user manual

DACHENG

DCSF-C SERIES SERVO MOTOR

User Manual

（Ver8.34）

Zhejiang Dacheng Electric Co., LTD

DDAACCHHEENNGG Dacheng Electric

2

Contents

Chapter 1 Introduction

1.1 Name plate

1.2 Naming rules

1.3 Standard Specification

Chapter 2 System Installation

2.1 Connecting and Installation

2.2 Confirmation Items

2.3 Attention for Using

Cautions 2.4 Installation Method

Chapter 3 System Wiring

3.1Standard Wiring

3.2 Wiring Specification

3.3 Wiring method

3.4 Considerations

3.5 Terminals

3.5.1 DCSF-C Terminals

3.5.2 Encoder Signal Input Terminal CN1(15 cores)

3.5.3 AI/ AO Terminal CN2(44cores)

3.5.4 Telecommunication Terminal CN3(9 cores) 3.6Input/ Output Interface Type

3.6.1 DI Interface

3.6.2 AI Interface

3.6.3 Encoder Signal Output

3.6.4Encoder Z Signal Collector Unconnected Output Interface

Chapter 4 Keyboard Operation Parameter and Display

4.1 Panel Instruction

4.2 Menu Operation Instruction

4.3 Specific Operation Instruction

4.4 Control Parameter

4.5 Alarm Parameter

Chapter 5 Standard Control Wiring

5.1 Speed Control

5.1.1 Internal Speed Control（Pr90=0）

5.1.2 External Analogue Speed Control（Pr90=2）

External Analogue Torque Control（Pr90=3）

5.1.3 Preinstall Curve Speed Control（Pr90=4）


3

5.1.4 Computer Speed Control（Pr90=8）

5.1.5 Location Control（Pr90=6）

5.1.6 Location Curve Control(（Pr90=5）

5.1.7 Pressure Closed Loop Control（Pr90=9）（Applicable for Injection Machine） 5.1.8 Braking Resistor Configuration Table 5.1.9Injection Machine Servo Configuration Table

Chapter 6 Supervisory Software

6.1 Brief Introduction

6.2 Software Installation


4

Brief introduction to DCSF-C series ac servo controller DCSF-C series servo drivers are the products that we have co-developed with

Harbin Institute of Technology and we have the proprietary intellectual property rights. The series of servo drivers adopt the latest Digital Signal Processing Chips of American TI company and CPLD as core control chip. The implement of the advanced vector algorithms together with our successful experience in automatic control field has helped realize the design optimization of servo driver’s software and hardware. Adaptive control algorithm can adapt parameters dynamically and improve the accuracy and speed of system control according to the change of controlled objects. Besides, we use the imported IPM to ensure the perfect protection, reliable operation and stable performance. Our company has proved the reliability of our servo drivers through a large number of product application, thus to guarantee you use our DCSF-C series servo drivers in a safe and reliable way. Power grade: 100W-15kW single phase 220V, three phase 380 V optional Power grade: 100W-15kW single phase 220V, three phase 380 V optional Position transducer: incremental photoelectric encoder, rotary transformer available Protection functions: over voltage, under voltage, short circuit, over current, over

load, encoder anomaly and so on Speed mode: +10V---- -10V different bipolar analog input 8 segments internal speed control 5 segments speed curve control RS232 digital speed control Position mode (mixed logic) Pulse+ directional level control (mixed logic) Two-way orthogonal pulse position input control(pulse phase displacement) (mixed logic) RS232 digital position control Frequency dividing output of encoder pulse 1-4096 Internal electronic gear Digital input & output: 7 ways input, 4 ways output Analog voltage output: -10V---+10V for the users to use instead of external power supply Internal braking, feedback energy absorption circuit The currency of current loop and speed loop can be up to 20kHz. RS232 real-time digital control


5

Thank you very much for choosing our DCSF-C series servo motors. Please read the instruments carefully before your operation of our products. please contact us, if you have any question or suggestion.

Tel:0575-82165222 Fax:0575-82168183

Servo Production Section of Zhejiang Dacheng Electric

http://www.zjdacheng.cn

Please pay special attention to these warning signs while reading this manual: Warning: wrong operation may cause disastrous results----death or serious injury

Careful: wrong operation may make the operators hurt or get the equipment damaged

Attention: improper operation may damage the product or equipment.

Safety Rules

The design and manufacturing of our products are not to use in the

machinery or systems that threaten people’s safety. when choosing our products for your machines or systems, you must

take safety measures into consideration during designing and

manufacturing, to avoid accidents caused by improper operations. 。

Inspection

The damaged or faulted products can’t be used.

Transportation

The products must be stored and transported according to the given

terms.

the products can’t be piled in excess to prevent fall.


6

the products should be packed perfect during transshipment.

While moving the machines, you mustn’t drag the power cord, motor shafts or the encoders.

Both servo motors and servo drivers can’t burden the external forces

or bumps.

Installation

Servo drivers and motors：

The machines can’t be fit on or near inflammables to prevent fires. Vibration should be avoided, and shock is forbidden.

Installation is prohibited, when there’s any damage or loss of parts.

Servo drivers：

The machine must be installed in the control cabinet with enough

safety production level.

Enough space must be kept between other equipments.

