DMM DYN 5 Series User manual

AC SERVO DRIVE
INSTRUCTION MANUAL
MANUAL CODE: DYN5MS-ZM1-A1A
REVISION: ZM1-A1A
RELEASE DATE: SEPT 2021
DYN 5 Series
This manual must be kept accessible for the user or operator.
Copyright © 2021 DMM Technology Corp.
Document Layout Dimension:
Letter 8.5 x 11inches (215.9 x 279.4 mm)

DYN5MS-ZM1-A1A PAGE 2 of 80
DMM TECHNOLOGY CORP.
DYN5 AC SERVO DRIVE
INSTRUCTION MANUAL
■ Safety Notice ■
The user or operator should read through this manual completely before installation, testing,
operation, or inspection of the equipment. The DYN5 series AC Servo Drive should be operated
under correct circumstances and conditions. Bodily harm or damage to equipment and system
may result if specications outlined in this document are not followed. Take extra precaution
when the above warning convention is used for certain critital specications.
■ Notations Used ■
Unless otherwise noted, all specication and units of measurement used in this manual are in
Metric standard units:
Mass: Kilogram [ kg ]
Length: Millimeter [ mm ]
Time: Seconds [ s ]
Temperature: Celsius [ °C ]
WARNING
!
■ Standards Compliance ■
North America:
UL: UL 61800-5-1
CSA: CSA C22.2
Europe CE:
Low Voltage Directive: EN60204-1:2018
Machinery Directive: EN ISO 12100 2010
EMC Directive: EN61000-6
* All certications currently pending completion (September 2021)

DYN5MS-ZM1-A1A PAGE 3 of 80
DMM TECHNOLOGY CORP.
DYN5 AC SERVO DRIVE
INSTRUCTION MANUAL
Table of Contents
■ Safety Notice ■ 2
■ Notations Used ■ 2
■ Standards Compliance ■ 2
Table of Contents 3
Section 1. General Specications 5
1.1 Name Plate 5
1.2 Model Number Designation 5
1.3 Servo Drive Overall Specication 6
1.4 Circuit Block Diagram 7
1.5 Encoder Option 7
1.6 Servo Motor Pair 8
1.7 Cables Selection 9
Section 2. Connection and Wiring 10
2.1 Body Layout Specication 10
2.2 Connector and Wire Specication 11
2.2.1 Connector and Pinout Specication 11
2.2.2 Wire Gauge Specication 12
2.2.3 T2, T3 Terminal Connector Wiring 12
2.3 T3 Main Circuit Wiring 13
2.3.1 Single Phase Example 13
2.3.2 Three Phase Example 14
2.3.3 Multi-Axis Example 15
2.3.4 DC Input and Combination AC Power 17
2.4 JP4 Main I/O Specication 18
2.4.1 Power and Ground 18
2.4.2 General Inputs 19
2.4.3 General Inputs Interface Circuit Examples 20
2.4.4 General Outputs 21
2.4.5 General Outputs Interface Circuit Examples 22
2.4.6 Position Reference Pulse Input 23
2.4.7 Position Reference Pulse Wiring Example 23
2.4.8 Analog Commnad Input 25
2.4.9 Analog Commnad Input Circuit Example 25
2.4.10 Analog Monitor Output 26
2.4.11 Analog Monitor Output Circuit Example 26
2.4.12 Incremental Encoder Output 26
2.5 JP4 Consolidated Interface 27
2.6 Holding Brake Operation and Wiring 28
2.6.1 General Connection 28
2.6.2 Holding Brake Timing 29
2.6.3 Holding Brake Testing Procedure 30
2.7 Regenerative Resistor Connection 31

DYN5MS-ZM1-A1A PAGE 4 of 80
DMM TECHNOLOGY CORP.
