Xinje DS2-20P7-AS, DS2-20P4-AS, DS2-20P2-AS User Manual

Wuxi Xinje Electric Co., Ltd.

DS2 series servo drive

Manual

Data No.: SC209 20110412 1.0

2

1

►► Safety notes

 Confirmation

 Do not use the drivers that are broken, lack of parts or wrong types.

 Installation

 Make sure all the external powers are cut off before install the drivers.

 Wiring

 Please cut off all the powers before wiring.
 Connect the AC power to the power terminals of driver.
 Do not connect U, V, W terminals of driver with 3-phase power supply.
 Please use 2mm2 cable to ground the GND terminal of driver.

 Maintenance and running

 Install the panel cover when power on.
 Do not touch the terminals in 5 minutes after power off.
 Do not connect motor with load when test running.
 Set the suitable power consumption parameters before connecting the

machine.

 Do not change the wiring with electricity.
 Do not touch the radiator when running.

►► Confirmation after getting the products

1. Please confirm the following items after getting the products.

Item Contents

The type is what you ordered? Check the label of driver and motor

Does the motor shaft rotate well?

Can rotate by manual. Cannot rotate by manual
for brake types

Is there any damage? Check if the cover has damage during

transporting

Is the screw loose? Check the screw with screwdriver

Check the motor code Check if the driver and the motor code is

2

matched

Please contact us if there are any problems in these items.

2. Type

(1) Servo driver

DS2 – 2 0P7 – AS

(2) Servo motor

MS -80 ST - M 02430 A Z- 2 0P7

Power

Voltage
Power-loss brake
Shaft specs
Feature code
Feedback part code

Sine drive motor
Base code
Series name

Base code: 60, 80, 90;
Feedback part code: M (optical pulse encoder)
Feature code: first 3 bits are rated torque; last 2 bits are rated speed;
For example: 00630: rated torque 0.637N·m, rated speed 3000rpm;
01330: rated torque 1.3N·m, rated speed 3000rpm;

Voltage level
2: 220V

Series name
DS2:compact model

Motor capacity
0P2: 0.2KW
0P4: 0.4KW
0P7: 0.75KW

Configuration: AS

3

Shaft spec: A- no bond; B- with bond;
Power-loss brake: empty- no brake; Z- with brake;
Voltage level: 2－220V;
Power: 0P2: 0.2KW; 0P4: 0.4KW; 0P7: 0.75KW;

3. Parts introduction

(1) Servo motor

(2) Servo driver

 DS2-20P2-AS, DS2-20P4-AS, DS2-20P7-AS

Encoder

Frame Flange

Output shaft

4

PUL­PUL+
V1+
DIR­DIR+
V2+
SI1
SI2
SI3
SI4

+24V

SO1
SO2

COM

POWER

Light when power on

Panel buttons

For parameter settings

Panel display
Display the servo state, parameter, alarm

CN2

CN1

CN0

Pulse, direction, I/O signal

CN1
I/O, analog, position feedback signal

CN2
Encoder terminal

Power and motor terminal
Drive and motor power terminal

5

►► Installation

1. Servo motor

MS series servo motors can be installed either horizontally or vertically. The service
life of the servo motor can be shortened or unexpected problems might occur if it is
installed incorrectly or in an inappropriate location. Follow these installation
instructions carefully.

4
3

1

2

RS232 port
Connect PC and HMI

DIP switch
Turn on 2, 3, and 5

for normal using

6

5

Notes:

The end of the motor shaft is coated with
antirust. Before installing, carefully remove
all of the paint using a cloth moistened with
paint thinner. Avoid getting thinner on other
parts of the servo motor.

Antirust

6

(1) Storage temperature
Store the servomotor within -20~+60 ℃ as long as it is stored with the power
cable disconnected.
(2) Installation location

 Free of corrosive or explosive gases.
 Well-ventilated and free of dust and moisture.
 Ambient temperature of 0° to 50°C.
 Relative humidity (r.h.) of 20 to 80% with no condensation.
 Accessible for inspection and cleaning.

(3) Concentricity
Please use coupling when connecting to machine; keep the shaft center of servo
motor and machine at the same line. It should be accord to the following
diagram when installing the servo motor.

Note:

 If the concentricity is not enough, it will cause the vibration and bearing damage.
 When installing the coupler, prevent direct impact to the shaft. This can damage

the encoder mounted on the shaft end at the opposite side of the load.

(4) Installation direction

Measure it at 4 places of the circle, the difference should be
below 0.03mm. (Rotate with the shaft coupler)

Measure it at 4 places of the circle, the difference should be below

0.03mm. (Rotate with th

e shaft coupler)

7

MS series servo motors can be installed either horizontally or vertically.

