gsk GSK DAH01, DAH2075E User Manual

This user manual describes all items concerning the operation of this CNC system in detail. However, it is impossible to give particular descriptions for all unnecessary or unallowable operations due to length limitation and product application conditions；Therefore, the items not presented herein should be considered impractical

or unallowable.

Copyright is reserved to GSK CNC Equipment Co., Ltd. It is illegal for any organization or individual to publish or reprint this manual. GSK CNC Equipment Co., Ltd. reserves the right to ascertain their legal liability.

User Manual for DAH01 and DAH2075E AC Servo Drive Unit

Dear users,

We are honored by your purchase of all-digital AC servo drive units with high speed

and high precision of DAH series of GSK CNC Equipment Co., Ltd.

This manual comprehensively introduces the installation, connection, debugging, operation and maintenance of the all-digital AC servo drive unit of DAH Series (including DAH01 and DAH2075E) for your easy understanding as well as flexible and efficient application. It provides related knowledge and safety items for the application of the drive unit. Please read the safety notes carefully before using the product.

In order to give full play to the function of the all-digital AC servo drive unit with high precision and high speed of DAH series and ensure your safety, please read the manual carefully before using the product and operate the drive unit correctly in strict accordance with the safety notes and operation methods in the manual.

z Improvement, specification and version for the product are subject to change without

Preface

notice.

If the user modifies the product, our company doest not assume any responsibility,

meanwhile, the warranty certificate is no longer available.

This user manual shall be kept by end user.

Sincere appreciation—— Thank you for your kind support when you are using the products of Guangzhou CNC Equipment Co., Ltd.

Preface

To avoid operator and other personal injury and machine damage, please pay

special attention to the following warning labels while reading the manual.

 The signs below indicate the danger levels during operation. The content of

them is extremely important and must be observed.

Warning

Danger

Incorrect operation will cause damage or death.

Incorrect operation will cause medium or slight injury, even

property loss.

Caution

Note

 The following signs indicate what must be done and what must not be done.

If this label is not noticed, unexpected results and situation will occur.

Remind user of important requirements and instructions during the operation.

It indicates prohibition (must not be done)

It indicates enforcement (must be done)

III

DAH01, DAH2075E AC Servo Drive Unit User Manual

Danger

Please tighten each terminal of the main circuit with appropriate force.

If the user does not obey the

! !

instruction, it will cause connection loosing, wire spark and even a fire.

Please make sure the power is off before wiring.

If the user does not obey the

! !

instruction, it will cause electric shock.

Wiring and overhaul must be done by electric engineering professionals.

If the user does not obey the

! !

instruction, it will cause electric shock or a fire.

Please mount the drive unit on nonflammable subject, and keep it far away from inflammable materials.

If the user does not obey the instruction, it will cause a fire.

Install a breaker, interference filter and AC reactor.

If the user does not obey the instruction, it will cause lightning, fault or damage.

Operations of moving, wiring, checking and maintenance can be done 5 minutes after power off.

If the user does not obey the instruction, it will cause electric shock.

The ground terminal PE of the servo unit must be earthed.

If the user does not obey the

! !

instruction, it will cause electric shock.

Install an emergency switch.

If the user does Not obey the instruction, it will cause Injury, fault and equipment damage. .

Preface

Danger

Ensure the wiring is correct.

If the user does not obey the

! !

instruction, it will cause equipment damage and electric shock.

Please do not open the cover of the terminal board in the state of Power On or running.

If the user does not obey the instruction, it will cause electric shock.

Please do not touch the switch with wet hand.

Please tight the power terminal and motor output terminal.

If the user does not obey the instruction, it will cause a fire.

Please do not directly touch the

connection terminal of the main

circuit of the drive unit.

the user does not obey

If the instruction, it will cause electric shock.

Please do n ot put hands into the servo unit.

If the user does not obey the instruction, it w ill cause

electric shock.

If the user does not obey the instruction, it w ill cause

electric shock.

DAH01, DAH2075E AC Servo Drive Unit User Manual

Caution

The wiring between the drive unit and motor should be performed strictly in term of the wiring diagram.

If the user does not obey the

! !

Load operation can be done after successful no-load trial operation.

! !

instruction, it will cause equipment damage.

If the user does not obey the instruction, it will cause equipment damage.

Please connect the brake resistance

according to the wiring diagram.

The voltage level loaded on each terminal must use the one specified in the user

manual.

If the user does not obey the instruction, it will cause equipment damage.

Eliminate the fault before operation when an alarm occurs.

If the user does not obey the instruction, it will cause equipment damage.

Match the motor with a proper servo

unit.

If the user does not obey the

! !

Please do not change, dismantle or repair

the drive unit.

instruction, it will cause equipment damage.

If the user does not obey the instruction, it will cause equipment damage.

Do not hold the cable and motor shaft during motor transportation.

If the user does not obey the instruction, it will cause equipment damage.

Preface

Please do not touch the motor and radiator of the servo unit which may be in high

temperature during operation.

If the user does not obey the instruction, you will be burnt.

Do not connect power input wires R, S, T to

motor output terminals U, V, W.

If the user does not obey the instruction, it will cause equipment damage.

Caution

The parameters cannot be altered and changed extremely.

If the user does not obey the instruction, it will cause equipment damage.

If the elements of the spindle drive unit are incomplete or damaged, do not operate the drive unit. Please contact the seller

immediately.

If the user does not obey the instruction, it will cause equipment damage.

The internal electronic devices of an abandoned drive unit are not reusable and taken as industrial waste.

If the user does not obey the instruction, it will cause accident.

Please do not turn on/off the power

frequently.

If the user does not obey the instruction, it will cause equipment damage.

VII

DAH01, DAH2075E AC Servo Drive Unit User Manual

Safety Responsibility

Manufacturer Responsibility

——Be responsible for the danger which has been eliminated and/or controlled on design and configuration of the provided servo unit and accessories. ——Be responsible for the safety of the provided servo unit and accessories. ——Be responsible for the provided information and advice for the users.

User Responsibility ——Be trained with the safety operation of the servo unit and familiar with the safety

operation procedures. ——Be responsible for the dangers caused by adding, changing or altering the original

servo unit and the accessories. ——Be responsible for the danger without following the operations, maintenances,

installations and storages described in the manual.

VIII

Contents

CHAPTER 1 OVERVIEW ··························································································1

1.1 Product Introduction ·························································································1

1.2 Confirmation of the Arrived Goods ···································································4

1.3 Product Appearance·························································································8

CHAPTER 2 INSTALLATION···················································································10

2.1 Ambient Conditions ························································································10

2.2 Installation for Servo Drive Unit······································································10

2.3 Installation for Servo Motor ············································································15

CHAPTER 3 CONNECTION····················································································16

3.1 Standard Wiring······························································································16

3.2 Terminal Function···························································································21

3.3 GSK-LINK Bus Communication Principle·······················································30

3.4 I/O Interface Principle·····················································································30

CHAPTER 4 PARAMETER······················································································35

4.1 Parameter List································································································35

4.2 Specification for Parameter Meaning ·····························································38

4.3 Comparison Table of Type Code Parameters and Spindle Motors ·················48

CHAPTER 5 ALARM AND TROUBLSHOOTING·····················································50

5.1 Alarm List ·······································································································50

5.2 Alarm Troubleshooting····················································································51

CHAPTER 6 DISPLAY AND OPERATION·······························································58

6.1 Keyboard Operation ·······················································································58

6.2 Monitoring Mode·····························································································59

6.3 Parameter Setting ··························································································61

6.4 Parameter Management·················································································61

6.5 Speed Trial Run······························································································63

6.6 JOG Operation ·······························································································64

6.7 Motor Test·······································································································64

6.8 User Shortcut Password·················································································64

6.9 Servo Parameter Auto Setting ········································································65

6.10 Others ··········································································································65

CHAPTER 7 RUN····································································································66

7.1 Power Supply Connection ··············································································66

7.2 Trial Run·········································································································68

7.3 Adjustment ·····································································································70

CHAPTER 8 PRODUCT SPECIFICATION······························································72

8.1 Specifications of Drive Unit·············································································72

DAH01, DAH2075E AC Servo Drive Unit User Manual

8.2 Servo Motor Specification·············································································· 74

8.3 Isolation Transformer····················································································· 78

Chapter 9 ORDER INSTRUCTION ········································································· 82

9.1 Capacity Selection························································································· 82

9.2 Electronic gear ratio······················································································· 84

9.3 Stop characteristcs ························································································ 85

9.4 Calculation methods of servo drive unit and position controller selection······ 85

Chapter 1 Overview

CHAPTER 1 OVERVIEW

1.1 Product Introduction

The AC servo drive unit (all digital AC drive unit with high precision and high speed) of DAH series (including DAH01 and DAH2075E) is a new generation of high-precision and high-speed AC servo product produced by our company. It can be used together with various open-loop and closed-loop control systems. The servo unit uses an international advanced special chip for motor control (TMS320F2812PGFA DSP), a large scale programmable gate array（CPLD/FPGA）and an

IPM intelligent power module. It is of high integrated level, small dimension, safe protection and high reliability. Its performance has reached the advanced level of similar foreign products, for an optimal PID algorithm is used to complete PWM control; besides, it can intelligently identify various servo motor models and has parameter auto setting function. Its servo motor uses a 17 bits high-precision absolute encoder. The servo drive unit of the series can be applied to mechanical manufacture, CNC machines, printing and packing machines, textile machines, robots, automatic manufacturing lines and other automation fields.

DAH series AC servo unit has the following advantages:

z Using the most advanced 32-bit DSP processor (F2812) of TI Company to shorten signal

processing time and improve current sampling precision. System processing capability has been

greatly improved due to the 150MIPS of frequency of F2812. z The system uses a 17-bit absolute encoder with 131072 lines. Compared with incremental

encoders, absolute encoders are characterized by high positioning precision, strong

anti-interference ability, motor rotor position memory and convenient installation. z Bus communication uses GSK-LINK communication mode, which can fully meet the control

requirement of more than five axes. Up to 254 servo drive units can be connected theoretically,

and data transmission rate is 100Mbit/s；

z Fully closed loop control between CNC and servo unit, on-line upload and download of servo

parameters, diagnostic message feedback of the servo and servo alarm monitoring can be

realized in bus communication mode; memorizing workpiece coordinate system after power-off

and returning to zero point without a stroke limit switch are realized too; z Analog instruction interface uses a high–precision A/D (16 bits) convertor. It has strong

anti-interference ability and small zero drift. z High speed and high precision: a servo unit can drive a servo motor of 6000r/min; speed ratio: 1：

60000; it has stable torque characteristics from low speed to high speed; rotary positioning

precision: 0.0762μm；

z Intelligent identification for motor models and auto-setting control for parameters: DAH series AC

servo unit intelligently reads various models and parameters into the servo unit when power is

turned on. When a motor is replaced with the one of different model, its corresponding default

parameter can be resumed automatically; in different load inertia ratios, it can accurately identify

system control models and has parameter auto-setting function.

Simple and flexible control: set the operation mode and operation characteristics of the servo

drive unit by modifying parameters to meet different requirements.

DAH01, DAH2075E AC Servo Drive Unit User Manual

1.1.1 Technical Specification of DAH Series Servo Drive Unit

Adaptive motor capacity

Input

Main circuit

power supply

Control circuit

Control mode

Feedback mode 17-bit absolute encoder

conditions

Ambient

Temperature

Relative humidity

Vibration/impact resistance

Speed control range (based on no locked rotor occurs at rated load)

Speed control mode

Speed variation rate

Speed frequency response

Time of acceleration/ deceleration

External speed command input

0.1kW～6kW

Single-phase or three-phrase AC （0.85～1.1）×220V

50Hz/60Hz

Single phase AC （0.85～1.1）×220V 50Hz/60Hz

Three-phase full wave rectification, IGBT PWM sine wave

drive

Working temperature: 0℃～+40℃ Storage temperature: -40℃～+70℃

< 90% （no dewing free from condensation）

<0.5G（4.9m/s

）/10Hz～60Hz(non-continuous operation)

1: 60000

0～100% load: ±0.01﹪

Rated voltage±10%:±0.01﹪

≥200Hz

0～10s

±10V input voltage

Internal speed setting Internal setting for four kinds of speed

Input impedance 20kΩ

Max. pulse input frequency

Position control mode

0～6.5536M(Hz)

1 direction + pulse; 2 CCW+CW pulse train; 3 90° phase

Input pulse type

difference two-phase pulse; one of the three categories may be selected. Any one of the three types may be selected.

Input pulse form 1 differential input 2 open collector input

Electronic gear ratio 1< α/β <32767

Position signal output

1 phases A, B, Z differential output; 2 phase Z open collector output

1. Servo enable; 2. Alarm clearing; 3. CCW drive prohibition;

I/O signal

Control input signal

4. CW drive disabling; 5. Deviation counter zeroing//speed selection1; 6. Command pulse prohibition/speed selection 2;

7. Zero-speed clamping.

Control output signal

1. Servo Ready Output; 2. Servo alarm output 3. Positioning completion output/speed arrival output; 4. Brake output

Chapter 1 Overview

Internal

Communication function

High performance function

Function

GSK-LINK communication mode; max. number of connections: 254 axes; data transmission rate: 100Mbit/s

1. A high-definition encoder is used to realize stable machine operation;

2. A 16-bit high precision A/D conversion chip is adopted to

realize high-precision closed loop control, feedback pulse number can be adjusted freely（≤32768）;

3. Motor model automatic identification;

4. On-line upload and download of servo parameters,

diagnostic information feedback of the servo and servo alarm monitoring are realized in bus communication mode;

5. Power failure memory for workpiece coordinate system

and zero return without stroke limit switch are realized in bus communication mode;

6. Control model identification and parameter auto setting

functions.

Regenerative braking Built-in

Frequency dividing output of encoder signals

Overspeed, main power overvoltage，power module fault,

undervoltage, overcurrent, overload, overheat, brake

Protection function

Monitoring function

Display and operation 6-bit LED digital tube, 4 buttons

abnormality, encoder abnormality, encoder communication failure, invalid motor model setting, control power abnormality, position deviation, etc.

Motor speed, current position pulse number, position command pulse number, position deviation, motor torque, motor current, straight-line speed, rotor absolute position, command pulse frequency, running state, input/output terminal signal, currently given voltage, etc.

Pulse output: 16～32768 (pulse/revolution)

adjustable dividing frequency

DAH01, DAH2075E AC Servo Drive Unit User Manual

1.2 Confirmation of the Arrived Goods

1) Please check the received goods in accordance with the following items:

(1) Check whether the packing box is in good condition and the products are damaged in delivery. (2) Confirm whether the products are the ordered ones according to the nameplates of the servo drive units and servo motors. (3) Confirm whether the accessories in the packing box are complete in terms of the packing list.



Note

2) Instruction for Motor Model DAH series AC servo drive units can be matched with a variety of servo motors with TAMAGAWA absolute encoders at home and abroad. Users can choose one of these motors in their orders. Information about GSK SJT series servo motors with absolute encoders is provided in chapter eight in the manual, while relative information about servo motors of other models is provided together with the servo motors.

A damaged or incomplete AC servo unit can not be installed.



An AC servo unit should be used together with its adaptive servo motor.

 Any questions, please feel free to contact suppliers or our company.

Chapter 1 Overview

3) Mechanical Characteristics of Servo Motor

Speed (r/min)

nMAX

Continuous

working area

———— rated torque ； T

———— rated speed ； n

4) Order Model Instruction

1※ ：Gsk servo motors with absolute encoders can be matched optionally by placing an order. The default

parameters of AC servo drive units only match the servo motors of SJT series. When other servo motors are used, the ex-factory parameter has been backuped in EEPROM area and can be recovered. When restoring the factory parameters, execute Backup Restoration instead of Default

Parameter Restoration.

2※ ：Medium and small power (≤1.5KW) is standard configuration, medium power (＞1.5W, ≤ 6KW)

uses thickened radiator.

Acceleration/ deceleration area

TN TMAX

MAX

Torque（N.m）

———— maximum torque ；

———— maximum speed.

