gsk GSK DA98EAC User Manual

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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.

Page 3

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

Negligence of the suggestion may result in an undesired

consequence and condition.

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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.

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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.

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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.

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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.

Page 8

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

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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

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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

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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.

Page 12

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

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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.

Page 14

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.

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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

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.):

Page 16

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

: The range within ±5% of the steady-state value taken near the steady-state

)()(

−

(%)

max

tRtR

)(

%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.

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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

Page 18

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

：

1500 r/min

：

2000 r/min

：

2500 r/min

：

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.

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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

Page 20

2） Appearance of Servomotor

Chapter 1 Summary

Page 21

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)

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.

Page 22

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

) 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

Page 23

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.

Figure 2-3 Installation space for single drive unit

Page 24

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

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.

Page 25

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） 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.

Page 26

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.

Page 27

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

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

(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.

Page 28

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

Page 29

Three-phase or

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

Page 30

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

CN1

GND

GND VCC VCC

5 6

VCC

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

Page 31

DA98E Series AC Servo Drive Unit User Manual

（2）Functions of Terminals

1） TB Power Terminals

Table 3-1 TB Power Terminals

Terminal

Signal designation Function

No.

TB-1 R

TB-2 S

marking

Power supply of main

circuit

Single-phase or

Power input terminals of main circuit AC

220V 50Hz

Caution: Do not connect power supply to the

TB-3 T

3-phase

output terminals U, V and W of the motor.

Ground terminal

Grounding of the

Earth resistance＜100Ω;

TB-4 PE

system

The output and power input of the servo

motor share one grounding terminal.

TB-5 U

TB-6 V

Output of servo motor

TB-7 W

Output terminals of servo motor

They must be connected to the terminals

U, V and W of the motor correspondingly.

TB-8 P Reserved

TB-9 D Reserved

TB-10 r

TB-11 T

Control power supply

Single-phase

Power input terminals of the control circuit

AC 220V 50Hz

BD 9 holes BD 9 pins

Figure 3-5 Diagram of configuring control terminals

Page 32

2） Control terminal BUS1

Table 3-2 BUS1 Control Signal Input/output Terminals

Chapter 3 Wiring

Terminal

Signal

Marking I/O Mode Function

No.

designation

BUS1-4 BRX- Typel Bus differential data reception

BUS1-5 BRX+ Typel Bus differential data reception

BUS1-6 BTX+ Typel Bus differential data sending

BUS1-7 BTX- Typel Bus differential data sending

3） Control terminal BUS2

Table 3-3 BUS2 Control Signal Input/output Terminals

Terminal

Signal

Marking I/O Mode Function

No.

designation

BUS2-4 ARX+ Typel Bus differential data reception

BUS2-5 ARX- Typel Bus differential data reception

BUS2-6 ATX- Typel Bus differential data sending

BUS2-7 ATX+ Typel Bus differential data sending

Brief Description of Bus Communication:

Control terminals BUS1 and BUS2 are the connection network created by the control device and

servo in order to compose a closed loop of Ethernet transfer. The data transferred through Ethernet

includes periodic and non-periodic data. Periodic data is transferred once per Interpolation period and

non-periodic data in idle time.

a) Periodic data: It refers to Master Data Telegram (“MDT”). A CNC sends system control

commands and position/speed/torque data to a servo while the latter transfers the current position

information and the current key state of the servo to the CNC through a bus.

The format of the data sent by CNC --- 3 words:

Length of periodic data (10 bytes )

16bits 16bits 6 bytes

Control word Position/speed/torque data Reserved

Page 33

DA98E Series AC Servo Drive Unit User Manual

The format of the MDT control words send by CNC:

Format of control words sent by the system(16bits)

Control bit Meaning Remarks

Bit0 To enable a servo “1” is valid.

Bit1 To clear an alarm “1” is valid.

Bit2 To disable CCW “1” is valid.

Bit3 To disable CW “1” is valid.

Bit4 To zero position deviation “1” is valid.

Bit5 To disable command pulse “1” is valid.

Bit6 To limit CCW torque “1” is valid.

Bit7 To limit CW torque “1” is valid.

Bit8 To enable zeroing “1” is valid.

Bit9 Zeroing direction “1” is valid.

Bit10…Bit15 Reserved

The format of the MDT data send by the servo unit—5 words:

Length of periodic data (10 bytes )

16bits 32bits 32bits

Control word Current position information Reserved

The format of the MDT control words send by the servo unit:

The format of the control words send by the servo (16bits)

Control bit Meaning Remarks

Bit0 Servo is ready. “1” is valid.

Bit1 Contracting brake output “1” is valid. (Reserved for the time being)

Bit2 Positioning completed/speed

“1” is valid.

reached

Bit3 Zeroing completed “1” is valid.

Bit4-bit8 Servo alarm 5 bits: Max. alarm No. 32 indicates (000 0001

1111 0000 B)

Bit9..Bit15 Reserved

Page 34

Chapter 3 Wiring

b) Non-periodic data: It refers to a general data telegram (“GDT”) that comprises control

words and data. The functions of a non-periodic data in final version include: setting of

Ethernet communication parameters, setting and change of servo parameters, allowing a

servo to save the current change in parameters, reception of servo parameters, reception of

servo diagnostic messages, etc;

c) Determination of the axes X, Y and Z of a servo drive unit:

Servo unit Slave station 1

Cat-5e UTP

Servo unit Slave station 2

Master station of CNC system

Servo unit Slave station n

Servo unit

Slave station

Figure 3-6 Diagram of connecting a CNC to servo Unit

The servo connecting the bus interface of the CNC (i.e. BUS2 of CNC) to the servo BUS1 (DB 9

holes) is the first axis (Axis X). The servo connecting BUS2 (DB 9 pins) back to the bus interface 1 of

the system (i.e. BUS1 of CNC) is the last axis.

4) Feedback signal terminal CN1------Feedback signal from an incremental encoder

Table 3-4 Signal input/output terminal CN1 of encoder

No.

CN1-14

CN1-15

CN1-16

CN1-17

CN1-19

CN1-20

CN1-21

CN1-22

CN1-23

Signal designation

Power output + VCC

Power output - GND

Terminal marking Color Functions Terminal

Marking I/O Mode

The photoelectric encoder for the

servomotor uses +5V power supply.

For a long cable, connect several core

wires in parallel.

Page 35

DA98E Series AC Servo Drive Unit User Manual

CN1-9 Encoder A＋input A+

Type4

CN1-8 Encoder A－input A-

CN1-7 Encoder B＋input B+

Type4

CN1-6 Encoder B－input B-

CN1-5 Encoder Z＋input Z+

Type4

CN1-4 Encoder Z－input Z-

CN1-3 Encoder U+input U+

Type4

CN1-2 Encoder U-input U-

Connecting the A+ of the photoelectric

encoder for the servomotor

Connecting the A- of the photoelectric

encoder for the servomotor

Connecting the B+ of the photoelectric

encoder for the servomotor

Connecting the B- of the photoelectric

encoder for the servomotor

Connecting the Z+ of the photoelectric

encoder for the servomotor

Connecting the Z- of the photoelectric

encoder for the servomotor

Connecting the U+ of the photoelectric

encoder for the servomotor

Connecting the U- of the photoelectric

encoder for the servomotor

CN1-1 Encoder V+input V+

Type4

CN1-10 Encoder V-input V-

CN1-11 Encoder W+input W+

Type4

CN1-12 Encoder W-input W-

CN1-13

CN1-24

Contracting brake

HOLD- Power supply, GND

output

TYP4

Contracting brake

HOLD+

output

Connecting the V+ of the photoelectric

encoder for the servomotor

Connecting the V- of the photoelectric

encoder for the servomotor

Connecting the W+ of the

photoelectric encoder for the

servomotor

Connecting the W- of the photoelectric

encoder for the servomotor

0V input of relay

Page 36

Chapter 3 Wiring

5) CN1 feedback signal terminal –Feedback signal from Tamagawa 17-bit absolute encoder

Table 3-5 CN1 Signal Input/output Terminals of Absolute Encoder

Terminal

Signal designation

No.

CN1-5

CN1-6

Power output + +5V

CN1-17

CN1-18

CN1-1

CN1-2

Power output - GND

CN1-3

CN1-4

CN1-13 Encoder SD- i1nput SD－

CN1-26 Encoder SD+ input SD＋

Terminal marking

Color Functions

Marking I/O Mode

The absolute encoder for the

servomotor uses +5V power supply.

For a long cable, connect several core wi

in parallel.

Connecting the A+ of the photoelectric

encoder for the servomotor

Type 4

Connecting the A- of the photoelectric

encoder for the servomotor

The absolute encoder for the

CN1-24

CN1-25

CN1-14

CN1-15

CN1-7

CN1-9

Battery input ＋ +3.6V

Type 4

Shielded earth wire EARTH

Contracting brake

HOLD- Power supply, GND

output

TYP4

Contracting brake

HOLD+

output

0V input of relay

servomotor uses +3.6V power supply to

maintain the data of several loops. For a

long cable, connect several core wires

in parallel. If the servo unit is not

powered on for an extended period of

time, the data of several loops is subject

to loss due to low battery voltage.

Connecting the B- of the photoelectric

encoder for the servomotor

Page 37

DA98E Series AC Servo Drive Unit User Manual

3.3 Circuitous Philosophy of I/O Interface

1) Input Interface of Incremental Photoelectric Encoder for Servomotor

Motor side

X+ X-

Drive unit side

AM26LS32

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

Figure 3-7 Input Interface of Incremental Photoelectric Encoder for Servomotor

2） Input Interface of Tamagawa Absolute Photoelectric Encoder for Servomotor

Motor side Drive unit side

Figure 3-8 Input Interface of Absolute Encoder for Servomotor

Page 38

Chapter 4 Parameters

Attention

z Each personnel involved in parameter adjustment shall understand the meaning of

parameters as incorrect setting may cause equipment damage and personal injury.

z It is recommended to adjust the parameters when the servomotor is idling.

z The motor parameters are adaptive to GSK SJT and Huazhong ST series of servomotors. To

use other servomotors, it is required to adjust the relevant parameters. Otherwise the motor

will not operate normally.

4.1 Summary of Parameters

z The delivery settings in the following table are adaptive to the drive unit of GSK 110SJT-M040D

(4N.m, 2500rpm) motor as an example. The relevant parameters vary with motors.

z The current software version is V2.05 – for servomotors with incremental encoder.

