gsk GSK DA98A User Manual
DA98A AC Servo Drive Unit
User Manual
This user manual describes all items on this DA98A AC servo drive
unit in detail. However, it’s impractical to give particular descriptions for all
unnecessary and/or unavailable operations on this product due to the
content limit of the manual, specific product applications and other
causes. Therefore, the operations not specified in this manual may be
considered impossible or unallowable.
This user manual is the property of GSK CNC Equipment Co., Ltd.
All rights reserved. It is against the law for any organization or individual
to publish or reprint this manual without the express written permission of
GSK CNC Equipment Co,.Ltd and the latter reserves the right to ascertain
their legal liability.
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DA98A AC Servo Drive Unit
User Manual
Dear Excellency,
It’s our pleasure for your patronage and purchase of this DA98A AC servo
drive unit made by GSK CNC Equipment Co., Ltd.
Company Profile
GSK, GSK CNC Equipment Co,. Ltd, is the largest CNC system production
and marketing enterprise in China at present. It is the Numerical Control
industrial base of South China, and the undertaking enterprise of the national
863 main project Industrialization Support Technology for Medium Numerical
Control System. It is also one of the 20 basic equipment manufacture
enterprises in Guangdong province. It has been taking up the research and
development, design and the manufacture of machine CNC system (CNC device,
drive unit and servo motor) in recent 10 years. Now it has developed into a large
high-tech enterprise integrated with technology, education, industry and trade
by enhancing the popularization and trade of CNC machine tools. There are
more than 1400 staffs in this company that involves 4 doctors, more than 50
graduate students and 500 engineers; more than 50 among these staffs are
qualified with senior engineer post titles. The high performance-cost ratio
products of GSK are popularized in China and Southeast Asia. And the market
occupation of GSK’s product dominates the first and the turnout and sale ranks
the top for successive 7 years in domestic market for the same category
product from the year 2000 to 2006, which makes it the largest CNC
manufacture base throughout China.
The GSK main products includes the NC equipments and devices such as
GSK series turning machine, milling machine, machining center CNC system,
DA98, DA98A, DA98B, DA98D series full digital AC servo drive device, DY3
series compound stepper motor drive device, DF3 series responsive stepper
motor drive device, GSK SJT series AC servo motors, CT-L NC slider and so on.
The current national standard (and international standard), industry standard,
as well as the enterprise standard (or enterprise internal standard) as a
supplementary, are completely implemented in GSK production process. The
capability of abundant technology development and complete production and
quality system qualified by GSK will undoubtedly ensure the reliable product to
serve our customers. 24~48 hours technical support and service can be easily
and promptly provided through GSK complete service mechanism and tens of
service offices distributed in China and abroad. The pursuit of “excellent
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product and superexcellent service” has made GSK what it is now, and GSK will
continue to spare no efforts to consummate this South China CNC industry
base and enhance China CNC industry by GSK’s “century enterprise, golden
brand” managerial concept.
DA98A AC Servo Drive Unit
User Manual
Spot Technical Service
You can ask for spot service if you have problems that can’t be
solved by telephone. We will send the authorized engineers to your place
to resolve the technology problems for you.
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DA98A AC Servo Drive Unit
User Manual
FOREWORD
This manual gives a full description on the functions and operations for
DA98A AC servo drive unit and it will make you to get a full knowledge to
use it properly and safely. In addition, this manual also involves some
special knowledge and precautions on using.
Caution: Improper operation may lead to accidents！ Before
using this AC servo drive unit, please read the
manual completely！
z All specifications and designs are subject to change without notice.
z We do not assume any responsibilities for the change of the product,
therefore the warranty sheet of the product will be void for the change by
user.
z Chinese version of all technical documents in Chinese and English
languages is regarded as final.
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DA98A AC Servo Drive Unit
User Manual
Pay attention to the following signs when reading this user
manual:
Warning
Caution
Note
If operation is incorrect, a dangerous situation may
occur, resulting in death or serious injuries.
If operation is incorrect, a dangerous situation may
occur, resulting in injuries to personnel or damage to
equipment.
If operation is incorrect, damage to system or
equipment may occur.