DAH01, DAH2075E AC Servo Drive Unit User Manual

Order models of servo drive units matching SJT series servo motors with absolute encoders are as follows:

Order model

(Only match the servo motors of GSK

Servo motor model and specification Remark

SJT series)

DAH01-05-80SJT-M024C(A4) 0.5kW, 2.4N.m, 2000 r/min, 3A, (30A module)

DAH01-07-80SJT-M024E(A4) 0.75kW, 2.4N.m, 3000 r/min, 4.8A, (30A module)

DAH01-06-80SJT-M032C(A4) 0.66kW, 3.2N.m ,2000 r/min, 5A, (30A module)

DAH01-10-80SJT-M032E(A4) 1.0kW,3.2N.m, 3000 r/min, 6.2A, (30A module)

DAH01-10-110SJT-M040D(A4) 1.0kW, 4N.m, 2500 r/min, 4.5A, (30A module) DAH01-15-110SJT-M060D(A4) 1.5 kW 6N.m, 2500 r/min, 7A, (30A module) ※

DAH01-10-130SJT-M040D(A4) 1.0 kW 4N.m, 2500 r/min, 4A, (30A module)

DAH01-13-130SJT-M050D(A4) 1.3 kW 5N.m, 2500 r/min, 5A, (30A module)

DAH01-15-130SJT-M060D(A4) 1.5 kW, 6N.m, 2500 r/min , 6A, (30A module) DAH01-20-130SJT-M075D(A4) 1.88 kW, 7.5N.m, 2500 r/min, 7.5A, (30A module) ※

DAH01-15-130SJT-M100B(A4) 1.5 kW, 10N.m 1500 r/min, 6A, (30A module) DAH01-25-130SJT-M100D(A4) 2.5 kW, 10N.m, 2500 r/min, 10A, (50A module) ※

DAH01-23-130SJT-M150B(A4) 2.3 kW, 15N.m, 1500 r/min, 8.5A, (30A module) ※ DAH01-39-130SJT-M150D(A4) 3.9 kW, 15N.m, 2500 r/min, 14.5A, (50A module) ※

DAH01-28-175SJT-M180B(A4) 2.8 kW, 18N.m, 1500 r/min, 15A, (50A module) ※

DAH01-38-175SJT-M180D(A4)

3.8 kW, 18N.m, 2500 r/min, 16.5A, (75A module) ※※

DAH2075E-38-175SJT-M180D(A4)

DAH01-35-175SJT-M220B(A4)

3.5 kW, 22N.m,1500 r/min, 17.5 A, (50A module) ※※

DAH2075E-35-175SJT-M220B(A4)

DAH01-45-175SJT-M220D(A4)

4.5 kW, 22N.m,2500 r/min, 19 A, (75A module) ※※

DAH2075E -45-175SJT-M220D(A4)

DAH01-38-175SJT-M300B(A4)

3.8 kW, 30N.m,1500 r/min, 19 A, (75A module) ※※

DAH2075E -38-175SJT-M300B(A4)

DAH01-60-175SJT-M300D(A4)

6 kW, 30N.m,2500 r/min, 27.5 A, (75A module) ※※

DAH2075E -60-175SJT-M300D(A4)

Chapter 1 Overview

5) Accessories

Standard accessories

Order model

Driving device

(drive units and

motors)

Driving devices

matching CNC

(drive unit,

motor and

CNC)

DAH2075E,DAH01

(bus communication interface

mode)

(1) An instruction manual (this

one) for DAH series AC servo drive unit.

(2) RJ45S crystal head and

network cable

(3) 3m motor wire, 3m encoder

feedback wire

(1) An instruction manual (this

one) for DAH series AC servo drive unit.

(2) RJ45S crystal head and

network cable.

(3) 3m motor wire, 3m encoder

feedback wire

(Pulse/analog command

(1) An instruction manua (this

one) for DAH series AC servo drive unit.

(2) One set of DB44 female

plugs.

(3) 3m motor wire, 3m encoder

feedback wire.

(1) An instruction manual (this

one) for DAH series AC servo drive unit.

(2) 3m motor wire, 3m encoder

feedback wire.

(3) 3m signal wire from CNC to

drive unit.

DAH01

interface mode)

Note 1: Signal cable (standard 3m) can be provided when it is matched with our position controller. Note 2: Users can select feedback cables (standard 3m) when our servo motors are provided. Note 3: Standard accessories of servo motors are provided according to servo motor manual.

Remark

The

provided

cables

are

welded.

DAH01, DAH2075E AC Servo Drive Unit User Manual

交流伺服驱动单

全数字式

系列

ncoder feetback signal

uttons

1.3 Product Appearance

1) DAH 2075E Servo Drive Unit

Fig. 1-2-1 DAH2075E (bus communication mode) Servo Drive Unit Appearance

2) Appearance of DAH01 Servo Drive Unit

Radiator

LED

Panel

PowerTB

D A H 0 1

元

CN1 控制信号

bracket

cabinet

Brake terminal

Bus 1 Bus 2

CN2 反馈信号

CN2

Fig. 1-3-2 Appearance of DAH01 (bus communication mode) Servo Drive Unit

Chapter 1 Overview

ottons

ontrol signal

anel

adiator

交流伺服驱动单

全数字式R系列

LED

bracket

D A H 0 1

Power TB

元

cabinet

Encoder feetback

Fig. 1-3-3 Appearance of DAH01 (matched with DB44 female connector) Servo Drive Unit

2) Appearance of Servo Motor

交流伺服电动机

U :220V

: 2500r/min

S/N:

I :10A

081016100D0000107H

max

: 3000 r/min

M: 17 bit

IP65INS.CLASS: B

Fig. 1-3-4 Appearance of Servo Motor

DAH01, DAH2075E AC Servo Drive Unit User Manual

CHAPTER 2 INSTALLATION

Note

2.1 Ambient Conditions

Item

Operation

temperature/humidity

Storage

temperature/humidity

Atmospheric

environment

Elevation

Vibration

Protection grade IP43 IP65

Servo drive unit of DAH

series

0℃～+40℃ (no frost)

＜90%RH (no dewing)

-40℃～+70℃

90%RH（no dewing）

No corrosive air, flammable air, oil mist and dust in the control cabinet.

Elevation＜ 1000m Elevation＜ 1000m

＜0.5G（4.9m/s

）10Hz～60Hz （non-continuous running）

2.2 Installation for Servo Drive Unit

Note

AC servo motor of GSK SJT

series

0℃～+40℃ （no frost） 90%RH 以下 (no dewing)

-40℃～+70℃

＜90%RH（no dewing）

Indoor environment (no insolation): no corrosive air, flammable air, oil mist and dust.

1） Installation environment

（1） Protection

The structure of the servo drive unit has no protection, so it must be installed into an electricity cabinet with good protection and kept away from corrosive and flammable air, conductive objects, metal dust, oil mist and liquid.

（2） Temperature and humidity

Environment temperature 0℃～+40 , ℃ ensure good radiating conditions.

Chapter 2 Installation

（3） Vibration and impact

Avoid vibration when installing the drive unit, vibration reducing measures should be taken to

keep vibration under 0.5G(4.9m/s installation.

2） Installation Method

（1） Installation Dimension and Installation Method for DAH01

DAH01 can be installed with base-plate installation or panel installation, with its installation direction perpendicular to mounting surface. Figure 2-1 is the sketch map for base-plate installation; Figure 2-2 is the sketch map for panel installation.

) , and drive unit should not bear weight and impact during its

DAH01

全数字式交流伺服驱动单元

抱闸

总线

Fig. 2-1 Base-plate Installation Mode for Drive Unit

图2-1 驱动单元底板安装方式

pplication of wool felt

Sealing against dust

贴羊毛毡密封防尘

DAH01

全数字式交流伺服驱动单元

抱闸

总线

CN2 反馈信号

User installation

用户安装加工图

processing drawing

Fig. 2-2 Panel Installation Mode for Drive Unit

图2-2 驱动单元面板安装方式

DAH01, DAH2075E AC Servo Drive Unit User Manual

（2） DAH01 Installation Interval

Figure 2-3 shows installation intervals for a single drive unit, figure 2-4 shows installation intervals for multiple drive units, large space should be left for keeping good radiating conditions in the actual installation.

>100mm

>50mm

Fig. 2-3 Installation Intervals for a Single Drive Unit

>100mm

>25mm

>100mm

Servo drive unit

伺服驱动单元

Figure 2-4 Installation Intervals for Multiple Drive Units

>100mm

Wind direction

通风方向通风方向

Wind direction

（3） Installation Dimension and Installation Method for DAH2075E

Fig. 2-5 Base-plate Installation Dimension and Intervals (Front) for DAH 2075 Drive Unit

Fig. 2-5 Installation Dimension for DAH 2075 Drive Unit

Chapter 2 Installation

DAH01, DAH2075E AC Servo Drive Unit User Manual

Fig. 2-6 Base-plate Installation Dimension and Intervals (Side) for DAH 2075 Drive Unit

3） Heat Dissipation

To prevent the ambient temperature of the servo unit from rising continuously, radiators blowing

convection wind towards the unit should be installed in the electric cabinet.

Chapter 2 Installation

2.3 Installation for Servo Motor

Note

1） Installation Environment

（1） Protection

Prevent liquid from spraying to the motor and prevent oil and water from entering the motor through its lead-in wire and motor shaft, for the servo motors of GSK SJT series and Huazhong ST series are not water-proof.

Note: Please declare in your order if you need a water-proof motor.

（2） Temperature and Humidity

Keep the environment temperature between 0～+40 . Motor temperature rise℃ s after

long-term running, so forced air cooling should be taken when there are heating elements or small space around the motor.

Relative humidity should be less than 90%RH，with no dewing.

（3） Vibration

The servo motor should not be installed in the situation with vibration, and the vibration

should be no more than 0.5G (4.9m/s2）。

2）Installation Method

(1) Installation Method

SJT series motor adopts flange installation mode currently and its installation direction is arbitrary.

(2) Cautions: z It is forbidden to strike the motor or motor shaft to prevent the encoder from being

damaged when disassembling or assembling belt wheels.

z Most SJT series motors can not bear big axial and radial loads currently. It is suggested

that elastic couplings be used to connect loads.

z Fix the motor with anti-loosened gaskets to prevent it from coming loose.

DAH01, DAH2075E AC Servo Drive Unit User Manual

CHAPTER 3 CONNECTION

Caution

 Only qualified persons can connect the system or check the

connection

 Wiring and checking cannot be done in 5 minutes after the power

supply is switched off to avoid electric shock.

 Wiring must be performed in terms of the terminal voltage and

polarity to avoid equipment damage and personnel injury.

 The drive unit and servo motor must be grounded well.

3.1 Standard Wiring

1） Ethernet Bus Mode

Figure 3-1-1 and figure 3-1-2 show the Ethernet bus standard wiring for DAH01 and

DAH2075E respectively.

2） Position Control Mode (Pulse Mode)

Figure 3-1-3 shows the standard wiring for position control (pulse mode).

3) Speed Control Mode (Analog Voltage Mode) Figure 3-1-4 shows the standard wiring for speed control (analog voltage mode).

4) Wiring

（1） Power Terminal TB

z Wire cross-sectional area: For terminals R、S、T、PE 、 U 、 V and W, cross-sectional

area≥1.5mm2(AWG14～16); for terminals r and t, cross-sectional area ≥1.0 mm2(AWG16～

18).

z Grounding: grounding wires should be as thick as possible. Drive unit shell, servo motor and

system shell are earthed at one point of PE terminal. Earthing resistance ＜0.1Ω.

z Terminal connection adopts SVM2-4 pre-insulated cold-press terminals which must be

connected securely.

z It is suggested that the power be supplied through a three-phase isolation transformer to

reduce the possibility of electric shock.

z It is suggested that the power supply through connecting a noise filter to improve

anti-interference capability.

z Please install a non-fuse breaker (NFB) to cut off the power in time when a fault occurs in the

drive unit.

Control Signal CN1 and Feedback Signal CN2

z Wire selection: use screen cables (twisted ones are recommended ), Cross-sectional area

≥0.12mm2(AWG24～26)，shield layer must be connected to FG terminal.

z Wire length: wires should be as short as possible, the wire for controlling CN1 should not be

longer than 3m, and feedback signal for controlling CN2 should not be longer than 20m.

Chapter 3 Connection

z Wiring: wiring should be far from power circuit to prevent interference. z Please install surge absorbing components for inductive components (coil): DC coil

connects to the freewheel diode in parallel back to back while AC coil connects to the RC absorbing circuit in parallel.

z Bus interface connecting wire uses UTP- five categories (network cable) with both ends

suppressed with crystal heads. Direct network cable and cross network cable can be suppressed.

Note

Absoulute

encoder

RS485 transceiver

Fig. 3-1-1 Standard Connection for Ethernet Bus Mode of DAH2075E

Note: there must be good electrical connection between drive shell grounding and system shell grounding, or

else unexpected results will occur.

DAH01, DAH2075E AC Servo Drive Unit User Manual

3-phase or single

phase AC220v

Brake signal terminal(CN1)

Brake release signal Brake release signal ground

Bus interface(Bus 1)

Bus 1 (sending signal)

Bus 1 (Receiving signal)

Bus interface(Bus 2)

Bus 2 (sending signal)

DAH01 AC servo drive unit

RS485 transceiver

Shell

Motor cable terminal

Encoder interface 2

Servo motor

Absoulute

encoder

Bus 2 (Receiving signal)

To connect to system shell GND

Fig. 3-1-2 Standard Connection for Ethernet Bus Mode of DAH01

Note: there must be good electrical connection between drive shell grounding and system shell grounding, or

else unexpected results will occur.

Chapter 3 Connection

3-phase or single

phase AC220v

Servo enable

Alarm chearing

CCW drive prohibition

CW drive prohibition

Position deviation zeroing

Command pulse prohibition

CCW torque limitation

CW torque limitation

Positioning completion

Servo alarm Servo ready

Output common terminal

Brake release signal

Brake release signal Ground

Encoder Z phase output

Encoder Z phase output GND

DAH01 AC servo drive unit

RS485 transceiver

Shell

Motor cable terminal

Encoder interface 2

Servo motor

Absoulute

encoder

Pulse feedback A

Position command

Rotation direction command

To connect to system shell GND

Pulse feedback B

Pulse feedback C

Fig. 3-1-3 Standard Connection for Position Control (pulse mode)

Note: there must be good electrical connection between drive shell grounding and system shell grounding, or

else unexpected results will occur.

DAH01, DAH2075E AC Servo Drive Unit User Manual

3-phase or single

phase AC220v

Servo enable

Alarm chearing

CCW drive prohibition

CW drive prohibition

Speed selection 1 Speed selection 2

CCW torque limitation

CW torque limitation

Zero-speed clamping input

Speed arrival

Servo alarm Servo ready

Output common terminal

DAH01 AC servo drive unit

RS485 transceiver

Shell

Motor cable terminal

Encoder interface 2

Servo motor

Absoulute

encoder

Speed command (-10V~+10V DC)

Brake release signal Ground

Encoder Z phase output GND

Speed command ground

Brake release signal

Encoder Z phase output

Pulse feedback A

Pulse feedback B

Pulse feedback C

To connect to system shell GND

Figure 3-1-4 Standard Connection for DAH01 Speed Control (Analog Voltage Mode)

Note: there must be good electrical connection between drive shell grounding and system shell grounding, or

else unexpected results will occur.

Chapter 3 Connection

3.2 Terminal Function

3.2.1 Terminal Configuration for DAH01 (Ethernet Interface), DAH2075E Servo Drive Unit Interface

1) Terminal Configuration

In figure 3-2-1-1, BUS1 indicates bus interface 1, BUS2 indicates bus interface 2; in figure

3-2-1-2, CN2 indicates the connector of a 26-pin encoder.

