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GSK DA98D User Manual

Digital ac servo drive unit
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DA98D Digital AC Servo Drive Unit
User Manual
(V5.00)

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  • Page 1 DA98D Digital AC Servo Drive Unit User Manual (V5.00)
  • Page 2 “impossible” or “disallowed” operations. Copyright of this manual belongs to GSK Equipment Co., Ltd, and any publication or copying of this manual by any unit or individual will be deemed as illegal behaviors.
  • Page 3 With a superior cost performance, GSK series of products have a very good sale in China and far in Southeastern Asia. Between 2000 and 2006, its market share has ranked No.1 in China for 7...
  • Page 4 Southern China and push forward national digital control industry. Field Technical Support Services If you have problems that cannot be resolved through phone calls, you can receive our technical support on the spot. GSK will authorize technical support engineer to the field to resolve your technical problems.
  • Page 5 Foreword Foreword Distinguished Customers, It is a great honor for us to have you buy DA98D full digital AC servo drive units of GSK Equipment Co., Ltd. This manual will introduce requirements and notes about operation of DA98D full digital AC servo drive unit.
  • Page 6 Foreword ● Due to improvement in products, contents of this manual will have some changes, for which we will not provide further notices. ● We will not be held accountable for any change made by the customer on the product and the warranty form will hereby go invalid.
  • Page 7 Safety Warning Safety Warning Warning ● The product is not designed and manufactured to be used in machines or systems threatening personal safety. ● When selecting the product, the customers shall consider safety protection measures when designing and manufacturing their machines and systems, so as to avoid improper operation or irregular accidents of the product.
  • Page 8 Safety Warning Wiring Attention ● Personnel involved in wiring or examination must possess sufficient competence in this task. ● Wiring and examination must be conducted 5 minutes after the power is switched off. ● Servo drive units and servo motors must have good ground contact. ●...
  • Page 9 Safety Warning not touch the servo drive unit’s radiator or the servo motor with your hand within a short time after the power is off. ● Do not refit the servo drive unit. Failure Handling Attention ● Even after the power of servo drive unit has been cut off, the voltage will remain for some time.

  • Page 10: Table Of Contents

    DA98D User manual Table of Contents Chapter One Overview ......................1 1.1 Product Introduction......................1 1.2 Arrival Examination ........................ 2 1.3 Product Appearance ......................3 Chapter Two Installment.....................6 2.1 Environmental Conditions....................6 2.2 Installment of Servo Drive unit.................... 6 2.3 Installment of Servo Motor ....................9 Chapter Three Wiring......................10...
  • Page 11 DA98D User manual Chapter Nine Order Instructions ..................65 9.1 Capacity Selecting ........................ 65 9.2 Electronic Gear Ratio......................65 9.3 Stop Features......................... 66 9.4 Calculation Method for Selecting Models of Servo System and Position Controller............................66...

  • Page 12: Chapter One Overview

    CNC machine tools, printing and packing machines, textile machinery and automatic production lines. DA98D AC servo drive unit (all called full digital AC servo drive device) is a new generation of full digital AC servo drive unit produced by our company. This product includes two control modes of speed and position.

  • Page 13: Arrival Examination

    Please check them with the product nameplate. b) Models of servo motor DA98D AC servo drive unit can be matched with many domestic or exported servo motors, which is at your option. Chapter Eight of this manual will provide information about SJT...

  • Page 14: Product Appearance

    DA98D User Manual series of servo motor from GSK and ST series of servo motor from New Motor Company of Huazhong University. Information about other models will be provided with the servo motor delivered. 2） Accessories a) Standard Accessories of DA98D servo drive unit ①...
  • Page 15 DA98D User Manual Fig. 1-1 Appearance of Servo Drive unit 2) Servo motor appearance...
  • Page 16 DA98D User Manual Fig. 1-2 Servo Motor Appearance...

  • Page 17: Chapter Two Installment

    Servo drive unit and servo motor shall avoid vibration. Impact shall be strictly forbidden. It is forbidden to draw wire, motor shaft and encoder of the servo motor. 2.1 Environmental Conditions Items DA98DServo Drive unit GSK SJT Series of AC Servo Motor Operation 0℃～55℃ (no frozen frost) -10℃～40 ℃ no frozen frost))
  • Page 18 DA98D User Manual The servo driver does not have any protection within its own structure, so it must be installed within the electric cabinet with good protection and prevented from contact of corrosive and combustible air. Conductive matters, metal dust, oil fog or liquid shall be prevented from entering inside.
  • Page 19 DA98D User Manual (2) Installment Interval Fig. 2.3 shows the installment interval for single drive unit and Fig. 2.4 shows the installment interval for multiple drive units. In actual installment, the interval shall be as great as possible to ensure good conditions for heat radiating.

