DS2 Series 220V Servo Driver

DS2 series 220V servo drive
Fast reference manual
Spectra Technologies
DS2 series 220V servo drive user manual
Safety caution
Confirmation when receive products
DO NOT install any driver which is damaged, lack of accessories or not the same
with the model ordered.
Installation
Cut off external power supply before installation.
Wiring
Cut off external power supply before wiring.
Connect AC power supply to the corresponding terminals.
Do not connect a three-phase power supply to the U, V, or W output terminals.
Use 2mm2 wire to grounding the ground terminals.
Operation
Do not remove the panel cover while the power is ON.
Do not touch terminals for five minutes after the power has been turned OFF.
Do not connect with any motor when trial operation.
Before starting operation with a machine connected, change the settings to match
the parameters of the machine.
Do not attempt to change wiring while the power is ON.
Do not touch the heat sinks during operation.
Checking Products upon Delivery

1. When receive the products, please check below items:
Items
Comments
Are the delivered products the ones
Check the model numbers marked on the nameplates
that were ordered?
of the servomotor and servo drive.
Does the servomotor shaft rotate
The servomotor shaft is normal if it can be turned
smoothly?
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.
1
DS2 series 220Vservo drive user manual

Are there any loose screws?
Check screws for looseness using a screwdriver.
Is the motor code the same with the

code in driver?
Check the motor code marked on the nameplates of

the servomotor and the parameter F0-00 on the servo
drive.
If any of the above is faulty or incorrect, contact SPECTRA or an authorized distributor.
2. Model description
1) Servo drive
DS2 2 0P7 A
Series name
DS2Compact
Voltage level
Configure type
Suitable
motor
capacity
A: Standard configure
B: Economical configure
2220V
0P40.4KW
(Without DB15 port)
4380V
0P70.75KW
Null: Fundamental configure
1P51.5KW
2) Servo motor
2P32.3KW
3P03.0KW
MS - 80 ST - M 02430 A Z- 2 0P7
Capacity
Rated voltage
Power-loss brake
Shaft Specifications
Performance Specifications
Feedback Component
Sine wave drive Motors
Base Size
Motor Series Name
Base size608090110130;
Feedback component: M(Photoelectric pulse coder);
Performance Specifications: First 3 numbers mean rated torque, last 2 numbers mean rated
2

revolution;
For instance:
01330: rated torque 1.3Nm, rated revolution 3000rpm;

10015: rated torque 10.0Nm, rated revolution 1500rpm;
Shaft Specifications: AWithout key; BWith key;

Power-loss brake: NullNot have it; ZHave it;
Voltage level: 2-220V; 4-380V;
Capacity: 0P40.4KW; 0P7-0.75KW; 1P2-1.2KW; 1P5-1.5KW
3. Sections description
1) Servo motor
Encoder code
Frame
Flange
Output (transmission) shaft

2) Servo drive
DS2-20P4, DS2-20P7
COM1
5-pin port, for RS232 communication
POWER LED
Turn on when the drive power on
CHARGE LED
Turn on when main circuit power on. Do not touch the servo when LED
is ON after power off because there are charges in the capacitance.
Panel display
Show the servo state, alarm and parameters
Panel keys
To set the parameters
CN2
To connect the encoder on the servo motor
CN1
Command and sequence input signal, RS485 communication
Power supply and servo motor terminals
Power supply input, servo motor terminals
DS2-21P5
POWER LED
CHARGE LED
Turn on when main circuit power on. Do not touch the servo when
LED is ON after power off because there are charges in the
capactance
.
Panel
display
To show the servo state, alarm, parameters

Panel keys
COM2
Connect to PC, HMI, PLC
CN0
Command and sequence output
CN1
Command and sequence input
Power supply and servo motor terminals
Power supply input, servo motor terminals
CN2
To connect the encoder on the servo motor
DS2-2P-A, DS2-2P-B
POWER LED
CHARGE LED
Turn on when main circuit power on.
Do not touch the servo when LED is
ON after power off because there are
charges in the capacitance.
Panel display
To show the servo state,
alarm, parameters
POWER
CHARGE
STA/ESC INC
PUL+
V1+
SI1
SI2
+24V
COM
P+
PB
L1
L2
L3
PE
U
V
W
CN1
CN1
Command and sequence input
V2+
SO2
Power supply input and servo

motor power terminal
Panel keys
DIR+
SO1
Power supply and motor power
ENTER
PUL-
DIR-
Output terminal
Command or sequence output
DEC
L2
CN2
To connect the encoder on
the servo motor

COM1
5-pin port, debug with PC, communicate with
HMI, PLC and other devices
DIP switch
1
2
For internal updating
Installations
1. Servomotor
MS series servomotors can be installed either horizontally or vertically. The service life
of the servomotor can be shortened or unexpected problems might occur if it is installed
incorrectly or in an inappropriate location.
Antirust
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.

1 Storage Temperature
Store the servomotor within -20~+60 as long as it is stored with the power cable
disconnected.
2 Installation Site
Indoor, free of corrosive or explosive gases.

