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DS100S AC Servo Manual
DS100S
AC SERVO DRIVE
MANUAL
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DS100S AC Servo Manual
Features
Strong Overload Capability
Because it adopts industrial intelligent power module
IPM, it has advantages of strong overload capacity
and high starting torque. Moreover the load that it
withstands are three times stronger than the rated
torque. it is pretty good on the occasion of which the
load occurs fluctuations suddenly and that is required
to start working quickly.
High Response Frequency: 1.5KHz
Due to the perfect use of the advanced PID control
algorithm and the feed-forward torque , It greatly
improves the dynamic response performance, and
effectively shorten the setting time. And the dynamic time
of acceleration and deceleration of the motor is short,
which is usually within tens of milliseconds.The drive
velocity response frequency can be up to 1.5KHz and the
rated speed can be up to 3000rpm.
Excellent Anti-interference Ability
By real-time observation of external disturbance and real-time
dynamic compensation, the speed fluctuation and torque
fluctuation caused by external disturbance are reduced.
DS Series AC Servo Systems
Good Position Following Capability
By adopting load identification and torque feed-forward advanced control algorithm,very small
velocity ripple and position error can be achieved. Moreover, we configure 17-bit absolute encoder
so that it can largely improve the stability in low speed and positioning accuracy. And it also
provides control methods including position, velocity, torque, speed trial operation and JOG for our
customers to choose conveniently.
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DS Servo System Configuration
DS100S AC Servo Manual
Page 4
DS100S AC Servo Manual
Power Line
WindingUVWPE
Plug
123
4
Encoder Line
Signal5V0VB+Z-U+Z+U-A+V+W+V-A-B-W-
PE
Plug23456789101112131415
1
Notes:
“SET” Button: Enter the parameter settings or set the values to the selected parameter and exit.
UP Button: Increase the selected value by 1.
DOWN Button: Decrease the selected value by 1.
BACK Button: Press this to come back to before data.
Wiring Example in Position Mode
DN series Motor Connecting(15-Line Encoder)
DN series 15-line Motor Connecting(60mm、80mm、90mm)
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DS100S AC Servo Manual
1. If use 3 phase AC220V main power supply, please connect with terminal L1,L2,L3.
2. If use 1 phase AC220V main power supply, please connect with terminal L1,L3.
3. Terminal CN2 please connect with the signal terminal of encoder.
4. Terminal CN1 should be connected following the above wiring picture.
Notes:
5. Rated current of the external power supply(12~24vdc) for digital inputs and outputs should more
than 100mA.
6. Recommend use AWG24-26 shielded cables for control and feedback signals, and correctly
ground the shielded cable.
7. Cable for control signals(CN1) should be less than 3 meters, and cable for feedback signals(CN2)
should be less than 10 meters.
8. Recommend use a circuit braker (NFB) to cut off power in the case of an overload, and use an
electromagnetic contactor to switch servo motor on and off.
Motor Code Parameter Setting Steps
The code parameter PA-01 of a motor must be configured with the exact motor that you use. The
value of PA-01 should be set referring to the following table. If there is a mismatching
occurred,there will cause degradation or alarm. And needed attention that different types of code
have different default parameters. For example, DS100H-75 whose factory default model of ac
servo motor is 80ST-M02430. If there is necessary to modify the motor code or restore setting
parameters that was set by manufacturer, please firstly modify PA-0 to 385,and then enter into
PA-01, and finally press up key or down key to select the appropriate motor. The steps as the
following picture showed:
Page 6
Parameters In Position Mode
Parameter
Introduction
Value
Default Value
PA4
Controlling Method
0
0
PA11
Command pulses if
the motor runs one
roll.
Set by yourself
10000
PA14
To select position
command pulse mode
Set by yourself
0
PA15
To reverse the
direction of position
command pulse
Set by yourself
0
The following parameters need to be set when in position mode:
Operation and Display Layer
Names Of Keys And Functions
DS100S AC Servo Manual
The panel consists of 5 LED and 4 keys including
set parameters. The operation is hierarchical.
forward”while it also has the meaning of“Enter”and
“
and“Exit”.↑key indicates“Increasing”and↓key indicates“decreasing”. If you press the↑key
or↓key and maintain it, you would get a duplicate result and stay longer, the repetition rate is
higher.
