gsk GSK DA98EAC User Manual
This user manual describes all items 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 operations of
the system due to the manual content limit, product specific operations and
other causes. Therefore, the operations not specified herein shall be
considered impossible or unallowable.
This user manual is the property of GSK CNC Equipment Co., Ltd.
All rights are reserved. It is against the law for any organization or individual
to publish or reprint this manual without the express written permission from
GSK and the latter reserves the right to ascertain their legal liability.
DA98E Series AC Servo Drive Unit User Manual
FOREWORD
Dear user,
We are really grateful for your patronage and purchase of this product of GSK
CNC Equipment Co., Ltd.
The manual describes the performance as well as the instructions for
installation, wiring, commissioning, operation and maintenance of the DA98E
series bus-oriented AC servo Drive Unit.
The operations involve the contents of two software versions: 1) The Version V2.05
focuses on the configuration of servomotors with an incremental encoder; 2) The Version
V3.01 applies to the configuration of servomotor with a Tamagawa 17-bit absolute
encoder and specifies the inconsistencies with V2.05.
● The contents herein are subject to change as a result of product modification
without further notice.
● We assume no reliability for any consequence of user’s modification of the product.
In this case, the product warranty will become void.
To ensure the safety as well as the normal and efficient operation of the product, it is
important to thoroughly read this manual prior to the installation and operation of it.
Special attention shall be given to the following warnings and precautions while
reading this manual in order to prevent injury of operator and other persons as well as
damage of the mechanical equipment.
Warning
Incorrect operation may lead to severe injury or even
death.
Incorrect operation may cause moderate or slight injury
Caution
and property losses.
Attention
2
Negligence of the suggestion may result in an undesired
consequence and condition.
Safety Warnings
ger
Dan
Tighten all connecting terminals of the main
circuit with an appropriate torque.
Negligence of the instruction may
lead to loose conductor
connection, electric spark and
even fire.
Make sure the input power supply is
disconnected prior to wiring.
Negligence of the instruction may
lead to electric shock.
Have the wiring performed and inspected by a
qualified electrician.
Negligence of the instruction may
lead to electric shock or fire.
Make sure to install the drive unit on an
incombustible carrier and keep it away from
inflammable substances.
Negligence of the instruction may
lead to fire.
Always ground the protective earthing terminal
PE on the servo unit.
Negligence of the instruction may
lead to electric shock.
Make sure to disconnect the unit from power
supply and wait for at least five minutes before
moving, wiring, examining or maintaining it.
Negligence of the instruction may
lead to electric shock.
Strictly abide by the procedures herein in
wiring.
Negligence of the instruction may
lead to equipment damage and
electric shock.
Do not operate the switches with a wet hand. Do not reach your hands into the servo unit.
Negligence of the instruction may
lead to electric shock.
Do not open the cover of the terminal block
while the unit is energized or is operating.
Negligence of the instruction may
lead to electric shock.
Make sure to tighten the power supply terminals
and motor output terminals.
Negligence of the instruction may
lead to fire.
Negligence of the instruction may
lead to electric shock.
Do not directly touch the connecting terminals
on the main circuit of the drive unit.
Negligence of the instruction may
lead to electric shock.
3
DA98E Series AC Servo Drive Unit User Manual
Attention
After the power supply is restored, do not
immediately perform any work on the coupling
of the servomotor as the drive unit may start
suddenly.
Negligence of the instruction may
cause personal injury.
Do not place the power cord on a sharp edge
or under load or stress.
Negligence of the instruction may
lead to electric shock, fault or
damage.
Do not stop heat elimination or place any foreign
matter into the fan or radiator.
Negligence of the instruction may
lead to equipment damages or a
fire.
Do not operate the energized servo drive unit
when the cover of the terminal block is removed.
Negligence of the instruction may
lead to electric shock.
Caution
The electric motor must be equipped with a
suitable servo unit.
Negligence of the instruction may
lead to equipment damage.
Loaded operation is only permitted after
successful no-load operation.
Negligence of the instruction may
lead to equipment damage.
Do not grasp the power cord or motor shaft
during the transport of the motor.
Negligence of the instruction may
lead to equipment damage.
The voltage applied on all terminals must be
consistent with the ratings specified on the
manual.
Negligence of the instruction may
lead to equipment damage.
In case of alarm, make sure to eliminate the
trouble before operation.
Negligence of the instruction may
lead to equipment damage.
In case of a missing or defective component of
the spindle drive unit, do not operate the motor
but immediately contact your dealer.
