gsk GSK GSSpindle User Manual

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Page 1

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.

Page 2

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)

Page 3

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

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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

Page 5

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.

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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.

Page 7

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

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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

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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

Page 10

Page 11

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.

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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

Page 13

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

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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.

Page 15

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:

Page 16

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:

Page 17

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

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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.

Page 19

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)

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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)

Page 21

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

Page 22

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

Page 23

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

Page 24

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).

Page 25

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 ）

Page 26

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

Page 27

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)

Page 28

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,

Page 29

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.

Page 30

GS Series Spindle Servo Drive Unit User Manual

Page 31

Chapter II Installation/Mounting

EFG

KNA

CHAPTER II INSTALLATION/MOUNTING

2.1 Spindle Servo Motor

2.1.1 Dimensions for Spindle Motor Installation

φH

φJ

E F

φJ

Fig. 2-1 Flange mounting (B5)

4-φI

45°

φD

4-φ

Fig. 2-2 Foot mounting (B3)

E F

φJ

φH

P G

C L

4-φZ

45°

φD

4-φI

N A

Fig. 2-3 Integrated Mounting (B35)

Page 32

GS Series Spindle Servo Drive Unit User Manual

Table 2-1 Motor Dimensions

SPEC

DIM

Eternal Dimension

ZJY208-2. 2AM

A 208 208 208 265 265 265 182 182

B 104 104 104 132 132 132

C 188 188 188 216 216 216 126 126

D 215 215 215 265 265 265 185 185

E 60 80 80 110 110 110 60 60

F 413 468 523 443 533 578 324 351

G 237 292 347 260 350 395 198 225

H 180h7 180h7 180h7 230h7 230h7 230h7 150h7 150h7

I 15 15 15 15 15 15 12 12

J 28h6 38h6 38h6 48h6 48h6 48h6 28h6 28h6

K 272 272 272 300 300 300 184 184

L 106 106 106 135 135 135 93 93

N 180 180 180 230 230 230 156 156

P 40 40 40 40 40 40 32 32

Q 210 265 320 225 315 355 132 159

S 60 80 80 110 110 110 60 60

T 5 5 5 5 5 5 4 4

Z 12 12 12 15 15 15 12 12

ZJY208-3.

7AM

ZJY208-5.

5AM

ZJY265-7.

5AM

ZJY265-1

1AM

ZJY265-1

5AM

ZJY182

-1.5BH

ZJY182

-2.2BH

DIM

Eternal Dimension

SPEC

ZJY182

-3.7BH

A 182 208 208 208 265 265 265 265 265

B 104 104 104 132 132 132 132 132

C 126 188 188 188 216 216 216 216 216

D 185 215 215 215 265 265 265 265 265

E 60 60 80 80 110 110 110 110 110

F 406 413 468 523 443 488 533 578 633

G 280 237 292 347 260 305 350 395 450

H 150h7 180h7 180h7 180h7 230h7 230h7 230h7 230h7 230h7

I 12 15 15 15 15 15 15 15 15

J 28h6 28h6 38h6 38h6 48h6 48h6 48h6 55h6 55h6

K 184 272 272 272 300 300 300 300 300

L 93 106 106 106 135 135 135 135 135

N 156 180 180 180 230 230 230 230 230

P 32 40 40 40 40 40 40 40 40

Q 214 210 265 320 225 270 315 355 410

S 60 60 80 80 110 110 110 110 110

T 4 5 5 5 5 5 5 5 5

Z 12 12 12 12 15 15 15 15 15

ZJY208

-3.7B

ZJY208

-5.5B

ZJY208

-7.5B

ZJY265

-7.5BM

ZJY265

-11BM

ZJY265

-15BM

ZJY265-

18.5BM

ZJY26522BM

Page 33

Chapter II Installation/Mounting

Standard Keyway Dimension

A: GB/T 1096—2003; dimension: 8×7×50; adaptable to motors ZJY182-1.5B, ZJY182-2.2B,

ZJY182-3.7B, ZJY208-3.7B. The shaft keyway dimension is shown in following figure:

2-R

5 50

-0.2

-0.036

28h6

-0.013

8N9

B: GB/T 1096—2003; dimension: 10×8×70; adaptable to motors ZJY208-5.5B,

ZJY208-7.5B. The shaft keyway dimension is shown in following figure:

2-R

5 70

-0.2

-0.036

38h6

10N9

-0.016

C: GB/T 1096—2003; dimension: 14×9×90; adaptable to motors ZJY265-7.5B, ZJY265-11B,

ZJY265-15B. The shaft keyway dimension is shown in following figure:

110

42.5

-0.2

φ 48h6

-0.016

2-R

7 90

2.1.2 Installation of Spindle Motor

Ambient for installation, storage and transportation:

Item Norm

Working Temperature

Storage and Transportation Temperature

Working Humidity

Storage and Transportation Humidity ≤95% (40 )℃

Atmospheric Environment No corrosive and flammable gas, oil fog or dust

Altitude Below 1000m

-0.043

14N9

℃～40℃

℃～70℃

-40

～95% (Non-condensing)

30%

Page 34

GS Series Spindle Servo Drive Unit User Manual

plug

¾ B5 flange mounting (or B35 flange mounting)

Motor ZJY182 adopts M10×35 Bolt or hex socket head bolt. A homemade socket head wrench

whose length is greater than that of the motor can be used to detach the robber plug on the cooling

fan. The robber plug should be pushed back after the bolt at the rear end is fastened. Shown as

follows:

Homemade

Bolt

Robber plug

Motor ZJY208 and ZJY265 adopt M12×45 Bolt or hex socket head bolt.

¾ B3 foot mounting (or B35 foot mounting)

Detach the covers of two sides at the rear end. For B35, it is needed to detach the robber plug on

the foot hole (see the following figure). Motor ZJY182 and ZJY208 adopt M10 Bolt or hex socket head

bolt; ZJY265 adopts M12 Bolt or hex socket head bolt.

Robber

The covers at two sides of the rear end should be mounted after the motor is firmly

fixed; otherwise, the cooling effect will be reduced as a result of air leak, thus causing

motor overheat.

1. If the motor running speed needs to be more than 2000r/min, a motor with smooth shaft

is recommended. Fasten the belt pulley with keyless locking device. Both of them have

undergone the dynamic balancing and meet the requirement of G1; otherwise, great

vibration will occur during high-speed running.

2. Reserve a certain space near outlet box cover for the convenience of screw detaching

and wiring. Please contact us if you cannot do it by yourself. Do not change the structure of

the motor.

Page 35

Chapter II Installation/Mounting

 Prevent the motor from direct sun light and rain splash. The mounting parts need

to be ventilated, dampproof and dust-proof.

 Avoid flammable atmosphere in case of fire disaster.

 Do not strike the spindle motor with hard objects during installation and

dismantling.

There are fragile components in the encoder. Do not subject the encoder to any force or shock during installation!

Do not subject the wheel belly to any force or shock

durin

installation！

2.2 Spindle Servo Unit

The installation ambient greatly affects the servo unit function and life cycle; please pay

attention to the following cautions:

Caution

Storage and Transportation Temperature

Storage and Transportation Humidity

z Avoid rain splash and direct sunlight.

Install the servo unit in electrical cabinet to avoid the invasion of dust,

corrosive gas, conductive contents and combustibles.

The mounting parts need to be ventilated, dampproof and dust-proof.

Avoid flammable atmosphere in case of fire disaster.

Select a proper installation position for easy maintaining and inspection.

Item Norm

Working Temperature

Working Humidity

Atmospheric Environment No corrosive and flammable gas, oil fog or dust

Altitude Below 1000m

Vibration ≤0.6G(5.9m/s2)

Atmospheric Pressure

℃～40℃

-40

℃～70℃

30%

～95% (Non-condensing)

≤95%

（40℃）

86kPa

～106kPa

Page 36

GS Series Spindle Servo Drive Unit User Manual

2.2.1 Installation Dimension

The dimensions of GS Series spindle servo unit are shown as follows:

Fig. 2-4 GS3048, GS4048 Series installation dimension (Unit: mm)

2- 6

Series

AC Servo Motor Drive Unit

CHARGE

POWER

C N 3

C N 2

258±0.25

C N 1

C N 4

C N 5

2-R3

108±0.2

218

120

Fig. 2-5 GS3050, GS4050 Series installation dimension (Unit: mm)

270

Page 37

2- 6

Chapter II Installation/Mounting

Series

AC Servo Mo to r Dr iv e Un it

CHARGE POWER

C N 3

C N 2

C N 1

305

293±0.25

C N 4

C N 5

2-R6

118±0.2

130

248.5

Fig. 2-6 GS3075, GS4075 Series installation dimension (Unit: mm)

2-φ6

Series

AC Servo Motor Drive Unit

C N 3

C N 2

305

273.5

2-R3

C N 1

C N

293±0.25

4 C

N 5

148 160

Fig. 2-7 GS3100, GS3148, GS4100, GS4148 Series installation dimension (Unit: mm)

Page 38

GS Series Spindle Servo Drive Unit User Manual

Fig. 2-8 GS3150, GS4150 Series installation dimension (Unit: mm)

2.2.2 Installation Intervals

GS Series spindle servo unit is installed vertically on the motherboard with the front side

facing forward and top side facing upward. Enough intervals should be reserved.

Fig. 2-9 Minimum intervals of GS3048, GS4048 Series spindle servo unit installation

Page 39

Chapter II Installation/Mounting

Cabinet

100

Wiring

space

Front

100 mm

Heat

Cabinet

CHARGE

POWER

100 mm

C N 3

C N 2

Installation Surface

50mm

Cooling

air

Heat

C N 1

C N 4

C N 5

100 mm

Down

Fig. 2-10 Minimum interval of GS3050, GS4050 Series spindle servo unit installation

Front

Radiator from which cool air blows to the servo unit should be installed in the electric

cabinet in case of the increase in temperature.

Cabinet

Heat

100mm

Cooling

air

Heat

CHARGE POWER

100mm

C N 3

C N 2

C N 1

C N 4

C N 5

60mm

Cabinet

Installation Surface

100

Wiring space

Down

Fig. 2-11 Minimum interval of GS3075, GS4075 Series spindle servo unit installation

Page 40

GS Series Spindle Servo Drive Unit User Manual

Cabinet

Heat

100mm

Front

100mm

C N 3

60mm

C N 2

Installation Surface

Cooling

air

Heat

100mm

C N 1

C N 4

C N 5

Fig. 2-12 Minimum interval of GS3100, GS3148, GS4100, GS4148 Series spindle servo unit

100

Wiring

space

Down

Front

80mm

Cabinet

120mm

CHARG

installation

Cabinet

Heat

Installation Surface

80mm

POWE

～380V

N 3

C N

BRAKE

MOTOR

C N 1

C N 4

C N 5

～380V

100

Wiring

space

Down

120mm

Cooling air

Fig. 2-13 Minimum interval of GS3150, GS4150 Series spindle servo unit installation

When more than one servo units are installed, enough intervals should be reserved for well

radiating.

