gsk GSK GSSpindle User Manual

Preface

In this user manual we try to describe the matters concerning the

operation of this GS Series Spindle Servo Drive Unit to the greatest extent.

However, it is impossible to give particular descriptions for all unnecessary

or unallowable operations due to length limitation and products application

conditions; Therefore, the items not presented herein should be regarded as

“impossible” or “unallowable”.

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.

GS Series Spindle Servo Drive Unit User Manual

Preface

Dear customers,

We are honored and thankful for your purchase of this GSK product!

This manual describes items concerning GS Series Spindle Servo

Drive Unit in detail, such as performance, installation, connection,

commissioning, usage and maintenance etc.

To ensure safe and effective running, please read this manual carefully

before installation and operation.

To avoid injury to operators and other personnels, and damage to the

mechanical equipments, please pay special attention to the following

warning signs when reading this manual.

Danger Mal-operation may lead to serious injury or death.

Caution Mal-operation may lead to minor injury or physical

damage.

Notice It indicates a potential situation which, if not avoided, may result

in an undesirable result or state.

It reminds users of the important instructions and requirements.

Forbidden (definitely cannot be done)

Compulsive (must be done)

Caution

Tighten all terminals of main circuits properly.

Failure to observe it may result in loose connection

Make sure that the input power is OFF before wiring.

Wire layout or overhaul should be done by electrical engineering

technician.

which can easily lead to spark hazard or even fire disaster.

Failure to observe it may result in electric shock.

Danger

Mount the drive unit on

noncombustible, and keep it far away

from inflammables.

Moving, checking, and maintaining equipments or wiring should be

performed 5 minutes after power-off.

Failure to observe it may

Make sure the grounding terminal PE of servo unit is well grounded.

result in fire disaster.

Failure to observe it may result in electric shock.

Failure to observe it may

Wiring should be performed according

to the method described in User Manual.

DO NOT operate the switch with wet hand.

result in electric shock or fire disaster.

Failure to observe it may result in equipment damage and electric shock.

Failure to observe it may result in electric shock.

Failure to observe it may

DO tighten the power terminals and

motor output terminals.

DO NOT put hand into servo unit.

result in electric shock.

。

Failure to observe it may result in fire disaster.

Failure to observe it may result in electric shock.

DO NOT open the terminal strip cover

after power-on or in running state.

Failure to observe it may result in electric shock.

DO NOT touch the wiring terminals of

servo unit main circuits.

Failure to observe it may result in electric shock.

III

GS Series Spindle Servo Drive Unit User Manual

The servo unit may be activated suddenly

after power resumption, so DO NOT

operate the servo motor axes connection

device immediately.

Failure to observe it may result in personal injury.

DO NOT place cables beside sharp

edges, and AVOID heavy load or tension

imposing on cables.

Failure to observe it may result in electric shock, equipment fault or damage.

Danger

DO NOT prevent radiation or put

objects in cooling fan or radiator.

Failure to observe it may result in equipment damage or fire disaster.

DO NOT perform live-wire operation on

the servo drive device when the cover

of terminal strip is taken apart.

Failure to observe it may result in electric shock.

Caution

DO NOT connect power input wires R, S,

T to motor output wire terminals U, V, W.

Failure to observe it may result in device damage.

DO NOT touch the radiation device of motor and servo unit when they are running, because high temperature may

be caused.

Failure to observe it may result in scald.

DO NOT alter, dismantle or repair the

drive unit without authorization.

Caution

DO NOT turn ON/OFF the input power frequently.

Failure to observe it may result in device damage.

DO NOT make excessive changes to parameters.

Failure to observe it may result in device damage.

The scrapped components of servo unit

should be handled as industrial waste

and cannot be reused.

Failure to observe it may result in device damage.

Failure to observe it may result in accident.

GS Series Spindle Servo Drive Unit User Manual

Safety Responsibility

Manufacturer’s Responsibility

——Be responsible for the danger which should be eliminated and/or controlled on

design and configuration of the provided Servo Drive Unit and accessories.

——Be responsible for the safety of the provided Servo Drive Unit and accessories.

——Be responsible for the provided information and advice for the users.

User’s Responsibility

——Be trained with the safety operation of Servo Drive Unit and familiar with the safety

operation procedures.

——Be responsible for the dangers caused by adding, changing or altering to the

original Servo Drive Unit and the accessories.

——Be responsible for the failure to observe the provisions for operation, adjustment,

maintenance, installation and storage in the manual.

This manual is reserved by end user.

We are full of heartfelt gratitude to you for supporting us in the

use of GSK’s products.

Contents

CHAPTER I INSTRUCTION ...................................................................................................................... 1

1.1 Basics .............................................................................................................................................. 1

1.2 Product Confirmation ....................................................................................................................... 6

1.2.1 Instruction of AC Spindle Servo Motor Model ........................................................................... 6

1.2.2 Instruction of Spindle Servo Unit .............................................................................................. 7

1.2.3 Overall Appearance of Spindle Servo Unit ............................................................................... 8

1.3 Technical Specification .................................................................................................................. 11

1.3.1 Technical Specification of Spindle Motor ................................................................................ 11

1.3.2 Technical Specification of AC Spindle Servo Unit .................................................................. 13

1.4 Ordering Guidelines ....................................................................................................................... 15

1.4.1 Model Selection Process ........................................................................................................ 15

1.4.2 Examples ................................................................................................................................ 15

1.4.3 Standard Ex-factory Accessories ............................................................................................ 17

CHAPTER II INSTALLATION/MOUNTING ............................................................................................. 21

2.1 Spindle Servo Motor ...................................................................................................................... 21

2.1.1 Dimensions for Spindle Motor Installation .............................................................................. 21

2.1.2 Installation of Spindle Motor ................................................................................................... 23