Good radiation condition must be available.。

Prevent dust, caustic gas, electric conduction objects, liquid or flammable explosive materials getting in.

Servo motor：

The installment must be firm to prevent loose caused by vibration.。

liquid invasion must be prevented, which may cause damage to machines

and encoders.

Any knock to the motors or motor shafts is forbidden to avoid damage

to encoders.

The motor shafts can’t bear the load pasts the limits. Connection

The personnel taking part in the connection or inspection must be well

qualified.

Connection and inspection can’t be done until 5 minutes later.

The servo drivers and motors must be well earthed.

There is probable bombs or operation accidents if the voltage or power

polarity is wrong.

Earthing can be done after the installment.

Ensure the power cord insulative; avoid pressing the power cord to

avoid electric shock.

Connection must be right and firm, otherwise, running errors may occur

or equipments may be damaged because of poor contact.

Don’t apply the reverse polarity to U、V、W terminators or connect

alternating current.

Servo motors and drivers should be connected directly, and electric


7

capacity, the inductance or the filter can’t be put in.

Prevent the electric conduction fastener and the electricity end from

entering into the machine.

The electric wire and the heat non-resistant body cannot draw close

to radiator of the servo driver and the servo machinery.

The freewheel diodes can’t be applied reversed, which are joined up

in parallel to DC relays to output signals.

Debugging and running

Before energizing, make sure servo drivers and motors are properly

installed, well fixed, and the voltage and connection are right.

While debugging, the machine should firstly have no-loading running

to make sure the parameters right, then take load debugging to avoid the damage

to machinery and equipments caused by wrong operation.

Application

A emergency circuit should be plugged in, so that the equipment can

stop and the power supply be off immediately

Before resetting an alarm, you must make sure the running signal is

off other wise the machine will restart suddenly.

The servo drivers must be used together with the specified and assorted

motors.

Don’t turn on and off the power supply frequently, which may damage the system.

The servo drivers and motors may feel hot after continuous running.

Don’t touch the drivers, radiators or machines Don’t adapt servo systems. Fault handling

even if the servo drivers are off power, the high pressure will still

last for a period of time. So please don’t take the power cord apart

in five minutes or touch the terminal plate.

people taking part in disassembly and repair should have relevant

knowledge and operation capacity.

After alarming, faults must be cleared. And reset the alarm before

reset the machine.

while the power is on after momentary interruption, keep away from the

machine, because it may start abruptly.(The design of the machine should make

sure that no danger be caused when restarting.)

System matching


8

The rated torque of the servo motors must be higher than effective

continuous load torque.

The ratio of load inertia and the motor inertia should be smaller than

the recommended value.

The servo driver and motor should be a match.

Chapter 1 Brief Introduction

1.1 Name plate

1.2 Naming rules for different models

DCSF-C150S220V40 Servo Driver

Series C、 D、 U、Y Series

Power Grade 100W-15kW

Voltage Grade 220V/380V

Version V1.0-V8.0

DCSF-C: Universal Servo Driver

DCSF-D: High Performance Servo Driver

DCSF-U: Dedicated Servo Driver (made to order by customers)

DCSF-Y: Servo Driver for Hydraulic Pressure Only


9

1.3 Standard Specification

Model DCSF-C150 DCSF-C200 DCSF-C750 DCSF-C1100

Single phase AC220V Three phase

220V

Three phase

AC380V

Input Power

50/60Hz

Power 100W-1.5KW 1.5KW-2.2KW 2.2KW-5.5KW 5.5KW-15KW

Control Method ①Location Control②Speed Control③Torque Control④JOG Running

Regenerative Braking Internal

Control Input ①forward rotation servo enabled②backward rotation servo enabled

③ forward rotation driven prohibited④ backward rotation driven

prohibited⑤Speed option 1 ⑥Speed option 2 ⑦Speed option 3⑧

Torque/speed limited option

Control Output ①Servo Ready ②Servo Alarm③positioning completed④speed arrival

⑤zero speed

Impulse

frequency

Max Input0~500kHz(displacement input),Max Input0~200kHz(collector

input)

Electronic

gear

1/50≤1~30000/1~30000≤500

Control

precision

0.036

Input method ① Pulse + symbol ②forward pulse/reverse pulse ③two phase A/B

orthogonal pulse（positive logic ）

④ pulse + symbol ⑤forward pulse/backward pulse ⑥two phase A/B

orthogonal pulse（negative logic ）

Programmable

Speed

Control

8 bit field internal programmable speed control

Feedback

impulse

2500 line/revolution, 10000 impulse/revolution

Location

control

Torque limit 0～±10VDC(max value match max torque)

Speed control Speed scope 1:5000


10

Speed

response

frequency

500Hz

Speed

fluctuation

rate

＜±0.03%(load 0～100%);＜±0.02%(power supply -15～+10%)

Torque rate 0～±10VDC(max value matching rated torque)

Analog Input 0～±10VDC(source impedance less than 10kΩ) Torque

control Speed limit 0～±10VDC（max value matching rated speed）

Surveillance function Running speed, current location, command pulse accumulation ,

location deviation, motor torque, motor current, bus voltage, running

status, input/ output terminal signal and so on

Protecting function Over speed 、 main power source over-voltage or under-voltage,

over-load, over-current, encoder anomaly, main circuit overheat,

location out-of- tolerance and so on

Appropriate load inertia Less than 15 times the rotor inertia（when load inertia is 5 times

more than rotor inertia, you should connect external braking

resister.）

Temperature At running：0～5 At store：-20～75

Humidity 40%～90%（free from condensation）

Air pressure 86～106kPa

Environmental

condition

Vibration ≤5G

Cooling mode Cold wind

Chapter 2 System Installation

2.1 Wiring and Installation

1、 Have PE end grounded firmly and no other grounding method. Otherwise, it may

cause electric shock.

