DMM DYN2 Series, DYN2-T1A6S-00, DYN2-TLA6S-00 Specification Manual

DYN2 Series

M

M

D

Dynamic Motor Motion

Technology Corporation

AC Servo Drive

Type - A General-Purpose Pulse/Analog

Specication Manual

Manual Code

Revision

This manual must be kept available for the user
Copyright © 2014 DMM Technology Corp.
Published In Canada

: DYN2MS-01E-0814A1

: A1

Hardware Version
Firmware Version

: AH10
: AH10

■ Safety Notice ■

!

The user or operator should read through this manual completely before installation, testing, operation, or
inspection of the equipment. The DYN2 series AC Servo Drive should be operated under correct circum­stances and conditions. Bodily harm or damage to equipment and system may result if specications
outlined in this document are not followed. Take extra precaution when the warning convention is used.

■ Notations Used ■

All specication and units of measurement used in the manual are in METRIC:
Mass: Kilogram [kg]
Length: Millimeter [mm]
Time: Seconds [s]
Temperature: Celsius [C]

WARNING

DYN2MS-01E-0814A1

2

Product Manual Preface

The user or operator should read through this manual completely before installation, testing, operation,
or inspection of the equipment. The DYN2 series AC Servo Drive should be operated under correct
circumstances and conditions. Bodily harm or damage to equipment and system may result if spec­ications outlined in this document are not followed. Take extra caution at details when the warning
convention is used.

This manual is available on the DMM Technology Corp. website. A physical copy or reference to the
on-line availability must be kept convenient to the servo drive user or operator for references.
Contact DMM Technology Corp. if the user or operator has any questions or concerns regarding use.

The DYN2 AC Servo Drive is not designed or certied to implement safety into a system and should
not be used in applications where the servo drive maintains safety to personnel or machine.

To reect improvements, additions, revisions, changes or corrections made to the product or manual,
this document is updated accordingly and divided into revisions to reect each version.

DYN2MS-01E-0814A1

3

Manual Contents

Safety Notice 2
Notations Used 2

Product Manual Preface 3

Manual Contents 4

A.1 Introduction 5
A.2 Name Plate 5
A.3 Servo Drive Model Number 5

1 GENERAL SPECIFICATION 6

1.1 Drive Overall Specication 6

1.2 Control Block Diagram 7

1.3 Encoder Specication 7

2 CONNECTIONS AND WIRING 8

2.1 DYN2 Servo Drive Body Layout 8

2.2 Connector and Signal Specication 9

2.3 JP3 Main I/O Details 11

2.4 JP3 I/O Connection Circuit 15

2.5 Main Power Supply Requirements 19

3 START UP 20

3.1 Mounting and Installation 20

3.2 Timing Chart 21

3.3 DMMDRV Software Communication 23

4 OPERATION 24

4.1 Position Servo Mode 24

4.2 Speed Servo Mode 27

4.3 Torque Servo Mode 29

4.4 RS232 Command Input Mode 30

4.5 Absolute Zero Position Index Output (ZRI) 30

5 PARAMETERS AND TUNING 31

5.1 Parameters Outline 31

5.2 Servo Drive Gain Tuning 33

6 MAINTENANCE 35

6.1 Alarm Specications 35

6.2 Drive Maintenance 36

APPENDIX A - SERVO DRIVE DIMENSIONS 37
APPENDIX B - RS232 Protocol Denition 38
APPENDIX C - Operation Examples 39

Warranty and Liability 40

Product and Manual Disclaimer 41

DYN2MS-01E-0814A1

4

A.1 Introduction

This manual documents all features and specications for the DYN2 series AC Servo Drive Type A ­General Purpose Pulse/Analog. The servo drive features standard pulse train and analog command input
modes compatible with universal motion controllers, PLC’s or CNC controllers. Control modes include po­sition, speed or torque servo mode with standard signal connections and interfacing for seamless integra­tion into any system. A high resolution 16-bit (65,536pulse/rev) encoder combined with outstanding 10ms
instantaneous position response optimizes performance in high-demand applications.

Gain adjustment is simplied with 3 parameter tuning for fast and easy adjustments while maintaining crit­ical application and response exibility. All testing and tuning is done through a RS232 or USB interface
with a host PC running DMMDRV GUI software for fast and easy set up. Drive status is internally moni­tored by 22 parameters for consistent and reliable performance.

Standard servo motor and encoder/motor power cable pair options available. Measuring only 32mm [W] x
85mm [H] x 75mm [D], the DYN2 AC Servo drive can power up to 0.75kW (7.1Nm) capacity. The perfect
servo drive for any small to medium capacity application.

A.2 Name Plate

Note the name plate is region specic and may vary between each region model.

A.3 Servo Drive Model Number

DYN2 - T L A 6 S - 00

DMM Servo Drive Series

DYN2 AC Servo Drive

Low Voltage DC Input

Voltage Class

T 60V
H 48V
S 24V

Model Number
Input / Output Specications

Protection
Country of Origin
Lot / Serial Number

Hardware / Software Version

Encoder
4 14bit [16,384ppr]
6 16bit [65,536ppr]

Model Type

S Standard
** Custom

DYN2MS-01E-0814A1

Motor Capacity

1 50W - 200W
L 400W - 750W

Command Type

A Pulse / Analog

5

1 GENERAL SPECIFICATION

1.1 Drive Overall Specication

Data Specication
Rated Voltage 60VDC ± 10%

Input

Output

Drive Interface Power
Supply (JP2 Pin. 12)

Control Method SVPWM
Dynamic Brake Integrated
Encoder Feedback 14/16-bit Single-Turn Absolute

Protection Functions

Position Servo

Speed Servo

Torque Servo

Environment

Mass 0.2kg

Permissible Input Voltage 24VDC ~ 75VDC
Rated Current 16A

Rated Voltage

Rated Current

Motor Capacity 50W ~ 750W
Voltage 5VDC +/-%5
Max. Current Draw 50mA

Command Reference Pulse*1

Max. Input Frequency 500kHz

Input Voltage

Positioning Feedback Z Index Pulse*2
Speed Control Range 0:5000

Input Reference Voltage

Max Input Voltage ± 12VDC
Input Reference Voltage -10VDC ~ +10VDC ± %5
Max Input Voltage ± 12VDC
Protection IP10
Operation Temperature 0~55°C
Storage Temperature -20 ~ 65°C
Max. Operation Humidity 95RH% (no dew)
Max. Storage Humidity 95RH% (no dew)

