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

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

1

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 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

4

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

>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.

8

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

10

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

14

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

15

GSK CNC Equipment Co., Ltd.

Fig.3.4 Terminals and definition of CN1

16

Chapter 3 System configuration and assembly

Input and output interface pattern for CN1

Ta b l e 3―3 Terminal signal type

Input terminals Output terminals Other terminals

Pin No. Sign Signal type Pin No. Sign Signal type No. Sign

23 SON 19 ZSP 2 DGND

8 ALRS 35 COIN/SCMP 4 AGND

9 RSTP 34 GOU1

24 FSTP 5 ALM 31 PE

40 CLE/SC1 20

41 INH/SC2 7 33 DG

10 RIL 6

25 FIL 36 39 COM+

SRDY

HOLD+

HOLD_

CZ+

16 AGND

32 DG

38 COM+

26 ZSL 37

11 GIN1

1 AGND 21

17 VCMD

30 12

15

29 13

14

PULS+

PULS-

SIGN+

SIGN-

43

CZ-

22

27

RLYOU+

RLYOU-

PAOUT+

44 PE

PAOUT-

28

42

PBOUT+

PBOUT-

PZOUT+

PZOUT-

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GSK CNC Equipment Co., Ltd.

3.4 I/O Interface fundamentals

CN1 interface signal

There are 7 types of CN1 interface signal as following:

 Switching volume input,

resistance in series for one internal photoelectric coupling; K lateral pole is connected

to input terminal for one photoelectric coupling.

 Switching volume output,

to output terminal for two internal photoelectric couplings. The max. current ≤15mA

 Switching volume output,

pole to output terminal for two internal Darlington output photoelectric couplings. The

max. current ≤50mA

 Pulse input interface,

terminal via a resistance in series and K pole to negative input terminal for one

internal high speed photoelectric coupling.

 Differential output,

differential output chip 26LS31

A lateral pole is connected to COM+ via 3kΩ

,

E lateral pole is connected to DG terminal, C pole

,

E lateral pole is connected to DG terminal, C

,

A lateral pole is connected to positive input

,

internally connecting the output terminal of

,

 Analog signal input,

 Analog signal output,

amplified circuit.

Input interface of switching

interior is the difference-analog amplified circuit input.

,

internally connecting the output of operational

,

Controller side

Fig. 3.5 Input interface of switching volume

（1） Power supply is provided by user，DC12～24V，current≥100mA；

（2） Note: if power polarities are wrongly connected, the servo unit does not work.

18

Chapter 3 System configuration and assembly

Output interface of switching

控制装置侧

Controller side

max 50mA

max 24V

Fig. 3.6 Output interface of switching volume

（1） External power supply is provided by user, and if its polarities are connected

reversely, the servo unit will be damaged;

（2） Output is electron collector open circuit, max. current is 50mA, and the max.

external DC power voltage is 25V. Load of switching volume output signal must

meet the requirement. If the load exceeds them or output is connected directly

with power supply, the servo unit may be damaged;

（3） If the load is an inductive one such as relay, terminals of load must be connected

with freewheeling diode in parallel. If they are connected reversely, the servo unit

will be damaged.

Pulse volume input interface

Controller side

控制装置侧

PULS+

PULS-

SIGN+

SIGN-

Fig. 3.7 Differential drive mode of pulse volmue input interface

270

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GSK CNC Equipment Co., Ltd.

控制装置侧

VCC

PULS+

R

PULS-

Controller side

270

SIGN+

R

SIGN-

270

Fig. 3.8 Single terminal drive mode of pulse volume input interface

（1） It is suggested to apply differential drive mode to correctly transmit pulse volume

data;

（2） AM26LS31, MC3487 or RS422 linear driver are employed in the differential drive

mode;

（3） Action frequency will be reduced in single terminal drive mode. According to pulse

volume input circuit, Resistance R is determined by the max. 25V voltage of external

power and 10 ～ 15mA drive current of the pulse input circuit. Practical data:

VCC=24V，R=1.3～2K；VCC=12V，R=510～820Ω；VCC=5V，R=82～120Ω.

（4） Refer to Table

Table

3－5 shows pulse input time sequence and parameter. If two-phase input

3－4 about pulse input form, arrowhead indicates counting curb, and

form is employed, 4-fold pulse frequency is less than 500kHz.

Table

3－4 Pulse input pattern

Pulse instruction form CCW CW Parameter setting value

Pulse string sign

PULS

0

Instruction pulse +sign

SIGN

CCW pulse string

CW pulse string PULS

1

CCW pulse /CCW pulse

SIGN

A phase pulse string

B phase pulse string PULS

2

2-phase instruction

pulse

SIGN

20

Chapter 3 System configuration and assembly

Table 3－5 Pulse input sequence parameter

Parameter Differential drive input Single terminal drive input

t

ck

>2µS >5µS

th >1µS >2.5µS

tl >1µS >2.5µS

trh <0.2µS <0.3µS

trl <0.2µS <0.3µS

ts >1µS >2.5µS

t

>8µS >10µS

qck

tqh >4µS >5µS

tql >4µS >5µS

t

<0.2µS <0.3µS

qrh

t

<0.2µS <0.3µS

qrl

tqs >1µS >2.5µS

t

PULS

SIGN

90%

10%

90%

10%

h

t

rh

t

rl

s

t

ck

t

l

s

t

CW

rh

CCW

t

rl

CW

Fig. 3.9 Sketch map of pulse +sign input interface time sequence

(max. pulse frequency 500kHz)

t

ck

t

h

90%

PULS

SIGN

10%

90%

10%

t

rh

CCW

t

l

t

rl

t

s

t

rh

t

rl

CW

Fig. 3.10 CCW pulse /CW pulse input interface time sequence (max.

pulse frequency 500kHz)

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GSK CNC Equipment Co., Ltd.

t

90%

PULS

10%

t

qrh

qs

t

qrl

t

90%

SIGN

10%

Fig. 3.11 2-phase instruction pulse input interface time sequence

(max. pulse frequency 125kHz)

Input interface of photoelectric encoder

qck

qh

t

ql

t

qs

t

qrl

t

qrh

CCW

Controller side Motor side

控制装置侧电机侧

CW

X+

X-

AM26LS32

X=A,B,Z,U,V,W

Fig. 3.12 Input interface of servo motor photoelectric encoder

22

Chapter 3 System configuration and assembly

g

3.5 Standard conection

3.5.1 Orientation control

Standard Wirin

Fig.3.13 Standard wiring of orientation control mode

Terminal functions of position control mode

Table 3－6 Terminal functions of orientation control mode

Sign Function Sign Function

Encoder A phase differential positive

SON

ALRS

Servo on input terminal

Alarming cancellation input

PAOUT+

PAOUT-

PBOUT+

23

output

Encoder A phase differential negative

output

Encoder B phase differential positive

GSK CNC Equipment Co., Ltd.

o

FSTP

RSTP

PULS+

PULS-

SIGN+

SIGN-

GIN

terminal

CCW drive stop

CW drive stop

PLUS instruction pulse input

SIGN instruction pulse input

Universal input terminal

PBOUT-

PZOUT+

PZOUT-

SRDY

ALM

CZ+

CZ-

COIN

output

Encoder B phase differential negative

output

Encoder Z phase differential positive

output

Encoder Z phase differential negative

utput

Output terminal ready, identical to the

time sequence of HOLD signal, and

also used for hold release output

(see section 6.3)

Alarm output terminal

Z phase pulse output of photoelectric

encoder

Common terminal of z phase pulse output

terminal

Orienting completion output

CLE

INH

FIL

RIL

COM+

DG

DGND

PE

Orientation deviation reset

input

Instruction pulse disabled input

CCW torque limit input

CW torque limit input

Power supply positive of input

terminal, used for driving

photoelectric coupling of

input terminal

DC12～24V，Current≥100mA

External input(12 ～ 24VDC)

reference earthing

Internal digital earthing

Protection earthing

GOU1

General output 1

RLYOU+

RLYOU-

Reserved

HOLD+

HOLD-

Hold release output of motor

Hold release grounding output of motor

(see section 6.3)

24

3.5.2 Speed control

Chapter 3 System configuration and assembly

Single- or

three- phase

AC 220V

DC 12~24V

Servo on

Alarm cancellation

CCW drive stop

CW drive stop

Speed choice 1

Speed choice 2

CCW torque limit

CW torque limit

Universal input 1

Zero-speed clamping input

Universal output 1

Speed in position

Zero speed output of motor

Output common terminal

Servo alarm

Servo ready

FIL

Standard Wiring

KM1

R

DA98B

S

AC servo

T

one-axis controller

r t

CN1

COM+

38

COM+ 39

SON 23 ALRS 8 FSTP 24 RSTP 9

SC1

SC2

FIL

RIL GIN1

ZSL

GOU1 SCMP

ZSP

ALM 5 SRDY

DGND

1k

40 41 25 10 11 26

34 35 19

20

32

DG

33

DG

2

U V W

PE

CN2

55V 6

17

18

1 20V 3

4 24 A+ 12 23 11 B22 Z+ 10 21

9U20 V+

8 19

7W13 OH 14 FG 15 FG 16

Motor

2 3 4 1

5V 5V 5V 0V

0V 0V

AB+

ZU+

VW+

0V

Vcc GND

A+ AB+ BZ+ ZU+ UV+ VW+ WFG

encoder

2 3

4 7

5 8 6

9 10 13 11 14 12 15

1

Speed instruction (-10V +10VDC)

Speed instruction earthing

Hold release signal

Hold release signal earthing

Z-phase output of encoder

Z-phase output earthing of encoder

reserved reserved

VCMD

AGND

HOLD+ 7

HOLDRLYOU+ 22 RLYOU- 21

CZ+ CZ- 36

17

1

CN1

6

37

CN1

27

A

B

Z

12 28 13 42 43

31 44

PAOUT+ PAOUTPBOUT+ PBOUTPZOUT+ PZOUT-

PE PE

Fig3.14 Standard wiring for speed control mode

Terminal functions for speed control mode

Table 3－7 Terminal functions for speed control mode

Sign Function Sign Function

Encoder A phase differential positive

SON

ALRS

Servo on input terminal

Alarming cancellation input

terminal

PAOUT+

PAOUT-

PBOUT+

PBOUT-

output

Encoder A phase differential

negative output

Encoder B phase differential positive

output

Encoder B phase differential

negative output

Pulse feedback A

Pulse feedback B

Pulse feedback C

25

GSK CNC Equipment Co., Ltd.

