same-phase input (+)

OB- 14 B phase PULSE same-phase input (-)

OZ+ 9 Z phase PULSE same-phase input (+)

OZ- 13 Z phase PULSE same-phase input (-)

SA+ 2 PULSE/encoder A phase input (+)

SA- 1 PULSE/encoder A phase input (-)

PB+ 7 PULSE/encoder B phase input (+)

PB- 6 PULSE/encoder B phase input (-)

Line drive mode
RS422 standard

Line drive mode
RS422 standard

GS DRIVER CTB

DZ+ 11 PULSE/encoder Z phase input (+)

DZ- 12 PULSE/encoder Z phase input (-)

Encoder wiring precautions

● The encoder cable must be shielded twisted pair cable. Please see Table 2-4 for cable

requirements.

● The shielding layer shall be connected to the connector housing.

Forbid

●It's prohibited to connect the DC5V power reversely. It's likely to burn the DC5V power or
encoder of the driver.

●It's prohibited to reverse the A, B phase sequence. Otherwise, the motor will not function
properly, or even burn the motor or driver.

Connection of serial communication port

GS driver provides users with a R S232A serial communication interface T0 for connection

with computer to realize transmission of program and parameters. The port is connected

with computer through RS232-P1 cable.

Please see Table 2-9 for definition of serial communication interface T0

Table 2-9 T0 interface definition

Pin Name Description Pin Name Description

1 4

2 5 Send terminal

3 Receive terminal 6 Used by manufacturer

T0 interface diagram

General Purpose cable model: rs 232-p1

Caution

● Please select the standard cable provided by the manufacturer for communication.

GS DRIVER CTB

Manipulator application

The chapter describes the functions and methods of application of the manipulator.

0.4 ~ 18.5kw driver:

Configuration and key functions of the manipulator……………….3-2

Operative mode of the driver…………………………………………3-3

Operative mode of the manipulator………………………………….3-4

Use method of the manipulator………………………………………3-5

Modify the parameters with the manipulator………………………..3-6

Monitor operating state with the manipulator……………………….3-7

22 ~ 315kw driver:

Configuration and key functions of the manipulator………………..3-8

Operative mode of the driver…………………………………………3-10

Operative mode of the manipulator………………………………….3-10

Use method of the manipulator……………………………………...3-12

Modify the parameters with the manipulator……………………….3-12

Monitor operating state with the manipulator………………………3-13

GS DRIVER CTB

Configuration and key functions of the 0.4 ~ 18.5kw manipulator

The chapter defines and describes terms and phrases for operation and state of 0.4 ~

18.5kw driver manipulator, defines the operation methods of driver and manipulator. Please

read carefully. It's very helpful for proper use of the 0.4 ~ 15kw driver.

Manipulator

The manipulator is one of the standard equipment of 0.4 ~ 18.5kw driver. User may carry

out parameter setting, state monitoring, operation control and other operations to the driver

through the manipulator. It's very important to be familiar with function and operation of the

manipulator for proper application of 0.4 ~ 18.5kw series driver. Please read the manual

carefully before using.

Manipulator appearance diagram

Manipulator of 0.4 ~ 18.5kw driver is mainly composed of two parts of LED digital tube and

keys. The appearance and functional zones are shown in Figure 3-12.

Figure 3-12 Manipulator diagram

GS DRIVER CTB

Manipulator key function description

Please see Table 3-2 for function description of the manipulator key

Table 3-2 Manipulator key function

Key Name Function

Menu selection

switching key

Shift key

adjusting key

Confirm / enter key

switching key of each menu item;

It's used to switch data bit of the parameter number when browse

parameter items;

When modifying data in program state, it can be used to modify

the modified bit of the modified data.

Increase menu item, parameter item or modified parameter value

progressively.

Press the key in program state to return to the previous menu.

Enter the next level menu;

Complete selection of the parameter group in1-level menu;

Complete parameter value checking operation in 2-level menu;

Complete modification and storage operation of the parameter

value in 3-level menu;

It's used to reset driver fault when the driver is in fault alarm state.

The operating state of the driver

0.4 ~ 18.5kw driver has four operating states after power-on: standby, operating,

programming and fault alarm. They are described as follows:

Standby state

0.4 ~ 18.5kw driver is in standby state after power-on and before receiving any operating

control order. The default standby state display function code of LED digital tube is . User

may make LED circling switch display U1, U2 and U3 monitoring function parameter groups

by press key. After press key, user may make LED circling switch display

monitoring parameters defined in function parameter group by pressing and key, and

then press key to check /monitor its value.

It will be limited by H P password and functional parameter An00 and An46 when user want

to check / modify the content of parameter groups other than U1, U2 and U3 during

operation. Please see chapter " Function parameter list " for detail.

Operating state

GS DRIVER CTB

When 0.4 ~ 18.5kw driver in standby and no-fault state, it will enter operating state after

receiving operating order.

In normal operating state, user may make LED circling switch display U1, U2 and U3

monitoring function parameter groups by press key. After press key, user may

make LED circling switch display monitoring parameters defined in function parameter

group by pressing and key, and then press key to check /monitor its value.

Programming state

For 0.4 ~ 18.5kw driver, user may switch to the state in which function code parameters can

be modified through , , and on the operator panel. The state is programming

state.

Function parameter value is displayed in programming state, and the bit to be modified is

flashing.

Fault alarm state

In the state, 0.4 ~ 18.5kw driver fails and displays the fault code.

LED displays fault code in fault state, and user may conduct fault reset operation through

the operation panel.

Operative mode of the manipulator

Power-on initialization state:

During power-on of the driver, the manipulator conducts initialization process about 3

seconds. LED digital tube displays

in the process as shown in Figure 3-13.

Standby state:

The state of the manipulator is shown in Figure 3-14 when the driver is in standby state.

The LED digital tube default display . At this point, user may press to enter menu

items, and check or modify parameters.

Figure 3-13 Power-on initialization state

Figure 3-14 Standby state

GS DRIVER CTB

Operating state:

The driver enters operating state after receiving correct operation command in standby

state. As shown in Figure 3-15, the LED digital tube default displays the set speed of the

driver, e.g F. 1500. In this state, user may press to enter menu items, and check or

modify parameters.

Fault alarm state

When fault is detected as the driver is in operating, standby or programming state, the

corresponding fault information will be displayed immediately as shown in Figure 3-16.

When a fault occurs, user may conduct drive reset by pressing . If the fault has

disappeared, it returns to the standby state; if the fault still exists, the fault code will be

displayed again.

Figure 3-15 Operating state

Figure 3-16 Fault alarm state

Parameter transmission state:

Parameter initialization will be carried out within the driver after power-on initialization

every time. The driving returns to normal state after parameter initialization. In this process,

LED digital tube displays

all the time as shown in Figure 3-17.

Password state:

The manipulator will prompt to enter a password as shown in Figure 3-18 when entering

programming state from standby and operating state as An00=1. The password must be

entered correctly in the state before entering the programming state

Figure 3-17 Parameter transmission state

Figure 3-18 Password state

GS DRIVER CTB

Use method of the manipulator

The section mainly introduces use of the manipulator, and basic operations of functions.

Parameter setting operation process

Parameter setting method of manipulator of 0.4 ~ 18.5kw driver adopts three-level menu

structure. Parameter value of menu items can be checked and modified conveniently.

The three-level menu: menu item (1-level menu), parameter tem (2-level menu) and

parameter setting (3-level menu). The operation process is shown in Figure 3-19.

Figure 3-19 3-level menu operation flow chart

During operation in 3-level menu, user may return to 2-level menu by pressing or

(see Figure 3-19 and Figure 3-20). The difference between the two operations: after press

ENTER key, the set parameter value will be saved to the controller, and then return to

2-level menu; it will return to 2-level menu directly without saving the parameter value by

pressing MENU. The detail operational procedures of 3-level menu are shown in Figure

3-20.

GS DRIVER CTB
Modify the parameters with the manipulator

The flow chart of modify the parameters with the manipulator is shown in Figure 3-20.

Figure 3-20 3-level menu operation flow chart

★ Description:

Eight menu items are included in 1-level menu: Un menu, An menu, Bn menu, Cn menu,

Dn menu, Fn menu, Pn menu and In menu.

In 2-level menu, each group of parameter includes 48 parameters. Please see parameter

description for specific function.

User password function

To enhance reliability and security of parameter setting, manipulator of 0.4 ~ 18.5kw driver

has user password function. The operating process is shown in Figure 3-21. Please refer to

an22 for modification of user password. The default password is: 00000.

