Xinje DS3-20P2-PQA, DS3E-20P2-PFA, DS3L-20P2-PFA, DS3-20P2-PTA, DS3-20P4-PQA User Manual

DS3/DS3E/DS3L series servo drive

User manual

Serial No. SC3 02 20171010 1.0

WUXI XINJE ELECTRIC CO., LTD.

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

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.

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.

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.

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.

CAUTION

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

Safety Precautions

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.

 Checking Products upon Delivery

 Installation

 Wiring

b

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

3

Catalog

1 Checking Product and Part Names ....................................................................................................... 7

1-1．Checking Products on Delivery ............................................................................................. 7

1-2．Product appearance and name rule ........................................................................................ 7

2 Installations ........................................................................................................................................ 11

2-1．Servo motor ......................................................................................................................... 11

2-1-1．Storage Temperature ................................................................................................ 11

2-1-2．Installation Site ......................................................................................................... 11

2-1-3．Concentricity ............................................................................................................ 11

2-1-4．Orientation ................................................................................................................ 12

2-1-5．Handling Oil and Water ............................................................................................ 12

2-1-6．Cable Stress .............................................................................................................. 12

2-2．Servo Drive .......................................................................................................................... 12

2-2-1．Storage Conditions ................................................................................................... 12

2-2-2．Installation Site ......................................................................................................... 12

2-2-3．Orientation ................................................................................................................ 13

2-2-4．Installation ................................................................................................................ 13

3 Wiring ................................................................................................................................................ 15

3-1．DS3-PQA series ................................................................................................................... 16

3-1-1．Main circuit wiring ................................................................................................... 16

3-1-1-1. Servo drive terminal arrangement ........................................................................... 16

3-1-1-2. Main circuit terminals ............................................................................................. 17

3-1-1-3．Winding Terminals on Servo motor ...................................................................... 18

3-1-1-4．CN0, CN1, CN2 terminals .................................................................................... 18

3-1-1-5. Communication port ................................................................................................ 20

3-1-2．Signal terminals ........................................................................................................ 22

3-1-2-1. Pulse signal ............................................................................................................. 22

3-1-2-2．SI input signal ....................................................................................................... 23

3-1-2-3. SO output signal ...................................................................................................... 23

3-1-2-4. Analog input circuit ................................................................................................. 24

3-1-2-5. Encoder feedback signal ......................................................................................... 25

3-1-3. Standard wiring example .................................................................................................... 25

3-1-3-1．Position Control Mode .......................................................................................... 25

3-1-4．Regenerative Resistor ....................................................................................................... 27

3-2. DS3E/DS3L-PFA .................................................................................................................. 28

3-2-1. Main circuit wiring ..................................................................................................... 28

3-2-1-1. The terminal arrangement ....................................................................................... 28

3-2-1-2. Main circuit terminals ............................................................................................. 29

3-2-1-3．Winding Terminals on Servo motor ...................................................................... 30

3-2-1-4．CN0, CN1, CN2 terminals .................................................................................... 30

3-2-1-5. Communication port ................................................................................................ 32

3-2-2．Signal terminals ................................................................................................................ 34

3-2-2-1. Pulse signal ............................................................................................................. 34

3-2-2-2．SI input signal ....................................................................................................... 35

3-2-2-3. SO output signal ...................................................................................................... 35

3-2-2-4. Analog input circuit ................................................................................................. 36

3-2-2-5. Encoder feedback signal ......................................................................................... 36

3-2-3. Standard wiring example .................................................................................................... 36

3-2-3-1. Position mode .......................................................................................................... 36

3-2-4. Regenerative resistor .................................................................................................. 36

3-3. DS3-PTA series ..................................................................................................................... 37

3-3-1. Main circuit wiring ..................................................................................................... 37

3-3-1-1. The terminal arrangement ....................................................................................... 37

3-3-1-2. Main circuit terminals ............................................................................................. 37

4

3-3-1-3．Winding Terminals on Servo motor ...................................................................... 39

3-3-1-4．CN0, CN1, CN2 terminals .................................................................................... 39

3-3-1-5. Communication port ................................................................................................ 40

3-3-2．Signal terminals ................................................................................................................ 42

3-3-2-1. Pulse signal ............................................................................................................. 42

3-3-2-2．SI input signal ....................................................................................................... 43

3-3-2-3. SO output signal ...................................................................................................... 44

3-3-2-4. Analog input circuit ................................................................................................. 45

3-3-2-5. Encoder feedback signal ......................................................................................... 45

3-3-3. Standard wiring example .................................................................................................... 45

3-3-4. Regenerative resistor .................................................................................................. 45

4 Use the operate panel ......................................................................................................................... 45

4-1．Basic Operation ................................................................................................................... 45

4-1-1. Functions of operate panel .......................................................................................... 45

4-1-2. Basic Mode Switching ................................................................................................ 45

4-2．Running status mode ............................................................................................................ 46

4-3．Monitoring Mode ................................................................................................................. 47

4-4．Auxiliary Function ............................................................................................................... 52

4-4-1．F0-XX ....................................................................................................................... 52

4-4-2. F1-XX ......................................................................................................................... 53

4-5．Alarm (E-XXX) ................................................................................................................... 54

4-6．Example ............................................................................................................................... 54

4-7．Change the motor code ........................................................................................................ 55

5 Run the servo system ......................................................................................................................... 56

5-1．Control mode selection ........................................................................................................ 56

5-2．Basic function setting........................................................................................................... 56

5-2-1. Servo ON setting ........................................................................................................ 57

5-2-2. Switch the motor rotate direction ............................................................................... 57

5-2-3. Stop mode ................................................................................................................... 57

5-2-4. Overtravel Limit (P-OT & N-OT) .............................................................................. 58

5-2-5. Power-off Brake (BK) ................................................................................................ 59

5-2-6. Alarm output ............................................................................................................... 61

5-2-7. Anti-block run alarm .................................................................................................. 61

5-3．Position mode (external pulse command) ............................................................................ 61

5-3-1. External position mode ............................................................................................... 62

5-3-2. Pulse command and pulse form .................................................................................. 62

5-3-3. Electronic gear ratio ................................................................................................... 63

5-3-4. Position command filter ............................................................................................. 66

5-3-5. Pulse deviation clear (/CLR) ...................................................................................... 67

5-3-6. Positioning complete (/COIN, /COIN_HD) ............................................................... 67

5-3-7. Positioning near (/NEAR) .......................................................................................... 70

5-3-8. Command pulse prohibition (/INHIBIT) .................................................................... 71

5-3-9. Positoin pulse difference ............................................................................................ 71

5-4．Speed control (analog voltage command) (Only for DS3-PQA) ......................................... 71

5-4-1. Control mode selection ............................................................................................... 72

5-4-2. Analog value of rated speed ....................................................................................... 72

5-4-3. Speed command difference auto-adjustment (F1-03) ................................................. 73

5-4-4. Proportion action command (/P-CON) ....................................................................... 73

5-4-5. Zero clamp (/ZCLAMP) ............................................................................................. 74

5-4-6. Speed coincidence checking (/V-CMP)...................................................................... 74

5-4-7. Torque limit ................................................................................................................ 75

5-4-8. Soft start ..................................................................................................................... 76

5-4-9. Filter ........................................................................................................................... 77

5-4-10. Speed reach signal (/V-RDY) ................................................................................... 77

5-4-11. Alarm speed .............................................................................................................. 78

5-4-12. Speed command input dead area voltage.................................................................. 78

5-5．Speed control (internal speed) ............................................................................................. 78

5-5-1. Control mode selection ............................................................................................... 79

5

5-5-2. Internal speed setting .................................................................................................. 79

5-5-3. Input signal setting ..................................................................................................... 79

5-6．Speed control (pulse frequency command) .......................................................................... 81

5-6-1. Control mode selection ............................................................................................... 81

5-6-2. Pulse frequency command .......................................................................................... 81

5-6-3. Command pulse frequency at rated speed .................................................................. 81

5-6-4. Speed command pulse filter time ............................................................................... 82

5-7．Torque control (analog voltage command) (only for DS3-PQA) ........................................ 82

5-7-1. Control mode selection ............................................................................................... 82

5-7-2. The analog value of rated torque ................................................................................ 82

5-7-3. Torque command offset autoadjustment (F1-04) ....................................................... 83

5-7-4. Torque command filter time ....................................................................................... 83

5-7-5. Torque limit ................................................................................................................ 83

5-7-5-1. Internal speed limit .................................................................................................. 83

5-7-5-2. External speed limit ................................................................................................. 84

5-7-5-3. Speed up to limit value output ................................................................................. 84

5-8．Torque control (internal setting) .......................................................................................... 84

5-8-1. Control mode selection ............................................................................................... 85

5-8-2. Internal torque command ............................................................................................ 85

5-9．Motion fieldbus control (position mode) (only for DS3E) .................................................. 85

5-10. Absolute encoder servo drive .............................................................................................. 86

5-10-1. Absolute enocder servo encoder cable ..................................................................... 87

5-10-2. Read the absolute encoder servo position ................................................................. 87

5-10-3. The use and replacement of battery .......................................................................... 88

5-11．Other output signals ........................................................................................................... 88

5-11-1. /ALM and /ALM-RST .............................................................................................. 88

5-11-2. /WARN ..................................................................................................................... 89

5-11-3. Rotation checking (/TGON) ..................................................................................... 89

5-11-4. Hysteresis loop ......................................................................................................... 90

5-11-5. Servo ready (/S-RDY) .............................................................................................. 90

5-11-6. Encoder Z phase output (/Z) (only for DS3-PQA/DS3-PTA) .................................. 90

5-11-7. ABZ phase feedback signal of encoder (CN1 15-pin support) ................................. 91

5-11-8. User-defined output signal........................................................................................ 92

5-11-9. IO filter time ............................................................................................................. 93

5-11-10．Switch the control mode ....................................................................................... 93

5-12. I/O signal distribution .......................................................................................................... 94

5-12-1. Input signal distribution ............................................................................................ 94

5-12-2. Default setting of input terminal ............................................................................... 95

5-12-3. Output terminal distribution ..................................................................................... 95

5-12-4. Default setting of output terminal ............................................................................. 95

5-13. DS3-PTA series absolute encoder servo drive ..................................................................... 95

5-13-1. Read the absolute encoder position .......................................................................... 96

5-13-2. Battery using and changing ...................................................................................... 97

5-14．Internal position mode (only for DS3E/DS3L) .................................................................. 97

5-14-1. Control mode selection ............................................................................................. 98

5-14-2. Internal position mode .............................................................................................. 98

5-14-3. Position parameters from segment 1 to 35 ............................................................. 101

5-14-4. Change step (/CHGSTP) ........................................................................................ 102

5-14-5. Pause current segment signal (/INHIBIT) .............................................................. 102

5-14-6. Skip current segment signal (/ZCLAMP) ............................................................... 102

5-14-7. Reference origin ..................................................................................................... 102

5-14-8. Set segment through communication...................................................................... 104

5-14-9. Motion start signal (/MRUN) ................................................................................. 104

6 Servo gain adjustment ...................................................................................................................... 105

6-1．Gain parameter adjustment ................................................................................................ 105

6-1-1. Gain parameters ........................................................................................................ 105

6-1-2. Other parameters ...................................................................................................... 106

6-2．Parameter switching ........................................................................................................... 107

6-2-1. G-SEL signal input ................................................................................................... 108

6

6-3．The experience of gain adjustment .................................................................................... 108

7 Specification and dimension ............................................................................................................ 109

7-1．Servo motor ....................................................................................................................... 109

7-1-1．Servo motor specification ....................................................................................... 109

7-1-2．Torque-Speed Feature ............................................................................................ 113

7-1-3．Servo motor dimensions ......................................................................................... 115

7-2．Servo drives ....................................................................................................................... 119

7-2-1．DS3E, DS3L, DS3-PTA, DS2 comparison table .................................................... 119

7-2-2．Servo drive dimensions .......................................................................................... 121

8 Alarm Information ........................................................................................................................... 124

Appendix 1 Parameter list ................................................................................................................... 130

Appendix 2 UX-XX monitoring parameters ....................................................................................... 139

Appendix 3 FX-XX auxiliary function ............................................................................................... 142

Appendix 4 Modbus address ............................................................................................................... 142

Appendix 5 General debug steps......................................................................................................... 145

Appendix 6 Application ...................................................................................................................... 146

Appendix 7 Compatible table of servo and motor .............................................................................. 148

7

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 P0-33 on the servo drive.

1 Checking Product and Part Names

1-1．Checking Products on Delivery

Use the following checklist when products are delivered.

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

1-2．Product appearance and name rule

 DS3-2□P□-PQA/ DS3-4□P□-PQA/ DS3E-2□P□-PFA/ DS3E-4□P□-PFA Appearance and nameplate

8

Servo drive nameplate

Series

DS3

DS3 series high precision servo drive

DS3E

DS3E series filedbus servo drive

DS3L series pulse-type servo drive

Voltage level

2

220V

4

380V

Suitable motor

capacity

0P2

0.2 KW

0P4

0.4KW

0P7

0.75KW

1P5

1.5KW

2P3

2.3KW

3P0

3.0KW

5P5

5.5KW

7P5

7.5KW

Configuration

type

P

Input command type: pulse

Encoder type

Q-quadrature encoder F-compatible quadrature encoder T-17 bits absolute value encoder

A

Design order: A

Configure type

Series name

Suitable motor capacity

Voltage level

XINJE

SERVO DRIVER

DS3-20P7-PQA

WARNING

CAUTION

AC INPUT:1PH/3PH 200-240V 50/60Hz 3.5A

AC OUTPUT:3PH 0-200V 3.5A 0.75KW

12052013

WUXI XINJE ELECTRIC CO.,LTD

Drive model

Caution

Input power supply

Output power supply

Serial no.

(1) Naming rule

DS3 – 2 0P7 - PQA

9

 Servo motor

Encoder part

Frame

Flange

Output (transmission) shaft

Motor label

XINJE

AS SERVO MOTOR

MS- 80ST- M02403B -20P7

0.75

XJY1410714180480701

Motor model

Motor

specification

Serial no.

KW

IP

65

MOTOR CODE:1011

WUXI XINJE ELECTRIC CO.,LTD

N M

A

rpm

30003.2

2.39

Shaft length power voltage level body length power-loss brake

shaft specification performance parameter code feedback component code oil seal base no.

(1) Appearance and nameplate

Motor label

(2) Naming rule

MS -80 ST E- M 02430 B Z S- 2 0P7 - S

10

Base number

40, 60, 80, 90, 110, 130, 180, 220

Oil seal

Empty

Without oil seal (130ST and above models all have oil seal, so the model without E)

E

With oil seal (60ST, 80ST model name has differences)

Feedback

component no.

M

Incremental encoder (2500ppr optical pulse encoder)

F

Line-saving incremental encoder (2500ppr optical pulse encoder)

T

17 bits absolute value encoder

N

20 bits absolute value 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

Power-loss

brake

Vacant

No

Z

With power-off brake

Body length

Vacant

Normal models

S

Short body

Voltage level

2

220V

4

380V

Power

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

Motor shaft

length Note: only 180ST has

differences

vacant

Normal models

S

Short shaft

11

2 Installations

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

2-1．Servo motor

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.

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 90% 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.

12

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.

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)

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 DS3 series PQA servo drives are base-type servo drive. Incorrect installation will cause problems. Follow the installation instructions below

2-2-1．Storage Conditions

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

2-2-2．Installation Site

The following precautions apply to the installation site.

13

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.

14

 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

15

3 Wiring

Servo drive

Power supply cable diameter

mm²

UVW power cable diameter mm²

Encoder cable diameter mm²

Ground cable diameter mm²

DS3-20P2-PQA DS3E-20P2-PFA DS3L-20P2-PFA DS3-20P2-PTA

2.0

0.75

0.2 (14 cores)

2.0

DS3-20P4-PQA DS3E-20P4-PFA DS3L-20P4-PFA DS3-20P4-PTA

2.0

0.75

0.2 (14 cores)

2.0

DS3-20P7-PQA DS3E-20P7-PFA DS3L-20P7-PFA DS3-20P7-PTA

2.0

0.75

0.2 (14 cores)

2.0

DS3-21P5-PQA DS3E-21P5-PFA DS3L-21P5-PFA DS3-21P5-PTA

2.0

1.5

0.2 (14 cores)

2.0

DS3-22P3-PQA DS3E-22P3-PFA DS3L-22P3-PFA DS3-22P3-PTA

2.0

1.5

0.2 (14 cores)

2.0

DS3E-22P6-PFA DS3L-22P6-PFA

2.0

1.5

0.2 (14 cores)

2.0

DS3-41P5-PQA DS3E-41P5-PFA DS3L-41P5-PFA DS3-41P5-PTA

2.0

1.5

0.2 (14 cores)

2.0

DS3-43P0-PQA DS3E-43P0-PFA DS3L-43P0-PFA DS3-43P0-PTA

2.0

2.5

0.2 (14 cores)

2.0

DS3-45P5-PQA DS3L-45P5-PQA DS3-47P5-PQA DS3L-47P5-PQA

6.0

0.2 (14 cores)

6.0

DS3-411P0-PQA DS3-415P0-PQA

10.0

0.2 (9 cores)

10.0

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

Servo drive cable table:

16

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．DS3-PQA series

3-1-1．Main circuit wiring 3-1-1-1. Servo drive terminal arrangement

17

3-1-1-2. Main circuit terminals

 DS3-20P2-PQA, DS3-20P4-PQA, DS3-20P7-PQA

Terminal

Function

Explanation

L1/L2/L3

Power supply input of main circuit

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

Note: for single phase 220V, connect power supply to L1, L3, otherwise it will affect the power-off retentive function

●

Vacant terminal

-

U, V, W

Motor terminals

Connect the motor

Terminal

Color

U

brown

V

black

W

blue

PE

Yellow green

Note: the ground line is on the cooling fin, please check it before power on! Do not connect to P+ or P-!

