DS2 series servo drive

Manual

Wuxi Xinje Electric Co., Ltd.

Data No.: SC209 20110412 1.0

 Safety notes

Confirmation

Do not use the drivers that are broken, lack of parts or wrong types.

Installation
Make sure all the external powers are cut off before install the drivers.

Wiring

Please cut off all the powers before wiring.

Connect the AC power to the power terminals of driver.

Do not connect U, V, W terminals of driver with 3-phase power supply.

Please use 2mm cable to ground the GND terminal of driver.

Maintenance and running

Install the panel cover when power on.

Do not touch the terminals in 5 minutes after power off.

Do not connect motor with load when test running.

Set the suitable power consumption parameters before connecting the

machine.

Do not change the wiring with electricity.

Do not touch the radiator when running.

Confirmation after getting the products

1. Please confirm the following items after getting the products.
Item

Contents

The type is what you ordered?

Check the label of driver and motor

Does the motor shaft rotate well?

Can rotate by manual. Cannot rotate by manual

for brake types

Is there any damage?

Check if the cover

has damage during

transporting
Is the screw loose?

Check the screw with screwdriver

Check the motor code

Check if the driver and the motor code is

matched
Please contact us if there are any problems in these items.

2. Type
(1) Servo driver

DS2 2 0P7 AS
Series name
DS2:compact model
Voltage level
2: 220V

Configuration: AS
Motor capacity
0P2: 0.2KW
0P4: 0.4KW
0P7: 0.75KW

(2) Servo motor

MS -80 ST - M 02430 A Z- 2 0P7

Power
Voltage
Power-loss brake
Shaft specs
Feature code
Feedback part code
Sine drive motor
Base code
Series name
Base code: 60, 80, 90;
Feedback part code: M (optical pulse encoder)
Feature code: first 3 bits are rated torque; last 2 bits are rated speed;
For example: 00630: rated torque 0.637Nm, rated speed 3000rpm;
01330: rated torque 1.3Nm, rated speed 3000rpm;
2

Shaft spec: A- no bond; B- with bond;

Power-loss brake: empty- no brake; Z- with brake;
Voltage level: 2220V;
Power: 0P2: 0.2KW; 0P4: 0.4KW; 0P7: 0.75KW;

3. Parts introduction
(1) Servo motor

Encoder

Frame

Flange
Output shaft

(2) Servo driver

DS2-20P2-AS, DS2-20P4-AS, DS2-20P7-AS

POWER
Light when power on

PULPUL+
V1+
DIRDIR+
V2+
SI1
SI2
SI3
SI4
+24V
SO1
SO2
COM

CN1

Panel display
Display the servo state, parameter, alarm
Panel buttons
For parameter settings
CN0
Pulse, direction, I/O signal
Power and motor terminal
Drive and motor power terminal

CN2

CN1
I/O, analog, position feedback signal
CN2
Encoder terminal

RS232 port
Connect PC and HMI

6
5
4
3
2
1

DIP switch
Turn on 2, 3, and 5
for normal using

Installation
1. Servo motor
MS series servo motors can be installed either horizontally or vertically. The service
life of the servo motor can be shortened or unexpected problems might occur if it is
installed incorrectly or in an inappropriate location. Follow these installation
instructions carefully.

Antirust

Notes:
The end of the motor shaft is coated with
antirust. Before installing, carefully remove
all of the paint using a cloth moistened with
paint thinner. Avoid getting thinner on other
parts of the servo motor.

(1) Storage temperature

Store the servomotor within -20~+60 as long as it is stored with the power
cable disconnected.
(2) Installation location

Free of corrosive or explosive gases.

Well-ventilated and free of dust and moisture.

Ambient temperature of 0 to 50C.

Relative humidity (r.h.) of 20 to 80% with no condensation.

Accessible for inspection and cleaning.

(3) Concentricity
Please use coupling when connecting to machine; keep the shaft center of servo
motor and machine at the same line. It should be accord to the following
diagram when installing the servo motor.
Measure it at 4 places of the circle, the difference should be below
0.03mm. (Rotate with the shaft coupler)

Measure it at 4 places of the circle, the difference should be

below 0.03mm. (Rotate with the shaft coupler)
Note:

If the concentricity is not enough, it will cause the vibration and bearing damage.

When installing the coupler, prevent direct impact to the shaft. This can damage
the encoder mounted on the shaft end at the opposite side of the load.
(4) Installation direction

MS series servo motors can be installed either horizontally or vertically.