Well-ventilated and free of dust and moisture.
Ambient temperature of 0to 50C.
Relative humidity (r.h.) of 20 to 90% with no condensation.
Accessible for inspection and cleaning.
3 Concentricity
Please use coupling when connecting to machine; keep the shaft center of servo motor
and machine at the same line. It should be accord to the following diagram when installing
the servo motor.
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)
Caution
(1)If the concentricity is not enough, it will cause the vibration and bearing damage.
(2)When installing the coupler, prevent direct impact to the shaft. This can damage the
encoder mounted on the shaft end at the opposite side of the load.
4 Orientation
MS series servomotors can be installed either horizontally or vertically.
8

5 Handling Oil and Water
Install a protective cover over the
Through part of the shaft
servomotor if it is used in a location that is

subject to water or oil mist. Also use a
servomotor with an oil seal when needed to
seal the through-shaft section.
6 Cable Stress
Make sure that the power lines are free from bends and tension. Be especially careful to
wire signal line cables so that they are not subject to stress because the core wires are very
thin, measuring only 0.2 to 0.3mm2.
2. Servo drive
The DS2 series servo drives are base-mounted servo drives. Incorrect installation will
cause problems. Follow the installation instructions below.
1) Storage Conditions
Store the servo drive within -20~+85, as long as it is stored with the power cable
disconnected.
2) Installation Site
The following precautions apply to the installation site:
Situation
Installation in a
Control Panel
Installation Near a
Heating Unit
Installation Near a
Source of Vibration
Installation at a Site
Exposed to
Corrosive Gas
Other Situations
Installation Precaution
Design the control panel size, unit layout, and cooling method so the
temperature around the servo drives does not exceed 50C.
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 50C.
Install a vibration isolator beneath the servo drive to avoid subjecting it
to vibration.
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.
Do not install the servo drive in hot and humid locations or locations
subject to excessive dust or iron powder in the air.
9

3) Orientation
Install the servo drive perpendicular to the wall as shown

in the figure. The servo drive must be oriented this way
Wall
because it is designed to be cooled by natural convection

or by a cooling fan.
Ventilation
4) Installation
Follow the procedure below to install multiple servo drives side by side in a control
panel.
50mm minimum
POWER
CHARGE
STA
ESC
INC
POWER
CHARGE
STA
ESC
DEC
ENTER
INC
DEC
ENTER
30mm minimum 10mm minimum
POWER
CHARGE
STA
ESC
INC
POWER
CHARGE
STA
ESC
DEC
ENTER
INC
DEC
ENTER
50mm minimum
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.

10
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: 50C maximum
11
Dimensions
1. Servo motor
60 series
Unit: mm
Model
MS-60ST-M01330-20P4
12
LA
Normal
Band-type brake
146
189
80 series
Unit: mm
Model
LA
Normal
Band-type brake
MS-80ST-M02430-20P7
150
191
MS-80ST-M03520-20P7
178
219
13
MS-90ST-M02430-20P7
Model
MS-90ST-M02430-20P7
14
Unit: mm
LA
Normal
Band-type brake
149
194
110 series
Unit: mm
Model
LA
Normal
Band-type brake
MS-110ST-M04030-21P2
189
263
MS-110ST-M05030-21P5
204
278
15
130 series
Unit: mm
LA
Model
16
Normal
Band-type brake
MS-130ST-M06025-21P5
179
236
MS-130ST-M10015-21P5
213
270
MS-130ST-M07725-22P0
192
249
MS-130ST-M15015-22P3
241
298
180 series
Model
MS-180ST-M19015-23P0
Unit: mm
LA
Normal
Band-type brake
232
289
17
2. Servo drive
Unit: mm
DS2-20P4, DS2-20P7
137.0
50.0
7.5
1370.03
5.0
2-5.0
7.5
165.0
165.0
5.0
DS2-21P5
75
67
180,5
POWER
STA/ESC INC
CHARGE
DEC
ENTER
186
178
+2
T
180,5
+1
U
V
W
PB
P+
18
DS2-2P-A, DS2-2P-B
POWER
CHARGE
INC
DEC
ENTER
1 2
STA/ESC
PULPUL+
V1+
CN1
DIRDIR+
SI1
SI2
190
202,54
161,3
212,54
V2+
+24V
CN2
SO1
SO2
COM
P+
PB
L1
L2
L3
PE
U
V
W
41
69
83
Wiring
1. Names and Descriptions of Main Circuit Terminal
DS2-20P4, DS2-20P7
P+
PB
The function of terminals as below shows:
Terminal
Function
Explanation
P+PB
Regenerative braking
Connect regenerative braking resister
resistor connection
between P+ and PB
Motor connection
Connect to the motor
Ground
Connect to the ground terminal of
UVW
L
N
motor, to be grounded
LN
Power supply for main
Single-phase AC200~240V, 50/60Hz
circuit
Ground

power, to be grounded
19

1
2
DS2-21P5
Terminal
Function
Suppress current high
harmonics, to connect
Explanation
1 and
DC reactor
2 is short when out of
factory. Connect DC reactor between

1 and
2 to suppress current high
harmonics.
LN
P+
Power input of main
Single-phase AC 200240V, 50/60Hz
circuit
PB
Ground

motor, to be grounded
U,V,W
Motor connection
Ground

P+,PB
P+
PB
L1
L2
Regenerative braking
Connect regenerative braking resistor
resistor connection
between P+ and PB
DS2-2P-A, DS2-2P-B
Terminal
P+,PB
L3
L1,L2,L3
U
Function
Regenerative
braking
Explanation
Connect
regenerative
braking
resistor connection
resistor between P+ and PB
Power input of main
3-phase AC 200240V, 50/60Hz
circuit
V
W
Ground
(PE)
UVW
20

