Page 1 DS5K series servo driver User manual WUXI XINJE ELECTRIC CO., LTD. Data No. SC5 03 20200217 1.1...
Page 3 Basic explanation  Thank you for purchasing Xinje DS5F series servo driver products.  This manual mainly introduces the product information of DS5K series servo driver and MS series servo motor.  Before using the product, please read this manual carefully and connect the wires on the premise of fully understanding the contents of the manual.
Page 4 Safety Precautions PrePrecaPrecautio Be sure to review this section carefully before use this product. In precondition of security, wire the product correctly. Before using this product, please read this part carefully and operate after fully understanding the use, safety and precautions of the product. Please connect the product correctly on the premise of paying great attention to safety.
Page 5 Operation Cautions 1. Do not touch the rotating part of the motor after the driver is running. There is a danger of injury. 2. Please pay attention to the test run of the motor once, do not connect the motor with the machine, there is the possibility of injury.
Page 7: Table Of Contents
2.2.2 Installation cautions ........................14 2.2.3 Installation environment ......................... 15 2.3 S ......................... 16 ERVO CABLE INSTALLATION 2.3.1 Cable selection ..........................16 2.3.2 Xinje cable specification ......................... 17 2.4 S ........................19 ERVO DRIVER DIMENSION 2.5 S ........................20 ERVO MOTOR DIMENSION 3 SERVO SYSTEM WIRING ........................
Page 8 5.1.2 Control mode switching ........................41 5.2 B ........................42 ASIC FUNCTION SETTING 5.2.1 Jog operation ..........................42 5.2.2 Servo enable setting ........................43 5.2.3 Rotation direction switching ......................44 5.2.4 Stop mode ............................44 5.2.5 Power-off brake ..........................46 5.2.6 Braking setting ..........................
Page 9 ....................... 145 OMMUNICATION PROTOCOL 8.3.1 Character structure ........................145 8.3.2 Communication data structure ..................... 145 8.4 C ......................... 147 OMMUNICATION EXAMPLE 8.4.1 Communication with Xinje PLC ....................147 9 APPENDIX............................... 148 1. G ......................148 PPENDIX ROUP PARAMETERS 2. UX-XX ..................
Page 10: Confirmation On Product Arrival
Is the motor code the same with the Check the motor code marked on the nameplates of the code in drive? servomotor and the parameter U3-00 on the servo drive. If any of the above is faulty or incorrect, contact Xinje or an authorized distributor.
Page 11: Selection Of Servo System
AC380V 2.3KW 2.6KW 1.1.2 Description of each part 1.1.3 Performance specification Servo unit DS5K series servo drive Applicable encoder Standard: 17-bit/23-bit communication encoder DS5□-2□P□-PTA: Single/three phases AC200-240V, 50/60Hz [single phase AC200-240V 50/60Hz is used for less than 1.5KW (excluding 1.5KW);...
Page 12: Servo Motor Selection
Storage -20～+60 ℃ temperature Environment Below 90％RH (no condensation) humidity Vibration 4.9m/s resistance Structure Pedestal installation 1.2 Servo motor selection 1.2.1 Model name MS5S – 80 ST E – C S 02430 B Z - 2 0P7 – S01 Name Design number Name Inertia...
Page 13: Description Of Each Part
1.2.2 Description of each part Encoder frame flange Output Shaft (Drive Shaft) 1.3 Cable selection 1.3.1 Model name  Encoder cable CP-SP- Display Length (M) Display Cable type Normal High flexibility Display Plug type Display Plug type 9-core amp plug No battery box 7-core aviation plug With battery box...
Page 14: Description Of Each Part
For the MS5G 130 flange medium inertia brake motor, the cable shall be selected integrated power cable and brake cable type.  The standard wiring length of Xinje is 2m, 3m, 5m, 8m, 10m, 12m, 16m and 20m. 1.3.2 Description of each part ...
Page 15 Interface definition Connector pins Suitable model definition 485+ 485- 130 flange medium inertia Battery + motor Battery - Shielded cable Battery box description: 1) The encoder including the cable definition of battery +, battery- is for the absolute motor, and the non-absolute motor cable has no such pin.
Page 16: Selection Of Other Accessories
medium inertia motor without brake) Interface definition Connector pins Suitable model Definition 130 flange medium motor with brake Brake pins: The cable including BK pin is used for the brake motor. The cable of the non-brake motor has no BK pin.
Page 17 The following table is the recommended specifications of external regenerative resistance for each type of motor. External regenerative External regenerative Rmin resistance resistance Servo driver model (Not less than this value) (Recommended (Recommended power resistance value) values) DS5K-20P1-PTA 50Ω 50Ω-100Ω Above 200W DS5K-20P2-PTA DS5K-20P4-PTA...
Page 18: Installation Of Servo System
Installation of servo system 2.1 Servo driver installation 2.1.1 Installation site  Please install it in the installation cabinet without sunshine or rain.  Do not use this product near corrosive and flammable gas environments such as hydrogen sulfide, chlorine, ammonia, sulfur, chlorinated gas, acid, alkali, salt, etc. ...
Page 19: Servo Motor Installation
 Vibration: 4.9m/s  Condensation and Freezing: None  Ambient Temperature for Long-term Reliability: 50° C maximum 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.
Page 20: Installation Cautions
2.2.2 Installation cautions Item Description ◆ Before installation, please wipe the "rust-proof agent" of the extension end Antirust treatment of the servo motor shaft, and then do the relevant rust-proof treatment. ◆ It is forbidden to impact the extension end of the shaft during installation, otherwise the internal encoder will be broken.
Page 21: Installation Environment
When using in places where water droplets are dropping, please use it on the basis of confirming the protection level of servo motor. (except for the shaft-through part) When oil droplets will drip into the shaft-through part, please specify the servo motor with oil seal. water Conditions for use of servo motors with oil seals: solutions...
Page 22: Servo Cable Installation
If the cable is used in general occasions, please select the cable from other manufacturers (2.3.2 specifications of Xinje cable) in strict accordance with the specifications given by Xinje. If the cable is used in unconventional occasions, please select the cable according to the actual working conditions to be superior to the existing specifications of Xinje.
Page 23: Xinje Cable Specification
Select cables (special cables) that meet the use conditions. 2.3.2 Xinje cable specification 1. Material composition of Xinje cable Cross section of cable (encoder, power cable), corresponding introduction of wire skin material, wire diameter, wire core material shielding material, etc.
Page 24 2. Cable diameter specification type Encoder cable Power cable power 100W 4*0.2mm² +2*0.3mm² 4*0.75mm² 200W 4*0.2mm² +2*0.3mm² 4*0.75mm² 400W 4*0.2mm² +2*0.3mm² 4*0.75mm² 750W 4*0.2mm² +2*0.3mm² 4*0.75mm² 1.5KW 4*0.2mm² +2*0.3mm² 4*1.5mm² 3.0KW 4*0.2mm² +2*0.3mm² 4*2.5mm² 5.5KW 4*0.2mm² +2*0.3mm² 3*6.0mm² +1*2.5mm² 7.5KW 4*0.2mm²...
Page 25: Servo Driver Dimension
2.4 Servo driver dimension  DS5K-20P1-PTA, DS5K-20P2-PTA, DS5K-20P4-PTA Unit: mm  DS5K-20P7-PTA Unit: mm  DS5K-21P5-PTA, DS5K-22P3-PTA, DS5K-22P6-PTA Unit: mm...
Page 26: Servo Motor Dimension
 DS5K-43P0-PTA Unit: mm 110.00 99.00 210.18 R2.75 5.50 5.50 2.5 Servo motor dimension  40 series motor installation dimensions Unit: mm -0.1 25±0.5 LA± 1 Inertia Motor model With Normal level brake MS5S-40ST-C□00330□□-20P1-S01/S02 89.5 inertia  60 series motor installation dimensions Unit: mm 30±0.5 11 0 -0.1...
