DS2 Manual
DS2 Manual
DS2 Manual
User manual
Safety Precautions
Be sure to review this section carefully before use this product. In precondition of
security, wire the product correctly.
The following defines the symbols used in this manual to indicate varying degrees of
safety precautions and to identify the corresponding level of hazard inherent to each.
Failure to follow precautions provided in this manual can result in serious, possibly even
fatal, injury, and/or damage to the persons, products, or related equipment and systems.
CAUTION
WARNING
CAUTION
1. Always use the servomotor and servo amplifier in one of the specified combinations.
Never use the products in an environment subject to water, corrosive gases,
inflammable gases, or combustibles.
Doing so may result in electric shock, fire or malfunction.
2. DO NOT touch any metallic part.
Doing so may result in malfunction.
Wiring
WARNING
1. Cut off external power supply before wiring.
Not doing so may result in electric shock.
2. Connect AC power supply to the corresponding terminals.
Faulty wiring may result in fire.
a
CAUTION
1. Do not connect a three-phase power supply to the U, V, or W output terminals.
Doing so may result in injury or fire.
2. Use 2mm2 wire to grounding the groud terminals.
Not doing so may result in electric shock.
3. Securely fasten the power supply terminal screws and motor output terminal screws.
Not doing so may result in fire.
Operation
WARNING
1. Never touch any rotating motor parts while the motor is running.
Doing so may result in injury.
2. DO NOT touch the inside the driver.
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
Catalog
Preface............................................................................................................................. I
1 Checking Product and Part Names ................................................................................2
1-1Checking Products on Delivery .......................................................................2
1-1-1. Servomotors ...........................................................................................2
1-1-2Servo Drivers .......................................................................................3
1-1-3Adaptation table of servo drive and motor ............................................4
1-2Product Part Names .........................................................................................4
1-2-1Servomotors .........................................................................................4
1-2-2Servo Drivers .......................................................................................5
2-1Servomotor .....................................................................................................7
2-1-1Storage Temperature ............................................................................7
2-1-2Installation Site ....................................................................................7
2-1-3Concentricity........................................................................................7
2-1-4Orientation ...........................................................................................8
2-1-5Handling Oil and Water .......................................................................8
2-1-6Cable Stress .........................................................................................8
2-2Servo Drivers ..................................................................................................8
2-2-1Storage Conditions ...............................................................................8
2-2-2Installation Site ....................................................................................8
2-2-3Orientation ...........................................................................................9
2-2-4Installation ...........................................................................................9
3 Wiring ........................................................................................................................ 11
3-1Main Circuit Wiring ...................................................................................... 11
3-1-1Names and Descriptions of Main Circuit Terminal ............................. 11
3-1-2Typical Wiring Example .................................................................... 12
3-1-3Winding Terminals on Servo motor.................................................... 13
3-2I/O Signals .................................................................................................... 13
3-2-1Layout of CN0/CN1 Terminals .......................................................... 13
3-2-2. CN0 and CN1 ...................................................................................... 13
3-2-3I/O Signal Names and Functions ........................................................ 15
3-2-4Interface Circuits ................................................................................ 15
3-3Wiring Encoders ........................................................................................... 17
3-3-1Encoder Connections.......................................................................... 17
3-3-2CN2 Encoder Connector Terminal Layout.......................................... 18
3-4Standard connection examples ...................................................................... 18
3-4-1Position Control Mode ....................................................................... 19
3-5Communication Port ..................................................................................... 21
3-5-1Serial Port 1(COM1) .......................................................................... 21
3-5-2Serial Port 2(COM2) .......................................................................... 22
3-6Regenerative Resistor.................................................................................... 22
4 Use the operate panel .................................................................................................. 24
4-1Basic Operation............................................................................................. 24
4-1-1. Functions of operate panel.................................................................... 24
4-1-2. Basic Mode Switching ......................................................................... 24
i
iv
Preface
Preface
Preface
This chapter describes the constitution of this manual, the intended user, and how to
acquire this manual.
Comments
Check the model numbers marked on the nameplates of the
servomotor and servo driver.
The servomotor shaft is normal if it can be turned smoothly
by hand. Servomotors with brakes, however, cannot be
turned manually.
Check the overall appearance, and check for damage or
scratches that may have occurred during shipping.
Check screws for looseness using a screwdriver.
Check the motor code marked on the nameplates of the
servomotor and the parameter F0-00 on the servo driver.
1-1-1. Servomotors
External Appearance
Nameplate
MS -80 ST - M 02430 A Z- 2 0P7
Capacity
Rated Voltage
Power-loss brake
Shaft Specifications
Performance Specifications
Feedback Component
Sinewave-drive Motors
Base Size
Motor Series Name
Base number
Feedback
component no.
Performance
parameter no.
Shaft spec
Power-loss
brake
Voltage level
Power
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
A
B
Vacant
Z
2
4
No bond
With bond
No
With DC99V power-off brake
220V
380V
1-1-2Servo Drivers
External Appearance
DS2-20P2
DS2-20P4
DS2-20P7
DS2-21P5
DS2-2P-A
DS2-2P-B
POWER
CHARGE
STA/ESC
INC
DEC
ENTER
PULPUL+
V1+
DIR-
CN1
DIR+
V2+
SI1
SI2
+24V
SO1
CN2
SO2
COM
P+
PB
L1
L2
L3
PE
U
V
W
Nameplate
DS2 2 1P5 - A
Configure type
Suitable motor capacity
Voltage level
Series name
Configure type
suitable motor
capacity
A
B
0P2
0P4
0P7
1P5
Voltage level
2P3
3P0
2
4
2.3KW
3.0KW
220V
380V
Motor code
MS-60ST-M00630-20P2
0003
MS-60ST-M01330-20P4
0004
MS-80ST-M02430-20P7
0011
MS-90ST-M02430-20P7
0021
MS-110ST-M04030-21P2
0031
MS-110ST-M05030-21P5
0032
Suitable drive
Voltage level
DS2-20P2
DS2-20P2-A
DS2-20P4
1-phase 220V
3-phase 220V
1-phase 220V
DS2-20P4-A
3-phase 220V
DS2-20P7
1-phase 220V
DS2-20P7-A
3-phase 220V
DS2-20P7
DS2-20P7-A
DS2-21P5
1-phase 220V
3-phase 220V
1-phase 220V
DS2-21P5-A
DS2-21P5-B
3-phase 220V
DS2-21P5
1-phase 220V
DS2-21P5-A
DS2-21P5-B
3-phase 220V
DS2-21P5
1-phase 220V
DS2-21P5-A
DS2-21P5-B
3-phase 220V
MS-130ST-M06025-21P5
0042
DS2-21P5
1-phase 220V
MS-130ST-M10015-21P5
0044
DS2-21P5-A
DS2-21P5-B
3-phase 220V
MS-130ST-M07725-22P0
MS-130ST-M15015-22P3
MS-180ST-M19015-23P0
0043
0046
0052
DS2-22P3-A
DS2-22P3-A
DS2-23P0-A
3-phase 220V
3-phase 220V
3-phase 220V
Frame
Flange
1-2-2Servo Drivers
DS2-21P5
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
To show the servo state, alarm, parameters
Panel keys
To set the parameters
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.
CHARGE
STA/ESC INC
DEC
PULPUL+
ENTER
Panel display
To show the servo state, alarm, parameters
Panel keys
To set the parameters
V1+
DIR-
CN1
DIR+
V2+
Output terminal
SI1
CN1
Command and sequence input
SI2
+24V
SO1
SO2
COM
CN2
CN2
To connect the encoder on the servo motor
P+
PB
L1
L3
L2
PE
U
V
W
COM1
5-pin port, debug with PC, communicate with
HMI, PLC and other devices
DIP switch
1
2
2 Installations
This chapter describes precautions for servomotor and servo driver installation.
2-1Servomotor
MS series servomotors can be installed either horizontally or vertically. The service life of
the servomotor can be shortened or unexpected problems might occur if it is installed
incorrectly or in an inappropriate location. Follow these installation instructions carefully.
CAUTION
1 The end of the motor shaft is coated with antirust. Before installing, carefully remove all of the
paint using a cloth moistened with paint thinner.
2 Avoid getting thinner on other parts of the servomotor.
Antirust
2-1-1Storage Temperature
Store the servomotor within -20~+60 as long as it is stored with the power cable
disconnected.
2-1-2Installation Site
MS series servomotors are designed for indoor use. Install the servomotor in environments
that satisfy the following conditions.
2-1-3Concentricity
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
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.
2-1-4Orientation
MS series servomotors can be installed either horizontally or vertically.
2-1-6Cable 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.
2-2Servo Drivers
The DS2 series servo drivers are base-mounted servo drivers. Incorrect installation will
cause problems. Follow the installation instructions below
2-2-1Storage Conditions
Store the servo driver within -20~+85, as long as it is stored with the power cable
disconnected.
2-2-2Installation Site
The following precautions apply to the installation site.
Situation
Installation Precaution
Installation in a Control
Design the control panel size, unit layout, and cooling method so the
Panel
Installation Near a
Minimize heat radiated from the heating unit as well as any temperature
Heating Unit
of Vibration
vibration.
Installation at a Site
Corrosive gas does not have an immediate effect on the servo drivers, but
Other Situations
Do not install the servo driver in hot and humid locations or locations
8
2-2-3Orientation
Install the servo driver perpendicular to the wall as shown in the figure. The servo driver
must be oriented this way because it is designed to be cooled by natural convection or by a
cooling fan.
2-2-4Installation
Follow the procedure below to install multiple servo drivers side by side in a control
panel.
Install the servo driver 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 driver for cooling
by cooling fans or natural convection.
Side-by-side Installation
9
When install servo drivers side by side as shown in the figure above, make at least 10mm
between and at least 50mm above and below each servo driver. Install cooling fans above
the servo drivers to avoid excessive temperature rise and to maintain even temperature
inside the control panel.
10
3 Wiring
This chapter describes the procedure used to connect DS2 Series products to peripheral
devices and gives typical examples of main circuit wiring as well as I/O signal
connections.
3.
4.
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)
Use twisted pair wires or multi-core shielded-pair wires for signal and encoder (PG) feedback
lines.
The maximum length is 118.11inch(3m) for reference input lines and is 787.40inch(20m) for
encoder(PG) feedback lines.
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.
Avoid frequently turning power ON and OFF. Do not turn power ON or OFF more than once per
minute.
Since the servo amplifier has a capacitor in the power supply, a high charging current flows for
0.2s when power is turned ON. Frequently turning power ON and OFF causes main power
devices like capacitors and fuses to deteriorate, resulting in unexpected problems.
