Xinje DS3 series servo User manual

DS3/DS3E/DS3L series servo drive
User manual
WUXI XINJE ELECTRIC CO., LTD.
Serial No. SC3 02 20171010 1.0

All copyrights reserved by WUXI XINJE ELECTRIC CO., LTD.
Any copying, transferring or any other usage is pro hibited. Otherwise Xinje will have the right to
pursue legal responsibilities. All rights including patent and pemission of modules and designs are
reserved. January, 2010

a
The following defines the symbols used in this manual to indicate varying degrees of safety precautions
and to identify the corresponding level of hazard inherent to each. Failure to follow precautions
provided in this manual can result in serious, possibly even fatal, injury, and/or damage to the persons,
products, or related equipment and systems.
CAUTION
Indicates a potentially hazardous situation, which, if not heeded, could
result in death or serious injury
WARNING
Indicates a potentially hazardous situation, which, if not avoided, may result
in minor or moderate injury.
Checking Products upon Delivery
CAUTION
1. DO NOT install any drive which is damaged, lack of accessories or not the same with the model
ordered.
Doing so may result in electric shock.
Installation
WARNING
1. Cut off external power supply before installation.
Not doing so may result in electric shock.
CAUTION
1. Always use the servomotor and servo amplifier in one of the specified combinations.
Never use the products in an environment subject to water, corrosive gases, inflammable gases, or
combustibles.
Doing so may result in electric shock, fire or malfunction.
2. DO NOT touch any metallic part.
Doing so may result in malfunction.
Wiring
WARNING
1. Cut off external power supply before wiring.
Not doing so may result in electric shock.
2. Connect AC power supply to the corresponding terminals.
Faulty wiring may result in fire.
CAUTION
Be sure to review this section carefully before use this product. In precondition of security, wire
the product correctly.
Safety Precautions

b
1. Do not connect a three-phase power supply to the U, V, or W output terminals.
Doing so may result in injury or fire.
2. Use 2mm2wire to grounding the groud terminals.
Not doing so may result in electric shock.
3. Securely fasten the power supply terminal screws and motor output terminal screws.
Not doing so may result in fire.
Operation
WARNING
1. Never touch any rotating motor parts while the motor is running.
Doing so may result in injury.
2. DO NOT touch the inside the drive.
Doing so may result in electric shock.
3. Do not remove the panel cover while the power is ON.
Doing so may result in electric shock.
4. Do not touch terminals for five minutes after the power has been turned OFF.
Residual voltage may cause electric shock.
CAUTION
1. Conduct trial operation on the servomotor alone with the motor shaft disconnected from machine to
avoid any unexpected accidents.
Not doing so may result in injury.
2. Before starting operation with a machine connected, change the settings to match the parameters of
the machine.
Starting operation without matching the proper settings may cause the machine to run out of control
or malfunction.
3. Before starting operation with a machine connected, make sure that an emergency stop can be
applied at any time.
Not doing so may result in injury.
4. Do not touch the heat sinks during operation.
Not doing so may result in burns due to high temperatures.
5. Do not attempt to change wiring while the power is ON.
Doing so may result in electric shock or injury

