gsk DAT2030, DAT2050, DAT2075, DAT2100 User Manual

Page 1

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.

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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 injury, even property loss.

Caution

If this label is not noticed, unexpected result and situation will

Note

Remind important requirements and instructions to user during the operation.

occur.

It indicates prohibition (mustn’t do)

It indicates forced execution (must do)

Page 3

Cautions

Danger

III

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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.

Caution

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.

Page 5

Cautions

Caution

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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.

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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

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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

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Chapter 1 Product Introduction

CHAPTER 1 PRODUCT INTRODUCTION

1.1 Basic Knowledge

¾ Basic 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

¾ Basic 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

equipment

＋

－

Spindle servo drive equipment

Control

unit

Power drive unit

Feedback

check

Motor

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

¾ General concept of control ¾ Control: 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.

Driving

machine

Fig. 1-3 Open loop control

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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

¾ Concepts 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. z Position 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. z Speed 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. z Torque 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.

＋

Command

position

Position

controller

Position

adjustment

－

Position

feedback signal

Speed

controller

＋ Speed

adjustment

－

Speed feedback

signal

＋

Current

controller

Current

adjustment

－

Current feedback

signal

Power

amplification

Motor

Fig. 1-6 Three-loop control diagram

¾ Servo 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

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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 t

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.:

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.

： The minimum time needed to make the reaction curve reach but not exceed

)()(

−

(%)

max

tRtR

)(

%100

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

1.2 Confirmation 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

and servo motors are the ordered.

Accessories complete or not

Damaged or not in transport

Screw loose or not

Please check by the nameplates on the servo units and servo motors

Please check accessories according to packing list, any unmatched ones, refer to order instruction 1.4.

Check the general appearance of goods to ensure products intact and with no damage.

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.

1.2.1 Instruction of Servo Motor Model

Rated speed

Rated voltage and rated current

Servo motor model

交流伺服电动机

U :220V

: 2500r/min

S/N:

Product No.

Class of Insulation

I :10A

081016100D0000107H

max

IP65INS.CLASS: B

Grade of protection Encoder lines

Rated torque

: 3000 r/min

M: 17 bit

Max speed

Fig. 1-9 Instruction of servo motor models:

Page 15

Chapter 1 Product Introduction

130 SJT

Machine model

AC synchonic servo motor

M:Photoelectric encoder

Non:Non-electricity-breaking brake

Z:With-electricity-breaking brake

Zero-speed torque

150: 15N·m

Rated

rotation

speed

#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

A：1000 r / min B：1500 C：2000

D：2500 E：3000

r/min r/min r/min r/min

－

150 D（A□Y□X

□

）

Non:Aviation sockettype

X:Cable direct type

Shaft or installation config.#3

Non:Standard shaft

Y□:Special ballpoint shaft Z□:Special cone shaft

S□:Stepping motor installation config.

Encoder type

A or None: A2：Increment type 5000 p/r

A3:Increment split-type 5000 p/r

A4:Absolute type 17bit

A41:Danaher multi-circle 17bit absolute type

A4S1:Danaher single-17bit absolute type

Increment type 2500 p/r

-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.

1.2.2 Instruction 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

DAT2075C

Version: Model :

V1.05

Adapted motor:130SJT-M150D（A4

Power:3-phase 220V

SN:E03DN00088

Date:2009/3

Tel.020-81986247 Fax.81993683

）

Software version

of Drive unit

Production date

of drive unit

Production No. of drive unit

Power of drive unit

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DAT Series AC Servo Drive Unit User Manual

DAT 2 050

130

－

SJT M－

IPM module nominal current

Input power grade:2：AC220V

Product model code

150 D

1.2.3 Appearance of servo unit

z Appearance of DAT2030 and DAT2050

A □ Y □X □）

（

Matching AC servo motor model (omit if no matching)

Communications Mode:

C: GSKLink serial communications

None: No serial communications function

030：30A； 050：50A； 075：75A； 100：100A。

Page 17

z Appearance 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.

z Appearance of DAT2075 and DAT2100

Chapter 1 Product Introduction

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.

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

Short-circuit of P、B ends are not allowed.

U、V、W：Inserting end of motor power

Serial connecting capacitive device

between drive unit and motor for

filtering processing is not allowed.

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

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DAT Series AC Servo Drive Unit User Manual

z Appearance of DAT2075C,DAT2100C

1.3 Technical Specifications

1.3.1 Servo motor technical specifications

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

Model

Project

Rated Voltage（kW）

Pole-pairs 4

Rated Current（A）

Zero-speed Torque（N·m）

Rated Torque（N·m）

Maximum Torque （N·m）

Rate Rotary speed（r/min）

Maximum Rotary speed（r/min）

Moment of Inertia（kg·m2）

Weight（kg）

80SJT-M024C

(A□)

0.5 0.75 0.66 1.0

3 4.8 5 6.2

2.4 2.4 3.2 3.2

7.2 7.2 9.6 9.6

2000 3000 2000 3000

2500 4000 2500 4000

0.83×10

2.8 2.9 3.4 3.5

80SJT-M024E

(A□)

-4

0.83×10-4 1.23×10-4 1.23×10-4

80SJT-M032C

(A□)

80SJT-M032E

(A□)

Insulation Grade

Oscillation Grade

Protection Grade

Installation Type

character of service

electricity-breaking brake Not available

Adaptive Encoder

IP65（GB 4208—2008/IEC 60529：2001，GB/T 4942.1—2006）

IMB5（Flange installation）（GB/T 997—2008 / IEC 60034-7:2001）

S1（Continuous duty）（GB 755—2008）

Increment-type 2500 p/r,5000 p/r etc，absolute encoder17bit

F（GB 755—2008）

R（GB 10068—2008）

single-circuit or multi-coil。

Page 19

Chapter 1 Product Introduction

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

Model

Project

Rated Voltage（kW）

Pole-Pairs 4

Rated Current （A）

Zero-speed Torque

（N·m）

Rated Torque （N·m）

Maximum Torque (N·m）

Rated Rotary speed

（r/min）

Maximum Rotary speed

（r/min）

Moment of Inertia

（kg·m

）

Weight（kg）

Weight of motor with

electricity-breaking

brake（kg）

110SJT-M

040D(A□)

110SJT-M

040E(A□)

110SJT-M

060D(A□)

110SJT-M

060E(A□)

130SJT-M

040D(A□)

130SJT-M

050D(A□)

1.0 1.2 1.5 1.8 1.0 1.3

4.5 5 7 8 4 5

4 4 6 6 4

12 10 12 12 10

12.5

2500 3000 2500 3000 2500 2500

3000 3300 3000 3300 3000 3000

0.68×10

-3

0.68×10

-3

0.95×10

-3

0.95×10

-3

1.1×10-3 1.1×10-3

6.1 6.1 7.9 7.9 6.5 6.5

7.7 7.7 9.5 9.5 8.1 8.1

Insulation Grade

Oscillation Grade

Protection Grade

Installation Type

Character of Service

Adaptive Encoder

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

Model

Project

Rated Voltage（kW）

Pole-Pairs 4

Rated Current （A）

Zero-speed Torque

（N·m）

Rated Torque （N·m）

B（GB 755-2008）

R（GB 10068-2008）

IP65（GB/T4942.1-2006）

IMB5（Flange Installation）（GB/T 997-2008 / IEC 60034-7:2001）

S1（Continuous Duty）（GB 755-2008）

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

or multi-coil。

130SJT-M

060D(A□)

1.5 1.88 1.5 2.5 2.3

130SJT-M

075D(A□)

130SJT-M

100B(A□)

130SJT-M

100D(A□)

130SJT-M

150B(A□)

130SJT-M

150D(A□)

3.9

6 7.5 6 10 8.5 14.5

6 7.5 10 10 15 15

Maximum Torque (N·m）

18 20 25 25 30 30

Page 20

DAT Series AC Servo Drive Unit User Manual

Rated Rotary speed

（r/min）

Maximum Rotary speed

（r/min）

Moment of Inertia（kg·m2）

Weight（kg）

Weight of motor with

electricity-breaking brake

（kg）

Insulation Grade

Oscillation Grade

Protection Grade

Installation Type

Character of Service

Adaptive Encoder

2500 2500 1500 2500 1500 2500

3000 3000 2000 3000 2000 3000

1.33×10

-3

1.85×10

-3

2.42×10

-3

2.42×10

-3

3.1×10-3 3.6×10-3

7.2 8.1 9.6 9.7 11.9 12.7

10.1 11 12.5 12.6 14.8 15.6

B（GB 755-2008）

R（GB 10068-2008）

IP65（GB/T4942.1-2006）

IMB5（Flange Installation）（GB/T 997-2008 / IEC 60034-7:2001）

S1（Continuous Duty）（GB 755-2008）

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

multi-coil

Model

Project

Rated Voltage（kW）

Pole-Pairs 3

Rated Current （A）

Zero-speed Torque （N·m）

Rated Torque （N·m）

Maximum Torque (N·m）

Rated Rotary speed（r/min）

Maximum Rotary speed

（r/min）

Moment of Inertia（kg·m2）

Weight（kg）

Weight of motor with

electricity-breaking brake

（kg）

Insulation Grade

Oscillation Grade

Protection Grade

Installation Type

Character of Service

Adaptive Encoder

Table 1-3 Principle Parameters of 175SJT Series Motor

175SJT-M

180B(A□)

175SJT-M

180D(A□)

175SJT-M

220B(A□)

175SJT-M

220D(A□)

175SJT-M

300B(A□)

175SJT-M

300D(A□)

2.8 3.8 3.5 4.5 3.8 6

15 16.5 17.5 19 19 27.5

18 18 22 22 30 30

18 14.5 22 17.6 24 24

36 29 44 35.2 48 48

1500 2500 1500 2500 1500 2500

2000 3000 2000 3000 2000 3000

6.5×10

-3

6.5×10

-3

9.0×10-3 9.0×10-3 11.2×10-3 11.2×10

22.8 22.9 28.9 29.2 34.3 34.4

28.4 28.5 34.5 36.8 42 42.1

F（GB 755-2008）

R（GB 10068-2008）

IP65（GB/T4942.1-2006）

IMB5（Flange Installation）（GB/T 997-2008 / IEC 60034-7:2001）

S1（Continuous Duty）（GB 755-2008）

Increment-type 2500 p/r,5000 p/r etc，absolute encoder17bit

single-circuit or multi-coil。

-3

Page 21

Mechanical Properties of Servo Motor

1.3.2 Technical Specification of Servo Unit

Servo unit model

Rated current of

adaptive servo current

（A）

DAT2030

DAT2030C

DAT2050

DAT2050C

6～10.5 11～21 22～28

Chapter 1 Product Introduction

DAT2075

DAT2075C

DAT2100

DAT2100C

Dimension（mm）

（width*height*depth）

Main power

speed regulation ratio

Speed fluctuation ratio

Speed frequency

response

Position accuracy

Work mode

Internal speed pattern

External speed pattern

Position pattern

263×115×197 300×105×240

3-phase AC（0.85～1.1）×220 V， 50Hz/60Hz

5000：1

DAT2000 adaptive to 5000p/r increment encoder, ＜0.03%；

DAT2000C adaptive to 17bit absolute encoder，＜0.01%；

≥300Hz

DAT2000 adaptive to 2500p/rspeed regulation ratio， Position error：

±0.036°

DAT2000 adaptive to 5000p/rspeed regulation ratio， Position error：

±0.018°

DAT2000C adaptive to 17bit absolute encoder，Position error：±0.005°

As manual operation, jog, internal speed, external speed, position, zero

setting etc.

Servo motor operates at the 4-stage speed set in accordance with

parameters and selected by input signals.

Servo motor operated at the speed corresponding to VCMD input

（-10V～+10V or 0V～+10V） analog voltage）.

Page 22

Position feedback input

position feedback

output

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

～50

With DAT2000 standard adaptive increment type encoder as the position feedback input, A/B/Z/U/V/W differential signal ， encoder

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 electromotor encoder (PG or pulse generator) in drive unit and output them to upper computer through CN1 in accordance with the preset pulse number so as to realize function such as the positional closed-loop control of upper computer.

Communications bus

10 input points as servo enabling, alarming elimination, CCW

Input signal

Output signal

Protection function

Operation and display

braking mode

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 (CW- Clockwise).

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, band-type brake release, zero-speed output, Z pulse(encoder zero point), general output, etc.

With protection functions as overvoltage, undervoltage, overcurrent, 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. 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.

Dynamic braking, built-in braking resistor (DAT2100 or DAT2100C excluded) and can attach external braking resistor.