P+, D, C

Internal regenerative resistor

Short P+ and D, disconnect P+ and C, set P0-24=0

External regenerative resistor

Connect regenerative resistor between P+ and C, disconnect P+ and D, set P0-24=1, P0-25= power value, P0-26= resistor value (see chapter 3-4)

P+/P-

Bus terminal

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

 DS3-21P5-PQA, DS3-22P3-PQA, DS3-41P5-PQA

Terminal

Function

Explanation

R/S/T

Power supply input of main circuit

DS3-21P5/22P3-PQA 3 phase AC 200～240V, 50/60Hz

Note: for single phase 220V, connect power supply to terminal R, T, otherwise it will affect the power-off retentive function.

DS3-41P5-PQA 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 P0-24=0

External regenerative resistor

Connect regenerative resistor between P+ and C, disconnect P+ and D, set P0-24=1, P0-25=power value, P0-26=resistor value (see chapter 3-1-4)

Ground

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

L1 L2

.

U V

W

P+ D

C P-

L3

R S

T

.

U V

W P+

D C

18

 DS3-43P0-PQA

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

Note: the ground line is on the cooling fin, please check it before power on! Do not connect to P+ or P-!

P+、D、 C

Internal regenerative resistor

Short P+ and D, disconnect P+ and C, set P0-24=0

External regenerative resistor

Connect regenerative resistor between P+ and C, disconnect P+ and D, set P0-24=1, P0-25=power value, P0-26=resistor value (see chapter 3-1-4)

P+/P-

Bus terminal

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

Symbol

40, 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

CN0

CN1(DB15 male port) drive

side

CN2(DB15 female port)

drive side

R S

T

.

U V

W

P+ D

C P-

.

PP+5V P+24V DD+5V D+24V SI1 SI2 SI3 SI4 +24V SO1 SO2 COM

1

5

6

10

11

15

5

1

10

6

15

11

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

3-1-1-4．CN0, CN1, CN2 terminals

19

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

No.

Name

Explanation

No.

Name

Explanation

1

GND

GND-485

9

Z-

Encoder output Z-

2

A1

RS485+

10

B+

Encoder output B+

3

B1

RS485-

11

T-REF

Torque analog input

4

VCC

VCC-RS485

12

V-REF

Speed analog input

5

B-

Encoder output B-

13

GND

GND for analog input

6

A+

Encoder output A+

14

A2

RS485+

7

A-

Encoder output A-

15

B2

RS485-

8

Z+

Encoder output Z+

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+

No.

Name

Explanation

No.

Name

Explanation

1

GND

GND-485

2

A1

RS485+

3

B1

RS485-

4

A2

RS485+

5

B2

RS485-

6

GND

GND-485

7

NC

Reserved

8

NC

Reserved

9

NC

Reserved

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-

 CN0 terminals

 CN1 (DB15) terminals

DS3 series 750W and below servo drive (hardware version v3.1.20)

DS3 series above 750W servo drive

DS3 series 5.5KW and 7.5KW servo drive (only these two models use 9-pin port)

 CN2 terminals

20

9 8 13

U-

10

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-

(5-pin port)

Pin no.

Name

Explanation

1

TXD

RS232 send

2

RXD

RS232 receive

3

GND

RS232 ground

Parameter

Function

Default setting

Range

Modify

Effective P7-10

Modbus station no.

1

1~255

Servo OFF

At once

Parameter no.

Function

Default value

Range

Effective time

n.xx□□

Baud rate

06

00～10 00：300 01：600 02：1200 03：2400 04：4800 05：9600 06：19200 07：38400 08：57600 09：115200

At once

1 5

3-1-1-5. Communication port

 RS-232 communication

Note: please use the cable supplied by XINJE Company

Communication parameters: RS232 default communication parameters: baud rate 19200bps, data bit 8, stop bit 1, even parity. Modbus station no. setting:

Please set the following parameters through P7-11:

21

0A：192000 0B：256000 0C：288000 0D：384000 0E：512000 0F：576000 10：768000 n.x□xx

Stop bit

2

0：2 bits, 2：1 bit

At once

n.□xxx

Parity bit

2

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

At once Note: data bit cannot be changed, it is 8 bits.

Pin no.

Name

CN1-14

A

CN1-15

B

Parameter

Function

Default value

Range

Effective time

P7-00

Modbus station no.

1

0～255

At once

Parameter

Function

Default value

Range

Effective time

n.xx□□

Baud rate

06

00～10 00：300 01：600 02：1200 03：2400 04：4800 05：9600 06：19200 07：38400 08：57600 09：115200 0A：192000 0B：256000 0C：288000 0D：384000 0E：512000 0F：576000 10：768000 11：1M 12：2M 13：3M 14：4M 15：5M

At once

910

15 14 13

12

11

1

2

345

6

7

8

 RS-485 port

Communication parameters: RS485 default communication parameters: baud rate 19200bps, data bit 8, stop bit 1, even parity, Modbus station no.1. The Modbus station no. can be set through P7-00:

The communication parameters can be set through P7-01:

22

16：6M

n.x□xx

Stop bit

2

0：2 bits, 2：1 bit

At once

n.□xxx

Parity bit

2

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

At once

Note: data bit cannot be changed, it is 8 bits.

Parameter

Function

Default setting

Range

Modify

Effective

P7-02

RS485 communication protocol

1

1: Modbus Rtu protocol 2: Xnet filedbus protocol

Servo OFF

At once Command

Choice

Meaning

P-input signal

D-input signal

Chapter

P0-10 xxx□

0

CW, CCW double pulse mode

CW

CCW

5-3-2 1

AB phase mode

A phase

B phase

2

Pulse + direction mode

Pulse

Direction

Collector open circuit (24V) input positive signal: P+24V/D+24V Differential mode (5V) input positive signal: P+5V/D+5V

DS3-2□P□-PQA DS3-4□P□-PQA

Open collector (24V)

PLC, SCM, etc servo drive

Note: (1) P-/P+24V, D-/D+24V power supply range is 18~25V. if the voltage

is lower than 18V, the pulse and direction will be error.

(2) To avoid the interference, please use shielded twisted-pair cable.

DS3-2□P□-PQA

Differential mode (5V)

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.

P7-02 RS485 communication protocol setting:

1. Support standard Modbus RTU protocol, it is used as Modbus slave device.

2. RS232 port and RS485 port can be used at the same time.

3-1-2．Signal terminals 3-1-2-1. Pulse signal

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

23

DS3-4□P□-PQA

PLC, SCM, etc servo drive

To avoid the interference, please use shielded twisted-pair cable.

Type

Input terminal

Function

Reference chapter

Digital input

SI1~SI5

Multi-functional input

5-12-1

Open collector (24V power supply)

Relay (24V power supply)

Upper device servo drive

Type

Output terminal

Function

Reference chapter

Optocoupler output

SO1~SO3

Multiple functions output terminal

5-12-3

SI

+24V

+

COM2

Y2

0V

+24V

R=2.2KΩ

+24V

0V

Y2

COM2

+

+24V

SI

P+24V

PUL+

PUL-

P-

R=3.3K

DIR-

D-

R=3.3K

P+5V

D+5V

Shield layer

0V

D+24V

DIR+

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

(1) Servo pulse input will be ON at 10mA. (2) If the controller is XINJE PLC, pulse output rated current is 50mA, so 1 channel of pulse can

connect 5 servo drives. We suggest not over 3 servo drives.

3-1-2-2．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.

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

3-1-2-3. SO output signal

24

Optocoupler type

Servo drive upper device

Relay type

Servo drive upper device

DS3-2□P□-PQA DS3-4□P□-PQA

Upper device servo drive

Note: analog terminal 11 (T-REF analog torque), 12(T-REF analog speed),

13(analog GND) come from CN1 DB15, refer to chapter 3-1-1-4.

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

COM

SO

X3

COM

0V

+24V

+10V

-10V

11 T-REF 12 V-REF

13 GND

0V

R=13KΩ

2KΩ

1W

Note: max load current 400mA (if control the brake motor by SO signal, please confirm the brake current, if it is larger than 400mA, please use intermediate relay)

3-1-2-4. Analog input circuit

25

3-1-2-5. Encoder feedback signal

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

3-1-3. Standard wiring example

For the following wiring diagram, the input and output terminal function is out of factory settings. The setting can be changed, please see chapter 5-12.

3-1-3-1．Position Control Mode

 DS3-21P5-PQA

26

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

DS3-21P5-PQA,DS3-22P3-PQA: 3-phase AC220V (50/60Hz)

DS3-4□P□-PQA: 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

27

3-1-4．Regenerative Resistor

Servo drive

Regenerative resistor connection terminals

DS3-2□P□-PQA DS3-4□P□-PQA DS3E-2□P□-PFA DS3E-4□P□-PFA DS3L-2□P□-PFA DS3L-4□P□-PFA DS3-2□P□-PTA DS3-4□P□-PTA

for internal regenerative resistor: short P+ and D, disconnect P+ and C, P0-24=0. for external regenerative resistor: connect resistor between P+ and C, disconnect P+ and D, P0-24=1, P0-25=power value, P0-26=resistor value.

Parameter

Signal name

Setting

Meaning

Effective

Modify

P0-24

Choose regenerative resistor 0

Use internal regenerative resistor

At once

Servo OFF 1

Use external regenerative resistor (resistor type please refer to the following table)

Parameter

Signal name

Setting

Unit

Effective

P0-25

Discharge resistor power

1. self-cooling mode (natural convection cooling): below 20% of regenerative resistor capacity (W)

2. forced air cooling: below 50% of regenerative resistor capacity (W)

W

At once

P0-26

Discharge resistor value

Resistor value

Ω

At once

Servo drive

Min resistor

(cannot smaller than

this value)

External regenerative

resistor (recommend

value)

External regenerative

resistor (recommend

power)

DS3-20P2-PQA DS3E-20P2-PFA DS3L-20P2-PFA DS3-20P2-PTA

50Ω

50Ω—100Ω

Above 200W

DS3-20P4-PQA DS3E-20P4-PFA DS3L-20P4-PFA DS3-20P4-PTA

40Ω

40Ω—100Ω

Above 500W

DS3-20P7-PQA DS3E-20P7-PFA DS3L-20P7-PFA DS3-20P7-PTA

40Ω

40Ω—100Ω

Above 500W

DS3-21P5-PQA DS3E-21P5-PFA DS3L-21P5-PFA DS3-21P5-PTA

25Ω

25Ω—50Ω

Above 1000W

DS3-22P3-PQA DS3E-22P3-PFA DS3L-22P3-PFA

25Ω

25Ω—50Ω

Above 1000W

When the servo motor operates in generator mode, power is returned to the servo drive side. This is called regenerative power. The regenerative power is absorbed by charging the smoothing capacitor, but when the capacitor’s charging limit is exceeded, the regenerative power needs to be reduced by the regenerative resistor. The servomotor is driven in regeneration (generator) mode in the following conditions:

 From decelerating to stop for acceleration/deceleration operation.  Move down on the vertical axis.  The external load drives the motor running

The type of regenerative resistor:

28

DS3-22P3-PTA

DS3-41P5-PQA DS3E-41P5-PFA DS3L-41P5-PFA DS3-41P5-PTA

55Ω

55Ω—100Ω

Above 1000W

DS3-43P0-PQA DS3E-43P0-PFA DS3L-43P0-PFA DS3-43P0-PTA

55Ω

55Ω—75Ω

Above 1000W

DS3-45P5-PQA DS3L-45P5-PQA

25 Ω

25 Ω —65 Ω

Above 2000W

DS3-47P5-PQA DS3L-47P5-PQA

25 Ω

25 Ω —50 Ω

Above 2000W

DS3-411P0-PQA DS3-415P0-PQA

18 Ω

18 Ω —45 Ω

Above 3000W

1. The temperature will be very high when the regenerative resistor is discharging, please using

heat-resistant non-flammable wire. Don’t touch the regenerative resistor when wiring.

2. When you choose the regenerative resistor, please make the resistor value close to the min value of recommend value. The resistor power is decided by the actual consition specially the heat.

3-2. DS3E/DS3L-PFA

3-2-1. Main circuit wiring 3-2-1-1. The terminal arrangement

29

3-2-1-2. Main circuit terminals

 DS3E-20P2-PFA, DS3E-20P4-PFA, DS3E-20P7-PFA  DS3L-20P2-PFA, DS3L-20P4-PFA, DS3L-20P7-PFA

Terminal

Function

Explanation

L/N

Power supply input of main circuit

Single AC 200～240V, 50/60Hz

●

Vacant terminal

-

U, V, W

Motor terminals

Connect the motor

Terminal

Color

U

brown

V

black

W

blue

PE

Yellow green

Note: the ground wire is on the cooling fin, do not connect to P+ or P-, please check it before power on.

P+, D, C

Internal regenerative resistor

Short P+ and D, disconnect P+ and C, set P0-24=0

External regenerative resistor

Connect regenerative resistor between P+ and C, disconnect P+ and D, set P0-24=1, P0-25= power value, P0-26= resistor value (see chapter 3-4)

P+/P-

Bus terminal

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

 DS3E-21P5-PFA, DS3E-22P3-PFA, DS3E-41P5-PFA  DS3L-21P5-PFA, DS3L-22P3-PFA, DS3L-41P5-PFA

Terminal

Function

Explanation

R/S/T

Power supply input of main circuit

DS3E-21P5/22P3-PFA 3 phases AC 200～240V, 50/60Hz DS3E-41P5-PFA 3 phases 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

Note: check the ground terminal before power on, not connect to P+, P-!

P+, D, C

Internal regenerative resistor

Short P+ and D, disconnect P+ and C, set P0-24=0

External regenerative resistor

Connect regenerative resistor between P+ and C, disconnect P+ and D, set P0-24=1, P0-25=power value, P0-26=resistor value (see chapter 3-1-4)

Ground

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

.

L N

.

U V

W

P+ D C

P-

.

R

S

T

.

U V

W P+

D C

30

 DS3E-43P0-PFA  DS3L-43P0-PFA

Terminal

Function

Explanation

R/S/T

Power supply input of main circuit

3 phases 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

Note: the ground wire is on the cooling fin, do not connect to P+ or P-, please check it before power on.

P+, D, C

Internal regenerative resistor

Short P+ and D, disconnect P+ and C, set P0-24=0

External regenerative resistor

Connect regenerative resistor between P+ and C, disconnect P+ and D, set P0-24=1, P0-25=power value, P0-26=resistor value (see chapter 3-1-4)

P+/P-

Bus terminal

Measure the real-time bus voltage, please be careful!

Symbol

40, 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

CN0

CN1(at drive side)

CN2 (DB15 female port)

at drive side

DB9 male port

DB15 male port

R S

T

.

U V

W

P+ D

C P-

.

PP+5V P+24V DD+5V D+24V SI1 SI2 SI3 SI4 +24V SO1 SO2 COM

1

5

9

6

1

5

6

10

11

15

5

1

10

6

15

11

3-2-1-3．Winding Terminals on Servo motor

3-2-1-4．CN0, CN1, CN2 terminals

31

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

No.

Name

Explanation

No.

Name

Explanation

1

GND

GND-485

2

A1

RS485+

3

B1

RS485-

4

A2

RS485+

5

B2

RS485-

6

GND

GND-485

7

NC

Reserved

8

NC

Reserved

9

NC

Reserved

No.

Name

Explanation

No.

Name

Explanation

1

NC

Reserved

2

NC

Reserved

3

NC

Reserved

4

NC

Reserved

5

B-

Encoder output B-

6

A+

Encoder output A+

7

A-

Encoder output A-

8

Z+

Encoder output Z+

9

Z-

Encoder output Z-

10

B+

Encoder output B+

11

NC

Reserved

12

NC

Reserved

13

NC

Reserved

14

NC

Reserved

15

NC

Reserved

- - -

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

W-

11 1 1

Connect

to

shield

layer

12 3 3

GND

13 2 2

5V

14

10

11

V+

15

12

14

V-

 CN0 terminals

 DS3E series CN1 (DB9) terminals

 DS3L series CN1 (DB15) terminals (DS3L has no frequency division function)

Note: The fieldbus module is necessary to connect to CN1 to perform X-NET fieldbus function. The module cannot hot plug. Please use Profibus cable to ensure the communication reliability.

 CN2 terminals

32

3-2-1-5. Communication port

(5-pin port)

Pin no.

Name

Explanation

1

TXD

RS232 send

2

RXD

RS232 receive

3

GND

RS232 ground

Parameter

Function

Default setting

Range

Effective time P7-10

Modbus station no.

1

1~255

Servo OFF

Parameter no.

Function

Default value

Range

Effective time

n.xx□□

Baud rate

06

00～10 00：300 01：600 02：1200 03：2400 04：4800 05：9600 06：19200 07：38400 08：57600 09：115200 0A：192000 0B：256000 0C：288000 0D：384000 0E：512000 0F：576000 10：768000

Servo OFF

1 5

 RS-232 communication

Note: please use the cable supplied by XINJE Company

Communication parameters: RS232 default communication parameters: baud rate 19200bps, data bit 8, stop bit 1, even parity. Modbus station no.

Please set the following parameters through P7-11:

33

n.x□xx

Stop bit

2

0：2 bits, 2：1 bit

Servo OFF

n.□xxx

Parity bit

2

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

Servo OFF

Note: data bit cannot be changed, it is 8 bits.

DS3E series

CN1: port definition at drive

side

No.

Name

CN1-2

A

CN1-3

B

1. The fieldbus module is necessary to connect to CN1 to

perform X-NET fieldbus function. The module cannot hot plug. Please use Profibus cable to ensure the communication reliability.

2. For Modbus-RTU communication.

Note: DS3L cannot support RS485 and fieldbus.

Parameter

Function

Default value

Range

Effective time

P7-00

Modbus station no.

