GSK DA98A User manual

GSK DA98A
Full Digital AC Servo System
User Manual
GSK CNC Equipment

DA98A User Manual
I
Foreword
Thank you for purchasing DA98A AC Servo System. For optimum performance and safety
instruction, please read this manual carefully.
Caution: Improper operation leads to accidents. Before operating the system,
please read the manual completely.
● All specification and designs are subject to change without notice.
●We do not undertake any responsibility and product warranty sheet is cancelled if
user changes our product.
Pay attention to the following signs when reading the user manual:
Caution
Danger If operation is incorrect, a dangerous situation may occur, resulting
in death or serious injuries.
If operation is incorrect, a dangerous situation may occur,
resulting in minor to medium injuries or damage to equipment.
If operation is incorrect, damage to system or machine may
occur.
Alarm

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Safety regulation
● Design and manufacturing of the product are not used for the mechanism and system
which can cause danger to people.
● Precautions in design and making should be taken to avoid accidents resulted by
malpractice or malfunction of the product when matching with this product.
Acceptance
● Products that were damaged or broken-down cannot be put into use.
Delivery
● Products should be stored and delivered by proper storage and delivery environment.
● Do not put many packing boxes in piles to avoid falling down.
● Appropriate package should be done for delivery.
● Do not drage its wires, spindle or encoder when moving the servomotor.
● Protect the servo driver and the servomotor from external force and crash.
Installation
Servo driver and servomotor:
● Do not install it on or near flammable objects.
● Avoid vibration and protect it from impact.
● No assembly for product that was damaged or lack of components.
Servo driver:
● It should be fixed in a control coffer with a high protection level.
● Enough clearance should be set aside with other equipments.
● A good heat radiation condition should be provided.
● Protect dust, corrosive gas, conductive objects, liquids and flammable or explosible
material from entering it.
Servomotor:
● Fastness must be assured to avoid looseness owing to shaking.
● Protect liquids from entering motor and encoder.
● Forbid hammeringking motor and its spindle to avoid damaging encoder.
● Load cannot exceed the maximum of motor spindle.
Warning
Caution
Caution
Caution

DA98A User Manual
III
Connection
● Only qualified persons can do or check the connection.
● Connection and checking cannot be performed in 5 minutes after the power supply is
switched off.
● The servo driver and servomotor must be grounded.
● Explosion or operation incident caused by mistakenn voltage or polarity of power supply
may occur.
● Connection is permitted after stable installation of servo driver and servomotor.
● Insulate and Protect from squeezing wires to avoid electric shock.
● Correctness and fastness of connection must be assured, otherwise the motor will run in a
mistakenn direction and the equipment may be damaged by loosen connection.
● U, V, W terminals must not be connected reversely and connected with AC power supply.
● Servomotor must be directly connected with servo driver without connecting of
capacitance, inductance or filter.
● Protect conductive fastener and end of wire from entering servo driver.
● Wires and non-thermal protective objects are not permitted to approach to servo driver
radiator and servomotor.
● Freewheeling diode in parallel on output signal of DC relay must not be connected
reversely.
Debugging
● Stable assembly and fixation of servo driver and servomotor, correctness of power voltage
and cable connection must be assured before the power supply is switched on.
● Servomotor should run in dry run mode while debugging. Load debugging should be
performed after the parameters are rightly set to avoid damage of machine and equipment
caused by maloperation.
Usage
● Emergency circuit should be connected to make the machine stop running immediately
with power cut off when an incident occurs.
● The running signal must be off before resetting an alarm or it will restart suddently.
● The servo driver must be matched with the specified servomotor.
● Do not frequently switch on/off the power supply of servomotor to avoid damaging
servomotor.
● Do not touch the driver radiator and the servomotor in running and power off to avoid
Warning
Caution
Caution
Caution

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scalding .
● Must not refit the servo system.
Troubleshooting
● Do not touch the terminals in 5minutes after power is off because of the high voltage of
servo driver.
● Only qualified persons can dismount or maintain it.
● Resolve malfunction after alarming, and reset alarming signal before restarting.
● Keep away from machine while power is on after instantaneous power off because machine
might start suddently.(No danger occurrence in restarting should be assured in design. )
Option
● Rated torque of servomotor should be higher than that of effective continuous load.
● Inertia ratio between the load and the servomotor should be less than that of
recommendation.
● The servo driver should be matched with the servomotor.
Warning
Caution
Note

DA98A User Manual
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Contents
Overview............................................................................................................................................1
1.1 Introduction................................................................................................................................1
1.2 Check after delivery.................................................................................................................2
1.3 Outline..........................................................................................................................................3
Installation.......................................................................................................................................5
2.1 Environmental condition........................................................................................................5
2.2 Installation of servo driver.....................................................................................................5
2.3 Installing servomotor...............................................................................................................7
Wiring...................................................................................................................................................9
3.1 Standard wiring.........................................................................................................................9
3.2 Terminal function....................................................................................................................11
3.3 I/O Interface method.............................................................................................................14
Parameter.......................................................................................................................................17
4.1 Parameter list...........................................................................................................................17
4.2 Parameter function.................................................................................................................18
4.3 Type code parameter and motor........................................................................................22
Alarm and troubleshooting..............................................................................................24
5.1 Alarm list...................................................................................................................................24
5.2 Alarm troubleshootings.........................................................................................................25
Display and operation..........................................................................................................30
6.1 Keyboard operation...............................................................................................................30
6.2. Monitoring mode...................................................................................................................30
6.3 Parameter setting....................................................................................................................33
6.4 Parameter management........................................................................................................34
6.5 Speed trial run.........................................................................................................................36

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6.6 JOG run.....................................................................................................................................36
6.7 Motor testing............................................................................................................................36
6.8 Miscellaneous...........................................................................................................................36
Run.......................................................................................................................................................37
7.1 Power supply connection......................................................................................................37
7.2 Trial run.....................................................................................................................................39
7.3 Adjustment................................................................................................................................40
Specification................................................................................................................................43
8.1 Driver specification ................................................................................................................43
8.2 Servomotor specification......................................................................................................44
8.3 Isolation transformer.............................................................................................................50
Order...................................................................................................................................................56
9.1 Capacity selections .................................................................................................................56
9.2 Electronic gear ratio...............................................................................................................56
9.3 Stop characteristics ................................................................................................................56
9.4 Servo and position controller computation method.....................................................57

DA98A User Manual
GSK CNC EQUIPMENT CO., LTD.
1
Overview
1.1 Introduction
AC servo technology has been advanced and improved since the early of 90th last century and
applied to NC machine, printing packing machinery, textile machinery, automatic production line
and other automatic fields.
With high integration, compact, excellent reliability, DA98A AC servo system is the first full digital
one in China, employed with the advanced digital signal processor DSP(TMS320f2407A) from
America TI company, large-scale complex programmable logic device and MITSUBISHI intellegent
power module, and with PID operation to execute PWM control. Its performance has reached the
same overseas level.
DA98A AC servo system has advantages
compared to stepper system as follows:
zAvoiding out-of-step
Servomotor is employed with encode, its
position signal feedbacks to servo driver with
open loop position controller to compose a
semi closed loop control system.
zSpeed ratio, constant torque
The timing ratio is 1：5000，with stable torque
from low speed to high speed.
zHigh speed, high precision
Max. speed can be 3000rpm, position
precision of turning is 1/10000r.
Note: There is different max. speed for different
types.
zSimple and flexible control
Parameters can be modified to set properly operating mode, running performance of servo system
to meet different requirements.
Positioning instruction
Controlle
r
Open loop control Stepper motor
Feedback control Servomotor
Controller
Positionin
g
instruction
Feedback

DA98A User Manual
GSK CNC EQUIPMENT CO., LTD.
2
1.2 Check after delivery
1）Check after delivery:
（1） Whether packing box is good and goods is damaged.
（2） Whether the servo driver, servo driver nameplate is the ordered ones.
（3） Whether accessories are the requirements.
zDo not install servo system which is damaged or lacks of components
zServo driver must be matched with servomotor which performance matches
the former.
zPlease contact with us or suppliers if there are any questions after receiving
goods.
2）Type signification：
（1） Type for servo driver
DA98A-04-130SJT-M060D
Adaptive to servomotor type(GSK SJT series motor) ※1
Outputpower：2-bit digit(04,06…23) corresponding to 0.4~2.3KW ※2
Series code
※ 1：It can be matched with other homemade or imported servomotor which is needed to order. The
driver which is short of parameters can be only adaptive to SJT, STZ, Star series servomotor.
※2：Small power (less than 1.5KW) is the standard configuration, and middle power (＜1.5≤26KW is
employed with thicker radiator.
Note: Product type has been filled in before delivery and check the product with its nameplate.
（2） Servomotor type.
DA98A (2.0 Version) AC servo driver can be matched with many domestic and abroad
types of servomotor which can be selected by user. Servomotor information of GSK SJT
Note

DA98A User Manual
GSK CNC EQUIPMENT CO., LTD.
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series and STZ, Star series from Huazhong University of Science and Technology are
provided in Chapter 8, and other servomotor information are provided with delivery.
3）Accessories
（1） DA98A servo driver standard accessories:
①User Manual 1
②Installation bracket 2
③M4×8 contersink bolt 4
④CN1 plug（DB25 female）1 set （note 1）
⑤CN2 plug（DB25 male）1 set （note 2）
Note 1: Signal cable (standard 3m) can be provided when it is matched with our position controller.
Note 2: User can select feedback cable (standard 3m) when our servomotor is provided.
（2） Standard accessories of servomotor are provided according to servomotor user manual
1.3 Outline
1）Outline of servo driver
R
S
T
PE
U
V
W
P
D
r
t
-3000
Feedback terminal
Signal terminal
Radiator
6-bit LED
Panel
4 — button
Power terminal TB
Cabinet
2-bracket
CN2
CN1
Fig. 1-1 Outline of driver