Xinje DS2-45P5-A, DS2-47P5-A Reference Manual

WUXI XINJE ELECTRIC CO., LTD.

DS2 series 380V servo drive

Fast reference manual

Serial NO. SC2309 20120215 1.0

2

►► Safety caution

 Confirmation when receive products

 DO NOT install any driver which is damaged, lack of accessories or not the same

with the model ordered.

 Installation

 Cut off external power supply before installation.

 Wiring

 Cut off external power supply before wiring.  Connect AC power supply to the corresponding terminals.  Do not connect a three-phase power supply to the U, V, or W output terminals.  Use 2mm2 wire to grounding the ground terminals.

 Operation

 Do not remove the panel cover while the power is ON.  Do not touch terminals for five minutes after the power has been turned OFF.  Do not connect with any motor when trial operation.  Before starting operation with a machine connected, change the settings to match

the parameters of the machine.

 Do not attempt to change wiring while the power is ON.  Do not touch the heat sinks during operation.

►► Checking Products upon Delivery

1. When receive the products, please check below items:

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,

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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 screwdriver.

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

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.

2. Model description

1）Servo drive

DS2 – 45P5 – A

2）Servo motor

MS -180 ST - M 35015 A Z- 4 5P5

Capacity

Rated voltage Power-loss brake Shaft Specifications Performance Specifications Feedback Component

Sinewave-drive Motors Base Size Motor Series Name

Voltage level 4：380V

Series name DS2：Series number

Suitable motor capacity 5P5：5.5KW 7P5：7.5KW

Configure type A: Standard configure B: Economical configure

（Without DB15 port）

Null: Fundamental configure

4

Base size：180； Feedback component: M（Photoelectric pulse coder）； Performance Specifications: First 3 numbers mean rated torque, last 2 numbers mean rated

revolution; For instance:35015：rated torque 35N·m,rated revolution 1500rpm； 48015：rated torque 48N·m,rated revolution 1500rpm； Shaft Specifications：A－Without key；B－With key； Power-loss brake：Null－Have it；Z－Not have it； Voltage level：4-380V； Capacity：5.5KW、7.5KW.

3. Sections description

1）Servo motor

Encoder code

Frame

Flange

Output (transmission) shaft

5

2）Servo drive

►► Installations

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.

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

To set the parameters

CN0/CN1/CN3

To connect the I/O signal and RS485 communication port

CN2

To connect the encoder on the servo motor

COM1

Connect to PC, HMI, PLC

Power supply and servo motor terminals

Power supply input, servo motor terminals

STA

ESC

INC

DEC

ENTER

POWER

CHARGE

R S T

P+

PB

P-

PE U V

W

CN1

CN2

CN0

CN3

POWER LED

Turn on when the drive power on

CHARGE LED

Turn on when main circuit power on.

Panel display

Show the servo state, alarm and parameters

Panel keys

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.

Antirust

6

2） Installation Site

 Indoor，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 90% 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.

Caution：（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.

4） Orientation MS series servomotors can be installed either horizontally or vertically. 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

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

Through part of the shaft

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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 drives are base-mounted servo drives. Incorrect installation will cause problems. Follow the installation instructions below. 1）Storage Conditions Store the servo drive within -20~+85℃, as long as it is stored with the power cable disconnected. 2）Installation Site 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 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.

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3）Orientation

4）Installation

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

CHARGEPOWER

ENTERDECINC

ESC

STA STA

ESC

INC DEC ENTER

POWER CHARGECHARGEPOWER

ENTERDECINC

ESC

STASTA

ESC

INC DEC ENTER

POWER CHARGE

 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

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.

30mm minimum

50mm minimum

10mm minimum

Wall Ventilation

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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

►► Dimensions

1. Servo motor  180 Series（Units: mm）

180

4- 13.5

200

233

180

3

51

65

LA

3.2

18

A

10 0-0.022

30 0-0.2

35

0

-0.025

114.3

0

-0.035

Type

LA

Normal

Band-type brake

MS-180ST-M21520□□-44P5

243

300

10

MS-180ST-M27015□□-44P3

262

319

MS-180ST-M35015□□-45P5

292

349

MS-180ST-M48015□□-47P5

346

403

2. Servo drive（Units: mm）

DS2-45P5-A

STA ESC

INC DEC

ENTER

POWER CHARGE

11

DS2-47P5-A

* STORED CHARGE DO NOT TOUCH UNTIL

10 MIN. AFTER DISCONNECTION

* RISK OF ELECTRIC SHOCK-DUAL SUPPLY

DISCONNECT MAINS AND LOADSHARING

WARNING

！

* DO NOT CONNECT AC POWER TO OUTPUT

TERMINALS OF "U V W"