Negligence of the instruction may
lead to equipment damage.
4
Safety Warnings
Do not connect the power input wires R, S and
T to the output terminals U, V and W of the
motor.
Negligence of the instruction may
lead to equipment damage.
Do not touch the heat sink for the motor and
servo unit during operation as they may
become very hot.
Negligence of the instruction may
lead to burn.
Caution
Do not turn on/off the input power supply.
Negligence of the instruction may
lead to equipment damage.
Do not perform any limit adjustment or change
of parameters.
Negligence of the instruction may
lead to equipment damage.
Do not attempt to modify, remove or repair the
drive unit without permission from your dealer.
Negligence of the instruction may
lead to equipment damage.
The electronic components inside a discarded
drive unit shall be disposed as industrial waste
without reuse.
Negligence of the instruction may
cause accidents.
5
DA98E Series AC Servo Drive Unit User Manual
Safety Responsibilities
Safety Responsibilities of Manufacturer
—— The manufacturer shall be responsible for the risks eliminated and/or controlled in
the design and structure of the supplied servo unit and accompanying accessories.
——The manufacturer shall ensure the safety of the supplied servo unit and
accompanying accessories.
——The manufacturer shall be held responsible for the information and advices on
usage given to the user.
Safety Responsibilities of User
——A user shall study and be trained for the safe operation of the servo unit and
understand and master the knowledge regarding safe operation.
——The user shall take responsibility for the risks arising from his/her addition, change
or modification of the original servo unit and accessories.
——The user shall be held responsible for the risks caused by the operations,
adjustments, installation and transport of the product without following the
requirements of the manual.
This manual is retained by the end user.
Thank you for your friendly support in using the products of GSK
CNC Equipment Co., Ltd.
6
Contents
Contents
Chapter 1 Summary ........................................................................................................................................ 1
1.1 Product Overview................................................................................................................................1
1.2 Fundamentals...................................................................................................................................... 2
1.3 Receiving Inspection ..........................................................................................................................8
1.4 Product Appearance......................................................................................................................... 10
Chapter 2 Installation ...................................................................................................................................12
2.1 Ambient Conditions ........................................................................................................................... 12
2.2 Installation of Servo Drive Unit........................................................................................................ 12
2.3 Installation of Servomotor ................................................................................................................ 15
Chapter 3 Wiring............................................................................................................................................ 17
3.1 Standard Connection........................................................................................................................18
3.2 Functions of Terminals .....................................................................................................................21
3.3 Circuitous Philosophy of I/O Interface ...........................................................................................28
Chapter 4 Parameters................................................................................................................................... 29
4.1 Summary of Parameters.................................................................................................................. 29
4.2 Functions of Parameters.................................................................................................................. 32
4.3 Checklist of Model Numbers and Specification of Motor ............................................................42
Chapter 5 Alarms and Remedies............................................................................................................... 44
5.1 Abnormalities Arising from Improper Usage ................................................................................. 44
5.2 Summary of Alarms .......................................................................................................................... 45
5.3 Solutions for Alarms.......................................................................................................................... 47
Chapter 6 Display and Operations............................................................................................................58
6.1 Keyboard Operations ....................................................................................................................... 58
6.2 Monitoring Mode ...............................................................................................................................59
6.3 Parameter Setting ............................................................................................................................. 61
6.4 Parameter Management ..................................................................................................................63
6.5 Speed Trial operation ....................................................................................................................... 65
6.6 JOG operation ...................................................................................................................................66
6.7 Other ................................................................................................................................................... 66
VII
DA98E Series AC Servo Drive Unit User Manual
Chapter 7 Power-on and Operation .......................................................................................................... 67
7.1 Connection to Power Supply ...........................................................................................................67
7.2 Trial Operation ...................................................................................................................................69
7.3 Adjustments........................................................................................................................................71
Chapter 8 Product Specification................................................................................................................75
8.1 Specification of Drive Unit................................................................................................................75
8.2 Specification of Servomotor.............................................................................................................76
8.3 Isolation Transformer........................................................................................................................85
Chapter 9 Ordering Guide ...........................................................................................................................91
9.1 Capacity Selection.............................................................................................................................91
9.2 Electronic Gear Ratio........................................................................................................................91
9.3 Stop Characteristics..........................................................................................................................92
9.4 Calculation for Type Selection of Servo and Position Controller................................................92
9.5 Examples of Model Numbers Available for Ordering ...................................................................93
VIII
Chapter 1 Summary
Chapter 1 Summary
1.1 Product Overview
The AC servo technology has been proved since the early 1990s. With ever-improving
performance, it is widely applied to NC machine tools, printing and packaging machines, textile
machines, automated production lines and other areas of automation.