Peak. +75VAC
Between any two motor phase

[L] Capacity Model: Peak. 20A
[1] Capacity Model: Peak 10A
From any single motor phase

Current, Voltage, Temperature, Over Power, Posi­tion Lost Follow

Pulse+Sign, A/B Phase Quadrature 90° Phase
Differential, CW+CCW

5VDC ± %5 (Higher voltage available as option)
Over drive photocoupler diode

-10VDC ~ +10VDC ± %5
3,000rpm at ± 5VDC

1. CW+CCW command format available as option.

2. See section 4.5 for Z index pulse details

DYN2MS-01E-0814A1

6

1.2 Control Block Diagram

DYN2 AC Servo Drive

Main Power
Input

+

-

Switching
Power Supply

+15VDC

+5VDC

Main Control
Inverter Circuit

Isolated Gate Control

Current

Sensor

Current

Sensor

A

B

C

RS232
Serial Port

LED S1

JP2

CPU

Isolated I/O Interface

Analog Input

A/D

Voltage Protection

JP4

JP3
Encoder
Feedback

1.3 Encoder Specication

■ Model

Model Number Type Resolution Data Type Interface Type Measurement Voltage Status

ABS-14-00 Absolute 14bit [16,384ppr] 4-Wire Serial

ABS-16-00 Absolute 16bit [65,536ppr] 4-Wire Serial

Differential Driver/

Receiver

Differential Driver/

Receiver

Magnetic +5VDC A

Magnetic +5VDC A

DYN2MS-01E-0814A1

7

2 CONNECTIONS AND WIRING

2.1 DYN2 Servo Drive Body Layout

■ JP1
Power Supply Input

(1)

■ Pin Layout

■ JP5
Servo Motor Power

■ JP2
RS232 Port to PC

■ JP3
I/O Port

■ S1 Drive Status LED
[ Green LED ]

■ JP4
Encoder Feedback Port

(1) Drive Body Grounding Terminal
[ M3 x 5mm Max. ]
*Located on left side of body

DO NOT reverse JP1 DC
input polarity!

DYN2MS-01E-0814A1

JP1

+

-

JP2

Gnd

NC

NC

NC

RxD

TxD

+5V

JP3

12
11
10

9
8
7
6
5
4

3
2
1

JP4

Gnd

S-

S+

+5V

JP5

C

B

A

Top side of servo drive

Bottom side of servo drive

8

2.2 Connector and Signal Specication

▐ JP1 - Power Supply Input
Connector Type: 5.00mm Pitch Terminal Block
Drive Header: Phoenix MSTBA 2,5/ 2-G
Plug Connector: Phoenix MSTB 2,5/ 2-ST

2

Recommended Wire Gauge: 0.8mm

▐ JP2 RS232 Port to PC
Connector Type: 2.54mm Pitch Rectangular
Drive Header: Molex 70553-0041
Plug Connector: Molex 50-57-9407
Recommended Wire Gauge: 0.3mm
Signal Layout:

Pin 1: GND

Pin 2~4: NC
Pin 5: RS232 signal input, RxD, TTL/CMOS level.
Pin 6: RS232 signal output, TxD, TTL/CMOS level.
Pin 7: +5(V) output, <10(mA), generated in board.

(AWG18)

2

(AWG22)

In order to connect JP2 with PC’s RS232 port, an intermediate cable with level shift buffer is necessary.
Intermediate cable shipped with drive tuning cable [Model No. CA-MRS232-6].

▐ JP3 I/O Port - Position Command Input
Connector Type: 3.5mm Pitch Terminal Block
Drive Header: Phoenix MC 1,5/12-G-3,5
Plug Connector: Phoenix MC 1,5/12-ST-3,5

2

Recommended Wire Gauge: 0.6mm

(20AWG)
Signal Layout:
Pin 1: GND (Bottom side of drive)
Pin 2: Analog Command Reference ±10VDC
Pin 3: DIR-, B-, CCW- Pulse Reference
Pin 4: DIR+, B+, CCW+ Pulse Reference
Pin 5: STEP-, A-, CW- Pulse Reference
Pin 6: STEP+, A+, CW+ Pulse Reference
Pin 7: Signal Common for Pin. 8, 9, 10, 11.
Pin 8: Alarm Output
Pin 9: OnPosition Output
Pin 10: Absolute Zero Position Index Output
Pin 11: Drive Disable Input
Pin 12: Drive Internal +5VDC Supply (Top side of drive nearest to JP5)

DYN2MS-01E-0814A1

9

▐ JP4 Encoder Feedback Port
Connector Type: 2.54mm Pitch Rectangular
Drive Header: Molex 70553-0038
Plug Connector: Molex 50-57-9404

2

Recommended Wire Gauge: 0.3mm

(AWG22)
Signal Layout:
Pin 1: +5VDC Supply
Pin 2: S+

Pin 3: S-

Pin 4: Gnd

▐ JP5 Servo Motor Power
Connector Type: 5.00mm Pitch Terminal Block
Drive Header: Phoenix MSTBA 2,5/ 3-G
Plug Connector: Phoenix MSTB 2,5/ 3-ST

2

Recommended Wire Gauge: 0.8mm

(AWG18)
Signal Layout:

Pin 1: A Phase

Pin 2: B Phase

Pin 3: C Phase

2.2 Connector and Signal Specication

Motor frame should be grounded through Drive Body Grounding Terminal [ M3 ] located on heat sink side.
Crimp an M3 terminal lug onto the servo motor frame wire (Yellow/Green) and attach the lug to the drive
body grounding terminal. Do not use a screw longer than 5mm.

DYN2MS-01E-0814A1

10

2.3 JP3 Main I/O Details

!

● Note the directionality of the JP3 connector and pins before making connections. Pin1
is located nearest to the bottom of the servo drive. Pin12 is located nearest terminal JP5
(Servo Motor Power).

