Xinje DS2-20P7-AS, DS2-20P2-AS6, DS2-20P4-AS, DS2-20P4-BS6, DS2-20P7-AS6 User Manual

DS2 series servo drive

User manual

WUXI XINJE ELECTRIC CO., LTD.

Serial No. SC2 00 20140320 1.0

All copyrights reserved by WUXI XINJE ELECTRIC CO., LTD.

Any copying, transferring or any other usage is pro hibited. Otherwise Xinje will have the right to
pursue legal responsibilities. All rights including patent and pemission of modules and designs are
reserved.

January, 2010

a

The following defines the symbols used in this manual to indicate varying degrees of
safety precautions and to identify the corresponding level of hazard inherent to each.
Failure to follow precautions provided in this manual can result in serious, possibly even
fatal, injury, and/or damage to the persons, products, or related equipment and systems.

CAUTION

Indicates a potentially hazardous situation, which, if not heeded,
could result in death or serious injury

WARNING

Indicates a potentially hazardous situation, which, if not avoided,
may result in minor or moderate injury.

 Checking Products upon Delivery

CAUTION

1. DO NOT install any drive which is damaged, lack of accessories or not the same with
the model ordered.

Doing so may result in electric shock.

 Installation

WARNING

1. Cut off external power supply before installation.
Not doing so may result in electric shock.

CAUTION

1. Always use the servomotor and servo amplifier in one of the specified combinations.

Never use the products in an environment subject to water, corrosive gases,
inflammable gases, or combustibles.
Doing so may result in electric shock, fire or malfunction.

2. DO NOT touch any metallic part.
Doing so may result in malfunction.

 Wiring

WARNING

1. Cut off external power supply before wiring.
Not doing so may result in electric shock.

2. Connect AC power supply to the corresponding terminals.

Faulty wiring may result in fire.

Be sure to review this section carefully before use this product. In precondition of
security, wire the product correctly.

Safety Precautions

b

CAUTION

1. Do not connect a three-phase power supply to the U, V, or W output terminals.

Doing so may result in injury or fire.

2. Use 2mm2 wire to grounding the groud terminals.

Not doing so may result in electric shock.

3. Securely fasten the power supply terminal screws and motor output terminal screws.

Not doing so may result in fire.

 Operation

WARNING

1. Never touch any rotating motor parts while the motor is running.
Doing so may result in injury.

2. DO NOT touch the inside the drive.

Doing so may result in electric shock.

3. Do not remove the panel cover while the power is ON.

Doing so may result in electric shock.

4. Do not touch terminals for five minutes after the power has been turned OFF.

Residual voltage may cause electric shock.

CAUTION

1. Conduct trial operation on the servomotor alone with the motor shaft disconnected from

machine to avoid any unexpected accidents.

Not doing so may result in injury.

2. Before starting operation with a machine connected, change the settings to match the

parameters of the machine.

Starting operation without matching the proper settings may cause the machine to run

out of control or malfunction.

3. Before starting operation with a machine connected, make sure that an emergency stop

can be applied at any time.

Not doing so may result in injury.

4. Do not touch the heat sinks during operation.

Not doing so may result in burns due to high temperatures.

5. Do not attempt to change wiring while the power is ON.

Doing so may result in electric shock or injury

i

Catalog

Preface .................................................................................................................................. I

1 Checking Product and Part Names ................................................................................... 2

1-1．Checking Products on Delivery ......................................................................... 2

1-2．Product appearance and name rule ..................................................................... 2

1-3．Adaptation table of servo drive and motor ......................................................... 5

2 Installations ...................................................................................................................... 6

2-1．Servomotor ......................................................................................................... 6

2-1-1．Storage Temperature ............................................................................... 6

2-1-2．Installation Site ....................................................................................... 6

2-1-3．Concentricity ........................................................................................... 6

2-1-4．Orientation .............................................................................................. 7

2-1-5．Handling Oil and Water .......................................................................... 7

2-1-6．Cable Stress ............................................................................................ 7

2-2．Servo Drive ........................................................................................................ 7

2-2-1．Storage Conditions .................................................................................. 7

2-2-2．Installation Site ....................................................................................... 7

2-2-3．Orientation .............................................................................................. 8

2-2-4．Installation .............................................................................................. 8

3 Wiring ............................................................................................................................. 10

3-1．Main Circuit Wiring ......................................................................................... 10

3-1-1．The terminal arrangement ..................................................................... 10