Table 4-1 Summary of Parameters

S/N Name Applicable

mode

0 Password P, S 0~9999 315

1 Model code P, S 0~78 60

2 Software version (read-only) P, S * *

3 Initial display status P, S 0~21 0

4 Selection of control mode P, S 0~5 0

5 Proportional gain of speed P, S 5~2000 240* Hz

6 Integral time constant of speed P, S 1~1000 25* ms

7 Torque command filter P, S 1~500 100 %

Range of

parameter

Delivery

setting

Unit

8 Low pass filter for speed

detection

9 Proportional gain of position P 1~1000 40 1/S

10 Feedforward gain of position P 0~100 0 %

11 Cut-off frequency of positional

feedforward low-pass filter

P, S 1~500 120 %

P 1~1200 300 Hz

Page 39

DA98E Series AC Servo Drive Unit User Manual

12 Numerator of position command

P 1~32767 1

countdown

13 Denominator of position

P 1~32767 1

command countdown

14 Reserved

15 Reversal of position command

P 0~1 0

countdown

16 Positioning range P 0~30000 20 Pulse

17 Range of position

out-of-tolerance detection

18 Erroneous and invalid position

P 0~30000 200 ×100

pulse

P 0~1 0

out-of-tolerance

19 Position command smoothing

P 0~30000 0 0.1ms

filter

20 Invalid drive disabling input P, S 0~1 0

21 Speed of JOG operation S -3000~3000 120 rpm

22 Selection of internal and external

S 0~4 0

commands

23 Limitation of maximum speed P, S 0~4000 3000 rpm

24 Internal speed 1 S -3000~3000 0 rpm

25 Internal speed 2 S -3000~3000 100 rpm

26 Internal speed 3 S -3000~3000 300 rpm

27 Internal speed 4 S -3000~3000 -100 rpm

28 Arriving speed S 0~3000 500 rpm

Contracting brake release signal

P, S 0~1000 4 4*10ms

delay

Numerator of linear speed

P, S 1~32767 10

conversion

Denominator of linear speed

P, S 1~32767 1

conversion

Position of decimal point in linear

P, S 0~5 3

speed

Stoppage delay time of

P, S 0~1000 10 10*10ms

contracting brake

Limitation of internal CCW

P, S 0~300 300* %

torque

Page 40

Chapter 4 Parameters

35 Limitation of internal CW torque P, S -300~0 -300* %

Limitation of external CCW

P, S 0~300 100 %

torque

37 Limitation of external CW torque P, S -300~0 -100 %

Torque limitation of speed trial

S 0~300 100 %

operation and JOG operation

V2.04--Reserved;

V3.00---Writing-in of drive unit

P, S 0~100 0

type

40 Acceleration time constant S 1~10000 0 ms

41 Deceleration time constant S 1~10000 0 ms

Note 1: The current version of the software for the servo with a Tamagawa absolute type encoder is V3.01. The

version only applies to the servomotor with a Tamagawa 17-bit absolute encoder.

Note 2: No. 39 parameter in V3.01 is “Writing-in of drive unit type”.

Page 41

DA98E Series AC Servo Drive Unit User Manual

4.2 Functions of Parameters

Table 4-2 Functions of Parameters

Name Function

Password

① The parameter is used to prevent the parameters from

accidental alteration. To change a parameter, normally change

the password to the required password and then set the

parameter. After adjustment, finally set this parameter to 0 in

order to prevent the parameters from accidental alteration.

② Different password levels correspond to user, system and all

parameters.

③ The change of the Model code parameter (PA1) requires the

use of a Model code password. Other passwords cannot be

used change the parameter.

④ User password: 315。

⑤ Model code password: 385

Model code

① Different model codes correspond to the Drive Unit and motors

Range of

parameter

0~9999

Software

version

(read-only)

at different power levels in the same series.

② Different model codes correspond to different default

parameter settings. Always ensure the correctness of this

parameter while using the default parameter recovery function.

③ In the event of EEPROM alarm (No. Alarm 20), make sure to

set this parameter again and then recover the default

parameter. Otherwise the drive unit may operate abnormally or

become damaged.

④ To change the parameter, first set the password PA0 to 385

and then modify this parameter.

⑤ Refer to Section 4.3 of this chapter for the check list of motor

models and codes.

① The version number of the software may be reviewed but not

changed.

② Meaning of the parameter: Z205.30—incremental type,

0~78

V2.05, with a 30A module;

J301.30—absolute type, V3.01, with a 30A module;

Page 42

Chapter 4 Parameters

Initial display

status

① To select the display status of the display when the drive unit is

powered on

0: To display the rotating speed of the motor;

1: To display the lower 5 digits of current position;

2: To display the upper 5 digits of current position;

3: To display the lower 5 digits of position command (command

pulse accumulation);

4: To display the upper 5 digits of position command (command

pulse accumulation);

5: To display the lower 5 digits of position deviation;

6: To display the upper 5 digits of position deviation;

7: To display the torque of the motor;

8: To display the current of the motor;

0~21

9: To display a linear speed;

10: To display control modes;

Selection of

control mode

11: To display the frequency of position command pulse;

12: To display a speed command;

13: To display a torque command;

14: To display the absolute position of the rotor in a revolution;

15: To display the state of input terminal;

16: To display the state of the output terminal;

17: To display the input signal of the encoder;

18: To display the operating state;

19: To display alarm codes;

20: To display the last upgrading data of the software;

21; Reserved。

① It is possible to set the control mode of the drive unit through

this parameter:

0: Position control mode;

1: Speed control mode;

2: Trial operation control mode;

0~5

3: JOG control mode;

4: Encoder zeroing mode;

5: Open-loop operating mode (for test of motor and encoder);

② Position control mode: Position command data is input through

a bus;

Page 43

DA98E Series AC Servo Drive Unit User Manual

Speed control mode: Speed command is selected through

PA22 parameter (see PA22 for details);

③ Trial operation control mode; Speed commands are input

through a keyboard to test the drive unit and motor.

JOG control mode is known as inching mode. After entering

JOG operation, the motor runs at JOG speed when the ↑ key is

pressed and held, and stops and maintains at zero speed when

the key is released. The motor runs inversely at JOG speed when

the ↓ key is pressed and held, and stops and maintains at zero

speed when the key is released.

④ Encoder zeroing mode: It is used to set the encoder to zero

before shipping the motor.

Proportional

Integral time

constant of

gain of

speed

① The parameter is used to set the proportional gain of the speed

ring adjuster.

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

the smaller the speed overshooting during acceleration and

deceleration will be. The setting of the parameter depends on

the specific model number and load of the drive system. As a

general rule, the setting declines with the increase of load

inertia.

③ It shall be set as big as possible provided that the system

does not produce any disturbance.

① The parameter is used to set the integral time constant of the

speed ring adjuster.

② The smaller the setting is, the higher the integral speed and

rigidity will be. The setting of the parameter depends on the

specific model number and load of the servo drive system. As a

5 Hz

~2000Hz

ms~1000ms

general rule, the setting rises with the increase of load inertia.

③ It shall be set as small as possible provided that the system

does not produce any disturbance.

Page 44

Chapter 4 Parameters

Torque

command

filter

① It is used to limit the current command frequency band and

suppress the resonance caused by torque (the motor produces

sharp vibration noise) so that current response becomes

smooth.

② Reduce the parameter if the motor makes sharp vibration

noise;

③ The smaller the setting is, the lower the cut-off frequency, the

better the filtering effect and the lower the noise produced by

the motor will be. In case of high load inertia, it is possible to

appropriately reduce the setting. Excessively small setting may

slow down response and cause instability.

④ The bigger the setting is, the higher the cut-off frequency and

the faster the response will be. It is possible to appropriately to

increase the setting if relatively high mechanical rigidity is

required.

1%~500%

Proportional

Low pass

filter for

speed

detection

gain of

position

① The parameter is used to set the characteristics of the

low-pass filter for speed detection.

② The smaller the setting is, the lower the cut-off frequency, the

better the filtering effect and the lower the noise produced by

the motor will be. In case of high load inertia, it is possible to

appropriately reduce the setting. Excessively small setting may

1%~500%

slow down response, increase speed fluctuation and cause

disturbance.

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

the faster the response will be. It is possible to appropriately to

increase the setting if relatively high mechanical rigidity is

required.

① The parameter is used to set the proportional gain of the

position ring adjuster.

② The gain and rigidity increase with the setting. Under the same

frequency command pulse condition, the position lag becomes

1~1000 /s

less but excessive setting may cause disturbance or

overshooting.

③ The setting of the parameter depends on the version and load

of the servo drive system.

Page 45

DA98E Series AC Servo Drive Unit User Manual

Feedforward

frequency of

feedforward

gain of

position

Cut-off

positional

low-pass

① The parameter is used to set the feedforward gain of the

position ring.

② When it is set to 100%, it indicates that the position lag is

always 0 under the command pulse at any frequency.

③ When the feedforward gain of the position ring rises, the

high-speed response of the control system is improved but

this may lead to the instability of position ring of the system

and tend to cause disturbance.

④ The feedforward gain of the position ring is generally 0 unless

very high response characteristics are required.

① This parameter is used to set the cut-off frequency of the

low-pass filter for the position feedforward quantity.

② This filter is intended to improve the compound position

control.

0~100％

1 Hz

~1200Hz

Numerator of

countdown

filter

position

command

① This parameter is used to set the frequency division and

multiplication of command pulse (electronic gear).

② In position control mode, it is very easy to be adaptive to all

pulse sources by setting the PA12,PA13 parameter in order to

achieve the optimal control resolution (i.e. angle/pulse) of

user.

③

4××=×CNGP

P: Pulse number of input command;

G: Electronic gear ratio:

divisionfrequency of Numerator

divisionfrequency of rDenominato

N: Number of rotations of motor;

C: Number of lines of photoelectric encoder/rotation, V2.03

incremental C＝2500;

V3.01 with Tamagawa 17-bit absolute encoder C＝ 2

＝

1~32767

131072

④ 〖Example〗 Calculation of the gear ratio for V2.03: When

the input command pulse is 6000, the servomotor rotates by

one turn

Page 46

Chapter 4 Parameters

××

Then Parameter PA12 is set to 5 and PA13 to 3.

⑤ Calculation of the gear ratio for V3.01: When the input

command pulse is 6000, the servomotor rotates by one turn

6000

4250014

Denominator

of position

command

countdown

Reversal of

position

command

countdown

Positioning

range

××

① See Parameter PA12. 1~32767

① It is set to

0: Normal; or

1: Reverse pulse direction of position command

① This parameter is used to set the range of positioning pulse

under position control.

② This parameter provides the basis for the drive unit to judge

whether positioning is completed in position control mode.

When the remaining pulse number in the position deviation

counter is less than or equal to the setting of the parameter,

the drive unit unit considers that the positioning has been

13107214

6000

8192

375

0~1

0~30,000

pulses

out-of-tolera

nce detection

and invalid

position out-

of-tolerance

Range of

position

Erroneous

completed. The positioning completion signal is COIN ON.

Otherwise it is COIN OFF.

③ The output positioning completion signal is COIN in the

position control mode and the output speed reaching signal

SCMP.

① This parameter is used to set the range of position

out-of-tolerance alarm detection

② In the position control mode, the servo drive unit gives a

position out-of-tolerance alarm when the count value of the

position deviation counter goes beyond the setting of this

parameter.

① 0: The position out-of-tolerance alarm detection is enabled.

1: The position out-of-tolerance alarm detection is disabled.

0~30000

×100 pulses

0~1

Page 47

DA98E Series AC Servo Drive Unit User Manual

Position

command

smoothing

filter

Invalid drive

① Command pulses are smoothed. The acceleration and

deceleration are in exponential form. The numerical value

indicates a time constant.

② The filter is not subject to loss of input pulse but command

delay.

③ The filter is used when

z A host controller has no acceleration and deceleration

functions;

z The frequency division and multiplication of the electronic

gear are high (>10);

z The command frequency is low;

z The motor is subject to step leaping and instability during

operation;

④ When it is set to 0, the filter does not work.

① 0: CCW and CW input disabling is active. When the CCW

0~30000×0.1

（ms）

disabling

input

Speed of

JOG

operation

Selection of

drive disabling switch (FSTP) is turned ON, CCW drive is

allowed. When the CCW drive disabling switch (FSTP) is

turned OFF, the torque in CCW direction is 0. The same

goes for CW.

If both CCW and CW drive disabling switches are turned off,

a drive disabling input error alarm will be given.

1: CCW and CW input disabling is deactivated. CCW and

CW drives are allowed irrespective of the state of CCW and

CW drive disabling switches. At the same time, a drive

disabling input error alarm will not be given if both CCW and

CW drive disabling switches are turned off.

① This parameter is used to set the running speed of JOB

operation.

① When it is set to 0, the speed command is bus entry;

0~1

-3000 rpm

~3000rpm

internal and

external

commands

Limitation of

maximum

② When it is set to 1, the speed command is Internal speed 1;

③ When it is set to 2, the speed command is Internal speed 2;

④ When it is set to 3, the speed command is Internal speed 3;

⑤ When it is set to 4, the speed command is Internal speed 4;

① It is used to set the upper speed limit of the servomotor.

