Xinje DS5F Series User Manual
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Xinje DS5F Series User Manual

Xinje DS5F Series User Manual

Servo driver
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DS5F
series servo driver
User manual
WUXI XINJE ELECTRIC CO., LTD.
Data No. SC5 02 20200217 2.3

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Do you have a question about the DS5F Series and is the answer not in the manual?

Questions and answers

Mahesh
June 18, 2025

Sarvo drive e-220 fault how it can solve

User image 68527b17618c6
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Mahesh
June 18, 2025

E-220 fault in drive how it solv

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Aditya
April 16, 2025

Servo alarm E-280

-1
1 comments:
Mr. Anderson
May 8, 2025

The servo alarm E-280 for the Xinje DS5F Series indicates an error writing data to the encoder. This results in a servo off state.

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Summary of Contents for Xinje DS5F Series

  • Page 1 DS5F series servo driver User manual WUXI XINJE ELECTRIC CO., LTD. Data No. SC5 02 20200217 2.3...
  • Page 3 Basic explanation  Thank you for purchasing Xinje DS5F series servo driver products.  This manual mainly introduces the product information of DS5F series servo driver and MS series servo motor.  Before using the product, please read this manual carefully and connect the wires on the premise of fully understanding the contents of the manual.
  • Page 4 Safety Precautions PrePrecaPrecautio Be sure to review this section carefully before use this product. In precondition of security, wire the product correctly. Before using this product, please read this part carefully and operate after fully understanding the use, safety and precautions of the product. Please connect the product correctly on the premise of paying great attention to safety.
  • Page 5 Operation Cautions 1. Do not touch the rotating part of the motor after the driver is running. There is a danger of injury. 2. Please pay attention to the test run of the motor once, do not connect the motor with the machine, there is the possibility of injury.

  • Page 6: Table Of Contents

    2.2.3 Installation environment ....................20 2.3 Servo cable installation ............................21 2.3.1 Cable selection ....................... 21 2.3.2 Xinje cable specification ....................22 2.4 Servo driver dimension ............................24 2.5 Servo motor dimension ............................26 3 Wiring of servo system ........................30 3.1 Main circuit wiring .............................
  • Page 7 5.2.3 Rotation direction switching ..................54 5.2.4 Stop mode ........................54 5.2.5 Power-off brake ......................57 5.2.6 Braking setting ....................... 59 5.3 Position control ..............................61 5.3.1 General position control ....................61 5.3.2 Position control (external pulse command) ..............70 5.3.3 Position control (Internal command) ................
  • Page 8 8.3 Communication protocol ..........................165 8.3.1 Character structure ....................... 165 8.3.2 Communication data structure ..................165 8.4 Communication example ..........................166 8.4.1 Communication with Xinje PLC .................. 166 9 Appendix ............................168 Appendix 1. Group P parameters ........................... 168 P0-XX: ..........................168 P1-XX: ..........................
  • Page 9 Appendix 8.8 External analog speed control general parameters ......... 199 Appendix 9. Torque-speed characteristic curve...................... 200 Appendix 10. List of model selection and configuration ..................203 - 7 -...

  • Page 10: Confirmation On Product Arrival

    Is the motor code the same with the Check the motor code marked on the nameplates of the code in drive? servomotor and the parameter U3-00 on the servo drive. If any of the above is faulty or incorrect, contact Xinje or an authorized distributor.

  • Page 11: Selection Of Servo System

    Encoder output Regenerative resistor Encoder port 1.1.3 Performance specification Servo unit DS5F series servo drive Applicable encoder Standard: 17-bit/23-bit communication encoder DS5□-2□P□-PTA: Single/three phases AC200-240V, 50/60Hz [single phase AC200-240V 50/60Hz is used for less than 1.5KW (excluding 1.5KW); Three phase AC200-240V 50/60Hz is recommended for 1.5KW and Input power supply above.

  • Page 12: Servo Motor Selection

    Storage -20～+60 ℃ temperature Environment Below 90％RH (no condensation) humidity Vibration 4.9m/s resistance Structure Pedestal installation 1.2 Servo motor selection 1.2.1 Model name MS5S – 80 ST E – C S 02430 B Z - 2 0P7 – S01 Name Design number Name Inertia...

  • Page 13: Description Of Each Part

    1.2.2 Description of each part Encoder frame flange Output Shaft (Drive Shaft) 1.3 Cable selection 1.3.1 Model name  Encoder cable model CP-SP- Display Length (M) Display Cable type Normal High flexibility Display Plug type Display Plug type 9-core amp plug No battery box 7-core aviation plug With battery box...

  • Page 14: Description Of Each Part

    For the MS5G 130 flange medium inertia brake motor, the cable shall be selected integrated power cable and brake cable type.  The standard wiring length of Xinje is 2m, 3m, 5m, 8m, 10m, 12m, 16m and 20m. 1.3.2 Description of each part ...
  • Page 15 Definition Shielded cable Battery + Battery - 40, 60, 80 flange 485+ -S02 motor 485- Definition Shielded cable 485- 485+ 110 and above flange motor Battery - Battery + Interface definition Connector pins Suitable model definition 485+ 485- 130 flange medium inertia Battery + motor Battery -...
  • Page 16 (2) Power cable connection on motor side Pin definition Connector pins Suitable model Definition 40, 60, 80 flange -S01 motor Definition 40, 60, 80 flange -S01 motor brake Definition 750W and below S02 small aviation plug motor Definition 110 and above motor (include 130 flange medium inertia motor without brake) Interface definition Connector pins...

  • Page 17: Selection Of Other Accessories

    1.4 Selection of other accessories 1.4.1 Selection of regenerative resistance When the servo motor is driven by the generator mode, the power returns to the servo amplifier side, which is called regenerative power. The regenerated power is absorbed by charging the smooth capacitor of the servo amplifier.

  • Page 18: Installation Of Servo System

    Installation of servo system 2.1 Servo driver installation 2.1.1 Installation site  Please install it in the installation cabinet without sunshine or rain.  Do not use this product near corrosive and flammable gas environments such as hydrogen sulfide, chlorine, ammonia, sulfur, chlorinated gas, acid, alkali, salt, etc. ...
  • Page 19  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. ...

  • Page 20: Servo Motor Installation

    2.2 Servo motor installation 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．...

  • Page 21: Installation Cautions

    2.2.2 Installation cautions Item Description ◆ Before installation, please wipe the "rust-proof agent" of the extension end Antirust treatment of the servo motor shaft, and then do the relevant rust-proof treatment. ◆ It is forbidden to impact the extension end of the shaft during installation, otherwise the internal encoder will be broken.

  • Page 22: Installation Environment

    When using in places where water droplets are dropping, please use it on the basis of confirming the protection level of servo motor. (except for the shaft-through part) When oil droplets will drip into the shaft-through part, please specify the servo motor with oil seal. water Conditions for use of servo motors with oil seals: solutions...

  • Page 23: Servo Cable Installation

    If the cable is used in general occasions, please select the cable from other manufacturers (2.3.2 specifications of Xinje cable) in strict accordance with the specifications given by Xinje. If the cable is used in unconventional occasions, please select the cable according to the actual working conditions to be superior to the existing specifications of Xinje.

  • Page 24: Xinje Cable Specification

    Select cables (special cables) that meet the use conditions. 2.3.2 Xinje cable specification 1. Material composition of Xinje cable Cross section of cable (encoder, power cable), corresponding introduction of wire skin material, wire diameter, wire core material shielding material, etc.
  • Page 25 2. Cable diameter specification type Encoder cable Power cable power 100W 4*0.2mm² +2*0.3mm² 4*0.75mm² 200W 4*0.2mm² +2*0.3mm² 4*0.75mm² 400W 4*0.2mm² +2*0.3mm² 4*0.75mm² 750W 4*0.2mm² +2*0.3mm² 4*0.75mm² 1.5KW 4*0.2mm² +2*0.3mm² 4*1.5mm² 3.0KW 4*0.2mm² +2*0.3mm² 4*2.5mm² 5.5KW 4*0.2mm² +2*0.3mm² 3*6.0mm² +1*2.5mm² 7.5KW 4*0.2mm²...

  • Page 26: Servo Driver Dimension

    2.4 Servo driver dimension  DS5F-20P1-PTA, DS5F-20P2-PTA, DS5F-20P4-PTA Unit: mm  DS5F-20P7-PTA Unit: mm 48.75 φ5.5 181.30 φ5.5  DS5F-21P5-PTA, DS5F-22P3-PTA, DS5F-22P6-PTA Unit: mm 191.6 Ø5.50...
  • Page 27  DS5F-43P0-PTA Unit: mm 110.00 99.00 210.18 R2.75 5.50 5.50  DS5F-45P5-PTA / DS5F-47P5-PTA Unit: mm 256.65 123.5 2-φ6.0...