Page 41

Chapter III Connection

CHAPTER III CONNECTION

The following cautions should be read carefully and observed strictly so as to ensure safe

and success operation.

 The connection should be done by professional personnel according to relevant instructions.

 Connection or inspection should be done 5min later after the servo unit is power-off and the

grounding voltage of main circuit terminal is confirmed to be safe; otherwise, it is easy to get

electric shock.

 Ensure that the servo unit and servo motor are properly grounding.

 Wire layout should be carefully done to avoid pointed objects. Cables should not be dragged

by force; otherwise, it is easy to lead to electric shock or poor connection.

 Do not lay the main circuit and the signal line in one pipe nor bound them together. They

should be laid independently or crossly, and the distance should be over 30cm, thus to prevent

high voltage circuit’s interference to signals and ensure normal working of the servo unit.

 Do not turn ON or OFF the power frequently. Since in the spindle servo unit, there is large bulk

capacitance which will generate large charging current at power-on, frequent ON/OFF

switching will cause performance degradation on inner components. It is advised that the

interval between power ON and OFF should be more than 3min.

 Devices such as power capacitor, surge absorber and radio noise filter should not be installed

between spindle servo unit output side and serve motor side.

 The main circuit and signal lines should be kept away from radiator and motor in case of

insulation performance degradation because of heating.

 After the main circuit is connected, the terminals should be protected by a cover to avoid

electric shock.

Page 42

GS Series Spindle Servo Drive Unit User Manual

3.1 Connection of Peripheral Equipments

Some peripheral equipments are needed for the running of spindle servo unit. Proper

peripheral equipments ensure the stable running of servo unit and servo motor and prolong the

life cycle.

In the connection diagram, the following points should be noted:

z The equipments in the dashed box are free to choose; the equipments in the solid line

box are available from GSK.

z The selections for circuit breaker, AC filter, isolation transformer, AC reactor and AC

contactor are described in Appendix B.

z Refer to Appendix C for the selection of braking resistor.

z The equipments marked with “essential” can ensure safe and reliable operation of the

servo unit and minimize the loss to the greatest extent when fault occurs.

z The equipments marked with “optional” can ensure stable running in poor power supply

environment.

Page 43

Chapter III Connection

z Peripheral equipments connection of Series (D-SUB type) GS3048Y-N, GS3050Y-N,

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

GS4075Y-N, GS4100Y-N, GS4148Y-N should be done according to the following figure;

as for the later group of Series products, L1, L2, L3 should be connected to 3N

50/60Hz 440V.

L3L2L1

3N～50/60Hz 380V

Circuit breaker

(essential)

2nd position feedback (CN3)

Filter (optional)

AC Reactor (optional)

AC Contactor

(essential)

CNC System

～

380V

BRAKE

MOTOR

～

380V

Optional

C N 3

C N 2

C N 1

～

Control circuit (see

Section 3.2.1)

Cooling fan line

Motor power line

Braking resistor (essential)

External braking resistor to P, B; B1 to none;

High temperature! Do not touch!

Fig. 3-1 (a) Connection diagram of GS Series spindle servo unit (D-SUB type) peripheral equipments

Page 44

GS Series Spindle Servo Drive Unit User Manual

z Peripheral equipment connection of Series (D-SUB type) GS3150Y-N and Series

GS4150Y-N should be done according to the following figure; as for the later Series, L1,

L2, L3 should be connected to 3N

～50/60Hz 440V.

Fig. 3-1 (b) Connection diagram of GS Series spindle servo unit (D-SUB type) peripheral equipments

Page 45

Chapter III Connection

z Peripheral equipments connection of Series (MDR type) GS3048Y-C, GS3050Y-C,

GS3075Y-C, GS3100Y-C, GS3148Y-C and Series GS4048Y-C, GS4050Y-C,

GS4075Y-C, GS4100Y-C, GS4148Y-C should be done according to the following figure;

as for the later group of Series, L1, L2, L3 should be connected to 3N

～50/60Hz 440V.

Fig. 3-2 (a) Connection diagram of GS Series spindle servo unit (MDR type) peripheral equipments

Page 46

GS Series Spindle Servo Drive Unit User Manual

z Peripheral equipments connection of Series (MDR type) GS3150Y-C and Series

GS4150Y-C should be done according to the following figure; as for the later Series, L1,

L2, L3 should be connected to 3N

～50/60Hz 440V.

Fig. 3-2 (b) Connection diagram of GS Series spindle servo unit (MDR type) peripheral equipments

Page 47

Chapter III Connection

3.2 Connection of Main Circuit

3.2.1 Connection

z Example of GS3□□□ Series spindle servo unit main circuit connection

z The input power of GS4□□□ Series spindle servo unit and motor cooling fan is 3N～

50/60Hz 440V.

Fig. 3-3 GS Series spindle servo unit main circuit connection

 Not all the motor’s U, V, W phase sequences are corresponding to the U, V, W of

drive unit. If Err-27 occurs during the first running, it means the phase sequence are

incorrect (not drive unit fault). Turn OFF the power for 5 min and exchange any of

the two phases.

 The equipments in the dashed box are optional. When the ambient condition cannot

guarantee the normal running of drive unit, these equipments can be installed (refer

to Appendix B).

 The minimum power of DC switching power supply (15V-24V) specified externally

should not be less than 35W.

 The grounding resistance should be less than 10Ω.

Page 48

UTer

Cable

diameter

GS Series Spindle Servo Drive U

it User Manual

3.2.2 Wiring of Main Circ

Terminal

Mark

R, S, T

U, V, W

B, P

It is advised that the cables a

Name

AC power input

terminal

Three-phase AC

output terminal

Braking resistor

terminal

Protective

grounding terminal

Description

Three-phase AC power in

Connected to three-phase windin

The braking resistor is used for dyna

The spindle servo unit works normally onl

resistor is externally connec

The protective grounding resistance shoul

d terminals meet the following requirements:

, S, T,

, V, W

r, t P, B

U, V, W

mic braking;

when the braking

ed.

be less than 10Ω.

Model Motor Power

Bol

GS3048 GS4048

GS3050 GS4050 GS3075 GS4075 GS3100 GS4100 GS3148 GS4148 GS3150 GS4150

1.5kW, 2.2kW,

3.7kW,

3.7kW, 5.5kW

5.5kW，7.5kW

7.5kW，11kW

11kW

15kW, 18.5kw

3.2.3 Servo Motor Conne

Cable diameter

minal

Size

6 4 4 1 6 2.

6 6 4 1 6 4

6 10 4 1 6 4

2. 5

Terminal Bolt Size

φmm

3.5 1 3.5 2.

4 1 4 2.

Cable diameter

Terminal

Bolt Size

φmm

4 2.5

5 2.5

tion Instruction

Terminal

Bolt Size

φmm

6 4

6 6

Cable diameter

z Instruction of ZJY spin

The three-phase winding

glands. Their position in terminal

to U, V, W, and PE terminal of ser

from motor shaft extension side to

le servo motor terminal box:

, V, W and the casing (grounding) are lead ou

ox is shown in following figure. U, V, W and c

o unit main circuit respectively. The wind fro

the end. Three-phase AC power supply is con

t through cable

sing are connected

cooling fan blows

nected externally.

Page 49

Chapter III Connection

(See Section 1.2.1 for the voltage level)

ZJY208, ZJY265 Series Motor Terminal Box ZJY182 Series Motor Terminal Box

When the spindle servo unit is matched with a different servo motor, the U, V,

W of drive unit may be different from the U, V, W of the motor. If the motor rotates, at a certain

uncontrollable speed, and Err-7 occurs, it means the phase sequences are not consistent. Please

turn OFF the power for 5 minutes, and exchange any two of the U, V, W phases.

z Connection of encoder signal receptacle pins

The leading wire of ZJY182 Series servo motor incremental encoder is lead out through

the 12-pin male plug, shown as follows: (refer to Section 3.4.1 for the leading wire connection

diagram)

Male plug drawing (back view)

Page 50

GS Series Spindle Servo Drive Unit User Manual

Encoder Pin

Casing

VCC

GND A

（PE）

Pin No. 1

9 5 6 10 7 11 8 12

The industrial female receptacle (aviation) of encoder signal line of ZJY208 Series, ZJY265

Series servo motor is shown in following figures:

Receptacle

（welded side）

1415

Casing

Encoder Pin

VCC GND A

（PE）

Pin No. 1 2 3 4 7 5 8 6 9

3.3 Connection of Control Signal

3.3.1 CN1 Control Signal

z Layout of GS Series D-SUB type CN1 pins

The control signal interface CN1 of GS Series D-SUB product is 44-pole female receptacle. The

connector is 44-pin male plug (model G3101-44MBNS1X1, provided by WIESON). The pin

description is shown in following figure:

Page 51

Position feedback

PZ output

Digital

ground

Speed selection 1 (or position

deviation clear) input

Speed selection 2 (or pulse

command inhibition) input

Alarm clear

input

Zero speed

clamping input

Control mode

switching input

External power input (15～

24VDC)

Servo ready

output

Position arrival (or speed

arrival) output

Zero speed

signal output

Analog ground

Analog speed

command input +

Chapter III Connection

PZO+

PZO-

DGND

SEC1/CLE

SEC2/INH

ALRS

ZSL

PSTI

COM+

SRDY

PSR

ZSP

AGND

VCMD+

SIGN-

25 10

27 12

28 13

29 14

30 15

SIGN+

PULS+

PBO+

PAO+

SFR

SRV

GAIN

SON

OSTA

COM-

ALM+

PSTO+

PSTO-

COIN+

COIN-

ZOUT+

VCMD-

Pulse command

PULS-

PBO-

PAO-

BREF

Position feedback PB

Position feedback PA

CCW rotation enable input CW rotation enable i nput

Spindle clamping interlock sign al input

Speed loop gain 2 selection input

NC NC

Servo enable input

Orientation enable input

(15～24VDC) reference ground

ALM-

Alarm output

Control mode switching

completed output

NC NC

Z pulse output

Analog speed

command input

ZOUT-

input

output

Orientation

Fig. 3-4 CN1 pins diagram

The control signal interface CN1 of GS Series MDR product is 50-pole female receptacle (model

MDR10150-3000-PE, provided by 3M). The pin description is shown in following figure:

Page 52

GS Series Spindle Servo Drive Unit User Manual

PBO-

PAO-

PULS-

SEC2 /INH

BREF

SFR

SON

PSR+

SRDY+

PSTO+

ZSP+

ALM+

VCMD-

Position feedback PB output Position feedback PA output -

Pulse command pulse input -

Speed selection 2 (or pulse comman d inhibition) input

Spindle clamping interlock signal input

CCW rotation enabled input

Servo enable input

Position arrival (or speed arrival) output +

Servo ready output +

Control mode switching completed output +

Zero speed signal output +

Servo alarm output +

Analog speed command -

PZO+

SIGN+

PSTI

OSTA

COM+

COIN+

ZOUT+

Position feedback PZ output +

Pulse command direction input +

Control mode switching input

Orientation enable input

External power input (15～24VDC)

External power input (15~24VDC)

Orientation completed output +

Z signal output +

PBO+

PAO+

PULS+

SEC1 /CLE

SRV

ALRS

COM-

SRDY-

PSTO-

ZSP-

ALM-

VCMD+

Position feedback output

Position feedback PA output +

Pulse command pulse input +

Speed selection 1 (or position deviat ion clear) input

CW rotation enabled input

Alarm clear input

(15～24VDC) reference ground

Servo ready output -

Control mode switching completed output -

Zero-speed signal output -

Servo alarm output -

Analog speed command +

Position feedback

PZO-

PZ output -

DGND

SIGN-

ZSL

GAIN

COM-

PSR-

COIN-

ZOUT-

AGND

Digital ground

Pulse command direction input -

Zero speed clamping input

Speed loop gain 2 selection input

(15～24VDC) reference ground

Position arrival (or speed arrival) output -

Orientation completed output -

Z signal output -

Analog ground

Fig. 3-5 CN1 pins diagram

z I/O signal comparison between D-SUB type and MDR type

P: Position Control S: Speed Control

GS D-SUB Interface GS MDR Interface

Type

Signal Pin No. Signal Pin No.

