1.

1.1.

DESIGNATION AND PRECAUTIONS

DESIGNATION
Designations of AC servo motor and driver are as follows.
Reference for a system design and A/S.

ENCODER CONNECTOR MOTOR CONNECTOR NAMEPLATE OUTPUT SHAFT FLANGE FRAME

ENCODER FRAME SUPPORT TERMINAL BLOCK
CONTROLLER CONNECTOR
ENCODER CONNECTOR
OP PANEL CONNECTOR

BODY LED DISPLAY

OP PANEL
OP PANEL DISPLAY
SETTING SWITCHES

1.2.

PRECAUTIONS FOR MOUNTING MOTOR

Warning
This product is a precision instrument, which equipped encoder made of glass on the back of
motor. Especially avoid using excessive force to motor shaft which may damage the motor.
When the speed command voltage is positive, the motor rotate as follows. (CCW viewed from the
motor shaft)

2.

SPECIFICATIONS FOR AC SERVO MOTOR AND DRIVER

2.1.

STANDARD SPECIFICATIONS FOR SERVO MOTOR

ITEM

DS-C SERIES

MODEL NAME

Z5CA

01CA

02CA

03CA

05CA

07CA

08CA

10CA

15CA

RATED OUTPUT (watt)

50

100

200

300

500

750

750

1.0k

1.5k

RATED TORQUE (kgcm)

1.62

3.25

6.50

9.74

16.2

24.4

36.6

48.7

73.1

INSTANTANEOUS PEAK
TORQUE (kgcm)

4.86

9.75

19.5

29.4

48.6

73.1

109.8

146.1

219.3

RATED ROTATION
SPEED (rpm)

3000

3000

2000

2000

MAXIMUM ROTATION SPEED

(rpm)

4500

3000

2000

3000

ROTOR INERTIA (kgm2)

0.076

0.125

0.507

0.826

2.72

3.72

4.10

16.26

22.49

POWER RATE (w/s)

3.30

8.09

8.01

11.0

9.30

15.3

25.4

14.0

22.8

RESOLUTION DETECTOR (PPR)

Optical Encoder : 2000PPR

INSULATION CLASS

2.2.

DS-P

B Class

F Class

WITHSTAND VOLTAGE

AC 1500V, One minute

INSULATION RESISTANCE

DC 500V 10M or more

TYPE DESIGNATION FOR SERVO DRIVER

AC Servo Motor

DAEWOO AC SERVO MOTOR

Brake Type

P / C Series

STRAIGHT KEY Type

REVISION NO.

Type Z5

01

02

03

05

07

08

10

15

Watt 50

100 200 300 500 750 750 1.0k 1.5k

ENCODER 2000PPR

AC Servo Driver

DAEWOO AC SERVO DRIVER

REVISION NO.

P/ C Series
02

03

ENCODER 2000PPR

Type Z5

01

05

07

08

10

15

Watt 50

100 200 300 500 750 750 1.0k 1.5k

S : Speed Control
P : Position Control

2.3.

STANDARD SPECIFICATIONS FOR SERVO DRIVER

ITEM

DASD-C Series

MODEL NAME
Capacity(watt)
Combination
Spec

MOTOR

01SPC

02SPC

03SPC

05SPC

07SPC

08SPC

10SPC

15SPC

50

100

200

300

500

750

750

1.0k

1.5k

3000

2000

Rate/Max Speed
Inertia(gcms2)

3000/4500
0.128

0.517

0.843

2.775

3.80

4.20

16.6

22.95

Rated Current (Arms)

0.75

1.23

2.42

3.44

5.06

5.5

5.5

8.6

11.0

Max Current (Arms)

2.25

3.69

7.26

10.32

15.18

16.5

16.5

25.8

33.0

Control Function

1 AC200220V +10-15%, 50/60 Hz

Control Method

Sinusoidal PWM Control

Control Method

Incremental Encoder 2000 PPR

Not more than 10 times the motor rotor inertia

Mounting
75(W) x 200(H) x 185(D)

Torque Control Spec.

1 : 3000
100 Hz

Command
Pulse

Load

0100% :
0.03% or less (at Rated Speed),
0.015% or less (at Rated Speed/3000))

Voltage

0
10% :
0.1% or less (at Rated Speed),
0.05% or less (at Rated Speed/3000))
25
25C :
0.5% or less (at Rated Speed),
0.2% or less (at Rated
Speed/3000))

2
10V DC(forward run at plus reference) at Rated Speed

Input Type

Sign/pulse , CAW/AW, A/B(2-Phase)

Pulse Type

+5V level(open collector, line driver)

Max Input
Frequency

400 Kbps

Position Feedback Pulse

Electronic Gear

1/9999 9999

Sequence Input

Protection
Parameter
Status Display
Monitor
Other Function

9999

SERVO ON, PROHIBIT OF POSITIVE/NEGATIVE ROTATION, ALARM RESET,

COUNTER CLEAR, PROPORTIONAL CONTROL MODE SELECTION, INTERNAL SPEED
SELECTION(3-TYPE)
SERVO READY, SERVO ALARM, SPEED DETECTION, SPEED/TORQUE LIMIT STATE, UNSPEED /
INPOSITION
OVER CURRENT, OVER VOLTAGE, UNDER VOLTAGE, OVER SPEED,
OVER HEAT, OVER LOAD, PG ERROR, REGENERATION ERROR, DEVIATION OVERFLOW

Sequence Output

Internal
Function

115(W) x 200(H)
x 185(D)

DC 09V (Torque:0
300%) Command

F r e q u e n c y
Characteristics (AM=EL)

Speed Reference Voltage

Input/
Output

85(W) x 200(H) x 185(D)

Speed Control Range

Temperature

Position
Control
Spec.

5 times

RACK MOUNT Type

Frame Size (mm)

Speed
Regulation

3 200220V

Position control, Speed control, Torque control Mode

Load Inertia

Speed
Control
Spec.

2000/3000

0.078

Main Input Voltage

Basic
Spec.

Z5SPC

Setting,

7 SEG LED x 6 or PUSH BUTTON SWITCH x 4 (OPTION)

Speed : 2V/1000RPM, Torque : 3V/100%
TEST DRIVE, JOG DRIVE, DI/DO STATUS DISPLAY, DO TEST, PARAMETER RESET, ROTOR
POSITION DISPLAY, VCMD/TCMD OFFSET AUTOSET, S-CURVE ACCELERATION/DECELERATION,
FEEDFORWARD

3.1.

EXTERNAL CONNECTION DIAGRAM

EXTERNAL CONNECTION DIAGRAM FOR POSITION CONTROL

POWER
OFF

POWER
ON

RY1

MC1

MCCB
1 or 3
AC200
~ 220V
50/60Hz

SERVO
MOTOR

SERVO DRIVER

MC1
MC1

NOISE FILTER

3.