  • Page 28: Servo Motor Dimension

    2.5 Servo motor dimension  40 series motor installation dimensions Unit: mm 15.5 -0.1 25±0.5 LA± 1 Inertia Motor model With Normal level brake MS5S-40ST-C□00330□□-20P1-S01/S02 89.5 inertia  60 series motor installation dimensions Unit: mm 30±0.5 11 0 -0.1 LA± 1 Inertia Motor model Series...
  • Page 29 LA± 1 Inertia Motor model Series With level Normal brake MS5S-80ST-C□02430□□-20P7-S01/S02 MS5S-80ST-C□03230□□-21P0-S01/S02 inertia MS5H-80ST-C□02430□□-20P7-S01/S02 High MS5H-80ST-C□03230□□-21P0-S01/S02 inertia series MS-80ST-T02430□□-20P7 MS-80ST-T03520□□-20P7 High MS6H-80C□30B□1-20P7 inertia series Note: MS5H shaft key is closed key, MS6 motor shaft key is open key.  110 series motor installation dimensions Unit: mm 15.5 0 -0.1 55±0.5...
  • Page 30  130 series motor installation dimensions Unit: mm 18.5 0 -0.1 57±0.5 a130 LA± 1 Motor model Inertia level With Normal brake MS5G-130STE-C□05415□□-20P8-S01 117.5 147.0 MS5G-130STE-C□06025B-21P5-S01 MS5G-130STE-C□07220□□-21P5-S01 132.5 162.5 MS5G-130STE-C□10015B-21P5-S01 MS5G-130STE-C□11515□□-21P8-S01 159.5 189.5 MS5G-130STE-C□11515□□-41P8-S01 MS5G-130STE-C□14615□□-22P3-S01 180.5 210.5 12.5 Middle inertia MS5G-130STE-C□14615□□-42P3-S01 MS5G-130STE-TL05415□□-20P8-S01 134.5...
  • Page 31  180 series motor installation dimensions Unit: mm LA± 1 Inertia φD Motor model LC± 0.5 level Normal With brake MS5G-180ST-TL19015□□-42P9-S01 MS5G-180ST-TL28015□□-44P4-S01 Medium inertia MS5G-180ST-TL35015□□-45P5-S01 MS5G-180ST-TL48015□□-47P5-S01...

  • Page 32: Wiring Of Servo System

    Wiring of servo system Servo driver interface wiring recommended wire, as shown in the following table: Grould cable Power cable Servo driver UVW power cable Encoder cable diameter diameter model diameter mm² diameter mm² mm² mm² DS5F-20P1-PTA 0.75 0.2（7-core） DS5F-20P2-PTA 0.75 0.2（7-core）...

  • Page 33: Main Circuit Wiring

    3.1 Main circuit wiring 3.1.1 Servo driver terminal arrangement RS232 port Power supply Multifunction terminal Motor wiring Encoder output Regenerative resistor Encoder interface 3.1.2 Main circuit terminals  DS5F-20P1-PTA, DS5F-20P2-PTA, DS5F-20P4-PTA, DS5F-20P7-PTA Terminal Function Explanation Power supply input of Single phase AC 200~240V, 50/60Hz main circuit ●...

  • Page 34: Cn0, Cn1, Cn2 Terminal

     DS5F-43P0-PTA Terminal Function Explanation Power supply input of R/S/T 3-phase AC 200~240V, 50/60Hz main circuit ● Vacant terminal Connect the motor Motor terminals U, V, W Note: the ground wire is on the cooling fin, please check it before power on! Internal regenerative Short P+ and D, disconnect P+ and C...
  • Page 35 VREF- VREF+ TREF- TREF+ Name Explanation Name Explanation Pulse - Input terminal Pulse +5v Input terminal Input terminal P+24 Pulse +24v Input terminal Direction - Direction +5v Input terminal D+24 Direction +24v Input terminal Output terminal SI10 High speed input terminal Output terminal +24V Input common terminal...
  • Page 36 input - Output terminal External speed analog differential V-REF+ input + Output terminal External speed analog differential V-REF- input - Output terminal Encoder frequency division output Output terminal Encoder frequency division output Output common Encoder frequency division output terminal Encoder frequency division output 485+ Communication + Encoder frequency division output...

  • Page 37: Communication Port

    Description RS232 send RS232 receive RS232 signal ground Driver side-5-pin trapezoidal Note: Please use the dedicated cable provided by XINJE interface company. RS232 port default communication parameters: baud rate 19200bps, data bit is 8-bit, stop bit is 1-bit, even parity.

  • Page 38: Classification And Function Of Signal Terminals

    Classification and function of signal terminals 3.2.1 Pulse signal Instruction Optio Meaning P-input signal D-input signal Chapter form CW/CCW dual-pulse mode P0-10 AB phase mode A phase B phase 5.3.2.2 xxx□ Pulse+direction mode pulse direction Open collector (24V voltage) input signal is P+ (pin 3) / D+ (pin 6) Input signal of differential mode (5V voltage) is P+ (pin 2) / D+ (pin 5) The wiring diagram of P + D, CW, CCW and AB phase interface circuit is as follows: Open collector (24V voltage)

  • Page 39: Input Signal

    (2) Servo pulse input port is ON for 10mA. (3) If the controller is Xinje PLC, the rated current of the pulse output port is 50mA. According to this data, it can be judged that one pulse theoretically can drive at most five servos. It is recommended not to exceed 3.

  • Page 40: Analog Input Circuit

    Defaulted assignment of output terminals Terminal SO3~SO8 COIN/positioning Function ALM/alarm Not distribute completion Optocoupler type Relay type Servo driver upper device Servo driver upper device +24 V +24 V Note: the maximum allowable voltage and current capacity of collector open output circuit are as follows: Voltage: DC 30V (maximum) Current: SO1 ~ SO2 DC 500mA (maximum)

  • Page 41: Encoder Feedback Output Signal

    3.2.5 Encoder feedback output signal Servo driver differential to collector upper device...

  • Page 42: Operate Panel

    Operate panel 4.1 Basic operation 4.1.1 Operating panel description Button Operation STA/ESC Short press: state switch, state return Short Press: The display data increases Long press: The display data increases continuously Short Press: The display data decreases Long press: The display data decreases STA/ESC ENTER continuously...

  • Page 43: Operation Display

    4.2 Operation display  Speed torque control mode 1. Digit display contents Digit data Display contents P5-39 When the actual speed of the motor is the same as the command speed, Same speed detection turn on the light. （/V-CMP） Detection Width of Same Speed Signal: P5-04 (Unit: rpm) When the speed is controlled, when the torque exceeds the set value, P5-42 turn on the light.
  • Page 44  Position control mode Positioning completion COIN Positioning near NEAR Rotate detection TGON 1. Digit display contects Digit data Display contents P5-38 In position control, when the given position is the same as the actual Positioning completion position, turn on the light. （/COIN）...

  • Page 45: Group U Monitor Parameter

    4.3 Group U monitor parameter  U0-21 input signal status Lighting means that the corresponding item has signal input. Lighting means that the corresponding item has no signal input.  U0-21 input signal 1 distribution Segment Segment Description Description code code /S-ON servo enable /P-CON proportion action instruction...
  • Page 46  U0-22 input signal 2 distribution Segment Segment Description Description code code /C-SEL control mode selection /ZCLAMP zero clamp /INHIBIT instruction pulse /G-SEL gain switch prohibition /CLR pulse clear /CHGSTP change step Reserved Reserved Reserved Reserved Note: When reading through communication, the binary numbers read from right to left correspond to the position of / C-SEL, / ZCLAMP, 0 means that the position signal is not input, 1 means that the position signal has input.
  • Page 47  U0-24 output signal status Lighting means that the corresponding item has signal output Lighting means that the corresponding item has no signal output  U0-24 output signal 2 distribution Segment Segment Description Description code code Alarm (/ALM) Speed arrived (/V-RDY) Customized output 1 Customized output 2 /Z phase...

  • Page 48: Group F Auxiliary Function Parameters

    4.4 Group F auxiliary function parameters 4.4.1 Group F0 Function Function code Description code Description Panel external instruction Alarm clear auto-tuning F0-00 F0-08 Panel internal instruction Resume to default settings auto-tuning F0-01 F0-09 Clear the position offset Panel vibration suppression 1 F0-02 F0-10 Clear up historical alarm records...
  • Page 49 When the servo driver is connected to the non-original encoder or power cable, it should first enter the test run mode to verify that the encoder terminal or power terminal is connected correctly. Test run mainly checks the power cable and the encoder feedback cable to determine whether the connection is normal.

  • Page 50: Fault Alarm Handling

    supports motion bus) Set P0-03=2 F1-05 = 0: cancel enable, enter bb status. F1-05 = 1: forced enable, servo is in RUN status. Note: (1) After power on again, the forced enable set by F1-05 will fail. (2) If it needs to enable when power on and still enable after re-power on, P0-03 should be set to 1 and P5-20 to n.0010.

  • Page 51: Change Motor Code

    4.7 Change motor code A servo driver can be equipped with a variety of motors with similar power levels. Different types of motors are distinguished by the motor code on the motor nameplate. Before debugging the servo system, make sure that the motor code U3-00 matches the motor nameplate label.

  • Page 52: Operation Of Servo System

    Operation of servo system 5.1 Control mode selection and switching 5.1.1 Control mode selection Servo can combine two control modes and switch between them. By switching freely between mode 1 and mode 2 through the / C-SEL signal, more complex control requirements can be satisfied. User parameter Control mode Reference...

  • Page 53: Control Mode Switching

    5.1.2 Control mode switching Control mode switching means that when the servo is enabled, that is, when the servo panel displays run, the working mode of the servo driver can be switched between mode 1 and mode 2 through the external input signal /C-CEL. ...

