gsk DAT2030, DAT2050, DAT2075, DAT2100 User Manual

This user manual describes all items concerning the operation of this CNC system in detail. However, it is impossible to give particular descriptions for all unnecessary or unallowable operations due to length limitation and products application conditions Therefore, the items not presented herein should be considered impractical or unallowable.

Copyright is reserved to GSK CNC Equipment Co., Ltd. It is illegal for any organization or individual to publish or reprint this manual. GSK CNC Equipment Co., Ltd. reserves the right to ascertain their legal liability.

DAT Series AC Servo Drive Unit User Manual

Preface

Your Excellency,

We are honored by your purchase of products from GSK CNC Equipment Co., Ltd. This manual introduces property, installation, connection, debugging, operation and maintenance of DAT Series AC Servo Driver in detail. To ensure safe and efficient work,

please read this manual carefully before installation and operation.

New products of DAT Series AC Servo Drive Unit include DAT2030, DAT2050,

DAT2075, DAT2100 and bus-type ones such as DAT2030C, DAT2050C, DAT2075C and DAT2100C.

This manual applies to the software version: V1.05 of DAT2000 series and V1.05 of DAT2000C series.

Please read the manual carefully before installation and using the product to ensure it works safely, normally and efficiently.

To avoid operator and other personal injury and machine damage, please pay special attention to the following warning label while you read the manual.

	Danger	If the motor operates incorrectly, it will cause damage or death.
		If the motor operates incorrectly, it will cause medium or slight
	Caution	injury, even property loss.
		If this label is not noticed, unexpected result and situation will
	Note	occur.

Remind important requirements and instructions to user during the operation.

It indicates prohibition (mustn’t do)

It indicates forced execution (must do)

II

Cautions

Danger

III

DAT Series AC Servo Drive Unit User Manual

Note

The drive unit may startup when the power is recovered, the user don’t operate the shaft device of the servo motor.

If the user does not obey the instruction, it will cause personal injury.

Don’t put the cable on sharp edge. Don’t make the cable bear heavy load or tension.

If the user does not obey the instruction, it will cause electric shock, trouble or damage.

Don’t prevent heat diffusion or put object on radiator fan or radiator.

If the user does not obey the instruction, it will cause damage or a fire.

When removing the cover on the terminal board, the user don’t operate drive device

during power is on.

If the user does not obey the instruction, it will cause electric shock.

Caution

IV

Cautions

Caution

V

DAT Series AC Servo Drive Unit User Manual

Safety responsibility

Manufacturer Responsibility

——Be responsible for the danger which should be eliminated and/or controlled on design and configuration of the provided servo unit and accessories.

——Be responsible for the safety of the provided servo unit and accessories.

——Be responsible for the provided information and advice for the users.

User Responsibility

——Be trained with the safety operation of servo unit and familiar with the safety operation procedures.

——Be responsible for the dangers caused by adding, changing or altering to the original servo unit and the accessories.

——Be responsible for the failure to observe the provisions for operation, adjustment, maintenance, installation and storage in the manual.

This manual is kept by final user.

We are full of heartfelt gratitude to you for supporting us in the use of GSK’s products.

VI

			Contents
		contents
CHAPTER 1 PRODUCT INTRODUCTION .........................................................................................			1
1.1	Basic Knowledge .................................................................................................................		1
1.2	Confirmation of the Arrived Goods.......................................................................................		6
	1.2.1 Instruction of Servo Motor Model ...............................................................................		6
	1.2.2 Instruction of Servo Motor Models Unit......................................................................		7
	1.2.3 Appearance of servo unit...........................................................................................		8
1.3	Technical Specifications ..................................................................................................		10
	1.3.1 Servo motor technical specifications........................................................................		10
	1.3.2 Technical Specification of Servo Unit ......................................................................		13
1.4	Order instruction ..............................................................................................................		15
	1.4.1	Order model example ..............................................................................................	15
	1.4.2	Standard Products Accessories...............................................................................	17
CHAPTER 2		INSTALLATION ........................................................................................................	19
2.1	Servo Motor .......................................................................................................................		19
	2.1.1 Mounting Dimension of the Servo Motor..................................................................		19
	2.1.2	Servo Motor Installation ...........................................................................................	21
2.2	Servo Unit ..........................................................................................................................		22
	2.2.1	Installation Dimension..............................................................................................	23
	2.2.2	Mounting Interval .....................................................................................................	24
Chapter 3 CONNECTION.................................................................................................................			25
3.1	Connection of Peripherals..................................................................................................		26
3.2	Terminal Connection of Main Circuit ...................................................................................		30
	3.2.1 Terminal Connection of Servo Unit ..........................................................................		30
	3.2.2 Instructions for Servo Motor Interface......................................................................		32
3.3	Connection of Control Signal .............................................................................................		33
	3.3.1 Definition of Pin CN1 of DAT Series Products .........................................................		33
	3.3.2 Input of Speed Command........................................................................................		35
	3.3.3 Input of Position Command......................................................................................		36
	3.3.4	Switching Value Input ..............................................................................................	39
	3.3.5 Output of Switch Value ............................................................................................		41
3.4	Connection of Feedback Signal .........................................................................................		44
	3.4.1 Introductions for CN2 of DAT2000...........................................................................		44
	3.4.2 Introductions for CN2 OF DAT2000C ......................................................................		45
	3.4.3 Connection to Encoder Signal of the Motor .............................................................		46
3.5	GSKLink Communication Function ....................................................................................		48
3.6	Examples for Different Working Mode ...............................................................................		50
	3.6.1 Speed Mode Wiring of DAT2000 Series Products ...................................................		50
	3.6.2 Position Mode Connection of DAT2000 Series Products.........................................		51
	3.6.3 Speed Mode Connection of DAT2000C Series Products ........................................		52
	3.6.4 Position Mode Connection of DAT2000C Series Products ......................................		53
CHAPTER 4 DISPLAY AND OPERATION.......................................................................................			54