② It is independent of direction of rotation.

0~4

0 rpm ~

3000 rpm

Page 48

Chapter 4 Parameters

speed

Internal

speed 1

Internal

speed 2

Internal

speed 3

Internal

speed 4

Arriving

speed

③ If the setting goes beyond the rated rotating speed, the actual

maximum speed limit the rated rotating speed.

① This parameter is used to set Internal speed 1

② See PA22.

① This parameter is used to set Internal speed 2

② See PA22.

① This parameter is used to set Internal speed 3

② See PA22.

① This parameter is used to set Internal speed 4

② See PA22.

① It is used to set the arriving speed.

② In a non-position control mode, it is set to SCMP ON if the

motor speed exceeds the setting. Otherwise it is set to SCMP

OFF.

③ This parameter is not used in position control mode.

-3000 rpm

~3000 rpm

-3000 rpm

~3000 rpm

-3000 rpm

~3000 rpm

-3000 rpm

~3000 rpm

0 ms ~

3000rpm

Contracting

brake

release

signal delay

④ It is independent of direction of rotation.

⑤ The comparator has lagging characteristics.

① When the drive unit is enabled (SON is ON), the contracting

brake release signal will delay the output by following the

delay time set by the parameter in order to ensure that the

contracting brake motor will release the contracting brake

unit only after it is energized and excited and that the

workbench will not drop.

0 ms

② The parameter setting must not be too long; otherwise the

~1000ms

motor cannot operate by following the command and even

cause a position out-of-tolerance alarm due to the delayed

release of the motor contracting brake when SON is set to

ON. Therefore the parameter shall be set to a small setting

as far as possible provided that the workbench does not

drop.

Numerator of

linear speed

conversion

① This parameter is used to indicate the linear running speed of

the system.

②

= speed Linear

×(rpm) speed Motor

conversion speed linear of Numerator

conversion speed linear of rDenominato

1~32767

Page 49

Denominator

DA98E Series AC Servo Drive Unit User Manual

③ The decimal point of linear speed depends on the setting of

Parameter PA32. “0” means that there is no decimal point, “1”

it is in tens place, “2” in hundred's place and so on.

④ 〖Example〗If the servo motor drives a 10mm ball screw, the

numerator of linear speed conversion is set to 10,

denominator of linear speed conversion to 1 and the decimal

point of linear speed is 3. The linear speed may be displayed

on the monitor in m/min. When the speed of the motor is

500rpm, its linear speed is indicated by 5.000m/min.

linear speed

delay time of

Limitation of

of linear

speed

conversion

Position of

decimal

point in

Stoppage

contracting

brake

internal

① See Parameter PA30。 1~32767

① See Parameter PA30。 0~5

① For the motor with a contracting brake unit, when the system

cancels the enabling signal, the drive unit continues to excite

the motor for some time to ensure that the motor contracting

brake fully arrests the motor rotor before stopping the

0-2000

（ms）

excitation of the motor.

② Delay time=Setting*4ms。

① This parameter is used to set the internal torque limit in the

CCW direction of the servomotor.

CCW torque

Limitation of

internal CW

torque

② The setting is a percentage of the rated torque. For example, if

it is set to twice the rated torque, the setting is 200.

③ The limitation is active at any time.

④ If the setting is over the maximum overloading capacity of the

system, the actual torque limit is the permissible maximum

overloading capacity of the system.

① This parameter is used to set the internal torque limit in the

CW direction of the servomotor.

② The setting is a percentage of the rated torque. For example, if

it is set to twice the rated torque, the setting is 200.

③ The limitation is active at any time.

0-300%

-300%~0

Page 50

Chapter 4 Parameters

④ If the setting is over the maximum overloading capacity of the

system, the actual torque limit is the permissible maximum

overloading capacity of the system.

CCW torque

external CW

Limitation of

external

Limitation of

torque

① This parameter is used to set the external torque limit in the

CCW direction of the servomotor.

② The setting is a percentage of the rated torque. For example, if

it is set to one time the rated torque, the setting is 100.

③ The limitation is active only when the CCW torque limit input

terminal (FIL) is ON.

④ When the limitation is active, the actual torque limit is the

smallest of the maximum overloading capacity of the system,

internal CCW torque limit and external CCW torque limit.

① This parameter is used to set the external torque limit in the

CW direction of the servomotor.

② The setting is a percentage of the rated torque. For example, if

it is set to one time the rated torque, the setting is 100.

③ The limitation is active only when the CW torque limit input

terminal (RIL) is ON.

0~300%

-300%~0

Torque

limitation of

speed trial

operation

and JOG

operation

Reserved

V2.05

Writing-in of

drive unit

type V3.01

④ When the limitation is active, the actual torque limit is the

smallest of the absolute values of the maximum overloading

capacity of the system, internal CW torque limit and external

CW torque limit.

① This parameter is used to set the torque limit in the speed trial

operation and JOG operating modes.

② It is active in both directions and independent of direction of

rotation.

0~300%

③ The setting is a percentage of the rated torque. For example, if

it is set to one time the rated torque, the setting is 100.

④ The limitation on the internal and external torques is still

active.

This parameter is used to write the model number of the motor in

the encoder memory before delivery when the motor is provided

0~100

with an absolute encoder. The parameter is active when it is set

to 15 and must be reset to 0 after writing-in.

Page 51

DA98E Series AC Servo Drive Unit User Manual

Deceleration

Acceleration

time

constant

time

constant

① The setting is the time elapsed when the motor accelerates

from 0 to 1,000rpm.

② The acceleration and deceleration characteristics are linear.

③ It is only applicable to speed control mode and invalid for

position control mode.

④ This parameter must be set to 0 when the drive unit is used in

combination with an external position ring.

① The setting is the time elapsed when the motor decelerates

from 1,000rpm to 0.

② The acceleration and deceleration characteristics are linear.

③ It is only applicable to speed control mode and invalid for

position control mode.

④ This parameter must be set to 0 when the drive unit is used in

combination with an external position ring.

1 ms

~10000ms

1 ms~

10000ms

Note: No. 9 Parameter “Proportional gain of position” varies a lot for incremental and absolute servomotors.

The setting of No.9 parameter of V3.01 to 8 corresponds to setting of No.9 parameter of V2.05 to 60.

4.3 Checklist of Model Numbers and Specification of Motor

Table 4-3 Checklist of No.1 Parameter and Star Series of Servo Motors

№1

Parameter

30 110ST-M02030H, 0.6kw,220V, 3000rpm,4A,0.33×10-3kg.m

35 110ST-M04030H, 1.2kw, 220V, 3000rpm,5A,0.65×10-3kg.m

36 110ST-M05030H, 1.5kw, 220V, 3000rpm,6A,0.82×10-3kg.m

37 110ST-M06020H, 1.2kw, 220V, 2000rpm,6A,1.00×10-3kg.m

38 110ST-M06030H, 1.6kw, 220V, 3000rpm,8A,1.00×10-3kg.m2 ※

39 130ST-M04025H, 1.0kw, 220V,2500rpm,4A,0.85×10-3kg.m

45 130ST-M05025H, 1.3kw, 220V, 2500rpm,5A,1.06×10-3kg.m

46 130ST-M06025H, 1.5kw, 220V, 2500rpm,6A,1.26×10-3kg.m

47 130ST-M07720H, 1.6kw, 220V, 2000rpm,6A,1.58×10-3kg.m

49 130ST-M10015H, 1.5kw, 220V, 1500rpm,6A,2.14×10-3kg.m

Model numbers and Specification of Servomotors Remarks

50 130ST-M10025H, 2.6kw, 220V, 2500rpm,10A,2.14×10-3kg.m2 ※

51 130ST-M15015H, 2.3kw, 220V, 1500rpm,9.5A,3.24×10-3kg.m

※

Page 52

Chapter 4 Parameters

Table 4-4 Checklist of No.1 Parameter and SJT Series of Servo Motors

№1

Model numbers and Specification of Servomotors Remarks

Parameter

55 80SJT -M024C, 0.5kw, 220V, 2000 rpm, 3A, 0.83×10-4kg.m2

56 80SJT -M024E, 0.75kw, 220V, 3000 rpm, 4.8A, 0.83×10-4kg.m2

57 80SJT -M032C, 0.66kw, 220V, 2000 rpm, 5A, 1.23×10-4kg.m2

58 80SJT -M032E, 1.0kw, 220V, 3000 rpm, 6.2A, 1.23×10-4kg.m2

59 110SJT-M040D, 1.0kw, 220V, 2500 rpm, 4.5A, 0.68×10-3kg.m2

60 110SJT-M040E, 1.2kw, 220V, 3000 rpm, 5A, 0.68×10-3kg.m2

61 110SJT-M060D, 1.5kw, 220V, 2500 rpm, 7A, 0.95×10-3kg.m2

62 110SJT-M060E, 1.8kw, 220V, 3000 rpm, 8A, 0.95×10-3kg.m2 ※

63 130SJT-M040D, 1.0kw, 220V, 2500 rpm, 4A, 1.19×10-3kg.m2

64 130SJT-M050D, 1.3kw, 220V, 2500 rpm, 5A, 1.19×10-3kg.m2

65 130SJT-M060D, 1.5kw, 220V, 2500 rpm , 6A, 1.95×10-3kg.m2

66 130SJT-M075D, 1.88kw, 220V, 2500 rpm, 7.5A, 1.95×10-3kg.m2 ※

67 130SJT-M100B, 1.5kw, 220V, 1500 rpm, 6A, 2.42×10-3kg.m2

68 130SJT-M100D, 2.5kw, 220V, 2500 rpm, 10A, 2.42×10-3kg.m2 ※

69 130SJT-M150B, 2.3kw, 220V, 1500 rpm, 8.5A, 3.1×10-3kg.m2 ※

70 130SJT-M150D, 2.3kw, 220V, 1500 rpm, 8.5A, 3.1×10-3kg.m2 ※

71 175SJT-M150D, 3.1 kw, 220V, 2500 rpm, 14 A, 5.1×10-3kg.m2 ※※

72 175SJT-M180B, 2.8 kw, 220V, 1500 rpm, 15 A, 6.5×10-3kg.m2 ※※

73 175SJT-M180D, 3.8 kw, 220V, 2500 rpm, 16.5 A, 6.5×10-3kg.m2 ※※

74 175SJT-M220B, 3.5 kw, 220V, 1500 rpm, 17.5 A, 9.0×10-3kg.m2 ※※※

75 175SJT-M220D, 4.5kw, 220V, 2500 rpm, 19 A, 9.0×10-3kg.m2 ※※※

76 175SJT-M300B, 4.7 kw, 220V, 1500 rpm, 24A, 11.2×10-3kg.m2 ※※※

77 175SJT-M300D, 6kw, 220V, 2500 rpm, 27.5 A, 11.2×10-3kg.m2 ※※※

78 175SJT-M380B, 6 kw, 220V, 1500 rpm, 29 A, 14.8×10-3kg.m2 ※※※

Note 1: The motors marked “ ” in the above table shall be provided with a ※ drive unit with 30A module plus a

thick radiator.

Note 2: The motors marked “ ” in the above table shall be provided with a ※※ drive unit with 30A module plus

a fan.

Note 3: The motors marked “ ” in the above table shall be provided with a ※※※ drive unit with 75A module

plus a fan.

Note 4: The model numbers of the motors corresponding to No.1 Parameter of V2.05 and V3.01 are consistent.

Page 53

DA98E Series AC Servo Drive Unit User Manual

Chapter 5 Alarms and Remedies

Attention

z Any personnel involved in the check and repair work must be well trained and qualified.

z Do not touch the drive unit and motor until 5min after they are disconnected from power supply

as it may lead to electric shock and burn.

z When the drive unit gives a fault alarm, do not bring it into use unless the fault is eliminated by

its alarm code.

z Before resetting the alarm, make sure SON (servo is active) signal is active in order to prevent

the motor from accidental start.