DA98E series AC servo Drive Unit (also known as bus-oriented AC servo Drive Unit) is a
new generation of products with an up-to-date industrial Ethernet bus communication
interface developed by us.
The external control device for the series of Unit can communicate with several GSK-LINK
bus-oriented AC servo Drive Unit through only one network cable. They feature simple interfaces,
easy installation and high compatibility. Through a high-speed and reliable GSK-LINK field bus and
protocol, a NC system may receive/send diversified data including position, speed command, motor
encoder data, controlling parameters for current loop, speed loop and position loop, state parameters
of drive unit and other messages from/to a servo Drive Unit. By supporting diversified data, the
system may exert control over the operation of a motor and better realize the real-time monitoring of
the control and drive Unit through configuration of position, speed command and adaptive
parameters of the system, thereby further improving the processing efficiency and accuracy of the NC
system. With a built-in advanced and dedicated chip for control over the motor, a FPGA
(Field-Programmable Gate Array) and a new IPM intelligent power module, the servo drive unit is
characterized by high integrity, compactness, complete protection and high reliability.
DA98E AC servo unit has the following advantages over step drive Unit:
z No out-of-step
The servomotor is provided with an encoder that
feeds back position signal to the servo drive unit
and exerts semi-closed loop control with an
open-loop control device.
z Wide speed ratio and constant torque
Open-loop control Stepper motor
Speed regulation ratio of 1: 5000 and constant
torque characteristics at low to high speed;
z Incremental encoders or Tamagawa 17-bit
absolute encoders are available upon customer’s request.
z High speed and accuracy
Maximum rotating speed of servomotor: 3,000 rpm; rotary positioning accuracy: 1/10,000r
Note: The maximum rotating speed of servomotor varies with its model.
Controller
1
DA98E Series AC Servo Drive Unit User Manual
z Simple and flexible control
It is possible to properly set the operating mode and characteristics of the servo system through
the system interface in order to meet different requirements.
DA98E compared to the traditional DA98 servo series
z The data transfer speed is up to 100MBit/s by using an industrial Ethernet bus for
communication transmission.
z High anti-jamming capacity, bit error rate: 10
-12
z The closed and open loops share one hardware structure with a communication data
length of 0～256 (bits) and minimum communication cycle of 50µs.
z It is easy to operate and adjust servo parameters and possible to adjust servo parameters
and monitor servo through the system interface.
1.2 Fundamentals
1) Operating Principle of AC Servo Drive Unit
The AC servo drive unit consists of an AC servo unit and an AC servomotor (3-phase
permanent-magnet synchronous motor, hereinafter called “servomotor”). The servo unit rectifies
3-phase alternating current into direct current (namely AC to DC) and produces approximately simple
harmonic alternating current with 120° phase difference in the 3-phase stator winding of the
servomotor by controlling the switching of the power switching tube. The current creates a rotating
field in the servomotor. The rotor of the servomotor is made of high anti-demagnetizing rare-earth
permanent magnetic material. The rotor of the servomotor is driven by the electromagnet torque as a
result of the interaction of the magnetic field of the rotor for the servomotor and its rotating magnetic
field. The higher the frequency of the current through the servomotor winding is, the faster the
servomotor rotates. The output torque (torque = force x length of moment arm) of the servomotor
increases with the amplitude of the current through the servomotor winding.
Figure 1-1 is the block diagram of the main circuit in which PG indicates an encoder.
2
Chapter 1 Summary
Figure 1-1 Block diagram of the main circuit of AC servo drive unit
2) Basic Structure of AC Servo Drive Unit
The servo unit receives speed commands from a control unit (also known as host computer)
such as CNC system to control the amplitude and frequency of the current through the winding of the
servomotor so that the rotating speed (or angle of rotation) of the rotor for the servomotor is close to
the value of the speed (or position) commands, and knows the deviation of the real rotating speed (or
angle of rotation) of the servomotor rotor from the command value through the feedback signal of the
encoder. The servo unit keeps the deviation of the real rotating speed (or angle of rotation) of the
servomotor rotor from the command value within the required range by continuous regulating the
amplitude and frequency of the current through the winding of the servomotor. The basic structure of
the servo system is shown in Figure 1-2.
