Xinje DS5E Series User manual

DS5E/DS5L series servo drive
User manual
WUXI XINJE ELECTRIC CO., LTD.
Data No. SC5 04 20190108 1.1

The problems that may arise during the use of the product are basically listed in the safety precautions,
and all are indicated by the two levels of attention and danger. For other unmentioned matters, please
follow the basic electrical operation rules.
Caution
When used incorrectly, there may be danger, moderate injury or minor injury, and
property loss.
Danger
When used incorrectly, it may cause danger, personal casualties or serious injuries,
as well as serious property losses.
Attention to Product Confirmation
1．Do not install damaged drives, drives that lack spare parts, or drives whose models do not meet the
requirements.
Installation Notes
1. Before installing wiring, be sure to disconnect the power supply to prevent electric shock.
2. It is forbidden to expose the product to water, corrosive gases, flammable gases and other
substances, causing electric shock and fire hazards.
3. Do not touch the conductive part of the product directly, which may cause misoperation and
malfunction.
Cautions for wiring
1. Please connect AC power to LN or L1/L2/L3 or R/S/T on the dedicated power terminal of the
driver. Do not connect the output terminals U, V, W of the driver to the three-phase power supply.
2. Please connect the ground wire correctly. Poor grounding may cause electric shock. Please use
2mm2wire to ground the ground terminal of the driver.
3. Please lock the fixed screw of the terminal, otherwise it may cause fire.
4. Be sure to disconnect all external power supply before wiring the driver.
5. Wiring, please ensure that the encode line, power line is loose, do not tighten, lest cable damage.
Before using this product, please read this part carefully and operate after fully understanding
the use, safety and precautions of the product. Please connect the product correctly on the
premise of paying great attention to safety.
Be sure to review this section carefully before use this product. In precondition of security, wire
the product correctly.
Safety Precautions
PrePrecaPrecautio
ns

Operation Cautions
1. Do not touch the rotating part of the motor after the driver is running. There is a danger of injury.
2. Please pay attention to the test run of the motor once, do not connect the motor with the machine,
there is the possibility of injury.
3. After connecting the machine, please set the appropriate parameters before running, otherwise it
may cause the machine out of control or failure.
4. In operation, do not touch the radiator, there is a risk of scald.
5. Under power-on condition, do not change the wiring, there is a risk of injury.
6. Do not switch power frequently. If you need to switch power many times, please control it once in 2
minutes.
Maintenance and inspection
1. Do not touch the inside of servo driver and servo motor, otherwise it may cause electric shock.
2. When the power is started, it is forbidden to remove the driver panel, otherwise it may cause electric
shock.
3. Within 10 minutes of power off, the terminal should not be contacted. Otherwise, the residual
voltage may cause electric shock.
Wiring attention
1. Do not cross the power line and the control signal line from the same pipeline, nor tie them together.
The power line and the control signal line are separated by more than 30 centimeters.
2. For signal line and encoder (PG) feedback line, please use multi-stranded wire and multi-core
stranded integral shielding line. For wiring length, the longest signal input line is 3 meters and the
longest PG feedback line is 20 meters.

- 1 -
Catalog
►► Confirmation on product arrival.......................................................................................................1
1 Selection of servo syste..........................................................................................................................2
1.1 Selection of servo drive.......................................................................................................2
1.1.1 Model name......................................................................................................................2
1.1.2 Description of each part...................................................................................................2
1.1.3 Performance specifications ..............................................................................................3
1.2 Servo motor selection...........................................................................................................................................4
1.2.1 Model name......................................................................................................................4
1.2.2 Description of each part...................................................................................................4
1.3 Cable selection .....................................................................................................................................................5
1.3.1 Model name......................................................................................................................5
1.3.2 Description of each part...................................................................................................6
1.4 Selection of other accessories...............................................................................................................................8
1.4.1 Selection of regenerative resistance.................................................................................8
2 Installation of servo system....................................................................................................................9
2.1 Servo driver installation .......................................................................................................................................9
2.1.1 Installation site.................................................................................................................9
2.1.2 Environment condition.....................................................................................................9
2.1.3 Installation standard.........................................................................................................9
2.2 Servo motor installation .....................................................................................................................................11
2.2.1 Installation environment.................................................................................................11
2.2.2 Environment condition...................................................................................................11
2.2.3 Installation cautions .......................................................................................................12
2.3 Size of servo driver.............................................................................................................................................14
2.4 Size of servo motor.............................................................................................................................................16
3 Wiring of servo system........................................................................................................................20
3.1 Main circuit wiring.............................................................................................................................................21
3.1.1 Servo driver terminal arrangement.................................................................................21
3.1.2 Main circuit terminals and explanations ........................................................................21
3.1.3 CN0, CN1, CN2 terminal...............................................................................................23
3.1.4 Communication port.......................................................................................................24
3.2 Classification and function of signal terminals...................................................................................................26
3.2.1 Pulse signal ....................................................................................................................26
3.2.2 SI input signal ................................................................................................................26
3.2.3 SO output signal.............................................................................................................27
3.2.4 Analog input circuit（DS5E/5L not support）..............................................................27
3.2.5 Encoder feedback output signal（DS5E/5L not support）...........................................27
4 Operate panel.......................................................................................................................................28
4.1 Basic operation...................................................................................................................................................28
4.1.1 Operating panel description ...........................................................................................28
4.1.2 Button operation.............................................................................................................28
4.2 Running Display Status Description...................................................................................................................29
4.3 Group U monitor parameters..............................................................................................................................31
4.4 Group F Auxiliary Functional Parameters..........................................................................................................34
4.4.1 Group F0........................................................................................................................34
4.4.2 Group F1........................................................................................................................34
4.5 Fault alarm handling...........................................................................................................................................36
4.6 Parameter setting example..................................................................................................................................36
4.7 Change motor code.............................................................................................................................................36
5 Operation of Servo System..................................................................................................................38
5.1 Selection and Switching of Control Mode..........................................................................................................38
5.1.1 Selection of control mode ..............................................................................................38
5.1.2 The switch of control mode............................................................................................38
5.2 Basic function setting.........................................................................................................................................39
5.2.1 Servo enable...................................................................................................................39
5.2.2 Rotation direction switching..........................................................................................39
5.2.3 Stop mode ......................................................................................................................40
5.2.4 Overrun prevention (P-OT, N-OT) ................................................................................41
5.2.5 Electric loss brake（BK）.............................................................................................42