3
Catalog
1 Checking Product and Part Names....................................................................................................... 7
1-1．Checking Products on Delivery............................................................................................. 7
1-2．Product appearance and name rule ........................................................................................ 7
2 Installations........................................................................................................................................ 11
2-1．Servo motor ......................................................................................................................... 11
2-1-1．Storage Temperature ................................................................................................ 11
2-1-2．Installation Site.........................................................................................................11
2-1-3．Concentricity ............................................................................................................ 11
2-1-4．Orientation................................................................................................................ 12
2-1-5．Handling Oil and Water............................................................................................ 12
2-1-6．Cable Stress.............................................................................................................. 12
2-2．Servo Drive.......................................................................................................................... 12
2-2-1．Storage Conditions ................................................................................................... 12
2-2-2．Installation Site.........................................................................................................12
2-2-3．Orientation................................................................................................................ 13
2-2-4．Installation................................................................................................................ 13
3 Wiring................................................................................................................................................ 15
3-1．DS3-PQA series................................................................................................................... 16
3-1-1．Main circuit wiring................................................................................................... 16
3-1-1-1. Servo drive terminal arrangement........................................................................... 16
3-1-1-2. Main circuit terminals............................................................................................. 17
3-1-1-3．Winding Terminals on Servo motor......................................................................18
3-1-1-4．CN0, CN1, CN2 terminals .................................................................................... 18
3-1-1-5. Communication port................................................................................................ 20
3-1-2．Signal terminals........................................................................................................22
3-1-2-1. Pulse signal .............................................................................................................22
3-1-2-2．SI input signal ....................................................................................................... 23
3-1-2-3. SO output signal...................................................................................................... 23
3-1-2-4. Analog input circuit................................................................................................. 24
3-1-2-5. Encoder feedback signal ......................................................................................... 25
3-1-3. Standard wiring example.................................................................................................... 25
3-1-3-1．Position Control Mode.......................................................................................... 25
3-1-4．Regenerative Resistor.......................................................................................................27
3-2. DS3E/DS3L-PFA .................................................................................................................. 28
3-2-1. Main circuit wiring..................................................................................................... 28
3-2-1-1. The terminal arrangement ....................................................................................... 28
3-2-1-2. Main circuit terminals............................................................................................. 29
3-2-1-3．Winding Terminals on Servo motor......................................................................30
3-2-1-4．CN0, CN1, CN2 terminals .................................................................................... 30
3-2-1-5. Communication port................................................................................................ 32
3-2-2．Signal terminals................................................................................................................ 34
3-2-2-1. Pulse signal .............................................................................................................34
3-2-2-2．SI input signal ....................................................................................................... 35
3-2-2-3. SO output signal...................................................................................................... 35
3-2-2-4. Analog input circuit................................................................................................. 36
3-2-2-5. Encoder feedback signal ......................................................................................... 36
3-2-3. Standard wiring example.................................................................................................... 36
3-2-3-1. Position mode.......................................................................................................... 36
3-2-4. Regenerative resistor.................................................................................................. 36
3-3. DS3-PTA series..................................................................................................................... 37
3-3-1. Main circuit wiring..................................................................................................... 37
3-3-1-1. The terminal arrangement ....................................................................................... 37
3-3-1-2. Main circuit terminals............................................................................................. 37

4
3-3-1-3．Winding Terminals on Servo motor......................................................................39
3-3-1-4．CN0, CN1, CN2 terminals .................................................................................... 39
3-3-1-5. Communication port................................................................................................ 40
3-3-2．Signal terminals................................................................................................................ 42
3-3-2-1. Pulse signal .............................................................................................................42
3-3-2-2．SI input signal ....................................................................................................... 43
3-3-2-3. SO output signal...................................................................................................... 44
3-3-2-4. Analog input circuit................................................................................................. 45
3-3-2-5. Encoder feedback signal ......................................................................................... 45
3-3-3. Standard wiring example.................................................................................................... 45
3-3-4. Regenerative resistor.................................................................................................. 45
4 Use the operate panel......................................................................................................................... 45
4-1．Basic Operation ...................................................................................................................45
4-1-1. Functions of operate panel.......................................................................................... 45
4-1-2. Basic Mode Switching................................................................................................ 45
4-2．Running status mode............................................................................................................ 46
4-3．Monitoring Mode................................................................................................................. 47
4-4．Auxiliary Function...............................................................................................................52
4-4-1．F0-XX....................................................................................................................... 52
4-4-2. F1-XX......................................................................................................................... 53
4-5．Alarm (E-XXX)................................................................................................................... 54
4-6．Example............................................................................................................................... 54
4-7．Change the motor code........................................................................................................ 55
5 Run the servo system ......................................................................................................................... 56
5-1．Control mode selection........................................................................................................ 56
5-2．Basic function setting...........................................................................................................56
5-2-1. Servo ON setting ........................................................................................................ 57
5-2-2. Switch the motor rotate direction ............................................................................... 57
5-2-3. Stop mode................................................................................................................... 57
5-2-4. Overtravel Limit (P-OT & N-OT)..............................................................................58
5-2-5. Power-off Brake (BK)................................................................................................ 59
5-2-6. Alarm output............................................................................................................... 61
5-2-7. Anti-block run alarm .................................................................................................. 61
5-3．Position mode (external pulse command)............................................................................ 61
5-3-1. External position mode............................................................................................... 62
5-3-2. Pulse command and pulse form..................................................................................62
5-3-3. Electronic gear ratio ...................................................................................................63
5-3-4. Position command filter ............................................................................................. 66
5-3-5. Pulse deviation clear (/CLR) ...................................................................................... 67
5-3-6. Positioning complete (/COIN, /COIN_HD)............................................................... 67
5-3-7. Positioning near (/NEAR) .......................................................................................... 70
5-3-8. Command pulse prohibition (/INHIBIT)....................................................................71
5-3-9. Positoin pulse difference ............................................................................................ 71
5-4．Speed control (analog voltage command) (Only for DS3-PQA)......................................... 71
5-4-1. Control mode selection............................................................................................... 72
5-4-2. Analog value of rated speed ....................................................................................... 72
5-4-3. Speed command difference auto-adjustment (F1-03)................................................. 73
5-4-4. Proportion action command (/P-CON).......................................................................73
5-4-5. Zero clamp (/ZCLAMP)............................................................................................. 74
5-4-6. Speed coincidence checking (/V-CMP)...................................................................... 74
5-4-7. Torque limit................................................................................................................ 75
5-4-8. Soft start ..................................................................................................................... 76
5-4-9. Filter ........................................................................................................................... 77
5-4-10. Speed reach signal (/V-RDY)................................................................................... 77
5-4-11. Alarm speed.............................................................................................................. 78
5-4-12. Speed command input dead area voltage.................................................................. 78
5-5．Speed control (internal speed) ............................................................................................. 78
5-5-1. Control mode selection............................................................................................... 79