Figure 3-21 User password function operation flow diagram

GS DRIVER CTB

Monitor operating state with the manipulator

Operation state, interface state and fault information of the driver can be monitored

respectively through U1, U2 and U3 of the manipulator

Operation state monitoring

Operation state monitoring includes set speed F, output speed O, feedback speed b, output

current A, output torque T and DC bus voltage U of the driver. Please see Figure 3-22 for

monitoring method.

Figure 3-22 Driver operation state monitoring flowchart

Interface state monitoring

Interface state includes switching value input terminal u2-2/u2-3, switching value output

terminal u2-4, analog input interface u2-5/u2-6, u2-7/u2-8 and encoder input interface

u2-0/u2-1. The monitoring method is same with monitoring parameter, only needs to select

corresponding parameter in U2.

Please see parameter table of parameter number.

Fault information monitoring

The control panel will display the current fault message code when the driver is in fault state.

The fault record of the driver can be checked through U3. The check operation is same with

monitoring parameter, only needs to select corresponding parameter in U3.

Please see parameter table of parameter number.

22～315k w driver:

Configuration and key functions of the 22～315k w driver manipulator

The chapter defines and describes terms and phrases for operation and state of 22～

315kw driver manipulator, defines the operation methods of the driver and manipulator.

GS DRIVER CTB

Please read carefully. It's very helpful for proper use of the 22～315kw driver.

Manipulator

The manipulator is one of the standard equipment of 22～315kw driver. User may carry out

parameter setting, state monitoring, operation control and other operations to the driver

through the manipulator. It's very important to be familiar with function and operation of the

manipulator for proper application of 22～315kw series driver. Please read the manual

carefully before using.

Manipulator appearance diagram

Manipulator of 22～315kw driver is mainly composed of three parts of LED digital tube,

LED indicator and key. The appearance and functional zones are shown in Figure 3-1.

Figure 3-1 Manipulator diagram

Manipulator key function description

Please see Table 3-1 for function description of the manipulator key

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Table 3-1 Manipulator key function

Key Name Function

Menu select and

switch key

Confirm / enter

up key

down key

Shift key

run command

fault reset key

direction

command switch

key

key

key

switching key of each menu item;

Press the key in program state to return to the previous menu. Enter
the next level menu;

Complete selection of the parameter group in 1-level menu;
Complete parameter value checking operation in 2-level menu;

Complete modification and storage operation of the parameter value
in 3-level menu;

It's used to reset driver fault when the driver is in fault alarm state.

Increase menu item, parameter item or modified parameter value
progressively.

Decrease menu item, parameter item or modified parameter value
progressively.

It's used to switch data bit of the parameter number when browse
parameter items; When modifying data in program state, it can be
used to modify the modified bit of the modified data.

It's used to start the driver in driver control mode;

It's used to reset driver reset when the driver is in fault alarm state.

It's used to select rotation direction of the driver in manipulator
command control mode; under terminal control, the indicator of the
key automatically displays rotation direction of the driver.

Manipulator LED indicator description

There are six LED indicators on the manipulator. They are on or off in various states. The

detail description is as follows:

Current display indicator A:

It has two states of on and off which indicates that the data displayed in the current LED

digital tube display zone is current parameter or not. On means current parameter is

displayed in the LED digital tube display zone; off means that it's not current parameter

displayed in the LED digital tube display zone.

Torque display indicator T:

It has two states of on and off which indicates that the data displayed in the current LED

digital tube display zone is torque parameter or not. On means torque parameter is

displayed in the LED digital tube display zone; off means that it's not torque parameter

displayed in the LED digital tube display zone.

Speed display indicator rpm:

It has two states of on and off which indicates that the data displayed in the current LED

GS DRIVER CTB

digital tube display zone is speed parameter or not. On means speed parameter is

displayed in the LED digital tube display zone; off means that it's not speed parameter

displayed in the LED digital tube display zone.

Program running indicator EXT

It has two states of on and off which indicates that the driver program is running or not. On

means the driver program is running; off means the driver program isn't running;

Run state indicator RUN:

It has two states of on and off which indicates the run state of the system under various

operating control orders. On means the driver is in operating state; off means the driver is

shutdown.

Operating direction indicator REV:

It has two states of on and off which indicates the current operating direction of the driver.

On means reverse operation of the driver; off means forward operation of the driver.

The operating state of the driver

22 ～ 315kw driver has four operating states after power-on: standby, operating,

programming and fault alarm. They are described as follows:

Standby state

22～315kw driver is in standby state after power-on and before receiving any operating

control order. The Run state indicator (RUN) on operation panel is off, and the default

tandby state display function code of LED digital tube is . User may make LED circling

switch display U1, U2 and U3 monitoring function parameter groups by press

and press ∧,∨ and > after pressing ENT to make LED circling switch display monitoring

parameters defined in function parameter group, and then press ENT to check /monitor its

value.

It will be limited by H P password and functional parameter An00 and An46 when user want

to check / modify the content of parameter groups other than U1, U2 and U3 during

key,

operation. Please see chapter " Function parameter list " for detail.

Operating state

When 22～315kw driver in standby and no-fault state, it will enter operating state after

receiving operating order. In normal operating state, the Run state indicator (RUN) on

operation panel is on. User may make LED circling switch display U1, U2 and U3

GS DRIVER CTB

monitoring function parameter groups by press key. Press ∧,∨ and > after pressing

ENT to make LED circling switch display monitoring parameters defined in function

parameter groups, and then press ENT to check /monitor its value.

Programming state

For 22～315kw driver, user may switch to the state in which function code parameters can

be modified through MENU, ENT, ∧, ∨ and > on the operator panel. The state is

programming state.

Function parameter value is displayed in programming state, and the bit to be modified is

flashing.

Fault alarm state

In the state, 22～315kw driver fails and displays the fault code.

LED displays fault code in fault state, and user may conduct fault reset operation through

ENT and STOP/RESET on the operation panel.

Operative mode of the manipulator

Power-on initialization state:

During power-on of the driver, the manipulator conducts initialization process about 3

seconds. LED digital tube displays in the process as shown in Figure 3-2.

Standby state:

The state of the manipulator is shown in Figure 3-3 when the driver is in standby state. The

LED digital tube default display . At this point, user may press to enter menu items,

and check or modify parameters.

GS DRIVER CTB

Figure 3-2 Power-on initialization state

Figure 3-2 Standby state

Operating state:

The driver enters operating state after receiving correct operation command in standby

state. As shown in Figure 3-4, the LED digital tube default displays the set speed of the

driver, e.g F. 1500. In this state, user may press to enter menu items, and check or

modify parameters.

Fault alarm state

When fault is detected as the driver is in operating, standby or programming state, the

corresponding fault information will be displayed immediately as shown in Figure 3-5.

When a fault occurs, user may conduct drive reset by pressing and . If the

fault has disappeared, it returns to the standby state; if the fault still exists, the fault code

will be displayed again.

Figure 3-4 Operating state

Figure 3-5 Fault alarm state

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Parameter transmission state:

Parameter initialization will be carried out within the driver after power-on initialization

every time. The driving returns to normal state after parameter download. In this process,

LED digital tube displays all the time as shown in Figure 3-6.

Password state:

The manipulator will prompt to enter a password as shown in Figure 3-7 when entering

programming state from standby and operating state as An00=1. The password must be

entered correctly in the state before entering the programming state

Figure 3-6 Parameter transmission state

Figure 3-7 Password state

Use method of the manipulator

The section mainly introduces use of the manipulator, and basic operations of functions.

Parameter setting operation process

Parameter setting method of manipulator of 22～315kw driver adopts three-level menu

structure. Parameter value of menu items can be checked and modified conveniently.

The three-level menu: menu item (1-level menu), parameter tem (2-level menu) and

parameter setting (3-level menu). The operation process is shown in Figure 3-8.

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Figure 3-8 3-level menu operation flow chart

During operation in 3-level menu, user may return to 2-level menu by pressing or

(see Figure 3-8 and Figure 3-9). The difference between the two operations: after press

ENTER key, the set parameter value will be saved to the controller, and then return to

2-level menu; it will return to 2-level menu directly without saving the parameter value by

pressing MENU. The detail operational procedures of 3-level menu are shown in Figure

3-9.

Modify the parameters with the manipulator

The flow chart of modify the parameters with the manipulator is shown in Figure 3-9.

Figure 3-9 3-level menu operation flow chart

★ Description:

Eight menu items are included in 1-level menu: Un menu, An menu, Bn menu, Cn menu,

Dn menu, Fn menu, Pn menu and In menu.

In 2-level menu, each group of parameter includes 48 parameters. Please see parameter

description for specific function.

