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Xinje DS3 Series Manual

Xinje DS3 Series Manual

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DS3/DS3E series servo drive
Fast manual
Wuxi Xinje Electric Co., Ltd.
Data No. SC301 20171206 1.0

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Summary of Contents for Xinje DS3 Series

  • Page 1 DS3/DS3E series servo drive Fast manual Wuxi Xinje Electric Co., Ltd. Data No. SC301 20171206 1.0...
  • Page 3 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 5: Table Of Contents

    CATALOG ►►CONFIRMATION WHEN RECEIVE THE PRODUCTS ..........1 ►►SAFETY CAUTION .................... 1 1. PRODUCT DESCRIPTION AND SPECIFICATION .......... 2 ....................2 1-1. S ERVO DRIVE ....................5 1-2. S ERVO MOTOR 2.PRODUCT INSTALLATION ................15 ....................15 2-1. S ERVO DRIVE ....................
  • Page 6 ................. 58 5-3. U-XX MONITOR STATUS ................ 68 5-4.FX-XX AUXILIARY FUNCTION ................... 71 5-5. C HANGE MOTOR CODE ..............72 5-6. P ARAMETER SETTING EXAMPLE 6. PARAMETER LIST ..................73 7. MODBUS ADDRESS (HEX FORMAT) ............97 8. ALARM INFORMATION ................98 9.

  • Page 7: 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 8: Product Description And Specification

     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 9 1-1-2. Model naming DS3 – 20P7–PQA Series name Configuration type DS3: series name Matchced P-input command type: pulse DS3E: series name motor capacity Encoder type: 0P2：0.2KW Q- quadrature encoder Voltage level 0P4：0.4KW 2: 220V F- compatible quadrature 0P7：0.75KW 1P5：1.5KW 4: 380V encoder 2P3：2.3KW A-design order: A...
  • Page 10 1-1-3. Performance Servo unit DS3/DS3E series 220V, DS3/DS3E series 380V Suitable encoder Incremental encoder (2500 ppr) DS3-2□P□-PQA/ DS3E-2□P□-PFA: single/3-phase AC200~240V, 50/60Hz DS3-4□P□-PQA/ DS3E-4□P□-PFA: 3-phase AC380~400V, 50/60Hz 【Note: DS3-2□P□-PQA/ DS3E-2□P□-PFA Input power supply Below 1.5KW(not include 1.5KW) can use single phase AC200~240V 50/60Hz；...