setting
CNC
equipment
＋
－
AC servo drive equipment
Control
unit
Power drive unit
Feedback
check
Motor
Driving
machine
Figure 1-2 Basic structure of AC servo drive unit
3) General Glossaries regarding Control
z Control: Control refers to the procedure allowing the characteristics (e.g. rotating speed) of the
object (e.g. servomotor) to reach or become close to the expected value. The foregoing object is
called “controlled object”, its characteristics “controlled variable”, the device that realizes the control
“control unit (controller)”, the expected value (command value) of the controlled variable received by
3
DA98E Series AC Servo Drive Unit User Manual
the control unit “setting”, the process that the controlled variable is affected as the input of the
controller “feedback” and the unit that is used to detect the controlled variable “feedback unit”.
Feedback is divided into positive feedback (in the same direction) and negative feedback (in opposite
direction). The controller that realizes the controlled variable, the controlled object and feedback unit
compose a “control system”. A drive is under closed-loop control or open-loop control depending on
the presence of a feedback unit and the position where the feedback unit is located in the drive. The
closed-loop control described in the manual is of negative feedback.
Among the AC servo Drive Unit described herein, the servo unit serves as a controller, the
servomotor controlled object, rotating speed (or angle of rotation of rotor) of motor controlled variable
and the encoder of the servomotor feedback unit. The encoder detects the actual rotating speed of
the motor for speed control so as to achieve speed feedback. Therefore the AC servo drive unit is a
closed-loop control system.
z Closed-loop control: The actual value of the controlled variable does not affect the output of the
controller if the control system is not provided with a feedback device. For a stepper motor drive, for
example, the rotor of a stepper motor shall rotate with the change in the phase sequence of its output
current. Since normally a stepper motor is not fitted with a speed or position feedback device,
excessive load or acceleration/deceleration may prevent the motor rotor from accurately rotation with
the change in the phase sequence of current, thereby causing the so-called “out-of-step”.
Open-loop control is as shown in Figure 1-3.
Figure 1-3 Open-loop control
z Closed-loop control: The controlled variable of the control system is detected and transferred to
the controller by the feedback device to affect the output of the controller and thereby to change the
controlled variable. Closed-loop control is classified as full-closed loop control and semi-closed
loop control by the detection points. The feedback device’s direct detection of the controlled variable
and use of it for feedback is called full-closed loop control (e.g. Figure 1-4) and the position of the
gear is the controlled variable. The full-closed loop control over the position of the gearing is achieved
by using the grating mounted on the gearing as a position feedback device and the encoder for the
Gearing
servomotor as a speed feedback. In the absence of the grating, the encoder for the servomotor is
used as a position and speed feedback (see Figure 1-5). In this case, this is the semi-closed control
over a mechanical position.
4
Figure 1-4 Full-closed loop control
Chapter 1 Summary
Figure 1-5 Semi-closed loop control
z PID Control: Also called PID regulation, it is the common algorithm used by the controller
for mathematical treatment of the input data (setting and feedback). “P” is the abbreviation of
“proportional” and refers to the linear proportional relationship between the input and output of a
controller. The bigger a proportional control factor is, the more sensitively the system will respond and
the smaller (cannot be completely eliminated) the steady state error will become. Excessive
proportional control factor leads to the disturbance and instability of the system. “I” stands for
“integral” and means the influence of controller input time integral upon output (input gradually affects
output). The bigger an integral time constant is, the more smoothly the system runs without steady
state error and the slower the system responds. “D” is the initial of “Differential”, indicating the
influence of input differential (the slope of input change). Differential control can forecast, produces
advanced correction, reduces following error and improves dynamic performance. Excessive
differential coefficient may cause system disturbance and instability. Proportional, integral and
differential controls influence each other. In a specific control system it is required achieve the
balance of the response speed, control accuracy and stability by adjusting the PID control parameters.
As differential control tends to produce impact and unsteadiness, the servo system described herein
employs PI control, i.e. only proportional and integral control.
5
DA98E Series AC Servo Drive Unit User Manual
4) Glossaries with regard to Servo Control
The servo system is provided with three basic control modes: position control, speed control and
torque control. The block diagram of the system is as shown in Figure 1-6.
z Position control: The direction and angle of rotation of the motor are set by means of digital
pulse or data communication. The servo unit controls the motor rotor so that it rotates by a proper
angle in the given direction. Both the angle (position) and speed of rotation are controllable.
z Speed control: The direction and angle of rotation of the motor are set by means of analog
voltage or data communication. The servo unit controls the motor rotor so that it rotates in the given
direction at the given speed.
z Torque control: The amplitude and direction of the output torque of the motor are set by
means of analog voltage or data communication. The servo unit controls the direction of rotation and
output torque of the motor rotor.
