DMM DYN4 Series User manual

AC SERVO DRIVE
INSTRUCTION MANUAL
MODEL NUMBER:
DYN4 - 〼〼〼 A TYPE A - PULSE / ANALOG / RS232
DYN4 - 〼〼〼 B TYPE B - MODBUS RTU RS485
DYN4 - 〼〼〼 C TYPE C - CAN
MANUAL CODE: DYN4MS-ZM7-A10A
REVISION: A1.0A
RELEASE DATE: DECEMBER, 2018
This manual must be kept accessible for the user or operator.
Copyright © 2018 DMM Technology Corp.
DYN232MDYN232M
DYN AC SERVO SYSTEM - RS232 MOTION
TM
TM DTPU
POSITIONING
adaptiveadaptive
TUNING II
DYN 4 Series

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■ Safety Notice ■
The user or operator should read through this manual completely before installation, testing, operation,
or inspection of the equipment. The DYN4 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 following warning
convention is used for certain specications.
■ Notations Used ■
All specication and units of measurement used in the manual are in METRIC:
Mass: Kilogram [kg]
Length: Millimeter [mm]
Time: Seconds [s]
Temperature: Celsius [°C]
WARNING
!
■ Standards Compliance ■
CE
Machinery Directive 2006/42/EC
Low Voltage Directive 2014/35/EU
Electromagnetic Compatibility 2014/30/EU
EN12100:2010
EN 60034-1:2010; EN 60204-1:2006/AC: 2010
EN 61000-6-1: 2007;
EN 61000-6-2:2005/AC: 2005

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Manual Contents
■ Safety Notice ■ 2
■ Notations Used ■ 2
■ Standards Compliance ■ 2
Manual Contents 3
1 General Specication 5
1.1 Servo Drive Name Plate 5
1.2 Model Designation 5
1.3 Servo Drive Overall Specification 6
1.4 Circuit Block Diagram 7
1.5 Encoder Specification 7
1.6 Servo Motor Pair 8
2 Connection and Wiring 9
2.1 DYN4 Servo Drive Body Layout 9
2.2 Connector Terminal and Signal Specification 10
2.3 JP4 Main I/O Terminal Details 11
2.3.1 JP4 Specification 11
2.3.2 JP4 Interface Circuit Examples 15
2.3.3 JP4 Consolidated Interface Circuit 19
2.4 JP5 Encoder Output Terminal Details 20
2.5 Main Circuit Wiring 21
2.6 Holding Brake Circuit Wiring 26
3 Start - Up 27
3.1 Preparation and Mounting 27
3.2 Multiple Drive Spacing 27
3.3 Grounding 27
3.4 Power Up Timing Chart 28
3.5 Software Communication 31
4 Operation 33
4.1 Position Servo Mode 33
4.2 Speed Servo Mode 37
4.3 Torque Servo Mode 39
4.4 RS232 Command Input Mode 40
4.5 Encoder Output 40
4.6 Servo Drive Monitor Outputs 41
5 Parameters and Tuning 43
5.1 Parameters Outline 43
5.2 Servo Drive Gain Tuning 45
6 Maintenance 47
6.1 Alarm Specifications 47
6.2 Servo Drive Maintenance 48
7 RS232 Communication Protocol 49
7.1 Interface and Format 50
7.2 Packet Definition 52
7.3 Drive Configuration and Status Register 56
7.4 Common Function Details 57
7.5 Dynamic Target Position Update ( DTPU ) 59
7.6 Packet Structure Examples 61
7.7 Application Examples 62
7.8 RS485 Network 66
7.9A Appendix : C++ Code for Serial Communication Protocol 67
8 Modbus RTU (RS485) Communication 74
9 CAN Communication 75
Appendix 76
Appendix A - Servo Drive Dimensions 76
Appendix B - Application Note# AP15-48 DYN4 Servo Drive - AC Power Supply Guidelines 77
Appendix C - Analog Input Fine Adjustments 78
Warranty and Liability 79
Product and Manual Disclaimer 80
■ Document Revisions ■ 81