  • Page 20: Installment Of Servo Motor

    1) Installment Environment （1） Protection Currently, GSK SJT series and Huazhong Series of servo motor are not water resistant, so liquid must not be spattered on the motor during installment. Oil or water must be prevented from entering inside the motor through leading-out wire or the motor shaft.

  • Page 21: Chapter Three Wiring

    DA98D User Manual Chapter Three Wiring Warning ● Personnel involved in wiring or examination must possess sufficient abilities in this task. ●Wiring and examination must be conducted 5 minutes after the power is off for preventing electric shock. Attention ● The wires must be connected according to terminal voltage and electrode to prevent the equipment from being damaged or personnel from being hurt.
  • Page 22 DA98D User Manual Please install surge absorbing elements in sensible elements (loop) in related circuits: DC loop is reversely connected in parallel with continuous current diode while AC loop is connected in parallel with capacitance-resistance absorbing return circuit. Attention U, V and W shall be connected with motor winding in the way of one-to-one correspondence. Reverse connecting shall be forbidden.
  • Page 23 DA98D User Manual Fig. 3.1 Standard Wiring for Position Control Mode...
  • Page 24 DA98D User Manual Fig. 3.2 Standard Wiring for Speed Control Mode...

  • Page 25: Functions Of Terminals

    DA98D User Manual 3.2 Functions of Terminals 1） Configuration of Terminal Fig. 3.3 is a configuration chart for interface terminals of the servo drive unit. TB is the plate of terminals; CN1 is for connector of DB44 with male socket and female plug; CN2 is also...
  • Page 26 DA98D User Manual DB25 Fig. 3.3 Configuration Chart for Interface Terminals of Servo Drive unit 2） Power Terminal TB Table 3.1 Power Terminal TB Terminal Terminal Terminal Name Functions Mark Input terminal of major return circuit power Major Loop TB-1 ～220V 50Hz...
  • Page 27 DA98D User Manual Table 3.2 Control Signal Input/Output Terminal CN1 Terminal Terminal Mark Mode Functions Name Power anode of input terminal Power Used to drive photoelectrical coupler in the input CN1-38 Anode COM+ Type l terminal CN1-39 Input Terminal DC12～24V, current ≥100mA...
  • Page 28 DA98D User Manual Command Input terminal for command pulse inhibiting CN1-41 Pulse Type1 INH ON: command pulse input is inhibited Inhibiting INH OFF: command pulse input is valid Input terminal for position command pulse Command inhibiting Pulse Type1 INH ON: command pulse input is inhibited...
  • Page 29 DA98D User Manual Common CN1-32 edge Common Earthling common edge of control signal output CN1-33 Output edge terminal (excluding CZ) terminal Output terminal for Z-phase of encoder Z-Phase Output Z-phase pulse servo motor’s CN1-37 output Type2 photoelectric code Encoder CZ ON: Z-phase signal appears...

  • Page 30: I/O Interface Principle

    DA98D User Manual Code disc CN1-13 PBOUT- Pulse B- Code disc PZOUT CN1-42 Pulse Z+ One pulse will be output from one round of the motor. Code disc CN1-43 PZOUT- Pulse Z- Feedback Signal Terminal CN2 Table 3.3 Encoder Signal Input/Output Terminal CN2...
  • Page 31 DA98D User Manual 1) Switch Value Input Interface servo amplifier Driver Sideface C OM + 12~24V 4.7K Fig. 3.4 Type1 Switch Value Input Interface (1) Power supply is provided by the user, DC12～24V, current≥100mA; Note: if the electrodes are reversely connected, the servo driver will not work.
  • Page 32 DA98D User Manual Fig. 3.6 Type4 Analog Command Input Interface Input signal is connected with twisted-pair cable lines. 2. The circuit adopts the enlarged different-mode form, with an input resistance of 20K. 4) Pulse Output Interface Driver Sideface servo amplifier...
  • Page 33 DA98D User Manual 820Ω;VCC=5V,R=82～120Ω. （4） When adopting uni-polar drive mode, the external power supply will be provided by the user, but attention must be given to the case that if the power electrodes are reversely connected, the servo drive unit may be damaged.
  • Page 34 DA98D User Manual PULS SIGN Fig. 3.9 Time sequence Diagram for Pulse＋Symbol Input Interface (Maximal Pulse Frequency:500kHz) PULS SIGN Fig. 3.10 Time sequence for CCW Pulse/CW Pulse Input Interface(Maximal Pulse Frequency:500kHz) Driver Speed Signal Output Interface servo motor servo amplifier...
  • Page 35 DA98D User Manual Driver Side servo motor servo amplifier Motor Side AM26LS32 X=A,B,Z,U,V,W Fig. 3.12 Input Interface for Servo Driver’s Photoelectric Encoder...