Motor connection
2. Winding Terminals on Servo motor

Symbol
60, 80, 90 Series
110, 130, 180 Series
PE
3. Layout of CN0/CN1 Terminals

The diagram shows the solder side:
DS2-20P4
DS2-20P7
CN1
1
CN0
1
SO1
DIR+
V2+
V+
SI4
SI2
V+
+24V
SI1
10
15
SO1
SO2
COM
DIR-
SI3
11
SI2
SO1
10
PUL-
V1+
SI2
CN1(DB15)
PUL+
SI1
A
6
PUL
V+
COM
DIR
CN0
DIR
SO3
PUL
DS2-2P-B
CN1
SO2
SI1
DS2-2P-A
DS2-21P5
SO2
12
COM
21
CN0 and CN1
DS2-20P4
DS2-20P7
CN1
No.
Name
Description
RS485+
PUL
SI1
V+
DS2-21P5
22
SO2
Name
Description
RS485 -
DIR
Input terminal 1
SI2
+24V for input
SO1
10
COM
No.
Name
COM
RS485 +
RS485 -
Pulse A, pulse
signal
Output terminal
2
No.
Pulse B,
direction signal
Input terminal 2
Output terminal
1
Ground of
output
CN0
No.
Name
SO1
SO2
SO3
Description
Output terminal
1
Output terminal
2
Output terminal
3
Description
Ground of
output
DS2-2P-A
DS2-2P-B
CN1
No.
Name
PUL
V+
SI2
SI4
Description
No.
Pulse A, pulse
Name
DIR
SI1
Input terminal 2
SI3
Input terminal 4
V+
signal
+24V for pulse
terminal
Description
Pulse B, pulse
signal
Input terminal
1
Input terminal
3
+24V for input
CN0
No.
Name
Description
No.
PUL-
Pulse input PUL-
SI1
PUL+
SI2
V1+
+24V
DIR-
10
SO1
DIR+
11
SO2
V2+
Differential input
PUL+
+24V
for
open
collector
Direction
input
DULDifferential input
DIR+
+24V
for
collector
open
Name
Description
Input
terminal 1
Input
terminal 2
+24V input
Output
terminal 1
Output
terminal 2
Ground of
12
COM
output
terminal
23
DS2-2P-A
CN1(DB15)
No.
Name
SI3
SI4
SI5
SI6
+24V
SO3
Description
Input
terminal 3
Input
terminal 4
Input
terminal 5
Input
terminal 6
+24V input
Output
terminal 3
No.
Name
Description
BO
Encoder output B
10
ZO
Encoder output Z
11
T-REF
12
V-REF
13
GND
14
RS485 +
15
RS485 -
Torque
input
Speed
COM
output
terminal
24
AO
Encoder
output A
analog
input
Ground for analog
input
Ground for
7
analog
DS2-2P-B
CN1(DB15)
No.
Name
SI3
SI4
SI5
SO3
B-
A+
A-
Z+
Description
No.
Input
terminal 3
Input
terminal 4
Input
terminal 5
Output
terminal 3
Encoder
output BEncoder
output A+
Encoder
output A-
Name
Description
Z-
Encoder output Z-
10
B+
11
T-REF
12
V-REF
13
GND
GND
14
RS485 +
15
RS485 -
Encoder output
B+
Torque analog
input
Speed analog
input
Encoder
output Z+
4. I/O Signal Names and Functions

1) Input signal
Item
Input terminal
Function
Digital input
SI1SI6
Multi-functional input terminal
PUL,
P2-00=1: A-phase pulse
PUL-, PUL+
P2-00=2: pulse
DIR,
P2-00=1: B-phase pulse
DIR-, DIR+
P2-00=2: pulse direction (sign)
Pulse input
25

2) Output signal
Class
Name
Function
Digital Output
SO1SO3
Multi-functions Output Terminals
5. CN2 Encoder Connector Terminal Layout

The following diagrams are the layout of CN2 connector (face the solder pin).
5
15
Drive
side
10
9
14
12
13
1
7
6
11
Encoder Side On Motor

110130
series
4
Name
Drive
side
608090
series
9
A+
11
Encoder Side On Motor

110130
series
5
Name
608090
series
4
Z+
10
U+
12
W+
13
A-
14
B-
Z-
13
U-
10
15
15
W-
11
Shield
12
GND
13
5V
14
10
11
V+
15
12
14
V-
B+
6. Communication port
Serial port 1(COM1)

COM1 supports RS232, and is often used to connect with PC for debugging, or connect
with HMI. When under communication, the display panel cant show bb.
The communication parameters of COM1 cant be revised.
Baud rate: 19200bps; Data bit: 8; Stop bit: 1; even parity check; Modbus number: 1.
26
DS2-20P4DS2-20P7
1
(5-pin port)
Pin
Name
Description
TXD
RS232 send
RXD
RS232 receive
GND
RS232 ground
Note: 1. Please use the cable provided by SPECTRA company.

2. the types in the table cannot use RS232 (COM1) and RS485 (COM2) at the same
time.
The communication parameters of COM1 and COM2 will be changed at the same time.
DS2-21P5
8 7 6
5 4 3
2 1
(8-pin DB port)
Pin
Name
Description
UPGRADE
Self Upgrade
RXD
TXD
RS232
GND
RS232 ground
RS232
receive
send
Serial Port 2(COM2)
COM2 of all the types:

Type
COM2
DS2-20P4
DS2-20P7
A(CN1-1)
DS2-21P5
B(CN1-2)
Standard
Remark
RS485
A(CN0-5)
B(CN0-6)
RS485
27