2、 Please connect wires correctly. Misconnecting U\V\W can make the machine unable

to work properly.

3、 Don’t use “On/Off” of the power to start/ stop the servo drivers.

4、 Please use servo enabled switches to start / stop the motor.

5、 Before starting cabling, changing wiring, inspection, maintenance, or moving,

please firstly cut off the power. After three minutes, measure with a voltmeter,


11

and operate after confirming safety.

The interval between other equipments should be over 10mm for abstraction of

heat.

Special warning for wiring：１、the three-phase power cord from motor to driver can’t be connected wrong, (blue, white, red -----U V W) ２、the encoder wire from the motor to encoder must get connected before energization. It is forbidden to connect after energization. ３、The controller should match the motor. Don’t change the motor or driver.

2.2 Confirmation items

After the arrival, please open the package and check the following contents.

confirmation item confirmation method

Make sure the model is what you have

ordered Confirm by name plate and model

Check if the product is damaged or notLook at the appearance to check if there’s

something broken

Check if the shaft of the motor is free

to rotate

Rotate with hand. Pivoted means normal.

But, braking servo motor can’t do this.

Check if the screws get off or loose Take a look

If you find anything unusual, please contact our distributors or offices at once.

2.3 Attention for using

Installation environment

1、 Protecting Servo controllers must be installed in well-protected cabinets and they should

be kept away from corrosive matters, flammable gases, conductive materials,

metal powder, oil and liquids.

2、 Temperature\ humidity Ambient temperature should be no higher than 50Ｃ and

long-term continuous working temperature should be below 40 C and good

ventilation should be provided for abstraction of heat.

3、 Vibration and shock Drivers should be installed to avoid vibration, shock absorption

measures to be taken.

Environment condition

1、 Usage temperature and humidity 0--55（free from freezing） below 90%FS（free from condensation）

2、 Storage temperature -20--85 below 90%FS（free from condensation）

3、 Altitude


12

Lower than 5000m

Cautions 1、 The storage and installation of this product must satisfy environmental

requirements. And original package is necessary.

2、 The stacking of our products is limited. it’s improper to stack too many together to prevent pressure damage or fall.

3、 The products must be installed with fire prevention materials. Don’t install on flammable items or near to prevent fires.

4、 It’s forbidden to drag all the cords from servo controllers and encoders

5、 After cutting off the power supply, there’s high voltage in most big

capacitances. Reconnect the power five minutes later. Don’t get the power on

and off frequently in a short time.

Fig. 2.1 Servo driver installation Diagram

2.4 installation method

1、 Installation direction The normal installation direction of the servo driver is upright vertical.

2、 Installation and fix Tighten the four M6 fixed screws in the rear part of the servo driver while

installing.

Installation spacing

Look at Diagram 2.1 for reference of the space between the drivers and other

equipments.

3、 Radiation The servo drives take use of natural cooling. The cooling fans should


13

be installed in the cabinets to ensure adequate ventilation

conditions. Installation cabinet environment

During installation of electrical control cabinet, prevent dust or iron

filings entering into the servo drivers and causing short circuit.

Chapter 3 System Wiring 3.1 Standard wiring


14

Fig.2.2 Servo Controller Standard Wiring

3.2 Wiring Specification


15

1、 We suggest you use insulating cold pressure terminals and make sure firm connection.

2、 We suggest you use three phase isolation transformer for power supply. 3.3 Wiring Method

1、 For the input and output signal wire and encoder wire, please use the shielded one. The length should be: input wire: within 5m; encoder signal wire: within

15m. Condition permitting, the shorter the wire is, the better.

2、 One end of the grounding wire should be earthed. And the diameter of the wire must be no less than 1mm.

3、 In the environment with serious disturbance, noise filter is suggested to be installed. While installing, pay attention to the following items：

Try to install the noise filter, the servo driver and the supervisory

controller as close as possible.

You must fit in the coils of the relay, electromagnetic contactor and

brake the surge suppressors.

Don’t make the main circuit and the signal wires go through the same

pipeline, nor tie them together.

4、 When there are intensive interference sources used nearby(such as welding machines, high-power machine tools and so on), use isolation transformers

with input power source.

5、 Please fit a no-fuse breaker to cut off the external power supply when there’s a trouble in running.、

3.4 Cautions

1、match the wiring of U、V、W with terminal A,B,C respectively. You can not make

the motor run backward by changing the wiring of three phase terminals.。

2、Because of a lot of electrolyte and capacitance in the servo drivers, there

is still high voltage in the internal circuit even if the power is off. So please

electrify servo drivers five minutes later. Please cut off the power supply if you

don’t use the machine for a long time. Definition of rotating direction: Facing

the machine shaft, rotating shaft rotating in an anticlockwise direction is called

Forward Rotation; on the other hand, it is Backward Rotation.