1

0～255

Servo OFF

Parameter

Function

Default value

Range

Effective time

n.xx□□

Baud rate

06

00～10 00：300 01：600 02：1200 03：2400 04：4800 05：9600 06：19200 07：38400 08：57600 09：115200 0A：192000 0B：256000 0C：288000 0D：384000 0E：512000 0F：576000 10：768000 11：1M 12：2M 13：3M 14：4M 15：5M 16：6M

Servo OFF

n.x□xx

Stop bit

2

0：2 bits, 2：1 bit

Servo OFF

1

5

9

6

 RS-485 port

Communication parameters: RS485 default communication parameters: baud rate 19200bps, data bit 8, stop bit 1, even parity, Modbus station no.1. The Modbus station no. can be set through P7-00:

The communication parameters can be set through P7-01:

34

n.□xxx

Parity bit

2

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

Servo OFF

Note: data bit cannot be changed, it is 8 bits.

Parameter

Function

Default setting

Range

Effective time

P7-02

RS485 communication protocol

1

1: Modbus Rtu protocol 2: Xnet fieldbus

Servo OFF Command

Choice

Meaning

P-input signal

D-input signal

Chapter

P0-10 xxx□

1

AB phase mode

A phase

B phase

5-3-2 2

Pulse + direction mode

Pulse

Direction

Collector open circuit (24V) input positive signal: P+24V/D+24V Differential mode (5V) input positive signal: P+5V/D+5V

DS3E-2□P□-PFA DS3E-4□P□-PFA DS3L-2□P□-PFA DS3L-4□P□-PFA

Open collector (24V)

PLC, SCM, etc servo drive

Note: (1) P+24V/P-, D+24V/D- power supply range is 18~25V. smaller than 18V will cause pulse and direction error.

(2) Please use tisted shielded pair to avoid interference

DS3E-2□P□-PFA

Differential mode (5V)

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.

P7-02 RS485 communication protocol setting:

1. Support standard Modbus RTU protocol, it is used as Modbus slave device.

2. RS232 port and RS485 port can be used at the same time.

3-2-2．Signal terminals

3-2-2-1. Pulse signal

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

35

DS3E-4□P□-PFA DS3L-2□P□-PFA DS3L-4□P□-PFA

PLC, SCM, etc servo drive

Note: Please use tisted shielded pair to avoid interference

Type

Input terminal

Function

Reference chapter

Digital input

SI1~SI4

Multi-functional input

5-12-1

Open collector (24V power supply)

Relay (24V power supply)

Upper device servo drive

Type

Output terminal

Function

Reference chapter

Optocoupler output

SO1~SO2

Multi-functional output terminal

5-12-3

SI

+24V

+

COM2

Y2

0V

+24V

R=2.2KΩ

+24V

0V

Y2

COM2

+

+24V

SI

P+24V

PUL+

PUL-

P-

R=3.3K

DIR-

D-

R=3.3K

P+5V

D+5V

Shield layer

0V

D+24V

DIR+

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

(1) Servo drive pulse input will be ON at 10mA. (2) If the controller is XINJE PLC, pulse output terminal rated current 50mA, 1 channel pulse can

connect 5 servo drives. We suggest it cannot over 3 servo drives.

3-2-2-2．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.

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

3-2-2-3. SO output signal

Note: please use twisted shielded pair to avoid interference.

36

Optocoupler type

Servo drive upper device

Relay type

Servo drive upper device

COM

SO

X3

COM

0V

+24V

Note: SO output max allowable load current is 400mA. (please check the brake current if the SO controls the brake motor, it needs to use auxiliary relay for current larger than 400mA)

3-2-2-4. Analog input circuit

DS3E/DS3L series servo drive cannot support analog input function.

3-2-2-5. Encoder feedback signal

DS3E series servo drive cannot support encoder feedback output function.

3-2-3. Standard wiring example

The input and output terminal function is out of factory settings in wiring example. The setting can be changed, please see chapter 5-12.

3-2-3-1. Position mode

Refer to chapter 3-1-3 (DS3E series servo drive cannot support encoder feedback output).

3-2-4. Regenerative resistor

Refer to chapter 3-1-4.

37

3-3. DS3-PTA series

 DS3-20P2-PNA, DS3-20P4-PNA, DS3-20P7-PTA

Terminal

Function

Explanation

L1/L2/L3

Power supply input of main circuit

Single or 3 phase AC 200 ～ 240V, 50/60Hz Note: if using single phase 220V, please connect L1, L3 to the power supply, otherwise it will affect the power-off retentive function.

●

Vacant terminal

-

U, V, W

Motor terminals

Connect the motor

Terminal

Color

U

brown

V

black

W

blue

PE

Yellow green

Note: the ground wire is on the cooling fin, do not connect to P+ or P-, please check it before power on.

P+, D, C

Internal regenerative resistor

Short P+ and D, disconnect P+ and C, set P0-24=0

External regenerative resistor

Connect regenerative resistor between P+ and C, disconnect P+ and D, set P0-24=1,

L1 L2

.

U V

W

P+ D

C P-

L3

3-3-1. Main circuit wiring 3-3-1-1. The terminal arrangement

3-3-1-2. Main circuit terminals

38

P0-25= power value, P0-26= resistor value (see chapter 3-1-4)

P+/P-

Bus terminal

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

 DS3-21P5-PTA, DS3-22P3-PTA

Terminal

Function

Explanation

R/S/T

Power supply input of main circuit

DS3-21P5/22P3-PTA 3 phases AC 200～240V, 50/60Hz

Note: if using single phase 220V, please connect power supply to R and T, otherwise it will affect power-off retentive function.

DS3-41P5-PTA 3 phases 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 P0-24=0

External regenerative resistor

Connect regenerative resistor between P+ and C, disconnect P+ and D, set P0-24=1, P0-25=power value, P0-26=resistor value (see chapter 3-1-4)

Ground

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

 DS3-43P0-PTA

Terminal

Function

Explanation

R/S/T

Power supply input of main circuit

3 phases 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

Note: the ground wire is on the cooling fin, do not connect to P+ or P-, please check it before power on.

P+, D, C

Internal regenerative resistor

Short P+ and D, disconnect P+ and C, set P0-24=0

External regenerative resistor

Connect regenerative resistor between P+ and C, disconnect P+ and D, set P0-24=1, P0-25=power value, P0-26=resistor value (see chapter 3-1-4)

R

S

T

.

U V

W P+

D C

R S

T

.

U V

W

P+ D

C P-

.

39

P-

Bus terminal

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

Symbol

40, 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

CN0

CN1(DB9) (at drive side)

CN2(DB9) (at drive side)

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

No.

Name

Explanation

No.

Name

Explanation

1

GND

GND-485

2

A1

RS485+

3

B1

RS485-

4

A2

RS485+

5

B2

RS485-

6

GND

GND-485

7

NC

Reserved

8

NC

Reserved

9

NC

Reserved

PP+5V P+24V DD+5V D+24V SI1 SI2 SI3 SI4 +24V SO1 SO2 COM

1

5

9

6

1

5

9

6

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

3-3-1-4．CN0, CN1, CN2 terminals

 CN0 terminals

 CN1 (DB9) terminals

40

Note: The fieldbus module is necessary to connect to CN1 to perform X-NET fieldbus function. The

Drive

port

Motor encoder

interface

Name

Drive

port

Motor encoder

interface

Name

60, 80, 90 series

110, 130, 180 series

1 \ \ 1 1

Shield

layer 2 \

\ 2 \

\

3 3 SD- 3 3

SD- 4 4

SD+ 4 4

SD+

5

Shield layer 5 \

\ 6 6

0V 6 6

0V

7 7 battery- 7 7

battery- 8 8

5V 8 8

5V

9 9 battery+ 9 9

battery+

(5-pin port)

Pin no.

Name

Explanation

1

TXD

RS232 send

2

RXD

RS232 receive

3

GND

RS232 ground

Parameter

Function

Default setting

Range

Effective time P7-10

Modbus station no.

1

1~255

Servo OFF

1 5

module cannot hot plug. Please use Profibus cable to ensure the communication reliability.

 CN2(DB9 male port) terminals

3-3-1-5. Communication port

 RS-232 communication

Note: please use the cable supplied by XINJE Company

Communication parameters: RS232 default communication parameters: baud rate 19200bps, data bit 8, stop bit 1, even parity. Modbus station no.

41

Please set the following parameters through P7-11:

Parameter no.

Function

Default value

Range

Effective time

n.xx□□

Baud rate

06

00～10 00：300 01：600 02：1200 03：2400 04：4800 05：9600 06：19200 07：38400 08：57600 09：115200 0A：192000 0B：256000 0C：288000 0D：384000 0E：512000 0F：576000 10：768000

Servo OFF

n.x□xx

Stop bit

2

0：2 bits, 2：1 bit

Servo OFF

n.□xxx

Parity bit

2

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

Servo OFF

Note: data bit cannot be changed, it is 8 bits.

DS3E series

CN1: port definition at drive

side

No.

Name

CN1-2

A

CN1-3

B

CN1 is not functional port, the pin has no meaning. The fieldbus module can connect to CN1 to perform X-NET fieldbus function. The module cannot hot plug. Please use Profibus cable to ensure the communication reliability.

Parameter

Function

Default value

Range

Effective time

P7-00

Modbus station no.

1

0～255

Servo OFF

Parameter

Function

Default value

Range

Effective time

n.xx□□

Baud rate

06

00～10 00：300 01：600 02：1200 03：2400

Servo OFF

1

5

9

6

 RS-485 port

Communication parameters: RS485 default communication parameters: baud rate 19200bps, data bit 8, stop bit 1, even parity, Modbus station no.1. The Modbus station no. can be set through P7-00:

The communication parameters can be set through P7-01:

42

04：4800 05：9600 06：19200 07：38400 08：57600 09：115200 0A：192000 0B：256000 0C：288000 0D：384000 0E：512000 0F：576000 10：768000 11：1M 12：2M 13：3M 14：4M 15：5M 16：6M

n.x□xx

Stop bit

2

0：2 bits, 2：1 bit

Servo OFF

n.□xxx

Parity bit

2

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

Servo OFF

Note: data bit cannot be changed, it is 8 bits.

Parameter

Function

Default setting

Range

Effective time

P7-02

RS485 communication protocol

1

1：Modbus Rtu protocol 2：Xnet bus

Servo OFF Command

Choice

Meaning

P-input signal

D-input signal

Chapter

P0-10 xxx□

0

CW, CCW double pulse mode

CW

CCW

5-3-2 1

AB phase mode

A phase

B phase

2

Pulse + direction mode

Pulse

Direction

Collector open circuit (24V) input positive signal: P+24V/D+24V Differential mode (5V) input positive signal: P+5V/D+5V

P7-02 RS485 communication protocol setting:

1. Support standard Modbus RTU protocol, it is used as Modbus slave device.

2. RS232 port and RS485 port can be used at the same time.

3-3-2．Signal terminals

3-3-2-1. Pulse signal

43

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

DS3-2□P□-PTA DS3-4□P□-PTA

Open collector (24V)

PLC, SCM, etc servo drive

Note: (1) P+24V/P-, D+24V/D- power supply range is 18~25V. smaller than 18V will cause pulse and direction error.

(2) Please use tisted shielded pair to avoid interference

DS3-2□P□-PTA DS3-4□P□-PTA

Differential mode (5V)

PLC, SCM, etc servo drive

Note: Please use tisted shielded pair to avoid interference

Type

Input terminal

Function

Reference chapter

Digital input

SI1~SI4

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 differential output, please use this wiring diagram. Please note: P+24V and D+24V must be vacant.

(1) Servo drive pulse input will be ON at 10mA. (2) If the controller is XINJE PLC, pulse output terminal rated current 50mA, 1 channel pulse can

connect 5 servo drives. We suggest it cannot over 3 servo drives.

3-3-2-2．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.

44

Open collector (24V power supply)

Relay (24V power supply)

Upper device servo drive

Type

Output terminal

Function

Reference chapter

Optocoupler output

SO1~SO2

Multi-functional output terminal

5-12-3

Optocoupler type

Servo drive upper device

Relay type

Servo drive upper device

SI

+24V

+

COM2

Y2

0V

+24V

R=2.2KΩ

+24V

0V

Y2

COM2

+

+24V

SI

COM

SO

X3

COM

0V

+24V

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

3-3-2-3. SO output signal

Note: please use twisted shielded pair to avoid interference.

Note: SO output max allowable load current is 400mA. (please check the brake current if the SO controls the brake motor, it needs to use auxiliary relay for current larger than 400mA)

45

3-3-2-4. Analog input circuit

Key Name

Function

STATUS/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, Enter

STA/ESC

DEC

INC

ENTER

power

DS3-PTA series servo drive cannot support analog input function.

3-3-2-5. Encoder feedback signal

DS3-PTA series servo drive cannot support encoder feedback output function.

3-3-3. Standard wiring example

Refer to chapter 3-1-3 (DS3-PTA series servo drive cannot support encoder).

3-3-4. Regenerative resistor

Refer to chapter 3-1-4.

4 Use the operate panel

4-1．Basic Operation

4-1-1. Functions of operate panel

 5-bit LED: Displaying parameter settings, status or alarm.  Power LED POWER: The LED is on when the servo drive is powered on.

the operate panel will self-check after power, all the LED will light for 1s.

4-1-2. Basic Mode Switching

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.

46

Bit Data

Description

P5-39 Speed Coincidence (/V-CMP)

Light when the motor actual speed and command speed is the same. Speed coincidence signal checking width: P5-04 (unit: rpm)

P5-42 Torque Limit (/CLT)

Light when actual torque exceeds preset value. Forward Torque Limit: P3-28 Reverse Torque Limit: P3-29

P5-40 Rotation Detection (/TGON)

Light when the motor speed exeeds the rotation detection speed. Rotation Detection Speed Level: P5-03(Unit: rpm)

P5-31 Zero Clamp (/ZCLAMP)

Light when zero clamp signal is ON.

P5-43 Speed Limit (/VLT)

Light when actual speed exceeds preset value. Forward speed limit during Torque Control: P3-16, reverse speed limit: P3-17

P0-00

State

Parameter

Monitor

Alarm

Auxiliary

U0-00

F0-00

E-XXX

bb

run

Code

U1-00

Alarm code

U2-00

Run

Idle

Speed

P1-00

P7-00

F1-00

Jog

Function

Control

Communication

Power on time

STA/ESC

INC

DEC

rst

Reset

Display mode:  Monitor Function UX－XX: The first X means group No., the last two X means the member No.

in the group.

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

in the group.

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

in the group.

 Alarm E－XXX: XXX means the alarm code.  State: bb means the servo is in idle state; run means the servo is in running state.

4-2．Running status mode

 Speed and Torque Control Mode

A. Bit contents:

47

B. The code contents:

Code

Descrption

Standby Servo OFF (motor power OFF)

Run Servo ON (motor power ON)

Reset Servo re-power

Forward Run Prohibited P-OT ON. Please refer to 5-2-4 “Overtravel Limit”

Reverse Run Prohibited N-OT ON. Please refer to 5-2-4 “Overtravel Limit”

Bit Data

Description

P5-38 Positioning Completed (/COIN)

Light when set position and actual position is the same. Positioning accomplishment width: P5-00 (unit: command pulse)

P5-36 Near (/NEAR)

Light when set position and actual position is the same. Near signal width: P5-06

P5-40 Rotation Detection (/TGON)

Light when the motor speed exceeds the rotation detection speed. Rotation detection speed: P5-03 (unit: rpm)

Code

Descrption

Standby Servo OFF (motor power OFF)

Run Servo ON (motor power ON)

Reset Servo re-power

Forward Run Prohibited P-OT ON. Please refer to 5-2-4 “Overtravel Limit”

Reverse Run Prohibited N-OT ON. Please refer to 5-2-4 “Overtravel Limit”

Number

Monitor Display

Unit

 Position Control Mode

A. The bit contents:

B. The code contents:

4-3．Monitoring Mode

U0-XX

48

U0-00

Actual speed of motor

Rpm

U0-01

Input speed command

Rpm

U0-02

Torque command

% of rated

U0-03

Rotate angle (mechenism angle)

0.1°

U0-04

Rotate angle (electrical angle)

0.1°

U0-05

Bus voltage

V

U0-06

IPM temperature

0.1℃

U0-07

Torque feedback

% of rated

U0-08

Pulse offset value (0000~9999)*1

Command pulse

U0-09

(0000~65535)*10000

U0-10

Encoder feedback value

(0000~9999)*1

encoder pulse

U0-11

(0000~65535)*10000

U0-12

Pulse value of input command

(0000~9999)*1

Command pulse

U0-13

(0000~65535)*10000

U0-14

Position feedback (0000~9999)*1

Command pulse

U0-15

(0000~65535)*10000

U0-16

Encoder position (Accumulated)

(0000~9999)*1

encoder pulse

U0-17

(0000~65535)*10000

U0-18

Current, 2-bit decimal/torque current

0.1A

U0-19

Analog input V-REF

0.01V

U0-20

Analog input T-REF

0.01V

U0-21

Input signal status 1

U0-22

Input signal status 2

U0-23

Output signal status 1

U0-24

Output signal status 2

U0-25

Input pulse frequency (0000~9999)*1

Hz

U0-26

(0000~9999)*10000

U0-27

U-phase current sampling zero value related to current value

0.01A

U0-28

V-phase current sampling zero value related to current value

0.01A

U0-29

W-phase current sampling zero value related to current value

0.01A

U0-30

VREF input analog zero value related to digital value

0~4095

U0-31

TREF input analog zero value related to digital value

0~4095

U0-32

Electric zero (0000~9999)*1

U0-33

(0000~9999)*10000

U0-34

Output excitation voltage

% of bus voltage

U0-35

Output torque voltage

% of bus voltage

U0-36

Excitation current (change around 0)