(5) Avoid oil and water

Through part of
the shaft

Install a protective cover over the

servomotor if it is used in a location that is
subject to water or oil mist. Also use a
servomotor with an oil seal when needed
to seal the through-shaft section.
(6) Cable stress

Make sure that the power lines are free from bends and tension. Be especially careful
to wire signal line cables so that they are not subject to stress because the core wires
2

are very thin, measuring only 0.2 to 0.3mm .

2. Servo drive
The DS2 series servo drivers are base-mounted servo drivers. Incorrect installation
will cause problems. Follow the installation instructions below
(1) Storage temperature
Store the servo driver within -20~+85, as long as it is stored with the power cable
disconnected.
(2) Installation location
The following precautions apply to the installation site.
Situation

Installation Precaution

Installation in a

Design the control panel size, unit layout, and cooling method

Control Panel

so the temperature around the servo drivers does not exceed

50C.
Installation Near a

Minimize heat radiated from the heating unit as well as any

Heating Unit

temperature rise caused by natural convection so the

temperature around the servo drivers does not exceed 50C.

Installation Near a

Install a vibration isolator beneath the servo driver to avoid

Source of Vibration

subjecting it to vibration.

Installation at a Site

Corrosive gas does not have an immediate effect on the

Exposed to

servo drivers, but will eventually cause electronic components

Corrosive Gas

and terminals to malfunction. Take appropriate action to avoid

corrosive gas.

Other Situations

Do not install the servo driver in hot and humid locations or

locations subject to excessive dust or iron powder in the air.

(3) Installation direction

Install the servo driver perpendicular to the wall as

Wall

shown in the figure. The servo driver must be

oriented this way because it is designed to be cooled
by natural convection or by a cooling fan.

Ventilation

(4) Installation
Follow the procedure below to install multiple servo drivers side by side in a control
panel.

Fan

Fan

min

PULPUL+
V1+
DIRDIR+
V2+
SI1
SI2
SI3
SI4
+24V
SO1
SO2
COM

PULPUL+
V1+
DIRDIR+
V2+
SI1
SI2
SI3
SI4
+24V
SO1
SO2
COM

PULPUL+
V1+
DIRDIR+
V2+
SI1
SI2
SI3
SI4
+24V
SO1
SO2
COM

PULPUL+
V1+
DIRDIR+
V2+
SI1
SI2
SI3
SI4
+24V
SO1
SO2
COM

CN1

CN1

CN1

CN1

CN2

CN2

CN2

CN2

min

min

min

Servo drive direction

Install the servo driver perpendicular to the wall and make the front panel towards
operator.

Cooling

Please leave enough space as the above diagram to ensure cooling by fans or
natural ventilation.

Side-by-side installation

As the above diagram, leave min 10cm space at horizontal direction, leave min
50mm space at vertical direction. Install cooling fans above the drive. Keep the
uniform temperature inside the control panel to avoid overheat at local place.
9

Ambient inside control panel

Ambient Temperature: 0~50

Humidity: 90%RH or less

Vibration: 4.9m/s

Condensation and Freezing: None

Ambient Temperature for Long-term Reliability: 50C maximum

Dimensions
1. Servo motor

10

60 series motor installation dimensions

Type

LA

MS-60ST-M00630-20P2

110

Unit: mm

Type
MS-60ST-M01330-20P4

LA
Normal

With brake

146

189

11

80 series motor installation dimensions

Type
MS-80ST-M02430-20P7

12

Unit: mm

LA
Normal

With brake

150

191

MS-90ST-M02430-20P7 installation dimensions

Type
MS-90ST-M02430-20P7

Unit: mm

LA
Normal

With brake

149

194

2. Servo driveunit: mm

DS2-20P2-AS, DS2-20P4-AS, DS2-20P7-AS

13

 Wiring
1. Main circuit
14

DS2-20P2-AS, DS2-20P4-AS, DS2-20P7-AS

The terminal function of main circuit:

Terminal

Function

Explanation

L1/L2/L3

Power input of main

AC

circuit

200~240V, 50/60Hz

Ground terminal

Connect to ground terminal of

single-phase

or

3-phase

motor
P+PB

UVW

Regeneration brake

Connect the regeneration resistor

resistor

between P+ and PB

Motor terminal

Connect to motor

Ground terminal

Connect to motor ground terminal

2. Winding connector of servo motor

Signal

608090 series motor

PE

3. I/O terminal (CN0, CN1)

The connector is looked at the soldering terminal:

15

DS2-20P2-AS
DS2-20P4-AS
DS2-20P7-AS
CN0

CN1(DB15)

PULPUL+
V1+
DIRDIR+
V2+
SI1
SI2
SI3
SI4
+24V
SO1
SO2
COM

10
15

CN0, CN1 Terminal

DS2-20P2-AS
DS2-20P4-AS
DS2-20P7-AS

16

11

CN0 terminals
No.