■ Terminal Layout

WARNING

DYN2 Servo Drive

Drive internal +5VDC

+5VDC

ENA

ZRI

ONPOS

ALM

COM

( Host Controller )

PUL+, A+, CW+

PUL-, A-, CW-

12

270Ω

11

10

9

8

7

270Ω

6

5

DIR+, B+, CCW+

DIR-, B-, CCW-

DYN2MS-01E-0814A1

AGIN

GND

4

270Ω

3

2

A/D

1

11

2.3 JP3 Main I/O Details

■ JP3 Signal Specication

Refer to Section 2.4 JP3 I/O Connection Circuit for example connection diagram. Standard I/O
levels are +5VDC±%10. Contact DMM if the controller uses 12~24VDC level I/O.

Pin No. Signal Symbol Type

12 Drive Internal +5VDC Supply +5VDC Output

Description Connection Circuit

- Drive internal +5VDC output

- Max Current Draw: 50mA

- Relative ground side with JP3 Pin.1

Pin No. Signal Symbol Type

11 Drive Disable Input ENA Input

N/A

Description Connection Circuit

- Apply +5VDC between Pin.7 Common to Disable servo drive

- Motor coasts when disabled (shaft free)

- Disable clears all pulse/analog commands

- Disable clears all position error

- Max. Voltage: +5VDC±%10

- Max. Current: 20mA

Pin No. Signal Symbol Type

10 Absolute Zero Position Index Output ZRI Output

Description Connection Circuit

- Transistor ON (Signal LOW) if servo on Zero Position.

- Triggered at signal falling edge

- Zero Position output xed to one mechanical motor shaft position per revolu­tion. Accuracy maintained by absolute encoder.

- Used for precision zeroing, or indexing applications.

- Max. Voltage: 30V

- Max. Current: 30mA

[ A ]

*See section 2.4

[ B ]

*See section 2.4

DYN2MS-01E-0814A1

12

2.3 JP3 Main I/O Details

Refer to Section 2.4 JP3 I/O Connection Circuit for example connection diagram.

Pin No. Signal Symbol Type
9 OnPosition Output ONPOS Output

Description Connection Circuit

- Transistor ON (Signal LOW) if servo Off Position.

- Transistor OFF (Signal HIGH) if servo On Position.

- Servo On Position if motor position error within value set by OnPosRange
parameter.

- Max. Voltage: 30V

- Max. Current: 30mA

Pin No. Signal Symbol Type
8 Servo Alarm ALM Output

[ B ]

*See section 2.4

Description Connection Circuit

- Transistor ON (Signal LOW) if servo drive alarmed or faulted

- Servo drive triggers protective alarm relative to Current, Voltage, Tempera­ture, Over Power, Position Lost Follow

- Max. Voltage: 30V

- Max. Current: 30mA

Pin No. Signal Symbol Type
7 Common COM Output

Description Connection Circuit

- JP3 I/O Pin. 8, 9, 10, 11 Control Signal Common.

[ B ]

*See section 2.4

[ A ] [ B ]

*See section 2.4

DYN2MS-01E-0814A1

13

2.3 JP3 Main I/O Details

Refer to Section 2.4 JP3 I/O Connection Circuit for example connection diagram.

Pin No. Signal Symbol Type
6

5
4

3

Description Connection Circuit

- Position command reference pulse input

- Compatible pulse form include:
♦ Pulse + Direction
♦ A/B phase quadrature with 90° phase differential
♦ CW + CCW

- Max. input pulse frequency: 500kHz

- Max. Voltage: +5VDC±%10

- Max. Current: 20mA

- Line Drive / Open Collector circuit on Controller Side

- Input pulse electronically scalable with GEAR_NUM parameter

STEP+, A+, CW+ Pulse Reference
STEP-, A-. CW- Pulse Reference
DIR+, B+. CCW+ Pulse Reference
DIR-, B-. CCW- Pulse Reference

STEP+
STEP­DIR+
DIR-

[ C ]

*See section 2.4

Input

Pin No. Signal Symbol Type

2
1

Description Connection Circuit

- Analog command reference for Speed/Torque servo mode

- Voltage reference ±10VDC

- ±12VDC max input voltage

- Max current: 0.6mA

DYN2MS-01E-0814A1

Analog Command Reference
Ground

AGIN

GND

[ D ]

*See section 2.4

Input

N/A

14

2.4 JP3 I/O Connection Circuit

■ Type [ A ] Connection Circuit - General Input Circuit

Applicable Signals:

Pin No. Signal Symbol Type
11 Drive Disable Input ENA Input

Open Collector Notes:

+5VDC

ENA

COM 7

11

270Ω

- Sink circuit shown.
Source circuit can also
be used.

Relay/Switch

+5VDC

ENA

COM 7

Notes:

270Ω

11

DYN2MS-01E-0814A1

15

2.4 JP3 I/O Connection Circuit

■ Type [ B ] Connection Circuit - General Output Circuit

Applicable Signals:

Pin No. Signal Symbol Type

10

9
8
7

Absolute Zero Position Index Output
OnPosition Output

Servo Alarm
Common

ZRI
ONPOS
ALM
COM

Output
Output
Output

N/A

Collector Output Notes:

Photo Coupler

Relay

+5VDC

+5VDC

5~24VDC

1kΩ

10, 9, 8

COM 7

Notes:

1kΩ

10, 9, 8

COM 7

Notes:

DYN2MS-01E-0814A1

10, 9, 8

COM 7

16

2.4 JP3 I/O Connection Circuit

■ Type [ C ] Connection Circuit - Position Reference Pulse Input

Applicable Signals:

Pin No. Signal Symbol Type
6

5
4

3

Line Driver Notes:

STEP+, A+, CW+ Pulse Reference
STEP-, A-. CW- Pulse Reference
DIR+, B+. CCW+ Pulse Reference
DIR-, B-. CCW- Pulse Reference

6, 4

5, 3

270Ω

STEP+

Input

STEP­DIR+
DIR-

- Twisted pair cable with
shield grounded on
receiver side.

Open Collector
(DYN2 Internal Power Supply)

Open Collector
(External Power Supply)

+5VDC

12+5VDC

6, 4

5, 3

1GND

6, 4

5, 3

270Ω

270Ω

Notes:

- Twisted pair cable with
shield grounded on
receiver side.