  • Page 36: Chapter Four Parameters

    4.1 Checklist of Parameters The following factory parameters listed are used to match the drive unit of GSK 10SJT-M020E digital control machine tool (2N.m,3000r/min) as an example. Related parameters of different motors are not the same.
  • Page 37 DA98D User Manual Internal Speed 3 -3000~3000 300 r/min Internal Speed 4 -3000~3000 -100 r/min Speed Completing 0~3000 r/min Reservation Linear Velocity Conversion Numerator 1~32767 Linear Velocity Conversion 1~32767 Denominator Decimal Position of Linear Velocity Zero Speed Scope Analog 0~1000...

  • Page 38: Functions Of Parameters

    DA98D User Manual 4.2 Functions of Parameters Table 4.2 Functions of Parameters Parameter Name Functions range Prevent the parameters from being wrongly changed. Generally, when needing to set parameters, first set the parameter as the correct password, then set the parameters. After commissioning, reset the parameter back to 0 to ensure that the parameter will not be wrongly changed in the future.
  • Page 39 DA98D User Manual ①Control mode of the driver can be selected by setting this parameter: 0:Position control mode; 1:Speed control mode; 2:Tiral operation control mode; 3:JOG control mode; 4: Encoder’s zero adjusting mode. 5: Opern-loop operation mode (used for testing motor and encoder).
  • Page 40 DA98D User Manual Set features of low pass filter for speed inspection. The lower the value is, the smaller will be the cut-off frequency will Pass be and the less the motor noise. If the load inertia is very great, the Filter set value can be properly reduced.
  • Page 41 DA98D User Manual Set input mode of the position command pulse. Three input modes can be set through parameters: Position 0: Pulse＋symbol; Command 1:CCW pulse/CW pulse; Pulse Input CCW is counter-clockwise rotation observed from the servo motor Mode shaft direction, defined as positive direction.
  • Page 42 DA98D User Manual Set JOG operation speed. -3000 r/min Operation ~3000r/min Speed 22 Reservation Set maximal speed limit of the servo motor. r/min Maximal Unrelated with the rotation direction. ~3000 Speed Limit If the set value surpasses the rated rotation rate, the actual highest r/min speed limit will be the rated rotation rate.
  • Page 43 DA98D User Manual Decimal Position Refer to Parameter PA30. ① Linear Velocity Zero Speed Since there is jamming in the process of transmitting analog Scope command, the command received is not necessarily 0 when the Analog upper machine gives the analog zero speed command, under 0～1000...
  • Page 44 DA98D User Manual Acceleration The set value means the acceleration time of motor ranging from Time 0r/min to 1000r/min Constant The acceleration and deceleration have a linear feature. Only valid for speed control mode, invalid for position control mode. ~10000ms If the drive unit is used together with external position loop, this parameter shall be set as 0.

  • Page 45: List For Comparison Of Modle Codes & Parameters And Motor

    DA98D User Manual Zero-point When analog command AD is transited to speed command with Slope curve of second order, the zero-point slope for the curve is 1024 0～1023 times. 4.3 List for comparison of Modle Codes & Parameters and Motor Table 4.3...

  • Page 46: Chapter Five Alarming And Handling

    DA98D User Manual Chapter Five Alarming and Handling Attention Personnel involved in examination and repair must possess corresponding professional knowledge and abilities. Do not touch driver and motor at least 5 minutes after the power has been cut off for fear of electric shock and heat injury.