Page 27 MS-60ST-T01330-20P4-D01 High MS6H-60C□301B□1-20P4 inertia series Note: MS5H shaft key is closed key, MS6 motor shaft key is open key.  80 series motor installation dimensions Unit: mm 35±0.5 15,5 -0,1 LA± 1 Inertia Motor model Series With level Normal brake MS5S-80ST-C□02430□□-20P7-S01/S02 inertia MS5S-80ST-C□03230□□-21P0-S01/S02...
Page 28 MS-110ST-TL06030□□-21P8-S01 MS-110ST-T04030B-21P2 MS-110ST-T05030B-21P5  130 series motor installation dimensions Unit: mm 18.5 0 -0.1 57±0.5 a130 LA± 1 Motor model Inertia level With Normal brake MS5G-130STE-C□05415□□-20P8-S01 117.5 147.0 MS5G-130STE-C□06025B-21P5-S01 MS5G-130STE-C□07220□□-21P5-S01 132.5 162.5 MS5G-130STE-C□10015B-21P5-S01 MS5G-130STE-C□11515□□-21P8-S01 159.5 189.5 MS5G-130STE-C□11515□□-41P8-S01 MS5G-130STE-C□14615□□-22P3-S01 180.5 210.5 12.5 Middle inertia MS5G-130STE-C□14615□□-42P3-S01 MS5G-130STE-TL05415□□-20P8-S01...
Page 29  180 series motor installation dimensions Unit: mm 30 0 -0.1 79±0.5 a180 LA± 1 Motor model Inertia level Normal Medium Medium MS5G-180ST-TL19015□□-42P9-S01 inertia inertia...
Page 30: Servo System Wiring
Servo system wiring 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 0.2（7-core） DS5K-20P1-PTA 0.75 0.2（7-core） DS5K-20P2-PTA 0.75 0.2（7-core）...
Page 31: Main Circuit Wiring
3.1 Main circuit wiring 3.1.1 Servo driver terminal arrangement 3.1.2 Main circuit terminal  DS5K-20P1-PTA, DS5K-20P2-PTA, DS5K-20P4-PTA, DS5K-20P7-PTA Terminal Function Explanation Power supply input of Single 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!
Page 32: Cn0, Cn2 Terminal
 DS5K-43P0-PTA Terminal Function Explanation Power supply input of R/S/T 3-phase AC 200~240V, 50/60Hz main circuit ● Vacant terminal Connect the motor Motor terminals U, V, W Note: the ground wire is on the cooling fin, please check it before power on! Internal regenerative Short P+ and D, disconnect P+ and C...
Page 33: 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 34: Classification And Function Of Signal Terminals
RS485 port default parameters: baud rate 19200bps, data bit is 8-bit, stop bit is 1-bit, even parity. Modbus station no. can be set freely, set by P7-00: Default Parameter Function setting Range Modification Effective 0～255 P7-00 Modbus station no. Servo OFF Immediately Note: (1) Support the standard Modbus RTU protocol, which is used as the slave device of Modbus RTU.
Page 35: Input Signal
(3) In order to resist interference, twisted-pair shielding wire must be used. (4) If the controller is Xinje PLC, the rated current of the pulse output port is 50mA. According to this data, it can be judged that one pulse theoretically can drive at most five servos. It is recommended not to exceed 3.
Page 36: Encoder Feedback Output Signal
Defaulted assignment of output terminals Terminal SO3~SO4 COIN/positioning Function ALM/alarm Not distribute completion Optocoupler type Relay type Servo driver upper device Servo driver upper device +24 V +24 V Note: the maximum allowable voltage and current capacity of collector open output circuit are as follows: Voltage: DC 30V (maximum) Current: SO1 DC 500mA (maximum)
Page 37: Operate Panel
Operate panel 4.1 Basic operation 4.1.1 Operating panel description Button Operation STA/ESC Short press: state switch, state return Short Press: The display data increases Long press: The display data increases continuously Short Press: The display data decreases Long press: The display data decreases STA/ESC ENTER continuously...
Page 38: Operation Display
4.2 Operation display  Speed torque control mode 1. Digit display contents Digit data Display contents P5-39 When the actual speed of the motor is the same as the command speed, Same speed detection turn on the light. （/V-CMP） Detection Width of Same Speed Signal: P5-04 (Unit: rpm) When the speed is controlled, when the torque exceeds the set value, P5-42 turn on the light.
Page 39: Group Umonitor Parameter
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） Location Completion Width: P5-00 (Unit: Instruction Pulse) In position control, when the given position is the same as the actual P5-36 position, turn on the light.
Page 40  U0-21 input signal 1 distribution Segment Segment Description Description code code /S-ON servo enable /P-CON proportion action instruction /P-OT prohibition of forward /N-OT prohibition of reverse drive drive /ALM-RST alarm reset /P-CL forward side external torque limit /N-CL reverse side external /SPD-D internal speed selection...
Page 41  U0-23 output signal status  U0-23 output signal 1 distribution Segment Segment Description Description code code Positioning completion hold Positioning completion（/COIN）（/COIN_HD） Same speed detection（/V-CMP） Rotate detection（/TGON） Ready （/S-RDY） Torque limit（/CLT） Speed limit detection（/VLT） Break lock（/BK） Warn （/WARN） Output near（/NEAR） Note: When reading through communication, the binary numbers read from right to left correspond to the position of / COIN_HD, / COIN, 0 means that the position signal is not output, 1 means that the position signal has output.
Page 42: Group Fauxiliary Function Parameters
 U0-24 output signal 2 distribution Segment Segment Description Description code code Alarm (/ALM) Speed arrived (/V-RDY) Customized output 1 Customized output 2 /Z phase /MRUN Reserved Xnet bus error Reserved Reserved Note: When reading the state through communication, the binary numbers correspond to /ALM position in turn from right to left.
Page 43: Group F1
2. Resume to default setting（F0-01） Set F0-01=1 when enabler is shut down, press ENTER to resume to default settings, no need to cut power. 3. Clear the position offset（F0-02） Set F0-02=1 to clear the offset. 4. Clear up historical alarm records（F0-04） Set F0-04=1 can clear up historical alarm records from U1-14 to U1-53.
Page 44: Fault Alarm Handling
Default Setting Parameter Meaning Unit Change Effective setting range Servo P3-18 JOG speed 1rpm At once 0～1000 3. Current sampling zero-correction（F1-02） When the servo driver is self-renewed or the motor runs unsteadily after a long time, the user is advised to use the current sampling zero-correction function.
Page 45: Parameter Setting Example
4.6 Parameter setting example An example is given to illustrate the operation steps when the content of parameter P3-09 is changed from 2000 to 3000. Step Panel display Used buttons Operations No operation Press STA/ESC Press INC for three times to show P3-00 Press ENTER, the last 0 will flash Press INC for 9 times...
Page 46: Operation Of Servo System
Operation of servo system 5.1 Control mode selection and switching 5.1.1 Control mode selection Servo can combine two control modes and switch between them. By switching freely between mode 1 and mode 2 through the / C-SEL signal, more complex control requirements can be satisfied. User parameter Control mode Reference...
Page 47: Control Mode Switching
5.1.2 Control mode switching Control mode switching means that when the servo is enabled, that is, when the servo panel displays run, the working mode of the servo driver can be switched between mode 1 and mode 2 through the external input signal /C-CEL.
Page 48: Basic Function Setting
Inching operation can be carried out by panel group F parameters or our upper computer debugging software xinje servo tuner. Inching operation can be divided into two modes: inching operation and trial operation. Inching operation is closed-loop control, trial operation is open-loop control, and general steps are trial operation first, and then inching operation.
Page 49: Servo Enable Setting
When P0-03 is 3, it is applicable to the Xnet bus upper computer enable (applicable to DS5E Series). Xnet bus is a proprietary bus of Xinje. The servo system needs to work with the PLC supporting xnet bus. For specific operation, please refer to the user manual of x-net.