Pins definition:
1
DS2-2P-A
DS2-2P-B
RS232
Pin
name
Description
TXD
RS232 send
RXD
RS232 receive
GND
RS232 ground
(5-pin trapezoid
Please use the cable provided by SPECTRA
port)
company.
DS2-2P-A
The communication port on CN1
A(CN1-14)
RS485
B(CN1-15)
cannot be used with 5-pin ladder port

at the same time.
Communication parameters of COM2 can be set via P0-04. It supports Modbus-RTU

communication.
Parameter
Name
number
P0-04.0
Default
Range
Setting
Baud rate
09
0300
1600
21200
32400
44800
59600
619200
738400
857600
9115200
28
P0-04.1
Data Bits
08
P0-04.2
Stop Bits
0: 2 bits; 2: 1 bit;
P0-04.3
Parity
02

0: No Parity. 1: Odd Parity. 2: Even
Parity
Modbus station number can be set freely, depending on the following parameter.
Parameter
Name
Unit
Default setting
Range
Modbus station number
1255
number
P0-03
Note: Parameters above will take effect after repower on.
7. Position Control Mode

DS2-20P4, DS2-20P7
29
30
DS2-21P5
DS2-2P-A, DS2-2P-B
3-phase 220V AC
(50/60Hz)
FI
L
L
1
L
2P
3P
+
P
B
E
L
Regenerative
resistor
Shield layer connects to

0V at signal side, be
vacant at drive side
/PUL CN0-1
/DIR
-
Vc
c
Servo enable ON
Servo enables when ON
Alarm reset
Clear the alarm when ON
V2
2.2K
Well operateGwith the

shield wire
CN1-10
ZO
CN1-9
BO
CN1-8
AO
CN0-4
Encoder
signal output
CN0-3
+
+24VIN
CN0-9 3.3K
/S-ON
CN0- 4
CN0- 8
/ALM-RSTCN0- 5
CN1- 5
Forward prohibit
Forward prohibit when OFF
/ P-OT
CN1-1
Reverse prohibit
Reverse prohibit when OFF
Speed selection
/ N-OT
CN1-2
/SPD-A
CN1- 3
/SPD-B
CN1- 4
Speed selection
CN
CN1-13
+24VIN
U
V M
W
P
U
V
W
3.3K
CN0- 9
CN1- 7
CN1- 1
CN1--6
GND
COIN
ALM
COM
S-RDY
The
outputs
can be
Self-defined
COM
31
Use the operate panel

1. Basic operation
The operate panel can be used for parameter settings, operating references, and status
displays.
POWER
Button
CHARGE
STATUS/ESC
INC
STATUS INC
ESC
DEC
ENTER
DEC
ENTER
Function
Press: Status switch, status return
Press: Increase the value;
Press and hold: Increase the value
continuously
Press: Decrease the value;
Press and hold: Decrease the value
continuously
Press: Shift the editing digit;
Press and hold: Enter a status, check
data
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.
32

Display mode:
Monitor Function U XX: XX means the number of the monitor function.
Auxiliary Function FXXX: The first X means group No., the last two X means the
member No. in the group.
Parameter Setting PXXX: The first X means group No., the last two X means the
member No. in the group.
Alarm EXXX: XXX means the alarm code.
2. Running status mode

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

The servo will enter running status when power on. If not, press STATUS/ESC to enter.
The display content of running status mode
The code contents:

Code
Description
Standby
Servo OFF (motor power OFF)
Run
Servo ON (motor power ON)
Forward Run Prohibited
P-OT is OFF.
Reverse Run Prohibited
N-OT is OFF.
3. Monitoring Mode
The Monitoring Mode can be used to monitor the reference values, I/O signal status, and
servo drive internal status.
The monitor mode can be set when the motor is running.
33
Using the Monitor Mode

Now we take the monitor code U-16 as an example.
(1)Press the STATUS/ESC key to select the monitoring mode.
(2)Press the INC or DEC key to select the monitor number U-16, and then press and hold
ENTER to enter the monitor mode.
(3)The value 0 is now displayed.(0 shows that the servo drive is in a normal state)
(4)Press STATUS/ESC key to return to the monitoring number switching state.

Display contents of Monitoring Mode
Number
Monitor Display
Unit
U-00
Actual speed of motor
Rpm
U-01
Input speed command
Rpm
U-02
Internal torque command
U-03
Rotate angle (mechanism angle)
0.1
U-04
Rotate angle (electrical angle)
0.1
U-05
Bus voltage
U-06
Module temperature
0.1
U-07
Input command pulse speed
Rpm
U-08
Pulse value of shift
(00009999)*1
U-09
command
(00009999)*10000
U-10
Rotate angle
(00009999)*1
U-11
(encoder value)
(00009999)*10000
pulse
U-12
Pulse value of input
(00009999)*1
Pulse
U-13
command
(00009999)*10000
34
Command
pulse
encoder
command

U-14
Pulse value of
(00009999)*1
U-15
feedback command
(00009999)*10000
U-16
Current position
(00009999)*1
U-17
(Accumulated)
(00009999)*10000
U-18
Current, 1-bit decimal
0.1A
U-19
Analog input V-REF
0.01V
U-20
Analog input T-REF
0.01V
U-21
I/O signals status
U-22
I/O terminals status
Pulse
command
encoder
pulse
U-21 displays I/O signals status

The following diagram describes the input and output signals status displayed in U-21.
LED1 LED2
LED4 LED5
Diagram 1
0
5 6 1
4
2
3 7
Diagram 2
In diagram 1, LED4 and LED5 stand for input signals status, and LED1 and LED2
stand for output signals status. In diagram 2 there shows the segment No. of each LED.
U-21 displays I/O signals status
The following diagram describes the input and output signals status displayed in U-21.
LED1 LED2
Diagram 1
LED4 LED5
0
5 6 1
4
2
3 7
Diagram 2
35