2.2 Spindle Servo Unit ......................................................................................................................... 25

2.2.1 Installation Dimension ............................................................................................................. 26

2.2.2 Installation Intervals ................................................................................................................ 28

CHAPTER III CONNECTION .................................................................................................................. 31

3.1 Connection of Peripheral Equipments ........................................................................................... 32

3.2 Connection of Main Circuit ............................................................................................................ 37

3.2.1 Connection .............................................................................................................................. 37

3.2.2 Wiring of Main Circuit .............................................................................................................. 38

3.2.3 Servo Motor Connection Instruction ....................................................................................... 38

3.3 Connection of Control Signal ......................................................................................................... 40

3.3.1 CN1 Control Signal ................................................................................................................. 40

3.3.2 Speed Command Input ........................................................................................................... 43

3.3.3 Position Command Input ........................................................................................................ 44

3.3.4 Digital Input ............................................................................................................................. 47

3.3.5 Digital Output .......................................................................................................................... 49

3.3.6 Position Signal Output ............................................................................................................ 52

3.4 Connection of Position Feedback Signal ....................................................................................... 53

3.4.1 Motor Encoder Position Feedback Signal Interface CN2 ....................................................... 53

VII

GS Series Spindle Servo Drive Unit User Manual

3.4.2 2nd Position Feedback Signal Interface CN3 ........................................................................ 57

3.4.3 Interface CN3 of GS Series MDR Products ........................................................................... 58

3.5 GSK-CAN Communication ............................................................................................................ 59

3.6 Connection in Different Working Mode ......................................................................................... 60

3.6.1 Connection in Speed Mode .................................................................................................... 60

3.6.2 Connection in Position Mode ................................................................................................. 63

3.6.3 Connection in Speed/Position Mode ...................................................................................... 65

CHAPTER IV DISPLAY AND OPERATION ........................................................................................... 69

4.1 Operation Panel ............................................................................................................................ 69

4.2 Display Menu ................................................................................................................................ 70

4.3 Status Monitoring .......................................................................................................................... 71

4.4 Parameter Setting ......................................................................................................................... 74

4.5 Parameter Management ............................................................................................................... 75

CHAPTER V GENERAL COMMISSIONING .......................................................................................... 77

5.1 Running in Manual/JOG Mode...................................................................................................... 78

5.1.1 Manual Running ..................................................................................................................... 79

5.1.2 JOG Running.......................................................................................................................... 80

5.2 Running in Speed Mode ............................................................................................................... 81

5.2.1 Analog Speed Command ....................................................................................................... 81

5.2.2 Internal Speed Command ...................................................................................................... 84

5.3 Running in Position Mode ............................................................................................................. 85

5.4 Running in Speed/Position Mode ................................................................................................. 87

CHAPTER VI FUNCTIONALITY TESTING ............................................................................................ 91

6.1 Instruction for Basic Performance Parameters Setting ................................................................. 91

6.1.1 Setting Methods ..................................................................................................................... 91

6.1.2 Three Gains of Closed-Loop Control ..................................................................................... 93

6.2 Switching of Motor Rotation Directions ......................................................................................... 94

6.3 Braking Stop.................................................................................................................................. 96

6.4 Testing in Position Mode ............................................................................................................... 97

6.4.1 Electronic Gear Ratio of Position Command ......................................................................... 97

6.4.2 Position Arrival Signal ............................................................................................................ 98

6.4.3 Position Deviation Clear ......................................................................................................... 99

6.4.4 Pulse Command Inhibition ..................................................................................................... 99

6.5 Testing in Speed Mode ............................................................................................................... 100

6.5.1 Orientation Function ............................................................................................................. 100

6.5.2 Adjustment of Analog Commands ....................................................................................... 105

6.5.3 Speed Arrival Signal ............................................................................................................. 106

VIII

Contents

6.5.4 Zero Speed Clamp ................................................................................................................ 107

6.5.5 Speed Command Electronic Gear Ratio .............................................................................. 108

6.6 Spindle Clamp Interlock Signal (BREF)....................................................................................... 109

CHAPTER VII PARAMETERS .............................................................................................................. 111

7.1 Parameter List ............................................................................................................................. 111

CHAPTER VIII ABNORMALITIES AND REMEDIES ............................................................................ 123

8.1 Remedies for Normal Faults ........................................................................................................ 123

8.1.1 Speed Mode ............................................................................................................................. 123

8.1.2 Position Mode ....................................................................................................................... 125

8.1.3 Others ................................................................................................................................... 126

8.2 Alarms and Remedies ................................................................................................................. 128

8.3 Inspection and Maintenance ........................................................................................................ 133

APPENDIX A Model Code Parameters and Feed Servo Motors Table ................................................ 135

APPENDIX B Peripheral Equipments ................................................................................................... 136

B.1 Circuit Breaker and Contactor (essential) ................................................................................... 136

B.2 Three-phase AC filter (recommended)........................................................................................ 136

B.3 AC Reactor (recommended) ....................................................................................................... 137

APPENDIX C BRAKING RESISTOR SELECTION............................................................................... 138

APPENDIX D CONNECTION DIAGRAMS BETWEEN SPINDLE SERVO UNIT AND CNC SYSTEM

............................................................................................................................................................... 141

Chapter I Instruction

CHAPTER I INSTRUCTION

1.1 Basics

¾ Fundamental principles and circuits of spindle servo drive

The spindle servo drive is composed of spindle servo unit and spindle servo motor (three-phase

AC asynchronous servo motor, hereinafter called servo motor). The servo unit rectifies AC to DC, and

by controlling the ON/OFF of power transistor, it generates current approximated to sinewave whose

phase difference is 120° in the three-phase stator winding of servo motor (i.e., DC-AC). Thus, a

magnetic field is created in the servo motor, and the rotator generates current as a result of magnetic

field induction. The interaction between the inductive current and magnetic field leads to the

generation of a torque which causes the rotator to work. Higher frequency of current which goes

through the servo motor winding corresponds to quicker servo motor speed; the larger current

amplitude corresponds to larger output torque of the servo motor (torque= force × arm length). Figure

1-1 shows the main circuit of servo unit; PG represents the encoder.