(5) Avoid oil and water

Install a protective cover over the
servomotor if it is used in a location that is
subject to water or oil mist. Also use a
servomotor with an oil seal when needed
to seal the through-shaft section.

(6) Cable stress

Make sure that the power lines are free from bends and tension. Be especially careful
to wire signal line cables so that they are not subject to stress because the core wires
are very thin, measuring only 0.2 to 0.3mm2.

2. Servo drive

The DS2 series servo drivers are base-mounted servo drivers. Incorrect installation
will cause problems. Follow the installation instructions below

(1) Storage temperature

Store the servo driver within -20~+85℃, as long as it is stored with the power cable
disconnected.

(2) Installation location

The following precautions apply to the installation site.

Situation Installation Precaution

Installation in a
Control Panel

Design the control panel size, unit layout, and cooling method
so the temperature around the servo drivers does not exceed

Through part of

the shaft

8

50°C.

Installation Near a
Heating Unit

Minimize heat radiated from the heating unit as well as any
temperature rise caused by natural convection so the
temperature around the servo drivers does not exceed 50°C.

Installation Near a
Source of Vibration

Install a vibration isolator beneath the servo driver to avoid
subjecting it to vibration.

Installation at a Site
Exposed to
Corrosive Gas

Corrosive gas does not have an immediate effect on the
servo drivers, but will eventually cause electronic components
and terminals to malfunction. Take appropriate action to avoid
corrosive gas.

Other Situations Do not install the servo driver in hot and humid locations or

locations subject to excessive dust or iron powder in the air.

(3) Installation direction

Install the servo driver perpendicular to the wall as
shown in the figure. The servo driver must be
oriented this way because it is designed to be cooled
by natural convection or by a cooling fan.

Wall

Ventilation

9

(4) Installation
Follow the procedure below to install multiple servo drivers side by side in a control
panel.

 Servo drive direction
Install the servo driver perpendicular to the wall and make the front panel towards
operator.
 Cooling
Please leave enough space as the above diagram to ensure cooling by fans or
natural ventilation.
 Side-by-side installation
As the above diagram, leave min 10cm space at horizontal direction, leave min
50mm space at vertical direction. Install cooling fans above the drive. Keep the
uniform temperature inside the control panel to avoid overheat at local place.

PUL-

PUL+

V1+

DIR-

DIR+

V2+

SI1
SI2
SI3
SI4

+24V

SO1
SO2

COM

CN2

CN1

min

min

min

min

FanFan

PUL­PUL+

V1+

DIR­DIR+

V2+

SI1
SI2
SI3
SI4

+24V

SO1
SO2

COM

CN2

CN1

PUL-

PUL+

V1+

DIR-

DIR+

V2+

SI1
SI2
SI3
SI4

+24V

SO1
SO2

COM

CN2

CN1

PUL-

PUL+

V1+

DIR-

DIR+

V2+

SI1
SI2
SI3
SI4

+24V

SO1
SO2

COM

CN2

CN1

10

 Ambient inside control panel

 Ambient Temperature: 0~50 ℃

 Humidity: 90%RH or less

 Vibration: 4.9m/s2

 Condensation and Freezing: None

 Ambient Temperature for Long-term Reliability: 50°C maximum

►► Dimensions

1. Servo motor

 60 series motor installation dimensions Unit: mm

Type LA

MS-60ST-M00630□□-20P2 110

11

Type

LA

Normal With brake

MS-60ST-M01330□□-20P4 146 189

12

 80 series motor installation dimensions Unit: mm

Type

LA

Normal With brake

MS-80ST-M02430□□-20P7 150 191

13

 MS-90ST-M02430□□-20P7 installation dimensions Unit: mm

Type

LA

Normal With brake

MS-90ST-M02430□□-20P7 149 194

2. Servo drive（unit: mm）

 DS2-20P2-AS, DS2-20P4-AS, DS2-20P7-AS

14

►► Wiring

1. Main circuit

15

 DS2-20P2-AS, DS2-20P4-AS, DS2-20P7-AS

The terminal function of main circuit:

Terminal Function Explanation

L1/L2/L3 Power input of main

circuit

AC single-phase or 3-phase
200~240V, 50/60Hz

Ground terminal Connect to ground terminal of

motor

P+、PB

Regeneration brake
resistor

Connect the regeneration resistor
between P+ and PB

U、V、W

Motor terminal Connect to motor

Ground terminal Connect to motor ground terminal

2. Winding connector of servo motor

Signal

60、80、90 series motor
U 1
V 2

W 3

PE 4

3. I/O terminal (CN0, CN1)

The connector is looked at the soldering terminal:

16

DS2-20P2-AS
DS2-20P4-AS
DS2-20P7-AS

CN0 CN1(DB15)