5.1 Abnormalities Arising from Improper Usage

Table 5-1 Abnormalities in Ethernet Bus Control Mode and Remedies

Abnormality Possible Causes Examinations and Solutions

The motor fails

to operate when

pulse

commands are

given in the

position mode.

Excessive

vibration during

the operation of

the motor.

1. Incorrect selection of operating mode Check the setting of PA4.

2. Failure to give an enabling signal Check that SON is correct and judge

that the CNC of the system can give

enabling signal by examine

or internally force enabling by setting

PA98=1.

Improper setting of proportional gain of

speed ring and integral time constant

(PA5, PA6);

Improper setting of proportional gain of

position ring (PA9)

1. Incorrect setting of electronic gear

Recover the default parameters of the

motor or manually adjust PA5, PA6 and

PA9.

Refer to the method for calculation of

Inaccurate

position control

ratio;

2. Inaccurate pulse reception caused by

external interference

electronic gear ratio and correctly set it.

When the command pulse number is

less than the indication of

under external interference.

A. Use a differential circuit as far as

possible;

B. Correctly connect the shielded wires;

, it is

Page 54

Chapter 5 Alarms and Remedies

Excessive

fluctuation of

the load during

start or stop

C. Keep away from the interference

source.

3. Fault of mechanical connection When the command pulse number is

equal to the indication of

and,

after the conversion of electronic gear

ratio, the indication of

, carefully

check that the mechanical joint

becomes loose or is deformed.

Big load inertia and excessively low

setting of acceleration and deceleration

time of the commands from the

corresponding host computer

Increase the acceleration and

deceleration time of the commands from

the corresponding host computer so

that the motor starts or stops smoothly

or reduce the proportional gain of the

position ring.

5.2 Summary of Alarms

Table 5-2 Summary of Alarms

Alarm

code

1 Overspeed The speed of the servomotor is higher than the

2 Overvoltage of main circuit Excessively high supply voltage of main circuit

3 Undervoltage of main circuit Excessively low supply voltage of main circuit

4 Position out-of-tolerance The indication of the position deviation counter

5 Overheating of motor Overtemperature of the motor

6 Saturation fault of speed amplifier The speed adjuster is saturated for a long time.

7 Abnormality of drive unit disabling Both CCW and CW drive disabling inputs are OFF.

Alarm name Contents

setting.

goes beyond the setting.

8 Overflow of position deviation

counter

The absolute value of the position deviation

counter is above 2

9 Fault of encoder Signal error of encoder

10 Undervoltage of control power

supply

The voltage of the control power supply ±15V is

too low.

Page 55

DA98E Series AC Servo Drive Unit User Manual

11 Fault of IPM module Fault of IPM intelligent module

12 Overcurrent Excessive motor current

13 Overload Overload of the servo drive unit and motor

(transient overtemperature)

14 Braking failure Fault of braking circuit

15 Counting error of encoder Counting abnormality of encoder

20 EEPROM error EEPROM error

23 Error of A/D chip Error of A/D chip or current sensor

30 Missing pulse of Encoder Z Pulse error of Encoder Z

31 Erroneous UVW signal of

encoder

32 Illegal coding of encoder UVW

Erroneous UVW signal of encoder or mismatching

encoder

Full-high or full-low level of UVW signal

signal

33 Abnormal bus communication Interruption of bus communication

Table 5-3 Added Alarms of V3.01 Software

18 Overspeed of encoder Overspeed of absolute encoder

21 Error of reading and

writing of encoder

Error of reading and writing of absolute encoder

EEPROM

24 Multi-turn data error Absolute encoder’s error in reading multi-turn data

25 Error of encoder battery The voltage of external battery is below 2.5V

26 Encoder battery alarm The voltage of external battery is below 3.1V

27 Mismatching motor type The motor model number saved in the memory of the

servo mismatches the current one.

28 Encoder CRC check error CRC check error in the encoder’s reading of data

29 Encoder data abnormality Data abnormality of absolute encoder

Note 1: No. 30, 31 and 31 alarms are not available for V3.01.

Note 2: Table 5-1 is the list of all the alarms of the incremental servo while Table 5-2 lists the alarms of the

absolute servo.

Page 56

5.3 Solutions for Alarms

Chapter 5 Alarms and Remedies

Table 5-4 Solutions for Alarms

Alarm

Alarm name

code

1 Overspeed

Operating

conditions

The alarm is

given when the

control power

supply is

switched on.

Fault of control circuit ①

board

Fault of encoder②

z The input command

pulse frequency is too

high.

Sma

deceleration time

constant causes

excessive speed

overshooting.

Causes Solutions

Change the servo ①

drive unit.

Change the ②

servomotor.

Correctly set the input ①

command pulse.

ll acceleration/

Increase the ①

acceleration/

deceleration time

constant.

The alarm is

given during the

operation of the

motor.

The alarm is

given when the

motor is just

started.

The electronic gear ①

ratio entered is too high.

Fault of encoder① .

① Defective power

cable of encoder.

The servo system is ①

not stable, causing

overshooting.

Excessive load inertia①

servomotor.

① Change the power

relevant gain.

set to an appropriate

value, the load rotary

inertia ratio shall be

decreased.

inertia.

unit and motor with

higher power.

Correctly set the ratio.①

Change the ①

cable of encoder.

Reconfigure the ①

If the gain cannot be ②

Reduce the load ①

Replace it with a ② drive

Page 57

DA98E Series AC Servo Drive Unit User Manual

Change the ①

servomotor.

Overvoltage of

main circuit

Zero error of encoder①

The leads U, V and W ①

are connected

incorrectly.

The leads of the power ②

cable for the encoder are

connected incorrectly.

The alarm is

given when the

control power

Fault of circuit board① .

supply is

switched on.

② Have the zero of the

encoder

reconfigured by

manufacturer.

Connect them ①

correctly.

Change the servo ①

Drive Unit.

The alarm is

given when the

main power

supply is

High supply voltage①

Abnormal waveform of ②

supply voltage.

switched on.

The alarm is

given during the

operation of the

motor.

The wires connecting ①

the brake resistor are

disconnected.

The brake transistor is ①

damaged.

The internal brake ②

resistor is damaged.

Check the power ①

supply.

Connect the wires ①

again.

Change the servo ①

drive unit.

Page 58

Chapter 5 Alarms and Remedies

Reduce start and stop ①

frequency.

Increase the ②

acceleration/

deceleration time

Undervoltage

of the main

circuit

The capacity of t① he

brake circuit is

insufficient.

Fault of circuit board① .

Damaged power ②

The alarm is

supply fuse.

given when the

Fault of soft start circuit③ .

main power

Damaged rectifier④ .

supply is

Lover supply voltage①

switched on.

Temporary power fai② lure

for 20mS or longer.

constant.

Reduce the torque ③

limit.

Reduce the load ④

inertia.

Replace it with a ⑤ drive

unit and motor with

higher power.

Change the servo ①

drive unit.

Check the power ①

supply.

out-of-tolerance

Position

The alarm is

Insufficient capacity of ①

power supply.

given during the

Transient power failure② .

operation of the

Overtemperature of ①

motor.

radiator.

The alarm is

given when the

control power

Fault of circuit board① .

supply is

switched on.

Check the power ①

supply.

Check the load.①

Change the servo ①

Drive Unit.

Page 59

DA98E Series AC Servo Drive Unit User Manual

The leads U, V and W ①

of the motor are

connected incorrectly.

The leads of the power ②

cable for the encoder are

connected incorrectly.

Fault of encoder① .

When the main

power supply

The set detection ①

and control

cables are

connected and

command

pulses input, the

motor does not

Excessively low ①

proportional gain of

position.

rotate.

Connect them ①

correctly.

Change the ①

servomotor.

Increase the detection ①

range of position

out-of-tolerance is too

out-of-tolerance.

small.

Increase the gain.①

Check the torque limit.①

Reduce the load ②

Overheating of

the motor

Insufficient torque① .

High command pulse ①

frequency.

The alarm is

Fault of circuit board① .

given when the

control power

supply is

switched on.

Cable breakage① .

Damaged temperature ②

relay inside the motor.

capacity.

Replace it wi③ th a drive

unit and motor with

higher power.

Reduce the frequency.①

Change the servo ①

drive unit.

Check the cable.①

Check the motor.②

Page 60

Chapter 5 Alarms and Remedies

Reduce the load.①

Reduce start and stop ②

frequency.

Reduce the torque ③

Saturation fault

of speed

amplifier

Drive disabling

failure

The alarm is

given during the

operation of the

motor.

The alarm is

given during the

operation of the

motor.

Overload of the motor① .

Internal fault of the ①

motor.

The motor i① s

mechanically blocked.

Excessive load① .

① Both CCW and CW

drive disabling input

terminals are open.

limit.

Reduce the relevant ④

gain.

Change it with a drive ⑤

unit and motor with

higher power.

Change the ①

servomotor.

Check the mechanical ①

portion of the load.

Reduce the load.①

Replace it with a ② drive

unit and motor with

higher power.

Che① ck the wiring and

the power supply for the

input terminals.

Overflow of the

position

deviation

counter

9 Fault of

encoder

Check the mechanical ①

portion of the load.

The motor is ①

Check the command ②

mechanically blocked.

pulse.

Abnormal input ②

Check that t③ he motor

command pulse.

rotates to the command

pulse.

Error in encoder wiring① . Check the wiring.①

Damaged encoder① . Change the motor.①

Defective power cable ①

for the encoder.

Change the power ①

cable.

Page 61

DA98E Series AC Servo Drive Unit User Manual

Undervoltage

of control

power supply

Excessively low supply ①

voltage on the

encoder caused by

long power cable for

the encoder.

Low input control ①

power supply.

Defective built① -in

connectors in the Drive

Unit.

Abnormal switching ②

power supply.

Damaged chip③ .

The alarm is

given when the

control power

Fault of circuit board① .

supply is

Keep the cable as ①

short as possible.

Connect several core ②

wires in parallel for

supplying power.

Check the control ①

power supply.

Change the ① Drive Unit.

Check the connectors.②

Check the switching ③

power supply.

Change the servo ①

drive unit.

Fault of IPM

module

switched on.

The alarm is

given during the

operation of the

motor.

Check the ① Drive Unit.

Low supply voltage①

Overheating② .

Restart it② .

Replace the ③ Drive

Unit.

Short circuit b① etween

terminals U, V and W of

Check the wiring.①

the Drive Unit.

Improper grounding① Correctly ground it.①

Damaged insulation of ①

Change the motor.①

the motor.

Add a line filter.①

Interference①

Keep away ②

interference sources.

Short circuit between ①

12 Overcurrent

terminals U, V and W of

Check the wiring.①

the Drive Unit.

Improper grounding① . Correctly ground it.①

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Chapter 5 Alarms and Remedies

Damaged insulation of ①

the motor.

Damaged ① the drive

unit.

The alarm is

given when the

control power

Fault of circuit board①

supply is

switched on.

The motor operates at ①

torque above the rating.

Change the motor.①

Replace the drive unit.①

Change the servo ①

drive unit.

Check the load.①

Reduce the s② tart and

stop frequency.

③ Reduce the torque

limit.

④ Change a drive unit

13 Overload

The alarm is

given during the

operation of the

motor.

The alarm is

given when the

14 Brake fault

control power

supply is

The holding brake is ①

not released.

① Unsteady operation

of the motor with

vibration.

Open circuit of one of ①

the wires U, V and W.

Error in encoder wiring②

Fault of circuit board① .

and motor with higher

power.

Check the holding ①

brake.