  • Page 54: Basic Function Setting

    Inching operation can be carried out by panel group F parameters or our upper computer debugging software xinje servo tuner. Inching operation can be divided into two modes: inching operation and trial operation. Inching operation is closed-loop control, trial operation is open-loop control, and general steps are trial operation first, and then inching operation.

  • Page 55: Servo Enable Setting

    When P0-03 is 3, it is applicable to the Xnet bus upper computer enable (applicable to DS5E Series). Xnet bus is a proprietary bus of Xinje. The servo system needs to work with the PLC supporting xnet bus. For specific operation, please refer to the user manual of x-net.

  • Page 56: Rotation Direction Switching

    5.2.3 Rotation direction switching  Related parameter Default Parameter Meaning Unit Range Modify Effective setting Definition of rotation direction Power on P0-05 Servo bb 0- positive mode again 1- negative mode The user can change the rotation direction of servo motor through parameter P0-05. It is specified that the "forward rotation"...
  • Page 57 after stopping. Note: (1) P0-27 / P0-29 = 0, inertia stops, and maintains inertia operation state after stopping. When the servo is off and the alarm occurs, the motor starts to stop by inertia until the speed is less than P5-03, and then it turns to free stop. The servo will time the inertia stop process. In the process of inertia stop, if the timing time has been greater than P0-30, and the motor speed has not dropped below P5-03, the servo will directly free stop, and give the stop timeout alarm E-262.
  • Page 58 SI□ terminal has no signal P5-22/P5-23=n.001□ input Parameter settings in forward limit signal /POT and reverse limit signal /NOT can not be set to the same terminal input at the same time. Direction Meet the limit Operation status Forward positive limit is valid POT, set the servo overrun stop mode as P0-28 negative limit is valid Alarm E-261...

  • Page 59: Power-Off Brake

    5.2.5 Power-off brake When the servo motor controls the vertical load, the purpose of using the “brake servo motor” is: when the power supply of the system is placed in the "OFF", the movable part will not move under the action of gravity.
  • Page 60 Note: (1) The excitation voltage of the power-off brake is 24V. (2) If the holding brake current is more than 50mA, please transfer it through the relay to prevent terminal burnt out due to excessive current. (2) Software parameter settings For the servo motor with holding brake, it is necessary to configure one SO terminal of servo driver as holding brake output /BK function, and determine the effective logic of SO terminal, that is, parameter P5-44 needs to be set.

  • Page 61: Braking Setting

    The sequence diagram is as follows: / S-ON input or / S-ON input or Servo Servo Servo Servo alarm power off alarm power off P5-08 Deceleration P5-08 Deceleration Motor rotation Motor rotation stop or free stop or free speed (Rpm) speed (Rpm) stop stop...
  • Page 62 1. Hardware wiring Power Hardware terminal Notes P+, D Built-in resistor Below 5.5KW P+, C External resistor 5.5KW and above P+, PB External resistor 2. Recommended brake resistance specifications External regeneration External regeneration min resistance (cannot be resistance resistance Servo driver model less than this value) (recommended (recommended power...

  • Page 63: Position Control

    5.3 Position control 5.3.1 General position control 5.3.1.1 Electronic gear ratio 1. Overview The so-called "electronic gear" function has two main applications: (1) Determine the number of command pulses needed to rotate the motor for one revolution to ensure that the motor speed can reach the required speed. As an example of 17-bit encoder motor, the pulse frequency sent by the upper computer PLC is 200kHz: Pulses per revolution set to 10000...
  • Page 64 Group 2 Electronic gear ratio Servo At once P0-93 1～65535 (numerator) high bit*10000 Group 2 Electronic gear ratio Servo At once P0-94 1～9999 (denominator) low bit*1 Group 2 Electronic gear ratio Servo At once P0-95 1～65535 (denominator) high bit*10000 Note: (1) P0-11~P0-14 is all about the parameters of electronic gear ratio, P0-11, P0-12 is group 1, P0-13, P0-14 is group 2, but the priority of P0-11 and P0-12 is higher than that of P0-13 and P0-14.
  • Page 65 number 131072 encoder pulses Confirm 1 command unit: 0.001mm 1 command unit: 0.1° 1 command unit: 0.02mm command unit Calculate the 6mm/0.001mm=6000 360/0.1=3600 314mm/0.02mm=15700 command amount of 1 revolution load shaft Calculate the M =6000/(1/1)=6000 M=3600/(3/1)=1200 M=15700/(2/1)=7850 pulse number revolution motor shaft Set pulses per P0-11=6000...
  • Page 66 completion /COIN signal. The following is the precondition for positioning output and the output diagram. P5-01 setting Content Diagram absolute deviation is below P5-00, the COIN signal will output. After instruction finished, deviation is below P5-00 and COIN signal is output. When instruction ends...
  • Page 67 2. Description of positioning completion width (1) The positioning completion width P5-00 changes proportionally due to the change of electronic gear ratio, and the factory default is 11 command units. The following table is an example: Number of The positioning completion width P5-00 command pulses positioning completion changes proportionally with the number of command...
  • Page 68 5.3.1.3 Positioning near signal (/NEAR) The servo motor is located near the positioning completion signal, so that the equipment can prepare the next action in advance.  Related parameters Default Parameter Meaning Unit Range Change Effective setting Near signal output Command P5-06 Anytime...
  • Page 69 5.3.1.4 Command pulse prohibition (/INHIBIT) Position command prohibition, including internal and external position commands. Stop the function of command pulse input during position control. When the /INHIBIT signal is on, the pulse command is no longer counted.  Related parameters Signal Default Suitable...
  • Page 70 same time, clear the intermediate quantity of the position loop, speed loop and current loop. /CLR signal is triggered by edge. 3. Other description of pulse position deviation clearing signal Setting F0-02 to 1 can also clear the pulse position deviation. 5.3.1.6 Position pulse deviation Pulse deviation value refers to the difference between command pulse of command controller (such as PLC) and feedback pulse of servo unit in position mode.
  • Page 71 5.3.1.8 Reference origin 1. Find the reference origin To find out the physical origin of working table and make it as the coordinates origin of point position control. Users can select finding reference origin at forward or reverse side. Function setting: Default Parameter Meaning...

  • Page 72: Position Control (External Pulse Command)

    Find reference origin diagram: /N-OT /P-OT Speed P4-01 Speed P4-01 ① Direction CW Direction CCW Stop mode Stop mode ② P0-28 P0-28 Speed P4-02 Speed P4-02 ③ Direction CW Direction CCW Z signal quantity Z signal quantity P4-00 P4-00 Reference origin Reference origin of reverse side of forward side...
  • Page 73 (denominator) 32-bit electronic gear ratio denominator: P0-94*1 + P0-95 *10000 P0-09 Pulse command setting You can set the command direction and 5.3.2.2 filter time of low-speed pulse respectively P9-00~P9-08 Full closed loop input related configuration 5.3.2.2 0-general pulse mode P0-88 high speed pulse mode selection 5.3.2.2 1-high speed pulse mode P0-89 high speed pulse command filter time...

  • Page 74: Position Control (Internal Command)

    It is recommended that the filtering time be 1/6 of the input pulse period and not more than 1/2 of the input pulse period. 3. set the pulse instruction form Parameter Meaning setting Meaning Change Effective CW, CCW mode Pulse P0-10 command AB phase...
  • Page 75 P4-01 speed of hitting the proximity switch P4-02 speed of leaving proximity switch P5-28 /SPD-A: find reference origin on forward side in position mode P5-29 /SPD-B: find reference origin on reverse side in position mode F2-09 segments position segment 5.3.3.6 setting communication 5.3.3.1 Internal position mode...
  • Page 76 After the drive output 1-segment position After the drive output 1-segment position command, it will wait for the completion of command, it will wait for the completion of motor positioning, and then start the next position motor positioning, and pass the adjust time, then command at once.
  • Page 77 n.xx□x Description Take setting two segments as an example, t1 = p4-16 in the figure. 1. Note that as shown in the figure, in this mode, the set adjustment time actually does not work. As long as the previous position command has been sent out, the next command will...
  • Page 78 t1 = p4-16 in the figure. 1. /CHGSTP rising edge triggers the first segment and falling edge triggers the second segment. Where, if the first segment position is required to operate completely, the /CHGSTP signal remains on until the end of the first segment. /CHGSTP 2.
  • Page 79 1~8. 12 (segment 4 position) Note: 13 (segment 5 position) ① 14 (segment 6 position) Firmware 15 (segment 7 position) version 16 (segment 8 position) 3730 and Note: the rising edge of P5-35 step change signal triggers each position (the rising edge later is invalid during operation).
  • Page 80 Segment 2 Segment 1 5.3.3.3 Position segment 1 to 35 parameter settings Default Parameter Meaning Unit Range Change Effective setting Pulse number Servo 1 pulse At once P4-10+（n-1）*7 -9999～9999 (low bit) Pulse number Servo At once P4-11+（n-1）*7 10000 pulses -32767～32767 (high bit) Servo At once...
  • Page 81 P4-08 sets the starting operation section number after the first round, and it is valid when the change mode P4-03.1 is set to 0 and 1. The settings are explained below, and valid values are set for No.1-No.8 sections. Change Setting Parameter Actions...

