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GSK DA98B User Manual

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GSK DA98B AC Servo Drive Unit
User Manual

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  • Page 1 GSK DA98B AC Servo Drive Unit User Manual...
  • Page 3 Therefore, the matters not specified herein may be considered impractical or unavailable. This operating manual is the property of GSK CNC Equipment Co., Ltd. All rights reserved. It is against the law for any organization or single to publish or reprint this manual without the express written permission of GSK and the latter reserves the right to ascertain their legal liability.
  • Page 4 60 domestic manufacturers of machine tools with after-sales service network through the country. With a yield in the lead in China for four years in succession, GSK series products are in great demand in the domestic demand and have a ready sale in Southeast Asia at high performance-to-price ratio.
  • Page 5 Chinese version of all technical documents in Chinese and English languages is regarded as final. Thank you for using DA98B AC Servo Drive Unit and User Manual. Welcome you to feedback your suggestions about our product and User Manual by the telephone or fax, Email which has been addressed on the back cover of this manual, or feedback to our headquarter by local outlet.
  • Page 6 GSK CNC Enquipment Co., Ltd. Warning Please read carefully the following warning marks, if not avoided, could result in injury or in heavy damage to property. ■ The following warnings with varying degrees of severity appear in the User Manual.
  • Page 7 Warning Danger The cable is not permitted to be Moving, wiring and checking put on the trenchant edge and can only be performed after e x c e s s i v e p r e s s u r e , l o a d , the power is switched off for tension is not permitted to exert 10 minutes.
  • Page 8 GSK CNC Enquipment Co., Ltd. Caution Don't touch the motor, control When there is an alarm in the device or the brake resistance running, it must be eliminated for the heating in the running. before going on running. Destructive result occurring...
  • Page 9 Warning Notes Ⅴ...
  • Page 10 GSK CNC Enquipment Co., Ltd. Ⅵ...
  • Page 11 Content Content Chapter 1 Overview ....................1 1.1 Introduction ........................1 1.2 Check after delivery ...................... 2 1.3 Outline ..........................4 Chapter 2 Installation ....................5 2.1 Installing servo unit ....................... 5 2.2 Installing motor......................7 Chapter 3 System configuration and assembly..........9 3.1 Servo unit specification ....................
  • Page 12 GSK CNC Enquipment Co., Ltd.
  • Page 13 Chapter 1 Overview 1.1 Introduction DA98B AC Servo Drive Uit is the second generation of fully digital AC Servo system of our company which is employed with the new type exclusive chip DSP for motor control, large-scale complex programmable logic device (CPLD) and IPM with big power, which has a good integration, compact, perfect protection and highly reliability.
  • Page 14 GSK CNC Equipment Co., Ltd. 1.2 Check after delivery Item Whether the packing is good and the goods is damaged. Whether the servo unit, servo motor is the ordered one by checking the nameplates of the goods. 3）Whether the accessories are complete by checking the packing list.
  • Page 15 Chapter 1 Overview （1） Standard accessories for DA98B servo unit: ① User Manual ② Installation bracket ③ M4×8 contersink bolt ④ CN1 socket（DB44 female） 1 set （note 1） ⑤ CN2 plug （DB25 male） 1 set （note 2） Accessory list 1：Signal cable (3m) can be provided when it is matched with our servo unit.
  • Page 16 GSK CNC Equipment Co., Ltd. 1.3 Outline Outline of servo unit Fig. 1.1 Outline of servo unit Outline of servo motor Fig. 1.2 Outline of servo motor...
  • Page 17 Fireproof material should be used in the installation with no permission to fix it on or near the inflammable object. Run the servo unit below the temperature of 45℃ for reliable long term usage. Environmental requirements Item DA98B servo unit 0～55℃（no frost） Operating temperature ≤90%RH（no dewing） -40～80℃...
  • Page 18 GSK CNC Equipment Co., Ltd. Fig 2.1 Bottom board installation pattern Fig 2.2 Panel installation pattern Installation interval Fig. 2.3 is installation interval for one servo unit and Fig. 2.4 is for servo units. The actual interval for installation should be larger as possible as to get a good heat radiation.
