Page 1 DS5L2 series servo driver User manual WUXI XINJE ELECTRIC CO., LT Data No. SC5 14 20240621 1.1.3 - 1 -...
Page 2: Declaration Of Liability
Basic explanation  Thank you for purchasing Xinje DS5L2 series servo driver products.  This manual mainly introduces the product information of DS5L2 series servo driver and MS series servo motor.  Before using the product, please read this manual carefully and connect the wires on the premise of fully understanding the contents of the manual.
Page 3: Safety Precautions
Safety Precautions Before using this product, please read this part carefully and operate after fully understanding the use, safety and precautions of the product. Please connect the product correctly on the premise of paying great attention to safety. The problems that may arise during the use of the product are basically listed in the safety precautions, and all are indicated by the two levels of attention and danger.
Page 4: Maintenance And Inspection
Maintenance and inspection 1. Don't touch the inside of servo driver and servo motor, otherwise it may cause electric shock. 2. When the power is started, it is forbidden to remove the driver panel, otherwise it may cause electric shock. 3.
Page 5: Table Of Contents
2.2.2 Installation cautions ........................21 2.2.3 Installation environment ........................22 2.3 S .......................... 23 ERVO CABLE INSTALLATION 2.3.1 Cable selection ..........................23 2.3.2 Xinje cable specification ........................24 2.4 S ..........................26 ERVO DRIVER DIMENSION 2.5 S ........................... 28 ERVO MOTOR DIMENSION 3 SERVO SYSTEM WIRING ..........................
Page 6 4.2.5 Group U monitor parameter ......................53 4.2.6 Group F auxiliary function parameters ....................55 5 OPERATION OF SERVO SYSTEM .......................59 5.1 C ....................59 ONTROL MODE SELECTION AND SWITCHING 5.1.1 Control mode selection ........................59 5.1.2 Control mode switching ........................60 5.2 B ..........................
Page 7 8.3 C ........................183 OMMUNICATION PROTOCOL 8.3.1 Character structure ........................183 8.3.2 Communication data structure ......................183 8.4 C ........................185 OMMUNICATION EXAMPLE 8.4.1 Communication with Xinje PLC ...................... 185 APPENDIX ..............................186 1. G ........................186 PPENDIX ROUP PARAMETERS P0-XX: ..............................186 P1-XX: ..............................189 P2-XX: ..............................191...
Page 8 2. UX-XX ....................202 PPENDIX MONITORING PARAMETERS U0-XX: ..............................202 U1-XX: ..............................203 U2-XX: ..............................204 U3-XX: ..............................204 U4-XX: ..............................204 3. FX-XX ..................205 PPENDIX AUXILIARY FUNCTION PARAMETERS 4. M ........................206 PPENDIX ODBUS ADDRESS LIST 5. Q&A ............................211 PPENDIX 6.
Page 9: Confirmation On Product Arrival
Is the motor code the same with the Check the motor code marked on the nameplates of the code in drive? servomotor and the parameter U3-70 on the servo drive. If any of the above is faulty or incorrect, contact Xinje or an authorized distributor.
Page 10: Selection Of Servo System
Selection of servo system 1.1 Selection of servo driver 1.1.1 Model name 1.1.2 Description of each part...
Page 11: Performance Specification
1.1.3 Performance specification Servo unit DS5 series servo driver Applicable encoder Standard: 19-bit communication encoder DS5L2-2□P□-PTA: single phase/three phase AC200-240V, 50/60Hz Input power supply DS5L2-4□P□-PTA: three phase AC380-440V, 50/60Hz Three-phase full-wave rectifier IPM PWM control sinusoidal current Control mode drive mode Using temperature -10~+40 ℃...
Page 12: Servo Motor Selection
1.2 Servo motor selection 1.2.1 Model name MS6 motor  1.2.2 Description of each part Encoder frame flange Output Shaft (Drive Shaft)
Page 13: Axial Force And Radial Force
1.2.3 Axial force and radial force Base no. 40ST 60ST 80ST 100ST 110ST 130ST 180ST 220ST/265ST Axial 147N ≤200N 250N 300N 400N ≤500N force Radial 245N 392N 500N 500N 600N 800N 1000N force...
Page 14: Cable Selection
Power cable  Brake cable explanation  For 80 and below flange motors with suffix S01, the brake cable model shall be selected:  CB-P03-length. The standard wiring length of Xinje is 3m, 5m, 8m, 10m, 12m, 16m and 20m. ...
Page 15: Description Of Each Part
1.3.2 Description of each part Encoder cable  (1) Pin definition of encoder on servo driver side Pin definition Connector appearance Definition 485-A 485-B (2) Cable connection of encoder on motor side Motor model Connector Pin definition Name Battery + Battery - Shielding wire...
Page 16 Motor model Connector Pin definition Name Shielding wire 485-B 485-A MS6-180 base B2 motor Battery - Battery + 10-15 Battery box description: 1) The encoder including the cable definition of battery +, battery- is for the absolute motor, and the non-absolute motor cable has no such pin.
Page 17 (2) Power cable connection on motor side Motor model Connector Pin definition Name MS6-40 base B3 motor Forward outlet reverse outlet (user’s view) Name MS6-60, 80 base B3 motor Forward outlet reverse outlet (user’s view) Name MS6G-130 base non brake motor Name MS6G-130 base brake motor Name...
Page 18: Selection Of Other Accessories
1.4 Selection of other accessories When the servo motor is driven by the generator mode, the power returns to the servo amplifier side, which is called regenerative power. The regenerated power is absorbed by charging the smooth capacitor of the servo amplifier. After exceeding the rechargeable energy, the regenerative resistance is used to consume the regenerative power.
Page 19: Installation Of Servo System
Installation of servo system 2.1 Servo driver installation 2.1.1 Installation site  Please install it in the installation cabinet without sunshine or rain.  Don't use this product near corrosive and flammable gas environments such as hydrogen sulfide, chlorine, ammonia, sulfur, chlorinated gas, acid, alkali, salt, etc. ...
Page 20: Servo Motor Installation
Cooling  As shown in the figure above, allow sufficient space around each servo drive for cooling by cooling fans or natural convection. Side-by-side Installation  When install servo drives side by side as shown in the figure above, make at least 10mm between and at least 50mm above and below each servo drive.
Page 21: Installation Cautions
Storage temperature -20℃~60℃ Storage humidity 20%~90%RH (no condensation) IP65 (MS5 motor, MS6 non 40/60/80 base motor) Protection level IP66 (MS6-40/60/80 base motor) IP67 (MS6-B3/B4, MS6G motor) 2.2.2 Installation cautions Description Item Before installation, please wipe the "rust-proof agent" of the extension end of ◆...
Page 22: Installation Environment
When using in places where water droplets are dropping, please use it on the basis of confirming the protection level of servo motor. (except for the shaft-through part) When oil droplets will drip into the shaft-through part, please specify the servo motor with oil seal. Conditions for use of servo motors with oil seals: Make sure the oil level is below the lip of the oil seal when using.
Page 23: Servo Cable Installation
(2.3.2 Xinje cable specification) in strict accordance with the specifications given by Xinje. If the cable is used unconventional occasions, please select the cable according to the actual working conditions to be superior to the existing specifications of Xinje.
Page 24: Xinje Cable Specification
 Select cables (special cables) that meet the use conditions. 2.3.2 Xinje cable specification 1. Material composition of Xinje cable Cross section of cable (encoder, power cable), corresponding introduction of wire skin material, wire diameter, wire core material shielding material, etc.
Page 25 2. Cable diameter specification Encoder cable diameter Power cable diameter Whole Whole Length Base cable Single cable diameter cable Single cable Type Type diameter diameter diameter (mm (mm) (mm) Normal Normal / 80 and 5.8/6.4 High 7.2/7.0 4*0.75mm² without below flexibility battery box/with...
Page 26: Servo Driver Dimension
2.4 Servo driver dimension DS5L2-20P1-PTA, DS5L2-20P2-PTA, DS5L2-20P4-PTA Unit: mm  163.6 33.25 DS5L2-20P7-PTA Unit: mm  43.25 43.25 174.6 DS5L2-21P0-PTA, DS5L2-41P0-PTA, DS5L2-41P5-PTA Unit: mm  174.6 190.3...
Page 27 DS5L2-21P5-PTA, DS5L2-22P3-PTA, DS5L2-22P6-PTA,  DS5L2-42P3-PTA, DS5L2-43P0-PTA Unit: mm 190.3...
Page 28: Servo Motor Dimension
2.5 Servo motor dimension 40 series motor installation dimensions Unit: mm  MS5 motor  25±0.5 -0.1 LA±1 Motor model Inertia level Normal With brake MS5S-40STE-C□0030□□-20P1-S01/S02 89.5 Low inertia motor  □ 40 LA±1 Motor model Inertia level Normal With brake MS6H-40C□30B□1-20P1 122.9 High inertia...
Page 29 60 series motor installation dimensions Unit: mm  30±0.5 11 0 -0.1 LA±1 Motor model Inertia level Normal With brake MS5S-60STE-C□00630B□-20P2-S01/S02 Low inertia MS5S-60STE-C□01330B□-20P4-S01/S02 MS5H-60STE-C□00630B□-20P2-S01/S02 High inertia MS5H-60STE-C□01330B□-20P4-S01/S02 MS-60STE-T01330-20P4-D01 0.06 A ∅ 70 0.04 A 0.02 A 2 : 1 M5深10 4- ∅...