  • Page 47: Methods For Handling Alarms

    DA98D User Manual 5.2 Methods for Handling Alarms Table 5.2 Methods for Handling Alarms Alarm Alarm Operation Reasons Handling Methods Code Name State Occur when ①Failure in control power board switching on ②Encoder failure ①Replace servo driver. control ②Replace servo motor.
  • Page 48 DA98D User Manual ①Failure in circuit board. ②Power fuse is damaged. Voltage Occur when Replace servo drive unit. ③Failure in soft start circuit. Shortage switching on ④Damaged rectifier. Main main power ①Excessively low power voltage. Circuit supply ②Temporary power failure for Examine the power supply.
  • Page 49 DA98D User Manual Overflow ① The mot or get stuck by the ① Examine the machinery part machinery. of the load. Position Abnormal input command pulse. ②Examine command pulse. ② Error ③ Examine whether the motor Meter works after receiving command pulse Wrong connection of encoder.
  • Page 50 DA98D User Manual ①One phase of U, V and W is disconnected. Examine wire connection. ②Wrong connection of encoder. Occur when switching on Failure in circuit board. Replace servo drive unit. control power Braking failure Disconnection of brake resistance. Re-wiring.

  • Page 51: Chapter Six Display And Operation

    DA98D User Manual Chapter Six Display and Operation 6.1 Keyboard Operation The panel of drive unit is composed of six-phase LED nixie tube display and four keys , which are used to display states of drive units and set parameters. The specific functions of the keys are as follows : Increase serial number and value or forward operation.

  • Page 52: Ways Of Monitoring

    DA98D User Manual 6.2 Ways of Monitoring Select “dP-” In the first layer and press down , then you will enter the ways of monitoring, in which there are 21 display states. Use to select the display mode, then press down to enter the specific display state.
  • Page 53 DA98D User Manual by 5. Note 3：Control mode: 0---position control; 2---speed control;3---speed trial operation; 3---JOG operation;4---encoder zero adjusting;5---open-loop operation. Note 4：If the displayed number reach 6 digits (like 123456), the hint characters will not be shown. Note 5：Position command pulse frequency is the actual pulse frequency before being multiplied by the input electronic gear, with a minimal unit of 0.1kHz.

  • Page 54: Parameter Setting

    DA98D User Manual “cn- oFF” : The main circuit is not discharged and the servo system does not work; “cn- CH” : The main circuit is charged but the servo system does not work ( the servo is not on or alarm occurs);...

  • Page 55: Parameter Management

    DA98D User Manual 6.4 Parameter Management If the writing-in operation fails to be implemented to the changed Attention parameter, the value will not be stored and the change will go invalid after power off. Parameter management mainly involves operations between memory and EEPROM. Select “EE-”...

  • Page 56: Speed Trial Operation

    DA98D User Manual EE－rS Recovery backup, i.e., read data in the recovery area of EEPROM into the memory. What needs to be noted is that the parameter writing in operation is not implemented in this operation, so it is still the data in the parameter area of EEPROM that is red into the memory.

  • Page 57: Jog Operation

    DA98D User Manual for speed trail operation is “S” and the value unit is r/min. When the system is under speed control mode, the speed command will be provided by the keys. The speed command can be changed by and the motor will run at the given speed.

  • Page 58: Chapter Seven Operation By Switching On Power

    DA98D User Manual Chapter Seven Operation by Switching on Power Attention The drive unit and motor must have reliable ground contact; PE terminal must be safely connected with the grounding terminal of equipment. It is recommended that the power should be supplied through isolating transformer and power filter for the purpose of ensuring safety and anti-jamming abilities.
  • Page 59 DA98D User Manual Fig. 7.1 Power Supply Connecting Time sequence for Power Supply Connecting and Alarming: Fig. 7.2 Time sequence for Power Supply Connecting Fig. 7.3 Time sequence for Alarming...

  • Page 60: Trial Operation

    DA98D User Manual 7.2 Trial Operation 1） Pre-operation Examination After installment and wiring have been completed, the following items shall be examined before switching on the power: Whether the wiring and reliable input voltage are correct in the power supply terminal Whether the power supply wire and motor wire have short circuit or ground contact.
  • Page 61 DA98D User Manual the point on the display of the drive unit will shine. If alarm occurs, examine the wiring. ③Set the control mode (parameter No.4) as position operation mode (set as 0). According to the way of inputting signals by controller, the user shall set parameter No.14 and proper electronic gear ratio (No.12 and No.13).

