Adtech QS2 Series User manual

QS2 Series
Low-voltage Servo Drive

2
QS2 Series Low-voltage Servo Drive
Basic Information
This Manual is written by Adtech (Shenzhen) Technology Co., Ltd.
This Manual is mainly written by: Zeng Jinbo
This Manual was first released on September 8, 2012, with version No. C00 and item number QS208020M.
Copyright Notice
The property rights of all the parts of the manual belong to Adtech (Shenzhen) Technology Co., Ltd. (Adtech for
short), and any form of imitation, copying, transcription or translation by any company or individual without the
permission is prohibited. This manual does not include any form of assurance, standpoint expression, or other
intimations. Adtech and the stuffs have no responsibility for any direct or indirect disclosure of the information,
benefit loss or business termination of this manual of the quoted product information. In addition, the product
and the information mentioned in this manual are for reference only, and the content is subject to change without
notice.
ALL RIGHTS RESERVED!
Adtech (Shenzhen) Technology Co., Ltd.

3
QS2 Series Low-voltage Servo Drive
Precautions
※Transport and storage
Do not stack product package more than six layers;
Do not climb, stand on or place heavy stuff on the product package;
Do not pull the cable still connecting with machine to move product.
Forbid impact and scratch on the panel and display;
Prevent the product package from humidity, sun exposure, and rain.
※Open-box inspection
Open the package to confirm the product to be purchased by you.
Check damages situation after transportation;
Confirm the integrity of parts comparing with the parts list or damages situation;
Contact our company promptly for discrepant models, shortage accessories, or transport
damages.
※Wiring
Ensure the persons involved into wiring and inspecting are specialized staff;
Guarantee the product is grounded with less than 4Ω grounding resistance. Do not use neutral
line (N) to substitute earth wire.
Ensure grounding to be correct and solid, in order to avoid product failures or unexpected
consequences;
Connect the surge absorption diodes to the product in the required direction, otherwise, the
product will be damaged;
Ensure the power switch is OFF before inserting or removing plug, or disassembling chassis.
※Overhauling
Ensure the power is OFF before overhauling or components replacement;

4
QS2 Series Low-voltage Servo Drive
Make sure to check failures after short circuit or overloading, and then restart the machine
after troubleshooting
Do not allow to frequently connect and disconnect the power, and at least one minute interval
between power-on and power-off.
※Miscellaneous
Do not open housing without permission;
Keep power OFF if not in use for a long time;
Pay close attention to keep dust and ferrous powder away from control;
Fix freewheel diode on relay coil in parallel if non-solid state relay is used as output relay.
Check whether power supply meets the requirement to ensure not burning the control.
Install cooling fan if processing field is in high temperature, due to close relationship between
service life of the control and environmental temperature. Keep proper operative temperature
range for the control: 0℃~ 60℃.
Avoid using the product in the overheating, humid, dusty, or corrosive environments;
Add rubber rails as cushion on the place with strong vibration.
※Maintenance
Please implement routine inspection and regular check upon the following items, under the
general usage conditions (i.e. environmental condition: daily average 30℃, load rate: 80%,
and operating rate: 12 hours/ day)
Routine Inspection
Routine
● Confirm environmental temperature, humidity,
dust, or foreign objects.
● Confirm abnormal vibration and noise;
● Check whether vents are blocked by yarn etc.
Regular Check
One year
● Check whether solid components are loose
● Confirm whether terminal block is damaged