Common port of Input point; the input

port of external DC power 15~24V

Connected to external DC 15V~24V

P, S

＋ 39 COM＋ 39, 41

COM

COM－ 24 COM－ 14, 38

SON 23 SON 13 Servo enable input 3.3.4

ALRS 36 ALRS 12 Alarm clear input 3.3.4

VCMD VCMD

＋－

44 14

VCMD VCMD

＋－

24 25

Analog speed command input 3.3.2

AGND 43 AGND 48 Analog ground \

PA6=1, CCW rotation enable input;

PA6=0, drive unit enable permit input;

PA6=1, CCW rotation enable input;

SFR 20 SFR 11

SRV 5 SRV 10

ZSL 37 ZSL 34 Zero speed clamping input 6.5.4

OSTA 8 OSTA 37 Orientation enable input 6.5.1

S SEC1

SEC1

P CLE CLE

S SEC2

SEC2

P INH INH

For internal speed selection function:

For position control: position deviation

For internal speed selection function:

For position control: pulse command

P BREF 21 BREF 9 Spindle clamping interlock signal input; 6.6

Function Reference

power ground.

PA6=0, invalid;

speed selection 1;

clear

speed selection 2;

inhibition

5.2.1

5.2.2

6.4.3

5.2.2

6.4.4

Page 53

Chapter III Connection

PULS PULS

SIGN SIGN

＋－

6 5

31 30

Position command pulse input

① Pulse + direction

② CCW pulse+ CW pulse;

③ A/B phase pulse;

3.3.3

＋

PULS

－

PULS

SIGN＋

－

SIGN

P, S GAIN 6 GAIN 36 Speed loop gain 2 selection input 6.1.2

S/P PSTI 12 PSTI 35

ALM+

ALM-

SRDY 40

PSTO+

PSTO-

P, S

P, S PSR 41

ZOUT＋

－

ZOUT

PAO＋

－

PAO PBO＋

－

PBO PZO＋

－

PZO

ZSP 42

COIN+

COIN-

10 26

13 29

31 32

12 28

ALM+

ALM-

SRDY+

SRDY-

PSTO+

PSTO-

ZOUT+

ZOUT-

PAO

＋－

PAO

PBO

＋－

PBO

PZO

＋－

PZO

ZSP+

ZSP-

COIN+

COIN-

PSR+

PSR-

23 22

17 16

19 18

47 46

4 3

2 1

27 26

21 20

45 46

15 40

Speed / position switching (it is valid

when PA4=5)

Alarm output 3.3.5

Servo ready signal output 3.3.5

Control mode switching completed

output

Position feedback Z pulse signal OC

output

Position feedback signal output

Refer to parameters PA69~71

Zero speed signal output 3.3.5

Orientation completed output 6.5.1

Position arrival output in position mode 6.4.2

Speed arrival output in speed mode 6.5.3

5.4

3.3.5

3.3.6

3.3.2 Speed Command Input

VCMD+/VCMD- is the input port of speed command. It can receive 10V DC voltage signal. The

input impedance is 15kΩ. The following figures are two examples of connection.

Page 54

GS Series Spindle Servo Drive Unit User Manual

Note: VCMD+, VCMD- cannot be connected in reverse; otherwise

-10V～+10V

0V～10V

the motor cannot run normally.

～

VCMD+

VCMD-

Servo Unit

Metal shelled

：

1. When the external analog command taken as speed command, it is easily affected by

external environment, thus causing vibration of the servo motor. Therefore, the analog

command signal line should be shielded with twisted pair.

2. The shielding wire connection method in the above figure is recommended, but it is

not used universally.

3.3.3 Position Command Input

There are three position command input modes set by PA5 (see the following table). The arrow

indicates the counting edge.

PA28 sets the reversed position command direction. It can change the rotation direction of the

motor.

command

Pulse train

direction

CCW pulse

CW pulse train

A phase pulse

B phase pulse

Pulse

mode

train

PULS

SIGN

PULS

SIGN

PULS

SIGN

Standard Mode：PA28=0

CCW CW

PA5 setting value

PA5=0

Command pulse+

direction

PA5=1

CCW pulse ＋ CW

pulse

PA5=2

A/B phase

command pulse

Page 55

Chapter III Connection

a, Pulse + Direction: pulse input sequence diagram (maximum pulse frequency 1MHz)

PULS

SIGN

90%

10%

90%

10%

trh trl

trh

tck

CCW

trl

b, CCW pulse /CW pulse: pulse input sequence diagram (maximum pulse frequency 1MHz)

tck

90%

PULS

SIGN

10%

trh t rl

90%

10%

CCW

trh

c, two-phase command pulse: input sequence diagram (maximum pulse frequency 1MHz)

tqck

tqh

90%

PULS

10%

tqs

tqrh

90%

SIGN

10 %

t qrl

tqs

tql

tqrh

CCW CW

Page 56

GS Series Spindle Servo Drive Unit User Manual

The following table lists the parameters about the pulse input sequence:

PAR.

th t

trh trl ts t

qck

tqh tql t

qrh

tqs

qrl

Differential

>1 >0.3 >0.3 <0.2 <0.2 >2 >1 >0.3 >0.3 <0.2 <0.2 >0.2

input

（μs）

Single-ended

>5 >2.5 >2.5 <0.3 <0.3 >2.5 >10 >5 >5 <0.3 <0.3 >2.5

input

（μs）

The position command connection adopts differential connection or single-ended connection.

Shown as follows:

z Differential connection

z Single-ended connection

4.7kΩ resistor is connected in

Pulse command

input

case of strong interference

PULS+

PULS-

270

Drive Unit

4.7K

270

4.7K

NPN

SIGN+

SIGN-

4.7kΩ resistor is connected in

case of strong interference

：

Metal shelled

PNP

Pulse command

input

(a) NPN single-ended connection

4.7kΩ resistor is connected in

case of strong interference

4.7kΩ resistor is connected in

case of strong interference

PULS+

PULS -

SIGN +

SIGN -

270

(b) PNP single-ended connection

Drive Unit

4.7K

Page 57

Chapter III Connection

¾ It is advised to adopt differential connection to enhance the anti-interference

capability; AM26LS31, MC3487 or driver chips similar with RS422 are

recommended as interface circuit.

¾ The use of the single-ended mode will lower down the action frequency. The current

is 10mA~15mA according to pulse input circuit. Limit the external power voltage to

25V and determine the value of resistance R. Empirical data: VCC=24V, R=1.3 kΩ

2kΩ; VCC=12V, R=510Ω～820Ω; VCC=5V, R=0Ω

3.3.4 Digital Input

The following figures are examples of common-used connection; INx represents the input point:

SON, ALRS, SFR, SRV, SEC1, SEC2, ZSL, OSTA, GAIN, PSTI, BREF.

Externally digital

input

Externally connect

optical coupler

～

There is not 24V power output. It should be externally equipped. The specification

requirement is DC15V

supply as with output circuit.

When the input signal INx is connected to 0V, the input optical coupler conducts. The signal INx

is ON, and the input is valid. It can be checked through

is ON, the input is valid; if it is OFF, the input is invalid. In this case, the corresponding circuit should

be check for troubleshooting.

The status of monitoring contents is:

～24V, above 100mA. It is recommended to use the same power

. If the corresponding LED digit light

Page 58

GS Series Spindle Servo Drive Unit User Manual

SON and ALRS are general input signal. The sequence is shown as follows: (refer to Chapter 6

for the sequence of other signals)

¾ When SON is ON, the servo enable is ON,

under monitoring menu

Relevant

Meaning Unit

Parameter

When PA118=1, servo internal

enable; SON signal is not detected;

PA118

PA118=0, servo enable signal is

given by SON.

1. In position mode, manual mode, JOG mode and speed mode (when internal digital

command is valid):

2. Speed mode in which the -10V~10V analog command is valid, i.e., PA6=0:

will be displayed after

Default

Value

is pressed

Applicable

Mode

0 P, S

3. Speed mode in which the 0-10V analog command is valid, i.e., PA6=1:

Page 59

Chapter III Connection

If the spindle servo unit is faulty, the motor cannot be energized.

An alarm will be displayed in the monitoring window of spindle servo unit.

¾ When SON is OFF, and ALRS jumps from OFF to ON, the number 1~9 alarms can be reset.

The alarms whose number is larger than 9 can be automatically reset after power-on again.

When SON is ON, the ALRS signal function invalid.

3.3.5 Digital Output

1. Among the GS Series D-SUB product digital output signals, signals ALM, SRDY, ZSP

are single-ended transistor output. The output optical coupler emitter has been connected

to COM-. Other output signals are double-end transistor output.

2. Please note that some GS Series D-SUB products digital output signal and GS Series

MDR products digital output signals are double-end transistor output.

SON

ALM

ALRS

OFF ON

alarm

Alarm Alarm

OFF ON OFF

20ms

alarm

z The connectivity of single-ended transistor output

Example1: applicable to 980TDa CNC system

Controller externally connected

Example 2: applicable to 983M CNC system

Page 60

GS Series Spindle Servo Drive Unit User Manual

Relay externally

connected

z Connectivity of double-end transistor output

Controller externally connected

Relay externally

connected

When the output signal OUTx and COM- conduct, or OUTx and OUTx conduct, the output

signal is ON. It can be known from the monitoring window

. When the output signal is

ON, the corresponding LED light will come ON; when the output signal is OFF, the LED light will

come OFF.

¾ ALM is the output signal when abnormality is detected in the servo unit. The output

status is related to parameter PA122.

Page 61

Chapter III Connection

PA122=0 When an alarm is issued in servo unit, the ALM signal output optical coupler is OFF.

PA122=1 When an alarm is issued in servo unit, the ALM signal output optical coupler conducts.