R
MC1

**

MC1

FG

PULSE REFERENCE INPUT

+5V
0V

PPA

CN1
13

PPA

14

PPB

11

PPB

12

CN2
5

6
7

B
C

8
9

D
E

10
14

F
K

15
16

L
M

17
18

N
P

19
+5V 1

R
H

11

A
B

+24V
Z
SVON

21

PDRV

24

ALMRST

20

SERVO ON
U

PROPORTIONAL GAIN
ALARM RESET

V
P-OT

22

N-OT

23

CLR

CMS

STOP

FORWARD RUNNING PROHIBIT

W

REVERSE RUNNING PROHIBIT

DEVIATION COUNTER CLEAR
CONTROL MODE SELET
STOP

SERVO READY

SVRDY

1
27

COM2

26

VPF

25

PG

2
24GND

12
3
13

INPOSITION
COM2

ROTATION DETECTION

SERVO ALARM
DC24V

RY1

ENCODER OUTPUT
SIGNAL

MONITOR OUTPUT

FG 20

TGON

COM1

ALM

SHIELD

COM1
PLA

PLA

10

PLB

28

PLB

29

PLZ

30

PLZ

31

PCZ

DGND

32

+15V
-15V

36

VMO

33

35

AGND
SHIELD

34
19

(26LS31)
LINE DRIVER
OUTPUT

Note :
1. Relay contact
NORMALLY OPEN
NORMALLY CLOSED

OPEN COLLECTOR
Z PHASE OUTPUT
+15V
-15V

2. Turn on inposition, current limit, rotation

detection, servo ready photocoupler ON
3. If servo alarm is generated,
photocoupler OFF
4. Make sequence to assure that the
main circuit power should be cut off
by a servo alarm signal.
5. Twisted pair shielded cable
**. For Power 3 phase 220V(R,S,T)

FG

EXTERNAL CONNECTION DIAGRAM FOR SPEED/TORQUE CONTROL

POWER
ON

POWER
OFF

RY1

MC1

1 or 3
AC200
~ 220V
50/60Hz

SERVO
MOTOR

SERVO DRIVER

MC1

MCCB

MC1

NOISE FILTER

3.2.

**

MC1

MC1

FG

t
CN1
SPEED REFERENCE INPUT
(DC + 10V)

VELCMD

17

VELCMD

18

6
7

B
C

8
9

D
E

10
14

F
K

15
16

L
M

17
18

N
P

W
19
+5V 1

R
H

11

15

TORCMD
TORQUE REFERENCE INPUT
(DC + 10V)

CN2

16

TORCMD

+24V
Z
SERVO ON
PROPORTIONAL GAIN

SVON

21

PDRV

24

ALMRST

ALARM RESET

20
V

FORWARD RUNNING PROHIBIT

REVERSE RUNNING PROHIBIT
INTERNAL SPEED COMMAND
SELECT 1
INTERNAL SPEED COMMAND
SELECT 2
STOP

P-OT

22

N-OT

23

VS1

VS2

STOP

1
SERVO READY

INSPEED

ROTATION DETECTION

SERVO ALARM
DC24V

RY1

ENCODER OUTPUT
SIGNAL

MONITOR OUTPUT

SVRDY

27

COM2

26

VPF

25

24GND

12
3
13

COM2

FG 20

TGON

COM1

ALM

PG

SHIELD

COM1
PLA

PLA

10

PLB

28

PLB

29

PLZ

30

PLZ

31

PCZ

DGND

32

+15V
-15V

35

VMO

33

36

AGND
SHIELD

34
19

(26LS31)
LINE DRIVER
OUTPUT

Note :
1. Relay contact
NORMALLY OPEN
NORMALLY CLOSED

OPEN COLLECTOR
Z PHASE OUTPUT
+15V
-15V

2. Turn on inposition, current limit, rotation

detection, servo ready photocoupler ON
3. If servo alarm is generated,
photocoupler OFF
4. Make sequence to assure that the
main circuit power should be cut off
by a servo alarm signal.
5. Twisted pair shielded cable
**. For Power 3 phase 220V(R,S,T)

FG

4.

I/O SIGNAL

4.1.

LAYOUT OF CONNECTOR TERMINAL

4.1.1.

Layout of Connector CN1

SPEC : 10236-52A2 (Driver Side), 10136-3000VE (Combined Side) , 3M Products

19

21

23

25

27

29

31

33

35

FG

SVON

N-OT

VPF

SVRDY

PLB

PLZ

VMO

-15V

20

22

24

26

28

30

32

34

36

ALMRST

P-OT

PDRV

COM2

PLB

PLZ

DGND

AGND

+15V

11

13

15

17

24GND

VS1
(CLR)

STOP

COM1

PLA

PPB

PPA

TORCMD

VELCMD

VS2
PCZ

10

12

14

16

18

TGON

ALM

PLA

PPB

PPA

TORCMD

VELCMD

(CMS)

4.1.2.

Layout of Connector CN2

SPEC : 10220-52A2 (Driver side), 10120-3000VE (Combined side) , 3M Products

11

13

15

17

19

DGND

DGND

PU

PV

PW

12

14

16

18

20

DGND

PU

PV

PW

FG

+5VE

+5VE

PA

PB

PZ

10

+5VE

PA

PB

PZ

4.2.

INPUT/OUTPUT SIGNALS FOR CONNECTOR CN1

PIN No.

Signal Name

24GND

Description

I/O

Ground of
Signal

Control
Mode
P,S,T

Meanings of signal to the control mode are as follows.

/(

/(
)

posit-PositionSpeed Speed Torque Torque

ion Speed
Torque
Position

VS1/(CLR/) CLR/ CLR/

VS1/ VS1/ CLR/

VS2/(CMS/) - CMS/
VS2/ CMS/ VS2/ CMS/

- Internal speed command selection

;When using as internal speed command selection
Rotate at the speed set in the parameter No 20,21,22 according to
the combination.

VS1/ VS2/
Parameter No.

OFF OFF
external speed command

speed select 1 ON OFF 20 (internal speed command 1)

speed select 2 ON ON 21 (internal speed command 2)

speed select 3 OFF ON 22 (internal speed command 3)

P,S,T

- Deviation counter clear

; Turn on this signal under the position control, the value of
accumulated deviation counter is cleared.
- Control mode selection
; The Control mode in the running status is switched over.

Closed inter-G24, in the S/W, the command is changed into "zero" by

force. Open inter-G24,Runs to the setting command.

P,S,T

6
7

Turns on when the motor speed exceeds setting value parameter No.18.

P,S,T

8
7

Turns off when servo error is detected. (normal status: turns on)

P,S,T

These are A, B and Z pulses of the encoder by line driver (26LS31).

It must received by line receiver(26LS32).

P,S,T

Z pulses of the encoder by open collector(74LS07).

Max operating voltage : DC30V, Max input current : DC20mA

P,S,T

13
14
11
12

Positioning Pulse Input : Maximum input frequency is 400kHz

- PULSE/SIGN (PULSE/DIR)TYPE
PPA,PPA/ : COMMAND PULSE
PPB,PPB/ : RUNNING DIRECTION(H: CCW, L: CW)
- FORWARD/REVERSE (CCW/CW) TYPE
PPA,PPA/ : FORWARD (CCW) PULSE
PPB,PPB/ : REVERSE (CW) PULSE
- 2PHASE PULSE TYPE
B-PHASE Lead : CCW, A-PHASE Lead : CW

9,10
28,29
30,31

PIN No.

Signal Name

15
16
17
18
19

FG

I/O

Control
Mode

Torque Command Input(0

10Vdc): the motor generates the rated
torque when the voltage in the Parameter No.29 is given.

Speed Command Input(0

10Vdc): The motor runs to Rated Speed
when the voltage in the Parameter No.28 is given.
Under the torque control, it is used to external speed limit command.

S,T

Description

FRAME GROUND (Connect for Shield cable)

P,S,T

20

Alarm Reset:
When it turns on over 50msec it resets servo alarm in alarm
state.(except for over current error detection)

P,S,T

21

This signal makes the driver ready to receive the speed command input.
Dynamic brake is cleared.

P,S,T

22
23

Motor runs only to CCW if the P-OT turns on and only to CW if the
N-OT turns on. In case of linear motion system, etc.,connect limit
switch
signal lines to these pins according to the running direction.
These signals are "closed" in running. When limit switches are
tripped,
they become "open".

P,S,T

P-OT
N-OT

24

Proportional drive Command to prevent drifting when the motor is left

motionless without command input, while the main circuit is kept
energized.

P,S,T

25
26

At position control mode, turns on when the position reaches the

inposition range set by parameter No.13.
At speed control mode, turns on when the motor speed reaches the
Inspeed range set by parameter No.19.

P,S,T

Turns on when main power supply is on and no servo alarm is detected.

The driver is ready to run.