PUL­PUL+
V1+
DIR­DIR+

V2+
SI1
SI2
SI3
SI4
+24V
SO1
SO2
COM

1

5

6

10

11

15

 CN0, CN1 Terminal
DS2-20P2-AS

DS2-20P4-AS
DS2-20P7-AS

 CN0 terminals

No. Name Contents No. Name Contents

1 PUL-

Pulse
input PUL-

8 SI2

Input terminal
2

2 PUL+

Difference
input

9 SI3

Input terminal
3

17

PUL+

3 V1+

Open
collector
+24V

10 SI4

Input terminal
4

4 DIR-

Direction
input DIR-

11 +24V

Input terminal
+24V

5 DIR+

Difference
input DIR+

12 SO1

Output
terminal 1

6 V2+

Open
collector
+24V

13 SO2

Output
terminal 2

7 SI1

Input
terminal 1

14 COM

Ground of
output
terminal

DS2-20P2-AS
DS2-20P4-AS
DS2-20P7-AS

 CN1（DB15）terminals

No. Name Contents No. Name Contents

1 NC Reservation

9 Z-

Encoder output
Z-

2 NC Reservation

10 B+

Encoder output
B+

3 SI5

Input
terminal 5

11 T-REF

Torque analog
input

4 SO3

Output
terminal 3

12

V-RE
F

Speed analog
input

5 B- Encoder 13 GND GND for analog

18

output B- input

6

A+

Encoder
output A+

14 A RS485 +

7 A-

Encoder
output A-

15 B RS485 -

8 Z+

Encoder
output Z+

4. I/O signals

(1) Input signal

Item Input terminals Function

Digital input SI1~SI5 Multi-functional input terminals

Pulse input

PUL-、PUL+

P2-00=0: positive pulse
P2-00=2: pulse

DIR-、DIR+

P2-00=0: negative pulse
P2-00=2: direction (sign)

(2) Output signal

Item Output terminals Function

Optical output SO1~SO3 Multi-functional output terminals

5. CN2 terminals

The connector is looked at the soldering terminal:

19

910

15 14 13 12 11

12345

678

Drive

terminal

Encoder

terminal

Name

Drive

terminal

Encoder terminal

Name

60、80、90

Series motor

60、80、90

Series motor

1 9 A+ 2 4 B+

3 7 Z+ 4 6 U+
5 11 W+ 6 13 A­7 14 B- 8 5 Z-

9 8 U- 10 15 W­11 1 Shield 12 3 GND
13 2 5V 14 10 V+
15 12 V-

6. Communication ports

 COM1
COM1 is RS232 port which can be used to connect PC for debugging. Do not set the
panel display to bb or RUN when debugging.
The parameters of COM1 cannot be modified.
Baud rate 19200bps, 8 data bits, 1 stop bit, even parity, Modbus station no.1.

20

 DS2-20P2-AS、DS2-20P4-AS、DS2-20P7-AS

1
5

(5-pin port)

Terminal

Name

Explanation
1 TXD RS232 send
2 RXD RS232 receive
3 GND RS232 ground

Note: please use the cable offered by Xinje company.

 COM2
The COM2 position of each type:

Type Port COM mode Mark

DS2-20P2-AS
DS2-20P4-AS
DS2-20P7-AS

A (CN1-14)
B (CN1-15)

RS485

This port cannot be used with
COM1 at the same time.

The parameters of COM2 can be set through P0-04:

Parameter Function Default

setting

Range

P0-04.0 Baud

rate

6

0～9
0：300
1：600
2：1200
3：2400
4：4800
5：9600
6：19200
7：38400

21

8：57600
9：115200

P0-04.1 Data bit 0

0：8

P0-04.2 Stop bit 2

0：2 bits；2：1 bit

P0-04.3 Parity bit 2

0～2
0：no parity 1：odd parity 2：even parity

Modbus station no. can be set through P0-03.

Parameter Function Unit Default setting Range

P0-03 Modbus station no.

－

1

1～255

Note: the above parameters will be worked after re-power on.

7. Typical wiring

 DS2-20P2-AS、DS2-20P4-AS、DS2-20P7-AS

22

V2+

/DIR-

/PUL-

CN0-6

CN0-4

CN1-7

CN1-6

CN0-14

CN1-4

CN0-13

CN0-12

CN1-3

CN0-9

/P-OT

/SPD-A

Reverse prohibited

（effective when OFF）

CN0-11

Alarm reset

（clear the alarm when ON）

Encoder

Output

A0-

AO+

COM

Shield layer connects

0V at signal side, be

empty at drive side

Vcc

CN0-1

2.2KΩ

W

V

PG

M

V

3-phase AC 220V

(50/60Hz)

Properly handle the

Shield thread

CN2

L1

P+
PB

S-RDY

ALM

COIN

FIL

Self-defined

Terminal output

Servo enable ON

（enable when ON）

CN0-8

CN0-7

/S-ON

+24VIN

U

U

PE

W

Regenerative

resistor

L2
L3

CN0-10

/N-OT

Forward prohibited

（effective when OFF）

Speed choices

/ALM-RST

3.3KΩ

V1+

CN0-3

Vcc

2.2K

Ω

CN1-5

CN1-10

B0-

BO+

CN1-9

CN1-8

Z0-

ZO+

23

►► Use the control panel

1. Basic operation

The control panel can display the servo status, alarm code, command and set the
parameters.