DYN5 AC SERVO DRIVE
INSTRUCTION MANUAL
Section 3. Starting Up 33
3.1 Preparation 33
3.2 Mounting 34
3.3 Grounding and Noise Considerations 35
3.4 Power Up 36
3.4.1 Minimum Wiring for Initial Test 36
3.4.2 Powering Up / Down 37
3.4.3 Power Up Timing Chart 37
3.4.4 Servo Enable / Disable 38
3.5 DMMDRV5 Software Communication 39
3.5.1 Initial Drive Connection 39
3.5.2 Test Movement / JOG 40
Section 4. Operation and Functions 41
4.1 Position Servo Mode 41
4.1.1 Pulse Input Specications 41
4.2 Speed Servo Mode 45
4.3 Torque Servo Mode 48
4.4 Incremental Encoder Output 51
4.5 Torque Filter and Torque Limit 53
4.5.1 Torque Filter 53
4.5.2 Torque Limit 53
4.6 Relative Mode / Absolute Mode 54
4.7 Other Control Options 55
4.7.1 Lead Angle Control 55
4.7.2 Drive Reset HW Disable 55
Section 5. Monitoring and Safety 56
5.1 Analog Monitor Outputs 56
5.1.1 Absolute Position Monitor [ JP4.Pin9 ] 56
5.1.2 Position Error Monitor [ JP4.Pin8 ] 57
5.1.3 Current Monitor [ JP4.Pin7 ] 57
5.2 Safety Function ( STO ) 58
Section 6. Parameters 60
Section 7. Gain Tuning 65
7.1 Example Load Types 65
7.2 Auto Tuning 66
7.3 Manual Tuning 67
7.3.1 Simple Manual Tuning 67
7.3.2 Advanced Manual Tuning 68
Section 8. Maintenance 71
8.1 Servo Drive Alarms 71
8.2 Servo Drive Maintenance 73
Appendix A - Servo Drive Dimensions 74
Appendix B - AC Power Wiring Notes and Examples 76
Warranty and Liability 78
Manual Disclaimer 79
Manual Revisions 79

DYN5MS-ZM1-A1A PAGE 5 of 80
DMM TECHNOLOGY CORP.
DYN5 AC SERVO DRIVE
INSTRUCTION MANUAL
Section 1. General Specications
1.1 Name Plate
1.2 Model Number Designation
DYN5 - H01 A 6S N - 00
DMM Servo Drive Series
DYN5 Series
AC Servo Drive
Frame Size
L01 Peak 10A
H01 Peak 20A
T01 Peak 30A
TS01 Peak 40A
Communcation Type
APulse / Analog
BModbus TCP/IP
E EtherCAT ( CoE402 )
G EtherNet/IP ( CIP Motion )
HPronet
Safety Option
N Withut STO
T Including STO
Encoder Option
6S 16-bit Absolute Single Turn
2S 20-bit Absolute Single Turn
6M 16-bit Absolute Multi-Turn
2M 20-bit Absolute Multi-Turn
Custom Options
00 Standard
** Custom Code
* All servo drive models includes standard Pulse/
Analog/RS232 command modes and Position/
Speed/Torque servo modes.
Note Name Plate format may di󰀨er depending on servo drive version.
INPUT OUTPUT
VOLTAGE 100~240VAC ± 10% 3PH 0~240VAC
FREQUENCY 50/60Hz 0~400Hz
CURRENT
PROTECTION IP10
ENVIRONMENT 0~55°C Temperature
0.5G Vibration
Encoder: ABS-16-00
HW: 5LR1
FW: 5LR1
LOT: 2021-08-14T
SERIAL: 0001
C/O: CANADA
Model# DYN5-H01 A 6S N - 00
*PRODUCTION QR +
CERTIFICATION
MARKINGS HERE

DYN5MS-ZM1-A1A PAGE 6 of 80
DMM TECHNOLOGY CORP.
DYN5 AC SERVO DRIVE
INSTRUCTION MANUAL
1.3 Servo Drive Overall Specication
Model# DYN5 - L01 H01 T01 TS01
Output Rated Current 4.0A 8.0A 12A 16A
Peak Current 10A 20A 30A 40A
Main Circuit
R/S/T Rated Voltage Single-phase or Three-phase 100~240VAC ± 10% 50/60Hz. 280VAC Peak. 24~350VDC.