GSKLink Bus（V1.0）

Page 23

Chapter 1 Product Introduction

1.4 Order instruction

1.4.1 Order model example

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

Principle motor parameters

Order model

DAT2030-05-80SJT-M024C 0.5kW 3 A 2.4 N·m 2000r/min

DAT2030-08-80SJT-M024E 0.75kW 4.8 A 2.4 N·m 3000r/min

DAT2030-07-80SJT-M032C 0.66kW 5 A 3.2 N·m 2000r/min

DAT2050-10-80SJT-M032E 1.0kW 6.2 A 3.2 N·m 3000r/min

DAT2030-10-110SJT-M040D(A2)

DAT2030-10-110SJT-MZ040D(A2)

DAT2050-15-110SJT-M060D(A2)

DAT2050-15-110SJT-MZ060D(A2)

DAT2030-10-130SJT-M040D(A2)

DAT2030-10-130SJT-MZ040D(A2)

DAT2030-13-130SJT-M050D(A2)

DAT2030-13-130SJT-MZ050D(A2)

DAT2050-15-130SJT-M060D（A2）

DAT2050-19B-130SJT-M075D（A2）

DAT2050-15-130SJT-M100B（A2）

DAT2050-25B-130SJT-M100D（A2）

DAT2050-23B-130SJT-M150B（A2）

DAT2075-39E-130SJT-M150D（A2）

DAT2075-28E-175SJT-M180B（A2）

DAT2075-38E-175SJT-M180D（A2）

DAT2075-35-175SJT-M220B（A2）

DAT2075-45-175SJT-M220D（A2）

Rated

Voltage

1.0kW 4.5A 4N·m 2500r/min

1.5kW 7A 6N·m 2500r/min

1.0kW 4A 4N·m 2500r/min

1.3kW 5A 5N·m 2500r/min

1.5kW 6 A 6 N·m 2500r/min

1.9kW 7.5 A 7.5 N·m 2500r/min

1.5kW 6 A 10 N·m 2500r/min

2.5kW 10 A 10 N·m 2500r/min

2.3kW 8.5 A 15 N·m 1500r/min

3.9kW 14.5 A 15 N·m 2500r/min

2.8kW 15 A 18 N·m 1500r/min

3.8kW 16.5 A 18 N·m 2500r/min

3.5kW 17.5 A 22 N·m 1500r/min

4.5kW 19 A 22 N·m 2500r/min

Rated

Current

Zero-speed

Torque

Rated

speed

Encoder

2500p/r

Incremental type

2500p/r

Incremental type

2500p/r

Incremental type

2500p/r

Incremental type

5000p/r

Incremental type

5000p/r

Incremental type

5000p/r

Incremental type

5000p/r

Incremental type

5000p/r

Incremental type

5000p/r

Incremental type

5000p/r

Incremental type

5000p/r

Incremental type

5000p/r

Incremental type

5000p/r

Incremental type

5000p/r

Incremental type

5000p/r

Incremental type

5000p/r

Incremental type

5000p/r

Incremental type

Page 24

DAT Series AC Servo Drive Unit User Manual

Principle motor parameters

Order model

DAT2075-38-175SJT-M300B（A2）

DAT2100-60-175SJT-M300D（A2）

DAT2030C-10-110SJT-M040D(A4I)

DAT2030C-10-110SJT-MZ040D(A4I)

DAT2050C-15-110SJT-M060D(A4I)

DAT2050C-15-110SJT-MZ060D(A4I)

DAT2030C-10-130SJT-M040D(A4I)

DAT2030C-10-130SJT-MZ040D(A4I)

DAT2030C-13-130SJT-M050D(A4I)

DAT2030C-13-130SJT-MZ050D(A4I)

Rated

Voltage

Rated

Current

3.8kW 19 A 30 N·m 1500r/min

6.0kW 27.5 A 30 N·m 2500r/min

1.0kW 4.5A 4N·m 2500r/min

1.5kW 7A 6N·m 2500r/min

1.0kW 4A 4N·m 2500r/min

1.3kW 5A 5N·m 2500r/min

DAT2050C-15-130SJT-M060D(A4I) 1.5kW 6 A 6 N·m 2500r/min

DAT2050C-19B-130SJT-M075D(A4I) 1.9kW 7.5 A 7.5 N·m 2500r/min

DAT2050C-15-130SJT-M100B(A4I) 1.5kW 6 A 10 N·m 2500r/min

DAT2050C-25B-130SJT-M100D(A4I) 2.5kW 10 A 10 N·m 2500r/min

DAT2050C-23B-130SJT-M150B(A4I) 2.3kW 8.5 A 15 N·m 1500r/min

DAT2075C-39E-130SJT-M150D(A4I) 3.9kW 14.5 A 15 N·m 2500r/min

DAT2075C-28E-175SJT-M180B(A4I) 2.8kW 15 A 18 N·m 1500r/min

DAT2075C-38E-175SJT-M180D(A4I) 3.8kW 16.5 A 18 N·m 2500r/min

DAT2075C-35-175SJT-M220B(A4I) 3.5kW 17.5 A 22 N·m 1500r/min

DAT2075C-45-175SJT-M220D(A4I) 4.5kW 19 A 22 N·m 2500r/min

DAT2075C-38-175SJT-M300B(A4I) 3.8kW 19 A 30 N·m 1500r/min

DAT2100C-60-175SJT-M300D(A4I) 6.0kW 27.5 A 30 N·m 2500r/min

Zero-speed

Torque

Rated

speed

Encoder

5000p/r

Incremental type

5000p/r

Incremental type

17bit multi-coil

absolute type

17bit multi-coil

absolute type

17bit Multi-coil

absolute type

17bit Multi-coil

absolute type

17bit Multi-coil

absolute type

17bit Multi-coil

absolute type

17bit Multi-coil

absolute type

17bit Multi-coil

absolute type

17bit Multi-coil

absolute type

17bit Multi-coil

absolute type

17bit Multi-coil

absolute type

17bitMulti-coil

absolute type

17bit Multi-coil

absolute type

17bit Multi-coil

absolute type

17bit Multi-coil

absolute type

17bit Multi-coil

absolute type

Page 25

Chapter 1 Product Introduction

1.4.2 Standard 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

Type

servo unit

and servo

motor kit

Servo unit

and CNC

Kit(without

servo

motor)

Servo unit,

servo

motor and

CNC Kit

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

Accessories Name Quantity Description Note

44DB cellular type plug and

1set CN1 connection plug

plastic box

motor encoder wire 1strip standard length 3M

motor wire 1strip standard length 3M

“Instruction Manual of DAT Series AC Servo Drive Unit”

RXLG-1500W-10ΩJ braking

resistor

25DB pin-type plug and plastic

1 PCS Accompanying

technical document

1 PCS Only DAT2100 adaptive

to this accessory

1 set CN2 connection plug

welded cable wire

box

“Instruction Manual of DAT

Series AC Servo Drive Unit

RXLG-1500W-10ΩJ braking

resistor

1PC Accompanying

technical document

1PC Only DAT2100 adaptive

to this accessory

motor encoder wire 1strip standard length 3M

motor wire 1 strip standard length 3M

“Instruction Manual of DAT

Series AC Servo Drive Unit

RXLG-1500W-10ΩJ braking

resistor

1PC Accompanying

technical document

1PC Only DAT2100C

adaptive to this

CN1-CNC signals

accessory

are available

CN1-CNC

signals.

connection wires

are available

along with CNC

products

connection wires

are available

along with CNC

products

Page 26

DAT Series AC Servo Drive Unit User Manual

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

Order

Type

Servo unit and CNC Kit(without servo motor)

servo unit, servo motor and CNC Kit

 DAT Series Selective Accessories

Accessory Name Quantity Description Note

26P high density plug and

plastic box

“Instruction Manual of DAT Series AC Servo Drive Unit

RXLG-1500W-10ΩJ braking

resistor

1set CN2 connection plug

1 pc Accompanied

technical document

1 pc Only DAT2100C

adaptive to this

CN1-CNC, GSKLinK signals connection wire and terminal socket are available along with CNC products

accessory

motor encoder wire 1strip standard length 3M

motor wire 1 strip standard length 3M

“Instruction Manual of DAT Series AC Servo Drive Unit

RXLG-1500W-10ΩJ braking

resistor

1 pc Accompanied

technical document

1 pc Only DAT2100C

adaptive to this

CN1-CNC, GSKLinK signals connection wire and terminal socket are available along with CNC products

accessory

Accessory Name Description Note

Braking resistor

RXLG-300W-30ΩJ

Braking resistor

RXLG-500W-22ΩJ

Power:300W,resistivity: 30Ω； DAT2030

or DAT2030C external selective

Power 500W,resistivity: 22Ω；DAT2050

or DAT2050C external selective

Refer to Appendix B1 “Outlay Braking Resistor” for detailed the

Braking resistor

RXLG-1000W-15ΩJ

4*1.5mm2 BVVB

4*2.5mm2 BVVB

Power 1000W,resistivity:15Ω； DAT2075

or DAT2075C external selective

4-core wire, wire diameter:1.5mm2； DAT2030

or DAT2030C for motor wire

4-core wire, wire diameter:2.5mm

； DAT2050

installation dimension.

or DAT2050C for motor wire

；

4*4.0mm2 BVVB

4-core wire, wire diameter:4.0mm

DAT2075,DAT2075C,DAT2100,DAT2100C for

motor wire

10-core twinning

shielding wire

matching motor encoder wire

Page 27

Chapter 2 Installation

CHAPTER 2 INSTALLATION

2.1 Servo Motor

2.1.1 Mounting 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

Type D(mm) N(mm) LB(mm) L(mm)

80SJT—M024C (A□) φ19

80SJT—M024E(A□) φ19

80SJT—M032C(A□) φ19

80SJT—M032E(A□) φ19

Fig. 2-1

Table 2-1

-0.013

φ70

171 206

-0.03

171 206

-0.03

189 224

-0.03

189 224

-0.03

Page 28

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□) φ19

110SJT—M040E(A□) φ19

110SJT—M060D(A□) φ19

110SJT—M060E(A□) φ19

-0.013

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

φ95

-0.035

186 (237) 241 (292)

212 (263) 267 (318)

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

Fig. 2-3

Table 2-3

Type D(mm) N(mm) LB(mm) L(mm)

130SJT—M040D(A□) φ22

130SJT—M050D(A□) φ22

130SJT—M060D(A□) φ22

130SJT—M075D(A□) φ22

130SJT—M100B(A□) φ22

130SJT—M100D(A□) φ22

130SJT—M150B(A□) φ22

130SJT—M150D(A□) φ22

-0.013

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

φ110

-0.035

168 (227) 225 (284)

176 (235) 233 (292)

188 (247) 245 (304)

208 (267) 265 (324)

238 (297) 295 (354)

248 (307) 305 (364)

Page 29

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□) φ35

175SJT—M180B(A□) φ35

175SJT—M180D(A□) φ35

175SJT—M220B(A□) φ35

175SJT—M220D(A□) φ35

175SJT—M300B(A□) φ35

175SJT—M300D(A□) φ35

175SJT—M380B(A□) φ35

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

+0.01

φ114.3

+0.01

φ114.3

+0.01

φ114.3

+0.01

φ114.3

+0.01

φ114.3

+0.01

φ114.3

+0.01

φ114.3

+0.01

φ114.3

-0.025

224 (291) 303 (370)

244 (311) 323 (390)

279 (346) 358 (425)

309 (382) 388 (461)

359 (432) 438 (561)

2.1.2 Servo Motor Installation

Servo motor installation, storage and transportation environment

Item Parameter and requirement

Operation temperature

Storage and transportation

temperature

0℃～40℃

-40℃～70℃

Operation humidity

Storage and transportation humidity

Atmosphere environment

There is no corrosive or flammable gas, oil

30%～95%（no dewing）

≤95%（40℃）

mist or dust etc. in the control cabinet

Altitude Altitude of below 1000m

Page 30

DAT Series AC Servo Drive Unit User Manual

Attentions

the motor or the motor axis to avoid damage to internal encoder. Spiral insert and pull out tools should be used for dismounting.

radial load. Spring coupling is recommended to connect the load.

to avoid motor loosening.

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.

1. When install the belt pulley, do not strike

2. The servo motor can not bear axial and

3. Stop washer should be used to fix the motor

4. The motor mounting position should be protected

2.2 Servo 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.

Storage and transportation temperature

Storage and transportation humidity

Operation temperature

Operation humidity

Atmosphere environment

Atmosphere pressure

Item Parameter and requirement

0℃～40℃

-40℃～70℃

30%～95%（no dewing）

≤95%（40℃）

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)

86kPa～106kPa

Page 31

2.2.1 Installation Dimension

Chapter 2 Installation

Fig. 2-5 DAT2030,DAT2030C,DAT2050,DAT2050C installation dimension (unit：mm)

Fig. 2-6 DAT2075,DAT2075C,DAT2100,DAT2100C installation dimension (unit：mm)

Page 32

DAT Series AC Servo Drive Unit User Manual

2.2.2 Mounting Interval

DAT series servo unit adopts base-plate installation mode, install direction is perpendicular to the mounting surface. Put the front side of the servo unit forward, and top side upward to dissipate heat. Please leave space around it.

Fig. 2-7 DAT servo unit mounting interval

Fig. 2-8 shows intervals between servo units, more space should leave in actual installation to

ensure well heat elimination.

Fig. 2-8 Mounting intervals between DAT servo units

To prevent environment temperature continuously from being increased, ensure

convection current flows to radiator of the servo unit in the electric cabinet.

Page 33

Please read the following notes carefully and follow it to get safe and smooth operations.