5
5-5-2. Internal speed setting..................................................................................................79
5-5-3. Input signal setting ..................................................................................................... 79
5-6．Speed control (pulse frequency command).......................................................................... 81
5-6-1. Control mode selection............................................................................................... 81
5-6-2. Pulse frequency command.......................................................................................... 81
5-6-3. Command pulse frequency at rated speed.................................................................. 81
5-6-4. Speed command pulse filter time ............................................................................... 82
5-7．Torque control (analog voltage command) (only for DS3-PQA)........................................ 82
5-7-1. Control mode selection............................................................................................... 82
5-7-2. The analog value of rated torque................................................................................ 82
5-7-3. Torque command offset autoadjustment (F1-04) ....................................................... 83
5-7-4. Torque command filter time....................................................................................... 83
5-7-5. Torque limit................................................................................................................ 83
5-7-5-1. Internal speed limit.................................................................................................. 83
5-7-5-2. External speed limit................................................................................................. 84
5-7-5-3. Speed up to limit value output.................................................................................84
5-8．Torque control (internal setting).......................................................................................... 84
5-8-1. Control mode selection............................................................................................... 85
5-8-2. Internal torque command............................................................................................ 85
5-9．Motion fieldbus control (position mode) (only for DS3E) .................................................. 85
5-10. Absolute encoder servo drive ..............................................................................................86
5-10-1. Absolute enocder servo encoder cable ..................................................................... 87
5-10-2. Read the absolute encoder servo position................................................................. 87
5-10-3. The use and replacement of battery.......................................................................... 88
5-11．Other output signals........................................................................................................... 88
5-11-1. /ALM and /ALM-RST.............................................................................................. 88
5-11-2. /WARN..................................................................................................................... 89
5-11-3. Rotation checking (/TGON)..................................................................................... 89
5-11-4. Hysteresis loop ......................................................................................................... 90
5-11-5. Servo ready (/S-RDY).............................................................................................. 90
5-11-6. Encoder Z phase output (/Z) (only for DS3-PQA/DS3-PTA).................................. 90
5-11-7. ABZ phase feedback signal of encoder (CN1 15-pin support)................................. 91
5-11-8. User-defined output signal........................................................................................ 92
5-11-9. IO filter time............................................................................................................. 93
5-11-10．Switch the control mode....................................................................................... 93
5-12. I/O signal distribution.......................................................................................................... 94
5-12-1. Input signal distribution............................................................................................ 94
5-12-2. Default setting of input terminal............................................................................... 95
5-12-3. Output terminal distribution ..................................................................................... 95
5-12-4. Default setting of output terminal.............................................................................95
5-13. DS3-PTA series absolute encoder servo drive..................................................................... 95
5-13-1. Read the absolute encoder position.......................................................................... 96
5-13-2. Battery using and changing...................................................................................... 97
5-14．Internal position mode (only for DS3E/DS3L).................................................................. 97
5-14-1. Control mode selection............................................................................................. 98
5-14-2. Internal position mode..............................................................................................98
5-14-3. Position parameters from segment 1 to 35 ............................................................. 101
5-14-4. Change step (/CHGSTP) ........................................................................................ 102
5-14-5. Pause current segment signal (/INHIBIT).............................................................. 102
5-14-6. Skip current segment signal (/ZCLAMP)............................................................... 102
5-14-7. Reference origin ..................................................................................................... 102
5-14-8. Set segment through communication...................................................................... 104
5-14-9. Motion start signal (/MRUN)................................................................................. 104
6 Servo gain adjustment...................................................................................................................... 105
6-1．Gain parameter adjustment................................................................................................ 105
6-1-1. Gain parameters........................................................................................................ 105
6-1-2. Other parameters ...................................................................................................... 106
6-2．Parameter switching........................................................................................................... 107
6-2-1. G-SEL signal input................................................................................................... 108