This manual is reserved 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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DA98A AC Servo Drive Unit
User Manual
CONTENTS
FOREWORD...................................................................................................................................IV
WARNINGS................................................................................................................................... VII
CHAPTER 1 OVERVIEW.......................................................................................................... 1
1.1 Introduction.......................................................................................................................................... 1
1.2 Reception check ................................................................................................................................. 2
1.3 Outline.................................................................................................................................................. 3
CHAPTER 2 INSTALLATION................................................................................................... 6
2.1 Environmental condition .................................................................................................................... 6
2.2 Installation of AC servo drive unit..................................................................................................... 6
2.3 Servo motor installation ..................................................................................................................... 9
CHAPTER 3 WIRING............................................................................................................... 10
3.1 Standard wiring ................................................................................................................................. 10
3.2 Terminals function............................................................................................................................. 14
3.3 I/O Interface principle....................................................................................................................... 18
CHAPTER 4 PARAMETERS................................................................................................... 23
4.1 Parameter list .................................................................................................................................... 23
4.2 Parameter function ........................................................................................................................... 25
4.3 Correspondance of model code parameter and motor............................................................... 31
CHAPTER 5 ALARM AND TROUBLESHOOTING............................................................ 34
5.1 Alarm list ............................................................................................................................................ 34
5.2 Alarm troubleshootings .................................................................................................................... 35
CHAPTER 6 DISPLAY AND OPERATION...........................................................................42
6.1 Keyboard operation .......................................................................................................................... 42
6.2 Monitoring mode ............................................................................................................................... 43
6.3 Parameter setting ............................................................................................................................. 45
6.4 Parameter management.................................................................................................................. 46
6.5 Trial speed run .................................................................................................................................. 48
6.6 JOG run.............................................................................................................................................. 48
6.7 Miscellaneous ................................................................................................................................... 48
CHAPTER 7 RUNNING ........................................................................................................... 49
7.1 Power supply connection ................................................................................................................ 49
7.2 Trial run .............................................................................................................................................. 51
7.3 Adjustment......................................................................................................................................... 52
CHAPTER 8 SPECIFICATIONS............................................................................................. 56
8.1 AC servo drive unit specifications.................................................................................................. 56
8.2 Servo motor specification................................................................................................................ 57
8.3 Isolation transformer ........................................................................................................................ 61
CHAPTER 9 ORDER GUIDE..................................................................................................67
9.1 Capacity selection ............................................................................................................................ 67
9.2 Electronic gear ratio ......................................................................................................................... 67
9.3 Stop characteristics .......................................................................................................................... 68
9.4 Servo unit and position controller model selection by computation .......................................... 68
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DA98A AC Servo Drive Unit
User Manual
WARNINGS
● Design and manufacturing of the product are not used for the mechanism and
system that may cause danger to people.
● Precautions in design and making of the user machinery and system matched with
this product should be taken into account to avoid accidents resulted by
mal-operation or malfunction of this product.
Acceptance
Warning
● Product that is damaged or broken down can’t be put into use.
Caution
Transportation
● Products should be stored and delivered in a proper storage and delivery
environment.
● Do not put the packing boxes in too high piles to prevent from falling down.
● Proper package should be done for the product loading.
● Do not drag the servo motor wires, shaft or encoder when moving it.
● Prevent the servo drive unit and the servo motor from external force and collision.
Caution
Installation
For AC servo drive unit and servo motor:
● Do not fix them on or near flammable objects that fire may occur.
● Vibration should be avoided and protect them from shock.
● Don’t assembly the product that is damaged or lack of parts.
For AC servo drive unit:
● It should be fixed in a control cabinet with a high protection degree.
● Sufficient clearance with other equipments should be set aside.
● A good heat radiation should be done.
● Prevent dust, corrosive gas, conductive objects, liquids and flammable or explosive
material against entering it.
For servo motor:
● Fastness must be assured to avoid looseness by shaking.
● Prevent liquids from entering motor and encoder.
● Hammering motor and its shaft is unallowed to protect encoder from damage.
● Don’t overload the motor shaft.