STATUS

ESC

DEC

ENTER

INC

The control panel can display the running status, set the parameters and command.
The basic status includes display status, parameter settings, monitor, auxiliary
function, alarm status. Press STATUS/ESC to change the 5 status.

Buttons Function
STATUS/E

SC

Press: change the status, status
return

INC Press: increase the value

Keep press: continuous increase
the value

DEC Press: decrease the value

Keep press: continuous
decrease the value

ENTER Press: shift

Keep press: enter data setting
and checking

24

Display mode:
Monitor mode: U- XX: XX is monitor parameter code
Auxiliary function mode: FX-XX: the first X is group code; the second X is parameter
code in this group.
Parameter settings mode PX-XX：the first X is group code; the second X is parameter
code in this group.
Alarm mode E-XXX：XXX is alarm code.

2. Running status

The LED digits and code will show the status of servo drive.
 Use the status display
The servo enters status display when power on. If it cannot enter this status, press
STATUS/ESC button.

Auxiliary function

Monitor

Parameter setting

Running status

Power ON

25

 The status contents
Code contents
Code Contents

Standby
Servo is OFF (motor has no electricity)

Run
Servo enable (motor has electricity)

Forward prohibit
P-OT ON

Reverse prohibit
N-OT ON

3. Monitor status

The monitor status can show the command, I/O signal status, servo internal status.
The monitor status can be changed when motor is running.
 Use the monitor status
The following is the example of using U-16 monitor code.

(1) Press STATUS/ESC to enter monitor status

(2) Press INC, DEC or ENTER to choose the monitor code U-16, keep press

ENTER to check the contents.

(3) Now it will show the value in U-16.

26

(4) Press STATUS/ESC to return

The contents of monitor code:

Code Contents Unit
U-00 Motor real speed Rpm
U-01 Input speed command Rpm
U-02 Internal torque command %
U-03 Rotate angle (physical angle) 0.1°
U-04 Rotate angle (electricity angle) 0.1°
U-05 Bus voltage V
U-06 Module temperature 0.1℃
U-07 Input command pulse speed Rpm
U-08

Shift command
pulse

（0000～9999）*1

Command
pulse

U-09

（0000～9999）
*10000

U-10

Rotate angle
(encoder value)

（0000～9999）*1

Encoder
pulse

U-11

（0000～9999）
*10000

U-12

Input command
pulses

（0000～9999）*1

Command
pulse

U-13

（0000～9999）
*10000

U-14

Feedback
command pulses

（0000～9999）*1

Command
pulse

U-15

（0000～9999）
*10000

U-16

Current position
(cumulative value)

（0000～9999）*1

Encoder
pulse

U-17

（0000～9999）
*10000

U-18 Real-time current, 1 decimal place 0.1A

27

U-19 Analog input V-REF 0.01V
U-20 Analog input T-REF 0.01V
U-21 I/O signal status
U-22 I/O terminal status

U-21 can show the I/O signal status. The following is the I/O status.

Fig 1 Fig 2

In fig 1, input status is shown in LED4 and LED5; output status is shown in LED1 and
LED2. Fig 2 is the LED segment number.
Each segment meanings please refer to DS2 series servo manual.
U-22 can show I/O terminal status. The following is the I/O status.

Fig 1 Fig 2

In fig1, input terminal status is shown in LED5; output terminal status is shown in
LED2. Fig 2 is the LED segment number.
Each segment meanings please refer to DS2 series servo manual.

LED1 LED2 LED4 LED5

0

1

2

3

5
4

6

7

LED1 LED2 LED4 LED5

0

1

2

3

5
4

6

7

28

4. Auxiliary function

The control panel can performance some applications in auxiliary function.

Function
code

Contents

F0-** System information
F1-** Auxiliary function, show auxiliary command and result
F2-** Motor code
F3-** Alarm information
F4-00 Reset to default settings

F5-00 External communication monitor
 Check the system information
Press STATUS/ESC to enter auxiliary function. Set the group no. to 0 in order to
check system information. Press INC or DEC to change the code, keep press
ENTER to check the information, press STATUS/ESC to return.
The contents of the system information:

Code Contents Code Contents

F0-00 Motor code F0-01 Series

F0-02 Type F0-03 Production date: year

F0-04 Production date:

month

F0-05 Production date: day

F0-06 Software version F0-07 Hardware version
 Auxiliary function operation
In auxiliary function status, set the group to 1, press ENTER to go to code switching.
Press INC or DEC to change the code, keep press ENTER to become effective.
Press STATUS/ESC to return.
（1）Jog（F1-00）

Make sure motor doesn’t connect to the machine before jogging！

Press ENTER to enable the motor. In enable status, press INC for forward jog, press

29

DEC for reverse jog. Press STATUS/ESC to exit.
4 statuses when jogging:

Status Display Status Display

Idle

Forward

Enable

Reverse

（2）test run（F1-01）

Make sure the motor doesn’t connect to the machine before test running！

Please enter test run if servo connects to non-original encoder line and power line.
Set F1-01 to 1, keep press ENTER to go to test run.
The display will show the following when test running.

If all the wires are connected correctly, the motor will run forward (direction is
counterclockwise) in 5 seconds. The motor will shake if the wiring is not correct.
Even worse, the drive will alarm. Please cut the power at this time and check the
wiring.
Press STATUS/ESC to exit.
（3）current detection offset auto-tune
Please use current detection offset auto-tune when servo finishes updating or motor
is not running smoothly after long time.
Choose F1-02 to enter current detection offset auto-tune, it will show rEF.
Press ENTER to run this function, it will show rEF and blink.
It will show done in 5 second when auto-tune is successful.
Press STATUS/ESC to exit.
（4）speed command offset auto-tune
Choose F1-03 to enter this function. It will show rEF_o.

30

Press ENTER to perform the function, it will show rEF_o.
It will show donE in 1 second when the auto-tune is successful.
Press STATUS/ESC to exit.
（5）torque command offset auto-tune
Choose F1-04 to enter this function. It will show rEF_o.
Press ENTER to run this function, it will show rEF_o and blink.
It will show donE in 1 second when the auto-tune is successful.
Press STATUS/ESC to exit.
（6）forced enable ( F1-05)

0：cancel enable

1：forced enable
 Change the motor code
In auxiliary function, set the group no. to 2 to change motor code.
Servo drive can match to different motors with similar power level. Please see the
motor code on the product label.
The following are the steps of change the motor code.

(1) Press STATUS/ESC to enter auxiliary function.

(2) Press INC or DEC to set the group no. to 2, press ENTER to confirm.

(3) Keep press ENTER to show the current motor code.

(4) Press INC, DEC or ENTER until it show current motor code, keep press

ENTER to input.

(5) Please re-power on the drive to make the changing effective.
 Check the alarm information
In auxiliary function, set the group to 3 to enter alarm status.
The following are the steps of show the alarm information.

(1) Press STATUS/ESC to enter auxiliary function.

(2) Press INC, DEC to set the group to 3, press ENTER to confirm.

(3) Press INC, DEC or ENTER to change the information code.

31

(4) Keep press ENTER to show the information.
Please refer to DS2 servo manual for detailed alarm information.
 Set to default value
The following are the steps of set to default value. The operations must be done
when servo is OFF.

(1) Press STATUS/ESC to enter auxiliary function.

(2) Press INC or DEC, set the group no. to 4, press ENTER to confirm.

(3) Keep press ENTER, it will show 0 and blink.

(4) Set the value to 1, keep press ENTER to make it effective.

(5) Re-power on the drive.
 External monitor
In auxiliary function, choose F5-00, it will show C-OUT. COM1 is available, control
panel is invalid. User can debug the servo through PC.
Press STATUS/ESC to exit.

5. Parameter setting

The following steps show how to change the value of P3-09 from 2000 to 3000.
(1) Press STATUS/ESC, change to parameter setting status, press ENTER to
confirm.

(2) The second LED will blink, press INC or DEC to change the value to 3, keep
press ENTER to confirm.

(3) The last two LEDs will blink at this time, press INC or DEC to change the value to
09, keep press ENTER to confirm.

32

(4) It will show the value in P3-09. The lowest bit will blink; press ENTER to left shift
the bit. Press INC, DEC or ENTER to change the value to 3000. Keep press ENTER
to confirm.

Repeat step2 to step4 to change the value.
(5) Press STATUS/ESC to exit.

6. Alarm

It will show alarm code when servo has error. The error code is E-XXX. Press
ENTER to reset the error.
If the servo power is off caused by servo error, the alarm doesn’t have to clear.
Note: please find out the alarm reason before clear the alarm.

