Xinje DS5C Series User manual

DS5Cseries servo driver
Fast manual
Version 1
Wuxi Xinje Electric Co., Ltd
Data No. SC502 20181025 1.0

This manual is suitable for below users
Servo system installation
Installation and wiring
Test run and servo debug
Maintenance and inspection
Responsibility statement
the contents of the manual though have been carefully checked, but mistakes is
unavoidably, we can't guarantee completely consistent
we will check the contents of the manual, and carry on the correction in future
versions, welcome to put forward valuable opinion
The contents described in the manual, if there are any changes, please understand we
will not prior notice
Contact us
If you have any questions about the use of this product, please contact the agent or xinje
company.
Tel: [phone]
Fax: [phone]
Add: 4 / f, building 7, creative industrial park, no. 100, ticui road, wuxi city
Code: 214072
Website: www.xinje.com
Related manual
Please contact us for the DS5C series user manual.

Catalog
►►Confirmation when receive the products ...........................................................................1
►►Safety caution ....................................................................................................................1
1.Servo system model................................................................................................................3
1-1.Servo driver.................................................................................................................3
1-1-1.Part description ................................................................................................3
1-1-2. Model name.....................................................................................................3
1-1-3. Performance ....................................................................................................4
1-2.Servo motor.................................................................................................................5
1-2-1.Part description ................................................................................................5
1-2-2. Model name.....................................................................................................6
1-3-1. Cable configuration.........................................................................................6
1-3-2. Model name.....................................................................................................7
1-4.Other accessories.........................................................................................................8
1-4-1.Regenerative resistor........................................................................................8
2.Product installation.................................................................................................................9
2-1.Servo drive installation................................................................................................9
2-1-1.Installation location..........................................................................................9
2-1-2.Environment conditions .................................................................................10
2-1-3.Installation standard .......................................................................................10
2-2.Servo motor installation ............................................................................................12
2-2-1. Installation environment................................................................................12
2-2-2. Environment conditions ................................................................................13
2-2-3.Installation notes ............................................................................................13
2-3.Servo motor dimension .............................................................................................17
2-4.Servo drive dimension...............................................................................................21
3.Servo drive and motor wiring...............................................................................................23

3-1. Main circuit terminals ..............................................................................................23
3-2. Control terminals......................................................................................................24
4. Operation before using servo system...................................................................................26
4-1.Operate panel.............................................................................................................26
4-1-1.Group P parameters........................................................................................27
4-1-2.Group U parameters.......................................................................................28
4-1-3. FX-XX auxiliary function .............................................................................32
4-2. Panel key operation ..................................................................................................35
4-3. Change motor code...................................................................................................36
5. Gain adjustment...................................................................................................................37
5-1.Self-adaption .............................................................................................................37
5-1-1. Self-adaption mode selection switch parameter ............................................38
5-1-2. Recommended inertia ratio under default parameters ...................................40
5-2.Auto-tuning...............................................................................................................41
5-2-1. No instruction auto-tuning ............................................................................41
5-2-2. Auto-tuning with instruction .........................................................................41
5-3.Manual adjustment....................................................................................................42
5-3-1.Manual adjustment steps................................................................................42
5-3-2.Manual adjustment parameter and function ...................................................43
5-4.Vibration suppression................................................................................................44
6.EtherCAT communication specification...............................................................................47
7.Canopen operation mode......................................................................................................48
7-1.Homing Mode ...........................................................................................................48
7-1-1.Summary........................................................................................................48
7-1-2.Operation steps...............................................................................................49
7-1-3.Related object table........................................................................................49
7-2.Cyclic Synchronous Position Mode...........................................................................50
7-2-1.Summary........................................................................................................50

7-2-2.CSP mode.......................................................................................................50
7-2-3.Operation steps...............................................................................................50
7-2-4.Related object table........................................................................................51
7-3.Cyclic Synchronous Velocity Mode ..........................................................................52
7-3-1.Summary........................................................................................................52
7-3-2.The function of CSV mode ............................................................................53
7-3-3.Operation steps...............................................................................................53
7-3-4.Related object table........................................................................................54
7-4.Cyclic Synchronous Torque Mode ............................................................................54
7-4-1.Summary........................................................................................................54
7-4-2.The function of CST mode.............................................................................55
7-4-3.Operation steps...............................................................................................55
7-4-4.Related object table........................................................................................56
8.Mode common function........................................................................................................57
8-1.Touch Probe Function................................................................................................57
8-1-1.Summary........................................................................................................57
8-1-2.Operation steps...............................................................................................57
8-1-3.Related object table........................................................................................57
8-2.Position information..................................................................................................60
8-2-1.Electronic gear function.................................................................................60
8-2-2. Initialization of absolute encoder ..................................................................61
8-2-3.Position range limit ........................................................................................61
8-3.Interpolation time period...........................................................................................62
9. Parameter list.......................................................................................................................62
9-1.CoE object word........................................................................................................62
9-1-1.Communication Profile zone..........................................................................62
9-1-2.Driver Profile zone.........................................................................................63
9-2.Driver parameters......................................................................................................66

