GSK DA98A User Manual
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GSK DA98A User Manual

Full digital ac servo system
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GSK DA98A
Full Digital AC Servo System
User Manual
GSK CNC Equipment

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Summary of Contents for GSK DA98A

  • Page 1 GSK DA98A Full Digital AC Servo System User Manual GSK CNC Equipment...
  • Page 2 DA98A User Manual Foreword Thank you for purchasing DA98A AC Servo System. For optimum performance and safety instruction, please read this manual carefully. Caution: Improper operation leads to accidents. Before operating the system, please read the manual completely. ● All specification and designs are subject to change without notice.
  • Page 3 DA98 DA98A User Manual Safety regulation Warning ● Design and manufacturing of the product are not used for the mechanism and system which can cause danger to people. ● Precautions in design and making should be taken to avoid accidents resulted by malpractice or malfunction of the product when matching with this product.
  • Page 4 DA98A User Manual Connection Warning ● Only qualified persons can do or check the connection. ● Connection and checking cannot be performed in 5 minutes after the power supply is switched off. ● The servo driver and servomotor must be grounded.
  • Page 5 DA98 DA98A User Manual scalding . ● Must not refit the servo system. Troubleshooting Warning ● Do not touch the terminals in 5minutes after power is off because of the high voltage of servo driver. ● Only qualified persons can dismount or maintain it.

  • Page 6: Table Of Contents

    DA98A User Manual Contents Overview ............................1 1.1 Introduction ..........................1 1.2 Check after delivery ......................... 2 1.3 Outline ............................3 Installation ............................5 2.1 Environmental condition ......................5 2.2 Installation of servo driver ..................... 5 2.3 Installing servomotor ....................... 7 Wiring ..............................
  • Page 7 DA98 DA98A User Manual 6.6 JOG run ............................. 36 6.7 Motor testing ..........................36 6.8 Miscellaneous ........................... 36 ............................... 37 7.1 Power supply connection ...................... 37 7.2 Trial run ............................. 39 7.3 Adjustment ..........................40 Specification ..........................43 8.1 Driver specification ........................

  • Page 8: Overview

    NC machine, printing packing machinery, textile machinery, automatic production line and other automatic fields. With high integration, compact, excellent reliability, DA98A AC servo system is the first full digital one in China, employed with the advanced digital signal processor DSP(TMS320f2407A) from America TI company, large-scale complex programmable logic device and MITSUBISHI intellegent power module, and with PID operation to execute PWM control.

  • Page 9: Check After Delivery

    Note: Product type has been filled in before delivery and check the product with its nameplate. （2） Servomotor type. DA98A (2.0 Version) AC servo driver can be matched with many domestic and abroad types of servomotor which can be selected by user. Servomotor information of GSK SJT...

  • Page 10: Outline

    STZ, Star series from Huazhong University of Science and Technology are provided in Chapter 8, and other servomotor information are provided with delivery. 3） Accessories （1） DA98A servo driver standard accessories: ① User Manual ② Installation bracket ③ M4×8 contersink bolt ④...
  • Page 11 DA98A User Manual 2） Outline of servomotor Fig. 1-2 Outline of SJT series servomotor GSK CNC EQUIPMENT CO., LTD.

  • Page 12: Installation

    It must not be installed on or near flammable objects to avoid fire. 1） Installation environment （1） Guard The servo driver without guard must be installed in the protective electric cabinet to prevent dust, corrosive gas, liquid, electricity-conduct or inflammable substances from entering it. GSK CNC EQUIPMENT CO., LTD.
  • Page 13 Fig. 2.3 is installation interval for one driver and Fig. 2.4 is for drivers. The interval for actual installation should be more as possible to get good heat radiation. Fig. 2.3 Installation interval for one driver GSK CNC EQUIPMENT CO., LTD.

  • Page 14: Installing Servomotor

    1）Installation environment （1） Guard GSK SJT series, Star series servomotors from Huazhong University of Science and Technology are not employed with waterproof device. So, protect liquid from splashing on motor and grease from motor internal by its lead wire and shaft.
  • Page 15 Helical instruments are employed to removing it. SJT, Star series motor cannot be weighted with heavy axial, radial load. It should be employed with flexible shaft coupling to load. Anti-loose washer is employed to fix motor to protect it from loose. GSK CNC EQUIPMENT CO., LTD.