  • Page 82: Speed Control

    5.3.3.6 Set segment thorugh communication Default Parameter Meaning Unit Range Modify Effective setting Set the segment F2-09 number through 0～35 Anytime At once communication If this parameter is set to a certain segment number, this segment position will be executed without step change signal.
  • Page 83 5.4.1.2 Zero clamp (/ZCLAMP) 1. Overview This function is used when host controller uses speed command input and the servo system isn’t configured the position loop. In other words, the function will be used when the motor must stop and enter lock state even the V-REF input voltage is not zero.

  • Page 84: Speed Control (Internal Speed)

    5.4.1.4 Speed command filter  Related parameter Default Modify Effective Parameter Meaning Unit Range setting Speed command filter P1-22 0～1 Servo bb At once selection Speed command filter P1-23 0.1ms Servo bb At once 0～65535 time P1-22 Contents First-order Inertial Filter Smooth filter Position command acceleration and Smooth filter of position instruction...
  • Page 85 5.4.2.1 Internal speed mode Parameter Meaning Modify Effective value P0-01 Speed control: internal speed selection Servo bb At once Function: internal speed selection will set 3 motor speeds and select the speed by external signal. It is no need to configure external speed generator or pulse generator. Servo unit /SPD-D /SPD-A...
  • Page 86 P3-07：SPEED3 Note: (1) /SPD-D signal is direction control, input SI terminal can be changed according to P5-27. The validity of the terminal signal determines the direction of the motor. (2) The combination of /SPD-A and /SPD-B input terminal effectiveness determines the multi segment speed (3) 0/1 of the above table represent the validity of the signal.

  • Page 87: Speed Control (Pulse Frequency Command)

    5.4.3 Speed control (pulse frequency command) Reference Parameter Overview chapter P0-01 Control mode selection Set to 7: external pulse speed mode 5.4.3.1 P0-10 Pulse command form Set pulse form 5.3.2.2 0-CW/CCW 1-AB 2-P+D P0-15 Command pulse frequency at Determine the linear relationship between the 5.4.3.3 rated speed command pulse frequency and the speed...

  • Page 88: Speed Control (External Analog Value)

    5.4.4 Speed control (external analog value) Parameter Overview Reference chapter P0-01 Control mode selection Set to 4: external analog value 5.4.4.1 P3-00 Analog voltage Set the speed command voltage required to run the 5.4.4.2 corresponding to rated speed servo motor at rated speed, unit: 0.001V P3-09 Soft start acceleration time Set the acceleration deceleration time, unit ms 5.4.1.1...
  • Page 89 Speed (RPM) Default setting Rated speed -1.5 Speed command voltage (V) P3-01 setting range (1.5V~30V) Input voltage range (-10V~10V) Note: (1) The input of the analog voltage command for the speed limit has no polarity. No matter in positive voltage or in negative voltage, the absolute value is adopted. The speed limit value based on the absolute value is applicable to the two directions of forward rotation and reverse rotation.
  • Page 90 0V is 0RPM. If it is lower than 0V, the motor reverse runs, and the motor forward runs when it is higher than 0V. If the current voltage of analog quantity is 5V, then 5V is 0RPM. If it is lower than 5V, the motor reverse runs, and the motor forward runs when it is higher than 5V.

  • Page 91: Torque Control

    5.5 Torque control 5.5.1 Torque general mode 5.5.1.1 Internal speed limit of torque control Default Parameter Meaning Unit Range Modify Effective setting internal forward Motor rated P3-16 speed limit in torque 5～65535 Anytime At once control mode internal reverse speed Motor rated P3-17...

  • Page 92: Torque Control (External Analog Value)

    5.5.2.2 Internal torque command Parame Default Effe Meaning Unit Range Modify setting ctive Internal torque 1% rated Anyti -1000～+1000 P3-33 command torque once The unit of this parameter is 1% of the rated torque. For example: P3-33=50, motor forward run with 50% of the rated torque; P3-33= -20, motor reverse run with 20% of the rated torque.
  • Page 93 Torque (Nm) Default setting Rated torque -1.5 Torque command voltage (V) P3-24 range (1.5V~30V) Input voltage range (-10V~10V) Note: (1) The input of the analog voltage command for torque limitation has no polarity. The torque limit value based on the absolute value is applicable to the two directions of forward rotation and reverse rotation.
  • Page 94 5.5.3.5 Torque command input dead band voltage Default Parameter Meaning Unit Range Modify Effective setting Torque command input P3-26 0.001V 0~500 Anytime At once deadband voltage T-REF analog zero offset P3-49 -1000~1000 Anytime At once correction P3-50 T-REF analog voltage offset -9999~9999 Anytime At once...

  • Page 95: Absolute Value System

    5.6 Absolute value system 5.6.1 Absolute system setting In order to save the position data of absolute encoder, the battery unit needs to be installed. Install the battery on the battery unit of the encoder cable with the battery unit. If you do not use encoder cable with battery unit, please set P-79 to 1, that is, multi-loop absolute value encoder is used as incremental encoder.

  • Page 96: The Upper Limit Of Turns

    (4) Close the cover of the battery unit (5) After replacing the battery, in order to remove the "Encoder Battery Alarm (E-222)" display, please do clear alarm twice (F0-00=1). (6) Connect the power supply of the servo unit again; (7) Make sure the error display disappears and the servo unit can operate normally. 5.6.3 The upper limit of turns The upper limit of rotating cycles can be used for position control of gyroscopes such as turntables.

  • Page 97: Read Absolute Position Through Communication

    Because it can only rotate in one direction, after a certain period of time, the number of revolving cycles will always exceed the upper limit of absolute value encoder. Resolution Rotating Circle Servo motor (single-circle Serial Data Operation of overtime series data) Output range...

  • Page 98: Reset Absolute Position

    (2) -1 means running in the opposite direction. The current encoder value is: (U0-57-65535)*1+(U0-58-65535)*2^16+(U0- 59-65535)*2^32. If the position is read by XINJE HMI and the U0-57 (Modbus address is decimal 4153) double-word is read, the high-low byte exchange should be selected. If communicating with Xinje PLC, direct double-word reading is ok.

  • Page 99: Auxiliary Functions

    Calibrate the encoder current position as zero position through servo panel F1-06 parameter, U0-94~97 will show the encoder position after calibration. 2. ModbusRTU communication clearing Write 3 to the modbus address 0x2106 (F1-06 parameter). U0-94~U0-97 will display the motor absolute position after calibration. 5.7 Auxiliary functions 5.7.1 Anti-blocking protection Anti-blocking alarm: When the motor speed is lower than P0-75 (unit 1 rpm) and the duration reaches...

  • Page 100: Torque Limit

    5.7.2 Torque limit 1. Internal torque limit Default Parameter Meaning Unit Range Modify Effective setting Internal Forward P3-28 Anytime At once 0～300 torque limit Internal reverse P3-29 0～300 Anytime At once torque limit 1. if this parameter value is less than external torque limit value, the final limit value is this parameter. 2.

  • Page 101: Speed Limit

    4. Output torque up to limit value signal Parame Signal Default Suitable Modify Effective Meaning name setting mode Torque Output signal when Anytime At once P5-42 limit n.0000 motor output torque up /CLT to P3-28, P3-29. No terminals are assigned by default. The parameter range is 0000-0014, which is assigned to the output interface through parameter P5-42.

  • Page 102: Output Terminal Function

    P5-34.0=1 input terminal is SI1 P5-34.2=3 basic filtering time is 3ms P5-18=10 filtering time multiple is 10 So the total filtering time is P5-34.2 * P5-18=3ms*10=30ms 5.7.4.2 Output terminal distribution 1. Output signal distribution Parameter Parameter Meaning Set value Meaning Not distribute to terminal input n.0000 Output always open signal from...
  • Page 103 allocated to other output terminals through parameter P5-40. 2. When the speed of the servo motor is higher than the set value of P5-03, the signal that the servo is rotating is considered. 2. Related parameters Default Parameter Meaning Unit Range Modify Effective...
  • Page 104 5.7.5.4 Warn output (/WARN) Set the alarm output threshold, when the current speed is higher than the warning speed, output / WARN. Default Parameter Meaning Unit Range Modify Effective value Forward warning Motor P3-19 0～65535 Servo bb At once speed related Reverse warning Motor...
  • Page 105 Encoder Z phase signal P5-48=n.0011 SO1 output P5-48=n.0001 SO1 output 5.7.5.7 User-defined output signal User can define 2 outputs. The defined method is SOx output when A>B or A<B. A is 9 activating conditions; B is user-defined comparison value. User-defined output 1: The trigger condition of user-defined output 1 Default Trigger condition...
  • Page 106 User-defined output 2: The trigger condition of user-defined output 2 Default Trigger trigger condition Unit Suitable mode Change Effective condition setting P5-14 below Related table: trigger All the modes Anytime At once optional trigger condition condition The comparison value for the trigger condition of user-defined output 2 Unit Default setting Range...

  • Page 107: Input Terminal Function

    5.7.5.8 Other SO terminal function Terminal name Description Chapter /COIN-HD Positioning completion hold 5.3.1.2 /COIN Positioning end 5.3.1.2 /CLT Torque limit detection 5.8.2 /VLT Speed limit detection 5.5.1.3 /MRUN Internal position mode motion start 5.3.2.7 /V-RDY Speed arriving signal 5.4.1.3 /PREFA Internal position selection signal 5.3.2.1...