6
6-3．The experience of gain adjustment.................................................................................... 108
7 Specification and dimension............................................................................................................ 109
7-1．Servo motor ....................................................................................................................... 109
7-1-1．Servo motor specification....................................................................................... 109
7-1-2．Torque-Speed Feature ............................................................................................ 113
7-1-3．Servo motor dimensions......................................................................................... 115
7-2．Servo drives....................................................................................................................... 119
7-2-1．DS3E, DS3L, DS3-PTA, DS2 comparison table.................................................... 119
7-2-2．Servo drive dimensions .......................................................................................... 121
8 Alarm Information ........................................................................................................................... 124
Appendix 1 Parameter list................................................................................................................... 130
Appendix 2 UX-XX monitoring parameters....................................................................................... 139
Appendix 3 FX-XX auxiliary function ............................................................................................... 142
Appendix 4 Modbus address............................................................................................................... 142
Appendix 5 General debug steps......................................................................................................... 145
Appendix 6 Application...................................................................................................................... 146
Appendix 7 Compatible table of servo and motor .............................................................................. 148

7
1Checking Product and Part Names
1-1．Checking Products on Delivery
Use the following checklist when products are delivered.
Items
Comments
Are the delivered products the ones
that were ordered?
Check the model numbers marked on the nameplates of the
servomotor and servo drive.
Does the servomotor shaft rotate
smoothly?
The servomotor shaft is normal if it can be turned smoothly
by hand. Servomotors with brakes, however, cannot be
turned manually.
Is there any damage?
Check the overall appearance, and check for damage or
scratches that may have occurred during shipping.
Are there any loose screws?
Check screws for looseness using a screwdrive.
Is the motor code the same with the
code in drive?
Check the motor code marked on the nameplates of the
servomotor and the parameter P0-33 on the servo drive.
If any of the above is faulty or incorrect, contact Xinje or an authorized distributor.
1-2．Product appearance and name rule
DS3-2□P□-PQA/ DS3-4□P□-PQA/ DS3E-2□P□-PFA/ DS3E-4□P□-PFA
Appearance and nameplate

8
Servo drive nameplate
(1) Naming rule
DS3 –2 0P7 - PQA
Series
DS3
DS3 series high precision servo drive
DS3E
DS3E series filedbus servo drive
DS3L series pulse-type servo drive
Voltage level
2
220V
4
380V
Suitable motor
capacity
0P2
0.2 KW
0P4
0.4KW
0P7
0.75KW
1P5
1.5KW
2P3
2.3KW
3P0
3.0KW
5P5
5.5KW
7P5
7.5KW
Configuration
type
P
Input command type: pulse
Encoder type
Q-quadrature encoder
F-compatible quadrature encoder
T-17 bits absolute value encoder
A
Design order: A
Configure type
Series name
Suitable motor capacity
Voltage level
XINJE SERVO DRIVER
DS3-20P7-PQA
WARNING
CAUTION
AC INPUT:1PH/3PH 200-240V 50/60Hz 3.5A
AC OUTPUT:3PH 0-200V 3.5A 0.75KW
12052013
WUXI XINJE ELECTRIC CO.,LTD
Drive model
Caution
Input power supply
Output power supply
Serial no.