Page 30 4- ∅5.5 ∅70 4.2 8 11 0 -0.1 LA±1 Motor model Inertia level Normal With brake MS6H-60CM30B□4-20P4 80.2 106.95 High inertia 80 series motor installation dimensions Unit: mm  MS5/MS motor  35±0.5 15,5 -0,1 LA±1 Motor model Inertia level Normal With brake MS5S-80STE-C□02430B□-20P7-S01/S02...
Page 31 4-Ø6.50 0.06 A 0.02 A Ø90 15.5 0.04 A LA±1 Motor model Inertia level Normal With brake MS6S-80C□30B□3-20P7 107.1 132.1 Low inertia MS6H-80C□30B□3-20P7 107.1 132.1 High inertia MS6S-80C□30B□3-21P0 117.6 142.6 Low inertia MS6H-80C□30B□3-21P0 High inertia ∅90 4- ∅6.50 M5 10 0.50 15.50 LA±1...
Page 32 110 series motor installation dimensions Unit: mm  MS5/MS motor  15.5 0 -0.1 55±0.5 a110 LA±1 Motor model Inertia level Normal With brake MS5S-110ST-C□03230B□-21P0-S01 MS5S-110ST-TL03230B□-21P0-S01 MS5S-110ST-C□04830B□-21P5-S01 Low inertia MS5S-110ST-TL04830B□-21P5-S01 MS5S-110ST-C□06030B□-21P8-S01 MS-110ST-TL06030B□-21P8-S01 MS-110ST-T04030B-21P2 MS-110ST-T05030B-21P5 MS6 motor  0.02 A 0.02 A 4- ∅...
Page 33 130 series motor installation dimensions Unit: mm  MS5/MS motor  18.5 0 -0.1 57±0.5 a130 LA±1 Motor model Inertia level With Normal brake MS5G-130STE-C□05415B□-20P8-S01 117.5 MS5G-130STE-TL05415B□-20P8-S01 134.5 164.5 MS5G-130STE-C□07220B□-21P5-S01 133.5 162.5 MS5G-130STE-C□07220B□-41P5-S01 133.5 162.5 MS5G-130STE-TL07220B□-21P5-S01 149.5 179.5 MS5G-130STE-TL07220B□-41P5-S01 149.5 179.5 MS5G-130STE-C□11515B□-21P8-S01 159.5...
Page 34 LA±1 Motor model Inertia level Normal With brake MS5G-130STE-C□06025B□-21P5-S01 123.5 153.5 Medium inertia MS5G-130STE-C□10015B□-21P5-S01 146.5 176.5 MS6 motor  4- ∅ 9 0.1 A ∅ 145 0.03 A 0.06 A □ 130 LA±1 Motor model Inertia level Normal With brake MS6H-130C□15B□2-20P8 MS6H-130C□15B□2-40P8 MS6H-130TL15B□2-20P8...
Page 35 MS6G-130TL15B□2-□1P5 MS6G-130C□15E□2-□2P3 181.5 210.5 MS6G-130TL15E□2-□2P3 0.1 A 4- ∅9 ∅ 145 2 : 1 0.025 0.06 A LA±1 Motor model Inertia level Normal With brake MS6G-130C□15B□2-□2P3 181.5 210.5 Medium inertia MS6G-130TL15B□2-□2P3 180 series motor installation dimensions Unit: mm  MS5 motor ...
Page 36 MS6 motor  0.1 A 0.08 A 0.03 A □ 180 LA±1 Motor model Inertia level Normal With brake MS6H-180C□15B□2-43P0 MS6H-180TL15B□2-43P0 High inertia MS6H-180C□15B□2-44P4 MS6H-180TL15B□2-44P4 0.1 A 0.08 A 0.03 A □ 180 LA±1 Motor model Inertia level Normal With brake MS6H-180C□15B□2-45P5 MS6H-180TL15B□2-45P5 High inertia...
Page 37 0.12 A 0.08 A 0.03 A ◻ 220 LA±1 Motor model Inertia level Normal With brake MS-220STE-TL70015B□-411P0-XJ MS-220STE-TL96015B□-415P0-XJ MS5G motor  0.12 A 0.03 A 0.08 A ◻ 220 LA±1 Motor model Inertia level Normal With brake Medium MS5G-220STE-□□40015B-422P0-S01 inertia...
Page 38: Servo System Wiring
Servo system wiring Servo driver interface wiring recommended wire, as shown in the following table: Ground cable Power cable Power cable Encoder cable Driver model diameter -diameter diameter mm² diameter mm² mm² mm² DS5L2-20P1-PTA 0.75 0.75 0.2 (7-core) 0.75 DS5L2-20P2-PTA 0.75 0.75 0.2 (7-core)
Page 39: Main Circuit Wiring
3.1 Main circuit wiring 3.1.1 Servo driver terminal arrangement 3.1.2 Main circuit terminal DS5L2-20P1-PTA, DS5L2-20P2-PTA, DS5L2-20P4-PTA  Terminal Function Explanation Power supply input Single phase AC 200~240V, 50/60Hz of main circuit Vacant terminal ● Connect the motor Motor terminals U, V, W, PE Note: The ground wire is on the terminal, please check it before power on.
Page 40 DS5L2-20P7-PTA  Terminal Function Explanation Power supply input Single phase AC 200~240V, 50/60Hz of main circuit Vacant terminal ● Connect the motor Motor terminals U, V, W, PE Note: the ground wire is on the terminal, please check it before power on! Internal regenerative Short P+ and D, disconnect P+ and C resistor...
Page 41: Cn0, Cn2 Terminal
RS232 port default communication parameters: baud rate 19200bps, data bit is 8-bit, stop bit is 1-bit, even parity. Please use the dedicated cable provided by Xinje Company for communication. RS232 communication is full duplex communication, and the TXD (pin 1) of the driver 232 communication port needs to be connected to the RX pin of the USB converter, while the RXD (pin 2) of the port needs to be connected to the TX pin of the USB converter.
Page 42 Modbus station no. Default Parameter Function Range Modification Effective setting P7-10 Modbus station no. 1~255 Servo OFF Immediately CN4 (RS-485 communication)  Name 485-A 485-B 485-GND LAN port (On the drive) Other Reserved RS485 port default communication parameters: baud rate 19200bps, data bit is 8-bit, stop bit is 1-bit, even parity.
Page 43: Classification And Function Of Signal Terminals
3.2 Classification and function of signal terminals 3.2.1 DIP switch Note: A driver with a dip switch that supports collector 24V and differential 5V functions. Dial 1 represents pulse input voltage switching. Dial 2 represents the switching of pulse direction voltage. Default DIP 1 and DIP 2 are both set to OFF, corresponding to an input pulse of 24V collector.
Page 44: Input Signal
(4) If the controller is Xinje PLC, the rated current of the pulse output port is 50mA. According to this data, it can be judged that one pulse theoretically can drive at most five servos. It is recommended not to exceed 3.
Page 45: So Output Signal
Open collector type Relay type PNP 输入 PNP 输入 PNP 输入 PNP 输入 (24V power supply, PNP type) (24V power supply, PNP type) 集电极继电器集电极继电器 Upper device (NPN) servo drive Upper device (NPN) servo drive +24V +24V +24V +24V +24 V +24 V...
Page 46: Conventional Electrical Wiring Diagram For Servo System
3.3 Conventional electrical wiring diagram for servo system...
Page 47: Operate Panel
Operate panel 4.1 New servo debugging process The debugging sequence of the new machine is shown in the following flowchart: 4.1.1 Wiring inspection before power on and confirmation of surrounding environment 1. Confirm whether the power cables, encoder cables, and motor of the servo driver and servo motor are connected properly, and whether there is a short circuit in the power supply.
Page 48: Empty Shaft Trial Operation And Debugging
4.1.3 Empty shaft trial operation and debugging When the servo motor is separated from the machinery, try to use trial operation mode at low speed to confirm whether the servo motor rotates correctly. It can be operated through panel speed mode for open-loop and closed-loop jog, or through servo upper computer software XinjeServo Tuner for jog.
Page 49: Confirmation Of Motor Rotation Direction
The screen is mainly divided into 5 setting ① Jog speed P3-18: Determine the operating modules: ② Jog run: closed-loop jog operation. speed of the motor in the jog mode. ③ Test run: open-loop jog operation. ④ Start: Enable the jog mode. ⑤...
Page 50: Basic Operation
4.2 Basic operation 4.2.1 Operating panel description Button Operation STA/ESC Short press: state switch, state return Short Press: The display data increases Long press: display data increases continuously Short Press: The display data decreases Long press: The display data decreases continuously Short press: shift.
Page 51: Status Display Content
Taking the modification of P3-09 as an example:. Step Panel display Used buttons Operations No operation Press the STA/ESC key once to enter the parameter setting function Press the INC key, press it once to add 1, add the parameter to 3, and display P3-00 Press the ENTER key briefly, and the last 0 on the panel will flash...
Page 52 power on, speed feedback, unit 2: Panel display U0-07 value when power on, torque feedback, unit% Speed torque control mode  Digit display contents Digit data Display contents P5-39 When the actual speed of the motor is the same as the command speed, Same speed detection...
Page 53: Group U Monitor Parameter
4.2.5 Group U monitor parameter U0-21 input signal status  U0-21 input signal 1 distribution  Segment Segment Description Description code code /S-ON servo enable /P-CON proportion action instruction /P-OT prohibition of forward /N-OT prohibition of reverse drive drive /ALM-RST alarm reset /P-CL forward side external torque limit /N-CL reverse...
Page 54 /CLR pulse clear /CHGSTP change step /I-SEL inertia switching Note: 1.When reading through communication, the binary numbers read from right to left correspond to the position of /C-SEL, /ZCLAMP, 0 means that the position signal isn't input, 1 means that the position signal has input.