SC1

SC2

GIN

FSTP

RSTP

FIL

RIL

Forward rotation signal input for

analog instruction voltage 0～10 V

input

Backward rotation signal input for

analog instruction voltage 0～10 V

input

General input terminal

CCW drive stop

CW drive stop

CCW torque limit input

CW torque limit input

PZOUT+

PZOUT-

SRDY

ALM

CZ+

CZ-

SCMP

GOU1

RLYOU+

RLYOU-

Encoder Z phase differential positive

output

Encoder Z phase differential negative

output

Output terminal ready, identical to

the sequence of HOLD signal,

and also used for hold release

output (see section 6.3)

Alarm output terminal

Z phase pulse output of photoelectric

encoder

Common terminal of z phase pulse

output terminal

Speed in orientation output

General output 1

Reserved

VCMD

AGND

ZSL

COM+

DG

DGND

PE

Speed analog instruction input, the

instruction voltage range:-10～+10

VDC

Earthing of analog instruction input

terminal

Zero speed clipping input terminal

Power supply positive of input

terminal, used for driving

photoelectric coupling of input

terminal

DC12～24V，Current≥100mA

External input(12 ～ 24VDC)

reference earthing

Internal digital earthing

Protection earthing

HOLD+

HOLD-

ZSP

Hold release output of motor

Hold release grounding output of

motor (see section 6.3)

Zero speed output of motor

26

Chapter 4 Parameter

There are various parameters in the servo unit to be adjusted and set to the performance,

characteristics and so on, which can meet the requirement for the different functions by

user. The user should make a complete study of the parameters before searching, setting

and adjusting the parameters by the control panel.

4.1 Parameter list

P: orientation S: speed

No. Name Applicable

mode

PA 00 Password 0~9999 315

PA 01 Motor type code 0~63 0

PA 02 Software version (read only) 2.04

PA 03 Initial display state 0~20 0

PA 04 Control mode selection 0~5 1

PA 05 Speed proportional gain P,S 5~2000 600

PA 06 Speed integration time constant P,S 1~1000 15

PA 07 Torque instruction filter

PA 08 Speed detecting low pass filter constant P,S 1~5000 200

PA 09 Orientation proportional gain P 1~1000 40 1/S

PA 10 Orientation feedforward gain P 0~100 0 %

PA 11 Orientation feedforward instruction filter

cut-off frequency

PA 12 Orientation instruction pulse dividing

numerator

PA 13 Orientation instruction pulse dividing

denominator

PA 14 Input and analog instruction selection of

orientation instruction pulse

PA 15 Orientation instruction pulse reverse

direction

PA 16 Orienting completing range P 0~30000 20 Pulse

PA 17

PA 18

Orientation out-of-tolerance detecting

range

Orientation out-of-tolerance invalid

P,S 1-1500 500 %

P 1~1200 300 Hz

P 1~32767 1

P

P 0~1 0

P 0~30000 400 ×100 pulse

P 0~1 0

Setting range Factory setting Unit

0～3

0

PA 19 Reverse analog speed S 0~1 0

PA 20 Drive stop input invalid P,S 0~1

PA 21 JOG running speed instruction S -31000~31000 2000 0.1rpm

PA 22 Analog speed instruction aberrance S -500~500 0 0.1rpm

PA 23 Max. speed limit P,S 0~31000 30000 0.1rpm

PA 24 Internal speed 1 S -30000~30000 1000 0.1rpm

27

GSK CNC Equipment Co., Ltd.

PA 25 Internal speed 2 S

PA 26 Internal speed 3 S -30000~30000 2000 0.1rpm

PA 27 Internal speed 4 S -30000~30000 -3000 0.1rpm

PA 28 Speed in orientation S

PA 29 Max. speed of analog instruction S

PA 30 Conversion numerator for linear speed P,S

PA 31 Conversion denominator for linear speed P,S

PA 32 Decimal point for linear speed P,S

PA 34 Internal CCW torque limit P,S

PA 35 Internal CW torque limit P,S

PA 36 External CCW torque limit P,S

PA 37 External CW torque limit P,S

PA 38 JOG torque limit of trial speed S

PA 52 Latency for hold stop P,S

-30000~30000 -500 0.1rpm

0～30000

0～31000

1～32767

0～5

0～300

-300～0

0～300

-300～0

0～300

5000 0.1rpm

25000 0.1rpm

10

1

3

300 %

-300 %

300 %

-300 %

300 %

0-32767 0 ms

4.2 Parameter function

No. Name

PA 00 Password

PA 01 Motor type code The motor models Corresponding to PA01 are as following, refer to

PA 02 Software version

PA 03 Initial display state

(Display state

selection after servo

unit power is

switched on)

Function

It is used for parameter not to be modified by mistake. Set it for 315

when a parameter is needed to set. After debugging, set it for 0 to

ensure it not to be modified by mistake later.

Section 4.3 for details.

PA01 Motor model

12 110SJT-M060D

17 130SJT-M100D

19 130SJT-M150D

35 110ST-M04030H

① Software version can be seen but can not be modified.

0： Motor speed display;

1： Low 5-bit digit display of current orientation;

2：High 5-bit digit display of current orientation;

3： Low 5-bit digit display of orientation instruction(instruction pulse

accumulation );

4：High 5-bit digit display of orientation instruction(instruction pulse

accumulation );

5：Low 5-bit digit display of orientation deviation;

6: High 5-bit digit display of orientation deviation;

46 130ST-M06025H

Parameter

range

0~9999

0~63

Ver 2.04

0~20

28

Chapter 4 Parameter

7： Motor torque display;

8： Motor current display;

9： Linear speed display;

10：Control mode display;

11： Orientation instruction pulse frequency display;

12： Speed instruction display;

15： Input terminal state display;

16： Output terminal state display;

17： Encoder input signal display;

18： Running state display;

19： Alarm code display;

20： Reserved.

PA 04 Control mode

selection

PA 05 Speed proportional

gain

Set control mode of the servo unit by the parameter:

0：Orientation control mode, orientation instruction input by pulse input

port

1：Speed control mode, speed instruction input by VCMDIN, VCMDINC

analog input terminals

2：Internal speed control mode

3：Manual mode

4：JOG mode

5：Encoder zero-adjusting mode

① Proportional gain set of speed loop regulator

② The bigger the setting value is, the higher the gain is and the bigger

the rigidity is. Parameter value is

SC2 SC1 OFF OFF 1

OFF ON 2

ON OFF 3

ON ON 4

determined by specific servo unit

Internal speed

0~5

5~2000Hz

PA 06 Speed integral time

model and load. Generally, the bigger the load inertia， the bigger the

setting value is.

③ Set the bigger value if there is no vibration for system.

① Integral gain set of speed loop regulator

29

1~1000ms

GSK CNC Equipment Co., Ltd.

constant ② The bigger the setting value is, the higher the integral speed is and

the bigger the rigidity is. Parameter value is

specific servo unit model and load. Generally, the bigger the load

inertia， the smaller the setting value is.

③ Set the bigger value if there is no vibration for system.

PA 07 Torque instruction

filter

PA 08 Speed detecting low

pass filter constant

PA 09 Orientation

proportional gain

PA 10 Orientation

feedforward gain

PA 11 Orientation

feedforward

instruction filter

coefficient

PA 12 Orientation

instruction pulse

dividing numerator

PA 13 Orientation instruction

pulse dividing

① Set cut-off frequency of low pass filter of torque instruction.

② It is used for limiting the frequency band of current instruction to get

the stable current response against the impact and vibration of the

current.

③ Set the bigger value if there is no vibration for system.

① Low pass filter cut-off frequency set for speed detection

② The smaller the setting value is and the lower the cut-off frequency

is, the lower the noise from motor is. If the load inertia is very large,

reduce the setting value properly. If the value is too small, vibration

may be caused by slow response.

③ The bigger the setting value is and the higher the cut-off frequency

is, the quicker the speed feedback response. If higher speed

response is

appropriately.