Steps To Set Parameters
Please firstly select“PA-”, and press SET key to enter the status of parameter setting mode. And
use ↑or ↓to choose parameters and SET key to display the parameter’s value. You can modify
the parameter’s value with ↑ or ↓ . Press ↑ or ↓ key one time, the parameter increases or
decreases by 1. Pressing and holding ↑or ↓key can make the value increased or decreased
continuously. After modifying the value of the parameter,please press SET key and when the LED
flashes two times, it means changes are completed . Finally please recharge, then the new
parameter is effective.
Monitoring Status Content
↑、↓、←、
key indicates“back”and SET key indicates
←
←
SET to display all system status and
key also has the meaning of“Cancel
”
There are four ways to select the mode of operation in the first layer and↑or
change the way. Press SET key to enter into the second layer of the selected way and it will turn
back to the first layer with
←
key.
key is used to
↓
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DS100S AC Servo Manual
Monitoring
Operation
Example
Introduction
SET
Speed : 1000r / min
The current position : 1245806
Position Command : 1245810
Position Deviation 4 pulse
Motor Torque 70%
Motor Current 2.3A
Control Method 0
Absolute Rotor Position 3265
Input Terminal
Output Terminal
Encoder Signal
Running State
No.9 Alarming
Pic 1. Operating display layer
Monitoring
In the first layer, please select“DP--”and press the SET button to enter into monitoring mode.
There are 16 displays in total. Users select the desired display mode with
press the SET key to enter into the specific states.
↑or↓
key, and then
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Terminals
DS100S AC Servo Manual
CN1 Connector
CN2 Connector
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CN3 And CN3B Connector
Terminal
Name
Function
1
BAT+
Dedicate power supply 3.6V of
absolute encoders.
2
GND
RS485
Can be connected to the PC machine or controller through special serial cable, don’t plug it with
electric. Twisted pair shielded wires are suggested and less than 2 meters in length
Terminal
CN3A
Name
CN3B
Name
Picture
1
VCC
Positive power supply
VCC
Positive power supply
2
GND
Ground
GND
Ground
3
TX-D
RS485 Transmitting end
TX-D
RS485 Transmitting end
4
RSB
RS485 Communication
signal
RSB
RS485 Communication
signal
5
RSA
RSA
6
RXD
RS485 Receiving end
RXD
RS485 Receiving end
7
GND
Ground
GND
Ground
8
VCC
Positive power supply
NC
Free end
Terminal
Signal Name
Function
Induction
1
RBP
External braking
resistor
Built-in： Usually shortly connect RBP and RBD。
External： If use external resistor, please disconnect RBP and
RBC. And external resistor connect between RBP and PBC.
Please do not connect RBP and RBN together.
2
RBD
3
RBC
4
RBN
DC high voltage
ground
External Regenerative Discharge Resistor Connecting Terminal
DS100S AC Servo Manual
CN5 Connector
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Parameter Function Introduction
No.
Name
Function
Parameter
Range
Default
Value
0
Password
1.User password is 315 to set or change parameters.
2.Motor type code is 385.
0-9999
315
1
Motor Type Code
1. Corresponding to different drives and motors with
different power in the same series.
2. The different motor type code has different default
parameters. If you want to use the function of recovering the
default parameter, please make sure your current
parameter is correct.
3.If want to edit the current parameter, please set the motor
type code PA0 to 385 firstly.
80-90
80ST-M02430
3
Initial Display Status
0: Display the current motor speed
1:Display the current position is 5-bit low .
2：Display the current position is 5-bit high .
3：Display position command(command pulse
accumulation) is 5-bit low.
4: Display position command(command pulse
accumulation) is 5-bit high.
5:Display position deviation is 5-bit low.
6.Display position deviation is 5-bit high .
7.Display motor torque
8.Display motor current
9.Display current control mode
10.Display current temperature
11.Display speed command
12.Display torque command
13.Display absolute position of the rotor is 5-bit low .
14.Display absolute position of the rotor is 5-bit high .
15.Display input terminal state
16.Display output terminal state
17.Display encoder input signal
18.Display voltage value of main line of main circuit
19.Display alarming code
20.Display logic chip version number
21.Display the actuation state of the relay
22.Display external voltage state
0-23
0
4
Controlling Method
Through this number you can set drive controlling method:
0: position control mode
1: speed control mode
2: test running control mode
3: JOG control mode
6:torque control mode
0/1/2/3/6
0
5
Velocity Proportional Gain
1.set the proportional gain of speed loop regulator.