The servo unit described herein currently does not receive any torque setting signal or provide
torque controlling mode.
＋
Command
position
Position
controller
Position
adjustment
－
Position
feedback signal
Speed
controller
＋ Speed
adjustment
－
Speed feedback
signal
＋
Current
controller
Current
adjustment
－
Current feedback
signal
Power
amplification
Motor
PG
Figure 1-6 Block diagram of three-loop control
5) Indexes of Servo Performance
Characteristics of servo dynamic response: the response speed, dynamic control error and
steady-state control error. Figure 1-7 is the response characteristic diagram of the given step signal
from the servo signal (The solid line indicates given signal and dotted line the output signal from the
servo system in the following text.):
6
Figure 1-7 Servo dynamic response curve
Chapter 1 Summary
Rise time t
of steady state value R (t). It indicates the rapidity of dynamic response.
Adjustment time t
value of the step response curve is considered a permissible error band. The minimum time required
for the response curve to reach but not go beyond the error band is the adjustment time which is used
to measure the rapidity of the complete adjustment process of the unit.
Overshoot σ: It refers to the ratio of the maximum rotating speed difference (Rmax(t)-R (t)) between
rotating speed output and steady-state value to steady-state value R (t). It reflects the relative stability
of a servo unit and is as follows when indicated by percentage:
Steady-state error: The difference between the expected steady-state value and actual output of the
system after rotating speed becomes steady during system response.
Servo static performance: The most important for a servo control system is its stability. The key
: It refers to the time elapsed when the rotating speed output rises from zero to 90 percent
r
: The range within ±5% of the steady-state value taken near the steady-state
s
)()(
−
σ
(%)
max
=
tRtR
)(
tR
%100
×
static performance index of servo is positioning accuracy, which refers to the degree of deviation of
the actual state from expectation at the end of the system transition. The steady-state accuracy of
servo is subject to the error of position measuring appliance and system error and is related to the
structure and parameters of the system. Figure 1-8 is a position servo static curve graph.
7
DA98E Series AC Servo Drive Unit User Manual
Figure 1-8 Position servo static curve
Following error: It refers to the difference between the displacement of workbench required by
command signal (command position) and its actual displacement. That is to say, Following error =
(Command position value) – (Actual position value)
Servo gain: It refers to the capability of a servo system’s resistance against the position deviation
resulting from load interference.
1.3 Receiving Inspection
1) When the goods is received, make sure to inspect the following items:
（1） Check that the packing case is integrate and no cargo is damaged in transport;
（2） Check that the received goods are those ordered against the nameplates on the
servo drive unit and servomotor;
（3） Check that the accessories are complete against the packing list.
Attentions
z Do not install a defective or incomplete servo unit;
z The servo drive unit shall be used in combination with a servomotor with matching
performance;
z Please contact your dealer or us for any question when the goods are received.
2) Description of Model Number
（1） Model Number of Servo Drive Unit
8
Chapter 1 Summary
Note: Type R1 is a thin radiator, R2 thick radiator and R3 a thick radiator with a fan.
Note 1: Optional imported or home-made servomotor is available upon request. The default parameters of the
drive unit are only adaptive to SJT and ST series of servomotors. For other servomotors, the delivery
parameters are backed up in EEPROM. To recover the delivery parameters, make sure to perform recovery
backup but not to restore default parameters.
Note 2: Use standard configuration for middle or low power (≤1.5kW) and thick radiator for the power above middle
level (> 1.5kW).
Note 3: The above boxes have been completed before product delivery. Please check them against the nameplate of
the product.
（2） Model Number of Servomotor
The DA98E series of bus-oriented AC servo drive Unit may be used in conjunction with many foreign
and domestic servomotors that can be selected by user in ordering. The Chapter 8 of this manual
offers the information on the SJT series of GSK and the new ST series of servomotors made by New
Type Motor Factory affiliated with Huazhong University of Science and Technology. The information
on other types of servomotors is supplied with them.