①Proportional gain set of orientation loop regulator

②he bigger the setting value is, the higher the gain is and the bigger the

rigidity is, the smaller the orientation lag is. But if the value is too big, the

vibration and overshoot may occur.

③The value is decided by special servo unit model and load.

① Feedforward gain set of orientation loop

② When it is set for 4096, it means that orientation lag is 0 in any

instruction pulse frequency.

③ If the feedforward gain of orientation loop increases and the high

response of the control system is raised, overshoot may occur for the

instability of the system orientation loop caused.

④Unless the high response is needed, the feedforward gain of

orientation loop is usually 0.

①Cut-off frequency determination of orientation

pass filter.

②The low pass filter is used for increasing the stability of complex

orientation control.

③The bigger the parameter value is and the higher the cut-off frequency

is, the more liable the noise and overshoot are to occur in running.

Refer to Section 6.2.5.

determined by

needed, the setting value can be increased

loop feedforward low

1-1500%

1~5000

1~1000/S

0~100%

1~1200

1~32767

30

denominator

PA 14 Input and analog

instruction selection

of orientation

instruction pulse

PA 15 Orientation

instruction pulse

reverse direction

Chapter 4 Parameter

① there are 4 modes to be selected:

0 pulse+sign; analog voltage(-10 ～ +10) valid in analog instruction

mode

1 CCW pulse/CW pulse

2 two-phase orthogonal pulse input

3 analog voltage(0～+10) instruction valid in analog instruction mode

(SC2, SC1 for forward and reverse rotation selection)

② CCW rotation is defined as the forward direction when viewed from

the axial direction.

③ CW rotation is defined as the reverse direction when viewed from

the axial direction.

① Reverse direction of orientation instruction pulse, set for

0：normal;

1：reverse direction of orientation instruction pulse.

0～3

0~1

PA 16 Orienting completing

range

PA 17

Orientation out-of-

tolerance detecting

range

PA 18

PA 19 Reverse analog

Orientation out-of-

tolerance

speed

invalid

① Pulse range set for orienting completion in orientation control mode.

② The parameter provides factors the servo unit judges whether the

orienting is completed in orientation control. When remainder pulses

in orientation

value of the parameter, the servo unit defaults that the orienting is

completed and the signal for it is COIN ON, otherwise it is COIN OFF.

③ Orienting completing output signal is COIN in orientation control

mode, and speed in-orientation output signal is SCMP in other control

mode.

① Alarm detection range set of orientation out-of-tolerance.

② In orientation control mode, servo unit makes alarm of orientation

out-of-tolerance when the counting of orientation deviation counter

exceeds the parameter setting.

① Orientation out-of-tolerance enabling parameter, set for

0：The alarm is valid.

1：The alarm is invalid.

Reverse of analog speed instruction, set for

0：Normal.

deviation counter are less than or equal to the setting

0~30000

pulse

0~30000×

100 pulse

0~1

PA 20 Drive stop invalid

input

PA 21 JOG running speed

instruction The running speed set in JOG mode.

PA 22 Analog speed

instruction

1：Reverse of analog speed instruction.

Drive stop invalid input setting, set for

0：Allowable input of drive stop signal

1：Not allowable input of drive stop signal.

Analog speed instruction aberrance set

31

0~1

-31000~31

000

0.1r/min

-500~500

0.1r/min

GSK CNC Equipment Co., Ltd.

aberrance

PA 23 Max. speed limit

PA 24 Internal speed 1

PA 25 Internal speed 2

PA 26 Internal speed 3

PA 27 Internal speed 4

PA 28 Speed in orientation

PA 29 Max. speed of

analog instruction

PA 30 Conversion

numerator for linear

speed

① Max. speed limit set of servomotor.

② It is irrelevant to rotary direction.

③ If the setting exceeds the rated speed, the actual max. speed limit is

the rated speed.

① Internal speed 1 set.

See PA04.

① Internal speed 2 set.

②See PA04.

①Internal speed 3 set.

②See PA04.

①Internal speed 4 set.

②See PA04.

① Speed in orientation set

② Not available in orientation control mode

③ Irrelative to rotation direction

Instruction value of max. speed corresponding to max. analog voltage

output

① Used for linear speed

② Linear speed = motor speed (r/min)×

0~31000

0.1r/min

-30000 ～

30000

0.1r/min

-30000 ～

30000

0.1r/min

-30000 ～

30000

0.1r/min

-30000 ～

30000

0.1r/min

0～30000

0.1r/min

0～31000

0.1r/min

1～32767

speedlinear for numerator conversion

speedlinear for r denominato conversion

③ The orientation of linear speed decimal point is determined by

parameter PA32. And 0 stands for no point, 2 for 2-bit and so on.

④ 【Example】If servo motor drives 10mm ball screw, then set the

conversion numerator for linear speed for 10, conversion

denominator for linear speed for 1, the decimal point orientation of

linear speed is 3. linear speed can be displayed in monitor with the

unit m/min. When the speed of motor is 500r/min, linear speed

5.000m/min will be displayed.

PA 31 Conversion

denominator for

linear speed

PA 32 Decimal point for

linear speed

PA 34 Internal CCW torque

limit

32

See parameter No.30.

See parameter PA30.

① Internal torque limit set in CCW direction of servo motor.

② The setting is the percent of rated torque. e.g. if the setting is the

double of rated torque, the setting is 200.

1～32767

0～5

0～300%

PA 35 Internal CW torque

limit

PA 36 External CCW

torque limit

PA 37 External CW torque

limit

PA 38 JOG torque limit of

trial speed

PA 52 Latency for hold

stop

Chapter 4 Parameter

③ The limit is valid under any conditions.

④ If the setting exceeds max. overload allowable, the actual torque

limit is the max. loading.

①Internal torque limit set in CW direction of servo motor.

②The setting is the percent of rated torque. e.g. if the setting is the

double of rated torque, the setting is 200.

③The limit is valid under any conditions.

④If the setting exceeds max. overload allowable, the actual torque limit

is the max. loading.

① External torque limit set in CCW direction of servo motor.

② The setting is the percent of rated torque. e.g. if the setting is the

rated torque, the setting is 100.

③ The limit is valid only when the CCW torque limit input terminal (FIL)

is ON.

④ If the limit is valid, the actual torque limit is the minimum of the

absolute values among the max. overload allowable, internal or

external torque limit.

① External torque limit set in CW direction of servo motor.

② The setting is the percent of rated torque. e.g. if the setting is the

rated torque, the setting is 100.

③ The limit is valid only when the CW torque limit input terminal (RIL)

is ON.

④ If the limit is valid, the actual torque limit is the minimum of the

absolute values among the max. overload allowable, internal or

external torque limit..

①The setting is the percent of rated torque. e.g. if the setting is the rated

torque, the setting is 100.

② Internal or external torque limit is valid in any conditions.

①As for the motor with brake, if the servo on signal is cancelled, the

motor will be activated for working for some time by servo unit.

② Latency=setting value×4ms

(Refer to Section 6.3.)

-300～0%

0～300%

-300～0%

0～300%

ms

4.3 Model code parameters for motors

PA01 parameters for STZ series servo motor

PA01 parameter Model and technological parameters of servo motor Remark

10

110SJT-M020E，0.6kW,220V, 3000rpm,3A,0.34×10

-3

kg.m2

11 110SJT-M040D, 1.0kW,220V, 2500rpm,4.5A,0.68×10-3kg.m2

12 110SJT-M060D, 1.5kW,220V, 2500rpm,7A,0.95×10-3kg.m2

13 130SJT-M040D, 1.0kW,220V, 2000rpm,4A,1.19×10-3kg.m2

33

GSK CNC Equipment Co., Ltd.

14 130SJT-M050D, 1.3kW,220V, 2000rpm,5A,1.19×10-3kg.m2

15 130SJT-M060D, 1.5kW,220V, 2000rpm,6A,1.95×10-3kg.m2

16 130SJT-M075D, 1.88kW,220V, 2000rpm,7.5A,1.95×10-3kg.m2

17 130SJT-M100D, 2.5kW,220V, 2500rpm,10A,2.42×10-3kg.m2 ※

18 130SJT-M100B, 1.5kW,220V, 1500rpm,6A,2.42×10-3kg.m2

19 130SJT-M150B, 2.3kW,220V, 1500rpm,8.5A,3.1×10-3kg.m2 ※

20 130SJT-M150D, 3.9kW,220V, 2500rpm,14.5A,3.6×10-3kg.m2 ※

34

35

36

37

39

45

46

47

49

110ST-M02030H，0.6kW,220V, 3000rpm,4A,0.33×10

110ST-M04030H，1.2kW,220V, 3000rpm,5A,0.65×10

110ST-M05030H，1.5kW,220V, 3000rpm,6A,0.82×10

110ST-M06020H，1.2kW,220V, 2000rpm,6A,1.00×10

130ST-M04025H，1.0kW,220V,2500rpm,4A,0.85×10

130ST-M05025H，1.3kW,220V, 2500rpm,5A,1.06×10

130ST-M06025H，1.5kW,220V, 2500rpm,6A,1.26×10

130ST-M07720H，1.6kW,220V, 2000rpm,6A,1.58×10

130ST-M10015H，1.5kW,220V, 1500rpm,6A,2.14×10

-3

kg.m

-3

kg.m

-3

kg.m

-3

kg.m

-3

kg.m

-3

kg.m

2

50

51

60

130ST-M10025H，2.6kW,220V, 2500rpm,10A,2.14×10-3kg.m2

130ST-M15015H，2.3kW, 220V, 1500rpm,9.5A,3.24×10-3kg.m

150ST-M27020H，5.5kW,220V, 2000rpm,20.5A

※

2

※

For the motor above with the “※” mark, thickened radiator should

be applied for the suited servo unit.