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1.1 Servo Drive Name Plate
1.2 Model Designation
Model Number
Input / Output Specications
Encoder Specication
Protection / Environment
Hardware / Firmware Version
Country of Origin
Lot / Serial Number
*Note the name plate is region specic and may vary between each region model.
DYN4 - H01 A 2 - 00
DMM Servo Drive Series
DYN4 Series
AC Servo Drive
Frame Size
L01 Rated. 3.5A
H01 Rated. 8.0A
T01 Rated. 14.7A
Command Type
APulse / Analog / RS232 (DYN232M Protocol)
BModbus RTU (RS485)
CCAN (DMM Proprietary CAN Protocol)
Supply Voltage
2100~240VAC Single/Three Phase
50/60Hz
Model Type
00 Standard
MT1 Multi-Turn
Option
** Custom
1 General Specication

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Model: DYN4 - 〼〼〼 - A2 L01 H01 T01
Main Circuit Rated Voltage Single-phase or Three-phase 110~240VAC ± 10% 50/60Hz
300VAC Peak
Rated Current 3.5A 8.0A 14.7A
Control Logic
Circuit
Rated Voltage Single-phase 110~240VAC ± 10% 50/60Hz
Rated Current 0.2A
Servo Motor Control Method SVPWM
Switching Circuit DMM DIPM Power Module
Dynamic Brake Integrated non-adjustable
Encoder Feedback 16-bit [65,536ppr] Absolute Serial, Single or Multi-Turn
Encoder Output A/B/Z Quadrature Differential Line Driver
Protection Functions Over-Current, Over-Voltage, Under-Voltage, Temperature, Over-Power, Position Lost
Follow, Encoder Error, CRC Error
Position Servo
Command Reference
Pulse*1 Pulse+Sign, A/B Phase Quadrature 90° Phase Differential, CW+CCW
Max. Input Frequency 500kHz
Input Voltage 5VDC ± %5 (Higher voltage available as option)
Over drive photocoupler diode
Electronic Gear Ratio Set by parameter 500 to 65,536 ppr
On Position Output
Range 0 ~ 508 pulse
Speed Servo
Speed Control Range 0:5000
Input Reference
Voltage
-10VDC ~ +10VDC
3,000rpm at ± 5VDC
Resolution 1rpm
Max Input Voltage ± 12VDC
Torque Servo
Input Reference
Voltage -10VDC ~ +10VDC
Resolution 5mA motor coil current
Max Input Voltage ± 12VDC
Environment
Protection IP10
Cooling Chassis Heat Sink
Operation
Temperature 0~55°C
Storage Temperature -20 ~ 65°C
Max. Operation
Humidity 95RH% (no dew)
Max. Storage
Humidity 95RH% (no dew)
Standards Compliance CE, ROHS
1.3 Servo Drive Overall Specication
Note: 1. CW+CCW Pulse format optional

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1.4 Circuit Block Diagram
1.5 Encoder Specication
Main Power
Input
RS232
Serial 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
JP3
Encoder
Feedback
A/D Analog Input
Voltage Protection
DYN4 AC Servo Drive
■ Encoder Model
Model Number Type Resolution Data Type Interface Type Sensor Voltage Status
ABS-16-00 Absolute
Single-Turn
16-bits
[65,536ppr] 4-Wire Serial Differential Driver/ Receiver Magnetic +5VDC A
ABS-16-MB1
Absolute
Multi-Turn
With Battery
16-bits Single Turn
16-bits Multi-Turn 6-Wire Serial Differential Driver/ Receiver Magnetic +5VDC A
ABS-16-ML1
Absolute
Multi-Turn
Battery-Less
16-bits Single Turn
16-bits Multi-Turn 4-Wire Serial Differential Driver/ Receiver Magnetic +5VDC A
ABS-14-00 Absolute 14-bits
[16,384ppr] 6-Wire Serial Differential Driver/ Receiver Magnetic +5VDC L
Servo Ready
Alarm
Encoder
Output
JP5
CPU_2 SPI
External
Monitor
Ic_M
PosErr_M
Abs16_M
A/A-/B/B-/Z/Z-
Fan
Current
Sensor
Current
Sensor
Main Power
Input
Filter
DIPM Power Module

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1.6 Servo Motor Pair
■ Applicable Servo Motor Model
DST Series Standard Motors
DHT Series Standard Motors
Model Number Output Voltage Frame Rated
Torque
Peak
Torque
Rated
Speed
Peak
Speed
Rotor
Inertia Servo Drive
Nm Nm min-1 min-1 kg-m2
405-DST-A6HK1 50W 220V 40mm 0.16 0.48 3000 5000 0.036 DYN4-L01
405-DST-A6HKB 50W Brake 220V 40mm 0.16 0.48 3000 5000 0.044 DYN4-L01
410-DST-A6HK1 100W 220V 40mm 0.32 0.96 3000 5000 0.063 DYN4-L01
410-DST-A6HKB 100W Brake 220V 60mm 0.32 0.96 3000 5000 0.076 DYN4-L01
620-DST-A6HK1 200W 220V 60mm 0.64 1.91 3000 5000 0.232 DYN4-L01
620-DST-A6HKB 200W Brake 220V 60mm 0.64 1.91 3000 5000 0.278 DYN4-L01
640-DST-A6HK1 400W 220V 60mm 1.27 3.82 3000 5000 0.426 DYN4-L01
640-DST-A6HKB 400W Brake 220V 60mm 1.27 3.82 3000 5000 0.511 DYN4-L01
880-DST-A6HK1 750W 220V 80mm 2.39 7.16 3000 5000 2.0 DYN4-H01
880-DST-A6HKB 750W Brake 220V 80mm 2.39 7.16 3000 5000 2.3 DYN4-H01
11A-DST-A6HK1 1.0kW 220V 130mm 4.4 12 1500 3000 8.5 DYN4-H01
11A-DST-A6HKB 1.0kW Brake 220V 130mm 4.4 12 1500 3000 10.2 DYN4-H01
115-DST-A6HK1 1.3kW 220V 130mm 8.27 23.3 1500 3000 18.9 DYN4-T01
115-DST-A6HKB 1.3kW Brake 220V 130mm 8.27 23.3 1500 3000 21.74 DYN4-T01
120-DST-A6HK1 1.8kW 220V 130mm 11.5 28.7 1500 3000 23.8 DYN4-T01
120-DST-A6HKB 1.8kW Brake 220V 130mm 11.5 28.7 1500 3000 27.37 DYN4-T01
Model Number Output Voltage Frame Rated
Torque
Peak
Torque
Rated
Speed
Peak
Speed
Rotor
Inertia Servo Drive
Nm Nm min-1 min-1 kg-m2
86L-DHT-A6TD1 250W 60V NEMA34 0.8 2.4 3000 5000 DYN4-L01 *1
57N-DHT-A6TD1 400W 60V NEMA23 1.27 3.82 3000 5000 0.426 DYN4-L01 *1
57N-DHT-A6TDB 400W Brake 60V NEMA23 1.27 3.82 3000 5000 0.479 DYN4-L01 *1
86N-DHT-A6MD1 750W 150V NEMA34 2.4 7.2 3000 5000 2.45 DYN4-H01
86N-DHT-A6MDB 750W Brake 150V NEMA34 2.4 7.2 3000 5000 2.94 DYN4-H01
86M-DHT-A6MK1 750W 150V 86mm 2.4 7.2 3000 5000 2.45 DYN4-H01
86M-DHT-A6MKB 750W Brake 150V 86mm 2.4 7.2 3000 5000 2.94 DYN4-H01
A15-DST-A6HK1 1.3kW 220V NEMA42 5 15 1500 3000 6.3 DYN4-T01
A15-DST-A6HKB 1.3kW Brake 220V NEMA42 5 15 1500 3000 7.56 DYN4-T01
*1 These motors are 60V class motors and are only compatibe with 110/120VAC input on the servo drive.

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2.1 DYN4 Servo Drive Body Layout
2 Connection and Wiring
No. Name Description
1 --- Face plate and frame code
2S1 Status LED / charge LED
3 JP2 PC interface connection
RS232, Modbus, CAN connection
4JP3 Encoder feedback connector
5 JP4 Main signal I / O
6 JP5 Encoder output connector
7T2 Servo motor power output
8 T3 Regenerative resistor connector
9T4 Main circuit and control logic circuit
input connector
10 PE Protective earth / chassis ground
11 EXT1 Extended interface connector
[ 1 ] [ 2 ]
[ 3 ]
[ 4 ]
[ 5 ]
[ 6 ]
[ 7 ]
[ 8 ]
[ 9 ]
[ 10 ]
[ 11 ]
■ DYN4 - L01, H01, T01 Frame
R
S
T
L1
L2

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2.2 Connector Terminal and Signal Specication
█ JP2 PC interface connection
Connector Type: 2.54mm Pitch Rectangular
Drive Header: (Molex) 70553-0041
Plug Connector: (Molex) 50-57-9407
Pin.1 Gnd
Pin.2 RS485+, CAN_H
Pin.3 RS485-, CAN_L
Pin.4 NC
Pin.5 RS232 signal input, RxD, TTL/CMOS
Pin.6 RS232 signal output, TxD, TTL/CMOS
Pin.7 +5(V), <10(mA)
█ JP3 Encoder feedback connector
Connector Type: IEEE1394 USB
Drive Header: (3M) 3E106
Plug Connector: (3M) 36210-0100FD
Pin.1 +5VDC
Pin.2 Gnd
Pin.3~4 NC
Pin.5 S+
Pin.6 S-
█ JP4 Main Signal I/O
*Refer to Section 2.3 *Refer to Section 2.3
█ JP5 Encoder output connector
*Refer to Section 2.4
█ T2 Servo motor power output
Connector Type: Terminal Block
Drive Header: (Phoenix) GMSTB 2.5/3-GF-7.62
Plug Connector: (Phoenix) GMSTB 2.5/3-STF-7.62
Pin.1 Motor A Phase
Pin.2 Motor B Phase
Pin.3 Motor C Phase
█ T3 Regenerative resistor connector
Connector Type: Terminal Block
Drive Header: (Phoenix) GMSTB 2.5/2-GF-7.62
Plug Connector: (Phoenix) GMSTB 2.5/2-STF-7.62
█T4 Main circuit input connector
Connector Type: Terminal Block
Drive Header: (Phoenix) GMSTB 2.5/5-GF-7.62
Plug Connector: (Phoenix) GMSTB 2.5/5-STF-7.62
*Refer to Section 2.4
Signal LayoutConnector Details
Pin.1 Main circuit R
Pin.2 Main circuit S
Pin.3 Main circuit T
Pin.4 Logic circuit L1
Pin.5 Logic circuit L2
Pin.1 R1 - Resistor 1
Pin.2 R2 - Resistor 2

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2.3 JP4 Main I/O Terminal Details
█ JP4 Main signal I/O
Connector Type: D-Sub 25 pin female
Recommended Wire Gauge: 0.2mm2 (AWG24)
█ Pin Layout (Viewed from drive header side)
DIN414
AIN+ 13
GND 12
PUL+ 11
DIR- 10
GND 9
MO_POS 8
SRDY 7
ONPOS 6
COM 5
+14VIN 4
SHOLD 3
ABS_H 2
COM 1
AIN-25
+5VOUT
24
PUL-23
DIR+22
MO_IC
21
MO_ABS
20
BKO19
ALM18
+14VOUT
17
+24VIN16
ENA15
█ Pin Details
2.3.1 JP4 Specication
Pin No. Symbol Details I/O Interface Circuit
1 GND Internal Signal Ground NA NA
See section 2.3.2 for interface circuit type examples
Pin No. Symbol Details I/O Interface Circuit
2 ABS_H
- Absolute encoder auto home
- Servo motor position returns to absolute encoder zero
position. Servo starts from absolute zero.
- Active Low, servo drive runs to absolute zero when input
LOW.
Input A
Pin No. Symbol Details I/O Interface Circuit
3 SHOLD
- Servo hold input (Positive Direction)
- Servo drive ignores command input
- Active High
Input A

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Pin No. Symbol Details I/O Interface Circuit
4 +14VIN - External +14VDC input
- Supply power for digital input circuit A Input A
Pin No. Symbol Details I/O Interface Circuit
5 COM - Output photocoupler open collector common
- For digital output circuit B Output B
Pin No. Symbol Details I/O Interface Circuit
6 ONPOS
- Servo on position output
- Photo transistor ON when on position, output Low
- Servo On Position if motor position error within value set
by OnPosRange parameter.
- Refer to section 5.1 for parameter setting details
Output B
Pin No. Symbol Details I/O Interface Circuit
7 SRDY
- Servo Ready Output
- Photo transistor ON, output Low when servo ready for
command
Output B
Pin No. Symbol Details I/O Interface Circuit
8 MO_POS - Position error monitor output
- Refer to section 4.6 for details Output E
Pin No. Symbol Details I/O Interface Circuit
9 GND - Internal signal ground NA NA
Pin No. Symbol Details I/O Interface Circuit
10 DIR- DIR-, B-, CCW- pulse reference Input C
Pin No. Symbol Details I/O Interface Circuit
11 PUL+ PUL+, A+, CW+ pulse reference Input C
Pin No. Symbol Details I/O Interface Circuit
12 GND - Internal signal ground NA NA
Pin No. Symbol Details I/O Interface Circuit
13 AIN+ - Analog reference input POSITIVE Input D
See section 2.3.2 for interface circuit type examples

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See section 2.3.2 for interface circuit type examples
Pin No. Symbol Details I/O Interface Circuit
14 DIN4
- Optional digital input 4
- By default, output is set to negative direction movement
hold input
Input A
Pin No. Symbol Details I/O Interface Circuit
16 +24VIN - External +24VDC input
- Supply power for digital input circuit A Input A
Pin No. Symbol Details I/O Interface Circuit
17 +14VOUT - Servo drive internal +14VDC output
- Max Current Draw: 100mA Output NA
Pin No. Symbol Details I/O Interface Circuit
18 ALM
- Servo alarm output
- Photo transistor ON when servo alarmed, output Low
- When servo drive alarmed, output toggled Low/High at
1Hz period interval
Output B
Pin No. Symbol Details I/O Interface Circuit
19 BKO
- Holding brake output
- Refer to section 2.6 for wiring details
- Refer to section 3.3.2 for timing details
Output Section 2.6
Pin No. Symbol Details I/O Interface Circuit
20 MO_ABS - Absolute encoder position monitor output
- Refer to section 4.6 for details Output E
Pin No. Symbol Details I/O Interface Circuit
15 ENA
- Servo enable/disable input
- Active Low (servo disabled when low)
- Motor coasts when servo disabled (shaft free)
- Disable clears all pulse/analog commands
- Disable clears all position calculation and error
Input A

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See section 2.3.2 for interface circuit type examples
Pin No. Symbol Details I/O Interface Circuit
22 DIR+ DIR+, B+, CCW+ pulse reference Input C
Pin No. Symbol Details I/O Interface Circuit
23 PUL- PUL-, A-, CW- pulse reference Input C
Pin No. Symbol Details I/O Interface Circuit
24 +5VOUT - Servo drive internal +5VDC output
- Max current draw: 50mA Output NA
Pin No. Symbol Details I/O Interface Circuit
25 AIN- - Analog reference input NEGATIVE NA D
Pin No. Symbol Details I/O Interface Circuit
21 MO_IC - Servo drive output current monitor
- Refer to section 4.6 for details Output E

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Interface Type Applicable Signals Specication
A
[JP4-2] ABS_H
[JP4-3] SHOLD
[JP4-4] +14VIN
[JP4-14] DIN4
[JP4-15] ENA
[JP4-16] +24VIN
- Use external +14VDC or +24VDC power supply
- Can also use internal +14VDC power supply JP4-17
- Max 30VDC input, 10mA
- Do not use same +24VDC power supply as holding brake
Circuit Example (Sink Circuit) Notes
Open Collector - NPN Transistor
Relay/Switch
2.3.2 JP4 Interface Circuit Examples
█ General Input Circuit
4,16 3kΩ
+14VDC /
+24VDC
4,16 3kΩ
+14VDC /
+24VDC
Circuit Example (Source Circuit) Notes
Open Collector - PNP Transistor
+14VDC /
+24VDC
4,16 3kΩ
+-
Example logic using +24VDC power supply:
Power Supply PNP Transistor Voltage Level Signal
+24VDC OFF 0V Low
ON 24V High

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█ General Output Circuit
Interface Type Applicable Signals Specication
B
[JP4-5] COM
[JP4-6] ONPOS
[JP4-7] SRDY
[JP4-18] ALM
- Max 30VDC, 50mA
- Recommended +24VDC or +5VDC
Circuit Example Notes
Collector
Photocoupler
Relay
5,6,7,18
COM 5
1kΩ
+5VDC
5,6,7,18
COM 5
+5VDC
1kΩ
5,6,7,18
COM 5
5~24VDC

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█ Position Reference Pulse Input Circuit
Interface Type Applicable Signals Specication
C
[JP4-10] DIR-
[JP4-11] PUL+
[JP4-22] DIR+
[JP4-23] PUL-
- Voltage: +5VDC ± %10
(Contact DMM if higher level such as 12/24VDC is required)
- Max pulse frequency: 500kHz
- Minimum pulse width: 800us
Circuit Example Notes
Line Driver - Twisted pair cable
with shield grounded on
receiver side.
Open Collector
(DYN4 Internal Power Supply)
- Twisted pair cable
with shield grounded on
receiver side.
Open Collector
(External Power Supply) - Power supply provided by host controller or exter-
nal source.
- Twisted pair cable
with shield grounded on
receiver side.
270Ω
10,23
270Ω
11,22
10,23
24+5VDC
1,9,12GND
270Ω
11,22
10,23
+5VDC
11,22

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█ Analog Input Circuit
Interface Type Applicable Signals Specication
D[JP4-13] AIN+
[JP4-25] AIN-
- Max ±12VDC
- Max 0.1mA
Circuit Example Notes
13
25
AIN+
AIN-
D/A Converter
Op-amp
Potentiometer
etc.
█ Analog Output Circuit
Interface Type Applicable Signals Specication
E
[JP4-8] MO_POS
[JP4-20] MO_ABS
[JP4-21] MO_IC
- 0~3.3VDC output
- Max 0.33mA
Circuit Example Notes
8,20,21
1,9,12
GND
+
-
PWM
+
-

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2.3.3 JP4 Consolidated Interface Circuit
AIN+
PUL+, A+, CW+
PUL-, A-, CW-
DIR+, B+, CCW+
DIR-, B-, CCW-
DYN4 Servo Drive
270Ω
270Ω
13
AIN- 25
JP4 Shell
+
-
11
23
22
10
ABS_H 2
SHOLD 3
DIN4 14
ENA 15
+24VIN 16
+14VIN 4
3kΩ
3kΩ
3kΩ
3kΩ
ONPOS 6
SRDY 7
ALM 18
BKO 19
COM 5
+5VOUT 24
+14VOUT 17
Drive Internal +14V
Drive Internal +5V
MO_POS8
MO_ABS20
MO_Ic21
INPUTS OUTPUTS
MONITORS
GND1,9,12
FG
FG
PWM
PWM
PWM
Cable Shield
Twisted Pair Wires

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2.4 JP5 Encoder Output Terminal Details
█ JP5 Encoder output
Connector Type: D-Sub 9-pin
Recommended Wire Gauge: 0.2mm2 (AWG24)
█ Pin Layout (Viewed from drive header side)
Ground of JP5 connector is connected to D-Sub 9 shell. When using encoder output, make sure ground
between host device and DYN4 servo drive is connected together.
A+6
GND 5
Z+ 4
B- 3
A- 2
ZRI- 1
ZRI+9
Z-8
B+7
█ Connection Circuit
Line Drive/Receiver
A
B
Z
DYN4 Servo Drive JP5 Host Device
AM26C31
AM26C32 or
equivalent
6
2
7
3
4
8
Use twisted pair shielded wires for each phase
to minimize transmission noise.
Gnd Gnd 5
Open Collector Index Pulse
█ Specification
*See Section 4.5 for encoder output specication.