Name

PUL-

PUL+

Contents
Pulse
input PULDifference
input

No.

Name

SI2

SI3

Contents
Input terminal
2
Input terminal
3

PUL+
Open
3

V1+

collector

10

SI4

11

+24V

12

SO1

13

SO2

+24V
4

DIR-

DIR+

Direction
input DIRDifference
input DIR+
Open

V2+

collector
+24V

DS2-20P2-AS
DS2-20P4-AS
DS2-20P7-AS

SI1

Input
terminal 1

Input terminal
4
Input terminal
+24V
Output
terminal 1
Output
terminal 2
Ground

14

COM

of

output
terminal

CN1DB15terminals
No.

Name

Contents

No.

Name

NC

Reservation

Z-

NC

Reservation

10

B+

SI5

SO3

B-

Input
terminal 5
Output
terminal 3
Encoder

11

12
13

T-REF

Contents
Encoder output
ZEncoder output
B+
Torque

analog

input

V-RE

Speed

analog

input

GND

GND for analog

17

output B6

A+

A-

Z+

Encoder
output A+
Encoder
output A-

input
14

RS485 +

15

RS485 -

Encoder
output Z+

4. I/O signals
(1) Input signal
Item

Input terminals

Function

Digital input

SI1~SI5

Multi-functional input terminals

Pulse input

PUL-PUL+

P2-00=0: positive pulse

P2-00=2: pulse

DIR-DIR+

P2-00=0: negative pulse

P2-00=2: direction (sign)

(2) Output signal

Item
Optical output

5.

Output terminals
SO1~SO3

Function
Multi-functional output terminals

CN2 terminals

The connector is looked at the soldering terminal:

18

4
10

15

3
9

14

2
8

13

1
7

12

6
11

Drive
terminal

Encoder
terminal
608090
Series motor

Name

Drive
terminal

A+

B+

Z+

U+

11

W+

13

A-

14

B-

Z-

U-

10

15

W-

11

Shield

12

GND

13

5V

14

10

V+

15

12

V-

Encoder terminal
608090
Series motor

Name

6. Communication ports

COM1

COM1 is RS232 port which can be used to connect PC for debugging. Do not set the
panel display to bb or RUN when debugging.
The parameters of COM1 cannot be modified.
Baud rate 19200bps, 8 data bits, 1 stop bit, even parity, Modbus station no.1.

19

DS2-20P2-ASDS2-20P4-ASDS2-20P7-AS
Terminal

Name

Explanation

TXD

RS232 send

RXD

RS232 receive

GND

RS232 ground

(5-pin port)
Note: please use the cable offered by Xinje company.

COM2

The COM2 position of each type:

Type

Port

DS2-20P2-AS
DS2-20P4-AS
DS2-20P7-AS

COM mode

This port cannot be used with

A (CN1-14)
B (CN1-15)

Mark

RS485

COM1 at the same time.

The parameters of COM2 can be set through P0-04:

Parameter

Function

Default

Range

setting
P0-04.0

Baud
rate

09
0300
1600
21200
32400
44800
59600
619200
738400

20

857600
9115200
P0-04.1

Data bit

08

P0-04.2

Stop bit

02 bits21 bit

P0-04.3

Parity bit

02
0no parity 1odd parity 2even parity

Modbus station no. can be set through P0-03.

Parameter
P0-03

Function
Modbus station no.

Unit

Default setting
1

Range
1255

Note: the above parameters will be worked after re-power on.