VII

DAT Series AC Servo Drive Unit User Manual

4.1	Operation Panel.................................................................................................................		54
4.2	Display Menu.....................................................................................................................		54
4.3	State Monitoring.................................................................................................................		55
4.4	Parameter Setting..............................................................................................................		59
4.5	Parameter Management ....................................................................................................		60
CHAPTER 5 DEBUGGING AND OPERATION .............................................................................			62
5.1	Manual and Jog operation .................................................................................................		63
	5.1.1	Manual Operation ....................................................................................................	64
	5.1.2	Jog Operation ..........................................................................................................	65
5.2	Speed mode operation ......................................................................................................		66
	5.2.1 External analog voltage command ..........................................................................		66
	5.2.2	Internal digital command..........................................................................................	69
5.3	Position Mode Operation ...................................................................................................		71
Chapter 6 FUNCTION DEBUGGING.............................................................................................			73
6.1	Fundamental performance parameter debugging illustration.............................................		73
6.2	Application of brake releasing signal .................................................................................		75
6.3	The switchover of motor rotating direction .........................................................................		79
6.4	Output of position feedback signal.....................................................................................		80
6.5	Function Debugging of Position Mode ...............................................................................		82
	6.5.1 Position Command E-gear Ratio .............................................................................		82
	6.5.2	Position arrival signal COIN .............................................................................	83
	6.5.3 Pulse deviation zero clearing CLE .....................................................................		84
	6.5.4	Pulse command inhibition INH .........................................................................	84
6.6	Function debugging under speed mode ............................................................................		84
	6.6.1 Adjustment of analog command ..............................................................................		84
	6.6.2	Speed arrival signal COIN .................................................................................	85
	6.6.3	Zero speed clamping ZSL .................................................................................	86
CHAPTER 7		PARAMETERS .........................................................................................................	87
7.1	Parameter List......................................................................................................................		87
7.2	Parameter Description..........................................................................................................		89
CHAPTER 8 ABNORMALITIES AND REMEDIES ........................................................................			98
8.1	Abnormalities Caused by Misuse .........................................................................................		98
8.2	Alarms and Remedies ........................................................................................................		100
8.3	Inspection and Maintenance ..............................................................................................		105
APPENDIX A MODEL CODE PARAMETERS AND FEED SERVO MOTOR TABLE.................			106
APPENDIX B		PERIPHERAL EQUIPMENTS ...............................................................................	108
B. 1 External Braking Resistor (Optional).................................................................................			108
B. 2 Circuit Breaker and Contactor (Necessary) ......................................................................			109
B.3 Three-Phase AC Filter (Recommended)............................................................................			110
B.4 Isolation Transformer (Necessary).....................................................................................			110
APPENDIX C VERSION UPGRADE INSTRUCTION .....................................................................			114

VIII

Chapter 1 Product Introduction

CHAPTER 1 PRODUCT INTRODUCTION

1.1Basic Knowledge

¾Basic principle of AC servo drive device

The AC servo drive unit consists of AC servo unit and AC servo motor (three-phase permanent magnet synchronous servo motor, hereafter referred to as the servo motor). Approximate sine wave current with 120° phase difference (namely: DC—AC) are generated in three-phase stator winding of the servo motor through controlling on/off of the power switch tube after three-phase alternating current is rectified to direct current by the servo unit (namely: AC—DC). Rotary magnetic field is formed by the sine wave current and the rotor of the servo motor is made of rare earth permanent materials that with fine anti-degaussing property, therefore, the interaction between the field of motor rotor and rotary field generates electromagnetic torque to rotate the rotor. The higher the current frequency flowing through the motor winding is, the faster speed will be. The bigger the current amplitude flowing through the motor winding is, the bigger the output torque (Torque=force × arm length of the force) will be.

The diagram of main return current, see Fig. 1-1, PG in the figure represents encoder.

Fig.1-1 Main return current diagram of the AC servo drive unit

¾Basic configuration of AC servo drive device

The servo unit receives the speed (or position) command from a control unit PC like

computerized numerical control system (CNC) to control the frequency and magnitude of the motor winding current, and make the speed (or rotor angle) of motor rotor approach to the speed (or position) command value. The deviation between the actual value of motor rotor speed (or rotor angle) and the command value is obtained through the feedback signal from the encoder. In addition, the servo unit constantly adjusts frequency and magnitude of the motor winding current to make the deviation between the actual value of motor speed (or rotor anger) and the command value within a required range. The basic configuration of the servo system is shown in Fig 1-2.

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DAT Series AC Servo Drive Unit User Manual

setting

CNC		Control	Power drive unit	Motor	Driving
equipment		unit			machine

Feedback check

Spindle servo drive equipment

Fig.1-2 Basic configuration of AC servo drive device

¾General concept of control

¾Control: The process of making the property (eg. Speed) of the object (eg. Servo motor) get or close to the predicted value is called control. The forementioned object is called controlled object. Controlled quantity (Variable): The property of the controlled object. Control unit (controller): The device to achieve control. Setting: The predicted value (command value) of the controlled quantity that is received by the control unit. Feedback: The controlled quantity is taken as input of the controller to affect itself. Feedback device: The device to detect the controlled quantity. According to the vary direction of controlled quantity and setting to the controller output, the feedback is divided into positive feedback (the same direction) and negative feedback (opposite direction). Control system consists of the controller used to achieve the controlled quantity control, the controlled object and the feedback device. The drive device is divided into closed-loop control and open-loop control according to the presence and absence of feedback device, and the position of feedback unit .The closed loop introduced in this manual are all closed loop of negative feedback.

In the AC servo drive unit introduced by this manual, servo unit is a controller, the servo motor is controlled object, the motor speed (or rotor angle) is a controlled quantity, the encoder of the servo motor is a feedback device. The actual speed is detected by the encoder and it is used to speed control to achieve speed feedback. Therefore, the AC servo drive unit belongs to closed loop control system.

z Open loop control: There is no feedback device in the control system, and the actual value of the controlled quantity does not affect the controller output. Example: Drive unit of step motor. After output current phase sequence of servo unit of step motor is changed, the rotation of rotor of the step motor should vary with it. Because the step motor are not usually installed speed or position feedback device, the rotation of motor rotor may not vary accurately with the changing of the current phase sequence, which causes so-called “step out”.