Attentions

Chapter 3 Connection

Chapter 3 CONNECTION

 Wiring can only be done by professional technical persons according to

corresponding instructions.

 Do wiring and maintenance operation at least 5 minutes after the servo unit is

power off. Ensure the voltage that each main circuit terminal to ground is safe voltage, or you will be electrocuted.

 Please confirm that servo unit and servo motor are earthed correctly.

 When you wiring, do not damage the cable by a sharp object, do not pull the

cable lustily, otherwise, it will cause electric shock or poor contact.

 Do not cross the main return circuit and signal wire through the same pipe, and

do not tie them together. When wiring, the user separates or crosses the main return circuit and signal wire, and leaves an interval of 30cm to prevent interference (from high current wire to signal wire) that makes the servo unit unable to work properly.

 Do not switch on or off the servo unit frequently, because high capacitance in it

will generate high charging current when power on. Power on or off frequently will decrease the performance of internal components of the servo unit. Recommended power on or off interval is above 3 minutes.

 Power capacity, surge absorber, radio noise filter and other devices should not

be installed at output side of the servo unit or between servo motors.

 Keep the main return circuit wire and signal line away from heat abstractor and

motor to avoid insulation property decreasing by heat.

 After connection of the main return circuit wire, the terminal protective cap is

covered to avoid electric shock.

Page 34

DAT Series AC Servo Drive Unit User Manual

3.1 Connection of Peripherals

Servo unit must be equipped with some peripherals. Proper peripheral ensures the servo unit works stably. Otherwise, service life will be shortened and even the servo unit will be damaged.

Fig. 3-2 Connection of peripheral DAT2030, DAT2050

Page 35

Chapter 3 Connection

For circuit breaker, isolation transformer, AC wave filter, AC contactor selection, please refer to

appendix B.

Fig. 3-3 Connection of peripheral DAT2030C, DAT2050C

For circuit breaker, isolation transformer, AC wave filter, AC contactor selection, please refer to

appendix B．

Page 36

DAT Series AC Servo Drive Unit User Manual

L3L2L1

3-phase AC 380V power

RESET

CNC system

位置

转换

信息

退格

取消删除

上档

输入

程序系统

图形

Braking resistor (optional)

Not connect to external braking resistor,

B, B1 are connected；

Connect to external braking resistor,

设置

帮助

B, B1 are not connected

AC380V

AC220V

V W

Protective earth wire

Control circuit

Fig. 3-4 Connection of peripheral DAT2075, DAT2100

For circuit breaker, isolation transformer, AC wave filter, AC contactor selection, please refer to

appendix B.

Page 37

Chapter 3 Connection

RESET

CNC system

位置

转换

信息

退格

取消删除

上档

输入

程序系统

图形

3-phase AC 380V power

L3L2L1

Braking resistor (optional)

Not connect to external braking resistor,

B, B1 are connected；

设置

帮助

Connect to external braking resistor, B, B1 are not connected

AC380V

AC220V

V W

(necessary)

Circuit breaker

(necessary

Transformer

(Optional)

Wave filter

Protective earth wire

See section 3.5 for connection of GSKLink

Control circuit

Fig. 3-5 Connection of peripheral DAT2075C, DAT2100C

For circuit breaker, isolation transformer, AC wave filter, AC contactor selection, please refer to

appendix B.

(necessary)

AC contactor

Page 38

DAT Series AC Servo Drive Unit User Manual

3.2 Terminal Connection of Main Circuit

3.2.1 Terminal Connection of Servo Unit

drive unit

DAT series AC servo

Encoder feedback signal

Fig. 3-6 Main circuit connection of DAT series products

The following circuit diagram is recommended for connection of KM1 control circuit in Fig. 3-5:

Page 39

Chapter 3 Connection

Section selection of main circuit wiring:

R S T

U V W P B1 B

Current of

the adapted

motor

Input terminal of

AC current

≤6A 1.5 mm2 ≥1.5 mm

6A～10.5A

11A～21A

22A～28A

2.5 mm

4 mm

≥2.5 mm

≥ 4 mm

Protective

ground

end

Power output end

1.5 mm2 1.5mm2

2.5 mm2 2.5 mm2

4 mm2 4 mm2

For DAT2030 or DAT2030C, DAT2050 or DAT2050C terminal, its

insulation covering is stripped off and the exposed copper wire is

twisted according to the following figure. Press wiring (press terminal

with special tools) with H2.5/18D type tubular terminal (Weidmuller

Company). Insert terminal as the figure, and tighten up terminal screw.

10m m ～ 12m m

For DAT2075 or DAT2075C, DAT2100 or DAT2100C terminal and DAT

series PE terminal connections, insulation covering is stripped off and exposed

copper wire is twisted according to the following figure. Press wiring (press

terminal with special tools) with HRV 2―5S type round pre-insulation terminal.

(Huxi Electric Apparatus co., Ltd), and tighten it up to the ground screw at the

front of the shell.

6m m ～ 8m m

Connection

terminal of

external, internal

brake resistor

Page 40

DAT Series AC Servo Drive Unit User Manual

3.2.2 Instructions for Servo Motor Interface

¾ Corresponding relationship between pins of motor power socket and output terminal of the

servo unit

Pin No. of the motor power socket 1 2 3 4

Terminal tab the servo unit PE U V W

¾ Pins connection of safe brake socket

z Pin1, Pin 2 is connected to DC24V, and their positive and negative poles are not distinguished,

pin 3 is earthed.

z For controlling of controlled contact KA, refer to section 6.2 :application of release signal of

band-type brake.

For motor with different power is adapted to the safe brake with different power. When selecting

24V switch power supply, please refer to the following technical parameters of arrester brakes adapted to different motors.

Seat No. of

the motor

110 4 24V DC 20 0.037

130 8 24V DC 25 0.042

175 32 24V DC 40 0.135

¾ For connection of pins of encoder signal socket, please refer to section 3.4.3.

Rated

torque

Supply

voltage

Coil power of the brake at

20 (unit℃ : W)

Release time

（s）

Page 41

Chapter 3 Connection

3.3 Connection of Control Signal

3.3.1 Definition of Pin CN1 of DAT Series Products

¾ The control signal interface CN1 of DAT2000 series products is Pin 44 male, the connector

for making control wire is Pin 44 female (the type is G3150-44FBNS1X1, provided by WIESON Company). See the following figure for the definition of the pins.

Figure 3-13 Pin CN1 of DAT2000

In the above figure, pins with the same name are connected and shorted in the inner circuit board.

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DAT Series AC Servo Drive Unit User Manual

¾ Control signal interface CN1 of DAT2000C series products is high-density socket with 50

cores (type: MDR50-10250-55H3JL, provided by 3M company), which pin layout is as

follows:

Fig. 3-14 Pin CN1

Pin No.

Name Meaning

PBO－

Position

feedback

output

PBO＋

signal A

pase

PAO－

Position

Reference

item

6.4

No.

Name Meaning

PZO－

Position

Reference

feedback

output

PZO＋

signal Z

pase

28 GND digital ground

item

feedback

PAO＋

output

signal B

6.4

29 NC

pase

PULS－

PULS＋

Position

command pulse

input

3.3.3

SIGN－

SIGN＋

Input direction

of position command

3.3.3

Speed

7 SC2/INH

selection

2/pulse

5.2.2

6.5.4

32 RIL

CW torque

limit

3.3.4

prohibited

Speed

8 SC1/CLE

selection 1/

pulse clearing

9 NC 34 ZSL

10 RSTP

11 FSTP

CW drive

prohibited

CCW drive

prohibited

5.2.2

6.5.3

33 FIL

CCW torque

limit

Zero-speed

clamped

3.3.4

6.6.3

3.3.4 35 GIN reserve

3.3.4 36 NC

12 ALRS Alarm clearing 3.3.4 37 NC

6.4

13 SON Enabling 3.3.4 38

14 NC 39

Speed arrival

COIN＋

＋/ position

6.6.2

6.5.2

arrival＋

COM－

COM＋

Input power

of control

signal (15～

24VDC)

Page 43

Chapter 3 Connection

Speed arrival

18 NC 43

19 NC 44 NC

SRDY－

SRDY＋

ZSP－

ZSP＋

ALM－

ALM＋

VCMD＋

VCMD－

Servo be

ready to

output

Motor zero-speed output

Alarm output 3.3.5

Simulated command

input

3.3.5

3.3.2

45 NC

48 0VA

49 NC

50 NC

COIN－

HOLD－

HOLD＋

CZ－

CZ＋

＋/ position

arrival＋

Release

signal of safe

brake output

Zero-point

signal of

encode

output

3.3.2 Input of Speed Command

6.6.2

6.5.2

6.2

3.3.5

VCMD+/ VCMD- are input terminals of speed command input, which receives max. 10V DC

voltage signal, and its terminal input resistance is 20KΩ.

Note: The signal cable uses a shielded line, and the differential signal must use a twisted-pair line.

Page 44

DAT Series AC Servo Drive Unit User Manual

3.3.3 Input of Position Command

Position commands PULS+/PULS-，SIGN+/SIGN- can use differential drive method or use

single-end drive method. See example as follows:

z Differential drive method

z Single-end drive method

Fig. 3-18 Wiring of NPN type single-end drive

4.7K

Fig. 3-19 Wiring of PNP type single-end drive

Page 45

Chapter 3 Connection

～

1. Differential drive method is recommended to use in order to avoid high interference；

In differential drive mode, AM26LS31, MC3487 or similar RS422 drive chip are recommended.

2. Single-end drive method will decrease action frequency. Under the condition that the

pulse input to circuit, drive current is 10 mA～15mA, external max. power voltage is limited to 25V, resistance R value is defined. Experiential data: VCC=24V，R=1.3kΩ

2kΩ；VCC=12V，R=510Ω～820Ω；VCC=5V，R=0Ω

There are three kinds of position command input modes, which are set by parameter PA14, can

be received. See the table bellow, and arrow represents the counting edge.

Page 46

DAT Series AC Servo Drive Unit User Manual

a. Input interface sequence diagram of pulse + symbol (max. pulse frequency 1MHz)

PULS

SIGN

90%

10%

90%

10%

trh trl

tck

trh

CCW

trl

b. Input interface sequence diagram of CCW pulse/CW pulse (max. pulse frequency 1MHz)

c. Input interface sequence diagram of 2-phase command pulse (max. pulse frequency 1MHz)

Parameter

Differential

drive input

(μs)

Single-end

drive input

(μs)

Sequence parameters of pulse input are listed bellow.

tck th t

trh trl ts t

qcktqh

>1 >0.3 >0.3 <0.2 <0.2 >2 >1 >0.3 >0.3 <0.2 <0.2 >0.2

>5 >2.5 >2.5 <0.3 <0.3 >2.5 >10 >5 >5 <0.3 <0.3 >2.5

tql t

qrh

qrl

tqs

Page 47

Chapter 3 Connection

3.3.4 Switching Value Input

Two examples of wiring are provided bellow, Inx represents input point: (SON, ALRS, FSTP,

RSTP, SC1/CLE, SC2/INH, ZSL, FIL, RIL, GIN).

Example of external

switch value

Example of external

photocoupler

DC15V～24V power (above 1A) should be provided for servo unit. It is suggested the same

power with output circuit should be used.

Input coupler is on when Inx connects to 0V, and the signal is ON, input is active. Monitor window

can be used for judgment, when the input point is ON, corresponding LED lights up. When the input point is OFF, corresponding LED is not work. This monitor window is used for debugging and examining the control signal of the servo unit.

Detailed instructions for input signals:

¾ COM＋, COM－ are input ports of external specified power (15V～24V).

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DAT Series AC Servo Drive Unit User Manual

¾ Servo enable is operated when SON is ON. Check the monitor window and

is displayed.

parameters

PA54

Meaning Unit

When there is no external SON signal input, motor enable is enforced in the servo unit. PA54=0：When external input signal

SON is ON, the motor is enabled. PA54=1：Motor enable is enforced in the

servo unit, and the external SON signal is not needed.

Default

value

Applicable

modes

P，S

The motor is turned on when the servo unit works normally. If the servo unit has troubles,

the alarm code occurs. Please refer to chapter 8 troubles and troubleshooting.

¾ When ALRS is ON, alarms that smaller than No. 9 alarm are cleared by ALRS signal after trouble clearing. Alarms that bigger than No. 9 alarm can only be cleared after trouble clearing and power on again. When SON is ON, the function of alarm clearing is invalid.

¾ FSTP, RSTP: Drive prohibition signal is usually matched with stroke switch to avoid over travel.

Input signal Operation

FSTP RSTP CCW CW

ON ON O O

ON OFF O Prohibited

OFF ON Prohibited O

OFF OFF Prohibited Prohibited

Note: O represents normal. When drive prohibition function is not used, PA20 is set to 1 to shield drive

prohibition function.

Page 49

¾ FIL: CCW torque limit. When FIL is ON, the maximum torque of the motor is limited by

the setting of PA36.

¾ RIL: CW torque limit. When RIL is ON, the maximum torque of the motor is limited by the

setting of PA37.

3.3.5 Output of Switch Value

1. In DAT2000 series product, except signal HOLD, CZ, other output signals are

single-end transistor output. Emitter of the coupler has been connected to COM-.