  • Page 16: Wiring

    Wiring: be far away from power circuit to wiring to antiinterference. Inductive components (coil) should be installed with surge absorbing element: DC coil parallels reversely with freewheeling diode and AC coil parallels with RC absorption circuit. GSK CNC EQUIPMENT CO., LTD.
  • Page 17 Encoder Servo enabling Servo ready OK Servo alarm Output public terminal Encoder in Z direction outputs Encoder in Z direction outputs public terminals Position instruction Position instruction Fig. 3.1 Standard wiring of position control mode GSK CNC EQUIPMENT CO., LTD.

  • Page 18: Terminal Function

    Supply input must be grounded TB-5 Servomotor output Output terminal of servomotor must be connected correspondingly with U, V, W TB-6 TB-7 TB-8 standby TB-9 standby TB-10 Control power supply: Power supply input terminal of control loop GSK CNC EQUIPMENT CO., LTD.
  • Page 19 Public terminal of encoder (Z) output terminal phase) CN1-18 Instruction pulse PULS+ Type3 PLUS input CN1-6 PULS- External instruction pulse input terminal CN1-19 Instruction pulse SIGN+ Type3 CN1-7 SIGN input SIGN- CN1-24 Shield ground Terminal of shield ground wire GSK CNC EQUIPMENT CO., LTD.
  • Page 20 Encoder (Z-)input encoder（Z-） Connect with servomotor photoelectric CN2-21 Encoder(U+)input encoder（U+） Type4 Connect with servomotor photoelectric CN2-9 Encoder(U-) input encoder（U-） Connect with servomotor photoelectric CN2-20 Encoder(V+)input encoder（V+） Type4 Connect with servomotor photoelectric CN2-8 Encoder (V-) input encoder（V-） GSK CNC EQUIPMENT CO., LTD.

  • Page 21: I/O Interface Method

    If they are connected reversely, the servo driver is damaged. 3）Pulse value input interface Driver side servo amplifier PULS+ PULS- SIGN+ SIGN- Fig. 3.5 Type3 differential drive mode of pulse value input interface GSK CNC EQUIPMENT CO., LTD.
  • Page 22 Command pulse +symbol SIGN Table 3.5 pulse input time sequence parameter Parameter Differential drive input Single terminal drive input >2μS >5μS >1μS >2.5μS >1μS >2.5μS <0.2μS <0.3μS <0.2μS <0.3μS >1μS >2.5μS >8μS >10μS >4μS >5μS >4μS >5μS GSK CNC EQUIPMENT CO., LTD.
  • Page 23 Fig. 3.7 Pulse +symbol input interface time sequence (max. pulse frequency 500kHz) 3） ·Servomotor photoelectric encoder input interface· servo motor servo amplifier Driver side Motor side AM26LS32 X=A,B,Z,U,V,W Fig. 3.8 Servomotor photoelectric encoder input interface GSK CNC EQUIPMENT CO., LTD.

  • Page 24: Parameter

    Adjust parameter when the servomotor runs in no load mode. Motor parameter defaults servomotors of GSK SJT series, STZ, Star series from Huazhong University of Science and Technology, and the corresponding parameters must be adjusted if other servomotor is used, otherwise, the motor may run abnormally.

  • Page 25: Parameter Function

    ③ Refer to Table 4.3 for parameters significance. Software ① Software version can be seen but cannot be modified. version ② Select display state after the driver is switched on. Initial display 0~19 state 0：Display motor speed; GSK CNC EQUIPMENT CO., LTD.
  • Page 26 The smaller the setting value is, the smoother the timing is. 1~300 input limiting ① Set speed detecting lowpass filter characteristics. Speed 20~200% ② The smaller the setting value is, the lower the cutoff frequency detecting GSK CNC EQUIPMENT CO., LTD.
  • Page 27 No.12 is set to 5 and No. 13 is set to 3. ⑤ Recommended range of electronic gear is: ≤ G ≤ Position instruction ① Refer to parameter No.12 pulse division 1~9999 frequency denominator GSK CNC EQUIPMENT CO., LTD.
  • Page 28 ② The bigger the setting value is, the higher the gain is and the proportional 0~9999 smaller the error of current track is. If the gain is too high, there is gain noise or vibration. GSK CNC EQUIPMENT CO., LTD.