PB
U
V
W
Terminal
P+, PB
U, V, W
Function
Regenerative braking
resistor connection
Motor connection
Ground
L
N
L, N
Explanation
Connect regenerative braking resistor
between P+ and PB
Connect to the motor
Connect to the ground terminal of
motor, to be grounded
Single-phase AC 200240V50/60Hz
Connect to the ground terminal of
power, to be grounded
11
DS2-21P5
Terminal
1
2
L, N
V
W
P+
Function
Suppress current high
harmonics, to connect
DC reactor
Power input of main
circuit
Ground
U, V, W
Motor connection
Ground
P+, PB
Regenerative braking
resistor connection
PB
Explanation
1 and
2 is short when out of factory.
Connect DC reactor between
1 and
2 to suppress current high harmonics.
Single-phase AC 200240V, 50/60Hz
Connect to the ground terminal of motor,
to be grounded
Connect to the motor
Connect to the ground terminal of power,
to be grounded
Connect regenerative braking resistor
between P+ and PB
DS2-2P-A, DS2-21P5-B
P+
PB
L1
Terminal
P+, PB
Function
Regenerative
braking
resistor connection
Power input of main
circuit
Ground
L2
L3
L1, L2, L3
PE
Explanation
Connect regenerative braking resistor
between P+ and PB
3-phase AC 200240V, 50/60Hz
Connect to the ground terminal of
power, to be grounded
Connect to the motor
U
V
U, V, W
Motor connection
1MCCB
FIL
1
2
Braking
resistor
U
V
W
P+
PB
L
N
CN2
PG
Servo drive
12
3-2I/O Signals
This section describes I/O signals for the DS2 series servo driver.
SO1
DS2-2P-A
DS2-2P-B
CN0
PUL
PUL-
SO2
DIR
PUL+
PUL
SO3
V+
V1+
DIR
COM
SI1
DIR-
SI1
SI2
DIR+
SI3
V2+
SI4
SI1
V+
SI2
SI2
V+
8
SO1
11
10
15
+24V
SO2
10
CN1(DB15)
SO1
COM
SO2
12
COM
DS2-21P5
No.
1
2
3
4
5
CN1
Name
A
B
PUL
DIR
SI1
No.
6
7
8
9
10
Name
SI2
+24V
SO1
SO2
COM
Description
Input terminal 2
+24V for input
Output terminal 1
Output terminal 2
Ground of output
CN0
No.
1
2
3
Description
RS485+
RS485Pulse A, pulse signal
Pulse B, direction signal
Input terminal 1
Name
SO1
SO2
SO3
Description
Output terminal 1
Output terminal 2
Output terminal 3
No.
4
5
6
Name
COM
A
B
Description
Ground of output
RS485+
RS485-
CN1
No.
1
Name
PUL
Description
Pulse A, pulse signal
No.
5
Name
SI2
Description
Input terminal 2
13
2
3
4
DS2-2P-A
DS2-2P-B
DS2-2P-A
DIR
V+
SI1
No.
1
Name
PUL-
PUL+
V1+
DIR-
DIR+
V2+
Description
Pulse input PULDifferential input
PUL+
+24V for open
collector
Direction input
DULDifferential input
DIR+
+24V for open
collector
SI3
SI4
+24V
Input terminal 3
Input terminal 4
+24V for input
CN0
No.
7
Name
SI1
Description
Input terminal 1
SI2
Input terminal 2
+24V
+24V input
10
SO1
Output terminal 1
11
SO2
Output terminal 2
12
COM
Ground of output
terminal
CN1(DB15)
No.
DS2-2P-B
6
7
8
Name
SI3
SI4
SI5
SI6
+24V
SO3
COM
AO
Description
Input
terminal 3
Input
terminal 4
Input
terminal 5
Input
terminal 6
+24V input
Output
terminal 3
Ground for
output
terminal
Encoder
output A
No.
Name
Description
BO
Encoder output B
10
ZO
Encoder output Z
11
T-REF
12
V-REF
13
GND
14
RS485+
15
RS485-
CN1 (DB15)
No.
Name
SI3
SI4
SI5
SO3
B-
A+
A-
Z+
Description
Input
terminal 3
Input
terminal 4
Input
terminal 5
Output
terminal 3
Encoder
output BEncoder
output A+
Encoder
output AEncoder
output Z+
No.
Name
Description
Z-
Encoder output Z-
10
B+
Encoder output B+
11
12
T-RE
F
V-RE
F
13
GND
GND
input
14
RS485+
15
RS485-
for
analog
14
Input Signals
Item
Digital input
Pulse input
Input
SI1SI6
PUL
PULPUL+
DIR
DIRDIR+
Function
Multi-functional input terminal
Reference chapter
5-12-1
P2-00=1A-phase pulse
P2-00=2pulse
5-3-2
P2-00=1B-phase pulse
P2-00=2pusle direction (sign)
5-3-2
Output Signals
Class
Digital Output
Name
SO1SO3
Functions
Multi-functions Output Terminals
Reference chapter
5-12-2
Notes: the control signal must be grounded, please refer to chapter 3-4.
3-2-4Interface Circuits
This section shows examples of servo driver I/O signal connection to the host controller.
DS2-2P-A
Host device
DS2-2P-B
+10V
2K
1W
servo drive
11 T-REF
12 V-REF R=13K
13 GND
0V
-10V
15
DS2-20P2
DS2-20P4
servo drive
DS2-20P7
PULS
+24V
DS2-21P5
+
0V
Y0
+24V
COM0
SIGN
R=2.2K
Y1
COM1
0V
DS2-2P-A
DS2-2P-B
R=2.2K
Shield layer
servo drive
+24V
1 PUL-
0V
2 PUL+
Y0
3 V1+
R=2.2K
4 DIR-
COM0
5 DIR+
Y1
COM1
0V
Shield layer
6 V2+
R=2.2K
When the host device is open collector output, PUL+(2) and DIR+(5) must be
vacant.
servo drive
PUL+
1 PUL-
PUL-
2 PUL+
3 V1+
R=2.2K
4 DIR-
DIR+
5 DIR +
DIR-
6 V2+
R=2.2K
0V
Shield layer
When the host device is 5V differential signal output, V1+(3) and V2+(6) must
be vacant.
16
Use relay or open collector transistor circuit to connect. Please choose micro-current relay when using
relay. Otherwise, the contact will be not good.
servo drive
servo drive
+24V
+24V
+24V
+
0V
0V
SI
SI
R=2.2K
R=2.2K
Y2
Y2
COM2
COM2
Notes: the max allowable voltage and current of open collector output:
Voltage: DC30V (max)
Current: DC50mA (max)
The signal output circuit of servo unit is open collector signal. Please build the input circuit at the host
side according to the output circuit condition.
Photocoupler input
Servo drive
host device
Relay input
Servo drive
host device
+24V
+24V
SO
COM
X3
SO
COM
0V
COM
X3
COM
0V
3-3Wiring Encoders
The following sections describe the procedure for wiring a servo driver to the encoder.
3-3-1Encoder Connections
17
Incremental encoder
servo unit
A+
P
X0
B-
9 BO
X1
ZU+
Z+
10 ZO
X2
ZU+
UV+
13 GND
V-
CN1
CN2
AB+
B-
Z+
PG
DB15
8 AO
A+
AB+
host device
UV+
0V
Shield cables
V-
W+
COM
W+
P
W-
W-
+5V
+5V
P
GND
GND
SHIELD
Connector shell
shell
Shield calbes
P
The following diagrams are the layout of CN2 connector (face the solder pin).
5
4
10
15
3
9
14
2
8
13
1
7
12
6
11
Driver
Side
1
3
5
7
9
11
13
15
Name
A+
Z+
W+
BUShield
5V
V-
Driver
Side
2
4
6
8
10
12
14
Name
B+
U+
AZWGND
V+
Besides, the control signal wires must connect to the ground, the ground method is shown
as below:
The shield method of control signal wires:
PULPUL+
V1+
Host device
Servo
DIRDIR+
V2+
SI1
SI2
+24V
SO1
SO2
COM
P+
Regenerative resistor
PB
U
V
W
L
N
PE
CN2
FIL
Shield
layer
connects to 0V
at signal side,
be vacant at
drive side
/PUL
/DIR
/ALM-RST6
+24VIN7
PG
Well operate with
the shield wire
CN1
3.3K
/S-ON 5
U
V M
W
PE
10
COIN
Positioning finished
The outputs
ALM
Alarm output can
be
self-defined
COM
19
DS2-21P5
single-phase
AC220V
(50/60Hz)
1
2
FIL
L
N
PE
U
V M
W
PE
U
V
W
CN2
PG
P+
regenerative
resistor
Shield
layer
connects to 0V at
signal
side,
be
vacant at drive side
be sure to properly
operate the end of the
shield wire
PB
CN1
/PUL
/SIGN
3.3K
CN0
1
Vcc
COIN
+24VIN 3
2
/S-ON
ALM
alarm output
4
3.3K
ready
4
COM
/P-OT 6
+24VIN
user defined
S-RDY
/ALM-RST 5
/N-OT 7
positioning
completed
20
DS2-2P-ADS2-2P-B
3-phase 220V AC
(50/60Hz)
FIL
L1
L2
L3
P+
PB
PE
Regenerative
resistor
CN2
CN1-10
Shield
layer
connects to 0V
at signal side,
be vacant at
drive side
/PUL-CN0-1
U
V M
W
PE
U
V
W
CN1-9
2.2K
PG
Well
operate
with the shield
wire
ZO
BO
/DIR- CN0-4
CN1-8
Vcc
V2+
CN0-3
CN1-13
Servo enable ON
Servo enables when ON
Alarm reset
Clear the alarm when ON
+24VIN
CN0-9 3.3K
/S-ON
CN0- 4
CN0- 8
/ALM-RSTCN0-5
+24VIN
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
AO
CN0- 9
3.3K
CN1-7
CN1- 1
CN1--6
Encoder
signal
output
GND
COIN
ALM
COM
S-RDY
The outputs
can be
Self-defined
COM
3-5Communication Port
3-5-1Serial Port 1(COM1)
COM1 supports RS232, and is often used to connect with PC for debugging.
DS2-20P2, DS2-20P4, DS2-20P7, DS2-2P-A, DS2-2P-B
(5-pin port)
Pin
1
2
3
Name
TXD
RXD
GND
Explanation
RS232 send
RS232 receive
RS232 ground
21
DS2-21P5
Number
2
4
5
8
8 7 6
5 4 3
2 1
Name
UPGRADE
RXD
TXD
GND
Description
Self Upgrade
RS232 receive
RS232 send
RS232 ground
8-pin DB port
Name
Default Setting
Range
Baud rate
P0-04.1
P0-04.2
P0-04.3
Data Bits
Stop Bits
Parity
0
2
2
0: 300
1: 600
2: 1200
3: 2400
4: 4800
5: 9600
6: 19200
7: 38400
8: 57600
9: 115200
0: 8 bits
0: 2 bits. 2: 1 bit
0: No Parity. 1: Odd Parity. 2: Even Parity
Modbus station number can be set freely, depending on the following parameter.