  • Page 108: Time Limit Curve Of Overload Protection

    5.7.7 Time limit curve of overload protection The time limit curve of overload protection is only used for the judgment of alarm output and the protection of overload operation. It is recommended to use it within the continuous operation stage of torque speed curve.
  • Page 109 Applicable model (motor code) 5174 9174 5974 9974 9148 9045 Applicable model (motor code) 5175 9175 5975 9975 9166 916A 916B Applicable model (motor code) 5034 9034 5074 5874 9074 9874 9037 5037 5046 4046 9046 5075 5875 9075 9875 404B 9161 9162...

  • Page 110: Encoder Abz Phase Frequency Division Output

    5.8 Encoder ABZ phase frequency division output The servo driver outputs the differential signal through the frequency division output circuit. It can provide position signal for the control of the upper computer or pulse signal for the driven servo, so as to realize the follow-up control of the master-slave shaft.
  • Page 111 and phase B (PBO) are as follows: P0-87.1 Encoder feedback output direction selection Setting Function Default Suitable Modify Effective value value mode forward operation when phase A ahead phase B Servo OFF At once Reverse operation when phase B ahead phase A forward operation when phase A ahead phase B forward operation when phase A behind...

  • Page 112: Full Closed-Loop Input

    When the full closed-loop mode is on, the control mode can be switched (P0-01 and P0-02). 5.9.1 Full closed-loop input specification DS5F series servo hardware version 3131 (not included) and later supports the function of full closed-loop input. Terminal...

  • Page 113: Full Closed-Loop Mode Operation Steps

    5.9.2 Full closed-loop mode operation steps (1) Confirm the action under the half closed-loop system when operating without load. Under no-load state of servo motor, trial operation and inching operation are performed, refer to group F1 operation in chapter 4.4.2, set initial control parameters after confirming that there is no error, and then send instructions through upper device to ensure normal operation in semi closed loop control mode (P9-00.0 = 0).

  • Page 114: Full Closed-Loop Control Parameter

     Related parameter Default Parameter Meaning Unit Range Modify Effective setting P3-18 JOG speed 1rpm Servo bb At once 0～1000 P3-18 is the speed configured for closed-loop inching operation, which only takes effect in two inching modes, and the rest normal control modes are invalid. (5) Run the servo system and confirm whether the full closed-loop system operates normally.
  • Page 115 1. Speed feedback selection in full closed loop control n.xxx□ Meaning use motor encoder speed use grating ruler speed Full closed loop control is usually set to "use motor encoder speed (P9-01.0 = 0).". When connecting only the direct driving servo motor and the high-resolution grating ruler, please set it to "use grating ruler speed (P9-01.0 = 1)".
  • Page 116 If the set value is exceeded, reset is required by turning off enable when it output E-236. When P9-02 is set to 0, it will not alarm, but when the motor encoder signal and grating scale signal count in the opposite direction, it will alarm E-237, and restore by reset and adjusting P9-00.1. ②...

  • Page 117: Servo Gain Adjustment

    Servo gain adjustment 6.1 Overview of servo gain adjustment 6.1.1 Overview and process The servo driver needs to drive the motor as fast and accurately as possible to track the instructions from the upper computer or internal settings. In order to meet this requirement, the servo gain must be adjusted reasonably.

  • Page 118: The Difference Of These Adjustment Modes

    6.1.2 The difference of these adjustment modes Adjustment modes are divided into adaptive and auto-tuning, and their control algorithms and parameters are independent. Among them, the auto-tuning mode is divided into three functions: fast adjustment, automatic adjustment and manual adjustment. The three functions are the same in essence but different in implementation.
  • Page 119 Load type Explanation Synchronous The adjustment is suitable for the mechanism with lower rigidity such as synchronous belt belt mechanism. It is suitable for the adjustment of high rigidity mechanism such as ball screw Lead screw mechanism. Please select this type when there is no corresponding structure. Rigid The adjustment is suitable for rigid body system and other mechanisms with high connection...

  • Page 120: Torque Disturbance Observation

    speed loop integral P1-01: 3300 speed loop integral P1-01: 825 speed loop integral P1-01: 825 position loop gain P1-02: 200 position loop gain P1-02: 700 position loop gain P1-02: 700 Model loop gain P2-49: 300 Model loop gain P2-49: 300 Model loop gain P2-49: 4000 Phenomenon: Running jitter, Phenomenon: smooth operation...

  • Page 121: Rotary Inertia Presumption

    Rotary inertia presumption 6.2.1 Overview Rotational inertia estimation is the function of automatic operation (forward and reverse) in the driver and estimate the load inertia in operation. Rotational inertia ratio (the ratio of load inertia to motor rotor inertia) is a benchmark parameter for gain adjustment, and it must be set to the correct value as far as possible.

  • Page 122: Operation Steps

    6.2.4 Operation steps Estimate the inertia through the driver panel 1. Parameter setting Default Parameter Meaning Unit Range Modification Effective setting Inertia configured P2-15 0.01 circle 1~3000 Anytime At once trip Inertia identification and internal P2-17 instruction 0~65535 Anytime At once auto-tuning max speed Inertia identification...
  • Page 123 instruction speed will lead inaccurate identification of inertia ratio. ③ torque limit too small（P3-28/29） ① The maximum speed limit is too small (P2-17), but it is recommended not to be less than 500 rpm. maximum Low instruction speed will lead to inaccurate speed limit is too identification of inertia ratio.
  • Page 124 2. select jog setting or manual setting to configure the inertia estimation trip 3. Set the auto-tuning interface...

  • Page 125: Fast Adjustment

    4. Click ok to start inertia identification. Note: (1) If the auto-tuning interface is closed directly, the driver only configures inertia ratio parameters. (2) The detailed steps of XinJeServo's presumptive inertia refer to XinJeServo's help document. 6.3 Fast adjustment 6.3.1 Overview Fast adjustment needs to set the moment of inertia of load first, then turn off the adaptive function.

  • Page 126: Fast Adjustment Steps

    6.3.2 Fast adjustment steps 1. estimate the load inertia through servo driver panel or XinJeServo software, refer to chapter 6.2 2. shut down adaptive mode, set P2-01.0 to 0 3. set the rigidity level P0-04 Note: P2-01.0 is the first bit of P2-01 6.3.3 Rigidity level corresponding gain parameters ...
  • Page 127 31831 12732 9094 7957 6366 5305 4547 3978 3536 3183 2893 2652 2448 2273 2122 1989 1872 1768 1675 1591 1414 1273 1157 1100 1061 1300 1000 1500 1100 1800 1200 2100 1300 2400 1400 2700 1500 3000 1500 3100 1000 1600 3200...
  • Page 128 2100 2100 6000 6000 2150 2150 6000 6000 2200 2200 6000 6000 2250 2250 6000 6000 2300 2300 6000 6000 2350 2350 6000 6000 2400 2400 6000 6000 2450 2450 6000 6000 2500 2500 6000 6000 2600 2600 6000 6000 The rigidity level should be set according to the actual load.

  • Page 129: Notes

    6.3.4 Notes  The gain parameters corresponding to the rigidity level can be independently fine-tuned in the fast adjustment mode.  In order to ensure stability, the gain of model loops is small at low rigidity level, which can be added separately when there is high response requirement. ...

  • Page 130: Operation Tools

    6.4.3 Operation tools Internal instruction auto-tuning and external instruction auto-tuning can be executed by driver panel and XinJeServo software. Auto-tuning mode Operation tools Limit item Internal instruction XinJeServo software All the versions support auto-tuning Driver firmware needs 3700 and higher external instruction Driver panel versions...
  • Page 131 XinJeServo software auto-tuning steps 1. click auto-tuning on the XinJeServo software main interface 2. set the auto-tuning trip in jog mode or manually 3. set the auto-tuning interface...
  • Page 132 4. click ok to estimate the inertia. 5. set the auto-tuning parameters Load type Description Fit for the adjustment of lower rigidity mechanism such as synchronous Synchronous belt belt mechanism. It is suitable for adjustment of higher rigidity mechanism such as ball Screw rod screw mechanism.
  • Page 133 In the use of positioning, we should pay attention to adjusting without Fast positioning overshoot. Besides gain adjustment, the model loop gain and notch filter （control overshoot） are automatically adjusted. 6. Start auto-tuning 7. Wait for the end of the auto-tuning...

  • Page 134: External Instruction Auto-Tuning Steps

    6.4.5 External instruction auto-tuning steps Driver panel auto-tuning steps 1. The inertia identification is carried out and the step of inertia estimation please refers to the driver panel inertia estimation (6.2.4 operation step) 2. Shut down adaptive function (P2-01.0 sets to 0), power on again 3.
  • Page 135 XinJeServo software auto-tuning steps 1. Click auto-tuning on the main interface of XinJeServo software 2. Select jog or manual setting to configure the trip of inertia identification. 3. Set the auto-tuning interface...
  • Page 136 4. Click ok to start the inertia identification. 5. Configure the auto-tuning parameters Auto-tuning mode Description Make a soft gain adjustment. Besides gain adjustment, notch filter is Soft automatically adjusted. Make special adjustment for positioning purpose. Besides gain adjustment, Rapid positioning the model loop gain and notch filter are automatically adjusted.
  • Page 137 It is suitable for the adjustment of rigid body system and other mechanisms Rigid connection with higher rigidity. 6. Start auto-tune 7. Open the servo enable, then click ok.