Logic Circuit
L1/L2
Rated Voltage Single-phase 110~240VAC ± 10% 50/60Hz
Rated Current 0.2A
Servo Motor Control Method SVPWM
Switching Circuit DMM DIPM2 Intelligent Power Module
Dynamic Brake Integrated non-adjustable, operates when drive is powered ON
Encoder Feedback 16-bit [ 65,536ppr ] Absolute Serial RS485, Single or Multi-Turn (ABS-16-00)
20-bit [ 1,048,576ppr ] Absolute Serial RS485, Single or Multi-Turn (ABS-20-00)
Incremental Encoder Output
Emulated A/B/Z Quadrature Di󰀨erential Line Driver
Index Z Open Collector
Max. 8,192ppr Quadrature Output Resolution
Protection Functions Over-Current, Over-Voltage, Under-Voltage, Temperature, Over-Power, Position
Lost Follow, Encoder Error, RS232 Data CRC Error, Battery Voltage Error
Position
Servo
Command Refer-
ence Pulse*1 Pulse+Sign, A/B Phase Quadrature 90° Phase Di󰀨erential, CW+CCW*1
Max. Pulse Input
Frequency 1Mhz
Pulse Voltage
5VDC ± %5 (Using JP4.Pin4,6)
12VDC ± %5 (Using JP4.Pin1,2)
24VDC ± %5 (Using JP4.Pin1,2)
Electronic Gear
Ratio
Set by parameter GEAR_NUM
[ 1 : Full Encoder Resolution]
On Position Output
Range 0 ~ 508 pulse
Speed Servo
Speed Control
Range
Scalabel using GEAR_NUM parameter
[ 1 : 20,000rpm ]
Input Reference
Voltage
-10VDC ~ +10VDC
Scalable, Zero Bias Adjustable
Resolution 1rpm speed control resolution
12-bit ADC Input
Max Input Voltage ± 12VDC
Torque Servo
Input Reference
Voltage
-10VDC ~ +10VDC
Scalable, Zero Bias Adjustable
Resolution 5mA motor coil current
12-bit ADC Input
Max Input Voltage ± 12VDC
Regeneration External
External or
Built-In Regenerative Resistor
100W 50Ω
Environment
Protection IP10
0.5G Vibration
Cooling Chassis Heat Sink Chassis Heat Sink +
Built in Colling Fan
Operation
Temperature 0~55°C
Storage Tempera-
ture -20 ~ 65°C
Max. Operation
Humidity 95RH% (no dew)
Max. Storage
Humidity 95RH% (no dew)
Note: 1. CW+CCW Pulse format optional, not included in standard servo drive model.

DYN5MS-ZM1-A1A PAGE 7 of 80
DMM TECHNOLOGY CORP.
DYN5 AC SERVO DRIVE
INSTRUCTION MANUAL
1.4 Circuit Block Diagram
1.5 Encoder Option
The DYN5 servo drive should be selected according to the encoder option used. The same
encoder option must also be selected for the servo motor to match servo drive.