Parameter
Number
P0-03
Name
Unit
Default Setting
Range
1~255
COM2
ACN1-1
BCN1-2
Standard
Remark
RS485
DS2-21P5
ACN0-5
BCN0-6
RS485
ACN1-14
BCN1-15
RS485
DS2-2P-A
DS2-2P-B
3-6Regenerative Resistor
When the servo motor operates in generator mode, power is returned to the servo driver
side. This is called regenerative power. The regenerative power is absorbed by charging
the smoothing capacitor, but when the capacitors charging limit is exceeded, the
22
Note: Adequate cooling must be provided for regenerative resistors because they reach
very high temperatures. Also use heat-resistant, non-flammable wire and make sure that
the wiring does not come into contact with the resistors.
Motor model
MS-60ST-M00630-20P2
MS-60ST-M01330-20P4
MS-80ST-M02430-20P7
MS-90ST-M02430-20P7
MS-110ST-M04030-21P2
MS-110ST-M05030-21P5
MS-130ST-M06025-21P5
MS-130ST-M07725-22P0
MS-130ST-M10015-21P5
MS-130ST-M15015-22P3
MS-180ST-M19015-23P0
Suggested
resistor
50
50
50
50
50
50
50
50
50
50
50
Suggested power
Min resistor
100W
100W
100W
100W
100W
100W
200W
200W
200W
300W
300W
50
40
40
40
40
40
40
40
40
40
40
Note: The Recommended Power means that the value may be suitable to most applications.
Nervertheless, in real conditions, actual power could be more or less than the
recommended value, so the rated power should be flexible to actual temperature of the
regenerative resistor.
23
4-1Basic Operation
This section provides information on the basic operation of the operate panel for setting
operating conditions.
This section provides information on the keys and their functions available from the initial
displays.
Key Name
STATUS/ESC
INC
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, Enter
24
Power ON
Running status
Parameter setting
Monitoring
Auxiliary function
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.
A. Bit contents:
Bit Data
Speed Coincidence
(/V-CMP)
Torque Limit (/CLT)
Rotation Detection
Description
Light when the motor actual speed and command
speed is the same. Speed coincidence signal checking width: P5-03 (unit:
rpm)
Light when actual torque exceeds preset value.
Forward Torque Limit: P4-02
Reverse Torque Limit: P4-03
Light when the motor speed exeeds the rotation detection speed.
25
(/TGON)
Zero Clamp (/ZCLAMP)
Descrption
Standby
Servo OFF (motor power OFF)
Run
Servo ON (motor power ON)
Forward Run Prohibited
P-OT is OFF. Please refer to 5-2-3 Overtravel Limit
Reverse Run Prohibited
N-OT is OFF. Please refer to 5-2-3 Overtravel Limit
Description
Light when set position and actual position is the same.
Positioning accomplishment width: P5-00 (unit: command
pulse)
Light when set position and actual position is the same.
Near signal width: P5-04
Light when the motor speed exeeds the rotation detection
speed.
Rotation detection speed: P5-02(unit: rpm)
Descrption
Standby
Servo OFF (motor power OFF)
Run
Servo ON (motor power ON)
Forward Run Prohibited
P-OT is OFF. Please refer to 5-2-3 Overtravel
Limit
Reverse Run Prohibited
N-OT is OFF. Please refer to 5-2-3 Overtravel
Limit
4-3Monitoring Mode
The Monitoring Mode can be used to monitor the reference values, I/O signal status, and
servo driver internal status.
The monitor mode can be set when the motor is running.
26
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.
Number
U-00
U-01
U-02
U-03
U-04
U-05
U-06
U-07
U-08
U-09
U-10
U-11
U-12
U-13
U-14
U-15
U-16
U-17
U-18
U-19
U-20
U-21
U-22
Monitor Display
Actual speed of motor
Input speed command
Internal torque command
Rotate angle (mechenism angle)
Rotate angle (electrical angle)
Bus voltage
Module temperature
Input command pulse speed
(0000~9999)*1
Pulse value of shift
command
(0000~9999)*10000
Rotate angle (encoder (0000~9999)*1
value)
(0000~9999)*10000
(0000~9999)*1
Pulse value of input
command
(0000~9999)*10000
(0000~9999)*1
Pulse value of
feedback command
(0000~9999)*10000
(0000~9999)*1
Current position
(Accumulated)
(0000~9999)*10000
Current, 1-bit decimal
Analog input V-REF
Analog input T-REF
I/O signals status
I/O terminals status
Unit
Rpm
Rpm
%
0.1
0.1
V
0.1
Rpm
Command
pulse
encoder pulse
Pulse
command
Pulse
command
encoder pulse
0.1A
0.01V
0.01V
The following diagram describes the input and output signals status displayed in U-21.
Diagram 1
Diagram 2
In diagram 1, LED4 and LED5 stand for input signals status, and LED1 and LED2 stand
for output signals status. In diagram 2 there shows the segment No. of each LED.
Input signals status
Segment
LED4_0
Description
/SPD-A internal set
selection
speed
Segment
Description
LED5_0
LED4_1
LED4_2
LED4_3
LED4_4
LED5_1
LED5_2
LED5_3
LED5_4
LED4_5
LED5_5
LED4_6
LED5_6
LED4_7
LED5_7
Description
/NEAR near
Segment
LED2_0
LED1_1
LED2_1
LED1_2
LED2_2
LED2_3
LED2_4
LED2_5
LED2_6
LED2_7
Description
/COIN positioning completed
/V-CMP speed synchronization
checking
/TGON rotate checking
/S-RDY ready
/CLT torque limit
/VLT speed limit checking
/BK brake lock
/WARN warn
The following diagram describes the input and output terminals status:
Diagram 1
Diagram 2
In diagram 1, LED5 stands for input signals status, and LED2 stands for output signals
status. In diagram 2 there shows the segment No. of each LED.
Segment
LED5_0
LED5_1
LED5_2
LED5_3
LED5_4
LED5_5
Input terminals
Description
Input status of SI1
Input status of SI2
Input status of SI3
Input status of SI4
Input status of SI5
Input status of SI6
Segment
LED2_0
LED2_1
LED2_2
Output terminals
Description
Output status of SO1
Output status of SO2
Output status of SO3
4-4Auxiliary Function
Use the operate panel to do application in auxiliary function mode.
Group No.
F0-**
F1-**
F2-**
F3-**
F4-00
F5-00
Content
Check system information, display the system code and data
Auxiliary run mode, display the auxiliary run command and result
Set the motor code
Check the alarm information, clear the alarm
Reset parameters to default
External communication monitoring
28
Description
Motor Code
Servo Model
Produce Date: Month
Software Version
Function No.
F0-01
F0-03
F0-05
F0-07
Description
Servo Series
Produce Date: Year
Produce Date: Day
Hardware Version
Panel Display
Idle
Servo ON
State
Forward
Jogging
Reverse
Jogging
Panel Display
Default
100
JOG speed
Setting range
Suitable mode
0~500
JOG
Change
Servo OFF
Effective
Immediately
If correctly wired, the motor would rotate in 5 seconds in forward direction (fixed to
counter-clockwise), otherwise the motor would shock or viberate, raising an alarm for
worse. In this case the power must be switched off immedietely and check the wiring
again.
Press STATUS/ESC key to return.
3. Current Offset Auto-Adjustment (F1-02)
After the servo driver 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.
Press STATUS/ESC key to return.
4. Speed command offset auto-adjustment (F1-03)
Select F1-03 and enter speed command offset auto-adjustment function, and the panel
displays rEF_o.
Press ENTER key to start speed command offset auto-adjustment, and the panel displays
blinking rEF_o.
About 1 second later, auto-adjustment is finished, and the panel displays donE to inform
that the function is already finished.
Press STATUS/ESC key to return.
5. Torque command offset Auto-Adjustment (F1-04)
Select F1-04 and enter torque command offset auto-adjustment function, and the panel
displays rEF_o.
Press ENTER key to start torque command offset auto-adjustment, and the panel displays
blinking rEF_o.
About 1 second later, auto-adjustment is finished, and the panel displays donE to inform
that the function is already finished.
Press STATUS/ESC key to return.
6. Forced Servo enables (F1-05)
0: Cancel forced servo enables
1: Forced servo enables
Description
Current alarm code 1
Current warn code 2
Alarm/warn code 1 when alarm
U phase current when alarm
V phase current when alarm
DC bus-voltage when alarm
IGBT module temperature when alarm
Speed when alarm
Internal torque command when alarm
V-REF value when alarm
T-REF value when alarm
Alarm/warn code 2 when alarm
Alarm/warn code 3 when alarm
Alarm/warn code 4 when alarm
Alarm/warn code 5 when alarm
Alarm/warn code 6 when alarm
Alarm/warn code 7 when alarm
Unit
A
A
V
rpm
V
V
4-5Parameter Setting
Select or adjust the functions via parameter setting. Please refer to appendix 1 for
parameters list.
The following steps show how to change a parameter.
Check the permitted range of the parameters in appendix 1.
31
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.
4-6Alarm
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.
32
Control mode
Reference
P0-00
P0-01
Sub
mode1
Idle mode
The motor will not power on even if the servo drive enables.
Torque control (internal setting)
Control the output torque of servo motor via operating panel or
communication.
Torque control (analog voltage command)
Control the output torque of servo motor via analog voltage
command. It is mostly used to close-loop torque control with upper
device, such as tension control. (If servo drive doesnt have analog
input port, it cannot use this mode.)
Speed control (internal speed setting)
Use /SPD-D, /SPD-A, /SPD-B to select the speed which is set in
the servo drive. The servo drive can set 3 speeds.
Speed control (analog voltage command)
Control the speed of servo motor via analog voltage command. It is
mostly used to close-loop speed control with upper device.
Position control (internal position command)
Control the position via internal position command; it can set pulse
quantity and torque.
Position control (external pulse command)
Control the position of servo motor via pulse command. Control the
position via pulse quantity; control the speed via pulse frequency.
Speed control (pulse frequency command)
Control the speed of servo motor via pulse frequency, but not
control the position.
The servo will enter sub mode2 when /C-SEL signal is effective.
6
(default
value)
7
P0-02
Sub
mode2
Same
as
sub mode 1
5-9
5-8
5-6
5-5
5-4
5-3
5-7
5-10
Name
Servo ON setting /S-ON
Switch the motor rotate direction
Motor stop mode setting
Servo immediately stop torque
Prohibit forward running /P-OT
Prohibit reverse running /N-OT
Power-loss brake /BK
Reference
5-2-1
5-2-2
5-2-3
5-2-3
5-2-4
5-2-4
5-2-5
33
Effective
Repower
on
Forward rotate
Standard setting:
CCW is forward
rotate
Reverse mode:
CW is forward
rotate
Reverse rotate
CCW
CW
CW
CCW
Effective
Repower
on
direction of
limit
switch
Forward
side
limit
switch
P-OT
servo
N-OT drive
34
Signal
/P-OT
Setting
Explanation
Modify
Effective
n.0013
SI3=ON, prohibit the forward running Any
Repower on
n.0003
SI3=OFF,prohibit the forward running
(default
value)
n.0010
Always prohibit the forward running
n.0000
Do not use forward overtravel signal
P5-13
/N-OT
Default value is n.0004, input signal from SI4 Any
Repower on
terminal. The setting method is the same as P-OT.