¾ SRDY servo unit ready signal; when the motor is energized, the output optical coupler

of this signal conducts.

¾ ZSP is zero speed output; when the motor running speed is less than the setting value

of PA62, the output coupler of this signal conducts.

ZOUT+/ZOUT- are position feedback output Z pulse signal, i.e., the one-rotation signal;

PA33=1: Select the motor encoder Z pulse signal which is input by CN2;

PA33=1: Select the Z pulse signal of 2

Servo Unit

position feedback signal which is input by CN3.

ZOUT+

ZOUT-

+24V

nPC

CNC

System

Caution

1. The output signal is of open collector. The maximum load current is 100mA; the

maximum voltage of external DC power is 25V. If these requirements are not met or

the output signal is connected to power directly, the servo unit will be damaged.

2. If the load is inductive. FWD (free wheeling diode) should be connected in series at

two ends of the load; if the connection is reversed, the servo unit will be damaged.

Page 62

GS Series Spindle Servo Drive Unit User Manual

3.3.6 Position Signal Output

The PAO+/PAO-, PBO+/PBO-, PZO+/PZO- are the position signals output from the servo unit in

differential form. The signal is output position signal in proportion as 1:1 after the servo unit processes

the position signal which is input by CN2 and CN3 and feedbacked by encoder.

Output Form Position Signal Name Function

Differential output

Relevant

Parameter

PAO

＋/PAO－

PBO

＋/PBO－

PZO

＋/PZO－

Name

Position feedback input signal

selection

A phase of encode feedback signal

B phase of encoder feedback signal

Z phase of encoder feedback signal

Parameter

Range

～1

Default

Value

Applicable

Mode

0 P, S

PA97

PA97=0, select the 2

position input signal as the position input signal; CN3 must

be connected to the feedback signal of the 2

will occur in the servo unit.

Position output signal selection

PA33=1, select the motor encoder signal as the position input signal;

PA97=1, select the motor encoder signal as the position input signal;

PA33

PA33=0, select the 2

position input signal as the position input signal; CN3 must

be connected to the feedback signal of the 2

will occur in the servo unit.

PA34 Position output signal reversed

position encoder; otherwise, Err-24

～1

position encoder; otherwise, Err-24

～1

0 P, S

Page 63

Chapter III Connection

PA34=0, maintain the original relationship of CN1 position feedback output signal;

PA34=1, reverse the phase relationship of PA, PB. Shown as follows:

For example: When the position input signal is the TAMAGAWA incremental encoder signal, its

form is:

e=t±

Then, the position signal output wave includes two types:

－

The connectivity is:

Differential output

connected

externally

High-speed optical

coupler connected

externally

3.4 Connection of Position Feedback Signal

3.4.1 Motor Encoder Position Feedback Signal Interface CN2

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GS Series Spindle Servo Drive Unit User Manual

z Interface CN2 of GS Series D-SUB servo unit

The interface CN2 is 25-pole female receptacle, therefore the connector should be 25-pin

male plug (type is G3151-25MBNS1X1, provided by WIESON company). The pin definition is

shown as follows:

34 89572

10 11

12 13

14 15

18 19

22 23

Fig. 3-6 CN2 DB 25-pole female receptacle drawing

Pin No. Name Meaning Pin No. Name Meaning

1 0V 2 0V 15 FG

3 0V 16 0V

4 0V 17 5V 5 5V

6 5V 19

7 W－

8 V－

9 U－

10 Z－

－

13 OH

－

Encoder power supply

(-)

Encoder power supply

(+)

Incremental encoder

feedback W-

Incremental encoder

feedback V-

Incremental encoder

feedback U-

Incremental encoder

feedback Z-

Incremental encoder

feedback B-

Incremental encoder

feedback A-

Motor temperature

sensor input end

14 FG

18 5V

＋

20 V

21 U

22 Z

23 B

25 NC

＋

A＋

Shielding ground

Encoder power

supply (-)

Encoder power

supply (+)

Incremental

encoder feedback

W+

Incremental

encoder feedback

V+

Incremental

encoder feedback

U+

Incremental

encoder feedback

Z+

Incremental

encoder feedback

B+

Incremental

encoder feedback

A+

z Interface CN2 of GS Series MDR servo unit

The interface CN2 is 26-pole female receptacle, therefore, the connector should be 26-pin

male plug (the type is MDR10126-3000-PE, provided by 3M Company). Shown in the following

figure:

234

56789

Fig. 3-7 CN2 MDR male plug drawing (welded side)

Page 65

Chapter III Connection

Pin No. Name Meaning Pin No. Name Meaning

1 OH

2 NC

3 NC 16 0V

4 NC 17 0V

5 NC 18 NC

6 NC 19 5V

7 NC 20 5V

8 Z＋ 21 5V

9 Z－ 22 NC

10 B＋ 23 MA＋

－

＋

－

Motor temperature sensor input end

Incremental encoder feedback signal

14 BAT3V6

15 0V

MA－

SL＋

SL－

Power supply

Encoder power (-)

Encoder power (+)

Absolute encoder feedback

signal

z Position input signal connection circuit

1. Incremental encoder feedback signal line adopts differential connection; the connectivity

is shown as follows:

Encoder

X+

X-

Servo Unit

120

AM26LS32

X=A、B、Z、U、V、W

2. The input circuit of absolute encoder feedback signal is 4-channel differential bus

transceiver which meets the requirements of ANSI EIA/TIA-422-B and RS-485 standard. The

connectivity is shown as follows:

Servo UnitEncoder

RS-485

DATA+ SL+

DATA-

SL-

3. OH is used to connect the overheat detector in servo motor, thus motor overheat

protection function can be controlled by the servo unit. The connectivity is:

Page 66

GS Series Spindle Servo Drive Unit User Manual

If there is no motor temperature sensor, this signal is not connected.

z Connection of motor encoder line

Caution

1. The following figure is the standard diagram of GS Series D-SUB spindle servo unit and

1. The length of motor power line and motor encoder feedback signal line should be

within 20m, and the distance of the two lines should be more than 30cm. These two

lines cannot be in the same pipe or bound together.

2. Stranded shielding cable should be used as the signal lines and the cross section of

line should be 0.15mm

terminals.

～0.20mm

; The shielding layer must be connected with PE

incremental motor encoder connection. When other feedback signal line is used, this

diagram can also be a reference.

A+

A-

B+

B-

Z+

Z-

13 OH

1 2

0V 0V

Metal Shell

CN2 Economical Spindle Servo Unit

ZJY Spindle Servo Motor Encoder

A+

A-

B+

B-

Z+

Z-

Vcc

GND

Metal Shell

Motor Side

Cable

Servo Unit Side

Fig 3-8 GS Series spindle servo unit and motor encoder connection diagram

2. The following figure is standard diagram of GS MDR spindle servo unit and incremental

motor encoder connection. When other feedback signal line is used, this diagram can

also be a reference.

Page 67

Chapter III Connection

ZJY Spindle Servo Motor Encoder

A+

A-

B+

B-

Z+

Z-

Vcc

GND

Motor Side Cable Drive Unit Side

12 13

10 11

8 9

19 20 21

16 17

Metal Shell

A+

AB+

BZ+ Z-

5V 5V

CN2 Universal Spindle Servo Unit

Fig 3-9 MDR spindle servo unit and motor encoder connection diagram

3. The following figure is standard diagram of GS MDR spindle servo unit and absolute

motor encoder connection. When other feedback signal line is used, this diagram can

also be a reference.

DATA-

DATA+

Absolute Encoder

CLOCK-

CLOCK+

GND

10 13

12 15

SL-

SL+

MA-

MA+

20 21 16

5V 5V 0V

AC Servo Drive Unit

Metal Shell

Fig. 3-10 Absolute encoder connection diagram

3.4.2 2nd Position Feedback Signal Interface CN3

CN3 is the input interface for the 2nd position feedback signal (spindle encoder input signal). It is

9-pole female receptacle. The connector should be 9-pin male plug (type: G3151-09MBNS1X1,

provided by WIESON company). For example, the spindle encoder feedback signal is taken as the

position feedback signal.

Page 68

GS Series Spindle Servo Drive Unit User Manual

SCA+ SCASCB+ SCB-

SCZ+ SCZ-

VCC

GND

Metal shell

5 9 4 8

CN3

Drive unit

side

position

SCA+

SCA-

SCB+

SCB-

SCZ -

SCZ+

GND

VCC

YELLOW

TAMAGAWA encoder

WHITE

BLUE

GREEN

BROWN

ORANGE

RED

BLACK

Metal shell

Machine spindle

side

A+ AB+ B-

Z+ Z-

VCC

GND

Cable

Fig. 3-12 Connection between CN3 and TAMAGAWA TS5308n512 encoder (the 2

encoder)

3.4.3 Interface CN3 of GS Series MDR Products

CN3 is the input interface for the 2nd position feedback signal (spindle encoder input signal). It is

20-pole female receptacle. The connector should be 20-pin male plug (type: MDR10120-3000-PE,

provided by 3M company). The pin distribution is shown as follows:

1234567

2018

108

Fig 3-13 CN3 drawing (welded side)

Pin No. Name Meaning Pin No. Name Meaning

1 SCZ＋

2 SCZ－ 12 0V

＋

SCB

SCA

－

＋

position incremental encoder signal

11 BAT3V6

13 NC

14 NC

15 NC

Absolute encoder battery supply

－

7 SCSL－

8 SCSL＋ 18 NC

SCA

SCMA

position

2 absolute encoder

－

feedback signal

＋

16 NC

17 NC

19 0V Encoder power (-)

20 5V Encoder power (+)

The feedback signal interface (spindle encoder) of GS Series servo unit 2nd position encoder

can be connected to incremental encoder or absolute encoder. The connection method can be

Page 69

Chapter III Connection

referred to CN3 and CN2 respectively.

3.5 GSK-CAN Communication

The GS Series MDR servo unit has the GSK-CAN communication function. The interface

CN4 or CN5 is connected to GSK-CAN interface to realize the real-time communication. Through

GSK-CAN, the following function can be controlled by CNC system: parameter management of

servo unit (including parameter saving, modification, backup, etc.), monitoring of servo unit

position, speed, current, temperature and I/O status.

¾ The connection between CNC and servo unit is shown in following figure:

GSK988T

988T

System

RESET

设置

位置

程序系统

转换

帮助

信息

图形

退格

取消删除

上档

输入

CAN terminal and a 120Ω resistor should

be equipped.

¾ GSK-CAN bus interface CN4, CN5 adopts IEEE1394 interface; the connectivity

diagram is:

Data signal

+12V

CANL CANH

34 56

GND

¾ The connection diagram of GSK988T CNC system and servo unit:

1394 plug to interface

CN4 or CN5

CANL

DB9 male plug to XS27

of 988T System

CANL

CANH

GND

Shell

CANH

GND

Shell

Page 70

GS Series Spindle Servo Drive Unit User Manual

¾ The diagram of communication connection between servo units:

CN4, CN5 of Servo Unit A

CANL

CANH

GND

Shell

CN4, CN5 of

Servo Unit B

CANL

CANH

GND

Shell

¾ GSK-CAN terminals:

At the end of GSK-CAN link bus, a terminal is needed. A 120Ω resistor is internally

connected at CANL and CANH signal terminals of 1394 interface.