In diagram 1, LED5 stands for input signals status, and LED2 stands for output signals
status. In diagram 2 there shows the segment No. of each LED.
4. Auxiliary Function
Use the operate panel to do application in auxiliary function mode.
Group No.
Content
F0-**
Check system information, display the system code and data
F1-**
Auxiliary run mode, display the auxiliary run command and

result
F2-**
Set the motor code
F3-**
Check the alarm information, clear the alarm
F4-00
Reset parameters to default
F5-00
External communication monitoring
Check System Information

Press STATUS/ESC to switch to the auxiliary function mode. Set the group No. to 0 to
check system information. Press INC or DEC key to select different No., and press and hold
ENTER key to check current information. Press STATUS/ESC key to return.
The following table describes the meaning of each No.
36
Function No.
Description
Function No.
Description
F0-00
Motor Code
F0-01
Servo Series
F0-02
Servo Model
F0-03
Produce Date: Year
F0-04
Produce Date: Month
F0-05
Produce Date: Day
F0-06
Software Version
F0-07
Hardware Version
Auxiliary Run Mode

Press the STATUS/ESC key to select the auxiliary function mode. Set the group No. to
1. Press INC or DEC key to select different No., and press and hold ENTER key to use
current function. Press STATUS/ESC key to return.
(1) Jog (F1-00)
Make sure that the motor shaft is not connected to the machine before jogging!
Press ENTER to power on the motor (servo on). Press INC for forward jogging, press
DEC for reverse jogging. Press STATUS/ESC key to power off the motor (servo off), and
press STATUS/ESC key again to return.
4 different states of jogging:
State
Panel Display
Idle
Servo ON
State
Panel Display
Forward
Jogging
Reverse
Jogging
(2) Trial Operation (F1-01)

Make sure that the motor shaft is not connected to the machine before trial
operation!
When servo drive is connected with non-original encoder line or power line, trial
operation must be run first to ensure that the encoder line or power line is connected
correctly.
Set the display value to 1, and press and hold ENTER key to enter trial operation mode.
The operate panel displays:
If correctly wired, the motor would rotate in 5 seconds in forward direction (fixed to
counter-clockwise), otherwise the motor would shock or vibrate, raising an alarm for worse.
In this case the power must be switched off immediately and check the wiring again.
37

Press STATUS/ESC key to return.
(3) Current Offset Auto-Adjustment (F1-02)
After the servo drive is updated to latest software version, or the motor does not revolve
smoothly for long time, the current offset auto-adjustment is recommended.
Select F1-02 and enter current offset auto-adjustment function, and the panel displays
rEF.
Press ENTER key to start current offset auto-adjustment, and the panel displays
blinking rEF.
About 5 seconds later auto-adjustment is finished, and the panel displays donE to
inform that the function is already finished.
(4) Speed command offset auto-adjustment (F1-03)
Select F1-03 and enter speed command offset auto-adjustment function, and the panel
displays rEF_o.
Press ENTER key to start speed command offset auto-adjustment, and the panel
displays blinking rEF_o.
About 1 second later, auto-adjustment is finished, and the panel displays donE to
(5) Torque command offset Auto-Adjustment (F1-04)
Select F1-04 and enter torque command offset auto-adjustment function, and the panel
displays rEF_o.
Press ENTER key to start torque command offset auto-adjustment, and the panel
displays blinking rEF_o.
About 1 second later, auto-adjustment is finished, and the panel displays donE to
38

(6) Forced Servo enables (F1-05)
0: Cancel forced servo enables
1: Forced servo enables
Change the motor type

Set the group No. to 2 in auxiliary function mode.
The servo drive can match multi-servo-motor with close power classes printed on the
nameplate of each motor. When user needs to change a motor, please refer to the Quick
Guide to ensure the motor match the driver.
The following steps are how to change motor type.
1. Press STATUS/ESC key to select Auxiliary Function mode.
2. Press INC or DEC key to set group No. to 2, and press ENTER to confirm.
3. Press and hold ENTER key to display current motor type.
4. Press INC, DEC or ENTER key to show the motor type and press and hold ENTER
key to confirm.
5. Repower on the servo drive to make this function effective.
Check Alarm Information

Set group No. to 2 in auxiliary function mode and enter checking alarm information
mode.
The following steps show how to check alarm information.
1. Press STATUS/ESC key to select Auxiliary Function mode.
2. Press INC or DEC key to set group No. to 3, and press ENTER key.
3. Press INC, DEC or ENTER key to modify the alarm No.
4. Press and hold ENTER key to display corresponding alarm information.
Reset Parameters to Default

The following steps show how to reset parameters to default.
1. Press STATUS/ESC key to select Auxiliary Function.
2. Press INC or DEC key to set group No. to 4, and press ENTER key.
3. Press and hold ENTER key, and the panel displays 0 and is blinking.
39

4. Set the value to 1. Press and hold ENTER key to confirm.
5. Repower on the drive and the parameters are all reset to default.
External monitoring
Select F5-00 in auxiliary function, the panel displays C-OUT which means external
monitoring mode, COM1 is effective, operate panel is ineffective. At this time user can
debug the servo via PC.
Press STATUS/ESC to return.
5. Parameter Setting
Select or adjust the functions via parameter setting. The following steps show how to
change a parameter.
The example below shows how to change parameter P3-09 from 2000 to 3000.
(1)Press the STATUS/ESC key to select the parameter setting mode.
(2)At this time the second LED is blinking, and press INC or DEC key to set the group No.
to 3. Press ENTER key to confirm.
(3)At this time the last LED is blinking, and press INC or DEC key to set the member No. to
9. Press and hold ENTER key to confirm.
(4)At this time the panel displays the value in P3-09, and the last decimal 0 is blinking.
Press ENTER to left shift the blinking decimal. Press INC, DEC or ENTER key to modify
the value to 3000, and press and hold ENTER to confirm.
The parameter in P3-09 in changed from 2000 to 3000.