P,S,T

27
26
32

DGND

Signal ground of open collector.

P,S,T

33

VMO

Speed Monitoring (
6V / Rated speed),Refer the Parameter No.30.
Current Monitoring (
3V / Rated torque),Refer the Parameter No.31.

34

AGND

Signal ground of Speed/Torque monitoring

P,S,T

35
36

-15V
+15V

Power supply for Speed command(Max current : 20mA)

P,S,T

* I : Input, O : Output, P : Position Control, S : Speed Control, T : Torque Control

P,S,T

4.3.

INPUT/OUTPUT TYPE
DI - 1

DI - 2
AC SERVO DRIVER

AC SERVO DRIVER

+24V

+5V

4.4K

PPA(PPB)

150 ohm

5mA

TLP521 or EQ.
TR

26LS31

SW

PPA/(PPB/)

or

24GND

TR

DO - 1

DO - 2

AC SERVO DRIVER

AC SERVO DRIVER
+24V
R
L
O
A
D

50mA max

26LS31

26LS32

COM1 or COM2

It must be configured a surge absorber in

induction load and a current limit resister
in lamp load(Max current 50mA)

NOTE

* Line Driver Encoder Pulse Output

5.

ALARM DETECTION FUNCTIONS AND CONTENTS

Body
LED

OP Panel
LED Display

ALP-UU

UNDER VOLTAGE

DC Link voltage is below 250[v]

ALP-dg

WATCHDOG ALARM

WATCHDOG ALARM

ALP-OU

OVER VOLTAGE

DC Link voltage exceed 400[v] or more

ALP-oC

DC LINK OVER CURRENT

Over current status of DC Link

ALP-FL

FEEDBACK LOSS

Encoder pulse error or encoder connection error

ALP-AS

ARMSHORT

TR lag is short

ALP-OS

OVER SPEED

Motor speed exceed the rotational limit

ALARM DETECTION FUNCTION

ALP-OL

OVER LOAD

ALP-SE

SOFTWARE ERROR

ALP-PE

PARAMETER DATA ERROR

ALP-rP

RESIDUAL PULSE ERROR

ALP-Fq

ALP-OC
ALP-no

Contents

Motor exceed the pre-assigned time continuously

over Load Limitation
( 298% - 3sec, 274% - 6sec, 244% - 12sec, 219%
- 24sec, 199% - 48sec, 174% - 96sec, 159% 192sec, 149% - 384sec, 139% - 768sec, 129% 1536sec)
CPU Error

PULSE INPUT

An error such as damage data occurs when

reading the data from EEPROM
Residual pulse exceed the allowance value set
on Parameter No.14
Input pulse frequency exceed 400 KPPS or

FREQUENCY ALARM

more

OVER CURRENT

Over current status

ALARM NOT OCCURRED

No error

Body LED Display

Control
Power

Main
Power

Servo
ON

6.

DISPLAY/SETTING SWITCHES (OPTION)

6.1.

FUNCTION
The 6 digits 7segment display in front of the driver indicates parameter setting, diagnosis, and
alarm, and address and data can be selected by 4 display mode.

MODE

SET

DAOP - 01S

PRO-MOTIOM
OPERATOR

DAEWOO

( OP Panel Display )
When power off, pre-set DATA is stored in a Driver.
* Turning power is off under the alarm, it is stored, and If power is on, it is can be
certified.

6.2.

STATUS SETTING SWITCHES AND DISPLAY FLOWCHART

6.2.1.

Outline

After turning on the main power,7-segment LED is displayed in status mode, Changing
mode can be selected by

MODE

button.

Initializing after
Main Power On
Status mode display
MODE

Diagnosis mode display

MODE

Alarm mode display

MODE

Parameter setting
MODE

 After turning the control power,

is displayed in status mode.

After turning on the main power,

r o. 0

(capacity display) and

N (control mode) is displayed, initial values set in parameter

No.32.(example: r

0 )is displayed.

Increment/Decrement of ADDRESS and DATA can be selected by

SET

Storage of DATA can be selected by

6.2.2.

UP

DOWN

button,

button.

Display Flowchart

Initializing after
turn on power

Status display

DOWN

Accumulated
command pulses

UP

Accumulated
electronic gear
command pulses

Accumulated
feedback pulses

Command pulses
frequency

Max load ratio

MODE
Diagnosis
display

Effective load
ratio

Sequence

Residual
pulses

Torque command
voltage

Speed command
voltage

DI-DO status

S/W version

Running speed

Rotor position

Parameter reset

TCMD OFFSET

Alarm Display

ALARM HISTORY
DISPLAY MODE
9
trace back

Parameter
setting

NO. 00

DO TEST

VCMD OFFSET

1
trace back

JOG DRIVE

2
trace back

8
trace back

7
trace back

NO. 01

NO. 02

TEST DRIVE

3
trace back

4
trace back

6
trace back

5
trace back

NO. 03

NO. 20

NO. 35

NO. 34

NO. 33

NO. 32

6.3.

STATUS DISPLAY CONTENTS

6.4.

Status Display Description

NAME
COMMAND PULSE
ACCUMULATION

SYMBOL

ELECTRONIC GEAR
COMMAND PULSE

DISPLAY RANGE
-600000 600000
[PULSE]

Display

input

pulse

counting

before

electronic

gear input.

-600000 600000
[PULSE]

ACCUMULATION

CONTENTS

600000 or more, resume from "0"

Reset "0" by pressing SET key.
Display amount of rotary the count 4 times as

FEEDBACK PULSE
ACCUMULATION

-600000 600000

large as value of encoder pulse.

[PULSE]

600000 or more, resume from "0"

Reset "0" by pressing SET key.

RESIDUAL PULSE

COMMAND PULSE FREQUENCY

MOTOR RUNNING SPEED

SPEED COMMAND VOLTAGE

TORQUE COMMAND VOLTAGE

EFFECTIVE LOAD FACTOR

MAX LOAD FACTOR

6.4.1.

-600000 600000

Display

[PULSE]

counter.

-400.0 400.0
[KPPS]

residual

pulse

of

position

deviation

Display position command input pulse frequency

before electronic gear input

-4500 4500 [RPM]

-10.00 10.00
[VOLT]

Display running speed

Display analog external speed command or speed
limit command

-10.00 10.00
[VOLT]
-300.0 300.0
[%]

Display analog torque command

Continuous effective load torque is displayed " % "
(rated torque/100%)

-300.0 300.0
[%]

Max load torque under acceleration/deceleration is

displayed " % " (rated torque/100%)
Reset "0" by pressing SET key

Description

(1) Command pulse accumulation [symbol P, -600000 pulse600000 pulse]

- Display counter of the position command input pulse.
- As this is a value before pulse multiplying factor is set(EGN/EGD, parameter No.03,04)
it can not be coincide with feedback pulse accumulation.
- If the set button pressed, Reset in 0.
- Accumulated values of the reverse pulses light up all dot mark.
P 6. 0. 0. 0. 0.
CW

P 6 0 0 0 0
CCW

(2) Electronic gear command pulse accumulation[symbol C, -600000 pulse600000 pulse]

- Display count amount of the position command input pulse after electronic gear is adapted.
- If the set button pressed, Reset in 0.
- Accumulated values of the reverse pulses light up all dot mark.
C 6. 0. 0. 0. 0.

C 6 0 0 0 0

CW

CCW

(3) Feedback Pulse accumulation [symbol b, -600000 Pulse600000 Pulse]

- After servo ready, Display count amount of the moving of the motor. If count excess
600000, Resume from " 0 ".
- If the set button pressed, Reset in 0 .
- Accumulated values of the reverse pulses light up the dot mark.
b. 6. 0. 0. 0. 0.

b 6 0 0 0 0

CW

CCW

(4) Residual pulse [symbol E, -600000 pulse600000 pulse]

- Display residual pulse of the position deviation counter.
- Reverse pulses light up the dot mark.
E 6. 0. 0. 0. 0.