Page 55: Group F Auxiliary Function Parameters
U0-24 output signal 2 distribution  Segment Segment Description Description code code Alarm (/ALM) Speed arrived (/V-RDY) Customized output 1 Customized output 2 /Z phase /MRUN Reserved Reserved Reserved Reserved Note: 1.When reading the status through communication, the binary numbers read correspond to the/ALM and "-"...
Page 56: Panel Inertia Identification
Resume to default setting(F0-01) First, turn off the servo, and then perform the factory reset operation as follows: Set F0-01=1, press ENTER to confirm, and the parameter reset to factory has been completed without the need to power off again. Panel inertia identification (F0-07) Before inertia identification, please use the F1-00 jog function to confirm the servo rotation direction.
Page 57: Jog Run
Group F1 Function Function Description Description code code Jog run F1-00 F1-05 Software enable Test run F1-01 F1-06 Reset turns of absolute encoder Current Sampling Zero-correction F1-02 Jogging operation (F1-00) Before entering jog mode, please confirm that the motor shaft isn't connected to the machine and the driver is in the idle state of bb! During jog operation, parameters such as gain will participate in control, and the appropriateness of parameter settings can be determined based on the operating conditions.
Page 58: Current Sampling Zero-Correction
3. Current sampling zero-correction (F1-02) When the servo drive has completed self updating or the motor runs unstably for a long time, it is recommended that the user automatically adjust the current detection offset and perform the following operations while the drive is in the idle state. Press the STATUS/ESC button to exit this function, you need to power on again.
Page 59: Operation Of Servo System
Operation of servo system 5.1 Control mode selection and switching 5.1.1 Control mode selection Servo can combine two control modes and switch between them. By switching freely between mode 1 and mode 2 through the / C-SEL signal, more complex control requirements can be satisfied. User parameter Control mode Reference...
Page 60: Control Mode Switching
5.1.2 Control mode switching Control mode switching means that when the servo is enabled, that is, when the servo panel displays run, the working mode of the servo driver can be switched between mode 1 and mode 2 through the external input signal /C-CEL.
Page 61: Basic Function Setting
Inching operation can be carried out by panel group F parameters or our upper computer debugging software Xinje servo tuner. Inching operation can be divided into two modes: inching operation and trial operation. Inching operation is closed-loop control, trial operation is open-loop control, and general steps are trial operation first, and then inching operation.
Page 62: Servo Enable Setting
The steps of inching through Xinje servo tuner Open the software XinjeServo Tuner, set the jog speed P3-18, select [test run] / [jog run] button, click [ON]. Then click forward or reverse button to run. 5.2.2 Servo enable setting The servo enable signal effectively represents that the servo motor is powered on. When the servo enable signal is invalid, the motor cannot operate without power.
Page 63: Power-Off Brake (Holding Brake)
the "forward rotation" of the motor is "counter clockwise rotation" and "reverse rotation" is "clockwise rotation". (All view from the motor axis) Mode Forward running Reverse running P0-05 setting Standard setting CCW is forward P0-05=0 Reverse mode CW is forward P0-05=1 5.2.4 Power-off brake (holding brake) When the servo motor controls the vertical load, the purpose of using the "brake servo motor"...
Page 64 Note: (1) The excitation voltage of the power-off brake is 24V. (2) If the holding brake current is more than 50mA, please transfer it through the relay to prevent terminal burnt out due to excessive current. (2) Software parameter settings For the servo motor with holding brake, it is necessary to configure one SO terminal of servo driver as holding brake output /BK function, and determine the effective logic of SO terminal, that is, parameter P5-44 needs to be set.
Page 65: Brake Wiring
Note: The setting made here is the time when TGON of rotation detection is invalid when the motor is ② Abnormal state holding brake timing stopped. When the alarm/power supply interruption occurs, the motor quickly becomes non energized. During the time from gravity or inertia to the brake action, the machine will move. To avoid this, The conditions for the /BK signal to turn from on to off in the motor rotation are as follows (any of the two conditions will take effect): 1) After the servo is OFF, the motor speed is below the set value of P5-08.
Page 66 When using SO to control the brake motor with a power of 400W or less, please use SO1 terminal control and set the brake parameter P5-44=n.0001 to prevent the brake from being worn out due to excessive current burning the terminals or failure to open. When the power of the driver is 750W or above, it needs to be connected through an intermediate relay, and the connection method is as follows: Set P5-44=0001...
Page 67: Stop Mode
5.3 Stop mode 5.3.1 Stop mode setting Servo shutdown can be divided into free shutdown, deceleration shutdown, and dynamic braking (DB) shutdown according to the shutdown mode. The following is an explanation of the servo shutdown mode. Shutdown Free shutdown Deceleration shutdown DB shutdown mode...
Page 68 DB stops and remains in a free running state after stopping. DB stops and remains in DB state after stopping. Note: (1) Servo enable shut down stop mode (P0-27) When P0-27=0, if the servo OFF occurs, the motor starts to rely on free stop without any alarm. When P0-27=1, if the servo OFF occurs, the motor starts to rely on free stop and maintains the DB state after stop.
Page 69 Power on Enable DB stop 2. Stop mode in case of over travel The overtravel prevention function of servo unit refers to the safety function that the servo motor is forced to stop by inputting the signal of limit switch when the movable part of the machine exceeds the designed safe moving range.
Page 70 need connect P5-22/P5-23=n.0010 external input SI□ terminal has signal P5-22/P5-23=n.000□ Valid input SI□ terminal has no signal P5-22/P5-23=n.001□ input Parameter settings in forward limit signal /POT and reverse limit signal /NOT can not be set to the same terminal input at the same time. Direction Meet the limit Operation status...
Page 71: Position Control
5.4 Position control 5.4.1 General position control 5.4.1.1 Electronic gear ratio 1. Overview The so-called "electronic gear" function has two main applications: (1) Determine the number of command pulses needed to rotate the motor for one revolution to ensure that the motor speed can reach the required speed. As an example of 19-bit encoder motor, the pulse frequency sent by the upper computer PLC is 200kHz: Pulses per revolution set to 10000...
Page 72 P0-92~P0-95. Only when P0-11~14 = 0, the second gear ratio takes effect. (3) The resolution of DS5L2 series servo motor encoder is 524288 (19 bits) and 8388608 (23 bits). (4) The command unit doesn't represent the machining accuracy. On the basis of the mechanical accuracy, refining the instruction unit quantity can improve the positioning accuracy of the servo system.
Page 73 Confirm the command 1 command unit: 0.001mm 1 command unit: 0.1° 1 command unit: 0.02mm unit Calculate the command amount of 1 6mm/0.001mm=6000 360/0.1=3600 314mm/0.02mm=15700 revolution of load shaft Calculate the pulse number M =6000/(1/1)=6000 M=3600/(3/1)=1200 M=15700/(2/1)=7850 revolution of motor shaft pulses P0-11=6000 P0-11=1200...
Page 74 P5-01 setting Content Diagram absolute deviation is below P5-00, the COIN signal will output. After instruction finished, deviation is below P5-00 and COIN signal is output. When instruction ends motor speed is under the rotation detection speed (P5-03) and absolute deviation is less than P5-00,...
Page 75 (1) The positioning completion width P5-00 changes proportionally due to the change of electronic gear ratio, and the factory default is 11 command units. The following table is an example: The positioning completion width P5-00 Number of command Positioning completion changes proportionally with the number of pulses required for one width P5-00...
Page 76 completion signal output is, but the signal output 5000 doesn't affect the actual operation state of the motor. 3000 2000 (2) The approach signal output width can also be set independently, and its change will not affect the number of command pulses required for one revolution of the motor. (3) Please set this parameter larger than the positioning completion width.
Page 77 P5-34=n.0010 No external terminal input P5-34=n.000□ SI□ terminal has signal input Valid P5-34=n.001□ SI□ terminal has no signal input 2. /CLR signal explanation Send the pulse to the servo, execute the /CLR input signal, the servo will lock the current pulse counts, then update the current position of the encoder to the position feedback in the control, at the same time, clear the intermediate quantity of the position loop, speed loop and current loop.
Page 78 5.4.1.8 Reference origin 1. Find the reference origin To find out the physical origin of working table and make it as the coordinates origin of point position control. Users can select finding reference origin at forward or reverse side. Function setting: Default Parameter Meaning...
Page 79 homing The speed hitting the Servo P4-01 0~65535 At once proximity switch The speed leaving the Servo P4-02 0~65535 At once proximity switch Find reference origin diagram: /N-OT /P-OT Speed P4-01 Speed P4-01 ① Direction CW Direction CCW Stop mode Stop mode ②...
Page 80 Parameter Name Range Meaning Effective Default time P9-11.0=0: not find Z phase Z phase P9-11.0=1: find one Z phase Servo Servo P9-11.0 numbers P9-11.0=2: find two Z phases And so on P9-11.1=0: not trigger homing P9-11.1=1: trigger homing through SI Homing terminal (P5-28) Servo...
Page 81 Default Parameter Name Range Unit Meaning Effective time value Quantitati Servo Servo P9-20 ve pulses -9999~9999 Quantitative pulses high bit high bit New/old homing P9-21=0: old homing function Servo Power on P9-21 0, 1 function P9-21=1: new homing function again selection When the homing is about to end, this filtering time is required.