1. /P-OT, /N-OT can be changed to other terminal input via parameter P5-12 and P5-13. Please refer to
chapter 5-12-1.
2. In position control, there is position offset pulse when stop the motor via overtravel signal. Please
input clear signal /CLR to clear the offset.
3. In position control, if the servo still can receive pulse when stop the motor via overtravel signal,
these pulses will accumulate until the servo alarm.
Notes: below is the default setting of P-OT and N-OT for each type.
Servo type
Parameter
Default setting
DS2-20P4
P5-12
n.0000
DS2-20P4-B
DS2-20P7
DS2-20P7-B
P5-13
n.0000
DS2-21P5-B
DS2-20P4-A
P5-12
n.0003
DS2-20P7-A
DS2-21P5
P5-13
n.0004
DS2-21P5-A
As the output terminals are different from each type, the default setting will be different.
(3) Motor stop mode when use overtravel signal
When use overtravel signal, please set the motor stop mode as the below table:
Parameter Function
Setting
Default value
Modify
range
P0-06.H
Motor stop mode when 0~3
2
Servo
use overtravel signal
OFF
Effective
Repower
on
P0-06.H value
0~1
Explanation
Inertia stop. Keep on inertia motion after stop.
Decelerate stop. Change to zero clamp state after stop.
2
Torque setting: P4-06 urgent stop torque
Decelerate stop. Change to inertia motion state after stop.
3
Torque setting: P4-06 urgent stop torque.
Notes: (1) P0-06.H=0,1, servo enable signal will be forced OFF when overtravel signal arrives.
P0-06.H=3, servo enable signal will be forced OFF after motor stop when overtravel signal
arrives. P0-06.H=2, servo enable signal will not be forced OFF as long as the servo enable
signal is always effective.
(2) stop condition depends on rotate checking speed P5-02, unit rpm.
Related parameter settings:
P4-06
Default value
1% rated torque
300
Range
0~300
Suitable
mode
All
the
Modify
Servo
Effective
Immediately
35
modes
OFF
Notes: if this parameter set too small, the motor will stop slowly.
Description
Unit
Setting Range
P0-06.L
0~2
P0-06.L range
0~2
Default
Setting
2
Explanation
Inertia stops. After stop, keep on inertia motion state.
Notes: DS2 series servo drive doesnt have built-in DB brake. So no matter what value
P0-06.L is, servo will keep on inertia motion after stop.
Power-off brake
Prevent the part
moving as gravity
when servo is OFF
36
Servo
drive
Power
L1 L2
BK-RY
U
V
W
PE
1
2
3
U
V
W
PE
SO1
+24V
BK
COM
BK-RY
AC
PG
CN2
Power supply
for brake
DC
Signal
/BK
Type
Output
Default
n.0000
Explanation
Need to distribute
Modify
Any
Effective
Re-power
on
/BK signal can output from output terminal via setting parameter P5-34, please refer to chapter 5-12-2.
Suitable mode
All the modes
Modify
Servo OFF
Effective
Immediately
This parameter is used to set the output time from the brake control signal /BK to the
servo OFF operation (servomotor output stop).
/S-ON input
/BK output
Servo action
(Motor power on)
Servo ON
Brake OFF
Motor
Power ON
Servo OFF
Brake ON
Motor
power OFF
Servo OFF
Delay time
With the standard setting, the servo will be OFF when the /BK signal (brake operation)
output. However, depending on machine configuration and brake characteristics, there is a
period from /BK signal output to brake action. During the time, motor will not output
torque, brake doesnt brake, the machine may move slightly due to gravity. Now, we use
37
parameter P5-06 to delay the servo OFF, make sure the servo isnt OFF until the brake
action in order to delete the machine moving.
Note: this parameter is the time when motor stop and TGON is invalid.
(4) Brake ON parameter (When servo motor is rotating)
The brake action setting during the motor is rotating: parameter P5-07, P5-08.
Notes: the motor will power OFF when alarm occurs. The machine will move as gravity
until the brake action.
Set below parameters in order to use brake when motor speed decreases to setting value or
waiting time ends.
P5-07
P5-08
Suitable mode
All the modes
Modify
Servo OFF
Effective
Immediately
Suitable mode
All the modes
Modify
Servo OFF
Effective
Immediately
Set the brake time when servo OFF caused by /S-ON signal or alarm.
/S-ON input or alarm
Occurs power off
Servo ON
Servo OFF
DB stop
Free stop
Motor speed
rpm
P5-07
/BK output
Brake ON
Brake OFF
P5-08
The brake is used to protect the position. The brake must be effective at suitable time
when servo motor stop. Users can adjust the parameters according to the machine action.
The /BK signal from ON to OFF under either of the following conditions:
1. Motor speed drops below the value of P5-07 after servo OFF.
2. over the time of P5-08 after servo OFF.
The real speed is max speed (P3-09) even set the speed higher than max in P5-07.
Basic parameter
Name
Control mode selection
Pulse command mode
Electronic gear ratio (numerator)
Electronic gear ratio (denominator)
Servo ON signal /S-ON
Key words
Command filter
Clear error pulse
Param
eter
P2-01
P5-24
Reference
5-3-1
5-3-2
5-3-3
5-2-1
Reference
5-3-4
5-3-5
38
Positioning finish
Positioning near
Prohibit pulse
P5-28
P5-00
P5-36
P5-04
P5-22
5-3-6
5-3-7
5-3-8
Setting
Meaning
value
P0-01
6
Position control (external pulse)
Function: control the position by the external pulse command
Modify
Effective
Servo OFF
Immediately
Setting
value
0
2
Command mode
Suitable
mode
6, 7
Modify
Effective
Servo
OFF
Re-power
on
Note: DS2 series (hardware version 3.2) cannot support AB phase pulse.
5-3-2-2. Explanation of command pulse
Command pulse mode
Electrical specification
DIR
t1 t2
t7
t3
Direction+pulse
(DIR+PUL signal)
Max frequency:
Bus drive is 500kbps.
Transistor open circuit is
200kbps.
Remark
PUL
t4
T
Forward
command
t5
t6
Reverse
command
Direction (DIR)
1= forward
command
0= reverse
command
t1,t2 0.1s
t3,t7 0.1s
t4,t5,t6 3s
2.5s
(/T) 100 40% ~ 60%
t2
t1
PUL
CW:
PUL=pulses
DIR=0
DIR
Forward run
t1, t2 0.1s
2.5s
(/T) 100 = 40% ~ 60%
Reverse run
CCW:
PUL=0
DIR=pulses
39
5-3-3-1. Parameter
P2-02
P2-03
1
Electronic gear (denominator)
Unit
Default
Range
1~65535
Suitable mode
6
Modify
Any
Effective
Immediately
Range
1~65535
Suitable mode
6
Modify
Any
Effective
Immediately
Content
Confirm the machine
specification
Confirm the encoder
pulse
Set the reference unit
Explanation
Confirm the deceleration ratio, ball screw distance, pulley
diameter
Confirm the servo motor encoder pulses
Set the actual distance or angle corresponding to 1 pulse of the
command controller
40
Calculate the moving Calculate the actual unit value the load shaft rotates 1 circle
value the load shaft based on reference unit
rotates 1 circle
5
Calculate the electronic Calculate the electronic gear ratio based on the formula (B/A)
gear ratio
6
Set the parameters
Set the result as the electronic gear ratio
1. Formula:
Suppose the machine deceleration ratio of motor shaft and load shaft is m/n, calculate the electronic
gear ratio as the below formula:
(when servo motor shaft rotates m circles, load shaft rotates n circles)
P2-02
Electronic gear ratio = B =
A P2-03
m
Encoder pulses 4
=
n
unit value of load shaft rotates 1 circle
If it exceeds the setting range, please reducible the molecular and denominator in the setting range. The
reducible will not affect the using.
2. Reference unit doesnt mean the precision
Refine the reference unit based on machine precision can improve the servo positioning precision. For
example: in the application of screw, the machine precision can up to 0.01mm, so the reference unit
0.01mm is more accurate than 0.1mm.
Ball screw
Load shaft
Round table
Belt + pulley
D
Load shaft
P: pitch
P
1rotate =
Reference unit
Load
shaft
360
1 rotate =
Reference unit
2
3
4
5
2500P/R
1 reference unit: 0.001mm
6mm/0.001mm =6000
B
25004
1
A
6000
1
P2-02
P2-03
5
= 10000
6000 = 3
B
A
P2-02
P2-03
25004
3600
13
25
= 30000
3600 = 3
D: pulley diameter
D
1rotate =
Reference unit
Pulley diameter: 100mm
Deceleration ratio: 2/1
2500P/R
1 reference unit: 0.02mm
314mm/0.02mm =15700
B
A
P2-02
P2-03
25004
15700
12
20000
200
= 15700
= 157
0
0~1
Suitable mode
6, 7
Modify
Servo OFF
Effective
Re-power on
41
Content
First-order inertia filter
Smooth filter
Modify
Servo OFF
Effective
Re-power on
Addition:
The comparison of P2-04 in First-order inertia filter and smooth filter mode:
First-order inertia filter
Smooth filter
Before filter
After filter
100%
100%
63.2%
36.8%
t
P2-04
P2-04
P2-04
P2-04
Signal
Default
Meaning
P5-24
/CLR
n.0000
Need distribution
Suitable
mode
5, 6
Modify
Effective
Any
Re-power
on
Notes: 1. /CLR can be used as input terminal, please refer to chapter 5-12-1.
2. Monitor the pulse error via U-08.
Function: after set on /CLR signal, the error counter is set to 0, position-loop given position is set to
current position. Clear the pulse error at the rising edge of /CLR signal.
1
/CLR signal
0
Clear once here
So after the /CLR signal is ON, the error will accumulate if the servo still receive pulses.
Signal
Default
P5-28
/COIN
n.0001
Meaning
Suitable
mode
5, 6
Modify
Effective
Any
Re-power
on
Unit
Default
Range
Suitable mode
Modify
Effective
1 reference unit
7
0~250
5, 6
Servo OFF
Immediately
Function: when the pulse error value is lower than P5-00, output /COIN signal. Monitor the pulse error
value via U-08.
Error
pulse
U-08)
(U-08)
P5-00
/COIN
1
/COIN
signal
0
Signal
Default
Meaning
P5-36
/NEAR
n.0000
Need to distribute
Suitable
mode
5, 6
Modify
Effective
Any
Re-power
on
Note: /NEAR can be output from terminal by setting P5-36, please see chapter 5-12-3.