Notes:

- Power supply provid­ed by host controller or
external source.

- Twisted pair cable with
shield grounded on
receiver side.

DYN2MS-01E-0814A1

17

2.4 JP3 I/O Connection Circuit

■ Type [ D ] Connection Circuit - Analog Command Reference Input

Applicable Signals:

Pin No. Signal Symbol Type

2
1

Analog Command Reference
Ground

D/A Converter

Op-amp

Potentiometer

etc.

AGIN

GND

AGIN

GND

Input

N/A

Notes:

- Twisted pair cable with
shield grounded on
receiver side.

2

1

DYN2MS-01E-0814A1

18

2.5 Main Power Supply Requirements

!

The DYN2 servo drive has a minimum operation input of +24VDC and max input of +75VDC. The servo
drive’s internal over-voltage alarm is triggered at +80VDC input and will shut down at this level. Consider
the voltage/speed gradient of the servo motor when selecting power supplies.

A smoothing (reservoir) capacitor is recommended after the DC power supply. The recommended capacity
is 100V 1,000uF. Connect a fuse before the servo drive according to the circuit size.

Servo Drive Model Max. Motor Capacity Recommended Fuse
DYN2-T1A6S-00 200W 20A
DYN2-TLA6S-00 750W 20A

● DO NOT reverse the polarity of the DC input power. Reversing the polarity will perma­nently damage the servo drive and may cause electric shock. Ensure polarity is correct
before powering ON the servo drive.

WARNING

110~240VAC Supply

R S T

AC-DC Power Supply

-

+

Fuse

1000uF

100V

1000uF

100V

DYN2 Servo Drive

JP1

+

-

DYN2MS-01E-0814A1

19

3 START UP

3.1 Mounting and Installation

The DYN2 servo drive can be mounted vertically or horizontally (vehicle mount). The servo drives should
be mounted by its rear chassis to an electrically conductive metal panel or plate. When mounting multiple
servo drives, at least 1mm clearance should be left between each unit. The small size of the DYN2 servo
drive is compatible with modular mounting. It can be placed adjacent to other devices with 1mm clear­ance. Also consider the size of the connectors and cables in front of the servo drive when mounting.

The control cabinet internal temperature should not exceed 40°C. If using a fan to cool the servo drives,
the air ow should parallel the direction of the heat sink n. The servo drive internally do not have a cool­ing fan.

(Other Devices)

>1mm >1mm

Airow
Direction

>1mm>1mm

(Other Devices)

DYN2MS-01E-0814A1

20

3.2 Timing Chart

■ Power ON Timing

After servo drive power ON, make sure there is at least 150ms time before sending pulse or analog com­mand to servo drive.

Main Power Supply

50ms

ON

S1 Status LED

Servo ON
(Motor Servo Lock)

Command Reference
Input Pulse/Analog

OFF

ON

OFF

ON

OFF

HIGH

LOW

Status LED lit Green

100ms

150ms

Normal Operation

♦ Main Power Supply Cycle
Do not cycle the main power supply quickly as internal power electronics may be permanently damaged.
The main power should be turned on once during each operation cycle and should not be controllable by
software.

♦ Power Off Residual Voltage
After drive power off, the user should wait 60 seconds before touching the servo drive. A residual voltage
may remain in the servo drive after immediate power off and 60 seconds is needed for full discharge. This
time may be longer if a larger smoothing capacitor is connected to the input power line.

The residual voltage may cause the servo motor to rotate for a short period (<1 second) after immediate
power off. Consider this effect for emergency situations and take safety precaution to prevent damage to
personnel, equipment or machine.

DYN2MS-01E-0814A1

21

3.2 Timing Chart

■ Servo Disable / Enable Timing

When using the ENA signal to disable the servo drive to coast the servo motor, do not cycle this input
rapidly ON/OFF. If the signal is cycled too fast, the servo drive will not have enough time to initialize the
control program during Enable and can cause unwanted or dangerous results. Ensure that in the control
program, the below timing is satisfied. Once Disabled, do not Enable the servo drive during motor coast or
any time motor shaft is rotating, make sure motor shaft is completely stopped before Enable.

ON

ENA

Command Reference Input

Pulse / Analog

OFF

HIGH

LOW

Servo Enabled

Servo Disabled

20ms

DYN2MS-01E-0814A1

22

3.3 DMMDrv Software Communication

!

♦ PC Running Requirements
Win98/XP/2000/Vista/7
250Mhz CPU
64MB RAM
250MB Hard Disk Space

The servo drive should be powered up with the servo motor encoder feedback and motor power cables
connected. The servo motor shaft will be servo-locked when powered ON. Connect the RS232 tuning
cable from port JP2 to host PC.

♦ DMMDRV Start Up
1 ) Open the DMMDRV.exe executable
2 ) Select “COMSET“ --> “COM PORT“
3 ) Change the port number to the servo drive connected RS232 port, then select “OK”
4 ) Select “SERVO SETTING”
5 ) Select DYN2 -DRIVER
6 ) Press Read on the Setting driver parameters and mode dialogue box. After approximately 1~2
seconds, the on-screen parameters will change according to the current internal parameter settings of the
connected servo drive. Ensure that the Driver Status indicates ServoOnPos to indicate that the drive has
closed the position loop with the motor and is fully operational.

WARNING

● During Test movement procedures, the servo motor can rotate very quickly in either direc­tion. Ensure that the servo motor is free to rotate and no objects are attached to or is near
the motor shaft. Secure the motor by its ange.

♦ Test Movements
1 ) Select “RS232” under the command input mode option, then click “SAVE ALL“ to
save this setting.
2 ) Under the Test Motions menu, the user can select one of 4 test motions to JOG, STEP, SINE
or TRIM the servo motor. Only one test motion prole can be run at a time, use the radio buttons below
each section to select the movement prole.

DYN2MS-01E-0814A1

23

4 OPERATION

4.1 Position Servo Mode

█ Pulse Specications

Voltage: +5VDC ± %10 (Contact DMM if higher level such as 12/24VDC is required)
Max pulse frequency: 500kHz
Minimum pulse width: 800us

█ Reference Pulse Format

The DYN2 servo drive accepts FORWARD reference as CLOCKWISE motor shaft rotation as viewed from
motor shaft side.