9
Servo motor
(1) Appearance and nameplate
Motor label
(2) Naming rule
MS -80 ST E- M 02430 B Z S- 2 0P7 - S
Encoder part
Frame
Flange
Output (transmission) shaft
Motor label
XINJE AS SERVO MOTOR
MS- 80ST- M02403B -20P7
0.75
XJY1410714180480701
Motor model
Motor
specification
Serial no.
KW IP
65
MOTOR CODE:1011
WUXI XINJE ELECTRIC CO.,LTD
N M Arpm
30003.2
2.39
Shaft length
power
voltage level
body length
power-loss brake
shaft specification
performance parameter code
feedback component code
oil seal
base no.

10
Base number
40, 60, 80, 90, 110, 130, 180, 220
Oil seal
Empty
Without oil seal (130ST and above models all
have oil seal, so the model without E)
E
With oil seal (60ST, 80ST model name has
differences)
Feedback
component no.
M
Incremental encoder (2500ppr optical pulse
encoder)
F
Line-saving incremental encoder (2500ppr
optical pulse encoder)
T
17 bits absolute value encoder
N
20 bits absolute value encoder
Performance
parameter no.
First 3 bits mean rated torque, last 2 bits mean rated speed
Such as: 00630: rated torque 0.6N.m, rated speed 3000rpm
06025: rated torque 6.0N.m, rated speed 2500rpm
19015: rated torque 19.0N.m, rated speed 1500rpm
Shaft spec
A
No bond
B
With bond
Power-loss
brake
Vacant
No
Z
With power-off brake
Body length
Vacant
Normal models
S
Short body
Voltage level
2
220V
4
380V
Power
Such as: 0P4: 0.4kW
0P7: 0.75kW
1P5: 1.5KW
Motor shaft
length
Note: only
180ST has
differences
vacant
Normal models
S
Short shaft

11
2Installations
2-1．Servo motor
MS series servomotors can be installed either horizontally or vertically. The service life of the
servomotor can be shortened or unexpected problems might occur if it is installed incorrectly or in an
inappropriate location. Follow these installation instructions carefully.
CAUTION
1．The end of the motor shaft is coated with antirust. Before installing, carefully remove all of the
paint using a cloth moistened with paint thinner.
2．Avoid getting thinner on other parts of the servomotor.
2-1-1．Storage Temperature
Store the servomotor within -20~+60 ℃as long as it is stored with the power cable disconnected.
2-1-2．Installation Site
MS series servomotors are designed for indoor use. Install the servomotor in environments that satisfy
the following conditions.
Free of corrosive or explosive gases.
Well-ventilated and free of dust and moisture.
Ambient temperature of 0°to 50°C.
Relative humidity (r.h.) of 20 to 90% with no condensation.
Accessible for inspection and cleaning.
2-1-3．Concentricity
Please use coupling when connecting to machine; keep the shaft center of servo motor and machine at
the same line. It should be accord to the following diagram when installing the servo motor.
Antirust

12
Note: (1) If the concentricity is not enough, it will cause the vibration and bearing damage.
(2) When installing the coupler, prevent direct impact to the shaft. This can damage the encoder
mounted on the shaft end at the opposite side of the load.
2-1-4．Orientation
MS series servomotors can be installed either horizontally or vertically.
2-1-5．Handling Oil and Water
Install a protective cover over the servomotor if it is used in a location that is subject to water or oil
mist. Also use a servomotor with an oil seal when needed to seal the through-shaft section.
2-1-6．Cable Stress
Make sure that the power lines are free from bends and tension. Be especially careful to wire signal line
cables so that they are not subject to stress because the core wires are very thin, measuring only 0.2 to
0.3mm2.
2-2．Servo Drive
The DS3 series PQA servo drives are base-type servo drive. Incorrect installation will cause problems.
Follow the installation instructions below
2-2-1．Storage Conditions
Store the servo drive within -20~+60℃, as long as it is stored with the power cable disconnected.
2-2-2．Installation Site
The following precautions apply to the installation site.
Situation
Installation Precaution
Installation in a Control
Panel
Design the control panel size, unit layout, and cooling method so the
temperature around the servo drives does not exceed 50°C.
Through part of the shaft
Measure it at 4 places of the circle, the difference should be below
0.03mm. (Rotate with the shaft coupler)
Measure it at 4 places of the circle, the difference should be below 0.03mm.
(Rotate with the shaft coupler)