  • Page 11: Servo Motor

    1-2. Servo motor 1-2-1. Part description Encoder part Frame Flange Output (transmission) shaft 1-2-2. Model naming Base number 40, 60, 80, 90, 110, 130, 180, 220 Oil seal Empty Without oil seal (130ST and above models all have...
  • Page 12 oil seal, so the model without E) With oil seal (60ST, 80ST model name has differences) Incremental encoder (2500ppr optical pulse encoder) Line-saving incremental encoder (2500ppr optical Feedback pulse encoder) component no. 17 bits absolute value encoder 20 bits absolute value encoder First 3 bits mean rated torque, last 2 bits mean rated speed Performance Such as: 00630: rated torque 0.6N.m, rated speed 3000rpm...
  • Page 13 Such as: 0P4: 0.4kW Power 0P7: 0.75kW 1P5: 1.5KW Motor shaft vacant Normal models length Note: only 180ST Short shaft has differences 1-2-3. Motor specification Voltage level 220V 40ST- 60ST- Motor type MS- M00330 M01330 M00630 □□-20P1 □□-20P4 □□-20P2 Motor code 1002 1003 0004...
  • Page 14 Weight（Kg） 0.55 Encoder ppr（PPR） 2500 Pole pairs Motor insulation level Class B (130℃) Protection level IP65 －20℃~＋50℃ Temperature Ambient Humidity Relative humidity < 90% (no condensation) Voltage level 220V 80ST- 90ST- Motor type M03520 M02430 M02430 □□-20P7 □□-21P5 Motor code 0021 0011 1011...
  • Page 15 （mH） Electrical time constant 2.19 2.22 2.41 （ms） Weight（Kg） 2.87 Encoder ppr（PPR） 2500 Pole pairs Motor insulation level Class B（130℃） Protection level IP65 －20℃～＋50℃ Temperature Ambient Humidity Relative humidity < 90% (no condensation) Voltage level 220V 130ST- 110ST- Motor type M04030 M05030 M04030...
  • Page 16 ） Rotor inertia（Kg· m 0.54× 10 0.63× 10 0.54× 10 1.26× 10 Winding resistor（Ω） 1.09 1.03 1.21 Winding inductance 3.30 3.43 3.87 （mH） Electrical time constant 3.03 3.33 4.62 3.20 （ms） Weight（Kg） Encoder ppr（PPR） 2500 Pole pairs Motor insulation level Class B（130℃）...
  • Page 17 Back constat （V/krpm） Torque coefficient 0.81 1.67 1.25 1.03 1.58 （N· m/A） ） Rotor inertia（Kg· m 0.84× 10 1.94× 10 1.272× 10 1.53× 10 2.77× 10 Winding resistor（Ω） 0.70 1.29 1.01 1.10 Winding inductance 5.07 5.07 1.29 2.94 4.45 （mH） Electrical time constant 7.24 3.93...
  • Page 18 Max speed（rpm） 3500 3500 3000 2000 2000 Rated torque（N· m） Peak torque（N· m） Back constat （V/krpm） Torque coefficient 1.33 1.11 1.62 2.86 1.25 （N· m/A） ） Rotor inertia（Kg· m 0.54× 10 0.63× 10 1.26× 10 1.94× 10 1.272× 10 Winding resistor（Ω） 3.30 2.28 3.50...
  • Page 19 Motor code 1143 1146 1148 0156 1052 Rated power (KW) Rated current (A) Rated speed (rpm) 2500 1500 3000 1500 1500 Max speed（rpm） 3000 2000 3500 2000 2000 Rated torque（N· m） Peak torque（N· m） 19.25 Back constat 88.3 （V/krpm） Torque coefficient 1.56 2.53...
  • Page 20 Voltage level 380V 130ST- 180ST- M2152 M35015 M4801 Motor type M27015 □□-44P □□-45P5 □□-47P □□-44P3 Motor code 0150 2151 0151 1152 0152 0153 Rated power (KW) Rated current (A) 10.0 12.0 20.0 Rated speed (rpm) 2000 1500 1500 1500 1500 1500 Max speed（rpm）...

  • Page 21: Product Installation

    Motor insulation level Class B (130℃) Protection level IP65 －20℃~＋50℃ Temperature Ambient Humidity Relative humidity < 90% (no condensation) 2.Product installation 2-1. Servo drive The DS3/DS3E series servo drives are base-type servo drive. Incorrect installation will cause problems. Follow the installation instructions below. 1）Storage temperature Store the servo drive within -20~+85℃, as long as it is stored with the power cable disconnected.
  • Page 22 terminals to malfunction. Take appropriate action to avoid corrosive gas. Other Situations Do not install the servo drive in hot and humid locations or locations subject to excessive dust or iron powder in the air. 3）Installation direction As shown in the below picture, the direction of installation should be perpendicular to the direction of the wall.
  • Page 23 4）Installation standard Be sure to comply with the installation standard in the control panel shown below, which is applicable for installing multiple servo drives side-by-side in the control panel (hereinafter called "side-by-side installation" for short).
  • Page 24  Servo Drive Orientation Install the servo drive perpendicular to the wall so the front panel containing connectors faces outward.  Cooling As shown in the figure above, allow sufficient space around each servo drive for cooling by cooling fans or natural convection. ...

  • Page 25: Servo Motor

     Environmental Conditions in the Control Panel  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 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 26  Well-ventilated and free of dust and moisture.  Ambient temperature of 0° to 50° C.  Relative humidity (r.h.) of 20 to 90% with no condensation.  Accessible for inspection and cleaning. 3） Concentricity Please use coupling when connecting to machine; keep the shaft center of servo motor and machine at the same line.