>800us

♦ Pulse + Direction

Forward Reference Reverse Reference

PUL+
JP3-6

DIR+
JP3-4

PUL+
JP3-6

DIR+
JP3-4

♦ A/B phase quadrature with 90° phase differential

Forward Reference Reverse Reference

A+
JP3-6

B+
JP3-4

A Leads B B Leads A

A+
JP3-6

B+
JP3-4

♦ CW + CCW

Forward Reference Reverse Reference

CW+
JP3-6

CW+
JP3-6

CCW+
JP3-4

DYN2MS-01E-0814A1

CCW+
JP3-4

24

█ Connection Example

♦ Line Drive Output

PUL+, A+, CW+

4.1 Position Servo Mode

270Ω

6

PUL-, A-, CW-

DIR+, B+, CCW+

DIR-, B-, CCW-

5

4

3

♦ Open Collector Output - Internal Power Supply

PUL+, A+, CW+

PUL-, A-, CW-

DIR+, B+, CCW+

DIR-, B-, CCW-

270Ω

12+5VDC

270Ω

6

5

270Ω

4

3

♦ Open Collector Output - External Power Supply

+5VDC

DYN2MS-01E-0814A1

PUL+, A+, CW+

PUL-, A-, CW-

DIR+, B+, CCW+

DIR-, B-, CCW-

1GND

270Ω

6

5

270Ω

4

3

25

4.1 Position Servo Mode

█ Electronic Gearing ( GEAR_NUM Parameter )

Gear number is set from 500 to 16,384, default value is 4,096. Gear number provides an electrical gear
ratio: 4096 / Gear_Num, from 0.25 ~ 8.192. For example, if Gear number = 4,096, the 16,384 input counts
from pulse will turn motor exactly one revolution. If Gear number = 500, 2,000 pulses will turn motor one
revolution.

For analog input in position servo mode, the analog input is from 0~10VDC range, by using the Gear Num­ber, 0~10VDC analog input can turn motor from 0~90*4,096/Gear number (degrees). The gear number
has the same effect on the serial Point to Point movement or RS232 command input mode. Gear number
parameter is only effective for position servo mode.

█ Servo In Position Output Specications ( ONPOS )

On position range is a value used for determining whether the motor have reached the commanded posi-

tion or not. That on position range is selectable according to customer’s requirement. Suppose the Pset is

the commanded position, and Pmotor is the real motor position, if

|Pset - Pmotor|<=OnRange
it is said motor is ON the commanded position, otherwise not. That OnRange is set from 1~127. The real

position on range is: OnRange * 360(deg)/16,384. Set mouse curser into the OnPosition edit box, input
the desired on position value, then click the save button, On position value will be sent to the Drive with
all other parameters. The ONPOS output (JP3-9) will be HIGH if motor in position and LOW if motor off
position.

█ Servo Position Error Accumulation

The servo drive’s internal position error decides the status of the On Position signal and the Lost Phase
servo drive alarm.

The On Position signal is triggered (LOW) when the servo position error is within the OnPosRange set in
the DMMDRV program. The Lost Phase alarm is triggered when the servo motor is physically 90° or more
out of position for ~2 seconds.

The servo position error is cleared when the drive is disabled using the ENA input and does not accumu­late when the drive is disabled.

DYN2MS-01E-0814A1

26

4.2 Speed Servo Mode

In speed servo mode, the DYN2 servo drive takes command from an external ±10VDC analog reference
voltage from the host controller to drive a linear proportional motor speed.

In speed servo mode, the torque output depends on the load on the servo motor and determined by the
motor feedback. Design the system so it can withstand the peak torque of the motor in use.

█ Control Reference

The DYN2 servo drive accepts FORWARD reference as CLOCKWISE motor shaft rotation as viewed from
motor shaft side. Positive reference voltage rotates the servo motor in the FORWARD (CLOCKWISE)
direction and negative reference voltage rotates the servo motor in the REVERSE (COUNTER CLOCK­WISE) direction.

6,000rpm

3,000rpm

Motor Speed

Reference Voltage

+10V-10V -5V +5V

Reference
Voltage

+10V 6,000rpm FWD CW

+5V 3,000rpm FWD CW

-3V 1,800rpm REV CCW

Motor
Speed

Reference
Direction

Motor
Direction

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4.2 Speed Servo Mode

█ Acceleration / Deceleration Soft Start

In Speed Servo Mode, the Max Acceleration parameter in the servo drive can be used to soft start/stop the
servo motor. Since the speed command is sent as a rough step reference, it is often desirable to smooth
out the servo motor’s movement dynamics. Without soft start, the servo motor can accelerate/decelerate
too instantaneously. Soft start creates a smooth s-curve motion.

The relation to physical acceleration / deceleration time is measured as the rise time from 10% of the tar­get speed to 90% of the target speed.

2

Rise from 10% to 90% time = 59.98/(Max Acceleration)
Physical acceleration time = 1.2 * 59.98/(Max Acceleration)

seconds

2

seconds

Rough Motion

Smooth Motion!

█ Torque Filter Constant

TrqCons is a first order low-pass filter used to smooth torque delivery in speed servo mode
which improves stability and accuracy of servo motor speed. The bigger value means wider
frequency range of that filter. That filter can be expressed as:

a / ( S + a), here a = 26*TrqCons ; if TrqCons = 100, then a = 2600.

The filter is used to make the torque sent to the servo torque loop more smooth especially
for the heavier load when bigger SpeedGain setting is used. If a very quick response servo
with small load is desirable, the bigger value or even the value 127 should be used to en­sure stability and fast dynamic follow.

Max Acceleration

The Torque Filter Constant parameter should only be used in speed servo mode. Leave this
parameter at “127” in position servo mode.

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4.3 Torque Servo Mode

In torque servo mode, the DYN2 servo drive takes command from an external ±10VDC analog reference
voltage from the host controller to drive a linear proportional output current.