Adjust the gain.①

Increase the ②

acceleration/deceleration

time.

Reduce the load ③

inertia.

Check the wiring.①

C① hange the servo

drive unit.

switched on.

The alarm is

The wires connecting ①

Connect the wires ①

given during the

the brake resistor are

again.

operation of the

disconnected.

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DA98E Series AC Servo Drive Unit User Manual

motor.

The brake transistor is ①

damaged.

The internal brake ②

Chan① ge the servo

drive unit.

resistor is damaged.

Reduce start and stop ①

frequency.

Increase the ②

acceleration/ deceleration

time constant.

The capacity of the ①

Reduce the torque ③

brake circuit is

limit.

insufficient.

Reduce the load ④

inertia.

Change it with a drive ⑤

unit and motor with

of encoder

20 EEROM error

Counting error

higher power.

High supply voltage on ①

the main circuit.

Check the main power ①

supply.

Damaged encoder① . Change the motor.①

Error in encoder wiring① . Check the wiring.①

Improper grounding① . Correctl① y ground it.

② Change the servo

Drive Unit.

③ After the remedy,

① Damaged chip or

circuit board.

make sure to set the

model number (No.1

parameter) again and

then restore the

default parameters.

① Defective amplifier or

A/D conversion

error

Missing Z pulse

of encoder

431.

Change the servo ①

② Damaged current

drive unit.

sensor.

① Absence of Z pulse

and damaged

encoder.

① Change the encoder.

② Check the encoder

interface circuit.

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Chapter 5 Alarms and Remedies

UVW signal

error of

encoder

② Defective power

cable.

③ Poor cable shielding.

④ Improper connection

of shield earth wire.

⑤ Fault of the encoder

interface circuit.

① Damage of UVW

signal of encoder.

② Damage of Z signal

of encoder.

① Change the encoder.

③ Defective power

② Check the encoder

cable.

④ Poor cable shielding

⑤ Improper connection

interface circuit.

Illegal encoding

of UVW signal

of encoder

Abnormality of

bus

communication

of shield earth wire

⑥ Fault of the encoder

interface circuit.

① Damage of UVW

signal of encoder.

② Defective power

cable.

③ Poor cable shielding.

④ Improper connection

of shield earth wire.

① Change the encoder.

② Check the encoder

interface circuit.

⑤ Fault of the encoder

interface circuit.

① Check that the

network cable is

① Loose network cable

correctly connected.

and poor contact.

Otherwise change

② Damaged

the control network

communication chip

cable.

in the control board.

② Change the servo

Drive Unit.

Table 5-5 Added Alarms of V3.01and Remedies

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DA98E Series AC Servo Drive Unit User Manual

Overspeed

alarm of

absolute

encoder

Error in

reading and

writing the

absolute

encoder

EEPROM

Multi-turn

data error

① When the absolute

encoder is switched

on, it rotates at a

speed above

200min-1.

Defective power cable ①

for the encoder.

① Damaged

communication chip or

circuit board

It is caused by the ①

abnormality of absolute

encoder data during

the energization of the

Reset the alarm by restarting the ①

servo when the servomotor is stopped.

① Change the power cable.

① Change the servo control board.

① Reset the alarm by restarting the

servo to initialize the absolute

encoder.

External

battery error

External

battery

alarm

Mismatching

model

number of

motor

main power supply.

The voltage of the ①

Change the external battery.①

external battery is lower

②Change the servomotor.

than 2.5V.

③Reconfigure the zero point of the

②The absolute encoder

machine tool.

operates incorrectly.

① The voltage of the

Check the external battery and when ①

external battery is

necessary, change it.

lower than 3.1V.

① Reconfigure the relevant motor type

① The motor model

and restart it after switching it off. If

number saved in the

the alarm persists, write the model

memory of the drive

number of the motor in the memory

unit does not conform

of the motor encoder by referring to

to the one in use.

the description of No.39 parameter.

CRC check

error of

encoder

data

Reinitialize the encoder by restarting ①

it.

① Abnormalities are

②Rewrite the model number of the

found in the memory

motor in the encoder.

check of the encoder.

③Change the servomotor in it occurs

frequently.

Page 66

Chapter 5 Alarms and Remedies

The communication ①

Alarm of

absolute

position

abnormality

chip or circuit board is

damaged.

① The communication

quality is impaired by

interference, causing

the error of data

transmission.

② The encoder is

defective.

① Change the servo drive unit.

① Check and adjust the wiring of the

encoder.

Change the servo① motor if it frequently

happens.

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DA98E Series AC Servo Drive Unit User Manual

Chapter 6 Display and Operations

6.1 Keyboard Operations

1. The panel of the drive unit consists of 6 LED nixie-tube displays and four keys ↑, ↓, ← and

Enter, which are used to indicate the states of the system and to set parameters.

The functions of the keys are described below:

↑ : S/N, to increase a value or move forward in options

↓ : S/N, to decrease a value or move backward in options

← : to return to the upper layer of functional menu or cancel an operation

Enter : To enter the next layer of functional menu or confirm entry

Note: When ↑ and ↓ are pressed and held, an operation is repeated. The repeating rate increases with

the holding time.

2. The 6-digit LED nixie tubes indicate all states and data. The flashing of all the nixie tubes or

the decimal point on the right nixie tube indicates an alarm.

3. The operating menus are arranged in layers. The first layer is the main menu that includes

eight operating modes. The second layer consists of the functional menus in all operating modes.

Figure 6-1 shows the block diagram of operating the main menu.

Figure 6-1 Block diagram of Mode Selection

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Chapter 6 Display and Operations

6.2 Monitoring Mode

To enter the monitoring mode, choose “dP-” in the first layer and press the Enter key. There

are 21 display modes. A user may select the required display mode using the ↑ and ↓ keys and

then press the Enter key to enter the specific display mode.

Note: The main monitoring information of DA98E may be displayed on the servo monitoring interface of the

system.

Motor speed (rpm)

Lower 5 digits of the current position (pulse)

Upper 5 digits of the current position (x 100,000 pulses)

Lower 5 digits of position command (pulse)

Upper 5 digits of position command (x 100,000 pulses)

Lower 5 digits of position deviation (pulse)

Upper 5 digits of position deviation (x 100,000 pulses)

Motor torque (%)

Motor current (A)

Linear speed (m/min)

Current control mode

Pulse frequency of position command (kHz)

Speed command (rpm)

Torque command (%)

Pulse of rotor’s absolute position in one revolution

State of input terminals/multi-turn data display for V3.00

State of output terminals

Input signal of encoder

Operating state

Alarm code

Data of last change in software

Reserved

Motor speed: 1,000 rpm

Current position: 1,245,806 pulses

Position command: 1,245,810 pulses

Position deviation: 4 pulses

Motor torque: 70%

Motor current 2.3A

Linear speed: 5,000m/min

Control mode 0

Pulse frequency of position command:

2.6kHz

Speed command: -35 rpm

Torque command: - 20%

Absolute position of rotor: 3265

Input terminal

Output terminal

Signal of encoder

Operating state: running

No.9 alarm

Jun 30, 2010

Reserved

Figure 6-2 Block diagram of operations in monitoring mode

Note 1: Both the speed pulse and command pulse are the values amplified by the input electronic gear.

Note 2: The unit of the pulse number is the pulse unit in the system. The number is indicated in 100,000

pulses/revolution (Note: 131,072 pulses/revolution for V3.01). A pulse is indicated by upper 5 digits plus lower

5 digits. It is calculated is as follows:

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DA98E Series AC Servo Drive Unit User Manual

(Sp

Pulse number =Upper 5-digit value x 100000 + Lower 5-digit value

Note 3: Control mode: 0-Position control; 1-Speed control: 2-Speed trial operation, 3-JOG operation;

4-Zeroing of encoder; 5-Open-loop operation

Note 4: If 6 or more digits are indicated (For example, it indicates -12345), then prompt characters are not

indicated.

Note 5: The position command pulse frequency is the actual pulse frequency before amplification of input

electronic gear to the nearest 0.1kHz. It is positive for forward direction and negative for reverse

direction.

Note 6: The motor current I is calculated as follows:

2 3

222

)(

IIII ++=

WVU

Note 7: The rotor’s absolute position in one revolution is its position in one revolution relative to the stator. A

revaluation is regarded one cycle and its range is 0～9999 (The range of single-turn absolute date

indication is 0～131072 for V3.01).

Note 8: V3.01 software provides no input signal display terminal. It is used to display the multi-turn data of the

absolute encoder (-32767～32767)

Note 9: The input terminals are indicated as shown in Figure 6-3 (No input signal display terminal is provided

by V3.01), output terminal in Figure 6-4 and encoder signal in Figure 6- (No encoder signal display

terminal is provided by V3.01).

Note 10: The multi-turn data display DP-rln for the absolute encoder is added in V3.01.

INH（command pulse disabled）

SC2（S

FIL（CCW torque limited）

RIL（CW torque limited）

eed Selection 2）

CLE (deviation counter cleared)

SC1

eed Selection 1)

FSTP (CCW drive disabled) ALRS (Alarm cleared)

SON (servo enabled)

Figure 6-3 Indications of input terminals (The strokes are lit: ON. The strokes go out: OFF.)

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Chapter 6 Display and Operations

COIN (Position completed)

Reserved

Figure 6-4 Indications of output terminals (The strokes are lit: ON. The strokes go out: OFF.)

Phase V of encoder

Phase W of encoder

Phase U of encoder

SCMP (Speed reached) ALM (Servo alarm)

SRDY (Servo ready)

Phase Z of encoder Phase B of encoder

Phase A of encoder

Figure 6-5 Signal indications of encoder (The strokes are lit: ON. The strokes go out: OFF.)

Note 1: The operating state is indicated by:

“rn- oFF”: The main circuit is not electrified and the servo system is not operating.

“rn- CH”: The main circuit is electrified and the servo system is not operating. (The servo is not enabled or an

alarm other than No.33 is given);

“rn- on”: The main circuit is electrified and the servo system is operating.

Note 2: It indicates “err” in case of alarm. “--” means that the system operates normally without alarm.

6.3 Parameter Setting

Attention

z Other parameters cannot be changed unless No.0 parameter is set to the corresponding value.

z To set parameters, first make sure the model number of the motor in No.1 parameter conforms to

that of the motor.

z The parameter setting becomes effective immediately and improper setting may cause incorrect

equipment operation and thereby accidents.

z The parameters of the DA98E series servo Unit may be set through the interface of CNC.

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DA98E Series AC Servo Drive Unit User Manual

1) Parameter Setting on Servo Drive Unit

Select “PA-” in the first layer and press the Enter key to enter the parameter setting mode.

Choose a parameter number using the ↑and ↓keys and press the Enter key to indicate the setting of

the parameter. The parameter setting may be modified using the ↑and ↓keys. The parameter setting

increases or decreases by one each press of the ↑ or ↓key. The parameter setting increases or

decreases continuous when the ↑ or ↓key is pressed and held. Once the parameter setting is

changed, the decimal point on the right LED nixie tube is lit. The change in the setting becomes

effective when the Enter key is pressed. Now the decimal point on the right LED nixie tube goes out

and the changed value is immediately reflected in control. Thereafter it is possible to continue to

modify the parameter setting with the ↑ or ↓key and then return to the parameter selecting state by

pressing the ← key. If you are not satisfied with the setting being changed, press the ← key other

than the Enter key to cancel the setting, restore it to the original value and return to the parameter

setting state.

No.0 parameter

No.1 parameter

No.98 parameter

No.99 parameter

Figure 6-6 Block diagram of parameter setting

2) Setting of Parameters on the System

After start, first check the drive unit parameters saved in CNC system and servo are consistent (The

system gives the relevant alarm in case of inconsistency) and then set the relevant parameter to

download the servo parameters saved in the system to the Drive Unit.