Open loop control is shown in Fig. 1-3.

Fig. 1-3 Open loop control

2

Chapter 1 Product Introduction

z Closed loop control: The controlled quantity of the control system is detected by feedback device and is output to the controller. This process affects the output of the controller and then changes the controlled quantity. According to the detection point of the feedback device, the closed loop control id divided into entirely closed loop control and semi closed loop control. Entirely closed loop control (Fig. 1-4): The controlled quantity is detected directly by the feedback device and it is used for feedback. Mechanical position is used as controlled quantity, grating ruler fixed on the machine as position feedback device, and the encoder of the servo motor is taken as a speed feedback device, realizing the entirely closed loop control of machine position. If the grating ruler is not fixed, the encoder of the servo motor is used as speed feedback device (Fig. 1-5), therefore, this is a semi-closed loop control of a mechanical position.

Fig. 1-4 Full-closed loop control

Fig. 1-5 semi-closed loop control

z PID Control: also called PID adjustment, is a common algorithm the controller adopted to mathematically deal with input data (setting, feedback). P stands for proportional, which means the input of the controller is to be linearly proportional to the output, the larger the adjustment coefficient is, the more sensitive the system will react and smaller the error is (can not completely eliminated), however, over larger adjustment coefficient will result in system oscillation and instability. I stands for integral, means time integral of system input affects the output (input gradually affects output), the larger the integration time constant is, the more stable the system will be, which can eliminate steady-state error but slows system response at the same time. D stands for differential, which means input differential (slope of input change) affects output, differential control may predict deviation and produce advanced correction action to decrease tracking error and improve dynamic performance; while over large differential coefficient will also result in system oscillation and instability. Along with the adjustment of PID control coefficient at specific control system, the proportional, integral and differential adjustment are mutually affected to make a balance between system reaction speed, control accuracy and stability. As differential adjustment is prone to produce impact and oscillation, the servo system introduced in this manual adopts PI adjustment, that is, proportional and differential adjustment.

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DAT Series AC Servo Drive Unit User Manual

¾Concepts of servo control

There are three basic control models in servo system: location control, speed control and

torque control. The system chart is shown in Fig. 1-6.

zPosition control: set the direction and angle of motor rotation through digital pulse or data communication, the motor rotor controlled by servo unit will rotate to the corresponding angle in accordance with the preset direction. The rotary angle (position) and speed are both controllable.

zSpeed control: set the direction and angle of motor rotation through analog voltage or data communication, the motor rotor controlled by servo unit will rotate in accordance with the set direction and speed.

zTorque control: set the value and direction of the motor output torque through analog voltage or data communication, the servo unit controls the motor rotor’s rotation direction and the value of output torque.

The servo device introduced in this manual does not receive signals set by torque at present and the torque control operational mode is not available for the time being.

	Position			Speed		Current
	controller			controller		controller
		Position		Speed		Current	Power	Motor
		adjustment		adjustment		adjustment	amplification
Command
		Position
position				Speed feedback		Current feedback
	feedback signal			signal		signal		PG

Fig. 1-6 Three-loop control diagram

¾Servo performance index

Servo dynamic reaction characteristics: refers to the reaction speed, dynamic control error and stable control error of the servo system with set signal or load change. Fig. 1-7 indicates reaction characteristics of the servo system set with step signals (solid line represents the setting signal and dashed line represents the output signal of the servo system).

Fig. 1-7 Servo dynamic reaction curve

4

Chapter 1 Product Introduction

Rise time tr: the length of time of the speed quantity rise for the first time from zero to 90% of a stable value R (t), which shows the rapidity of dynamic reaction.

Adjustment time ts The minimum time needed to make the reaction curve reach but not exceed error interval which is used to measure the whole adjustment tempo of the device. The allowed interval refers to plus or minus 5% of the stable value proximal to the step reaction curve stable value R (t).

Overshoot σ The ratio between the maximum D-value that the rotation output quantity overpasses the stable value Rmax(t)- R (t) and the stable value R (t), which reflects the relative stability of the servo device and expressed as percentages, i.e.:

σ(%) = Rmax (t) − R(t) ×100%

R(t)

Steady-state error: the difference between the expected output steady-state value and the practical output value after the system rotation speed turned into stable.

Servo static performance: Stability is the most important issue of the servo control system. Servo static performance index, mainly the position accuracy, refers to deviation degree between the practical state and expected state when the system transient process comes to cease. Not only errors from the position measurement device and from the system will affect servo steady-state accuracy, but the internal structure and parameters of the system can also matter. Fig.1-8 shows the position servo static curve.

Fig. 1-8 Position servo static curves

Tracking error: The difference between the movable position of the workbench requested by the command signals (commanding position) and the practical movable position, i.e., tracking error equals to the value of commanding position minus the value of practical position.

Servo rigidity: servo system’s capability to resist the position deviation resulted from load interference.

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DAT Series AC Servo Drive Unit User Manual

1.2Confirmation of the Arrived Goods

Please promptly inspect the received goods in accordance with the following items, any question, please feel free to contact suppliers or our company.

	Inspected Items	Notes
	Check and confirm if the servo units	Please check by the nameplates on the servo units
	and servo motors are the ordered.	and servo motors
	Accessories complete or not	Please check accessories according to packing list,
		any unmatched ones, refer to order instruction 1.4.
	Damaged or not in transport	Check the general appearance of goods to ensure
		products intact and with no damage.
	Screw loose or not	Please check if there is any screw loose with
		screwdrivers.

1. Damaged AC servo unit or the ones without integrated parts can not be installed.

2.AC servo unit should be matched with servo motor with proper property.

