gsk GSK DA98B User Manual
GSK DA98B AC Servo Drive Unit
User Manual
The operating manual describes all matters concerning the operation of the system
in detail as much as possible. However, it is impractical to give particular
descriptions of all unnecessary and/or unavailable works on the system due to the
length limit of the manual, specific operations of the product and other causes.
Therefore, the matters not specified herein may be considered impractical or
unavailable.
This operating manual is the property of GSK CNC Equipment Co., Ltd. All rights
reserved. It is against the law for any organization or single to publish or reprint this
manual without the express written permission of GSK and the latter reserves the
right to ascertain their legal liability.
Company Profile
GSK CNC EQUIPMENT CO., LTD.(GSK) , CNC Industry Base of South China, is
responsible for the National High Technology Research and Development Program of
China (863 Program): Moderate CNC Industrialization Key Technology. For ten years, we
are exclusively engaged in research, Development, manufacture, sale, training and
popularization of Machine Tool CNC system, Servo Motor and driver, and other
mechanical products. Today, GSK has already expressed into a large-scale new high-tech
enterprise that deals with research, teaching, working and trading. Our products support
more than 60 domestic manufacturers of machine tools with after-sales service network
through the country. With a yield in the lead in China for four years in succession, GSK
series products are in great demand in the domestic demand and have a ready sale in
Southeast Asia at high performance-to-price ratio.
Chinese version of all technical documents in Chinese and English languages is
regarded as final.
Forward
Foreword
The manual describes functions and operation methods of DA98B AC servo Drive Unit to
ensure that you can comprehensively understand the servo unit to flexibly and
conveniently use it. Else, it also provides the knowledge and notes how to operate the
unit.
z All specifications and designs are subject to change without notice.
z We do not assume any responsibilities for the change of the product by users,
therefore the warranty sheet will be void for the change.
z Chinese version of all technical documents in Chinese and English languages is
regarded as final.
Thank you for using DA98B AC Servo Drive Unit and User Manual. Welcome you to
feedback your suggestions about our product and User Manual by the telephone or fax,
Email which has been addressed on the back cover of this manual, or feedback to our
headquarter by local outlet.
Ⅰ
GSK CNC Enquipment Co., Ltd.
g
Warnin
Please read carefully the following warning marks, if not avoided, could result in injury or in
heavy damage to property.
■ The following warnings with varying degrees of severity appear in the User
Manual.
!
Danger: Indicate an immenently hazardous situation which, if not
avoided, will result in death or serious injury.
!
Caution: Indicate a potentially hazardous situation which, if not
avoided, may result in minor or moderate injury or in
damage to property.
Indicate a potential situation which, if not avoided, may
result in an undesirable result or state.
This symbol appears in the user Manaul whenever it is
necessary to draw your attention to an important item of
information.
■ The following symbols indicate some operations must not or must
be performed.
Forbid performing some operation (absolutely must not perform some
operation).
Perform some operation (must perform some operation).
Ⅱ
Warning
!
Danger
The cable is not permitted to be
put on the trenchant edge and
excessive pressure, load,
tension is not permitted to exert
on it
Electric shock, fault,
damage occurring if the
indication not observed
Moving, wiring and checking
can only be performed after
the power is switched off for
10 minutes.
Electric shock occurring
if the indication not
observed
Ⅲ
GSK CNC Enquipment Co., Ltd.
When there is an alarm in the
running, it must be eliminated
before going on running.
Destructive result occurring
if the indication not
observed
Caution
!
Don't touch the motor, control
device or the brake resistance
for the heating in the running.
Scalding occurring if the
indication not observed
Ⅳ
Warning
!
Notes
Ⅴ
GSK CNC Enquipment Co., Ltd.