9-2-1.Group P parameters........................................................................................66
9-2-2.Group F parameters........................................................................................85
9-2-3.Group U parameters.......................................................................................85
Appendix.................................................................................................................................90
Appendix 1. motor specification table.............................................................................90
Appendix 2. List of Servo Drive and Motor Matching....................................................92
Appendix 3. Alarm list.....................................................................................................94
Appendix 4. Modbus address list...................................................................................105

1
►►Confirmation when receive the products
After the arrival of the product, please confirm the integrity of the product in the following
aspects.
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.
The panel displays flashing “code”
Please set motor code in P0-33 (the motor code please
refer to motor label)
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 there is anything wrong with the items listed above, please contact the agent or xinje
company.
►►Safety caution
Confirmation when receive products
DO NOT install any driver which is damaged, lack of accessories or not the same
with the model ordered.
Installation
Cut off external power supply before installation.
Wiring
Cut off external power supply before wiring.
Connect AC power supply to the corresponding terminals.

2
Do not connect a three-phase power supply to the U, V, or W output terminals.
Use 2mm2wire to grounding the ground terminals.
For wiring please make sure that the encoder lines, power lines in loose state, not
tight, so as to avoid cable damage.
Product running and maintenance
Do not remove the panel cover while the power is ON.
Do not touch terminals for 10 minutes after the power has been turned OFF.
Do not connect with any motor when trial operation.
Before starting operation with a machine connected, change the settings to match
the parameters of the machine.
Do not attempt to change wiring while the power is ON.
Do not touch the heat sinks during operation.

3
1.Servo system model
1-1.Servo driver
1-1-1.Part description
1-1-2. Model name
DS5□–2 0P7 –PTA
Signal terminal
RJ45 port
Encoder port
Motor wiring
Power supply
Voltage level
2: 220V
4: 380V
Series name
DS5C: EtherCAT
Motor capacity
0P1: 0.1KW
0P7: 0.75KW
1P5: 1.5KW
2P6: 2.6KW
(and so on……)
Configuration type:
P-input command: pulse type
Encoder type:
T-communication encoder
A-design sequence: A

4
1-1-3. Performance
Servo unit
DS5C series 220V
Suitable encoder
Standard: 17bit/ 23bit encoder
Input power supply
DS5C-2□P□-PTA: single phase AC200~240V, 50/60Hz
【below 1.5KW(except 1.5KW) can use single phase
AC200~240V 50/60Hz; 1.5KW and up please use single phase or
3-phase AC200~240V 50/60Hz. (for single phase power supply,
please connect L1, L3, otherwise it will affect the power-off
memory)】
Control method
3-phase full wave rectifier IPM PWM control sine current driving
mode
Using
codition
Using
temperature
0～+50 ℃
Storage
temperature
-20～+85 ℃
Humidity
Below 90% RH (no condensation)
Resistance
to vibration
and impact
strength
4.9m/s2 / 19.6m/s2
Structure
Base installation

5
1-2.Servo motor
1-2-1.Part description
Encoder part
Frame
Flange
Output (transmission) shaft

6
1-2-2. Model name
MS5S –80 ST E –C S 02430 B Z - 2 0P7 –S01
Name Rated power
(KW)
0P2 0.2
0P4 0.4
0P7 0.75
Name Voltage level
2 220V
4 380V
Name Power-off brake
- -
Z with
Name Shaft
A No key
B With key
Name inertia
MS5S Low inertia
MS5G Middle inertia
MS5H High inertia
Name Base no.
60 60 base
80 80 base
Name Product name
ST Sine driven motor
Name Encoder type
C Magnetic
T Optical
Name Rated torque (N·m)
00630 0.637
01330 1.3
Rated speed (rpm)
3000
3000
Name Encoder precision
S Single rotate 17 bits
M Multi-rotate 17 bits
U Single rotate 23 bits
L Multi-rotate 23 bits
Name Design no.
S01 standard
02430 2.39 3000
Name Oil seal
- -
E with oil seal
1-3. Cable type
1-3-1. Cable configuration
Servo drive model
Encoder cable
Motor cable
Brake cable
DS5C-20P2-PTA
DS5C-20P2-PTA
DS5C-20P4-PTA
DS5C-20P7-PTA
CP-SP-M--length
CPT-SW-M-length
CM-P07-M-length
CM-W07-M-length
CB-P03-length
CMBT-W07-M-length

