Xinje DS5B Series Manual
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Xinje DS5B Series Manual

Xinje DS5B Series Manual

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DS5B
series servo drive
Fast manual
Wuxi Xinje Electric Co., Ltd.
Data No. SC503 20180511 1.0

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Larry
July 10, 2025

My servo motor is rotating then having a delay then continuing to rotate again consistently

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Summary of Contents for Xinje DS5B Series

  • Page 1 DS5B series servo drive Fast manual Wuxi Xinje Electric Co., Ltd. Data No. SC503 20180511 1.0...
  • Page 2 The contents described in the manual, if there are any changes, please understand we will not prior notice Contact us If you have any questions about the use of this product, please contact the agent or xinje company.  Tel: 0510-85134136 ...

  • Page 3: Table Of Contents

    Catalog ►►Confirmation when receive the products ................1 ►►Safety caution ........................1 1.Servo system ........................... 3 1-1.Servo drive ........................3 1-1-1.Part description ....................3 1-1-2.Model name...................... 3 1-1-3.Performance ..................... 4 1-2.Servo motor ......................... 5 1-2-1.Part description ....................5 1-2-2.Model name...................... 6 1-3.Cable ...........................
  • Page 4 3-1.Main circuit terminals ....................26 3-2. Control terminals ...................... 29 3-3. Communication port ....................33 3-4. Power–off brake（BK） ..................34 3-4-1. Wiring example ..................... 34 3-4-2. Brake signal....................35 3-4-3. The switch time between BK and SON ............35 3-4-4. Brake ON parameters ..................36 4.
  • Page 5 7-2. Monitoring state ....................... 83 7-3. FX-XX parameters ....................87 Appendix ..........................88 Appendix 1 motor specification table ................88 Appendix 2 servo drive and motor matching table ............95 Appendix 3 Parameter Modbus address ................95...

  • Page 6: Confirmation When Receive The Products

    Check the motor code marked on the nameplates of the the code in drive? servomotor and the parameter P0-33 on the servo drive. If there is anything wrong with the items listed above, please contact the agent or xinje company. ►►Safety caution ...
  • Page 7  Do not connect a three-phase power supply to the U, V, or W output terminals.  Use 2mm wire to grounding the ground terminals.  For wiring please make sure that the encoder lines, power lines in loose state, not tight, so as to avoid cable damage.

  • Page 8: Servo System

    1.Servo system 1-1.Servo drive 1-1-1.Part description RS232 port CN0: pulse, direction Power supply I/O signal Motor wiring CN1:for fieldbus function Connect fieldbus module Regenerative resistor CN2:encoder cable 1-1-2.Model name DS5B – 2 0P7 – PTA Series name Configuration type: DS5B: basic type P-input command type: pulse Suitable motor...

  • Page 9: 1-1-3.Performance

    1-1-3.Performance Servo unit DS5B series 220V Suitable encoder 17/23bit encoder DS5B-2□P□-PTA: single/3-phase AC200~240V, 50/60Hz 【below 1.5KW(except 1.5KW) can use single phase Input power supply AC200~240V 50/60Hz; 1.5KW and up please use 3-phase AC200~240V 50/60Hz. (for single phase power supply, please connect L1, L3, otherwise it will affect the power-off memory)】...

  • Page 10: 1-2.Servo Motor

    1-2.Servo motor 1-2-1.Part description Encoder part Frame Flange Output (transmission) shaft...

  • Page 11: 1-2-2.Model Name

    1-2-2.Model name MS5S – 80 ST E – C S 02430 B Z - 2 0P7 – S01 Name inertia Name Design no. standard MS5S Low inertia MS5G Middle inertia Rated power MS5H High inertia Name (KW) Name Base no. 60 base 0.75 80 base...

  • Page 12: 1-3-2.Model Name

    DS5B-21P5-PTA DS5B-22P3-PTA CP-DL-M(B)-length CM-L15-length DS5B-22P6-PTA CB-P03-length CMB-W07-M-length DS5B-43P0-PTA DS5B-45P5-PTA CP-DL-M(B)-length CM-XL60-length DS5B-47P5-PTA 1-3-2.Model name  Encoder cable model CP – DP – M - 02 Length 02: 2m 03: 3m M: magnetic type B: with battery box magnetic type DP: amp plug DL: aviation plug CP: normal encoder cable CPT: high flexible encoder cable...

  • Page 13: 1-4.Other Accessories

     Power supply cable model CM – P –07 - M - 03 Length: 02: 2m; 03: 3m M: magnetic type Diameter: 07: 0.7mm² ; 15: 1.5mm² ; 25: 2.5mm² ; 60: 6mm² ; 100: 10mm² P: amp plug W: amp plug L: small aviation plug XL: middle aviation plug CM: normal power supply cable CMT: high flexible power supply cable...
  • Page 14 Servo drive model Regenerative resistor connection terminals for internal regenerative resistor: short P+ and D, disconnect P+ and C, P0-24=0. DS5B-2□P□-PTA for external regenerative resistor: connect resistor between P+ and C, disconnect P+ and D, P0-24=1, P0-25=power value, P0-26=resistor value. The below table is external regenerative resistor specifications for each motor.