7. Typical wiring
DS2-20P2-ASDS2-20P4-ASDS2-20P7-AS

21

3-phase AC 220V
(50/60Hz)

FIL

Regenerative

L1
L2
L3
P+

resistor

PB

U
V
W

U
V M
W
PE

CN2

PG
Properly handle the
Shield thread

Vcc
Shield layer connects
0V at signal side, be
empty at drive side

V1+

CN0-3
CN1-8

/PUL- CN0-1
/DIR- CN0-4

2.2K

CN1-9
CN1-10

Vcc

V2+

CN0-6 2.2K

CN1-5
CN1-6
CN1-7

+24VIN CN0-11 3.3K

Servo enable ON
enable when ON
Alarm reset
clear the alarm when ON
Forward prohibited
effective when OFF
Reverse prohibited
effective when OFF
Speed choices

/S-ON

CN0-7

/ALM-RST CN0-8
/P-OT

CN0-9

CN0-12
CN0-13

/N-OT CN0-10
/SPD-A CN1-3

CN1-4
CN0-14

22

ZO+
Z0BO+
B0-

Encoder
Output

AO+
A0-

COIN
ALM

Self-defined

Terminal outpu
S-RDY
COM

 Use the control panel

1. Basic operation
The control panel can display the servo status, alarm code, command and set the
parameters.
Buttons

Function

STATUS/E
SC
INC

Press: change the status, status

return
Press: increase the value
Keep press: continuous increase
the value
Press: decrease the value
Keep
press:
continuous
decrease the value
Press: shift
Keep press: enter data setting
and checking

DEC
STATUS
ESC

INC

DEC ENTER

ENTER

The control panel can display the running status, set the parameters and command.
The basic status includes display status, parameter settings, monitor, auxiliary
function, alarm status. Press STATUS/ESC to change the 5 status.

23

Power ON

Running status

Parameter setting

Monitor

Auxiliary function

Display mode:
Monitor mode: U- XX: XX is monitor parameter code
Auxiliary function mode: FX-XX: the first X is group code; the second X is parameter
code in this group.
Parameter settings mode PX-XXthe first X is group code; the second X is parameter
code in this group.
Alarm mode E-XXXXXX is alarm code.

2. Running status
The LED digits and code will show the status of servo drive.

Use the status display

The servo enters status display when power on. If it cannot enter this status, press
STATUS/ESC button.
24

The status contents

Code contents
Code

Contents
Standby
Servo is OFF (motor has no electricity)
Run
Servo enable (motor has electricity)
Forward prohibit
P-OT ON
Reverse prohibit
N-OT ON

3. Monitor status
The monitor status can show the command, I/O signal status, servo internal status.
The monitor status can be changed when motor is running.

Use the monitor status

The following is the example of using U-16 monitor code.

(1) Press STATUS/ESC to enter monitor status

(2) Press INC, DEC or ENTER to choose the monitor code U-16, keep press
ENTER to check the contents.

(3) Now it will show the value in U-16.

25

(4) Press STATUS/ESC to return

The contents of monitor code:
Code

Contents

Unit

U-00

Motor real speed

Rpm

U-01

Input speed command

Rpm

U-02

Internal torque command

U-03

Rotate angle (physical angle)

0.1

U-04

Rotate angle (electricity angle)

0.1

U-05

Bus voltage

U-06

Module temperature

0.1

U-07

Input command pulse speed

Rpm

U-08
U-09
U-10
U-11
U-12
U-13
U-14
U-15
U-16

Shift command
pulse

Rotate angle
(encoder value)

Input command
pulses

Feedback
command pulses

Current position

00009999*1
00009999
*10000
00009999*1
00009999
*10000
00009999*1
00009999
*10000
00009999*1
00009999
*10000
00009999*1
00009999

U-17

(cumulative value)

U-18

Real-time current, 1 decimal place

26

*10000

Command
pulse

Encoder
pulse

Command
pulse

Command
pulse

Encoder
pulse
0.1A

U-19

Analog input V-REF

0.01V

U-20

Analog input T-REF

0.01V

U-21

I/O signal status

U-22

I/O terminal status

U-21 can show the I/O signal status. The following is the I/O status.

LED1 LED2

LED4 LED5
Fig 1

0
5 6 1
4
2
3 7
Fig 2

In fig 1, input status is shown in LED4 and LED5; output status is shown in LED1 and
LED2. Fig 2 is the LED segment number.
Each segment meanings please refer to DS2 series servo manual.
U-22 can show I/O terminal status. The following is the I/O status.

LED1 LED2

LED4 LED5
Fig 1

0
5 6 1
4
2
3 7
Fig 2

In fig1, input terminal status is shown in LED5; output terminal status is shown in
LED2. Fig 2 is the LED segment number.
Each segment meanings please refer to DS2 series servo manual.