5
QS2 Series Low-voltage Servo Drive
Contents
Chapter 1 Product Inspection and Information ..........................................................7
1.1 Product Inspection ............................................................................................ 7
1.2 Naming Convention of Servo Motor and Drive ............................................... 8
1.2.1 Nomination for Servo Drive
.........................................................................
8
1.3 Reference Table of Servo Motor and Servo Drive ........................................... 8
1.4 Features of QS2 Series Servo Drive ................................................................. 9
1.5 Technical Specification of Servo Drive ............................................................ 9
Chapter 2 Installation ................................................................................................. 11
2.1 Installation of Servo Drive ............................................................................. 11
2.1.1
Installing Environmental Conditions
......................................................
11
2.1.2
Installation Method and Dimensions .......................................................
12
2.2 Installation of Servo Motor ............................................................................ 13
2.2.1
Installing Environmental Conditions
......................................................
13
2.2.2
Definition of Motor Rotation Direction
..................................................
14
Chapter 3 Wiring......................................................................................................15
3.1 Overall Wiring Diagram ................................................................................. 15
3.2 Name and Function of Terminals ................................................................... 17
3.2.1. Introduction of Interface ......................................................................... 17
3.2.2. Details on Interface................................................................................. 18
3.3 Principle of Input and Output Interface.......................................................... 22
3.3.1
Switch
EN-
,
MODE-
,
CW-
,
CCW-
,
ALRS- Input Interface
........................... 22
3.3.2 Switch ALM, COIN Output Interface .................................................. 23
3.3.3 Pulsing
Signal Inlet Interface..................................................................
23
3.3.4
Analog Quantity Input Interface...............................................................
25
Chapter 4 LED Alarm Indicator and Dial Switch ..................................................... 26
4.1 LED Indicator Light ........................................................................................ 26
4.1.1
Red Indicator Light...................................................................................
26
4.1.2
Green Indicator Light...............................................................................
26
4.2 Dial Switch...................................................................................................... 27

6
QS2 Series Low-voltage Servo Drive
Chapter 5 Drive and Computer Communication ................................................ 28
5.1 Installation of USB-RS485/RS232 Drive....................................................... 28
5.2 Parameter Setting of Drive Software .............................................................. 33
5.3 Parameter Setting ............................................................................................ 33
5.4 Custom Setting of Baud Rate.......................................................................... 35
Chapter 6 Parameter Adjustment of Low-voltage Servo Drive......................... 39
6.1 Parameter List ................................................................................................. 39
6.2 Explanation of Parameter in Detail................................................................. 42
6.3 Adjustment of PID Parameter ......................................................................... 53
6.4 Adjustment of Other Parameters..................................................................... 54
Chapter 7 Operation................................................................................................ 55
7.1 Position Control............................................................................................... 55
7.2 Speed Control.................................................................................................. 56
7.3 Torque Control ................................................................................................ 56
7.4 Internal 4-stage Speed Control........................................................................ 57
7.5 Internal 4-stage Position Control .................................................................... 57
Chapter 8 Common Problems.................................................................................58
Chapter 9 Delivery Note .............................................................................................60

7
QS2 Series Low-voltage Servo Drive
1 PLUS-
14 CW
2 PLUS+
15 INCOM+
3 +5V DC
16 OUTCOM-
4 EN-
17 OB-
5 EN+
18 OB+
6 MODE
19 VIN-
7 ALRS
20 VIN+
8 OZ-
21 TIN+
9 OZ+
22 TIN-
10 SIGN+
23 ALM+
11 SIGN-
24 COIN+
12
PLCCOM+
25 OA-
13 CCW
26 OA+
SW1
SW2
OFF
OFF
P+D(100k)
OFF
ON
CC+CW
ON
OFF
A+B
ON
ON
P+D(500k)
1 A+
9 V+
2 B+
10 V-
3 GND
11 A-
4 W+
12 B-
5 U+
13 VCC
6 PE
14 W-
7 Z+
15 U-
8 Z-
SW3
SW4
OFF RS232
OFF 9600 bps
ON RS485
ON config
5
Chapter 1 Product Inspection and Information
1.1 Product Inspection
The product has passed functional and stability tests before delivery to
prevent any product malfunction due to negligence in delivery. Please check the
items below after opening.
Items
Reference Methods
Whether the model of the product is the same
as the ordered one?
Please check through the nameplate of the
servo motor and servo drive
Whether the rotation axis of servo motor
works well?
Rotate it by hands. But those with “brake
inside” cannot be rotated.
Whether there is something wrong with the
appearance and parts of the servo drive and
servo motor?
Please refer to the product standard
configuration; check if surface
damaged due to transport
Whether any screws loose?
Check them by screwdriver
If any malfunction is discovered in above items, please contact us or the
local distributor immediately. The nameplate is as shown as below:
AC servo drive
QS208020M
I/O:
COM1
Modelselect:
Encode
:
COM2
24~80
VDC
M
10
1 9
6 18
SW4
SW3
SW2
SW1
1
10
15 11 26 19 Err
GND VCC BR W v u
Run
I/O
PE
Encode