E 6 0 0 0 0

CW

CCW

(5) Command pulse frequency [symbol F, -400Kpps400Kpps]

- Display frequency of the position command input pulse[min units: 100 pps ( 0.1 Kpps )]
- This is a value before select electronic gear (pulse multiplying factor)[CW pulse:(-)]
F

0.

CW 200Kpps

F
CCW 100pps

.1

0.

CCW 200Kpps

(6) Rotation speed of the motor [symbol r, -3000 rpm3000 rpm]

- Display rotation speed of the motor( CW : (-), CCW : (+) )
r - 3 0 0 0
CW

3 0 0 0
CCW

(7) Speed command voltage [symbol U, 0

10V]
- Display external speed command voltage or speed limit command voltage.
U - 1 0. 0 0

1 0. 0 0

CW

CCW

(8) Torque command voltage [symbol t, 0

10V]
- Display torque command voltage.
t - 1 0. 0 0

CW

1 0. 0 0
CCW

(9) Effective load factor [symbol L, -300300%]

- Display continuous effective load torque.
- Display 100 percent at a rated torque.
L

(10) Max load factor [symbol H, -300300%]

- Display peak torque under Acceleration/Deceleration,
it is able to alter to the largest value.
- Display 100 percent at a rated torque.
- If the set button pressed, Reset in 0 .
H

6.5.

ALARM HISTORY DISPLAY DESCRIPTION

NAME

DISPLAY

Alarm History

A L 0 - U U
A L 1 - U U

A L 9 - U U

CONTENTS

- Display alarm history to 9-rotates recently.

- Reset alarm history by pressing SET key.

6.6.

DIAGNOSIS DISPLAY DESCRIPTION

Diagnosis Status of the External Sequence

6.6.1.

Servo on, off Status Display

; Display under system initialization at servo on (before/after)

; After initialization completion, display at operating on

6.6.2.

Digital Input/Output Signal

; Display On/Off status of external input signal from the 7-segment.
; Display On/Off status of external output signal from the 7-segment.

STOP

ALMRST

NC

TGON

VS2

SVON

NC

ALM

VS1

P-OT

NC

VPF

PDRV

N-OT

NC

SVRDY

< External Input Signal >

6.6.3.

Software Version Display

S

6.6.4.

< External Output Signal>

F t. 0

; Display for maker management, and S/W version.

Rotor Position Display

r

- Display UVW signal of the encoder and one times of the A,B phase in a circulation in order of
the pulse, electrical angles, mechanical angles from the Z phase pulse.
(1) One times pulse of encoder
; 0 1999 PULSE
(2) Electrical angle
; 0
1079
(POLEPAIR=6)
; 0
1439
(POLEPAIR=8)
(3) Mechanical angle
; 0
359

( Note )
r

SET
SET One times pulse of encoder
SET Electrical angle of encoder
SET Mechanical angle of encoder

6.6.5.

Digital Output Signal Test

d

- Check wiring and sequence during output to the external terminal each digital output signal,
forcedly.
( Note )
d

DOWN
DOWN
DOWN
d

6.6.6.

t S t
TGON OFF
t n VPF OFF
P F SVRDY OFF
S r t

SET
o

UP

UP

UP

TGON ON
t n VPF ON
P F SVRDY ON
S r -

SET

SET

SET

Test Drive
t

S t. r

- Test S-curve and linear Acceleration/Deceleration drive at 2000 RPM (1 test)

( Note )
t

S t. r
r

SET

u n - - UP
r u n - P DOWN
r u n - n u

; SERVO ON
; 0 rpm -> 2000 rpm -> 0 rpm
; 0 rpm -> -2000 rpm -> 0 rpm

SET
t S t. r

; SERVO OFF

6.6.7.

Jog Drive
J

O g. r

- Run Jog drive by internal speed(IVC1) command.

( Note )
J

O g. r

SET

; SERVO ON

UP
J

; +100 RPM

r 0. 1. 0. 0.

; -100 RPM

O g. r

DOWN

SET
J

6.6.8.

; SERVO OFF

Voltage Command Offset

U

- Adjust offset of the analog speed command voltage automatically.

6.6.9.

Torque Command Offset

t

- Adjust offset of the analog torque command voltage automatically.

6.6.10.

Parameter Initialization
P

- After reset parameter in setting value, save initialization parameter in EEPROM

6.7.
6.7.1.

USER PARAMETER MODE

Parameter Setting
Turn on Control Power
Turning on the control power, P

is displayed.

Turn on Main Power

Turning on the Main power, After Capacity display (example:
P

r o.

7 5 ) and Control display mode (example:

O N )is selected Status display mode (example:

0 ) is displayed.

UP

By pressing

, Display contents can be changed from Left

to Right. By pressing

DOWN

, Display contents can be changed

from Right to Left.(at Display flowchart)

For change initial display contents into desired status, it must
be changed parameter No.32.(Status Display Mode)
Select Parameter Mode
0. 0. 0

(Parameter composed ADDRESS and DATA)

can be display by pressing

MODE

DATA of Parameter
(Parameter contents)
ADDRESS of Parameter (Parameter No.)
Select ADDRESS

Selects Parameter No. by pressing

UP

: Accelerate Parameter No.

DOWN

: Decelerate Parameter No.

UP

DOWN

After select desired ADDRESS No,

As soon as
Rewrite DATA

SET

button is selected, it's dot mark light up.

At ADDRESS No's dot mark light up Input desired DATA

by pressing

UP

: Accelerate DATA.

After select desired DATA, when

SET

DOWN

is pressed, it's dot

mark flickers, then DATA setting is completed

Completion

: Decelerate DATA.

6.7.2.

List of Setting Parameter

Standard Specification Parameter set by user to match the mechanical system ; as follows.
No.

NAME

SYMBOL

FUNCTION

00 MOTOR POWER CAPACITY

MPC

Choose the rated Motor Capacity

01 SERVO CONTROL TYPE

CTY

Select Position, Speed, Torque

Control mode

02 PULSE TYPE

PTY

Set one of 3-pulse Command

03 ELECTRONIC GEAR NUMERATOR

EGN

04 ELECTRONIC GEAR DENOMINATOR

EGD

05 MOTOR ROTATION DIRECTION

MRD

POSITION LOOP
P GAIN
VELOCITY LOOP
07
P GAIN
VELOCITY LOOP
08
I GAIN
06

PKP
VKP
VKI

Command pulse electronic gear

numerator
Command pulse electronic gear
denominator
Select running direction under (+)
command voltage
Set Proportional gain of the
position control loop
Set Proportional gain of the speed
control loop
Set Integral gain of the speed
control loop

09 VELOCITY COMMAND OFFSET

VCO

Set Speed Command Offset

10 TORQUE COMMAND OFFSET

TCO

Set Torque command Offset

VTO

Set Speed or TORQUE monitor Offset

VTM

Set Speed or TORQUE monitor Setting

VELOCITY or TORQUE MONITOR

OFFSET
VELOCITY or TORQUE MONITOR
12
SETTING
11

Set In-position Range under Position

Control
Set Residual Pulse Allowance under
Position Control

13 INPOSITION

INP

14 RESIDUAL PULSE ALLOWANCE

RPA

15 VELOCITY LIMIT

VLS

16 FEEDFORWARD CONTROL GAIN

FFG

17 FEEDFORWARD TIME CONSTANT

FTC

18 VELOCITY ON DETECTION

VOD

Set Velocity ON of TGON Pin

19 ZERO CLAMP

ZCS

Set Zero Clamp Setting

20 INTERNAL VELOCITY COMMAND 1

IVC1

21 INTERNAL VELOCITY COMMAND 2

IVC2

22 INTERNAL VELOCITY COMMAND 3

IVC3

23 POSITIVE TORQUE LIMIT

TLP

Set Torque Limit Positive

24 NEGATIVE TORQUE LIMIT

TLN

Set Torque Limit Negative

25 ACCELERATION TIME CONSTANT

ATC

26 ACCELERATION TIME CONSTANT

DTC

Set Velocity Limit

Set Feed-forward Control gain under
Position Control
Set 1st low pass filter time constant
of feed-forward command