3-1-2. Main circuit terminals ............................................................................. 11

3-1-3．Winding Terminals on Servo motor ..................................................... 13

3-1-4．CN0, CN1, CN2 terminals .................................................................... 13

3-1-5. Communication port ............................................................................... 15

3-2．Signal terminals ................................................................................................ 16

3-2-1. Pulse signal ............................................................................................. 16

3-2-2．SI input signal ....................................................................................... 17

3-2-3. Analog input circuit ................................................................................ 18

3-2-4. Output signal ........................................................................................... 18

3-2-5. Encoder feedback signal ......................................................................... 19

3-3. Standard wiring example ................................................................................... 19

3-3-1．Position Control Mode .......................................................................... 19

3-4．Regenerative Resistor ...................................................................................... 23

4 Use the operate panel ..................................................................................................... 24

4-1．Basic Operation ................................................................................................ 24

4-1-1. Functions of operate panel ...................................................................... 24

4-1-2. Basic Mode Switching ............................................................................ 24

4-2．Running status mode ........................................................................................ 25

4-3．Monitoring Mode ............................................................................................. 26

4-4．Auxiliary Function ........................................................................................... 28

4-4-1．F0-XX ................................................................................................... 28

4-4-2. F1-XX ..................................................................................................... 28

4-4-3. Change the motor type (F2-00) ............................................................... 29

4-4-4．Check Alarm Information (F3-XX) ...................................................... 30

ii

4-4-5．Reset Parameters to Default (F4-XX) ................................................... 30

4-4-6. External monitoring (F5-XX) ................................................................. 30

4-5．Alarm (E-XX) .................................................................................................. 30

4-6．Example ........................................................................................................... 30

5 Run the servo system ...................................................................................................... 32

5-1．Control mode selection .................................................................................... 32

5-2．Basic function setting ....................................................................................... 32

5-2-1. Servo ON setting ..................................................................................... 33

5-2-2. Switch the motor rotate direction ........................................................... 33

5-2-3. Motor stop mode when use overtravel signal ......................................... 33

5-2-4. Overtravel Limit (P-OT & N-OT) .......................................................... 34

5-2-5. Power-off Brake (BK) ............................................................................ 35

5-2-6. Alarm output ........................................................................................... 36

5-2-7. Running time .......................................................................................... 37

5-2-8. Torque over-limit .................................................................................... 37

5-3．Position mode (external pulse command) ........................................................ 37

5-3-1. Control mode selection ........................................................................... 38

5-3-2. Pulse command ....................................................................................... 38

5-3-3. Electronic gear ratio ................................................................................ 39

5-3-4. Position command filter .......................................................................... 40

5-3-5. Pulse error clear (/CLR) .......................................................................... 41

5-3-6. Positioning complete (/COIN) ................................................................ 41

5-3-7. Positioning near (/NEAR) ....................................................................... 42

5-3-8. Command pulse prohibition (/INHIBIT) ................................................ 42

5-4．Position mode (internal position mode) ........................................................... 43

5-4-1. Control mode selection ........................................................................... 43

5-4-2. Internal position mode ............................................................................ 43

5-4-3. Position parameters from segment 1 to 16.............................................. 46

5-4-4. Change step (/CHGSTP) ......................................................................... 46

5-4-5. Pause current signal (/INHIBIT) ............................................................ 46

5-4-6. Skip current signal (/ZCLAMP) ............................................................. 47

5-4-7. Reference origin ...................................................................................... 47

5-4-8. Set segment through communication ...................................................... 49

5-5．Speed control (analog voltage command) ........................................................ 49

5-5-1. Control mode selection ........................................................................... 49

5-5-2. Analog value of rated speed ................................................................... 50

5-5-3. Speed command offset auto-adjustment (F1-03) .................................... 50

5-5-4. Proportion action command (/P-CON) ................................................... 50

5-5-5. Zero clamp (/ZCLAMP) ......................................................................... 50

5-5-6. Speed coincidence checking (/V-CMP) .................................................. 51

5-5-7. Torque limit ............................................................................................ 51

5-5-7-1. Internal torque limit (output torque max value limit) .......................... 51

5-5-7-2. External torque limit (via input signal) ............................................... 51

5-5-7-3. External torque limit (via analog voltage command) .......................... 52

5-5-7-4. External torque limit (via external input + analog voltage) ................ 52

5-5-7-5. Output torque up to limit value signal ................................................. 53

5-5-8. Soft start .................................................................................................. 53