Caution
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DA98A AC Servo Drive Unit
User Manual
Connection
● Only qualified personnel can do or check the connection.
● Connection and checking can only be done in 5 minutes after the power supply is
cut off.
● The AC servo drive unit and servo motor must be well grounded.
● Explosion or operation incident may be caused by false voltage or polarity of power
supply.
● Connection can be done only after AC servo drive unit and servo motor are well
installed.
● Ensure the wires insulation and not squeezing them to avoid electric shock.
● Correctness and fastness of connection must be ensured, otherwise the servo motor
will run in a false direction or the equipment may be damaged by loosen contact.
● U, V, W terminals must not be connected reversely and connected with AC power
supply.
● Servo motor should be directly connected with AC servo drive unit without
connecting capacitance, inductance or filter.
● Prevent conductive fastener and wire odds and ends from entering into the drive
unit.
● Wires and non-thermal protective objects are not permitted to approach to the drive
unit radiator and servo motor.
● Freewheeling diode in parallel with DC relay of output signal must not be connected
reversely.
Warning
Caution
Debugging
Caution
● Assembly and stable fixation of servo drive unit and servo motor, correctness of
power voltage and connection must be ensured before the power-on.
● Servo motor should make a run in dry run mode while debugging. Loading
debugging can be done after the parameters are correctly set to avoid the damage of
machine and equipment caused by maloperation.
Usage
● Emergency circuit should be connected to ensure the machine stop and power cut
off immediately when an incident occurs.
● The running signal must be off before resetting an alarm or it sudden restart may
occur.
● The drive unit must be used with the suited servo motor.
● Do not frequently switch on/off the power supply of the drive unit to avoid damaging
the unit system.
● Do not touch the drive unit radiator and the motor in running or the duration after
power-off to avoid scalding by the heat generated in running.
● Don’t refit the drive unit.
Caution
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DA98A AC Servo Drive Unit
User Manual
Troubleshooting
● Do not disconnect the cables and touch the terminal blocks within 5 minutes after
power is off because of the residual voltage of the drive unit.
● Personnels undertaking disconnection and maintenance must be qualified with the
corresponding knowhow knowledge and capabilities.
● Resolve malfunction after alarming, and reset alarming signal before restarting.
● Keep away from machine while power is on after instantaneous power-off because
the machine might start suddenly. (No danger occurrence in restarting should be
guaranteed in design.)
Warning
Caution
Option
Note
● Rated torque of servo motor should be higher than the effective continuous loading
torque.
● Inertia ratio between the load and the servo motor should be less than the
recommendation.
● The drive unit should be used with the matched servo motor.
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DA98A AC Servo Drive Unit
User Manual
CHAPTER 1 OVERVIEW
1.1 Introduction
AC servo technology has been advanced and improved since the early of 90th last century
and it has been widely applied to the fields such as CNC machine, printing packaging
machinery, textile machinery, automatic production line.
DA98A AC servo drive unit (also called full digital AC servo drive unit) is a new generation of
full digital AC servo drive unit provided by GSK CNC equipment co,. Ltd. The product has
been employed with Digital Signal processor (DSP), Complex Programmable Logic Device
（ CPLD ） and MITSUBISHI Intelligent Power modular(IPM), which has the good
characteristics of high integration, lower volume, complete protection and liability. And it has
applied optimum PID operation for PMW control. So this drive unit has ranked the advanced
level among the same type products in the world.
DA98A AC servo drive unit has following advantages compared to stepping system:
z No out-of-step
Servomotor is employed with an encoder, with position signal feedbacking to AC servo
drive unit, which comprise a semi-closed loop control system as it is combined with an open
loop position controller.
z Wide speed ratio, constant torque
The timing ratio is 1：5000，with stable torque
from low speed to high speed.
z High speed, high precision
The max. speed of servo motor can be 3000rpm,
and position precision of rotating is 1/10000r.
〖Note〗 There are different max. speeds for different servo motor models.
z Simple and flexible control
A proper setting for operating
mode, running performance of the
servo system by modifying
parameters is suitable for different
working requirements.