Page 82 motor Z signal (P9-11.2 = 1) (3) Positive homing, the deceleration point and origin are motor Z signal (P9-11.2 = 2) (4) Reverse homing, the deceleration point and origin are the motor Z signal (P9-11.2 = 3) (5) Forward homing, the deceleration point is the forward overtravel switch, and the origin is the forward overtravel switch or motor Z signal (P9-11.2 = 4) (6) Reverse homing, the deceleration point is the reverse overtravel switch, and the origin is the reverse overtravel switch or motor Z signal (P9-11.2 = 5)
Page 83 (d) Z phase number (P9-11.0) is 1 and mechanical offset (P9-19, P9-20) isn't 0: During the operation of continuing to search the rising edge of the deceleration point (origin) signal at low speed P9-13 (homing low speed), continue to run after encountering the rising edge of the deceleration point (origin) signal, then find the first z-phase signal and stop immediately.
Page 84 (d) Z phase number (P9-11.0) is 1 and mechanical offset (P9-19, P9-20) isn't 0: In the process of positive acceleration or positive constant speed operation, continue to run after encountering the rising edge of the origin signal, and then find the first Z-phase signal and stop immediately.
Page 85 (d) Z phase number (P9-11.0) is 1 and mechanical offset (P9-19, P9-20) isn't 0: In the process of positive acceleration or positive constant speed operation, continue to run after encountering the rising edge of the deceleration point (origin) signal, and then find the first Z-phase signal to stop immediately.
Page 86 (c) Z phase number (P9-11.0) is 1 and mechanical offset (P9-19, P9-20) is 0: During the operation of continue to search the rising edge of deceleration point (origin) signal at low speed -P9-13 (homing low speed), continue to run after encountering the rising edge of deceleration point (origin) signal, and then find the first Z-phase signal and stop immediately.
Page 87 (d) Z phase number (P9-11.0) is 1 and mechanical offset (P9-19, P9-20) isn't 0: In the process of negative acceleration or negative constant speed operation, continue to operate after encountering the rising edge of the deceleration point (origin) signal, and then find the first Z-phase signal to stop immediately.
Page 88 Z-phase signal. (d) Z phase number (P9-11.0) is 1 and mechanical offset (P9-19, P9-20) isn't 0: In the process of reverse acceleration or reverse constant speed operation, continue to operate after encountering the rising edge of the deceleration point (origin) signal, and then find the first Z-phase signal to stop immediately.
Page 89 the Z signal in the reverse direction with the high-speed -P9-12 (homing high-speed) until encountering the rising edge of the Z signal. The machine gradually decelerates in the reverse direction (i.e. returns to the forward direction) according to P9-14 (homing acceleration and deceleration time). The servo motor searches the rising edge of the other side of the Z signal in the forward direction and low speed P9-13 (homing low speed).
Page 90 (2) When the motor starts to move, the Z signal is invalid or valid (P5-64 = 0-invalid, 1-valid), and the reverse overtravel switch is triggered in the process (NOT) The servo motor searches for the Z signal at high speed -P9-12 (homing high speed) in reverse direction.
Page 91 Decelerate in the reverse direction (i.e. restore the forward direction), and search the rising edge of the forward overtravel switch signal in the forward with low speed P9-13 (homing low speed). In the process of forward acceleration or forward uniform speed operation, stop immediately when encountering the rising edge of the forward overtravel switch signal.
Page 92 (d) Z phase number (P9-11.0) is 1 and mechanical offset (P9-19, P9-20) isn't 0: Continue to operate in the reverse direction at the low speed -P9-13 (homing low speed), and then stop immediately after encountering the rising edge of the first Z-phase signal. After the motor stops completely, the motor will move a quantitative pulse at the speed P9-12 (homing high speed) according to the set number of mechanical offset pulses and direction (it can be negative or positive, but it must move between the origin switch and NOT), and then the motor stops.
Page 93 (d) Z phase number (P9-11.0) is 1 and mechanical offset (P9-19, P9-20) isn't 0: Continue to operate in the forward low-speed P9-13, and then stop immediately after encountering the rising edge of the first Z-phase signal. After the motor stops completely, the motor will move a quantitative pulse at the speed P9-12 (homing high speed) according to the set number of mechanical offset pulses and direction (it can be positive or negative), but it must move between the origin switch and POT), and then the motor stops.
Page 94 (d) Z phase number (P9-11.0) is 1 and mechanical offset (P9-19, P9-20) isn't 0: Continue to operate at the forward low speed P9-13 (homing low speed), and then stop immediately after encountering the rising edge of the first Z-phase signal. After the motor stops completely, the motor will move a quantitative pulse at the speed P9-12 (homing high speed) according to the set number of mechanical offset pulses and direction (it can be positive or negative, but it must move between the origin switch and POT), and then the motor stops.
Page 95 (c) Z phase number (P9-11.0) is 1 and mechanical offset (P9-19, P9-20) is 0: Operate in reverse at the low speed set by -P9-13 (homing low speed), and then stop immediately after encountering the rising edge of the first Z-phase signal. (d) Z phase number (P9-11.0) is 1 and mechanical offset (P9-19, P9-20) isn't 0: Run in reverse at the low speed set by -P9-13 (homing low speed), then stop immediately after encountering the rising edge of the first Z-phase signal, and then walk a quantitative pulse (it can run in...
Page 96: Position Control (External Pulse Command)
(c) Z phase number (P9-11.0) is 1 and mechanical offset (P9-19, P9-20) is 0: Operate in the forward direction at the low speed P9-13 (homing low speed), and then stop immediately after encountering the rising edge of the first Z-phase signal. (d) Z phase number (P9-11.0) is 1 and mechanical offset (P9-19, P9-20) isn't 0: Operate in the forward direction with low-speed P9-13 (homing low-speed), and then stop immediately after encountering the rising edge of the first Z-phase signal.
Page 97 P0-14 Electronic gear ratio (denominator) P0-11~P0-14 are 0, P0-92~P0-95 are valid P0-92~P0-93 32-bit electronic gear ratio 32-bit electronic gear ratio (numerator): (numerator) P0-92*1 + P0-93 *10000 P0-94~P0-95 32-bit electronic gear ratio 32-bit electronic gear ratio denominator: (denominator) P0-94*1 + P0-95 *10000 You can set the command direction and P0-09 Pulse command setting 5.4.2.2...
Page 98: Position Control (Internal Command)
1:AB 2:P+D 4. Pulse specification Highest input Pulse specification Voltage Forward current frequency Differential signal 500Kpps 3.3~5V <25mA Low speed pulse Open collector 200Kpps <25mA 5.4.3 Position control (Internal command) Parameter Overview Reference chapter P0-01 control mode selection Set to 5: internal position mode 5.4.3.1 Control mode setting of internal position P4-03 internal position mode...
Page 99 Default Parameter setting Meaning Setting range setting n.□xxx No meaning Waiting n.x□xx mode Change n.xx□x step mode Positioning n.xxx□ mode 1. Waiting mode Meaning n.x□xx Wait for positioning completion Not wait for positioning completion Note: Waiting mode refers to whether the driver waits for the motor to be positioned after outputing a position instruction in internal position mode.
Page 100 2. Change step mode n.xx□x Description t1=P4-16, t2=P4-23. 1. If the /CHGSTP signal is always on, the servo unit will cycle the set position segment all the time. 2. If the /CHGSTP signal is set to off when executing a certain segment, the servo will continue to complete the execution of that segment without the execution of the next segment.
Page 101 Take setting two segments as an example, t1 = p4-16 in the figure. 1. The /CHGSTP signal before the completion of a cycle will not be counted, as shown in the second /CHGSTP signal in the figure. 2. In this mode, the step change signal 2: Start at the /CHGSTP is triggered by rising...
Page 102 segment 1. After each operation completion, positioning completion and positioning through approach signal are all effective. terminal, the 2. When the servo enable is off during a certain section of operation, the motor range is stops according to the servo off shutdown mode. After the shutdown, the segment 1~3 positioning is invalid.
Page 103 3. Positioning mode n.xxx□ Meaning Relative positioning Absolute positioning 1: absolute positioning (take the reference origin as 0: relative positioning the absolute positioning origin) 5.4.3.3 Position segment 1 to 35 parameter settings Default Parameter Meaning Unit Range Change Effective setting Pulse number P4-10+(n-1)*7 1 pulse...
Page 104 10. Trapezoidal acceleration time and trapezoidal deceleration time refer to the time required to change from 0 to rated speed. 11. If the speed of a certain parameter set is 0, the position command of this section will be ignored in the step change mode of 0 / 1 / 2.
Page 105 5.4.3.5 Skip present segment signal (/ZCLAMP) Parameter Signal name Setting Meaning Range Skip the Range: 0000-0014. Distribute to Defaulted isn't present input terminal through P5-31. When P5-31 n.0000 distribute to input segment it set to 0001, it means input from terminal.
Page 106: Speed Control
5.5 Speed control 5.5.1 Speed mode general control 5.5.1.1 Soft start Defaulted Parameter Meaning Unit Range Modify Effective setting Soft Start P3-09 0~65535 Servo bb At once Acceleration Time Soft Start P3-10 0~65535 Servo bb At once deceleration Time Soft start acceleration and deceleration time is suitable for mode 3/4/7. Smooth speed control can be carried out when step speed instruction is input or internal setting speed is selected.
Page 107 P3-12 Zero clamp mode Servo bb At once P3-12 setting Contents ZCLAMP input signal is ON, forced speed command is 0, when the speed below P3-13, switch to position mode and the servo lock in this position. ZCLAMP input signal is ON, forced set the speed command to 0. ZCLAMP input signal is ON, the speed below P3-13, switch to position mode and the servo lock in the position.