5-5-9. Filter ........................................................................................................ 54

5-5-10. Speed command input dead voltage ..................................................... 54

5-6．Speed control (internal speed) .......................................................................... 54

5-6-1. Control mode selection ........................................................................... 55

iii

5-6-2. Internal speed setting .............................................................................. 55

5-6-3. Input signal setting .................................................................................. 56

5-7．Speed control (pulse frequency command) ...................................................... 57

5-7-1. Control mode selection ........................................................................... 57

5-7-2. Pulse frequency command ...................................................................... 57

5-7-3. Command pulse frequency at rated speed .............................................. 57

5-7-4. Speed command pulse filter time............................................................ 58

5-8．Torque control (analog voltage command) ...................................................... 58

5-8-1. Control mode selection ........................................................................... 58

5-8-2. The analog value of rated torque ............................................................ 58

5-8-3. Torque command offset autoadjustment (F1-04) ................................... 59

5-8-4. Torque command filter time ................................................................... 59

5-8-5. Torque limit ............................................................................................ 59

5-8-5-1. Internal speed limit .............................................................................. 59

5-8-5-2. External speed limit ............................................................................. 59

5-8-5-3. Speed up to limit value output ............................................................. 60

5-8-6. Torque command input dead area voltage .............................................. 60

5-9．Torque control (internal setting) ...................................................................... 60

5-9-1. Control mode selection ........................................................................... 60

5-9-2. Internal torque command ........................................................................ 60

5-10．Switch the control mode ................................................................................ 61

5-11．Other output signals ....................................................................................... 61

5-11-1. /ALM and /ALM-RST .......................................................................... 61

5-11-2. /WARN ................................................................................................. 61

5-11-3. Rotation checking (/TGON) ................................................................. 61

5-11-4. Servo ready (/S-RDY) .......................................................................... 62

5-11-5. Encoder Z phase output (/Z) ................................................................. 62

5-11-6. AB phase feedback signal of encoder ................................................... 62

5-12. I/O signal distribution ...................................................................................... 63

5-12-1. Input signal distribution ........................................................................ 63

5-12-2. Default setting of input terminal ........................................................... 64

5-12-3. Output terminal distribution ................................................................. 64

5-12-4. Default setting of output terminal ......................................................... 64

6 Servo gain adjustment .................................................................................................... 65

6-1．Gain setting of speed loop ................................................................................ 65

6-2．Gain setting of position loop ............................................................................ 65

6-3．The experience of parameter adjustment ......................................................... 66

6-4．Proportion action command (P-CON) ............................................................. 66

6-5．Gain switch (G-SEL)........................................................................................ 67

7 Specification and dimension .......................................................................................... 68

7-1．Servo motor ...................................................................................................... 68

7-1-1．Servo motor specification ..................................................................... 68

7-1-2．Torque-Speed Feature ........................................................................... 71

7-1-3．Servo motor dimensions ....................................................................... 72

7-2．Servo drives ...................................................................................................... 76

7-2-1．General specification ............................................................................ 76

7-2-2．Performance specification .................................................................... 76

7-2-3．Servo drive dimensions ......................................................................... 77

8 Alarm Information .......................................................................................................... 80

Appendix 1 Parameter list ................................................................................................. 82

iv

Appendix 2 Application .................................................................................................... 89

Preface

I

Preface

Constitution of This Manual

This manual is divided into 7 chapters.

1. Checking Product and Part Names
This chapter describes the procedure for checking products upon delivery as well as names

for product parts.

2. Installation
This chapter describes precautions for servomotor and servo drive installation.

3. Wiring
This chapter describes the procedure used to connect DS2 Series products to peripheral

devices and gives typical examples of main circuit wiring as well as I/O signal
connections.

4. Parameter Settings and Functions
This chapter describes the procedure for setting and applying parameters.

5. Use Digital Panel
This chapter describes the basic operation of the digital panel and the features it offers.

6. Ratings and Characteristics
This chapter provides the ratings, torque-speed characteristics diagrams, and dimensional

drawings of the DS2 series servo drives and MS series servomotors.

7. Alarm Information
This chapter describes the alarm information of DS2 series servo drives.

Intended User

This manual is intended for the following users.

 Those designing DS2 Series servodrive systems.
 Those installing or wiring DS2 Series servodrives.
 Those performing trial operation or adjustments of DS2 Series servodrives.
 Those maintaining or inspecting DS2 Series servodrives.