BEFORE SERVICE

STA ESC

420.0

230.0

160.0

400.0

120.0

217.6

ENTER

CHARGE POWER

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►► Servo drive general specification

Servo unit

DS2 series 380V servo drive

Encoder

Incremental encoder (2500 ppr)

Input power

DS2-4□P□-A：3-phase AC380V，50/60Hz

Control mode

3-phase full-wave rectifier control IPM PWM sine-wave current drive

Using

Temperature

0～+50 ℃/-20～+85 ℃

Humidity

Below 90% RH (no condensation)

Vibration

/impact

resistance

4.9m/s

2

/ 19.6m/s2

Structure

Base installation

Performance specification

Servo drive type

DS2-45P5-A、DS2-47P5-A

Speed torque control mode

Performance

Speed control range

1：2500 (the lower limit of speed control range, not stop at rated load torque)

Speed change rate

Load

change rate

0~100% load: below ±0.01% (rated speed)

Voltage

change rate

Rated voltage ±10% : 0% (rated speed)

Temperatur

e change

rate

20±25℃: below ±0.1% (rated speed)

Frequency feature

250Hz（JL≤JM）

Soft start time

0～65535ms（set acceleration, deceleration individually）

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Input signal

RS485

Position control mode

Performance

Feedforward compensatio

n

0～100% (resolution is 1%)

Positioning

finished

width

0～250 command unit (resolution is 1 command unit)

Input signal

Command pulse

Input pulse

type

Sign+ pulse, CW, CCW mode

Input pulse

state

Collector (+24V) and differential signal input

Input pulse

freque

ncy

Open collector input: 200kHZ Differential input: 500kHZ

Control

signal

Clear signal (/CLR)

I/O signal

Position output

open collector output

Input signal

External input

6

Changeable signal

distribution

/S-ON、/P-CON、/P-OT、/N-OT、/ALM-RST、/PCL、 /NCL、/SPD-D、/SPD-A、/SPD-B、/C-SEL、/ZCLAMP、 /CLR、/G-SEL、/CHGSTP

Output signal

External output

3

Changeable signal

distribution

/COIN、/V-CMP、/TGON、/S-RDY、/CLT、/VLT、 /BK、/WARN、/NEAR、/ALM、/Z

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Built

-

in function

Dynamic brake (DB)

No

Regeneration

Built-in regeneration unit, external regenerative resistor

Over range（OT）protection

For P-OT, N-OT action, deceleration stop or inertia stop

Electronic gear

0.01≤ B/A≤100

Protection

Program error, parameter error, overvoltage, undervoltage, regeneration error, overtemperature, overcurrent, overspeed, analog input error, position offset overflow, output shorting, current error, encoder cut, encoder error, overload, power off when running, write parameter error…

LED display

Charge, power supply, 7-segment LED ×5 (built-in digital operate)

communication

COM 1

Connector

RS232, connect to PC

Serial

parameter

Baud rate 19200; data bit 8; stop bit 1; communication protocol: ModubsRTU slave; Modbus station No.1

Function

Debug online

COM 2

Connector

RS485, connect to PLC, HMI, PC and other devices

Serial

parameter

Serial parameter can be set; communication protocol: ModbusRTU slave; Modbus station No. can be set

Function

State display, user constant setting, monitor display, alarm display, alarm display, special control, online debug

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►► Wiring

1. Names and Descriptions of Main Circuit Terminal

 5.5KW driver：

R S T P+ PB P- PE U V W

 7.5KW driver：

R S T

P+

PB

P-

PE

U V W

Terminal names

Function

R、S、T

3-phase AC 380V±10%（50/60Hz）

P+、PB

Regenerative braking resistor connection

P+、P-

Power supply for main circuit

PE

Ground (Connect to the ground terminal of motor and power, to be grounded)

U、V、W

Motor connection

2. Winding Terminals on Servo motor

Symbol

180 Series

PE 1 U 2 V 3 W

4

3. Layout of CN0/CN1/CN3 terminals

The diagram shows the solder side:  Terminals description of CN0

NO.

Name

Description

NO.

Name

Description

1

PUL-

Pulse input PUL-

6

V2+

+24V for open collector

2

PUL+

Differential input

7

SI1

Input terminal 1

16

PUL+

3

V1+

+24V for open collector

8

SI2

Input terminal 2

4

DIR-

Direction input DUL-

9

SI3

Input terminal 3

5

DIR+

Differential input DIR+

10

+24V

+24V for input

 Terminals description of CN1

NO.