Encoder
Model# Type Resolution Data Type Interface Type Sensor Supply Voltage
DYN5 Encoder
Option Model Status
ABS-16-00 Absolute
Single-Turn
16-bits
[65,536ppr]
4-Wire
Serial
Di󰀨erential Driver/
Receiver Magnetic +5VDC 6 Active
ABS-16-MT1
Absolute
Multi-Turn
With Battery
16-bits Single Turn
16-bits Multi-Turn
6-Wire
Serial
Di󰀨erential Driver/
Receiver Magnetic
+5VDC
+3.6VDC
Battery
6MT Active
ABS-20-00 Absolute
Single-Turn
20bits
[1,048,576ppr]
4-Wire
Serial
Di󰀨erential Driver/
Receiver Magnetic +5VDC 2 Active
ABS-20-MT1
Absolute
Multi-Turn
With Battery
20-bits Single Turn
16-bits Multi-Turn
6-Wire
Serial
Di󰀨erential Driver/
Receiver Magnetic
+5VDC
+3.6VDC
Battery
2MT Active
Main Power
Input R/S/T
USB
Comm
Port
JP2
PSU
Circuit
+5VDC
+15VDC
Main Control
Inverter
Circuit
Isolated Gate Control
CPU_1
A
B
C
LED S1
Isolated I/O Interface
JP4 General I/O
JP3
Encoder
Feedback
ADC
Analog Input
Voltage Protection
DYN5 AC Servo Drive
Servo Ready
Alarm
JP4
Encoder
Output CPU_2
SPI
JP4
External
Monitor
Ic_M
PosErr_M
Abs16_M
A/B/Z/OCZ
Fan
Control
Current
Sensor
Current
Sensor
Logic Power
Input L1/L2
EMI
Filter
DAC
DIPM Power Module
Regulator
Rectier
Current+Temp
Protection
Isolator
Circuit
T2 Motor
Output
JP5 RJ45
Ethernet
CPU_3
SMC Card
Noise
Filter
SPI
Ethernet
IC
ETH TRFM
Brake
Control
Internal
Resistor
R1
R2
R3 HVDC+
Resistor
Control
Logic
D1 D2
Pulse+
I/O
JP7
STO
Isolated
STO Logic
Control
STO_EN
STO_EN
HVDC+
HVDC-
CHARGE LED
HVDC-

DYN5MS-ZM1-A1A PAGE 8 of 80
DMM TECHNOLOGY CORP.
DYN5 AC SERVO DRIVE
INSTRUCTION MANUAL
1.6 Servo Motor Pair
DXT Series AC Servo Motor
- 220VAC Rated Voltage
- Metric Flange and Shaft Size
Model Number Flange
Size
Inertia
Class
Rated
Power
Rated
Torque
Peak
Torque
Rated
Current
Peak
Current
Rated
Speed
Peak
Speed
Rotor
Inertia
DYN5
Pair
Units: mm W Nm Nm A A kg-cm2min-1 kg-cm2
405-DXT-A6HK1 40 Low 50 0.16 0.48 1 3 3000 6000 0.022 L01
410-DXT-A6HK1 40 Low 100 0.32 0.95 0.9 2.7 3000 6000 0.041 L01
620-DXT-A6HK1 60 High 200 0.64 1.91 1.6 4.8 3000 6000 0.42 L01
640-DXT-A6HK1 60 High 400 1.27 3.81 2.6 8.1 3000 6000 0.67 L01
880-DXT-A6HK1 80 High 750 2.39 7.16 4.3 14 3000 5000 1.51 H01
86M-DXT-A6HK1 86 Medium 750 2.39 7.16 3.75 11.25 3000 3800 2.26 H01
11A-DXT-A6HK1 130 Medium 1000 4.77 14.31 5.1 15.3 2000 2800 6.26 H01
115-DXT-A6HK1 130 Medium 1500 7.16 21.49 7.3 21.9 2000 2800 8.88 T01
120-DXT-A6HK1 130 Medium 2000 9.55 28.65 9 27 2000 2500 12.14 T01
130-DXT-A6HK1 130 Medium 3000 14.32 42.96 13.7 41.1 2000 2500 17.92 TS01
185-DXT-A6HK1 130 High 850 5.39 13.8 7 18.1 1500 3000 13.34 H01
113-DXT-A6HK1 130 High 1300 8.34 23.3 11.4 32.4 1500 3000 20.07 TS01
118-DXT-A6HK1 130 High 1800 11.5 28.7 14.8 37.4 1500 3000 26.66 TS01
Model Number Flange
Size
Rated
Power
Rated
Torque
Peak
Torque
Rated
Current
Peak
Current
Rated
Speed
Peak
Speed
Rotor
Inertia
DYN5
Pair