Ⅵ
Content
Content
Chapter 1 Overview ...............................................................................................1
1.1 Introduction ................................................................................................................... 1
1.2 Check after delivery ...................................................................................................... 2
1.3 Outline............................................................................................................................ 4
Chapter 2 Installation............................................................................................5
2.1 Installing servo unit.......................................................................................................5
2.2 Installing motor.............................................................................................................. 7
Chapter 3 System configuration and assembly.............................................9
3.1 Servo unit specification................................................................................................. 9
3.2 Interior diagram block of servo unit...........................................................................11
3.3 Wiring............................................................................................................................11
3.4 I/O Interface fundamentals......................................................................................... 18
3.5 Standard conection...................................................................................................... 23
3.5.1 Orientation control .............................................................................................................23
3.5.2 Speed control .....................................................................................................................25
Chapter 4 Parameter ...........................................................................................27
4.3 Model code parameters for motors............................................................................ 33
Chapter 5 Display and operation.....................................................................35
5.1 Keys operation ............................................................................................................. 35
5.3 Parameter setting......................................................................................................... 39
Chapter 6 Trial run...............................................................................................43
6.1 Check before trial run................................................................................................. 43
6.2.1 Sequence of power on for servo unit....................................................................... 44
6.2.2 JOG running.......................................................................................................................45
6.2.3 (Sr-) trial run .......................................................................................................................46
6.2.4 Speed control run ..............................................................................................................46
6.2.5 Orientation control run ......................................................................................................49
6.3 Application of hold release signal............................................................................... 52
6.4 Parameter adjustment for machining characteristics improvement...................... 54
Chapter 7 Funciton for protection...................................................................57
Chapter 8 Isolated transformer ........................................................................64
Chapter 9 Order guide ........................................................................................69
9.1 Capacity selection........................................................................................................ 69
9.2 Electronic gear ratio.................................................................................................... 72
9.3 Stop characteristic....................................................................................................... 72
9.4 Servo and orientation controllor computation.......................................................... 73
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GSK CNC Enquipment Co., Ltd.
2
Chapter 1 Overview
p
Chapter 1 Overview
1.1 Introduction
DA98B AC Servo Drive Uit is the second generation of fully digital AC Servo system
of our company which is employed with the new type exclusive chip DSP for motor
control, large-scale complex programmable logic device (CPLD) and IPM with big
power, which has a good integration, compact, perfect protection and highly reliability.
It is characterized with the f orientation control, interior speed control, analog speed
control etc. and is widely applied in the automation production line, packing
machinery and printing machinery and other automatic field.
Compared to stepper system,
DA98B AC Servo Driver Unit has advantages as follows:
z Avoiding out-of-step
Servomotor is equipped with encoder, its
orientation signal feedbacks to servo
driver with open loop orientation controller
to compose a semi-closed loop control
system.
Open loop control
Controller
z S
eed ratio, constant torque
The timing ratio is 1：5000，with stable
torque from low speed to high speed.
z High speed, high precision
Max. speed can be 3000rpm, and the
Positioning instruction
Feedback control
Stepper motor
Servo motor
speed fluctuation rate is less than 2％.
【Note】There is different rated speed
for different motors.
z Simple and flexible control
Controller
Feedback
Positioning instruction
Parameters can be modified to set properly operating mode, running performance of
servo system to meet different requirements.
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GSK CNC Equipment Co., Ltd.
1.2 Check after delivery
Item
1) Whether the packing is good and the goods is damaged.
2) Whether the servo unit, servo motor is the ordered one by checking the nameplates
of the goods.
3）Whether the accessories are complete by checking the packing list.
z
z
z Please contact with our suppliers or our company if there are any questions
Do not install servo unit which is damaged or lacks of components.
Servo driver must be matched with servomotor which performance
matches the former.
after receiving goods.
Model significance
DA98B-04-110SJT-M060D
Matched servo motor type
Output power (see table1-a)
Series code
Mark Rated output Mark Rated output Mark Rated output
04 0.4 kW 12 1.2 kW 18 1.8 kW
06 0.6 kW 14 1.4 kW 20 2.0 kW
08 0.8 kW 15 1.5 kW 23 2.3 kW
10 1.0 kW 17 1.7 kW 26 2.6 kW
Table 1－a
2
（1） Standard accessories for DA98B servo unit:
① User Manual 1
② Installation bracket 2
③ M4×8 contersink bolt 4
④ CN1 socket（DB44 female） 1 set （note 1）
Chapter 1 Overview
CN2 plug⑤ （DB25 male） 1 set （note 2）
Accessory list
1：Signal cable (3m) can be provided when it is matched with our servo unit.
2：Feedback cable (3m) available should be used when our servo motor is provided.
（2） Standard accessories of servo motor are provided according to user manual of
servo motor.
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GSK CNC Equipment Co., Ltd.
1.3 Outline
Outline of servo unit
Outline of servo motor
Fig. 1.1 Outline of servo unit
Fig. 1.2 Outline of servo motor
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Chapter 2 Installation
Chapter 2 Installation
Servo unit and servo motor should be correctly installed to avoid the mistaken operation,
to protect the machine from being broken or damaged.
2.1 Installing servo unit
Installation environment
Be careful for the protection against rain and sunlight while the servo unit is being
installed.
Servo unit must be installed in the electric cabinet to prevent dust, corrosive gas,
liquid, conductors and inflammable substances from entering it.
Servo unit should be fixed in the well ventilative, dampproof and dustproof
environment.
Fireproof material should be used in the installation with no permission to fix it on or
near the inflammable object.