Page 50: Rotation Direction Switching
5.2.3 Rotation direction switching  Related parameter Default Parameter Meaning Unit Range Modify Effective setting Definition of rotation direction Power on P0-05 Servo bb 0- positive mode again 1- negative mode The user can change the rotation direction of servo motor through parameter P0-05. It is specified that the "forward rotation"...
Page 51 Parameter Value Meaning inertia stop and maintain the inertia operation state after stopping. P0-27/ deceleration brake stop and maintain the inertia operation state P0-29 after stopping. Note: (1) P0-27 / P0-29 = 0, inertia stops, and maintains inertia operation state after stopping. When the servo is off and the alarm occurs, the motor starts to stop by inertia until the speed is less than P5-03, and then it turns to free stop.
Page 52: Power-Off Brake
external input SI□ terminal has signal P5-22/P5-23=n.000□ input SI□ terminal has no signal P5-22/P5-23=n.001□ input Parameter settings in forward limit signal /POT and reverse limit signal /NOT can not be set to the same terminal input at the same time. Direction Meet the limit Operation status...
Page 53  Related parameter Default Parameter Meaning Unit Setting range Modify Effective setting P5-44 Brake interlock/BK n.0000 n.0000~n.0018 Anytime At once At once 0～65535 Servo OFF delay P5-07 Servo bb -500~9999 time (after version 3760) Brake command At once P5-08 Servo bb 20～10000 output speed Brake command wait...
Page 54 Note: (1) When SO terminal is used to control holding brake, when servo enable is on, holding brake power is on and motor is in rotatable state; (2) If the motor fails to rotate during the debugging of the new machine, please confirm whether the holding brake is open.
Page 55: Braking Setting
5.2.6 Braking setting When the servo motor is driven by the generator mode, the power returns to the servo amplifier side, which is called regenerative power. Regenerative power is absorbed by charging the smoothing capacitor in the servo amplifier. After exceeding the rechargeable energy, the regenerative resistance is used to consume the regenerative power.
Page 56: Position Control
2. Recommended brake resistance specifications External regeneration External regeneration min resistance (cannot be resistance resistance Servo driver model less than this value) (recommended (recommended power resistance) value) DS5K-20P1-PTA 50Ω 50Ω-100Ω Above 200W DS5K-20P2-PTA DS5K-20P4-PTA 40Ω 40Ω-100Ω Above 500W DS5K-20P7-PTA DS5K-21P5-PTA 25Ω...
Page 57 Do not change the electronic gear ratio Change the electronic gear ratio Without changing the ratio of the electronic By changing the electronic gear ratio, the gear to the motor, the rotating cycle is motor needs 6000 pulses to rotate one circle. 131072 pulses (P 0-11=0, P 0-12=0).
Page 58 cases, if the number of pulses per revolution is calculated as a decimal, the electronic gear ratio should be considered. (2) When P0-13 and P0-14 exceed the setting range, please divide the electronic gear ratio into numerator and denominator. If the ratio still exceeds the parameter setting range, please use the second gear ratio P0-92~P0-95.
Page 59 Positioning completion signal (/COIN, /COIN_HD) 5.3.1.2 In position control, the signal indicating the completion of servo motor positioning is used when the command controller needs to complete positioning confirmation.  Related parameters Default Parameter Meaning Unit Range Change Effective setting Positioning Command Anytime...
Page 60 After instruction finished, deviation is below P5-00 and COIN signal is output. When instruction ends motor speed is under the rotation detection speed (P5-03) and absolute deviation is less than P5-00, COIN signal output. /S-ON Signal status instruction, ｜U0-08｜ absolute deviation P5-00 Pulse offset value under P5-00,...
Page 61 (2) The positioning completion width can also be set separately, and its change will not affect the number of command pulses required for one revolution of the motor. 5.3.1.3 Positioning near signal (/NEAR) The servo motor is located near the positioning completion signal, so that the equipment can prepare the next action in advance.
Page 62 5.3.1.4 Command pulse prohibition (/INHIBIT) Position command prohibition, including internal and external position commands. Stop the function of command pulse input during position control. When the /INHIBIT signal is on, the pulse command is no longer counted.  Related parameters Signal Default Suitable...
Page 63 2. /CLR signal explanation Send the pulse to the servo, execute the /CLR input signal, the servo will lock the current pulse counts, then update the current position of the encoder to the position feedback in the control, at the same time, clear the intermediate quantity of the position loop, speed loop and current loop.
Page 64 5.3.1.8 Reference origin 1. Find the reference origin To find out the physical origin of working table and make it as the coordinates origin of point position control. Users can select finding reference origin at forward or reverse side. Function setting: Default Parameter Meaning...
Page 65: Position Control (External Pulse Command)
Find reference origin diagram: /N-OT /P-OT Speed P4-01 Speed P4-01 ① Direction CW Direction CCW Stop mode Stop mode ② P0-28 P0-28 Speed P4-02 Speed P4-02 ③ Direction CW Direction CCW Z signal quantity Z signal quantity P4-00 P4-00 Reference origin Reference origin of reverse side of forward side...
Page 66 (numerator) 32-bit electronic gear ratio (numerator): P0-94～P0-95 32-bit electronic gear ratio P0-92*1 + P0-93 *10000 (denominator) 32-bit electronic gear ratio denominator: P0-94*1 + P0-95 *10000 P0-09 Pulse command setting You can set the command direction and 5.3.2.2 filter time of low-speed pulse respectively P9-00~P9-08 Full closed loop input related configuration 5.3.2.2...
Page 67 3. set the pulse instruction form Parameter Meaning setting Meaning Change Effective CW, CCW mode Pulse P0-10 command AB phase n.xxx□ form Pulse + direction (defaulted) Servo At once P0-10 Effective n.xx□x edge falling edge is valid pulse signal 4. Logical form of instruction pulse P0-10.0 Forward rotation Reverse rotation...
Page 68: Position Control (Internal Command)
5.3.3 Position control (Internal command) Parameter Overview Reference chapter P0-01 control mode selection Set to 5: internal position 5.3.3.1 mode P4-03 internal position mode Control mode setting of 5.3.3.3 P4-04 valid segment number internal position mode: P4-10~P4-254 internal position 1 including step change mode, to 35 parameters positioning...
Page 69 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. It takes effect in all Step-Changing modes. Waiting mode=0, adjust time =0ms Waiting mode =0, adjust time >0ms P5-00...
Page 70 3. In this mode, the step change signal /CHGSTP is triggered at high level. 4. When the servo enable is off during a certain section of operation, the motor stops according to the servo off shutdown mode. After the shutdown, the positioning is invalid.
Page 71 positioning is invalid. 5. The adjustment time is valid in this mode. 3: set segment no. Servo is ON, set parameter P2-09=0, then set the running segment. The motor will run through the setting segment. Refer to chapter 5.4.8. communica tion t1 = p4-16 in the figure.
Page 72 segment 4. /CHGSTP signal is invalid only in this mode. 5. The segment number selection terminal can not only trigger the step change at the edge, but also keep on state. This mode supports continuous and repeated triggering of a certain segment.
Page 73 internal distribute to input terminal position through P5-60 segment 3 3. Positioning mode n.xxx□ Meaning Relative positioning Absolute positioning 1: absolute positioning 0: relative positioning (take the reference origin as the absolute positioning origin) Segment 2 Segment 1 5.3.3.3 Position segment 1 to 35 parameter settings Default Parameter Meaning...
Page 74 Parameter Meaning Default setting Range Change Effective P4-04 Effective segment Servo bb At once 0～35 There are 35 sections in total in the internal position. If 10 sections need to be operated and 5 sections need to be operated switched for use due to process requirements, the effective segment can be set. For example, parameters are set for sections 1-10, and P4-04 is set to 5, that is, the position of section 1-5 is valid;...