P5-04
Width of positioning near signal
Unit
Default
Range
Suitable mode
Modify
Effective
1 reference
50
0~10000
5, 6
Servo OFF
Immediately
unit
Function: when the pulse error signal is lower than P5-04, output /NEAR signal.
Set the parameter wider than positioning complete signal. Monitor the pulse error value via U-08.
Error
pulse
(U-08)
U-08)
/NEAR signal
state /NEAR
5-00
5-04
/COIN/COIN 1
signal
state 0
Note: here is signal state, but not terminal state.
43
Signal
Default
Meaning
P5-22
/INHIBIT
n.0000
Need to distribute
Suitable
mode
5, 6
Modify
Effective
Any
Re-power
on
Note: /INHIBIT can be input from input terminal by setting P5-22. Please refer to chapter 5-12-1
Key words
Find the origin
Parameter
Name
Parameter
P2-94
P2-95
P2-96
P5-17
P5-18
P5-19
Reference
5-4-1
5-4-2
5-4-3
5-4-4
5-4-5
5-4-6
5-2-1
P5-24
P5-28
P5-00
P5-36
P5-04
Other parameters
Name
The quantity pass through the Z phase signal after
leaving the limit switch
The speed near the limit switch
The speed leave the limit switch
/SPD-D: define the origin in position mode
/SPD-A: find the reference origin at forward side
in position mode
/SPD-B: find the reference origin at reverse side
in position mode
Pulse error clear
Positioning complete signal output /COIN
Positioning complete width
Positioning near signal output /NEAR
Positioning near signal width
Reference
5-4-7
5-3-5
5-3-6
5-3-7
Modify
Servo OFF
Effective
Immediately
Content
Unit
Default
P2-10
Internal
position
mode setting
Parameter setting
n.xxx
n.xxx
n.xxx
n.0000
Function
Default
Wait mode
Change step
mode
0
0
Suitable
mode
5
Modify
Effective
Servo
OFF
Range
Re-power
on
No meaning
0~1
0~2
44
n.xxx
Positioning
mode
0~1
Mode explanation:
(1) Wait mode
n.xxx
Meaning
0
Wait for the completion of positioning
1
Not wait for the completion of positioning
Notes: the wait mode means wether the drive waiting for the completion of positioning in internal
position setting mode. This is effective in any change step mode.
Wait mode = 0, adjust time = 0ms
Wait mode = 0, adjust time > 0ms
P5-00
Pulse error
P5-00
Pulse error
t1
/COIN
Signal state1
t1
t2
/COIN
Signal state 1
t
After the drive output 1-segment position
command, it will not wait for the completion of
motor positioning, and start the next position
command at once.
t
t2
Explanation
/CHGSTP 1
Signal 0
0:
Change the step
when signal is ON,
recycling
P
Segment 1
Segment 2
Segment 1
t1
t2
t1
t
45
t1=P2-14, t2=P2-19
1. If /CHGSTP is ON, servo will run segment 1 and 2.
2. If /CHGSTP is OFF in one segment, servo will finish this segment and stop
running the next segment.
/CHGSTP 1
Signal 0
P
1:
Change the step at
the rising edge of the
signal, single-step
run
t1
Suppose there are 2 segments. t1=P2-14
In this mode, the adjust time is ineffective. The servo will run the next
command once the current pulse is finished.
/CHGSTP 1
Signal 0
P
2:
Start at the rising
edge of the signal,
sequential run all,
not recycling
t1
Meaning
Relative positioning
Absolute positioning
1: absolute positioning
(take the accumulate position origin as the absolute
positioning origin)
0: relative positioning
Segment 2
Segment 2
Segment 1
Segment 1
46
P2-5(n+1)+2
Default
1 pulse
0
-9999~9999
Pulse number (high bit)
P2-5(n+1)+5
Modify
Effective
Servo OFF
Immediately
Range
Suitable
mode
Modify
Effective
-9999~9999
Servo OFF
Immediately
Default
Range
Modify
Effective
0~50000
Servo OFF
Immediately
Unit
Default
Range
Modify
Effective
1ms
Filter time
0~65535
Servo OFF
Immediately
10000
pulses
Speed
Unit
P2-5(n+1)+4
Suitable
mode
5
Default
Unit
P2-5(n+1)+3
Range
0.1rpm
Adjust time
Suitable
mode
5
Suitable
mode
5
Suitable
Modify
Effective
mode
0.1ms
0
0~65535
5
Servo OFF
Immediately
Notes: 1. Set pulse number = pulse number (high bit) 10000 + pulse number (low bit).
2. In formula P2-5(n+1) + 1, n is the segment no. of internal position; the range is 1~16.
3. If one of the segment speed is zero, servo will skip this segment and run the next segment.
4. In relative positioning mode, if one segment speed is not zero but the pulse number is zero, the motor
will not run, but the wait mode is effective. The servo will run the next segment when the adjust time is
out.
5. In absolute positioning mode, if one segment speed is not zero but the pulse number is zero, the
motor will return to the reference origin with the speed of this segment.
6. In absolute positioning mode, if 2 consecutive segments speed are not zero, but the pulse number is
the same, the servo motor will not run but the wait mode is effective.
Unit
Default
Range
Signal
Type
Default
P5-25
/CHGSTP
Input
n.0000
Meaning
Suitable
mode
5
Modify
Effective
Need
Any
Re-power
distribute
on
Note: /CHGSTP can be distributed to other input terminal by setting the parameter P5-25. Refer to
chapter 5-12-1.
Signal
P5-22
/INHIBIT
Default
setting
n.0000
Meaning
Need to distribute
Suitable
mode
5, 6
Modify
Effect
Any
Repower
on
1./INHIBIT signal is distributed to I/O terminal via P5-22, refer to chapter 5-12-1.
47
Execution
Cancel current stage, execute the next stage at once
Cancel current stage, execute the next stage when the
change step signal is ON
Cancel current stage, execute the next stage at once
Signal
Type
Default
P5-21
/Z-CLAMP
Input
n.0000
Meaning
Suitable
mode
3, 4, 7
Modify
Need to
Any
distribute
1./Z-CLAMP can be distributed to input terminal by P5-21. Refer to chapter 5-12-1.
2./Z-CLAMP is zero clamp function in speed mode.
Effect
Re-power
on
Signal setting:
Parameter
Signal
Type
Default
P5-18
/SPD-A
Input
n.0000
Meaning
Suitable
mode
3, 5, 6
Modify
Effective
Need to
Any
Re-power
distribute
on
P5-19
/SPD-B
Input
n.0000
Need to
3, 5, 6
Any
Re-power
distribute
on
1. /SPD-A, /SPD-B can be distributed to the input terminal via parameter P5-18, P5-19, refer to chapter
5-12-1.
2. In position mode, /SPD-A can trigger the forward side to find the reference origin, /SPD-B can
trigger the reverse side to find the reference origin.
3. In internal speed mode (mode 3), /SPD-A and /SPD-B auto-switch to internal speed selection signal.
P2-95
P2-96
The quantity pass the Z phase signal after leaving the limit switch
Suitable
Unit
Default
Range
Modify
mode
Number
2
1~F
5, 6
Servo OFF
The speed hitting the proximity switch
Suitable
Unit
Default
Range
Modify
mode
0.1rpm
600
0~50000
5, 6
Servo OFF
The speed leaving the proximity switch
Suitable
Unit
Default
Range
Modify
mode
0.1rpm
100
0~50000
5, 6
Servo OFF
Effective
Immediately
Effective
Immediately
Effective
Immediately
48
Detailed explanation:
Find reference origin diagram:
/N-OT
/P-OT
Stop mode
P0-06.H
Speed P2-95
Direction CW
Speed P2-95
Direction CCW
Speed P2-96
Direction CCW
Speed P2-96
Direction CW
Z signal quantity
P2-94
Reference origin
of forward side
Stop mode
P0-06.H
Z signal quantity
P2-94
Reference origin
of reverse side
/SPD-A
/P-OT
/Z
V
P2-95
P2-94
P2-96
Steps:
1. Install limit switch at forward and reverse side. At the rising edge of /SPD-A, motor
runs forward at the speed of P2-95 to find the reference origin of forward side.
2. After the working table hit the limit switch, the motor stop as the mode set by parameter
P0-06.H.
3. Motor leaves the limit switch at the speed of P2-96. After the working table left the
limit switch, the motor run at the Z phase signal position of No.n optical encoder. This
position is considered as the coordinates origin, n is decided by parameter P2-94.
Signal
Type
Default
P5-17
/SPD-D
Input
n.0000
Meaning
Suitable
mode
3, 5, 6
Modify
Effective
Need
Any
Re-power
distribute
on
1. /SPD-D can be distributed to input terminal by P5-17. Refer to chapter 5-12-1.
2. In internal speed mode (mode 3), /SPD-D auto-switch to the direction select signal of internal speed.
49
The reference origin defined by the two modes will be considered as the origin of absolute
position control.
Parameter
P0-01
P3-00
P5-10
Key words
Zero drift
adjustment
Proportion
action
Zero clamp
Speed
coincidence
checking
Torque limit
Soft start
Filter
Death area
Parameter
F1-03
P5-11
P5-21
P5-01
P5-29
P5-03
P4-02
P4-03
P0-07
P4-04
P4-05
P5-15
P5-16
P5-32
P3-05
P3-06
P3-07
P3-08
P3-10
Other parameters
Name
Analog voltage speed command offset
auto-adjustment
P-CON
Zero clamp /ZCLAMP
Zero clamp speed
/V-CMP speed coincidence checking
Coincidence speed signal checking
width/V-CMP
Forward torque limit
Reverse torque limit
T-REF distribution
Forward external torque limit
Reverse external torque limit
Forward external torque limit /P-CL
Reverse external torque limit /N-CL
Output when torque reaches limit value
/CLT
Soft start acceleration time
Soft start deceleration time
Speed command filter time
Speed feedback filter time
Speed command death area input voltage
Reference
5-5-1
5-5-2
5-2-1
Reference
5-5-3
5-5-4
5-5-5
5-5-6
5-5-7
5-5-8
5-5-9
5-5-10
Range
Suitable
Modify
Effective
mode
0.01V/rated speed
1000
150~3000
4
Servo OFF
Immediately
Function: the speed command voltage (V-REF) to run the servo motor at rated speed.
Such as: P3-00=500 means the motor run at rated speed when analog input voltage = 5.00V
P3-00=800 means the motor run at rated speed when analog input voltage = 8.00V.
Signal
/P-CON
Type
Input
Default
n.0000
State
Effective
Meaning
Modify Effective
Run in P control
Any
Re-power
mode
on
Ineffective Run in PI control
mode
1. /P-CON is the speed control mode signal selected from PI (proportion integral) and P (proportion).