Name

Description

NO.

Name

Description

1

NC

Null

9

BO

Encoder output B

2

SI4

Input terminal 4

10

ZO

Encoder output Z

3

SI5

Input terminal 5

11

T-REF

Torque analog input

4

SI6

Input terminal 6

12

V-REF

Speed analog input

5

+24V

+24V for input

13

GND

GND for analog input

6

SO3

Output terminal 3

14

GND

GND for AO&BO output

7

COM

Ground of output terminal

15

GND

GND for ZO output

8

AO

Encoder output A

 Terminals description of CN3

NO.

Name

Description

NO.

Name

Description

1

SO1

Output terminal 1

4

A

RS485+

2

SO2

Output terminal 2

5

B

RS485-

3

COM

Ground of output terminal

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4. I/O Signal Names and Functions

1）Input signals

Item

Input terminal

Function

Digital input

SI1～SI6

Multi-functional input terminal

Pulse input

PUL-、PUL+/V1+

P2-00=0:A-phase pulse；P2-00=2:pulse

DIR-、DIR+/V2+

P2-00=0:B-phase pulse；P2-00=2:pusle direction (sign)

2）Output signals

Class

Output terminal

Function

Optocoupler output

SO1～SO3

Multi-functions Output Terminals

5. CN2 Connector Terminal Layout

The following diagrams are the layout of CN2 connector (face the solder pin).

910

15 14 13

12

11

1

2

345

6

7

8

Drive

side

Encoder Side On

Motor

Name

Drive

side

Encoder Side On

Motor

Name

180 series

1 4 A+ 2 5

B+ 3 6

Z+ 4 10

U+ 5 12

W+ 6 7

A- 7 8

B- 8 9

Z-

9

13

U-

10

15

W-

11 1 Shield

12 3 GND

13 2 5V

14

11

V+

15

14

V-

18

6. Communication port

 Serial Port 1（COM1）

COM1 supports RS232, and is often used to connect with PC for debugging.

 DS2-45P5-A、DS2-47P5-A

1

5

（5-pin port）

Name

Description

1

TXD

RS232 send

2

RXD

RS232 receive

3

GND

RS232 ground

Caution：1. Please use the cable provided by XINJE company.

2. The types in the table cannot use RS232 (COM1) and RS485 (COM2) at the same time. The communication parameters of COM1 and COM2 will be changed at the same time.

 Serial Port（COM2）（Pin: A：CN3-4, B：CN3-5）

Communication parameters of COM2 can be set via P0-04.

Parameter Number

Name

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

19

7：38400 8：57600 9：115200

P0-04.1

Data bits

0

0：8

P0-04.2

Stop bits

2

0：2 bits；2：1 bits

P0-04.3

Parity

2

0～2 0：No Parity；1：Odd Parity；2：Even

Parity

Modbus station number can be set freely, depending on the following parameter.

Parameter Number

Name

Unit

Default setting

Range P0-03

Modbus Station Number

－ 1 1～255

Note: Parameters above will take effect after repower on.

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7. Standard connection example of DS2-45P5&47P5

Note: This is the standard connection diagram of open collector input (+24V).

3.3KΩ

FLT

M

PG

R S T U V

W

PE

PUL- CN0-1

DIR- CN0-4

V1+ CN0-3

CN2

P+

/SON CN0-7

/ALMRS CN0-8

/POT CN0-9

+24V CN0-10

PB

+24V CN1-5

CN1-10

CN1-9

CN1-8

CN1-13

CN3-1

CN3-2

CN3-3

CN1-6

CN1-7

COIN

COM

ALM

S-RDY

COM

Z0

B0

A0

GND

(50/60HZ)

Regenerative resistor

The shield layer connect 0V at signal side, connect nothing at servo side

Servo enable

(ON is enable)

Alarm reset

(clear the alarm when ON)

Forward prohibited

(forward prohibited when ON)

Reverse prohibited

(reverse prohibited when ON)

Speed choice

Well operate with the end of shield

cable

Encoder

output

Self-defined

output

PE U V

W

150Ω

CN0-2

24V

V1+ CN0-6

24V

CN0-5

3.3KΩ

150Ω

/N-OT CN1-2

/SPD-A CN1-3

/SPD-B CN1-4

3-phase 380V

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►► Using the operation panel

1. Basic operation

The operate panel can be used for parameter settings, operating references, and status

displays. 5-bit LED displays parameter settings, status or alarm.