  • Page 27: Product Dimensions

    5） Prevent from oil and water Through part of the shaft Install a protective cover over the servo motor if it is used in a location that is subject to water or oil mist. Also use a servo motor with an oil seal when needed to seal the through-shaft section.
  • Page 28 Motor model Normal With brake MS-40ST-M00330□□-20P1  60 series servo motor dimension Unit: mm Model Normal With brake MS-60ST-M00630□□-20P2 115.5 159.5 MS-60ST-M01330□□-20P4...
  • Page 29  80 series servo motor dimension Unit: mm Model Normal With brake MS-80ST-M02430□□-20P7 MS-80ST-M03520□□-20P7...
  • Page 30  90 series servo motor dimension Unit: mm Model Normal With brake MS-90ST-M02430□□-20P7...
  • Page 31  110 series servo motor dimension Unit: mm Model Normal With brake MS-110ST-M04030□□-21P2 MS-110ST-M05030□□-21P5 MS-110ST-M04030□□-41P2 MS-110ST-M05030□□-41P5...
  • Page 32  130 series servo motor dimension Unit: mm Model Motor code Normal With brake MS-130ST-M04030□□-21P2 1031 MS-130ST-M10010□□-21P0 1040 MS-130ST-M06025□□-21P5 1042 0042 MS-130ST-M10015□□-21P5 1044 0044 MS-130ST-M07725□□-22P0 0043 MS-130ST-M07725□□-42P0 1143 MS-130ST-M15015□□-22P3 0046 MS-130ST-M15015□□-42P3 1146 MS-130ST-M06025□□-41P5 0142...
  • Page 33 MS-130ST-M10015□□-41P5 0144 2144 MS-130ST-M10030□□-43P0 1148  180 series servo motor dimension Unit: mm Model Motor code Normal With brake 0156 MS-180ST-M19015□□-43P0 1052 MS-180ST-M21520□□-44P5 0150 2151 MS-180ST-M27015□□-44P3 0151 1152 MS-180ST-M35015□□-45P5 0152 MS-180ST-M48015□□-45P5 0153...

  • Page 34: Servo Drive

    3-2. Servo drive  DS3-20P2/4/7-PQA, DS3E-20P2/4/7-PFA Unit: mm 70.0 59.0...
  • Page 35  DS3-21P5-PQA/ DS3-22P3-PQA/ DS3-41P5-PQA DS3E-21P5-PFA/ DS3E-22P3-PFA/ DS3E-41P5-PFA Unit: mm 85.0 198.3  DS3-43P0-PQA, DS3E-43P0-PFA Unit: mm 99.0 110.0...

  • Page 36: Wiring

    4. Wiring 4-1. Main circuit terminals  DS3-20P2/4/7-PQA Terminal Function Explanation L1/L2/L3 Single or 3 phase AC 200～240V, Power supply input of 50/60Hz main circuit Vacant terminal ● U、V、W Connect the motor (Note: the ground line is on the Motor terminals cooling fin, please check it before power on!) P+、D、C...
  • Page 37  DS3E-20P2/4/7-PFA Terminal Function Explanation Power supply input of Single AC 200～240V, 50/60Hz main circuit Vacant terminal ● U、V、W Connect the motor (Note: the ground line is on the Motor terminals cooling fin, please check it before power on!) P+、D、C Internal regenerative Short P+ and D, disconnect P+ and...
  • Page 38  DS3-21P5-PQA/ DS3-22P3-PQA/ DS3-41P5-PQA DS3E-21P5-PFA/ DS3E-22P3-PFA/ DS3E-41P5-PFA Terminal Function Explanation R/S/T Power supply DS3-21P5/22P3-PQA、DS3E-21P5/22P3-PFA: input of main 3-phase AC200～240V, 50/60Hz circuit DS3-41P5-PQA, DS3E-41P5-PFA: 3-phase AC360～400V, 50/60Hz Vacant ● U、 V、 W Motor Connect the motor terminals P+、D、 Internal Short P+ and D, disconnect P+ and C, set regenerative P0-24=0 resistor...
  • Page 39  DS3-43P0-PQA, DS3E-43P0-PFA Terminal Function Explanation R/S/T Power supply input 3-phase AC360～400V, 50/60Hz of main circuit Vacant ● U、V、W Connect the motor (Note: the ground line is on the Motor terminals cooling fin, please check it before power on!) P+、D、C Internal regenerative Short P+ and D, disconnect P+ and resistor...