34

Chapter 5 Display and operation

5.1 Keys operation

The DA98B servo unit is very easy to operate that the functions required can be set

by only 4 keys. The outline of its panel is as following:

For decrease of sequence number, value or backward selection

6-bit digital LED displayer

For increment of sequence number,

value or forward selection

Entering into the next layer of optional

menu or input confirmation

Back to the upper layer of optional

menu or operation cancellation

Operation procedure

1) In the speed monitoring mode, after switching on the power supply of the servo

unit, the default display is:

2) The operation is performed according to multi-layer menus. The first layer is the

r 0.0

；

main menu that consists of 9 kinds of operation modes, the second layer is the

function menus in various operation modes. The fig.5.1 shows the diagram block

of the main menu:

3) According to the diagram block above, pressing ‘

into the main menu, then press‘

After selecting a mode, press

Press ‘

Holding ‘ ’or ‘ ’key on, the operation will be repeated. The more the

holding time is, the faster the speed repeated is.

’ key to return if backing to upper menu is required.

’ or ‘ ’key to select any mode in the 9 modes.

key to enter the next menu of the mode.

’key or holding ‘ ’ can enter

35

GSK CNC Equipment Co., Ltd.

Monitor mode

Parameter setting

Parameter

management

Speed trial run

JOG run

Encoder zero-

adjusting

Analog zero-

adjusting

Fig. 5.1 Diagram block of main menu

5.2 Monitoring mode

① Select “ ”in the main menu and press ‘ ‘ key to enter into

monitoring mode.

② There’re 21 display modes in monitoring mode. Select the desired display mode

by

‘ 、 ’keys, then press to enter into monitoring mode.

‘ ’

36

Chapter 5 Display and operation

Fig. 5.2 Diagram block of monitoring mode

Explanation

1. or

r： Speed code for motor. It displays‘－’if the motor runs reversely in that

speed.

1000.0：Speed value for motor Unit: rev/min

2. The pulse number unit in this servo unit is 10000 pulse/rev, and orientation pulse

number is comprised by two parts of high 4-bit and low 5-bit. e.g.

＝1245806 pulses

i.d. orientation instruction pulse number is also comprised by two parts, e.g.：

＝1245810 pulses

10000

100000 ＋

＋

37

GSK CNC Equipment Co., Ltd.

Therefore, the formula for orientation deviation is:

3. Alarm display:

Alarm number

4. Running display

＝

－

：No alarm, normal

：No.1 alarm

：No.36 alarm

5. Instruction pulse values in orientation mode are the magnified ones through

electronic gear.

6. Pulse frequency of orientation instruction is the actual one before inputting it

to the electronic gear with positive number for positive direction and negative

number for negative direction and its min. unit is 0.1kHz.

7. The formula for effective value of phase current of motor is as follows:

1 3

222

)(

IIII ++=

WVU

：Servo unit is being running

：Main circuit having been charged

：Main circuit having not been charged

8. The absolute orientation of rotor in a revolution means the relative orientation

of rotor to stator, where a revolution for a period with the range 0～9999.

9. The orientations of input terminals, output terminals and encoder signal are

38

Chapter 5 Display and operation

shown as follows, and their definitions are shown in Fig.5.3, Fig.5.4, Fig. 5.5.

Fig. 5.3 Input terminal display (bright light is ON and dark light is OFF)

Fig. 5.4 Output terminal display (bright light is ON and dark light is OFF)

Fig. 5.5 Encoder signal display (bright light is ON and dark light is OFF)

5.3 Parameter setting

Prior to parameter setting, modify the parameter by the user password according to the

PA00 parameter in the parameter list. After the setting, press the‘

the setting. Attention should be paid for the parameter setting range against accident.

Select “PA-”in the first layer and press‘

parameter number by

‘ 、 ’,then press‘ ’to display the value of the parameter,

’to enter into parameter setting mode. Select

’key for confirming

modify the value by

the parameter value, press and hold on

value for the parameter. When the parameter value is modified, the decimal point of

rightmost LED digital tube is lighted, press‘

the decimal point of rightmost LED digital tube is put out. And the modified value will

‘ 、 ’. Press ‘ ’ or‘ ’key for once to increase or decrease 1 for

‘ ’or‘ ’to continuously increase or decrease

’to confirm the modification, and then

39

GSK CNC Equipment Co., Ltd.

immediately be reflected in the control process, press‘ ’or‘ ’to go on modify

parameters till the completion of modification, then press

selection mode. Do not press‘

‘ ’to cancel it to make the parameter recover to its original value and back to the

press

’to confirm if the parameters modified are not proper,

‘ ’to back to parameter

parameter selection mode.

The following is the parameter setting procedure for GSK 110SJT-M040D servo motor

Power on

Back a layer

Menu selection

Forward a layer

Parameter value

Modification

Confirmation

Back a layer

Parameter selection

Parameter value

Modification

Confirmation

Back a layer

Menu selection

Forward a layer

Default call

Hold for 2s

Model code parameter

of the respective motor

:

Fig. 5.5 Diagram block of parameter setting

5.4 Parameter management

The parameter management is mainly used for memory and EEPROM operation.

Select “EE-” in the first layer and press‘

mode. 5 operation modes can be selected by

“ parameter writing ” , select “EE-Set”，then press‘

second, the monitor displays “

into EEPROM. After 1~2 seconds, the monitor displays “

successful, otherwise“ ” is displayed. Press ‘ ’again to return to operation

selection mode.

z EE－Set: parameter writing. It means to write the parameters in the memory into

EEPROM parameter area. The parameters modified by user only change the

’to enter into parameter management

‘ 、 ’keys. For example, for

’and hold it on for over 1

” that means the parameter is being written

” if the writing is

parameter values in the memory that they will restore to their original values after

power is on again. If the parameter values are changed permanently, parameter

writing should be executed to write the parameters in the memory into the

EEPROM parameter area, so the modified parameter values will be valid after

40

Chapter 5 Display and operation

power is on again.

z EE－rd: parameter reading. It means to read the data in EEPROM parameter

area into the memory. The process will be executed automatically when power is

on. At the beginning, the parameters in the memory are the same as that of

EEPROM parameter area. If the parameters are modified by user, the parameter

values in the memory will be changed. If the user is not satisfied with the modified

parameter values or the parameters are disordered, the parameter reading can be

executed to read data in EEPROM parameter area into the memory to recover the

original parameters in the state of power on.

z

EE－bA: Parameter backup. (Reserved)

z EE－rs： Restoring backup. (Reserved)

z EE－dEF: Restoring default value. It means to read all default values (factory

setting) of parameters into the memory and write them into EEPROM parameter

area that they will be used when power is on again. Perform the above operation

to restore all parameters to their factory setting if the parameters are disordered

by user that cause the system to run abnormally. Because the different servo

motor corresponds to different parameter default value of the servo unit, the model

code of the servo motor must be ensured (parameter PA01) when restoring

default parameters.

Fig. 5.6 Diagram block of parameter management

41

GSK CNC Equipment Co., Ltd.

g

The parameter setting will not be saved after the power is down and the

modification is invalid if the writin

modified parameter.

has not been executed for the

5.5 Additional information

The function of automatic gain adjustment being developed at present is not available.

The encoder zero-adjusting function unallowable to be used by user is provided for motor

manufacturer.

42

Chapter 6 Trial run

6.1 Check before trial run

① Check wiring:

z Ensure the wiring, especially the connections of the power supply wiring and motor

wiring of servo unit.

z Ensure the earthing connection.

② Check power supply to ensure the normal voltage.

③ Fix the servo motor securely against overturning or bumping.

④ Perform the dry run operation in trial run to make sure the normal running prior to loading

running.

43

GSK CNC Equipment Co., Ltd.

6.2.1 Sequence of power on for servo unit

The connection of power supply is shown as Fig.6.1, switch on the power by

following steps:

1) Put the power supply to the power input terminals of main circuit ( 3-phase to R,

S, T respectively, single phase to R,S) by electromagnetic contactor

（NFB、

MC）.

2) The r, t terminals of control circuit should be switched on prior to the main circuit

power (or with it simultaneously without MC), then switch on the main circuit

manually. The cut-off function of main power for alarm is attached to the circuit.

Fig.6.1 Power supply wiring

3) If servo on (SON) is ON after the connection of the control power with the main

circuit power, the motor is activated and the system is on running. If servo on

signal is switched off or alarming occurs, the base electrode circuit closes and

the motor is in a free state.

a) If servo on (SON) is switched on with power supply, the motor is activated

in about 100 ms.

b) Frequent switching on or off the power supply may damage the soft start

circuit and energy hold circuit. The frequency limit for switching on or off

should be 5 times per hour or 30 times per day. If the servo unit or motor is

overheated, only by cooling of 30 minutes after the fault is exterminated,

can the power supply be switched on again.