3.5 Terminal

3.5.1 DCSF-C terminal

Terminal

mark Signal name Function

R

S

T

Main circuit

power Three phase AC220V 50Hz

P+ Rectify anode

output Braking output , connect braking devices between P+


16

BP Control

terminal

U Output machine

power U phase

V Output machine

power V phase

W Output machine

power W phase

PG Grounding Grounding

Wrong wiring of U、V、W will make the motor unable to run properly. So please be

sure to wire correctly.

Special Attention needed: PB,P are terminals of external braking resistors.

Generally, there’s no need to connect external braking resistors when PB, P

terminals are impending. When there’s too much regenerative energy during slowing

down, which can’t be absorbed completely, AL-05 will be overloaded and give an alarm.

Increase deceleration time. If there is still alarm, attach braking resistors to

PB and P Terminals, who range from 100 to 200Ω, and the power is from 100 to 500

W. the smaller the resistance value is, the larger the current is , the power of

the braking resistor needed is larger. However, too small resistance value can cause

damage to the driver. So make trials from big resistance value to smaller ones, until

it doesn’t alarm. The connection of external braking resistor must be done 10min

after driver’s power outage and the internal high voltage has gone. Because PB and

P are connected with internal high voltage circuit, so please don’t touch the

Terminal PB and Terminal P in case of electric shock. And avoid collision between

Terminal PB, Terminal P and other terminals to prevent damage to drivers because

of short circuit.

3.5.2 Encoder Signal Input Terminal CN1(15 cores)

Terminal

No. Symbol Signal Name Function

1 A+ Encoder A+ Input Connect with Photoelectric Encoder A+

2 A- Encoder A- Input Connect with Photoelectric Encoder A-

3 B+ Encoder B+ Input Connect with Photoelectric Encoder B+

4 B- Encoder B- Input Connect with Photoelectric Encoder B-

5 Z+ Encoder Z+ Input Connect with Photoelectric Encoder Z+

6 Z- Encoder Z- Input Connect with Photoelectric Encoder Z-

7 U+ Encoder U+ Input Connect with Photoelectric Encoder U+

8 U- Encoder U- Input Connect with Photoelectric Encoder U-

9 V+ Encoder V+ Input Connect with Photoelectric Encoder V+

10 V- Encoder V- Input Connect with Photoelectric Encoder V-

11 W+ Encoder W+ Input Connect with Photoelectric Encoder W+


17

12 W- Encoder W- Input Connect with Photoelectric Encoder W-

14 +5V 5V power supply Supply photoelectric encoder of servo

motor with +5V power source

15 GND

（+15V） GND（+15V）（The motor adopts rotating transformer）

3.5.3 AI/ AO Terminal CN2(44cores)

Terminal

No.

Symbol Signal Name Function

1 Z+ Encoder splitting Z+ output

2 Z- Encoder splitting Z- output

3 CZ Z Collector open-drain output

4 GND

5 IN0 Digital input port 0 Servo forward running drive

En

6 IN1 Digital input port 1 Servo backward running drive

En

7 IN2 Digital input port 2 Speed option 1



10 IN5 Digital input port 5

11 IN6 Digital input port 6

12 COM+

13 GND

14 +24V 24v power supply output 300mA

15 Reserve

16 A+ Encoder splitting A+ output

17 A- Encoder splitting A- output

18 OUT1 Digital Output Port 1




22 COM-

23 AD1 Analog speed input

24 AGND Analog Ground

25 AD2 Analog Running Torque Input

26 AGND Analog Ground

27 +10V Internal +10V Analog Power supply 100mA


18

28 Reserve

29 -10V Internal -10V Analog Power Supply 100mA

30 Reserve

31 B+ Encoder splitting B+ output

32 B- Encoder splitting B- output

33 PLUS+ Position Pulse Input A+

34 PLUS- Position Pulse Input A-

35 PDIR+ Position Pulse Input B+

36 PDIR- Position Pulse Input B-

37 PCLR+ Position Clear Input CLR+

38 PCLR- Position Clear Input CLR-

39 Reserve

40 Reserve

41 Reserve

42 Reserve

43 Reserve

44 Reserve

3.5.4 Telecommunication Terminal CN3(9 cores)

1 Reserve

2 TXD Send

3 RXD Accept

4 Reserve

5 GND Ground wire

6 Reserve

7 Reserve

8 Reserve

9 Reserve

3.6 Input/ Output Interface Type

3.6.1 DI Interface


19

Fig.3.6.1.1 DI Interface

A Relay Connection

B Photoelectric coupler connection

Fig.3.6.1.2 DO Interface

1、 OUT1，OUT2，OUT3，OUT4 Max. load current: 100mA，Max. working voltage: 32V。

2、Customers can provide the external power source. Pay special attention to the

power polarity while wiring. Wrong polarity connection can cause damage to drivers.

3、In case of lagging load such as relays, connect antiparallel freewheel diodes

at the two ends. Attention: inverse wiring can cause damage to the drivers.

4、Output transistors are Darlington ones. While conducting, the pressure drop

between the collector and the emitter is around 1v, which can’t satisfy the


20

low-level requirement. So don’t connect the transistors with integrated

circuit.