8
QS2 Series Low-voltage Servo Drive
Type of drive
Input voltage
Drive capacity
Control method
80--DC 80V
020--20A
M—Positon,
speed and torque
control
1.2 Naming Convention of Servo Motor and Drive
1.2.1 Naming convention of servo drive
QS2 08 020 M
1.2.2 Naming convention of servo motor
ACL 06 020 A —— 1 A
A: 11 Axis diameters
36V A=36 B: 14 Axis diameters
200W B=60
60 Flanges
1: 1000 wire encoder
Low voltage AC Servo 2: 2500 wire encoder
For example, ACL06020B-2B represents 60 flange, 200W, 60V, 2500 wire
encoder and 14mm axis diameter.
1.3 Reference Table for Servo Motor and Servo Drive
Configuration
Output power
Series
Servo motor
Servo drive
Motor rated torque and current
200W
ACL
ACL-06020B
QS208020M
60V voltage, 0.63NM,3000RPM
400W
ACL
ACL-06040B
60V voltage, 1.27NM,3000RPM

9
QS2 Series Low-voltage Servo Drive
1.4 Features of QS2 Series Servo Drive
Power supply voltage from 24V to 80V with output current 6Arms;
Apply the advanced SVPWM algorithm;
Multiple pulse mode selection: pulse plus direction, pulse plus pulse and phase
A pulse plus phase B pulse;
Support RS-232 and RS485 communication;
High reliability: overvoltage protection, low voltage alarm, over current
protection and encoder alarm;
Special online debugging software;
Multiple selection of control method;
1.5 Technical Specifications of Servo Drive
Basic
specification
s
Control technology
Advanced FOC algorithm technology,
SCPWM space vector control
Input power supply
DC24V-80V
Feedback
Incremental 2500 wire photoelectric
revolving encoder
Conditions
of Use
Operating / storage
temperature
45℃/-20℃~55℃
Operating / storage humidity
40%~80%/0%~90% (no condensation)
Degree of protection
IP10
Resistance to vibration /
shock
4.9m/s2/19.6 m/s2
Altitude
<1000m, derate if above 1000m
Atmospheric pressure
86~106kpa
Position
Mode
Input
signal
Instruction
pulse
Pulse species
1. Pulse + direction
2. Pulse + pulse
3. A + B 90 °quadrature pulse
Pulse shape
1. Differential drive
2. Open collector
Pulse frequency
1. Differential drive: 500K
2. Open collector: 200K
Speed
mode
Analog instruction input
-10V~10V, input impedance10kΩ
Instruction acceleration
and deceleration
Parameter setting

10
QS2 Series Low-voltage Servo Drive
Instruction
percentage
Parameter setting
Instruction source
External analog quantity, internal speed instruction
Torque
mode
Analog instruction
input
-10V~10V, input impedance10kΩ
Instruction
acceleration and
deceleration
Parameter setting
Instruction
percentage
Parameter setting
Instruction source
External analog quantity, internal torque instruction
Input/outpu
t signal
Pulse output
signal
Differential output of A, B and Z phases of encoder
Input signal
Servo enable, alarm clearance, forward limit, reverse limit,
control method
Output signal
Position completion, servo alarm
Built-in
functions
Protection
function
Over current, overvoltage, under voltage, overload, encoder
exception and other alarms
Monitoring
functions
Rotation speed, current position, current pulse frequency,
position deviation, motor current, analog input value, etc.
Communication
functions
Achieve communication with PC via RS232 or RS485, and
achieve parameter modification and servo system running
status monitoring (RS232 and RS485 can’t be used
simultaneously. You can use DIP switch to select the
desired communication. For details see the Chapter 4.)
Indication
functions
Red (alarm), green (working) indicator
Other
features
Speed regulating
ratio
1:5000
Speed
fluctuation rate
<±0.03% (within rated load)