2. Switching value output of DAT2000C series product is double-end transistor output:

Chapter 3 Connection

OUTx represents output points (ALM, SRDY, ZSP, COIN, HOLD, CZ)

z Wiring diagram of single-end transistor output

Example 1: Servo unit matches with system GSK980TDb

External controller

Example 2: Servo unit matches with system 983M

Output of external

relay

Page 50

DAT Series AC Servo Drive Unit User Manual

z Wiring diagram of double-end transistor output

External controller

External relay output

When OUTx is connected to COM－ or OUTx＋ is connected to OUTx, input point is ON.

Monitor window

can be used for judgment, when input point is ON, corresponding

LED lights up. When input point is OFF, corresponding LED does not light.

¾ ALM of the servo unit is output when abnormity is detected. Output state is relevant to PA47.

PA47=0

PA47=1

ALM signal output coupler is OFF when alarm occurs

ALM signal output coupler is ON when alarm occurs

Page 51

Chapter 3 Connection

ALM

Power

(PA47=1)

(PA47=0)

OFF ON

OFF

No alarm

0.5s

No alarm alarm

alarm

¾ SRDY represents servo unit is ready. SRDY signal output photo coupler is connected when

the motor power-on is excited.

¾ ZSP represents zero-speed output, i.e. when the speed of the motor is zero, photo coupler

of ZSP signal output is ON.

¾ CZ represents zero point signal of encode: For incremental encoder, sequence is in

accordance with Z signal (one-rotation signal) feedback from motor encoder, as shown below:

For absolute type encoder, AB-phase pulse number per circle is set by servo parameter, zero

point signal CZ is output at the same time.

¾ HOLD：Release signal of safe brake of the motor with a band-type brake. Refer to 6.2 for

output logic of this signal.

1. When output signal is open collector type, its maximum load current is 100mA, maximum voltage of external DC current is 25V. If it exceeds the specific requirement or output end directly connect to the power, servo unit will be damaged.

2. If the load is inductive load, freewheeling diode should be paralleled with two ends of the load. If the freewheeling diode is connected reversely, the servo unit will be damaged.

Page 52

DAT Series AC Servo Drive Unit User Manual

3.4 Connection of Feedback Signal

3.4.1 Introductions for CN2 of DAT2000

The encoder interface CN2 of the motor of the DAT2000 servo unit is Pin 25 female. The connector for making control wire is Pin 25 male (the type is G3150-44FBNS1X1, provided by WIESON Company). See the following figure for the definition of the pins.

Fig. 3-42 CN2 DB 25 female socket

Pin No.

1 0V 14 FG

2 0V 15 FG

3 0V 16 0V

4 0V

5 5V 18 5V

Name Meaning Pin No. Name Meaning

Frame ground

Encoder power（－）

17 5V

Encoder power（－）

Encoder power（＋）

6 5V

W－

V－

U－

Z－

B－

A－

Encoder power（＋）

Feedback of

incremental type

encoder W－

Feedback of

incremental type

encoder V－

Feedback of

incremental type

encoder U－

Feedback of

incremental type

encoder Z－

Feedback of

incremental type

encoder B－

Feedback of

incremental type

encoder A－

25 NC

W＋

V＋

U＋

Z＋

B＋

A＋

Feedback of incremental

type encoder W＋

Feedback of incremental

type encoder V＋

Feedback of incremental

type encoder U＋

Feedback of incremental

type encoder Z＋

Feedback of incremental

type encoder B＋

Feedback of incremental

type encoder A＋

13 OH

Input terminal of motor

temperature sensor

Page 53

Chapter 3 Connection

This interface is only applicable for feedback signal of incremental encoder. The signal wire uses

differential drive connection. The wiring diagram is shown below:

OH1（CN2-13）is used for connecting overheating detector in the servo motor, which makes the

servo unit have overheating protective function. Internal wiring diagram is shown below:

After connection, set PA 57 of the servo motor according to properties of overheating detector. If the servo motor has no overheating detector, PA57 is set to 0 and the shielding alarm occurs, OH1, 0V can not be connected.

parameter

Name Unit

Alarm shielding for motor overheating

Parameter

scope

0～2

Default

value

Application

mode P，S

PA57=0：shielding alarm

PA57

PA57=1：logic alarm when the check switch is the normally-closed in the

appropriate motor’s temperature

PA57=2：logic alarm when the check switch is the normally-open in the

appropriate motor’s temperature

3.4.2 Introductions for CN2 OF DAT2000C

Feedback signal interface CN2 of the encoder of the DAT2000C series products are high-density socket with 26 cores (type: MDR26-10226-55H3JL, provided by 3M company), which pin layout is shown below:

Fig. 3-45 Pin CN2

Page 54

DAT Series AC Servo Drive Unit User Manual

Pin No. Name Meaning Pin No. Name Meaning

1 OH1

1～13 pins combine CN2 interface of DAT2000 series products, which applies to feedback

signal of incremental encoder. Other pins apply to feedback signal of absolute encoder. OH1 （CN2-1）is used for connecting overheating detector in the servo motor, its connection is the

same that of DAT2000 series products.

W＋

W－

V＋

V－

U＋

U－

Z＋

Z－

B＋

B－

A＋

A－

Input terminal of the motor temperature sensor

Connect incremental encoder feedback signal

14 NC

15 NC

16 0V

17 0V

18 NC

19 5V

20 5V

21 5V

22 NC

MA＋

MA－

SL＋

SL－

Encoder power（－）

Encoder power（＋）

Feedback signal of

absolute encoder

3.4.3 Connection to Encoder Signal of the Motor

The following diagram is a standard wiring of incremental encoder motor matched DAT2000 series products. When users use motors of other company or make encoder cable by themselves, refer to the standard wiring bellow. (If the motor is with a thermostat, connect the thermostat to OH1, 0V ports)

Page 55

OH1

null

Chapter 3 Connection

motor

Servo motor

Intermediate cable

Drive unit

Fig. 3-46 Encoder wiring of SJT servo motor

The following diagram is a standard wiring of absolute encoder motor matched DAT2000C series products. When users use motors of other company or make encoder cable by themselves, refer to the standard wiring bellow. (If the motor with a thermostat, connect the thermostat to OH1, 0V ports)

Fig. 3-47 Wiring of absolute encoder

Encoder signal socket of SJT series servo motor are all Pin15 male aviation socket, please select Pin 15 female aviation plug to make signal cable. Exterior of aviation plug of the encoder signal cable is as follows:

Page 56

DAT Series AC Servo Drive Unit User Manual

1. The length of power cable and feedback signal cable of the motor shall be within 20m, the distance between two cables shall be more than 30cm. Two cables can not be crossed through the same pipe or tied them together.

2. Signal cable uses stranded shielding cable, cross-section is 0.15mm shielding layer to PE terminal.

～0.20mm2, connect

3.5 GSKLink Communication Function

DAT2000C series servo unit has GSKLink serial communication function. Connect CN4 or CN5 interfaces to GSKLink to realize real-time communication of the CNC. The servo unit can manage parameters through GSKLink (including parameter storage, parameter alteration, and parameter backup) or monitor the position, speed, current, humidity and I/O state information.

¾ Connection between CNC and servo unit is as follows:

There is a spare commnunication interface on the servo unit that is for GSKLink link. Serial terminal is to connect a resistor matched with 120Ω/0.25W between CANL of the interface and CHNH signal terminal.

Page 57

Chapter 3 Connection

¾ Circuit diagram of bus interface CN4, CN5 of GSKLink is as follows:

¾ Communication diagram between GSK988T CNC system and servo unit

¾ Communication connection between servo units

¾ Set related parameters after connecting the communication cable correctly:

parameter

PA58

Name Unit

Servo unit slave No.

Note: Set number to servo unit that connected to GSKLINK communication bus, and

the number cannot be repeated.

Selection of GSKLINK communication baudrate

Parameter

scope

0～5

0～4

Default

value

PA59=0：Shield GSKLINK communication function；

Application

mode P，S

P，S

PA59

PA59=1：Set baudrate to 500k； PA59=2：Set baudrate to 600k； PA59=3：Set baudrate to 800k； PA59=4：Set baudrate to 1M。

Page 58

DAT Series AC Servo Drive Unit User Manual

3.6 Examples for Different Working Mode

3.6.1 Speed Mode Wiring of DAT2000 Series Products

Fig. 3-54 DAT2000 speed mode wiring

Signals with mark * in the figure are necessary connection signal.

#1：Minimum power of external given switch power (DC 15V~24V) should not less than 35W.

#2：When speed command is 0V～10V, and PA4=1，PA46=1, SC1, SC2 are taken as CCW, CW

rotation start signal. It is a necessary connection signal at this moment. When PA4=2, it is taken as an internal speed selection signal.

#3：DG is an output common port. Please connect it to power earth wire of output signal. #4：OH is not connected to the servo motor without temperature control sensor. Set PA57=0 to

shield motor overheating alarm.

Page 59

Chapter 3 Connection

#5：The metal shell of CN1, CN2 interfaces are connected to PE of servo unit, which can be

taken as bonding point of shield line.

3.6.2 Position Mode Connection of DAT2000 Series Products

Single or three phase AC

External given

Alarm clear

CCW drive prohibition

CW drive prohibition

CCW torque limitation

CW torque limitation

Pulse deviation clearing

Pulse command prohibition

Ready

Zero-speed output

Speed arrival

Alarm output

Band-type brake

signal output

Position feedback

output Z pulse

Pulse command input

220V

SON

DC15V～24V

～

KM1

Power earth wire

*COM+

*COM+ 39

HOLD +

HOLD -

PULS

SIGN

*SON 23

ALRS 8

FSTP

RSTP

FIL

RIL

CLE

INH

GIN 1

SRDY 20

ZSP

COIN

CZ +

CZ -

＋

－

＋

－

CN 1

5ALM

4.1k

270

AC servo drive unit

CN 2

13 OH1

55V

20V

24 A +

11 B -

22 Z +

9U-

20 V +

7W-

14 FG

15 FG

CN1

28 PBO +

OH2

A-

B+

Z-

U+

V-

W+

PAO +

PAO -

PBO -

PZO +

PZO -

Vcc

GND

A+

A-

B+

B-

Z+

Z-

U+

U-

V+

V-

W+

W-

Servo motor

Motor

Fig. 3-55 Position mode connection of DAT2000

Signals with mark * in the figure are necessary connection signals.

#1：Minimum power of external given switch power (DC 15V~24V) should not less than 35W.

#2：DG is output common port. Please connect it to power earth wire of output signal.

#3：OH is not connected to the servo motor that without temperature control sensor. Set PA57=0

to shield motor overheating alarm.

#4：The metal shells of CN1, CN2 interfaces are connected to PE of servo unit, which can be

taken as bonding point of shield line.

Page 60

DAT Series AC Servo Drive Unit User Manual

3.6.3 Speed Mode Connection of DAT2000C Series Products

Zero-speed clamping

CCW torque starting/speed

CW torque starting/speed

External given

SON

Alarm clear

CCW drive prohibition

CW drive prohibition

CCW torque limitation

CW torque limitation

selection 1

selection 2

Single or three phase AC

220V

Power earth wire

DC15V～24V

*COM+

*COM+ 39

*SON 13

ALRS 12

ZSL 34

FSTP 11

RSTP

FIL

RIL

*SC1

*SC2

CN1

AC servo drive unit

4.1k

1OH

CN2

Servo motor

MS 3～

CN1

Alarm output

Servo ready

Speed arrival

Zero-speed output

Band-type brake releasing

signal output

Motor zero point signal

Analog command inPut

-10V~+10V or 0V~+10V

COM-

ALM+

ALM-

SRDY+

SRDY-

COIN+

COIN-

ZSP+

ZSP-

HOLD +

HOLD -

CZ +

CZ -

CN1

* VCMD+ 24

* VCMD-

OVA

CN4

CN5

CNC

DAT series

drive unit

Fig.3-56 Speed mode connection of DAT2000C

Signals with mark * in the figure are necessary connection signals.

#1：Minimum power of external given switch power (DC 15V~24V) should not less than 35W.

#2：When speed command is 0V～10V, and PA4=1，PA46=1, SC1, SC2 are taken as CCW, CW

rotation start signal. It is a necessary connection signal at this moment. When PA4=2, it is taken as an internal speed selection signal.

#3：Short circuit B1 and B terminals when braking resistor is not needed to connect.Connect

resistance to P, B ends when external resistance is needed. Disconnect B1 and B at the same time.

#4：OH is not connected to the servo motor that without temperature control sensor. Set PA57=0

to shield motor overheating alarm.

#5：The metal shell of CN1, CN2 interfaces are connected to PE of servo unit, which can be

taken as bonding point of shield line.