1.2.1Instruction of Servo Motor Model

Rated speed

Rated voltage and rated current

Servo motor model

Rated torque

UN:220V IN :10A		S	N
N:	2500r/min	max: 3000 r/min
INS.CLASS: B		IP65 M: 17 bit
S/N: 081016100D0000107H

	Product No.	Grade of protection
		Encoder lines
	Class of Insulation	Max speed

Fig. 1-9 Instruction of servo motor models:

6

Chapter 1

Product Introduction

130

SJT M Z 150 D A□ Y□ X□

Machine model

Non:Aviation sockettype

X:Cable direct type

AC synchonic servo motor

Shaft or installation config.#3

M:Photoelectric encoder

Non:Standard shaft

Y□:Special ballpoint shaft

Non:Non-electricity-breaking brake

Z□:Special cone shaft

Z:With-electricity-breaking brake

S□:Stepping motor installation config.

Zero-speed torque

2

Encoder type

150: 15N·m

A or None:

Increment type 2500 p/r

A2 Increment type 5000 p/r

Rated

A 1000 r / min

A3:Increment split-type 5000 p/r

A4:Absolute type 17bit

B 1500 r / min

rotation

A41:Danaher multi-circle 17bit absolute type

C 2000 r / min

speed

D 2500 r / min

A4S1:Danaher single-17bit absolute type

E 3000 r / min

#1 Working power of electricity-breaking brake: DC 0.9 1.1 ×24V, interface: triax socket, 1,2 pin are power terminals (have no polarity), 3 pin is the earth terminal. When the 1 and 2 pin plug in power, the electricity-breaking brake doesn’t work, while when the power is disconnected, it will brake and the operating time is less or equal to 0.1s.

#2 A three-digital number “150” is used to show its value: 150×10-1=15, unit: N.m.

#3 ‘□’ is a numeric codes, please refer to the installation outline drawing of the motor for the special shaft represented by a certain number.

1.2.2Instruction of Servo Motor Models Unit

Nameplate examples:

Motor model corresponded to factory parameter of the drive unit

Drive unit order model

Digital AC servo drive unit

Model : DAT2075C	Version: V1.05				Software version
Adapted motor:130SJT-M150D A4					of Drive unit
Power:3-phase 220V					Production date
		Date:2009/3
SN:E03DN00088
					of drive unit

Tel.[phone] Fax.[phone]

Production No. of drive unit

Power of drive unit

7

DAT Series AC Servo Drive Unit User Manual

DAT 2 050 C 130 SJT M 150 D A □Y □X □

Matching AC servo motor model (omit if no matching)

Communications Mode:

C: GSKLink serial communications

None: No serial communications function

				IPM module nominal current
										030 30A
										050 50A
					Input power grade:2 AC220V					075 75A
										100 100A
			Product model code

1.2.3Appearance of servo unit

zAppearance of DAT2030 and DAT2050

8

Chapter 1 Product Introduction

zAppearance of DAT2030C and DAT2050C

LED Monitoring window:

composed of 6 LED nixie tubes and able to carry out monitoring under all operating models

and make parameters revision and management.

Parameter sequence, parameter value increase

Parameter sequence, parameter value decrease

Back to the previous menu, or cancel operation

The parameter value increase 100 for every pushing of the combination button

	The parameter value decrease 100 for
	every pushing of the combination button

Step to the next menu, or cancel operation

CN1: Control signal interface:

Insert external speed command, position command and input, output signals

CN2: Encoder feedback input interface Increment-type encoder differential signal, motor position feedback input

CN4, CN5, GSKLlink Commnuincations Interface Connect with GSKLlink serial bus through which the CNC system can achieve servo module and real-time monitoring.

zAppearance of DAT2075 and DAT2100

R S T Drive unit power input terminal Voltage range: 3-Phase AC 220V

Please lead power through protector

!device such as circuit breaker.

Input power ground, motor protector ground earth terminal

P B1 B Dynamic braking resistor inserting end: when attach external braking resistor, switch the resistor on P. B end, no B1 end; attach internal braking resistor, short-circuit

B1 B end, no P end. Refer to Appendix B1 for braking resistor selection.

Short-circuit of P B ends are not allowed.

U V WInserting end of motor power

Serial connecting capacitive device between drive unit and motor for filtering processing is not allowed.

Indicator light:” CHANGE” high voltage indicator light ON: DC bus with high voltage OFF: DC bus discharged off

When Indicator light ON, No dismantle or install drive unit, power lines, motor line and braking resistor lines.

9

DAT Series AC Servo Drive Unit User Manual

zAppearance of DAT2075C,DAT2100C

1.3Technical Specifications

1.3.1Servo motor technical specifications

Table 1-1 Principle Technical Parameters of 80SJT Series Motor

Model	80SJT-M024C	80SJT-M024E	80SJT-M032C	80SJT-M032E
Project	(A□)	(A□)	(A□)	(A□)
Rated Voltage kW	0.5	0.75	0.66	1.0
Pole-pairs			4
Rated Current A	3	4.8	5	6.2
Zero-speed Torque N·m	2.4	2.4	3.2	3.2
Rated Torque N·m	2.4	2.4	3.2	3.2
Maximum Torque N·m	7.2	7.2	9.6	9.6
Rate Rotary speed r/min	2000	3000	2000	3000
Maximum Rotary speed r/min	2500	4000	2500	4000
Moment of Inertia kg·m2	0.83×10-4	0.83×10-4	1.23×10-4	1.23×10-4
Weight kg	2.8	2.9	3.4	3.5
Insulation Grade		F GB	755—2008
Oscillation Grade		R GB 10068—2008
Protection Grade	IP65 GB 4208—2008/IEC 60529 2001 GB/T 4942.1—2006
Installation Type	IMB5 Flange installation GB/T 997—2008 / IEC 60034-7:2001
character of service	S1 Continuous duty GB 755—2008
electricity-breaking brake		Not available

Adaptive Encoder

Increment-type 2500 p/r,5000 p/r etc absolute encoder17bit single-circuit or multi-coil