4) Sequence for power switch on

44

Chapter 6 Trial run

Power supply

power on

ALRS

SON

Motor

activated

SRDY

power off

<600ms

ALM

6.2.2 JOG running

reset

OFFOFF ON ON OFF

power on

t<600us

power off

t<1ms

power on

power off

OFF ON OFF ON OFF

t<300us

alarm on

power on detection

t＝ PA52× 4

power down

800ms

Do switch off load prior to JOG running. If the JOG running is well done, it means that the

connection between the motor and the servo unit is correct.

Steps:

Connect CN1 for the control signal : OFF for servo enabling, ON for CCW drive ⑴

stop(FSTP), ON for CW drive stop(RSTP).

Power on for servo unit and the initial display is:⑵

Press‘⑶

’key, it displays:

Repress‘⑷

’key to back to the first layer menu, it displays

Press ‘⑸

’or ‘ ’key to find the parameter setting menu

Press‘⑹

’key, it displays

Press ‘⑺

’or ‘ ’key to find the No.4 parameter (others)

Press ‘⑻ ’or ‘ ’key to set No.4 parameter to 4, it displays

45

GSK CNC Equipment Co., Ltd.

Press‘⑼ ’key to confirm the setting of the No.4 parameter,

it displays

i.b., set the PA21 parameter ⑽ to the motor speed required, i.e. the JOG speed

Press ‘⑾

find the JOG mode

’key to back to the first main menu layer to

Press‘⑿

’key, it displays

Set ON for the enabling, press‘⒀ ’key and hold it on, the motor runs by the setting speed,

release the key, the motor running stops; press‘

reversely by the setting speed, release the key, the motor running stops with zero speed.

’key and hold it on, the motor runs

6.2.3 (Sr-) trial run

Change the value in PA-4 by 3 according to the JOG running steps above; select “Sr-” in the

first layer, press

and its unit is 0.1r/min. The system is in a speed control mode and the instructions of speed

are provided by keys operation. C, the motor runs by the speed instructions changed

by

‘ 、 ’key. Pressing ‘ ’key increases the speed, and pressing‘ ’key decreases the

speed. While the speed displayed is positive number, the motor runs forward; and negative

number for backward.

‘ ’key to enter into trial run mode. The prompt for speed trial run is “r”,

6.2.4 Speed control run

There’re two kinds of running control for speed. One is the analog speed instruction input,

the other is internal speed instruction. Details are as follows:

Analog speed instruction input

1) Input the control signal by the Fig.6.2 wiring diagram block: OFF for servo on (SON),

ON for CCW drive stop (FSTP), ON for CW drive stop (RSTP).

2) Set the analog voltage instruction for 0 V, ON for servo on (SON), the motor is activated

46

Chapter 6 Trial run

V

with zero speed. If the motor runs in low speed, adjust the parameter PA22 to make the

motor to be in zero speed state.

3) Slowly adjust the analog voltage, the motor speed will vary by the voltage variation. The

highest motor speed in ±10V input voltage can be adjusted by modifying parameter

PA29. Be attentive that the highest running speed is limited by PA23.

4) Modify parameter PA19 if the rotation direction is required to be changed.

When PA19=0, motor runs forward (CCW) for positive voltage, backward(CW) for

negative voltage;

When PA19=1, motor runs backward (CW) for positive voltage, forward(CCW) for

negative voltage;

5) If vibration occurs in the CNC closed loop running, adjust parameter PA08 for feedback

filtering.

Wiring diagram block: pameter list

DC

12-24V

DC

-10V-+10

38

23 24

17

9

1

COM+

SON FSTP RSTP

VCMD AGND

Sequence

number

PA04 Control mode

PA08 Low pass filter for

PA19 Reverse of analog

PA22 Instruction deviation

PA23 Highest speed setting

PA29 Highest speed of

Name Setting range Factory

0～6

selection

1～5000

speed detecting

0～1

speed

-500～500

of analog speed

-30000～30000

for motor

-30000～30000

analog instruction

Fig.6.2 Wiring for analog instruction control

Wirings for two types of CNC system for milling machines made by us.

setting

1

200

0

25000

47

GSK CNC Equipment Co., Ltd.

AGN

VCM

D

A

#

A B

# B Z

#

Z

1

4

3

1

5

4

1

6

5

1

7

VCMD-

1

VCMD+

1

7

1

2

PAOUT

2

7

1

3

PBOUT

2

8

PBOUT

4

3

PZOUT

4

2

PZOUT

-

+

- +

1

7 9

2

1

0

2

3

1

8

0

22

1

0

5

+VC

*PC

1

2

PCA

7

1

3

*PC

8

PCB

1

*PC

6

4

SRDY+

9

SON

3

+24

SON

1

4

2 1

5

3 0

5 9 4

6 7

8

PAOUT

PBOUT PBOUT PZOUT

PZOUT

ALM

SON

COM COM

D

RST

FST

ALM

SON

PULS+

PULS-

SIGN+

SIGN-

CZCOM

C

Z

COM

-

+

- +

+ +

G

P

+

IN0

OUT

1

XCP

+

XCP

-

XDIR+

XDIR- PC0

+24

V

GND

Fi.g 6.3（a）Valid for analog and pulse instructions

-VC

A

B

Z

PCZ

2 3

1

2 1

3 3

3

VCMD-

1

VCMD+

1

7

1

2

7

1

3

2

8

4

3

4

2 5

2

+

V

-

0

V

0

V

3

9

3

8

3

2 9 2

4

（b）Valid for analog instruction

Internal speed instruction

48

Chapter 6 Trial run

1) Input the control signal by connecting CN1: OFF for servo on(SON), OFF for speed

choose1 (SC1), speed choose2 (SC2), ON for CCW drive stop (FSTP), ON for CW

drive stop (RSTP).

2) Switch on the power supply of the control circuit, the servo unit displayer will light.

Check connection if alarming occurs.

3) Set the control mode selection(parameter PA04) for speed running mode(set for 2), set

the speed parameters PA24～PA27 as required.

4) Set servo on(SON) for ON, the motor will be activated for internal speed running state.

5) Change the states of input signal SC1, SC2 for different combinations of internal speed,

which is shown as following table:

SC1

I n t e r n a l s p e e d Parameter Setting range Unit

SC2

0

1 PA24

-30000～+30000

0.1rpm

0

2 PA25

-30000～+30000

0.1rpm

1

3 PA26

-30000～+30000

0.1rpm

0

1

4 PA27

-30000～+30000

0.1rpm

1

6.2.5 Orientation control run

1) Input the control signal by the Fig.6.4 wiring diagram block: OFF for servo on(SON),

ON for CCW drive stop (FSTP), ON for CW drive stop (RSTP).

2) Switch on the power and adjust the parameters, set appropriate electronic gear ratio

(PA12, PA13).

The so-called ‘electronic gear function’ is a function that compared to the mechanical

gear, the motor moving that is equivalent to the input instruction pulse can be set for any

value by the adjustment of servo parameters without considering the mechanical

reduction ratio and encoder pulses in controlling. By the setting of PA12, PA13

parameters, it is easy for user to match with various pulse resources to get the desirable

control resolution (i.e. angle/pulse).

The formula for electronic gear ratio is as follows:

4××=× CNGP

P：pulse amount of input instruction;

49

GSK CNC Equipment Co., Ltd.

P

G：electronic gear ratio;

G=dividing numerator / dividing denominator

Recommended range of G is:

N：motor rotating circles;

C：photoelectric encoder lines/rev, in this system C=2500

【Example 1】When input instruction pulse is 6000, and servo motor rotation is 1:

5

4250014

6000

××

=

3

××

CN

=

G

so parameter PA12 is set for 5 and PA 13 is set for 3.

=

1

50

≤≤ G

【Example 2】

If the workpiece is required to move 10mm

Electronic gear ratio not used

For a 6mm moving in a revolution, it

needs 10÷6＝1.6666 revolution; as for

2500×4 pulses for a revolution, the

instruction pulse input is

1.6666×2500×4＝16666 pulses. And

the operation must be executed in the

upper device.

Electronic gear ratio used

The mechanical condition and

instruction unit must be defined in

advance by electronic gear ratio. If

the instruction unit is set for 1 um,

10mm moving needs

10mm÷1um=10000 pulses.

3) Set servo on(SON) for ON on condition that no alarming and abnormity occurs. The

motor will be actuated for zero speed.

4) Input low frequency pulse to make the motor run in a low speed, and check whether

the motor speed is the setting one. Stop inputting low frequency pulse to see

whether the motor stops. Adjust the parameter if the motor runs in a low speed.

50

Chapter 6 Trial run

Wiring diagram block Parameter list

DC

12-24V

DC 5V

Sequence

number

PA04 Control mode selection 0 1

PA14 Pulse input mode 0 0

PA12 Orientation instruction

PA13 Orientation instruction

PA05

PA06 Time constant for speed

70

38

23 24

9

COM+

SON FSTP RSTP

PLUS+ PLUS-

SIGN+

70

SIGN-

Fig.6.4 Wring of orientation instruction control

PA09 Orientation control gain 40

PA10 Orientation feedforward

PA11 Cut-off frequency of

Name Setting Factory

dividing numerator

dividing denominator

Speed gain

integral

gain

orientation feedforward

instruction filter

See Section

6.2.5.