2. If set to P control mode, the motor rotate and micro-vibration caused by speed command input drift
can be decreased. But the servo stiffness will decrease.
3. /P-CON signal can be distributed to input terminal via parameter P5-11. Refer to chapter 5-12-1.
Signal
/Z-CLAMP
Type
Input
Default
n.0000
Meaning
Suitable mode
Modify
Effective
Need to
3, 4, 7
Any
Re-power
distribute
on
Note: /Z-CLAMP signal is distributed to input terminal by parameter P5-21, refer to chapter 5-12-1.
Modify
Servo OFF
Effective
Immediately
/ZCLAMP input
ON
OFF
ON
51
Signal
/V-CMP
Type
Output
Default
n.0000
Meaning
Suitable mode
Modify
Effective
Need to
3, 4, 7
Any
Re-power on
distribute
Note: /V-CMP signal can be distributed to output terminal by parameter P5-29. Refer to chapter 5-12-3.
P5-03
Signal
Type
Default
P5-15
/P-CL
Input
n.0000
Meaning
Suitable
mode
All modes
Modify
Effective
Immediately
Effective
Immediately
Effective
Need to
Any
Re-power
distribute
on
P5-16
/N-CL
Input
n.0000
Need to
All modes
Any
Re-power
distribute
on
Notes: /P-CL, /N-CL can be distributed to input terminal by parameter P5-15, P5-16. Refer to chapter
5-12-1.
Function realization:
52
Signal
/P-CL
/N-CL
State
0
1
0
1
Meaning
Forward external torque limit OFF
Forward external torque limit ON
Reverse external torque limit OFF
Reverse external torque limit ON
Function
Set value
Meaning
Modify
Effective
Distribute function to
1
Make T-REF as external
Servo
Re-power
T-REF
torque limit input
OFF
on
1. For analog voltage command input of torque limit. Get the absolute value of the voltage, the torque
limit value based on the absolute value is suitable for forward and reverse direction.
2. When it is used as torque limit, the value is related to voltage command and P4-00. For example,
P4-00=1000, T-REF voltage command is 5.0V, the torque limit value is 50% of rated torque.
Function
T-REF function
distribution
Set value
3
Meaning
When P-CL, N-CL is ON,
make T-REF as external
torque limit input.
Modify
Servo
OFF
Effective
Re-power
on
P4-04
Effective
Immediately
Effective
Immediately
Signal
/P-CL
Type
Input
Default
n.0000
Meaning
Suitable mode
Modify
Effective
Need to
All modes
Any
Re-power
distribute
on
P5-16
/N-CL
Input
n.0000
Need to
All modes
Any
Re-power
distribute
on
Note: /P-CL, /N-CL signal can be distributed to input terminal by parameter P5-15, P5-16. Refer to
chapter 5-12-1.
State
0
1
Meaning
Forward external torque
limit OFF
Forward external torque
limit ON
Limit value
P4-02
The min value among P4-02, P4-04 and analog voltage
command
53
/N-CL
P4-03
The min value among P4-03, P4-05 and analog voltage
command
Signal
Type
Default
P5-32
/CLT
Output
n.0000
Meaning
Suitable
mode
All modes
Modify
Effective
Need to
Any
Re-power on
distribute
Note: /CLT signal can be distributed to output terminal by parameter P5-32. Refer to chapter 5-12-3.
5-5-9. Filter
P3-07
Unit
Default
Range
Suitable mode
Modify
Effective
0.01ms
0
0~65535
3, 4, 5, 6, 7
Servo OFF
Immediately
Smooth filter the speed feedback. If set it too large, the speed feedback will distort and affect the
control result.
Key word
Proportion
action
Zero clamp
Speed
coincidence
checking
Torque limit
Soft start
Filter
Basic parameter
Name
Control mode selection
Servo ON signal /S-ON
Internal speed 1
Internal speed 2
Internal speed 3
/SPD-D internal speed direction selection
/SPD-A internal speed selection
/SPD-B internal speed selection
Parameter
P5-11
P5-21
P5-01
P5-29
P5-03
P4-02
P4-03
P1-07
P4-04
P4-05
P5-15
P5-16
P5-32
P3-05
P3-06
P3-07
P3-08
Other parameters
Name
Proportion action command /P-CON
Zero clamp /ZCLAMP
Zero clamp speed
/V-CMP speed coincidence checking
speed coincidence checking signal width
/V-CMP
forward torque limit
reverse torque limit
T-REF distribution
Forward external torque limit
Reverse external torque limit
Forward external torque limit /P-CL
Reverse external torque limit /N-CL
Torque up to limit value output /CLT
soft start acceleration time
soft start deceleration time
Speed command filter time
Speed feedback filter time
Reference
5-6-1
5-2-1
5-6-2
5-6-3
Reference
5-5-4
5-5-5
5-5-6
5-5-7
5-5-8
5-5-9
55
/SPD-A
Servo motor
/SPD-B
Speed selection
SPEED1 P3-01
SPEED2 P3-02
SPEED3 P3-03
User parameter
P3-02
P3-03
Internal speed 1
Unit
Default
1rpm
100
Internal speed 2
Unit
Default
1rpm
200
Internal speed 3
Unit
Default
1rpm
200
Range
-5000 ~ +5000
Suitable mode
3
Modify
Any
Effective
Immediately
Range
-5000 ~ +5000
Suitable mode
3
Modify
Any
Effective
Immediately
Range
-5000 ~ +5000
Suitable mode
3
Modify
Any
Effective
Immediately
Signal
Type
Default
Meaning
Suitable Modify
Effective
mode
P5-17
/SPD-D Input
n.0000
Need to distribute
3, 5, 6
Any
Re-power on
P5-18
/SPD-A Input
n.0000
Need to distribute
3, 5, 6
Any
Re-power on
P5-19
/SPD-B Input
n.0000
Need to distribute
3, 5, 6
Any
Re-power on
1. /SPD-D, /SPD-A, /SPD-B can be distributed to input signal by parameter P5-17, P5-18, P5-19. Refer
to chapter 5-12-1.
2. When the running mode is 5, 6, /SPD-D auto-switch to origin setting; /SPD-A auto-switch to
forward finding reference origin; /SPD-B auto-switch to reverse finding reference origin.
Input signal
SPD-A
SPD-B
0
0
0
1
1
1
1
0
0
0
0
1
1
1
Direction
Forward
Reverse
Running speed
Internal speed is zero
P3-01: SPEED1
P3-02: SPEED2
P3-03: SPEED3
Internal speed is zero
P3-01: SPEED1
P3-02: SPEED2
56
1
0
P3-03: SPEED3
Note: 1. SPEED1SPEED2SPEED3 switch as 011110 but not 011011. This can avoid the
speed become zero at the space time of signal switching.
2. Please differ the signal state from terminal state.
+SPEED3
Speed 2
+SPEED2
Speed 1
+SPEED1
0
Stop
Stop
-SPEED1
Stop
Speed 1
-SPEED2
Speed 2
-SPEED3
Speed 3
SPD-A
OFF
OFF
SPD-B
OFF
SPD-D
ON
ON
ON
ON
ON
OFF
ON
ON
ON
OFF
OFF
OFF
ON
ON
OFF
OFF
OFF
ON
ON
OFF
OFF
OFF
OFF
OFF
Basic parameter
Name
Control mode selection
Servo ON signal /S-ON
Pulse command form
Command pulse frequency at rated speed
Speed command pulse filter time
Other parameters
Parameter
Name
P5-11
Proportion action command /P-CON
P5-21
Zero clamp /ZCLAMP
P5-01
Zero clamp speed
P5-29
Speed coincidence checking /V-CMP
P5-03
Coincidence speed checking signal width
/V-CMP
P4-02
Forward torque limit
P4-03
Reverse torque limit
P1-07
T-REF distribution
P4-04
Forward external torque limit
Reference
5-7-1
5-2-1
5-3-2
5-7-3
5-7-4
Reference
5-5-4
5-5-5
5-5-6
5-5-7
57
P4-05
P5-15
P5-16
P5-32
P3-08
Filter
5-5-9
Set value
Meaning
Modify
Effective
Speed control: pulse frequency speed
P0-01
7
Servo OFF
Immediately
command
Function: speed command is decided by external pulse frequency, but not related to pulse quantity.
The wiring is the same as position command. Select CW, CCW mode or direction + pulse mode.
Effective
Immediately
Parameter
P0-01
P4-00
Parameter
Name
Control mode selection
The analog value of rated torque
Reference
5-8-1
5-8-2
58
P5-10
Key words
Zero drift
adjustment
Filter
Speed limit
Dead area
Parameter
F1-04
P4-01
P4-07
P3-09
P0-08
P5-33
P4-10
Other parameters
Name
Torque command offset auto-adjustment
Torque command filter time
internal speed limit in torque control mode
Max speed control (MAX speed)
V-REF function distribution
Speed up to limit value output
Torque command input dead area voltage
5-2-1
Reference
5-8-3
5-8-4
5-8-5
5-8-6
Effective
Immediately
Effective
Immediately
59
Function
Set value
Meaning
Modify
Effective
V-REF function
1
Make V-REF as external
Servo stop Immediately
distribution
speed limit input
1. The analog voltage has no polarity. The absolute value of the voltage is suitable for forward and
reverse direction.
2. The parameter value is related to voltage command and P3-00 when it is used as speed limit value.
For example: P3-00=500 (voltage of rated speed is 5.0V), T-REF voltage command is 1.0V, the
speed limit is 20% of rated speed.
3. P0-08=1, the actual limit value is the smaller value among V-REF speed limit input and P4-07.
Signal
Type
Default
P5-33
/VLT
Output
n.0000
Meaning
Suitable
mode
1, 2
Modify
Effective
Need to
Any
Re-power
distribute
on
1 if the motor speed is up to speed limit value in torque control mode, it will output /VLT signal.
2 /VLT can be distributed to output terminal via parameter P5-33. Refer to chapter 5-12-3.
60
Key words
Filter
Speed limit
Basic parameter
Name
Reference
5-9-1
5-2-1
5-9-2
Parameter
P4-01
P4-07
P3-09
P0-08
P5-33
Reference
5-8-4
5-8-5
Modify
Servo OFF
Effective
Immediately
Effective
Immediately
Signal
/C-SEL
Type
Input
Default
n.0000
Meaning
Suitable mode
Modify
Effective
Need to
All modes
Running
Re-power
distribute
on
Note: /C-SEL can be distributed to input terminal via parameter P5-20, refer to chapter 5-12-1.
State
0
1
Control mode
P0-01: submode 1
P0-02: submode 2
61
Parameter
Signal
Type
Default
Meaning
Effective
P5-37
/ALM
Output
n.0002
Output always open signal from SO2 Re-power on
1. The servo unit is force OFF when alarming, the motor will move with external force (including
gravity). If it is need to hold the motor, please use power-loss brake (contracting brake) and /BK
signal. Refer to chapter 5-2-5.