  • Page 15: Product Installation

    2.Product installation 2-1.Servo drive installation 2-1-1.Installation location  Please install in the cabinet without sunshine and rain  Please get away from corrosive and flammable gases  please do not install in high temperature, humidity, dust, metal dust environment  No vibration location 2-1-2.Environment conditions Item...
  • Page 16  Servo drive direction When installing, make the front of the servo drive (the actual installation surface of the operator) facing the operator and make it vertical to the wall. For the drive with regenerated resistance at the bottom, please pay attention to the heat dissipation of the mounting surface to avoid overheating of the drive and causing fire.

  • Page 17: 2-2.Servo Motor Installation

     Ambient Temperature: 0~50 ℃  Humidity: 90%RH or less  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 18: 2-2-2.Environment Conditions

     please do not use the motor in a closed environment. Closed environment will lead to motor temperature, shorten service life 2-2-2.Environment conditions When used in places with water or oil, the protective effect can be achieved through the treatment of the motor. However, when sealing the shaft through part, please specify the motor with an oil seal.
  • Page 19 ◆ The installation process is not allowed to impact the shaft extension, otherwise the internal encoder will be broken. ◆ When a pulley is mounted on a servo motor shaft with a keyway, screw holes are used at the end of the shaft. To install the pulley, first insert the double-headed nail into the screw hole of the shaft, use the washer on the surface of the coupling end and gradually lock the nut Encoder notes...
  • Page 20 ◆ When installing the servo motor, make it meet the centering precision requirements as shown below. If the centering is not sufficient, vibration may occur, and sometimes the bearing and encoder may be damaged. When installing the shaft coupler, please do not directly impact the motor shaft, otherwise it will damage the encoder installed on the load reverse side of shaft end.
  • Page 21 level in good condition. When installing the servo motor vertically up, please pay attention not to grease the lip of the oil seal. Do not "bend" the wire or apply "tension" to it. Especially, the core wire The stress state of the cable of the signal wire is 0.2mm or 0.3mm, very thin.

  • Page 22: 2-3.Servo Motor Dimension

    2-3.Servo motor dimension 40 series motor dimension Unit: mm █ Body length Inertia level Motor model Normal With brake Low inertia 129.5± 1 MS5S-40ST-CS0030□□-20P1-SO1/S02 99± 1.5...
  • Page 23  60 series motor dimension Unit: mm Body length Motor model Inertia level Normal With brake MS5S-60ST-CS00630□□-20P2-SO1 79± 1 114± 1 MS5S-60ST-CS01330□□-20P4-S01 99± 1 134± 1 Small inertia MS5S-60ST-TL01330□□-20P4-S01 99± 1 134± 1 146± 1 MS5H-60ST-CS01330□□-20P4-SO1 111± 1 Large inertia MS5H-60ST-CS00630□□-20P2-SO1 91±...
  • Page 24  80 series motor dimension Unit: mm Body length Motor model Inertia level Normal With brake MS5S-80ST-CS02430□□-20P7-SO1 107± 1 144± 1 Small inertia MS5S-80ST-CS03230□□-21P0-SO1 128± 1 165± 1 MS5H-80ST-CS02430□□-20P7-SO1 119± 1 156± 1 Large inertia MS5H-80ST-CS03230□□-21P0-SO1 140± 1 177± 1...
  • Page 25  110 series motor dimension Unit: mm Body length Motor model Inertia level Normal With brake MS5S-110ST-CS03230□□-21P0-SO1 MS5S-110ST-CS04830□□-21P5-S01 MS5S-110ST-CS06430□□-22P0-S01 181± 1 229± 1 Small inertia MS5S-110ST-TL03230□□-21P0-S01 MS5S-110ST-TL04830□□-21P5-S01 MS5S-110ST-TL06430□□-22P0-S01 181± 1 229± 1 MS-110ST-T04030□□-21P2 MS-110ST-T05030□□-21P2...
  • Page 26  130 series motor dimension Unit: mm Body length Motor model Inertia level Normal With brake MS-130ST-C06025□□-21P5 180± 1 239± 1 MS-130ST-C10015□□-21P5 206± 1 MS-130ST-T15015G□□-22P3 235± 1 MS-130ST-CM15015G□□-22P3 235± 1 MS-130ST-T07730□□-22P4 205± 1 246± 1...
  • Page 27  180 series motor dimension Unit: mm Body length Motor model Inertia level Normal With brake MS5G-180ST-T19015□□-42P9 221± 1 303± 1 MS5G-180ST-T28015□□-44P4 247± 1 329± 1 Middle inertia MS5G-180ST-T35015□□-44P4 277± 1 359± 1 MS5G-180ST-T48015□□-47P5 308± 1 390± 1...