130 SJT
Machine model:
80
110
130
175
AC synchronous
servo motor
Feedback unit:
M:Photoelectric encoder
Safe brake
None : None ; Z: Available
Remark: The working power supply of safe brake
is DC（0.9~ 1.1）×24V, the interface is 3-cord
socket, pin 1 and pin 2 are power supply terminal
(not differ polarity), pin 3 is earth terminal. When
pin 1 and pin 2 i s connecte d the power supply,
the sa fe brake doesn’t work; when the power is
OFF, it works. The brake operation time is ≤0.1s.
Zero-speed torque
Remark: It is represented by three
digits, and the value is in three digits
-1
，the unit is N ·m.
×10
For example, 150×10
Note 1: The working power supply for the dead electromagnet brake is DC (0.9～1.1) ×24V and its connector a
-1
=15N·m.
MZ150 D（A□Y□X
－
□
）
None:Aviation socket type
X:Cable direct type
Shaft extenstion or installation config.
None:Standard shaft extension
Y□:Special cylinder shaft extension
Z□:Special cone shaft extension
S□:Stepping motor installation config.
Remark: In the blank“□”, it is digit code;
about the number representing the detailed
special axis extension, refer to the
installation overall drawing of the motor.
Encoder type
A or None:
A2：Increment type 5000 p/r
A3:Increment split-type 2500 p/r
A4:Absolute type 17bit
A41:Danaher multi-circle 17bit absolute type
A4S1:Danaher single-circle 17bit absolute type
Rated speed
Increment type 2500 p/r
1000 r/min
A
：
1500 r/min
B
：
2000 r/min
C
：
2500 r/min
D
：
E
：
3000 r/min
3-pin socket whose Pin 1 and 2 are power inputs (not polarity specific) and Pin 3 is a ground terminal. When
Pin 1 and 2 are connected to power supply, the dead electromagnet brake does not function. When they are
disconnected from power supply, it operates for a duration less than or equal to 0.1s.
-1
Note 2: “150” indicates that its value consists of three digits 150×10
=15 in N·m.
9
DA98E Series AC Servo Drive Unit User Manual
Note 3: ‘□’ is a numeral code. See the installation diagram of the motor for the specific special shaft extension
indicated by a figure.
3) Accessories
（1） Standard accessories for DA98E servo drive unit
① User Manual (this manual) 1
② Mounting bracket 2
③ M4×8 countersunk head screws 4
④ BUS1 plug (DB9 jack), BUS2 plug (DB9 pin) 1 set (Note 1)
⑤ CN1 plug (DB26 jack) 1 set (Note 2)
⑥
The standard accessories of a servo motor will be supplied to its operation manual.
Note 1: Our Ethernet bus communication position control device is supplied with a CAT-5e UTP signal cable (standard
length: 3m).
Note 2: A feedback cable (standard length: 3m) is available with our servomotor upon user’s request.
Note 3: The encoder feedback connector CN1 with an absolute encoder is a MDR26 plug.
1.4 Product Appearance
1） Appearance of Servo Drive Unit
10
2） Appearance of Servomotor
Chapter 1 Summary
11
DA98E Series AC Servo Drive Unit User Manual
Chapter 2 Installation
Attention
z The product shall be stored and installed in an environment meeting the requirements of the
specification.
z Do not stack up too many products as they are subject to damage under pressure and falling
down.
z The original package must be used for the storage and transport of the product.
z A damaged or incomplete product must not be installed and used.
z Always use fire-proof material for the installation of the product. Do not install it on or near
combustible materials to prevent fire.
z The servo drive unit must be installed in an electric cabinet in order to prevent dust, corrosive gas,
conductive substances and combustible matters from entering.
z The servo drive unit and servomotor shall be protected from vibration and impact.
z Never pull the motor cable, shaft and encoder.
2.1 Ambient Conditions
Item
Operating temp/humidity
Storage and transport
temp/humidity
Atmospheric
environment
Elevation Altitude below 2000m Altitude below 2000m
Vibration
Level of protection IP20 IP54
DA98E series of servo drive
Unit
0℃～40℃ (nonfreezing)
RH<90% (noncondensing)
-20℃～70℃
90%RH (noncondensing)
In a control cabinet without
corrosive or combustible gas, oil
mist, dust, etc.
< 0.5G（4.9m/s2）10 H
GSK SJT series of servomotors
-10℃～40℃ (nonfreezing)
RH<90% (noncondensing)
-40℃～70℃
RH<85% (noncondensing)
Indoors (without direct sunlight) without
corrosive or combustible gas, oil mist,
～60HZ (discontinuous operation)
Z
dust, etc.