120Ω

CANL

CANH

34 56

¾ Relevant parameters should to be set after the connection:

Relevant

Parameter

PA155

PA156

Default

Applicable

Name Unit Range

Value

Mode

GSK-CAN communication

～4 1 P, S

baudrate selection

PA155=1: baudrate is set to 500k;

PA155=2: baudrate is set to 600k;

PA155=3: baudrate is set to 800k;

PA155=4: baudrate is set to 1M.

Slave number of servo unit 1

～5 1 P, S

There may more than one servo unit be connected to the CNC system,

therefore, corresponding servo axis number should be set for CNC control and

the servo axis number cannot be repeated.

Note: The slave number of servo unit which is connected to GSK-CAN

communication bus must be set and cannot be repeated.

3.6 Connection in Different Working Mode

3.6.1 Connection in Speed Mode

Page 71

Chapter III Connection

z D-SUB servo unit connection in speed mode

The input power of GS4□□□ Series spindle servo unit and motor cooling fan should adopt

～50/60Hz 440V.

～

3N～ 50Hz 380V

Analog

command input

-10V～+10V

or 0V～+10V

Externally specified power

DC15V~24V

Servo enable input

CCW rotation enable input

CW rotation enable input

Speed loop gain 2

selection input

Orientation enable input

Spindle clamping

interlock input

Alarm clear input

Zero speed clamping input

Speed selection 1

input

Speed selection 2

input

Position signal

output

Power

grounding

line

*VCMD+ 44 *VCMD-

OSTA

R S

*C O M+39 *SON 23 *SFR

*SRV

ZSL

GAIN

BREF

ALRS

SEC1

SEC2

CN1

PAO+

PAO-

PBO+

PBO-

PZO+

PZO-

Economical AC spindle

servo unit

3.6k

Spindle Motor

Cooling

3N～50Hz

380V

13 OH

fan

～

Motor

3～

Encoder

CN2

CN1

SRDY

PSR

ZSP

COM-

ALM+

ALM-

COIN+

COIN-

28 13

ZOUT+

ZOUT-

Servo ready output

Position (speed) arrival output

Zero speed output

DC15V～24V power

grounding

Servo alarm output

Orientation completed

output

Z pulse output

Fig. 3-14 (a) Connection in speed mode

The signals with “*” are the ones that need to be connected.

#1: The minimum power of externally specified DC 15V~24V switching power supply should

not be less than 35W.

#2: In speed mode, when PA4=1 and PA6=2, the SEC1, SEC2 are taken as internal speed

selection signal.

#3: OH is not connected when there is no temperature sensor in the servo motor.

#4: The metal shells of CN1 and CN2 are connected to PE of servo unit, and can be taken

as the welding point of shielding wire.

Page 72

GS Series Spindle Servo Drive Unit User Manual

z MDR servo unit connection in speed mode

The input power of GS4□□□ Series spindle servo unit and motor cooling fan should adopt

～50/60Hz 440V.

Spindle Motor

Cooling fan

～

Motor

Encoder

CNC System

GS Series Servo

Unit

Servo ready signal

Zero signal output

Servo alarm output

Speed arrival output

Orientation

completed output

Z pulse output

3～

3N～ 50Hz 380V

Analog

command input

-10V～+10V

or 0V～+10V

External specified power

DC15V～24V

Servo enable input

CCW rotation enable input

CW rotation enable input

Speed loop gain 2

selection input

Orientation enable input

Spindle clamping

interlock input

Alarm clear input

Zero speed clamping input

Speed selection 1

input

Speed selection 2

input

Position signal

output

grounding line

～

Power

*VCMD+ 24

*VCMD-

*COM+ 41

*COM+

*SO N 13 *SFR *SRV

GAIN

OSTA

BREF

ALRS

ZSL

SEC1

SEC2

CN1

PAO+

PAO-

PBO+

PBO-

PZO+

PZO-

R S

Universal AC Spindle

Servo Unit

CN1

3.6k

11 10

1OH

1716SRDY+

20 23

22 15 40 45 44 47

CN2

CN4

CN5

CN1

SRDY-

ZSP+ ZSP-

ALM+

ALM-

PSR+

PSR-

COIN+

COINZOUT+

ZOUT-

3N～50Hz

380V

Fig. 3-14 (b) Connection in speed mode

The signals with “*” are the ones that need to be connected.

#1: The minimum power of externally specified DC 15V~24V switching power supply should

not be less than 35W.

#2: In speed mode, when PA4=1 and PA6=2, the SEC1, SEC2 are taken as internal speed

selection signal.

#3: OH is not connected when there is no temperature sensor in the servo motor.

Page 73

Chapter III Connection

#4: The metal shells of CN1 and CN2 are connected to PE of servo unit, and can be taken

as the welding point of shielding wire.

3.6.2 Connection in Position Mode

z D-SUB servo unit connection in position mode

The input power of GS4□□□ Series spindle servo unit and motor cooling fan should adopt

～50/60Hz 440V.

～

KM1

3N～ 50Hz 380V

Power

grounding line

R S

Economical AC Spindle

Servo Unit

Spindle Motor

Cooling fan

3N～50Hz

380V

～

Motor

3～

Externally specified power

DC15V～24V

Servo enable input

Speed loop gain 2

selection input

Spindle clamping

interlock signal input

Alarm clear signal

Deviation clear

Pulse inhibition

Pulse

command

input

output

input

Position signal

CN1

*COM + 39

*SO N 23

GAIN BREF

ALRS

CLE

INH

CN1

*PULS+

*PULS-

*SIGN+

*SIGN-

CN1

PAO+

PAO-

PBO+

PBO-

PZO+

PZO-

3.6k

13 OH

Encoder

270

13 29

CN2

CN1

SRDY

PSR

COM-

ALM+

ALM-

ZOUT+

ZOUT-

Servo ready output

Position arrival output

DC15V～24V power

grounding

Servo alarm output

Z pulse output

Fig. 3-15 (a) Connection in position mode

The signals with “*” are the ones that need to be connected.

#1: The minimum power of external DC 15V~24V switching power supply should not be less

than 35W.

#2: In speed mode, CN1-34 is the position deviation clear signal (CLE), and CN1-35 is the

pulse command inhibition signal (INH).

#3: OH is not connected when there is no temperature sensor in the servo motor.

Page 74

GS Series Spindle Servo Drive Unit User Manual

#4: The metal shells of CN1 and CN2 are connected to PE of servo unit, and can be taken

as the welding point of shielding wire.

z MDR servo unit connection in position mode

The input power of GS4□□□ Series spindle servo unit and motor cooling fan should adopt

～50/60Hz 440V.

Spindle Motor

Cooling fan

～

Motor

3～

3N～50Hz

380V

～

KM1

Power

grounding line

R S

Economical AC Spindle

Servo Unit

3N～50Hz

380V

Externally specified power

DC15V～24V

Servo enable input

Speed loop gain 2

selection inpu t

Spindle clamping

interlock signal input

Alarm clear input

Deviation clear

Pulse inhibition

Pulse

command

input

Position signal

*COM+ 39

*SO N 23

GAIN

BREF

ALRS

CLE

INH

CN1

*PULS+

*PULS-

*SIGN+

*SIGN-

PAO+

PAO-

PBO+

PBO-

PZO+

PZO-

CN1

270

3.6k

13 OH

Encoder

CN2

CN1

SRDY

PSR

COM-

ALM+

ALM-

ZOUT+

ZOUT-

Servo ready output

Position arrival

signal output DC15V～24V

power grounding

Servo alarm output

Z pulse output

Fig. 3-15 (b) Connection in position mode

The signals with “*” are the ones that need to be connected.

#1: The minimum power of external DC 15V~24V switching power supply should not be less

than 35W.

#2: In speed mode, CN1-8 is the position deviation clear signal (CLE), and CN1-7 is the

pulse command inhibition signal (INH).

#3: OH is not connected when there is no temperature sensor in the servo motor.

#4: The metal shells of CN1 and CN2 are connected to PE of servo unit, and can be taken

Page 75

Chapter III Connection

as the welding point of shielding wire.

3.6.3 Connection in Speed/Position Mode

z D-SUB servo unit connection in speed/position mode

The input power of GS4□□□ Series spindle servo unit and motor cooling fan should adopt

～50/60Hz 440V.

Fig. 3-16 (a) Connection in speed/position mode

The signals with “*” are the ones that need to be connected.

#1: The minimum power of external DC 15V~24V switching power supply should not be less

than 35W.

#2: In position mode, CN1-34 is the position deviation clear signal (CLE), and CN1-35 is the

pulse command inhibition signal (INH). In speed mode, CN1-34 is the speed selection 1

signal (SEC1), and CN1-35 is the speed selection 2 signal (SEC2).

#3: OH is not connected when there is no temperature sensor in the servo motor.

Page 76

GS Series Spindle Servo Drive Unit User Manual

#4: The metal shells of CN1 and CN2 are connected to PE of servo unit, and can be taken

as the welding point of shielding wire.

z MDR servo unit connection in speed/position mode

The input power of GS4□□□ Series spindle servo unit and motor cooling fan should adopt

～50/60Hz 440V.

Servo Motor

Cooling fan

～

Motor

3～

Encoder

CNC System

GS Series Servo

Unit

Servo re ady output

Control mode switching

completed output

Zero speed

signal output

Servo alarm

output

Position (speed) arrival output

Orientation completed output

Z pulse output

3N～50Hz

380V

Analog

command input

-10V～+10V

or 0V～+10V

Pulse command

input

Externally specified power

DC15V～24V

Servo enable input

Control mode

switching input

CCW rotation enable input

CW rotation enable input

Speed loop ga in 2

selection input

Orientation enable input

Spindle clamping

interlock signal input

Alarm c lear input

Zero spee d clamping in put

Speed selection 1

Speed selection 2

Position signal

output

grounding line

Power

～

KM1

*VCMD+ 24

*VCMD-

*PULS+

*PULS-

*SIGN+

*SIGN-

*COM+ 41

*COM+

SEC1/CLE

SEC2/INH

*SO N 1 3 *PSTI 35

*SFR *SRV

GAIN

OSTA

BREF

ALRS

ZSL

CN1

PAO+

PAO-

PBO+

PBO-

PZO+

PZO-

R S

Universal AC Spindle

Servo Unit

CN1

270

6 5

270

CN1

3.6k

11 10

3N～50Hz

380V

1OH

CN2

CN4

CN5

CN1

SRDY+

SRDY-

PSTO+

PSTO-

ZSP+

ZSP-

20 23

ALM+

ALM-

PSR+

PSR-

COIN+

COINZOUT+

ZOUT-

Fig. 3-16 (b) Connection in speed/position mode

The signals with “*” are the ones that need to be connected.