13
Installation Near a
Heating Unit
Minimize heat radiated from the heating unit as well as any temperature
rise caused by natural convection so the temperature around the servo
drives does not exceed 50°C.
Installation Near a Source
of Vibration
Install a vibration isolator beneath the servo drive to avoid subjecting it to
vibration.
Installation at a Site
Exposed to Corrosive Gas
Corrosive gas does not have an immediate effect on the servo drives, but
will eventually cause electronic components and terminals to malfunction.
Take appropriate action to avoid corrosive gas.
Other Situations
Do not install the servo drive in hot and humid locations or locations
subject to excessive dust or iron powder in the air.
2-2-3．Orientation
Install the servo drive perpendicular to the wall as shown in the figure. The servo drive must be
oriented this way because it is designed to be cooled by natural convection or by a cooling fan.
2-2-4．Installation
Follow the procedure below to install multiple servo drives side by side in a control panel.

14
Servo Drive Orientation
Install the servo drive perpendicular to the wall so the front panel containing connectors faces outward.
Cooling
As shown in the figure above, allow sufficient space around each servo drive for cooling by cooling
fans or natural convection.
Side-by-side Installation
When install servo drives side by side as shown in the figure above, make at least 10mm between and
at least 50mm above and below each servo drive. Install cooling fans above the servo drives to avoid
excessive temperature rise and to maintain even temperature inside the control panel.
Environmental Conditions in the Control Panel
Ambient Temperature: 0~50 ℃
Humidity: 90%RH or less
Vibration: 4.9m/s2
Condensation and Freezing: None
Ambient Temperature for Long-term Reliability: 50°C maximum

15
3Wiring
Servo drive cable table:
Servo drive
Power supply
cable diameter
mm²
UVW power cable
diameter mm²
Encoder cable
diameter mm²
Ground cable
diameter mm²
DS3-20P2-PQA
DS3E-20P2-PFA
DS3L-20P2-PFA
DS3-20P2-PTA
2.0
0.75
0.2 (14 cores)
2.0
DS3-20P4-PQA
DS3E-20P4-PFA
DS3L-20P4-PFA
DS3-20P4-PTA
2.0
0.75
0.2 (14 cores)
2.0
DS3-20P7-PQA
DS3E-20P7-PFA
DS3L-20P7-PFA
DS3-20P7-PTA
2.0
0.75
0.2 (14 cores)
2.0
DS3-21P5-PQA
DS3E-21P5-PFA
DS3L-21P5-PFA
DS3-21P5-PTA
2.0
1.5
0.2 (14 cores)
2.0
DS3-22P3-PQA
DS3E-22P3-PFA
DS3L-22P3-PFA
DS3-22P3-PTA
2.0
1.5
0.2 (14 cores)
2.0
DS3E-22P6-PFA
DS3L-22P6-PFA
2.0
1.5
0.2 (14 cores)
2.0
DS3-41P5-PQA
DS3E-41P5-PFA
DS3L-41P5-PFA
DS3-41P5-PTA
2.0
1.5
0.2 (14 cores)
2.0
DS3-43P0-PQA
DS3E-43P0-PFA
DS3L-43P0-PFA
DS3-43P0-PTA
2.0
2.5
0.2 (14 cores)
2.0
DS3-45P5-PQA
DS3L-45P5-PQA
DS3-47P5-PQA
DS3L-47P5-PQA
6.0
6.0
0.2 (14 cores)
6.0
DS3-411P0-PQA
DS3-415P0-PQA
10.0
10.0
0.2 (9 cores)
10.0
Caution
1. Do not bundle or run power and signal lines together in the same duct. Keep power and signal
lines separated by at least 11.81inch(30cm)
2. Use twisted pair wires or multi-core shielded-pair wires for signal and encoder (PG) feedback
lines.
The maximum length is 118.11 inch (3m) for reference input lines and is 787.40 inch (20m) for
encoder (PG) feedback lines.
3. Do not touch the power terminals for 5 minutes after turning power OFF because high voltage
may still remain in the servo amplifier.
Please make sure to check the wiring after the CHARGE light is going off.
4. Avoid frequently turning power ON and OFF. Do not turn power ON or OFF more than once per