Internal Velocity
Command 1
Internal Velocity
Command 2
Internal Velocity
Command 3

or

Speed

limit

or

Speed

limit

or

Speed

limit

Set Acceleration Time Constant from

Stop to Max Speed
Set Deceleration Time Constant from
Max Speed to Stop

DATA LIMIT
(DEFAULT)

CLASS

03
(0)

A,B

05
(2)
02
(1)
19999
(1)
19999
(1)
01
(0)
02048
(256)
02048
(250)
02048
(300)
-800800
(0)
-200200
(0)
-1212
(0)
01
(0)
1 9999
(100)
1 6000
(6000)
1 4500
(4500)
0100
(0)
0500
(0)
03000
(50)
03000
(0)
-30003000
(100)
-30003000
(1000)
-30003000
(1500)
0300
(300)
0300
(300)
06000
(5)
06000
(5)

A,B
A,B
A,B
A,B
A,B

NOTE[UNIT]
1:100W,2:200W,3:300W,
4:500W,5:750W,6:750W,
7:1KW,8:1.5KW,9:2.0KW
0:P, 1:P/S, 2:S,
3:S/T 4:T,
5:T/P
0:PULSE/SIGN,
1:F/R, 2:A/B
No limit Range
(Recommend Range :
1/50<EGN/EGD<32)
0:(+)=CCW, (-)= CW
1:(+)= CW, (-)=CCW

B,C
B,C
B,C
B,C

VCO
10/8092 [V]

B,C

TCO
10/2048 [V]

B,C

VTO
10/128 [V]

B,C

0:VELOCITY MONITOR
1:TORQUE MONITOR

[PULSE]

RPA
100 [PULSE]

[RPM]

[%]

FTC
2.4 [mSEC]

[RPM]

[mV]

[RPM]

[RPM]

[RPM]

[%] (Rated=100%)

[%] (Rated=100%)

ATC
10 [mSEC]

DTC
10 [mSEC]

SYMBOL

FUNCTION

DATA LIMIT
(DEFAULT)

CLASS

27 S CURVE TIME CONSTANT

STC

Set S-curve Speed Acceleration /

Deceleration Time Constant

01000
(0)

[mSEC]

28 VOLTAGE AT RATE SPEED

VRS

Set Speed command voltage under

Rated 1500 RPM Rotation

10005000
(3000)

VRS
2 [mVOLT]

29 VOLTAGE AT RATE TORQUE

VRT

5005000
(1500)

VRT
2 [mVOLT]

30 MONITOR AT RATE VELOCITY

MRV

Set Torque command voltage under

Rated Torque running
Set Velocity output voltage under
Rated 1500 RPM Rotation

10005000
(3000)

MRS
2 [mVOLT]

31 MONITOR AT RATE TORQUE

MRT

5005000
(1500)

MRT
2 [mVOLT]

09
(5)

0 : Command Pulse
accumulation
1 : Electronic Pulse
accumulation
2 : Feedback Pulse
accumulation
3 : Residual Pulse
4 : Command Pulse
Frequency
5 : Rotation speed
6 : Speed command
Voltage
7 : Torque command
Voltage
8 : Effective load factor
9 : Max load factor

No.

NAME

Set Torque monitor output voltage

under Rated Torque running

NOTE[UNIT]

32 INITIAL STATUS DISPLAY

ISD

Set Initial Status Display Item

33 CURRENT LOOP P GAIN

IKP

Set Proportional gain of current

control loop

02048
(900)

at the factory

34 CURRENT LOOP I GAIN

IKI

Set Integral gain of current

control loop

02048
(600)

at the factory

EPN

Encoder pulse per one rotation

at the factory

MPP

Motor Poles Numbers

MOT

Select motor manufacture a

factory

ECN

Select Encoder Cable Number

39 Encoder Output Divide

DEO

Select Encoder Output Divide

0 ~ 7
(0)

40 P_OT, N_OT FUNCTION

IOS

Select P_OT, N_OT fUNCTION

0 ~ 2
(0)

41 Servo alarm signal

ALB

Select output of servo alarm

signal

0 ~ 1
(0)

35

ENCODER PULSE PER ONE

ROTATION

36 MOTOR POLES
Motor manufacture
a factory
38 ENCODER CABLE
NUMBER
37

15006000
(2000)
01
(0)
0 ~ 1
(0)
0 ~ 1
(0)

D
D
D

Note. Adjusted parameter operated as follows.

A
B
C
D

Adjusted parameter is only valid when power is off on

You can adjust the parameters under the servo is off.
You can adjust the parameters under the servo is on.
You can never adjust the parameters for Maker management.

at the factory
0:6 Poles, 1:8 Poles
0:Doosan motor
1:Tamagawa motor
0:15 wire
1:9 wire
0:1 Divide, 1:1/2 Divide
2:1/4 Divide. 3:1/8 Divide
4:1/16 Divide, 5:1/32 Divide
6:1/64 Divide, 7:1/128 Divide
0:Forward/Reverse running
prohibit
1:Forward/Reverse running
command
2:Don't care
0:Closed
1:Open

6.8.

DESCRIPTION SET FUNCTION

6.8.1.

Base Setting

(1) Motor Power Capacity (MPC )

; initial value 0. 0. x
Parameter
0
0
0
0
0

0
1
2
3
4

Watt

Parameter

50
100
200
300
500

0
0
0
0
0

5
6
7
8
9

Watt
750(Rated Speed 3000RPM)
750(Rated Speed 2000RPM)
1.0 KW
1.5 KW
2.0 KW

(2) Servo loop control type ( CTY )

; Initial value 0. 1. x

(Speed mode)

Control
Mode

Function

Input Type

0 0

Position control

pulse train

0 1

Position/Speed

pulse train/Voltage

Switchover

0 2

Speed control

Analog, 3 Mode Speed

0 3

Speed/ torque Switchover

Analog.Voltage/Analog

Torque control

Analog

0 4
0 5

Torque/Position

Analog/pulse train

Switchover

Between
Open

Closet

Position

Speed

Control

Control

Speed

Torque

Control

Control

Torque

Position

Control

Control

( Note )
In case of the mode Switchover combination such a Position/Speed,
Speed/Torque,
Torque/Position
of
the
servo
loop
control
type(6-combination).
After parameter is set, control mode is Switchover
as a Close/Open between
external terminal CMS/ and G24.

(3) Motor Running Direction(MRD)

; Initial value 0. 5. x

( CCW )

This is a motor Running Direction of the speed command and pulse command.

DIRECTION

SPEED COMMAND

POWER

External Analog at Speed Command

CCW

(CN1 pin 17,18

)
Internal Speed Command IVC1, IVC2, IVC3

MRD = 0

(Parameter no.20~ 22)

External Analog at Speed Command
CW

)
(CN1 pin 17,18
Internal Speed Command IVC1, IVC2, IVC3

MRD = 1

(Parameter no.20~ 22)

Pulse
Command
Sign
Pulse

MRD = 0

Absolute
Value
Pulse
2 Phase
Pulse
Sign
Pulse

MRD = 1

Absolute
Value
Pulse
2 Phase
Pulse

CCW

A
"L"
B

A

B "H"

A

B

A

B "H"

A "H"

B

A

B

CW

B "H"

A "H"

B

A

B

A
"L"
B

A

B "H"

A

B

External + DC
Internal +
External - DC
Internal +

Pulse Command
mode (PTY)
PTY = 00

PTY = 01

PTY = 02

PTY = 00

PTY = 01

PTY = 02

The Motor rotate as follows. (CCW viewed from the motor shaft)

A Phase

A Phase
B Phase

B Phase
Z Phase

Z Phase

90

< Encoder wave forms at motor forward running (CCW) >

6.8.2.