Enter the password for system modification on the system to activate the parameter switch and

thereafter access the system servo parameter management interface to modify the relevant

parameters. Before modifying the parameters, set No.0 password privilege parameter the

corresponding value. Only in this way other parameters can be modified. The system can automatically

save the changed parameters by operating the system interface. The servo parameters will become

active in the next start.

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Chapter 6 Display and Operations

3) Description of Parameter Setting

The rigidity of the motors corresponding to the default parameters in the current servo software

version (V2.05) is relatively low. Make sure to set No.5, 6, 7, 8 and 9 parameters on a machine tool as

required and adjust it to appropriate rigidity so as to achieve the optimal machining effect.

6.4 Parameter Management

Attention

If parameter writing-in operation is not performed for the changed parameters, they are

not saved after power-off and the change is not active.

Parameter management is mainly intended for the operation between the memory and EEPROM.

Select “EE-” in the first layer and enter the Enter key to start parameter management. First select one

of the five operating modes with the ↑and ↓keys. To take “Write-in of Parameters” as an example,

select “EE-Set” and then press and hold the Enter key for more than 3s. “Start” appears on the

display, indicating the parameter is being written in the EEPROM. Wait for about 1-2 seconds. The

display shows “Finish” if the write-in is successful and “Error” if it is failed. It is possible to return to the

operating mode selecting state by pressing the ←key.

z EE-Set: to write parameters: It means that the parameters in the memory are written in the

parameter area of EEPROM. When the parameter is modified, a user can only change its

setting in the memory and it will be restored to the original value in the next power-on. For

permanent modification of the parameter setting, it is required to perform parameter writing-in

operation. The changed setting will be used in the next power-on if the parameters in the

memory are written in the parameter area of the EEPROM.

z EE-rd: to read parameters: It means that the data in the parameter area of EEPROM is read

into the memory. This process is automatically whenever the system is powered on. The

parameter settings in the memory are identical with those in the parameter area of EEPROM.

The user’s modification of a parameter changes its setting in the memory. If the user is not

satisfied with the changed parameter or when the parameter is improperly adjusted, the data

in the parameter area of the EEPROM may be read into the memory again to restore the

parameters prior to power-on by performing the parameter reading operation.

z EE-bA: to back up parameters: It means that the parameters in the memory are written in the

backup area of EEPROM. The complete EEPROM is divided into parameter area and backup

area for storage of two sets of parameters. The parameter area of EEPROM is used in

system power-on, parameter writing and parameter reading operations. The backup area of

EEPROM is used for parameter backup and recovery backup. If a user is satisfied with one

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DA98E Series AC Servo Drive Unit User Manual

parameter group but wants to continue the modification during parameter configuration, it is

possible to first perform a parameter backup operation and save the parameters in the

memory in the backup area of EEPROM and then change the parameters. In case of poor

effect, read the parameters saved in the backup area of EEPROM by recover backup and

then modify or end up the configuration. In addition, when a user has properly set the

parameters, he may keep the data in the parameter of EEPROM identical with that in the

backup area by means of parameter writing and backup in order to prevent the parameters

from accidental modification. It is also possible to read the data in the backup area of

EEPROM by recovery backup and to write the memory parameters in the parameter area of

EEPROM by parameter writing.

z EE-rS: to recover backup: It means that the data in the backup area of the EEPROM is saved

in memory. Note that parameters are not written in this operation and the data in the

parameter area of EEPROM will be read in the memory in the next power-on. If a user wants

to use the parameters in the backup area of EEPROM permanently, the parameter writing

operation must be performed again.

z EE-dEF: to recover default settings: It means that all the defaults (factory settings) of all the

parameters are read to the memory and written in the parameter area of EEPROM. The

parameter defaults will be used in the next power-on. In case of failure to operate normally as

a result of improper parameter setting, all the parameters may be reset to factory defaults by

this operation. The accuracy of the model number (No.1 parameter) of the drive unit must be

ensured while using the default recovery parameter as the parameter defaults vary with drive

unit types.

Figure 6-7 Block diagram of parameter management

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Chapter 6 Display and Operations

Figure 6-8 Operations for Parameter management

Attention

z It is recommended to perform speed trial operation and JOG operation when the motor is

unloaded in order to prevent the equipment from accident.

z The drive unit SON (servo enabled) shall be active and the CCW and CW drives enabling

inactive during trial operation.

6.5 Speed Trial operation

First set No.4 parameter “Operation control mode” to “2 – Trial operating mode”, then select “Sr-”

in the first layer and press the Enter key to start the trial operating mode. The prompt for speed trial

operation is “S” and figures are expressed in rpm. When the system is speed control mode, the speed

command is given by keys. Speed commands may be changed using ↑ and ↓ keys so that the motor

operates at given speed. Speed is increased in forward direction when ↑ is pressed and decreased in

reverse direction (increased in reverse direction) when ↓ is pressed. The motor rotates forward when

the indicated speed is positive and reversely when it is negative.

↑

S 800

↓

Figure 6-9 Block diagram of speed trial operation

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DA98E Series AC Servo Drive Unit User Manual

6.6 JOG operation

First set No.4 parameter “Operation control mode” to “3 – JOG operating mode”, then select “Jr-”

in the first layer and press the Enter key to start the JOG operation, i.e. JOG mode. The prompt for

speed trial operation is “J” and figures are expressed in rpm. When the system is speed control mode,

the speed command is given by keys. After JOG operation is started, the motor operates at JOG

speed when the ↑ key is pressed and held and stops and keeps zero speed when it is released. The

motor operates reversely at JOG speed when the ↓ key is depressed and stops and keeps zero

speed when it is released. JOG speed is set through No.21 parameter.

Speed commands may be changed using ↑ and ↓ keys so that the motor operates at given

speed. Speed is increased in forward direction when ↑ is pressed and decreased in reverse direction

(increased in reverse direction) when ↓ is pressed. The motor rotates forward when the indicated

speed is positive and reversely when it is negative.

↑

J 120

↓

Figure 6-10 Block diagram of JOG operation

6.7 Other

The zeroing function of the encoder is used by manufacturer. It shall not be used by user.

The open-loop operating mode is used by manufacturer. It shall not be used by user.

Page 76

Chapter 7 Power-on and Operation

Attention

z The drive unit and motor must be securely grounded and the PE terminal properly connected

to the earth terminal of the equipment (≤0.1Ω)

z It is recommended to supply power to the drive unit through an insulating transformer and

power filter in order to ensure safety and anti-jamming capacity.

z Do not switch on the power supply until you make sure the wiring is correct.

z Make sure to connect the equipment to an emergency stop circuit so that the power supply

can be immediately disconnected in the event of fault. (See Fig.7.1)

z After the drive unit gives a fault alarm, make sure the fault is eliminated and SON signal is

inactive before restart.

z Do not touch the drive unit and the motor within five minutes after power-off to avoid electric

shock by residual voltage.

z The drive unit and motor are subject high temperature rise after operating for some time. Be

careful to prevent burn.

7.1 Connection to Power Supply

See Figure 7-1 for connection to power supply and switch on the equipment in the following

sequence:

1) Connect the power supply to the input power terminals of the main circuit (to R, S and T for

3-phase and to R and S for single-phase) through an electromagnetic contactor.

2) The power supplies r and t to the control circuit and the power supply to the main circuit are

switched on simultaneously or the former before the latter. The Servo Ready (SRDY) is OFF

if only the power supplies to the control circuit are switched on.

3) The Servo Ready (SRDY) is ON after delay for about 1.5s when the power supply to the

main circuit is switched on. Now it is possible to receive Servo Enabled (SON) signal. The

motor is excited and is in operating state when active Servo Enabled signal and servo drive

output are detected. The base circuit opens and the motor is free state when inactive Servo

Enabled signal and alarm are detected

4) When Servo Enabled and power supply are switched on concurrently, the base circuit is

closed after about 1.5s.

5) Frequently switching on/off the power supply may cause damage to the soft starting circuit

and dynamic braking circuit. It is advisable to limit the switching on/off frequency to 5

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DA98E Series AC Servo Drive Unit User Manual

times/hour and 30 times/day. In case of fault as a result of overheating of the drive unit or

motor, do not restart them until cooling for 30min after the removal of the fault.

Emergency stop

3-phase or

sin

le-

hase

Noise filter

Servo driver

Time sequence of power-on and alarm:

Power supply of control circuit

Servo alarm output

Power supply of main circuit

Servo ready output

Servo enabling input Servo ready

Excitation of servo motor

Response in 10ms

Figure 7-2 Diagram of power-on time sequence

Figure 7-1 Power supply wiring diagram

Page 78

Power supply of control circuit

Servo alarm output（ALM）

Power supply of main circuit

Servo ready output（SRDY） Alarm cleared（ALRS）

Servo enabling input（SON）

Excitation of servo motor

Figure 7-3 Diagram of alarm time sequence

Chapter 7 Power-on and Operation

Response in 10ms

Securely open it after alarm.

7.2 Trial Operation

1) Examinations before operation:

Following installation and wiring, always check the following items before powering on the drive

unit and motor:

z Are the TB power supply terminals connected properly and securely and is the input voltage

correct?

z Are the power cables and motor wires shorted or grounded?

z Is the encoder cable connected correctly?

z Are the control terminals connected accurately? Are the polarity and ratings of the power

supply correct?

z Are the drive unit and motor fixed securely?

z Is the motor shaft connected to a load?

2) Power-on and Trial operation

A: Trial operating mode

（1） Connect network cables BUS1 and BUS2 so that the input control signal Servo Enabled

(SON) is OFF.

（2） Turn on the control circuit (the main circuit is not switched on for the time being). The

display of the drive unit is on. If an alarm is given, check the wiring.

（3） Set the “Selection of control mode” (No.4 Parameter) to speed trial operating mode (“2”).

（4） Turn on the main circuit.

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DA98E Series AC Servo Drive Unit User Manual

（5） Make sure there is no alarm and any other abnormality, connect BUS1 and BUS2 to the

system and reset Servo Enabled (SON) to ON. Now the motor is excited and operates at

zero speed.

（6） Enter the speed trial operation operating mode through key operations. The prompt for

speed Trial operation is “S” and figures are expressed in rpm. When the system is speed

control mode, the speed command is given by keys. Speed commands may be changed

using ↑ and ↓ keys so that the motor operates at given speed.

B: JOG (Inching) Operation

（1） Connect network cables BUS1 and BUS2 so that the input control signal Servo Enabled

(SON) is OFF.

（2） Turn on the control circuit (the main circuit is not switched on for the time being). The

display of the drive unit is on. If an alarm is given, check the wiring.

（3） Set the “Selection of control mode” (No.4 Parameter) to JOG operating mode (“3”).

（4） Turn on the main circuit.

（5） Make sure there is no alarm and any other abnormality, connect BUS1 and BUS2 to the

system and reset Servo Enabled (SON) to ON. Now the motor is excited and operates at

zero speed.

（6） Start JOG operation through key operations. The prompt for speed Trial operation is “J”

and figures are expressed in rpm.. When the system is speed control mode, the speed

and direction are dependent on No.21 parameter. The motor operates at the speed in the

direction as specified in No.21 parameter when ↑ is pressed and runs reversely at the

given speed when the ↓ key is pressed.

C: Position Operating Mode

（1） Connect BUS1 and BUS2 so that the input control signal Servo Enabled (SON) is OFF.

（2） Turn on the control circuit (the main circuit is not switched on for the time being). The

display of the drive unit is on. If an alarm is given, check the wiring in order to ensure that

Ethernet can be initialized successfully.

（3） Set the “Selection of control mode” (No.4 Parameter) to position operating mode (“0”).

Set No.14 parameter depending on the controller output signal mode and set an

appropriate electronic gear ratio (No.12 and No.13).