27

4. Auxiliary function
The control panel can performance some applications in auxiliary function.
Function

Contents

code
F0-**

System information

F1-**

Auxiliary function, show auxiliary command and result

F2-**

Motor code

F3-**

Alarm information

F4-00

Reset to default settings

F5-00

External communication monitor

Check the system information

Press STATUS/ESC to enter auxiliary function. Set the group no. to 0 in order to
check system information. Press INC or DEC to change the code, keep press
ENTER to check the information, press STATUS/ESC to return.
The contents of the system information:
Code

Contents

Code

Contents

F0-00

Motor code

F0-01

Series

F0-02

Type

F0-03

Production date: year

F0-04

Production date:

F0-05

Production date: day

F0-07

Hardware version

month
F0-06

Software version

Auxiliary function operation

In auxiliary function status, set the group to 1, press ENTER to go to code switching.
Press INC or DEC to change the code, keep press ENTER to become effective.
Press STATUS/ESC to return.
1JogF1-00
Make sure motor doesnt connect to the machine before jogging
Press ENTER to enable the motor. In enable status, press INC for forward jog, press
28

DEC for reverse jog. Press STATUS/ESC to exit.

4 statuses when jogging:
Status

Display

Status

Idle

Forward

Enable

Reverse

Display

2test runF1-01
Make sure the motor doesnt connect to the machine before test running
Please enter test run if servo connects to non-original encoder line and power line.
Set F1-01 to 1, keep press ENTER to go to test run.
The display will show the following when test running.

If all the wires are connected correctly, the motor will run forward (direction is
counterclockwise) in 5 seconds. The motor will shake if the wiring is not correct.
Even worse, the drive will alarm. Please cut the power at this time and check the
wiring.
Press STATUS/ESC to exit.
3current detection offset auto-tune
Please use current detection offset auto-tune when servo finishes updating or motor
is not running smoothly after long time.
Choose F1-02 to enter current detection offset auto-tune, it will show rEF.
Press ENTER to run this function, it will show rEF and blink.
It will show done in 5 second when auto-tune is successful.
Press STATUS/ESC to exit.
4speed command offset auto-tune
Choose F1-03 to enter this function. It will show rEF_o.
29

Press ENTER to perform the function, it will show rEF_o.

It will show donE in 1 second when the auto-tune is successful.
Press STATUS/ESC to exit.
5torque command offset auto-tune
Choose F1-04 to enter this function. It will show rEF_o.
Press ENTER to run this function, it will show rEF_o and blink.
It will show donE in 1 second when the auto-tune is successful.
Press STATUS/ESC to exit.
6forced enable ( F1-05)
0cancel enable
1forced enable

Change the motor code

In auxiliary function, set the group no. to 2 to change motor code.

Servo drive can match to different motors with similar power level. Please see the
motor code on the product label.
The following are the steps of change the motor code.
(1) Press STATUS/ESC to enter auxiliary function.
(2) Press INC or DEC to set the group no. to 2, press ENTER to confirm.
(3) Keep press ENTER to show the current motor code.
(4) Press INC, DEC or ENTER until it show current motor code, keep press
ENTER to input.
(5) Please re-power on the drive to make the changing effective.

Check the alarm information

In auxiliary function, set the group to 3 to enter alarm status.

The following are the steps of show the alarm information.
(1) Press STATUS/ESC to enter auxiliary function.
(2) Press INC, DEC to set the group to 3, press ENTER to confirm.
(3) Press INC, DEC or ENTER to change the information code.
30

(4) Keep press ENTER to show the information.

Please refer to DS2 servo manual for detailed alarm information.

Set to default value

The following are the steps of set to default value. The operations must be done
when servo is OFF.
(1) Press STATUS/ESC to enter auxiliary function.
(2) Press INC or DEC, set the group no. to 4, press ENTER to confirm.
(3) Keep press ENTER, it will show 0 and blink.
(4) Set the value to 1, keep press ENTER to make it effective.
(5) Re-power on the drive.

External monitor

In auxiliary function, choose F5-00, it will show C-OUT. COM1 is available, control
panel is invalid. User can debug the servo through PC.
Press STATUS/ESC to exit.

5. Parameter setting
The following steps show how to change the value of P3-09 from 2000 to 3000.
(1) Press STATUS/ESC, change to parameter setting status, press ENTER to
confirm.

(2) The second LED will blink, press INC or DEC to change the value to 3, keep
press ENTER to confirm.

(3) The last two LEDs will blink at this time, press INC or DEC to change the value to
09, keep press ENTER to confirm.

31

(4) It will show the value in P3-09. The lowest bit will blink; press ENTER to left shift
the bit. Press INC, DEC or ENTER to change the value to 3000. Keep press ENTER
to confirm.

Repeat step2 to step4 to change the value.