0.01A

U0-37

VREF sampling value

0~4095

U0-38

TREF sampling value

0~4095

U0-39

Reserved

U0-40

Reserved

U0-41

Instantaneous output power

1W

U0-42

Average output power

1W

U0-43

Instantaneous thermal power

1W

U0-44

Average thermal power

1W

U0-45

Reserved

U0-46

Reserved

U0-47

Reserved

U0-48

Reserved

U0-49

Position feedforward

1 command unit

U0-50

Speed feedforward

rpm

U0-51

Torque feedforward

% of rated

49

U0-52

Instantaneous bus capacitor power

1W

U0-53

Average bus capacitor power

1W

U0-54

Reserved

U0-55

Instantaneous regenerative braking discharge power

U0-56

Average regenerative braking discharge power

U0-57

Absolute encoder present position feedback

(0000~9999)*1

Encoder pulse

U0-58

(0000~65535)*10000

Number

Contents

Unit

U1-00

Current alarm code

U1-01

Current warning code

U1-02

U phase current when alarming

0.01A

U1-03

V phase current when alarming

0.01A

U1-04

Bus voltage when alarming

V

U1-05

IGBT temperature when alarming

0.1℃

U1-06

Q axis current (torque current) when alarming

0.1A

U1-07

Excitation current when alarming

A

U1-08

Position offset when alarming

Command pulse

U1-09

Speed value when alarming

rpm

U1-10

The alarm occurred time second (low 16 bits), count from power on

s

U1-11

The alarm occurred time second (high 16 bits), count from power on

s U1-12

Run error times, count from power on

U1-13

Warning times, count from power on

U1-14

History alarm times

U1-15

History warning times

U1-16

The second time alarm code recently

U1-17

The third time alarm code recently

U1-18

The fourth time alarm code recently

U1-19

The fifth time alarm code recently

U1-20

The sixth time alarm code recently

U1-21

The second time warning code recently

U1-22

The third time warning code recently

U1-23

The fourth time warning code recently

U1-24

The fifth time warning code recently

U1-25

The sixth time warning code recently

Number

Contents

Unit

U2-00

Power on times

U2-01

Series (low 16 bits)

U2-02

Series (high 16 bits)

U2-03

Type

U2-04

Out of factory date: year

U2-05

Out of factory date: month

U2-06

Out of factory date: day

U1-XX:

U2-XX：

50

U2-07

Hardware version

U2-08

Hardware version

U2-09

Total run time (from the first time power on)

Hour

U2-10

Total run time (from the first time power on)

Minute

U2-11

Total run time (from the first time power on)

Second

U2-12

This time run time (from this time power on)

Hour

U2-13

This time run time (from this time power on)

Minute

U2-14

This time run time (from this time power on)

Second

U2-15

Average output power (count from the first time enable)

1W

U2-16

Average heating power (count from the first time enable)

1W

U2-17

Average bus capacitor filter power

1W

U2-18

Motor accumulative circles

(0000~9999)*1

circle

U2-19

(0000~9999)*10000

circle

U2-20

Device serial number: low 16 bits

U2-21

Device serial number: high 16 bits

U2-22

Firmware generation date: year

U2-23

Firmware generation date: month/day

U2-24

Firmware generation time: hour/minute

Segment code

Explanation

Segment code

Explanation 1

/S-ON servo enable signal

2

/P-CON proportion action command

3

/P-OT forward run prohibited

4

/N-OT reverse run prohibited

5

/ALM-RST alarm reset

6

/P-CL forward side external torque limit

7

/N-CL reverse side external torque limit

8

/SPD-D internal set speed selection

9

/SPD-A internal set speed selection

10

/SPD-B internal set speed selection

Note: read the status through communication, the binary value from right to left are related to /S-ON,

/P-CON. 0 means no input, 1 means has input. For example: 0x0001 means /S-ON has input, 0x0201 means /S-ON and /SPD-B has input.

/S-ON

/P-CON

/P-OT

/N-OT

/ALM-RST

/SPD-B

/SPD-A

/SPD-D

/N-CL

/P-CL

Light means signal input

Light means no signal input

1 2 3

4 5 6

7

8 9 10

 U0-21 input signal status

 U0-21 input signal 1 assignment

 U0-22 input signal status

51

Segment code

Explanation

Segment code

Explanation

11

/C-SEL control mode

12

/ZCLAMP zero clamp

13

/INHIBIT command pulse prohibited

14

/G-SEL gain switch

15

/CLR pulse clear

16

/CHGSTP change step

17

/I-SEL inertia switch

18

—

19 — 20

—

Note: read the status through communication, the binary value from right to left are related to /C-SEL,

/ZCLAMP. 0 means no input, 1 means has input. For example: 0x0001 means /C-SEL has input, 0x0041 means /C-SEL and /I-SEL has input.

Segment code

Explanation

Segment code

Explanation

1

Positioning complete maintain (/COIN_HD)

2

Positioning end (/COIN) 3

Same speed detection (/V-CMP)

4

Rotate detection (/TGON)

/C-SEL

/ZCLAMP

/INHIBIT

/G-SEL

/CLR

——

/I-SEL

/CHGSTP

Light means signal input

Light means no signal input

11

12

13

14

15

16

17

18

19

20

/COIN-HD

/COIN

/V-CMP

/TGON

/S-RDY

/NEAR

/WARN

/BK

/VLT

/CLT

Light means signal input

Light means no signal input

1 2 3 4 5 6 7 8 9

10

 U0-22 input signal 2

“—“ is reserved bit, it is always 0.

 U0-23 output signal status

 U0-23 output signal 1 assignment

52

5

Ready (/S-RDY)

6

Torque limit (/CLT)

7

Speed limit detection (/VLT)

8

Brake lock (/BK)

9

Warn (/WARN)

10

Output near (/NEAR)

Note: read the status through communication, the binary value from right to left are related to

/COIN_HD, /COIN. 0 means no output, 1 means has output. For example: 0x0001 means /COIN_HD has output, 0x0201 means /COIN_HD and /NEAR has output.

 U0-24 output signal status

Segment code

Explanation

Segment code

Explanation

11

Alarm (/ALM)

12

—

13 — 14

—

15

Speed reach (/V-RDY)

16

Self-defined output 1

17

Self-defined output 2

18

—

19 — 20

—

Note: read the status through communication, the binary value from right to left are related to /ALM,

“-“. 0 means no output, 1 means has output. For example: 0x0001 means /ALM has output, 0x0041 means /ALM and self-defined output 2 has output.

Group No.

Content

F0-**

Clean the alarm, back to out of factory settings, clean the offset

F1-**

Jog run, test run, zero, enable

Function No.

Description

F0-00

Clean the alarm

F0-01

Back to out of factory settings

F0-02

Clean the offset

/ALM

— — —

/V-RDY

—

— — /User2

/User1

Light means signal input

Light means no signal input

11

12

13

14

15

16

17

18

19

20

 U0-24 output signal 2 assignment

“—“ is reserved bit, it is always 0.

4-4．Auxiliary Function

4-4-1．F0-XX

53

Function code

Explanation

F1-00

Jog run

F1-01

Test run

F1-02

Current sampling zero

F1-03

Vref zero

F1-04

Tref zero

F1-05

Software enable

P3-18

JOG speed

Unit

Default

Setting range

Suitable mode

Change

Effective

1Rpm

100

0~1000

JOG

Servo OFF

Immediately

F1-00

Press ENTER

INC

Keep Press ENTER

Reverse

Forward

DEC

F1-01

Press ENTER

INC

Keep Press ENTER

DEC

Motor reverse run

Motor forward run

STA/ESC

F1-01

1. Clean the alarm

Set F0-00=1 to reset the alarm. When the alarm occurred, please find out the alarm reasons then clean the alarm.

2. Back to out of factory settings

Set F0-01=1, then press ENTER. No need to re-power the servo drive.

3. Clean the offset

Set F0-02=1 to clean the offset.

4-4-2. F1-XX

1. Jog (F1-00) Make sure that the motor shaft is not connected to the machine before jogging!

When the servo is in jog run mode, gain and other parameters will join the process. Please adjust the parameters according to the jog run status.

2. Test run (F1-01) Make sure that the motor shaft is not connected to the machine before test run!

When servo drive is connected with non-original encoder line or power line, test run must be run first to ensure that the encoder line or power line is connected correctly. Test run can detect the connection of power line and encoder feedback. Please operate the servo as the following steps. If the motor shaft jitter or servo alarm, please cut off the power at once then check the

wiring.

3. Current sampling zero (F1-02)

After the servo drive updated to latest software version, or the motor does not revolve smoothly for long time, the current offset auto-adjustment is recommended.

54

Parameter

Signal name

Set

Meaning

Modify

Effective

P0-03

Enable mode

0

Not enable

Servo OFF

At once

1 (default)

I/O enable /S-ON

2

Software enable (F1-05 or communication)

3

Bus enable (the model support movement bus)

P0-03=2 F1-05 = 0: cancel the enable, return to bb status. F1-05 = 1: forced enable, servo is in RUN status.

F1-04

rEF_o

donE

F1-03

rEF_o

donE

F1-02

rEF

donE

Keep press ENTER

Press ENTER

Keep press ENTER

Press ENTER

Keep press ENTER

Press ENTER

Press STATUS/ESC to exit.

4. Vref zero (F1-03)

Press STATUS/ESC key to exit.

5. Tref zero (F1-04)

Press STATUS/ESC key to exit.

6. Forced Servo enables (F1-05)

4-5．Alarm (E-XXX)

The alarm code will show when there is error in the drive. Set F0-00=1 to reset the alarm. If the servo is OFF caused by alarm, it is no need to reset the alarm. Note: please find out the alarm reason before reset the alarm.

4-6．Example

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.

55

P0-33

Re-power On servo

Keep press ENTER

Finish the setting

confirm

Input motor code

Keep press ENTER

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.

when the parameters are over the setting range, the drive will show E-021 alarm.

4-7．Change the motor code

One servo drive can match several servo motors with same power level. Before using the servo system, please make sure the motor code on the servo motor label is the same to P0-33.

Motor label

If the servo motor code set error, the servo will show E-310 alarm. Please clean the alarm

through F0-00 then set the motor code again.

56

5 Run the servo system

Parameter

Control mode

Reference

P0-01

1

Torque control (internal setting)

Control the output torque of servo motor via operating panel or communication.

5-8

2

Torque control (analog voltage command) ---- only DS3-PQA support

Control the output torque of servo motor via analog voltage command. It is mostly used to close-loop torque control with upper device, such as tension control. (If servo drive doesn’t have analog input port, it cannot use this mode.)

5-7

3

Speed control (internal speed setting)

Use /SPD-D, /SPD-A, /SPD-B to select the speed which is set in the servo drive. The servo drive can set 3 speeds.

5-5

4

Speed control (analog voltage command) ---- only DS3-PQA support

Control the speed of servo motor via analog voltage command. It is mostly used to close-loop speed control with upper device. (If servo drive doesn’t have analog input port, it cannot use this mode.)

5-4

5

Position control (internal position command) ---- only DS3E/DS3L support

Control the position via internal position command; it can set pulse quantity and torque. Note: hardware version need v3.2.1 and higher

6 (default setting)

Position control (external pulse command)

Control the position of servo motor via pulse command. Control the position via pulse quantity; control the speed via pulse frequency.

5-3

7

Speed control (pulse frequency command)

Control the speed of servo motor via pulse frequency, but not control the position.

5-6

10

X-NET fieldbus position mode ---- only DS3E support

5-9

P0-02 mode2

Same to mode 1

The servo will enter mode 2 when /C-SEL signal is effective. Parameter

Name

Reference

P0-03

Enable mode

5-2-1

P5-20

Servo ON setting /S-ON

P0-05

Switch the motor rotate direction

5-2-2

P0-27

Servo OFF stop mode

5-2-3

P0-28

Motor overtravel stop mode

P0-29

Alarm stop mode

P0-30

Stop time out time

P3-32

Brake torque

P5-22

Forward run ban /P-OT

5-2-4

P5-23

Reverse run ban /N-OT

P5-44

Power loss brake /BK

5-2-5

5-1．Control mode selection

PQA servo mode 1 and 2 can be switched to each other via /C-SEL signal.

5-2．Basic function setting

57

P5-47

Alarm output /ALM

5-2-6

Parameter

Signal name

Setting

Meaning

Modify

Effective

P0-03

Enable mode

0

Not enable

Servo OFF

At once

1 (default)

I/O enable /S-ON

2

Software enable (F1-05 or communication)

3

Bus enable (the model support bus movement)

Parameter

Signal

Setting

Explanation

Range

P5-20

/S-ON

n.0001 (default value)

When SI1 is ON, servo motor powers on and enables to run.

0001~0015

n.0010

Always effective, no need to wiring.

/S-ON signal can be set to other input via parameter P5-20.

Mode

Forward rotate

Reverse rotate

Standard setting: CCW is forward rotate

Reverse mode: CW is forward rotate

Parameter

Setting

Explanation

P0-05 0 (default setting)

Standard setting (CCW is forward running)

1

Reverse mode (CW is forward running)

Parameter

Function

Setting value

Default value

P0-27

Servo OFF stop mode

0 or 2

0

P0-29

Alarm

0 or 2

0

CCW

CW

5-2-1. Servo ON setting

When servo ON signal is ineffective, the servo motor cannot run.

the input terminal assigned by function parameters cannot be duplicated. Please refer to chapter

5-12-1.

5-2-2. Switch the motor rotate direction

Change the motor rotate direction without changing the motor wiring. The standard forward rotate direction is “CCW rotate” look at the load side. “Reverse mode” will change the motor rotate direction.

 Set the rotate direction

5-2-3. Stop mode

Set the stop mode when servo is OFF or alarm.

58

0: Inertia run stop, keep inertia movement after stop 2: deceleration stop, keep inertia movement after stop

P0-30

Stop time out time

Unit

Default value

Range

Suitable mode

0.1ms

20000

0~65535

All the modes

P3-32

Brake torque

Unit

Default value

Range

Suitable mode

0.1% of rated torque

100

0~300

All the modes Parameter

Function

Range

Default value

P0-28

Motor stop mode when overtravel

0~3

2

P0-28

Meaning

0

Deceleration stop, the torque is 0 in overtravel direction after stop, receive command.

1

Inertia stop, the torque is 0 in overtravel direction after stop, receive command.

2

Deceleration stop, not receive command in overtravel direction after stop.

3

Alarm (E-260)

Parameter

Signal

Setting

Meaning

Modify

P5-22

/P-OT

n.0003 (default)

SI3=ON, prohibit the forward running

Range: 0000-0015

Reverse side

Forward side

limit

switch

limit

switch

N-OT

P-OT

Servo

drive

Servo Motor

1. the stop mode is 0. the motor will inertia stop until the speed is less than P5-03 (rotate detection speed) then change to free stop when servo OFF or alarm. At the same time, the servo will count the inertia stop time. If the time is larger than P0-30 but the motor speed is not smaller than P5-03, servo will free stop and show stop time out alarm.

2. the stop mode is 2. The motor will produce a brake torque P3-32 and deceleration stop until the speed is less than P5-03 then change to free stop when servo OFF or alarm. At the same time, servo will count the inertia stop time. If the time is larger than P0-30, but P5-03 is not smaller than P5-03, servo will free stop and show stop time out alarm.

Stop mode when overtravel

1. The brake torque is P3-32 when deceleration stop and stop time out time is effective for overtravel process.

2. there is position offset pulse when the motor stop by overtravel signal in position control mode. The position offset can be cleaned by inputting the signal /CLR. If the servo still can receive the pulse, the pulse will accumulate until the servo alarm.

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

(1) Use the overtravel signal Please connect P-OT and N-OT to the limit switch. Make sure to wiring as the following diagram when linear driving to avoid machine damagement.

(2) Set the overtravel signal

59

n.0013

SI3=ON, allow the forward running

P5-23

/N-OT

n.0004 (default)

SI4=ON, prohibit the reverse running

Range: 0000-0015

n.0014

SI4=ON, allow the reverse running

Note:

Parameter

Signal

Type

Default

Explanation

Modify

P5-44

/BK

Output

n.0000

Need to distribute

Range 0000-0013

/BK signal can output from output terminal via setting parameter P5-44. When set P5-44=0011, it means output from SO1 terminal.

+24V

BK-RY

L N U V W

PE

SO1

COM

U V W

PE M PG

CN2

BK

1 2 3

Servo drive

+24V

BK-RY

Power supply

Servo motor with brake

Power-off brake

Prevent the part moving as gravity when servo is OFF

Servo motor

The brake built into the MS series servo motor with brakes is a de-energization brake, which is used only to hold and cannot be used for braking.

1. /P-OT, /N-OT can be changed to other terminal input via parameter P5-22 and P5-23.

2. The input terminals function cannot be the same. Please refer to chapter 5-12-1.

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

It is used when servo drive controls the vertical shaft. The function of power-off brake is the moveable part will not shift when servo is OFF.

1. Wiring Example

The ON/OFF circuit of brake includes sequence output signal /BK and brake power. The following diagram shows a standard wiring example.

Note: (1) the working voltage of brake is DC 24V. (2) In the above diagram, BK signal output from SO1, please set P5-44 to n.0011.

2. Brake signal

60

P5-07

Servo OFF delay time (brake command)

Unit

Default

Range

Suitable mode

Modify

Effective

1ms

0

0~65535

All the modes

Servo OFF

Immediately

/S-ON

input

/BK output

Servo ON

delay

P5-07 release

brake

Servo OFF

ahead

P5-07 lock

brake

P5-08

Brake command output speed

Unit

Default

Range

Suitable mode

Modify

Effective

rpm

30

0~10000

All the modes

Any

Immediately

P5-09

Brake command waiting time

Unit

Default

Range

Suitable mode

Modify

Effective

1ms

500

0~1000

All the modes

Servo OFF

Immediately

/S-ON input or alarm

Occurs power off

Motor speed

（rpm）

/BK output

P5-08

Servo ON

Servo OFF

Brake ON

Brake OFF

P5-09

DB stop

Free stop

3. The switch time between BK signal and SON signal

If the machine moves slightly due to gravity because of the brake has action delay time. Please adjust the time as below parameter.