Page 108 Among them, the acceleration time Tacc=(target speed/rated speed) * P3-09 [ms], and the deceleration time Tdec=(target speed/rated speed) * P3-10 [ms]. Set an appropriate sliding average filtering time constant P3-11 (S-type acceleration and deceleration time constant). Ts=P3-11*0.1 [ms]. Note: The setting of the sliding average filtering time constant must meet the requirements, Ts<0.5 * Tacc, Ts<0.5*Tdec.
Page 109: Speed Control (Internal Speed)
5.5.2 Speed control (internal speed) Parameter Overview Chapter P0-01 Control mode selection Set to 3: internal speed control mode 5.5.2.1 P3-05 Internal speed 1 Speed value setting of internal 3-segment speed P3-06 Internal speed 2 5.5.2.1 in rpm P3-07 Internal speed 3 P5-28 internal speed selection /SPD-A The combination of terminals determines the 5.5.2.1...
Page 110 Internal speed is zero P3-05:SPEED1 0: forward run P3-06:SPEED2 P3-07:SPEED3 Internal speed is zero P3-05:SPEED1 1: reverse run P3-06:SPEED2 P3-07:SPEED3 Note: (1) /SPD-D signal is direction control, input SI terminal can be changed according to P5-27. The validity of the terminal signal determines the direction of the motor. (2) The combination of /SPD-A and /SPD-B input terminal effectiveness determines the multi segment speed.
Page 111: Speed Control (Pulse Frequency Command)
5.5.3 Speed control (pulse frequency command) Reference Parameter Overview chapter P0-01 Control mode selection Set to 7: external pulse speed mode 5.5.3.1 Set pulse form 0-CW/CCW P0-10 Pulse command form 5.4.2.2 1-AB 2-P+D P0-15 Command pulse frequency at Determine the linear relationship between the 5.5.3.3 rated speed command pulse frequency and the speed...
Page 112: Torque Control
5.6 Torque control Reference Parameter Overview chapter P0-01 Control mode selection Set to 1: internal torque mode 5.6.1 The given value is the percentage of rated P3-33 Internal torque command 5.6.1.1 torque P3-16 Internal forward speed limit of torque control P3-17 Internal reverse speed limit of torque control Speed limit in torque mode...
Page 113 effective speed limit is the lower speed limit. (The maximum speed is the smaller value in P3-14/P3-15 and P3-16/P3-17) 5.6.1.3 Speed reach signal output (/VLT) In torque mode, when the absolute value of the actual speed of the servo motor exceeds the speed limit value, it is considered that the actual speed of the servo motor is limited.
Page 114: Absolute Value System
5.7 Absolute value system 5.7.1 Absolute system setting In order to save the position data of absolute encoder, the battery unit needs to be installed. Install the battery on the battery unit of the encoder cable with the battery unit(Internal configuration). If you don't use encoder cable with battery unit, please set P-79 to 1, that is, multi-loop absolute value encoder is used as incremental encoder.
Page 115 (4) Close the cover of the battery unit (5) After replacing the battery, in order to remove the "Encoder Battery Alarm (E-222)" display, please do clear alarm twice (F0-00=1) (Version 3770 and later only need to be cleared once). (6) Connect the power supply of the servo unit again. (7) Make sure the error display disappears and the servo unit can operate normally.
Page 116: The Upper Limit Of Turns
5.7.3 The upper limit of turns The upper limit of rotating cycles can be used for position control of gyroscopes such as turntables. For example, suppose there is a machine whose turntable moves only in one direction, as shown in the figure below.
Page 117: Clear Multi-Turn
① 0 is the positive direction of the encoder zero position. The current encoder value is First read the U0-60 (0x103C) value, ② -1 is the reverse direction of the encoder zero position. The current encoder value is: U0-57*1+U0-58*2 +U0-59*2 +U0-60*2 [U0-57+U0-58*2 +U0-59*2...
Page 118: Absolute Value Homing Application
5.7.7 Absolute value homing application Read the multi-turn absolute position through Xinje PLC, it can be read in four words. The following example is homing through multi-turn absolute encoder feedback. M1 is ON, memory the origin position. SM12 is ON, memory the real-time position. Read the encoder feedback of the passed...
Page 119: Auxiliary Functions
5.8 Auxiliary functions 5.8.1 Anti-blocking protection Anti-blocking alarm: When the motor speed is lower than P0-75 (unit 1 rpm) and the duration reaches the set value of P0-74 (unit ms), the current output torque U0-02 is greater than the internal positive torque limit of P3-38 and the internal reverse torque limit of P3-39, it will show the alarm E-165 blocking overtime.
Page 120: Torque Limit
5.8.2 Torque limit 1. Internal torque limit Default Parameter Meaning Unit Range Modify Effective setting According 0~Motor Internal forward P3-28 to the overload Anytime At once torque limit model multiple According 0~Motor Internal reverse P3-29 to the overload Anytime At once torque limit model multiple...
Page 121: Speed Limit
5.8.3 Speed limit Default Parameter Meaning Unit Range Modify Effective setting Forward max speed P3-14 4000 0~10000 Servo bb At once command limit Reverse max speed P3-15 4000 0~10000 Servo bb At once command limit Note: P3-14 and P3-15 are effective in all the modes. (For firmware 3770, this parameter cannot take effect in position mode).
Page 122: Output Terminal Function
5.8.4.2 Output terminal distribution 1. Output signal distribution Parameter Parameter Meaning Set value Meaning n.0000 Not distribute to terminal input Output always open signal from n.000x P5-37~P5-53 n.0010 Set the signal to be always valid output always close signal from n.001x 2.
Page 123 Default Parameter Meaning Unit Range Modify Effective value Rotating detection P5-03 0~10000 Anytime At once speed /TGON If the speed of the servo motor exceeds the set value of P5-03, it is judged that the servo motor is rotating and the output of the rotation detection (/TGON) signal. Note: Rotation detection has a hysteresis of 10 rpm.
Page 124 Forward warning Motor P3-19 0~65535 Servo bb At once speed related Reverse warning Motor P3-20 0~65535 Servo bb At once speed related Default Suitable Parameter Signal Meaning Modify Effective setting mode P5-45 /WARN n.0000 Warning output Anytime At once 1. No terminal output signal is assigned by default. The parameter range is 0000-0014, which is allocated to other output terminals through parameter P5-45.
Page 125 5.8.5.7 User-defined output signal User can define 2 outputs. The defined method is SOx output when A>B or A<B. A is 9 activating conditions. B is user-defined comparison value. User-defined output 1: The trigger condition of user-defined output 1 Default Trigger condition trigger Unit...
Page 126 value setting mode P5-14≥P5-15, SOx output P5-14＜P5-15, SOx output All the P5-14 absolute value Anytime At once modes ≥P5-15, SOx output P5-14 absolute value ≤P5-15, SOx output User-defined output 2 hysteresis loop Unit Default setting Range Suitable mode Change Effective P5-17 Related to -32768~...
Page 127: Input Terminal Function
/PREFC Internal position selection signal 5.4.3.2 /PREFD Internal position selection signal 5.4.3.2 5.8.6 Input terminal function 5.8.6.1 Proportion action command (/P-CON) Parameter Signal Type Default State Meaning Modify Effective Run in P control Valid Proportional mode Anytime At once P5-21 action Input n.0000...
Page 128: Time Limit Curve Of Overload Protection
5.8.7 Time limit curve of overload protection The time limit curve of overload protection is only used for the judgment of alarm output and the protection of overload operation. It is recommended to use it within the continuous operation stage of torque speed curve.
Page 129 Applicable model (motor code) 5033 9033 4031 4032 4042 5042 4044 5044 5078 5079 5077 5877 9077 9877...
Page 130: Servo Gain Adjustment
Servo gain adjustment 6.1 Overview of servo gain adjustment 6.1.1 Overview and process The servo driver needs to drive the motor as fast and accurately as possible to track the instructions from the upper computer or internal settings. In order to meet this requirement, the servo gain must be adjusted reasonably.
Page 131: The Difference Of These Adjustment Modes
6.1.2 The difference of these adjustment modes Adjustment modes are divided into adaptive and auto-tuning, and their control algorithms and parameters are independent. Among them, the auto-tuning mode is divided into three functions: fast adjustment, automatic adjustment and manual adjustment. The three functions are the same in essence but different in implementation.
Page 132: Rotary Inertia Presumption
6.2 Rotary inertia presumption 6.2.1 Overview Rotational inertia estimation is the function of automatic operation (forward and reverse) in the driver and estimate the load inertia in operation. Rotational inertia ratio (the ratio of load inertia to motor rotor inertia) is a benchmark parameter for gain adjustment, and it must be set to the correct value as far as possible.
Page 133: Operation Steps
6.2.4 Operation steps Estimate the inertia through the driver panel 1. Parameter setting Default Parameter Meaning Unit Range Modification Effective setting P2-15 Inertia configured trip 0.01 circle 1~3000 Anytime At once Inertia identification and P2-17 internal instruction 0~65535 Anytime At once auto-tuning max speed Inertia identification...
Page 134 ① The maximum speed limit is too small (P2-17), maximum but it is recommended not to be less than 500 rpm. speed limit is too Low instruction speed will lead to inaccurate small. ② The presumed inertia trip is too small. It is Value error is too identification of inertia ratio.
Page 135 Set the auto-tuning interface. Click OK to start inertia identification. Note: (1) If the auto-tuning interface is closed directly, the driver only configures inertia ratio parameters. (2) The detailed steps of XinJeServo's presumptive inertia refer to XinJeServo's help document.
Page 136: Fast Adjustment
6.3 Fast adjustment 6.3.1 Overview Fast adjustment needs to set the moment of inertia of load first, then turn off the adaptive function. If the inertia doesn't match, it will cause oscillation alarm. The rapidly adjustable gain parameter belongs to the self-tuning mode. 6.3.2 Fast adjustment steps 1.