Page 75 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 76: Speed Control
5.4 Speed control 5.4.1 Speed mode general control 5.4.1.1 Soft start Defaulted Parameter Meaning Unit Range Modify Effective setting Soft Start P3-09 0～65535 Servo bb At once Acceleration Time Soft Start P3-10 0～65535 Servo bb At once deceleration Time Soft start acceleration and deceleration time is suitable for mode 3/4/7. Smooth speed control can be carried out when step speed instruction is input or internal setting speed is selected.
Page 77 3. Parameter setting Default parameter Meaning Unit Range Change Effective setting P3-13 Zero clamp speed 0～300 Servo bb At once P3-12 Zero clamp mode 0～3 Servo bb At once P3-12 setting Contents ZCLAMP input signal is ON, forced speed command is 0, when the speed below P3-13, switch to position mode and the servo lock in this position.
Page 78: Speed Control (Internal Speed)
P1-22 Contents First-order Inertial Filter Smooth filter Position command acceleration and Smooth filter of position instruction deceleration filter Command pulse frequency Command pulse frequency Before filtering Before filtering After filtering After filtering 100% 100% 63.2% 36.8% P1-23 P1-23 P1-23 P1-23 5.4.2 Speed control (internal speed) Parameter Overview...
Page 79 Servo unit /SPD-D /SPD-A Input Servo motor /SPD-B Speed selection SPEED1 P3-05 SPEED2 P3-06 SPEED3 P3-07 No need external speed or Run the motor pulse generator at set speed User parameter  Related parameter Defaulted Parameter Meaning Unit Range Modify Effective setting Internal speed 1...
Page 80 (3) 0/1 of the above table represent the validity of the signal. The 0-bit terminal input is invalid. 1 is the terminal input valid. 2. Terminal effectiveness description The following table takes /SPD-D as an example, /SPD-A, /SPD-B signals are the same. Signal/SPD-D terminal Parameter setting Signal/SPD-D terminal input status...
Page 81 5.4.3 Speed control (pulse frequency command) Reference Parameter Overview chapter P0-01 Control mode selection Set to 7: external pulse speed mode 5.4.3.1 P0-10 Pulse command form Set pulse form 5.3.2.2 0-CW/CCW 1-AB 2-P+D P0-15 Command pulse frequency at Determine the linear relationship between the 5.4.3.3 rated speed command pulse frequency and the speed...
Page 82: Torque Control
5.5 Torque control 5.5.1 Torque general mode 5.5.1.1 Internal speed limit of torque control Default Parameter Meaning Unit Range Modify Effective setting internal forward Motor rated P3-16 speed limit in torque Anytime At once 5～65535 control mode internal reverse speed Motor rated P3-17...
Page 83: Absolute Value System
5.5.2.2 Internal torque command Parame Default Effe Meaning Unit Range Modify setting ctive Internal torque 1% rated Anyti -1000～+1000 P3-33 command torque once The unit of this parameter is 1% of the rated torque. For example: P3-33=50, motor forward run with 50% of the rated torque; P3-33= -20, motor reverse run with 20% of the rated torque.
Page 84: The Upper Limit Of Turns
(4) Close the cover of the battery unit (5) After replacing the battery, in order to remove the "Encoder Battery Alarm (E-222)" display, please do clear alarm twice (F0-00=1). (6) Connect the power supply of the servo unit again; (7) Make sure the error display disappears and the servo unit can operate normally. 5.6.3 The upper limit of turns The upper limit of rotating cycles can be used for position control of gyroscopes such as turntables.
Page 85: Read Absolute Position Through Communication
Because it can only rotate in one direction, after a certain period of time, the number of revolving cycles will always exceed the upper limit of absolute value encoder. Resolution Rotating Circle Servo motor (single-circle Serial Data Operation of overtime series data) Output range...
Page 86: Reset Absolute Position
(2) -1 means running in the opposite direction. The current encoder value is: (U0-57-65535)*1+(U0-58-65535)*2^16+(U0- 59-65535)*2^32. If the position is read by XINJE HMI and the U0-57 (Modbus address is decimal 4153) double-word is read, the high-low byte exchange should be selected. If communicating with Xinje PLC, direct double-word reading is ok.
Page 87: Auxiliary Functions
Calibrate the encoder current position as zero position through servo panel F1-06 parameter, U0-94~97 will show the encoder position after calibration. 2. ModbusRTU communication clearing Write 3 to the modbus address 0x2106 (F1-06 parameter). U0-94~U0-97 will display the motor absolute position after calibration. 5.7 Auxiliary functions 5.7.1 Anti-blocking protection Anti-blocking alarm: When the motor speed is lower than P0-75 (unit 1 rpm) and the duration reaches...
Page 88: Torque Limit
5.7.2 Torque limit 1. Internal torque limit Default Parameter Meaning Unit Range Modify Effective setting Internal Forward P3-28 0～300 Anytime At once torque limit Internal reverse P3-29 0～300 Anytime At once torque limit 1. if this parameter value is less than external torque limit value, the final limit value is this parameter. 2.
Page 89: Speed Limit
5.7.3 Speed limit Default Parameter Meaning Unit Range Modify Effective setting Forward max speed P3-14 4000 0～65535 Servo bb At once command limit Reverse max speed P3-15 4000 0～65535 Servo bb At once command limit Note: P3-14 and P3-15 are effective in all the modes. 5.7.4 I/O signal distribution 5.7.4.1 Input terminal distribution 1.
Page 90: Output Terminal Function
5.7.4.2 Output terminal distribution 1. Output signal distribution Parameter Parameter Meaning Set value Meaning Not distribute to terminal input n.0000 Output always open signal from n.000x P5-37～P5-53 Set the signal to be always valid n.0010 output always close signal from n.001x 2.
Page 91 2. Related parameters Default Parameter Meaning Unit Range Modify Effective value Rotating detection P5-03 0～10000 Anytime At once speed /TGON If the speed of the servo motor exceeds the set value of P5-03, it is judged that the servo motor is rotating and the output of the rotation detection (/TGON) signal.
Page 92 5.7.5.4 Warn output (/WARN) Set the alarm output threshold, when the current speed is higher than the warning speed, output / WARN. Default Parameter Meaning Unit Range Modify Effective value Forward warning Motor P3-19 0～65535 Servo bb At once speed related Reverse warning Motor...
Page 93 Encoder Z phase signal P5-48=n.0011 SO1 output P5-48=n.0001 SO1 output 5.7.5.7 User-defined output signal User can define 2 outputs. The defined method is SOx output when A>B or A<B. A is 9 activating conditions; B is user-defined comparison value. User-defined output 1: The trigger condition of user-defined output 1 Default Trigger condition...
Page 94 User-defined output 2: The trigger condition of user-defined output 2 Default Trigger trigger condition Unit Suitable mode Change Effective condition setting P5-14 below Related table: trigger All the modes Anytime At once optional trigger condition condition The comparison value for the trigger condition of user-defined output 2 Unit Default setting Range...
Page 95: Input Terminal Function
5.7.5.8 Other SO terminal function Terminal name Description Chapter /COIN-HD Positioning completion hold 5.3.1.2 /COIN Positioning end 5.3.1.2 /CLT Torque limit detection 5.8.2 /VLT Speed limit detection 5.5.1.3 /MRUN Internal position mode motion start 5.3.2.7 /V-RDY Speed arriving signal 5.4.1.3 /PREFA Internal position selection signal 5.3.2.1...
Page 96: Time Limit Curve Of Overload Protection
5.7.7 Time limit curve of overload protection The time limit curve of overload protection is only used for the judgment of alarm output and the protection of overload operation. It is recommended to use it within the continuous operation stage of torque speed curve.
Page 97 Applicable model (motor code) 5033 9033 4031 4032 4042 5042 4044 5044 5078 5079 5077 5877 9077 9877 Applicable model (motor code) 5175 9175 5975 9975 9166 916A 916B Applicable model (motor code) 5034 9034 5074 5874 9074 9874 9037 5037 5046 4046...