  • Page 138: Related Parameters

    8. The upper device starts to send pulses, wait the completion of auto-tuning. 9. Auto-tuning is finished, click ok. 6.4.6 Related parameters The following parameters may be modified during auto-tuning. Do not change them manually during auto-tuning. The influence of numerical Parameter Name Property...

  • Page 139: Manual Adjustment

    P2-69.0 First notch switch P2-69.1 Second notch switch P2-71 First notch frequency P2-72 First notch attenuation P2-73 First notch band width P2-74 Second notch frequency P2-75 Second notch attenuation P2-76 Second notch band width Inertia identification internal P2-17 instruction auto-tuning max speed P2-86 auto-tuning jog mode Auto-tuning...

  • Page 140: Adjustment Steps

    Pulse instruction Model loop Speed Torque feedforward feedforward Position Speed control loop control loop Speed Servo motor instruction Position Speed Torque Error Current loop gain control Kv, instruction counter control filter Tf Current loop Speed loop Position loop encoder Upper device Servo unit Position control loop diagram (turn on the model loop) Servo unit consists of three feedback loops (current loop, speed loop and position loop) from inside to...
  • Page 141  Speed loop gain Because the response of the speed loop is low, it will become the delay factor of the outer position loop, so overshoot or vibration of the speed command will occur. Therefore, in the range of no vibration of mechanical system, the larger the setting value, the more stable the servo system and the better the responsiveness.

  • Page 142: Adaptive

    Default Parameter Name Unit Range Modify Effective setting P2-49 Model loop gain 0.1Hz Anytime At once 10～20000 6.6 Adaptive 6.6.1 Overview Adaptive function means that no matter what kind of machine and load fluctuation, it can obtain stable response through automatic adjustment. It starts to automatically adjust when servo is ON. 6.6.2 Notes ...

  • Page 143: Recommended Inertia Ratio Parameters

    Adaptive large inertia mode speed loop Servo bb At once P6-05 gain P6-07 Adaptive large inertia mode inertia ratio Servo bb At once Adaptive large inertia mode speed Servo bb At once P6-08 observer gain Adaptive large inertia mode max inertia Servo bb At once P6-12...

  • Page 144: Invalid Parameters When Adaptive Effective

    Speed observer Reducing P2-08 and increasing P2-12 can P2-08/P6-08 60/40 30-60 gain greatly improve the inertia capability, but it will reduce the responsiveness, which Adaptive stable P2-12/P6-12 30/50 30-60 max inertia ratio has a great impact on responsiveness. Adaptive speed Adjust according to need, generally P2-10 loop integral time...

  • Page 145: Operation Tools

    6.7.2 Operation tools Adjustment Operation tools Control mode Operation steps Limitation mode 6.7.4 Vibration Adaptive XinJeServo Mechanical All versions of PC Suppression mode Characteristic Analysis software support Software) 6.7.3 Vibration Driver firmware Panel vibration Suppression requires version suppression (Panel) 3700 or higher Auto-tuning Position mode mode...

  • Page 146: Vibration Suppression (Pc Software)

     Fault alarm of panel in vibration suppression process Error code Meaning Reasons Too large inertia ratio; too weak rigidity of Err-1 Failure to search for optimal gain mechanism (1) Overrun/alarm occurs during Please make sure that there is no overrun and auto-tuning alarm before auto-tuning.

  • Page 147: Vibration Suppression (Manual Setting)

    P2-69 = n.1000 P2-77 = 328 Note: In both adaptive and auto-tuning modes, if mechanical characteristic analysis is used, the notch can be set manually. If there are multiple resonance points, the third to fifth notch can be configured in turn.

  • Page 148: Notch Filter

    Note: for above each step, press STA/ESC can return to the last step or exit. 6.7.7 Notch filter Notch filter can suppress mechanical resonance by reducing the gain at a specific frequency. After the notch filter is set correctly, the vibration can be effectively suppressed and the servo gain can be continuously increased.
  • Page 149 n.0□□□ Third notch off Anytime At once n.0□□□ n.1□□□ Third notch on n.□□□0 Fourth notch off Anytime At once n.□□□0 n.□□□1 Fourth notch on P2-70 n.□□0□ Fifth notch off Anytime At once n.□□0□ n.□□1□ Fifth notch on Default Parameter Meaning Unit Range Change...

  • Page 150: Gain Adjustment

    6.8 Gain adjustment 6.8.1 Load shaking The following causes cause load wobble: 1. The instruction is not smooth enough when the load inertia is too large. Countermeasure: (1) Use position instruction smoothing filter P1-25; (2) Optimizing the instructions of the upper device to reduce the acceleration of the instructions; (3) Replace the motor with greater inertia.

  • Page 151: Alarm

    Alarm 7.1 Alarm code list Historical record: "√" means that historical alarms can be recorded; "○" is not recorded; The column that can be cleared: "√" represents the alarm that can be cleared; "○" represents the alarm that cannot be cleared. Property Servo Whether...
  • Page 152 External UVW Short Circuit Servo off √ √ E-110 Discovered Self-Inspection √ √ Servo off E-150 Power cable disconnection Driver thermal power √ √ E-161 overload √ √ Servo run E-165 Anti-blocking alarm Regenerative resistance Servo run √ √ E-200 overload Communication error...

  • Page 153: Analysis Of Alarm Types

    7.2 Analysis of alarm types DS5 alarm code format is E-XX□, “XX” means main type, “□” means sub-type. Type Code Description Reasons Solutions EEEE (1) Stable power supply to ensure (1) Voltage fluctuation the stability of power supply EEEE of power supply is Communication voltage.
  • Page 154 E-028 EEPROM write in Voltage instability or Please contact the agent or the error chip abnormality manufacturer Check the fluctuation of power grid, 220V driver normal voltage range 200V ~ 240V, 380V driver High voltage of power normal voltage range 360V ~ grid 420V.
  • Page 155 220V + 10% (380V + 10%), then check the supply voltage; if the supply voltage is normal, then servo state, monitoring U0-05, multimeter measurement voltage * 1.414 > U0-05 (error within 10V), then the servo driver is faulty and needs to be sent back for repair Driver power...
  • Page 156 input frequency is too high, and whether the electronic gear ratio is too large. (1) Check the encoder cable or change a new one (2) Set the servo driver to BB state and the driver to U-10. Rotate the motor shaft slowly by Encoder fault hand to see if the value of U-10 changes normally, increasing in...
  • Page 157 Rotate the motor shaft slowly by hand to see if the value of U-10 changes normally, increasing in one direction and decreasing in direction (0-9999 cycle display). Disconnect the power supply of driver check Any phase in UVW of connection of the power cable. It Power cable E-150...
  • Page 158 wiring. Poor gain adjustment results motor vibration, back Readjustment of gain parameters forth swing abnormal noise. There are servo cross test or motor empty shaft on site, F1-01 trial operation, F1-00 jog run can Driver motor not rotate uniformly; hardware failure; Replace the new driver or motor send malfunction...
  • Page 159 servo encoder Check whether the value of U0-54 increases rapidly. If yes, encoder circuit disconnected.Disconnect power supply of the driver, check the connection of the encoder Unconnected encoder cable, if there is cable loosening, cable or poor contact it is recommended to use the multimeter to test the conduction condition;...
  • Page 160 Generally, it is the (the driver panel shall problem of the encoder completely off). If the alarm itself, or the power cannot removed, please supply of the encoder is contact the agent or manufacturer unstable Abnormal power on of main control chip of multi-turn absolute value servo encoder...
  • Page 161 scrambling number errors the strong and weak current are exceeds the value in wired separately. ② High current equipment is encoder error retry number register P0-56 supplied separately. ③ The grounding is good. Overrun signal If you do not want to alarm detected and the overrun immediately when the overrun E-260...
  • Page 162 Power mismatch Match the correct motor and Such as 750W driver E-310 between driver driver, and use it after setting the with 200W motor and motor P0-33 motor code correctly When the motor On the premise that the driver and code read motor are matched and can be...

  • Page 163: Modbus-Rtu Communication

    Modbus-RTU communication The company provides users with the general RS485 communication interface in industrial control. The communication protocol adopts MODBUS standard communication protocol, and the servo can be used as the slave station to communicate with the master device (such as PLC controller and PC) with the same communication interface and the same communication protocol, and the HMI can also be connected through the communication interface.
  • Page 164 3. PLC and servo communication (Servo driver and motor are all well grounded) (1) Best recommendation: hand in hand mode (2) General recommendation: branch structure Servo Servo Servo Servo slave slave master slave slave (3) Not recommended: star connection...