（4） Turn on the main circuit.

（5） Make sure there is no alarm, set Servo Enabled (SON) to ON. Now the motor is excited

and operates at zero speed.

（6） Send Ethernet position controller output signal to the drive so that the motor runs by

following the commands.

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Chapter 7 Power-on and Operation

D: Speed Operating Mode

（1） Connect BUS1 and BUS2 so that the input control signals Servo Enabled (SON), Speed

Selection 1 (SC1) and Speed Selection 2 are OFF.

（2） Turn on the control circuit (the main circuit is not switched on for the time being). The

display of the drive unit is on. If an alarm is given, check the wiring in order to ensure that

Ethernet can be initialized successfully.

（3） Set the “Selection of control mode” (No.4 Parameter) to position operating mode (“1”). Set

No.24 through 27 parameters as required.

（4） Turn on the main circuit.

（5） Make sure there is no alarm, set Servo Enabled (SON) to ON. Now the motor is excited

and operates in Internal Speed 1 mode.

（6） Change the states of the input signals SC1 and SC2 so that the motor runs by following

the commands.

7.3 Adjustments

Attention

z Make sure the parameters are set correctly as incorrect parameter configuration may

cause equipment fault and accidents.

z It is advised to make no-load adjustments before the equipment is loaded.

1) Basic Gain Adjustment

z Speed Control

（1）[Proportional gain of speed] (No.5 parameter) shall be set as big as possible provided that

no vibration occurs. Generally the setting of [Proportional gain of speed] shall increase

with load inertia.

（2）[Integral time constant of speed] (No.6 parameter) shall be set as small as possible

depending on the given conditions. If the setting of [Integral time constant of speed] is too

small, the response speed will be increased but it tends to cause vibration. Therefore it

shall be set as small as possible provided that no vibration occurs. If the setting of

[Integral time constant of speed] is too big, the speed will change abruptly when the load

changes. Generally the setting of [Integral time constant of speed] shall increase with load

inertia.

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DA98E Series AC Servo Drive Unit User Manual

z Position Control

（1） First appropriately set [Proportional gain of speed] and [Integral time constant of speed].

（2） [Proportional gain of position] (No.9 parameter) shall be set as big as possible provided

that the equipment operates stably. For high setting of [Proportional gain of position], the

tracing characteristics of position commands are good with little lagging error but it tends

to cause vibration at the point of positioning stop.

（3） [Feedforward gain of position]

PA10 adjusts the speed ring using the speed information of position commands. The

following error is reduced with the increase of the setting. However, the motor is liable to produce

overshooting and vibration in the event of excessive setting. PA11 substantially intends to

smooth the feedforward control of position commands. The bigger the setting is, the faster the

response to the step speed command will be and the better the position overshoot and vibration

are suppressed. The smaller the setting is, the less clear the effect of feedforward and the bigger

the vibration caused by feedforward control will be in case of sudden change in speed.

As a general rule, it is possible not to use PA10 (Feedforward gain of position) and PA11

(Cut-off frequency of positional feedforward low-pass filter).

Note 1: When the setting of [Proportional gain of position] is small, the system is in stable state but the

position tracing characteristics become poor with more lagging error. To use relatively high

[Proportional gain of position], it is possible to increase the setting of [Acceleration/deceleration time

constant] (No.40 and 21 parameters) to avoid overshoot.

Note 2: While increasing the setting of [Feedforward gain of position], it is possible to increase the setting of

[Acceleration/deceleration time constant] to avoid overshoot when the system becomes instable.

Note 3: Refer to the following table for the configuration of [Proportional gain of position].

Rigidity [Proportional gain of position]

Low rigidity 10/s～20/s

Middle rigidity 30/s～50/s

High rigidity 50/s～70/s

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Chapter 7 Power-on and Operation

tSΔ

2) Diagram of Basic Parameter Adjustments

Figure 7-4 Diagram of basic parameter adjustment

3) Setting of Position Resolution and Electronic Gear

The position resolution (a pulse stroke △l) depends on the stroke △S of the servo motor in each

revolution and the feedback pulse Pt of encoder in each revolution. It may be expressed with the

following formulae:

△l=

Where,

△l: a pulse stroke (mm);

△S: stroke △S of the servo motor in each revolution (mm/revolution);

: Number of feedback pulses of encoder in each revolution (pulses/revolution)

As the system is provided with a quadruple-frequency circuit, P

number of lines of the encoder in each revolution). P

is equal to 10,000 pulses/revolution since C is

2,500 lines/revolution in the system.

A command pulse can be converted to a position control pulse only when it is multiplied by the

electronic gear ratio G. Therefore a command pulse stroke l△ ﹡is expressed as

△l*=

×G

is equal to 4×C (C is the

Where,

divisionfrequency pulse command ofr Denominato

divisionfrequency pulse command ofNumerator

4) Adjustment of Start/stop Characteristics

The start/stop characteristic of a servo system refers to its acceleration/deceleration time, which

is determined by load inertia and start/stop frequency and limited by the performance of the servo

drive unit and servomotor. Frequent start/stop, excessively short acceleration/deceleration time and

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DA98E Series AC Servo Drive Unit User Manual

big load inertia may cause the overheating of the drive unit and the motor as well as the overvoltage

alarm of the main circuit. So the characteristic must be adjusted as required.

（1） Load Inertia and Start/stop Frequency

For use in a location with high start/stop frequency, first determine whether it is in the permissible

range of frequency that varies with the type, capacity and rotating speed of motor as well as load

inertia. When the load inertia is m times the motor inertia, the permissible start/stop frequency and

recommended acceleration/deceleration time (No.40 and 41 parameters) of the servo motor are as

follows:

Multiple of load inertia Permissible start/stop frequency

m≤3 ＞100 times/min: acceleration/deceleration time 60ms or less

m≤5 60～100 times/min: acceleration/deceleration time 150ms or less

m＞5 ＜60 times/min: acceleration/deceleration time over 150ms

（2） Factors Influencing the Servomotor

The start/stop frequency and acceleration/deceleration time permitted by different types of

motors vary with load condition, operating time, loading constant rate, ambient temperature and other

factors. Make adjustments as required by following the instruction manual for the motor in order to

avoid alarm or influence on service life due to overheating.

（3） Adjusting Procedure

As a rule, load inertia shall fall within five times the inertia of the motor rotor. The usage under big

load inertia is subject to frequent overvoltage of the main circuit or braking malfunction during

deceleration. In this it is possible to solve the problem using the following method:

z Increase the acceleration/deceleration time (No.40 and 41 parameters): First set a high

value and then gradually reduce it to an appropriate value.

z Reduce the internal torque limit (No.34 and 35 parameters) and current limit.

z Reduce the maximum rotating speed of the motor (No.23 parameter).

z Install an additional Regenerative braking device.

z Replace the motor with a new one with higher power and inertia.

Page 84

Chapter 8 Product of Specification

Chapter 8 Product Specification

Attention

z The servo drive unit must be ordered with a servomotor. This manual applies to GSK SJT

series.

z To use a servomotor made by another manufacturer, always specify in ordering.

8.1 Specification of Drive Unit

Table 8-1 Specification of Servo Drive Unit

Output power (kW) 0.4～0.8 1.0～1.5 1.7～2.6

Rated torque of motor (N.m) 2～4 4～10 6～15

Single/3-phase, AC,

Input power supply

Temperature Operation: 0℃～40℃; Storage: -20℃～70℃

Operating

Humidity < 90%RH (noncondensing)

environment

Vibration < 0.5G（4.9m/s2）,10Hz～60Hz (discontinuous operation)

Controlled object

Communication interface

Control modes

Regenerative braking Built-in

(0.85～1.1)×220V

50Hz/60Hz

Single-axis

servo motor

Ethernet bus

communication

① Position control ② Speed control ③ Speed trial operation ④ Speed JOG

operation ⑤ Encoder zeroing

3-phase, AC,

(0.85～1.1)×220V

50Hz/60Hz

DA98EA: Non-bus-oriented incremental encoder servo motor

DA98EB: bus-oriented incremental encoder servo motor

DA98EC: bus-oriented absolute encoder servo motor

Minimum communication cycle: 50µs

Length of communication data: 0～256(Bit)

Bit error rate: 10-12

Speed frequency response: 200Hz or higher

Speed fluctuation ratio ＜±0.03 (load 0-100%);

Control characteristics

＜±0.02 [(0.85～1.1)×Supply voltage] (a value relative to the rated speed)

speed ratio: 1:5000

Pulse frequency: ≤500kHz

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DA98E Series AC Servo Drive Unit User Manual

Servo Enabled ② Alarm cleared ③ Forward Disabled ④ Reverse Disabled

⑤CW Torque Limit

Control input

Control output

Position control

Speed control 4 internal speeds

⑥ Deviation Counter Zeroed/Speed Selection 1 ⑦ Command Pulse

Disabled/Speed Selection 2

⑧ CCW Torque Limit ○9 Zero Enabled ○10 Zeroing Direction

①Servo is ready for output.

Servo alarm output symbol;

Positioning Completed output/Speed Arrived output;

Z-signal output;

Contracting brake output;

Alarm number output

Input means Periodic data input by bus

Electronic

gear ratio

Rotating speed, current position, command pulse accumulation, position

deviation, motor torque, motor current, linear speed, absolute position of rotor,

Numerator of gear ratio: 1－32767

Denominator of gear ratio: 1－32767

Monitoring functions

Protective functions Overspeed, overvoltage and undervoltage of main power supply, overcurrent,

Display and operations 6-digit LED nixie tube and 4 keys: Data may be displayed on the drive unit or

Parameter management

Applicable load inertia < 5 x motor inertia

Mass 2.67kg 3.48kg

Dimensions 244 mm×163 mm×92mm (see the

command pulse frequency, operating state, input/output terminal signal, etc. The

speed and current of the motor may be monitored on the CNC side and drive

side.

overload, braking failure, encoder malfunction, abnormality of control power,

position out-of-tolerance, bus communication fault, etc

CNC separately.

The parameters may be set, saved, backed up and recovered through the drive

unit or CNC.

244 mm×163 mm×112mm

external view)

8.2 Specification of Servomotor

1) Product Overview

GSK SJT series of 3-phase AC permanent magnet synchronous servo motor has the following

Page 86

technical advantages:

z Made of new rare earth materials, high output power;

z Superior low-speed characteristics of motor, speed ratio >1:10000。

z High dielectric strength, insulating resistance and operating safety

z High overloading capacity, transient torque up to 8 times the rated torque

2) Description of Terminals

Chapter 8 Product of Specification

（1）

ST Motor Winding

The schematic diagram of the motor winding is as shown below: A, B and C are the outlet

terminals of the winding. Outlet means: 4-pin socket.

Table 8-2 Wiring of motor

Socket 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15

Leads of

encoder

GND terminal of

enclosure

GND

VCC

Pin 1 2 3 4

Mark

A B C

ing

(enclosure)

Outlet means of the photoelectric encoder: 19-pin socket

Table 8-3 Wring of encoder

（2）Winding for

SJT Series of Motors

The schematic diagram of the motor winding is as shown below: U, V and W are the outlet

terminals of the winding. Outlet means: 4-pin socket.

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DA98E Series AC Servo Drive Unit User Manual

Table 8-4 Wiring of Motor

Socket

No.

Outlet means of the photoelectric encoder: 15-pin socket

Table 8-5 Wiring of incremental encoder

Pin 2 3 4 7 5 8 6 9 10 13 11 14 12 15

Marking

GND is the earth wire of encoder power supply Vcc. Pin 1 is grounded (enclosure)

GND

Table 8-6 Wiring of absolute encoder

Motor

winding

Remarks Pin 1 is grounded (enclosure)

2 3 4

U V W

Marki 2 3 4 7 5 8 6 9 10 13 11 14 12 15

Rem

arks

GND A

GND is the earth wire of encoder power supply Vcc. Pin 1 is grounded (enclosure)

Page 88

(3) Specification

Chapter 8 Product of Specification

Table 8-7 Specification of SJT Series Motors

Model number

110SJT-M020E 0.6 4 2 3000 3.0 3.4×10-4 52 220(300)

110SJT-M040D 1.0 4 4 2500 4.5 6.8×10-4 45 220(300)

110SJT-M060D 1.5 4 6 2500 7.0 9.5×10-4 42 220(300)

130SJT-M040D 1.0 4 4 2500 4.0 1.19×10-3 80 220(300)

130SJT-M050D 1.3 4 5 2500 5.0 1.19×10-3 64 220(300)

130SJT-M060D 1.5 4 6 2500 6.0 1.95×10-3 82 220(300)

130SJT-M075D 1.88 4 7.5 2500 7.5 1.95×10-3 66 220(300)

130SJT-M100B 1.5 4 10 1500 6.0 2.42×10-3 38 220(300)

130SJT-M100D 2.5 4 10 2500 10.0 2.42×10-3 63 220(300)

130SJT-M150B 2.3 4 15 1500 8.5 3.1×10-3 33 220(300)

130SJT-M150D 3.9 4 15 2500 14.5 3.6×10-3 63 220(300)

Note: Specify the specification while ordering a motor with dead electromagnet brake.

Power

(kw)

Pole

pairs

Rated

torque

(N.m)

Rated

speed

(rpm)

Rated

current (A)

Rotor inertia

(kgm2)

Acceleration

time constant

(ms)

Operating

voltage

(V,DC)

Table 8-8 Specification of ST series of motors

Model number Power

(kw)

110ST-M02030 0.6 2 3000 4.0 0.33×10-3 3.64 220(300) 4.2

110ST-M04030H 1.2 4 3000 7.5(5.0) 0.65×10-3 2.32 220(300) 5.2

110ST-M05030 1.5 5 3000 9.5(6.0) 0.82×10-3 2.03 220(300) 5.8

110ST-M06020 1.2 6 2000 8.0(6.0) 1.00×10-3 1.82 220(300) 6.4

110ST-M06030 1.8 6 3000 11.0(8.0) 1.00×10-3 1.82 220(300) 6.4

130ST-M04025 1.0 4 2500 6.5(4.0) 0.85×10-3 3.75 220(300) 7.4

130ST-M05025 1.3 5 2500 6.5(5.0) 1.06×10-3 3.07 220(300) 7.9

130ST-M06025 1.5 6 2500 8.0(6.0) 1.26×10-3 2.83 220(300) 8.6

130ST-M07720 1.6 7.7 2000 9.0(6.0) 1.58×10-3 2.44 220(300) 9.5

130ST-M10015 1.5 10 1500 9.0(6.0) 2.14×10-3 2.11 220(300) 11.1

130ST-M10025 2.6 10 2500 14.5(10.0) 2.14×10-3 2.11 220(300) 11.1

zero speed

Torque

(Nm)

Rated

torque

(rpm)

Rated

current

(A)

Rotor

inertia

(kgm2)

Mechanical

time constant

(ms)

Operatin

g voltage

(V,DC)

Mass

(kg)

130ST-M15015 2.3 15 1500 13.5(9.5) 3.24×10-3 1.88 220(300) 14.3

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DA98E Series AC Servo Drive Unit User Manual

Note 1: The figures in the brackets in the “Rated current” column are the rated current at high voltage.

Note 2: Specify the specification while ordering a motor with dead electromagnet brake.

3) External Dimensions

(1) External view and installation dimensions of 80SJT series of motors

Industrial (aviation) socket type:

Cable plug-in type:

Fig. 8-1 External view and installation dimensions of SJT series of AC servomotors with 8# base

Page 90

Chapter 8 Product of Specification

Table 8-9

Model number

80SJT—M024C (A□)

80SJT—M024E(A□)

80SJT—M032C(A□)

80SJT—M032E(A□)

D(mm) N(mm) LB(mm) L(mm)

φ19

φ70

-0.013

φ70

-0.013

φ70

-0.013

φ70

-0.013

171 206

-0.03

171 206

-0.03

189 224

-0.03

189 224

-0.03

(2) External view and installation dimensions of SJT series of AC servomotors with 110# base

Fig. 8-2 External view and installation dimensions of SJT series of AC servomotors with 110# base

Table 8-10

Model No. D(mm) N(mm) LB(mm) L(mm)

110SJT—M040D(A□)

110SJT—M040E(A□)

110SJT—M060D(A□) φ19

110SJT—M060E(A□) φ19

Note: The LB and L figures in the brackets are the lengths of the motors with dead electromagnet brake

of the corresponding specification.

φ19

φ95

-0.013

φ95

-0.013

φ95

-0.013

φ95

-0.013

186 (237) 241 (292)

-0.035

186 (237) 241 (292)

-0.035

212 (263) 267 (318)

-0.035

212 (263) 267 (318)

-0.035

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DA98E Series AC Servo Drive Unit User Manual

(3) External view and installation dimensions of SJT series of AC servomotors with 130# base

Fig. 8-3 External view and installation dimensions of SJT series of AC servomotors with 130# base

Table 8-11

Model number D(mm) N(mm) LB(mm) L(mm)

130SJT—M040D(A□) φ22

130SJT—M050D(A□) φ22

130SJT—M060D(A□) φ22

130SJT—M075D(A□) φ22

130SJT—M100B(A□) φ22

130SJT—M100D(A□) φ22

130SJT—M150B(A□) φ22

130SJT—M150D(A□) φ22

-0.013

φ110

-0.013

φ110

-0.013

φ110

-0.013

φ110

-0.013

φ110

-0.013

φ110

-0.013

φ110

-0.013

φ110

-0.035

168 (227) 225 (284)

-0.035

176 (235)

-0.035

188 (247) 245 (304)

-0.035

208 (267)

-0.035

208 (267) 265 (324)

-0.035

238 (297)

-0.035

248 (307) 305 (364)

-0.035

168 (227)

225 (284)

233 (292)

265 (324)

295 (354)

Note: The LB and L figures in the brackets are the lengths of the motors with dead electromagnet

brake of the corresponding specification.

Page 92

Chapter 8 Product of Specification

(4) External view and installation dimensions of 175SJT series of motors

Figure 8-4 External view and installation dimensions of SJT series of AC servomotors with 175# base

Table 8-12

Model Number D(mm) N(mm) LB(mm) L(mm)

175SJT—M150D(A□)

175SJT—M180B(A□)

175SJT—M180D(A□)

175SJT—M220B(A□)

175SJT—M220D(A□)

175SJT—M300B(A□) φ35

175SJT—M300D(A□) φ35

175SJT—M380B(A□) φ35

φ35

+0.01

φ114.3

+0.01

φ114.3

+0.01

φ114.3

+0.01

φ114.3

+0.01

φ114.3

+0.01

φ114.3

+0.01

φ114.3

+0.01

φ114.3

Note: The LB and L figures in the brackets are the lengths of the motors with dead electromagnet brake of the

corresponding specification.

224 (291) 303 (370)

-0.025

244 (311) 323 (390)

-0.025

244 (311) 323 (390)

-0.025

279 (346) 358 (425)

-0.025

279 (346) 358 (425)

-0.025

309 (382) 388 (461)

-0.025

309 (382) 388 (461)

-0.025

359 (432) 438 (561)

-0.025

Page 93

DA98E Series AC Servo Drive Unit User Manual

(5) External view and installation dimensions of ST series of AC servomotors with 110# base

Figure 8-5 External view of ST series of AC servomotors with 110# base

Torque at zero speed (Nm) 2 4 5 6

A(mm) 106 132 148 164

B(mm) 158(205) 184(231) 200(247) 216(263)

C(mm) 76 102 118 134

Note: The B figures in the brackets are the lengths of the motors with dead electromagnet brake.

(6) External view of ST series of AC servomotors with 130# base

Figure 8-6 External view of ST series of AC servomotors with 130# base

zero speed Torque (N.m) 4 5 6 7.7 10 15

A(mm) 110 119 128 142 166 214

B(mm) 162(209) 171(218) 180(227) 194(241) 218(265) 266(313)

C(mm） 80 89 98 112 136 184

Note: The B figure in the brackets are the lengths of the motors with dead electromagnet brake.

Page 94

Chapter 8 Product of Specification

8.3 Isolation Transformer

Supply of power to the servo unit through an isolation transformer may minimize the potential

interference with the servo unit by power sources and electromagnetic field. The selection of an

isolation transformer depends on the rated capacity, load rate and loading constant rate of the drive

unit.

A 3① -phase isolation transformer shall be used for supplying of power when the power of the

servo is greater than or equal to 1kW.

For single axis, the capacity of the isolation transformer shall not be less than 80% of the power of

the servo motor. A user may select a transformer with capacity between 70% and 100% of the power

of the servo motor.

For two or more axes, the capacity of the isolation transformer shall not be less than 70% of ②

the total power of the servo motor. A user may select a transformer with capacity between 60% and

80% of the power of the servo motor.

Table 8-13 Specification of Isolation Transformer

Model No Capacity (kVA) Phases Input voltage (V) Output voltage (V)

BS--120 1.2

BS--200 2.0

BS--300 3.0

BD--80 0.8

BD--120 1.2

The diagrams shows the dimensions in mm of the isolation transformer.

3 phases

380 220

Single

phase

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DA98E Series AC Servo Drive Unit User Manual

Figure 8-7 External view and installation dimensions of BS-120

Page 96

Chapter 8 Product of Specification

Figure 8-8 External view and installation dimensions of BS-200

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DA98E Series AC Servo Drive Unit User Manual

Figure 8-9 External view and installation dimensions of BS-300

Page 98

Chapter 8 Product of Specification

Figure 8-10 External view and installation dimensions of BD-80

Page 99

DA98E Series AC Servo Drive Unit User Manual

Figure 8-11 External view and installation dimensions of BD-120

Page 100

Chapter 9 Ordering Guide

9.1 Capacity Selection

To determine the capacity of a servo device, give comprehensive consideration of its load inertia,

load torque, required positioning accuracy and required maximum speed in the following steps:

1） Calculate its load inertia and torque

Calculate its load inertia, load torque, acceleration/deceleration torque, load torque and active

torque as the basis for further selection by consulting the related data.

2） Preliminarily determine the mechanical gear ratio

Calculate the maximum mechanical gear reduction ratio using the required maximum speed and

maximum rotating speed of the motor and check that reduction ratio and the minimum unit of

revolution can satisfy the requirements of minimum unit of position. For high requirement for position

accuracy, increase the mechanical reduction ratio (the actual maximum speed is reduced) or use a

motor with higher rotating speed.

3） Check the inertia and torque

Convert the load inertia and load torque to the motor axis with the mechanical reduction ratio.

The converted inertia and active torque shall not exceed five times the inertia of the motor inertia and

the rated torque of the motor respectively. If the above requirements cannot be fulfilled, increase the

mechanical reduction ratio (the actual maximum speed is reduced) or use a motor with higher rotating

speed.

9.2 Electronic Gear Ratio

Refer to Chapter 4 (Table 4-2 Functions of Parameters), Chapter 6 (6.3 Parameter Setting) and

Chapter 7 (7.3 Adjustment) for the meaning and adjusting methods of the electronic gear ratio G.

The actual speed of the load in position control mode is:

Command pulse speed ×G× Mechanical reduction ratio

The actual minimum displacement of the load in the position control mode is:

Minimum command pulse stroke x G x Mechanical reduction ratio

Note: when the electronic gear ratio G is not 1, there may be a remainder in the division operation of the gear

ratio. Now there is a position deviation and the maximum deviation is the minimum movement

(minimum resolution).