#1: The minimum power of external DC 15V~24V switching power supply should not be less

than 35W.

#2: In position mode, CN1-8 is the position deviation clear signal (CLE), and CN1-7 is the

pulse command inhibition signal (INH). In speed mode, CN1-8 is the speed selection 1

signal (SEC1), and CN1-7 is the speed selection 2 signal (SEC2).

Page 77

Chapter III Connection

#3: OH is not connected when there is no temperature sensor in the servo motor.

#4: The metal shells of CN1 and CN2 are connected to PE of servo unit, and can be taken

as the welding point of shielding wire.

Page 78

GS Series Spindle Servo Drive Unit User Manual

Page 79

Chapter IV Display and Operation

CHAPTER IV DISPLAY AND OPERATION

4.1 Operation Panel

¾ The functions of components on the servo unit panel are described in Section 1.2.2.

¾ The functions of keys are listed below:

Key Name Description

1. Increase the parameter No. and value;

Take key

Down

Move

Return

Enter

2. Page up in secondary menu;

3. Increase the motor running speed in manual mode;

4. Activate CCW rotation in JOG mode;

1. Decrease the parameter No. and value;

2. Page down in secondary menu;

3. Decrease the motor running speed in manual mode;

4. Activate CW rotation in JOG mode;

1. Select the digit of parameter No. to be edited;

2. Select the digit of parameter value to be edited;

Return to previous menu or cancel the operation;

Go to sub-menu or confirm the data setting;

for example: how it changes the value of parameter PA126 from -2045 to 2045.

Flashing dot

Data to be edited;

flashing dot

Press 3 times

Press twice

Data being edit;

dot lights ON

Press

twice

Editing finished

Page 80

GS Series Spindle Servo Drive Unit User Manual

1. For step 4, pressing once is to add 1000 based on -45 (-45+1000＝955) rather

than change -45 to 1045. This is the calculation result of servo unit.

2. The dot on the right bottom of the LED keeps lighting ON when the data is being edit,

and it becomes flashing after

is pressed, indicating the validation of the data. If

is pressed before the dot flashes, the parameter setting is invalid.

4.2 Display Menu

The monitoring window of GS Series Products adopts LED display.

LED0LED1LED2LED3LED4LED5

When LED5, LED4 is flashing, it means the servo unit is in alarm state.

The primary menu includes contents about monitoring, parameter setting, parameter

management, manual running, JOG running. The selection and operations are shown below:

Secondary MenuPrimary Menu

Status Monitoring

(Refer to Section 4.3)

Param eter Se tting

(Refer to Section 4.4)

Parameter Manag ement

(Refer to Section 4.5)

Manual Running

(Refer to Section 5.1.1)

JOG Running

(Refer to Section 5.1.2)

(Reserved)

Fig. 4.1 Menu Operation

Page 81

Chapter IV Display and Operation

4.3 Status Monitoring

is the status monitoring menu. Different kinds of status can be selected in this

menu. The value of PA03 which selects the initial monitoring status after power-on can be set.

Parameter

Value

PA3=0

PA3=1

PA3=2

PA3=3

PA3=4

PA3=5

PA3=6

PA3=7

PA3=8

PA3=9

PA3=10

PA3=11

PA3=12

PA3=13

PA3=14

PA3=15

PA3=16

PA3=17

PA3=18

PA3=19

PA3=20

PA3=21

PA3=22

PA3=23

Initial Status Operation Monitored Data Description

Motor rotation speed is 1000r/min

Current motor position low-order 5 digits

(pulse) Current motor position high-order 5 digits

(×10000 pulse)

Current motor position low-order 5 digits

(pulse)

Current motor position high-order 5 digits

(×10000 pulse)

Position deviation low-order 5 digits

(pulse)

The position command pulse frequency is

【2】

Position deviation high-order 5 digits

(×10000 pulse)

The current of motor is 2.3A.

The speed corresponding to analog

command is 1000r/min.

The speed command is 210r/min.

283.8KHZ.

20% of torque command value

70% of rated torque

The temperature of radiator is 32 ℃

The temperature of servo motor is 55 .℃

The DC bus voltage is 540V.

Error No. 9

Running 【3】

Reserved

Input terminal status 【4】

Output terminal status 【4】

Reserved

Hardware version No.

Software version No.

【1】

Page 82

GS Series Spindle Servo Drive Unit User Manual

Parameter

Value

PA3=24

PA3=25

PA3=26

PA3=27

PA3=28

PA3=29

PA3=30

PA3=31

PA3=32

PA3=33

PA3=34

PA3=35

Note:

【1】【2】【3】【4】【5】in the table above represent the following:

Initial Status Operation Monitored Data Description

The absolute position low-order digits of

the 2

The absolute position high-order digits of

position encoder is 6 【5】

the 2 The absolute position low-order digits of

position encoder are 3256 【5】

the 1 The absolute position high-order digits of

position encoder is 6 【5】

the 1

position encoder are 2577 【5】

Reserved

【1】

“r” represents the motor rotation code; 1000 represents the rotation speed in

CCW direction; if the direction is CW, the displayed speed will be negative (

【2】The position value of encoder feedback is composed of POS. (high-order 5 digits) + POS

(low-order 5 digits).

For example:

Likewise, the position command pulse value is composed of CPO

× 100000 ＋＝1845806 pulses;

. (high-order 5 digits) + CPO

(low-order 5 digits).

For example:

× 100000 ＋＝1845810 pulses;

The relationship between CPO and POS is: (when position deviation EPO is 0)

Likewise, the position deviation is composed of EPO

. (high-order 5 digits) + EPO (low-order 5

digits).

For example:

× 100000 ＋＝4 pulses

One rotation of the motor causes the change of displayed POS value be “encoder line

number×4” pulses. One pulse corresponds to the minimum angular displacement of servo

motor (360°/‘encoder line number×4’).

【3】Running status display

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Chapter IV Display and Operation

【4】Refer to Section 3.3.4 for input terminal status and Section 3.3.5 for output terminal status. 【5】The initial position of Z pulse is taken as zero-point position.

display the relative pulse between zero-point signal and zero-point position output by motor

encoder and the 2

position encoder respectively. If the two encoder line numbers are 1024,

and

then, the displayed value range is 0

～4095. The value is used for the setting of pre-position for

spindle orientation. When the encoder is absolute type or reluctance type, and the position to be

displayed is beyond the displayed value range, high-order or low-order digits are used.

When the orientation is performed, the pre-position should be set according to the value

displayed on

or (Refer to Section 6.5.1).

Method of bringing up status monitoring menu:

Example: There are two ways to bring up the status monitoring menu under

(1). Select the status monitoring menu directly.

Press

times

(2). Select the status monitoring menu through parameters.

Press twice

Dot

flashing

Dot

flashing

Increase

to 26

Data being edited;

The dot lights ON

Dot

flashing

Press

twice

Turn ON the power again

After the motor rotates one

circle

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GS Series Spindle Servo Drive Unit User Manual

¾ In method 1, indicates that the servo unit has detected the Z pulse, and

the displayed value is accurate.

¾ In method 2, indicates that the servo did not detect the Z pulse yet, the

displayed value is a random value and cannot be taken as reference value. After the

motor rotates one circle,

is displayed.

4.4 Parameter Setting

The values after parameter initialization are initial values; the values after parameter

recovery are default values.

z Restore the motor default parameter:

Relevant

Parameter

Parameter modifying

PA0=315

When PA0=315, parameters except PA1, PA2 can be modified.

PA1 Motor model code

For example, how to set the default parameter of ZJY208—7.5—B5:

Name Unit Range

～9999

password

500

～530

Default

Value

Applicable

Mode

315 P, S

0 P, S

The model code is 524 (refer to Appendix A), set PA1 to 524.

Press 7 times

Power On

Press

Twice

Dot flashing;

ones' place to be edited

Dot flashing;

ones' place to be edited

Dot flashing;

tens' place to be edited

Data being edit; dot lights

Data has been edit; dot

lights OFF

Press 4

times

Press Twice

Data has been edit;

dot lights OFF

Press Twice

5 seconds

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Chapter IV Display and Operation

¾ 385 is the special password for setting motor default value. PA1 can be modified only

when PA0=385.

¾ Whether the default parameter is applicable to the used motor or not can be known

from the value of PA1. If there is no corresponding motor model code, the motor may

not run normally.

¾ The modification is valid after key is pressed; if key

pressed, the parameter value will recover to the one of pre-modification.

rather than is

4.5 Parameter Management

This section detailedly describes the operations of parameter writing, reading, backup, recovery

and calling the default value. The data storage relationship is shown as follows:

Power ON

PAR. Writing

PAR. Reading

PAR. Backup

PAR. Recovery

Call default value

：

z EE－SEt Parameter Writing

EEPROM PAR. area

RAM

EEPROM PAR. area

RAM

EEPROM

Backup Area

PAR. Default

Value

RAM

EEPROM PAR. area

RAM

EEPROM PAR. area

RAM

EEPROM PAR. area

It means storing the parameter in RAM to EEPROM parameter area. Since the modified

parameter is valid only in RAM and will become the original value after power-on, the parameter

writing function can store the modified parameter forever. The modified parameter will be stored

in EEPROM parameter area and can be used after power-on.

z EE－rd Parameter reading

It means reading the data in EEPROM parameter area into RAM. During this process, the

power will be turned ON automatically. At first, the parameter value in RAM is the same with the

one in EEPROM parameter area; after modification, the value in RAM will be changed. When the

modified parameter does not meet the need or is disrupted, the parameter reading can be

performed: read the data in EEPROM parameter area into RAM to recover the original

parameters.

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GS Series Spindle Servo Drive Unit User Manual

z EE－bA Parameter backup

In case of wrong parameter modification, parameters are backed up in EEPROM backup

area so that user can call the original parameter if needed. Parameter backup should be done as

soon as commissioning has been performed.

z EE－rs Recovery

Read the parameters in EEPROM backup area into the RAM. The parameters need to be

stored; otherwise, they will become original parameters after power-on.

z EE－dEF Call default value

It means the default value which is related to a certain model of motor will be read into RAM

and written into EEPROM parameter area. It will become the default value after power-on (refer

to Section 4.4 for parameter setting).

The operation of parameter management:

PAR. writing

PAR. reading

PAR. backup

Backup recovery

Default value

recovery

Take parameter writing for example:

Power ON

Press

twice

Press 5

times

Dot flashing;

ones’ place to be edit

Finished

Press

twice

Dot flashing;

ones’ place to be edit

Modify

Data being ediited; dot

lights ON

Data has been edited; dot

lights OFF

5 seconds

Page 87

Commissioning of servo unit is described in this chapter according to the working mode

listed below:

Chapter V General Commissioning

CHAPTER V GENERAL COMMISSIONING

Relevant

Parameter

PA4

Parameter

Default

Applicable

Name Unit

Working mode selection

Range

～10

Value

Mode

1 P, S

PA4=0: Position mode;

Digital pulses determine the rotation direction and angle. The servo unit makes

the rotor work with the determined direction and angle. In position mode, the

rotation angle (position) and speed are controllable.