10

Chapter 1 Product Introduction

Table 1-2 Principle Parameters of 110SJT Series, 130SJT Series Motor

Model	110SJT-M	110SJT-M		110SJT-M		110SJT-M	130SJT-M		130SJT-M
Project	040D(A□)	040E(A□)		060D(A□)		060E(A□)		040D(A□)	050D(A□)
Rated Voltage kW	1.0	1.2		1.5		1.8		1.0	1.3
Pole-Pairs					4
Rated Current A	4.5	5		7		8		4	5
Zero-speed Torque	4	4		6		6		4	5
N·m
Rated Torque N·m	4	4		6		6		4	5
Maximum Torque (N·m	12	10		12		12		10	12.5
Rated Rotary speed	2500	3000		2500		3000		2500	2500
r/min
Maximum Rotary speed	3000	3300		3000		3300		3000	3000
r/min
Moment of Inertia	0.68×10-3	0.68×10-3		0.95×10-3		0.95×10-3		1.1×10-3	1.1×10-3
kg·m2
Weight kg	6.1	6.1		7.9		7.9		6.5	6.5
Weight of motor with
electricity-breaking	7.7	7.7		9.5		9.5		8.1	8.1
brake kg
Insulation Grade				B GB 755-2008
Oscillation Grade				R GB 10068-2008
Protection Grade			IP65 GB/T4942.1-2006
Installation Type	IMB5 Flange Installation GB/T 997-2008 / IEC 60034-7:2001
Character of Service		S1 Continuous Duty GB 755-2008

Adaptive Encoder

Increment-type 2500 p/r,5000 p/r etc absolute encoder17bit single-circuit or multi-coil

Table 1-2 Principle Parameters of 110SJT Series, 130SJT Series Motor continue

	Model	130SJT-M	130SJT-M	130SJT-M	130SJT-M	130SJT-M	130SJT-M
	Project	060D(A□)	075D(A□)	100B(A□)	100D(A□)	150B(A□)	150D(A□)
	Rated Voltage kW	1.5	1.88	1.5	2.5	2.3	3.9
	Pole-Pairs				4
	Rated Current A	6	7.5	6	10	8.5	14.5
	Zero-speed Torque	6	7.5	10	10	15	15
	N·m
	Rated Torque N·m	6	7.5	10	10	15	15
	Maximum Torque (N·m	18	20	25	25	30	30

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DAT Series AC Servo Drive Unit User Manual

Rated Rotary speed			2500		2500		1500			2500				1500		2500
r/min
Maximum Rotary speed			3000		3000		2000			3000				2000		3000
r/min
Moment of Inertia kg·m2	1.33×10-3				1.85×10-3		2.42×10-3			2.42×10-3				3.1×10-3		3.6×10-3
Weight kg			7.2		8.1		9.6			9.7				11.9		12.7
Weight of motor with
electricity-breaking brake			10.1		11		12.5			12.6				14.8		15.6
kg
Insulation Grade								B GB 755-2008
Oscillation Grade								R GB 10068-2008
Protection Grade						IP65 GB/T4942.1-2006
Installation Type			IMB5 Flange Installation GB/T 997-2008 / IEC 60034-7:2001
Character of Service						S1 Continuous Duty GB 755-2008
Adaptive Encoder		Increment-type 2500 p/r,5000 p/r etc absolute encoder17bit single-circuit or
								multi-coil
			Table 1-3 Principle Parameters of 175SJT Series Motor
Model			175SJT-M			175SJT-M		175SJT-M			175SJT-M			175SJT-M	175SJT-M
Project			180B(A□)			180D(A□)		220B(A□)			220D(A□)			300B(A□)	300D(A□)
Rated Voltage kW			2.8			3.8		3.5			4.5			3.8		6
Pole-Pairs									3
Rated Current A			15			16.5		17.5			19			19		27.5
Zero-speed Torque N·m			18			18		22			22			30		30
Rated Torque N·m			18			14.5		22			17.6			24		24
Maximum Torque (N·m			36			29		44			35.2			48		48
Rated Rotary speed r/min			1500			2500		1500			2500			1500		2500
Maximum Rotary speed			2000			3000		2000			3000			2000		3000
r/min
Moment of Inertia kg·m2			6.5×10-3			6.5×10-3		9.0×10-3			9.0×10-3			11.2×10-3	11.2×10-3
Weight kg			22.8			22.9		28.9			29.2			34.3		34.4
Weight of motor with
electricity-breaking brake			28.4			28.5		34.5			36.8			42		42.1
kg
Insulation Grade								F GB 755			-2008
Oscillation Grade								R GB 10068-2008
Protection Grade						IP65 GB/T4942.1-2006
Installation Type			IMB5 Flange Installation GB/T 997-2008 / IEC 60034-7:2001
Character of Service						S1 Continuous Duty GB 755-2008
Adaptive Encoder			Increment-type 2500 p/r,5000 p/r etc absolute encoder17bit
						single-circuit or multi-coil
12

Chapter 1 Product Introduction

Mechanical Properties of Servo Motor

1.3.2Technical Specification of Servo Unit

	Servo unit model	DAT2030		DAT2050		DAT2075		DAT2100
		DAT2030C		DAT2050C		DAT2075C		DAT2100C
	Rated current of
	adaptive servo current	<6		6 10.5		11 21		22 28
	A
	Dimension mm	263×115×197				300×105×240
	width*height*depth
	Main power	3-phase AC 0.85 1.1			×220 V 50Hz/60Hz
	speed regulation ratio			5000 1
	Speed fluctuation ratio	DAT2000 adaptive to 5000p/r increment encoder, 0.03%
		DAT2000C adaptive to 17bit absolute encoder 0.01%
	Speed frequency			≥300Hz
	response
		DAT2000 adaptive to 2500p/rspeed regulation ratio Position error
			±0.036°
	Position accuracy
		DAT2000 adaptive to 5000p/rspeed regulation ratio Position error
			±0.018°
		DAT2000C adaptive to 17bit absolute encoder Position error ±0.005°
	Work mode	As manual operation, jog, internal speed, external speed, position, zero
				setting etc.
	Internal speed pattern	Servo motor operates at the 4-stage speed set in accordance with
			parameters and selected by input signals.
	External speed pattern	Servo motor operated at the speed corresponding to VCMD input
	Position pattern	-10V +10V or 0V +10V analog voltage .