GS DRIVER CTB

User password function

To enhance reliability and security of parameter setting, manipulator of 22～315kw driver

has user password function. The operating process is shown in Figure 3-10. Please refer to

An22 for modification of user password. The default password is: 00000.

Figure 3-10 User password function operation flow diagram

Monitor operating state with the manipulator

Operation state, interface state and fault information of the driver can be monitored

respectively through U1, U2 and U3 of the manipulator

Operation state monitoring

Operation state monitoring includes set speed F, output speed O, feedback speed b, output

current A, output torque T and DC bus voltage U of the driver. Please see Figure 3-11 for

monitoring method.

Figure 3-11 Driver operation state monitoring flowchart

Interface state monitoring

Interface state includes switching value input terminal U2-2/U2-3, switching value output

terminal U2-4, analog input interface U2-5/U2-6, U2-7/U2-8 and encoder input interface

U2-0/U2-1. The monitoring method is same with monitoring parameter, only needs to select

corresponding parameter in U2. Please see parameter table of parameter number.

GS DRIVER CTB

Fault information monitoring

The control panel will display the current fault message code when the driver is in fault state.

The fault record of the driver can be checked through U3. The check operation is same with

monitoring parameter, only needs to select corresponding parameter in U3. Please see

parameter table of parameter number.

GS DRIVER CTB

Test run

The chapter describes methods and precautions for initial test run of the driver

Basic procedure of test run………………………………..4-2

Confirmation of connection of the main circuit………….4-2

Control circuit wiring confirmation………………………..4-3

Initial power-on of the driver………………………………4-3

Motor and driver parameters confirmation………………4-4

No-load test run…………………………………………….4-4

Loaded test run……………………………………………..4-4

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Basic procedure of test run

The initial power-on operation of the driver shall be carried out by the following procedures,

otherwise, accident, damage to equipment or other hazards are likely to happen.

Confirmation of the connection of the main circuit

Please confirm the following contents in connection of the main circuit

1. Connect the connecting wire on driver R / S / T to 3-phase power frequency power

GS DRIVER CTB

supply. The voltage of the power supply shall meet the requirements of the drive.

2. The driver is equipped with built-in braking unit. The braking resistor is connected to P /

PB. Do not connect any connect wire to N terminal.

3. When the output terminal of the driver is connected to the motor, it shall by ensured that

their phase sequences are same, otherwise, he motor cannot operate normally, and prone

to burn the equipment. If shield cable is used for output cable, the shielding layer at the

ends of the cable shall be connected respectively to ground terminal of the drive and motor.

4. When filtering magnet ring is installed on the output line, it shall be close to the driver

side as possible. The shielding layer and ground line cannot pass through the magnet ting,

and the magnet ting cannot be in contact with the U / V / W terminal.

5.The driver and motor must be well grounded.

6. Confirm all connecting wire are connected reliably.

Control circuit wiring confirmation

Please confirm the following contents for control circuit wiring and jumper

1. Confirm the terminal input state is connected correctly by the design requirements. NPN

mode shall be selected when output signal of the CNC system is 24V; PNP mode shall be

selected when output signal of the CNC system is 0V (by modifying Bn46).

2. It's prohibited to connect the high-voltage line to the control signal.

3. Analog signal input signal connecting line must use shielded cable. The shielded cable

shall be connected to housing of the connector.

4. When use 0 ~ 10V as speed set, confirm that the J2 jumper is plugged, and the j1 jumper

is unpluggd.

5. Cable for motor encoder shall use the standard cable provided by the manufacturer.

6. Connecting wire from encoder output to the CNC system must use shielded twisted pair

cable.

7. Confirm all control signals are connected firmly.

8. ST terminal is driver enabling. The driver cannot start work without input at ST.

Caution

● The wire connection must be inspected carefully before initial power-on of the driver,

otherwise, it's prone to accidents

Initial power-on of the driver

The internal components of the driver may be damaged due to vibration and other reasons

GS DRIVER CTB

during transportation or installation. The power-on process shall be observed carefully in

initial power-on to find problem and treat in a timely manner.

Power-on process of the driver and observation content

Motor and driver parameters confirmation

The default parameters of GS series servo driver shall be basically in conformity with the

practical application. Most of the parameters do not need modification. For initial application,

user shall modify or confirm part of the parameters as required.

Parameters need to be confirmed in test run

● Initialization parameters: An, An-01, An-02, An-03.

● Motor and driver parameters: Dn, Dn00 ~ Dn05, Dn10 Dn20.

● Basic control parameters: Bn, Bn00 ~ Bn47.

● Control relevant parameter-Cn, and modify as needed.

● Relevant system parameter-Sn, and modify as needed.

No-load test run

Test run is carried out with default parameters: analog-10V ~ +10 V speed setting. The

process is as follows:

⑴. Apply 1V voltage to FV-Fc, input enabling signal I0.

Monitor the following data:

◇ The given speed U1-0 is displayed as 150. A few turns deviation is normal and can be

adjusted through parameter Cn

◇ The feedback speed U1-2 is in conformity with the given speed.

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◇ Output current U1-3, deviation below 10% of rated current is normal.

◇ Output torque U1-4, it's normal within 100.

Observe the following phenomenon:

◇ Is the driver fan running?

◇ Is the motor fan running?

◇ Is the motor running smoothly?

◇ Is there abnormal sound during motor operation?

◇ Is surface temperature of the motor normal?

⑵. Disconnect enabling signal

◇Observe the deceleration of the motor is normal or not.

◇Observe heating of braking resistor (braking unit) is serious or not?

⑶. Increase speed continuously, and repeat the first and second step, and monitor

operation of the driver and motor. The equipment must be shutdown immediately for

inspection for any abnormalities, and contact with technical personnel of the manufacturer if

necessary.

Loaded test run

Attention shall be paid to the following contents during loaded test run of the driver:

1. Loading gradually from small to large. Please inspect or contact with the manufacturer

for over loading.

2. Monitor feedback speed, output current and output torque of the driver constantly during

loading; observe motor vibration and noise and temperature rise continuously. The

equipment shall be shutdown timely for any abnormalities.

3. To avoid accident, the motor shall be stopped before adjusting motor parameters. The

parameter regulating quantity shall not be too big.

4. Do not make overload test or destructive test to avoid burning of the driver and motor.

Caution

If the following situations occur, please shut down immediately and inspect, or contact the

manufacturer.

1. Major fluctuation of feedback speed, output current and output torque of the driver, or

reach the limit.

2. The motor operation is abnormal with abnormal vibration and noise.

3. Mechanical equipment abnormalities

GS DRIVER CTB

Parameter list

The chapter describes all of parameters of the driver.

Parameter list description………………………………….5-2

Monitor parameter U1………………………………………5-2

Monitor parameter U2………………………………………5-3

Monitor parameter U3……………………………………….5-3

Initialize parameter An………………………………………5-3

Basic control parameter Bn………………………………...5-5

User parameter Cn…………………………………………..5-6

Motor drive parameter Dn…………………………………..5-8

Function parameter Fn……………………….……………..5-9

Function parameter In……………………………………….5-9

Protection parameter Pn……………………………………5-10

System communication parameter Sn……………………5-11

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Parameter list description

Parameter list

Parameter code Item Page

U1 Running state monitoring 5 - 2

U2 Interface state monitoring 5 - 3

U3 Fault record 5 - 3

An Parameter initialization 5 - 3

Bn Basic control parameter 5 -5

Cn User parameter 5 - 6

Dn Motor and driver parameter 5 - 8

Fn Special program function parameter 5- 9

In Special program position function parameter 5 - 9

Pn Protection parameter 5 - 1 0

Sn Communication function parameter 5 - 1 1

1. The contents of the parameter list are described as follows:

Function code: code of parameter group and parameter number;

Name: name of the parameter;

Description:

Setting range: the range of effective setting value of parameter;

Unit: parameter setting unit;

Factory setting: original factory parameter setting;

Change:

"-": indicates changing of setting of the parameter by user is prohibited;

detailed description about function and effective setting value of the
parameter;

parameter changing properties (ie, allow changing or not and change
condition) are as follows:

"○": indicates the setting of the parameter may be changed in shutdown,
operating state of the driver;

"×": indicates the setting of the parameter cannot be changed in
operating state of the driver;

"*": indicates the value of the parameter actually measured value, and
cannot be changed.

Monitoring parameter U1

Operation: press ▲ on the control panel to select the corresponding function code in

operating state to monitor.