  • Page 40: I/O (Cn0, Cn1) Terminals

    4-2. I/O (CN0, CN1) terminals The serial numbers of the following connectors are in the order of viewing the welding side. DS3/DS3E DS3E  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...
  • Page 41 Encoder output B- GND for analog input Encoder output A+ RS485+ Encoder output A- RS485- Encoder output Z+ （2）DS3 series 750W and up servo drive (hardware version is V1.0) （except 5.5KW and 7.5KW） Name Explanation Name Explanation Reserved Encoder output Z-...
  • Page 42 （3）DS3 series 5.5KW and 7.5KW servo drive Name Explanation Name Explanation GND-485 RS485+ RS485- RS485+ RS485- GND-485 Reserved Reserved Reserved （4）DS3E series servo drive Name Explanation Name Explanation GND-485 RS485+ RS485- RS485+ RS485- GND-485 Reserved Reserved Reserved （5）DS3L series servo drive (DS3L not support frequency division function)
  • Page 43 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 44 The interface circuit of Pulse + direction, CW, CCW, AB phase mode: Open collector (24V) PLC, SCM, etc. 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.
  • Page 45 PLC, SCM, etc. servo drive PUL- PUL+ P+5V P+24V R=3.3K DIR- D+5V DIR+ D+24V Shield layer R=3.3K 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.
  • Page 46 Open collector (24V power supply) Relay (24V power supply) Upper device servo drive Upper device servo drive +24 V +24V R=2.2K Ω COM2 Note: the max allowable voltage and current of open collector output circuit: Voltage: max DC30V Current: max DC50mA ...
  • Page 47 Optocoupler type Relay type Servo drive upper device Servo drive upper device +24 V +24 V Note: max load current 400mA (if control the brake motor by SO signal, please confirm the brake current, if it is larger than 400mA, please use intermediate relay). 750w and above power motor is recommended to use intermediate relay.

  • Page 48: Encoder Interface (Cn2)

     Encoder feedback signal Note: DS3E series servo cannot support encoder feedback. 4-3. Encoder interface (CN2) CN2 connector terminal arrangement (facing the weld) Motor encoder Motor encoder interface interface Drive Drive Name Name interface interface 40, 60, 110, 130, 40, 60, 110, 130, 80, 90 180 series...

  • Page 49: Communication Port

    Explanation RS232 send RS232 receive RS232 ground (5-pin port) Note: please use the cable supplied by XINJE Company Communication parameters: RS232 default communication parameters: baud rate 19200bps, data bit 8, stop bit 1, even parity. Modbus station no. setting: Parameter...
  • Page 50 Effective Parameter no. Function Default value Range time n.xx□□ Baud 00～10 At once rate 00：300 01：600 02：1200 03：2400 04：4800 05：9600 06：19200 07：38400 08：57600 09：115200 0A：192000 0B：256000 0C：288000 0D：384000 0E：512000 0F：576000 10：768000 n.x□xx Stop bit 0：2 bits, 2：1 bit At once n.□xxx Parity bit 0～2...
  • Page 51  RS-485 port DS3 series Pin no. Name CN1-14 CN1-15 CN1: terminals at drive side DS3E series 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...
  • Page 52 The communication parameters can be set through P7-01: Effective Parameter Function Default value Range time n.xx□□ Baud rate 00～10 Servo OFF 00：300 01：600 02：1200 03：2400 04：4800 05：9600 06：19200 07：38400 08：57600 09：115200 0A：192000 0B：256000 0C：288000 0D：384000 0E：512000 0F：576000 10：768000 11：1M 12：2M 13：3M 14：4M 15：5M...
  • Page 53 n.□xxx Parity bit Servo OFF 0:no parity, parity, 2: even parity Note: data bit cannot be changed, it is 8 bits. P7-02 RS485 communication protocol setting: Paramete Default Function Range Effective setting P7-02 RS485 1: Modbus Rtu protocol Servo OFF communication 2: Xnet filedbus protocol protocol...
  • Page 54 Servo drive Regenerative resistor connection terminals for internal regenerative resistor: short P+ and D, disconnect P+ and DS3-2□P□-PQA C, P0-24=0. DS3E-2□P□-PFA for external regenerative resistor: connect resistor between P+ and C, DS3-4□P□-PQA disconnect P+ and D, P0-24=1, P0-25=power value, P0-26=resistor DS3E-4□P□-PFA value.
  • Page 55 Min resistor External External Servo drive (cannot smaller than regenerative resistor regenerative resistor this value) (recommend value) (recommend power) DS3-20P2-PQA ≥50Ω 50Ω—100Ω ≥200W DS3E-20P2-PFA DS3-20P4-PQA ≥40Ω 40Ω—100Ω ≥500W DS3E-20P4-PFA DS3-20P7-PQA ≥40Ω 40Ω—100Ω ≥500W DS3E-20P7-PFA DS3-21P5-PQA ≥25Ω 25Ω—50Ω ≥1000W DS3E-21P5-PFA DS3-22P3-PQA ≥25Ω...