P5-07 Meaning: delay the time P5-07 to release the brake when the enable is ON. When the enable is OFF and the signal is true, lock the brake and delay the time P5-07 then close the enable.

this setting is rotation detection TGON invalid time when motor stop.

The following diagram is the brake control output signal /BK and servo SON signal act time when using the servo motor with brake. Before outputting /BK to release the brake, servo already power on; after not output /BK and brake is ON, servo is OFF.

4. Brake ON parameter (When servo motor is rotating)

The motor will power OFF when alarm occurs. The machine will move as gravity until the brake action. Set below parameters in order to use brake when motor speed decreases to setting value or waiting time ends.

Set the brake time when servo OFF caused by /S-ON signal or alarm.

The brake is used to protect the position. The brake must be effective at suitable time when servo motor stop. Users can adjust the parameters according to the machine action.

The /BK signal from ON to OFF under either of the following conditions:

1. Motor speed drops below the value of P5-08 after servo OFF.

2. over the time of P5-09 after servo OFF.

61

5-2-6. Alarm output

Parameter

Name

Reference chapter

P0-01

Control mode selection

5-3-1

P0-09

Pulse command positive direction

5-3-2 P0-10

Pulse command form

P0-11

Motor pulse per rotation*1

5-3-3

P0-12

Motor pulse per rotation*10000

P0-13

Electronic gear ratio (numerator)

P0-14

Electronic gear ratio (denominator)

P5-20

Servo ON signal /S-ON

5-2-1

Other available parameters

Key word

Parameter

Name

Reference

Command filter P1-24

Position command filter type

5-3-4 P1-25

Position command filter time constant

Clean offset pulse

P5-34

Clean the offset pulse /CLR

5-3-5

Positioning finish

P5-00

Positioning finish width

5-3-6

P5-01

Positioning finish detection mode

P5-02

Positioning finish hold time

P5-37

Positioning finish hold /COIN-HD

P5-38

Positioning finish signal output /COIN

Positioning near P5-46

Positioning near signal output /NEAR

5-3-7 P5-06

Positioning near signal output width

Prohibit Pulse

P5-32

Command pulse prohibit /INHIBIT

5-3-8

Offset pulse

P0-23

Pulse offset limit value

5-3-9

Parameter

Signal

Default

Meaning

Modify

P5-47

Alarm output

n.0002 (default)

SO2 and COM pass through when servo alarm, output the alarm signal

Range: 0000-0013 Distribute the signal to output terminal through P5-47. P5-47=0001, it outputs from SO1.

n.0012

SO2 and COM cut off when servo alarm

(1) Servo unit is forced OFF when alarm. The motor will move with external force. If the motor

needs to hold the position, please choose motor with power loss brake and use /BK signal. Please refer to chapter 5-2-5.

(2) The output terminals distributed by function parameters cannot be same. Please refer to

chapter 5-12-3.

5-2-7. Anti-block run alarm

Anti-block run alarm: when the motor speed is lower than P0-75 (unit is 1rpm), and the time of duration reaches P0-74 (unit is second), if the motor present output torque U-02 is over P3-28 internal forward torque limit and P3-29 internal reverse torque limit, the servo will show E-165 block overtime error (when P0-74/75 is set to 0, it will not detect this alarm). Solution:

1. Monitor U0-02 motor torque, check if P3-28 and P3-29 is suitable.

2. Check mechnical structure.

Note: for servo drive version U2-23 is 1224, the motor block time is P0-70 (unit is second), motor block speed is P0-71 (unit is 1rpm).

5-3．Position mode (external pulse command)

62

limit value

Parameter

Setting

value

Meaning

Modify

Effective

P0-01

6

Position control (external pulse)

Servo OFF

Immediately

Function: control the position by the external pulse command

P0-09

Pulse command positive direction

Unit

Default setting

Range

Suitable mode

Change

Effective —

0

0~1

6, 7

Servo OFF

At once

P0-09 will change the count direction of servo which control the motor rotation direction. If motor rotation direction is not same to expected direction in position mode, please set this parameter.

Parameter

Set value

Command form

Suitable mode

Change

Effective

P0-10 xxx□

0

CW, CCW mode (DS3E/DS3L cannot support CW, CCW mode)

6, 7

Servo OFF

At once

1

AB phase

2

Pulse + direction (default)

Parameter

Set value

Command form

Suitable mode

Change

Effective

P0-10 xx□x

0

Pulse signal falling edge effective (default)

6, 7

Servo OFF

At once

1

Pulse signal rising edge effective

P0-10 xx□x

P0-10 xxx□

Forward run

Reverse run

0

0： CW/CC W

1： AB

t3t4t1 t2

τ

T

CW

CCW

A

B

A-phase ahead B-phase 90º

B

A

B-phase ahead A-phase 90º

5-3-1. External position mode

5-3-2. Pulse command and pulse form

1. Pulse command direction

2. Pulse command form selectoin

3. Command pulse explanation

63

2： P+D

1

0： CW/CC W

1：AB

2：P+D Electric specification

t1, t2≤0.1us t3≤0.1us t4＞3us τ≥2.5us 100τ/T=40%～60%

t3

t4

t1 t2

τ

T

DIR

PUL

t3t4t1 t2

τ

T

DIR

PUL

t3t4t1 t2

τ

T

CCW

CW

t3

t4

t1 t2

τ

T

DIR

PUL

t3

t4

t1 t2

τ

T

DIR

PUL

P0-11

Pulse per rotation ×1

Unit

Default value

Range

Suitable mode

Change

Effective p

0

0~9999

6

Any

At once

P0-12

Pulse per rotation ×10000

Unit

Default value

Range

Suitable mode

Change

Effective P

0

0~9999

6

Any

At once

P0-13

Electronic gear ratio (numerator)

Unit

Default value

Range

Suitable mode

Change

Effective —

1

1~65535

6

Any

At once

P0-14

Electronic gear ratio (denominator)

Unit

Default value

Range

Suitable mode

Change

Effective —

1

1~65535

6

Any

At once

Note: P0-11~P0-14 are parameters about electronic gear ratio. P0-11 and P0-12 are a group, P0-13 and P0-14 are a group. The priority of P0-11 and P0-12 is higher than P0-13 and P0-14. P0-13 and P0-14

A

B

A-phase ahead B-phase 90º

B

A

B-phase ahead A-phase 90º

5-3-3. Electronic gear ratio

64

are effective when P0-11 and P0-12 are zero.

Max speed 1200rpm

Two circle radius ratio: 2:1 Big circle run one rotation (need 10000 pulses), small circle run two rotations.

Max speed 600rpm

Two circle radius ratio: 2:1 Big circle run one rotation (need 20000 pulses), small circle run two rotations.

The electronic gear ratio functions:

1. Set the command pulse per rotation to ensure the motor speed meet the requirements. For

example, the PLC max output pulse frequency is 200KHz. If the electronic gear ratio is not changed, motor needs 10000 pulses per rotation, the motor max speed is 1200rpm. If the electronic gear ratio is 2:1 or the pulses per rotation is 5000, the motor speed can up to 2400rpm.

Example: electronic gear ratio is 1:1 or pulses per rotation is 10000, PLC max output pulse frequency is 200KHz.

Electronic gear ratio is 2:1 or pulses per rotation is 5000, PLC max output pulse frequency is 200KHz.

2. Set the actual length per command pulse for precise positioning. For example: the object

moves 1um per command pulse. The command pulses of load rotating one circle = 6mm / 1um = 6000. In the case of deceleration ratio is 1:1, set pulse per rotation P0-11=6000, P0-12=0. Then if the PLC outputs 6000 pulses, the object will move 6mm.

65

Not use electronic gear ratio

Step

Content

Explanation

1

Confirm the machine specification

Confirm the deceleration ratio, ball screw distance, pulley diameter

2

Confirm the encoder pulse

Confirm the servo motor encoder accuracy

3

Set the command unit

Set the actual distance or angle corresponding to 1 pulse of the controller

4

Calculate the command pulses the load shaft rotates 1 circle

Calculate the command pulses per rotation f based on the command unit

5

Calculate the pulses per rotation (P0-11/P0-12)

For example, the mechanical reduction ratio of motor shaft and load shaft is m/n (servo motor run m circles while load shaft run n circles), P0-11/P0-12=(f×m)/n

6

Calculate the electronic gear ratio (P0-13/P0-14)

For example, the mechanical reduction ratio of motor shaft and load shaft is m/n (servo motor run m circles while load shaft run n circles), P0-13=encoder accuracy×4×m P0-14=f×n

Note:

1. Pulses per rotation and electronic gear ratio can limit the command pulses of motor rotate 1

circle. The priority of pulses per rotation is higher than electronic gear ratio. Only when pulses per rotation is 0, the electronic gear ratio will be effective. If the pulses per rotation is fractional, it is better to use electronic gear ratio.

2. When P0-13 and P0-14 is over the range, please use the integer in the range from the reduction

of the decimal number.

3. The motor encoder accuracy is 2500P/R.

4. The command unit is not machine accuracy. Refine the command unit based on machine

accuracy can improve the servo positioning precision. For example: in the application of screw, the machine precision can up to 0.01mm, so the command unit 0.01mm is more accurate than 0.1mm.

Workpiece

Ball screw pitch: 6mm

Encoder pulse: 2500

Ball screw pitch: 6mm

Workpiece

1 rotation is 10000 pulses Workpiece moves 6mm per rotation, so the length per pulse is 6mm/10000 =0.6um. The workpiece moves 10mm, so it needs 10mm/0.6um=16666.6666 pulses. The decimal will be discarded for actual pulse sending.

After setting electronic gear ratio, 1 rotation is 6000 pulses Workpiece moves 6mm per rotation, so the length per pulse is 6mm/6000=1um. The workpiece moves 10mm, it needs 10mm/1um=10000 pulses. It will not produce decimal and error.

Use electronic gear

Calculate the electronic gear ratio (B/A) using the following steps:

66

Step

Ball screw

Round table

Belt + pulley

1

Ball screw pitch: 6mm Machine deceleration ratio: 1/1

1-circle rotate angle: 360° Deceleration ratio: 3/1

Pulley diameter: 100mm Deceleration ratio: 2/1

2

2500P/R

3

1 command unit: 0.001mm

1 command unit: 0.1°

1 command unit: 0.02mm

4

6mm/0.001mm =6000

360/0.1=3600

314mm/0.02mm =15700

5

P0-11=6000 P0-12=0

P0-11=3600 × 1/3=1200 P0-12=0

P0-11=15700 ×1/2=7850 P0-12=0

6

2500 4

B1 A 6000 1





2500 4 3

B A 3600 1





2500 4

B2

A 15700 1





7

P0-13=10000 P0-14=6000 Reduction of the fraction P0-13=5 P0-14=3

P0-13=30000 P0-14=3600 Reduction of the fraction P0-13=25 P0-14=3

P0-13=20000 P0-14=15700 Reduction of the fraction P0-13=25 P0-14=3

P1-24

Position command filter

Default value

Range

Suitable mode

Meaning

Change

Effective

0

0-1

6, 10

Filter certain frequency command pulse

Servo OFF

At once P1-24 setting

Contents

0

First-order inertia filter

1

Smoothing filter

P1-25

Position command filter time

Unit

Default

Range

Suitable mode

Change

Effective

0.1ms

0

0~65535

6, 10

Any

At once

First-order inertia filter diagram:

Load shaft

D: pulley diameter

1rotate =

command unit

πD

Load shaft

command unit

1 rotate =

360

°

P: pitch

P

1rotate =

command unit

P

Load shaft

πD

2. Example of setting the electronic gear The example for different loads:

5-3-4. Position command filter

Filter time: fitler time constant or set as the following parameter We suggest to use smoothing filter, the stop and startup will smooth when the instruction has no

acceleration and deceleration.

67

Smoothing filter

Parameter

Signal

Default

Meaning

Suitable

mode

Modify

P5-34

/CLR

n.0000

Pulse deviation

(U-08) clear

6

Range: 0000-0015. Distribute to output

terminal through P5-34. When it set to

0001, output the signal from SI1.

Parameter

Signal

Type

Default setting

Suitable mode

Meaning

Modify

Effective

P5-37

/COIN-HD

Output

n.0000

6

After COIN signal keeps the time of P5-02, output COIN-HD

any

At once

Range 0000-0013, distribute to output terminal through P5-37. When set P5-37=0001, it means output signal from SO1.

100%

63.2%

t

36.8%

P1-25

Before filter

After filter

5-3-5. Pulse deviation clear (/CLR)

Pulse deviation: the difference between command pulse of controller (such as PLC) and feedback pulse of servo in position mode. Its unit is 1 reference unit; it is related to the command unit of electronic gear ratio.

The input terminal distributed by function parameter cannot be same. Please refer to chapter

5-12-1.

5-3-6. Positioning complete (/COIN, /COIN_HD)

Use the signal when the controller needs to confirm the completion of positioning.

68

Parameter

Signal

Default

Suitable mode

Meaning

Modify

Effective

P5-38

/COIN

n.0001

(default)

6

Output positioning complete signal from SO1

Any

At once

n.0011

SO1 and COM cut off when positioning complete

Range: 0000-0013, distribute to output terminal through P5-38. When it set to 0002, it means output from SO2.

The output terminal distributed by function parameter cannot be same. Please refer to chapter

P5-00

Width of positioning complete

Unit

Default

Range

Suitable mode

Modify

Effective

1 command unit

7

0~65535

6

Servo OFF

Immediately

Function: when the pulse deviation value is lower than P5-00, output /COIN signal. Monitor the pulse deviation value via U0-08.

P5-01

Positioning complete detection mode

Default setting

Range

Suitable mode

Meaning

Change

Effective

0

0~3 6 Set the positioning complete detection mode

Servo OFF

At once

P5-02

Positioning complete hold time

Unit

Default setting

Range

Suitable mode

Meaning

Change

effective

ms 0 0~65535

6

COIN signal hold for the time of P5-02 then output signal COIN-HD

Servo OFF

At once

P5-01

Content

Diagram

0

Output COIN signal when difference absolute value below P5-00

/S-ON

|U-08|

/COIN

Pulse difference

1

1 0 0

P5-00

5-12-3.

69

1

Output COIN signal when the difference below P5-00 after the command end

2

output COIN signal when the command end and motor speed below P5-03(rotation detection speed), pulse difference below P5-00

/S-ON

|U-08|

|ΔU-12|

Pulse difference

1

0

/COIN

Pulse command

1

0

P5-00

/S-ON

|U-08|

|ΔU-12|

Pulse difference

1

0

|U-00|

Pulse command

/COIN

1

0

Actual speed

70

3

Output COIN signal when command end, pulse difference absolute value below P5-00. If COIN signal hold the time of P5-02, output COIN-HOLD signal

Parameter

Signal

Default

Suitable

mode

Meaning

Modify

P5-46

/NEAR

n.0000

6

Servo motor near

the position

complete signal

Range: 0000-0013, distribute to output

terminal via P5-46. When it set to 0001,

it means output from SO1.

Note: /NEAR can be output from terminal by setting P5-46, please see chapter 5-12-3.

P5-06

Width of positioning near signal

Unit

Default

Range

Suitable mode

Modify

Effective

1 command

unit

50

0~65535

6

Servo OFF

Immediately

Function: when the pulse difference signal is lower than P5-06, output /NEAR signal. Set the parameter wider than positioning complete signal. Monitor the pulse difference value via U-08.

P5-00

P5-03

/S-ON

|U-08|

|ΔU-12|

Pulse difference

1

0

/COIN

Pulse command

1

0 0 1

/COIN-HOLD

P5-00

P5-02

P5-06

P5-00

1 0 1

0

/COIN

/NEAR

U-08

Pulse difference

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

Positioning near signal means the servo motor is near the positioning complete. It prompts the device to prepare the next operation.

71

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

P0-23

Pulse difference limit

Unit

Default value

Range

Suitable mode

Change

Effective

256

commands

50000

0~65535

6

Any

At once

Basic parameters

Parameter

Name

Reference

P0-01

Select the control mode

5-4-1

P3-00

V-REF distribution

5-4-2

P3-01

Rated speed of the corresponding analog voltage

P3-02

Analog voltage speed filter

P3-03

Speed command input dead zone voltage

P3-14

Forward direction max speed command limit

P3-15

Reverse direction max speed command limit

P5-20

Servo ON signal /S-ON

5-2-1

Other parameters

Key words

Parameter

Name

Reference

Zero drift

F1-03

Analog voltage speed command offset

5-4-3

Parameter

Signal

Default

Suitable

mode

Modify

Effective

Modify

P5-32

/INHIBIT

n.0000

6

Any

At once

Range: 0000-0015. When it

set to 0001, it means input

from SO1.

Note: /INHIBIT can be input from input terminal by setting P5-32. Please refer to chapter 5-12-1

（alarm E-100）

Normal control

（alarm E-100）

Pulse difference

0 P0-23

To stop the commnad pulse input in position control mode. When /INHIBIT signal is ON, the command pulse stop counting. Input signal setting:

5-3-9. Positoin pulse difference

When the pulse difference over the limit value in position control mode, servo will alarm. This limit value is pulse difference limit.

When the P0-23=0, it will now detect the pulse difference value.