How to AcquireThis Manual

1．Electrical Manual

(1) Log on Xinje official website www.xinje.com to download.
(2) Acquire this manual on a CD from an authorized distributor.

This chapter describes the constitution of this manual, the intended user, and how to
acquire this manual.

Preface

2

1 Checking Product and Part Names

1-1．Checking Products on Delivery

Use the following checklist when products are delivered.

Items

Comments

Are the delivered products the ones
that were ordered?

Check the model numbers marked on the nameplates of the
servomotor and servo drive.

Does the servomotor shaft rotate
smoothly?

The servomotor shaft is normal if it can be turned smoothly
by hand. Servomotors with brakes, however, cannot be
turned manually.

Is there any damage?

Check the overall appearance, and check for damage or
scratches that may have occurred during shipping.

Are there any loose screws?

Check screws for looseness using a screwdrive.

Is the motor code the same with the
code in drive?

Check the motor code marked on the nameplates of the
servomotor and the parameter F0-00 on the servo drive.

If any of the above is faulty or incorrect, contact Xinje or an authorized distributor.

1-2．Product appearance and name rule

DS2-2□P□-AS/AS6 DS2-20P4-BS/BS6 DS2-20P7-BSW/BSW6 DS2-21P5-AS2
DS2-4□P□-AS/AS6

(1) Appearance and nameplate

3

Servo drive nameplate

(2) Naming rule

DS2 – 2 1P5 - AS

configuration

AS series (differential mode encoder feedback)
AS6 series (differential mode encoder feedback, support AB phase pulse input)
AS2 series (simple model)
BS series (no encoder feedback)
BS6 series (no encoder feedback, support AB phase pulse input)
BSW series (no encoder feedback)
BSW6 series (no encoder feedback, support AB phase pulse input)

Voltage level

2

220V

4

380V

Suitable motor

capacity

0P2

0.2KW

0P4

0.4KW

0P7

0.75KW

1P5

1.5KW

2P3

2.3KW

3P0

3.0KW

Configure type

Series name

Suitable motor capacity

Voltage level

4

 Servo motor

(1) Appearance and nameplate

Motor label

(2) Naming rule

MS -80 ST - M 02430 A Z- 2 0P7
Capacity
Rated Voltage

Power-loss brake
Shaft Specifications
Performance Specifications

Feedback Component
Sinewave-drive Motors

Base Size
Motor Series Name

Base number

60, 80, 90, 110, 130, 180

Feedback

component no.

M

Optical pulse encoder

Performance

parameter no.

First 3 bits mean rated torque, last 2 bits mean rated speed
Such as: 00630: rated torque 0.6N.m, rated speed 3000rpm
06025: rated torque 6.0N.m, rated speed 2500rpm
19015: rated torque 19.0N.m, rated speed 1500rpm

Shaft spec

A

No bond

B

With bond

Encoder part

Frame

Flange

Output (transmission) shaft

Motor label

5

Power-loss

brake

Vacant

No

Z

With power-off brake

Voltage level

2

220V

4

380V

Power

Such as: 0P4: 0.4kW
0P7: 0.75kW
1P5: 1.5KW
2P3: 2.3KW

1-3．Adaptation table of servo drive and motor

Servo drive

Servo motor

Motor code

Voltage level

DS2-20P2-AS/AS6

MS-60ST-M00630-20P2

1003

Single phase/ 3

phase 220V

DS2-20P4-AS/AS6
DS2-20P4-BS/BS6

MS-60ST-M01330-20P4

1004（0004）

DS2-20P7-AS/AS6
DS2-20P7-BSW/BSW6

MS-80ST-M02430-20P7

1011 (0011)

MS-80ST-M03520-20P7

0012

MS-90ST-M02430-20P7

0021

DS2-21P5-AS/AS6
DS2-21P5-AS2
MS-110ST-M04030-21P2

0031

3 phase 220V

MS-110ST-M05030-21P5

0032

MS-130ST-M06025-21P5

1042 (0042)

MS-130ST-M10015-21P5

0044

DS2-22P3-AS/AS6
MS-130ST-M07725-22P0

0043

3 phase 220V

MS-130ST-M15015-22P3

0046

DS2-41P5-AS/AS6
MS-110ST-M04030-41P2

0131

3 phase 380V

MS-110ST-M05030-41P5

0132

MS-130ST-M06025-41P5

0142

MS-130ST-M10015-41P5

0144

DS2-43P0-AS/AS6
MS-130ST-M10030-43P0

1148

MS-180ST-M19015-43P0

0156

MS-180ST-M20015-43P0

1052

6

2 Installations

2-1．Servomotor

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

CAUTION

1． 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.

2． Avoid getting thinner on other parts of the servomotor.

2-1-1．Storage Temperature

Store the servomotor within -20~+60 ℃ as long as it is stored with the power cable
disconnected.

2-1-2．Installation Site

MS series servomotors are designed for indoor use. Install the servomotor in environments
that satisfy the following conditions.

 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.

2-1-3．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.

Antirust

7

Note: (1) If the concentricity is not enough, it will cause the vibration and bearing
damage.
(2) 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.

2-1-4．Orientation

MS series servomotors can be installed either horizontally or vertically.

2-1-5．Handling 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.

2-1-6．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.

2-2．Servo Drive

The DS2-AS series servo drives are compact model. Incorrect installation will cause
problems. Follow the installation instructions below

2-2-1．Storage Conditions

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

2-2-2．Installation Site

The following precautions apply to the installation site.

Through part of the shaft

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 the shaft coupler)

8

Situation

Installation Precaution

Installation in a Control
Panel

Design the control panel size, unit layout, and cooling method so the
temperature around the servo drives does not exceed 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
drives does not exceed 50°C.

Installation Near a Source
of Vibration

Install a vibration isolator beneath the servo drive 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 drives, but
will eventually cause electronic components and terminals to malfunction.
Take appropriate action to avoid corrosive gas.

Other Situations

Do not install the servo drive in hot and humid locations or locations
subject to excessive dust or iron powder in the air.

2-2-3．Orientation

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

2-2-4．Installation

Follow the procedure below to install multiple servo drives side by side in a control panel.

9

 Servo Drive Orientation

Install the servo drive perpendicular to the wall so the front panel containing connectors
faces outward.

 Cooling

As shown in the figure above, allow sufficient space around each servo drive for cooling
by cooling fans or natural convection.

 Side-by-side Installation

When install servo drives side by side as shown in the figure above, make at least 10mm
between and at least 50mm above and below each servo drive. Install cooling fans above
the servo drives to avoid excessive temperature rise and to maintain even temperature
inside the control panel.

 Environmental Conditions in the 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

10

3 Wiring

3-1．Main Circuit Wiring

Caution

1. Do not bundle or run power and signal lines together in the same duct. Keep power and signal

lines separated by at least 11.81inch(30cm)

2. Use twisted pair wires or multi-core shielded-pair wires for signal and encoder (PG) feedback

lines.

The maximum length is 118.11 inch (3m) for reference input lines and is 787.40 inch (20m) for
encoder (PG) feedback lines.

3. Do not touch the power terminals for 5 minutes after turning power OFF because high voltage

may still remain in the servo amplifier.

Please make sure to check the wiring after the CHARGE light is going off.

4. Avoid frequently turning power ON and OFF. Do not turn power ON or OFF more than once per

minute.

Since the servo amplifier has a capacitor in the power supply, a high charging current flows for

0.2s when power is turned ON. Frequently turning power ON and OFF causes main power
devices like capacitors and fuses to deteriorate, resulting in unexpected problems.

3-1-1．The terminal arrangement

11

3-1-2. Main circuit terminals

 DS2-20P2-AS/AS6, DS2-20P4-AS/AS6, DS2-20P7-AS/AS6

Terminal

Function

Explanation

L1/L2/L3

Power supply input of
main circuit

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

Ground

Connect to ground terminal of motor then
connect to the ground

P+、PB

Regenerative resistor

Connect regenerative resistor between P+
and PB

U、V、W

Motor terminals

Connect the motor

Terminal

Color

U

brown

V

black

W

blue

PE

Yellow green

Ground

Connect to ground terminal of motor then
connect to the ground

 DS2-21P5-AS/AS6/AS2, DS2-22P3-AS/AS6, DS2-41P5-AS/AS6

Terminal

Function

Explanation

R/S/T

Power supply input of
main circuit

3 phase AC 200～240V, 50/60Hz
(DS2-2□P□-AS)

R/S/T

Power supply input of
main circuit

3 phase AC 360～400V, 50/60Hz
(DS2-4□P□-AS)

●

Vacant

U、V、W

Motor terminals

Connect the motor

Terminal

Color

U

brown

V

black

W

blue

PE

Yellow green

P+、D、C

Internal regenerative
resistor

Short P+ and D, disconnect P+ and C,
set P0-10=0

External regenerative
resistor

Connect regenerative resistor between
P+ and C, disconnect P+ and D, set
P0-10=1

Ground

Connect to ground terminal of motor,
then connect to the ground

R
S

T

.

U
V

W
P+

D
C

12

 DS2-43P0-AS/AS6

Terminal

Function

Explanation

R/S/T

Power supply input of
main circuit

3 phase AC 360～400V, 50/60Hz

●

Vacant

U、V、W

Motor terminals

Connect the motor

Terminal

Color

U

brown

V

black

W

blue

PE

Yellow green

P+、D、C

Internal regenerative
resistor

Short P+ and D, disconnect P+ and C,
set P0-10=0

External regenerative
resistor

Connect regenerative resistor between
P+ and C, disconnect P+ and D, set
P0-10=1

P+/P-

Bus terminal

Real-time check the bus voltage, please
take attention of this terminal

 DS2-20P4-BS/BS6

Terminal

Function

Explanation

L/N

Power supply input of
main circuit

Single phase AC 200～240V, 50/60Hz

●

Vacant

U、V、W

Motor terminals

Connect the motor

Terminal

Color

U

brown

V

black

W

blue

PE

Yellow green

P+/PB

External regenerative
resistor

Connect regenerative resistor between
P+ and PB

P+/P-

Bus terminal

Real-time check the bus voltage, please
take attention of this terminal

R
S

T

.

U
V

W

P+
D

C
P-

.

.
.

13

 DS2-20P7-BSW/BSW6

Terminal

Function

Explanation

L/N

Power supply input of
main circuit

Single phase AC 200～240V, 50/60Hz

●

Vacant

U、V、W

Motor terminals

Connect the motor

Terminal

Color

U

brown

V

black

W

blue

PE

Yellow green

P+、D、C

Internal regenerative
resistor

Short P+ and D, disconnect P+ and C,
set P0-10=0

External regenerative
resistor

Connect regenerative resistor between
P+ and C, disconnect P+ and D, set
P0-10=1

P+/P-

Bus terminal

Real-time check the bus voltage, please
take attention of this terminal

3-1-3．Winding Terminals on Servo motor

Symbol

60, 80, 90 Series

110, 130, 180 Series

PE

4-yellow green (yellow green)

1-yellow green

U

1-brown (red)

2-brown

V

3-black (blue)

3-black

W

2-blue (yellow)

4-blue

Terminal for brake

1: +24V
2: GND

3-1-4．CN0, CN1, CN2 terminals

 CN0 terminals

No.

Name

Explanation

No.

Name

Explanation

1

P-

Pulse input PUL-

8

SI2

Input 2

2

P+5V

5V difference input

9

SI3

Input 3

3

P+24V

Open collector input

10

SI4

Input 4

4

D-

Direction input DIR-

11

+24V

Input +24V

5

D+5V

5V difference input

12

SO1

Output 1

6

D+24V

Open collector input

13

SO2

Output 2

7

SI1

Input 1

14

COM

Ground of output

.

L
N

.

U
V

W

P+
D
C

P-

.

14

 CN1 (DB15) terminals

No.

Name

Explanation

No.

Name

Explanation

1

NC

Reserved

9

Z-

Encoder output Z-

2

NC

Reserved

10

B+

Encoder output B+

3

SI5

Input 5

11

T-REF

Torque analog input

4

SO3

Output 3

12

V-REF

Speed analog input

5

B-

Encoder output B-

13

GND

GND for analog input

6

A+

Encoder output A+

14

A

RS485+

7

A-

Encoder output A-

15

B

RS485-

8

Z+

Encoder output Z+

 CN1（DB15）terminals (DS2-20P4-BS/BS6, DS2-20P7-BSW/BSW6, DS2-21P5-AS2)

No.

Name

Explanation

1

NC

Reserved

2

NC

Reserved

3

SI5

Input 5

4

SO3

Output 3

 CN2 terminals

Drive

port

Motor encoder port

Name

Drive

port

Motor encoder port

Name

60、80、90

series

110、130、180

series

60、80、90

series

110、130、180

series

1 9 4

A+ 2 4

5

B+ 3 7 6 Z+ 4 6

10

U+

5

11

12

W+ 6 13

7

A- 7 14

8

B- 8 5

9

Z-

9 8 13

U-

10

15

15

W-

11 1 1

Connect

to shield

layer

12 3 3

GND

13 2 2

5V

14

10

11

V+

15

12

14

V-

910

15 14 13

12

11

1

2

345

6

7

8

CN2: encoder port

15

3-1-5. Communication port

 RS-232 communication

DS2-2□P□-AS/AS6, DS2-20P4-BS/BS6, DS2-20P7-BSW/BSW6, DS2-21P5-AS2,
DS2-4□P□-AS/AS6

(5-pin port)

Pin no.