Adjust it by

requirement.

See parameter adjustment in

Section 6.4.

setting

1

0

300

Wiring sketch map for CNC system of GSK980TD turning machine

GSK980TD(X or Z axis)

DA98B CN1

XS30 or XS31

CP+

1

CP-

9

DIR DIR DAL

P nSE nEN

0 +24

+

- M

C

T

V

2

1

0 5

3 6 7

1

4

DB15(male plug)

PULS+

3

0

PULS-

1

5

2

9

SIGN+

1

4

SIGN-

5

ALM

3

6

CZCOM

4

1

INH

2

3

SON

3

2

D

G

C

3 3

3 2

Z

7

COM RST

D FST

+ P

G

P

8 9 3

4

DB44(female plug)

Fig.6.5 Valid pulse instruction

51

Metal shell

GSK CNC Equipment Co., Ltd.

6.3 Application of hold release signal

In order to lock the vertical or tilted work table linked with the motor against falling down by

the servo power off, servo motor with hold brake is usually employed. The hold releasing

signal （HOLD±）is provided for the effective control of the motor with hold in the servo unit.

The hold brake is only for work table hold and is not allowed to be

used for reduction and stop of machine.

Fig.6.6 shows the wiring applied for the control of motor by the hold release signal. The 24V

power supply in the map is provided by user. The polarities of power should be noticed

when switching on the hold release signal（HOLD±）. The time sequence of SRDY and

HOLD± are identical and they both can be used for the hold release signal for special

purpose. The wiring is as following.

Fig. 6.6 ( a ) Typical instance of the HOLD± hold release signal

Fig. 6.6 ( b ) Typical instance of the SRDY hold release signal

The Fig.6.7 shows the time sequence sketch map of normal hold release signal. When the

servo on（SON）is switched off, the motor’s actuation is cut off in suspense. Cut off the

motor’s actuation if the motor shaft is completely clamped after the power off of hold coil.

The latency is defined by parameter PA52.

52

Power

suppl

Chapter 6 Trial run

Power o

y

n

SON

Motor

activated

HOL

SRD

D

Y

OFF

power off

hold on

OFF

<600m

O

power o

t

<600

hold of

s

ALM

Power on detection

Fig.6.7 Sequence sketch map for hold release signal

OFF

N

n

power off

u

s

f

hold on

O

N

OFF

t＝PA5

2

×4

power o

hold of

O

N

n

f

N

power off

hold on

OFF

Alarm o

OFF

n

When the power is cut off, no drive is available for servo unit. Affected by the outer

circuit (etc. relay), the braking coil is powered off in suspense for dwelling braking action

that will cause the instant falling of the work table by gravity. When turning off the

system, first switch off enabling (SON) to ensure the output of the braking signal, then

cut off the power.

53

GSK CNC Equipment Co., Ltd.

Typical wiring diagram of GSK

980TD matched with DA98B servo

980TD

system

unit on turning machine

System

switch power

220V

L

380V AC

power

input

Switch-off

Hold

motor

Hold coil

KM1

Switch-on

KM1

24V

power

380V 220V

380V

380V AC

transformer

relay

KM1

Used for cutting off hold signal

against work table falling

down while power down

KM1

SRDY

220V

N

7 6

DG

DA98B

servo unit

6.4 Parameter adjustment for machining characteristics improvement

DA98B basic parameter adjustment diagram

54

Chapter 6 Trial run

PA05 Proportional gain of speed loop range（150-900）

PA05 is the speed loop proportional gain KP, if its value increases, the action of the

servo will be more agile and faster. If the value is a bit larger, the motor screams with

hardened rigidity. The speed fluctuation of motor increases (inferior surface finish). If

the value is too large, the motor becomes instable, if the value is too small the crawling

of motor occurs for the motor’s softening as well as the action of servo adjustment

lowered. And overshooting of speed occurs in the transmission and loading alternation.

The smaller the value is, the larger the overshooting is. Extreme overshooting will result

in the low frequency oscillation. KP increasing may lower the error of the stable in the

steady system and increase the controlling precision, but the error can’t be

exterminated. If the PA05 value is lower than 100, normal cutting is unavailable for

over-cutting occurred. If the value is higher than 900, severe screaming occurs. In the

absence of oscillation, set a larger value as far as possible. Usually, the bigger the load

inertia is, the smaller the PA05 value set is.

Parameter adjustment for speed loop regulator

PA06 Speed loop integral gain range (1-15)

PA06 is speed loop integral gain. In practice the parameter can be set in a range of 1～

15, the error of the stable will be lowered if it is properly set and speed fluctuation

lowered. If the value is set for too large, shaking occurs and running speed fluctuation

increases. It is usually set for 2 or 3.

PA07 Filter coefficient of torque instruction range（300-1200）

Used for the cut-off frequency setting of low pass filter of torque instruction.

It is used for limiting the instruction frequency band of current to make the current

respond steadily against current shock and vibration.

If the value is too small, the motor shakes. Set a large value as far as possible if no

oscillation occurs. It is usually set for 600.

PA08 Low pass filter filtering coefficient of speed detection range（40-1000）

The smaller the setting is, the better the filtering effect is. If the setting is too small, the

speed fluctuation increases that results in severe shaking in running.

If the setting is too large, the speed fluctuation increases with the motor screaming. It

is usually set for 80.

PA50 Filtering coefficient of external analog instruction range（20~4096）

If the setting is too small, overshooting occurs in transmission with enhancing

55

GSK CNC Equipment Co., Ltd.

fluctuation. If the setting is decreased, the filtering for analog instruction will be

enhanced. The error of the stable increases (error followed increasing) and running

characteristic lags severely if the setting is too small. If the setting is too large, the

speed fluctuation and instruction disturbance enhance that may result in shaking.

Set proper speed proportional gain PA05 and speed integral gain PA06 according to the

methods introduced above.

PA09 Orientation loop proportional gain range（10-70）

PA09 is the orientation loop proportional gain. Set a larger value as far as possible in a

stable range. For a large orientation proportional gain, on one side, it can make the servo to

act swiftly and the tracking trait of orientation instruction with smaller lagging error much

better; on the other hand, too large setting may result in shaking trend of motor and too

large setting may cause the motor to run unsteadily. If the setting is above 140, there is

predominantly accidented surface in the sphere machining. Also oscillation is liable to occur

in the stop orienting. If the orientation loop proportional gain is set too small, the action of

the system is slow and the machining precision is bad. Over-cutting occurs if the value is

below 10.

PA10 Orientation feedforward gain is set for 0%.

PA11 Cut-off frequency of orientation feedforward instruction filter range（1-1200）

Parameter adjustment for position loop

While the orientation feedforward gain is required to increase without leading to the voice in

the process of acceleration and deceleration of motor, properly reduce the cut-off frequency

of orientation feedforward instruction filter. The larger the PA11 setting is and the higher the

cut-off frequency of orientation loop feedward instruction filter is, the more liable the noise is

to occur in the acceleration and deceleration of the motor. Also the orientation overshooting

is liable to occur.

① If position proportional gain setting value is set for a small one, the

system is stable, but the position tracking trait is getting bad and the

lag error is getting larger.

② Refer to [ position proportional gain ] setting values as following

table:

Rigidity Position proportional gain

Low rigidity

Middle rigidity

High rigidity

10～20/s 30～50/s 50～70/s

56

Chapter 7 Function for protection

Chapter 7 Funciton for protection

There are many protection functions such as overheat protection, overcurrent protection,

over-voltage protection for this DA98B AC servo device. While alarming occurs, the motor

stops. In the meantime, alarm code is being displayed on the LED display panel. Only is the

fault exterminated by operator according to the alarm code displayed, can the device be put

into use. The servo unit and motor can be touched only after they are powered off at least 5

minutes for avoiding electric shocking and burning. The servo on signal (SON) must be

confirmed invalid to avoid the unexpected starting of the motor before resetting alarm.

7.1 Alarm list

Alarm code Alarm name Content

-- Normal

1 Overspeed The servo motor speed exceeding its setting

2 Main circuit over-voltage Power voltage of main circuit too high.

3 Main circuit under-voltage Power voltage of main circuit too low.

4 Orientation oversize

5 The motor overheated Motor temperature too high.

6 Saturation fault of speed amplifier Long saturation of speed regulator

7 Abnormity of drive stop CCW, CW drive stop OFF

8

9 Encoder fault Encoder signal error

10

11 IPM module fault IPM intelligent module fault

12 Over- current Motor current overlarge

13 Overload

The orientation deviation counter

overflowing

The control power supply

down-voltage

Value of orientation deviation counter exceeding its

setting

Absolute value of orientation deviation counter

exceeding 2

Control power supply ±15V lower

The servo driver and motor overloaded (instantaneous

overheating).

30

14 Brake fault Brake circuit fault

15 Encoder counting fault Abnormity of encoder counting

16 Motor overheating Value of motor heating exceeding setting(I²t detection)

57

GSK CNC Equipment Co., Ltd.

/

20

22 Zero-adjusting error of encoder Zero-adjusting fail of encoder

23 Current sampling fault Current sampling circuit fault

32

Data and detecting alarm of

EEPROM

Encoder UVW signals code

invalid

EEPROM chip damaged

Complete high or low level of UVW signals

7.2 Alarm troubleshootings

Alarm

code

Err-1 Overspeed

Alarm name Running state Cause Remedy

Occurring in switching

on control power

supply

Occurring in motor

running

① Control circuit board fault

② Encoder fault

① The frequency of

instruction pulse input is

overhigh.