(5) Press STATUS/ESC to exit.

6. Alarm
It will show alarm code when servo has error. The error code is E-XXX. Press
ENTER to reset the error.
If the servo power is off caused by servo error, the alarm doesnt have to clear.
Note: please find out the alarm reason before clear the alarm.

Parameter list
Effective time: modify when servo OFF, effective when servo ON; modify
anytime, effective when re-power on; modify anytime, effective
immediately
Parameter:

PXXX
PXXX. H

PXXX.L

1. Function selection P0(address: 000000FF)

P0
-

Function

Unit

Default
value

Range

00

Main mode

01

Sub-mode 1

07

0: idle
1: torque (command)
2torque (analog)
32

Effective

3: speed (terminal command)

4: speed (analog)
5: position (internal)
6: position (pulse)
7: speed (pulse)
02

Sub-mode 2

07

0~7 ditto
03

Modbus station no. of COM2

1255

04

Parameters of COM2

n.2206

n.0000

n.2209
05

Rotation direction

01

02

03

0: look at load side, counterclockwise

is forward.
1: look at load side, clockwise is
forward.
06

06.L: stop mode when servo OFF or

alarm. DS2 is inertia stop. Keep
inertia state after stop.
06.H: stop mode when over range
0~1: inertia stop. Keep inertia state
after stop.
2: deceleration stop. Change to zero
clamp state after stop. Torque value:
P4-06 urgent stop torque
3: deceleration stop. Change to inertia
motion after stop. Torque value:
P4-06 urgent stop torque.

33

07

T-REF distribution

03

01

0: undefined.
1: T-REF is external torque limit input.
2: undefined.
3: P-CL, N-CL is ON, T-REF is
external torque limit input.
08

V-REF distribution
0: undefined.
1: V-REF external speed limit input.

2. Control parameter P1(address: 010001FF)

P1-

Name

Unit

Default

Range

value

Effective
time

00

Speed loop gain

1Hz

100

15000

01

Speed loop integral time

0.1ms

400

150000

02

Position loop gain

1/s

100

12000

03

Reserved

04

Second speed loop gain

1Hz

250

15000

05

Second speed loop integral

0.1ms

10000

150000

1/s

250

12000

1%

0100

0.01ms

0~65535

time
06

Second position loop gain

07

Reserved

08

Reserved

09

Position loop feed forward

gain

10

34

Feed forward filter time

3. Position control parameter P2address: 020002FF

P2

Function

Unit

00

Default

Range

Effective
time

value
Command pulse mode

12

01

1: AB phase pulse (90 phase,

4-time)
2: sign and pulses
01

Position command filter

0: first order filter
1: smooth filter

02

Electronic gear ratio (numerator)

165535

03

Electronic

165535

1ms

0100

100Hz

5000

110000

0.1ms

20

01000

gear

ratio

(denominator)
04

Position command filter time

05

Reserved

06

Command pulse frequency at

rated speed

07

Speed command pulse filter time

08

Reserved

09

Reserved

10

Internal position mode

n.0000

11

First segment of pulse (low bit)

-9999

+9999
12

First segment of pulse (high bit)

-9999

+9999
13

First segment speed

0.1rpm

050000

14

First segment adjusting time

1ms

065535

35

15

First segment command filter

0.1ms

065535

time
P2-16~P2-90 are 2~16 segment parameters, P2-91~P2-93 are reserved.
94

The times pass Z phase signal

times

1~65535

0.1rpm

600

0~50000

0.1rpm

100

0~50000

after leaving the limit switch

95

The speed close to the proximity

switch

96

The speed leave the proximity

switch

4. Speed control P3 (address: 030003FF

P3

Name

Unit

00

Default

Range

value
Analog value of rated

Effective
time

0.01V

1000

1503000

speed
01

Internal speed 1

rpm

100

-5000+5000

02

Internal speed 2

rpm

200

-5000+5000

03

Internal speed 3

rpm

300

-5000+5000

04

JOG speed

rpm

100

01000

05

Acceleration time of soft

1ms

065535

1ms

065535

0.01ms

065535

start
06

Deceleration time of soft

start

07

Speed command filter

time

08

Speed feedback filter time

0.01ms

20

065535

09

Max speed limit (MAX

rpm

Different

05000

36

speed)