Repeat steps 2 to 4 to change the parameter again.
(5)Press STATUS/ESC key to return.
40
6. Alarm
Alarm code will pop up (E-XXX) if there is error in servo. The alarm state is invisible
when there is no error in servo. Press ENTER to reset the alarm.
It is no need to reset the alarm when the servo is OFF because of error.
Notes: when there is alarm, please clear the alarm reasons, then reset the alarm.
Parameter list
means the parameter can be modified when the servo is OFF, and effective when servo is
ON.
means the parameter can be modified any time, and effective when re-power on the servo.
means the parameter can be modified any time, and effective immediately.
Adding n. before the parameter means the value is hex.
Parameter:
PXXX
PXXX. H
PXXX.L
1. Function selection: P0(Address: 000000FF)

P0-
Function
Unit
Default
Range
00
01
Effective
Main mode
Submode 1
07
07
0: idle
1: torque (command)
2: torque (analog)
3: speed (command)
4: speed (analog)
5: position (internal)
6: position (pulse)
7: speed (pulse)
02
Submode 2
0~7: same as submode 1
41

03
Modbus station of serial port 2
255
04
Parameter of serial port 2
n.2206
n.0000
n.2209
05
Rotation direction selection
0, 1
06
06.L: stop mode when servo OFF or alarm. DS2
02
03
03
0, 1
series default is inertia stop. Keep the inertia

motion after stop.
06.H: over range (OT) stop mode
0~1: inertia stop. Keep inertia motion after stop.
2: deceleration stop. Change to zero clamp after
stop. Torque: P4-06 urgent stop torque.
3: deceleration stop. Change to inertia motion
after stop. Torque: P4-06 urgent stop torque.
07
T-REF distribution
0: undefined.
1: make T-REF as external torque limit input
2: undefined.
3: when P-CL, N-CL is ON, make T-REF as
external torque limit input.
08
V-REF distribution
0: 1: make V-REF as external speed limit input.
42
2. Control parameter: P1(Address: 010001FF)

P1-
Name
Unit
Default
Range
Effective
1Hz
100
15000
00
The gain of speed loop
01
Speed loop integral time
0.1ms
400
150000
02
The gain of position loop
1/s
100
12000
03
Reserved
04
The gain of second speed loop
1Hz
250
15000
05
Integral time of second speed
0.1ms
10000
150000
1/s
250
12000
1%
0100
0.01ms
065535
loop
06
The gain of second position loop
07
Reserved
08
Reserved
09
The
gain
of
position
loop
feedforward
10
Feedforward filter time
3. Position control: P2(Address: 020002FF)

P2-
Function
Unit
Default
Range
Effective
00
Command pulse state
1, 2
01
Position command filter selection
0, 1
02
Electronic gear ratio (molecular)
65535
03
Electronic gear ratio (denominator)
65535
04
Position command filter time
05
Reserved
06
Command pulse frequency at rated
1ms
0100
100H
5000
43

speed
10000
07
Speed command pulse filter time
0.1ms
20
08
Reserved
09
Reserved
10
Internal position mode setting
n.0000
11
First segment pulse (low bit)
01000
-9999~+
9999
12
First segment pulse (high bit)
-9999~+
9999
13
First segment speed
0.1rp
0~5000
0
m
14
First segment adjustment time
1ms
0~6553
5
15
First segment command filter time
0.1ms
0~6553
5
P2-16~P2-90 are 2~16 segments parameter setting.
94.
Find the original point
xxx
0: invalid
0~1
1: valid
94.
The signal quantity pass the Z phase
xxx
signal at the direction of leaving the
F(Hex)
limit switch
95
The speed of closing the proximity

switch
96
The speed of leaving the proximity

switch
44
0.1rp
600
0.1rp
m
0~5000
m
100
0~5000
0
4. Speed control: P3(Address: 030003FF)

P3-
Name
Unit
00
Analog value of rated speed
0.01V
01
Internal setting speed 1
02
Default
Range
Effective
1000
1503000
rpm
100
-5000+5000
rpm
200
-5000+5000
03
rpm
300
-5000+5000
04
JOG speed
rpm
100
01000
05
Soft start acceleration time
1ms
065535
06
Soft start deceleration time
1ms
065535
07
Speed command filter time
0.01ms
065535
08
Speed feedback filter time
0.01ms
20
065535
09
Max speed limit (MAX
rpm
Different for
05000
0100
Range
Effective
speed)
10
each type
Speed command input dead
0.01V
area voltage
5. Torque control: P4(Address: 040004FF)

P4-
Name
Unit
Default
00
Analog value of rated torque
0.01V
1000
1503000
01
Torque command filter time
0.01ms
065535
02
Forward torque limit
1%
300
0300
03
Reverse torque limit
1%
300
0300
04
Forward external torque limit
1%
100
0300
05
Reverse external torque limit
1%
100
0300
06
Urgent stop torque
1%
300
0300
07
Internal speed limit when torque
rpm
2000
15000
controlling
08
Reserved
45