Fig. 1-1 Main circuit of spindle servo unit

¾ Basic structure of spindle servo drive

The servo unit receives speed (or position) commands from control device (also called upper

computer) such as CNC system. It controls the frequency and magnitude of current which goes

through the servo motor winding, so that the rotation speed (or angle) of servo motor rotator can be

approximated to the speed (or position) command value, and the difference between actual rotation

speed (or angle) and commanded value can be detected. By constantly adjusting the frequency and

magnitude of current, the servo unit can limit the differences within the required range. Figure 1-2

shows the basic structure of spindle servo drive.

GS Series Spindle Servo Drive Unit User Manual

Specify

CNC

System

¾ General concept of control

Control: A process of the characteristics (such as speed) of an object (such as servo motor)

reaching or approximating to the desired value is called CONTROL. The object herein is called

PLANT; and its characteristic is called CONTROLLED VARIABLES; the unit which realizes the

control is called CONTROL UNIT; the process of receiving the desired value by the control unit is

＋

－

Spindle Servo Drive

Control

Unit

Fig. 1-2 Basic structure of spindle servo drive

Power Drive

Unit

Feedback

Detection

Motor Machine

called SPECIFY; the process of inputting and reacting to controlled variable is called FEEDBACK; the

unit that detects the controlled variables is called FEEDBACK UNIT; the feedback can be divided into

positive feedback (same direction) and negative feedback( reversed direction) according to the

controlled variables and output direction. The drive is composed of plant, feedback unit and control

unit. There are two kinds of drives: open-loop control device and closed-loop control device. They are

distinguished by the absence/presence of feedback unit and its position in drive. The closed-loop

control device described in this manual is negative feedback closed-loop control device.

In this manual, the spindle servo unit is the control unit; the plant is the servo motor; the motor

rotation speed (or angle) is the controlled variable; the encoder is the feedback unit; the speed

feedback is realized when actual speed is detected by encoder for speed control. Spindle servo unit

belongs to closed-loop control device.

z Open-loop control device: Feedback unit is absent in the control device, so the actual

controlled variables do not affect the output of control unit. Take stepper motor drive for example:

after the servo unit outputs the phase sequence changes of current, the rotator of stepper motor

should follow the change; however, since there is no feedback unit, the rotator may not catch up with

the changes due to overload or fast acceleration/deceleration, this is the so-called

“out-of-synchronism”. Shown in Figure 1-3.

Machine

Specify

Command

z Closed-loop control: The controlled variable is detected by feedback unit and sent to

Drive

Circuit

Fig. 1-3 Open-loop control device

Motor

Chapter I Instruction

control unit. According to the detection points, the closed-loop control device can be divided into

full-closed-loop control and semi-closed-loop control. The former one is to detect the controlled

variables directly for feedback (see Fig. 1-4); the mechanical position is controlled variables; the

grating ruler mounted on the machine is taken as feedback unit; the encoder on the servo motor

serves as speed feedback unit. Thus the full-closed-loop control can be realized. If there is no grating

ruler, the encoder serves as both position and speed feedback unit (see Fig. 1-5). Thus, the

semi-closed-loop control can be realized.

Machine

Specify

Command

Specify

Command

＋

Position

Comparision

Position

Comparision

＋

Speed

Comparision

－－

Speed

Feedback

Position

Feedback

Fig. 1-4 Full-closed-loop control device

＋

Speed

Comparision

－－

Fig. 1-5 Semi-closed-loop control device

Motor

Machine

Motor

z PID control: It is the most commonly used algorithm. “P” is Proportional, representing the

linear proportional relationship between input and output of control unit. The larger the value is, the

more sensitive the system is, and the smaller the steady-state error will be (impossible to eliminate);

however, too large proportional coefficient will lead to system instability. “I” is Integral, representing

the accumulation of past errors. Larger integral time constant means the system is more stable till the

stead-state error is eliminated; however, it also may lead to lower response of the system. “D” is

Differential, representing the prediction of future errors, based on current rate of change. It can

decrease the following error and improve the dynamic property. When the integral is too large, the

system will be unstable. P, I, D are interacted for the balance among system response, control

precision and stability. Since the integral control will easily cause impact and oscillation, PI control

(i.e., proportion and integral control) is mainly described in this manual.

¾ Concept about servo control

There are three kinds of control mode: position control, speed control and torque control. Shown

GS Series Spindle Servo Drive Unit User Manual

in Fig. 1-6:

Position control: Specify the rotation direction and angle (position) of the motor in forms of

digital pulse or data communication.

z Speed control: Specify the rotation direction and speed of the motor in forms of analog

voltage or data communication.

z Torque control: Specify the magnitude and direction of output torque of the motor in forms of

analog voltage or data communication.

The servo drive described in this manual repels the torque control signal, therefore the torque

control mode is not provided here.

Fig. 1-6 Three-loop control system

¾ Performance norm of spindle servo drive

Dynamic performance:

spindle servo drive when the load is specified or changed. The following figure shows the dynamic

response of step signal specified by spindle servo drive (the full line represents the specified signal

and dashed line represents the output signal; similarly hereinafter).

means the response speed, dynamic error and steady-state error of

C(t)

Rmax(t)

R(t)

0.9R(t)

±5%R(t)

t r

Fig. 1-7 Dynamic response curve

Rise time tr: The duration that the rotation output value rises from 0 to 90% of the steady-state

value for the first time. It represents the speed of dynamic response.