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Function

code

F Set speed/frequency

O Output speed/ frequency

b Feedback speed/ frequency

A Driver output current ― A

T

U Driver DC bus voltage

Actual feedback torque of the

Name Description Unit

Speed is displayed with maximum

Speed : rpm

Frequency: Hz

n.m

V

motor

speed＜8000rpm;frequency is

displayed with maximum

speed≥10000rpm

Range: -32767〜32767

DC bus voltage =AC power voltage

x1.4

GS DRIVER CTB

Monitoring parameter U2

Operation: press to enter U2, and press , and to select appropriate function code to monitor.

Function code Name Description Setting range Unit

U2-00 Motor encoder count value 4 frequency multiplication counting - PULSE

U2-01

U2-02

U2-03

U2-04

U2-05

U2-06

U2-07

U2-08

U2-09

External input encoder PULSE
input count value

Switching value I1-I6 ST input
state

Internal switching value IA-ID
input state

Switching value output state of
MIA/MOA/Q2-Q1

Analog input FI channel digital
(analog) switching

Analog input FV channel digital
(analog) switching

Analog input FT channel digital
(analog) switching

Multifunction analog input

Module temperature Driver power module temperature display

4 frequency multiplication counting as encoder input.
2 frequency multiplication counting as single PULSE input, 1

frequency multiplication counting as double PULSE input.

Analog quantity 0～+10V

Digital quantity 0～100%

Analog quantity -10～0～+10V

Digital quantity -100%～0～100%

Analog quantity -10～0～+10V

Digital quantity -100%～0～100%

0～100% - V

- PULSE

- ―

-

- ―

- V

- V

- V

- ℃

U2-10

U2-11

Driver temperature Display temperature of inside of the driver

Accurate stop deviation
monitoring

Adjust stop position of the motor

- ℃

0〜9999

PULSE

GS DRIVER CTB
Monitor parameter U3

Operation: press to enter U3, and press , and to select appropriate function code to monitor.

Function code Name Description Set range Unit Factory setting Modification

U3-0 Current fault code 一 一 0 *

U3-1 last 1st fault code 一 一 0 *

U3-2 last 2nd fault code 一 一 0 *

U3-3 last 3rd fault code 一 一 0 *

U3-4 last 4th fault code 一 一 0 *

U3-5 last 5th fault code

See fault description for detail (Chapter 7)

一 一 0 *

Initialization parameter An

An parameter list

Function

code

An00

Name Description Set range Unit Factory setting Modification

0: HP password invalid

parameter

password

protection

1: HP password valid
User needs to enter password to enter An, Bn, Cn,

Dn, Fn, In, Pn and Sn.
The initial password is input digital value. The factory

value is 0.

0〜1

- 0 0

GS DRIVER CTB

درﮐ بﺎﺧﺗﻧا ﮏﯾ ﺎﯾ رﻔﺻ ار لرﺗﻧﮐ لدﻣ دﯾﺎﺑ 5.5 روﺗوﻣ ﺎﺑ 7.5 وﯾارد ندرﮐ تﺳ یارﺑ

Function code Name Description Set range Unit

Select driver motor control mode
0: induction motor V/F control

An01 Control mode selection

An02 Driver power

An03 Motor model selection See Appendix 1

An04 Software version number Factory software version number 2.00

1: induction motor open loop vector control
2: induction motor servo driver
3: magneto inductor open loop vector control
4: magneto inductor servo driver

1.1Kw:0018 18.5kw:0145 110kw:0168

1.5Kw:0020 22kw:0145 132Kw:0164

2.2Kw:0050 30kw:0146 160kw:0165

3.7kw:0051 37kw:0146 185Kw:0177

5.5kw:0052 45kw:0148 200Kw:0193

7.5kw:0116 55kw:0151 250Kw:0179

11kw:0120 75kw:0150 300Kw:0184

15kw:0121 90Kw:0162

0～4 －

0～32767 － － ×

0～32767 － － ×

Factory

setting

2

Modification

×

An05 Driver encoder selection

An06 Timing time setting Set time that needs timing

An07 Driver power-on time Monitor accumulated power-on time of the driver

An08 Driver operating time Monitor accumulated operating time of the driver

An09

Parameter changing is

allowed

0: encoder 1 port
1: encoder 2 ports

0: Parameter changing is not allowed during operating of
the driver.

1: Parameter changing is allowed during operating of the

0,1 － 0 ×

0～32767

0～65535

0～65535

0.1

h 0

h 0

h 0

－

0 0

×

×

×

GS DRIVER CTB

driver

An10 Control program selection

An11

An12

An13

An14

An15

An16

～

An19

Control program version

number

Encoder 1 port interface

type

Encoder 2 ports interface

type

Encoder interface filtering

time

carrier wave frequency

selection

Save － － － ×

0: standard program
1: special program

Control program version number － － J000 ×

0: no encoder card
1: increment TTL encoder card
19: rotary transformer interface card
14: SIN/COS interface card
The other are reserved

0：0.5 3：4 6：32 9：256

1：1 4：8 7：64

2：2 5：16 8：128

0：2 2：8 4：16

1：4 3：12

0.1 － 0 ×

－ － － ×

－ ms 4 ×

－ KHz 2 ×

An20 Timing function valid 0: invalid. 1: valid

An21

An22

Timing function valid

password

Timing function password

setting

Set password to accurate time function. Generally, An20
can only be modified with the value is same with An22

To set initial password of timing function － － － ×

－ －

－ － － ×

0

GS DRIVER CTB

Function code Name Description Set range Unit Factory setting Modification

An23

～

An47

Manufacturer

special

一 一 一 一 ×

Basic control parameter Bn

Bn parameter list

Function code Name Description Set range Unit Factory setting Modification

0: terminal operation

Bn00 Control mode

2: communication operation
1: control panel operation

0.2 一 0 ×

Bn01

Bn02

Bn03

Bn04

Bn05 Motor rotate direction

Bn06

Bn07

Operation command
mode selection

Analog quantity mode
selection

Positioning mode
selection

Accurate stop signal
mode selection

Reverse rotation
forbidden

Machine tool type

0: operation + direction I1: operation signal I2: direction signal
1: forward/reverse I1: forward signal I2: reverse signal

0: bipolar (－10V～＋10V) 1: unipolar (0～＋10V)

0: motor built-in coded disc
1: spindle encoder

0: accurate stop electrical level valid
1: accurate stop PULSE valid

0: anticlockwise is forward
1: clockwise is forward

0: invalid
1: valid

0: milling 0.1 一 0 ×

0.1

0.1

0.1

0.1

0.1

0.1

一

一

一

一

一

一

0

0

0

0

0

0

×

×

×

×

×

×

GS DRIVER CTB

selection 1: turning

Bn08 Speed search in start

Bn09 Stop mode

Bn10 Emergency stop mode

Bn11

Bn12 Save ― 一 - X

Bn13

Bn14

Bn15

Emergency stop
low-voltage inspection

Accurate mode
selection

Accurate stop direction
selection

I1 terminal function
definition

0: invalid
1: valid

0: decelerated stop
1: free stop

0: decelerated stop
1: free stop

0: inspect
1: do not inspect

0: accurate stop according to current speed
1: reverse rotation accurate stop

0: forward rotation accurate stop 1: reverse rotation accurate
stop

0: analog speed control
1: PULSE speed control

0.1

0.1

0.1

0.1

0.1

0.1

0.1

一

一

一

一

一

一

一

0

0

0

0 X

0 X

0 X

0 X

×

×

×

Function code Name Description Set range Unit Factory setting Modification

Bn16 PULSE mode selection

Bn17 High speed mode selection

Bn18 High-accuracy mode

Bn19 I4 terminals function definition

0: direction +PULSE 2:
CW/CCW

1: 90°orthogonal PULSE

0: common mode
1: high speed mode

0: common mode
1: high-accuracy mode

0: analog position control
1: PULSE position control

0.1 一 0

0.1

0.1

0.1

一

一

一

0 X

0 X

0 X

GS DRIVER CTB

Bn20 Terminal Q1 output function selection 一 5 X

Bn21 Terminal Q2 output function selection 一 3 X

Bn22 Terminal MOA output function selection 一 7 X

Bn23 Terminal M1A output function selection

Bn24

～

Bn29

Bn30

Bn31

～

Bn44

Bn45

Save function

Multifunction terminal I5 function
selection

Save function

Operation panel control motor rotation
direction selection

0: no output 4: driver fault 1: output
in all time 5: speed
reached 2: driver in operation 6: 0 speed
operation 3: driver ready 7: accurate
stop reached 8: torque alarm point output