13

		DAT Series AC Servo Drive Unit			User Manual
		Rotary angle of servo motor is controlled according to the pulse quantity
		of position command and the rotary speed determined by the pulse
		frequency of position command.
		Position command mode: pulse plus direction, CCW pulse/CW pulse,
		A/B two phase orthogonal pulse
		Maximum pulse frequency: 1MHz
		Command pulse frequency multiplication ratio and frequency
		demultiplication: 1 32767
		Position command electric gear ratio	1	50
			50
		With DAT2000 standard adaptive increment type encoder as the
		position feedback input, A/B/Z/U/V/W differential signal encoder
	Position feedback input	resolution ratio: 2500 pixels or 5000 pixels.
		With DAT2000C standard adaptive absolute encoder as the position
		feedback input, i.e. 17bit absolute encoder, 12bit circles of power-down
		memory
		Carry out frequency division processing to the pulse data from
	position feedback	electromotor encoder (PG or pulse generator) in drive unit and output
		them to upper computer through CN1 in accordance with the preset
	output
		pulse number so as to realize function such as			the positional
		closed-loop control of upper computer.
	Communications bus	GSKLink Bus V1.0
		10 input points as servo enabling, alarming elimination, CCW
	Input signal	prohibition, CW prohibition, Zero-speed clamping,			internal speed
		option1,internal speed option 2,CCW torque limitation, CW torque
		limitation, general input etc.
		7 output points as S-RDY, servo alarming, position arrival/speed arrival,
	Output signal	band-type brake release, zero-speed output, Z pulse(encoder zero
		point), general output, etc.
		With protection functions as overvoltage, undervoltage, overcurrent,
	Protection function	overload, overspeed, position deviation, drive abnormality, encoder
		abnormality, etc.
		4 buttons, manual operation, jog as well as parameter revision, setting,
		writing-in and back-up are available.
	Operation and display	6 LEDs which display information as rotary speed, current position,
		pulse accumulation, position deviation, motor torque, motor current,
		absolute rotor position, input & output signal states.
	braking mode	Dynamic braking, built-in braking resistor (DAT2100			or DAT2100C
		excluded) and can attach external braking resistor.

CCW indicates the main drive shaft of motor installation plane rotates counterclockwise when you see it from the shaft extension direction (CCW-Counter Clockwise).

CW indicates the main drive shaft of motor installation plane rotates clockwise when you see it from the shaft extension direction (CWClockwise).

14

Chapter 1 Product Introduction

1.4Order instruction

1.4.1Order model example

Order model examples of adaptive SJT series servo motor are listed on the following chart:

			Principle motor parameters
Order model	Rated	Rated		Zero-speed	Rated		Encoder
	Voltage	Current		Torque	speed
DAT2030-05-80SJT-M024C	0.5kW	3 A		2.4 N·m	2000r/min		2500p/r
							Incremental type
DAT2030-08-80SJT-M024E	0.75kW	4.8 A		2.4 N·m	3000r/min		2500p/r
							Incremental type
DAT2030-07-80SJT-M032C	0.66kW	5 A		3.2 N·m	2000r/min		2500p/r
							Incremental type
DAT2050-10-80SJT-M032E	1.0kW	6.2 A		3.2 N·m	3000r/min		2500p/r
							Incremental type
DAT2030-10-110SJT-M040D(A2)	1.0kW	4.5A		4N·m	2500r/min		5000p/r
DAT2030-10-110SJT-MZ040D(A2)							Incremental type
DAT2050-15-110SJT-M060D(A2)	1.5kW	7A		6N·m	2500r/min		5000p/r
DAT2050-15-110SJT-MZ060D(A2)							Incremental type
DAT2030-10-130SJT-M040D(A2)	1.0kW	4A		4N·m	2500r/min		5000p/r
DAT2030-10-130SJT-MZ040D(A2)							Incremental type
DAT2030-13-130SJT-M050D(A2)	1.3kW	5A		5N·m	2500r/min		5000p/r
DAT2030-13-130SJT-MZ050D(A2)							Incremental type
DAT2050-15-130SJT-M060D A2	1.5kW	6 A		6 N·m	2500r/min		5000p/r
							Incremental type
DAT2050-19B-130SJT-M075D A2	1.9kW	7.5 A		7.5 N·m	2500r/min		5000p/r
							Incremental type
DAT2050-15-130SJT-M100B A2	1.5kW	6 A		10 N·m	2500r/min		5000p/r
							Incremental type
DAT2050-25B-130SJT-M100D A2	2.5kW	10 A		10 N·m	2500r/min		5000p/r
							Incremental type
DAT2050-23B-130SJT-M150B A2	2.3kW	8.5 A		15 N·m	1500r/min		5000p/r
							Incremental type
DAT2075-39E-130SJT-M150D A2	3.9kW	14.5 A		15 N·m	2500r/min		5000p/r
							Incremental type
DAT2075-28E-175SJT-M180B A2	2.8kW	15 A		18 N·m	1500r/min		5000p/r
							Incremental type
DAT2075-38E-175SJT-M180D A2	3.8kW	16.5 A		18 N·m	2500r/min		5000p/r
							Incremental type
DAT2075-35-175SJT-M220B A2	3.5kW	17.5 A		22 N·m	1500r/min		5000p/r
							Incremental type
DAT2075-45-175SJT-M220D A2	4.5kW	19 A		22 N·m	2500r/min		5000p/r
							Incremental type