Page 61

Chapter 3 Connection

3.6.4 Position Mode Connection of DAT2000C Series Products

External given

Zero-speed clamping

CCW drive prohibition

CW drive prohibition

CCW torque limitation

CW torque limitation

Position deviation clearing

Pulse command prohibition

Alarm output

Servo ready

position arrival

Zero-speed output

Band-type brake

releasing signal output

Motor zero point signal

DC15V～24V

SON

Alarm clear

Single or three phase

AC 220V

Power earth

wire

SRDY+

SRDY-

COIN+

COM+

COM+ 39

SON 13

ALRS 12

ZSL 34

FSTP 11

RSTP

FIL

RIL

CLE

INH

COM-

ALM+

ALM-

COIN-

ZSP+

ZSP-

HOLD+

HOLD-

CZ+

CZ-

CN1

42 47

AC servo drive unit

4.1k

Servo motor

1OH

CN2

CN4

CN5

CNC

DAT series

drive unit

MS 3～

270

＋－

270

＋

－

Pulse command

input

PULS

SIGN

Fig.3-57 Position mode connection of DAT2000C

Signals with mark * in the figure are necessary connection signals.

#1：Minimum power of external given switch power (DC 15V~24V) should not less than 35W.

#2：Short circuit B1 and B terminals when braking resistor is not needed to connect.

Connect resistance to P, B ends when external resistance is needed. Disconnect B1 and B at the

same time.

#3：OH is not connected to the servo motor that without temperature control sensor. Set PA57=0

to shield motor overheating alarm.

#4：The metal shell of CN1, CN2 interfaces are connected to PE of servo unit, which can be

taken as bonding point of shield line.

Page 62

CHAPTER 4 DISPLAY AND OPERATION

4.1 Operation Panel

Detailed functions of keys are as follows:

Key Name Function explanation

Plus

Minus

Return

Multiplication combination key

Demultiplication combination key

＋

DAT Series AC Servo Drive Unit User Manual

1. Parameter No. or parameter value is increased

2. Upturn1-level menu

3. Increase motor speed when manual operation

4. CCW rotation starting when jog operation

1.Parameter No. or parameter value are reduced

2.Page down 2-level menu 3．Decrease motor speed when manual operation

4. CW rotation starting when jog operation

Return to previous level menu or cancel the operation

Parameter increases 100 by pressing this combination key once

Parameter decreases 100 by pressing this combination key once

When modifying the parameter, decimal light in the lower right corner of 6-section LED lights up, which indicates the value is confirmed to valid, and it can be turned off by

pressing

parameter is invalid .

Confirmation key Enter next lower menu or confirm data alteration

. If exit by pressing when the decimal light is not off, the setting of

4.2 Display Menu

6-section LED is composed of monitor window of DAT series products. Manage the contents

with the form of menu.

First level menu comprises condition monitoring, parameter setting, manual operation, jog

operation. See Fig. 4-1 for the selection and operation of the first level menu.

Page 63

Chapter 4 Display and Operation

Fig.4-1 Operation of display menu

4.3 State Monitoring

is state monitoring, and the user can select different monitor state on this menu.

Set value of parameter PA03 here or set initial monitoring state when power on.

Parameter

value

PA3=0

PA3=1

PA3=2

Initial monitor

when power-on

Operation Monitor data Explanation

Current motor speed 1000r/min 【1】

Current motor position lower

five-order (pulse) 【2】

Current motor position higher

five-order(×100000 pulse)

Page 64

Parameter

value

Initial monitor when

power-on

DAT Series AC Servo Drive Unit User Manual

Operation Monitor

data

Explanation

PA3=3

PA3=4

PA3=5

PA3=6

PA3=7

PA3=8

PA3=9

PA3=10

PA3=11

Position command lower

five-order (pulse) 【2】

Position command higher

five-order (×100000 pulse)

Position deviation lower

five-order (pulse) 【2】

Position deviation higher

five-order (×100000 pulse)

Reserve

Motor torque 70%

Motor current 2.3A

Position mode is current control

mode

Pulse current of position

command is 283.8KHZ

PA3=12

PA3=13

PA3=14

PA3=15

PA3=16

PA3=17

PA3=18

PA3=19

PA3=20

PA3=21

Reserve

Speed command is 210r/min

Torque command 20%

Input terminal state 【4】

Output terminal state 【4】

Reserve

Operating 【5】

Display No.9 alarm

Sample value of analog voltage

of high speed section

Page 65

Param

eter

Initial

monitor

Chapter 4 Display and Operation

Operation Monitor data Explanation

PA3=22

PA3=23

PA3=24

PA3=25

PA3=26

PA3=27

PA3=28

PA3=29

PA3=30

Sample value of analog voltage of low

speed section

Software version No.

Hardware version No.

Rated torque of the motor is 15N·m

Rated current of the motor is 14.5A

Rotation inertia of the motor

Input power is 1Kw

Radiator temperature is 32 centigrade

degrees

Voltage of DC bus line is 318V

PA3=31

Single-turn position of the motor 【3】

Lower digit of absolute position of the

PA3=32

motor 【3】

Higher digit of absolute position of the

PA3=33

motor 【3】

【1】In

1000r/min. If it rotates in CW direction, negative rotational speed

r is motor speed code, 1000 indicates that CCW speed of the motor is

is displayed. Unit: r/min.

【2】Feedback position value of the motor encoder consists of two parts: POS．(higher-five-order)

＋POS(lower-five-order).

Example：

× 100000 ＋＝1845806 pulses

As the same principle, pulse value of the position command is composed of two parts:

CPO．(higher-five-order)＋CPO (lower-five-order).

Example：

× 100000 ＋＝1845810 pulses

Relationship between CPO and POS：

Calculation formular of position deviation（EPO）when electronic gear ratio is 1：1：

Page 66

DAT Series AC Servo Drive Unit User Manual

－＝

【3】When 17-digit absolute encoder is used,

displays the position of motor rotor at

each rev, the display scope is 0~131071. If multi-coil absolute encoder (if 12-17 digit absolute encoder) is selected, that is, the counting scope of each rev is 17-digit (0~131071),coil counting is

12-digit (0~4095). The motor position includes two parts

＋

during rotation,

displayed value scope is 0~536870911.

In single-circle absolute encoder, displays of and ＋

consistent.

are

【4】Refer to section 3.3.4 for states of input terminal, section 3.3.5 for states of output terminal.

【5】Display of operation state

Operation methods for monitor state selection are introduced bellow.

Example: There are two ways to enter low five-digit

state of current position.

Method 1: Select state monitoring directly.

Method 2: Select state monitoring with parameters.

Fig.4-2 Select state monitoring with parameters

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4.4 Parameter Setting

Chapter 4 Display and Operation

Default value: After set PA1 according to motor type, and execute operation

corresponding value becomes the default value.

Operations for motor default value recovery:

1. Input specific code for altering motor parameters, that is PA0=385.

2. Search for corresponding type code of current motor according to code list in Appendix A.

3. Input motor type code to PA1, press

execute

parameter

to complete the operation of defaulted valued recovery.

Name Unit

Parameter altering code

to enter parameter management menu, and

Parameter

scope

0～9999

Default

value

315

Application

PA0

When PA0＝315, parameters except PA1, PA2 can be altered

PA1 Motor type code

0～185

Taking example of recovering default parameter of 130SJT-M100D（A□）（motor type is 50）

below:

mode

P，S

Press 2 times

Fig.4-3 Alter default parameter of the motor

1. 385 is specific code for setting default parameter of the motor. PA1 can be altered when PA0=385.

2. User can evaluate whether the default parameter of the servo unit is suitable for the motor through the operation of setting motor default parameter and related parameters that are written into default value or PA1 parameter value (see appendix A). If PA1 parameter value without a corresponding motor type code, the motor may not work

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normally.

DAT Series AC Servo Drive Unit User Manual

3. Press key to validate the parameter after alteration. Now, the altered value is

reflected on the controller. If you are not satisfy with the parameters that is being altered,

don’t press key, press key to exit, and the parameter value is restored to the one before alteration. If you hope the altered parameter is valid after power off, please execute parameter writing operation.

On parameter setting, combination keys +

makes parameter increases hundred-fold or decreases hundred-fold. Take the operation of changing the value of PA24 from 100 to 1800 as example.

Fig.4-4 Usage of key combination

4.5 Parameter Management

This part introduced operations for parameter write, reading, backup, recovery and default value recovery of DAT series servo unit in details. See the following figure for data storage relationship of parameter management.

System power on:

Parameter

write-in

Parameter

read

Parameter

backup

Backup

recovery

Call out the

default

：

EEPROM parameter area

：

Memory

EEPROM parameter area

Memory

EEPROM backup area

the default parameters

：

EEPROM parameter area

EEPROM backup area

Memory, EEPROM parameter area

Fig.4-5 Storage diagram of parameter management

¾ EE－SEt Parameter write indicates that write the parameters in the memory to EEPROM

parameter area. Parameter alteration only changes the parameter value. It will change into original value after power on again. If the parameter value is needed to be changed forever,

Memory

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Chapter 4 Display and Operation

parameter write operation is used. Write parameter in the memory to EEPROM parameter area, and the altered value will be used after power on again.

¾ EE－rd Parameter reading indicates that read data from EEPROM parameter area into memory.

This process will be done once after power on. At the beginning, parameter values in the memory are the same as the ones in the EEPROM parameter areas. Parameter value in the memory will be changed after altering the parameter. If user is not satisfy with the altered parameter or the parameter is disarrayed, execute parameter reading operation. Read the data from EEPROM parameter area into memory again, recover original parameter at power on.

¾ EE－bA Parameter backup. Write parameter in the memory to EEPROM backup area. This

function used to prevent incorrect alteration and the original parameter can not be recovered.

¾ EE－rS Backup recovery. Read parameters from EEPROM backup area to the memory. Write

operation is needed, otherwise, the parameter will not change after power on.

¾ EE－dEF Default value recovery. It indicates that default value of corresponding parameter is

read to the memory, and it is written to parameter area of EEPROM. The default parameter of the motor will be used at power on again. (See section 4.4 for parameter setting)

Operations for parameter management are as follows:

Parameter write-in

Parameter read

Parameter backup

Backup recovery

Default recovery

Fig. 4-6 Parameter management

Parameter writing example:

Power on

Press 2

times

Press 5

times

Point flash is modified

at the 0 bit position

Modification

The data is modified and the

0 bit is always lighted up.

Successful

operation Operation

failure

Press 2

times

Point flash is modified

at the 0 bit position

The data modification is

affirmed and the 0 bit indicator is turned off.

1 s

Fig. 4-7 Steps of parameter writing

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DAT Series AC Servo Drive Unit User Manual

CHAPTER 5 DEBUGGING AND OPERATION

Attention: When using the servo unit first time, users should page out the monitoring

window of motor current after the first power on. Once SON turns into ON, please monitor in time

the amount of motor current. If the current exceeds the rated amount, cut off the power

immediately and check the parameter setting of the wiring and servo unit, or the motor is very

likely to be damaged.

Debugging and operation modes will be introduced in this chapter in accordance with the values

of PA4 parameter.

Relevant

parameter

PA4

Name Unit

Work mode choice

Parameter

range

0～6

Default

Value

Application

modes

P，S

z PA4=0：Position mode；

Set the direction and angle of motor rotation through digital pulse, 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. z PA4=1： External analog voltage command speed mode

Set the direction and angle of motor rotation through analog voltage, the motor rotor controlled by servo unit will rotate to the corresponding angle in accordance with the preset direction and speed. This mode can not only enhance motor’s fast action capability, but also strengthen its turbulence-resist ability of operation speed z PA4=2：Internal digital command speed mode

Users should set the values of PA24～PA27 which will be chosen as the

internal speed command corresponding to the rotary speed of motor through status combination of input points SC1 and SC2 in CN1, z PA4=3：Manual mode

Operate under the menu

’.

accelerate or decelerate by pressing ‘

z PA4=4：Jog mode

Operate under the menu

, set the Jog speed value of PA21 first,

then proceed CCW, CW revolving operation by pressing ‘ z PA4=5: Encoder Zero-setting, preset well in production, no need to set

again. z PA4=6: Analog Zero-setting, preset well in production, no need to set

again.

There are normally the following four steps in the operation of a new servo unit.

or ’.

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Chapter 5 Debugging run

The first three steps will be illustrated to facilitate users for a faster operation of the servo drive device. Users with different requirements may refer to “Function Debugging” of Chapter Six for detailed information.

z When using the servo unit first time, manual operation or JOG operation without

connected load is recommended. Make sure the servo unit and motor function normally after moving, oscillating or assembling.

z After confirming the drive device work properly without connected load, users

connect CN1 control signal and proceed debugging and operating in speed mode or position mode according to users’ practical needs.

z After the debugging of signal connection, parameter setting and motor operation run

regularly, connect the load for loaded operation.

5.1 Manual and Jog operation

First of all, wire correctly according to the following figure, do NOT connect motor load.

Fig. 5-1 Major loops connection illustration

The following schematic diagram is recommended to wire the control circuit of KMI.

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DAT Series AC Servo Drive Unit User Manual

After wire correctly, check according to the following illustrations before power on:

Items to be examined Examine methods

The specification of servo unit and motor

matching or not.

Breaker, contactor and isolation transformer

connected correctly or not.

R, S, T, PE, P, B1, B and U, V, W,

PE connected correctly or not。

Motor encoder feedback signal wire

connected correctly or not.

Major loop terminal screw fixed firmly or not. Check if any loose with screwdriver.