2.2 Installation of Servo Drive Unit
Attention
z The servo drive unit must be installed in an electric cabinet properly protected (≥IP43).
z The servo drive unit must be installed in the direction with spacing as specified and provided with
good heat eliminating condition.
z It must not be installed on or near combustible materials to prevent fire.
12
Chapter 2 Installation
1） Installation Environment
（1） Protection
Since the structure of the servo drive unit is of IP 20, it must be installed in an electric cabinet
(≥IP43) properly protected and protected from exposure to corrosive and combustible gas and entry
of conductive matters, metallic dust, oil dust and liquid.
2） Temperature/humidity
Ambient temperature: 0℃～50℃. For extended safe operation, the unit shall be installed in an
environment at altitude less than 2000m and temperature below 40℃ and protected with good
ventilation conditions.
（1） Vibration and Impact
The drive unit shall be protected from vibration. Measures shall be taken to control vibration
under 0.5(4.9m/s
2
) as the drive unit cannot bear any high pressure or impact.
3） Installation Procedure
（1） Installation Means
The user may install the unit by means of base or face plate in a direction perpendicular to the
mounting surface. See Figure 2-1 for the diagram of base-plate mounting and Figure 2-2 face-plate
mounting.
Figure 2-1 Base-plate mounting of drive unit
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DA98E Series AC Servo Drive Unit User Manual
（2） Installation Space
Figure 2-3 shows the installation space for a single drive unit and Figure 2-4 the spacing
Figure 2-2 Face-plate mounting of drive unit
between several drive Unit. In actual installation, a space as big as possible shall be kept to
ensure good heat ventilation.
14
Figure 2-3 Installation space for single drive unit
Chapter 2 Installation
Servo
driver
Figure 2-4 Installation spacing between several drive Unit
（3） Heat Elimination
To prevent ambient temperature of the drive Unit from rising, radiators shall be fitted in the
electric cabinet to blow convection air to the Drive Unit.
Servo
driver
Servo
driver
Direction of ventilation Direction of ventilation
2.3 Installation of Servomotor
Attention
z Never knock the motor shaft or encoder. Protect the motor from vibration or impact.
z For handling of the motor, do not pull its shaft, outgoing wires or encoder.
z The motor shaft shall be protected from overloading as this may cause damage to it.
z The motor must be installed securely and protected from becoming loose.
1） Installation Environment
（1） Protection
In consideration of that currently GSK SJT series and Huazhong ST series of servomotors are
not waterproof, the motors must be kept away from liquid and oil or water prevented from entering the
motors along the outgoing wires and motor shaft.
Note: Please specify in ordering of a waterproof servomotor.
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DA98E Series AC Servo Drive Unit User Manual
（2） Temperature/humidity
The ambient temperature of the motor shall be kept between -10℃ and 40℃. A forced heat
eliminating means shall be considered when its surrounding space is limited or when there is a
heating device nearby.
The ambient humidity shall be above 90% RH (noncondensing).
（3） Vibration
The servomotor shall not in a location with vibration over 0.5G (4.9m/s
2
).
2） Installation Procedure
（1） Installation Means
At present the SJT and ST series of motors are installed in any direction by means of flange.
（2） Precautions for Installation:
z While removing the pulley, do not know the motor or its shaft as this may cause damage to
the encoder. Remove or fit it with a spiral pressing and pulling tool.
z Currently most of the SJT and ST series of motors cannot bear high axial and radial loads. It
is recommended to connect a load with flexible coupling.
z Use lock washers to prevent the motor from becoming loose while fixing the motor.
Note: Refer to Chapter 8 for the specification and installation dimensions of the servomotor.
16
Chapter 3 Wiring
Chapter 3 Wiring
Carefully read and strictly abide by the following precautions which ensure your operating safety
and reliability.
The wiring shall be properly carried out by a well-trained and qualified technician by
Attention
following the associated instruction.
Any wiring or repair work on the servo unit can be performed only when you make
sure the voltage-to-ground on all the terminals of the main circuit are safe five
minutes after it is disconnected from the servo unit. Otherwise it may cause an
electric shock.
Make sure the servo unit and servomotor are correctly grounded.
For wiring, do not damage the cable with a sharp object or forcibly pull it as it may
lead to electric shock or poor line contact.
Never extend connecting cables for the main circuit and signal cables through the
same conduct or bind them together. In wiring, the connecting cables for the main
circuit and signal cables shall be routed separately or crosswise with spacing over
30cm in order to prevent heavy-current lines from interfering the signal cables and
causing the malfunction of the servo unit.
Do not frequently turn on/off the power supply as the built-in high-capacity
capacitors in the servo unit generates high charging current during powering on and
frequent switching of the power supply may deteriorate the performance the
components in the servo unit. A switching interval of 3min or longer is advised.
Do not fit any additional power capacitor, surge arrester, wireless noise filter and
other devices between the servo unit output side and servomotor.
The wiring of the main circuit and signal cables shall be kept away from heat sink
and electric motor in order to prevent their insulating property from deterioration by
heating.
After the wiring of the main circuit, attach the terminal cover to avoid electric shock.
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DA98E Series AC Servo Drive Unit User Manual
3.1 Standard Connection
The external connection of the drive unit depends on its control mode.
1） Position control mode:
Figure 3-1 shows the standard connection for the position control mode.
2） Speed control mode:
Figure 3-1 shows the standard connection for the speed control mode.
3） Wiring
（1） TB Power Terminals
2
z Wire sizes: Diameters of the wires to terminals R, S, T, PE, U, V and W ≥1.5mm
and those of terminals r and t ≥1.0 mm
2
(AWG16-18)
z Grounding: The ground wire shall be big and short as much as possible and the drive unit and
(AWG14-16),
servomotor share the PE terminal.
z JUT-1.5-4 pre-insulated cold-pressed terminals are used for terminal connection. Always
connect them securely.
z It is recommended to supply power to the unit using a three-phase insulating transformer to
minimize the potential of electric shock.
z It is recommended to supply power through a noise filter in order to improve the anti-jamming
capacity of the unit.
z Install non-fusible (NFB) breaker so that the external power supply can be duly disconnected
in the event of drive unit fault.
（2） Control Signals BUS1 and BUS2 and Feedback Signal CN1
z CAT-5e UTP engineering cables are used control signal cables;
z Sizes of the feedback signal wires: A shielded cable (it is advisable to use a twisted shielded
cable) whose wire diameter shall not be less than 0.12mm2(AWG24-26) and shielding layer shall be
connected to the Terminal FG.
z Cable length: The power cord shall be as short as possible and the length of the feedback
signal CN1 cable must not be longer than 30m.
z Wiring: The wires shall be routed away from power lines to prevent cross-interference.
z Fit a surge arresting element for the inductive components (coils). Connect DC coils and a
freewheel diode in parallel reversely. Connect AC coils and resistance-capacitance absorbing circuit
in parallel.
18
z Connect U, V and W to motor windings correspondingly. Never connect them reversely.
z Tighten the cables and conductors and keep them away from the drive unit radiator and
motor in order to prevent their insulating property from deterioration by heating.
z The high-capacity electrolytic capacitors in the servo drive unit maintain high voltage
(residual voltage) immediately after power-off. Do not touch the drive unit and the motor
within five minutes after power-off.
Three-phase or
single-phase
Chapter 3 Wiring
Attention
Electric motor
Servo
driver
Encoder
Figure 3-1 Standard wiring for position and speed control modes when an incremental encoder is
provided
19
Three-phase or
g
p
sin
le-
hase
DA98E Series AC Servo Drive Unit User Manual
Electric motor
Servo driver
Absolute encoder
Figure 3-2 Standard wiring for position and speed control modes when a Tamagawa absolute
encoder is provided
20
Chapter 3 Wiring
3.2 Functions of Terminals
（1）Terminal Configuration
Figure 3-3 is the diagram of configuring the terminals on the servo drive unit and incremental
encoder type motor. In the diagram TB is a terminal block and BUS1 and BUS2 are DB9 connectors.
The socket is of three-hole type and the plug has three blades.
Figure 3-4 is the diagram of configuring the terminals on the servo drive unit and absolute
encoder type motor. In the diagram TB is a terminal block and BUS1 and BUS2 are DB9 connectors.
CN1 is a MDR26 connector.
BD-26 female
Figure 3-3 Diagram of configuring the terminals on the drive unit and incremental encoder type motor
TB
R
S
T
PE
U
V
W
P
D
r
t
CN1
1
GND
2
GND
3
GND
4
GND
VCC VCC
5
6
VCC
7
HOLD-
8
9
HOLD+
10
11
12
13
SD-
14
15
16
17
18
19
20
21
22
23
24
25
26
MDR26
EARTH
EARTH
GND
VCC
3.6V
3.6V
SD+
Figure 3-4 Diagram of configuring the terminals on the drive unit and absolute encoder type motor
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