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DA98A AC Servo Drive Unit
User Manual
1.2 Reception check
1) Check the following items after delivery:
（1） Whether the packaging box is well or goods are damaged during transportation.
（2） Whether the AC servo drive unit, servo motor nameplates are consistent with the
ordered ones.
（3） Whether the accessories completely conforms to the packing list.
Note
z Do not install the servo drive unit which is damaged or lacks of
components.
z The AC servo drive unit must be used with the suited servo motor.
z Please contact with us or suppliers if there are any questions after
receiving goods.
2） Model signification：
（1） Model for AC servo drive unit
DA98A-10-110SJT-M040D
Suited servo motor model（GSK SJT series） 1※
Output power：2 digits (04,06…23) corresponding to 0.4~2.3KW 2※
Series code
※ 1：It can be matched with other domestic or imported servo motor which is needed to be
ordered. This drive unit default parameters are only suitable for SJT, STZ, Star series servo
motor. And the factory set parameters for other servo motors have been backup in the
EEPROM area. Backup recovery but default recovery operation should be performed when
the factory set parameters are to be recovered.
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※ 2：Medium or small power (less than or equal to 1.5KW) is the standard configuration, and the
medium power models(＞1.5 and ≤2.3KW ) are employed with thicker radiators.
〖Note〗 Product model has been filled in the form before delivery and check the
DA98A AC Servo Drive Unit
User Manual
product with its nameplate.
（2） Servo motor model
DA98A AC servo drive unit can be matched with many domestic and abroad servo
motor models which can be selected by user order. Servo motor models of GSK SJT
series are introduced in Chapter 8 of this manual, and other servo motor models
information are provided with servo motor delivery.
3） Accessories
（1） DA98A AC servo drive unit accessories:
① User Manual 1
② Installation bracket 2
③ M4×8 countersink bolt 4
④ CN1 plug（DB25 female） 1 set （Note 1）
⑤ CN2 plug（DB25 male） 1 set （Note 2）
〖Note 1〗 Signal cable (3m) can be provided when it is matched with our controller.
〖Note 2〗 Feedback cable (3m) can be chosen by user when servo motor is provided by us.
（2） The primary accessories for servo motor are provided according to the servo motor
user manual.
1.3 Outline
1） Outline of AC servo drive unit
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DA98A AC Servo Drive Unit
User Manual
Fig. 1-1 Outline of AC servo drive unit
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2） Outline of servo motor
DA98A AC Servo Drive Unit
User Manual
Fig. 1-2 Outline of SJT series servo motor
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DA98A AC Servo Drive Unit
User Manual
CHAPTER 2 INSTALLATION
Note
z Storage and installation for this unit must be complied to the environmental
requirement.
z Do not put the products into a pile to protect from being damaged or fallen down.
z Original packaging should be employed for products storage and delivery.
z Products which are damaged or shorten of parts must not be used.
z Fireproofing material should be used for the products installation and they should
not be installed on or near flammable objects.
z Servo drive unit should be installed into cabinet to prevent dust, corrosive air, liquid,
conductors and inflammable substances from entering it.
z The servo drive unit and motor should be protected from vibration and shock.
z The dragging of motor wire, motor shaft and encoder is unallowed.
2.1 Environmental condition
Item DA98A AC servo drive unit GSK SJT series servo motor
Usage temperature/
humidity
Storage/transport
temperature/humidity
Atmosphere
environment
Altitude
Vibration
Protection degree
0～+40℃（no icing）
below 95%RH（no condensation）
-40～55℃
95%RH（no condensation）
No corrosive gas，flammable gas,
oil fog or dust in cabinet
Altitude: below 1000m Altitude: below 1000m
Less than 0.5G（4.9m/s2）10-60HZ（non-continuous run）
IP43 IP65
-10～+40℃（no icing）
below 90%RH（no condensation）
-40～+55℃
below 80%RH（no condensation）
No corrosive gas，flammable gas, oil
fog or dust inside house(no insolation)
2.2 Installation of AC servo drive unit
Note
z It must be installed in a well protected cabinet.
z It must be installed by the specified direction and interval to get a good heat
rediating.
z To fix the unit on or near flammable objects that fire may occur is unallowed.