Page 137: Notes
The rigidity level should be set according to the actual load. The larger the P0-04 value, the greater the servo gain. If there is vibration in the process of increasing the rigidity level, it isn't suitable to continue to increase. If vibration suppression is used to eliminate vibration, it can try to continue to increase. The following is the recommended rigidity level of the load, for reference only.
Page 138: Auto-Tuning
6.4 Auto-tuning 6.4.1 Overview Auto-tuning is divided into internal instruction auto-tuning and external instruction auto-tuning. Auto-tuning (internal instruction) refers to the function of automatic operation (forward and reverse reciprocating motion) of servo unit without instructions from the upper device and adjusting according to the mechanical characteristics in operation.
Page 139 4. Press INC or DEC, panel display is tune and flashing, enter auto-tuning status. 5. Driver will automatically send pulse instructions, if the auto-tuning is successful, the panel shows done and flashing. 6. Press STA/ESC to exit internal instruction auto-tuning. Note: In the process of auto-tuning, press STA/ESC will exit the auto-tuning operation and use the gain parameters at the exit time.
Page 140 Click OK to estimate the inertia. Set the auto-tuning parameters. Load type Description Fit for the adjustment of lower rigidity mechanism such as synchronous Synchronous belt belt mechanism.
Page 141 It is suitable for adjustment of higher rigidity mechanism such as ball Screw rod screw mechanism. If there is no corresponding mechanism, please choose this type. It is suitable for the adjustment of rigid body system and other Rigid connection mechanisms with higher rigidity.
Page 142: External Instruction Auto-Tuning Steps
6.4.5 External instruction auto-tuning steps Driver panel auto-tuning steps The inertia identification is carried out and the step of inertia estimation please refers to the driver panel inertia estimation (6.2.4 Operation steps) Enter parameter F0-08, it will show Eat- (Exteral Refrence Auto-tuning) Short press ENTER, if the enabler isn't open, the panel displays Son and flickers, waiting for the enabler to open, if the enabler has been opened, skip this step.
Page 143 Select jog or manual setting to configure the trip of inertia identification. 3. Set the auto-tuning interface.
Page 144 4. Click [OK] to start the inertia identification. 5. Configure the auto-tuning parameters. Auto-tuning mode Description Make a soft gain adjustment. Besides gain adjustment, notch filter is Soft automatically adjusted. Make special adjustment for positioning purpose. Besides gain adjustment, Rapid positioning the model loop gain and notch filter are automatically adjusted.
Page 145 7. Open the servo enable, then click OK. 8. Auto-tuning is finished, click OK.
Page 146: Related Parameters
6.4.6 Related parameters The following parameters may be modified during auto-tuning. Don't change them manually during auto-tuning. The influence of numerical Parameter Name Property value on gain after auto-tuning First inertia ratio P0-07 First speed loop gain P1-00 Integral time constant of the first speed P1-01 loop First position loop gain...
Page 147: Manual Adjustment
6.5 Manual adjustment 6.5.1 Overview Position control loop diagram (turn off the model loop) Position control loop diagram (turn on the model loop) The servo unit consists of three feedback loops (from inside to outside: current loop, speed loop, and position loop), and the more inner the loop, the more it needs to improve its responsiveness.
Page 148: Adjustment Steps
6.5.2 Adjustment steps In position mode, if the soft mode (P2-02.0=1) is selected by auto-tuning, the function of model loop will be turned off. in speed mode, the gain of position loop will be invalid. Increasing response time 1. Reducing the filter time constant of torque instruction (P2-35) 2.
Page 149 determined by the gain of the position loop. The higher the position loop gain is, the higher the responsiveness is and the shorter the positioning time is. Generally speaking, the gain of position loop cannot be increased beyond the natural vibration number of mechanical system. Therefore, in order to set the position loop gain to a larger value, it is necessary to improve the rigidity of the machine and increase the number of inherent vibration of the machine.
Page 150: Adaptive
6.6 Adaptive 6.6.1 Overview Adaptive function means that no matter what kind of machine and load fluctuation, it can obtain stable response through automatic adjustment. It starts to automatically adjust when servo is ON. 6.6.2 Notes  When the servo unit is installed on the machine, it may produce instantaneous sound when the servo is ON.
Page 151: Recommended Inertia Ratio Parameters
Note 1: DS5 series servo 750W and below driver default value is 400. Other power section default value is 200. Note 2: DS5 series servo 400W and below driver default value is 70. Other power section default value is 50. 6.6.5 Recommended inertia ratio parameters Under the adaptive default parameters, the load can only run steadily under a certain moment of inertia.
Page 152: Invalid Parameters When Adaptive Effective
position loop will make the response fast, reducing will gain coefficient make the response slow Adaptive motor Increasing will improve the servo rigidity P2-16 rotor inertia 100-200 and enhance anti-disturbance ability, can coefficient solve operation jitter. Increasing will improve the inertia Adaptive capacity slightly, and has little effect on P2-19...
Page 153: Vibration Suppression
6.7 Vibration suppression 6.7.1 Overview The mechanical system has a certain resonance frequency. When the servo gain is increased, the continuous vibration may occur near the resonance frequency of the mechanical system. Generally in the range of 400Hz to 1000Hz, it caused the gain can not continue to increase. Vibration can be eliminated by automatically detecting or manually setting the vibration frequency.
Page 154: Vibration Suppression (Pc Software)
Short press STA/ESC to exit. Vibration suppression parameters are automatically written into the second and first notches (the second notches are preferred when there is only one vibration point). The related parameters are detailed in 6.7.7 Notch filter. Fault alarm of panel in vibration suppression process ...
Page 155: Vibration Suppression (Manual Setting)
5. Set the filter width (to see resonance frequencies clearly), find the resonance frequency. 6. Notch parameters need to be set manually. Refer to 6.7.7 Notch filter for details. As an example, through the analysis of mechanical characteristics, the resonance frequency is 328 Hz, and the third notch filter can be used.
Page 156: Notch Filter
3. After setting the torque command, long press【ENTER】, enter "read to enable" status, it will show ‘F". 4. Press【ENTER】, enable, it will show "..run". 5. Press【INC】,【DEC】 to run forward or reverse and find the resonance frequency. "E_FFt" will shining on the panel when operation. If the resonance frequency is found, it will show "Fxxxx", "xxxx" is the resonance frequency.
Page 157 Default Parameter Meaning Change Effective setting n.□□□0 First notch off n.□□□0 Anytime At once n.□□□1 First notch on n.□□0□ Second notch off n.□□0□ P2-69 Anytime At once n.□□1□ Second notch on n.0□□□ Third notch off n.0□□□ Anytime At once n.1□□□ Third notch on n.□□□0 Fourth notch off...
Page 158: Gain Adjustment
6.8 Gain adjustment 6.8.1 Model loop control In the self-tuning mode, in addition to the gain of speed loop and position loop, there is also the gain of model loop, which has a great influence on the servo response. When the model loop isn't open, the servo responsiveness is determined by the position loop gain.
Page 159: Torque Disturbance Observation
Model loop function turns off (soft mode)  Low Rigidity and Low Response High Rigidity and Medium Response Load inertia ratio P0-07: 500% speed loop gain P1-00: 200 speed loop gain P1-00: 800 speed loop integral P1-01: 3300 speed loop integral P1-01: 825 position loop gain P1-02: 200 position loop gain P1-02: 700 Phenomenon: running jitter, slow response...
Page 160: Gain Adjustment Parameters
6.8.3 Gain adjustment parameters Default Parameter Meaning Unit Range Modify Effective setting <=20P7:300 Servo P1-00 First speed loop gain 0.1Hz 10~20000 At once >=21P0:200 Integral time constant of the <=20P7:2122 Servo At once P1-01 0.01ms 15~51200 first velocity loop >=21P0:3183 <=20P7:300 Servo At once...
Page 161 (3) The definition of position gain switching time: (4) Gain switching conditions: Gain switching condition Parameter P1-17 P1-15 P1-16 Threshold Condition Diagram Notes waiting Level 14.1 hysteresis time threshold loop The first invalid invalid invalid gain fixed Switch the gain through G-SEL signal: Terminal G-SEL invalid, first group...
Page 162 Gain switching condition Parameter At the last first gain, when the absolute value of the speed command exceeds (level-hysteresis) [RPM], switch to the second gain, gain gradually changes. When the absolute value speed command reaches (level + Speed hysteresis) [RPM], the gain command completely changes to the high and...
Page 163: Speed Loop Pi-Pi Mode Switching
Gain switching condition Parameter P1-15, the first gain is returned. Note: it is necessary to set the positioning completion detection mode according to P5-01. Valid only in position mode (other modes are fixed as the first gain): At the last first gain, the absolute value of the actual speed exceeds ( level + hysteresis)
Page 164 2: Switching condition based on speed command 3: Switching condition based on acceleration 4: Switching condition based on position deviation 0: Clear the integral of 0asr n.□□0□ 1: Keep the points unchanged and no longer accumulate Mode Switching - Torque Command P1-27 Servo bb At once...
Page 165: Gain Adjustment
6.9 Gain adjustment 6.9.1 Load shaking The following causes cause load wobble: 1. The instruction isn't smooth enough when the load inertia is too large. Countermeasure: (1) Use position instruction smoothing filter P1-25. (2) Optimizing the instructions of the upper device to reduce the acceleration of the instructions. (3) Replace the motor with greater inertia.