  • Page 19 Chapter 2 Installation > 1 0 0 m m > 2 5 m m > 2 5 m m > 1 0 0 m m > 1 0 0 m m V e n t i l a t i o n d i r e c t i o n V e n t i l a t i o n d i r e c t i o n Fig.
  • Page 20 GSK CNC Equipment Co., Ltd. Installation notes ■ Do not hammer the motor or its shaft to protect the encoder from being damaged when removing or assembling belt wheel. Helically pressing or drawing tools should be used for removing and assembling.
  • Page 21 Chapter 3 System configuration and assembly Chapter 3 System configuration and assembly 3.1 Servo unit specification Table 3－1 Servo unit specification 0.4～0.8 1.0～1.5 1.7～2.6 Output power (kW) Motor rated torque 2～4 4～10 6～15 （N·m） Single phase three-phase AC220V three-phase AC220V Input power supply -15～+10% 50/60Hz -15～+10% 50/60Hz...
  • Page 22 GSK CNC Equipment Co., Ltd. Encoder 2500 pulse/rev (resolution:10000) incremental Feedback encoder 4 kinds of internal speed instructions and (+10～-10) external analog Speed control voltage instructions Speed, current orientation, instruction pulse accumulation, Orientation deviation, motor torque, motor current, linear Monitor function...
  • Page 23 Control board diagram block inside the broken line and power supply board diagram block outside the broken line above. 3.3 Wiring There are several control modes for DA98B: orientation control mode, speed control mode etc. Personnel who take up the wiring and checking should be qualified for...
  • Page 24 GSK CNC Equipment Co., Ltd. the work, they must do wiring as the terminal voltage and poles by the manual for prevention of the device damage or the injury to personnel. Main circuit wiring Fig.3.2 Typical wiring for the main circuit MCC ：...
  • Page 25 Chapter 3 System configuration and assembly Output power Input Input terminals Output Protection terminals of Type of the main terminals of control earthing power supply power power 0.4～0.8 （kW） ≥2.0 1.0～1.5 （kW） ≥2.0 1.7～2.6（kW） ≥2.5 Caution to main circuit wiring: ①...
  • Page 26 ④The cables and wares should be well fixed as well as not be adjacent to servo unit radiator or motor for their protection of insulation against heating. ⑤The wiring of CN2 in the following sketch map is done by accordance of GSK SJT series motor. If user uses motor from other manufacturers or self-made wires, the （...
  • Page 27 Chapter 3 System configuration and assembly V a ca ncy CN2 (DB25F) Fig.3.3 Encoder wiring CN1 terminal wiring ① The cable length of the control signal should be within 3m. ② The distance to the main circuit cable should be above 30cm as well as the both cables should not use the same tube or be bound together for protection against disturbance.
  • Page 28 GSK CNC Equipment Co., Ltd. Fig.3.4 Terminals and definition of CN1...
  • Page 29 Chapter 3 System configuration and assembly Input and output interface pattern for CN1 Table 3―3 Terminal signal type Input terminals Output terminals Other terminals Pin No. Sign Signal type Pin No. Sign Signal type Sign DGND ALRS COIN/SCMP AGND RSTP GOU1 AGND FSTP...
  • Page 30 GSK CNC Equipment Co., Ltd. 3.4 I/O Interface fundamentals CN1 interface signal There are 7 types of CN1 interface signal as following: Switching volume input, , A lateral pole is connected to COM+ via 3kΩ resistance in series for one internal photoelectric coupling; K lateral pole is connected to input terminal for one photoelectric coupling.
  • Page 31 Chapter 3 System configuration and assembly Output interface of switching 控制装置侧 Controller side max 50mA max 24V Fig. 3.6 Output interface of switching volume （1） External power supply is provided by user, and if its polarities are connected reversely, the servo unit will be damaged; （2）...
  • Page 32 GSK CNC Equipment Co., Ltd. 控制装置侧 Controller side PULS+ PULS- SIGN+ SIGN- Fig. 3.8 Single terminal drive mode of pulse volume input interface （1） It is suggested to apply differential drive mode to correctly transmit pulse volume data; （2） AM26LS31, MC3487 or RS422 linear driver are employed in the differential drive mode;...