3.6.2 AI Interface

Fig3.6.2Analog difference-mode input

1、 Analog ground wire connecting with the negative input end at the controller side. 2、 The input voltage should be within the range of -10V-+10V， otherwise, the driver

may be damaged.

3、 Shielded wire for connecting id preferred. Try to make the wire as short as possible to decrease the noise disturbance3.6.3 Encoder signal output Encoder

signal is put out by way of differentially driven. The Ground wire of the

controller and driver must be grounded safely3、When using rotating transformers,

the signal has turned into the one that is compatible for rotating encoder.

4、While rotating transformer is used, the 15th foot of the plug is not the ground

wire, but the +15V signal.


21

Fig 3.6.3 encoder output interface

3.6.4 Z signal of encoder through open collector output

Fig3.6.4 Z signal of encoder through open collector output

The signal of Z phase in encoder through open collector output when Z signal appears,

start output, or otherwise it will be cut off.

While the pulse of the encoder’s signal of Z phase is very narrow, high-speed Opt

coupler is advised.(such as453,pc9000,4504)

3.6.5 input interface of pulse

1、In order to transmit data correctly, the difference drive method is adopted.

2、Under the difference drive method, adopting AM26C31,75176 or RS422

similar line drivers

3、Adopting the single-ended drive, the supply of external power are provided by

users, do not apply the reverse polarity to the actuator unit.


22

Fig. 3.6.5 input interface of pulse

PUL+/PUL-，DIR+/DIR-：

The power supply is ok when input TTL differential method：

The power supply is ok when input the differential method is TTL

When input the single-ended drive, we have to connect 24v to the other end of

resistance in switching tube, and link GND to the outflow end of current if

using internal 24V; while using external power, don’t connect the internal

24v to the external power,, and voltage drop of user’s switching tube is lower

than 1V , increasing external resistance value appropriately if it is higher

than this value .The choice of external resistance value

R=(12~24V)/(10~20ma),the resistance power is 1W.For single-ended method, it

must be done to connect GND to reference ground of Console, either internal

or external power supply.

There are six kinds of pulse input, as shown in the list below:

Pulse instruction

type Mark Description

Pulse group mark PUL

DIR

Positive logic( PUL mark +DIR pulse)*2

Forward pulse group

Reverse pulse group

PUL

DIR

Positive logic(forward pulse/ reverse pulse)*2

A phase pulse group

B phase pulse group

PUL

DIR

Positive logic(two phase instruction pulse)*4

Pulse group mark PUL

DIR

negative logic(PUL mark +DIR pulse)*2

Forward pulse group

Reverse pulse group

PUL

DIR

Reverse logic(forward pulse/ reverse pulse)*2

A phase pulse group

B phase pulse group

PUL

DIR

Negative logic(two phase instruction pulse)*4

Chapter four The illustration and operating data of Keyboard

4.1 Panel Description

The panel is composed of six LED displays and 5 keys


23

Key Name Introductions

MENU：For choose the mode of the first floor or from another layer

return to the first layer

multiply key: represent add serial number or numerical increment

Reduced key: represent reduce serial number or numerical decrease

Start button: starting motor

Enter key: for fixing next layer or setting parameter values

4.2 Operating instructions of menu

Enter or quit menu or back to the previous menu by pushing MENU button

The first level:

five kinds of mode

DSP---：display mode

PRG---：parameter setting mode

JOG---：running mode

AUT---：zeroing mode

EEP---：parameter Management Mode

The second level

1、DSP Show Selection

1：SPd Display Speed （r/min）

2：Cod Display Encode (Pulse Count)

3：dCU Bus Voltage （V）

4：I-b b Phase current

5：CoJ Pole Position

6：I-q q Shaft Current

7：I-d d Shaft Current

8：I-A A Phase Current

9：CdH Feedback pulse high 5 bytes

10：CdL Feedback pulse low 5 bytes

11：PdH Control pulse high 5 bytes

12：PdL Control pulse low 5 bytes

13：Cnt position curve segment

14：Ad1 analog signal 1(analog collecting digital value)

15：Ad2 analog signal 2(analog collecting digital value)

16：Iod terminator input state

MENU ↑ ↓ OK

↑

↓

OK

MENU


24

Show 1 for the high level signal, No show for the low level signal

2、PRG parameter setting selection：Pr01-Pr198

3、JOG trial operation：（pushing button，the motor sets up，pushing

button，then stop working）

4、AUT（(the second level) zeroing:

AJ automatic measuring angles

pushing button，automatic measuring zero

angles of magnetic pole

pushing button，The motor stop measuring zero


LJ measuring angle by hand

pushing button, set up，pushing button

adjust zeroing angle

pushing button，The motor stop measuring zero


AL Zeroing of Current Sensor

pushing button，The motor stop adjusting zero

angles of Current Sensor automatically

io digital output testing

pushing button，automatic output testing

5、EEP backup and restore:：SA Storing，LF adjust default value，bF backup，HF

restore，Er software version（see8.08）

Parameter management method details

EEP-SA write parameter Write the parameters of list in EEPROM parameter

zone

EEP-BF parameter backup Write the parameters of list to EEPROM backup zone

EEP-HF restore parameter Read the data of EEPROM backup zone in the

OK

OK

OK

↓ ↑

OK

OK


25

parameter table

EEP-LF restore default values Read the default values of parameter in the

parameter table

EEP-Er the date of software

version Show the production software version

4.3 operating instructions

in the first menu, pushing b button，Choose any kinds of 5 modes。

Finished by pushing button

Enter the second menu.。Pushing \ button again, to modify parameter

or function If finished, pushing

Button .If Modification completed, please push button，and return

to the previous page，Then pushing

Button to choose ERP，pushing button then

pushing button to choose EEP-SA again，pushing button to

write

the parameters of list in EEPROM parameter zone, in order to save the parameter in

after power failure.

the digitals have changed more rapidly if clicking button again

and again when modification. It helps to modify big numbers quickly.

