gsk GSK DA98D User Manual
DA98D Digital AC Servo Drive Unit
User Manual
(V5.00)
In this User manual, we will exert ourselves to describe each item related
to operation of this drive unit. But due to reasons like limit in space and
specific product uses, detailed description of unnecessary or impossible
operation of this drive unit will be not included. Therefore, items that are
not specially indicated in this manual will all be regarded as “impossible”
or “disallowed” operations.
Copyright of this manual belongs to GSK Equipment Co., Ltd, and any
publication or copying of this manual by any unit or individual will be
deemed as illegal behaviors. GSK Equipment Co., Ltd shall reserve the
rights to ascertain legal liabilities of such behaviors.
1
Company Profile
Currently, GSK Equipment Co., Ltd (hereafter GSK for short) is a China's
company with the domestically largest sale volumes of digital control systems.
As the digital control industry base in Southern China and one of the 20
manufacturers of key equipment in Guangzhou, GSK is an undertaker of key
projects listed in State 863 Supporting Technology for Middle-Grade Digital
Control Industrialization. For more than a decade, the company has been
dedicated to professional research & development, designing and
manufacturing of such products as digital control systems for machine tools,
digital control devices, drive units and servo motors. By launching campaign on
popularization of digital control machine tools and developing trade in digital
control machine tool, the company has developed into a large hi-tech company
that integrates science, education, industry and trade into itself. Currently the
company has more than 1,400 employees, among whom there are 4 doctors,
more than 50 masters and over 500 engineering technicians (more than 50
technicians with senior professional titles). With a superior cost performance,
GSK series of products have a very good sale in China and far in Southeastern
Asia. Between 2000 and 2006, its market share has ranked No.1 in China for 7
consecutive years and its yield and sale volumes have led the peers for 7
consecutive years, which have consolidated its position as the biggest
domestic production base of digital control system for machine tools.
Our main products include digital control equipment and devices like GSK
series of machine tools, milling machine and digital control system for
processing centers as well as Da98, DA98A, DA98B and DA98D series of full
digital AC servo drive units, DY3 series of hybrid stepper motor driver, DF3
series of reaction stepper motor driver, GSK·SJT series of AC servo motors
and CT-L digital control slipway. All the products follow state standards
(international standards), industry standards and supplementary company
standards (or internal control standards) in an all-round way. With powerful
strength in technology development and improved production and quality
assurance system, GSK has satisfied requirements of vast number of its
customers with stable and reliable product quality. Its improved and sound
II
service mechanisms as well as the more than ten service offices set up in
domestic and foreign provinces and cities can guarantee swift and convenient
technical support and services within 24 to 48 hours. “Excellent products and
outstanding services” have built a brilliant GSK. Abiding by the operation
concept of “creating century-old company and molding gold brand”, GSK
people will make unrelenting efforts to build a digital control industry base in
Southern China and push forward national digital control industry.
Field Technical Support Services
If you have problems that cannot be resolved through phone calls, you can
receive our technical support on the spot. GSK will authorize technical support
engineer to the field to resolve your technical problems.
III
Foreword
Foreword
Distinguished Customers,
It is a great honor for us to have you buy DA98D full digital AC servo drive units
of GSK Equipment Co., Ltd.
This manual will introduce requirements and notes about operation of DA98D
full digital AC servo drive unit.
! Improper operation will cause accidents, and the drive unit must be
operated by personnel with related qualifications
Please see to it that you have carefully read the manual prior to operation!
If there are changes to specifications and designs, we will not provide further
notices.
Sincere thanks to your friendly support for using products of GSK Equipment Co., Ltd.!
Chinese version of all technical documents in Chinese and English languages is
regarded as final.
IV
Foreword
● Due to improvement in products, contents of this manual will have some changes, for
which we will not provide further notices.
● We will not be held accountable for any change made by the customer on the product
and the warranty form will hereby go invalid.