Units: mm W Nm Nm A A kg-cm2min-1 kg-cm2
405-DST-A6HK1 40 50 0.16 0.48 1.0 2.1 3000 5000 0.036 L01
410-DST-A6HK1 40 100 0.32 0.96 0.84 2.9 3000 5000 0.063 L01
620-DST-A6HK1 60 200 0.64 1.91 1.9 6.8 3000 5000 0.232 L01
640-DST-A6HK1 60 400 1.27 3.82 2.6 8.3 3000 5000 0.426 L01
880-DST-A6HK1 80 750 2.39 7.16 4.2 12.6 3000 5000 2 H01
11A-DST-A6HK1 130 1000 4.4 12.0 5.3 15.9 1500 3000 8.5 H01
115-DST-A6HK1 130 1300 8.27 23.3 8.6 25.8 1500 3000 18.9 T01
120-DST-A6HK1 130 1800 11.5 28.7 10.7 32.1 1500 3000 23.8 T01
- Low, Medium, High Inertia Option
- Ultra Low Ripple, Ultra Low Cogging Torque
- CE, UL, CSA Certication
DST Series AC Servo Motor
- 220VAC Rated Voltage
- Metric Flange and Shaft Size
- Low Ripple, Low Cogging Torque
- CE Certication
DHT Series AC Servo Motor
- 60/150/220VAC Rated Voltage
- Standard NEMA Flange and Shaft Size
- CE Certication
Model Number Flange
Size
Rated
Power
Rated
Voltage
Rated
Torque
Peak
Torque
Rated
Current
Peak
Current
Rated
Speed
Peak
Speed
Rotor
Inertia
DYN5
Pair
Units: mm W V Nm Nm A A kg-cm2min-1 kg-cm2
86L-DHT-A6TD1 NEMA34 250 60 0.8 2.4 6.25 19.8 3000 5000 0.91 L01 *1
57N-DHT-A6TD1 NEMA23 400 60 1.27 3.82 8.4 21.0 3000 5000 0.426 L01 *1
86N-DHT-A6MD1 NEMA34 750 150 2.4 7.2 7.2 21.5 3000 5000 2.45 H01
86M-DHT-A6MK1 86mm 750 150 2.4 7.2 7.2 21.5 3000 5000 2.45 H01
A15-DST-A6HK1 NEMA42 1300 220 5.0 15.0 6.0 18.0 1500 3000 6.3 T01
*1 These motors are 60V class motors and are only compatibe with 110~120VAC input on the DYN5 servo drive main circuit R/S/T.
Note below table only shows common model numbers. For specic options including holding
brake, oil seal, and shaft options etc., refer to AC servo motor manual.

DYN5MS-ZM1-A1A PAGE 9 of 80
DMM TECHNOLOGY CORP.
DYN5 AC SERVO DRIVE
INSTRUCTION MANUAL
1.7 Cables Selection
DST Series AC Servo Motor
Model Number Output Voltage Flange
Size
DYN5
Servo Drive
Encoder Cable
(With Battery)
Motor Power
Cable
Holding Brake
Cable
405-DST-A6HK1 50W 220VAC 40mm L01
CAEN-HL
(CAEN-MBHL) CAMP-HL CABK-HL
410-DST-A6HK1 100W 220VAC 40mm L01
620-DST-A6HK1 200W 220VAC 60mm L01
640-DST-A6HK1 400W 220VAC 60mm L01
880-DST-A6HK1 750W 220VAC 80mm H01
11A-DST-A6HK1 1.00kW 220VAC 130mm H01
CAEN-HH
(CAEN-MBHH) CAMP-HH CABK-HH115-DST-A6HK1 1.30kW 220VAC 130mm T01
120-DST-A6HK1 1.80kW 220VAC 130mm T01
DHT Series AC Servo Motor
Model Number Output Voltage Flange
Size
DYN5
Servo Drive
Encoder Cable
(With Battery)
Motor Power
Cable
Holding Brake
Cable
86L-DHT-A6TD1 250W 60VAC NEMA34 L01 *1
CAEN-HL
(CAEN-MBHL) CAMP-HL
NA
57N-DHT-A6TD1 400W 60VAC NEMA23 L01 *1 CABK-HL
86N-DHT-A6MD1 750W 150VAC NEMA34 H01
CABK-HH
86M-DHT-A6MK1 750W 150VAC 86mm H01
A15-DST-A6HK1 1.3kW 220VAC NEMA42 T01 CAEN-HH
(CAEN-MBHH) CAMP-HH
*1 These motors are 60V class motors and are only compatibe with 110/120VAC input on the DYN5 servo drive main circuit R/S/T.