Make sure connect normally, and then turn on the power as the following time sequence.

Refer to instruction manual to check

nameplates of servo unit and motor

Refer to “Choose of Peripheral Equipments”

on Appendix B.

Make sure field power circuit, if necessary,

use multimeter for measurement.

Refer to Manual 3.4

5.1.1 Manual Operation

After the servo unit turned on,

is out-of-action, alarming code

Eight (Abnormal and Managing) for solution.

Essential

Parameter

PA4 Work mode choice

PA54 Interior enabling

Name Unit

will show as in normal condition; if the servo unit

will show, in this condition please refer to Chapter

Parameter

range

0～6

0～1

Default

Value

Application

Mode

P，S

Page 73

Steps of manual operation (PA4=3) as follows:

Chapter 5 Debugging run

1. Just after the servo unit is turned on, monitoring window of motor operation speed.

will show, it’s the

2. Check if PA1 corresponds to the right motor (refer to Appendix A), if PA1 is correct, the step is skipped, otherwise the user output the default

Press 2

times

parameters which corresponds to the servo motor of the servo unit (see section 4.4 for operation methods ).

3. Set PA4=3 and choose the manual operation mode.

4. Set PA54=1, interior enabling (before enabling, make sure no danger to rotate the motor shaft); (If the user wants to cancel interior enabling, set PA54=0)

5. Enter manual operation manual per the left operation drawing. (previous parameter setting omitted)

Acc.

Dec.

6. Keep pressing

, motor begins accelerating, release the button,

speed remains unchanged;

keep pressing

, and motor begins decelerating till zero speed, the

motor will reverse-accelerate.

If there is abnormal condition in manual operation, such as oscillating or noisy in motor, it’s necessary to debug the speed loop parameters of PA5,PA6 and PA8. Refer to 6.1 for specific debugging methods.

5.1.2 Jog Operation

After the servo unit is turned on,

unit is out-of-action, alarming code

Chapter Eight (Abnormal and Managing) for solution.

Essential

Parameter

PA4 Work mode choice

PA21 JOG operation speed r/min

PA54 Interior enabling

Name Unit

will show as in normal condition; if the servo

will show, in this condition please refer to

Parameter

range

0～6

-3000～3000

0～1

Default

Application

Value

120 S

Mode

P，S

Like manual operation, Jog operation also proceeds through operation panel.

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DAT Series AC Servo Drive Unit User Manual

Steps of Jog operation (PA4=4) as follows:

1. Just after the servo unit turned on, monitoring window of motor operation speed.

2. Check if PA1 corresponds to the right motor (refer to Appendix A), if PA1 is correct, the step is skip, otherwise the user outputs the default parameters which corresponds to the servo motor of the servo unit (see section 4.4 for operation methods ).

3. Set PA4=4 and choose the Jog operation mode. Set PA21=500, Jog speed: 500 r/min.

4. Set PA54=1, interior enabling (before enabling, make sure no danger to rotate the motor shaft); (If the user wants to cancel interior enabling, set PA54=0)

5. Enter manual operation manual per the left operation drawing. (previous parameter setting omitted)

6. Keep pressing preset per PA21;

keep pressing PA21. Release the button, motor stops rotating and remains zero-speed.

, motor will operate at the speed of 500 r/min

, motor will reverse-operate per the speed set per

will show, it’s the

If there is abnormal condition in Jog operation, such as oscillating or noisy in motor, it’s necessary to debug the speed loop parameters of PA5,PA6 and PA8. Refer to

6.1 for specific debugging methods.

5.2 Speed mode operation

5.2.1 External analog voltage command

① First, refer to the wiring diagrams in section 3.61 (DAT 2000 series) or section 3.6.3

(DAT2000C series) for correct wiring, and pay attention to the essential input signals in the following chart which must be connected to.

②,After correct connection, all of the input signals must be OFF, the power is turned on and the

essential parameters are set .

Essential

parameter

Parameter illustration

PA4 PA4=1 Choose external analog voltage command speed mode

Voltage range of analog control signal under speed mode:

PA46

PA46= 0：（－10V～＋10V）effective, voltage command is positive, motor CCW

rotates; Voltage command is negative, motor CW rotates.

PA46= 1：（0～＋10V）Effective, SC1, SC2 are the rotating start signals of CCW,

Page 75

CW respectively.

PA46= 0：（－10V～＋10V）effective：

PA19= 0：Motor CCW rotates when voltage command is positive. PA19= 1：Motor CW rotates when voltage command is positive.

Chapter 5 Debugging run

PA19

PA29

PA46= 1：（0～＋10V）effective：

PA19= 0：Motor CCW rotates when SC1 is ON, or motor CW rotates

when SC2 is ON.

PA19= 1：Motor CW rotates when SC1 is ON，or motor CCW rotates

when SC2 is ON.

Analog command gain:

PA29 sets the motor rotating speed corresponding to 1V analog voltage.

Different motors have different rated rotating speeds, so the value should be set according to motor models.

E.g.: The responding rated rotating speed of GSK110SJT-M060D (A□) is 2500r/min. Set PA29=250.

10V command corresponds to motor at 2500r/min. 5V command corresponds to motor at 1250r/min, 1V command corresponds to motor at 250r/min.

③. Basic debugging operation

1. After the essential parameters is set completely, the user enters into the step of

parameter-read-in operation. (Refer to Section 4.5 for the operation illustration of

parameter management)

2. Set a minor analog command to make the input signal SON turns ON, the motor will rotates

following the command.

¾ PA46=0, analog command -10V～+10V effective; take the following diagram for example:

input analog command n（r/min), the on-off control motor of SON will operate or stop; Command

unchanged, if the motor direction reverse, the value of parameter PA19 will change.

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DAT Series AC Servo Drive Unit User Manual

Fig 5-2 Time sequence of motor operation when PA46=0

¾ PA46=1, analog command 0～10V effective, set SC1, SC2 as the positive-and-negative

rotating signals. If analog voltage turns to be negative, the motor will not function.

r/min

Analog

command

The rotation

speed when

PA19=0 (r/min)

The rotation

speed when

PA19=1 (r/min)

SC 1

SC 2

OFF

ON OFF

OFF

t1t

-n

Fig 5-3 Time sequence of motor operation when PA46=1

t1, t2 represents the accelerating and decelerating time of motor respectively, the larger the motor load inertia is, the longer the accelerating & decelerating time will be.

3. Gently increase the analog command to fasten the operation speed of motor. Meanwhile monitor the motor’s operation condition and check if oscillation or noise occurs, the speed is stable as well as motor current exceed the rated value. Observe the value of motor current by

monitoring

In normal condition, the displayed current value won’t exceed the rated one.

4. If the motor rotates from zero-speed to the maximum positive rotating speed, or from the maximum negative rotating speed to the maximum positive speed in normal condition, users can proceed the debugging of other functions.

Troubleshooting of abnormal often met during the operation when the analog command speed

Page 77

mode are introduced in the following chart:

Number

2 Oscillation or noise occur in motor

3 Motor can only run in one direction;

Abnormality during the debugging

operation

Motor rotating direction is

inconsistent;

Chapter 5 Debugging run

Troubleshooting

Refer to Chapter 6.3 for the switchover of

motor rotating direction

1. Check if the shielding wire is connected correctly.

2. Refer to Chapter 6.1 for debugging

illustration of fundamental performance parameters.

1. Inspect the command source mode, and

test the setting of PA46, PA19;

2. Check if the analog command input wire

connected reversely.

Set OV command, motor will still

move slightly;

Refer to Chapter 6.6.1 for offset

adjustment.

5.2.2 Internal digital command

① The essential input signal in the following chart must be connected.

Essential input signal Functions

*COM＋

*SON Servo enabling signal can individually control motor enabling.

*SC1 speed choice 1

*SC2 speed choice 2

②,Confirm the connection is correct, all input signals must be OFF, the power supply is turned

on and the essential parameter must be set.

Essential

parameter

PA4=2

Choose the internal digital

command speed mode

The input point common terminal is the control supply input terminal.

Name Unit

Digital command default value

PA24＝500

PA25＝2000

PA26＝-1000

PA27＝-1500

Operation speed

Internal speed 1

Internal speed 2

Internal speed 3

Internal speed 4

Parameter

range

0～6

I/O status of selection speed

SC2 SC1

OFF OFF

OFF ON

Default

value

ON OFF

ON ON

Application

mode

P，S

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DAT Series AC Servo Drive Unit User Manual

③ Basic debugging operation

1. After the essential parameters is set completely, the drive unit enters into the step of

parameter-read-in operation. (Refer to Section 4.5 for the operation illustration of

parameter management)

2. Set input signal SC1 and SC2 turn OFF, the motor will rotate at the internal speed, i.e.

500.0r/min when SON turns ON. Observe the value of motor current by monitoring

normal condition, the displayed current value won’t exceed the rated one.

3. Switch over the four different internal speeds by changing the combination status of SC1 and SC2. Meanwhile monitor the motor’s operation condition and check if oscillation or noise occurs, the speed is stable as well as motor current exceed the rated value. Following figure shows the successive switch-over time sequence of the four speeds.

Motor speed

r/min

2000

r/min

500

0r/min

-1000 r /min

r/min

-1500

SC1

PA 24

Internal

speed 1

OFF

PA 25 PA 26 PA 27

Internal

speed 2

ON ON

Internal

speed 3

OFF

Internal

speed 4

SC2

OFF

4. When motor operates normally at the four-phase internal speed, users can proceed the debugging of other functions.

Troubleshooting of abnormality during the operation under the internal speed command mode

introduced in the following chart:

NO. Abnormality during the debugging operation Troubleshooting

Refer to Chapter 6.3 for the

1 Motor rotating direction is inconsistent;

switchover of motor rotating direction

Refer to Chapter 6.1 for debugging

2 Oscillation or noise occurs in motor;

illustration of fundamental performance parameters.

to judge if the

The status of speed choice input signal is

inconsistent with motor speed

Check

input signal correct. (refer to Chapter 3.3.4 for switching value input points )

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Chapter 5 Debugging run

5.3 Position Mode Operation

① First, refer to the wiring diagrams in section 3.61 (DAT 2000 series) or section 3.6.3

(DAT2000C series) for correct wiring, and pay attention to the essential input signals in the following chart which

Essential input signals Function

*COM＋

*SON

*PULS＋ *PULS－

*SIGN＋ *SIGN－

② After correct connection, all of the input signals must be OFF, the power supply is turned on

and the essential parameters must be set.

Essential

parameter

PA4 Choose position mode

Position command E-gear function: PA12 is the pulse command multiplying factor PA13 is the pulse command frequency-division factor

Set the E-gear ratio of position command to match various pulse commands.

PA12 PA13

The calculating formula of E-gear ratio is as follows:

Input point common terminal is the control supply input terminal.

Servo enabling signal can individually control motor enabling in this mode.

position command input Input model: 1. pulse + direction

2. CCW pulse+ CW pulse

3. orthogonal pulse A/B phase

Parameter illustration

，

（refer to Chapter 6.4.1 for detailed calculation method.）

position command pulse model choice

PA14=0：pulse + direction

PA14

PA15

PA14=1：CCW pulse + CW pulse PA14=2：Two-phase orthogonal pulse input; (refer to Chapter 3.3.3 for

position command input)

Position command reverse direction

PA15＝0：Maintain the original command direction PA15＝1: Take the reverse direction of input pulse command. (see also

Chapter 6, Section 3)

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DAT Series AC Servo Drive Unit User Manual

③ Basic debugging operation

1. After the essential parameters is set completely, the motor enters into the step of

parameter-read-in operation. (Refer to Section 4.5 for the operation illustration of

parameter management)

2. Turn SON to ON and keep zero-speed, set the position pulse command with small frequency

and then the motor will run. Observe the value of motor current by monitoring

condition, the displayed current value won’t exceed the rated one:

4. When the motor can operate along with command within the rated rotating speed, and that the

number of position command pulse

showed, users can proceed debugging of other functions.

Troubleshooting of abnormality during the operation under the position command mode are

introduced in the following chart:

No.

Abnormality during the debugging

operation

showed equals to the ones that

Troubleshooting

In normal

does not function;

3 Motor rotating direction is inconsistent

4 Oscillation or noise occurs in motor

5 Motor does not function

inconsistent with the pulse number of

The pulse value of

is inconsistent with the pulse number

No data is displayed, motor

does not function after enabling;

Data is displayed, motor

Data showed on

command source

showed on

12 13

Test command wiring and upper computer

Test enabling signal and the setting of

essential parameter

Refer to Section 6.3 for the switch-over of

motor rotating direction

Refer to Chapter 6.1 for debugging illustration

of fundamental performance parameters.

Test the mode of command source and

correctly set based on PA14.

1. Check the mask processing of control signal wire

2. Keep away from strong interference source.

When position command available, SON signal is not always effective, i.e. SON may turn OFF sometimes even if there is position command.