  • Page 33 Chapter 3 System configuration and assembly 3－5 Table Pulse input sequence parameter Parameter Differential drive input Single terminal drive input >2µS >5µS >1µS >2.5µS >1µS >2.5µS <0.2µS <0.3µS <0.2µS <0.3µS >1µS >2.5µS >8µS >10µS >4µS >5µS >4µS >5µS <0.2µS <0.3µS <0.2µS <0.3µS >1µS...
  • Page 34 GSK CNC Equipment Co., Ltd. PULS SIGN Fig. 3.11 2-phase instruction pulse input interface time sequence (max. pulse frequency 125kHz) Input interface of photoelectric encoder Motor side Controller side 电机侧 控制装置侧 AM26LS32 X=A,B,Z,U,V,W Fig. 3.12 Input interface of servo motor photoelectric encoder...
  • Page 35 Chapter 3 System configuration and assembly 3.5 Standard conection 3.5.1 Orientation control Standard Wiring Fig.3.13 Standard wiring of orientation control mode Terminal functions of position control mode Table 3－6 Terminal functions of orientation control mode Sign Function Sign Function Encoder A phase differential positive PAOUT+ output Servo on input terminal...
  • Page 36 GSK CNC Equipment Co., Ltd. terminal PBOUT- output Encoder B phase differential negative output Encoder Z phase differential positive PZOUT+ output FSTP CCW drive stop PZOUT- Encoder Z phase differential negative output identical to the Output terminal ready, time sequence of HOLD signal, and...
  • Page 37 Chapter 3 System configuration and assembly 3.5.2 Speed control Standard Wiring Motor Single- or DA98B three- phase AC servo AC 220V one-axis controller DC 12~24V COM+ COM+ encoder Servo on Alarm cancellation ALRS FSTP CCW drive stop CW drive stop...
  • Page 38 GSK CNC Equipment Co., Ltd. Encoder Z phase differential positive Forward rotation signal input for PZOUT+ output analog instruction voltage 0～10 V PZOUT- Encoder Z phase differential negative input output identical to Output terminal ready, Backward rotation signal input for...
  • Page 39 Chapter 4 Parameter Chapter 4 Parameter There are various parameters in the servo unit to be adjusted and set to the performance, characteristics and so on, which can meet the requirement for the different functions by user. The user should make a complete study of the parameters before searching, setting and adjusting the parameters by the control panel.
  • Page 40 GSK CNC Equipment Co., Ltd. PA 25 Internal speed 2 -30000~30000 -500 0.1rpm PA 26 Internal speed 3 -30000~30000 2000 0.1rpm PA 27 Internal speed 4 -30000~30000 -3000 0.1rpm PA 28 Speed in orientation 5000 0.1rpm 0～30000 PA 29 Max. speed of analog instruction 25000 0.1rpm...
  • Page 41 Chapter 4 Parameter 7： Motor torque display; 8： Motor current display; 9： Linear speed display; 10：Control mode display; 11： Orientation instruction pulse frequency display; 12： Speed instruction display; 15： Input terminal state display; 16： Output terminal state display; 17： Encoder input signal display; 18：...
  • Page 42 GSK CNC Equipment Co., Ltd. constant The bigger the setting value is, the higher the integral speed is and ② determined the bigger the rigidity is. Parameter value is specific servo unit model and load. Generally, the bigger the load inertia，...
  • Page 43 Chapter 4 Parameter denominator PA 14 Input analog ① there are 4 modes to be selected: 0～3 instruction selection 0 pulse+sign; analog voltage(-10～+10) valid in analog instruction orientation mode instruction pulse 1 CCW pulse/CW pulse 2 two-phase orthogonal pulse input 3 analog voltage(0～+10) instruction valid in analog instruction mode (SC2, SC1 for forward and reverse rotation selection) ②...
  • Page 44 GSK CNC Equipment Co., Ltd. aberrance PA 23 Max. speed limit 0~31000 ① Max. speed limit set of servomotor. 0.1r/min ② It is irrelevant to rotary direction. ③ If the setting exceeds the rated speed, the actual max. speed limit is the rated speed.