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DA98A AC Servo Drive Unit
1） Installation environment
（1） Protection
The servo drive unit without guard must be installed in a well protected electrical
cabinet to prevent corrosive or inflammable gas, liquid, electricity-conductor, metal
particls or oil fog from entering it.
（2） Temperature and humidity
Environmental temperature should be 0-40 , the long℃ -term safe working
temperature should be below 45 . And a good heat radiating should be done. ℃
（3） Vibration and shock
The measure to protect the AC servo drive unit from vibration should be below 0.5G
(4.9m/s
2
) and heavy pressure and impact during the unit installation should be avoided.
2） Installation method
（1） Fixation pattern
The drive unit can be fixed by bottom board or panel pattern with the direction
upright to the fixation plane.
Fig. 2.1 is a sketch map for bottom board fixation and Fig. 2.2 is for panel fixation.
User Manual
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DA98A AC Servo Drive Unit
User Manual
（2） Fixation interval
The fixation interval for single drive unit is shown in Fig. 2.3 and intervals for multiple
drive units are shown in Fig. 2.4. The interval for actual fixation should be as larger as
possible to get a good heat dissipation.
Fig. 2.3 Fixation interval for single drive unit
Fig. 2.4 Fixation intervals for multiple drive units
（3） Heat dissipation
There should be convective air blown to the drive unit radiator in the cabinet to prevent
the ambient temperature of drive unit from continuous rising.
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2.3 Servo motor installation
DA98A AC Servo Drive Unit
User Manual
z Motor shaft or encoder hammering is impermissible.
z Do not drag the motor shaft, outlet wires or encoder.
z Motor shaft cannot be overloaded, otherwise the motor may be
damaged.
z The motor must be secured firmly and there should be measures
against loose.
1）Installation environment
（1） Guard
GSK SJT series are not employed with waterproof device, so prevent liquid from
splashing onto the motor and oil or water from entering into the motor along its lead
wires and shaft.
〖Note〗 Please make a mark in order if waterproof servo motor is needed.
（2） Temperature and humidity
Environmental temperature should be kept in -10～+40 (no icing)℃ . Measures of
forced heat radiation should be done if there is little space or equipment emitting
heat around when the motor’s temperature rises owing to long-term run.
Note
The environmental humidity should be no more than 90%RH and there is no
condensation around.
（3） Vibration
The servo motor should be fixed in a place away from vibration and its vibration
should be less than 0.5G（4.9m/s2）.
2）Installation method
（1） Installation type
SJT series motors are installed by flange installation type and it may be installed in
every direction.
（2） Installation cautions：
z Do not hammer the motor or its shaft to prevent the encoder from damaging. Helical
tools should be employed to connect or disconnect the parts.
z SJT series motor cannot be loaded with heavy axial, radial loading. Flexible shaft
coupling is recommended to connect the load.
z Anti-loose washer should be employed to secure the motor from loose.
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DA98A AC Servo Drive Unit
User Manual
CHAPTER 3 WIRING
Warning
● The system wiring or check can only be done by qualified personnels.
● Wiring and check can only be done in 5 minutes to avoid electric shock after the
power supply is cut off.
Caution
z The wiring must be done by terminal voltage and polarity to avoid equipment
damage or personnel injury.
z Drive unit and servo motor must be well grounded.
3.1 Standard wiring
The external connection of drive unit is relative to control mode.
1） Position control mode
Fig. 3.1 shows the standard wiring of position control mode.
2） Speed control mode
Fig. 3.2 shows the standard wiring of speed control mode.
3） Wiring
（1） Power supply terminal TB
z Wire diameter ： wire diameter of R, S, T, PE, U, V, W terminals
2
≥1.5mm
z Grounding: the grounding wire should be thick, PE terminals of drive unit and servo
motor should be eathed and their resistances are less than 0.1Ω.
z The terminal connection is employed with JUT-1.5-4 pre-insulation cold-press
terminals, and it must be secured firmly.
z It is suggested that three-phase isolation transformer is employed for the power to
avoid the electric shock.
z It is suggested that power supply is connected to a noise filter to improve
anti-interference capability.
z Install non-fusing breaker to cut off external power supply in time when the drive
(AWG14-16)，wire diameter of r, t terminals≥1.0 mm2(AWG16-18).