15

DAT Series AC Servo Drive Unit User Manual

						Principle motor parameters
		Order model		Rated	Rated		Zero-speed	Rated		Encoder
				Voltage	Current		Torque	speed
DAT2075-38-175SJT-M300B A2				3.8kW	19 A		30 N·m	1500r/min		5000p/r
										Incremental type
DAT2100-60-175SJT-M300D A2				6.0kW	27.5 A		30 N·m	2500r/min		5000p/r
										Incremental type
DAT2030C-10-110SJT-M040D(A4I)				1.0kW	4.5A		4N·m	2500r/min		17bit multi-coil
DAT2030C-10-110SJT-MZ040D(A4I)										absolute type
DAT2050C-15-110SJT-M060D(A4I)				1.5kW	7A		6N·m	2500r/min		17bit multi-coil
DAT2050C-15-110SJT-MZ060D(A4I)										absolute type
DAT2030C-10-130SJT-M040D(A4I)				1.0kW	4A		4N·m	2500r/min		17bit Multi-coil
DAT2030C-10-130SJT-MZ040D(A4I)										absolute type
DAT2030C-13-130SJT-M050D(A4I)				1.3kW	5A		5N·m	2500r/min		17bit Multi-coil
DAT2030C-13-130SJT-MZ050D(A4I)										absolute type
DAT2050C-15-130SJT-M060D(A4I)				1.5kW	6 A		6 N·m	2500r/min		17bit Multi-coil
										absolute type
DAT2050C-19B-130SJT-M075D(A4I)				1.9kW	7.5 A		7.5 N·m	2500r/min		17bit Multi-coil
										absolute type
DAT2050C-15-130SJT-M100B(A4I)				1.5kW	6 A		10 N·m	2500r/min		17bit Multi-coil
										absolute type
DAT2050C-25B-130SJT-M100D(A4I)				2.5kW	10 A		10 N·m	2500r/min		17bit Multi-coil
										absolute type
DAT2050C-23B-130SJT-M150B(A4I)				2.3kW	8.5 A		15 N·m	1500r/min		17bit Multi-coil
										absolute type
DAT2075C-39E-130SJT-M150D(A4I)				3.9kW	14.5 A		15 N·m	2500r/min		17bit Multi-coil
										absolute type
DAT2075C-28E-175SJT-M180B(A4I)				2.8kW	15 A		18 N·m	1500r/min		17bit Multi-coil
										absolute type
DAT2075C-38E-175SJT-M180D(A4I)				3.8kW	16.5 A		18 N·m	2500r/min		17bitMulti-coil
										absolute type
DAT2075C-35-175SJT-M220B(A4I)				3.5kW	17.5 A		22 N·m	1500r/min		17bit Multi-coil
										absolute type
DAT2075C-45-175SJT-M220D(A4I)				4.5kW	19 A		22 N·m	2500r/min		17bit Multi-coil
										absolute type
DAT2075C-38-175SJT-M300B(A4I)				3.8kW	19 A		30 N·m	1500r/min		17bit Multi-coil
										absolute type
DAT2100C-60-175SJT-M300D(A4I)				6.0kW	27.5 A		30 N·m	2500r/min		17bit Multi-coil
										absolute type

16

Chapter 1 Product Introduction

1.4.2Standard Products Accessories

Following list shows the standard products accessories which are allocated on the basis that no special requirement asked by users. If users need other accessories not included in the list, please contact salesperson or consult our technicians for further information.

DAT2000 series servo unit standard accessories list(allocated per each servo unit)

	Order	Accessories Name	Quantity	Description	Note
	Type
		44DB cellular type plug and	1set	CN1 connection plug
		plastic box
	servo unit	motor encoder wire	1strip	standard length 3M
					welded cable wire
		motor wire	1strip	standard length 3M
	and servo
		“Instruction Manual of DAT	1 PCS	Accompanying	are available
	motor kit
		Series AC Servo Drive Unit”		technical document
		RXLG-1500W-10ΩJ braking	1 PCS	Only DAT2100 adaptive
		resistor		to this accessory
	Servo unit	25DB pin-type plug and plastic	1 set	CN2 connection plug	CN1-CNC
	and CNC	box			signals.
					connection wires
		“Instruction Manual of DAT	1PC	Accompanying
	Kit(without
		Series AC Servo Drive Unit		technical document	are available
	servo
					along with CNC
		RXLG-1500W-10ΩJ braking	1PC	Only DAT2100 adaptive
	motor)
		resistor		to this accessory	products
		motor encoder wire	1strip	standard length 3M
					CN1-CNC signals
	Servo unit,	motor wire	1 strip	standard length 3M
					connection wires
		“Instruction Manual of DAT	1PC	Accompanying
	servo
		Series AC Servo Drive Unit		technical document	are available
	motor and
					along with CNC
		RXLG-1500W-10ΩJ braking	1PC	Only DAT2100C
	CNC Kit
		resistor		adaptive to this	products
				accessory

Note: Please mark on the order if you need other length of wire except for the standard 3M.

17

DAT Series AC Servo Drive Unit User Manual

DAT2000C Series Servo Unit Standard Accessories List(allocated per each servo unit)

	Order		Accessory Name	Quantity	Description	Note
	Type
	Servo	unit	26P high density plug and	1set	CN2 connection plug	CN1-CNC,
			plastic box			GSKLinK	signals
	and	CNC
			“Instruction Manual of DAT	1 pc	Accompanied
						connection wire and
	Kit(without		Series AC Servo Drive Unit		technical document
						terminal socket are
	servo		RXLG-1500W-10ΩJ braking	1 pc	Only DAT2100C
						available along with
	motor)		resistor		adaptive to this
						CNC products
					accessory
			motor encoder wire	1strip	standard length 3M	CN1-CNC,
	servo	unit,	motor wire	1 strip	standard length 3M
						GSKLinK	signals
			“Instruction Manual of DAT	1 pc	Accompanied
	servo					connection wire and
			Series AC Servo Drive Unit		technical document
	motor	and				terminal socket are
			RXLG-1500W-10ΩJ braking	1 pc	Only DAT2100C
	CNC Kit		resistor		adaptive to this	available along with
						CNC products
					accessory