Offset Setting

- Set analog command offset adjustment of the external speed and torque.

Reference Voltage (V)

Reference Voltage (V)

Tuning Offset
Offset

Speed/Torque Command

- When offset generate and the motor rotates abnormally in spite of the speed command "0",
Set this value and press [set] Switch to stop the motor.
(1) Speed Command Offset ( VCO )
; Initial value 0. 9.

[x1.22 mV]

- Range : -800 800

- Unit : Setting Value 10/8192 [V]
(2) Torque Command Offset ( TCO )
; Initial value 1. 0.

[x4.88 mV]

- Range : -200 200

- Unit : Setting Value 10/2048 [V]
(3) Speed or Torque Monitor Offset ( VTO )
; Initial value 1. 1. x

- Range = -12 12
- Unit : Setting Value 10/128 [V]
Set offset adjustment of the speed analogue monitor or torque analog monitor (CN1 pin33, VMO)
In case the offset adjustment is required, Connect Oscilloscope or DC voltage meter to VMO
terminal in the servo OFF, and adjust monitor output to required level with setting this value.
(4) Speed or Torque Monitor Select ( VTM )
; Initial value 1. 2. x

- Range = 0 1
Set parameter 0 is speed monitor, and parameter 1 is torque monitor.
In case the offset adjustment is required, Connect Oscilloscope or DC voltage meter to VMO
terminal in the servo OFF, and adjust monitor output to required level with setting this value.

6.8.3.

Gain Setting

(1) Proportional Gain of the Speed Loop ( VKP )

; Initial value 0. 7. 0

- Range = 0 2048
This is the parameter which determines response of speed control loop.
External characteristics determines stiffness. If it increases, the response is going better.
Therefore, The larger the setting, the faster is the response, but the larger are the vibration
and the hunting.
Set it as large as you can under the stable state.
The load inertia converted to the motor shaft equal to motor inertia(GDL2=GDM2)[unit:Hz]
(2) Integral Gain of Speed Loop ( VKI )
; Initial value 0. 8. 0

- Range = 0 2048
This is the parameter which reduces steady state error in order to improve the response.
If it increase, the response is going better. however, if it set too large, the system may be
unstable.
The load inertia converted to the motor shaft equals to motor inertia(GDL2=GDM2)
(3) Proportional Gain of the Position Loop ( PKP )
; Initial value 0. 6. 0

- Range = 0 2048
This is the parameter which determines response of position control loop.
If it increases, mechanical response is going better. However, mechanical impact on the system
may occur when the motor start or stops.
If decreases, mechanical response is going worse and position error increases by remaining
pulse.
(4) Feed-forward Control Gain ( FFG )
; Initial value 1. 6. 0

[%]

- Range : 0 100 [%]

(5) Current loop proportional gain ( IKP )
; Initial value 3. 3. 0

User is not to alternate a parameter No.33,34,35 (Adjustment at the factory)

(6) Current loop integral gain ( IKI )
; Initial value 3. 4. 0

User is not to alternate a parameter No.33,34,35 (Adjustment at the factory)

6.8.4.

Position Mode Setting

(1) Pulse Command Mode ( PTY )

; Initial value 0. 2. x

This is a signal type(

(pulse / sign)

/terminal and

/terminal)of the pulse command.

If the driver runs under position control type, select a type of the 3 signal.
Pulse type
Terminal signal
0 0 :
Pulse / Sign
0 1 :
CCW / CW
0 2 :
2 Phase Pulse

Forward direction(CCW )

Reverse direction (CW)

"L"
B

A

B
"H"

B
"H"

A
"H"

B

(2) In-position Range ( INP )

; Initial value 1. 3. 0

[Pulse]

- Range : 1 9999 [PULSE]

Set Inposition range under position control.
[Pulse] = motor encoder 4 times
When residual pulse reaches the range set, output the VPF(CN1 pin 25,26,Inposition)
Example)
2000 Pulse, 2Phase Encoder
- 2000 X 4 = 8000Pulse/rev
- 360
/ (4 X 2000) = 0.045
/ Pulse
Set the 5 Pulse (0.225
), and if it will complete the in-position range in case of
a residual pulse of the deviation counter is less 6 pulse.
Turn on the external output terminal VPF, COM2 (In-position)

(3) Position deviation allowance ( RPA )

; Initial value 1. 4. 6

[x100 Pulse]

- Range : 1 60000
- Unit : Setting Value 100 [pulse]
Set position deviation allowance under position control. [Pulse] = Encoder 4 times
Example)
When position deviation allowance is set 1000 Pulse.
If residual pulse of the deviation counter is 1000 pulse, or more, produces
position deviation excess error.

(4) Position filter time constant ( FTC )

; Initial value 1. 7. 0

[msec]

- Range : 0 500
- Unit : Setting Value 2.4 [msec]
Set lst low pass filter time constant of feedforward command.

1. Command rotation speed

2. External position command input
(pulse train frequency)
3. lst delay position command
throughthe filter
* FTC = Position filter time constant

3
1

FTC

FTC

6.8.5.

SEC

Speed Mode Setting

(1) Speed Command voltage under rated speed rotation ( VRS )

; Initial value 2. 8. 3

[ 2mV]

- Range : 1000 9999

- Unit : Setting Value 2 [mV]
Set command voltage under rated speed rotation
(2) Speed Monitor output voltage under rated speed rotation ( MRS )
; Initial value 3. 0. 3

- Range : 1000 5000

- Unit : Setting 2 [mV]
Set monitor output voltage under rated speed rotation.
(3) Speed Monitor output voltage under rated speed rotation ( MRT )
; Initial value 3. 1. 1

- Range : 1000 5000

- Unit : Setting Value 2 [mV]
Set monitor output voltage under rated speed rotation.

(4) Set output speed of the TGON ( VOD )

; Initial value 1. 8. 0

[rpm]

- Range ; 0 3000 [rpm]

Turn on the TGON(6,7) signal of the CN1 when the motor rotation speed exceed setting values.
Hysteresis characteristics (hysteresis band : 40rpm)
(5) Internal speed command 1 ( IVC1 )
; Initial value 2. 0. 0

[rpm]

[rpm]

[rpm]

(6) Internal speed command 2 ( IVC2 )

; Initial value 2. 1. 1

(7) Internal speed command 3 ( IVC3 )

; Initial value 2. 2. 1

- Range : 0 3000rpm
Set internal speed command or speed limit command.
Turn on internal speed command under speed control, and internal speed limit command under
torque control. Speed limit command turn on the absolute value.
After select one of the 3 type (parameter settings, Closed/open between pin 3(vs1) of the CN1 and
pin 4(vs2), Internal speed command and analog command from external terminals), it is switchover.

of the CN!

of the CN!

Selected internal command or Speed

limit command

CLOSED

OPEN

Internal speed command IVC1

CLOSED

CLOSED

Internal speed command IVC2

OPEN

CLOSED

Internal speed command IVC3

OPEN

OPEN

External speed command VELCMD

Example) Switchover VS1, VS2 : as follows.

rpm

rpm

sec

sec

(8) Set Inspeed range ( VAS )

; Initial value 1. 9. 0
- Range
- Valid
Turn on
reaches

[%]

; 1 100 [%]
under speed control.
the VPF(pin25) and COM2(pin26)signals of the CN1 when the motor rotation Speed
setting value of the command speed.