Run the servo unit below the temperature of 45℃ for reliable long term usage.
Environmental requirements
Item DA98B servo unit
0～55℃（no frost）
Operating temperature
Storage/delivery temperature
and humidity
Atmosphere environment
Altitude Altitude: below 1,000m
Vibration
Atmospheric pressure
Guard level IP43
Installation method
≤90%RH（no dewing）
-40～80℃
≤90%RH（no dewing）
There should be no corrosive gas，flammable gas, oil fog
or dust etc. in the control cabinet.
≤ 0.5G（4.9m/s2）10-60Hz
86kPa～106kPa
The driver is employed with bottom board or panel installation mode in the upright
direction of installation plane.
Fig. 2.1 is sketch map for bottom board installation and Fig. 2.2 for panel installation. (Unit
below: mm)
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GSK CNC Equipment Co., Ltd.
Fig 2.1 Bottom board installation pattern
Fig 2.2 Panel installation pattern
Installation interval
Fig. 2.3 is installation interval for one servo unit and Fig. 2.4 is for servo units. The actual
interval for installation should be larger as possible as to get a good heat radiation.
Fig. 2.3 Installation interval for a single servo unit
6
Chapter 2 Installation
>100mm
Servo driver
>100mm
Ventilation direction Ventilation direction
Fig. 2.4 Installation interval for servo units
Servo driver
Servo driver
>100mm>25mm >25mm
Heat radiation
There should be convective air to the radiator of the servo unit in electric cabinet to inhibit
its environmental temperature from continuously rising.
2.2 Installing motor
Installation environment
Be careful for the protection against rain and sunlight.
The motor must be installed in the electric cabinet to prevent dust, corrosive gas,
liquid, conductors and inflammable substances from entering it.
The motor should be fixed in the well ventilative, dampproof and dustproof
environment.
■ The motor should be fixed in a place that is convenient for the maintenance, check
and cleaning of the motor.
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GSK CNC Equipment Co., Ltd.
Installation notes
■ Do not hammer the motor or its shaft to
protect the encoder from being damaged
when removing or assembling belt wheel.
Helically pressing or drawing tools should be
used for removing and assembling.
■ Servo motor cannot support heavy axial,
radial load. It should be employed with
flexible shaft coupling for load.
■ Anti-loose washer should be used to fix the motor
against loosing.
■ Oil and water should be protected from the motor for
that the oil or water from the cable which has been dipped in the oil or water can be
sticked to the motor, so such possibility should be avoided.
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Chapter 3 System configuration and assembly
Chapter 3 System configuration and assembly
3.1 Servo unit specification
Table 3－1 Servo unit specification
Output power (kW)
Motor rated torque
（N·m）
Single phase or
Input power supply
Environment
Temperature
Humidity
Vibration
Control method
Energy brake Built-in
characteristics
Speed frequency response: 200Hz or more
Speed fluctuation rate: ＜±0.03（load 0～100%）；＜±0.02（power supply -15～
Control
+10%）（numerical value corresponding to rated speed）
three-phase AC220V
-15～+10% 50/60Hz
Working：0～55 Storage℃ ：-20℃～80℃
Less than 90%（no dewing）
Less than 0.5G（4.9m/s2）,10～60 Hz(non-continuous running)
① Orientation control ②External speed control Internal speed ③
control Trial speed run JOG speed ④⑤⑥Encoder zero-adjusting
0.4～0.8 1.0～1.5 1.7～2.6
2～4 4～10 6～15
three-phase AC220V
-15～+10% 50/60Hz
Timing ratio: 1:5000
Pulse frequency: ≤500kHz
Control input
Control output
Orientation control
Servo on① Alarm cancellation② Disable in positive direction③
Disable in negative direction④ ⑤Zero-speed clamping ⑥Error
counter reset/speed choice11 ⑦Disable instruction pulse/speed
choice 2 ⑧CCW torque limit ⑨CW torque limit ⑩Universal I/O port
① Servo ready output ② Servo alarm output ③ Orienting completing
output/speed in-orientation output ④Hold release ⑤Zero speed
output ⑥Universal output ⑦Pulse feedback output
Input mode
Electronic
gear ratio
① Pulse+ direction ②CCU pulse /CW pulse ③A/B
orthogonal phases pulse
Ratio numerator:1～32767 Ratio denominator: 1～
32767
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GSK CNC Equipment Co., Ltd.