█ Control Reference - [ 1 ] Capacity Model: DYN2-T1

The DYN2 servo drive accepts FORWARD reference as CLOCKWISE motor shaft rotation as viewed from
motor shaft side. Positive reference voltage rotates the servo motor in the FORWARD (CLOCKWISE)
direction and negative reference voltage rotates the servo motor in the REVERSE (COUNTER CLOCK­WISE) direction.

10.0A

5.0A

Reference Voltage

+10V-10V -5V +5V

Current Output

Reference
Voltage

+10V 10.0A FWD CW

+5V 5.0A FWD CW

-3V 3.0A REV CCW

Output
Current

Reference
Direction

Motor
Direction

█ Control Reference - [ L ] Capacity Model: DYN2-TL

The DYN2 servo drive accepts FORWARD reference as CLOCKWISE motor shaft rotation as viewed from
motor shaft side. Positive reference voltage rotates the servo motor in the FORWARD (CLOCKWISE)
direction and negative reference voltage rotates the servo motor in the REVERSE (COUNTER CLOCK­WISE) direction.

20.0A

10.0A

Reference Voltage

+10V-10V -5V +5V

Reference
Voltage

+10V 20.0A FWD CW

+5V 10.0A FWD CW

-3V 6.0A REV CCW

Output
Current

Reference
Direction

Motor
Direction

DYN2MS-01E-0814A1

Current Output

29

4.4 RS232 Command Input Mode

The RS232 port is always active after power on for DYN-series servo drive, that active RS232 port could
be used for reading and setting Drive parameters and status, also could be used for sending point to point
position command if the RS232 mode is selected for position command input.

If the position command input mode is selected as Pulse mode or Analog mode, the RS232 port is still
active as mentioned above but it only can be used for reading and setting Drive parameters. The RS232
port could be easily accessed by using the GUI interface DMMDRV.exe after the connection between PC
and the Drive’s RS232 port. This is the easiest way to tune up the servo and make some test movements.
The RS232 port could be accessed by other microcontroller, or DSP if sending and reading data by using
DYN Drive’s RS232 protocol.

The PC or DSP is working as Master and the servo drive is always as slave. Several servo drives could
be linked for a serial network integrated multi-axis control.

See (Appendix A) for DYN2 servo drive RS232 protocol definitions.

4.5 Absolute Zero Position Index Output (ZRI)

The ZRI signal is output once per motor revolution to facilitate servo homing and indexing functions. ZRI
pulse can also be used to count motor revolutions or monitor servo motor speed. Accuracy of each pulse
is maintained by 14/16-bit absolute encoder. The mechanical output position of ZRI may vary between
each servo motor. It can also be used to compensate for mechanical or ball screw backlash. A calibration
procedure is necessary to set the absolute ZRI position in the controller.

The user should calibrate the position of the ZRI output with respect to the target mechanical position. The
falling edge of the ZRI output (JP3 Pin.10) should be used as the trigger. Pulse width and rising edge of
ZRI should not be used as trigger.

ZRI
JP3 Pin.10

ZRI Falling Edge Trigger

+5V

0

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5 PARAMETERS AND TUNING

5.1 Parameters Outline

The following parameters are adjustable by connection through RS232 or USB interface from the servo
drive to the PC. No matter the command mode, the JP2 RS232 port is always active for parameter setting
and drive configuration.

The Drive configuration and servo cons are stored in the EEPROM of servo drive when the save button is
pushed or parameters setting is issued through the serial communication.

The guaranteed write cycle for the EEPROM is 1 million times. Do not use serial communication to con­stantly change the drive parameters as this will decrease servo drive life span. Major parameter change
and setting should only be done during initial testing and tuning. Actual drive operation should not require
constant parameter changes unless changing servo control modes on the fly through RS232.

Parameter Name Setting Range Details

Main Gain [ 1 : 127 ]

Speed Gain [ 1 : 127 ]

Integration Gain [ 1 : 127 ]

Torque Constant [ 1 : 127 ]

The main gain for the servo loop, usually to be increased
as the motor load increases. The bigger value of MainGain
means wider frequency range of servo loop relatively.

The speed gain for the servo loop, usually to be increased
as the motor load increases. The bigger value of speed
Gain means narrower frequency range of servo loop
relatively. Physically, heavier loads or higher inertia loads
should have lower dynamic ability, so the servo loop fre­quency range should be more narrow by using bigger value
of Speed Gain. If the Speed Gain is too high, there will
be some loud noise because the torque command will be
too coarse, not smooth, the smaller Torque Constant (see
TrqCons) could be used to attenuate this noise.

There is an integrator in the servo loop to ensure the error
between position command and real position be zero
during the steady state. Also that integrator will let servo
have more ability to attenuate the outside disturbance
torque. The bigger value of IntGain, the more ability of the
servo to attenuate the outside disturbance torque. Integra­tion Gain should be decreased for heavier loads or higher
inertia loads.

TrqCons is a rst order lter constant, the bigger value
means wider frequency range of that lter. That lter can
be expressed as : a / ( S + a), here a = 26*TrqCons, if
TrqCons = 100, then a = 2600. That lter is used to make
the torque sent to torque loop more smooth, especially for
heavier loads when bigger SpeedGain is used. If a very
quick response servo with small load is desirable, a bigger
value or even the value 127 should be used to ensure the
stability and dynamic performance.

Applicable Servo

Mode

Position
Speed
Torque

RS232

Position
Speed
Torque

RS232

Position
Speed
Torque

RS232

Speed
Torque

RS232

DYN2MS-01E-0814A1

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5.1 Parameters Outline

Parameter Name Setting Range Details

Determine the S-curve acceleration when using RS232

Max Acceleration [ 1 : 127 ]

Max Speed [ 1 : 127 ]

Driver ID [ 1 : 126 ]

On Position Range [ 1 : 127 ]

mode to make point to point motion linear/circular. Also
controls the response time of the rst order low pass lter
in speed and torque servo control (soft start).

Determine the S-curve max speed when using RS232
mode to make point to point motion linear/circular.

Every drive has a unique ID number, which can be
assigned or read out by using ServoSetting dialog box.
Applicable when RS485net box not checked and there is
only one Drive connected through the RS232 port.
The default ID number for every Drive is 0. That ID num­ber can be used for the network connection of RS485 or
for drive unit identication purposes. When RS485net box
is checked and there are more than one Drive connected
to the RS485/232 network, only the setting for the Drive
with the indicated ID number in the ServoSetting dialog
box can be read out or saved.