2. /ALM can be distributed to output terminal via parameter P5-37, refer to chapter 5-12-3.
Parameter
Signal
Type
Default
Meaning
Effective
P5-14
/ALM-RST Input
n.0002
Input always open signal from SI2
Re-power on
1. Find the alarm reason and fix it, then clear the alarm via this signal.
2. /ALM-RST can be distributed to input terminal via this parameter. As the alarm signal is related to
the safe running of servo, /ALM-RST signal cannot be set to always effective. (n.0010);
3. The alarm related to encoder such as E-013, E-014 cannot be reset via /ALM-RST.
4. /ALM-RST can be distributed to input terminal via parameter P5-14, refer to chapter 5-12-1.
5-11-2. /WARN
Parameter
Signal
Type
Default
Meaning
P5-35
/WARN
Output
n.0000
Need to distribute
When the warning happens, servo will not be force OFF but output the warning.
Effective
Re-power on
62
PLC
8 AO
X1
9 BO
X0
COM
13 GND
AB phase feedback signal doesnt have parameters to set; it is motor encoder 1:1 output.
Note: DS2-2P-B only supports AB phase feedback signal in differential signal mode.
Set
value
n.0000
n.000x
Meaning
Not distribute to terminal
input
Input always open signal
from SIx
Terminal
voltage
-
Terminal
state
-
Signal
state
0
Disconnect
to 0V
Connect to
0V
63
n.0010
n.001x
Disconnect
1
to 0V
L
Connect to
0
0V
Note: if the distributed terminal has other signal, set the signal to other terminal or set to unused.
Servo type
DS2-20P2
DS2-20P4
DS2-20P7
DS2-21P5
Range
n.0000~n.0002
n.0010~n.0012
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.
Example: take the input signal /CLR (P5-24) of DS2-20P7 as an example to explain the
terminal distribution.
Wiring example of input signal
7
24V
3.3K
/SI2 6
0V
Parameter
Set value
Terminal
Signal
Meaning
state
state
P5-24
n.0002
Disconnect
0
Clear the pulse offset at the moment of SI2 and
to 0V
0V connected
Connect to
1
0V
n.0012
Disconnect
1
Clear the pulse offset at the moment of SI2 and
to 0V
0V disconnected
Connect to
0
0V
Note: the default input of SI2 is /ALM-RST, make sure to distribute P5-14(/ALM-RST) to other
terminal or set to unused.
SI1
/S-ON
SI2
/ALM-RST
SI3
-
SI4
-
SI5
-
SI6
-
/S-ON
/ALM-RST
/P-OT
/N-OT
/S-ON
/ALM-RST
/P-OT
/N-OT
/SPD-A
/SPD-B
64
Set value
n.0000
Meaning
Signal state
Terminal state
Not distribute to
terminal input
00: pointless
n.000x
Output always open
0
Disconnect to COM
y: 0 always open
signal from S0x
1
Connect to COM
1 always close
n.0010
Set the signal to be
x: output terminal
always valid
no.
n.001x
output always close
0
Connect to COM
signal from S0x
1
Disconnect to COM
Note: If the distributed terminal has other signal, please set the signal to other terminal or set to unused.
Servo type
DS2-20P2
DS2-20P4
DS2-20P7
DS2-21P5
DS2-2P-A
DS2-2P-B
Range
n.0000~n.0002
n.0010~n.0012
n.0000~n.0003
n.0010~n.0013
6 SO3
BK-RY
+24V
7 COM
+24V
Parameter
P5-34
BK-RY
Set value
n.0013
/S-ON
1
1
2
/BK
0
BK
Terminal state
S03 connect to COM
Meaning
Brake power on and loosen, motor
can work
0
1
S03 disconnect to
Brake power off and tighten, motor
COM
cannot work
Note: the default output of S03 is /S-RDY. Set the P5-31 (/S-RDY) to other terminal or unused in order
to avoid terminal signal conflict.
SO1
/COIN
SO2
/ALM
SO3
-
/COIN
/ALM
/S-RDY
65
P1-01
Modify
Any
Effective
Immediately
Modify
Any
Effective
Immediately
Speed
command
Kp1+
-
1
KiS
Speed feedback
To set the speed loop gain larger and the speed integral time constant smaller can realize high response
speed controlling. But servo will restrict by machine performance.
Suitable mode
5, 6
Modify
Any
Effective
Immediately
To do position control with high response and less offset needs to set the position loop gain larger. But
servo will restrict by machine performance.
Position loop gain
Position
command
+
Kp
Position feedback
In position control mode, the servo will alarm when the offset pulse over the limit value.
The value is offset pulse limit parameter:
P5-05
Default
1000
Range
0~65535
Suitable mode
5, 6
Modify
Servo
OFF
Effective
Immediately
66
The offset pulse will not be checked when offset pulse limit value is 0.
alarm E-10
U P5-05
Offset pulse 0
Normal control
alarm E-10
Parameter
P5-11
Signal
/P-CON
Type
Input
Default
n.0000
State
Meaning
Modify
1
Run in P control mode
Any
0
Run in PI control mode
/P-CON can be distributed to input terminal via parameter P5-11. Refer to chapter 5-12-1.
Effective
Re-power
on
Signal
/G-SEL
Type
Input
Default
n.0000
Meaning
Suitable mode
Modify
Need to
3, 4, 5, 6, 7
Any
distribute
/G-SEL can be distributed to input terminal via parameter P5-23. Refer to chapter 5-12-1.
Effective
Re-power
on
Function realization:
Input signal
/G-SEL
Signal state
0
1
Note: the 0, 1 is signal state but not terminal state.
Gain group
P1-00, P1-01, P1-02
P1-04, P1-05, P1-06
68
7-1Servo motor
7-1-1Servo motor specification
Please refer to this chapter when selecting the servo drive.
Voltage level
220V
60ST-
80ST-
90ST-
M02430
M02430
M00630
M01330
-20P2
-20P4
0003
0004
0011
0.2
0.4
1.5
110STM04030
M05030
-21P2
-21P5
0021
0031
0032
0.75
0.75
1.5
1.5
2.5
3.0
3.0
5.0
6.0
3000
3000
3000
3000
3000
3000
Max speedrpm
4000
4000
4000
4000
3500
3500
Rated torqueNm
0.637
1.27
2.39
2.4
Peak torqueNm
1.91
3.8
7.1
7.1
12
15
28
28
48
51
54
62
Torque coefficientNm/A
0.42
0.5
0.8
0.8
0.8
0.83
Rotor inertiaKgm2
0.1710-4
0.43810-4
0.2410-3
0.2410-3
0.5410-3
0.6310-3
Winding resistor
11.6
3.49
2.88
3.2
1.09
1.03
Winding inductancemH
22
8.47
6.4
7.0
3.3
3.43
1.9
2.4
2.22
2.2
3.0
3.33
WeightKg
1.11
1.78
2.86
3.4
5.5
6.7
Motor code
-20P7
Encoder pprPPR
2500
Pole pairs
Class B (130)
IP64
IP65
Temperature
Ambient
-20 ~ +50
Humidity
Voltage level
220
130ST-
180ST-
M06025
M10015
M15015
M19015
-21P5
-21P5
-22P3
-23P0
0042
0044
0046
0052
Rated powerKW
1.5
1.5
2.3
3.0
Rated currentA
6.0
6.0
9.5
12.0
Rated speedrpm
2500
1500
1500
1500
Motor code
69
Max speedrpm
3000
2000
2000
2000
Rated torqueNm
10
15
19
Peak torqueNm
18
25
30
47
65
103
114
97
Torque coefficienNm/A
1.0
1.67
-3
1.58
-3
1.58
-3
3.810-3
Rotor inertiaKgm
1.2610
Winding resistor
1.01
1.34
1.1
0.4
Winding inductancemH
2.94
5.07
4.45
2.42
3.8
3.78
4.05
WeightKg
10
11.5
14.4
20.5
Encoder pprPPR
Pole pairs
1.9410
2.7710
2500
4
Class B (130)
IP65
-20 ~ +50
W
2
PE
4
W
4
PE
1
70
7-1-2Torque-Speed Feature
A: continuous use area
B: repeated use area
MS-60ST-M01330-20P4
MS-80ST-M02430-20P7
MS-90ST-M02430-20P7
MS-110ST-M04030-21P2
MS-130ST-M06025-21P5
MS-110ST-M05030-21P5
MS-130ST-M10015-21P5
71
Type
Normal
MS-60ST-M00630-20P2
MS-60ST-M01330-20P4
102
146
LA
Band-type
brake
145
189
72
Type
LA
Normal
MS-80ST-M02430-20P7
150
Band-type
brake
191
Type
Normal
MS-90ST-M02430-20P7
149
LA
Band-type
brake
194
73
Type
LA
Normal
MS-110ST-M04030-21P2
MS-110ST-M05030-21P5
Band-type
brake
263
278
189
204
Type
LA
Normal
MS-130ST-M06025-21P5
MS-130ST-M10015-21P5
MS-130ST-M07725-22P0
MS-130ST-M15015-22P3
179
213
192
241
Band-type
brake
236
270
249
298
74
Type
LA
Normal
MS-180ST-M19015-23P0
232
Band-type
brake
289
7-2Servo drivers
This section introduces the specification and dimension of servo drive.
7-2-1General specification
Servo unit
Encoder
Input power
Control mode
Using
Temperature
Humidity
Vibration /impact
resistance
Structure
75
7-2-2Performance specification
Servo drive type
Performance
DS2-20P4
DS2-21P5
DS2-2P-A
DS2-2P-B
DS2-20P7
1: 4000 (the lower limit of speed control range, not stop at rated load torque)
DS2-20P2
Command pulse
Input signal
Feedforward
compensation
Performance
Positioning
finished width
Input
pulse type
Input
pulse state
Input signal
Input
pulse
frequency
Control signal
Position output
I/O signal
External input
Changeable
signal
distribution
External
output
Output signal
Changeable
signal
distribution
Dynamic brake (DB)
Regeneration
Over rangeOTprotection
Electronic gear
Input signal
Built-in function
Protection
LED display
COM1
communication
COM2
76
137.0
50.0
7.5
1370.03
5.0
7.5
2-5.0
DS2-21P5 (unit:mm)
75
67
180,5
POWER
STA/ESC INC
CHARGE
DEC
ENTER
R
S
186
+2
178
+1
T
180,5
165.0
165.0
5.0
U
V
W
PB
P+
77
POWER
CHARGE
INC
DEC
ENTER
1 2
STA/ESC
PULPUL+
V1+
DIR-
CN1
DIR+
SI1
SI2
190
202,54
212,54
V2+
161,3
+24V
SO1
CN2
SO2
COM
P+
PB
L1
L2
L3
PE
U
V
W
41
69
83
78
8 Alarm Information
This chapter describes the alarm information of DS2 series servo drivers.