5-4 ． Speed control (analog voltage command) (Only for DS3-PQA)

72

adjustment

auto-adjustment

Proportion

action

P5-21

/P-CON

5-4-4

Zero clamp

P5-31

Zero clamp /ZCLAMP

5-4-5

P3-12

Zero clamp mode

P3-13

Zero clamp speed

Speed

coincidence

checking

P5-39

/V-CMP speed coincidence checking

5-4-6

P5-04

Coincidence speed signal checking width/V-CMP

Torque limit

P3-28

Forward torque limit

5-4-7

P3-29

Reverse torque limit

P3-23

T-REF distribution

P3-30

Forward external torque limit

P3-31

Reverse external torque limit

P5-25

Forward external torque limit /P-CL

P5-26

Reverse external torque limit /N-CL

P5-42

Output when torque reaches limit value /CLT

Soft start

P3-09

Soft start acceleration time

5-4-8

P3-10

Soft start deceleration time

Filter

P1-22

Speed command filter mode

5-4-9

P1-23

Speed command filter time constant

Speed reach

detection

P5-51

Speed reach output /V-RDY

5-4-10

P5-05

Reach detection speed

Alarm speed

P3-21

Forward alarm speed

5-4-11

P3-22

Reverse alarm speed

/SPD-D direction selection

P5-17

Change the direction

5-5-3

Parameter

Set value

Meaning

Modify

Effective

P0-01

4

Analog voltage command speed control

Servo OFF

Immediately

Function: control the speed by the signal (analog voltage command) input from V-REF terminal Note:direction switching: positive or negative voltage, SPD-D (P5-27).

P3-00

Name

Set

Meaning

Suitable mode

Change

Effective

V-REF function distribution

0

V-REF input as speed command

4

Servo OFF

At once

P3-01

Analog value of rated speed

Unit

Default setting

Range

Suitabl e mode

Change

Effective

0.01V

10000

150~30000

1, 2, 4

Servo OFF

At once

Function: the speed command voltage (V-REF) to run the servo motor at rated speed. Such as: P3-01=5000 means the motor run at rated speed when analog input voltage = 5.00V P3-01=8000 means the motor run at rated speed when analog input voltage = 8.00V. Note: (1) Analog voltage command used for speed limit input without polarity. Whether it is positive voltage or negative voltage all take absolute value. This absolute value is fit for forward and reverse direction. (2) the max allowable voltage of analog input signal is ±10V, please do not use the motor over ±10V.

P3-02

analog voltage speed filter

5-4-1. Control mode selection

5-4-2. Analog value of rated speed

73

Parameter

Signal

Type

Default

State

Meaning

Modify

Effective

P5-21

/P-CON

Input

n.0000

Effective

Run in P control

mode

Any

Re-power

on

Ineffective

Run in PI control mode

1. /P-CON is the speed control mode signal selected from PI (proportion integral) and P (proportion).

2. If set to P control mode, the motor rotate and micro-vibration caused by speed command input drift can be decreased. But the servo stiffness will decrease.

3. /P-CON signal can be distributed to input terminal via parameter P5-21. Refer to chapter 5-12-1.

Unit

Default setting

Range

Suitable mode

Change

Effective

0.01ms

0

0~10000

1, 2, 4

Any

At once

Analog command wiring diagram please refer to chapter 3-2-3

P3-04

Analog speed direction switching

0

0~1

1, 2, 4

Any

At once

P3-14

Forward max speed command limit

Unit

Default setting

Range

Suitable mode

Change

Effective

1rpm

Motor rated

0~10000

All the modes

Servo OFF

At once

P3-15

Reverse max speed command limit

Unit

Default setting

Range

Suitable mode

Change

Effective

1rpm

Motor rated

0~10000

All the modes

Servo OFF

At once

Note: P3-14 and P3-15 are effective in all the modes.

Speed command limit

5-4-3. Speed command difference auto-adjustment (F1-03)

When the servo is in analog voltage speed mode, even if the command voltage is 0V, motor will run at very low speed. The micro-motion will happen when the command voltage micro-offset (mV) of host controller or external circuit occurs. Auto-adjust the command offset by operate panel of servo. Take away the analog signal from servo CN1 port in servo bb state (not enabled), then do the following steps:

Press STATUS/ESC to exit this function. Note:

1. The present analog voltage is 0V, please follow the above steps to calibrate, so 0V is 0rpm,

motor will reverse run below 0V, motor will forward run above 0V. If the present analog voltage is 5V, and follow the above steps to calibrate, so 5V is 0rpm, motor will reverse run below 5V, motor will forward run above 5V.

2. If there is still micro-motion after calibrating, please increase P3-03(set to 5 means the dead

area voltage is 0.005V) or use zero-clamp.

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

74

5-4-5. Zero clamp (/ZCLAMP)

P3-12

Zero clamp mode

Default setting

Range

Suitable mode

Meaning

Change

Effective

0

0~2

3, 4, 7

Set zero clamp mode

Servo OFF

At once P3-12 setting

Contents

0

ZCLAMP input signal is ON, forced speed command is 0, when the speed below P3-13, switch to position mode and the servo lock in this position.

1

ZCLAMP input signal is ON, forced set the speed command to 0.

2

ZCLAMP input signal is ON, the speed below P3-13, switch to position mode and the servo lock in the position. Note: after entering zero clamp mode, present setting speed is higher than P3-13, motor doesn’t run, the ZCLAMP signal must be OFF, then motor will run again.

3

ZCLAMP signal is ON, the setting speed is less than P3-13, switch to position control mode, and servo is locked at this position. At this time, if setting speed is over P3-13, the motor will run again.

Parameter

Signal

Default

Meaning

Suitable mode

Modify

Effective

P5-39

/V-CMP

n.0000

Speed coincidence

checking signal

3, 4, 7

Any

At once

Range: 0000-0013. Distribute to output terminal through P5-39. When it set to 0002, it means output from SO2.

Parameter

Signal

Suitable

mode

Default

Meaning

Modify

Effective

P5-31

/Z-CLAMP

3, 4, 7

n.0000

Zero

clamp

Any

At once

Note: /Z-CLAMP signal is distributed to input terminal by parameter P5-31, refer to chapter 5-12-1. Range: 0000-0014.

P3-13

Zero clamp speed

Unit

Default setting

Range

Suitable mode

Change

Effective rpm

10

0~10000

3, 4, 7

Any

At once

(1) Function This function is used when host controller uses speed command input and the servo system isn’t configured the position loop. In other words, the function will be used when the motor must stop and enter lock state even the V-REF input voltage is not zero. When set ON the zero clamp function, it will configure the position loop inside the servo, the motor will do zero clamp within ±1 pulse at this position. The motor will return to zero clamp position even it is run by external force. The present speed must be smaller than zero clamp speed when using zero clamp function, it can clamp the motor shaft from moving. The motor will switch from speed mode to position mode when starting the zero clamp function. At this time, rotate the motor shaft, it will return to the original position. It will not return to original position in speed mode, because it has no position feedback.

(2) Input signal setting

(3) Parameter setting

5-4-6. Speed coincidence checking (/V-CMP)

When motor speed is equal to the command speed, servo outputs speed coincidence signal (V-CMP).

75

P3-28

Internal Forward torque limit

Unit

Default

Range

Suitable mode

Modify

Effective

1%

300

0~300

All modes

Servo OFF

Immediately

P3-29

Internal Reverse torque limit

Unit

Default

Range

Suitable mode

Modify

Effective

1%

300

0~300

All modes

Servo OFF

Immediately

1. This parameter is always effective, if this parameter value is less than external torque limit value, the final limit value is this parameter.

2. The unit is percent of the motor rated torque; the default value is 300%. The real output torque is different for each type.

P3-30

Forward external torque limit

Unit

Default

Range

Suitable mode

Modify

Effective

1%

300

0~300

2, 3, 4, 5, 6, 7

Any

Immediately

P3-31

Reverse external limit

Unit

Default

Range

Suitable mode

Modify

Effective

1%

300

0~300

2, 3, 4, 5, 6, 7

Any

Immediately

The unit is the percent of motor rated torque; the default value is 300%.

Parameter

Signal

Type

Default

Meaning

Modify

P5-25

/P-CL

Input

n.0000

The necessary condition to use

forward external torque limit

Range: 0000-0015.

P5-26

/N-CL

Input

n.0000

The necessary condition to use

reverse external torque limit

Range: 0000-0015.

Notes: these parameres are the necessary conditions for using forward or reverse external torque limit.

/P-CL, /N-CL can be distributed to input terminal by parameter P5-25, P5-26. Refer to chapter 5-12-1.

Parameter

Function

Set

value

Suitable

mode

Meaning

Modify

Effective

P3-23

Distribute

function to T-REF

0

1, 3, 4, 6,

7

Make T-REF as

external torque limit

input

Servo

OFF

At once

1. For analog voltage command input of torque limit. Get the absolute value of the voltage, the torque

limit value based on the absolute value is suitable for forward and reverse direction.

2. When it is used as torque limit, the value is related to voltage command and P3-24. For example,

P3-24=1000, T-REF voltage command is 5.0V, the torque limit value is 50% of rated torque.

P5-04

Speed coincidence signal width

Unit

Default

Range

Suitable mode

Modify

Effective

rpm

50

0~10000

3, 4, 7

Servo OFF

Immediately

If the difference between motor speed and command speed is less than the value of P5-04, servo outputs /V-CMP signal. There is default 10rpm hysteresis loop, please refer to chapter 5-11-4 for hysteresis loop.

5-4-7. Torque limit

1. Internal torque limit (output torque max value limit)

The function is to limit the max output torque by parameters.

2. External torque limit (via input signal)

This function is used in machine motion or timing torque limit. For example: press stop action or robot workpiece protection. The torque limit value will be effective when the input signal is ON.

3. External torque limit (via analog voltage command)

This function control the torque via analog voltage. T-REF terminal is used as analog voltage command terminal. Please note in external analog torque control mode, this function cannot be used.

76

Parameter

Signal

Type

Default

Meaning

Modify

Effective

Suitable

mode

P5-42

/CLT

Output

n.0000

Output signal when

motor output torque

up to P5-28, P5-29.

Any

At once

3, 4, 6, 7 Note: Range: 0000-0013. /CLT signal can be distributed to output terminal by parameter P5-42. When it is set to 0001, the signal will output from SO1 terminal. Refer to chapter 5-12-3.

P3-09

Soft start acceleration time

Unit

Default

Range

Suitable mode

Modify

Effective

1ms

0

0~65535

3, 4, 7

Any

Servo OFF

P3-10

Soft start deceleration time

Unit

Default

Range

Suitable mode

Modify

Effective

1ms

0

0~65535

3, 4, 7

Any

Servo OFF

1. Enable to do smooth speed control when input step speed command or choose internal speed. Other

cases please set to 0.

2. accerlation/deceleration time is from stop state to rated speed but not from current speed to target

speed. P3-09: the time from stop state to rated speed. P3-10: the time from rated speed to stop state.

TREF distribution

P-CL/N-CL status

Final forward torque

Final reverse torque

0

P3-28 decide

P3-29 decide

1

The smaller one of internal forward torque limit and external forward torque limit

The smaller one of internal reverse torque limit and external reverse torque limit

1

No effect

The smaller one of internal forward torque limit and external analog torque

The smaller one of internal reverse torque limit and external analog torque

3

0

P3-28 decide

P3-29 decide

1

The smaller one of internal forward torque limit and external analog torque

The smaller one of internal reverse torque limit and external analog torque

4. Relationship of the parameters

The following are the relationship of internal torque limit, external torque limit, P-CL, /N-CL and T-REF.

5. Output torque up to limit value signal

The signal means the motor output torque reaches limit value.

5-4-8. Soft start

77

P1-22

Speed command filter mode

Default setting

Range

Suitable mode

Meaning

Change

Effective

0

0, 1

3, 4, 7

Filter certain frequency command pulse

Any

At once P1-22 setting

Contents

0

First order low pass filter

1

Smoothing filter

P5-51

Name

Default setting

Meaning

Suitable mode

Modify

Effective

/V-RDY

n.0000

Speed reaching signal

3, 4, 7

Any

At once Range: 0000-0013, distribute to the output terminal via P5-29. When P5-29=0002, it means output

from SO2 terminal.

P1-23

Speed command filter time

Unit

Default setting

Range

Suitable mode

Change

Effective

0.1ms

0

0~65535

3, 4, 7

Any

At once

P5-05

Reach detection speed

Unit

Default setting

Range

Suitable mode

Change

Effective

rpm

1000

0~10000

3, 4, 7

Servo OFF

At once If the motor speed absolute value is larger than P5-05, output the signal /V-RDY.

P3-10: set the time

P3-09: set the time

Speed command

Internal speed command

Soft start

Rated speed

5-4-9. Filter

Filter time setting:

5-4-10. Speed reach signal (/V-RDY)

Output speed reach signal V-RDY when the motor speed is equal to reach speed.

the output terminal only can have one function at the same time. Please refer to chapter 5-12-3.

78

there is default hysteresis loop 10rpm, please refer to chapter 5-11-4.

Basic parameter

Parameter

Name

Reference

P0-01

Control mode selection

5--1

P5-20

Servo ON signal /S-ON

5-2-1

P3-05

Internal speed 1

5-5-2

P3-06

Internal speed 2

P3-07

Internal speed 3

P5-27

/5SPD-D internal speed direction selection

5-5-3

P5-28

/SPD-A internal speed direction selection

P5-29

/SPD-B internal speed direction selection

Other parameters

Key word

Parameter

Name

Reference

Proportion

action

P5-21

Proportion action command /P-CON

5-4-4

Zero clamp

P5-31

Zero clamp /ZCLAMP

5-4-5

P3-12

Zero clamp mode

P3-21

Forward alarm speed

Unit

Default setting

Range

Suitable mode

Change

Effective

1rpm

120% of rated speed

0~10000

All

Servo OFF

At once

P3-22

Reverse alarm speed

Unit

Default setting

Range

Suitable mode

Change

Effective

1rpm

120% of rated speed

0~10000

All

Servo OFF

At once

Note: 1. the parameters P3-21 and P3-22 are effective in all the modes.

2. the default value is 120% of rated speed. for example: rated speed is 1500, max speed is 1800; rated speed is 3000, max speed is 3600.

3. these parameters are related to E-080. When the motor is out of control or the speed keeps rising caused by external force and over the alarm speed, servo will show E-080 alarm.

P3-03

Speed command input dead area voltage

Unit

Default setting

Range

Suitable mode

Modify

Effective

0.001V

0

0~500

1, 2, 4

Any

At once

Note:

(1) When the input speed command voltage is in the range of this parameter, the input command

is seemed to be 0.

(2) If there is fretting after calibrating the deviation, please increase the dead area voltage.

5-4-11. Alarm speed

5-4-12. Speed command input dead area voltage

5-5．Speed control (internal speed)

79

P3-13

Zero clamp speed

Speed

coincidence

checking

P5-39

/V-CMP speed coincidence checking

5-4-6

P5-04

speed coincidence checking signal width /V-CMP

Torque limit

P3-28

Internal forward torque limit

5-4-7

P3-29

Internal reverse torque limit

P3-23

T-REF distribution

P3-30

Forward external torque limit

P3-31

Reverse external torque limit

P5-25

Forward external torque limit /P-CL

P5-26

Reverse external torque limit /N-CL

P5-42

Torque up to limit value output /CLT

Soft start

P3-09

soft start acceleration time

5-4-8

P3-10

soft start deceleration time

Filter

P1-22

Position command filter mode

5-4-9

P1-23

Speed command filter time

Speed reach detection

P5-51

Speed reach output /V-RDY

5-4-11

P5-05

Reach detection speed

P3-05

Internal speed 1

Unit

Default

Range

Suitable mode

Modify

Effective

1rpm

0

-9999~+9999

3

Any

Immediately

P3-06

Internal speed 2

Unit

Default

Range

Suitable mode

Modify

Effective

1rpm

0

-9999~+9999

3

Any

Immediately

P3-07

Internal speed 3

Unit

Default

Range

Suitable mode

Modify

Effective

1rpm

0

-9999~+9999

3

Any

Immediately

Parameter

Set value

Meaning

Modify

Effective

P0-01

3

Speed control: internal speed selection

Servo OFF

Immediately

Function: internal speed selection will set 3 motor speeds and select the speed by external signal. It is no

need to configure external speed generator or pulse generator.

M

Servo motor

Run the motor at set speed

Servo unit

Speed selection

SPEED1 P3-05

SPEED2 P3-06

SPEED3 P3-07

User parameter

/SPD-D

/SPD-A

/SPD-B

Input

No need external speed or pulse generator

5-5-1. Control mode selection

5-5-2. Internal speed setting

5-5-3. Input signal setting

Switch the running speed by below input signal:

80

Parameter

Signal

Default

Suitable

mode

Modify

Effective

P5-27

/SPD-D

n.0000

1, 2, 3, 4

Range: 0000-0015.

Distribute to input terminal

through P5-27.

Any

At once

P5-28

/SPD-A

n.0000

3, 6

Range: 0000-0015.

Distribute to input terminal

through P5-28.

P5-29

/SPD-B

n.0000

3, 6

Range: 0000-0015.

Distribute to input terminal

through P5-29.