PA4=1: Speed mode;

The rotation direction and speed are determined by the analog voltage. The

servo unit makes the rotor work with the determined direction and speed. This

mode not only improves the motor response capability, but also enhances the

capability of anti-disturbance.

PA4=3: Speed/Position mode;

In this mode, when the input point PSTI (speed/position switch) is OFF, the

servo unit will be in speed mode after being enabled; when the PSTI is ON,

orientation is performed first, after PSTO (speed/position status) signal is

output, the servo unit is switched to position mode.

PA4=9: Manual mode

It is operated in

through keys

or .

menu. Acceleration/deceleration can be performed

PA4=10: JOG mode;

It is operated in

parameter PA124. CCW/ CW rotation can be selected through keys

menu. The motor works at the JOG speed set by

Usually, the following four steps are needed before a new servo unit runs.

Correct

Connection

Parameter

Setting

General

Commissioning

Functionality

Testing

In this chapter, the first three steps are described in details for quick commissioning. For

detailed information about individual functions, please refer to Chapter 6 Functionality Testing.

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GS Series Spindle Servo Drive Unit User Manual

5.1 Running in Manual/JOG Mode

z When the servo unit is used for the first time, it is advised to perform manual or JOG

running without load, thus ensuring the servo unit and motor can work normally after

transportation, vibration and installation.

z On the condition that the drive unit is working normally without load, it is necessary to

carry out commissioning in speed mode or position mode after CN1 control signal is

connected.

z The drive unit can run with load after signal connection, parameter setting and motor

running are proved to be normal.

The servo unit and motor should be connected according to Section 3.2.1 Connection

Diagram of Servo Unit Main Circuit before performing manual or JOG running, and the motor

should be disconnected to load. After connection, the following items should be checked before

power-on.

Item Method

Whether the specification of the servo unit and motor are appropriate.

Whether correct circuit breaker, contactor and isolation transformer are connected.

Whether the connection between R, S, T, P, B1, B and U, V, W, PE are correct.

Whether the motor encoder feedback signal lines are connected correctly.

Whether the screws of main circuit terminals are tightened.

Refer to the User Manual for the details of the servo unit and nameplate of the motor.

Refer to Appendix B for the selection of Peripheral Equipments.

Check the power circuit and measure it with universal meter if necessary.

Refer to Section 3.4.

Check if the screw is loose with screw driver.

Turn ON the power after checking the above items. The power sequence is shown as

follows:

Power

Alarm

Output

Drive

Enable

Servo

Ready

（ALM

（SON

(SRDY)

OFF

）

<0.5s

OFF

4ms

ON OFF

No Alarm

OFF

PA148

Alarm

OFF

Page 89

Chapter V General Commissioning

Caution! When the servo unit works for the first time, bring up the motor current monitoring

window after power-on. When the SON is ON, check whether the motor current exceeds

the rated current; if it does, turn OFF the SON, and then check the connection and

parameter setting of the servo unit; otherwise, the motor may be damaged.

5.1.1 Manual Running

After the servo unit is power-on, in normal condition, will be displayed; if the

servo unit is faulty,

Chapter 8.

Relevant

Parameter

PA4 Working mode selection

PA118 Internal enable

The procedures of manual running (PA4=9):

Name Unit

of motor running speed.

will be displayed. The remedies for faults are described in

Parameter

Range

～10

～1

is displayed after power-on. It is the monitoring window

Default

Value

Applicable

Mode

0 P, S

Press Twice

Acc.

Dec.

During manual running, if

becomes

after pressing “Enter”, indicating that there is no enable signal from the

2. Check PA1 first; if it is not set correctly (see Appendix A), call the

default parameter corresponding to servo motor in the servo unit (see

Section 4.4).

3. Set PA4 to 9 to select the manual running mode.

4. Set PA118 to 1 to turn ON Internal enable (set PA118 to 0 to turn

OFF). (make sure the motor rotation is safe)

5. Proceed to the manual running according to the left figure (parameter

setting is omitted).

6. Press down

maintains after loose the key; press down

, the motor starts acceleration, and the speed

, the motor starts

deceleration, and it starts acceleration in opposite direction after the

speed decreases to 0.

is displayed on the monitoring window, and it

servo unit, please set PA118 to 1; if

becomes

wrong, please set PA4 to 9.

after pressing “Enter”, indicating that the working mode of servo unit is

is displayed on the monitoring window, and it

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GS Series Spindle Servo Drive Unit User Manual

During manual running, if abnormalities such as vibration and noise occur on the motor,

adjust the speed loop parameters such as PA15, PA16, and PA18 etc. The adjustment

method is shown in Section 6.1.

5.1.2 JOG Running

After the servo unit is power-on, in normal condition, will be displayed; if the

servo unit is faulty,

Chapter 8.

Relevant

Parameter

PA4 Working mode selection

PA124 JOG running speed r/min

PA118 Internal enable

As with manual running, JOG running is operated through the operation panel.

The procedures of JOG running (PA4=10) are:

will be displayed. The remedies for faults are described in

Name Unit

speed.

2. Check PA1 first; if it is not set correctly (see Appendix A), call the

default parameter corresponding to servo motor in the servo unit (see

Section 4.4).

3. Set PA4=10 to select the JOG running mode;

Set PA124 to 500; the JOG running speed is 500r/min.

4. Set PA118 to 1 to turn ON Internal enable (set PA118 to 0 to turn

OFF). (make sure the motor rotation is safe)

5. Proceed to the manual running according to the left figure (parameter

setting is omitted).

6. Press down

is displayed after power-on; it shows the motor running

the motor starts acceleration, and the speed

Parameter

Range

～10

-6000

～6000

～1

Default

Value

0 P, S

300 S

0 P, S

Applicable

Mode

During manual running, if

becomes

after pressing “Enter”, indicating that there is no enable signal from the

maintains after loose the key; press down

deceleration, and it starts acceleration in opposite direction after the

speed decreases to 0.

is displayed on the monitoring window, and it

, the motor starts

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Chapter V General Commissioning

servo unit, please set PA118 to 1; if is displayed on the monitoring window, and it

becomes

wrong, please set PA4 to 10.

During manual running, if abnormalities such as vibration and noise occur on the motor,

adjust the speed loop parameters such as PA15, PA16, and PA18 etc. The adjustment

method is shown in Section 6.1.

after pressing “Enter”, indicating that the working mode of servo unit is

5.2 Running in Speed Mode

5.2.1 Analog Speed Command

. Connection should be done according to Section 3.6.1 (A) Connection Diagram. Note that the ①

following input signal should be connected.

Input Signal

D-SUB

Interface

MDR Interface

Function

*COM+ CN1-39 CN1-39

*VCMD+

*VCMD-

*SON CN1-23 CN1-13 Servo enable signal

*SFR CN1-20 CN1-11

*SRV CN1-5 CN1-10

. After connection, maintain all the input signals OFF, then, turn ON the power and set the ②

essential parameters.

Parameter Description

PA4=1 Select speed mode;

PA6=0

Select the external analog voltage -10V

The motor speed corresponding to default analog voltage (10V) is 6000r/min.

If PA52=5000, then

CN1-44

CN1-14

CN1-24

CN1-25

Common port of input point is the input

port of control power.

Analog voltage command input

PA6=1, CCW rotation enable input; PA6=0, enable permit signal; PA6=1, CW rotation enable input; PA6=0, invalid;

～+10V

PA52=6000

10V corresponds to 5000r/min,

5V corresponds to 2500r/min,

1V corresponds to 500r/min.

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GS Series Spindle Servo Drive Unit User Manual

Parameter Description

The external analog voltage range is

－10V～＋10V;

Voltage command is positive, motor performs

CCW rotation;

PA51=0

PA6=0

Voltage command is negative, motor

performs CW rotation;

Voltage command is positive, motor performs

PA51

PA51=1

CW rotation;

Voltage command is negative, motor

performs CCW rotation.

The external analog voltage range is 0V

～＋10V;

SFR is ON, motor performs CCW rotation;

PA6=1

PA51=0

SRV is ON, motor performs CW rotation;

SFR is ON, motor performs CW rotation;

PA51=1

SRV is ON, motor performs CCW rotation;

③

General Commissioning

1. After the parameter setting is completed, parameter writing can be enabled (refer to

Instruction in Section 4.5 Parameter Management).

2. Specify a small analog command value and turn ON signals SON and SFR (or SRV), the

motor will run as commanded.

If PA6=0, the motor can be energized only when both SON and SFR are ON. SFR is enable

permit signal.

Motor running sequence when PA6=0

¾ To ensure stable start and stop of the motor, appropriate acceleration time

(t1=PA57) and deceleration time (t2=PA58) are needed to be set. When the load inertia

is large, the time should be increased accordingly in case of alarm Err-2.

Page 93

Chapter V General Commissioning

¾ In the figure above, t3 represents the process of motor coasting to stop when

PA119=0. Refer to PA119 for details.

When PA6=1and SON is ON, the motor is not energized until SFR (or SRV) is ON.

(SON)

(SFR)

(SRV)

OFF OFF

OFF

ON OFF ON OFF

OFF

ON ONOFF

ON OFF

Analog

Command

Drive

Enable

CCW

Rotation

Activated

Rotation

Activated

Servo

Ready

Rotation

Speed

(SRDY)

Motor running sequence when PA6=1

The motor current is displayed on

. Normally, the current value would not exceed the

rated current. When the SON signal is invalid, analog command (represented by rotation speed) can

be known on

SON signal is ON.

; if it is in normal state, the displayed value equals to the rotation speed when

3. Increase the analog voltage to slowly raise the motor running speed; meanwhile, monitor the

motor running to see whether any vibration and noise exist, whether the speed is steady and whether

the current exceeds the rated value or not.

4. When the motor runs normally with the speed from zero to positive maximum or from zero to

negative maximum, other actions can be performed.

During the running in analog command speed mode, some abnormalities and remedies are

listed as follows:

No. Abnormality Remedy

No data is displayed on monitoring window

command is specified.

Data is only displayed on

after the analog

, not

Check the command system and

control line.

Check the parameter setting or check

the enable signal line. It is convenient

that means a speed is commanded but

the motor does not work.

after the servo is enabled,

to check I/O according to the contents displayed on

Section 3.3.4 Digital Input Point).

(refer to

3 Motor rotation directions are not Refer to Section 6.2 for the rotation

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GS Series Spindle Servo Drive Unit User Manual

inconsistent. direction switching.

Abnormalities such as vibration and

noise occur on the motor; motor shaft

vibrates during orientation.

5 The motor rotates in single direction;

A slight drift exists in the motor even 0V

is commanded.

1. Check the shielding line connection.

2. Refer to Section 6.1 for the basic performance parameter setting.

1. Check the mode of command

source and the setting of PA6.

2. Check whether the analog command

input line is connected in reverse.