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Chapter 6 Function Debugging

Chapter 6 FUNCTION DEBUGGING

6.1 Fundamental performance parameter debugging illustration

Fig 6-1 Fundamental performance parameter adjustment diagram

When debugging motor parameters, users can first output the default parameters according to the corresponding motor model codes in Appendix A. If abnormal situations, such as oscillation, noise, creeping or insufficient force, occur during the operation, and the fundamental performance parameters need to be adjusted. Generally speaking, parameters in above diagram should first be adjusted in the inner-ring speed loop, and then the out-ring speed loop.

z PA5 (Speed loop proportional gain):

The larger the PA5 speed loop proportional gain value is, the higher the servo rigidity will be; while if the value is over large, the motor is liable to oscillate (motor generates abnormal sound) when starting up or stopping running; the smaller the value is, the slower the motor responds. The user can add or decrease 5o each time on the basis of the default values for adjustment, and observe the effect. Please note the general value range of PA5 is 150～900.

z PA6 (Speed loop integral time factor)

The larger the value of PA6 speed loop integral time factor is, the faster the system will respond; While the system will turn unstable if the preset value is over large, and even oscillation occurs; the smaller the value is, the slower the motor responds. The integral action may weaken and the steady-state error can not be decreased if the value is too small. The user can add or decrease 5o each time on the basis of the default values for adjustment, and observe the effect. Please note the general value range of PA6 is 20～500.

The proportional gain and integral time constant of speed loop should be proportionally adjusted

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DAT Series AC Servo Drive Unit User Manual

according to specific servo models and load condition. In general, the larger the load inertia is, the bigger the speed loop proportional gain and integral time factor will be. In the case of no oscillation occurs in the system, speed loop proportional gain is to be set as bigger as possible.

Fig 6-2 below shows the response curve of phase-step command input of a driven motor with

certain inertia load.

Curve 1 shows the speed phase-step input curve when PA5, PA6 are relatively small; with quite

soft motor character, slow dynamic response and comparatively large steady-state error.

Curve 2 shows the speed step-phase input curve when the value of PA5, PA6 are relatively

proper. The rigidity of motor is moderate and dynamic respond fast.

Curve 3 shows the speed phase-step e input curve when PA5, PA6 are relatively large;

instantaneous overshoot is to be the largest and the motor is liable to oscillate.

Fig. 6-2 Response curve of phase-step command input

z PA8（Speed feedback filtering factor）

The larger the speed feedback filtering factor value is, the faster the speed feedback responds. The motor will generate big electromagnetic noise if the value is overlarge; the speed feedback will respond slower as the value decreases, and the speed will fluctuates more which may lead to oscillation if the value is over small. The user can add or decrease 5o each time on the basis of the default values for adjustment, and observe the effect. Please note the minimum value of PA8 should not less than 50.

z PA9 (Position loop proportional gain)

The closed position loop will work when the servo unit position loop adopts simple P adjustment, position mode and the speed mode orientation function. The larger the position loop proportional gain is, the faster the position command responds and the bigger the rigidity will be. With overlarge gain value, the motor will generate position overshoot and even oscillation when it starts or stop working;

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Chapter 6 Function Debugging

the smaller the value is, the slower the response will be and tracking error will thereby increase. The user can add or decrease 5o each time on the basis of the default values for adjustment, and observe the effect. Please note Please note the general value range of PA9 is 25～60.

z PA10（Position loop feed-forward gain）, PA11(Position loop feed-forward filtering factor)：

PA10 adjust the speed loop through the speed information of position command, tracking error will decrease as the value increases, while the motor is liable to generate overshoot and oscillation if the value is overlarge.

PA11 actually carries on smoothing processing of the position command feedforward control. The lager the value is, the faster the phase-step speed command will be responded to, thereby better restraining the position overshoot and oscillation resulted from the sudden change of command speed. The smaller the value is, the less obvious the effect of feedforward control will be, while the control will generate bigger oscillation.

Generally speaking, PA10（Position loop feed-forward gain） and PA11(Position loop

feed-forward filtering factor) may not be used.

z PA50 (Analog command filtering factor)

The smaller the analog command filtering factor value is, the higher interference signal-resistant ability is. The response to speed command will be too slow if the value is too small. The larger the value is, the lower interference signal-resistant ability will be, while the response will faster. The user can add or decrease 50 each time on the basis of the default values for adjustment, and observe the effect. Please note the minimum of PA50 is no less than 50.

6.2 Application of brake releasing signal

In order to lock the vertical or tilting workbench linked with motor shaft and prevent the falling off of the table if the servo warning or power absent, the servo motor with electricity-breaking brake, i.e. brake servo, is usually used. To effectively control the motion of brake motor, brake releasing signal (HOLD) is furnished in this servo unit.

Electricity-breaking brake can only be used to maintain workbench, definitely can not to

decelerate or to stop machine’s running compulsively.

1. Correctly wire according to fig.6-3, and note the prerequisite connection of essential input

signal in the following chart.

Essential input signal Function

*COM＋

*SON Servo enabling signal

Input point common terminal, is the control

supply input terminal.

*HOLD＋

Brake releasing signal

*HOLD－

Figure 6-3 shows the wiring theory of practical application of brake releasing signal controlling brake servo. Users offer 24V power and pay attention to the polarity of leading power when

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DAT Series AC Servo Drive Unit User Manual

connecting brake releasing signal (HOLD±). See the detailed wiring in the diagram below.

power

24 V

Brake motor

Relay

HOLD+

HOLD-

Electricity-breaking brake

DAT2050C

CN1

43 42

Fig. 6-3 Typical example of HOLD± brake releasing signal

Motors with different power will be configured with the electricity-breaking brakes with different power. So users can refer to the following chart listing the technical parameters of brakes configured to motors of different specifications when choosing 24V power.

Motor base

number

Rated torque

Rated

voltage

20 Brake power ℃ （Unit W）

Releasing time

（s）

110 4 24V DC 20 0.037

130 8 24V DC 25 0.042

175 32 24V DC 40 0.135

2. After correctly wiring, switch on the power and set the essential parameters. Considering the time sequence of HOLD signal, please use the following parameters related to braking action to adjust the time if there is some tiny movement of the machine or workbench because of the gravity.

parameters

Name Unit

Parameter

range

Default

value

Application

mode

The maximum decelerating

PA51

time of motor before the action

0～30000

P，S

of electricity-breaking brake

PA52 servo locked delay time ms

0～30000

P，S

Motor speed when

PA53

electricity-breaking brake

r/min

5～3000

P，S

acting

Situation 1: when motor is in the state of rest, power supply of servo unit is turned off suddenly.

Generally, when HOLD is turned off, the servo unit will turned off at the same time. Users can adjust PA52 to delay the turned-off of servo unit to avoid tiny movement that machine or workbench occurs due to the gravity.

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Chapter 6 Function Debugging

When the servo is turned off, the energy will be released through dynamic braking circuit in a short time. So if the value of PA52 is set big, the practical servo locking delay time will not exceed the time released by energy.

Situation 2: the motor is in operation, the servo unit is turned off suddenly.

Do not brake suddenly when the servo unit runs at a high speed, otherwise the brake will

be damaged easily. The HOLD brake releasing signal should be shut off at the right time.

PA51, PA53 should be properly adjusted first to decelerate the motor and then brake.

PA53 is recommended to be set at 30r/min. The value of PA51 should be set according to the practical machinery movement.

If movement of machinery or workbench occurs because of the delaying of periphery switch

power and relay coil when the power is unexpectedly shut off, the solution below is shown.

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DAT Series AC Servo Drive Unit User Manual

KM1 AC contactor is a control switch connected with servo unit power. A normally-open contacts of KM1 is connected to circuit of brake releasing signal, and when the power supply is turned off manually or suddenly, KM1 is turn off first and the normally-open contact is shut off thereby, then the brake of motor loses power and brake immediately to eliminate the delay of other source and to further guarantee that there is no movement of machinery or workbench.

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Chapter 6 Function Debugging

6.3 The switchover of motor rotating direction

 Standard mode When all of the parameters of servo unit are set to be the default values, the relationship between speed/position command and motor rotating direction is the standard mode.  Reversal mode

If the servo motor wiring and speed/position command are unchanged, there is a “reversal mode” on servo unit which can make the servo motor rotate reversely.

1. Position mode

parameter

PA15

Command

Name Unit

Reverse position command

direction

PA15＝0：remain the original command direction PA15＝1：reverse input pulse command

Standard setting（PA15=0） Reversal mode（PA15=1）

Parameter

range

0～1

Default

value

0 P

Application

mode

CCW

command

2. Speed mode

parameter

1. If analog command is －10V～+10V: （PA46＝0） PA19＝0: analog command positive，motor CCW rotates，analog command negative，motor CW rotates；

PA19

PA19＝1: analog command positive，motor CW rotates，analog command negative，motor CCW rotates；

Name Unit

Reverse analog

command/reverse rotation

start of CCW, CW

Parameter

range

0～1

Default

value

0 S

CCW

Application

mode

2. If analog command is: 0～10V （PA46＝1） PA19＝0，Set the CCW rotating start signal，motor CCW rotates, Set the CW rotating start signal，motor CW rotates PA19＝1，Set the CW rotating start signal，motor CW rotates, Set the CCW rotating start signal，motor CCW rotates

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DAT Series AC Servo Drive Unit User Manual

(PA46=1) CCW command (PA46=1)

CW command

(PA46=1)

Positive voltage

(PA46=0)

Negative

voltage

(PA46=0)

Standard setting（PA19=0） Reversal mode（PA19=1）

6.4 Output of position feedback signal

Position feedback signal is to conduct within the servo unit frequency division with the pulse data from motor encoder (PG) and output them to upper computer through CN1 according to the preset shift pulses to achieve the functions as upper computer position closed loop control.

Output mode Output signal names Function

Differential output

*PAO＋ *PAO－

*PBO＋

Differential output

*PBO－

*PZO＋

Differential output

*PZO－

Two forms of output wave form as below:

Position feedback output signal A

phase

Position feedback output signal B

phase

Position feedback output signal Z

phase

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Chapter 6 Function Debugging

The pulse number of position feedback signal is set by the parameters of drive unit. Set the parameters as the following chart and according to the different types of encoders corresponding to the servo motors driven by drive unit (refer to this manual Section 1.2.1 to check the encoder types).

Motor

encoder type

Incremental

type

Absolute type

parameter

PA30 PA31 PA22

PA32 PA22

Illustration

Position feedback output pulse gear ratio should be set in

PA31≥PA30, if PA31<PA30, it will output per PA31=PA3.

The setting will not effect unless they are saved and re-power on

after PA30,PA31 well set each time. E.g.: as the figure shows, when PA30：PA31= 4：5, the

corresponding pulse number is

PA32：Position feedback signal frequency division ratio. Set the

pulse number that drive unit feedback to upper computer each circle the motor rotates.

Counting issue of AB phase pulse:

AB phase pulse counting takes 2 phase edge signal as the triggering signal, i.e. it counts 1 once 1 edge signal is acquired. E.g., if set PA32=16, the whole wave form of the upper computer reported back by drive unit each circle the motor rotates will be as follows:

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DAT Series AC Servo Drive Unit User Manual

6.5 Function Debugging of Position Mode

6.5.1 Position Command E-gear Ratio

Based on the relative machinery change gear, E-gear function refers to the function that can set the amount of motor movement which equals to the input command as any value through the adjustment of servo parameter in the controlling process, without any considering to the machinery reduction ratio or the encoder wiring.

Relative

parameter

PA12

PA13

Position pulse command multiplying factor

Position pulse command frequency division factor

Name Unit

Set the parameter of PA12 and PA13, it’ll be convenient to match various pulse sources and achieve the expected control resolution (i.e. mm/pulse)

The practical load speed=command pulse speed ×G× machinery reduction ratio

The practical minimum displace =minimum command pulse route ×G× machinery reduction ratio

Parameter

range

1～32767

Default

value

Application

mode

1 P

If E-gear ratio G is not 1, the result of division may have remainder, and there will be position deviation, the maximum deviation is the motor’s minimum rotating amount (the minimum resolution).

Below is the formula of position command E-gear ratio adapting to absolute-type encoder motor

G： E-gear ratio, recommended range: C： L：

Motor encoder wiring

Screw rod lead (mm)

ZM： Number of gear teeth of the screw rod end (if reduction gearbox exists)

ZD： Number of gear teeth of motor end

δ： The minimum output command unit of the system (mm/pulse)

I： Command displacement S： Practical displacement CR： Upper computer command multiplying factor

CD： Upper computer command frequency division factor

【e.g.】: Machine system: GSK988T, the motor directly connect with X-axis screw rod, the screw

rod lead: 6mm, motor encoder: 17 bit absolute, leave out the system’s command multiplying and

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Chapter 6 Function Debugging

frequency division factors, what is the E-gear ratio of the servo unit.

Solution: As the motor directly connect with X-axis screw rod, then ZM ：ZD＝1; as a rule, S=1

and the command displacement equals to the practical displacement; also, if system GSK988T chooses0.1μ as its machine accuracy，in the diameter programming, the minimum output command

0001.0

unit of the X-axis, δ ＝

Then set PA12=2048, PA13=1875.

mm ， substitute “δ” into the formula and get:

6.5.2 Position arrival signal （COIN）

COIN is the position arrival signal under the position mode. If the position tracking error is less than or equals to the preset value of PA16, servo unit output

position arrival signal, COIN signal output optocoupler conducts.