STA ESC

INC DEC

ENTER

POWER

CHARGE

The operate panel can display the status, set parameter and run the command by switching the basic mode.

The running status, auxiliary function, parameter setting, and monitoring are the basic

modes. The modes switch as the below diagram by pressing STATUS/ESC.

Button name

Function

STA/ESC

Press: Status switch, status return

INC

Press: Increase the value; Press and hold: Increase the value continuously

DEC

Press: Decrease the value; Press and hold: Decrease the value continuously

ENTER

Press: Shift the editing digit; Press and hold: Enter a status, check the data

Auxiliary function

Monitoring

Parameter setting

Running status

Power ON

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Display mode：

1. Monitor Function U－ XX: XX means the number of the monitor function.

2. Auxiliary Function FX－XX: The first X means group No., the last two X means the

member No. in the group.

3. Parameter Setting PX－XX: The first X means group No., the last two X means the member No. in the group.

4. Alarm E－XXX: XXX means the alarm code.

2. Running status mode

In running status mode, bit data and codes indicate the status of the servo drive.

 Select the running status mode

The servo will enter running status when power on. If not, press STATUS/ESC to enter.

 The display content of running status mode

Code

Description

Standby Servo OFF (motor power OFF)

Run Servo ON (motor power ON)

Forward Run Prohibited P-OT is OFF

Reverse Run Prohibited N-OT is OFF

3. Monitoring Mode

The Monitoring Mode can be used to monitor the reference values, I/O signal status, and

servo drive internal status. The monitor mode can be set when the motor is running.  Using the Monitor Mode

Now we take the monitor code U-16 as an example.

（1）Press the STATUS/ESC key to select the monitoring mode.

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（2）Press the INC or DEC key to select the monitor number U-16, and then press and hold ENTER to enter the monitor mode.

（3）The value 0 is now displayed, means the driver is in a normal condition.

（4）Press STATUS/ESC key to return to the monitoring number switching state.

Display contents of Monitoring Mode

Number

Monitor Display

Unit

U-00

Actual speed of motor

Rpm

U-01

Input speed command

Rpm

U-02

Internal torque command

％

U-03

Rotate angle (mechanism angle)

0.1°

U-04

Rotate angle (electrical angle)

0.1°

U-05

Bus voltage

V

U-06

Module temperature

0.1℃

U-07

Input command pulse speed

Rpm

U-08

Pulse value of shift command

（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

Pulse value of input command

（0000～9999）*1

Pulse

command

U-13

（0000～9999）*10000

U-14

Pulse value of

（0000～9999）*1

Pulse

24

U-15

feedback command

（0000～9999）*10000

command

U-16

Current position (Accumulated)

（0000～9999）*1

encoder pulse U-17

（0000～9999）*10000

U-18

Current, 1-bit decimal

0.1A

U-19

Analog input V-REF

0.01V

U-20

Analog input T-REF

0.01V

U-21

I/O signals status

U-22

I/O terminals status

U-21 displays I/O signals status

Diagram 1 Diagram 2

In diagram 1, LED4 and LED5 stand for input signals status, and LED1 and LED2

stand for output signals status. In diagram 2 there shows the segment No. of each LED.

The description of led display please refer to《DS2 series servo drive user manual》。 U-22 displays I/O terminals status

Diagram 1 Diagram 2

In diagram 1, LED5 stands for input signals status, and LED2 stands for output signals

status. In diagram 2 there shows the segment No. of each LED.

0

1

2

3

5

4

6

7

0

1

2

3

5

4

6

7

LED1 LED2 LED4 LED5

25

The description of led display please refer to DS2 series servo drive user manual.

4. Auxiliary Function

Use the operate panel to do application in auxiliary function mode.

Group No.

Content

F0-**

Check system information, display the system code and data

F1-**

Auxiliary run mode, display the auxiliary run command and result

F2-**

Set the motor code

F3-**

Check the alarm information, clear the alarm

F4-00

Reset parameters to default

F5-00

External communication monitoring

 Check System Information

Press STATUS/ESC to switch to the auxiliary function mode. Set the group No. to 0 to check system information. Press INC or DEC key to select different No., and press and hold ENTER key to check current information. Press STATUS/ESC key to return.

The following table describes the meaning of each No.：

Function No.

Description

Function No.

Description

F0-00

Motor Code

F0-01

Servo Series

F0-02

Servo Model

F0-03

Produce Date: Year

F0-04

Produce Date: Month

F0-05

Produce Date: Day

F0-06

Software Version

F0-07

Hardware Version

 Auxiliary Run Mode

Press the STATUS/ESC key to select the auxiliary function mode. Set the group No. to

1. Press INC or DEC key to select different No., and press and hold ENTER key to use current function. Press STATUS/ESC key to return.