2.The value is bigger, the gain is higher and rigidity is
5-2000Hz
150
DS100S AC Servo Manual
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DS100S AC Servo Manual
stronger. The parameter value is set according to your exact
servo driving system model and the load. Generally, the
greater the load inertia, the bigger the value.
3.Please set a little high value if the system condition does
not generate oscillation.
6
Velocity Integral Constant
1.To set the integration time constant.
2.The value is smaller, the integral speed is faster and the
ability of system in resisting deviation is stronger.But if it is
too small, it will happen over controlling.
1-1000ms
75
9
Position Proportional Gain
1.To set the proportional gain of position loop regulator.
2.The value is bigger, the gain is higher and its rigidity is
stronger. So the position lag is smaller under the same
frequency command pulse condition. But if it is too big, it will
happen oscillation.
3.The parameter value is set according to your exact servo
driving system model and the load.
1-1000/s
40
11
Number of output pulses
of 1 rotation turn of the
motor
1.Set the number of output pulses of 1 rotation turn of the
motor.
2.When set number “0”, PA-12(position command pulse
frequency divider) and PA-13(position command pulse
frequency) are effective.
0-30000
10000
12
The numerator of position
command pulse
1.To set the electric gear ratio in position command pulse.
2.In position control mode,it is convenient to match all kinds
of pulse source through set the parameter PA12 and PA13,
which helps to reach ideal control resolution(angle/pulse).
3. P×G=N×C×4
P: pulses of input command; G:electric gear ratio; N: motor
rotation number; C:number of photoelectric encoder in per
rotation, default value is 2500.
4.For example, input command pulse P is 6000, servo
motor rotate a roll: G=(N×C×4)/P=(1×2500×4)/6000=5/3,
So PA12 should be set to 5, PA13 should be set to 3.
0-32767
0
13
Denominator of position
command pulse
The same as the above
1-32767
10000
14
Position command pulse
input method
1.Set the method of position command pulse.
2. To set one of input methods through parameters:
0: Pulse+Direction
1: CCW pulse/CW pulse
2: phase A and phase B quadrature pulse input.
Remark: CCW: observe from the motor axial direction. It
defines CCW in counter clock wise and CW in clock wise.
0-2
0
15
Command Pulse Direction
Setting:
0:Normal
1:Reverse position command pulse pulse
0-1
0
19
Position Command
Smooth Filter
1.To filter the command pulse. Acceleration and
deceleration are with exponential form. The value is time
constant.
0-30000*0.1m
s
300
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DS100S AC Servo Manual
2.The filter does not lose the input pulse, but the delay of
the instruction occurs.
3.The filter applies in
(1. PC controller without acceleration and deceleration
function.
(2. The electronic gear frequency is a little big(>10).
(3.The command frequency is a little low.
4.When the motor runs, there is a step to jump.
5.When set the value”0”, the filter does not work.
53
8-bit low input terminal
force ON control word
To set the input terminal to force the ON effectively.
1.For unforced ON terminal, it needs to control ON in the
external connection. For forced ON terminal, external
connection is unnecessary, and it is automatic to set ON
inside the drive.
2.8-bit binary number as representation, if it is 0, it means
input terminal does not force ON. If it is 1, it means input
terminal forces ON. The binary numbers represent the input
terminals as following:
765
4
RIL
FIL
INH
CLE
321
0
RSTP
FSTP
ALRS
SON
RIL: CW torque limitation
FIL: CCW torque limitation
INH: Command pulse inhibit
CLE: Deviation counter clearance
SON: Servo enable
ALRS: Alarming clearance
FSTP: CCW drive inhibit
RSTP: CW drive inhibit
00000000-111
11111
00000000
59
Command Pulse Effective
Edge
0: The rising edge of pulse is effective
1: The falling edge of pulse is effective
0-1
0
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Fault Code indication
Code No.
Fault Name
Indication
--
Normal
1
Over Speed
Motor speed over than the setting values.
2
Main Circuit Over Voltage
The voltage of main circuit is too high
3
Main Circuit Under Voltage
The voltage of main circuit is too low
4
Position Error
The value of position deviation counter is over than the
setting value.