① Acceleration/deceleration

time constant is too small to

cause the speed

overshooting too large.

① The electronic gear ratio

input is too large.

① Encoder fault ① Change the servo motor.

① Encoder cable is inferior.

① Change servo driver

② Change servo motor

① Set correctly the input

instruction pulse.

①Increase acceleration

/deceleration time constant.

① Set it correctly.

① Change the encoder cable.

① Servo system is not stable

Occurring in the

starting of the motor

58

① The load inertia is too large.

① Encoder zero fault

to cause the overshooting.

① Set the related gain

again.

② If the gain can not be set

to a proper value, reduce

rotation inertia ratio of load.

① Reduce load inertia.

② Change driver and motor

with larger power ones.

① Change servo motor.

② Re-adjust encoder zero

by manufacturer.

Err-2

Err-3

Main circuit

over-voltage

Main circuit

under-voltage

Chapter 7 Function for protection

Occurring in switching

on control power

supply

Occurring in switching

on main power supply

Occurring in motor

running

Occurring in switching

on main power supply

Occurring in motor

running

① The U, V, W lead wires of

the motor are not

connected correctly.

② Cable lead wires of

encoder are not connected

correctly.

① The circuit board fault ① Change servo driver.

① Power supply voltage is

too high.

② Wave form of power

supply voltage is abnormal.

①The brake resistance

connection breaks off.

① Brake transistor is

damaged.

② Internal brake resistance

is damaged.

① The capacity of brake loop

is not enough.

① Circuit board is at fault.

② Fuse of power supply is

damaged.

③ Soft start circuit fault

④ Rectifier is damaged.

① Power supply voltage is

low.

② Temporary power cut-off is

more than 20ms.

① Power capacity is not

enough.

② Instantaneous power

down

① Connect the wires

correctly.

① Check power supply.

① Connect it again.

① Change servo driver.

① Reduce start-stop frequenc

② Increase acceleration/

deceleration time constant.

③ Reduce torque limit.

④ Reduce load inertia.

⑤ Change the driver and

motor with larger ones.

① Change servo driver

① Check power supply.

Err-4

Orientation

oversize.

Occurring in switching

on control power

supply

①The Radiator is overheated. ① Check load.

① Circuit board is at fault. ①Change the servo driver.

59

GSK CNC Equipment Co., Ltd.

① U, V, W lead wires of

motor are not connected

correctly.

② Lead wires of encoder

cable are not connected

correctly.

① Connect them correctly.

Err-5

Motor

overheated

the motor doesn’t

rotate after switching

on the main power

supply and the control

wires and inputting

instruction pulse

Occurring in switching

on control power

supply

Occurring in motor

running

① Encoder fault

① The orientation oversize

detecting setting range is too

small.

① The orientation proportional

gain is too small.

① Torque is not enough..

① Instruction pulse frequency

is too high.

① Circuit board is at fault.

① Cable is broken.

② Internal temperature relay

of motor is damaged.

① Motor is overloaded.

① Change the servo motor.

① Increase the setting range.

① Increase the gain.

① Check the torque limit

value.

② Reduce the load

capacity..

③ Change the driver and

motor with larger power

ones.

① Reduce the frequency.

① Change the servo driver.

① Check the cable.

② Check the motor.

① Reduce the load.

② Reduce the start-stop

frequency.

③ Reduce the torque limit

value.

④ Reduce the related gain.

⑤ Change the driver and

motor with larger power

ones.

① Motor interior is at fault. ① Change the servo motor.

Speed error

too big or too

Err-6

60

long saturation

time fault of

speed

amplifier

Occurring in motor

running

The motor is chucked

mechanically.

The load is too big.

Check the mechanical part.

① Reduce the load.

② Change the driver and

motor with larger power

ones.

Chapter 7 Function for protection

Err-7

Abnormity of

drive stop

Photoelectric

Err-9

Err-10

Err-11 IPM module

encoder signal

fault

Control power

supply

undervoltage

fault

Occurring in switching

on control power

supply

Occurring in motor

running

The input terminals of CCW,

CW drive stop are both broken

off.

① Encoder connection is

wrong.

① Encoder is damaged. ① Change the motor.

① Encoder cable is inferior. ① Change the cable.

① Encoder cable is so long

that the encoder voltage is

too low.

① Control power supply

voltage input is too low.

① Internal connector

assembly of driver is

inferior.

② Switch power supply is

abnormal.

③ Chip is damaged.

① Circuit board is at fault ① Change the servo driver.

① Power-up voltage is low.

② Overheated.

① Check the connection and

power supply of input

terminals.

① Check the connection.

① Shorten the cable.

② Employ with multi-core

parallel power-up.

①Check the control power

supply.

① Change the driver.

② Check the connector

assembly.

③ Check the switch power

supply.

① Check the driver.

② Power on again.

③ Change the driver.

Err-12 Over-current

① Driver U, V, W terminals are

short circuit.

① Earthing is not well done.

① Motor insulation is

damaged.

① It is interfered with.

Driver U, V, W terminals are

short circuit.

Earthing is not well done. Be grounded correctly.

Motor insulation is damaged. Change the motor.

Driver is damaged. Change the driver.

61

① Check the connection.

①Be grounded correctly.

① Change the motor.

① Add the circuit filter.

② Be far away from the

interference source.

Check the connection.

GSK CNC Equipment Co., Ltd.

Err-13 Overload

Err-14

Brake circuit

fault

Occurring in switching

on control power

supply

Occurring in motor

running

Occurring in switching

on control power

supply

Occurring in motor

running

① Circuit board is at fault. ①Change the servo driver.

① The motor runs exceeding

rated torque.

① Hold brake is not on. ① Check the hold brake.

① Motor vibrates unsteadily.

① One of U, V, W phases is

broken off.

② The connection of encoder

is mistaken.

① Circuit board is at fault. ① Change the servo driver.

①Brake resistance connection

is broken off.

① Check the load.

② Reduce the start-stop

frequency.

③ Reduce the torque limit

value.

④ Change the driver and

motor with the larger power

ones.

① Adjust the gain.

② Increase the acceleration/

deceleration time.

③ Reduce the load inertia.

① Check the connection.

① Connect the wire again.

① Brake transistor is

② Internal brake resistance is

③ damaged.

① Brake loop capacity is not

62

damaged.

enough.

① Change the servo driver.

① Reduce the start-off

frequency.

② Increase the acceleration/

deceleration time constant.

③ Reduce the torque limit

value.

④ Reduce the load inertia.

⑤ Change the driver and

motor with larger power

ones.

Chapter 7 Function for protection

Err-15

Err-16

Err-20

Err-22

Encoder

counting fault

Motor

overheating

Data and

detecting

alarm of

EEPROM

Zero-adjusting

error of

encoder

Occurring in switching

on control power

supply

Occurring in motor

running

EEPROM chip

damaged

① Main circuit power supply

voltage is too high.

Encoder is damaged. Change the motor.

Encoder connection is wrong. Check the connection.

Earthing is not well done. Be grounded correctly.

Circuit board is at fault. Change the servo driver.

Parameter setting is wrong. Set the parameter correctly.

Motor runs exceeding rated

torque for a long time.

Mechanical transmission is

not good.

① Chip or circuit board is

damaged.

Chip or circuit board is

damaged.

Parameter setting is wrong. Set the parameter correctly.

① Check the main power

supply.

① Check the load.

② Check the start-stop

frequency.

③ Reduce the torque limit

value.

④ Change the driver and

motor with the larger power

ones.

Check the mechanical part.

① Change the servo driver.

② Driver model (parameter

PA01) must be set again

after repairing, then

restore the defaults.

Change the servo driver.

Err-23

Err-32

Current

sampling fault

Encoder UVW

signals code

invalid

① Chip or circuit board is

damaged.

Circuit sensor is damaged.

① UVW signals of encoder

are damaged.

② Cable is inferior.

③ Cable shielding is not

good.

④ Shielding ground wire is

not well done.

⑤ Encoder interface circuit

is at fault.

63

① Change the servo driver.

① Change the encoder

② Check the interface

circuit of encoder.

GSK CNC Equipment Co., Ltd.

Chapter 8 Isolated transformer

The isolated transformer should be employed to driver to reduce the liability of

electric shock or interference from power supply and electromagnetic field. The

servo motor of 0.8KW or less can be employed with single phase type, and the one

of more must be employed with three-phase type. The following isolated

transformer models provided by us have good quality, high cost-performance ratio,

and good-looking figure, and user can choose according to your servo motor power

and actual load.

Table 8.1 Isolated transformer specification

Type

BS--120 1.2

BS--200 2.0

BS--300 3.0

BD--80 0.8

BD--120 1.2

Capacity（KVA）

Phase

Three-

phase

Single-phase

Input

voltage(V)

380 220

Output voltage

(V)

Fig.8.1 Outline and installation dimension for BS-120 model

64

Chapter 8 Isolated transformer

Fig.8.2 Outline and installation dimensions for BS-200 model

65

GSK CNC Equipment Co., Ltd.