  • Page 165: Communication Parameters

    8.2 Communication parameters 1. RS485 communication parameters Default Parameter Meaning Range Modify Effective setting P7-00 RS485 station number 0~100 Servo bb At once Default Suitable Parameter Function Unit Modify Effective setting mode Communication n.2206 Servo bb At once setting Default Setting Range setting...
  • Page 166 Default Suitable Parameter Parameter Setting unit Modify Effective setting mode Communication n.2206 Servo bb At once configuration Default Parameter setting Function Range setting 0: no parity n.□xxx Parity bit 1: odd 2: even 0: 2-bit n.x□xx Stop bit 2: 1-bit 00：300 01：600 02：1200...

  • Page 167: Communication Protocol

    8.3 Communication protocol When communicating in a MODBUS network, this protocol determines that each controller needs to know their device address, identify messages sent by address, and decide what actions to take. If a response is needed, the controller generates the feedback and sends it out using Modbus protocol. In other networks, messages containing Modbus protocol are converted to frame or packet structure which can be used in this network.

  • Page 168: Communication Example

    2. Parameter setting: the communication parameters of the driver and PLC are set in the same way, such as baud rate, parity, data bit, slave station, etc. the communication protocols of the Xinje PLC and servo are standard Modbus RTU, namely 19200bps, 1-8-1-even parity.
  • Page 169 (2) Communication address: the address of the servo slave station. For the address of a register, please refer to Appendix 4. MODBUS address table. (3) register: to store the paramter value of write in address. (4) serial port no.: PLC RS485 serial port number.

  • Page 170: Appendix

    Appendix Appendix 1. Group P parameters Modification and effective: “○” means modifying when servo OFF and take effect at once. “√” means modifying anytime and take effect at once. “●” means modifying when servo OFF and take effect when power on again. “△”...
  • Page 171 Definition of rotation direction 1|2|3|4|5|6|7| ● P0-05 5.2.3 8|9|10 0- positive mode 1- negative mode 20P1 ： 800 0~5000 1|2|3|4|5|6|7| √ First inertia ratio P0-07 6.2.1 >20P1 ： 200 8|9|10 Forward Direction Input Pulse Instruction 0-Forward Pulse ● P0-09.0 5.3.2 Counting 1-Reverse Pulse...
  • Page 172 2-average power mode 2 Power Value of Set as 1|2|3|4|5|6| ○ P0-25 1~65535 5.2.6 Discharge Resistance model 7|8|9|10 Discharge resistance Set as 1|2|3|4|5|6| Ω ○ P0-26 1~500 5.2.6 value model 7|8|9|10 Servo shutdown enable stop mode 1|2|3|4|5|6| ○ P0-27 5.2.4 0-Inertial Operation Stop 7|8|9|10 2-deceleration stop...

  • Page 173: P1-Xx

    7|8|9|10 1|2|3|4|5|6| √ Blocking alarm speed P0-75 5~9999 5.8.1 7|8|9|10 Absolute Encoder Battery Undervoltage Alarm Switch (firmware version 20160304 and later) 0-used as absolute value 1|2|3|4|5|6| ● P0-79 5.7.1 encoder 7|8|9|10 1-1-used as incremental encoder 2-2-used as absolute value encoder, ignoring multi turn overflow alarm Thermal Power Protection of Motor...

  • Page 174: P2-Xx

    Reference Parameter Function Unit Default value Range Effective Suitable mode chapter time position instruction △ P1-25 0.1ms 0~65535 5|6|10 5.3.1.7 smooth filter time P2-XX: Suitable Reference Parameter Function Unit Default value Range Effective mode chapter Disturbance observer switch 1|2|3|4|5|6|7| ○ P2-00.0 6.1.4 0- OFF...
  • Page 175 Initial Inertia Ratio of 1|2|3|4|5|6|7| ○ P2-16 10~1000 6.2.4 Inertia Identification 8|9|10 Gain of adaptive mode 1|2|3|4|5|6|7| √ speed observer P2-18 1~20000 6.2.4 8|9|10 (standard) Default Suitable Reference Parameter Function Unit Range Effective value mode chapter 20P1 ： 100 Adaptive mode 20P2 ，...

  • Page 176: P3-Xx

    1|2|3|4|5|6|7| √ Notch filter 1 switch P2-69.0 6.4.6 8|9|10 1|2|3|4|5|6|7| √ Notch filter 2 switch P2-69.1 6.4.6 8|9|10 1|2|3|4|5|6|7| √ Notch filter 3 switch P2-69.3 8|9|10 1|2|3|4|5|6|7| √ Notch filter 4 switch P2-70.0 8|9|10 1|2|3|4|5|6|7| √ Notch filter 5 switch P2-70.1 8|9|10 1|2|3|4|5|6|7|...
  • Page 177 2-Speed Feedforward Analog voltage corresponding to rated ○ P3-01 0.001V 10000 1500~30000 1|2|4 5.4.4 speed (5E/5L not support) Analog voltage speed √ filter (5E/5L not P3-02 0.01ms 0~10000 1|2|4 5.4.4 support) Speed instruction input √ dead zone voltage P3-03 0.001v 0~500 1|2|4 5.4.4...

  • Page 178: P4-Xx

    0 - Input as Torque Instruction 1 - As a necessary condition for limiting input external torque, the minimum value valid compared with P3-28/P3-29. 2-Torque Feedforward Default Suitable Reference Parameter Function Unit Range Effective value mode chapter analog value corresponding ○...

  • Page 179: P5-Xx

    Default Suitable Reference Parameter Function Unit Range Effective value mode chapter return to zero overrun prohibition ○ 0-not prohibit P4-00.2 5|6|10 5.3.1.8 1-prohibit ○ Speed of hitting the proximity switch P4-01 0~65535 5|6|10 5.3.1.8 ○ Speed of leaving proximity switch P4-02 0~65535 5|6|10...
  • Page 180 Default Suitable Reference Parameter Function Unit Range Effective value mode chapter Location Completion √ P5-01 5|6|10 5.3.1.2 Detection Mode Location completion √ P5-02 0~65535 5|6|10 5.3.1.2 retention time 1|2|3|4|5|6|7| √ Rotation Detection Speed P5-03 0~10000 5.8.5.2 8|9|10 Same speed detection 1|2|3|4|5|6|7| √...
  • Page 181 Default Suitable Reference Parameter Function Unit Range Effective value mode chapter 02: Input positive signal from SI2 terminal. 03: Input positive signal from SI3 terminal. 04: Input positive signal from SI4 terminal. 10: Set the signal to always be "valid". 11: Inverse signal is input from SI1 terminal.
  • Page 182 Default Suitable Reference Parameter Function Unit Range Effective value mode chapter 1|2|3|4|5|6|7| √ SI terminal filtering time P5-30.2 5.8.4.1 8|9|10 /ZCLAMP: zero position √ P5-31.0~1 0~ff 3|4|7 5.4.1.2 clamping √ P5-31.2 SI terminal filtering time 3|4|7 5.8.4.1 /INHIBIT: Instruction √ P5-32.0~1 0~ff 5|6|7...

  • Page 183: P6-Xx

    Default Suitable Reference Parameter Function Unit Range Effective value mode chapter signal /MRUN: internal position √ mode motion starting P5-50 0000 0~ffff 5.3.3.6 signal √ /V-RDY: speed reached P5-51 0000 0~ffff 3|4|7 5.4.1.3 /USER1: user-defined output 1|2|3|4|5|6|7| √ P5-52 0000 0~ffff 5.8.5.7 8|9|10...

  • Page 184: P7-Xx

    P7-XX: Default Reference Parameter Function Unit Range Effective Suitable mode value chapter 1|2|3|4|5|6|7|8|9|1 ○ P7-00 RS485 station no. 0~100 RS485 baud rate 00 ： 300 01 ： 600 02 ： 1200 03 ： 2400 04 ： 4800 05 ： 9600 06 ：...
  • Page 185 Default Reference Parameter Function Unit Range Effective Suitable mode value chapter Bus instruction ○ P7-07 3000 1~65535 5.6.2.1 refresh cycle Compensation √ Threshold of P7-08 5.6.2.1 Position Deviation Compensation times √ for Position P7-09 5.6.2.1 Deviation 1|2|3|4|5|6|7|8|9|1 √ RS232 station no. P7-10 0~100 baud rate...

  • Page 186: P9-Xx

    P9-XX: Default Suitable Reference Parameter Function Unit Range Effective value mode chapter 1|2|3|4|5|6|7 √ P9-00.0 Full closed loop control mode switch 5.9.3.1 |8|9|10 1|2|3|4|5|6|7 √ P9-00.1 Counting direction of grating ruler 5.9.3.2 |8|9|10 1|2|3|4|5|6|7 √ P9-00.2 Grating scale ruler 5.9.3.2 |8|9|10 Full closed loop control speed and 1|2|3|4|5|6|7...
  • Page 187 Torque current U0-18 0.01A Analog input V-REF value U0-19 0.01V U0-20 Analog input T-REF value 0.01V Input signal status 1 U0-21 U0-22 Input signal status 2 output signal status 1 U0-23 U0-24 ouput signal status 2 （0000～9999）*1 U0-25 Input pulse frequency （0000～9999）*10000 U0-26 VREF AD Raw value...

  • Page 188: U1-Xx

    U1-XX: Code Contents Unit present alarm code U1-00 present warning code U1-01 U1-02 U phase current when alarming 0.01A U1-03 V phase current when alarming 0.01A U1-04 bus voltage when alarming IGBT temperature when alarming ℃ U1-05 U1-06 torque current when alarming 0.01A U1-07 excitation current when alarming...