  • Page 56: Power-Off Brake(Bk)

    4-6. Power-off brake(BK) Wiring example The ON/OFF circuit of brake includes sequence output signal /BK and brake power. The following diagram shows a standard wiring example. 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.0011.
  • Page 57 terminal from SO1. 3. The switch time between BK signal and SON signal If the machine moves slightly due to gravity because of the brake has action delay time. Please adjust the time as below parameter. P5-07 Servo OFF delay time (brake command) Unit Default Range...
  • Page 58 P5-09 Brake command waiting time Unit Default Range Suitable mode Modify Effective 0~1000 All the modes Servo Immedia tely Set the brake time when servo OFF caused by /S-ON signal or alarm. /S-ON input or alarm Servo OFF Servo ON Occurs power off DB stop Motor speed...

  • Page 59: Wiring Example

    4-7. Wiring example  Take DS3-21P5-PQA as an example...

  • Page 60: Use The Operate Panel

    5. Use the operate panel 5-1. Button operation power STA/ESC ENTER 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;...
  • Page 61 STA/ESC Monitor Alarm Auxiliary Parameter State F0-00 E-XXX U0-00 P0-00 Idle Function Speed Code P1-00 U1-00 Alarm Control code Reset U2-00 F1-00 P7-00 Communication Power on time  Monitor Function UX－XX: The first X means group No., the last two X means the member No.

  • Page 62: Display Status

    5-2. Display status  Speed and Torque Control Mode Bit display contents Bit Data Description P5-39 Light when the motor actual speed and command Speed Coincidence speed is the same. Speed coincidence signal checking width: (/V-CMP) P5-04 (unit: rpm) Light when actual torque exceeds preset value. P5-42 Forward Torque Limit: P3-28 Torque Limit (/CLT)
  • Page 63 The code contents Code Descrption Standby Servo OFF (motor power OFF) Servo ON (motor power ON) Reset Servo re-power Forward Run Prohibited P-OT ON. Please refer to 5-2-4 “Overtravel Limit” Reverse Run Prohibited N-OT ON. Please refer to 5-2-4 “Overtravel Limit” ...

  • Page 64: U-Xx Monitor Status

    P5-36 Light when set position and actual position is the same. Near Near (/NEAR) signal width: P5-06 P5-40 Light when the motor speed exceeds the rotation detection Rotation Detection speed. (/TGON) Rotation detection speed: P5-03 (unit: rpm) The code contents Code Descrption Standby...
  • Page 65 U0-03 Rotate angle (mechenism angle) 0.1° U0-04 Rotate angle (electrical angle) 0.1° U0-05 Bus voltage U0-06 IPM temperature 0.1℃ U0-07 Torque feedback % of rated U0-08 (0000~9999)*1 Pulse offset value Command pulse U0-09 (0000~65535)*10000 U0-10 (0000~9999)*1 Encoder feedback encoder pulse value U0-11 (0000~65535)*10000...
  • Page 66 value W-phase current sampling zero value related to current U0-29 0.01A value U0-30 VREF input analog zero value related to digital value 0~4095 U0-31 TREF input analog zero value related to digital value 0~4095 U0-32 (0000~9999)*1 Electric zero U0-33 (0000~9999)*10000 U0-34 Output excitation voltage % of bus voltage...
  • Page 67 U0-54 Reserved U0-55 Instantaneous regenerative braking discharge power U0-56 Average regenerative braking discharge power U0-57 (0000~9999)*1 Absolute encoder present Encoder pulse position feedback U0-58 (0000~65535)*10000 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...
  • Page 68 U1-17 The third time alarm code recently 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...
  • Page 69 U2-15 Average output power (count from the first time enable) U2-16 Average heating power (count from the first time enable) U2-17 Average bus capacitor filter power U2-18 (0000~9999)*1 circle Motor accumulative circles U2-19 (0000~9999)*10000 circle U2-20 Device serial number: low 16 bits U2-21 Device serial number: high 16 bits U2-22...
  • Page 70 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 71 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 72  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 73  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 74: 5-4.Fx-Xx Auxiliary Function

    5-4.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 75 P3-18 JOG speed Unit Default Setting Suitable Change Effective range mode 1Rpm 0~1000 Servo OFF Immediately  Test run (F1-01) Make sure that the motor shaft is not connected to the machine before test run! When servo drive is connected with non-original encoder line or power line, test run must be run first to ensure that the encoder line or power line is connected correctly.
  • Page 76 Keep press ENTER Press ENTER donE F1-02 Press STATUS/ESC to exit.  Vref zero (F1-03) Keep press ENTER Press ENTER donE rEF_o F1-03 Press STATUS/ESC key to exit.  Tref zero (F1-04) Keep press ENTER Press ENTER donE rEF_o F1-04 Press STATUS/ESC key to exit.

  • Page 77: Change Motor Code

     Forced Servo enables (F1-05) Parameter Signal Meaning Modify Effective name P0-03 Enable Not enable Servo OFF At once mode 1 (default) I/O enable /S-ON Software enable (F1-05 or communication) Bus enable (the model support movement bus) P0-03=2 F1-05 = 0: cancel the enable, return to bb status. F1-05 = 1: forced enable, servo is in RUN status.

  • Page 78: Parameter Setting Example

    Re-power Keep press Keep press Input Finish P0-33 confirm On servo ENTER ENTER motor code the setting Motor label 5-6. Parameter setting example The example below shows how to change parameter P3-09 from 2000 to 3000. 1. Press the STATUS/ESC key to select the parameter setting mode. 2.

  • Page 79: Parameter List

    4. At this time the panel displays the value in P3-09, and the last decimal “0” is blinking. Press ENTER to left shift the blinking decimal. Press INC, DEC or ENTER key to modify the value to 3000, and press and hold ENTER to confirm. The parameter in P3-09 in changed from 2000 to 3000.
  • Page 80 3: speed (command) 4: speed (analog) (for DS3-PQA) 5: position (internal) (for DS3E/DS3L) Note: hardware versoin v3.2.1 and above support this mode 6: position (pulse) 7: speed (pulse) fieldbus position mode (for DS3E) ○ Submode 2 1～10 All the 1: torque (command) modes 2: torque (analog) (for DS3-PQA)
  • Page 81 ○ Enable mode: All the 0: not enable modes 1: IO/SON input signal software enable(panel/Modbus) panel F1-05 write in 1; Modbus write register 0x2105. Write 0 cancel enable. 3: bus enable (support motion bus model) ○ Rotation direction 0, 1 All the selection modes...
  • Page 82 electronic gear ratio 65535 ○ Pulse frequency *100 1000 corresponding to speed 10000 mode rated speed ○ Speed command pulse 0.01 filter time 10000 ○ Encoder feedback pulse 2500 0~9999 All the per circle× 1 modes ○ Encoder feedback pulse 1000 All the per circle×...
  • Page 83 state after stop 2: deceleration running stop, keep inertia running state after stop ○ Servo over range stop mode modes 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...
  • Page 84 65535 modes ○ Fan switch 0: temperature over modes 45º C, fan is ON, below 42º C, fan is OFF (hysteresis 3℃) 1: fan is ON after servo enabled, fan is OFF after servo is disable ○ Block alarm time 0~9999 modes Note: driver U2-23= 1224, motor block time is P0-70...
  • Page 85 √ First torque 0.01ms 0~9999 All the command filter modes time √ Second speed loop 1~9999 3,4,6,7,10 gain √ Second speed loop 0.1ms 0~10000 3,4,6,7,10 integral time √ Second position 1~9999 6, 10 loop gain √ Second speed 1000 0~4000 All the feedback response modes...
  • Page 86 1: fixed the second group 2: G-SEL signal torque command 4: speed command 5: position offset 6: speed feedback √ Position gain Related to -9999~99 6, 10 switching the P1-14 comparison value mode √ Position gain Related to 0~9999 6, 10 switching the P1-14 comparison value...
  • Page 87 √ Speed gain Related to -9999~99 3, 4, 7 switching the P1-18 comparison value mode √ Speed gain Related to 0~9999 3, 4, 7 switching the P1-18 comparison value mode hysteresis loop √ Speed command 3, 4, 7 filter first order low-pass filter 1: smoothing filter...
  • Page 88 distribution V-REF speed command input 1: V-REF is external speed limit input, actual speed limit depend on external analog speed limit 2: speed feedforward ○ Rated speed 0.01V 1, 2, 4, 6 corresponding to analog 150~3 voltage 1000 √ Analog voltage speed 0.01ms 0~100 1, 2, 4, 6...
  • Page 89 65535 Reserved — ○ Zero speed clamp mode 3, 4, 7 ZCLAMP input signal is ON, forced speed command is 0. When the speed below P3-13, switch position mode and the servo locked in this position ZCLAMP input signal is ON, forced set speed command to 0 ZCLAMP input...
  • Page 90 mode motor √ Internal reverse speed Related 1, 2 limit in torque control 10000 mode motor ○ Jog speed All the 1000 modes ○ Forward warning speed Related All the modes motor 10000 ○ Reverse warning speed Related All the to the modes motor...
  • Page 91 2: torque feedforward ○ Rated torque 0.01V 1000 150~3 All the corresponding to the modes analog value √ Analog voltage torque 0.01ms 0~100 All the filter modes √ Torque command input 0.01V 0~100 All the dead area voltage modes √ Internal forward torque 0~300 All the...
  • Page 92 xxx□ times after leaving the limit switch(stop when n+1 Z phase signal arrived) ○ Find origin function 5, 6 xx□x 0: OFF 1: ON ○ Hit proximity 5, 6 0.1rpm 0~50000 switch speed ○ Leaving proximity 5, 6 0.1rpm 0~50000 switch speed ○...
  • Page 93 Note: (1) setting pulse number = pulse numbers (high byte)× 10000+pulse number(low byte) (2) total 35 segments. Segment 1~12 parameters can be set through operate panel, segment 13~35 can write in parameters through communication (RS232 or RS485). P5: signal parameter setting Name Unit Default...
  • Page 94 COIN signal command finished, offset absolute value below P5-00, output COIN signal. If COIN keeps time P5-02, output COIN-HOLD signal. ○ Positioning finished hold time 65535 ○ Rotation checking 1~10000 All the speed modes ○ Same speed 1~10000 3, 4, 7 checking speed ○...
  • Page 95 output 1 trigger modes condition ○ User-defined Related to -9999~999 output 1 trigger the trigger modes condition condition comparison value ○ P5-10≥P5-11, output SOx modes 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 96 1: P5-14≤ P5-15, SOx output 2: P5-14 absolute value ≥P5-15, output SOx 3: P5-14 absolute value <P5-15, output SOx ○ User-defined Related to 0~65535 output 2 hysteresis the trigger modes loop condition ○ IO filter time 0~10000 modes √ phase signal 2~20 pulse width...
  • Page 97 positive signal from SI4 0010: signal always valid 0011: input negative signal from SI1 0012: input negative signal from SI2 0013: input negative signal from SI3 0014: input negative signal from SI4 √ － /P-CON n.0000 n.0000~ proportion action n.0015 modes command Ditto...
  • Page 98 ditto √ － /P-CL forward side n.0000 n.0000~ external torque n.0015 modes limit ditto √ － /N-CL reverse side n.0000 n.0000~ external torque n.0015 modes limit ditto － √ /SPD-D internal n.0000 n.0000~ 1,2,3,4 speed direction n.0015 choice ditto － √...
  • Page 99 command pulse n.0015 ditto － √ /G-SEL gain n.0000 n.0000~ All the switching n.0015 modes ditto √ － /CLR pulse offset n.0000 n.0000~ clean n.0015 ditto √ /I-SEL inertia ratio n.0000 n.0000~ All the switching n.0015 modes √ /COIN_HD n.0000 n.0000~ positioning n.0013...
  • Page 100 0012: output negative signal from SO2 0013: output negative signal from SO3 √ － /COIN positioning n.0001 n.0000~ finished n.0013 ditto √ － /V-CMP same n.0000 n.0000~ 3,4,7 speed checking n.0013 ditto √ － /TGON rotation n.0000 n.0000~ checking n.0013 modes ditto √...
  • Page 101 P5-44=n.0002.) √ － /WARN warning n.0000 n.0000~ ditto n.0013 modes √ － /NEAR near n.0000 n.0000~ 5, 6 ditto n.0013 √ － /ALM alarm n.0002 n.0000~ All the ditto n.0013 modes √ － /Z phase encoder n.0000 n.0000~ All the signal n.0013 modes...
  • Page 102 Table 1 input terminal distribution input terminal Servo model Setting range P5-20~P5-36 DS3 series n.0000~n.0005 n.0010~n.0015 P5-57~P5-59 DS3E series n.0000~n.0004 n.0010~n.0014 Table 2 output terminal distribution output terminal Servo model Setting range P5-37~P5-53 n.0000~n.0003 DS3 series n.0010~n.0013 n.0000~n.0002 DS3E series n.0010~n.0012...

  • Page 103: Modbus Address (Hex Format)

    7. Modbus address (hex format) Parameter Modbus address Notes P0-00~P0-33 0x0000~0x0021 The Modbus is incremented by 1 from 0x0000, P0-23 related Modbus address is 0x0017 P1-00~P1-28 0x0100~0x011C The Modbus is incremented by 1 from 0x0100, P1-10 related Modbus address is 0x010A P2-15~P2-36 0x020F~0x0224 The Modbus is incremented by 1 from 0x020F,...

  • Page 104: Alarm Information

    8. Alarm information □ Alarm Explanation Reasons Solution Hardware hardware E-010 version Contact us version is error match System program Contact us E-012 loading error damaged 1. program damaged Contact us FPGA E-013 hardware loading error damaged 1. program damaged Contact us hardware FPGA...
  • Page 105 error Parameter Parameter Re-power the servo to restore E-020 self-checking cannot loading error default setting or contact us pass Parameter out The setting value out Check the parameters and set E-021 of range of range again TREF VREF Parameter Check the TREF or VREF E-022 function setting...
  • Page 106 ≥ 780V correct power supply alarm) 1. connect external regenerative resistor, please see below table for resistor value (220V: bus voltage U0-05=380 start discharging, U0-05=350V discharge end. 380V: U0-05=700 start Load inertia discharging, U0-05=660 large (regenerative discharge end) ability not enough) 2.
  • Page 107 Instant cut power Repower on after voltage is supply stable Drive power E-041 Drive power cut off Check the power supply voltage Please note if there is relay E-043 charging Hardware damage ON/OFF sound when drive failure power on 1. consider change the motor capacity(mointor U0-02, 1.
  • Page 108 state, monitor U0-10, rotate motor shaft by hand, U0-10 increase at one direction and decrease at another direction (0~9999) 1. measure the phase resistor of motor phase UVW, if not balanced, change the motor 2. If short circuit between UVW and PE, change the Short circuit with motor Measure...
  • Page 109 too high 3. electronic gear ratio too large Not match the motor Drive P0-33 must match the code motor code on the motor label U, V, W wiring error Check the wiring with ground 1. Check encoder cable or change it 2. Set servo to bb state, monitor U0-10, rotate Encoder problem motor shaft by hand, U0-10...
  • Page 110 limit limit P0-23 Not match the motor Drive P0-33 must match the code motor code on the motor label U, V, W wiring error Check UVW phase wiring 1. measure the phase resistor of motor phase UVW, if not balanced, change the motor 2.
  • Page 111 Current sensor Current damaged or external Check the ground wiring or E-120 sensor error interference contact us large phase Current sensor current damaged or external Check the ground wiring or E-121 sampling zero interference contact us calibration large value error phase Current sensor...
  • Page 112 power over the rated power 2. Check the motor shaft overload wiring heating 1. Change larger power motor E-161 power Motor overheating 2. Check the motor shaft overload wiring Power supply not stable, motor load 1. use 3 phase 220V power E-164 capacitor too large, cause the...
  • Page 113 long time large Cut off drive power, check Encoder encoder wiring, use connect or contactor multi-meter test the not good connection Absolute Not put the encoder wire encoder E-220 2. recived encoder together with the strong power communicati data error, and error supply cable, install filter at on error time over encoder...

  • Page 114: General Debug Steps

    connection reverse over range terminal distribution error signal 2. motor run reverse and encounter the forward over range signal 1. inertia too big 1. decrease the inertia or use 2. stop overtime too motor with brake Control stop E-262 short 2.
  • Page 115 connected to the power supply, pay attention to the power supply is not wrong, U, V, W, PE must be connect with servo drive U, V, W, PE terminal, do not cross, otherwise servo motor will be blocked or racing. PE wire must be connected. (C) power on, servo will display bb.

  • Page 116: Motor Code

    Press DEC Keep press ENTER Reverse run Press ENTER F1-00 Press INC Forward run The gain and other parameters will participate in the control during the jog run. According to the running condition, we can judge whether the parameter setting is appropriate. P3-18 JOG run speed Unit...
  • Page 117 MS-80ST-M03520-20P7 0.75 2000 0012 MS-90ST-M02430-20P7 0.75 3000 0021 MS-110ST-M04030-21P2 3000 0031 MS-110ST-M05030-21P5 3000 0032 MS-110ST-M04030-41P2 3000 0131 MS-110ST-M05030-41P5 3000 0132 MS-130ST-M10010-21P0 1000 1040 MS-130ST-M06025-21P5 2500 0042 MS-130ST-M06025-21P5 2500 1042 MS-130ST-M10015-21P5 1500 1044 MS-130ST-M10015-21P5 1500 0044 MS-130ST-M07725-22P0 2500 0043 MS-130ST-M15015-22P3 1500 0046 MS-130ST-M15015-42P3 1500...
  • Page 120 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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Ds3e series

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