Page 166: Alarm
Alarm 7.1 Alarm code list Historical record: "√" means that historical alarms can be recorded. "○" isn't recorded. The column that can be cleared: "√" represents the alarm that can be cleared. "○" represents the alarm that cannot be cleared. Property Servo Whether...
Page 167 E-100 Excessive position deviation √ √ Servo run External UVW Short Circuit Discovered E-110 √ √ Servo off Self-Inspection P+current overcurrent E-111 √ √ Servo off protection phase overcurrent E-112 √ √ Servo off protection phase overcurrent E-113 √ √ Servo off protection E-150...
Page 168: Analysis Of Alarm Types
7.2 Analysis of alarm types DS5 alarm code format is E-XX□, "XX" means main type, "□" means sub-type. Type Code Description Reasons Solutions EEEE (1) Voltage fluctuation (1) Stable power supply to ensure of power supply is the stability of power supply large, and low voltage voltage.
Page 169 EEPROM write in Voltage instability or Please contact the agent or the ① Reduce the frequency of E-028 error chip abnormality manufacturer ② EEPROM write too Pararmeter write in too parameter erasure. E-029 frequently frequenctly Contact agents manufacturers Check the fluctuation of the power grid.
Page 170 normally 220V ± 10%. If it is greater than 220V+10%, check the power supply voltage. If the power supply voltage is normal, the servo BB status will be monitored. voltage measured by the multimeter is 1.414 ˂ U0-05 (with an error of 10V), then the servo drive has a fault and needs to be sent back for maintenance.
Page 171 rotate too fast, whether the pulse input frequency is too high, and whether the electronic gear ratio is too large. (1) Check the encoder cable or change a new one (2) Set the servo driver to BB state and the driver to U-10. Rotate the motor shaft slowly by Encoder fault hand to see if the value of U-10...
Page 172 should be operated on an empty shaft eliminate load problem. High-speed start-stop Increasing Acceleration instantaneous alarm Deceleration Time (1) Check the encoder cable or change a new one (2) Set the servo driver to BB state and the driver to U-10. Rotate the motor shaft slowly by Encoder problem hand to see if the value of U-10...
Page 173 (2) Measure whether there is a short circuit between UVW and PE of the motor. If there is a short circuit, replace the motor (3) UVW output measurement at driver side: measure UVW with multimeter (diode gear), black probe tests P+ and red probe tests UVW.
Page 174 increasing in one direction and decreasing in the other (0~9999 cycle display). Disconnect the power supply of driver check Any phase in UVW of connection of the power cable. It Power cable E-150 driver, cable or motor is suggested that the multimeter disconnection broken be used to test the...
Page 175 forth swing abnormal noise. There are servo cross test or motor empty shaft on site, F1-01 trial operation, F1-00 jog run can Driver motor not rotate uniformly. hardware failure. Replace the new driver or motor and send the malfunction machine back to the manufacturer for repair.
Page 176 power supply of the driver, check the connection of the encoder cable, if there is cable loosening, it is recommended to use the multimeter to test the conduction condition. after eliminating errors, power on again plugging strictly prohibited, and special cables are required for tank chains.
Page 177 problem of the encoder and the servo motor needs to be itself, or the power replaced supply of the encoder is unstable Generally, it is the Power on encoder problem of the encoder In the case of no battery, E-227 multi turn signal itself, or the power unplugging the encoder cable...
Page 178 P0-30. (1) Check the source of external force to see if there are any problems mechanical installation. (2) Increase the servo gain to improve anti-disturbance ability. (1) Oscillation caused Acquisition speed curve by external forces analysis. When the first three (2) Load inertia is large peaks are convergenced after and the setting of load...
Page 179 the P0-33 motor code can be correctly set before use On the premise that the driver and motor matched professionals and can be used Reading motor Parameter together, P0-53=1 (shielding E-312 parameter verification failed automatic reading motor damaged parameter alarm) can be used, and the P0-33 motor code can be ①...
Page 180: Modbus-Rtu Communication
Modbus-RTU communication The company provides users with the general RS485 communication interface in industrial control. The communication protocol adopts MODBUS standard communication protocol, and the servo can be used as the slave station to communicate with the master device (such as PLC controller and PC) with the same communication interface and the same communication protocol, and the HMI can also be connected through the communication interface.
Page 181: Communication Parameters
Servo Servo Servo Servo slave master slave slave slave A B PE A B PE A B PE (3) Not recommended: star connection 8.2 Communication parameters 1. RS485 communication parameters Default Parameter Meaning Range Modify Effective setting P7-00 RS485 station number 0~100 Servo bb At once...
Page 182 0B:256000 0C:288000 0D:384000 0E:512000 0F:576000 10:768000 11:1M 12:2M 13:3M 14:4M 15:5M 16:6M Default Parameter Meaning Setting range Modify Effective setting RS485 1-Modbus Rtu protocol P7-02 communication Servo bb At once 2-Xnet bus protocol 3-Read Xnet bus torque protocol 2. RS232 communication parameter setting Default Parameter Meaning...
Page 183: Communication Protocol
8.3 Communication protocol When communicating in a MODBUS network, this protocol determines that each controller needs to know their device address, identify messages sent by address, and decide what actions to take. If a response is needed, the controller generates the feedback and sends it out using Modbus protocol. In other networks, messages containing Modbus protocol are converted to frame or packet structure which can be used in this network.
Page 184 CRC CHECK Low CRC CHECK Low CRC CHECK High CRC CHECK High Function code06H: write the data in the register  For example: write 300 rpm to the address of P3-18 register of inching speed. RTU mode: Inquiry information format Response message format Address Address...
Page 185: Communication Example
1. Hardware wiring If the customer uses the AB terminal of Xinje PLC for 485 communication, connect the CN4 port of the driver through a network cable, and connect the 485-A and 485-B pins to the AB terminal of the PLC respectively.
Page 186: Appendix
Appendix Appendix 1. Group P parameters Modification and effective: "○" means modifying when servo OFF and take effect at once. "√" means modifying anytime and take effect at once. "●" means modifying when servo OFF and take effect when power on again. "△"...
Page 187 Default Suitable Reference Parameter Function Unit Range Effective value mode chapter 0-CW/CCW 1-AB P0-10.0 ○ 5.4.1.1 2-P+D Number instruction pulses per cycle 0: Electronic gear ratio P0-11~P0- 1 pul 10000 0~99999999 ○ 5.4.1.1 Non-0:Number command pulses required for motor rotation Electronic Gear P0-13...
Page 188 Servo overrun stop mode (P0-28.0) 0-deceleration stop 1 1-Inertial stop 2-deceleration stop 2 P0-28 ○ 1|3|5|6|7 5.2.4 3-Alarm Stop Overtravel alarm shield switch (P0-28.1) 0-not shield the alarm 1-shield the alarm Stop Mode 0: Free stop, maintain free running state after stopping 1: Free stop, maintain DB...
Page 189: P1-Xx
enabling, turn off the fan when not enabling Large motor thermocouple break alarm shield switch (P0-69.1) 0 - not shield thermocouple disconnection alarm 1 - shield thermocouple disconnection alarm Blocking alarm time 1|3|5|6|7 P0-74 0~5000 √ 5.8.1 model Blocking alarm speed 1|3|5|6|7 P0-75 5~9999...
Page 190 Reference Parameter Function Unit Default value Range Effective Suitable mode chapter gain Speed feedforward gain 1% 0~300 √ 5|6|7 P1-10 Speed feedforward P1-11 0.01ms 0~10000 √ 5|6|7 filter time Gain switching mode P1-14 0~0x00A2 √ 1|2|3|4|5|6|7 6.8.4 setting Gain switching waiting P1-15 0~1000 √...
Page 191: P2-Xx
P2-XX: Suitable Reference Parameter Function Unit Default value Range Effective mode chapter Disturbance observer switch P2-00.0 ○ 1|3|5|6|7 6.1.4 0- OFF 1- ON Adaptive mode switch P2-01.0 0-OFF ● 1|3|5|6|7 6.6.3 1-ON Adaptive level 0-high response As the model ● 1|3|5|6|7 P2-01.1 1-low noise...
Page 192 20P2/20P4:70 >=20P7:50 Torque Instruction 0.01 0~65535 √ 1|3|5|6|7 6.5.3 P2-35 Filtering Time Constant 1 Disturbance Torque Compensation Coefficient 0~100 √ 1|3|5|6|7 6.1.4 P2-41 (Non-adaptive Mode Effective) Model Loop Switch 0-OFF √ 1|3|5|6|7 6.1.3 P2-47.0 1-ON P2-49 Model loop gain 0.1Hz 10~20000 3|5|6|7 6.5.4...
Page 193: P3-Xx
Third notch attenuation 0.1dB 50~1000 √ 1|3|5|6|7 6.7.7 P2-78 Third notch band width P2-79 0~1000 √ 1|3|5|6|7 6.7.7 Fourth notch frequency 5000 50~5000 √ 1|3|5|6|7 6.7.7 P2-80 Fourth notch attenuation 0.1dB 50~1000 √ 1|3|5|6|7 6.7.7 P2-81 Fourth notch band width P2-82 0~1000 √...
Page 194: P4-Xx
reverse alarming speed 4000 0~10000 ○ 1|3|5|6|7 P3-22 T-REF Function Allocation 0 -Input as Torque Instruction 1 - As a necessary condition for limiting input of external P3-23 ○ 1|3|5|6|7 torque, the minimum value is valid compared with P3-28/P3-29. 2-Torque Feedforward 0~Motor As the Internal forward torque limit...
Page 195: P5-Xx
Default Suitable Reference Parameter Function Unit Range Effective value mode chapter Internal Position-Given Mode Sets Step Change Mode 0-step-changing when signal is ON, recyclable 1-change step at signal rising edge, single step execution 2-starting at Signal rising edge, sequential execution of all, no cycle P4-03.1 ○...
Page 196 Default Suitable Reference Parameter Function Unit Range Effective value mode chapter Servo OFF delay time 0~65535 ○ 1|3|5|6|7 5.2.5 P5-07 Brake instruction output 20~10000 ○ 1|3|5|6|7 5.2.5 P5-08 speed Brake instruction waiting 0~65535 ○ 1|3|5|6|7 5.2.5 P5-09 time user-defined output P5-10 0~ffff √...
Page 197 Default Suitable Reference Parameter Function Unit Range Effective value mode chapter from SI4 terminal. 15: Inverse signal is input from SI5 terminal. P5-20.2 SI terminal filtering time √ 1|3|5|6|7 5.7.4.1 /P-CON proportion action 0~ff √ 1|3|5|6|7 5.8.6.1 P5-21.0~1 instruction SI terminal filtering time √...
Page 198 Default Suitable Reference Parameter Function Unit Range Effective value mode chapter SI terminal filtering time √ 6.6.7 P5-32.2 P5-33.0~1 /G-SEL: Gain Switching 0~ff √ 1|3|5|6|7 6.8.4 P5-33.2 SI terminal filtering time √ 1|3|5|6|7 6.8.4 /CLR: pulse offset clear 0~ff √ 5.4.1.5 P5-34.0~1 SI terminal filtering time...
Page 199: P6-Xx
Default Suitable Reference Parameter Function Unit Range Effective value mode chapter SI terminal filtering time √ 5.7.4.1 P5-57.2 /PREFB: intenral position 0~ff √ 5.4.3.1 P5-58.0~1 selection signal B SI terminal filtering time √ 5.7.4.1 P5-58.2 /PREFC: internal position P5-59.0~1 0~ff √...
Page 200 0A:192000 0B:256000 0C:288000 0D:384000 0E:512000 0F:576000 10:768000 11:1M 12:2M 13:3M 14:4M 15:5M 16:6M RS485 stop bit P7-01.2 Stop bit ○ 1|2|3|4|5|6|7|8|9|10 2:1 bit RS485 parity bit 0:none Parity P7-01.3 ○ 1|2|3|4|5|6|7|8|9|10 1:odd 2:even RS485 communication P7-02 protocol 1~255 ○ 1|2|3|4|5|6|7|8|9|10 1:Modbus Rtu Xnet Synchronous P7-03...
Page 201: P8-Xx
16:6M RS232 stop bit P7-11.2 0:2 bits Stop bit √ 1|2|3|4|5|6|7|8|9|10 2:1 bit RS232 parity bit 0:none Parity P7-11.3 √ 1|2|3|4|5|6|7|8|9|10 1:odd 2:even Return to zero point -9999~999 P7-20 √ 5.6.2.1 direction (bus) Filter time after ScanA P7-21 returning to zero point 1~65535 √...
Page 202: Appendix 2. Ux-Xx Monitoring Parameters
Appendix 2. UX-XX monitoring parameters U0-XX: Code Contents Unit Servo motor speed U0-00 U0-01 Input speed instruction Torque instruction U0-02 % rated Mechanical angle U0-03 1° Electric angle U0-04 1° Bus voltage U0-05 IPM temperature U0-06 ℃ Torque feedback U0-07 % rated (-9999~9999)*1 Instruction...
Page 203: U1-Xx
Xnet Communication Waiting Data Frame State Interference U0-64 Xnet Communication Waiting for Data Frame Status Receive U0-65 Synchronized Frame Xnet communication CRC parity error U0-66 Xnet communication UART error U0-67 Xnet communication timeout counting U0-68 U0-69 Communication encoder timeout counting Encoder CRC error count U0-79 U0-80...
Page 204: U2-Xx
Recent 11th warning code U1-25 Recent 12th warning code U1-26 U2-XX: Code Contents Unit Power on times U2-00 U2-01 Series Model (low 16-bit) U2-02 U2-03 Model (high 16-bit) Out of factory date: year U2-04 Out of factory date: month U2-05 U2-06 Out of factory date: day Firmware version...
Page 205: Appendix 3. Fx-Xx Auxiliary Function Parameters
Appendix 3. FX-XX auxiliary function parameters Code Contents Refrence chapter Clear the alarm 4.4.1 F0-00 F0-01 Restore to out of factory settings 4.4.1 Clear the position offset 4.4.1 F0-02 F0-07 6.3.4 Panel inertia identification F0-08 6.5.5 Panel external command auto-tuning F0-09 6.5.4 Panel internal command auto-tuning...
Page 206: Appendix 4. Modbus Address List
Appendix 4. Modbus address list Address correspondence rules For the allocation rules of servo Modbus addresses, refer to this address allocation rule for parameter addresses that are not involved in the future. Parameter Modbus address Notes Modbus address is added 1 in turn from 0x0000, for P0-00~P0-xx 0x0000~0x0063 example, Modbus address of P0-23 is 0x0017...
Page 207 P0-06 0x0006 P0-23 0x0017 P0-07 0x0007 P0-24 0x0018 P0-08 0x0008 P0-25 0x0019 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...
Page 208 P3-15 0x030F P3-34 0x0322 P3-16 0x0310 P3-35 0x0323 P3-17 0x0311 P3-36 0x0324 P3-18 0x0312 Modbus address Modbus address Parameter Parameter Decimal Decimal P4-00 0x0400 1024 P4-15 0x040F 1039 P4-01 0x0401 1025 P4-16 0x0410 1040 Modbus address Modbus address Parameter Parameter Decimal Decimal P5-00...
Page 209 Decimal Decimal P8-25 0x0819 2073 Monitoring status address of group U  Modbus address Modbus address Parameter Parameter Decimal Decimal U0-00 0x1000 4096 U0-32 0x1020 4128 U0-01 0x1001 4097 U0-33 0x1021 4129 U0-02 0x1002 4098 U0-34 0x1022 4130 U0-03 0x1003 4099 U0-35 0x1023...
Page 210 Modbus address Modbus address Parameter Parameter Decimal Decimal U1-13 0x110D 4365 U2-13 0x120D 4621 U1-14 0x110E 4366 U2-14 0x120E 4622 U1-15 0x110F 4367 U2-15 0x120F 4623 U1-16 0x1110 4368 U2-16 0x1210 4624 U1-17 0x1111 4369 U2-17 0x1211 4625 U1-18 0x1112 4370 U2-20 0x1214...
Page 211: Appendix 5. Q&A
Appendix 5. Q&A Q1: What is bb and run on the panel? 1. bb standby state, without enabling, the motor is in the state of power failure. 2. Run running state, with enabling, the motor is in the power on state. Q2: How to check and set the parameters? Refer to 4.2.
Page 212 D+24. (Xinje PLC as an example) PNP high-level output PLC: Q0.0 pulse connects P+24, Q0.2 direction connects D+24, 0V connects P-, D-. (Siemens PLC as an example) as follows: Q10: What is the external connection method and parameter setting of regenerative resistance? There are P+, D, C terminals on the servo interface.
Page 213: Appendix 6. General Debugging Steps
Appendix 6. General debugging steps 1. Motor empty shaft, preliminary debugging A. Connect the cable correctly. Pay attention to the one-to-one connection of U, V, W and PE terminals, and the phase sequence can not be crossed. B. Open-loop test run: The test run mainly checks the power cable and the encoder feedback cable to determine whether the connection is normal.
Page 214: Appendix 7. Application Example
Appendix 7. Application example Mode 6: Pulse instruction position mode Equipment introduction: This is a welder. Workpiece 1, 2, 3 are the object to be operated. 2 and 3 is fixed on B and A individually. A and B can whole move and be pushed by ball screw E and F. The screw pitch is 5mm. C.
Page 215 required for one rotation of the motor shaft 32768   Calculate the electronic gear ratio Set the user parameters P0-13=32768 P0-14=125 Parameter setting Running mode: P0-01=6 Pulse command state: P0-10=2 Electronic gear ratio: P0-11=0 P0-12=0 P0-13=32768 P0-14=125 Forward torque limit: P3-28=150 Reverse torque limit: P3-29=150 Positioning finished width: P5-00=7...
Page 216: Appendix 8. Servo General Mode Parameters
Appendix 8. Servo general mode parameters Appendix 8.1 Basic parameters Basic parameters Parameter Overview P0-03 enable mode Enable mode selection, generally P0-03 is default, P5-20 sets P5-20 servo ON signal /S-ON n.0010 as enable on after power on P0-04 Rigidity grade Adjust servo gain in auto-tuning fast adjustment mode P0-05 Definition of rotation direction Determine the motor direction, generally 0/1 by default...
Page 217: Appendix 8.4 Internal Torque Control General Parameters
P5-31 skip current segment No. /Z-Clamp P4-00 Number of Z-phase signals after leaving limit switch P4-01 speed of collision with proximity switch P4-02 speed of leaving proximity switch Internal position back to origin setting parameters P5-28 find reference origin in forward side under position mode /SPD-A P5-29 find reference origin in forward side under position mode /SPD-B...
Page 218: Appendix 9. Torque-Speed Characteristic Curve
Appendix 9. Torque-speed characteristic curve...
Page 220 WUXI XINJE ELECTRIC CO., LTD. No.816, Jianzhu West Road, Binhu District, Wuxi City, Jiangsu Province, China 214072 Tel: (510) 85134136 Fax: (510) 85111290 Email: Fiona.xinje@vip.163.com www.xinje.com We chat ID...

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