On position range is a value used for determining whether
the motor have reached the command position or not.
That on position range is selectable according to user’s
requirement. Suppose the Pset is the commanded posi­tion, and Pmotor is the real motor position, if

it is said motor is on the commanded position, otherwise
not.

|Pset - Pmotor|<=OnRange

Applicable Servo

Mode

RS232

Speed
Torque

RS232

Position
Speed
Torque
RS232/485

Position
Speed
Torque

RS232

Gear Num [ 500 : 16,384 ]

The amount of motor travel with reference to the number
of input pulses is set using the parameter Gear_Num.
The number of reference pulse needed for one complete
motor revolution is calculated as,

One motor revolution = 4xGEAR_NUM

For example, if Gear_Num is set to 4096, then 16,384
pulses are needed from the host controller for the motor to
make one complete revolution.

Position

RS232

DYN2MS-01E-0814A1

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5.2 Servo Drive Gain Tuning

The DYN2 servo drive features simple 3 parameter Gain tuning to achieve optimized smooth performance.
The user should adjust the servo gain parameters Main Gain, Speed Gain and Integration Gain until they
achieve target response qualities. These parameters are all adjustable using the DMMDRV program.

The overall method of Gain tuning follows as load mass or load inertia increase, the Main Gain and Speed
Gain parameters should be increased. If these are set too high, the servo may be over-tuned and start
vibrating or become noisy. The parameters should be increased/decreased until the motor smoothly fol­lows command without vibration, noise or oscillations. The user can then fine tune the parameters to make
the motor “harder“ (faster response, more rigid motion) or “softer“ (slower response, smoother motion).

The servo motor should be coupled to the final machine before tuning. Make sure during tuning, the motor
is running the load and speed of the final machine or design. The user should use a trial and error method
to achieve the desired servo response.

In Speed servo mode, the Torque Filter Constant parameter can be adjusted to further smooth the torque
delivery and improve motor speed accuracy.

♦ Gain Tuning Procedure Flow

Position Overshooting or

Oscillation.

Increase Main Gain,

increase Speed Gain until

overshooting supressed

If still unstable

Decrease Integration Gain

Tuning Begin

Run Servo Motor

Motor Vibration/Noise

Decrease Main Gain,

decrease Speed Gain

If still unstable

Decrease Integration Gain

Speed Servo Mode

Unstable/Vibration

Decrease

Torque Filter Constant

DYN2MS-01E-0814A1

33

5.2 Servo Drive Gain Tuning

█ Sample Load Type Tunings

♦ Ball Screw

Ball screw systems are mechanically very rigid and stiff. If high resolution pitch (e.g. 5mm
or 10mm) the default setting could even be used. The servo drive can be easily tuned
using Main Gain, Speed Gain, and Integration Gain. Increase Main Gain, Speed Gain and
Integration Gain relative to load mass until target response achieved. Decrease Integration
Gain if load inertia is big and system oscillates.

♦ Direct Mechanical Drive (Rigid systems, Robots)

Depending on load mass and inertia, increase Main Gain, Speed Gain and Integration Gain
until target response achieved. Decrease Integration Gain if load inertia is big and system
oscillates. In speed/torque servo mode, if relative load inertia is very high, the high Speed
Gain might increase motor noise, then decrease the Torque Filter Constant to attenuate
torque loop noise.

♦ Belt Drive / Pulley

Belt drive or pulley systems are low mechanical rigidity with slower response. Main Gain
and Speed Gain should be increased with higher load mass and relative load inertia. In­tegration Gain should be decreased to give the position loop more time ro react to the low
rigidity system.

DYN2MS-01E-0814A1

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6 MAINTENANCE

6.1 Alarm Specications

The DYN2 servo drive is protected by 5 alarms. The S1 status indicator LED will flash to indicate when an
alarm is triggered. The specific alarm status can be read using the DMMDRV program.

♦ Internal Driver Status Readout

( 1 ) Connect the PC to the servo drive JP2 port using RS232 cable
( 2 ) Press Read on the Setting driver parameters and mode main screen.
( 3 ) The Driver Status box will display the current status of the Servo Drive.

Alarm Cause Recommended Correction

Over Voltage

Over Temperature

Lost Phase

Over Power

Over Current

The internal DC bus voltage has
exceeded the allowed maximum lev­els. The input DC voltage is too high.

The servo drive’s protective thermal
resistor has detected an unusually
high temperature inside the drive.
The control power transistor tempera­ture is too high.

The encoder has detected an
irresolvable position error in the mo­tor relative to the command signal.

The servo drive has experienced an
output power exceeding the rated
value relative to the average value.

The servo motor cannot move to its
command position and there is a
backlog of current in the servo drive
to try to move the servo motor.

- Check and conrm the connections to
the servo motor.

- Check that the servo motor is driving a
mass appropriate to its size.

- Check for any mechanical irregularities
that might be preventing the motors to
move freely.

- Add an external regenerative resistor

- Check that the drive’s ventilation
openings and heat sink are not being
blocked.

- Consult the servo drive’s ambient
temperature specications and check if
the operation conditions are met.

- Check that the encoder feedback cable
is securely plugged from the servo motor
to the JP3 port of the servo drive.

- Check for any mechanical irregularities
that might be preventing the motors to
move freely.

- Check and conrm the connections to
the servo motor.

- Check that the servo motor is driving a
mass appropriate to its size.

- Check for any mechanical irregularities
that might be preventing the motors to
move freely.

- Check that the encoder feedback cable
is securely plugged from the servo motor
to the JP3 port of the servo drive.

- Check for any mechanical irregularities
that might be preventing the motors to
move freely.

DYN2MS-01E-0814A1

35

6.1 Alarm Specications

!

♦ Alarm Motor Stop

The power to the servo motor will be stopped when an alarm is triggered. Internal servo control turns off
and servo motor shaft becomes free. Power still remains in the logic circuit for drive diagnostic and drive
status reading. All commands including pulse, analog and RS232 will be ignored and will not accumulate
the internal position error.