7
P is suitable for the motor with the suffix S01, W is applicable to motor with the
suffix S02.
CB series brake cable is suitable for the motor with the suffix S01, CMB series
brake cable is suitable for the motor with the suffix S02.
1-3-2. Model name
Encoder cable model
CP –SP–M - 02
length：02：2M
03：3M
S：Saved line
M：Magnetic
BM：Magnetic with battery box
SW：amp plug SP：amp plug
SL：aviation plug
CP: normal encoder cable
CPT: high flexible encoder cable
SW: SC-06 plug-in connector is suitable for the motor with the suffix S02.
SP：SC-06 plug-in connector is suitable for the motor with the suffix S01.

8
Power supply cable model
CM –P 07 –M - 02
Length: 02: 2M; 03: 3M
Cable diameter: 07：0.7mm²；15：1.5mm²；
25：2.5mm²；60：6mm²；100：10mm²
CM：Normal cable CMB: Brake cable
CMT：High flexible cable
M: magnetic type
P：Straight amp plug; W：Special low power 6-
core aviation plug
EtherCAT cable model
JC–C A –1
Length: 0P2：0.3m；0P5:0.5m；
1：1m；3:3m；5:5m；10:10m
A：cat5e cable；B：cat6 cable；C：cat6e cable
JC：general name of product cable
C：CAT
1-4.Other accessories
1-4-1.Regenerative resistor
When the servo motor operates in generator mode, power is returned to the servo drive side.
This is called regenerative power. The regenerative power is absorbed by charging the
smoothing capacitor, but when the capacitor’s charging limit is exceeded, the regenerative
power needs to be reduced by the regenerative resistor.
The servomotor is driven in regeneration (generator) mode in the following conditions:
From decelerating to stop for acceleration/deceleration operation.
Move down on the vertical axis.
The external load drives the motor running

9
Servo driver model
Regenerative resistor connection terminals
DS5C-2□P□-PTA
for internal regenerative resistor: short P+ and D, disconnect P+ and
C, P0-24=0.
for external regenerative resistor: connect resistor between P+ and C,
disconnect P+ and D, P0-24=1, P0-25=power value, P0-26=resistor
value.
The below table is external regenerative resistor specifications for each motor.
Servo drive
Min resistor
(cannot smaller than
this value)
External
regenerative resistor
(recommend value)
External
regenerative resistor
(recommend power)
DS5C-20P2-PTA
≥50Ω
50Ω—100Ω
≥200W
DS5C-20P4-PTA
≥40Ω
40Ω—100Ω
≥500W
DS5C-20P7-PTA
≥40Ω
40Ω—100Ω
≥500W
Note:
1. The temperature will be very high when the regenerative resistor is discharging, please
using heat-resistant non-flammable wire. Don’t touch the regenerative resistor when wiring.
2. When you choose the regenerative resistor, please make the resistor value close to the min
value of recommend value. The resistor power is decided by the actual consition specially the
heat.
2.Product installation
2-1.Servo drive installation
2-1-1.Installation location
Please install in the cabinet without sunshine and rain
Please get away from corrosive and flammable gases
please do not install in high temperature, humidity, dust, metal dust environment

10
No vibration location
2-1-2.Environment conditions
Item
Description
Using temperature
0℃~40℃(not freeze)
Using humidity
-20%~90%RH (no condensation)
Storage
temperature
-20℃~60℃
Storage humidity
-20%~90%RH (no condensation)
Protection level
IP65
2-1-3.Installation standard
Be sure to comply with the installation standard in the control panel shown below, which is
applicable for installing multiple servo drives side-by-side in the control panel (hereinafter
called "side-by-side installation" for short).

11
Servo drive direction
When installing, make the front of the servo drive (the actual installation surface of the
operator) facing the operator and make it vertical to the wall. For the drive with regenerated
resistance at the bottom, please pay attention to the heat dissipation of the mounting surface to
avoid overheating of the drive and causing fire.
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.
The conditions in the control cabinet

12
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
2-2.Servo motor installation
MS series servo motors can be installed either horizontally or vertically. The service life of the
servo motor 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 servo motor.
2-2-1. Installation environment
Free of corrosive or explosive gases
Please choose oil seal motor in the environment with grinding fluid, oil mist, iron
powder, cutting, ect
Away from the heating source such as stove
antirust