►► Parameter list

Effective time: “○” modify when servo OFF, effective when servo ON; “●” modify

anytime, effective when re-power on; “√” modify anytime, effective

immediately
Parameter: PX－XX＝×× ××
PX－XX. H PX－XX.L

1. Function selection P0(address: 0000～00FF)

P0

-

Function Unit Default

value

Range Effective

00 Main mode - 0 0
01 Sub-mode 1

0: idle
1: torque (command)
2：torque (analog)

- 6

0～7

○

33

3: speed (terminal command)
4: speed (analog)
5: position (internal)
6: position (pulse)
7: speed (pulse)

02 Sub-mode 2

0~7 ditto

- 0

0～7

○

03 Modbus station no. of COM2 - 1

1～255

●

04 Parameters of COM2 - n.2206 n.0000

～

n.2209

●

05 Rotation direction

0: look at load side, counterclockwise
is forward.
1: look at load side, clockwise is
forward.

- 0

0、1

●

06 06.L: stop mode when servo OFF or

alarm. DS2 is inertia stop. Keep
inertia state after stop.

- 2

0～2

●

06.H: stop mode when over range
0~1: inertia stop. Keep inertia state
after stop.
2: deceleration stop. Change to zero
clamp state after stop. Torque value:
P4-06 urgent stop torque
3: deceleration stop. Change to inertia
motion after stop. Torque value:
P4-06 urgent stop torque.

- 2

0～3

●

34

07 T-REF distribution

0: undefined.
1: T-REF is external torque limit input.
2: undefined.
3: P-CL, N-CL is ON, T-REF is
external torque limit input.

- 0

0～3

○

08 V-REF distribution

0: undefined.
1: V-REF external speed limit input.

- 0

0、1

○

2. Control parameter P1(address: 0100～01FF)

P1- Name Unit Default

value

Range Effective

time

00 Speed loop gain 1Hz 100

1～5000

√

01 Speed loop integral time 0.1ms 400

1～50000

√

02 Position loop gain 1/s 100

1～2000

√

03 Reserved
04 Second speed loop gain 1Hz 250

1～5000

√

05 Second speed loop integral

time

0.1ms 10000

1～50000

√

06 Second position loop gain 1/s 250

1～2000

√

07 Reserved
08 Reserved
09 Position loop feed forward

gain

1% 0

0～100

√

10 Feed forward filter time 0.01ms 0 0~65535

√

35

3. Position control parameter P2（address: 0200～02FF）

P2- Function Unit Default

value

Range

Effective
time

00 Command pulse mode

1: AB phase pulse (90° phase,
4-time)
2: sign and pulses

- 2

1、2

●

01 Position command filter

0: first order filter
1: smooth filter

- 0

0、1

●

02 Electronic gear ratio (numerator) - 1

1～65535

√

03 Electronic gear ratio

(denominator)

- 1

1～65535

√

04 Position command filter time 1ms 0

0～100

●
05 Reserved
06 Command pulse frequency at

rated speed

100Hz 5000

1～10000

○

07 Speed command pulse filter time 0.1ms 20

0～1000

√
08 Reserved
09 Reserved
10 Internal position mode - n.0000 ●
11 First segment of pulse (low bit) 1 0

-9999～
+9999

○

12 First segment of pulse (high bit) 1 0

-9999～
+9999

○

13 First segment speed 0.1rpm 0

0～50000

○
14 First segment adjusting time 1ms 0

0～65535

○

36

15 First segment command filter

time

0.1ms 0

0～65535

○

P2-16~P2-90 are 2~16 segment parameters, P2-91~P2-93 are reserved.
94 The times pass Z phase signal

after leaving the limit switch

times 2 1~65535 ○

95 The speed close to the proximity

switch

0.1rpm 600 0~50000 ○

96 The speed leave the proximity

switch

0.1rpm 100 0~50000 ○

4. Speed control P3 (address: 0300～03FF）

P3

-

Name Unit Default

value

Range Effective

time
00 Analog value of rated

speed

0.01V 1000

150～3000

○

01 Internal speed 1 rpm 100

-5000～+5000

√
02 Internal speed 2 rpm 200

-5000～+5000

√
03 Internal speed 3 rpm 300

-5000～+5000

√
04 JOG speed rpm 100

0～1000

√
05 Acceleration time of soft

start

1ms 0

0～65535

○

06 Deceleration time of soft

start

1ms 0

0～65535

○

07 Speed command filter

time

0.01ms 0

0～65535

○

08 Speed feedback filter time 0.01ms 20

0～65535

○
09 Max speed limit (MAX rpm Different

0～5000

●

37

speed)