DXT Series AC Servo Motor
Model Number Output Voltage Flange
Size
DYN5
Servo Drive
Encoder Cable
(With Battery)
Motor Power
Cable
Holding Brake
Cable
405-DXT-A6HK1 50W 220VAC 40mm L01
CAEN-HL
(CAEN-MBHL) CAMP-HL CABK-HL
410-DXT-A6HK1 100W 220VAC 40mm L01
620-DXT-A6HK1 200W 220VAC 60mm L01
640-DXT-A6HK1 400W 220VAC 60mm L01
880-DXT-A6HK1 750W 220VAC 80mm H01
86M-DXT-A6HK1 750W 220VAC 86mm H01
11A-DXT-A6HK1 1000W 220VAC 130mm H01
CAEN-HHX
(CAEN-MBHHX)
CAMP-HHX
CAMP-HHBX (With Brake)
115-DXT-A6HK1 1500W 220VAC 130mm T01
120-DXT-A6HK1 2000W 220VAC 130mm T01
130-DXT-A6HK1 3000W 220VAC 130mm TS01
185-DXT-A6HK1 850W 220VAC 130mm H01
113-DXT-A6HK1 1300W 220VAC 130mm TS01
118-DXT-A6HK1 1800W 220VAC 130mm TS01

DYN5MS-ZM1-A1A PAGE 10 of 80
DMM TECHNOLOGY CORP.
DYN5 AC SERVO DRIVE
INSTRUCTION MANUAL
Section 2. Connection and Wiring
2.1 Body Layout Specication
DYN5 - L01 Frame
DYN5 - H01 Frame
DYN5 - T01 Frame
DYN5 - TS01 Frame
Name Function
JP2 Mini-USB to PC Interface
STATUS
LED S1
Status LED Green+Red. Indicates
servo drive status. Solid Green
indicate normal state.
JP3 Encoder Feedback. Encoder input
from servo motor.
JP4 Main I/O. Connect to host controller
for digitial and analog I/O.
JP5A Ethernet IN. RJ45. Connect to host
controller.
JP5B
Ethernet OUT. RJ45. Connect to
other DYN5 servo drive or RJ45
terminator.
T2 Servo motor Power Output.
Connect to servo motor power.
Charge
LED
LED to indicate if servo drive control
power circuit is charged. Do not
touch or service servo drive when lit.
T3
Regenerative Resistor R1/R2/R3
circuit. Used to connect internal or
external regenerative resistor.
D1/D2 DC bus link circuit.
Input Logic Power L1/L2. AC input
power used to power servo drive
logic.
Input Control Power R/S/T. AC input
power used for main control.
JP7 STO Connector. Used to connect to
safety relay or safety PLC.
FG
Frame Ground. Two M4 ground ter-
minals. Typically, one terminal con-
nected to motor power cable ground
lead, other terminal connected to AC
power ground (earth).
T3
T2
JP2
STATUS LED S1
JP3
JP5A
JP5B
T3
FG
CHARGE
LED
T2
JP7
JP4
JP2
STATUS LED S1
JP3
JP5A
JP5B
FG
CHARGE
LED
JP7
JP4
T3
CHARGE
LED
T2
JP7
JP2
STATUS LED S1
JP3
JP5A
JP5B
FG
JP4