09
Internal torque command setting
1%
-300300
10
Torque command input dead area
0.01V
0100
voltage
6. Signal parameter setting: P5(Address: 050005FF)

P500
Name
Positioning finished width /COIN
Unit
Default
Range
Effective
Command
0250
pulse
01
Zero clamp speed /ZCLAMP
Rpm
10
0300
02
Rotation checking speed /TGON
rpm
20
11000
03
Coincide speed checking signal
rpm
10
1250
Command
50
010000
1000
065535
1ms
0500
width
04
/V-CMP
Near output signal width /NEAR
pulse
05
Offset pulse limit value
256*
command
pulse
06
Servo OFF delay time (brake

command)
07
Brake command output speed
rpm
100
05000
08
Brake command wait time
1ms
500
101000
09
Input filter time
5ms
0~100
10
/S-ON servo signal
0000: signal is always ineffective

0001: input positive signal to SI1
46

0010: signal is always effective
0011: input negative signal to SI1
11
/P-CON
proportion
action
command ditto
12
/P-OT forward drive prohibition

ditto
13
/N-OT reverse drive prohibition

ditto
14
/ALM-RST alarm reset

ditto
15
/P-CL forward external torque limit

ditto
16
/N-CL reverse external torque limit

ditto
17
/SPD-D internal speed selection

ditto
18
/SPD-A internal speed selection

Same to above
19
/SPD-B internal speed selection

ditto
20
/C-SEL control mode selection
47

ditto
21
/ZCLAMP zero clamp

ditto
22
/INHIBIT
command
pulse
prohibition
ditto
23
/G-SEL gain switch

ditto
24
/CLR clear pulse offset

ditto
25
/CHGSTP step change signal

ditto
26
Reserved
27
Reserved
28
/COIN positioning finished

0000: not output to the terminal
0001: output positive signal from
SO1
SO2
SO3
0011: output negative signal from
SO1
SO2
SO3
48

29
/V-CMP speed coincide checking
ditto
30
/TGON rotation checking

ditto
31
/S-RDY ready
ditto
32
/CLT torque limit

ditto
33
/VLT speed limit checking

ditto
34
/BK brake lock

ditto
35
/WARN warn
ditto
36
/NEAR near
ditto
37
/ALM alarm
ditto
38
/Z encoder Z signal
ditto
1Servo drives input terminal default value: Please refer to table 2

2Servo drives output terminal default value: Please refer to table 4
3Servo drives input terminal distribution: Please refer to table 1
4Servo drives output terminal distribution: Please refer to table 3
49

Table 1 Input signal distribution
Input terminal
Servo type
Range
parameter
P5-10~P5-24
DS2-20P4
n.0000~n.0002
DS2-20P7
n.0010~n.0012
DS2-21P5
n.0000~n.0004
n.0010~n.0014
DS2-2P-A
n.0000~n.0006
DS2-2P-B
n.0010~n.0016
Because the input terminal quantity is different for each type, the setting range
is different.
Table 2 Default setting of input terminal
SI1
SI2
SI3
SI4
SI5
SI6
/S-ON
/ALM-RST
DS2-21P5
/S-ON
/ALM-RST
/P-OT
/N-OT
DS2-2P-A
/S-ON
/ALM-RST
/P-OT
/N-OT
/SPD-A
/SPD-B
DS2-20P4
DS2-20P7
DS2-2P-B
Table 3 Output terminal distribution
Output terminal
Servo type
Range
parameter
P5-28~P5-38
DS2-20P4
n.0000~n.0002
DS2-20P7
n.0010~n.0012
DS2-21P5
n.0000~n.0003
n.0010~n.0013
50
DS2-2P-A
n.0000~n.0003
DS2-2P-B
n.0010~n.0013

Because the input terminal quantity is different for each type, the setting range
is different.
Table 4 Default setting of output terminal
DS2-20P4
SO1
SO2
SO3
/COIN
/ALM
/COIN
/ALM
/S-RDY
DS2-20P7
DS2-21P5
DS2-2P-A
DS2-2P-B
Alarm information
Alarm
Code
E-001
Description
Program
damage
Reason
Solution
Re-download the program or
program self-test failed
contact SPECTRA or an
authorized distributor
E-002
Restart the drive to reset the

Parameter
damage
parameters. If it occurs for

Parameter self-test failed
many times please contact

SPECTRA or an authorized
distributor
E-003
Power grid is over voltage or

Bus
over-voltage
need a regenerative resistor;
Check the power grid; connect
the regenerative resistor
and check the regenerative
damage or its value is too
resistor
large
E-004
Bus under
Power grid is under voltage
Check the power grid

51

voltage
E-005
Regenerative
Regenerative resistor is
Check the connection of
resistor error
ineffective
regenerative resistor
E-006
Reduce the load, and enhance

Module over
Run with large load for long
temperature
time
the cooling system, or check if

the fan is revolving when motor
is ON; cool down the ambient
temperature
E-007
Over current
E-008
Over speed
E-009
Analog input
error
E-010
Position offset
too large
E-011
E-012
E-013
52
UVW of drive is short
Replace the damaged motor;
circuit or the motor is error
check the UVW wiring.
Motor speed is too fast,
Check if there is other device
motor UVW connection is
that make motor revolve too
error
fast; check the UVW wiring.
Input voltage error when