0: invalid 3: 0 speed function
1: second accurate stop function 4:

external fault input
2: low-speed function

0: forward 1: reverse 0.1

0〜7

一 一 一

0〜9 一 一

一 一 一

一 4 X

X

X

X

一 一

X

Bn46 I/O electrical level selection 0: PNP 1: NPN 一 一 0 X

Bn47 Control enabling

0: terminal control enabling 1: internal
control enabling

一 一 一

User parameter Cn

Cn parameter list

X

GS DRIVER CTB

Function code Name Description Set range Unit Factory setting Modification

Cn00 Save － － － X

Cn01 Analog 0 forward deviation

Cn02 Analog 0 reverse deviation

Cn03 Analog gain

Cn04 Accurate stop offset

Cn05 Second accurate stop offset

Cn06

Cn07 Accurate stop speed

Cn08

Cn09 S curve time in speed control S curve time in speed control 0～5.00 0.01S 0 X

Cn10 Maximum output speed Corresponding speed when input 10V analog 1～8000 rpm 8000 X

Cn11

Accurate stop positioning
speed ring gain

Constant power breaking
point frequency

0 offset compensation in
speed control

To adjust symmetry of analog against 0 point

Actual speed setting=analog sampling value X
Cn03

Set position offset against 0 point during
accurate stop

Set position offset against 0 point during
second point accurate stop

To adjust rigidity during [positioning

Find speed of Z phase PULSE of encoder
during accurate stop

breaking point frequency when motor enters
constant power

When speed command input is 0, offset of
speed command analog can be eliminated
through the parameter to make the motor speed
zero.

0～4096 －

-20～20

0～4 times

encoder line

number

1～32767 －

1～1000

0～10000

-10%～10% － 1 X

0.1 1 X

PULSE 0 X

PULSE 0 X

rpm 300 X

0.01Hz 50.00 X

0 X

500 X

GS DRIVER CTB

Function code Name Description Set range Unit Factory setting Modification

Cn12

Cn13

Cn14

Cn15

Cn16

Cn17

Cn18

Spindle acceleration time
during speed control

Speed ring proportional
gain during speed control

Speed ring integration
time constant during
speed control

Speed control 0 speed
proportional gain

Speed control current
loop proportional gain

Speed control current
integration time constant

Analog input filter time
constant

Set acceleration time of spindle acceleration

Set speed ring adjuster proportional gain during
speed control. The gain and rigidity are higher with
greater setting value. Please set the value as small
as possible without vibration generated in the system.

Set speed ring adjuster integration time constant
during speed control. The integration speed and
rigidity are higher with smaller setting value. Please
set the value as small as possible without vibration
generated in the system.

Set speed ring adjuster integration time constant
during speed control. The gain and rigidity are higher
with greater setting value.

Set current loop proportion during speed control

Set current integration time during speed control

Adjust sampling time of analog input port

0〜300

0〜32767 ― 100 X

0〜32767

1〜32767

1〜150

1〜150

0〜6

S 5

― 500 X

― 100 X

― 80 X

ms 80 X

― 0 X

×

Cn19

Cn20

Cn21

Cn22

External encoder line
number

Rigid tapping maximum
speed

Rigid tapping (PULSE
position) control 0 zero
speed proportional gain

Rigid tapping (PULSE
position) acceleration time

Output PULSE number per turn of external encoder

Set the maximum speed of rigid tapping

Set speed ting adjust proportional gain during rigid
tapping (PULSE position) control zero speed. The
gain and rigidity are higher with greater setting value.

Set acceleration time of motor from 0-1000 rpm when
the spindle is in rigid tapping / PULSE position.

0〜32767

0〜3000

1〜32767 －

0〜300

PULSE 1024 X

rpm 1500 X

S 1 X

100 X

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Cn23

Cn24

Cn25

Cn26

Cn27

Cn28

Rigid tapping (PULSE
position) deceleration time

PULSE position control
position ring proportional
gain

Rigid tapping (PULSE
position) speed ring
proportional gain

Rigid tapping (PULSE
position) speed ring
integration time constant

Rigid tapping (PULSE
position) S curve time

Rigid tapping (PULSE
position) current ring
proportional gain

Set deceleration time of motor from 0-1000 rpm when
the spindle is in rigid tapping / PULSE position.

Set position ring adjuster proportional gain during
position control. The gain and rigidity are higher with
greater setting value, and the position lagging is
smaller with same frequency command PULSE,
however, the too small value may cause vibration or
over control.

Set speed ring adjuster proportional gain in speed
control. The gain and rigidity are higher with greater
setting value. Please set the value as big as possible
without vibration generated in the system.

Set speed ring adjuster integration time constant in
speed control. The gain and rigidity are higher with
smaller setting value. Please set the value as small
as possible without vibration generated in the system.

S curve time during rigid tapping (PULSE position)
control

Set current ring proportion during rigid tapping or
PULSE position

0〜300

0〜32767 － 500 X

0〜32767 － 100 X

0〜32767 － 500 X

0—5.00 0.01s 0 X

1〜150 －

S 1 X

80 X

Rigid tapping (PULSE

Cn29

Cn30

Cn31 Output torque limit Set maximum output torque of the driver 0〜1000 0.2% 1000 X

Cn32

Cn33

position) current ring
integration time

Speed control
deceleration time

PULSE command
multiplying power
numerator

PULSE command
multiplying power

Set integration value of current ring during rigid
tapping or PULSE position

Set deceleration time of motor from 0-1000 rpm when
the spindle is in speed control.

Set multiplying power numerator of position
command PULSE (electronic gear)

Set multiplying power denominator of position
command PULSE (electronic gear)

1〜150 －

0〜300

1〜32000 －

1〜32000 －

S 5 X

80 X

1000 X

1000 X

GS DRIVER CTB

denominator

Cn34

Cn35

Cn36 0 speed reach range

Cn37

PULSE command
direction reverse

PULSE specified
smoothing filtering time

PULSE position control
precision range

0: normal 1: PULSE command direction reverse

Conduct smoothing filtering to PULSE order. It's
mainly used at field with greater PULSE command
fluctuation.

Set standard of 0 speed reaching. Output 0 speed
signal when output speed is lower than the set value.

Set precision range in positioning

0〜1 －

0〜9 －

0〜32767

0〜32767

0 X

3 X

rpm 100 X

PULSE 2 X

Function code Name Description Set range Unit Factory setting Modification

Cn38 Accurate stop reach range Set positioning precision range 0〜32767 PULSE 2 X

Cn39

Cn40 Swing speed Set swing speed 0〜3000 rpm 300 X

Cn41

Cn42

Torque alarm point threshold
level

Positive direction swing
amplitude

Negative direction swing
amplitude

Set torque limit value

Set the maximum angle of positive swing

Set the maximum angle of negative swing

0〜327

0〜32767

0〜一 32767

Nm

PULSE 300 X

PULSE -300 X

一

X

Cn43

Cn44

Cn45 Swing torque limit

Cn46

Swing control acceleration
time

Swing control deceleration
time

Multifunctional terminal
maximum speed

Set acceleration of motor from 0 to the set
speed during swing control of spindle

Set deceleration of motor from the set speed
to 0 during swing control of spindle

Set the maximum output torque of the driver
during swing

Define the speed setting value of
multifunctional terminal I6

0〜300

0〜300

0〜1000

0〜8000 rpm｣

S 1 X

S 1 X

Nm 20 X

400 X

GS DRIVER CTB

0: standard acceleration and deceleration curve
(line)

Cn47

Acceleration and deceleration
curve selection

1: acceleration and deceleration curve in fixed
time (without S curve function)

2: acceleration and deceleration curve in fixed
time (with S curve function)

0〜2 － 0 X

Motor driving parameters Dn

Dn parameter list

Function code Name Description Motor mode Set range Unit Factory setting Modification

Dn00 Rated power Set rated output power of motor M,S 0〜110 kw 一 X

Dn01 Rated voltage Set rated output voltage of motor M 0〜460 V 380 X

Dn02 Rated current Set rated output current of motor M,S 0〜300 A 一 X

Dn03 Rated frequency Set rated output frequency of motor M,S 0〜500 Hz 50 X

Dn04 V/F Rated power Set V/F Rated power M 0〜32767 Hz 50 X

Dn05 Rated speed Set rated output speed of motor M,S 0〜15000 rpm 1460 X

Dn06 Rated torque Set no-load current of motor M,S 0〜300 A 一 X

Dn07

Dn08

Dn09

Dn10 Encoder line number

Dn11

Insulation resistance
between conductors

Inductance between

conductors

Inversion

electromotive force

Encoder counting

Set insulation resistance between
conductors of motor

Set reactance between conductors of
motor

1000 rpm inversion electromotive force
EMK

Set physical encoder line number of one
turn of motor

0: forward 1: reverse 0〜1 一 0 X

M,S

M,S

S

M,S

0〜100

一

一 一 一

100〜10000 一

0.01Ω

mH

一

一

1024 X

X

X

X

GS DRIVER CTB

direction

Dn12 0 speed current Motor 0 speed current M,S 0〜32767 A 0 X

Dn13 Maximum torque M,S X

0: invalid
1: preset according to control parameters

of motor. Take set steady voltage or

Dn14

Dn15

Motor parameter

self-matching

Encoder position

self-matching

Function code Name Description Motor mode Set range Unit Factory setting Modification

frequency transformer voltage level as
input voltage.

2: preset according to control parameter
of motor. Take DC bus voltage
measured during power-on as input
voltage .

Position self correct of encoder and
motor magnetic pole

0: invalid
1: self correct

2

M,S

S

0〜2 －

0〜1 －

0 X

0 X

Motor parameter self-learning
0: invalid
1:motor induction electromotive

force
2: motor inductance

Dn16 Motor self-learning

Dn17 Weak magnetic speed M － － －

3: motor stator resistance
4: motor rotor resistance
5: reserve
6: reserve
7:automatic self-learning (static)
8: automatic self-learning (rotary)

M.S

0〜15000

rpm 1460 X

GS DRIVER CTB

Dn18 Magnetic flow weakening factor M

Dn19 Weak magnetic curve M

Dn20 Driving panel module current － － －

Dn21 Driving panel power － － －

Dn22 DBVD calibration value － － －

Dn23 CVD calibration value － － －

Dn24

Dn25

Dn26 Hall sensor calibration value

Dn27 Test date

Dn28 Checker No.

Dn29 Driving panel model

Dn43～Dn47 Reserve function

Module temperature calibration

value

Radiation fin temperature

calibration value

― ― ―

Reversed by manufacturer

Special program function parameter Fn

Fn parameter list see appendix for detail parameter

Function code Name Description Set range Unit Factory setting Modification

Fn00

～

Fn70

Reserve function ― ― ― 0 X

Special program function parameter In

GS DRIVER CTB

In parameter list see appendix for detail parameter

Function code Name Description Set range Unit Factory setting Modification

In00

～

In47

Reserve function ― ― 0 X

Protection parameter Pn

Pn parameter list

Function code Name Description Set range Unit Factory setting Modification

0: valid, real time monitor bus voltage

Pn00

Pn01

Pn02

Pn03

Bus voltage

inspection and alarm

DC bus overvoltage

alarm point

DC bus under voltage

alarm point

Low voltage

inspection and alarm

Report OV1 when it's greater than Pn01. Report UV1 when it's

smaller than Pn02.

1: invalid. Inspect bus voltage but do no alarm

Set alarm value of DC bus overvoltage (bus voltage = AC voltage

x1.4)

Set alarm value of DC bus low voltage (bus voltage = AC voltage

x1.4)

0: valid. Alarm UV1 with signal input

1: invalid

2: report UV when low voltage time is longer than set value of

Pn04.

0.1

0〜800

0〜800

0〜2 －

－

V 800 X

V 400 X

0 X

0 X

Pn04

Pn05

Instant low voltage

alarm time

Motor thermal

protection mode

Valid when Pn03=2

0: N.C. type
1: N.O. type

2: invalid

0〜1000

0.1.2 － 0 X

1ms 10 X

GS DRIVER CTB

Pn06

Pn07

Pn08

Pn09

Pn10 Reserve function ― ― 0 X

Pn11 Reserve function ― ― 0 X

Pn12 Reserve function ― ― ― X

Pn13 Reserve function ― ― ― X

Pn14 Radiating fan control

Instant power turn-off

inspection

Instant power-off

inspection time

Power phase lack

inspection

Over current alarm

point

Set alarm time of instant power-off. Output P OFF alarm when

1: prompt alarm, display PL, do not affect operation

Set motor over current alarm value (percent of rated current)

1: run with output of driver. And stop after set time in time-delay

2: operate according to temperature of radiating fin and module:

Operate: radiating fin temperature >4℃ and module

Stop: radiating fin temperature<304℃ and module temperature

0: alarm. Output P OFF signal

1: motor dose not power-on. Do not alarm

2: Alarm after exceeding the alarm time

power-off time exceeds the set value.

0: alarm PL

2: do not alarm

0: run as power-on of driver

Pn 15 after driver stops.

temperature >55℃

<45℃

0〜2 － 0 X

0〜1000

0〜2 － 0 X

0〜200

0〜2 ― 0 X

ms 10 X

% 150 X

Pn15

Pn16 Alarm reset mode

Pn17

Fan time-delay stop

time

Anti-stall function in

acceleration and

Set fan time-delay stop time (valid with Pn14=1)

0: manual reset with ENTER or RET

1: automatic reset. The alarm is reset after alarm signal

disappears

0: invalid, operate by the set acceleration and deceleration time

1: operate by the set acceleration to prevent over-current alarm

0〜100

0.1 ― 0 X

0 — 65535 ― 0 X

S 10 X

GS DRIVER CTB

deceleration due to short acceleration time

2: operate by the set deceleration to prevent over-voltage alarm

due to short deceleration time

3: reserve

4: operate by the set deceleration to prevent over-current alarm

due to short deceleration time

～

Pn19

Function code Name Description Set range Unit Factory setting Modification

Pn20

Pn21

Pn22 Encoder 0 bit inspection 0: inspect 1: do no inspect 0.1 一 0 X

Pn23

～

Pn29

Pn30

Pn31 Reserve alarm setting 0: invalid 1: valid 0.1 一 1 X

Pn32 Z phase lack setting 0: invalid 1: valid 0.1 一 1 X

Pn33

Pn34

～

Pn40 Power-off protection function 0: invalid 1: valid 0〜1 一 0 X

Motor encoder under-phase

inspection start frequency

Encoder under-phase

inspection allowed time

Reserve function

Encoder no feedback alarm

setting

Encoder line number error

alarm setting

Reserve function

Motor shaft encoder under-phase inspection start

frequency

Motor shaft encoder under-phase allowed time

0: invalid 1: valid 0.1

0: invalid 1: valid 0.1

0〜255

0〜50

一 一 一

一 一 一

HZ 0 X

65ms 0 X

一

一

1 X

150 X

X

GS DRIVER CTB

Pn41

～

Pn47

Power-off protection braking

torque

Reserve function

Set Power-off instant braking torque

0〜100% 一

一 一 一

85 X

X

System communication parameter Sn

Sn parameter list

Function code Name Register No. Description Set range Unit Factory setting Modification

Baud rate:

Sn00 Baud rate 300

Sn01 Data format 301 0: no calibration 1: even parity 2: odd parity 0〜2 一

Sn02 Local host address 302 Station number: 1〜247.0 is broadcast address 0〜247 一 X

Sn03 Answer delay 303 Answer delay 0〜20ms 0〜20 1ms X

Sn04

Accumulation

exceeding time

304

0：300bPS 1：600bPS 2：1200bPS

3：2400bPS 4：4800bPS 5：9600bPS

6：19200bPS 7：38400bPS

Accumulation exceeding time 0.0～60.0s 0〜60

0〜7 一

0.1ms X

Sn05 Command terminal 305

Sn06 Control function 306

bit0：Invalid bit1：i1 bit2：i2 bit3：i3

bit4：i4 bit5：i5 bit6：i6

bit0：Enabling bit1：reset

bit2：run / stop 0: stop 1: run

bit3：forward /reserve 0: forward 1: reserve

bit4：i4

bit5：i5

bit6：i6

Parameter set selection 0-7

0〜8 一

一 一

X

X

GS DRIVER CTB

bit7：Reserve

Function code Name Register No. Description Set range Unit Factory setting Modification

bit8：Quick stop and start

bit9：Return to reference point

bit10：Start positioning

bit11：Reserve

Sn06 Control function 306

bit12

bit13

Mode

selection

0: Standard mode

4096: synchronous mode

8192: position mode

12288: reserve

― ―

X

Sn07

Sn08

Sn09

Sn10 Actual speed 310 Display actual speed of motor operation ― ― X

Sn11

Sn12

～

Sn47

Control terminal

state display

Control function

state display

Command speed

setting

Positioning target

value

Reserve ― ― X

307 ― ― X

308 ― ― X

309

311

For speed command setting val during

communication control

For position command setting value during

communication control

― ― X

― ― X

GS DRIVER CTB

Set parameter by function

The chapter helps user for parameter setting and debugging by function of use

Spindle control timing sequence state diagram…………….6-2

Motor basic parameters setting……………………………….6-2

Motor operating parameters…………………………………..6-3

Operation panel operation…………………………………….6-3

Analog quantity speed control………………………………..6-3

Acceleration and deceleration control parameters…………6-5

Accurate stop parameters……………………………………..6-6

Rigid tapping…………………………………………………….6-7

PULSE control……………………………………………………..6-8

Swing control……………………………………………………..6-9

Multi-function terminal control………………………………….6-10

GS DRIVER CTB

Spindle control timing sequence state diagram

Analog interface control timing sequence

Please control input of GS driver by the following timing sequence when spindle is

controlled by the CNC system through analog interface.

Function

Forward 1 0 0 0 X X Y

Reverse 0 1 0 0 X X Y

Accurate stop

positioning

Rigid tapping /C

shaft

Spindle swing 0 0 0 0 0 1 Y/N

Multifunction 0 0 0 0 1 X Y

Reset X X X X X X X N RET PULSE greater than 100ms

ST I1 I2 I3 I4 I5 I6 FV/FI

X X 1 X X X N Accurate end M10-M1 output

X X 0 1 X X Y Analog or PULSE with bipolarity

Description

I1 may not be connected when

analog is of bipolarity

Swing speed is determined by the

parameters

The functions may be defined

separately

PULSE interface control timing sequence

Standard PULSE interface is provided by GS driver when spindle is controlled by the CNC

system via PULSE interface. GS driver also provides PULSE speed control and PULSE

position synchronization function. Please see the following table for control timing

sequence.

Function

PULSE position
synchronization

PULSE speed

synchronization

I4 I1 Terminal function de Parameter

1 0

0 1

Realize PULSE position synchronization control,

for rigid tapping and C shaft and other functions

Realize PULSE speed synchronization control, for

normal spindle speed control

Description

Bn19=1

Bn 15=1

Note: 1.1 with input signal; 0 no input signal; × regardless of input signal state.

2. Y need analog input; N does not need analog input.

3. If rigid tapping uses PULSE signal, I4 does not need to be controlled, and I4 terminal

function shall be connected.

GS DRIVER CTB

4. If speed control uses PULSE signal, analog terminal does not need to be connected, and

I1 or I4 control signal shall be connected.

Motor basic parameter setting

Please set the following parameters correctly before operating according to the motor

Function Name Description Set range Unit

Dn00 Rated power Set rated output power of motor 0〜315 kw ― X

Dn01 Rated voltage

Dn02 Rated current

Dn03

Dn04

Dn05 Rated speed Set rated output speed of motor 0〜15000 rpm 1460 X

Dn06 Rated torque Set no-load current of motor 0〜300 A ― X

Dn10

Rated

frequency

V/F rated

frequency

Encoder line

number

Set rated output voltage of

motor

Set rated output current of

motor

Set rated output frequency of

motor

Set V/F rated frequency

Set encoder line number of

motor

0〜460

0〜300

0〜500

0〜500

100〜10000

V 380 X

A ― X

Hz 50 X

― 50 X

― 1024 X

Factory

setting

Modifica

tion

Motor operating parameter

Cn13 Speed control proportional gain during speed control: speed ring adjuster

proportional gain when setting speed control. The gain and rigidity are higher with greater

setting value. Please set the value as small as possible without vibration generated in the

system.

Cn14 Speed integration time constant during speed control: speed ring adjuster integration

time constant when setting speed control. The interface time is faster and rigidity is higher

with smaller setting value. Please set the value as small as possible without vibration

generated in the system.

Cn15 Speed control 0 speed proportional gain: speed ring adjuster proportional gain when

setting speed 0 speed control. The gain and rigidity are higher with greater setting value.

Speed control current loop proportional gain: current gain in rated speed.

Cn17 Current integration time constant during speed control: current gain in rated speed.

GS DRIVER CTB

Operation panel operation

The method of operation is as follows:

◇ Modify the parameter, make Bn00 = 1 and confirm.

◇ Press RUN on the panel to make driver power-on.

◇In F 0000 menu, press ENT on the panel to enter data input state, press ∧, >> on the

panel to enter the required speed, and press ENT or >> to start the motor.

◇ Press STOP or >> to make motor decelerate and stop.

The 3rd step may be repeated at any time during operating of the motor to change

operating speed of the motor. User may change motor operating direction during operating

through FWD/REV direction command on the panel or modify parameter Bn45.

Caution Operation panel operation is a simple operation mode, and generally used

for test. It's recommended that the motor speed shall not set too high for operation panel

operation.

Analog speed control

Function

code

Bn01

Bn02

Bn05

Name Description

Operating

command mode

Analog mode

selection

Motor operating

direction

1: unipolarity(4～20mA，0～＋10V)

0: enabling + direction

1: forward / reverse

0: bipolarity(－10V～＋10V)

0: anticlockwise for forward

1: clockwise for forward

When setting Bn01 and Bn02, they shall be selected according to control logic and analog

output mode of the CNC system. The timing sequence is as shown below:

Set

range

0.1

0.1 一 0 X

0.1

Unit

一

一

Factory

setting

0 X

0 X

Modificatio

n

Bn01 = 0, Bn02 = 0:

Forward timing sequence diagram

GS DRIVER CTB

Reverse timing sequence diagram

Bn01＝0，Bn02＝1:

Forward timing sequence diagram

Reverse timing sequence diagram

Bn01＝1，Bn02＝1:

Forward timing sequence diagram

Reverse timing sequence diagram

Relevant parameters of analog speed setting

Function

code

Cn01

Cn02

Cn03 Analog gain

Cn10

Cn11

Name Description Set range Unit

Analog 0 point

positive offset

Analog 0 point

negative offset

Maximum

output speed

0 point offset

setting in speed

control

To adjust symmetry of analog

against 0 point

Adjust speed offset due to analog

offset

Bipolarity:

0 point offset speed ＝

Cn11×Cn10/2046

Unipolarity:

0 point offset speed＝

Cn11×Cn10/4092

0〜4096 一

0〜100

1〜15000

-10%～10%

Factory

setting

1% 1 X

rpm 8000 X

0.1% 0 X

Modific

ation

0 X

Analog input

Cn18

filtering time

constant

Analog input parameter curve graph

0〜6 一

0 X

GS DRIVER CTB

Note on parameter setting:

Cn03: set analog gain, 1000 corresponds to 100％ to adjust speed offset.

Cn11: for interference to analog when suppress command speed is 0. The speed setting

value is 0 when analog signal is lower than the setting value of the parameter.

Cn18: set analog input filtering time. The speed fluctuation may be too fast due to small

setting, and make spindle vibrate. Setting value set too much may affect speed response of

the spindle.

Acceleration and deceleration control parameters

Acceleration and deceleration control curve

GS driver acceleration and deceleration control curve

Acceleration and deceleration control parameters

GS DRIVER CTB

Function

code

Cn47

Cn09

Cn12

Cn30

Name Description

0: standard acceleration and deceleration

Acceleration and

deceleration

curve selection

S curve time in

speed control

Spindle

acceleration time

in speed control

Deceleration

time in speed

control

1: acceleration and deceleration curve in

2: acceleration and deceleration curve in

Deceleration time of spindle from 1000〜

Accurate stop parameter

curve (oblique line)

fixed time (without S curve function)

fixed time (with S curve function)

S curve time in speed control

Set spindle acceleration time

0 rpm in speed control

Set

range

0〜2 - 0 X

0～5.00

0〜300

0〜300

0.01S 0 X

Factory

Unit

setting

S 5 X

S 5 X

Modificat

ion

Function

code

Bn03

Bn04

Cn04

Cn05

Cn06

Cn07

Name Description Set range Unit

Positioning

encoder

selection

Accurate stop

signal mode

Accurate stop

offset

Second point

accurate stop

offset

Accurate stop

positioning
speed ring

positioning gain

Accurate stop

speed

0: motor spindle encoder positioning
1: external shaft encoder positioning

0: acceleration stop high electric level

valid

1: acceleration stop PULSE valid

Set position offset against 0 point at

accurate stop

Set position offset against 0 point at

second accurate stop

To adjust rigidity in positioning 0〜32707 - 1000 X

Fine Z-phase PULSE speed of

encoder at accurate stop

0.1 - 0 X

0.1 - 0 X

0〜4
timeshare
encyclope

dia line

number

0〜1000

Factory

setting

PULS

E

rpm 300 X

Modificat

ion

0 X

Cn37

Accurate stop

reach range

Set positioning precision range

Accurate stop process curve graph

0〜32767

PULS

E

2 X

GS DRIVER CTB

Accurate stop process curve graph

Control timing sequence

Bn03: set as 0: motor encoder positioning, for transmission ratio 1:1.

1: external encoder positioning, for spindle with transmission ratio other than 1:1. Intall

spindle positioning of the spindle encoder onto the spindle. At the same time, output

PULSE number per turn of Cn19 spindle encoder shall be set. The spindle encoder shall be

connected to T4 plug of the driver.

Note: If external encoder positioning is used, the spindle must rotate one round after

power-on of the driver and prior to first positioning.

Bn04: accurate stop signal mode; 0: acceleration stop high electric level valid

(recommended). Timing sequence is as shown in the following figure:

1: accurate stop PULSE is valid. The mode only can be used by input signal again to lift

locking of the motor.

GS DRIVER CTB
Parameter settings note

Cn06: positioning gain in accurate signal stop. The parameter sets deceleration gain during

spindle accurate stop positioning. The positioning is slow if the value is too small, and

positioning accuracy may by affected or cause shock to the spindle if it's too great.

Cn07: spindle accurate stop speed. The parameter sets speed of finding encoder Z phase

at the start second of spindle positioning. The set value will affect speed and accuracy of

positioning of spindle.

The above two parameters are usually not recommended to modify by user.

Spindle accurate stop position setting

Manual adjustment:

1: The spindle shall perform one accurate stop firstly, and then release.

2: Rotate motor or spindle manually to position of accurate stop.

3: Observe value in menu U2-11, and then fill it in Cn04.

4: For small deviation at accurate stop position, it may be adjusted manually on the basis of

Cn04 value.

Rigid tapping

Function

code

Cn01

Cn02

Cn03 Analog gain

Cn20

Cn21

Name Description Set range Unit

Analog 0 point

positive offset

Analog 0 point

negative offset

Rigid tapping

maximum speed

Rigid tapping

(PULSE position)

control 0 speed

proportional gain

To adjust symmetry of analog

against 0 point

Actual speed setting =analog

sampling value X Cn03

Set maximum speed of rigid

tapping

Set speed ring adjuster

proportional gain during rigid

tapping (PULSE position ) 0
speed control. The gain and

rigidity is higher as the set value

is greater.

0〜4096

1〜1500

0〜3000

1〜32767 - 100 ×

- 0

0.1% 1000

rpm 1500

Factory

setting

Modifica

tion

×

×

Cn22

Rigid tapping

acceleration

Set spindle acceleration during

rigid tapping

0〜30000

0.05Hz/s 5000 X

Control timing sequence

When use analog as speed setting, and I4 input signal is valid, the timing sequence is as

follows as the spindle enters rigid tapping state.

GS DRIVER CTB

Note on rigid tapping

1. To adapt to the rapid response and control accuracy of the spindle, the driver will

automatically adjust the relevant parameters of the control after entering rigid tapping state.

2. During rigid tapping, the spindle participates interpolation control of coordinate axis as a

position axis. At the moment, it's required that the CNC system shall switch control of

spindle to position axis control.

3. During rigid tapping, the maximum speed of the CNC system shall be consistent with

maximum speed of the driver, and analog voltage shall be adjusted to be symmetrical to 0V

through driver or the CNC system.

PULSE control

Function

code

Bn16

Bn22

Cn21

Cn23

Cn24

Name Description

PULSE mode

selection

Rigid tapping

(PULSE position)

acceleration time

Rigid tapping

(PULSE position)

control 0 zero

speed

proportional gain

Rigid tapping

(PULSE position)

deceleration time

PULSE position

control position

ring proportional

gain

0: direction +PULSE 2:

CW/CCW

1: 90°orthogonal PULSE

Set acceleration time of motor from 0-1000

rpm when the spindle is in rigid tapping /

PULSE position.

Set speed ting adjust proportional gain

during rigid tapping (PULSE position)

control zero speed. The gain and rigidity are

higher with greater setting value.

Set deceleration time of motor from 0-1000

rpm when the spindle is in rigid tapping /

PULSE position.

Set position ring adjuster proportional gain

during position control. The gain and rigidity

are higher with greater setting value, and

the position lagging is smaller with same

frequency command PULSE, however, the

too small value may cause vibration or over

control.

Set

range

0 － 0 X

0〜
300

1〜

32767

0〜
300

0〜

32767

Factory

Unit

setting

S 1 X

－

S 1 X

－

100 X

500 X

Modificati

on

Cn25

Rigid tapping

(PULSE position)

speed ring

proportional gain

Set speed ring adjuster proportional gain in

speed control. The gain and rigidity are

higher with greater setting value. Please set

the value as big as possible without

vibration generated in the system.

0〜

32767

－

100 X

GS DRIVER CTB

Cn26

Cn27

Cn28

Cn29

Cn32

Cn33

Rigid tapping
(PULSE position)
speed integration

time constant

Rigid tapping
(PULSE position)

S curve time

Rigid tapping
(PULSE position)

current ring

proportional gain

Rigid tapping
(PULSE position)

current ring

integration time

PULSE command

multiplying power

numerator

PULSE command

multiplying power

denominator

Set speed ring adjuster integration time
constant in speed control. The gain and

rigidity are higher with smaller setting value.

Please set the value as small as possible
without vibration generated in the system.

S curve time during rigid tapping (PULSE

position) control

Set current ring proportion during rigid

tapping or PULSE position

Set integration value of current ring during

rigid tapping or PULSE position

Set multiplying power numerator of position

command PULSE (electronic gear)

Set multiplying power denominator of

position command PULSE (electronic gear)

0〜

32767

0〜

5.00

1〜
150

1〜
150

一

32000
~3200

0

1〜

32000

－

0.01
s

－ 80 X

－ 80 X

－

－

500 X

0 X

1000 X

1000 X

Control mode selection

As shown in Table 6-1, function selection may be carried out through control signal when

using PULSE control mode and PULSE input.

Table 6-1 Control mode selection

Control terminal Function

PULSE position control is for C shaft function, rigid tapping and other

I4

accurate position control functions.

PULSE speed control is for applications in which spindle is used as

I1

speed shaft.

GS DRIVER CTB

Please see Table 7-2 for direction+

PULSE control interface. The control

timing sequence is shown in the right

figure.

Table 7-2 PULSE interface of CNC

system with GS series product

Control terminal Function

SA+ PULSE+

SA- PULSE-

Pb+ DIR+

Pb- DIR-

Please see Table 7-3 for 90°orthogonal

PULSE control interface. The control

timing sequence is shown in the right

figure.

Direction +PULSE input operating timing sequence diagram

90°orthogonal PULSE operating timing sequence diagram

Table 7-3 PULSE interface of CNC

system with GS series product

Control terminal Function

SA+ PA+

SA- PA-

Pb+ Pb+

Pb- Pb-

Swing control

Spindle swing is generally used for automatic shift of spindle system. Please see Cn40,

Cn41, Cn42 and Cn43 for spindle swing related parameters

Function

code

Cn40 Swing speed Set swing speed 0〜3000 rpm 1500 X

Name Description Set range Unit

Factory

setting

Modifi
cation

Cn41

Cn42

Cn43

Cn44

Positive swing

amplitude

Negative swing

amplitude

Swing control

acceleration time

Swing control

deceleration time

Set the maximum angle of

positive swing

Set the maximum angle of

negative swing

Set motor acceleration time when

the spindle in swing control

Set motor deceleration time when

the spindle in swing control

0〜32767

0〜一

32767

0〜300

0〜300

PULSE 100 X

PULSE 100 X

S 1 X

S 1 X

GS DRIVER CTB

Cn45 Swing torque limit

Set the maximum output torque

of the driver during swing

0〜1000

nm 20 X

Control method

GS driver enters swing control function when the I6 terminal is valid; when signal of I6

terminal is canceled, spindle decelerates 0 speed, and maintain a free state.

Multi-function terminal control

Multi-function terminal I5 may select different control functions as required by user. The

function selection may be set through Bn30 parameters.

Second accurate stop function

Second accurate stop function is for second fixed point positioning as required by user.

Note: When second accurate stop is used, function of I5 will become the first, second

symbol selecting signal, at the same time, Cn05 will be taken as second accurate stop

position offset setting value.

Second accurate stop parameters

Function

code

Bn30

Name Description Set range Unit

Multifunction

terminal I5

function selection

0: invalid 3: 0 speed function

1: second accurate stop function 4:

external fault input

2: low-speed function

― ― 1 X

Factory

setting

Modifi
cation

Cn04

Cn05

Accurate stop

offset

Second accurate

stop offset

Set position offset against 0 point

during accurate stop

Set position offset against 0 point

during second point accurate stop

0〜4

timeshare

encoder

line

number

PULS

E

PULS

E

0 X

0 X