Name

Explanation

1

TXD

RS232 send

2

RXD

RS232 receive

3

GND

RS232 ground

 RS-485 port

DS2-2□P□-AS/AS6, DS2-4□P□-AS/AS6

Pin no.

Name

CN1-14

A

CN1-15

B

(1) Please use the cable provide by XINJE Company.
(2) For above servo drives, RS232 (COM1) and RS485 (COM2) cannot be used at the

same time.

(3) The communication parameters of COM1 and COM2 will be changed at the same

time.

1
5

910

15 14 13

12

11

1

2

345

6

7

8

Communication port(RS232)

Can connect PC and HMI

16

P0-03, P0-04 set communication parameters

Parameter

Function

Default setting

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
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

Parameter

Function

Default setting

Setting range

Effective time

P0-03

Modbus station no.

1

1～255

Power on again

3-2．Signal terminals

3-2-1. Pulse signal

Input terminal

Function

Reference chapter

P­P+5V
P+24V

P2-00=0：CW, CCW two pulses mode
P2-00=2：pulse + direction mode

5-3-2

D­D+5V
D +24V

P2-00=0：CW, CCW two pulses mode
P2-00=2：pulse + direction mode

5-3-2

17

The interface circuit of Pulse + direction and CW, CCW mode:

DS2-2□P□-AS/AS6
DS2-4□P□-AS/AS6
DS2-20P4-BS/BS6
DS2-20P7-BSW/BSW6
DS2-21P5-AS2

Open collector (24V)

PLC, SCM, etc servo drive

DS2-2□P□-AS/AS6
DS2-4□P□-AS/AS6
DS2-20P4-BS/BS6
DS2-20P7-BSW/BSW6
DS2-21P5-AS2

Difference mode (5V)

PLC, SCM, etc servo drive

3-2-2．SI input signal

Please use relay or open collector transistor to connect. When using relay, please choose micro-current
relay. Otherwise, the contact will be not good.

Type

Input terminal

Function

Reference chapter

Digital input

SI1~SI5

Multi-functional input

5-12-1

P+24V

PUL+

PUL-

P-

R=3.3K

DIR-

D-

R=3.3K

P+5V

D+5V

Shield layer

0V

D+24V

DIR+

COM0

Y0

+24V

P-

R=3.3K

COM1

Y1

D-

R=3.3K

P+5V

D+5V

Shield layer

0V

D+24V

P+24V

When upper
device is open
collector output,
please use this
wiring diagram.
Please note:
P+5V and
D+5V must be
vacant.

When upper
device is 5V
difference
output, please
use this wiring
diagram. Please
note: P+24V
and D+24V
must be vacant.

18

+24V

Open collector (24V power supply)

Relay (24V power supply)

Upper device servo drive

Upper device servo drive

Note: the max allowable voltage and current of open collector output circuit:
Voltage: max DC30V
Current: max DC50mA

3-2-3. Analog input circuit

DS2-2□P□-AS/AS6
DS2-4□P□-AS/AS6

Upper device servo drive

Analog signal is speed command or torque command. Input impedance:

• speed command input: about 13KΩ

• torque command input: about 13KΩ

• max allowable voltage of input signal is ±10V

3-2-4. Output signal

Type

Output terminal

Function

Reference chapter

Optocoupler output

SO1~SO3

Multi-functional output terminal

5-12-3

Optocoupler type

Relay type

Servo drive upper device

Servo drive upper device

SI

+24V

+

COM2

Y2

0V

+24V

R=2.2KΩ

R=2.2KΩ

+24V

0V

Y2

COM2

+

+24V

SI

+10V

-10V

11 T-REF
12 V-REF

13 GND

0V

R=13KΩ

2KΩ

1W

COM

SO

X3

COM

0V

+24V

0V

COMX3COM

S0

19

3-2-5. Encoder feedback signal

3-3. Standard wiring example

3-3-1．Position Control Mode

 DS2-20P□-AS/AS6

PG

A+

A-

B+

B-

Z+

Z-

U+

U-

V+

V-

W+

W-

+5V

GND

SHIELD

cover

A+

A-

B+

B-

Z+

Z-

U+

U-

V+

V-

W+

W-

+5V

GND

Connector cover

CN2

AO+

AO-

BO+

BO-

ZO+

ZO-

0V

24V

AO+

AO-

BO+

BO-

ZO+

ZO-

X0

X1

X2

COM

Incremental encoder

Upper device

0V

Shield cable

Shiled layer

COM

Z B A

Servo unit

Differential to collector

20

Regenerative resistor

D+24V

D-

P-

CN0-6

CN0-4

CN1-7

CN1-6

CN1-3

CN0-9

/P-OT

/SPD-A

CN0-11

A0-

AO+

Shield layer connect
0V at signal side,
Be vacant at drive
side

Vcc

CN0-1

2.2K

Ω

W

V

Single phase / 3-phase AC 220V

(50/60Hz)

CN2

L1

FIL

Self-define the
Terminal function

CN0-8

CN0-7

/S-ON

+24VIN

U

L2

L3

CN0-10

/N-OT

/ALM-RST

3.3KΩ

P+24V

CN0-3

Vcc

2.2K

Ω

CN1-5

CN1-10

B0-

BO+

CN1-9

CN1-8

Z0-

ZO+

Servo motor

Encoder

CN2-5

W+

CN2-4

CN2-3

U+

Z+

CN2-2

CN2-1

B+

A+

. . .

.

.

.

Differential encoder
feedback

Self-define
The terminal
function

P+

PB

CN0-14

CN1-4

CN0-13

CN0-12

COM

S-RDY

ALM

COIN

21

 DS2-21P5-AS/AS6, DS2-22P3-AS/AS6, DS2-4□P□-AS/AS6

Note:
P+, D connect internal regenerative resistor. P+ and C connect external regenerative resistor.

CN0-11

A0-

AO+

COM

Shield layer connect
0V at signal side
Be vacant at
Drive side

Vcc

CN0-1

2.2

Ω

W V DS2-21P5-AS/AS6,DS2-22P3-AS/AS6: 3-phase AC220V (50/60Hz)

DS2-4□P□-AS/AS6: 3-phase AC380V (50/60Hz)

CN2

R

S-RDY

ALM

COIN

FIL

Self-define the
Terminals function

CN0-8

CN0-7

/S-ON

+24VIN

U S T

CN0-10

/N-OT

/ALM-RST

3.3KΩ

P+24V

CN0-3

Vcc

2.2

Ω

CN1-5

CN1-10

B0-

BO+

CN1-9

CN1-8

Z0-

ZO+

C

D

P+

Servo motor

Encoder

CN2-5

W+

CN2-4

CN2-3

U+

Z+

CN2-2

CN2-1

B+

A+

.

.

. . .

.

Differential encoder
feedback

Self-define
the terminals
function

D+24V

D-

P-

CN0-6

CN0-4

CN1-7

CN1-6

CN0-14

CN1-4

CN0-13

CN0-12

CN1-3

CN0-9

/P-OT

/SPD-A

Regenerative resistor

22

 DS2-20P4-BS/BS6, DS2-20P7-BSW/BSW6, DS2-21P5-AS2

Note:

P+, D connect internal regenerative resistor. P+ and C(PB) connect external regenerative resistor.

D+24V

D-

P-

CN0-6

CN0-4

CN0-14

CN1-4

CN0-13

CN0-12

CN1-3

CN0-9

/P-OT

/SPD-A

CN0-11

COM

Shield layer connect
0V at signal side
Be vacant at
Drive side

Vcc

CN0-1

2.2K

Ω

W

V

DS2-20P4-BS/BS6:single phase AC220V (50/60Hz)

CN2

R/L

S-RDY

ALM

COIN

FIL

Self-define the output terminals

CN0-8

CN0-7

/S-ON

+24VIN

U

S/N

T

CN0-10

/N-OT

/ALM-RST

3.3KΩ

P+24V

CN0-3

Vcc

2.2K

Ω

PB/C

D

P+

Servo motor

Encoder

CN2-5

W+

CN2-4

CN2-3

U+

Z+

CN2-2

CN2-1

B+

A+

. . .

. . .

Self-define
the terminals
function

Regenerative resistor

DS2-21P5-AS2: 3 phase AC220V (50/60Hz)

DS2-20P7-BSW/BSW6: single phase AC220V (50/60Hz)