  • Page 29: Type Code Parameter And Motor

    4.3 Type code parameter and motor No 1 parameter Servomotor type Driver type Remark 110STZ4-1 DA98A-08-110STZ4-1 130STZ10-1 DA98A-14-130STZ5-1 130STZ5-1 DA98A-10-130STZ5-1 130STZ6-1 DA98A-12-130STZ6-1 110ST-M02030H DA98A-06-110ST-M02030H 110ST-M04030H DA98A-12-110ST-M04030H GSK CNC EQUIPMENT CO., LTD.
  • Page 30 130ST-M07720H DA98A-16-130ST-M07720H 130ST-M10015H DA98A-15-130ST-M10015H 130ST-M10025H DA98A-26-130ST-M10025H 130ST-M15015H DA98A-23-130ST-M15015H 130SJT-M060C DA98A- 12-130SJT-M060C 130SJT-M075C DA98A-15-130SJT-M075C 4127N1824E200 DA98A-4127N1824E200 130SJT-M050C DA98A-10-130SJT-M050C 130SJT-M040C DA98A-10-130SJT-M040C 110SNMA2IE DA98A-04-110SNMA2IE 110SNMA4IE DA98A-08-110SNMA4IE 130SNMA4ⅡE DA98A-08-130SNMA4ⅡE 130SNMA5IE DA98A-10-130SNMA5IE 130SNMA6ⅡE DA98A-12-130SNMA6ⅡE 130SNMA7.5IE DA98A-15-130SNMA7.5IE 130SNMA10IE DA98A-15-130SNMA10IE 130SNMA15IE DA98A-23-130SNMA15IE GSK CNC EQUIPMENT CO., LTD.

  • Page 31: Alarm And Troubleshooting

    Overload (instantaneous overheating). Brake fault. Brake circuit fault IC2(EPLD core) error IC2(EPLD core ) error The current collection circuit fault Encoder pulse in Z direction is Encoder pulse in Z dirction is error. lost. GSK CNC EQUIPMENT CO., LTD.

  • Page 32: Alarm Troubleshootings

    ① The circuit board fault ① Change servo driver. excess control power voltage supply Connect with ① Power voltage is too high. ① Check power supply main power ② Waveform of power voltage is normal. supply GSK CNC EQUIPMENT CO., LTD.
  • Page 33 ② Reduce the load capacity.. ③ Change it with driver and motor with big power. ① Instruction pulse frequency is too high. ① Reduce the frequency. ① Change the servo driver. ① Circuit board fault Motor is Connect with GSK CNC EQUIPMENT CO., LTD.
  • Page 34 ② Switch power supply is abnormal. ③ Check the switch power ③ Core is damaged. supply. Connect with IPM module is ① Circuit board is fault ① Change the servo driver. control power fault supply GSK CNC EQUIPMENT CO., LTD.
  • Page 35 ① Change the servo driver. Brake fault control power supply ①Brake resistance connection is switched off. ① Connect the wire again. Motor is running ① Brake transistor is damaged. ① Change the driver. ② Internal brake resistance is damaged. GSK CNC EQUIPMENT CO., LTD.
  • Page 36 ② Cable is inferior. ② Check the interface circuit of encoder is ③ Cable shield is inferior. lost of encoder. ④ Shield ground wire is not connected well. ⑤ Encoder interface circuit is fault. GSK CNC EQUIPMENT CO., LTD.

  • Page 37: Display And Operation

    6.2. Monitoring mode Select “dP-” in the first layer and press Enter to enter into monitoring mode which includes 21 display modes. Select the desired display mode by ↑, ↓k, then press Enter to enter into specific GSK CNC EQUIPMENT CO., LTD.
  • Page 38 Note 4: Pulse frequency of position instruction is the actual one before inputting the electronic gear and its min. unit is 0.1 kHz, with positive number for positive direction and negative number for negative direction. Note 5: Caculation method of motor current I is as follows: GSK CNC EQUIPMENT CO., LTD.
  • Page 39 Fig. 6.4 Output terminal display(light is ON and poor light is OFF) Encoder (V) Encoder (W) Encoder Encoder (Z) Encoder (E) Encoder (A) ig. 6.5 Encoder signal displaying (light is ON and poor light is OFF) GSK CNC EQUIPMENT CO., LTD.

  • Page 40: Parameter Setting

    E n t e r ↓ ← Parameter No.98 P A - 参 数 N o . 9 8 P A - 参 数 N o . 9 9 Parameter No.99 Fig. 6.6 Operating frame of parameter setting GSK CNC EQUIPMENT CO., LTD.

  • Page 41: Parameter Management

    EEPROM backup zone into the memory and write operations by parameters, and write parameter in the memory into EEPROM parameter zone. EE－rS： recovering copy. It means to read the data in EEPROM backup zone into the memory, GSK CNC EQUIPMENT CO., LTD.
  • Page 42 Fig. 6.8 Operating meaning of parameter management Note Execute the speed trial run or run in JOG mode when there is no load for motor to avoid the unexpected accident. The driver SON(servo enabling) must be valid in trial run. GSK CNC EQUIPMENT CO., LTD.

  • Page 43: Speed Trial Run

    Press← to switch off servo enabling to exit motor testing mode. 6.8 Miscellaneous It is not available for the automatic gain adjustment which is being developed. The encoder zeroing is executed when the motor runs without load, otherwise it will affect the zero precision. GSK CNC EQUIPMENT CO., LTD.

  • Page 44: Run

    30 times less each day. Owing to the overheating of the driver and the motor, the power supply is switched on only after the fault is resolved and waiting for 30 minutes to cool it down. GSK CNC EQUIPMENT CO., LTD.
  • Page 45 Servo alarm output （ALM） Power supply of main circuit <1.5S Servo enabling input Response in 10mS （SON） Alarm elimination (ALMS) <10mS <10mS Servo ready output （SRDY） Servo motor power Fig. 7.2 Time sequence of power supply connection GSK CNC EQUIPMENT CO., LTD.

  • Page 46: Trial Run

    （5） Enter into the speed trial run by pressing key, the prompt identifier is “S” , and the unit is r/min. When the system is in the speed control mode, the speed instructions is changed by pressing ↑ ↓ keys, and the motor runs as the specified speed. B：JOG run GSK CNC EQUIPMENT CO., LTD.

  • Page 47: Adjustment

    （3）[Position propotion gain]（parameter No.9）setting value should be big as far as possible in a stable range. If it is too big, the track characteristic of position instruction is good and the lag error is small, but there will be vibration when stopping positioning. GSK CNC EQUIPMENT CO., LTD.
  • Page 48 4×C and C is lines of encoder per rev. In the system, C=2500 lines/rev and P =10000 pulse/rev. The instruction pulse multiplying the electronic gear ratio G equals the postion control pulse , so one instruction pulse travel △l* is represented as follows: GSK CNC EQUIPMENT CO., LTD.
  • Page 49 DA98A User Manual ∆ △l*= ×G G=instruction pulse frequency division numerator/ instruction pulse frequency division dominator. GSK CNC EQUIPMENT CO., LTD.

  • Page 50: Specification

    DA98A User Manual Specification The servo driver must be properly matched with servomotor. The described servomotor in the manual is from GSK SJT series, STAR series of Huazhong Note University of Science and Technology. Please remark in your order if you choose others.