- 2 -
5.2.6 Alarm output signal........................................................................................................44
5.2.7 Anti-blocking alarm.......................................................................................................44
5.3 Position control (external pulse instruction).......................................................................................................45
5.3.1 Control mode selection ..................................................................................................45
5.3.2 Forward direction of pulse instruction and pulse form ..................................................45
5.3.3 Electronic gear ratio.......................................................................................................46
5.3.4 Position command filter.................................................................................................50
5.3.5 Pulse offset clear（/CLR）...........................................................................................50
5.3.6 Positioning completion signal（/COIN, /COIN_HD）.................................................51
5.3.7 Positioning near signal（/NEAR）...............................................................................52
5.3.8 Instruction pulse prohibition（/INHIBIT）..................................................................53
5.3.9 Position pulse deviation setting......................................................................................53
5.4 Position control (internal instruction).................................................................................................................54
5.4.1 Control mode selection ..................................................................................................54
5.4.2 Internal position mode....................................................................................................54
5.4.3 Position segment 1 to 35 parameter settings..................................................................57
5.4.4 Change step signal（/CHGSTP）.................................................................................58
5.4.5 Pause the present segment signal（/INHIBIT）...........................................................58
5.4.6 Skip the present segment signal（/ZCLAMP）............................................................58
5.4.7 Reference origin.............................................................................................................59
5.4.8 Set the segment number through communication..........................................................61
5.4.9 Motion start signal（/MRUN）.....................................................................................61
5.5 Speed control (analog voltage command) (not support).....................................................................................61
5.6 Speed control (internal speed)............................................................................................................................62
5.6.1 Control mode selection ..................................................................................................63
5.6.2 Internal speed setting......................................................................................................63
5.6.3 Soft start.........................................................................................................................63
5.6.4 Input signal setting.........................................................................................................64
5.6.5 Speed command limit.....................................................................................................65
5.6.6 Zero clamp（/ZCLAMP）............................................................................................65
5.6.7 Torque limit....................................................................................................................66
5.6.8 Same speed detection（/V-CMP）...............................................................................67
5.6.9 Speed reach signal（/V-RDY）....................................................................................67
5.6.10 Alarm speed .................................................................................................................68
5.6.11 Filter.............................................................................................................................68
5.6.12 Proportion action command (/P-CON).........................................................................68
5.7 Speed control (pulse frequency command) ........................................................................................................69
5.7.1 Control mode selection ..................................................................................................70
5.7.2 Pulse frequency command .............................................................................................70
5.7.3 Command pulse frequency at rated speed......................................................................70
5.7.4 Speed command pulse filter time...................................................................................70
5.8 Torque control (analog voltage command) (not support) ...................................................................................70
5.9 Torque control (internal setting).........................................................................................................................71
5.9.1 Control mode selection ..................................................................................................71
5.9.2 Internal torque command ...............................................................................................71
5.9.3 Internal speed limit for torque control............................................................................71
5.9.4 Speed up to limit value output .......................................................................................72
5.10 Motion bus control ...........................................................................................................................................72
5.10.1 Bus wiring....................................................................................................................73
5.10.2 Motion parameters .......................................................................................................74
5.10.3 Bus position mode........................................................................................................74
5.10.4 Bus torque mode ..........................................................................................................75
5.10.5 Bus speed mode............................................................................................................76
5.11 Absolute value system......................................................................................................................................78
5.11.1 absolute value system setting.......................................................................................78
5.11.2 Replace the battery.......................................................................................................78
5.11.3 The upper limit of revolving circles.............................................................................79
5.11.4 Read absolute position through communication ..........................................................80
5.12 I/O signal..........................................................................................................................................................81
5.12.1 Servo alarm output（/ALM）and alarm reset（/ALM-RST）..................................81