  • Page 45 Chapter 4 Parameter ③ The limit is valid under any conditions. ④ If the setting exceeds max. overload allowable, the actual torque limit is the max. loading. PA 35 Internal CW torque ①Internal torque limit set in CW direction of servo motor. -300～0% limit ②The setting is the percent of rated torque.
  • Page 46 GSK CNC Equipment Co., Ltd. 130SJT-M050D, 1.3kW,220V, 2000rpm,5A,1.19×10 kg.m 130SJT-M060D, 1.5kW,220V, 2000rpm,6A,1.95×10 kg.m 130SJT-M075D, 1.88kW,220V, 2000rpm,7.5A,1.95×10 kg.m 130SJT-M100D, 2.5kW,220V, 2500rpm,10A,2.42×10 kg.m ※ 130SJT-M100B, 1.5kW,220V, 1500rpm,6A,2.42×10 kg.m 130SJT-M150B, 2.3kW,220V, 1500rpm,8.5A,3.1×10 kg.m ※ 130SJT-M150D, 3.9kW,220V, 2500rpm,14.5A,3.6×10 kg.m ※ 110ST-M02030H，0.6kW,220V, 3000rpm,4A,0.33×10 kg.m 110ST-M04030H，1.2kW,220V, 3000rpm,5A,0.65×10 kg.m...
  • Page 47 Chapter 5 Display and operation 5.1 Keys operation The DA98B servo unit is very easy to operate that the functions required can be set by only 4 keys. The outline of its panel is as following: 6-bit digital LED displayer...
  • Page 48 GSK CNC Equipment Co., Ltd. Monitor mode Parameter setting Parameter management Speed trial run JOG run Encoder zero- adjusting Analog zero- adjusting Fig. 5.1 Diagram block of main menu Monitoring mode “ ① Select ”in the main menu and press ‘...
  • Page 49 Chapter 5 Display and operation Fig. 5.2 Diagram block of monitoring mode Explanation r： Speed code for motor. It displays‘－’if the motor runs reversely in that speed. 1000.0：Speed value for motor Unit: rev/min The pulse number unit in this servo unit is 10000 pulse/rev, and orientation pulse number is comprised by two parts of high 4-bit and low 5-bit.
  • Page 50 GSK CNC Equipment Co., Ltd. Therefore, the formula for orientation deviation is: － ＝ － ＝ Alarm display: Alarm number ：No alarm, normal ：No.1 alarm ：No.36 alarm Running display ：Servo unit is being running ：Main circuit having been charged ：Main circuit having not been charged 5.
  • Page 51 Chapter 5 Display and operation shown as follows, and their definitions are shown in Fig.5.3, Fig.5.4, Fig. 5.5. Fig. 5.3 Input terminal display (bright light is ON and dark light is OFF) Fig. 5.4 Output terminal display (bright light is ON and dark light is OFF) Fig.
  • Page 52 ‘ ’ press to cancel it to make the parameter recover to its original value and back to the parameter selection mode. The following is the parameter setting procedure for GSK 110SJT-M040D servo motor Power on Parameter value Model code parameter...
  • Page 53 Chapter 5 Display and operation power is on again. EE－rd: parameter reading. It means to read the data in EEPROM parameter area into the memory. The process will be executed automatically when power is on. At the beginning, the parameters in the memory are the same as that of EEPROM parameter area.
  • Page 54 GSK CNC Equipment Co., Ltd. The parameter setting will not be saved after the power is down and the modification is invalid if the writing has not been executed for the modified parameter. Additional information The function of automatic gain adjustment being developed at present is not available.
  • Page 55 Chapter 6 Trial run Chapter 6 Trial run 6.1 Check before trial run ① Check wiring: Ensure the wiring, especially the connections of the power supply wiring and motor wiring of servo unit. Ensure the earthing connection. ② Check power supply to ensure the normal voltage. ③...
  • Page 56 GSK CNC Equipment Co., Ltd. 6.2.1 Sequence of power on for servo unit The connection of power supply is shown as Fig.6.1, switch on the power by following steps: Put the power supply to the power input terminals of main circuit ( 3-phase to R, （NFB、...