总线接口1(BUS1)

Bus interface 1 (BUS 1)

Bus interface 1 (BUS 1) pin explanation

总线接口1(BUS1)引脚说明

引脚说明

TX1+ ,白绿色线

TX1- ,绿色线 RX1+ ,橙白色线 NC ,兰色线 NC ,兰白色线

RX1- ,橙色线 NC ,棕白色线

NC ,棕色线

引脚说明

TX2+ ,白绿色线

TX2- ,绿色线 RX2+ ,橙白色线 NC ,兰色线

NC ,兰白色线 RX2- ,橙色线

NC ,棕白色线 NC ,棕色线

PEA+ (for test)

PEZ+ (for test)

CLK+ 8

+5V 6

0V 4

Pin number Explanation

引脚号

8 7 6 5 4 3 2 1

1 TX1+, white-green wire

2 TX1+, green wire

3 RR1+, orange-white wire

4 NC, blue wire

5 NC, blue wire

6 RX2-, orange wire

7 NC, brown-white wire

8 NC, brown wire

总线接口2(BUS2)

Bus interface 2 (BUS 2)

8 7 6 5 4 3 2 1

Bus interface 2 (BUS) pin explanation

总线接口2(BUS2)引脚说明

1 TX2+ white-green wire

引脚号

2 TX2- green wire

3 RX2+, orange-white wire

2 3

4 NC, blue wire

5 NC, blue-white wire

6 RX2-, orange wire

7 NC, brown-white wire

8 NC, brown wire

Fig. 3-2-1-1 Wiring for Bus Interface 1 and 2 of Servo Unit of DAH01

(Ethernet Interface) and DAH2075E

PEA-(for test)

PEZ-(for test)

CLK- 20

+5V

0V 16

FG 14

SD+25

PEB-(for test)

+5V 17

FG 15

SD- 13

PEB+(for test)

+3.6V 9

+5V 5

0V 3

Type of CN2 Plug Connector: 10126-3000PE

Type of CN2 Shell Kit: 10326-52F0-008

Fig. 3-2-1-2 Wiring for Servo Unit Encoder Interface CN2 (26 Pins) of DAH01

(Ethernet Interface) and DAH2075E

DAH01, DAH2075E AC Servo Drive Unit User Manual

Fig. 3-2-1-3 Wiring for Encoder Interface CN2 (26 Pins) of Servo Unit of DAH01 (Ethernet Interface) and DAH2075E

Note: +5V and 0V power lines are respectively connected to the aviation plug with 4 and 5 wires combined

together, 3.6 V power line is connected to the aviation plug with 2 wires combined together, pin 7 and pin 9 need to be shorted in high-density 26-pin plug in order to reduce the power voltage attenuation during long-distance cable transmission.

3.2.2 Terminal Configuration for Servo Drive Unit Interface of DAH01 (Pulse and Analog

Command Mode)

1） Terminal Configuration

In figure 3-2-2-1, CN1 is a DB44 connector, with male socket and female plug; in figure

3-2-2-4, CN2 is a DB25 connector, with female socket and male plug.

Chapter 3 Connection

16 1 SG Analog command ground

31 PE 保护接地

31 PE protective earthin 17 VCMD analog speed command

17 VCMD 模拟速度指令

20 SRDY servo ready output

20 SRDY 伺服准备好输出

5 ALM alarm output

5 ALM 报警输出

35 COIN positioning completion /speed arrival

35 COIN 定位完成/速度到达 6 HOLD- 抱闸输出

6 HOLD- brake output 36 Z- Z signal output-

36 Z- Z 信号输出- 7 HOLD+ 抱闸输出+

7 HOLD+ brake output + 37 Z+ Z 信号输出+

37 Z+ Z signal output +

23 SON 伺服使能

23 SON servo enable 8 ALRS 报警清除

8 ALM alarm clearing 38 COM+ 控制信号电源输入(24VDC)

38 COM+ control signal power input (24V DC)

24 FSTP CCW 驱动禁止

24 FSTP CCW drive prohibition

9 RSTP CW 驱动禁止

9 RSTP CW drive prohibition

39 COM+ control signal power input (24VDC) 25 FIL CCW torque limit

10 RIL CCW torque limit 40 CLE/SC1 deviation zeroing/speed selection 1 26 ZSL zero-speed clamping 41 INH/SC2 command pulse prohibition/speed selection2

27 PAOUT+ pulse feedback A+ 12 PAOUT- pulse feedback A42 PZOUT+ pulse feedback Z+

28 PBOUT+ pulse feedback B+

13 PBOU 43 PZOUT- pulse feedback Z-

29 SIGN+ direction signal input+

14 SIGN- direction signal input-

44 GND internal digital ground 30 PULS+ pulse command signal input + 15 PULS- pulse command signal input -

-pulse feedback B-

Fig. 3-2-2-1 Connection for Control Port CN1 (Pulse and Analog Command Mode) of DAH01

DAH01, DAH2075E AC Servo Drive Unit User Manual

T PE

P D

Fig. 3-2-2-2 Connection for DAH2075E Fig. 3-2-2-3 Connection for DAH01 Power Terminals Power Terminals

Servo unit

Servo motor

CN2

DB25

24 11 23 10

9 21 8

4 16 3

14 1

Fig. 3-2-2-4 Connection for Encoder Interface CN2 (25 pins) of Drive Unit of DAH01

Brown wire

SD-

棕线

Green wire

绿线

SD+

Red wire

红线

15-pin motor socket

Blue-white wire

蓝白线

+3.6V

Purple-white wire

紫白线

CLK+

Black-white wire

黑白线

CLK-

Black wire

黑线

Green-white wire

绿白线

+5V

Blue wire

蓝线

+5V

Yellow wire

+5V

黄线

Orange wire

橙线

+5V

Yellow-white wire

黄白线

Purple wire

紫线

Orange-white wire

橙白线

Ground wire

地线

Brown-white wire

棕白线

Ground wire

地线

Red-white wire

红白线

电机的 15 针插座

FG SD0V

+5V

SD+ +3.6V CLK+

CLK-

Ground wire (grey wire and wire fence)

Blue-black wire

Black, brown-black

Red wire

Blue wire

Absolute

encoder

interface

2） DAH01 Drive Unit Power Terminal TB

Table 3-1 Power Terminal TB

Chapter 3 Connection

Terminal

number

TB-1 R

TB-2 S

TB-3 T

Terminal

mark

Signal name Function

Single-phase or three-phase major loop power

Major loop power input terminal

AC220V 50Hz

Note: do not connect it to motor output

terminals U,V and W.

grounding terminal

TB-4 PE

System grounding

grounding resistance＜0.1Ω；

The servo motor output and power input are grounded at a common point.

TB-5 U

TB-6 V

TB-7 W

Servo motor output

The servo motor output terminal must be connected to motor terminals U, V and W correspondingly.

TB-8 P reserved

TB-9 D reserved

TB-10 r

TB-11 t

single-phase control power

Control loop power input terminal

supply

AC 220V 50Hz

3） DAH01 Drive Unit Control Terminal CN1

Control mode abbreviation: P for position control mode S for speed control mode

Table 3-2 control signal input/output terminal CN1

Term inal

number

CN1-38 CN1-39

Term inal

name

Mark I/O Mode Function

Power supply positive pole

COM+ Type1 of input terminal

The positive pole of the input terminal is used to drive the photoelectric coupler of the input terminal. DC12 V～24V，current≥100mA

Servo enable input terminal SON ON：to enable the operation of the drive

unit

SON OFF：The drive unit is turned off and

CN1-23

Servo enable

SON Type1

Note 1: before SON OFF is switched to SON ON,

the motor must be in the state of rest.

Note 2: after switching to SON ON, do nto input

commands until 50ms is waited.

stops working, the motor is in free state.

CN1-8

CN1-24

CN1-9

CN1-40

Alarm clearance

CCW drive prohibition

CW drive prohibition

Deviation counter zeroing

Speed selection 1

DAH01, DAH2075E AC Servo Drive Unit User Manual

Alarm clearance input terminal ALRS ON：clear system alarm

ALRS OFF：keep system alarm

ALRS Type1

Note: this method is not available to clear

those alarms with fault codes above 8. In this case, turn off the power and overhaul the drive unit, then turn on the power again.

CCW (counter clockwise) drive prohibition input terminal FSTP ON：CCW drive enable

FSTP OFF：CCW drive prohibition

FSTP Type1

Note 1: used for mechanical ultra limit.

When the switch is OFF, the CCW torque remains unchanged at 0.

Note 2: setting parameter No. 20 can shield

this function or make the switch always ON.

CW (clockwise) drive prohibition input terminal RSTP ON：CW drive enable

RSTP OFF：CW drive prohibition

RSTP Type1

Note 1: used for mechanical ultra limit.

When the switch is OFF, the CW torque remains unchanged at 0.

Note 2: setting parameter No. 20 can shield

this function or make the switch always ON.

The input terminal of the position deviation

CLE Type1 P

counter zeroing CLE ON: position deviation counter zeroing

during position control

Speed selection 1 input terminal In speed control mode, the combination of SC1 and SC2 is used to choose different kinds of internal speed. SC1 OFF，SC2 OFF：internal speed 1

SC1 Type1 S

SC1 ON，SC2 OFF：internal speed 2 SC1 OFF，SC2 ON：internal speed 3 SC1 ON，SC2 ON：internal speed 4

Note: values 1～4 of internal speed can be

modified with parameters.

Continued:

CN1-41

CN1-25

CN1-10

CN1-20

CN1-5

Command pulse prohibition

Speed selection 2

CCW torque limit

CW torque limitation

Servo ready output

Servo alarm output

INH Type1 P

SC2 Type1 S

FIL Type1

RIL Type1

SRDY Type2

ALM Type2

Chapter 3 Connection

Position command pulse prohibition input terminal INH ON：command pulse input prohibition

INH OFF：command pulse input enabled

Speed selection 2 input terminal In speed control mode, the combination of SC1 and SC2 is used to choose different kinds of internal speed. SC1 OFF，SC2 OFF：internal speed 1

SC1 ON：SC2 OFF：internal speed 2 SC1 OFF，SC2 ON：internal speed 3 SC1 ON，SC2 ON：internal speed 4

CCW (counter clockwise) torque limitation input terminal FIL ON：CCW torque limitation is within the

range of parameter No.36. FIL OFF ： CCW torque limitation is not

restricted by parameter No. 36.

Note: whether FIL is valid or invalid, CCW torque

is restricted by parameter No. 34. In general, parameter No.34>parameter No.36

CW (clockwise) torque limitation input terminal

RIL ON：CW torque limitation is within the

range of parameter No. 37.

RIL OFF：CW torque limitation is not restricted

by parameter No. 37.

Note: whether RIL is valid or invalid, CW torque is

restricted by parameter No. 35．

Servo ready output terminal SRDY ON：The control power and the main

power are normal, the drive unit does not alarm, and the servo ready output is ON.

SRDY OFF：The main power is not switched

on or an alarm occurs in the drive unit, the servo ready output is OFF.

Servo alarm output terminal ALM ON：The servo drive unit does not alarm,

servo alarm output is ON.

ALM OFF：An alarm occurs in the servo drive

unit, the servo alarm output is OFF.

DAH01, DAH2075E AC Servo Drive Unit User Manual

Continued:

Positioning completion

COIN Type2 P

output

CN1-35

Speed arrival

SCMP Type2 S

output

Common CN1-32 CN1-33

terminal of

output

Common terminal

terminal

Encoder CN1-37

phase Z

CZ Type2

output

CN1-26

Zero-speed

clamping

ZSL Type1

CN1-36 CZCOM

Positioning completion output terminal COIN ON：When the value of the position

deviation counter is within the range of the specified positioning, positioning completion output is ON.

Speed arrival output terminal SCMP ON ： When the speed reaches or

exceeds the setting speed, the speed arrival output is ON.

Common terminal of grounding wire for control signal output terminal (except CZ)

Encoder phase Z output terminal Photoelectric encoder phase Z pulse output of the servo motor CZ ON: Phase Z signal appears

ZSL ON：The servo drive unit is beyond the

control of analog voltage and outputs zero speed. ZSL OFF：The servo drive unit is under the

control of the analog voltage.

The common terminal of Z-phase output terminal of the encoder

CN1-30 PULS+

CN1-15

CN1-29 SIGN+

CN1-14

Command

pulse

PLUS input

Command

pulse SIGN

input

Type3 P

PULS-

Type3 P

SIGN-

shielding CN1-31

ground

FG Shielding ground wire terminal

wire

CN1-2 CN1-16

analog

ground

AGND S analog ground

Input CN1-17

analog

VCMD S

command

Type4

CN1-1

Input

analog

command

ground

External command pulse input terminal

Note: the pulse input mode is set by

parameter PA14.

(1) Command pulse+ sign mode; (2) CCW/CW command pulse

mode;

Input analog command ±10V Input impedance 20kΩ

Continued:

Brake

CN1-7

output positive

HOLD+ S/P

terminal

Break

CN1-6

output negative

HOLD-

terminal

CN1-27

CN1-12

CN1-28

CN1-13

CN1-42

CN1-43

Encoder pulse A+

Encoder pulse A-

Encoder pulse B+

Encoder pulse B-

Encoder pulse Z+

Encoder pulse Z-

PAOU T+ S

PAOU T- S

PBOUT+

PBOUT-

PZOUT+

PZOUT-

4） Feedback Signal Terminal CN2

Table 3-3 Encoder Signal Input/Output Terminal CN2

Terminal number

Signal name

Terminal mark

Mark I/O Mode

CN2-5 CN2-6 CN2-17

Power output + +5V

CN2-18

CN2-1 CN2-2 CN2-3

Power output - OV CN2-4 CN2-16

CN2-7 CN2-8

Battery output + +3.6V CN2-9

CN2-13

Encoder

SD-input

SD－

Type2

Type5

Type6

When the drain electrode open circuit output

works normally, the photoelectric coupler

conducts and the output is ON. When an alarm occurs, the photoelectric coupler is cut off and the output is OFF.

S/P

Encoder feedback output signal, standard is 2500/line. The desired pulse number may be output by adjusting PA41 (output pulse number parameter), e.g., if requiring the encoder to output 15000 pulses per revolution, let PA41=15000, then the signals of phase A and phase B which are output from the drive unit side are 15000 pulses/revolution.

Motor outputs one pulse per revolution

Color Function

Chapter 3 Connection

The servo motor absolute encoder uses ＋5V power; When its cable is long,

multiple core wires should be used in parallel connection mode.

The servo motor absolute encoder uses ＋3.6V power to retain multiple-revolution

data; When its cable is long, it should use multiple core wires connected in parallel. When the servo unit is not powered for a long time, the multiple-revolution data will be lost because of low battery.

Be connected to the absolute encoder SDof the servo motor

DAH01, DAH2075E AC Servo Drive Unit User Manual

CN2-25

CN2-14 CN2-15

CN2-20

CN2-8

Encoder SD + input

Shielding ground wire

for function extension

For function Extension

SD＋

FG Shielding ground wire terminal

CLK- For function Extension

CLK+ For function Extension

Be connected to the absolute encode SD+ of the servo motor

3.3 GSK-LINK Bus Communication Principle

GSK-LINK adopts an Ethernet physical layer chip and uses UTP-five categories as its transmission medium. Cyclic data can only be transferred between master station and servo slave station while non-cyclic data can be transferred within any stations. GSK-LINK adopts double-loop topological structure, and the bus topology is shown as figure 3-3-1. The communication module structure of a master station is the same as that of a slave station.

S e rvo un it Slave station 1

U TP-five c atego rie s

Master station of

CNC system

Fig. 3-3-1 Topology Structure of GSK-Link

3.4 I/O Interface Principle

1） Switch Value Input Interface

IO m odu le Slave station n+1

Servo unit

Slave station 2

Servo unit

Slave station n

Fig. 3-4-1 Type1 Switch Value Input Interface

Note

2） Switch Value Output Interface

Note

Chapter 3 Connection

Fig.3-4-2 Type2 Switch Output Interface

3） Analog Value Input Interface

Fig.3-4-3 Type4 Analog Command Input Interface

Note

4） Pulse Value Input Interface

PULS+ PULS-

Drive unit side

servo amplifier

220

SIGN+ SIGN-

Fig. 3-4-4 Differential Drive Mode for Pulse Amount Input Interface

220

DAH01, DAH2075E AC Servo Drive Unit User Manual

servo amplifier

VCC

PULS+

PULS-

Drive unit side

220

SIGN+

SIGN-

220

Fig. 3-4-5 Type4 Single-ended Drive Mode for Pulse Amount Input Interface

It is suggested to adopt differential drive mode in order to transfer t h e



data of pulse amount correctly.

Adopt AM26LS31, MC3487 or similar RS422 line drive units in the differential



drive mode.