Encoder
Feedback
Speed control
Monitor function
Protection function
Display, operation 6-bit LED digital tube, 4 buttons
Load inertia Less than quintuple of motor inertia
Thin radiating fin Thick radiating fin
Weight 2.67Kg 3.48Kg
Dimension 244×163×92mm 244×163×112mm
4 kinds of internal speed instructions and (+10～-10) external analog
voltage instructions
Speed, current orientation, instruction pulse accumulation,
Orientation deviation, motor torque, motor current, linear
speed, rotor absolute orientation, instruction pulse frequency,
running state, input/output terminal signal and so on
Overspeed, overvoltage/under-voltage of main power supply,
overcurrent, overload, brake abnormity, encoder abnormity, control
power supply abnormity, orientation oversize
2500 pulse/rev (resolution:10000) incremental
encoder
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Chapter 3 System configuration and assembly
3.2 Interior diagram block of servo unit
3.3 Wiring
Fig. 3.1 Interior diagram block for DA98B servo unit
Control board diagram block inside the broken line and power supply board
diagram block outside the broken line above.
There are several control modes for DA98B: orientation control mode, speed control
mode etc. Personnel who take up the wiring and checking should be qualified for
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GSK CNC Equipment Co., Ltd.
the work, they must do wiring as the terminal voltage and poles by the manual for
prevention of the device damage or the injury to personnel.
Main circuit wiring
Fig.3.2 Typical wiring for the main circuit
MCC ： Breaker FIL ：Disturbance filter
TB ： Isolated transformer KM1 ：AC contactor
R/C ： Surge inhibitor P, D ：Reserve
■ The breaker should be selected B type short circuit device, the drop-away current is
more1.3 times than servo rated input one, otherwise is less than 1.05 times than the
servo rated input current.
■ Single phase power supply AC220V(+10%～－15％) can be employed when the
precision is comparative low and the power is less than 0.8KW for servo unit, and its
the wiring is as fig.3.2
■ While connecting the terminals, peel the insulative surface of the wire and twist the
naked copper wires, compress the wiring by the pre-insulation cold pressing terminals
to fasten the connection.
Table 3－2 Wire sections for main circuit （Unit: mm
6～8mm
2
）
12
r
Output
power
Typ e
0.4～0.8（kW）
Chapter 3 System configuration and assembly
R S T PE U V W r t
Input terminals
of the main
power supply
1.5 1.5 1.5 ≥2.0 1.5 1.5 1.5 1.0 1.0
Protection
earthing
Output
terminals of
power
Input
terminals of
the control
power
1.0～1.5（kW）
1.7～2.6（kW）
!
Caution to main circuit wiring:
2.0 2.0 2.0 ≥2.0 2.0 2.0 2.0 1.0 1.0
2.5 2.5 2.5 ≥2.5 2.5 2.5 2.5 1.0 1.0
①Wires from power supply must not be directly connected with the U, V, W
terminals.
②U, V, W wires should connect with motor terminals correspondingly.
Operation of reverse rotation for motor by exchanging the wires of
three-phase terminals is not allowed.
③Due to the high frequency switch current in the motor, the leaking current is
relatively larger, the motor grounding terminal must be connected with the
servo unit grounding terminal PE and the grounding resistance should be less
than 100Ω.
④Do not touch the servo unit and motor in 5 minutes after the power supply
is switched off because there is large electrolytic capacitance keeping high
voltage inside the servo unit even if it is switched off.
⑤Operator should keep a certain distance to the servo unit and motor afte
the power is switched on.
⑥Servo motor must not be drived by the industrial power directly connecting
to the U, V, W terminals of motor in the absence of servo unit, or the servo
motor will be damaged.
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GSK CNC Equipment Co., Ltd.
CN2 terminal wiring
①The cable length between the servo unit and motor should be within 20 meters.
②The distance between the feedback cable of encoder and main circuit cable
should be over 30cm as well as the both cables should not use the same tube or be
bound together.
③Shielded cable with the size 0.15mm²～0.20mm²(AWG24-26) should be used for
feedback signal cable, and the shielded tier should connect with FG terminal.
④The cables and wares should be well fixed as well as not be adjacent to servo unit
radiator or motor for their protection of insulation against heating.
⑤The wiring of CN2 in the following sketch map is done by accordance of GSK SJT
series motor. If user uses motor from other manufacturers or self-made wires, the
wiring below should be followed by.
connect to OH, OV terminals for motor with temperature controller.）
（Leading wires of temperature controller
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Chapter 3 System configuration and assembly
Vacancy
CN2 (DB25F)
Fig.3.3 Encoder wiring
① The cable length of the control signal should be within 3m.
② The distance to the main circuit cable should be above 30cm as well as the both
cables should not use the same tube or be bound together for protection against
disturbance.
③ The external power supply should be provided by user.
④ There are different wirings for CN1 terminal in different control modes, see
section 3.5 for details.
CN1 terminal wiring
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