Input signal

Direction

Running speed

/SPD-D

SPD-A

SPD-B

0

Forward

Internal speed is zero

0

1

P3-05: SPEED1

1

P3-06: SPEED2

1

0

P3-07: SPEED3

1

0

Reverse

Internal speed is zero

0

1

P3-05: SPEED1

1

P3-06: SPEED2

1

0

P3-07: SPEED3

0

+SPEED1

Stop

+SPEED2

+SPEED3

-SPEED1

-SPEED2

-SPEED3

Speed 1

Speed 2

Speed 3

stop

Speed 1

Speed 2

Speed 3

Stop

Speed up down is decided by

P3-09, P3-10

SPD-A

SPD-B

SPD-D

OFF

ON

(1) Function realization

(2) Running example

81

5-6．Speed control (pulse frequency command)

Basic parameter

Parameter

Name

Reference

P0-01

Control mode selection

5-6-1

P5-20

Servo ON signal /S-ON

5-2-1

P0-10

Pulse command form

5-3-2

P0-15

Command pulse frequency at rated speed

5-6-3

P0-16

Speed command pulse filter time

5-6-4

Other parameters

Key word

Parameter

Name

Reference

Proportion

action

P5-21

Proportion action command /P-CON

5-4-4

Zero clamp

P5-31

Zero clamp /ZCLAMP

5-4-5

P3-12

Zero clamp mode

P3-13

Zero clamp speed

Speed

coincidence

checking

P5-39

/V-CMP speed coincidence checking

5-4-6

P5-04

speed coincidence checking signal width /V-CMP

Torque limit

P3-28

Internal forward torque limit

5-4-7

P3-29

Internal reverse torque limit

P3-23

T-REF distribution

P3-30

Forward external torque limit

P3-31

Reverse external torque limit

P5-25

Forward external torque limit /P-CL

P5-26

Reverse external torque limit /N-CL

P5-42

Torque up to limit value output /CLT

Speed reach detection

P5-51

Speed reach output /V-RDY

5-4-11

P5-05

Reach detection speed

P0-15

command pulse frequency at rated speed

Unit

Default

Range

Suitable mode

Modify

Effective

100Hz

1000

1~10000

7

Servo OFF

Immediately

Note: the unit is 100Hz. Example: P0-15=300, command pulse frequency at rated speed=30kHz; P0-15=1000, command pulse frequency at rated speed= 100kHz.

Parameter

Set value

Meaning

Modify

Effective

P0-01

7

Speed control: pulse frequency speed

command

Servo OFF

Immediately

Function: speed command is decided by external pulse frequency, but not related to pulse quantity. The wiring is the same as position command. Select CW, CCW mode or direction + pulse mode, AB phase pulse mode.

5-6-1. Control mode selection

5-6-2. Pulse frequency command

Pulse frequency command is the same as external pulse command position control (mode 6), refer to chapter 5-3-2.

5-6-3. Command pulse frequency at rated speed

82

5-6-4. Speed command pulse filter time

P0-16

speed command pulse filter time

Unit

Default

Range

Suitable mode

Modify

Effective

0.01ms

100

0~10000

7

Any

Immediately

When the command pulse frequency is low, setting a suitable value for this parameter can decrease the speed fluctuation.

Parameter

Name

Reference

P0-01

Control mode selection

5-7-1

P3-23

T-REF distribution

P3-24

The analog voltage of rated torque

5-7-2

P3-25

Analog voltage torque command filter

P3-26

Torque command input dead zone voltage

P5-20

Servo ON signal /S-ON

5-2-1

Other parameters

Key words

Parameter

Name

Reference

Zero drift

adjustment

F1-04

Torque command offset auto-adjustment

5-7-3

Filter

P3-25

Torque command filter time

5-7-4

Speed limit

P3-00

V-REF distribution

5-7-5

P3-16

Internal forward speed limit for torque control

P3-17

Internal reverse speed limit for torque control

P5-43

Speed reach limit output /VLT

/SPD-D direction selection

P5-27

Speed direction changing

5-5-3

parameter

Name

Default setting

Suitable mode

Meaning

Change

Effective

P3-23

T-REF distribution

0

All

T-REF input as speed command

Servo OFF

At once

P3-24

Analog value of rated torque

Unit

Default setting

Range

Suitable mode

Change

Effective

Parameter

Set

Function

Modify

Effective

P0-01

2

Torque control: analog voltage command

Servo OFF

Immediately

Function: Control the torque by the analog voltage signal input from T-REF terminal. Direction switching: negative or positive voltage or SPD-D (P5-27).

5-7．Torque control (analog voltage command) (only for DS3-PQA)

5-7-1. Control mode selection

5-7-2. The analog value of rated torque

83

0.001V

10000

1500~30000

All

Servo OFF

At once

Function: set the speed command voltage (T-REF) to run the servo motor at rated speed Example: P3-24=5000, motor run at rated torque when analog input voltage is 5.00V P3-24=8000, motor run at rated torque when analog input voltage is 8.00V Note: analog voltage command input for torque limit has no polarity. Get the absolute value whatever it is positive or negative voltage. The torque limit value based on this absolute value is fir for forward and reverse direction. Analog input signal max allowable voltage is ±10V, do not give the signal out of this range.

P3-25

Analog voltage torque command filter

Unit

Default setting

Range

Suitable mode

Change

Effective

0.01ms

0

0~10000

All

Servo OFF

At once The analog torque command input please refer to chapter 3-2-4

P3-26

Torque command input dead zone voltage

Unit

Default setting

Range

Suitable mode

Change

Effective

0.001V

0

0~500

2

Any

At once

Note: when the input torque command voltage is smaller than this parameter, it considers the input torque command is 0. If there is fretting after calibrating the deviation, please increase the dead area voltage.

P3-25

torque command filter time

Unit

Default

Range

Suitable mode

Modify

Effective

0.01ms

0

0~10000

All

Any

Immediately

1-time delay filter will smooth the torque command. If set the value too large, the reponse will be decreased.

5-7-3. Torque command offset autoadjustment (F1-04)

The motor will run at microspeed even the command voltage is 0V in analog voltage torque mode. This situation will happen when host controller or the command voltage of external circuit has micro-offset (mV). Use the operate panel to auto-adjust the offset. Take away the analog signal from servo CN1 port in servo bb state (not enabled), do the following steps:

Press STATUS/ESC to exit this function.

Note:

(1) Present analog voltage is 0V, follow the above steps to calibrate, 0V is 0% of output torque,

the motor reverse output the torque below 0V, motor forward output the torque above 0V. if the present analog voltage is 5V, follow the above steps to calibrate, 5V is 0% of output torque, the motor reverse output the torque below 5V, motor forward output the torque above 5V.

(2) If there is still fretting after calibrating, increase P3-26, if set to 5, the dead area voltage is

0.005V.

5-7-4. Torque command filter time

5-7-5. Torque limit 5-7-5-1. Internal speed limit

Limit the speed of torque control by setting below parameters:

84

Parameter

Function

Set value

Meaning

Modify

Effective

P3-00

V-REF function

distribution

1

Make V-REF as external

speed limit input, actual

speed limit depends on

external analog speed limit

Servo OFF

Immediately

1. The analog voltage has no polarity. The absolute value of the voltage is suitable for forward and reverse direction.

2. The parameter value is related to voltage command and P3-01 when it is used as speed limit value. For example: P3-01=5000 (voltage of rated speed is 5.0V), V-REF voltage command is 1.0V, the speed limit is 20% of rated speed.

Parameter

Signal

Default

Meaning

Modify

Suitable mode

Effective

P5-43

/VLT

n.0000

Speed limit

checking

Any

1, 2, 6

At once

Range: 0000-0013. Distribute to output terminal through P5-43. When it set to 0001, it means output from SO1.

Basic parameter

Parameter

Name

Reference

P0-01

Control mode selection

5-8-1

P5-20

Servo ON signal /S-ON

5-2-1

P3-33

Internal torque command

5-8-2

Other parameters

Key words

Parameter

Name

Reference

Filter

P3-25

Torque command filter time

5-7-4

Speed limit

P3-16

Internal forward speed limit of torque control

5-7-5

P3-17

Internal reverse speed limit of torque control

P3-14

Forward max speed limit

P3-15

Reverse max speed limit

P3-00

V-REF function distribution

P5-43

Speed up to limit value output

/SPD-D direction selection

P5-27

Speed direction change

5-5-3

P3-16

internal forward speed limit in torque control mode

Unit

Default

Range

Suitable mode

Modify

Effective

1rpm

Motor

rated

0~10000

1, 2

Any

Immediately

Note: the actual speed is max speed even this parameter speed is larger than the max speed.

P3-17

internal reverse speed limit in torque control mode

Unit

Default

Range

Suitable mode

Modify

Effective

1rpm

Motor

rated

0~10000

1, 2

Any

Immediately

Note: the actual speed is max speed even this parameter speed is larger than the max speed.

5-7-5-2. External speed limit

Limit the speed output of torque control mode by the analog voltage command input from V-REF terminal.

5-7-5-3. Speed up to limit value output

5-8．Torque control (internal setting)

85

5-8-1. Control mode selection

Fieldbus parameters

parameter

Function

Range

Set value

Default value

Modify

Effective

P0-01

Control mode

1: torque (command) 2: torque (analog) 3: speed (terminal command) 4: speed (analog)

5: position (internal) - cannot support

6: position (pulse) 7: speed (pulse) 10: fieldbus position mode

10 6 Servo OFF

at once

P0-03

Enable mode

1: IO enable 2: software enable 3: fieldbus enable

3 1 Servo OFF

At once P7-00

RS485 station no.

1~20

1 Servo OFF

At once

P7-01

RS485 serial port parameters

n.xx□□

Baud rate 06：19200 07：38400 08：57600 09：115200 0A：192000 0B：256000 0C：288000 0D：384000 0E：512000 0F：576000 10：768000 11：1M 12：2M 13：3M

2213

2206

Servo OFF

At once

Parameter

Set value

Function

Modify

Effective

P0-01 1 Torque control: internal setting

Servo OFF

Immediately

Function: Control the torque by internal torque command.

P3-33

Internal torque command

Unit

Default

Range

Suitable mode

Modify

Effective

1% rated torque

0

-300~+300

1

Any

Immediately

The unit of this parameter is 1% of the rated torque. For example: P3-33=50, motor forward run with 50% of the rated torque; P3-33= -20, motor reverse run with 20% of the rated torque.

5-8-2. Internal torque command

5-9．Motion fieldbus control (position mode) (only for DS3E)

Motion control is the real-time management for mechanical part position and speed, make the movement according to the expected motion track and parameters.

 XDC series PLC use fieldbus motion control mode to replace the pulse outputting mode. It is

bus communication mode, baud rate is 3M, the system speed is fasster, the wiring is simple and sharing.

 Use XINJE industry filedbus communication protocol, support XINJE filedbus products.

86

14：4M 15：5M 16：6M

n.x□xx

Stop bit: 0: 2 bits 2: 1 bit

n.□xxx

Parity bit 0: no parity 1: odd parity 2: even parity

P7-02

RS485 communication protocol

1：Modbus 2：XNet

2 2 P7-05

Slave station quantity

10 P7-06

Repeat times

3

Monitoring parameters

parameter

Explanation

Mark

U0-61

Communication error times

U0-62

Synchronization frame receive error times (overtime or data error)

U0-64

Data frame receive error times (overtime or data error)

U0-66

CRC error times

U0-67

UART error times

UART module error reasons:

1. RS485 noise is too large

2. CPU hasn’t read offset register data in time caused the data damaged.

U0-68

Communication overtime times

If the servo continuous communication error period ≥P7-06, U0-68 +1, servo XNet state

switches to “initial state”, the priority of

UART decreases, wait the synchronization frame, servo will not alarm right now.

Basic parameters

Parameter

Name

Use

U0-57

Absolute encoder present position feedback

Read double word address 0x1039(hex), it is present encoder position, with negative and positive pulses.

U0-58

F1-06

Absolute encoder clear circles

Write 1 in address 0x2106(hex) can clear the circles(effective when servo is in bb state, write 0 in 0x2106 after clearing)

Servo drive model

Servo motor model

Cable

Encoder

DS3-20P1-PNA

MS-40ST-T00330B-20P1

Encoder cable CP-DP-B-02 (02 is length) Power cable CM-P07-02

20-bit absolute encoder

DS3-20P2-PNA

MS-60ST-T00630B-20P2 MS-60ST-T00630BZ-20P2

DS3-20P4-PNA

MS-60ST-T01330B-20P4 MS-60ST-T01330BZ-20P4

DS3-20P7-PNA

MS-80ST-T02430B-20P7 MS-80ST-T02430BZ-20P7

DS3-21P5-PTA

MS-130ST-T10015B-21P5

Encoder cable CP-DL-B-02

17-bit absolute

5-10. Absolute encoder servo drive

Absolute encoder servo no need origin reset after power on again. Servo drive model: DS3-口口 P 口-PTA/PNA Servo motor model: MS-口口 ST-T 口口口口口 B/BZ-口口 P 口

87

MS-130ST-T10015BZ-21P5 MS-130ST-T06025B-21P5 MS-130ST-T06025BZ-21P5

Power cable CM-L15-02

encoder

5

4 blue (SD+)

3 blue/black(SD-)

2

1 shield

10

9 green(battery+)

8 red(5V)

7 green/black(battery-)

6 black (0V)

15

14

13

12

11

5 shield

4 blue (SD+)

3 blue/black(SD-)

2

1

10

9 green(battery+)

8 red(5V)

7 green/black(battery-)

6 black(0V)

15

14

13

12

11

5 shield

4 blue(SD+)

3 blue/black(SD-)

2

1

10

9 green(battery+)

8 red(5V)

7 green/black(battery-)

6 black(0V)

15

14

13

12

11

5 shield

4 blue(SD+)

3 blue/black(SD-)

2

1

10

9 green(battery+)

8 red(5V)

7 green/black(battery-)

6 black(0V)

15

14

13

12

11

CN1 (DB9 male port): the pin definition at drive side

Name

CN1-2

A

CN1-3

B

Parameter

Function

Default setting

Setting range

Effective time

P7-00

Modbus station no.

1

0~255

Servo OFF

1

5

9

6

5-10-1. Absolute enocder servo encoder cable

15-core aviation plug—encoder cable

DB9 female port related to the 15-core aviation plug

15-core AMP plug –encoder cable

DB9 female port related to 15-core AMP plug

5-10-2. Read the absolute encoder servo position

The encoder position information is transferred through RS485 port according to Modbus-RTU protocol. 17-bit absolute encoder, the pulse per circle is 131072. U0-57(Modbus address is H1039), double word, encoder present position.

 RS-485 communication

Communication parameter explanation: RS485 port default communication parameters: baud rate 19200bps, data bit 8, stop bit 1, even parity, modbus station no. 1. Modbus station number can be set through P7-00:

P7-00 is RS485 port modbus station no.

88

P7-01 communication parameter:

Parameter

Function

Default setting

Setting range

Effective time

n.xx□□

Baud rate

06 00~10 00: 300 01: 600 02: 1200 03: 2400 04: 4800 05: 9600 06: 19200 07: 38400 08: 57600 09: 115200

0A: 192000 0B: 256000 0C: 288000 0D: 384000 0E: 512000 0F: 576000 10: 768000 11: 1M 12: 2M 13: 3M 14: 4M 15: 5M 16: 6M

Servo OFF

n.x□xx

Stop bit

2

0: 2-bit, 2: 1-bit

Servo OFF

n.□xxx

Parity bit

2

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

Servo OFF

Note: data bit cannot be set, it is 8-bit.

Parameter

Function

Default setting

Setting range

Effective time

P7-02

RS485 communication protocol

1

1: Modbus Rtu protocol 2: Xnet fieldbus protocol

Servo OFF

P7-02 is RS485 communication protocol:

(1) support standard Modbus-RTU protocol, used as Modbus slave device.

(2) RS232 and RS485 port can be used at the same time.

5-10-3. The use and replacement of battery

When the servo power supply is OFF, the battery can keep the absolute encoder position information. When the servo power is on again, the upper device can read the motor encoder present position through Modbus communication. Battery specification: No.5 battery, 3.6V (ER14505 AA 3.6V). When the battery voltage is below 2.75V, servo drive will show E-222 alarm (absolute encoder battery under voltage). The alarm only outputs when the servo is ON. Note:

(1) Please change the battery every two years. (2) If the battery is under voltage, when the servo power supply is OFF and ON again, the data in

the absolute encoder will miss. Please protect the program and avoid equipment error action.

(3) Please check the firmware version U2-22/U2-23, for the version after 20160304, P0-79=1

means battery under voltage alarm is invalid, P0-79=0 means battery under voltage alarm is

valid. The steps to replace the battery: Please replace the battery when the servo power supply is ON, otherwise the encoder data will be error. After replacement, please re-power on the servo drive to clear the E-222 alarm.

5-11．Other output signals

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

 Servo alarm output /ALM

89

 Alarm reset /ALM-RST

P3-19

Forward warn speed

Unit

Default setting

Range

Suitable mode

Change

Effective

1rpm

Related to the motor

0~10000

All

Servo OFF

At once

P3-20

Reverse warn speed

Unit

Default setting

Range

Suitable mode

Change

Effective

1rpm

Related to the motor

0~10000

All

Servo OFF

At once

Parameter

Signal

Type

Default

Suitable

mode

Modify

Effective

P5-47

/ALM

Output

n.0002

All

Any

At once

Output always open signal from SO2

Parameter

Signal

Type

Default

Meaning

Modify

Effective

P5-24

/ALM-RST

Input

n.0002

Input always open

signal from SI2

Any

At once

1. Find the alarm reason and fix it, then clear the alarm via this signal.

2. /ALM-RST can be distributed to input terminal via this parameter. As the alarm signal is

related to the safe running of servo, /ALM-RST signal cannot be set to always effective. (n.0010);

3. The alarm related to encoder such as E-013□ (0, 1, 2), E-014□ (0, 1, 2) cannot be reset via

/ALM-RST.

4. The range is 0000-0015. /ALM-RST can be distributed to input terminal via parameter

P5-24.

Parameter

Signal

Type

Default

Meaning

Range

P5-45

/WARN

Output

n.0000

Warning output

0000-0013

When the warning happens, servo will not be forced OFF but output the warning. /WARN can be distributed to input terminal via parameter P5-45.

Parameter

Signal

Type

Default

Suitable mode

Modify

Effective

P5-40

/TGON

Output

n.0000

All

Any

At once

1. The servo will be considered in the rotation when the servo motor speed is higher than P5-03.

2. The range is 0000-0013. /TGON can be distributed to output terminal via parameter P5-40, refer to

chapter 5-12-3.