  • Page 62: Adjustment

    DA98D User Manual (2) Switch on control circuit power (temporarily not switching on the main circuit power) and the point on the display of the drive unit will shine. If alarm occurs, examine the wiring. (3) Set the control mode (parameter No.4) as speed operation mode (set as 2) and set PA43 parameter as 0.
  • Page 63 DA98D User Manual Feed- forward low pass Feed- Position command filter forward No.5 No.60 No.12 No.6 No.64 No.61 Time No.14 No.13 No.9 No.40 constant No.4 No.41 of current Time Current proportional Electronic Position Acceleration Pulse input constant command gain integral...

  • Page 64: Chapter Eight Product Specifications

    DA98D User Manual Chapter Eight Product Specifications Attention ● Servo drive unit must be selected to match the servo motor. This manual describes matched specifications on GKS SJT series and ST series of products. ● Servo motor description. The user shall make a clear indication in the order if he or she needs to select servo motor of other manufacturers.

  • Page 65: Servo Motor Specifications

    240 mm×177.5 mm×90mm(see figuration drawing) 8.2 Servo Motor Specifications 1） Product Introduction GSK SJT series of three-phase AC permanent-magnet synchronous servo motors has the following technical features: ◆ Adopt new rare-earth materials, with great output power. ◆ Good low-speed performance, with speed ratio>1:10000.
  • Page 66 DA98D User Manual Table 8.3 Encoder Wiring Lead Wires of Rack (Earth) Encoder Socket No. Lead Wires of Encoder Plug No. (2)ST Series of Motor Winding Schematic diagram for motor winding is shown as follows: A, B and C are lead-out terminals of winding.
  • Page 67 DA98D User Manual electricity-losing brake. Table 8.9 Specifications on ST Series of Some Motors Zero Rated Rated Rotor Machinery Operating Power Weight Speed Rotation Current Inertia Time Voltage Models (kw) (kg) 110ST-M02030H 0.6 3000 0.33×10 3.64 220(300) 110ST-M04030H 1.2 3000 7.5(5.0) 0.65×10...
  • Page 68 DA98D User Manual 110SJT—M040D 186(237) 241(292) -0.013 -0.035 110SJT—M060D 212(263) 267(318) -0.013 -0.035 Note: The LB and L value in the bracket is the length of motor with electricity-losing brake of the corresponding specifications. (2) Figuration and installment dimension for SJT series of 130-stand model AC servo...
  • Page 69 DA98D User Manual Zero-speed Torque (Nm) A(mm) B(mm) 158(205) 184(231) 200(247) 216(263) C(mm) Note: The B value in the bracket is the length of motor with electricity-losing brake. (4) Figuration Drawing for DST series of 130-stand model AC servo motors...

  • Page 70: Isolating Transformer

    DA98D User Manual 8.3 Isolating Transformer Attention It is recommended that the power of drive unit is supplied by isolating transformer for reducing the possibility of electric shock and jamming by power supply and electromagnetic field. Drive units of 0.8kW and below can adopt single-phase power supply while drive units of more than 0.8kW can adopt three-phase power supply.
  • Page 71 DA98D User Manual Installation Dimension Drawing for BS—120 Model...
  • Page 72 DA98D User Manual Installment Dimension Drawing for BS—200 Model...
  • Page 73 DA98D User Manual Installment Dimension Drawing for BS—300 Model...
  • Page 74 DA98D User Manual Installment Dimension Drawing for BD—80 Model...
  • Page 75 DA98D User Manual Installment Dimension Drawing for BD—120 Model...
  • Page 76 DA98D User Manual Chapter Nine Order Instructions 9.1 Capacity Selecting The determination of capacity of the servo system must comprehensively consider factors like load inertia, load torque, required positioning precision and maximal speed. The following steps are recommended for the considerations: 1）...
  • Page 77 DA98D User Manual remainder, which means that position errors exist. The maximal error is the minimal rotation value (minimal resolution) of the motor. 9.3 Stop Features Under position control mode, there will be a difference between the command pulse and feedback pulse when using pulse train to control the servo motor.
  • Page 78 DA98D User Manual In which, F: command speed mm/min; : maximal output frequency of CNC Hz(GSK980 为 128000). 3) Maximal Speed of Servo System: × × In which, V : maximal velocity of work bench permitted by the servo system mm/min;...
  • Page 79 Add: No.52, 1 . Street, Luochong North Road, Luochongwei, Guangzhou, 510165, China Website: http://www.gsk.com.cn E-mail: gsk@gsk.com.cn Tel: 86-20-81796410/81797922 Fax: 86-20-81993683 All specification and designs are subject to change without notice. Aug. 2007/Edition 1 Aug. 2007/Printing 1...

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