4.4 control parameters(it is useful if tick”*”)

Serial

number name unit

default

value range

notes

Pr-01 Test running speed r/min 200 unchanging

Pr-02 Maximum speed

limits r/min 1500 0-5000 *

Pr-03 encoder electrical

angle

0.144angl

e 1200 0-2500 *

Pr-04 U phase current zero 0 ±5000

Pr-05 U phase current zero 0 ±5000

Pr-06 analog signal 1 gain 1000 1-5000

Pr-07 analog signal 1 zero 0 ±5000

Pr-08 analog signal 2

gain

1000 0-5000


zero

0 ±5000

Pr-10 internal speed 1 r/min 100 ±5000 *

Pr-11 Internal speed 2 r/min 200 ±5000 *

↓ ↑

↓ ↑

OK MENU

↓ ↑

OK

OK ↓ ↑

↓ ↑

OK


26




filtering

0.1ms 1 1-50


filtering

0.1ms 1 1-50

Pr-16 internal speed 5 r/min 500 ±5000 *




Pr-20 speed loop Kp 0.001 500 0-5000

Pr-21 speed loop ki 0.0001 10 0-5000

Pr-22 speed loop kc 0.001 200 0-5000

Pr-23 speed loop kd 0.001 0 0-1000

Pr-24 maximum limit of

positive current in

speed loop

500

0-5000


negative current in

speed loop

-500

-5000-0

Pr-26 Response frequency

of speed loop

10 1-50

Pr-27 acceleration time ms 100 0-30000

Pr-28 deceleration time ms 100 0-30000

Pr-29 minimum limit of

analog speed

r/min 0

±100

0

unrestraine

d

Pr-30 current loop kp 0.001 900 0-5000

Pr-31 current loop ki 0.0001 200 0-5000

Pr-32 current loop kc 0.001 400 0-5000

Pr-33 current loop kd 0.001 100 0-1000


current loop and

positive current

1000

0-5000


current loop and

negative current

-1000

-5000-0


current loop and

positive weak

magnet

900

0-5000


27


current loop and

positive weak

magnet

-900

-5000-0

Pr-38 Encoder output

frequency

1 1-4096

Pr-39 carrier

frequency0-10khz

1-8khz 2-6khz

3-4khz

hz 0

0-3

Pr-40 rated current

(current

protection)

ampere 5

1-20

Pr-41 the auto-zero motor

choice

0 0:below

1kw

1:above

1kw

Pr-42 maximum speed for

position control

200 -5000-+50

00 *

Pr-43 the rate of location

curve change

200 -5000-+50

00 *

Pr-44 return time of

location curve

change

0.1s 10

0-1000 *

Pr-45 default display of

nixie tube

1 1-16

The details

seen 4.2

Pr-46 maximum speed limit

of torque

200 -3000-300

0

Pr-47 direct-current and

bus voltage gain

100 1-200

Pr-48 direct-current and

bus voltage zero

0 -3000-300

0

Pr-49 retain

Pr-50 the goal of speed

curved section 1

100 0-5000 *

Pr-51 add-subtract time

of speed curved

section 1

10ms 100

0-30000 *


curved section 2

200 0-5000 *


of speed curved

section 2

10ms 100

0-30000 *

Pr-54 the goal of speed 300 0-5000 *


28

curved section 3


of speed curved

section 3

10ms 100

0-30000 *


curved section 4

400 0-5000 *


of speed curved

section 4

10ms 100

0-30000 *


curved section 5

500 0-5000 *


of speed curved

section 5

10ms 100

0-30000 *

Pr-60 holding time of

speed curved

section 1

10ms 100

0-30000 *


speed curved

section 2

10ms 100

0-30000 *


speed curved

section 3

10ms 100

0-30000 *


speed curved

section 4

10ms 100

0-30000 *


speed curved

section 5

10ms 100

0-30000 *

Pr-65~

69

retain

Pr-70 Position kp 50 1-200

Pr-71 Position kc 10 1-200

Pr-72 electronic gear

numerator

1 1-30000

Pr-73 electronic gear

denominator

1 1-30000


29

Pr-74 Input pulse type：

1 ： orthogonal AB

pulse (positive)

2：positive pulse+

direction

(positive)

3：positive pulse +

reverse pulse

(positive)

4 ： orthogonal AB

pulse (negative)

5：Pulse + direction

(negative)

6：positive pulse +

reverse pulse

(negative)

1

1-6

Pr-75 type of the Encoder

output pulse

0：orthogonal pulse

dividing frequency

1:pulse + direction

channels

2:synchronization

between positive

and reverse pulse

3:Synchronous of

orthogonal pulse

0 0-3

Pr-76~

89

retain

Pr-90 Selection of

Control Mode

（ 0internal speed

control 2

modulating control

3 torque control

4preset the speed

control of velocity

curve 5 position

curve control 6

position control 7

he position

controlled by

computer 8 speed

controlled by

computer

0 0 0-8


30

Pr-91 On Mode （ 1 ： Not

Displayed 0 ：

Display）

0 0

Pr-92 the display of

manually zero（1：

current0：angle）

0 0

Pr-93 0 ： The maximal

efficiency control

1the maximum power

control

0

Pr-94 0：pc not on-line

1：pcon-line

*

Pr-95 0light change

8rotary change

above5.5kw

Pr-96~99 retain

Pr-100 the cycles of the

position curve 0

*

Pr-101 The cycles

deviation of the

position curve 0

*

Pr-102 the speed of

position curved

section 0

*

Pr-103 retain *


position curved

section 1

*

Pr-105 The cycles

deviation of the

position curved

section 1

*

Pr-106 the speed of the

position curved

section 1

*

Pr-107 retain *


position curved

section 2

*

Pr-109 The cycles

deviation of the

position curved

section 2

*


31


position curved

section 2

*

Pr-111 retain *


position curved

section 3

*

Pr-113 The cycles

deviation of the

position curved

section 3

*


position curved

section 3

*

Pr-115 retain *


position curved

section 4

*

Pr-117 The cycles

deviation of the

position curved

section 4

*


position curved

section 4

*

Pr-119 retain *


position curved

section 5

*

Pr-121 The cycles

deviation of the

position curved

section 5

*


position curved

section 5

*

Pr-123 retain *


position curved

section 6

*

Pr-125 The cycles

deviation of the

position curved

section 6

*


32


position curved

section 6

*

Pr-127 retain


position curved

section 7

*

Pr-129 The cycles

deviation of the

position curved

section 7

*


position curved

section 7

*

Pr-131 retain


position curved

section 8

*

Pr-133 The cycles

deviation of the

position curved

section 8

*


position curved

section 8

*

Pr-135 retain


position curved

section 9

*

Pr-137 The cycles

deviation of the

position curved

section 9

*


position curved

section 9

*

Pr-139 retain


position curved

section 10

*

Pr-141 The cycles

deviation of the

position curved

section 10

*


33


position curved

section 10

*

Pr-143 retain


position curved

section 11

*

Pr-145 The cycles

deviation of the

position curved

section 11

*


position curved

section 11

*

Pr-147 retain


position curved

section 12

*

Pr-149 The cycles

deviation of the

position curved

section 12

*


position curved

section 12

*

Pr-151 retain


position curved

section 13

*

Pr-153 The cycles

deviation of the

position curved

section 13

*


position curved

section 13

*

Pr-155 retain


position curved

section 14

*

Pr-157 The cycles

deviation of the

position curved

section 14

*


34


position curved

section 14

*

Pr-159 retain


position curved

section 15

*

Pr-161 The cycles

deviation of the

position curved

section 15

*


position curved

section 15

*

Pr-163 retain


position curved

section 16

*

Pr-165 The cycles

deviation of the

position curved

section 16

*


position curved

section 16

*

Pr-167 retain


position curved

section 17

*

Pr-169 The cycles

deviation of the

position curved

section 17

*


position curved

section 17

*

Pr-171 retain


position curved

section 18

*

Pr-173 The cycles

deviation of the

position curved

section 18

*


35


position curved

section 18

*

Pr-175 retain


position curved

section 19

*

Pr-177 The cycles

deviation of the

position curved

section 19

*


position curved

section 19

*

Pr-179 retain

Pr-180

-198

retain

4.5Alarm parameters

name description

AL-01 Module protection

AL-02 Over speed Protection

AL-03 wiring error of encoder

AL-04 the wiring error of motors

AL-05 overvoltage protection

AL-06 over-current protection

AL-07 zero-coding error

AL-08 zero error for the electrical wiring，

AL-09 renewable electrical braking

AL-10 no signal of encode

AL-11~12 reserve

PID adjust introductions:

1 Speed Kp：the greater the value, the higher the gain, the greater the rigidity.

the determination Of parameter calculating according to specific type and load of

the servo drivers. Under normal circumstances, the greater the load of inertia, the

greater the value. There are no shocks in the system, the larger setting as much

as possible.

2、Speed Ki：the greater the value, the faster the rate, the greater the rigidity.

the determination Of parameter calculating according to specific type and load of

the servo drivers. Under normal circumstances, the greater the load of inertia, the

smaller the value. There are no shocks in this system ,the larger setting as much

as possible.。

3、Location Kp：the greater the value, the higher the gain, the greater the rigidity.


36

Under the same frequency instruction pulse,the smaller the position lag.

There are no shocks in this system, the larger set as much as possible.

4、Current Kp：the greater the value, the higher the gain, the smaller the current

tracking error. However, the higher the gain, will have noise or vibration. This

parameter has something to do with servo driver and mnotors, having nothing to do

with loading.There are no shocks in this system, the larger setting as much as

possible.