16
minute.
Since the servo amplifier has a capacitor in the power supply, a high charging current flows for
0.2s when power is turned ON. Frequently turning power ON and OFF causes main power devices
like capacitors and fuses to deteriorate, resulting in unexpected problems.
3-1．DS3-PQA series
3-1-1．Main circuit wiring
3-1-1-1. Servo drive terminal arrangement

17
3-1-1-2. Main circuit terminals
DS3-20P2-PQA, DS3-20P4-PQA, DS3-20P7-PQA
Terminal
Function
Explanation
L1/L2/L3
Power supply input of
main circuit
Single or 3 phase AC 200 ～240V,
50/60Hz
Note: for single phase 220V, connect
power supply to L1, L3, otherwise it will
affect the power-off retentive function
●
Vacant terminal
-
U, V, W
Motor terminals
Connect the motor
Terminal
Color
U
brown
V
black
W
blue
PE
Yellow green
Note: the ground line is on the cooling
fin, please check it before power on! Do
not connect to P+ or P-!
P+, D, C
Internal regenerative
resistor
Short P+ and D, disconnect P+ and C, set
P0-24=0
External regenerative
resistor
Connect regenerative resistor between P+
and C, disconnect P+ and D, set P0-24=1,
P0-25= power value, P0-26= resistor
value (see chapter 3-4)
P+/P-
Bus terminal
Real-time check the bus voltage, please
take attention of this terminal
DS3-21P5-PQA, DS3-22P3-PQA, DS3-41P5-PQA
Terminal
Function
Explanation
R/S/T
Power supply input of
main circuit
DS3-21P5/22P3-PQA
3 phase AC 200～240V, 50/60Hz
Note: for single phase 220V, connect
power supply to terminal R, T, otherwise
it will affect the power-off retentive
function.
DS3-41P5-PQA
3 phaseAC 360~400V, 50/60Hz
●
Vacant
-
U, V, W
Motor terminals
Connect the motor
Terminal
Color
U
brown
V
black
W
blue
PE
Yellow green
P+, D, C
Internal regenerative
resistor
Short P+ and D, disconnect P+ and C,
set P0-24=0
External regenerative
resistor
Connect regenerative resistor between
P+ and C, disconnect P+ and D, set
P0-24=1, P0-25=power value,
P0-26=resistor value (see chapter 3-1-4)
Ground
Connect to ground terminal of motor,
then connect to the ground
L1
L2
.
U
V
W
P+
D
C
P-
L3
R
S
T
.
U
V
W
P+
D
C

18
DS3-43P0-PQA
Terminal
Function
Explanation
R/S/T
Power supply input of
main circuit
3 phase AC 360～400V, 50/60Hz
●
Vacant
U、V、
W
Motor terminals
Connect the motor
Terminal
Color
U
brown
V
black
W
blue
PE
Yellow green
Note: the ground line is on the cooling
fin, please check it before power on! Do
not connect to P+ or P-!
P+、D、
C
Internal regenerative
resistor
Short P+ and D, disconnect P+ and C,
set P0-24=0
External regenerative
resistor
Connect regenerative resistor between
P+ and C, disconnect P+ and D, set
P0-24=1, P0-25=power value,
P0-26=resistor value (see chapter 3-1-4)
P+/P-
Bus terminal
Real-time check the bus voltage, please
take attention of this terminal
3-1-1-3．Winding Terminals on Servo motor
Symbol
40, 60, 80, 90 Series
110, 130, 180 Series
PE
4-yellow green (yellow green)
1-yellow green
U
1-brown (red)
2-brown
V
3-black (blue)
3-black
W
2-blue (yellow)
4-blue
Terminal for brake
1: +24V
2: GND
3-1-1-4．CN0, CN1, CN2 terminals
CN0
CN1(DB15 male port) drive
side
CN2(DB15 female port)
drive side
R
S
T
.
U
V
W
P+
D
C
P-
.
P-
P+5V
P+24V
D-
D+5V
D+24V
SI1
SI2
SI3
SI4
+24V
SO1
SO2
COM
1
5
6
10
11
15
5
1
10
6
15
11