(9) Acceleration time constant ( ATC )

; Initial value 2. 5. 0 0. 5

[x10 msec]

(10) Deceleration time constant ( DTC )

; Initial value 2. 6. 0 0. 5

[x10 msec]

- Range : 0.000 60.000

- Unit : Setting Value x 10 [msec]
If Speed is Accelerated/Decelerated linearly, Set Accelerated/Decelerated time to arrive
Max Speed under speed command.(external command, internal 3 speed)
(This is able to use at the speed limit command under torque control).
Setting time constant is time reaching from 0 rpm to 4500 rpm.
rpm

Max rotation speed

Acceleration/Deceleration time is
shorten under low speed command
ATC = Acceleration speed time constant
DTC = Deceleration speed time constant

1
4500
2

sec
ATC

DTC

Example) Acceleration time = 3sec ( ATC=300 ), Speed command = n (rpm)

rpm

4500 rpm

n rpm

sec
3sec

If speed Acceleration time constant is too large under pulse train position control,
control is unstable.

(11) S-curve characteristics speed ( STC )

; Initial value 2. 7. 0. 0

( No S-curve characteristics )

- Range : 0.000 1.000

- Unit : [msec]
It may be add a circled curve to a time constant of the speed Acceleration/Deceleration,
therefore, it can be obtain Acceleration/Deceleration characteristics os of the S-curve.
When the S-curve Acceleration/Deceleration characteristics will be required.
At first, Set a time constant of the speed Acceleration/Deceleration, and then determine
a polarization of the linear part.
Set Acceleration/Deceleration time constant of the S-curve characteristics add the circled curve.
If STC is increase, curve dimension is small, and Acceleration/Deceleration is soft, however, the
response is late.
When this characteristic is used under position pulse train control, if STC is larger, control may
be unstable.

sec
STC msec

STC msec

(12) Maximum Speed Setting (VLS )

; Initial value 1. 5. 4

( 4500 RPM )

- Range : 0 4500
- Unit : [RPM]

6.8.6.

Torque Mode Setting

(1) Torque Command voltage under rated torque running ( VRT )

; Initial value 2. 9. 1

[2mV]

- Range : 500 5000

- Unit : Setting Value 2 [mV]
Set command voltage under rated torque running.
(2) Torque Monitor output voltage under rated torque running ( MRT )
; Initial value 3. 1. 1

- Range : 500 5000

- Unit : Setting Value 2 [mV]
Set monitor output voltage under rated torque running.

(3) Positive Torque limit value ( TLP )

; Initial value 2. 3. x

[%]

(4) Negative Torque limit value ( TLN )

; Initial value 2. 4. x

[%]

- Range : 0 300 [%]

0 % Torque "0" , 300 % Rated "300"
Example) In case of parameter No.23 = 0 %,
parameter No.24 = 200 %
Positive Torque : 0 , Negative Torque : rated 200% or less

6.8.7.

The other Setting

(1) Command pulse Electronic Gear Numerator ( EGN )

; Initial value 0. 3. 0

- Range = 1 9999
(2) Command pulse Electronic Gear Denominator ( EGD )
; Initial value 0. 4. 0

- Range = 1 9999
Set a Electronic Gear Numerator/Denominator.

EGN/EGD Count

Command Pulse Input

x 4

Encoder Feedback Pulse

L(mm) : Moving per one rotating , l(mm) : Moving per a pulse

(2000ppr encoder)
L = 5mm, l = 0.001mm

N(rpm) = motor speed, command frequency = f* (Pulse/sec)

Standard Encoder : 2000(PPR)

 Pulse/Sign or CCW / CW

2 Phase pulse

EGN ( EGD ) Range : 19999 ( 19999 )

(3) Status Display Initial Mode ( ISD )

; Initial value 3. 2. x

After turning on the power, Select a initial status display.

00

Command pulse accumulation

05

Running speed(Rotary speed)

01

Electronic gear pulse

accumulation

06

Analog speed command voltage

02

Feedback pulse accumulation

07

Torque command voltage

03

Residual pulse

08

Effective load factor

04

Command pulse frequency

09

Max load factor

(4) Encoder pulse per one rotation ( EPN )

; Initial value 3. 5. 2

User is not to alternate a parameter No.33,34,35 (Adjustment at the factory)

(5) Motor Poles ( MPP )
; Initial value 3. 6. 0

- 0 : 6 poles (3-poles pair)

- 1 : 8 poles (4-poles pair)
User is not to alternate a parameter No.36 (Adjustment at the factory)

7.

DIMENSIONS OF THE SERVO MOTORS AND DRIVERS

7.1.

DIMENSIONS OF THE SERVO MOTORS

DS-C01CA-1

DS-C02CA-1
DS-C03CA-1
DS-C05CA-1
DS-C07CA-1
DS-C08CA-1

DS-P10CA-1
DS-P15CA-1
DS-P20CA-1

MODEL

LM

LR

KL

LA

LB

LC

LE

LZ

QK

DS-C01CA-1

165

85

30

67

80

50

65

2.5

12.5

DS-C02CA-1

174

93

30

86

90

70

82

14

13.5

DS-C03CA-1

198

117

30

86

90

70

82

14

13.5

DS-C05CA-1

222

124

40

100

130

110

120

16

24.5

DS-C07CA-1

245

147

40

100

130

110

120

16

24.5

DS-C08CA-1

280

182

40

100

130

110

120

16

24.5

DS-P10CA-1
DS-P15CA-1
DS-P20CA-1

228
253
278

121
146
171

55
55
55

110.6
110.6
110.6

145
145
145

110
110
110

130
130
130

6
6
6

9
9
9

24
24
24

31.5
31.5
31.5

7
7
7

7
7
7

7.2.

DIMENSIONS OF THE SERVO DRIVERS

7.3.

CONNECTOR SPECIFICATIONS
Motor receptacle

POWER LINE
CONNECTOR DIAGRAM

ENCODER CONNECTION
DIAGRAM

D
R

E
H

MS CONNECTOR
(14S-2P, 18-10P, 20-4P)

WINDING TERMINAL

TERMINAL A

A PHASE U

TERMINAL B

B PHASE V

TERMINAL C

C PHASE W

FRAME GROUND

D FRAME GROUND

MS CONNECTOR
(20-29P)

ENCODER CABLE
CHANNEL A GREEN
CHANNEL A WHITE\GREEN
CHANNEL B GRAY
CHANNEL B WHITE\GRAY
CHANNEL Z YELLOW
CHANNEL Z WHITE\YELLOW
0V BLACK, WHITE\BLACK
+5V DC RED, WHITE\RED
FRAME GROUND
CHANNEL U BROWN
CHANNEL U WHITE\BROWN
CHANNEL V BLUE
CHANNEL V WHITE\BLUE
CHANNEL W ORANGE
CHANNEL W WHITE\ORANGE

A CHANNEL A
B CHANNEL A
C CHANNEL B
D CHANNEL B
E CHANNEL Z
F CHANNEL Z
G 0V
H +5V DC
J FRAME GROUND
K CHANNEL U
L CHANNEL U
M CHANNEL V
N CHANNEL V
P CHANNEL W
R CHANNEL W

Driver receptacle

POWER LINE
CONNECTOR DIAGRAM

ENCODER CONNECTION
DIAGRAM

C
D

MS CONNECTOR
(14S-2S, 18-10S, 20-4S)

TERMINAL A

A PHASE U

TERMINAL B

B PHASE V

TERMINAL C
FRAME GROUND

C PHASE W
D FRAME GROUND

L
K
J

WINDING TERMINAL

ENCODER CABLE
CHANNEL A GREEN
CHANNEL A WHITE\GREEN
CHANNEL B GRAY
CHANNEL B WHITE\GRAY
CHANNEL Z YELLOW
CHANNEL Z WHITE\YELLOW
0V BLACK, WHITE\BLACK
+5V DC RED, WHITE\RED
FRAME GROUND
CHANNEL U BROWN
CHANNEL U WHITE\BROWN
CHANNEL V BLUE
CHANNEL V WHITE\BLUE
CHANNEL W ORANGE
CHANNEL W WHITE\ORANGE