Fig.8.3 Outline and installation dimensions for BS-300 model

66

Chapter 8 Isolated transformer

Fig.8.4 Outline and installation dimensions for BD-80 model

67

GSK CNC Equipment Co., Ltd.

Fig.8.5 Outline and installation dimensions for BD-120 model

68

Chapter 9 Order guide

9.1 Capacity selection

Servo capacity is relative to the load inertia, the load torque, the orienting precision and

max. speed required which are taken into account by the following steps:

1） Calculation of inertia and torque of load, torque of acceleration and deceleration

① Calculation of torque

The load torque is caused by the friction and cutting force of the driver.

2πM = FL

M ── Torque of motor shaft

F ── Force required for moving the mechanical parts in linear direction

L ── Distance of moving mechanically for a revolution (2 π rad) of

motor

2πM is the work done by the motor torque M in a revolution, while FL is the

work done by force F moving an object for L distance.

Practically, due to the factors of transmission efficiency and friction coefficient,

the torque required by ball screw overcoming the external load force P for

uniform velocity movement is shown as following diagram:

Calculate it by the following equation:

M1＝（K

，－Tooth number

Ball s crew

An example for servo feeding drive system

F

0 spa

2

With pre-fastened

double nuts

＋

P 2

πη

h

π

h

sp

1

＋MB）

Z

1

Z

2

Servo motor

Ｍ

K

—— Drive torque for uniform velocity movement

1

F

0 spa

π

2

F

h

—— Pre-fastened torque of double nuts ball screw（N•mm）

——Pre-fastened force, it generally amounts to one third of the

a0

69

GSK CNC Equipment Co., Ltd.

πγ

max. axial working load, i.e. Fa0 ＝1/3F

（0.1~0.12）C

C

sample

(N) is suggested for use.

a

——The rated load of ball screw that can be looked up in the

a

maz

. If F

is hard to get, F

maz

a0

＝

hsp —— Ball screw lead（mm）

K ——Pre-fastened torque coefficient of ball screw, 0.1－0.2

P ——axial external load of ball screw（N）, P＝F＋µW

F ——Axial cutting force of ball screw（N）

W ——Load in normal direction（N），W＝W

W

P

——Gravity of moving parts（N）, including max. loading gravity

1

——Clamping force of splinting (etc. headstock)

1

1＋P1

µ —— Slideway frictional coefficient, for slideway clung with ClC

board, µ＝0.09; for lubrication, µ＝0.03－0.05; for linear rolling slideway, µ＝0.003－

0.004

η

—— Efficiency of ball screw, 0.90－0.95

1

4

M

z

—— Frictional torque of supporting bearing, namely, start torque

B

—— Tooth number of gear 1

1

—— Tooth number of gear 2

2

Select a servo motor which satisfies the following inequation:

M

is the rated torque of the servo motor.

s

② Calculation for inertia matched

The following inequation is generally recommended for use among motor

inertia J

1

≤

4

, load inertia JL (converted to motor shaft), general inertia Jr:

M

J

L

≤ 1 , 0.5 ≤

J

M

The motor rotor inertia J

calculation for load inertia is as follows:

（N•m）, which can be looked up in the sample of bearing

for ball screw

≤ Ms

1

J

M

≤ 0.8 or 0.2 ≤

J

r

can be looked up in the sample manual. The

M

J

L

J

r

≤ 0.5

1. The inertia of rotary object Ball screw, coupling, gear, tooth form belt

etc. are all rotary objects.

J＝

D4L(kg*m2)

g×32

70

Chapter 9 Order guide

π

γ —— Material density of rotational object(kg*m2)

D —— Diameter of rotational object（cm）

L —— Length of rotational object（cm）

2

g —— Gravity acceleration，g=980cm/s

2. The inertia of linear movement object

J＝

W

L

（

g

2

）

(kg*m2)

π

2

W —— Gravity of linear movement object（N）

L —— The object moving distance for one revolution of

motor; if the motor is directly connected to the lead

screw, L=lead screw lead h

.

sp

3. The inertia converted to the motor shaft in deceleration and the

deceleration of gears, gear-form belt drive

，－ Tooth number

z

J＝J

1

）

z

2

（

0

Motor

Refer to the sketch map above, the load inertia J

converted to the motor

L

shaft is:

J

z

＋（

L＝JG1

——Inertia of gear 1 (kg*m2)

G1

——Inertia of gear 2 (kg*m2)

G2

—— Inertia of ball screw (kg*m2)。

S

1

）2[（JG2＋JS）＋

z

2

W

g

（

L

）2] (kg*m2)

π

2

③ Calculation of the max. torque in orienting acceleration

2

m

M ＝

（JM＋JL）+M

tn60

a

L

nm —— Speed of fast moving motor（r /min）（r /min）

—— Acceleration or deceleration time（s）, taking 150-200ms by ta ≈3 /KS；

t

a

71

GSK CNC Equipment Co., Ltd.

g

K

S

Open loop gain of the system，usually 8s-1- 25s-1; for MC K

M

—— Load torque（N•m）.

L

If M is less than the max. torque M

max

increased or decreased by the time constant used.

2） Preliminary confirmation of mechanical gear ratio

Calculate the max. mechanical reduction ratio by the highest speed and

highest speed of motor required and collate it to the min. orientation unit with

the min. revolution unit and the reduction ratio. If the requirement of the

orientation precision is very high, increase the mechanical reduction ratio (the

actual highest speed is lowered) or choose a faster motor.

3） Check of inertia and torque

Convert the inertia and torque of load to the motor shaft by mechanical

reduction ratio, and the inertia converted should be less than quintuple of the

motor rotor inertia. And the load torque converted and the effective torque

should be less than the rated torque of motor. If the requirement above can’t be

met, increment of mechanical reduction ratio (the actual highest speed is

＝ 20s-1；

S

of servo motor, the motor speed can be

lowered) or a higher capacity motor may be employed.

9.2 Electronic gear ratio

Refer to chapter 4 (Section 4.2 Parameter function), chapter 6 (Section 6.2.5

Orientation control run) for the significance and adjustment of electronic gear ratio.

In the orientation control mode, the actual speed of load is:

Instruction pulse speed×G ×mechanical reduction ratio.

In the orientation control mode, the actual min. displacement of load is:

Min. instruction pulse stroke×G ×mechanical reduction ratio

If the electronic gear ratio G is not 1, there may be a remainder when

executin

and the max. deviation is the min. revolution amount of the motor (min.

resolution).

the division for gear ratio, which may lead to position deviation

9.3 Stop characteristic

Lag pulse is defined to the difference between the instruction pulse and feedback

pulse when the servo motor is controlled by pulse strings in orientation control mode. The

difference is accumulated in the orientation deviation counter, and its relationship with the

instruction pulse frequency, the electronic gear ratio and the orientation proportional gain

72

is as follows:

Z

T

δ

g

*

Gf ×

ε=

ε：Lag pulse （Puls）；

f：Instruction pulse frequency（Hz）；

：Orientation proportional gain（1/S）；

K

p

G：Electronic gear ratio.

The equation is obtained when [position feedback gain] is 0% and

K

p

Chapter 9 Order guide

the la

equation if [position feedback gain] is more than 0%.

pulse will be less than the computation counted by the above

9.4 Servo and orientation controllor computation

1. Instruction displacement and actual displacement:

DR

S ⋅⋅⋅⋅⋅=

S：Actual displacement mm；

I：Instruction displacement mm；

δ：Min. unit of CNC mm；

CR：Instruction dividing frequency numerator；

CD：Instruction dividing frequency denominator；

DR：Servo dividing frequency numerator；

CRI CD

DD

ZD

1

S

L

M

DD：Servo dividing frequency denominator；

ST：Servo motor scale of per rev；

ZD：Side gear tooth numbers of motor；

ZM：Side gear tooth numbers of lead screw；

L：Lead screw pitch mm；

Generally S=I，the instruction value is equal to the actual one.

CRF

60

δ

CD

×

2. Max. instruction speed of CNC：

F：Instruction speed mm/min；

f

：Max. output frequency of CNC Hz.

max

f

≤⋅

max

73

GSK CNC Equipment Co., Ltd.

DR

nV ××=

max

3. Max. speed of servo：

max

：Max. speed of worktable allowed by servo, mm/min；

V

max

：Max. speed allowed by servo motor, r/min；

n

max

The practical max. speed of machine is limited by max. speed of CNC and servo.

L

DD

α

⎡ ⎢

⎣

CR

⋅=

CD

⎞ ⎟

⎠

⎛

NINTINT ⋅⋅⋅

⎜ ⎝

⋅

DR

⎤ ⎥

⎦

min

1

STDD

4. Min. movement of machine tool：

α：Min. movement of machine tool, mm；

N：Natural number；

INT（）：Integer rounding；

INT[ ]

：Min. integer.

min

ZD

ZM

L

δ

74

Add: No.52, 1

st

. Street, Luochong North Road, Luochongwei, Guangzhou, 510165, China

Website: http://www.gsk.com.cn E-mail: gsk@gsk.com.cn Tel: 86-20-81796410/81797922 Fax: 86-20-81993683

All specifications and designs are subject to change without notice Nov. 2006/Edition 1

Nov. 2006/Printing 1

gsk GSK DA98B User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual