GSK DA98E Series User manual

This user manual describes all items concerning the operation of
the system in detail as much as possible. However, it is impractical to give
particular descriptions of all unnecessary and/or unavailable operations of
the system due to the manual content limit, product specific operations and
other causes. Therefore, the operations not specified herein shall be
considered impossible or unallowable.
This user manual is the property of GSK CNC Equipment Co., Ltd.
All rights are reserved. It is against the law for any organization or individual
to publish or reprint this manual without the express written permission from
GSK and the latter reserves the right to ascertain their legal liability.

DA98E Series AC Servo Drive Unit User Manual
2
FOREWORD
Dear user,
We are really grateful for your patronage and purchase of this product of GSK
CNC Equipment Co., Ltd.
The manual describes the performance as well as the instructions for
installation, wiring, commissioning, operation and maintenance of the DA98E
series bus-oriented AC servo Drive Unit.
The operations involve the contents of two software versions: 1) The Version V2.05
focuses on the configuration of servomotors with an incremental encoder; 2) The Version
V3.01 applies to the configuration of servomotor with a Tamagawa 17-bit absolute
encoder and specifies the inconsistencies with V2.05.
●The contents herein are subject to change as a result of product modification
without further notice.
●We assume no reliability for any consequence of user’s modification of the product.
In this case, the product warranty will become void.
To ensure the safety as well as the normal and efficient operation of the product, it is
important to thoroughly read this manual prior to the installation and operation of it.
Special attention shall be given to the following warnings and precautions while
reading this manual in order to prevent injury of operator and other persons as well as
damage of the mechanical equipment.
Incorrect operation may lead to severe injury or even
death.
Incorrect operation may cause moderate or slight injury
and property losses.
Negligence of the suggestion may result in an undesired
consequence and condition.
Warning
Caution
Attention

Safety Warnings
3
Tighten all connecting terminals of the main
circuit with an appropriate torque.
Make sure to install the drive unit on an
incombustible carrier and keep it away from
inflammable substances.
Negligence of the instruction may
lead to loose conductor
connection, electric spark and
even fire.
Negligence of the instruction may
lead to fire.
Make sure the input power supply is
disconnected prior to wiring.
Always ground the protective earthing terminal
PE on the servo unit.
Negligence of the instruction may
lead to electric shock.
Negligence of the instruction may
lead to electric shock.
Have the wiring performed and inspected by a
qualified electrician.
Make sure to disconnect the unit from power
supply and wait for at least five minutes before
moving, wiring, examining or maintaining it.
Negligence of the instruction may
lead to electric shock or fire.
Negligence of the instruction may
lead to electric shock.
Strictly abide by the procedures herein in
wiring.
Make sure to tighten the power supply terminals
and motor output terminals.
Negligence of the instruction may
lead to equipment damage and
electric shock.
Negligence of the instruction may
lead to fire.
Do not operate the switches with a wet hand. Do not reach your hands into the servo unit.
Negligence of the instruction may
lead to electric shock.
Negligence of the instruction may
lead to electric shock.
Do not open the cover of the terminal block
while the unit is energized or is operating.
Do not directly touch the connecting terminals
on the main circuit of the drive unit.
Negligence of the instruction may
lead to electric shock.
Negligence of the instruction may
lead to electric shock.
Dan
g
e
r

DA98E Series AC Servo Drive Unit User Manual
4
After the power supply is restored, do not
immediately perform any work on the coupling
of the servomotor as the drive unit may start
suddenly.
Do not stop heat elimination or place any foreign
matter into the fan or radiator.
Negligence of the instruction may
cause personal injury.
Negligence of the instruction may
lead to equipment damages or a
fire.
Do not place the power cord on a sharp edge
or under load or stress.
Do not operate the energized servo drive unit
when the cover of the terminal block is removed.
Negligence of the instruction may
lead to electric shock, fault or
damage.
Negligence of the instruction may
lead to electric shock.
The electric motor must be equipped with a
suitable servo unit.
The voltage applied on all terminals must be
consistent with the ratings specified on the
manual.
Negligence of the instruction may
lead to equipment damage.
Negligence of the instruction may
lead to equipment damage.
Loaded operation is only permitted after
successful no-load operation.
In case of alarm, make sure to eliminate the
trouble before operation.
Negligence of the instruction may
lead to equipment damage.
Negligence of the instruction may
lead to equipment damage.
Do not grasp the power cord or motor shaft
during the transport of the motor.
In case of a missing or defective component of
the spindle drive unit, do not operate the motor
but immediately contact your dealer.
Negligence of the instruction may
lead to equipment damage.
Negligence of the instruction may
lead to equipment damage.
Attention
Caution

Safety Warnings
5
Do not connect the power input wires R, S and
T to the output terminals U, V and W of the
motor.
Do not turn on/off the input power supply.
Negligence of the instruction may
lead to equipment damage.
Negligence of the instruction may
lead to equipment damage.
Do not touch the heat sink for the motor and
servo unit during operation as they may
become very hot.
Do not perform any limit adjustment or change
of parameters.
Negligence of the instruction may
lead to burn.
Negligence of the instruction may
lead to equipment damage.
Do not attempt to modify, remove or repair the
drive unit without permission from your dealer.
The electronic components inside a discarded
drive unit shall be disposed as industrial waste
without reuse.
Negligence of the instruction may
lead to equipment damage.
Negligence of the instruction may
cause accidents.
Caution

DA98E Series AC Servo Drive Unit User Manual
6
Safety Responsibilities
Safety Responsibilities of Manufacturer
—— The manufacturer shall be responsible for the risks eliminated and/or controlled in
the design and structure of the supplied servo unit and accompanying accessories.
——The manufacturer shall ensure the safety of the supplied servo unit and
accompanying accessories.
——The manufacturer shall be held responsible for the information and advices on
usage given to the user.
Safety Responsibilities of User
——A user shall study and be trained for the safe operation of the servo unit and
understand and master the knowledge regarding safe operation.
——The user shall take responsibility for the risks arising from his/her addition, change
or modification of the original servo unit and accessories.
——The user shall be held responsible for the risks caused by the operations,
adjustments, installation and transport of the product without following the
requirements of the manual.
This manual is retained by the end user.
Thank you for your friendly support in using the products of GSK
CNC Equipment Co., Ltd.

Contents
VII
Contents
Chapter 1 Summary ........................................................................................................................................ 1
1.1 Product Overview................................................................................................................................1
1.2 Fundamentals...................................................................................................................................... 2
1.3 Receiving Inspection .......................................................................................................................... 8
1.4 Product Appearance ......................................................................................................................... 10
Chapter 2 Installation ................................................................................................................................... 12
2.1 Ambient Conditions........................................................................................................................... 12
2.2 Installation of Servo Drive Unit........................................................................................................ 12
2.3 Installation of Servomotor ................................................................................................................ 15
Chapter 3 Wiring............................................................................................................................................ 17
3.1 Standard Connection ........................................................................................................................ 18
3.2 Functions of Terminals ..................................................................................................................... 21
3.3 Circuitous Philosophy of I/O Interface ........................................................................................... 28
Chapter 4 Parameters................................................................................................................................... 29
4.1 Summary of Parameters.................................................................................................................. 29
4.2 Functions of Parameters.................................................................................................................. 32
4.3 Checklist of Model Numbers and Specification of Motor ............................................................ 42
Chapter 5 Alarms and Remedies............................................................................................................... 44
5.1 Abnormalities Arising from Improper Usage ................................................................................. 44
5.2 Summary of Alarms .......................................................................................................................... 45
5.3 Solutions for Alarms.......................................................................................................................... 47
Chapter 6 Display and Operations............................................................................................................ 58
6.1 Keyboard Operations ....................................................................................................................... 58
6.2 Monitoring Mode ............................................................................................................................... 59
6.3 Parameter Setting ............................................................................................................................. 61
6.4 Parameter Management .................................................................................................................. 63
6.5 Speed Trial operation ....................................................................................................................... 65
6.6 JOG operation ................................................................................................................................... 66
6.7 Other ................................................................................................................................................... 66

DA98E Series AC Servo Drive Unit User Manual
VIII
Chapter 7 Power-on and Operation ..........................................................................................................67
7.1 Connection to Power Supply ...........................................................................................................67
7.2 Trial Operation ...................................................................................................................................69
7.3 Adjustments........................................................................................................................................71
Chapter 8 Product Specification................................................................................................................75
8.1 Specification of Drive Unit ................................................................................................................75
8.2 Specification of Servomotor .............................................................................................................76
8.3 Isolation Transformer ........................................................................................................................85
Chapter 9 Ordering Guide ...........................................................................................................................91
9.1 Capacity Selection.............................................................................................................................91
9.2 Electronic Gear Ratio........................................................................................................................91
9.3 Stop Characteristics ..........................................................................................................................92
9.4 Calculation for Type Selection of Servo and Position Controller................................................92
9.5 Examples of Model Numbers Available for Ordering ...................................................................93

Chapter 1 Summary
1
Chapter 1 Summary
1.1 Product Overview
The AC servo technology has been proved since the early 1990s. With ever-improving
performance, it is widely applied to NC machine tools, printing and packaging machines, textile
machines, automated production lines and other areas of automation.
DA98E series AC servo Drive Unit (also known as bus-oriented AC servo Drive Unit) is a
new generation of products with an up-to-date industrial Ethernet bus communication
interface developed by us.
The external control device for the series of Unit can communicate with several GSK-LINK
bus-oriented AC servo Drive Unit through only one network cable. They feature simple interfaces,
easy installation and high compatibility. Through a high-speed and reliable GSK-LINK field bus and
protocol, a NC system may receive/send diversified data including position, speed command, motor
encoder data, controlling parameters for current loop, speed loop and position loop, state parameters
of drive unit and other messages from/to a servo Drive Unit. By supporting diversified data, the
system may exert control over the operation of a motor and better realize the real-time monitoring of
the control and drive Unit through configuration of position, speed command and adaptive
parameters of the system, thereby further improving the processing efficiency and accuracy of the NC
system. With a built-in advanced and dedicated chip for control over the motor, a FPGA
(Field-Programmable Gate Array) and a new IPM intelligent power module, the servo drive unit is
characterized by high integrity, compactness, complete protection and high reliability.
DA98E AC servo unit has the following advantages over step drive Unit:
zNo out-of-step
The servomotor is provided with an encoder that
feeds back position signal to the servo drive unit
and exerts semi-closed loop control with an
open-loop control device.
zWide speed ratio and constant torque
Speed regulation ratio of 1: 5000 and constant
torque characteristics at low to high speed;
zIncremental encoders or Tamagawa 17-bit
absolute encoders are available upon customer’s request.
zHigh speed and accuracy
Maximum rotating speed of servomotor: 3,000 rpm; rotary positioning accuracy: 1/10,000r
Note: The maximum rotating speed of servomotor varies with its model.
Open-loop control Stepper motor
Controller

DA98E Series AC Servo Drive Unit User Manual
2
zSimple and flexible control
It is possible to properly set the operating mode and characteristics of the servo system through
the system interface in order to meet different requirements.
DA98E compared to the traditional DA98 servo series
zThe data transfer speed is up to 100MBit/s by using an industrial Ethernet bus for
communication transmission.
zHigh anti-jamming capacity, bit error rate: 10-12
zThe closed and open loops share one hardware structure with a communication data
length of 0～256 (bits) and minimum communication cycle of 50µs.
zIt is easy to operate and adjust servo parameters and possible to adjust servo parameters
and monitor servo through the system interface.
1.2 Fundamentals
1) Operating Principle of AC Servo Drive Unit
The AC servo drive unit consists of an AC servo unit and an AC servomotor (3-phase
permanent-magnet synchronous motor, hereinafter called “servomotor”). The servo unit rectifies
3-phase alternating current into direct current (namely AC to DC) and produces approximately simple
harmonic alternating current with 120° phase difference in the 3-phase stator winding of the
servomotor by controlling the switching of the power switching tube. The current creates a rotating
field in the servomotor. The rotor of the servomotor is made of high anti-demagnetizing rare-earth
permanent magnetic material. The rotor of the servomotor is driven by the electromagnet torque as a
result of the interaction of the magnetic field of the rotor for the servomotor and its rotating magnetic
field. The higher the frequency of the current through the servomotor winding is, the faster the
servomotor rotates. The output torque (torque = force x length of moment arm) of the servomotor
increases with the amplitude of the current through the servomotor winding.
Figure 1-1 is the block diagram of the main circuit in which PG indicates an encoder.

Chapter 1 Summary
3
Figure 1-1 Block diagram of the main circuit of AC servo drive unit
2) Basic Structure of AC Servo Drive Unit
The servo unit receives speed commands from a control unit (also known as host computer)
such as CNC system to control the amplitude and frequency of the current through the winding of the
servomotor so that the rotating speed (or angle of rotation) of the rotor for the servomotor is close to
the value of the speed (or position) commands, and knows the deviation of the real rotating speed (or
angle of rotation) of the servomotor rotor from the command value through the feedback signal of the
encoder. The servo unit keeps the deviation of the real rotating speed (or angle of rotation) of the
servomotor rotor from the command value within the required range by continuous regulating the
amplitude and frequency of the current through the winding of the servomotor. The basic structure of
the servo system is shown in Figure 1-2.
Control
unit Power drive unit Motor Driving
machine
Feedback
check
＋
－
CNC
equipment
AC servo drive equipment
setting
Figure 1-2 Basic structure of AC servo drive unit
3) General Glossaries regarding Control
zControl: Control refers to the procedure allowing the characteristics (e.g. rotating speed) of the
object (e.g. servomotor) to reach or become close to the expected value. The foregoing object is
called “controlled object”, its characteristics “controlled variable”, the device that realizes the control
“control unit (controller)”, the expected value (command value) of the controlled variable received by

DA98E Series AC Servo Drive Unit User Manual
4
the control unit “setting”, the process that the controlled variable is affected as the input of the
controller “feedback” and the unit that is used to detect the controlled variable “feedback unit”.
Feedback is divided into positive feedback (in the same direction) and negative feedback (in opposite
direction). The controller that realizes the controlled variable, the controlled object and feedback unit
compose a “control system”. A drive is under closed-loop control or open-loop control depending on
the presence of a feedback unit and the position where the feedback unit is located in the drive. The
closed-loop control described in the manual is of negative feedback.
Among the AC servo Drive Unit described herein, the servo unit serves as a controller, the
servomotor controlled object, rotating speed (or angle of rotation of rotor) of motor controlled variable
and the encoder of the servomotor feedback unit. The encoder detects the actual rotating speed of
the motor for speed control so as to achieve speed feedback. Therefore the AC servo drive unit is a
closed-loop control system.
zClosed-loop control: The actual value of the controlled variable does not affect the output of the
controller if the control system is not provided with a feedback device. For a stepper motor drive, for
example, the rotor of a stepper motor shall rotate with the change in the phase sequence of its output
current. Since normally a stepper motor is not fitted with a speed or position feedback device,
excessive load or acceleration/deceleration may prevent the motor rotor from accurately rotation with
the change in the phase sequence of current, thereby causing the so-called “out-of-step”.
Open-loop control is as shown in Figure 1-3.
Figure 1-3 Open-loop control
zClosed-loop control: The controlled variable of the control system is detected and transferred to
the controller by the feedback device to affect the output of the controller and thereby to change the
controlled variable. Closed-loop control is classified as full-closed loop control and semi-closed
loop control by the detection points. The feedback device’s direct detection of the controlled variable
and use of it for feedback is called full-closed loop control (e.g. Figure 1-4) and the position of the
gear is the controlled variable. The full-closed loop control over the position of the gearing is achieved
by using the grating mounted on the gearing as a position feedback device and the encoder for the
servomotor as a speed feedback. In the absence of the grating, the encoder for the servomotor is
used as a position and speed feedback (see Figure 1-5). In this case, this is the semi-closed control
over a mechanical position.
Gearing

Chapter 1 Summary
5
Figure 1-4 Full-closed loop control
Figure 1-5 Semi-closed loop control
zPID Control: Also called PID regulation, it is the common algorithm used by the controller
for mathematical treatment of the input data (setting and feedback). “P” is the abbreviation of
“proportional” and refers to the linear proportional relationship between the input and output of a
controller. The bigger a proportional control factor is, the more sensitively the system will respond and
the smaller (cannot be completely eliminated) the steady state error will become. Excessive
proportional control factor leads to the disturbance and instability of the system. “I” stands for
“integral” and means the influence of controller input time integral upon output (input gradually affects
output). The bigger an integral time constant is, the more smoothly the system runs without steady
state error and the slower the system responds. “D” is the initial of “Differential”, indicating the
influence of input differential (the slope of input change). Differential control can forecast, produces
advanced correction, reduces following error and improves dynamic performance. Excessive
differential coefficient may cause system disturbance and instability. Proportional, integral and
differential controls influence each other. In a specific control system it is required achieve the
balance of the response speed, control accuracy and stability by adjusting the PID control parameters.
As differential control tends to produce impact and unsteadiness, the servo system described herein
employs PI control, i.e. only proportional and integral control.

DA98E Series AC Servo Drive Unit User Manual
6
4) Glossaries with regard to Servo Control
The servo system is provided with three basic control modes: position control, speed control and
torque control. The block diagram of the system is as shown in Figure 1-6.
zPosition control: The direction and angle of rotation of the motor are set by means of digital
pulse or data communication. The servo unit controls the motor rotor so that it rotates by a proper
angle in the given direction. Both the angle (position) and speed of rotation are controllable.
zSpeed control: The direction and angle of rotation of the motor are set by means of analog
voltage or data communication. The servo unit controls the motor rotor so that it rotates in the given
direction at the given speed.
zTorque control: The amplitude and direction of the output torque of the motor are set by
means of analog voltage or data communication. The servo unit controls the direction of rotation and
output torque of the motor rotor.
The servo unit described herein currently does not receive any torque setting signal or provide
torque controlling mode.
PG
Position
feedback signal
－
＋Power
amplification
Current
adjustment
＋Speed
adjustment
－
＋Position
adjustment
－
Command
position Speed feedback
signal
Current feedback
signal
Position
controller
Speed
controller
Current
controller
Motor
Figure 1-6 Block diagram of three-loop control
5) Indexes of Servo Performance
Characteristics of servo dynamic response: the response speed, dynamic control error and
steady-state control error. Figure 1-7 is the response characteristic diagram of the given step signal
from the servo signal (The solid line indicates given signal and dotted line the output signal from the
servo system in the following text.):

Chapter 1 Summary
7
Figure 1-7 Servo dynamic response curve
Rise time tr: It refers to the time elapsed when the rotating speed output rises from zero to 90 percent
of steady state value R (t). It indicates the rapidity of dynamic response.
Adjustment time ts: The range within ±5% of the steady-state value taken near the steady-state
value of the step response curve is considered a permissible error band. The minimum time required
for the response curve to reach but not go beyond the error band is the adjustment time which is used
to measure the rapidity of the complete adjustment process of the unit.
Overshoot σ: It refers to the ratio of the maximum rotating speed difference (Rmax(t)-R (t)) between
rotating speed output and steady-state value to steady-state value R (t). It reflects the relative stability
of a servo unit and is as follows when indicated by percentage:
%100
)( )()(
(%) max ×
−
=tR tRtR σ
Steady-state error: The difference between the expected steady-state value and actual output of the
system after rotating speed becomes steady during system response.
Servo static performance: The most important for a servo control system is its stability. The key
static performance index of servo is positioning accuracy, which refers to the degree of deviation of
the actual state from expectation at the end of the system transition. The steady-state accuracy of
servo is subject to the error of position measuring appliance and system error and is related to the
structure and parameters of the system. Figure 1-8 is a position servo static curve graph.

DA98E Series AC Servo Drive Unit User Manual
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Figure 1-8 Position servo static curve
Following error: It refers to the difference between the displacement of workbench required by
command signal (command position) and its actual displacement. That is to say, Following error =
(Command position value) – (Actual position value)
Servo gain: It refers to the capability of a servo system’s resistance against the position deviation
resulting from load interference.
1.3 Receiving Inspection
1) When the goods is received, make sure to inspect the following items:
（1） Check that the packing case is integrate and no cargo is damaged in transport;
（2） Check that the received goods are those ordered against the nameplates on the
servo drive unit and servomotor;
（3） Check that the accessories are complete against the packing list.
Attentions
zDo not install a defective or incomplete servo unit;
zThe servo drive unit shall be used in combination with a servomotor with matching
performance;
zPlease contact your dealer or us for any question when the goods are received.
2) Description of Model Number
（1） Model Number of Servo Drive Unit

Chapter 1 Summary
9
Note: Type R1 is a thin radiator, R2 thick radiator and R3 a thick radiator with a fan.
Note 1: Optional imported or home-made servomotor is available upon request. The default parameters of the
drive unit are only adaptive to SJT and ST series of servomotors. For other servomotors, the delivery
parameters are backed up in EEPROM. To recover the delivery parameters, make sure to perform recovery
backup but not to restore default parameters.
Note 2: Use standard configuration for middle or low power (≤1.5kW) and thick radiator for the power above middle
level (> 1.5kW).
Note 3: The above boxes have been completed before product delivery. Please check them against the nameplate of
the product.
（2） Model Number of Servomotor
The DA98E series of bus-oriented AC servo drive Unit may be used in conjunction with many foreign
and domestic servomotors that can be selected by user in ordering. The Chapter 8 of this manual
offers the information on the SJT series of GSK and the new ST series of servomotors made by New
Type Motor Factory affiliated with Huazhong University of Science and Technology. The information
on other types of servomotors is supplied with them.
130 SJT －MZ150 D
（A□Y□X□）
Machine model:
80
110
130
175
M:Photoelectric encoder
Zero-speed torque
Remark: It is represented by three
digits, and the value is in three digits
×10-1，the unit is N ·m.
For example, 150×10-1=15N·m.
None:Aviation socket type
Shaft extenstion or installation config.
Y□:Special cylinder shaft extension
Encoder type
A or None: Increment type 2500 p/r
Rated speed
AC synchronous
servo motor
Safe brake
A：
Remark: The working power supply of safe brake
is DC（0.9~ 1.1）×24V, the interface is 3-cord
socket, pin 1 and pin 2 are power supply terminal
(not differ polarity), pin 3 is earth terminal. When
pin 1 and pin 2 is connected the power supply,
the safe brake doesn’t work; when the power is
OFF, it works. The brake operation time is ≤0.1s.
B：1500 r/min
C：
D：
E：
None : None ; Z: Available
X:Cable direct type
None:Standard shaft extension
Z□:Special cone shaft extension
S□:Stepping motor installation config.
A2：Increment type 5000 p/r
A3:Increment split-type 2500 p/r
A4:Absolute type 17bit
A41:Danaher multi-circle 17bit absolute type
A4S1:Danaher single-circle 17bit absolute type
Remark: In the blank“□”, it is digit code;
about the number representing the detailed
special axis extension, refer to the
installation overall drawing of the motor.
1000 r/min
2000 r/min
2500 r/min
3000 r/min
Feedback unit:
Note 1: The working power supply for the dead electromagnet brake is DC (0.9～1.1) ×24V and its connector a
3-pin socket whose Pin 1 and 2 are power inputs (not polarity specific) and Pin 3 is a ground terminal. When
Pin 1 and 2 are connected to power supply, the dead electromagnet brake does not function. When they are
disconnected from power supply, it operates for a duration less than or equal to 0.1s.
Note 2: “150” indicates that its value consists of three digits 150×10-1=15 in N·m.

DA98E Series AC Servo Drive Unit User Manual
10
Note 3: ‘□’ is a numeral code. See the installation diagram of the motor for the specific special shaft extension
indicated by a figure.
3) Accessories
（1） Standard accessories for DA98E servo drive unit
①User Manual (this manual) 1
②Mounting bracket 2
③M4×8 countersunk head screws 4
④BUS1 plug (DB9 jack), BUS2 plug (DB9 pin) 1 set (Note 1)
⑤CN1 plug (DB26 jack) 1 set (Note 2)
⑥The standard accessories of a servo motor will be supplied to its operation manual.
Note 1: Our Ethernet bus communication position control device is supplied with a CAT-5e UTP signal cable (standard
length: 3m).
Note 2: A feedback cable (standard length: 3m) is available with our servomotor upon user’s request.
Note 3: The encoder feedback connector CN1 with an absolute encoder is a MDR26 plug.
1.4 Product Appearance
1）Appearance of Servo Drive Unit

Chapter 1 Summary
11
2）Appearance of Servomotor