  • Page 51: Servomotor Specification

    244×163×92mm（Refer to outline） 244×163×112mm 8.2 Servomotor specification 1） Introduction 2） Characteristics of GSK SJT three-pahse AC permanent magnetism synchronous servomotor series are as follows: √ Latest model rare eartj material, big output power. √ Perfect low speed , timing ratio>1:10000.
  • Page 52 220 V ） Rated current（I 2.5 A 4.5 A ） Rated torque（T 2 N·m 4 N·m 6 N·m ） Max. torque（T 6 N·m 12 N·m 12N·m ） Rated speed（n 2000 rpm 2000 rpm 2000 rpm GSK CNC EQUIPMENT CO., LTD.
  • Page 53 220(300) 130STZ10-1-HM 1500 9.5(5.5) 3.6×10 220(300) 130STZ10-2-HM 2500 16(10) 3.6×10 220(300) 130STZ15-1-HM 1500 13.5(8.5) 5.2×10 220(300) Note 1: Value in the above-mentioned bracket in rated current is a rated current when it is high voltage. GSK CNC EQUIPMENT CO., LTD.
  • Page 54 Note 2: Please remark in your order if you need a power-down brake motor. 5）Contour （1）SJT series 130 chassis AC servomotor contour Specification D(mm) N(mm) LB(mm) L(mm) φ φ 130SJT-M040C -0.013 -0.035 φ φ 130SJT-M050C -0.013 -0.035 GSK CNC EQUIPMENT CO., LTD.
  • Page 55 -0.013 -0.035 φ φ 110SJT-M040C -0.013 -0.035 110SJT-M060C φ φ -0.013 -0.035 （3）STZ series 110 chassis AC servomotor contour Zero speed torque D(mm) L(mm)(no braker) L(mm)(with braker) (4) STZ series 130 chassis AC servomotor contour GSK CNC EQUIPMENT CO., LTD.
  • Page 56 Note: B value in the above-mentioned bracket is a length with power-down braker. （6）Star series 130 chassis AC servomotor contour Zero speed torque (Nm) A(mm) B(mm) 162(209) 171(218) 180(227) 194(241) 218(265) 266(313) C(mm) Note: B value in the above-mentioned bracket is a length with power-down braker. GSK CNC EQUIPMENT CO., LTD.

  • Page 57: Isolation Transformer

    The following isolation transformers are provided by us and user can choose according to servomotor power and actual load. Table 8.11 Isolation transformer specification Type Capacity（KVA） Phase Input voltage(V) Output voltage (V) BS--120 Three- BS--200 phase BS--300 BD--80 Single phase BD--120 GSK CNC EQUIPMENT CO., LTD.
  • Page 58 DA98A User Manual BS—120 contour and installation dimension GSK CNC EQUIPMENT CO., LTD.
  • Page 59 DA98A User Manual BS—200 contour and installation dimension GSK CNC EQUIPMENT CO., LTD.
  • Page 60 DA98A User Manual BS—300 contour and installation dimension GSK CNC EQUIPMENT CO., LTD.
  • Page 61 DA98A User Manual BD—80 contour and installation dimension GSK CNC EQUIPMENT CO., LTD.
  • Page 62 DA98A User Manual BD—120 contour and installation dimension GSK CNC EQUIPMENT CO., LTD.

  • Page 63: Order

    The above different value is accumulated in the position deviation counter, and it has relationship with the instruction pulse frequency, the electronic gear ratio and position proportional gain as follows: GSK CNC EQUIPMENT CO., LTD.

  • Page 64: Servo And Position Controller Computation Method

    Actual max. speed of machine is limited by max. speed of CNC and servo system. Min. movement of machine tool： ⎡ ⎤ ⎛ ⎞ α ⋅ ⋅ ⎟ ⋅ ⋅ ⋅ ⎜ ⎢ ⎥ δ ⎝ ⎠ ⎣ ⎦ α：min. movement of machine tool, mm； N：natural number.； GSK CNC EQUIPMENT CO., LTD.
  • Page 65 DA98A User Manual INT（ ） ：rounding ； ：min. integer INT[ GSK CNC EQUIPMENT CO., LTD.
  • Page 66 Add: No.52, 1 . Street, Luochong North Road, Luochongwei, Guangzhou, 510165, China Website: http://www.gsk.com.cn E-mail: sale1@gsk.com.cn Tel: 86-20-81796410/81797922 Fax: 86-20-81993683 All specification and designs are subject to change without notice July. 2006/Edition 1 July. 2006/Printing 1...

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