11
QS2 Series Low-voltage Servo Drive
Chapter 2 Installation
2.1 Installation of stepper drive
2.1.1 Installation environment conditions
The environment for stepper drive installation has a direct impact on the normal
operation and life of the drive, so the drive installation environment must meet the
following requirements:
Operating environment: temperature: 0~45℃; humidity: 40%~80% (no
condensation);
Storage environment: temperature: -40~55℃; humidity: < 90% (no
condensation);
Vibration: < 0.5G;
Prevent raining and humid environment;
Avoid direct sunlight;
Prevent oil mist and salt erosion;
Keep away from corrosive liquid and gas;
Prevent dust, cotton, and small metal filings;
Keep away from radioactive and flammable objects;
When several drives are installed in the control cabinet, retain sufficient space
to help the flow of air; to help cooling, please install a fan to reduce the
temperature around the drive; to ensure long-term safety, the operating
temperature should be 45℃;
If there is unavoidable vibration source nearby, use vibration absorber or install
anti-vibration pad to avoid transmitting the vibration to the servo drive;
When interference is mixed in power supply circuit of input signal, it is easy to
cause drive malfunction. If interference may be mixed, take appropriate
measures, such as adding a noise filter and a variety of other anti-jamming
measures, to ensure the normal operation of the drive. (Note that the leakage
current will increase if noise filter is added. In order to avoid this situation, you
can use an isolation transformer. The control signal lines of the drive are
susceptible to interference, and reasonable alignment and shielding are
required.)

12
QS2 Series Low-voltage Servo Drive
2.1.2 Installation method and size
Mounting direction: Normal mounting direction of the stepper drive is vertical
or horizontal;
Mounting and fixing: Use two vertical mounting holes, four horizontal
mounting holes and tighten with screws;
Ventilation: use natural cooling; cooling fan must be installed in the
electrical control cabinet.
Installation sizes for multi-drive machine are as shown in the figure below:
unit (mm)
Ventilation direction

13
QS2 Series Low-voltage Servo Drive
1 PLUS+
14 CW
2 PLUS-
15 INCOM+
3 +5V DC
16 OUTCOM-
4 EN-
17 OB-
5 EN+
18 OB+
6 MODE
19 VIN-
7 ALRS
20 VIN+
8 OZ-
21 TIN+
9 OZ+
22 TIN-
10 SIGN+
23 ALM+
11 SIGN-
24 COIN+
12 PLCCOM+
25 OA-
13 CCW
26 OA+
SW1
SW2
OFF
OFF
P+D(100k)
OFF
ON
CC+CW
ON
OFF
A+B
ON
ON
P+D(500k)
1 A+
9 V+
2 B+
10 V-
3 GND
11 A-
4 W+
12 B-
5 U+
13 VCC
6 PE
14 W-
7 Z+
15 U-
8 Z-
SW3
SW4
OFF RS232
OFF 9600 bps
ON RS485
ON config
5
Drive size: unit (mm)
AC servo drive
QS208020M
I/O
:
COM1
Modleselect
:
Encode:
COM2
SW4
SW3
SW2
SW1
24~80
VDC
M
10 1 9
15 11 26
GND VCC BR
Encode
2.2 Installation of servo motor
2.2.1 Environmental conditions of installation
Operating environment: temperature: 0~45℃; humidity: 40%~80% (no
condensation);
Storage environment: temperature: -40~55℃; humidity: < 80% (no
condensation);
Vibration: < 0.5G,
Prevent raining, humid and oil fouling environment;
Avoid direct sunlight;
Prevent dust, cotton, and small metal filings.

14
QS2 Series Low-voltage Servo Drive
Notes for installation:
Do not knock on motor or motor axis when disassemble chain wheels, to
prevent the encoder being damaged. Screw type pressing and pulling tools shall
be used for disassembly;
The motor cannot tolerate large axial radial load. It is recommended to be
loaded with flexible coupling;
Motor shall be secured with nut-lock washer to prevent motor loosening;
2.2.2 Definition of Motor Rotation Direction
Facing to the motor shaft extension, forward is to rotate counterclockwise
direction, and reverse is to rotate in clockwise direction. The direction of the
motor in the drive can change internal parameters P16 of the drive and change
direction according to the actual situation.
Forward rotation Reverse
Counter-clockwise (CCW) Clockwise (CW)

15
QS2 Series Low-voltage Servo Drive
Chapter 3 Wiring
3.1 Overall Wiring Diagram
1. Overall wiring diagram of QS2 Series is as shown in the figure
below:
Communication
wire
Control
wire
Brake
resistance
Encoder wire
Switching mode
Power supply