for each
motor

10

Speed command input

0.01V

0100

dead area voltage

5. Torque control P4address: 040004FF

P4-

Name

Unit

Default

Range

value

Effective
time

00

Analog value of rated torque

0.01V

1000

1503000

01

Torque command filter time

0.01ms

065535

02

Forward torque limit

1%

300

0300

03

Reverse torque limit

1%

300

0300

04

Forward external torque limit

1%

100

0300

05

Reverse external torque limit

1%

100

0300

06

Urgent stop torque

1%

300

0300

07

Internal speed limit in torque

rpm

2000

15000

1%

-300300

0.01V

0100

control mode
08

Reserved

09

Internal

torque

command

setting
10

Torque command input dead

area voltage

6. Signal parameter P5address: 050005FF

P5

Name

Unit

00

Default

Range

Effective
time

0250

value
Positioning end width /COIN

Command

37

pulse
01

Zero clamp speed /ZCLAMP

rpm

10

0300

02

Rotation

speed

rpm

20

11000

Co-speed checking signal width

rpm

10

1250

Command

50

010000

1000

065535

1ms

0500

checking

/TGON
03

/V-CMP
04

Near output signal width /NEAR

pulse
05

Deviation pulse limit

256
command
pulses

06

Servo OFF delay time (brake

command)

07

brake command output speed

rpm

100

05000

08

Brake command wait time

1ms

500

101000

09

Input filter time

5ms

0~100

10

/S-ON servo signal

0000signal invalid
0001input positive signal to
terminal SI1
0002input positive signal to
terminal SI2
0003input positive signal to
terminal SI3
0004input positive signal to
terminal SI4
0005input positive signal to
terminal SI5
38

0006input positive signal to

terminal SI6
0010signals are valid
0011input negative signal to
terminal SI1
0012input negative signal to
terminal SI2
0013input negative signal to
terminal SI3
0014input negative signal to
terminal SI4
0015input negative signal to
terminal SI5
0016input negative signal to
terminal SI6
11

/P-CON proportion command,

ditto
12

/P-OT forward prohibition, ditto

13

/N-OT reverse prohibition, ditto

14

/ALM-RST clear the alarm, ditto

15

/P-CL forward external torque

limit, ditto
16

/N-CL reverse external torque

limit, ditto

17

/SPD-D internal speed choice,

ditto

18

/SPD-A internal speed choice,

ditto

39

19

/SPD-B internal speed choice,

ditto
20

/C-SEL control mode choice,

ditto

21

/ZCLAMP zero clamp, ditto

22

/INHIBIT

pulse

command

prohibition, ditto
23

/G-SEL gain switching, ditto

24

/CLR clear pulse offset, ditto

25

/CHGSTP change step signal,

ditto
26

Reserved

27

Reserved

28

/COIN positioning end

0000not output to the terminal
0001 output positive signal
from terminal SO1
0002 output positive signal
from terminal SO2
0003 output positive signal
from terminal SO3
0011 output positive signal
from terminal SO4
0012 output positive signal
from terminal SO5
0013 output positive signal
from terminal SO6

29
40

/V-CMP

co-speed

checking,

ditto
30

/TGON rotation checking, ditto

31

/S-RDY ready, ditto

32

/CLT torque limit, ditto

33

/VLT speed limit checking, ditto

34

/BK brake interlock, ditto

35

/WARN warn, ditto

36

/NEAR near, ditto

37

/ALM alarm, ditto

38

/Z Z signal of encoder, ditto

1the default value of input terminals, please refer to table 2.

2the default value of output terminals, please refer to table 4.
3the input terminal distributions please refer to table 1.
4the output terminal distributions please refer to table 3.

Table 1: Input signal distributions

Input terminal parameters

Servo drive

Range

P5-10~P5-24

DS2-20P2-AS
DS2-20P4-AS

n.0000~n.0005

DS2-20P7-AS

n.0010~n.0015

The range is different as the input terminals of servo drive.

Table 2: default settings of input terminals

SI1

SI2

SI3

SI4

SI5

41

DS2-20P2-AS

/S-ON

/ALM-RST

/P-OT

/N-OT

/SPD-A

DS2-20P4-AS
DS2-20P7-AS

Table 3: output signal distributions

Output

terminal

Servo drive

Range

parameters
P5-28~P5-38

DS2-20P2-AS
DS2-20P4-AS

n.0000~n.0003

DS2-20P7-AS

n.0010~n.0013

The range is different as the output terminals of servo drive.