Please give special attention to the following warning sings when reading the manual!
Warning
Attention
Attention
Wrong operation may lead to disastrous consequences---death
or serious injury
Wrong operation may hurt the operator and the equipment may
also be damaged!
Improper operation may damage the product and equipment!
V
Safety Warning
Safety Warning
● The product is not designed and manufactured to be used in machines or systems
threatening personal safety.
● When selecting the product, the customers shall consider safety protection measures when
designing and manufacturing their machines and systems, so as to avoid improper
operation or irregular accidents of the product.
Acceptance
● Damaged or broken-down products shall not be put into use.
Transportation
Warning
Attention
Attention
● Products must be stored and transported under conditions for storage and transportation.
● Over-height piling shall not be allowed to prevent products from falling.
● When being transferred, the products concerned shall be properly packed.
● The servo motor shall not be moved by drawing its wire, motor shaft or encoder.
● Outside force and impact shall not be imposed on servo drive units and servo motors.
Installment
Servo drive units and servo motors:
● Shall not be installed above or around combustible articles to prevent fire disaster.
● Shall avoid vibration. Impact shall be strictly forbidden.
● Shall not be installed when they are damaged or the parts are incomplete
Servo Drive unit:
● Must be installed in the control panel with sufficient degree of protection.
● Must keep sufficient intervals away from other equipment.
● Must have good conditions for heat emitting.
● Must prevent invasion of dust, corrosive air, conductive matters, liquid, combustible and
explosive substances.
Servo motors:
● Must be firmly installed to prevent loosening under vibration
● Must prevent motor and encoder from being damaged by the invaded liquids
● Shock on motor and motor shaft shall be strictly forbidden to prevent the encoder from
being damaged.
● Load surpassing its limit shall not be imposed on the motor shaft.
Attention
VI
Safety Warning
Wiring
● Personnel involved in wiring or examination must possess sufficient competence in this
task.
● Wiring and examination must be conducted 5 minutes after the power is switched off.
● Servo drive units and servo motors must have good ground contact.
● Wrong voltage or electrode may cause explosion or operation accidents.
● Only after the servo drive unit and servo motor are properly installed can the wiring be
conducted.
● Ensure insulation of the wire and avoid pressing the wire to prevent electric shock.
● Wires must be connected in a correct and firm manner, otherwise, the servo motor may run
by error or the equipment may be damaged due to bad contact.
● Terminals of U, V and W in servo motor shall not be connected reversely, nor be connected
to AC power.
● Servo motor and servo drive unit must be directly connected and they shall not be
connected with capacitor, inductor or wave filter.
● Prevent conductive fastening elements and wire heads from entering in the servo drive unit.
● The wire and substances not resistant to heat shall not close up to the servo drive unit’s
radiator and servo motor.
● Continuous current diode connected in parallel to the DC relay for output signals shall not
be connected reversely.
Attention
Attention
Commissioning and Runing
Attention
● Confirm that the servo drive unit and servo motor have been properly and firmly installed
and that the power voltage and wiring are correct before switching on power.
● When commissioning, first run the servo motor without load; and after confirming that the
parameters are correctly set, run the servo motor with load. In this process, improper
operation shall be avoided to prevent the machine and equipment from being damaged.
Operation
● An emergency stop circuit shall be coupled in to ensure that the equipment can
immediately stop by timely switching off power in case of accidents.
● Confirm that the operation signal has been cut off before resetting an alarming signal;
otherwise, the signal will be restarted suddenly.
● Servo drive unit must be operated together with its matched set of servo motor.
● Do not frequently switch off or on power of the servo drive unit to prevent the system from
being damaged.
● The servo drive unit and servo motor may be very hot after long hours of operation, so do
Attention
Ⅶ
Safety Warning
not touch the servo drive unit’s radiator or the servo motor with your hand within a short
time after the power is off.
● Do not refit the servo drive unit.