MS CONNECTOR
(20-29S)
A CHANNEL A
B CHANNEL A
C CHANNEL B
D CHANNEL B
E CHANNEL Z
F CHANNEL Z
G 0V
H +5V DC
J FRAME GROUND
K CHANNEL U
L CHANNEL U
M CHANNEL V
N CHANNEL V
P CHANNEL W
R CHANNEL W

TORQUE-SPEED CHARACTERISTICS
DS-CZ5CA

4.5
(0.45)

A
0

3000

4000

5000

Speed [rpm]

9
(0.9)

6
(0.6)
3
(0.3)

A
0

15
(1.5)

A
1000

2000

3000

4000

DS-C05CA

60
(6.0)

5000

Speed [rpm]

Torque[kgcm(Nm)]

5
(0.5)

15
(1.5)

A
0

1000

2000

3000

4000

DS-C08CA

120
(12.0)

5000

Speed [rpm]

10
(1.0)

30
(3.0)

A
0

500

1000

1500

2500

Speed [rpm]

DS-C15CA

240
(24)

2000

1000

2000

3000

60
(6.0)

20
(2.0)

A
1000

2000

150
(15)

100
(10)
50
(5)

A
1000

2000

3000

Speed [rpm]

B : Intermitent Duty Zone

A
1000

3000

Speed [rpm]

DS-C10CA

A : Continuous Duty Zone

5000

40
(4.0)

120
(12)
60
(6)

4000

Speed [rpm]

DS-C07CA

180
(18)

5000

200
(20)

60
(6.0)

4000

90
(9.0)

3000

Speed [rpm]

20
(2.0)

80
(8.0)

30
(3.0)

2000

30
(3.0)

45
(4.5)

1000

DS-C03CA

40
(4.0)

10
(1.0)

Torque[kgcm(Nm)]

2000

Torque[kgcm(Nm)]

Torque[kgcm(Nm)]

20
(2.0)

Torque[kgcm(Nm)]

1000

DS-C02CA

Torque[kgcm(Nm)]

1.5
(0.15)

DS-C01CA

12
(1.2)

3
(0.3)

Torque[kgcm(Nm)]

Torque[kgcm(Nm)]

6
(0.6)

Torque[kgcm(Nm)]

7.4.

2000

3000

Speed [rpm]

8.

PRECAUTIONS FOR APPLICATION

8.1.

MINUS LOAD
When the motor is run by load, it means that the servo system is continuously running on
regenerative brake.
Example) Driving a motor to lower objects(with no counterweight)
Since servo driver has the regenerative brake capability for short time corresponding to the motors
stopping time, do not use minus load running on regenerative brake continuously.

8.2.

LOAD INERTIA(Load

The allowable load inertia converted to the motor shaft must be within five times as large as the
inertia of AC servo motor. If the allowable inertia is exceeded, regeneration alarm may be given
from the driver during deceleration.
If this occurs, take the following action;
- Reduce the current limit.
- Slow down the deceleration time.
- Decrease the maximum speed.

8.3.

HIGH VOLTAGE LINE

If the supply voltage is three phase 400/440V, the voltage must be dropped to single-phase
200/220V by using a power transformer.
When selecting transformer, you refer to the power capacity per a driver.

8.4.

NOISE TREATMENT
The wiring or grounding method of servo driver have to be minimized effect of switching noise or
external noise occurred power TR

Grounding Method
Since the servo driver supply the power for the motor through switching operation of the power TR,
Cf

current flows through the floating capacity of the motor.

To prevent this effect, motor frame terminal should be connected to FG terminal of the driver, and
FG terminal of the driver should be directly grounded.
Noise Filter
To prevent noise from the power line, noise filter is connected. So observing the precautions,
carefully connect them as follows.
(a) Separate the input and output line and don't bundle or run them in the same duct.
(b) Don't bundle the ground line with the filter output line or other signal lines, or run them
in the same duct.

(c) Connect the ground line single to the ground panel.

(d) If the unit contains the filter, connect the filter ground and the equipment ground to the
base of the control unit.

8.5.

PRECAUTION BEFORE OPERATION

(a) Internal voltage source of the driver is a high voltage(DC 250 340V).Don't touch it for
your safety.
(b) Take notice that the charged voltage in the driver stay about 5-minutes even if the main
power is off.
(c) Avoid location where corrosive, inflammable or explosive fluid and gas.
(d) Environmental conditions are as follows.
- Motor : Ambient temperature 0 40, Humidity 20 80
- Driver : Ambient temperature 0 55, Humidity below 90

8.6.

INSTALLATION

Servo Motor
AC servo motor can be installed either vertically or horizontally.
(a). Before mounting : Wash out anticorrosive paint on shaft extension and flange surface with
thinner before connection the motor to the driven machine.
(b). Location and environmental conditions
- Free from corrosive and/or explosive gases or liquids.
- Well-ventilated place.
- Accessible for inspection maintenance and cleaning.
- Ambient Temperature : 0 40C
- Storage Temperature : -20 80C
- Humidity : 20 80% RH
(c). Load Coupling
True alignment of the motor and driven machine is essential to prevent vibration, reduced
bearing and coupling life, or shaft and bearing failures.
Measure the gap between the straight edge and coupling halves at four equidistant point
of the coupling. The each reading should not exceed 0.03mm.
Align the shafts.(motor and load shaft)
(d). Allowable bearing load
Avoid both excessive thrust and radial loads to the motor shaft when mounting the gear,
coupling and pulley. Avoid excessive force on the bearing(10 G Max)
Servo Driver
(a) When installed in a panel : The panel temperature take a panel size, Refrigeration(cooling),
and wiring into consideration to keep at 5 or below as around temperature according to
heater value of equipped instrument and Box Size.
(b) When installed near a heat source : Keep the temperature around driver at 55 or below.
(c) If subjected to vibration : Mount the unit on shock absorbing material.

(d) If corrosive gases are present for a long time : Avoid locations where corrosive gases
exist as it may cause the contact errors on the relay, and circuit braker used in the
command and main circuits.
(e) Select a location with minimum exposure to hot air, high humidity excessive dust or
metallic particles.

8.7.

WIRING

A servo driver is a high performance device for speed and position control. The following
precautions should be taken for transferring the signal level of several milli-volts or less.
(a) For signal lines and encoder feedback lines, use multi-core shielded twisted-pair cables.
Cable length should not be exceeded by 3m(20m for encoder feedback lines).
The wiring connect in the most shortly length, and spare length use in a cutting.
(b) For ground line, cables should be as heavy as possible to provide the class 3(ground
resistance 100 or less). Make sure to ground at one point.
(c) To prevent malfunction due to noise, take the following precautions.
- Place the noise filter, driver and Input/Output reference as near as possible to each other.
- Make sure to mount a surge absorbing circuit into the relay, electromagnetic contactor and
the solenoid coils.
- Power(AC input, motor input line)and signal lines, holding the distance to 30cm or more ;
don't put them in the same duct or in a bundle.
- When the same power is used for the driver, as far an electric welder or electrical discharge
machine, or when a high frequency noise source is present in the vicinity, use noise filters
in the power and input circuits.
- A servo driver using switching Amp is to be occurred noise in signal lines ; Analog input
wiring have not to be opened in the terminal.
- The signal lines use cables whose core is extremely fine( 0.2 0.3 mm2 ). Avoid using
excessive force which may damage these cables.

8.8.

CHECK ITEMS BEFORE TEST RUN

Before test run, check the following to correct any deficiency.
(a) Bolts and nuts are not loose.
(b) Wiring and grounding leads are firmly connected.
(c) The terminals and the connector leads are firmly connected.
(d) Main and control power supplied to the driver are AC 200 to AC 220V.
(e) The power supply is cut off by the servo alarm.
(f) The speed command is 0V. The pulse command is 0 pps.