 Th e adopt i o n of the single-ended drive mode may reduce the d y n a mic

frequency. D et e r m i n e the value of resistance R under the condition s of 10mA～15mA of current and 25V of max. voltage of the external power in the pulse input circuit. Empirical data:

Vcc=24V，R=1.3kΩ～2kΩ; Vcc=12V，R=510Ω～820Ω; Vcc=5V，R=82Ω～120Ω。



The external power supply is provided by user s in the single-ended drive mode. It must be noted that the se r vo drive unit will be damaged if the power polarity is reversed.

Refer to table 3-4 for the pulse inp u t form. The arrow in it indicates th e



counting edge. Table 3-5 shows the pulse input time sequence parameter.

Table 3-4-1 Pulse input form

Chapter 3 Connection

Table 3-4-2 Pulse input time sequence parameter

Parameter Differential drive input Single-ended drive input

th >0.0763μs >0.191μs

tl >0.0763μs >0.191μs

trh <0.0152μs <0.0228μs

trl <0.0152μs <0.0228μs

ts >0.0763μs >0.191μs

>0.608μs >0.76μs

qck

tqh >0.304μs >0.382μs

tql >0.304μs >0.382μs

<0.0152μs <0.0228μs

qrh

<0.0152μs <0.0228μs

qrl

tqs >0.0763μs >0.191μs

>0.152μs >0.381μs

PULS

SIGN

90%

10%

trh trl

90%

10%

trh

tck

CCW

trl

Fig. 3-4-6 Time sequence for pulse+sign input interface (max. pulse frequency: 6.5536MHz)

tck

90%

PULS

SIGN

10%

trh trl

90%

10%

CCW

trh

trl

Fig. 3-4-7 Time sequence for CCW/CW pulse input interface (max. pulse frequency: 6.5536MHz)

DAH01, DAH2075E AC Servo Drive Unit User Manual

5） Output interface for drive unit speed signal

Drive unit side

X+ X-

se rvo a mplifierse rvo m otor

AM26LS32

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

Fig. 3-4-8 Type5 speed signal output of drive unit

6） Input interface for servo motor absolute encoder

Motor side

Fig. 3-4-9 Type6 Input interface of servo motor absolute encoder

Drive unit side

Chapter 4 Parameter

CHAPTER 4 PARAMETER

4.1 Parameter List

z The factory value in the following table is an example for the drive units matched with GSK

130SJT-M075D(A4) motors （7.5N.m、3000r/min）. Corresponding parameters vary with various

motors.

z Software version: V3.48 z P: position control S: speed control : drive un

bus mode interface.

Ⅰ it pulse/analog command interface : drive unit Ⅱ

Table 4-1 parameter list

No. Description Application Parameter

range

0 password

1 Type code

2 Software version (read

only)

3 Initial state display

4 Control mode selection

5 Speed proportional gain

6 Speed integral time

constant

7 Torque command filter

8 Speed detection low-pass

filter

9 Postion proportional gain P 1~2000 245 ● ●

10 Position feedforward gain P 0~1280 200 0.1 ● ●

11 Position feedforward

low-pass filter cut-off frequency

12 Position command pulse

division frequency numerator

P，S

P 1~2000 300 Hz ● ●

P 1~32767 8192 ● ●

0~9999 315 ● ●

0~100 66* ● ●

* * ● ●

0~21 0 ● ●

0~7 0 ● ●

5~1280 * 0.1 ● ●

1~32767 * 0.1ms ● ●

40~2000 100 % ● ●

10~2000 40 % ● ●

Factory value

Unit

Drive unit interface type

Ⅰ Ⅱ

DAH01, DAH2075E AC Servo Drive Unit User Manual

Continued:

No. Description Application Parameter

range

Factory value

Unit

Drive unit interface type

Ⅰ Ⅱ

13 Position command division

P 1~32767 500 ● ●

pulse denominator

14 Position command pulse

P 0~2 0 ● ○

input mode

15 Position command pulse

P 0~1 0 ● ○ reverse direction Position command pulse direction inversion

16 Positioning completion

P 0~32767 20 pulse ● ○ range

17 Position deviation

P 0~32767 4000 ×100 ● ● detection range

18 Invalid position deviation P 0~1 0 ● ●

19 Speed command low-pass

P 15~15000 100 Hz ● ● filter cut-off frequency

20 Invalid drive prohibition

P，S

0~1 0 ● ○

input

21 JOG running speed S -6000~6000 120 r/min ● ●

22 Speed command filter

P 0~1 0 ● ● switch

23 Maximum speed limit

P，S

0~3000 2500 r/min ● ●

24 Internal speed 1 S -6000~6000 0 r/min ● ○

25 Internal speed 2 S -6000~6000 100 r/min ● ○

26 Internal speed 3 S -6000~6000 300 r/min ● ○

27 Internal speed 4 S -6000~6000 -100 r/min ● ○

28 Arrival speed S 0~6000 500 r/min ● ○

29 Reserved

30 Straight-line speed

P，S

1~32767 10 ● ●

conversion numerator

31 Straight-line speed

P，S

1~32767 1 ● ●

conversion denominator

32 Linear speed decimal point

P，S

0~5 3 ● ●

position

33 Speed in motor test mode P 0~6000 100 r/min ● ●

34 Internal CCW torque limit

35 Internal CW torque limit

36 External CCW torque limit

37 External CW torque limit

38 Speed trial run, JOG

P，S

S 0~300 100 % ● ●

0~300 300* % ● ●

-300~0 -300* % ● ●

0~300 100 % ● ○

-300~0 -100 % ● ○

running torque limit

Chapter 4 Parameter

Continued:

No. Description Application Parameter

range

39 Acceleration time constant S 0~10000 0 1ms ● ●

40 Deceleration time constant S 0~10000 0 1ms ● ●

41 Servo unit output pulse

S 16~32767 2500 p/r ● ○

number

42 Reserved

P，S

0~1 0

43 Speed command selection S 0~1 1 ● ○

44 reserved

45 reserved

46 Motor rotation direction

S 0~3 0 ● ●

control

47 AD conversion analog

S 20~3000 1000 ● ○

command gain

48 AD conversion analog

S 0~32767 2767 ● ○ command zero drift adjustment

49 reserved

50 Analog command low-pass

S 0~32767 200 Hz ● ○ filter cut-off frequency

51 Analog command AD

S 0~32767 ● ○ result filter low-pass frequency

52 Parameter auto setting

P，S

1~100 40 % ● ●

current limit value

53 Parameter auto setting

P，S

10~2000 200 ● ●

speed filter coefficient

54 analog gain in positive

S 20~3000 1000 0.001 ● ○ analog voltage

55 Analog gain in negative

S 20~3000 1000 0.001 ● ○ analog voltage

When Feedback pulse ＞

S 0~32767 0.1ms ● ○

10000, pulse output time in advance

57 reserved

58 Acceleration feedback gain

P，S

0~-10000 0 0.001 ● ●

59 reserved P 1~4 2

60 Current proportional gain

61 Current integral time

P，S

0~12800 1500 ● ●

0~32767 110 0.1ms ● ●

constant

Note: ● for validity, ○ for invalidity

Factory value

Unit

Drive unit interface type

Ⅰ Ⅱ

DAH01, DAH2075E AC Servo Drive Unit User Manual

4.2 Specification for Parameter Meaning

Table 4-2 Parameter Function

No.

Description Parameter

range

Default

value

Unit Application

Drive unit

interface type

Ⅰ Ⅱ

PA0

PA1

Parameter

password

0~9999 315

P，S

● ●

① Used for preventing parameters from being modified by mistake. In general, when a

parameter needs to be set, set the parameter to desired password firstly, and then perform adjustment. After debugging, set the parameter to 0 to ensure the parameter will not be modified by mistake.

② There are different password levels corresponding to user parameter, system parameter

and all parameter respectively.

③ Only type code passwords can be used to modify type code parameters (PA1), other

passwords are unavailable for modifying the parameters. User password is 315, and type code password is 385.

Motor type code 0~100 66

P，S

● ●

① Corresponds to a series of servo units and motors with different power. ② Different type codes correspond to different parameter default values. When using the

function of default parameter restoration, ensure the correctness of the parameter.

③ When absolute encoder disconnection alarm or invalid motor type alarm occurs

immediately after power is turned on, default parameters should not be restored automatically until the trouble is cleared. Otherwise, the drive unit will be abnormal or damaged.

④ Before modifying the parameter, set password PA0 to 385. ⑤ See this chapter for detailed information about the parameter.

PA2

PA3

Software version \ 3.06

P，S

● ●

Software version can be checked but not be modified (read only)

Initial display state 0~20 0

Parameter

value

Explanation Parameter

value

P，S

● ●

Explanation

PA3=0 Display motor speed PA3=11 Display position command

pulse frequency

PA3=1 Display current position low

PA3=12 Display speed command

order 4 digits

PA3=2 Display current position high

PA3=13 Display torque command

order 4 digits

PA3=3 Display position command

(accumulation) low order 4

PA3=14 Display absolute encoder

single-revolution data

digits

Continued:

Parameter

value

PA3=4 Display position command

(accumulation) high order 4

PA3=5 Display position deviation

PA3

PA3=6 Display position deviation high

PA3=7 Display motor torque PA3=18 Display encoder input signal

PA3=8 Display motor current PA3=19 Display running state

PA3=9 Display linear speed PA3=20 Display alarm code

PA3=10 Display control mode PA3=21 Display analog command

No. Description

Control mode

selection

①：Set the control modes of the drive unit by this parameter.

Explanation Parameter

value

PA3=15 Display absolute encoder

digits

PA3=16 Display input terminal state

lower order 4 digits

PA3=17 Display output terminal state

order 4 digits

Parameter

range

Default

value

Unit Application

0~7 0

P，S

Chapter 4 Parameter

Explanation

multiple-revolution data

voltage value

Drive unit

interface type

Ⅰ Ⅱ

● ●

PA4

0：Position control mode 1：Speed control mode 2：Trial run control mode 3：JOG control mode 4：Encoder zero-setting mode 5：Motor test mode 6：Open-loop running mode (used for motor test and encoders) 7：Drive unit type writing mode

② Explanation

a：Position control mode: position command is output from the pulse input port. b：Speed control mode: whether the speed commands are input from input terminals or

analog value is decided by parameter [internal or external speed command selection] (PA42). When using internal speed, use the combination of SC1 and SC2 to select different kinds of internal speed.

c：Trial run control mode: the speed command is input from the keyboard. It is used for

testing drive units and motors.

d：JOG control mode: In JOG mode, the motor runs at JOG speed when ↑ is pressed and

held, while the motor stops and remains zero speed when the button is released; the

motor runs reversely at JOG speed when ↓ is pressed and held, while the motor stops

and remains zero speed when the button is released.

e：Encoder zero-setting mode: used for the adjustment of the code disc zero point before

delivery.

f：Motor test mode: used to test drive units and motors in position control mode. g：Open-loop running mode: used for equipment maintenance by manufacturer technician. h：Drive unit type writing mode: used for writing drive unit types before delivery.

Continued:

No. Description

Speed proportional

gain

PA5

① Set the proportional gain for the speed loop regulator. ② The greater the setting value is, the higher the gain is and the bigger the rigid is. The

parameter value is decided by actual servo drive unit types and load conditions.

③ Set the value as big as possible when no vibration is produced in the system.

Speed integral time

constant

① It sets the integral time constant for the speed loop regulator.

PA6

② The smaller the setting value is, the faster the integral speed is and the bigger the rigid is.

The parameter value is decided by actual servo drive unit types and load conditions. In general, the greater the load inertia is, the greater the setting value is.

③ Set the value as small as possible when no vibration is produced in the system.

Torque command

filter coefficient

① It sets torque command filter characteristics. Resonance (sharp vibration noise made by

PA7

the motor) produced by the torque can be curbed.

② If the motor makes sharp vibration noise, please reduce the parameter value. ③ The smaller the value is, the lower the cut-off frequency and the motor noise are. If the load

inertia is too large, reduce the setting value appropriately. An excessively small value will cause slow response and instability.

④ The greater the value is, the higher the cut-off frequency is and the faster the response is.

If higher mechanical rigid is required, increase the setting value appropriately.

Speed detection

low-pass filter

coefficient

① It sets speed detection low-pass filter characteristics;

PA8

② The smaller the value is, the lower the cut-off frequency and the motor noise are. If the load

inertia is too large, reduce the setting value appropriately. An excessively small value will cause slow response and vibration.

③ The greater the value is, the higher the cut-off frequency is and the faster the speed

feedback response is. If higher speed response is required, increase the setting value appropriately.

Position proportional

gain

① It sets the proportional gain for the position loop regulator

PA9

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

smaller the position lag is. However, an excessively big value may cause vibration or overshoot.

③ The parameter value is decided by actual servo drive unit types and load conditions.

DAH01, DAH2075E AC Servo Drive Unit User Manual

Drive unit

Parameter

range

5~1280 155 0.1

0~32767 85 0.1ms

40~2000 100 %

10~2000 40 %

Default

value

Unit Application

P，S

interface type

Ⅰ Ⅰ

● ●

0~2000 245 0.001 P ● ●

Continued:

No. Description

Position feedforward

gain

① It sets the feedforward gain for the position loop. ② When it is set to100％, it means the position lag is always zero in any frequency of

PA10

PA11

A12

command pulses.

③ Increasing the position loop feedforward gain can improve the high-speed response

characteristics of the control system, but also cause system instability and vibration.

④ The position loop feedforward gain is usually 0 unless extremely high response

characteristic is needed.

Position feedforward

low-pass cut-off

frequency

① It sets the feedforward low-pass filter cut-off frequency for position loop ② This filter is used for increasing the stability of compound position control.

Position command

pulse frequency

division numerator

① It sets the frequency division and frequency doubling (electronic gear) for position

command pulse

② In the position control mode, various pulse sources can be matched conveniently by setting

parameter PA12 and PA13 to reach desired control resolution (i.e., angle/pulse).

③

P: pulse number of input command; G: electronic gear ratio

N: motor rotation number C: photoelectric encoder line/revolution, C＝131072 in this system.

④ Example: when the input pulse is 6000, the servo motor rotates 1 time,

Then parameter PA12 is set to 8192, PA13 is set to 375.

⑤ The recommended range for electronic gear ratio is:

Division frequency

PA13

denominator of position

command pulse

Refer to PA12.

Chapter 4 Parameter

Drive unit

interface type

Ⅰ Ⅰ

4××=× CNGP

Parameter

range

0~1280 0 0.1 P ● ●

1~2000 300 Hz P ● ●

0~32767 8192 P ● ●

Default

value

Unit Application

numeratorfrequency Division

rdenominatofrequency Division

1310721

6000

8192

375

0~32767 500 P ● ●

≤≤ G

Continued:

No. Description

Input mode of

position command

pulse

It sets the input form of position command pulse:

PA14

0: pulse+sign 1: CCW pulse/CW pulse 2: quadrature encoder pulse

Note 1: CCW is observed from the radial direction of the servo motor, CCW rotation is defined as

the positive direction.

Note 2: CW is observed from the axial direction of the servo motor, CW rotation is defined as the

negative direction.

Position command pulse direction

PA15

inversion

It is set to: 0: normal 1: reverse position command direction

DAH01, DAH2075E AC Servo Drive Unit User Manual

Drive unit

Parameter

range

Default

value

Unit Application

interface type

Ⅰ Ⅱ

0~2 0 P ● ○

0~1 0 P ● ○

PA16

PA17

PA18

PA19

Positioning

completion range

0~32767 20 P ● ○

① It sets the pulse range of positioning completion in position control ② This parameter provides judgements for a drive unit to judge whether the positioning is

completed in position control mode. When the afterpulse number in the position deviation counter is smaller than or equal to the setting value of the parameter, the drive unit assumes that the positioning is completed, and the positioning completion signal COIN is ON, otherwise COIN is OFF.

③ In position control mode, the position completion signal COIN is output; in other control

modes, the speed arrival signal SCMP is output.

Position deviation

detection range

0~32767 4000 P ● ●

① It sets the detection range for position deviation alarm. ② When the counter value of the position deviation counter exceeds the value of the

parameter, the servo drive unit gives position deviation alarm.

Invalid Position

deviation error

0~1 0 P ● ●

It is set to: 0: position deviation alarm detection is valid 1: position deviation alarm detection is invalid, and position deviation error detection is stopped.

Speed command

low-pass filter

15~15000 100 P ● ●

cut-off frequency

① It sets the low-pass filter cut-off frequency for position loop output value. The filter is

used for improving the stability of the compound position control.

② When PS22=0, the parameter is invalid; when PA22=1, the parameter is valid.

Continued:

No. Description

Paramete

r range

Default

value

Chapter 4 Parameter

Unit Application

Drive unit

interface type

Ⅰ Ⅱ

PA20

PA21

PA22

PA23

Invalid drive

prohibition input

0~1 0

P，S

● ○

When it is set to: 0: CCW and CW input prohibition are valid. When CCW drive prohibition switch (FSTP) is

ON, CCW drive is enabled. When CCW drive prohibition switch (FSTP) is OFF, CCW torque keep unchanged as o; CW is similar. If both of CCW and CW drive prohibition are OFF, the alarm for drive prohibition input error will be given.

1: CCW and CW input prohibition cancel. Whatever state CCW and CW drive prohibition

switch are in, CCW and CW drive are enabled. Meanwhile, even if both of CCW and CW drive prohibition are OFF, the alarm for drive prohibition input error will not be given.

JOG running speed

-6000~ 6000

100 r/min S ● ●

It sets the running speed for JOG operation

Speed command

filter switch

0~1 0 P ● ●

In position control mode, when it is set to 1, the function of the speed command filter is

enabled; when it is set to 0, the function is disabled.

Max. speed limit 0~3000 3000 r/min

P，S

● ●

① It sets the max. speed limit for the servo motor. ② Not related to the rotation direction.

PA24

～

PA27

PA28

Internal speed 1～4

-6000~60 00

0 r/min S ● ○

SC1 SC2 Internal speed

OFF OFF

OFF ON

ON OFF

ON ON

Internal speed （PA24）

Internal speed 2（PA25 ）

Internal speed 3（PA26 ）

Internal speed 4（PA27 ）

Arrival speed 0~6000 500 r/min S ● ○

① It sets the arrival speed ② In non-position control mode, if the motor speed exceeds the setting value, the SCMP is

ON, or else SCMP is OFF.

③ The parameter is not used in position control mode. ④ It is not related to the rotation direction. ⑤ The comparator has hysteresis characteristic.

Continued:

No. Description

Straight-line speed

conversion

numerator

① Used for displaying the system straight-line speed

②

PA30

③ The decimal point position of the straight-line speed is decided by parameter PA32. 0

means no decimal point, 1 means decimal point in ten’s place, 2 means decimal point in hundred’s place, and so on.

④ Example: when the servo motor drives a ballscrew of 10mm, set the conversion

numerator of the straight-line speed to 10, denominator to 1, decimal point position to 3. The straight-line speed can be displayed on the screen in m/min, when the motor speed is 500r/min, the screen will display the straight-line speed of 5.000m/min.

Straight-line speed

conversion

PA31

denominator

DAH01, DAH2075E AC Servo Drive Unit User Manual

Drive unit

Parameter

range

1~32767 10

Default

value

speed motorspeed line Straight ×=

Unit Application

P，S

interface type

Ⅰ Ⅱ

● ●

numerator conversion speed line-straight

rdenominato conversion speed line-straight

1~32767 1

P，S

● ●

PA32

PA33

PA34

PA35

Refer to parameter PA30

Decimal point position of straight-line speed

0~5 3

P，S

● ●

Refer to parameter PA30

Speed in motor test

mode

When the servo unit is in position control mode, select “oL”and press

0~6000 100 r/min P ● ●

to enter motor test

mode. The test speed is decided by the parameter.

Internal CCW

torque limit

0~300 300 %

P，S

● ●

① It sets the internal torque limitation when the servo motor performs CCW rotation. ② The setting value is the percentage of the rated torque, for example, if the desired result is

two times that of the rated torque, set the value to 200.

③ The limit is always valid. ④ If the setting value exceeds the max. overload capacity permitted by the system, the

actual torque limitation is the max. overload capacity.

Internal CW torque

limitation

-300~0 -300 %

P，S

● ●

① It sets the value of the CW internal torque limitof the servo motor. ② The setting value is the percentage of the rated torque. For example, if the desired result

is twice that of the rated torque, set the value to -200.

③ The limit is always valid. ④ If the setting value exceeds the max. overload capacity permitted by the system, the

actual torque limitation is the max. overload capacity.

Continued:

No. Description

External CCW

torque limit

① It sets the value of external torque limitation when the servo motor performs CCW

rotation.

PA36

② The setting value is the percentage of rated torque. For example, if the desired result is

once that of the rated torque, set the value to 100.

③ The limit is valid only when the input terminal (FIL) of the CCW torque limitation is ON.

When the limit is valid, the actual torque limitation is the smallest value of the absolute values of system permissible max. overload capacity, internal CCW torque limit and external CCW torque limit.

External CW torque

limit

① It sets the external torque limit when the servo motor performs CW rotation. ② The setting value is the percentage of the rated torque. For example, if the desired result

PA37

is once that of the rated torque, set the value to -100.

③ The limit is valid only when the input terminal (RIL) of CW torque limit is ON. ④ When the limit is valid, the actual torque limit is the smallest value of the absolute values

of max. system permissible overload capacity, internal CW torque limit and external CW torque limit.

Torque limit of

speed trial run and

JOG operation

PA38

① It sets the torque limitation in the speed trial run and JOG operation. ② It is not related to the rotation direction, and bidirection is valid. ③ The setting value is the percentage of the rated torque. For example, if the desired result

is once that of the rated torque, set the value to 100.

④ The internal and external torque limit is still valid.

Acceleration time

constant

① The setting value shows the motor acceleration time from 0r/min to 1000r/min.

PA39

② Acceleration/deceleration characteristics are linear. ③ Only used in the speed control mode, invalid in the position control mode. ④ If the drive unit is used in combination with an external position loop, the parameter should

be set to 0.

Deceleration time

constant

① The setting value is the motor deceleration time from 1000r/min~0r/min.

PA40

② Acceleration/deceleration characteristics are linear. ③ Only used in speed control mode, invalid in position control mode. ④ If drive units are used in combination with external position loops, the parameter should

be set to 0.

Chapter 4 Parameter

Parameter

range

0~300 100 %

-300~0 -100 %

Default

value

Unit Application

P，S

0~300 100 % S ● ●

0~10000 0 1ms S ● ●

Drive unit

interface type

Ⅰ Ⅱ

● ○

Continued:

No. Description

Servo unit output

pulse number

PA41

The pulse number, which is output to an upper computer by per-revolution feedback data from an encoder, is set by this parameter in the drive unit. For example, if the desired signal of phases A and B output from the drive unit is 15000pulses/revolution, set the parameter to

15000.

Speed command

selection

PA43

Whether the running speed comes from internal speed or analog command: 0 internal command speed 1 external command speed

Motor rotation

direction control

DAH01, DAH2075E AC Servo Drive Unit User Manual

Parameter

range

Default

value

Unit Application

Drive unit

interface type

Ⅰ Ⅱ

0~32767 2500 p/r S ● ○

0~1 1 S ● ●

0~3 0 S ● ●

PA46

PA47

PA48

PA50

0 normal 1 speed command is reversed speed command inversion.

2 output pulse rotation direction inversion.

3 Both are inversed.

Analog command

gain coefficient

20~3000 1000 0.001 S ● ○

The greater the gain that the analog command converts to speed is, the higher the rigid is. However, an excessively great value will cause system vibration. In position control mode, the parameter is invalid. It works together with parameter number 54 and number 55. The speed command actual gain is equal to PA47*PA54 when the analog command voltage is positive, and equal to PA47*PA55 when negative.

Analog command

zero-drifted

0~32767 2767 S ● ○

compensation

Even if the command voltage is 0V, the motor may still rotate at very low speed sometimes. This is because the command voltage (unit: mv) from an upper computer or external has slight offset (command offset). If there is zero-drifted phenomenon in the motor, offset the reverse voltage value of (zero-drifted rotating speed *10) in PA48.

Analog command low-pass filter

0~32767 200 S ● ○

cut-off frequency

① Analog command filter: increasing the parameter can improve the speed response while

reducing the parameter can make the motor speed smoother. The smaller the parameter is, the slower the motor speed response is, and vice versa.

② The smaller the value is, the stronger the anti-interference ability is; the greater the value

is, the weaker the anti-interference ability is.

Continued:

No. Description

Parameter auto

setting current limit

PA52

value

When the servo performs parameter auto setting, the parameter used for limiting the current

Parameter auto

setting speed filter

PA53

coefficient

When the servo performs parameter auto setting, the speed low-pass filter cut-off frequency

Analog gain in

positive analog

voltage

PA54

① It works together with parameter No.47 to affect the analog command voltage gain. Refer

to parameter No.47.

② Difference between positive and negative voltages of external analog commands causes

inconsistency between position feedback following error of motor positive rotation and the one of negative rotation. To achieve consistency, adjust this parameter.

Analog gain in

negative analog

voltage

PA55

① It works together with parameter No.47 to affect analog command voltage gain. Refer to

parameter No.47.

② Difference between positive and negative voltages of external analog commands causes

inconsistency between position feedback following error of motor positive rotation and the one of negative rotation. To achieve consistency, adjust this parameter.

Pulse output time in advance when

PA56

parameter No. 41 is greater than 10000.

Ensure the output is corret when absolute encoder position data is converted to relative pulse data, the factory setting is done.

Acceleration

command

feedforward gain

Acceleration feedback function means the acceleration, which is obtained by differentiating

PA58

the speed feedback signal of the motor with softwares, multiplies the acceleration feedback gain to compensate the torque command. It is used to curb vibration of a speed loop. For example, When vibration is generated because of system instability, such as the connection between motor and mechanical system is elastic and the mechanical inertia is bigger than the motor inertia, the function can stabilize the servo system.

Chapter 4 Parameter

Drive unit

Parameter

range

1~100 40 %

output value is set by manufacturer.

10~2000 200

coefficient is set by the manufacturer.

20~3000 1000 S ● ○

0~32767 20 S ● ○

0~-10000 0 0.001

Default

value

Unit Application

P，S

interface type

Ⅰ Ⅱ

● ●

Continued:

No. Description

DAH01, DAH2075E AC Servo Drive Unit User Manual

Drive unit

Parameter

range

Default

value

Unit Application

interface type

Ⅰ Ⅱ

Current proportional

gain

0~12800 1500 0.001

P，S

● ●

①It sets the proportional gain for a loop regulator.

PA60

②The greater the setting value is, the higher the gain is and the smaller the current following

error is. However, an excessively high gain will cause noise or vibration.

③ It is only related to the servo drive unit and motor, not to the load. ④ Set the value as great as possible under the condition of no vibration in the system.

Current integral

time constant

0~32767 110 0.1ms

P，S

● ●

① It sets the current loop to adjust integral time constant. ② The smaller the setting value is, the faster the integral speed is and the smaller the

PA61

current following error is. However, excessively small integral time will cause noise or vibration.

③ Only related to the servo drive unit and motor, not to the load; in general, the greater the

motor electromagnetic time constant is, the greater the integral time constant is.

④ Set the value as small as possible under the condition of no vibration generated in the

system.

4.3 Comparison Table of Type Code Parameters and Spindle Motors

Table 4-4 comparison table for No.1 parameter and SJT servo motors with absolute encoders

№1

parameter

110SJT-M040D（A4），1.0kW, 300V, 2500 r/min, 4.5A, 0.68×10

110SJT-M060D（A4），1.5 kW 300V, 2500 r/min, 7A, 0.95×10

130SJT-M040D（A4），1.0 kW 300V, 2500 r/min, 4A, 1.1×10

130SJT-M050D（A4），1.3 kW 300V, 2500 r/min, 5A, 1.1×10

130SJT-M060D（A4），1.5 kW, 300V, 2500 r/min , 6A, 1.33×10

130SJT-M075D（A4），1.88 kW, 300V, 2500 r/min, 7.5A, 1.85×10

130SJT-M100B（A4），1.5 kW, 300V, 1500 r/min, 6A, 2.42×10

130SJT-M100D（A4），2.5 kW, 300V, 2500 r/min, 10A, 2.42×10

130SJT-M150B（A4），2.3 kW, 300V, 1500 r/min, 8.5A, 3.1×10

130SJT-M150D（A4），3.9 kW, 300V, 2500 r/min, 14A, 3.6×10

175SJT-M180B（A4），2.8 kW, 300V, 1500 r/min, 15A, 6.5×10

175SJT-M180D（A4），3.8 kW, 300V, 2500 r/min, 16.5A, 6.5×10

175SJT-M220B（A4），3.5 kW, 300V,1500 r/min, 17.5 A, 9.0×10

175SJT-M220D（A4），4.5 kW, 300V,2500 r/min, 19 A, 9.0×10

175SJT-M300B（A4），4.7kW, 300V,1500 r/min, 24 A, 11.2×10

175SJT-M300D（A4），6 kW, 300V,2500 r/min, 27.5A, 11.2×10

Servo motor type and technical parameter Remark

-3

kg.m2

-3

kg.m2

-3

kg.m2

-3

kg.m

-3

kg.m2

-3

kg.m2

-3

kg.m2

-3

kg.m2

-3

kg.m2

-3

kg.m2

-3

kg.m2

※

※※

Note

Chapter 4 Parameter

Drive units matching the motors with ※ in the above table must adopt thicken



radiators.



Drive untis matching the motors with ※※ must adopt thickened radiators and

fans.

DAH01, DAH2075E AC Servo Drive Unit User Manual

CHAPTER 5 ALARM AND TROUBLSHOOTING

Only qualified persons can execute check and maintenance.

Note

 

Do not touch the driver and motor in 5 minutes after they are switched off to avoid electric shock and burn.



When an alarm occurs in a drive unit, remove the malfunction firstly according to the alarm code, and then use the driver.

Before resetting an alarm, confirm SON (the servo is valid) signal is invalid



to avoid unexpected accidents Caused by a motor’s sudden start.

5.1 Alarm List

Table5-1 Alarm List

Alarm code Alarm name Content

-- Normal

1 Overspeed Servo motor speed exceeds its setting value

2 Main circuit overvoltage Main circuit power is overvoltage

3 Main circuit undervoltage Main circuit power is undervoltage

4 Position deviation The value of the position deviation counter

exceeds its setting value.

5 Motor overheat Motor temperature is too high.

6 Speed amplifier saturation

The speed regulator is saturated for a long time.

fault

7 Drive prohibition abnormality Both CCW and CW drive prohibition input are OFF.

8 Position deviation counter

overflow

The absolute value of the position deviation counter exceeds 2

30.

9 Encoder communication error Encoder communication data error

10 Control power supply

The voltage of the control power is too low.

undervoltage

11 IPM module fault IPM intelligent module fault

12 Overcurrent The motor current is excessive.

13 Overload The servo drive unit and motor are overloaded

(instantaneous overheat)

14 Brake fault Brake circuit fault

15 Motor pole-pairs number error

alarm

The motor pole-pairs number does not match its corresponding motor.

16 Main circuit power failure alarm No power is supplied in the main circuit.

17 Parameter auto setting failure

alarm

Parameter setting error occurs when the servo performs parameter auto setting.

18 Invalid motor type The motor type is not written into EEPROM of the

absolute encode.

19 Encoder disconnection alarm Encoder cables are disconnected or broken.

20 EEPROM error EEPROM error

Chapter 5 Alarm and Troubleshooting

22 Gsk-link initialization failure

alarm

5.2 Alarm Troubleshooting

Fig. 5-2 Alarm troubleshooting

Alarm

code

1 Overspeed

Alarm name

Running

state

Occurs immediately after being connected to power supply

Occurs during motor running

Occurs immediately after the motor is started

① Control circuit board fault ② Encoder fault

Input command pulse frequency is too high.

Acceleration/deceleration time constant is too small, making speed overshoot too high.

The input electronic gear ratio is too big

Encoder fault Replace the servo motor.

Inferior encoder cable Replace the encoder cable.

Overshoot caused by an instable servo system

The load inertia is too big.

Encoder zero error

① Motor lead-out wire U, V

② Cable lead-out wire

and W connection error

connection error

Gsk-link initialization failed, DSP reading FPGA failed, FPGA works abnormally or a wrong program is downloaded.

Cause Troubleshooting

① Replace the servo drive

unit.

② Replace the servo motor.

Set input command pulse correctly.

Increase acceleration/deceleration time constant.

Set it correctly.

① Reset relative gains. ② If the gain cannot be set

to a proper value, reduce the ratio of the load rotary inertia.

① Reduce the load inertia. ② Replace the drive unit

and motor with higher-power ones.

① Replace the servo motor. ② Request the

manufacture to reset the encoder zero.

Connect the wires correctly.

Continued:

Main circuit

overvoltage

Main circuit

undervoltag

DAH01, DAH2075E AC Servo Drive Unit User Manual

Occurs immediately after being connected

Circuit board fault Replace the servo drive unit.

to control power supply

Occurs immediately after being connected

① Power supply overvoltage ② Abnormal power supply

to main power supply

The rake resistance cable is disconnected.

① The brake transistor is

② The Internal brake

Occurs during motor running

The brake circuit capacity is Insufficient.

① Circuit board fault

Occurs

② Power supply fuse

immediately after being connected to control

③ Soft starting circuit fault ④ Rectifier damage ① The power supply voltage

power supply

② Power is cut off for more

① Insufficient power supply

Occurs

during

② Instantaneous power

motor

running

Radiator overheat Check the loading conditions

voltage waveform

damaged.

resistance is damaged.

damage

is low.

than 20ms temporarily.

capacity

down

Check the power supply.

Re-connect the cable.

Replace the servo drive unit

① Reduce the on-off

frequency.

② Increase the

acceleration/deceleration time constant.

③ Reduce the torque

limitation value.

④ Reduce the load inertia. ⑤ Replace the drive unit

and motor with higher-power ones.

Replace the servo drive unit

Check the power supply

Continued:

Position

deviation

Motor overheat

Occurs immediately after being connected

Circuit board fault to power supply

① Incorrect connection for

② Incorrect connection for

The motor does not

Encoder fault Replace the servo motor. rotate after

the main power supply and control wire are

Detecting range of the

position deviation is too

small.

The position proportional

gain is too small.

connected and command pulses are

Insufficient torque

input.

The command pulse

frequency is too high.

No connection between

drive shell and system shell.

Occurs

Circuit board fault Replace the servo drive unit. immediately

after being connected

① Broken cable

② Damaged temperature

to power supply

Occurs during

The motor is overloaded.

motor running

Chapter 5 Alarm and Troubleshooting

motor lead-out wires U, V and W

encoder cable lead-out wires

relay inside the motor

Replace the servo driver.

Connect the wires correctly.

Increase the detecting range.

Increase the gain.

① Check the torque limitation

value.

② Reduce the load capacity. ③ Replace the drive unit and

motor with higher-power ones.

Reduce the frequency.

Ensure good electric connection between the two shells.

① Check the cable ② Check the motor

① Reduce the load. ② Reduce the on-off

frequency.

③ Reduce the torque

limitation value.

④ Reduce the related gains. ⑤ Replace the drive unit and

motor with higher-power ones.

Motor internal fault Replace the servo motor.

Continued:

Speed amplifier

saturation fault

Drive

prohibition abnormality

Position deviation

counter overflow

DAH01, DAH2075E AC Servo Drive Unit User Manual

Occurs during motor running

The motor is mechanically blocked to stop.

Check the mechanical parts of the load.

① Reduce the load.

Overload

② Reduce the drive unit and

motor with higher-power ones.

Both the input terminals of CCW and CW drive prohibition are

Check the connection and input terminal power supply.

disconnected.

① Check the mechanical

① Motor is mechanically

blocked to stop.

② Abnormal input

command pulse

parts of the load.

② Check the command

pulse.

③ Check whether the motor

rotation is connected to command pulses.

Encoder communicat ion error

Control power supply undervoltag e

IPM module fault

The battery is out of power. Replace the battery.

Encoder wiring error Check the wiring.

The encode is damaged Replace the motor.

Inferior encode cable Replace the cable.

The 485 differential chip is damaged.

Low encoder voltage caused by long encoder cables

Low input control power supply

① Inferior connectors in the

② Abnormal switch power

③ Damaged chip

Occurs Immediately after being connected

Circuit board fault Replace the servo drive unit.

to power supply

drive unit

supply

Replace the servo drive unit.

① Shorten the cables. ② Supply power with multiply

cores in parallel connection.

Check the control power supply.

① Replace the drive unit. ② Check the connectors. ③ Check the switch power

supply.

Continued:

Chapter 5 Alarm and Troubleshooting

① Low power-up voltage

② Overheat

① Check the drive unit. ② Power on again. ③ Replace the drive unit.

Occurs during motor running

IPM module fault

12 Overcurrent

Occurs immediately after being connected to control power supply

13 Overload

Occurs during motor running

Short circuit among drives

U, V and W

Check the wiring.

Bad ground Be grounded correctly.

Damaged motor insulation Replace the motor.

① Add circuit filters.

being interfered

② Be far away from the

interference source.

Short circuit among drive

units U, V and W

Check the wiring.

Bad ground Be grounded correctly.

Damaged motor insulation Replace the motor.

Damaged drive unit Replace the drive unit.

Circuit board fault Replace the servo drive unit.

① Check the load. ② Reduce the on-off

frequency.

Exceeds the rated torque.

③ Reduce the torque

limitation value.

④ Replace the drive unit and

motor with higher-power ones.

Hold brake is not switched

on.

The motor is instable and

vibrating.

① Phase U, V or W is

broken.

② Encoder wiring error

Check the hold brake.

① High dynamic gain ② Increase the

acceleration/deceleration time.

③ Reduce the load inertia.

Check the wiring.

Continued:

14 Brake fault

Motor

pole-pairs number error

Main circuit

Power failure alarm

DAH01, DAH2075E AC Servo Drive Unit User Manual

Occurs immediately after being connected

Circuit board fault Replace the servo drive unit. to control power supply

The brake resistance cable

is disconnected.

① Damaged brake

② Damaged internal brake

Occurs during motor running

Insufficient brake circuit

capacity

Power supply of the main

circuit is too high.

Occurs immediately after being connected to power supply or

The motor pole-pairs

number does not match its

corresponding motor. during motor running

The main circuit is not

electrified.

The relay of the main circuit

is switched off.

Main circuit undervoltage Check the main power supply.

transistor

resistance

Re-connect the cable

Replace the servo drive unit.

① Reduce the on-off

frequency.

② Increase the

acceleration/deceleration. time

③ Reduce the torque

limitation value.

④ Reduce the load inertia. ⑤ Replace the drive unit and

motor with high-power ones.

Check the main power supply

Correct the motor pole-pairs number of its corresponding motor and power on again.

Check the main power supply.

Parameter auto setting failure alarm

Occurs during servo parameter auto setting.

Parameter values after auto

setting are invalid or the

setting failed.

①Perform parameter auto

setting after power on again.

②Adjust the parameter

manually.

Continued:

Invalid motor type

Chapter 5 Alarm and Troubleshooting

①Motor types are not written

① Motor types are not

written to the EEPROM of the absolute encoder.

② Motor type codes are not

read when power on.

to the absolute encoder when motor is out of factory or the written motor types are 0.

②Check whether the encoder

cable is connected.

Encoder disconnecti on alarm

The encoder cable is disconnected or damaged.

Connect the encoder cable; replace the encoder cable.

① Replace the servo drive

unit.

② Reset the drive unit type

with parameter No.1 after

EEPROM error

Damaged chip or circuit board

troubleshooting, and then restore the default parameters.

Occurs immediately

Gsk-link initiation failed, DSP reading FPGA failed,

① Replace the servo drive

FPGA works abnormally or a wrong program is

② Replug the network cable.

downloaded.

unit.

Gsk-link initialization failure alarm

after being connected to power supply or during motor running

DAH01, DAH2075E AC Servo Drive Unit User Manual

CHAPTER 6 DISPLAY AND OPERATION

6.1 Keyboard Operation

z The driver panel consists of 6-LED digital tube display and 4 keys , used for

displaying various system states and setting parameters, etc. The functions of the keys are as follows:

： Sequence number, numerical value increment or forward selection

： Sequence number, numerical number decrement or backward selection

： Back to upper operation menu or cancel the operation.

： Enter into next operation menu or confirm the operation.

Note: keep pressing

holding time is, the faster the repetitive speed is.

z The 6-bit LED digital tube displays various states and data of the system, flashing of all digital

tubes means alarm.

z Performance is executed among multi-layer operating menus. The first layer is the main menu

including 8 operating modes and the second is the functional menu for each operating mode. Fig.6-1 is the operating frame of the main menu:

or , the operation is performed repetitively. The longer the

Fig. 6-1 Operating frame of mode selection

Chapter 6 Display and Operation

)

6.2 Monitoring Mode

Select “dP-“in the first layer, then press to enter the monitoring mode. Use and to

select a desired display mode, and then press states in total).

dP— SPd dP— PoS dP—PoS.

dP—CPo dP—CPo. dP— EPo dP—EPo.

dP—trq

dP— I

dP— LSP

dP—Cnt dP—Frq

dP—CS

Motor speed（r/min）

Current position low order4digits

Current position high order 4 digits(×10000pulses) Position command low order 4 digits（pulse）

Position command high order 4 digits (×10000 pulses)

Position deviation low order 4 digits (pulse)

Position deviation high order 4 digits (×10000 pulses)

Motor torque （﹪）

Motor current （A） Straight-line speed （m/min）

Current control mode Position command pulse frequency（kHz）

Speed command（r/min）

to enter specific display states (21 kinds of display

ulse

r 1000

P 5806

Motor speed 1000r/min

Current position 125806 pulses

P. 12 C 5810

Position command 125810 pulses

C. 12

E 4

Position deviation 4 pulses

E. 0

t 70

I 2.3

L 5.000

Cnt 0

F 12.6

r. -35

Motor torque 70﹪

Motor current 2.3 A Straight-line speed 5.000m/min

Control mode 0 Position command pulse

frequency 12.6 kHz

Speed command -35r/min

dP— Ct

dP—APo

dP—In

dP— oUt

dP— Cod

dP—rn

dP—Err

dP— USd

Torque command（﹪）

）

Absolute position value of rotor in one revolution

Input terminal state Output terminal state Encoder input signal

Running state Alarm code

Analog command voltage

t -20

A13265

In oU

Cod 0

Rn- on

Err-9

U 0.005

Torque command -20% Rotor absolute position

value of 13265 Input terminal

Output terminal

Encoder signal

Running state: running Alarm No. 9 Voltage value of analog

command

Fig.6-2 Operating frame of monitoring mode

Note 1: Position pulse value and command pulse value are the magnified ones after the electronic gear is

input.

Note 2: The pulse unit is the internal pulse unit that is 131072 pulses/rev in this system. The magnitude for the

pulse is described by high order 4 digits plus low order 4 digits and the calculation method is as follows: Pulse=high order 4-digit numerical value×10,000+low order 4-digit numerical value

Note 3: Control mode

zeroing; 5-open loop operation.

Note 4: If the display number reaches 6 digits (e.g., -12345), no more prompt character will be displayed.

：0-position control；1-speed control；2-speed trial run; 3- run in JOG mode; 4-encoder

DAH01, DAH2075E AC Servo Drive Unit User Manual

)

Note 5: Pulse frequency of the position command is the actual one before being magnified by inputting the

electronic gear and its min. unit is 0.1 kHz, with positive number for positive direction and negative number for negative direction.

Note 6: The calculation method of the motor current I is as follows:

2 3

Note 7: The absolute position of a rotor in one revolution means the one relative to a stator. One rev is one

cycle, and its range is 0~9999.

Note 8: input terminal display is shown in figure 6-3, and output terminal display is shown in figure 6-4.

222

)(

IIII ++=

WVU

INH(command pulse prohibition) SC2(speed selection 2)

CLE(deviation counter zeroing)

FIL(CCW torque limit)

RIL(CW torque limit)

SC1(speed selection 1)

RSTP(CW drive prohibition)

FSTP(CCW drive prohhibition)

ALRS(alarm clearing)

SON(servo

enabling)

Fig. 6-3 Input terminal display (light is ON and poor light is OFF)

COIN(positioning completion)

reserved

SCMP(speed arrival)

ALM(servo alarm)

SRDY(servo ready

Fig. 6-4 Input terminal display (light is ON and poor light is OFF)

Note 9: running state:

“rn- oFF”

“rn- CH”

“rn- on”

Note 10: only four digits are displayable for straight-line speed. Note 11: “Err --” means the system is normal and no alarm occurs.

：The main circuit has not been charged and the servo system does not run.

：The main circuit has been charged and the servo system does not run (the servo is not

enabled or an alarm occurs);

：The main circuit has been charged and the servo system is running.

6.3 Parameter Setting

Note

Chapter 6 Display and Operation

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

select a parameter number, press

modify the value; press

or to increase or decrease the parameter continuously. When the value of a parameter is

being modified, the decimal point of the leftmost LED digital tube is lighting. When the modified value

is confirmed by pressing

control immediately. After that, press

modification completed, press

is not the desired one, press will restore to its previous value and backs to the parameter selection state.

PA— 0

PA— 1

or once to increase or decrease the parameter by 1; press and hold

, the decimal point goes out and the modified value is reflected to the

Parameter No. 0

Parameter No.1

to display the value of the parameter, then use and to

to return to parameter selection state. If the value being modified

to cancel it instead of pressing to confirm it, then the parameter

to enter parameter setting mode. Use and to

or to continue the parameter modification. With the

PA— 98

PA— 99

Parameter No. 98

Parameter No. 99

Fig. 6-6 Operation frame of parameter setting

. 1000

6.4 Parameter Management

Parameter management mainly processes the operation between memory and EEPROM. Select

“EE-”in the first layer, and press

mode (6 modes in total) firstly by

then press

will display “FInISH”, if not, display “Error”. Press

 EE － SEt parameter writing. It means writing the parameters in memory to the

and hold it for more than 3 seconds. If the writing operation is successful, the screen

to enter into parameter management mode. Select an operation

and . Take Parameter Writing for example: select “EE-Set”,

again to return to operation selection mode.

DAH01, DAH2075E AC Servo Drive Unit User Manual

parameter area of EEPROM. User’s modification for parameters only changes the parameter values in the memory so that the values will be restored to previous ones after power-on again. If the parameter values need to be changed permanently, perform parameter writing operation, then the parameters in memory are written to EEPROM parameter area and the modified parameters are valid after power on again.

 EE－rd parameter reading. It means reading the data in EEPROM parameter area to

the memory. This process is automatically executed once after power on. In the beginning, the parameter values in the memory are the same as those in the EEPROMO parameter area. If user modifies the parameters, their values in the memory will be changed. When the modified parameter values are not the desired ones or the parameters are disordered, execute parameter reading operation to re-read the data in EEPROM parameter area to the memory, which restores the parameters to the ones on startup.

 EE－bA parameter backup. It means reading the parameters in the memory to EEPROM

backup area. EEPROM consists of parameter area and backup area and it can save two sets of parameters. Its parameter area is used for system power-on, parameter reading and writing while its backup area is used for parameter backup and backup restoration. During parameter setting, if user is satisfied with one group of parameters needing further modification, execute parameter backup operation to save the parameters to EEPROM backup area, then modify the parameters again or end the modification. In this way, if the effect becomes poor later, user can execute backup restoration operation to re-read the parameters saved in the EEPROM backup area to the memory, and then re-modify or end the modification. Besides, after setting parameters, user can execute parameter writing and parameter reading to ensure the data in the parameter area and backup area is the same, which prevents parameters from being modified by mistake; user can also execute backup restoration operation to write the data in EEPROM backup area to the memory and then execute parameter writing operation to write the memory parameter to EEPROM parameter area.

 EE－rS backup restoration. It means reading the data in EEPROM backup area to the

memory. Please note that the parameter writing is unavailable in this operation and the data read into the memory after power on again is still the one in EEPROM backup area. To use the parameters in the EEPROM backup area permanently, user needs to execute another parameter writing operation.

 EE－dEF default value restoration. It means reading all parameter default values

(factory values) to the memory and writing them into the EEPROM parameter area. The default values are used after power on again. This operation can restore all parameters to their factory states if the system works abnormally because of incorrect parameter adjustment. Ensure the drive unit type (parameter No.1) is right when executing default parameter restoration, for different drive unit types correspond to different default values.

 EE－Cr writing drive unit types to encoders. It indicates that the drive unit types are

written to the EEPROM of encoders. This operation is for manufacturer rather than user so that user’s operation is invalid.

Chapter 6 Display and Operation

Fig. 6-7 Operating frame of parameter management

Fig. 6-8 Operating meaning of parameter management

6.5 Speed Trial Run

Select “Sr-” in the first layer, and press

run is “S” and the unit is r/min. Speed commands are input with keys and changed by

to enter speed trial mode. The prompt of speed trial

and in

DAH01, DAH2075E AC Servo Drive Unit User Manual

speed control mode, and the motor runs at the specified speed. Press to increase speed and

press when negative speed is displayed, the motor performs CCW rotation.

to decrease speed. When positive speed is displayed, the motor performs CW rotation;

S 800

Fig. 6-9 Operating frame of speed trial mode

6.6 JOG Operation

Select “Jr-” in the first layer, then press to enter JOG operation mode. The prompt of JOG

operation is “J” and the unit is r/min. The speed commands are input with keys in speed control mode.

In JOG operation, the motor runs at JOG speed when remains unchanged at zero speed when the button is released. JOG speed is set by parameter No.

21.

is pressed and held while it stops and

J 120

Fig. 6-10 Operating frame of JOG operation

6.7 Motor Test

Select “oL” in the first layer, and press to enter motor test mode. Its prompt is “r”and the unit

is r/min. Position limit value is 268435456 pulses and the speed is set by parameter No.24 in position

control mode. In motor test mode, the motor runs at tested speed by keeping

stops and remains unchanged at zero speed by pressing the enable and exit motor test mode.

for 2 seconds. Press to switch off

for 2 seconds,

6.8 User Shortcut Password

User shortcut password is used for selecting password quickly to modify corresponding

parameters. Select “PS-”in the first layer, then press

Select one password mode (three modes in total) firstly with

specific password values. Press

 PS－UEr user password. The password is 315, which means the value of parameter No.

0 immediately turns to 315 in the operation. Corresponding parameters can be modified after the user exits the operation and returns to the parameter setting mode.

 PS－CFS control mode selection. The password value is 510, which means the value of

parameter No. 0 immediately turns to 510 in the operation. Corresponding parameters can be modified after the user exits the operation and returns to the parameter setting mode.

 PS－tPE drive unit type selection. Its password is 385, which means the value of

to return to the state of password mode selection.

to enter user shortcut password mode.

and , then press again to enter

Chapter 6 Display and Operation

parameter No. 0 immediately turns to 385 in the operation. Corresponding parameters can be modified after the user exits the operation and returns to the parameter setting mode.

6.9 Servo Parameter Auto Setting

The parameter auto setting newly developed by our company can identify system control models accurately, and find out a group of optimal parameters for servo control automatically and quickly according to different load inertia ratios. Compared with the manual setting for PID parameters, it saves lots of time and energy and has strong adaptability. Its operation procedures are as follows:

① After power supply is connected correctly, the upper computer starts to send enable signal to

the servo drive unit and the signal remains enabled. When connecting the closed-loop system (CNC), shield the alarm of system (CNC) position deviation.

② Select “Au”in the first layer, press and hold for 3 seconds to enter auto setting mode of

servo parameters. It is normal to see ±0.5 pitch oscillating back and forth on the machine at the moment. If the auto setting succeeds, the screen will display “FInISH”. The changes of

parameter No.5 and No.6 can be checked by returning to “PA” with is needed, repeat procedure 2. If the auto setting fails, the screen will display “Err-17” (i.e., alarm No.17).

③ After the successful parameter auto setting, the set parameters are saved to the E2PROM

storage location of the servo drive unit automatically and take effect immediately without power on again; if the set parameters are not the optimal ones, operators can fine tune the values of parameter No.5 and No.6. Please note that the parameters cannot be saved automatically at the moment, so parameter management “EE-SET” needs to be performed to save them. Refer to 6.4 for details.

. If another auto setting

6.10 Others

On-line adjustment for automatic gains is not provided currently, for it is under development.

Encoder zeroing function is for motor manufacturer, please do not use it.

Open-loop operation mode is for motor manufacturer, please do not use it.

Note

DAH01, DAH2075E AC Servo Drive Unit User Manual

CHAPTER 7 RUN

7.1 Power Supply Connection

Refer to figure 7-1 for power supply connection. The connecting sequence is as follows:

1) Connect the power supply to the input terminal of the main circuit through an electromagnetism contactor (R, S and T for three phases, R and S for single phase).

2) Switch on the power supply of control circuit at the same time as or before switching on the one of main circuit. If only the power supply of the control circuit is switched on, the servo ready signal (SRDY) is OFF.

3) After the power supply of the main circuit is switched on and delays for 1.5s, the servo ready signal (SRDY) is ON. At this moment, the servo enable (SON) signal may be received. After valid servo enable is detected, the drive unit output is valid, and the motor is excited and running. When invalid servo enable is detected or an alarm occurs, the base electrode circuit is switched off and the motor is in free state.

4) When the servo enable and power supply are switched on together, the base electrode circuit will be switched on in about 1.5s.

5) Switching on and off the power supply frequently may damage the soft-starting circuit and energy consumption brake circuit, so the on-off frequency should be less than 5 times per hour or 30 times per day. If the drive motor unit and motor are overheated, 30-minute cooling is needed before the power supply is switched on again after troubleshooting.

Chapter 7 Run

Emergency stop

NFB

Three-phase

or single-

phase AC

220V

Noise

filter

24V

Fig. 7-1 wiring of power supply

Time sequence of power supply connection and alarm

Power supply of

control circuit

Servo alarm output

(ALM)

<1s

RAOFF

R S

r t

ALM

Servo drive

Power supply of

main circuit

Servo ready output

(SRDY)

Servo enable

input(SON)

Servo motor

excitation

<1.5s

Response in

10ms

<10ms

Fig. 7-2 Time sequence of power supply connection

Fig.7-3 Time sequence of alarm

DAH01, DAH2075E AC Servo Drive Unit User Manual

7.2 Trial Run

1） Check before running

Check the following items before power on after installation and wiring:

z Whether the TB wiring of the power supply and reliable input voltage are correct z Whether the power line and motor line are short circuited or grounded z Whether the connection of encoder cables is correct. z Whether the connection of the control signal terminal and the polarity as well as the size of

the power supply are correct.

z Whether the drive unit and motor are fixed tightly. z Whether the motor shaft is connected to the load.

2） Trial run after power on

（1） Trial run mode

① Connect to CN1 to make servo enable (SON) OFF, CCW drive prohibition (FSTP) ON

and CW drive prohibition (RSTP) ON.

② Please check the wiring if an alarm occurs after the power supply of the control circuit

(no connection for main circuit) is connected and the display of the drive unit is switched on.

③ Set the control mode selection (parameter No.4) to the speed trial run mode (set to 2). ④ Switch on the power supply of the main circuit. ⑤ After confirming that no alarm or abnormality occurs, make the servo enable (SON) ON.

Then the motor is excited and in zero seed state.

⑥ Press keys to enter speed trial mode. Its prompt is “S“and the unit is r/min. When the

system is in speed control mode, speed commands are input by keys. Press

and

to change the commands, then the motor runs at the specified speed.

（2） JOG run

① Connect to CN1 to make servo enable (SON) OFF, CCW drive prohibition (FSTP) ON

and CW drive prohibition (RSTP) ON.

② Please check the wiring if an alarm occurs after the power supply of control circuit (no

connection for main circuit) is connected and the display of the drive unit is switched on.

③ Set the control mode selection (parameter No.4) to JOG mode (set to 3). ④ Switch on the power supply of main circuit. ⑤ If there is no alarm or abnormality, make the servo enable (SON) ON. Then the motor is

excited and in zero seed state.

⑥ Press keys to enter JOG run mode. The prompt and unit of the mode are “J” and r/min

respectively. When the system is in the speed control mode, the speed and direction are

decided by parameter No. 21. Press

direction decided by No.21, while press

to make the motor run at the speed and in the

to make the motor run in negative direction at

specified speed.

（3）Position control mode operation

① Connect to CN1 to make servo enable (SON) OFF, CCW drive prohibition (FSTP) ON

and CW drive prohibition (RSTP) ON.

② Please check the wiring if an alarm occurs after the power supply of control circuit (no

connection for main circuit) is connected and the display of drive unit is switched on.

③ Set the control mode selection (parameter No.4) to position running mode (set to 0). Set

Chapter 7 Run

parameter No.14 and electronic gear ratio （No.12，No.13）according to controller output

signal mode.

④ Switch on the power supply of the main circuit. ⑤ If there is no alarm or abnormality, make the servo enable (SON) ON. At this moment,

the motor is excited and in zero-speed state.

⑥ Operate the position controller to output signals to drive pins CN1-6, CN1-18, CN1-7 and

CN1-19, making the motor runs according to commands.

（4）Speed control mode operation

The speed operation mode consists of the speed control of external analog voltage and the

speed control of internal speed.

Speed control mode of external analog voltage:

① Connect to CN1 to make servo enable (SON) ON, CCW drive prohibition (FSTP) ON, CW

drive prohibition (RSTP) ON.

② Please check the wiring if an alarm occurs after the power supply of the control circuit (no

connection for main circuit) is connected and the display of the drive unit is switched on.

③ Set the control mode selection (parameter No.4) to the speed running mode (set to 1), and

set parameter No. 43 to 1.

④ Switch on the power supply of the main circuit. ⑤ If there is no alarm or abnormality, make the servo enable (SON) ON. At this moment, the

motor is excited and in the running state that the speed is controlled by the external analog voltage.

Analog speed zeroing: 1) Set PA49 to 1;

2) Shift the display to”DP-SPD”;

3) Observe the current speed: If the direction is clockwise, adjust the value of PA44 to a bigger one; if the direction is counterclockwise, adjust the value to a smaller one till the speed is displayed as”R-0”.

4) Set parameter No.49 to 0;

5) Shift the display to”DP-POS”;

6) Observe the current position: if it is increasing, adjust the value of PA45 to a bigger one, if it is decreasing, adjust the value to a smaller one till the position value is stable.

⑥ Chang the external analog voltage to change the motor speed, and change the direction of

the analog voltage to change the rotation direction of the motor

Note: In speed control mode, even if the analog command voltage sends 0V command, the motor will still

rotates at very low speed. At this moment, it needs to adjust the amplifier zero.

Two kinds of internal speed control:

① Connect CN1 to make servo enable (SON) OFF, speed selection (SC1) OFF, speed selection

2 (SC2) OFF, CCW drive prohibition (FSTP) ON and CW drive prohibition (RSTP) ON.

② Please check the wiring if an alarm occurs after the power supply of the control circuit (no

connection for main circuit) is connected and the display of the drive unit is switched on.

DAH01, DAH2075E AC Servo Drive Unit User Manual

③Set the control mode selection (parameter No.4) to the speed running mode (set to 1), and set

parameter No. 43 to 0. In addition, set speed parameter No.24～No.27as needed.

④ Switch on the power supply of the main circuit. ⑤If there is no alarm or abnormality, make servo enable (SON) ON. At this moment, the motor is

excited and runs at internal speed 1.

⑥Change the state of input signals SC1 and SC2 to make the motor run at the specified speed.

7.3 Adjustment

Note

1）Basic gain adjustment

（1）Speed control

① The setting value of [speed proportional gain] (parameter No. 5): the value should be set as

big as possible under the condition of no vibration. In general, the bigger the load inertia is, the bigger the value is.

②The setting value of [speed integration time constant] (parameter No.6): the value should be

as small as possible according to given conditions. If the value is too small, the response speed will increase, but vibration will occur too. Therefore, set the value as small as possible under the condition of no vibration. If the value is too big, the speed may change significantly with the load.

（2）Position control

① Set proper [speed proportion gain] and [speed integration time constant] following the above

methods.

② Set [position feedforward gain] (parameter No. 10) to 0%.

③The setting value of [position proportion gain] (parameter No.9): the value should be set as big

as possible within a stable range. A too big value leads to good track characteristics of position commands and small lag error, but also causes vibration easily when the positioning is stopped.

④Increase the setting value of [position feedforward gain] if particularly high position track

characteristics are needed, but an extremely big value will cause overshoot.

Note: a small setting value of the position proportion gain leads to a stable state for the system, but also

causes bad position track and big lag error.

2）Basic parameter adjustment

p p

low-pass

filte

o.9

proportion gain

Position

command

selection

Position command

Internal speed command

o.14

input form

Pulse

gear

o.12 o.13

Electronic

Feedforward

gain

Feedforward

o.4

Speed

o.39 o.40

celeration time

Acceleration/de

calculation

Speed

o.5 o.6

constant of speed

Integration time

proportion gain

o.64

low-pass filter

Chapter 7 Run

o.60 o.61

Current command

ro ortion

ain

Integration time

constant of

current

RS485

communication

External analog

o.47

command

gain

Analog

speed

voltage

Fig. 7-4 Adjustment for basic parameter

3） Setting for position resolution and electronic gear

Position resolution (one pulse travel l)

△ is decided by travel S per revolution of △ the servo

motor and feedback pulse Pt per revolution of the encoder. It can be expressed as follows:

△

In the expression,

△ ：one pulse travel（mm）;

△ ：travel per revolution of the servo motor（mm/r） ;

Pt：feedback pulse number per revolution of the encoder（p/r）.

Pt=131072p/r due to the servo motor with a17-bit absolute encoder. Command pulse converts to position control pulse by multiplying electronic gear ration G, so

one command pulse travel l

△ ﹡is expressed as follows:

l*=

×G

△

oron numeratncy divisilse frequecommand pu

In the expression,

atorminon denoncy divisilse frequecommand pu

DAH01, DAH2075E AC Servo Drive Unit User Manual

CHAPTER 8 PRODUCT SPECIFICATION

The servo drive unit shall be purchased with its matching servo motor. This

Attentions

8.1 Specifications of Drive Unit

Adaptive motor capacity



manual introduces the conditions that GSK SJT series motors are matched.



Please note on the order if you want to use servomotors of other manufacturers.

Table 8-1 Specifications of DAH series servo drive unit

0.1kW～6kW

Input power supply

Control mode Three-phase full-wave rectification IGBT

Feedback mode 17-bit absolute encoder

Working environment

vibration/impact resistance

Speed control mode

Scope of speed control (base on the condition that locked rotor is not happened at rated load)

Speed change rate

Main circuit Single-phase or three- phase AC

（0.85～1.1）×220V 50Hz/60Hz

Control loop

Temperature

Humidity

Single-phase AC（0.85～1.1）×220V

50Hz/60Hz

PWM sine-wave driving

Operation temperature: 0 Storage temperature：-40

Less than 90%（No dewing）

Less than 0.5G（4.9m/s

(Discontinuous movement)

1: 60000

0～100% Load:±0.01﹪

Rated voltage ±10%:±0.01﹪

℃～+40 ℃

℃～+70 ℃

）/10Hz～60Hz

Position control mode

Speed frequency response ≥200Hz

Acceleration and deceleration time

External speed command input ±10V input voltage

Internal speed setting function 4 kinds of speed can be set inside

Input impedance 20kΩ

Max. pulse input frequency

Type of input pulse 1. Direction + Pulse 2.CCW+CW pulse

series 3.90° pulse difference two-phase pulse. Any of them can be selected.

Form of input pulse 1. Differential input 2. Open collector input

Electronic gear ratio 1< α/β <32767

0～6.5536M(Hz)

0～10s

I/O Signal

Chapter 8 Product Specifications

Position signal output 1. A phase, B phase, Z phase differential

output. 2. Open collector output Z phase

Control input signal

Control output signal

Servo enable Alarm clearing ①② ③CCW drive prohibition CW drive prohibition Deviation counter clearing/speed ④⑤

selection 1 Command pulse prohibition/speed selection 2 ⑥⑦ Zero speed clamping

Servo ready output Servo alarm output Positioning finish ①②③

output/speed arrival output Brake output④

Inside Communicatio

n function

Functions

High performance functions

Regenerative braking

Frequency dividing output of encoder signals

Protection function

Monitoring function

Display, Operation

GSK-LINK communication mode. Max. connection number:254 axes Data transmission rate: 100Mbit/s

1. A high resolution encoder is used to get more stable performance. Stable mechanical performance is realized.

2. A16-bit high-precision A/D conversion chip is adopted to achieve high-precision closed loop control. The number of feedback pulse can be adjusted freely. （≤32768）.

3. Motor type automatic recognition function.

4. In the bus communication mode, the servo parameters upload and download online, servo diagnostic information feedback and servo alarm monitoring can be realized.

5. In bus communication mode, the functions that work piece coordinate system power-off memory and no stroke switch zero return can be realized.

6. Control model identification and parameter auto-setting

function.

Built-in

Adjustable frequency division Pulse output: 16～32768(pulse/rev)

Over speed, main power source overvoltage, power module fault, under voltage, over current, over load, over heating, braking abnormal, encoder abnormal, encoder communication fault, invalid motor type setting, control power source abnormal, position deviation, etc.

Motor speed, pulse number of the current position, pulse number of position command, position deviation, motor torque, motor current, linear speed, absolute position of the rotor, pulse frequency of the command, operation state, input/output terminal signal, current given voltage, etc.

6-digit LED, 4 buttons

DAH01, DAH2075E AC Servo Drive Unit User Manual

8.2 Servo Motor Specification

1） Product introduction

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

technical characteristics:

New

◆ -type rare earth is used, output power is big.

The motor with well low

◆ -speed characteristic, speed regulation ratio >1:10000.

Dielectric strength and insulation resistance are high and safe.

◆

◆ Strong overload capacity, instantaneous torque is about 8 times the value of the rated

torque.

2） Terminal instruction

（1） SJT series motor winding

3-phase winding U, V, W of the motor and earth wire of the motor shell are led out by a 4-core plug-in connector. See table 1 for its corresponding relationships. U, V, W and earth wire of the motor shell are respectively connected to terminals U, V, W and PE of drive unit main circuit.

Motor wire U V W

W V

Plug No. 2 3 4 1

The wire of photoelectric encoder is led out through a 15-core plug-in connector. See 8-3 for its corresponding relationships. The led out wires are connected to the plug of drive unit feedback signal CN2 according to requirements of the drive unit.

Table 8-2 Motor wiring table

Shell

（earth wire）

Contact（weld point）

diagram

Table 8-3 Encoder wiring table

Shell

Encoder wire

（earth wire）

GND VCC SD

Plug No. 1 2 3 4 5 6 7 8

Encoder wire VB

Plug No. 9 10 11 12 13 14 15

3) Servo motor technical specifications

Table 8-4 Specifications of SJT series motor with absolute encoder

Chapter 8 Product Specifications

Type

Powe r(kW)

Pole-

pairs

Zero-speed

torque

(N.m)

Rated rotary speed

(r/min)

Rated

current

(A)

Rotor

inertial

(kg.m

Working voltage

)

(unit：V)

80SJT-M024C(A4) 0.5 4 2.4 2000 3 0.83×10-4 AC 3-phase 220

80SJT-M024E(A4) 0.75 4 2.4 3000 4.8 0.83×10-4 AC 3-phase 220

80SJT-M032C(A4) 0.66 4 3.2 2000 5 1.23×10-4 AC 3-phase 220

80SJT-M032E(A4) 1.0 4 3.2 3000 6.2 1.23×10-4 AC 3-phase 220

110SJT-M040D(A4) 1.0 4 4 2500 4.5 6.8×10-4 AC 3-phase 220

110SJT-M060D(A4) 1.5 4 6 2500 7.0 9.5×10-4 AC 3-phase 220

130SJT-M040D(A4) 1.0 4 4 2500 4.0 1.19×10-3 AC 3-phase 220

130SJT-M050D(A4) 1.3

5 2500 5.0 1.19×10-3 AC 3-phase 220

130SJT-M060D(A4) 1.5 4 6 2500 6.0 1.95×10-3 AC 3-phase 220

130SJT-M075D(A4) 1.88 4 7.5 2500 7.5 1.95×10-3 AC 3-phase 220

130SJT-M100B(A4) 1.5 4 10 1500 6.0 2.42×10-3 AC 3-phase 220

130SJT-M100D(A4) 2.5 4 10 2500 10.0 2.42×10-3 AC 3-phase 220

130SJT-M150B(A4) 2.3 4 15 1500 8.5 3.1×10-3 AC 3-phase 220

130SJT-M150D(A4) 3.9 4 15 2500 14 3.6×10-3 AC 3-phase 220

175SJT-M180B(A4) 2.8 3 18 1500 15 6.5×10-3 AC 3-phase 220

175SJT-M180D(A4) 3.8 3 18 2500 16.5 6.5×10-3 AC 3-phase 220

175SJT-M220B(A4) 3.5 3 22 1500 17.5 9×10-3 AC 3-phase 220

175SJT-M220D(A4) 4.5 3 22 2500 19 9×10-3 AC 3-phase 220

175SJT-M300B(A4) 3.8 3 30 1500 24 11.2×10-3 AC 3-phase 220

175SJT-M300D(A4) 6 3 30 2500 27.5 11.2×10-3 AC 3-phase 220

Note 1: Please mark on the order if you order a motor with power-off brake. Note 2: In the above table, the number in the brackets of the rated current column is the rated current of high

voltage.

DAH01, DAH2075E AC Servo Drive Unit User Manual

3） Overall size

(1) Contour and installation size of 80SJT series AC servo motor

Industry (aviation) Socket type

Cable type

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

80SJT—M024C（A4）

80SJT—M024E（A4）

80SJT—M032C（A4）

80SJT—M032E（A4）

φ19

-0.013

φ70

163 198

-0.03

163 198

-0.03

181 216

-0.03

181 216

-0.03

Chapter 8 Product Specifications

(2) Contour and installation size of 110SJT series AC servo motor

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

110SJT—M040D（A4）

110SJT—M040E（A4）

110SJT—M060D（A4）

110SJT—M060E（A4）

φ19

-0.013

Note：LB and L in brackets are the length of the corresponding motor with power-off brake.

φ95

186 (237) 241 (292)

-0.035

186 (237) 241 (292)

-0.035

212 (263) 267 (318)

-0.035

212 (263) 267 (318)

-0.035

(3) Contour and installation size of 130SJT series AC servo motor

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

130SJT—M040D（A4）

130SJT—M050D（A4）

130SJT—M060D（A4）

130SJT—M075D（A4）

130SJT—M100B（A4）

130SJT—M100D（A4）

130SJT—M150B（A4）

130SJT—M150D（A4）

φ22

-0.013

Note：LB and L in brackets are the length of the corresponding motor with power-off brake.

φ110

-0.035

168 (227) 225 (284)

176 (235) 233 (292)

188 (247) 245 (304)

208 (267) 265 (324)

238 (297) 295 (354)

248 (307) 305 (364)

DAH01, DAH2075E AC Servo Drive Unit User Manual

(4) Contour and installation size of 175SJT series AC servo motor

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

175SJT—M150D（A4）

175SJT—M180B（A4）

175SJT—M180D（A4）

175SJT—M220B（A4）

175SJT—M220D（A4）

175SJT—M300B（A4）

175SJT—M300D（A4）

Note：LB and L in brackets are the length of the corresponding motor with power-off brake.

φ35

+0.01

φ114.3

-0.025

224 (291) 303 (370)

244 (311) 323 (390)

279 (346) 358 (425)

309 (382) 388 (461)

8.3 Isolation Transformer

It is recommended that isolation transformer supplies power to drive unit to

Note

Our company provides the following types of isolation transformers for user selection. User

shall select it according to the power and actual load factor of the servo motor.



reduce the possibilities of electric shock and interference from power or electromagnetic field.

0.8 kW and the below drive unit adopt single -phase power supply, and the



ones above 0.8 kW shall adopt three-phase power supply.

Table 8-5 Specifications of the isolation transformer

Type

Capacity（kVA）

BS—120 1.2

BS—200 2.0

Three-phase

BS—300 3.0

BS—400 4.0

Chapter 8 Product Specifications

Phase Input voltage(V) Output voltage(V)

380 220

BD—80 0.8

Single-phase

BD—120 1.2

Fig.8-8 Exterior and installation dimension of BS—120

Fig.8-9 Exterior and installation dimension of BS—200

DAH01, DAH2075E AC Servo Drive Unit User Manual

Fig. 8-10 Exterior and installation dimension of BS—300

Fig.8-11 Exterior and installation dimension of BS—400

Chapter 8 Product Specifications

Fig. 8-12 Exterior and installation dimension of BD—80

Fig.8-13 Exterior and installation dimension of BD—120

DAH01, DAH2075E AC Servo Drive Unit User Manual

Chapter 9 ORDER INSTRUCTION

9.1 Capacity Selection

Determination of the drive unit capacity shall base on an overall consideration of the following factors: load inertia, load torque, required positioning accuracy and required maximum speed. Take the following steps into consideration before determining the capacity:

1） Load inertia and torque calculation

T system. 2πM = FL

M ── Motor shaft torque F ── Required force to move the mechanical parts in a straight line L ── Moved distance of the machine when the motor rotates once（2πrad）

① orque calculation Load torque is caused by the friction and cutting force of the drive

2πM is the work of motor when the motor rotates once with torque M. FL is mechanical work when L (distance) is moved by force F. On machine tool, because the factors of transmission efficiency and friction coefficient exist, required torque for ballscrew to do uniform motion by overcoming the external load P is as follows:

Calculation formulas:

Ｍ

＋

P 2

πη

＋MB）

maz ,

＝（K

—— Driving torque during uniform movement（N•mm）；

0 spa

—— Pre-tightening force （N）, generally , pre-tightening force is 1/3 of max. axial

0 spa

—— Pre-tightening torque of double nut ball screw（N•mm）；

work load F

the formula F

—— Rated load of ball screw pair, which can be found in product samples

that is to say, Fa0 ＝1/3F

maz.

When F

＝（0.1~0.12）Ca (N) can be used.

is difficult to calculate,

maz

hsp —— Screw lead (mm)； K —— The scope of pretightening torque coefficient of ball screw is 0.1～0.2；

P —— External load （N）that is added to screw axial，P＝F＋μW；

Chapter 9 Order Instruction

πγ

F —— Cutting force（N） acting on screw axial W —— Normal load（N），W＝W W1 —— Movable parts gravity (N), including maximum bearing gravity； P1 —— Clamping force of splint (such as spindle box)；

μ —— Friction coefficient of lead rail, sliding lead rail pair with polyfluortetraethylene plate

μ＝0.09. When lubricating is available, μ＝0.03～0.05, linear sliding lead rail μ＝

0.003～0.004；

η1 —— The scope of ball screw efficiency is 0.90～0.95；

MB —— Friction torque for supporting the bearing, which is also called starting torque, can

be found in special-purpose bearing samples of ball screw；

—— Teeth number of the gear 1；

—— Teeth number of the gear 2。

Finally, select servo motor according to the conditions satisfying the following formula: M M in the formula is rotated torque of the servo motor.

②

Inertia matching calculation

Usually between motor inertia J

load inertia JL (convert to motor axis) or total inertia J

following relationships are recommended:

Rotor inertia J

of the motor can be found in product sample or manual. Here is a brief

introduction to the method for calculating load inertia:

1. Inertia of rotary parts ball screw, shaft coupling, gear and notched belt pulley belong to

rotary parts.

1＋P1

≤

；

≤ 1 or 0.5 ≤

≤ 0.8 or 0.2 ≤

≤ Ms

the

≤ 0.5

J ⋅

γ —— Material density of rotary parts (kg•m

)(

mkgLD

)； D —— Diameter of rotary parts（cm）； L —— Length of rotary parts（cm）；

g —— Acceleration of gravity，g=980cm/s

。

2、Inertia of linear motion objects

J＝

（

）

(kg•m2)

W —— Gravity of linear motion objects（N）； L —— Moved distance （cm） of objects when the motor rotates

once. If the motor is directly connected to the screw, and L is equal to the screw lead.

DAH01, DAH2075E AC Servo Drive Unit User Manual

3. Inertia that is converted to motor shaft during the decelerate transmission. Inertia that is converted to motor shaft during gear and notched belt transmission deceleration.

J＝J

（

）

Please refer to the chart for load inertia calculation. The load inertia J motor shaft is:

③ maximum torque during positioning acceleration

Calculation of the

＋（

L＝JG1

—— Inertia of the gear 1 (kg•m2)；

——Inertia of the gear 2 (kg•m2)；

—— Inertia of the ball screw (kg•m2)。

M ＝

）2[（JG2＋JS）＋

（JM＋JL）+M

tn60

nm —— Rotate speed of the fast-moving motor（r /min）

—— Acceleration/deceleration time（s），According to ta ≈3 /KS，choose

150 ms～200ms

—— The scope of system open-loop gain is 8s-1～25s-1. Usually

choose K

—— Load torque （N•m）

2) Preliminarily define the mechanical gear ratio

Maximum mechanical reduction ratio can be calculated by required maximum speed and

maximum motor speed. Use the reduction ratio and minimum revolving unit to calculate whether the requirements of minimum position unit can be satisfied. If it requires high position accuracy, increase mechanical reduction ratio (actual maximum speed decreases) or select motor with faster rotate speed.

3) Calculation of inertia and torque

Convert load inertia and load torque to motor shaft by using mechanical reduction ratio. Converted inertia should be no greater than 5 times of motor rotor inertia. Converted load torque and effective torque should be no greater than motor rated torque. If it does not meet the above demands, increase mechanical reduction ratio (actual maximum speed decreases) or select motor with larger capacities.

（

）2] (kg•m2)

＝ 20s-1 for machining center

converted to

9.2 Electronic gear ratio

For significances of electronic gear ratio, adjustment methods, please refer to chapter 4 (table 4-2 parameter function), chapter 6 (6.3 parameter setting), chapter 7 (7.3 adjustment).

In position control mode, actual load speed is: Instruction pulse speed ×G ×mechanical reduction ratio

Chapter 9 Order Instruction

In position control mode, actual minimum displacement of load is: Minimum instruction pulse stroke ×G ×mechanical reduction ratio

Note: When the electronic gear ratio is not equal to 1, there may be a remainder in gear ratio division.

Meanwhile, position deviation may exist, and the maximum deviation is the minimum rotating amount of the motor (the minimum resolution ratio).

9.3 Stop characteristcs

In position control mode, when the servo motor is controlled by pulse train, there is a difference between instruction pulse and feedback pulse, this difference is called lag pulse. This value is accumulated in position deviation counter, of which the relationship to pulse frequency, electronic gear ratio and position percentage gain is as follows:

ε=

In the formula:

ε：Lag pulse（Puls）；

f: Instruction pulse frequency（Hz）； Kp：Position percentage gain（1/S）；

G: Electronic gear ratio

Note: The above relationship is established under the condition that [Position feed forward gain] = 0%. If

[Position feed forward gain] >0%, the lag pulse will be smaller than the value calculated by the above formula.

Gf ×

9.4 Calculation methods of servo drive unit and position controller selection

1）Instructed displacement and actual displacement

In the formula，

I：Instructed displacement mm； δ：CNC minimum unit mm； CR：Frequency multiplier factor of the instruction； CD：Instruction frequency dividing coefficient

DD：Servo frequency dividing coefficient； ST：Index number when servo motor rotates once； ZD：Teeth number of motor side gears； ZM：Teeth number of screw side gears； L： Screw pitch mm

Usually, S=I, instructed value is equal to the actual value.

2）CNC maximum instruction speed

CRI

S：Actual displacement mm；

DR：Servo multiplier factor；

⋅⋅⋅⋅⋅=

CRF

≤⋅

max

DAH01, DAH2075E AC Servo Drive Unit User Manual

F in the formula is instruction speed mm/min;

：CNC maximum output frequency Hz（128000 for GSK980）

max

3）Maximum speed of servo drive unit

max

×n=V

In the formula, V

Actual maximum speed of the machine tool is restricted by maximum speed of CNC and servo unit.

4）Minimum movement of the machine tool

NINTINT=α

In the formula， α：Minimum movement of the machine tool mm； N ：Natural number； INT（）：Round the number to the nearest integer；

NT [ ]

L×

：Servo system maximum allowable speed (mm/min) for working table；

max

：Maximum allowable speed of servo motor (r/min)；

max

min

CR CD

DR DD

： Minimum integer.

min

gsk GSK DAH01, DAH2075E User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual