Xinje DS5E Series Manual
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Xinje DS5E Series Manual

Xinje DS5E Series Manual

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Summary of Contents for Xinje DS5E Series

  • Page 1 DS5E/L series servo driver Fast manual...
  • Page 2  Please understand that the contents described in the manual are subject to change without notice. Contact us If you have any questions about the use of this product, please contact the agent and office purchasing the product, or directly contact Xinje company. Tel: 400-885-0136  Fax: 0510-85111290 ...

  • Page 3: Table Of Contents

    CATALOG ►► SAFETY PRECAUTIONS..................IV 1. SERVO SYSTEM MODEL SELECTION..............1 1-1.S .................1 ERVO DRIVER MODEL SELECTION 1-1-1.Part description....................1 1-1-2.Model naming rule....................2 1-1-3.Performance specification...................2 1-2.S .................3 ERVO MOTOR MODEL SELECTION 1-2-1.Parts description....................3 1-2-2.Model naming rule....................3 1-3.C ......................6 ABLE SELECTION 1-3-1.Cable configuration.....................6 1-3-2. Definition of cable welding terminal..............7 1-4.
  • Page 4 3-2-2.DS5E/L series control terminal wiring..............36 3-3.C ....................38 OMMUNICATION PORT 3-4.P BK ..................39 OWER LOSS BRAKE 3-4-1.Wiring example....................39 3-4-2.Brake signal......................40 3-4-3.Switch time between BK and SON signal............40 3-4-4. Brake closing parameter setting...............41 4. BEFORE USING OPERATION OF SERVO SYSTEM..........42 4-1. O ..........42 PERATE PANEL DISPLAY AND OPERATE INTRODUCTION 4-1-1.Operation display status explanation..............43...
  • Page 5 5-6-1.Second set of gain adjustment................59 5-7. S ................64 OLUTION OF VIBRATION PROBLEM 5-7-1. The servo and mechanical connections themselves produce resonance....64 5-7-2. Vibration caused by excessive gain..............67 6.ALARM LIST........................68 7.SERVO PARAMETER LIST....................84 7-1.C ..................84 ONTROL PARAMETER LIST P0-XX.........................84 P1-XX.........................88 P2-XX.........................89 P3-XX.........................91 P4-XX.........................93 P5-XX.........................94...

  • Page 6: Safety Precautions

    Check whether the motor code of the driver U3-70 and the motor label the code in drive? are consistent. If any of the above is faulty or incorrect, contact Xinje or an authorized distributor. ►► Safety precautions Confirmation when getting the product ...

  • Page 8: Servo System Model Selection

    1. Servo system model selection 1-1.Servo driver model selection 1-1-1.Part description RS232 port CN0: pulse, direction Power supply I/O signal Motor wiring CN1: Used for Extending Bus Function Regenerative To connect extension bus module resistor CN2: encoder cable for drive...

  • Page 9: 1-1-2.Model Naming Rule

    1-1-2.Model naming rule 1-1-3.Performance specification Servo unit DS5E/DS5L series servo drive Applicable encoder Standard: 17-bit/23-bit communication encoder DS5□-2□P□-PTA: Single/three phases AC200-240V, 50/60Hz Single phase AC200-240V 50/60Hz is used below 1.5KW (excluding 1.5KW) It is recommended to use three-phase AC200-240V 50/60Hz when Input power supply the value is above 1.5KW (including 1.5KW).

  • Page 10: 1-2.Servo Motor Model Selection

    temperature Environment Below 90 RH (no condensation) humidity Vibration 4.9m/s resistance Structure Pedestal installation 1-2.Servo motor model selection 1-2-1.Parts description Encoder frame flange Output Shaft (Drive Shaft) 1-2-2.Model naming rule MS5 motor model naming rule ...
  • Page 12 MS6 motor model naming rule  Note: at present, the type selection of encoder is only the combination of CS, CM, TL and T! Standard type 1 is AMP plug for flange 80 and below. Standard type 2 refers to a small aviation plug for flange 80 and below.

  • Page 13: 1-3.Cable Selection

    1-3.Cable selection 1-3-1.Cable configuration Encoder cable model  Power cable model ...

  • Page 14: Definition Of Cable Welding Terminal

     integrated power cable and holding brake cable. The standard wiring length of Xinje is 2 meters, 3 meters, 5 meters, 8 meters, 10 meters, 12  meters, 16 meters and 20 meters. The motors flange 80 and below with motor suffix S01 have specifications of 25 meters and 30 meters cables.
  • Page 15 Definition Shielded cable Battery + MS5-40, 60, 80 flange Battery - -S02 motor MS6-40, 60, 80 flange 485-A B2 motor 485-B Definition Shielded cable 485-B 110 and above flange motor 485-A (exclude 130 flange medium inertia and 220 flange motor) Battery - Battery + Definition...
  • Page 16 Pins Definition Pins Shielded cable 485-B 485-A Battery - Battery + Temperature sensor Temperature sensor 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. (2) Only the cable of absolute value motor has external battery box, which contains a 3.6V/2.7Ah large capacity battery, and has the function of replacing batteries when power cut.
  • Page 17 40, 60, 80 flange -S01/B1 motor 40, 60, 80 flange -S01/B1 motor with brake 40, 60, 80 flange -S02 motor 40, 60, 80 flange B2 motor 40, 60, 80 flange B2 motor with brake 110 and above motor (include 130 flange medium inertia motor without brake) 130 flange medium inertia motor...

  • Page 18: Selection Of Regenerative Resistance

    Brake pins: The cable including BK pin is used for the brake motor. The cable of the non-brake motor has no BK pin. 1-4. Selection of regenerative resistance 1-4-1.Selection of regenerative resistance When the servo motor is driven by the generator mode, the power returns to the servo amplifier side, which is called regenerative power.
  • Page 19 Rmin External regenerative External regenerative Built-in (Not less resistance resistance Servo driver model brake unit than this (Recommended (Recommended value) resistance value) power values) DS5E/L-20P1-PTA 50Ω 50Ω-100Ω Above 200W DS5E/L-20P2-PTA DS5E/L-20P4-PTA 40Ω 40Ω-100Ω Above 500W DS5E/L-20P7-PTA DS5E/L-21P0-PTA DS5E/L-21P5-PTA 25Ω 25Ω-50Ω Above 1000W DS5E/L-22P3-PTA DS5E/L-22P6-PTA...

  • Page 20: 1-4-2.Brake Unit Dbm-4110 Specification

    1-4-2.Brake unit DBM-4110 specification Pin definition  Pin name Description Connect to DC bus - Connect to DC bus + Connect to one terminal of brake unit DC- DC+ R1 R2 PE Connect to another terminal of brake unit Connect to the ground Wiring diagram ...

  • Page 21: Servo Driver And Motor Installation

    2. Servo driver and motor installation 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. Do not install in high temperature, humidity, dust, metal dust environment.
  • Page 22 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 23: 2-2.Servo Motor Installation

    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. Follow these installation instructions carefully.

  • Page 24: 2-2-3.Installation Cautions

    Through part of shaft MS series servo motors are for indoor use. Please use them under the following installation conditions: Item Description Use ambient -10℃~40℃ (no freeze) temperature Use ambient 20%~90%RH (no condensation) humidity Storage -20℃~60℃ temperature Storage -20%~90%RH (no condensation) humidity Protection IP65(MS5)/IP66 (MS6)
  • Page 25 install. For shaft without keyway, friction coupling or similar methods are used. ◆ When the pulley is dismantled, the pulley mover is used to prevent the bearing from being strongly impacted by the load. ◆ To ensure safety, protective covers or similar devices, such as pulleys installed on shaft, are installed in the rotating area.

  • Page 26: 2-3.Servo Motor Dimension

    ◆ Do not "bend" or apply "tension" to the wire, especially the core of the signal line is Stress state of cable 0.2mm or 0.3mm, very thin, so when wiring (using), do not make it too tight. Processing For the connector part, please pay attention to the following items: ◆When connecting the connector, please make sure that there is no foreign matter such as Connector garbage or metal sheets in the connector.
  • Page 27 Normal With brake MS5S-40STE-C□0030□□-20P1-S01/S02 89.5 Low inertia MS6 motor  25± 0. 50 M 3 - 6H 6. 2 0 - 0. 1 LA±1 Motor model Inertia level With Normal brake 122.9 MS6H-40C□30B□1-20P1 High inertia 60 series motor installation dimension Unit: mm ...
  • Page 28 MS5H-60STE-C□01330□□-20P4-S01/S02 MS-60STE-T01330-20P4-D01 MS6 motor  4- ∅ 5. 5 ∅ 70 M 5 8 11 0. 0 - 0. 1 30± 0. 5 LA±1 Motor model With Inertia level Normal brake MS6H-60C□301B□□-20P4 High inertia MS6S-60C□301B□□-20P4 Low inertia MS6H-60C□301B□□-20P2 High inertia 80 series motor installation dimension Unit: mm ...
  • Page 29 MS-80ST-T02430□□-20P7 MS-80ST-T03520□□-20P7 MS6 motor  ∅ 90 4- ∅ 6. 5 35± 0. 5 15. 5 0 - 0. 1 LA±1 Motor model With Inertia level Normal brake MS6S-80C□30B□□-20P7 Low inertia MS6S-80C□20B□□-20P7 MS6H-80C□30B□□-20P7 High inertia MS6H-80C□20B□□-20P7 100 series motor installation dimension Unit: mm ...
  • Page 30 2. 5 15. 5 0 - 0. 1 a110 55± 0. 5 LA±1 Motor model Inertia level Normal With brake MS5S-110ST-C□03230□□-21P0-S01 MS5S-110ST-TL03230□□-21P0-S01 MS5S-110ST-C□04830□□-21P5-S01 Low inertia MS5S-110ST-TL04830□□-21P5-S01 MS5S-110ST-C□06030□□-21P8-S01 MS-110ST-TL06030□□-21P8-S01 MS-110ST-T04030B-21P2 MS-110ST-T05030B-21P5 130 series motor installation dimension Unit: mm  MS5 motor ...
  • Page 31 LA±1 Motor model Inertia level Normal With brake MS5G-130STE-C□05415□□-20P8-S01 117.5 MS5G-130STE-TL05415□□-20P8-S01 134.5 164.5 MS5G-130STE-C□07220□□-21P5-S01 132.5 162.5 MS5G-130STE-C□07220□□-41P5-S01 132.5 162.5 MS5G-130STE-TL07220□□-21P5-S01 149.5 179.5 MS5G-130STE-TL07220□□-41P5-S01 149.5 179.5 MS5G-130STE-C□11515□□-21P8-S01 159.5 189.5 MS5G-130STE-C□11515□□-41P8-S01 159.5 189.5 Medium MS5G-130STE-TL11515□□-21P8-S01 176.5 206.5 12.5 inertia MS5G-130STE-TL11515□□-41P8-S01 176.5 206.5 MS5G-130STE-C□14615□□-22P3-S01 180.5 210.5...
  • Page 32 12. 5 a130 57± 0. 5 18. 5 0 - 0. 1 LA±1 Motor model Inertia level Normal With brake MS5G-130STE-C□06025B□-21P5-S01 153.5 Medium inertia MS5G-130STE-C□10015B□-21P5-S01 176.5 MS6 motor  4- ∅ 9 ∅ 145 M 6 15 12. 5 18 0. 0 - 0.
  • Page 33 LA±1 Motor model Inertia level Normal With brake MS6H-130C□20B□2-21P5 MS6H-130TL20B□2-21P5 MS6H-130C□15B□2-21P8 MS6H-130C□15B□2-41P8 MS6H-130TL15B□2-21P8 MS6H-130TL15B□2-41P8 MS6H-130C□15B□2-22P3 195.6 225.6 MS6H-130C□15B□2-42P3 195.6 225.6 MS6H-130TL15B□2-22P3 211.6 241.6 MS6H-130TL15B□2-42P3 211.6 241.6 180 series motor installation dimension Unit: mm  MS5 motor  30 0 a180 79±...
  • Page 34 37 0 a180 113± 0. 5 - 0. 1 LA±1 Inertia Motor model With level Normal brake MS5G-180ST-TL35015□□-45P5-S01 Medium inertia MS5G-180ST-TL48015□□-47P5-S01 MS6 motor  ∅ 200 4- ∅ 13. 5 a180 79± 0. 5 M 12 - 6H 30 0. 00 - 0.
  • Page 35 4- ∅ 13. 5 ∅ 200 a180 113± 0. 5 M 16 - 6H 37 0. 0 - 0. 1 LA±1 Inertia Motor model With level Normal brake MS6H-180C□15B□2-45P5 MS6H-180TL15B□2-45P5 High inertia MS6H-180C□15B□2-47P5 MS6H-180TL15B□2-47P5 4- ∅ 13. 5 ∅ 200 79±...

  • Page 36: Servo Driver Dimension

    220 series motor installation dimension Unit: mm  a220 37 0 116± 0. 50 - 0. 1 LA±1 Motor model Inertia level With Normal brake MS-220STE-TL70015B-411P0-XJ MS-220STE-TL96015B-415P0-XJ Medium MS5G-220STE-□□40015B-422P0-S01 inertia 2-4. Servo driver dimension DS5E/L-20P1-PTA, DS5E/L-20P2-PTA, DS5E/L-20P4-PTA Unit: mm  175.
  • Page 37 181. 3 60. 0 ∅ 5. 5 48. 8 ∅ 5. 5 DS5E/L-21P0-PTA, DS5E/L-21P5-PTA, DS5E/L-22P3-PTA, DS5E/L-22P6-PTA, DS5E-41P0-  PTA, DS5E-41P5-PTA Unit: mm 85. 0 193. 3 74. 0 ∅ 5. 5 DS5E-43P0-PTA -H Unit: mm  99. 0 110. 0 210.
  • Page 38 256. 65 123. 5 2- φ 6. 0 6. 0 6. 0 DS5E-411P0-PTA, DS5E-415P0-PTA Unit: mm  230. 0 217. 6 120. 0 ST A EN TER ES C WARNING * STORED CHARGE DO NOT TOUCH UNTIL 10 MIN. AFTER DISCONNECTION * DO NOT CONNECT AC POWER TO OUTPUT TERMINALS OF "U V W"...
  • Page 39 217. 0 180. 0 W AR N I N G * STO RED CH ARG E D O N O T TO U CH U N TI L 10 M I N. AFTER D I SCO N NECTI O N * D O NO T CO N N ECT AC PO W ER TO O U TPU T TERM I N ALS O F "U V W "...

  • Page 40: Servo Driver Wiring

    3.Servo driver wiring 3-1.Main circuit terminals explanation DS5E/L-20P1/20P2/20P4/20P7-PTA  Terminal Function Explanation Power supply input of Single phase AC 200~240V, 50/60Hz main circuit ● Vacant terminal Connect the motor U, V, W Motor terminals 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 41 DS5E-41P5-PTA  Terminal Function Explanation Power supply input of R/S/T 3-phase AC 380~440V, 50/60Hz main circuit ● Vacant terminal Connect the motor U, V, W Motor terminals 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 resistor...
  • Page 42 DS5E-43P0-PTA, DS5E-43P0-PTA-H  Terminal Function Explanation Power supply input of R/S/T 3-phase AC 380~440V, 50/60Hz main circuit Vacant terminal Connect the motor U, V, W Motor terminals Note: the ground wire is on the cooling fin, please check it before power on! Connect regenerative resistor between P+ and External regenerative...
  • Page 43 Power supply input of R/S/T 3-phase AC 380~440V, 50/60Hz main circuit Connect to ground Connect the motor U, V, W Motor terminals Note: the ground wire is on the cooling fin, please check it before power on! Connect regenerative resistor between P+ and External regenerative P+, PB PB, P0-25= power value, P0-26= resistor...

  • Page 44: Control Terminal Explanation And Wiring

    3-2. Control terminal explanation and wiring The numbers of the following connectors are in the order when looking at the solder patch. 3-2-1.DS5E/L series control terminals Below 1.5KW 1.5KW and up CN0 terminal explanation (below 1.5KW, 3 inputs, 3 outputs ...

  • Page 45: 3-2-2.Ds5E/L Series Control Terminal Wiring

    Output terminal Input terminal 3 ground CN1 terminal explanation 5L series CN1terminals have no definition  Name Explanation Name Explanation GND-485 RS485+ RS485- RS485+ RS485- GND-485 Reserved Reserved Reserved Reserved CN2 terminal explanation  The terminals of the CN2 connector are arranged as follows (faced solder plates): Definition 485-A 485-B...
  • Page 46 When upper device adopts open collector output, this connection method is adopted. SI input signal  Use relay or transistor circuit with open collector to connect. When using relay connection, please select relay for small current. If the relay for small current is not used, it will cause poor contact. Type Input terminal Function...
  • Page 47 Voltage: DC 30V (maximum) Current: DC 50mA (maximum) SO output signal  Type Output terminal Function SO1~SO3 750W and Digital output Multifunctional output terminal below SO1~SO4 above 750W The default settings of output terminals: Terminal SO3~SO4 Function COIN/positioning completion ALM/alarm Not distribute Optocoupler type Relay type...

  • Page 48: 3-3.Communication Port

    RS232 signal ground 5-pin trapezoidal interface RS232 port default communication parameters: baud rate 19200bps, data bit is 8-bit, stop bit is 1-bit, even parity. Note: please use the special cable provided by Xinje company for communication. RS-485 communication  DS5E series Name...

  • Page 49: 3-4.Power Loss Brake Bk

    3-4.Power loss brake BK 3-4-1.Wiring example The sequential output signal "/ BK" and "brake power supply" of the servo unit constitute the on / off circuit of the brake. Typical connection examples are shown below. Note: (1) The voltage of the brake is 24V. (2) In the above figure, BK signal is output by SO1, and parameter P5-44 should be set to n.0001.

  • Page 50: Brake Closing Parameter Setting

    parameter is used for time adjustment. P5-07 Servo OFF delay time brake command Unit Default Range Suitable Meaning modify Effective setting mode All the After enable is on, release servo At once 0 65535 mode holding brake after delaying this time; When the enable off signal is true, the 500~9999 aft lock brake will be locked,...
  • Page 51 0~10000 All the modes Servo bb At once P5-09 Brake command waiting time Unit Default Setting range Suitable mode Modify effective setting 0~65535 All the modes Servo bb At once When the servo motor with brake is off due to the disappearance of input signal "/ S-ON" during motor rotation or the occurrence of alarm, the braking time can be set.

  • Page 52: Before Using Operation Of Servo System

    4. Before using operation of servo system 4-1. Operate panel display and operate introduction 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 continuously Short press: shift;...

  • Page 53: 4-1-1.Operation Display Status Explanation

    parameter number under the group. Auxiliary function Fx-xx: The first X denotes the group number, and the last two X denotes the  parameter number under the group. Alarm state E-xxx: The first two X denote the alarm category, and the last x denotes the small ...
  • Page 54 1: Power on the panel to display value U0-00, speed feedback, unit: RPM again setting 2: Power on the panel to display the value of U0-07, torque feedback, unit % Speed torque control mode  1. Digit display contents Digit data Display contents When the actual speed of the motor is the same as the command speed, P5-39...
  • Page 55 When the speed exceeds the set value, turn on the light when the P5-43 torque is controlled. Speed limit /VLT Forward speed limit in torque control: P3-16; reverse speed limit: P3- 2. Short code display content Short code Display contents Standby status Servo OFF status.

  • Page 56: 4-2.Servo Parameters

    Digit data Display contents Near signal width: P5-06 When the motor speed is higher than the rotating speed, turn on the P5-40 lamp. Rotate detection /TGON Rotation detection speed: P5-03 (unit: rpm) 2. short code display content Short code Display contents Standby status Servo OFF status.
  • Page 57 F0-01 Resume to default settings F0-02 Clear the position offset F0-07 Panel inertia indentification F0-08 Panel external instruction auto-tuning F0-09 Panel internal instruction auto-tuning F0-10 Panel vibration suppression 1 F0-11 Panel vibration suppression 2 F0-12 Fast FFT for panel vibration suppression 1.
  • Page 58 Refer to section 5-2-1 for detailed steps. 7. Panel internal command self-tuning (parameter F0-09) Refer to section 5-2-2 for detailed steps. 8. Panel vibration suppression (parameters F0-10, F0-11) Vibration Display Changed parameters suppression mode Mode 1 vib-1 Only the parameters related to vibration suppression will be changed Mode 2 Vib-2...
  • Page 59 F1-XX  Function code Explanation F1-00 Jog run F1-01 Test run F1-02 Current Sampling Zero-correction F1-05 Forced enable F1-06 Reset turns of absolute encoder Jog operation F1-00 Before entering inching mode, please confirm that the motor shaft is not connected to the machine and the driver is BB idle! During inching operation, parameters such as gain will participate in the control, and whether the parameter setting is appropriate can be judged according to the operation condition.
  • Page 60 wiring situation. 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. Press STA/ESC to exit, please power on again. Software enable F1-05 Parameter Signal name...
  • Page 61 Write 3 to 0x2106 hexadecimal address through Modbus RTU to calibrate the current position as zero. See U0- 94 ~ U0-97 for the calibrated encoder position value. Using Xinje PLC, you can read (Modbus address 0x105e) 4 consecutive bytes with REGR command.

  • Page 62: Ds5 Series Rigid Gain Adjustment

    5.DS5 series rigid gain adjustment The new generation DS5 series servo has rigid adaptive, self-tuning and manual adjustment modes, without complicated parameter adjustment process, which greatly saves the gain adjustment time. (refer to the chapter of servo gain adjustment in the user manual for details) Parameter Mode Type...

  • Page 63: 5-1.Ds5 Series Fast Adjustment Mode

    Automatic adjustment (external command self-tuning) is the function of automatic optimal adjustment for the operation command from the upper device. Manual adjustment function: manual adjustment is the function of manually setting parameters such as speed loop, position loop, model loop gain and vibration frequency in self-tuning mode to achieve rapid response.

  • Page 64: 5-1-3.Notes

    Large machinery 10 15 Low rigidity equipment such as 15 20 synchronous belt Screw rod, direct connection and 20 30 other equipment with high rigidity 5-1-3.Notes In the quick adjustment mode, the gain parameters corresponding to the rigidity level can be adjusted independently.
  • Page 65 P0-07 First inertia ratio P1-00 First speed loop gain Integral time constant of the first speed P1-01 loop Gain P1-02 First position loop gain performance P2-00.0 Disturbance observer switch parameters P2-01.0 Adaptive mode switch P2-35 Torque command filter time constant 1 P2-41 Disturbance observer gain P2-47.0...

  • Page 66: 5-3.Ds5 Series Manual Adjustment Mode

    manually. Manual modification may lead to the risk of system runaway. 5-3.DS5 series manual adjustment mode Manual adjustment mode is to manually set the relevant parameters of self-tuning in the self-tuning mode, so as to solve the problems in some specific occasions, such as the failure of upper computer self-tuning, the failure of self-tuning and the failure of self-tuning.

  • Page 67: 5-4.Ds5 Adaptive Mode

    About 500 30 50 times 200 300 2000 2500 300 400 More than 50 About 200 About 3000 200 300 100 400 times Note: the data in this table is the structure of 60/80 motor synchronous belt as an example. 5-4.DS5 adaptive mode When the responsiveness requirement is not high, it can be used quickly only by setting functional parameters such as gear ratio and enable, so as to save servo adjustment time.

  • Page 68: Recommended Inertia Ratio Under Default Parameters

    parameter Default setting Small inertia / Name Effect value range large inertia gain coefficient deceleration response Rotor inertia Increasing the servo rigidity and coefficient enhancing the anti disturbance ability P2-16 100 200 adaptive mode can solve the running jitter motor The increase will slightly improve the Adaptive control inertia capacity of the belt and has little...

  • Page 69: Estimation Of Inertia Ratio

    Modify P2-08 = 50 P2-12 = 40 P2-07 = 50 under default parameters 80 times inertia load gain parameter Under the default parameter, modify P2-08 = 40 P2-12 = 50 P2-07 = 50 P2-05 = 200 P2-10 = 1000 5-5. Estimation of inertia ratio 5-5-1.Steps for estimating inertia ratio Before inertia identification, please use F1-00 jog function to confirm the servo rotation direction.
  • Page 70 inertia ratio is confirmed and the load can operate stably, it is considered to correct whether the rigidity grade P0-07 meets the rigidity and responsiveness required by the equipment. (3) In the above two cases, after confirming the approximate load inertia ratio, start the next operation; Fine tuning of rigidity and responsiveness.

  • Page 71: 5-6.Gain Adjustment Application Function

    The most common failures are: using the panel to estimate the inertia ratio to display ERR-1 (motor torque saturation) and using the upper computer software to estimate the inertia ratio to prompt "inertia estimation failed, please reconfigure the travel! The motor reaches the torque limit". Both cases are caused by the maximum torque output when estimating the inertia.
  • Page 72 Defaul Modif Effec Parameter Meaning setting 6 - large position deviation 7 - position command 8 - positioning completed 9 - high actual speed A - position command + actual speed Gain switching waiting time Servo P1-15 once Gain switching level threshold Servo P1-16 once...
  • Page 73 4 Description of gain switching conditions Gain switching condition setting Related parameter P1-17 P1-16 P1-15 thresho Grade condition Diagram Wait 14.1 threshol time Hystere sis loop First gain Invalid Invalid invalid fixed Valid Invalid Invalid Terminal switching Gain switching using G-SEL signal: G-SEL signal is invalid, group 1 gain;...
  • Page 74 Gain switching condition setting Related parameter P1-17 P1-16 P1-15 thresho Grade condition Diagram Wait 14.1 threshol time Hystere sis loop Valid Valid Valid Speed command When the absolute value of the speed command exceeds (level + hysteresis) [RPM] at the last first gain, switch to the second gain; At the last second gain, the absolute value of the speed command is less than (level - hysteresis) [RPM], and then wait until P1-15 remain in this state, return to the first gain.
  • Page 75 Gain switching condition setting Related parameter P1-17 P1-16 P1-15 thresho Grade condition Diagram Wait 14.1 threshol time Hystere sis loop Valid r Valid Speed Invalid command high and low speed In the last first gain, when the absolute value of the speed command exceeds (level- threshold hysteresis) [RPM], switch to the second gain, and the gain gradually changes.
  • Page 76 Gain switching condition setting Related parameter P1-17 P1-16 P1-15 thresho Grade condition Diagram Wait 14.1 threshol time Hystere sis loop Valid Invalid Invalid Position command Valid only in position mode (other modes are fixed as the first gain): In the last first gain, if the position command is not 0, switch to the second gain; At the last second gain, if the position command is in the state of 0, it returns to the first gain when the waiting time P1-15 remains in this state.

  • Page 77: Solution Of Vibration Problem

    Gain switching condition setting Related parameter P1-17 P1-16 P1-15 thresho Grade condition Diagram Wait 14.1 threshol time Hystere sis loop When the absolute value of the actual speed exceeds (level + hysteresis) [RPM] at the last first gain, switch to the second gain; At the last second gain, the absolute value of the inter speed is less than (level- hysteresis) [RPM], and then wait until P1-15 remain in this state, return to the first gain.

  • Page 78: The Servo And Mechanical Connections Themselves Produce Resonance

    mechanical resonance. If the high-frequency noise is generated due to the gradual increase in the rigidity level adjustment process, the vibration is caused by excessive gain, and the current rigidity level is the upper limit value of the mechanism. 5-7-1. The servo and mechanical connections themselves produce resonance Resonance can be solved by reducing the gain or setting a notch filter.
  • Page 79 Whether 'Fxxxx' or 'F ---' is displayed, you can continue to click [Inc] and [Dec] to find the resonance frequency again. If the resonance frequency is found, you can long press [Enter] to set the resonance frequency displayed on the interface to the notch filter in the driver. Mechanical characteristic analysis ...

  • Page 80: Vibration Caused By Excessive Gain

    Then set the measured resonance frequency; If it is set on the parameter page, the corresponding notch switch and notch frequency need to be set. If the first notch is used, P2-69.0 = 1 and P2-71 = 648 should be set. 5-7-2.

  • Page 81: Alarm List

    6.Alarm list Type Code Description Reasons Solutions EEEE1 (1) Stable power supply to ensure (1) Voltage fluctuation the stability of power supply EEEE2 of power supply is Communication error voltage. EEEE3 large, and low voltage EEEE between panel and (2) after repower on the driver, if leads to failure of panel the alarm cannot be removed, refresh;...
  • Page 82 Setting values are not Parameter range E-021 within the prescribed Check parameters and reset them beyond limit range Conflict of TREF or E-022 Parameter conflict VREF Function P0-01=4, P3-00 set to 1 will alarm Settings Error setting of custom Sampling channel output trigger channel E-023...
  • Page 83 discharge starts, U-05 = 660 discharge ends;) (2) Increasing Acceleration and Deceleration Time (3) Reducing load inertia (4) Reduce start-stop frequency (5) Replacement of larger power drivers and motors Check the regenerative resistor and Brake resistance replace the external resistor with the damage or excessive appropriate resistance value.
  • Page 84 voltage regulator is recommended. (2) Replacement of larger capacity transformers Instantaneous power Re-energize after voltage failure stabilization The AC gear of the multimeter machine (U0-05 ≤ measures the input value of the 150V) servo LN (R/S/T), which is 220V ± 380V power supply 10% of the normal value.
  • Page 85 reduction. (1) Enhance ventilation measures to reduce ambient temperature; Excessive ambient (2) Check whether the fan rotates temperature when the servo is enabled; when module temperature U-06 ≥45℃, the fan opens. Fan damage Replace the fan Check whether the motor Alarm when motor...
  • Page 86 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 Encoder fault motor shaft slowly by hand to see if value U-10 changes...
  • Page 87 (1) Measure whether the UVW phase resistance of the motor is balanced. If the phase resistance is unbalanced, replace the motor. (2) Measure whether there is short circuit between UVW and PE of Driver Output the motor. If there is short circuit, Short Circuit or Motor replace the motor.
  • Page 88 Check whether grounding Abnormal Zero Value Current Sensor Damage normal or not. If alarm cannot be E-121 of U Phase Current or External Interference ruled out, please contact the agent Sampling too serious or manufacturer. Check whether grounding Abnormal Zero Value Current Sensor Damage normal or not.
  • Page 89 be considered improper selection of the motor.) Mechanisms Eliminate mechanical distortion. impacted, suddenly Reduce load weighted and distorted. Measure the voltage of the brake terminal and decide to open the brake. Motor action when It is suggested to use servo BK motor brake signal to control the brake lock.
  • Page 90 There are servo cross test or motor empty shaft on site, F1-01 trial operation, F1-00 jog run can not Driver motor rotate uniformly; hardware failure; Replace the new driver or motor and send the malfunction machine back to the manufacturer for repair. Eliminate factors mechanical distortion.
  • Page 91 10% of the normal value. If the power supply voltage is more than 220V+10% (380V+10%), check the power supply voltage; if the power supply voltage is normal, then in servo BB state, monitor U0-05, the voltage measured by the multimeter * 1.414 <...
  • Page 92 information. Battery specification: No.5 battery, 3.6V (model CP-B- BATT, CPT-B-BATT) (1) When the absolute value motor is powered off, the memory position depends on the battery on the encoder cable. Once the encoder cable motor disconnected, the power supply can absolute servo not be carried out, which will lead...
  • Page 93 The number of consecutive errors in the Restart the drive; encoder data update Check the arrangement of sequence is greater than transmission cables to ensure Timing error the value in P0-68 (set that strong and weak currents E-240 fetching encoder the number of errors P0- are wired separately;...
  • Page 94 function Overrun signal If you do not want to alarm detected and the overrun immediately when the overrun E-260 Over range alarm processing mode was occurs, you can change the overrun configured to alarm signal processing mode. (1) When the motor is in forward rotation, encounters...
  • Page 95 not less than 300 rpm for three consecutive times after the completion of the pulse instruction, the driver will alarm. (4) Contact manufacturers for technical support Excessive motor Set P2-03.0 to 0; E-265 Mechanical vibration vibration (2) Check motor installation (1) Check the disconnection of encoder;...
  • Page 96 parameters in the motor determines that the driver and motor encoder, are matched and can be used parameter is 0 (this is together, it can be used through P0- parameters is damaged attribute 53 (read the motor parameter alarm motor encoder), and P0- shielding bit) and correctly set P0- 33 is n.0000 33 motor code...

  • Page 97: Servo Parameter List

    7.Servo parameter list 7-1.Control parameter list 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 98 1-IO enable 2-Software Enablation 3-XNET Bus Enablation 20P1~20P7:15 △ 04 Rigidity grade 0~63 1|3|5|6|7|8|9|10 >=21P5:10 Default Suitable Function Unit Range Effective value mode Definition of rotation direction 1|3|5|6|7|8| ● 0- positive mode 9|10 1- negative mode 1|3|5|6|7|8| First inertia ratio 0~50000 √...
  • Page 99 Denominator of Electronic Gear 0~65535 ○ pulse frequency corresponding to rated 100Hz 1000 1~10000 ○ speed speed command pulse filter time 0.01ms 0~10000 ○ 0.01 pulse offset limit 2000 0~65535 √ 5|6|10 turns Type selection of discharge resistance (version 3640 and before) 0 - built in 1 - external 1|3|5|6|7|8|...
  • Page 100 Function Unit Default value Range Effective Suitable mode 0 - do not mask overtravel alarm Servo Alarm Stop Mode ○ 1|3|5|6|7|8|9|10 0-Inertial Operation Stop 2-deceleration stop 30 stop timeout time 20000 0~65535 ○ 1|3|5|6|7|8|9|10 31 Deceleration stop time 0~5000 ○ 1|3|5|6|7|8|9|10 33 Set the motor code 0~ffff...

  • Page 101: P1-Xx

    Function Unit Default value Range Effective Suitable mode thermocouple 1 - wire break alarm of shielded thermocouple Set as the 74 Blocking alarm time 0~65535 √ 1|3|5|6|7|8|9|10 model 75 Blocking alarm speed 5~9999 √ 1|3|5|6|7|8|9|10 Absolute value encoder battery undervoltage alarm switch 0 - used as absolute encoder ●...

  • Page 102: P2-Xx

    Function Unit Default value Range Effective Suitable mode 10 Speed feedforward gain 0~300 √ 5|6|7|8|9|10 11 Speed feedforward filter time 0.01ms 0~10000 √ 5|6|7|8|9|10 14 Gain switching mode setting 0~0x00A2 √ 1|2|3|4|5|6|7|8|9|10 15 Gain switching waiting time 0~1000 √ 1|2|3|4|5|6|7|8|9|10 16 Gain switching level threshold 0~20000 √...
  • Page 103 Function Unit Default value Range Effective Suitable mode 1-ON Others 1 Adaptive level 01.1 0-high response Set as the model ● 1|3|5|6|7|8|9|10 1-low noise Auto-tuning mode 1-soft 02.0 2-fast positioning √ 1|3|5|6|7|8|9|10 3-fast positioning, control the overshoot Load type (valid only during auto-tuning) 02.2 √...
  • Page 104 Function Unit Default value Range Effective Suitable mode adaptive mode motor Maximum Speed of Inertia 0~65535 √ 1|3|5|6|7|8|9|10 Identification and Internal Instruction Auto-tuning Initial Inertia Ratio of Inertia 1~20000 √ 1|3|5|6|7|8|9|10 Identification Adaptive mode bandwidth Set as the model 1~100 ○...
  • Page 105 Function Unit Default value Range Effective Suitable mode Active Vibration Suppression 1~1000 √ 1|3|5|6|7|8|9|10 gain Active Vibration Suppression 0~300 √ 1|3|5|6|7|8|9|10 damping Active Vibration Suppression -5000~5000 √ 1|3|5|6|7|8|9|10 frequency 1 Active Vibration Suppression -5000~5000 √ 1|3|5|6|7|8|9|10 frequency 2 The second group of active 1|2|3|4|5|6|7|8|9| 0~1000 √...

  • Page 106: P3-Xx

    Function Unit Default value Range Effective Suitable mode Fifth notch frequency 5000 50~5000 √ 1|3|5|6|7|8|9|10 Fifth notch attenuation 0.1dB 50~1000 √ 1|3|5|6|7|8|9|10 Fifth notch band width 0~1000 √ 1|3|5|6|7|8|9|10 P3-XX Default Function Unit Range Effective Suitable mode value 05 Preset speed 1 -9999~9999 √...

  • Page 107: P4-Xx

    Default Function Unit Range Effective Suitable mode value 28 Internal forward torque limit 0~1000 √ 1|2|3|4|5|6|7|10 29 Internal reverse torque limit 0~1000 √ 1|2|3|4|5|6|7|10 30 external forward torque limit 0~1000 √ 1|2|3|4|5|6|7|10 31 external reverse torque limit 0~1000 √ 1|2|3|4|5|6|7|10 32 Brake torque 0~1000 √...
  • Page 108 Default Effect Suitable Function Unit Range value mode Step change mode is set for the given mode of internal position 0 - step change when the signal is on, which can be cycled 1 - the rising edge of the signal changes steps and is executed in one step 2 - the rising edge of the signal starts, and all are executed in sequence without circulation...

  • Page 109: P5-Xx

    Default Effect Suitable Function Unit Range value mode First segment speed 0.1rpm 0~65535 √ First segment acceleration time 0~65535 √ First segment deceleration time 0~65535 √ Adjusting time 0~65535 √ 10+(n- segment 1 to 35 pulse parameters (n is segment 1)*7~11 √...
  • Page 110 Default Effect Function Unit Range Suitable mode value trigger conditions Custom Output 2 Trigger Condition 0~ffff √ 1|3|5|6|7|8|9|10 Related to Set a value that compares with the trigger -9999~ trigger √ 1|3|5|6|7|8|9|10 condition of custom output 2 9999 conditions Select custom output 2 mode √...
  • Page 111 Default Effect Function Unit Range Suitable mode value 22.0~1 /P-OT: Forbidden forward driving 0~ff √ 1|3|5|6|7|8|9|10 22.2 SI terminal filtering time √ 1|3|5|6|7|8|9|10 23.0~1 /N-OT: forbidden reverse driving 0~ff √ 1|3|5|6|7|8|9|10 23.2 SI terminal filtering time √ 1|3|5|6|7|8|9|10 24.0~1 /ALM-RST: alarm clear 0~ff √...
  • Page 112 Default Effect Function Unit Range Suitable mode value 35.2 SI terminal filtering time √ 36.0~1 /I-SEL: inertia ratio switching 0~ff √ 1|3|5|6|7|8|9|10 36.2 SI terminal filtering time √ 1|3|5|6|7|8|9|10 /COIN_HD: Location Completion Maintenance 00: No output to terminal 01: Output positive signal from SO1 terminal 02: Output positive signal from SO2 terminal...

  • Page 113: P6-Xx

    Default Effect Function Unit Range Suitable mode value /XNETERR: Xnet error signal 0~ffff √ /MRUN: internal position mode motion 0000 0~ffff √ starting signal /V-RDY: speed reached 0000 0~ffff √ 3|4|7 /USER1: user-defined output 1 0000 0~ffff √ 1|3|5|6|7|8|9|10 /USER2: user-defined output 2 0000 0~ffff √...

  • Page 114: P7-Xx

    Adaptive Mode Speed Loop Gain (Large According to 0.1Hz 1~65535 ○ 1|3|5|6|7|8|9|10 Inertia) the model Adaptive mode inertia ratio (Large According to 0~10000 ○ 1|3|5|6|7|8|9|10 inertia) the model Gain of adaptive mode speed observer According to 10~1000 ○ 1|3|5|6|7|8|9|10 (large inertia) the model Maximum Inertia Ratio of Adaptive According to...
  • Page 115 Default Function Unit Range Effective Suitable mode value 12 2M 13 3M 14 4M 15 5M 16 6M RS485 stop bit 01.2 0 2 bits Stop bit ○ 1|3|5|6|7|8|9|10 2 1 bit RS485 parity bit 0-no parity 01.3 Parity bit ○...
  • Page 116 Default Function Unit Range Effective Suitable mode value 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...

  • Page 117: P8-Xx

    Default Function Unit Range Effective Suitable mode value 2 1 bit RS232 parity bit 0-no parity 11.3 Parity bit √ 1|2|3|4|5|6|7|10 1-odd parity 2-even parity Return to zero direction (bus) -9999~99999 √ Filtering time after return to ScanA Cycle 1~65535 √...
  • Page 118 Default Function Unit Range Effective Suitable mode value 2- return to origin mode 2 3 - return to origin mode 3 4 - return to origin mode 4 5 - return to origin mode 5 6 - return to origin mode 6 7 - return to origin mode 7 Deceleration mode in case of 11.3...
  • Page 119 7-2.Monitoring status parameters U0-XX Code Content Unit U0-00 servo motor speed U0-01 Input speed instruction U0-02 Torque instruction % rated U0-03 Mechanical angle 1° U0-04 Electric angle 1° U0-05 Bus voltage U0-06 IPM temperature 0.1℃ U0-07 Torque feedback % rated U0-08 0000 9999 *1 pulse offset...
  • Page 120 Code Content Unit U0-42 Average output power U0-43 Instantaneous thermal power U0-44 average thermal power U0-49 position feedforward 1 command unit U0-50 speed feedforward U0-51 torque feedforward % rated U0-52 Instantaneous Bus Capacitor Power U0-53 Average Bus Capacitor Power U0-54 Encoder error count U0-55 Discharge power of instantaneous regenerative braking...
  • Page 121 Code Content Unit U0-88 Read and write motor parameter result flag U0-89 Real-time speed feedback (displaying range -99.99~99.99rpm) 0.01rpm U0-90 Maximum deviation of enabling position under static state U0-91 Multi-turn absolute motor circles U0-94 0000 65536 *1 U0-95 Encoder feedback position after 0000 65536 *2^16 Encoder pulse calibration...
  • Page 122 Code Content Unit U1-18 Recent 4th alarm code U1-19 Recent 5th alarm code U1-20 Recent 6th alarm code U1-21 Recent 7th warning code U1-22 Recent 8th warning code U1-23 Recent 9th warning code U1-24 Recent 10th warning code U1-25 Recent 11 warning code U1-26 Recent 12...
  • Page 123 Code Content Unit power in the process of power on) U2-18 Turn 0000 9999 *1 Cumulative turns of motor U2-19 Turn 0000 9999 *10000 U2-20 Device serial no.: low 16-bit U2-21 Device serial no.: high 16-bit U2-22 Firmware generation date: year U2-23 Firmware generation date:month/day U2-24...

  • Page 124: 7-3.Auxiliary Parameter List

    7-3.Auxiliary parameter list Function code Explanation F0-00 Clear the alarm F0-01 Restore to out of factory settings F0-02 clear the position offset F0-07 Panel inertia identification F0-08 Panel external command self-tuning F0-09 Panel internal command self-tuning F0-10 Panel vibration suppression 1 F0-11 Panel vibration suppression 2 F0-12...

  • Page 125: Appendix

    Appendix Appendix 1.Parameter Modbus address list Parameter address  Parameter Modbus address Notes Modbus address is added 1 in turn from 0x0000, for example, P0-00~P0-xx 0x0000~0x0063 Modbus address of P0-23 is 0x0017 Modbus address is added 1 in turn from 0x0100, for example, P1-00~P1-xx 0x0100~0x0163 Modbus address of P1-10 is 0x010A...

  • Page 126: Appendix 3.Servo General Mode Parameters

    the manual to confirm that there is no obvious damage to the equipment. When there is no obvious damage, connect the servo driver and servo motor, and connect the  power supply. Note that the power supply cannot be wrongly connected. The U, V and W connectors of the power cable must be connected with the U, V and W terminals on the servo driver one by one, and cannot be crossed, otherwise the servo motor will be locked or fly.
  • Page 127 P5-47 alarm output /ALM Output alarm function through the setting of SO terminal, the SO2 terminal outputs dynamic closing signal by default P7-00 RS485 station no. Communication setting related parameters P7-01 communication setting P7-02 RS485 communication protocol Common parameters of external pulse position mode Parameter Essentials P0-01 control mode selection...
  • Page 128 position P5-35 step change signal / GHGSTP Common terminal function assignment P5-32 pause current section signal / INHIBIT P5-31 skip current segment number / Z-CLAMP P4-00 number of Z-phase signals after leaving the Internal position homing setting parameters limit switch P4-01 speed of hitting proximity switch P4-02 speed of leaving proximity switch P5-28 locating reference origin at forward rotation...

  • Page 129: Appendix 4.Version 3770 New Functions

    Internal speed control Parameter Essentials P3-06 internal set speed 2 P3-07 internal set speed 3 P5-28 internal speed selection / SPD-A The combination of terminals determines the corresponding P5-29 internal speed selection / SPD-B section speed P5-27 internal speed direction selection / Switch direction, the default is n.0000 SPD-D If the direction changing is set through SI2 terminal, P5-27...
  • Page 130 The internal speed command S-shaped curve filtering function is added, and the parameter P3-11 is  added. Add Z-phase output function of multiturn motors  Add parameter P8-25. When powered on, the panel directly displays speed or torque feedback  according to group P parameter settings: P8-2 = 0: normal display, as before, power on to display 'BB' or 'run', the default setting;...
  • Page 132 WUXI XINJE ELECTRIC CO., LTD. 4th Floor Building 7,Originality Industry park,LiyuanDevelopmentZone,Wuxi City, Jiangsu Province 214072 Xinje wechat ID Tel: 400-885-0136 Fax: 86-510-85111290...

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