  • Page 189: U3-Xx

    Average thermal power (from the first time enabled, average power in U2-16 the process of enabling) Average bus capacitor filter power (from the first time power on, U2-17 average power in the process of power on) U2-20 Device serial no.: low 16-bit U2-21 Device serial no.: high 16-bit Firmware generation date: year...

  • Page 190: Appendix 4. Modbus Address List

    Appendix 4. Modbus address list Parameter Modbus address Notes Modbus address is added 1 in turn from 0x0000, for P0-00~P0-xx 0x0000~0x0063 example, Modbus address of P0-23 is 0x0017 Modbus address is added 1 in turn from 0x0100, for P1-00~P1-xx 0x0100~0x0163 example, Modbus address of P1-10 is 0x010A Modbus address is added 1 in turn from 0x020F, for P2-15~P2-xx...
  • Page 191 P0-09 0x0009 P0-26 0x001A P0-10 0x000A P0-27 0x001B P0-11 0x000B P0-28 0x001C P0-12 0x000C P0-29 0x001D P0-13 0x000D P0-30 0x001E P0-14 0x000E P0-31 0x001F P0-15 0x000F P0-32 0x0020 P0-16 0x0010 P0-33 0x0021 Modbus address Modbus address Parameter Parameter Decimal Decimal P1-00 0x0100 P1-15...
  • Page 192 P3-16 0x0310 P3-35 0x0323 P3-17 0x0311 P3-36 0x0324 P3-18 0x0312 Modbus address Modbus address Parameter Parameter Decimal Decimal P4-00 0x0400 1024 P4-15 0x040F 1039 P4-01 0x0401 1025 P4-16 0x0410 1040 Modbus address Modbus address Parameter Parameter Decimal Decimal P5-00 0x0500 1280 P5-27 0x051B...
  • Page 193  Monitoring status address of group U Modbus address Modbus address Parameter Parameter Decimal Decimal U0-00 0x1000 4096 U0-28 0x101C 4124 U0-01 0x1001 4097 U0-29 0x101D 4125 U0-02 0x1002 4098 U0-30 0x101E 4126 U0-03 0x1003 4099 U0-31 0x101F 4127 U0-04 0x1004 4100 U0-32...

  • Page 194: Appendix 5. Q&A

    U1-14 0x110E 4366 U2-14 0x120E 4622 U1-15 0x110F 4367 U2-15 0x120F 4623 U1-16 0x1110 4368 U2-16 0x1210 4624 U1-17 0x1111 4369 U2-17 0x1211 4625 U1-18 0x1112 4370 U2-20 0x1214 4628 U1-19 0x1113 4371 U4-11 0x140B 5131 U1-20 0x1114 4372 U4-12 0x140C 5132 U1-21...
  • Page 195 Q9: What is the connection mode between PLC and servo? 1. NPN low-level output PLC: Y0 pulse connects P-, Y1 direction connects D-, +24V connects P+24, D+24. (Xinje PLC as an example) PNP high-level output PLC: Q0.0 pulse connects P+24, Q0.2 direction connects D+24, 0V connects P-,...
  • Page 196 Q10: What is the external connection method and parameter setting of regenerative resistance? There are P+, D, C terminals on the servo interface. There are short connectors between P+ and C (using built-in resistor). When the built-in resistor specifications are insufficient, the external resistor should be replaced.

  • Page 197: Appendix 6. General Debugging Steps

    Appendix 6. General debugging steps 1. Motor empty shaft, preliminary debugging A. Connect the cable correctly. Pay attention to the one-to-one connection of U, V, W and PE terminals, and the phase sequence can not be crossed. B. Open-loop test run: The test run mainly checks the power cable and the encoder feedback cable to determine whether the connection is normal.

  • Page 198: Appendix 7. Application Example

    Appendix 7. Application example Mode 6: Pulse instruction position mode 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.

  • Page 199: Appendix 8. Servo General Mode Parameters

    Parameter setting Running mode: P0-01=6 Pulse command state: P0-10=2 Electronic gear ratio: P0-11=0 P0-12=0 P0-13=16384 P0-14=625 Forward torque limit: P3-28=150 Reverse torque limit: P3-29=150 Positioning finished width: P5-00=7 /S-ON: P5-20=0010 /CLR: P5-34=0001 /COIN: P5-38=0001 /CLT: P5-42=0002 Appendix 8. Servo general mode parameters Appendix 8.1 Basic parameters Basic parameters Parameter...

  • Page 200: Appendix 8.3 Internal Position Mode General Parameters

    P0-94~P0-95 32-bit electronic gear ratio denominator P0-09 pulse instruction setting Each bit can set the command direction and filter time of low-speed pulse respectively Appendix 8.3 Internal position mode general parameters Internal position mode general parameters Parameter Overview P0-01 control mode selection Set to 5: internal position mode P4-03 internal position setting mode Control mode setting of internal position mode:...

  • Page 201: Appendix 8.6 Internal Speed Control General Parameters

    Appendix 8.6 Internal speed control general parameters Internal speed control Parameter Overview P0-01 control mode selection Set to 3: internal speed control mode P3-05 internal set speed 1 Speed value setting of internal 3-segment speed in rpm P3-06 internal set speed 2 P3-07 internal set speed 3 P5-28 internal speed selection /SPD-A The combination of terminals determines the speed of...
  • Page 202 Appendix 9. Torque-speed characteristic curve...
  • Page 205 Appendix 10. List of model selection and configuration Cable Encoder Brake Motor model Matched driver Power cable accessories cable cable package MS5S-40ST□-CS00330B-20P1-S CP(T)-SP- CM(T)-P07- JAM-P9-P4 M-length M-length MS5S-40ST□-CM00330B-20P1-S CP(T)-SP-B CM(T)-P07- JAM-P9-P4 M-length M-length DS5E/L/C/F/K-20 P1-PTA MS5S-40ST□-CS00330BZ-20P1- CP(T)-SP- CM(T)-P07- CB(T)-P JAM-P9-P4-P M-length M-length 03-length...
  • Page 206 Cable Encoder Brake Motor model Matched driver Power cable accessories cable cable package M-length M-length CP(T)-SP-B CM(T)-P07- MS6H-60CM30B1-20P4 JAM-P9-P4 M-length M-length CP(T)-SP- CM(T)-P07- CB(T)-P JAM-P9-P4-P MS6H-60CS30BZ1-20P4 M-length M-length 03-length CP(T)-SP-B CM(T)-P07- CB(T)-P JAM-P9-P4-P MS6H-60CM30BZ1-20P4 M-length M-length 03-length MS5S-80ST□-CS02430B-20P7-S CP(T)-SP- CM(T)-P07- JAM-P9-P4 M-length M-length...
  • Page 207 Cable Encoder Brake Motor model Matched driver Power cable accessories cable cable package CP(T)-SP-B CM(T)-P07- CB(T)-P JAM-P9-P4-P MS6S-80CM30BZ1-20P7 M-length M-length 03-length CP(T)-SP- CM(T)-P07- MS6H-80CS30B1-20P7 JAM-P9-P4 M-length M-length CP(T)-SP-B CM(T)-P07- MS6H-80CM30B1-20P7 JAM-P9-P4 M-length M-length CP(T)-SP- CM(T)-P07- CB(T)-P JAM-P9-P4-P MS6H-80CS30BZ1-20P7 M-length M-length 03-length CP(T)-SP-B CM(T)-P07-...
  • Page 208 Cable Encoder Brake Motor model Matched driver Power cable accessories cable cable package -S01 B-length 5-length CP(T)-SL- CM(T)-L15- MS5S-110STE-TL06030B□-21P8 JAM-L15-L4 B-length length CP(T)-SL- CM(T)-L15- MS5S-110STE-CS06030B□-21P8 JAM-L15-L4 M-length length MS5S-110STE-CM06030B□-21P CP(T)-SL- CM(T)-L15- JAM-L15-L4 B-length length MS5G-130STE-CS14615B-22P3- CP(T)-SC- CM(T)-L15- JAM-C10-L4 M-length length MS5G-130STE-CM14615B-22P3- CP(T)-SC- CM(T)-L15-...
  • Page 209 Cable Encoder Brake Motor model Matched driver Power cable accessories cable cable package MS5G-130ST-TL14615BZ-42P3- CP(T)-SC- CMB(T)-L1 JAM-C10-L7 B-length 5-length CP(T)-SL- CM(T)-XL2 JAM-L15-XL MS5G-180STE-TL19015B□-42P9 B-length 5-length CP(T)-SL- CM(T)-L15- MS-130ST-TL10030B(Z)-43P0 JAM-L15-L4 B-length length CP(T)-SL- CM(T)-XL6 JAM-L15-XL MS5G-180STE-TL28015B□-44P4 B-length 0-length DS5E/C/F-45P5-P CP(T)-SL- CM(T)-XL6 JAM-L15-XL MS5G-180STE-TL35015B□-45P5 B-length...
  • Page 210 WUXI XINJE ELECTRIC CO., LTD. 4th Floor Building 7,Originality Industry park, Liyuan Development Zone, Wuxi City, Jiangsu Province 214072 Tel: (510) 85134136 Fax: (510) 85111290 We chat ID...

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