（1）Jog (F1-00)

Make sure that the motor shaft is not connected to the machine before jogging!

Press ENTER to power on the motor (servo on). Press INC for forward jogging, press DEC for reverse jogging. Press STATUS/ESC key to power off the motor (servo off), and

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press STATUS/ESC key again to return.

4 different states of jogging:

State

Panel Display

State

Panel Display

Idle

Forward Jogging

Servo ON

Reverse Jogging

（2）Trial Operation (F1-01)

Make sure that the motor shaft is not connected to the machine before trial

operation!

When servo drive is connected with non-original encoder line or power line, trial operation must be run first to ensure that the encoder line or power line is connected

correctly. Set the display value to 1, and press and hold ENTER key to enter trial operation mode. The operate panel displays:

If correctly wired, the motor would rotate in 5 seconds in forward direction (fixed to

counter-clockwise), otherwise the motor would shock or vibrate, raising an alarm for worse. In this case the power must be switched off immediately and check the wiring again.

Press STATUS/ESC key to return.

（3）Current Offset Auto-Adjustment (F1-02)

After the servo drive is updated to latest software version, or the motor does not revolve

smoothly for long time, the current offset auto-adjustment is recommended.

Select F1-02 and enter current offset auto-adjustment function, and the panel displays

“rEF”.

Press ENTER key to start current offset auto-adjustment, and the panel displays

blinking “rEF”.

27

About 5 seconds later auto-adjustment is finished, and the panel displays “donE” to

inform that the function is already finished.

Press STATUS/ESC key to return.

（4）Speed command offset auto-adjustment (F1-03)

Select F1-03 and enter speed command offset auto-adjustment function, and the panel

displays “rEF_o”.

Press ENTER key to start speed command offset auto-adjustment, and the panel

displays blinking “rEF_o”.

About 1 second later, auto-adjustment is finished, and the panel displays “donE” to

inform that the function is already finished.

Press STATUS/ESC key to return.

（5）Torque command offset Auto-Adjustment (F1-04)

Select F1-04 and enter torque command offset auto-adjustment function, and the panel

displays “rEF_o”.

Press ENTER key to start torque command offset auto-adjustment, and the panel

displays blinking “rEF_o”.

About 1 second later, auto-adjustment is finished, and the panel displays “donE” to

inform that the function is already finished.

Press STATUS/ESC key to return.

（6）Forced Servo enables (F1-05)

0：Cancel forced servo enables 1：Forced servo enables

 Change the motor type

Set the group No. to 2 in auxiliary function mode. The servo drive can match multi-servo-motor with close power classes printed on the

nameplate of each motor. When user needs to change a motor, please refer to the Quick

Guide to ensure the motor match the driver.

The following steps are how to change motor type.

28

（1）Press STATUS/ESC key to select Auxiliary Function mode. （2）Press INC or DEC key to set group No. to 2, and press ENTER to confirm. （3）Press and hold ENTER key to display current motor type. （4）Press INC, DEC or ENTER key to show the motor type and press and hold

ENTER key to confirm.

（5）Repower on the servo drive to make this function effective.

 Check Alarm Information

Set group No. to 3 in auxiliary function mode and enter checking alarm information

mode.

The following steps show how to check alarm information.

（1）Press STATUS/ESC key to select Auxiliary Function mode. （2）Press INC or DEC key to set group No. to 3, and press ENTER key. （3）Press INC, DEC or ENTER key to modify the alarm No. （4）Press and hold ENTER key to display corresponding alarm information.

The descriptions of alarm information please refer to DS2 series servo drive user

manual.

 Reset Parameters to Default

The following steps show how to reset parameters to default.

（1）Press STATUS/ESC key to select Auxiliary Function. （2）Press INC or DEC key to set group No. to 4, and press ENTER key. （3）Press and hold ENTER key, and the panel displays “0” and is blinking. （4）Set the value to 1. Press and hold ENTER key to confirm. （5）Repower on the drive and the parameters are all reset to default.

 External monitoring

Select F5-00 in auxiliary function, the panel displays “C-OUT” which means external

monitoring mode, COM1 is effective, operate panel is ineffective. At this time user can debug the servo via PC.

Press STATUS/ESC to return.

29

5. Parameter Setting

Select or adjust the functions via parameter setting. The following steps show how to

change a parameter.