5
Drive Over Heat
The temperature of the drive is high
6
Speed Amplifier Saturation Fault
Speed adjustment for long time saturation
7
Drive inhibit Error
Speed adjustment in saturation for long time
8
Position deviation accumulation was out of range
Absolute value of position deviation accumulation is over
than 230.
9
Encoder Error
Encoder Signal Error
10
Disconnection Alarm
Power line UVW disconnected or one phase disconnected
11
IPM module Error
IPM smart module error
13
Drive Overload
Servo drive and motor overload(overheat instantaneously)
14
Brake Fault
Brake circuit Error
15
Encoder Counter Error
Encoder counts wrongly
20
EEPROM Error
EEPROM error
23
Current Collecting Circuit Fault
Current collecting circuit fault
30
Encoder Z Pulse Missing
Encoder Z pulse Error
32
Encoder UVW Signal Error
All UVW signal in high level or low level. Or the encoder is
mismatching.
33
UVW Signal Fault
No high resistance in powering up time series
34
UVW Signal Unstable
UVW Signal Unstable
36
When connecting to 9-line encoder, illegal state
states for long time
When connecting to 9-line encoder, illegal state states for
long time
42
AC Input Under Voltage
AC input under voltage
47
Over Voltage When Main Circuit In Powering Up
Over voltage when main circuit in powering up
50
Encoder Communication Error
Communication error when connects with the absolute
encoder.
51
Encoder Communication Disconnect
The drive and encoder communication disconnect.
55
Encoder CRC Checking Wrongly
Encoder gets wrong data when transmitting is disturbed.
56
MODBUS frame is too long.
Data Receiving from MODBUS frame is too long
DS100S AC Servo Manual
Page 14
J
Module
Number
Description
①
DS Series AC Servo Drive
②
100：under 0.75KW , 200: under2.2KW, 300:under 3.4KW
③
S ： standard ac servo drive compatible with 2500-line encoder
10000ppr.
④
Power Range : 40:50-400W
75:400W-1000W
DS100S AC Servo Manual
DS Series AC Servo Drives
Part Number
DS 1 0 0 S □□□
① ② ③ ④
Page 15
Specifications
Cooling
Natural Cooling or Forced Cooling
Operating
Environment
Environment
Avoid dust, oil fog and corrosive gases
Ambient Temp
0~+40
℃
Humidity
40%RH to 90%RH, no condensation
Vibration
5.9m/s2MAX
Storage Temperature
-20℃ to 80℃
Parameters
DS100S-40
DS100S-75
Output Power
50W-400W
400W-1000W
Main Supply
1 phase/3 phase
AC220V-240V
50/60Hz
Power Supply for
Control Circuit
1 phase 220VAC
Control Method
0: position control
1: velocity control
2: test trial control
3: JOG control
4: torque control
Protect Function
over speed/under voltage/over voltage/over current/over load/encoder
error/control supply error/position error
Monitoring Function
velocity/current position/command pulse accumulation/position
error/motor torque/motor current/working state
Control Input
1.servo enable 2.alarm clearance 3.CCW driving ban 4.CW driving ban
5.deviation counter clear zero 6.command pulse ban 7.CCW torque
limitation 8. CW torque limitation
Control Output
servo ready/servo alarm/GPS test/mechanical brake
Resistance Braking
Built-in/Built-out
Suitable Load
Less than 5 times of the motor inertia
Display
5 LEDs , 4 keys
Command Input
1: pulse+direction
2: CCW/CW
3: A phase/B phase
Electronic Gear Ratio
1/32767-32767
DS100S AC Servo Manual
Operating Environment
Page 16
Dimension
Installation
Notes:
1. Install the drives indoors, where the drives are not subjected to rain or direct sun beams.The
2. Install the drives where the products are not subjected to corrosive atmospheres,and free from
3. Install the drives in a well-ventilated and low humidity and dust-free place.
DS100S-40(50W~400W) DS100S-75(400W~750W)
DS100S AC Servo Manual
NOTE:
DS200S(1KW~2.2KW)
drives are not waterproof.
splash of inflammable gas, grinding oil, oil mist,iron powder or chips etc.
4.Install in vertical position, and reserve enough space around the servo drive for ventilation or
effective cooling.
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