Alarm
Code
Description
Reason
E-001
Program damage
E-002
Parameter damage
Parameter self-test
failed
E-003
E-004
E-005
E-006
Bus under
voltage
Regenerative
resistor error
Module over
temperature
Bus over-voltage
E-007
Over current
E-008
Over speed
E-009
E-010
E-011
E-012
E-013
Motor UVW is
short circiut
Motor UVW
current error
Encoder UVW
wire break
Solution
Re-download the program or
contact Xinje or an authorized
distributor
Restart the drive to reset the
parameters. If it occurs for many
times please contact Xinje or an
authorized distributor
E-014
Encoder ABZ
wire break
E-015
E-016
Overload
E-017
E-018
Erase parameter
error
E-031
E-032
Initialization error
80
Unit
-
Default
0
6
Range
0
07
Effective
Chapter
5-1
5-1
07
5-1
3-5-2
3-5-2
5-2-2
5-2-4
04
n.2206
05
06
0
2
1
255
n.0000
n.2209
0, 1
02
03
5-2-3
03
5-5-7
0, 1
5-8-5
07
08
Unit
1Hz
0.1ms
1/s
Default
100
400
100
Range
15000
150000
12000
Effective
Chapter
6-1-1
6-1-1
6-1-2
1Hz
0.1ms
250
10000
15000
150000
6-1-5
6-1-5
1/s
250
12000
6-1-5
1%
0100
6-1-2
0.01ms
065535
Unit
-
Default
2
0
Range
1, 2
0, 1
Effective
Chapter
5-3-2
5-3-4
1
1
165535
165535
5-3-3
5-3-3
1ms
0100
5-3-4
100Hz
5000
110000
5-7-3
0.1ms
20
01000
5-7-4
1
1
0.1rpm
1ms
0.1ms
n.0000
0
0
0
0
0
-9999~+9999
-9999~+9999
0~50000
0~65535
0~65535
5-4-2
5-4-3
5-4-3
5-4-3
5-4-3
5-4-3
0~1
5-4-7
1FHex
5-4-7
0.1rpm
600
0~50000
5-4-7
0.1rpm
100
0~50000
5-4-7
Unit
0.01V
Default
1000
Range
1503000
Effective
Chapter
5-5-2
rpm
rpm
rpm
rpm
1ms
1ms
0.01ms
100
200
300
100
0
0
0
-5000+5000
-5000+5000
-5000+5000
01000
065535
065535
065535
5-6-2
5-6-2
5-6-2
4-4-2
5-5-8
5-5-8
5-5-9
0.01ms
rpm
20
Different for
each type
0
065535
05000
5-5-9
5-8-5
0100
5-5-10
0.01V
Unit
0.01V
0.01ms
1%
1%
1%
1%
1%
rpm
Default
1000
0
300
300
100
100
300
2000
Range
1503000
065535
0300
0300
0300
0300
0300
05000
Effective
Chapter
5-8-2
5-8-4
5-5-7
5-5-7
5-5-7
5-5-7
5-2-3
5-8-5
1%
-300300
5-9-2
0.01V
0100
5-8-6
05
06
07
08
(brake
Unit
Command
pulse
rpm
rpm
rpm
Default
7
Range
0250
Effective
Chapter
5-3-6
10
20
10
0300
11000
1250
5-5-5
5-11-3
5-5-6
Command
pulse
256*
command
pulse
1ms
50
010000
5-3-7
1000
065535
6-1-2
0500
5-2-5
100
500
05000
101000
5-2-5
5-2-5
rpm
1ms
09
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
5ms
0
1
0~100
3
5-2-1
5-5-4
5-2-3
5-2-3
5-11-1
5-5-7-2
5-5-7-2
5-6-3
5-6-3
5-6-3
5-10
5-5-5
5-3-8
6-1-5
5-3-5
5-4-4
5-3-6
5-5-6
5-11-3
ditto
/S-RDY ready
2
ditto
32 /CLT torque limit
2
ditto
33 /VLT speed limit checking
2
ditto
34 /BK brake lock
2
ditto
35 /WARN warn
2
ditto
36 /NEAR near
2
ditto
37 /ALM alarm
2
ditto
38 /Z encoder Z signal
2
ditto
1 servo drives input terminal default value: refer to chapter 5-12-2.
2 servo drive output terminal default value: refer to chapter 5-12-4.
3 servo drive input terminal distribution: refer to chapter 5-12-1.
4 servo drive output terminal distribution: refer to chapter 5-12-3.
31
5-11-4
5-5-7-5
5-8-5-3
5-2-5
5-11-2
5-3-7
5-11-1
5-11-5
Modbus
address
0x0100
0x0101
0x0102
0x0103
0x0104
0x0105
0x0106
0x0107
0x0108
0x0109
0x010A
Modbus
address
0x0500
0x0501
0x0502
0x0503
0x0504
0x0505
0x0506
0x0507
0x0508
0x0509
0x050A
0x050B
0x050C
Parameter
P2-00
P2-01
P2-02
P2-03
P2-04
P2-05
P2-06
P2-07
Parameter
P5-13
P5-14
P5-15
P5-16
P5-17
P5-18
P5-19
P5-20
P5-21
P5-22
P5-23
P5-24
P5-25
Modbus
address
0x0200
0x0201
0x0202
0x0203
0x0204
0x0205
0x0206
0x0207
Modbus
address
0x050D
0x050E
0x050F
0x0510
0x0511
0x0512
0x0513
0x0514
0x0515
0x0516
0x0517
0x0518
0x0519
Parameter
P3-00
P3-01
P3-02
P3-03
P3-04
P3-05
P3-06
P3-07
P3-08
P3-09
P3-10
Parameter
P5-26
P5-27
P5-28
P5-29
P5-30
P5-31
P5-32
P5-33
P5-34
P5-35
P5-36
P5-37
P5-38
Modbus
address
0x0300
0x0301
0x0302
0x0303
0x0304
0x0305
0x0306
0x0307
0x0308
0x0309
0x030A
Modbus
address
0x051A
0x051B
0x051C
0x051D
0x051E
0x051F
0x0520
0x0521
0x0522
0x0523
0x0524
0x0525
0x0526
Motor speed
Speed command
Modbus
address
0x0700
0x0701
Item
current alarm code
Current warn code
Modbus
address
0x0716
0x0717
0x0702
0x0703
0x0704
0x0705
0x0706
0x0707
0x0708
0x0718
0x0719
0x071A
0x071B
0x071C
0x071D
0x0709
0x070A
0x070B
Alarm/warn code 1
U phase current when alarming
V phase current when alarming
DC bus voltage when alarming
IGBT temperature when alarming
The speed when alarming
Internal torque command when
alarming
V-REF value when alarming
T-REF value when alarming
Alarm/warn code 2
0x070C
Alarm/warn code 3
0x0729
0x070D
Alarm/warn code 4
0x072A
0x070E
0x070F
Alarm/warn code 5
Alarm/warn code 6
0x072B
0x072C
0x0710
Alarm/warn code 7
0x072D
0x071F
0x0720
0x0728
0x0711
0x0712
0x0713
0x0714
Modbus
address
0x0800
0x0801
0x0802
0x0803
0x0804
0x0805
0x0806
0x0807
Item
0x071E
Item
/SPD-A internal speed selection
/SPD-B internal speed selection
/C-SEL control mode selection
/ZCLAMP zero clamp
/INHIBIT
command
pulse
prohibition
/G-SEL gain switch
/CLR pulse clear
/CHGSTP change step
Modbus
address
0x0808
0x0809
0x080A
0x080B
0x080C
0x080D
0x080E
0x080F
Modbus
address
0x0812
Modbus
address
0x0818
0x0813
Warn (/WARN)
0x0819
0x0814
0x0815
0x0816
0x0817
Near (/NEAR)
Alarm output (/ALM)
Encoder Z signal (/Z)
0x081A
0x081B
0x081C
Item
Appendix 2 Application
Mode 6: pulse command position mode
B
Equipment introduction:
This is a welder. Workpiece 1, 2, 3 are the object to be operated. 2 and 3 is fixed on B and A
individually. A and B can whole move and be pushed by ball screw E and F. The screw pitch is 5mm.
C and D is servo motor. G and H is reducer. The deceleration ratio is 40.
It needs to adjust the machine with standard dimension workpiece and find the origin of A and B.
Workpiece 1 lies on the worktable and moves left and right. Its dimension is positive tolerance, cannot
shorter than standard workpiece. The process to put the workpiece is random. It requires that the left
and right soldering is symmetrical.
A and B move toward 1 with 3 and 2 at the same speed. Whatever the position of 1, 2 or 3 will touch 1
at first and push 1 to another side until 2 and 3 all touch 1. The result is the motor torque will increase.
At this time, 1 will at the symmetrical position.
A and B will return to the origin position after soldering is finished.
Analysis
1. Make sure the work mode: 6
2. It needs to judge whether 2 and 3 touch 1 when finding the symmetrical point. The sign is servo
output torque will increase. It needs to use torque limit (P4-02, P4-03) and torque limit output signal
/CLT.
3. As the dimension of workpiece is larger than standard, offset pulse will remain in servo when the
symmetrical point is found. /CLR signal can clear the pulse. The servo motor running distance is
different from PLC pulse number. If it needs to know the actual distance, servo encoder feedback
/AO, /BO and AB phase count are needed.
4. The motion direction of A and B.
Step
Ball screw
Load shaft
1
2
3
4
P: pitch
P
1 rotation =
Command unit
Confirm the mechanical specification
Ball screw pitch: 5mm
Reduction ratio: 40/1
Confirm the encoder pulse number
2500P/R
Decide the command unit
1 command unit: 0.001mm
Calculate the motion value of load 5mm/0.001mm = 5000
shaft rotate 1 circle
6
Set the user parameters
Parameter setting
Running mode: P0-01=6
Pulse command state: P2-00=2
Electronic gear ratio: P2-02=80 P2-03=1
Forward torque limit: P4-02=150
Reverse torque limit: P4-03=150
Positioning finished width: P5-00=7
/S-ON: P5-10=0010
/CLR: P5-24=0001
/COIN: P5-28=0001
/CLT: P5-32=0002, P5-37=0000
B 2500 4 40 80
A
5000
1
1
P2-02=80 P2-03=1
Debug
1. Initial debug
(a) Connect the cables correctly. Connect U, V, W, PE one-to-one, dont cross them.
(b) open-loop test-running: power on, set F1-01=1, check if the motor can work normally. If yes, enter
F1-00. If not, check the cables.
(c) Jog test-running: enter F1-00. Press ENTER to enable the motor. Press INC for forward jog, press
DEC for reverse jog. Press STATUS/ESC to quit the jog running.
4 states when jogging:
State
Panel display
State
Panel display
Idle
Forward
run
Enable
Reverse run