The example below shows how to change parameter P3-09 from 2000 to 3000.

（1）Press the STATUS/ESC key to select the parameter setting mode.

（2）At this time the second LED is blinking, and press INC or DEC key to set the group No.

to 3. Press ENTER key to confirm.

（3）At this time the last LED is blinking, and press INC or DEC key to set the member No. to 9. Press and hold ENTER key to confirm.

（4）At this time the panel displays the value in P3-09, and the last decimal “0” is blinking. Press ENTER to left shift the blinking decimal. Press INC, DEC or ENTER key to modify the value to 3000, and press and hold ENTER to confirm.

The parameter in P3-09 in changed from 2000 to 3000. Repeat steps 2 to 4 to change the parameter again.

（5）Press STATUS/ESC key to return.

6. Alarm

Alarm code will pop up (E-XXX) if there is error in servo. The alarm state is invisible

when there is no error in servo. Press ENTER to reset the alarm.

It is no need to reset the alarm when the servo is OFF because of error.

Notes: when there is alarm, please clear the alarm reasons, then reset the alarm.

30

►► Parameter list

Effective time：○ means the parameter can be modified when the servo is OFF, and effective

when servo is ON. Parameter：PX－XX＝×× ×× PX－XX. H PX－XX.L

1. P0: function selection (Address：0000～00FF)

P0-

Function

Unit

Default

Range

Effective

00

Main mode

- 0 0

01

Submode 1 0: idle 1: torque (command) 2: torque (analog) 3: speed (command) 4: speed (analog) 5: position (internal) 6: position (pulse) 7: speed (pulse)

- 6 0～7

○

02

Submode 2 0~7: same as submode 1

- 0 0～7

○

03

Modbus station of serial port 2

- 1 1～

255

●

04

Parameter of serial port 2

-

n.2206

n.000

0～

n.220

9

●

05

Rotation direction selection 0:From the side view of motor load, CCW is

- 0 0、1

●

31

forward rotate 1:From the side view of motor load, CW is forward rotate

06

06.L: stop mode when servo OFF or alarm. DS2 series default is inertia stop. Keep the inertia motion after stop.

- 2 0～2

●

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

- 2 0～3

●

07

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

- 0 0～3

○

08

V-REF distribution 0: 1: make V-REF as external speed limit input.

- 0 0、1

○

2. P1: control parameters (Address：0100～01FF)

P1-

Name

Unit

Default

Range

Effective

00

The gain of speed loop

1Hz

100

1～5000

√

01

Speed loop integral time

0.1ms

400

1～50000

√

02

The gain of position loop

1/s

100

1～2000

√

32

03

Reserved

04

The gain of second speed loop

1Hz

250

1～5000

√

05

Integral time of second speed loop

0.1ms

10000

1～50000

√

06

The gain of second position loop

1/s

250

1～2000

√

07

Reserved

08

Reserved

09

The gain of position loop feedforward

1%

0

0～100

√

10

Feedforward filter time

0.01ms

0

0~65535

√

3. P2: position control（0200～02FF）

P2-

Function

Unit

Default

Range

Effective

00

Command pulse state

0：Symbol+ Pulse train 1：AB phase pulse（90°phase, 4-time

mode） 2：Pulse+ direction

- 2 0,1,2

●

01

Position command filter selection

0：First order inertia filtering 1：smoothing filtering

- 0 0,1

●

02

Electronic gear ratio (molecular)

- 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 setting

-

n.0000

●

33

11

First segment pulse (low bit)

1 0 -9999～

+9999

○

12

First segment pulse (high bit)

1 0 -9999～

+9999

○ 13

First segment speed

0.1rpm

0

0～50000

○

14

First segment adjustment time

1ms

0

0～65535

○

15

First segment command filter time

0.1ms

0

0～65535

○

P2-16~P2-90 are 2~16 segments parameter setting.

94． xx□x

Find the original point

0: invalid 1: valid

- 0 0~1

●

94.

xxx□

The signal quantity pass the Z phase signal at the direction of leaving the limit switch