for each
motor

10 Speed command input

dead area voltage

0.01V 0

0～100

○

5. Torque control P4（address: 0400～04FF）

P4- Name Unit Default

value

Range Effective

time

00 Analog value of rated torque 0.01V 1000

150～3000

○

01 Torque command filter time 0.01ms 0

0～65535

○

02 Forward torque limit 1% 300

0～300

√

03 Reverse torque limit 1% 300

0～300

√

04 Forward external torque limit 1% 100

0～300

√

05 Reverse external torque limit 1% 100

0～300

√

06 Urgent stop torque 1% 300

0～300

○

07 Internal speed limit in torque

control mode

rpm 2000

1～5000

√

08 Reserved
09 Internal torque command

setting

1% 0

-300～300

√

10 Torque command input dead

area voltage

0.01V 0

0～100

○

6. Signal parameter P5（address: 0500～05FF）

P5- Name Unit Default

value

Range

Effective
time

00 Positioning end width /COIN Command 7

0～250

○

38

pulse

01 Zero clamp speed /ZCLAMP rpm 10

0～300

○

02 Rotation checking speed

/TGON

rpm 20

1～1000

○

03 Co-speed checking signal width

/V-CMP

rpm 10

1～250

○

04 Near output signal width /NEAR Command

pulse

50

0～10000

○

05 Deviation pulse limit 256

command
pulses

1000

0～65535

○

06 Servo OFF delay time (brake

command)

1ms 0

0～500

○

07 brake command output speed rpm 100

0～5000

○

08 Brake command wait time 1ms 500

10～1000

○
09 Input filter time 5ms 0 0~100 √
10 /S-ON servo signal

0000：signal invalid
0001：input positive signal to
terminal SI1
0002：input positive signal to
terminal SI2
0003：input positive signal to
terminal SI3
0004：input positive signal to
terminal SI4
0005：input positive signal to
terminal SI5

－

※1 ※3 ●

39

0006：input positive signal to
terminal SI6
0010：signals are valid
0011：input negative signal to
terminal SI1
0012：input negative signal to
terminal SI2
0013：input negative signal to
terminal SI3
0014：input negative signal to
terminal SI4
0015：input negative signal to
terminal SI5
0016：input negative signal to
terminal SI6

11 /P-CON proportion command,

ditto

－

※1 ※3 ●

12 /P-OT forward prohibition, ditto

－

※1 ※3 ●

13 /N-OT reverse prohibition, ditto

－

※1 ※3 ●

14 /ALM-RST clear the alarm, ditto

－

※1 ※3 ●

15 /P-CL forward external torque

limit, ditto

－

※1 ※3 ●

16 /N-CL reverse external torque

limit, ditto

－

※1 ※3 ●

17 /SPD-D internal speed choice,

ditto

－

※1 ※3 ●

18 /SPD-A internal speed choice,

ditto

－

※1 ※3 ●

40

19 /SPD-B internal speed choice,

ditto

－

※1 ※3 ●

20 /C-SEL control mode choice,

ditto

－

※1 ※3 ●

21 /ZCLAMP zero clamp, ditto

－

※1 ※3 ●

22 /INHIBIT pulse command

prohibition, ditto

※1 ※3 ●

23 /G-SEL gain switching, ditto

－

※1 ※3 ●

24 /CLR clear pulse offset, ditto

－

※1 ※3 ●

25 /CHGSTP change step signal,

ditto

－

※1 ※3

●

26 Reserved
27 Reserved
28 /COIN positioning end

0000：not output to the terminal
0001 ： output positive signal
from terminal SO1
0002 ： output positive signal
from terminal SO2
0003 ： output positive signal
from terminal SO3
0011 ： output positive signal
from terminal SO4
0012 ： output positive signal
from terminal SO5
0013 ： output positive signal
from terminal SO6

－

※2 ※4 ●

29 /V-CMP co-speed checking,

－

※2 ※4 ●

41

ditto

30 /TGON rotation checking, ditto

－

※2 ※4 ●

31 /S-RDY ready, ditto

－

※2 ※4 ●

32 /CLT torque limit, ditto

－

※2 ※4 ●

33 /VLT speed limit checking, ditto

－

※2 ※4 ●

34 /BK brake interlock, ditto

－

※2 ※4 ●

35 /WARN warn, ditto

－

※2 ※4 ●

36 /NEAR near, ditto

－

※2 ※4 ●

37 /ALM alarm, ditto

－

※2 ※4 ●

38 /Z Z signal of encoder, ditto

－

※2 ※4 ●

※1：the default value of input terminals, please refer to table 2.
※2：the default value of output terminals, please refer to table 4.
※3：the input terminal distributions please refer to table 1.
※4：the output terminal distributions please refer to table 3.

Table 1: Input signal distributions
Input terminal parameters Servo drive Range
P5-10~P5-24 DS2-20P2-AS

DS2-20P4-AS
DS2-20P7-AS

n.0000~n.0005
n.0010~n.0015

The range is different as the input terminals of servo drive.

Table 2: default settings of input terminals

SI1 SI2 SI3 SI4 SI5

42

DS2-20P2-AS
DS2-20P4-AS
DS2-20P7-AS

/S-ON /ALM-RST /P-OT /N-OT /SPD-A

Table 3: output signal distributions
Output terminal

parameters

Servo drive Range

P5-28~P5-38 DS2-20P2-AS

DS2-20P4-AS
DS2-20P7-AS

n.0000~n.0003
n.0010~n.0013

The range is different as the output terminals of servo drive.