P5-03

Internal torque command setting

Unit

Default

Range

Suitable mode

Modify

Effective

1rpm

50

1~10000

All the modes

Servo OFF

Immediately

Set the range of rotation checking output. If servo motor speed is up to P5-03, the servo motor is considered to be running and output rotation checking signal (/TGON). There is default 10rpm hysteresis loop, please refer to chapter 5-11-4.

5-11-2. /WARN

Set the warn output threshold. When the motor speed is larger than the threshold, output /WARN.

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

(1) Signal setting

(2) Parameter setting

90

5-11-4. Hysteresis loop

Parameter

Signal

Default setting

Meaning

Range

Modify

Effective

P5-48

/Z

n.0000

Default not distribute to terminal

0000~0013

Any

At once

P5-19

Z phase pulse width

2ms

Z phase pulse width

2~20

Any

At once

1. /Z signal can be distributed to the output terminal through P5-48, refer to chapter 5-12-3.

2. Z phase signal is single pulse output mode, the default pusle width is 2ms, it can set through P5-19, it is not related to the motor speed.

Parameter

Signal

Default

Meaning

Modify

Effective

P5-41

/S-RDY

n.0003

SO3 and COM pass through

when servo is ready

Any

At once

n.0013

SO3 and COM cut off when

servo is ready

The range is 0000-0013. It can distribute to other output terminal through P5-41. Refer to chapter 5-12-3.

Encoder Z phase signal

P5-48=n.0011 SO1 output

P5-48=n.0001 SO1 output

2ms

40rpm

/TGON

50rpm

60rpm

rpm

t

Loop width

The hysteresis loop can prevent the system oscillation caused by parameter fluctuating around certain value. There is hysteresis loop width after setting the hysteresis loop value. It will act when the parameter is larger than certain value. It will release the action when the parameter is smaller than another value. The loop width decides the interval time of action. The action is sensitive and frequent for small loop width. The action is slow for large loop width. Please note that rotation detection speed (P5-03), same speed detection speed (P5-04), reach detection speed (P5-05) all have 10rpm hysteresis loop. For example, P5-03 set to 50, rotation detection/TGON output terminal is SO3.

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

It will output /S-RDY signal when servo power on and no alarm.

5-11-6. Encoder Z phase output (/Z) (only for DS3-PQA/DS3-PTA)

91

P0-18

Encoder feedback pulse per circle (low bit)

Unit

Default setting

Range

Suitable mode

Change

Effective 1

2500

0~9999

All

Servo OFF

At once

P0-19

Encoder feedback pulse per circle (high bit)

Unit

Default setting

Range

Suitable mode

Change

Effective 10000

0

0~65535

All

Servo OFF

At once

P0-20

Encoder pulse frequency division (numerator)

Unit

Default setting

Range

Suitable mode

Change

Effective —

1

1~65535

All

Servo OFF

At once

P0-21

Encoder pulse frequency division (denominator)

Unit

Default setting

Range

Suitable mode

Change

Effective —

1

1~65535

All

Servo OFF

At once

Explanation:

1. encoder feedback pulse is decided by P0-18, P0-19. When P0-18=P0-19=0, encoder pulse frequency division will work. For example, the motor feedback 2500 pulses per circle, P0-18=P0-19=0 P0-20=1, P0-21=4, the calculation method is (U2-21/22)*P0-20/P0-21.

2. If it is single phase count, the count value is equal to setting value for motor rotating one circle. If it is AB phase count, the count value is 4 times of setting value for motor rotating one circle.

3. the feedback value should under 10000. If it is larger than 10000, the system will operate as 10000.

P0-17

Pulse frequency division output direction (DS3E/L cannot support)

Unit

Default setting

Setting range

Suitable mode

Modification

Effective —

0

0~1

All

Servo OFF

At once

0: same to count direction 1: reverse to count direction

5-11-7. ABZ phase feedback signal of encoder (CN1 15-pin support)

1. Wiring diagram DS3-2□P□-PQA/ DS3-4□P□-PQA和 DS3L-2□P□-PQA/ DS3L-4□P□-PQA support differential output AB phase feedback signal.

Please see the following wiring diagram of DS3-21P5-PQA and Xinje PLC XC3-32RT-E.

Drive CN1(DB15) differential signal to collector PLC

2. Encoder feedback pulses per circle (DS3L cannot support)

92

P5-10

The trigger condition of user-defined output 1

Default trigger condition

Trigger condition setting

Unit

Suitable mode

Change

effective 0

See below table

Related to trigger condition

All the modes

servo OFF

At once

P5-11

The comparison value for the trigger condition of user-defined output 1

Unit

Default setting

Range

Suitable mode

Change

Effective

Related to trigger condition

0

-9999~9999

All the modes

Servo OFF

At once

P5-12

When P5-10≥P5-11 or P5-10<P5-11, SOx output

Setting value

Function

Default value

Suitable mode

Change

Effective

0

P5-10≥P5-11, SOx output

0

All the modes

Servo OFF

At once

1

P5-10＜P5-11, SOx output

2

P5-10 absolute value ≥P5-11, SOx output

3

P5-10 absolute value ≤P5-11, SOx output

P5-13

User-defined output 1 hysteresis loop

Unit

Default setting

Range

Suitable mode

Change

Effective

Related to trigger condition

0

-9999~9999

All the modes

Servo OFF

At once

P5-52

Output terminal setting of user-defined output 1

Signal name

Default setting

Meaning

Change

User-defined output 1

n.0000

Default setting is not distribute to the output terminal

Range 0000-0013, distribute to the output terminal through P5-52.

P5-14

The trigger condition of user-defined output 2

Default trigger condition

Trigger condition setting

Unit

Suitable mode

Change

Effective

0

See below table

Related to trigger condition

All the modes

Servo OFF

At once

P5-15

The comparison value for the trigger condition of user-defined output 2

Unit

Default setting

Range

Suitable mode

Change

Effective

Related to trigger condition

0

-9999~9999

All the modes

Servo OFF

At once

P5-16

When P5-14≥P5-15 or P5-14<P5-15, SOx output

Setting value

Function

Default setting

Suitable mode

Change

Effective

5-11-8. User-defined output signal

User can define 2 outputs. The defined method is SOx output when A>B or A<B. A is 9 activating conditions, B is user-defined comparison value.

User-defined output 1:

User-defined output 2:

93

please refer to chapter 5-11-4 for hysteresis loop.

Trigger condition (P5-10/P5-14)

Meaning

Unit DS3 series

DS3E/DS3L series

0 0 -

—

7203

0203

Current command (torque command)

Rated current %

7205

0205

Current feedback (torque feedback)

Rated current %

7238

0238

Torque feedforward

7301

0301

Speed command

rpm

7302

0302

Speed feedback

rpm

7307

0307

Speed deviation initial value

7308

0308

Speed deviation filter value

rpm

7319

0319

Speed feedforward initial value

7320

0320

Speed feedforward filter value

4402

Position command

1 command

4404

Position feedback

1 command

1406

Position deviation filter value

1 command

7501

0501

Bus voltage initial value

V

7502

0502

Bus voltage filter value

V

7503

0503

Drive internal temperature

℃

0

P5-14≥P5-15, SOx output

0

All the modes

Servo OFF

At once

1

P5-14＜P5-15, SOx output

2

P5-14 absolute value ≥P5-15, SOx output

3

P5-14 absolute value ＜ P5-15, SOx output

P5-17

User-defined output 2 hysteresis loop

Unit

Default setting

Range

Suitable mode

Change

Effective

Related to trigger condition

0

0~65535

All the modes

Servo OFF

At once

P5-53

Output terminal setting of user-defined output 2

Signal name

Default setting

Meaning

Change

User-defined output 2

n.0000

Default setting is not distribute to the output terminal

Range 0000-0013, distribute to the output terminal through P5-53

P5-18

I/O filter time

Unit

Default setting

Range

Suitable mode

Change

Effective

ms 0 0~10000

All the modes

Servo OFF

At once

Parameter

Signal

Type

Default

Suitable

mode

Modify

Meaning

Effective

P5-30

/C-SEL

Input

n.0000

All

Any

Switch the mode

At once

 Trigger conditions for choice

5-11-9. IO filter time

5-11-10．Switch the control mode

Servo can switch between submode 1 and 2 by external input signal. (1) Switch signal

94

Signal

State

Control mode

/C-SEL

0

P0-01: submode 1

1

P0-02: submode 2

Parameter

meaning

Set

value

Meaning

Terminal

voltage

Terminal

state

Signal

state

n.00 y x

00: no meaning

y: 0 always open

1 always close

x: input terminal

no.

n.0000

Not distribute to terminal input

- - 0

n.000x

Input always open signal from SIx

H

Disconnect

to 0V

0

L

Connect to

0V

1

n.0010

Set the signal to be always valid

- - 1

n.001x

Input always close signal from SIx

H

Disconnect

to 0V

1

L

Connect to

0V

0

Note: if the distributed terminal has other signal, set the signal to other terminal or set to unused.

Note: Range: 0000-0015. /C-SEL can be distributed to input terminal via parameter P5-14, refer to chapter 5-12-1.

Wiring example of input signal

Parameter

Set value

Terminal

state

Signal

state

Meaning

P5-34

n.0001

Disconnect

to 0V

0

Clear the pulse offset at the moment of SI1 and 0V pass through

Connect to

0V

1

n.0011

Disconnect

to 0V

1

Clear the pulse offset at the moment of SI1 and 0V cut off

Connect to

0V

0

Note: the default input of SI1 is /SON, make sure to distribute P5-20(/SON) to other terminal or set to unused.

CN0-11

CN0-7

SI1

+24V

3.3KΩ

DS3-21P5-PQA: CN0-11 is +24V terminal, CN0-7 is SI1 terminal. For the example, distribute /CLR signal to SI1.

(2) Function realization

5-12. I/O signal distribution

5-12-1. Input signal distribution

DS3-2□P□-PQA, DS3-4□P□-PQA Parameter range: P5-20~P5-36

Example: take the input signal /CLR (P5-24) of DS3-21P5-PQA as an example to explain the terminal distribution.

95

5-12-2. Default setting of input terminal

Input

Type

SI1

SI2

SI3

SI4

SI5

DS3-2□P□-PQA DS3-4□P□-PQA

/S-ON

/ALM-RST

/P-OT

/N-OT

Not distribute

Parameter meaning

Set value

Meaning

Signal

state

Terminal state

n.00 y x

00: pointless y: 0 always open

1 always close

x: output terminal

no.

n.0000

Not distribute to terminal input

-

n.000x

Output always open

signal from SOx

0

Cut off with COM

1

Pass through with COM

n.0010

Set the signal to be always valid

-

n.001x

output always close signal from SOx

0

Pass through with COM

1

Cut off with COM

Note: If the distributed terminal has other signal, please set the signal to other terminal or set to unused.

Output terminal wiring example

Parameter

Set

value

/CLT

Terminal state

Meaning

P5-42

n.0001

0

SO1 and COM pass

through

Output limit signal when motor torque

reaches the set value

1

SO1 and COM cut off

Output limit signal when motor torque

reaches the set value

Note: the default output of SO1 is /COIN. Set the P5-38 (/COIN) to other terminal or unused in order to

avoid terminal signal conflict.

Output terminal

SO1

SO2

SO3

Function

/COIN

/ALM

/S-RDY

Basic parameter

parameter

Name

Reference

U0-57

Absolute encoder present position feedback

(0000～9999)*1

Encoder pulse U0-58

(0000～65535)*10000

COM

SO1

CN0-14

CN0-12

DS3-21P5-PQA: SO1 is CN0-12, COM is CN0-14.

Note: the same input terminal can distribute one function parameter. If more function parameters distribute to the same terminal, the system will delete the former setting and keep the present setting.

5-12-3. Output terminal distribution

DS3-2□P□-PQA, DS3-4□P□-PQA Parameter range: P5-37~P5-47, P5-51

Example: take /CLT signal of DS3-21P5-PQA as an example to explain output terminal distribution.

5-12-4. Default setting of output terminal

Note: the same output terminal can distribute one function parameter. If more function parameters distribute to the same terminal, the system will delete the former setting and keep the present setting.

5-13. DS3-PTA series absolute encoder servo drive

96

Absolute encoder servo no need to reset origin after power on again and run directly.

Drive model

Motor model

Cable

Absolute encoder

DS3-20P4-PTA

MS-60ST-T01330B-20P4 MS-60ST-T01330BZ-20P4

Encoder cable CP-DP-B-02 (02 is 2meter) Power supply cable CM-P07-02

17-bit absolute encoder

DS3-20P7-PTA

MS-80ST-T02430B-20P7 MS-80ST-T02430BZ-20P7

DS3-21P5-PTA

MS-130ST-T10015B-21P5 MS-130ST-T10015BZ-21P5 MS-130ST-T06025B-21P5 MS-130ST-T06025BZ-21P5

Encoder cable CP-DL-B-02 Power supply CM-L15-02

CN1 port: at drive side

Pin no.

Name

CN1-14

A

CN1-15

B

Parameter

Function

Default setting

Range

Effective

P7-00

Modbus station no.

1

0～255

Servo OFF

parameter

Function

Default setting

Range

Effective

n.xx□□

Baud rate

06 00~10 00: 300 01: 600 02: 1200 03: 2400 04: 4800 05: 9600 06: 19200 07: 38400 08: 57600 09: 115200

0A: 192000 0B: 256000 0C: 288000 0D: 384000 0E: 512000 0F: 576000 10: 768000 11: 1M 12: 2M 13: 3M 14: 4M

Servo OFF

1

5

6

10

11

15

Servo drive model: DS3-口口 P 口-PTA Servo motor model: MS-口口 ST-T 口口口口口 B/BZ-口口 P 口

5-13-1. Read the absolute encoder position

Servo drive transfers the encoder data through RS485 port and Modbus-RTU protocol. The pulse numbers per circle is 131072 for 17-bit absolute encoder. U0-57 (Modbus address is H1039): double words, encoder present position.

 RS-485 port

Communication parameters:

RS485 port default parameters: baud rate19200bps, data bi 8, stop bit 1, even parity, modbus

station no. 1.

Modbus station no. setting:

P7-00 can set the RS485 port Modbus station no.

P7-01 communication parameter setting:

97

15: 5M 16: 6M

n.x□xx

Stop bit

2

0: 2 bits, 2: 1 bit

Servo OFF

n.□xxx

Parity bit

2

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

Servo OFF

Note: data bit cannot change, it is 8 bits

Parameter

Function

Default setting

Range

Effective

P7-02

RS485 communication protocol

1

1: Modbus Rtu protocol 2: Xnet protocol

Servo OFF

Parameter

Name

Reference

P0-01

Control mode selection

5-4-1

P4-03

Internal position given mode

5-4-2

P4-10~P4-254

Internal 1~35 segment position parameters

5-4-3

P5-35

Change the step signal /CHGSTP

5-4-4

P5-32

Pause current signal /INHIBIT

5-4-5

P5-31

Skip current signal /Z-CLAMP

5-4-6

P5-20

Servo ON signal /S-ON

5-2-1

P4-04

Effective segment no.

5-4-3

Other parameters

Key words

Parameter

Name

Reference

Find the origin

P4-00

The quantity pass through the Z phase signal after

5-4-7

P7-02 RS485 communication protocol setting:

(1) support standard Modbus RTU protocol, used as Modbus RTU slave device.

(2) RS232 and RS485 port can be used at the same time.

5-13-2. Battery using and changing

The battery can keep the absolute encoder position information when servo power is off. When the servo drive power on again, the upper controller can read the motor encoder present position through Modbus communication. Battery specification: 3.6V No.5 type battery The servo drive will show E- absolute encoder low battery alarm when the battery voltage is under

2.7V. Note: if the battery voltage is low, the absolute encoder data will lose when the servo power on again.

The steps to change the battery:

(1) Please change the battery when the servo is power on, otherwise the absolute encoder

information will lose.

(2) After changing the battery, please restart the servo drive to delete the low battery alarm.

5-14．Internal position mode (only for DS3E/DS3L)

98

leaving the limit switch

P4-01

The speed near the limit switch

P4-02

The speed leave the limit switch

P5-27

/SPD-D: define the origin in position mode

P5-28

/SPD-A: find the reference origin at forward side in position mode

P5-29

/SPD-B: find the reference origin at reverse side in position mode

Pulse error clear

P5-34

Pulse error clear

5-12-1

Positioning complete

P5-38

Positioning complete signal output /COIN

5-3-6

P5-00

Positioning complete width

Positioning near

P5-46

Positioning near signal output /NEAR

5-3-7

P5-06

Positioning near signal width

Set segment no. through communication

F2-09

Any setting of 35 segments position

5-4-8

Parameter

Default

Meaning

Modify

Effective

P0-01

5

Control the position through servo internal register value

Servo OFF

Immediately

Parameter

Content

Unit

Default

Suitable

mode

Modify

Effective

P4-03

Internal position mode setting

—

n.0000

5

Servo

OFF

Re-power

on

Parameter setting

Function

Default

Range

n.□xxx

No meaning

n.x□xx

Wait mode 0 0~1

n.xx□x

Change step

mode

0

0~4

n.xxx□

Positioning

mode

0

0~1

n.x□xx

Meaning

0

Wait for the completion of positioning

1

Not wait for the completion of positioning

Notes: the wait mode means wether the drive waiting for the completion of positioning in internal position setting mode. This is effective in any change step mode.

Wait mode = 0, adjust time = 0ms

Wait mode = 0, adjust time > 0ms

t

P5-00

Pulse error

1 0 /COIN

Signal state

P

t1

t2

t1

P

/COIN

Signal state

0

1

Pulse error

P5-00

t

5-14-1. Control mode selection

5-14-2. Internal position mode

Mode explanation:

(1) Wait mode

Xinje DS3-20P2-PQA, DS3E-20P2-PFA, DS3L-20P2-PFA, DS3-20P2-PTA, DS3-20P4-PQA User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual