Page 1 DS5E/DS5L series servo drive User manual WUXI XINJE ELECTRIC CO., LTD. Data No. SC5 04 20190108 1.1...
Page 3 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 4 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 5: Table Of Contents
Catalog ►► Confirmation on product arrival ....................... 1 1 Selection of servo syste .......................... 2 1.1 Selection of servo drive ....................... 2 1.1.1 Model name ........................2 1.1.2 Description of each part ....................2 1.1.3 Performance specifications ....................3 1.2 Servo motor selection ............................4 1.2.1 Model name ........................
Page 6 5.2.6 Alarm output signal ......................44 5.2.7 Anti-blocking alarm ....................... 44 5.3 Position control (external pulse instruction) ....................... 45 5.3.1 Control mode selection ....................45 5.3.2 Forward direction of pulse instruction and pulse form ..........45 5.3.3 Electronic gear ratio ....................... 46 5.3.4 Position command filter ....................
Page 7 5.12.2 Warn output（/WARN） .................... 81 5.12.3 Rotating detection output（/TGON） ................. 82 5.12.4 Servo ready output（/S-RDY） .................. 83 5.12.5 Encoder Z phase output（/Z） ..................83 5.12.6 User-defined output signal ................... 84 5.12.7 I/O signal distribution ....................86 5.12.8 Input SI filter time ......................86 6 Servo gain adjustment ..........................
Page 8 Appendix 5. Q&A ..............................156 Appendix 6. General debugging steps ........................158 Appendix 7. Application examples ........................159 Appendix 8. Model list ............................160 - 4 -...
Page 9: 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 P0-33 on the servo drive. If any of the above is faulty or incorrect, contact Xinje or an authorized distributor.
Page 10: Selection Of Servo Syste
1 Selection of servo syste 1.1 Selection of servo drive 1.1.1 Model name DS 5 -2 - PTA Name Encoder type Name Meaning Communication Servo drive Name Rated output power 100w Name Product series 200w Xnet fieldbus 400w Pulse model 750w Name Rated input voltage...
Page 11: Performance Specifications
1.1.3 Performance specifications Servo unit DS5 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 below 1.5KW (excluding 1.5KW)； It is recommended to use three-phase AC200-240V 50/60Hz when the Input power supply value is above 1.5KW (including 1.5KW).
Page 12: Servo Motor Selection
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 standard MS5S Low inertia Small Aviation Plug Type MS5G Middle inertia MS5H High inertia Name Rated power (KW)
Page 13: Cable Selection
1.3 Cable selection 1.3.1 Model name  Encoder cable model Name Cable type Name Length(m) Normal High flexibility Name Plug type Name Plug type Amp plug-S01 motor Waterproof Aviation Plug- Without battery box S02 Motor With battery box Normal aviation plug With battery box 10-core small aviation plug magnetic type...
Page 14: Description Of Each Part
1.3.2 Description of each part  Encoder cable (1) Pin definition of encoder on servo driver side Pin definition Connector appearance Definition 485+ 485- (2) Cable connection of encoder on motor side Pin definition Connector pins Suitable model Definition Battery + Battery - Shielded cable 485+...
Page 15  Power cable (1) Pin definition of power cable on servo driver side Connector Pin definition appearance Color Definition Brown Black Blue Yellow-green (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...
Page 16: 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 17: Installation Of Servo System
2 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 18  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 19: 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 20: Installation Cautions
2.2.3 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 21 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 22: Size Of Servo Driver
2.3 Size of servo driver  DS5E/L-20P1-PTA, DS5E/L-20P2-PTA, DS5E/L-20P4-PTA Unit: mm 45.0 175.1 33.8 Ø5.5 Ø5.5  DS5E/L-20P7-PTA Unit: mm 60.0 181.3 Ø5.5 48.8 Ø5.5  DS5E/L-21P5-PTA, DS5E/L-22P3-PTA, DS5E/L-22P6-PTA, DS5E-41P5-PTA Unit: 85.0 74.0 193.3 Ø5.5...
Page 23  DS5E-45P5-PTA, DS5E-47P5-PTA Unit: mm 135.0 123.5 4-φ6.0...
Page 24: Size Of Servo Motor
2.4 Size of servo motor  40 series motor installation dimensions Unit: mm 15.5 -0.1 25±0.5 LA± 1 Inertia Motor model With level Normal brake MS5S-40ST-CS00330□□-20P1-S01/S02 129.5 inertia  60 series motor installation dimensions Unit: mm LA± 1 Inertia Motor model With level Normal...
Page 25  80 series motor installation dimensions Unit: mm LA± 1 Inertia Motor model With level Normal brake MS5S-80ST-CS02430□□-20P7-S01/S02 inertia MS5S-80ST-CS03230□□-21P0-S01/S02 MS5H-80ST-CS02430□□-20P7-S01/S02 High inertia MS5H-80ST-CS03230□□-21P0-S01/S02 MS-80ST-T02430□□-20P7 MS-80ST-T03520□□-20P7  110 series motor installation dimensions Unit: mm 15.5 0 -0.1 a110 55±0.5 LA± 1 Motor model Inertia level Normal With brake...
Page 26  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-CS05415□□-20P8-S01 117.5 147.0 MS5G-130STE-CS07220□□-21P5-S01 132.5 162.5 MS5G-130STE-CS11515□□-21P8-S01 159.5 189.5 MS5G-130STE-CS11515□□-21P8-S01 MS5G-130STE-CS14615□□-22P3-S01 180.5 210.5 MS5G-130STE-CS14615□□-42P3-S01 12.5 Middle inertia MS5G--130STE-TL05415□□-20P8-S01 134.5 164.5 MS5G-130STE-TL07220□□-21P5-S01...
Page 27  180 series motor installation dimensions Unit: mm 30 0 -0.1 a180 79±0.5 LA± 1 Motor model Inertia level With Normal brake MS5G-180ST-TL19015□□-42P9-S01 Middle inertia MS5G-180ST-TL28015□□-44P4-S01 37 0 -0.1 a180 113±0.5 LA± 1 Motor model Inertia level With Normal brake MS5G-180ST-TL35015□□-45P5-S01 Middle inertia MS5G-180ST-TL48015□□-47P5-S01...
Page 28: Wiring Of Servo System
3 Wiring of servo system Servo driver interface wiring recommended wire, as shown in the following table: Grould cable Power cable UVW power Encoder cable Servo driver model diameter cable diameter diameter diameter mm² mm² mm² mm² DS5E/L-20P1-PTA 0.75 0.2（7-core） DS5E/L-20P2-PTA 0.75 0.2（7-core）...
Page 29: Main Circuit Wiring
3.1 Main circuit wiring 3.1.1 Servo driver terminal arrangement RS232 port CN0: pulse, direction Power supply I/O signal Motor wiring CN1:insert module for filedbus function Regenerative resistor CN2: encoder cable of driver 3.1.2 Main circuit terminals and explanations  DS5E/L-20P1-PTA, DS5E/L-20P2-PTA, DS5E/L-20P4-PTA, DS5E/L-20P7-PTA Terminal Function Explanation...
Page 30  DS5E/L-21P5-PTA, DS5E/L-22P3-PTA, DS5E/L-22P6-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 31: Cn0, Cn1, Cn2 Terminal
3.1.3 CN0, CN1, CN2 terminal 3.1.3.1 CN0 terminal CN0 (below 1.5KW) CN0 (above 1.5KW) P+24V D+24V +24V  CN0 terminal description (below 1.5KW, 3 input, 3 output) Name Description Name Description Pulse input PUL- Input terminal 3 Open collector P+24V +24V Input +24V input...
Page 32: 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 33 P7-10 Modbus station no. 1～255 Servo OFF Immediately  RS-485 communication Name CN1-2 CN1-3 CN1-4 Driver side - CN1 port (DB9 male port) CN1-5 RS485 port default parameters: baud rate 19200bps, data bit is 8-bit, stop bit is 1-bit, even parity. Modbus station no.
Page 34: Classification And Function Of Signal Terminals
(3) Servo pulse input port will turn on for 10 mA. (4) If the controller is XINJE PLC, the rated current of the output port of the pulse is 50mA. According to this data, theoretically a single pulse can drive at most five servos. No more than three are recommended.
Page 35: So Output Signal
Open collector (power supply is 24V) Relay type (power supply is 24V) Upper device servo driver Upper device servo driver +24 V +24V R=2.2K Ω COM2 Note: The maximum allowable voltage and current of the collector open circuit output circuit are as follows: Voltage: DC 30V (maximum) Current: DC 50mA (maximum) 3.2.3 SO output signal...
Page 36: Operate Panel
4 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 37: Running Display Status Description
small category under the category. 4.2 Running Display Status Description  Speed torque control mode Zero clamp ZCLAMP Speed consistency V- Torque limit CLT Rotate detection TGON Speed limit VLT 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...
Page 38  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 39: Group U Monitor Parameters
4.3 Group U monitor parameters  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 40  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 41  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） Reserved Reserved Reserved Custom output 1 Speed reach（/V-RDY）...
Page 42: Group F Auxiliary Functional Parameters
4.4 Group F Auxiliary Functional Parameters 4.4.1 Group F0 Function Function code Description code Description F0-00 Alarm clear F0-07 Panel inertia identification Panel external instruction F0-01 Resume to default settings F0-08 auto-tuning Panel internal instruction F0-02 Clear the position offset F0-09 auto-tuning F0-04...
Page 43 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 44: Fault Alarm Handling
4.5 Fault alarm handling When a fault occurs, the alarm status is automatically jumped out, and the alarm number is displayed. When there is no fault, the alarm status is invisible. In the alarm state, the fault can be reset by writing 1 to F0-00 through panel operation.
Page 45 Note: Errors in motor code setting will prompt E-310 (motor code error), which can be set again after F0-00 clears the alarm.
Page 46: Operation Of Servo System
5 Operation of Servo System 5.1 Selection and Switching of Control Mode 5.1.1 Selection of control mode 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 47: Basic Function Setting
2. Perform the function Signal Status Control mode 0: off P0-01: the control mode set by mode 1 /C-SEL 1: on P0-02: the control mode set by mode 2 5.2 Basic function setting Parameter Name Reference P0-03 Enable mode 5.2.1 P5-20 Servo ON setting /S-ON terminal P0-05...
Page 48: Stop Mode
Reverse mode CW is forward rotation Parameter Setting Meaning 0 (default) Standard setting (CCW is forward rotation) P0-05 Reverse mode (CW is forward rotation) 5.2.3 Stop mode The stop mode when servo is off or alarm. Default Parameter Meaning Unit Range Change Effective...
Page 49: Overrun Prevention (P-Ot, N-Ot)
not receive instructions. Alarm（E-260） Note: 1) When the deceleration stops, the braking torque is also P3-32, and the stopping overtime time also plays a role in the overrun process. 2) In position control, there may be position deviation pulse when the motor is stopped by over-range signal.
Page 50: Electric Loss Brake（Bk
5.2.5 Electric loss brake（BK） 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 51 2. BK signal Signal Parameter setting Meaning Range name n.0000 Default unallocated output The range of parameters (default) terminal is 0001-0014. Brake lock P5-44 can be assigned to other Use SO1 terminal output signal to output terminals through n.0001 control brake P5-44.
Page 52: Alarm Output Signal
/ 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 Brake Brake /BK output /BK output Brake locked...
Page 53: Position Control (External Pulse Instruction)
5.3 Position control (external pulse instruction) Basic parameters Parameter Name Reference P0-01 control mode selection 5.3.1 P0-09 forward direction of pulse instruction 5.3.2 P0-10 pulse instruction form P0-11 Motor pulse numbers per rotation*1 P0-12 Motor pulse numbers per rotation*10000 P0-13 Electronic gear ratio (numerator) 5.3.3 P0-14...
Page 54: Electronic Gear Ratio
direction determines the rotation direction of the motor. Therefore, this parameter can be adjusted if the actual rotation direction of the motor is different from the expected direction in the position mode. 2. set the pulse instruction form Parameter Meaning setting Meaning Change...