16
QS2 Series Low Voltage Servo Drive
2. Explanation of wire specification
Motor model
Requirement on wire diameter
Main power
Motor power cable
Encoder and control signal wire
200W
1.25mm2
1.25mm2
0.14mm2

17
QS2 Series Low Voltage Servo Drive
400W
1.25mm2
1.25mm2
0.14mm2
3. Wiring requirement
The wiring material shall be in accordance with the wiring specification;
As for cable length, the instruction cable shall be less than 3m and the encoder
cable shall be within 10m;
Check if the wiring between the drive and power is correct. Do not connect
with the power more than DC 80V;
U, V, W terminals of motor must be matched correspondingly. The wrong
wiring may cause no rotation or motorcycling;
The wiring must be reliable with single-point grounding;
Please position the power cable (strong electricity circuit such as power wire,
motor wire) over 30cm away from the signal wire. Do not put the two wires in
the same conduits;
Please install the non-fusion circuit breaker so that the external power supply
can be cut off when the drive fails.
3.2 Port name and function
3.2.1. Introduction of interface
QS2 series low voltage servo drive. The external wiring terminals are mainly as
follows:
Terminal Code
Terminal name
Description
GND, VDC,
BR
Main power input
Main power input for drive
U, V, W, PE
Motor power cable
Supply current with the motor
CN1
Controller signal wire
terminal
Used to connect upper computer (controller, PLC)
CN2
Encoder terminal
Feedback signal of encoder
COM1, COM2
Communication
terminal
Used to communicate with PC

18
QS2 Series Low Voltage Servo Drive
3.2.2. Details on Interface
(1)Power terminal
No.
Code
Signal function
1
GND
Power grounding
2
VDC
Main power input24~80VDC
3
BR
Connecting pin for brake resistance (the brake
resistance is connected between VDC and BR)
(2)Terminal of motor power cable
No.
Code
Color
Signal function
1
W
Black
Motor UVW
2
V
Green
3
U
Red
4
PE
Yellow
Connected with motor housing
(3)Terminal of CN1 controller signal wire: the board terminal CN1 is the socket
component for DB26 on the receptacle.
QS2 series low voltage servo drive controller signal wire terminals are as
follows:
9 1
18 10
26 19
Note: From the side of bonding wire

19
QS2 Series Low Voltage Servo Drive
CN1 internal structure drawing
Details on CN1 terminal:
Pin No.
Code
Description
Pin No.
Code
Description
1
PLUS-
Negative pulse signal
14
CW
forward limit
2
PLUS+
Positive pulse signal
15
INCOM+
Power positive
3
NC
NC, reserved
16
OUTCOM-
Common port of
output signal
4
EN-
Negative input of enable
(single-end/differential
input)
17
OB-
Encoder B-
5
EN+
Positive input of enable
(differential input)
18
OB+
Encoder B+
6
MODE
Control method or mode
selection
19
VIN-
Speed analog input
negative
7
ALRS
Alarm clearance
20
VIN+
Speed analog input
positive

20
QS2 Series Low Voltage Servo Drive
Pin No.
Code
Description
Pin No.
Code
Description
8
OZ-
Negative signal of
encoder Z
21
TIN+
Positive torque analog
input
9
OZ+
Negative signal of
encoder Z
22
TIN-
Negative torque
analog input
10
SIGN+
Positive direction signal
23
ALM+
Servo alarm+
11
SIGN-
Negative direction signal
24
COIN+
Positioning
completion+
12
PLCCO
M+
PLC 24V input(used in
single-end input)
25
OA-
Encoder A-
13
CCW
Reverse limit
26
OA+
Encoder A+
(4) Encoder feedback signal terminal: The board terminal CN2 is the socket
component for DB15 on the receptacle.
QS2 series low-voltage servo drive encoder feedback signal wire terminals are
as follows:
5 1
10 6
15 11
Note: Seen from the side of bonding wire
Pin No.
Code
Signal function
1
A+
Positive signal input of motor encoderA
2
B+
Positive signal input of motor encoderB
3
GND
Input power supplyGND
4
W+
W+ signal input
5
U+
U+ signal input
6
FG
Shielding grounding
7
Z+
Encoder Z+ signal input
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