5、Current Ki：the greater the value, the faster the rate, the smaller the current

tracking error. However, the higher the gain, will cause the noise or vibration.

This parameter has something to do with servo driver and mnotors, having nothing

to do with loading. Under normal circumstances, the smaller the electromagnetic

motor constant, the smaller the integration time constant. There are no shocks in

this system, the larger setting as much as possible.

6、Feed forward set Methods: The speed can be fed through the open-loop control of

the servo system to accelerate the speed of response, when speeding up the feed

forward gain to reduce the accumulation of position loop error, thus speeding up

the error rate of compensation .In theory analysis, the current speed gain increases,

the smaller the total error value of location loop, that is, the smaller the integral

role. But too much feed forward gain easily lead to oscillations and location

overshoot, In addition, the actual system in the ideal differential link doesn’t

exist, so the link can not gain too much, at the same time, in order to ensure accuracy

of the positioning servo system, integral control is essential points


37

Chapter five Standard control wiring

5.1 Speed control

5.1.1 Internal speed control（Pr90=0）


38

S1， S2， S3 description

0 0 0 choose internal speed 1 Pr10









39

5.1.2 the external simulate rate-controlling(Pr90=2)

the external simulate torque controlling(Pr90=3)


40

5.1.3 Preset rate-controlling curve （Pr90=4）

Note: the speed section controlled by the parameters Pr-50~64


41

5.1.4 controlling of computer rate（Pr90=8）

1:The communications are RS232, agreement is:57600, n,8,1 2:Communicationformat:0x55+controlsignal(1byte)(00110011)+High-speed+low-speed


42

bytes +0xAA

5.1.5Position control(Pr90=6)

the choice of the input mode（Pr74） ①pulse + mark ②positive pulse +reverse pulse ③ two-phase A/B orthogonal pulse


43

(positive logic)④ pulse + mark ⑤ positive pulse /reverse Pulse

⑥two-phase A / B orthogonal pulse (negative logic)

5.1.6 the control of position curve（Pr90=5）(to realize the synchronization of XY

axis in CNC machine tools if use two servos)

Note: the location controlled by the parameters Pr-100 ~ 180,If use two servos can

be realized the synchronization of XY axis in CNC machine tools while simultaneously


44

reach the location of mutual connection and synchronization signal.

5.1.7 Pressure Closed Loop Control（Pr90=9）（Applicable for Injection Machine）

Note: This function controlled by the parameters Pr80, Pr81, Pr82, Pr83, Pr84 ,Pr85, Pr86.


45

5.1.8 Braking Resistor Configuration Table Motor Power（kW）

Renewable Resistor

Power(W) Renewable Resistor Maximum(Ω)

Renewable Resistor Minimum (Ω)

1.5 300 400 130 2.2 300 250 130 3.7 500 150 78 5.5 800 100 39 7.5 1000 75 39 11 1500 50 26 15 2000 40 26 18.5 4000 32 20

Note: This table is just for the reference, details are determined on the value of load inertia matched by motor. 5.1.9Injection Machine Servo Configuration Table

The Maximum

mould locking force

of Injection Machine （T）

System Pressure （MPa）

Matching Oil Pump

Matching

Motor

Matching

Driver

Matching transducer

55 16 QT42-31.5F-

A

DCM-UBF190P75 DCSF-U1100S380V8.34

HUBA511.943003742

80 16 QT42-31.5F-

A

DCM-UBF190P11

0 DCSF-U1500S380V8.34

HUBA511.943003742

120 16 QT52-50F-A DCM-UBG190P11

0 DCSF-U1500S380V8.34

HUBA511.943003742

150 16 QT52-63F-A DCM-UBG190P15

0 DCSF-U1800S380V8.34

HUBA511.943003742

200 16 QT52-63F-A DCM-UBG190P18

0 DCSF-U2200S380V8.34

HUBA511.943003742

250 16 QT52-63F-A DCM-UBG190P22

0 DCSF-U3000S380V8.34

HUBA511.943003742

280 16 QT62-125F-A DCM-UBG190P30

0 DCSF-U3700S380V8.34

HUBA511.943003742

320 16 QT62-125F-A DCM-UBG190P37

0 DCSF-U4500S380V8.34

HUBA511.943003742

380 16 QT62-125F-A DCM-UBG190P45

0 DCSF-U5500S380V8.34

HUBA511.943003742

Note: This table is just for the reference, details are determined on the value of oil pump output matched by motor.


46

Chapter VI Monitoring software 6.1 Summary DCSFC series AC servo driver is high-performance servo controller independently developed by our company , this software is the monitoring software can be used for

monitoring synchronous development of DCSFC series AC servo drivers ,so that we

can clearly observe the various parameters and status of motor running , while the

software also has real-time control functions, for providing services for a variety

of applications of computer control systems

6.2 software Installation

The software for the green software, it runs as long if only it is easily copied ,

USB communications is available

Open” DCSFC”, the following dialog appears:

to choose the communication interface and baud rate. Entering the following

interface by click "OK "button:

Technical Department

2008-07-21

user manual

Documents

speed of system control

series of servo drivers

installation servo drivers

control parameter

internal speed controlpr90

dcsfc series servo motors

curve speed controlpr90

standard control wiring