Refer to Section 6.5.2 to adjust the

“drift amount”.

5.2.2 Internal Speed Command

. Connection should be done according to Section 3.6.1 Connection Diagram. Note that the ①

following input signal should be connected.

Input Signal D-SUB Interface MDR Interface Function

*COM+ CN1-39 CN1-39

*SON CN1-23 CN1-13

Common port of input point is the input

port of control power.

Servo enable signal; enable the motor

alone

*SEC1 CN1-34 CN1-8 Speed selection 1

*SEC2 CN1-35 CN1-7 Speed selection 2

. After connection, all the input signals maintain OFF, then, turn ON the power and set the ②

essential parameters.

Parameter Description

PA4=1 Speed mode selection

PA6=2 Select internal command

I/O Status

SEC1 SEC2

OFF OFF

ON OFF

OFF ON

ON ON

PA126

～

PA128

Default Value

PA126＝1000

PA127＝-500

PA128＝2000

Running

Speed

0 r/min

Internal speed 1 Internal speed 2 Internal speed 3

General Commissioning③

1. After the parameter setting is completed, parameter writing can be enabled (refer to

Page 95

Chapter V General Commissioning

Instruction in Section 4.5 Parameter Management).

2. Turn ON signals SON, the motor will be energized and maintains at zero speed; then turn ON

signal SEC1, the motor will run at the “internal speed 1”; the default motor speed is 1000r/min.

motor current can be monitored on

the rated current.

; normally, the displayed current is 0.2 times of

3. Turn ON signals SEC1, SEC2 by sequence, so that the motor can run at three different

internal speeds. Meanwhile, monitor the motor running to see whether any vibration and

noise exist, whether the speed is steady and whether the current exceeds the rated value or

not.

Internal

Speed 3

Internal

Speed 1

Internal

Speed 2

SEC1

SEC2

r/min

PA126

PA127

ON OFFOFF

OFF

OFF ON

PA128

4. When the motor works normally at three internal speeds, other actions can be performed. The

abnormalities and remedies are described as follows:

No. Abnormality Remedy

1 Motor rotation directions are inconsistent;

Refer to Section 6.2 for the rotation

direction switching.

Abnormalities such as vibration and noise

Refer to Section 6.1 for the basic

occur on the motor; motor shaft vibrates

performance parameter commissioning.

during orientation.

Check

The status of input signal is not consistent

signal is correct (refer to Section 3.4.4

with the motor rotation direction.

for digital input points).

5.3 Running in Position Mode

. Connection should be done according to Section 3.6.2 Connection Diagram. Note that the ①

following input signal should be connected.

Input Signal D-SUB MDR Function

*COM+ CN1-39 CN1-39

*SON CN1-23 CN1-13

Input point common port is control power

input port

Servo enable signal

to see if the input

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GS Series Spindle Servo Drive Unit User Manual

*PULS+

*PULS-

CN1-2

CN1-17

CN1-6 CN1-5

Position command input; the input mode

is :

PA5=0: Pulse + direction;

*SIGN+

*SIGN-

CN1-1

CN1-16

CN1-31 CN1-30

PA5=1: CCW pulse+CW pulse;

PA5=2: AB phase of orthogonal pulse;

. After connection, all the input signals maintain OFF, then, turn ON the power and set the ②

essential parameters.

Parameter Description

PA4=0 Select position mode

Selection pulse mode of position command;

PA5=0: Pulse + direction;

PA5

PA5=1: CCW pulse+CW pulse

PA5=2: AB phase of orthogonal pulse; (Refer to Section 3.3.3 for position

command input.)

Position command direction reversed;

PA28

PA28=0: “Standard Mode” of position command;

PA28=1: “Reverse Mode” of position command; (See Section 6.2).

Position command electronic gear ratio: PA29 pulse command frequency

multiplication coefficient;

PA29

PA30

PA30 pulse command frequency division coefficient;

The electronic gear ratio formula is :

＝

ICR

PA29

PA30L4C

(Refer to Section 6.4.1 for details.)

③

. General Commissioning

1. After the parameter setting is completed, parameter writing can be enabled (refer to

Instruction in Section 4.5 Parameter Management).

2. Turn ON signals SON, the motor will be energized and maintains at zero speed; specify the

position pulse with low frequency, and then the motor can start running. Motor current can be

monitored on

PA29 and PA30 are set to 1, command pulse number can be read on

; normally, the displayed current will not exceed the rated current. When

after the execution

of some commands. The pulse number should be in accordance with the displayed pulse number on

. When the gear ratio is not 1:1, the pulse number should multiply the gear ratio.

The following figure is an example of driving the motor by pulse+direction commands.

Page 97

Chapter V General Commissioning

3. Increase the analog command value to slowly raise the motor running speed; meanwhile,

monitor the motor running to see whether any vibration and noise exist, whether the speed is steady

and whether the current exceeds the rated value or not.

4. When the motor runs normally at the rated speed, and the pulse number on

equals to the pulse number on

, other actions can be performed.

The possible abnormalities and remedies are shown as follows:

No. Abnormality Remedy

No data is displayed on

the motor does not work after being

enabled. There are data displayed on

, and

Check the connection and the PC.

Check the enable signal and

but the motor does not work. Motor rotation directions are not

inconsistent. Abnormalities such as vibration and noise occur on the motor; motor shaft

vibrates during orientation.

parameter setting. Refer to Section 6.2 for the rotation direction switching.

Refer to Section 6.1 for the basic performance parameter setting.

The motor rotates in single direction;

The data displayed on

not consistent with the pulse number of

command source.

are

5.4 Running in Speed/Position Mode

. Connection should be done according to Section 3.6.3 Connection Diagram. Note that the ①

following input signal should be connected.

Input Signal D-SUB MDR Function

*COM+ CN1-39 CN1-39

*VCMD+

*VCMD-

*SON CN1-23 CN1-13 Servo enable signal.

CN1-44 CN1-14

CN1-24 CN1-25

Check the mode of command source

and the setting of PA5.

1. Check the shielding condition of signal line.

2. Keep the motor far away from interference source.

Input point common port is the control power input port.

Analog voltage command input point.

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GS Series Spindle Servo Drive Unit User Manual

*SFR CN1-20 CN1-11

*SRV CN1-5 CN1-10

*PSTI CN1-38 CN1-35

*PSTO+

*PSTO-

*PULS+

*PULS-

*SIGN+

*SIGN-

. After connection, all the input signals maintain OFF, then, turn ON the power and set the ②

essential parameters.

Parameter Description

PA4=3 Select speed/position mode

Speed command selection: PA6=0: －10V～＋10V analog voltage;

PA6=1: 0

PA6=2: internal speed;

CN1-10 CN1-26

CN1-2

CN1-17

CN1-1

CN1-16

PA6=1, CCW rotation enable input signal; PA6=0, drive unit enable permit signal;

PA6=1, CW rotation enable input; PA6=0, invalid.

Speed/potion switching (valid when PA4=3).

CN1-19 CN1-18

CN1-6 CN1-5

CN1-31 CN1-30

～＋10V analog voltage;

Speed/position status output (valid when PA4=3).

Position command input; the input mode is :

1. Pulse + direction;

2. CCW pulse+CW pulse

3. AB phase of orthogonal pulse

PA6

PA28

PA6=0 The external analog voltage is

PA51=0

PA51=1

PA6=1 External analog voltage is 0～＋10V.

PA51=0

PA51=1

Position command direction reversed;

PA28=0: “Standard Mode” of position command;

PA28=1: “Reverse Mode” of position command; (See Section 6.2).

When the voltage command is positive, motor performs

CCW rotation;

When the voltage command is negative, motor performs

CW rotation;

When the voltage command is positive, motor performs

CW rotation;

When the voltage command is negative, motor performs

CCW rotation;

When SFR is ON, motor performs CCW rotation;

When SFV is ON, motor performs CW rotation;

When SFR is ON, motor performs CW rotation;

When SFV is ON, motor performs CCW rotation;

－10V～＋10V;

PA29

PA30

Position command electronic gear ratio: PA29 is the pulse command frequency

multiplication coefficient;

PA30 is the pulse command frequency division coefficient.

The electronic gear ratio formula is :

Page 99

Chapter V General Commissioning

Select the transition mode switching from position mode to speed mode.

In speed/position mode, it selects the transition mode switching from position mode to speed

PA89

mode.

PA89=0: When VP is OFF, switch to speed mode after the execution of position commands.

PA89=1: When VP is OFF, switch to speed mode no matter whether the position commands

are completed.

Reference point position in speed/position switching mode

PA90

PA91

When switching from speed mode to position mode, the servo unit will work at the speed set

by PA99, and stops at the reference point set by PA90, PA91, then, waits for position

commands. (Refer to Section 6.5.1 for orientation process.)

Orientation speed

PA99

When the spindle motor performs orientation, it rotates at the orientation speed at first; then,

after the Z pulse of encoder is acquired, the spindle motor rotates to the orientation position.

③

. General Commissioning

(Refer to Section 6.4.1 for details.)

1. After the parameter setting is completed, parameter writing can be enabled (refer to

Instruction in Section 4.5 Parameter Management).

2. Speed/position switching. Input according to the status of PSTI:

PSTI is ON; the servo unit is in position mode;

PSTI is OFF; the servo unit is in speed mode;

The switching process is:

PSTI Input

Point

Rotation

Speed

Initial

Speed

Orientation

Speed

PSTI Output

Point

OFF

PA99

Speed Mode

OFF ON OFF

To the position set by

PA90, PA91

Position Mode

OFF

Speed

Mode

Switch to

speed mode

Fig. 5-4-1 Switching process when PA89=0

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GS Series Spindle Servo Drive Unit User Manual

PSTI Input

Point

Rotation

Speed

Initial

Speed

Orientation

Speed

PSTO Output

Point

OFF

To the position set by

PA99

Speed Mode Speed Mode

OFF ON OFF

PA90, PA91

OFF

Switch to speed

mode immediately

Position Mode

Fig. 5-4-2 Switching process when PA89=1

3. The default status of PSTI signal is OFF. Commissioning should be performed in speed mode

at first. The procedures are described in Section 5.2.1 General Commissioning.

4. When the motor works normally in speed mode, switch to position mode directly, and turn ON

signal PSTI. The sequence is in Figure 5.4.1 or 5.4.2 signals PSTO+ and PSTO- conduct.

Then, perform commissioning according to Section 5.3.

1. In the speed/position switching process, speed loop gain 1 (PA15, PA16), position

loop gain 1 (PA19), speed loop gain 3 (PA48, PA49), position loop gain 3 (PA23) are

used. Shown as follows:

PA48 PA49 PA23

Speed/Position

switching

PA15 PA16 PA19

OFF

Parameters

PSTI

PSTO

PA15 PA16 PA19

Speed Control Position Control Speed Control

OFF

2. The abnormalities during the running in speed/position mode can be handled

according to the remedies in speed mode and position mode.

gsk GSK GSSpindle User Manual

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