  • Page 57 Chapter 6 Trial run Power power on power down supply ALRS reset Motor power off power off power on power off power on activated t <600 us t <1 ms SRDY <600ms t <300 us alarm on power on detection t ＝...
  • Page 58 GSK CNC Equipment Co., Ltd. Press‘ ’key to confirm the setting of the No.4 parameter, ⑼ it displays i.b., set the PA21 parameter to the motor speed required, ⑽ i.e. the JOG speed Press ‘ ’key to back to the first main menu layer to ⑾...
  • Page 59 Chapter 6 Trial run with zero speed. If the motor runs in low speed, adjust the parameter PA22 to make the motor to be in zero speed state. Slowly adjust the analog voltage, the motor speed will vary by the voltage variation. The highest motor speed in ±10V input voltage can be adjusted by modifying parameter PA29.
  • Page 60 GSK CNC Equipment Co., Ltd. A G N D V C M D - V C M D V C M D + P A O U T - P A O U T + P B O U T -...
  • Page 61 Chapter 6 Trial run Input the control signal by connecting CN1: OFF for servo on(SON), OFF for speed choose1 (SC1), speed choose2 (SC2), ON for CCW drive stop (FSTP), ON for CW drive stop (RSTP). Switch on the power supply of the control circuit, the servo unit displayer will light. Check connection if alarming occurs.
  • Page 62 GSK CNC Equipment Co., Ltd. G：electronic gear ratio; G=dividing numerator / dividing denominator ≤ G ≤ Recommended range of G is: N：motor rotating circles; C：photoelectric encoder lines/rev, in this system C=2500 【Example 1】When input instruction pulse is 6000, and servo motor rotation is 1: ×...
  • Page 63 Fig.6.4 Wring of orientation instruction control Wiring sketch map for CNC system of GSK980TD turning machine GSK980TD(X or Z axis) DA98B CN1 XS30 or XS31 C P + P U L S + C P - P U L S -...
  • Page 64 GSK CNC Equipment Co., Ltd. 6.3 Application of hold release signal In order to lock the vertical or tilted work table linked with the motor against falling down by the servo power off, servo motor with hold brake is usually employed. The hold releasing signal （HOLD±）is provided for the effective control of the motor with hold in the servo unit.
  • Page 65 Chapter 6 Trial run P o w e r P o w e r o n s u p p l y S O N O F F O F F O F F M o t o r a c t i v a t e d p o w e r o f f p o w e r o n p o w e r o f f p o w e r o n...
  • Page 66 GSK CNC Equipment Co., Ltd. Typical wiring diagram of GSK 980TD 980TD matched with DA98B servo system unit on turning machine System switch power 220V 220V Switch-off Switch-on Used for cutting off hold signal power against work table falling Hold...
  • Page 67 Chapter 6 Trial run Parameter adjustment for speed loop regulator PA05 Proportional gain of speed loop range（150-900） PA05 is the speed loop proportional gain KP, if its value increases, the action of the servo will be more agile and faster. If the value is a bit larger, the motor screams with hardened rigidity.
  • Page 68 GSK CNC Equipment Co., Ltd. fluctuation. If the setting is decreased, the filtering for analog instruction will be enhanced. The error of the stable increases (error followed increasing) and running characteristic lags severely if the setting is too small. If the setting is too large, the speed fluctuation and instruction disturbance enhance that may result in shaking.
  • Page 69 There are many protection functions such as overheat protection, overcurrent protection, over-voltage protection for this DA98B AC servo device. While alarming occurs, the motor stops. In the meantime, alarm code is being displayed on the LED display panel. Only is the fault exterminated by operator according to the alarm code displayed, can the device be put into use.
  • Page 70 GSK CNC Equipment Co., Ltd. Data and detecting alarm of EEPROM chip damaged EEPROM Zero-adjusting error of encoder Zero-adjusting fail of encoder Current sampling fault Current sampling circuit fault Encoder signals code Complete high or low level of UVW signals...
  • Page 71 Chapter 7 Function for protection ① The U, V, W lead wires of motor connected correctly. Connect wires ① correctly. ② Cable lead wires encoder are not connected correctly. Occurring in switching control power ① The circuit board fault ① Change servo driver. supply ①...
  • Page 72 GSK CNC Equipment Co., Ltd. ① U, V, W lead wires of motor are not connected correctly. ① Connect them correctly. ② Lead wires of encoder cable are not connected correctly. ① Encoder fault ① Change the servo motor. motor doesn’t...
  • Page 73 Chapter 7 Function for protection Err-7 The input terminals of CCW, ① Check the connection and Abnormity CW drive stop are both broken power supply input drive stop off. terminals. Encoder connection ① ① Check the connection. wrong. ① Encoder is damaged. ①...
  • Page 74 GSK CNC Equipment Co., Ltd. Err-13 Overload Occurring in switching ① Circuit board is at fault. ①Change the servo driver. control power supply ① The motor runs exceeding ① Check the load. Occurring motor rated torque. ② Reduce start-stop running frequency.
  • Page 75 Chapter 7 Function for protection ① Main circuit power supply ① Check the main power voltage is too high. supply. Encoder is damaged. Change the motor. Encoder Err-15 Encoder connection is wrong. Check the connection. counting fault Earthing is not well done. Be grounded correctly.
  • Page 76 GSK CNC Equipment Co., Ltd. Chapter 8 Isolated transformer The isolated transformer should be employed to driver to reduce the liability of electric shock or interference from power supply and electromagnetic field. The servo motor of 0.8KW or less can be employed with single phase type, and the one of more must be employed with three-phase type.
  • Page 77 Chapter 8 Isolated transformer Fig.8.2 Outline and installation dimensions for BS-200 model...
  • Page 78 GSK CNC Equipment Co., Ltd. Fig.8.3 Outline and installation dimensions for BS-300 model...
  • Page 79 Chapter 8 Isolated transformer Fig.8.4 Outline and installation dimensions for BD-80 model...
  • Page 80 GSK CNC Equipment Co., Ltd. Fig.8.5 Outline and installation dimensions for BD-120 model...
  • Page 81 Chapter 9 Order guide Chapter 9 Order guide 9.1 Capacity selection Servo capacity is relative to the load inertia, the load torque, the orienting precision and max. speed required which are taken into account by the following steps: 1） Calculation of inertia and torque of load, torque of acceleration and deceleration ①...
  • Page 82 GSK CNC Equipment Co., Ltd. max. axial working load, i.e. F . If F is hard to get, F ＝1/3F ＝ (N) is suggested for use. （0.1~0.12）C ——The rated load of ball screw that can be looked up in the sample ——...
  • Page 83 Chapter 9 Order guide γ —— Material density of rotational object(kg*m D —— Diameter of rotational object（cm） L —— Length of rotational object（cm） g —— Gravity acceleration，g=980cm/s 2. The inertia of linear movement object J＝ (kg*m （ ） π W —— Gravity of linear movement object（N） L ——...
  • Page 84 GSK CNC Equipment Co., Ltd. Open loop gain of the system，usually 8s - 25s ; for MC K ＝ 20s ； —— Load torque（N•m）. If M is less than the max. torque M of servo motor, the motor speed can be increased or decreased by the time constant used.
  • Page 85 Chapter 9 Order guide is as follows: f × ε= ε：Lag pulse （Puls） ； f：Instruction pulse frequency（Hz） ； ：Orientation proportional gain（1/S） ； G：Electronic gear ratio. The equation is obtained when [position feedback gain] is 0% and the lag pulse will be less than the computation counted by the above equation if [position feedback gain] is more than 0%.
  • Page 86 GSK CNC Equipment Co., Ltd. × × Max. speed of servo： ：Max. speed of worktable allowed by servo, mm/min； ：Max. speed allowed by servo motor, r/min； The practical max. speed of machine is limited by max. speed of CNC and servo.
  • Page 88 Add: No.52, 1 . Street, Luochong North Road, Luochongwei, Guangzhou, 510165, China Website: http://www.gsk.com.cn E-mail: gsk@gsk.com.cn Tel: 86-20-81796410/81797922 Fax: 86-20-81993683 All specifications and designs are subject to change without notice Nov. 2006/Edition 1 Nov. 2006/Printing 1...

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