- 3 -
5.12.2 Warn output（/WARN）............................................................................................81
5.12.3 Rotating detection output（/TGON）.........................................................................82
5.12.4 Servo ready output（/S-RDY）..................................................................................83
5.12.5 Encoder Z phase output（/Z）....................................................................................83
5.12.6 User-defined output signal...........................................................................................84
5.12.7 I/O signal distribution ..................................................................................................86
5.12.8 Input SI filter time........................................................................................................86
6 Servo gain adjustment..........................................................................................................................88
6.1 Overview of servo gain adjustment....................................................................................................................88
6.1.1 Overview and process....................................................................................................88
6.1.2 The Difference of these adjustment modes....................................................................89
6.1.3 Model loop gain .............................................................................................................89
6.1.4 Torque disturbance observation .....................................................................................90
6.2 Adaptive.............................................................................................................................................................91
6.2.1 Overview........................................................................................................................91
6.2.2 Notes..............................................................................................................................91
6.2.3 Operation steps...............................................................................................................91
6.2.4 Inertia mode ...................................................................................................................91
6.2.5 Recommended inertia ratio parameters..........................................................................92
6.2.6 Adaptive parameters effect.............................................................................................92
6.2.7 Invalid parameters when adaptive effective...................................................................93
6.3 Rotary inertia presumption.................................................................................................................................94
6.3.1 Overview........................................................................................................................94
6.3.2 Notes..............................................................................................................................94
6.3.3 Operation tool ................................................................................................................94
6.3.4 Operation steps...............................................................................................................95
6.4 Fast adjustment...................................................................................................................................................99
6.4.1 Overview........................................................................................................................99
6.4.2 Fast adjustment steps......................................................................................................99
6.4.3 Rigidity level corresponding gain parameters................................................................99
6.4.4 Notes............................................................................................................................102
6.5 Auto-tuning......................................................................................................................................................102
6.5.1 Overview......................................................................................................................102
6.5.2 Notes............................................................................................................................102
6.5.3 Operation tools.............................................................................................................103
6.5.4 Internal instruction auto-tuning steps...........................................................................103
6.5.5 External instruction auto-tuning steps..........................................................................107
6.5.6 Related parameters.......................................................................................................112
6.6 Manual adjustment...........................................................................................................................................113
6.6.1 Overview......................................................................................................................113
6.6.2 Adjustment steps..........................................................................................................114
6.6.3 Gain parameters for adjustment ...................................................................................114
6.7 Vibration suppression.......................................................................................................................................116
6.7.1 Overview......................................................................................................................116
6.7.2 Operation tools.............................................................................................................116
6.7.3 Vibration Suppression (Panel) .....................................................................................116
6.7.3 Vibration suppression(panel).......................................................................................116
6.7.4 Vibration suppression (PC software) ...........................................................................117
6.7.5 Vibration suppression (manual setting)........................................................................118
6.7.6 Notch filter...................................................................................................................118
6.8 Gain adjustment correlation .............................................................................................................................120
6.8.1 Load shaking................................................................................................................120
6.8.2 Vibration ......................................................................................................................121
6.8.3 Noise............................................................................................................................121
7 Alarm.................................................................................................................................................121
7.1 Alarm code list .................................................................................................................................................121
7.2 Analysis of alarm types ....................................................................................................................................123
8 Appendix............................................................................................................................................131
Appendix 1. PX-XX parameters list.......................................................................................................................131
Appendix 2. UX-XX monitoring parameters .........................................................................................................148
Appendix 3. FX-XX auxiliary function parameters ...............................................................................................151
Appendix 4. Modbus address list ...........................................................................................................................151

- 4 -
Appendix 5. Q&A..................................................................................................................................................156
Appendix 6. General debugging steps....................................................................................................................158
Appendix 7. Application examples ........................................................................................................................159
Appendix 8. Model list...........................................................................................................................................160

1
►► Confirmation on product arrival
After the product arrives, please confirm the integrity of the product in the following aspects.
Items
Notes
Does the product on arrival match the
specified model?
Please confirm according to the nameplate of servo motor
and servo unit.
The panel displays "Code" and
"E-310"?
Please set motor code in P0-33
(See motor nameplate MOTOR CODE for code)
Does the servomotor shaft rotate
smoothly?
The servo motor shaft is normal if it can be turned
smoothly by hand. Servo motors 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.

2
1 Selection of servo syste
1.1 Selection of servo drive
1.1.1 Model name
DS 5 -2 P - PTA
Name Encoder type
T Communication
Name Rated output power
0P1 100w
0P2 200w
0P4 400w
0P7 750w
1P5 1.5KW
2P3 2.3KW
2P6 2.6KW
Name Meaning
DS Servo drive
Name Product series
5E Xnet fieldbus
5L Pulse model Name Rated input voltage
2AC220V
4AC380V
1.1.2 Description of each part
RS232 port
CN0: pulse, direction
I/O signal
CN1: Used for Extending Bus Function
To connect extension bus module
CN2: encoder cable for drive
Power supply
Motor wiring
Regenerative
resistor