How it Works
Xinje
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DS3-43P0-PTA
User Manual
152 pgs4.25 Mb0

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

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DS3/DS3E/DS3L series servo drive
User manual
Serial No. SC3 02 20171010 1.0
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
6.0
0.2 (14 cores)
6.0
DS3-411P0-PQA DS3-415P0-PQA
10.0
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
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
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
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
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