A

2

1～ F

（Hex）

● 95

The speed of closing the proximity switch

0.1rpm

600

0~50000

○

96

The speed of leaving the proximity switch

0.1rpm

100

0~50000

○

4. P3: speed control（0300～03FF）

P3-

Name

Unit

Default

Range

Effective

00

Analog value of rated speed

0.01V

1000

150～3000

○

01

Internal setting speed 1

rpm

100

-5000～+5000

√

02

Internal setting speed 2

rpm

200

-5000～+5000

√

03

Internal setting speed 3

rpm

300

-5000～+5000

√

04

JOG speed

rpm

100

0～1000

√

05

Soft start acceleration time

1ms

0

0～65535

○

06

Soft start deceleration time

1ms

0

0～65535

○

07

Speed command filter time

0.01ms

0

0～65535

○

08

Speed feedback filter time

0.01ms

20

0～65535

○

34

09

Max speed limit (MAX speed)

rpm

Different for each type

0～5000

●

10

Speed command input dead area voltage

0.01V

0

0～100

○

5. P4: torque control（0400～04FF）

P4-

Name

Unit

Default

Range

Effective

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 when torque controlling

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. P5: signal parameter setting（0500～05FF）

P5-

Name

Unit

Default

Range

Effective

00

Positioning finished width /COIN

Command pulse

7

0～250

○ 01

Zero clamp speed /ZCLAMP

rpm

10

0～300

○

02

Rotation checking speed /TGON

rpm

20

1～1000

○

03

Coincide speed checking signal width /V-CMP

rpm

10

1～250

○

35

04

Near output signal width /NEAR

Command pulse

50

0～10000

○

05

Offset pulse limit value

256* command pulse

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 is always ineffective 0001: input positive signal to SI1 0002: input positive signal to SI2 0003: input positive signal to SI3 0004: input positive signal to SI4 0005: input positive signal to SI5 0006: input positive signal to SI6 0010: signal is always effective 0011: input negative signal to SI1 0012: input negative signal to SI2 0013: input negative signal to SI3 0014: input negative signal to SI4 0015: input negative signal to SI5 0016: input negative signal to SI6

－

0001

0000-0016

●

11

/P-CON proportion action command ditto

－

0000

0000-0016

● 12

/P-OT forward drive prohibition

－

0003

0000-0016

●

36

ditto

13

/N-OT reverse drive prohibition ditto

－

0004

0000-0016

●

14

/ALM-RST alarm reset ditto

－

0002

0000-0016

●

15

/P-CL forward external torque limit ditto

－

0000

0000-0016

● 16

/N-CL reverse external torque limit ditto

－

0000

0000-0016

●

17

/SPD-D internal speed selection ditto

－

0000

0000-0016

●

18

/SPD-A internal speed selection Same to above

－

0005

0000-0016

●

19

/SPD-B internal speed selection ditto

－

0006

0000-0016

●

20

/C-SEL control mode selection ditto

－

0000

0000-0016

●

21

/ZCLAMP zero clamp ditto

－

0000

0000-0016

●

22

/INHIBIT command pulse prohibition ditto

0000

0000-0016

● 23

/G-SEL gain switch ditto

－

0000

0000-0016

●

24

/CLR clear pulse offset ditto

－

0000

0000-0016

●

37

25

/CHGSTP step change signal ditto

－

0000

0000-0016

●

26

Reserved

27

Reserved

28

/COIN positioning finished 0000: not output to the terminal 0001: output positive signal from SO1 0002: output positive signal from SO2 0003: output positive signal from SO3 0011: output negative signal from SO1 0012: output negative signal from SO2 0013: output negative signal from SO3

－

0001

0000-0013

●

29

/V-CMP speed coincide checking ditto

－

0000

0000-0013

●

30

/TGON rotation checking ditto

－

0000

0000-0013

●

31

/S-RDY ready ditto

－

0003

0000-0013

●

32

/CLT torque limit ditto

－

0000

0000-0013

●

33

/VLT speed limit checking ditto

－

0000

0000-0013

●

38

34

/BK brake lock ditto

－

0000

0000-0013

●

35

/WARN warn ditto

－

0000

0000-0013

●

36

/NEAR near ditto

－

0000

0000-0013

●

37

/ALM alarm ditto

－

0002

0000-0013

●

38

/Z encoder Z signal ditto

－

0000

0000-0013

●

►► Alarm Information

Alarm

Code

Description

Reason

Solution

E-001 Program

damage

program self-test failed

Re-download the program or contact XINJE or an authorized distributor

E-002

Parameter damage

Parameter self-test failed

Restart the drive to reset the parameters. If it occurs for many times please contact XINJE or an authorized distributor

E-003

Bus over-voltage

Power grid is over voltage or need a regenerative resistor; the regenerative resistor damage or its value is too large

Check the power grid; connect and check the regenerative resistor E-004

Bus under

Power grid is under voltage

Check the power grid

39

voltage

E-005

Regenerative resistor error

Regenerative resistor is ineffective

Check the connection of regenerative resistor

E-006

Module over temperature

Run with large load for long time

Reduce the load, and enhance the cooling system, or check if the fan is revolving when motor is ON; cool down the ambient temperature

E-007 Over current

UVW of drive is short circuit or the motor is error

Replace the damaged motor; check the UVW wiring.

E-008 Over speed

Motor speed is too fast, motor UVW connection is error

Check if there is other device that make motor revolve too fast; check the UVW wiring.

E-009 Analog input

error

Input voltage error when 2-channe analog zero calibrating

Input correct voltage when zero calibration for analog

E-010 Position offset too large

The difference between set position and actual position exceeds the limit value

Check if the motor stalled, decrease the set position speed, increase offset pulse limit value P5-05

E-011 Motor UVW is

short circuit

External is short circuit when fist self-test

Check the UVW wiring of motor, or replace the damaged motor

E-012 Motor UVW

current error

Current collection circuit error

Check the UVW wiring of motor, or replace the damaged drive

E-013

Encoder UVW wire break

Encoder wiring error, encoder broken, encoder is

Check the wiring of encoder, and re-connect the encoder after

40

not connected

power-off, or replace the damaged encoder

E-014 Encoder ABZ wire break

Encoder wiring error, encoder broken, encoder is not connected

Check the wiring of encoder, and re-connect the encoder after power-off, or replace the damaged encoder

E-015

Speed changes too fast (encoder feedback error)

The encoder wiring is error, or the encoder has interference

Check the wiring of encoder, or add shield layer for the encoder wire

E-016 Overload

Run overload for long time

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

E-017

Power off when running

Bus voltage is too low when running

Re-power on after the bus voltage is normal

E-018

Erase parameter error

Voltage is too low when power on, cannot erase the parameter

Check the power supply and re-power on

E-031

Motor code error

Motor code cannot match to drive type

Set the motor code in F2-00 again

E-032

Initialization error

System chip is damaged

Contact XINJE or an authorized distributor

►►Debug steps

b) Please check the products before power on, make sure the devices are not

significant damage.

c) Connect the cables correctly. Connect U, V, W one-to-one, don’t cross them. d) Power on, panel display: bb;

41

e) Enter F2-00，set the correct motor code. f) After power on again，proceed to current Offset Auto-Adjustment，please refer to

auxiliary run mode；

g) Set F1-01=1, check if the motor can work normally. If yes, enter F1-00. If not,

check the cables.

h) Enter F1-00 and proceed to jog test-running, if work normally, connect to motor. i) Before start the devices, set the parameters of servo according to actual

application, and adjust in real-time.

►►Motor code

Motor Type

Capacity

KW

Torque

Nm

Rotate

speed

RPM

Current

A

Overload

Motor code

MS-60ST-M00630

0.2

0.637

3000

1.8

3

1003

MS-60ST-M01330

0.4

1.27

3000

2.5

3

0004

MS-80ST-M02430

0.75

2.39

3000

3.0

3

0011

MS-90ST-M02430

0.75

2.4

3000

3.0

3

0021

MS-110ST-M04030

1.2

4

3000

5.0

3

0031

MS-110ST-M05030

1.5

5

3000

6.0

3

0032

MS-130ST-M06025

1.5

6

2500

6.0

3

0042

MS-130ST-M10015

1.5

10

1500

6.0

2.5

0044

MS-130ST-M07725

2.0

7.7

2500

7.5

3

0043

MS-130ST-M15015

2.3

15

1500

9.5

2

0046

MS-180ST-M19015

3.0

19

1500

12.0

2.5

0052

MS-180ST-M21520

4.5

21.5

2000

9.5

2.5

0150

MS-180ST-M27015

4.3

27

1500

10

2.5

0151

MS-180ST-M35015

5.5

35

1500

12 2 0152

MS-180ST-M48015

7.5

48

1500

20 2 0153

42

►► Suitable motor code for each servo drive

Servo drive

Motor code

DS2-20P2-AS

1003

DS2-20P4/-A/-AS

0004

DS2-20P7/-A/-AS

0011（Default setting）

0021

DS2-21P5/-A/-B

0031

0032

0042

0044（Default setting）

DS2-22P3-A 0043

0046（Default setting）

DS2-23P0-A

0052（Default setting）

DS2-45P5-A

0150

0151

0152（Default setting）

DS2-47P5-A

0153（Default setting）

43

WUXI XINJE ELECTRIC CO., LTD. 4th Floor, Building 7th, No.100 Dicui Rd, Wuxi, China Tel: 86-0510-85134139 Fax: 86-0510-85111290 www.xinje.com Email: [email protected]