Page 55 (numerator) high bit*10000 Group 2 Electronic Servo OFF At once gear ratio P0-94 1～9999 (denominator) low bit*1 Group 2 Electronic Servo OFF At once gear ratio P0-95 1～65535 (denominator) high bit*10000 Note: 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 56 Two circle radius ratio: 2:1 Big circle run one rotation speed (need 10000 pulses), small 1200rpm circle run two rotations. Set the actual length per command pulse for precise positioning. For example: the object moves 1um per command pulse. The command pulses of load rotating one circle = 6mm / 1um = 6000. In the case of deceleration ratio is 1:1, set pulse per rotation P0-11=6000, P0-12=0.
Page 57 ratio (P0-13/P0-14) and load shaft is m/n (servo motor run m circles while load shaft run n circles), P0-13=encoder accuracy× m P0-14=f× n Note: 1) The number of pulses per rotation and the ratio of electronic gears can limit the amount of instructions required for the servo motor to rotate one turn.
Page 58: Position Command Filter
5.3.4 Position command filter Default Parameter Meaning Unit Range Change Effective setting First-order low-pass filtering Servo P1-24 0.1ms 0～65535 At once time of position instruction Position instruction Servo P1-25 smoothing filtering 0.1ms 0～65535 At once time When set to 0, the filter becomes invalid. First-order low-pass filter of position Position instruction smoothing filter instruction...
Page 59: Positioning Completion Signal（/Coin, /Coin_Hd
5.3.6 Positioning completion signal（/COIN, /COIN_HD） In position control, the signal indicating the completion of servo motor positioning is used when the command controller needs to complete positioning confirmation. Parameter Signal name Setting Meaning Range n.0000 Default unallocated output The range of parameters Positioning (default) terminal...
Page 60: Positioning Near Signal（/Near
/S-ON Signal status After ｜U0-08｜ instruction P5-00 Pulse offset finished, deviation is below ｜ΔU0-12｜ P5-00 and COIN Pulse command signal is output. /COIN Signal status When instruction ends motor speed is under the rotation detection speed (P5-03) and absolute deviation is less than P5-00, COIN...
Page 61: Instruction Pulse Prohibition（/Inhibit
The signal indicating that the servo motor is located near the positioning completion signal, so that the equipment can prepare for the next action in advance. Default Parameter Meaning Unit Range Change Effective setting Near signal output Command P5-06 0～65535 Anytime At once width...
Page 62: Position Control (Internal Instruction)
5.4 Position control (internal instruction) Basic parameter User parameter Name Reference P0-01 control mode selection 5.4.1 P4-03 Internal position mode 5.4.2 P4-10～P4-254 Internal position 1 to 35 parameters 5.4.3 P5-35 Change step signal /CHGSTP 5.4.4 P5-32 Pause present segment signal /INHIBIT 5.4.5 P5-31 Jump present segment signal /Z-CLAMP...
Page 63 setting n.□xxx No meaning Waiting n.x□xx 0～1 mode Change n.xx□x 0～4 step mode Positioning n.xxx□ 0～1 mode 1. waiting mode n.x□xx Meaning Wait for positioning completion Not wait for positioning completion Note: Waiting mode refers to whether the driver waits for the motor to be positioned after outputing a position instruction in internal position mode.
Page 64 2. change step mode n.xx□x Description /CHGSTP Signal status t1=P4-11, t2=P4-21 1. If /CHGSTP is ON, servo will run segment 1 and 2. 0: Change the step If /CHGSTP is OFF in one when signal is ON, Segment 1 segment, servo will finish this recycling Segment 2 segment and stop running the...
Page 65: Position Segment 1 To 35 Parameter Settings
n.xx□x Description 5: /PREFA(P5-57) /PREFC /PREFB /PREFA Segment number /PREFB(P5-58) /PREFC(P5-59) Choose the 1 (segment 1 position) segment through 2 (segment 2 position) terminal, the range 3 (segment 3 position) is segment 1~3 The following input signal can switch the segment 1 to 3: Parameter Signal name Default...
Page 66: Change Step Signal（/Chgstp
deceleration time P4-15+（n-1）*7 Reserved P4-16+（n-1）*7 Adjust time 0～65535 Servo OFF At once Notes: 1. Set pulse number = pulse number (high bit) × 10000 + pulse number (low bit). 2. In formula P4-10+(n-1)*7, n is the segment no. of internal position; the range is 1~35. Segment 1~12 can be set through the operate panel, segment 13~35 needs to write in parameters through communication (RS232 or RS485).
Page 67: Reference Origin
In different Step-Changing modes, the function of skipping the current segment will have different effects, as follows: Change step Skip the present mode Actions segment P4-03 n.xx□x Cancel current segment, execute the next segment at once Cancel current segment, execute the next segment when the change step signal is ON /Z-CLAMP Cancel current segment, execute the next segment at once...
Page 68 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 69: Set The Segment Number Through Communication
5.4.8 Set the segment number through communication Default Parameter Meaning Unit Range Change Effective setting Set the segment F2-09 number through 0～35 Anytime At once communication This parameter is set to certain segment, it will execute this segment. No need step change signal. This parameter can be changed through communication.
Page 70: Speed Control (Internal Speed)
5.6 Speed control (internal speed) Basic parameter Parameter Name Reference 5. 6. 1 P0-01 Control mode selection 5. 2. 1 P5-20 Servo ON signal /S-ON P3-05 Internal speed 1 5. 6. 2 P3-06 Internal speed 2 P3-07 Internal speed 3 P5-27 /SPD-D internal speed direction selection 5.
Page 71: Control Mode Selection
5.6.1 Control mode selection Parameter Meaning Modify Effective value Speed control: internal speed selection Servo Immediat P0-01 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 72: Input Signal Setting
5.6.4 Input signal setting Parameter Signal Default Modify Effective Range setting Internal Range: 0000-0014. Distribute to input terminal through P5-27. P5-27 direction n.0000 /SPD-D Internal Range: 0000-0014. Distribute to input terminal through P5-28. P5-28 speed n.0000 Anytime At once /SPD-A Internal Range: 0000-0014.
Page 73: Speed Command Limit
(2) Running example Speed 3 +SPEED3 Speed up down is decided by P3-09, P3-10 Speed 2 +SPEED2 Speed 1 +SPEED1 Stop Stop stop -SPEED1 Speed 1 -SPEED2 Speed 2 -SPEED3 Speed 3 SPD-A SPD-B SPD-D 5.6.5 Speed command limit Default Parameter Meaning Unit...
Page 74: Torque Limit
(2) Input signal setting Parame Signal Setting Meaning Range n.0000 Defaulted is not distribute to input /Z-CLAMP signal distributed input (default) terminal Zero clamp P5-31 terminal parameter /ZCLAMP P5-31, Range: n.0002 Input signal from SI2 terminal 0000-0014. (3) Parameter setting Default parameter Meaning...
Page 75: Same Speed Detection（/V-Cmp
Signal Default Modify Effective Parameter Meaning Range name setting The necessary Range 0000-0014, can be condition to use P5-25 /P-CL n.0000 distributed to other input Anytime At once forward external torque terminals through P5-25. limit The necessary Range 0000-0014, can be condition to use P5-26 /N-CL...
Page 76: Alarm Speed
By default, no terminal is allocated, the parameter range is 0000-0014, which is allocated to the output interface through parameter P5-29. When set to 0002, the signal is output from the SO2 terminal. Default Modify Effective Parameter Meaning Unit Range setting Anytime At once...
Page 77: Speed Control (Pulse Frequency Command)
5.7 Speed control (pulse frequency command) Basic parameter Parameter Name Reference 5. 7. 1 P0-01 Control mode selection 5. 2. 1 P5-20 Servo ON signal /S-ON 5. 3. 2 P0-10 Pulse command form 5. 7. 2 P0-15 Command pulse frequency at rated speed 5.
Page 78: Control Mode Selection
5.7.1 Control mode selection Parameter Meaning Modify Effective value Servo P0-01 Speed control: pulse frequency speed command At once Function: speed command is decided by external pulse frequency, but not related to pulse quantity. The wiring is the same as position command. Select CW, CCW mode or direction + pulse mode, AB phase pulse mode.
Page 79: Torque Control (Internal Setting)
5.9 Torque control (internal setting) Basic parameter Parameter Name Reference 5. 9. 1 P0-01 Control mode selection 5. 2. 1 P5-20 Servo ON signal /S-ON 5. 9. 2 P3-33 Internal torque command Other parameters Key words Parameter Name Reference P3-16 Internal forward speed limit of torque control 5.
Page 80: Speed Up To Limit Value Output
It used XINJE industrial bus communication protocol, support all the products of XINJE. XDC series PLC which adopts bus motion control mode replaces the traditional pulse transmission mode.
Page 81: Bus Wiring
12：2M 13：3M 14：4M 15：5M 16：6M Stop bit: n.x□xx 0: 2 bits 2: 1 bit Parity bit 0: no parity 1: odd n.□xxx parity even parity RS485 1：Modbus P7-02 communication 2：XNet protocol Servo At once Slave station 1~256 P7-05 quantity P7-06 Repeat times 1~500 Monitoring parameters...
Page 82: Motion Parameters
short-connected, B1 and B2 are short-connected. SG signal is connected to SG terminal of JA-NE-L module. The nine-pin port of the JA-NE-L module is inserted into the nine-pin CN1 port of the servo driver. If a PLC is used to control multiple servos, the BD board and JA-NE-L board of the PLC are equipped with terminal resistance.
Page 83: Bus Torque Mode
3: Multi-loop absolute value servo 4: Stepping motor SFD3002 Encoder ppr 32-bit 10000 The feedback counting value of encoder +60*(N-1) /1 rotation integer rotating one circle, it can change the encoder ppr through this register. SFD3004 movement/1 32-bit Pulse 10000 The reference equivalent of motion +60*(N-1) rotation...
Page 84: Bus Speed Mode
SD2024+ Torque setting 32-bit 1/1000 rated Effective mode: 60*(N-1) integer Servo P0-01=8 (Torque Mode) is always valid. Servo P0-01 = 9 or 10 (speed mode or position mode): SD2028 + 60* (N-1) = 1 is valid. SD2026+ Reverse torque 32-bit 1/1000 rated In speed mode and position mode, it 60*(N-1)
Page 85 SD2032+ Speed control 32-bit Pulse 60*(N-1) integer number/second Note: (1) Set SFD3029+60*(N-1) to -1, otherwise SD2002+60*(N-1) will report position deviation 20006; (2) In the speed mode, only the speed curve can be generated by controlling the motor speed with given SD2032+60* (N-1), which is independent of SD2034+60* (N-1) and SD2036+60* (N-1).
Page 86: Absolute Value System
5.11 Absolute value system 5.11.1 absolute value 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 single-loop encoder.
Page 87: The Upper Limit Of Revolving Circles
(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 restore the factory settings and cut off the power supply of the servo unit; (6) Connect the power supply of the servo unit again; (7) Make sure the error display disappears and the servo unit can operate normally.
Page 88: Read Absolute Position Through Communication
(2) 1 means running in the opposite direction. The current encoder value is: (U0-57-65535)*1+ (U0-58-65535)*2^16. 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 89: I/O Signal
First read the U0-60 (0x1041) value means running positive direction. current encoder value U0-57*1+U0-58*2^16+U0-59*2^32. (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. Communication parameter description RS485 default communication parameters: baud rate 19200 bps; data bit 8; stop bit 1; even parity; Modbus station number 1.
Page 90: Rotating Detection Output（/Tgon
Default Suitable Parameter Signal Meaning Modify effective setting mode P5-45 /WARN n.0000 Warning output Anytime At once 1. No terminal output signal is assigned by default. The parameter range is 0000-0014, which is allocated to other output terminals through parameter P5-45. 2.
Page 91: Servo Ready Output（/S-Rdy
5.12.4 Servo ready output（/S-RDY） Signal 修改范围 Parameter Setting Meaning name n.0003 SO3 and COM pass through when The range is 0000-0013. It Ready (default) servo is ready can distribute to other P5-41 /S-RDY output terminal through SO3 and COM cut off when servo n.0013 P5-41.
Page 92: User-Defined Output Signal
5.12.6 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 Trigger Unit Suitable mode...
Page 93 condition When P5-14≥P5-15 or P5-14<P5-15, SOx output Setting Default Suitable Effecti Function Change value setting mode P5-14≥P5-15, SOx output P5-16 P5-14＜P5-15, SOx output P5-14 absolute value ≥P5-15, SOx Servo modes once output P5-14 absolute value ＜ P5-15, SOx output User-defined output 2 hysteresis loop Suitable Effecti Unit...
Page 94: I/O Signal Distribution
5.12.7 I/O signal distribution  Input signal distribution Parameter Parameter Meaning Set value Meaning Not distribute to terminal input n.0000 Input always open signal from SIx n.000x P5-20~P5-36 Set the signal to be always valid n.0010 Input always close signal from SIx n.001x Note: The basic filtering time refers to chapter 5.12.8.
Page 95 Default Parameter Meaning Unit Range Modify Effective setting IO filtering time P5-18 times 0～10000 Anytime At once multiple...
Page 96: Servo Gain Adjustment
6 Servo gain adjustment 6.1 Overview of servo gain adjustment 6.1.1 Overview and process Servo drivers need to drive motors as quickly and accurately as possible to track instructions from the host computer or internal settings. In order to meet this requirement, the servo gain must be adjusted reasonably.
Page 97: 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 98: Torque Disturbance Observation
Taking DS5 series servo auto-tuning mode and using 750W servo 5 times load inertia as an example:  Model loop function turns off (soft mode) Low Rigidity and Low Response High Rigidity and Medium Response Load inertia ratio P0-07: 500% speed loop gain P1-00: 200 speed loop gain P1-00: 800 speed loop integral P1-01: 3300...
Page 99: Adaptive
Default Parameter Meaning Unit Setting range Modification Effective setting Disturbance P2-41 0～100 anytime At once observer gain 6.2 Adaptive 6.2.1 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. 6.2.2 Notes ...
Page 100: Recommended Inertia Ratio Parameters
Note2 P2-19 Adaptive bandwidth Anytime At once Adaptive large inertia mode speed loop Servo OFF Re-power on P6-05 gain P6-07 Adaptive large inertia mode inertia ratio Servo OFF Re-power on Adaptive large inertia mode speed Servo OFF Re-power on P6-08 observer gain Adaptive large inertia mode max inertia Servo OFF...
Page 101: Invalid Parameters When Adaptive Effective
inertia Reduction can improve the inertia Adaptive speed capability, but it will reduce the P2-05/P6-05 400/200 200-400 loop gain responsiveness, which has a greater impact on the responsiveness. Increase can greatly improve the inertia Adaptive load capacity without affecting the P2-07/P6-07 0/50 0-200...
Page 102: Rotary Inertia Presumption
6.3 Rotary inertia presumption 6.3.1 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 103: Operation Steps
6.3.4 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 104 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 105 2. select jog setting or manual setting to configure the inertia estimation trip 3. Set the auto-tuning interface...
Page 106 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.
Page 107: Fast Adjustment
6.4 Fast adjustment 6.4.1 Overview Fast adjustment needs to set the moment of inertia of load first, then turn off the adaptive function. If the inertia does not match, it will cause oscillation alarm. Servo firmware version 3640 and later versions support this function, and the version is viewed through U2-07.
Page 108 2300 2100 7000 2400 2200 7500  Rigidity level of firmware 3700 and higher versions P2-35 P1-00 P1-01 P1-02 P2-49 P0-04 Torque Speed loop speed loop Position loop Model loop Rigidity level instruction gain integral gain gain filter 31831 12732 9094 7957 6366...
Page 109 1850 1850 5000 1900 1900 5000 1950 1950 5000 2000 2000 5000 2050 2050 6000 2100 2100 6000 2150 2150 6000 2200 2200 6000 2250 2250 6000 2300 2300 6000 2350 2350 6000 2400 2400 6000 2450 2450 6000 2500 2500 6000 2600...
Page 110: Notes
6.4.4 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 111: Operation Tools
6.5.3 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 112 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 113 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 114 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. Selection of auto-tuning mode: (1) Soft (P2-02.0=1): This method does not open the gain of the model loop and runs softly. It is suitable for the occasion where the mechanical rigidity is insufficient and the response requirement is not high.
Page 115: External Instruction Auto-Tuning Steps
6.5.5 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 (6.3.4 operation step) 2. Shut down adaptive function (P2-01.0 sets to 0), power on again 3.
Page 116  Panel error alarm in auto-tuning process Error code Meaning Reasons Too large inertia ratio; too weak rigidity of Err-1 Failure to search for optimal gain mechanism ①Overrun/alarm occurs during auto-tuning Please make sure that there is no overrun and ②External alarm before auto-tuning.
Page 117 4. Click ok to start the inertia identification. 5. Configure the auto-tuning parameters...
Page 118 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. In the use of positioning, we should pay attention to adjusting without Rapid positioning overshoot.
Page 119 6. Start auto-tune 7. Open the servo enable, then click ok. 8. The upper device starts to send pulses, wait the completion of auto-tuning.
Page 120: Related Parameters
9. Auto-tuning is finished, click ok. 6.5.6 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 value on gain after auto-tuning P0-07 First inertia ratio P1-00 First speed loop gain Integral time constant of the first speed...
Page 121: Manual Adjustment
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 P2-87 auto-tuning min limit position setting P2-88 auto-tuning max limit position...
Page 122: 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 123 P2-49 Model Loop Gain  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 124: Vibration Suppression
positioning time is shortened. At this time, the response of the servo system depends on this parameter, not P1-02 (position loop gain). The gain of the model loop is only valid in position mode. Param Default Modificat Name Unit Range Effective eter setting...
Page 125: Vibration Suppression (Pc Software)
2. Press ENTER, panel shows Son and flashes, turn on the enabler by manual; 3. After turn on the enabler, panel shows tune and flickers, enter auto-tuning process; 4. The upper device starts to send pulses, then it will show done and flicker 5.
Page 126: Vibration Suppression (Manual Setting)
5. set the filter width (to see resonance frequencies clearly), find the resonance frequency; 6. Notch parameters need to be set manually. Refer to 6.7.6 notch filter for details. As an example, through the analysis of mechanical characteristics, the resonance frequency is 328 Hz, and the third notch filter can be used.
Page 127 mechanical system Amplitude frequency characteristic Mechanical resonance frequency frequency Notch characteristics Notch width Notch depth frequency Principle diagram of notch filter The servo driver has five sets of notch filters, each with three parameters, notch frequency, notch attenuation and notch bandwidth. The first and second notches are set automatically, and the third, fourth and fifth are set manually.
Page 128: Gain Adjustment Correlation
Default Parameter Meaning Unit Range Change Effective setting P2-71 First notch frequency 5000 Anytime At once 50～5000 Anytime At once P2-72 First notch attenuation 0.1dB 50～1000 Anytime At once P2-73 First notch bandwidth 0～1000 Anytime At once P2-74 Second notch frequency 5000 50～5000 Anytime...
Page 129: Vibration
6.8.2 Vibration The following causes cause machine vibration: (1) Vibration due to inappropriate servo gain Countermeasure: Reduce gain (2) Mechanical resonance point Countermeasure: Setting notch parameters manually or through mechanical characteristic analysis 6.8.3 Noise In adaptive mode: (1) Inappropriate servo gain Countermeasure: Reduce the adaptive control bandwidth (P2-19).
Page 130 E-020 Parameter loading error ○ E-021 Parameter range beyond limit √ ○ E-022 Parameter conflict E-023 Sampling channel setting error √ ○ E-024 parameter lost √ ○ E-025 Erase FLASH error √ ○ E-026 Initialization FLASH error There are two possibilities of undervoltage: (1) Bus voltage U0-05 is higher than...
Page 131: Analysis Of Alarm Types
and the speed is lower than P0-75 (unit 1 rpm). √ ○ E-200 Regenerative resistance overload Communication error of absolute √ ○ E-220 Servo OFF servo encoder Absolute value servo encoder √ ○ E-222 battery low voltage alarm (can Servo OFF shield this alarm) Absolute value servo encoder data √...
Page 132 error self-checking parameters, if there are repeated problems, please contact the agent or manufacturer. Setting values are not Parameter range E-021 within the prescribed Check parameters and reset them beyond limit range Conflict of TREF or P0-01=4, P3-00 set to 1 will E-022 Parameter conflict VREF...
Page 133 check the power supply voltage; if the power supply voltage is normal, then the servo BB state, monitor U0-05, the voltage measured by the multimeter * 1.414 < U0-05 (within 10V error), then the servo driver is faulty and needs to be sent back for repair.
Page 134 maximum reverse Inspection of motor UVW wiring, speed is P3-22. UVW wiring error need to be connected in phase sequence. (1) The maximum speed limit value P3-21/P3-22 was reduced. (2) To confirm whether the external Motor speed too fast force makes the motor rotate too fast, whether pulse...
Page 135 be operated on an empty shaft to eliminate the load problem. High-speed Increasing Acceleration start-stop Deceleration Time instantaneous alarm (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 Encoder problem motor shaft slowly by hand to see if value...
Page 136 distorted. Measure the voltage of the brake terminal and decide to open the brake. Motor action when It is suggested to use servo BK motor brake is not signal to control the brake lock. If it opened is not servo control, attention must be paid to the timing of brake opening and motor action.
Page 137 resistance chapter 1.4.1) small Acceleration Extending Acceleration deceleration time is Deceleration Time too short The AC gear of the multimeter measures the input value of the servo LN (R/S/T), which is 220V ± 10% of the normal value. If the power supply voltage is more than 220V+10% (380V+10%), check the Hardware damage...
Page 138 remembered when power off. Usually Absolute value problem servo encoder In the absence of batteries, this encoder itself, or E-223 battery low voltage alarm may occur when the encoder the power supply of alarm (can shield cable is disconnected. encoder this alarm) unstable.
Page 139: Appendix
Set correct motor code and power E-310 motor code lost Motor code is error on again motor code E-311 does not match the Not set motor code Set the motor code in P0-33 software version Update the motor parameters E-314 Over range alarm Contact the manufacturers software version...
Page 140 Position Mode 7-External Pulse speed Mode 8-XNET Bus Torque Mode 9-XNET Bus Speed Mode 10-XNET Bus Location Mode Control mode 2 ○ P0-02 1~10 1|2|3|4|5|6|7|10 (ditto) Enabling mode 0-not enabled 1-IO enable ○ 5. 2. 1 P0-03 1|2|3|4|5|6|7|10 2-Software Enablation 3-XNET Enablation 20P1 ：...
Page 141 corresponding to rated speed speed command ○ P0-16 0.01ms 0~10000 5.7.4 pulse filter time 0.01 √ 5. 3. 9 P0-23 pulse offset limit 2000 0~65535 5|6|10 circles Version 3640 and before this parameter is the choice of discharge resistance type 0: built in 1: external ○...
Page 142 ● 4. 7 P0-33 Set the motor code 0~ffff 1|2|3|4|5|6|7|10 Fan switch Turn on the fan when the temperature greater than 45 ℃ and turn off the √ P0-69 fan when less than 1|2|3|4|5|6|7|10 42 ℃ (hysteresis 3 ℃ ) 1 - Turn on the fan after enabling, turn off the fan when...
Page 143 denominator. take effect when P0-11 ～ P0-14 is 1~65535 0. P0-94*1 + P0-95 *10000 P1-XX： Reference Parameter Function Unit Default value Range Effective Suitable mode chapter 20P1 ： 400 √ P1-00 First speed loop gain 0.1Hz 10~20000 1|2|3|4|5|6|7|10 Others ： 200 Integral Time 20P1 ：...
Page 144 2-fast positioning 3-fast positioning, control the overshoot Load type (valid only during auto-tuning) √ 6. 5. 4 P2-02.2 1- synchronous belt 1|2|3|4|5|6|7|10 2- screw rod 3-Rigid Connection Adaptive load type ● P2-03.3 0-Small Inertia Mode 1|2|3|4|5|6|7|10 1-Large Inertia Mode 20P1/20P2/ 20P4/20P7 ：...
Page 145 Disturbance Torque Compensation √ P2-41 Coefficient 0~100 1|2|3|4|5|6|7|10 (Non-adaptive Mode Effective) Model Loop Switch √ P2-47.0 3|4|5|6|7|10 0-OFF 1-ON √ P2-49 0.1Hz 10~20000 3|4|5|6|7|10 Model loop gain Active Vibration Suppression Switch √ P2-60.0 3|4|5|6|7|10 0-OFF 1-ON Active Suppression Auto-tuning Switch 0-Active Vibration Suppression is not...
Page 146 width Third notch √ P2-77 5000 50~5000 1|2|3|4|5|6|7|10 frequency Third notch √ P2-78 0.1dB 50~1000 1|2|3|4|5|6|7|10 attenuation Third notch band √ P2-79 0~1000 1|2|3|4|5|6|7|10 width Fourth notch √ P2-80 5000 50~5000 1|2|3|4|5|6|7|10 frequency Fourth notch √ P2-81 0.1dB 50~1000 1|2|3|4|5|6|7|10 attenuation Fourth notch band √...
Page 147 support) √ P3-05 Preset speed 1 -9999~9999 5.6.2 √ P3-06 Preset speed 2 -9999~9999 5.6.2 √ P3-07 Preset speed 3 -9999~9999 5.6.2 ○ P3-09 Acceleration time 0~65535 3|4|7 5.6.3 ○ P3-10 Deceleration time 0~65535 3|4|7 5.6.3 Zero-speed clamping ○ P3-12 3|4|7 5.6.6 mode...
Page 148 support) Torque instruction input dead-zone √ P3-26 0.001V 0~500 2|3|4|5|6|7|10 voltage (5E/5L not support) Analog Torque Forward Direction ○ P3-27 (5E/5L not support) 2|3|4|5|6|7|10 0-forward 1-reverse Internal forward √ P3-28 0~1000 1|2|3|4|5|6|7|10 5.6.7 torque limit Internal reverse torque √ P3-29 0~1000 1|2|3|4|5|6|7|10 5.6.7...
Page 149 single step execution 2-starting at Signal rising edge, sequential execution of all, no cycle 3-set segment no. through communication 4-/CHSTP dual edge triggerring 5-choose segment no. through the terminal PREFA(P5-57)/PREFB(P5-58)/PREFC( P5-59), can choose 3 segments Internal position mode sets waiting mode ○...
Page 150 output speed Brake instruction ○ 5. 2. 5 P5-09 0~65535 1|2|3|4|5|6|7|10 waiting time user-defined output 1 √ P5-10 0~ffff 1|2|3|4|5|6|7|10 5.12.6 trigger condition Set a value that Relating compares with the √ P5-11 to trigger -9999~9999 1|2|3|4|5|6|7|10 5.12.6 trigger condition of condition custom output 1 Select custom output 1...
Page 151 13: Inverse signal is input from SI3 terminal. 14: Inverse signal is input from SI4 terminal. SI terminal filtering √ P5-20.2 1|2|3|4|5|6|7|10 time P5-21.0~ /P-CON proportion √ 5. 6. 12 0~ff 1|2|3|4|5|6|7|10 action instruction SI terminal filtering √ P5-21.2 1|2|3|4|5|6|7|10 time P5-22.0~ /P-OT: Forbidden...
Page 152 SI terminal filtering √ P5-31.2 3|4|7 time P5-32.0~ /INHIBIT: Instruction √ 5. 3. 8 0~ff 5|6|7 pulse prohibition SI terminal filtering √ P5-32.2 5|6|7 time P5-33.0~ /G-SEL: gain √ 6. 2. 7 0~ff 1|2|3|4|5|6|7|10 switching SI terminal filtering √ P5-33.2 1|2|3|4|5|6|7|10 time P5-34.0~...
Page 153 √ P5-45 /WARN: warning 0000 0~ffff 1|2|3|4|5|6|7|10 5.12.2 √ 5. 3. 7 P5-46 /NEAR: near 0000 0~ffff 5|6|10 √ 5. 2. 6 P5-47 /ALM: alarm 0002 0~ffff 1|2|3|4|5|6|7|10 /Z: encoder Z phase √ P5-48 0000 0~ffff 1|2|3|4|5|6|7|10 5.12.5 signal output /XNETERR: Xnet √...
Page 154 P6-XX： Default Reference Parameter Function Unit Range Effective Suitable mode value chapter Adaptive Mode Speed ○ 6. 2. 4 P6-05 Loop Gain (Large 0.1Hz 1~65535 1|2|3|4|5|6|7|10 Inertia) Adaptive mode inertia ○ 6. 2. 4 P6-07 0~10000 1|2|3|4|5|6|7|10 ratio (Large inertia) Gain of adaptive mode ○...
Page 155 RS485 parity bit 0-no parity Parity ○ P7-01.3 1|2|3|4|5|6|7|10 1-odd parity 2-even parity RS485 communication protocol 1-Modbus Rtu ○ P7-02 1~255 1|2|3|4|5|6|7|10 5.10 protocol 2-Xnet bus protocol 3-read Xnet bus torque Xnet Synchronized ○ P7-03 1~500 5.10 sampling time ○ P7-04 Xnet slave station data 1~500...
Page 156: Appendix 2. Ux-Xx Monitoring Parameters
11 ： 1M 12 ： 2M 13 ： 3M 14 ： 4M 15 ： 5M 16 ： 6M RS232 stop bit Stop ○ P7-11.2 1|2|3|4|5|6|7|10 0：2-bit 2：1 bit RS232 parity bit Parity 0-no parity ○ P7-11.3 1|2|3|4|5|6|7|10 1-odd parity 2-even parity Return to zero ○...
Page 157 U0-21 Input signal status 1 U0-22 Input signal status 2 U0-23 output signal status 1 U0-24 ouput signal status 2 U0-25 (0000～9999)*1 Input pulse frequency U0-26 (0000～9999)*10000 U0-37 VREF AD Raw value U0-38 TREF AD Raw value U0-41 Instantaneous output power U0-42 Average output power U0-43...
Page 158 Instruction U1-08 position offset when alarming pulse U1-09 speed when alarming Seconds(low 16-bit) when alarming, cumulated seconds from the first U1-10 time power-on Seconds(high 16-bit) when alarming, cumulated seconds from the first U1-11 time power-on U1-12 this time running error numbers, counting after power on this time U1-13 this time operation warning numbers, counting after power on this time U1-14...
Page 159: Appendix 3. Fx-Xx Auxiliary Function Parameters
U2-24 Firmware generation date: hour/minute Appendix 3. FX-XX auxiliary function parameters Code Contents Effective Refrence chapter 4. 4. 1 F0-00 Clear the alarm Servo OFF 4. 4. 1 F0-01 Restore to out of factory settings Servo OFF 4. 4. 1 F0-02 clear the position offset Servo OFF...
Page 160  Group P parameters Modbus address Modbus address parameter Parameter Decimal Decimal P0-00 0x0000 P0-17 0x0011 P0-01 0x0001 P0-18 0x0012 P0-02 0x0002 P0-19 0x0013 P0-03 0x0003 P0-20 0x0014 P0-04 0x0004 P0-21 0x0015 P0-05 0x0005 P0-22 0x0016 P0-06 0x0006 P0-23 0x0017 P0-07 0x0007 P0-24...
Page 161 P3-03 0x0303 P3-22 0x0316 P3-04 0x0304 P3-23 0x0317 P3-05 0x0305 P3-24 0x0318 P3-06 0x0306 P3-25 0x0319 P3-07 0x0307 P3-26 0x031A P3-08 0x0308 P3-27 0x031B P3-09 0x0309 P3-28 0x031C P3-10 0x030A P3-29 0x031D P3-11 0x030B P3-30 0x031E P3-12 0x030C P3-31 0x031F P3-13 0x030D P3-32...
Page 162 P5-25 0x0519 1305 P5-52 0x0534 1332 P5-26 0x051A 1306 P5-53 0x0535 1333 Modbus address Modbus address Parameter Parameter Decimal Decimal P6-00 0x0600 1536 P6-10 0x060A 1546 P6-01 0x0601 1537 P6-11 0x060B 1547 Modbus address Modbus address Parameter Parameter Decimal Decimal P7-00 0x0700 1792...
Page 163 Modbus address Modbus address Parameter Parameter Decimal Decimal U1-00 0x1100 4352 U2-00 0x1200 4608 U1-01 0x1101 4353 U2-01 0x1201 4609 U1-02 0x1102 4354 U2-02 0x1202 4610 U1-03 0x1103 4355 U2-03 0x1203 4611 U1-04 0x1104 4356 U2-04 0x1204 4612 U1-05 0x1105 4357 U2-05 0x1205...
Page 164 Appendix 5. Q&A Q1: What is BB and run on the panel? 1. BB standby state, without enabling, the motor is in the state of power failure. 2. Run running state, with enabling, the motor is in the power on state. Q2: How to check and set the parameters? Refer to chapter 4.6 Q3: How to change the parameters in enabled status?
Page 165 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-, D-.
Page 166 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 167 Appendix 7. Application examples 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 168 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. Model list Power Inertia Suitable servo...
Page 169 MS5H-60ST□-CS01330BZ-20P CP(T)-SP-M-l CM(T)-P07-M 4-S01 ength -length MS5H-60ST□-CM01330BZ-20P CP(T)-SP-BM CM(T)-P07-M 4-S01 -length -length MS-60ST□-T01330B□-20P4-D0 CP(T)-SP-B-le CM(T)-P07-le ngth ngth Power Inertia Suitable servo Voltage Motor model Encoder cable Power cable (KW) level driver level MS5S-80ST□-CS02430B-20P7- CP(T)-SP-M-l CM(T)-P07-M ength -length MS5S-80ST□-CM02430B-20P7- CP(T)-SP-BM CM(T)-P07-M -length -length inertia...
Page 170 Power Inertia Suitable servo Voltage Encoder Motor model Power cable (KW) level driver level cable CP(T)-SL-B- CM(T)-L15-l MS-110ST□-T05030B□-21P5 length ength MS5S-110STE-CS04830B□-21P CP(T)-SL-M- CM(T)-L15-l Note: Magnetic encoder length ength cannot support brake MS5S-110STE-CM04830B□-21P CP(T)-SL-B- CM(T)-L15-l inertia Note: Magnetic encoder length ength cannot support brake MS5S-110STE-TL04830B□-21P CP(T)-SL-B-...
Page 171 Power Inertia Suitable servo Voltage Encoder Motor model Power cable (KW) level driver level cable DS5E/L-22P3 CP(T)-SL-B- CM(T)-L15-l MS-130STE-T07730B□-22P4 -PTA length ength Single phase/3- CP(T)-SL-B- CM(T)-L15-l MS-130STE-T07730B□-22P4 phase length ength DS5E/L-22P6 220V -PTA CP(T)-SL-B- CM(T)-L15-l MS-130ST-TL10025B□-22P6 length ength MS5G-130STE-CS11515B-41P8 CP(T)-SC-M CM(T)-L15-l -S01 -length...
Page 172 Power Inertia Suitable servo Voltage Encoder Motor model Power cable (KW) level driver level cable MS5H-60ST□-CS01330B-20P4- CPT-SW-M- CMT-W07-M length -length MS5H-60ST□-CM01330B-20P4- CPT-SW-B CMT-W07-M M-length -length High DS5E/L-20P4 inertia -PTA MS5H-60ST□-CS01330BZ-20P4 CPT-SW-M- CMBT-W07- -S02 length M-length MS5H-60ST□-CM01330BZ-20P CPT-SW-B CMBT-W07- 4-S02 M-length M-length MS5S-80ST□-CS02430B-20P7-S CPT-SW-M-...
Page 174 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...

This manual is also suitable for:

Ds5l series

Xinje DS5E Series User Manual

Quick Links

Need help?

Questions and answers

Related Manuals for Xinje DS5E Series

Summary of Contents for Xinje DS5E Series

This manual is also suitable for:

Table of Contents