2-channe analog zero
calibrating
The difference between set
position and actual position
exceeds the limit value
Input correct voltage when zero

calibration for analog
Check if the motor stalled,
decrease the set position speed,
increase offset pulse limit value
P5-05
Check the UVW wiring of
Motor UVW is
External is short circuit
short circuit
when fist self-test
Motor UVW
Current collection circuit
current error
error
Encoder UVW
Encoder wiring error,
Check the wiring of encoder,
wire break
encoder broken, encoder is
and re-connect the encoder after
motor, or replace the damaged

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

not connected
power-off, or replace the

damaged encoder
E-014
Encoder ABZ
wire break
E-015
Speed changes
too fast
(encoder
feedback error)
Encoder wiring error,

encoder broken, encoder is
not connected
Check the wiring of encoder,

and re-connect the encoder after
power-off, or replace the
damaged encoder
The encoder wiring is error,
Check the wiring of encoder, or
or the encoder has
add shield layer for the encoder
interference
wire
E-016
Reduce the overload running

Overload
Run overload for long time
time, change a motor with larger

rated power
E-017
E-018
E-031
E-032
Power off
Bus voltage is too low when
Re-power on after the bus
when running
running
voltage is normal
Erase
Voltage is too low when
parameter
power on, cannot erase the
error
parameter
Motor code
Motor code cannot match to
Set the motor code in F2-00
error
drive type
again
Initialization
error
System chip is damaged
Check the power supply and

re-power on
Contact SPECTRA or an
authorized distributor
53
Debug steps
a)
Please check the products before power on, make sure the devices are not
significant damage.
b)
Connect the cables correctly. Connect U, V, W one-to-one, dont cross them.
c)
Power on, panel display: bb;
d)
Enter F2-00, set the correct motor code.
e)
After power on again, proceed to current Offset Auto-Adjustment, please refer to

auxiliary run mode
f)
Set F1-01=1, check if the motor can work normally. If yes, enter F1-00. If not,
check the cables.
g)
Enter F1-00 and proceed to jog test-running, if work normally, connect to motor.
h)
Before start the devices, set the parameters of servo according to actual
application, and adjust in real-time.
54
Motor code
Motor type
Capacity
Torque
Rotate speed
Current
KW
Nm
RPM
Overload
Motor code
MS-60ST-M00630
0.2
0.637
3000
1.8
1003
MS-60ST-M01330
0.4
1.27
3000
2.5
0004
MS-80ST-M02430
0.75
2.39
3000
3.0
0011
MS-80ST-M03520
0.75
3.5
2000
3.0
0012
MS-90ST-M02430
0.75
2.4
3000
3.0
0021
MS-110ST-M04030
1.2
3000
5.0
0031
MS-110ST-M05030
1.5
3000
6.0
0032
MS-130ST-M06025
1.5
2500
6.0
0042
MS-130ST-M07725
2.0
7.7
2500
7.5
0043
MS-130ST-M10015
1.5
10
1500
6.0
2.5
0044
MS-130ST-M15015
2.3
15
1500
9.5
0046
MS-180ST-M19015
3.0
19
1500
12.0
2.5
0052
Suitable motor code for each servo drive

Servo drive
Motor code
DS2-20P2-AS
1003
DS2-20P4 /A/B
0004
DS2-20P7 /A/B
0011(Default setting), 0012, 0021
DS2-21P5 /A/B
0031, 0032, 0042, 0044(Default setting)
DS2-22P3 /A/B
0043, 0046(Default setting)
DS2-23P0 /A/B
0052(Default setting)
55
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DS2 Series 220V Servo Driver

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What safety precautions should be taken when installing and operating the servo drive?

What safety precautions should be taken when installing and operating the servo drive?

What steps should be taken to check for any issues upon receiving the product?

What steps should be taken to check for any issues upon receiving the product?

DS2 series 220V servo drive

Fast reference manual

DS2 series 220V servo drive user manual

Confirmation when receive products

Cut off external power supply before installation.

Cut off external power supply before wiring.

Connect AC power supply to the corresponding terminals.

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

Use 2mm2 wire to grounding the ground terminals.

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

Do not connect with any motor when trial operation.

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

Do not touch the heat sinks during operation.

Checking Products upon Delivery

Are the delivered products the ones

Check the model numbers marked on the nameplates

that were ordered?

of the servomotor and servo drive.

Does the servomotor shaft rotate

The servomotor shaft is normal if it can be turned

smoothly by hand. Servomotors with brakes,

Is there any damage?

Check the overall appearance, and check for damage

DS2 series 220Vservo drive user manual

Check screws for looseness using a screwdriver.

Is the motor code the same with the

Check the motor code marked on the nameplates of

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

(Without DB15 port)

Null: Fundamental configure

DS2 series 220V servo drive user manual

01330: rated torque 1.3Nm, rated revolution 3000rpm;

Shaft Specifications: AWithout key; BWith key;

DS2 series 220Vservo drive user manual

DS2 series 220V servo drive user manual

To show the servo state, alarm, parameters

DS2 series 220Vservo drive user manual

Power supply input and servo

Power supply and motor power

DS2 series 220V servo drive user manual

For internal updating

DS2 series 220Vservo drive user manual

Indoor, free of corrosive or explosive gases.

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

DS2 series 220V servo drive user manual

Through part of the shaft

servomotor if it is used in a location that is

DS2 series 220Vservo drive user manual

Install the servo drive perpendicular to the wall as shown

because it is designed to be cooled by natural convection

30mm minimum 10mm minimum

Servo drive Orientation

cooling by cooling fans or natural convection.

DS2 series 220V servo drive user manual

Environmental Conditions in the Control Panel