Page 98: Encoder Abz Phase Frequency Division Output
5.8 Encoder ABZ phase frequency division output The servo driver outputs the differential signal through the frequency division output circuit. It can provide position signal for the control of the upper computer or pulse signal for the driven servo, so as to realize the follow-up control of the master-slave shaft.
Page 99 P0-87.1 Encoder feedback output direction selection Setting Function Default Suitable Modify Effective value value mode forward operation when phase A ahead phase B Servo OFF At once Reverse operation when phase B ahead phase A forward operation when phase A ahead phase B forward operation when phase A behind phase B P0-87.0...
Page 100: Servo Gain Adjustment
Servo gain adjustment 6.1 Overview of servo gain adjustment 6.1.1 Overview and process The servo driver needs to drive the motor as fast and accurately as possible to track the instructions from the upper computer or internal settings. In order to meet this requirement, the servo gain must be adjusted reasonably.
Page 101: 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 102 Load type Explanation Synchronous The adjustment is suitable for the mechanism with lower rigidity such as synchronous belt belt mechanism. It is suitable for the adjustment of high rigidity mechanism such as ball screw Lead screw mechanism. Please select this type when there is no corresponding structure. Rigid The adjustment is suitable for rigid body system and other mechanisms with high connection...
Page 103: Torque Disturbance Observation
speed loop integral P1-01: 3300 speed loop integral P1-01: 825 speed loop integral P1-01: 825 position loop gain P1-02: 200 position loop gain P1-02: 700 position loop gain P1-02: 700 Model loop gain P2-49: 300 Model loop gain P2-49: 300 Model loop gain P2-49: 4000 Phenomenon: Running jitter, Phenomenon: smooth operation...
Page 104: Operation Tool
 Since both directions are rotatable within the set range of movement, please confirm the range or direction of movement; and ensure that the load runs in a safe journey.  If the presumed inertia under default parameters runs jitter, indicating that the present load inertia is too large, please switch to large inertia mode (P2-03.3=1) and operate again.
Page 105 mode (P2-03.3=1) to ensure the basic smooth operation of the servo and then identify the inertia! Servo entering parameter F0-07 in BB state: Press ENTER, servo is enabled: Press INC or DEC to run forward or reverse (select one of them): At this point, start action, under the condition of P-05 = 0 (initial positive direction), if press INC, then turn forward and then reverse;...
Page 106 ESC key to exit the auto-tuning interface to see if alarm there is an alarm. The driver alarms Driver has alarm, press ESC key to exit the in the process of Err-7 auto-tuning interface, check the alarm code, first Driver has alarm inertia solve the alarm and then make inertia estimation.
Page 107 3. Set the auto-tuning interface 4. Click ok to start inertia identification.
Page 108: Fast Adjustment
Note: (1) If the auto-tuning interface is closed directly, the driver only configures inertia ratio parameters. (2) The detailed steps of XinJeServo's presumptive inertia refer to XinJeServo's help document. 6.3 Fast adjustment 6.3.1 Overview Fast adjustment needs to set the moment of inertia of load first, then turn off the adaptive function. If the inertia does not match, it will cause oscillation alarm.
Page 109 1100 1200 1300 1400 1500 1000 1600 1050 1800 1100 1000 2000 1150 1050 2200 1200 1100 2400 1300 1100 2600 1400 1200 2800 1500 1300 3000 1600 1400 3500 1700 1500 4000 1800 1600 4500 1900 1700 5000 2000 1800 5500 2100...
Page 110 1400 2700 1500 3000 1500 3100 1000 1600 3200 1050 1800 3300 1100 1000 2000 3400 1150 1050 2200 3500 1200 1100 2400 3600 1250 1100 2500 3700 1300 1100 2600 3800 1350 1200 2700 3900 1400 1200 2800 4000 1450 1250 2900...
Page 111: Notes
mechanical stiffness and high response. Rigidity level for Rigidity level for Driver power Default parameters firmware 3640 firmware 3700 and higher versions P1-00=200 P1-01=3300 P1-02=200 1.5kw and above P2-35=100 P2-49=300 P1-00=300 P1-01=2200 P1-02=300 200w～750w P2-35=100 P2-49=400 P1-00=400 P1-01=1650 P1-02=400 100w P2-35=100 P2-49=500 6.3.4 Notes...
Page 112: Notes
6.4.2 Notes Untunable occasions  Mechanical systems can only operate in one direction. Setting occasions that are prone to failure  Excessive load moment of inertia;  The moment of inertia varies greatly during operation.  Low mechanical rigidity, vibration during operation and failure of detection positioning; ...
Page 113 gain parameters at the exit time. If auto-tuning fails, it is necessary to initialize the driver before auto-tuning again.  Panel 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 Please make sure that there is no overrun Err-2...
Page 114 3. set the auto-tuning interface 4. click ok to estimate the inertia.
Page 115 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. If there is no corresponding mechanism, please choose this type.
Page 116 6. Start auto-tuning 7. Wait for the end of the auto-tuning...
Page 117: External Instruction Auto-Tuning Steps
6.4.5 External instruction auto-tuning steps Driver panel auto-tuning steps 1. The inertia identification is carried out and the step of inertia estimation please refers to the driver panel inertia estimation (6.2.4 operation step) 2. Shut down adaptive function (P2-01.0 sets to 0), power on again 3.
Page 118 2. Select jog or manual setting to configure the trip of inertia identification. 3. Set the auto-tuning interface 4. Click ok to start the inertia identification.
Page 119 5. Configure the auto-tuning parameters Auto-tuning mode Description Make a soft gain adjustment. Besides gain adjustment, notch filter is Soft automatically adjusted. Make special adjustment for positioning purpose. Besides gain adjustment, Rapid positioning the model loop gain and notch filter are automatically adjusted. In the use of positioning, we should pay attention to adjusting without Rapid positioning overshoot.
Page 120 with higher rigidity. 6. Start auto-tune 7. Open the servo enable, then click ok.
Page 121: Related Parameters
8. The upper device starts to send pulses, wait the completion of auto-tuning. 9. Auto-tuning is finished, click ok. 6.4.6 Related parameters The following parameters may be modified during auto-tuning. Do not change them manually during auto-tuning. The influence of numerical Parameter Name Property...
Page 122: Manual Adjustment
P2-64 Active vibration suppression filter time 1 P2-65 Active vibration suppression filter time 2 The second group of active vibration P2-66 damping Second group active vibration suppression P2-67 frequency First notch switch P2-69.0 Second notch switch P2-69.1 First notch frequency P2-71 First notch attenuation P2-72...
Page 123: 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 124: Gain Parameters For Adjustment
6.5.3 Gain parameters for adjustment The gain parameters that need to be adjusted: P1-00 Speed Loop Gain P1-01 Integral Time Constant of Speed Loop P1-02 position loop gain P2-35 Torque Instruction Filtering Time Constant 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.
Page 125: Adaptive
 Filter time constant of torque instruction When machine vibration may be caused by servo drive, it is possible to eliminate vibration by adjusting the filtering time parameters of the following torque instructions. The smaller the numerical value, the better the response control can be, but it is restricted by the machine conditions. When vibration occurs, the parameter is generally reduced, and the adjustment range is suggested to be 10-150.
Page 126: Inertia Mode And Related Parameters
6.6.4 Inertia mode and related parameters The adaptive default parameter is defined as small inertia mode. If the load inertia far exceeds the allowable load inertia of the motor (such as 60 times inertia of the 60 motor), the adaptive large inertia mode can be turned on.
Page 127: Adaptive Parameters Effect
above 5-10 times inertia Set P2-08=50, P2-12=40 Switch to adaptive large inertia mode or set P2-08=40, 10-20 times inertia P2-12=50, P2-07=50 Note: The large inertia parameters can still drive a smaller inertia load. For example, when the parameters of 50 times inertia are used in the mechanism of 20 times inertia, only the response will become worse.
Page 128: Invalid Parameters When Adaptive Effective
6.6.7 Invalid parameters when adaptive effective When the adaptive function is effective (P2-01.0=1), the invalid parameters are shown as below: Item Parameters Descriptions P1-00 First speed loop gain P1-05 Second speed loop gain P1-01 First speed loop integral time constant P1-06 Second speed loop integral time constant Gain...
Page 129: Vibration Suppression (Panel)
6.7.3 Vibration suppression (panel) There are two modes of panel vibration suppression, mode 1(vib-1) and mode 2(vib-2).  Difference between Two Kinds of Vibration Suppression Mode Display Changed parameters Mode 1 vib-1 Only the parameters related to vibration suppression will be changed.
Page 130: Vibration Suppression (Pc Software)
6.7.4 Vibration suppression (PC software) 1. open XinJeServo software, click mechanical properties; 2. click measure; 3. set the measure conditions, then click execute; 4. select amplitude and phase; 5. set the filter width (to see resonance frequencies clearly), find the resonance frequency; 6.
Page 131: Vibration Suppression (Quick Fft)
6.7.6 Vibration suppression (quick FFT) This function can analyze the mechanical characteristics through the parameter F0-12 on the servo operate panel, find out the mechanical resonance frequency and realize the vibration suppression. The complete operation process is shown in the figure below: Wait for enable Set torque Long press...
Page 132: Notch Filter
6.7.7 Notch filter Notch filter can suppress mechanical resonance by reducing the gain at a specific frequency. After the notch filter is set correctly, the vibration can be effectively suppressed and the servo gain can be continuously increased. The principle diagram of notch filter is as follows: mechanical system Amplitude frequency characteristic...
Page 133 n.□□1□ Fifth notch on 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...
Page 134: Gain Adjustment
6.8 Gain adjustment 6.8.1 Load shaking The following causes cause load wobble: 1. The instruction is not smooth enough when the load inertia is too large. Countermeasure: (1) Use position instruction smoothing filter P1-25; (2) Optimizing the instructions of the upper device to reduce the acceleration of the instructions; (3) Replace the motor with greater inertia.
Page 135: Alarm
Alarm 7.1 Alarm code list Historical record: "√" means that historical alarms can be recorded; "○" is not recorded; The column that can be cleared: "√" represents the alarm that can be cleared; "○" represents the alarm that cannot be cleared. Property Servo Whether...
Page 136 Self-Inspection √ √ E-150 Power cable disconnection Servo off Driver thermal power √ √ E-161 overload √ √ Servo run E-165 Anti-blocking alarm Servo run Regenerative resistance √ √ E-200 overload Communication error Servo off √ √ E-220 absolute servo encoder Too many CRC errors in Servo off √...
Page 137: Analysis Of Alarm Types
Analysis of alarm types DS5 alarm code format is E-XX□, “XX” means main type, “□” means sub-type. Type Code Description Reasons Solutions EEEE (1) Stable power supply to ensure (1) Voltage fluctuation the stability of power supply EEEE of power supply is Communication voltage.
Page 138 E-028 EEPROM write in Voltage instability or Please contact the agent or the error chip abnormality manufacturer Check the fluctuation of power grid, 220V driver normal voltage range 200V ~ 240V, 380V driver High voltage of power normal voltage range 360V ~ grid 420V.
Page 139 220V + 10% (380V + 10%), then check the supply voltage; if the supply voltage is normal, then servo state, monitoring U0-05, multimeter measurement voltage * 1.414 > U0-05 (error within 10V), then the servo driver is faulty and needs to be sent back for repair Driver power...
Page 140 input frequency is too high, and whether the electronic gear ratio is too large. (1) Check the encoder cable or change a new one (2) Set the servo driver to BB state and the driver to U-10. Rotate the motor shaft slowly by Encoder fault hand to see if the value of U-10 changes normally, increasing in...
Page 141 Rotate the motor shaft slowly by hand to see if the value of U-10 changes normally, increasing in one direction and decreasing in direction (0-9999 cycle display). Disconnect the power supply of driver check Any phase in UVW of connection of the power cable. It Power cable E-150...
Page 142 wiring. Poor gain adjustment results motor vibration, back Readjustment of gain parameters forth swing abnormal noise. There are servo cross test or motor empty shaft on site, F1-01 trial operation, F1-00 jog run can Driver motor not rotate uniformly; hardware failure; Replace the new driver or motor send malfunction...
Page 143 servo encoder Check whether the value of U0-54 increases rapidly. If yes, encoder circuit disconnected.Disconnect power supply of the driver, check the connection of the encoder Unconnected encoder cable, if there is cable loosening, cable or poor contact it is recommended to use the multimeter to test the conduction condition;...
Page 144 Generally, it is the (the driver panel shall problem of the encoder completely off). If the alarm itself, or the power cannot removed, please supply of the encoder is contact the agent or manufacturer unstable Abnormal power on of main control chip of multi-turn absolute value servo encoder...
Page 145 scrambling number errors the strong and weak current are exceeds the value in wired separately. ② High current equipment is encoder error retry number register P0-56 supplied separately. ③ The grounding is good. Overrun signal If you do not want to alarm detected and the overrun immediately when the overrun E-260...
Page 146 Power mismatch Match the correct motor and Such as 750W driver E-310 between driver driver, and use it after setting the with 200W motor and motor P0-33 motor code correctly When the motor On the premise that the driver and code read motor are matched and can be...
Page 147: Modbus-Rtu Communication
Modbus-RTU communication The company provides users with the general RS485 communication interface in industrial control. The communication protocol adopts MODBUS standard communication protocol, and the servo can be used as the slave station to communicate with the master device (such as PLC controller and PC) with the same communication interface and the same communication protocol, and the HMI can also be connected through the communication interface.
Page 148 (2) General recommendation: branch structure Servo Servo Servo Servo slave master slave slave slave (3) Not recommended: star connection...
Page 149: Communication Parameters
8.2 Communication parameters 1. RS485 communication parameters Default Parameter Meaning Range Modify Effective setting P7-00 RS485 station number 0~100 Servo bb At once Default Suitable Parameter Function Unit Modify Effective setting mode Communication n.2206 Servo bb At once setting Default Setting Range setting...
Page 150 Default Suitable Parameter Parameter Setting unit Modify Effective setting mode Communication n.2206 Servo bb At once configuration Default Parameter setting Function Range setting 0: no parity n.□xxx Parity bit 1: odd 2: even 0: 2-bit n.x□xx Stop bit 2: 1-bit 00：300 01：600 02：1200...
Page 151: Communication Protocol
8.3 Communication protocol When communicating in a MODBUS network, this protocol determines that each controller needs to know their device address, identify messages sent by address, and decide what actions to take. If a response is needed, the controller generates the feedback and sends it out using Modbus protocol. In other networks, messages containing Modbus protocol are converted to frame or packet structure which can be used in this network.
Page 152  Function code 03H: read register data For example: read the U0-05 register address H1005 (bus voltage). RTU mode: Inquiry information format Response message format Address Address Function code Function code register address Byte quantity register quantity Data content CRC CHECK Low CRC CHECK Low CRC CHECK High CRC CHECK High...
Page 153: Communication Example
2. Parameter setting: the communication parameters of the driver and PLC are set in the same way, such as baud rate, parity, data bit, slave station, etc. the communication protocols of the Xinje PLC and servo are standard Modbus RTU, namely 19200bps, 1-8-1-even parity.
Page 154: Appendix
Appendix Appendix 1. Group P parameters Modification and effective: “○” means modifying when servo OFF and take effect at once. “√” means modifying anytime and take effect at once. “●” means modifying when servo OFF and take effect when power on again. “△”...
Page 155 Definition of rotation direction 1|2|3|4|5|6|7| ● P0-05 5.2.3 8|9|10 0- positive mode 1- negative mode 20P1 ： 800 0~5000 1|2|3|4|5|6|7| √ First inertia ratio P0-07 6.2.1 >20P1 ： 200 8|9|10 Forward Direction Input Pulse Instruction 0-Forward Pulse ● P0-09.0 5.3.2 Counting 1-Reverse Pulse...
Page 156 Power Value of Set as 1|2|3|4|5|6| ○ P0-25 1~65535 5.2.6 Discharge Resistance model 7|8|9|10 Discharge resistance Set as 1|2|3|4|5|6| Ω ○ P0-26 1~500 5.2.6 value model 7|8|9|10 Servo shutdown enable stop mode 1|2|3|4|5|6| ○ P0-27 5.2.4 0-Inertial Operation Stop 7|8|9|10 2-deceleration stop Servo Overrun...
Page 157 1|2|3|4|5|6| √ Blocking alarm speed P0-75 5~9999 5.8.1 7|8|9|10 Absolute Encoder Battery Undervoltage Alarm Switch (firmware version 20160304 and later) 0-used as absolute value 1|2|3|4|5|6| ● P0-79 5.7.1 encoder 7|8|9|10 1-1-used as incremental encoder 2-2-used as absolute value encoder, ignoring multi turn overflow alarm Thermal Power Protection of Motor...
Page 158 Reference Parameter Function Unit Default value Range Effective Suitable mode chapter time position instruction △ P1-25 0.1ms 0~65535 5|6|10 5.3.1.7 smooth filter time P2-XX： Suitable Reference Parameter Function Unit Default value Range Effective mode chapter Disturbance observer switch 1|2|3|4|5|6|7| ○ P2-00.0 6.1.4 0- OFF...
Page 159 Auto-tuning Initial Inertia Ratio of 1|2|3|4|5|6|7| ○ P2-16 10~1000 6.2.4 Inertia Identification 8|9|10 Gain of adaptive mode 1|2|3|4|5|6|7| √ speed observer P2-18 1~20000 6.2.4 8|9|10 (standard) Default Suitable Reference Parameter Function Unit Range Effective value mode chapter 20P1 ： 100 Adaptive mode 1|2|3|4|5|6|7| 20P2 ，...
Page 160 1|2|3|4|5|6|7| √ Notch filter 1 switch P2-69.0 6.4.6 8|9|10 1|2|3|4|5|6|7| √ Notch filter 2 switch P2-69.1 6.4.6 8|9|10 1|2|3|4|5|6|7| √ Notch filter 3 switch P2-69.3 8|9|10 1|2|3|4|5|6|7| √ Notch filter 4 switch P2-70.0 8|9|10 1|2|3|4|5|6|7| √ Notch filter 5 switch P2-70.1 8|9|10 1|2|3|4|5|6|7|...
Page 161 analog quantity. 2-Speed Feedforward Analog voltage corresponding to rated ○ P3-01 0.001V 10000 1500~30000 1|2|4 5.4.4 speed (5E/5L not support) Analog voltage speed √ filter (5E/5L not P3-02 0.01ms 0~10000 1|2|4 5.4.4 support) Speed instruction input √ dead zone voltage P3-03 0.001v 0~500...
Page 162 Allocation 0 - Input as Torque Instruction 1 - As a necessary condition for limiting input external torque, the minimum value valid compared with P3-28/P3-29. 2-Torque Feedforward Default Suitable Reference Parameter Function Unit Range Effective value mode chapter analog value corresponding ○...
Page 163 Default Suitable Reference Parameter Function Unit Range Effective value mode chapter Location Mode 0-relative positioning 1-Absolute positioning Internal Position-Given Mode Sets Step Change Mode 0-step-changing when signal is ON, recyclable 1-change step at signal rising edge, single step execution 2-starting at Signal rising edge, sequential execution of all, no cycle ○...
Page 164 Default Suitable Reference Parameter Function Unit Range Effective value mode chapter 8|9|10 Same speed detection 1|2|3|4|5|6|7| √ P5-04 0~10000 5.8.5.3 speed 8|9|10 1|2|3|4|5|6|7| √ P5-05 Reached detection speed 1000 0~10000 5.4.1.3 8|9|10 Positioning near output Command √ P5-06 1~65535 5|6|10 5.3.1.3 width unit...
Page 165 Default Suitable Reference Parameter Function Unit Range Effective value mode chapter 10: Set the signal to always be "valid". 11: Inverse signal is input from SI1 terminal. 12: Inverse signal is input from SI2 terminal. 13: Inverse signal is input from SI3 terminal.
Page 166 Default Suitable Reference Parameter Function Unit Range Effective value mode chapter /INHIBIT: Instruction √ P5-32.0~1 0~ff 5|6|7 5.3.1.4 pulse prohibition √ SI terminal filtering time P5-32.2 5|6|7 5.8.4.1 √ P5-34.0~1 /CLR: pulse offset clear 0~ff 5|6|10 5.3.1.5 √ P5-34.2 SI terminal filtering time 5|6|10 5.8.4.1 /CHGSTP: internal...
Page 167 Default Suitable Reference Parameter Function Unit Range Effective value mode chapter /USER1: user-defined output 1|2|3|4|5|6|7| √ P5-52 0000 0~ffff 5.8.5.7 8|9|10 /USER2: user-defined output 1|2|3|4|5|6|7| √ P5-53 0000 0~ffff 5.8.5.7 8|9|10 /PREFA: intenral position √ P5-57.0~1 0~ff 5.3.3.1 selection signal A √...
Page 168 Default Reference Parameter Function Unit Range Effective Suitable mode value chapter 01 ： 600 02 ： 1200 03 ： 2400 04 ： 4800 05 ： 9600 06 ： 19200 07 ： 38400 08 ： 57600 09 ： 115200 0A ： 192000 0B ：...
Page 169 Default Reference Parameter Function Unit Range Effective Suitable mode value chapter Position Deviation Compensation times √ for Position P7-09 5.6.2.1 Deviation 1|2|3|4|5|6|7|8|9|1 √ RS232 station no. P7-10 0~100 RS232 baud rate 00 ： 300 01 ： 600 02 ： 1200 03 ：...
Page 170: Appendix 2. Ux-Xx Monitoring Parameters
Appendix 2. UX-XX monitoring parameters U0-XX： Code Contents Unit U0-00 servo motor speed Input speed instruction U0-01 ％ rated U0-02 Torque instruction Mechanical angle U0-03 1° U0-04 Electric angle 1° Bus voltage U0-05 ℃ U0-06 IPM temperature Torque feedback U0-07 % rated （0000～9999）*1 U0-08...
Page 171 Code Contents Unit （0000～65536）*2 U0-59 Absolute encoder present position Encoder pulse （0000～65536） feedback high 32-bit U0-60 Xnet communication error amounts U0-61 Xnet Communication Waiting Synchronization Frame State Interference U0-62 Xnet Communication Waiting for Synchronization Frame State U0-63 Receiving Data Frame Xnet Communication Waiting Data Frame State Interference U0-64 Xnet Communication Waiting for Data Frame Status Receive...
Page 172 Recent 3rd warning code U1-22 Recent 4th warning code U1-23 Recent 5th warning code U1-24 Recent 6th warning code U1-25 U2-XX： Code Contents Unit Power on times U2-00 U2-01 series Model (low 16-bit) U2-02 U2-03 Model (high 16-bit) out of factory date: year U2-04 U2-05 out of factory date: month...
Page 173: Appendix 3. Fx-Xx Auxiliary Function Parameters
Appendix 3. FX-XX auxiliary function parameters Contents Effective Refrence chapter Code Clear the alarm F0-00 Servo OFF 4.4.1 Restore to out of factory settings Servo OFF F0-01 4.4.1 clear the position offset Servo OFF F0-02 4.4.1 F0-07 Servo OFF 6.3.4 Panel inertia identification F0-08 Servo OFF...
Page 174 Modbus address is added 1 in turn from 0x2000, for F0-00~F0-xx 0x2000~0x2063 example, Modbus address of F0-01 is 0x2001 Modbus address is added 1 in turn from 0x2100, for F1-00~F1-xx 0x2100~0x2163 example, Modbus address of F1-03 is 0x2103 Note: if the following parameters are not involved in the Modbus address table, follow the address rules in the table above.
Page 175 Modbus address Modbus address Parameter Parameter Decimal Decimal P2-00 0x0200 P2-15 0x20F P2-01 0x0201 P2-16 0x210 Modbus address Modbus address Parameter Parameter Decimal Decimal P3-00 0x0300 P3-19 0x0313 P3-01 0x0301 P3-20 0x0314 P3-02 0x0302 P3-21 0x0315 P3-03 0x0303 P3-22 0x0316 P3-04 0x0304 P3-23...
Page 176 Modbus address Modbus address Parameter Parameter Decimal Decimal P5-16 0x0510 1296 P5-43 0x052B 1323 P5-17 0x0511 1297 P5-44 0x052C 1324 P5-18 0x0512 1298 P5-45 0x052D 1325 P5-19 0x0513 1299 P5-46 0x052E 1326 P5-20 0x0514 1300 P5-47 0x052F 1327 P5-21 0x0515 1301 P5-48 0x0530...
Page 177 Modbus address Modbus address Parameter Parameter Decimal Decimal U0-21 0x1015 4117 U0-49 0x1031 4145 U0-22 0x1016 4118 U0-50 0x1032 4146 U0-23 0x1017 4119 U0-51 0x1033 4147 U0-24 0x1018 4120 U0-52 0x1034 4148 U0-25 0x1019 4121 U0-53 0x1035 4149 U0-26 0x101A 4122 U0-57 0x1039...
Page 178: Appendix 5. Q&A
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.
Page 179 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 180: Appendix 6. General Debugging Steps
Appendix 6. General debugging steps 1. Motor empty shaft, preliminary debugging A. Connect the cable correctly. Pay attention to the one-to-one connection of U, V, W and PE terminals, and the phase sequence can not be crossed. B. Open-loop test run: The test run mainly checks the power cable and the encoder feedback cable to determine whether the connection is normal.
Page 181: Appendix 7. Application Example
Appendix 7. Application example Mode 6: Pulse instruction position mode Equipment introduction: This is a welder. Workpiece 1, 2, 3 are the object to be operated. 2 and 3 is fixed on B and A individually. A and B can whole move and be pushed by ball screw E and F. The screw pitch is 5mm. C and D is servo motor.
Page 182 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...
Page 183: Appendix 8. Servo General Mode Parameters
Appendix 8. Servo general mode parameters Appendix 8.1 Basic parameters Basic parameters Parameter Overview P0-03 enable mode Enable mode selection, generally P0-03 is default, P5-20 sets P5-20 servo ON signal /S-ON n.0010 as enable on after power on P0-04 Rigidity grade Adjust servo gain in auto-tuning fast adjustment mode P0-05 Definition of rotation direction Determine the motor direction, generally 0/1 by default...
Page 184: Appendix 8.3 Internal Position Mode General Parameters
Appendix 8.3 Internal position mode general parameters Internal position mode general parameters Parameter Overview P0-01 control mode selection Set to 5: internal position mode P4-03 internal position setting mode Control mode setting of internal position mode: P4-04 number of effective segments including step change mode, positioning mode and P4-10 ~ P4-254 internal section 1 to section 35 adjustment time...
Page 185: Appendix 8.6 External Pulse Speed Control General Parameters
Appendix 8.6 External pulse speed control general parameters External pulse speed control Parameter Overview P0-01 control mode selection Set to 7: external pulse speed mode P0-10 pulse command format Set the pulse format 0-CW/CCW 1-AB 2-P+D P0-15 Command pulse frequency at rated Determine the linear relationship between the command speed pulse frequency and the speed...
Page 186: Appendix 9. Torque-Speed Characteristic Curve
Appendix 9. Torque-speed characteristic curve...
Page 189: Appendix 10. List Of Model Selection And Configuration
Appendix 10. List of model selection and configuration Cable Encoder Brake Motor model Matched driver Power cable accessories cable cable package MS5S-40ST□-CS00330B-20P1-S CP(T)-SP- CM(T)-P07- JAM-P9-P4 M-length M-length MS5S-40ST□-CM00330B-20P1-S CP(T)-SP-B CM(T)-P07- JAM-P9-P4 M-length M-length DS5E/L/C/F/K-2 0P1-PTA MS5S-40ST□-CS00330BZ-20P1- CP(T)-SP- CM(T)-P07- CB(T)-P JAM-P9-P4-P2 M-length M-length 03-length...
Page 190 Cable Encoder Brake Motor model Matched driver Power cable accessories cable cable package CP(T)-SP- CM(T)-P07- MS6H-60CS30B1-20P4 JAM-P9-P4 M-length M-length CP(T)-SP-B CM(T)-P07- MS6H-60CM30B1-20P4 JAM-P9-P4 M-length M-length CP(T)-SP- CM(T)-P07- CB(T)-P MS6H-60CS30BZ1-20P4 JAM-P9-P4-P2 M-length M-length 03-length CP(T)-SP-B CM(T)-P07- CB(T)-P MS6H-60CM30BZ1-20P4 JAM-P9-P4-P2 M-length M-length 03-length MS5S-80ST□-CS02430B-20P7-S CP(T)-SP-...
Page 191 Cable Encoder Brake Motor model Matched driver Power cable accessories cable cable package M-length M-length 03-length CP(T)-SP-B CM(T)-P07- CB(T)-P MS6S-80CM30BZ1-20P7 JAM-P9-P4-P2 M-length M-length 03-length CP(T)-SP- CM(T)-P07- MS6H-80CS30B1-20P7 JAM-P9-P4 M-length M-length CP(T)-SP-B CM(T)-P07- MS6H-80CM30B1-20P7 JAM-P9-P4 M-length M-length CP(T)-SP- CM(T)-P07- CB(T)-P MS6H-80CS30BZ1-20P7 JAM-P9-P4-P2 M-length M-length...
Page 192 Cable Encoder Brake Motor model Matched driver Power cable accessories cable cable package B-length length MS5G-130STE-TL11515BZ-21P8 CP(T)-SC- CMB(T)-L1 JAM-C10-L7 -S01 B-length 5-length CP(T)-SL- CM(T)-L15- MS5S-110STE-TL06030B□-21P8 JAM-L15-L4 B-length length CP(T)-SL- CM(T)-L15- MS5S-110STE-CS06030B□-21P8 JAM-L15-L4 M-length length MS5S-110STE-CM06030B□-21P CP(T)-SL- CM(T)-L15- JAM-L15-L4 B-length length MS5G-130STE-CS14615B-22P3- CP(T)-SC- CM(T)-L15-...
Page 193 Cable Encoder Brake Motor model Matched driver Power cable accessories cable cable package MS5G-130ST-TL14615B-42P3-S CP(T)-SC- CM(T)-L15- JAM-C10-L4 B-length length MS5G-130ST-TL14615BZ-42P3- CP(T)-SC- CMB(T)-L1 JAM-C10-L7 B-length 5-length CP(T)-SL- CM(T)-XL2 MS5G-180STE-TL19015B□-42P9 JAM-L15-XL4 B-length 5-length CP(T)-SL- CM(T)-L15- MS-130ST-TL10030B(Z)-43P0 JAM-L15-L4 B-length length CP(T)-SL- CM(T)-XL6 MS5G-180STE-TL28015B□-44P4 JAM-L15-XL4 B-length 0-length...
Page 194 WUXI XINJE ELECTRIC CO., LTD. 4th Floor Building 7,Originality Industry park, Liyuan Development Zone, Wuxi City, Jiangsu Province 214072 Tel: (510) 85134136 Fax: (510) 85111290 We chat ID...

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