Table 4: the default settings of output terminals

SO1 SO2 SO3

DS2-20P2-AS
DS2-20P4-AS
DS2-20P7-AS

/COIN /ALM /S-RDY

►► Alarm information

Code Explanations Reasons Solution

E-001 Program

damage

Cannot pass the
program self-test

Re-download the program,
contact us

E-002 Parameter Cannot pass the

Re-power on the drive or

43

damage parameter self-test

contact us

E-003 bus overvoltage

Grid voltage is too high
or not connect to
regenerative resistor,
regenerative resistor is
broken or value to large

Check the grid and
regenerative

E-004 Bus under

voltage

Grid voltage is too low Check the grid

E-005 Regenerative

resistor error

Regenerative resistor is
not functional

Check the regenerative
resistor

E-006 Module

temperature too
high

Running for long time
with large load will cause
module temperature too
high

Use small load, enhance the
ventilation, check if the fan is
working when servo is
enable; decrease the
environment temperature

E-007 Over current

UVW output short circuit
or motor error

Change the motor, check the
UVW wiring

E-008 Over speed

Motor speed is too fast,
motor UVW connection
is error

Check if there is external
force make the motor over
speed, check motor UVW
connection

E-009 Analog input

error

Input voltage is error
when two channels
analog is zeroing

Input correct voltage when
analog zeroing

E-010 Position offset is

too large

The difference between
setting value and actual
value is larger than limits
in position control mode

Check if the motor is blocked,
decrease the position setting
speed, increase the deviation
pulse limits P5-05

E-011 Motor UVW is

short circuit

External short circuit at
first power-on self-test

Check motor UVW
connection, change the

44

broken motor

E-012

Motor UVW
current error

Current collection circuit
is error

Check motor wiring, change
servo drive

E-013

Encoder UVW
open circuit

Not connect encoder,
encoder wiring is error or
damaged

Check encoder wiring,
re-connect it after power off,
change the encoder

E-014

Encoder ABZ
open circuit

Not connect encoder,
encoder wiring is error or
damaged

Check encoder wiring,
re-connect it after power off,
change the encoder

E-015

Speed changing
is too fast
(encoder
feedback error)

Encoder wiring error,
encoder has external
interference

Check encoder wiring, add
shield layer for encoder wire

E-016 Over load Run over load for long

time

Decrease the time of
overload running, change a
motor with larger rated power

E-017 Power failure

when running

Grid power is off when
running

Re-power on after the grid
voltage is stable

E-018

Erase
parameter error

Cannot erase
parameter , the voltage
is too low when power
on initialization

Check the power supply and
re-power on

E-031

Motor code
error

The motor code doesn’t
match the drive

Set F2-00 motor code

E-032

System
initialization is
failure

System IC chip is broken Contact us

45

►► General debug steps

(a) Make sure there is no obvious damage on the product before power on.
(b) Connect servo drive and motor. Please note the power terminal UVW and

the servo drive terminal UVW must one-to-one connect. Otherwise, the

servo motor will be blocked or run too fast.
(c) Power on, the servo drive panel will display bb.
(d) Enter F2-00, set the value same to the motor code on the motor label, then

re-power on. Please note the compatible motor is different for each servo

drive.
(e) Re-power on the drive, enter F1-02 to do current offset auto-adjustment,

please refer to auxiliary function for details.
(f) Set F1-01 to 1, check the motor running state. If the motor runs smoothly,

the connection is correct. Otherwise, please check the wiring.
(g) If the connection is correct, enter F1-00 for jog running. Make sure there is

no error, and then connect the motor to the machine.
(h) Set the servo drive parameters as actual needs, and adjust it depend on

actual conditions.

►► Motor code

Motor type Power

KW

Torque

Nm

Speed

RPM

Current

A

Overload

times

Motor

code

MS-60ST-M006
30-20P2

0.2 0.637 3000 1.8 3 1003

MS-60ST-M013
30-20P4

0.4 1.27 3000 2.5 3 0004

MS-80ST-M024
30-20P7

0.75 2.39 3000 3.0 3 0011

MS-90ST-M024
30-20P7

0.75 2.4 3000 3.0 3 0021

►► Motor code

Servo drive Motor code

DS2-20P2-AS 1003

DS2-20P4-AS 0004

DS2-20P7 -AS

0011 (default), 0021

Xinje Electronic Co., Ltd.

4th Floor Building 7,Originality Industry park,

Liyuan Development Zone, Wuxi City, Jiangsu

Province 214072

Tel: [phone]

Fax: [phone]