DAT Series Selective Accessories

	Accessory Name	Description	Note
	Braking resistor	Power:300W,resistivity: 30Ω DAT2030	Refer to
	RXLG-300W-30ΩJ	or DAT2030C external selective	Appendix B1
			“Outlay Braking
	Braking resistor	Power 500W,resistivity: 22Ω DAT2050
	RXLG-500W-22ΩJ	or DAT2050C external selective	Resistor” for
			detailed the
	Braking resistor	Power 1000W,resistivity:15Ω DAT2075
			installation
	RXLG-1000W-15ΩJ	or DAT2075C external selective
			dimension.
	4*1.5mm2 BVVB	4-core wire, wire diameter:1.5mm2 DAT2030
		or DAT2030C for motor wire
	4*2.5mm2 BVVB	4-core wire, wire diameter:2.5mm2 DAT2050
		or DAT2050C for motor wire
	4*4.0mm2 BVVB	4-core wire, wire diameter:4.0mm2
		DAT2075,DAT2075C,DAT2100,DAT2100C for
		motor wire
	10-core twinning	matching motor encoder wire
	shielding wire

18

Chapter 2 Installation

CHAPTER 2 INSTALLATION

2.1Servo Motor

2.1.1Mounting Dimension of the Servo Motor

¾ For external dimensions and installation of 80SJT series motor, see figure 2-1, table 2-1.

Industrial (aviation)

Socket mount

Cable type

Fig. 2-1

Table 2-1

Type	D(mm)	N(mm)	LB(mm)	L(mm)
80SJT—M024C (A□)	φ190-0.013	φ700-0.03	171	206
80SJT—M024E(A□)	φ190-0.013	φ700-0.03	171	206
80SJT—M032C(A□)	φ190-0.013	φ700-0.03	189	224
80SJT—M032E(A□)	φ190-0.013	φ700-0.03	189	224

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DAT Series AC Servo Drive Unit User Manual

¾ For external dimensions of 110SJT series motor, see figure 2-2, table 2-2.

Fig. 2-2

Table 2-2

Type	D(mm)	N(mm)	LB(mm)	L(mm)
110SJT—M040D(A□)	φ190-0.013	φ950-0.035	186 (237)	241 (292)
110SJT—M040E(A□)	φ190-0.013	φ950-0.035	186 (237)	241 (292)
110SJT—M060D(A□)	φ190-0.013	φ950-0.035	212 (263)	267 (318)
110SJT—M060E(A□)	φ190-0.013	φ950-0.035	212 (263)	267 (318)

Note: LB, L values in the brackets are the length of corresponding motor that with safe brake.

¾ For external dimensions of 130SJT series motor, see figure 2-3, table 2-3.

	Fig. 2-3
	Table 2-3
			LB(mm)
Type	D(mm)	N(mm)		L(mm)
130SJT—M040D(A□)	φ220-0.013	φ1100-0.035	168 (227)	225 (284)
130SJT—M050D(A□)	φ220-0.013	φ1100-0.035	168 (227)	225 (284)
130SJT—M060D(A□)	φ220-0.013	φ1100-0.035	176 (235)	233 (292)
130SJT—M075D(A□)	φ220-0.013	φ1100-0.035	188 (247)	245 (304)
130SJT—M100B(A□)	φ220-0.013	φ1100-0.035	208 (267)	265 (324)
130SJT—M100D(A□)	φ220-0.013	φ1100-0.035	208 (267)	265 (324)
130SJT—M150B(A□)	φ220-0.013	φ1100-0.035	238 (297)	295 (354)
130SJT—M150D(A□)	φ220-0.013	φ1100-0.035	248 (307)	305 (364)

Note: LB, L values in the brackets are the length of corresponding motor that with safe brake.

20

Chapter 2 Installation

¾ For external dimensions of 175SJT series motor, see figure 2-4, table 2-4.

Fig. 2-4

Table 2-4

Type	D(mm)	N(mm)	LB(mm)	L(mm)
175SJT—M150D(A□)	φ350+0.01	φ114.30-0.025	224 (291)	303 (370)
175SJT—M180B(A□)	φ350+0.01	φ114.30-0.025	244 (311)	323 (390)
175SJT—M180D(A□)	φ350+0.01	φ114.30-0.025	244 (311)	323 (390)
175SJT—M220B(A□)	φ350+0.01	φ114.30-0.025	279 (346)	358 (425)
175SJT—M220D(A□)	φ350+0.01	φ114.30-0.025	279 (346)	358 (425)
175SJT—M300B(A□)	φ350+0.01	φ114.30-0.025	309 (382)	388 (461)
175SJT—M300D(A□)	φ350+0.01	φ114.30-0.025	309 (382)	388 (461)
175SJT—M380B(A□)	φ350+0.01	φ114.30-0.025	359 (432)	438 (561)

Note: LB, L values in the brackets are the length of corresponding motor that with safe brake.

2.1.2Servo Motor Installation

Servo motor installation, storage and transportation environment

	Item	Parameter and requirement
	Operation temperature	0 40
	Storage and transportation	-40 70
	temperature
	Operation humidity	30% 95% no dewing
	Storage and transportation humidity	≤95% 40
	Atmosphere environment	There is no corrosive or flammable gas, oil
		mist or dust etc. in the control cabinet
	Altitude	Altitude of below 1000m

21

DAT Series AC Servo Drive Unit User Manual

Attentions

1. When install the belt pulley, do not strike the motor or the motor axis to avoid damage to internal encoder. Spiral insert and pull

out tools should be used for dismounting.

2. The servo motor can not bear axial and radial load. Spring coupling is recommended to connect the load.

3.Stop washer should be used to fix the motor to avoid motor loosening.

4.The motor mounting position should be protected against water and oil. The cable will bring water and oil to the motor if it immerses in water and oil.

Therefore, this situation should be prevented from happening.

2.2Servo Unit

The installation environment of the servo motor has direct effect on its functions and service life. Please install it correctly under the instructions below.

	Item	Parameter and requirement
	Operation temperature	0 40
	Storage and transportation temperature	-40 70
	Operation humidity	30% 95% no dewing
	Storage and transportation humidity	≤95% 40
	Atmosphere environment	There is no corrosive or flammable gas, oil
		mist or dust etc. in the control cabinet
	Altitude	Altitude of below 1000m
	Vibration	≤0.6G(5.9m/s2)
	Atmosphere pressure	86kPa 106kPa

22