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unit is at fault.
DA98A AC Servo Drive Unit
User Manual
（2） Control signal CN1, feedback signal CN2
2
z Wire diameter: it is employed with shield cable, wire diameter ≥0.12mm
and shield layer should be connected with FG terminal.
z Wire length: the cable length should be as possible as short, the CN1 cable should be
less than 3m, and the feedback signal CN2 cable should be less than 20m.
z Wiring distribution: it should be far away from power circuit against antiinterference.
z Inductive components (coil) should be installed with surge absorbing elements: DC
coil should be reversely connected with parallel freewheeling diode and AC coil
should be connected with parallel RC absorption circuit.
Note
z U, V, W should be connected with the corresponding motor winding one by one and
reverse connection is unallowed.
z Cables and wires must be secured and their approaching to the drive unit radiator
and motor should be avoided to ensure the insulation.
z Don’t touch drive unit or motor within 5 minutes after the power supply is cut off
because there is still a residual voltage on the electrolytic capacitance.
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(AWG24-26)
DA98A AC Servo Drive Unit
User Manual
Fig. 3.1 Wiring of position control mode
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DA98A AC Servo Drive Unit
User Manual
Fig. 3.2 Wiring of speed control mode
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3.2 Terminals function
1） T erminals configuration
Fig. 3.3 is the interface terminal configuration of servo drive unit. TB is terminal block;
CN1 is DB25 connector assembly，the socket is male type and the plug is female type;
CN2 is DB25 connector assembly too, socket is female type and plug is male type.
DA98A AC Servo Drive Unit
User Manual
Interface terminals configuration of AC servo drive unit`
2） Power supply terminal TB
Table3.1 Power supply terminal TB
Terminal
No.
TB-1
TB-2
TB-3
TB-4 PE System be grounded
14
Terminal
sign
R
S
T
Signal name Function
Main power supply
(single phase or
three-phase)
Main power supply input terminals
～220V 50Hz
Note: Do not connect them with motor output
terminals U, V, W.
Ground terminal
Ground resistance＜0.1Ω
Common terminal grounded of servo motor
output and power supply input
TB-5 U
TB-6 V
TB-7 W
TB-8 P Standby
TB-9 D Standby
TB-10
TB-11
r
t
Servo motor output
Control power supply
single phase
DA98A AC Servo Drive Unit
Output terminals of servo motor must be
connected correspondingly with U, V, W
terminals of motor
Power supply input terminal of control circuit
～220V 50Hz
3） Control terminal CN1
Control mode name for short:
P for position control mode
S for speed control mode
Table 3.2 Input/output terminal CN1 of control signal
User Manual
Terminal
No.
CN1-8
CN1-20
CN1-21 Servo enable SON Type 1
CN1-9 Alarm clear ALRS Type 1
CN1-22
Signal
name
Power
supply
Positive of
input
terminals
CCW drive
stop
Sign I/O Mode Function
COM+ Type 1
FSTP Type 1
Power supply positive of input terminals
Photoelectric coupling used for driving input
terminals
DC12～24V，Current≥100mA
Input terminal of servo enable
SON ON：AC servo drive unit enable
SON OFF ： AC servo drive unit off and
disabled and the motor is in free
state.
Note 1 The motor must be resting before it
is switched from SON OFF to SON ON;
Note 2 Wait for 50ms before inputting new
command after it is switched to SON ON.
Alarm clear input terminal
ALRS ON： alarm clear
ALRS OFF： alarm
Note For the alarm whose code is more
than 8 it can’t be cleared by this means. It
needs to cut off the power for reparation and
then repower.
CCW drive stop input terminal
FSTP ON：CCW drive enable
FSTP OFF：CCW drive stop
Note 1 It is used for mechanical overload.
When the switch is put for OFF, the torque in
CCW direction is kept for 0.
Note 2 This function can be shielded by
parameter No.20 setting or always keep the
switch for ON.
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