Relative

parameter

Name Unit

Parameter

range

Default

Application

mode

PA16

Relative

parameter

PA17

Position arrival range Pulse

0～30000

20 P

If the position tracking error（DP－EPO of the display menu）is less than or equals

to the preset value of PA16, the servo unit regards the position has arrived, and the position arrival signal COIN outputs ON, otherwise outputs OFF.

Command speed

Motor speed

OFFON

range

PA16

Default

Application

mode

400 P

Position deviation

COIN

Name Unit

Position over-proof test

range

Parameter

0～30000

Under the position mode, if the position tracking error exceeds the parameter of PA17, the servo unit position over-proof alarm issues Err-4.

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DAT Series AC Servo Drive Unit User Manual

6.5.3 Pulse deviation zero clearing（CLE）

CLE is the signal of pulse deviation zero clearing, if it displays ON under position mode, the

pulse remained in the position deviation counter of the servo unit will be cleared.

6.5.4 Pulse command inhibition （INH）

INH is the signal of pulse command inhibition, if it displays ON under position mode, servo unit

inhibits receiving pulse command.

6.6 Function debugging under speed mode

6.6.1 Adjustment of analog command

The following parameters should be adjusted if the speed commands inconsistent with practical

motor rotating speed.

Parameter Name Unit Parameter range Default

PA43

Analog command null

shift compensation

If command voltage is “0V”, the motor sometimes can still rotates at a tiny speed, which is caused by the little (Mv unit) “excursion (=command excursion) from upper computer or external command voltage. PA43 may compensate this excursion in such way: If the motor excurse to CCW, decrease the value to PA43 till the motor get zero speed.

-30000～30000

-10V

0 S

100

r/min

100

PA43

Adjustment area

10V

2500

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Chapter 6 Function Debugging

If the motor excurse to CW, increase the value to PA43 till the motor get zero speed

The adjusting sequence of the analog value is recommended as follows:

1. First fix the value of PA29 which can be seen as the corresponded motor rotating speed when

PA 29 sets 1V.

2. Adjust PA34 and revise the “excursion” to “0V” to stop the motor.

3. Finally set some speed commands, such as 500r/min, 1500r/min and 2500r/min, then judge if the motor speed slope consistent with the command according to the motor rotating speed displayed on LED.

6.6.2 Speed arrival signal（COIN）

COIN is the speed arrival signal under the speed mode.

If the absolute value of practical speed equals to or greater than the setting, COIN signal outputs

optocoupler conducts.

Relative

parameter

PA28

e.g.: Set PA28=50, refers to the output speed arrival signal (COIN) when the practical speed

greater than or equals to 50r/min.

As the diagram below: speed greater than 50r/min, output COIN signal.

Speed arrival signal

output threshold value

Name Unit

r/min

Parameter

range

0～3000

Default

50 S

Application

mode

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DAT Series AC Servo Drive Unit User Manual

6.6.3 Zero speed clamping（ZSL）

When the upper computer controls servo unit by analog voltage command, the zero speed clamping function can be used if the analog voltage command is required not to be “0V”, the motor should be stopped and the servo being locked.

The “zero speed clamping” function can be achieved in this way:

ZSL zero speed clamping input point control.

Under speed mode, speed command is not 0 and ZSL displays ON to lock the motor.

Page 95

CHAPTER 7 PARAMETERS

7.1 Parameter List

P: Position Control Mode S: Speed Control Mode

No. Name Range

PA0 Password

0～9999

Chapter 7 Parameters

Default

Value

315 P, S

Unit

Applicable

Mode

PA1 Motor model code

PA2 Software version (read only) 105 P, S

PA3 Monitoring setting at initialization

PA4 Working mode selection

PA5 Speed loop proportional gain

PA6 Speed loop integral time coefficient

PA7

PA8 Speed feedback filter coefficient

PA9 Position loop proportional gain

PA10 Position loop feedforward gain

PA11

PA12

PA13

PA14 Position command mode selection

PA15

PA16 Position reach range

PA17

PA18

PA19 Analog speed command inverted

PA20

PA21 JOG running speed

Low-pass filter on current

command

Position feedforward filter

coefficient

Position pulse command

multiplying ratio

Position pulse command frequency

division ratio

Position command direction

reversed

Position excess error detection

range

Position excess error detection

validity selection

Drive unit input prohibition validity

selection

0～185

0～33

0～6

5～2000

50～4000

1～4000

10～4000

20～1000

0～100

10～3000

1～32767

0～2

0～1

0～30000

0～1

-3000～3000

0 P, ,S

0 P, S

200 Hz P, S

100 P, S

1000 ms P, S

1000 P, S

40 1/s P

2000 Hz P

1 P

0 P, S

0 P

20 Pulses P

400 P

0 P

0 S

1 P, S

120 r/min S

％

PA22 Position feedback output inverted

PA23 Maximum speed limit

PA24 Internal speed 1

PA25 Internal speed 2

PA26 Internal speed 3

0～1

1～4000

-3000～3000

0 P, S

2500 r/min P, S

500 r/min S

2000 r/min S

-1000 r/min S

Page 96

DAT Series AC Servo Drive Unit User Manual

No. Name Range

PA27 Internal speed 4

PA28

Speed arrival signal output valve

value

PA29 Analog input gain

PA30

PA31

PA32

Position output pulse multiplying

ratio

Position output pulse frequency

division ratio

Position feedback signal frequency

division ratio

-3000～3000

0～3000

0～400

1～32

16~32767 20000

Default

Value

Unit

-1500 r/min S

50 r/min S

250 P, S

Pulses

Applicable

Mode

P, S

PA33 Reserved

PA34 Internal CCW torque limit

PA35 Internal CW torque limit

PA36 External CCW torque limit

PA37 External CW torque limit

PA38

Manual operation, JOG running

torque limit

0～300

-300～0

0～300

-300～0

0～300

300 % P, S

-300 % P, S

100 % P, S

-100 % P, S

100 % S

PA39 Reserved

PA40 Reserved

PA41 Reserved

PA42 Reserved S

PA43

Analog command zero drift

compensation

-30000～

30000

0 0.1r/min S

PA44 Reserved

PA45 Reserved S

PA46 Analog command mode selection

0～1

0 S

PA47 Alarm output inverted

0～1

0 P, S

PA48 Reserved

PA49 Reserved

PA50 Analog command filter coefficient

PA51

The maximum deceleration time before the safety brake enabled

PA52 Servo lock delay time

PA53

Motor speed when safety brake is

enabled

PA54 Inner enable

1～3000

0～30000

5～3000

0～1

1000 S

50 ms P, S

30 r/min P, S

0 P, S

PA55 Reserved

PA56 Reserved

PA57 Motor overheat alarm shielded

PA58 GSKLINK servo axis number

PA59

GSKLINK communication baudrate

selection

0～2

1～5

0～4

0 P, S

1 P, S

Page 97

The default settings of shaded parameter are related to the motor models; therefore, the default values vary with motors.

7.2 Parameter Description

Chapter 7 Parameters

Para. Name Range

Password

PA0

PA1

PA2 Software version (read only) \ 105 P, S

PA3

When PA=315, parameters other than PA1,PA2 are modifiable; To modify PA1, it is

Motor model code

Set the model code of the drive motor according to Motor Model Code List (see APPENDIX

A for details), then the default values of the motor can be restored.

Do not modify this default value in general condition.

Monitoring setting at initialization

Monitoring

Value

PA3=0

PA3=1

PA3=2

PA3=3

PA3=4

PA3=5

setting at

initialization

Instruction Value

Motor speed PA3=17

Current motor

position

low-order 5 digits

Current motor

position

high-order 5 digits

×100000 (pulse)

Position

command

low-order 5 digits

Position

command

high-order 5 digits

×100000 (pulse)

Position

difference

low-order 5 digits

0～9999

needed to set PA0 to 385.

0～185

0～33

(pulse)

Default

PA3=18

PA3=19

PA3=20

PA3=21

PA3=22

Value

315 P, S

0 P, S

Monitoring

setting at

initialization

Unit

Applicable

Mode

Instruction

Reserved

Servo unit

working status

Alarm display

Reserved

High-speed

segment

voltage

sampling value

Low-speed

segment

voltage

sampling value

Page 98

Para

. Value

PA3

PA3=6

PA3=7

Monitoring

setting at

initialization

DAT Series AC Servo Drive Unit User Manual

Monitoring

Instruction Value

Position

difference

high-order 5

PA3=23

digits ×100000

(pulse)

Motor torque PA3=24

setting at

initialization

Instruction

Software

version No.

Hardware

version No.

PA3=8

PA3=9

PA3=10

Motor current PA3=25

Reserved PA3=26

Current control

mode

PA3=27

Position

PA3=11

command pulse

PA3=28

frequency

PA3=12

PA3=13

Speed command PA3=29

Torque

command

PA3=30

Motor

PA3=14

one-rotation

PA3=31

signal position

PA3=15

PA3=16

Input terminal

status

Output terminal

status

PA3=32

PA3=33

The shaded items in this table are just for the motor with absolute encoder.

Rated torque

Rated current

Rotational

inertia

Input power

Radiator

temperature

DC bus voltage

Single-ring

position

Absolute

position low

order digits

Absolute

position high

order digits

Page 99

Continued:

Relevant

Parameter

Name Range

Default

Value

Chapter 7 Parameters

Unit

Applicable

Mode

PA4

Working mode selection

0～6

0 P, S

PA4=0: position mode (mode 1); Digital pulses determine the rotation direction and angle. The servo unit makes the rotor rotates in the determined direction and at specified angle. In position mode, the rotation angle (position) and speed are controllable. PA4=1: External analog voltage specifies speed (mode 2); The rotation direction and speed are determined by the analog voltage. The servo unit makes the rotor rotates in the determined direction and speed. This mode not only improves the motor response capability, but also enhances the capability of anti-disturbance. PA4=2: Internal digit specifies speed (mode 3); The values of PA24~PA27 set by user are used as speed command. The motor running speed is selected through the combination of input point SC1 and SC2’ status. PA4=3: Manual mode (mode 4) It is operated in Sr— menu. Acceleration/deceleration can be performed through

keys

or . PA4=4: JOG mode (mode 5); It is operated in Jr—menu. The motor works at the JOG speed set by parameter.

PA5

PA6

PA7

PA8

CCW/ CW rotation can be selected through keys

or . PA4=5: Encoder zeroing. (It is adjusted already.) PA4=6: Analog zeroing (it is adjusted already.)

Speed loop proportional gain

5～2000

200 Hz P, S

The bigger the speed loop proportional gain, the greater the servo rigidity is. However, excessive value may easily lead to vibration (abnormal sound in the motor) during motor start or stop. The smaller the value is, the slower response is.

Speed loop integral time

coefficient

50～4000

100 P, S

The greater the speed loop integral time constant value is, the quicker the system responds. However, excessive value may lead to instability of the system, or even cause vibration. Smaller value results in slower response, so, set the value as great as possible on condition that no vibration is generated.

Current command low pass

filter

1～4000

1000 ms P, S

It is used to limit the current command belt, and avoid current rush and vibration. Set the value as great as possible on condition that on vibration is generated.

Speed feedback filter

coefficient

10～4000

1000 P, S

The greater the speed feedback filter coefficient is, the quicker the speed feedback responds. However, excessive value may lead to electromagnetic noise. Smaller value results in slower response, larger speed fluctuation, or even vibration.

Page 100

DAT Series AC Servo Drive Unit User Manual

Relevant

Parameter

PA9

PA10

PA11

PA12

PA13

PA14

PA15

Name Range

Position loop proportional

gain

20～1000

Default

Value

Unit

40 1/s P

Applicable

Mode

The greater the position loop proportional gain is, the quicker the response is and

the greater the rigidity is. However, excessive value may lead to vibration during the

motor start or stop. Smaller value results in slower response and greater following

error.

Position loop feedforward

gain

0～100

0 % P

Position loop feedforward gain is to adjust the speed loop according to the speed information of position command. The greater the value is, the quicker the response is, and the smaller the following error is. However, excessive setting value may lead to instantaneous overshoot and vibration. When PA10 is set to 0, the position feedforward function is invalid.

Position loop feedforward

filter coefficient

10～3000

2000 Hz P

Position loop feedforward filter coefficient is used in the smoothing process of position command feedforward control. The greater the value is, the quicker the step response is, which will suppress the overshoot and vibration caused by sudden speed change. It is valid when PA10 is not set to 0.

Position pulse command

multiplying ratio

Position pulse command

frequency division ratio

1～32767

1 P

Refer to section 6.4.1 Electronic Gear Ratio for details.

Position command mode

selection

0～2

0 P, S

Position command pulse input mode:

PA14=0: pulse + direction

PA14=1: CCW /CW pulse input

PA14=2: AB phase orthogonal pulse input;

Refer to section 3.3.3 Position Command Input for details.

Position command direction

reversed

0～1

0 P

PA15=0: remains the original commanded direction;

PA15=0: the input pulse direction is reversed.

PA16

Position reach range

0～30000

20 Pulses P

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