Chapter I Instruction

Settling time ts: The range -5％~+5% of the steady-state value is taken as permitted error zone.

The settling time is the minimum duration of the response curve to reach the zone (no excess any

more). It is used to measure the speed of the whole control process.

Percent overshoot σ: It is the maximum fraction by which the response overshoots the

steady-state value and expressed as a percentage, i.e.

)()(

−

(%)

max

tRtR

)(

%100

Steady-state error

: The difference between the steady-state output value to the reference input

value at steady state is called the steady state error of the system.

Static performance: Stability is the crucial factor of a spindle servo drive. The static

performance mainly refers to positioning accuracy which means the difference between the reference

state and actual state after the transient process. The static precision can be affected by

measurement device error as well as the system error which is related to the system structure and

parameters. Fig. 1-8 shows the static curve of position servo drive.

Error

Following

Lag

Commanded

Position

Following

Response

Fig. 1-8 Static curve

Following error: The difference between the required position and actual position is called

following error. It equals to commanded position value minus actual position value.

Servo rigidity: The capacity of resisting deviation which is caused by load.

¾ Comparison between spindle servo drive and inverter drive

Although both two kinds of devices can realize the conversion of AC-DC-AC, and drive the

three-phase asynchronous motor, the spindle servo drive bears larger current frequency range and

wider valid regulating range. Since an encoder is mounted on servo motor, the spindle servo drive

belongs to closed-loop control device. Whereas, no encoder is mounted on an inverter-fed motor, the

inverter drive belongs to open-loop control device. Motor’s rotation speed will change as the load

changes; however, since feedback control function is not available, the inverter cannot recover the

speed like the servo unit does. To reduce cost, the overload capacity of inverter is 10%~20%, and

that of servo unit is greater than 50%. Higher overload capacity means faster acceleration and

response.

Compared with inverter drives, the spindle servo drives have the following advantages:

GS Series Spindle Servo Drive Unit User Manual

z Both speed and position control are available; the control precision is high;

z Wider regulating range; capable of outputting valid torque in zero-speed state;

z Small speed fluctuation when load changes; quick to recover;

z Strong overload capacity; fast response; high efficiency; adaptable to sudden start/stop

conditions;

1.2 Product Confirmation

Check the following items after receiving the products. Please contact us or the supplier if you

come across any question.

Item Remark

Check the consistency of servo

unit and servo motor

Check the completeness of

accessories

Check whether the product is

damaged during delivery

Check whether the screw is

loose

Check the contents on packing list and contact

the supplier if an inconsistency is found.

Check for loose connection with a screwdriver.

Check the nameplate.

Check the overall appearance.

Caution

1. Spindle servo unit with loss or damage of parts should not be installed.

2. Servo unit should be matched with a servo motor with suitable power.

3. There are two types of GS series products: D-SUB and MDR. Make sure that the used product meets the requirements.

1.2.1 Instruction of AC Spindle Servo Motor Model

¾ Nameplate of spindle servo motor:

Flange mounting plane B5

¾ Instruction of spindle servo motor model:

Chapter I Instruction

1.2.2 Instruction of Spindle Servo Unit

Example: (nameplate)

Corresponding servo motor model

Product model

AC Asynchronous Spindle Servo Unit

Model: SVD:

GS3075Y-CP2-7.5

Servo Motor

Input Power

No.

Product number

Input power supply

Model instruction:

ZJY-208-7.5BH

Three-phase 380V(-15%～+10%)50/60Hz

100620

EXW. Date

GSK CNC Equipment Co., Ltd

Tel .020 -83969288 Fax.81997083

V3.04

2010/9

Software version

Ex-factory date

GS 3 075 Y C P

①② ③

GS Series MDR Servo Unit, G: GSK; S: SERVO

①

Voltage grade code, 2: 220V; 3: 380V; 4: 440V.

②

④

⑤⑥2⑦

GS Series Spindle Servo Drive Unit User Manual

Nominal current of power component (in three digits): 048, 050, 075, 100, 148, 150 (unit: A)

③

Motor type: T: synchronous servo motor; Y: asynchronous servo motor.

④

Communication bus code; N: none; C: GSK-CAN; L: GSK-Link

⑤

Feedback (encoder) interface type code; P: incremental encoder; A: Absolute encoder, no backup battery; B:

⑥

absolute encoder (with backup battery which is used when power-off). Feedback (encoder) interface configuration code (in 1 digit); 1: The input interface CN2 for motor feedback (i.e., the 1

⑦

feedback.

Position feedback signal interface type and configuration:

position feedback); 2: Input interfaces CN2 and CN3 for motor feedback and the 2nd position

⑥ ⑦

CN2; incremental encoder;

Instruction for feedback (encoder) interface type and configuration

2 CN2 and CN3; incremental encoder;

CN2; incremental encoder or absolute encoder (compatible with Biss and TAMAGAWA

（B）

communication protocols; automatic identification);

CN2 and CN3; incremental encoder or absolute encoder (compatible with Biss and

TAMAGAWA communication protocols; automatic identification);

1.2.3 Overall Appearance of Spindle Servo Unit

According to different signal interfaces, the GS Series Spindle Servo Unit can be divided into

D-SUB type and MDR type. The products that adopt D-SUB interfaces provided by WIESON

Company belong to D-SUB type. They are matched with incremental encoder and not equipped with

GSK-CAN. The products that adopt MDR interfaces provided by 3M Company belong to MDR type.

They are compatible with absolute encoder and equipped with GSK-CAN bus.

Chapter I Instruction

z Overall Appearance of GS Series AC Spindle Servo Unit (D-SUB Type)

The figure below shows the structure of following products: GS3048Y-N Series, GS3050Y-N

Series, GS3075Y-N Series GS3100Y-N Series, GS3148Y-N Series, GS4048Y-N Series, GS4050Y-N

Series, GS4075Y-N Series, GS4100Y-N Series, GS4148Y-N Series.