♦ Alarm Reset

Once servo drive triggers an alarm, the user should use the DMMDRV program to read out the alarm
condition then inspect the machine, load or operation for cause to the alarm. The problem should be fixed
before re-setting the servo drive and running again. The servo drive main power should be cycled to fully
re-set and clear the servo alarm status.

WARNING

● If the servo motor is coupled to a vertical axis that can drop due to gravity when the shaft
becomes free, take measure to prevent injury or damage when the drive alarm is triggered.
A motor with brake option may be necessary to stop vertical axis, or any axis acted on by an
external force, from dropping or crashing.

6.2 - Drive Maintenance

Do not perform maintenance on the servo drive unless instructed to do so by DMM. The servo drive cover
or chassis should never be removed as high voltage components can cause electric short, shock or other
damage upon contact. Disassembly, repairs or any other physical modification to the servo drive is not
permitted unless approved by DMM.

♦ Regular Inspection

Inspect the servo drive regularly for:

● Dirt, dust or oil on the servo drive - make sure the servo drive cooling duct and heat
sink are free from debris

● Environment - ambient temperature, humidity and vibration according to servo drive
specification

● Loose screws

● Physical damage to servo drive or internal components

DYN2MS-01E-0814A1

36

APPENDIX A - SERVO DRIVE DIMENSIONS

( Name Plate 1 )

( Name Plate 2 )

75

10

2

JP4

JP2

( Name Plate 1 )

( Name Plate 2 )

75

10

2

20

31

70

Chassis Ground
Terminal

♦ Exterior Dimensions

JP1

JP5

JP3

70

JP2

JP4

31

Chassis Ground
Terminal

20

75

10

( Name Plate 1 )

( Name Plate 2 )

2

♦ Mounting Footprint

3 x

3 Mount

2.5 2.5

2

32

4

85

3

DYN2MS-01E-0814A1

37

APPENDIX B - RS232 Protocol Denition

*NOT INCLUDED IN MANUAL REVISION. A1

DYN2MS-01E-0814A1

38

APPENDIX C - Operation Examples

█ Position Servo Mode - Ball Screw

1. Connect encoder feedback and motor power cable from servo drive to servo motor.

2. Connect RS232 tuning cable from servo drive JP2 to controller PC.

3. Power ON servo drive.

4. Open Windows Device Manager - Locate COM Port Number of RS232 tuning cable.

5. Open DMMDRV program.

6. Select COMSET --> COM PORT. Press “Change Port“ until RS232 tuning cable COM
port number selected. Press “ok“.

7. Select ServoSetting --> DYN2-DRIVER. Setting drive parameters and mode main screen
will open.

8. Press “Read” to read out the factory default or current setting of the servo drive. At any
time, pressing “Save All“ will save the parameters into the servo drive.

9. Under Servo Mode, select “Position Servo”.

10. Under command input mode, select “Pulse/Dir”,
“A/B Phase”, or “CW/CCW”.

11. Set GEAR_NUM parameter according to
ball screw pitch and target travel speed.

Example:
Ball screw pitch = 10mm
Reduction = 2:1
Target Speed = 15m/min
Rated Motor Speed = 3,000rpm = 50rev/s
Controller Pulse Output Frequency = 100kHz = 100,000pulse/s

3,000rpm / 2 = 1,500rpm after reduction
1,500rpm * 10mm = 15,000mm/min = 15m/min

100,000pulse/s / 50rev/s = 2,000pulse/rev
2,000pulse/rev / 4 = 500
GEAR_NUM = 500

12. Tune Gain and OnPosition Range according to machine and operation requirements.

13. Click “Save All“ when finished adjustments.

14. The servo drive is ready to accept position pulse commands.

DYN2MS-01E-0814A1

39

Warranty and Liability

█ Warranty

Products from DMM Technology Corp. are supported by the following warranty.

● 1-year from the date of product received by customer or 14 months from the month of original
invoice.

Within the warranty period, DMM Technology Corp. will replace or repair any defective product free of
charge given that DMM Technology Corp. is responsible for the cause of the defect. This warranty does
not cover cases involving the following conditions:

● The product is used in an unsuitable or hazardous environment not outlined in this manual, result­ing in damages to the product.

● The product is improperly handled resulting in physical damage to the product. Including falling,
heavy impact, vibration or shock.

● Damages resulting from transportation or shipping after the original factory delivery.

● Unauthorized alterations or modifications have been made to the product.

● Alterations have been made to the Name Plate of the product

● Damages resulting in usage of the product not specified by this manual.

● Damages to the product resulting from natural disasters.

● The product has cosmetic alterations.

● The product does not conform to the original factory manufactured standards due to unauthorized
modifications.

█ Liability

Use, operation, handling and storage of the DYN2 AC Servo Drive is solely responsible by the customer.
Any direct or indirect commercial loss, commercial profit, physical damage or mechanical damage caused
by the DYN2 AC Servo Drive is not responsible by DMM Technology Corp. The features and functionality
of the product should be used with full discretion by the customer.

Above terms are current as of August 2014

DYN2MS-01E-0814A1

40

Product and Manual Disclaimer

█ Disclaimer

DMM Technology Corp. constantly strive to improve it’s products performance and reliability. The contents
of this manual outlines the latest features and specifications of the DYN2 AC Servo Drive and may be
changed at any time to reflect corrections, improvements or changes to the product or information in this
manual.

█ Manual Revision History

Version Manual Number Details Date

A1 DYN2MS-01E-0814A1 Release Version August 2014

█ DYN2 Servo Drive Revision History

♦ Hardware Version

Version Details Date
AH10 Release Version June 2014

♦ Software Version

Version Details Date
AH10 Release Version June 2014

DYN2MS-01E-0814A1

41

DYN2 Series

AC Servo Drive

Type - A General-Purpose Pulse/Analog

Specication Manual

Manual Number

Revision

: DYN2MS-01E-0814A1

: A1

Electronic Version

DMM TECHNOLOGY CORP.

3125 - 21331 Gordon Way Richmond, British Columbia V6W1J9 Canada

PHONE: [phone]

WEB: http://www.dmm-tech.com
SALES: [email protected]
INFO: [email protected]

Copyright © 2014 DMM Technology Corp.

Published In Canada