Table 4: the default settings of output terminals

DS2-20P2-AS

SO1

SO2

SO3

/COIN

/ALM

/S-RDY

DS2-20P4-AS
DS2-20P7-AS

Alarm information
Code
E-001

E-002
42

Explanations

Reasons

Program

Cannot

pass

damage

program self-test

Parameter

Cannot

pass

Solution
the

Re-download the program,

contact us

the

Re-power on the drive or

E-003

damage

parameter self-test

contact us

bus overvoltage

Grid voltage is too high

Check

or

regenerative

not

connect

regenerative

to

the

grid

and

resistor,

regenerative resistor is
broken or value to large
E-004

Bus

under

Grid voltage is too low

Check the grid

Regenerative

Regenerative resistor is

Check

resistor error

not functional

resistor

Module

Running for long time

Use small load, enhance the

temperature too

with large load will cause

ventilation, check if the fan is

high

module temperature too

working

high

enable;

voltage
E-005

E-006

the

regenerative

when

servo

decrease

is
the

environment temperature
E-007

Over current

E-008

Over speed

UVW output short circuit

Change the motor, check the

or motor error

UVW wiring

Motor speed is too fast,

Check if there is external

motor UVW connection

force make the motor over

is error

speed, check motor UVW

connection

E-009

Analog

input

error

Input voltage is error

Input correct voltage when

when

analog zeroing

two

channels

analog is zeroing
E-010

E-011

Position offset is

The difference between

Check if the motor is blocked,

too large

setting value and actual

decrease the position setting

value is larger than limits

speed, increase the deviation

in position control mode

pulse limits P5-05

Motor UVW is

External short circuit at

Check

short circuit

first power-on self-test

connection,

motor

UVW

change

the
43

broken motor
E-012

E-013

Current collection circuit

Check motor wiring, change

current error

is error

servo drive

Encoder

Not

Motor

UVW

UVW

open circuit
E-014

Encoder

ABZ

open circuit
E-015

connect

encoder,

change the encoder

Not

connect

encoder,

Check

encoder

wiring,

encoder wiring is error or

re-connect it after power off,

damaged

change the encoder

Encoder

wiring

encoder

has

(encoder

wiring,

damaged

is

fast

encoder

re-connect it after power off,

Speed changing
too

Check

encoder wiring is error or

error,

external

Check encoder wiring, add

shield layer for encoder wire

interference

feedback error)
E-016

Over load

Run over load for long

Decrease

time

overload running, change a

the

time

of

motor with larger rated power

E-017

Power

failure

when running

Grid power is off when

Re-power on after the grid

running

voltage is stable

Cannot
E-018

erase

Erase

parameter , the voltage

Check the power supply and

parameter error

is too low when power

re-power on

on initialization
E-031

Motor

code

error

The motor code doesnt

match the drive

Set F2-00 motor code

System
E-032

initialization
failure

44

is

System IC chip is broken

Contact us

 General debug steps

(a) Make sure there is no obvious damage on the product before power on.
(b) Connect servo drive and motor. Please note the power terminal UVW and
the servo drive terminal UVW must one-to-one connect. Otherwise, the
servo motor will be blocked or run too fast.
(c) Power on, the servo drive panel will display bb.
(d) Enter F2-00, set the value same to the motor code on the motor label, then
re-power on. Please note the compatible motor is different for each servo
drive.
(e) Re-power on the drive, enter F1-02 to do current offset auto-adjustment,
please refer to auxiliary function for details.
(f)

Set F1-01 to 1, check the motor running state. If the motor runs smoothly,
the connection is correct. Otherwise, please check the wiring.

(g) If the connection is correct, enter F1-00 for jog running. Make sure there is
no error, and then connect the motor to the machine.
(h) Set the servo drive parameters as actual needs, and adjust it depend on
actual conditions.

45

 Motor code
Motor type

MS-60ST-M006

Power

Torque

Speed

Current

Overload

Motor

KW

Nm

RPM

times

code

0.2

0.637

3000

1.8

1003

0.4

1.27

3000

2.5

0004

0.75

2.39

3000

3.0

0011

0.75

2.4

3000

3.0

0021

30-20P2
MS-60ST-M013
30-20P4
MS-80ST-M024
30-20P7
MS-90ST-M024
30-20P7

Motor code
Servo drive

Motor code

DS2-20P2-AS

1003

DS2-20P4-AS

0004

DS2-20P7 -AS

0011 (default), 0021

Xinje Electronic Co., Ltd.

4th Floor Building 7,Originality Industry park,
Liyuan Development Zone, Wuxi City, Jiangsu
Province 214072
Tel: 86-510-85134136
Fax: 86-510-85111290