Increase parameter number

and value.

Decrease parameter

number and value.

Move to the digit to be edited.

Return to the previous menu or cancel the last operation. Enter to a sub-menu or confirm the operation

Indicator

‘CHARGE” is the indicator of DC

bus voltage in the main circuit.

ON: normal

OFF: the bus is discharged When ‘CHARGE' indicator comes ON, connecting or disconnecting the servo unit line, power supply line, motor line or braking resistor line is forbidden.

Terminal block of main circuit

Connection should be done according to contents in Section

3.2.2 with suitable terminals, and tighten the screw afterwards.

：input power ground; GND

of motor protective ground

C N 3

C N 2

C N 1

LED monitoring window

Monitor the running status or parameter modification and management.

Indicator

‘POWER’ is the indicator of

power supply of control circuit.

ON: normal

OFF: power failure

CN1: Control signal interface

(44-pole DB female) For external speed command signal, position command signal and output signal

CN2: encoder feedback input interface

For incremental encoder differential signal, motor position feedback input

(25-pole DB female)

CN3: 2nd position encoder feedback input interface

For incremental encoder differential signal, spindle encoder position feedback input

(9-pole DB female)

Open

～380V

BRAKE

MOTOR

380V

Terminal block of main circuit

Check the nameplate before

connection; make sure that the input

power voltages R, S, T, r, t are

correct. Connect to U, V, W as

market at the terminal end; if Err-27

occurs, exchange any of the two

phases.

Fig. 1-9 (a) Overall appearance of GS Series AC spindle servo unit (D-SUB type)

GS Series Spindle Servo Drive Unit User Manual

The figure below shows the structure of following D-SUB products: GS3150Y-N Series,

GS4150Y-N Series.

Fig. 1-9 (b) Overall appearance of GS Series AC spindle servo unit (D-SUB type)

z Overall Appearance of GS Series AC Spindle Servo Unit (MDR Type)

The figure below shows the structure of following products: GS3048Y-C Series, GS3050Y-C

Series, GS3075Y-C Series, GS3100Y-C Series, GS3148Y-C Series, GS4048Y-C Series,

GS4050Y-C Series, GS4075Y-C Series, GS4100Y-C Series, GS4148Y-C Series.

Backup battery

(See the instruction of servo unit model)

Increase parameter number

and value.

Decrease parameter

number and value.

Move to the digit to be edited.

Return to the previous menu or cancel the last operation. Enter to a sub-menu or confirm the operation

Indicator

‘CHARGE” is the indicator of DC

bus voltage in the main circuit.

ON: normal

OFF: the bus is discharged

When ‘CHARGE' indicator comes ON, connecting or disconnec ting the servo unit line, power supply line, motor line or braking resistor line is forbidden.

Terminal block of main circuit

Connection should be done according to contents in Section 3.2. 2 with suitable terminals, and tighten

the screw afterwards.

：input power ground; GND

of motor protective gr ound

C N 3

C N 2

C N 1

C N 4

C N 5

LED monitoring window

Monitor the running sta tus or parameter modification and management.

Indicator

‘POWER’ is the indicator of power

supply of control circuit.

ON: normal

OFF: power failure

CN1: control signal interface

(50-pin high-density )

For external speed command signal, posit ion command signal, input/output signal.

CN2: encoder feedback input interface (26-pin high-density)

For incremental or absolute encoder feedback input signal

CN3: 2nd position encoder feedback input interface (20-pin high-density)

For spindle encoder position feedback input, incremental or absolute input signal.

CN4, CN5: GSK-CAN communication interface

Realize servo unit commissioning and real-time monitoring.

Fig. 1-10 (a) Overall appearance of GS Series AC spindle servo unit (MDR type)

Chapter I Instruction

The figure below shows the structure of following products: GS3150Y-C Series, GS4150Y-C Series.

LED monitoring window

Monitor the running status or parameter modification and management.

Indicator

‘CHARGE” is the indicator of DC

bus voltage in the main circuit.

ON: normal

OFF: the bus is discharged

When ‘CHARGE' indicator comes ON, connecting or disconnecting the servo unit line, power supply line, motor line or braking resistor line is forbidden.

Terminal block of main circuit

Connection should be done according to contents in Section 3.2.2 with suitable terminals, and tighten

the screw afterwards.

：input power ground; GND

of motor protective ground

Terminal block of control power line

Check the nameplate before connection; make sure the r,t

power voltages are correct.

Fig. 1-10 (b) Overall appearance of GS Series AC spindle servo unit (MDR type)

～380V

BRAKE

MOTOR

380V

C N 3

C N 2

C N 1

C N 4

C N 5

r t

Increase parameter number

and value.

Decrease parameter

number and value.

Move to the digit to be edited.

Return to the previous menu or cancel the last operation.

Enter to a sub-menu or confirm the operation

Indicator

‘POWER’ is the indicator of power

supply of control circuit.

ON: normal

OFF: power failure

CN1: control signal interface (50-

pin high-density )

For external speed command signal, position command signal, input/output signal.

CN2: encoder feedback input interface (26-pin high-density)

For incremental or absolute encoder feedback input signal

CN3: 2nd position encoder feedback input interface (20-pin high-density)

For spindle encoder position feedback input, incremental or absolute input signal.

CN4, CN5: GSK-CAN communication interface

Realize servo unit commissioning and real-time monitoring.

1.3 Technical Specification

1.3.1 Technical Specification of Spindle Motor

SPEC

Item

Rated power

(kW)

Servo Unit

Power Supply

Rated Current

(A)

Rated

Frequency(Hz)

Rated

Torque(N·m)

30min Power

(kW)

30min Current

(A)

30min Torque

(N·m)

Rated Speed

(r/min)

Constant Power

Range

Max. Speed

ZJY208

-2.2AM

ZJY208

-3.7AM

ZJY208

-5.5AM

ZJY265

-7.5AM

2.2 3.7 5.5 7.5 11 15 1.5 2.2

Three-phase AC 380V 50 Hz /60Hz

6.7 10.2 15.5 21 31 48.3

33.3 33.3 33.3 33.3 33.3 33.3 50 50

21 35 53

72 105 143

3.7 5.5 7.5 11 15 18.5 2.2 3.7

9.8 13.8 19.6

35 53 72

1000

28 39 56

105 143 177

1000 1000 1000

1000～4000

M:7000 H:10000

ZJY265

-11AM

ZJY265

-15AM

ZJY182

-1.5BH

ZJY182

-2.2BH

7.3 7.5

9.5 14

9.3 11

14 24

1500

GS Series Spindle Servo Drive Unit User Manual

SPEC

Item

Rotary Inertia

Weight (kg)

Installation

Power Supply of

Cooling Fan

SPEC

Item

Rated Power

(kW)

Servo Unit

Power

Supply

Rated

Current (A)

Rated

Frequency

(Hz)

Rated

Torque

(N·m)

30min Power

(kW)

30min

Current (A)

30min

Torque

(N·m)

Rated Speed

(r/min)

Constant

Power Range

Max. Speed

Rotary Inertia

Weight (kg)

Installation

Power

Supply of

Cooling Fan

Protection

Level

Insulation

Level

Vibration

Level

Internal

Encoder

ZJY182-3.7BH

Three-phase

ZJY208

-2.2AM

0.0168 0.0238 0.0309 0.0413 0.0826 0.086 0.0056 0.0074

51 66 77 51 125 143 27 32

Three-phase AC 380V 50Hz 40W

3.7 3.7 5.5 7.5 7.5 11 15

15.5

50 50 50 50 50 50 50

5.5 5.5 7.5 11 11 15 18.5

19.6

1500

H:10000 M:7000, H:10000 M:7000

0.0115 0.0168 0.0238 0.0309 0.0413 0.0744 0.0826

43 51 66 77 89 107 125

IM B35 IM B5 or B3

AC 380V

50Hz 30W

0.08A

ZJY208

-3.7AM

0.14A

ZJY208-3.7B ZJY208-5.5B ZJY208-7.5B ZJY265-7.5BM ZJY265-11BM ZJY265-15B

8.9 13.7 18.4 18 26 35

24 35 48 49 72 98

13 18 25 26 34 42

35 48 70 74 100 123

1500 1500 1500 1500 1500 1500

Three-phase AC 380V 50Hz 40W 0.14A

ZJY208

-5.5AM

IM B5 or B3 IM B35

Three-phase AC 380V 50 Hz /60Hz

ZJY265

-7.5AM

Three-phase AC 380V 50Hz 70W

1500～5000

IP54（GB/T 4942.1—2006）

F （GB 755—2008）

R（GB 10068—2008）

Incremental encoder1024 p/r

ZJY265

-11AM

0.21A

ZJY265

-15AM

Three-phase AC 380V 50Hz

ZJY182

-1.5BH

Three-phase AC 380V

50Hz 30W 0.08A

70W 0.21A

ZJY182

-2.2BH

Chapter I Instruction

Mechanical Characteristics of Motor

P/P

: Power/Rated power; T/TN: Torque/Rated torque; n: Rotation speed of spindle servo motor;

ZJY182 rated rotation speed: 1500r/min ZJY208 rated rotation speed: 1500r/min

ZJY265 rated rotation speed: 1500r/min ZJY208, ZJY265 rated rotation speed: 1500r/min

Power in continuous working status; Power in 30min’s working status;

Torque in continuous working status; Torque in 30min’s working status

1.3.2 Technical Specification of AC Spindle Servo Unit

Model

Rated Power (kW)

Input Power

Dimension (mm)

(width×height×depth)

Regulating Range

(r/min)

Speed Fluctuation

Rate

Working Mode

GS3048Y GS4048Y

1.5, 2.2 3.7, 5.5 5.5, 7.5 7.5, 11 11 15, 18.5

Input power of GS3□□□Y Series is: Three-phase AC380V（0.85～1.1）, 50/60Hz±1Hz

Input power of GS4□□□Y Series is: Three-phase AC440V（0.85%～1.1）, 50/60Hz±1Hz

112×230×1

GS3050Y GS4050Y

120×270×218 130×305×248.5 160×305×273.5 160×370×273.5

MANUAL, JOG, SPEED, POSITION, SPEED/POSITION

GS3075Y GS4075Y

＜ Rated Speed ×0.1%

GS3100Y GS4100Y

1～10000

GS3148Y GS4148Y

GS3150Y GS4150Y

GS Series Spindle Servo Drive Unit User Manual

Internal Speed Mode

External Speed Mode

External Speed

Command Mode

Speed Command

Electronic Gear

Position Mode

Position Command

Pulse Mode

Position Command

Electronic Gear

Positioning Accuracy

Orientation

Motor Feedback Input

Position Feedback

Input

(optional)

Position Feedback

Output

Communication Bus

Input Signal

Output Signal

Function Protection

Operation and Display

Braking Resistor

Motor rotates at the speeds set by internal parameters (speed closed-loop control)\

Running speed is selected by input signal.

Motor rotates at the speed specified by external analog voltage (speed closed-loop control)

－10V～+10V or 0V～+10V, selected by parameters

Speed command frequency multiplication; frequency division coefficient:1~100

Motor rotates by position pulse command (position closed-loop control); the direction and quantity of pulse command determine the rotation direction and angle; the pulse frequency determines the rotation speed.

Pulse/direction; CCW pulse/CW pulse; A/B two-phase orthogonal pulse; max. pulse

frequency: 1MHz

Command pulse frequency multiplication coefficient: 1～32767; Command pulse frequency

division coefficient: 1～32767

±0.088° (matched with incremental encoder with 1024 lines)

4-point orientation; 4 orientation angle is set by parameters; orientation position is selected through input signal; orientation error is ±180°/C (C is the line number of position feedback

encoder)

GS3□□□Y-NP2 and GS4□□□Y-NP2（D-SUB type: adopt incremental encoder; GS3□□□Y-C□2 and GS4□□□Y-C□2（MDR type: adopt incremental encoder or absolute

encoder (compatible with two communication protocols: Biss and TAMAGAWA). GS3□□□Y-NP2（D-SUB type: adopt incremental encoder; GS3□□□Y-C□2（MDR type: adopt incremental encoder or absolute encoder (compatible with

two communication protocols: Biss and TAMAGAWA).

GS3□□□Y-NP2（D-SUB type: motor feedback input signal or 2 signal output in 1:1;

GS3□□□Y-C□2（MDR type）: motor feedback input signal or 2

position feedback input

signal output in frequency division; the range of numerator and dominator in position feedback output gear ratio is 1～32767, and the dominator should be larger than or equal to numerator;

GS3□□□Y-NP2 and GS4□□□Y-NP2（D-SUB type）: no communication bus;

GS3□□□Y-C□2 and GS4□□□Y-C□2（MDR type）: GSK-CAN

Servo enable; CCW start; CW start; orientation/speed selection; orientation start; 2

speed

gain selection; spindle clamping interlock signal; zero-speed clamping; alarm clear;

speed/position switching

Servo ready; zero speed output; position/speed arrival; orientation completed; alarm output

speed/position status; encoder zero point;

Undervoltage protection; overvoltage protection; servo unit overcurrent protection; servo

motor thermal overload protection; overspeed protection; overshoot protection; brake

abnormality protection; encoder abnormality protection; motor overheat protection.

5 keys for manual, JOG operation and parameter modification, setting, writing and backup;

6-digit LED displays rotation speed, current position, command pulse accumulation, position

deviation, motor torque, motor current, absolute position of rotator, I/O signal status etc.

Externally connected (no internal braking resistor)

Note: CCW means the motor rotates in counter clockwise direction (viewing from the shaft extension side). CW means the motor rotates in clockwise direction (viewing from the shaft extension side).

Chapter I Instruction

1.4 Ordering Guidelines

1.4.1 Model Selection Process

1.5，2.2，3.7，5.5，

7.5，11，15，18.5 are optional （Unit: kW）

1. Low: 4500r/min； 2: Medium:7000r/min；

3. High: 10000r/min;

Rated rotation speed is

1000r/min (recommended in

turning machine）

Rated rotation speed is

1500r/min (recommended in

milling machine)

1. Flange mounting or foot mounting;

2. With or without a keyway;

Pay attention to the difference between economical type and universal type

Select motor

power

Select the rated

rotation speed

Select the max.

rotation speed

Select the

mounting method

Select the

encoder

Select the

motor model

Select the servo

unit model

After selecting the motor model, you can select the servo unit model according to the relationship

described in 1.4.2.

1.4.2 Examples

1. The model of GS Series servo device (including ZJY Series spindle servo motor) is shown as

follows:

GS servo unit model — ZJY spindle servo motor model

Example: GS3075Y-NP2—ZJY208-7.5BM -B5LY1

Instruction: the model of spindle servo unit is GS3075Y-NP2, and the corresponding model

of spindle servo motor is ZJY208-7.5BM -B5ALY1. The accessories are the

standard ones (see Section 1.4.3).

2. The model of GS Series servo device (not including ZJY Series spindle servo motor) is shown

as follows:

GS servo unit model —

Example: GS3075Y-NP2—（ZJY208-7.5BM -B5LY1）

Instruction: the model of spindle servo unit is GS3075Y-NP2, and the ex-factory parameters

should be set according to the model in the brackets. The accessories are the

standard ones (see Section 1.4.3).

（Servo motor model ）

GS Series Spindle Servo Drive Unit User Manual

Model list of GS Series servo unit and ZJY Series servo motor:

Servo Unit

Model

GS3048Y-NP2

GS3048Y-CP2

GS4048Y-NP2

GS4048Y-CP2

Major Parameters of Spindle Motor

Motor Model

ZJY182-1.5BH 1.5kW 1500 rpm 10000rpm 7.3 A

ZJY182-2.2BH 2.2kW 1500 rpm 10000rpm 7.5 A

ZJY208-2.2AM 2.2kW 1000rpm 7000rpm 6.7A

ZJY208-2.2BM 2.2kW 1500rpm 7000rpm 9.3A

ZJY182-3.7BH 3.7kW 1500 rpm

Rated

Power

Rated

Speed

Max. Speed

Rated

Current

7000rpm

15.5 A

（10000rpm）

Standard Encoder

1024-line

incremental

encoder

1024-line

incremental

encoder

1024-line

incremental

encoder

1024-line

incremental

encoder

1024-line

incremental

encoder

GS3050Y-NP2

GS3050Y-CP2

GS4050Y-NP2

GS4050Y-CP2

GS3075Y-NP2

GS3075Y-CP2

GS4075Y-NP2

GS4075Y-CP2

ZJY208-3.7AM 3.7kW 1000rpm 7000rpm 10.2A

ZJY208-3.7BM

3.7kW 1500rpm

（ZJY208-3.7BH）

ZJY208-5.5BM

5.5kW 1500rpm

（ZJY208-5.5BH）

ZJY208-5.5AM 5.5kW 1000rpm 7000rpm 15.5A

ZJY208-7.5BM

7.5kW 1500rpm

（ZJY208-7.5BH）

7000rpm

8.9A

（10000rpm）

7000rpm

13.7A

（10000rpm）

7000rpm

18.4A

（10000rpm）

1024-line

incremental

encoder

1024-line

incremental

encoder

1024-line

incremental

encoder

1024-line

incremental

encoder

1024-line

incremental

encoder

1024-line

ZJY265-7.5BM 7.5kW 1500rpm 7000rpm 18A

incremental

encoder

Chapter I Instruction

Servo Unit

Model

GS3100Y-NP2

GS3100Y-CP2

GS4100Y-NP2

GS4100Y-CP2

GS3148Y-NP2

GS3148Y-CP2

GS4148Y-NP2

GS4148Y-CP2

GS3150Y-NP2

GS3150Y-CP2

GS4150Y-NP2

GS4150Y-CP2

Major Parameters of Spindle Motor

Motor Model

ZJY265-7.5AM 7.5kW 1000rpm 7000rpm 21A

ZJY265-11BM 11kW 1500rpm 7000rpm 26A

ZJY265-11AM 11kW 1000rpm 7000rpm 31A

ZJY265-15AM 15kW 1000rpm 7000rpm 48.3A

ZJY265-15BM 15kW 1500rpm 7000rpm 35A

Rated

Power

Rated

Speed

Max. Speed

Rated

Standard Encoder

Current

1024-line

incremental

encoder

1024-line

incremental

encoder

1024-line

incremental

encoder

1024-line

incremental

encoder

1024-line

incremental

encoder

1024-line

ZJY265-18.5BM 18.5kW 1500rpm 7000rpm 48.7A

incremental

encoder

1.4.3 Standard Ex-factory Accessories

The standard ex-factory accessories are listed in the table below. If additional accessories

are needed otherwise, please contact our sales office or technical personnels.

z GS Series MDR product accessories list

Type Name Model Number Explanation Remark

Servo unit

(separate

order

-no spindle

servo

motor)

DB-44 male plug and plastic

case

DB-25 male plug and plastic

case

DB-9 male plug and plastic case 1 CN3 connecting plug

Aluminum-shell braking resistor Including 1m connecting

CN1 connecting plug

CN2 connecting plug

line (refer to Appendix C

for the specification and

quantity)

GS Series Spindle Servo Drive Unit User Manual

Type Name Model Number Explanation Remark

Servo unit

and spindle

servo

motor

Servo unit

(without

spindle

servo

motor) and

CNC

system

GS Series Spindle Servo Unit

Manual

DB-44 male plug and plastic

case

DB-9 male plug and plastic case 1 CN3 connecting plug

Motor encoder line -00-761A 1 Standard length: 3m

Motor encoder line -00-765* 1 Standard length: 3m

Motor fan line -00-768A 1 Standard length: 3m

Aluminum-shell braking resistor Including 1m connecting

GS Series Spindle Servo Unit

Manual

DB-25 male plug and plastic

case

DB-9 male plug and plastic case 1 CN3 connecting plug

Aluminum-shell braking resistor Including 1m connecting

GS Series Spindle Servo Unit

Manual

1 Technical materials

CN1 connecting plug

line (refer to Appendix C

for the specification and

quantity)

CN2 connecting plug

line (refer to Appendix C

for the specification and

quantity)

Technical materials

Matched

with ZJY

Series

spindle

servo motor

CN1-CNC

signal

connecting

cable is

provided

together

with CNC

system

DB-9 male plug and plastic case 1 CN3 connecting plug

CN1-CNC

signal

connecting

cable is

provided

together

with CNC

system

Servo unit,

spindle

servo

motor and

CNC

system

Motor encoder line -00-761A 1 Standard length: 3m

Motor power line -00-765* 1 Standard length: 3m

Motor fan line -00-768A 1 Standard length: 3m

Aluminum-shell braking resistor Including 1m connecting

line (refer to Appendix C

for the specification and

quantity)

GS Series Spindle Servo Unit

Manual

1 Technical materials

Note 1: A fan with 440V power should be selected to match with GS4000 Series spindle motor.

z GS Series MDR product accessories list

Type Name Model Number Explanation Remark

Servo unit,

servo

MDR20 (20pin) plug and plastic case 1 CN3 connecting plug

Motor encoder line -00-761A 1 Standard length: 3m

Servo signal

line,

Chapter I Instruction

motor and

CNC

system

Motor power line -00-765* 1 Standard length: 3m; “*”

indicates the suffix letters

(see the Motor Power Line

Specification)

Aluminum-shell braking resistor Including 1m connecting

line; see Appendix C for

specification and quantity

GS Series Spindle Servo Unit Manual

1 Technical materials

GSK-CNC

communicati

on line and

terminal plug

are provided

together with

CNC system

Note 2: So far, GSK-CAN serial bus is supported in GSK988T. GS300Y-CP2 Series MDR spindle

servo unit is applicable.

1. Make clear the model, quantity of products to be ordered (servo unit, servo motor,

isolation transformer and CNC). When you need an exclusive software/hardware

version or optional accessories, write it on the order sheet.

2. Make clear the type, specification, quantity of non-standard accessories (such as special

cable or cable length, or special cable processing).

3. Make clear the code of shaft-extension, structure or leading-out pattern of servo motor.

Write special items on the order sheet.

4. When only servo unit (without servo motor) is ordered, write the model of servo model

behind the servo unit mode (for example: GS3050T-NP2

（ZJY182-3.7BH）). So that

relevant parameters can be set before delivery.

5. The spindle servo unit and servo motor with 3-phase AC440V input power are out of

stock. They are produced according to the order.

GS Series Spindle Servo Drive Unit User Manual

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