  • Page 28: 2-4.Servo Drive Dimension

    2-4.Servo drive dimension Unit: mm  DS5B-20P1-PTA/DS5B-20P2-PTA/DS5B-20P4-PTA/DS5B-20P7-PTA  DS5B-21P5-PTA/DS5B-22P3-PTA/DS5B-22P6-PTA...
  • Page 29  DS5B-43P0-PTA  DS5B-45P5-PTA/DS5B-47P5-PTA...

  • Page 30: Servo Drive And Motor Wiring

    3.Servo drive and motor wiring RS232 port CN0: pulse, direction Power supply I/O signal Motor wiring CN1: to extend fieldbus function Connect to extension module Regenerative resistor CN2: encoder cable...

  • Page 31: 3-1.Main Circuit Terminals

    3-1.Main circuit terminals  DS5B-2□P□-PTA Terminal Function Explanation Power supply input of DS5B-20P1/2/4/7-PTA： main circuit Single phase AC200~240V, 50/60Hz Vacant terminal ● Connect the motor U、V、W (Note: the ground line is on the Motor terminals cooling fin, please check it before power on!) Internal regenerative...
  • Page 32  DS5B-21P5-PTA、DS5B-22P3-PTA、DS5B-41P5-PTA Terminal Function Explanation Power supply input DS5B-21P5/22P3-PTA： of main circuit 3-phase AC200~240V, 50/60Hz R/S/T DS5B-41P5-PTA： 3-phase AC360~400V, 50/60Hz ● Vacant Connect the motor (Note: the ground line is on the Motor terminals U、V、W cooling fin, please check it before power on!) Internal Short P+ and D, disconnect P+ and C,...
  • Page 33  DS5B-43P0/45P5/47P5-PTA Terminal Function Explanation Power supply input of R/S/T 3-phase AC360~400V, 50/60Hz main circuit ● Vacant Connect the motor U、V、 Motor terminals (Note: the ground line is on the cooling fin, please check it before power on!) ● Vacant Internal regenerative Short P+ and D, disconnect P+ and C, set resistor...

  • Page 34: Control Terminals

    3-2. Control terminals The serial numbers of the following connectors are in the order of viewing the welding side.  CN0 terminals Name Explanation Name Explanation Pulse input PUL- Input 2 P+5V 5V difference input Input 3 P+24V Open collector input Input 4 Direction input DIR- +24V...
  • Page 35 Reserved Note: The servo motor bus function needs to be equipped with the bus module, which is inserted into the driver CN1 port for the purpose of extending the bus function. Please note that the transfer module should not be hot-pluggable. It is recommended to use the profibus standard cable to achieve the best communication reliability.
  • Page 36 Pulse + direction and AB phase interface circuit: Open collector（24V） PLC, SCM, ect. Servo drive COM0 P+5V +24V P+24V R=3.3K COM1 D+5V D+24V Shield layer R=3.3K When upper device is open collector output, please use this wiring diagram. Please note: P+5V and D+5V must be vacant. Differential mode（5V）...
  • Page 37 When upper device is 5V differential output, please use this wiring diagram. Please note: P+24V and D+24V must be vacant.  SI input signal Please use relay or open collector transistor to connect. When using relay, please choose micro-current relay. Otherwise, the contact will be not good. Signal input Function Support model...

  • Page 38: Communication Port

    3-3. Communication port  RS-232 communication Connect to PC for debugging. Pin no. Name Explanation RS232 send RS232 receive RS232 ground (5-pin port) Note: please use the cable supplied by XINJE Company  RS-485 communication...

  • Page 39: Power-Off Brake（Bk

    Pin no. Name CN1-2 CN1-3 Note: the servo motor bus function needs to be equipped with the bus module, which is inserted into CN1 port: terminals at drive side the driver CN1 port for the purpose of extending the bus function. Please note that the transfer module should not be hot-pluggable.

  • Page 40: Brake Signal

    Servo motor with brake Servo drive Power supply BK-RY +24V BK-RY +24V Note: (1) the working voltage of brake is DC 24V. (2) In the above diagram, BK signal output from SO1, please set P5-44 to n.0001. if it outputs from SO2, please set P5-44 to n.0002.

  • Page 41: Brake On Parameters

    P5-07 Servo OFF delay time (brake command) Unit Default Range Suitable mode Modify Effective 0~65535 All the modes Servo OFF Immediately P5-07 Meaning: delay the time P5-07 to release the brake when the enable is ON. When the enable is OFF and the signal is true, lock the brake and delay the time P5-07 then close the enable.

  • Page 42: Operation Before Using Servo System

    /S-ON input or alarm Servo OFF Servo ON Occurs power off DB stop Motor speed Free stop P5-08 (rpm) /BK output Brake ON Brake OFF P5-09 The brake is used to protect the position. The brake must be effective at suitable time when servo motor stop.
  • Page 43 Key Name Function STATUS/ESC Press: Status switch, status return Press: Increase the value; Press and hold: Increase the value continuously Press: Decrease the value; Press and hold: Decrease the value continuously ENTER Press: Shift the editing digit; Press and hold: Enter a status, Enter The operate panel can display the status, set parameter and run the command by switching the basic mode.

  • Page 44: Group P Parameters

     Monitor Function UX－XX: The first X means group No., the last two X means the member No. in the group.  Auxiliary Function FX－XX: The first X means group No., the last two X means the member No. in the group. ...
  • Page 45 U0-21 input signal 1 distribution Segment Segment Explanation Explanation code code /P-CON proportion action /S-ON servo enable signal command /P-OT forward /N-OT reverse run prohibited prohibited /P-CL forward side external torque /ALM-RST alarm reset limit /N-CL reverse side external /SPD-D internal set speed selection torque limit /SPD-A internal set speed /SPD-B internal set speed selection...
  • Page 46 U0-22 input signal 2 distribution Segment Segment Explanation Explanation code code /C-SEL control mode /ZCLAMP zero clamp /INHIBIT command pulse /G-SEL gain switch prohibited /CLR pulse clear /CHGSTP change step — /I-SEL inertia switch — — Note: read the status through communication, the binary value from right to left are related to /C-SEL, /ZCLAMP.
  • Page 47  U0-23 output signal status U0-23 output signal 1 distribution Segment Segment Explanation Explanation code code Positioning complete maintain Positioning end (/COIN) (/COIN_HD) Same speed detection (/V-CMP) Rotate detection (/TGON) Ready (/S-RDY) Torque limit (/CLT) Speed limit detection (/VLT) Brake lock (/BK) Warn (/WARN) Output near (/NEAR) Note: read the status through communication, the binary value from right to left are related to...
  • Page 48  U0-24 output signal status U0-24 output signal 2 distribution Segment code Explanation Segment code Explanation — Alarm (/ALM) — — Speed reach (/V-RDY) Self-defined output 1 — Self-defined output 2 — — Note: read the status through communication, the binary value from right to left are related to /ALM, “-“.

  • Page 49: Fx-Xx Auxiliary Function

    4-1-3. FX-XX auxiliary function  F0-XX Function No. Description F0-00 Clean the alarm F0-01 Back to out of factory settings F0-02 Clean the offset Clean the alarm Set F0-00=1 to reset the alarm. When the alarm occurred, please find out the alarm reasons then clean the alarm.
  • Page 50 1. Jog run (F1-00) Make sure that the motor shaft is not connected to the machine before jogging! Press ENTER Keep Press ENTER Reverse F1-00 Forward When the servo is in jog run mode, gain and other parameters will join the process. Please adjust the parameters according to the jog run status.
  • Page 51 Motor reverse run Keep Press ENTER Press ENTER F1-01 Motor forward run STA/ESC STA/ESC F1-01 3. Current sampling zero calibration (F1-02) After the servo drive updated to latest software version, or the motor does not revolve smoothly for long time, the current offset auto-adjustment is recommended. Keep press ENTER Press ENTER donE...

  • Page 52: Panel Key Operation

    F1-05 = 0: cancel the enable, back to bb state. F1-05 = 1: forced enable, servo is in RUN state. Note: forced enable will be ineffective after power on again. 5. Absolute encoder clear number of turns First power off the servo drive, then clear the absolute encoder number of turns. The operation is shown as below: Set F1-06 to 1 through the operate panel or write 1 to address 0x2106 through Modbus-RTU (be effective in servo bb state, write 0 to 0x2106 after clearing) can clear the number of turns.

  • Page 53: Change Motor Code

    On servo ENTER ENTER Drive lable XINJE SERVO DRIVER DS5B-20P7-PTA Model Warning WARNING CAUTION Input power supply AC INPUT:1PH/3PH 200-240V 50/60Hz 3.5A specification Output power supply AC OUTPUT:3PH 0-200V 3.5A 0.75KW specification Serial no. 12052013 WUXI XINJE ELECTRIC CO.,LTD...

  • Page 54: Ds5 Series Rigidity Gain Debug

    5. DS5 series rigidity gain debug The new generation DS5 series servo has rigidity adaptive, auto-tuning and manual adjustment modes, without complicated parameter adjustment process, which greatly saves the gain adjustment time. Adaptive function: adaptive function means that no matter the type of machinery and the fluctuation of load, it can get stable response through automatic adjustment.
  • Page 55 P2-07=0 Adaptive small inertia mode inertia ratio P2-08=60 Adaptive small inertia mode speed observer gain P2-12=30 Adaptive small inertia mode stable max inertia ratio P2-19=50 Adaptive small inertia mode control bandwidth P6-05=200 Adaptive large inertia mode speed loop gain P2-11=100 Adaptive large inertia mode position loop gain P2-10=500...

  • Page 56: Recommended Inertia Ratio For Default Parameters

    5-1-2. Recommended inertia ratio for default parameters Motor Recommended load inertia Recommended load inertia flange ratio in small inertia mode ratio in large inertia mode Below 20 times 20 times ~ 80 times Below 20 times 20 times ~ 80 times Below 20 times 20 times ~ 80 times Below 10 times...

  • Page 57: Ds5 Series Auto-Tuning Mode

    5-2. DS5 series auto-tuning mode Auto-tuning parameter setting is based on the current institution, the parameters after auto-tuning is not applicable to empty shaft and other types of load, the auto-tuning is divided into no instruction auto-tuning and auto-tuning with instruction, it needs the servo PC software to adjust, detailed usage please refer to PC software manual.

  • Page 58: Ds5 Series Manual Adjustment Mode

    5-3 DS5 series manual adjustment mode Manual adjustment mode: set the auto-tuning parameters by manual. This can solve these problems: for some occasions, it cannot do auto-tuning through PC software, and the auto-tuning result cannot meet the control requirements, or auto-tuning failure. 5-3-1.
  • Page 59 P1-02 Position loop In the absence of noise and vibration, increasing this gain parameter can speed up the positioning time P2-00.0 Disturbance 0-OFF 1-ON observer switch P2-00.2 Dead zone 0-ON 1-OFF compensation Turn off the dead zone can reduce the sound switch P2-01.0 Auto-tuning...

  • Page 60: Alarm Information

    wave switch P2-69.3 Fourth notch 0-OFF 1-ON wave switch P2-71 First notch wave The vibration frequency of machine itself can suppress the frequency vibration of machine which can be obtained from upper device mechanical properties analysis P2-74 Second notch wave frequency P2-77 Fourth notch...
  • Page 61 running Contact us Hardware damaged E-016 error running Contact us Program damaged E-017 overtime FPGA running Program damaged Contact us E-018 overtime System Program damaged Contact us E-019 password error Re-power the servo to Parameter Parameter self-checking restore default setting or E-020 loading error cannot pass...
  • Page 62 overvoltage connect connect regenerative regenerative resistor resistor (220V: U0-05 regenerative 3. check if the regenerative ≥390 alarm, damaged or resistor too resistor matched power 380V: U0-05≥ large 780V alarm) undervoltage(2 check grid 1. Power grid voltage 20V: U0-05 ≤ fluctuation E-040 too low 2.
  • Page 63 temperature too with large load 2. good ventilation high environment temperature too high Environment temperature is too low The environment must up Drive too cold E-062 drive temperature to 0℃ collection chip 1. change the damaged 1.drive U/V/W output motor, check UVW wiring U phase current short circuit E-070...
  • Page 64 zero calibration operation error value when calibrating over limit Analog Vref Analog zero calibration Please not add analog zero calibration E-093 operation error value when calibrating over limit check whether The difference between motor stall, decrease the Position offset setting position position setting speed E-100...
  • Page 65 V phase current Current sensor damaged sampling zero Check the ground wiring or external interference E-123 calibration or contact us too large value error 1. check encoder cable Encoder AB phase or UVW wiring, use multi-meter to E-130 phase open open circuit when...
  • Page 66 self-checking phase open Motor lack of Check power cable U/V/W E-152 circuit when W phase connection self-checking 1. Change larger power Motor output Motor output power motor E-160 power overload over the rated power 2. Check the motor shaft wiring 1 、...
  • Page 67 when the temperature is higher than 85° 1. check the power grid Motor Bus voltage too low voltage fluctuation undervoltage E-170 when running 2. wait the bus voltage when running stable, then repower on Regenerative Regenerative resistor Change larger power resistor discharging power over E-200...
  • Page 68 (version when power on no.5 3.6V can shield this 2. if disconnect encoder alarm) cable with motor, motor current position will lose and servo will alarm, set F0-00=1 to clear this alarm Absolute Encoder problem, or Unplugging the encoder encoder data power supply is not cable without battery will...

  • Page 69: Parameter List

    1. decrease the inertia or 1. inertia too big use motor with brake 2. stop overtime too Control stop 2. increase stop overtime short E-262 over time P0-30 3. brake torque too 3. increase brake torque small P3-32 Read motor parameter from E-280 Encoder cable broken...
  • Page 70 P0: Function selection parameter Function Unit Default Range Effective Suitable mode ○ Control mode 1 1～10 1: torque (command) 3: speed (contactor command) 5: position (internal) 6: position (pulse) 7: speed (pulse) 10: fieldbus position mode ○ Control mode 2 (ditto) 1～10 When /C-SEL...
  • Page 71 ○ 0: falling edge is effective 6、7 xx□ 1: rising edge is effective √ Pulses per circle low bit× 1 0~9999 √ Pulses circle high 0~6553 bit× 10000 √ Numerator of Electronic gear 1~6553 ratio √ Denomination electronic 1~6553 gear ratio ○...
  • Page 72 keep inertia running state after stop ○ Servo over range stop mode 0: deceleration stop, over range direction torque is 0 after stop, receive command 1: inertia stop, over range direction torque is 0 after stop, receive command 2: deceleration stop, over range direction not receive command after stop 3: alarm (E-260)
  • Page 73 ○ Block alarm time 0-6553 ○ Block alarm speed 1rpm 5~9999 √ The second group of electronic 1~9999 gear ratio numerator low bit √ The second group of electronic 1~6553 gear ratio numerator high bit *10000 √ The second group of electronic 1~9999 gear ratio denominator low bit √...
  • Page 74 P2: adaptive parameter Name Unit Default Range Effective Suitable value mode ● 00.0 Disturbance observer switch 0000- 000f ● 00.2 Dead zone compensation 0000- switch 000f ● 03.3 Adaptive mode switch ● Speed loop gain in adaptive 1~655 mode ● Load inertia ratio in adaptive 0~100 mode...
  • Page 75 √ 69.3 Fourth trapped wave switch (auto-tuning mode) √ First trapped wave frequency 5000 50~50 (auto-tuning mode) √ Second trapped wave 5000 50~50 frequency (auto-tuning mode) √ Fourth trapped wave 5000 50~50 frequency (auto-tuning mode) P3: speed control parameter Name Unit Default Range...
  • Page 76 speed below P3-13, switch to position mode and the servo locked in this position 1: ZCLAMP input signal is ON, forced set speed command to 0 2: ZCLAMP input signal is ON, speed below P3-13 switch to position mode and the servo locked in this position Note: after entering zero clamp mode, setting speed...
  • Page 77 work again. ○ Zero speed clamp speed 0~300 3、4 ○ Forward speed Related to 30~10 command limit motor ○ Reverse speed Related to 30~10 command limit motor √ Internal forward speed Related to 1、2 30~10 limit in torque control motor mode √...
  • Page 78 limit √ External reverse torque 0~300 2、3、4、 6、7 limit √ Brake torque 0~300 √ Preset torque -300~3 √ Gravity compensation 0.1% -3000~ rated 3000 current √ Gravity compensation 0~100 coefficient coeffici Note: compensation rated current percentage =(P0-37/1000)*(P3-38/100) P4: internal position parameter Name Unit Default...
  • Page 79 ○ Internal position mode n.0000 ○ Effective segment number 1-35 ○ First segment pulse (low 1 pulse -9999~99 byte) ○ First segment pulse (high 10000 -32767~3 byte) pulses 2767 ○ First segment speed 0.1rpm 0~10000 ○ First segment acceleration 0~65535 time ○...
  • Page 80 1: offset below P5-00 after command finished, output COIN signal 2: command finished, motor speed below P5-03 and offset absolute value below P5-00, output COIN signal 3: command finished, offset absolute value below P5-00, output COIN signal. If COIN keeps the time P5-02, output COIN-HOLD signal.
  • Page 81 ○ comparison value Related to -9999~ user-defined output 1 trigger the trigger 9999 condition and setting condition ○ 0: P5-10≥P5-11, output SOx 1: P5-10<P5-11, output SOx 2: P5-10 absolute value≥ P5-11, output SOx 3: P5-10 absolute value <P5-11, output SOx ○...
  • Page 82 √ － ※1 /S-ON servo signal 0001 0000: signal is always invalid 0001: input positive signal from 0002: input positive signal from 0003: input positive signal from 0004: input positive signal from 0010: signal is always valid 0011: input negative signal from 0012: input negative signal from 0013: input negative signal from 0014: input negative signal from...
  • Page 83 √ － ※1 /P-CL forward side external torque limit ditto √ － ※1 /N-CL reverse side external torque limit ditto √ － ※1 /SPD-D internal speed direction 1、 2、 3、 choice ditto √ － ※1 /SPD-A internal setting speed 0000 3、6 choice ditto...
  • Page 84 0001: output positive signal from SO1 0002: output positive signal from SO2 0003: output positive signal from SO3 0011: output negative signal from SO1 0012: output negative signal from SO2 0013: output negative signal from SO3 √ － ※2 /COIN positioning finished 0001 ditto √...
  • Page 85 √ － ※2 /NEAR near ditto √ － ※2 /ALM alarm 0002 ditto √ － ※2 /Z phase encoder signal √ － ※2 /V-RDY speed arrived 3、4、7 ○ － ※2 /user-defined output 1 terminal setting ○ － ※2 /user-defined output 2 terminal setting √...
  • Page 86 P7: communication parameters Name Unit Default Range Effect Suita value mode ○ RS485 station no. 1~255 n.xx□□ ○ RS485 Baud 00～10 0A： 192000 00：300 0B： 256000 param rate 01：600 0C： 288000 eter 02：1200 0D： 384000 03：2400 0E： 512000 04：4800 0F： 576000 05：9600 10：...
  • Page 87 sampling time — ○ Xnet slave station 1~500 data — ○ Xnet slave station 1~256 numbers ○ Communication time 1~500 overtime retry times ○ Fieldbus command 3000 1~65535 update period — ○ RS232 station no. 1~255 — ○ RS232 parameter 2206 Parameter same...

  • Page 88: Monitoring State

    Table 1 input terminal distribution input terminal Servo model Setting range P5-20~P5-36 n.0000~n.0004 DS5B series P5-57~P5-59 n.0010~n.0014 Table 2 output terminal distribution output terminal Servo model Setting range n.0000~n.0002 P5-37~P5-53 DS5B series n.0010~n.0012 7-2. Monitoring state U0-XX： Number Contents Unit...
  • Page 89 （0000～9999）*1 U0-14 Position feedback Command pulse （0000～9999）*10000 U0-15 （0000～9999）*1 U0-16 Encoder position encoder pulse （0000～9999）*10000 U0-17 (Accumulated) U0-18 torque current 0.01A U0-21 Input signal status 1 U0-22 Input signal status 2 U0-23 Output signal status 1 U0-24 Output signal status 2 （0000～9999）*1 U0-25 Input pulse frequency...
  • Page 90 positive negative pulses. U1-XX： Number Contents Unit U1-00 Current alarm code U1-01 Current warning code U1-02 U phase current when alarming 0.01A U1-03 V phase current when alarming 0.01A U1-04 Bus voltage when alarming U1-05 IGBT temperature when alarming 0.1℃ U1-06 Torque current when alarming 0.1A...
  • Page 91 U1-18 The fourth time alarm code recently U1-19 The fifth time alarm code recently U1-20 The sixth time alarm code recently U1-21 The second time warning code recently U1-22 The third time warning code recently U1-23 The fourth time warning code recently U1-24 The fifth time warning code recently U1-25...

  • Page 92: Fx-Xx Parameters

    U2-16 Average heating power (count from the first time enable) Average bus capacitor filter power(from the first time power U2-17 （0000～9999）*1 U2-18 circle Motor accumulative （0000～9999）*10000 U2-19 circles circle U2-20 Device serial number: low 16 bits U2-21 Device serial number: high 16 bits U2-22 Firmware generation date: year U2-23...

  • Page 93: Appendix

    Appendix Appendix 1 motor specification table  Low inertia motor parameters Voltage level 220V Motor model MS5S 40ST- 60ST- 60ST- 80ST- 80ST- CS02430 CS03230 CS00330 CS00630 CS01330 -20P1-S01 -20P2-S01 -20P4-S01 -20P7-S01 -21P0 Motor code (brake) 5003 5004 5011 5002 5012 （5803）...
  • Page 94 Class F （ 155 ℃） Motor insulation level － 15 ℃～＋ 40 ℃ Ambient temperature Ambient humidity Relative humidity < 90% (no condensation) Voltage level 220V Motor model MS5S 110STE- CS03230 TL03230 CS04830 TL04830 TL06430 -21P0 -21P0 -21P5 -21P5 -22P0 Motor code (brake) 5033 9033...
  • Page 95 － 15 ℃～＋ 40 ℃ Ambient temperature Ambient humidity Relative humidity < 90% (no condensation)  Middle inertia motor parameters Voltage level 380V Motor model MS5S 180STE- TL19015 TL28015 TL35015 TL48015 -42P9-S01 -44P4-S01 -45P5-S01 -47P5-S01 Motor code (brake) 9166 9161 9162 9163 Encoder bit numbers...
  • Page 96  High inertia motor parameters Voltage level 220V Motor model MS5S 60ST- 60ST- 80ST- CS02430-20P7-S01 CS00630-20P2-S01 CS01330-20P4-S01 Motor code (brake) 50C4（58C4） 50D1（58D1） 50C3（58C3） Encoder bit numbers Rated speed [rpm] 3000 3000 3000 Max speed [rpm] 6000 6500 5000 Rated torque [Nm] 0.64 1.27 2.39...
  • Page 97  MS series motor Voltage level 220V Motor model MS- 80ST 110ST 130ST T03520 T02430 T05030 T04030 C/CM06025 -20P7 -20P7 -21P5 21P2 21P5 Motor code (brake) 4012 4011 4032 4031 5042 Encoder bit numbers 17/23 Rated speed [rpm] 2000 3000 3000 3000 2500...
  • Page 98 Voltage level 220V Motor model MS- 130ST T06025 CM10015 T10015 CM15015G T15015G -21P5 -21P5 -21P5 22P3 22P3 Motor code (brake) 4042 5044 4044 5046 4046 Encoder bit numbers Rated speed [rpm] 2500 1500 1500 1500 1500 Max speed [rpm] 3000 2000 2000 2000...
  • Page 99 Ambient humidity Relative humidity < 90% (no condensation) Voltage level 220V 380V Motor model MS- 130ST- 5G-180ST- T10025 T07730 TL19015 TL28015 TL35015 -22P6 -22P4 -42P9 -44P4 -45P5 Motor code (brake) 404B 9166 9161 9162 9045 Encoder bit numbers Rated speed [rpm] 2500 3000 1500...

  • Page 100: Appendix 2 Servo Drive And Motor Matching Table

    Appendix 2 servo drive and motor matching table Servo drive Compatible motor code DS5B-20P1-PTA 5022/5822 DS5B-20P2-PTA 5003/5803/58C3/50C3 DS5B-20P4-PTA 5004/5804/50C4/58C4 DS5B-20P7-PTA 5011/5811/50D1/58D1/4012/4011/5012 DS5B-21P5-PTA 5033/9033/4031/4032/5034/9034/5042/4042/5044/4044 DS5B-22P3-PTA 9037/5037/5046/4046 DS5B-22P6-PTA 404B/9045 DS5B-43P0-PTA 9166 DS5B-45P5-PTA 9161/9162 DS5B-47P5-PTA 9163 Appendix 3 Parameter Modbus address  Parameter address Parameter Modbus address Parameter...
  • Page 101 P0-09 0x0009 P0-26 0x001A P0-10 0x000A P0-27 0x001B P0-11 0x000B P0-28 0x001C P0-12 0x000C P0-29 0x001D P0-13 0x000D P0-30 0x001E P0-14 0x000E P0-31 0x001F P0-15 0x000F P0-32 0x0020 P0-16 0x0010 P0-33 0x0021 Parameter Modbus address Parameter Modbus address Decimal Decimal P1-00 0x0100 P1-15...
  • Page 102 Parameter Modbus address Parameter Modbus address Decimal Decimal P2-00 0x0200 P2-15 0x20F P2-01 0x0201 P2-16 0x210 Parameter Modbus address Parameter Modbus address 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 103 Parameter Modbus address Parameter Modbus address Decimal Decimal P4-00 0x0400 1024 P4-15 0x040F 1039 P4-01 0x0401 1025 P4-16 0x0410 1040 Parameter Modbus address Parameter Modbus address Decimal Decimal P5-00 0x0500 1280 P5-27 0x051B 1307 P5-01 0x0501 1281 P5-28 0x051C 1308 P5-02 0x0502 1282...
  • Page 104 P5-20 0x0514 1300 P5-47 0x052F 1327 P5-21 0x0515 1301 P5-48 0x0530 1328 P5-22 0x0516 1302 P5-49 0x0531 1329 P5-23 0x0517 1303 P5-50 0x0532 1330 P5-24 0x0518 1304 P5-51 0x0533 1331 P5-25 0x0519 1305 P5-52 0x0534 1332 P5-26 0x051A 1306 P5-53 0x0535 1333 Parameter...
  • Page 105 U0-06 0x1006 4102 U0-34 0x1022 4130 U0-07 0x1007 4103 U0-35 0x1023 4131 U0-08 0x1008 4104 U0-36 0x1024 4132 U0-09 0x1009 4105 U0-37 0x1025 4133 U0-10 0x100A 4106 U0-38 0x1026 4134 U0-11 0x100B 4107 U0-39 0x1027 4135 U0-12 0x100C 4108 U0-40 0x1028 4136 U0-13...
  • Page 106 U1-04 0x1104 4356 U2-04 0x1204 4612 U1-05 0x1105 4357 U2-05 0x1205 4613 U1-06 0x1106 4358 U2-06 0x1206 4614 U1-07 0x1107 4359 U2-07 0x1207 4615 U1-08 0x1108 4360 U2-08 0x1208 4616 U1-09 0x1109 4361 U2-09 0x1209 4617 U1-10 0x110A 4362 U2-10 0x120A 4618 U1-11...
  • Page 107 Parameter Modbus address Parameter Modbus address Decimal Decimal F0-00 0x2000 8192 F1-00 0x2100 8448 F0-01 0x2001 8193 F1-01 0x2101 8449 F0-02 0x2002 8194 F1-02 0x2102 8450 F2-09 0x2209 8713 F1-03 0x2103 8451 F1-04 0x2104 8452 F1-05 0x2105 8453 F1-06 0x2106 8454...
  • Page 109 WUXI XINJE ELECTRIC CO., LTD. 4th Floor Building 7,Originality Industry park,LiyuanDevelopmentZone,Wuxi City, Jiangsu Province 214072 Tel: 86-510-85134136 Fax: 86-510-85111290 www.xinje.com...

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