Failure Handling
● Even after the power of servo drive unit has been cut off, the voltage will remain for some
time. So do not dismantle the wire or touch the plate of terminals.
● Personnel involved in dismantlement and repair must possess corresponding professional
knowledge and working capacity.
● In case of alarming, the trouble must be shot. Before restarting the machine, the alarming
signal shall be reset.
● Keep away from the machine when re-switching on the power after instantaneous power
failure, for the machine may be restarted suddenly (when designing the machine, make
sure that there will be no danger when restarting the machine).
System Selecting and Matching
Attention
Attention
Attention
● Rated torque of the servo motor shall be greater than the valid continuous load torque.
● The ratio of load inertia to servo motor inertia shall be less than the recommended value.
● When selecting servo drive unit and servo motor, they shall be matched with each other.
Ⅷ
DA98D User manual
Table of Contents
Chapter One Overview........................................................................................................1
1.1 Product Introduction.............................................................................................................. 1
1.2 Arrival Examination ................................................................................................................ 2
1.3 Product Appearance .............................................................................................................. 3
Chapter Two Installment.....................................................................................................6
2.1 Environmental Conditions.................................................................................................... 6
2.2 Installment of Servo Drive unit............................................................................................ 6
2.3 Installment of Servo Motor................................................................................................... 9
Chapter Three Wiring.........................................................................................................10
3.1 Standard Wiring..................................................................................................................... 10
3.2 Functions of Terminals........................................................................................................ 14
3.3 I/O Interface Principle .......................................................................................................... 19
Chapter Four Parameters.................................................................................................25
4.1 Checklist of Parameters...................................................................................................... 25
4.2 Functions of Parameters..................................................................................................... 27
4.3 List for comparison of Modle Codes & Parameters and Motor ................................ 34
Chapter Five Alarming and Handling............................................................................35
5.1 List of Alarms......................................................................................................................... 35
5.2 Methods for Handling Alarms............................................................................................ 36
Chapter Six Display and Operation ...............................................................................40
6.1 Keyboard Operation............................................................................................................. 40
6.2 Ways of Monitoring .............................................................................................................. 41
6.3 Parameter Setting ................................................................................................................. 43
6.4 Parameter Management ...................................................................................................... 44
6.5 Speed Trial Operation.......................................................................................................... 45
6.6 JOG Operation....................................................................................................................... 46
6.7 Others ......................................................................................................................................46
Chapter Seven Operation by Switching on Power....................................................47
7.1 Power Supply Connecting.................................................................................................. 47
7.2 Trial Operation....................................................................................................................... 49
7.3 Adjustment ............................................................................................................................. 51
Chapter Eight Product Specifications ..........................................................................53
8.1 Driver Specifications............................................................................................................ 53
8.2 Servo Motor Specifications................................................................................................ 54
8.3 Isolating Transformer .......................................................................................................... 59
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DA98D User manual
Chapter Nine Order Instructions....................................................................................65
9.1 Capacity Selecting................................................................................................................ 65
9.2 Electronic Gear Ratio........................................................................................................... 65
9.3 Stop Features......................................................................................................................... 66
9.4 Calculation Method for Selecting Models of Servo System and Position
Controller....................................................................................................................................... 66
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DA98D User Manual
Chapter One Overview
1.1 Product Introduction
The AC servo technology has undergone a rapid development since the beginning of 1990s,
during which period this technology has been increasingly mature and its performance has been
constantly improved. Now this technology has been widely applied to such automatic fields as
CNC machine tools, printing and packing machines, textile machinery and automatic production
lines.
DA98D AC servo drive unit (all called full digital AC servo drive device) is a new generation of
full digital AC servo drive unit produced by our company. This product includes two control modes
of speed and position. It can be matched with various open-loop and closed-loop control systems
and has been widely applied to CNC machine tools and
automatization industry. Internationally advanced
special-purpose chip for motor control
(TMS320LF2407A DSP), complex programmable logic
display (CPLD) and MITSUBISHI intelligent power
module (IPM) are adopted inside the servo, so it has
such advantages as high degree of integration,
compact, perfect protection and good reliability. The
optimal PID is employed to achieve PWM control.
Performance of this product has reached
internationally advanced level among its peers at home
and aboard.
Compared with stepper drive, DA98D AC servo unit has the following strong points:
z Avoid out-of-Synchronization Phenomena
Servo motor has encoder on itself and the position signal will be fed back to the servo drive
unit, forming a semi-closed loop system together with the open-loop position controller.
z Wide speed ratio and constant torque
Speed ration is 1:5000, with stable torque characteristics from low speed to high speed.
z High speed and precision
The maximal rotation rate of servo motor can reach 3000r/min, with a rotary positioning
precision 1/10000r.
Notes: maximal rotatation rate is not the same with different models of servo motor.
z Easy and flexible control
Through parameter changing, working methods and characteristics of the servo drive unit
can be properly set to comply with different requirements.
open-loop control
controller
positioning command
stepper motor
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DA98D User Manual
1.2 Arrival Examination
1) After the product arrives, please see to examine the following aspects:
（1） Whether the packing case is in good conditions, and whether the product is damaged
during transportation?
（2） Check nameplates of the servo drive unit and servo motor to confirm whether the
products received comply with the order.
（3） Check packing list to confirm whether the accessories are complete.
Attention
z Servo system shall not be installed when it is damaged or does not have complete parts.
z Servo drive unit must be used together with the servo motor whose performance matches
that of the former.
z If there is any doubt about the products received, please contact supplier or us.
2) Model meaning:
a) Models of servo drive unit
DA98D-06-110SJT-M020E
Model matching servo motor (indicate GSK SJT series) 1※
Output power: two-digit (04, 06……23) correspond to 0.4~2.3KW 2※
Series Code
※1: It can be matched with other domestic or imported servo motor. If there is no parameter in
the drive unit, it can only be matched with SJT and ST series of servo motors.
※2: Small power (1.5KW or less) means standard configuration; medium power (more than
1.5KW but less than 1.6KW) means thicker radiator.
Notes: when the product is delivered from the factory, the product model has been
completed in the above column. Please check them with the product
nameplate.
b) Models of servo motor
DA98D AC servo drive unit can be matched with many domestic or exported servo motors,
which is at your option. Chapter Eight of this manual will provide information about SJT
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DA98D User Manual
series of servo motor from GSK and ST series of servo motor from New Motor Company of
Huazhong University. Information about other models will be provided with the servo motor
delivered.
2） Accessories
a) Standard Accessories of DA98D servo drive unit
① User Manual (this manual) 1
M4×8 countersunk head screws 4
②
③ CN1 Plug (DB44 female) 1 (note 1)
④ CN2 Plug (DB25 male) 1 (note 2)
Note 1: For matching our position controller, it will be provided together with the
signal cable, whose standard length is 3 meters.
Note 2: when we provide servo motor, you can ask us to provide its matching
feedback cable, whose standard length is 3 meters.
b) Standard accessories of servo motor will be provided according to user
instructions.
1.3 Product Appearance
1) Appearance of servo drive unit
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DA98D User Manual
2) Servo motor appearance
Fig. 1-1 Appearance of Servo Drive unit
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Fig. 1-2 Servo Motor Appearance
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DA98D User Manual
Chapter Two Installment
z The products must be stored and installed according to the requirements for environmental
conditions.
z The products can be piled up with a limited number; over-piling shall not be allowed to
prevent the products from being damaged or falling.
z The products must be stored and transported with original package.
z Product shall not be installed when it is damaged or does not have complete parts.
z Fireproof material is needed for the product installment; the product shall not be installed
above or around combustible article to prevent fire.
z Servo drive unit must be installed within electric cabinet to prevent invasion of dust, corrosive
air, conductive matters, liquid, combustible and explosive substances.
z Servo drive unit and servo motor shall avoid vibration. Impact shall be strictly forbidden.
z It is forbidden to draw wire, motor shaft and encoder of the servo motor.
Attention
2.1 Environmental Conditions
Items DA98DServo Drive unit GSK SJT Series of AC Servo Motor
Operation
Temperature/
Humidity
Storage
Temperature/
Humidity
Atmospheric
Environment
Height
0℃～55℃ (no frozen frost)
Less than 90%RH (no dew
condensation)
-20℃～80℃
90%RH(no dew)
Within the control panel, there
shall be not corrosive air,
combustible air, oil fog or dust.
Less than 1000m above sea
level
-10℃～40 (℃ no frozen frost))
90%RH (no dew condensation)
-40℃～55℃
85%RH ( no dew)
Within the room (no insolation), there shall be
not corrosive air, combustible air, oil fog and
dust.
Less than 1000m above sea level
Vibration Less than 0.5G(4.9m/s2)10 Hz -60Hz (non-continuous operation)
Degree of
Protection
IP00 IP54
2.2 Installment of Servo Drive unit
z Servo drive unit must be installed in the electric cabinet with good protection.
z Servo drive unit must be installed according to direction and interval as stipulated. Good
conditions for heat radiating should be guaranteed.
z It shall not be installed above or around combustible articles to prevent fire.
1） Installment Environment
（1） Protection
Attention
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DA98D User Manual
The servo driver does not have any protection within its own structure, so it must be
installed within the electric cabinet with good protection and prevented from contact of
corrosive and combustible air. Conductive matters, metal dust, oil fog or liquid shall be
prevented from entering inside.
（2） Temperature and Humidity
The environmental temperature shall be kept between 0 and 50 , while temperature for ℃℃
long-term safety operation shall be kept below 45 . Good conditions for heat radiating ℃
shall be guaranteed.
（3） Vibration and Impact
When installing the drive unit, vibration shall be avoided. Vibration reduction measures shall
be taken to control the vibration below 0.5G (4.9m/S2).
2） Installment Methods
(1) Ways of Installment
The user can adopt the ways of installment by back panel or panel. The installment shall form
an upward right angle with the installment plane. Fig. 2.1 is a schematic diagram for
installment by back panel and Fig. 2.2 is a schematic diagram for installment by panel.
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DA98D User Manual
(2) Installment Interval
Fig. 2.3 shows the installment interval for single drive unit and Fig. 2.4 shows the installment
interval for multiple drive units. In actual installment, the interval shall be as great as possible
to ensure good conditions for heat radiating.
Fig. 2.3 Installment for Single Drive unit
Fig. 2.4 Installment Interval for Multiple Drive units
(3) Heat Radiating
To ensure that surrounding temperature of the drive unit will not be constantly increased,
there shall be convective-current wind blowing towards radiator of the drive unit within the
electric cabinet.
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DA98D User Manual
2.3 Installment of Servo Motor
z Shock on the motor shaft or encoder shall be forbidden to prevent the motor from vibration or
impact.
z The motor shall not be moved by drawing motor shaft, leading-out wire or encoder.
z Load on the motor shaft shall not surpass its limit; otherwise, the motor may be damaged.
z The motor must be firmly installed with anti-loosening measures.
1) Installment Environment
（1） Protection
Currently, GSK SJT series and Huazhong Series of servo motor are not water
resistant, so liquid must not be spattered on the motor during installment. Oil or
water must be prevented from entering inside the motor through leading-out wire or
the motor shaft.
Attention
Notes: if the user needs water-resistant servo motor, please make a clear
indication in the order.
（2） Temperature and Humidity
The environmental temperature shall be kept between -10 and 40 . After long ℃℃
hours of operation, the motor will have an increasingly hot temperature, so
compulsory heat radiating shall be considered when the surrounding space is
relatively small or there are heating equipment.
The humidity shall not be more than 90%RH, without dew condensation.
（3） Vibration
Servo motor shall not be installed at places with vibration. The vibration inflicted on
the motor shall not be more than 0.5G (4.9m/s
2) Installment Methods
Ways of Installment
(1)
Currently, SJT and ST series of motors adopt the way of installment by the flange with
arbitrary installment direction.
(2) Notes:
2
).
z When dismantling or installing the belts and wheels, shock on the motor or motor
shaft shall be forbidden to prevent the encoder from being damaged. Screw
pressing tools shall be employed in the dismantlement or installment.
z Currently, most of the SJT and ST series of motors cannot bear shaft-direction or
radial-direction loads. Coupling is recommended for connecting the loads.
z When fastening the motor, the anti-loosening washer shall be used to prevent the
motor from loosening.
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DA98D User Manual
c
e
Chapter Three Wiring
Warning
●Personnel involved in wiring or examination must possess sufficient abilities in this task.
●Wiring and examination must be conducted 5 minutes after the power is off for preventing electri
shock.
●The wires must be connected according to terminal voltage and electrode to prevent th
equipment from being damaged or personnel from being hurt.
● The drive unit and servo motor must have good ground contact.
3.1 Standard Wiring
External connection of the drive unit is related to the control modes.
1） Position Control Mode
Fig. 3.1 shows standard wiring for the position control mode.
2） Speed Control Mode:
Fig. 3.2 shows the standard wiring for the speed control mode.
3） Wire Distributing
（1） Power Terminal TB
z Wire cross-sectional area: Terminals of R, S, T, PE, U, V and W have an area
2
1.5mm
(AWG16-18) and more.
z Grounding: the grounding wire shall be as thick as possible. The servo driver and
motor has ground contact at the point of PE terminal with a grounding resistance
less than 100Ω.
z Terminal connection adopts SVM2-4 pre-insulation cold pressing terminal. The
connection must be fastened.
z It is recommended to supply power with three-phase isolating transformer, which
will reduce the possibility of electric shock.
z It is recommended that the power supply gives power through noise filter for
enhancing anti-jamming ability.
z Please install non-fuse breaker (NFB) in order to cut off external power supply
when the driver breaks down.
（2） CN2Contrl Signal CN1 and Feedback Signal CN2
z Wire material selecting: employ shielding cable (best with inter-twisted shielding
cable), the cross-section area of the core shall be 0.12mm
The shielding layer shall be connected with FG terminal.
z Wire and cable length: wire and cable shall be as short as possible; control signal
CN1 shall not be longer than 3 meters while the feedback signal CN2 cable shall not
be longer than 20 meters.
z Wire laying: Wire shall be laid far away from the power circuit to prevent jamming.
(AWG14-16) and more while terminals of r and t have an area 1.0 mm2
Attention
2
(AWG24-26) and more.
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DA98D User Manual
e
e
a
5
z Please install surge absorbing elements in sensible elements (loop) in related
circuits: DC loop is reversely connected in parallel with continuous current diode
while AC loop is connected in parallel with capacitance-resistance absorbing return
circuit.
Attention
U, V and W shall be connected with motor winding in the way of one-to-one correspondence. Revers
connecting shall be forbidden.
The wires and leads shall be fastened firmly and avoid approaching radiator of the drive unit and th
motor for the fear that the insulation performance will be reduced due to heat.
There will remain large quantities of electrolyzed capacitance in the servo drive unit, so there will
high remaining voltage even after the power is cut off. Do not touch drive unit or motor within
minutes after the power is off!
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DA98D User Manual
AM26LS32 Receiver
Fig. 3.1 Standard Wiring for Position Control Mode
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DA98D User Manual
AM26LS32 Receiver
Fig. 3.2 Standard Wiring for Speed Control Mode
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